adhoc

completed
2026-09-23T19:00:42.732098+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
216.2 s
total steps
330
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit separately across the table; the left bowl is closest to the left arm. I’ll bring the open left gripper above it to check alignment before grasping.
move_to
left_x0.4000left_y-0.1700left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6048, -0.3817, -0.0227, -0.0158, 0.9957, -0.0181, 0.7933, 0.6025, -0.3809, -0.0162, -0.02, 0.998] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2944 right_y=0.0011 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.998 state[joint_eff]: [-0.6222, -1.6479, 10.0855, 1.7705, -0.0317, 0.0122, -0.4567, -0.5538, -1.4154, 10.2632, 1.873, -0.0611, 0.0171, -0.2173] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.16},"note":"Three bowls sit separately across the table; the left bowl is closest to the left arm. I’ll bring the open left gripper above it to check alignment before grasping."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe left wrist view shows the left bowl close to the fingertips but left of the jaw center. I’ll shift the gripper about four centimeters toward it, staying above the rim.
move_to
left_y-0.1250left_x0.4000left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6022, 1.5173, 0.9375, -0.1459, -0.4824, -0.3595, 0.9954, -0.0208, 0.7975, 0.6003, -0.3923, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.389 left_y=-0.1636 left_z=0.1414 left_yaw=-0.0158 left_pitch=-0.0571 left_roll=0.0257 left_gripper=0.9954 right_x=0.2929 right_y=0.0004 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.0183 right_roll=0.0002 right_gripper=0.9979 state[joint_eff]: [-0.3077, -6.9265, 9.0735, 1.7265, -0.3932, -0.0317, -0.0415, -0.1436, -1.5521, 7.241, 1.8388, -0.0708, -0.0317, -0.0269] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_x":0.4,"left_z":0.14},"note":"The left wrist view shows the left bowl close to the fingertips but left of the jaw center. I’ll shift the gripper about four centimeters toward it, staying above the rim."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left bowl is now nearly centered between the open jaws in the wrist view. I’ll lower to around the bowl’s side, keeping the horizontal alignment fixed.
move_to
left_z0.0600left_x0.4000left_y-0.1250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4751, 1.507, 0.8921, -0.1211, -0.4152, -0.3008, 0.9953, -0.02, 0.8009, 0.6003, -0.3927, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3986 left_y=-0.1209 left_z=0.1277 left_yaw=0.0269 left_pitch=-0.0905 left_roll=0.0396 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=-0.0014 right_pitch=-0.0221 right_roll=0.0003 right_gripper=0.9979 state[joint_eff]: [-0.4855, -8.9915, 6.4889, 1.8193, -0.0024, 0.2076, -0.0171, -0.1573, -1.0051, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_x":0.40,"left_y":-0.125},"note":"The left bowl is now nearly centered between the open jaws in the wrist view. I’ll lower to around the bowl’s side, keeping the horizontal alignment fixed."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteAt grasp height, the bowl spans the jaws but is still slightly left of center. I’ll make a small lateral correction before closing.
move_to
left_y-0.1000left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4847, 1.6585, 0.7521, 0.0952, -0.4099, -0.297, 0.9953, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3896 left_y=-0.1215 left_z=0.0509 left_yaw=0.0156 left_pitch=-0.1583 left_roll=0.0756 left_gripper=0.9953 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979 state[joint_eff]: [-0.4171, -7.3368, 5.9692, 1.7802, -0.315, -0.1441, -0.0122, -0.0615, -1.265, 7.3504, 1.7363, -0.0366, -0.0562, -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":{"left_y":-0.1,"left_z":0.065},"note":"At grasp height, the bowl spans the jaws but is still slightly left of center. I’ll make a small lateral correction before closing."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe bowl’s rim looks wider than the open jaws at this height, so I’ll try gripping lower on its narrower side. I’ll descend carefully toward the tabletop.
move_to
left_z0.0180left_x0.4000left_y-0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4511, 1.6424, 0.7387, 0.1074, -0.3889, -0.2848, 0.9953, -0.02, 0.8036, 0.5999, -0.3927, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3917 left_y=-0.1113 left_z=0.0532 left_yaw=0.0248 left_pitch=-0.1528 left_roll=0.0643 left_gripper=0.9953 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979 state[joint_eff]: [0.9641, -9.5932, 6.106, 1.6142, -0.0659, 0.0024, -0.0122, -0.1162, -0.8684, 7.0222, 1.7656, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.018,"left_x":0.4,"left_y":-0.1},"note":"The bowl’s rim looks wider than the open jaws at this height, so I’ll try gripping lower on its narrower side. I’ll descend carefully toward the tabletop."})
tool
executing move_to over 3 steps (0.3s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe fingers are down beside the bowl near table height. I’ll close them and use the settled jaw opening and a short lift to check whether they caught the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4129, 1.7473, 0.7052, 0.2092, -0.3626, -0.2573, 0.9953, -0.02, 0.8055, 0.5999, -0.3943, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.393 left_y=-0.0999 left_z=0.0167 left_yaw=0.0296 left_pitch=-0.1954 left_roll=0.0838 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.172 right_yaw=-0.0014 right_pitch=-0.0286 right_roll=0.0004 right_gripper=0.9979 state[joint_eff]: [0.7179, -8.4718, 5.1761, 1.79, -0.105, 0.0806, -0.0122, -0.1846, -1.1556, 7.0359, 1.7363, -0.0464, -0.022, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are down beside the bowl near table height. I’ll close them and use the settled jaw opening and a short lift to check whether they caught the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe closed jaws stopped around one centimeter apart, consistent with pinching a bowl wall. I’ll lift vertically to confirm the bowl actually comes off the table.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4038, 1.7519, 0.6899, 0.3111, -0.3935, -0.2394, 0.1037, -0.02, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.4049 left_y=-0.0955 left_z=0.0279 left_yaw=0.0483 left_pitch=-0.1128 left_roll=0.0816 left_gripper=0.1037 right_x=0.2931 right_y=0.0006 right_z=0.1723 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0004 right_gripper=0.9979 state[joint_eff]: [-0.2667, -6.5983, 5.135, 1.3455, 0.149, -0.1392, 0.4811, -0.1026, -1.306, 7.0222, 1.7509, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The closed jaws stopped around one centimeter apart, consistent with pinching a bowl wall. I’ll lift vertically to confirm the bowl actually comes off the table."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe left bowl appears to have lifted with the jaws; its white rim is now beside the raised gripper in the overhead view. I’ll raise it further before crossing toward the middle bowl.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4042, 1.5108, 0.9268, -0.1856, -0.3935, -0.2363, 0.1036, -0.02, 0.8082, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.4043 left_y=-0.0954 left_z=0.1283 left_yaw=0.0473 left_pitch=-0.1298 left_roll=0.0922 left_gripper=0.1036 right_x=0.2933 right_y=0.0006 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0305 right_roll=0.0005 right_gripper=0.9979 state[joint_eff]: [-0.2803, -8.4991, 9.0872, 1.5946, -0.188, -0.0806, -0.0317, -0.1026, -1.5521, 7.0359, 1.7411, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The left bowl appears to have lifted with the jaws; its white rim is now beside the raised gripper in the overhead view. I’ll raise it further before crossing toward the middle bowl."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bowl remains held at a safe height, with its center offset to the left of the gripper. I’ll carry it most of the way toward the middle bowl, then check their overhead alignment.
move_to
left_y-0.2700left_z0.2100left_x0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4042, 1.4883, 1.1175, -0.437, -0.3904, -0.2359, 0.1036, -0.02, 0.8104, 0.5999, -0.3935, -0.0162, -0.0208, 0.9979] state[eef_state]: left_x=0.4046 left_y=-0.096 left_z=0.1737 left_yaw=0.0471 left_pitch=-0.1651 left_roll=0.1073 left_gripper=0.1036 right_x=0.2934 right_y=0.0006 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9979 state[joint_eff]: [-0.3214, -9.2376, 9.0462, 1.5507, -0.2466, -0.0269, -0.0171, -0.1299, -1.5111, 7.0496, 1.7265, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.27,"left_z":0.21,"left_x":0.4},"note":"The bowl remains held at a safe height, with its center offset to the left of the gripper. I’ll carry it most of the way toward the middle bowl, then check their overhead alignment."})
tool
executing move_to over 16 steps (1.6s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe carried bowl is just left of the middle bowl in the overhead view. I’ll nudge it rightward in the image, toward the middle bowl’s center, before lowering.
move_to
left_y-0.3030left_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8162, 1.8885, 1.7115, -0.8364, -0.6197, -0.6052, 0.1035, -0.02, 0.8143, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3975 left_y=-0.2677 left_z=0.1973 left_yaw=0.0292 left_pitch=-0.1958 left_roll=0.1061 left_gripper=0.1035 right_x=0.2937 right_y=0.0006 right_z=0.1698 right_yaw=-0.0014 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9979 state[joint_eff]: [-0.3761, -9.9214, 8.9231, 1.0085, -0.5153, -0.0806, -0.022, -0.1436, -1.6342, 7.241, 1.7558, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.303,"left_z":0.21},"note":"The carried bowl is just left of the middle bowl in the overhead view. I’ll nudge it rightward in the image, toward the middle bowl’s center, before lowering."})
tool
executing move_to over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe carried bowl now covers the middle bowl in the overhead view. I’ll lower it gradually toward the middle bowl’s rim and check for contact before releasing.
move_to
left_z0.1050left_y-0.3030
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8639, 2.0022, 1.895, -0.9474, -0.6292, -0.6601, 0.1035, -0.02, 0.8158, 0.5999, -0.3965, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3971 left_y=-0.2993 left_z=0.2002 left_yaw=0.0241 left_pitch=-0.2128 left_roll=0.1035 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1687 right_yaw=-0.0014 right_pitch=-0.0412 right_roll=0.0007 right_gripper=0.9979 state[joint_eff]: [-0.4308, -10.4137, 8.841, 0.9841, -0.5104, 0.0171, -0.0073, -0.2256, -1.4427, 7.2274, 1.7411, -0.0611, -0.0073, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105,"left_y":-0.303},"note":"The carried bowl now covers the middle bowl in the overhead view. I’ll lower it gradually toward the middle bowl’s rim and check for contact before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe arm did not descend toward the middle bowl; its height stayed near 20 cm, suggesting this outstretched pose is difficult to reach. I’ll tip the tool slightly forward and retry a modest descent, watching the readback.
move_to
left_pitch0.3500left_z0.1200left_y-0.3000left_x0.3900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8753, 2.0106, 1.9114, -0.9665, -0.6296, -0.6636, 0.1035, -0.02, 0.8165, 0.5999, -0.3969, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3935 left_y=-0.3035 left_z=0.2002 left_yaw=0.0167 left_pitch=-0.2192 left_roll=0.1101 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1684 right_yaw=-0.0014 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9979 state[joint_eff]: [-0.1983, -10.5231, 9.1966, 1.0134, -0.5446, -0.0513, -0.0122, -0.1573, -1.4427, 7.0085, 1.7167, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":0.35,"left_z":0.12,"left_y":-0.3,"left_x":0.39},"note":"The arm did not descend toward the middle bowl; its height stayed near 20 cm, suggesting this outstretched pose is difficult to reach. I’ll tip the tool slightly forward and retry a modest descent, watching the readback."})
tool
executing move_to over 19 steps (1.9s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteTilting the tool forward let the arm descend to about 11 cm while the bowl stayed above the middle position. I’ll lower a few more centimeters to seat it, stopping if contact prevents the commanded descent.
move_to
left_z0.0650left_pitch0.3500left_x0.3900left_y-0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9691, 1.9739, 1.0512, 0.4053, -0.9848, -0.3122, 0.1035, -0.02, 0.8181, 0.5957, -0.4141, -0.0166, -0.0208, 0.9979] state[eef_state]: left_x=0.3876 left_y=-0.2982 left_z=0.1129 left_yaw=-0.0031 left_pitch=0.2891 left_roll=0.1344 left_gripper=0.1035 right_x=0.2903 right_y=0.0007 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0008 right_gripper=0.9979 state[joint_eff]: [-0.7179, -8.9778, 5.7641, 1.6972, -0.4322, 0.0317, -0.0122, -0.2667, -1.4701, 7.5145, 1.8486, -0.0317, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065,"left_pitch":0.35,"left_x":0.39,"left_y":-0.3},"note":"Tilting the tool forward let the arm descend to about 11 cm while the bowl stayed above the middle position. I’ll lower a few more centimeters to seat it, stopping if contact prevents the commanded descent."})
tool
executing move_to over 4 steps (0.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe bowl is down around rim height over the middle bowl. I’ll release it so it can settle inside, then move the gripper away to verify the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9688, 2.1334, 0.997, 0.6609, -0.9977, -0.2562, 0.1035, -0.02, 0.8181, 0.5953, -0.4152, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3892 left_y=-0.298 left_z=0.0626 left_yaw=-0.0131 left_pitch=0.3134 left_roll=0.1585 left_gripper=0.1035 right_x=0.2901 right_y=0.0007 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9979 state[joint_eff]: [-0.3487, -10.9607, 4.8342, 1.3602, -0.3004, 0.1099, -0.0122, -0.0205, -1.3744, 7.0359, 1.7216, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bowl is down around rim height over the middle bowl. I’ll release it so it can settle inside, then move the gripper away to verify the stack."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe jaws are open and the bowl appears to remain over the middle bowl. I’ll withdraw the left arm high and back to uncover the table before handling the remaining bowl.
move_to
left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9688, 2.1555, 0.9848, 0.7441, -1.0042, -0.2428, 0.9947, -0.02, 0.8204, 0.5945, -0.4194, -0.0166, -0.0208, 0.9979] state[eef_state]: left_x=0.3901 left_y=-0.2982 left_z=0.0618 left_yaw=-0.0017 left_pitch=0.3426 left_roll=0.1316 left_gripper=0.9947 right_x=0.2895 right_y=0.0007 right_z=0.1605 right_yaw=-0.0011 right_pitch=-0.074 right_roll=0.001 right_gripper=0.9979 state[joint_eff]: [-0.4581, -10.7009, 5.2444, 1.6044, -0.3248, 0.0562, -0.1538, -0.1026, -1.5248, 7.0359, 1.6874, -0.0513, -0.0611, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The jaws are open and the bowl appears to remain over the middle bowl. I’ll withdraw the left arm high and back to uncover the table before handling the remaining bowl."})
tool
executing move_to over 27 steps (2.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe overhead view now shows a white bowl sitting on the middle bowl; the pink bowl remains separate on the right. I’ll position the open right gripper above the pink bowl.
move_to
right_x0.4000right_y0.1500right_z0.1600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1459, 0.7963, 0.638, -0.4217, -0.2493, -0.0132, 0.9952, -0.02, 0.8242, 0.5945, -0.4225, -0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.2925 left_y=0.0047 left_z=0.1893 left_yaw=0.0626 left_pitch=0.006 left_roll=0.1256 left_gripper=0.9952 right_x=0.2892 right_y=0.0007 right_z=0.1589 right_yaw=-0.0013 right_pitch=-0.0809 right_roll=0.0014 right_gripper=0.9979 state[joint_eff]: [0.1846, -1.4427, 10.1538, 1.6874, 0.0024, 0.1441, 0.0366, -0.3624, -1.3197, 7.1726, 1.6777, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.15,"right_z":0.16,"right_pitch":0},"note":"The overhead view now shows a white bowl sitting on the middle bowl; the pink bowl remains separate on the right. I’ll position the open right gripper above the pink bowl."})
tool
executing move_to over 13 steps (1.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe pink bowl is close to the fingertips but slightly right of the jaw center in the right wrist view. I’ll shift the right gripper a few centimeters toward it before descending.
move_to
right_y0.1200right_x0.3950right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8028, 0.6411, -0.4381, -0.2405, -0.0154, 0.9952, 0.5182, 1.4689, 0.8829, -0.131, 0.3897, 0.2634, 0.9979] state[eef_state]: left_x=0.2912 left_y=0.0036 left_z=0.1854 left_yaw=0.0573 left_pitch=-0.0142 left_roll=0.1229 left_gripper=0.9952 right_x=0.3846 right_y=0.1462 right_z=0.1359 right_yaw=0.0436 right_pitch=-0.0826 right_roll=-0.0374 right_gripper=0.9979 state[joint_eff]: [-0.0752, -1.6889, 6.7077, 1.8291, -0.1929, 0.0317, -0.0122, 0.3487, -6.7897, 9.347, 1.7167, 0.4274, 0.2369, -0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.12,"right_x":0.395,"right_z":0.14},"note":"The pink bowl is close to the fingertips but slightly right of the jaw center in the right wrist view. I’ll shift the right gripper a few centimeters toward it before descending."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe pink bowl is now centered between the open jaws. As with the first bowl, I’ll lower near the table to grip its narrower lower side.
move_to
right_z0.0200right_x0.3950right_y0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8043, 0.6411, -0.4389, -0.2398, -0.0158, 0.9952, 0.4324, 1.4773, 0.8803, -0.1314, 0.345, 0.2161, 0.9979] state[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1848 left_yaw=0.0568 left_pitch=-0.0165 left_roll=0.1227 left_gripper=0.9952 right_x=0.3941 right_y=0.12 right_z=0.1296 right_yaw=0.019 right_pitch=-0.1067 right_roll=-0.0529 right_gripper=0.9979 state[joint_eff]: [-0.0889, -1.3607, 6.9812, 1.6923, -0.1148, -0.0806, -0.0122, 0.4308, -8.6632, 6.5709, 1.6532, -0.0073, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.02,"right_x":0.395,"right_y":0.12},"note":"The pink bowl is now centered between the open jaws. As with the first bowl, I’ll lower near the table to grip its narrower lower side."})
tool
executing move_to over 8 steps (0.8s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe right gripper stopped a little above the requested low height, with the pink bowl filling the wrist view. I’ll try a gentle final descent to get the fingers below the broad rim before closing.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8047, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4309, 1.7271, 0.6708, 0.3332, 0.3389, 0.2073, 0.9978] state[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.1843 left_yaw=0.0566 left_pitch=-0.0192 left_roll=0.1235 left_gripper=0.9952 right_x=0.3969 right_y=0.1217 right_z=0.0326 right_yaw=0.0274 right_pitch=-0.1037 right_roll=-0.0539 right_gripper=0.9978 state[joint_eff]: [-0.0479, -1.2923, 6.9812, 1.6825, -0.149, -0.0269, -0.0122, -0.1299, -5.3949, 3.6718, 0.8718, 0.0122, 0.0366, -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":{"right_z":0},"note":"The right gripper stopped a little above the requested low height, with the pink bowl filling the wrist view. I’ll try a gentle final descent to get the fingers below the broad rim before closing."})
tool
executing move_to over 3 steps (0.3s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe fingers are as low as the right arm is tracking at this pose. I’ll close on the pink bowl and check whether the jaws retain a wall-width opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8, 0.659, 0.5144, 0.342, 0.2096, 0.9977] state[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.4126 right_y=0.1279 right_z=0.0329 right_yaw=0.0248 right_pitch=-0.0141 right_roll=-0.0158 right_gripper=0.9977 state[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7021, -0.1197, -0.0757, -0.0122, -0.0205, -4.4786, 2.865, 0.4957, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are as low as the right arm is tracking at this pose. I’ll close on the pink bowl and check whether the jaws retain a wall-width opening."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe jaws closed essentially all the way, so that grasp was empty; they were inside the pink bowl rather than pinching a side. I’ll reopen and lift clear, then approach one side of its wall.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8439, 0.6338, 0.5247, 0.3321, 0.2073, 0.0073] state[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.402 right_y=0.1248 right_z=0.0083 right_yaw=0.0331 right_pitch=-0.0706 right_roll=-0.035 right_gripper=0.0073 state[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.6728, -0.1538, -0.0415, -0.0073, -0.0479, -6.694, 4.5333, 1.3944, 0.1587, -0.0171, 0.5104] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.12},"note":"The jaws closed essentially all the way, so that grasp was empty; they were inside the pink bowl rather than pinching a side. I’ll reopen and lift clear, then approach one side of its wall."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteWith the gripper reopened above the pink bowl, the bowl is centered in its opening—the position that missed. I’ll shift the gripper toward the bowl’s right edge so the fingers can pinch one wall instead.
move_to
right_y0.0750right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8082, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4297, 1.5425, 0.8001, 0.0311, 0.3283, 0.1978, 0.9952] state[eef_state]: left_x=0.2912 left_y=0.0035 left_z=0.1834 left_yaw=0.0567 left_pitch=-0.0225 left_roll=0.1242 left_gripper=0.9952 right_x=0.3981 right_y=0.1238 right_z=0.0997 right_yaw=0.0406 right_pitch=-0.0957 right_roll=-0.0503 right_gripper=0.9952 state[joint_eff]: [-0.0752, -1.265, 6.9812, 1.7363, -0.0904, -0.0659, -0.0171, -0.3761, -8.4444, 8.9368, 1.7118, 0.0952, 0.0366, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.075,"right_z":0.12},"note":"With the gripper reopened above the pink bowl, the bowl is centered in its opening—the position that missed. I’ll shift the gripper toward the bowl’s right edge so the fingers can pinch one wall instead."})
tool
executing move_to over 5 steps (0.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe pink bowl now sits to the left of the jaws in the wrist view, placing one wall between them. I’ll lower at this offset, then test a side-wall grasp.
move_to
right_z0.0150right_x0.3950right_y0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8101, 0.6411, -0.4416, -0.2398, -0.0158, 0.9952, 0.2794, 1.4609, 0.7784, -0.041, 0.2272, 0.107, 0.9963] state[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1828 left_yaw=0.0569 left_pitch=-0.0247 left_roll=0.1243 left_gripper=0.9952 right_x=0.3951 right_y=0.0757 right_z=0.1063 right_yaw=0.0226 right_pitch=-0.1311 right_roll=-0.0616 right_gripper=0.9963 state[joint_eff]: [-0.0615, -0.9231, 6.9812, 1.7167, -0.1294, -0.0806, -0.0073, -0.3761, -7.5419, 6.8581, 1.8046, 0.105, -0.022, 0.1099] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015,"right_x":0.395,"right_y":0.075},"note":"The pink bowl now sits to the left of the jaws in the wrist view, placing one wall between them. I’ll lower at this offset, then test a side-wall grasp."})
tool
executing move_to over 6 steps (0.6s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe right arm held near 11 cm instead of descending at the offset pose. I’ll pitch the tool forward slightly, as that freed the left arm’s descent, and see whether it can lower beside the bowl.
move_to
right_pitch0.3000right_z0.0300right_x0.3950right_y0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8108, 0.6411, -0.4416, -0.2398, -0.0154, 0.9952, 0.2642, 1.449, 0.7784, -0.049, 0.1997, 0.0853, 0.9965] state[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1826 left_yaw=0.0567 left_pitch=-0.0255 left_roll=0.1248 left_gripper=0.9952 right_x=0.3945 right_y=0.0741 right_z=0.1086 right_yaw=0.0422 right_pitch=-0.1324 right_roll=-0.0596 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.1829, 6.9949, 1.6581, -0.1099, -0.0562, -0.0171, 0.0068, -7.4051, 7.0906, 1.7802, 0.0171, -0.0024, 0.0024] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_pitch":0.3,"right_z":0.03,"right_x":0.395,"right_y":0.075},"note":"The right arm held near 11 cm instead of descending at the offset pose. I’ll pitch the tool forward slightly, as that freed the left arm’s descent, and see whether it can lower beside the bowl."})
tool
executing move_to over 15 steps (1.5s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
assistant
agent noteThe forward pitch allowed the fingers down beside the pink bowl, with its right wall between the jaws in the wrist view. I’ll close and check the retained opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4461, -0.2398, -0.0158, 0.9952, 0.2958, 2.0048, 0.3576, 1.3067, 0.255, 0.0296, 0.9966] state[eef_state]: left_x=0.2908 left_y=0.0035 left_z=0.1815 left_yaw=0.0569 left_pitch=-0.0307 left_roll=0.1256 left_gripper=0.9952 right_x=0.3941 right_y=0.0773 right_z=0.0224 right_yaw=0.0526 right_pitch=0.2415 right_roll=-0.0484 right_gripper=0.9966 state[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.7118, -0.1245, -0.0366, -0.0073, 0.4991, -6.2701, 1.812, 1.0867, 0.2711, -0.1783, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The forward pitch allowed the fingers down beside the pink bowl, with its right wall between the jaws in the wrist view. I’ll close and check the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteThe right jaws stopped partly open against the pink bowl rather than closing empty. I’ll lift straight up and check the overhead view to see whether the bowl comes along.
move_to
right_z0.1600right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4522, -0.2394, -0.0158, 0.9952, 0.2928, 1.9877, 0.3714, 1.4273, 0.2459, 0.0715, 0.488] state[eef_state]: left_x=0.2899 left_y=0.0036 left_z=0.1802 left_yaw=0.0566 left_pitch=-0.0367 left_roll=0.1266 left_gripper=0.9952 right_x=0.4069 right_y=0.0815 right_z=0.0608 right_yaw=0.0212 right_pitch=0.3875 right_roll=0.0372 right_gripper=0.488 state[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7363, -0.1001, -0.0415, -0.0073, 0.1436, -5.8598, 1.7026, 0.7399, 0.0464, -0.4322, 0.989] 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":{"right_z":0.16,"right_pitch":0.3},"note":"The right jaws stopped partly open against the pink bowl rather than closing empty. I’ll lift straight up and check the overhead view to see whether the bowl comes along."})
tool
executing move_to over 7 steps (0.7s)
step 229
assistant
agent noteThe jaw reading suggests contact, but the pink rim is still visible low in the wrist view, so the lift alone is inconclusive. I’ll translate a short distance toward the stack and check whether the pink bowl follows.
move_to
right_y0.1700right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8162, 0.6411, -0.4599, -0.2398, -0.0154, 0.9952, 0.292, 1.4361, 0.4934, 0.6922, 0.2306, 0.0784, 0.4887] state[eef_state]: left_x=0.2891 left_y=0.0038 left_z=0.1775 left_yaw=0.0569 left_pitch=-0.0487 left_roll=0.1296 left_gripper=0.9952 right_x=0.405 right_y=0.0833 right_z=0.1509 right_yaw=0.0362 right_pitch=0.3272 right_roll=0.0307 right_gripper=0.4887 state[joint_eff]: [-0.0479, -1.7162, 6.9675, 1.7558, -0.1343, 0.0122, -0.0073, -0.1983, -6.2291, 8.8957, 2.0977, 0.1392, 0.0806, 0.0611] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.17,"right_z":0.19},"note":"The jaw reading suggests contact, but the pink rim is still visible low in the wrist view, so the lift alone is inconclusive. I’ll translate a short distance toward the stack and check whether the pink bowl follows."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe pink bowl shifted when the arm translated, but it now looks lower and farther behind the gripper than expected for a secure hold. I’ll raise the gripper without moving sideways to distinguish a carried bowl from one left on the table.
move_to
right_z0.2600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2367, -0.0154, 0.9952, 0.5781, 1.4715, 0.6884, 0.4873, 0.4622, 0.1364, 0.4888] state[eef_state]: left_x=0.2892 left_y=0.0032 left_z=0.1767 left_yaw=0.0543 left_pitch=-0.052 left_roll=0.1284 left_gripper=0.9952 right_x=0.3998 right_y=0.1711 right_z=0.1781 right_yaw=0.0906 right_pitch=0.3071 right_roll=0.0114 right_gripper=0.4888 state[joint_eff]: [-0.0342, -1.4974, 6.9675, 1.6679, -0.1392, -0.022, -0.0073, 0.1709, -5.7641, 8.9094, 1.9121, 0.2759, 0.1636, -0.0024] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.26},"note":"The pink bowl shifted when the arm translated, but it now looks lower and farther behind the gripper than expected for a secure hold. I’ll raise the gripper without moving sideways to distinguish a carried bowl from one left on the table."})
tool
executing move_to over 6 steps (0.6s)
step 243
assistant
agent noteThe pink bowl stayed at the same table position when the arm rose, so the second grip slipped rather than carrying it. I’ll reopen and reposition over its new location nearer the center, aiming to pinch its side more securely.
move_to
right_gripper1.0000right_x0.3500right_y0.2350right_z0.1400right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.5804, 1.3712, 0.8906, 0.1715, 0.4622, 0.131, 0.4888] state[eef_state]: left_x=0.2892 left_y=0.0031 left_z=0.1767 left_yaw=0.0542 left_pitch=-0.052 left_roll=0.1279 left_gripper=0.9952 right_x=0.401 right_y=0.1731 right_z=0.2415 right_yaw=0.0979 right_pitch=0.2953 right_roll=-0.0005 right_gripper=0.4888 state[joint_eff]: [-0.1026, -1.2786, 7.0085, 1.6239, -0.1245, -0.0269, -0.0171, -0.5402, -7.1726, 9.4701, 1.7167, 0.0415, -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":{"right_gripper":1,"right_x":0.35,"right_y":0.235,"right_z":0.14,"right_pitch":0.15},"note":"The pink bowl stayed at the same table position when the arm rose, so the second grip slipped rather than carrying it. I’ll reopen and reposition over its new location nearer the center, aiming to pinch its side more securely."})
tool
executing move_to over 7 steps (0.7s)
step 250
assistant
agent noteThe pink bowl is now almost directly beneath the right gripper, but the wrist view puts it to the right of the jaw center. I’ll shift the gripper rightward across it so a single bowl wall lies between the fingers.
move_to
right_y0.1850right_z0.1300right_x0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8219, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.8318, 1.5269, 0.7788, 0.2001, 0.6228, 0.3, 0.9968] state[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1758 left_yaw=0.0543 left_pitch=-0.0554 left_roll=0.1285 left_gripper=0.9952 right_x=0.3505 right_y=0.237 right_z=0.142 right_yaw=0.1489 right_pitch=0.134 right_roll=-0.0294 right_gripper=0.9968 state[joint_eff]: [-0.1162, -1.4974, 6.9949, 1.6532, -0.1148, -0.0513, -0.0171, 0.1026, -6.4068, 6.1744, 1.8486, 0.4176, 0.2222, -0.0562] approver: 1 step(s) modified (delta_clamped). 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":{"right_y":0.185,"right_z":0.13,"right_x":0.35},"note":"The pink bowl is now almost directly beneath the right gripper, but the wrist view puts it to the right of the jaw center. I’ll shift the gripper rightward across it so a single bowl wall lies between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 255
assistant
agent noteThe pink bowl is now just left of the wrist-view center, and the open gripper is over its near side. I’ll lower with a slight forward pitch, aiming to put its side wall between the jaws.
move_to
right_x0.3500right_y0.1500right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.823, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.7055, 1.4342, 0.6155, 0.2565, 0.5343, 0.2409, 0.9971] state[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1755 left_yaw=0.0543 left_pitch=-0.0565 left_roll=0.1288 left_gripper=0.9952 right_x=0.3478 right_y=0.1828 right_z=0.1174 right_yaw=0.1267 right_pitch=0.0938 right_roll=-0.0533 right_gripper=0.9971 state[joint_eff]: [-0.1846, -1.0051, 6.9675, 1.6679, -0.1245, -0.0073, -0.0171, -0.3624, -6.7487, 6.8308, 2.0049, 0.0708, -0.1441, 0.022] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.025,"right_pitch":0.3},"note":"The pink bowl is now just left of the wrist-view center, and the open gripper is over its near side. I’ll lower with a slight forward pitch, aiming to put its side wall between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteAt table height, one pink bowl wall appears to cross the open jaws while most of the bowl lies to their left. I’ll close on that wall and check the jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8276, 0.6411, -0.461, -0.2363, -0.0158, 0.9952, 0.6312, 1.9961, 0.3229, 1.2816, 0.5034, 0.1326, 0.997] state[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1742 left_yaw=0.0543 left_pitch=-0.0614 left_roll=0.1298 left_gripper=0.9952 right_x=0.3482 right_y=0.1534 right_z=0.017 right_yaw=0.1229 right_pitch=0.2296 right_roll=-0.0524 right_gripper=0.997 state[joint_eff]: [-0.0752, -1.7436, 6.9538, 1.6337, -0.1148, -0.0366, -0.0171, -0.8957, -6.2427, 0.8684, 0.6374, 0.0513, -0.3932, -0.0171] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At table height, one pink bowl wall appears to cross the open jaws while most of the bowl lies to their left. I’ll close on that wall and check the jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe jaws closed empty again and nudged the pink bowl slightly toward the stack. I’ll reopen above its new position and make one more, closer side-wall attempt at a higher grip height.
move_to
right_gripper1.0000right_x0.3550right_y0.2150right_z0.1200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8288, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.6331, 1.9877, 0.3305, 1.356, 0.4889, 0.1444, 0.0201] state[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.174 left_yaw=0.0543 left_pitch=-0.0621 left_roll=0.1299 left_gripper=0.9952 right_x=0.3546 right_y=0.1618 right_z=0.0373 right_yaw=0.1185 right_pitch=0.3062 right_roll=0.0096 right_gripper=0.0201 state[joint_eff]: [-0.212, -1.0872, 7.2547, 1.6386, -0.1538, -0.0562, -0.0073, -0.0342, -5.8735, 2.2906, 1.2332, 0.2173, -0.1197, 0.906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.355,"right_y":0.215,"right_z":0.12,"right_pitch":0.3},"note":"The jaws closed empty again and nudged the pink bowl slightly toward the stack. I’ll reopen above its new position and make one more, closer side-wall attempt at a higher grip height."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe pink rim now spans the open jaws with its left wall between them. I’ll stop around mid-bowl height rather than descending to the table, then try to pinch that wall.
move_to
right_z0.0550right_pitch0.3000right_x0.3550right_y0.2150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8326, 0.6411, -0.4671, -0.2363, -0.0158, 0.9952, 0.7868, 1.6352, 0.5144, 0.7818, 0.6048, 0.1883, 0.9952] state[eef_state]: left_x=0.2891 left_y=0.0032 left_z=0.1717 left_yaw=0.0545 left_pitch=-0.0722 left_roll=0.132 left_gripper=0.9952 right_x=0.3517 right_y=0.2155 right_z=0.1095 right_yaw=0.1531 right_pitch=0.2941 right_roll=0.0004 right_gripper=0.9952 state[joint_eff]: [-0.0889, -1.7162, 7.1453, 1.7411, -0.0952, -0.0708, -0.0171, 0.4581, -7.3368, 7.3778, 1.7265, 0.3541, 0.1099, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055,"right_pitch":0.3,"right_x":0.355,"right_y":0.215},"note":"The pink rim now spans the open jaws with its left wall between them. I’ll stop around mid-bowl height rather than descending to the table, then try to pinch that wall."})
tool
executing move_to over 4 steps (0.4s)
step 286
assistant
agent noteAt the new height, the pink bowl’s left wall appears between the two fingers rather than beyond them. I’ll close and judge the result by the settled jaw gap.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.7788, 1.8996, 0.4679, 0.9897, 0.5964, 0.1814, 0.9963] state[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1704 left_yaw=0.0546 left_pitch=-0.0771 left_roll=0.1329 left_gripper=0.9952 right_x=0.3478 right_y=0.2089 right_z=0.0353 right_yaw=0.1714 right_pitch=0.2083 right_roll=-0.0655 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.812, 6.9675, 1.6728, -0.105, -0.0415, -0.0073, -0.335, -7.9932, 4.0547, 2.4151, 0.1685, -0.0415, 0.105] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At the new height, the pink bowl’s left wall appears between the two fingers rather than beyond them. I’ll close and judge the result by the settled jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 296
assistant
agent noteThe horizontal side pinch slipped and pushed the pink bowl right again. I’ll try turning the open jaws nearly vertical so they can pinch the bowl’s thin rim from above and below instead of across its width.
move_to
right_gripper1.0000right_z0.1300right_roll1.4500right_pitch0.0000right_x0.3500right_y0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4679, -0.2363, -0.0154, 0.9952, 0.7788, 1.9167, 0.4618, 1.0004, 0.5964, 0.1757, 0.0152] state[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1703 left_yaw=0.0544 left_pitch=-0.0775 left_roll=0.1333 left_gripper=0.9952 right_x=0.3461 right_y=0.2072 right_z=0.0292 right_yaw=0.176 right_pitch=0.1978 right_roll=-0.0782 right_gripper=0.0152 state[joint_eff]: [-0.1846, -1.4701, 6.9402, 1.6288, -0.1343, -0.0073, -0.0122, -0.212, -8.4718, 4.4239, 1.5165, 0.0904, 0.022, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.13,"right_roll":1.45,"right_pitch":0,"right_x":0.35,"right_y":0.21},"note":"The horizontal side pinch slipped and pushed the pink bowl right again. I’ll try turning the open jaws nearly vertical so they can pinch the bowl’s thin rim from above and below instead of across its width."})
tool
executing move_to over 20 steps (2.0s)
step 316
assistant
agent noteThe rotated jaws are beside the pink bowl’s left rim, with one finger above the other. I’ll lower enough to put the rim between the fingers before closing.
move_to
right_z0.0700right_roll1.4500right_x0.3500right_y0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8387, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.3801, 1.7065, 0.3592, 1.2076, -0.3462, 1.3319, 0.997] state[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.17 left_yaw=0.0546 left_pitch=-0.0786 left_roll=0.1332 left_gripper=0.9952 right_x=0.3504 right_y=0.2084 right_z=0.1153 right_yaw=0.1685 right_pitch=-0.0146 right_roll=1.3475 right_gripper=0.997 state[joint_eff]: [-0.1162, -1.0325, 6.9949, 1.6874, -0.1294, -0.0562, -0.0171, -0.5949, -5.6684, 4.041, 2.2149, -0.0562, 0.0855, -0.2027] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07,"right_roll":1.45,"right_x":0.35,"right_y":0.21},"note":"The rotated jaws are beside the pink bowl’s left rim, with one finger above the other. I’ll lower enough to put the rim between the fingers before closing."})
tool
executing move_to over 3 steps (0.3s)
step 319
assistant
agent noteOne vertical finger is now below the pink rim and the other above it at the bowl’s edge. I’ll close to try a top-and-bottom rim pinch.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.8421, 0.6411, -0.469, -0.2363, -0.0154, 0.9952, 0.3794, 2.0048, 0.3573, 1.4567, -0.3607, 1.422, 0.9966] state[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1688 left_yaw=0.0545 left_pitch=-0.0835 left_roll=0.1345 left_gripper=0.9952 right_x=0.3503 right_y=0.2106 right_z=0.0582 right_yaw=0.1724 right_pitch=-0.1129 right_roll=1.4143 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.2513, 6.9538, 1.6581, -0.1099, -0.0366, -0.0073, 0.0342, -9.4154, 3.3846, 2.9426, -0.022, -0.0317, -0.0513] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One vertical finger is now below the pink rim and the other above it at the bowl’s edge. I’ll close to try a top-and-bottom rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteI stacked the left bowl on the middle bowl, but could not securely grasp the remaining pink bowl. Repeated side and rim pinches slipped or pushed it away, so the three-bowl stack is incomplete.
give_up
hindsightThe bowls' rims are too wide for a centered horizontal grasp; a low, off-center side-wall pinch worked for the left bowl (settled gripper opening about 0.10). On the right, a partially closed reading of 0.49 was not a secure hold: the pink bowl stayed on the table after lifting. Forward pitch around +0.3 let either arm descend when an untilted pose stalled. Rolling the right jaws near vertical at the pink rim pushed the bowl away rather than securing it.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1452, 0.849, 0.6411, -0.469, -0.2363, -0.0154, 0.9952, 0.3794, 2.0346, 0.3531, 1.5501, -0.3592, 1.4395, 0.0077] state[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.167 left_yaw=0.0546 left_pitch=-0.0902 left_roll=0.1359 left_gripper=0.9952 right_x=0.3513 right_y=0.2108 right_z=0.0674 right_yaw=0.1706 right_pitch=-0.064 right_roll=1.4411 right_gripper=0.0077 state[joint_eff]: [-0.1709, -2.0581, 6.9402, 1.6239, -0.1245, -0.0073, -0.0171, -0.1846, -8.3761, 3.0291, 2.0244, -0.022, -0.0415, 0.5299] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I stacked the left bowl on the middle bowl, but could not securely grasp the remaining pink bowl. Repeated side and rim pinches slipped or pushed it away, so the three-bowl stack is incomplete.","hindsight":"The bowls' rims are too wide for a centered horizontal grasp; a low, off-center side-wall pinch worked for the left bowl (settled gripper opening about 0.10). On the right, a partially closed reading of 0.49 was not a secure hold: the pink bowl stayed on the table after lifting. Forward pitch around +0.3 let either arm descend when an untilted pose stalled. Rolling the right jaws near vertical at the pink rim pushed the bowl away rather than securing it."})
tool
give_up: I stacked the left bowl on the middle bowl, but could not securely grasp the remaining pink bowl. Repeated side and rim pinches slipped or pushed it away, so the three-bowl stack is incomplete.
