adhoc

completed
2026-09-23T20:25:20.853768+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
223.3 s
total steps
286
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls are spread across the table, with the blue bowl in the middle. I’ll move the left gripper above the teal bowl to line up a rim grasp before stacking it on the blue one.
move_to
left_x0.3900left_y-0.1900left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6044, -0.382, -0.0223, -0.0254, 0.9994, -0.0216, 0.7937, 0.6033, -0.379, -0.0166, -0.0334, 0.9971] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0002 right_z=0.1799 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971 state[joint_eff]: [-0.6222, -1.5795, 10.0991, 1.7949, -0.0317, 0.1148, -0.0757, -0.335, -1.4564, 10.3043, 1.8193, -0.0904, 0.1734, -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":{"left_x":0.39,"left_y":-0.19,"left_z":0.15},"note":"Three bowls are spread across the table, with the blue bowl in the middle. I’ll move the left gripper above the teal bowl to line up a rim grasp before stacking it on the blue one."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe teal bowl is close beneath the left gripper but sits left of the jaw column in its wrist view. I’ll shift the gripper slightly toward it and lower to a more useful alignment height.
move_to
left_x0.4000left_y-0.1450left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6724, 1.544, 0.9302, -0.1349, -0.5362, -0.4206, 0.9993, -0.0216, 0.7975, 0.6048, -0.3893, -0.0166, -0.0299, 0.9969] state[eef_state]: left_x=0.3796 left_y=-0.1822 left_z=0.1329 left_yaw=-0.016 left_pitch=-0.0529 left_roll=0.0269 left_gripper=0.9993 right_x=0.2939 right_y=0.0002 right_z=0.1775 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0031 right_gripper=0.9969 state[joint_eff]: [-0.3214, -7.1453, 8.8547, 1.6386, -0.4127, -0.0122, -0.0171, -0.0615, -1.5248, 6.9128, 1.8584, -0.0464, -0.0415, -0.0317] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.145,"left_z":0.095},"note":"The teal bowl is close beneath the left gripper but sits left of the jaw column in its wrist view. I’ll shift the gripper slightly toward it and lower to a more useful alignment height."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe teal bowl is now centered between the open jaws. I’ll lower to its rim so the fingers can close around the outside rather than over the top.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5373, 1.5906, 0.8124, 0.0139, -0.4652, -0.3553, 0.9993, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0303, 0.9969] state[eef_state]: left_x=0.3916 left_y=-0.1369 left_z=0.0891 left_yaw=0.0297 left_pitch=-0.0953 left_roll=0.0481 left_gripper=0.9993 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.002 right_pitch=-0.0172 right_roll=0.0029 right_gripper=0.9969 state[joint_eff]: [-0.5128, -6.8718, 6.5846, 1.8926, -0.0366, 0.1343, -0.0122, -0.0889, -1.3607, 7.0359, 1.7411, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The teal bowl is now centered between the open jaws. I’ll lower to its rim so the fingers can close around the outside rather than over the top."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe fingers are down beside the teal bowl, with the bowl still between them. I’ll close the gripper and check whether it actually captures the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5346, 1.7432, 0.7158, 0.2665, -0.4686, -0.3614, 0.9992, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0299, 0.9969] state[eef_state]: left_x=0.3938 left_y=-0.1363 left_z=0.0366 left_yaw=0.0382 left_pitch=-0.091 left_roll=0.0434 left_gripper=0.9992 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0032 right_gripper=0.9969 state[joint_eff]: [-0.3077, -5.6821, 3.9179, 0.9597, -0.0464, 0.1392, -0.022, -0.0752, -1.265, 7.0222, 1.6972, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are down beside the teal bowl, with the bowl still between them. I’ll close the gripper and check whether it actually captures the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper closed almost completely, so it missed the teal bowl. The fingers appear to have slipped into its opening; I’ll reopen, move a little farther over it, and approach its raised rim instead.
move_to
left_gripper1.0000left_x0.4150left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.535, 1.7668, 0.6991, 0.318, -0.4671, -0.3634, 0.0094, -0.0216, 0.7986, 0.6044, -0.3935, -0.0162, -0.0303, 0.9969] state[eef_state]: left_x=0.3941 left_y=-0.137 left_z=0.0301 left_yaw=0.0372 left_pitch=-0.0822 left_roll=0.035 left_gripper=0.0094 right_x=0.2933 right_y=0.0001 right_z=0.1761 right_yaw=-0.0023 right_pitch=-0.0183 right_roll=0.0027 right_gripper=0.9969 state[joint_eff]: [-0.3897, -7.0085, 4.8068, 1.4774, -0.1538, 0.0415, 0.6764, -0.0889, -1.265, 7.1863, 1.7558, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.415,"left_z":0.07},"note":"The gripper closed almost completely, so it missed the teal bowl. The fingers appear to have slipped into its opening; I’ll reopen, move a little farther over it, and approach its raised rim instead."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe bowl’s mouth is nearly as wide as the open gripper, so closing across its center lets the fingers slip inside. I’ll approach one side of the rim instead, where the jaws can pinch its wall.
move_to
left_z0.1300left_y-0.1850left_x0.4050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5056, 1.7359, 0.8017, 0.1452, -0.4458, -0.3557, 0.9947, -0.0216, 0.7986, 0.6044, -0.3931, -0.0162, -0.0299, 0.9969] state[eef_state]: left_x=0.4052 left_y=-0.1332 left_z=0.0483 left_yaw=0.0479 left_pitch=-0.1236 left_roll=0.0494 left_gripper=0.9947 right_x=0.2934 right_y=0.0001 right_z=0.1762 right_yaw=-0.0026 right_pitch=-0.0179 right_roll=0.003 right_gripper=0.9969 state[joint_eff]: [0.4034, -9.894, 8.4991, 1.5702, -0.1685, 0.1392, -0.022, -0.2393, -1.2786, 6.9812, 1.746, -0.0562, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"left_y":-0.185,"left_x":0.405},"note":"The bowl’s mouth is nearly as wide as the open gripper, so closing across its center lets the fingers slip inside. I’ll approach one side of the rim instead, where the jaws can pinch its wall."})
tool
executing move_to over 6 steps (0.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe teal bowl’s near-side rim now falls between the jaws rather than filling their whole opening. I’ll lower to that rim height for a one-wall pinch.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6308, 1.7069, 1.0721, -0.2089, -0.5125, -0.4549, 0.9955, -0.0216, 0.8024, 0.6041, -0.3935, -0.0166, -0.0303, 0.9969] state[eef_state]: left_x=0.4066 left_y=-0.1853 left_z=0.1094 left_yaw=0.032 left_pitch=-0.1374 left_roll=0.0448 left_gripper=0.9955 right_x=0.2935 right_y=0.0002 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9969 state[joint_eff]: [-0.6085, -10.6735, 8.253, 1.2576, -0.3736, 0.0611, 0.0757, -0.1436, -1.4564, 7.0769, 1.7265, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The teal bowl’s near-side rim now falls between the jaws rather than filling their whole opening. I’ll lower to that rim height for a one-wall pinch."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe fingers are straddling the teal bowl’s right-hand wall at rim height. I’ll close gently and use the settled opening to tell whether that wall is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6376, 1.8042, 0.96, -0.0738, -0.5137, -0.4618, 0.9956, -0.0216, 0.8043, 0.6041, -0.4004, -0.0166, -0.0299, 0.9969] state[eef_state]: left_x=0.3951 left_y=-0.1802 left_z=0.0478 left_yaw=0.0375 left_pitch=-0.195 left_roll=0.0871 left_gripper=0.9956 right_x=0.2927 right_y=0.0002 right_z=0.173 right_yaw=-0.0022 right_pitch=-0.0313 right_roll=0.0035 right_gripper=0.9969 state[joint_eff]: [0.6359, -8.9915, 6.694, 1.7607, -0.2418, 0.0415, -0.0024, -0.0068, -1.4154, 7.0769, 1.7998, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are straddling the teal bowl’s right-hand wall at rim height. I’ll close gently and use the settled opening to tell whether that wall is held."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe teal bowl slid aside when the jaws closed, so that pinch did not hold it. I’ll park the left arm and try the pink bowl with the right gripper, keeping the blue bowl as the stacking base.
move_to
left_x0.2900left_y0.0000left_z0.1900left_gripper1.0000right_x0.3900right_y0.1500right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.635, 1.8183, 0.9482, -0.0715, -0.5213, -0.4614, 0.0214, -0.0216, 0.8082, 0.6041, -0.4118, -0.0166, -0.0299, 0.9969] state[eef_state]: left_x=0.3924 left_y=-0.1753 left_z=0.039 left_yaw=0.0485 left_pitch=-0.2095 left_roll=0.1074 left_gripper=0.0214 right_x=0.2913 right_y=0.0002 right_z=0.1696 right_yaw=-0.0022 right_pitch=-0.0465 right_roll=0.0038 right_gripper=0.9969 state[joint_eff]: [-0.2667, -9.6068, 7.1043, 1.2674, -0.1343, -0.0171, 0.9646, -0.1026, -1.5932, 7.0222, 1.8242, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.39,"right_y":0.15,"right_z":0.12},"note":"The teal bowl slid aside when the jaws closed, so that pinch did not hold it. I’ll park the left arm and try the pink bowl with the right gripper, keeping the blue bowl as the stacking base."})
tool
executing move_to over 16 steps (1.6s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe pink bowl is visible to the right of the right gripper’s jaw column. I’ll shift that gripper sideways and slightly forward to center its fingers on the bowl before lowering.
move_to
right_x0.3970right_y0.1050right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.9775, 0.8131, -0.6525, -0.2298, -0.1085, 0.9965, 0.5301, 1.5066, 0.7906, -0.0467, 0.3939, 0.2817, 0.9969] state[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1736 left_yaw=0.0959 left_pitch=-0.2212 left_roll=0.0997 left_gripper=0.9965 right_x=0.3741 right_y=0.1448 right_z=0.0989 right_yaw=0.0354 right_pitch=-0.1232 right_roll=-0.0363 right_gripper=0.9969 state[joint_eff]: [0.2393, -2.8239, 10.0991, 1.5849, -0.0757, 0.1978, -0.0269, 0.1573, -6.694, 8.9915, 1.6728, 0.4371, 0.2369, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.397,"right_y":0.105,"right_z":0.09},"note":"The pink bowl is visible to the right of the right gripper’s jaw column. I’ll shift that gripper sideways and slightly forward to center its fingers on the bowl before lowering."})
tool
executing move_to over 4 steps (0.4s)
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 pink bowl is now centered between the open jaws. I’ll lower only to its upper wall, where the gripper can catch the rim instead of slipping into the bowl.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.9833, 0.8131, -0.6739, -0.2142, -0.1017, 0.9971, 0.3763, 1.5227, 0.7631, -0.0124, 0.3058, 0.1936, 0.9969] state[eef_state]: left_x=0.2895 left_y=-0.0019 left_z=0.1682 left_yaw=0.08 left_pitch=-0.2507 left_roll=0.0996 left_gripper=0.9971 right_x=0.3877 right_y=0.0999 right_z=0.0843 right_yaw=0.0004 right_pitch=-0.1595 right_roll=-0.0517 right_gripper=0.9969 state[joint_eff]: [-0.0068, -2.7692, 6.7624, 1.7118, -0.2271, -0.1245, 0.0562, -0.1983, -5.3812, 6.694, 2.0049, 0.1538, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pink bowl is now centered between the open jaws. I’ll lower only to its upper wall, where the gripper can catch the rim instead of slipping into the bowl."})
tool
executing move_to over 2 steps (0.2s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe last very short descent did not reach its target; the right gripper is still about 9 cm above the table. I’ll continue down in a controlled step while watching the bowl and the actual height readback.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.9833, 0.8131, -0.6743, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0242, 0.2714, 0.1596, 0.9969] state[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1682 left_yaw=0.0828 left_pitch=-0.2506 left_roll=0.1022 left_gripper=0.9972 right_x=0.3928 right_y=0.1033 right_z=0.0884 right_yaw=0.0378 right_pitch=-0.1366 right_roll=-0.0434 right_gripper=0.9969 state[joint_eff]: [-0.0889, -2.1128, 6.7761, 1.4286, -0.1343, -0.0317, -0.0073, 0.0205, -5.6137, 6.8308, 1.7558, 0.1001, 0.0171, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The last very short descent did not reach its target; the right gripper is still about 9 cm above the table. I’ll continue down in a controlled step while watching the bowl and the actual height readback."})
tool
executing move_to over 4 steps (0.4s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe right gripper has stopped descending at about 8.8 cm despite a lower command, consistent with its fingers meeting the bowl. I’ll close at this rim height and check whether the pink bowl is held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.984, 0.8131, -0.6758, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0246, 0.2714, 0.1596, 0.9969] state[eef_state]: left_x=0.2892 left_y=-0.0012 left_z=0.1677 left_yaw=0.0829 left_pitch=-0.2528 left_roll=0.1028 left_gripper=0.9972 right_x=0.3928 right_y=0.1034 right_z=0.0885 right_yaw=0.0378 right_pitch=-0.1363 right_roll=-0.0433 right_gripper=0.9969 state[joint_eff]: [0.0068, -2.1812, 6.7624, 1.4335, -0.149, -0.0562, -0.0171, -0.0342, -5.3402, 6.8444, 1.7802, 0.0513, 0.0073, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper has stopped descending at about 8.8 cm despite a lower command, consistent with its fingers meeting the bowl. I’ll close at this rim height and check whether the pink bowl is held."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe pink bowl also remained inside the closed fingers, so a centered grip is not working. I’ll reopen, rise clear, and reposition the jaws to capture just one side of its rim.
move_to
right_gripper1.0000right_y0.0450right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.757, 0.0219, 0.271, 0.1558, 0.0097] state[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3915 right_y=0.1029 right_z=0.0866 right_yaw=0.04 right_pitch=-0.1422 right_roll=-0.0479 right_gripper=0.0097 state[joint_eff]: [0.0068, -2.0855, 6.7624, 1.4774, -0.1099, -0.0073, -0.0171, -0.1436, -6.5162, 6.4889, 1.6288, 0.0855, 0.0464, 0.7741] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.045,"right_z":0.14},"note":"The pink bowl also remained inside the closed fingers, so a centered grip is not working. I’ll reopen, rise clear, and reposition the jaws to capture just one side of its rim."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pink bowl’s outer rim now lies around the jaw column instead of enclosing both fingers. I’ll descend beside that wall, then try to pinch it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1677, 1.3911, 0.8043, -0.1864, 0.1345, 0.0223, 0.9953] state[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3835 right_y=0.0445 right_z=0.115 right_yaw=0.029 right_pitch=-0.1965 right_roll=-0.0622 right_gripper=0.9953 state[joint_eff]: [-0.0889, -2.3453, 6.8855, 1.4286, -0.1636, -0.0513, -0.0122, -0.3077, -7.4598, 10.2632, 1.5263, -0.0757, 0.0415, -0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pink bowl’s outer rim now lies around the jaw column instead of enclosing both fingers. I’ll descend beside that wall, then try to pinch it."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe right gripper is beside the pink bowl at about 5 cm above the table, with one rim wall between its fingers. I’ll close and inspect the gripper opening for a real pinch.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.9848, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.1638, 1.486, 0.6727, -0.0399, 0.1219, 0.0177, 0.9956] state[eef_state]: left_x=0.2891 left_y=-0.0012 left_z=0.1674 left_yaw=0.083 left_pitch=-0.2543 left_roll=0.1031 left_gripper=0.9972 right_x=0.369 right_y=0.0429 right_z=0.0535 right_yaw=0.036 right_pitch=-0.2773 right_roll=-0.0671 right_gripper=0.9956 state[joint_eff]: [-0.0752, -2.4137, 6.7624, 1.4237, -0.1636, -0.0659, -0.0122, 0.3214, -6.1607, 7.0632, 1.9805, 0.1343, 0.0073, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is beside the pink bowl at about 5 cm above the table, with one rim wall between its fingers. I’ll close and inspect the gripper opening for a real pinch."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe gripper reading is nearly fully closed, which usually means a miss, but a thin bowl wall could also register that way. I’ll lift a few centimeters to verify whether the pink bowl follows.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.9848, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.4963, 0.6529, -0.0113, 0.1204, 0.0063, 0.0095] state[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1675 left_yaw=0.0826 left_pitch=-0.2539 left_roll=0.1031 left_gripper=0.9972 right_x=0.3672 right_y=0.0427 right_z=0.0471 right_yaw=0.0433 right_pitch=-0.2794 right_roll=-0.074 right_gripper=0.0095 state[joint_eff]: [-0.0752, -2.359, 6.8855, 1.453, -0.1001, -0.0464, -0.0171, 0.0342, -7.241, 5.7231, 1.4969, 0.0757, 0.0855, 0.7692] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper reading is nearly fully closed, which usually means a miss, but a thin bowl wall could also register that way. I’ll lift a few centimeters to verify whether the pink bowl follows."})
tool
executing move_to over 6 steps (0.6s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe pink bowl stayed on the table. I suspect the fingertips were behind its rim rather than around its outer wall, so I’ll reopen and approach several centimeters farther forward while recentering.
move_to
right_gripper1.0000right_x0.4300right_y0.1050right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.9855, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.3533, 0.886, -0.3565, 0.1177, 0.001, 0.0115] state[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1673 left_yaw=0.0827 left_pitch=-0.2546 left_roll=0.1032 left_gripper=0.9972 right_x=0.3734 right_y=0.0442 right_z=0.133 right_yaw=0.0496 right_pitch=-0.2492 right_roll=-0.0719 right_gripper=0.0115 state[joint_eff]: [-0.0889, -2.4137, 6.8581, 1.4139, -0.1197, -0.0366, -0.0171, -0.2393, -5.9692, 8.7726, 1.4237, 0.0855, 0.0073, 0.5739] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.43,"right_y":0.105,"right_z":0.11},"note":"The pink bowl stayed on the table. I suspect the fingertips were behind its rim rather than around its outer wall, so I’ll reopen and approach several centimeters farther forward while recentering."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe pink bowl now sits deeper between the open fingers in the wrist view, after the forward correction. I’ll descend a little farther so the jaws meet the narrower outside of the bowl.
move_to
right_x0.4400right_y0.1020right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.9894, 0.8127, -0.6762, -0.2173, -0.1013, 0.9972, 0.3153, 1.6451, 1.0332, -0.3023, 0.1989, 0.0875, 0.9955] state[eef_state]: left_x=0.2894 left_y=-0.0013 left_z=0.1661 left_yaw=0.0829 left_pitch=-0.2587 left_roll=0.1042 left_gripper=0.9972 right_x=0.412 right_y=0.1014 right_z=0.0911 right_yaw=0.0777 right_pitch=-0.3234 right_roll=-0.0929 right_gripper=0.9955 state[joint_eff]: [-0.0342, -2.5641, 6.7897, 1.4042, -0.1001, -0.022, -0.0171, 0.3624, -7.8291, 9.6615, 1.6435, 0.2271, 0.2173, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.102,"right_z":0.06},"note":"The pink bowl now sits deeper between the open fingers in the wrist view, after the forward correction. I’ll descend a little farther so the jaws meet the narrower outside of the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteAt this lower, farther-forward pose, the pink bowl spans the gap between the jaws with the fingertips outside its sides. I’ll close now and check the opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.9913, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.2981, 1.7714, 1.0416, -0.2371, 0.1917, 0.0742, 0.9961] state[eef_state]: left_x=0.2895 left_y=-0.0013 left_z=0.1657 left_yaw=0.083 left_pitch=-0.2606 left_roll=0.1047 left_gripper=0.9972 right_x=0.4232 right_y=0.0986 right_z=0.0518 right_yaw=0.07 right_pitch=-0.3767 right_roll=-0.1084 right_gripper=0.9961 state[joint_eff]: [-0.0752, -2.2496, 6.7214, 1.4042, -0.1343, -0.0317, -0.0122, -0.4034, -9.4838, 8.8684, 1.4823, 0.0317, -0.0855, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At this lower, farther-forward pose, the pink bowl spans the gap between the jaws with the fingertips outside its sides. I’ll close now and check the opening."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe pink bowl shifted left when the jaws closed, confirming that the last grip pushed rather than held it. I’ll follow its new position and approach a little higher on its outer rim.
move_to
right_gripper1.0000right_x0.4050right_y0.1550right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.9913, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.2924, 1.808, 1.0447, -0.1993, 0.1707, 0.0597, 0.0174] state[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1657 left_yaw=0.0834 left_pitch=-0.2602 left_roll=0.1046 left_gripper=0.9972 right_x=0.429 right_y=0.1015 right_z=0.0423 right_yaw=0.0916 right_pitch=-0.3771 right_roll=-0.0984 right_gripper=0.0174 state[joint_eff]: [-0.0342, -2.4137, 6.7624, 1.4432, -0.149, -0.022, -0.0122, -0.1846, -9.7436, 8.3487, 1.4335, 0.2369, 0.0269, 0.7253] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.405,"right_y":0.155,"right_z":0.11},"note":"The pink bowl shifted left when the jaws closed, confirming that the last grip pushed rather than held it. I’ll follow its new position and approach a little higher on its outer rim."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe pink bowl is near the open right jaws but still slightly left and forward of their grasp point. I’ll make a small forward-and-sideways correction while staying near the top of its rim.
move_to
right_x0.4250right_y0.1750right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 0.9951, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4591, 1.742, 1.1786, -0.4816, 0.2394, 0.1757, 0.996] state[eef_state]: left_x=0.2896 left_y=-0.0012 left_z=0.1645 left_yaw=0.0837 left_pitch=-0.2647 left_roll=0.1057 left_gripper=0.9972 right_x=0.3983 right_y=0.1542 right_z=0.0831 right_yaw=0.1202 right_pitch=-0.4345 right_roll=-0.1121 right_gripper=0.996 state[joint_eff]: [-0.0342, -2.6872, 6.8308, 1.4335, -0.105, -0.0562, -0.0122, 0.2667, -10.8513, 9.5521, 1.1795, 0.2711, 0.0952, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.175,"right_z":0.075},"note":"The pink bowl is near the open right jaws but still slightly left and forward of their grasp point. I’ll make a small forward-and-sideways correction while staying near the top of its rim."})
tool
executing move_to over 3 steps (0.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pink bowl is aligned sideways, but the overhead view puts the fingertips just behind its center. I’ll advance slightly so the closing fingers meet both sides of the bowl rather than its near lip.
