adhoc

completed
2026-09-23T19:58:16.822754+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
246.4 s
total steps
346
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 upright bowls are spread across the table. I’ll bring the right gripper above the rightmost bowl’s rim to line up a careful lift, leaving the middle bowl as the base of the stack.
move_to
right_x0.4200right_y0.1350right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3813, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6025, -0.3782, -0.0154, -0.033, 0.9971] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971 state[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.7753, -0.0269, 0.2369, -0.0611, -0.335, -1.306, 10.1402, 1.9267, -0.0757, 0.188, -0.315] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.135,"right_z":0.16},"note":"Three upright bowls are spread across the table. I’ll bring the right gripper above the rightmost bowl’s rim to line up a careful lift, leaving the middle bowl as the base of the stack."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe right bowl is centered in the wrist view, while the gripper is still high over it. I’ll shift toward one side of its lip and lower partway so the jaws can pinch the rim rather than squeeze across the whole bowl.
move_to
right_x0.4350right_y0.1680right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4461, 1.507, 0.9104, -0.0982, 0.3401, 0.2005, 0.9969] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9995 right_x=0.404 right_y=0.1319 right_z=0.1361 right_yaw=0.0434 right_pitch=-0.0801 right_roll=-0.0378 right_gripper=0.9969 state[joint_eff]: [-0.1573, -1.5111, 6.8718, 1.7656, -0.0415, 0.0269, -0.0171, 0.2256, -7.2957, 9.2103, 1.8535, 0.3883, 0.1636, -0.0317] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.168,"right_z":0.115},"note":"The right bowl is centered in the wrist view, while the gripper is still high over it. I’ll shift toward one side of its lip and lower partway so the jaws can pinch the rim rather than squeeze across the whole bowl."})
tool
executing move_to over 4 steps (0.4s)
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 bowl’s left lip is visible beside the jaws, and the gripper is still above rim height. I’ll move a little farther toward that lip and lower to a plausible gripping height.
move_to
right_x0.4400right_y0.1980right_z0.0790
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8036, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.4976, 1.6978, 0.9817, -0.0704, 0.3618, 0.2176, 0.9969] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4182 right_y=0.1601 right_z=0.0919 right_yaw=0.0635 right_pitch=-0.1572 right_roll=-0.0754 right_gripper=0.9969 state[joint_eff]: [-0.1983, -1.5932, 7.2137, 1.6972, -0.0659, -0.0708, -0.0122, 0.2393, -9.1145, 9.5658, 1.8779, 0.232, 0.1685, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.198,"right_z":0.079},"note":"The bowl’s left lip is visible beside the jaws, and the gripper is still above rim height. I’ll move a little farther toward that lip and lower to a plausible gripping height."})
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 last approach barely advanced, suggesting the open fingers may already be against the bowl’s side. I’ll close at this position and check whether the rim is actually held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.5037, 1.7168, 0.9985, -0.07, 0.3618, 0.2176, 0.9969] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4211 right_y=0.1648 right_z=0.0904 right_yaw=0.0695 right_pitch=-0.159 right_roll=-0.0762 right_gripper=0.9969 state[joint_eff]: [-0.1983, -1.347, 7.2547, 1.7411, -0.0415, -0.0366, -0.0122, -0.253, -9.1419, 9.0872, 1.8779, 0.3297, 0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The last approach barely advanced, suggesting the open fingers may already be against the bowl’s side. I’ll close at this position and check whether the rim is actually held."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed nearly all the way, so it missed the bowl. I’ll reopen and lift clear before shifting sideways to center a single section of the rim between the fingers.
move_to
right_gripper1.0000right_z0.1700right_y0.2000right_x0.4300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.3931, -0.0227, -0.0425, 0.9995, 0.5037, 1.7168, 0.9985, -0.0772, 0.358, 0.2127, 0.0086] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4199 right_y=0.1648 right_z=0.089 right_yaw=0.0748 right_pitch=-0.1669 right_roll=-0.0805 right_gripper=0.0086 state[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7411, -0.0122, -0.0708, -0.0122, -0.0889, -8.294, 6.5846, 1.6239, 0.2076, 0.0171, 0.6227] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1,"right_z":0.17,"right_y":0.20,"right_x":0.43},"note":"The gripper closed nearly all the way, so it missed the bowl. I’ll reopen and lift clear before shifting sideways to center a single section of the rim between the fingers."})
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 noteAfter reopening, the pink bowl sits between the open fingers with its rim near one jaw. I’ll lower vertically toward the lip without changing the lateral alignment.
move_to
right_z0.0930
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.4053, -0.0227, -0.0429, 0.9995, 0.5735, 1.7191, 1.3041, -0.421, 0.3859, 0.2447, 0.9957] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.173 left_yaw=0.001 left_pitch=-0.0324 left_roll=-0.0009 left_gripper=0.9995 right_x=0.424 right_y=0.199 right_z=0.1559 right_yaw=0.1015 right_pitch=-0.1929 right_roll=-0.0931 right_gripper=0.9957 state[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8486, -0.0855, -0.0659, -0.0122, 0.1162, -8.1162, 9.5795, 1.4725, 0.3443, 0.188, -0.1099] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_z":0.093},"note":"After reopening, the pink bowl sits between the open fingers with its rim near one jaw. I’ll lower vertically toward the lip without changing the lateral alignment."})
tool
executing move_to over 5 steps (0.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe right gripper has reached bowl height with the pink rim crossing the gap between its fingers. I’ll close now and use the final jaw opening to tell whether it caught the lip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6067, -0.408, -0.0227, -0.0456, 0.9995, 0.5743, 1.7847, 1.132, -0.2539, 0.3805, 0.2432, 0.9962] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9995 right_x=0.4127 right_y=0.1932 right_z=0.0847 right_yaw=0.1 right_pitch=-0.2577 right_roll=-0.1235 right_gripper=0.9962 state[joint_eff]: [-0.1573, -1.3744, 7.1453, 1.746, -0.0562, -0.0366, -0.0122, -0.0752, -8.7863, 7.0906, 1.5751, 0.2222, -0.0269, 0.0366] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper has reached bowl height with the pink rim crossing the gap between its fingers. I’ll close now and use the final jaw opening to tell whether it caught the lip."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThat second close was also empty, so I’m leaving the pink bowl alone for now. I’ll park the right arm and approach the left white bowl with the left arm, where the rim may be easier to reach.
move_to
right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.4100left_y-0.1600left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6064, -0.408, -0.0227, -0.0494, 0.9995, 0.5739, 1.7954, 1.1217, -0.2584, 0.3775, 0.2359, 0.0089] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1714 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4091 right_y=0.1912 right_z=0.0754 right_yaw=0.1028 right_pitch=-0.2821 right_roll=-0.1383 right_gripper=0.0089 state[joint_eff]: [-0.1162, -1.3333, 7.0222, 1.7118, -0.0708, -0.0317, -0.0122, -0.2393, -9.8803, 7.0496, 1.3944, 0.1636, 0.0366, 0.4811] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.41,"left_y":-0.16,"left_z":0.16},"note":"That second close was also empty, so I’m leaving the pink bowl alone for now. I’ll park the right arm and approach the left white bowl with the left arm, where the rim may be easier to reach."})
tool
executing move_to over 16 steps (1.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe white bowl is almost centered between the left gripper’s open jaws. I’ll advance slightly and lower to its rim, aiming to grip across the bowl’s two sides.
move_to
left_x0.4350left_y-0.1400left_z0.0910
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5507, 1.5326, 0.9825, -0.1951, -0.4297, -0.3717, 0.9995, 0.0124, 1.0309, 0.8555, -0.675, 0.054, -0.1753, 0.9959] state[eef_state]: left_x=0.3981 left_y=-0.1539 left_z=0.1426 left_yaw=-0.0122 left_pitch=-0.0934 left_roll=0.0165 left_gripper=0.9995 right_x=0.2987 right_y=-0.0022 right_z=0.1696 right_yaw=0.0533 right_pitch=-0.2892 right_roll=-0.1457 right_gripper=0.9959 state[joint_eff]: [-0.3761, -6.9265, 8.9231, 1.7802, -0.4811, -0.1099, -0.0122, -0.212, -2.906, 9.265, 1.6093, -0.2222, 0.1343, -0.149] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.14,"left_z":0.091},"note":"The white bowl is almost centered between the left gripper’s open jaws. I’ll advance slightly and lower to its rim, aiming to grip across the bowl’s two sides."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe white bowl now fills the space between the open jaws, with both sides near the fingers. I’ll lower a little more to catch its narrower lower wall rather than press on the rim.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.461, 1.7, 0.9447, -0.0315, -0.3851, -0.3328, 0.9995, 0.012, 1.0332, 0.8543, -0.7029, 0.0433, -0.1982, 0.9962] state[eef_state]: left_x=0.424 left_y=-0.1325 left_z=0.0841 left_yaw=0.0233 left_pitch=-0.1456 left_roll=0.04 left_gripper=0.9995 right_x=0.2934 right_y=-0.0005 right_z=0.164 right_yaw=0.0757 right_pitch=-0.3219 right_roll=-0.1509 right_gripper=0.9962 state[joint_eff]: [-0.1162, -8.7179, 6.3521, 1.8974, 0.0073, 0.0904, -0.0122, -0.1436, -2.8786, 6.9402, 1.6581, 0.0708, 0.1587, 0.0171] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The white bowl now fills the space between the open jaws, with both sides near the fingers. I’ll lower a little more to catch its narrower lower wall rather than press on the rim."})
tool
executing move_to over 2 steps (0.2s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe left gripper is at the white bowl’s wall and its descent has slowed. I’ll close gently and check whether the jaws stop on the bowl instead of meeting empty.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.7367, 0.9112, 0.0631, -0.3737, -0.3267, 0.9995, 0.012, 1.034, 0.8543, -0.704, 0.0433, -0.1989, 0.9962] state[eef_state]: left_x=0.4281 left_y=-0.1344 left_z=0.0712 left_yaw=0.0138 left_pitch=-0.1278 left_roll=0.0262 left_gripper=0.9995 right_x=0.2932 right_y=-0.0005 right_z=0.1636 right_yaw=0.0762 right_pitch=-0.3239 right_roll=-0.1513 right_gripper=0.9962 state[joint_eff]: [-0.4991, -6.3521, 5.3402, 1.5263, -0.2271, -0.0855, -0.0122, -0.0889, -2.7009, 6.735, 1.4139, -0.0073, -0.0073, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is at the white bowl’s wall and its descent has slowed. I’ll close gently and check whether the jaws stop on the bowl instead of meeting empty."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left jaws also met empty inside the white bowl. I’ll reopen, lift, and shift to one side so the next attempt pinches a single wall instead of closing through its open center.
move_to
left_gripper1.0000left_x0.4470left_y-0.0750left_z0.1350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.458, 1.7695, 0.8822, 0.0738, -0.3752, -0.3382, 0.0085, 0.012, 1.034, 0.8539, -0.7067, 0.0433, -0.2024, 0.9962] state[eef_state]: left_x=0.4199 left_y=-0.1308 left_z=0.0485 left_yaw=0.0233 left_pitch=-0.1724 left_roll=0.0421 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1631 right_yaw=0.0782 right_pitch=-0.3272 right_roll=-0.1533 right_gripper=0.9962 state[joint_eff]: [-0.2803, -8.6085, 6.065, 1.6923, -0.2125, 0.0317, 0.6716, 0.0068, -2.7145, 6.8308, 1.4383, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.447,"left_y":-0.075,"left_z":0.135},"note":"The left jaws also met empty inside the white bowl. I’ll reopen, lift, and shift to one side so the next attempt pinches a single wall instead of closing through its open center."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe white bowl’s near-side rim now lines up with the left gripper’s jaw column instead of its center. I’ll lower toward that rim, keeping the sideways offset.
move_to
left_z0.0770left_x0.4520
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.276, 1.6615, 1.0626, -0.2096, -0.2615, -0.2272, 0.9944, 0.012, 1.0389, 0.8524, -0.7082, 0.0429, -0.2028, 0.9962] state[eef_state]: left_x=0.4429 left_y=-0.0743 left_z=0.1124 left_yaw=0.0511 left_pitch=-0.2036 left_roll=0.045 left_gripper=0.9944 right_x=0.2923 right_y=-0.0005 right_z=0.1609 right_yaw=0.0789 right_pitch=-0.3352 right_roll=-0.1527 right_gripper=0.9962 state[joint_eff]: [0.4034, -10.359, 8.9778, 1.3358, -0.0415, 0.2808, 0.0806, -0.1026, -2.8786, 6.8444, 1.3944, -0.0171, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.077,"left_x":0.452},"note":"The white bowl’s near-side rim now lines up with the left gripper’s jaw column instead of its center. I’ll lower toward that rim, keeping the sideways offset."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe white rim is just below the visible finger tips, so this pose appears slightly too far forward. I’ll draw back about two centimeters and lower another two centimeters to place the jaws around the lip.
move_to
left_x0.4290left_z0.0570
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2684, 1.7283, 1.0275, -0.1314, -0.2581, -0.2096, 0.9951, 0.012, 1.0397, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962] state[eef_state]: left_x=0.4464 left_y=-0.0723 left_z=0.0826 left_yaw=0.0478 left_pitch=-0.2275 left_roll=0.0629 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1608 right_yaw=0.0788 right_pitch=-0.3353 right_roll=-0.1533 right_gripper=0.9962 state[joint_eff]: [-0.3897, -8.0752, 6.0923, 1.663, -0.1001, -0.1294, 0.0562, -0.1983, -2.2769, 6.7624, 1.4188, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.429,"left_z":0.057},"note":"The white rim is just below the visible finger tips, so this pose appears slightly too far forward. I’ll draw back about two centimeters and lower another two centimeters to place the jaws around the lip."})
tool
executing move_to over 2 steps (0.2s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe white bowl’s side crosses the jaw opening near the finger tips at this height. I’ll close on the offset rim and check for a nonzero jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2722, 1.7489, 0.9794, -0.0826, -0.2592, -0.2276, 0.9952, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962] state[eef_state]: left_x=0.4399 left_y=-0.0721 left_z=0.0634 left_yaw=0.0564 left_pitch=-0.2453 left_roll=0.0575 left_gripper=0.9952 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0788 right_pitch=-0.3357 right_roll=-0.1533 right_gripper=0.9962 state[joint_eff]: [-0.5265, -9.9077, 6.1333, 1.5556, -0.188, 0.0708, -0.0073, -0.1162, -2.7692, 6.7487, 1.3651, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white bowl’s side crosses the jaw opening near the finger tips at this height. I’ll close on the offset rim and check for a nonzero jaw opening."})
tool
executing move_to over 10 steps (1.0s)
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 closed empty again; the wrist view now shows the white bowl mostly below and beyond the finger tips, meaning this pose overshot it. I’ll lift, move several centimeters back toward the base, and recenter before trying again.
move_to
left_gripper1.0000left_x0.3790left_y-0.1120left_z0.1080
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2729, 1.7466, 0.9627, -0.0853, -0.2615, -0.2245, 0.0085, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962] state[eef_state]: left_x=0.4345 left_y=-0.0705 left_z=0.0577 left_yaw=0.0573 left_pitch=-0.2611 left_roll=0.067 left_gripper=0.0085 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962 state[joint_eff]: [-0.5402, -10.0855, 6.1333, 1.5116, -0.0806, 0.105, 0.6569, -0.1162, -2.5504, 6.735, 1.3651, -0.0024, -0.0269, -0.0122] 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_gripper":1,"left_x":0.379,"left_y":-0.112,"left_z":0.108},"note":"The jaws closed empty again; the wrist view now shows the white bowl mostly below and beyond the finger tips, meaning this pose overshot it. I’ll lift, move several centimeters back toward the base, and recenter before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteFrom the new wrist view, the white bowl’s near-left wall is visible beside the jaw column; the bowl is no longer hidden behind the tips. I’ll shift laterally to that wall and lower to pinch its side.
move_to
left_x0.3810left_y-0.0730left_z0.0710
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.557, 0.947, -0.3172, -0.3592, -0.3641, 0.9951, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962] state[eef_state]: left_x=0.3816 left_y=-0.1142 left_z=0.0966 left_yaw=0.0386 left_pitch=-0.2777 left_roll=0.0671 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962 state[joint_eff]: [-0.294, -8.6359, 7.1316, 1.4432, -0.2857, 0.0952, -0.1197, -0.0615, -2.7145, 6.9128, 1.3797, -0.0317, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.381,"left_y":-0.073,"left_z":0.071},"note":"From the new wrist view, the white bowl’s near-left wall is visible beside the jaw column; the bowl is no longer hidden behind the tips. I’ll shift laterally to that wall and lower to pinch its side."})
tool
executing move_to over 4 steps (0.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe white bowl’s left wall now lies between an outside finger and an inside finger at the gripper’s working height. I’ll close on that wall and inspect the jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3332, 1.5444, 0.8173, -0.2298, -0.3065, -0.2981, 0.9957, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3714 left_y=-0.0684 left_z=0.0631 left_yaw=0.0858 left_pitch=-0.3263 left_roll=0.0853 left_gripper=0.9957 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962 state[joint_eff]: [-0.212, -7.0906, 6.735, 1.5018, 0.0611, 0.1294, 0.0513, -0.3214, -2.7692, 6.7487, 1.3748, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white bowl’s left wall now lies between an outside finger and an inside finger at the gripper’s working height. I’ll close on that wall and inspect the jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe empty close missed the white wall by only a small amount in the wrist view. I’ll reopen, nudge across that wall, and tip the tool forward so the finger tips meet the lip more squarely.
move_to
left_gripper1.0000left_x0.3770left_y-0.0860left_z0.0760left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3321, 1.5448, 0.8059, -0.2314, -0.2924, -0.3038, 0.0086, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3674 left_y=-0.069 left_z=0.058 left_yaw=0.0804 left_pitch=-0.3429 left_roll=0.076 left_gripper=0.0086 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962 state[joint_eff]: [-0.1436, -6.2974, 7.0906, 1.3114, -0.2369, 0.0611, 0.6422, -0.1709, -2.7556, 6.9265, 1.3651, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.377,"left_y":-0.086,"left_z":0.076,"left_pitch":0.25},"note":"The empty close missed the white wall by only a small amount in the wrist view. I’ll reopen, nudge across that wall, and tip the tool forward so the finger tips meet the lip more squarely."})
tool
executing move_to over 20 steps (2.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteWith the tool pitched forward, the white bowl’s left rim is now clearly visible just left of the jaw center. I’ll slide about two centimeters sideways to place that thin wall directly between the fingers.
move_to
left_y-0.0640left_z0.0690
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4839, 1.6451, 0.3908, 0.7879, -0.5606, -0.1963, 0.9969, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3723 left_y=-0.0855 left_z=0.0625 left_yaw=0.071 left_pitch=0.1776 left_roll=0.0874 left_gripper=0.9969 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962 state[joint_eff]: [-0.4855, -5.2034, 4.2735, 2.0537, -0.3639, 0.1636, -0.149, -0.1983, -2.7556, 6.7214, 1.4237, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.064,"left_z":0.069},"note":"With the tool pitched forward, the white bowl’s left rim is now clearly visible just left of the jaw center. I’ll slide about two centimeters sideways to place that thin wall directly between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe left rim is still roughly two centimeters to the left of the jaw column, so the previous nudge was too small. I’ll make one more sideways adjustment before closing.
move_to
left_y-0.0290
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4381, 1.6264, 0.3714, 0.8314, -0.5331, -0.1745, 0.9979, 0.012, 1.0409, 0.852, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3752 left_y=-0.0727 left_z=0.0702 left_yaw=0.0863 left_pitch=0.2071 left_roll=0.0753 left_gripper=0.9979 right_x=0.2925 right_y=-0.0005 right_z=0.1603 right_yaw=0.0807 right_pitch=-0.3371 right_roll=-0.1554 right_gripper=0.9962 state[joint_eff]: [0.3624, -7.1179, 4.4923, 1.7411, -0.0757, 0.1538, 0.0952, -0.1709, -2.7556, 6.9128, 1.409, -0.0073, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.029},"note":"The left rim is still roughly two centimeters to the left of the jaw column, so the previous nudge was too small. I’ll make one more sideways adjustment before closing."})
tool
executing move_to over 4 steps (0.4s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe lateral move stopped early, and the bowl wall now sits right on the jaw column in the wrist image. I’ll close once at this alignment and check whether the rim holds the jaws apart.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3981, 1.61, 0.3561, 0.8204, -0.4953, -0.1715, 0.998, 0.012, 1.042, 0.852, -0.7078, 0.0433, -0.2062, 0.9962] state[eef_state]: left_x=0.3737 left_y=-0.0622 left_z=0.0672 left_yaw=0.0921 left_pitch=0.1907 left_roll=0.0691 left_gripper=0.998 right_x=0.2925 right_y=-0.0005 right_z=0.1599 right_yaw=0.0806 right_pitch=-0.3386 right_roll=-0.1551 right_gripper=0.9962 state[joint_eff]: [0.1846, -5.2581, 4.3009, 2.0928, -0.1343, 0.1294, -0.0024, -0.0889, -2.8376, 6.735, 1.3993, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lateral move stopped early, and the bowl wall now sits right on the jaw column in the wrist image. I’ll close once at this alignment and check whether the rim holds the jaws apart."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThat close was empty. The overhead view shows the gripper left of the white bowl, so I’ll reopen and move rightward over its center at this more accurate forward distance.
move_to
left_gripper1.0000left_x0.3790left_y-0.1330left_z0.0750left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3985, 1.6104, 0.3557, 0.8192, -0.4953, -0.1665, 0.0087, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3734 left_y=-0.0622 left_z=0.0667 left_yaw=0.0888 left_pitch=0.1888 left_roll=0.0747 left_gripper=0.0087 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962 state[joint_eff]: [-0.1709, -5.4769, 4.7658, 1.8486, -0.0904, -0.0562, 0.6227, -0.1436, -2.9197, 6.8034, 1.3602, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.379,"left_y":-0.133,"left_z":0.075,"left_pitch":0.2},"note":"That close was empty. The overhead view shows the gripper left of the white bowl, so I’ll reopen and move rightward over its center at this more accurate forward distance."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe overhead view now puts the left gripper over the white bowl, and its wrist view shows both bowl sides between the open jaws. I’ll close across it and check whether the bowl prevents a full close.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6289, 1.6878, 0.4984, 0.6842, -0.6876, -0.2821, 0.9944, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3743 left_y=-0.1292 left_z=0.0693 left_yaw=0.0724 left_pitch=0.1854 left_roll=0.0787 left_gripper=0.9944 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962 state[joint_eff]: [-0.4581, -5.6957, 6.9949, 1.7167, -0.2271, -0.0611, -0.0317, -0.1299, -2.7692, 6.694, 1.3748, -0.0317, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The overhead view now puts the left gripper over the white bowl, and its wrist view shows both bowl sides between the open jaws. I’ll close across it and check whether the bowl prevents a full close."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
assistant
agent noteClosing across the bowl again passed through its open center, so I’ll change strategy: approach its near rim from the base side, with the jaws rotated to pinch along the bowl’s front-to-back direction.
move_to
left_gripper1.0000left_x0.3220left_y-0.1320left_z0.0900left_yaw1.5700left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6342, 1.6936, 0.503, 0.6693, -0.6903, -0.2852, 0.0085, 0.012, 1.0447, 0.852, -0.7074, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3733 left_y=-0.1305 left_z=0.0662 left_yaw=0.069 left_pitch=0.1742 left_roll=0.0874 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1593 right_yaw=0.0808 right_pitch=-0.3409 right_roll=-0.1552 right_gripper=0.9962 state[joint_eff]: [0.294, -7.0496, 4.3966, 1.7705, -0.2173, 0.0171, 0.6178, 0.0479, -2.8239, 6.7077, 1.37, -0.0171, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.322,"left_y":-0.132,"left_z":0.09,"left_yaw":1.57,"left_pitch":0.2},"note":"Closing across the bowl again passed through its open center, so I’ll change strategy: approach its near rim from the base side, with the jaws rotated to pinch along the bowl’s front-to-back direction."})
tool
executing move_to over 10 steps (1.0s)
step 202
assistant
agent noteThe large wrist rotation drove the left arm far away from its requested position, so I’m aborting that approach. I’ll return it to a clear home pose before checking the bowls again.
move_to
left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3157, 2.3093, 1.6897, -1.0222, -1.071, -1.9415, 0.994, 0.012, 1.0496, 0.8501, -0.7109, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.4493 left_y=0.0201 left_z=0.0597 left_yaw=1.4282 left_pitch=0.0579 left_roll=-0.2308 left_gripper=0.994 right_x=0.2919 right_y=-0.0006 right_z=0.1566 right_yaw=0.0811 right_pitch=-0.3512 right_roll=-0.1544 right_gripper=0.9962 state[joint_eff]: [-3.1932, -14.7761, 4.9983, 0.0757, -0.442, -0.0366, 0.0317, 0.0205, -2.8239, 6.8308, 1.4042, -0.0122, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The large wrist rotation drove the left arm far away from its requested position, so I’m aborting that approach. I’ll return it to a clear home pose before checking the bowls again."})
tool
executing move_to over 12 steps (1.2s)
step 214
assistant
agent noteAll three bowls remain on the table, but the white one was nudged closer to the left arm. I’ll approach its new location with the gripper level and avoid another large wrist rotation.
move_to
left_x0.3240left_y-0.0100left_z0.0770left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0639, 0.8249, 0.5907, -0.3084, -0.2119, -0.3531, 0.9944, 0.0113, 1.055, 0.8482, -0.7269, 0.0429, -0.207, 0.9962] state[eef_state]: left_x=0.3031 left_y=0.0214 left_z=0.1822 left_yaw=0.2829 left_pitch=0.0338 left_roll=-0.1726 left_gripper=0.9944 right_x=0.2886 right_y=-0.0007 right_z=0.152 right_yaw=0.0815 right_pitch=-0.3744 right_roll=-0.1526 right_gripper=0.9962 state[joint_eff]: [0.2256, -1.0051, 8.2803, 1.8877, -0.0415, 0.188, 0.0269, -0.0889, -2.988, 6.9538, 1.536, -0.0024, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.324,"left_y":-0.01,"left_z":0.077,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"All three bowls remain on the table, but the white one was nudged closer to the left arm. I’ll approach its new location with the gripper level and avoid another large wrist rotation."})
tool
executing move_to over 7 steps (0.7s)
step 221
assistant
agent noteThe white bowl’s right rim is now visible between the left gripper’s open fingers. I’ll make a small sideways adjustment to center that wall in the jaw gap.
move_to
left_x0.3120left_y-0.0360left_z0.0630
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0788, 1.1057, 0.3145, 0.1226, -0.1017, -0.1295, 0.9944, 0.0113, 1.0584, 0.8482, -0.7303, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3103 left_y=-0.0029 left_z=0.0637 left_yaw=0.0557 left_pitch=-0.0933 left_roll=-0.0189 left_gripper=0.9944 right_x=0.2881 right_y=-0.0008 right_z=0.1506 right_yaw=0.0811 right_pitch=-0.3812 right_roll=-0.1522 right_gripper=0.9962 state[joint_eff]: [-0.4855, -3.4393, 6.2154, 1.9609, 0.0415, 0.1099, -0.0122, -0.1162, -2.8513, 6.7077, 1.3651, 0.0024, -0.0562, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.312,"left_y":-0.036,"left_z":0.063},"note":"The white bowl’s right rim is now visible between the left gripper’s open fingers. I’ll make a small sideways adjustment to center that wall in the jaw gap."})
tool
executing move_to over 3 steps (0.3s)
step 224
assistant
agent noteThe white bowl’s right wall now lies almost exactly at the left gripper’s jaw center. I’ll close and check whether its rim holds the fingers apart.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2462, 1.1446, 0.3065, 0.1509, -0.1825, -0.1936, 0.9944, 0.0113, 1.0588, 0.8482, -0.7311, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3073 left_y=-0.0405 left_z=0.0559 left_yaw=-0.0087 left_pitch=-0.1025 left_roll=-0.0159 left_gripper=0.9944 right_x=0.2879 right_y=-0.0008 right_z=0.1504 right_yaw=0.0812 right_pitch=-0.3824 right_roll=-0.1521 right_gripper=0.9962 state[joint_eff]: [0.6632, -2.4684, 8.9231, 1.6825, -0.3932, -0.0611, -0.0073, -0.3487, -2.8376, 6.6667, 1.3553, 0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white bowl’s right wall now lies almost exactly at the left gripper’s jaw center. I’ll close and check whether its rim holds the fingers apart."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent notePinching the rim keeps missing the thin wall. I’ll try a different grasp: lower the closed fingers into the nearby white bowl, then spread them gently against its inner sides.
move_to
left_x0.3000left_y0.0400left_z0.0340
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2619, 1.1507, 0.3084, 0.1162, -0.2405, -0.2523, 0.0084, 0.0113, 1.0588, 0.8482, -0.7334, 0.0429, -0.2066, 0.9962] state[eef_state]: left_x=0.3026 left_y=-0.0338 left_z=0.0499 left_yaw=0.0572 left_pitch=-0.1297 left_roll=-0.0144 left_gripper=0.0084 right_x=0.2875 right_y=-0.0008 right_z=0.1501 right_yaw=0.0816 right_pitch=-0.3846 right_roll=-0.1516 right_gripper=0.9962 state[joint_eff]: [-0.1846, -2.8376, 8.3214, 1.6386, -0.2125, 0.022, 0.6374, -0.0615, -2.8376, 6.9128, 1.3651, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.04,"left_z":0.034},"note":"Pinching the rim keeps missing the thin wall. I’ll try a different grasp: lower the closed fingers into the nearby white bowl, then spread them gently against its inner sides."})
tool
executing move_to over 7 steps (0.7s)
step 241
assistant
agent noteThe closed fingertips are now centered inside the white bowl. I’ll spread the jaws against the interior and see whether they stop on the curved sides.
move_to
left_gripper0.8700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1474, 1.1896, 0.2558, 0.2062, 0.028, -0.0269, 0.0106, 0.0113, 1.0588, 0.8474, -0.7341, 0.0429, -0.2066, 0.9962] state[eef_state]: left_x=0.297 left_y=0.0427 left_z=0.0319 left_yaw=0.1164 left_pitch=-0.1562 left_roll=-0.0204 left_gripper=0.0106 right_x=0.2872 right_y=-0.0008 right_z=0.1496 right_yaw=0.0816 right_pitch=-0.3862 right_roll=-0.1515 right_gripper=0.9962 state[joint_eff]: [0.3214, -2.5504, 5.2444, 1.8632, 0.0806, 0.0611, 0.2076, -0.0889, -2.7692, 6.7077, 1.3358, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.87},"note":"The closed fingertips are now centered inside the white bowl. I’ll spread the jaws against the interior and see whether they stop on the curved sides."})
tool
executing move_to over 9 steps (0.9s)
step 250
assistant
agent noteThe jaws have spread inside the white bowl. I’ll lift a short distance and look overhead to see whether the bowl comes up with them.
move_to
left_z0.1800left_y0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1474, 1.1969, 0.2493, 0.2028, 0.0261, -0.0261, 0.8645, 0.0113, 1.0588, 0.844, -0.7368, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.2937 left_y=0.0426 left_z=0.0268 left_yaw=0.1175 left_pitch=-0.1734 left_roll=-0.019 left_gripper=0.8645 right_x=0.286 right_y=-0.0008 right_z=0.1479 right_yaw=0.0814 right_pitch=-0.3923 right_roll=-0.1513 right_gripper=0.9962 state[joint_eff]: [-0.335, -3.453, 6.735, 1.5702, 0.0122, 0.0024, 0.0366, -0.0889, -2.8103, 6.9675, 1.3748, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"left_y":0.02},"note":"The jaws have spread inside the white bowl. I’ll lift a short distance and look overhead to see whether the bowl comes up with them."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteThe white bowl stayed on the table, so spreading the jaws inside it did not give a secure lift. I’ll try one lower outside grip on its tapered wall, with the fingers fully open before descending.
move_to
left_x0.3100left_y0.0350left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0185, 0.9348, 0.7322, -0.5392, -0.0589, -0.1101, 0.8648, 0.0113, 1.0607, 0.8421, -0.7372, 0.0429, -0.2066, 0.9962] state[eef_state]: left_x=0.2967 left_y=0.0195 left_z=0.1675 left_yaw=0.1072 left_pitch=-0.1691 left_roll=-0.0235 left_gripper=0.8648 right_x=0.2856 right_y=-0.0008 right_z=0.1466 right_yaw=0.0819 right_pitch=-0.3964 right_roll=-0.1507 right_gripper=0.9962 state[joint_eff]: [-0.5538, -2.3179, 9.0188, 1.5604, -0.1538, -0.0171, 0.0171, -0.0615, -2.5231, 6.8581, 1.3455, -0.022, -0.022, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.035,"left_z":0.005,"left_gripper":1},"note":"The white bowl stayed on the table, so spreading the jaws inside it did not give a secure lift. I’ll try one lower outside grip on its tapered wall, with the fingers fully open before descending."})
tool
executing move_to over 11 steps (1.1s)
step 271
assistant
agent noteAt tabletop height, one jaw appears inside the white bowl and the other outside its right wall. I’ll close on that lower wall and check whether the fingers stop before meeting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0975, 1.3602, 0.2726, 0.3099, -0.004, -0.0753, 0.9986, 0.0113, 1.0634, 0.8406, -0.738, 0.0429, -0.2066, 0.9962] state[eef_state]: left_x=0.3058 left_y=0.0342 left_z=0.0081 left_yaw=0.1204 left_pitch=-0.2067 left_roll=-0.0343 left_gripper=0.9986 right_x=0.2852 right_y=-0.0008 right_z=0.1452 right_yaw=0.0821 right_pitch=-0.4014 right_roll=-0.1503 right_gripper=0.9962 state[joint_eff]: [0.3214, -1.894, 3.0291, 0.5788, -0.1441, 0.1685, -0.0806, -0.1162, -3.0154, 6.8034, 1.3162, -0.022, -0.0269, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At tabletop height, one jaw appears inside the white bowl and the other outside its right wall. I’ll close on that lower wall and check whether the fingers stop before meeting."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe jaws stopped about one centimeter apart rather than closing empty, which suggests they caught the white bowl’s wall. I’ll lift it a few centimeters and verify that the bowl moves with the gripper.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.099, 1.3445, 0.2806, 0.3706, -0.036, -0.0635, 0.1073, 0.0113, 1.0645, 0.8375, -0.7372, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3194 left_y=0.0417 left_z=0.0267 left_yaw=0.1424 left_pitch=-0.1217 left_roll=-0.0064 left_gripper=0.1073 right_x=0.2848 right_y=-0.0009 right_z=0.1438 right_yaw=0.0818 right_pitch=-0.4048 right_roll=-0.1504 right_gripper=0.9962 state[joint_eff]: [-0.4444, -2.0855, 5.2171, 1.0476, 0.2613, -0.1294, 0.6032, -0.0479, -2.9333, 6.9265, 1.3016, -0.0366, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The jaws stopped about one centimeter apart rather than closing empty, which suggests they caught the white bowl’s wall. I’ll lift it a few centimeters and verify that the bowl moves with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 289
assistant
agent noteThe fingers remain partly separated after lifting, but the overhead view is still obscured near the left edge. I’ll move the raised gripper toward the table center and check whether the white bowl follows before placing it.
move_to
left_x0.3400left_y-0.1450left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0994, 1.0428, 0.5793, -0.2234, -0.0494, -0.0715, 0.1071, 0.0113, 1.0664, 0.8356, -0.7372, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.3209 left_y=0.0444 left_z=0.128 left_yaw=0.1584 left_pitch=-0.1147 left_roll=-0.0045 left_gripper=0.1071 right_x=0.2845 right_y=-0.0009 right_z=0.1425 right_yaw=0.0819 right_pitch=-0.4086 right_roll=-0.1501 right_gripper=0.9962 state[joint_eff]: [-0.212, -3.6308, 9.1966, 1.6142, 0.0904, 0.0171, -0.0366, -0.1436, -2.7966, 6.8171, 1.3016, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.145,"left_z":0.2},"note":"The fingers remain partly separated after lifting, but the overhead view is still obscured near the left edge. I’ll move the raised gripper toward the table center and check whether the white bowl follows before placing it."})
tool
executing move_to over 17 steps (1.7s)
step 306
assistant
agent noteThe white bowl did not come with the gripper and has slid to the far left edge, so that grip was not secure. I’ll park the left arm and try a low outside grip on the pink bowl with the right arm, aiming to place it in the purple bowl.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.3400right_y0.1700right_z0.0120right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6846, 1.3628, 1.0752, -0.614, -0.5884, -0.6357, 0.1071, 0.0113, 1.0664, 0.8356, -0.738, 0.0433, -0.2066, 0.9962] state[eef_state]: left_x=0.337 left_y=-0.1439 left_z=0.1883 left_yaw=0.1284 left_pitch=-0.1397 left_roll=0.001 left_gripper=0.1071 right_x=0.2843 right_y=-0.0009 right_z=0.1424 right_yaw=0.082 right_pitch=-0.4094 right_roll=-0.15 right_gripper=0.9962 state[joint_eff]: [-0.3077, -5.2308, 8.6769, 1.1844, -0.5348, -0.0415, -0.0122, -0.1026, -2.8513, 6.8308, 1.2772, -0.0024, -0.0415, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.34,"right_y":0.17,"right_z":0.012,"right_gripper":1},"note":"The white bowl did not come with the gripper and has slid to the far left edge, so that grip was not secure. I’ll park the left arm and try a low outside grip on the pink bowl with the right arm, aiming to place it in the purple bowl."})
tool
executing move_to over 15 steps (1.5s)
step 321
assistant
agent noteThe right gripper is down at table height beside the pink bowl, with its tapered wall in the open jaw gap. I’ll close and check for a firm stop on the bowl.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1543, 0.934, 0.765, -0.5804, -0.2508, -0.2584, 0.9966, 0.6121, 1.7172, 0.8146, -0.2371, 0.3397, 0.2852, 0.9969] state[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.178 left_yaw=0.1777 left_pitch=-0.1496 left_roll=-0.0049 left_gripper=0.9966 right_x=0.3233 right_y=0.1594 right_z=0.0032 right_yaw=0.1045 right_pitch=-0.4763 right_roll=-0.1812 right_gripper=0.9969 state[joint_eff]: [0.2667, -2.3043, 6.8034, 1.6923, -0.022, 0.1441, -0.0611, 0.2803, -6.5162, 7.2, 0.9744, 0.315, 0.0659, -0.3394] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is down at table height beside the pink bowl, with its tapered wall in the open jaw gap. I’ll close and check for a firm stop on the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteThe right jaws also closed empty, just behind and to one side of the pink bowl. I’ll reopen and move a few centimeters toward its near rim before another low grip.
move_to
right_gripper1.0000right_x0.3550right_y0.1390right_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1547, 0.939, 0.7605, -0.5873, -0.2371, -0.2546, 0.9973, 0.6132, 1.7317, 0.8188, -0.2367, 0.3328, 0.279, 0.0082] state[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1731 left_yaw=0.1647 left_pitch=-0.1681 left_roll=-0.0058 left_gripper=0.9973 right_x=0.3227 right_y=0.1609 right_z=-0.0008 right_yaw=0.1125 right_pitch=-0.4886 right_roll=-0.1839 right_gripper=0.0082 state[joint_eff]: [-0.0479, -2.3726, 7.241, 1.6288, -0.2466, -0.0757, 0.0562, -0.4581, -8.4718, 4.9573, 1.033, 0.2418, -0.0024, 0.5495] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.355,"right_y":0.139,"right_z":0.005},"note":"The right jaws also closed empty, just behind and to one side of the pink bowl. I’ll reopen and move a few centimeters toward its near rim before another low grip."})
tool
executing move_to over 10 steps (1.0s)
step 341
assistant
agent noteThe new view puts the gripper inside the pink bowl rather than on its wall. I’ll slide sideways toward the bowl’s near-left edge so one jaw remains outside when it closes.