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: [-0.6, 0.6], left_roll: [-1.571, 1.571], 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: [-0.6, 0.6], right_roll: [-1.571, 1.571], 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 · 4.763 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: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6048, -0.3817, -0.0227, -0.0158, 0.9957, -0.0181, 0.7933, 0.6025, -0.3809, -0.0162, -0.02, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2944 right_y=0.0011 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.6222, -1.6479, 10.0855, 1.7705, -0.0317, 0.0122, -0.4567, -0.5538, -1.4154, 10.2632, 1.873, -0.0611, 0.0171, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9246d396092d5b32fc7acff50a07346fb58d7ecc379ef1bb1dd0be33abd1cc59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a83ee52a78fe1efec811badc91c90d4a6c407e7dfed568a66b92b0996a6e56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4026296575d6810ceba916c62f341d171619ecb0c334f43664a712e14e3e573e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.666 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHsI8xg3hR0e_cPSix4HnALab7yvLj5zvUDRnI3vNlVWYUJC0NeN66asU_D5eS3Qbs7vZZBv_uqhKlyVivFNeTQUnxtuejZEiGsgd9DEK6rma4tKSBU1E180gDZmzHN7dCuCnMXnZllRoehFGjqZS2HC_ncbNxf1eimgeRAotShgrhFo2iiZvNlJlo22-mmwmrp4BxAWG4y9k9eVvsgbUq078XHz6cXsd7jBLtY9XQWqBnQf0106HHSnOERk4y9Drl-XoP2oxrBrhFH2FA6l4HqHuypDyWWfZhQ4AMBZfE4ngZQVAB_UYT1PVgQegHey_68AGaBXmcXsYuU84bbV3uDw6MWZeWN2_QQYKc6G2QnBMcYxGaVn2wO4YPjnuock4HTpiomY_tXu8ZslnURqO_5v1MSAS9_tDaqaMpBs_5MJgFik72VaTLblb-avo3auJVb1olh5DSwXHSeHE1bLYfwqlZtwMbsZaZH19H5w3NPzT-uNtv3U1JDqztOxvNzxNNcWu_AvNqALqMg1hw3750qMakI56H6NLqd0Y29bvxk5E1sOpOhCPlNapcHpG6eWJO91S-asCG3OA3wojg6BcXwP8dGQP-VMEqc2Cy97dTTf0U7UEia8T-84-4sYqRby_SE2-BNElPs_wUxuT7ozGQuhv99mHZSckPO9gzIz3cd1PkW2x3Oj6fLpjS0mTCiUBixmYCBl-OzoK3cQ0M4TcFyODr0lZN4UM6jsKsgsJL8-tz0vl1lUzQMJS6tt_s2R5N6PO5-ahwh4t01yuKUernOW3nIBU1kBcSGCv9GxOkIoluJ_rRfRzyNDBGWEUOtI1gpb7-2Zm9JwnvVaR_Q-JS_ibRu2Y5lIJ7EK1-zdUvYNmy_T8fAvr2k4fGJ6sVsns1PskhZ-atC7Si_ubNFWH2WZKNwx01Skn5OU7aynmKcv1DQh4gRlk7UubWY_kgrjRBTSAal0nmwC5d7KrhQjTgxwitl53KNeLLIv1-CkbL2TAitOgvQTixohc8OSQpR4bxWycmAGLoBCYKPfWHwlfBgaFz4Wp28rpLtsB3F-5UkJL_S3waR_mgrdWLzykw_K5_TO0MDimCQYPFKfl3BwqXxOAOD9u0GIT1pVm04914lW6k6NAPrmdX0W35d3GBwwzc16AYwduB79QNdnmavsnSekFc6wW3zfuQdInzjhLp0feoE8cxw9zMiWZBW6aFF0Xl_lzUVpWuNNA5t_rMLKJCb51Df1Xfze9gK3MiD8GSBI0Ejmfx4jtSX2P2_xwKODm5nYJFAMdc1AbSboWfqCKQlg3wx6f3gwZHwpCjXBgM0IKYNfvPtjqHQD7CtmKV3Bka1CLvmNmzL7symwCmSPp6Dm84b6vBwkaZW0RiRBd91G61of3KYzeJiqTTVZoT33FG3SC_uCGEMQnlm1joSlIfdQ4AdN1Ju2RVUV2rh_bZG65hmSn_p4bmTzeUSbZweIxoG0OYPd-Ce5InCt0lO8u7DvfrwMfBk4pAMBD4lirhEkpQrEBXGXj92P9WGOv1b1RQs7jwe3dPrtK42rref7eV7SGtkRcxFU5-1IIkxr90jKdgtF1QxEyM2W3-LHPGF0_JwlDayWgMKwv3rUeAHbmgHYF0676lAVTpCMbJlr50UCmMhzWzvJR_zczsUqXQNtBSDv_EeXy-D8zuLh6u9X7pos2VNt17RDG0YeKN3BrqAfRWdY1z4d5UEzyBFlggpuxDvrw2ffDs5e9HR-Vzhx_WkzmIAj9HasqR1oRsvgd01pt_ZI5AbmdPW9ISppNckClmSdkaM8-oXh7PXoJZEseOJD0t43IxDF79mRsFWCbLR3efi5T2Dz1X36pE9ESSBFi0bjQ2bEatEZ-LzTsVk0CgIA6KL6YyMYyxHsMc4cJffgySy8vaYq13E191ftbVogMxJc72zF6j3gAV118qgTMZ5dtIAdeQbtyZ9bJzh-3mPfw5o5JS3kKNA-xwvKhGS1OjPGKj31hqZTBTt3A3qZ5fKGPz8kvOKfPQ13tGmkOzS6uz14WgHGQhfJkazSHcRoUaksaKmVMkhfMdTun0BlV1pzaEQ9juoJJDGE56VgjL3m5uvj5c4CQdKUNYTk_qLzz2dAwJYA57Ex1pi3Ce21Qga4GumlVWJM98n-CpVzyfSotZ_q7xu8cRE5_fgLwdlJvu5JumY1CYiDWqcCutuG07glNZEaFVE0ScSTAI-Q6xQt2NunqE-VpfNBr6uctkujuUCUf9gnlnYhATs8KeDLTBCwnIqTH3SzIPIv_uVJ9RuGEItud1xbIbaBlLnAlBAVA8F_TXyhAvf6NPoi2iXGuym18hKsDehyffWTf4fbVc8NJcaEDoH0_UtK0DhGJ5hlg7jakzhVGpjF2Equzw_N1gNL_bkXdY-V02V8bDkwBf9VNvopvANCf09X0h3WMZE9XOhnTaQliqxfICNGQ1K7_34PlwV-MWjrBH4ipEboAMsLyY7yFJ27oXjWAu_ztenRH05OJ52FoOh3lKutdCXD2ckiiq_lfhlJLI6J_nRAOCAHcNtCPxc-WbrOfyswxylysDW6HrK8CoWdh18VdU7wf92x1oWEOLBIDrGUwuMSEy1Wxfzk1z-xI3CXS07T2842PBwQr7Qjd5BDq33qlgxVGzkDLUSWAQdQfxkc-XNcSnNejiixPH0Q7MCE_gvJljGAf--vSonotHxQwQAKvD-_9hvBE4Wg84N3mgE16ijzs7jJSRbkVMB3AGyumw_J_FKnaXRwYqR-CNzlcrJmyKuzzYxae98eh4bNMXjURrvKwGKtaw7wOQg2SjIS1gdsvfSkr8FDvEE1g-PsKJs_qfAu3_sl_CzFCMjsPMFf3CZ7mcRqGALuIWPegCIQmSJQBW654IBvd3wWDEnl6SvYEMKEdeMLHcswZWWq-kTWvfEI4C3R_Xw0L9ogFRsNIyQ1DDkYXDCPbk8kBZqvGyl3ncRq0i9wb64zKpwdDM5EJZU1fpNLrA7SyFD7Zf8oeC0IjsqzhShTj42ftx6XKjVKtigSinpi1B-MVOydtmH9KEWCFtIULIrO7FknN7dmJc2NWTNN0cxha24rvkTZSkMPmrf8BljD2BJvW9FZWM9_HT-0ZiQfBI=",
  "id": "rs_08af964303d9f992016ab421e8772887d09d418464707a10db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.16},\"note\":\"Three bowls sit separately across the table; the left bowl is closest to the left arm. I’ll bring the open left gripper above it to check alignment before grasping.\"}",
  "call_id": "call_9GMiux101BbpDLIk51FGCFCt",
  "id": "fc_08af964303d9f992016ab421eb895487d08d543ef82895b8d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9GMiux101BbpDLIk51FGCFCt",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5173, 0.9375, -0.1459, -0.4824, -0.3595, 0.9954, -0.0208, 0.7975, 0.6003, -0.3923, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.389 left_y=-0.1636 left_z=0.1414 left_yaw=-0.0158 left_pitch=-0.0571 left_roll=0.0257 left_gripper=0.9954 right_x=0.2929 right_y=0.0004 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.0183 right_roll=0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.3077, -6.9265, 9.0735, 1.7265, -0.3932, -0.0317, -0.0415, -0.1436, -1.5521, 7.241, 1.8388, -0.0708, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3eb039a67c286544bf5706792c0d7f39926f3616e160ee25dd395bce9a6349c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8644d3fc34df39eb982483f80c162ca7ba4c8da70c0965e95eba043d6ac7db8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583bd578c2fbbee08822ad8da54b84c239d41959f8a2bf2de48b9a81ab2ceedf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.089 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6048, -0.3817, -0.0227, -0.0158, 0.9957, -0.0181, 0.7933, 0.6025, -0.3809, -0.0162, -0.02, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2944 right_y=0.0011 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.6222, -1.6479, 10.0855, 1.7705, -0.0317, 0.0122, -0.4567, -0.5538, -1.4154, 10.2632, 1.873, -0.0611, 0.0171, -0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5173, 0.9375, -0.1459, -0.4824, -0.3595, 0.9954, -0.0208, 0.7975, 0.6003, -0.3923, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.389 left_y=-0.1636 left_z=0.1414 left_yaw=-0.0158 left_pitch=-0.0571 left_roll=0.0257 left_gripper=0.9954 right_x=0.2929 right_y=0.0004 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.0183 right_roll=0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.3077, -6.9265, 9.0735, 1.7265, -0.3932, -0.0317, -0.0415, -0.1436, -1.5521, 7.241, 1.8388, -0.0708, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3eb039a67c286544bf5706792c0d7f39926f3616e160ee25dd395bce9a6349c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8644d3fc34df39eb982483f80c162ca7ba4c8da70c0965e95eba043d6ac7db8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583bd578c2fbbee08822ad8da54b84c239d41959f8a2bf2de48b9a81ab2ceedf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHyYUsXF50tbUYrACkAgiNH7NLh8UGL1pX25KUzzRP_mmWG62R43mT7oCtssx_XR4HuId8a_2fsaqB2UdOw-gAF1a2PLgv4Vi6FqaJBwn4wpH3g86XwRKUmiNMxK-YhkyA_XWpLyT-XAEf3vihVkl004xgMeLuOu2EsdvPUiJRKshVWl6nToh8euzbPkWQmvjGfXnhHk6mS2uOss-uOXPavG_u2r9dSXMIdegxYNEjDGaZQ4bBK4wHD0XVnLZ923H4kUM9lXmU795uHXalfMUhh04M6bpWzwLt20edKHUeSG2499dtFmhAHxir9mbL-7rSkvKiVbXTSsjRIPuM_87eV3HFWxjTOyUykJQywS6dKVSzWKVmDsyvFS1CKlxJPS59pFezvuF2T9xBo0PYbp2MIj9hP_5HyqKFF0-5DphtDZ35DnMLkHyy0qenKJMF_Bk5uTd9ekODoK7SydSlXuS7F4rfhxIG5ZRD9qQuwmGaLYIhfqeRcNIcr-guxbKAsTjgWHRzhpOLDpoQ4Gg5zy4J9dt3L6zRToT-uCsOkFxAUpRYDpUWafWcsyfnNuUOwyQFInycPQ_-DOMQOLu3tywNphnV-0yMXY2d4DaN3yOQO05LxfUPHC1EX75AUk51TSTHdE7Qvx5yGBuRkGzZFolb3SrNUVeRbReEKksFL5FNWJpLz05fPBOqcuXcosFH0Bno9Eh2Ys1KeC2t6A5uy3Kx-KFXnAdS-ytcMH779PzGZnUzSw50OQd3KIx4Ryhz15IW65h0CCOTWj-3YxWCO2OKdg_sXiff704A0s0_-V04qedB2SVY7d29cRu68RH6hL_FY2pBRmu8wOaUbVd0tGQrbEPuKMO7FRwnYnJsI-DraE1yJ3iiYrp6Qr8wgG7lXMNXOLXvAvT5s2Da5ZV6ebU_hZErbcdCUfIO_jb3MD3RnhF6lokoODWU5mKkz2Ki300XyaTdPrOSOlWhMLy3NbSv7PhxDMcRbfEyZeoJcyPi8NZow_L-VgvBEoZf42Mx2HvSJXufDSJWP-KpMozi-MyGRALXOgtRDaFMk321XC_kHFTcplnoM4CCeoL-Tdl70QDqkESWSXnWa4p6zU-e9DZT1EYHo1lyJEHikQbMBVErwQGCo52smuk6Z-fp6RvO0uBIywk_g0OBaXFC-rIBgbX4hhhcYGwZJQgVPoxVB2oW6XV9jTrM4-BTbxqvB0UdZpgqsY-Rmb568VK0kKn-TnWiMxf-TE9yqzuo0T_CO-seneamh7z2RvLPEs8XQqrAtbA93QuQ9_h6Z0Utv53d-f_n0lcPB7FPzqEGwCdIl3BE5TZjkwL90yT6_SobeIU49UWCNQuWtynLPw_D_sw-eG_egG23S3XobeC7M4ZHxamtCt5cITlXKlkArugo19uv1nir-oh-JW--KNKXqMOhfxWqznjTOMMForbLLyw3oEenay3IPxMosHWNnXC8igbGnsxlXzgdQEqz8R9UQx5to57vRrdvje_bDmC0XamV75sk-BMkwXqoaAwfi4SVoASKXvkp8upEQoFY4wXX7nnID4SnaswYD_q38dQwG6xQNgxV5SpoDjgyE1HYNA2lKXmzB5eSofLTAOTvTnqIK7567CicTcrB57oqJgXvF6C7yt7F8nJjcxFgLxgi7JdhO9y2W6fQ3qrrcb4JnSCXhRH1U7vkLt-tROq3_O6GUXxRf0-CDco6KYkOnobbNHt9eKGPH5VTqbiV7WfhFaei2PFi3H60N9FJNH5ahAOWYgGEYe8XFEOLPLvppx4QmsuCKHaVj9DWCf7lHtTpS7gQEwGRwCj0Y8VaD-N2ySCaFZ3lXQrznxhoe0kco93TEBtO7wA95Z8sXRCfiitksxXWm-pEuTZZXUZ913w-mb9gR0k5caIrNkWM0CjzdsOj_qFC1LCcyKNmfkB9e3mVXlzoVM4PRD1E3K5q2h8RI4u5rEBRFHaj4hAzle4-j7UacOGftAyI1cxHaQbncwbgnEUdc5FenVkcMgE9bSZm6AxQMpsSlY_6J3jkgSJbVu_xDcB4sO5Md3f1PCIwiQKjYxMCzjA0tyIfqznqbrTefih8C7JqqarnpL8E7_fitYfrQnoWnLzvwZwjmRBn0DfN7kXHnQe8T3K-bK8Hmq7VzlnGqPfyYN_kPh_Sk0rIgrbclgw9xQHFgocD53nhO107Mf8sMQTb0r7N-lufKLBzpQmhgIilTz2oB7lQixIDUWC-lM46DWzQZtPEhw1KSCRw6N919tStdAVNA-GqTwJxqBQ8xZOyYwNjetr_qSS6LBnPlNoG57IJ1VHoZzp8ZyweS5h6VW4yvLOvyeGmWNoDIFB_vazyq-BSwJNg1rmIRXM0HacEiueeE5ur1kdAcR51S_uyuSfwwCib-bafvDWt7hWODX9w2JdBoIz2I7eweug5fn8F4TM4aZPbOGm4mUEdNySKbOlt8BZQtCCikmahkFuFyjo3n3qD-PF6bYTqY9vjf2CSG4zAFGvnve5jNWSLMxOq3Eozx5YEip28zuvcyNwI0rdHNMmkO24s=",
  "id": "rs_08af964303d9f992016ab421eedefc87d0a627f50a6ce84f49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_x\":0.4,\"left_z\":0.14},\"note\":\"The left wrist view shows the left bowl close to the fingertips but left of the jaw center. I’ll shift the gripper about four centimeters toward it, staying above the rim.\"}",
  "call_id": "call_T1hHiXAv3krrtdSHbDIWK8eE",
  "id": "fc_08af964303d9f992016ab421f1bee087d0afd720e66c256c33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T1hHiXAv3krrtdSHbDIWK8eE",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.507, 0.8921, -0.1211, -0.4152, -0.3008, 0.9953, -0.02, 0.8009, 0.6003, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3986 left_y=-0.1209 left_z=0.1277 left_yaw=0.0269 left_pitch=-0.0905 left_roll=0.0396 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=-0.0014 right_pitch=-0.0221 right_roll=0.0003 right_gripper=0.9979\nstate[joint_eff]: [-0.4855, -8.9915, 6.4889, 1.8193, -0.0024, 0.2076, -0.0171, -0.1573, -1.0051, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad28783747770cfba8229d0d12ba782057019988100fdb468443480154e3c208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f766ea34fc974be366b52c475b2a7282bfcefcca268d6e809e6a44a7431dcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36354ade3c157ddd3849f47ddaa24b19b8f86019a2b886b63d547981fb157cd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.007 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5173, 0.9375, -0.1459, -0.4824, -0.3595, 0.9954, -0.0208, 0.7975, 0.6003, -0.3923, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.389 left_y=-0.1636 left_z=0.1414 left_yaw=-0.0158 left_pitch=-0.0571 left_roll=0.0257 left_gripper=0.9954 right_x=0.2929 right_y=0.0004 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.0183 right_roll=0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.3077, -6.9265, 9.0735, 1.7265, -0.3932, -0.0317, -0.0415, -0.1436, -1.5521, 7.241, 1.8388, -0.0708, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.507, 0.8921, -0.1211, -0.4152, -0.3008, 0.9953, -0.02, 0.8009, 0.6003, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3986 left_y=-0.1209 left_z=0.1277 left_yaw=0.0269 left_pitch=-0.0905 left_roll=0.0396 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=-0.0014 right_pitch=-0.0221 right_roll=0.0003 right_gripper=0.9979\nstate[joint_eff]: [-0.4855, -8.9915, 6.4889, 1.8193, -0.0024, 0.2076, -0.0171, -0.1573, -1.0051, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad28783747770cfba8229d0d12ba782057019988100fdb468443480154e3c208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f766ea34fc974be366b52c475b2a7282bfcefcca268d6e809e6a44a7431dcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36354ade3c157ddd3849f47ddaa24b19b8f86019a2b886b63d547981fb157cd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCH1IwT7txBZPidClB4-J7Vbo34eG9H8zDNFCCvGaArjOntPv-syeW5OPUtcG8ayQ0weVzfjiCPEL4lx9_tqHeV-K5VOuKuoQQAHxJMDSpJSHLU10Yel49EBxO2Nhdd0PtggzY0R2OJRVDpAx1hVxbPZCk61-A66WG_mprz_pmjPkKFXmsEu7m5KqSulaD_WwMMAqa_3Dt_BQHnmxIAH4fW1PRDXF74LhXch7rAZkYhunZ1PbXv-THrjMbNx_-bogiBegVAAFmY9VMC9Taq1OOC9kO9tA3aM75ywD2XXQy51x2VRdSQKVEzEYhMRsdNWrXELUDjbP-3OxP8ljeQnRRugtzEwArJieQH9EyrzWFYXuI_bpAb4_WFTwdSDDfYIj_sLyNaeCS7ZX9OZ8IgJopoQIdXHxbqAX1sJLiE4-0n6VFjQweaUjVGtOTQflplR-sZdeQmKfx2kA-11NTp2BWKOMGccyATYLIhFAVNY1f1fB08W0snLXXOU0l8-9Wc-yoDCDeCT-LETPxQZ9ryllpqakWLTjcTYhY6i5tE8MPMYAFYjWGrmspW-_ZElwWAuvFNhjqvFXCpANGUO-3ATRNfUa_wgdrAF-rNQiwedD7iXxwUB1HyLB5e3vHi6om9jBrzKHUnMp0_915W2jXkJhpYr9nmDTTJnTjy3YpgIFlTfiMvSPOAtmnfCD-oaFeGrHG9a_xlctBXB7ROx7GxIXKWoykEK95G_eSctOFPuVEzDsvddYIV15-Dbpw78iUW90tbcVeoMT7kQwLiRwBk_KiVl22Aj0DuFoB4uem_YZGVkE5Zw1RlcZjTLQnsiTqsGW_yAvr0TB_Atfp45HSqTz3Z0aDkuGSApqCg9d9kJrMUxY9kPxVoOos_uGys08FdS57s6dCXh6Gqu0V4GWZ52ZsmP_w43BqvBj4aNHDK678HqFHhxU3akqBuVY-LB9zyJLLzHFZz-dy2nC-m7_Vhritk5DtoMClGGXi7o5TNlL98GOppcFX26luZRRCicXrKG8vi25fwPu-gQEt9700KMsaUI-NikgWGlPo1fk7YASf39zI00V7c5JJFIZe9TGrDkz4azLJgIDCHhniwQVNHiIa5cpJqhhWdNKoaBpt6yiBlHL6LoXxcrISAE4rRpSJM-dlDPRkDeZwzacF_Qbvc8NPpF0z7Z7Ke5NWhjuQfW5EQb6f2coWzLX5VBgzybScs-1OvTvVGCa0FwAGOqQiNFbMR1jkfOoWqhIX56SCkuIIPgjPjxKuVQ_tV2MmRR8to6MWxGvJoN0AId7TZT0UXPrO8HciZ1Vvo3Z553UdyywYfi-Uf0rN8XhiVkr7cOU91HKB8bDCbf7RAp6S0QgK5UxYtx53FYCkNmsD8VZW03VguPeh01dSf6GpunIbpChB_Uun_5A1nua1AgVK4kqqIGUfv14Oz-q2x5PESSpGoJ2iuV50aveVyuguguEmmwUhHoNxfBkVm3eVal8g8zi-qAQ79Qf6lP3935FotXeqrh2su5aAh4Bp8rEjrTwCzOoUt-_SDOA22j7sdiB17UG_t9lYgKwST0YDkhL_MRqGG1wWBocpwb7yuguF6RoQIyns_iQT2rX0LLzSxhlhw3gjizwDg3K_ls-XYp0ALYzp-cRgOBO9lj_So_TwQKQL_H5G5uvND54VePxruOAWaEGOtaapULWj7oZX2UWCIEXJ6EQvfJRMVKM2PH2Pn2YDZZO2j5l0ZQrjkoeVwwEYMKdMooPqYJ0Ve6AKoSixrTqABhYMv6HSPjgZdSfDuZMjPaNqb0T-HjrEppk5vpuWs91_bhcTejJoBxjDFSMd_Fg_-ROaH125wIpgpti-n7G8yLISTcY1bfop2NPXUTk7uDilJbJRuGHepEghE5O1THfkOXxY4SGQ-iN9qd0rDKY_H4wqstJ6_ZF_gcIvPHpI_2Hoh8xyYDUSXu5dHtCk_-705oj-nkbFfsl04Ou9aRrXYj4guZDjz3SWGFxaINapqpIZ29iKfybUZ0s3gTeN_jQoKOBN1jzSo=",
  "id": "rs_08af964303d9f992016ab421f3a1b887d089b9fb90df4c8523",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_x\":0.40,\"left_y\":-0.125},\"note\":\"The left bowl is now nearly centered between the open jaws in the wrist view. I’ll lower to around the bowl’s side, keeping the horizontal alignment fixed.\"}",
  "call_id": "call_4NypyldnxXJu4KI08xwBIhVh",
  "id": "fc_08af964303d9f992016ab421f538ec87d08a58a007c760fe89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4NypyldnxXJu4KI08xwBIhVh",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6585, 0.7521, 0.0952, -0.4099, -0.297, 0.9953, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3896 left_y=-0.1215 left_z=0.0509 left_yaw=0.0156 left_pitch=-0.1583 left_roll=0.0756 left_gripper=0.9953 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.3368, 5.9692, 1.7802, -0.315, -0.1441, -0.0122, -0.0615, -1.265, 7.3504, 1.7363, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ddf8d40ba142d4030432a1b4d7196fdcecfe90a73e580ad01356064d97e8c4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c6468ccc3b61102931599127c306dfc88f818b5323956259b2bf29e59583f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad05f5c81fcb745f51e36ed62e6c18de881d90ea67b82aae6e9d9e36c7e8b83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 7.519 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6048, -0.3817, -0.0227, -0.0158, 0.9957, -0.0181, 0.7933, 0.6025, -0.3809, -0.0162, -0.02, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2944 right_y=0.0011 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.6222, -1.6479, 10.0855, 1.7705, -0.0317, 0.0122, -0.4567, -0.5538, -1.4154, 10.2632, 1.873, -0.0611, 0.0171, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.507, 0.8921, -0.1211, -0.4152, -0.3008, 0.9953, -0.02, 0.8009, 0.6003, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3986 left_y=-0.1209 left_z=0.1277 left_yaw=0.0269 left_pitch=-0.0905 left_roll=0.0396 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=-0.0014 right_pitch=-0.0221 right_roll=0.0003 right_gripper=0.9979\nstate[joint_eff]: [-0.4855, -8.9915, 6.4889, 1.8193, -0.0024, 0.2076, -0.0171, -0.1573, -1.0051, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6585, 0.7521, 0.0952, -0.4099, -0.297, 0.9953, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3896 left_y=-0.1215 left_z=0.0509 left_yaw=0.0156 left_pitch=-0.1583 left_roll=0.0756 left_gripper=0.9953 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.3368, 5.9692, 1.7802, -0.315, -0.1441, -0.0122, -0.0615, -1.265, 7.3504, 1.7363, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ddf8d40ba142d4030432a1b4d7196fdcecfe90a73e580ad01356064d97e8c4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c6468ccc3b61102931599127c306dfc88f818b5323956259b2bf29e59583f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad05f5c81fcb745f51e36ed62e6c18de881d90ea67b82aae6e9d9e36c7e8b83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCH6ubor7Xge85NXDdvVN9QUl65rCIEbNbkLb7P4Lus8neLsryiulJBVbZ9c6WOn1ljFc5GRRsFRKNqju7UTSkjdiFYE7YRbNeqkymFd7yq3cB5pIvhCKl2wkGxy0WR5VStlIz_S_iOFv2WdosOA0XuVZu8tjM8S2gcbiCJF8U36TK8pSVdAOFtiyaJk9F4TNMdd1hnsLNx4t2O52z0DUman1Z7LMzFTkGlrm_sytluGvSO9RDO9KcNmMtjGaFCwLWITTSjee469Gf5AIotBFrokZMMDSiE3jgxIjM9CXWmPtSjRTHTDazsT-rD8kVn8kNuQy8cgHc1v2j9gydRnA6x-c9VaWKsoGpYL-0qQdEdzWr8kiCstNqjON3cByC7ImhnDaHVW23bV7lPrOzDs9u8aCscwL1bIqsBFvRne7NeOcgjD2OERoF5JcBE2uLW8ZTItsU3GIzvEJZEwG7wWmrNRjClbEbMKf_GXrLRDmWLYA7ywTs6yv3URSoP46kfldo9mFaTaoARxVeQhVrkDyFJXQoaymYIYxmT0tcVp0zte_ysY2xQwHqQXrsKNWdSt9n2qvxi4ZpRKqB3Gc1MT2Me8Kr-TJHuxQpCL5rBftfDvsge6lV2PFys7FK1aD9LcRuESc8PoLNKR_O7yfjt2iqFFL74I6a5s4eQEbRG3RD2QcJ9zAyH-1zVZ_RO8KwVs_vKASrwqIKiYNltBSDx592RYYU7b50s6_SDA40cw-mPpFBvfypRfDyeiT0uHwev-W1cWNbjNdKIRryowSNBpPzaWmEhich6pW4TFW12SdzSfPrXcMMFJayK3JONUsbn-gvG7iOja9hpmrv9o37drRwkiLpDJBI4oUbra-5hNDZKo96nNAUZuGPkecayqrbQjVR53ySx8rdHw9nX6H79OqjrYr00Qjm_auh4cb0UFV_zl2LXL_BZo-V4RjDynnizGFMYHTfI3MBWnER430SFFYtAzrQYfEVpGT7jlvsAuRwHLzqKeIjN0tlFG8whLtKfdXkOu-oW0f9UI4sBqIH0QMizsRT0sAA_k98jQcrvTD54XPst6DTKoyiVZAe8ixdZ2J6HDFg3sWtwj2TCjTvFaROMtNzFa0rzFVGyJQIyOND_Irgg5FO02aI3Oj1OTXydp9A94gLc3owurSGuM5B-dzxqU17tnHRzXjG-IGlyas0j1mksWumQHxRx2-Pz-s4l7wUGfFdc9VrFEGA1ME0NHNpjhjVfrcVMSb0al6iOf1BBlYNksuQ3CkS4NhqRqEy9l6fnr0jvRvohE3ib7m2GJB1Q_4i6pQcN7dMX34QXWNchVXyL17Fp2zRazCsz0c5zCR07JX6jpns_ScRVMD7g0amF0em07mF2K4yyYVoe1rm7fbzL03lvGqLy-6qKnQGvB6rs6PxQ5xCptdg_6oNkfwa643DUNy0ZRzsaD9ppa69hwfmllvx5xF0E_7FryRJu6O8z7sMsH8hSyVn2soo3KHeUm942LCHHs-pWJYRaACB-5xp-JtkkKl75UiAc8XAGWYhRadcCC-TpXQ-V05tzXAbJmfCOAlKQJCZoMWQ4Dzf9K-QsZChViK3pC-h6wawtebVRiCq6ophXgUNtwYFjXr-dolH5Ik2sc1JhCuRDCy6u-vZCvqGsZRDVyYeykt8dSAZQ-UyY_jCmqbv05_WZ7v3rJVyt2l0e-Ro6WjLjP2cn7HSzWAM6W-yfuWvA3wAGXhY215ylaC5zdPRGmUhCBSaY79Q-pni9Pl4w2Iu8kbx9zfnamP9OkqPXu3Au98_aD5l4t4uFOZvmWqBMJDTEvZJCZ-V7LXbWFM2O6NVJxC03e5pDf0ZzemDuacKNfwBp7KzbahtoPgz9L9LZjc1Lt-zInWlYPKkITB1YAm-qFuH54i1zjG7YTs1aVGbXbbi34Lxlk2BffUW0jvOGsfAaDsILaaQkQaDgvR6zmwiVuYhIjkKxN9d2WWkROzaKK-JtAm-JqTroblJrwjz-jYyjpHjsG4GNVsOGm2IzpMjGkPx11WgxQnpe3NknnWXvafJ30Ni4LFPXLb8fBALZOTjbCQFQ44gRfqywGpBEddmiu78vw8K0IyhSZ5uVNqax89aRLU0BLeb2nvV5x6pMueUIYVyqOjPZr6JSwhMQOMra5Ty5RuCYEUB_HrjLkRnIRITq5M7ZvS2nEUVL1PIkv1u5JhfM7GInD6jwINNN_Wg4zKpY-Ox0ZOrfgbupMhswEdvpa15CzvEdb1lsQPt1esKOTDUFyuIUOD9wKRjbpj3Zm8MbviwjG57nUUGun0cA-TOUdM4pI",
  "id": "rs_08af964303d9f992016ab421f777e887d0b287daa6adb2a9a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.1,\"left_z\":0.065},\"note\":\"At grasp height, the bowl spans the jaws but is still slightly left of center. I’ll make a small lateral correction before closing.\"}",
  "call_id": "call_Kv8Ve87rozeBlstfYENH4n4W",
  "id": "fc_08af964303d9f992016ab421f99ecc87d096230a6725c0c6b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kv8Ve87rozeBlstfYENH4n4W",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4511, 1.6424, 0.7387, 0.1074, -0.3889, -0.2848, 0.9953, -0.02, 0.8036, 0.5999, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3917 left_y=-0.1113 left_z=0.0532 left_yaw=0.0248 left_pitch=-0.1528 left_roll=0.0643 left_gripper=0.9953 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.9641, -9.5932, 6.106, 1.6142, -0.0659, 0.0024, -0.0122, -0.1162, -0.8684, 7.0222, 1.7656, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88975a6905268ec3c85d79c38b0b4734a9700880a8613c2446fa7d09383b1542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e7dafcf6141045c00f37b683c7ad44d93b96995ec3ac78d5cd8a51dccffd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34f4e52ab2c5db145f23da47810f74109fd83709c8502edf726a19b6808717b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 1.917 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5173, 0.9375, -0.1459, -0.4824, -0.3595, 0.9954, -0.0208, 0.7975, 0.6003, -0.3923, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.389 left_y=-0.1636 left_z=0.1414 left_yaw=-0.0158 left_pitch=-0.0571 left_roll=0.0257 left_gripper=0.9954 right_x=0.2929 right_y=0.0004 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.0183 right_roll=0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.3077, -6.9265, 9.0735, 1.7265, -0.3932, -0.0317, -0.0415, -0.1436, -1.5521, 7.241, 1.8388, -0.0708, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6585, 0.7521, 0.0952, -0.4099, -0.297, 0.9953, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3896 left_y=-0.1215 left_z=0.0509 left_yaw=0.0156 left_pitch=-0.1583 left_roll=0.0756 left_gripper=0.9953 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.3368, 5.9692, 1.7802, -0.315, -0.1441, -0.0122, -0.0615, -1.265, 7.3504, 1.7363, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4511, 1.6424, 0.7387, 0.1074, -0.3889, -0.2848, 0.9953, -0.02, 0.8036, 0.5999, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3917 left_y=-0.1113 left_z=0.0532 left_yaw=0.0248 left_pitch=-0.1528 left_roll=0.0643 left_gripper=0.9953 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.9641, -9.5932, 6.106, 1.6142, -0.0659, 0.0024, -0.0122, -0.1162, -0.8684, 7.0222, 1.7656, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88975a6905268ec3c85d79c38b0b4734a9700880a8613c2446fa7d09383b1542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e7dafcf6141045c00f37b683c7ad44d93b96995ec3ac78d5cd8a51dccffd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34f4e52ab2c5db145f23da47810f74109fd83709c8502edf726a19b6808717b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIB2brYDEMDzxEEvf9SX8yq3kiDCszYJmYowi5J1JbxGSkZDv2IEeKFJz8iCgNumF5wviXNyYq2PBFLT42jW5wFxfEHKRSVSYW_3TPByacb1ef8x2ervIBRFUENTqvcD4F4z1vH43XF-4vPm0bz8DeyYWTOPdOoXL3C-YYoPpzkcj2yiogQPKl3iV05NdyGX1h-JE1xiK2z3lsJsMl2lvwoAHn2JuzufKLWS-ZCPV_NlqYRgawTqEr1UcdJMWPuw44xHXb6kKzNuz6sH28yYZ09NyT6JX-oV7troFKYFIcyIG9UAVGAAJ08uTVcec6-MyqYEs6wKU1cWTB9_RcPnohwNadpAAu3PFtcS9ih2V5oLi8f80K9hTvibqcyErY9CfxVm9xD3qQH5__Hw48EdcSi0Na1zvrCPAfXi_rhUqP4_sxMlAsGybUZp7Fromyh8QZPa-8UdH0StdqMQ42JSX0XzxnEhZDGEarE-UEHBr9el0-gBCQeGkLPmkXY1h0L5gpLZ8_zip21n9G0z_gTnlYiUnzVASg-8ZoqhYgC83-kfoq2wYK6IdCBRZDQRkQdUWYF-gOxMVy3NyfJ2wiwBm0D99U0FY7fm9aylMCwGzaeBmMErCcrBNCzYVDFN4iwDEpSWjZHj0up5yxyzmtZLF9s2_eLqoIZM3nOnj6J_6E3J5cubxR6Fn21AjTqIvH2ln1IgCYRI5ZXajGbQRBNqJHq8TOW4tO_RPpDquyC8xeIEV-WsraNokyEUoWp9_Mbbc5i0ixIeAXumqCnHzs-6kDHNO45lpgY2IyfetCTfiuVBHhLNxLAtqhR9kkaWaCNi8e0naq033exiJptRO8_trUJI3IaUCs0yHZr0NeMBTDJjwJhniMDCKPv1vKU02xSgCtgnJbHNRN8pWW9hGqzC0vnZHi4roDQ7laWnQGi4s-rt_jXCe-alxw8m61tWVXqo6e7wJKGdhhIn_Fa7QqJm6jArvCExxOk5SMrSqETHoBrzer5MTahsi3mOPqt9TmbJKbgd1C_1wJnjzKGd3GX3X-WnFTq0QlqN-jbMEnbWghEg3UyiHHyinocPBG6lkFYDM76Qdo1ZIgtdSPCe7DNGwH4boZK3FcrzdNaKcJUkbFMRKkH3xBtTFNXwdtcN4iqwzsxTQHw6esVEkk_Ts7tlOiP4pFx3kNUIQDeD04dvpLKVXgujHqipmQyzYXicOOVoHu2a1EasgvU_WFEeGBQQnb4LkQ6NotSTyMYp2Jit_LBeChJ6-mIWxAoRTUzRVurlaQz-K9ePFj0Bg80ZWkXNFyim3-Y0Ms3NuNOkaYqI6SvLVddpasJK5ANb0c76tsnSyncYIYYQMvvR6YFwZtATiSUQhcpy8Gj132unZm7ckkJZdQVA4BilViqktK7-h9apemNnvdXoFET1bKME3NEMB7bhG5uQeC5HCQEDzSaGkh5kpVaS50iSvvoGErOUG1uH0opr91WEQXLn2Vug0EEa2FbI2ZAbsgY8kSBsF_SKrEaPMhaA-6lp8Z8QVglRETX_WEDirukbqiLkdUuiDSSsD45vfywAv1-24MATcnQSbTLKUIYuHQcTnzU_GROlPcD9PDqg_2UdJ9IIRRRPNKzY7bWefhA0-S0bfRDWvnrBV5wEAKJ4xGxzhW-fwjrfopmFCRDMnjH3XbUFmUz2qgSQ03MiYe4uL9er8cB4zMU6eGOwNd_yekgbTffWhtKVEiahiDKkAnaqFIEDFcoAVJGEdxiiro_iK1HqQjZfmWpwV_85N_9spNFXRMASa-SrikJ_TJU_61RPDUHngBAjK_cAGug1XOxJjytJuR9SARFqsdSwwaMBJ--yv5HQNANar8qbJQWYBwt8azkvUdoPmx-EBeILTKdEyxBLJ58a7b3lZ0DbC9spL3HfFx-yYnwwtDP43z4tMBVq5DHUWl93u61ED0UonVKhky-e9xGTpqf0iEym1Q915j5MPc_L0ejy1QCX5FilJa4j8ZJqGmKsLy3xQ4-M-85uxwzpZVmO_FKzEqiSxjt1yv_WCVt9qw0sLZX2ljXr5xf0AhmEw6pl2-B5arjHtse-n0_XE0Vhpt1NvH3plm0NnQYdVVFsSJdXLT42dsDsJiZPZjnsTxKh30ecvkj-hCgZpNrljz0ox06eB46_uQPhGLlpwV-cUVVogEhsi0GEFUlM4cJLe6MIv8Brdb7WXlQd9LdLHFYkpiKJJTl6pGfGGduE6_40AMBMNQWj8fUpnJSfi-gEB-dbedYOdxr_GZvdWhfZt44tT2qjSWLm4cfzh0CDUh2SvaeS5ZiunNvclC6udYA2q3Chn_ALfsAJSPXdy-xRytfP1KtnkMuYNa36qW3Nzo2c1rCwAk2AcE5c0YtbYXyi4tZT8b6KkZJTTCQTpx8VJq511bkXeVDpnHUQW9Kihdtf4m87-O1jPPL6AkNBQQXzBb2K5N4LTb8rGiKGp4mwquO5JrOCs-WeoIid-NlBHsmlBsFrx38wRNs0JxNWJ7vX5H1N6_B1atvRfPcbjG6imCs96UWcrbCq_VRG5Wxf6Jt423AisE2ABNLjzHJv5Ww74h-hTjUBsEZGd6W5L2kBBhsXJxEs-ftXzWf3bMnxazo2SleV2nfDfrdG2I01yswmc_jggWCp3JIH42wiLr-yhQ_NP06gGMRU61vV3jzdPon4LAy25rJUlmBppE49KfnIPhnXfRLcd3L_DAJrhhBb_fuBxmtUbjLI1JoCjbuia3UqSxymzPrGSPFDRcRsQm7BhkIAi88PYqbKkB4gN6IZJplqWgFff8EzoW5rW82XMzMNumDT8DBU8jcyOTWowXrtcudJYUBoK877tleDgukacoCchsn8DLzVQpvuVvEQNdzJTpoq0W2kgNJggczfO5ac14pp20i8MHqNuATuxHYaoNmuLY1iaaI03t7qfbLJHhbtOizGUfCPRMeIGIISteZFDiy52AW3ATwKkte4oavrape4QgPjPbR-vhyynMCtUkR3oWtesoCwjQQSbFHGy3rd-duX-P0bw8jTcdcdqF6Uh3FBMddd3rF_YwdLghPJAPmUV2lC2lP72kupPavf8jXBC6ySIxweg5ThuVgqw0qrZzwl4g-Toygunfw424MpQnNmDs8u9DkrdFG4zQg2ryBviYMKx2mv3wc_zhowAjB4GbO--ngbIF3cPQxRelF_rpIU08f481v78zCV2XiDmA8VXwGbVfJfLATOpS1gX6wruJSbeOlsjvG6KfLKZdhPlvGtyJfCX85GWFNGsUnYEOax0PveA3jtizZvx842MzPdXKcgJvZ0vtM7H94wOfdQ9Tnnqt_Hh0_CgXlipwO32fpDDqG1WU-67SAOtA1VgItCLXrdesjyJ3gtE_ChMAxBHKxlzhP3z0WfWf0gEPNVU19X9RLS76ZDyp1XmSsx7oZqWLtl8rjYpqvBCIEXFhidlgB39Zyt4Oy9HSb-1G2X3nBruO5xCpvRo1akpp6D0yh4sTVwwBsP8W9O6S-LnPBzvoce7zQ9zQHsvIEjWySWQLcnDOQhkeKJNsGegaRqOa3aJC9_1IDu6i2vMUbdtf6KhtQqPUngJ1b9SDgBOtiyPKLzDeRp77BDb8gOP7RVvom82hMuWqgTBKMGRvNQo1SZhzDg-qHMRUL_aIWRArJFeUROBP8uoo8jaQOPX7jW5rWXYnss55wu5jnq_KeLcoJDdIHWr0mtiKkJ82vIo4gFYA3PCZY1nozIc36uMsaxswlQHmy3j6lFwOnbL7kYZNtpX1A7jDwzrbyOXMVr32GMjhEGxCg2Ho3uQMKMWz6R37MlrsRAbtYaWmoesGq6ZIeu6g244tyak1T8qZAcBa4KkALXabWkBIi6lgN7WeqY4PPt_2JqJ8J1WW6Cpg=",
  "id": "rs_08af964303d9f992016ab421fb39b087d0b70e520dde1a16e9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIBIQRLggdp0sLSfK-G-qqjwv0Cm3qdrHDbp8R_h6t54xN6mjbeiwFHlszvCfXs8iBGRpRiCctTwn1k1olA70Pgpk_4Qb2YXB2FmfdumdAGJHOF5YSfgkBwiOksALmHQGBVEUpsHY2iFo0ir4fN5M0QTVCYrYOpA1DQBBa2mMLXPXxTxobxQQ7lf5MRCAeCoMIfD6KpE5yFV0Nos_HYPZ0VozwYPjUjPpzZpObspmz6Lb3pxQ5jgkmcvJtfZuUmLanNOd7aQ_NbSxWH6PfOx0FUTxxjQ4AyDlSfu3pL2RtIfRvXF-7pABzF3wAVJ5nxt6U3aJR1aHTCNNBJc2KNQjYBG8numkGu0o3LgJMe31sYorTK-sjrsE_g6LSgQN6DI3b3vyy0ddlhHqIOewS6vsQvDEWuQ14lh5Wr7TcNyxvurwD6BV6heHyJ528XD9le2ORqL9i-ZaX7uS2hK3yzcpuZ9kFSk2Cc5bAq8c2SOcr5LhthpY9WkSge_hXNImi8RtdTOGsRIfdTIm9EUek8rBZF49IvsfqVuG86qfZRV2ri7gCvrhCS8YxcPlrxKyQCI4JXKixZXoEu9pdeBTsJ5Vw7baOxDNYZtxMEH2k5cBTs33domPyjMmu8d2CtUqyKm4U8w8EJFlawSeNjw8TKrkgFwwSZS1iFsgYz_6Hcmgpz95GgthgJm20G2zh3OruQlYNArq1VF0mcohZNhsI-QEHFYhHxNq28FvO7chz2z5yVblORX-gC0_dM_ob0ZKkj78vUng20o0ktbCXvu1cQvXdQcoEIEh4gTF-4Lmpkwvt_tp5ov2g8pnBvKFRQDTSa4m6J0o4MrQP9hxVYVrhySqwNq0SL-4XQofDwTtxVer23DUaFG0K81jdxLbrdKq9ZxLkI2iUymlyYLNGpynHBjFbR_6jtnQ-DUYyqKQVOmtBxjPgjdzmwkclXdMn8DwKSKrQWsMJFswjhO-HbPOezbvPrVaOPqqkIGc-dnFobfDAERNCL-PasN9tbRAPl6BuEYX2kNNuqZO6rTkQtQi_5hsJmdyeczuQBlgDMc2RAaSySgVOZT0sqe8xPZhuxSBMHNtNCM5C6xnpllAFahjQDYCu3wYHDAi8_g_2q8LHNS84tYnFI2uFTCtFbA4NASaZXFsr0N0vE00PYIrnJNMQoVDF8ZDQIiAg4GjrCUKQQjxoLGk5-YIMpAjqLEiM7XeASvMuy7CqowWwT1kINQiVlP2aNfhV5LjN_lQyIa4u3GM1fax1lydkShlWwmNn0mUwUeh2-ZlpbM76jcTISXg6KE2VlXx9dF6Iz1zp6_fNoqgJ-hvHcwyQ6pWZw_ArITjz0h4QOIyj4sVny1ymVTrbyeVvdZpnMXYTpjBA0tt8omQOddiDx9uT10r60JMaba-AyBJ8qEJ5EbO1N7rrLJPFINAdPHzw87tGJtZwOUPJ7ccsFpXKhgkyIZZ0KzpzywthbLftSrBdFgvV_MO_L9Jer9ljSOaVClj2m-V8MQXMnqDHNldPvTc9aOEkzAH8FHJoBJ7Gve3jjFJdxdyjd4xVbtKFxwC4VNaxdhqcpLuiU7EYb2vhV-Nr1i8lzdjR2rA66-HPoY3jMTXw4R__MSuZG9Va-HXLDZXuTQqtOlRjZaTagK2DZl8PRKpq4M-a6h4iUaHdsqKSYFen3PfjPnpjf-LkfEckWcptt_-hZfT8MQdLciwhEEmd30c9fktpBQyGhDGNupDckFyWNCcr5vdwD7hakmxaCVywTGMlk1nMywQd1-n_UcM00Csyz_3OKQHX1Jr-P",
  "id": "rs_08af964303d9f992016ab422001fcc87d0869c6a9a0081227c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.018,\"left_x\":0.4,\"left_y\":-0.1},\"note\":\"The bowl’s rim looks wider than the open jaws at this height, so I’ll try gripping lower on its narrower side. I’ll descend carefully toward the tabletop.\"}",
  "call_id": "call_ddzbPZm4z4ikRKDOnV2d8ag0",