move_to
right_x0.4450right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 0.997, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4725, 1.8568, 1.2713, -0.5079, 0.2466, 0.1833, 0.9962] state[eef_state]: left_x=0.2897 left_y=-0.0013 left_z=0.164 left_yaw=0.0834 left_pitch=-0.2665 left_roll=0.1061 left_gripper=0.9972 right_x=0.4122 right_y=0.1662 right_z=0.0656 right_yaw=0.1145 right_pitch=-0.4773 right_roll=-0.1328 right_gripper=0.9962 state[joint_eff]: [-0.0479, -2.359, 6.735, 1.3944, -0.1538, -0.0366, -0.0171, 0.4034, -10.3863, 8.8137, 1.243, 0.0806, 0.0366, 0.0073] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_z":0.075},"note":"The pink bowl is aligned sideways, but the overhead view puts the fingertips just behind its center. I’ll advance slightly so the closing fingers meet both sides of the bowl rather than its near lip."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe arm cannot advance farther at this low height, and the pink bowl now fills the jaw opening nearly symmetrically. I’ll make one grip attempt here and verify it by lifting if the opening shows a hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 1.0012, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2766, -0.4988, 0.2462, 0.1837, 0.9962] state[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.1629 left_yaw=0.0841 left_pitch=-0.2706 left_roll=0.1071 left_gripper=0.9972 right_x=0.4134 right_y=0.1688 right_z=0.0563 right_yaw=0.1158 right_pitch=-0.4906 right_roll=-0.1378 right_gripper=0.9962 state[joint_eff]: [-0.0205, -2.2085, 6.735, 1.4725, -0.1294, -0.0806, -0.0122, 0.0479, -10.7829, 8.8274, 1.2772, 0.1636, 0.0415, -0.0122] 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":{"right_gripper":0},"note":"The arm cannot advance farther at this low height, and the pink bowl now fills the jaw opening nearly symmetrically. I’ll make one grip attempt here and verify it by lifting if the opening shows a hold."})
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
assistant
agent noteThe pink bowl again stayed in place, so I’ll stop repeating that grip and return to the more accessible teal bowl. I’m parking the right arm and approaching the teal bowl farther forward than on the first attempt.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.4300left_y-0.1400left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 1.0008, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2758, -0.5011, 0.2462, 0.1802, 0.0092] state[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.163 left_yaw=0.084 left_pitch=-0.2702 left_roll=0.107 left_gripper=0.9972 right_x=0.4128 right_y=0.1685 right_z=0.0558 right_yaw=0.1173 right_pitch=-0.4938 right_roll=-0.1409 right_gripper=0.0092 state[joint_eff]: [-0.0342, -2.441, 6.9128, 1.4188, -0.1538, -0.0317, -0.0122, -0.1026, -9.7162, 6.2291, 1.1404, 0.1538, 0.0904, 0.7448] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.43,"left_y":-0.14,"left_z":0.1},"note":"The pink bowl again stayed in place, so I’ll stop repeating that grip and return to the more accessible teal bowl. I’m parking the right arm and approaching the teal bowl farther forward than on the first attempt."})
tool
executing move_to over 15 steps (1.5s)
step 197
assistant
agent noteThe teal bowl is forward of the left fingertips but sits left of their jaw column. I’ll correct that sideways offset and bring the open jaws down toward the upper outside wall.
move_to
left_x0.4300left_y-0.1030left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4789, 1.7588, 1.1614, -0.4065, -0.403, -0.3717, 0.9972, 0.0185, 1.1995, 1.0557, -0.9237, 0.054, -0.197, 0.9959] state[eef_state]: left_x=0.4157 left_y=-0.1337 left_z=0.0871 left_yaw=0.076 left_pitch=-0.323 left_roll=0.1245 left_gripper=0.9972 right_x=0.2942 right_y=-0.0005 right_z=0.1665 right_yaw=0.0749 right_pitch=-0.5068 right_roll=-0.1486 right_gripper=0.9959 state[joint_eff]: [-0.4718, -9.0188, 8.6222, 1.2283, -0.4908, -0.0464, -0.0122, -0.1983, -4.3419, 9.6615, 1.2527, -0.1832, 0.1001, -0.1636] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.103,"left_z":0.065},"note":"The teal bowl is forward of the left fingertips but sits left of their jaw column. I’ll correct that sideways offset and bring the open jaws down toward the upper outside wall."})
tool
executing move_to over 3 steps (0.3s)
step 200
assistant
agent noteThe teal bowl is almost centered but still a little left of the jaw gap. I’ll make one small correction so both fingertips can meet its sides together.
move_to
left_x0.4360left_y-0.0850left_z0.0670
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4015, 1.7771, 1.108, -0.3305, -0.3683, -0.3275, 0.9972, 0.0162, 1.2011, 1.0561, -0.9512, 0.0433, -0.2192, 0.9962] state[eef_state]: left_x=0.4225 left_y=-0.1064 left_z=0.068 left_yaw=0.1002 left_pitch=-0.3374 left_roll=0.1246 left_gripper=0.9972 right_x=0.2884 right_y=0.0006 right_z=0.163 right_yaw=0.0978 right_pitch=-0.5365 right_roll=-0.1473 right_gripper=0.9962 state[joint_eff]: [0.1983, -7.8017, 6.735, 1.5311, -0.1734, 0.232, -0.0122, 0.0889, -3.5897, 6.5299, 1.3016, 0.0757, 0.1538, 0.0171] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.436,"left_y":-0.085,"left_z":0.067},"note":"The teal bowl is almost centered but still a little left of the jaw gap. I’ll make one small correction so both fingertips can meet its sides together."})
tool
executing move_to over 2 steps (0.2s)
step 202
assistant
agent noteThe teal bowl is now centered in the left wrist view, and its outside edges lie between the open fingers. I’ll close at this higher position and check for a nonzero held width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3752, 1.7771, 1.0962, -0.3096, -0.3489, -0.3107, 0.9972, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2157, 0.9962] state[eef_state]: left_x=0.4251 left_y=-0.0987 left_z=0.0655 left_yaw=0.0998 left_pitch=-0.3382 left_roll=0.1158 left_gripper=0.9972 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.0973 right_pitch=-0.5374 right_roll=-0.1454 right_gripper=0.9962 state[joint_eff]: [0.7179, -8.1436, 7.5282, 1.2332, -0.2125, 0.1001, -0.0122, -0.2393, -3.9179, 6.7214, 1.0476, 0.0024, -0.0708, -0.0122] 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_gripper":0},"note":"The teal bowl is now centered in the left wrist view, and its outside edges lie between the open fingers. I’ll close at this higher position and check for a nonzero held width."})
tool
executing move_to over 10 steps (1.0s)
step 212
assistant
agent noteThe left gripper again closed empty; its center finger is visible inside the bowl while the rim is still ahead of the fingertip position. I’ll reopen and move farther forward before trying another closure.
move_to
left_gripper1.0000left_x0.4700left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3702, 1.7771, 1.0962, -0.3187, -0.3485, -0.3031, 0.0084, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2211, 0.9962] state[eef_state]: left_x=0.4238 left_y=-0.096 left_z=0.0643 left_yaw=0.1016 left_pitch=-0.347 left_roll=0.1248 left_gripper=0.0084 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.1006 right_pitch=-0.5378 right_roll=-0.1482 right_gripper=0.9962 state[joint_eff]: [0.1573, -8.1299, 7.5145, 1.2234, -0.1636, 0.0708, 0.6667, -0.1709, -3.7949, 6.4752, 1.0916, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.47,"left_z":0.11},"note":"The left gripper again closed empty; its center finger is visible inside the bowl while the rim is still ahead of the fingertip position. I’ll reopen and move farther forward before trying another closure."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteAdvancing brought the teal bowl down near the fingertips in the wrist image, which was missing before. I’ll lower at this more forward position so the jaws can straddle its actual outside wall.
move_to
left_x0.4750left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3328, 1.8595, 1.3716, -0.5121, -0.3302, -0.2806, 0.9946, 0.0177, 1.2026, 1.0515, -0.947, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.4621 left_y=-0.0953 left_z=0.1038 left_yaw=0.1112 left_pitch=-0.3558 left_roll=0.1248 left_gripper=0.9946 right_x=0.2885 right_y=0.0011 right_z=0.1614 right_yaw=0.1012 right_pitch=-0.5386 right_roll=-0.148 right_gripper=0.9962 state[joint_eff]: [0.4991, -8.1436, 8.9504, 1.2283, -0.1538, 0.0806, -0.0122, -0.0479, -3.7949, 6.5299, 1.0672, -0.022, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_z":0.065},"note":"Advancing brought the teal bowl down near the fingertips in the wrist image, which was missing before. I’ll lower at this more forward position so the jaws can straddle its actual outside wall."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteAt this forward position the teal bowl has nearly disappeared below the wrist image, so the fingertips may have passed its center. I’ll retreat about 2 cm to put its rim back near the closing line.
move_to
left_x0.4490left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.329, 1.924, 1.3468, -0.4328, -0.329, -0.2768, 0.9955, 0.0177, 1.2045, 1.0496, -0.9543, 0.0433, -0.2214, 0.9962] state[eef_state]: left_x=0.4696 left_y=-0.0962 left_z=0.0755 left_yaw=0.1135 left_pitch=-0.3655 left_roll=0.1308 left_gripper=0.9955 right_x=0.2866 right_y=0.001 right_z=0.1594 right_yaw=0.1014 right_pitch=-0.5496 right_roll=-0.1473 right_gripper=0.9962 state[joint_eff]: [0.7316, -9.5111, 5.6957, 1.2576, -0.1148, 0.0464, 0.0806, -0.1709, -3.9316, 6.5846, 1.1306, -0.0024, -0.0562, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.449,"left_z":0.07},"note":"At this forward position the teal bowl has nearly disappeared below the wrist image, so the fingertips may have passed its center. I’ll retreat about 2 cm to put its rim back near the closing line."})
tool
executing move_to over 2 steps (0.2s)
step 227
assistant
agent noteThe teal bowl is now directly beneath the fingertips in the overhead view and has dropped out of the wrist camera’s forward view. I’ll test a closure at this contact position, then immediately check the gripper reading.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3325, 1.9419, 1.3056, -0.4068, -0.3302, -0.2806, 0.9956, 0.0177, 1.2049, 1.0492, -0.9543, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.4621 left_y=-0.0952 left_z=0.0559 left_yaw=0.1189 left_pitch=-0.3947 left_roll=0.1448 left_gripper=0.9956 right_x=0.2865 right_y=0.0011 right_z=0.1591 right_yaw=0.1018 right_pitch=-0.5503 right_roll=-0.1468 right_gripper=0.9962 state[joint_eff]: [-0.6769, -13.4906, 6.0513, 1.2576, -0.2808, -0.0269, 0.0024, -0.1162, -3.3436, 6.4479, 1.1209, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The teal bowl is now directly beneath the fingertips in the overhead view and has dropped out of the wrist camera’s forward view. I’ll test a closure at this contact position, then immediately check the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThat closure was empty too. I’ll lift clear and rotate the left jaws so they can approach the teal bowl’s rim from a different direction, instead of repeatedly closing through its open center.
move_to
left_gripper1.0000left_x0.4250left_y-0.1000left_z0.1400left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.337, 1.9297, 1.2972, -0.4141, -0.3302, -0.2855, 0.0129, 0.0177, 1.2045, 1.0485, -0.9623, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.4585 left_y=-0.0962 left_z=0.0575 left_yaw=0.1179 left_pitch=-0.3973 left_roll=0.1434 left_gripper=0.0129 right_x=0.2846 right_y=0.0011 right_z=0.1581 right_yaw=0.1023 right_pitch=-0.5587 right_roll=-0.146 right_gripper=0.9962 state[joint_eff]: [-0.294, -12.9436, 5.8735, 1.1941, -0.2418, -0.0073, 0.1978, -0.335, -3.5897, 6.6667, 1.199, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.425,"left_y":-0.1,"left_z":0.14,"left_yaw":1.2},"note":"That closure was empty too. I’ll lift clear and rotate the left jaws so they can approach the teal bowl’s rim from a different direction, instead of repeatedly closing through its open center."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteWith the jaws turned, the teal bowl is visible along one side of the wrist view rather than centered. I’ll finish the rotation and shift toward its rim before lowering further.
move_to
left_yaw1.5700left_x0.4200left_y-0.0750left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4568, 2.2871, 2.1536, -1.4414, -0.5842, -1.4574, 0.9938, 0.0177, 1.2072, 1.0485, -0.9688, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.4422 left_y=-0.1048 left_z=0.1207 left_yaw=1.0347 left_pitch=-0.4173 left_roll=0.0763 left_gripper=0.9938 right_x=0.2833 right_y=0.001 right_z=0.1567 right_yaw=0.1028 right_pitch=-0.5678 right_roll=-0.1451 right_gripper=0.9962 state[joint_eff]: [0.6085, -13.1624, 4.8205, 0.0562, -0.4029, -0.0659, 0.1685, -0.1026, -3.494, 6.5983, 1.0916, -0.0122, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.57,"left_x":0.42,"left_y":-0.075,"left_z":0.08},"note":"With the jaws turned, the teal bowl is visible along one side of the wrist view rather than centered. I’ll finish the rotation and shift toward its rim before lowering further."})
tool
executing move_to over 4 steps (0.4s)
step 251
assistant
agent noteThe turned gripper still sees the teal bowl to the left of its jaw gap. I’ll bring the fingers back and sideways toward it, ending near the bowl’s upper wall.
move_to
left_x0.3920left_y-0.0740left_z0.0670left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.429, 2.3829, 2.204, -1.5528, -0.5659, -1.7111, 0.9949, 0.0177, 1.2083, 1.0485, -0.9688, 0.0433, -0.2211, 0.9962] state[eef_state]: left_x=0.4301 left_y=-0.0886 left_z=0.0929 left_yaw=1.2841 left_pitch=-0.4173 left_roll=0.0962 left_gripper=0.9949 right_x=0.2833 right_y=0.001 right_z=0.1564 right_yaw=0.1022 right_pitch=-0.569 right_roll=-0.1452 right_gripper=0.9962 state[joint_eff]: [-0.1299, -12.7795, 6.7897, -0.2271, -0.2759, -0.1538, 0.0904, -0.3487, -3.9316, 6.5573, 1.1111, 0.0122, -0.022, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.392,"left_y":-0.074,"left_z":0.067,"left_yaw":1.57},"note":"The turned gripper still sees the teal bowl to the left of its jaw gap. I’ll bring the fingers back and sideways toward it, ending near the bowl’s upper wall."})
tool
executing move_to over 3 steps (0.3s)
step 254
assistant
agent noteThe rotated approach has stalled against the bowl. I’ll retreat upward with the fingers closed, then try an inside-out hold: insert the closed jaws into the bowl and open them against its inner walls.
move_to
left_z0.2000left_x0.3400left_y-0.1400left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4255, 2.3825, 2.2044, -1.557, -0.5659, -1.7294, 0.9949, 0.0177, 1.2102, 1.0473, -0.9695, 0.0433, -0.2214, 0.9962] state[eef_state]: left_x=0.4297 left_y=-0.0868 left_z=0.0933 left_yaw=1.2998 left_pitch=-0.4158 left_roll=0.0889 left_gripper=0.9949 right_x=0.283 right_y=0.001 right_z=0.1554 right_yaw=0.1027 right_pitch=-0.5728 right_roll=-0.145 right_gripper=0.9962 state[joint_eff]: [-0.4308, -12.8752, 6.7761, -0.1832, -0.3199, -0.1929, -0.0073, -0.1846, -3.6855, 6.5299, 1.0769, 0.0122, -0.0464, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_x":0.34,"left_y":-0.14,"left_yaw":0,"left_gripper":0},"note":"The rotated approach has stalled against the bowl. I’ll retreat upward with the fingers closed, then try an inside-out hold: insert the closed jaws into the bowl and open them against its inner walls."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe teal bowl is fully visible again, and the closed fingers provide a narrow insertion point. I’ll place that point over the bowl’s interior before opening it outward.
move_to
left_x0.3970left_y-0.1050left_z0.0900left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5823, 1.6569, 1.4982, -1.0645, -0.3916, -1.1748, 0.009, 0.0177, 1.2148, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962] state[eef_state]: left_x=0.351 left_y=-0.1461 left_z=0.1763 left_yaw=0.5056 left_pitch=-0.4979 left_roll=-0.1994 left_gripper=0.009 right_x=0.2826 right_y=0.001 right_z=0.1533 right_yaw=0.1033 right_pitch=-0.58 right_roll=-0.1444 right_gripper=0.9962 state[joint_eff]: [0.4444, -4.3419, 6.4205, 1.7949, -0.2857, 0.0708, 0.5934, -0.0615, -4.0547, 6.5983, 0.9646, 0.0024, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.105,"left_z":0.09,"left_yaw":0},"note":"The teal bowl is fully visible again, and the closed fingers provide a narrow insertion point. I’ll place that point over the bowl’s interior before opening it outward."})
tool
executing move_to over 6 steps (0.6s)
step 270
assistant
agent noteThe closed fingertip is now inside the teal bowl’s mouth, slightly off its center. I’ll move it a little farther into the bowl and down before expanding the jaws against the inner walls.
move_to
left_x0.4060left_y-0.0750left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3054, 1.6482, 1.1603, -0.6392, -0.1131, -0.5831, 0.0113, 0.0177, 1.2167, 1.0451, -0.9703, 0.0433, -0.2218, 0.9962] state[eef_state]: left_x=0.3793 left_y=-0.0949 left_z=0.0917 left_yaw=0.1592 left_pitch=-0.5559 left_roll=-0.178 left_gripper=0.0113 right_x=0.2826 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5823 right_roll=-0.1442 right_gripper=0.9962 state[joint_eff]: [0.3214, -6.2974, 6.2838, 1.2137, 0.0904, 0.2222, 0.2222, 0.0068, -3.9863, 6.5846, 1.0183, 0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.406,"left_y":-0.075,"left_z":0.035},"note":"The closed fingertip is now inside the teal bowl’s mouth, slightly off its center. I’ll move it a little farther into the bowl and down before expanding the jaws against the inner walls."})
tool
executing move_to over 4 steps (0.4s)
step 274
assistant
agent noteThe closed fingers are inside the teal bowl, and the descent has stopped against it. I’ll spread them to about 7 cm apart to press against the bowl’s inner walls, then test whether it lifts.
move_to
left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2821, 1.6775, 1.1458, -0.5594, -0.0483, -0.4595, 0.0128, 0.0177, 1.2167, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962] state[eef_state]: left_x=0.3909 left_y=-0.1007 left_z=0.0834 left_yaw=0.0356 left_pitch=-0.5332 left_roll=-0.1928 left_gripper=0.0128 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5819 right_roll=-0.1442 right_gripper=0.9962 state[joint_eff]: [-0.1436, -8.253, 6.6803, 1.3797, 0.0562, 0.2125, 0.1441, -0.0479, -3.8222, 6.8034, 1.0476, 0.0024, -0.0611, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7},"note":"The closed fingers are inside the teal bowl, and the descent has stopped against it. I’ll spread them to about 7 cm apart to press against the bowl’s inner walls, then test whether it lifts."})
tool
executing move_to over 7 steps (0.7s)
step 281
assistant
agent noteOpening inside the teal bowl shows the right finger just outside its rim and the left finger inside, so the grip is off-center. I’ll narrow the jaws, lift a little, and shift toward the bowl’s center before expanding again.