move_to
right_y0.1750right_z0.0070
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1543, 0.9424, 0.7605, -0.5907, -0.2359, -0.2581, 0.9974, 0.4992, 1.7462, 0.8593, -0.2348, 0.2863, 0.1715, 0.9955] state[eef_state]: left_x=0.2933 left_y=-0.0002 left_z=0.1716 left_yaw=0.1663 left_pitch=-0.1749 left_roll=-0.007 left_gripper=0.9974 right_x=0.3482 right_y=0.1371 right_z=0.0043 right_yaw=0.1093 right_pitch=-0.4927 right_roll=-0.1874 right_gripper=0.9955 state[joint_eff]: [-0.1026, -2.1812, 7.1453, 1.5556, -0.1148, -0.0073, -0.0073, -0.4308, -6.2701, 7.5145, 1.072, 0.1392, 0.0611, -0.0464] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.175,"right_z":0.007},"note":"The new view puts the gripper inside the pink bowl rather than on its wall. I’ll slide sideways toward the bowl’s near-left edge so one jaw remains outside when it closes."})
tool
executing move_to over 4 steps (0.4s)
step 345
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1547, 0.9424, 0.7605, -0.5911, -0.2359, -0.2584, 0.9974, 0.5976, 1.7996, 0.9325, -0.281, 0.3069, 0.2333, 0.9961] state[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.1715 left_yaw=0.1662 left_pitch=-0.1752 left_roll=-0.0071 left_gripper=0.9974 right_x=0.3438 right_y=0.1737 right_z=0.0038 right_yaw=0.1468 right_pitch=-0.5028 right_roll=-0.1847 right_gripper=0.9961 state[joint_eff]: [-0.0479, -2.1265, 6.8991, 1.5409, -0.1392, -0.022, -0.0171, -0.1983, -7.3641, 7.1726, 0.9744, 0.3639, 0.1197, 0.0513] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 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 · 7.735 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]: [-0.0196, 0.7948, 0.6048, -0.3813, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6025, -0.3782, -0.0154, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.7753, -0.0269, 0.2369, -0.0611, -0.335, -1.306, 10.1402, 1.9267, -0.0757, 0.188, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0c9e2130b6b564010dbd07449acd4935c96bc35faf57133ba5015d33cd04c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27302c6abca7d04e34112f5b384e2fdde2940cabe7dae49e68c5fedb12a95acb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69355311931ece2c8117dec493b051445fabae8893e5469276301a75247e0e0",
      "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 1 attempt 0 · /responses · status 200 · 7.375 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtC9tBAgdfqF6hhOO1R4NvrbinqFxLzgzXQJKTtsKkoYS6-e8-gmmAUBVI7_3-6xJqg7Gr4lV0Yvh9n2PGnfU9EJm3Vuh5tNyajdct1BUsBmoaUlAts7EuBBWBQ8SPeuBL_LHu9Kn9ZsoBjjr5o89pdcZpgNj0xRwhgYwoUPLkg4NqwddADhg6P8gFMf8FXoZly3C6yvZ_HkHr4zomVcUEdYaFEY8gn5ywj_rqAVfltbmFr-Hz9pNCzqO4ABnsCubUt5Crf9qUAbM3dImPywB1h-OyisC5lAsNKkgYi38MOGUVda8YsFnoTyxKITxsboZDzrgxy-oBgZgiSPSfqGv4XNoamcH-DCdFp94VcCaxPPXH6FTKgD72pZ91bnUTxbVHftqlpdMBN9qMT-1w2gta7VtJ8H8fDMi408qdl6WtzzCwTWmfHn3wP5EjOAIUX-_-EA4C1u9oBIWbTFBqTd64qKVPsF4TQh9_VOt1R-2ubxBjZC759UCwZ7PLrERYSSFYjdXHIFZEQkV5I_wGLhqtRVte986fjqBaQJ3wL2M65qis8RbbUFuoI1bY17kGo17YThL_iqjmeNxm04EGFhBQuJhj11E2W__QKti6FU9M-ZyJ67UwGDSfQayp2mkhcKbb8bbOHau4ZKmpatyGlWPsCaIBSLhjwi_xc6dTYUt8a-8TAHHfGp6nnG4JUFjjzMRIwTkXOtq0-T9xQClRcu4wImk1_HlRb1QcUtwlU_u2PN0HcfmFGrfXRddgPlPSJQrieAUqnCedWMwgO_AQhJ5KenTGcjCL11FY9zd2F6mu1aKJgXHt7kPxkKBw10wFgrfzhg4F9XxTMEwT_z1zkoAMzYxwrEFEZIt-jIctOwVmYqy_dwW3S3qLSTyRYSzwsMHVE5m9OtQMYsB-a5P7SeP__lj82QOxoH1JY-wJ2T05pS8AWl7a4YKPtQsYLd6InXxiKEzGqAsAm7d96N-eNpablUz7Ica4q4MABzKS0Qyrin3OSMDuIw9CaE-0JUE5XznxZgjFIN3gQuEZdpyvtYEb0LaO08Mg6wKt_fv0J2rjTPqvKi3xIUJUB04qYbpFlE8t-eAuZ7mjz0-axoNpcUqPuRnb_EWdZm0WvjfT0oeAkSoaeLteYHLb16U27ehfPaBVHtrL5QR6ygxM2uZhAZ06PGmwX5HtkUQ48UkZHfIKUYZS1UKy-DrzhSXINep7lclSevyVpftSfN-M3xFZVDXUotF6CIJHyrv78WD0Hjkun6XlZ-HKk2w9xFwnrwuKbbvvt54NSBBRSVWsGJq0NJijbzh8gFAredQOgY4zWhjBJr8G30xB6lCS_TIbBDOTP2D-AkTikVzwO8MMQUankG51kKEI0BHDdFvgyCOz3Bvf9bR3YN6z6yIjZAi8qQa1_ZU4FqzTYcrgBpyYjza2nMTGLlCfBZn7WD9yCbYkvs1V0AcPrgDGjEftz7OCMIIMMfHKUrhP35JfX7EKyu_8rCmgPeYnD__zBXsX03_GS_XjLEptsAbhoIk3zeZecObfgyp0BE1O9qxZvhykSjjY4HzsdxDGrQZZ5aYir9VG8WMXgIPTocoAQrCOXauqVUiESMD2nusG5vtOrv8vg8WZ9AiG3D8ClOjxeE1H-6uAgrRs4U6pior9KvoXq5Mb9TNQ6ijhe7GOtnfXGJbyyg8iPJcnK7OQx9s_azlYg2n_5dgds7k8CVM7c1aLH1Ugd3zEjAwslMKS-snPpjnj82huZEz0wtqcPfxCdQCcyXeANVCzK53gfOPRTeVLLRpgIzhXdK4fU1jvCnueGyalsDoa6K7WrKQV0JErN7t3xD1dR89Tf0iJjHQPVXf9rELR8Vzu9otXsmcOhsbK9JXHVa1-NhWy7V9Ivyxn6XJYJLjFy9pDBstweBsBeu9d-oO6unhKQNvBWlad7U6ImndL8rf7sN2WdS8WHb1Dm_-YjtAEZxFdqab974sQHPlmSBdC2UsKJ0P7r7oIf_WZpsWOi_mMJQ0NGJ4NQdc2ll9doSzqZHCdmOX1o8TbpNI08is5DKIAVjdiTTUoC8nENgI1zkVOtdhSwrbqScOACL1Kr14ct5UiUSLbAG6wn7HqXZzqSNZ2wCJwc_txPly3GqQKcs23volSpSqoueLvuEkgVcis1USn7llweKnQiuRDkZjqBbpfWvSPeoAMnZrP5HfgkrhEdQhdyjUviD-ISq7OdX6z7_UtzI72U5P63LVeRBgupIKnQpZTf5zjgHPX1bUl7LYNryWBmZT6dD_FHZsOC2r6ZX-Q5TY3iQ44AWOWD46WeFTPeOnWv4IiwaCn95qvYBBGglbM_64xzet98YqIE7-wSDuO4reZa0bw558_LYaW8vhDD09GXZ36m2HkEgZGrQOaLTKCUDmHliKwrkFNP36uQdppBOgFA_vQrwImhlRqZtSWOyFpE9GzwsRuthmZ8kcg227cFZpy7YExEcfH8QGvHy90p-WBjVzD_OzRLHCDT1xiJwNTYpP_9Bano41QTyVFNbcAUQ3nV27M0nlJQh1JgyMp8DVoyB2cZMhWezn1IEDu25eASeMz7F19LjZwjo8mi5RiXaqJGvyfifmtyL08mkJEpYS0BFt-YKF7ZXjz1xwWTN3VFd-ifDQU-0to6LkUBR39m46R6zzzN3QewT2PNL36Ys_qkXU-6TL3YPoC5oficyHtfldOHknO-z0RRrMBXevaCOVCyrM6sFgWgyDMOa67kezJko_EY4ZEVVysLAcxuo4m55_ZC8XPmbvpgVX1MdsE1y543MKk8bsIhvSjyP5KIR_xljD3ondNltK1ZCOM5j6wRUOrUeGtQjywdfP7FO8jNMIZOzph6lVy3o1HfDQNOzFmUZl03-W_2gNw4oDI8z0eIfZj0TRTxD9DJbsXB7UeQ_DXUjnNkXitB032upyQxk-9dSesEZBKEIBt_XMSyNBNJ9UGvmtPlETrr5gM9fpz609wpew3vlta5ubKbJXuHkojEMJrPEb5YC-r4PAyeKnkK1cxb-5uW2BwJoGiz2Jxq9UhIsYug0A8ecs2TgE1j1j6xF0JZ_vzUJaHzHfrcJZDcqkAenz7XuWMcJUfv9G2mge9mUAobP7XDVOTAwN9eLQ2ze6LgE58Ok5hFdTuvvTYiXAzWlsZh4MlcSoKBiL5s0VraaAXaDaFUtFa4GeehGdGB-XC6L3_mWadr0bGJ6GEPkY4UT6xVznGpXWA6cohrkIUuvmAN8ra6mqgZnOnr6dmPIosrhgr3x5oOP-zqLmf7kwujYy4MCEnyz_crenWfBqGptZhJbYVWwBXcrK6tFxSHBm_HQqm0K5M509N_lL2cNpOcxaKKjMMWIHYuIH4w2tphX6QVmGUABHjEPjjukB7qKaTicXBnJydCvYAcRDyiHvsXuyrSLK5G131HqT8Fhu9Trb2fLef0eocWJKjh8wwOBdb9MuXthejGX1wWLWkiAH3q96-EoUmR0kXIUMFzngCN4vnUkYPkiY9evOXTQc61w2Yu2nm9c7ZMAOBMoJyRn3ANkKhsTsMHa9KlX1S0PpVQeueBw0om70ltx7FpwA1E7hgluV1V46xnwMpzpmKvmfWrswSj9At4AKzE3xMVVueW3wr4w68i_gvCvmWca2R4N5BrH3svy7hcO7ZRnrIJbXUpyzxjZ92L3z1vITG6ntB3K0-JaM9vIEvBm5rCqMPqiABGassXZ4kmib9BEY3gsbGHSrL8-CaP_G-g0O-U1RtrGFhE_P9hU84dicdJl0dtxV_9jaYshEQqyik1cAJoxt",
  "id": "rs_00d2a26f00dd3bec016ab42f669d0487d0b2fc0bd0d913b4d7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC9tWlklIsKXMMUrcWBWJyFXb-8G7FQdb4dt5bOVORgcvfprqfWUFm2cmfMFAjR6zZr1q8sOPMpGAgNG5WdUzaE5kqyqFlRBlWGX9MhjEiWxfzDFasaOJARYll-w-IaOBHQfSmQRUr6hXkk6EWU7wX9FFQvVil9PuBrO9VhkfkAIyT7ylE0EgzgqGYj4GEPjTlDvxpzNQeKfVI6um3FNkY8R6ahKvsb5OYAfVaYQbqXcxg7rAgZsbDYNwfs_7TFUp4ZzZpqnjJELTnfguV8jYZ1hNa-oxakZH59VnhuBX1wzTKmMwOnIRi9NzOrjZ_gEqpGHkUHIeWUj3KT2DcJzg81ueqS1u1Uv1QpwIuLLbICAKkKPGRkMfR_WRPUSLMscGvEZF2rR0UHyug9mpy_91Ix_5lvdohXoWYnlGjfK6tSKxl8U9dPTz9j0yNoXK5R3iDTQJLwxQjf0OpzIyMITxGVVCBkNp8wUzLIvG5X3_a4VX7em1DHPkeGWRYrswomrDSRJARbi0S795esUlZ-Gy4Df15gkz5m2e3F8xTOtgIc9a2iE0iUxSW6_f1sNzHXP0jfPSxdhVHNB-GytGqlXqxXwAoG_-Eu-j5WAF8ow6pmeS8JQrUepcdWzzEMPjelaQH1bk9_OwVWk-JyoJMDnJCsJLQTrHcggTJZ6grft0DllwrXfkciw_seY3qJWJi2tamqA68KShia3W37D__maUd1jvLhhGZnbVYfNHwNH3GrWxOZQFoZJmMrHZsWhJskxwc410B42g5NtFx-zWVpc3YDmfg6bcrrBKiriyM8nuYnEVxaRdq-4x97lb9HbF8K1VLdm0UtJH_UDyvJKqUVEhPYOn59EjiLBW_b3Z5Yp0iwXer_hFTCr0GptINUcC61I4UcG3ZB2fO4wb7wphhs2o6nZcfS0p9eULt-v_F8QZBVb3uyjEix5-8r4zTAkISY62vGB7P0gM0AwJvK81w6cXxu6Ox_6hwnSV9KZ1ARptAxN8lu9V3F64NYAfQAl82FD2s8XVxRl3koHLBEpRkUo58-FkuwQRYBXoZQpf8zJ9fnZQYFGVLjQ3od6MvsTmAP4phVoHxVa4vHkU2m48oliGwLPykEZYHZO_khybDRJBWm8my21xmUtJ1E5nCf7whU2QOh4ximGLsnSGfVXAypEIaDAkkPqlQpbjtzvVmfRIamqU1vSQv8rMZSaEy2j7IW_u2J264VJQb3cH-hY4bNeTbNBg4tE-r5lVdts_GyM4258Zqe0kPRRNWVzAPtgV10rEXcB7YX1BfUPmLjOX7OFyO8QcGeLH76GoeyGqDz1_eyDr3pm6Qt08XE6Qj0UaP2jyDUl4ffDsd78wAKMGd86z7cIYtWiqYt9rJG8bbg-mPpkRRMevuktX25ZECD7cC9WgyK7xoVpePTiDuqA06gVH_39aZ4UFGTT-w7XhvXHTzW_gqkds6SpGFjEXvobxpdL4ZF0aV0udadR_M9BQs8h7xVqRv6PflEkKCb_5dyGL2W8E-QtDn8QK5qnFehVEVJ5TjW4ONQ-HkhcbVRxts7cI7q3kPzx2PmllMZbOk-chomlFYRMQyfck9s_iapyiHY4LZFfoscGBRX42IU7wGbQrCMHqvpEW3Rnz9XmYnUjpPeiiXu8EBRag1HcX8Qu7hL-2Ws8NZQYjuOZA9tJ6bgKr0TbqRs5XscYd8C_91kNw4PwrDGOivUzbC1s-lS2c7YoL-gxH3kyEdQ1XNXEW01d6dhZiFTPCuFE47D6UCZBxRA5YwM=",
  "id": "rs_00d2a26f00dd3bec016ab42f6b514887d08714d328c358fe5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.135,\"right_z\":0.16},\"note\":\"Three upright bowls are spread across the table. I’ll bring the right gripper above the rightmost bowl’s rim to line up a careful lift, leaving the middle bowl as the base of the stack.\"}",
  "call_id": "call_MvE4g6Sf0u7T7HPVlQOpnSKV",
  "id": "fc_00d2a26f00dd3bec016ab42f6c8b0887d08348d38c6c92946b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MvE4g6Sf0u7T7HPVlQOpnSKV",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4461, 1.507, 0.9104, -0.0982, 0.3401, 0.2005, 0.9969]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9995 right_x=0.404 right_y=0.1319 right_z=0.1361 right_yaw=0.0434 right_pitch=-0.0801 right_roll=-0.0378 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.5111, 6.8718, 1.7656, -0.0415, 0.0269, -0.0171, 0.2256, -7.2957, 9.2103, 1.8535, 0.3883, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988af06a6409c1782c54baab6226364815632a22a770c7fcc0f5a7bad4895e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00171b4612be29126c283f1156d32696821da07b1b26729506328502fc122cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7b3fbedc49ec4d3703c3a793fb3ed769b0bc0929f122f559a354e623b679ba",
      "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 2 attempt 0 · /responses · status 200 · 7.594 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3813, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6025, -0.3782, -0.0154, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.7753, -0.0269, 0.2369, -0.0611, -0.335, -1.306, 10.1402, 1.9267, -0.0757, 0.188, -0.315]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4461, 1.507, 0.9104, -0.0982, 0.3401, 0.2005, 0.9969]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9995 right_x=0.404 right_y=0.1319 right_z=0.1361 right_yaw=0.0434 right_pitch=-0.0801 right_roll=-0.0378 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.5111, 6.8718, 1.7656, -0.0415, 0.0269, -0.0171, 0.2256, -7.2957, 9.2103, 1.8535, 0.3883, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988af06a6409c1782c54baab6226364815632a22a770c7fcc0f5a7bad4895e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00171b4612be29126c283f1156d32696821da07b1b26729506328502fc122cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7b3fbedc49ec4d3703c3a793fb3ed769b0bc0929f122f559a354e623b679ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC91x5lB3qmbTbZ4OBR0YWi_OfnT0g85j35bjhJuOCg5mDUoak06vA-aB2NWvBiM6Kf0pOBykMlPAlAudOVY2LVHZ1r9JMTIwDpCQQQvc5KWmW1zuDblqSclRs7_I3sGhGi87YIWBbS2K_6jA6GExOA_-57Uvl1MoG-4S_fONl8JdtbW9skgLmDbt8B-K2jXRW2w7psD7FiM2m-B5Tnj_lt1BqIz1uU1NLUxoltn8IOcuXPQfWyXVaDZVEJaqUtQAk5SfUXJ_fHfBMyiusvOT9VLIGNfyR0WzL3djOPzy69WKn0NHp_odnh7gXsuuvJKTKAu7xuL-eUb9ySeq0LaqFRLWL1mVzOtijdqIr2Fe_UFBR8rcrER9a7MiyJ1aixvbmFN4CfQNJptneynXcCLpLaU2vgQj7RcR9_7OHRr8NV2ziu6KsPWhs3_YrwJo5lDxnOsG5yzezoLSrtpnCrsUGZwwzIMTVz_w-2Mcvj9lraoIyQeGS05EpbO8sJJmQJkIhkKt95EXJs_Ts6HCRPhubzcUWF5l0rZn6QIpC7XGA6SMahmugzvLt7eYRO2D2hOT3oQqEFPUD_uHOKsSfyWSStqrk5y3OmgoT6UAEeil6fX-cd7xdPqY0IYqavkcTBtbHckZlF1lXzRutelFQtYXMC7LlZvunIH6rz1_K1uq6hEYiKPb7bLCUUNdl3iy9BGFjTz4p0wKoZIUGC5eewq5azab0ScVCqXDao6D--TZjMCIrwxLA8ooonXTPhYaXYIsFa-dBEQpREceVk5gG7KRX3olaawqYXPeCgbdtotq8REsTm4mhCAgDaisQ4mS9obfIEzsSe8o3QcXh7Pr5M8q-Aml9w676_tmN6D2UplNC4FSVh-5gJJJLvpFR56ixIbyu5F55o9PyD2suT0IbEwDGW23aMqyM6F_G6GNFgleszDN2LnxlqmJ-6mbvJj1YoVZN_MUInosuM7uu6mL3SXH6_RvjQfnzoJ3bryHN_SPBcyE4W1bnspYc3ZxS4GU8atk2zGKSGWWOjaqFjfvnPy5nTaJgLH4jLUT9WfLNWL55JjS7d00GvF-E1fMvAh36RAgoiwH1-nWYT9IwYMTXYWYxeLLI64SbaqbapDQJMqderzA-ROj-DsP9MroAx8u7t_j0ExE3suA9MyVhPehFbAl8-4VIvmvBy3UlFDtfFaQagS6GT9_NHkNABxjemy1JFa3m899fA2qtUCbX65ZWfFBRjRNycKiH3-Hz3dLyoaYruS5jm6iQPq0orFXrSTB8zxsbuB800Rs138RtfJUT56fRuKFPuKwZfHUrdh2TngJ-w-0I_4tNffY6eS8awbg7TL-dXo-BuOpA4MiKWbmjqvQFrEsQ5cjFhZJ2Qh2YuKFR7rl3_1gWhOZU6BZK6bYDx7NMxo-BV_D-pnUkqy1OBa2ThQ_U7UjbDs5zuU19rKaXU5KOuAIqO3bTp5ssSFZZl1PbHPr59HOXPQzvA8ccV49Sjxmg0WbPST5Ei2-Pax8sMv5i9fDOCptS4S6-0HHggYPeuEaNcEnN2aDozleDVbGgpvRWhga_0mRpMtCDlHo8Iiic87JET3Ck9xmTKZO5FUTA3oMb9pecGQ5EfNYtKuHh9PWKzo1H9cU-cLqhA0eNwBztAw8tNemUwG4QMoppiZ_wUxRzYb69VoD9T37cM6pzhOYB5PIjEdRngLeaSz8_iYIoIXaA6P61ydCJ0OWsyES8gTX8phrDe41gmCAws2bTPOondroFKBqVXR8jSP9d6mIiC1IE7u0tuWQquDTzPEY_YItiksm6QdlqBid0X3MfmwVfGAaA7q8F8MDeJcAp3unQP-7CoiV7vLH-CfnZPb5OksH4RPpu8t08P3f6b0vNIFkppu1VyOY99wIXOskTFL68SKVzeKNgkFC2j9JnPY9cCDS3UtBCd3nrwkRSxyFWiCNmLlNiOey21hdDBhpgMPo2Git-E2e9zWeQmZmvCG-q60Xkic-zplhq4Hc4HoEmkvutbrxeQOXWOgS35WLsjqYuXkw7nn5F6oLrS1SpwKK_HVfLPJbxog8pFgci-6YZDUSHz4xWvqr1syTMkkdbb_rgYN4yrtHnOCG__oDcfXqbEer7wwyS8dxhh1bXY6SClS1LLZZzGCAYHm77s3tSGxLIZd-oQ-u6BqPxuQ_OqUDZrzFk5cOmO7Kj5HllAFlGCifZoRMp7duXN3baEM2t5KVSm8NaJ0pxeNsRhzFcTUr_AYDs3osVhKbYHKhzCmhCFRwYhpd21JwPMxAiFKg64zn9RRUjw6vTc0NR14qbyc_VbYBwdcLwkNWs06spwMq-0iG7sAIPgU5POn7Vm6gXTvvRVOf2oIClpWNtwrW4zUKEU47I1JvqD5VYe0NmkE0eFDhFX6vzVX1E39OZ8n-BsV6Lw3r08G6dmvyxTzvZXVBSX3fjDRoSp0fGBc8Rdvb2iy33QEHYl8jCFZuiOhTvC0xM_VdArYY042OcmBNET78O9OsqQPwo2-e9WNhL7h1yqXMfYDQSK6OV_QQiF17l2i7NjEa1d25uakMF0jnAdXXK9LN5osJpldhMx9qZAzrkXNAIJQqrE7pEQ6l-2oGWWDDEBcXJ1dL6YEHHufjxo2ohhJs2A3k6e--LDkuri2GpxZH-PWJLEDBjjdBGBByghrwBhxxwSxjwxsUrINT0fh86xcV-b308kwxBSCsJAdpEeE5GFOliBn5g3m5tx_hhP_2x1NjP57bgHqnCDLOg-fyAHU9vtcF0NlURgXdxh-s2an6XGN1sxhXx-83PuL3-J8VaxR1fRVIFPeC7LE5zTsURQw8YcDqFp-iodvrH1_mYp8-LQyWZZwRLoIcFNLlc4SMNXw-S-fDgKnh82u7LsCcsZ8bHdkI-ttBN0ZqUhiRPQS-g0MVS3gx8CBm2HjuxnVxqEjU7Y6LkmtR3GNyh3o4eeXQ5Pu82sy7oE0wjd_FxmnUqal8BE5oJ_M8ZpnYam9uI-AICwYEkO2HfibCVkZUhaAAMgqeYQcG_S7Eoxy7RAkys0ldeBgThw_t00Axk_CPJby-A6dO6zAVlK_3NGvfUUVPIAfhE03-wiCHu5MkIwTFxvtT_HEqlcfygc0ps-l-O7kHGYHoqkoRivOqffYwhLJ9P1WbNovSu3E5KEOlZzI0msJ6FPGt7HZBgu7OwS0ikGsxW4f4-viObOxY2798gZ-HgTyIc1p_2xE1lM9rQthHQZw-XBl-F8VCQ-I-4BscbBGrsUTcmpabQamU4zaTD67xFUTY5smnK8hC0LXj1MJvrtlDUwq_Y03Y5qutIskxb1Ry0eJJu2lUa1kpTNfkY1Wg_BA9Rk5_KssNQsVBSbCTzuZ-sfooBvge3OJGFxXfaa5h-AWIupvDKzm3gfvP5vwzDeqp85AqNURvKOKF9jjsRKAP4suhu2hKjg3g1UeS6et25LFobWrgnBDN2YgFJnK7odSYwUgErAV1hamfxZzs1h9__XbDh4E_PTIbgLvSCeo1MhoiU_9uUSZT4tRHuhpGM7hPIw8Eopfvh5K7nWBy5kbz4WD0hDjyk_hjajclxX3F2xgd_D41hva6AF5NjNHkjJcK8pWynEom3WUTCIs2zI35JlYyiCppTMpKJjXqRQmdUwwI4Nn8NRo5CWAC-6Mr0zaJg8mreSOSdJ0_MM5qmNS02C-0dW8uOq6vr_RGsqnFXKpbVpBq5oG43gDCu8SHj8raOwaI5KigPEIgVFdTgDLupjyJPWgwAFTROWegD9YBePzgptV-zXq0b8XBSQdIEWNiocFFXhscQeUskQueS7qZXydtyDNdm0xWUEXaBRdMuPoCgdocGiFWfPGI37nzbZKL4DbealHNCMGolvXM4gG3A_bSXbMR1qabCqH3z4ed4cDM1u9_zWUCFLTEEBZVQenVyBQQb8L5CPU4vmwqw==",
  "id": "rs_00d2a26f00dd3bec016ab42f6f279887d09bc505c3045865cb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC9193xuMagvEIfXgY0GFtZa5Zq_9PZPCEqkjTb5FFms2mE29Mj81DFKETZybsHflMyeiNbNbQ9x8izXY6Z_jn6FP77bTMYTse4IVAEGSzn_13rEBfki06bjiN6IXCfime_iP1XNp6KtxYPgq5mmDFeh7k9IOasrIhUprp2vCxmZG5frfCUJvwwr6wMr9MtOzr79bKYuFqC9fVg69pwGLUqK9Q-BZsuUFcdao0pz3boKyrokdPz_eMNmvb_Z_coCdoddSH2Ztbyh0EXpeWawZ_qKQ0WKrR6gj-BVXWQNomNaVExfVBIA8zO9sN5Z8w7Q5RJxHrWBusD36Ygubdd6LibTaVsmCz6mpCmKINNNNwIBFfbzZIDJwQPrEW9jyw4yqUZ5NbFwtXv00-GELIPbyrw4J90s08dHIO2sZYilKwPZZyIJ2J04sQbHWLJ48SZ5OBCK8GA2ab6YOY7igSslcd0rxcunUdKZE2X___KlF1I9y_ZeSHYnB8BWVxrE_V6SeHs412TZY4Z88JMVVvfxNgsrGpXiwc5ZbkL5Gs41lVpsan0MEZnknKHoJNA6RMvQhyPJGMYKJEHcB_xYOK3G3e43D7HAEHS-LSG5Z9P0KEYhYSlKESt0SQ5Vu88l7pu2KgQOWZBieEfZKhKitVXEW68g9qGK3vKJrR11TMO9u3x9Z4hoa7CXjGskRHgb82vO2JpqZ_i15YxGcai2tPEG6Kr7LqYyUJ4dc5g2aLZyr2GkuPyzJN-AUxO5JQvJLkeScKCehOa-YXx2R3s2OXpDGxVNnbcHmp00sme3Fh6nDu2N_YJ-nKe8o3OSM91eIbPjdHofO6EqS4JNvvGRtTP7xV19mFMrli-iW0LkuvKc_7U54lhM6XQJMClvCnBqzNvfqXvSbQwMcRUYSMLG38UctzYcuimuA2sXVVfupt5ris8JjpDBAAfUMuifj_68tWydlOCPtx07au4Li24xg3gdNWGBn4s5l6HZDjEs01TbFP9iwu2VO9xInqgDTX1bGT1hIdej3x5kj1O2jZ_W-alg0sRAVhne0HC18_3yzdgUr7t8rdDrDZMiTpE7SETy2IngiawiJbe0Gtlrp7B7uvNDcRrSNclRMbMAGc1yhk1UsMaFZJtp9nmt-6zzipEhtlItMBI2N_RAuEl0HwXwBHGdaCas7NVF45EahY6X1_wtz35f4J_P_6z0SKZhiSafvAvUgp47TPul18DarVQ_oNfknnx6B0zyFrUUytCngDuckE-qX3_bGkuNx6Ja_JAJvhnFH-OpLu7_Qq-Iju_Rb5BFJeYmfexpSr5M_u7JFiPk9OgZvMgS0CZwuozSOrUBKV-I4Go3sMOlgsROlrbH1hEiAyyZHelMW3M4btcjPiYyaIna1HLi9JODrrvtqgU8h1FcN-cDQsd78WMy0yJvpke0iBCvIp-s0Mv2cLouQmfkknI23g0=",
  "id": "rs_00d2a26f00dd3bec016ab42f742b6087d096e5c166dccbbaff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.168,\"right_z\":0.115},\"note\":\"The right bowl is centered in the wrist view, while the gripper is still high over it. I’ll shift toward one side of its lip and lower partway so the jaws can pinch the rim rather than squeeze across the whole bowl.\"}",
  "call_id": "call_mqXfYFIUHSSBqbimQnRLfNhi",
  "id": "fc_00d2a26f00dd3bec016ab42f74e79087d0ae6988c1263bd6ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mqXfYFIUHSSBqbimQnRLfNhi",
  "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]: [-0.0196, 0.8036, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.4976, 1.6978, 0.9817, -0.0704, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4182 right_y=0.1601 right_z=0.0919 right_yaw=0.0635 right_pitch=-0.1572 right_roll=-0.0754 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.5932, 7.2137, 1.6972, -0.0659, -0.0708, -0.0122, 0.2393, -9.1145, 9.5658, 1.8779, 0.232, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd34d32c7f78294b3519dd1de9867c15d39ed1db2c5206be0f874d2d4159f7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a977b44c549197912e59394afca373f4fb285c0b353808cd99bd194f4e8465bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75de95191b95cb4349e1a4025d728015b506ef027a307fb8a3cdb803d6e76d9",
      "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 3 attempt 0 · /responses · status 200 · 3.027 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4461, 1.507, 0.9104, -0.0982, 0.3401, 0.2005, 0.9969]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9995 right_x=0.404 right_y=0.1319 right_z=0.1361 right_yaw=0.0434 right_pitch=-0.0801 right_roll=-0.0378 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.5111, 6.8718, 1.7656, -0.0415, 0.0269, -0.0171, 0.2256, -7.2957, 9.2103, 1.8535, 0.3883, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.4976, 1.6978, 0.9817, -0.0704, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4182 right_y=0.1601 right_z=0.0919 right_yaw=0.0635 right_pitch=-0.1572 right_roll=-0.0754 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.5932, 7.2137, 1.6972, -0.0659, -0.0708, -0.0122, 0.2393, -9.1145, 9.5658, 1.8779, 0.232, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd34d32c7f78294b3519dd1de9867c15d39ed1db2c5206be0f874d2d4159f7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a977b44c549197912e59394afca373f4fb285c0b353808cd99bd194f4e8465bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75de95191b95cb4349e1a4025d728015b506ef027a307fb8a3cdb803d6e76d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC99gE5V-0eczxHYV9eoplsyqyg7ezrYmvaSm-sZuuQWANilDejHdMnhTPSZMjuG91ztik98h5Ed5mnTsGb8e1QbujxR4I-_O89yl994FrhxSxK8JadmUWew2C5yKMNrRNG6D6nbCGgmL5-5iWZgcs9HtDhetvwR1gU9sfP5bx8RZxpQ1AMq0RYI4VUVhexyH-9_crJTj8SK-3Qb9u1fVmVgpkLrw2Q_WOJqd0oFrsC25dUk4STI3LKdY82R1ydpiubWGXfFpoEJgMBRqp9TLRK9GHwmLxLvEPevt_q44iqNJS3FXOj61EavYNO9ZTRtvoaHGnNOPO4vHdtaE1MlmpEHLElzZtFxb9XzgXgI5wpxSJZ0Ul3ocmF-qBzbCf6_50hmCRzHxwBmwcTFZonVaxVctsS2jBAEMW_5qxetyGbbFVFn6GAAukyumPW7jTB7WmpF15jtj4Lsa6uW_j3WKFhz2QySmjOqu9NpnDYsvJA_TZmL067sgRV348GIOQfoBl2-UETex6wEADeXmEmpsiptZNXlD4_-0IlySGeweN3pVCapDcg87kMjE5T9lrcQrXQJh6_cnlhC0h1vUagopM_zkKHyleLW5XMD1imTO-jsNYFiSyz_zGODFszG3YKq8yTujTr969ZMbdC21pIZIBFlnvm5bvpNOQJiryIhGT7M38u6tAi_UxlKKX0BLMLl6UTKede_yTUkDL_aGMQos750jqYL-y3ksLYuAPPwPATdX4LWzSiJevpqziLHamjYzID4QqxB18A-VGa2foo6AKVIN757Rw8c6TLY5UI65_H90ExrZ-xMifZMXjlsxafVb_46bKCrQ7oEFHpuOMcMzicvMIReRRUKt1wB6YwDIHctV-w9WVP0IHCeNgzlH2uC6vZlQABG6wFjKEWCIoM7jc9I-1ZOSDrJKT4bXOdZOzwukg1eg37QuPD4K8XQ5bSJMPXCP13yRVwRAFj5HljbQESEqwFM-BKY4KISn6TgWOMeU6zWRj0UFt9r4bia-ZnrZQwaoK10dYINNbm3mbpAbtHCm4Z94jHq05-9jnWrRr8UE-UsCKYJahdb5Qnql5tfxSMGyp4RbTqsXcZmJvc7FIEQyKFX-nIKe3PUCZ3ui8nOyKsnWcX66fiQpm_QvbXaSChSVZg-oClI1fzftMlgXq8S4Jdw2oz_fn-D4B8Z4ea_3_sybVWYjJ6oxmVwGZsoVz8BSvjfuVFFA-SmZCzigRsFWe80divrIQutK09QHQTVdKmBPgqfCHQd0ao10n9u5vmfsdaJRZbhADqA7lemUqnPjOGQIMy-MocB6-qgnPZiLldkz9OPmueGgYpRz1boiCmfpSEHotA_Od7eVvx4guge_k9QG7kg6lzQ6DTT5Eb954dkW8-guq3LmQ5fyPnfv909IBtGvAHVAecnpDVNjIaZUsZwqFUTZQ6BoyVGpcqDBix6ukrv_cqaRrQ7JoF4XIWTd7fNkUmvl9MAHUIcZgudm9EURvjM1wtnG0C82Kbyz4Ni5r90XhRM-PZ2tEKARJoAvi8ljmIzi0HsHTSyNjVTSh8S5STTWIGXsRJx49Th3_41l0ZC41Ibvpctmz0ylqP7JenKUkq6p678rRBCbFWu0LKd93Hhe8kf8ZD-__95dl6xcT5t55koJipc3jCZJLqRmZcrMWbjBxopyLmA_-kZ_NJWTzhU6R6gvvkgqLsbtGlACFRL56uGO6xB33yCikeNpun04teRi2s2HWpfQoML67m2L0ek6upbv0Aievwlx2eFqgLCmrwaOMFat9HBIZ7VYzdU1FTMrYXnoUGbe5gl25nYkfcqGWqvY79QBOT5nKxG1CgqYQAckjzrFFrT9UtVuWl3jCd_5TZlGDDleB02IMA8f0KEuqxlR-Ol3RvY7CpJwXnCojNFYnur0mrZv9z0gecpAngX9CTA8EGuX6WdJdd7Qit_6W2xP7LS7sSWmqOeHcM8spL4Y93k2SC4Z7CM5TsEAyMKnKJRBgnUSeBNwtw3fedMSe3du6keONsNrE2L4_J-OzkwMv3g3n0dVdT_0XW8wQTiWwj0j8YKt69UUrd2842h9pF56vquZTQMJ29_ol1ErXRAd2WiW3e4GNOng7P1M0OR4giQZUX3NDa8xjpJawYjS_0sswj7hHYV7YmAS8S_3zq_L_LjVeX5U8FfWJz4g0x-UZ-ZsNM1icwAZTyvrBj6nOXCjL-2mh-YZo-WYq6uKTU_7-C8xj783Z2YLGC1lZUjTbTQBsL1LIIaPz-dGN-URNJVuDq6tOGMnW39b4MynqhU4U7EeTrsP7P-Acoj1Se2hrrb_HU1vg8Ywx5Rla66MLLE0sWAhRfPidbuY08HK7kUhzooA-0Xt_P1sVjPWEywjAynCrqAVHg2H46xm65gCIcE3LYNdi_9Fu-BvPlcDnTJ9c_FzizZXhmvM_Mz5lmDd84pYMpwUmyukh-hW_sxUk1smc1TShLRPYZcwGwJ24OsLqJmOwR4xUUmzunZfhhJ1Q8bRv63G2fYiPYyHnRYDM1i_5KJs7j3dqmtcMjrIn4MpQ7mBAtdblrrLkihqzoPgo6eUSlccapchGIgSrEqGQano8ES8Ztgx3kZwtmMB258A79j3m0RMN0ePx9sXeb1Gv6fx1g23MSlKx1TS9Z80IHMAB7KIB3-D2d4-B-yJHAG9Nb3MkzTu7Alrkg5jxCZ1DLQ4FUC0E2VdWIn0tlmY30aL_shYQj2y8JWrED-OKjjHUNAFrvSNi-XzlrSnxUcZm4EmYdzZo0C1ljarF_YaheiCewL4Mj9jW0EWtM1rgVws4bJdufmh_4lz5FnBF7yf0yyq665h7yxxRkE-5onp2mTjel_7meE_ECzqVSPEng2w03_pIGUJZMwweVZgzVeumFUTt3aA95hdIfYwNHiQ2vsqzJ9-hqHAghM2271ihi7ktwHAd3uarCaiQZj5ZgGBHtTX2WDevtezg==",
  "id": "rs_00d2a26f00dd3bec016ab42f77173887d08ba60e4eb96016df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.198,\"right_z\":0.079},\"note\":\"The bowl’s left lip is visible beside the jaws, and the gripper is still above rim height. I’ll move a little farther toward that lip and lower to a plausible gripping height.\"}",
  "call_id": "call_pOOyuY0P9wDQslPVIz1MT9WT",
  "id": "fc_00d2a26f00dd3bec016ab42f7c0e8c87d09188a2b23d8f3bae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pOOyuY0P9wDQslPVIz1MT9WT",
  "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]: [-0.0196, 0.8043, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.5037, 1.7168, 0.9985, -0.07, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4211 right_y=0.1648 right_z=0.0904 right_yaw=0.0695 right_pitch=-0.159 right_roll=-0.0762 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.347, 7.2547, 1.7411, -0.0415, -0.0366, -0.0122, -0.253, -9.1419, 9.0872, 1.8779, 0.3297, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ab1d3c6917bc63ab987cbffc00a3fd3c6b111ef7cc6b99fc950e6d0a63a653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32992505d25507b0b21325e3249eeed44ea5c989a90562ecc37da8cc2ce45842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b51c34b70943d0844b54a4759c57da2d5320ddcb5623aae099df2aed2890e32",
      "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 · 4.522 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3813, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6025, -0.3782, -0.0154, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.7753, -0.0269, 0.2369, -0.0611, -0.335, -1.306, 10.1402, 1.9267, -0.0757, 0.188, -0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.4976, 1.6978, 0.9817, -0.0704, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4182 right_y=0.1601 right_z=0.0919 right_yaw=0.0635 right_pitch=-0.1572 right_roll=-0.0754 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.5932, 7.2137, 1.6972, -0.0659, -0.0708, -0.0122, 0.2393, -9.1145, 9.5658, 1.8779, 0.232, 0.1685, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.5037, 1.7168, 0.9985, -0.07, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4211 right_y=0.1648 right_z=0.0904 right_yaw=0.0695 right_pitch=-0.159 right_roll=-0.0762 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.347, 7.2547, 1.7411, -0.0415, -0.0366, -0.0122, -0.253, -9.1419, 9.0872, 1.8779, 0.3297, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ab1d3c6917bc63ab987cbffc00a3fd3c6b111ef7cc6b99fc950e6d0a63a653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32992505d25507b0b21325e3249eeed44ea5c989a90562ecc37da8cc2ce45842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b51c34b70943d0844b54a4759c57da2d5320ddcb5623aae099df2aed2890e32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-BgG52dchjnb2YTqO0-3ILSKbXB9pQe77g75KwtqGE9zzOb1OPFDzziy-bdOvW9hytt8TnbNj8L3GMDUFBLtOo0EuDAmgUT62RCaQanDn41oRnUUIoTSsuvMpe6E3_RkuKPnoXF-VsMwuLyHxlok7-QRojHgx5aX7UaniTEyS8QvAxOaNTErgrUNX_Z8zR-NjFhGRaqjO0p2x65Hy70kYayhmSEImAFh5nMfMVWdGXrVxQ9AA1yUt9HtYyNx7s0dxXir0MG8aogHnl4BKSHYRgJZNOks1tIoi7yH2OuOd52-HRUtWHNRQQINHu5XU1n5mHo7SMDLAECD--mUscznF8PrBCDTGbuJ1yHiVBul0WWxA8g0BU8A73YoS3t9OD3DDmYr9_x5TblfdHx1auVumrUG3ILZ5t94LodHn-wYviT_9kYSG6eyW8xHD3DKKbo9coHL6ZDuSL26lIOLzEs-WtTxyPcjxDKwpubeEfkctQY_QPwf3S18jb3BRPPg90-mpDiEZUdJTCXsQ1oIZrJkrlHZ_3unF4boS2iq9tsW4Aae6ITrsLXol63F0nLFtM1HjefKgV4ltpdbkku37xKhT5r1ViKOUHTCGquvgnnIggkv1kxI8f96xo6DL7txCPDMih41VH1ZeJmTkLzF-KwKyKbDKK7fCEXE2UDj_-p2x36ojCBYzFuOsvBrFomKlWKE3ljb_ztkuTybyOq57OsXd0XxAqPOMBaTGoXk5o5UR1WzkEBcgmNi3gh-2I5cRIwLW4Dq8F8m9QHLImM_YaMKSEDiDOEmRIdouC0Ff2ZRuDLP1O3mdl2TfY2paoqYi-2UTMDsfKv6-RSv2MIw7MdFsZP8skpMQGA9T4hycxfdiF6UF_XE-WTmNyFCYCh-swkgThfACQbRSArVLrkvtvUePjUHQB2-12OwzkkfQP-AvEbr_WGfVfxz_q3l1b6h-P_7uf1LMyMc7nUXz1bsjTXReSV8bakif2Iti1nTZbJsaxZRohq3FlmTZ8HUyVQoQO8gYhojSD3Z7eIDhP90OYGeb67tZ6cJE4RdxPClb0Rt-pgMxQDSSH8E9a9StUFbTq4wmvosWNBFF9kjKG2NL-1EI_u9NMhr1IroODzikqZ-A1Zc-NSLpDc59653FFDBRXqa2M4FQn2p0iTGDNYfhARkEJJTJqufM5xpN0PrxjRNUjQjO9yA-eTMNSFiAPzCkdiqX4uiHCvtUiGUzYaKX4qj6nHuNM96x4fvqFcqit0vx0Kw82JcwH63IiQEJmYo4zyGAEWgXFlLxjiVhzhVz9RwESYNYoEXLDXgkYuxuepzbUnsDxgd8w7rj_UphQZVBqYy5rSLh4-cC2uObem-pJSUv4I_we0SMiW0gBh9qRqBW7c_eczNhRxYILSRq283DrarJsLUNGjjv1w6u8l4oelMJtqDdoJQ_gVyLsKldJzBbLwRr9YXJ5jc6WUjSYRcZIrD3S_kjH20qb3bvPrPEI5hRJQ4A8OzQUVTBrhjBddGvWBuXDgXeXHSMkqfU5gnLrVnmR89UCF7amahfMcs6Ecqzx2LIV4JD-vb4SGZV-4WpqkznZ7m3vOMat4vWVV6QhbGH_gMdI2mlC-6ffFU11n6tjcXhGyOX7t4tcWeWJvRxuRFlRfEW5azueMftwTT8KYDbef_NraDI1ss-gdMTcgiQ-u4a-g2qcYTV8HzTcjhAcLyFSE_VwD8RNlqLHcsbtRFolu6_oqywRCEKzzWDSdrT26QevH8R2MV5GbwY6LBqcFAnRlP-NapX2DusybT3bp_c97XEasHYnwgH02Z6ubn3iK7LvDgqAvZq2XNv88BH_ff8MnobIhY91Yp35E0HqfBX7wx1etOEximJPl-p4OIKd0X1l941Lcg14P7EHwOx44x0=",
  "id": "rs_00d2a26f00dd3bec016ab42f7efb1487d0afd3f006c1235896",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The last approach barely advanced, suggesting the open fingers may already be against the bowl’s side. I’ll close at this position and check whether the rim is actually held.\"}",
  "call_id": "call_Si4bi3GXrabzEWaqZWZDs7Zc",
  "id": "fc_00d2a26f00dd3bec016ab42f80429487d0bb56a02ddc404145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Si4bi3GXrabzEWaqZWZDs7Zc",
  "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]: [-0.0196, 0.8051, 0.6067, -0.3931, -0.0227, -0.0425, 0.9995, 0.5037, 1.7168, 0.9985, -0.0772, 0.358, 0.2127, 0.0086]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4199 right_y=0.1648 right_z=0.089 right_yaw=0.0748 right_pitch=-0.1669 right_roll=-0.0805 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7411, -0.0122, -0.0708, -0.0122, -0.0889, -8.294, 6.5846, 1.6239, 0.2076, 0.0171, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3756f42d4b9b37c312d77e65785757f629a117aa875a12b98da1d862702ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b62b58b23466dd095385b9b0dd5c29eaae7dc1a9413035d0c71ec94030d15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff65f3ad86353e89b20522f0481a2dc3b3cb4cfde0cf1b8c9dde174989f94e6",
      "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 5 attempt 0 · /responses · status 200 · 6.341 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4461, 1.507, 0.9104, -0.0982, 0.3401, 0.2005, 0.9969]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9995 right_x=0.404 right_y=0.1319 right_z=0.1361 right_yaw=0.0434 right_pitch=-0.0801 right_roll=-0.0378 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.5111, 6.8718, 1.7656, -0.0415, 0.0269, -0.0171, 0.2256, -7.2957, 9.2103, 1.8535, 0.3883, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.5037, 1.7168, 0.9985, -0.07, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4211 right_y=0.1648 right_z=0.0904 right_yaw=0.0695 right_pitch=-0.159 right_roll=-0.0762 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.347, 7.2547, 1.7411, -0.0415, -0.0366, -0.0122, -0.253, -9.1419, 9.0872, 1.8779, 0.3297, 0.1783, -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 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.3931, -0.0227, -0.0425, 0.9995, 0.5037, 1.7168, 0.9985, -0.0772, 0.358, 0.2127, 0.0086]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4199 right_y=0.1648 right_z=0.089 right_yaw=0.0748 right_pitch=-0.1669 right_roll=-0.0805 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7411, -0.0122, -0.0708, -0.0122, -0.0889, -8.294, 6.5846, 1.6239, 0.2076, 0.0171, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3756f42d4b9b37c312d77e65785757f629a117aa875a12b98da1d862702ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b62b58b23466dd095385b9b0dd5c29eaae7dc1a9413035d0c71ec94030d15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff65f3ad86353e89b20522f0481a2dc3b3cb4cfde0cf1b8c9dde174989f94e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-GhNjiPJMuYATPx48xyUWnbUSr9XYQittN894IviVhO4UD3mGIUfuzqj9G_GMq39YZt2BEIm2-xvk1Qi0srdvkJDttBIeUT3VYfO_IaTE3Lm_4DfZjE_hNkJk7VV1JRsrbK0HNHEZCw5lHFso5hhqsQk5RkktzTBKRw9idBBmXqybwi3DCDxRtXZRQP6xZrCy96HkO1TNOhgA-HE63DEZmlvnYJc8FDWKsd7RKGI6bP8vmvHhK1QV2y7ozebfzDvzCED_Lx5269GqUdT396Ur45FigYtH4UhgWNzojdeD_hCyRX9h3a4qf5FaC6XV5aBUcC7IwF3kJ3Ozpx8C3IgL-Y2UmZTnQjVEWZmN8iSI7uE_l4FEVkmLrf9KKWgMzqHIB68wQh73ZjL6B4KuIeMivZvjyNiia67JYjn5GN6FHAhOHprWxrijsLx5dfYfUjEdtLMjGYa51EG0E-ZTaohx1B2zsctTvekQT1dMgqFLbfI1cXLxM6SG1DKOeXlx09La_gojik2jlxNUIdDktn2z7W_k1TTpV7iEReWwoEFRd6pMS5Or9slPLRQ41VctYz8OCM-YrWN_KHnrvD0x6Ifc4scqjQLpnI0mg1-hYdojtJtwKVl61g8Ac7uFRkB2OOavKOOxQognLz85keV9-rLqMDUDQeqOMItlqVSTMFDipD59UzmpJ-0g2wK-IV6DlvcvoPeQ3SxXMKUx87ooYavoUK8I02QjAPm50i45Z34QBEIraHNFOA39cqguDB5C3V8bR8rE4PpyJAfPNsDO-gdUfOxYV-er5SOupR5qvmnD-zpMtIRawhlZLFrOJb4a0MeNwR2j_Ry1MAEGosZ-WTgv19rTiq5UDqAb8ah0__yIBcn0oEGusM4wrAMMFLsQD0wswG99PrZz3OZPTO4aur5ZD_evyw5IpZkaLWmOs1nFfholnMKIRzA2zR-iwrCvkn5hEP45ST0MR66RraJeZf-2TLdsGv8fE6csQfKZ_VPlPortW3qAB2mg_FzDnL7QE-FUWr4XR-W0t5Rj0uMdqd4Yq0QhLk7igIiFTtpkttm9ftidpGpTgvr6ft_wwOrZK-OouPvwMGbXDMab_vh6wvzfGauJCzo-nfXwqvMq4mI3_SGaaQS5sXHh3iyZhUED0FT-d9DDZq2T_DC9sWWwW5e62C5daUPX0MUilP8MsaFvrRKCOqKmUfOc27l4h3cRNtvamCZz3J_SdMRPlh4RtBP071qWvl1uKeNSyz1AknpZBcYW0apzVRfIDY3S5De-ClpLHl3p2ldHXlkJiHJWgC8oIS57DiojunKcGBKlrnQR_sY3enMmGL7fPfFWftSYJUUeUWmnL4nfKAe_iSgbZfbmhhU1EVDa3gEc6-YRE6cev8poaBIj1FZ4a8IkQrffkuPleyDZ32mdSdcRul7zIEqtlIUtgXOxa4aZ-KqwK7mrBctG3G3cerB18rQc6F79TxGlk7ri5IQQNg5jhJiy9uRM0D7GcC0N4QCsupr-95vGInC8I8UILk1Pjpf82C9ktlry22lJEYPj8M37a79VUwgBPmkX3Cfr0ZC_VjM9Hsz-Zzx9OrLRhWx28Zhf6RER8ex7-ehLPUBCle8wm7V27vOf_E2E7qRCw0pZvoNJGVD8_73cYYpLaRi1haIX3pilacPDkjeCMMcWSHiwHv-NlKLmF7oYvlJRRnIOeoy9Ipd43iPCog45rZkzbsVK8AlOqXa0CgKP5_OktdEUc5xjFdIAsfhHpTsdZ_twipIsgCP6OHAtOhjCI8yBrEAae2WWmpjA7RXaZeQ7giDdZZiK7tJYqTlfqbMdoU2nO_2073n8Qzeox80WYgJu_rNYBJ-Sumzi0OyrNGRuxPk_zV60FKl4I9YBfFP5qvyvS7W1Bm3GGWzGCOTJOrUF_3xwIbC-CARVHO0a8pHi37RMRQxRUZqAKw2SX3y8QQ3oWr6vhqO3cOmAEyZYuLnvUyDPFBuXOXfL_GJ4X7GvnVtP0rt82aIUW3Sq2BnUHbJ6RVhf_ZKGPmq-x0IDkdF6u-fvHRLEIeqOUXFqh1jF4IUS9BjNjRLlSr2dPkFuyCJtRK_L_XGkAgKFKCWKGf5IZTOqUxF4TabeOV1QN9wQa5wPTOxqpiz5qmno2YKSOfd9RR4LI0IXpuhUdTvuwFp6mtzuT32lA7ct0vRwDlCqdKWd1BeQnl70jBxzKtHW2wyJJYbBjyhuPI5givdGfaImskg8k-u0MmDvVi-6X_9bzxPrZ3mNiY_Ypddin_XWfUtOWn2PFrbT-OKY=",
  "id": "rs_00d2a26f00dd3bec016ab42f83980487d0a91dab1ef848bd90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.17,\"right_y\":0.20,\"right_x\":0.43},\"note\":\"The gripper closed nearly all the way, so it missed the bowl. I’ll reopen and lift clear before shifting sideways to center a single section of the rim between the fingers.\"}",
  "call_id": "call_8jMrRikhZCQ3VaozXoMipNIi",
  "id": "fc_00d2a26f00dd3bec016ab42f85af7887d0a3bcbc597a3881f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8jMrRikhZCQ3VaozXoMipNIi",
  "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]: [-0.0196, 0.8051, 0.6067, -0.4053, -0.0227, -0.0429, 0.9995, 0.5735, 1.7191, 1.3041, -0.421, 0.3859, 0.2447, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.173 left_yaw=0.001 left_pitch=-0.0324 left_roll=-0.0009 left_gripper=0.9995 right_x=0.424 right_y=0.199 right_z=0.1559 right_yaw=0.1015 right_pitch=-0.1929 right_roll=-0.0931 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8486, -0.0855, -0.0659, -0.0122, 0.1162, -8.1162, 9.5795, 1.4725, 0.3443, 0.188, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167bf795d09edad57a08ed55977d1a0294c4cf47ea3db893c122826501b8c665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ba36e7e9fdd499054bdbd2addcada562e3355707c95bc59db065586c6684ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5dbff04427a6434142c89b140941f0ce60fc8082b7d2c70cc3f6219298ec6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.022 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.4976, 1.6978, 0.9817, -0.0704, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4182 right_y=0.1601 right_z=0.0919 right_yaw=0.0635 right_pitch=-0.1572 right_roll=-0.0754 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.5932, 7.2137, 1.6972, -0.0659, -0.0708, -0.0122, 0.2393, -9.1145, 9.5658, 1.8779, 0.232, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.3931, -0.0227, -0.0425, 0.9995, 0.5037, 1.7168, 0.9985, -0.0772, 0.358, 0.2127, 0.0086]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4199 right_y=0.1648 right_z=0.089 right_yaw=0.0748 right_pitch=-0.1669 right_roll=-0.0805 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7411, -0.0122, -0.0708, -0.0122, -0.0889, -8.294, 6.5846, 1.6239, 0.2076, 0.0171, 0.6227]\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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.4053, -0.0227, -0.0429, 0.9995, 0.5735, 1.7191, 1.3041, -0.421, 0.3859, 0.2447, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.173 left_yaw=0.001 left_pitch=-0.0324 left_roll=-0.0009 left_gripper=0.9995 right_x=0.424 right_y=0.199 right_z=0.1559 right_yaw=0.1015 right_pitch=-0.1929 right_roll=-0.0931 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8486, -0.0855, -0.0659, -0.0122, 0.1162, -8.1162, 9.5795, 1.4725, 0.3443, 0.188, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167bf795d09edad57a08ed55977d1a0294c4cf47ea3db893c122826501b8c665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ba36e7e9fdd499054bdbd2addcada562e3355707c95bc59db065586c6684ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5dbff04427a6434142c89b140941f0ce60fc8082b7d2c70cc3f6219298ec6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-NY7_TxAPXfb7gsxjgx5a7tYUyRvto9tqISkLvWsfWT55U30W9VR_9b9jacXy9QzmqcKiPUHxZTqjxquOgjRevdkLHwcl96RW55yG7jRC8qVVDmpPhGBQtD88TI6KdPvzrJtn-ZXC7hYjtjKmuDXlhvvGUofma_lDjlqP7o6JVu9UIqcqxYQWbnoKgDdbNnaTpbF_T3mP_LhOXNpQVMdq3zP-sGytosWTt7K-UaCJczSOKDLMUk35ekZoTerQPgTK9WELKFSFidflNME7peWnZRKKjnQnc4eWW7AK3A8Zm1VwjcaKQPFJyoUaOh8f0pxKjIlmz0slQFWRoK19fv27JyVuB2irr0-x_iKCf4womhEzNDHvC12FIzSIEGrM9Cpiw7cyQxNAzSdIc0bjgQr9FVVT0tHNw08jL6zkfCI9OHu8fXu_eJsaMwcys9keoRTni0ePF-sVgtEa6_jBaExZDbjNqZwTQwnEbjjimMlywS6tTjKSZyrHzk2fkXLQHXiTs_QEMrcPCZE8iaKUb9cuKTjmQYHvyIUX8BWCXPmCnoEGCb5zBAhh9XudQN26NA-VUcoJQW-Sl__5xQ2eSMQ-JUaYw2SMgDdXvrecCJEDS3S-Uen3QQKdy7SEYypaB6ZooO4f8psDTu5lhbklnJfVbIVAL7UPxhnOBNl9GHtOOQyJuHczIvuSR-9QEfOyHb8LOatD_d8u33iZbTctst2WlwUpFBjJTH7LTr6eEHwOgYYLC6rpFL0uhpd-akqQ6RKyU5PuspH-1WM27ayipKcT3El1wy0SAC-v4n39Zyc8h26kyBDlbUDTkuJ42LWPm4wxu-W-kYpqcjoGfwtJPdQaMicNGe58ei3HrpNa8C0l0UI5VC-IGwyVQv7HPo4Op-Zs8WyjYj2ICCKGFy2oza3rCCSVRP4kUP5OxFF5KcdUF7iZ3rzFMhH33rQ_N2pME8Iv5uvBGlij1kyR65qr5q8Bp3QMfBOKWaEXQ6i2kvz8mCLBr2bAG3uP-sduT2cLVdLRjVlmmNXtjYQEx7DnQmNtaOLtkimzjTmT6Ei02eowd4Fi18B-lnNSUeQ6ea8lJPhizxUcDF-KKhyWhO5cPA3iniB4dfIUCnLDsYlFoiSMgBMoC6hFU10XsKb88WD1K8Dk9D7xDfEiXf7Vrm0HGj615mLPgmZlPd46TBg8lDd-r0sttIGkG4br1PCqXHxeFzc0VSfn8_RMPCtasOpTxlSyqZlvBTD_-pMGqVmmNkOHNP3DnuBwhgIzFUUIu7NWK7EUEaukrevtOPFMA3FWT9JRVKn6kyHNd8-yyd4YA1vqJ2UCT4dpzMzXFaYSvHO1Fm-7yG18p2p4Je9cY8LtLlTgfFSVVbPoT8g4X8cjex4cS2EzcZR6PjzzQSKlFpzTgZQucLjQuzl6F4YdE4ulhxxan4T4LrKVEM_s1HfsuLJjLoSKXchOYmZjKV0yEA-B8ux7jKCRVVuYVusiv8MqfKKqfr5yFyagGt4qhfuclkiGIaQwddKtVFhNaemtw-8oXujKgiQMNJK3eJxaWpBjn4-OWsFpRiBnF5K7jp1hO38Cx6kOhEnPL-gFdDs1oi9nI5fFm6p9qmZY_Ns6MH0g1FLn1oLN9Bsi78DCgSCk6nWphRGSNnihui7TYVeC628e8j0m7IwVIkIajhQCVt_DpwqWEYaOhXFFIxPIkL1ZTQT4QBdHr9rVtChVe1kFUKymvS_pp-VfDb7tsrsGfvDQ4WUoZTsJP_wXjEDA2OGqnEPfNCDh33OeSCTL8xnaEGoYKXHCV3uDmuXfnmud2AtCP7lOLFF94_ogXp46MXP8_JA9hUsnahAiJ4Kr1OBfFI8thZ_1Zj8XKxX6QWEtQdAc-vt3VMfpjKp_ftoSomyyCXGDbowsCz6tvbPQn5FWjWKEk1h_lnPqc_vX6pJQJQiyfvHVURCUcqnLN_PV6UzsBHG6E7xjWvSt_cJFOD3y_kiKrXSyWZA96XFGeExvQ3hHw9-oLvhjimzFSk9P_bi7d0-VBpLNt4x4ZifbrNjJhvnm7oqs34iOWpZYnwpJ1JevdS83I0RciWRoPJ0sRvggLITMgvJXfBMgdBRrZkaDX_LFPXD0h5m72nfLdaHUwBcD_EWhd6USWLT6nSrNozhUTdaju8qaqYWOOT7XpgfYYBo0a4rc6l26khT8cE5oASEuWcNDceUBcPAokKjYoj6-Obd2QHMVDxe3poWq-EN4UEiigKfxZCgOHYDVCbgYRUxVqH1l9Xl92GdzO_QwXnZ2CzrUFPiR9v-QiDk5Y6FfsBgMbZHKqTuEyk5v0c4yHU7tZew1ph4EBDmmpKB7Xr-JHxiamIf1SpMqxug7rExt5kQiUdNIVZ5l3PTEagr2GKgdbKja3XcZh52Xm6r5uwL7Ojrvxs3B3HoUfvm23QCVGGodVinWR4152Ldhr1nA1nMJvFtAx5A==",