  "id": "fc_08af964303d9f992016ab422013a5087d098a1c944aa9a7972",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ddzbPZm4z4ikRKDOnV2d8ag0",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.7473, 0.7052, 0.2092, -0.3626, -0.2573, 0.9953, -0.02, 0.8055, 0.5999, -0.3943, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.393 left_y=-0.0999 left_z=0.0167 left_yaw=0.0296 left_pitch=-0.1954 left_roll=0.0838 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.172 right_yaw=-0.0014 right_pitch=-0.0286 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.7179, -8.4718, 5.1761, 1.79, -0.105, 0.0806, -0.0122, -0.1846, -1.1556, 7.0359, 1.7363, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffca1cae867b8b537843ad8b8328b4ca4b19c7badf4349e8df984184806fdea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede4b57b5354ac035d3a2fe2d06a8e9076a0f2676a995356fe43cc08611fd29d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa00b34351dc55353c529961dee73a0ba617337ddc0738202fb5bf2926aac3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.04 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 23 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.507, 0.8921, -0.1211, -0.4152, -0.3008, 0.9953, -0.02, 0.8009, 0.6003, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3986 left_y=-0.1209 left_z=0.1277 left_yaw=0.0269 left_pitch=-0.0905 left_roll=0.0396 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=-0.0014 right_pitch=-0.0221 right_roll=0.0003 right_gripper=0.9979\nstate[joint_eff]: [-0.4855, -8.9915, 6.4889, 1.8193, -0.0024, 0.2076, -0.0171, -0.1573, -1.0051, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4511, 1.6424, 0.7387, 0.1074, -0.3889, -0.2848, 0.9953, -0.02, 0.8036, 0.5999, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3917 left_y=-0.1113 left_z=0.0532 left_yaw=0.0248 left_pitch=-0.1528 left_roll=0.0643 left_gripper=0.9953 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.9641, -9.5932, 6.106, 1.6142, -0.0659, 0.0024, -0.0122, -0.1162, -0.8684, 7.0222, 1.7656, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.7473, 0.7052, 0.2092, -0.3626, -0.2573, 0.9953, -0.02, 0.8055, 0.5999, -0.3943, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.393 left_y=-0.0999 left_z=0.0167 left_yaw=0.0296 left_pitch=-0.1954 left_roll=0.0838 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.172 right_yaw=-0.0014 right_pitch=-0.0286 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.7179, -8.4718, 5.1761, 1.79, -0.105, 0.0806, -0.0122, -0.1846, -1.1556, 7.0359, 1.7363, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffca1cae867b8b537843ad8b8328b4ca4b19c7badf4349e8df984184806fdea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede4b57b5354ac035d3a2fe2d06a8e9076a0f2676a995356fe43cc08611fd29d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa00b34351dc55353c529961dee73a0ba617337ddc0738202fb5bf2926aac3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIE3JkpKheWr9nCgri-puN1o-_hOHZrcwXvG5TWrDYM7zTOSGMVivMaxX-luD7nm1xvLu8JoeQe5nakz74igcy2yleaLEvsC9JsWXsLaQLPCwHh6h8MZ5KV0YPPTuGVl64jt1HrVnsB0IHtHPoKpXXcG75i5G-ID0sBXWGB_kKvswlqIjBAXsnw9Jkf4TJ-JUgC0uMNaGYEp5jL4SPgVMUXDDh57w4-wUazBrzf3EAXmG9bYWjw4KRuZZpLiNXO4XMHF4PtErtaK78UW4mtVKpJg7KCfvEpDMgmpVDX5_rlVi70vuJ6KYqlIfJjrIexRLKw8ClxkcKlZSOgvlH4O88G4ImIrGN5NkksqF07QmDCuZR38IXKn0z2-6ngHZJR51Wweq7pqhGOBYupuO45EnvFMo6kSyQ1MxlU7VqgvYHsgiIDdiundDkFc3TQwgmXyXx_CystvFUO2GMoAw7XoOAWDiE7sWoBSmnedP8oQz_EFqG56PWZX8V_bZetswosqXZxXSe9DTVTD6joE7SR6ZTk2Zbbu5acihFPaW4EPXK79ecYQSej39Tgh5wnMLj5Z3_uChnCrWs1AC1rwrihYKOE90Ri9fLJsVDzCU1X2t7kPVGmIyzt2QOGLrzpHOmT2n_xV-9ZkhmdKljEqKUJ0kpqeUj6UUrwnJQqpbR78SZ6rrCbH3IUa9-6OFTIeXEWsemm0R3SvaUWUdc-KD5OIdBx02-tCYvuR-wHKwATkVBY1XkwU0UJmAgCU9_Qrg5qnCq0qzjoxsn662dM6Mx7S651sAx0Ah4rHnXff3QlriTJZIcuNrxpCxNLsA2EhDSCZnsqOkgE0Bdf705-NlK7USevLYjnLYSGwwJtRUusSG9dKcLnAuIoyhuJ8kl2UNf9yyGH_MiGS4zimcp8518L1_JyNKkaMh5wVFvMSk5YoJlMBhA9S5_F6NKZ9AhSXK0TThZSSbufEcLHjZW9Li-yIq49dpKNmMWfY4ThBTRQao99gffLoTqTkkX6nSp3YBdD51z6ThbXTJxiN1teDSMvCOYYIgek2mVoqDIqn1X9JROeB0uLGgE53ST25uPdk2sx-7TZo5vCm1tW0dTptPurRHgRvEcc2QAkaY20EXtOj3wBTx9ofrD2hoey0UGfBYEWXlY828omDCaq7W2dR0jfiEWiM3gTiNS-0xIIQkz67lOVqluDam9dsYJ0FflG31Yfxz5_PNVZNhdRtWmJJIxRjlZZW_2g-OsMvqQYUBsDhVSOQoUMy5gK8TtayD8Emgk-t4kkYUi8Ws2OkbPrPh7jBlAybS1lAnyM1VpnYHABmulDP1_X-JkdpDixH5Wxo_e8NQFhsCjSZoy2Y9Z2bTWO4v2ECw==",
  "id": "rs_08af964303d9f992016ab42203116887d0beb0ee2f3c6d3acf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down beside the bowl near table height. I’ll close them and use the settled jaw opening and a short lift to check whether they caught the bowl.\"}",
  "call_id": "call_SKeIW2gLriyEjSNMHdQfo7ZD",
  "id": "fc_08af964303d9f992016ab42203712087d0a63d66dba05a3a43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SKeIW2gLriyEjSNMHdQfo7ZD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.7519, 0.6899, 0.3111, -0.3935, -0.2394, 0.1037, -0.02, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4049 left_y=-0.0955 left_z=0.0279 left_yaw=0.0483 left_pitch=-0.1128 left_roll=0.0816 left_gripper=0.1037 right_x=0.2931 right_y=0.0006 right_z=0.1723 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -6.5983, 5.135, 1.3455, 0.149, -0.1392, 0.4811, -0.1026, -1.306, 7.0222, 1.7509, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618a8a39bacab51a566d556bcbc1f7cfb8ae91f4479c444d78349dc9d98343ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e6281347cafbf4cdb0db0d88aaa4ea763af498fb82623e98883526c93c9c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f645784585672f68cc3c7e0719ae0464f699bae16a8cd8413889b87424f3065",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.264 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 23 changed as sent

message 27 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6585, 0.7521, 0.0952, -0.4099, -0.297, 0.9953, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3896 left_y=-0.1215 left_z=0.0509 left_yaw=0.0156 left_pitch=-0.1583 left_roll=0.0756 left_gripper=0.9953 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.3368, 5.9692, 1.7802, -0.315, -0.1441, -0.0122, -0.0615, -1.265, 7.3504, 1.7363, -0.0366, -0.0562, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.7473, 0.7052, 0.2092, -0.3626, -0.2573, 0.9953, -0.02, 0.8055, 0.5999, -0.3943, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.393 left_y=-0.0999 left_z=0.0167 left_yaw=0.0296 left_pitch=-0.1954 left_roll=0.0838 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.172 right_yaw=-0.0014 right_pitch=-0.0286 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.7179, -8.4718, 5.1761, 1.79, -0.105, 0.0806, -0.0122, -0.1846, -1.1556, 7.0359, 1.7363, -0.0464, -0.022, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.7519, 0.6899, 0.3111, -0.3935, -0.2394, 0.1037, -0.02, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4049 left_y=-0.0955 left_z=0.0279 left_yaw=0.0483 left_pitch=-0.1128 left_roll=0.0816 left_gripper=0.1037 right_x=0.2931 right_y=0.0006 right_z=0.1723 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -6.5983, 5.135, 1.3455, 0.149, -0.1392, 0.4811, -0.1026, -1.306, 7.0222, 1.7509, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618a8a39bacab51a566d556bcbc1f7cfb8ae91f4479c444d78349dc9d98343ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e6281347cafbf4cdb0db0d88aaa4ea763af498fb82623e98883526c93c9c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f645784585672f68cc3c7e0719ae0464f699bae16a8cd8413889b87424f3065",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIHFmT_uBOMWqHZoUKQzgvFL-JHnH9soL1L93mTs9EvJtqU13npffYTReXhQNBrdnHgvER__lEORJIQfjAqfUV2yKN-1EwiIIFAoB6abjHVY85SzGdsD5nfkkMKBMHGUd8SiqbSOGmNkYz6P_cScJseFITcOz-t8jQhk3FPtuwn_-ve13IHnOzCfKC968U8zdV2ACHG4sIVLytnYMi6f0t1btqyElepwpjLcAUeHT-ki0iz023OAo7OKOiqyvSo5_dNIEoLk3jVkiMOGyB5yFJ1o7GCD87uH5SS0W4GelxmoqKFtU6iofSPge8h_uU_f9rh-1kWikNL9S2EvMZg2CfBkLxgfZ6QDEcmxRsRJY99hj1WsjwwIPnQtAUZ9WSpswaUhnAWcF9kyQjcrqf6w1jz46rM7DFx8RJ7Mv5dq_h-RnsMkS6s_qJ9WHmlUV846yU5B4kXfsST_iDcXn3Y7CznoQTq8GsHZljtkcJcEbh7hD5tPctf-R1Z3gsAWedZMZ6v8Nsnvjh6kX_kgX4dVfDpy1HWucQ9vjuxOKuOIS36lniwH2T11XteGlW8pujwVcfZLBsakxBhWLMAA92vfXJYGPDKwlFha7EEZM_Eb3igw2or5nXq0SobWODuJPwe7Tq162QOC8qVe6SUF2zfs8M-P2SBIyG0oytgixaNv0T9RcGABkPBcj_U25zxXjlUTOJ7rCtlSO4oYS03UWu3QfRamc96B52PiaDLVV5ZF6M28vhuqCCqziSzpqRHyu38ASCRuCkT71BcDpIntOUDZ6QLrchho1QeR4tUh--xz7L-_FcuoJlURTUAF0bMW7dX4xMwrpZruAzMNcjQoVj29CJc0yA6TUPAHt8H6uBOjoPbEOp76pSXgjfMc0RWkC7LZW3F6mKvzM39-_Ovn31SLcYgZmSjx8qJAATVnwdZcgNgIdyj0Iep2agApwAvoZlBnmCSzHyX6ALcOOaLX7SZOUA9f62AXLrFVXxAQ-9sfXpkbwlxZPVbNB9aSrwJoktOpy2v0-jZhF68DTIGRSWnSVOT1qUz_O9iARERHj6PEWycUBQ4490Uz4flJqJmr-Nf-9w0RXc5aud8cXp54TV-MLE_TT-yZ_yOBJRsg0lWrYothxB_fTOfgXYFgnxEkx74xP7fSpE0vYmb83xQYeZVP5rGdwn1lz2VC6CcZ1p6mQjzg2B9Q5GeKsh86Gb7HMNMheySIXPvGd5xFlzG7D7yJ_1GnYqD4IMw5D2fUfwtElMvmu53f5FFdX_omdHMlEGBfNY9-mRKl7BfKZQ64OBetbrIOx04p6WpjSvzIdwzhRPDoBzOabKlqm3ABR4pU4unkWmK3HKJINnEkf37DBHfBK1xEA==",
  "id": "rs_08af964303d9f992016ab42205f8b887d0977a748b85bb851d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The closed jaws stopped around one centimeter apart, consistent with pinching a bowl wall. I’ll lift vertically to confirm the bowl actually comes off the table.\"}",
  "call_id": "call_mBn99H9WB2oADCLzwCNGHtz7",
  "id": "fc_08af964303d9f992016ab4220656e887d08b0483496e6f924c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mBn99H9WB2oADCLzwCNGHtz7",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5108, 0.9268, -0.1856, -0.3935, -0.2363, 0.1036, -0.02, 0.8082, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4043 left_y=-0.0954 left_z=0.1283 left_yaw=0.0473 left_pitch=-0.1298 left_roll=0.0922 left_gripper=0.1036 right_x=0.2933 right_y=0.0006 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0305 right_roll=0.0005 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.4991, 9.0872, 1.5946, -0.188, -0.0806, -0.0317, -0.1026, -1.5521, 7.0359, 1.7411, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809f5083ddd303d3830ab7970cb7fd76d2b763f220485d2296f1365422cf5c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd05d526bfcdb0e48fd30d396f302f8b52a515f688ca928c51a0832f46f90172",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db853487eb7c34f42f7ff6936a1749ee5cf187e4604acaf47db04cdc3db847a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.67 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 27 changed as sent

message 31 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4511, 1.6424, 0.7387, 0.1074, -0.3889, -0.2848, 0.9953, -0.02, 0.8036, 0.5999, -0.3927, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3917 left_y=-0.1113 left_z=0.0532 left_yaw=0.0248 left_pitch=-0.1528 left_roll=0.0643 left_gripper=0.9953 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0014 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.9641, -9.5932, 6.106, 1.6142, -0.0659, 0.0024, -0.0122, -0.1162, -0.8684, 7.0222, 1.7656, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.7519, 0.6899, 0.3111, -0.3935, -0.2394, 0.1037, -0.02, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4049 left_y=-0.0955 left_z=0.0279 left_yaw=0.0483 left_pitch=-0.1128 left_roll=0.0816 left_gripper=0.1037 right_x=0.2931 right_y=0.0006 right_z=0.1723 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -6.5983, 5.135, 1.3455, 0.149, -0.1392, 0.4811, -0.1026, -1.306, 7.0222, 1.7509, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5108, 0.9268, -0.1856, -0.3935, -0.2363, 0.1036, -0.02, 0.8082, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4043 left_y=-0.0954 left_z=0.1283 left_yaw=0.0473 left_pitch=-0.1298 left_roll=0.0922 left_gripper=0.1036 right_x=0.2933 right_y=0.0006 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0305 right_roll=0.0005 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.4991, 9.0872, 1.5946, -0.188, -0.0806, -0.0317, -0.1026, -1.5521, 7.0359, 1.7411, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809f5083ddd303d3830ab7970cb7fd76d2b763f220485d2296f1365422cf5c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd05d526bfcdb0e48fd30d396f302f8b52a515f688ca928c51a0832f46f90172",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db853487eb7c34f42f7ff6936a1749ee5cf187e4604acaf47db04cdc3db847a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIOQk9JmvGQ1TO6i-JHmw8ihB5Hwb1XFZgF5Y_HsRZUH4uyLUd1bc5i-Pr2BL91bm6cAMuy7-tvuB1c-7qiIuCz5biKpd7lDPupj-rkQ2lfX132niw2RW9AVSa6Ne3ZJAG__TYln7yzfrJx6ZY5zeB_FYoa72-aUYcvD9YA-ltXINQQnjlswfsVF-HwOXGV6NTUS_pHP7gpIi279mcloLIrCCf2pbljnfBFQqjX4r3Ev5sjOTiqFZ1rc8to7RYSrSGSUTFS71Yq28t8Y7pG_JLf_Ii11QEUwihcbC_HimkPe0_BrXPomM81nny3NI_T14NtAI3J2LEO0IupaMm_EowSF_1-4-L07ajis6_JAQaKCJM1mRGqW7yGJFt56AhDlBgcuE-IJl4Egs3oQQm1rTgKnMASNNPpIfjsAJlS84-C25JBTV-hF3OaFN0-z09qFkWjYuiX-K3Zw8gQyL9q9rhph1KI5bLWdovveJNUWoTGe_4VNNTjmJ6BiUBmdhFSs8uzY7DOQyXy_a5K91qHKCM2rnfdTelx_23XsI8x57slbgxOD1kjJsqBEZoCBlq3375ilB_nzCtHys-zzKRYuWORKtaVigyHlQqo4YpVlp2ETQyt6TVIgf1CF3gnjD-hFVKPrMKsxCm-3XyVELaWJ2aZ--9LNMBVfXrSXUwEPy2_9KpnWQxBf9sPf8obF9vOu3fK8MLFyO_lutgeRoK5npVFTuusi_QVu_gmoRODNid2PjqTmOI53w_kkmD6yu29jh8I9vo4SlFK7Pts5HoTiDfd6OMrm1nlhYHFV4nWlqjOxNbjhtUVLrmrHDVEKuVhWeKCXQvn_whikBgTQY7bZ5-plITp3EcaQHzZvLAbIIuKiKPMSHVgE0z4VIZqn0VEF1-J4oWyE_zn5pZ_lzsu7wWbrAT0D_c-64x15yrUqk8XvyqTHDgvVssqLNmNqezrk_ust2UzaEWsprXJcNJMZYafzYCI2IAe3vGtEsD1FR4JtGHPaW2k7eAAQspLUjTQamHr7ooDztQ1ILRABITTUbLaYcnG12CL1k9kgWMaggeSS639FjEx8MPG8KsoSrG5eFuL-Foyy7BmOOp581SrpAVgCyDrKq2wW9CRSE9n1DIAstDYcdZM24JZ8ju8Ehq_5anqJX3iQtkJjJjzfJ-bfOXYi3hnG2xenEcYyJzXeM_gUeH7-W_qIH2Z-YY9VeZuzuVC9UD0OHYoHnYkK6jss6HyFK638rrpSV7mW_fe_670yoHXm5D1T-kmbNK-Ev9eyd1n-R3co565ektAahqklwJZSEUi9UOPMdHBqcOznl67adq72Zn_gWoGWJcBVW0h7XU4Lje-3PVVrrDfVStmPbqcA3-JR4ZHUIdKYvBwNggKpmpmseyHWPjp4RqgAC6CYdBjs5lfXzEtbXviQk4FAGK8IwnjLx2BG5lGQSeI3uqq6eZqEnIiiLZqDpZtjIkxMIkQPGLZxcz9CYPWnp4UzlqFmaFuC05S1mXY3MCdC7DiVm2gzApunsIo8DopDuzfpLWYftimuPqIIrv0AO7l3YBYDm4qDTC1UENxHElLFro7tYACXQY2WOwkLdgegvylDZKISHSN7wm177J8aOyfgohGdutV5mZGPZ7PHdMBThOBFceRqHM66-jFOL-XJCmDZjZnTZDAevJTdCFCtKvnGaqZRZjsZe87bw0s3baWtxQ1jNCXp9_O_MTPbYxdc8_1y3oi05HYgasN6Fv2YFvQ07nCoqf9fPCOMnN2i0YzsbRhahVh5buv9FZauxx2MdwgmNiaoPQErWXPZphUdejpgdSqpUw4gepI41H1XY55TlyeT4EuR3B9GR3LHDG7QG5bp85ktzK966zLv76Scv9ZF7xGPkxVLOEBbDrwPOVW5Dc1jL_Oqa0vIAO5foIGLqqsnQ-xE-qqqoWb9M1WB4dl1-6IPwWW3X9ZEVihZpSJbwAm-J8bOIaY0haVWk4osTTNBdpTTvJLgser_WkM_uq794URT41mgqFpCfEhehboV3B8DJdl_e8g_t0tht9DK6lnxpubV6_WK9Q2Zp2IXM-mWRw-iFR-csISlENWmSggZG6bhZF4OIcVuJoYYJsKpoOwQNAk9HUC1_4VBBOxncdEYjNWv-tvjZ54grjf6YWyQKX7vJCqr5sEjCg9wSsNIvZoiFEW8V9MO8y7shBTX02NtEtQ1ItoJIKpEr0xT3VqK64xCBuhtxKjI_SV49bzRFUwHVORmpf7zWg3gTb5k5DDLVdieI5VkvffOgSfTVdxIELH95XWegiv0gdWuMs3EmAI__Cnxk_exKu96XPAyQW8svikSx1aX3XDMDo9SqNGFUjyKK5HreWY2peKNMqrk8wqk-wSMXw0SMT7RGX1tk6gSkrEw5LUEK9u2XtPCKbWEjfVF934ylgYA_HAibr5CVpsd5FYNb8yA8Swlzmf57ZebTurfg-UOacXnaX_j45CXSmgxwMIcJaU1jtwBbhS3ZJ-VIs4zHuj_tQyXNlCxmFGhWHxFhLqBJsM292wsg3F0hupq_rjJiqqOpAm6H9GTmCtx-lgL_gzfk55OOyrYOLMaTXVaCNiwnravI2D8CrA-EddyvHybbUZ8mRXQ3aMN2sTyeyHWHVwn1Prx35sLps0b7ro6zItzAQ1AHvvFsJ1KXUtm1NOeg9iuPzafJ1iLRkXeEL9m0db3vLQntgjogTEHzviwDC5DXnnM8T-V65jMMt4chgHdYMBs8pqpgKKT9pyHUdBAD8cGwCzwY2a2vfVpr9IkQhxlCbO0DObwa6Aezk8M1cGoqsIObHy2Yb629e2bM9hKPmgQH2sXTbfptcbVF71VvlwLw9XVeemiFJUNWehdUSlvTuO_VRKWSh_EBbE8ydMKFli1kptEImkeBe_gODym8PqtHGnDc0EZtKPO0F4-x1Ev_qq0hkT90ZoyJUEcZFEDIDuopXoktIaQ_kIzQdpOkMoQzIOkmFWTxxU0urljdQQK9duzlcEhNaw9OVdptN1RCLTbeJyinbzZZZNQcCAbV-fXPP2tavzZtLOt4NaokwSCAlCY-dp5J6g4WqArN9a5FDZdX-m4x0YVGsSqOt1XzAvaNdMfBVawUJ7Z-RSYhEqjlOwTV7Wx31pfAuxNINncwYP3pw1ngUcxYBQ_lif3vtzEV9x0ciWyvbYsU-mij1k3uVwD3eK7sbEPb6isfF_QtpbWGak8rcD3NCV_bTq5XbMvwYJxwJQIiv_YO3HkTtOvK0fBJTq2VJRXYIAyQY2vn_oJoXtTOeIcHinr5wb0SB90DN7GN1HMAquma7QRWY=",
  "id": "rs_08af964303d9f992016ab42208bd2487d08fee758880c0b82b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The left bowl appears to have lifted with the jaws; its white rim is now beside the raised gripper in the overhead view. I’ll raise it further before crossing toward the middle bowl.\"}",
  "call_id": "call_wBvXq7gOagQuJT98xdhVcpHk",
  "id": "fc_08af964303d9f992016ab4220d5fb087d0807fdf8465989d1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wBvXq7gOagQuJT98xdhVcpHk",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.4883, 1.1175, -0.437, -0.3904, -0.2359, 0.1036, -0.02, 0.8104, 0.5999, -0.3935, -0.0162, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.4046 left_y=-0.096 left_z=0.1737 left_yaw=0.0471 left_pitch=-0.1651 left_roll=0.1073 left_gripper=0.1036 right_x=0.2934 right_y=0.0006 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -9.2376, 9.0462, 1.5507, -0.2466, -0.0269, -0.0171, -0.1299, -1.5111, 7.0496, 1.7265, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d3b0ab78f63dd7b919f6a40d994c1061b205d330f7e74abac10067f0cda0c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9c33d2a1dcf295dcfb114ad0b5f6e10509751af05f654aeaefdf224756efbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5406a1f36d425fc68e91c69910b2bcbdc696b29b024fd287c76a9114614fac6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.811 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.7473, 0.7052, 0.2092, -0.3626, -0.2573, 0.9953, -0.02, 0.8055, 0.5999, -0.3943, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.393 left_y=-0.0999 left_z=0.0167 left_yaw=0.0296 left_pitch=-0.1954 left_roll=0.0838 left_gripper=0.9953 right_x=0.293 right_y=0.0007 right_z=0.172 right_yaw=-0.0014 right_pitch=-0.0286 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [0.7179, -8.4718, 5.1761, 1.79, -0.105, 0.0806, -0.0122, -0.1846, -1.1556, 7.0359, 1.7363, -0.0464, -0.022, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5108, 0.9268, -0.1856, -0.3935, -0.2363, 0.1036, -0.02, 0.8082, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4043 left_y=-0.0954 left_z=0.1283 left_yaw=0.0473 left_pitch=-0.1298 left_roll=0.0922 left_gripper=0.1036 right_x=0.2933 right_y=0.0006 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0305 right_roll=0.0005 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.4991, 9.0872, 1.5946, -0.188, -0.0806, -0.0317, -0.1026, -1.5521, 7.0359, 1.7411, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.4883, 1.1175, -0.437, -0.3904, -0.2359, 0.1036, -0.02, 0.8104, 0.5999, -0.3935, -0.0162, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.4046 left_y=-0.096 left_z=0.1737 left_yaw=0.0471 left_pitch=-0.1651 left_roll=0.1073 left_gripper=0.1036 right_x=0.2934 right_y=0.0006 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -9.2376, 9.0462, 1.5507, -0.2466, -0.0269, -0.0171, -0.1299, -1.5111, 7.0496, 1.7265, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d3b0ab78f63dd7b919f6a40d994c1061b205d330f7e74abac10067f0cda0c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9c33d2a1dcf295dcfb114ad0b5f6e10509751af05f654aeaefdf224756efbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5406a1f36d425fc68e91c69910b2bcbdc696b29b024fd287c76a9114614fac6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCITwHlLOB6xpx1fFgXWdOBzdo4kihSAcyY0N-F0UwPHEBP9-EdF0hcb4lAKrN0GQfHX_z110BvDQoeJmbdFT9aXHzCjnP13zaTOZv8pUUtve24kUdaK4qlfTodqBvp3n9NF93Y3x8Eae7OdkceFlgFNi_DRQ53_QF8QL46caAkWYi1xQrqD3TBpK0d4BcX1ZnhR8EjVhHS9rNjTpbCdAmWFuopXtjjspCeTndE9o79nFQ0eKE-R5QIKEAy71oiv-P-MY6QnB4FicUDbPxcwiaGZ_OwQzsCsaLzOZF0CTHYhIP-Ob0sGrM-2CVpaG6V1sKPeut0QfrJXxCTI0WgVoOrK2Djdc8yXsd7UWqrrDbii9bjZozL59jGiHBECBe9cGoPcH5KK53fuBmxyLh6cHhBMi_xK_mQUVMTl1fXMJD_KdbjkuaLWIyv9thuWHCPdk_4I2HAd3ksIpJA3-ZBiNomdXjzx7vl0S5WIiCot7SFwcq9mV4edl65JqAt0ZGwNpSPKRdBny-vZBzT2iw2JjMRNbPuZtmIz03ITeEFCo76vvUBSue54-ii8wM6ybvGUU_0dOG36Q6DReWWJhP5hwqHaNIaQ61BY6D0Y4OuudAteZ0HJ90WgvSzc_Ltid-LQaxg7KMRVFcslallWNti5aysGQY0o-z1ERtaCobVPAx3nOFsG22_KYrmL4oa5CslzkSBQTXVQeUvyMvMzNnFjXVB_4YcyHWlLEc_IF2m0p0b7iTTYkTYWVWKZw_sOWMM6bynCKaokDAxe50m9n90lbOBersduZSZw9cw9Tiy49PA6PxoIFDVqtXVKp7GZT8Y635Y_oKFwqeYUVWQiIjo-CgVkQ8pqE4E1r0lL4Em4sIz72wNVtJafpgwIlGD0cwyQAfuSQY65H9FvBU682CDFFHmuujJzKZMh95-XMbzaTTM3xQrebnrzvdgIvkJ2u7MQaO2c69_h1QQfnnoin_ECUKHC-Ys2nG0tClLaDXXqN6NCUkXxQjmUtnVJc1dNCITtwvXcz-yxZl5Yk2eWNSUk1zzqTWxgHoWZ9auHU343qmGOm7GymO-u6XvwlaWnJbJ6_VqMZ7VlCDHJSmSCEejtRiPpKJyaoJaODidTcCQ1C8_ilEaIxdxpIKu6Kgym8WntYHeDnM4DSH8d5BFH6iSKXMUkO47pjsAno7v2ukZR7wh7-ZvU5PZhhixX_xqbg5q1Ppn1NjKE45TJWnpbFE0Qs4AE5mfI-_v701dbKx3TnQvPybkKI5OVCvKqI2kStgOSvJnN7yhueHyiNXtchVfc6KgdpUAyuWSHYeDE3VQHype94MuybsD9xWom65I5yS6PHEiPWxbdHdlZPPpqGVsf-XzKuCejM4TtrNAUIMGbitH6-BPP50YJwnGdzpSnbLP5cBOXhAcf6p37GswW6tODyfN67qa0yApEgrKrPV6iuZLfnp3d95o26aBEKeZ_-CgRxHZ5eBXDv30QHYniXmBrnXhcR_ETGWi4g5ZM6ZH8Ko2TzY-keQPPKZbjYNrFqJYhLJrc4zBTM8fM6FPhTfWw2kwp8cWNlLyTAKti2cay-yfIJZaLEL0meC7NNZGOFcyHknglDYZVnQ0aLBimdlP3aqiR3viJ80557splB4jOLqWEWiOyAO-4JSu91DxVkSvUA1VjhVwdvIef5aeiVAKAeafIlmpmG40E4Wy0ZRGH01Lv4h5e3m5ssvYvqDF3eKOA4EJY4uko_tNHYtUuE2sK38yKtgDSNdFwnv0xOOj93ThyZwJXOrTGHqqpBjkugbK18QKHNAhKLleX060jQO2YsyJN2oIVr9ACYcM8QA2N1WuwqdVixZphXnl-WTp1NYchBuyOExnp5a74IjcSDair2gbZQVierIMOpEj4vUSQIsn0b-it78_1zjl_GPfn2fyONgAgmfeIV-tDUK9l991fVcrZ5_GY7rKMw9652rqVmT1EqJaniTSUa1T2uyuNVZbNoevFcbRNBVGUQXJ7MZoVyKGpiMI9PdLcPDlOriFXFpET6ukfaaq58KhsG9qaq_wJ4s8xZEV-oC_KaJbEnH6ykBst6LiSxZXFxhEGwtHnIv57JvCquS1bQI0aCOyaiLpIdpC7O3BnwFKyNXYAw_CeGlOnLK0vuv2qNT4pwncdY9wF0c0XYsVt76YlbEtufSw6M2bRhii3U2xT6e3rBCwKHcQoaxnngpEWSQrzI8dDdQGVrA6CX7eMZyoZL3ZdNYKqzttDVfam1laQar2NpXLCw3SdCk4xJCG2AJjmaoMuo5lA7pgJlEZtjDAy4jF2tDjA_n6p_XZStjl16t2EQzUOMHRxUpc_tPQhC_30JMTb-gfvlMkAk5IasTPF-FCV4HrCghQ3b3KUf8MZUqom_0VUH0tGj_Jp3-bqc1wYnDAyp1TF8rkkXCPYf8raPP41PjoqiGfpfOmTSf_butapT1uRKxQHwdDHMjDcOKl6xURwmt1wwyXEoc0tY7bTdR6kHgKq_ALC9r_Ol55EWoZNOYdQj_VOYzw_SSiUfA95gm-jQWC8uCFf5Eeql7nZfIsRcCpBYVvJ4E-XXC0QyGsf1d7b2OueP8fSWqDfH6PiGe0Mcd47NUe9BAZjhHnr6USphWCrmCXWCjZ7w18s8HbnuM4wFQsKTbjWlrn4OjM8ibkRDNpJCOLxazr4lBb3sFdmlGyN8s7F",
  "id": "rs_08af964303d9f992016ab4220f51e887d0873fbdbb48064afb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.27,\"left_z\":0.21,\"left_x\":0.4},\"note\":\"The bowl remains held at a safe height, with its center offset to the left of the gripper. I’ll carry it most of the way toward the middle bowl, then check their overhead alignment.\"}",
  "call_id": "call_lYyNvt653zn5s40jI6n3GWEG",
  "id": "fc_08af964303d9f992016ab422126f2087d0ba4dc589d1308af9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lYyNvt653zn5s40jI6n3GWEG",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 1.8885, 1.7115, -0.8364, -0.6197, -0.6052, 0.1035, -0.02, 0.8143, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3975 left_y=-0.2677 left_z=0.1973 left_yaw=0.0292 left_pitch=-0.1958 left_roll=0.1061 left_gripper=0.1035 right_x=0.2937 right_y=0.0006 right_z=0.1698 right_yaw=-0.0014 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.9214, 8.9231, 1.0085, -0.5153, -0.0806, -0.022, -0.1436, -1.6342, 7.241, 1.7558, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003b4a02226a288c977c508db2290b36b4767110aee1f941fffb8f5e1775b15d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0868bee189d8bfaed0a71995268b6e2d377371645344a720fd6d0eaa4b90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2183094f2193428b591fa6edbcc73d5f5067130e1006728c6cd71570b6cff2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.393 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.7519, 0.6899, 0.3111, -0.3935, -0.2394, 0.1037, -0.02, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4049 left_y=-0.0955 left_z=0.0279 left_yaw=0.0483 left_pitch=-0.1128 left_roll=0.0816 left_gripper=0.1037 right_x=0.2931 right_y=0.0006 right_z=0.1723 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0004 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -6.5983, 5.135, 1.3455, 0.149, -0.1392, 0.4811, -0.1026, -1.306, 7.0222, 1.7509, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.4883, 1.1175, -0.437, -0.3904, -0.2359, 0.1036, -0.02, 0.8104, 0.5999, -0.3935, -0.0162, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.4046 left_y=-0.096 left_z=0.1737 left_yaw=0.0471 left_pitch=-0.1651 left_roll=0.1073 left_gripper=0.1036 right_x=0.2934 right_y=0.0006 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -9.2376, 9.0462, 1.5507, -0.2466, -0.0269, -0.0171, -0.1299, -1.5111, 7.0496, 1.7265, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 1.8885, 1.7115, -0.8364, -0.6197, -0.6052, 0.1035, -0.02, 0.8143, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3975 left_y=-0.2677 left_z=0.1973 left_yaw=0.0292 left_pitch=-0.1958 left_roll=0.1061 left_gripper=0.1035 right_x=0.2937 right_y=0.0006 right_z=0.1698 right_yaw=-0.0014 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.9214, 8.9231, 1.0085, -0.5153, -0.0806, -0.022, -0.1436, -1.6342, 7.241, 1.7558, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003b4a02226a288c977c508db2290b36b4767110aee1f941fffb8f5e1775b15d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0868bee189d8bfaed0a71995268b6e2d377371645344a720fd6d0eaa4b90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2183094f2193428b591fa6edbcc73d5f5067130e1006728c6cd71570b6cff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIZ88jpE-HFEQ3qGTRYIJxiJJeaYD0EblLQHWht7rFuBwy3NsXVIMRuMNHP3o64S-s6zeYudVWGrzMtNMaextpkiXbk7aYRu69oMkNhtPKRxdPnPXY7_Kj9gmPi0-g4mqKc6aFG-HZdFVXz1ToHJ7W_ufaAscKW8Q2K9Lxl6gU6FTHEQhGhbgQc-IEi2E9F8suQuuLVgHbR7rGjaT8VN5OOHwbza8YKyg_g5RF7yDL9_iP_BpPYVvg8Xq5ZB-tJS3BxZyfQbWnIjriO7ScX9trtqwvyBepwN0yA-WMctR9eOK03-NCkA1C8q4VAQ-TVVKeCH7hosm6u3Bv3zm5W0f736nc9r6CUpc-DJg8lQWAlT88Czv3K5eN51nJZWTUN8DjgvSeauod0RkLTT18zB4VzhGaO0ttmsIQyhjK2iJqQPBTqbUmmegqSRkh9669MmuiMuHP0sI4gU0YWmFhJzf1mlq9qtjlJgjr-0K-d5hOKqntG_sBjv_Ff-QAnqugB5E9FOxs5hvQZHyr5jGXFeRdrWBpBlt8LrmCsLzvN00bO-iru5iihMs3dxkAe-ZD8idWivsdjpdNdM2K1Z8Sw1A_cbEbfI6c6LA7Hs12JtjZC6RnY9qYl0OvmhQFgmAqCg3W46didhCwngGuz51YXOTqINse5zetk4Byuey2497LNF7MvfKpJ1wBOBaVRq335aRM9uESXzel3b-9RKmFazDB3sjoKY1YLPNpQcl-mDU25lH3QbG8ZqHW2sCI76-039xSJb0R4QMkSDt61GQA222f_thyfCXs5uaIxOmLzFEJrr_6E62o5rFMGW1FTCwMm6YenCv9ewXuZnL5RdU8aXMHTG5iHal_MTguCkY8-lZuQszX0O3-dy2OPEO2xA9EVIXt4seJPMtUR40522nd-c3g6Zht4_5feZIjfFC6QFW_kulFLBFdPxnr2O8oE5TkpuvmFc7zWc3jbgeUXMHg9gLX7O5yD3LDbcTeSWlo0I42F1g6XbJo_IFSL3YSxn7u1mKKQJaKV6MsPzW1AdUQEk6VC4A4u09EF1hB9H4FOVsJzHGTWnIRRyAbL0nuLIXIMqxKqFH-moVxoCdlZlcCs8mLbwmuuvI3c6HwTwSsLBQ018wh94wxCAxhEWpzAyw4ZdaGize9Sd6JejjPP5180Q26wUKwDW5XrhfvLSJE-_IoBCoAa7ISBAyZq-fLoHWqPkDeugcjlSQpTyzMSotd3k-YGAyWNSCHA5S7_LWi1VxoW_rPdqCx-dIlOpnrC9tG8Gd98ROmzrMGtr79HhzW1X8M1Ixq_2OZCruWQawJZut8zm1WyYe_RugoBeS0Nc3LO6c_AQLSwRb3Pu_N40RaepR6mIOCI5ayzkOWXG8Qx_OW17KcsFS3yZq-SvWcZ-PHZm1LYyOoXpP1lFUtORYHnHP7A3oEnQ1MpZS-mbdkEtB5MI9DwXBwKmfKX-n-FJRUgPq2dPIYG0pwKPyGGbEJ-A9kMz-iVsfdq3Rvy7_ZLB6TMZ5zOaRZInmjqGgEKrTQps9Skj0UnJbaFaYCf-jGYzfYvySwTPYa8pObm_2uJ0cTsVf__AYbZS_f0K-qQPHUPw2TIFFosfrVPNN89etyVMEnJbP5MEPQl67NZLieEiXDgszEic__NkFUwU8tgGvwgdMvflfarrgiGfpOkFlDXAuviv6bDi_FyB2Rv9ThjxH5ac3eNDKyY01V_PZ9OkVdQNtDEIMaa7t-15YKT86FN-WxQ5elCyo36rUYj_ZXZd0B-K8n0ZvJNyI1tVNTbBUcX1yYf81vxv-bzLA3iu3MtfmJZJN6y6ZWh9uAkk_2KfVG6J64MbMR1q9hIK3Wx6Gw85eEfxFgmwXBEDv-lWUw0w9_hK4LW52ddiS8uQpHVNW1cl6gtVup-uSvkvmwydVlpt752BYQDDkMYwXeIBzoD2ts_nnmzYb4o7nj68BWI8ywsVW68sUSuX9fFWwgSwArQbx5xlPhSZFjwJf-ZQDKF_3bpX_dl50VwNs0yWWrNvOpyyrqvQx1c0AL2u2wUsQX8Zooct5NKbB8wERULb8oprmKvp7X6MKdl2Hn46p3ScltUZCKxpYvNzUmBvEsDIL2fTn6vp-SDOWpeUWEa8u5JBQfIAezVeWyKePTUbHXgYjQFB8jM9b21FeZI8c__NRekdXrwqv3iDOaEYK513pCrdMR5_T61jvRJsDG1gQFmyofOkC1KFNyF9NSJ3L7n52-Nc5bljP98a_tqdDpsz5_pua9jkfb_FIN62jx9ycEwMyZlechiqFxg1M0JyI3vvroSjqCL",
  "id": "rs_08af964303d9f992016ab422164e6c87d0b308242a2dbd3d60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.303,\"left_z\":0.21},\"note\":\"The carried bowl is just left of the middle bowl in the overhead view. I’ll nudge it rightward in the image, toward the middle bowl’s center, before lowering.\"}",
  "call_id": "call_oIuuXc8RNBI19vCZleMKjhJB",
  "id": "fc_08af964303d9f992016ab42218508887d0a1c1c0f496f2601f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oIuuXc8RNBI19vCZleMKjhJB",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8639, 2.0022, 1.895, -0.9474, -0.6292, -0.6601, 0.1035, -0.02, 0.8158, 0.5999, -0.3965, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3971 left_y=-0.2993 left_z=0.2002 left_yaw=0.0241 left_pitch=-0.2128 left_roll=0.1035 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1687 right_yaw=-0.0014 right_pitch=-0.0412 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.4308, -10.4137, 8.841, 0.9841, -0.5104, 0.0171, -0.0073, -0.2256, -1.4427, 7.2274, 1.7411, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8250bd898176a6765a4019f3c8ac558f3903f5555b00797184ad7d80adfad7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca5c3e3d300871ab376f5059e28e6a8da09cc7faa4bd178b32596d29ecc402b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9167969fc2585f8e1233c98b04a123d62630ef3ad6a256ab02689a4ec81ecbef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.442 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5108, 0.9268, -0.1856, -0.3935, -0.2363, 0.1036, -0.02, 0.8082, 0.5999, -0.3935, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.4043 left_y=-0.0954 left_z=0.1283 left_yaw=0.0473 left_pitch=-0.1298 left_roll=0.0922 left_gripper=0.1036 right_x=0.2933 right_y=0.0006 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0305 right_roll=0.0005 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.4991, 9.0872, 1.5946, -0.188, -0.0806, -0.0317, -0.1026, -1.5521, 7.0359, 1.7411, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 1.8885, 1.7115, -0.8364, -0.6197, -0.6052, 0.1035, -0.02, 0.8143, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3975 left_y=-0.2677 left_z=0.1973 left_yaw=0.0292 left_pitch=-0.1958 left_roll=0.1061 left_gripper=0.1035 right_x=0.2937 right_y=0.0006 right_z=0.1698 right_yaw=-0.0014 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.9214, 8.9231, 1.0085, -0.5153, -0.0806, -0.022, -0.1436, -1.6342, 7.241, 1.7558, -0.0415, -0.0513, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.8639, 2.0022, 1.895, -0.9474, -0.6292, -0.6601, 0.1035, -0.02, 0.8158, 0.5999, -0.3965, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3971 left_y=-0.2993 left_z=0.2002 left_yaw=0.0241 left_pitch=-0.2128 left_roll=0.1035 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1687 right_yaw=-0.0014 right_pitch=-0.0412 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.4308, -10.4137, 8.841, 0.9841, -0.5104, 0.0171, -0.0073, -0.2256, -1.4427, 7.2274, 1.7411, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8250bd898176a6765a4019f3c8ac558f3903f5555b00797184ad7d80adfad7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca5c3e3d300871ab376f5059e28e6a8da09cc7faa4bd178b32596d29ecc402b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9167969fc2585f8e1233c98b04a123d62630ef3ad6a256ab02689a4ec81ecbef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIcw9mPOXTdX4FZt_XBLwDLTJenUxyDIRy67zGCe_8Tlfhnxv1HoqBh5Zjz6-9ZrJiXLJfVjIDA9EP92kPy_gnxmXVU5cfaFP9HfAscy_NlhJmaNzXqlCsfKV-Gb9te3H46yaAqLTfXeIRRB91lvSu3plZbf39VJy3EPl_-_D7u9OPdZKzxGt7w_i8lw0h0PcRSPimYRQGyGHTHqnLGPZfQV473hnAgmevR5y3EZTIvjzkz7G4fpV8whGbY46fZ6jw-Lec5BpbFqmDYnvZ0HuWeowNeaN5EJqFDV8aueqj2ueUz6puDhVL6_ogpFwtcKIX8hjgpv6URIHHnzEvbqsB7rwgK6iH5DSmQHJkL1oeIn9A9vQAJ0yJqeD6AUOz_uvm585mAGXtOhhHaS6ESESbEOv-XdxHCSu74REUrt_c4K-94COg_-hdvPGbE9SAF-ZxeNH0cMYhNv2eyBMzn8vLS26N7KepiiTPCE6G3uKmOmkEQAPzz5un9VQQMzfxz0adKXa1kHHRk7nVDTSz-3Bc5YLLzkWPimBfVkR_q7QnukwL3nrSQDyKzIn-0v2Cs1ODsm4E6MxdQrdcK-9kDw4EfR53WITImiHRQJIW8kUC0oiJczqemKmTZ9ZwHulvTVqQ_C5bb0pGGfwj19kz_vsYn1u-pm-MNfRSQK3J5Uk4MXrRPAhCWePzkZMYMF3LYMQfDXKXNUth1hkkuUrZPDZloes9RCrHjuZv1EOg9nyN-iSa0-ODdcKHVigkUjmRCGmO2A138GDdTWZ5ntW9N_nltc4mvdfteFBJr-KNV4AkoSJ3-jySeWHt2jUSaLc5ZDhHcO6h5BUBrz-fXyQ5gmiL2hoHoAnICxI1MHvSp50q25sIjasXJweOb287TcOo2I3T7JUZrQjOvfJJybkQ2_hWydH_UtM2LjsDZiUMkv4VIBRVW6h7AbuFQKSk_Lub_XetyjQEZtISypHc35bjrkXOtqa8KGdqkIdcW48g6f2pIsGmKsBNnYwVq6ykS2FLK75mv8WxHX8mDPEkC-9rf-N_BVZW2-JjCIz9KBR-jtESru6vpIHJHFGqQSO46PBvZb5RZkYlaMYFjD8CAXETR00R0twhHQfUC7p7WMGkjCDVK8OscY-idnpI8JTnlLZfgtZg1To7eKjihxpqmISY_rKJaZdpqbEiYWIhmFnwk8KyWumU5JPThzrif62oxCO2SOumV7xeM1XW1UVxFAB9GUDnaePSggccraolMh2EB0RQPR60xMRLQd9CUZ1YgkA0H6pF2ZfGII9UxOokiTYuFSSlNQPSiJTGW8h6aU7kVuiQFEq0sxYKZ23qvvbSxfOeb9JceYjoLunMovSXKsyxZS8Efkz-NDc7uHFvQ-mHPt-gr5phpyBhJmqueJxtRr4ZW1RnnixTUsF4NrpaQZAxQeYgQksK_HMoxCQkLgkYYkBoKsz9RPOnFQHsQ-ueil_1HKxizJO2cAr86lPGS5XB6RUha-GOgS4-BPP6WXKe3Wpix2IYn2B5TAt66APqhwJrhHVzeTe_yI3FiQ9NE2RYizdr43Eq1DkVetMh8FGsO-OMSZMxQclkx2CeN-oahv7qfw_YXqOTrfRuVq_uJMdWV2RaMLT0pEMBEJnJNYkTmTorTdoEFe7yLPmU3YZ30dWzwawgeExU_vkkSbs0shoP2rSMuVTY1LUkUfz1VhoGxts6gjsto4NfxM2EQ_oZiu9dhV3eX",