move_to
left_z0.1150left_y-0.0650left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2825, 1.6775, 1.1458, -0.5568, -0.0467, -0.4419, 0.6947, 0.0177, 1.2167, 1.0451, -0.9699, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.3913 left_y=-0.1012 left_z=0.0837 left_yaw=0.0224 left_pitch=-0.5294 left_roll=-0.186 left_gripper=0.6947 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1035 right_pitch=-0.5819 right_roll=-0.1436 right_gripper=0.9962 state[joint_eff]: [-0.1846, -8.2667, 6.6667, 1.3895, 0.0073, 0.0611, -0.1245, -0.0479, -3.8496, 6.4068, 1.0232, 0.0073, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.115,"left_y":-0.065,"left_gripper":0.55},"note":"Opening inside the teal bowl shows the right finger just outside its rim and the left finger inside, so the grip is off-center. I’ll narrow the jaws, lift a little, and shift toward the bowl’s center before expanding again."})
tool
executing move_to over 4 steps (0.4s)
step 285
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.178, 1.6585, 1.1694, -0.6472, -0.0147, -0.3836, 0.5525, 0.0177, 1.2167, 1.0451, -0.9699, 0.0429, -0.2214, 0.9962] state[eef_state]: left_x=0.3863 left_y=-0.0632 left_z=0.0892 left_yaw=0.067 left_pitch=-0.5778 left_roll=-0.1735 left_gripper=0.5525 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1035 right_pitch=-0.5819 right_roll=-0.1436 right_gripper=0.9962 state[joint_eff]: [-0.4855, -10.3453, 9.5795, 1.1062, 0.1929, 0.2564, 0.0904, -0.1026, -3.6991, 6.4479, 1.033, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [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 · 6.434 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.382, -0.0223, -0.0254, 0.9994, -0.0216, 0.7937, 0.6033, -0.379, -0.0166, -0.0334, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0002 right_z=0.1799 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6222, -1.5795, 10.0991, 1.7949, -0.0317, 0.1148, -0.0757, -0.335, -1.4564, 10.3043, 1.8193, -0.0904, 0.1734, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df01223fd44050f34f360abd6a8c87aeae56a548c1facecd0d3d4041481c9dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5598fa177c4604f28f82bc1ea6adf8223e5a828a64eb5b9f3f405f1e0265d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67694f52d0c2d682624f6a85710be509a22653fdf5d9751a8dd9ab3b33b709e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.611 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0d7de73a6f232f0b016ab435be8e5087d09e81f87e0e401923",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXEAA57e_KMLe1mx0LMohNV0Sb-ZsGQ-3SoC_KN9Mq61Qd0RMcSgyHUntxs114jGDSRLbrI40ggCW2vARB8pKwiRKWpPOHBautJ3skGpSrzggtYiV9Qfxn9mtdKfeXmDerNjLb6O59Q6-A5i1MQ8Ak88w7Z4ynIEMP8oKkpU_Az6MLZ9nzl2Ytlo--25iDFc2ciszntZq6FWzC0w5BPhjmFEYbGyG8K8UoKc0SBv5gDWOgQ5_EjQENw4dfJIRcVTUumj9zpMhNgdSp3L29jBKKZxJL8OU6JjcG7ysP2QJHSYoU_uvk3P7-d5iPrbGHhIi-ZnBGXiYXxLMaJmEU0cXhvQQXJPXfBs1PoNjxktT65OgQdKIxpvgiJqMap4ian31_nHw3wEZeR_9jakRDYps5QZBL-5GTdmGTEn1CVvc8eQnxN56yTns61xUB3ZpbBulEP3EBUEy1Za8-WaHRHaduQb93Jvm-AUiYWLMeVD94UWd2m6NvNU6nF4nSuvNUWE8cbqD3wzISQMZ_P1ZK7CV2Y0jia4MgyXk-pvj5ieW51SLXRbPR3EFm2ZTHid-4R9TgXerAoM2MiGYn5J7lGpIZPQXdjP0hb6AoUXNBLnH4-iBfjoBP31PAOljNHRjo4ZeXcG1ui7FKgXzWf3SOxzq-DCCqmyh9LeZgyt2w0mQilIk6E6azY0vu3kvL2LOiS-7Q8ucQGbaOyw6vhyQAEZY1L2BkjfEyPpzZbuc82R1eh9Gpb2ByLmBjw-jibd1e0CRAVDkOFWq4RC1NX4Y1sg4utm7B4j1F7wQa3FoX7sJuGpL6DfBTUDa0fGIvK_amOV2mI4Le_L3XTtZXagvPvSAGhjdldbyFAsy3IAAg_bR_LxDGiiMC27pQGJsCCWjG_aHM6K95BINs6HitNOPPFxHYODiZo349beonWQS3utkQUva0VAyl_H3yrjTXqL4JOZaEuU5o8migZZkx-Dk_wYNxmPII44L1hOj9T31en8JnBErL6Bl199tIu2NIxeFqnaWAWAd-bc2AJeF3WPSlmP2fP_8j7bPmD0bvXaRKcMsUm0Fnc1E8C261CfKIvLSupThvt19CpMRP1qyu0Dmix7wKrwZ_lHYdTQH2Yg0VD9fHZjoXxBu8R7fl8pPAlLIej8OYItgAHCa6mf8Yekz2DUVRJKbhONIWSyYOuKd6-WuwfeKr_G3ZwJwY_IaYMA7uf6YUHuSatCuBm3ZjqvnsqDxNbqA==",
  "id": "rs_0d7de73a6f232f0b016ab435c3375887d0abad801fef49874d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.15},\"note\":\"Three bowls are spread across the table, with the blue bowl in the middle. I’ll move the left gripper above the teal bowl to line up a rim grasp before stacking it on the blue one.\"}",
  "call_id": "call_M2Dw6v4eR5f6sUnCCmSHkfEs",
  "id": "fc_0d7de73a6f232f0b016ab435c37dc887d0afc2662159bd6252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2Dw6v4eR5f6sUnCCmSHkfEs",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6724, 1.544, 0.9302, -0.1349, -0.5362, -0.4206, 0.9993, -0.0216, 0.7975, 0.6048, -0.3893, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3796 left_y=-0.1822 left_z=0.1329 left_yaw=-0.016 left_pitch=-0.0529 left_roll=0.0269 left_gripper=0.9993 right_x=0.2939 right_y=0.0002 right_z=0.1775 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0031 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1453, 8.8547, 1.6386, -0.4127, -0.0122, -0.0171, -0.0615, -1.5248, 6.9128, 1.8584, -0.0464, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a8d3d8b8da7cdf7e1041b2597ffb89f3dfa0cd4979e5f9a340aec82a00b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac5f3b5911fc3e909501b61749e65637cc31582af6cc6c03a1d41d377085f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4dd06968759ecea17e66be3ccfd4b60b533f28ee2a030927ce4b39ef9e481b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.462 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]: [-0.02, 0.7952, 0.6044, -0.382, -0.0223, -0.0254, 0.9994, -0.0216, 0.7937, 0.6033, -0.379, -0.0166, -0.0334, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0002 right_z=0.1799 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6222, -1.5795, 10.0991, 1.7949, -0.0317, 0.1148, -0.0757, -0.335, -1.4564, 10.3043, 1.8193, -0.0904, 0.1734, -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]: [-0.6724, 1.544, 0.9302, -0.1349, -0.5362, -0.4206, 0.9993, -0.0216, 0.7975, 0.6048, -0.3893, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3796 left_y=-0.1822 left_z=0.1329 left_yaw=-0.016 left_pitch=-0.0529 left_roll=0.0269 left_gripper=0.9993 right_x=0.2939 right_y=0.0002 right_z=0.1775 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0031 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1453, 8.8547, 1.6386, -0.4127, -0.0122, -0.0171, -0.0615, -1.5248, 6.9128, 1.8584, -0.0464, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a8d3d8b8da7cdf7e1041b2597ffb89f3dfa0cd4979e5f9a340aec82a00b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac5f3b5911fc3e909501b61749e65637cc31582af6cc6c03a1d41d377085f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4dd06968759ecea17e66be3ccfd4b60b533f28ee2a030927ce4b39ef9e481b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXL3UlA6CWWJq7hzJjJVircAiinGxSiUOamqdlJ1FmHTFl5LMsFkLVHco6d7hsOUSz3rkmiu7CSuizXYpfJ1w4bSEF80_pWXtg4mC8N0EWwSd_B9GeS_WJ56Bl2JUKHcHauCtTXCPK__WU9Ru774H7wOXknh7kwskuN0fZ2k3cwXOAt8Hzlb_zkBLScEteQJa-uPiu7XrzKTODDHHhQrhhmVHJnLvQ1cntXrSJwjmVQQayybGVccUbF6KbVgg86-VEMtcJKcpbMCyPdaQiuOCxSt4Ws-aLNiMdcxjXC0dA4rdcCS6G8Q-nZ_o42S5fAFUDJhpONRJMytqxGq1l5RS1Sv6ww74C7yysg4Zjco0A2n5DGm-q7HologohiQj00pxCYJiG5AuAIj7SUqblmpE_NO-lA9qryMqeJI66hlLrPte-R3rPWMDA9hA7vJePF70pVN6AqaiSBLarj-MRKm25owLHXQqfiRsYybDy4psJBdRrKuwm1IjnWq_ESryljac_9CAZdvHQCeVGb0KZzJRjkvdzJZCt2CnSW2XjJLICXkSKogtu1liVknaYnbeIAj8I75mvstjKUePlauClqJEpWBaCF_TkWrs_HxZpx86uOLj8tW94SRjioxqADTMce-2RQDhHHUrFI1TSTweUgdnGDvM2bVHQwPpNKw4skZ9uJECCfVbnpHFhoFYq32s4IDsq-cgqFCyM0-JJN0TrBfwgI-HFTuqcjTwR5r8md6aN7CyVo6NpSHPw_Nrf_lCbXLSf_l7r2dmkYS1b35O71pF_PCRY580fPuGm2N_6w1P_PbJmO9Bqu6dCcOZ-XD0lh4cnhQdQ3DguI_1XbWgssA3kF26-Tf988DBaq7Kkavko0CFxZuIt3EY4YDjychFQCEEol6O5HIgqR5BFa3LQNvFr2-uaaYpeCIo2pf8qpOib1GKCa1A0eJlvQuxB3qNoE9jQksQ5NaQkkwBu2zD3OHUNkNm_3pJ_4zor5qWKgbk2ArUMc7oSI9s15M-ejhp_d37V4kZWvrGse2oHn9VOFlG_QzM7du6IEVoVb8ciEr_sbR8eLgfthtzQVphlhGjkU2eh5jC9pX6cyfaKj92pdUS97Sh6n406YpD2L3by3bSGAY6PFZ0z26eZPe_JMeDglX4pkalyUhl5pxrkpzVdZGJCxePT-WREN9ZVXV5v4ZsDW3ZQQUa30BPEscNOrPgN4HwO4nDhy3_fFqoOj28I7jVHbWv99pqfNjdNchc67BqEs-rZF-ALaG0waAR3Lp35r-k9VtJZTkN2VQyUxhci9o9OO1YrDajX25xxAiMsxals4JOCPnPVmNaFwZ72bCQ_S8nbPW_4UE5e5Hi7UVsO7IHlkpWpVq4UpFAwIGt6abDidm7K6gLnONkQNuE-ONNi8ZTf7uNNA9ozTCblhcowjf0oS3PR3knKvAODlRyQtZHOXWJpMLw7nL7LUdhYEEDt9kmqLiR911z3RU_S2Ub-Roye7QSjMYnQXsWypCmWa8NOBv6cZwyh3f5wRvQoSIje9EPI9uPHBL4_k16UyanwUDaBIPKZdmaTVKqmJEZMiOr-ojsHntXfaIP8axdFqGELHdar0QrRlXVTmR3C9ogTJjNAJ4FXoXGSKhNbO-BXtEwwNs6wINypkiAYBbNVw9whvoy7ETckThNfmJqlzU02RtxMPsCsxb0qqMM1-G_bLiDnT2BWSFI4KKQTBxvYYpVTuN_qOCi28w6dg4y15OyYu9lFp23ItKh-3jVQ5HWPgSsSdeECY2V5JogVkSPmo9e-K5dI7DNxNfj4XREKnIIpfEJYYA9XoAq41rbhQdp7AJPh1gn1P2yD0TInQK2HyUfS5SYw4ZxNs63epdILSDveTwne9UtYNp2T0e91lv1GlTBb_y6SR1yISnCLY3BTe6p6NIk6JJxxuJDbfBom8I_KSaxJ00hLtzkJaYtu93qfAYFmuP3lSzKMetSiEpKF1woNKzklvWf7Mr3k2Wh1TOKUmHiSRfx1Qeda8DB5Dalz_7g67nAYJVwHCc5-kei9830evpV8phFP5rWr4ewXkBdOScJvo0LddMZa0sImvTIdBDZ8xilGrWYeklvAkk2XassNLdZm4vn0z4MDjDCNJ4eVWQxCmnz1h9uRsUnYvSfm3bh0SxERNdnxdo9ePreSNsIdIbPVZGXW0PuoPBaJzu6nUG0H45dp_paIVL61byh5LbeDmhaIMs-YE00JSJNF4UAAhxcrrKgh5JyZR7hWDg3xoBNnh0xWocPsZ7rKuk6zdDPj_SALYJNNpNieXNdq3MmiIiyGjW7270Xkuv4fp0UHMED3HqYHakiOVZXIfxKGCFU_ulZwHxgn9DXgLujX1Sfg6LHkbO7CREPdaxyw9fgW65so4d503P9V-FvZrnGrHAhOj9TNuAS1DvkSWqYnvJhZnO0EKQ8fyjcFoQ17t6ZWfAYMLkk86kd2jKpnPoZRrjJ4G6qz8_cjA-Cj5t5Db7lQjw5tEQlv_nGcgh9hsqYBTAJ1IDtQziaNOHAbTz6Ugt9j8R0frQWHJI5U2k4-pqqYsyHU4mDjqU5SJetkH182kiduU3l-YzkB2tM_CMgwKdy27yE_gX481Cui-Eg0lfaNJyQICINybQmAsLE5un0pmS7CECKAD60dglkvwafowrZZ80AuMzTs_WI-6V5hM81qkFvanCisUU4kwHmNwhHmiY2eNLRm_WMDOE7eMDEZYd7UxzjyEcEBj5EZtTlr7Ni4aP3hWtT7fr3WMj_w6UnyPksYInhLZqHQ0t_P56LmNVDIfVSPEi--kxP0694xKCHRMa_x0gh6CoFBZEfll5iXEqSU_W1aOo5jg6DtEL5Gl3lUxxAdQgycbZvjDwh5q950FOzar5IsjrLZTpOZjFe8ua6lANKiSMX7yxloSfYZGlgeRNaKQ7oYvSENbZ110juanaSKpkjeFG8VpkIoI3Df8NXqZCQ==",
  "id": "rs_0d7de73a6f232f0b016ab435c6dfcc87d0bc07e810025379ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.145,\"left_z\":0.095},\"note\":\"The teal bowl is close beneath the left gripper but sits left of the jaw column in its wrist view. I’ll shift the gripper slightly toward it and lower to a more useful alignment height.\"}",
  "call_id": "call_G0NgFZhAOhyfzHRYFJJd4rcI",
  "id": "fc_0d7de73a6f232f0b016ab435ca613c87d096d9c084f54f3646",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G0NgFZhAOhyfzHRYFJJd4rcI",
  "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]: [-0.5373, 1.5906, 0.8124, 0.0139, -0.4652, -0.3553, 0.9993, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1369 left_z=0.0891 left_yaw=0.0297 left_pitch=-0.0953 left_roll=0.0481 left_gripper=0.9993 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.002 right_pitch=-0.0172 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -6.8718, 6.5846, 1.8926, -0.0366, 0.1343, -0.0122, -0.0889, -1.3607, 7.0359, 1.7411, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee02d370f34fe66192847fcf97e49181db6260e064b235d178b3b5b642868fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e3badcf6cd324fc4584899182de0b2a3b1c6560588b26ef07d203f75fb427b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9fbaf11b2a2d660b2924a1c305af3bb65a46351ab9658c85f941d8d6f13384",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.474 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6724, 1.544, 0.9302, -0.1349, -0.5362, -0.4206, 0.9993, -0.0216, 0.7975, 0.6048, -0.3893, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3796 left_y=-0.1822 left_z=0.1329 left_yaw=-0.016 left_pitch=-0.0529 left_roll=0.0269 left_gripper=0.9993 right_x=0.2939 right_y=0.0002 right_z=0.1775 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0031 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1453, 8.8547, 1.6386, -0.4127, -0.0122, -0.0171, -0.0615, -1.5248, 6.9128, 1.8584, -0.0464, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5373, 1.5906, 0.8124, 0.0139, -0.4652, -0.3553, 0.9993, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1369 left_z=0.0891 left_yaw=0.0297 left_pitch=-0.0953 left_roll=0.0481 left_gripper=0.9993 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.002 right_pitch=-0.0172 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -6.8718, 6.5846, 1.8926, -0.0366, 0.1343, -0.0122, -0.0889, -1.3607, 7.0359, 1.7411, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee02d370f34fe66192847fcf97e49181db6260e064b235d178b3b5b642868fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e3badcf6cd324fc4584899182de0b2a3b1c6560588b26ef07d203f75fb427b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9fbaf11b2a2d660b2924a1c305af3bb65a46351ab9658c85f941d8d6f13384",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXPTAX-mE7Mgtqhd9Ljq57iXeE-jwsJKtkk5uS05Iz1H5qmXUXiMHRHXM-5SbGrGK8qw49Q76I_tDlRxhJCtsUDqrcAUU8BPPVrhaxd1hRpr-qgB2D1hBROvFFOrb0eRxkyP-AxxBOCfBi26IlunN6vX2boL-eUvhdGsB_n52ytH3jg83vGfLvZrPa_k6jPP7-rE-NGzKCKJFhbff1UBOKgwCkWJUrivkmeGjXWHS6F0hmI3FeMncT__MVObrH7Scml4d8pReQZAwINbeNYqxiHQivKr8KHVFMuGTofgDCiPaStZEOqwt3H1JofQO6zYkpX8_BV2j0OVxzrAHoy3hF22yolKVv6Dgc6-W9bAqXlS7YZl1t3sYOQL5GmiydUBjqS9LOC4v01tr6npC7uOLzahBnIrRniRzjSuDiTN0P5DWJieO9h5FIZOLCoTeIOgvWSmeDQrv2xQg3Ai1AQ2AztKk24UppPohqrCYhMTJM9ybfpidtkmDT6nApkYmghmnlZ6U40DEkCvv1loJIjSbcwyL7gAxFA9UJyH4xnnIrstLUqdlEI76pinqBjdg_JFLIOjoqftnuluQyF90YtzGnlNYAIDGHGw4qG49t7aI82ath2a_9FxxcpQRhEGScCL2iMVj28mBC-6n3KbUwPXoPT74xCXClyWZRbPW63aAK366O8CMVYlj2EN7xpv-AUQ3dwajvkfHy0VsVQKu_mpQs59m4CZs8nSMdfcaFbtiqOf5jy5Z3d-jk6M3XTAjurlt_-ugMpZVWRY7qbZZc1Wk7xc_o01Ai-Y5O9AfKTEZXsI1sf8wO1K_mDt-6gZ_CGBCE6m2ibwOp08RaFjgV-DncP4gx1q4UUhCIoIIqJuDhpIwoG3KUpyj9e_OytV7OcTP8bbw3TVshA9u8Yuzs3PjoIPslMC9zKjs1THYxdeZMQydrgFbKUaOu1kWTE8TuhqyoF-NuKOUp0E5EWfUZyILYi93TD2AHiW6bFEAqh-nJktZ6BBWZGMDZmv_nlPjMqhxJd2dfxNlm1sisvPuK4F0R7IiS7-Gcb0pxKqlzGAmXFWTPmkRPEWliNai-nWrh8jzQ3AVAV9WiO8s1BkWblk36K4YowdkFy56RwaV6NfLxU8ikufk1twFbdl4vzWnMvGQ5GsFsAFCRdSGvbSQwaknis8hVfyrPtJpC5Z80O93-RkS1Dt1PV84njTvIPobjxoCxW9abrgecMHcYja5uBRAamR4b9TSfp432FnExxJsS04I4Xf8nOqPjtobkEKmwD5LgP03XQkT9m0fCCJ_3Z5FU7_OoVCymJouBX24EBc5RkYS7ueFfVHSJj86KjtQY8EwDnI8wBU11A1nk0FazYwk4DK-6jbhT5H_XWy4Xlqxs-mXKpmbEzOKQzk4IjOUlu4nmqbkie4RHwWmdbMnA6d4ZYewr6VAQbtbIwduo92SgImN8FGVwqQksdspPcpvwfF2z0gUglOCV9dz9lnz3OgXmAFqRbBTyay4AJNOpGBUTbprUlue2CpbIicPoJ7GGlEEl3aBVw1EkX4av9Okf_8EB8kvvCDkqDS5DBx_Ay4oe2AzMiSTMA1a5Ia9eHFsWUetBj10cJKv7kR2QxOm3oYDCr9pgFFNfgPRtArcwIh_zY4gKiCWetNKYc18DMTx_LJ-ULgibkJjz4hXrdNEgWwjbecyzgJ6MlCtfnMFrOVhQ7ZtInw049NR0nwiFKFS_9Hi79ih__uJPToz8iOSkgyswjcfhLWv2SQfnjvuwYTe4Z751dVumpKZ83LGyfGLCD8el44tPMDDspY-7lGqUaOfFJV3KAjP5yqHfhvZ2Mvq-c-dkVCun8MEaTMO1oZ9eHbHoxUG7tIgfFZ6J8DjsTYx1QJVCNk5r0WdjUCEU2VaF3ELvzJm1TsNwIRQXSbc_Znq894MxbOgzHydiMw7jT6mZWUCmgNMjdlY0j4TX-G72ZaUJahqw3GvyIjrhCWt8DJlrS",
  "id": "rs_0d7de73a6f232f0b016ab435cc8d2887d0b86b2440760c3611",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The teal bowl is now centered between the open jaws. I’ll lower to its rim so the fingers can close around the outside rather than over the top.\"}",
  "call_id": "call_HCYqHFe0ZneMxMDshbTVIDol",
  "id": "fc_0d7de73a6f232f0b016ab435ce21a087d086d60fb60ed55e1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HCYqHFe0ZneMxMDshbTVIDol",