  "id": "rs_00d2a26f00dd3bec016ab42f88660087d08120cf98647efdcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.093},\"note\":\"After reopening, the pink bowl sits between the open fingers with its rim near one jaw. I’ll lower vertically toward the lip without changing the lateral alignment.\"}",
  "call_id": "call_3oAUJywGeS5x2moOoOQ2iIy8",
  "id": "fc_00d2a26f00dd3bec016ab42f8ce1c887d08c0e322c9019866f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3oAUJywGeS5x2moOoOQ2iIy8",
  "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]: [-0.0196, 0.8082, 0.6067, -0.408, -0.0227, -0.0456, 0.9995, 0.5743, 1.7847, 1.132, -0.2539, 0.3805, 0.2432, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9995 right_x=0.4127 right_y=0.1932 right_z=0.0847 right_yaw=0.1 right_pitch=-0.2577 right_roll=-0.1235 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.1453, 1.746, -0.0562, -0.0366, -0.0122, -0.0752, -8.7863, 7.0906, 1.5751, 0.2222, -0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b6ae1eadb18844cf8993b90548b63957a507a6e896e6ba7d37dc0887d65ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cc2a4459c7088934910c83b8c92c617db68f8d5dc6dade1975990970c7f735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69547533c28a80c75c365c09554ea4c9553c0e7a64ac993488cae202cfd671f8",
      "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 · 7.802 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6067, -0.3893, -0.0227, -0.0422, 0.9995, 0.5037, 1.7168, 0.9985, -0.07, 0.3618, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4211 right_y=0.1648 right_z=0.0904 right_yaw=0.0695 right_pitch=-0.159 right_roll=-0.0762 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.347, 7.2547, 1.7411, -0.0415, -0.0366, -0.0122, -0.253, -9.1419, 9.0872, 1.8779, 0.3297, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.4053, -0.0227, -0.0429, 0.9995, 0.5735, 1.7191, 1.3041, -0.421, 0.3859, 0.2447, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.173 left_yaw=0.001 left_pitch=-0.0324 left_roll=-0.0009 left_gripper=0.9995 right_x=0.424 right_y=0.199 right_z=0.1559 right_yaw=0.1015 right_pitch=-0.1929 right_roll=-0.0931 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8486, -0.0855, -0.0659, -0.0122, 0.1162, -8.1162, 9.5795, 1.4725, 0.3443, 0.188, -0.1099]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6067, -0.408, -0.0227, -0.0456, 0.9995, 0.5743, 1.7847, 1.132, -0.2539, 0.3805, 0.2432, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9995 right_x=0.4127 right_y=0.1932 right_z=0.0847 right_yaw=0.1 right_pitch=-0.2577 right_roll=-0.1235 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.1453, 1.746, -0.0562, -0.0366, -0.0122, -0.0752, -8.7863, 7.0906, 1.5751, 0.2222, -0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b6ae1eadb18844cf8993b90548b63957a507a6e896e6ba7d37dc0887d65ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cc2a4459c7088934910c83b8c92c617db68f8d5dc6dade1975990970c7f735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69547533c28a80c75c365c09554ea4c9553c0e7a64ac993488cae202cfd671f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-RQ9mA4Z3c5rBjOPDVEM_KrqGeJGpOkNswa31UE7YokYH2Zgys7BUBQE2ofdCZFPxv9LVcY5F-WH8B96BybC5w9VBqWYVZmN_c5YikyMwl31LWphf7qu08i0nougVwZQKta0Qddz6ekpJLKb4McRhfYMKCHUNoPM5P6fxfEgnV7ToZoMSDt5-EdWiT3gn8mkexR248VaNTrt0Ts2p4Z3EGx9SwRnlGoabyIEhmAtxwXGYLQxBZDnX3kcdWnrMGwq6W2iaCbEJhjTRLQR4Rpddyzo7x-rsn7xONtKe4bVTUxO7NNEDo7dwkEbtedn3enQZRmVR0t6iBc52J0bWtFy8SClHuChoviZ61KiIATDNtMtEUcC_Mkz8laPMaBncjbaYp8aPi_LHgv5TeX0aow1JJJH1q7Q2pUgx8jTpGLzvsAoximehOfNpxTMbklUtEsDUbsrKgCNoUirIr51WpV8GqezS-SOILBEu0Nt27NiYYQZGn3su-g61WkYYZOvf4JNlKC1r5OZmlm2_Son9AqffjEkFgS7FcafUy-3uUMA8To0im2ElZshVywQPtVbFj-POHRIZa0X3Jru2CuI1T5UCMyb5UCf10JbMU--mvIoEsmt47Q4b2V6ADJHUJr3nf1687-5jsr012BeHQkypX-5EyegHBrjedDddRati9XyAvapRApQMGH4ncLDkrRUWo3h1c7qPOT4BNnS4J1ozoFP7SLAcmCklC1USysp-xZniecYczd1Wow5PaVCPac-9NmhmhxLjohuXbouV-YxG8ue4CmNjRXWB7IylJXI33CpnQRyfSzD1d1wjMkyY7fl0hpe5vast7dQtbu3K2C-nuG5iZnb1hfbo-Ue-G_qg01npRl26QvD_RLxkREQCEnRd47hkk1osoEmFlgTwjdiU2nYCbv7668CdpGHevRdoh91siDQx7GdxNOr0K8RyxC7OYyzxb91Fjp__xTTDV834gApO9eYiWlcVRokUCPC6TnmakBfc8m3NUVZSWSWdgwnMZeQH5NEY95oMcJdCaHJ1ix8yjxyEZeb5Nf_e-IGUDnO3xlPhVzGUt_vnlgPGeAjSbuk8knAwv_eJLiInHvgjccrXPJOPMZm5l2BoOHnODpKj7bQD8wAM201dCN_PXAf2T5AKbKd4x4UK7sLnzu5MItT_JD6uXGPpjw1p80_464Zp-AmGAoLY1hC9yCeG1ViC7xYf81PacewqUYRtGXlnt2moDUY4bIzgrURJq0MnXA8ce05j9bH3UUW97sA-h_CrlaF5AgJ8sKNIWoJvoUoMUca7qx1xLYp8fW4n1Hy-X7rBEP-40JSP1rZ4daye9LsloDfPXyiuuEq6TlWqH6QnZLVnBkI5ySGRPaGEYkE0AmbtWnjC5gzxqokgzzY_ghTWulg3WWdmHkvMrcV_5b3V1xG-brD0p-CPmPaTSg9qECHqpBaWVES7A-alqtuvBWMpM3jjB9fM9MMNPKetaQTw9QYfdrOqxaN1pyJ0d-qhMoZbWjhh1flnRSDBR-Z2VWplq0OGLhwmPak1MI5QhSrNJjgCRYkzZSB0LeeahjJPZEnL4v6IZ1AtQxNmbCRfSMOa0ZZBM7f_8a2WNk07YSeJk6gF9HBalbkuDC6U0Xf7LePzNa4B_wn5ROngbcrvE9VNPMKQd_ZNsDXimcsu0fxeKhFTh0HSuqhsegQsmVKz1ml3plDoA0b6VCSMuM4OqwbctWrDWNKIe9zQOA5D_JIkoHYN2Ozq4VI0cwUuPgPLEQAxtY6bsB6FV0UGKD0dyiLuIDHElcXbGIe9Kt_Ori8qMwo2RAeQk3nzFk1V9QWKi97KE1PPVQhWdNfuKTp32MEd9jfEyICHAP0RR_i4nxE7aHT3YPh3H8FtecpxE8QS1BBSd4_mzAi2Qf_9-JZBY23X-NeAnrmcj0m46CGAIdfKNPR0hI7dInn65P2jsV8JBW9NkEFI4u4mPSHuPIFl-lWfm7N4WAi6A0lBXwy3JPJpgeilZmKvCRS0L0FcqeHsb36cl3OjG__-4H53tDceAYaBqhiUgoHEo7-ffWx_p6nwjJbIUNg==",
  "id": "rs_00d2a26f00dd3bec016ab42f8f2a6c87d0a78d0bad2124b532",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper has reached bowl height with the pink rim crossing the gap between its fingers. I’ll close now and use the final jaw opening to tell whether it caught the lip.\"}",
  "call_id": "call_eHGTBSTxV9T66hUvCkbOiRPi",
  "id": "fc_00d2a26f00dd3bec016ab42f9088f087d0a6d8e3a082e0b0c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHGTBSTxV9T66hUvCkbOiRPi",
  "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]: [-0.0196, 0.8082, 0.6064, -0.408, -0.0227, -0.0494, 0.9995, 0.5739, 1.7954, 1.1217, -0.2584, 0.3775, 0.2359, 0.0089]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1714 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4091 right_y=0.1912 right_z=0.0754 right_yaw=0.1028 right_pitch=-0.2821 right_roll=-0.1383 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.3333, 7.0222, 1.7118, -0.0708, -0.0317, -0.0122, -0.2393, -9.8803, 7.0496, 1.3944, 0.1636, 0.0366, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c8848bab8979509337e066516c4080f0225776bdab42842e2fe92ba89eb9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b8bb62651f11047cbdccea8339367559d808489b1897bb1ac1d57ebf482bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677af43a4438f5ec76702a607ea32a4e9fff84a92f1d48ab30c8d7d662de41f8",
      "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 8 attempt 0 · /responses · status 200 · 5.745 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.3931, -0.0227, -0.0425, 0.9995, 0.5037, 1.7168, 0.9985, -0.0772, 0.358, 0.2127, 0.0086]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4199 right_y=0.1648 right_z=0.089 right_yaw=0.0748 right_pitch=-0.1669 right_roll=-0.0805 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7411, -0.0122, -0.0708, -0.0122, -0.0889, -8.294, 6.5846, 1.6239, 0.2076, 0.0171, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6067, -0.408, -0.0227, -0.0456, 0.9995, 0.5743, 1.7847, 1.132, -0.2539, 0.3805, 0.2432, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9995 right_x=0.4127 right_y=0.1932 right_z=0.0847 right_yaw=0.1 right_pitch=-0.2577 right_roll=-0.1235 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.1453, 1.746, -0.0562, -0.0366, -0.0122, -0.0752, -8.7863, 7.0906, 1.5751, 0.2222, -0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6064, -0.408, -0.0227, -0.0494, 0.9995, 0.5739, 1.7954, 1.1217, -0.2584, 0.3775, 0.2359, 0.0089]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1714 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4091 right_y=0.1912 right_z=0.0754 right_yaw=0.1028 right_pitch=-0.2821 right_roll=-0.1383 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.3333, 7.0222, 1.7118, -0.0708, -0.0317, -0.0122, -0.2393, -9.8803, 7.0496, 1.3944, 0.1636, 0.0366, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c8848bab8979509337e066516c4080f0225776bdab42842e2fe92ba89eb9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b8bb62651f11047cbdccea8339367559d808489b1897bb1ac1d57ebf482bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677af43a4438f5ec76702a607ea32a4e9fff84a92f1d48ab30c8d7d662de41f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-ZCz-CkTb5WuvoEmHkeUbqS_SUaqNSLkln7VGi_GZz5nejVb5AWfWCBZZ06gv9HNFriAheo35GbM4150EnH0_e3iyq3P193sgoOYqEhfwm5muritZ7Ma4Lz9HE18IszZliQ0nuJ2hbWFsvJCdvCAx8dC7tkmxJcyWHZy76e3lcb7bbn3oGZuShiDlgo2ftHLu_vk6rjuO15a41VGB414HuAdsGU3lnVQxRJlKBIE6LmKS017gNsSAczrDGnQQa4BxYs6zmGxwu08tK-cHJcnzbqvURwSjKO00FjMJyX-ZnZgySXsbYT_Z_ZIha5LGVvvu5AOFSoJn23aKYJQjU_Z7FNFlpofzzZem--3W8YJFVS4ZZFD6IlQF3GIx9AR-9mBoLR_S2Xw-Ta6y_wIOnfEEVd7s_KYFJIdboFJ0TY_RaaUIMzo8-nmT8S69lNqVERLqT4Y9EPYMNXPlEY4VMwJl-QSJAC0ZfvEFlA0FZQlbJtg0mtNcsiwgL8EY5HjgN_OtzsIZRIaC_rXki2QAGa1c7Ot2ZN10kHghKI6uIJhoVfbIf_ad6NlCqBiXErUi8Ks6m8lRlOqdBDszDJZ214D8fOEqmrNqbSyPt4fHJP7jzeSMsil61BRAAlmiuPim7ernFzYQUIbkLziidKQeH51xUtsnSGdYe3Fbyp50RJAwdRn-8i3QpbIr1tl8unGk-DpORjfQPo0l4DKNjj-JFvX5gXxsqM_se8STtJ8k0pWkHgf8fxquC-V98PevJxqprvLotZNoSw3qRT1u-XwjGZYWaX9oaeX4Ei_rZu96yk1fnkNW8gKB-4PGj8sj0U3i_gBU9X-f1DouozZa-eCHdJ0NKlkEQ8IUhYtK3l3bYrq1eokCaDRArdQWW-g5MNElw7Q0I_QASpdIdH1qZren3_p1FUElGA_rjWJ9KROZzk7PKA_dGVm-6Bw4rKVTlQy8QmhKVIIK9GPo1DxtpVpJGmncaBXqtQ73kv4tl3A7jTO8B2bA5FQEE4U4MRPVje9iycO2ABHBweb0hbO87E3jpz6FcUdbepAXQQH0JgPWz588sDiFqDhR1bpnijwnjYEk5uTTe3qDcPtC3GJ1ZNUzE0tnNeGgKSRUGtTSsy412l4vaZY5SDGNQwmqVYKiQtr-yh_GotFw1wPw2DbbDaWQJRP98Tjvij3za3JTlanYu_zEubxxW8gct9GOfAdSSAF_Jb5tXmlvh-z2bM5FjWa5IOLV3zHuTGKsNDSk7J3Cxe6zPZprX1AQMqL46JSHRLxe6GQaDvc8MZhdKZR0RVu1ev2xBE2T1_PECCi2soy80y628B7-YJ-N7Nz-Wv6mYyqFR6dT-qosn7ID5fOw5QHifPlaYEx2Qu2AsQ6c3Hy6yUd_XeToMDPvJTXxj_cE5oTS3EnO2ty0C9-mTJX--m4K4FCYWW9syaxxNCoM4AUk9gkZ7pMBi9juEQOv4WlXzCUWkPoyE9_Avn7g2nj5WUoXv7BiPIVZLL_4Ww1HuGykTd6TAk4Tv9wFqISxL1MXMTZtRtzIoPV7dzqK-fzGqF5LL6a82GIczs8hjvyEb9xdUlgWSXFUrMFpCmYDmasYkeYqhwkSddzKNdPX5v9wtCYaQc5vdjlFlCCJ4RHlfFmAhpz3ChxjXV7TO6MA8k01e-H6FcfU33MZ3XkvyKuv7N31TrVPTIYnSSfRAH89NSCS4YwlCgtUgna3QUP576J68CjiDyTlAlk1Vu0XJH1MTTAmNlaSZ9V73E4Hxs9Rajl7p-k_xyAf3rcK9bGYMg-eerZnDPGzbBPu8R0_kygUmas3fCGyh-gSSuSaCxloKq1t-FNzVaQrTT8gjZHLSoimdNdiuNCtcFvNUphZSYVAuNXKColFvFY-vcbHGC6lxw8rUImRXh3qWa3gZueNUAtXEnRXf-V2tWiNWvUeoPzpj77M5X5Ygis1MH9Vs5Dov5py6s88UE5F9BJXXyy4CHMDNCOxaSwmSrosQFkd6zUSAipXVAGwjHwnT3QVf1Wzb62EefOLUXoqADODXWLUJ5_L7lnJRpoPKMuuXeJkHYD-RDAcT56LSI6IB7mXYdstW5gS_k0jstcHKfqCe-PvutAAs6AkyI3AwP2lVc8HfJ3ZE1Dg8TU7Fu09rgBNwKQ4ch3ZrMyJmn_ESoYYQAM_p9VjY9pkBpq9JbHeBHnfLxiZVYGD2vmBFgJlo6NAnB-gOQmFk3ZlsL0krI5ST12EB3GUjKgKxyAgiHDZzlXQma4SU7NaE0zhqmxX7NxUZxjlxMV4sVC0h258L3U3zisB5xx9hgw0n1n-PWE-otQ85-LCL07RacMIuARx70s3AlDh6ttzUzfvTrlDOM3nUXn9Fx7yLrKrLF8kFvKdSObwHRpNN3QLyA4Lhh8c7RiAdm1lIPJc1C-YcQX4mOvUafV4scaCJn1dDJPtN1ml21mSkvmT3g1A8rxDYo4D6sDWbpzIIpN3Xz6RwhkNLTdyY29N8iTdUTgdi0nBy2I69Xr4Ud0b7WV4oHbEae0yweucXtA853eoWGg39qAQTqzCE_xxev67b4V4DXzDAsmOz095tjWhi-8gT3468q6sN8X_wg-w6GghX7YxCxotynfkI68rcHLED8JkaVkhVz4QIZ7yXBetQcBE0Rn5zIskWTk__J2KP83h8wiElEUOPJjb1tgNpkkuKJHyCsFUhLYiUNYmniX8CwNTqdp4wUfCo9KJYUYvIHH7PAtyESTulZd78Fo4WgW6VN4pc9jM_MKQ7iWdISPtZPfGmD46ECS5viJ4KKi_NyO6s5Fr_iuqWOQJPT5X6P99btLYRGWLjw6WulUs0l-1ebH6suryr3DJ5j4Z-L0xHdEIkZjIq7IG_rSjBDLzxB7w3k9-dWldvu5cegRBWT1r-1qhjgJLCK8qnhIGlE3G7X3HFGuuZc7h8tkKf0ggzYrPeit7oVO64NxwiZmFmwakV8iwGM721eUIWFrg4KdzUmjDdEZhX4854qsO5CFitIR6_3ntwCvB8GM7u3jHB_5bq7KzVwWkaiTxgYct5fnCg2Z_2EG-Gq0-tscgb59lfb95rbSeP4q9XqSnOlOGFyet7JXb-pRLYU-zg0SD6-PYKI6qz5CsXZBSjJHA5z9DjOG3cu019gkv1G9GEXEpH_NZuUIgTgC5rHw_1DBV8fV_EqCv49yRsiiHArEeUVHOZGRJZOnxpIVC91_sgvj-omX70a1NDnYkRdc4muxlL4pJ13b8GBhiw7GFIQ5EJElr6OwSa69bZKr2-GsYaSOYQySEeQrS75o7O-3hV03uQIwXPD6C6xlrvqp68XcfpUpBegKgO1c095VspkKO3m_eYpi-2GJJpxrvK9MoZbTlP4OCdGHqkvFrXdypDlz1F2ncNo5dz0NIDbxhBG3W5WJxel8h9Iqfzjb5qovwGIuxfU_OfQeGmgso8_rQSEvF0RoaeUiq9eF47nA6xgeJu_0CcqwDavwWTwzpvvT3cYPrVNpGU_w3lQmuD-oDO4a4hyJoRXTQZVQxRZh6kN-zG274S08WvvW6OILzFHGkdDLrk8OU4nGUoo2XXa4zm1cDSkkb8GUUwNsEkPwmtzXgiZ4skDOrGfz-bnNtQ5HEzGta-5VLaWH5-FWRPPCPd6DCrPvvRu6pmaMT6bfcfU9FeWSGtNpL0tFnZ6-wg-ozh986zDtM1HqG6-ZQ1jaPh5B_pa90PcbrVSapUlXdtGNpeV64euVFVEVDhjX_p04nX_GA2o6lxcJ15UbljsxvyJM1ebwN_ngqLkX2vzBTN",
  "id": "rs_00d2a26f00dd3bec016ab42f92f2ec87d0bbd8185d8d3af0b9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-ZA3L6GLIur3n3HVlz9D-m7gpbrAUaqrk2OH1uT6DZCNx263YEUrBhcgejVntp0mL1wXbfqJ3cqGBhk04sHAmahhN0i9vTcNTdw-gX-t08J2BurhUdrgRPoHAJEmA-d494WAFux_EvvHl0gWnkqBIKEUw3wEx8JZyfgiAut12JJFBqxCfP9ukziitMVUBkokMOqg3iVeQLyeE2mydT25_H0z6Id_lB-lof6nJFzM-aYzU40oPcx02JRUrW1y0fZbo9_1bp6EyharhyqhqPSlLesNICTTGBNS4E2sgvvu3kUUcOwntA2d0ytO0szOcvU1hI2GF_5f4n0eyV9FAKOWgrksrlwZLMy507hdZGptAS1PgWjq9UNGz59rp7WiYsyKqjA1F81mD1RadZIFaYlCQMt39rctnHwoE8PezLS49g7snxpkfzWwhw3mXbEkxzkSozpvUnJmQ_r4tU-dsmBCDk9Vaqfma0FL51CPmLcE1bJEY4ptJQUKNhSGHucwsLPvGBTWv7JIIN0LYLvqP5eQezC3vxqZPeTkTro52MjPV23FBMYhLj5P63GZNkBko_MdyvtFu8v1Hi8yDIw363PgaKYXnKNUqI4E7lt6s7u6_gBW_T2RdzeZKs4QMsB9NM1RUTglIl8YKA1MOUmZ-cyVoakRWZl4wQiD-makeFX57ZK1y1M7eDLws3JKnf5qvNL9ZHO-yGkpmj2izA3BZB58S5tEuJDxJb_sSEP_8O9ZOk8s58mXeN49-9NsY9XEsgP0iYsh5WMnWarpBWEZP1LOJk2wZm31L4TDdJiZ_gRZm9lChvA7QZ99_5GyHmzN9llfZbLCWWyHzvDRWL9XQ9LFrOKEINgHEh1QypArJdTPbifEOugJENh3-hnf7lnjbzrKikUm78q6OFnsSxN55bMXEXBhocuqbmRprrgeteIA5KbPF2W9MuG8q0IP2ojN2A78b83XgUi_OPM1LUJfCQtph2PElbwe8V9U01082PPunDDEtpZfZZei7RAK8VHNdqPnOGYNiZWQATDBHbOvKRdCc9ID0HBEkMk4ltojgGq6XIREThkIrsRyTRbDZKCwECWcJHRAFZ9iKc0mmjlDHLVu74ALzMs1tfMIGmCCoxT_5zFEstcQnVN4vro5_XInoEOz7sgmw_oZ_hEy4zcuzI-2xV7mtOBqkCuyOuMsD97sIsqHXEJBG0IooN7N3_fHYpRKbDnBkpC_1EtQXtMLkwVn-C5J_xFltDZWv4CrYx2ap4c7WGnwJpgkUxKEcw02rAG3yuHdI_pbdOuxLJFZzPtHjoflCMbguA7qSxON3FRDY7vsT9swznr48DpIJ_JPcCaERR8tsQfYP_bdh0oQZOXhNgG9pwpgQwyB9QWzY2uWJ1rriWxwBDf76czFCTBr-3LX6dSHx5Em1H06LwhZVMv9FHzF99aDzyediQ1pP1gx6fDd2ZhAimoVumcBUt7B6YW_0Rxf9ewbhtT8jRu6GNJvHLzJ9JrsOq5wTqT2Vnl20SPcWAbYaJwgX9QfsfOQW-YqZBQvhy5Bk2Q07FYFG9esL7Plt6Wmv2o8pENvp9zrHpEKbvoBOOTCcHm8pgc9N-l_xpXGfxPLXz3YWb1PujYmomB9KLSbIqTV7kH_SOFtYU1ectTKEZ7e2JrUpkau7EApBD847hNaAxAtv-hlmWgCAWXg0Dbkiyow9Yz95aSAioy4jNjdzjwQxoM3kLqo06tE0h6JT7hkOxIm7qvaZhN-5GTxjDg21QdMKR4X5JFy_9sORZhwoWcfIuQmPqpiBFw6nsf_yljoaYVakQPtoKQ0YzOEz6Sm2hMuzGvMHCCm_L3HQrQFAcnNKqVNoAGEMPvP5W6C73qpnLnDm7f0e5_HDkw9Q8qtTB0zFGRWAISAK5yJDavEdBerkHnuhjkWqLrUxkaZ9BVBcRRBdgG0m1WWpvDPdhbrSj-fZjzr5XmhEgJ-gctRXDR57_aXRf2ItS2zornRS3jn5y5SnYOYymjfmkurIiBfuqOxMXpSmPa-gGlUx9VP2Z_q5OUy9Yppm7hyFF_fmE3uiOH4-_VIKOc-UcEJqKmjKtJNICqO-rYF7fDfkq5MON0eFBUx1vcTnI_AbQfRyiWCQYiGnKew_KoS9Xe1qnXLLw-NK54j6R1lLtFDDpY2AsSbQHlSwSn8zqTBY1Hr6phGhqoGxEMkMlZJ1O0w_jGRRQk1rZQwURc8ro2Fuv_TKghy4F78jry8GaOuKVfKjpCWVAx_gozLyW2T7_FQ==",
  "id": "rs_00d2a26f00dd3bec016ab42f973ca087d0a5ba8d430d51f710",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.41,\"left_y\":-0.16,\"left_z\":0.16},\"note\":\"That second close was also empty, so I’m leaving the pink bowl alone for now. I’ll park the right arm and approach the left white bowl with the left arm, where the rim may be easier to reach.\"}",
  "call_id": "call_RY8lRPHtVpzZk0VFwmV35uNI",
  "id": "fc_00d2a26f00dd3bec016ab42f99308887d0b04a6e1394e6a3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RY8lRPHtVpzZk0VFwmV35uNI",
  "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]: [-0.5507, 1.5326, 0.9825, -0.1951, -0.4297, -0.3717, 0.9995, 0.0124, 1.0309, 0.8555, -0.675, 0.054, -0.1753, 0.9959]\nstate[eef_state]: left_x=0.3981 left_y=-0.1539 left_z=0.1426 left_yaw=-0.0122 left_pitch=-0.0934 left_roll=0.0165 left_gripper=0.9995 right_x=0.2987 right_y=-0.0022 right_z=0.1696 right_yaw=0.0533 right_pitch=-0.2892 right_roll=-0.1457 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -6.9265, 8.9231, 1.7802, -0.4811, -0.1099, -0.0122, -0.212, -2.906, 9.265, 1.6093, -0.2222, 0.1343, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc0b3cd00e58db8179c03cc80b74ab2c7fd69b43f522d395d92d866186ee2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1242b3e0e42a016ff29490e3b7efe45e73f73a6faf984de24dd76490d745306e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6377e7e3f9f0bb9e9d685267743b2d763d81656848fc0fc74833bba3d5248",
      "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 9 attempt 0 · /responses · status 200 · 4.448 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 37 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6067, -0.4053, -0.0227, -0.0429, 0.9995, 0.5735, 1.7191, 1.3041, -0.421, 0.3859, 0.2447, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.173 left_yaw=0.001 left_pitch=-0.0324 left_roll=-0.0009 left_gripper=0.9995 right_x=0.424 right_y=0.199 right_z=0.1559 right_yaw=0.1015 right_pitch=-0.1929 right_roll=-0.0931 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8486, -0.0855, -0.0659, -0.0122, 0.1162, -8.1162, 9.5795, 1.4725, 0.3443, 0.188, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6064, -0.408, -0.0227, -0.0494, 0.9995, 0.5739, 1.7954, 1.1217, -0.2584, 0.3775, 0.2359, 0.0089]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1714 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4091 right_y=0.1912 right_z=0.0754 right_yaw=0.1028 right_pitch=-0.2821 right_roll=-0.1383 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.3333, 7.0222, 1.7118, -0.0708, -0.0317, -0.0122, -0.2393, -9.8803, 7.0496, 1.3944, 0.1636, 0.0366, 0.4811]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5507, 1.5326, 0.9825, -0.1951, -0.4297, -0.3717, 0.9995, 0.0124, 1.0309, 0.8555, -0.675, 0.054, -0.1753, 0.9959]\nstate[eef_state]: left_x=0.3981 left_y=-0.1539 left_z=0.1426 left_yaw=-0.0122 left_pitch=-0.0934 left_roll=0.0165 left_gripper=0.9995 right_x=0.2987 right_y=-0.0022 right_z=0.1696 right_yaw=0.0533 right_pitch=-0.2892 right_roll=-0.1457 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -6.9265, 8.9231, 1.7802, -0.4811, -0.1099, -0.0122, -0.212, -2.906, 9.265, 1.6093, -0.2222, 0.1343, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc0b3cd00e58db8179c03cc80b74ab2c7fd69b43f522d395d92d866186ee2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1242b3e0e42a016ff29490e3b7efe45e73f73a6faf984de24dd76490d745306e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6377e7e3f9f0bb9e9d685267743b2d763d81656848fc0fc74833bba3d5248",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-hNuyTV-ONGTzfx8A6lw87l8vX_TZdJ5G6aBF25mgNPWhshkl-U5D04PzkfdYu8adcnQk7wzcAuWx-jrMnLO1J4zEK696QIWW-7pZSUCJ1lOPlyGqIPiGwr4eRi-ayaNHO5qc8plS71qYj9qEBMMC4XXH_mCEmTmyjsE7jy6iMn887ncsJrtW4XtM-xDJKYTh1AasEBkaFFZ2qnZCLTlj8d0BY1N0T7NfsvvlaT8uvIYFdmnSMlzIm7z8RurZJ9iqjUFb9RGs5qDlD0BuYx-GWRqu4M_CDghmPAasEFqnZKuidUlGu9SM6g0mvIqZ8gm7ARICeNloWRuIDiWGSDFofSWq6az0VJFI1AdBE1mEHmZSBMcWCTN3UaSRi9lTlmbguxxFwmDOR4RhKj6e5le-PXyT0gGKPGEFLtiR09UZI23UhXfQrF9DMBAk9wAoUqTn4UuLqYDpyAPx2-63tTjrqpK7snWV4uCcE7dWMaf8WnxCQ7n2YXq4WfIyG16UWtA-3m625xk_eeg6-Rlklf3tAvOIYB9eBNOpK_kvOtwvjZMHb8wqnVMvaPD0kDuW7B5Om7BKHKyjnerhpf1mnzLT2p_k8CpDjhGrlBdfFky_eDG3sDe3dD1UyAWkf8ZpoO62NtiKBnX0R-Ugb2yu9ILnFuTBBlAc-xTxcu1p7EcOYmZNK9jifHoOkA_20PQxltEmoYpFY_Hpi_6emUVGg4Wwthd6HhY9RCFgRJmOwcWCnOYz-23asQ3xwYey8dajglZFmyZzzCzz_LnAC2lTaYUIEXgwO5FYZEAzVxJVo028SYlWGh6Oy9OP4UFbPDRKracNYMZn-9XOflG_sH4Wygbu9iAAG6ifJ14DjSs6Hp9XY-A2cOJT56YfHndIFHBpXB73MymO3RgWCz2TCQYUvpBMoRBdQZnzbDXII7yKzqIt4C7ovIu8qCBUIbSpOo3PtKU2LMdL_LfBFnbxuQRV_NciJmD5wLSYFtgrdNnM0odECFNFGDbKo_OIpqeiGBctJhclSYwsQPzrQYwjp-MlSiW7mTBYc6XI2RUiHdfVSJvWNLyMQkxvDxRjqxf1_Y9on09VxVQWEbSlq-_NL5csOWjaSuY9gyQamqwDEgzF7BRyrFPKNOBELIoZogfBDHZFQBwKZ9RH6ArU7cpQzgfdymUbQnmJ0ns8gOObKkcLog2pIVwyav5QDWvPXGvxFyRc5pOoic_ho71DvJxJu-fe6-VbH5jhLhwW6aeO5TPHU5RfSCFAoy6sQnOr7tR2XA6y4m3Ez4BGIo3gAuJMkLXnCELj3wsZo_tn-5WXmJzjDSPtvm-TNwxEZFBHH_JN1CezQ25JpobpJSnZBFQYDdxGX-_qCzgEMsq82EEHqwJQxHvyFXSUVhaROSnd-hWtkrEDsJ1-pZt8t5YbvYz9PncRTT2XYgu7AKCxeqasVqCf4wTyUQxdd-xpoHo3rSPcfmINCGtu-RJ4N-KEsDDaYKsnhP8p4N5_adsrFmL0BqAulxwNh2SMWysBBHogy4HoJluV3PCf1tw2WY44aSHhsF-H0Znzh8Y5LTrdeo1oFARQ2c4Ut44xaSq67uZSGCxGd15AddSyoNWAYL_Ucle_c0LM6R7fwvxl_n9JNpulCk_VBE7YU0f2CW6-AgRX88Ux5D9NX0yPzGB9GeN6ap4rccJNFwo9WT3wXpLDyMBWAU7SIPAY4JN8efSB2JE5oX2ggDL2SXCJ77gznSJ9b44adj772MlLsJ1xxruo6K-ttJ77tQbAsa53u5dN5FO1fzU0CrBq9sEAL7fbcx0pqxMGj7dte6-obhZ6e-o_EZoGZ4TXMEBTnBC9NIkOERTExN__U23nh3A0qUKK4tJaKKfJ2k9wFwiupcJE8hEERp8vGYfXZaTSbboC3_KZzOqE7bXLp8-JVlRJ1OS7wxpVCo20RTU5ty7QhBk9mAt32mYYydPbLZw2Y-ohe64PO2bSAaeoosvmGX7U9gpSdjyaF-Qz-npAWB8scvt93XCHIkVyjLDc1k1qLK1TEuX3eti_D1CpJGjP9OwZAHCEAK1t3z3piue9R--12CURZljQdU5arl3K95HvtpCnjgfbnmUfAeQdkULNEJ9Nutzh4WNrk265_-d-nZXuyF0ZI5uM8fQ29rwt6B-BJTDIsrAcivkXNWSsyvSrr4MIeRLbRc_ygjZThmgbKhb-FT7O8i9lW8TBLqHqZOkamD9JonylP-EmC0ij51xSuZMtCw6bjy-rUQAwH2I1FZj8TzzsTcAvanNsJAzVmnnYCSUV0gz9P9aAYEu6Aw-9e2zSpyZzA7yLlqVGcKTDwuabdjq_KyhGvgsEaghZUO60W_mnq3kbGsYKXmILwAR8R-ZgVdLVK6a5MapUA7UvalErChMcQSu_ZKwfr4ZsBozzmzKpsL3aO5lhItTAPCoQ6g55ra8c-6SjhMaKw2mWbUgByfFpMSqtqag5ZqmHcqKJPRMXEpNwKksxyroU-dBa06WxOX1xHy3-xXZdzZjvcz5oxahx5uRHBBR_ZGex9-TEbIxqgaL3Cl1jbovPnbb2Y6JH4Vj_0lRPZMvCJWB795gWElnVb_JECesbsSJSh_GpKGODM9ZwKc_8MGePxi6ZK836cWE29w2GDUan3XPtA5M2NRyXVSyaWP34X8P8b6GKhAXf_938fpVoZarBXLNlxNDQZ3csQs7wM2gVXC-_R1DCcaIfkqSmU2_fHrAKHCo9bYukqtRDP8zF9HuZa7Dj6NodiclzDtKTI1gx4Q9asGeoeROOgIgU5D4pNMZgvI1aIEEOj1Z_wCF8Y-3gVElPmV8_Exvmho0qyuBzAvu4EeKO1Rd5hbA-7cJZblxriy5zIBcET5U22FDXCfCH5ZCLzF-94WxpdcyxbPbvlHiDuFxVU8TTQlnwXJvRb3EJcsmD1K5q7wi4kqX9GNDngXlc_z8P_CW0mNZemG7s1TpVyby4fJCZ_6o6rJBijlV0Fnf9dmrrC7WZQxNO2HenaF1jA-B7qViNrG2IVQ_0LRaRnmBUWRKnfmMaHwiEhkJHc5G_SUNR9q30DYIB0sczAJ_sj53u5oy6IIhnSfyx2ZUAGwlMu6GVDFUR_cvJ_0ua9yuGlL6pmJAUQ6bN9yQ86L1lWphUXfov7xhvgmCEz4UwOXQn80w==",
  "id": "rs_00d2a26f00dd3bec016ab42f9ce04487d088ca9994272028da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.091},\"note\":\"The white bowl is almost centered between the left gripper’s open jaws. I’ll advance slightly and lower to its rim, aiming to grip across the bowl’s two sides.\"}",
  "call_id": "call_6YjBQA6sjzlOxTttO8eyfF92",
  "id": "fc_00d2a26f00dd3bec016ab42fa0835087d0bfdf16e9703be568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6YjBQA6sjzlOxTttO8eyfF92",
  "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]: [-0.461, 1.7, 0.9447, -0.0315, -0.3851, -0.3328, 0.9995, 0.012, 1.0332, 0.8543, -0.7029, 0.0433, -0.1982, 0.9962]\nstate[eef_state]: left_x=0.424 left_y=-0.1325 left_z=0.0841 left_yaw=0.0233 left_pitch=-0.1456 left_roll=0.04 left_gripper=0.9995 right_x=0.2934 right_y=-0.0005 right_z=0.164 right_yaw=0.0757 right_pitch=-0.3219 right_roll=-0.1509 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -8.7179, 6.3521, 1.8974, 0.0073, 0.0904, -0.0122, -0.1436, -2.8786, 6.9402, 1.6581, 0.0708, 0.1587, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e540c15141f574624e70e311f66787eeb4f67d4a9e92ed49c904e37df79e54a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e28b0da12654e46f650a9380438e4eaef82508b88d014c15799a5c06117489d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5382a9b4ea8e4c90590389d2cd8973eb6e21c6f7de3ba89dec19b45238a55659",
      "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 · 2.301 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6067, -0.408, -0.0227, -0.0456, 0.9995, 0.5743, 1.7847, 1.132, -0.2539, 0.3805, 0.2432, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9995 right_x=0.4127 right_y=0.1932 right_z=0.0847 right_yaw=0.1 right_pitch=-0.2577 right_roll=-0.1235 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.1453, 1.746, -0.0562, -0.0366, -0.0122, -0.0752, -8.7863, 7.0906, 1.5751, 0.2222, -0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5507, 1.5326, 0.9825, -0.1951, -0.4297, -0.3717, 0.9995, 0.0124, 1.0309, 0.8555, -0.675, 0.054, -0.1753, 0.9959]\nstate[eef_state]: left_x=0.3981 left_y=-0.1539 left_z=0.1426 left_yaw=-0.0122 left_pitch=-0.0934 left_roll=0.0165 left_gripper=0.9995 right_x=0.2987 right_y=-0.0022 right_z=0.1696 right_yaw=0.0533 right_pitch=-0.2892 right_roll=-0.1457 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -6.9265, 8.9231, 1.7802, -0.4811, -0.1099, -0.0122, -0.212, -2.906, 9.265, 1.6093, -0.2222, 0.1343, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.461, 1.7, 0.9447, -0.0315, -0.3851, -0.3328, 0.9995, 0.012, 1.0332, 0.8543, -0.7029, 0.0433, -0.1982, 0.9962]\nstate[eef_state]: left_x=0.424 left_y=-0.1325 left_z=0.0841 left_yaw=0.0233 left_pitch=-0.1456 left_roll=0.04 left_gripper=0.9995 right_x=0.2934 right_y=-0.0005 right_z=0.164 right_yaw=0.0757 right_pitch=-0.3219 right_roll=-0.1509 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -8.7179, 6.3521, 1.8974, 0.0073, 0.0904, -0.0122, -0.1436, -2.8786, 6.9402, 1.6581, 0.0708, 0.1587, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e540c15141f574624e70e311f66787eeb4f67d4a9e92ed49c904e37df79e54a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e28b0da12654e46f650a9380438e4eaef82508b88d014c15799a5c06117489d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5382a9b4ea8e4c90590389d2cd8973eb6e21c6f7de3ba89dec19b45238a55659",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-lCMxZzRNxns1JiUkeHrh2_yPdFgcZNcNEKJ_Uw5pke_91kszqMvRuzhSwLaJkxW48lB24jYv2NA8LHnGwoqENPzmjd5Zmw3VVuQGHoFLgvWfG6SXqmncAYJKnzCkUwjiDxtHBrc9WKiPzzKokldVgKEC_MVu7wGW5qO4bprAV_XkhZpBdNc8lVzIr17OTMAhO7taGfTqU57bxJikRx4jX_UNu5A0CAHY6P17IWWdsqdWUjG1920nf1FHUPHTEzhdyEUEj_wp6DafnHX8CcF9bUEwO7BG0TkNu1ZHseUtjKRqfZsrT0ArnLpP6SCM7guNT5wtMSsiutLPKeQm9LsVVSNNwTv06ip1DmMnlq4K8STR4le9rl10fb-v2JKG-iWEnnG_0fhHZ4Aj-THDiePuZcx6sYNUIdtUWwBm316KbyeZhl06s9kN142qAiW_Xvg1goN5Sstc4oEarBW2PMt-jaMxLOm5bVUeYJcU6MOUNnrawVXT5rS2rh534-0bD4EQ0lLDv1fbwaea9Xax1IqJj31F1eRaDVBVmLQW_h496OtPUSDMO1s943TOs4LrUNH2KBzsDP4qKiDmz-2ZgVTGcg_uHfoRgiYhk31Lf7IMvvBYXyuV3NGrexRaWvozzEVmOlyp0crnuS_6Dg_B3ZxzWtcjk70vj1C8k0AyfXEem5FPK2MB4GqWyvchvli2HovvVAEmEq7-gEGcn5UaisolXUcurvnIOf7-MLNmi9S-4baxjU45i8bU3DDI_XmhzNJboLBcyUNwJccaOQHBfQEvnMmBo-DWyZjNrJeP9u3N0SuqJRibBOGuHU4vS_cOn64jAfmOpwUKTkz9zZ3Ln-aGrbXeHHoMlPqguiGOdVNpmD5viDiCEYmdea6aO8Q-MlgQ4ZG9HQLaeyRYRL5pjq167USa34kcFQttS3RlgmQpoCmsXmF55czjs55sDfyzNBrJRxdqsOrMbiXsJm_ZAYa2jZZZz_FGbiv6LjfaNP-bjQwIs6oY7M55zY70XiSYVSKP3HUsoE8mZGPex6pMmU_whzBxGKqZ8azcv30sP6uaM6QwU2H9MNnjkkX_4JpNaGPsZKOBs6EQmJHywQ2FxrEp4G9PjR1CdxR2gZdZZdbnJhXbX9qJAlKw51DaP6OjeD6Zy_NCw2uMwQvfFr_H7-s2779CZy5hITDdXFKKZ707aGLK_qoM31wing2y5ATKdMWdIFh-MeJOw1ljpB9FtoXQ4wRAb8H-fVPN5oLRl111Uq4fPpDCamOfmK7W3tQrrkDijCdfGKtcAQzKoC4_EsuYyWuZ04pizWJBAik9_Qc8IwwHjxmsrXUyM3GK36orhQ_blN8EmQ_ast-5fTH7aY1W5y7S-29zTGeAn5m9nneTZKzAiUitTcYmZ2Tdjd8Bw2UnX31UazxDDmHzAyjwHr5yb1PwOzN-2FyaJZEZY4CENl9Nxg-9M6jSb267YL7izv4GPAvEZ_-kWukJtVE7v6gf9GLOcbzamlkF_QN88gns3-heFOcI_acLQ7lFVkoFy5S9E9TtsWH01jv39vhF2wiAGKmrdwU_q61p2gZV-v7Ug94T1WR4lB9bkkse2hNCX1R8oxcOqBKWfZBY5xXNKec-DSkFnUa1RoTW_jHZnciEfZPNWI7CIvomJurxIRzSrvneEowMRnMJ5AnkWat_yiwLCf-mIXsBa8ysVg3DP6rCAdyZsXz9gpeu2GBLENc2MzjdggVXHcNYsTWmzVUrg50Ah0vRWnvdaKv1jbPhcsRMPbCi1CZIg8a4DN-rg6ob6xEIxCV1QASrCADtjt5zjNjPqSQqZFjQvCMXVrbQWxhAxoC4r9sIY03BN-VqQYUUn3SAccen8kHcmkZs3bBeKZrRXXxoFVUjOxhTQPRcs70l18Q2q0XVvgzU8VYhUzhR85w2ueddu6bb7BteUBjEtuPSZTbZvW6TsjqV2Xu-Xv6xyVo0e0HxBaWXGmLIRK2I5dyT9t6Me1cboddV-Spgyz5cyYjzMSADtRvbjj2f_8eowKHfWBtSGmSVISSlObPBLZrv-73KHUU2IqWuktY3RNRDftgAgvZkOaNCYAlEkL1PLZaWwTck7kn4nmSpJ_LIUhpH42208jvyL2SooC_479HhZ_Ngu2mBqFRp4wI8MfV8YJmN4VO9cks3NoFfncFHR7ViglMMbYA2UCuf2b_7R2x1b_Xs9dbkJkPSoliI8h7OMZejJ_Xa2XzQ9XrCRuyCiDFgK-e3wABiCvca8aqio-1qlETGaa-Y0ae4exe0gXCk_-AGDYyINcMmT2_Tsx6-rZR-Tn2g3AIjncHic-AxXUytqKw==",
  "id": "rs_00d2a26f00dd3bec016ab42fa29ba087d08dec5f46a6518024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The white bowl now fills the space between the open jaws, with both sides near the fingers. I’ll lower a little more to catch its narrower lower wall rather than press on the rim.\"}",
  "call_id": "call_o1jSbNpOwrHS4OhYGZTChA3m",
  "id": "fc_00d2a26f00dd3bec016ab42fa4c6fc87d0bd72d4e40d95bc41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o1jSbNpOwrHS4OhYGZTChA3m",
  "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]: [-0.4564, 1.7367, 0.9112, 0.0631, -0.3737, -0.3267, 0.9995, 0.012, 1.034, 0.8543, -0.704, 0.0433, -0.1989, 0.9962]\nstate[eef_state]: left_x=0.4281 left_y=-0.1344 left_z=0.0712 left_yaw=0.0138 left_pitch=-0.1278 left_roll=0.0262 left_gripper=0.9995 right_x=0.2932 right_y=-0.0005 right_z=0.1636 right_yaw=0.0762 right_pitch=-0.3239 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -6.3521, 5.3402, 1.5263, -0.2271, -0.0855, -0.0122, -0.0889, -2.7009, 6.735, 1.4139, -0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb962a361be5e992353e76b84853a737a76ea56dbf79b822d04900c44250f872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b205a86087d78361f56a0976dde3a54d6cfe83db0526e3931baf74605a44dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70b10e8b2f581100d16d7fae236735045e355cfd13d4287e15ba006435663d4",
      "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 11 attempt 0 · /responses · status 200 · 6.642 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6064, -0.408, -0.0227, -0.0494, 0.9995, 0.5739, 1.7954, 1.1217, -0.2584, 0.3775, 0.2359, 0.0089]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1714 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4091 right_y=0.1912 right_z=0.0754 right_yaw=0.1028 right_pitch=-0.2821 right_roll=-0.1383 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.3333, 7.0222, 1.7118, -0.0708, -0.0317, -0.0122, -0.2393, -9.8803, 7.0496, 1.3944, 0.1636, 0.0366, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.461, 1.7, 0.9447, -0.0315, -0.3851, -0.3328, 0.9995, 0.012, 1.0332, 0.8543, -0.7029, 0.0433, -0.1982, 0.9962]\nstate[eef_state]: left_x=0.424 left_y=-0.1325 left_z=0.0841 left_yaw=0.0233 left_pitch=-0.1456 left_roll=0.04 left_gripper=0.9995 right_x=0.2934 right_y=-0.0005 right_z=0.164 right_yaw=0.0757 right_pitch=-0.3219 right_roll=-0.1509 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -8.7179, 6.3521, 1.8974, 0.0073, 0.0904, -0.0122, -0.1436, -2.8786, 6.9402, 1.6581, 0.0708, 0.1587, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.7367, 0.9112, 0.0631, -0.3737, -0.3267, 0.9995, 0.012, 1.034, 0.8543, -0.704, 0.0433, -0.1989, 0.9962]\nstate[eef_state]: left_x=0.4281 left_y=-0.1344 left_z=0.0712 left_yaw=0.0138 left_pitch=-0.1278 left_roll=0.0262 left_gripper=0.9995 right_x=0.2932 right_y=-0.0005 right_z=0.1636 right_yaw=0.0762 right_pitch=-0.3239 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -6.3521, 5.3402, 1.5263, -0.2271, -0.0855, -0.0122, -0.0889, -2.7009, 6.735, 1.4139, -0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb962a361be5e992353e76b84853a737a76ea56dbf79b822d04900c44250f872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b205a86087d78361f56a0976dde3a54d6cfe83db0526e3931baf74605a44dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70b10e8b2f581100d16d7fae236735045e355cfd13d4287e15ba006435663d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-oOgRZYYwWg10UwUlddoMnThX4QTUBQ4WLh5uAZ-VRbsaU7NhiwIWxArcRZCCD-9W8cEy2Gy5rkeTZiYDX-MSOfmGqzcAtt6edug0an-KpaRgCQHIqCN8aQemnSv78eZvn1tCurHnuJ8VtboTJD7JKAbMOUvGpyQzTLv1g14t2ezyU1yV9FZGXgVw6hTGUEHX0R4rOi_8qPVosXbjLEUkrExaqeGqXWu5Xv3aUYLj7Cd4ZCwPSD8mHLWrzmCAIlqchf3MbkuT5HceYqUBD92xOZB-InBB3OM9Qq15gwbDGuSwVlTQDi_jJ7U54xJucjxmgqqdiYj7GAxn20o_8puUnleq_NaC4fsYH6Kr4HygutZeJP5y5qmMnuobtVRj4hfODynj1eAyadI51wuRXYi-jKwuyKgeFWgHjLxmBJAjJRYrKaVfqO0fTP6z06siaMmG1nB6hW9OtZWG0z_VGzZYjuHEs3_f2K4bvvTGRu8_B5s39pbS2KbrcHfi9xQpvJHIJNu4euexA-J8jHFWUX9NtJHPoX0iqV6r0IAJa-anDXcWzbXeiMuqazBRPCz5wxppobbtAShj8UMSBeD21xAYTD9ydQPEl24qniCnyPd02uM7ORpn9_hLDT_F0480bK4Ju1kKxxhUgZaz5qkuW5eLKMXYwn8hQgoYf4Jq1CVZ4UpgUn_Lt_JDFo1O03XmrJKR0_-CrPt2U7y1fIEEkSZhvHltwe9iyMRE_7kwbWdb1z03xbfuaRVAb31YYSO37sxe4oKZHENpNRkfGUvfdkEx02T5C_eOOh2jVWXzWhhqJnrirxCHnlN3ykGaIjtcCmHNmGcthVqD-ZcePr-EBbjZGjHEBZMtoM5nOGXXUmruQFJFRLBDmmP76Mw8RGJEjbXPqKw6TJWY2r27zfXdSOxgdufu-MUgFoL0BWWjwHsLdXcG1pCo48DhS6v7yBTpRxQ_JhgiVPur757QORgQA08CRqkXZNe-A5NhNkDvZoQ45PUnzWe5_6q5TL-eSbDe1q5y2rT0wYsT6kDz-rA6Rj_e5VN2oxLHMM7IBO4m6h02OTmCEwfem2on1HDUZ3xEdPjMuTK2Fp1LWkCWOyiVRujjdWH4ADYSyDFIfyXCscjmxIbYM5HVPLE6tA1YhEfPYuehghYpj0qKWWURPGXiZylXd0dmrhvKBcJwt10znH6qR1FSHQm-15nCtxf66U6BX0ceXW_IdeWSoOIOUjIs0pWnD_YTUfwxD0YNPiF4jMg7krBcbKVCdrzjH4f6hvh1nvDQzujl9ytAu8e4wPZFUO97FWGt-U515SvfqDP_1RCfW7pM=",
  "id": "rs_00d2a26f00dd3bec016ab42fa7445887d0a87e061f04bd653f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is at the white bowl’s wall and its descent has slowed. I’ll close gently and check whether the jaws stop on the bowl instead of meeting empty.\"}",
  "call_id": "call_tJ9yenlE7a41FNJOswj4WeFy",
  "id": "fc_00d2a26f00dd3bec016ab42fa7977c87d09dfa72f21d6a43ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tJ9yenlE7a41FNJOswj4WeFy",