  "id": "rs_08af964303d9f992016ab4221ac2a087d0907e6055d71b54b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"left_y\":-0.303},\"note\":\"The carried bowl now covers the middle bowl in the overhead view. I’ll lower it gradually toward the middle bowl’s rim and check for contact before releasing.\"}",
  "call_id": "call_NOKLnkhHXz8ks63Ep632t9NU",
  "id": "fc_08af964303d9f992016ab4221b84c487d081af992e6e7e6914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NOKLnkhHXz8ks63Ep632t9NU",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 2.0106, 1.9114, -0.9665, -0.6296, -0.6636, 0.1035, -0.02, 0.8165, 0.5999, -0.3969, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3935 left_y=-0.3035 left_z=0.2002 left_yaw=0.0167 left_pitch=-0.2192 left_roll=0.1101 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1684 right_yaw=-0.0014 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.5231, 9.1966, 1.0134, -0.5446, -0.0513, -0.0122, -0.1573, -1.4427, 7.0085, 1.7167, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e4819d1f014ef7c07aa16b77e570edd8dcf5f21efc72a7aa3423f0367d70d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb05be782cfa0b17eaa3c45853b6e32e947e3d10ceea0d2f4b22ac1763813681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb32b002ae4cad303ce70b7dfae7484725bc6a54f8e2158936631baf5347e947",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 2.208 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.4883, 1.1175, -0.437, -0.3904, -0.2359, 0.1036, -0.02, 0.8104, 0.5999, -0.3935, -0.0162, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.4046 left_y=-0.096 left_z=0.1737 left_yaw=0.0471 left_pitch=-0.1651 left_roll=0.1073 left_gripper=0.1036 right_x=0.2934 right_y=0.0006 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -9.2376, 9.0462, 1.5507, -0.2466, -0.0269, -0.0171, -0.1299, -1.5111, 7.0496, 1.7265, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8639, 2.0022, 1.895, -0.9474, -0.6292, -0.6601, 0.1035, -0.02, 0.8158, 0.5999, -0.3965, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3971 left_y=-0.2993 left_z=0.2002 left_yaw=0.0241 left_pitch=-0.2128 left_roll=0.1035 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1687 right_yaw=-0.0014 right_pitch=-0.0412 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.4308, -10.4137, 8.841, 0.9841, -0.5104, 0.0171, -0.0073, -0.2256, -1.4427, 7.2274, 1.7411, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 2.0106, 1.9114, -0.9665, -0.6296, -0.6636, 0.1035, -0.02, 0.8165, 0.5999, -0.3969, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3935 left_y=-0.3035 left_z=0.2002 left_yaw=0.0167 left_pitch=-0.2192 left_roll=0.1101 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1684 right_yaw=-0.0014 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.5231, 9.1966, 1.0134, -0.5446, -0.0513, -0.0122, -0.1573, -1.4427, 7.0085, 1.7167, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e4819d1f014ef7c07aa16b77e570edd8dcf5f21efc72a7aa3423f0367d70d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb05be782cfa0b17eaa3c45853b6e32e947e3d10ceea0d2f4b22ac1763813681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb32b002ae4cad303ce70b7dfae7484725bc6a54f8e2158936631baf5347e947",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIk26HZl2wmj2tIY0H-RrDeO5vaqpK5e8t8nAgDj3y5RalNNSwodVx-fqhvu6JHYxDsqnkLGgYeVOBEBpP6ssEydHsI43tom3g2bqsumn0oRainzBSzf16guqezu4sdcXOWh_WTUA0Iwg74yNByKoaZ3PCblchffxpza2pbAMS7RsZsOdVaCJ5SlqUdPEaH6Qh77lgvwojoCBLBrbzNGDJxwZBMR7XGgjmmlMoAJ-YtNscVOPZO5XdgGva_UbF-MvGI44mlUXuo5CvwoexGrTHvkjkoJ0Jsz2nWJzTM__LcvsUuzDbJ68fbpF9jXnWMshDakPtCJ46dHMF5vmZyJ4i1KFftaA58hAKZHv1uN1ubLHPxA2bP-tLxaT7dfdenLb2kk-D6136JxSayIpyDGuFSRh3_r0fy1iCAWVZSHqLVfFMvS_X5b9kN4ql1ikrcmCvfSC-3TfFwJGz_MzFK6FMX3FYgdYuIc275SAAFFHkuUR1dO_aMNBaXSk9kEcgKocHBT17wDf1vCrAg32oY7fu1Y9ZaovFpjKHU1cCF-QGioDNOdeH9Dp6SDLbELQm9AjAS0Tjn-FFFLjf1yvyZCwpIUozerGGNNBlVpy19nQLFboKOIhvm51Viyjd2DUlzo2Vms4jtrFp4dvgxSXrUwyIVVwwd1FyPoaNEJ3sOtNLeoq-nziPJVGiT469VdfCB3PR9qgrC9Uz3CLT7x4vsyEUaldQYPfs8UkMKWkhJOV7rR2Qm2tBB6RBXD4BwONlFmlFoacJ_YVUmO9e3-zyKE21dFWhpDC4yG8Uf6lzOitXvgU6n575vMZt-HkIO4feGkt-68DhOpWP-HeLUscFmjkiJA1YPmNh6XMHs7FFXTsFWGx5wI77SJ1VtDDyMCRbrVPtZsnNsR7yo2Z0BETHNXX6O8FoxLIapRSWrEQPtvOuhJV7aAgYtCBetbR1GjytA2l4EvXTepVWMgD07EyW0m2LL8bvWzA0DnPEbjmueeU1qCxO9gIZk9QcFA2RxXj5y47HL4vkSKUDydYzZbEJ-JIQnXa3szacGRDqBwNdszXDX0bXIyClefSQ-oXCALt3qe5-26jzFZbGJOglF2EMBqw48FlJXy8VCUAD8rJUM0RTnzsWkFfy7wDCsGWSO03i8tLNlhdBSsEAF6MPhzWdKJDz_wcCjqE6r3htA81PubEYBmsbltXg17u-UJ0iFPZ79iLhKHkbxOJ-0lz6cU6-Jk3VT2tb95lodD6bTYFoNowI5y8Ac5MfeFHHs1FyiYPW4TCcJD6lRXFglDhL8bAU8UIgK2UBB-91hYSp_BxLtSrrmc8iuYyJ9PFl_Y8RGt_3pFmWjqFpyvSztXJvsIIlAacqCLLxTPr27ggm1yWCdQBS9hJtBUbLBIlzfQVicFFFZ5M-2zLWmrs_u5q6KMrbDyBaM7OuQr5XpHEDQVPFHtijeTC3j7j6i01iLzQqsdtMuwoFu1UTd3YBggwqtF4m3AtLsAoQVCTtmGOsN180yj9pu_MqSSpoW5kGYsWWJQvguS4vGR0CcfTTBnlo7prAb1t4P2zKsEf0LvrA_vEW5vqafGne0ht40GZbxyHyw4W_ob25-7ORsYGHCBel8W_IfL-3DvSfpQ57bO1syYF3r9-sUBr05WyWmdR-u89abkW0zb96lipwcDoRSrSBDI_s8-Ao5V2-7_HOGkz7pan8PiRBLleKyMMH219PIwrNFzSDWPtMNhFVFW2YCQfHYONftzdcLav3eeVylGH9fqutA9WzE8UvkVUgRoGiE4O7rYdCfPKFSTAc5XIIehbv3VE96F6HpxjJ_60kt6jtOPtW8uggrLQdoVycqSyjLYbBBjr-_J9-mLt6NqYeuSer88v6E7ZRQ2lgQv_ASvIatnUnAIRS6IxWjrNPO3QEr6dRaPr5iGYaRdTSbGmgKBw9R3NuBQrNDphwkiYXKn8k1E6H73FlMUPbWdzEcTaNCVH5Vd90KN6G9cZ33DWTzc4wSgGXLJn4EG8JMQLkyV8Xw-9Gq8bM0p-Zzu0067frvzQkZxvucUeKw6hk6n2ROoHTkLbUebA2zkn19mzYMyDiK8QOeeJdi8OMYDduZFrFNOh-O2q1qJLbTFULHaFl6m8gsx9TdZWgOETIn4Z_DkincjSdDEbUanrxwEVvdwCRoMpQF_6qCidBCTXJO8k1auwUNfZGELExhStkZFC7979sVkRAStUZkDKQ2Sr63HUAODUC0yOmNglDZHYlivNK-rEMA2-SJxv_zFQNHXKZmpisBihiuJNuY82mupAGM2wQCEDPmy0ttwEfJxrIx1WW3bF88UesLq3qH2opo45OrvABBNrpb_ODBr4_k9l-UYu5c7rDwqBYSXWNyrRfsZVkF7Zu-mQiTxGMeMTqPcYI3gKBz4VbZnFQDx9BdTDhRce9BTZORRs2RCpHPgyaHKDV-1-uESfpG7yo7Nq-W7rzJhLEDcBbzXkBwBVQgqC_6V17nMYaXPbKNSIGwv7fGQuSCInLHNYkqIsw95x_yIfDhqt5FJ2_Oo2Zb8gyjH5zZ9L4Rd61YAskB6B4xU_Jhh51IG67fcRnz4HpOo3QQExXC-OZLr2g7uny79h6q5ySRcX7O4TqBxJvZc-RWGMnSvmHoQBXMBgtmMdDkq9Dm9Nm9QthgKo9UkkvFHRdXUEGVdW4UJVE3rCW7kPo-kAT2Ub1L9GbRUqelZ2mhtDU7qTWdFiaep00oUkR5w1KClGKhcqEvjh3fa7Q-z_-sKDZxvtJCrU97CkGHTCpOFvhOUjikoiZHqS-aOkp6mBRYyM4E9cQj_2Jo0dZUeGgX8pEm1aW0jKxQ_GpBVeVw92TOamu751VKUm4xWOxK7czdstdxTnAh4ncoKHdiSSmcLziaClKQBUdUXZoqdWGm8s4QtDkXYA2wz00dR0g0vQi4fD5B01urzx2pDD0LD-EN9QI6CA06myGUS8u0M8k2tVeKjTGBnEjdBZtS_PaOPLLhUYxJTMRWy3DH1W2BcC942mesJlCeUbwAUJkLjI5txW829ZuiR4iHiNobEoLW26MZHKagq0xXSnJ_mvsdWetr4PyBwTeJEstCH1VTt6LDUdFys0_ZvSyA9TOKM0gGqX7trq8Sv3aZLaw0vqQEQWiUgXmrKGNn_Js-4N064UNLvk-kl1z0yLl8s4n26CcqOeRn9QCfKeVhf-uZIZ2QpvRD506WTmLLLuaUVrPRTSVfn4f8XIo1rNeV00eNmhSc0IcDbXPWDZdw1MQ0A5i5q_kjhFyJLY2U282_ArI3vX7frsY50LdXUru8Qnl4jVy0SVLHlq3bAPTnFfjqPn5jj8aKuPohD-elqp5_I7M6L9DjMQ152zUz_tWOrW4wt6e5Sc0U3WoZ92qidCAH4rLEyYQ_1f4SAhIbJb4bBEIil3xOqB_J5ceggnPDFCGhZ484wEJRIbu3u7mZcR7LqeAsvp7lxOwDnsQOKxwYwYcqHNRAWmm4A4HtSZfXIKqAul3Y6v57RB1F-CxMjIxNyqbOutMV3RjHDBEQu9Nnf4b0qS_oAyrB_63K3ODP6aXNRyfIyTmkm9KG-fpRS6RjT689qQ6uTTnJvCW21TC09FW0DbdgFC_zWOmDvn_4xAjODSelXCzjvzO0kGiy-tlbPWoskHfZw8eTumjPjgXBvedkKI2ecST_07Gmc5db5MbAB0PNjrDtIdajuANpDf_uIniH2zEJz6N11ZbnYKcXr4IBpL-EgLrTwDhvOvatq6IsRKcO4W9bsWpKyPnGE6zbwyjY38sDLAqmzkOOQgkhqbQLotneqSmxFFOS4OpKlOh_dYB2P_8fnNHHxvR_qTy9QIaOgety",
  "id": "rs_08af964303d9f992016ab4221e360087d08702158eacb112c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":0.35,\"left_z\":0.12,\"left_y\":-0.3,\"left_x\":0.39},\"note\":\"The arm did not descend toward the middle bowl; its height stayed near 20 cm, suggesting this outstretched pose is difficult to reach. I’ll tip the tool slightly forward and retry a modest descent, watching the readback.\"}",
  "call_id": "call_ReIsSdpoPzvUXvPDq5G8q1IK",
  "id": "fc_08af964303d9f992016ab422234c6087d084c87538a017a30f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ReIsSdpoPzvUXvPDq5G8q1IK",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9691, 1.9739, 1.0512, 0.4053, -0.9848, -0.3122, 0.1035, -0.02, 0.8181, 0.5957, -0.4141, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3876 left_y=-0.2982 left_z=0.1129 left_yaw=-0.0031 left_pitch=0.2891 left_roll=0.1344 left_gripper=0.1035 right_x=0.2903 right_y=0.0007 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0008 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.9778, 5.7641, 1.6972, -0.4322, 0.0317, -0.0122, -0.2667, -1.4701, 7.5145, 1.8486, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50886fd61e233d549f7fbf35c19c43bc643ae431d793add8d863a9c4face2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a4c6cbda33cdfdd2e881bd1d3c84b97831204b9528776b2152b50ea72058b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d352b7dbe9e2b29ff6103c3b12c612003560ef9768f39739f0467df773120592",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.184 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 1.8885, 1.7115, -0.8364, -0.6197, -0.6052, 0.1035, -0.02, 0.8143, 0.5999, -0.3931, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3975 left_y=-0.2677 left_z=0.1973 left_yaw=0.0292 left_pitch=-0.1958 left_roll=0.1061 left_gripper=0.1035 right_x=0.2937 right_y=0.0006 right_z=0.1698 right_yaw=-0.0014 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.9214, 8.9231, 1.0085, -0.5153, -0.0806, -0.022, -0.1436, -1.6342, 7.241, 1.7558, -0.0415, -0.0513, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 2.0106, 1.9114, -0.9665, -0.6296, -0.6636, 0.1035, -0.02, 0.8165, 0.5999, -0.3969, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3935 left_y=-0.3035 left_z=0.2002 left_yaw=0.0167 left_pitch=-0.2192 left_roll=0.1101 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1684 right_yaw=-0.0014 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.5231, 9.1966, 1.0134, -0.5446, -0.0513, -0.0122, -0.1573, -1.4427, 7.0085, 1.7167, -0.0415, -0.0513, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.9691, 1.9739, 1.0512, 0.4053, -0.9848, -0.3122, 0.1035, -0.02, 0.8181, 0.5957, -0.4141, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3876 left_y=-0.2982 left_z=0.1129 left_yaw=-0.0031 left_pitch=0.2891 left_roll=0.1344 left_gripper=0.1035 right_x=0.2903 right_y=0.0007 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0008 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.9778, 5.7641, 1.6972, -0.4322, 0.0317, -0.0122, -0.2667, -1.4701, 7.5145, 1.8486, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50886fd61e233d549f7fbf35c19c43bc643ae431d793add8d863a9c4face2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a4c6cbda33cdfdd2e881bd1d3c84b97831204b9528776b2152b50ea72058b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d352b7dbe9e2b29ff6103c3b12c612003560ef9768f39739f0467df773120592",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIoy_GYUCWSxQQKtq_QqaqfNnvfMcRwg9YvPxkONyt2-qPpPhf5y_lzIfFfnDJOprQKK20_AM5wtpXTiLvNi8fz6LG4-hPztXifaAQgv9-L9FGpqfkR8cLYJKVSaEPLqwJXf5ZIERZWKuzDeeSEig7LRk35vQbUAc9qmccLdRtyMC0jOp3oOBwqfKW960hFKB22KT0LxhggGA34aOnVQDeZyvRoioF6Vdrt0d_c8PsVZJYhWEEZzP5M4dPip6H3XjB1OiypwPXrwe3gIV0nXMHN6SfznSY0e1LtFCha00VMcPvo96cni9DBcv9TM_aUuX4ksJGqe2nM_teAjwkNJG8m719y2N-4-MQE4RWAmqfLqC8p1hu7Z3-Lvu6nGOeSAWSm--ckEzXoy2UQHGBtcW1Sqi4E9OP-vy4x4DpXydVl19S1_9BKPxQssnAc2O6QqZ4HjF_a7WbLl72kkScY6NkhjvLHk4oeNWGEq2uuMo_7UuMD3jtAUBAlPmOarh2bhmXJaps84fje-5cdr78JjJweQzjQsVX-EkLG8yLXNdL09UoDh9FWTitClCAXO1Mu-B7wPTrsdY3QQh_mHM2xO38n3HKapxY3UeyPftKYHjXS2vFJcrc6QUQh5_mvDcGfLRNE8sWCDSMbN59CQv3UwpYRjjwSPK10RsR-EOfn2lIZpd0iFB50yZtdhtNpGsly3xn6b5_DuX5sHvgjXHiQM6nPF2LbOBZ-mS6iEtQYOA-xXss-k7Iy4mrQCEWLG6h8H0L55xhYjTbNeAdOOFu8cOghH8928uAFthrnq3_XQhox2A485PLmVRGEqdpPt5mywjaxmVsjS4lLsVzwDrxXlnF26xUaQtV45zf3iwn_EYwpxT6WpoCjOtUrlwbYxDPsjWwKdJS90pJfrnyg6JLSY2dGfIX3a0Hy58e3g1g4RbE4zB_aZIsCmsyRV6vSCYykyF77XwSGU_kJ78zcSgdlus37khHkZtcsJYeCyakFD9JAn3sFNnlMzHWy-lpz_NYCxRQRGgYW6pry3Vy2jNIHoTYtLCQu4asd9BHmifoEDwM4nD0UEbukV10YxzYU-AgzfjDmJnCp_ya2RMx_l_y-J1MJqThv2KYUZxwSUs9q0yMNoVqtq8ySdM7MJ4CjX9oYjC3usWKD72XIbabG8EUZd7Dum1XzJcrdK8IDMDzkcV3KYouZ9BPI2968OQzOfsaPHhV_KzQGLKUZ0HSoyYRih3GCap-6WjQGLPei8c5bP-ZJbkFmi-0WpTsIBkqqvDxCF2WLoVxc_HmVu9jlaynfgPybpRmibBVmD7MQX5o1y7bvX_4bJiQ3RVcfXsys3V31uGrW2o4mGPsHQQObTUl3M9Bg_oF0Asm8C3BCWFHypruD8OW9NCIiTrpprMXMDlH1h6o5dCyQ--mdDum1YD_IJe2LWg==",
  "id": "rs_08af964303d9f992016ab422270da487d08349cd5c286ddfcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_pitch\":0.35,\"left_x\":0.39,\"left_y\":-0.3},\"note\":\"Tilting the tool forward let the arm descend to about 11 cm while the bowl stayed above the middle position. I’ll lower a few more centimeters to seat it, stopping if contact prevents the commanded descent.\"}",
  "call_id": "call_C2Pw7FZtU8VTnYe7yIpULGQf",
  "id": "fc_08af964303d9f992016ab422278eb487d086e36ec522a4ef8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2Pw7FZtU8VTnYe7yIpULGQf",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1334, 0.997, 0.6609, -0.9977, -0.2562, 0.1035, -0.02, 0.8181, 0.5953, -0.4152, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3892 left_y=-0.298 left_z=0.0626 left_yaw=-0.0131 left_pitch=0.3134 left_roll=0.1585 left_gripper=0.1035 right_x=0.2901 right_y=0.0007 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -10.9607, 4.8342, 1.3602, -0.3004, 0.1099, -0.0122, -0.0205, -1.3744, 7.0359, 1.7216, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7dc4850b763925c0e03cdea500c346b96ab3b0082517092080d1177a13c01a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3589752f4e8aedf346a9e029ef990df3b8d9234ba965d4e0dfdd430ab52d6d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903f096c7bf897968f5d816ffd815d4867919a47bd3d85c4937b98c515474ff4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.325 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8639, 2.0022, 1.895, -0.9474, -0.6292, -0.6601, 0.1035, -0.02, 0.8158, 0.5999, -0.3965, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3971 left_y=-0.2993 left_z=0.2002 left_yaw=0.0241 left_pitch=-0.2128 left_roll=0.1035 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1687 right_yaw=-0.0014 right_pitch=-0.0412 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.4308, -10.4137, 8.841, 0.9841, -0.5104, 0.0171, -0.0073, -0.2256, -1.4427, 7.2274, 1.7411, -0.0611, -0.0073, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.9691, 1.9739, 1.0512, 0.4053, -0.9848, -0.3122, 0.1035, -0.02, 0.8181, 0.5957, -0.4141, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3876 left_y=-0.2982 left_z=0.1129 left_yaw=-0.0031 left_pitch=0.2891 left_roll=0.1344 left_gripper=0.1035 right_x=0.2903 right_y=0.0007 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0008 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.9778, 5.7641, 1.6972, -0.4322, 0.0317, -0.0122, -0.2667, -1.4701, 7.5145, 1.8486, -0.0317, -0.0317, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1334, 0.997, 0.6609, -0.9977, -0.2562, 0.1035, -0.02, 0.8181, 0.5953, -0.4152, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3892 left_y=-0.298 left_z=0.0626 left_yaw=-0.0131 left_pitch=0.3134 left_roll=0.1585 left_gripper=0.1035 right_x=0.2901 right_y=0.0007 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -10.9607, 4.8342, 1.3602, -0.3004, 0.1099, -0.0122, -0.0205, -1.3744, 7.0359, 1.7216, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7dc4850b763925c0e03cdea500c346b96ab3b0082517092080d1177a13c01a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3589752f4e8aedf346a9e029ef990df3b8d9234ba965d4e0dfdd430ab52d6d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903f096c7bf897968f5d816ffd815d4867919a47bd3d85c4937b98c515474ff4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIr0UM7IhMPAAx6x7rTPGlogdXiPNcArcevqoOtvtZc0dmC5Zpr7gsV8tkRq_n1IMapEDsFUqSKE5MXuObwb-HCLHMky2F19hhM5mP-xDwZMaFsTsgtaxJWi-ZJgUEyMaVsNanfbC1xo87hD84Fy3Z193KeC0VPx9oyImCgR25UbkU3V-uaehw1TG6gQeBf1aTojNfr_W1-geQhZZ8qktyvmZ6RRLNHNXhV5pts_BWGVeq4BR0CbFhMHh3vSXZYnwmXHbNUUL80ktgCxoRua7O2cqeqoyhoPFPzcOZGnUnaDHTDB_9ml_UIFusl4DMAuIDtm-jx88uqhe0r0DAjzTjgAPg5N5buJ-BnB9Jp7dxfed0MPFc_Wx-iKTbZ8oIaAIPAPXzsarNkhgXNPv5BnLF2Oqy3rz6ZUXyAo2ojH-tfF7RSccIlQnJG4Qm830cmre9apLCB2fc4Zc4yAAfVuDxnONeje5v4xSUTtXYTLefqneNPvYtrZYkYsjx9e939aIp00P69CmhCm_WHSD6HygM3X-by50tgqg0PCBQjP9_a2ichlyjPIZb39OBpEzUITSct-i5duw6xXi9fj52aZYxjs0La_1cV23UwoEiap_kmiOdilGWoBZUZ1R7M63mRPq6NIfRLhZEovVh1pybNLJcvmJZzWhvi4SDZHmXpAlVjpxZz3gv6Mj2NpLs0jl-NjxTPvVny0OsPQ8MJn0La1P6FODoTFR6WaS4H9QrgrnjlWx9xGtQDCgkNVR6rE0Ffd6GFgZON112KijYFG-FO613JsDDwXmgCl_yRGN9wzMTWW3wwlbZFohIHM1yJpfP6RLjYXtUl4YZcmMec8C5LC5nE64WKtoByQM1wHuiEPspjKtjovVAaTfXbfEFnHLzi1sYzBoo6TQpXWvGDX_067bHPxxIeo-cFrxdV8qvYVTCTGEmHonVeiFFJLg_rthAcerLF-iwMKUv5jTQsPulripFl078_7bmiMDrw8owxvMiPCUigq5pEPOugi_Z9ZfIG67QaQqsoiWmXhsGcVf9VYLGTMdePDJZSCBIQvI3U4poDCzfhfKFrq8iVyogQTr_I-98_ZGKxXAwkxA1glawWmUMQhtfhVsjXJrw31rjeN7gF7A3dBp3gnRN1OTJwdzQjwwIlFyDmNDXpNbXOUQtmXqWBFMdzFL4Xbv1AK_pis5EarXzCwgeps-2D4xViAjLOY1SPk7ZRpQMV8ZQe28NGGSZhjzfREKJhvlfp6QRW9STxW6HQxZKE9R7ONTIUo4BiBFoRjH9kcx17I9hARG6k0TikWukcLM6fBHr82lC6VhZPzzrOugbOhnswBJaslcGRDgkIPCSevUXos2O74-uDQMfZ-U57QmWlwJPq9_MLWyG0zFkJv2uK4iuAu0X0TLmqRMMkliRWNPjatY8BXHKgKoNH7oZvsE_S9ozVF7Pl7zXJGruL-J8wspeQsSlUxQ0qtdKhDacvb-2RdwCDCcK9INeaCasDJu3QU770dLzZq8DmdIpHtLdv6X2i0WMwbYHrFZNiaToEZT58WDh0GjEIErB7vaHpoykLE2_AZFLrFsAd623d1LIt10wMHGzLoNAZISrC",
  "id": "rs_08af964303d9f992016ab4222a94a487d091ddf0b803c8bd20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bowl is down around rim height over the middle bowl. I’ll release it so it can settle inside, then move the gripper away to verify the stack.\"}",
  "call_id": "call_ndd7pFQgxjjTwSjMfx9XnsB4",
  "id": "fc_08af964303d9f992016ab4222b460887d089e6887304a45cbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndd7pFQgxjjTwSjMfx9XnsB4",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1555, 0.9848, 0.7441, -1.0042, -0.2428, 0.9947, -0.02, 0.8204, 0.5945, -0.4194, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3901 left_y=-0.2982 left_z=0.0618 left_yaw=-0.0017 left_pitch=0.3426 left_roll=0.1316 left_gripper=0.9947 right_x=0.2895 right_y=0.0007 right_z=0.1605 right_yaw=-0.0011 right_pitch=-0.074 right_roll=0.001 right_gripper=0.9979\nstate[joint_eff]: [-0.4581, -10.7009, 5.2444, 1.6044, -0.3248, 0.0562, -0.1538, -0.1026, -1.5248, 7.0359, 1.6874, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6bf95e1d6d2e0256f69f2d0c6735979bd605dbfd7bc6065ba45642c80e9b35c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f7cb6722d326016b2aed5d883775a207a8b8b8219446de4d4ef899e0c8bdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93298d4b3f4c65b35a640296632b399f255065f2693bf2bae8110dd5aad5e03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.306 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 2.0106, 1.9114, -0.9665, -0.6296, -0.6636, 0.1035, -0.02, 0.8165, 0.5999, -0.3969, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3935 left_y=-0.3035 left_z=0.2002 left_yaw=0.0167 left_pitch=-0.2192 left_roll=0.1101 left_gripper=0.1035 right_x=0.2933 right_y=0.0006 right_z=0.1684 right_yaw=-0.0014 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.5231, 9.1966, 1.0134, -0.5446, -0.0513, -0.0122, -0.1573, -1.4427, 7.0085, 1.7167, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1334, 0.997, 0.6609, -0.9977, -0.2562, 0.1035, -0.02, 0.8181, 0.5953, -0.4152, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3892 left_y=-0.298 left_z=0.0626 left_yaw=-0.0131 left_pitch=0.3134 left_roll=0.1585 left_gripper=0.1035 right_x=0.2901 right_y=0.0007 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -10.9607, 4.8342, 1.3602, -0.3004, 0.1099, -0.0122, -0.0205, -1.3744, 7.0359, 1.7216, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1555, 0.9848, 0.7441, -1.0042, -0.2428, 0.9947, -0.02, 0.8204, 0.5945, -0.4194, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3901 left_y=-0.2982 left_z=0.0618 left_yaw=-0.0017 left_pitch=0.3426 left_roll=0.1316 left_gripper=0.9947 right_x=0.2895 right_y=0.0007 right_z=0.1605 right_yaw=-0.0011 right_pitch=-0.074 right_roll=0.001 right_gripper=0.9979\nstate[joint_eff]: [-0.4581, -10.7009, 5.2444, 1.6044, -0.3248, 0.0562, -0.1538, -0.1026, -1.5248, 7.0359, 1.6874, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6bf95e1d6d2e0256f69f2d0c6735979bd605dbfd7bc6065ba45642c80e9b35c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f7cb6722d326016b2aed5d883775a207a8b8b8219446de4d4ef899e0c8bdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93298d4b3f4c65b35a640296632b399f255065f2693bf2bae8110dd5aad5e03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIuSkKrU5z6638bR-3BEDa7Tp3Z4mbffLtnZLdxixQ2OvuBFVG1o5WBJT_-1RReus68W0ZT8qLyz4fPcXPApwnDnb1q3GTM6DXdS9pR6Nt9P6E_T6YIpVHXrcyV63UGZA91kKPFyRJu3k8GhwvhKH3FKj1bo06dXUqV1uCWK1odfVVtE59X-nmSp_92kjjJISSoAWmzUqXuJ2Qpaj9JTLqpKJlZthGyjRtyVElj8XmnXTgIndpJ0juC6heXncxqBihFnImklKuncZXR9Amn5q7BJPKLM-ljOZhpyZg83Iocem6DMmFEQnmV94ly0NdgVnNn6rI-TZbHvsweTCD0JULSkRMuf-ePpD4-aZolo4AemYV8DhUJRkGtLJt5h4S_tboGOtQYvjSywLvmd_MuD9KIRhvrgxluc3OE5YtytLNiMzJVOgkDwkMzpSb92xtJ9Fz5D8PlCVXAWg93cqKUJU5lg2l-STKz4QdubujngHJPDoLXCwqYQKg6I6uCr-N5rgzhgIDtLiARFMmOgLjIqbMQP9Wp9mDvTPE-BBF24Y_ROLPiEazKBagVSexQ6Cqy4srK2bqFVOEGVPSMU2Xe4hhPlXJ4RX1UUdxnIOVV_4lIAZt5ygWwqbugvKq47_LnyH8gLLzxnbvysX7Vfnyq13rPaiOloMvUV9cn_wlk3LC03ByKERImlo7blZUZLQO9MUcv9DB9HnpO6_o8AcDuvhLrJvENzjxSMSJpBHaz3a1nYSdrYl_Y_vrJxQIqPjtsxNInSSDNiIZxF1_wRBXfF6k_EmZQ0h47CIPWRUMCtR5_-ozO6FeoZpHkZFQFprGU-JMxelpm3ytPyJqY-lqD9HEewOnaZfMjpqGFoBKCMFHc3zLzfmRIBMPuZWVRvOOa2lv1dkwYJjCra1KxeY6ehW2-uatFy-Wd3nJ33WbfgcFwG1TMceaogB1dv3tpUV3h1p8J5iXfWcuA_JTRumcN8g95qfsMlzfQItAE-FL2ju2LRiMttEPHpxwLPjORqfGhQ6TenYlkprz5wEfC_VpwZ4PfsrvNVK8IPYXlzyCsd6JE9QbOWmZ0iHj0SeuKMJ_Rkp-wrlmDhNi8VE3LqKOJJMC6K1gF9hQTBb2g9Pv7eLuF5BJtJM2UkOhs7L8HeIotmZP6GLzh6HAlkH8PVIwYv_8gWdNJn99rDxKd18yzo2-G86ztd6ShOr1CYTVkZAuR-psRGwc50fI9SGczdym3L3TO3ffe0VAXZenzxHm4_qGRHDTJzcNf3_tXnMkWCcCqvyqUCeE4ZhvGTlf-ZsMXTHXO83GikpkHXkEDed7urzGoUms3XDczOJt6gppMIt_yOorRtA7n8WeRfLqEXrYVn3x8loZYWi0vfFvgI7zjxvkVfZdT4Z4ZxLQs78LkMd18n_nJXVI8bdF9H4RBus_ADMMxjK7U5vJD3--jxQwsWmBAcSY=",
  "id": "rs_08af964303d9f992016ab4222dbd7487d09b45fb20d9b25825",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The jaws are open and the bowl appears to remain over the middle bowl. I’ll withdraw the left arm high and back to uncover the table before handling the remaining bowl.\"}",
  "call_id": "call_h1s8ITLWGFvt6XvJkppmKgqu",
  "id": "fc_08af964303d9f992016ab4222e28a887d08f9e71089df571ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h1s8ITLWGFvt6XvJkppmKgqu",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1459, 0.7963, 0.638, -0.4217, -0.2493, -0.0132, 0.9952, -0.02, 0.8242, 0.5945, -0.4225, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.2925 left_y=0.0047 left_z=0.1893 left_yaw=0.0626 left_pitch=0.006 left_roll=0.1256 left_gripper=0.9952 right_x=0.2892 right_y=0.0007 right_z=0.1589 right_yaw=-0.0013 right_pitch=-0.0809 right_roll=0.0014 right_gripper=0.9979\nstate[joint_eff]: [0.1846, -1.4427, 10.1538, 1.6874, 0.0024, 0.1441, 0.0366, -0.3624, -1.3197, 7.1726, 1.6777, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed9e747c654cb1c11f30b4a2ec41463916074b9d5ee750c497a9ee2479dfd00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c11c8335b076cd5396dcd306888c858aa6fc8cc5053240b94ce0f727f393b64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79deca03b4b3472060a636b721ee07c60847a660b7989df84c58b3e4fe820b49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.594 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9691, 1.9739, 1.0512, 0.4053, -0.9848, -0.3122, 0.1035, -0.02, 0.8181, 0.5957, -0.4141, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3876 left_y=-0.2982 left_z=0.1129 left_yaw=-0.0031 left_pitch=0.2891 left_roll=0.1344 left_gripper=0.1035 right_x=0.2903 right_y=0.0007 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0008 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.9778, 5.7641, 1.6972, -0.4322, 0.0317, -0.0122, -0.2667, -1.4701, 7.5145, 1.8486, -0.0317, -0.0317, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1555, 0.9848, 0.7441, -1.0042, -0.2428, 0.9947, -0.02, 0.8204, 0.5945, -0.4194, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3901 left_y=-0.2982 left_z=0.0618 left_yaw=-0.0017 left_pitch=0.3426 left_roll=0.1316 left_gripper=0.9947 right_x=0.2895 right_y=0.0007 right_z=0.1605 right_yaw=-0.0011 right_pitch=-0.074 right_roll=0.001 right_gripper=0.9979\nstate[joint_eff]: [-0.4581, -10.7009, 5.2444, 1.6044, -0.3248, 0.0562, -0.1538, -0.1026, -1.5248, 7.0359, 1.6874, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1459, 0.7963, 0.638, -0.4217, -0.2493, -0.0132, 0.9952, -0.02, 0.8242, 0.5945, -0.4225, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.2925 left_y=0.0047 left_z=0.1893 left_yaw=0.0626 left_pitch=0.006 left_roll=0.1256 left_gripper=0.9952 right_x=0.2892 right_y=0.0007 right_z=0.1589 right_yaw=-0.0013 right_pitch=-0.0809 right_roll=0.0014 right_gripper=0.9979\nstate[joint_eff]: [0.1846, -1.4427, 10.1538, 1.6874, 0.0024, 0.1441, 0.0366, -0.3624, -1.3197, 7.1726, 1.6777, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed9e747c654cb1c11f30b4a2ec41463916074b9d5ee750c497a9ee2479dfd00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c11c8335b076cd5396dcd306888c858aa6fc8cc5053240b94ce0f727f393b64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79deca03b4b3472060a636b721ee07c60847a660b7989df84c58b3e4fe820b49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCI0iRTaf0Pf0Av9seQRudMjc-MCdBzUu2g9LCZIWpcKy0nqDN1vtYULeIyyDZHBwZP-UI-fmv_CSb9h6X_1lwgqrzcbFaVBczZROUkG5oulJirJsE_5FC_sEL4n2UmyMtTFzt_GYmD5jEpjFsmtTUBz8HJ7dnRsBT2UZqCzjUXIgkXSX25g6krmrIAWGbYr_p3jFLd4Q21R-qsBNZgN2cCDA-d_N4viiXC69JnuY7HkzB4PVAo2clBCMk9VFglx2T9eIdNSN_kXXbhr4tJMtugSE54pi13m3UAHxu06hGFgfA3yMK463miqAdzSPi4XH5BGnr2EPUE6XZ_LY5_rSl1DX65A6cxEaDtulRKneycu5RbbK9H8mmzYR5VoeFT2DB-wqt6pbvlzlKNxgP6F8_utItMlGRUUnDCv2YBkrRIZGEufjIv19IamACbw_67wCfv3AINx5cS2KvZ7HPPOP4Xtnst_saPMdC3ClbFHbUnSVKUMYyglYHUHRg5PA7zXuJayVDZmCCtaeJNzGrcsl4YSSr99kk0V3D6YABglGatz4oo4O05_hH7X6BPvH54EUSOXtL-ishup4vofYWqker1UCUut_hUmeG_7QE5Y_-xBFNofXd5xVfpl-AJV7AyUZzuW15Q1XgCXry9LXqNMlF7nSryqreahfZMoI_Itu2rFG848w7rY5KaD_StftEcsXOj4NqFI1OTFY_jNiyZfz-v4mdq3anVBhB5Z276BaeQwKXkJ0xEvs7O5WdZCdcR5YS3MCuihDa33OGWOIw_NRCBKRXvDbHv8PbS5WlKUvfkAvwvLqJXCP7TuXgD--1TEMmbzycP3VD-fKs3MFcnbOd0bXeL9-2eJWWlgaE-yXSEbvJOsPMY223GXNCAfgqy7zjHFUn-42VQu1lqlzObcLEoTjkwv-0T7fM7DHNDzBulh5T8ommmkXWyWYbX6uV3dIgPbHgRp_LFgT4AT_cB1K6ZGvfrUiBpNHHa9gQ3waDq93elz4UY3-n43VH04SU4QJ_Rl1B_2SjXoFdnCOVlqd4_7Gc5nNaTkiSv0EH9ShNVU9wqVNk83BmLqCN1TwwF9k-5nLvOYLgLWGR4kv_1k3Ci1M0Z_XqN6hk1n4pNK5K4rg2hZZaZ0baWTjb5PcxE0T7VEUAyGmwidLFYBAJv02_VCwmymvVzAiYbGYAmbbF7_O3Pdbwjk6VCfnLDZ7uyDy9L1zzMKXkEm5i55aR4GtXg8Wi6Tc-Mdc5nl1ZRUEcoPhChdwbA5u6T8H_XVBg0pfd2zt59hAxziZuYDcb047G7WCmIUHT30MjWQITjAIXUptQrO3BVgPeOkYOxpdg3FPIqIOyN0RNoMbvAXebatCkCfE-7_YdqPXHisic2lXm13RHvJY9WNQSmhLu_zokNGHhDPi5IPmBmbS9BpLyYLXkugQVg0T34CXhUGTXaWRIpVxFGvzE-07cFQqSQzq4iTS_Cqr4GTP3MzuF8rTOkG1u43xV4BwNQ_4U6ABYlcD2rnsBUonacGnZrjwUgkHSF52-66X1ahjW1qEtWXrtidoE-Mj6bBEGN5ysVZD1bLN7oT6unBQhb1KE_-W6Tz514NI3LgKyJio07e1lZtK4-bDPsZXuOkdiX_MepZA-7XWbV0OkD2rh4e2zJ1LQClcCFFvz4f_7XJ6xxzGygYuFR_eMA8Cl6ipYzPshOsM1WqabmERaqa09Sf0PGfQqEYvyA_xc4f1Lv7TXnvm7Ya-xleaXjNUoO9Ufa4Zm8qpjAvbUSAzope3szblrwbMgupvbnhWhyyS0SbsTHD6qQC6jsxMrt1CNZv0OPIz0hI_Ra3UGGKJ7hBJMhd3kI-XNLhR14E2HQCjv1SibpM_j3e9Xe2ASfBs69I5rm00eGyiCcDiqmBgfo=",
  "id": "rs_08af964303d9f992016ab42232868087d0bcc0d117211f9b16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The overhead view now shows a white bowl sitting on the middle bowl; the pink bowl remains separate on the right. I’ll position the open right gripper above the pink bowl.\"}",
  "call_id": "call_9lPRdHMnyQw6z5upvhQLyLLf",
  "id": "fc_08af964303d9f992016ab4223430ec87d093dcfb2966209133",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9lPRdHMnyQw6z5upvhQLyLLf",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8028, 0.6411, -0.4381, -0.2405, -0.0154, 0.9952, 0.5182, 1.4689, 0.8829, -0.131, 0.3897, 0.2634, 0.9979]\nstate[eef_state]: left_x=0.2912 left_y=0.0036 left_z=0.1854 left_yaw=0.0573 left_pitch=-0.0142 left_roll=0.1229 left_gripper=0.9952 right_x=0.3846 right_y=0.1462 right_z=0.1359 right_yaw=0.0436 right_pitch=-0.0826 right_roll=-0.0374 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.6889, 6.7077, 1.8291, -0.1929, 0.0317, -0.0122, 0.3487, -6.7897, 9.347, 1.7167, 0.4274, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd3ecdf03a2f1825b291542d03c86c1837fc04d5c0ebc98eb081b5baa987dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c741940354a2c8b2ef17c959fa1afd4488eb81f13d806b7cffec99067905f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6acd3a88e44ed3e3a61052ee1bc8cfd981467777341b9ec0cc9111e04b1b3cce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.582 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1334, 0.997, 0.6609, -0.9977, -0.2562, 0.1035, -0.02, 0.8181, 0.5953, -0.4152, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3892 left_y=-0.298 left_z=0.0626 left_yaw=-0.0131 left_pitch=0.3134 left_roll=0.1585 left_gripper=0.1035 right_x=0.2901 right_y=0.0007 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -10.9607, 4.8342, 1.3602, -0.3004, 0.1099, -0.0122, -0.0205, -1.3744, 7.0359, 1.7216, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1459, 0.7963, 0.638, -0.4217, -0.2493, -0.0132, 0.9952, -0.02, 0.8242, 0.5945, -0.4225, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.2925 left_y=0.0047 left_z=0.1893 left_yaw=0.0626 left_pitch=0.006 left_roll=0.1256 left_gripper=0.9952 right_x=0.2892 right_y=0.0007 right_z=0.1589 right_yaw=-0.0013 right_pitch=-0.0809 right_roll=0.0014 right_gripper=0.9979\nstate[joint_eff]: [0.1846, -1.4427, 10.1538, 1.6874, 0.0024, 0.1441, 0.0366, -0.3624, -1.3197, 7.1726, 1.6777, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8028, 0.6411, -0.4381, -0.2405, -0.0154, 0.9952, 0.5182, 1.4689, 0.8829, -0.131, 0.3897, 0.2634, 0.9979]\nstate[eef_state]: left_x=0.2912 left_y=0.0036 left_z=0.1854 left_yaw=0.0573 left_pitch=-0.0142 left_roll=0.1229 left_gripper=0.9952 right_x=0.3846 right_y=0.1462 right_z=0.1359 right_yaw=0.0436 right_pitch=-0.0826 right_roll=-0.0374 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.6889, 6.7077, 1.8291, -0.1929, 0.0317, -0.0122, 0.3487, -6.7897, 9.347, 1.7167, 0.4274, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd3ecdf03a2f1825b291542d03c86c1837fc04d5c0ebc98eb081b5baa987dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c741940354a2c8b2ef17c959fa1afd4488eb81f13d806b7cffec99067905f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6acd3a88e44ed3e3a61052ee1bc8cfd981467777341b9ec0cc9111e04b1b3cce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCI5158OOycqcMyu-a6gv22XB46lILNyTrXXaDO6wyKsuIzJxHHMD8L7moqv9_pVACLBvqFHBxOYmRPsohm4_B17qj4QnjIlV4KGQ1ZlP4fn6Ci6SGgKNefOspkOhCVxTb-tEDC9hYx8cqMA--leZ2XRIs2wB9dzQy-tWxSLEMczXIxkiSS59xWvCMkMZ9wo18zjzOKaFLNLNr9wbCNK9ZaI7D-VO_10GusXx6wrfV6aRKy-p6XyfG2W3O7ZdunziE0PoESioFpwwBGJb5rfDXJutEdq2nXBeAKXwvAtIKqIvmtkxI77R6hv-BpSa5AU1oq4e7C0kpmMqNlAQdg4jIAMlm2pS4SwA1UkjSpcN9uSnbvlbw-xkeiCORz6PAn1OgTZg0pFx39NFxJKfQlSVSEZUQTkM-a129XrXVxRaaFVtzfLZ7PO6vZKiHldIQhfVFhnQ3Ue4XXI6eGvCwSaBeJD_8ak0Kr4hddH3k8s04uuEsOo8QK63RpiTySycQNncRFdzo1tmEpB5gI97kxhOUXCHDk79wdZD0Hqe_mxtR14Rg5W3n7PQtElRQ3ecNUGBuQvmyWNr9uWMpDCURVg-EtXnA1EWCH1BhGpHyRXrlVIqHY50QHjlfdX22jrD8PJZvvNg8l7TIZhtWXPkJRMaTCfAf63xcoN2hRoZ4GI1BNxndyV8DVEH_deyiG0MCKpCniJS7S-DobpcSVCIRZLyfcnfLZUHmIfnhD7Osn5eM4RLl-1HD0G0CVc-4CSdkbwLrJNkWGVgARw-l6dlkTsnlq49_97EQjfG1xIZXPAwu9uXa2BXl2ktl7s_a8c0jGEHz4lqwMow4gtOlAi7jch4QSCZKiNXHL-jKj9fx9fpCWpGCdz416yTyGxuFB-M2K0MvfNjfUlp_vpOK7vdt6J0xArCvr9DASQV7m_lJXDGHExlX9VdoCblHJ3fpNQmCmrUfNLJ7uSqNNKlD6NEvPQcJGxSl3O4pChgVqW6xPZaVeK0QxC7gbYdbbKSdFvtJVcr-MbHFOxJCnAU2r9hBkwj9SpzUGR5kkx0YEYdwT81UwE8PRVQI0Xo_WiExEZHmLKibbCs5H9zt1BWZf__MUPfbNByQ4bSDS25xG0TRC3BeyLl6beYi2QooMRBSjLf8Ze00jumEDStYGHBgZBRIFfwkFsic_TH-MlcCshxK2f17i0WTWTdlRfN0idY0UFZVpMIwYiVXElfvDcysaVOR6VraEWPt-E3gTLs0CtLebAbwekb1qgGde-2pClgeGRjVY9BYU1Ybj3hOAEqvyKghEttwjdaCGHWbDs-DeVwlLm7ONqnlDxUOpqo2514XMA9P2jLngmwaSj-vss4fJcNEuYoQrxHKNV0ver0CNWdYyOzaWMwtBjlQQYmUBj2-BzPiM4_yF74CzIbO68ux7qETZ71I5ykxuYEFe6M6I5aARbplvMHGvi8rxyqodekRt8lRNF9UqHX_M0q33_hRHQU6fU1aBJR5CFFPM0XxmzS9Wc1tJWhozwXB3vdVcNDjUumPb3LKba5chKyy1QcqX87IPD6vW4kY7nPHLVheNGZOCkIyMZqx1X0LKAS6t-MzOQ6lWInzbfXcXHW8ba-4SNiYR2OJ4vLA_8Lk7Lh1K91EX_oOzluivcNVbv7RKqB2DQIIrHdx7DljspMfX3xwTEUHVQgUHj0VnH4tExYO4eoWzIMm0SmEw0RrIgt15jBE2aPkQJ4kWsyp_emKPPIH63tG2I0IBNS7TahBrGbMArH3-GGQUQ52LM6k2MRxAB0eRlH4S7NbbcMLExJDHpTgtHJCPYXCeCzhU9tGU24o4C_a10qtlTa4fcgjpSbJ7A50Qhb_AyLOU5GorrHls3oEhD7P9oL4MnHdidngYsiWY83IohQLAiGIUtFi1NsfXDK917IcMwBblkMu6HPfZcbGuLrpObmDvfbV4fTQHKc-zH2bqi5eCCZTkKYk66WrbVAwUN-N-LRVXdmcEgQlfBoTOr1ffMKL10XvfjvJycpH3GvjZGzPWHVKIz19sGg1S6Ty-_NulgcCzHQNxTvzjlE5qIzWoA_C6IqJCZid2bWg8_K24Joi0O4d0F0S1dy0W2BPY-WSr9MookPCeqvS4CXyFWlcYswvZmVA==",