  "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]: [-0.5346, 1.7432, 0.7158, 0.2665, -0.4686, -0.3614, 0.9992, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3938 left_y=-0.1363 left_z=0.0366 left_yaw=0.0382 left_pitch=-0.091 left_roll=0.0434 left_gripper=0.9992 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0032 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.6821, 3.9179, 0.9597, -0.0464, 0.1392, -0.022, -0.0752, -1.265, 7.0222, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739b56346afb01eee0635a798bf729c932a0759f3a5cdf2c673ec5fd2ab848e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad04e82bb58e5d3a0ce3a729d7b3c01ff9222befa7153485bdc424e881dbde8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfeee9a26e4ae7d51000a616c99d06b8737df1b92ea06a27635eeae62c30c6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 6.74 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.382, -0.0223, -0.0254, 0.9994, -0.0216, 0.7937, 0.6033, -0.379, -0.0166, -0.0334, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0002 right_z=0.1799 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6222, -1.5795, 10.0991, 1.7949, -0.0317, 0.1148, -0.0757, -0.335, -1.4564, 10.3043, 1.8193, -0.0904, 0.1734, -0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5373, 1.5906, 0.8124, 0.0139, -0.4652, -0.3553, 0.9993, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1369 left_z=0.0891 left_yaw=0.0297 left_pitch=-0.0953 left_roll=0.0481 left_gripper=0.9993 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.002 right_pitch=-0.0172 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -6.8718, 6.5846, 1.8926, -0.0366, 0.1343, -0.0122, -0.0889, -1.3607, 7.0359, 1.7411, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5346, 1.7432, 0.7158, 0.2665, -0.4686, -0.3614, 0.9992, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3938 left_y=-0.1363 left_z=0.0366 left_yaw=0.0382 left_pitch=-0.091 left_roll=0.0434 left_gripper=0.9992 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0032 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.6821, 3.9179, 0.9597, -0.0464, 0.1392, -0.022, -0.0752, -1.265, 7.0222, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739b56346afb01eee0635a798bf729c932a0759f3a5cdf2c673ec5fd2ab848e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad04e82bb58e5d3a0ce3a729d7b3c01ff9222befa7153485bdc424e881dbde8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfeee9a26e4ae7d51000a616c99d06b8737df1b92ea06a27635eeae62c30c6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXSk8lHeicKEiIZxtRhowq9jPrKfzs5aiwdsBre4c8sMLA0Hc2GKAN5qg-2RE_kG7r2ljJ18vLZWo03ii0hr2fpl4j6bgCZLpx2R_OEjQMBPrTOQxq2MNETrNuOpDrn4byeVrXVgocdlEeJfzjLtm0u28XDsQHTkLoot5ROZwN45Gc7s2VL1R63sH96WpewH4ewW8LhHvqHfV6-yL4a8Uk10H-l5oTHGec6LWLl1AU1kI2G-hbpDjv_MC7R4y99W-401QZPPdi-jh-vk6d_gchjhkO3pEb1HKpTJl19_CSV448BL5xWW2bQopOup-XL4MEEclPdnkBwNU_lSb7lXef64M3XC5--cnFAgaZddHmVDrc0QmOvCZoKuznnID48pehAEr1vCRgYaIwcfycCIukZmFKb1oSphRQHDdU3LcbZ5c2ulItIlzchnGZdDL6-XFOCGA1DIC0BpKbnVL6UyF2wU_VRe4xq6Fluk_e87c-yz4Hyp1xKUet3LgPApQb7l3rOI9g8RHPFr-aQFsNQQUcB-vZLYSQxC09HuXv0wOVDBIXMewjRsvIR2OsLLRuiwSb0lQ-2o99dq_04acRixiFuPFcNHV0qtEYOXcJmbiPP9G3x3KyeoSqkKxrBmL4dO07iEZ5WVF1bjI2uch_R3mDgLL2Un5T0knR3-yAkbkH7ebEErP8PCDlfj2DyzB6o0eyAA799nwUHG-KjE8KrnzvJsW-Hu89Kvc_HQHTwv2dnBv9FYqMe4-kdPjpwO-gADHSylRv5_Ck10811UzNftz-_4t7YZZx3lK6bc2tkwchOY0ZEuPUWJfNtJbjiYP17UW6jBUm47wTKX13KR06iwPpRS5YjS5L3C4ot8KcoWyQ4CHBeT4TUnD13WgeWM1xC9xiqMCpQkT-DgefKQvuQzs8o9ZN9uMKrmmH5SXlliR8OkZDC2l98w0V5wLsthQrltdSMl8FUzs_mlyZgpNxiVjPly5tKWJAKUGpXaR3QoBjkjhEsQi7-INxggCslESIOSLKVAUK0qMxnDYxx2R1pUuT7pTpXmXYaxmTCzhSxFX21jP0itV5Muv4m1HhXA1y12S1yuWxQN9JZDx-3_zhE5_7WNDa6fsrISE2mw9QjrpyJkp0itrbJcdj_B_HgJd_bd4trAYgyNhzJYBWC5ekVJYYNj1GL2mFNLWovHtjjxuSBwuyQ2pL187bGVmrWe0scSttRrEcix6wIEdJWDMiVdhVWUnUzPeqsyy7OZ_nKzssEo4YvaLU60xjqb7sJwfDXGIlqw2auSBY_buusdy9Z6ErJmCV4NWt_CkTr03ve9GM5aij-gRZH5sIuMUK9YUBzklrHR19gDf8kRiFOsefpqtRUIzkaQ_87v9TzG3WTkR2fm5ke9DYLCQvotbIPJTlplFmxCTmhHoBrGAx4nafWmaSbKhSwL3znGahxbHoo7uW7tkmk5lGMd4QtOBeREfP7Gj-mMGS3qveyzgN2dHSbg8jyOgMq7e5pITU3iI7sk53PdQoSB9kv2lKyAH68QMxyDbym-gUW-jgR6c2_A5FqqCopaDS9E7tFXeZDciWfD2zRRl5mlRhmSbDJMnH3RUi8bjmFSMn0_ysfYBj9vRba3fjLi135eWlQwIaOJvU7-6bNGtX0qYmG5KbudeZAfXVosOlYrgYlNFTYvmzRlJXRNGLqhmnzhmEuolbB9mUUGknN5pH9SZjMlYLYs2rVnsTYUYJ_6AiU_zIyc3v94afAJuOKzdC2Co35gN9ZhA-NVXrPedM=",
  "id": "rs_0d7de73a6f232f0b016ab435d071e487d0b0e6ceb3a52bd059",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down beside the teal bowl, with the bowl still between them. I’ll close the gripper and check whether it actually captures the bowl.\"}",
  "call_id": "call_O1YFyOGdK9ZWO9aTlriYgW7I",
  "id": "fc_0d7de73a6f232f0b016ab435d19c0887d09d2e77f244c5f39d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O1YFyOGdK9ZWO9aTlriYgW7I",
  "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]: [-0.535, 1.7668, 0.6991, 0.318, -0.4671, -0.3634, 0.0094, -0.0216, 0.7986, 0.6044, -0.3935, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3941 left_y=-0.137 left_z=0.0301 left_yaw=0.0372 left_pitch=-0.0822 left_roll=0.035 left_gripper=0.0094 right_x=0.2933 right_y=0.0001 right_z=0.1761 right_yaw=-0.0023 right_pitch=-0.0183 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -7.0085, 4.8068, 1.4774, -0.1538, 0.0415, 0.6764, -0.0889, -1.265, 7.1863, 1.7558, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c837b6f35129cd75c9ca2b8c7c2b5b2ff4646e4aa1e3fc0a96f3b0124cf07ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fc010b6718fd4fbad093f9bd8bf435d37d9f6cb767017eebc94d1d890fa53d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0bdf55da1dc6cbc255311796a3564cc97ec0f054d67636aeb681bd208fbe6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 8.655 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6724, 1.544, 0.9302, -0.1349, -0.5362, -0.4206, 0.9993, -0.0216, 0.7975, 0.6048, -0.3893, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3796 left_y=-0.1822 left_z=0.1329 left_yaw=-0.016 left_pitch=-0.0529 left_roll=0.0269 left_gripper=0.9993 right_x=0.2939 right_y=0.0002 right_z=0.1775 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0031 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1453, 8.8547, 1.6386, -0.4127, -0.0122, -0.0171, -0.0615, -1.5248, 6.9128, 1.8584, -0.0464, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5346, 1.7432, 0.7158, 0.2665, -0.4686, -0.3614, 0.9992, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3938 left_y=-0.1363 left_z=0.0366 left_yaw=0.0382 left_pitch=-0.091 left_roll=0.0434 left_gripper=0.9992 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0032 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.6821, 3.9179, 0.9597, -0.0464, 0.1392, -0.022, -0.0752, -1.265, 7.0222, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.535, 1.7668, 0.6991, 0.318, -0.4671, -0.3634, 0.0094, -0.0216, 0.7986, 0.6044, -0.3935, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3941 left_y=-0.137 left_z=0.0301 left_yaw=0.0372 left_pitch=-0.0822 left_roll=0.035 left_gripper=0.0094 right_x=0.2933 right_y=0.0001 right_z=0.1761 right_yaw=-0.0023 right_pitch=-0.0183 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -7.0085, 4.8068, 1.4774, -0.1538, 0.0415, 0.6764, -0.0889, -1.265, 7.1863, 1.7558, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c837b6f35129cd75c9ca2b8c7c2b5b2ff4646e4aa1e3fc0a96f3b0124cf07ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fc010b6718fd4fbad093f9bd8bf435d37d9f6cb767017eebc94d1d890fa53d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0bdf55da1dc6cbc255311796a3564cc97ec0f054d67636aeb681bd208fbe6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab435d3fdb087d0a2ef342b4dceb1d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_z\":0.07},\"note\":\"The gripper closed almost completely, so it missed the teal bowl. The fingers appear to have slipped into its opening; I’ll reopen, move a little farther over it, and approach its raised rim instead.\"}",
  "call_id": "call_eHRVFHNS1caJGljVrC2gIA79",
  "id": "fc_0d7de73a6f232f0b016ab435d8fae887d0911e535755ded8e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHRVFHNS1caJGljVrC2gIA79",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5056, 1.7359, 0.8017, 0.1452, -0.4458, -0.3557, 0.9947, -0.0216, 0.7986, 0.6044, -0.3931, -0.0162, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.4052 left_y=-0.1332 left_z=0.0483 left_yaw=0.0479 left_pitch=-0.1236 left_roll=0.0494 left_gripper=0.9947 right_x=0.2934 right_y=0.0001 right_z=0.1762 right_yaw=-0.0026 right_pitch=-0.0179 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -9.894, 8.4991, 1.5702, -0.1685, 0.1392, -0.022, -0.2393, -1.2786, 6.9812, 1.746, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167db26407d93eb30a5a900c31e0876c03537782e316812a0740cc407438f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7093f3a8258333c1b4cb84689c2712bc99d7b28b6ce848253ca27b68330994c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729ed48f2f9cb444ee386150ebb2c5d1e4e8c35d9d6037df99009715682b4dea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5373, 1.5906, 0.8124, 0.0139, -0.4652, -0.3553, 0.9993, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1369 left_z=0.0891 left_yaw=0.0297 left_pitch=-0.0953 left_roll=0.0481 left_gripper=0.9993 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.002 right_pitch=-0.0172 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -6.8718, 6.5846, 1.8926, -0.0366, 0.1343, -0.0122, -0.0889, -1.3607, 7.0359, 1.7411, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.535, 1.7668, 0.6991, 0.318, -0.4671, -0.3634, 0.0094, -0.0216, 0.7986, 0.6044, -0.3935, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3941 left_y=-0.137 left_z=0.0301 left_yaw=0.0372 left_pitch=-0.0822 left_roll=0.035 left_gripper=0.0094 right_x=0.2933 right_y=0.0001 right_z=0.1761 right_yaw=-0.0023 right_pitch=-0.0183 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -7.0085, 4.8068, 1.4774, -0.1538, 0.0415, 0.6764, -0.0889, -1.265, 7.1863, 1.7558, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5056, 1.7359, 0.8017, 0.1452, -0.4458, -0.3557, 0.9947, -0.0216, 0.7986, 0.6044, -0.3931, -0.0162, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.4052 left_y=-0.1332 left_z=0.0483 left_yaw=0.0479 left_pitch=-0.1236 left_roll=0.0494 left_gripper=0.9947 right_x=0.2934 right_y=0.0001 right_z=0.1762 right_yaw=-0.0026 right_pitch=-0.0179 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -9.894, 8.4991, 1.5702, -0.1685, 0.1392, -0.022, -0.2393, -1.2786, 6.9812, 1.746, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167db26407d93eb30a5a900c31e0876c03537782e316812a0740cc407438f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7093f3a8258333c1b4cb84689c2712bc99d7b28b6ce848253ca27b68330994c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729ed48f2f9cb444ee386150ebb2c5d1e4e8c35d9d6037df99009715682b4dea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXjs4wM1LCFo2LNGo5ocKBaCjqtVIf4SxdJ_AWZ6qyGEGh-kT7MDZlEwoFhFBryQG9ZfX4lgJpowysTJRcpgOk-yN7aMb5WHHWjugz2rD0ikNxv_pthvQQK3N6pAa4hww6sNu9MUR9Di6SUQ9Ag0zJKUr-zQ7a027sIqEID_UfxP8PcLK-VOIfAMztGeVwp_HZrKATflLGaUkd6dUT-3t9cxOq86HtAmSLTYkra6G69e8c4ZIbzc0onz17zdp9y9KVqPbsiW7W1hHWGyCqhBQ4m5LwzzFQZsu7_Uktpy-vkkZxGG6b8vYxVZa2xCxgSY5ZljtiMqAohdGzbHmXuvPqUSz1eL8y2OMXez1c5HdrY6Kyw45aBXOhFkUK6aolXSpX7zgQqOhlwuSjikJmeEwqTCisLQYWXXigT8bByxDLeNSPgaNyQ517ChJ3JjooZ3RueTmSvfgpMFx6fUgv0wl0NclMrARcxLOjgyqmT9hyUr92e1KCUrQBdrhTBUnVHRvR5YEhOJzMoJWn37FXiRDd6ULnC-qq2n6A996XtwSqRp9vgALYfg-xTRHcXnOIMwtB-wZxKojSPcaOxGdYB6SYrEh_pDpUuUMAdD1QMpojiUhqxqYn4tRB1mWJGT6T0VaxeHADmztCtSvA09GHbbaC5k7bzHdfCDhlo_fUMQAU0TKZFZvAw19bgY9HRTx6Npd1eBoNknHSfJHGXEVWv7BEvGnduELlmtBtRbZFYofv-vQ0eDCmx9b2V0ZIS-F_iP5MIU8OG_PGe9LNF03q0TG583mtDIruEk8lcVS65--2COeNSgKBlR9fNmIprAKxy2BLmK9b2k_nR1a2ldCGXTIDfPx8BF8A4-vHxoROUGMEVgf9ey0QDTWKBrFEln2n17Sbaq4JHzgoU5WdZ5AMtszNGgBM5MkxqpDCMOnVAe-zy5h0s64bPi_3G4xkwtmFcRG6hWBH1ybLDYbV1l0-v0FiCpCzzjXWFUYV8kAZCWDw0xZi88MH07eeTS9Ml_tAZrVTAPGYrVOi-tOtPgNYsBgC7lGdVtzu1FkMLG9vKsVnIGUYkSn-RnpPeCHwnMv57JdLXYpdsyM6_IJwYdCEsYJYNGhdSoczKZhuBg-QtHD1NYeBpeDa3ybtu1hg4DCU_1bZEnjIl4zP8dBs2-ltSnuUIjfkzAV1b2byUIpfU1jm0aJPrWX6e6T0TLisqSsgPGcxMyB7iTTKLbZkdtYGZ-wBmrvR-wEhWFZIOMOOiVmXf7LoqDjk79woQcIOXeysul5EDSq9fZnfYrIHUrBNoDjRmevBWNg8P1N2gyriSJMNOuVthZxZjVB3lulvnVlWfTxoEQdY9dxhq5MKvjgGFSdAfJhwHBRzLrwIiaTG1pWtLlnPsAgZJC-Ryh0Bn_S3lJtqkKIYcQmuybeTOPtGkcK4FRHNW7_Dat8kWx7wy6v6UhzvNZJI_bdhWgnYj8z9ivWCQv5m0J4qHTVlqiQ7YmQLPd7NcZ55GHV0jIkJmvEGWKeavpcE_lwP1tdnf0A5ObQCVyDjzMwUxbDMAz58uU0QUH4MkH7FBWTfpN13T-mz4kou2WSA-Phq-H3pyMqBMgAJMx3wgR-_Tukz5WSO4OF-ookQaB2JjS2D3NDvterkdt6cY-AbdyO42p3y1zFGdHgogq7JMO8q4GuBJy1dkpM0g6QCrJIh_lJmVWUyEYBDbckMB3wCHJGnq3on9WMbP44kanTuGPDmhI5vQAdzcsUji_Si-XjkknSmizXxY6DR_zIbkjlVsBAV99DN6zwQBzex_lczL_AX4hpNp6HZjwu9WFta8A5aLp3bsJs1Ye0T76f4vZbs3VxhZAaThVFjj14T8BSgGS4yyTXWaashDPuzsFW-aDu3c1oN7eRrypQi_86blpo1NWL-1B6zHETzE9KyrBAi6sRDOU31VLvbG1ilPrIqDrBpfUweSRnumWNJfOMdCaL91oW0ow_lujwaZyrw_mIWuAfi6XOIggnqq5g_83AzNpi7sEF5piSzLDMEAblnGaGc75Dt0nVDRnUDEGJhZIqJnjECXW_1tZWTFJfhuuGNjjUh6qm2fUeRQwKACf1HCNmVlLhIHxXKe0qYEaWjqW5mlgRrVLTAI5zjiWx0lEa5AjlvlZWIvf0bto-nexYNYJ43fHu30D60rQM6MVciQGyGoX20BTU1XUyn-TlvnxQs_4V125emWs5sGGpexOf15eZSdP_dMIPEHw-Y7CJWdhNGDFu-wl_pwCQO8co4gsB_elcxN36AsTMuXncLczW59cQV4bSsxObDdHNX-WiypNyU6vFKSUSxEl910IkZTKAZaNjiwro7_lJpuxim-HRXlKl1Yz3IJ1Ye54qwmVa404-eC_Lbmrx6uArew2QCYMi_3VvrPZRP4ooTaWhco5qQmlm1gvMx-9ppPvXSVl35YrJidI8v0KuKfzrc49PQpt_HCjCUPaNSUECG8uicRxRofCbTSDiHIuXy8CK49MBhPaky9yeRja2YV41G5lyv7DyUTrzPigGxU20hj-wz3noedFHaTUYvDWBIsnjPG6cxQnwZn4Kby0Ujl6SjJxKogPZVeRF1Hd0PZjT6JLh65n-4zy2jVw0dVl3MqVSKczA2XY6kHETrmAutr_1Sq0XL5cC92cUx9fGAPyYd3Rgfxk2CERI6O-xuLcKpU8sLRJCbkAnZwoTRfCXqIAH2dHAnK4mQUZj9U2OVVUNsWb8_yACqhxTKDpO4GJZlk3xJqVfgBlQXK71V4P3-BPzM3dr69qt-YrPBfEhWdzN6d2zh6WAxbj0b00ym0BB0xubHZrrina-cZA3xwrq-fCBpNBht7Kfaka7mwbbVIsbRVW-wtah8dj45fH8wW7HzPUnsDkLAt3GKJrfIcLHrdfdIM3zAzjKx42mFSLYXBAvRdroo44gh1Nvf-dnm-LSGj7MkT_TT-tc5K1zK45qqPAj3qXY8g8JMi6n-6x8mDWoBq118np8NxHgLKdytzsjdWfUJRCKzWO7f0EUVM7RoQyHiBrdrMjAgw_8ojJkAU7Gh5EhQHzCXHtR6oPv3sdX8-PTvV1C4SOKkVO6ztAPvvxo4HhOBHpdLKwW02qXA5_V6nNnOJOssJGKSLEsp2zECZm-ChTb_cKtZ5GV_NMTQgAWkEX23w2676StIOOlqntEHGgcaP6Hmn4xSn5smR4jsJAiCrGpunqii6FGoBcNEdvP7zDo9W9zGR38oaUDnMA0TKzp6vT8ln4bY5rzkvZ-0uQBdqfut0Z_4qZX0LaVIbSfcEnwz4mMECkZG4BHRH5nY3tEoeQi9i1r68UJUL6YzGO9gIMNP1oFC-l8udFljqQ5n2R9leKgFVqYFUB7-I3B_tN6dtzffril2vZqCbTe1XOz32ecwlGINfW0Asc4fxKZFTATDxOMcbgS1mceq5I6RksOe-3hugoWNxETfup8QtFmXBsfDPWnbe1j-GgaGKkeKOBvJbwMklhNyke4enqzm6fsddsWxmrH-FxXm7CFHjncjUGZTzs7VhL98hWQCq0Ss8lOAoLTw8V5iqI1R3jh322ztEqcV_50b6naJikXKsuhuhB1Wm7tX2LLfOkwxa0Jvz_JQo45GjIMXN0L8P9Cv1JdZuvVohW00Ol7fkku8aYzITrnFik34trNJNc00cwODylYKrQ73RCtq-ob8Xoat59zzVjpSUrOHcwEZcfQ2cFt6Kk7NbjTZOe9c_ucp_oJTHq19pEkr_85_1M2Xvg7LI5pNuNYZsSX0wdjhY_HtE4yV-1sqa",