  "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]: [-0.458, 1.7695, 0.8822, 0.0738, -0.3752, -0.3382, 0.0085, 0.012, 1.034, 0.8539, -0.7067, 0.0433, -0.2024, 0.9962]\nstate[eef_state]: left_x=0.4199 left_y=-0.1308 left_z=0.0485 left_yaw=0.0233 left_pitch=-0.1724 left_roll=0.0421 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1631 right_yaw=0.0782 right_pitch=-0.3272 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -8.6085, 6.065, 1.6923, -0.2125, 0.0317, 0.6716, 0.0068, -2.7145, 6.8308, 1.4383, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6a9db5b26ee7c5447a6645acb0f38ef2503bd37cad0541d5ddb39c6420434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defdc47bd21112d425b716d299dd1bc6fc919e1e2bcf65a8a5e487254d4213da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd74cf637dab4cbb7b768506e6556909e560197dd13de60919d9328c74bf8428",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.013 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5507, 1.5326, 0.9825, -0.1951, -0.4297, -0.3717, 0.9995, 0.0124, 1.0309, 0.8555, -0.675, 0.054, -0.1753, 0.9959]\nstate[eef_state]: left_x=0.3981 left_y=-0.1539 left_z=0.1426 left_yaw=-0.0122 left_pitch=-0.0934 left_roll=0.0165 left_gripper=0.9995 right_x=0.2987 right_y=-0.0022 right_z=0.1696 right_yaw=0.0533 right_pitch=-0.2892 right_roll=-0.1457 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -6.9265, 8.9231, 1.7802, -0.4811, -0.1099, -0.0122, -0.212, -2.906, 9.265, 1.6093, -0.2222, 0.1343, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.7367, 0.9112, 0.0631, -0.3737, -0.3267, 0.9995, 0.012, 1.034, 0.8543, -0.704, 0.0433, -0.1989, 0.9962]\nstate[eef_state]: left_x=0.4281 left_y=-0.1344 left_z=0.0712 left_yaw=0.0138 left_pitch=-0.1278 left_roll=0.0262 left_gripper=0.9995 right_x=0.2932 right_y=-0.0005 right_z=0.1636 right_yaw=0.0762 right_pitch=-0.3239 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -6.3521, 5.3402, 1.5263, -0.2271, -0.0855, -0.0122, -0.0889, -2.7009, 6.735, 1.4139, -0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.458, 1.7695, 0.8822, 0.0738, -0.3752, -0.3382, 0.0085, 0.012, 1.034, 0.8539, -0.7067, 0.0433, -0.2024, 0.9962]\nstate[eef_state]: left_x=0.4199 left_y=-0.1308 left_z=0.0485 left_yaw=0.0233 left_pitch=-0.1724 left_roll=0.0421 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1631 right_yaw=0.0782 right_pitch=-0.3272 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -8.6085, 6.065, 1.6923, -0.2125, 0.0317, 0.6716, 0.0068, -2.7145, 6.8308, 1.4383, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6a9db5b26ee7c5447a6645acb0f38ef2503bd37cad0541d5ddb39c6420434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defdc47bd21112d425b716d299dd1bc6fc919e1e2bcf65a8a5e487254d4213da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd74cf637dab4cbb7b768506e6556909e560197dd13de60919d9328c74bf8428",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-vcBw_BIo6DAXc7nlp04RJyqnyeWD2ddEoZBsBl9SzGfcC87MFde9hUCs9nDdqg_73XqbPMfvCAc1Jopb0OUmg47osjKPks4pUKXPqZfy8cDi8iCwmcsTSZzqD1kakD6ff3yVwfyt58_m-fkgqHr71W4bh1JA4x-OVSHfNiEdRBUypuI4U1imrQo3-9pyW0Ug5fn5BmmkiDQgROs7mWqw887q_nUr23M7UXPN9LZFIrJDyTyUe1IEulPwauN2DsJDaOltpwGx0Ww4eORJpNX8i5SS9FQFjVeTFJ0L8QD7pVUAT5r8jgjZZgeKn-u6ryQJwaUzla6yTpMJLJdUkOvTlZIESG_B_19GuctGyKLxw0WgZK5j85Vv0mhB4POTufGj05noK10KFErFZZO0l6kqRLQ3GMBRQnXIsF0EPNtVNTVpEdZW9jdaawp14-TPE5y81ep51SO43vO5J2DV0iLOnk3U8IfkzLL9JtoGCJgaUY4BvbC5btVII2lmu9QIj1uyvetjcBV9iUywNAoCj8AMHuLEtDY4vAGA3WNMqhVa1D5mPf--k6tshk8Sq2yDNNO-XIi_vtZ6Yh4Yb1bQ4k2QI7CGI_1DS8OYLd_3YANF0y-IYRcuzhdPwZ5r6An3zcPJpo3UswEglcA9jspTGNVIyKCQcK-yvy8HCBmttSzd443s2uamxleogDGeGEhdKOXfNy04qZcQyY4qJX9HbPYGZzLgAqxjPtTLPO2aoo6HVd3VrdhyLXJfiVkxAYSIRQ98nfhguQeV7A4ZD3JHORoZQKwmotKrCZN5QZLupg77nH6p7XvqbUjk9XC44_pZfi8ntJSjd1zz124r2B3W4FOe6vYKK212seHzBjU8yqctuv2w0UDZUSIToGnI9nhNT5fyvYOkOl2vpU34bjNxu_XwUsr51aVpIqHE_ec59c434UyKx98YMOa3mMmlzRj64FqJ51O2l4h9Mx45N48DkgdNpsDerg0Ze5V7xqQh67FYGQYmjO5mjTTbC9qbbPqnjj1I-lXGXKf6J77reF5dZ2DJecjDw1ifdDZldkQUivmLG18pAn7vnPxvIcyXkf-B8WQVU2fkotPP0oZq3CWTgAONZDJJZdaTK6uAfxTu1CyWsVlv1aAy_8T05rLLcJBZ3fxPyWZ2IQ6Gu6s_48Bxhxl1jI_V9A0TaYr9Dy8k_Ec8N05-z-qPWk8oXpCZmyJlNGvslWFjrhR6SnqyTXG7BjW6YCpqXXbA6QvGJYgdsknJ4YWyhHDPlSBHIACusMnEE93A0V8XwTAGvf7ZS4faAIR7ruVgTIK-Lu6X4JqZMB8ZON0Ld-CXbo9fofrjpifUGTYR1s6jvuePz7DGwpvESFIW64fO9xdCZsSIw-eR46Pn5II87JIG7kmYqGqyWFJM3nSBFgKOeASE_3uQYQCi0I35ykzJjHnOaH65ClPRSY-11s5Q5RUOWkg_EUEVNQ2gEnJJ7guTn4idQPdxiyVQhUKrt5saqESZ6eFIdF6XDSupL8tgNwA3wq-jGnZNrtrN1Dn9-ERnA60W-p8dOmZlpUT2qkVA3uhGUbp2AhXBhT1QJj5XbQfEhkdJCCTyK9CtmLsY3Np2EIaE2oz6upspmppXZ4TDwWKL899dpaTd3FbNUTlfqKIk4i4-7tscTq9Prg4mLTxPRPyV8KeQz4sJ3U7ZQhgU5HkkKGrDHJpVY4UOmu8nnoU7E582MGCLSko_m3jH3dc11uYhGjb-g-R0KO8PrRg4E9S8Ngsx-mQkrXBDbcAF46vu9GOeZYsyvBO41q5uRRQUF4VEFEszWUuRuhKmLU27vbJ2blDpqWQDJ5Q0E2ZzimKc98b-hQy1GHrQyWYkdrN8Nag5Aih9Bzlw8T1h2dOdbLZaXpVsGC2laOLo6zDBrk5jtPB_d4zfZkl1DbDELNzknuelNgUg9UeewS8ghQNXDAffjsd6Vfgpq1mDOs6J-wPDYbP_h7UB3nh9xoaAYeCvVxqXbMxDcJZBC9AVAkPBK_B7XjCE6ZWdqmAxzHNXHw1O23ZwA9EbJ1sAeqYoyLBDUf-pEyGFluNdmRcqbA5CfCk0KuSCUx7_x_sy4aKYAKFdQ_90HR9-0oot2pVBb_pkw_EsbnoOkhwIdpnaGLHVEPt1cxQTgDc-tWy4aDou1g0koKV0q4LygInkM8Sn1vUIIuzzyvTq-5jfgoFat5q35yP1ZclqJ3iZoUlmc8Gt-u3E-bYqdF-jOOg2hfmQ7kDA632CDGV5BkKZL0_QK2P4exASm4snaM6hgrFe2vfGheHaFKnWk1p2VRaDBzN7sx279XVAXZh60tK-trOnv5Md2V8LxECYtMsQYHG5kDyOl0-nYVolKAQhzmihCYoW04qto4dsLl1yBj8juix7Nfnnb1lBDckSPTBh-WP1Jkn395LlwVNaCSVBVDW7I7si6WWIIZz_ckRB8CZYvYuPsksl3Y1nlufPh-NVvKm2WJ89w0km40h3CU16Nz_qt78AQINd-8n07uRfQyEi4ci77h8W_MNzryrXqoO1LoRxdg_HjTBtH7GryAPoiVER9wRDq6JigoNr4xTXxg21iU0kE539ECQRaPpNl-CXd63LdpwKO3SkrhmWlBl7jOiq7Uwrz_8ImHLVwYg8pnnZlhMEC49AIr2h1Xhfkheu1L953Z31L_dsWHBj2UnteLgXCvYijO9ETdfmFOa9aX72rE9PwM68XUiRZ225725oz2kD7xnMJ-th0sLLa3vwocda3IjoY4jlavWGR3vDlQZvbkksLQ0JTsXpspKdFmdPlSq6FnhqAvUpokr95L50NRWGuMnqfZEF8rd634CXQh3kT79kyADdeYsKrPp5BnsyLC70NzSmH5XZ0kJffsefRl55GA5G8hq7nEmdqDBqLB--Hk9Akald8C0oQ42LgNWsl3r_AnVkaBC2IuWJV61ALI_dTfpH7LXpxK98LMEAS2u0aHGRMJTVoB6N4Er_1TlwQMG-684TFQDK_QHrb7qcz0WfhtPS7R5fghWaXRpdNiOIihSUP7qBNjcSg4U-GD2rTGFUnKmkYEU0ZKB1AHBcG0oDdybU7O5CCmAuCRS6yyBbBk4eXOnDSVumA7HgfjzQ556IwlPhqYhDzmkXdz8IrJv6saFTP3o3o1XaWQQ0MPPUcuOIM0H5dh_geVhfK4DeuyWhAhJt4TLJDY_iEF4_syVEdhj1cOnsf2HTcDmSAOdI5q_D22f8dTgSZMw-MCkrrBSjqg_0V9zrbAIy70VozlK0kEdlZ9DlEoXLmMJL0QsuYjs21ghrYj6pDIOO9dO7NskLE81hau3wGRZWGkTiPcqH1CRwrKyJXqhgc1qwd90DbXoRFkUpTozQCC2qt3T2OnkgA8S4K6hPsltvqyaNRv1Sb6cynNyqyn6Q3hazlzpFzXc8mAvYZhiqq_FcXezwb4TIsX-oVHMCsFM-rpK-1eUpNNqsLxod6knJUIXEDiu3zlwGMZvKeKFRsA684hyIyjHdDSPwq5P_ELIYxFAE7uXtpb3l9Zo4h6eDlfxyolwCNH5wl17_x0akZbmrOs1ec42Y4B7k6l9MsdPt4Xy90d8-wytiP",
  "id": "rs_00d2a26f00dd3bec016ab42faa948487d0a029b36e1f426282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.447,\"left_y\":-0.075,\"left_z\":0.135},\"note\":\"The left jaws also met empty inside the white bowl. I’ll reopen, lift, and shift to one side so the next attempt pinches a single wall instead of closing through its open center.\"}",
  "call_id": "call_69Wdk11xdIlrBK3E97UdrUzH",
  "id": "fc_00d2a26f00dd3bec016ab42faf145087d098b5943f553f8355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_69Wdk11xdIlrBK3E97UdrUzH",
  "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]: [-0.276, 1.6615, 1.0626, -0.2096, -0.2615, -0.2272, 0.9944, 0.012, 1.0389, 0.8524, -0.7082, 0.0429, -0.2028, 0.9962]\nstate[eef_state]: left_x=0.4429 left_y=-0.0743 left_z=0.1124 left_yaw=0.0511 left_pitch=-0.2036 left_roll=0.045 left_gripper=0.9944 right_x=0.2923 right_y=-0.0005 right_z=0.1609 right_yaw=0.0789 right_pitch=-0.3352 right_roll=-0.1527 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -10.359, 8.9778, 1.3358, -0.0415, 0.2808, 0.0806, -0.1026, -2.8786, 6.8444, 1.3944, -0.0171, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14fd62cd4ef90e2c9183a61cb3ab9bf41cd11bd1b597ef20de4fd9d21cd2918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fabe62473f333387bba0652b1bb527e06cec81c6a9d6888fda2d6daedbad780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf075906121e86aa85ba42c12c8e0075edc1fdcad1e7c25b4ea7f57698a4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.372 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.461, 1.7, 0.9447, -0.0315, -0.3851, -0.3328, 0.9995, 0.012, 1.0332, 0.8543, -0.7029, 0.0433, -0.1982, 0.9962]\nstate[eef_state]: left_x=0.424 left_y=-0.1325 left_z=0.0841 left_yaw=0.0233 left_pitch=-0.1456 left_roll=0.04 left_gripper=0.9995 right_x=0.2934 right_y=-0.0005 right_z=0.164 right_yaw=0.0757 right_pitch=-0.3219 right_roll=-0.1509 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -8.7179, 6.3521, 1.8974, 0.0073, 0.0904, -0.0122, -0.1436, -2.8786, 6.9402, 1.6581, 0.0708, 0.1587, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.458, 1.7695, 0.8822, 0.0738, -0.3752, -0.3382, 0.0085, 0.012, 1.034, 0.8539, -0.7067, 0.0433, -0.2024, 0.9962]\nstate[eef_state]: left_x=0.4199 left_y=-0.1308 left_z=0.0485 left_yaw=0.0233 left_pitch=-0.1724 left_roll=0.0421 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1631 right_yaw=0.0782 right_pitch=-0.3272 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -8.6085, 6.065, 1.6923, -0.2125, 0.0317, 0.6716, 0.0068, -2.7145, 6.8308, 1.4383, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.6615, 1.0626, -0.2096, -0.2615, -0.2272, 0.9944, 0.012, 1.0389, 0.8524, -0.7082, 0.0429, -0.2028, 0.9962]\nstate[eef_state]: left_x=0.4429 left_y=-0.0743 left_z=0.1124 left_yaw=0.0511 left_pitch=-0.2036 left_roll=0.045 left_gripper=0.9944 right_x=0.2923 right_y=-0.0005 right_z=0.1609 right_yaw=0.0789 right_pitch=-0.3352 right_roll=-0.1527 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -10.359, 8.9778, 1.3358, -0.0415, 0.2808, 0.0806, -0.1026, -2.8786, 6.8444, 1.3944, -0.0171, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14fd62cd4ef90e2c9183a61cb3ab9bf41cd11bd1b597ef20de4fd9d21cd2918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fabe62473f333387bba0652b1bb527e06cec81c6a9d6888fda2d6daedbad780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf075906121e86aa85ba42c12c8e0075edc1fdcad1e7c25b4ea7f57698a4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-0CM4qy3WthGG-RFNxz6vvd7qj-HPaQoXTOfBTlit0EAw1O1qX9xa7yX_EmFIgETGi2zAcgcClVHe4HpdEwdJtI7CK_oBERbI9qhQIOyLrDH8yHTg9REygE1ADglGMHY5yuMvREe0fzFnnZzYYaR3hGsUB467wSDXbxDQYO-yoe3_n6cT4jYvrM4Fi50Hz0DW9GXt_Z_07plV131H5bj7kwkEB6rZsPAU6fvROItQIQxuyXMtop8RUrXTpnV_SPBVT-W9LDKABvdnx8rHoykjLT9UhT9Q8RaTajKOqLSq0mnBPtGW8RBOw5qH-bSKUAyOrUrKio8DajbzNqRGdYhxQlmmQIkrDLLY1_l6GcEkU5s0k_a-Rwih0YgkLMm7bZzjx06hpsU4VVT7y9pV0vC4IJoHTPgvSzxGC4djN37nclXEuwKAVrIHqypM7HUcBXCfGn_RXTr2bpblsWJO9LKjV_RApIR6FiUQkdYsll3hRNiVywlnRBANL7Akxu_hED40PFFG1Fug0_dK4GYT6pm1uJ1O8OgTEizhktHUmvRmjmOWWyBz5VANV-0dMmDgnp6d2xaZicv10MJZonHnOmJR9z1bx8qBMivCunKy2Kcs2KdpT_hQ8XMDUrhOjw7g-Cu3JMelpTTqa-84tMv3V_WcY1h-V8r-pwa8ACcxnVPxRfa1_Rq4dSChZlcRZs2VShBbqDxDh1EkMpMTd_IL2slLlAHtl5G4FqLVMorPOPwLbtVp-mLNjBVrcc18DiLS_BJI85OYKXFIPNoitYMNKP8auBRR-z3X2ADnjrc6hAoQy6_oOSynfQo7-l-15Vxapb_lsyBy4FUCc1Uo6PGROHEiF-gdbsBsQ2isZtCQIlcr_NL9F5Pq0LlYlb6qxiNt2yRapnpJYj4WikuTZVhQKieigTU0jKipqKkKm1orHhFGw3lowHs8fuWDqJ0lAGX2y4-2N5y09h0m_Qs4KnKw0_lEzWAXbR7qnV4StM-hwj6Qi5IxlgkFo0AqsQeVELiigBBPyto9W5OFFBLJoTT68PZU6H8WaWkwLf-mMofuS6EVM7xGWhq80tL1QCUUMvPdKeg6Z_pZqKRzDXTvtutla27nEpvM-thNjfaz9-9VGvjnBKf90gTa5CEIMdmkrWYQATm0VYUGkoLeXkXqLt2eL2YroqmnyROrbUfKK9FjjXiDJGYXFO0rk72CNv6zqDbT-aDQs2HT8A72jLlaLlBl9nnXdRsyiY09zm4ghLsfOCzxZRvs5U8XJ4q-kt6H-X3VKgZxMnUsiF536dyS3fbofKUHVw0xurhd9sXRapAhnHIcqbSy9rtAGYDCO_lg_zjgHIjq9awfdLpjQfLPWQrGImHe8PNtACghPUL2MJa0FytOkNy_lG0jHXYGVwhP34ika64sho2CtNoMFs-a-gfiirrFC6H_DMbnmQ-rs3QYDttC8lUiMEVZMzTagsHqgurLmUMFP4QdpaxEk_i81d0HWxk4gsA8J0q4vYPyPm9_JlYF3K3oq72hq2kaGFUG0sC_3uj7WRptb2crA_1Nf-hWESqHYvdAgmM5PAXZXy1p770PKfvYJWibTiagTTtv_ciXyvOL6Qqbp7_1mWCMSIzxxI_nMt5ovY92mNxJ80RoCO3WCHBy2LHmpTSEqMemHM5ipqD1nmym78ZtCczknJYl_FnXF5LUgl__tQTWILWtwt8ItfeGienmW-MENMBL_VZNl1P0_aKDMGDF8yMhu7L0rAnqD2ecme1tVshUK3xa0QcANR2qy45tTcwseIz58puoGJwLqg5J594uX5ZOKaEc0BDZFL2PH65Ibv4_Tqw1Ona9VTdlnAuaDKuAmwog_xWJqDO5A2oFn7GMY2UwFbhDC6OMXLyQCkOeu7zTjcNNu2C3g66oHzrMdAPLMchym6eRG1tNs9z8atxZEUtQEU-3TipOCHIgLTMyE7DdjGJacN5C3bqQXqDQ9beN6t7Y46zHJfO6C_0KFsdOpAG8T8Gyy8hL1wKMwf4QitcqaghIS7d9uZW3WDOyYMNu_6RW5lJhf2tUTgcxR5udk8NvbVwuJR6YSVfrvrcqPdQ8G_aVCMMI41G0l3Y5iwsC3tpaBdQBxj7cX0An2ZkCHxuhpACsZre7V4971zen8KZc-cRqyA31TE6rj91mrENOJYR_JbSgRY-xpCtfr56OAr17adQLPlRyLjCPBbUkokNn5yKyqDzvgdPo5J1wWKVYZfm7eBBHZADyA7y-61yeqjeQkQ3GTTcoaYn2lY2jYmB5IjULYzt9R8kfGkp69Zt9BuwzwxuZ3hZMUlnfGmdv41f4_xBMW2pWBKE627Iy1A6sqZs2lQWA19c5_RgZ6mICwtXPsgER6UIGG",
  "id": "rs_00d2a26f00dd3bec016ab42fb1fecc87d0a9356052d320a355",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.077,\"left_x\":0.452},\"note\":\"The white bowl’s near-side rim now lines up with the left gripper’s jaw column instead of its center. I’ll lower toward that rim, keeping the sideways offset.\"}",
  "call_id": "call_tgbZEG3d9RiychSSRGMXf5T6",
  "id": "fc_00d2a26f00dd3bec016ab42fb42f5487d0a6cc928fd99faa98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tgbZEG3d9RiychSSRGMXf5T6",
  "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]: [-0.2684, 1.7283, 1.0275, -0.1314, -0.2581, -0.2096, 0.9951, 0.012, 1.0397, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4464 left_y=-0.0723 left_z=0.0826 left_yaw=0.0478 left_pitch=-0.2275 left_roll=0.0629 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1608 right_yaw=0.0788 right_pitch=-0.3353 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.0752, 6.0923, 1.663, -0.1001, -0.1294, 0.0562, -0.1983, -2.2769, 6.7624, 1.4188, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9268248a52aef89da4126af234f321ad87644c48194aeaedd97f70b78b4f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b443937b05ca53315af54083180d33f1c95d7575c97b009c5d9d265b4455448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bee5e7363fc7dfc156541804338654cb73c86e46c797beba1ecb17353a7ff4",
      "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 14 attempt 0 · /responses · status 200 · 3.262 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.7367, 0.9112, 0.0631, -0.3737, -0.3267, 0.9995, 0.012, 1.034, 0.8543, -0.704, 0.0433, -0.1989, 0.9962]\nstate[eef_state]: left_x=0.4281 left_y=-0.1344 left_z=0.0712 left_yaw=0.0138 left_pitch=-0.1278 left_roll=0.0262 left_gripper=0.9995 right_x=0.2932 right_y=-0.0005 right_z=0.1636 right_yaw=0.0762 right_pitch=-0.3239 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -6.3521, 5.3402, 1.5263, -0.2271, -0.0855, -0.0122, -0.0889, -2.7009, 6.735, 1.4139, -0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.6615, 1.0626, -0.2096, -0.2615, -0.2272, 0.9944, 0.012, 1.0389, 0.8524, -0.7082, 0.0429, -0.2028, 0.9962]\nstate[eef_state]: left_x=0.4429 left_y=-0.0743 left_z=0.1124 left_yaw=0.0511 left_pitch=-0.2036 left_roll=0.045 left_gripper=0.9944 right_x=0.2923 right_y=-0.0005 right_z=0.1609 right_yaw=0.0789 right_pitch=-0.3352 right_roll=-0.1527 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -10.359, 8.9778, 1.3358, -0.0415, 0.2808, 0.0806, -0.1026, -2.8786, 6.8444, 1.3944, -0.0171, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.7283, 1.0275, -0.1314, -0.2581, -0.2096, 0.9951, 0.012, 1.0397, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4464 left_y=-0.0723 left_z=0.0826 left_yaw=0.0478 left_pitch=-0.2275 left_roll=0.0629 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1608 right_yaw=0.0788 right_pitch=-0.3353 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.0752, 6.0923, 1.663, -0.1001, -0.1294, 0.0562, -0.1983, -2.2769, 6.7624, 1.4188, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9268248a52aef89da4126af234f321ad87644c48194aeaedd97f70b78b4f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b443937b05ca53315af54083180d33f1c95d7575c97b009c5d9d265b4455448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bee5e7363fc7dfc156541804338654cb73c86e46c797beba1ecb17353a7ff4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-6hSR3oVhG8m6JLYk_AFxssHMXYh30Acx6Rr0VH_ikXvjPdypKfpTgVs6tzSH-xQoTgk0T3BnCz1e8OgrYMWLwREn7ipubbxz5ZOSdm4rmbupvGXEXhaTuis1NMwaBX0WHLodLyWdIETvksjI27V8jhXHt2OF6P5c21Fs29P40aGgXSyiLUl1-NYBCCRMWEIrWw1kwWDgyzLAOJK_Zc5DhB3iC55JMfibkX5tfZvRH-2uqYkZJXN0_0zmU6uO2CwP3uXEqpIiuLW0doWBrvl8XZWXKbqas0G-SaNyoni-Zm5GCHCaVvZkHDLnChfsb0Q4p-4ZONLIw9bRyK2pNhlv43qPedJ7YuYQQtzZhaABP0Wcmm4hCSBE5jDRKsotMlzrAoI5KNkXqBlGQIjhA0GadUPSmdqSP0-duPd-xhF_eQbDtJubPBP_HqRZJ_hRJkEVJjAt4jeszzfAHgPPQPa3ZUr6WVL0z0TQecnmSr0eI28-hQdKmIbIZhaW-wJD6Juami8p_aD8mQNlBPN8lZyuWX5bcephisJdwPQJUcAfFPg2F0LEDlTl934ssY7B8VWOy5_a3Z0NjlZe3e3iLSreLB6_Q7godUHclzZqULjVY6LBJYeEUMXUmd6uhrS1hcmtWF7O6MfAv0ubseVnVEUtZsYAyUwXgXW3YwdHRVnIY3qj9rb2XHc2VI1KV1-iQD9uTv__Z4O2z6ExuCZk6FFgaU0fcAws6elLix0_BxGelWDQo7u6C_gGsOMgX0Vmd8uJ3mTiz7XPSD6nSAkoZgl_OG8e0QYKIvmEAV6z7nWneX0Fbtc8KNVODula99L-P9p-w-MSw9QfBxUCBVtx8YuphVawZ3xJsHUrE2dJ1bZs0TfrUmgSRApjtv7wB3uYI5tpXB_dzJawZ_gonUa6ZioHG0fgo74yKL38ReNjBi3XNdCbJAaoHjwzjy4cjB4eWzsn3CJuHr1MZWL94-kyyQzSrSd5ldf04KR745GAwH0d0flnqYMegWC6pZM1-KViXsOSOwgLDfWwij0e-1lBdN2IXpcPA1iY8wY8a0_x2JtrlvF7KCHKMGa4gvKclljsXCEpISeD69kEFitwbFyDg2xnKXY4ZAh7uGV93fDINDZtZk0ULJZXbFzf82bekYHqjdT1a5Bst_n6tmFA7xmLStTKvUN-mv2b8CMUNXQq9lgfCugKlIP9amJMG2g75M5NFY4XJtcWpxDvY0XmmOzIMaHlp9bKKeQF8_gdLzCpbjkJh6dSHqnqXxky_upWqXi4s1PAwANlblBHr_I3wDsKvfCGqeaBDLdvajaFiRUsEaMXKwJ2Phiuqg7Ekc7oiYaxab_JYjNhH8NhQr1KH2MUICGYCvzzR-Uf-y4rFTM5j4soARljlIOqQvSggGYdnE3pY-mSEtVWguqi_Wb4bpouyXgBJ8rn5isoHent8ezfFTTcd4-kaC0YsNVYoZ4S_bk6pkcc6rpPpBQeY-TRBMF0sC3fFN3SFGN3ZoL1jWgBCY4EQ2Cwczcqv-J6W9D0TkQQBnSU-3ZSg4emRcNO4iR8uNL7ZMimGy6MbNqz6NxZkVbblbDKRQ74-agVzG5gVTJRf3wSCFNOjKsCntX2KZsgtUOwc2GEUmC-gyZvJgelx20DncykAzOI7kTwbL2rkAbsFZP0iKSUw9Zex3b0x7xHaUvqexq6WqHaAPmbSAasQ3dj2TXLWgwi7RQ8VVKwRm3PyfCPuITHh_27qpsuuPkcaTOfr-ejQSyDKl3RTXNabs4vpdONXwacwWq1WWnMA2cZzv-_ek6vHEwf2Utp1jEiFk4K2OgLFaYKjDyBfjLB7s087IWVRddIEX_Kuos5UFl1i81b9llurNLi8zEvFrMtDGzDmQH1RIJCj8XsH-b7Pm-WKqxikfzvgphzSbQG9WkK8W0z6QOTWsCasjzHsNjinIPrkDg==",
  "id": "rs_00d2a26f00dd3bec016ab42fb6f74887d0b5fe3eae5ac76294",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.429,\"left_z\":0.057},\"note\":\"The white rim is just below the visible finger tips, so this pose appears slightly too far forward. I’ll draw back about two centimeters and lower another two centimeters to place the jaws around the lip.\"}",
  "call_id": "call_NdrvGOJBnAbn8a4BHxA4kgZi",
  "id": "fc_00d2a26f00dd3bec016ab42fb8917487d0bc97a61523378d45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NdrvGOJBnAbn8a4BHxA4kgZi",
  "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]: [-0.2722, 1.7489, 0.9794, -0.0826, -0.2592, -0.2276, 0.9952, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4399 left_y=-0.0721 left_z=0.0634 left_yaw=0.0564 left_pitch=-0.2453 left_roll=0.0575 left_gripper=0.9952 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0788 right_pitch=-0.3357 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -9.9077, 6.1333, 1.5556, -0.188, 0.0708, -0.0073, -0.1162, -2.7692, 6.7487, 1.3651, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b08394e8f8a0ffb197a18d775c68868b0718bb2c345910221cf65a3b5f22ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a4a66b19966e1a869fb35dc6ae70aeb2e78922712529e2f5fc721bcdf09bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18272a83eb3727d9ffddd78b0fdbea80c78ecc02946c967f21b6757f4297d186",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 9.355 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.458, 1.7695, 0.8822, 0.0738, -0.3752, -0.3382, 0.0085, 0.012, 1.034, 0.8539, -0.7067, 0.0433, -0.2024, 0.9962]\nstate[eef_state]: left_x=0.4199 left_y=-0.1308 left_z=0.0485 left_yaw=0.0233 left_pitch=-0.1724 left_roll=0.0421 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1631 right_yaw=0.0782 right_pitch=-0.3272 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -8.6085, 6.065, 1.6923, -0.2125, 0.0317, 0.6716, 0.0068, -2.7145, 6.8308, 1.4383, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.7283, 1.0275, -0.1314, -0.2581, -0.2096, 0.9951, 0.012, 1.0397, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4464 left_y=-0.0723 left_z=0.0826 left_yaw=0.0478 left_pitch=-0.2275 left_roll=0.0629 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1608 right_yaw=0.0788 right_pitch=-0.3353 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.0752, 6.0923, 1.663, -0.1001, -0.1294, 0.0562, -0.1983, -2.2769, 6.7624, 1.4188, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2722, 1.7489, 0.9794, -0.0826, -0.2592, -0.2276, 0.9952, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4399 left_y=-0.0721 left_z=0.0634 left_yaw=0.0564 left_pitch=-0.2453 left_roll=0.0575 left_gripper=0.9952 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0788 right_pitch=-0.3357 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -9.9077, 6.1333, 1.5556, -0.188, 0.0708, -0.0073, -0.1162, -2.7692, 6.7487, 1.3651, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b08394e8f8a0ffb197a18d775c68868b0718bb2c345910221cf65a3b5f22ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a4a66b19966e1a869fb35dc6ae70aeb2e78922712529e2f5fc721bcdf09bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18272a83eb3727d9ffddd78b0fdbea80c78ecc02946c967f21b6757f4297d186",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-961hMT4kwQ8UVif1ZtpdH2GKfbHhoewprXFtgGzvNjb_1D3BOrsTSz_MG8biS7j7Z8utaKD2jAj8CJRUYrj86vnkniraX5QbIZe2DmiBhhmiEXe4wpdMkC6Y_1ytY1Bq99amo_wtY3xy540kfNpHkMIDC_2gaL1o-miyU9d0GwfHt8wZVGxLGCIDlUXjaSE5-jbpQPyG6KaQfrDI_feFHfRHdP39wFVcKt6nitxw2JC83o2bd2fkvc6DIj1yVNhUxWsI27kdtjLBnA1XnFSb-gVk-3u6RMkjilJg0sAbv3u0dPU24DSH791CmiebGwJqyvl4tEa_wCjNabPy68cxwoExfgKVRY-XlQKjAlv6EkxtBY8IdFNLzYQ-nzdDUrvWWRGXQQCjinsDsBiF2mpDg3Q9mHAuDmqUzf1eU1IdMTFbI31-V6MQLVM1wveBR_roT-x6LLa1rt1pOSKp6Bq-M8ER5GOuZbirscUYYJcGOxOnqcaykpd9b1dx0cn6OFnvnRhF8az2o-teL0nbY5Rxot5-SunphXZq02ALbNx-inkD1hfyyzpiqHj2QIuBjHlVNAVVawb82iXUFs3C_GCzobP24jgB83Z1iT2LENhxYFnIvd9mFdH0Qru3PSqtWUPxwgOqyrTQOLlXU0WGPnIwxSWvd0AYe2dCpYqz93Wiv7MBYGXSTZKWirur-xF3DmSAGdFN863iNSmxY0i_SJJPozf2qx49bWxJ3C7X2wc20J4lo2gXVxDTpYEtnU6k17U9sN4drmrE_yFgM_lMVOtLR1S1OyXcyjSZOLwQ6Qn4sOSQ7ummH2JaIX6Cn0u7SI4Lq-x0OufHsCH54vtNajc4LN-Eys4rOb10GpTWNwFIDcugTLJ4_DWucHK8OHLCLlK0z-CuK7vnS5sS7oCBc350Wjsu56R-nxVUWaSjKzUCxT2j1cdzKBZ_nrN_XLpIoE4qh_Xmo9pRT2L2HFfiNfUmFdro0_D6KKb3TJoBESMstFCw_v05KfuddPXIhcBNXpujBtbQq8TTwV_ESGQNWpkanCnQC7HrClwf9hAnF52x5kKpy18a7BWe4KcfsYfLPFqX4H9a8orRpYiWgXKZgZiM5DT_2FZXZO6r3lByVaq7nSJSMjyAQke4DqbIYOBvsvotAS2Low-SaDMTNOLnXpwmHGmHFsACtzpaKrwAaMaDN8UAtoIQss9P4mQLUNwJRAMGmKX5h7MIGrMqxV0OUKOchZzzkWWv_FxGq071zbfi0ZWbdchZdKrSLiHjdV-uw1YkXZ_ob9PGLgUPkcjiY2RZrixe9vR2IvyNrL0_hgA3aKp9wg5RdG8Yc5mMtHkeqkui05qq-PURIy4meo4PhAWQqohdfqON_7jSckAAV2sJSRi9RfTNPQfWtTTJ0A1-A_0AmYuJu3E4wHIlCKlME-EvGtIpgo6uR4I8ma3ShyAPSDjPagusUFHX66Dx_v82eC0gJNkN2T0Hzlft2aA6TBwBPZuSSE0Vwq_mUPJXHZBy1ZQU6XnhEPBeycH8qa971oh59kN_pjQp37gl3zhMfzlJa-VpavYWLUCAC549KqjfnL3bryIKUU4brK1cLDQo3Z2pHTuwT_spxD7soR-htUu2VDZk8UWXQtellcpQsl15SG7G4nkvOA73q2nLhaqdRuHHZVeKABFb60rpI8PNw3msp_M-9tq465zD9uOAQP3SumEPpjUWVzQ1gaH0MBSq12OjLvSDkTuF7H8RKnSvLJbke_7LyHj6Mj8v1jRqdBevm2zcFcU9gNY3EZbUp2usY_Uc4ohEb1GdHvv2WWel4L60rXWVxXLhmABfAdKkIkOuHG69RdvPsNg_Hsed3hCw8vCJrRsUBKfr2PfrVppH4AdCfUN7NJbJDMHCk3-z2WllGDHoQZgYlg-pMAwEWlsH6KEDro9crWJB9jQMsYQ3PqzUvtRY2eq22e00WMyH7a14YERzpd3USJ55swohR5ZPQyeiT1GgU_kmaQNmGP1IBjxI8lJoIFSV1ryjc6yJhaUixjaE=",
  "id": "rs_00d2a26f00dd3bec016ab42fbbb2f487d087fdf2716bc6d877",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white bowl’s side crosses the jaw opening near the finger tips at this height. I’ll close on the offset rim and check for a nonzero jaw opening.\"}",
  "call_id": "call_f323RsxgDt5MTUtAQ1enkUGm",
  "id": "fc_00d2a26f00dd3bec016ab42fbd2d6487d093e55398b0505d91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f323RsxgDt5MTUtAQ1enkUGm",
  "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]: [-0.2729, 1.7466, 0.9627, -0.0853, -0.2615, -0.2245, 0.0085, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.4345 left_y=-0.0705 left_z=0.0577 left_yaw=0.0573 left_pitch=-0.2611 left_roll=0.067 left_gripper=0.0085 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -10.0855, 6.1333, 1.5116, -0.0806, 0.105, 0.6569, -0.1162, -2.5504, 6.735, 1.3651, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebe606d78689aefac3bf4b4eb8bfa4def89eeb7def8043136380c5d8cfddb15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f03748e7041262fd1f9192eb59d69b5a4bef236376e962910be67d814dedbf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9077754f6fa88e0fe88579933980473409cab45bcedc7c5fa3e19bf32dc356",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.908 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.6615, 1.0626, -0.2096, -0.2615, -0.2272, 0.9944, 0.012, 1.0389, 0.8524, -0.7082, 0.0429, -0.2028, 0.9962]\nstate[eef_state]: left_x=0.4429 left_y=-0.0743 left_z=0.1124 left_yaw=0.0511 left_pitch=-0.2036 left_roll=0.045 left_gripper=0.9944 right_x=0.2923 right_y=-0.0005 right_z=0.1609 right_yaw=0.0789 right_pitch=-0.3352 right_roll=-0.1527 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -10.359, 8.9778, 1.3358, -0.0415, 0.2808, 0.0806, -0.1026, -2.8786, 6.8444, 1.3944, -0.0171, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2722, 1.7489, 0.9794, -0.0826, -0.2592, -0.2276, 0.9952, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4399 left_y=-0.0721 left_z=0.0634 left_yaw=0.0564 left_pitch=-0.2453 left_roll=0.0575 left_gripper=0.9952 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0788 right_pitch=-0.3357 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -9.9077, 6.1333, 1.5556, -0.188, 0.0708, -0.0073, -0.1162, -2.7692, 6.7487, 1.3651, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2729, 1.7466, 0.9627, -0.0853, -0.2615, -0.2245, 0.0085, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.4345 left_y=-0.0705 left_z=0.0577 left_yaw=0.0573 left_pitch=-0.2611 left_roll=0.067 left_gripper=0.0085 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -10.0855, 6.1333, 1.5116, -0.0806, 0.105, 0.6569, -0.1162, -2.5504, 6.735, 1.3651, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebe606d78689aefac3bf4b4eb8bfa4def89eeb7def8043136380c5d8cfddb15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f03748e7041262fd1f9192eb59d69b5a4bef236376e962910be67d814dedbf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9077754f6fa88e0fe88579933980473409cab45bcedc7c5fa3e19bf32dc356",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_I5Dkpx0ZLpaDZjtC3BhZ607YrDcSkZmv_Doi_q7uvhNYJbeAA7_P9l6DAEKWbnHg0AKkgbGUWJWWVhB_AHKO3ntBuZV4Dc2BlALhupkMzx4R4Hs_aCfMhVTZhGuies9_ofVJq8Xj4mg0mMxEwb0CVwx5sKRUj7lnOxD-Ok4LpQxunVy_eyt2AD5tzUlBmb2Yp0ir0nO79C93PB_tQPohDYnmx9HFQvvoiRpL3t-PbYs-j0dWRBOWgwYdZw8rL_1LVz2Le0-UZzB11N5YlL7ZRvpYR-Gtyk1bOK-mhRNqffvJ69ngpK0-L5WNPf6qi549nL91CvJcxnJk0itMGALVvO5pWwys5zilyLMFRQrsJ3QuU8x0HuI3IyIkiFsUlPDxE7d6VmRnwgMtQaKUdDDAkaxrBSAna8pktH-vJ9geTpEWRwJEJiV5Or-RKftDPZmcPJtTcIGQd5OgKdtAaCmuZYW-7GsC1kFS-hdD01mt4OWl37ujFrLGCn3olrL8r3XREmdXiWjEzLs9n8pDoe75eCjQdjljcqh2eMz9E41r_QPho0bn4pqubwUNPI7LYPflRwNsPMU_DiWrf8mqFnx_m6DTgKcDyhudreeQFaSdDUXqJyNNl1CoWS8SzrzckvzofBAV0v9bUa4MoPd-PRjuzrFKKVwnU0G4DbQSgeToYWYcPzI3mtDIc-gF4fld2xmBnrkBZm-EHZALjzjF68QhLRTh02yVNHVo5SD3Av-uwhqajACJXYQ5XPeDlaWTx1FWll0Dtv6v-NjAhBG9YxfBJ-JVr97qoWwJyDG9p6Dct0uXo2C6hVnQSvwsFySHYiGiqN5HAf3KhrLZ6ymRWvbiwrfquhv7FPkLIYCGoo75ZzD9q0KGQ6QSM8Qz0hyCWnNzmex2ZeV93bTQ0UpIvxi-vWcdKlvmcTjZoKxLo9-hqHlZUT8bzoX0ZXZtlFH9dtr99YtrYDvOKFW75IaaQbjC_IQDRAatfiT2YIH783aqDhmLW1Y7xRKZHHIquz1xwjaJK08zEaBq7XLSUnZL5yg3W-qxl1I-66fWphYka9Wcu2LO-udG1lpJ8g2ZKtbXX1uFRuYIiv6VXSph__PQwEwRAfjLXvt8awaxwdp93ieqfqvgAxEAUYZ_BJUvTl1Mn2_7br9bUdHhOxVRb3k7glwcjJcg0aBnkEVeRgx5HpuzkTxKhqy0DHKyYEx70gVdqFtfwvMQXkSOw7pRqEnXEgdkC4uwaqIdav89ecS3Wr01RGCElubroftIi2bg-qTtnlcrovUSYe6LO1wQ3i9IEI-L85FWRnP1GLqGtx-fB-IssW94ry4nv4JxgG9QDhEYhjPtWpf4m_xq6pKvm-Q-lLs3DF911o5Ovn4g8fi77FS0RLiEtOa8mu3iqzKfWF9glboHFInJA5xUdOWWcVn5uotpBLEl9m0Bn7NPWUETL39dyC0LtT2la-v7WwI1AeeolHcwiQ0Uvjy7H5ZEbw3eFFcXHVRTq2O7JM_d8O_CoSbvZ4qN1iTGSwpE3zjbO4uF9fLFQBI1JFfDgCouDjURgpFl8bS076wItnhGACxQNJ4CXYWd0LID3Ud6gEgA2E2Qk-bV5AOgHQ2DUKJp6pkg3sia9OisgGF0Z5Oc6YpW9ZWub9tWNCYt3ue9o5s3_KuAJNoLGB0sdvu5uZ5gZGGoHT0QfKUcv-Gcq6ESr1MjsDhqvlDecUcCjJ96Ru7fViTauXpfMT4bzZCqW_Guh_nWnqmja5F2IN1ONbfou51XcoGTv2DbloTlQAg6deAYx2ZOCYASy8fRuJ-s22_ngaKktDZruS_eIErwijb8x5B1t5HA_pmpR8HiwRmbQxA3KmE9psr5Ks3cnaWZLZTqDEGcjLGk_kb8k_OlQlcqSI8hT59niix5Wh7YA0QCQe95vY3aDiLSykOO-h663kcJcCfFFCtq-j_eIwxG-c-aQJFy5ZehQZu_sFCXnTVY4kaM5Cs_vydkULWV92xR-L0sjWz2_zdaCTf526FTgkJA88XaQcXrkw2Ot5FMbWAUBI9YEYjPOheZGswrWEQWrr-zNr9_p7GJP-iadGkf6hkE3QJgNwgcZuz5b-t-6QarldexkVDBBJDbbVXcAtZvnsfNJknGPaq9wDfldww3-f1dVvRaa767wmyh_UhWX8QUV8lRorczJeCsdfGIEIqEgqvwtxFYatpWzaV7YkgzxKGl_OycnDqKpnUTwwBWTP8pFwj2l1jDPLnw2tj0_pNApTPzyCWWuJWsuYk6hKYrtcdiaxXvS2-Ll5o1X2PusNLeuAR7EeR5cuEfoc2EvF50DJ08t29dQCouVj6zLPsU6QP25JP0yZMolphpqK0URpdvnhpsK0sOyt7nNaH0fi4daLStUvIe6_w1gAreChaIt11Zs1OJ4hfELCw3fHdN6Lb162tdoxmUS6j1i6WqkNirabMFDgsmJKutY2nBFLlNOXQcemS57WLULi94YdjrKzoBmp_6z_MoNSfwb8vkBl5qRTsWu07YqEyjipV1rDb4Puu-mi7E3mFQAfRHfFSPkq_wKm-7LP1oZnusdZU79F4AdfuxUPZ58sAXxtqspdFlSdIUNq0eRiVaSuz-jiS2I4FEeRz-R6-lBs37auxH3nTSicsWzwTiWdzZBzvKVXRrQ23ra3rKqNeEcg3fgkLcXnJ0Txx-sucgq6dFdVV5ab6-jvFHHt6saeAUmj2XlISBf763Dg9e7w2q9XGjMJZcVIgcnMb2Rxmp8o0Ydf4zWAKq0Iw872IoWSAkns5_Vz5Q9AzQf5N_tQpCA8x_-9hkYY4JDKx1ROECvtoNSyBxQvn5SHA3UjYK5jI2JUdR9HdMJRPF1BcV_PEgUHWERxPQnJKFlyCCZcm74x3i_ECqEZVgKOjnXV75SGA55nRz7SUJqDfGqOJocVn-OQqYtYdlrDONTNPmLLPGZr9la6uSdpv08dbcb0nL04bIOC0EDcFm2hUMX1jg3p_9L1KfCpUY2aorjjwICA45-di4JHetAViaygZyOpPB1vJGCu5peuLtbYV9qtDncByLUy4TghehVjVEYiLskEec0dXSnjV3ZEwYOta3i1_SPXb-JnTpqdTIJT7ytayHGVQg1x09CbCarbkXN8oFUvBy6PhVDwaNV4iLMyUHgSkmC1sdfrfT6cRBQ3FumVzn7CA-ZPxiFg16AIZjD_u4_VwqCBfwJWSxUS5y17axj1cR1hCgbNwRv_B0Jz3tgtHf62zHaPOWmni1jwAvitQ9ImWjfmh2SBWv066RMYAj_DE5-AZ_tE3owZ5FIn7ALndXpU-trlRPjiu9l69Vnq_iHI1r9GkCswQ2K4Xnl1nhDfwAPssunTv9Y-8vxlIgMMetfuLGJ8SwkeqbdKIFuO47iVZ6_4nJLZUHksXSmzGYCZuMua3dfovacaklKkyaWGyH4medaFCOYEPBS5fDvLPmPeya91qvoOd8D3bbhhztCtjgn4A6KteO_l1cKHOVewydS9PlaXXCU89q5wBnFZpHpKqNEB5-sFDBayst0zW8khXQt9_zh7gepmFF-AwjEhQqqLMvONVPGzNeUp_5mWAk_HzsjulaeH3k75VeZKQwAFx-mZcw8COEsb1WU9oaaUBySaLVB993Mun9f8zlUmS4Ilfi3a0o0bJ6nmAASHPr3nPnbfYqwuu22Of0MhZHypP1eKPU2a1ysyHdI2nlWcDlw74tgW9D0",
  "id": "rs_00d2a26f00dd3bec016ab42fbffbac87d0946d065318aa48cc",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_IxxTsxCBL_u9eswWoPia7xwJ3fc58EQDCemkVIfaHBklbuh567H5d6_rUw77l_fF9jFPG3QMezk-CgqrkBTN7d7wm6S9gz7cGh19T0aevC6bQmEwlETjMJG7c_KtXl6q9SkC5bp0qAnpOmiKEOGko-4a-5lvo85JWFblTCumDBaScq_Z0-P85oz0rHrodISxhUUvuNlsSzIkMjkObHcPzLh5T2LIr6Krq7WT74JLn-R78IqDFtrhj3R4x8zrhvuQvin_FyVloqPP2-qWC2YeK379RUEbv7Dvg4IxhGgVRzibeLYfUjRqLPFRZ0LvcVkNe0MRDP8tJNrLGKELJQ03JPdo8YebPtymAQFk1NST9v1d6DofT5ln5e7Ra081veF9ufS0jaJTeZjr1-uU_WsdPCgXFaLmmHqrTaPdmxLwORC0Y71Re3aHH-suRhjZYjY-l9mIn-4Csc268EISC5wJttnS78fA09inhBRcBfCq-wUG1wfM3yExz1sgQt6UNvQuuwjO9xzp7Qbyly-tzbQ7efPZJ-m4eKtbZn5LSUdSuEU-PWTUN9Q55kMHChN_ERx1LCXu5B44auQJNK934fClCgcEfEuliWdXxhosLBW9doGEz-2q37-julGhcN4oaH38hIi5zRK0b3cMRz0az3s0EZXbk9FeCmQw-Jt67SJqB7ZRgC1sCEv0M27oSpRkbMkv-mVxA6nqOG-bM3RxsS9LeQpcrarH7aKJnxaYOuldl_cyjab9XWKb-okKVN0PgOTlMyQSYSR5r90Yvh-TsPmK7Cuob8Pyc1R-6p0e7hWVRvSsccq1yee2ATJpKYA5LQQtlS2FHIweVsGjIpoZrIxyyOa_ERdo5umMR8kNqmfq_faePtYOjpsDWBINKNVJ5p4N4p5a4Pl3PDpHLQpM72HFcA87WEbkxltp1YtaHCxlbQwIejzERAurrGsEFppwmz20M-vjfe-2pO-YZvQHEaGExTZNJ0b4jV-yySePkKarJClCshBWYu-4GOw4yvD7JHvtzyIFWauEZlQJJmvDUli4rtEi2Sx_LWPj1LD9dq7zUdXqMurs0iRMP1vybMmrC0ofF2IHDqjSRU6Phr70oCMwgVKQSco4dQVKWzbawM6bCAdbT2jF_g3N0r0_dzGnShIqW1nBj0sJE41hC-Pqm22FbAhRSnlzPoSTmjPqnDZzZ9EfLIRZH4n5Tz8siXYIHfV5lNbVWdBT6avewwHNsvn5ISjXkpgmBu1bJJLXLb1fc1e-Ebp8hSZUqd67tqPpHMVTI5azwIzUitKCMCp3j0vXFGxO5GzazP_fa2Fm62fcwxVCm85RMpGpES0QbHVD7i_0Ws3SfDzsAaCCF6YZ-o03Sg6yrwJ1ZJlQgs9euOOGnYMqozObs8X4z1s9b2ad8FnzPWW1Ho8ai6dPn8QdYEuW2wYphIzHNUChuG86uWCHYNjZQlKM6PvmatdXy8G3Kjptwts2sa5kHbzRea0niOVeV9YqsYE8c3VzsS01QcAq0m2VG2L0fFbBR87tat66EFA2PCEcrP_lBqetwytb7AlRyLjJDhGT2t6zwp9UwrBIgNOCs0cn_PrvbWXX7ch5z31LrS2ukKh89oKIR-kYHecj9onYCLYy84DvA_hNVpFrQ9dAG0uLVWtI6wqofaoC8qqqeJhqtBtnXzxCw1zmvOHGDvHjmox6Hzo-OUi7o-XKpioOwk-PuIZ0qQw-OE1w10efy2BS3kIWPslkFG2bzDeeIgDFnDFZdbsoQwsUvi2apdcpQt34RJpqQ9xyeGsYtmgZZ6cFvmx26vCbERZkXEiXDmkp3q6XmIRKfT_m7HDy8EHTPZw0ILusdI13CbHqbYmBF6LwWLi3vS_EvZ9lMz57i9mNHYUv5RXTltsYiUzUMbbP0ialdPc1nZ8tRFK174g70rxxhu_eRvO3vdePg54BVfFiJeTplDPyNdmH29ROxShz5oXStVZstJXQaD3nMAtPFOSAteSSTqPG2l_2qVmF288El6JUbXJlxe7D7kaGZAVDjAlG3r-nbQfapKFg4tEWF3GGFczHSQPd3eve9RMNTAiCVp2AsWgFekfBsbUnAOH0ed3MJUgZdPD3F0DCpdkqBR5f1ENyhEYOAPLIDJH1zpaKdTC5KKLgOGEsiRAkjZjBCLthguCB8X1xQiiS-tQ76gH0KXjKhlqoZ-ZRxiMfI5FvZ_KnzNNXu_y2FGzmtDNs2ZrXhiL-fQd5MM1ST3dW6vmtgfNb1FlS6z4_kZO6C4rukfiMrAOpLM4IAaQO_boHWq56WuAm-1TjcihKVv99_tdF0XCCTDW1nVTI0ZmbaPinmqkVAecZel6mG3f-lRB2rE-T7Ha_-NA9RrwaDIHRHErM4TTMKo5q98Yt6R1qZgk4hEOgdgLvgbATm3wmNpQJFTfSJgiMKB4sDq7jzcb9Lz_yfQKxtE0R3YBs6VU76-w0D1wdDxqbBDl4aVGLwbLj7GL2GaEhKmE1yxf1Ludq-FkjeYcxM9kzgidfPdtetHeJ30V3WWOq33ogLE3UyX8BPV0ljGcc5Wuv5azgua6YkInNkb5Y0WRpc5EUbUML7F-XBsuEiC9WkTrx_rwWhpS8MT31TVnI9ggk2txgoS1wBR1yxuwmXxZHwMse92PyqMMQIYOGd-CFwJJp1cfosFiUUuS3vPevzrm4oUVlSUkQ3OPGxHNmIondGozpg0AKc1D0zMZX6MriDJv9d1ZGjioRVUK-qftUHMztChQ6RfVVDgJVgW7A9hQOfNQ3ZfCNa4J-ZM6eCz6tE81npOjCwnxa6QGJ_ryLt73bK67Ozi8i8KMrM0Aj03H7UcsWgtESvyUDmA_bWvkqbiQqzaxwJ0b_MGaNOZLQaXRZ2YcpVs5Hm",
  "id": "rs_00d2a26f00dd3bec016ab42fc4823c87d0b0577d47bb9a395c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.379,\"left_y\":-0.112,\"left_z\":0.108},\"note\":\"The jaws closed empty again; the wrist view now shows the white bowl mostly below and beyond the finger tips, meaning this pose overshot it. I’ll lift, move several centimeters back toward the base, and recenter before trying again.\"}",
  "call_id": "call_OYfNliWpNUanFICpf6rgca1K",
  "id": "fc_00d2a26f00dd3bec016ab42fc7567c87d081644508fd94e942",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OYfNliWpNUanFICpf6rgca1K",
  "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]: [-0.4564, 1.557, 0.947, -0.3172, -0.3592, -0.3641, 0.9951, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3816 left_y=-0.1142 left_z=0.0966 left_yaw=0.0386 left_pitch=-0.2777 left_roll=0.0671 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -8.6359, 7.1316, 1.4432, -0.2857, 0.0952, -0.1197, -0.0615, -2.7145, 6.9128, 1.3797, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9abf2c4466099bfe9b84bb0cc8e5f33f597af279f4dd536a656b3461fe1a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419eb80d1cb87ef907360f64142ea694faf09f5281fa77b00e9fa19c39ecb219",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe986730241b7ffc72ab938e490d0004978ac80e1bfbdeed7518d07357ef72a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.122 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 70 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.7283, 1.0275, -0.1314, -0.2581, -0.2096, 0.9951, 0.012, 1.0397, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4464 left_y=-0.0723 left_z=0.0826 left_yaw=0.0478 left_pitch=-0.2275 left_roll=0.0629 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1608 right_yaw=0.0788 right_pitch=-0.3353 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.0752, 6.0923, 1.663, -0.1001, -0.1294, 0.0562, -0.1983, -2.2769, 6.7624, 1.4188, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2729, 1.7466, 0.9627, -0.0853, -0.2615, -0.2245, 0.0085, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.4345 left_y=-0.0705 left_z=0.0577 left_yaw=0.0573 left_pitch=-0.2611 left_roll=0.067 left_gripper=0.0085 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -10.0855, 6.1333, 1.5116, -0.0806, 0.105, 0.6569, -0.1162, -2.5504, 6.735, 1.3651, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.557, 0.947, -0.3172, -0.3592, -0.3641, 0.9951, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3816 left_y=-0.1142 left_z=0.0966 left_yaw=0.0386 left_pitch=-0.2777 left_roll=0.0671 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -8.6359, 7.1316, 1.4432, -0.2857, 0.0952, -0.1197, -0.0615, -2.7145, 6.9128, 1.3797, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9abf2c4466099bfe9b84bb0cc8e5f33f597af279f4dd536a656b3461fe1a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419eb80d1cb87ef907360f64142ea694faf09f5281fa77b00e9fa19c39ecb219",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe986730241b7ffc72ab938e490d0004978ac80e1bfbdeed7518d07357ef72a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_PMuv72-X5cTHjk3B7PKV0hYlXz5RgGTWoi8QrU4vsNGrLpQpBm7_yBgH6ib17KBTgRWibJjr7VMCd4NbOXTGQb6-7m8kqrNXfDLcDBseFYU3Ie_U7fPsnJep0RVw22ZtH3L2_CTA7qv8uZgTkVwGSRBXvGBrDI6JsiEDkiti5GMOi-XzzeXh97kDTbIo8HfQUrXOhxWJlo-b7iPG4jKFGWG6dUADwIOz9rX7No_pmKeSIhUAq8prKUDjXjmUPgD6YM0r6OoafzQmhcdip296u7JOSqJ0btHgcgC3tbcTtFNknoUduDBNYrPDX_5Qb-84suJ5dSBG9gDVJylqiHA-2h8wePEb--wlfkZgtiT9S2ds5jjsTImoQb-_BYFnvkInG66LfCchTPB-fYNyG4KDYKKlM_gd_vOih6gngTUxo7H8j6O-2RwsO6ITmy3Ms2uAhVeB2O5OGVcYRQtert5hNhPvJN0uw8WG3banfreMk2S6OGhmkQ8wtviGwHqM7BmxJp7UegwPBuroQhBXD0x20VEsX06xsEp8sL4MwHC04jot0cWPJP6ckOCZc9q0FB2tDiR24--bD2nVgqDWLm72tWoepYvMPdQHlGDpvWrUUuQc_Z08fjQXJPvuZJ2u6-M4RabEAZDa66TxdH-JMJunJUc9pyJ7R1W-dunUwhRa39x3ZoNye5FETKW5KPBV_qmtWIVF5DZzdvlmJQT1EwEgMTmeQs4-Re-T0trOPOWbIKC4PK_YlUDaO4dbRfJATGu6o7kzJAZYEvrs4avWxw0AUw8nRfl3AESO3gDvpUOrQS6vw44fAreNF2CUlh_AAkF6D2_semWv6cEdLUFXaqyIj7qNO1faEOTDmLCoRXpFMdPo7SwRgJr-2UOKzBrMIFEJ67lf6FTCT7TUsjQOKT5pz7Pi6--lKSkmQxk4gZvQ9VlHqS69WkDXDzSGhbTd5vxwafwMLjbiP1R8ay2Vzxzm3Z4BaryUNCizZeIP3AmOyYCoMqr2ZxRWerGCd8tnXYDQ7eZFExh3TzWhC_J-WClwR_kp0QFeamPSIoln9sx4QtoQIJKtT_d0CNKQGQzJ_EVU1qjPbUCklwXPiTdt-Gkp61tdwSsZwHMokiycg4zDis4Cfk8YVtXjqkw7HVM4lJTz2-XrfHJ6MO0jSfUa09-RH2MvHTc-dOHivPltcpX4MG8kssk2P6ORSiAj2xVCG6XU2phaBQvvzSjFhy9ZtwZleJPHRV9k3LK1vczRPpR4I09b0-KbZrxdVpS5Dyy9HueeFrXzuP4Yg-u6Tl0j_DycUX7Th50eJVit7wtDtdWZz2BvNw0bkfT55j7-mL9WychjRuRjVti86cGDDKCvYASOgOMakFxKphc2kiuajNLJV6dUxZKN50-jPrYbATknT6ztcK5IXcQu0UPE2yDykQchLNSnm66SbUOcWnImlsZj0_CTyvpgMNZ5BVbyiE4t5vmdpyhUE6umbON2M8kW72KJ_3N1ZcGv7Ov5bgCLd5RLuudpwtouvCrBgp6z05405l3aHIAsfF066KMTjMy7sEAyEnwoUHZddZ6a1dgCDHDpoOvwGkw0L7G0x9uxmi7iTtGGAaSha40TsUD8td_xRyKgZ1s5pK0bJbWdCGSz4y0E2gInEx7Q_L7tdq3-dWEdhyifCdhqVq9o8udOA-epJIj8b_cC4svL4_0Sivpv7mI55Y6Bcq111-SQ6-CDXSu1t4pBhJmrz9prOyv_MxNqpNPHA9KjHLZJwgnGpFpH5tEMSizML65NESR2MkX0GY-qdzW0PRxRNez1YeW044gGfaJCv-nyzJjGN27du41q3PxH-aw9utcYk3561HtySxnzHhU8bo1JkC-qCoaZvlt3zL60zs6j11YQ4QWmthZovasXnkJWzUVPHRJUnAFso_c48ysvmftVh763T297B8wlIdJBzj2gWW-sBAAFszGNp5_ZD5D_gtpTWY4HRwiBYDNGX-AiILnUaBKPjsyXYBu5oLhJUgdZoN0zYNRPsDdC2lxaBLBtkgmecGZlvsiNTDMEoZUwZznJDCqpl0EAOKcsPKkp0gz1n49xyirxWmsIt8jp568l9Ks1DXztoybSP46McUwrqZZCMsIyP5wsGO3WFOu0fBt30p5enAgQh2CNMXkg7XvUjhfIeYLToF0nERwEX_7v2PBOXiE9iE85s5swMONLbkcADBFB27S8HogHWGanE_FbWPDvgwEO4RePazDmIN0QOjz5d_idNCkNOXG39Zgh0dugyDl8EvQsA63lkCcdCziVYyVgnMte16zcnfi-fSnNCIokykraYbWkkKidS94xMrF2UOZn_V-7uk88UsHnwipH8Fup1dvZUfrqQnnfiIBgmIZCB4giLpbK9AZBUNX4kWRfG-l2zDpOqbdwTFxt1J9pcYUfVahLFkH4TGZB9MNymURBuwWcvcAuigUFBfnbyJMhA7PARvspF0aEHRIbsTcB0OKKS4g1OSzPjchnEsdg_y_6vo5ofQjHC_X9rWkXsa_RN4QKnnrteHfL95ZJq-jvBt56so1MWgF3Jwx-Fe0t6iqj2ynGnEtZ1YAT1C4rC4Hsji1OSgoxD_5mudCQmCODbzNMf6O1N1Y48MONFOwwm9PyXf17FeVUmaCCBGxP2VwBG0QZAx5FhkvyBKRo9bOS8q5w_tBYe1MIISngCPUgjZs6BHrly4zUCZUrW6pdw53O53izfDkdjc_Vtzc9yE1dDGT53EJzr3i244txLwOlVJC03GJkEVnb1tFx5jgTZmwg9-kyH5NhQ1USeg7jWOab3rQFIJnLa4E8neoqCqqJXrRxBEhE4rwFVLJwRITTpl1LUrW69NlaqtUANjIA-3kxK0hK9qn2vj4lOf207CGwpVSqTr-gSpfk4kYmcf_c9-ARJvvQ-UnF-MIUWnYe8UDuHmKh9cPLfn5PcMw27ZFM7xvm05moLslDpB8ZQccwRcIHOh5huG_UcXi2G3e4SzQgvUTYQBjpp_7xR76injvF-5Y8Wer_tU_mUWuow2S4M5p2CajVGCjsu0RVc15NjFo3Nf47Fk-orc4ZvMu4ZihviVElBrrxhVgsIstyLRzk3vM2Cp0C0PPcu4Ab8Sd6zZv2mgG2-JEYzzWDNcD8FEhcClPgwejoiFzM2VfBaIud8tyd8duNiKo1DCs2pZzIfA60U5ACVWrMWzsCit3zIV07sd2JXc_-zoqdlch6r7QpPng==",