  "id": "rs_08af964303d9f992016ab422373ae087d090e6491a1d947b23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_x\":0.395,\"right_z\":0.14},\"note\":\"The pink bowl is close to the fingertips but slightly right of the jaw center in the right wrist view. I’ll shift the right gripper a few centimeters toward it before descending.\"}",
  "call_id": "call_RX753me8w7ZsC0JFFfLEGiwH",
  "id": "fc_08af964303d9f992016ab42238e85487d0a900ae4ce555499f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RX753me8w7ZsC0JFFfLEGiwH",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8043, 0.6411, -0.4389, -0.2398, -0.0158, 0.9952, 0.4324, 1.4773, 0.8803, -0.1314, 0.345, 0.2161, 0.9979]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1848 left_yaw=0.0568 left_pitch=-0.0165 left_roll=0.1227 left_gripper=0.9952 right_x=0.3941 right_y=0.12 right_z=0.1296 right_yaw=0.019 right_pitch=-0.1067 right_roll=-0.0529 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.3607, 6.9812, 1.6923, -0.1148, -0.0806, -0.0122, 0.4308, -8.6632, 6.5709, 1.6532, -0.0073, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db72dccf6f0b79d90986ad7d463b4cdbead0840d4bbd6ce4b487b0b123e533b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be8b1d05fd134013f95c4b12a91aa359a658bfb5fa464b2c2243e117035ba37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3ed36630288cd03cb2add88c6f692713461ee0be88a5d8fba750fa8e215907",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.565 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 2.1555, 0.9848, 0.7441, -1.0042, -0.2428, 0.9947, -0.02, 0.8204, 0.5945, -0.4194, -0.0166, -0.0208, 0.9979]\nstate[eef_state]: left_x=0.3901 left_y=-0.2982 left_z=0.0618 left_yaw=-0.0017 left_pitch=0.3426 left_roll=0.1316 left_gripper=0.9947 right_x=0.2895 right_y=0.0007 right_z=0.1605 right_yaw=-0.0011 right_pitch=-0.074 right_roll=0.001 right_gripper=0.9979\nstate[joint_eff]: [-0.4581, -10.7009, 5.2444, 1.6044, -0.3248, 0.0562, -0.1538, -0.1026, -1.5248, 7.0359, 1.6874, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8028, 0.6411, -0.4381, -0.2405, -0.0154, 0.9952, 0.5182, 1.4689, 0.8829, -0.131, 0.3897, 0.2634, 0.9979]\nstate[eef_state]: left_x=0.2912 left_y=0.0036 left_z=0.1854 left_yaw=0.0573 left_pitch=-0.0142 left_roll=0.1229 left_gripper=0.9952 right_x=0.3846 right_y=0.1462 right_z=0.1359 right_yaw=0.0436 right_pitch=-0.0826 right_roll=-0.0374 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.6889, 6.7077, 1.8291, -0.1929, 0.0317, -0.0122, 0.3487, -6.7897, 9.347, 1.7167, 0.4274, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8043, 0.6411, -0.4389, -0.2398, -0.0158, 0.9952, 0.4324, 1.4773, 0.8803, -0.1314, 0.345, 0.2161, 0.9979]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1848 left_yaw=0.0568 left_pitch=-0.0165 left_roll=0.1227 left_gripper=0.9952 right_x=0.3941 right_y=0.12 right_z=0.1296 right_yaw=0.019 right_pitch=-0.1067 right_roll=-0.0529 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.3607, 6.9812, 1.6923, -0.1148, -0.0806, -0.0122, 0.4308, -8.6632, 6.5709, 1.6532, -0.0073, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db72dccf6f0b79d90986ad7d463b4cdbead0840d4bbd6ce4b487b0b123e533b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be8b1d05fd134013f95c4b12a91aa359a658bfb5fa464b2c2243e117035ba37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3ed36630288cd03cb2add88c6f692713461ee0be88a5d8fba750fa8e215907",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCI8cdJqjJDMw7SN2g7ieH3p2g_m_abtzHHee8iWVS7P_gcv_3JLoxd5Xn64tD06Y2mHDMFaiVfAk2klPNKQVNH6Kqv_P2UEzgsAFstKxkXM-1JTp17F8zjqbrtx7NbDDj8L0KVLa5SeSIDtfmuoa-dfsQvea8wcT86zdyvg3T9xmGrSQTBgBRhF5IR9YbUMST_8cA8qJkjTv55jGFKj_pq0M0VpLdX-d5_LWHAN0Kq8M7QmB0tkHTg43M-Bk1jQrWL99e6KrJLB-KFgO_Ft2yEw67_CtbFpw_XBqOap0MQFqF42f7n2gPo9uKlp-LNWCDbazhUAv5ircfav0ODlUxpfat-RxzN7fX1hccy73-ajNvQJq9S4_4Qlpo_2RdwY_6QSM_BiUJZXbd0pWyh80vm2-7Tcuu1Fgmw7GnI192Ac_LVW-VeIG8bNBeJoNbRcXn0OVcLBHZFk5QmsD3AcuWAureko2twmrjVCfP5kFJVJiUk20hb1sRX8XeRNJNsiYP7wRA9b6VI4iPt9o3xcT8aSNrtHb_YUFCtvvSDgQxcIbtzCpC_l0TMGprK2OmVaS0O593xTNn9_XXkWO7J7m1JFJNLi79pst2Iksdzv7Xy47shH9mQWAL2VPgrVEpBdyGKIv7kK3MwOtmnSLYVB9Gf0-kOzW9Nf-5slTIDbo4eenOxqlWEuxew5W4EpM0Yn5uPeKxh2rCt2jlXnAYuB9hOYC01A0rMTnIVatvbj1mOc3LnPmHqSR9nG7ZQHYzu0GJ55XH-tafVPuOOsolfC9icy5Z9-ixR5Eunl4s19wPBvz1FdxkJsZVNl_7wOQxFOne8Dodq1K-LGuosgxfJXXd1Nd6w_iQgsM-QVNadfX12pz7HPOY44TW_TCQhJqYXvv0eP8vQQ3zDKinq-ln-0bGe-CjyAk17KqRJ9XusY4vo6GcQSQV8kMOBykzu6Zy8f25g8eV27H65Eaij7Q9SEwOFsmvRu_LTA40iP6XI4fBxWoshYfQWEhuGH7u1geep1I940Wvm1eh12flfqx-emtBLYr-pwLo1A1G6IMNe-ERmw7QF7-DVG3762iKDHXm5-SXF-SV4JxKhKtfwDoBUdV2ZB23aCD9tj3Y16BzY35u-EdDmdm1Ox-hUTkfpfzqUdxAN4EjbBFzhHvWiywXapKpPDJF3EDqK5O-NZ9IHh6EOmOECeTukMcB_JWjwqeAciOB90Geu7sknWOzwdiEFntHYXYBUL11KmjaDX_K_urhs9nXPv1cmZcLU_zU1ABgNAkdkYra29NwZptIHokru1Ta3NlR_402er5ydA6m9RdqyY8VISHh3RCUdXEjawnueeceF_k-G-74RD1FENh8jJSgFK8WpTWeBsoJtsKSHRY-3iNtAH4uits44gbysFL3DZqlhY9f7gApIt4_5j1PlUpz34R-IyYMfI8sSDdaSh13swinxyLY8r72xBFxGt3znOoX4CFhPS-rssuHBPV95kMfqI70eniAVnavx_U1nU0T5fh5oIR3dfwj0IW2-HDuN3kVFS",
  "id": "rs_08af964303d9f992016ab4223b02b487d0a6be0f74e24dafad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.02,\"right_x\":0.395,\"right_y\":0.12},\"note\":\"The pink bowl is now centered between the open jaws. As with the first bowl, I’ll lower near the table to grip its narrower lower side.\"}",
  "call_id": "call_Z2g0bXWGbBF8WJ8QOPXum7fv",
  "id": "fc_08af964303d9f992016ab4223bd6e087d0bbc2340874a8f18d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2g0bXWGbBF8WJ8QOPXum7fv",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8047, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4309, 1.7271, 0.6708, 0.3332, 0.3389, 0.2073, 0.9978]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.1843 left_yaw=0.0566 left_pitch=-0.0192 left_roll=0.1235 left_gripper=0.9952 right_x=0.3969 right_y=0.1217 right_z=0.0326 right_yaw=0.0274 right_pitch=-0.1037 right_roll=-0.0539 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -1.2923, 6.9812, 1.6825, -0.149, -0.0269, -0.0122, -0.1299, -5.3949, 3.6718, 0.8718, 0.0122, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c6008cff169e8f9dd184cf284b9bb18988588cd92941a1396d747e954d0942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ade47cfe1a208c3e51a5c1c4d6dd8567de473e36ee9277676bc93f54cd5879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fefd9b696f8f8b5eeb9f7e633cbf57a05c2730609f6e95b7a8e8d8578c9884c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.111 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1459, 0.7963, 0.638, -0.4217, -0.2493, -0.0132, 0.9952, -0.02, 0.8242, 0.5945, -0.4225, -0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.2925 left_y=0.0047 left_z=0.1893 left_yaw=0.0626 left_pitch=0.006 left_roll=0.1256 left_gripper=0.9952 right_x=0.2892 right_y=0.0007 right_z=0.1589 right_yaw=-0.0013 right_pitch=-0.0809 right_roll=0.0014 right_gripper=0.9979\nstate[joint_eff]: [0.1846, -1.4427, 10.1538, 1.6874, 0.0024, 0.1441, 0.0366, -0.3624, -1.3197, 7.1726, 1.6777, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8043, 0.6411, -0.4389, -0.2398, -0.0158, 0.9952, 0.4324, 1.4773, 0.8803, -0.1314, 0.345, 0.2161, 0.9979]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1848 left_yaw=0.0568 left_pitch=-0.0165 left_roll=0.1227 left_gripper=0.9952 right_x=0.3941 right_y=0.12 right_z=0.1296 right_yaw=0.019 right_pitch=-0.1067 right_roll=-0.0529 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.3607, 6.9812, 1.6923, -0.1148, -0.0806, -0.0122, 0.4308, -8.6632, 6.5709, 1.6532, -0.0073, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8047, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4309, 1.7271, 0.6708, 0.3332, 0.3389, 0.2073, 0.9978]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.1843 left_yaw=0.0566 left_pitch=-0.0192 left_roll=0.1235 left_gripper=0.9952 right_x=0.3969 right_y=0.1217 right_z=0.0326 right_yaw=0.0274 right_pitch=-0.1037 right_roll=-0.0539 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -1.2923, 6.9812, 1.6825, -0.149, -0.0269, -0.0122, -0.1299, -5.3949, 3.6718, 0.8718, 0.0122, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c6008cff169e8f9dd184cf284b9bb18988588cd92941a1396d747e954d0942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ade47cfe1a208c3e51a5c1c4d6dd8567de473e36ee9277676bc93f54cd5879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fefd9b696f8f8b5eeb9f7e633cbf57a05c2730609f6e95b7a8e8d8578c9884c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJAu0zF2ln5nHDW7pGqVKVzI4QcgtFfPoyzBRALi5-AIsBMhw5uRxgbfgmpCWBNHFXJlSQPyNIWhgh_8uHxM-rT6f30ZLb9S4BStnA12FrnIs-9xpyrTjZ7nSj5_cXscOan6U5p-PgNVa6MB6x39Zhh9fybo5LgDs_ednwN_7pmpMtiOmZwLlawjaxmcpZ4dSEQc-p58x2Gvp2ZRelEFxlJbiYaeM7DAhFgBGxu7apG8cmCQrk3OFqfcpxmBhWJreRDaFJ7e8DJ0ZVsTyebTfkScYh7GPflnKFDUkgGpuwmNNEikgB4Y2L4-L5QgP9_dGgxD3O_pFN4goTP7PcRxWX92zMxT3ycJWgM80LrkHEEG_HAV2NrCBQejXQpUJ4R9bBv3ItxGpxg2lsuTqYn2-rq5IQywIfMg0YV3LwMkCoamlHLq8bCX3QIk0ssJVGhSGIsmzp9F-ffvPmPeZUmnvq9oau4Xi-I_feU4mD-BsmKwcmj8mlI-IspdCmOv22VQ5pPVpNV-A5H4f3rokOGsK8qJqu793WF9H084_lm07-3pWnkt_bXJstORFtyZQpMitX6lQ0R9QZe48ZDoZDyXqyaap4IrJo2VUqy2Rm9oH1OMIWhvxmUYYiHnvSGh2eygR9NyTdj4U5Kl_9AiAKJ9ctUPUEqX4iHE-YE1TerEc6or3WjRMMYQPfvAyN9d9wwPqSxGfjIAQ7SHlajSDfPP2tlJ3gdvuXW8DioyLutk6tpF8Q_vn8ZAyV32eUBpKaT41RR-LInDoYIz9fOWT-QB0vFX_ydaM18GOf3KPVvHsPX-DViTsG1BE9fxUGf2LsoQGwODf7r0wymT0Kvf_CbEJmpZftHZC4LJf3kRgc4eRePAIu5WQR9mdDpTW33JiE5lXnLFlolARuovI285Kafk019ViosDQAJBWvPtilm4iOlK-4Zu69Ooig-JyZ1p6GlsUtKrLxOiI3sjTa-ctuI1GdL63HxFi2_jJalxuQpffRbxdiiOqeY087QZew2JwLuXvnO1H6EuWOZrCoy72uEs1HSi4-dLd7_4eIVZD2s97d_W8HCrr08XcGOflbPG9Nbc9cxtE8fIe2TSFj2vCAtuHadVdYSyk2KANfVkuZ1P6aGI9c5bdu4RN-_OHCyB5PEEzXP8R5uMjJk7z5oMvAUWJpQ6-4UL9LlQac50lLRjq2834F9neDMpMwLR_Gj6cuqaCWjhJuYm1xJR9SK4Xe9dMwYzwUnyRoz7kxoPa9-dTNQTukTglyomGHIRSNAJ3mKw04g9qAqCUbQrJmV1iFO6eTX0U3aIgNSlqEdxav1YcdUrCb8mRlgLR_DLuirsHlGcGm9LK6E3qiq5Pm4xTUi39yKWKXllAFz0ROCesFb1KWdqm0HOkhV7IT5wsPyioK9qqRDvfBFFJZCrTzlWT90UQxDfAe4y_DTk7tp64JJfVGwWGHP-KNYHvDD95cwm4QQl2jEwk_FztotMxPfGRjoMLoclxjQWsJkJiq3Zj1C6m2aMuzxcqWAuRUWyXR3ilXQ8BHWEdmOGTd4E_Anyh1u96xB4LWgCIJqps1bvacOwb-65MK_nrFG8_NDbTEKw5maG3FDXNE9vlI4CCKHxk-r79vswwMzNTRD87RNjfpZ9npeYlL5ZYPltkXVnV6L7WfpU3BpGl0T0pIKmcgtF9ENz1AISWkJLEuHPfPEqJDZR6rwODx7TZ4N10CdXSJNVs0484cR0fL9ODKmn285TzUCVYT4wAj8bhBiKeHbKkIURNUBf2ougTDgpYYSvqKUik6AWUfamb7PZLfB8V85-w4FYd4VwFnngme_zM8hbOSqspC7XqOP1tRLO-IaWK_MHAcAFU6ooPrm3_MfR5JeJU0tN0g-sx34ZejaigLfwtT3clgpO4ZAwLgEix6lch1SymOAk55UbB6IE--9ACIOtZ0j2neyMOrsnKWdLLCWLh0ySjhbx3gtI3xTEaIYO96bZkvz5xwFN3jHD-9sQL9uLrlySoW8gFLWqoMbTo8P9BpJO8EIolwVjnmWWhfD6o1ra3Qx7WTvLWf9visqfAik1VKEjoxXoTJE4UxorCexEg2NWsG8E1xcayyjynEnHVuQIO_CcH22fg93IejwGGQBEzkMLDUlUHCttdDykiSA8S7_3kGbFL3O7LUKoc0ohzF8uuRjgih1",
  "id": "rs_08af964303d9f992016ab4223e3dbc87d0b047b16acec1e549",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0},\"note\":\"The right gripper stopped a little above the requested low height, with the pink bowl filling the wrist view. I’ll try a gentle final descent to get the fingers below the broad rim before closing.\"}",
  "call_id": "call_j0IR9jYfo2yUGo6DaMC6zk6z",
  "id": "fc_08af964303d9f992016ab4224027e487d0afc38e38af693b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j0IR9jYfo2yUGo6DaMC6zk6z",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8, 0.659, 0.5144, 0.342, 0.2096, 0.9977]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.4126 right_y=0.1279 right_z=0.0329 right_yaw=0.0248 right_pitch=-0.0141 right_roll=-0.0158 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7021, -0.1197, -0.0757, -0.0122, -0.0205, -4.4786, 2.865, 0.4957, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7590ec29cfc1284255e689b277f370d9cd819ab5fe961914838307f9e71942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce376ea970d8fddfd50bae1ecc256d727287e1db6c443643e4ad14cfbbffbe62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d193b6aaeb722c30cda49208f5d3e733cee77c9a2823b06b10f4490ead5105ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.549 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8028, 0.6411, -0.4381, -0.2405, -0.0154, 0.9952, 0.5182, 1.4689, 0.8829, -0.131, 0.3897, 0.2634, 0.9979]\nstate[eef_state]: left_x=0.2912 left_y=0.0036 left_z=0.1854 left_yaw=0.0573 left_pitch=-0.0142 left_roll=0.1229 left_gripper=0.9952 right_x=0.3846 right_y=0.1462 right_z=0.1359 right_yaw=0.0436 right_pitch=-0.0826 right_roll=-0.0374 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.6889, 6.7077, 1.8291, -0.1929, 0.0317, -0.0122, 0.3487, -6.7897, 9.347, 1.7167, 0.4274, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8047, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4309, 1.7271, 0.6708, 0.3332, 0.3389, 0.2073, 0.9978]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.1843 left_yaw=0.0566 left_pitch=-0.0192 left_roll=0.1235 left_gripper=0.9952 right_x=0.3969 right_y=0.1217 right_z=0.0326 right_yaw=0.0274 right_pitch=-0.1037 right_roll=-0.0539 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -1.2923, 6.9812, 1.6825, -0.149, -0.0269, -0.0122, -0.1299, -5.3949, 3.6718, 0.8718, 0.0122, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8, 0.659, 0.5144, 0.342, 0.2096, 0.9977]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.4126 right_y=0.1279 right_z=0.0329 right_yaw=0.0248 right_pitch=-0.0141 right_roll=-0.0158 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7021, -0.1197, -0.0757, -0.0122, -0.0205, -4.4786, 2.865, 0.4957, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7590ec29cfc1284255e689b277f370d9cd819ab5fe961914838307f9e71942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce376ea970d8fddfd50bae1ecc256d727287e1db6c443643e4ad14cfbbffbe62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d193b6aaeb722c30cda49208f5d3e733cee77c9a2823b06b10f4490ead5105ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJDaCMuWYysy6fir9lXxu4-hVOPdvlvbjQI9VXqvrG5ya3bObf27Y863qma7LWJYSwblw1XW10zugvFd-Lq6Ewpghv0u1-khRCM0rOabVtUxTFnGT3P4reWa1Ood8FEcaOZBnpbrOHaGeFSf7hL8YMH7CpMyylvjiX04GBKc9uhEBpae2ZsYDpA2PqVCJ-HrFvP5eVBDheal0DpvGHFarrlQYtodtTToADaNl2v_cqTmCa_9PDfM39lCPnqpWA8iitpb5yT4DgcITh4gOFw5Lxj14xoNY8XessySK84gM90b2yzFxJmIgHGFwbyQsXNBZKUkJkN_0miBZNy-PiHfgy8vi35VxZ3H8T8k5wB1S6ipclLvPHZvgEx51E189QvVIEtQZauemVhMl7oLJQE6ZMS4zdGHAe-p6LgI4PLmXmrbSr83dNrOHz4vBhlygqBbgIkFrHJjCGbPNiBdbHjErhsDcSrI1k9pF0azcGBYK7eeKHisFwaNIeXI8fzGNmuJBcYTlbGR4l_v1h3mH35YYSEKfoggI3wDyzb-IZMnGqoW-cAw97_JAsKGz2824VNHEm6NvTAeotJbJsuZruSpvsHRX3nqJ6ux1gZiVb_dLwwDYNPoWYwsnfu3NDugmY6WGkzjMhbs9MAZ9r2ngccZOtaAaCOYAilRxrOW4pCVcYj7Ec5bXxXSZUNasZcf2MkpAR3uQ0HoQ8XB1FvBxz_2cidy34TnXEY_AyqNoF6rSCYcFDG82FPUhLi5zIDl0O4tNCh_9MeEihe5ETbBB9S4fJ2c1lpC6jOvoglf4b7zuj_DtJNVLqYPVAtbwGN3mqOKXf6nGjM0NcPPhLfCluqVTJEQJlrVqmBFDOhsLILXBjwMJ-36GftJQbswbcYWkzqJ78862SIoJoiub6dW5zPaPnSu5qbsRn3alGLd1ql6XZPRkDBjMntvCOyWfquSvyD8H3qA7w9IS_Tpd8dsfKyHda4rUAJladfWOq1nEXXKjfWlpHT66TsQ97RpI_29l_wx6f5hdTGTUuerU5MtG3joPpSscuzr2VQ0IuuSeIoKLzvDx5MJtIImKNEspECtjAUgW8Wrfg-86HSOx8wwfsxXyccOgG-EyCwYUOG_Ptj-kKGGsZCgCRPw_HK8TnfhEK3LPX-P2BMiKDl_N1_AXrP2fwCwM34F_84WHJY9yJfOonq5va-9-8S5juYeoUT-ehNlSzPq9My52rEOtlyzejxjWMCNJEm-g3jbUEmdQpwOSmbee5iFEsGQDrSMdqEbtFwvZjBkmp-91LiTyBhblOwVg6iin7yc7Sgtlks-8dkRAYRjtw0SKbCINEGN6KtPOI2bS9X5d_2GFT-KgHpIQHNF2Hqoa40-28XTKMFdjXdazvoGMuvpitU-nFwqHh4MYJYaKu35HqdARTdSX6iJAtiWz63FL1ilWkbyALgZakP7s8sMJUYV1_17q6f6e1NgG-WypmoT4rdWeSG4LXyGXthumrQ8g==",
  "id": "rs_08af964303d9f992016ab42241f69087d0a68daa8fbedf0ce9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are as low as the right arm is tracking at this pose. I’ll close on the pink bowl and check whether the jaws retain a wall-width opening.\"}",
  "call_id": "call_asujG4zOcEQXlFQugYjN5cHo",
  "id": "fc_08af964303d9f992016ab42242960c87d0854999597c20ced3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_asujG4zOcEQXlFQugYjN5cHo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8439, 0.6338, 0.5247, 0.3321, 0.2073, 0.0073]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.402 right_y=0.1248 right_z=0.0083 right_yaw=0.0331 right_pitch=-0.0706 right_roll=-0.035 right_gripper=0.0073\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.6728, -0.1538, -0.0415, -0.0073, -0.0479, -6.694, 4.5333, 1.3944, 0.1587, -0.0171, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72254f9744708a428ff7a6b84a63eb6f865d1dc5b8e359e85cfbde47afc160d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3116209198d83570248d9206f44f54f7d204142f66c00b8c165a4f2cae713e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7dc3796aa1c5902529d4dd6bde4963950cecfe48253de87b1a2ded1edfd16f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 2.938 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8043, 0.6411, -0.4389, -0.2398, -0.0158, 0.9952, 0.4324, 1.4773, 0.8803, -0.1314, 0.345, 0.2161, 0.9979]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1848 left_yaw=0.0568 left_pitch=-0.0165 left_roll=0.1227 left_gripper=0.9952 right_x=0.3941 right_y=0.12 right_z=0.1296 right_yaw=0.019 right_pitch=-0.1067 right_roll=-0.0529 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.3607, 6.9812, 1.6923, -0.1148, -0.0806, -0.0122, 0.4308, -8.6632, 6.5709, 1.6532, -0.0073, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8, 0.659, 0.5144, 0.342, 0.2096, 0.9977]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.4126 right_y=0.1279 right_z=0.0329 right_yaw=0.0248 right_pitch=-0.0141 right_roll=-0.0158 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7021, -0.1197, -0.0757, -0.0122, -0.0205, -4.4786, 2.865, 0.4957, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8439, 0.6338, 0.5247, 0.3321, 0.2073, 0.0073]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.402 right_y=0.1248 right_z=0.0083 right_yaw=0.0331 right_pitch=-0.0706 right_roll=-0.035 right_gripper=0.0073\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.6728, -0.1538, -0.0415, -0.0073, -0.0479, -6.694, 4.5333, 1.3944, 0.1587, -0.0171, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72254f9744708a428ff7a6b84a63eb6f865d1dc5b8e359e85cfbde47afc160d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3116209198d83570248d9206f44f54f7d204142f66c00b8c165a4f2cae713e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7dc3796aa1c5902529d4dd6bde4963950cecfe48253de87b1a2ded1edfd16f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJIRbe6_DlJSrvFN0YkQwApKkItuCedY18h9k0x7lbuRQa69URuG3VJqzyv1Zyt--pZ8yeylOOnvVNad4cUXakTDTaPLsI5Mh16_YSfGOS85nJWjJvD4MDZYWfBWHY4BXzW4GZZ4mGZD54rvIjCT17iPd0NlwV80kXz0d8AaMTp--l_YFuQskIznV3TboS4wxqCHGCKbIgCFHflDPltDT20ycfT9BIS7jnzxiNk_tZ0l6lsly32M4I3GqAcwNuwPtuThoQqiva3dxRlTv_PK2FudZVikCZN6ysR1ZiBbRWRsiMaMFOYleY3N65lWG5MNjIQA9eqhgVXm4r9cnK2ZRH6LPTyo15HPlkcOffD3Gf3Et1HPzsqdgoaf6YeoS2s6xLIK5l9G55qr1nGU9t3oYyCr2tg20EGT4HO5Ml7HOS1oQGLD3pT7JoxiMwVOuDx0z5xMzl2y-HE9rb0QJPJPBEGfarEo5mXaGFm9FfjDydGtbTjLACjFG2NQxvT1H2qfraBEsVE877SFXHkrcJQ-MsRiKpoPPEbPV6gB4gOAnuYUcCtxj6SQr5lNJSCAlgUQJSPYF_b19k80L3I_l8yPUwdymId1EZFwz46ogAiYdgo271-jLUNUfNxX07_UGy0rnWz46aFTWqf3MJglBRMO_5l8zI1-CY1dm4IV6Hvthq22CdAk0L2LyAQR4twSrLzRh2xvOdQp3d959Aq4zJnaPb02BxXWE1TpBX4sxYtWLpE66WtgheWY7gaE2Xdtg_reQ-HNGVw2zsABf20dsbDTBGPtg9kWGuX6hKXENev22hHKOvlv-E7KDLfbmZhtJwcSCK5fEV1vqA7IGJC4mNcOr3CSsZylDXNAC18fT8bAQfvNboqdbVQFRUZuRH2sv2OJkEj8mTQ7J5AYCWKjfkEOdgTqx9ch70kgNDUL0i_eZbuSL3034Yg7_iAk5DfiPCJigkEQDV19Zvy7eTlkUzI_tdpJQ6HV-v20DKP9pVsD8ImuaACFx_f3Qk_Zh7DRoCF0DvMUCZ6ajumeDLBuIdiv_LVJ1lKKCdQz0Koe3pj8gpIxMKujFCrELzsK3cv8yDGXimBlc5LzjHrFu3mhiwsSgFp8yOHAK_QEZGraHm80emfuU0T7ziGl-_W88HF1v_a6kG9ySmgyo4i6yJzhSB0weMKWwz9S-t2oIopYVYZa5GiRERysJZXedTnSSY4tRPJYBvmkfwjN2dtMS5ZRne0O60Gtfd6QDRjQXnmiVS8r1lpm2HzVAzS2YGZ6_anEkZwfW-5StSee8WA4LPV8nj9ustsjePSlmSekynr0vmIAVXjZJkRy7cJuUjBMeQZzgu5o28TT9ZU1BVoSSYGH7jT7jXefb5ASMMVCrXl0IaAxupQnLmZ_dOZ_95L63KkZ3PGtYU4T3IPtb9Wd69DDQ35IIYGOil-EPmcq7gqY93lC5k-7JimSabUTs9EbluPD0G2IyePCmawqu6vCdrIblPHljaSpOSs3FRUNwnom7QQZ-5qCdbCi6UOOLwed3W_XbgNilEZXZyIvfKR0OWB1irLWWK3jAKite0MlbvTy89GNsy9HlEJlHAtuHBJlQOrEGbqakQiDBtuUUs0RccT57TykYakAqblK-kaI7ZAwT8oS7WqHQRC0-ZE8DC8J4JP74A2oj9Hj2WkTlhB9SItIX1gTh5wC7sRstMiY1Scf2GaGYpnhp5lwoVdYd4mm177n-GkWqFZKQ6JE1Y_63XroOx9XJWG8ZDY_7ICoeAU8J41u1wf4FN-qk09_NExpS-CPrssDuxY7vKmKO1snXt1GwTYt1qbjTEprWOlT-JTm45Z8-MU0uXWgixjQ8RNjruuix-J7GTw2pyoeKbVwV5hEfnO6Nf14XXNVjJ6YMI9M2Nzi_IIInHoIxmFp4uiCFgv0sDPtcqfDyqob5FpbcuxNb_iWYdXmTIhG3AVEfWRBkzFqvccjM-vMqpDGNqwQzTUIOp_v_Ex9SbAPhlD55cKatVYg5aNxN0GrYMDEH1G1zxT8YMKWoLpJWhbACMOPIqkaaJ61lBH3hzvGz8lPt4pgKpUp3A4bzc4azNaYnd6zlSJreHBD6wTJJfC9E7Ps_gCyEJOY_wHEQI05q-S33CdFdMSojkem1-mlEpZx3eNWzSKJJnoP-jswfALIQBiMbrqHyN6u2iRheWMPs1oFxZEIrVJ5QVfu2MKdijJ70dygRVIzD5cdiK8Gyww_c3BK76A-fZHnxkMYFka4D1r3b93Cf6sxMiy9_y1ed2a06kfwOFKFjYVyVQ3Uo08GEWnFRjm6BP5NrnXq43ThOzRb8EmY3I30DtOkbBneZTJIsVQi6lAY-zgCPQK4iDvN3i3YKL2iZmEr3npKlmHL1BQd3jrGwVwfqbP0yB6kLtk21ryL49GA9qmA_57GfY6mN9IsojYTPwwrq-Ly_TcQ-rUIDhmCVsUpLC3BMPfGfU-t6Q2qjp1oKuHCJDbnFsXxcINvnz_OvJ77dii6nZyP3WAu24CLVT9eLlyuHGbfYVFK8ggVkegqEjL2jTEWZu94AJNMkcxD5WhiwReBdRDDsFlbJM33dodkCILXFYJPzQ7FM5K10CKoJyesKcPt9jf5I5WEIFbb-IXtcXADfPjH4-bOMU66r-wP4UxITxfsG5EJvu1TNmqeQI3dXc=",
  "id": "rs_08af964303d9f992016ab4224522e087d0aedaf607c9c3a3ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.12},\"note\":\"The jaws closed essentially all the way, so that grasp was empty; they were inside the pink bowl rather than pinching a side. I’ll reopen and lift clear, then approach one side of its wall.\"}",
  "call_id": "call_VNed8karizFOMigBUGJ7L8fM",
  "id": "fc_08af964303d9f992016ab42247cd9c87d0a0babf8c696de052",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VNed8karizFOMigBUGJ7L8fM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8082, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4297, 1.5425, 0.8001, 0.0311, 0.3283, 0.1978, 0.9952]\nstate[eef_state]: left_x=0.2912 left_y=0.0035 left_z=0.1834 left_yaw=0.0567 left_pitch=-0.0225 left_roll=0.1242 left_gripper=0.9952 right_x=0.3981 right_y=0.1238 right_z=0.0997 right_yaw=0.0406 right_pitch=-0.0957 right_roll=-0.0503 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.265, 6.9812, 1.7363, -0.0904, -0.0659, -0.0171, -0.3761, -8.4444, 8.9368, 1.7118, 0.0952, 0.0366, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35ed97e9867af95cd66409424b3972c2f97155edf1c929c3f672c85ab7765ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330ccda686ce02613b8b1c4965237dc67b21ff4cef14623f709de1757f7d8fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f438bc9727c1d8e9d91fde3be8bf4a15c697fc692e6d2a8241fa97b27b16004",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.594 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8047, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4309, 1.7271, 0.6708, 0.3332, 0.3389, 0.2073, 0.9978]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.1843 left_yaw=0.0566 left_pitch=-0.0192 left_roll=0.1235 left_gripper=0.9952 right_x=0.3969 right_y=0.1217 right_z=0.0326 right_yaw=0.0274 right_pitch=-0.1037 right_roll=-0.0539 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -1.2923, 6.9812, 1.6825, -0.149, -0.0269, -0.0122, -0.1299, -5.3949, 3.6718, 0.8718, 0.0122, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8439, 0.6338, 0.5247, 0.3321, 0.2073, 0.0073]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.402 right_y=0.1248 right_z=0.0083 right_yaw=0.0331 right_pitch=-0.0706 right_roll=-0.035 right_gripper=0.0073\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.6728, -0.1538, -0.0415, -0.0073, -0.0479, -6.694, 4.5333, 1.3944, 0.1587, -0.0171, 0.5104]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8082, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4297, 1.5425, 0.8001, 0.0311, 0.3283, 0.1978, 0.9952]\nstate[eef_state]: left_x=0.2912 left_y=0.0035 left_z=0.1834 left_yaw=0.0567 left_pitch=-0.0225 left_roll=0.1242 left_gripper=0.9952 right_x=0.3981 right_y=0.1238 right_z=0.0997 right_yaw=0.0406 right_pitch=-0.0957 right_roll=-0.0503 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.265, 6.9812, 1.7363, -0.0904, -0.0659, -0.0171, -0.3761, -8.4444, 8.9368, 1.7118, 0.0952, 0.0366, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35ed97e9867af95cd66409424b3972c2f97155edf1c929c3f672c85ab7765ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330ccda686ce02613b8b1c4965237dc67b21ff4cef14623f709de1757f7d8fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f438bc9727c1d8e9d91fde3be8bf4a15c697fc692e6d2a8241fa97b27b16004",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJMrDj_eMZfBG2ikrJJqvxpzVd110AiOQIMrMvMRPW8nKaUKTopI5KclWGqdotF59R89tfa8WBZwhcBl3fkqEV4-OXffCHiacByFLqVOaJsvu7zQiizXmq4crkTgrHWAdG18OHPR0mpZ00-c1dPkzUxvkbVSd0IEIxCWY4sfmlsPBKt3yRgxRsxONkOgnCMaXKetoERCTPPCxYJxhUmPhwaewhIQm9Y3iKE7UpBu-eAr3Pt7rQeMUz1cTIrMWbCp8afXfysZUmJTDcWPvGE9ydHgdqVhI-iujWvu9pxF-GLquDDxCtoNQ00dFZrVyS4btnzz4q7Nq60bmIDBI4lGrY_d2f_OyQPamh5ODCXT00nG9zcH0mjMHf0D3ISn822n7nHv0UR5qkOMBqf7w2ArrM0XxtmiHzrnldK9Icqw4DDU-o5vY12q38sUDoBf68aTPP4FDVi79LAx-tu1-9-OU2pVp-7QMKJqGT5tlzFY1AkAg4DxW-S782qt5FQvcNdEWuVHkRKk8ftF7qJ84_ebIDcyBsvcS0zQWGCmWltw6fsLAk1O1meEocEQR9ymzE_xKTQjadZEf85r0Ijv4Uvt0hDLqpPES07y352fNpkw4r1B597_LHxyzxQSXAVXncS3U4vw3uRh20f_W4RbsgOV2bDqwwUpIy24GYYnwA9Y4DP-adKNXLTyunquQ2Up4EJ4232AQdXtqtbs28A45_SQ7XRwlSZeor2NUumg2BsEODa7KzrBanlb5fBkgjt0GSwmKyd6JWYpu2sgPHOi-Y5CBF5mUsX_pD0RlKwFlhnXofTPgPbHxoUxlChacqHOpUJE7BeW-JI9mWJtTHhO7JyooABAHwem4paebqKN7HOkf_5qjVwHBNZgaoIDFk8r1RN1lUCSpQro-oRqf3Fq02Njuoyt8YhoviQqbo4_73kt8CQ1lyLNoMO96PWHC6jwNxJXIxP5zDBjGf4V1Wz8KoMUQV9Abltb5POpuPXDBtGR3ezRImR5x0ogci6uMEDKV1o6BXrs98xQmZmzuJ-SywmJ34j5rNUkHSA-cbKY2vqhNVi49GXW0rZh32Y2tsRBl9T-WIjjO6eK37w4kqjqKxkpFCRcqxPOPvPLvAbA6b0wxxyi5n_bPohEQ3cZMav9_dVgAVFPeAiCt-kC5-Er5fk_PLyG3IX9c19z_whObnlEZOc4pNjVaZx5_nzPp8XhQry49V2qwS-BxL1VDLAqkORZ7gdf7btPGPGKlwtnuscDEDrg8zQZu2R6ug2W_3MFRaI7BCdB46jEFCGLdL_26Gw8ajo0m6TyZLDrq_Ia6x-FJytKrWJNLhTOeLDW3LtP1YDGGX0fyUtiG-rrAKVwK84VK8uL80uXXuMqguZAE99pYQTt89cjStCaO4YBaXYRy5zK6Ah3_1hdeXocutRvE1uOawHCPgYht5hvkOULLl9T_Bnprg9GnPK_M9QcuqNuY7Nw50-TX7deoNIlBoGObi1r5y3xlHPFB8b5P4RPg6nb2hMzb5O73IVgtjopRHWPJt5MW7fXOROiEhqW1FjkTAREMd21w==",
  "id": "rs_08af964303d9f992016ab4224ae39487d0a378b9a818797b80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.075,\"right_z\":0.12},\"note\":\"With the gripper reopened above the pink bowl, the bowl is centered in its opening—the position that missed. I’ll shift the gripper toward the bowl’s right edge so the fingers can pinch one wall instead.\"}",
  "call_id": "call_0SqbTzKK6rCwbGrk7qRD7Hob",