  "id": "rs_0d7de73a6f232f0b016ab435db94b487d0b907fd95c4e84196",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXjFRNtDcgCr0g3QLUTMSpKBuEmxFwAGvWyFZNqxBAhIhJCyaMRjRJSA21RmwZu0n6jK2vafX8BU_lALwDR5cYALfXELH3PEw3xsynKsULqm3_PRYMMq55cSpEr91A43gP_sqcMi8RRQMcTWf6SLbXEhe4TLbPvv6vmZF4i64jsVmCH9LsS2XWekxYHttR9oJe3Z9H06la7zmBEiWST5_0-6p63PJtIiFqEe4x2bO36TH1tf9H4Qv4lHXyvxjRdeqQ8Q2iqGVXR9cT4bRQJqqN6RI0wdqyyN6n2twHP0xE4Od0sb1gbCa2M-xK59ZcO3rWIpfZhf4oVIN36UfjY97CG6DOpLFf2Fu0hyB0sunNaOE5kKjS3aMbH7avJ-vEavYFotVU51qQ_Wvv-grQv5l36KEgX1PiY0iKQVddUff8G82Lg4fTDP9X-fqXSajuL7JkG1LbYo9fShMrSgoAEBhTsOZ-EuE9ZSsbft0eOMGYsMjM5mCwcr3iUKmTGVDOGngilvcip-TuNgQ39ZjaMucQACvZOAgZwE3Xm1myqIxVrlfj3-qmFnwmMurxJzj831quYcVHAPr9H8qxVWKAbbIO9Hy2XaSGnKb_5ZJ1qYjQgYiOmsXhI7e7N7mB7AukUfbUREm80L_Kw6kPdrgTG7RWFwWj5Swj0gIqoLtWbb_NVA68mNv_MsJuouO8Q_0CYcxa3jkZwBxWve3HdtNtF0oCCMm_rK5CQUPpiP2yPRpk_unkmv0tMCjjAfetnuaOy1IP82sxgXI9jEr7MKCXN-HHLqvZ5wmOuDGQpEjTqPEEHR-A7-Pgz-A0sjwkajpBVQ7t6WGXy5YSsqteJp0LhnzsCfX_1_w3OvOgrWsjjHm81crN4HB7N2bHBgmughZlzuqujim6ZfK3nMhT9pZCV6qbH4gzIpnXdz23y4Z5215ci6ClAZaoVAL660x4FZ_2dBN_yzmGX5nnLY-dvILxw670mLULT3YJ2nFMdJJ0JIBSFeoWFBg1PEVscnmfDV5PoAsL73estkWkfOz70peTF1EdisjQR3R-3VaPi9QeNQwX5RZ4xBfOjvqXpB9-XR7w71UhR_9EMjIzJ1Q0iO8kP1HyZAn-0lDL4Ej0zl5WjEL2PGMkaUe1ptTozdeTjOSfNisHVIxJhRPrBd0s8yJruvEXNkSW1HkO-qebr-RPNZRDRtYGDpnOq6Oq1Q4JP-jDCDw6cxJkzCJNtFgXMxm1Z09CdKWYPGgGm9-mxLCSO2e79Hw48AwEXTc_Z_ARK0YY4OwOz1yiq7ABen3Hngc0qhv2R4ynOVSkWOJsTNoDTG0mpq2dzmAKtMVhWnfySI7j36xyReC1Hkd1YA3pTYX_9kkflT9uLqO_lCsMf3GUyfOir5fqSp-vcd884JDquaKY8QQHr_cPVFiqYjpoCI1EtkOPmfyuDyQqxGxBoi0CWi5uYH2K2StUCtzSEq5T3zkNzsbgQXoR8DzCSfZcsmwtzzlFHkTFo8gIe1mk0eN1cmEUC8MzNIUFx4qbw3zf7doQbW37W8KpJKl2RLr7iyT1uKxrwiDKBdSbWZdJ5ooaXRCgyJSeuAnJSKi_wkLGIMd8MyM51kTP3rKv7lXJjsmXPIcZdgGzJWfegq0n6gMDGGfKR_aP5OonMM05X3ybvuc8iwajTOGb54bVsfh0niqCp-ccwN4he06_1bvXj_u97jzD4t2c6xa7wH33Y6aaQpVjbciSUMW9J4IcFKY9rHtIiMPYSKNWP5EVCoIxAroDgrg_gD3zIUWk8ql2wsV8QlukAfZ_RM-6_lrzq1HxaoI4_N7RoSCWZCVSa6VK_W6Ype7EHXEvoFwa-3QPWUCcWpz37OMa0wZYnB9ywmkgpe-WaGkPD7TXz2sIwIDjxTCb4-ekE3hk=",
  "id": "rs_0d7de73a6f232f0b016ab435e1158087d08c2d73013fb7c0b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_y\":-0.185,\"left_x\":0.405},\"note\":\"The bowl’s mouth is nearly as wide as the open gripper, so closing across its center lets the fingers slip inside. I’ll approach one side of the rim instead, where the jaws can pinch its wall.\"}",
  "call_id": "call_dgDO8lsHKr9tApbn6Lwz5uDJ",
  "id": "fc_0d7de73a6f232f0b016ab435e2968487d0a8f438185a67b8ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dgDO8lsHKr9tApbn6Lwz5uDJ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.7069, 1.0721, -0.2089, -0.5125, -0.4549, 0.9955, -0.0216, 0.8024, 0.6041, -0.3935, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.4066 left_y=-0.1853 left_z=0.1094 left_yaw=0.032 left_pitch=-0.1374 left_roll=0.0448 left_gripper=0.9955 right_x=0.2935 right_y=0.0002 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -10.6735, 8.253, 1.2576, -0.3736, 0.0611, 0.0757, -0.1436, -1.4564, 7.0769, 1.7265, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a22ceb6c548c7673c1ae1e543d19956d4cdc38a5fd0b253a177c76b889495a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dcaf23b392ded344ea12be5fd28d1c308549dc69bec90252b285fe520f7099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0699ef4fdb01f48de002d9320eba6e7a7179a736529c4eda072880f212a04459",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.503 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5346, 1.7432, 0.7158, 0.2665, -0.4686, -0.3614, 0.9992, -0.0216, 0.7986, 0.6048, -0.3927, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3938 left_y=-0.1363 left_z=0.0366 left_yaw=0.0382 left_pitch=-0.091 left_roll=0.0434 left_gripper=0.9992 right_x=0.2935 right_y=0.0002 right_z=0.1764 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0032 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.6821, 3.9179, 0.9597, -0.0464, 0.1392, -0.022, -0.0752, -1.265, 7.0222, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5056, 1.7359, 0.8017, 0.1452, -0.4458, -0.3557, 0.9947, -0.0216, 0.7986, 0.6044, -0.3931, -0.0162, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.4052 left_y=-0.1332 left_z=0.0483 left_yaw=0.0479 left_pitch=-0.1236 left_roll=0.0494 left_gripper=0.9947 right_x=0.2934 right_y=0.0001 right_z=0.1762 right_yaw=-0.0026 right_pitch=-0.0179 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -9.894, 8.4991, 1.5702, -0.1685, 0.1392, -0.022, -0.2393, -1.2786, 6.9812, 1.746, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.7069, 1.0721, -0.2089, -0.5125, -0.4549, 0.9955, -0.0216, 0.8024, 0.6041, -0.3935, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.4066 left_y=-0.1853 left_z=0.1094 left_yaw=0.032 left_pitch=-0.1374 left_roll=0.0448 left_gripper=0.9955 right_x=0.2935 right_y=0.0002 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -10.6735, 8.253, 1.2576, -0.3736, 0.0611, 0.0757, -0.1436, -1.4564, 7.0769, 1.7265, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a22ceb6c548c7673c1ae1e543d19956d4cdc38a5fd0b253a177c76b889495a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dcaf23b392ded344ea12be5fd28d1c308549dc69bec90252b285fe520f7099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0699ef4fdb01f48de002d9320eba6e7a7179a736529c4eda072880f212a04459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXnCZPca5NI-7J5VCoQXe-ZcngaxLVDQ2cHxH_HBXM_2rkbtxonlrMeupVMa71kzQHlo4fqrFVZrPRxiqZ-efqHzFdbmC_QwNHKLhpFadNI0Vao2tssAHehy8Ok-agsVrXDeXeuBHO6eXhju06b3uZHQm0ECIUPalCXaEoZb35PLKti1Hvcry1n0LLTKTEm0WDiK3bOkT22TuubJtoyOL-QQzw1IH0IX2SeTmN-JD1lnCsUubSheXwQmXVHKvHtqBskkoWpGMq1CIq19LxfVvAABL6k_IsH-XRluhsQ_kCmSsVf27wn0Uji-xEpaPgo2iBBpcqjIL-afmCYnwm_8mG5MBbF_llRZ0bsUtwCKexJod5O3xkeK5tPgLnaVQ61_g0qTxP0WdUbmvaVKBwx1A7TZ5tuIqG21lSWRq5lJlQnLehc8CVSgNrseFf8w31ybybtU2ZRHU_dpGDqwgFOnD_qvmKLvwLwU_EKh9W4Q2xOb_Ivk-PiYxOKMxfo_FvWdFO7ne9iQYkhFb0jZyDaMAl_iajMqA3m0jB-YS7dEZ0mWcCVo-aKe9Sw_DFQ-0_YJUfI1Wid5GM5CuaOgnDA26eL6_iaaykQ8p3fM-rwpHqKlWSZoUVQX8DdBjhP589QgMpKyxIEIwVjUYlUWwLOQAXLJAnjxf9llpXxlvVQWR7encZ2z5rHj8DWjQixyH7tlBCquKfdzDookrxIuu15-yh5XV-qVDEj0pyXgcJssHfLqZWj3xxshdCAk_sczrpgklgEuZkHYd7XAZvPr__Dv7B16JfZ1SfaVgTMp1MTH5lFWPmZjX1R1WJt0K4YCbPgjEV8qlNqvRc7_xgIuk66Nkf9ikNuMCNu0MptYDxwst49qA0BlF9gxyMZgnRawJP2Qy8-Zb27BkBfY2GaAgetpYegQIzyFua0-ypSdJIChkppSpLt1v1SRKsKgQZHNy8_yUc14k7V2JtbiEcA5HBRIrJQae7xlr9v4ueP1ACWz8QakyUyGT7cQfTY_eET_Q-6-Uy23YS-bU9wSE2vYkzjGhSDad-1Dm_zj2ZFAkEqjtYC1jC5GKcqcDJn_ezkkKpK0AH2BpQsy-qfsTuJRhajlfd_xcq6DUAYYjh32aAC7IXy9fZ29CyeKT87t3RWkPs2TUPBbTHkddF6YjpSg11hP3RkvU4yGhXeqkqYiVe-0SHIRdBdFNiKd6G8qXld7MvSMy_ms8HqXNGvE2MbbogqJqZsh5LIfSKd2_BO7dGIrK_Yp1ygHHcVwQYgx43m4OQ7agkxYxjGDe7hWvONqe87VtnJUggSU2tq-FqgmXBgB5L9Hl3Vtmk1b1KeIMCuk0BNVD9lYmtOvbHZoaFUD_sQa_ERBP1svCUnfQlsi9bvAatI3ZvQ-lbHhpAB_MySUBeopjYTH593JiiIrb_fovx7VK7UzHA1uy4oJ7N8KNpPallB-tqgzL548EbOH3EmY4xqw8CBuSyMhAoh7_qNfdACbIMHQbrAnWfafFU2aWJY_nLKxpXTPbm_7rm5VWP47YQPtB55cJT3876B8Rjtn4_kpmiIUQBoWjh8nZJw_VWvBVpssi9dzGpox415yJlzGA4DysbGpRqpte22Kz_zUM-W03SB-Yv6jBrHxjcYJkm083RjhvqiLe6Axdy_uu3JMcCJlJR2Nzz0_ZU5V8ZIkFw1A7hgRuP89M6CQZ2yzQ0DxLbxKvPQA_50RuMFhiuTe9IJoGmYkp5rkifYOgdSLVc4LRLmjYsX8LN44NUBUiEVqx6P9L6vsiEbZhZmXFdCur30Yiq5nXGCKn-qh0rFoIMm51PlDf-cKO5cbIsoxfe_nBNwTP50zundWltmD1J1YAtRM-NitmSDxnpOVKfzbilj9eCNSAdTp-LBhmwWt6eytgGlT-g9GmjolAumIdSm6sgG25I-Kuks3e8IcpUZgDqMj5_lESIMAFWOtOT7luRPVfoMTiC3PbMegNPHf9DwZmwEKL-yGcxziMo4cOH8k9UhdPRMHBWkmi5V8amB6up4lTWobMw=",
  "id": "rs_0d7de73a6f232f0b016ab435e5328487d09a06e9f4a4bf5367",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The teal bowl’s near-side rim now falls between the jaws rather than filling their whole opening. I’ll lower to that rim height for a one-wall pinch.\"}",
  "call_id": "call_Xgob4uSdeo1dCd8O4WgsyA6z",
  "id": "fc_0d7de73a6f232f0b016ab435e6e1a087d084c8cc0f7dc0b17c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xgob4uSdeo1dCd8O4WgsyA6z",
  "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]: [-0.6376, 1.8042, 0.96, -0.0738, -0.5137, -0.4618, 0.9956, -0.0216, 0.8043, 0.6041, -0.4004, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.1802 left_z=0.0478 left_yaw=0.0375 left_pitch=-0.195 left_roll=0.0871 left_gripper=0.9956 right_x=0.2927 right_y=0.0002 right_z=0.173 right_yaw=-0.0022 right_pitch=-0.0313 right_roll=0.0035 right_gripper=0.9969\nstate[joint_eff]: [0.6359, -8.9915, 6.694, 1.7607, -0.2418, 0.0415, -0.0024, -0.0068, -1.4154, 7.0769, 1.7998, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307ca4a6222efbb840596d5df20e29c4d73acf9f92ed19f56e53c723b26b1a70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef0b9f1db4a324f21a734f3119a566a7dcc98552b2c0dcd959401c5fca80f72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389eb96c96321cc1ed8e74bc042c4c28dd9e50b1c8ba432668656b3186a14478",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.374 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.535, 1.7668, 0.6991, 0.318, -0.4671, -0.3634, 0.0094, -0.0216, 0.7986, 0.6044, -0.3935, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3941 left_y=-0.137 left_z=0.0301 left_yaw=0.0372 left_pitch=-0.0822 left_roll=0.035 left_gripper=0.0094 right_x=0.2933 right_y=0.0001 right_z=0.1761 right_yaw=-0.0023 right_pitch=-0.0183 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -7.0085, 4.8068, 1.4774, -0.1538, 0.0415, 0.6764, -0.0889, -1.265, 7.1863, 1.7558, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.7069, 1.0721, -0.2089, -0.5125, -0.4549, 0.9955, -0.0216, 0.8024, 0.6041, -0.3935, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.4066 left_y=-0.1853 left_z=0.1094 left_yaw=0.032 left_pitch=-0.1374 left_roll=0.0448 left_gripper=0.9955 right_x=0.2935 right_y=0.0002 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -10.6735, 8.253, 1.2576, -0.3736, 0.0611, 0.0757, -0.1436, -1.4564, 7.0769, 1.7265, -0.0269, -0.0611, -0.0122]",
      "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]: [-0.6376, 1.8042, 0.96, -0.0738, -0.5137, -0.4618, 0.9956, -0.0216, 0.8043, 0.6041, -0.4004, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.1802 left_z=0.0478 left_yaw=0.0375 left_pitch=-0.195 left_roll=0.0871 left_gripper=0.9956 right_x=0.2927 right_y=0.0002 right_z=0.173 right_yaw=-0.0022 right_pitch=-0.0313 right_roll=0.0035 right_gripper=0.9969\nstate[joint_eff]: [0.6359, -8.9915, 6.694, 1.7607, -0.2418, 0.0415, -0.0024, -0.0068, -1.4154, 7.0769, 1.7998, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307ca4a6222efbb840596d5df20e29c4d73acf9f92ed19f56e53c723b26b1a70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef0b9f1db4a324f21a734f3119a566a7dcc98552b2c0dcd959401c5fca80f72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389eb96c96321cc1ed8e74bc042c4c28dd9e50b1c8ba432668656b3186a14478",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXqZDr0OvUXS5ZxBzNuEKmIHQZuRNsykC2WDmJMV64IiqwMDjB6n55qwo4jt-VPuVs50dfdR1rECxVt1Z8kyXInYbXk9IUgK0MrYR_s6ZeTjtn1QvF9B56UBDXoZck3jCxOrPR44jgC6jl2e0GuVU5X1tcYP2ZO5jMT4DUWOlGJuuIYbU6nQ-16W-Od7bj1o3OeuzNU9K-VVS2Z9hkASn6Xelbw_0nDeBZhzuqgkoAddo9SJs7Imnuxy0PEzGCh8Uu1F_mbLPoIAPjTKe-N1_-bIWuZ6w31_q1k_016PPNSvh1_5GccPRykR7TVVSz27RfunjJw_LMUDUE3k1TI5RAHecRZ3ZHtBv1GdI2rcpEEXYmjJbUHzZBTyx0bLJ57M7CLzIQLLwylD6s5H8LaCFteNdJ83fEsnexdN6rIDXEVAvEyMs6dFiUvyzC1tUtBYSvnEUh37c5hEZsrDxOk2CHA9qnjeKODydXd0JYAuSmNDW91du3_uWPz8R-JzT7bjdgb0eKnO_I3zTKfq016RcfRNW-uppA0jw3bVh6eZ9iL4b4F2hySIxBMqPxs2IKowZh5ZQluNFrzmIzYxwe-tZwCcYnGLy2NkTNm9JDzwzC96uNM3WAD1qQrUrBS1mN96xjFGjzdp6A4z6bwVtRn8hrN1avBzvh_Q0Knf3Swyg7bICLYsP69uRQshy3wp-nY8qOs7HznzfEG79U4IVXGDbD-MTRk4WcflcP6v3pN2ZDlp9y4oJI1RNBeWN4ioZdeC0KqisPUuBKCTs8Z42P5xEN93GIdfk_-i8Xe5fe5NkuM0eamGD8EpZRTrP214I8llDbIu-hQ3BIQFchtOKr-vIBmY_ZDDWVzenx_KuP5lvjw_nixwUJbd3y-ytI6rnkPvLY85ohDVbtHVLY_-DBP-iyOHygu4ukdrFkNe6nN3G4D__bDjiwtUoa19v-oC0__vj_Rmsrf5p-6zueq_y0R3bvumDVwjmkiPe0WtdmDqIlTF4aw0zlM3m_ZDTOEa11D3mwEofRBpuXrH5tePzdmJh2KLFs2eHIl7VbqsJ7E1skMXlRFaMsPq7kZI5y0qMVovCViJcUj0WWO53mj45vyPEBidj7Wkj3la1T_tXxLmkTBJaloQH9aD5pKjjyr8Rqb4Z76iwl2LHMpQ1G3VJ_L4kqMm6IsQhY9UPZvADiIMlT6mpn5ftnXH4iUBUILzwj90mkqVD-zyyFkkpn-IVmSkKCF60F8ujPYCLkmjSLesBu0gca03M25lh5qksE48IHI2R6uPcuAYTD0IIrYwA4ySCel_OblYAAELfMVCj66uLROHcUfpMChBLnTG5DbUHRpHWa6ymi_cJ6AJy9twYPvgSBXFHwWbbiI84NNnOfOUkJ0mZDqbTyT-4dvrlNrIMPObuOcZ_qPnWTfba-SuLRSifEau7G2OVM_9n4pc7GBIijdjMlYqItkVo3kwc-WmstHw1otVooRD4THOZoO8b-iYNuGzpaHdqyFA8ZnRnd0Op0xLY-CXKhqMdHrYWZrYOSjxgPK",
  "id": "rs_0d7de73a6f232f0b016ab435e95ac487d0a5257fb48291b3d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are straddling the teal bowl’s right-hand wall at rim height. I’ll close gently and use the settled opening to tell whether that wall is held.\"}",
  "call_id": "call_L5lmkMw1aRf3KUlzt67JRUXp",
  "id": "fc_0d7de73a6f232f0b016ab435ea166887d097ff3ee30af5cbee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L5lmkMw1aRf3KUlzt67JRUXp",
  "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]: [-0.635, 1.8183, 0.9482, -0.0715, -0.5213, -0.4614, 0.0214, -0.0216, 0.8082, 0.6041, -0.4118, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3924 left_y=-0.1753 left_z=0.039 left_yaw=0.0485 left_pitch=-0.2095 left_roll=0.1074 left_gripper=0.0214 right_x=0.2913 right_y=0.0002 right_z=0.1696 right_yaw=-0.0022 right_pitch=-0.0465 right_roll=0.0038 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -9.6068, 7.1043, 1.2674, -0.1343, -0.0171, 0.9646, -0.1026, -1.5932, 7.0222, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15d68f3e37bcc462cd5505ae689760bfb0937d7c7f4d40d94fcf6900fe79b52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82b982d912ca52febdf71cb816c98cdab64bdcbc23a4ef8eb14e01024e833ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f08c7e76dec0ceb9b2d9ddf0816591d52ca772910919b70bab6089dffc83e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.326 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5056, 1.7359, 0.8017, 0.1452, -0.4458, -0.3557, 0.9947, -0.0216, 0.7986, 0.6044, -0.3931, -0.0162, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.4052 left_y=-0.1332 left_z=0.0483 left_yaw=0.0479 left_pitch=-0.1236 left_roll=0.0494 left_gripper=0.9947 right_x=0.2934 right_y=0.0001 right_z=0.1762 right_yaw=-0.0026 right_pitch=-0.0179 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -9.894, 8.4991, 1.5702, -0.1685, 0.1392, -0.022, -0.2393, -1.2786, 6.9812, 1.746, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6376, 1.8042, 0.96, -0.0738, -0.5137, -0.4618, 0.9956, -0.0216, 0.8043, 0.6041, -0.4004, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.1802 left_z=0.0478 left_yaw=0.0375 left_pitch=-0.195 left_roll=0.0871 left_gripper=0.9956 right_x=0.2927 right_y=0.0002 right_z=0.173 right_yaw=-0.0022 right_pitch=-0.0313 right_roll=0.0035 right_gripper=0.9969\nstate[joint_eff]: [0.6359, -8.9915, 6.694, 1.7607, -0.2418, 0.0415, -0.0024, -0.0068, -1.4154, 7.0769, 1.7998, -0.0562, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.8183, 0.9482, -0.0715, -0.5213, -0.4614, 0.0214, -0.0216, 0.8082, 0.6041, -0.4118, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3924 left_y=-0.1753 left_z=0.039 left_yaw=0.0485 left_pitch=-0.2095 left_roll=0.1074 left_gripper=0.0214 right_x=0.2913 right_y=0.0002 right_z=0.1696 right_yaw=-0.0022 right_pitch=-0.0465 right_roll=0.0038 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -9.6068, 7.1043, 1.2674, -0.1343, -0.0171, 0.9646, -0.1026, -1.5932, 