  "id": "rs_00d2a26f00dd3bec016ab42fca48c887d0a7b1e2637be842de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.381,\"left_y\":-0.073,\"left_z\":0.071},\"note\":\"From the new wrist view, the white bowl’s near-left wall is visible beside the jaw column; the bowl is no longer hidden behind the tips. I’ll shift laterally to that wall and lower to pinch its side.\"}",
  "call_id": "call_GaGLkkpT2lNkZnKh5vA4BDqC",
  "id": "fc_00d2a26f00dd3bec016ab42fcdf86087d080efdcd871454ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GaGLkkpT2lNkZnKh5vA4BDqC",
  "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]: [-0.3332, 1.5444, 0.8173, -0.2298, -0.3065, -0.2981, 0.9957, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3714 left_y=-0.0684 left_z=0.0631 left_yaw=0.0858 left_pitch=-0.3263 left_roll=0.0853 left_gripper=0.9957 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.0906, 6.735, 1.5018, 0.0611, 0.1294, 0.0513, -0.3214, -2.7692, 6.7487, 1.3748, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75463b843757a2c80673032a8fbc3d71ad64731d80fb26f02fe7a68a9bad20b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfaa823f5863c858df8f5173cb705247c89f00ecbbaf6b32cff823c24f2c6543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf76293c1c74999ae674483755a8c8a10c8d178bcf56c6110a540eae519af182",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 11.17 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 70 changed as sent

message 74 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2722, 1.7489, 0.9794, -0.0826, -0.2592, -0.2276, 0.9952, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2031, 0.9962]\nstate[eef_state]: left_x=0.4399 left_y=-0.0721 left_z=0.0634 left_yaw=0.0564 left_pitch=-0.2453 left_roll=0.0575 left_gripper=0.9952 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0788 right_pitch=-0.3357 right_roll=-0.1533 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -9.9077, 6.1333, 1.5556, -0.188, 0.0708, -0.0073, -0.1162, -2.7692, 6.7487, 1.3651, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.557, 0.947, -0.3172, -0.3592, -0.3641, 0.9951, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3816 left_y=-0.1142 left_z=0.0966 left_yaw=0.0386 left_pitch=-0.2777 left_roll=0.0671 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -8.6359, 7.1316, 1.4432, -0.2857, 0.0952, -0.1197, -0.0615, -2.7145, 6.9128, 1.3797, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3332, 1.5444, 0.8173, -0.2298, -0.3065, -0.2981, 0.9957, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3714 left_y=-0.0684 left_z=0.0631 left_yaw=0.0858 left_pitch=-0.3263 left_roll=0.0853 left_gripper=0.9957 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.0906, 6.735, 1.5018, 0.0611, 0.1294, 0.0513, -0.3214, -2.7692, 6.7487, 1.3748, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75463b843757a2c80673032a8fbc3d71ad64731d80fb26f02fe7a68a9bad20b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfaa823f5863c858df8f5173cb705247c89f00ecbbaf6b32cff823c24f2c6543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf76293c1c74999ae674483755a8c8a10c8d178bcf56c6110a540eae519af182",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_S5nCdd8y5iYIWOljzmGj4FckQsHjGyzwb2Lubra8d5ZySrqQ27Rb9G0DWKPEAo-f8pdzB5xbIujYU4SPwoDwvj2ncdg7n6E8xSkwXsVLqBuRJOKoy4ruWXia2UmeDi5AuckRnX7GhngCSwla2y-qvkh0PRCWsOyYrEw8B9iGDEOI_vvJtP4gSep2ECehWuoNeBMhUqekktrwxJzErB64hdK1S0nn92nSm177Cb-IMK2ffUjNOzor86K4Zu4VWD_YO5xeel8-jA0oI7gq_PIXyzmSg8fKhtHxFD4dd3laLubaRGKPAG7JuefDmJ3PVi68hBKKEaTDJMQmPDans01zTHqhj0jD3G-Pqox24-hthblb3qK6hsqfR8-QlctZa0K8MRHXj9kY0YFvtxCNZI6bPvpVHlZwbVDE2DL6LEYzlO4EeYxAMxPT6Q56Xz1jPmdCy1-uRVXq20IKn7JKAKN5wooPr42j8efkeygEWpSHFLDve1VExY9Gyjf2M9uuZtkI5l5hzQ87s_INetZeaM62J53c11Su6RZ1mSHde0HbAXSUpeyebF1ZSdbkNJwmeB52yt7z5G5lMx-PBRxrLAvGj4Db3oX2Vc3M26J_H53QjmjIAwO7WSqCILhcepGSd7w55rv2fnC9wsu55HAG2oOWapxj3buYQhweuZxAeQCWLDFt_a9htwnMOuI7KbYgvvBByfa1la1pEYLkHbTCJq7JbTZlirpmQ3MDt1wQpPgRvDwHT5Tsptavv8_lf2_wZSPDGQXpsoKzsAI8RbxuzV8E8hAV0M3GnuGn41KXyfFpN5ofgNB68UkDa_LoAuRvOX8f6UOIJXLtZS5Pyu9WBEOWb_W3EiAnKHNTwwPVSGCSQ1zEhxwyDm6GmFgf2B6Sc8G0pJn64tiJBIHlG2ZLG01lZ_C42WcVgIxzoNYuWUU2-eSOk7HHtjs29kE5UIfjJ-8Cs-JfLNTzjbBPGdNE2KVoBjS35sM5luO5QW7ZMs_LIsp2WaA3QXHoZ9LiePj8lK2N_RKxlvC82vNNN_S-HXEix0DNgwJwl9rozWIobBV43HWwPoFA_jFgWpPSzs9nhZGFsxrJrDqIUBKhXGMhnywpuT0pJe_BA3rC2CSfs2k7_6wxaKOoGncDMz93iP6ToXqvU9Ec2zLV_R_-wg9lTRg-8rgsyLlp-04gG4uzg7VTFvCm-RTi4-EMA5oJu0WpXBRWxx-5wlo-BLflc0YP-nMTVXlf651oxfY_1DBLFjxBV4Z__gzpC69iQ1uJDpWZEh837NO1ctbTjowMG8J3cG-z8NErzcwD4gWgBXGNtVRZUsNYlQNf8j6a0LNgQAx7q2wYhNmtc6IM2wo7DvqxZYVif-2ECe2L0sGCPPo28OB3j7Ip5-hOWtOdFMX1i48qELE24u7vQJ7pnr9MsvINDGbAlsD59KuKjniPVC5ujRE9sv7g3x4XmNaLYpMiUvTk2sN5N-q7XAeYCh7LKUuI7jbYsC33YSetUUGGLtljMyJV4UjlL0yPT2LuiVt9IyhYyVt3N6JQFb3St3Nx0otE-QeOTf7-_0a07k4nxm_RCMJdNn5XVdiduPEzjqNYEYJK5rYf5JCwZcgBeALnJlUgLkQdzA9O8f7lZxO0iE5d6bKmedaZtrsZBdBItz4iEs44jJSzamnZ4MrpRU8IQbFYW1_Q-nQ==",
  "id": "rs_00d2a26f00dd3bec016ab42fd0bdf887d08e6c327625bc9335",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white bowl’s left wall now lies between an outside finger and an inside finger at the gripper’s working height. I’ll close on that wall and inspect the jaw opening.\"}",
  "call_id": "call_tS4pkhOkURICaBHjMejElm7J",
  "id": "fc_00d2a26f00dd3bec016ab42fd1a78087d093c4de3e23934a84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tS4pkhOkURICaBHjMejElm7J",
  "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]: [-0.3321, 1.5448, 0.8059, -0.2314, -0.2924, -0.3038, 0.0086, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3674 left_y=-0.069 left_z=0.058 left_yaw=0.0804 left_pitch=-0.3429 left_roll=0.076 left_gripper=0.0086 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -6.2974, 7.0906, 1.3114, -0.2369, 0.0611, 0.6422, -0.1709, -2.7556, 6.9265, 1.3651, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948f87605eb4fbb074ac8193dd403890a7965ca14269c3b8638fb9973e6c9645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad24a620b09075f167f25cfdbcdfd8e5a0f8cb6ef5c5fd456272390df5f7a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179c4adf192ad92afc271759b925cbf888570b21b2593cc8ee9768a03f769735",
      "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 · 2.99 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 74 changed as sent

message 78 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2729, 1.7466, 0.9627, -0.0853, -0.2615, -0.2245, 0.0085, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.4345 left_y=-0.0705 left_z=0.0577 left_yaw=0.0573 left_pitch=-0.2611 left_roll=0.067 left_gripper=0.0085 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -10.0855, 6.1333, 1.5116, -0.0806, 0.105, 0.6569, -0.1162, -2.5504, 6.735, 1.3651, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3332, 1.5444, 0.8173, -0.2298, -0.3065, -0.2981, 0.9957, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3714 left_y=-0.0684 left_z=0.0631 left_yaw=0.0858 left_pitch=-0.3263 left_roll=0.0853 left_gripper=0.9957 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.0906, 6.735, 1.5018, 0.0611, 0.1294, 0.0513, -0.3214, -2.7692, 6.7487, 1.3748, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3321, 1.5448, 0.8059, -0.2314, -0.2924, -0.3038, 0.0086, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3674 left_y=-0.069 left_z=0.058 left_yaw=0.0804 left_pitch=-0.3429 left_roll=0.076 left_gripper=0.0086 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -6.2974, 7.0906, 1.3114, -0.2369, 0.0611, 0.6422, -0.1709, -2.7556, 6.9265, 1.3651, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948f87605eb4fbb074ac8193dd403890a7965ca14269c3b8638fb9973e6c9645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad24a620b09075f167f25cfdbcdfd8e5a0f8cb6ef5c5fd456272390df5f7a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179c4adf192ad92afc271759b925cbf888570b21b2593cc8ee9768a03f769735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_eJXUU7mcLp2CFj-uoV6F-4RvjDlKpoNC_AdKEfP6pxRue2kdpGABVlLDv0lV0kQSYAbBYnWYTwds2Qe9p5eIWiFLOgJRv6r98SsDvON-o_Kt4Yyqlo00dbttBTQw0w4tLbUjMCWxxF8dJ9MvZa5LtigZCyAsutt0RcR3JFnMpOTkonOqAWuQn2WQIkmeTk-JrqZdgIuedOLP6XYdHFu7T7teblipMudZA56UYkfxTQfMW7AURG8NNBwFOHw8gXu0fGWMyoL5kZ489SilOL2LCC1tpa1bn_Q_ARyQC0wN4NOK7NEYIWTMH-ySt2xHguw_MCGx_KNfbBFjPZ6iEWNMlzeyXgrO4zrCff7QMrtzhrnkPr5PIaGWefmUC2v5sobnZqMRN1SnV7pUuhy583iQFtEXuCYACtKCEd1qP-XEBHbAv-zaHqEEPnb-G_5u4uXHXdK7mHa4Osy-ecBXbx6XQzvyl1aJF6p3PKuLbq6xnDw0LXrayJmAwmLWdhBsSgXmeoimOOmhyebjvwHRZuFYX5_xnh3b34OI3mFwp5VyCIEXMnLqj33OMEi_gZMEQPWknz5ZJ3g5Jiat9XzyDJhcgJ8TMU5ppt2gPmbvOPQtYDg3f_UxCOJ49dzDAuCSFSfmBPZbaaA4qbPbtiEP9nDYivxHBAYcqK5q57dymkJuCWQI64jjrY8ldgNTlraTqJY5vsmOv8skrdb8AqRAJnodjn8jRk4u0woSE5NMDlITK8qJZBr1zZo4nwp0X-3tJZlu-6lDkqx4K3xWKHuSd9Hw92P5R-fceOeqgCzKReWi4rUtyrkV4ZN6jNf240-lmWrDMMr8bS4SU4O-dl0HlKEp-lIrK8C2XxutR3r-2KDoCqr9C35SF_D8xfr5Mg6d8-XjzRxMG1_u-IPYWimBwFZlUZG_hPUCkON4kMo71EqUdOgXG7oXtRAFIuZw7h_WeqiURPUWSRQTbqmiBOPLsQGqKPpvIW_xj1DnpEuThs-zu81M3QJUL4PM1fqpEXrn0_q6ENINcYU6W3HigP5qcahefLeCVahle_OIE8nEa-6ibRo5NwqpEki1RQt9qUtfeLn1gZuVUZxHoxEfkffnkXWUdiroLtMn1pT1JwrTLuyodcvnHXIhp9XC-bmc116XpqC6FVQOQSFkyRqinuKnXrYn0Fanzr-IBZwSny8PDTuzxK-c4aYhY_Vy2QEzLhNKJSNk72-huDlatJqlL3NF-Da5G335xpMfGctBscU5JDSBkYEHAzRaEFPwUEo4ueBwoY9D51bZHb8dtZocDb9BJqzNV-dqE5HH3j3Kg9J97OWSRKMgJGTuv-epsmyt7AGnUXjYsapctTEL7AR_G8z5sIKhtOLv2nXKFWYCYY05a2fIYgTS-RV5O0VjJlO6t0E4UTpcj48hzrVyRHhNFwl0kShNR3X2DBbNQjhZG9cMxHc5J-wJ3nFe3dsfNXC4sL08J-KYVRUTsUOCYG6esnWh39oMlAyGGQxCzT9TncYOTWgj0jBw427Aa_C0yHck_9BKoUKwUteaodm1cSBYa6uaIBlCv9_bdjFlf28KTG2ygquQl7o3tomNzb0XgD-74F59mCvfG_EnANIuk9I544hsdNFBxAz-BLLrkKgreUzVPMYAbP5LU0204qtMKsEtLATHHsdW3hjA6Wl--nmfIPHt10trPlol2CQQ0M9st3qIE8Q96FwOsUeqs619IWKr1YqdBw2HbROhTFDzxMYEEp_eNGojNMWw5heorlC54mL7f9pgm4cmDtOAK6WYLvFZRNv3rDZGGEBwV4MEBG4aHsnXrO8DzJWydTLCvIRxEmqQzs4719ot1ut7Cw4WD3eRjBVtzQBtMs3_GXJKbgFMflGuZd7moInkajOiro6DDpbkWvi3lQpKMOA4lEkA69QarjiQ_THUGSjMaJT1aockijEZM89APRvdH8bsp-NbEjaMFtjpY962va5WswXg5KNf0sH4EK2KpBvZ2OIwKj_EsoogjRGkrCB0z7kQGdbX0aX6saR3P1D-4_IvXSyU92DBo6tIH78XjJC86btPuvhS4aVPRj7HTRT6KzyHOOs4jPHsnesJ-pTjaMVqEA9UVIV1oao7_zGdoloOhiv7t7Bko5We19cHNuahGNNTEIB5RlE9UwkxT_s_UHlw-Ko-4IVfV7RTAaIzUhAIDJKgaCGaCAh0MveQJUQ0mjf-Mdzjvn6oKgRVYjjrlv69_KOiDoYBCeqcsU8UkyJCoj7qjQw41qKh5gH6vMabySjLoBBBHPGuRmPrmVpnlHHAkjAJI1kqF9m5wqlN_CweMdTY2boaXCwRUQGMcTyT_NYOowrYfXIbqMVDH_8W4YDtveEBozvLUPfivp2c0v_x-lIvbWS_1unWSObcult6co4zGwd_-UBLbcA86PmYBHy5UQ6jbqO4PxoBHdOqHp7SpWq1OvQiHVwUdbvpJ4Z8z0TdiJOW_QU_WGYXLTkf1jcXSsMB4NY0J88fp1zHaBU6CaCl6hC3nCJud3h4ZmDnyrEnsOqpnqdA1LJ5NlmN-lfsYMCgpK7ia3eO8l3xcT9zVH7zMGWx_9kB80dVEqLfarfMOzj3PQ6u_dVkZszMG-sSCR_uzEQdGngxkl0BzHyxsby0LOP9ZJfjCmlS7OKryufZb-k7dGAaMTMZ6ridUi2-dh04HCdnBao8JKZkYQGcFnceMEoIpfW6hNOS2EuL5oUhZy7Ahe9Y2Mp8dHv_UhV7H612A_JsBImgv9aZI3YDVH6XtPe45FrsxbATRzpqVW2d_CdVFLNa6npLWjugE5Maamn0_3vw-Z1bzGsp1UfpVkwl-4Bkg2_LUVsHAmcn8vBT7D8uZhbWe6O5d_43nHlejovEMgtUWWr2rV-0Xi2jEJ60V2wjfN1T-iNeydp_GqYXd3GJE0PctsqH0yM7WEkWfJ3fSq5dlcS5PQnIyzkd6OAnLmYG-KLezYtIFeoeJrlKoPb7SErSNgHQyyYDDOyVC8pbwtl_eMotfdqxzpnzWIUDEyE7MViOZ9tQ0JoSvYw1DdiCuL4Mg8kwp9CJvcFtpUP0ymGksovUMYfT0D2jLITJHa6baiaY4iHMDSc_duMTjhW83tUlWpSudGggPMGFvsTB2mw93M9z0ECO0D8zJ7qjQ-CmDc5wRZlylWWKj_Ts2a-xG9cN5MMMrXqkfkM0aRhkIlhb-Hg7ve4crjh6R5joUCNyUP_gQyBeeEQ52ki2SIUpEGuzb_rAoj4j4KFtfkCmrxUN-9tolyH4x2cJtYFK1VcMZxTIuMUcgrY4XXH17EECi1XTh2O-X3yEv9fR4ke-omjoz3iT7Aos025sjjb-Fnb2barxAzMjbbA_HBv2ap_dTb__vyEr5CnBG98RBTeN6bsyHLPh66XJ97JmO2yDaPvwb8KWzy4tw5Sv4l9qlfOuPqgtd0yNk90DWabpTxkfZ38uJsXfB4Z5vo8ZE1VYVk1lzDURnyyRBouYxz3b06Q7WdDCFBE-6JqpJgROZi_M4SygTATYVn1owoUc-cAWd_rVXu5-2FpJzqpahp59g5VxGW7YbDq69PnJykp8ZgV31y1nJg8afH2vrS1-X2wANauqaiLXvsfM0d2IVCU5XlzQNeL4-V6JZtid0aMAIovaKD-wyL5JaFLjm7p7-O8kh9sRozf2HYPNyeBVNIMU-J6pwQBB8xXhQ31DH2qv9nXrKQDk47_UiJseu6BsbhbaXQt3MR9DAGlOIpkAFtNTAQ8UgBunAlPka0PoamlQMHanGNdnfcd8W69u-oyEiISqlEyGzgWSfdfPHUK7DSUs5Z8o1Ts72CddqA6hmJ3jJ5HDL0bszLwq90RQnye3KporInnj56KcwedD10QSncTLgC6mB2UDqyblAi1u74Nqp3KWTThVwkGJfjPnxNq273no_0vgBkL5wPEOKKTvWTnJktSslVUkqkJhE3wHvS4fcnnMBZh7VrukQsnjE7X95HItEdAk6jpVyGey-Kg==",
  "id": "rs_00d2a26f00dd3bec016ab42fd4911487d093c58b8c594343c0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_e08PNwjiULpqjzALAW3tGTdy4EwsZjm4WOXaVKN4qWIgFj2sr8QPt1DO6_0gkwuE_2LEN8cFiysr31G_z20yzZNidKnfdtLhpjm2GLMlfB0qdNs5ELMCZcvvNK0xDmc2gFAZFxWnNuiQt5aAQGUmc8PydTNEyy3F-JIPfz5L_9xAVHfw1Dj4qnHksPd4196Nv7tgMRGzIz9JUfnoMoqN5hRR08zV1jKFp0HXEEsKI2MqX2zgsukVQNfWZATOzTn85jkZvGbuyHZyiPF6vwGKUXMFQz2b3okR0XYGdwbTohJppkb3_pZrSadVRExq4uYIZ77OLQED1HWAUpdDWGlRRpxfNfZBXFdFWRjiC2kcUN3WYddW0bmNSnv5JRtXVlyX54TfayMD6O22J7IeKoxi0vDfawUdYQIDnxNqpta6Tlve8t7CntS3q45e4I31choBpBKLTmUizRUlImum9zqyLbyZf0uc2juVp8eyqIcZpvT4PRznBYIKX4N47jRUgbT-G0cY49K2_jvhif2Yp8j3RALvXMKVB0wSYzWp_p4brOj6gQGZKG0_HyE1s_8J6YPQ98JtPTW27FBLM9l46cezPSOznSzwRE9g6PZwj0zNksC0e26QnXxGCiswXl50bRUQutD6CeenuAcUl4TLWx-0YcsAfi6HAmmDqzw21z0Gmz69xxHtZtlsX43HykFck_as3Kfb-TDQYhcubsE89YqkMf_EWEpVFbCYS_87NQFE0RlZalgFtvvOr_UrSagKREzTPkpyf7w553viXuRo1MalFiw5jHjxvT8q5kDecUHuiyBKOSbS3t3WiE2FYhOIH-jLOlPeFupOjExD-7WfU6c5Iqzk2IUVx1HkBcceQHmpp3TlC1Ipc5PRsyvpRhEhzGou01qq6IyWW-tm0hHbE7CTXKJZB6cIZKoZQy98AMsOHNHPWtQHqmgmr9aIHqDgVubwBjvne0nkKFMjM-zhQOV3IHOiPIiars3lviEkwhj6HIiverS7aqqkXukhPUh6luDuwxQEA7cp-xgIeVxstrvDDGcfro3sgtXdrzNOEZFHRw4BofIQ_nAHfklVv1QD8HXNg7KKXjGG4QuG2WFwRxuoS6itoJ_ugrg00tGAy06lrK4O--ouRIDWIkBZwTV-COOA1GlQCznVUWWCmx9Xnnm_ITo5QHsJikCv6eabT4PwEAWBxy3e9BrGj4K9iXVGwNjqdQknevl_bQwg9hEpSpCpj7Z7-BQsIJhaVRIJfT0THXgQ4Qf-0Rb0hKYgLGswNvQUuuXRrTo6A4JcDDwgv8To01OGHX6Elw5PBSpMq523Cf7253JOeSMvHNI4INqqNCHNOql3i7sh5URqK9vDqPsRUmrSIef5PFKAu3mtEtL9OQDQ_nBAMD8zPVnYVsDaR9qKr60n8WTzw3SdPU70QHQ_a8xdj0B7grgw0fOiLmCwLuq-E0Z6xWibUgjOP39Kz9JIStBonMDzgvKLh94wBMCAzgIK_PE3spRIX1LQTzTy6G_onkhEP0ciGWEyeVOdlY7HXtnkV-ScI6uXjvVzm3BVIOLxRtmdZK2QmR5msfAaUN5XiEPtwFaLb_ZssTkN58semdPuoAmkDO_MJj3VO2bCqXzcGm96UkV5ivyusq7fAXup00EpzJUN8xdyVJgroIqY86qcpKvM77_p8vZEBigWNh88ZNk6IHqiK0BFfPomJVtyQ3LjzvcokvQQHo0hp75oPubDqCbsTGuM7sr1ekygEuFJC30mKE0jMzKxtoTL1glE7TFiiZOWpE_6jFtTCgXToCekSdXg2xdviqIghIMKSDYpQLpEb_4h-LbOoEkxHJ3RIEvVZSI9IzMEf5TH3bQ0XHEt6SCwe6Ozd-8SL8lLZSuNDZHDzXDs-QeMqyEGrlHyqWDywZhGS1UHG7Z3nlnwDNjjtJxsg2yb-pWxuFFko5XpLs2lvKxxxf6gp4ZgqlTG4q5Z48rkFia3abTnS8JUbTZIGLb-kztCTzrtD3pPakCbVGDt-pfLNUZo4S3raj6Z17rrlNsaafuXlSyUyFMXUWoSk31tse4GGKhtcaAn18nwY_zbO3kvI7Fgz0cvIzbkFL_9waIb9J9B2OXPEDcCgZZDO6ZdMZsuApST9XWzWIAUUe8YPCMAJgWlgSnqX19wG_AhlztPojAtob6P4vgO3zsGYspbq7glvT9lXFW0vWNW2NNrcXOXaRc_VmX1SeRLHtVrf2nIkZVcFQvHJARohLiTkK7MvcF_IZyhVxexFUmJ6LOxoghol75EN0kdjoV4hiJxthbTbN69PimmI3hIn",
  "id": "rs_00d2a26f00dd3bec016ab42fd948c087d0b7786ad96cf93484",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.377,\"left_y\":-0.086,\"left_z\":0.076,\"left_pitch\":0.25},\"note\":\"The empty close missed the white wall by only a small amount in the wrist view. I’ll reopen, nudge across that wall, and tip the tool forward so the finger tips meet the lip more squarely.\"}",
  "call_id": "call_p6EbF6BXPu279bb8PFf5lGhB",
  "id": "fc_00d2a26f00dd3bec016ab42fddf40487d0b312d976847fb075",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p6EbF6BXPu279bb8PFf5lGhB",
  "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]: [-0.4839, 1.6451, 0.3908, 0.7879, -0.5606, -0.1963, 0.9969, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0855 left_z=0.0625 left_yaw=0.071 left_pitch=0.1776 left_roll=0.0874 left_gripper=0.9969 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -5.2034, 4.2735, 2.0537, -0.3639, 0.1636, -0.149, -0.1983, -2.7556, 6.7214, 1.4237, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a78d84982a1f6bcc729a7a18c4d13ee0349e99a84407bc1a8d66d9c71fa4665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9925ac2ca8a524eef8e69dc36e20cabbf77425b477c863184e51d483cd33191a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435c18083892955c3aae41085c9da044d0344edf96bd338097ac41471dc2f22b",
      "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 20 attempt 0 · /responses · status 200 · 4.938 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 83 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.557, 0.947, -0.3172, -0.3592, -0.3641, 0.9951, 0.012, 1.0401, 0.8524, -0.7074, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3816 left_y=-0.1142 left_z=0.0966 left_yaw=0.0386 left_pitch=-0.2777 left_roll=0.0671 left_gripper=0.9951 right_x=0.2925 right_y=-0.0005 right_z=0.1607 right_yaw=0.0805 right_pitch=-0.3359 right_roll=-0.1553 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -8.6359, 7.1316, 1.4432, -0.2857, 0.0952, -0.1197, -0.0615, -2.7145, 6.9128, 1.3797, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3321, 1.5448, 0.8059, -0.2314, -0.2924, -0.3038, 0.0086, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3674 left_y=-0.069 left_z=0.058 left_yaw=0.0804 left_pitch=-0.3429 left_roll=0.076 left_gripper=0.0086 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -6.2974, 7.0906, 1.3114, -0.2369, 0.0611, 0.6422, -0.1709, -2.7556, 6.9265, 1.3651, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.4839, 1.6451, 0.3908, 0.7879, -0.5606, -0.1963, 0.9969, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0855 left_z=0.0625 left_yaw=0.071 left_pitch=0.1776 left_roll=0.0874 left_gripper=0.9969 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -5.2034, 4.2735, 2.0537, -0.3639, 0.1636, -0.149, -0.1983, -2.7556, 6.7214, 1.4237, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a78d84982a1f6bcc729a7a18c4d13ee0349e99a84407bc1a8d66d9c71fa4665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9925ac2ca8a524eef8e69dc36e20cabbf77425b477c863184e51d483cd33191a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435c18083892955c3aae41085c9da044d0344edf96bd338097ac41471dc2f22b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_jr7QsnAKArk2446bGll2Bo3vGBlD9GlDV8_UxbSzoQlItC1qYzL8b3ZmlzamPwIP_0SZKoQ6zJocYwMcKOlrsb_tJlWSw81Yg9ffObpx0IHb6W8o4P_sZv3R9WndejxOB_B1wvlwKKMx-J-Fvpg38Pzr0toN6BY5vbdy1aEAEDpsgbrBWlphfLKdd4E0a3mYyQK0PcUuGavtzyIWiRV9smoZVGHiPnxvWkkXvWvXstASKL7ioso1cGlLusbtfb9uZRatRZY7wryXHaPpcvmAYuH5oVaEebhBnzbJrrL9_Xz3aK9STjnim1qYT-yXrtioa7EYHcUf5A792D22dQjGHkLN2wjcW18VF50kp54aO6796n6LuYIcNaUA3s8kPDR7NASyYTxICeycLRJj-EaNQbkr55h9Gre3v2__sMWctgyQrnWJuC9Tc8eJUUhj-_HlQ4FqAPc7lbU33N-fJ2UYxDzWTXrLNEKuZsGYibwEpgckCNZdVK7pe343yS-7aV65gmjoZKEwxs3T6SzO-0VbJxC0Q14ph-pd297IEcbqUwOKd_K4_cz-Xa77yUlaaap90SygUUpw02fgaqf1yzriXlGSubQA6fmPIk9BMk2gxs_hey2Rl_zT3I4lr6TTKLEY_znA231WrLA_z9tQXlzwinumFwl7I-D08h6KS4Pe-_nUjchc5b7FqwcKsIGyFJl4PGjHckiuoYmzcoZ9GS0w_0gyJcGArllpgZukm16uRYAANxUnE_P4Bo7aoRSyEFe4mM4rVVGIrUzb8epnYqEhfq0D666ChwZTf8Ae0eBIn9kiOcarIlB-QK6mUVJlseK2BpHSndtoFRzyXvtJ1mrEFo_u_VMOYgnJmjD9D6J98TPwVTbCJR7mjaF06UBVzHUpDT0hp8lPGhnCtFK_Az2D88paddFZaOwSSZx5GZlfBe1K-_QSxfyC5zx8qiEnw9FDS6mGhuZMjQaO35riAqSZJpUqOOFIwIJPh_AjUNgTBYftOra05Ko0vmvmkpfdT5ieLf7xSitGVec2Rtj1mXSJdXTJQ4XHO2-ulLpGUVLVkaGd8_dYRWMD2rbjpyv-RcZuEAkI9gyhaKoOQhrXQx8roxQkNWZ202cerzmxdlGRyNdwzDNJwpm0ah61H4d3rcFU1DPLvyjsMPm1jx8UAJaR8R8pgjQQOqwrjV8Mjpj6hyakcnJMq5qoSAPtQw0e60tLMbUZIF3ZDNKqgAS7cAgbMaOgGlwOKxModDEcDV4n4BF18tczXr0fta2QpNJIwYJ3yNI8qj5fH5zCuDeclSeW49hpSZtbVdgLqA6ibX3izMEdaHmBNFv1aRznfGoxZwgEg6FS4seg9VJVNIK0mKLeDuyeVjNPBogsj38-6ClIeI6GR-TwiahpxQadeDwVHJJseuAMjevacDKWgaJ9Kf2jarXu1vfTacPpuhmaHpHtSiqLhs5mdkXtOrUcpL1pX2zhE0unx6q8w-RckI2U8x4o8PBbjyYPpYIumAyze06zK-fU1wPrsLzqFKv3fa9ghWkUEbwng2X4dKFcVVxwNpynnoayI0cVWkjgDJRl0Adx-cURn_dJrPXZ5s0BMLqZIvdznpd2vbgoEm-G3hxjeoQfvkDi_RhWXGZoUTTJADWKLhaTwY8aHINiTXbCOu8oUOteN3fUbm5ddgcRysFl0QLcszcs_1YidDNV0i6CcM5k9ojxbgOA9vW4ZdzFeGWzspACqMVIzmj_J9hlZcyskE0CAgvzHZ7z137NrpsJB4YBcm3NIvkA72-uNqDvl1DuPlEwoP1MU55Bbav-HGZXKw1HyYBrWCpt4iqD4cBIRrSzsIyLZuXzuFFRcO6UKXkqrpLplh5kbLUeQy8WwYQ7aXLmFJ1mwUX6mnIOgTB4W6y-gUkI56qw_wXTTvdBZ6KtH6tiJkAfoZarDT6R0NbKMowy8b2xI45t5QzNK5-awDBWtd3BSffnp352WmMHvwHjF51QD",
  "id": "rs_00d2a26f00dd3bec016ab42fe177f087d0a4154f63b2680ee9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.064,\"left_z\":0.069},\"note\":\"With the tool pitched forward, the white bowl’s left rim is now clearly visible just left of the jaw center. I’ll slide about two centimeters sideways to place that thin wall directly between the fingers.\"}",
  "call_id": "call_jdbXu46gaCeIJLx7Rivyfi24",
  "id": "fc_00d2a26f00dd3bec016ab42fe2d10c87d0b634556ec301ec8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jdbXu46gaCeIJLx7Rivyfi24",
  "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]: [-0.4381, 1.6264, 0.3714, 0.8314, -0.5331, -0.1745, 0.9979, 0.012, 1.0409, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0727 left_z=0.0702 left_yaw=0.0863 left_pitch=0.2071 left_roll=0.0753 left_gripper=0.9979 right_x=0.2925 right_y=-0.0005 right_z=0.1603 right_yaw=0.0807 right_pitch=-0.3371 right_roll=-0.1554 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.1179, 4.4923, 1.7411, -0.0757, 0.1538, 0.0952, -0.1709, -2.7556, 6.9128, 1.409, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc102ec3b1bb51e26a71311df6e9032077a43f00fc83c04ddfb7d9b8a9b29d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f1d8f22cb22b0e726c1a47aa17e67e65f37000258cd008fbac1972f5e30e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1dbf3efa4c56b54b801d3f34139ef3df46597d008df8c0d8b5626789b7a575",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 2.298 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3332, 1.5444, 0.8173, -0.2298, -0.3065, -0.2981, 0.9957, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3714 left_y=-0.0684 left_z=0.0631 left_yaw=0.0858 left_pitch=-0.3263 left_roll=0.0853 left_gripper=0.9957 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.0906, 6.735, 1.5018, 0.0611, 0.1294, 0.0513, -0.3214, -2.7692, 6.7487, 1.3748, -0.0073, -0.0659, -0.0122]",
      "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]: [-0.4839, 1.6451, 0.3908, 0.7879, -0.5606, -0.1963, 0.9969, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0855 left_z=0.0625 left_yaw=0.071 left_pitch=0.1776 left_roll=0.0874 left_gripper=0.9969 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -5.2034, 4.2735, 2.0537, -0.3639, 0.1636, -0.149, -0.1983, -2.7556, 6.7214, 1.4237, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.4381, 1.6264, 0.3714, 0.8314, -0.5331, -0.1745, 0.9979, 0.012, 1.0409, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0727 left_z=0.0702 left_yaw=0.0863 left_pitch=0.2071 left_roll=0.0753 left_gripper=0.9979 right_x=0.2925 right_y=-0.0005 right_z=0.1603 right_yaw=0.0807 right_pitch=-0.3371 right_roll=-0.1554 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.1179, 4.4923, 1.7411, -0.0757, 0.1538, 0.0952, -0.1709, -2.7556, 6.9128, 1.409, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc102ec3b1bb51e26a71311df6e9032077a43f00fc83c04ddfb7d9b8a9b29d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f1d8f22cb22b0e726c1a47aa17e67e65f37000258cd008fbac1972f5e30e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1dbf3efa4c56b54b801d3f34139ef3df46597d008df8c0d8b5626789b7a575",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_on1hYVDUlzju3NSTqYSXN0RWP991Ope6ufmU-YluIJPzrT_0QkqBpNUwSZYJ2vERBsauotbEtDSbVALnoEPaCJNuQ9uJXMEOFQx76yno2pFCOq3V1MSFMR5FvpqsJkZdnnFMJsyN5bwMJfFYZTUHqVM7cBiPkck8rnazBxcQEmWKXvPvJMDSmkKGZ1Pq8jqNYmtCE-RaFK7Ofr2G-u28x9qWJLRMZn2Yy2Khm1-Vsp-9k9zz-V6olvEmx1pt3xy9yJfdtABX7oeEYZsUMIGePoVXqI-5Q3bG5dIq1A2D747XHYF9_mhBidhaXdVW_yYI08ZzcWo-SPhNRgCZ2z7jBLsqZv3hyty862SvdBnxDAf2YoHod4Fm-EAq97oRmwr-NqZw0BPRDBhFqC6isWuUnaZo_PuhvKnFm9SzcXOMq9hHW8J0CqfWGqNajcEIqwJi1t1UZV0VFPZ_kAGb9BeYPnQsVftjmhrTOVTdY67cPTqXUhEnnJN-23Dx1G3NsAK_cLRDwcgH1EVJ3SyHqXFVbLfsuBEeb09BVsJ74JqyRMBaNpekGytrN_5I0ONTslW_MuB6CVPKRSPYme1HiPuaQt3wM1Ie3V2cj719peEhNdlN5w1WF2H2AWQV2Kc8X-0aT1QDlRPvU2Ufrp1kYj3idk3FlUxSuUeP-eF_sK24CCm6qlPeHOSzjANq7_F6JxsbZXcEiR1SoSgRkUk5qH-7GNUBWaFogYSnSvUdV-xU_a9grqBhI_piaRVh_lb6zrxP7OxIbGDxdzqUNIwv61EMcdQsTknFPyigM4BDQo8gQ4N-DvhKoe5pVEqBe4LrTRK9BA7c5v0LblYkccxu8jUyIvTUFpNvB_QrrJ19PhnJrkGeTbqMWh2ns6_p48S-njHRHU9HM4_lORARDbi6LzUgprt7NNNljByfTCHpTA2n5wzO5uCCbUxP0kAW4OcN3ccLsTkk7qTrpV9WyphYNXAmlB7HDFAJYunsm9cMTnfeY1IXOJKvT-HKoZ0yIotD4h0GtRsA7nVKtCHUQoeYMvIC480HgRj2_Dfr_CjiM2sVvXvPC68is8OSxpbyEe5TyQsnt-6Vf6Hezct3IgxmH8xF48LmjrfsHeTusltAgw34GEQu1VSYXRRPJIxzCv02EewrfSjV5wM4ejcXdbZTRgUI9XZ8xjzTQKwJWvgcCGseTPia7BJqR2VjBoJjYUZ3SDtCnuvOJ7kJ_kBLGk9zp9hHS2kN7NNZEasZtxe3WSI3wzXsWF0MqO1gLGdqe6qNF79VXOH5HklQI3fnozU3s9wwWbKofwMkrjUkMWQDMoAnPABPnLn3aoBAg6iAA2d9fgyAwZ8z16RbUL6eoVnQrbc-q41NQRxn0YL8KTFgxylItxsaquPUkmUhWqRHDwK8A51Y_VcUhdDiBZf4KY1mKfVd9JnY-nrZRzzzPmec0jS_zY38gXESiuLvKG-lrd6ov5ln_RFlyKkiR9B_IYnxqewP_O-A3oAtoohdiOp2AdBWDNbKrGg5dt57W_zcLJiT67UGHXw8msiTUGeY9-dKNvRnWS6j0DJx_FhIMHvp2MQC3FYQGu5MRZCgGkJA6BmhJppWLQF-0NdiRiOnwSitvB_XOQanNdQTia5Zf1CVek3h-vCeIcE8naCkbJt9UWGCG8kJ1QVjJrhluCKBPwwziKpPAiAlSWfz_AaTCdMaPEJypkMM=",
  "id": "rs_00d2a26f00dd3bec016ab42fe6b38487d08990544e6c0c5ced",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.029},\"note\":\"The left rim is still roughly two centimeters to the left of the jaw column, so the previous nudge was too small. I’ll make one more sideways adjustment before closing.\"}",
  "call_id": "call_TM6UwjQ0KrTGhkVTqKzibZbr",
  "id": "fc_00d2a26f00dd3bec016ab42fe7d1e487d09f09d3b5bf7b4b65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TM6UwjQ0KrTGhkVTqKzibZbr",
  "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]: [-0.3981, 1.61, 0.3561, 0.8204, -0.4953, -0.1715, 0.998, 0.012, 1.042, 0.852, -0.7078, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3737 left_y=-0.0622 left_z=0.0672 left_yaw=0.0921 left_pitch=0.1907 left_roll=0.0691 left_gripper=0.998 right_x=0.2925 right_y=-0.0005 right_z=0.1599 right_yaw=0.0806 right_pitch=-0.3386 right_roll=-0.1551 right_gripper=0.9962\nstate[joint_eff]: [0.1846, -5.2581, 4.3009, 2.0928, -0.1343, 0.1294, -0.0024, -0.0889, -2.8376, 6.735, 1.3993, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ef7d5dcc5408239f979b46ee9a4d85d04c93cdc2a3b92818d71c94d447b0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fd0e6421f7b0201de487f3bbb780e3d05c3f73c58c0546b89215cb20fe0b10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8748cbffe340f4c2cf13563ebc86e6ed1f4bff80a6f56cd47f2772505ffdf0",
      "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 22 attempt 0 · /responses · status 200 · 4.148 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3321, 1.5448, 0.8059, -0.2314, -0.2924, -0.3038, 0.0086, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3674 left_y=-0.069 left_z=0.058 left_yaw=0.0804 left_pitch=-0.3429 left_roll=0.076 left_gripper=0.0086 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -6.2974, 7.0906, 1.3114, -0.2369, 0.0611, 0.6422, -0.1709, -2.7556, 6.9265, 1.3651, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.4381, 1.6264, 0.3714, 0.8314, -0.5331, -0.1745, 0.9979, 0.012, 1.0409, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0727 left_z=0.0702 left_yaw=0.0863 left_pitch=0.2071 left_roll=0.0753 left_gripper=0.9979 right_x=0.2925 right_y=-0.0005 right_z=0.1603 right_yaw=0.0807 right_pitch=-0.3371 right_roll=-0.1554 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.1179, 4.4923, 1.7411, -0.0757, 0.1538, 0.0952, -0.1709, -2.7556, 6.9128, 1.409, -0.0073, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3981, 1.61, 0.3561, 0.8204, -0.4953, -0.1715, 0.998, 0.012, 1.042, 0.852, -0.7078, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3737 left_y=-0.0622 left_z=0.0672 left_yaw=0.0921 left_pitch=0.1907 left_roll=0.0691 left_gripper=0.998 right_x=0.2925 right_y=-0.0005 right_z=0.1599 right_yaw=0.0806 right_pitch=-0.3386 right_roll=-0.1551 right_gripper=0.9962\nstate[joint_eff]: [0.1846, -5.2581, 4.3009, 2.0928, -0.1343, 0.1294, -0.0024, -0.0889, -2.8376, 6.735, 1.3993, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ef7d5dcc5408239f979b46ee9a4d85d04c93cdc2a3b92818d71c94d447b0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fd0e6421f7b0201de487f3bbb780e3d05c3f73c58c0546b89215cb20fe0b10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8748cbffe340f4c2cf13563ebc86e6ed1f4bff80a6f56cd47f2772505ffdf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_rEADgxAmUnRELkGHQU2WdyqLd_IIsDtr94lhM0ThOGgq3XVIuWlyn-P83jCGgq90I8FWhnS6wj3BYe3bTfGpXeVtAf3ckJN0oLJhmho3nfvjZHO99L_1HF7MaHzkP3pY9pbdxXe_yW7ZEPcbjk19VHXPxT_anxJPDe2fu98frf_2LjdNpDv2WHBFAYi0Dz3v53sB0NZHYMgGavq8hfsPShfpM5FtO8dXxGsko3tA6_lKLegpcx_fOjG1N9yGt5qnuezdqKxFXrhZaeAdcWb0J0cbU78NaqYFxNA-vziXZix_j0PH265gmn0AXPrdKRcTwlV6E9UGx2iM_MTIuvAnEFy5XQtiRJ127ObfE6gXmNfGizFYc5BFtS5cbbPlUb9UJNDi-51HPfyqpQ1ccEkwP_U3xmNP0hybrnt3Dt1VNaujhwXec3L8wwrFiOUo5vgJis7WtMl6aVStyW41etpFFMugYjoTlcf7QDHml5DIi4PRnYz9IIBech2bD89gb3XJAN3tGlWtPXlKCa94xTFn2x5lVWV-iLeyptYSOmlnuRlDisVz7qzCWlf4s1aJfPCy4a90Bkbb9DR1d6lLKJh8hXlASAdaBFx-IMCQPfuVU3WjpVJykddPPhVWPs--A2rg6kvXymmSwhr2YroGWb8lol1fTDZ2fvm92vN5oXQiIcZHJJ7XoTnucxPDkHBf_sme6c6dJugobDf-dqLEhl_rJaCGdwNtsGdDQcysjRYdopMKnk8AFJUtwzmUbIZqy5W0Q1932m_llt3pzoQ3VDkS0XBRRLvkOXFBUI71e9iHVTnX03zfrtGLgehuqBa7VLLIZgI43qWRugGugRYk04rQCEKp52Q6JbE-_MNccqm7cB-Oj6WJWweNL3M-_1zVUPV7XTT0xnaYR4IM3DZyI9jXuMphxeHgP7_9f_yB339V9m-10kotTBBd13AkDOzYnfCVJlt9wQB_K6FJ7F2ztuAs0bFBn7ydH03pj65IJvc4jjAql_xoBg2UhR3nyMw3yyaWBf-y5vGuE8Tmgc0EMkGoxZmXNaos108oeCKeCeeZj3HbXCWRVtPjWXNfcUTIPW_tdyOnZEtEiu-7639n3Mim9BLdCS77r1pZVSTUc_QnpYB6RMFn9VV6wdTtuWunAzDlOHAdpKNc7fVM0srqiY4W28mnc0o4c9FQaYiIJGnRHWGfcoUjo1RqtlDUAHCBHT-qCdCutQGE7vAzyeKO54sin6n7t4bWa-70UQJcDsYaDomI2eH5fULkZR_l3_RL0BCvcbYFxlKQ-UX2JA4zSPjTAPSZCttf4m-jod7hOK8oHn7FeZrzra5u2plmFPvYsKJlsoyCjZig53fAr1xkAVAdNkwBLbaC00fXkkyrXT8nwePOl_RyDAKRa28csUNc4ljb8LqGy3FgGZ2Vk-6-93afwc_vYJ1WWkd3-eaFDQvvKJFPQvkL23mJdOpU0OkLiH4CqotUvh3U9I07-nXklMzFQRcXImNxzUkzwjFPz6_1D1uCwxUd3Lj3aoUnErGAtun47",
  "id": "rs_00d2a26f00dd3bec016ab42fe9e8fc87d08c4174d1b24a5bd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lateral move stopped early, and the bowl wall now sits right on the jaw column in the wrist image. I’ll close once at this alignment and check whether the rim holds the jaws apart.\"}",
  "call_id": "call_Qd8YWHXlOF53CRoH4bkR0U22",
  "id": "fc_00d2a26f00dd3bec016ab42fea85f087d08090085df4e6c87d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qd8YWHXlOF53CRoH4bkR0U22",
  "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]: [-0.3985, 1.6104, 0.3557, 0.8192, -0.4953, -0.1665, 0.0087, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3734 left_y=-0.0622 left_z=0.0667 left_yaw=0.0888 left_pitch=0.1888 left_roll=0.0747 left_gripper=0.0087 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -5.4769, 4.7658, 1.8486, -0.0904, -0.0562, 0.6227, -0.1436, -2.9197, 6.8034, 1.3602, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8790dc6c2e14d1b37887dc352bdbeb7c8c29279de8bcc8a653e8dfd2aa7df44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db31d68b7bbb8ddb50ca32cab9026c92a630f808b97ba3b6213d7895976e762d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba6f46e2ce452459f5c76ae827e3e97a8cb75a905118d43c76b849a367c0ffe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.004 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]: [-0.4839, 1.6451, 0.3908, 0.7879, -0.5606, -0.1963, 0.9969, 0.012, 1.0409, 0.8524, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0855 left_z=0.0625 left_yaw=0.071 left_pitch=0.1776 left_roll=0.0874 left_gripper=0.9969 right_x=0.2926 right_y=-0.0005 right_z=0.1605 right_yaw=0.0807 right_pitch=-0.3367 right_roll=-0.1555 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -5.2034, 4.2735, 2.0537, -0.3639, 0.1636, -0.149, -0.1983, -2.7556, 6.7214, 1.4237, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.3981, 1.61, 0.3561, 0.8204, -0.4953, -0.1715, 0.998, 0.012, 1.042, 0.852, -0.7078, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3737 left_y=-0.0622 left_z=0.0672 left_yaw=0.0921 left_pitch=0.1907 left_roll=0.0691 left_gripper=0.998 right_x=0.2925 right_y=-0.0005 right_z=0.1599 right_yaw=0.0806 right_pitch=-0.3386 right_roll=-0.1551 right_gripper=0.9962\nstate[joint_eff]: [0.1846, -5.2581, 4.3009, 2.0928, -0.1343, 0.1294, -0.0024, -0.0889, -2.8376, 6.735, 1.3993, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.3985, 1.6104, 0.3557, 0.8192, -0.4953, -0.1665, 0.0087, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3734 left_y=-0.0622 left_z=0.0667 left_yaw=0.0888 left_pitch=0.1888 left_roll=0.0747 left_gripper=0.0087 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -5.4769, 4.7658, 1.8486, -0.0904, -0.0562, 0.6227, -0.1436, -2.9197, 6.8034, 1.3602, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8790dc6c2e14d1b37887dc352bdbeb7c8c29279de8bcc8a653e8dfd2aa7df44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db31d68b7bbb8ddb50ca32cab9026c92a630f808b97ba3b6213d7895976e762d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba6f46e2ce452459f5c76ae827e3e97a8cb75a905118d43c76b849a367c0ffe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_wjCActrC6y0vVVZmh8LW-504A8YOTmh1ll_soB5KsLrvCe6mhJKF2vgFlAE-wMBZ7cvA-JGaDwgbGcc65gdHH3avVQN99iW0_Q1hW7CpJgMP-dG3o-MVuET2bLq1rdmFPWOB5ZDZogBLAwwcyprU1sXYxyaMkH7c3YGJDLhEIPjN03E0VN6B4SLAtZGaxrGUl0n6x5kzmJcYdHgKKzXNv0oDP6ikNhzgubKAZxwVUf3t2A5GJ-DsHunQTYqQyLss0ImaJk-20prTlCdIPDs2avEFH8bN-rVq0m7CFy9_o8Fgi6N2N8LQe75zcn68IH4s5bI1fZS2SHGW7g64vigQXk5PSnJ4rxSJYSTJVOGBqo-4w4BU7KIoAgXA3wy1pQh8u7b6NOG6DMkZ2dwdSy7hQAwMTnOoo9TxJQZdJdzeCWaC7NLtjGGTFmhckCexGuZ984HvkY1zU-XUistT97iEs7PYi_bYOh_Unp2ppj1XAVzXV_P4wWKPXOjBFN3rpffZjSyVM6ZoOlvBZeQ6f45-d1Ig3mZ6dEIstbi64YLXL_ijtjxsYqWKHnJM8Qp_rwlmiXksKMyqmxmkWtnhhmbKYAJ-E2P3Wf8Nwo-vmomQWBwwtEU9akG5XtgtdxY6s4hn7iPPB8pM4nlmca4qdQTSlQ05LnVKrCz6gy6b5DIPd0L6VFWNeBAhlj1F9WoaWQI9oF4xUfb8RMUXalEQo2gaW8-iuqCOfZHYQddbpoysHK7O9I7f7JUILL7lrmMuFG852xBRrYx6u-9CucK0gkVSQdm96gLfaFB6wF8iJcopM7UXB2mdRLGcqry1qGPkd_HNVmch3Y3eFUob4aIyD-VVPnhrIoFbAsREyfdEIRKqELS5RZgNsrrxP9tIgxZGl5cm0c2tE1ROGeZxc2VAWytvWWoQCvNNkZKFOh6uXyujRaenfmA7iwW_twh-5mp-0Qz9YbW1KY-YZPkZ4Jmj-X6gYg_d4p99_P2cRHnthe9wRmHypGnxliHUHtHBJXF-SrIX-vFA_CUHLWVZBAke03aP_S3-VOfRycgWdXr2HiiJZ-DNqTm71tAWrUhPjxF1iwgwdAYxTCvirNu7cA5sv2k9Vwy7ITG8sQB5Cn69hD-q7p1pKR_Bp7GSraN75mJGRUfFasS25Ur7a-lceXEBTbPyzco3_WwFkz5WMJnUWT4lK2KnqicIWBrEdIUPI3LIiKXEz8TLNB8Lkfluh09jm01MUKgIatwC5bBvwXhBrIDgFLPXcw1MrCBevh4kVE_y2eAfy5PABGIvfQhxzBm7NbIpHRhcRKDmeriSVqnjlzVmUHbomrAOcejl73Ftt58Xvoh7liCJNOp0WMxzqxEUMX4TLMiC_6dUm69Js0LZVYo6dP_ixI27Dhpfen9hw3rn1hrMvtjYIfMqWjyrm61h4n3K0E8WMqP-kF19tYIlGabHBVerTUJj5pQXK6mPT8YTwAy-5o_IWl_UAzuICW4rTXQne7RZI2eSRo-kpibz5i0xXNNaX0_490OBDJQMiz4U7m66x9A2plU_62zrMWs5Oe7p82IppvONIde-HaflZbPXA-lJXqad0ybPrxk2onSIYhY5XBIi64IKNngLX3iDCi5VposWFxEmHQhlwwyx3CYcppNZN8Qbq3gjrmWByxEr_huDz99bs7IGZWz8vM1GLt7a9Xwyw89AsYj9b4xFyhCsuTLPR6H1K9AVFL_3Oq7X3HAc4ncFy-bLtwWDgsKFNAReh1Ir9cu5wudGOFlA-F9yZnbODzDhzMfJL12oyf78A9qcOOV4llFsxKLEFRYZO-VvcOGkpc2wJgqAFdBNpdv2i4F4DTXoBl2FsLwlqBqYrm1j45mXADMmDwed2rvPGbTAZhGLgkIvbOkRCXZl1TXbq5ZCRrxtQfAWfjbqyOqSQpJRDP2_is5kwRCDCXavsKfvVcymMFhvgJp2ob_1PXXV9VCbK_JnHQX5X4LSGNkT-lvRgruK_LtEGOCGBCy2H00o-41c9DxexgZHlJvWZtcGqdRo30MG8tHo1J_Bg6L9bOVNE_g8PeYUgNHb5zcc0T0Ey1gilqmsvl5qLhm_L67ixI6Gfz3I21JDe0GgPh5dEaQU5G4D2C2mJkPDOuuUZdXiFzgu3b1OjTlZ7nNHeXeCAhEPsMktXyOLA-P9lh9fB3cElEDkFCVpTnMtZxX7u3DkT9uveGx0saTDC_wb76Hq2VOl0A_SaDQp-bA2hzMwYsu9oOrLzoEesOYCfh3X1DsXmV43olPYBJOUHEWnapjY0tqWiL0jzjQfjFPQoiwixVXdlfUGmZfqCbtYHhWFN1sIpIaKaZSRkQAHAd4lbGuMkHbv8VKpy2DmECZkno92erJXzMc6a2kjVcrFP_lVomS8-HltDIQcV2sYPLiXTmU12Eh1d0VlXWpt7bkybDy1EKuCwh2Jvo7l040Dv4KhBNnE7rDrj6ef0yNcr5ThV5FiJZWsi7WBWIDe24CcX9XBJUCAAjZy9Lugy-e5OnYinFFTzMt6izhikB8X96z6KUM8Quqk7skffYZ7tWQX-1tAKUAORoH_HdYPIIzCGeyJMz6G34EAikcO_qfEMivEfbsYAw_cz474NTXhrYwNRktXx7LiYJDE4rb7_HP7X9qFRwQrHeRds-Nq0WtXKfToc-FZKWXrpsAX3BMbx_SgLXYCnwQfNqzzc8PWEEXDvTM3_iO6ky3BkhuFhEwJkx90564BH4MI=",