  "id": "fc_08af964303d9f992016ab4224bad0c87d096ad4136a31fa355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0SqbTzKK6rCwbGrk7qRD7Hob",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8101, 0.6411, -0.4416, -0.2398, -0.0158, 0.9952, 0.2794, 1.4609, 0.7784, -0.041, 0.2272, 0.107, 0.9963]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1828 left_yaw=0.0569 left_pitch=-0.0247 left_roll=0.1243 left_gripper=0.9952 right_x=0.3951 right_y=0.0757 right_z=0.1063 right_yaw=0.0226 right_pitch=-0.1311 right_roll=-0.0616 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -0.9231, 6.9812, 1.7167, -0.1294, -0.0806, -0.0073, -0.3761, -7.5419, 6.8581, 1.8046, 0.105, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd31b0037d8a8b65db316f2560fa3db1fffd61dd1d579b818d5e61cc9df9bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9585fb832a2248b5dc9bbfc950d30c23708570e0e61d06bc4984b7ba7657d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fa00d3d5e2482ef2d00075313e323ec0ed73d5e4490a64a648d1d4f3ff9f7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.879 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8, 0.659, 0.5144, 0.342, 0.2096, 0.9977]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.4126 right_y=0.1279 right_z=0.0329 right_yaw=0.0248 right_pitch=-0.0141 right_roll=-0.0158 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7021, -0.1197, -0.0757, -0.0122, -0.0205, -4.4786, 2.865, 0.4957, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8082, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4297, 1.5425, 0.8001, 0.0311, 0.3283, 0.1978, 0.9952]\nstate[eef_state]: left_x=0.2912 left_y=0.0035 left_z=0.1834 left_yaw=0.0567 left_pitch=-0.0225 left_roll=0.1242 left_gripper=0.9952 right_x=0.3981 right_y=0.1238 right_z=0.0997 right_yaw=0.0406 right_pitch=-0.0957 right_roll=-0.0503 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.265, 6.9812, 1.7363, -0.0904, -0.0659, -0.0171, -0.3761, -8.4444, 8.9368, 1.7118, 0.0952, 0.0366, -0.149]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8101, 0.6411, -0.4416, -0.2398, -0.0158, 0.9952, 0.2794, 1.4609, 0.7784, -0.041, 0.2272, 0.107, 0.9963]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1828 left_yaw=0.0569 left_pitch=-0.0247 left_roll=0.1243 left_gripper=0.9952 right_x=0.3951 right_y=0.0757 right_z=0.1063 right_yaw=0.0226 right_pitch=-0.1311 right_roll=-0.0616 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -0.9231, 6.9812, 1.7167, -0.1294, -0.0806, -0.0073, -0.3761, -7.5419, 6.8581, 1.8046, 0.105, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd31b0037d8a8b65db316f2560fa3db1fffd61dd1d579b818d5e61cc9df9bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9585fb832a2248b5dc9bbfc950d30c23708570e0e61d06bc4984b7ba7657d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fa00d3d5e2482ef2d00075313e323ec0ed73d5e4490a64a648d1d4f3ff9f7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJQOFk24SosterwbacB89POf5C752jZweGCwkiHkaMzdgl7VskeKiNy4me3hXzLoXnassAax3LA2jjGBIgqK0CZNRed5TII-RbTaTZ-51hm_yUWkpBEdUhofXhhOK3gt95TkVZbe9Q48P92xRLWZ1E1jDktKA8uaHOIW92kguGEdKTfT21V6jJ9SJLk1HJ205rZW8wFdysSb-gz2YRwpUg8iOrqECwhD_WJ8QqcF_tFX7rSnMGLy80bBhIDE2kJgUECwNJm9xx6dR9FRypAF8nF_xqmk3ObOQ6K5rz_W40d81AoxToL2sWhsTWU7vs0klF-WfQpHa9ENizmom6EE5ZP8EqBkPdVUF-CYAU1Z6_l35DjeyWG2_1gEbWgPqMLSGjC4xxvbtNvjuZLCe7zLi0lgzVgd1-tW8npPiBUBVATo0XD16g5fGjaCR0xeq0TAid6Vyj_zR6g-XCHhmIs-VtOQiQ7g0BzrewNQCPaHBBKr6tJEm4yuuU_bP5vtbcBmeasdUut_ZDFBSdabl0DdATYfyd-_e75r93owhybztKwiQpK9c0yyMKSvnQMmA8yuZ5LGvE-1pDHQSn2acaYJGERIGmGeZicIId-h3BOqPYQRGcWlt94Qipuufu0uWQTlFyRWIU7tueIsOTU0MKmbANm3yerNWaIpCPWAPngibrjMclM5sNhX1ROabhjSmfA0WlkqJeoD_WyapJxgAzl5Ik2JQ6g-vE2mJDGr5uqF-xbRN9MXQGM3ibejCNmqMtSmSXl_5b6Dw4JpHU11w5vxrEZsYvqsxtiE95eKcOsDa3J3ikNwy_nDn8KqV5wRG0V0lEaPUaczQqrQUhL2ucdU6lgYXNiMZlaZQ3L0WEl8Oz3tQPXLOM6SZcn1zxzIV22EtUqfwyR0zdJLhFL2aCFsruJpVsxoOpfv7Q4OiinokxECycRlt6KHxBUs6dTxGGSEs_J6gpFifceyy2F3zcY7NG5kspQPoXERtgH5GURRjiirpkKRldOoMiQVRmlZ1t0cZDi_W3u9_Qq2LNuaqOV1N_XmJHrZDCQUmskTJnn88XDCvtqIibKPxfqZubkLNbGboi2YcPrS6DanSf9X5sKcsswR4r7ingLM_mWMyonTmfpIWpyiaP9rG9-cIC_daC-nM2X2pvE117b2tDxkHjAH3nxRq2aCP4vOgihwGzXJ9l3GZiDja8TUiDzbubig6AndbcfZshFa9DJs0MH96de5CbgMTwCmTQTWiAJlUO9SqVYDIdHD22dTDrzNonhcOpxBzN4X0fkX4s75Al-_FUiTjPQdcuVzdtoXSTa467fk5_HwLa8ccaL2wjCXP4zTIUCvh1QZLOwI9YCyC8KwB87sTdwvyBmAarU2FMVxW_qwQQANbuoyN-93s6dZYRjbX3JhHq-",
  "id": "rs_08af964303d9f992016ab4224f2f3c87d0a4f31fff2f635e34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_x\":0.395,\"right_y\":0.075},\"note\":\"The pink bowl now sits to the left of the jaws in the wrist view, placing one wall between them. I’ll lower at this offset, then test a side-wall grasp.\"}",
  "call_id": "call_WcIXuJ3taXPhttn4X70Fo3Qr",
  "id": "fc_08af964303d9f992016ab4224f9ee487d0aabb2e53712c2176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WcIXuJ3taXPhttn4X70Fo3Qr",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8108, 0.6411, -0.4416, -0.2398, -0.0154, 0.9952, 0.2642, 1.449, 0.7784, -0.049, 0.1997, 0.0853, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1826 left_yaw=0.0567 left_pitch=-0.0255 left_roll=0.1248 left_gripper=0.9952 right_x=0.3945 right_y=0.0741 right_z=0.1086 right_yaw=0.0422 right_pitch=-0.1324 right_roll=-0.0596 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.1829, 6.9949, 1.6581, -0.1099, -0.0562, -0.0171, 0.0068, -7.4051, 7.0906, 1.7802, 0.0171, -0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c9c8f328504afd0e2dfbf9ff003cfa0a2acedbdcee3deeca107d30400f49fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73054991d82b20d8d1d25de291b3ed033e86000ace20e5c8325a7b03ff6e27b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca3209ee3da54be2cd2337ea44147f1a0fc634b5be9c62997de239ab0b03e8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.428 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8062, 0.6411, -0.4412, -0.2398, -0.0158, 0.9952, 0.4297, 1.8439, 0.6338, 0.5247, 0.3321, 0.2073, 0.0073]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1839 left_yaw=0.0569 left_pitch=-0.0206 left_roll=0.1235 left_gripper=0.9952 right_x=0.402 right_y=0.1248 right_z=0.0083 right_yaw=0.0331 right_pitch=-0.0706 right_roll=-0.035 right_gripper=0.0073\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.6728, -0.1538, -0.0415, -0.0073, -0.0479, -6.694, 4.5333, 1.3944, 0.1587, -0.0171, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8101, 0.6411, -0.4416, -0.2398, -0.0158, 0.9952, 0.2794, 1.4609, 0.7784, -0.041, 0.2272, 0.107, 0.9963]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1828 left_yaw=0.0569 left_pitch=-0.0247 left_roll=0.1243 left_gripper=0.9952 right_x=0.3951 right_y=0.0757 right_z=0.1063 right_yaw=0.0226 right_pitch=-0.1311 right_roll=-0.0616 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -0.9231, 6.9812, 1.7167, -0.1294, -0.0806, -0.0073, -0.3761, -7.5419, 6.8581, 1.8046, 0.105, -0.022, 0.1099]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8108, 0.6411, -0.4416, -0.2398, -0.0154, 0.9952, 0.2642, 1.449, 0.7784, -0.049, 0.1997, 0.0853, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1826 left_yaw=0.0567 left_pitch=-0.0255 left_roll=0.1248 left_gripper=0.9952 right_x=0.3945 right_y=0.0741 right_z=0.1086 right_yaw=0.0422 right_pitch=-0.1324 right_roll=-0.0596 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.1829, 6.9949, 1.6581, -0.1099, -0.0562, -0.0171, 0.0068, -7.4051, 7.0906, 1.7802, 0.0171, -0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c9c8f328504afd0e2dfbf9ff003cfa0a2acedbdcee3deeca107d30400f49fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73054991d82b20d8d1d25de291b3ed033e86000ace20e5c8325a7b03ff6e27b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca3209ee3da54be2cd2337ea44147f1a0fc634b5be9c62997de239ab0b03e8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJU-kCdVebfzSSWvgidvzccmSKh8fMCx7tPFesRqZ05sEofJ3vr7Q-FDUELkUUcJzyu2AtCtsgaA7bQGZ-oPLGZZcfuOUG7wJ98GjFx-e6br5AgiP7KZyqPqy46Q6lNI5yRhzwwLBWlE4aBYjP5iaAkDKLdswGqIepkQV0mx-9xGh0gff5BAvEPSZ-9_XaDG0rHTR6nvtTvz71ToLFsJiZLxVOrPEGgnd7fEJIqRQuRfV7tiY20rTg0_eLwcpIdRKtUEIFZIRvHUp-zyADC90Xwjvzf99wEfixTgqQSRI5cRS2SqfPgzt1FJ1l_rO3VKLI-Gxd7EY1_876xVxTV_hzOpxLOx-jRUVcVy0ktq7c58uvUYA1tHPNxHkkZpSzI6lqgPrqTDrJOHWvAWCNBQXpdHDxBRx9xmYhJygeCPRdH6qjZzH8IPPXFE1gbIk1OeIfBEeJVDPgPbmnS_jmowp4DF8lvzuIWfQxX9Xk07YcX-w5AsZ0o4pTIOsfYEI6zMGa1hHO6IjMVCQTC0PVvQk-w5wxiO_tmnfxtbe0R6X6PY53Gt72tLTOXtuk32kMudAPYBhNVuNvubVZqxYTyDVlC6PawclXQD5E6X7Z_2H6GdxoeNPDUv8BusDVo0AME4yS1leRBoWm-fT1wtMq16jq3Ot8FoVSZ0RGcc59qsygPNp-ZHeToicnihHyjuvdn7JTaJ8QC1QCiGGlieLXArrOsNSm14ZD7E0BJxK6FvhyTgg01hvEN7VaxQisClVaQTc0uFLVUmxbqNRl1E9RqZlHCJ3HvL3cprmRNf1f_5btc9Ugo1z8NV8-djen4rSqTDMDyUp1KTsYcF6dK2Z_8smjd67Bku6TQs9BvHoDNb5iEbY1z-jWeKWDcBTdynSFRIkFNIo90dMZr5NHHHZ4blNr9esaAS_wvSlggXASl-mZ7P41Acc_VdFh5ZGFzKI9gKjUA7k5w_18xsJPD5gnF9av7pLa1ws-G13rGFvuqyGWLbbcy3IuZ8nMo7FotDgHBd2_XNrl574qgjv6aV2YtzzYJxJNJj4QAp1pO-t_YHMl_ReW--E2gdn7c7QHKLbZhBZxm6BUJGd-6g9Qa7OZiry8IdnCEbOwjpNYCrJduA5O23ixP-jTcFxOYqUxWWZYydK1KsrPpJm1F4yz4FPN3YaPbOi8X64BUcSege8KcZdPaJngQ152T_G4QeHtP7zxQy15rmkMnOBvBEB3DWOReqqPK6v5XFzYaIMiUnYApjypBJbosYsVtWi_JPAccfdpUFK1BpqGnJWHbLFwd4pyBYtHTyloyXhonwmclUAcm8XxU4Wvs6s3GPpdntoGOXrknkLviEEVxGxPHwHOpta03o9COPk20YOOYM_d3IoX8sSlr4YzIOP_EB_DarxKmYqNZNn0mVytCjBbHTVMs6QBF4H61Wc64zZI7W4tZNMb1XaaljoImZU4do0hY4CV1WRKnWULXkvqecyzoMbQYnfU0j4B6T6voYUK0DWv9gB_osBldAdFCCoH-QGLbjUN4JshTUxY3XkUUBMcK1jFbc0n9Uglc6-niNbHlP_y9KGxCYxx9GoGz8n0OywuVN0GsZKBMWwluCTGmder0G7azrQIVj_eEWJ6wwsoXJc0EoF1EdYSvC7ThvYgYz_5kyluiSOOhVyx86PKfPMzGN7R0lhOXQATd651tNvrb6BHuqUOmRhSbPZsy_KrR600KaBBvgHtZFC8fBWpc-MOWbhWA8GQmMl17kZe0iDYI-uI2NLv3UU2l_voWxnIr-ShCDES5T6uMVFMYem2m6HxXaVzICAd6rrL6aFhGexBso-lAiaCVN49yjFedda3Qn8gQmt1IiqeYLM1TFlkrnfKFQwCtOCfr64CocKHPys5p-rmhMX2XxGM3Xc3jkr9t9QuaT-rqpyklo91_9rAaeaPjkRXvyXGjevrcfI5Lk_TgxLLkgVS44elkrVfo9R46bmjOaATwmIQSZl9FaoEzoerWb7M-9MCs_hyzZ_ix6vzRzVdfLy95QD6ixZy_dzn7oIMUf0LtyyUYRfi6UuaXN0828BcTrHjOkCxx_yCaJU5LJdhHLbbDBvSZ86woAOgRCmpRbUHU9WURaAPTkytySl5cYwWrzHnXLWOAEfwy7KW65sFCQfbiNsWLx4NG0hw2abvBo_RRGvsCyZCPK3QK9kCTJgK0rjNhYVG0MUlP3bdSQLsKTMGLi9vfkCLQrg1b23YkefFiD6F9VX8lWQcOd-36tNCTf_yLZ0aNrd37RZ5PMa-WlgAafrjqc9hTsXKPuoZi9h0S5cyHn1sBFWgxZFMGlrBpb-KY7UqNaD-5Z3DoeP64Jtu111xlaLU=",
  "id": "rs_08af964303d9f992016ab4225220e487d0adea27ffdf3888b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_pitch\":0.3,\"right_z\":0.03,\"right_x\":0.395,\"right_y\":0.075},\"note\":\"The right arm held near 11 cm instead of descending at the offset pose. I’ll pitch the tool forward slightly, as that freed the left arm’s descent, and see whether it can lower beside the bowl.\"}",
  "call_id": "call_l8hc5Mo7VeXi58FVsahm4u1J",
  "id": "fc_08af964303d9f992016ab42254104c87d0a5eff9299c8aa96b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l8hc5Mo7VeXi58FVsahm4u1J",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4461, -0.2398, -0.0158, 0.9952, 0.2958, 2.0048, 0.3576, 1.3067, 0.255, 0.0296, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0035 left_z=0.1815 left_yaw=0.0569 left_pitch=-0.0307 left_roll=0.1256 left_gripper=0.9952 right_x=0.3941 right_y=0.0773 right_z=0.0224 right_yaw=0.0526 right_pitch=0.2415 right_roll=-0.0484 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.7118, -0.1245, -0.0366, -0.0073, 0.4991, -6.2701, 1.812, 1.0867, 0.2711, -0.1783, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72becf7a6d449ecf2a609bfcf4968988a32532d9adc67787459910a7b311dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64afb656c54d72bb2a45c80cbd7dab3b3c92012b8cfb468487f379596b6f20e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0649b60c7440229c96b437bf91d885099eeb9ef14b1454821110acb8529267a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.587 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8082, 0.6411, -0.4412, -0.2398, -0.0154, 0.9952, 0.4297, 1.5425, 0.8001, 0.0311, 0.3283, 0.1978, 0.9952]\nstate[eef_state]: left_x=0.2912 left_y=0.0035 left_z=0.1834 left_yaw=0.0567 left_pitch=-0.0225 left_roll=0.1242 left_gripper=0.9952 right_x=0.3981 right_y=0.1238 right_z=0.0997 right_yaw=0.0406 right_pitch=-0.0957 right_roll=-0.0503 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.265, 6.9812, 1.7363, -0.0904, -0.0659, -0.0171, -0.3761, -8.4444, 8.9368, 1.7118, 0.0952, 0.0366, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8108, 0.6411, -0.4416, -0.2398, -0.0154, 0.9952, 0.2642, 1.449, 0.7784, -0.049, 0.1997, 0.0853, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1826 left_yaw=0.0567 left_pitch=-0.0255 left_roll=0.1248 left_gripper=0.9952 right_x=0.3945 right_y=0.0741 right_z=0.1086 right_yaw=0.0422 right_pitch=-0.1324 right_roll=-0.0596 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.1829, 6.9949, 1.6581, -0.1099, -0.0562, -0.0171, 0.0068, -7.4051, 7.0906, 1.7802, 0.0171, -0.0024, 0.0024]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4461, -0.2398, -0.0158, 0.9952, 0.2958, 2.0048, 0.3576, 1.3067, 0.255, 0.0296, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0035 left_z=0.1815 left_yaw=0.0569 left_pitch=-0.0307 left_roll=0.1256 left_gripper=0.9952 right_x=0.3941 right_y=0.0773 right_z=0.0224 right_yaw=0.0526 right_pitch=0.2415 right_roll=-0.0484 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.7118, -0.1245, -0.0366, -0.0073, 0.4991, -6.2701, 1.812, 1.0867, 0.2711, -0.1783, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72becf7a6d449ecf2a609bfcf4968988a32532d9adc67787459910a7b311dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64afb656c54d72bb2a45c80cbd7dab3b3c92012b8cfb468487f379596b6f20e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0649b60c7440229c96b437bf91d885099eeb9ef14b1454821110acb8529267a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJY8z83Im7lGuEkkfAI0Cbsc5dzFgYXzgX8ZS8WeLgqWlqAt2jsrTKvvziQT-Cvum4cd7N5cpfJE35DCJOetR7i8eSi29nIBbsx0QutZOCl4cfsbfeKC5-0d8XyIh7t-nRdvDu683VUJviNfL9W943d_2PVyCYZPL36QqYFuIqaZLo4D7do5G7hIVbii7RfJWxviRfcRKCJASC5JJsmYzCSgOuA8uk8-kSJb5ropzBWmOqdDU1e-vFtIEGKKCm--xilIRMcYgQV5axE1PI4WYZ7svoBF1VEMXZJyLLIFIszDuv1NqqCitsw_X-cByb9HHsaiYt6gOf07FUTk8Cg-ny5TU38DDSeYaSQB3ukMehBKY69m-8HdmkWOUj0S0GfiwyEZxmcB8_dUTmJyoc0XfKOxPE45DluWAk2NuOB9pPZoGaTJmpQJKfXFMYKJZwByqYotkeCbWeuugxiUbE68E1jJaqU08qT7ujSUlw3Cef_wRJZMWsIIQxVrqEGW_9vWxBMz1Z8zP1kYKbGDIF8zBUsJfqHshYHcnlX0zCqaSuLJkcRWA0S5tP0IHzysq-X7Z-qU5iA7eMIG8N0mNCFFIgAQR-I0uQzmdHSkC-ANda23YX9AhT-nq9LdO3eKAe-YNA4LHweyTQuD6QhV1aCKVbqEpb3hCAegfWpTvaa9LKL3K7GxR3UWOa5V6rCK01FW_qbmK-NCf1-g3Q9TEZQuwFOFPEvQCfG1j3Rb1a6xC_Hf269BGSryrqB_7zO5wzlsaiLQHHl_PaDlIsp5-anB3MK8i7jiKFpbP8gfmdmhSkMznsFYaCJ19Z-u9adla4JuLd-21YCjm805aqa3WLOzGCmKjcTFFhCz0WbDqrIQIuxiXEOYzPIdO7LL3T4WxwFogjvZYBlvaRdBlBqv0-mYitZ1TaI31rJkJi-D3DHNCoCo56gK6s1fRneJBrcZcshR5GjdWEHLXyPLawKN8leLGa36LTYNxSiXjW1kAyFEIM6w6jgYUZ-oY_oPDW83aMKjyK8ZlJotec0JMeEfJsQcKQI9-tjAp5O6O68oqhElPGwcCFBZviSrdJ3n3KXo2tzRU7AVTKpLb3_IQ_3XP4Ad6F-01oXCBwsaCd0TTPZ5mlZMV0enqMaR6pQPQUF5X7nSZ5D1d6I_0jDePc6-Gs-WJlwBAgRyQOANQpn_4mqXcMfZONqikFgiWr9E_TCmlpjGs_ckwimHeSBgQ8_w3U0dJFzAGZRI5IgIgo4K0-PbX_XazrZFfR0ykIXyTno7PcLWNGfE2BdswtVyWwyk1g_ns-Nm_kAlPiiviC6-CY-OruTiZFJ0hG2w4YImpdo7K2MpYuW1Y7hkcNHE3lQaYQvWGwU_RPUdz0Ek_NGYPZL6rGhDQNNNo0AyWZEBvjVdiaOA3SA",
  "id": "rs_08af964303d9f992016ab42257908887d08624e2b537d83830",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward pitch allowed the fingers down beside the pink bowl, with its right wall between the jaws in the wrist view. I’ll close and check the retained opening.\"}",
  "call_id": "call_ZNjE6GPRPjlpnIw6kiK7vobT",
  "id": "fc_08af964303d9f992016ab42257ea3887d0b7fce690a85f99a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZNjE6GPRPjlpnIw6kiK7vobT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4522, -0.2394, -0.0158, 0.9952, 0.2928, 1.9877, 0.3714, 1.4273, 0.2459, 0.0715, 0.488]\nstate[eef_state]: left_x=0.2899 left_y=0.0036 left_z=0.1802 left_yaw=0.0566 left_pitch=-0.0367 left_roll=0.1266 left_gripper=0.9952 right_x=0.4069 right_y=0.0815 right_z=0.0608 right_yaw=0.0212 right_pitch=0.3875 right_roll=0.0372 right_gripper=0.488\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7363, -0.1001, -0.0415, -0.0073, 0.1436, -5.8598, 1.7026, 0.7399, 0.0464, -0.4322, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a980b17d07880db7ce43f6354e8bfc47016f9447c8abd7c12610f11e2a1dd39b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfb4515c1f2608f71ae55a3061eecc02ee9a9f5369bd58fcb0224151e21ec06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20370a6c375e6909143f4c16e196dbd1f576fc37bbcd0b64e80053a61a854510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.465 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8101, 0.6411, -0.4416, -0.2398, -0.0158, 0.9952, 0.2794, 1.4609, 0.7784, -0.041, 0.2272, 0.107, 0.9963]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1828 left_yaw=0.0569 left_pitch=-0.0247 left_roll=0.1243 left_gripper=0.9952 right_x=0.3951 right_y=0.0757 right_z=0.1063 right_yaw=0.0226 right_pitch=-0.1311 right_roll=-0.0616 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -0.9231, 6.9812, 1.7167, -0.1294, -0.0806, -0.0073, -0.3761, -7.5419, 6.8581, 1.8046, 0.105, -0.022, 0.1099]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4461, -0.2398, -0.0158, 0.9952, 0.2958, 2.0048, 0.3576, 1.3067, 0.255, 0.0296, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0035 left_z=0.1815 left_yaw=0.0569 left_pitch=-0.0307 left_roll=0.1256 left_gripper=0.9952 right_x=0.3941 right_y=0.0773 right_z=0.0224 right_yaw=0.0526 right_pitch=0.2415 right_roll=-0.0484 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.7118, -0.1245, -0.0366, -0.0073, 0.4991, -6.2701, 1.812, 1.0867, 0.2711, -0.1783, -0.0024]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4522, -0.2394, -0.0158, 0.9952, 0.2928, 1.9877, 0.3714, 1.4273, 0.2459, 0.0715, 0.488]\nstate[eef_state]: left_x=0.2899 left_y=0.0036 left_z=0.1802 left_yaw=0.0566 left_pitch=-0.0367 left_roll=0.1266 left_gripper=0.9952 right_x=0.4069 right_y=0.0815 right_z=0.0608 right_yaw=0.0212 right_pitch=0.3875 right_roll=0.0372 right_gripper=0.488\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7363, -0.1001, -0.0415, -0.0073, 0.1436, -5.8598, 1.7026, 0.7399, 0.0464, -0.4322, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a980b17d07880db7ce43f6354e8bfc47016f9447c8abd7c12610f11e2a1dd39b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfb4515c1f2608f71ae55a3061eecc02ee9a9f5369bd58fcb0224151e21ec06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20370a6c375e6909143f4c16e196dbd1f576fc37bbcd0b64e80053a61a854510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJceNqaFpeOwFxx9xUWftGDFHdijJUIatJ6Yu_Er5kIDt_mZh2Bawdqr8SyzONXwPjmsSggV7JI08seh8AaxZhId2oy_mOOnGF4cKMLG6vbRlBh_VdMaGsJ9S7Ia3ENyhQ7QgpMFjN0MpbEgBkgqkTz-1fXXNTzUvsmcHGA6CNmvuG5Ox3rmrUGBW0KrceltCpBaXrZPlT0ysROA9D_fZiihRYkZQ82yf6K5wWuSag4Gj79rUGtB9s1miCfZF_aupwPE8c33qbaTo2HOdQMWC-6sdemx1oBsRH1PNq-khsxaaSvXI_JWKbdivbwX78o-o4TB00KTzwUi0OHIwcs_JtExiTIIDJnXvegwQZjCH7YoQHWP1cAVR2RIOR4WoJNi0qeEABHt9TLAy6OZNWLancoFRbQnq2iEG4DK5GQvh6-uR4omfx2M5hKrEGSWK8LA36S7fr7CQ1iyTeronl7sY8ty8NCW0vfoKuFKE-fc5FlGNYQgh6i776BOaAGMjDQ4pPqZL4t1ZlkcT2oVj41gOPlERCCRFsF_Xor1h7Fxd6OpU5Bryp8VTIi6KEHW1l_egf1WKL00B5NFVVn01_tLPPmI0pi3_evOSgQcKRFxocIsWKQvjydGHarpKJppC4jNlhNzd91TNTqDi6qaWu7CPO7DXynvxdQtwD6d4dlQ84vtYPHbqRBQaI_QhvITo9CkVuFuHUxghJ2QKXIxLFHbzflPLjBYt_VNHV7IepgoLw6Vgj2KOB8WAS4hhrn9jiJLpPl7aTsV22sDpwUW4OYngM1gVaaV26D5iaDlqViGeCPG1VDzWD30kAGQKuXbIK9izi4Uy4Jlt7gH6YjePIbO-rKlEGBGl9pOQCYMFIxKaWW3QegZfNUCEtPKG-0aqxcOFJpOF-oM6wxEOVqxkezaSdzbd8jRyLxYp0zg3jeF0v6yUjHdDdvnBLyl3-2PQcYf23vce14UnCZlftl4nWlDJxf_Mi2FBLtqEGEMD7ocK4bMVdMgUoiEUsYxi_i715RzIJbfg501NB9N8M_HLqaRqJkYa1PBHdlXKdV_Sk5O1GOMHSdzoqmrKw5eNT07CUBgBUjvr54_B1Pm6sBMmEBgzsi-mQRu7U0dqpUczlqz3LSE86S85wfOqjfB5vUM1ZZUEnpQ6VAXccclCvbEU4BkeOb6KPj3ZvWlLLuDJMGtAyA99K6jo0UaUJpsFOWmWdtbwC6_SqjMoYdL1ocXVSFQw7CVT0WFOLa_pavEVNqPsHMaIQUdr8IuxXth8QQGQxki34SvC2SlMEyBYq0rC0n4XVft7gJk4PySCiMPlSfYZJ203J29LvgewpNLyQze0pjMjXsMTidd-8cOl4qP0CqIxVw5RrTfrcy_qU7uGCrp8JoZw92hfZcl3baA3GNnvJl0wjXFcKIvKOHrdFDA9Vkzi6Q5XKXkNLxwAwEMtM6Acio7F4xtFOfBd5PjbkXJa4UaaAbucIUOHKvy2MqUFAcFccMKcjNdMWYHXZTzK054InTTyXSeajYK9tLmkBUAsvlta8FGuRV_VrkfQf1mlbswAkEw3ZIhrp6Yxhz3DWZ08QF6ts2xKnm3Xc7GFUrOtjfzq69PWt6O_5-xtG6gSQZauN5PMZeRB4DhU6xDb94XrTFaSwv6uSx0naCsXrB1Cur5QaIFPk7lWMZaceyoMbSxKIXhA==",
  "id": "rs_08af964303d9f992016ab4225ad8e887d093d7d1b4ada985bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_pitch\":0.3},\"note\":\"The right jaws stopped partly open against the pink bowl rather than closing empty. I’ll lift straight up and check the overhead view to see whether the bowl comes along.\"}",
  "call_id": "call_dPjtHnZ1qeXFNdznAPSX1Obp",
  "id": "fc_08af964303d9f992016ab4225b9da887d0925d8761268dd65a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dPjtHnZ1qeXFNdznAPSX1Obp",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8162, 0.6411, -0.4599, -0.2398, -0.0154, 0.9952, 0.292, 1.4361, 0.4934, 0.6922, 0.2306, 0.0784, 0.4887]\nstate[eef_state]: left_x=0.2891 left_y=0.0038 left_z=0.1775 left_yaw=0.0569 left_pitch=-0.0487 left_roll=0.1296 left_gripper=0.9952 right_x=0.405 right_y=0.0833 right_z=0.1509 right_yaw=0.0362 right_pitch=0.3272 right_roll=0.0307 right_gripper=0.4887\nstate[joint_eff]: [-0.0479, -1.7162, 6.9675, 1.7558, -0.1343, 0.0122, -0.0073, -0.1983, -6.2291, 8.8957, 2.0977, 0.1392, 0.0806, 0.0611]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8e924b9bce7dde6527be53de992a59c96d12eb08768cb47da0bb5b66533439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc813c2174b041ba2cb292d026e93f76ead906517a9ad397405a3f68f084e67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11967c125ee52c503459a00e4b3611c6bb20fe9dc0fdaf072f567c5cdfd6a6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.3 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8108, 0.6411, -0.4416, -0.2398, -0.0154, 0.9952, 0.2642, 1.449, 0.7784, -0.049, 0.1997, 0.0853, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0034 left_z=0.1826 left_yaw=0.0567 left_pitch=-0.0255 left_roll=0.1248 left_gripper=0.9952 right_x=0.3945 right_y=0.0741 right_z=0.1086 right_yaw=0.0422 right_pitch=-0.1324 right_roll=-0.0596 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.1829, 6.9949, 1.6581, -0.1099, -0.0562, -0.0171, 0.0068, -7.4051, 7.0906, 1.7802, 0.0171, -0.0024, 0.0024]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4522, -0.2394, -0.0158, 0.9952, 0.2928, 1.9877, 0.3714, 1.4273, 0.2459, 0.0715, 0.488]\nstate[eef_state]: left_x=0.2899 left_y=0.0036 left_z=0.1802 left_yaw=0.0566 left_pitch=-0.0367 left_roll=0.1266 left_gripper=0.9952 right_x=0.4069 right_y=0.0815 right_z=0.0608 right_yaw=0.0212 right_pitch=0.3875 right_roll=0.0372 right_gripper=0.488\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7363, -0.1001, -0.0415, -0.0073, 0.1436, -5.8598, 1.7026, 0.7399, 0.0464, -0.4322, 0.989]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8162, 0.6411, -0.4599, -0.2398, -0.0154, 0.9952, 0.292, 1.4361, 0.4934, 0.6922, 0.2306, 0.0784, 0.4887]\nstate[eef_state]: left_x=0.2891 left_y=0.0038 left_z=0.1775 left_yaw=0.0569 left_pitch=-0.0487 left_roll=0.1296 left_gripper=0.9952 right_x=0.405 right_y=0.0833 right_z=0.1509 right_yaw=0.0362 right_pitch=0.3272 right_roll=0.0307 right_gripper=0.4887\nstate[joint_eff]: [-0.0479, -1.7162, 6.9675, 1.7558, -0.1343, 0.0122, -0.0073, -0.1983, -6.2291, 8.8957, 2.0977, 0.1392, 0.0806, 0.0611]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8e924b9bce7dde6527be53de992a59c96d12eb08768cb47da0bb5b66533439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc813c2174b041ba2cb292d026e93f76ead906517a9ad397405a3f68f084e67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11967c125ee52c503459a00e4b3611c6bb20fe9dc0fdaf072f567c5cdfd6a6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08af964303d9f992016ab4225e361c87d0a655b1aae0fa96a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.17,\"right_z\":0.19},\"note\":\"The jaw reading suggests contact, but the pink rim is still visible low in the wrist view, so the lift alone is inconclusive. I’ll translate a short distance toward the stack and check whether the pink bowl follows.\"}",
  "call_id": "call_tItlBTOdUqciFhst7XYUUNAq",
  "id": "fc_08af964303d9f992016ab4226177a887d0861874fd4ba3ba2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tItlBTOdUqciFhst7XYUUNAq",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2367, -0.0154, 0.9952, 0.5781, 1.4715, 0.6884, 0.4873, 0.4622, 0.1364, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0032 left_z=0.1767 left_yaw=0.0543 left_pitch=-0.052 left_roll=0.1284 left_gripper=0.9952 right_x=0.3998 right_y=0.1711 right_z=0.1781 right_yaw=0.0906 right_pitch=0.3071 right_roll=0.0114 right_gripper=0.4888\nstate[joint_eff]: [-0.0342, -1.4974, 6.9675, 1.6679, -0.1392, -0.022, -0.0073, 0.1709, -5.7641, 8.9094, 1.9121, 0.2759, 0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ffc0eb806534b6cc552eadfd192c8b3aba9349d9bc649567fd3d94a6af6b317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c75479365f8db3521f413ea4063d1be1565e9e108dc82f3ebf52dccb6e7bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a24615575017e42b0ce03b3320c79a368dd58c1e1cfca5028dac385ee1a4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 6.002 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4461, -0.2398, -0.0158, 0.9952, 0.2958, 2.0048, 0.3576, 1.3067, 0.255, 0.0296, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0035 left_z=0.1815 left_yaw=0.0569 left_pitch=-0.0307 left_roll=0.1256 left_gripper=0.9952 right_x=0.3941 right_y=0.0773 right_z=0.0224 right_yaw=0.0526 right_pitch=0.2415 right_roll=-0.0484 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.7118, -0.1245, -0.0366, -0.0073, 0.4991, -6.2701, 1.812, 1.0867, 0.2711, -0.1783, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8162, 0.6411, -0.4599, -0.2398, -0.0154, 0.9952, 0.292, 1.4361, 0.4934, 0.6922, 0.2306, 0.0784, 0.4887]\nstate[eef_state]: left_x=0.2891 left_y=0.0038 left_z=0.1775 left_yaw=0.0569 left_pitch=-0.0487 left_roll=0.1296 left_gripper=0.9952 right_x=0.405 right_y=0.0833 right_z=0.1509 right_yaw=0.0362 right_pitch=0.3272 right_roll=0.0307 right_gripper=0.4887\nstate[joint_eff]: [-0.0479, -1.7162, 6.9675, 1.7558, -0.1343, 0.0122, -0.0073, -0.1983, -6.2291, 8.8957, 2.0977, 0.1392, 0.0806, 0.0611]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2367, -0.0154, 0.9952, 0.5781, 1.4715, 0.6884, 0.4873, 0.4622, 0.1364, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0032 left_z=0.1767 left_yaw=0.0543 left_pitch=-0.052 left_roll=0.1284 left_gripper=0.9952 right_x=0.3998 right_y=0.1711 right_z=0.1781 right_yaw=0.0906 right_pitch=0.3071 right_roll=0.0114 right_gripper=0.4888\nstate[joint_eff]: [-0.0342, -1.4974, 6.9675, 1.6679, -0.1392, -0.022, -0.0073, 0.1709, -5.7641, 8.9094, 1.9121, 0.2759, 0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ffc0eb806534b6cc552eadfd192c8b3aba9349d9bc649567fd3d94a6af6b317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c75479365f8db3521f413ea4063d1be1565e9e108dc82f3ebf52dccb6e7bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a24615575017e42b0ce03b3320c79a368dd58c1e1cfca5028dac385ee1a4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08af964303d9f992016ab42264fd6c87d098e33eefdce67cd9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJr8WusKmpwPVTzbzCvCw06BA1oIp6pleW1VUYoY0EScbYOPF_KOkABvrvc1WUAGmqXFKQG-dbSr7VbY6i11M9fgpeykPS3ZPvagCR8f5FM7gP-3eSoGyQl6mxmYpiClbSdYjEYH3o8jMONrD3greYA7wlgxGue5vEi-m5WZwBR9e7hxOLh7TPpYDeneUQgF1br-QyYQ-2C9WJ_rkMnuuvEO-0sC9o58sCFIcz6XHjRzWW_DCzypNZeihMw3HIwW9aHwj8DGou7fWYhkv24n2UCzNkQN6ALqe24vOloMhaECXf1HYic35U2GndSStlKD3CkVrWroOZgi81eLp2ywNmSu3heaaL9Xm3NTK6kWCqrzyBfU7sjp0YqmeWPI_6womJkIqRzDVlTq4tU8yYsSzdiYD9xXq3FUoQjCyvE3F0sod--CZcO3g7XvIO40Ks00pnSL-G9pgkzE-KkL1jfEbUEiE7-Qpj7ZYbRn72GsgOL4xmhXKP3VXwTk2YcoLG86AxYI_rmrK5qwJhyw_VAQjCRiIf84o7A4SMzVnVAbHgAYvfCZORGyd4Rfha-WvaTxtvbRJFnGnjeL8RdKklh73vYN4JuAJYlf2b9BAIhNE9Z2T2ZHWRRGzkThSamTPB1U5GtVb4HFZokd_M6LrgNf7MAYbO6f8JFgxirV9v_2ynsx1ZU2gJPRjNJicjndcSlDAkUK_orr-oqfCofmZ8mXMAFcijonBt__s_HtPQJYroEyj2Gq_PKTrybjrz8fu0TX_9KEA57ynlkECJUDD9JFfCOZyKCkRdH5gnbdhoB2rbtydmu5cpaNYtkSnFnnu9eoSOxUqI46N1LH_5r-ET7yWPwJikqaEiWkbpvGk9RJ7cNBuKolUYkoNWX1zkziJzVEZmrmvVBW2fCbEFsiMalKtWNqbI-9jpbNWgku2m1LpBHJ1M-xNGgpYmedmF08ub0FSUsX8w_E1YSL6AhCWVsqr5lahoexQiW1GefC0ZDtVzEr3g1rndg9QqlbvX0mbMxgPtvBVwDwLd-EtVqGAA3hW07OaORyyTZ-xlH19zw5dXpbzFEH1bUgMvTM5X7bW5ecCjT6o6l__TppnmLXGdaWJgtyM1eLmv6TirJgv4-8bahWLuWyBRoltZNFcttHGZaXEf4s_AD8k_l1wyDoCyutslThhQyHm9FKA4H8bcwMa1DTp6FdmwuL0RZ5mEhJDCJoiLQthf-gCyAXnxvWQ2bi6g5hiKr_rc2YhaIzPzVL91b_atc9wJ78v5jNWNNc5BsY0znFUwhMdi6hA0oHMFM6bNpi796O7-s3jThYYOj6wwOlSBRUK9-pUCWWgfU7IUca0Nn0frfMoLNQ1CqAHk-uBl3GPA58hk3DCz6RyGRokWCjCA1e5uQqu6YfRWOBBr6LTOcxIW2zC5Jvk2DrCx2r8WGG6ksqg9LRvij9EW7rB48wPGQHPreYi4ah-nrallzwbKRo2qmzIzbGRa3v4btj4JFVFiXyDDSiZEhoC6XsKyDy678InAkeWLoCJu2R3UIjt3aP7u2uuuggeeR6dwiXK6fZNu_zwMr5_99Ez29EPrgmHsSvBtLA9lB3K2rCAWZs2KdaQzhskvLLPQGURAa9gmC-poala5OS1PUWhKOMUBTJtmBl_N5mIAR0eFGpy04P-tRHs7HRuIqi8H173VOvRQEevyKqgXfAhdoWAD9I46DYGBjhtqvOPkWPaWzEUFS6qyQA8tw6__D9QcY2NEG6cAMmhmXAHLRs_POPd3OIRKiypyPsZBdU1MX_YJnavWu_kpLTVraFlhtNxtpzaNzGuiZXQ==",
  "id": "rs_08af964303d9f992016ab42268f50c87d0ad99244373368402",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.26},\"note\":\"The pink bowl shifted when the arm translated, but it now looks lower and farther behind the gripper than expected for a secure hold. I’ll raise the gripper without moving sideways to distinguish a carried bowl from one left on the table.\"}",
  "call_id": "call_mCLF4q8lyDaV72focfOVPIzI",