7.0222, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15d68f3e37bcc462cd5505ae689760bfb0937d7c7f4d40d94fcf6900fe79b52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82b982d912ca52febdf71cb816c98cdab64bdcbc23a4ef8eb14e01024e833ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f08c7e76dec0ceb9b2d9ddf0816591d52ca772910919b70bab6089dffc83e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXwk-_I3VIwl8lJ5oPb0scRJLLvkdHpR2oWU6fycT92xc7PLiDcpAiJmhTebc8bASHNn_tfbAEZ3vqKN7sCt-hV8SEE-7Nk-rS_khJ9D63e5WOpB-VOLCsGQ1xrTfDHtUikr05muRU1Sjt8N2C9U2_vS8M2-g8sNSKq3qDbgp_hHmJCWwc954L6YaFsrgYzizGEC-9_jHHOULtIYIABVohSCRthab7Ih2tUAnlMi3vZGDqWpQJTZwKH1TD1zaEXET5gEi8C1OUfvZhfy8Vb1R08IcCwCOxe-h_IetXFrnnGR9ML-blO84AwFkfWsNIxcrO-pAh10d-qdAWtecTESSbp4vZktDTQwL9w5RSSuB63Yc4b9esDFMezqFgh9ocZE_ZtUCiBbF9AE64Vwcx0ObG3BOVzRJ5cO0YyfsXEZLURS2NkC4PEGQkY5_iwk749Jff-yqYL4EoT8W87VspRyHz6yEnGc7ud2x6fGKE5mgD4rXUI3WYElbUGGE-zOyf0mIvAqij29VKvcn_kdza8DeaFteRrPtKU5YgseVrMxmQ5hfWRTVLuaNgfKDMtJbdMPWvwqQGWqBANEqcQsMNtHSXFz0EhlrhBYQjvptCDL-cRFgSW2pTDW8TrtSVQx0by-i_km9w4js6h9IikRm7hWBcC8ptt5WvF_srz_mgyrcN2UTRsh1vPp7HcOCkNoDkA43D55Y30VYgq9rpzo0NEpJWixpzGL1D0h3-fZW3Lxr5FY9ri3E9QigJWXIUr8koVioR_2NXVsWBscm19mUGlSTTq_B3_GVXXPiUDAhh2JtcMvOmkYXNcTvOF6zdrUpxZpxN_cLbYazJiWPg8MMDvdkydrQhtRCjEvH9dEZxCrdE6It2UmK3lpBuHZ2Xemb6oUco4GQdOldWO0pFOMldcF27kin3Ka1wUhzWfumFWlb-OkQf49FSIQkY9aWNi6_DxeEemuG1Tcht0_WSIrCNeO2Ws5yG6_VMVWp66eEFOCoJUynmrtpkzlKQQYtJJVZCTWSy46QzuYE7h46Qcmnt30rj8YJUzP7MdDM6u7P8GlfsyKD3YQVWGxozuHH1ZKgEK3YRp8DR2H65d58PH5SmA9Fxszru7IY8BsTdEH9kV4FOjD3vplH4kXII_A5EgLLxVtpQXgRB89-k964KS4zcS-iA0U8erBNSzjPKAXREY2T82GrFvKDNfb-dU9mTeQBpCGJK5y35CmZTzrLXvQH2JVrhD0kqYrHOqd6zvmjM-43e0LcqkwfiN3DT21OtoAyxxSeQ33mnVc_WfyQkYAflombITg_x1U2qtYrqsM0s4BmL8jJSVHCbAt-v0m63I22wJ1EleGcJyajjLOi76vw3F7hgOk3ypASmsQM7xpQqaU67c6w0C5blqmMEJjEKc5WGdXEGy9by6D1xg1grsY_IRUwcgqIdGrCSMfgflbguEai5jFwcFpN9mERU7w155xJL05Hj4VuxBa7ixjQ4rOEYUwXQgabFerV_PpbMmi87PidE0YSAUUhndHqBJteHaLs9xFJQP-pBjDpadayzZPuQfaXgdeczVyKniCeyLF4g6C2gXc2FSCBzK8DtOUCy50I4k0b2doOSmW3GlSdm7la2H7Vz10cqqmAkxQElxM0HNliS17lvM0PB4U5EyQCldimBWVSUdu8h2fkK4ryVuPZJkVwROHsBJVbsJ8ZIkhSI80PM9c2qnIeTOYBKjFUeDCQ8d6XH0LFxXy-N868nM5Z7cr9CkzPh0bJGvf6vUzGG0yAHfEdtoUlydThPfgWnwoBzezKJcD9b8sV_mQSBH9o3OM7c93zpvzl8j-ss9eX3ehtgXznaSr98fAHAomQ8JF3__b_Ryo-o0ByCWyFM4c9K7fljfnHTh3lnzB9-HbdmloBIxzJ1GD2--4sWr5hvDxOuVLKJYBb3HsBaG7Tvd5PegYZes3euXW70Y3yWNVU9GmSc9SmhZTdXqtaqWPmGhqdhch86HhMljdjVIfp-XFO-BzboJgY40YXlvJANlkYD3OeNa-r_aMlLtNZNbKvrcpbdJZ39HhctMjUpW-5CrULcsUxKd_1IcW7K0slnX-kqslWZmqsEv4Dfem2V_M_um9pq-TfBLEpDZFJAe557ZPmVgmxDeBJiXhARFkOkG_yXiqcce-vSPRsWmwRKxERk6yFRlK8jGafQVas29C-5-M3LPuueI0tcJq0uObgcmFJJI01KaU5pIXmk_78bWQs9tMmpKV3_NyJoptJ3_6wi9fORX1ld6HTpXs19PVC_qnjAA9NBikPbguROxg0f_I3MlH9S4t_L2Ds4fvLOO0aJu_2jeactTpDL0aRW8Msd_MzGTj9VdqYV_gx48OC6UNqsUobVD3kOJ38ZrZ15nK1u7qyhF9J1gy9Tu0Y_ee4xO5nURVkkk1wtWCES3qs9z22QJ2C249Dss6m8plL7icaWJVdOpAGrZk18Mu4mSCRRUODJFowzcib0Yr7dDiGdIVsoBQdwj5ZRHbfa-IofINTk4twwXM2fAl969tNtfJYpOdj-6mZAjnfALZOHkcqu2XVyJfWNlM3SVyFYWADynGcNNgsHxbekA_C3LWICo4v8N1lhk5wYQcqI78kGYEMVcpxfVdTAbHmYCvgowBhDcqxKhbrhTgouQP1vh3NiXZHGuXjSVNC1fjupFYppfkpBnzxsyjze1PPRh4FnToGQPk9B55RKrhDwPKEISxrPZu-2_HybSU9jVKcyI9xl_XGK-GVWZ3e4Kc1BC4LXgXIUpiu51g3yGaOh4eGd_U2PGuKSk7_huzocmHzewm-M63IX_Ob-b4D_fEqH7MfeMb899K4fVHtQu_ZP1vX-tDb4qUcoU66iXOmV35nDoIQA-SDpZD7_SrPBuDia0YKCdnr9Yawws-K_Zb5Ia0lxJkXAED6wDvshGIBqjlaULZwzY_HoaCEe1Wxi5SRTCiHUQfHms_EPJ8G3k85JQaHr7I4b15VG0vVgyOS25pSCNzIOc_9VHUh7-2k2MbG_bIEFhMCqm-i_g24SWFuTbQHX-_n6blsCASSF8xdjExhU=",
  "id": "rs_0d7de73a6f232f0b016ab435eceac087d086701500d73242c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"The teal bowl slid aside when the jaws closed, so that pinch did not hold it. I’ll park the left arm and try the pink bowl with the right gripper, keeping the blue bowl as the stacking base.\"}",
  "call_id": "call_1VkoDS0s0ahytGb1p5oVBrdc",
  "id": "fc_0d7de73a6f232f0b016ab435f017c887d0a17a5de1dbab5913",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1VkoDS0s0ahytGb1p5oVBrdc",
  "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]: [-0.1486, 0.9775, 0.8131, -0.6525, -0.2298, -0.1085, 0.9965, 0.5301, 1.5066, 0.7906, -0.0467, 0.3939, 0.2817, 0.9969]\nstate[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1736 left_yaw=0.0959 left_pitch=-0.2212 left_roll=0.0997 left_gripper=0.9965 right_x=0.3741 right_y=0.1448 right_z=0.0989 right_yaw=0.0354 right_pitch=-0.1232 right_roll=-0.0363 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -2.8239, 10.0991, 1.5849, -0.0757, 0.1978, -0.0269, 0.1573, -6.694, 8.9915, 1.6728, 0.4371, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596f473ccac0e69aa0189470d26ed8cfd1a86f2969a31abb1df5c2fc4b06100b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b34a91cb014a1d1402347fd9d5945479ff8e497d4ff2b1ece91905b73c79efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2cec53bc8a148618b4f8a6710984f15899e1095dd500d7416e92a9877def91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.857 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.7069, 1.0721, -0.2089, -0.5125, -0.4549, 0.9955, -0.0216, 0.8024, 0.6041, -0.3935, -0.0166, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.4066 left_y=-0.1853 left_z=0.1094 left_yaw=0.032 left_pitch=-0.1374 left_roll=0.0448 left_gripper=0.9955 right_x=0.2935 right_y=0.0002 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -10.6735, 8.253, 1.2576, -0.3736, 0.0611, 0.0757, -0.1436, -1.4564, 7.0769, 1.7265, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.8183, 0.9482, -0.0715, -0.5213, -0.4614, 0.0214, -0.0216, 0.8082, 0.6041, -0.4118, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3924 left_y=-0.1753 left_z=0.039 left_yaw=0.0485 left_pitch=-0.2095 left_roll=0.1074 left_gripper=0.0214 right_x=0.2913 right_y=0.0002 right_z=0.1696 right_yaw=-0.0022 right_pitch=-0.0465 right_roll=0.0038 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -9.6068, 7.1043, 1.2674, -0.1343, -0.0171, 0.9646, -0.1026, -1.5932, 7.0222, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9775, 0.8131, -0.6525, -0.2298, -0.1085, 0.9965, 0.5301, 1.5066, 0.7906, -0.0467, 0.3939, 0.2817, 0.9969]\nstate[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1736 left_yaw=0.0959 left_pitch=-0.2212 left_roll=0.0997 left_gripper=0.9965 right_x=0.3741 right_y=0.1448 right_z=0.0989 right_yaw=0.0354 right_pitch=-0.1232 right_roll=-0.0363 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -2.8239, 10.0991, 1.5849, -0.0757, 0.1978, -0.0269, 0.1573, -6.694, 8.9915, 1.6728, 0.4371, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596f473ccac0e69aa0189470d26ed8cfd1a86f2969a31abb1df5c2fc4b06100b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b34a91cb014a1d1402347fd9d5945479ff8e497d4ff2b1ece91905b73c79efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2cec53bc8a148618b4f8a6710984f15899e1095dd500d7416e92a9877def91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDX1Ky8zI-2K27TQINsa2PBu-ZygzrVEc9utd0-2kjM9I3Ny1czOi3s_q82z4kTm0hRH_jMjWkJLnFWJFcptev1C-Rx1lMW76DUS-R8PMedQon6mYspWXzmwpyepC7jaU_KocDgszZNpq3QaDaRTpXFAic8u-dbbnS0TU6KlXcC3g756_Tl9peeHzM5aTYN__0Y9Vhd0asS5Pfg6SiAnDUTRaeM9z8R7VmML8TdXzR04yNGQ7DKXDUVa5jqkSZphb0AteW1SZRY6iq2mGOVVdEtNlwhRUVqw3buCIcRNkNUEvkWkotohHZhYHUsvgSGnnr3qveVWnebUEms9-YzNZ6F0KMSCeK3YIUWkCdH71T_OLkAOkV_-VHX4De9OHOKrd2eyJNanSqU_xN86nd8w0gptLfcK_WOkmdGc6pbG4jonxJ856NkfHrQhvvuA-gZOhpKB4c5NhD2-16g7oxRS7UNhhdf3lH8tnfn1_0znE5JFwrHQ6U_EAtQtO3xNdQ_ics4QPo5xLuDke3_mm1SsewrhzDcTUmwL09kNK6SsWknXcYK2SuuLsonCOxDxpNKm-30lhbXLvJaz_Eocfrmw-BNFdsCmuORKf0Cd__oLOQORE3QE-h3mpvvxNeGa-7XqemnBtj1xuPVj5VqVghRnEN4pRlvpKLGkWAJdQDfXzopaSop23mLV9RyTvUJU1HM_Gdg0rSRnbx2KAmh3w_UNkBSlY4Yhjli_6OQAum-jHrxloB8gyn4QIrgaRNWzoIXPyB6QXzxieGPupCBqVdNeX0L_cVoP_x9-lPfT9GQoErwBioUXyInRImTQZBtKnlRGi3njZfuV3-lByw2wOuNkQFwmejLGvVUKnoQ9nT4T7rfD0VAlQc68JrpxwBtMxkRbbbE2SviaQ0kfHmmLmBEdh6vMj-fdjKfjOHScYqQlLiaTxoTzXoSeHsg4R7ojOtYpWgOtDvGaqXyn_7gNKfAySGTK7ArKFotaGAUSK1id4iL8IfAeI5yXHjiHwd7GXt1MjCZtU8mgAbp4hTD1RrOK49Tt3B8RTWiPlUZ-IsJvb-1ueE5fEqZK3c6loU-4cyXOb14UoDOaUpzBLj_N3uHXPhdyexE363NNDwz7pul4qeoLF-Dj_-AH57tmIMElG6NCGRlwiokO86DV3kcFOcV8W8G1Q9QZJcjwdw9dklC868lZ2w-IFmbn1iNm0ymWqJFd8GWXLFcdyahI9CnakoSOhYq_VLJVxI1OAOXb85rxwNbRS-498j7SpOr515r5N9_zlkY8qQLesr5Yj2S8SujBL-BFY8OY3ADyzBOLOkpSZ419evLeEPtixRRuStoiqRgEOR4_srH-YQ89q4g1MERG5asnNPQekysTdOCYGgq-yiRpOzih8eq5R2cvc7rIMoK33gnwAtOWq4h88faBcgEoEbfi1GsZDTkBxirjaCC7b22hg6bHmefCf7VXsPx1vBFLHBXAZUOjoJmMJMEqicW74W1ImXA_vUkwPwMkm34KB4l6O29MiObIIXXdPErPB1FZbAMrc4UJbRzcC3jfoC0rg9bYkxfstVs6EURb8n8pRUTl74k5YfPMezsCFyDpD5BfJ_jsT6SNr-7X29MLveN2r1zowcKKgJcYp1DOanKCtGjkDDctTtIyMeitqnAs4q_4P8U76JnUFOQ8y1EsooL-lf0BPkYxbohDH_wLXpXljJcQ11E=",
  "id": "rs_0d7de73a6f232f0b016ab435f3d0a487d08adf7d05da28d98a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.397,\"right_y\":0.105,\"right_z\":0.09},\"note\":\"The pink bowl is visible to the right of the right gripper’s jaw column. I’ll shift that gripper sideways and slightly forward to center its fingers on the bowl before lowering.\"}",
  "call_id": "call_x19PpNY8JwQZMUVwPOFHzd9d",
  "id": "fc_0d7de73a6f232f0b016ab435f4f64c87d0a25e7a2c4edd6749",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x19PpNY8JwQZMUVwPOFHzd9d",
  "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]: [-0.149, 0.9833, 0.8131, -0.6739, -0.2142, -0.1017, 0.9971, 0.3763, 1.5227, 0.7631, -0.0124, 0.3058, 0.1936, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0019 left_z=0.1682 left_yaw=0.08 left_pitch=-0.2507 left_roll=0.0996 left_gripper=0.9971 right_x=0.3877 right_y=0.0999 right_z=0.0843 right_yaw=0.0004 right_pitch=-0.1595 right_roll=-0.0517 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -2.7692, 6.7624, 1.7118, -0.2271, -0.1245, 0.0562, -0.1983, -5.3812, 6.694, 2.0049, 0.1538, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e08b5ab0c72251ed7089469e9a77f55982f48be1b3c059951ff0e3606ee24a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed70dcf53d1d97d27cf61126bb511bc378ec9838276de0538cb0ce212c2b80a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba1c465380c3f9f89883c72f22507598412a48787404286cd36470683d3b37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.693 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6376, 1.8042, 0.96, -0.0738, -0.5137, -0.4618, 0.9956, -0.0216, 0.8043, 0.6041, -0.4004, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.1802 left_z=0.0478 left_yaw=0.0375 left_pitch=-0.195 left_roll=0.0871 left_gripper=0.9956 right_x=0.2927 right_y=0.0002 right_z=0.173 right_yaw=-0.0022 right_pitch=-0.0313 right_roll=0.0035 right_gripper=0.9969\nstate[joint_eff]: [0.6359, -8.9915, 6.694, 1.7607, -0.2418, 0.0415, -0.0024, -0.0068, -1.4154, 7.0769, 1.7998, -0.0562, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9775, 0.8131, -0.6525, -0.2298, -0.1085, 0.9965, 0.5301, 1.5066, 0.7906, -0.0467, 0.3939, 0.2817, 0.9969]\nstate[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1736 left_yaw=0.0959 left_pitch=-0.2212 left_roll=0.0997 left_gripper=0.9965 right_x=0.3741 right_y=0.1448 right_z=0.0989 right_yaw=0.0354 right_pitch=-0.1232 right_roll=-0.0363 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -2.8239, 10.0991, 1.5849, -0.0757, 0.1978, -0.0269, 0.1573, -6.694, 8.9915, 1.6728, 0.4371, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9833, 0.8131, -0.6739, -0.2142, -0.1017, 0.9971, 0.3763, 1.5227, 0.7631, -0.0124, 0.3058, 0.1936, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0019 left_z=0.1682 left_yaw=0.08 left_pitch=-0.2507 left_roll=0.0996 left_gripper=0.9971 right_x=0.3877 right_y=0.0999 right_z=0.0843 right_yaw=0.0004 right_pitch=-0.1595 right_roll=-0.0517 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -2.7692, 6.7624, 1.7118, -0.2271, -0.1245, 0.0562, -0.1983, -5.3812, 6.694, 2.0049, 0.1538, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e08b5ab0c72251ed7089469e9a77f55982f48be1b3c059951ff0e3606ee24a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed70dcf53d1d97d27cf61126bb511bc378ec9838276de0538cb0ce212c2b80a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba1c465380c3f9f89883c72f22507598412a48787404286cd36470683d3b37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDX5Ir4MTD71CUCkn7lw2Fl9gmHtnjHzkP9MFgmFJJ8QkYENqpkKKaewbt3KF19t0ZSEPhDUgBYM_wMCd2KpNApJRNz8XVKSXBZzxZLsvH9C_SVWMSsWrggAMRJCqiJ2lNVdpy2YARf_xXap1n-01l8G5sioUkR1kU11-hiowcyqED1JUgL2dfdfM8VPJUHMmpbVhIihBk2zJaH-TyKjilfjR_KJ4Om9AXw4Wr2HsUSajXxvjMpd88LhcNKMGsq-nFtGTqWBJ5Vajnd0RrEHV5wRApqkreqk-HMieNfzBfMc_M1uweabC6rk_wXem0-qjx1CqwYE3DvxSh1dAl-kCuMzmRfpdmGRyOrTPy1qopuSjSZCk3bUTzuXLkTHpSn9HYE8EXqXXBF-iElu0IxCa9w-Mi61qoT-MTXUpi859j-ov4PYMxyU3jPbDeG3YGs2rllt-b7zJliPy68YT8ZWdh-E9JqcnwTc7loMyg6UzViNt7kH4AU0LSlxGCxkzGcTEn9Rl2J3NOH3lJ5jHiKPeIBVEA9YbTKyDUSCM9_O2lA-ZGh3pbKckymej_WFSoX4JEv6O2kctQ2gSfBduRKnqof_YhnJhuVqRxnBDGU7eqZjqVlSJVnqoydaNZrJZdFV-hKAlOAy50vTnSazOa0DdpFhTQZBCGtTYdrlfZAcEMbPDjwhqZZi5hRzd727P4ClXZD06HKixGUXns2vieuZC7KJg-EswXUFzh7xxDUYLupcPnn9u94ZxhYCGVVwg1WZLT1qqVr-DN8BiANzqQDUVdF9DkqbfuArqKFTe-vw7rgVMQzZ2kTGxC-jeeVIayVDPUXm1AyFanx-UppIAvYXf-mz7qONeLQauvtcxetinNLukPJNhcCOCJ8bey_vESi5ResFSL6zVaxpjnKCHB8XeVSUniF7K_ACmsKhTwzSBSt7k3aTT4rpeuHkFE0yn-e8QGTlRgSsrFfmJleDpssnGG6ozOfGn9heyranSG_5m5ojtdLKJWmBDlR1lY0rGeLUUGCgnhux69poTWdnwygTFws1Q8XW8uRdnSe4dC4Q1jLNQXiu3b0BNJeess_v6wM0-wrV2n-vwmiEPt_mLK2DdkiNBd0dZm_CCm_tQR_bKVm3IvlmqxBWh_UuqfWaZDL1YhRZ3nje-fqPNeVm1c5mHrvYFwZ-F1Mur6Iu5wB0YsWoJFgML92_74s-WfN0V3BUh7Fz7Q63Yr8R8Zi6EHwxFVzbTvkmVXAHDD6qQAc3p1O3Sbreo46xt0xTtPMY4tJ34m2e9wVKvAOtQxTQjj3Fs0y9ZKnkndUltzGELgmFOc_GLCuxmWmIMmbb9XS3YOhCD_lAlq3xsItFEpfNRzJDFWG2Uc-6hXH_y_GNYauwUrar9r2KP02W5ik4Gwh2HDsv4WiCbH-nuV3dExB1Led5aHEbitTeBHEwCvbiZ1oHuh2Qp7ehBmkBlqEc7Is8gmqUyyOZfyYpUxzud3gy6v23Etf8dPlU7EuDGGS1ov2LadE8yJCNUeZ0lb8gZWk5E-HwSObaaSBq9JodJQsOEaNc-8fin1INbeSnycUsR71r-Lx9IRHG87ibWckcYm2RIF9H_N9y38CsNMuNqfQWWbxqIcHxEy-1OBk6wtlON1wndl4DtutoWRVEjr8adNb3zAw8PFy36cw0fwLsVXIyE7yCuw3c8bx8ad8H-_aO1GfHP9l9kknM6a0S1n_ioWhV39UAOBIt2AjkGakQnrNuQJhDKBdkztxkdOVA6Gm5QetRrXuM6kPUe3UAhQFcHV8MTcV_doNzNrKqa8SoTRhg94b_NypcKGYvYLajoPyjFIG0kUOXsHc=",
  "id": "rs_0d7de73a6f232f0b016ab435f72d5887d09bebe86f75e2e93b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pink bowl is now centered between the open jaws. I’ll lower only to its upper wall, where the gripper can catch the rim instead of slipping into the bowl.\"}",
  "call_id": "call_l6kbLEaCD26URBumX0YUbg9y",
  "id": "fc_0d7de73a6f232f0b016ab435f86cd087d09869cf7941445192",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l6kbLEaCD26URBumX0YUbg9y",