  "id": "rs_00d2a26f00dd3bec016ab42fed21e887d0a4fdabf5c301cacf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.379,\"left_y\":-0.133,\"left_z\":0.075,\"left_pitch\":0.2},\"note\":\"That close was empty. The overhead view shows the gripper left of the white bowl, so I’ll reopen and move rightward over its center at this more accurate forward distance.\"}",
  "call_id": "call_OL3rCjqpiQoUCKPGXFUa5YhV",
  "id": "fc_00d2a26f00dd3bec016ab42fef7a2887d08d3e9e733eb9f7a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OL3rCjqpiQoUCKPGXFUa5YhV",
  "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]: [-0.6289, 1.6878, 0.4984, 0.6842, -0.6876, -0.2821, 0.9944, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1292 left_z=0.0693 left_yaw=0.0724 left_pitch=0.1854 left_roll=0.0787 left_gripper=0.9944 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.4581, -5.6957, 6.9949, 1.7167, -0.2271, -0.0611, -0.0317, -0.1299, -2.7692, 6.694, 1.3748, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b48856fe386e4f6c6c0b59da54037a2ed967731b2476a3e5cc4ba773640df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95091a08ab98071367949c9f12a12b55af5f74f6da18e3dfc9245f281f2ea182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212c3776839251e2b71e61696334e7afef36559c66f0f692dc0c6dfb53fda1ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 9.214 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]: [-0.4381, 1.6264, 0.3714, 0.8314, -0.5331, -0.1745, 0.9979, 0.012, 1.0409, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0727 left_z=0.0702 left_yaw=0.0863 left_pitch=0.2071 left_roll=0.0753 left_gripper=0.9979 right_x=0.2925 right_y=-0.0005 right_z=0.1603 right_yaw=0.0807 right_pitch=-0.3371 right_roll=-0.1554 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.1179, 4.4923, 1.7411, -0.0757, 0.1538, 0.0952, -0.1709, -2.7556, 6.9128, 1.409, -0.0073, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3985, 1.6104, 0.3557, 0.8192, -0.4953, -0.1665, 0.0087, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3734 left_y=-0.0622 left_z=0.0667 left_yaw=0.0888 left_pitch=0.1888 left_roll=0.0747 left_gripper=0.0087 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -5.4769, 4.7658, 1.8486, -0.0904, -0.0562, 0.6227, -0.1436, -2.9197, 6.8034, 1.3602, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.6878, 0.4984, 0.6842, -0.6876, -0.2821, 0.9944, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1292 left_z=0.0693 left_yaw=0.0724 left_pitch=0.1854 left_roll=0.0787 left_gripper=0.9944 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.4581, -5.6957, 6.9949, 1.7167, -0.2271, -0.0611, -0.0317, -0.1299, -2.7692, 6.694, 1.3748, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b48856fe386e4f6c6c0b59da54037a2ed967731b2476a3e5cc4ba773640df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95091a08ab98071367949c9f12a12b55af5f74f6da18e3dfc9245f281f2ea182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212c3776839251e2b71e61696334e7afef36559c66f0f692dc0c6dfb53fda1ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_0iqqh1nr_cfsI06quUEDz20xTgUWHeopl5cw5Mkg8tvUmmjzA7d7baCyFnDReABcFjqlVF_68YLgzTO04PB6kWrnKY6qOrpKY30cJcdnAT7Ftaro6YiTap0_b5RAQiOmPtC9tW7ocIop0SCYfTgAmJbbwTd9xeIMMpGSALcqy6SE5vAsKu6gtz7nGPTbz3HWiIoPxh_tlBJsqj9pVNiZp09--erm3KCx-yVfalCpJ2--PIfDF-74moZ79zX8vN1HZUAYvxV1d3ZDwv0_MOLijL71KVUvwrboEzu132OoMTeaP-Vdz16HL7ViX5hklK5KehkNCDeKnPqKcxlpobQDFQqfLNb1lhVkwJR0u_Xgq-r1JEpWytvYoxmi9VOVE1IvGk4TMyuRpJTm5-F1WVpNnqBECy4WEc1nsLOIRlb__NZ5vO04QyLdZNfEMiDpWi-ZGUtYxZL2bz5D3PJEqq04p1p151MptfQbkxzUVKpvwcyQ7v1XJSpYFEKhZOK7DN-N3PHeSxiNwkP8qE756r44Dhr-hBFWHfZZ-EABNeAQ1sktoe4D28Ukk5wLD0Y_sTFg7U_uUNGRXL8zcn9mwT5M0lW95DRsZfDG4Pn2eiI-CnFwcgXPd9cHl4TL4N8NXEvOWme7b_SilQMOcAFxIcoXz4BEQxLdGwyYBmSStZ0CYAL9g3TvAzL7nLxnm9KnSGKyyMP4a_J8SfnmUGgr8OVAWeAQ53vqsip87nFq10wz_aG0AX85IfgYelErzaNeFGWfZWhp8qnQmRyMtoR2dhbMenZi3Kpfuz7By1xZvefNzrBrbwc1PhIGWf1yrbY0uJAM9aoBAL2suRcreQN701D7WjTOWMfLHKAoMeaardq2dc7TMPQq9o5fzDbqr-_XOTCqTPXpYb1EuX_CilEFoAp4gKhSDvj04sUkk-ICHqo9FpEUFg_j-BOL3ZxHR9HsT1p0mEdSXdkrMwJXrwAbUIIjdUSjs-BiN4S3InbQKv2elpEkKf0B6UQ00UBSlE7mzwafB9XiN3OCZpZmbHV-m2sbVmba6jJt67cTvR2q1PxZ-Kd7RallBeney2amBYgOhigcStSUPJze_qXiZzk3vHtZPs0iyXiGcvOvmyUIzI_Ir98g6kx_Z31EdpaGeGMn2CGhlAhGXVCQ8GivdYvsLWkYxnR1DBSSlqFWFbxLvFVdZkjecXGsQSPHsLD7IdgjDTSc2AszY1xfZ59GGswyxVdQ3YCrtxo2MpQD1qYvpO8PSw2s5l7pt_plX7RpAcrRRBe2124j1UizGBbHQp7wgbiYM0WbmWTqDeB-2cSVQUYvmYSIYnmlyE7xFya-koI_nPZ5Wgh8Q-7Z0S_HypDZy_7v6wVhiA0OgHsJ4mQk0dufsn6rPWLmknoDTPpfufhHlU0EXnrBymcajTZMRd4DHzsmoP6OKyhRnFhhrWJtBCvC5p0mtQLKfKO8P6AMu20Qle03546_Un3ScZyGXUK-R8AyYDAoH7aVqWHPgus6uO9ZlWm3HFkUWQ0qfF4TIvq9UN5NSiLBk22cNI68tAqfKwjdJTnwEsqVwBJzwP3O_vt0g73Ld8t_xipE4m0-cFdO_X2FuB6L78XtYTC2SoyzJm6uidu0uoTawk5BrykBNOpNgiU2Zx6VBMjHBwbLDuSHYUrrxbI9G0nYSV9TE4rU2BcCmj63-gCDFiqF1cJve6eWzYMS1sdo4IGtA15r-K3JDsJ3I",
  "id": "rs_00d2a26f00dd3bec016ab42ff246b887d0be14ae0c8a09c9ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The overhead view now puts the left gripper over the white bowl, and its wrist view shows both bowl sides between the open jaws. I’ll close across it and check whether the bowl prevents a full close.\"}",
  "call_id": "call_1IX9jHbyYaxL5uB7ly8TUeHa",
  "id": "fc_00d2a26f00dd3bec016ab42ff34a3c87d0abcd7a9459d11138",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1IX9jHbyYaxL5uB7ly8TUeHa",
  "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]: [-0.6342, 1.6936, 0.503, 0.6693, -0.6903, -0.2852, 0.0085, 0.012, 1.0447, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3733 left_y=-0.1305 left_z=0.0662 left_yaw=0.069 left_pitch=0.1742 left_roll=0.0874 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1593 right_yaw=0.0808 right_pitch=-0.3409 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [0.294, -7.0496, 4.3966, 1.7705, -0.2173, 0.0171, 0.6178, 0.0479, -2.8239, 6.7077, 1.37, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ee585a8c7aa07a392d780f7c8168aca2a4cd9deacadaaaf0737d583d7b751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62637b678fc5164c024126239aff5ca97e8452924a47314ebd270e03e128f31c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d65005bc7cc892bdbe6fba137545c412babf12175798b17a06591b59448afe",
      "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 25 attempt 0 · /responses · status 200 · 4.002 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]: [-0.3981, 1.61, 0.3561, 0.8204, -0.4953, -0.1715, 0.998, 0.012, 1.042, 0.852, -0.7078, 0.0433, -0.2062, 0.9962]\nstate[eef_state]: left_x=0.3737 left_y=-0.0622 left_z=0.0672 left_yaw=0.0921 left_pitch=0.1907 left_roll=0.0691 left_gripper=0.998 right_x=0.2925 right_y=-0.0005 right_z=0.1599 right_yaw=0.0806 right_pitch=-0.3386 right_roll=-0.1551 right_gripper=0.9962\nstate[joint_eff]: [0.1846, -5.2581, 4.3009, 2.0928, -0.1343, 0.1294, -0.0024, -0.0889, -2.8376, 6.735, 1.3993, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.6289, 1.6878, 0.4984, 0.6842, -0.6876, -0.2821, 0.9944, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1292 left_z=0.0693 left_yaw=0.0724 left_pitch=0.1854 left_roll=0.0787 left_gripper=0.9944 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.4581, -5.6957, 6.9949, 1.7167, -0.2271, -0.0611, -0.0317, -0.1299, -2.7692, 6.694, 1.3748, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6342, 1.6936, 0.503, 0.6693, -0.6903, -0.2852, 0.0085, 0.012, 1.0447, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3733 left_y=-0.1305 left_z=0.0662 left_yaw=0.069 left_pitch=0.1742 left_roll=0.0874 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1593 right_yaw=0.0808 right_pitch=-0.3409 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [0.294, -7.0496, 4.3966, 1.7705, -0.2173, 0.0171, 0.6178, 0.0479, -2.8239, 6.7077, 1.37, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ee585a8c7aa07a392d780f7c8168aca2a4cd9deacadaaaf0737d583d7b751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62637b678fc5164c024126239aff5ca97e8452924a47314ebd270e03e128f31c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d65005bc7cc892bdbe6fba137545c412babf12175798b17a06591b59448afe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_-Zn9WsqCNQV9iKOTo0xARH-ueo82gFiuqY4pB6XbmerdKMTFfXO3_YftUj27ny-G2SOovzKu_JJPrFrUX2yOdPcyexuksmjRTOD7kBN--tLdo9VroU9VqbclO0eH6TNmdGt7lULjDr3c9_7X_WualnpdoPmWF_G-K-dlnCOGhdUverBWXiOTzFJHQDnrQWV9qEujTnYaC9NT3IMpsGhzb7PJ6XZ8KdH02dILMGKn4mZGO38G0oZCsCHNVTCA_HTFKt81g8mJfLyJuxfMNrZ4IOP-TTW_2TuJXZhe7Q7BTSK-ml7o_1i3FbGejGVYChcrtV0aeSyfYJAkkqpdWZH_6xsFGSxnY3bxNV_EUwCjmoUEFfUwSpHZkyT9nkfML4IE-mOH3lTKTkFHRTobrJnLdSlQc2t6u-oK4BeGX6LrbJUBl5LnWpAyPo5bNXVQX0N9wzsyH7gzvlHJ-1dpHDAoi28ylN-yYZNcBCsNn8EZxdXw2fdOaoZBv2kr5btVqFOdqEkISC2ne_t7Nx6LZL77K4AH0DTm33vo6IaEvQTXO9nVXSyDiBSl4UWUhCnMaFXtrkEb9jvPp4KEMyIM8nSTsE64O3ZoMTQpuVKSUDz8eDFtmRChy1iYQHPEVCqxXdv7LKtJ7dMNf66OpdF9-tu0UIywqkRhYXqZKPa6FtQNSBCh-_kf3Q1KAnpyKuNZzhnBtM3CtBi5s6xzUC3Vg8ktNEcSX3iLcUiUogRmQFoy42WYxXVLZq7ssuHI2mUX8k3lM7xlbvdbB4rGDnhrrL4iXrq_Loze5ziu_F-J-sQudihFfMM835I5muFwbAtGsnPc0dADW-gvL-iChepoihyiL_xJHfYBNRT0pDReaF7RArdrEqYC_SCRqNFCtqD7NugnoMPz4B_mGZaIVTbdNxOqvdshlvfHG7lWqcD1az1IhioQ-CVfXfD1Jek866y-paq8xH74JiO5OPfGuxz0V8YRnBDVf_-O5W6ziGW_sjHSpsf7yNI8PVV8lEVRXHvC3ec42RWwTVTsjUqkDueut_f7GT17On4cUJKCqycr8LnH9mjGfthabwOC0GMbL2NbqwhgjZIKAsOc2ljh2iqTBwYUl4-_3xQZn8VjnvErOnYw9YWUNevEZDv8Pji5ErpshuUs3mdYgkdm2qwneONsYGvZ06uQTgHNTyhC_7JbsS91Wug8c9xVqEIjaek4d4C5Sh95KhvS74IbnXLEa1GJXNP4TltqTaPKpuGcA2aL59G00LOR1egWd-BKoYjiKY7a-mzmPYpskcJmIyreAw_96BGVlcso4xT8qqfV7fy2hTdo92o1ulk0V-aIiCSyWuUUUyskZUzd2JVMn00wBFQFI-hLiyfXewRg7TFlRw65xWluJdMEiIhlNAIrKNs43lO92POS2Vy85yJPuwa6dpdvjcc0whd8e__LOj64g1wOuzFnyjFzEKXRxgOSgCDp223KL8kx_yJpq1T5JAsNWaRaaqmKtYL8fMr8xHpTdVMQB3NFqfnqThrKhHY5IA1tnVhwk_VIXgOmFedDJhxZycMQSEAIjWUgV2aynmukGaMWr7Kg4hji_t_jWpRjAZh-XnQ9fSPnCM0z6wGCqP3Ja5fWljPkgi0aY1iaRf3kQuagpPg-dcIoeeFDX70b69bi53eEpwLwUZ-5nXKcNYqNNmen0Cu25WFc-1tJyZs4FnhLovJKrsnCsbfBju7qprE2tQfumdMA3I6ik7eTAih337VqXelovauNmQVXHELcKskg3CTMVhgEtmpplBtJLqVL-vIZn_h_pDH4PsFEypxSjA8wi1DRqUW_FPS9DmyoH8HbNo7Nb_ZByE2hu6KlKojVLMB1cKtawReeD61sNsL-EndH5iOl2xFmO7RJhqi4e-jXWG__dpROh0AF_4_9D8YpYNwoElXtMvtwdCKS_dpAy_qVX9nvevOxPFQZoP35fpdcD7396jU7sR4bsiTtAzl_5vKVGOJLzUzSB1MVNvx4G0KC8rTIQfNyFlN0vD4Q7JjrSnoGpQxQMySzl9lXIJrT6O2EJ9abommdiJf46QtBWx9ZaDa_vp2TJlIwEheXlQLQZNK-vxbjThs6mmiZuUIL9DhjBz8jUgC1s0MEtOjUT2uV89Dr8f21tMZ62nqxdfOa7e3QsDJztxwC86WOIJnfS8JXuzrAsaSMaUiSq33Q_CN6GRXYWcczL5Zom6YudAsWO5TJp27LBU_mijavIfXIn63QwHobKbaICYrZtpb2FqWFbkkUMnEFkGBwZx5xvNbCRRYZRNYGmwdM2KMDGc0xXm375GiN9jqr3PnFMfbLHbyXDjUEDDNDw523Lk0UOjcu_FueRTdUbla689oS8sFqaWZI5TrI9Vs9D2MVvSD_EVuFAjYzRMDyHTQTDqLyqjkBdIF-ONdiqzW964DAKsQrPeGgJUubtCLszXBWkpbgn-yJ4tYb1CZpTryd2bqqljKbwdL5dPI6vXKB9PKout3yPvUxlkusne6PxtKl4k1FWFBN32VoGN-_2PAoVCCBbJl-H_jLOR6unv4tC62cnBiWYP8FU5VgRD_zoZkAELF_RWyZp89uNvouAJbBWzfUMqmCF1JUJnVqQPOfvxMKYG-zIVrJutyUWAUuiSfzIn4ekIhhvwUE0JJ7UltBPRiURTk4Z1DbRvyP3TEyNWDeUn6Mcktvp4aPlYVnWeQPnID2OvY6_qoAYwd44ebG3jX4RCfqDyqpvDwOPqnH93FfQAT45aTrEm4_qQs4_8J1xNnDznMoDiyT2SVt97S0OA5-92igb-drzkLqfLCAktzjEbxf5mRYyCPavGkrFbJZ9hDpvmM0dzpLcksSPL2k1R-prNZ2UlHq-qEMyH9grfrq1N4U1G5YKZknAhf8f8VvAlvN0C57e3UkjUjjMrF74EKR9QDeOOMZiuT_kpZy0LoCvK7MyaugltDHn2RC_qHGDkhbPj00tkc-BpoCpDI2l_jiU3unV_jypDy0E95hRmLiJgoPx24XXm661oaMsDX3nIKi-bI1Mkiw0E4O2vUK9Ga1FK6hrVAnUngmKD6mL97X8Y-OXvFStAAvHyiEW0si23K5wa7oiIO0hKnOicXVnrfKSJnB4uuNOcI34Mh39Pn2qZvQ_7Gw3nxi4Fw6K7lfexWKZj9i0D2VWWmTGkb1PN9w-sOHMWMDud96yKARePdpPxsDuhgg_Wk6kyct_xJ5gjIdIm5uQeO8ipsmjMsnY59AFIocYI-ZkUL7Eph9im5SGZnOs9h8zvL31iowTEG2bHeCa6Nea-krYwcUCTjHnO2_6VlDW2EyPr6MbJqGpsrPOAxeg1g6r1ro41cTLRVOkzLhy52zlgUl1P4Nn1gpqrxYXF_NQio_ylWfr6-ek5_Ey8CPIWCgSGQQQ2fEDyeXnnu6ZfsWL0uaqwnaVUI7_7y2sPXt3v8pmFsOWqSAtfuwE5pEV1WW5T7j0fmYNo7XYowNpqMy_WcRzXCEctnf9PynT-uyahdj5cz60OrkU-UNoBnNVv80nPy3dsAm5NdSuKh6fkBKwtktzfhz4X0l7Pn2l7esrT_epuh5bg5_K0c1SOfb8Nz_PuUzSv41qBoJuA9jCF4caDjbgQpL9Z1R-c_DFemjYJfHRpqpYCVUA884P_wRCVwAdVW3HxZoy2qKOxvLEgbW9Mt8CHSH2feOYNEx7qYykn5_O-N4pvrqlAiYid6ehK77VdQhbr08zNzN6r6AR5E0B7Q7SFpVSM-ny3VDetpli5fg69EGPsDSGHDZs3JpoltmYc3fmASh2HR-U9WKNRF4DEOLYQucshlmRoXi8wSC4lBQJ0ZbhpnahrDDBk-PHOcwyjPZYqzelzzltyRbZlrrhMW6b3TJXHDqg_GXAR6M7Axc7blK7eC1I8E_--SrtiDVKlct0--btqnODFj2RYRB7Hy4R8w1LIc-w5NRIktsUKZ3ZmZHeMyfqgIOHq2tPGssXk7j5t2BAhcj_lD6bZTrfy1QtDQ==",
  "id": "rs_00d2a26f00dd3bec016ab42ff6106887d0bc6dbeb92ab79487",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_-yd26C4VhKg9HMcCHXTycKcdm6_wJIMCmzXHVjfpdkfTKYX9ahac-w9-QKtFJNCyhCW21PrNgI53wQnKnYdVrb2O9M7BLl46jJ2Yy-L3UrUwSXCM-xwVgfMu0eyp13IN12zXOFeZYgJ0S1Y9kdUgmbS6swLfZ6eXuSz1Iy4UJUrPVqIuL17u3IwEAEJySQ9RxIY8VUm9RrQKkvz5LymBOmCUdnJcJa1osKEp-iz20GjPHgJ-bU3T8mR5xWaBWwX8zLSGPshpNvca90Z4AiqpdIIeJ_tosecEQrR4nY_RflAZTOV6cJAt9Yb4qWwqpyJzNzyR6YxV5dmeQdvh6dSEsCL1DVFphFgTq4VlUzOL0W638KiAlNop6q77BQq0GIuG3X10LeEFPu6WZOXkcFfxNfiuvW3ga_wN28yPyUFUE3xD1m70FGAeE8spkOeMen1UnLBYXQiO_G3aAE05XrLTPTkMkoryTtyeyMZNjFz_n8X0vJxYqQVfcCRZvhGSb8qnsGLOHmz8uHpfsCx73xqN_Yng9yXMIAD2qsqPydRvmoSxvRPtXDxupGfS1Ey3oB1C8rB12VBMJJ5SHDVW-jVHJFvAQi2O29vbyz4cAEheMhQ7cOvB67fwBuSwFcC2nd96wlHw9-CpggY-YG4YF4qRadZVdsBxohTZK-oqJsCqEOdAl-dKx4pny4gdfDOXANyETFuih8tY0rZgz3702tbJqgMf5s5dR4c5U_AHnDt-mynATyByh7UcD1RCg-eSmTN0F-uBoyC8vzc_FfQsqeFscQDRjcPLhalv9ufr4Puw9le4iX4IcIzids9vwXx2ukbRhsYYeTs1B-1Pq8eiuErruSg8TYrycANCiHRWRs0OapM2eNQqgD_Fk_bK8EJ04qE3M8XdIYPngbecl6Vrwj3fIoqo5R_d3WbKQzdQuhEy0OKd504GRCBHE-9PwO9PwpeJHEkuVeuDkf-fiEaJbPm9nqn--y5z90djks2MR9PmbvzjP1shsdq-VPBFdMCE69OCM2MDb_IDZEemduh_WE2bbxo9Xd07RrxKft2VdoFP3wtuPyqaul2nVfSYVKwltbC-geQcBtmZmfKwtCz3PzQV2qycaa56rs8t3ogR298_JCnVGNNYHtKobbnRQoCn_f1V2LBgLo55APPWDH_Ur6klVmiZ8lEchMkPSm03k-LVIhbBSkJO1LCQbILgH2eK6UXt5VnHLn8s3CGbjnZGeEuHG0SmJfCfcvL6G6KZiKn8MbW-044yNznyxf1aZtGi29dHWLl3_3y9DMzJMbdap_SpGqvfZzjN2B-VwTCBaU5UIYvZc8t8KXHFXiBKMwFKAzRG0rLntYr9PB3iZIu1Dt5Z_hXHftIh3RNY-KL3vZt6TO3Ju8xz-H3G7f5MwFFQo4Cc1mYyJSjAs_Ls2gz3qANBRTZvdcg4EhNRczZO2N2_dMgAQa-AMRRVo3fOhZvSPAvssFh38BWKHU1MaxCJz9CulOf3ocWv6GRIgD3R-LQE32cfpZHt4vjeQhWzileE6wTfL5lsQZLjqPpuPzLF8Xrif71-iOu6G3aDy2OG4RtcgYibfccZ9uoPuirFxG3IdbVkwq1q9FcoGFA1O5x_NoO5WVXTY-qHvS5QUF8h3Dm6iJEmc8KEFXu7wnevCKanmGd6nI3NuYV-x58m0eiC-K3GF7a_B0Dh0DQ_rGZanhE9IQpcDJJ6talTYakYFoS6zNAwwSqPhaeIQjivRNCHi2IeQ07ADXnx7Lfdtb1uyBHyRK816FyhqxeBL_sCzzqtug5kwQMqjEVaHH23Go0RHa7ZG2YYFYUc9EbGvXon8c8BjJMKs4q2tUcmpJ6lNnpqXpzR2vX6i-ShmE3xoA-FUU9SnkRcbO119T30PEBAZMRAHedd50ekyfDdzbzM0OaOm1nUwDhpePFZoohOkTaThZElhjyXeJRAm1DzJjKjqCKGsJUKGeq2J6LtKZWjA1goEJOXp3swzUXDZUPlNcRbogCXz_hfb06RHM-QzYsvsGYRyB9-W-dreFWSOsP65U5T6mpNLtZ-NzkClZLVdji-lGknPBZgdMV2LR86lYFESVuT6xq7XeRzSOpR-GhVV4htJvLG2TZqFcDHBtDhfalpwxr1X7Ht0XzvnJH3H1m92qupcGcVLsCbPNbZ2ZwCHUC7jeiPKXJ7rUQHIgH_pN-UloP5cux4a71O-re3iX6tONXRYc0nePnDOFdZzKMGLI2CkLThd0EE4h5lGRHFnyndgRQ8A3FgCHt1XOqjoKkMl4l91py71MS3oSresTfmj_46Irguut5HSOzA8xZ8iGZ0U7fr_fCk2YwYsB-Z3T3NcKHoEH9jrBHG8VC12aTwR3bwT6ttmHvvRCnK1ofE8NgqwW-vPKXMw3oLABNKg4_YvjNa98lC1NQuzkmtShT-HAXbLLT85zL_XG0eHbf4DmGy7pssKH4SvGZYwByDLKn0woXH2fXm65ypFBKk_nytr9K4Vw1a8FdxzbAKGj6tpRLoCAgm4IllnSP6vNSnjyg1QrzwrKU400Vpqo1ZQYS_qEyH8S7CA6Fw5ZnkqmBdDWrIRn8D3r8A8xJCrJNE2d8C8zAJNjpu6rezap1bIVo-kb4KHpVr7v8IQ7HUODgKeHmfAOxg2e2BG6E4ZFoVSUwOV7YtbT9WhPSBQZKrazhd4gO07cZj4",
  "id": "rs_00d2a26f00dd3bec016ab42ffa887887d0ac053558199e5f20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.322,\"left_y\":-0.132,\"left_z\":0.09,\"left_yaw\":1.57,\"left_pitch\":0.2},\"note\":\"Closing across the bowl again passed through its open center, so I’ll change strategy: approach its near rim from the base side, with the jaws rotated to pinch along the bowl’s front-to-back direction.\"}",
  "call_id": "call_3LGZ2QZ56YIVZLCtM8KMzdwo",
  "id": "fc_00d2a26f00dd3bec016ab42ffd67d087d0ad67d9cd76766567",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3LGZ2QZ56YIVZLCtM8KMzdwo",
  "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]: [-0.3157, 2.3093, 1.6897, -1.0222, -1.071, -1.9415, 0.994, 0.012, 1.0496, 0.8501, -0.7109, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.4493 left_y=0.0201 left_z=0.0597 left_yaw=1.4282 left_pitch=0.0579 left_roll=-0.2308 left_gripper=0.994 right_x=0.2919 right_y=-0.0006 right_z=0.1566 right_yaw=0.0811 right_pitch=-0.3512 right_roll=-0.1544 right_gripper=0.9962\nstate[joint_eff]: [-3.1932, -14.7761, 4.9983, 0.0757, -0.442, -0.0366, 0.0317, 0.0205, -2.8239, 6.8308, 1.4042, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd48c7e9a05b0e56f13688d47fb7974b1099a112cf52d99bc785b114774b3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10376a9283f94404267de96e78ae936403d7f402a77d7153031a8244bf78c481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051d1bdecb27f1ccd9ce8b94c07acbb4ccb31a6265efdcff4259763a4c041141",
      "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 26 attempt 0 · /responses · status 200 · 4.704 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 108 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3985, 1.6104, 0.3557, 0.8192, -0.4953, -0.1665, 0.0087, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3734 left_y=-0.0622 left_z=0.0667 left_yaw=0.0888 left_pitch=0.1888 left_roll=0.0747 left_gripper=0.0087 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -5.4769, 4.7658, 1.8486, -0.0904, -0.0562, 0.6227, -0.1436, -2.9197, 6.8034, 1.3602, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6342, 1.6936, 0.503, 0.6693, -0.6903, -0.2852, 0.0085, 0.012, 1.0447, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3733 left_y=-0.1305 left_z=0.0662 left_yaw=0.069 left_pitch=0.1742 left_roll=0.0874 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1593 right_yaw=0.0808 right_pitch=-0.3409 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [0.294, -7.0496, 4.3966, 1.7705, -0.2173, 0.0171, 0.6178, 0.0479, -2.8239, 6.7077, 1.37, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3157, 2.3093, 1.6897, -1.0222, -1.071, -1.9415, 0.994, 0.012, 1.0496, 0.8501, -0.7109, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.4493 left_y=0.0201 left_z=0.0597 left_yaw=1.4282 left_pitch=0.0579 left_roll=-0.2308 left_gripper=0.994 right_x=0.2919 right_y=-0.0006 right_z=0.1566 right_yaw=0.0811 right_pitch=-0.3512 right_roll=-0.1544 right_gripper=0.9962\nstate[joint_eff]: [-3.1932, -14.7761, 4.9983, 0.0757, -0.442, -0.0366, 0.0317, 0.0205, -2.8239, 6.8308, 1.4042, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd48c7e9a05b0e56f13688d47fb7974b1099a112cf52d99bc785b114774b3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10376a9283f94404267de96e78ae936403d7f402a77d7153031a8244bf78c481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051d1bdecb27f1ccd9ce8b94c07acbb4ccb31a6265efdcff4259763a4c041141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDADVbdq69DbDkmSow644Py49foIh6CPwW3uz3p9xjBlprk9histr1BJjdKNdol8YivlHvM0As9K82p1NdhOvUl0b0v5_Gw1jfPMb3f1PNmkrECW6-5gTe8F9basXpUzXRlgI3Fy2kDib9ueI2DqfX3mWc63JsRACNVsn0jBc5spuHge2w5y21VyNUE9xLYnDOkO9jZjl8b_EQNwxpCzUAo0n0bWdxgPTsBHGSMayL-5AcjHOJOw6Mh7cFyt9COyRgBV_drhBBW-YScTTsuD-xJvPqa30cUGrV4Zj8vMjqKhkf7PSyPXsWCidWlT8Qf9pqqWYxUoN2WtCI8zwPG6m-_gwBkgKysi6EDz16EkVN5-KiqBqivFoexGWJurAIT3XU-blbAuOGlft7Un7v7hgYnokAPiJXdVvIDgQFcrfZcjefgj4A0vsWiD9ZAkgf23JWIzqnjd0f88WAywiFiqsIHhWW_tV5NfatjwsSbBH9dGkAmnddUJzlsUXYVNxVoCS_JzM7A5LaxbRYyoqMK4VvY2G8biS5ASgmsQvKV3KaDEUaXnYeCUHPZtMEd3TOkAKF753SjNAPF6xWLmTx_QzOvezpBLmJOEzkAo90pDQm-uXShk15PfMk2wjNxxDe-t9VCW9HVP3rkkfOW9wuPRNxxqvVwZpUVW8CY9Fl_FnoDzadSIFCwegmTCZBJeA8yz6lBjNuUAbk7Dd_HsezLu3xCIORjB0qpwHtQH3bMS50_W4ZyOIaohPcueNW9FIepJ1Uaj3CzcuVpEnQF2J-4WP-FOWLUttdPDiWM3c2aSd2lRzorHBMhjvKUGVoWTAHfffIMnj941f5knyzAsaflM_K4ncLLieGpkBjKlOcwI3tt7lPJhN2aNpKZCgGPdbBFVo4bhJKYjn-VyTnuPgDjRj0XKgK8OvJREnTlBKtgvrBb85-oD7Ml5uHDp5U_eCiCmvose3_MfNHl9t8AMuT8gZrXeL1gHfPqqsuz-BxC4rBW-SOaAml2cWT3i1i4-TdowO-BnmG3MtRW2uWgItGjZlPTL2M-QJyLpHMfecIDm3V6K5ZqOu7l_VFoxdKoWrMAXXTYklLvqY6rAjJhEbMowMVpapHjxJWKZEytplNbGi5L5yqzYQvYHWWoPjdcBm3rpvggMnK8xQ0z2-WN_EHQv3dZUOKflPHBuSnlQDLDtd1rZd8ZgqcFygJVtT5CBBse3wjtczbC7NE16v73s1WlR_3cYGgsNe9q-qERvgnAZ-wgC_1s7iaPB6ihrUuv7f2AKKVr3fakkGVmv8GVFJTpPXo1hh4S20abfn7XvVMkGsSjJiHEaPkf9Qix95yuEs_3-3nf9bj1BkoxltzE6gmHfO4CGBoGXvHI7DA4heEDg9fjA0spKDYYUVqCOQwJxLtx8inK4k4V3dbcbCP9ZRFV_OHsPDyGHED_7MIRMYoOiszg6hMcDt096xvrPX2yNTjL6v60zIw5hfAbih406akN3bFfyuVt3JotpqPCESIcpqxsmckzk8ivGM_g4tVCnSKn9DifaLZbNwsK6jLS7mI6_uQhWglFcP9x7VLotSqKdm4fRDQYlrg6bRNiBXhRYvxDD8P_w44dytyLDOjq5ThmNI5fvkNQ6dFjr6Vabv_xlw_xAMl4vH4bYnHk8G503rBCNf47HbN8-qEZMimjMhtNHaFYikbp5fZkP2Z06u8IFRrKM_Ctaqfx7-W4_R0vw-TgDKtVyEjUAfCjCvo_cGsbN2sO0iBXWXqLAB9XiONCA21Vdq25W4ZluOdGXUvBCKSIlFMxQM1XC7PrwNL0-FFTh71VpSMVrXCRNw58GmNTY1DW7oJKkD-9DQyTeyOB1xZcDBgYNyNSzDZSidlIuhADvD3Ovv_WJX75k_9JBwLlIh5NdLvbHe6Q3hO1VgHVz5UTJJ_3I5uca0Iq-HvjkWTdSQTZ8fbYUQRfvFmqJhFkPvOWjuTjRFh7LUReZExywVZTMNiPEcScNQNkvIs1CWYQI0Z6jydWnlj0xEcpGUVdjZ7G0ctlm6K_PP77EKWC5zSuJdrt4ErM0QwhfQR816foOrUN4mTC-4WxM_dQ3j1Bq8Kq43yc-wzmUO2LBge3ocDy80HwBjQRj_kaGcFGqGqvTuf5OlnQNqLjr1V3x_3V89ztdWJl1SBa5no1fNEI-HosDV4b0-Ngr0AbemNDWChAOAmvlkxBkg_OgXZxx9a_V7t-_PXw3ZdvQzW_aU4wuMGbeW7Wsf2wnlggcaUYaNP_z4QPF-craX-np3-nxhj3Nah4zzR8uhcEU8dhnrILhFmiPF7vuSTGKRYjuX9BXG4vWEjxqDMHQQc8T_JygKuoJJ9XPxA8OO8u-s6eX6bedRqYVPAP9OoyzcwQJMn2qea39wHYoxQ==",
  "id": "rs_00d2a26f00dd3bec016ab430002e6087d0a2c1f48a25e95776",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The large wrist rotation drove the left arm far away from its requested position, so I’m aborting that approach. I’ll return it to a clear home pose before checking the bowls again.\"}",
  "call_id": "call_0EMcn3lhPraQkAuiNEKzrci3",
  "id": "fc_00d2a26f00dd3bec016ab43002820887d0839d00d6795c70e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0EMcn3lhPraQkAuiNEKzrci3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0639, 0.8249, 0.5907, -0.3084, -0.2119, -0.3531, 0.9944, 0.0113, 1.055, 0.8482, -0.7269, 0.0429, -0.207, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=0.0214 left_z=0.1822 left_yaw=0.2829 left_pitch=0.0338 left_roll=-0.1726 left_gripper=0.9944 right_x=0.2886 right_y=-0.0007 right_z=0.152 right_yaw=0.0815 right_pitch=-0.3744 right_roll=-0.1526 right_gripper=0.9962\nstate[joint_eff]: [0.2256, -1.0051, 8.2803, 1.8877, -0.0415, 0.188, 0.0269, -0.0889, -2.988, 6.9538, 1.536, -0.0024, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71aa1b82af06585aaa8b3b3cbc8987a623d0ccc4dc05889cf73540aa6ecc200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11fa29464c33e8f6fbb982a1582f0eac95b23af9661ad0915ce94067d92c3e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e2520ad1c6c6ab84976c8c35c5e06283b3983fff62a4bc8e7ec9a3833f42219",
      "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 27 attempt 0 · /responses · status 200 · 4.044 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 108 changed as sent

message 112 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.6878, 0.4984, 0.6842, -0.6876, -0.2821, 0.9944, 0.012, 1.0439, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1292 left_z=0.0693 left_yaw=0.0724 left_pitch=0.1854 left_roll=0.0787 left_gripper=0.9944 right_x=0.2927 right_y=-0.0005 right_z=0.1595 right_yaw=0.0808 right_pitch=-0.3401 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [-0.4581, -5.6957, 6.9949, 1.7167, -0.2271, -0.0611, -0.0317, -0.1299, -2.7692, 6.694, 1.3748, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3157, 2.3093, 1.6897, -1.0222, -1.071, -1.9415, 0.994, 0.012, 1.0496, 0.8501, -0.7109, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.4493 left_y=0.0201 left_z=0.0597 left_yaw=1.4282 left_pitch=0.0579 left_roll=-0.2308 left_gripper=0.994 right_x=0.2919 right_y=-0.0006 right_z=0.1566 right_yaw=0.0811 right_pitch=-0.3512 right_roll=-0.1544 right_gripper=0.9962\nstate[joint_eff]: [-3.1932, -14.7761, 4.9983, 0.0757, -0.442, -0.0366, 0.0317, 0.0205, -2.8239, 6.8308, 1.4042, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0639, 0.8249, 0.5907, -0.3084, -0.2119, -0.3531, 0.9944, 0.0113, 1.055, 0.8482, -0.7269, 0.0429, -0.207, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=0.0214 left_z=0.1822 left_yaw=0.2829 left_pitch=0.0338 left_roll=-0.1726 left_gripper=0.9944 right_x=0.2886 right_y=-0.0007 right_z=0.152 right_yaw=0.0815 right_pitch=-0.3744 right_roll=-0.1526 right_gripper=0.9962\nstate[joint_eff]: [0.2256, -1.0051, 8.2803, 1.8877, -0.0415, 0.188, 0.0269, -0.0889, -2.988, 6.9538, 1.536, -0.0024, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71aa1b82af06585aaa8b3b3cbc8987a623d0ccc4dc05889cf73540aa6ecc200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11fa29464c33e8f6fbb982a1582f0eac95b23af9661ad0915ce94067d92c3e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e2520ad1c6c6ab84976c8c35c5e06283b3983fff62a4bc8e7ec9a3833f42219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAJUNz-4RKPPZ0MfSC0SozR9BWrDYZDvOToe6OUdqpLbvBsfNYExQLLjh-99FU9e1FFCsdBvLfGdauwgMojukXYJMfLzfASVcF0EK_EwmAsJPi_uLiMZ61vlXSil3-08sHMGecrUpGgjjTtaG9ElPI8rlX94RFtR5falTXlwX0xRKRZWOaLJRa3n_9mP-76JCclKsKJKanNcDylbKT-d38wsMg0OW7rjM5n-q3OL1sSglgtFlwTemlgXN9tzGAtikUwsOVA6nrv4KgaQfwsggsYBPt0_izvXnEH0DRatTPa-JW8HDt1f3LYpoERQeFdlD4wudBQdtShXQnCdh7f0fYzz3tF8fYc5fKuNKgkP8bMc4yEt9kUfxuhboIe0HUamN0JS2kMfbsj9OPJs7OhlTwTzL_sBEOCE_Na1myuBtrHtU-mQ--Wi905YZBrTSnX23ONq4IjlEWJ6a805C5pXkSvotMbHfRQfHGeKY9fu0wuoXuIfavW-ggy2GRyLlTcXg7tm7DaqBdD2T1tVTCp9RGBe69aebHKwjWXl8i7ih8GPq3Q-nuxEIbf6SNQQ3ol2aw2bKagQ72G1Xj2eFKhyjGohrHqm_5Mb6hvUgZ9L8G05NiJVcGLrtnFOK4dSFNFcc2uOHLKryCbVyuo412E3y_9lqP0aUiwkfUGfBPWm0oYAkp4Ld-J6gzv8RCu2UVe4_lky_yMRE7aZnYbZVXsIgMlBdOBNFUkYXHqPi6IfTBSH5KTfd698LvyTLq2XKaj0fYelMKEzypjkPVmSOSs7VTDdlzBTJeSj0Zw8sAHwGhLpDxqdNihWw3FSAZIbyqI0vZ4r3gn8rEkitdQNtOkG1st7scuefvHkToKlNwtDz40XZ8ltkh3QO9Qyab1Yq2U7dw470wYzdWZx3D9AKTUpygEFivTEmssU-0OFEKTVLU6TuXyWC98Uwy8D1RFmjOfujrc_fyU6ZkXqPY0YF5dD3y5efALZyk_BLGxV0jOZdFPLm8xB24fL9gp7HB_NO8LkjhLDoD1QJhIwBPdsDQRMkxgzJwM0ce_a54CBBrrYeX8_0SolCEDIbne7WLNsFgfX3zBfFeh0_DjGucLmXkZ0UuiSBtKAyc21Mw-cQuNzk-_QQGn3z9ZhM_2n15bV7AanOJJHm6fh4zYySxF03AV_nN96G2qkIs79CdRZLeUc276erEcb9yChqq4e9DT37BJl47EDhHtaJJx5uqm-n5IhpqElPq1b8veR8MR3I65tyel_ueFTE0ycYmwxIA2Pc5LRsxvTBPwyJXE5fP7W8cGMgXuHLGuP0qHV3N_fsqzhcryQjVZ-3OvgemcwRf0rjBmB-wkj83QTrUBrRQW5B9AV87MjIGwyIhf5ngwnLGm9xpx8_YVOe-c-TpZiirRMoJnV9oBM7TXiog1DB8xo-V6bU3_KeBxcqGvzvkQUr-s6XyW8t524VF6dKHzC0e7euitfKp58TgQjw0E4YA57qXS_HYlaD-kibeS85pt0-FKPpTvUrb-x8jBDoM5zNWKSlQt-W2EDk2vPk2kdFBu8ESWXODI-ZngJYRg94hkdtyx_SPIE6lneikl-RmoV1SrpuNAP8Ol-Nlyc1QBr0O0BM8NOJLJjwzxYs29-iIyQXFXbU3US_svfYtxaYOuhrBRUJWwsxXwxVKCQwLamBirBhjGKcg8yfWqA1UdPqixVR1qR8ULntbB-Vn2RGP2nA-Aint0RUd-P2HEfBTMUE4h4R3al7FAOgMDAh5aIamR2NEIad22VgfUTfrL2nelpMIhGM2mBUddoTfdiXQO55xxXFc7zY_JnvOXdMd8sESLqznVLTY_BpAsyAEZkOu3gU1s4UHiLRpG-57N6frUhOZ3qCK18h_TrY-_jcHmaPE7uU810FrtvwKnC69QErR7wkQqSoklX0sVYVbUqwDGL8QLGOFb0rjq9nYJOE0BqNuSlbAL91w4dvKKIor37Q2C4dbMiQpoR5gNoK1_luh1f29q4KHBYm0OSXQr3ICpmQxAJJJd_urghawF7VoDK2rZ98FRS8RL4BtoZoMrIf7hdeQJeddo5YcTLJ1gnxdJZbfIC6nyE5G-mwkrEHbvdUbY6lC1KMFqbxkbGSLGlZ1RSpmZFAeKtvVeyVdF3Oyg1F6RimXL7-kTPYvbqUUHJDFspS4iywsg17AhccF3B7JcxRexQD7rwjqT-VquVoDp47NEh4e_LCNHhTCTj_34eLAydPRGaRkF5lCIhTsGxgboFxrJ9uQ_ZcZNNzgYkE18vCG7_q5ienywyKzJ8ih0Mh2zgkOiSxOAPZqKS_W8Q05tTgF5zWQ_ZSB8TtCEslHCDjbi6loC0KZb90v58a7dNzI7A_kMvjCsAgW9HsKyFhXVfXgscuBAajSpLV4zNV5aFK0mC0wLhHgv5BEhmCaYazOLwyiMSFl7yoLEG4KX_U6KDTUn2VbppZwg0nO72eDpKXZgwWoXmbLxs8y2QLh9hscVjKwZ0G2j4bkvMgXgQ9W7IewGGm5S2glqC2vlxPI9d929B1clX6A6KoWrkpPumeL3bK7iN9bCl4QBfv4YPvYXtCXDvdQug5NxAeaArIjSsH1Zbh730RuNXEifYJQJyOBBDeDiZH4_vF_XG2QYqT1kEH8SLb570G9ciIoNEL6Affp1SsKQCF8xEp-BjfjrbYKJPeeX4TARwwm6Oozr-0QZxYYfu0-W1m1eBOXcujaZYshHGDcpoQJoWLYGPjdnqP3zmBnMSQt9YdP_SS2HXPL_GU6SRFSq5J4Ryhd_eMIsKHY6HjSIfunlNYb6g3_6-SvB4uZa4der7Z4Or5gDo2SNTbKmHgqhqEJb0Cp02qNuC_LW8RsAoZ_TzFNDchmiGV1OiW9DRrfHx6KCgD-3u1uN_gT5HTkyw5nN-eo9hQ3rVNyXeIs44-hHS34hDxq__CjxThVYcVOAsdRoZOqjqrGyO-aizdyJChTKDe8L3h2FButy7hvZc3IbJKc=",
  "id": "rs_00d2a26f00dd3bec016ab4300553ec87d090f89d20683d67ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.324,\"left_y\":-0.01,\"left_z\":0.077,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"All three bowls remain on the table, but the white one was nudged closer to the left arm. I’ll approach its new location with the gripper level and avoid another large wrist rotation.\"}",
  "call_id": "call_YSRSYufy0K6JdDbaHHEhRTbD",
  "id": "fc_00d2a26f00dd3bec016ab43008415c87d0a92101729ac64db0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YSRSYufy0K6JdDbaHHEhRTbD",
  "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]: [-0.0788, 1.1057, 0.3145, 0.1226, -0.1017, -0.1295, 0.9944, 0.0113, 1.0584, 0.8482, -0.7303, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3103 left_y=-0.0029 left_z=0.0637 left_yaw=0.0557 left_pitch=-0.0933 left_roll=-0.0189 left_gripper=0.9944 right_x=0.2881 right_y=-0.0008 right_z=0.1506 right_yaw=0.0811 right_pitch=-0.3812 right_roll=-0.1522 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -3.4393, 6.2154, 1.9609, 0.0415, 0.1099, -0.0122, -0.1162, -2.8513, 6.7077, 1.3651, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591934d55d96fb795939768baaecfe205c079a5df3e26835659c2c9346ea357e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42830b7cbcc5db9d8992c115ba01146c576d508d4142e7b22d48b36e20ea828d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d80e83e3c37311dbfaa4811bca2946147b826e2003833dfb92ed0f29c41ab8c",
      "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 28 attempt 0 · /responses · status 200 · 3.003 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 112 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]: [-0.6342, 1.6936, 0.503, 0.6693, -0.6903, -0.2852, 0.0085, 0.012, 1.0447, 0.852, -0.7074, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3733 left_y=-0.1305 left_z=0.0662 left_yaw=0.069 left_pitch=0.1742 left_roll=0.0874 left_gripper=0.0085 right_x=0.2927 right_y=-0.0005 right_z=0.1593 right_yaw=0.0808 right_pitch=-0.3409 right_roll=-0.1552 right_gripper=0.9962\nstate[joint_eff]: [0.294, -7.0496, 4.3966, 1.7705, -0.2173, 0.0171, 0.6178, 0.0479, -2.8239, 6.7077, 1.37, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0639, 0.8249, 0.5907, -0.3084, -0.2119, -0.3531, 0.9944, 0.0113, 1.055, 0.8482, -0.7269, 0.0429, -0.207, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=0.0214 left_z=0.1822 left_yaw=0.2829 left_pitch=0.0338 left_roll=-0.1726 left_gripper=0.9944 right_x=0.2886 right_y=-0.0007 right_z=0.152 right_yaw=0.0815 right_pitch=-0.3744 right_roll=-0.1526 right_gripper=0.9962\nstate[joint_eff]: [0.2256, -1.0051, 8.2803, 1.8877, -0.0415, 0.188, 0.0269, -0.0889, -2.988, 6.9538, 1.536, -0.0024, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0788, 1.1057, 0.3145, 0.1226, -0.1017, -0.1295, 0.9944, 0.0113, 1.0584, 0.8482, -0.7303, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3103 left_y=-0.0029 left_z=0.0637 left_yaw=0.0557 left_pitch=-0.0933 left_roll=-0.0189 left_gripper=0.9944 right_x=0.2881 right_y=-0.0008 right_z=0.1506 right_yaw=0.0811 right_pitch=-0.3812 right_roll=-0.1522 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -3.4393, 6.2154, 1.9609, 0.0415, 0.1099, -0.0122, -0.1162, -2.8513, 6.7077, 1.3651, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591934d55d96fb795939768baaecfe205c079a5df3e26835659c2c9346ea357e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42830b7cbcc5db9d8992c115ba01146c576d508d4142e7b22d48b36e20ea828d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d80e83e3c37311dbfaa4811bca2946147b826e2003833dfb92ed0f29c41ab8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAN2ccGq9UA5_K3ZU8rBtMeCyiqHu1gG--0y7WV2Ue0kcCU8z0SDfXFDiKzMfXU0pThiS-BVu9juQ8FlhYhwrI-5ej-Mn5FNaWGZajBgbC10kH7fT0lOY35R4lkUDvTnphT-ZqwjJ0Ehkagy2sZeULizMNeKwsz15RETy3CyiZ-LgUadc4XT7QiHR8TAcLGR-ZlhCznsp8ZXOnp8bvNA31hTbZ6QFo1cpXdbSgBPu9kfgKR3hT0GGfUaJ0RZ7ueOFORnH-m3MrIuYXiYH3skVNzGPMIh6TzHw-jjUfn8bEBN2BcpyvXUqkrAk0NXk_tbtbmYLxcGIhGwToP2ZoDI34q4AbgDutopXbt5PTLxktM0F-qkHkKbWlpgsa3doc11OLizKPfCrd06niTvmwEIkXK-Lm0ZaUuHT5PTQ_GRY53HPd1727kKbP-kHDM4wNRCxUEPVmE88K6-ydikqEi4uKFgiTkKczzsAuUIo3llStZS3bLXB7oH4zAe9R8_S2a0O8d-6l5Efmy5lu_sxn5Yg8rYclujK321Xu3CROBZqsxJnmJOxdzVzCllaMDfqESUHDikbC7XwaMLyv5_pMtdeowJSEzYtiQV8Fmo45jpU5p4_l_n_D7rsa95y3jyc09Zm3-q39vvZraCchi-QfGNOzq5RRTdbBVG-51HgG0WgamkTuMzuYq2rq5RrDPgSJDjZrBn3iETzNirz7KmGywU-RxeZD_Uwxmjv7fv06mR_e3Lm5qajjjFNHHCHWM9E1qWWz2-fs0CZvRyks_1rZoIzWzkoeyBHBtFeHwRnRP0VTArAJWrDGAUgVN58xQK6kyKxwDpk_VWUFxa7aHZac3YOfOk_iQHl99K1ocCsPq3uHG2srsqYEpCUlSVmeQ8wMrhyq2RIF6TcqfBZA9p_NEBeoZ7BjC97-8VYvLZjtt_KBP3lZhm_bQ3j-IAB7RLJyQKwDmKUwN8XZiScPjxeXFRWnavgd3pGmDvFzmE2sIQPr_Mz0WAQv-4zgY_C81AuzJcvFTfJ7b5x1NFSFqhkC4kSUsr1TnHZcDGx6Pyr5LkPAMz6yG8Nk55CMCLu1QoN5SbzJ2euc7A6koDC8Y9wZrxo06NaCqIjet9fBbH97kxRqBPZ59GBHg-EjAIpeQxKz1PqJNVltl0ff_1EOlh9FMxweG4dfKF9n-cw360VeV8mSd4-Q-lnwd2jWK2ZnjnuxfYP87vA_clkjJbe97-uoSjJzaS3KcJ5ORFTauUVlUefFIK1Bvjp7_KI5ts1XvImDP07t7B5qukhsW224JmWWYzNWtwuxbfclN-S6ZCjpWDfgz6m7P5NGOXHmQeBHaV-ei6jFqmQRWJx54REtWzyyNnCqBXEe2OIhTCOh5KVM-MRU5mIf3Xw_8s_ToSYDju1jWjJFbfvBsqdyb2bhtaYN5Tek1Dh_vWYY7ol3waZhKb2WffuFOzSyIembYAxe6cMWULCCwdDHhPKO27SXn81cYnNSD-ZrFPlxqOFdVKFXI3zfUnKB0gKy_yrhaoj0qjP5yugMrjg73ubQeaqEl5vISxPL1hIGPSd6ygxSxWmrz7GGT_VGHtwd8QyrM9JP63PJ1AmAAkgQXhVREOrBzoX_WE-mPXMex1YXhRnC04uJfurgbvB5k7JeJAlMESFWdSQgRIAiciCBq-nX9y8dwppXanObNrzSsXngoGErB02OAhgjkIm4jRV0ltkJeA_ahZS_qgTDARhUbzJNR93q0r5MIQCbIOcCr_H8dvzej-4pqIVRP6YDOiryUE7P0iTygSOKylyqdJI1vMJ65VQZezyFpdmTS6jbEz-4XaMRr5LldavbfwizDx0ECIKLWtmVSmTZZBUZZVD3Ib37BUZnHGTqASMoXyeang2gWpf99dnr_wlBB1Cwz5uA8ERjbK-nnY7TQ8KbcAGFY6PQwsU6dkpves535go9xcd3viKuXYRPawYoeVY35EJPpAcRbhvA4etPxYl9s_g_g4qXHSEfJja2zpggomtKQzZofJHPOxFX-W7Yeps2UoXAJIZ4K_8FwyGg2KxOkP3MeL2PEGHS6_1YZGvUcSUxIbFm1S7qIV_ry17FJSi-e9kpg711qxpuXBSqp9V7fCX-wiac1U2nXpAFGGdEKythj81rJ0D74sda3tzDXmVmH_AN3bed_I67xmtten0W4TzcBzymeZCilLcybuK9EnEcGETPvAG2GUtfNWvT11wkBhgsh3Ktvbu41PjICJiQaQ7VTZv3n31nItdMyHsIQUbd1euVDQSpxiSaZrRN8Xvwbr_CK-JBKixs-L-NR0o5Z",
  "id": "rs_00d2a26f00dd3bec016ab4300acf6087d0a9e628c86f228da1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.312,\"left_y\":-0.036,\"left_z\":0.063},\"note\":\"The white bowl’s right rim is now visible between the left gripper’s open fingers. I’ll make a small sideways adjustment to center that wall in the jaw gap.\"}",
  "call_id": "call_yGI9VhGzOoSiKPaYVJumgHN9",
  "id": "fc_00d2a26f00dd3bec016ab4300cbdbc87d09b356fc10ea67354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yGI9VhGzOoSiKPaYVJumgHN9",