  "id": "fc_08af964303d9f992016ab4226a2ccc87d0afe57ed6abbd573a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mCLF4q8lyDaV72focfOVPIzI",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.5804, 1.3712, 0.8906, 0.1715, 0.4622, 0.131, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0031 left_z=0.1767 left_yaw=0.0542 left_pitch=-0.052 left_roll=0.1279 left_gripper=0.9952 right_x=0.401 right_y=0.1731 right_z=0.2415 right_yaw=0.0979 right_pitch=0.2953 right_roll=-0.0005 right_gripper=0.4888\nstate[joint_eff]: [-0.1026, -1.2786, 7.0085, 1.6239, -0.1245, -0.0269, -0.0171, -0.5402, -7.1726, 9.4701, 1.7167, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1fa7f0790eb3f720277cc08417c9664f7548cca83e33805f326af422562651",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ffae96b2559df1407f87cf8e64c6fc7bb79d23b008da268111604d66eeda90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673d6efc75955d202876c8596c23a0bc3eda9c1db05e181a7c6cc9b1c448e661",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.925 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 116 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8116, 0.6411, -0.4522, -0.2394, -0.0158, 0.9952, 0.2928, 1.9877, 0.3714, 1.4273, 0.2459, 0.0715, 0.488]\nstate[eef_state]: left_x=0.2899 left_y=0.0036 left_z=0.1802 left_yaw=0.0566 left_pitch=-0.0367 left_roll=0.1266 left_gripper=0.9952 right_x=0.4069 right_y=0.0815 right_z=0.0608 right_yaw=0.0212 right_pitch=0.3875 right_roll=0.0372 right_gripper=0.488\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7363, -0.1001, -0.0415, -0.0073, 0.1436, -5.8598, 1.7026, 0.7399, 0.0464, -0.4322, 0.989]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2367, -0.0154, 0.9952, 0.5781, 1.4715, 0.6884, 0.4873, 0.4622, 0.1364, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0032 left_z=0.1767 left_yaw=0.0543 left_pitch=-0.052 left_roll=0.1284 left_gripper=0.9952 right_x=0.3998 right_y=0.1711 right_z=0.1781 right_yaw=0.0906 right_pitch=0.3071 right_roll=0.0114 right_gripper=0.4888\nstate[joint_eff]: [-0.0342, -1.4974, 6.9675, 1.6679, -0.1392, -0.022, -0.0073, 0.1709, -5.7641, 8.9094, 1.9121, 0.2759, 0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.5804, 1.3712, 0.8906, 0.1715, 0.4622, 0.131, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0031 left_z=0.1767 left_yaw=0.0542 left_pitch=-0.052 left_roll=0.1279 left_gripper=0.9952 right_x=0.401 right_y=0.1731 right_z=0.2415 right_yaw=0.0979 right_pitch=0.2953 right_roll=-0.0005 right_gripper=0.4888\nstate[joint_eff]: [-0.1026, -1.2786, 7.0085, 1.6239, -0.1245, -0.0269, -0.0171, -0.5402, -7.1726, 9.4701, 1.7167, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1fa7f0790eb3f720277cc08417c9664f7548cca83e33805f326af422562651",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ffae96b2559df1407f87cf8e64c6fc7bb79d23b008da268111604d66eeda90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673d6efc75955d202876c8596c23a0bc3eda9c1db05e181a7c6cc9b1c448e661",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJx_2aa12qhnJPmJefnNYeUGnumzVMJK_TDXFJ6jUrHvb3FOkFZ1g66vl6QiG77ccJek7jjzipoH7diLp4xi3MJP2tGJVPVYCirKeJFmk-G6WXwrDFo8eVoOFD_uVr5YEONWJ4auzsRoyoKFypfrNN2ZFhxBxGwDG_dCi_6h-ryvAUnQ2R80aeLebGrPf_UYZ1jcwB2LImE7rl2J3bA2PtDxaiQdlvZuGzmQi6O8se0KKNEUip-lx-VgFW-G2gDhD0wMGJPAT3BId3PrZNrqlzYfROwTkmRkaetG2HVo97e1Th5f77cCHpBFnSQh0e8HOvHIbelhPkIoCF4lAliqqLrC8n31hi8a2f9HnQDX8lX7PjWC7csGFB5qlXVuy1tIMKzLYQo_dQdbEO-QSeyOQdMCKuHyY7ev_fVOIopLmMANs1ZU2J0O_3bw-SvAUn4tK7YOjwqt5_G6lysOr5E4ciOqDAJJ9a_N7jXW8O4lD2KDNB_yjMwTjDFNYnVGOpQCgjS25qKvBc5gOSLSkEQn98kSPeD5i6V_AU86FRNOFMnPU9ho23ICkmEoazE7i0iOWYUR9-QAX-phqnxAZ9xX6z-n4ZHfSqSZRr6CftPumxBSBFmrNi_V8BqU69L5F15V4JfB-j0Fhbz49HXagCgKMi4it-ZoKxJsrNXBkvYqIgIstyM3T6o9qO81KCCRHkVy_9xC3HNBtSllNVwrinNdgaYBGZIF0t4p38tlEauDWNdg2mDrinc40gNJlrmUnkmU5mg9Kxio_6mL5FR-k3_yLXkeIy9dyqf_ZSkmRmTXfvIGRE6xZO5IvMhuArcttSP3Nk1TjfcjfNSZ2MBxS45vuVWuHPJqzYiHDZJexB6Fdn5hal20oiM0BB4FNZBbTyodpl1ijsLfBrEz8ghLc6ThZpgC1DmyKBsYgOTOTjOHdaHlh3mC_0poCeZUYT61wg8JTKt0eHNYYlXkpqH26FXIuNbJkajYXAg7L7NQZkpcis3Bf8Q3gZQLkb_LdcOdska_QXcsDhyr0P0ITs3GKROIEvY5QhjMUB9Diw6BPr8U0aOvsoIFU8B8h76ACyiN0L8FoPPdhAWmuBtdhJ9ZWWarfwaJyv14hXv_qQ_zQEUaV_pV3swHAt_269d3tPahqUd6XFdEo3g_FvHu5qghI244n66sjQAklh8dUgnq3eATzhlNLi5ckAhp12ukdBxVKBSWSfMZCIJ4na2wwARFz00H3-ky5Ah_pSno9TRUnq3ANIvv_hUo0bsVD0yJvi49eDfuzweMwPN3ji3uCdZHP_ryck_370wtLWBJ-ONLBRv6BSVSb0gtSdhoKPp3LKuqbxT9JLXcwgLbURh0-ss13BS1A3jOMRw1cHiYV8ugh1L-xXVxfPc-jE1UsqVnFQ74Q1mE9UzpWhqCpAYMskJl91T6BDxKcGK0IYPmgAs1BPc4tx0RxzxxPoU89mTF73UYIe5UMJ6T3r2Rkwqn0O29oICgWxTPBEc82OH0g9iNgQXupWVzKsLXD295Jz5xJBWXnwJg-oXyaXGcUJpwl0n5TPnPq0eTVyae_BVtZj3W1NfGLDDrMeaafk_bI6cMDQUIxHzr2nQe25RL5empj_ywTGq6hN-gzodeLXsVv6osIR_fFR4aEG1F-pDOspwpLGcVSmBXXlDzZh1FmGNDflOw7zqqaUsZz13NBdjySxnakkpAgZ4LqXtGXYeIzwmT07Dl-kk3t_tTAAEhg7Wr-ZIvQCaSVNDJ6vMDZ0DeTcK-kZWRtox3b3yN67yWbPI633W2Ah_JXA4ZvffBtCVeL30ZumAfKmHhotj_e3qCKRAaN0IbLZfq3-vOZ7024Hvixg7UGCU7xWEtCklFs2DjVQ0l9aJfRGKhOD89hp50OKNAr5j4ym9ZEaVL-mtQb6FS6HzdZBO7xCWIoVYYjMDnPHYKwRSoLP6Lc_dvIhwn_6Rk1Fx12ST_nYF05znWxPIYcWegvvJLLaKtrrrefKrBibnDcExSvgr7i5w0nynsEJxHda-W_6L0YkGJktdhSQ8kwkZwG8aDjFkhULALpxVol23LcesdXPtgb16WkL2rJmV1mDOmP1SQDuUfqvATTnxGyXlp3zt9RGc4gQNRl5U007Ci-gnh2MAte4IB_rCspl48rQLE7dQuLc2-fTIqt3SeNChi_c3Pt2axC5bvLVrIdJh5maDW60K16NPawzfVCtz4Ss-7aCLlnJPhP7E3UuJQqqkUjEvsjrC-Ah9xDw74OxBw1BbSrYm8l2l6vBsS5emjA6hszD9vqUtuqs-Cj_zrO6FcQLAJ9-kF3fmkApwJi2oJGiMnBvB1UhTDUmpFDrVF58ORxrcFw74KUhB31sLUXueB3ULTdz-0Hhdh1bYTNINM52WI_ChTRQ0j5RReDdUM2Ev4Qqk82ih0nhOtrD0TP39Iiu7CY2kuek1Dk1rA-sFSUzffaVWvpbo7OHS_lbKmcCpuG6B_YX9rUgUG2NRXcDGejjt7d5Ir6QbBPyVhNXi1_8WFLFa318ioh06iDTXmfSjFCIH_HkzJQPYGVfgMeByFV39n8UrqdqntXw1PxS0qDCD9gK-52tFDmfoAT-oKnXXZy5cYsTBSCEKvzAzJLx6RzxtQR4s7alYfDZfpvmd3tnyBKfON3svEmAK76Qa7TxFjJJugGV2tbBFajwDgmyIxPGCi6c_y_F4Cf9RG6xEwVlg_GQpfHxIqCphQCzWP24--x8ggIUbi_xhf5O4tJ54AQfalYlJIhMKW-j67jQYFwXyFObdErSC9MF8Eyn2wNhTyLKKIOJwVa3LaRgehbWuhTg6XNsXT7IWoPEQXLkEN4ecKGTUYcio9tRYrUZLIME334nCL-otBXw-Uc3Taa0ljcIScuGNNmXJzThXa07p1YfAerviZ6fiGPs4Ka3qFwZIQIJquvIQa_6ix4jcS6hRI6x-7GwHkZwiUIpzQ5xZ4J3YF1cx8TkQs5SxdVuVuBLoNF5v1kwqi5m0qbRdwJg504Aek6ufN1JYtAZmy3_cfQGnECBHoPJLrCGFZl0hONUnXNe_A0bRum4oLub3rfDUZlPzNRmaA0j238hhnnrqfe4yjaqgl3w0CeULbY5Z9tyafTLKYL5hocOZV1ZErxWcqNEG8eFwh4Uf7jMvWvGUMR0R8QuH3TrW1cvqomazM3cWYpht-c15Zovmh4fomUh3L_HSpez8SBODr2OTCklvBBqxoSl8dvqX_jxcOoHNu8PbVtlFCObom9_gyAZvfYRkoxOoSKbsg6PZsMQAzJGrfW4WFkJ8XcepgODNDvg_i3XWF4jjszoCRToybe9PchVqEnRJsJmnGwEKg31gAlRP6TsRQX2LINq6-xMn6Fe-fJbO8Zplv_b9egI17nLMvZXO1uzTUuDo",
  "id": "rs_08af964303d9f992016ab4226d199087d0aa41123155de549c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.235,\"right_z\":0.14,\"right_pitch\":0.15},\"note\":\"The pink bowl stayed at the same table position when the arm rose, so the second grip slipped rather than carrying it. I’ll reopen and reposition over its new location nearer the center, aiming to pinch its side more securely.\"}",
  "call_id": "call_pVpwYht4xFlKSVfxZVAlPMPc",
  "id": "fc_08af964303d9f992016ab42271001c87d0872d73574093d367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pVpwYht4xFlKSVfxZVAlPMPc",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8219, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.8318, 1.5269, 0.7788, 0.2001, 0.6228, 0.3, 0.9968]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1758 left_yaw=0.0543 left_pitch=-0.0554 left_roll=0.1285 left_gripper=0.9952 right_x=0.3505 right_y=0.237 right_z=0.142 right_yaw=0.1489 right_pitch=0.134 right_roll=-0.0294 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.4974, 6.9949, 1.6532, -0.1148, -0.0513, -0.0171, 0.1026, -6.4068, 6.1744, 1.8486, 0.4176, 0.2222, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52db2c8fa36494d2c248c1bc5488186fffbcf860b5eb98e621876107dc0e551b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82587e42a9452a2cf89f6708825dd3612b378303cf2adf4f0235fff7c4a59571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c0c7e263b2b7add15ce53a9cb52f8de76984c0a37d782e796d442af0879d0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.953 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8162, 0.6411, -0.4599, -0.2398, -0.0154, 0.9952, 0.292, 1.4361, 0.4934, 0.6922, 0.2306, 0.0784, 0.4887]\nstate[eef_state]: left_x=0.2891 left_y=0.0038 left_z=0.1775 left_yaw=0.0569 left_pitch=-0.0487 left_roll=0.1296 left_gripper=0.9952 right_x=0.405 right_y=0.0833 right_z=0.1509 right_yaw=0.0362 right_pitch=0.3272 right_roll=0.0307 right_gripper=0.4887\nstate[joint_eff]: [-0.0479, -1.7162, 6.9675, 1.7558, -0.1343, 0.0122, -0.0073, -0.1983, -6.2291, 8.8957, 2.0977, 0.1392, 0.0806, 0.0611]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.5804, 1.3712, 0.8906, 0.1715, 0.4622, 0.131, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0031 left_z=0.1767 left_yaw=0.0542 left_pitch=-0.052 left_roll=0.1279 left_gripper=0.9952 right_x=0.401 right_y=0.1731 right_z=0.2415 right_yaw=0.0979 right_pitch=0.2953 right_roll=-0.0005 right_gripper=0.4888\nstate[joint_eff]: [-0.1026, -1.2786, 7.0085, 1.6239, -0.1245, -0.0269, -0.0171, -0.5402, -7.1726, 9.4701, 1.7167, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8219, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.8318, 1.5269, 0.7788, 0.2001, 0.6228, 0.3, 0.9968]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1758 left_yaw=0.0543 left_pitch=-0.0554 left_roll=0.1285 left_gripper=0.9952 right_x=0.3505 right_y=0.237 right_z=0.142 right_yaw=0.1489 right_pitch=0.134 right_roll=-0.0294 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.4974, 6.9949, 1.6532, -0.1148, -0.0513, -0.0171, 0.1026, -6.4068, 6.1744, 1.8486, 0.4176, 0.2222, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52db2c8fa36494d2c248c1bc5488186fffbcf860b5eb98e621876107dc0e551b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82587e42a9452a2cf89f6708825dd3612b378303cf2adf4f0235fff7c4a59571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c0c7e263b2b7add15ce53a9cb52f8de76984c0a37d782e796d442af0879d0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ3GOvyF0stm3AWFg79ouWgM9MG8JD9PfTKGMC9u9cKYGWCV4PYn5Jh0cB9q8_CJ6swrVgcuOeErNka3DcydNwG8NbkEcOQDuYmgrOE5MiVHqlO-XMSAUVLo-k5GwXgxs6GTO3n93pNaThAUL_2Wur6oCEOnWqve7tL-pU4CbJG_x88GKlGSW94U3PM0_iDV_1yLXIGBIha5uGACSahrcyaVSxSE2VEkHnn7eHlt92Vd5zPSqEzUA4lFggBcUQkSQ565lKrIAbwBtOiLKJXgi5rZB4-Hvq0FEWSBOi-30nRcOBadfJRx57Ql6FksLPK6HKonPxg7Q28wNRyP6Kf0bOvYq41iNpN5ieJdnKkHvWUq-1gqAeZTVWIiJt4K17veynklAfZtV2I-IwsOsfSMC1UtoZelfYn-My9F3kTQcxzDWAAEQfc4o38GN5HZJiF60aCIkn-wdLijZR49oKQq6_PaOIWPbg5PvnM4mgaknjpLA4gWqtLaQsHWmNNqgvrP6CuS8GXp_tBmmjyLmZntWJcrTJWlWCjdGZP5268nicVRtEsm2bdQUUJjOiuACUYOI_KcfMAfaaxdr-5rxOPjaN7zYgr6QB6lwO6iLhW_Mdd-jzOLVzk04z3qc347TbBAaXLKtg5fneXx_iNseMTXGRS7OoU1lpSz8P68PNlsCL30cV60SsW3SZGrgFqg_vgMXkcURg6-WX1HouAa-zbPwwHCYsVPruwo1nNG93M_fUjSktuIJ_f6TU5jc7qlhcciJKtv0pftACDHsDF-gk5kQZLYVxE_eqsFOcIUAneDMQnLqpeqPSm3XRRMSqzDAjZ9kGRYSPmIaqAJRthBTg_tvMWA3kjg-0EZwghnlcBC0ZLkTBqj2N_xSW9Hmm1oKS7OUlgv8gHs6zWN4PjCiTKtwKW9sfkTsqvVDiE165KLGBXYjO5fTAbtX_JPVZZ7dGePxzWfdIhZQQvfiQ8xXvj7hGAWDArW9yNRY7UY4n8GC87ejKIGHmkWadJXMjQTC4RpR08bKSIC8sjMbzNYRIL-wR816BfI6sA63Fy_ncKuDco1vIy3x7nqYVc3cTiRK3TTy6mBJTo4vaYmg8ktW1Ahzvte9t661ATlkgULe1rijZ8R8zRxzSzyzmv5ehgXA1aLGnGy0cZrYgONoRiCILDx_8CSsbWrprBt3ReNfQJvwQSsRJhHh6b9BZ8NsHUS7nov625736M_ZkoKfU-tRDGwvgVotbrAcpYchkYX0tr-l8ZkhWTvruflCiF_JN7H32cQDrk2BHTp1IwTFVTFmSsEdy-F6si-Ji7DFALn_oGkgLzXmT_juNd8BybAnNY-IzDp-d6peSFemh9d18tSfQBVANE5jxQph8RrGcFKL84OE9nEqTLf3y1Wg-CzK6pH7BCphAen2PyYU3j-uMjahNCphDYYbrMlJ90czoU0XYzuqbRdT9IH9a3KzuNdho9rV9OZNxhlltBGlQID6API6IPTfYLOiQkzO4muJtoS4-Cuhmg-EdoCToTwbOTzk8ppMgAINM40-bky8Sud-fVehET26mZMOMVxRIN-PUpw5VuLaKh8JyM343NFhrVrj1CM88HKlRCGrOy2PQSIuanXJerXVFeWWI4Lf7AckztrPYg61OO1rBR6NXVPbd3A39WpDSKDjBL_9VnFyr3irT93Cl2_SwMoaqAicbbQMeRAj5LYmPCv2CWk2CODRS9kZ3wgZInd-X5p0xI7val374wJbucIz1e9pokZ-RXhcWOYleS5YeSMWhZfv1gVtEd85Yl20vI36lDqvruA0OGYMTXAtW-_gFY9_3TlYgH67KUTPLeY6LtdX2C-K76chPy4FotCmWDaVa14BkxM1M-1qy-0-Ovpy6T8jugyjjaOnLT_DWcdTriE3EeZe3LOZDyWvq7Q9Owjvih4GuWZTKaoarVEp_Ke2Oi7yA-Vivm9KSuYaCzOPn9nuOwOgn1aJhiyZ6NfTmFoMd7KtKyli9z82Y64VIA_HIsSeyJ6FzolDIGp1-5FVwAUhWCnsmpcZJTAZOkw1hwsK6pTgYBCVpQv9MUZ66zbVayv44K2e00b5pHfFFblzURyPSthdZszQULICq1icCS6Q4CmDol_WJUwhSxB2rEsaK8oJn5ALpT5U1CIZELxKGNJQU4hqbuNJEmWYzVAb4Et4-1mN40JZQfgZT-TXyW6crJf-nf-pGzFysKMOylAE9xhebBoe_jn_BH7il_RiPOV1v4Um59TIRYga411yehLRsKeJ92WXIsatIXmx1RKywzzi9bofvJyfgXWZjt3WImT5XjTvVTDVWlX_KCdkprmrVwqNE-KcTDYMLGE6iQznejPDc=",
  "id": "rs_08af964303d9f992016ab4227402e887d09268e63e486ea15f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_z\":0.13,\"right_x\":0.35},\"note\":\"The pink bowl is now almost directly beneath the right gripper, but the wrist view puts it to the right of the jaw center. I’ll shift the gripper rightward across it so a single bowl wall lies between the fingers.\"}",
  "call_id": "call_MNkjx9VwwH7JCgchj27XKzRv",
  "id": "fc_08af964303d9f992016ab42276bb7087d09bf6d509379adb6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MNkjx9VwwH7JCgchj27XKzRv",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.823, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.7055, 1.4342, 0.6155, 0.2565, 0.5343, 0.2409, 0.9971]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1755 left_yaw=0.0543 left_pitch=-0.0565 left_roll=0.1288 left_gripper=0.9952 right_x=0.3478 right_y=0.1828 right_z=0.1174 right_yaw=0.1267 right_pitch=0.0938 right_roll=-0.0533 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.0051, 6.9675, 1.6679, -0.1245, -0.0073, -0.0171, -0.3624, -6.7487, 6.8308, 2.0049, 0.0708, -0.1441, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49bc356fbfcf3025a4a435bb680bed05d81f48fd72fa327a28514c21920fda8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2a1f6bde43ad2c6d81bfe508d8f70ba72f7c8f237fe7da89db0392f6f4d46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c939d3ffcf6b119cc1f603ed5b295cc9e2b2399da7f73dd49cdc5c5d735373b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.193 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2367, -0.0154, 0.9952, 0.5781, 1.4715, 0.6884, 0.4873, 0.4622, 0.1364, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0032 left_z=0.1767 left_yaw=0.0543 left_pitch=-0.052 left_roll=0.1284 left_gripper=0.9952 right_x=0.3998 right_y=0.1711 right_z=0.1781 right_yaw=0.0906 right_pitch=0.3071 right_roll=0.0114 right_gripper=0.4888\nstate[joint_eff]: [-0.0342, -1.4974, 6.9675, 1.6679, -0.1392, -0.022, -0.0073, 0.1709, -5.7641, 8.9094, 1.9121, 0.2759, 0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8219, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.8318, 1.5269, 0.7788, 0.2001, 0.6228, 0.3, 0.9968]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1758 left_yaw=0.0543 left_pitch=-0.0554 left_roll=0.1285 left_gripper=0.9952 right_x=0.3505 right_y=0.237 right_z=0.142 right_yaw=0.1489 right_pitch=0.134 right_roll=-0.0294 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.4974, 6.9949, 1.6532, -0.1148, -0.0513, -0.0171, 0.1026, -6.4068, 6.1744, 1.8486, 0.4176, 0.2222, -0.0562]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.823, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.7055, 1.4342, 0.6155, 0.2565, 0.5343, 0.2409, 0.9971]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1755 left_yaw=0.0543 left_pitch=-0.0565 left_roll=0.1288 left_gripper=0.9952 right_x=0.3478 right_y=0.1828 right_z=0.1174 right_yaw=0.1267 right_pitch=0.0938 right_roll=-0.0533 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.0051, 6.9675, 1.6679, -0.1245, -0.0073, -0.0171, -0.3624, -6.7487, 6.8308, 2.0049, 0.0708, -0.1441, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49bc356fbfcf3025a4a435bb680bed05d81f48fd72fa327a28514c21920fda8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2a1f6bde43ad2c6d81bfe508d8f70ba72f7c8f237fe7da89db0392f6f4d46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c939d3ffcf6b119cc1f603ed5b295cc9e2b2399da7f73dd49cdc5c5d735373b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ7WtgnlRcF53ZCR0VArheNBo9uu7WA0ZxuBBPXFDfpdnMcjYWZZcxfbb7TXHqUr6xD854816LRKr3CCyQye5Qitt7wvi6jAUqkWOUxapG__Zzu8ZXIFM5aAQuccklrAcQlfNcA-Gxulo3ThC0fSlEPDKPqEVl-TZwgashA98L9jYaDgOnpdUrlpDyJ3CF2IK4KvVD3Z72l1JFMDtJirqGPczsBdfi7-4pU2fuJhcvYnnQgXVCZ8PgXoxSPm-U-edtitoMQLuDGbSABzdrr6ujW1rauJGKufZMWAZ5HedBiVj0jEOzj3MR063P8og4Btj1AJynbkboDr4Fm0xjo66Z3PeK-fzTeiucNE42c_YVtzZR370z-mXhrSYyaFvg0LzF-WP-O0-Te-lJ93eZfI2CqlO1fcn2JCOm-bx3uptd7Vz_r5MIqzpmdAyuZNdkB7Iny56n3k8mAFyexW40_AlLNet57ikeZLGpWhqMU4qT0W1ulJZNiqawCUqquiqbeT23ugiHjClVl0T8XgAkWOrDtdO-aZyDC9JfGt6SMEL3D9tKG5bDhv-0LjoFy6XO23ZO2_SZnx4p7808MM-ywOcphaGiVKZn-ZiSMUYfSlbrX6OVdyfFc0yfpO84sVipr6Na0vNqpVHzp38jbakGV0BVeI0s68bogy0JCI0YjtxbekNDR2WM13vg8rlU025Yim5bbey6mjjJRco32aUHpmbDYb5h-KJQAse-fqKm_21DvS2ZlpPagm2kSIdtuv-1nksnKnwQBZxli8CimbBcfAP8Zs0fTNUzQbKdko1tHoYqfUwHKyg9NoAsz0ovrUi7SIK2Gu2aJILC7hfatWop4QrwxjCZDifI-x8HJuUIvhZTTeyEROiIsHqeSPTnDg_8jVSID1t7-ORWQU3Gi8EiFwSoNjEUvU7taRW_fAuI6PGIz4oFH1mp2C8M-koEaWU3pnAZma0hN4X5C2fZp4lQo3fJxNj0AJfJJnxTDAS1KQFOEnEOJVTxv2lmHEtwaF_Fvh7PYSMTHUE_N0f6IBjYbkMD0in8BvR0BqM8EYsQPFNFMrxmE6kzDOxJBXNnmmxYY1eG6XZvZpi5urkVMmkSZskduU8GxxyVbrs4haw90G8BXQvtPk-6jxhYUh5yKOKCqn5Num2X2Q0J8gLzzy3dzd_WMLS02K1wspN5sc4XHATIg8AdI40UyULMEgrGkFBmCzCTh7Liajwhz-wUngrhtddeEgKkLbDAw801SMoRmCG0GMEif0syDxcz_H53hnmM7_VJw7USV4Ar7SApjLMpRVDBFTK_VrsB7Rj_2GgSrfUWPuYoa8TbQwco_CM8_6Bn_l1rAV4fQY2j6hf7epyBpHDpkV2hHA4wTNYtUAyL7UfQy21jLLQjFPqhHu4nyBpIzOhfFT4hchsXZfjoSsIBlfAiSIzjbYo-VhfAkkyML6_nVeuqHeikFVimSbYEiyWTrMn3XXiCVZC2wHcmkHyLcgh6wGVc9v_EQbJHIO5lzDp4C2-ignFIDLDIO6qpD52x2l_6egPapaVU-R12Uoq5WG3XeLzqGn3HUbHRfkgaBL0WgIzhP1EUI7u5emYn-5mOBx_BuO3v9rsAidWaC2w6IEe2oOE4DjPuGQNuMDO22MYOPMLg2tj1-kiCy4MMNkYCuc7qrRc_k3n7_Rb-lmD5BvUJ6PWCNAy76pwvjt9Imm3dXRldftwgquSRpE9LKUAdFwb4a",
  "id": "rs_08af964303d9f992016ab422795d2487d08ee2bfc6fd1fbbe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The pink bowl is now just left of the wrist-view center, and the open gripper is over its near side. I’ll lower with a slight forward pitch, aiming to put its side wall between the jaws.\"}",
  "call_id": "call_MuE1fWK1lEKjB268YntX6jWu",
  "id": "fc_08af964303d9f992016ab4227ae19087d0910fd75bab17f75f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MuE1fWK1lEKjB268YntX6jWu",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8276, 0.6411, -0.461, -0.2363, -0.0158, 0.9952, 0.6312, 1.9961, 0.3229, 1.2816, 0.5034, 0.1326, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1742 left_yaw=0.0543 left_pitch=-0.0614 left_roll=0.1298 left_gripper=0.9952 right_x=0.3482 right_y=0.1534 right_z=0.017 right_yaw=0.1229 right_pitch=0.2296 right_roll=-0.0524 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.7436, 6.9538, 1.6337, -0.1148, -0.0366, -0.0171, -0.8957, -6.2427, 0.8684, 0.6374, 0.0513, -0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ae31fd0fb1f2dcf253b8ffc5b7805bc70a2caa7621e692a22a6bf2038ff278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f27f0552372bd328a332622f42585ba0d80e5ca3c2f63fda99b6444c8a990811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335171e5d99998bcee60428a58f782a9b8f57d1479a8e33e33380b0956f68df8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 13.38 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8185, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.5804, 1.3712, 0.8906, 0.1715, 0.4622, 0.131, 0.4888]\nstate[eef_state]: left_x=0.2892 left_y=0.0031 left_z=0.1767 left_yaw=0.0542 left_pitch=-0.052 left_roll=0.1279 left_gripper=0.9952 right_x=0.401 right_y=0.1731 right_z=0.2415 right_yaw=0.0979 right_pitch=0.2953 right_roll=-0.0005 right_gripper=0.4888\nstate[joint_eff]: [-0.1026, -1.2786, 7.0085, 1.6239, -0.1245, -0.0269, -0.0171, -0.5402, -7.1726, 9.4701, 1.7167, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.823, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.7055, 1.4342, 0.6155, 0.2565, 0.5343, 0.2409, 0.9971]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1755 left_yaw=0.0543 left_pitch=-0.0565 left_roll=0.1288 left_gripper=0.9952 right_x=0.3478 right_y=0.1828 right_z=0.1174 right_yaw=0.1267 right_pitch=0.0938 right_roll=-0.0533 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.0051, 6.9675, 1.6679, -0.1245, -0.0073, -0.0171, -0.3624, -6.7487, 6.8308, 2.0049, 0.0708, -0.1441, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8276, 0.6411, -0.461, -0.2363, -0.0158, 0.9952, 0.6312, 1.9961, 0.3229, 1.2816, 0.5034, 0.1326, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1742 left_yaw=0.0543 left_pitch=-0.0614 left_roll=0.1298 left_gripper=0.9952 right_x=0.3482 right_y=0.1534 right_z=0.017 right_yaw=0.1229 right_pitch=0.2296 right_roll=-0.0524 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.7436, 6.9538, 1.6337, -0.1148, -0.0366, -0.0171, -0.8957, -6.2427, 0.8684, 0.6374, 0.0513, -0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ae31fd0fb1f2dcf253b8ffc5b7805bc70a2caa7621e692a22a6bf2038ff278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f27f0552372bd328a332622f42585ba0d80e5ca3c2f63fda99b6444c8a990811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335171e5d99998bcee60428a58f782a9b8f57d1479a8e33e33380b0956f68df8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ_b3OfLAnkCodtu0bHb-J7tfhsqLCLMzjN4w6y9rNUO86RovcPU3nxeG0-J3J4l_9OUOb4Yg8uWVBSJCL1QWUQ8JZYmMWCVHPwtu0lxQSpOfhm5_zyq1uwhi1CblXNz_SRW26-wPnHhzVKZNtyhbH28U6O0-KwjPUrCWVBZU5ro6FruS0dQuf2eYmRxNAR9DOI47i5oPI0nTz9D2760Fs1BUPPrP-Y96hSuYxVFCPp_aDx2QEt2YwIsqRmyBbKqK45VHT1VqRdov-FTXyuxn_FG7bC0zGBRXJIF5W_c627hbaBuYvmKPvpOXZI5eSnrxhUZoxua5Xgr2CNDEbyYa8SsS0UPs-hC1rWd3BvJrEoH9cb37pi7fnVkabCSHWt72SS4RLT5_rFsBg_CcsKxIrfxCv64xh1d59uE_p44mQJzph0EGQqiomAspQEvYBaO1qL1SnJ5HEbuoITpJeL3ewU14IgAGlbjODme5tLswIJxzcrm45WsnOLARph0NzXcCPErMrs_85LZRSPjRUVE1nVCt-k84ATARsr813RRQwgAKLxjic7bCX-SLJKxVEh1sjPhKPV4QAwz--vAo3fSVcE8RHZp-3sfe7xRrs8XFUbGFM7q7E9qBWcq9sCpj2BJLtAubDqxIaP0s3KF0jY-FUhRWsW1A_gnubKNx6K4KnBviFT10CLjVzH0BDPvIHZpAzHe0L8NueDHVSkSsDl4JG-92bvTcn8xLIxk7nRVr3cFL1hRcLNY-3O5FnpQ52p4jYgj6j0zeZK5nWTGOJJn2P5J0WPh2cfAPN7PK6nCAnpCxcRx6b-sjaW8kE7lkD1BYUdAHzXMEWLmalXJgu7CTk-gOpDeq9bMN-oYLYqlBKSauwTfGU1qO5ZakxfDVlanG5EGquOAg5HTaUp99DixKDpoGpBVJtABPihLqbHGL6SEZOKmfirkCVfbUUdSmvadDUCxgxWvSq96HWDEpOQOLnnQLoo-uKxIxDTYGdZ6fmFDTebPmgqNPQGRo5SB2ZIWLDW-QYZ60vb_lf0F4ln7hNuwehDQ2EBoO361t-4WLqHHUMWdBv-sWCWDgpnSKhQ2CJ45hEFqUVpA2uFROn-KqJyIlGvOhLSXPUoQyuF1NYy64is1qgruuH4hwf0Uxz8fooDcUYxxR7hndTWb1AHZnDsPLGwGxHWyUMj5piKNF9ZLoKXYpNR9w3RdOXvQtC_XodW5QH4T9SyKhuQ97tANzxiiQwKth58PYLSX6fsyRTdoe24m8ZwB6tS4N1mOZ-A5VfEnNmdFvHj1MZunt7gAoW2LUCQe1CWckPGVoboXnHU3T0LMv1QTzf5HHwrSb5ycmuA8Z-c3AKrvrYcyrcDWto6Juu-PtFWxPtPGHHx7NiGI7E=",
  "id": "rs_08af964303d9f992016ab4227e90ec87d089de6bd74f0ebb86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, one pink bowl wall appears to cross the open jaws while most of the bowl lies to their left. I’ll close on that wall and check the jaw opening.\"}",
  "call_id": "call_MaWjRSiRgsMBN7BPdDGi80lp",
  "id": "fc_08af964303d9f992016ab4227efff487d0b1f67998c715d5cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MaWjRSiRgsMBN7BPdDGi80lp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8288, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.6331, 1.9877, 0.3305, 1.356, 0.4889, 0.1444, 0.0201]\nstate[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.174 left_yaw=0.0543 left_pitch=-0.0621 left_roll=0.1299 left_gripper=0.9952 right_x=0.3546 right_y=0.1618 right_z=0.0373 right_yaw=0.1185 right_pitch=0.3062 right_roll=0.0096 right_gripper=0.0201\nstate[joint_eff]: [-0.212, -1.0872, 7.2547, 1.6386, -0.1538, -0.0562, -0.0073, -0.0342, -5.8735, 2.2906, 1.2332, 0.2173, -0.1197, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f135ba78e906d9eb4f6f6877950deadbc49c76b03044380d3733a43111eb487f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babe960ade8ee536bdffb12091a5399f30604bfddabbe28d1b3e523e7e6fac8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fd3b028f18f09a130a1b63903765bff99b65423b20831cbe2de37ae1cb50d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.448 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8219, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.8318, 1.5269, 0.7788, 0.2001, 0.6228, 0.3, 0.9968]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1758 left_yaw=0.0543 left_pitch=-0.0554 left_roll=0.1285 left_gripper=0.9952 right_x=0.3505 right_y=0.237 right_z=0.142 right_yaw=0.1489 right_pitch=0.134 right_roll=-0.0294 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.4974, 6.9949, 1.6532, -0.1148, -0.0513, -0.0171, 0.1026, -6.4068, 6.1744, 1.8486, 0.4176, 0.2222, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8276, 0.6411, -0.461, -0.2363, -0.0158, 0.9952, 0.6312, 1.9961, 0.3229, 1.2816, 0.5034, 0.1326, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1742 left_yaw=0.0543 left_pitch=-0.0614 left_roll=0.1298 left_gripper=0.9952 right_x=0.3482 right_y=0.1534 right_z=0.017 right_yaw=0.1229 right_pitch=0.2296 right_roll=-0.0524 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.7436, 6.9538, 1.6337, -0.1148, -0.0366, -0.0171, -0.8957, -6.2427, 0.8684, 0.6374, 0.0513, -0.3932, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8288, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.6331, 1.9877, 0.3305, 1.356, 0.4889, 0.1444, 0.0201]\nstate[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.174 left_yaw=0.0543 left_pitch=-0.0621 left_roll=0.1299 left_gripper=0.9952 right_x=0.3546 right_y=0.1618 right_z=0.0373 right_yaw=0.1185 right_pitch=0.3062 right_roll=0.0096 right_gripper=0.0201\nstate[joint_eff]: [-0.212, -1.0872, 7.2547, 1.6386, -0.1538, -0.0562, -0.0073, -0.0342, -5.8735, 2.2906, 1.2332, 0.2173, -0.1197, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f135ba78e906d9eb4f6f6877950deadbc49c76b03044380d3733a43111eb487f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babe960ade8ee536bdffb12091a5399f30604bfddabbe28d1b3e523e7e6fac8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fd3b028f18f09a130a1b63903765bff99b65423b20831cbe2de37ae1cb50d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_08af964303d9f992016ab4228230b487d0a22bca6fbeb80b9d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKN4J4QcQcrGxEOwIBMlxNiQ6SD5IuSlF1rb1Ozm31T9cFX0Gb1cayJ3nQ8Vc5-an_g7Vv6UwLfyh_Y2E4pmq1XwnVXHakKvuARUghBkoUW_kjeJCXo_nHXFScL6hsA6Zpe4RlgTpmgIA7lzGWiSoG12Xrisl59WZwcTBGe58Mh0ymjIEt1tEt12oR4G6nMq4IXUZzyAbTikosrw7TXYzEAHpshVQNyeiIer7ug9RdL72Z7krhggk7vVtwDH7W6VQdCY37gjXp5p9C-Vl3UBrLxlZzTLaMY8ec3gobGx5l9ZIcJ7H7Ba-ZTJB-EiBfGsyxN9806gsyxfUJYqu-o6U1oNnNiERkO2wlnR-kwjolEqzwQAb4pZcLBFI2QsqhUkimcNkaqoDqFajpnxlLluq5zAsukp6FtROTQVrUwbcAia8qgdotI-x5N5LqsI8MOMsC6WvvKTCH2EroaX6hTXz_9v9DLxuUGF6-ooY-iwZWW4WTWVEUg6GcmfI2IMTRiBLh6rPrMXEQJZZt0ZiGVR1X3VT6D9DdgUlkwh2DMQXkUsUlC2Rvz_f_UEa6q8rVMQcm_kPA9qypO_WRvoB8Fgwck_oZGQPkDE8E5idWp4AUrSk2SV8Zs1ZZol9_685vmkyurVvrTkbmGVd48vdw8K_WeJAhF8oiEm4MEhciYLQR4jmU-taoxSGVFKUTbeC9lwMrdC2Rsu_XDXGB0bA2wztECW-rdT__5khHoZ15nw07c7n0UpNQb1ZqwmhuKGZCNDUNOp5JrMTULjl-LguehqOXz3fQtcS7sikqVpUtYili72fcipfKMjgJyZ5_Iz3eiu6PbGazW4-dr2823bIqbBwkgKH-aS_JeuGAcau4cXy97XdXuIrERi3zwTQ2ZXkfRhLFWGq3wcONJICAUqMRKhbWPaCsHCZdeVYaBQbCq-fdpuK029gJXPolKPTV5TybQG1l8H2L3fQWvg9zu7mWzTNi0VyULkSkTBDp_CrLRaIL_jv9iPzuYW-CnznDWog4UBF7kxvNbxmUiMDWXlifrZgc7ai_34RPVcfEVsv4YHYdBLmAxe5z3Y_Xd_BnXX-lzm2WqHi6B5C6LWnhtC4PLIHXi9MNkyVVM8eFYskraC6l5vUH0lpIYZcaPlAedzVsesjrEue8Ox_lym7hJ80aDFMS44FtWmRwU2Z4Qb61zz9lJ5vjVUAf7tPYznhdupH-3fKzppb-GEwxaKmXN4I7R0cGvpl0DJPGtBhUNrj4W-brZWvN87IOg-O29gJf-0OKKSPT9Ml6Cix1SvVzsKAX1r0uZT5FCi81rOZwTQkXDpUOktNRFkBY5JY-MMzBmmHZIbwsIGhIXeBByzEt8577q-Y6_gIrs-dwxUDkf--td5J6J2zDb0NMpMRspBna_bobiiNjcLMBtXS4vfIddfXR4KvQbWTIOc27PSwKaFL9l6-CYXJO-9XPxTg6PDDnLVd8VjKhMLAJBhsn5AnXxLp1e7OmNjFelzUTU0cOOHNj7KTzRksVyVNh0Vtw5qaqeaX2zXTv4ucClF0h_TYhN0T_jNDjSAKlXDBAzSahMNJis089JGJf-JkZj1o94aLEe37usHG7a7rZcPCphW53Z0olDBnpKsXb65SaMGkvGrdqP6Uet4pDdt3weT1aizSi8y4g-q9W2oUEvtOa4q1H0R9SFH1Xs7YjSresfSx0F7H7M2V44ls116yNsrLJWIUZovdTuaRr7cGya-eJRB5onVViq0W_147Y4eaAMR0iKfwa9lu48L1NWyKyvZLVUw_lv2Hvrf3JLWfdPcebg68t_CWJzKoEF0HLTy39NdOcSc0HYjB3Y5_pQA0Rb7JClGJzVcsIJDavIkgS45TyyCU_CNxJUzSrwKvBc40sJsEoSweYsSS06RZxMEVssgxPVQUcEkv5c2TfFogwCgHtpOu6KXJKL4dDGfSE7mwkfPomVTsw7GVbymYJfaMtpA00Hg4kseq5-sRRYe7OPn_EdoAyd7PupbHo8yba-PO2MmYCCGBi1PskHB3VGa2PjZzVqVb6QteS9Lq_MQyHg1DAjiiCd6PmQTpt3Y4s1R3mISRCpdpJuUnIYkvhMZxv3EzObQvX-Ms-mfXqyWI3j0mS2nPDUY06BY1-3Oc1JBXZ3-oLcNMgbxa7IcemYmTXZV-pFFwLN-7yHIc-3YGd14leGyE5xEv5MhbbJGPwglAdSA9Ru_WDC7bDa_M9JzuEdr5EKNdZCvqUI5mIbVyxkOKPs0SnkletDexLKFQbCOOT8-OxigMujCxbJoybjQrJb9dOYbdBYbTWacJG0LEIPKUsvyjNNbZcqLGaI_iu7qr7fclZuWXWeTxVuoWOlcsl951rp8zOgJ528ECEYIgN6snEnCd-pgN0m_ChpmNYI9Cdcl8-FLL-wuFODHq1u2f6nUiL-aybXQ7xMX3n9r-t90_PGVzgCkrK5LlDhS7OaUGKoLi-PxMzVIk-LveQCwziYJXUK9F7Karl0zhNCNg0l8rKCXEYNml-lMiIFrk5hanl0-nmFG8_1oS_yS6r9w79COCh5AKLEImN18nVEXJZNpTaTS6MWb8Vvv_Mrfa8I_tukxd8oaLdz3HfCyHa2pXfl8JZ2EmCyKkRIFMf3K3-BUjFrqwvcNU87f74K0ecz-gy8k--7zUv0LCbP3ymX1tAGxJEWB5XxZt177o_1ixti6eqHILocrfyoqnpp5-7mBfilf-KQD6SM2MJDnMU_LD1rXaTOrRz6k9SmbVgXNcGesEnBDQBiJPFV4F919Q2oCz5EkCS8YRCis3x0EnBpx03H1RH0Fv6gj0U9cy-LOIHGtXmw9xfXFqiJibQHzJ7mxdOf4OlpY9l4_Fdqtzh8Uj-bsbI7lcWsyNDqAHZQsz1Sa0hkl8e-oQf7ecq1w-DAzmeR7eQM3XcZ92Le38sWN2_NuZGUjqVge6ayj5jsTPcX5SmzhT3dMYTFPd07Vm3kLtpyGlRCqmQ1_REy5mAe4P-k99CE_kGp893NhWZ2abHkZbNPFhYMDagyenjxPDWF_kmP4q84uMvaICsg4cCBeyBbODWlsbHB_dVlwtlH_NBiOaosN6sZPRCKZ3EI0imaZjuQ56g_NR5ycyuQJ9lu0lgFaYh3qoxpk0cHJ_L2y9kbmBYQSBvsF3yZlip4Y7rzgZPslS1LBRHMg0WiAgQ02eGiFDx4ayhUrCisujelYns383_QKPArNQegDhKngqLwwIm2BHH7zVUTkv31Mbmvo3jvfMuF0zadA8WEUOiQifne6686Lw2126n_vYuwb4bZt6X1fgf7V4oZzohq07a_P44dmVxBjL6Q4KS56G5T0UU467GxTc3Wn0LpzECyhAOj8OTHYtACE4GrCjHS-9_RQkzwjr9tBBA37H1GdPMhAcUeXoTiJ02aJuJLE8rjgfIAsETz3niYLrCBMdYr_uarsRJ_qjym1igLoHEqxDtdXX_Obv8pIRIcQIaU0O7ZRHz4cN7N1eFT593cbilVoE11r7NpkWnxl1shUWoYnkX9dfUPLa_TAlgU1di_4ELfGi-xmQdQJHXndf_1I6rduNH5v2EtUD1WI-D4Ymnnk79qU4Q5j9pa8Lm4ROLGDOTHprxO-RD1VmJrked3qv15cgSL9WzRlpQF71i2AyPvdB7VXD0iCKcmFzVZdVIFFpzEzl_4YaDQN-at0qfIoY1-9ik=",
  "id": "rs_08af964303d9f992016ab42287038887d083faf76fc120f335",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKNb_5Ccfpoi3QgiHZbbJqSOXb_ki8ePn29CmbN6pZ23IqPl8a-TpXJQjmD5aHkGoUvkCTTR_JZs1pYQW089KdImhbUXKrKSCKDlECQqCvQeXIfjCI7j-JT2RZ2OZ6UusSMPdBmQaEcrWweMXaEMDB3QzGFgK8yzJb_fhsYfMnQHGKMD3My_UhUQ3OUi048xfPvfZCtogMqu8B0abJ2u-Bh_Bu8nag81ZLMrdSGRUp5h089vf6HiMrZzEQwvJeEb7wiCEajv5yWfRy1_8RKXhhCzYmmECUj12Z2sbnH1KX8SCrqde3RsYuE1asSAYmrerGl6G4ml7ywJGTHrGJlgiy0V5Dt_rUbZwkUC3iKZdpguDdyHzoL-BzyCZk_QoEFDWKJ50vWhO4p3VD1oQclTh3YpqbGPFaB1o8gey1jzoCikKxDqo5_O6LY6vFaEyeOnVs-HWTuDQh9FdXgCrKT6oKfqjOfwQ2foQQjbCjYO_O187h5jtHojPYlKAvNN2JSl_YL6ZQ2RQKybAUDZBaP7OzhIBB7ZJ1zIgsDK9S4xfbxZLBKrvzgRC2CyNj1VIOwTsq8mFe_dBVFGIv5_oJvbeZCR3QhkoGIvrCngHRPWSTF3QE1gQ66tQhEHNx6DP6dwe35-Ygfhx7CXShRcN6cuAnzOO8Ugt0bemh0xLCTlgPf1Dnlw-SMMwnoMbKz92FVYo8M0yFJGbkRI4k9ciA1zuA0OaT6EUkGtlNwAr1uIL_7hebvI_INC6XAxov2szUT24a-jMCb1TU-aQbIFwoJ_wbJwLaqT7Li67lKdeczceZkLMRawBkhqwtPZdrfRXDLd5zmAQOz2TVCMokr8atc-W6mAgqplCUu_bq76a8feD2ngHL1dfm27zyWWXQ-JSImBotoZB6AVIRxeCq0Sa9Eynrsa76v--b8NYeYMyFqY-YSlvruvN2W6NkRHtB04-93mH9EAL8OFBnO8PeZgrBJ9VX9obps4WudsCvEVcYmrJvXi2F8vMNmQlXQv6osxSZicabqvmIXm9xBzp3BIbPK88QLfdKEzv7NTwxOSj2mTrDcicn5CcX_bAukssGhlJofI8skyflNq50uc5sRTkwGOC6YtqXRkAw8cEud8N-kS234HC5bXQrD0cXzJB22kjMJLdxxCGO9uLZ7zmgS9FPikFzBa9jndwcoB9yEEjidrunbqY_Q4dKgiy5SKaOSwcFUgK4OPsJzfFQJy_wwxhcKPUZaFQx-67zL_PMI0Z4CIBGzkGQz7M8YKtBebt4ExcK6fHT-ter7qurr4GOEIBdWNsbKJPdeLOwK0mHXaZrAGHj9_YvBVloei8cmbfYx_7x6IYn3GFPsVpQ7R2YvVlb1oRmIedpQuNeDlOnXW81Y0IdvXQSdcbhmhaoZGsZ16H67gYtpmNkGzss4BoMjtNMWB4XIlXLIGgOA5kthqOLRr5nbXHD_V_6v4uR-oyV76fufl5hOr7AANfG1BPb49mr6CvxlRjrbnQ2GJ_cdcdWida7vmGYhMuF8uH0ouvZY14gWLJ-HS7UHmnQlG1k3syYBAPLssNij1HvqCXXbLoBkYkRSu_z5FeCOBS3OLpWWRVi6AcHRZislyFrp7xJQO_Oo1yJkjPqlUGcfqLVaWMXguZ3h2F9uCk2tZP7IA3qTIwHne_QZL6JI8wavY-3DotW4xvCkpDstAQQSY4nT91YyWAWcdB4Uwu455_yxgsyI5KarNO5kHRH9vwFcX3RxeTu1vXHkPi_cLZ6uOd3wi2nBRzkHuXY=",
  "id": "rs_08af964303d9f992016ab4228b3e9887d0ae0b31602b92666f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.355,\"right_y\":0.215,\"right_z\":0.12,\"right_pitch\":0.3},\"note\":\"The jaws closed empty again and nudged the pink bowl slightly toward the stack. I’ll reopen above its new position and make one more, closer side-wall attempt at a higher grip height.\"}",
  "call_id": "call_tqVVRBQJASUtik3t11vYSXya",