  "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]: [-0.1486, 0.9833, 0.8131, -0.6743, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0242, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1682 left_yaw=0.0828 left_pitch=-0.2506 left_roll=0.1022 left_gripper=0.9972 right_x=0.3928 right_y=0.1033 right_z=0.0884 right_yaw=0.0378 right_pitch=-0.1366 right_roll=-0.0434 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -2.1128, 6.7761, 1.4286, -0.1343, -0.0317, -0.0073, 0.0205, -5.6137, 6.8308, 1.7558, 0.1001, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071fbfc4a2291fd1b29720320dffdf1ad30fb5bbd1204cca4a87b02adf022da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58e1052642878f556ffaf13ccf10e2316bdd4f368356068469b502802240416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8134dfce72d274b14b76edf57b4046b46a260c9c86d0f1e775e14a4d6d115bb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.143 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.8183, 0.9482, -0.0715, -0.5213, -0.4614, 0.0214, -0.0216, 0.8082, 0.6041, -0.4118, -0.0166, -0.0299, 0.9969]\nstate[eef_state]: left_x=0.3924 left_y=-0.1753 left_z=0.039 left_yaw=0.0485 left_pitch=-0.2095 left_roll=0.1074 left_gripper=0.0214 right_x=0.2913 right_y=0.0002 right_z=0.1696 right_yaw=-0.0022 right_pitch=-0.0465 right_roll=0.0038 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -9.6068, 7.1043, 1.2674, -0.1343, -0.0171, 0.9646, -0.1026, -1.5932, 7.0222, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9833, 0.8131, -0.6739, -0.2142, -0.1017, 0.9971, 0.3763, 1.5227, 0.7631, -0.0124, 0.3058, 0.1936, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0019 left_z=0.1682 left_yaw=0.08 left_pitch=-0.2507 left_roll=0.0996 left_gripper=0.9971 right_x=0.3877 right_y=0.0999 right_z=0.0843 right_yaw=0.0004 right_pitch=-0.1595 right_roll=-0.0517 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -2.7692, 6.7624, 1.7118, -0.2271, -0.1245, 0.0562, -0.1983, -5.3812, 6.694, 2.0049, 0.1538, -0.0024, -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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9833, 0.8131, -0.6743, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0242, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1682 left_yaw=0.0828 left_pitch=-0.2506 left_roll=0.1022 left_gripper=0.9972 right_x=0.3928 right_y=0.1033 right_z=0.0884 right_yaw=0.0378 right_pitch=-0.1366 right_roll=-0.0434 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -2.1128, 6.7761, 1.4286, -0.1343, -0.0317, -0.0073, 0.0205, -5.6137, 6.8308, 1.7558, 0.1001, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071fbfc4a2291fd1b29720320dffdf1ad30fb5bbd1204cca4a87b02adf022da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58e1052642878f556ffaf13ccf10e2316bdd4f368356068469b502802240416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8134dfce72d274b14b76edf57b4046b46a260c9c86d0f1e775e14a4d6d115bb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDX8ZjOhN8oHpuhjjGWdRLEWJyPYu2mVuO3VX-ZQL9vnHKSPyl_UFazucLh-HhLIfG31isnsoL6q6nHS5jqOdulb2R5X9u4yErFlpqXtypqCZItCfDQ9CezripmPfZN49e0bSVQcBEfhBC63OFWnkLEj75F4dx3GKTFinZ3HgxeHfoHIzsiZhMWBf45z3lLQTjm1co7YTMMTe4UYJ9Zv4dCcRnQbz5J4t2jzVFUhQCWDD7kul5o60sNs4KA0XPuKu1wkW0D4lAzrOVbRja_r8rUoTCF2RR36UGIaurcTw4p1E9DJnRJOXJURx7hfdSthGu0h1-QrogNJ8yZIvtOtD-A5kxGNeSKupgxwDrIYVrQAVqHnAfYTeKauOE-IdO7_ggFVQYIylpBEShOTIskFcCfWI7d1VyMTcv-a8se32RiLSn_V7cnfACq1RxPV3JScui2O4aX-bvXsj0KX3wpkszK3XGwkLpMNLP2I5wrhCjvPqsYHBtj4Fo8Mdj2fNMmys5SF-XG52Aki9pSyQBU38bKQ6HTzLYVJLaLb5w3jt8zXg37IAHH3wKwbZJ0VKxlUhDHq9_yCyUCdmwrjRSoyZgcN21SiN734CjGGsP5IeQHT4K4XrQt9y1wC9hHqvLB3umQKy7hB8Q7syk51Cqto83rnO7JATSeAH8aNAoJsK5CpLM4pXCaO_iy5ElDsx6lgayC3ugf42tplBZeECLy-xF-izty3WPSENV1l5fYTdfUs9BHLiUMUd-lROd3oz6_TdNs9vllD5iJ5sTKlNnKUYdbqPmGgM4MNZCGDIw7hL1lBfcUf7nPMrdVrKwX4jISDZ2Y4AkiPZaG1DNY02Cj6eCu9CqBb0Ex2iejIo5_cf4UDd4_sRzdOY4UWCNhS8Utzc7g3u-7qkH_tthIa-b3AhOMttpRn5SjpD5DuvoOX9S96Y1QVmvpDBeGxu_T2tMaaaLNsl6DTNB0BPV431Yu4Q0kdhxpR4I0YJCf2Rz3_B32Adnf9Z9fzlF8DEUuAc7Y43EEtCKs-h8iFKWehrrF7dkSgJO2hnJjGX4NVFM8GkxT8Dhw9VmsFODzM1jn9-LLjZKYpYzVopNGxO6lNzpDqWunkH7rkAzOT-r-l76Q2iKs_5BMQLneJGDtRjZg-6RT4P0kV3G_bfO_rc_mHrh4ZRkLSSCrDlRTJp4xOyuLssDGYVhsO6qH9Gu-96xMF9jqvMjN4vMx3wefmppYYP6xbo6g-uFSpVq2WaNTD_nLfl_-CDF7qMIVFy6V_uUMHX480ul86wkub4Y1QIPUU8LHSCOcdiclLNywv95xZ1HFaE-9KX7fwFELPcTgArxDqyQpauGkmi26ok4lvsimxgWJSmS4EKZYn8MadMYmzXMfl-CS3cVspLBCp1P61ic39o_gPc7WKvbb7NnHcJ9QN73Ca1Irk6p1Rw1VYOnIppl1b0kbGkQGwFQvpUzeBq406pna-XOBYFrc7NYk6shfKSa3MMv1zWHVXnp2CxnPd37_uEFY2xwc50PgPfYpuvBfBt0ke7jZIQQvXalVVtjprkvOqk2i8PSmyzIXu106yCDX-tdaAY54IXi9CbgS1fNVCnhx1FE0MuB0-SPbfyazqoIWRpWz3IkrGuXOlxULru2STrZc0cC4Ae9Uujj_LWVFFMdG5Zz_9ux18F77A-OX3d5oyfH4DjF7s5Qijj3bnn10MSeAQQvOFfZKWJVS8Dh4g8ZyN4h7tjlsxnZ7gTSxaRsqB5PCraCr2VoPj7cD2csIwZ07s_teZ3pKgIKc1ohEQZjsg4Y0k",
  "id": "rs_0d7de73a6f232f0b016ab435fadf7887d0a12747914a4bac1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The last very short descent did not reach its target; the right gripper is still about 9 cm above the table. I’ll continue down in a controlled step while watching the bowl and the actual height readback.\"}",
  "call_id": "call_lhp1q993gKqn6J0eyRbRczF5",
  "id": "fc_0d7de73a6f232f0b016ab435fc106c87d0a72354368fa98ac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lhp1q993gKqn6J0eyRbRczF5",
  "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]: [-0.1486, 0.984, 0.8131, -0.6758, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0246, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2892 left_y=-0.0012 left_z=0.1677 left_yaw=0.0829 left_pitch=-0.2528 left_roll=0.1028 left_gripper=0.9972 right_x=0.3928 right_y=0.1034 right_z=0.0885 right_yaw=0.0378 right_pitch=-0.1363 right_roll=-0.0433 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.1812, 6.7624, 1.4335, -0.149, -0.0562, -0.0171, -0.0342, -5.3402, 6.8444, 1.7802, 0.0513, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee7a9b98a3acda4e97d3457256b9579909b2ca03c99cccc59bbef228016b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1b57189614c87deb5304302238126d6a8cbb05acdb62721e514b3f909dbdc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e75a08c291762935555205edc1f82a2d675edd980cbf6873e48082c4ac2ab7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 10.96 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9775, 0.8131, -0.6525, -0.2298, -0.1085, 0.9965, 0.5301, 1.5066, 0.7906, -0.0467, 0.3939, 0.2817, 0.9969]\nstate[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1736 left_yaw=0.0959 left_pitch=-0.2212 left_roll=0.0997 left_gripper=0.9965 right_x=0.3741 right_y=0.1448 right_z=0.0989 right_yaw=0.0354 right_pitch=-0.1232 right_roll=-0.0363 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -2.8239, 10.0991, 1.5849, -0.0757, 0.1978, -0.0269, 0.1573, -6.694, 8.9915, 1.6728, 0.4371, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9833, 0.8131, -0.6743, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0242, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1682 left_yaw=0.0828 left_pitch=-0.2506 left_roll=0.1022 left_gripper=0.9972 right_x=0.3928 right_y=0.1033 right_z=0.0884 right_yaw=0.0378 right_pitch=-0.1366 right_roll=-0.0434 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -2.1128, 6.7761, 1.4286, -0.1343, -0.0317, -0.0073, 0.0205, -5.6137, 6.8308, 1.7558, 0.1001, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.984, 0.8131, -0.6758, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0246, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2892 left_y=-0.0012 left_z=0.1677 left_yaw=0.0829 left_pitch=-0.2528 left_roll=0.1028 left_gripper=0.9972 right_x=0.3928 right_y=0.1034 right_z=0.0885 right_yaw=0.0378 right_pitch=-0.1363 right_roll=-0.0433 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.1812, 6.7624, 1.4335, -0.149, -0.0562, -0.0171, -0.0342, -5.3402, 6.8444, 1.7802, 0.0513, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee7a9b98a3acda4e97d3457256b9579909b2ca03c99cccc59bbef228016b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1b57189614c87deb5304302238126d6a8cbb05acdb62721e514b3f909dbdc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e75a08c291762935555205edc1f82a2d675edd980cbf6873e48082c4ac2ab7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab435fe393887d08778d7de10f0d1cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper has stopped descending at about 8.8 cm despite a lower command, consistent with its fingers meeting the bowl. I’ll close at this rim height and check whether the pink bowl is held.\"}",
  "call_id": "call_bXzX1msc6aWKpiN1n74fts56",
  "id": "fc_0d7de73a6f232f0b016ab435ff92cc87d091c0c691565088e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bXzX1msc6aWKpiN1n74fts56",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.757, 0.0219, 0.271, 0.1558, 0.0097]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3915 right_y=0.1029 right_z=0.0866 right_yaw=0.04 right_pitch=-0.1422 right_roll=-0.0479 right_gripper=0.0097\nstate[joint_eff]: [0.0068, -2.0855, 6.7624, 1.4774, -0.1099, -0.0073, -0.0171, -0.1436, -6.5162, 6.4889, 1.6288, 0.0855, 0.0464, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323a5ea7c60d1563e3cdb72387fb69af51d4342d0311e794158b937611d6d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99deb7195852051e18329b34981f9c372d8c5fcfd03c21013e77801c831288eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790cb982173eacb450bffc7857de7226bd64eb7e4295864cc8d521fd14b15d38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 1.987 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9833, 0.8131, -0.6739, -0.2142, -0.1017, 0.9971, 0.3763, 1.5227, 0.7631, -0.0124, 0.3058, 0.1936, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0019 left_z=0.1682 left_yaw=0.08 left_pitch=-0.2507 left_roll=0.0996 left_gripper=0.9971 right_x=0.3877 right_y=0.0999 right_z=0.0843 right_yaw=0.0004 right_pitch=-0.1595 right_roll=-0.0517 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -2.7692, 6.7624, 1.7118, -0.2271, -0.1245, 0.0562, -0.1983, -5.3812, 6.694, 2.0049, 0.1538, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.984, 0.8131, -0.6758, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0246, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2892 left_y=-0.0012 left_z=0.1677 left_yaw=0.0829 left_pitch=-0.2528 left_roll=0.1028 left_gripper=0.9972 right_x=0.3928 right_y=0.1034 right_z=0.0885 right_yaw=0.0378 right_pitch=-0.1363 right_roll=-0.0433 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.1812, 6.7624, 1.4335, -0.149, -0.0562, -0.0171, -0.0342, -5.3402, 6.8444, 1.7802, 0.0513, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.757, 0.0219, 0.271, 0.1558, 0.0097]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3915 right_y=0.1029 right_z=0.0866 right_yaw=0.04 right_pitch=-0.1422 right_roll=-0.0479 right_gripper=0.0097\nstate[joint_eff]: [0.0068, -2.0855, 6.7624, 1.4774, -0.1099, -0.0073, -0.0171, -0.1436, -6.5162, 6.4889, 1.6288, 0.0855, 0.0464, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323a5ea7c60d1563e3cdb72387fb69af51d4342d0311e794158b937611d6d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99deb7195852051e18329b34981f9c372d8c5fcfd03c21013e77801c831288eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790cb982173eacb450bffc7857de7226bd64eb7e4295864cc8d521fd14b15d38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab436026e3087d09ef0160daab59a57",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYMwXq6ZX9s9cC2KbXjhzJtwk4g3eRbqiSat3V0kPPsc6U-of_1jEu4fY0md0CCz6SYgQ808bQwZ6OZZGz1opOHnuhZpdGnuJhCzFNi1DOn-FRrQr4kg6SxImG4IxHyjnPWds9PTyskv59aAFFQaZEQbp4OE_81ez13E5mwvTBjlEeFd7J3kW8gh1ZIB8U14sF5dySZM5iNOQXJWVVIYz96xPHAM8H6sHteLqo-C_DbghNFrWH4lQQCqMMFv-MBXmpg0PsgHaJ6LPiFFK6hMZd7hjaIxZ1uh4UB7X1EmU0PWHJurGL1F_hQ5fhXIEfKZNF3mFKse0ZyOgmSsoxE3GWeTcRAghfj-H76hvNdxfh0u4TDfeNuq2MFAXn7_KGyvKNqJX1iNL7BWBSsruQ4ufRCn1ppPROpAZFe7nT_Vd1lj125VCrrZZeyctB3Ovz_y_i38odILe1tbtwoEyyJ1YcqmuG4VECTb5-TNSxTdaOduQW5SAbeXSC6YcFh1ibG_NNivYwAs8FYq2hyaM-85dVjdhGyqWPNHkxs8ltHeMrFqhArpt_T6fUbOWlB1WSONIRD_dNknAAVnS6hbqi3WYHUhkTeVc7JNh-LECj02iF4jgu0fCdJm02Uc1jR4aQN1Y-9t-E2v8UOHkBGElYs4-hQ3w9Oo7GEZa0liCHysDm-4YCAEcQfa7DhDHh6p_jPfcw5vvNi9J0GRr_nweUDnEbj5lYDcc_Foei_4Bg0Uw_V7zUcU68yEMXjE1pV1uvIwoaa1-fcHQCbBxC6OZcxwl6_y6zVFa379xgDfIV1fkOrTdYWPKdlcdpVAYZVklI1C3piROOwqkGIcP-KrwxhPZqE9HNbMFoLilabovBej0ZYlqTWcL6Ky2Tn-WTe9gVWn3S1lcgFDX5IZnai0wMycn1VUlD6mvyDZn2FpSqqeGvh_uMmcc93C3nKKWCi-bYsIhTvQfUAIBWE33ufGfw0k8gz58GdGdsT5jc3ZPpbo3w3AjPV-VsSHF4Why6GkbS1rcmTB80OKzS4xSYHHbd48RnSShavmwT-zpXIq5D4rtJFzNSToHOqOzr8KT5o7Vnx2PPAFINshUfPHJyG-KESUL254OOANxAp2lpMn2-P4ZQ8LVcoswbEncOUsJI8ej9Xrz_IEj33SXKhpr7PyIRRp0NbECt7vfaFzt1fK-IAcaq29MP6I_58K1e7hLui8-zVxITQbpsL92ghWjV8BdKBqcVIK8JSu9ZhMMlKochsEWjhkXFTUG5HCIC550TVuDSg8-yCauy7zLJc3meWtUeowsm8jWeWv0q0ONDa-coeXhoej05ojtDLpBqV-r3KcflhlsJmFOxKuonhrohMqd_rJO6_GF-vrEbhpsaa4H6CMGPsAEXO_c3--ma9Vp4ij67QRoDecDMKrS2tgf0iJ1YBnH3P8nw1-S-nrsgL2t4yNNJaP4irgBSET7wNEpTpspSjcSaD67WfIJLQ5KXlhQHWE8-UkVJJ8h2cuccAFCewa4QNMmM7utOtz3qMV04-t62PGDD8aU7uNmLWjEJWQPIpUTvqjcqqCL2rNba1fiB2q1UQXMWXD25qbk7dy7MDZCsEPvSXuTcegxc5XYvOUrRZIQE_QH858EhK7ydXcP839PDn9W1ezJx9-mlnFOjQ5XcxE-PbxpkRu4YsD6L-RapxsA7LMd2ZkqUVyxyXn9Q0_lshCWpxDP44-gzj7jEeYSg_Wzgd6QP0lGgqh6yTlycxuXDLjGAqT1gc69NtwyURnQwlI8_BlRWOhtKU6KLC6V-ZD3wFsSPFYmUP115Rv8wvAlpk2bgxMpgSkfLFf5k7VEAAw0NQuWdTz4eGOj1CebTeqXQ7sfnc6EVr74FqCTjF3yoxl2Raj9fPxkBxZYMudmATrieZccFQ9K3CZ8rYx9zEeBpH0qlg6ZdzHkEvC3b6-9a21bhz2Tq4uPEW5pHkhuVNZaOUpLKg_4dvGDub3LW1QpwSTrVUViDJIlek0HWURAmJQyDcBhrW8H9Fre-WCTTZySiUE260RiA4qCWRq03DsFVnDPrsaVKuc9sCWBTBcNuK9v_5vA8wMkTe-xX-w23hiRDf8o06mfqqUc2im31Mj3PoxrrKohXD7vrHj5n8tU5mxFjIfTTWDGN7TOAX2GibapnRtr-VUm1a7MAWX6MDf0vm1myvoOZmKP3ko6TvHCIqM2ZGYqWELCbEN8yzNwqOp373zNDHgl8Ji8t8qyHX5A9xa8HRPqgBT8K_cHlyhLek4cKVJG5P3LbOj5i2wnbfNEfDanmcwio97yMMXdUWaqgEF0jJ1_e0xyZ4EK9e6TRPU9FvijmRO1Q-RTWKh2LR6mObJfFhMdjXFDg-9I_QiCiy80zji9WxxbJ_f2L6GL6bPSP8Q6xYjsGxSXx_L7jCozUpmo9towxch_BNS1vKKJFlNdxqtXtwey0LMOw6XiBjuSDADvB5fS2Q8FZR-jynYqYOs0bjK0-hz2n5uFj0q74YHlV4TfM3J0YXBMdxvc-HZivyY7FsnNTQ_gUMD23Wx47Nb_f3n5sjJLgOIYSwgpubyHd3eKgUfriyOvDjUv4snHndI4AzbRNDR3zIQJz4RYn4lYoFWZESbc7EJDDMZO13nRTiOHJCeIh6Ij2jRRaFdxBNHXPHOlN7uCc_D175hu2zbHBT-lHTjEF5yM5Q6Z7bMIZYc2JFMShobyIT1Pi3WQ74oZXm6rogaXB-gfcYhiEv8zNhb4Zqq4IFJjD-5QHgU2iQ-IMMc6fVGeD1MO0b6n04K4tHmOqoFBuzcW1tMeHLYE_js72yCM58_iHMx6SNBsnPnjSirY2OSrrDVALQEQuui-YPf34yNxhXoDoBhxMVn9-pYBirjQV8VM9ax6tZjGeYGf2y0qvYxIRyNY-lHbj40e-ajK8sqryaLLE2_MpAPIBnt1E8hMbTcXjuDXJ2zjjPTCf-V_NMXN2DQYtBNWIa-8Iq_OHEAWfdbv57QdjYaLYUFeTexmKhGORvvDZvXwWk1HIXObuZLHAkWK6FM9SYE-I0u5M3ICe7U_QPo4IhUyoB98z2FTZSsKwHj6Tj7rYhI-yljDI50tfJDaRuUK-vw_fL4vnb8ZBCPY0RWx-E-0P0meW1MEnMigaoe58H2-ng-chtwnPvjnaCAMTC5y13lZU7TSVA8BtOUUv9kZp0Mk3sK2BOGmGiAiCqM6DUw1ne5-y0uRru_5UyDRzrr8QGMrNXCEaLSJ13-bh3GxmqE-SDUt_WkQxBs6Z-dIfiS0uLfzYceK2Zt_ORJmAthUC2_I3YUMTaYgGRuo9H5QPqqbMDaf9E3XtjUTTmhWtutUh-xt_OkrW8KL6D-9ssi1vgU4fZ7IF_GntNFd-6XOy3fVTCwjZT44bfb8kPp7IUMUo26cAlefWGa36_1t-DrJ7pwnCJQqHG_mvu-5SZNSVsMej6e6OPx46IPlC-UCdJvH5WiaKi-HVpCAAhAISjkbFVprR6SfRkvizmLf87BpxCvWxNm9xwP_V1pT_1FL29Dr0NZAH6BrJflTIYZGHa5vGZS9fdmF9EPA8C5d_SkhE8QoFlN0Y4lzfxwUiP7BVQC3fo3cq25ysH21OYuWRXaoPBeSjzy5h6-3KvUVJg0j0D7d8XW5kSakJLWSCCLdJq103k_Pq23Zg0AicA-uAMUtkxBJ2ikabxk7kfuHY1xl3IDkQYnmicLezA9YIXRPkLOXWbuipDF1BERqM0X8dkPEUZYnIl-2B0cNQezjL9rE2cCOf5C_BqsiEvUjnpXBqj2V_kPaP6Fbo0x05TsVDIwRASCk4FMcwNOtb7MsXT2ebp8XaM0jiiLSz616dFX2Je8nFiWgt9f89LD7c70Qxey2qYr__h9QEpk4JpOdc1x_Bgh7dWRMkjiTw4V5Bkylvp",
  "id": "rs_0d7de73a6f232f0b016ab43606e30487d082cd473048bc3135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.045,\"right_z\":0.14},\"note\":\"The pink bowl also remained inside the closed fingers, so a centered grip is not working. I’ll reopen, rise clear, and reposition the jaws to capture just one side of its rim.\"}",
  "call_id": "call_TgQ4Cbjjq8tNXApDpsI9rvba",
  "id": "fc_0d7de73a6f232f0b016ab4360b8b7c87d0ad64920b81d19e82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TgQ4Cbjjq8tNXApDpsI9rvba",
  "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]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1677, 1.3911, 0.8043, -0.1864, 0.1345, 0.0223, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3835 right_y=0.0445 right_z=0.115 right_yaw=0.029 right_pitch=-0.1965 right_roll=-0.0622 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.3453, 6.8855, 1.4286, -0.1636, -0.0513, -0.0122, -0.3077, -7.4598, 10.2632, 1.5263, -0.0757, 0.0415, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5192445425c0497eaa5f2058eba3f7a82bf569484cc22c3c56fa5f33fc41aaf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80262ba7c350d9711a871ad54b5f421fd95baf0b9d785570d8d5cc1ed138197e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb7716e856e4db1369b4d05d06588f5f7615e8891883b3bd89eeb9f01e381cd",