  "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]: [-0.2462, 1.1446, 0.3065, 0.1509, -0.1825, -0.1936, 0.9944, 0.0113, 1.0588, 0.8482, -0.7311, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3073 left_y=-0.0405 left_z=0.0559 left_yaw=-0.0087 left_pitch=-0.1025 left_roll=-0.0159 left_gripper=0.9944 right_x=0.2879 right_y=-0.0008 right_z=0.1504 right_yaw=0.0812 right_pitch=-0.3824 right_roll=-0.1521 right_gripper=0.9962\nstate[joint_eff]: [0.6632, -2.4684, 8.9231, 1.6825, -0.3932, -0.0611, -0.0073, -0.3487, -2.8376, 6.6667, 1.3553, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a7221b2841c952ff2f68224c47df3b52a618d59018203bb2cff27649c136c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ebd577e14970b4e22a35e2c31827b2d366d98ad06244717c431e72add52c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ab02dfe8f551e8bf4bdf00a02fd2dcfe79eb985df11b4f0c7a7fe832b1ebee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 7.006 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3157, 2.3093, 1.6897, -1.0222, -1.071, -1.9415, 0.994, 0.012, 1.0496, 0.8501, -0.7109, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.4493 left_y=0.0201 left_z=0.0597 left_yaw=1.4282 left_pitch=0.0579 left_roll=-0.2308 left_gripper=0.994 right_x=0.2919 right_y=-0.0006 right_z=0.1566 right_yaw=0.0811 right_pitch=-0.3512 right_roll=-0.1544 right_gripper=0.9962\nstate[joint_eff]: [-3.1932, -14.7761, 4.9983, 0.0757, -0.442, -0.0366, 0.0317, 0.0205, -2.8239, 6.8308, 1.4042, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0788, 1.1057, 0.3145, 0.1226, -0.1017, -0.1295, 0.9944, 0.0113, 1.0584, 0.8482, -0.7303, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3103 left_y=-0.0029 left_z=0.0637 left_yaw=0.0557 left_pitch=-0.0933 left_roll=-0.0189 left_gripper=0.9944 right_x=0.2881 right_y=-0.0008 right_z=0.1506 right_yaw=0.0811 right_pitch=-0.3812 right_roll=-0.1522 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -3.4393, 6.2154, 1.9609, 0.0415, 0.1099, -0.0122, -0.1162, -2.8513, 6.7077, 1.3651, 0.0024, -0.0562, -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]: [-0.2462, 1.1446, 0.3065, 0.1509, -0.1825, -0.1936, 0.9944, 0.0113, 1.0588, 0.8482, -0.7311, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3073 left_y=-0.0405 left_z=0.0559 left_yaw=-0.0087 left_pitch=-0.1025 left_roll=-0.0159 left_gripper=0.9944 right_x=0.2879 right_y=-0.0008 right_z=0.1504 right_yaw=0.0812 right_pitch=-0.3824 right_roll=-0.1521 right_gripper=0.9962\nstate[joint_eff]: [0.6632, -2.4684, 8.9231, 1.6825, -0.3932, -0.0611, -0.0073, -0.3487, -2.8376, 6.6667, 1.3553, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a7221b2841c952ff2f68224c47df3b52a618d59018203bb2cff27649c136c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ebd577e14970b4e22a35e2c31827b2d366d98ad06244717c431e72add52c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ab02dfe8f551e8bf4bdf00a02fd2dcfe79eb985df11b4f0c7a7fe832b1ebee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAQ5AwSfZ6EUJ-gyC1vmLa-KFchukxdW7I_tKol_I5vWrA8kUb2IqJo73_9pNYtgrux32BC-fZcsqIME_zhfyhkQjZHu4mKBnbmRXSVzUX23ppNYJpvz7qs1ue_7nZOE-FlInhY5zZ6n6xbOM-7rgMMkGbSQcchD6ciAP3j39dtTmdjxbZEdjLhZmvdHezmAZ8QmWXbAzfnY5lWKs3L_owVMb4ODYXp_8mPKKzPaenVsNcRYmwKTtjoQSa6XVth2OQj6-Im0xpKZ3lq8a6AQjIC0YNTa7m-R5ZcLGcQmRfF443NxVWOtcUC4nWMNuaY5yYf64Xe1_YNzjLwJxBGh-SSVe3TSgabt-l1KVXwEVjJdJA4m8NB-kV5XYYTwzv_XjJ0YZ0k4LHGVkXWT-ul6eJFmLALF5mDcb0Bk3il-ITH969oXeYdG9dbiTgj1WKkhgHVfq_6I6i00TvNyCPzfme5r7nn48V2ygLDcaufG2YrERTpeqZ_vKoOUx66P7TOdberqEGXY0ucAMQfn1-LgtQ-CHvHWA9r7c59ZUjT3mThMOmBoSDgpJUWi3_imNzkDLXOjNvs8HFnfgeZzEvFM6dB4GbWNLJ8oo02JCJzcRow7SmPuEguuLaM4erAK_8DVxbU83h1Yi2gWf5pjM3zH-lDDH_D-ygjWzzQQKVrAvurApqn7Z3kidp9RCTu3e6H_WPjptYaFVk3vgKUkjm8Hs57zh9yK75VIl9KTeA2pSFsVAyVCqrZ6ZuMLiWln_GEj1Mjcw4TI-gYqxfX76QB26fBEDDFYH7oNdecUC_oH7NF3x6cmja0UOE48eiV4YAnz1Tc1gpNefWkyNL_E8hhMOzpCRSZ1boq9S96G0VCqejSC6p7K61DqSYi4kYXm7Dwt5wwCC-psgmT1wnwodvRUSkJqlQni0eSpk7HEGS7hkE7T-GBT-F7DpkU0jWOe9IYG0vT3HgxmbsUvCANx89QYa4escQXFby3n6wIz0njcggIjoGTM69fvRBYcKDk_7x_UKLyft7gdbyowH1iqctpnolBGn833EnyLtOaPrAty2CF_jXHiRnS8U7KU7E6axiMP8O3EOilx2T9ZJZ9ag46-Ln1XYpX2VupPOLHVVSezFmz4Xv4FdtM9UdogjfKiDkgTYlHtuCGby0Ph7B6TQDQBq1awZQHrQB6QuipgDgYCKwVpKZaLUgyymNRLnY6P-RAWiuf7xcUAKcjwVa4NDw3l3-EE7CwcbV0GLVRABej8RIJcLoNHX6NAp7kJvRLIeM8vSRZkSPvbog-uiF5BKzjdDfiM_jmDerN-43RYci7MzMjD7Q=",
  "id": "rs_00d2a26f00dd3bec016ab4300f790087d09bd29cbd7e265ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white bowl’s right wall now lies almost exactly at the left gripper’s jaw center. I’ll close and check whether its rim holds the fingers apart.\"}",
  "call_id": "call_pewczBazCpkwcrVnNO1tcdWf",
  "id": "fc_00d2a26f00dd3bec016ab430100f1087d0b23b8e52bfde2739",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pewczBazCpkwcrVnNO1tcdWf",
  "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]: [-0.2619, 1.1507, 0.3084, 0.1162, -0.2405, -0.2523, 0.0084, 0.0113, 1.0588, 0.8482, -0.7334, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3026 left_y=-0.0338 left_z=0.0499 left_yaw=0.0572 left_pitch=-0.1297 left_roll=-0.0144 left_gripper=0.0084 right_x=0.2875 right_y=-0.0008 right_z=0.1501 right_yaw=0.0816 right_pitch=-0.3846 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.8376, 8.3214, 1.6386, -0.2125, 0.022, 0.6374, -0.0615, -2.8376, 6.9128, 1.3651, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9517ba85d9aca94fa13f1802d4115872426b5caa9ed73e3716652edd7e856d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c05645bac7d5199310e4fd42a1e33ae0e3224a22d1f429e5cc28eae29e1bcd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aed79001b34390bcd64b74617bc1f3d64a2b5c57e89ed5797a7315dd5505e46",
      "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 30 attempt 0 · /responses · status 200 · 2.33 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0639, 0.8249, 0.5907, -0.3084, -0.2119, -0.3531, 0.9944, 0.0113, 1.055, 0.8482, -0.7269, 0.0429, -0.207, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=0.0214 left_z=0.1822 left_yaw=0.2829 left_pitch=0.0338 left_roll=-0.1726 left_gripper=0.9944 right_x=0.2886 right_y=-0.0007 right_z=0.152 right_yaw=0.0815 right_pitch=-0.3744 right_roll=-0.1526 right_gripper=0.9962\nstate[joint_eff]: [0.2256, -1.0051, 8.2803, 1.8877, -0.0415, 0.188, 0.0269, -0.0889, -2.988, 6.9538, 1.536, -0.0024, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.2462, 1.1446, 0.3065, 0.1509, -0.1825, -0.1936, 0.9944, 0.0113, 1.0588, 0.8482, -0.7311, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3073 left_y=-0.0405 left_z=0.0559 left_yaw=-0.0087 left_pitch=-0.1025 left_roll=-0.0159 left_gripper=0.9944 right_x=0.2879 right_y=-0.0008 right_z=0.1504 right_yaw=0.0812 right_pitch=-0.3824 right_roll=-0.1521 right_gripper=0.9962\nstate[joint_eff]: [0.6632, -2.4684, 8.9231, 1.6825, -0.3932, -0.0611, -0.0073, -0.3487, -2.8376, 6.6667, 1.3553, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2619, 1.1507, 0.3084, 0.1162, -0.2405, -0.2523, 0.0084, 0.0113, 1.0588, 0.8482, -0.7334, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3026 left_y=-0.0338 left_z=0.0499 left_yaw=0.0572 left_pitch=-0.1297 left_roll=-0.0144 left_gripper=0.0084 right_x=0.2875 right_y=-0.0008 right_z=0.1501 right_yaw=0.0816 right_pitch=-0.3846 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.8376, 8.3214, 1.6386, -0.2125, 0.022, 0.6374, -0.0615, -2.8376, 6.9128, 1.3651, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9517ba85d9aca94fa13f1802d4115872426b5caa9ed73e3716652edd7e856d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c05645bac7d5199310e4fd42a1e33ae0e3224a22d1f429e5cc28eae29e1bcd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aed79001b34390bcd64b74617bc1f3d64a2b5c57e89ed5797a7315dd5505e46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAYJfczsUiJHqwoL2yQHrF6IyC46W5h-edImYdLNy3qBb53qkyEm1WRYQPOzqVTawGpgHRC34FfKhnwZstg9I9Vy3-9RtlqfM9DIBdFnMWjsKhS3UIofZD7L5r181BXD8t02rKNAhf_F68CaFqqWibwDFbmaenJG6zRxy1mU-82F_0Mq4tjLAAC_oF_pTbPYJp9Bn0pfEeuC_dnv54A0pnuUwTtEAx3l47auBtfp80WBZFuA3IZthhq1PrxEBYigLiHSBDWr3tkq7J-qO2dJ1qUEy859VB27MN1I_xUApp0n6ColCSZOjKIwfDwBl1jxlWx9p8wxgPf25W7V4kzC__HpZY6d5o4TFBgrO0S8VRZZG-F1kyrsx873rIgf_biznb5jzCvwbdPJj4wyv4EhZOd-P6zvddmTTriKhYv4S9UhsA9zXdTmw6IboA_2x1zCmLsZHEUxODX1CD62gjdnaAImxDB2y7mYywkFlQU81lDlUlRi1HREkw2a-E0MfeaenjqITZpOyYmFNR6msS6B6CgUhZA35wXJACGknAeC8bmcxzNK7yVRgK6UQMbFV_x_k3x1nMDYdSrr6p4PYaxm8u5RkjrBd-i1lYNnHTxvNskiKv5l0xIMCuABsF_LIAqRhhW4Axt5UeO2v_TMD3UrQ2gpK0I2MRUSMrByRnH58QMpsVeFsW461cKVijzBXVzF5V_ep8fjV_GXgIy7ynDi1-Pvua74keRJDMLcG8QE_tQOxNljfX47lnNBJ16ayHsgfZSFe09aZBpr-IjOljLgOgnVTT_YDiDcfW8VJNjHBzDnzn0TDJ8Mc3i-vCny6gm1owyVXYtkEdUeDLhHyVR9OFWcSH4cIm-EU36Au6zMIlen4OrMfB_sHB5sjnEuVgnKRcbBoHs0ydv_dfryrJ2FaRpI_wkC6E70esjZ9K94gmf0mXszfi5kLmS9E0ExYMjW6ly5wI4_CB6mvO_5cQhpYgxLrFxHq8z6jjaAdqOiQ0NdhPTny4iTGXAUMLChR0kcSNwA6e6_JuOnODCZxKnkMwqK1Feq1yGd0N6S9i1Fqyoc7r2FMfTF_l3p3glHYvf9xlVoCxPitX-fJem69NksOn0-nKVL5bZUQY4kewJRrg6BPAC013bxusUvvfZliidTkFRh9viE10__QgAttVDsHk0ZeOheDh3dQHX7SUGdwTq9831DB9-xq-tIPXeGs0clSOuxDleLQBvi-d414VuhbzNytS_bRRrLQv1b0CJ5lDgumUKfXJf43ndF_w7DSfivFe8k3EvUfKjiyPFy7KAaEFIIFDxBf8dQbnoVBE6aPyLNI6h-du1JCfQ0btrRH4NnBNhJjMnkO_mYwzToNHgvBbaF-q3oYc_P_JGJE_m0V66SrQqZ5g3SfdNisRIp5b7jN--mXz3dt-4TuWa9YE0KXq6wZobOK99ZxVU93RZzXlXp9DqcAMDQFGSknGXqHfmx-RuzXuPn2IPcA7ICqrpXcczo2XBQKbBQzAO_PV4QLtlAXhFOkMpC33b71v9ouLzYlSBLfGcK7t5LeAQnzLXQmL7Brb9DP4jUE1R4yfjm5yQHXJgYRLdAVVRieWzbzCJdKbE9ULjtMctQUzbeCD6j34SfLgvkvoL7uqN1LhWXae08E1N6HPEUdfQK2O0U481cY4DhmJ68PNQ_0jXzd7N6-CU4L9o4M8LZzROdLpWa6WLSX9LfacCR-FrqSqCOIDVdqX5e02UOXjF72oia0k-DDUaZcaPTxGbamGjtX31nXKYUy3iz_uXnpvgXwYGS7sBAZLK51zxmkwBnkS6ZFGWmF_GnfxFmhBkPYIVo0A8nC1E4__PThHs96dMtKmI8E_1miZ1Ele3kJOS48BDzza32jH8y71n7SnZnwA-7n8wT8qRsm79dvqvzSsYEyiu3sf-abbi3d74Sm71eyCNSSvmRGZLTaMn-Z42ay0tr5E0Q9pzAb6-jAqBb3H9pvr30G-9wT7osYHHKxzVLNppdZqQ7BHpJPK5ZgN_1t35dJKaUKjp7XWKHs1fhoHZFrqzRGCd-iPqgFT1GGFG8C5jI_cIv-FoYT7HaXhJ6IHWJlQSzQxQOW_kNZoXfMKLJgdTFQ8i4SUVeZExDrt631SdtkgRuA2duHqlRvaVgfO-U7CM2xgmE6_kxrYzCM3oFeM9UxzPgzsPbvdf-6Xme4B64FJIlzh4B9hfjSIxW1Me7oYYNQqYjWWhRZoYB47bqgnqm0ZUQzrFAN3oBtu8jrNhHMBjSrm877jFxPsDmg5Ij2EetN7UmEMvczPLRqDZ0vJp3-RSptN4ts1yfJU6Hk_ORFuNF_9yerhL4TNMeazkgS6Sq1KKWlbvqOa1CObWaGoi_cjNDzTnZ6A9cWNdaBiYz1nxJpYTzuxqvtSo3DwIYs0sOmx9pIPbslR2i7QOMxfRG6zAQhlA8eWvCoPFyE0gPY1QPemvjEyYAtPjhFJphcGHfCVkD0pfuX65r76VvolCPWNrlex0c6mBsHIPdPAs2xup5hoztUWiZaDRmlqK0WHcxoyXQ7vTgHoPvJUThhj0qto7kaeO2BdhP0l_K9vJ2ci7vsEUvStf0s2t4c3yL8qexSlQ8Kg0riNeGfZmNSHfV5tVdfrggxqxk9Imv1W-nXQXXkmEvGGk9Px-CqFoeI26QKej0d0C3Ar2vqV2TaZCtywSDmTTnXUiQA44nw78Fc8ea0T472WcmS_EScVSYuXiKRJbiAqn0JS53IhM4Lorpb8vANf-UXNh4egEoaUU2Bgqx3O4acoL-aOpyBIKQii0K2FgsqDz3DegofqLG7pdXplGf_29XrbsCbfG6v6lO6_Z9b0X2AcZfsweLICakOemGUpxxd3Q958D21gzpsg5OxN__ka_5rfFIvGQZGn6OlSYVxOxz_T_qNWeBNIKX8V6btcO1Tp0kwwex73o-YBZnCApgZoqMzguwwolMPKm5Zkp5lGS7d7U7nB1Zhoj0IvlzSxr24qcm5SDlMTfQ9a0eaz6oVYVfSCTXPgHhLyeHAMrIgAdmDwkhenG8FwuyRDTtXgPxVhvl3xZG5hpurQnuWFXLHe6SfkU7SdJJjGhwmhbDE6VS953z7bWKqLwa0RuH9UagbRW9gotD1FCqENj7UxyIMF0xtDjxB7ZD9BTZjG3aOz5Tw==",
  "id": "rs_00d2a26f00dd3bec016ab4301414f087d0acc0bc611c553063",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.04,\"left_z\":0.034},\"note\":\"Pinching the rim keeps missing the thin wall. I’ll try a different grasp: lower the closed fingers into the nearby white bowl, then spread them gently against its inner sides.\"}",
  "call_id": "call_j4SU1apTZwuiKZhIUsXdhcWt",
  "id": "fc_00d2a26f00dd3bec016ab43017be7c87d0a04aae4e2b4be009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j4SU1apTZwuiKZhIUsXdhcWt",
  "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]: [0.1474, 1.1896, 0.2558, 0.2062, 0.028, -0.0269, 0.0106, 0.0113, 1.0588, 0.8474, -0.7341, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.297 left_y=0.0427 left_z=0.0319 left_yaw=0.1164 left_pitch=-0.1562 left_roll=-0.0204 left_gripper=0.0106 right_x=0.2872 right_y=-0.0008 right_z=0.1496 right_yaw=0.0816 right_pitch=-0.3862 right_roll=-0.1515 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -2.5504, 5.2444, 1.8632, 0.0806, 0.0611, 0.2076, -0.0889, -2.7692, 6.7077, 1.3358, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe57c74427a09664e7abc431f92ab67557a7a6c6c02a631e605f3606d7fa90cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f00bc88c6827c81a377cfc11e47044dfbea02512cb1bce563902f130d6687c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac73a69c8e7413ec2f73eb82520500e187447692837cd101aacaacba4d80b16",
      "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 31 attempt 0 · /responses · status 200 · 2.827 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]: [-0.0788, 1.1057, 0.3145, 0.1226, -0.1017, -0.1295, 0.9944, 0.0113, 1.0584, 0.8482, -0.7303, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3103 left_y=-0.0029 left_z=0.0637 left_yaw=0.0557 left_pitch=-0.0933 left_roll=-0.0189 left_gripper=0.9944 right_x=0.2881 right_y=-0.0008 right_z=0.1506 right_yaw=0.0811 right_pitch=-0.3812 right_roll=-0.1522 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -3.4393, 6.2154, 1.9609, 0.0415, 0.1099, -0.0122, -0.1162, -2.8513, 6.7077, 1.3651, 0.0024, -0.0562, -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]: [-0.2619, 1.1507, 0.3084, 0.1162, -0.2405, -0.2523, 0.0084, 0.0113, 1.0588, 0.8482, -0.7334, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3026 left_y=-0.0338 left_z=0.0499 left_yaw=0.0572 left_pitch=-0.1297 left_roll=-0.0144 left_gripper=0.0084 right_x=0.2875 right_y=-0.0008 right_z=0.1501 right_yaw=0.0816 right_pitch=-0.3846 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.8376, 8.3214, 1.6386, -0.2125, 0.022, 0.6374, -0.0615, -2.8376, 6.9128, 1.3651, -0.0122, -0.0464, -0.0122]",
      "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]: [0.1474, 1.1896, 0.2558, 0.2062, 0.028, -0.0269, 0.0106, 0.0113, 1.0588, 0.8474, -0.7341, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.297 left_y=0.0427 left_z=0.0319 left_yaw=0.1164 left_pitch=-0.1562 left_roll=-0.0204 left_gripper=0.0106 right_x=0.2872 right_y=-0.0008 right_z=0.1496 right_yaw=0.0816 right_pitch=-0.3862 right_roll=-0.1515 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -2.5504, 5.2444, 1.8632, 0.0806, 0.0611, 0.2076, -0.0889, -2.7692, 6.7077, 1.3358, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe57c74427a09664e7abc431f92ab67557a7a6c6c02a631e605f3606d7fa90cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f00bc88c6827c81a377cfc11e47044dfbea02512cb1bce563902f130d6687c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac73a69c8e7413ec2f73eb82520500e187447692837cd101aacaacba4d80b16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAbL_XGqJwwpVOnOpJjPs9khuj3011R_P3dojbBP-xEIvcoEGRcXlPW84wIrfYM_c4xzCC7I354u6M2FPPT1HMm0kmLUkCDPIkhbhV3M1JG81LWFKNzW5Ju7AwzlDr56GvI6q2B8GM5b7DVJk3BAVFO6ufM9vniZhkbCudNAwNKrQfaCU3XWZoQYjXqPEG5rB2qnc7wDyh8PnrLxMiBVkt3z87MhkIN17lIqHCbP_p9pALWaYeho0ivbnLLHj5XMCOJlwkTRTePPqqHZaJ-A1ItXzC1dSlDqioeAAXJbCysWt-5LTqdh3P6mg9MW4xOa8Iemet92nnrWYusqTesvhROai4gk7kocerUzs0lWzGpNqBdKmfB5frqN6LE-neTFlZMcJrhfkSJHgWxIDfeAQ-HVHdwDu7yzk0uTyXKXKjkrnc82POYd9DVut8vJFypXL-1SWwBx7oGJ3oVRBFGbaSYZCxFPMZgmrHRcGfhW-VYxQNHwsylpPre3xGooRV_lxVAzbe-TeXDZCwklfo3is2CTXszKJ34zXEhhwNMW5ein40mduO1Wp9iMTm03-wFGS0fHIBdamJNqX1M3sftNq8OHWQbiWVg6IhZHb5ECy3Pwp7gWAaDejuDGQjgbjJGMP6RPyVQkheGDAMD7nYUl3RR8vmjsyv8zb1nJ1A31W2UgI6RseyAYmOByrhga8ZIi4NbMyz49pkDG-pdJ47dtCN2gy5HSPaz7opTVz2ZMfmakE3E-TjpB2z1D6A6CxpcPhmA54ACF2O63zRZrl9OqQ-2K_c7lxsW8m_BBI9BExVzw8iWwFfXvk7VQ7Xr6QtJdz68EeLLGue5shht4e3qyEmDFFieK-PeFNtJgWbHMEVgvTtYwncZGYpwW1wqvYtjSKvD5lwJaNOhH1mOmfqKHlKhaTp2VMpeC9OWfU4ChiVeq25y0RNbdRsQx54aaN018WNLwkbc-4jxup9bwlHlWdVIOkvd8JXKFH1zeXDs4x8K2lO5R7zss6lm_sKrzEYRZSNeoAEW3jm_rf4rIE-dni4LHAINeJNNoO40C1D87mHTUfHtxWR9Jz527aCQLveINozzI5zS2vZ2sAYUvr-8RXnbHH08_5ryIxakq-OziEdIjl9aDf1YdAa5Nu1pXffAjW7mipSinfiL6iCxrbsIK_JEUMPOFVhVRgyimtv7dhxuCiF3FuKbhSCZDyV_reDs1UfXYnXYT-tRezbdP9Lgyuyw5gK4uDIXrBNLGm8oEKr3bXBL4mvLaTnqwsr6eBhVrcAyB28j5xcQWrEGMwItMhjMaia2ED8Sefkx397ZDAj010CHZ5qB2l_GBAT0G9jaU0pMGocCzUsk9NExzoe9YXyOY8COBaLIbE4o5N921qnz0r3Lsvgn17ApOEbAIEQQNIBGf2hPW3fDTBM1lddYXaf46YhppdBETAQ6LRG-K0toUgV-fmKdRzUTZqu_Pq21BjG6IlKV_Rv5esFXA9Apltu6lGZWM17Sv0Wk2F8skNpiIscwloTvsqawwS2T0wpREqv2",
  "id": "rs_00d2a26f00dd3bec016ab4301ab34487d0a148c17f002dcf4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.87},\"note\":\"The closed fingertips are now centered inside the white bowl. I’ll spread the jaws against the interior and see whether they stop on the curved sides.\"}",
  "call_id": "call_X7LBSHFScl3GiaYSmoRy7dme",
  "id": "fc_00d2a26f00dd3bec016ab4301b3abc87d0bab8f2894f67f990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7LBSHFScl3GiaYSmoRy7dme",
  "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]: [0.1474, 1.1969, 0.2493, 0.2028, 0.0261, -0.0261, 0.8645, 0.0113, 1.0588, 0.844, -0.7368, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2937 left_y=0.0426 left_z=0.0268 left_yaw=0.1175 left_pitch=-0.1734 left_roll=-0.019 left_gripper=0.8645 right_x=0.286 right_y=-0.0008 right_z=0.1479 right_yaw=0.0814 right_pitch=-0.3923 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -3.453, 6.735, 1.5702, 0.0122, 0.0024, 0.0366, -0.0889, -2.8103, 6.9675, 1.3748, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0eabae84627a079304aa087551e86cc0838668feb31632d52c75c840f894753",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5016882fadc2c25dda23720070ab2bb88abf182888d0da39dd68d532552ff380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc61c76b6864a4ff95335cd5824ba30413d5147d36dddb738cf833f884449cc1",
      "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 32 attempt 0 · /responses · status 200 · 8.046 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]: [-0.2462, 1.1446, 0.3065, 0.1509, -0.1825, -0.1936, 0.9944, 0.0113, 1.0588, 0.8482, -0.7311, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3073 left_y=-0.0405 left_z=0.0559 left_yaw=-0.0087 left_pitch=-0.1025 left_roll=-0.0159 left_gripper=0.9944 right_x=0.2879 right_y=-0.0008 right_z=0.1504 right_yaw=0.0812 right_pitch=-0.3824 right_roll=-0.1521 right_gripper=0.9962\nstate[joint_eff]: [0.6632, -2.4684, 8.9231, 1.6825, -0.3932, -0.0611, -0.0073, -0.3487, -2.8376, 6.6667, 1.3553, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1474, 1.1896, 0.2558, 0.2062, 0.028, -0.0269, 0.0106, 0.0113, 1.0588, 0.8474, -0.7341, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.297 left_y=0.0427 left_z=0.0319 left_yaw=0.1164 left_pitch=-0.1562 left_roll=-0.0204 left_gripper=0.0106 right_x=0.2872 right_y=-0.0008 right_z=0.1496 right_yaw=0.0816 right_pitch=-0.3862 right_roll=-0.1515 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -2.5504, 5.2444, 1.8632, 0.0806, 0.0611, 0.2076, -0.0889, -2.7692, 6.7077, 1.3358, -0.0317, -0.0513, -0.0122]",
      "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]: [0.1474, 1.1969, 0.2493, 0.2028, 0.0261, -0.0261, 0.8645, 0.0113, 1.0588, 0.844, -0.7368, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2937 left_y=0.0426 left_z=0.0268 left_yaw=0.1175 left_pitch=-0.1734 left_roll=-0.019 left_gripper=0.8645 right_x=0.286 right_y=-0.0008 right_z=0.1479 right_yaw=0.0814 right_pitch=-0.3923 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -3.453, 6.735, 1.5702, 0.0122, 0.0024, 0.0366, -0.0889, -2.8103, 6.9675, 1.3748, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0eabae84627a079304aa087551e86cc0838668feb31632d52c75c840f894753",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5016882fadc2c25dda23720070ab2bb88abf182888d0da39dd68d532552ff380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc61c76b6864a4ff95335cd5824ba30413d5147d36dddb738cf833f884449cc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAfHB7MyuOWRAFDHKPGtzLFeADDIn4TS-Fv3SDcMnBaADuxDEXx1azBDvem7A3lUI7vfbhWKn-N8qmzRy--aLGdrOXmxZaVDFCkySN-cNrV2tM5ITUItb2wnRBQKq17id1f95LiKGmSZEXOayKzaK_87Rl90dhxpDnk26YBN0eMwU8zqqzh6y6GjblmJiWwTWKJS4g3SqQsAdOpZgMC6bWNPAAP4CL9rn9jt6Z3y5rfLyaM_ZdU33Lk-uyh1KjjaWqvExLVwVOnsXepVOL_1DZaszzh5D5CAVMYCIdjAV63E8zXIsd4pP1WqkOMI6f46zJkf5HtMfxxcdiw-nxNA09l3VvmVwwhOPgaHfwZMvsj7je7Zu2IZ0yAp6hCIPROZf9yYIrdRwgHfbnD3-gCaHemRXF-UCZ8P7ZBI1yeA0qAOlo95yq8DaCX7RAWypvp6SpKHuFXrCBxQGMv4-BSTG9RRGPyddUuUh09uO3dWQfg07XoHD0ewLVvUQsvDofYkLLFxB9dTrOAJ_AZJ-QtVS6JMCe7H8rPoK91WyItcRgZX5WlxNVaBo3pIcXYq7QtatPH3tYffV7J_B6d1Tm8l6JQ_v7ZWFV7LDYTz9uj86-ujrGGe3YCV0YbPztixXWMSRKDnzPdi44iNJ1nJLrpCmuySo4BYYuFXkIRpmAMcoBvIiD5psjYRgmDb_6VSr9PhBuzZ8MyKzRdtKtuzYigHanCODf2kZ2A_lVbljlS1GZMFFY3Zb6tRGuNOa1kNRNcOEN-_J4zbvyccBc4KCxBdlCLfuRPk_LkkOtNUGP5-zOf9RKWjh5IqHHD5tPw6S5aY9Ng3Xx_RyvESqElftZ4Bi_f3jFGHXSf7mvvYYMExeYXVOVowAewcpQiP03sys8pF6Bqd6BhOf-aXDdHdBVymRZZVP18SYqwYDEj7RWU6FdL6Ih3TLoMwj3Wbuc-UQQ3hzSVq0gaHGce2iH_yuYz1sY1SeyUPQeQVpCEQijLXHcZVX6gdTo1qYocHgqKuIXK5vbWfSWnRcCff4tjeQ2VZkme44SWxb1mILzC4jULCCoV0CgUHxrNbC7MsDzZV254ndj100MQvCIpIuuh53UUUnPdjgBOmpJPgLNhhwropQ-gqyLsz5ad-Ixfp9N4M4azKibRD4MQIgzCciXMOnFK9Qhette49H3ar6TJDrvjckECiYoQTAa7JBp768ykBQOki9KR_kn7Ck1fiI13NHDguQ58Nw9OCP9XxXvT6Gm1PCgEKeJgKdErHNn2niSbrLWV56inHHMk5wtkXAhBym_mXMnzklm358oemt51szAi2kDuD15GNTYQrdynCennVCt-JDAmNsek-E9v_ox3ysxQXj6eS2rtUv0xjVtb7GgnpPOmU4LLOCDdil9Bz_W0qhJ7RPcSqh4Yr4UPiG2b957gslzXipmgViEckzG2zIoPTb5MVpM=",
  "id": "rs_00d2a26f00dd3bec016ab4301e076c87d0a75013a32e5c132f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_y\":0.02},\"note\":\"The jaws have spread inside the white bowl. I’ll lift a short distance and look overhead to see whether the bowl comes up with them.\"}",
  "call_id": "call_fDZXgj8O4XgzsPtdYq2UdtdF",
  "id": "fc_00d2a26f00dd3bec016ab4301ef0cc87d0b6793ddbae49f6f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDZXgj8O4XgzsPtdYq2UdtdF",
  "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]: [0.0185, 0.9348, 0.7322, -0.5392, -0.0589, -0.1101, 0.8648, 0.0113, 1.0607, 0.8421, -0.7372, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0195 left_z=0.1675 left_yaw=0.1072 left_pitch=-0.1691 left_roll=-0.0235 left_gripper=0.8648 right_x=0.2856 right_y=-0.0008 right_z=0.1466 right_yaw=0.0819 right_pitch=-0.3964 right_roll=-0.1507 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -2.3179, 9.0188, 1.5604, -0.1538, -0.0171, 0.0171, -0.0615, -2.5231, 6.8581, 1.3455, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1bb7d8bcfc887b09a167060745be8a63763efe2e38abaa543a43b1f9a3988c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5b7783430309cbd3ec16d5c17cc5c6ebc3f935f8a0c9bb40a2a2d1c4fe2473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db46d30b0382bad419c6bdf51f2e5179a4e3b49627b57873b73e4ec697858d7c",
      "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 33 attempt 0 · /responses · status 200 · 2.465 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2619, 1.1507, 0.3084, 0.1162, -0.2405, -0.2523, 0.0084, 0.0113, 1.0588, 0.8482, -0.7334, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3026 left_y=-0.0338 left_z=0.0499 left_yaw=0.0572 left_pitch=-0.1297 left_roll=-0.0144 left_gripper=0.0084 right_x=0.2875 right_y=-0.0008 right_z=0.1501 right_yaw=0.0816 right_pitch=-0.3846 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.8376, 8.3214, 1.6386, -0.2125, 0.022, 0.6374, -0.0615, -2.8376, 6.9128, 1.3651, -0.0122, -0.0464, -0.0122]",
      "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]: [0.1474, 1.1969, 0.2493, 0.2028, 0.0261, -0.0261, 0.8645, 0.0113, 1.0588, 0.844, -0.7368, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2937 left_y=0.0426 left_z=0.0268 left_yaw=0.1175 left_pitch=-0.1734 left_roll=-0.019 left_gripper=0.8645 right_x=0.286 right_y=-0.0008 right_z=0.1479 right_yaw=0.0814 right_pitch=-0.3923 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -3.453, 6.735, 1.5702, 0.0122, 0.0024, 0.0366, -0.0889, -2.8103, 6.9675, 1.3748, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0185, 0.9348, 0.7322, -0.5392, -0.0589, -0.1101, 0.8648, 0.0113, 1.0607, 0.8421, -0.7372, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0195 left_z=0.1675 left_yaw=0.1072 left_pitch=-0.1691 left_roll=-0.0235 left_gripper=0.8648 right_x=0.2856 right_y=-0.0008 right_z=0.1466 right_yaw=0.0819 right_pitch=-0.3964 right_roll=-0.1507 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -2.3179, 9.0188, 1.5604, -0.1538, -0.0171, 0.0171, -0.0615, -2.5231, 6.8581, 1.3455, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1bb7d8bcfc887b09a167060745be8a63763efe2e38abaa543a43b1f9a3988c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5b7783430309cbd3ec16d5c17cc5c6ebc3f935f8a0c9bb40a2a2d1c4fe2473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db46d30b0382bad419c6bdf51f2e5179a4e3b49627b57873b73e4ec697858d7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAoELzysClPDtq8ZFMQTmtecn3m8IW1KchlD0NVdHOqzITz6v3tJsnyvfhzNl1BlZ4vXsAFml97OktNxSCn2Ri6ldyXguYZWBfqmAqWZHyKyFG2Gc-UDKRSvMub72hqrbTntozW1o7Zorz3w-csoKAlVFX3NvS2Bpi17zvd44RzfD8LiMHXJZbj2Z3FMta5BvZgHD5QvQXgNopVQx-kpYrxjo5DLSjQkypVpfOyncMpDUEtuvz9ODoBCu-QFCcC4tmV-WG9hLlJs4wieqFEB3wPW3gajyUP-9wOO7MFVesyRDou7dWA3b6bCS1CPBKNZU6h996-PGVbPTgmueUL5VX6wHEAVPRDRW7s3BP8v2c_gnHDQ1KYwafe-2ts32TnwhW20DpnRyYzlhdkwEUnwcquDgCQFm6a17YWOoyxicUVpkTIpT-5OIMVJ1ZWlbg8rimq4ikLH7A_MUkYERSSTHKDqMZrw2ZrAjn9v20lnGxlZe7CHdhWj8rTCbx2fsiEWJYx7nSGJMTCsHxwhcejPeMcqqAvHaelEudRK5MVvIV9uekjz2N8zLwD4cg8NUYOQNMZfwkbSGOlg9Mp6qHEUAGP_ux7KEgT10Rd2jVkw-jUi7DIgdZ2zhmfoCNwy_De--xgZuV4rq_NGM3n5mqT82glEu-brudlYqD08qn2kCXwVa3FlCFCEnF1qpKOKsssHCXyggMGOdQmat7syZQqZ1V02T5-orH9mnF_oiI-HOq8rTuLjV0vd8Nbo1E3670TflSI_UIgP-3gwCKy9xSEjyoX4BGZlKxZxojcgjUv2Fyv92VVnG-OK3v6W5FBJwvRSYGbL7m1q9bXKnF9QnsZwUmtpUL2FnZo4rbDgKOvlT8e_hLZQy1j2Mw4E038AnbcRrUU9ZciwUWPZzwpaBiE7cbceUiVlWPcyaLUJQDs3iXDW9TzbCKMcfMSwSf6fPuz9hKGMMkxC-3GwjzMBf7pT_48MYFLlIinDTByIqPCD25wuhhgEffCLEaGJUQAlTxuibNqkfDT4SmMTjMB1sISyFMY1tJXhreNTbyrRDHHQlTO-H4SP9sZi2krJvUw-aXYMFb50HLA9TVqxkGZyONBDdcYKKekZ4rSMBHBX7B6KtC37OubtuiGNi2HkrQcBunJTg1E5jpAi7xS3-_ekO4ZAOFJCmN36hLtmqGkMAYoOrPnEOlU6Wi15-bbNZd3uIgjfdCItLqMDLBodkg0IS49QcPcgUGysC-0RHHXuCUN2XhVmYnR1I1T-h5vF2mb9IeO3x3GZXD08zz1qsfXF5BwWTZXdvXow-8UwVy5MI2lyYiIyCT9Fz7syFZbkHGk57QezsZb4j9pX1x5hkKc96go1bIeHEd3oQJxKbL3Sq82TZ3zqKNL-03koqoW5xq4r9nduYk_fxYL35HsN2HHKTERusElKZsnI1lA2AFR4QrkaR2UgE94blExIKRzLAnnGZ0j-kg2ZUCJdYpUPDzN_uZANYxroVb7YKEVxu14NRc-Sc9EZbTJ4FTBSReshirOpquoOvPVt8rANn7BsTwtTw5Vi3_6yKU28gtLXYw-kPbTgjx_4qHyLXO6oSCdJhgkCCkZ2khxYAvNrrwT1f9f9fEpnzn-MmUC6pyGzXYAOCTwpQ3r9hf1pkb8V1p-uWMHX5EzM1NNSOoMB-PSNHbLPCTCNUsl4z954Akp0WHhMjdmBuiivTZ3BvOxQGE4hh8UJFir7D-vTN3flIdInJrc0BB0arqD-_AkvsP2iDKpmoTsAbe6ByYJifU13KOcW5vUNzmoNSKy-M2WNcjT0WrFiqELVV3IDq7KVtRDJ7Z6__xvtKqpBRazdAAOSWKtRDMsug_PlwN6UySPKCmmUtoOn3O6RwQqnyIcBEGZy7rOKLbIpYoP-LI-wdaqLKX-moKobFFenRlilJxJIli4lFiqlHnK0GtsTbNrE2K9JIMyyyRjNKspDcJ4ntU9CcHPNMFaIYhP7RwrT9LW-fu0KMsq_nolCqyQEhkIa6R7JtE-nJNqmOilN8ANs5_UpBNEyxvCPgwoG-Twz4vksDqUQSGGdI6JyqvrIaaFRp0ZQIe2BANPXafuo0nC1RpGgVYrNj6Fz3-A2a2TEUVyeb3gmHINKpCmmJY0tv6neG2YeSz_IiBA2DgZHcPtN3HvuEvh-a0VpEuVBKUX0RLTwyr1boiglPzovhI2hVvudTBIigxIyfl4QnMkahSac3nEJL9EeD2yksfk2iSRWz7DrA5wRB2qRqRfQ1Iu1Qd0FQmGp2HzZqwvvG3dFmNEhYu29e9eeZ6Lx11NCcBxY-tO4QlKff1zhhydjdzy8j0nM1Qar5i6OplpMU9nrSLVDIYkBgyzEqlEApmS5K72trQZpj8DxmgX967ZAXvO_IaeZsDQgRCTOMHpYDknW-GXbgdMZmU_TGqixCpQtvLH1bGOvA9aFRQbP2INx9_rPJck1i4mGo2QzI63Fg4spqSjzU_di6PvTpfPg0YssdjW5KZAs8VaCBx94-1RbDcHaCFuFYOuwB3X1KCzSMxI0RJRaTBjKm5sF6xUm7rk9XGgWJp2Q7w011q2yCLWO9hSSySqABM1BNvx5ODM6FVH9AwOURLVpBNemEinoHPNvXMNa5UjS-5yMXVP9TtSuoZ8gh0-Kf4gUFDyBrDifq3EvnZ_nCBHlBYkhl27FpyJ3OxRiOz1Bt9vY2vQkXuW70H5IFTena-6YsFyRNKEmrqZxTcLCJ8h6upAW0jC10MP-8VdCw7j7nJYA1qQCIliKgWtx8pVMfcfeeRoqqfjibX98Zk_wwpSUhgpQLvsFlNNeoAeAsHcg6dBgnZPkb8zq7C-UBa7Z6uQRBTsKtNu7zI8Ni84BO7PTtGai31Qg7VjEioh9Go75Fmx8kDN9uGt5xXD9VWOnjRYRfsGvTHKJo9xINRC6J6dAjv37GGP6buDanhtFGfYcjy2zlfGXoKAeZYlKAnGlYztmLiTgSFRyOkBLxJU0ivbWuk6T0U-NANZ1JTKGjF-oNtDRGYc3m3KeHUVmHejJQ5YwvMxxjJoldpvWWOFxvt97gmkbZIn7QSEN2jRG_WKnT3HlTLVh9LI8obpxS911k8lZ7GQZ0E5mvpBZ0WT2-5d9IAKYmieCXUvjjaeW9jLSKQdOyIum0dTJUQsAQ2dZqn6WCizYW2HjrreUs21M4VNkq_qITCP7L7Ft9O_wdPZuM5T3X-XxnbjxQB4QVFCodA_HCIjKflZsV_TTi3U_bE8ImCFHl76s5q7DuDvYYeqw3RJHfjzfsX7frIFdkKPCwUyP1vDIESlnTlTO8TUa7goB26T3o2Uicixnex-kvdy5PBuEgs7AyuF4YALN9lA28aeWYStRIL8kVZQe888TyAJkDakJ9t5xmg3qoVFf5nbxKLrZ-AoqargsSF_62dRdgIXTHA2Di4klogQXDHQuj4bZZrjmCKaxi5NQruPlpGZbdHc4KeFtBJ-mNHgIq6s_9TXwNGAg7CnZjgS8InRm_5g30_Z7OjsMZsm8WBo_R8D46SUXU1cPJx4e8NCjhPsRuH0Wu9DQfHT2fjYTFaO53G5KgfgyWhZTnlQdaPFpS9J6940M7w0fyLw3Hm1f96vT7vt138kNl1EPG1NUsBYliHpS3KbSRxWWBSvSk3SzhZpTV4UParADf0AizWb18ULZIk9xkgSIkwM_gqhdkzMPpgXZWh8tc7mwvwugQHvvDQ5Gbn8TovwMXzSocsvj7IQpuhnaeVAy66-zZIYug6qgt2o6kCoE_G2Th3sXcrYjJsSUmCjXwuGH1zil-jnQuPsex8okbZ1uC8Ee3USO_LO7PmLb_Vn-6uD6eXuiHM9lDY4YSZ_MJ_ipDE7_1WHV8Fo4rMmrxsc-rl0A1K8ILo0YebgCeLMSizIG4IIli6f8mU1iK-nMM7ESX1u8PqjMMvpgR6T624tdrL-FpzgwkQ=",
  "id": "rs_00d2a26f00dd3bec016ab430226f8087d0ab43933c85e485ca",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAoDAQRuJEmv51XRx3GoocD0uWgmybJ0WPK2nQppqYEgKgxHIk_z0pFnG51OzkynRsjxPh4a9VNLncZ-9FcEkgLSBfRZp943PYUnQlc-CMoHzaHCOzimDZaCDr9Tlxe8RiGAzgJkigGEx_444ntGxThxIjNM9sRsbBrKhdhV9sCvY2gaDwH0bkGdGM4shwJmurrez_83XIMxX78SQzMYZb1xKQKwz9pTiNx8T_xNpzkiDp7UNBnUJvSqS9VVDhrdZE6eIDJraKwBhiJs2SyO-peP749zBrBTNhYAr9dAqYfgnH_zcPBkCuH3Fh6k6jXypTS1kyc_AWIj_RAEtaCDpURkyoNoSPZugloCYW3ABPU6OOMHDRNUvuF3vACQw_94KP5NE7E4-3vzJSt1WVY3UnpqK-Dzh4mqd2WKDYfFjwPP0Uzpo-dF9oNdn4MOWcg5DYJ8NwRTXKpD8Wrpd3VHjHLAte_8obCjxujIanRIShnul8yVdzD0RQmdtctWvWon-QY1BO5kSiI71kgWD9zJuV8tYvBF0I12uBpzOQFYRKxuzNwH-jVTFNxpsdWRLDSmpL7gYqpmiO4qqVeJCvyfQcwBysN35CsozsIPbDc4bSHk4cGod9ZqgCZ7qm3OFt_-EMVPaPXiZeJVcEf-wyoaor8XoplIQAStPberDACYyoSZJzx5ZEk0K0cOOm59-hleCHhaGTriild2Y2U--8tb8Ig16xvlIPtwXreQ89cnqv5d-7TLLbWLdKLu7VqwG1q1hyq4soo2smjFqgz9g-dwkEYEOdheBDp3J8vIrtE0SMq69M3p7tRHf52UJDayS8fml_i1bBx8IPmdavA6b0upKU7pCqHgsPJSbt4Zblkn4UnMVhF8opmeA1fnNIvScd0I5WPEMtJLCwlQ3KZQ4uWXbq3bFuWvVK7u_gh88s-_63cCqgyRKZN1-tuTh_yUj3P19t7YfzcZEE_uAbRBhkyH4G0jnylWRHPjY4_16iTyONNuco3Y-Cdd3EIMjkxIRJHFxEUeMGRnUC6Gk4ybjR0AOjG-Scy7FB_teJv_H0BMnH3KeyNDEqZCWn0k2UsinSeSe6ZzMeDnTRZ-mUvBNiAeYRnH8w-DEmKpdSKxaWBx1iPT1U8N-vM1Zoy3GjC_bYTjJPRZZ1dUMbR098NyguiDqo_5FpqSgpvrDGKBV7I-mPmFNO-4jqle_XfaedLaQ2tbStoc3vZ54Y3NjiyILTz-XjwHSmfmpqFFm6lnkrhqq1MC4E0aYVo9u5zINvptEb0q_7bXjRLnvpRndRn3yZ_QI0vd_8LUAWPb5Y4ehbd2Lm4IHD55wgxaCDjaZl3JqT_T_-gWUJAWY_F-SBAG4v_VlpquuAaknBzhYpK16NEAVFdUo9Coj5gaR9r0YGXkbCKPNSzcEGZ9FAK_spVS0QwPdmFdQxuoWWCKtDGnswJ_xbZ3Wy41edUj8U99QFHibicEcuADZW0oHpF_4276G42R5hXFyiz90t4iL2cuNZgx_Y5-JmDWpsX7I1ZQk0IF9rJbjUA-sRIYLeL4HnK6aqZGepeiw==",
  "id": "rs_00d2a26f00dd3bec016ab43026976c87d0953f748079b6ad30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.035,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The white bowl stayed on the table, so spreading the jaws inside it did not give a secure lift. I’ll try one lower outside grip on its tapered wall, with the fingers fully open before descending.\"}",
  "call_id": "call_hiUw6csSAzczFcPs9Nc6vEGk",
  "id": "fc_00d2a26f00dd3bec016ab4302799e487d094b9c832ae4e4bc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hiUw6csSAzczFcPs9Nc6vEGk",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0975, 1.3602, 0.2726, 0.3099, -0.004, -0.0753, 0.9986, 0.0113, 1.0634, 0.8406, -0.738, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3058 left_y=0.0342 left_z=0.0081 left_yaw=0.1204 left_pitch=-0.2067 left_roll=-0.0343 left_gripper=0.9986 right_x=0.2852 right_y=-0.0008 right_z=0.1452 right_yaw=0.0821 right_pitch=-0.4014 right_roll=-0.1503 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -1.894, 3.0291, 0.5788, -0.1441, 0.1685, -0.0806, -0.1162, -3.0154, 6.8034, 1.3162, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed687316dce866787d0cd7497f0a967355cad5d3048f8d29015ba817fade1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def058d9344f21a9ecb99d04c5e471ac943c0d254b38a12511704808d58b06fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0ceade46609630da7ad341c38a67d2c96b898643e838fac58917408fb46c92",
      "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 34 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 141 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1474, 1.1896, 0.2558, 0.2062, 0.028, -0.0269, 0.0106, 0.0113, 1.0588, 0.8474, -0.7341, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.297 left_y=0.0427 left_z=0.0319 left_yaw=0.1164 left_pitch=-0.1562 left_roll=-0.0204 left_gripper=0.0106 right_x=0.2872 right_y=-0.0008 right_z=0.1496 right_yaw=0.0816 right_pitch=-0.3862 right_roll=-0.1515 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -2.5504, 5.2444, 1.8632, 0.0806, 0.0611, 0.2076, -0.0889, -2.7692, 6.7077, 1.3358, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0185, 0.9348, 0.7322, -0.5392, -0.0589, -0.1101, 0.8648, 0.0113, 1.0607, 0.8421, -0.7372, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0195 left_z=0.1675 left_yaw=0.1072 left_pitch=-0.1691 left_roll=-0.0235 left_gripper=0.8648 right_x=0.2856 right_y=-0.0008 right_z=0.1466 right_yaw=0.0819 right_pitch=-0.3964 right_roll=-0.1507 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -2.3179, 9.0188, 1.5604, -0.1538, -0.0171, 0.0171, -0.0615, -2.5231, 6.8581, 1.3455, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0975, 1.3602, 0.2726, 0.3099, -0.004, -0.0753, 0.9986, 0.0113, 1.0634, 0.8406, -0.738, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3058 left_y=0.0342 left_z=0.0081 left_yaw=0.1204 left_pitch=-0.2067 left_roll=-0.0343 left_gripper=0.9986 right_x=0.2852 right_y=-0.0008 right_z=0.1452 right_yaw=0.0821 right_pitch=-0.4014 right_roll=-0.1503 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -1.894, 3.0291, 0.5788, -0.1441, 0.1685, -0.0806, -0.1162, -3.0154, 6.8034, 1.3162, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed687316dce866787d0cd7497f0a967355cad5d3048f8d29015ba817fade1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def058d9344f21a9ecb99d04c5e471ac943c0d254b38a12511704808d58b06fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0ceade46609630da7ad341c38a67d2c96b898643e838fac58917408fb46c92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAr_-I6a7Gl-DOPgEE4RLxwbvz6dKD9EG-FOet2K1ck11qAvuuOxmQxfbNQMrA8uo31FwiTlCVrwRAy8jjLizgTsnklhY2DQB6xyj-4YuaAB95-QRMR2Uw1e3b3k5Kz0FndccAcsKcqxiZZrkFYvJ7kB56l0rqePd4VKx5sjluu7OE_xUOtzx7pyYZUj2DtoamRvP_7si56IOFx31HE02IvfzMIu4byYhA9vGn4KMvVcioIwG3lCmTwpjuPmDRJcD38UYDYGaUC3tkKqqukNxrm386iaQZscghE5V_fnd59DvbDkXXu0aBry5SHhVK0zXr_C1m1fHlnjp9c5VB9YcEoXmJGyWfaO18Z8llTuPjI-mqtZUd_FhVjEGB97r9CNwoRG-ZzadbgWgg7XHUc4JijbdLC-g7l57s23F1q79Hkly6I1_m_gs8EX-k8qAx0wrWFJY1cBWM2koTDZ66XMSYicN904GkyfltBgchPl2LU1nqA9yBSGvUJ4TohnPgw7vwG_ACV6GsQk8_V_nehhP4zSGNvHbk-VFbrmKVs6oUWYHI3qfAcB19x2GDYhtDjNeKM8MbYRTm9qEwexI3Mp3B5Lzybb09SficZeARD40B_kMJPApiqS45tefM1fS-DBNA9QBwcWK2dP7llYo_-ocsqAnPf5rPgmuBmJJgLoahWTFD0cUHliiAdMjYrVQE2hpt9mLUkQSnr6EW3vDvJLi7kTxX0bLmMR1DU-GR-r4hnPzsZDjWwdEZEOwwWjbuuG9B7g9jISULnWhQbfbLPR3wlBnLGxpdqIfYO7XQZSIyAGGed3gT8b0L-DOI7tfZ5upBV5kEiRhoTsWH8Z_3zxsaTbNoib_XdAPYjZoPixDJlA-0j_cdKSl83RsrMPLL7hYXiXHq-BvT3GWwgsa6nUe6s3o8KOr_K5Z-dGE7xXjetzfUtwN48RXywz3qVTaOgnW-kKbeA_IgWhEFHnNOIDXSkof5O_J0VfheLA3LTc8GR69J86oUIgnUcH0PgUNDqnVq-QHAaYworfsyn-aArQia-6qbMrgJk6EnHYoG4wMQCksIhusDNAIgJ0Qf0GYqlzwdAT0atvUNm6n5qu-4i-zx1vFfWC0pDcIVeZArq0W9EtkvdsUjpOZMoxJNYeK4dAyFVAZAdcqVNMI10Wk0kBRzL7w5pMx6R3KM2uiaxNu2-iZe94huIo22TFFbZJHz--AQxd1fAXXHCMYV3iMoT24PjvN7vLu5nF96MKy8j885La8Bp2sk-pjdiCecbSvhW2-f3QFuIDvQWrLaFE1Qrr8_yDmyBZCUBZMKWJC8hPEG1_kwrXAdEP9HsQ5yELEJASoscRNTImFInPZxbBlF1Q9je0OBrEgPcgTx_RXBmbcIwQGSENSh-JODiGLNJswty9l2QEKwc0tnLaZmetqNd8Veq60yjlQQcSVLN8eSqv2QdPmEeDJvGUU_nkD4XTW0Ni39P4aIoT901s15ogSmIhNNE7w==",
  "id": "rs_00d2a26f00dd3bec016ab4302ac12087d091bf2c2dd3fe02c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At tabletop height, one jaw appears inside the white bowl and the other outside its right wall. I’ll close on that lower wall and check whether the fingers stop before meeting.\"}",
  "call_id": "call_QysrN7HL2hsVUMvnlwZ9kGac",
  "id": "fc_00d2a26f00dd3bec016ab4302b488887d0af2fe783609f09ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QysrN7HL2hsVUMvnlwZ9kGac",
  "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]: [0.099, 1.3445, 0.2806, 0.3706, -0.036, -0.0635, 0.1073, 0.0113, 1.0645, 0.8375, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3194 left_y=0.0417 left_z=0.0267 left_yaw=0.1424 left_pitch=-0.1217 left_roll=-0.0064 left_gripper=0.1073 right_x=0.2848 right_y=-0.0009 right_z=0.1438 right_yaw=0.0818 right_pitch=-0.4048 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -2.0855, 5.2171, 1.0476, 0.2613, -0.1294, 0.6032, -0.0479, -2.9333, 6.9265, 1.3016, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecc735b5d0514fd9f2158d0d3cda20c327a0c52119df59657263743bef2aeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8051b4a5e82a7cff4c1a7e2d3d349e24a6bc39b85d284c3f09597d9abb187387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e562f74dc13822e26e3a51872c8208f04a2c0b3f2bedde9ce292f56ab581f62b",