  "id": "fc_08af964303d9f992016ab4228c674487d08b8dc382969ec13c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tqVVRBQJASUtik3t11vYSXya",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8326, 0.6411, -0.4671, -0.2363, -0.0158, 0.9952, 0.7868, 1.6352, 0.5144, 0.7818, 0.6048, 0.1883, 0.9952]\nstate[eef_state]: left_x=0.2891 left_y=0.0032 left_z=0.1717 left_yaw=0.0545 left_pitch=-0.0722 left_roll=0.132 left_gripper=0.9952 right_x=0.3517 right_y=0.2155 right_z=0.1095 right_yaw=0.1531 right_pitch=0.2941 right_roll=0.0004 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.7162, 7.1453, 1.7411, -0.0952, -0.0708, -0.0171, 0.4581, -7.3368, 7.3778, 1.7265, 0.3541, 0.1099, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5755d535fc079f9a80eb176e5ddb67dcf971f52e46bbc29acabc30ea83757255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ee9ff7d19363cc24b4d3259cde5740cf2e0acd3b8a7acdc92075490651bc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6aef99567e8a5170818b42be0554bcc8d7c7d3aa2ae1416db044279b816bed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 12.56 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 138 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.823, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.7055, 1.4342, 0.6155, 0.2565, 0.5343, 0.2409, 0.9971]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1755 left_yaw=0.0543 left_pitch=-0.0565 left_roll=0.1288 left_gripper=0.9952 right_x=0.3478 right_y=0.1828 right_z=0.1174 right_yaw=0.1267 right_pitch=0.0938 right_roll=-0.0533 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.0051, 6.9675, 1.6679, -0.1245, -0.0073, -0.0171, -0.3624, -6.7487, 6.8308, 2.0049, 0.0708, -0.1441, 0.022]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8288, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.6331, 1.9877, 0.3305, 1.356, 0.4889, 0.1444, 0.0201]\nstate[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.174 left_yaw=0.0543 left_pitch=-0.0621 left_roll=0.1299 left_gripper=0.9952 right_x=0.3546 right_y=0.1618 right_z=0.0373 right_yaw=0.1185 right_pitch=0.3062 right_roll=0.0096 right_gripper=0.0201\nstate[joint_eff]: [-0.212, -1.0872, 7.2547, 1.6386, -0.1538, -0.0562, -0.0073, -0.0342, -5.8735, 2.2906, 1.2332, 0.2173, -0.1197, 0.906]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8326, 0.6411, -0.4671, -0.2363, -0.0158, 0.9952, 0.7868, 1.6352, 0.5144, 0.7818, 0.6048, 0.1883, 0.9952]\nstate[eef_state]: left_x=0.2891 left_y=0.0032 left_z=0.1717 left_yaw=0.0545 left_pitch=-0.0722 left_roll=0.132 left_gripper=0.9952 right_x=0.3517 right_y=0.2155 right_z=0.1095 right_yaw=0.1531 right_pitch=0.2941 right_roll=0.0004 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.7162, 7.1453, 1.7411, -0.0952, -0.0708, -0.0171, 0.4581, -7.3368, 7.3778, 1.7265, 0.3541, 0.1099, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5755d535fc079f9a80eb176e5ddb67dcf971f52e46bbc29acabc30ea83757255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ee9ff7d19363cc24b4d3259cde5740cf2e0acd3b8a7acdc92075490651bc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6aef99567e8a5170818b42be0554bcc8d7c7d3aa2ae1416db044279b816bed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKTGDKHrgYEYmDAf25z-BBQJMmzugZhs9x8ck-fBrt3Vj-rDpxV2diBGgr0wLu9MkUcIYYAqtThQ14z3HGOMI5jMbGWdYeADnKj0gfdhAEw1tUTV4Kw9IRq97t4zEXiXzW4FVEeqf_sDRaMezhDYqHZ0Mcxtr4eJ6hXiXvUPVyyzxwETD4VQIBYqSWtFJRnwZCkqW8NsrIWZlvIISC801FQgTu2k-dXosFClosFzkGG1rXkLLJI2QHDqWuJZQVU58aiRBi2dcQnA4jI2Kf4COWIIzwQx6soYfPR2xLFitZQz1SyP3CpGcNquBokvowhnm7Nji8_fqkf0X-4MGjWigrzkTTiqA3rM9h1N2Q75B77uiRLsN-3prvQhPvQHO6LirpNKEIw0lBccm9ojUfER5PerqtpPZ2x-Yi__OTp7sXUtxz5icC6quoYcT5ZN1PsLdW1h16CdpPdmvKyY7BH-UDAKRykz02xF2zec9XVUnJ7rleZLGPhebzUh3cjeKr7f9uyLgDShXep-tik82dQRKoyjUU8F4Vpi9vccQtzw1y64Cs39hRhhMjW5--ZynWPPLdXu2jWOHWapsKEF5756lf3UJuSew1vpZ3bX3e4DYTyK-GBoteSUTVBRW8wSvf2DXHblMRS3hJDyI4ZX7Rad2HqyaiQUNiiNgpf3g9WmW9YrbJQrHgtMEUq_ydZgsbNPeMLSSeUbrfjl4KdNKulXmWN6HKZJaZ4pRyzjcp8SRJ_19WxNkhz5eOWNRIY93lsm21fcOIy0QrjC4CtijQ4QFYWGkkkxt5g2Q1aCKA4nl3ANHs3imLEg-334YMcaCKIvsT92c1Mf7oI40jHmY00lC__FVsjr80SonFWHwZtAWmYCinhrdk1bYUnqt6SCQuLQeZm4Okc83A1pLb0va_F1KUugqxsa_6wlRN4EX1Qaou2X2MB0NEHHUv5Y6FJr96YTgk7N_bJDJP66ODlAjOkyCTH57hCHxWfQUSem-uVyD5PwvAbTb_JIieoaDhO7WNIn7jlm8aQZ3gd8WymJPMfIYjdnW_irDLP_UbDoEf8wEYEnO1NJPvEeLiRD9AzDgi1T0NQRo9nzyfgk-423UfDjUfL2r0n_1yp_YbLaR7B3aLCRzhr82NGO7C9h9avGKF6Aub_SBWUZPoMe_NN5R3fESaz19E3KpIAAsFC7kv6MJeJowFlLhKfNaO_051yDYVTiFz4f5zqDxQPWLs6mVa2Mp3MdnGw_RRvolEpx2cxOhhOVNAyOG2SWw_aOxvaofvaSrtzcsjhk20MKErxY3NQdBob7CMkToPDsWgkOEs9M2St-nrvn7sNhW0FlWdp8c0pzr0-OA2tAvJaJiT3KGv0e7oF21sUCIdWlAedtwWTLSklSEXrIKwOsWrk5D_ow2KKkJGZ6Wf2di4Pl2lqeIAZK3lutRGln9v_V6QzfVhW3xr3tqQRfyIRcj-RQBvMvoIGWVB5GAWI1c-Z4EnNw94oC7yLql-DgzQihBI8YfYXoNu5g07hIctI5QpW42s821XZiqRciGImITLpYfd08_UyASF7TLtP9fwXkRaodsatED9rquLtJDzzasLiQbC6-V9jbCAdiH4t8B6ZNKb8wZnrUAbmUcbIToWEqjX618qQj7PNi1qTDwKtBU14pv2F-bpwU4QpJxQRbvHoQT80FPxy3kDkpQ2pV81-QX81NCcAIxX9LR4-cR4hc5G2BW-Ia_QtSd4j-BI_FssK7U78wPAPOA_3_LIjLB31Y9acvrwYy0sEoo5R4mLRHYFYww_7SGk8OFCP23bHRevFkoczUqBvhCiGJUxMH_cHv4u8x_AHUTlbDxh7hDoDzx31YD0pMYRt9b3WyPYN9ZeyQV1b-qq0dgoKkBfnJXadNqbhQUTY2e4IW7RpZYEJlNPeaAEjS_ZnaSM-s37DASUbIDkvcnlSyzwXMU0qKojyGE5w502dwJ7AyW7pwBnz2RJBR0KBJKp3DZz95NYmVig7dJLllca7whwH29E2hEBbt4oWYFITRnERAJ1qwB7YAtAlpiSpumAdz0a_s1YdyyjrYXbqvURA_ZrkKRjr_VzEW4w9PmaOSwwi-6iDVNLo6Lrl5QVpWN9dW9YhmyrbmA3dP-JCO_9VevpR2g==",
  "id": "rs_08af964303d9f992016ab42290aa7487d0aa43e2c08c07cb0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_pitch\":0.3,\"right_x\":0.355,\"right_y\":0.215},\"note\":\"The pink rim now spans the open jaws with its left wall between them. I’ll stop around mid-bowl height rather than descending to the table, then try to pinch that wall.\"}",
  "call_id": "call_Nbkblmba2bov69Lc4kADiJS0",
  "id": "fc_08af964303d9f992016ab42292666087d090605258a61982e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nbkblmba2bov69Lc4kADiJS0",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.7788, 1.8996, 0.4679, 0.9897, 0.5964, 0.1814, 0.9963]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1704 left_yaw=0.0546 left_pitch=-0.0771 left_roll=0.1329 left_gripper=0.9952 right_x=0.3478 right_y=0.2089 right_z=0.0353 right_yaw=0.1714 right_pitch=0.2083 right_roll=-0.0655 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.812, 6.9675, 1.6728, -0.105, -0.0415, -0.0073, -0.335, -7.9932, 4.0547, 2.4151, 0.1685, -0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2c68f42eef92816cf067260394b227b1fbaccca6708c3b06cacecbe8e343cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61e2fc539466ffc294151625b0630e75b6e32e17c49921ddce5ea8ae3b08ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce13948d3e5d58e97b04b6706c63b91e33adee6ac62c51e26e3a6a37a79877",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 8.573 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 138 changed as sent

message 142 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8276, 0.6411, -0.461, -0.2363, -0.0158, 0.9952, 0.6312, 1.9961, 0.3229, 1.2816, 0.5034, 0.1326, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1742 left_yaw=0.0543 left_pitch=-0.0614 left_roll=0.1298 left_gripper=0.9952 right_x=0.3482 right_y=0.1534 right_z=0.017 right_yaw=0.1229 right_pitch=0.2296 right_roll=-0.0524 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.7436, 6.9538, 1.6337, -0.1148, -0.0366, -0.0171, -0.8957, -6.2427, 0.8684, 0.6374, 0.0513, -0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8326, 0.6411, -0.4671, -0.2363, -0.0158, 0.9952, 0.7868, 1.6352, 0.5144, 0.7818, 0.6048, 0.1883, 0.9952]\nstate[eef_state]: left_x=0.2891 left_y=0.0032 left_z=0.1717 left_yaw=0.0545 left_pitch=-0.0722 left_roll=0.132 left_gripper=0.9952 right_x=0.3517 right_y=0.2155 right_z=0.1095 right_yaw=0.1531 right_pitch=0.2941 right_roll=0.0004 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.7162, 7.1453, 1.7411, -0.0952, -0.0708, -0.0171, 0.4581, -7.3368, 7.3778, 1.7265, 0.3541, 0.1099, -0.1441]\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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.7788, 1.8996, 0.4679, 0.9897, 0.5964, 0.1814, 0.9963]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1704 left_yaw=0.0546 left_pitch=-0.0771 left_roll=0.1329 left_gripper=0.9952 right_x=0.3478 right_y=0.2089 right_z=0.0353 right_yaw=0.1714 right_pitch=0.2083 right_roll=-0.0655 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.812, 6.9675, 1.6728, -0.105, -0.0415, -0.0073, -0.335, -7.9932, 4.0547, 2.4151, 0.1685, -0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2c68f42eef92816cf067260394b227b1fbaccca6708c3b06cacecbe8e343cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61e2fc539466ffc294151625b0630e75b6e32e17c49921ddce5ea8ae3b08ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce13948d3e5d58e97b04b6706c63b91e33adee6ac62c51e26e3a6a37a79877",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKgEKaAE_2GBEI4mezZPV9inq7aYA438JajjrnOSkekwiUEkv9lXhmCsK5NuVOJ_P93oxoYgVH5RVx-JDiQtyJL0cXd57APoKwx_MCt02QvZBpbHWXvGJUX2ryNdJq9TEU2tZplOmyO6XHB_L_Jx4X1HgpPJ_mKVXVvQB_I1LPPBzr2SOLs_0zisRzkoH6npnSVukVkXfzE9WEFflyWd894GyXVgCY_t0JYPrBi8j7zwnUCwWepBKlXDSAhKg-R6LM_I5QW0Zns1BwaheBjSX6Oz1phGCBYTSBHBCUUY83JQmHOw_sL5lnOCqndNBVBO-FYyouJpWrAK_-NT5rSKY-XgS7bSE1D76IhxOUHirwsQuc3-OKirOeHPuM_NpOlX9W9_8eAfO5zvcLpawF_nGtlyhMmWwiI3xqYv2EueOkZqhanoQf54GVnKn-g_CpjJ-BIk8bBG9GrFML17DD1u86rgcrudp-8Xo5vCMk9DHQTeU8kNsko8Bi9OeSjAJspZ92YyuaONsBZrb_u0Np79ldsHxP8sO5CyumK0e_0IwJ3sd-D7KW_ft2DEOu336FxZVER3P_8OjZ02ZniEO8vxIa8YgkdqUzDgoeWSr_5dvEaC682yGXinyNKtikGk4RFhC3EJZQ0Dy3E2AJgWI1unmaaMzfIxo6da0yvXoFZveVH20YnzRAimKnnhVnhevRyIXwZgcHGUO_dAEHi0b9ri3y6o_WoOJDq9l_h3IEm3K7oCTnzBoPNyVmeyZFIEdu1hoPvNP_HLdwdDnJq9c9QzFiUmMW0dR9ZdvxVYwtIoyEEOHT2mS1eEkrxVFszzOWAYZnOI7h0H-iupxTk6rz3tDQrL2uViVp6xb3ucVZoD2LJD3IK3-6skQT54BmIsC_zGFMKtZqIzXlpvIbKKyK2tVxhU9VuvnKx2dN-0ktjXRcgKD2wWXDjckkPc2uz6ICmw2Ab8YRRj6Sw8JHhnfjAXfxfJuZW1hoFyz1f0hx-ovsRHODR3K4XZgazmhNNaldeA8AMjc6EhqSNV4LyVxIwxtfbeCzMpC3kV92H1oVaM3Vta0qDlAVsQiYcw1kx32yN6AXN5F-w5nRgSY32nTuKMn662uuDGZ4q5RWVLc4hJcF9J6lbv0_8I4Tj7cILfV1BjavOUN4vtOby2ZCFtQRrNE-d8fG_MAT8gFGW0KMa2qRIIaVKf1q720r9eE8LFPnzyHvhyFUT5syDBvxwaEVpmO5O98uTjyfaBVOJLgRRfKUqo-klzZJHUuJUwOnapqEIC37qBKdRHcXetycfKWIMJ5dVg9DPrvMFYaMBXldKj5Ny4YXQpTM5Cj_V25Jz0S3do4-EakjiMWlV7tpQT91eiMa4-Rrb29ueOcJtbqVZcM2xJGUOt-zkATzxkS0vZOKQWL3Hs5PO-2sf--6hy1MSc8kJ79nhrtZlnX0vzURiAhtBP-0rw7T3KFGXcAbBDfC3PfL1CdC1NT2JzwU-n5ODuQYUfBLbzMdEgOT5dqbaRk9rnrKeILqemWOMXB5TAHarwEsBKVL-iB-Xp36RbkZRkIa6JyGQPivB74CZ9Hp1IRdeYoyLxn0zk5XFWr4rWu9d62m1yUuF9ph4B4axo8ix2uaw7QhNljm6G_mImVR1BRx_4FEbwEjTqSIpLbe4VqeIbqVQ1Dj0WxzsqOC4YXLmVfMJ0rBocR3-wPjVN87ss0Ew9xnNoiS0Cx9apX0UQTAvDn0g",
  "id": "rs_08af964303d9f992016ab4229e58d087d09571c9c5185f943a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the new height, the pink bowl’s left wall appears between the two fingers rather than beyond them. I’ll close and judge the result by the settled jaw gap.\"}",
  "call_id": "call_K44N0CVxDhdR1cwWGX4MoPK5",
  "id": "fc_08af964303d9f992016ab4229f3af087d091076a99de899fb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K44N0CVxDhdR1cwWGX4MoPK5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4679, -0.2363, -0.0154, 0.9952, 0.7788, 1.9167, 0.4618, 1.0004, 0.5964, 0.1757, 0.0152]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1703 left_yaw=0.0544 left_pitch=-0.0775 left_roll=0.1333 left_gripper=0.9952 right_x=0.3461 right_y=0.2072 right_z=0.0292 right_yaw=0.176 right_pitch=0.1978 right_roll=-0.0782 right_gripper=0.0152\nstate[joint_eff]: [-0.1846, -1.4701, 6.9402, 1.6288, -0.1343, -0.0073, -0.0122, -0.212, -8.4718, 4.4239, 1.5165, 0.0904, 0.022, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c93329a8f12f78e1488d8a2d42311a59399b0c1240fc3314f8e02567042cf10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf900f4b35dd24630723e3b561c0ac68c27d4598bcf50e9271077c9cf3435c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2590a22e84b1b2150d3a9b3db6d4201af48ad9b3c9cc87e87633477ff085231a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.353 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 142 changed as sent

message 146 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8288, 0.6411, -0.4606, -0.2363, -0.0158, 0.9952, 0.6331, 1.9877, 0.3305, 1.356, 0.4889, 0.1444, 0.0201]\nstate[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.174 left_yaw=0.0543 left_pitch=-0.0621 left_roll=0.1299 left_gripper=0.9952 right_x=0.3546 right_y=0.1618 right_z=0.0373 right_yaw=0.1185 right_pitch=0.3062 right_roll=0.0096 right_gripper=0.0201\nstate[joint_eff]: [-0.212, -1.0872, 7.2547, 1.6386, -0.1538, -0.0562, -0.0073, -0.0342, -5.8735, 2.2906, 1.2332, 0.2173, -0.1197, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.7788, 1.8996, 0.4679, 0.9897, 0.5964, 0.1814, 0.9963]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1704 left_yaw=0.0546 left_pitch=-0.0771 left_roll=0.1329 left_gripper=0.9952 right_x=0.3478 right_y=0.2089 right_z=0.0353 right_yaw=0.1714 right_pitch=0.2083 right_roll=-0.0655 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.812, 6.9675, 1.6728, -0.105, -0.0415, -0.0073, -0.335, -7.9932, 4.0547, 2.4151, 0.1685, -0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4679, -0.2363, -0.0154, 0.9952, 0.7788, 1.9167, 0.4618, 1.0004, 0.5964, 0.1757, 0.0152]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1703 left_yaw=0.0544 left_pitch=-0.0775 left_roll=0.1333 left_gripper=0.9952 right_x=0.3461 right_y=0.2072 right_z=0.0292 right_yaw=0.176 right_pitch=0.1978 right_roll=-0.0782 right_gripper=0.0152\nstate[joint_eff]: [-0.1846, -1.4701, 6.9402, 1.6288, -0.1343, -0.0073, -0.0122, -0.212, -8.4718, 4.4239, 1.5165, 0.0904, 0.022, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c93329a8f12f78e1488d8a2d42311a59399b0c1240fc3314f8e02567042cf10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf900f4b35dd24630723e3b561c0ac68c27d4598bcf50e9271077c9cf3435c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2590a22e84b1b2150d3a9b3db6d4201af48ad9b3c9cc87e87633477ff085231a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKpmOgqqQ_khkfHSmfiOGBxZt_0ofY3PE-64_Wr0wvGE7jS_fN2Uv3DnPgJjsJ3h3cZavTUhQ5bHEgPsHEHVuhjFrkYESv83V7cMEvN1OSm4vZ_NJb9NUkqisLqB4QDf0EPAngcGwaX65gNfQcY-qmYQyHMQYXTMGr-RxLc14ei-c4Oyd_wXVYhbzjJlG4lVt3x1nTYJCLLfVpEgw9IHosoYrPS-n3xaKfwBwU6b2a7vzexMsE5JelHuVrHUM33NGuwwR7UxBVsJA1GFsNe1o0iKhIR0_d5Z2L0BetI1O94QFSY_uU4uiDzaOSKsxJWg6uo0dKIHJ_bnWjzb2htO9WD15ppSjs4nXsp9VNYT2Tjyr5zeJvVE3AF0Fn-xucz7BUHglto7ViU0uRloDZK6EO2QZeQkiBHpRJFkVFg5luuhYAdvrEpydqmJwdtLzhLX7cq9kSF5MVEz3Voytw6RXUkoGGVp8IRVc5yiD486YH-Pj-_TJqstsK2jLTq0EPp5FJ0SRCxXXpfAnAY4liME39HFEwYfmy3GTVsU5BHoOJlzAY7brIyOWG6-GU7J7zHjxCuiB04OaNPUJJD-ceU9rUetr1oYmz8Zm3zc_mDmbxNRW0cgaSOXTyjKlw-1okfe-_lCFWdazPHmEykFqcRCJXkffjnz9ZYhAOg-Ca4UDfxDHy2dhWWcnloJc5v9xYqCD-QCuSr7TcWz94iTtpQwG0XEzXU8yylT5hs9EzrAoAjQ90eEk9sjdbm0NjEy9DuqRgoZWoPTqi-_hA6LgAxy5ET2PiA1gDtZGL51ohz5D8E8jJoIGPPewP2fgKrRyV09Wf6704dH270U7juduZ8XFkh2nDAkTl_tr26WboQRAuRvEzE6KJJgz8AaALWgSusKmf86kDOuVtNCRMy6flWzpowT6C6srhvme0M7Kfz9R1AbUNzuBiXou4-UTr9XnM_iX5C0tYzBC_4C-6uPVsRDCnokCWnf6nrYbDUP6tVECMgk5RDXT3VEGfxD15S9Fj3KNO_Vb8MthD_rN-qOpSqeW2UBdAAi2jkX5CgSDm60DrbrDUXUoUrpjKkE-B54xYmlXLacZg-hiotXFFM09LyHQH2w8raWwVN-By5pYibnBvstYr-QE3hRaFLzIRTDyoQ0NVqr2rigurAW-j0J2k-IxAfeBqSoJAvLNOvWfXgxRyMlQmE0FfIsgeYjUi6HLINlVwdO3KL4dWMJPCkLzZdp5VS-lCyOHN1rqQi46_sqQ1yHsehhad01anjBcH338_LiFKGtpsLu16FHbb6exz75fwMvhomncKR3yHX6ENKTtfY_wAQgb5yNyX6wtx7rcgBgQmXbNcfmI3qGqdSGzrqx8uvp4HAUF0O79_Um8iKv9Q9ITJw3xmRfd7UnzbNVn_0q0Id3p4O0nNR7EOu3Xu9i0kNIhKbNJ-P72o3eGQzwP8-d2qLvjZMwDEHUI9jQ2lghsA1MibEj1FD-0-iUlAdiC-l_VNE7EefCDJQtKPfzQEMLCkame9-uKVh9ZBR8SrRWCLjihvjvN9oe-nrrU8oxMcYQnHA7zzd-6nVb7YO4y68CS54CsgOSQ347CLzhRA-ZA2Cejbr6B8GOvRz3tea-ukWQtrkSmQPVzydprCdn9Es8m6VpABooH9P7HABLvO6DuJ8WO5CMFVxLkOHXK0HV088E2TlVYuTkmScwVZlm94j8oYhHL1CYngeIDmLvajM4YzzbOpd73lOqCn9muLy0LyNkPgytaNNL1sNuhjNIiwJeUx1wW9kY5Oyc4hQ3Z_6tycrm6lBcfMrN7Fr-_NuHF-iax2ZcsijC3CodS4Q6_PFsLIMhJeTgz1S82apj026djkrlV9Bs1yP4XOy8WHmkFY4LaCHmFx1S_wJ9FLvNHu_a3N0fYsvagAEaJdBYqvKR9CGeYcajDZDQmmoAta2V2WNwaGZz4VxuIUWCtEoniqI4e3hEFp0HFij_SNwZKcYHh68bFzLWqwUzyOswO1L01neN2tXimNtSGIxeRIo76l9XQ_BVEkEQQx3iojRu4g-S2BJfUtojZ87awcJebgxKjdEpMa2mS7MFySp6ifaDL4sNesrtGJsVEANd_YSUINGkw6FnkWfwbcJOejgI0AnQWi4PA0Xd4KGAbzkSHJkf-dSYiF6xwYUxpwEYSjJlLsB71jqIjpDjir9w7gwhyZpBjz-3AKtQDLt6A_DLQz4EgcB_jg50wI83sA2aCIi9IKgTalay9vvlVgqTHQDt9ZjemXQTLW92hleZxr8lp2nK6gFsJ1xXByagMK6k3FVa0SEXkkJj3JlqxjHI3q7ua5iYLsv6YKyfLuTNf5SLwJ2aKoXK5UokVS-Z-_h9WS7RFCC3i23x_m7YO8PX3HSe3dX52Xbf70i2Zbt5bTOLl_BQskoEHO7dljeSQHKGltBkT8dCuLbcC-rdzdZ6Bq_2JFfRL5icdjPPPX1IE0WaGX5p95h18w8vXtu2LpdXC5GgC4iJ2dufzeS9R0-cKy5mQbLN7WMHlU9OmWU49G0aOgRaiTJMZvVo-eQZArxweTDCaFPT2iBCxEJEFPZBiipNq43_c9_QmGXJG4JiAiMbR4Ul9XgdBA0Qt7kRTJVyBDxH3O6QDkY69TXQto14NtzIHCdoevOpjG78WEI49dcuz0ibv996XIFMdrjwwU8PBqeGMnvemXK5mQOb3Gd2wxi47_4PqwXFEuBDoSCzpbIY7ReRvkip60bD0jvxN44KZ12dGA5K9KVQf-1a2NtMQKNQyExr55CbDipBWFqvyqBD8WPvSv430VoLX-tGCjFoxT7bE_8SsDil3kHHWmUXLWJjcqnr9OQLeQj2bIV2Bmp7rRt3m2l6ZRxSz9Lnj0WVywb-v9LtRPGBDBqbf6TcTeuyuYUEM1gfz6g5uIaBdxKOyr-l7UodWUeYZ3nxJFkVXPL8nzO05NXTeImBrHTXMNf4nDXmg-6ZJ27hRrPnReV5mde6E6RJFNkhKmT2xrhkD_NvNiRu9T2slbybSVuu9GprVHGKBVNQVH-1unJjvMYQOC2hSBF7e7axZwNqvXHvv8Y7vbw_CG5cgpTnny0tECLTGntn9G4mJVaPHWsRlOxW5CkJ6ETSfeBeiQ2hlfqJ07TRWgH280TuvyIij7CHQeYnxYJmdtFJIuOLro4XoieHbFPJmTtKwHZNXvS9HDTuq7gjAswUn7gMEF-XkrMbLq3AtBmvlH-X_74uIryraq_6ZK9YjjfeXhjGFLSwnL9PZ7vVQYPDmanB7_9gJu9T6sPsQPYk3oE1gsm2vqnymzjfXymmX0xG98XZ2yezx-PrwqyTY7urKcYZS3pXCs_Xzgj1Oadv9sqwv_wrfaKRNzPnrNAKQJXIGEERaCm8oJQ2nakb2_rmx-Q6ldXKfNKlrpN_PMm34qOy6H5oH5BNGJsE9kX_w0wQ7U-oUFYGqpXAVUynF8lQPXZHclKa9ecszv_sRExxnUgSlEzdjDsT8v22a5mx3RfXZLRVK4d7h7K35Zey7JTLJGuuLd-2JTQiWLPRQvW_tTevzqmN_XGMH0GIlyHaKRyjnaNW3nPeEJCm21vTG9YEkodBA8YvY6f6d17Yv2fzWWTkm2qRWkNlsmwIJ3_dHeUikZj_uHBqEDPpmoXnUtIQAMCOxdosryL5e38hIQ2Wf2x5yOzcOIzuHeDc2jfFibR4XtvUROISqqOeLUso3rOUo8S4EhA5tKU5HaXYL69xrFpThx3VG0qiXOwsHCTrPYXouVht4tI3Ms-Ts1R8VwVfi-S",
  "id": "rs_08af964303d9f992016ab422a2fb4487d09789d4f4b1114b77",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKp7XsCydDMxBv7odX6f-mm_cMPcAjt3DeJHx4Y9XaKBv_umKJt9-h9OxI13i_nBxFVBVnH5sx8QfKYlhUbXQm5Ka3QHaBuuTHzOlgTvEUPDY0tVD1-Bzxjp4W-zEbljBMjxY-H5TKfxu04WrZzLRKxozhjJoLV6BxKI1stBwaPgSj7WoaKhn5YPqlrvB1JQ5q0KNIBBeixSRanzdia5kCieW4CeVFbrtp4I-LhGL_gY6dqdMorSjyDSmGeDWaJRZrUdCDEUKdz89o2ULfQt6XNkxJwUwzPauWLbfzW_ftsZwQLq0vsitwYPHxib9OV81oH_0AuG7L4BH4Zy4TOPvCOynXFBu0nzGaAcRg6kKHr1oyp6diab5cd6d71m5wRwTj6Eg8Go0zeS4thtzc6lHF_wiMj4DQ4MaeMhcYw3EmE52pThk8klpqP44kyV-_zH85chMKlq1zGbHGXuQycRsFpMcCF-CxiXYdnjgUY-eL6mgHRHY2xSA4OSru0rK9Fx1y4JD7n2-51FZ3XaEkTdZoNL4TgglEzO0u6ocVIGFTu2wrtYkqUJ1bsCnD2wox_n1Dro5HES1kmKZwYcSSHyXiysmGVuDP-cdzL2-JQI1I-FRa0is-7fZwqAYxTrIwiivgVNPAyJv6VxS__ggGPfZsuONb3HcT82F1GxA-XnOkUTTHzNSa45nEOG9ClbBv-fJB2Zd2WUII0W02zu2g_5nD4aXqO1yuCTs0sCap505sy9q8dYpZhugMgNMSLqQKGn2U9TAFOGaqdzYVdVTvkuGlCSNZ85L43cTH1gHIxbBDAhHoA_HtquNmWYKt85l8yIK5n6Ou-VHQKi_Uo7mTOqZSrJJBHB8z2afHPi9DBmT6EcqY56PXAWFM-uHuL-2_H8lDr3QmWytpOLWsNKumyuANeiHh9a79FTwCRa3uJYGEjBQERLkEkqCqEzL7hcKo6H5JNUxoFbR0AegeulwyFvpjl1CpErSQvCBmMVjP8qL6Gacz0nwTkVe9poKbARuCJ5_xkhg59tzBARrvO6CpJcxlT9UbKba_7ZmLGYgN6io2alaKjssREagfky_HWVjMs0o8vUEeHLj-DKBtLFzGltYiLBxcWgTgu0S6_4uMeTP5fvt2AeAfB1U-4l4cfat8aEZ-jBS5e9yCt4J4qu-VoRgM8Gqoojh4oP1Dm5C5krLiVjJ2gawBuq88iZXhJeJ6-4E69j9ahu6NzrTF4Mn-04ckWdtHcwTQZKrmB1vBfAAeYWA6X8rASWlungIEmb9wfcFBMn7hKB17zyGgundfoQRnhOkwDppcMfkrJld01laLONzx6w8gP07vt5fLaWOcTKWoSsz0jMGKnqNgi5OTsxkTOTDGz7dUgQG45UpmtPw1mv_17bj_vJmFzHPaKUEXn0cgW4tBO_YU9oMsMlTooghAl4_NLeMsP5J6GAh3Ky1r_eAH_YIhGaqD8B6FzJMrnb0-t2bwvN9XVlCuY2NhUIB9EKBkwT447UhI2k5oBEJuOBp2UOD3MUJrOTtGkJIC1-nq0FuIWTJXERcctuPEv8t7L26f5kvk9TqTFCHnkR2f8iecuAMFSrckLj3TdDeBkA2eMV9UNr83ilQEeLSB4pRaOZxCZrhEsX3U65RwkuPg3FhA0MJrbAqo82bSdZ_67zfIBHEuv2-J2Jt1KKGmbg9hER5s8tkTm6yVoZdAhMZXt_V4PbnH3hHQTu47yQgdhluRK",
  "id": "rs_08af964303d9f992016ab422a7b29487d0b06d58b843d2c1e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.13,\"right_roll\":1.45,\"right_pitch\":0,\"right_x\":0.35,\"right_y\":0.21},\"note\":\"The horizontal side pinch slipped and pushed the pink bowl right again. I’ll try turning the open jaws nearly vertical so they can pinch the bowl’s thin rim from above and below instead of across its width.\"}",
  "call_id": "call_r1rq0TiEpqDBCSSwO2XqA1ii",
  "id": "fc_08af964303d9f992016ab422a8a95c87d0a5cd7d7e3b5fd772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r1rq0TiEpqDBCSSwO2XqA1ii",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8387, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.3801, 1.7065, 0.3592, 1.2076, -0.3462, 1.3319, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.17 left_yaw=0.0546 left_pitch=-0.0786 left_roll=0.1332 left_gripper=0.9952 right_x=0.3504 right_y=0.2084 right_z=0.1153 right_yaw=0.1685 right_pitch=-0.0146 right_roll=1.3475 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.0325, 6.9949, 1.6874, -0.1294, -0.0562, -0.0171, -0.5949, -5.6684, 4.041, 2.2149, -0.0562, 0.0855, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebacba485e3ef8f65bf2e36248b1eddd89f98ad7fccf19eb8eb8528ba158b762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecb7886c3869f27c278217120638f10dab59f415c49dc38a218872e0658dd36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bddc43a5a014c079dc7881d1fb4b3ed6b6f535a6681d9cdef3ed4f2c0d090bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.011 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8326, 0.6411, -0.4671, -0.2363, -0.0158, 0.9952, 0.7868, 1.6352, 0.5144, 0.7818, 0.6048, 0.1883, 0.9952]\nstate[eef_state]: left_x=0.2891 left_y=0.0032 left_z=0.1717 left_yaw=0.0545 left_pitch=-0.0722 left_roll=0.132 left_gripper=0.9952 right_x=0.3517 right_y=0.2155 right_z=0.1095 right_yaw=0.1531 right_pitch=0.2941 right_roll=0.0004 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.7162, 7.1453, 1.7411, -0.0952, -0.0708, -0.0171, 0.4581, -7.3368, 7.3778, 1.7265, 0.3541, 0.1099, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4679, -0.2363, -0.0154, 0.9952, 0.7788, 1.9167, 0.4618, 1.0004, 0.5964, 0.1757, 0.0152]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1703 left_yaw=0.0544 left_pitch=-0.0775 left_roll=0.1333 left_gripper=0.9952 right_x=0.3461 right_y=0.2072 right_z=0.0292 right_yaw=0.176 right_pitch=0.1978 right_roll=-0.0782 right_gripper=0.0152\nstate[joint_eff]: [-0.1846, -1.4701, 6.9402, 1.6288, -0.1343, -0.0073, -0.0122, -0.212, -8.4718, 4.4239, 1.5165, 0.0904, 0.022, 0.6276]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8387, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.3801, 1.7065, 0.3592, 1.2076, -0.3462, 1.3319, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.17 left_yaw=0.0546 left_pitch=-0.0786 left_roll=0.1332 left_gripper=0.9952 right_x=0.3504 right_y=0.2084 right_z=0.1153 right_yaw=0.1685 right_pitch=-0.0146 right_roll=1.3475 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.0325, 6.9949, 1.6874, -0.1294, -0.0562, -0.0171, -0.5949, -5.6684, 4.041, 2.2149, -0.0562, 0.0855, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebacba485e3ef8f65bf2e36248b1eddd89f98ad7fccf19eb8eb8528ba158b762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecb7886c3869f27c278217120638f10dab59f415c49dc38a218872e0658dd36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bddc43a5a014c079dc7881d1fb4b3ed6b6f535a6681d9cdef3ed4f2c0d090bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKvF8iZlVPj9EDTg67Ve86351DNOspuBbjL677m69fYg_EC8omdpoFh96Xt4vfRU8YqvdfsjVWzYJFRfQS1VqvwPlhyfWOLwwCIbIbTUJ_4NnnVZCNuNaqP5mlbGYLbbc0gdPIWJhbwHDFYCub73klm1ce2jSTnP_rpHwRCRw3GT6Hr1asOOdrAqSs-YRtgwowMcuw_kaMB0aHtoZ3E8Qb98GHrmQ0kUEP2Z1k5Hjqh8LLdS5ycob_QkQiz_ihG9nnFd9ZBaB3jdsMlezf4CYecQokqOtnDcRhl-BKnFi3C4CvEU0S5MPocZA_Bi69LbnALvlcOWfIwn-THxK686UNVItXFmXRQ3mnr0FP7MT0Q2EBlPgtJ0fWdgPoS2te6KSyBdjnNGOHzWGTnvcphnik9LjISu1y0caNX9TEg1Xs3P4E84Q7HxeUYQ1V5W-tC9YsGXpl1u974iwPEOsfI8h3WD-WtYVuZVtRV18Upib_hrkOpj9I9nBdod4yGhnHUV8iDHgpIPFLrj1y0mjuIvOt_Ebbhvijyr5Vsy_HbEiqi847fSue9OYUxyH9_BXsAZ3vLmFPmFun4bsAEZc9tO61nLBTjNe1PWCaTsKDvOhiX0EMY8Ftv-Aun2bfNAcKXEjLx0jsJDxn_amSqty2Yc8vnH85jLsO2M6Ab8hAdvVn6KFa8HPIei9tF1mQC2ZSFwoUP9Mduo_zpmjp1seckRm6x-Q8s9U6ya4u5gQScIB49sL4oE23j1XIlUkUxZymCP5g83y1YrH5lcvE2sdTOqvTlgvQQnskvThiRODE9zYl-IHwOWgbUc-GjUryNIpztLq_S8gEKVzGb1tUiP_MDtDKzk_kWDSmuVxJ1hamZZk6-jsZxj4qOVX0h3DA6JlJQbVgyORXqVIQ9G2mgsXordQEmHrJCmrxbcgRJXKAOxf3g2SrLcEPx6OFQzTaYA08y7fEtWwRj3onUHFxjX6J4fgn3mJwrxSwmDICd_Okkgle8TEHRTYswIjNFUsd6Q1RNK61e_a6r6PNJY6fOxJuraB-YVSaeIVZXVZvqhMXmzh1uPBynCx4cj2o6nHE2AWgdNDP67dJ8jztB_pDJzZ1YmKuvYhtn49gec0lm27HMX6GVbZdwKGweBDGwosze8vnzZKZyMgmfprnRbErBR-dF0HOAZVopPnBLjlANmCkYO7DlhivmIeCgyffp6csxnPa31e2qTlLTe-0c7_lRZBycu_75m_TcyRslW44oW8wwJpx39NTOaUt6wu2Lb1vNpPmtWnUFzGJkFtvCctcELt8VvBXkIZzSDlbO1-3wXQID7uyNpYr5rhkSHzn3oVsLtEVq36FkOwfvrITt0SGEaeMbLPJr9oNBAez5bT-xUIbKpa_YNYZw5QIwmOjc95fWAiveHFXFKxl4vLnR5UJfQiRV4aKxtSdVlK03OX_RnwcfSXMhRZb-Nx19Q9Epo29k6S6yMWPW5ryyqXj4XQh3ZXWzMW2Wd7PXiKJck2gur3Eeul_Jhilr7FNQ60VktXz3xqNo7dXSMbZypU8rVqp1OKbGzBheIEsfoXZE-L_8g6sTmyFKsnTjQ0olkwiOtpanlQkMobd106qXIhS3qdIkpPP0fRTElvoKrbeDRGHsnVPAu6ysFraQbiLdqipCKMieoFay6NLQcwQ5Lv4tZZYEyc_9J_1Q6SIXAafg6OZIBxb8aPkAt3LEliwdlmX0fezkK2cHGRFnVbXCObG6IDA16liLhkfUUYK1im2cpP7ZcPq9HFrgpM8WlpJ9T9PoETsG1cAfbkHXjzclOUB7V5xSoPwAJyXsxQKszXVND7AxZFMcTgjofZuUZ89fDLNxzd2BWjJNS119_6Ju75bi9AFS-PRGvF2wR0-5d55Xmk_cwFzwdNi5GzrdMRK9NWlg7IvibHgeO2mwusIOWg9yWeYnlI6L9LqDa_UhGuOJiTLEPxnVa2F4a-G19ANa7ohvL0KSmetRtoXq",
  "id": "rs_08af964303d9f992016ab422acbf4487d0a0a1572181b676c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07,\"right_roll\":1.45,\"right_x\":0.35,\"right_y\":0.21},\"note\":\"The rotated jaws are beside the pink bowl’s left rim, with one finger above the other. I’ll lower enough to put the rim between the fingers before closing.\"}",
  "call_id": "call_b4CptQc2afh4a9CDvMAlVA2g",
  "id": "fc_08af964303d9f992016ab422ae345087d089772cd04dfb8600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b4CptQc2afh4a9CDvMAlVA2g",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8421, 0.6411, -0.469, -0.2363, -0.0154, 0.9952, 0.3794, 2.0048, 0.3573, 1.4567, -0.3607, 1.422, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1688 left_yaw=0.0545 left_pitch=-0.0835 left_roll=0.1345 left_gripper=0.9952 right_x=0.3503 right_y=0.2106 right_z=0.0582 right_yaw=0.1724 right_pitch=-0.1129 right_roll=1.4143 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.2513, 6.9538, 1.6581, -0.1099, -0.0366, -0.0073, 0.0342, -9.4154, 3.3846, 2.9426, -0.022, -0.0317, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1646a61f25fcc91976ea5a3f681357dc247f520b101849f1329554c0ebe9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f0e63a91563ef3ac4f17bbd464db6fe24869a8bf070e0b3b8ba07e9c6469bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6539568e481ee0291d451310d3819d7c057115a3f658e64c950e236799b7451c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 5.685 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8371, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.7788, 1.8996, 0.4679, 0.9897, 0.5964, 0.1814, 0.9963]\nstate[eef_state]: left_x=0.2893 left_y=0.0031 left_z=0.1704 left_yaw=0.0546 left_pitch=-0.0771 left_roll=0.1329 left_gripper=0.9952 right_x=0.3478 right_y=0.2089 right_z=0.0353 right_yaw=0.1714 right_pitch=0.2083 right_roll=-0.0655 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.812, 6.9675, 1.6728, -0.105, -0.0415, -0.0073, -0.335, -7.9932, 4.0547, 2.4151, 0.1685, -0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8387, 0.6411, -0.4675, -0.2363, -0.0158, 0.9952, 0.3801, 1.7065, 0.3592, 1.2076, -0.3462, 1.3319, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.17 left_yaw=0.0546 left_pitch=-0.0786 left_roll=0.1332 left_gripper=0.9952 right_x=0.3504 right_y=0.2084 right_z=0.1153 right_yaw=0.1685 right_pitch=-0.0146 right_roll=1.3475 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.0325, 6.9949, 1.6874, -0.1294, -0.0562, -0.0171, -0.5949, -5.6684, 4.041, 2.2149, -0.0562, 0.0855, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.8421, 0.6411, -0.469, -0.2363, -0.0154, 0.9952, 0.3794, 2.0048, 0.3573, 1.4567, -0.3607, 1.422, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0031 left_z=0.1688 left_yaw=0.0545 left_pitch=-0.0835 left_roll=0.1345 left_gripper=0.9952 right_x=0.3503 right_y=0.2106 right_z=0.0582 right_yaw=0.1724 right_pitch=-0.1129 right_roll=1.4143 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.2513, 6.9538, 1.6581, -0.1099, -0.0366, -0.0073, 0.0342, -9.4154, 3.3846, 2.9426, -0.022, -0.0317, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1646a61f25fcc91976ea5a3f681357dc247f520b101849f1329554c0ebe9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f0e63a91563ef3ac4f17bbd464db6fe24869a8bf070e0b3b8ba07e9c6469bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6539568e481ee0291d451310d3819d7c057115a3f658e64c950e236799b7451c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKx7nwIAufDR7NfodRtUTMvPhRHct-PH3cwP48JiBig41Rl62sUXrQe88hXvj6tttvhia77-BGtWYbYHN5H7s6fquL40nb-rjaUW2PG-ZK3LQ-0d_Arlnsd6OpyZD7bZa3YuJy5ZTgx1M18W0bTpc_R0V_oNiP0HZXL0btC8d8xwLJPyv0muDo8eQdPEko5wxtQjJy1BCQMH4PkaPLDRpScX8Fvui2kw-6bpcOnR-9tCwblUVuygjFxT3gPtJN-pBfRvQ9l7IodlfVavv6BM8ylnSTkqC_d2r9sv4jUf0xINBUz-0NqbFMB99CWJ-yhVZaQJVaalqQI0sRUnb5bp3T_T2I51JGww6gus3vFwSeG0KoeIjurTZAwO41R3c29Wwa5jZJo1xStA10z5i4HQW9STFUiHg689K8cHEEoDx_mPoGb9RQvJhbyc-ns9aoXdQCwQIZ8zsRCMyRZ3Kw5NRfBjD6x4z4gD2bTyB92je4O0UuuFseTVJouV83GQ4BqBjUURc6GIy5oOXdzwK-iBzaS_koz-ChBdg_zoeNV_SQSQyYcuWzRVUKc-slGzPtC3EB5z8PNMSHGV5hFF4eCsHLVEZGcHRD3S9821pMVP9TeJK-3CFUq0IYiXqIKA3QdHwaoTvMi9AXO7dhLIt4pa24-fQQDLaNhCuYXwt_KXDy7s4RAi--ZWJ7Qwyxd1vHMM-LjE_BhhhrqR98Je-CzOuAzkXuZbg26pDnxw581tx9BgQzJjOR6IRY3OKEhqHV3IRJQwGEd7K033rkdlnRDaq5rWFHPsnvj4vJ2K_piU-IBUjDGXSQSMn5Sp2ElQHjY1RSGyunwjfNE9SCIShYjtvo_vEbsrmSdBPjQJt4MC602poP1fpWDCg8cvHspRCZIZzIrU1fDiRYXCSrVORybcRCNzcj3F7VVPv8yMPzlicItQDgE7gZo1smN-DRKlt81Kv9n_dMxQe6bTx9qDhIqfu2MQO8PgIjbQX81-CsB-pXkW8LCrZYKsDlRm41x6-CcCffE-GAxHRsyBUyc26pf5mN9-NFvdC6mpcEC4sR2ayXSzDRhKCxdmiL3Te7CDxhVdejubUn6iGprJS3USeFXOVZgAiZySiI5dBj0uI6xuduUG9K3-BM97KoK9X_m5JzibL5xqOumC_rvxWel9ek6n9j5ivgd44JZETW4aMtkGq6Q5EDZxCPwuJxU7XIqG6gAhJzTN-HnqHhUIbukPQ7Bi3Wih8evbk_cprcowa1QqIjfvChpYWsgJ7lfb2XMIM_QDOTkE8vRbmFquSO5dKgassK_x9wVfpefepzW1EOxZSWtAWjqkPjhkIznpbaNZnzUdZDX",
  "id": "rs_08af964303d9f992016ab422b05e0487d0b255d7013e2a68b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One vertical finger is now below the pink rim and the other above it at the bowl’s edge. I’ll close to try a top-and-bottom rim pinch.\"}",
  "call_id": "call_XoXVaqsTXWhVK4xU5kHy3yG9",
  "id": "fc_08af964303d9f992016ab422b095f487d095f86f15eb1add95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoXVaqsTXWhVK4xU5kHy3yG9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1452, 0.849, 0.6411, -0.469, -0.2363, -0.0154, 0.9952, 0.3794, 2.0346, 0.3531, 1.5501, -0.3592, 1.4395, 0.0077]\nstate[eef_state]: left_x=0.2898 left_y=0.0031 left_z=0.167 left_yaw=0.0546 left_pitch=-0.0902 left_roll=0.1359 left_gripper=0.9952 right_x=0.3513 right_y=0.2108 right_z=0.0674 right_yaw=0.1706 right_pitch=-0.064 right_roll=1.4411 right_gripper=0.0077\nstate[joint_eff]: [-0.1709, -2.0581, 6.9402, 1.6239, -0.1245, -0.0073, -0.0171, -0.1846, -8.3761, 3.0291, 2.0244, -0.022, -0.0415, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631d8ce68c7650f505a59343af592c286380a90b1e04c0a0686a9ab711b22203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff0e507e3d939eaaf722ddf74e51c1c0fd9901a685f0d350df77020875ca123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5425083b0c0473593bd62e053a4902d6b3e32ff27e6a8e10f8ec32672dde4666",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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