      "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 · 7.091 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 141 changed as sent

message 145 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1474, 1.1969, 0.2493, 0.2028, 0.0261, -0.0261, 0.8645, 0.0113, 1.0588, 0.844, -0.7368, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2937 left_y=0.0426 left_z=0.0268 left_yaw=0.1175 left_pitch=-0.1734 left_roll=-0.019 left_gripper=0.8645 right_x=0.286 right_y=-0.0008 right_z=0.1479 right_yaw=0.0814 right_pitch=-0.3923 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -3.453, 6.735, 1.5702, 0.0122, 0.0024, 0.0366, -0.0889, -2.8103, 6.9675, 1.3748, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0975, 1.3602, 0.2726, 0.3099, -0.004, -0.0753, 0.9986, 0.0113, 1.0634, 0.8406, -0.738, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3058 left_y=0.0342 left_z=0.0081 left_yaw=0.1204 left_pitch=-0.2067 left_roll=-0.0343 left_gripper=0.9986 right_x=0.2852 right_y=-0.0008 right_z=0.1452 right_yaw=0.0821 right_pitch=-0.4014 right_roll=-0.1503 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -1.894, 3.0291, 0.5788, -0.1441, 0.1685, -0.0806, -0.1162, -3.0154, 6.8034, 1.3162, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.099, 1.3445, 0.2806, 0.3706, -0.036, -0.0635, 0.1073, 0.0113, 1.0645, 0.8375, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3194 left_y=0.0417 left_z=0.0267 left_yaw=0.1424 left_pitch=-0.1217 left_roll=-0.0064 left_gripper=0.1073 right_x=0.2848 right_y=-0.0009 right_z=0.1438 right_yaw=0.0818 right_pitch=-0.4048 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -2.0855, 5.2171, 1.0476, 0.2613, -0.1294, 0.6032, -0.0479, -2.9333, 6.9265, 1.3016, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecc735b5d0514fd9f2158d0d3cda20c327a0c52119df59657263743bef2aeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8051b4a5e82a7cff4c1a7e2d3d349e24a6bc39b85d284c3f09597d9abb187387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e562f74dc13822e26e3a51872c8208f04a2c0b3f2bedde9ce292f56ab581f62b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAvyCDHBFSivi95SnoUedDC9Vxbc8m5qj10yxPocEkyPKHNCcKdBdczfGYH8rWVTASbYIFg21DrwcjFplkSyF0n2GLQFvSyEOY5R76ze9hiR4kTql48hiMtUaVN-Rrsv5D2i_Ieu10enmwp1yNp1FZSz9ETae1ptAnW_1px0pZfn0BD5FfXzJVMp0r9UoGSnN4Vd6Lx99-Vn9FmKXypBSXzjurhB_u2GTjSDiEPYBBLVb7f6hXFL_D6ertNzZtnsG5kJM4BcY032R2BY9FEHIl8UztBqTJc30rW1tqsFQg_Aaa2IE0AcmAQ11TXws5nKG9UlR1mvA9EQOJIJs2DN-SAt9vTs1BiMBmlCv6_KVaua-z4C-fOfZ4zhBs-5RTCR2VdB6jiCz_gdLxBiJRq0T8o0-PN4Yx9ZJTRrYIZgoldDwlcQ8WeKrJWwquf_G2-gq89fWAoQecQLYd8qCcjYEVWqOkZNgu3pFn-PjvqvahWkp1OoccJom1mOJI8ZEZUUsrARsxk-KNzECVF7C8sD6l_7uMjiT4vDaKMwo3iSqOavpdLFKHSYgLjartlOkPbARduCUjbTHetjgGYoX9982DsNIKaT4plX7eu92cDsoE01wdXXhcMN_YBI7bycOFJgwKtHM16WWr8LgPf3ylWZZWmle_YwwDHkSBNnFgyoHgBhUENuZ_tymijPWxznVBCeDRzTn1vSg7mbqClhLtc3vqEt5-43Nc-g7gfAKiL8OuIg5X5ekkrD0C5rXrPCiaO5JoLwuFv_YBeoH_n7ZfqvDjbT1Cx3cEg1ENFeOS7cYhNEXwbQ9xP3BpdYxXURXF_bAeS55yN1FncbnitWCAvdf-0FJD_OlxLD4iqhayTIYkwESQVFzoEEqkOD7u3eh_lFt9aW40w1_sdIOkckFmpxS_7b8BCksEwmnrFttU5La72f6cHWXFF2_CZSO2q13o6fgmBoosoomL5yvDtXllAwagym4-uxY_A6k94DaCzIBmfB_5XB0GjndZZvWlISeKToumTWJE7jsm-r4axYTfE6ThI9_vEBJlDbkgJC7K4ZAmkHDU-Pm_qOJc_awPGPHAClc3PQX_Wp2i0xG4vZElHgV1JRzRuJRXyrmH4pcIP9giGPauBYc-JY46asD18Ui2PgHIUFFXeWMLC-W3jXwOKoWeOYNCd-ySE7H0faWC7piFDBQ9YRWHjYHphSKUZ7ZZRoAq3BsWauxIlTllwtlgX_Lw75-7J4z2SUSKiOrZr3cvVFBHcsWtP0nUJ3vX1j78yp5kZco8vdIJe-GvjnnTGEuIpLS1ZcUGituwXrQ9dwm4y0P_YtNKrj6BCSO8HrstrPgJ23wiwLj1TpgRMSgATRnI_zW-r9aFQdaSlCHmTRJYCu42NzPFxABhSW14ryploBzK7",
  "id": "rs_00d2a26f00dd3bec016ab4302e3f5087d0a8cc915d77911418",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The jaws stopped about one centimeter apart rather than closing empty, which suggests they caught the white bowl’s wall. I’ll lift it a few centimeters and verify that the bowl moves with the gripper.\"}",
  "call_id": "call_bQGQUKGUOoKIkcOZGAtHaItv",
  "id": "fc_00d2a26f00dd3bec016ab4302ed5b087d097bb7e98d572e9d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bQGQUKGUOoKIkcOZGAtHaItv",
  "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]: [0.0994, 1.0428, 0.5793, -0.2234, -0.0494, -0.0715, 0.1071, 0.0113, 1.0664, 0.8356, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3209 left_y=0.0444 left_z=0.128 left_yaw=0.1584 left_pitch=-0.1147 left_roll=-0.0045 left_gripper=0.1071 right_x=0.2845 right_y=-0.0009 right_z=0.1425 right_yaw=0.0819 right_pitch=-0.4086 right_roll=-0.1501 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -3.6308, 9.1966, 1.6142, 0.0904, 0.0171, -0.0366, -0.1436, -2.7966, 6.8171, 1.3016, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60ad625707b24d6bcab385ffd83da2b0887b659d9a5e932b3885b29a01d1fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120986e0e2bd5eece0e08f10a9bcd8c4354980cb68cbbd61779e0290116fdcd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2b44cccd878944690002b09947653dc17e948e9a57943738c7c49d6da298aa",
      "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 36 attempt 0 · /responses · status 200 · 8.558 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 145 changed as sent

message 149 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0185, 0.9348, 0.7322, -0.5392, -0.0589, -0.1101, 0.8648, 0.0113, 1.0607, 0.8421, -0.7372, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0195 left_z=0.1675 left_yaw=0.1072 left_pitch=-0.1691 left_roll=-0.0235 left_gripper=0.8648 right_x=0.2856 right_y=-0.0008 right_z=0.1466 right_yaw=0.0819 right_pitch=-0.3964 right_roll=-0.1507 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -2.3179, 9.0188, 1.5604, -0.1538, -0.0171, 0.0171, -0.0615, -2.5231, 6.8581, 1.3455, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.099, 1.3445, 0.2806, 0.3706, -0.036, -0.0635, 0.1073, 0.0113, 1.0645, 0.8375, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3194 left_y=0.0417 left_z=0.0267 left_yaw=0.1424 left_pitch=-0.1217 left_roll=-0.0064 left_gripper=0.1073 right_x=0.2848 right_y=-0.0009 right_z=0.1438 right_yaw=0.0818 right_pitch=-0.4048 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -2.0855, 5.2171, 1.0476, 0.2613, -0.1294, 0.6032, -0.0479, -2.9333, 6.9265, 1.3016, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0994, 1.0428, 0.5793, -0.2234, -0.0494, -0.0715, 0.1071, 0.0113, 1.0664, 0.8356, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3209 left_y=0.0444 left_z=0.128 left_yaw=0.1584 left_pitch=-0.1147 left_roll=-0.0045 left_gripper=0.1071 right_x=0.2845 right_y=-0.0009 right_z=0.1425 right_yaw=0.0819 right_pitch=-0.4086 right_roll=-0.1501 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -3.6308, 9.1966, 1.6142, 0.0904, 0.0171, -0.0366, -0.1436, -2.7966, 6.8171, 1.3016, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60ad625707b24d6bcab385ffd83da2b0887b659d9a5e932b3885b29a01d1fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120986e0e2bd5eece0e08f10a9bcd8c4354980cb68cbbd61779e0290116fdcd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2b44cccd878944690002b09947653dc17e948e9a57943738c7c49d6da298aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDA3A-U8O8lahQAAA98QMh4VqVY3ZUnavR83FDjAQvYB33u2WOG9NEFBdJeACeNbz2dupwgARdE78jE4wiR-C7uK4Kh2kc04yzGi-jrHbd4ePihANn7JXGj4fE04UslNr_JX5CZnnCZbQ2WwIo23ORcNSQvEtpMDigXeV3feTztoZDol1iYsK980-ZsnGGhJOnBRpF3BiYOsbCaFiw-aP54oV-jiAEbVXxfnMch3MmFAuZU7pTIxDgGS9Rfzx9lgvmy_m-WpY-_vrn-XSrRSsB9iPoZRG3t9pQECxQ6ZZGL_OKXtoJzDKZX_9skCoi1JqWBRtQEqJsqauOpK5c4pJXdL67gbYfQpct5q2CbpiekMN8L_gJmXRkvWuuj6A5h521Y0vbH1XW-n4OAvx0dOmjQ8zGiasSKgPRvPxjiMzTWnLynnN7Ksx8jzZHwBBGt5GHuMQpuYZBlBeaicb7gi7z5kfqYs04qIgJJYHhusVT-4VONSvCAomouCCRXjAqaGqEJ8i84STrdIqtNnAbTAB5mjfUOmHrTZarIBOMQXSX5snME6m0Yc1RsRml8AofSVoZ3-A8_wEU_S9ePBXhXOBP9ne0S6bWIXaImBFEatQR15jNEMoubDFI_5xIwXUub68eMqkvppWJXaqiYOYHwYHoP4xTsrTCMv9DUWBELNBv7R-4RcMWRAX6nSvzMYG-BT_azjzQrm-YXz-hYWymdTibFjo1lA9nU_uC86cNEM2BP7o12POVRKevVt50RhBlBvCcb05yTGiOwnumckOokL95caqQ6afzyVmHHJZ6l3C1zX7ZGHQg7gH3ArJc_lA90HjRi74VfrH_SPD3at8LMcbalmdIIO_SmU8nNuBTt17erZI8QRRI6UagPuH8vt-ObeDmIGQ2YhOa92e_Et9MZ5t641989I2pxhdLIYHIPaQmyAgsPpogFun-ASYy3o-I0K5WcQIQ9-94Z-iPu685l3QU3mUEcHs0FDS2-IOE7lbRh48Tcp25b788GSrDWG7Gx3PGve2y90UaT_qjKhMsMek9CKZXA1W47daG0kQy4g7we6wSJt2_Avmz7kD2AhqyJ_-1U8yLH94Mg3CdfpcD3cRkiQ3Jshswgb3MmyX1GmYWXWHWWJNxNpDj3Qiitd9kpyZ30HTytsLLe3LJ9fB-fwlv8II9-IeFaplel4C4dz3YuCawmHVxuUTxakhLNHnrj264oCPoEAfQCaAPtnvXY1v5nzgAt3UkcJOsOlWnzT8gcuzcLQBa0f_PT2rVbZFfjfB9t5rfMp-pihozu4m-8WOGQeyXZQ-C7r2ctE9gSpX8MekZiLG0l9Rz_rp5w0Qsu5o3jnSQ-sbu3IghB6jmhyKlMQBj1pBFisu5NqWB1E9dZNYXm_hGYrrvtXmugMTVaqUqh3Kite9hcbM6pqjJmfuZ02X2sTQ1Kvzmlza0uwChrpAtn6XrnezbO2eMeFpC7_1Zszrx8S4RhylclJaOXDX--mvdoTFdK9YS4CkOMuoSwWN5x9DdNZOSAPPxKVCiuOmuZCfbAwHzg2wuuEcMYBdjUJsKgOpqE4xibVsSmTdYXB1MeY-NFB-pE0uLF7ZsOveW-kICLgjQTI3cKWvfGCsl1xTNAk1-opDYeC4PZVR-ZhC5PO7Lm1twGU69zrZCdfDsdFShMtVasFbW02-pgamTRZ1SgEFNzMVDDdLzZMEsVQobc5Ri6Qfa4RjwJYb-2SbQRGTbvFm3L9v6QxrhGSKvbYeS4DvcRZ8cHrOaW3UlZNBsiU1Ds90Y3MNIRTBC57v3nYW4wO-DyoSArG9l7UNArP1aV6rvUpv-vcLFSlfoaSUgCBhOj2yM151ihwVJ2C7bFRtNwk6kQsSg9IcWPBU_qppAqMr6bb6d8z664IWOwLEsEYCMOeQopaWBOGZ9EOAE_GaJVnVwLkp44NYLLu0YFQW3TR5JdZoqHHEr4ZQVYnutmSIXjPVfhw6Z4uMJJwEt7UBzY8_DgaFxFHLeSqMJHeN9PlWLWKwo18-O6-9vygNN0DJJ2Uv_xzoorTXkdXH1We_b-wqWGszHjpYUpi2wDcS5VJ_AGg4InWU6fKVq6LSlJlDmOTOz6sMaJZlcDSLEvzm9eigGDamrrwBfI5PdHeggR3Ftc5jrWCFSi_LHvRiIpTOKXwnlGTLb4ZEEMnxdfP0EgwNdZGBjinjuVVn1X2QJ0U3xq2UoRoWTPrmfidwIoEOXJJtq5MkCF5wnIeILKDkHfmFl6fboXNodE5fvYfgZNB40IVjzNKljt2M1R1nvDuVdQK5rRT-KsCY5h_lBPgb3JNhvtW_LbL_YxwAk8FAbiCljZRdrijmtJi-jfNyyavHLDrqEgb-iZdACEFXjxLgs9SKcTvA8IehWRMp7k6L0v_P_83c0onBrc_QoBeMq6IBnnzFKUur5Py8-E7ylEqBvQ6EQ1ohAjf0xUUNklJGI3L0B3LgB8G51Awju9RpHxQa4Jyl_8n7i9t41f2L1EVSR_bY-YFMpb7eKp0lNxdjqrTsz7AS-jNCqjs-jIojFS9K8HGSWVGGyTPUPlAFJAnfW4aOSbuZ_T2k33OO6b-7BAFtbSYwEniq2eiN1AsnNU0GFLvJaTo8IYuXsMoMoeqWY52JP8fptVKnXddM-MkUbHWhgrei44jFWF8gEczsc7c3q0MWL8XdwRKqMjBCMZk4L-hAOLCOfEyHqTZOcpYH3WquBmUKKexobetmStZsEBoa_FHlpZbATv-xUgtseM3DAc_XAPYm2kKjl1WVUMlj1xE3Kg4WN5ODVHMT0HBiQh-7OWDZBWlVKnhXea3N14Ue_JgfpJ9EUXZFVx7mmy-tOwqJ_MqkDthblpYBj3X5iKA01D7gpY6h48Ew02HcwEQ1o6z9_hUUILGROPoG5GM-Cl2cZo8mFGeQXJ0yuDy0zAdZmyU0DvBY29eRpeo305F2P0__6CdHBxqpCtQndDvK__J2Vc1gVyaO4qJchdRQQeIuTLw5LlY2u8vbTdTXMU9Vznu2SUvq10kiFpORes46DSvsyRXOzDHTXzO5sH4P6m4jysl5ZGHQAmiM0wld-sRQmIZPYWB2IUCK-BHShF2QwZsHSH4T2Ps-PPR3V7ANFeK5RiPw-EypFYUNx4AmGgm3Ve5xct9uiv5U9hcf0GUygvNLDgALCueEuVKJiw_kVomfKUQY5HNJ7nmgqPpYqX2EqRRBy8TJ-aPFrETWLZWYzn1ERCCrlHpEfgGgMiiLh1Vwi4GrOiNSxcII3c6worKBtJWQww1HJm_zpcAJ4obcRWX8w8h1GqZAPk6z5EP3nEcy9gVjd33G3y-jbD9sw9kSzzwnx8qOplRzbX1MUTufqxZ8X7hAxyWU3YXfc_ZneOJqLveyTEQ2U3tSZdIyx35TYVPxKJPe2ERNGp07yyxrmfopNFSt4S8EFJVp1P4L_v53-BXRvAJI9xGO9xkDThpaZs4E6468-n9bleZujQX8inGtci7zhtrzdHmm5rpEZ6Qm1_kOMbK26aQ9Z-3kuvG2DqnQ_vNxAFUBSGZvBb2TtH1sUhZFJ2bJBjpEJJHCawAS1Nas8GIsRujU9bweezpU5nxOoK_IRCyYb9pEQbjmb-nYZj-JIb6N2Fy1_RQ7KASJUpWZfBl3V5Zh1EjDzEbgV6KxG7k5xonw_bLkJ92QDvTqbGSKR_S4t4zGHFo_rUXuow_KWTVXf_lJ3CY4DqCBsDSXlKASpX_38f4Ede0_BZhvqBe8lAyD_Z9kKyIT6X5FJvoLP6pb7Y8lDQVmWH2pYNulGgcEYQ9Rpct18EsUgSaK0m1ouXUpEXyoig0nB8Wg3hZcrQW0HPEIEFFMwIQCeTBAOoPRFVqrcW3QgsCTvq0_eIbO8feBdX5vjVmpX7LwQj6Xx9SCYMCDoy8T2UioelJQ_f0ZnOq8VZI3_x1gOWC3tj4w9HRS4UUDmQC_hyLCY-YDpeuEEvtLU3KvxF8d8-LKV97pZvEL9fgCPAHmkNZezVxjKxVjd6ovvJoXYmMKK-FEXUWO3i8GHubH7DK3yfKzvIiXYx_JasCrgbCUA==",
  "id": "rs_00d2a26f00dd3bec016ab43032022087d0a7e82f05572b7881",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDA3QYMyg-K_leAWy3tsxi6HIi-Dy4mXA2KWwbajKZ-Jwn2zTmkzzrLYY6PySntOyj96w6iPEepcPDzh8lG_F8S2KefIV6e9RFMZHl75uMXylq-7slNSck8TmykEVl6CRYOOzztQ58Q9DvNJC7GBRMO1BZl-BIEi0ITC3DWKEhPxPuJbUdDhG3U8jsbkak7_O07AkJ_xAtTuXxuiRDwUbLx4pJnelgo2-EiPdwgOyAWB9dmQ9UDlSAE0898zVrHOaKILdZWtyUpqR0SawQAK-e4_fecZQP7-1tFHtcDAngOfADWQBYEJx_mSS4HOJkOee6CncAuL59I1scAq1R3IjzlgBP2n3kooKeW-vRYXrvHZt8mVZoZIn8v74F0cELi175e6k8ABIlhxXSa9aC8ckP9dpilTl8XgPcg5ZgyVDyducb0gBbmR4DrkmQyP5Hph7ZRuR_6L2VKfq9q9lTsoLYCGB7zdY2GKQCTRw5fcD7eyC8azR5ts8nE4AseUb28vwiaPm5gkl9hHMyFmWZRtq0qN8tD7A7F4EhWxX5WM97AvRZPe_yIPQ40iUy1VdfUCuNE4nopbXpC0e9A05uf5Firoolvmf73BpM0SJyWurHulGqUFylH60EhVO20JbPv_4GRIqkWuntAYkWKSTlCkwTQ0Ho2NMFXj6K6IBMcNbpbkhv58uVG-VYEdYBPvvd8V3N8ggV2TtOOj4ParPx_9tT37LL07R9c-3HZSiGhxLYeoccsxm21ZI-9eYacP6Q1h-rIiePbm1VBQcbACBxbwDCVT1qvAqu865QY_oPJ_YIlrmW7_XVJESjK58jVHp9HMmt_nNjY-0x_Sg_Rj1g_Fazpo9T5gUsPy2sn8P7_M7_7sbospWXW0vgIoGojhT_TFyTAUeFvUmZs0vpyfvYYgja-KTe7iKU4XLYRFChSvu3FIPBukj44pSwI2MJENSZQqksei_wWNyJtXs7HqFefD8_jYysWrXLL0_8Mn0AgCBsp6G4BzTcGTdnYQeYO3spA5RmbevLQzigqZCMEEABHsCMtSaHSSCiZd7iVO0dcTNSMRucYLw37Dnja-Y-FMgb98OXyvP-vrq2XgU4l0MeOO5_TwMBBGfRPGB1wGU3kOno3_KvWqCvXa_HAIvl4Y-_4Ch3D_mNrYhQq_9tbGqecFkWHPDKOLFw0vWNc8FUdRkdhh5buSoFO4hTsQRHymIRSwRtiu2dEqsntdWFGAFFjBaqgbQSSKsAZCg0a3uW4Y9OhNQZA3KJn-gsJYNRj86F0toHXEFesROimkm-uST524FhYRiXEu5GlwlnzZ4St44zIaCOqSENfxyv8ktlwGuUhbzMo2lezeTGKbDPH6smfuQc7jNpD0eQbex_3wvpv2v2ELWPQ=",
  "id": "rs_00d2a26f00dd3bec016ab43036738087d0882a60f6d7d0a7dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.145,\"left_z\":0.2},\"note\":\"The fingers remain partly separated after lifting, but the overhead view is still obscured near the left edge. I’ll move the raised gripper toward the table center and check whether the white bowl follows before placing it.\"}",
  "call_id": "call_2XLjYE1xngwUzguibOxQoMPq",
  "id": "fc_00d2a26f00dd3bec016ab43036be2887d08a33a6d389ad9e53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2XLjYE1xngwUzguibOxQoMPq",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6846, 1.3628, 1.0752, -0.614, -0.5884, -0.6357, 0.1071, 0.0113, 1.0664, 0.8356, -0.738, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.1439 left_z=0.1883 left_yaw=0.1284 left_pitch=-0.1397 left_roll=0.001 left_gripper=0.1071 right_x=0.2843 right_y=-0.0009 right_z=0.1424 right_yaw=0.082 right_pitch=-0.4094 right_roll=-0.15 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -5.2308, 8.6769, 1.1844, -0.5348, -0.0415, -0.0122, -0.1026, -2.8513, 6.8308, 1.2772, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c809b7fcbc01047b5e931a11e90de45ea0d534592d542dd84339417de49216a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044aacd2f5525a61f6a4191fa9a2ab7610f7e60f94c9a8db14c6db58c46f5208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7500bb903cc4d54bc8c95bde0d1e616fbb283e35b3763e305613f34e4daef1",
      "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 37 attempt 0 · /responses · status 200 · 2.681 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0975, 1.3602, 0.2726, 0.3099, -0.004, -0.0753, 0.9986, 0.0113, 1.0634, 0.8406, -0.738, 0.0429, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3058 left_y=0.0342 left_z=0.0081 left_yaw=0.1204 left_pitch=-0.2067 left_roll=-0.0343 left_gripper=0.9986 right_x=0.2852 right_y=-0.0008 right_z=0.1452 right_yaw=0.0821 right_pitch=-0.4014 right_roll=-0.1503 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -1.894, 3.0291, 0.5788, -0.1441, 0.1685, -0.0806, -0.1162, -3.0154, 6.8034, 1.3162, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0994, 1.0428, 0.5793, -0.2234, -0.0494, -0.0715, 0.1071, 0.0113, 1.0664, 0.8356, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3209 left_y=0.0444 left_z=0.128 left_yaw=0.1584 left_pitch=-0.1147 left_roll=-0.0045 left_gripper=0.1071 right_x=0.2845 right_y=-0.0009 right_z=0.1425 right_yaw=0.0819 right_pitch=-0.4086 right_roll=-0.1501 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -3.6308, 9.1966, 1.6142, 0.0904, 0.0171, -0.0366, -0.1436, -2.7966, 6.8171, 1.3016, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6846, 1.3628, 1.0752, -0.614, -0.5884, -0.6357, 0.1071, 0.0113, 1.0664, 0.8356, -0.738, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.1439 left_z=0.1883 left_yaw=0.1284 left_pitch=-0.1397 left_roll=0.001 left_gripper=0.1071 right_x=0.2843 right_y=-0.0009 right_z=0.1424 right_yaw=0.082 right_pitch=-0.4094 right_roll=-0.15 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -5.2308, 8.6769, 1.1844, -0.5348, -0.0415, -0.0122, -0.1026, -2.8513, 6.8308, 1.2772, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c809b7fcbc01047b5e931a11e90de45ea0d534592d542dd84339417de49216a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044aacd2f5525a61f6a4191fa9a2ab7610f7e60f94c9a8db14c6db58c46f5208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7500bb903cc4d54bc8c95bde0d1e616fbb283e35b3763e305613f34e4daef1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBBiSFDzL_0Zj_oHdFG4hYrY7aI_zlYoTWvZhoQKqV4uwt8wISQ0ha4rlH7izlXe-Ks74fgRqzQyXjkEi7PB8G90KarlqtdX4XjMM0TwFJE2HIJaFcoY7-Rqvqy9FAG4sNsCRfO8j2Okp2zZd_jHMRuyAvDObhGCvcDfbypLDfZQW6n2ThCVK8DqQxc-3MjwmfhqVDiV3GdM9qjfvWFG9gaiJ7qFy2-SMNa9BxW_Omj_FkMs6mtQgZPyvht8tt3B88shiqrWhqQjcBMSsZ0IR_1aQHnIbW9gBCLNV2D0OCZd7C8orcvImVQVPiQczTix1-dFfRDK9Yts27H_HnqrUXo-Up0d_Aj6ZK-_G7lpPRW4W_B_cZU_hXGq1LHzyVhn2DCfSd8xtKsUg14RMRcWZGDUZVauqF4DmVBPpjQkNVB4UhvKD2vvB6R79nfDcoZCm2uqJMFf1MBqf9Ei0kKqZLqS3e4oaj_1R4F_2BJ285uM3FYUSfJPvodGeHUP-P7C5B75fxIGglK9Lxgb5tYYdeeRawwbrIMkcuw6oLM7sM5TVYEMvH2nxNWmw-lqfQ9corWWhyE2TP7GbQqFrPcJXfsMhjXSpihGeEX8trHiCtbaq9nEq7zSTISUTP0Ee09C0qZIJFzXCIYAex-kWkDa1nOMwtAJdyvt2W05OwgZIOllD1yU8tdRANGzo_XzBypm8n69IkGqh1SXX1AcFEZad5R2z-kRIWndIt5mCMy818VH4Qm9cOo2hXpRgvlsGaeLeAZXiRm6F0tNtI66ZM0O7qpbraFy-C3UA0xnxBAOTjlAyZ5YGkADntLLbYDpwukrWX1xzSxsOVQ88wWgAoVOTVGiWXcA9LzK8IaywwnCsMUeXHNvw6uJutqYBJvUvxheRF-rN7LsbQ_46W5onWE_gNNMiHU-Nd2iJBOmt_UEHPUJtH_eJdDGKzlUhm20ohIYbS8tM74PCBw6qyJnqCU1HMEtl9y_Wbu5XAfgPROh5eLCmyp7R8NABVSGlM2IG3kNsGrzDZUc0o1G1JHLh1a96fadGD3Tj1VDRLWKeQWk9C9WRA3Q3FTkXvwE2ufcVCO5wYP6bS6sS1CGpbfSA2tp4ojhpu98sMo1zHaVIT-hDHqne12LKm6glnqt7bp004pneuw2w31vNr5JSgwmOXEVEbIXvPSbQ1qUwqoFQSnLPb6eV9WAnKHiT9qqboIVrfy2exJIgMdRF1-eULtbdyi2QjUS6zecNYqiisEqyfU4eU7nLkek0frPKlzQ79cgZv-LPwsOoLlqhinehL41WdvFuxjkkJ4TSMqe0tcZ3HJLCW25p2oVh5qWpp5u9l0wigmh8pGBqZbk7cIEtvHQnTNZ5SiYaLRsigcf-svl6rxv4_hImljSv57CgEuMz4c6w1Ng6Nm5DgBcqKMiwwTgFtJmnXyKtmoLWm011BOxtb5Z5vHoLByxRvPaKEAppqtA_mLtw_tRxm7QppAlwB2ai4tIBiBM-5nO5a3kWw1Z0TovMPbGVfWyoP_7eH1jQUVKgi58BDNFmHey2puN-p8tRR4IshikEfvtuxqrEeFCdJzv4kvk-pejP7RSoE-rRSMnskXZN-dKUbddqWvziXbYaCInMj9gbg6bihwpwliVX_tex-sj1DWjsuaE3N4Y1NzPsxBxyg14iQK81GHdeo-tjxNw9yU1SZ3kHTuD9EVNdx2dHoqeNp66B15_rgnGJZc6UTJRvhk3ekhj7tmjpx0nNIswcBhUbuZE-9kX5MPocxTUrbfuAmsXoJTd5k40_7b7dMxnkK55XzgVkr32ShdUYoMKo77Hu9op80RqjOtnpJiCVbJKkJwY5E32N1dZPDJEsdlL-PSZhzjKP87FMDNajRbqqlpO2U05Y-jDotzTDs20sKQcKsqJuimCN7fiowYUTC3AlX32XLMHnPxGegzuKKoqh8VZH8amajvjyekQKwqiVePuL-hhZOS7fFEMo-W9hZI89Dmk6aoWDQqXiQ9lhNKhOJEzOZ_ijWAx1HLZZQ53mJEAYKyEHQdnfhCi5hkG7MAW2OesZ_0wj54lYaBHcQ-6E8X1yw1k12asoVxu3hOaGWeWobVdEknhVuo-WtbI3eUU2M9t7L5Ai01JOuuDP7s6WxdS-tnBOh68CW8jJkWHpqQH0b3rWtKU4Fr-yrA6g46U3t81MzA3TXXSG_LNhG3cT9vauqsm0MEkQagqhOTLe87zCkPA5q8LAJq32MrWRrR7HOWcBsfP9spVwZwg8Fu8rmPeo_BDR0ety74VFmrT302hdWw6ft1MkQeOGD4w1khlvJ3JIjosmZxbQBBZPhHpBB2gSb8DLtfJMnkQFHqTk2Kv052cOInpGu0vQqUJ99q5L9R8NIqVGXqURkrUlyFUw9NLAKBUxsXLvrSU-LI7RVfA4QZKQj7-Aio1DrxF7Yg2MONGNo355iIjaxOouZ0KYw5uCwKmPa9FDRfZqyWUpetkdmW8RZZyO-bfskHLtoaIPpMVc0q8J2f_PDX3EotEVhxvcWzUglJZWd9rxCvm-eWBZX5gBLMhwcfTJqF9luDPmq0dtvOYfyFl0W4htxwA87V5etF4473WE9gy_JLsOVn05P3pg02aC1L9W_Lo0WrWVWmO1kTqFLqb2v8yz1lML5sNx51H2NIDbY0bIWwiVLAgbfcZPOWNXWKmY8OSyEbFfKb7wpZ753HEKQG5BQh1Quw80WA1tHOMMMSS9s-7DTj3o6ENflvZxkypDgWil7tGiVJ_mjDNLGxT2QJCq6BH6KTDxRIccRb9j-P0M6xrTgVWeifjJQn_HvgzpmOhk5uqvfhkQAXXmBODHkZ6tKRJpJlz__BNg2nsDco5F7cQ7Eqe2A33twpaxcbHt11k3sx6HA9zlz3KoiO0tcqnLiDlk7LaCEPRnihwbdibDvX-4nySc_ZgCsjhrGpDC3vF4FbvJqTJmWTPVLYHnrnzyXrRfWnd5xrBHYaMQwkKYgP_wpj7qBaTq5FJvkWG6WVGpqzWkZnjOnKe05t-djCuuwcXDUD9SpIe8-fVknyBATx8fjZrx6T4kg-wcXc-wJubHOdlo_0NLRDFYAonwSP0VfjExOlFREFPgzYgaOXsO5-a9bieXXZnF2pF5ln3oII9UPYPk3W27IlCy-n9x2UbP_9J1Kc7cLDrXbj8aFARG2R7-yXtX8mSXfeztDmBilucGjMbwUPXNuG2E6cfQ5Xda5BGx8iASzHMEA9ZRYi_NTa9fdw7pgxLWRJqp1NbcCbAf4HG-SSX75gnYIyF-YQ1RldjTVu9pM-uganaXVFmrPs1rSrNi8FT_JyOWyI1bF7YI0k9cwg93fxKpl-XGCbIeKyQbSOpXLBLt98PmYZTUs_PMg4Ch4Y_coS7wryyoqOaM1QXdKiwaJQ3Q8OKNPJ-kjR2IBH6J2abNqZFJq1aHCsAVZ7CAnTVIz-oJsM8t25vWyKFAuopHug_SNhGYDfhFIdsjCLMQcHk3YT7S9PemCRulrK7GmDMjwLclUdAJNpGrJlTJ47IzW7FvrPD-TwlORHw3NaNDCbY1g38HNDYeCxatApb5GZ1Dvt909V6lIL29CBQtCGTY4xWSQi_NzZ_U1TBhQugkh5mVZKw2I8q9y7JaHuCgIDt_KZFVrUwdO7Ff-wOnqKhfFwCzs1fjn47Gw6D19qIofEHN8uPzMDwFKltp_Z57k4BjCKLz5-v1E07vIjnOMl",
  "id": "rs_00d2a26f00dd3bec016ab4303a887087d0bb7f45b7dbf1c865",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBB1F0dYuEzicr0qB2IpeR1vxbya1IJ9dxCBE-rLudi1m_iLq8cNbKEyETidpHNLHg4NmJ-BcK22ky-0Cl5OIH5HUGzuvZrEBrQ97vlJoDiz9M9sBSqBPdq98tDGD8ucKG-2JAmC2XjyCmnoh4uqC2ODKk389dZm-ctw4g5SBbBu0QNWeWApIIc5CX8ks8mzBSPnK2o1MH4XZTWTxiRglBNm_-W0KD85baHI21XVPlCpuAMTqOa85xiPTm_aLur0U5zYzqjF8WPOeYjvBnUZsFkRKDOR3HhOFvxWxVfnzyPn__P94H3w9lXPVz8zvxmA12SS7UL76fFXoy-xtxu6WbPC9zOcQHFCr6xi96NCDl6imc-2oBp27cCPUdRqCih-wrbH4K2qqyKvm4jIMQIzqU3VlNL5rSLWG2zqFjRa8JaMsCavTkrwfh0QFVQRsAUBdcCabLBXqjwiAs1Uuf-dTiLBTVJhm7xmkM9IpWjmNch82X90bEj9aIy8orrecVKviYi22nArzA05KyvzYCZrZ6Yo0X2DwlWZG1cHAZVRL85vXOyfCPSHAT05kuJm6Wex0ZofFLZ8tLvEoYoMXRdpTBjrtX5U-kPcfbF-BaxtLTDj09_Zl8p-Be8-bnXqrgBlM3mr1_q3fAAOPCAWJbuA61umqraZ1zY1uY8dz-pQ13e-__nhppg5jHDcljZGSjdGTgJgEN33Qw-T7fhoxy7msaWOs5IILWqqPSFf2TxPfobDu7qU4FtISAr2yaeKcKq6zQF2KS-WUrJRbn8MDSpSes4bnRYAxzzJnpeqvLbviK0PrDKn_O-IuCyNTfJS-TmSmFL7PfZg7fxaALmM83cW9ftf9qUgdtOIkGqapifkb7GTs3F6ijpwGJj-ek6eBIfFArYFyXYgvDLtjZOegn2oPENg0Rf5q8TvSrgdPPE5LFlLAJpb0etOrugPoDztTfivNSxcNR0z7R9FzjEHMeVQ5kGTIrcOdF0PgdD7JseS1Owth2Nx2T91X2TgS4w__GfKDC7JBm3XJyPekUQROib7q-rUbbk_iJEE4cQb5ScsTP-H6CnVsnNLUDNQac0td54ihtL9VRgsKa-DwLg8Hcc3MW6saHA9E6aVn0SbhKyIhMvsFgcZ9ZyAzW3GgvWWPtfAgkhE3JvZDPTfYALG1o8ciYAfyC4zzDNfPLIogRQmHyNu9jZ908Y_fkq8w1u0GY7i8g6n2vYcwV_Y_-ME70W9YIHBW0Nr_L-woixGdflnwqieCx2pc__m5emA9CLq0_hbwCCLxIyPatrEh4OVajrHpPgVV3A30Vofe0ZTavrgMCdUPJtTIXyUG4VPv_b2__szp1uud5ZPGqwIJTElnYO0aM1BSoe5_xdaYL8_K5lYWOWZs1Ws3fy4XvCfKTMb1SmUqo-TsXwvP_avMHgCRA3VUmNpJWLAfQHAkUcupDN5ZenLfSSb8mW-07d56zP_LHi6034J2Iqx8D1hGXUboy0k9xiqjXna-Xn0rSYOp-NlYSJ56RWnVRYIOfcyxJEBWQbpNAQEqrIMuy4PXyA7-l_jVT_YpL7ghlYE9ZqAhlNryU2I4wagFLX35unGmeI86acKoqRNEmhVjWNsxkYWf8uLCaKIOnV9jT2Ic6DaZgpHTw26cU-JoGaSUa84F7_Tx6wjuusvuNhpugH-J76nYZ41G1E9f8Xpp9vd0xFuURhoOgcvibNCiZqHblxawLx6jlEljCiM1XS5sTWOLCJBu1zDoSCumnm1l0RFqmWROk1PM7o1YGhDyFDD9d5rnLxEkiSg1ijeslYh_SkPNwARb0g-C8igXrV0fSPRgkYYa7tw6fnHtHufkTzShWVE2XIq01r7cX3pbzGu8wOjp4QRltgu-rxRQ6ILLoIg0bsmXRygGY4E2dgdWwZBiuJYMydJUAaF2nCENeN2i_qufeo4riDyNKZmO5YU0ZFpb1-yTWdcHPYAi9IZJvEt4lfSXLaK58IQu21ULB4STlCw9-Evd6U6_Gzq7J9A_CNg2dkkQ8IuIPclAQGxLzsf_BJ3zTGWBGDR-a8n6bxVNIwhz-7_aCrsFaroBoez7h8AqxUPV5LbPY3zK9BhY6EucU36T0LCuGR290mA_QQXTF5f-uLo0RWz3zmVUiCuBsdHqMOIRYw6d4nOXBueIYiS1JRn_mOu8jHfYhNK9vHxXPlfRvNnmT88yObTvJ93QctIKrNXY4kVQjx1gEmGRd2UBNj2mnkqDmo1ifDdJspwWCh4JVs_hCY3iFMJtuJdKoOWxHpSp38zg7X1AkgCiPljWI7UgToP9lUsRJxn1t98OcqM6e_h5j7zfe6dQ==",
  "id": "rs_00d2a26f00dd3bec016ab4303eb4e087d0bc8b36ed0a909657",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.34,\"right_y\":0.17,\"right_z\":0.012,\"right_gripper\":1},\"note\":\"The white bowl did not come with the gripper and has slid to the far left edge, so that grip was not secure. I’ll park the left arm and try a low outside grip on the pink bowl with the right arm, aiming to place it in the purple bowl.\"}",
  "call_id": "call_JqFmwEoLmewGQ1XPi7pYzsZ7",
  "id": "fc_00d2a26f00dd3bec016ab43040afc887d0853e097d2075d16f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JqFmwEoLmewGQ1XPi7pYzsZ7",
  "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]: [-0.1543, 0.934, 0.765, -0.5804, -0.2508, -0.2584, 0.9966, 0.6121, 1.7172, 0.8146, -0.2371, 0.3397, 0.2852, 0.9969]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.178 left_yaw=0.1777 left_pitch=-0.1496 left_roll=-0.0049 left_gripper=0.9966 right_x=0.3233 right_y=0.1594 right_z=0.0032 right_yaw=0.1045 right_pitch=-0.4763 right_roll=-0.1812 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -2.3043, 6.8034, 1.6923, -0.022, 0.1441, -0.0611, 0.2803, -6.5162, 7.2, 0.9744, 0.315, 0.0659, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5715d37c12406e4c50ae6007a2e9c236b43b9d96a763c57fc3481b167ee0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941fc50f783018dd60a2759f992069db2001f52e5d7f1dc8505a0916ee494177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a20a63819a5abd85e694e652ee6d2b829205488c5361a8b6777d7296652d8a6",
      "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 · 8.085 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 154 changed as sent

message 159 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.099, 1.3445, 0.2806, 0.3706, -0.036, -0.0635, 0.1073, 0.0113, 1.0645, 0.8375, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3194 left_y=0.0417 left_z=0.0267 left_yaw=0.1424 left_pitch=-0.1217 left_roll=-0.0064 left_gripper=0.1073 right_x=0.2848 right_y=-0.0009 right_z=0.1438 right_yaw=0.0818 right_pitch=-0.4048 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -2.0855, 5.2171, 1.0476, 0.2613, -0.1294, 0.6032, -0.0479, -2.9333, 6.9265, 1.3016, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6846, 1.3628, 1.0752, -0.614, -0.5884, -0.6357, 0.1071, 0.0113, 1.0664, 0.8356, -0.738, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.1439 left_z=0.1883 left_yaw=0.1284 left_pitch=-0.1397 left_roll=0.001 left_gripper=0.1071 right_x=0.2843 right_y=-0.0009 right_z=0.1424 right_yaw=0.082 right_pitch=-0.4094 right_roll=-0.15 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -5.2308, 8.6769, 1.1844, -0.5348, -0.0415, -0.0122, -0.1026, -2.8513, 6.8308, 1.2772, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1543, 0.934, 0.765, -0.5804, -0.2508, -0.2584, 0.9966, 0.6121, 1.7172, 0.8146, -0.2371, 0.3397, 0.2852, 0.9969]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.178 left_yaw=0.1777 left_pitch=-0.1496 left_roll=-0.0049 left_gripper=0.9966 right_x=0.3233 right_y=0.1594 right_z=0.0032 right_yaw=0.1045 right_pitch=-0.4763 right_roll=-0.1812 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -2.3043, 6.8034, 1.6923, -0.022, 0.1441, -0.0611, 0.2803, -6.5162, 7.2, 0.9744, 0.315, 0.0659, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5715d37c12406e4c50ae6007a2e9c236b43b9d96a763c57fc3481b167ee0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941fc50f783018dd60a2759f992069db2001f52e5d7f1dc8505a0916ee494177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a20a63819a5abd85e694e652ee6d2b829205488c5361a8b6777d7296652d8a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBFTyrEkBWbza-9FSnvfYPzGuLDh-YPS6AaJTSssbvqWTIK8ac9WaRTdOamtlXovoW6iDwJYDg8wnyv3y6kre4_hA5YTNXoqzwlA-jxL4ImOT-ryWZDBkJRWblOJK-BV_N5RFaOIepSaY1iP9teXK0IizbOMpzrcgsycHeGiY8bN4i0mPxx35y044ER-KVwfqEAhKMDDcNPycsA61xHOaLOfUApBvM_-20H13ThIRaq6Gww4n2w2__VPQCdSIRghiED2bue-NkvVbnS3_hdOr1WA88CuIFRBVax76hh4ppndtzCmVaYXfoxEOpwWPDOlyThu_Dt-ivI3mqTzYyNz9_ykelDlXIciipdUu8j8iAPTaSP5hmwAdoGSEIQafXTqzq4Wv7FWusjrNzpcMYLSK-hRM3LVj5N0ojNjKCmK3-K4uo2j1PNs4A3pZzusJb0IP-8v_5-B44WHkp6H9VPIRagOSeKlLAzw8aZ2JI01hXv3odEO2ej4RIHxL3BL9GK0LVtTj-kygcqB5U9BH5thaRfONdZGhjGZ6ZXMxlV4nUzc2OM4S2zNU5Iz8Sri1evc8YieFf-72LFJ4NGYeaO4TXIV87iisLDW2TM87Ibbje7lTtZRjCG2V43Qj5Fjl6m3rffgg41eaATZob2ENRzJyX9BG_BgJPWkpOKLjshEG_Zs4m7GBk123g1k5Tp29PrRcGuFagZ3NCbskXJBCM0i3xQauE2MkEObECbAKhX1O3ZbQduLjw13QV5jvwD6Sjp_kekh4ydkxfFXdKcWSvSMTdJQwt8TEDj7jJoU4ydecViVQUBWNjkKElazlbNsYMCoxnmzF_1S2zD5mgwKe2pIL-icCD_0LQHIGI0VM4L5B_U9Hdb3tILoYlCQYhudRVgN1X8bmQDlLY8oO2Ti4FnX3wgVGCH7AddTVs7-oacPrLyQQmp2bhzG2pVJ3A_YZSrqKY1Y7YirEcSXt4Rjj2sraqnGsl2BIuYEVxkp3AlZdqOWLOxY7bmykAAuzcleXiXuUWFnrietYLnaP9QCT8GdZg9F4_vGA25JaFTsLVGidEDVd91qm4GB5eFGyfSbfqazWXoxpW4EWUdJsGRwbnahcrhUlg7tMRi1hTpI1fxhl5JY1Ha_KI_f1FInQotQBdlRhxnbp5VgKl01s5gtyPxlD8RqZlyzDHdya3H9CibMC_Co0D-nXr86PcyF-3IKqVNPZKg1kmfyXBmht7tzTwEKSq-SlXk_ffGoEOMmDv1E4omeIlZa3pmiSs5JL-hgqog4Wwfx62lQEGA69b_bPLhxyeEsVJ_okzM5wnJhSUvOlwnAMz0gDg5tFaG7ogQ4eC90T-c2U2nFQ3LKkG93T07ezLAu8uoWaQztVzKXTviyKn0tCGFJADYgWUVtWrWEkAdUVt-6qZXpqnUh1LrgQT6Mt_byvfMS-Mi8-icMDSZmGZwT94=",
  "id": "rs_00d2a26f00dd3bec016ab430449a6c87d0ad9b77ae0e1c8f4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is down at table height beside the pink bowl, with its tapered wall in the open jaw gap. I’ll close and check for a firm stop on the bowl.\"}",
  "call_id": "call_QReZkioZKSfLOnkMLnG19Z4i",
  "id": "fc_00d2a26f00dd3bec016ab4304533c487d09bae50aacf6132bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QReZkioZKSfLOnkMLnG19Z4i",
  "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]: [-0.1547, 0.939, 0.7605, -0.5873, -0.2371, -0.2546, 0.9973, 0.6132, 1.7317, 0.8188, -0.2367, 0.3328, 0.279, 0.0082]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1731 left_yaw=0.1647 left_pitch=-0.1681 left_roll=-0.0058 left_gripper=0.9973 right_x=0.3227 right_y=0.1609 right_z=-0.0008 right_yaw=0.1125 right_pitch=-0.4886 right_roll=-0.1839 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.3726, 7.241, 1.6288, -0.2466, -0.0757, 0.0562, -0.4581, -8.4718, 4.9573, 1.033, 0.2418, -0.0024, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaaf2767d3762f098c90f6cc97856c2a7c5c014567ca86f2ce6714b9852cef83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e0326a274ae0dd1951b835d50b7100caf5297a3649a19b30932bf8dba8601f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8e8768a77456d58a4c764fc37e54ef6a00d62874f4e3968381a24ee6ee3fe4",
      "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 39 attempt 0 · /responses · status 200 · 3.94 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 149 changed as sent

message 159 changed as sent

message 163 changed as sent

message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0994, 1.0428, 0.5793, -0.2234, -0.0494, -0.0715, 0.1071, 0.0113, 1.0664, 0.8356, -0.7372, 0.0433, -0.2066, 0.9962]\nstate[eef_state]: left_x=0.3209 left_y=0.0444 left_z=0.128 left_yaw=0.1584 left_pitch=-0.1147 left_roll=-0.0045 left_gripper=0.1071 right_x=0.2845 right_y=-0.0009 right_z=0.1425 right_yaw=0.0819 right_pitch=-0.4086 right_roll=-0.1501 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -3.6308, 9.1966, 1.6142, 0.0904, 0.0171, -0.0366, -0.1436, -2.7966, 6.8171, 1.3016, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1543, 0.934, 0.765, -0.5804, -0.2508, -0.2584, 0.9966, 0.6121, 1.7172, 0.8146, -0.2371, 0.3397, 0.2852, 0.9969]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.178 left_yaw=0.1777 left_pitch=-0.1496 left_roll=-0.0049 left_gripper=0.9966 right_x=0.3233 right_y=0.1594 right_z=0.0032 right_yaw=0.1045 right_pitch=-0.4763 right_roll=-0.1812 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -2.3043, 6.8034, 1.6923, -0.022, 0.1441, -0.0611, 0.2803, -6.5162, 7.2, 0.9744, 0.315, 0.0659, -0.3394]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1547, 0.939, 0.7605, -0.5873, -0.2371, -0.2546, 0.9973, 0.6132, 1.7317, 0.8188, -0.2367, 0.3328, 0.279, 0.0082]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1731 left_yaw=0.1647 left_pitch=-0.1681 left_roll=-0.0058 left_gripper=0.9973 right_x=0.3227 right_y=0.1609 right_z=-0.0008 right_yaw=0.1125 right_pitch=-0.4886 right_roll=-0.1839 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.3726, 7.241, 1.6288, -0.2466, -0.0757, 0.0562, -0.4581, -8.4718, 4.9573, 1.033, 0.2418, -0.0024, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaaf2767d3762f098c90f6cc97856c2a7c5c014567ca86f2ce6714b9852cef83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e0326a274ae0dd1951b835d50b7100caf5297a3649a19b30932bf8dba8601f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8e8768a77456d58a4c764fc37e54ef6a00d62874f4e3968381a24ee6ee3fe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBOzKF4m3FPwOYXEoTzRK6zDx3KNdj60sL8PmY4bH16S75ZsjYxE_BGjkJCC5ksQZMCBX6PhS9lxZP3BJdMDCUEgvlhQbCLhexibXEBOi0lVZ15lJfzRUmUNJhNedQLnirZdiuMAvQmcK4_Y0xVR1rSmSaH1maEzLTnAdNZ2COYF3kMloSO9sicHvwhhwuoJ_2SBCSpcAxm8kn6L6UrSvwwCellnWyvexxieFn2RCJUPyWrKLl9HDimMzpYxugBqs7QYN1E0nr5IVizLzYqZqjyaNXfVa2XW0eXgVAKrlmNBxeEtF90Hz18tOc2VCJ7iEJUv9L4jI8VkiP-ZCiq-0FRmVyNLv9yFVLVbpHqz1ttOBjJ5Sp7Zt5s52QXF07ohoBLUSICA4BlJGJM0atmVaXUP5TxN3cKZ4SL6gX8hfEjh5t2Vd-KWTUFl8gox6Jj2yaPYZM1eg25wjgC3MVcey3XjiGxucung7ViQJHEWX24qumKacUer1sX8HB36XyHQe6aam81oN19hUuR5O-csCyFOJ_FOjLlI1sNvlKzfI-nFsSsEw3u6SOzNIjr--A7sshATwYjJ3TkpzSybH5rKseQhwKgbfKiwNm6JvQVl32ZcvimySc98WCMnEB1nga2Jt9uOTZil_ZgLzN5qf7JlGKZ0Bm7U0FI9S61SsNd29_XDoFTV-ytqK74qurVZj177NF_5sIKi78W-OAzufVo9GQONDjXL8XJsR_aRKU2CsXu1DGzSSgpIqRv-eSLShuFoTqwUnNU71lNIzM2mXyN5HCL7jrz6LftygFvKINyO40hvptk7uLWFpiO2sx05Gdzkb48gMhxbAZmwVovKLPjnuBGCDrXrj8tKINEQTv4mh_CQSrRNtlv_EbhrZNwXzIJaiw1rvisdVqREXWMiCQEYwFlHm1-oK8Vy5EyxNFyq0yjNYJc08x6MwA1REItoX6by2pR-ZfRO8Fq8bKSWyoVRMLiJn6ScerhsennaGtLytOJ1YWPTb2_YMGLuHTX2dca_e8kwaxe1994beMWT8Enx-CmPGdoUucXlYJ1go6wM1f9Y8n7RMqG6NHGuXKvvqL0KkwsNXHgysIZaGGJNp6jXn_kBbQnhWeSwY1pDzvdjlm6WXEBkGMpY1-hbzZtm9WoKQYhqChVBhV_P4RfmvI4NMLhwxORbkPxzIioZgtZecDnhhsUOMIUKhqnZbilnxOXgq4EvZLCYGLYWbOs2UwaxU7TQpPmqdj2rf8_aBFV5ZeD7rX9gfmKxdWD7x8QioCNN5-2DJnr1DNaWYY7MFCjU87Ntk0pxt6m02zBUIuylc2IuRdMGs-RwTQFzESBJINRr50B7FMGxV60rKZcENw-Heh1PYiQUw1QJdAFKfe4ha8m1SCsnDYn9wRV7j40-9XKrtVDaJEIMGm6fcQBaGE0kmW5ZhaI9QPHlUSmj35yTVRRdxXKtCctStU9Krki3WV6KxnwjdyA0k1Y3Ql6yLV19A00n-MXpALy04oJP8ceHTxxt713chE-yGD6zFTFzy1k5o7CwdwcaQK1D1Z_xGGmGKjmBTNcTlmY_DexCNAYoE5tEtvMj3rkRn0C5njLN4vczyUcQZG2wbN938W4qgmuGjrSSECC0-6K3mvUocDF_nKYqDpaIe3PA0BeWXvYVsq0Pitx14H-eKlKqCH-pgHpfVFqadN_GKgj7Jl0tDx4nfnYGCcI9r9T6P3pzDXoTWRI4I60YuMmmc70etZa3BFKU6fi2ogs2UNLgNJkbhJTyKUGBIY1rNh3cu3BAMKUnELoQO08qh7IvzZpfBl4KBDhDVhHhv-jZC2LvZp6Ig2m3-y3eZVkzDEleU3KiHbyRuRgaJJC-TR4FNTqZAHN5l5e68eTgcVMVNDwd1RfQttw-dYXnrBX9Q9J45uDibV8IeipwRb3orPFec4wWr_mU_ZI3h-8ri2Ik0ZLixNtqxpZ0FsQbwDz09QVo2A0s3t7KwRTC2hf9htilSLM5bB-xHQthGDV0zTVNhYWQk3WAnxVo8SPoFfyyQSJ0w2HwK-F5Qxirly9kqhxq2QoeKM2rKHy4FtUuhD0ZxhrZkYX1FYWNdOWZPr1U7oeh-3dVowuE2lI65DoRMg0vw1jWOY9GeWwjs1jdni9ezpC7mE0pOu2kmiITIi_nGOH9tKBNz72f4_02JrlsmI9ck5lS5uQDDdIEuU_znXRdY401Ee9wDvNaEz8E4dCvPHNm5CEbgH_nL1AT4xYIAlmIqDXPg9HxQjk1V2B0z-CTFQiyGDDU-b2IP7M8m98EtQqsL6s2ZTtpgJrDI44EroSANhDwfACeGf2OY1naEwbmVF_TT3au2Q2xXF6IJipZVF3aqNdyFqZ3ucWgHA0eqmInV1CUwADelgo3mUo_fDQxwr0KN_sVG3u0XIgHnfACXzYxklGGgmmpwr2Lptg1Bczf-QoLLqhG2uMs6ZjiA_HA4rlJlrhF_Zr9dqUlPuFLq-XCZfRuPmMdvmZi71VuwobEWJn8T8WpyTgegKeWv5cvEMJo7D6F9CEvhkUPXyfxf1MNiZB6s7LYKd8qqCTTD2zZ151gpwRNscbAX2JTmSrnORPc91Fu4qvdZ4QzMgvLLbujVjApeD59bZ9SnBF0_UgQKbYYeV4aT8FQzkhtlklqjSeT8J-R3gE_OvVZjXNPnadISgUHKj-TNHx_8sNaK2sxXdReAwrlfRFa0HLexXk4cK0c2i2DgYw2wx3pTl1M6FETJnuZuNg3OqyfSFAxsKsunSsZfrmSqFm1gx4T-rzZADDKRflR3bLcKm6xWVpywco-d1wO7oIosajWgyzmcilC6gBKdMHlBlYwroDd_IGBXFLpGGXPv4ypSkrJCA9fpSh0TAgmp6w5UDISqVY0fNfUW4-y1GDlyNtwvc92BCVNzAk2LtQaR__S6ITntrfmXkRpurBDDZPloyTyK0ghP6faN92or7fm_HzwWDo-Ecpw0K2meAe5F7aRRqG5Fq0JpcdhJbhDHe_u-MJK9_LZimVWnkzxE3jH5COE4yuNBfD1MFozhzbPzf13T0fSGb3dSSLtZaWtrp1L_xrGf8AvLYquTvxzljV1aQnMK4uR1AKU_7KmF9s5yurwj29Yk_40LX4IngYZLYoFCKiNEzyKwnNzz5WaMhNns9xRqNoPw==",
  "id": "rs_00d2a26f00dd3bec016ab43048e54887d08e990acf830b6821",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.355,\"right_y\":0.139,\"right_z\":0.005},\"note\":\"The right jaws also closed empty, just behind and to one side of the pink bowl. I’ll reopen and move a few centimeters toward its near rim before another low grip.\"}",
  "call_id": "call_hreiX912bo7A4P4jU0c1tYPS",
  "id": "fc_00d2a26f00dd3bec016ab4304d67c087d0905cb5c22ddc3a65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hreiX912bo7A4P4jU0c1tYPS",
  "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]: [-0.1543, 0.9424, 0.7605, -0.5907, -0.2359, -0.2581, 0.9974, 0.4992, 1.7462, 0.8593, -0.2348, 0.2863, 0.1715, 0.9955]\nstate[eef_state]: left_x=0.2933 left_y=-0.0002 left_z=0.1716 left_yaw=0.1663 left_pitch=-0.1749 left_roll=-0.007 left_gripper=0.9974 right_x=0.3482 right_y=0.1371 right_z=0.0043 right_yaw=0.1093 right_pitch=-0.4927 right_roll=-0.1874 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.1812, 7.1453, 1.5556, -0.1148, -0.0073, -0.0073, -0.4308, -6.2701, 7.5145, 1.072, 0.1392, 0.0611, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3d792d14343b3fd306ff13dda3cffb28265d4f9e4ec6686d03fbdad4d26434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580ceb6a67cff9e18128b2cd3cabf7721611fb5a1b1ac1f8a2d0e4e9e9799760",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dbf90f7affd201940d51e2e7eeed55311bace91b2e6d082785b24238bd653f",
      "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]