      "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 · 2.553 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 61 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9833, 0.8131, -0.6743, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0242, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1682 left_yaw=0.0828 left_pitch=-0.2506 left_roll=0.1022 left_gripper=0.9972 right_x=0.3928 right_y=0.1033 right_z=0.0884 right_yaw=0.0378 right_pitch=-0.1366 right_roll=-0.0434 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -2.1128, 6.7761, 1.4286, -0.1343, -0.0317, -0.0073, 0.0205, -5.6137, 6.8308, 1.7558, 0.1001, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.757, 0.0219, 0.271, 0.1558, 0.0097]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3915 right_y=0.1029 right_z=0.0866 right_yaw=0.04 right_pitch=-0.1422 right_roll=-0.0479 right_gripper=0.0097\nstate[joint_eff]: [0.0068, -2.0855, 6.7624, 1.4774, -0.1099, -0.0073, -0.0171, -0.1436, -6.5162, 6.4889, 1.6288, 0.0855, 0.0464, 0.7741]\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]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1677, 1.3911, 0.8043, -0.1864, 0.1345, 0.0223, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3835 right_y=0.0445 right_z=0.115 right_yaw=0.029 right_pitch=-0.1965 right_roll=-0.0622 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.3453, 6.8855, 1.4286, -0.1636, -0.0513, -0.0122, -0.3077, -7.4598, 10.2632, 1.5263, -0.0757, 0.0415, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5192445425c0497eaa5f2058eba3f7a82bf569484cc22c3c56fa5f33fc41aaf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80262ba7c350d9711a871ad54b5f421fd95baf0b9d785570d8d5cc1ed138197e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb7716e856e4db1369b4d05d06588f5f7615e8891883b3bd89eeb9f01e381cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYPZ1Ot8Tj0Mfr9NvUlNGVRLEuAKLDHTb42r-GA7luMBm9qXI5q8Ycn4_n0t5AzpLJm4knU1tcyZ4VFTHQyehO3ux7EUv2En54QeNUHU-PpK09ZARoEguQdXMof5ihngzLOoc-S7D-nXX3khF38kaimCyNoQceCwpgbEOz2LYGs4y1Z539fcp750SKKcz7vweMn1mJiDpNBbQbAXdbBLrarCJscIlgjR9ayopJF0d0u4PCoTha9J0M1w6G8almI3RKU_rpa139qydTJ4DDVwlL5sYyM0JWJ5le0AiWa_4e2YXfG1Nzgbfo73w2wLhKWyhO4TEPBD-dfQkvkVkvjD7ebWE1A_5sn3FdDQN4aPdx_FmDThO1VuoB2i5VTF4UKY7dam-P7uzoy55uzgqZXxRTGANJbo3G6G8_U1MmqUKsdqrQUHLVHcBh7TLtVjmglohf3Af6DcFirTh_zazmEmgB3nD77ozdVGpgmwMvgFvXK8QcfZnePRs7eTMcBz80e75TrV5jgzF4ravrs6OP9m_rLPCpPI58vqtGwi-ZRGTudp0rsvQBaFsyLLTQGRJdOAh30I4gNX8GwaqZZGnEGd7xTFOvguxIOfsK-1UzferE_tt7GX5qAQSYG5QF90DiMaNOevmz5fFxsiyLqwbp5OnrdPZv2bLQm8DNA--mwIOBazXaf99ZU3dG8t_5Y6qi9PePEbR72aSmcpylpsTy3VyV-MIvxmSOplADAqAJTuF8t7b5mhxcfhQHXGGkyqgC92u_oNKVhKM1TMGggKlZas21y4ra2uqjVN_vAtPOg3fLcZW2YvclnxdVp7c38RW7i5FRo13dIMwmdqRK6TfUs5rwjA6rAMnhiQpPvseJeQUpJt6bBGvWU_D1LDpBmogmqM5GyEGGZA-j6d3qXuSXcTtDFxOJCGdbL-SZTiFn3IC6HR81M8XQDwYI5806MRpyVj7zud3KpoigX1VXpXZgI6yoXgMwAM0vQt80MhUrXaC6pw05HMtMMBY6im7w21O9Fi8SRY2JfkqJw1fksMKFwnkbwQ6YwwkNjJpciBhoHcMBo4s5EdLR88FqnQe77f_4vJtBm-hdZM1L4brrJAIQ-dUyu9ti4R3wjXBvcjcoiq9tldFlRiO1GWILAdnC95rIFcqSTrNiTWVtdDByMyKI2NKRmjZFqxKxWsqZ5YLP1SiCSlzCnmNp07psc1aRYk8AzgjwAMJs0lyVnQvCKL_8aW2TwVrQs0BOJKtA7vYK327lQkv1TDDdBf1rlWqNY97V1L8cWuQ-VuBmOPikIS7-azsm6zYAuzqmlA0o_MPbjWaxge5xndSyt-fWfpJ4XALWxjF7MniddIJMaYsuU9ayKq3gSTWC0hcjfaTfjftnuGJvLSX-GyLAtyKk9EsqPySpOnrkVMrurEzQ6YxhwhAf6D_tYYXt1g8-CMIjMucuwjAnD1fc=",
  "id": "rs_0d7de73a6f232f0b016ab4360e141887d0a8beca095864aac8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pink bowl’s outer rim now lies around the jaw column instead of enclosing both fingers. I’ll descend beside that wall, then try to pinch it.\"}",
  "call_id": "call_lj8ZWfmKaNVYp459QKKCj0Sy",
  "id": "fc_0d7de73a6f232f0b016ab4360e8cc887d0934827ecb9bf8900",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lj8ZWfmKaNVYp459QKKCj0Sy",
  "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]: [-0.1486, 0.9848, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.1638, 1.486, 0.6727, -0.0399, 0.1219, 0.0177, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=-0.0012 left_z=0.1674 left_yaw=0.083 left_pitch=-0.2543 left_roll=0.1031 left_gripper=0.9972 right_x=0.369 right_y=0.0429 right_z=0.0535 right_yaw=0.036 right_pitch=-0.2773 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.4137, 6.7624, 1.4237, -0.1636, -0.0659, -0.0122, 0.3214, -6.1607, 7.0632, 1.9805, 0.1343, 0.0073, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5650ffbf5e27cb7d6f99e3c5741c5f420df867beb5745e03f48397911561945a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1ac5719903c202743dcd3e38d0209ef79777af29c5d68c0691fa9b2913bfe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b504c8a8efb437860166075a4ce7029248843113cc9315bb9e4da2208044f2a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.578 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.984, 0.8131, -0.6758, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.7605, 0.0246, 0.2714, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2892 left_y=-0.0012 left_z=0.1677 left_yaw=0.0829 left_pitch=-0.2528 left_roll=0.1028 left_gripper=0.9972 right_x=0.3928 right_y=0.1034 right_z=0.0885 right_yaw=0.0378 right_pitch=-0.1363 right_roll=-0.0433 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.1812, 6.7624, 1.4335, -0.149, -0.0562, -0.0171, -0.0342, -5.3402, 6.8444, 1.7802, 0.0513, 0.0073, -0.0171]",
      "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]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1677, 1.3911, 0.8043, -0.1864, 0.1345, 0.0223, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3835 right_y=0.0445 right_z=0.115 right_yaw=0.029 right_pitch=-0.1965 right_roll=-0.0622 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.3453, 6.8855, 1.4286, -0.1636, -0.0513, -0.0122, -0.3077, -7.4598, 10.2632, 1.5263, -0.0757, 0.0415, -0.022]\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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9848, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.1638, 1.486, 0.6727, -0.0399, 0.1219, 0.0177, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=-0.0012 left_z=0.1674 left_yaw=0.083 left_pitch=-0.2543 left_roll=0.1031 left_gripper=0.9972 right_x=0.369 right_y=0.0429 right_z=0.0535 right_yaw=0.036 right_pitch=-0.2773 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.4137, 6.7624, 1.4237, -0.1636, -0.0659, -0.0122, 0.3214, -6.1607, 7.0632, 1.9805, 0.1343, 0.0073, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5650ffbf5e27cb7d6f99e3c5741c5f420df867beb5745e03f48397911561945a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1ac5719903c202743dcd3e38d0209ef79777af29c5d68c0691fa9b2913bfe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b504c8a8efb437860166075a4ce7029248843113cc9315bb9e4da2208044f2a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYRf_98gWLPweQUwuw_ul27rpuDR4ADqAz5JyGc5EXGZLY-l-5qZ77aG5AEiOK-4oi3v73zmaEnrYP0Ks9cYQWCn_F2qHZCkLHsRBHSnpCe6vztG7Hru9-xn_c0zaKCbIDxAh_gXi2aGJXOqwHKcN8O_Mj9KjKanxfHmMoKYRptRhXPVBJDaxxH_6DnRGE19jMbe0a6H359RmH6emSaQhduG11SHAT7gAI04uTXH8RWOH6AJWBc7y-4MaGxnxVbEV_NM7sjqNZACq6xZI4VTcUsc2pYyi6Tx7e82-uWHPYkGlz8pBEQgnaUwmM2ravHldBc8toy0YreN52mz8up0XmlPi7NGoV83cZKRZO3QKmGzO5pFKJYUKwKWMPR68F0XdJeRwNUpAdz3YD3znKKmnAVA0FvvHoDbjCEengYdEwDNElmMKfOnjmnWb53Qi7T8rjw5UEzZpRzRpETqLlfJJZgEOmh9X9yE6acNYjy3AKH9v8onyCUtm4zBXGOwBCsFl4uufCShBOmlVPyPXdo05fRQy8CtGjArRX0c_rz6a9S9JsRl36_JNca9mxxtWIhQBe4gWKRl2ohA26L9iO7WjwYNaMGs4E88bXQ1zbZFSJC0Oe01v2Qe20vwGKUXbFqvHxZBVw55n4pZ9NJ86utPNyiEc1WPpZy6SMSE9tGLVXzUBEPP1PtUW30EPnXtFGkMK2Lbu7--_pvBxAHT9txn0HrvWKJcirB-XG1rcSHnzNNLWAAIepOJRIbtKGWHWdsdZou38f3ZTncPdRgPMFdIpRFlPCHkQzGFVuFHMlPpWynye3vwDM6IraKhijl603kP6TR4ISVFGX0-z4DvF0eEG7GLc_zsKiFqdFwbP1oJUIWzOIqubO3ScQKdPmtQxKsBWg-jWWjtfVyx7-P7Lz0a8JqxoFtbv8ZmJWm37EC7o6dxbbxaGFyma669oKOXCbe6XyUMFrldO6r8CyFLKBKR0TmO259Wc-ieJ45siVBISwjIWThHsKiXHai_GQgpOF5Gff54QFvoSZUudH-RtPL1oEg7L_PlymyeirPm_evxLAKbfUzxRnImrzGnXX8FzWbb4cSZMpxLQLwfttpxoVmfQ31GtcxBCzLfIo3Jj7Y9ZLl6aXmamZ5OLO5AIeu99_cIBbk7jO1okoF1KLOh6NSLq_4RjVbybgz2pIIOdpeBs1qE8okI-dMKU2l_a8ea5e_flP6d7IF6fmi2vMtWPqOfXwGAypxh5E0RsRxIDED7cEDRuiPNdOqklsq2wx6ILlwc6BwvkjNHE4MHwvdfs0eZTQ4HEjKEtMQYy1jKVPIqsx6uZ-RR-mGOkah7gCKFayrlcqLrfKn4h_DRJUgfJqSLx5lzInciChZthtUTViEb5R3xooKqmX__a_g-id-Du7NIrK15NxesaY0r_Jb_Phk2BcVc9vVOHAp1_N1qBalS2mVm0yf0fwcpQc5WDws7_8U3tCgSqzqhIZXmxoxmQNE1Z_ZQkuoj5qMJioG7Bky4vaFwhydnoFRLkHbHqpLcD6CxvAlP5PwVpWvcUOPpSD6BGweiw==",
  "id": "rs_0d7de73a6f232f0b016ab43610981887d0941c7d665b92376b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is beside the pink bowl at about 5 cm above the table, with one rim wall between its fingers. I’ll close and inspect the gripper opening for a real pinch.\"}",
  "call_id": "call_KUPyvizQsqb81rakWt3sGcKl",
  "id": "fc_0d7de73a6f232f0b016ab436113d0487d0be8a2eb89974bd7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KUPyvizQsqb81rakWt3sGcKl",
  "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]: [-0.149, 0.9848, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.4963, 0.6529, -0.0113, 0.1204, 0.0063, 0.0095]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1675 left_yaw=0.0826 left_pitch=-0.2539 left_roll=0.1031 left_gripper=0.9972 right_x=0.3672 right_y=0.0427 right_z=0.0471 right_yaw=0.0433 right_pitch=-0.2794 right_roll=-0.074 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.359, 6.8855, 1.453, -0.1001, -0.0464, -0.0171, 0.0342, -7.241, 5.7231, 1.4969, 0.0757, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbfdbeb47453389281f56656f00324e76510837aee192384bf8cd05e2490502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bea17fa3743f2736c8f923f41881f78c0e4f36fa690a8c9b2ea30abe98fa763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1deaefeac6667a2430596c829c23231551608fb103e4453a0019efe8e0e38b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 7.281 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 65 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.3653, 1.5227, 0.757, 0.0219, 0.271, 0.1558, 0.0097]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3915 right_y=0.1029 right_z=0.0866 right_yaw=0.04 right_pitch=-0.1422 right_roll=-0.0479 right_gripper=0.0097\nstate[joint_eff]: [0.0068, -2.0855, 6.7624, 1.4774, -0.1099, -0.0073, -0.0171, -0.1436, -6.5162, 6.4889, 1.6288, 0.0855, 0.0464, 0.7741]\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]: [-0.1486, 0.9848, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.1638, 1.486, 0.6727, -0.0399, 0.1219, 0.0177, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=-0.0012 left_z=0.1674 left_yaw=0.083 left_pitch=-0.2543 left_roll=0.1031 left_gripper=0.9972 right_x=0.369 right_y=0.0429 right_z=0.0535 right_yaw=0.036 right_pitch=-0.2773 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.4137, 6.7624, 1.4237, -0.1636, -0.0659, -0.0122, 0.3214, -6.1607, 7.0632, 1.9805, 0.1343, 0.0073, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9848, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.4963, 0.6529, -0.0113, 0.1204, 0.0063, 0.0095]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1675 left_yaw=0.0826 left_pitch=-0.2539 left_roll=0.1031 left_gripper=0.9972 right_x=0.3672 right_y=0.0427 right_z=0.0471 right_yaw=0.0433 right_pitch=-0.2794 right_roll=-0.074 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.359, 6.8855, 1.453, -0.1001, -0.0464, -0.0171, 0.0342, -7.241, 5.7231, 1.4969, 0.0757, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbfdbeb47453389281f56656f00324e76510837aee192384bf8cd05e2490502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bea17fa3743f2736c8f923f41881f78c0e4f36fa690a8c9b2ea30abe98fa763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1deaefeac6667a2430596c829c23231551608fb103e4453a0019efe8e0e38b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab43613cffc87d0b792de0b920df090",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper reading is nearly fully closed, which usually means a miss, but a thin bowl wall could also register that way. I’ll lift a few centimeters to verify whether the pink bowl follows.\"}",
  "call_id": "call_8Vn9e393WptYIWYkKxFj1sOC",
  "id": "fc_0d7de73a6f232f0b016ab43615cc3087d08a2459ae9ed013ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Vn9e393WptYIWYkKxFj1sOC",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9855, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.3533, 0.886, -0.3565, 0.1177, 0.001, 0.0115]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1673 left_yaw=0.0827 left_pitch=-0.2546 left_roll=0.1032 left_gripper=0.9972 right_x=0.3734 right_y=0.0442 right_z=0.133 right_yaw=0.0496 right_pitch=-0.2492 right_roll=-0.0719 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -2.4137, 6.8581, 1.4139, -0.1197, -0.0366, -0.0171, -0.2393, -5.9692, 8.7726, 1.4237, 0.0855, 0.0073, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594bc3dfca7e32625455ad8121473653db827a0cd29d59076008b88d264221ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d045de9ecde830f73a38619da0c2d10ad181151c844427ec7cafd306a236e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7596f388eecbd797d97ad474365033cda820107b71c46817e02906fead0844cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.457 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.984, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1677, 1.3911, 0.8043, -0.1864, 0.1345, 0.0223, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1677 left_yaw=0.0826 left_pitch=-0.2532 left_roll=0.1029 left_gripper=0.9972 right_x=0.3835 right_y=0.0445 right_z=0.115 right_yaw=0.029 right_pitch=-0.1965 right_roll=-0.0622 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.3453, 6.8855, 1.4286, -0.1636, -0.0513, -0.0122, -0.3077, -7.4598, 10.2632, 1.5263, -0.0757, 0.0415, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9848, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.4963, 0.6529, -0.0113, 0.1204, 0.0063, 0.0095]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1675 left_yaw=0.0826 left_pitch=-0.2539 left_roll=0.1031 left_gripper=0.9972 right_x=0.3672 right_y=0.0427 right_z=0.0471 right_yaw=0.0433 right_pitch=-0.2794 right_roll=-0.074 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.359, 6.8855, 1.453, -0.1001, -0.0464, -0.0171, 0.0342, -7.241, 5.7231, 1.4969, 0.0757, 0.0855, 0.7692]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9855, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.3533, 0.886, -0.3565, 0.1177, 0.001, 0.0115]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1673 left_yaw=0.0827 left_pitch=-0.2546 left_roll=0.1032 left_gripper=0.9972 right_x=0.3734 right_y=0.0442 right_z=0.133 right_yaw=0.0496 right_pitch=-0.2492 right_roll=-0.0719 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -2.4137, 6.8581, 1.4139, -0.1197, -0.0366, -0.0171, -0.2393, -5.9692, 8.7726, 1.4237, 0.0855, 0.0073, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594bc3dfca7e32625455ad8121473653db827a0cd29d59076008b88d264221ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d045de9ecde830f73a38619da0c2d10ad181151c844427ec7cafd306a236e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7596f388eecbd797d97ad474365033cda820107b71c46817e02906fead0844cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYeNdU-R6MhbF8VE-MOtfcHfng5_FK1a-YSa68pcj-tYSKtT5rTEGCiWQ6GinR3NiclTEA5IEPSe2gCxIsB9JCjteIgqC83gsaAeQpTVIO-jbvyRo4EobOR-mD_armrxYDVPYyev5pqumDL6mw_YxOIJk1bVZdiONivE3cw8CAonqdEXXeThUiMZl_OZnew6RdGjvqhaM0chWG0DHKsqvmHaSU8PorxknTLH6yypmPv0A0pysSxyeoUSdkyDVnz68ePROQGO5P61ZvchKS8ygrVtDyrfbKNBhd5BfryZ2tkpncYr8VWkyYAHsyiu8T3bORUvkyPcTLL4ZPrxJoilZ_7LMli-bSEqzWpsAs3sRREnvthIAk-Lz4iXFcdljtoKlmVuuqAfxHynnol9--LhiizYl2vecUBLB-0rpkNPSTV9uemyZvq-QNtJlZGTTFfq8XdNGXCsH0j9-uzEKeHybVElK7ooPkt4sC2-TfGjXnIJMwdjkRpWwU9A5e7fkegRzbTv-9sNtK75oT5h9EjFs2o70IvHOZq076xuXKJ2p1aD-YCwQo3h_iEG2Nk3-YWZXOcwkwlxEv8yiisN2JdvHrdcp03XvWHF1tGHkxfsNzUehuSye-Kbqj1axRD8MVEtor6weH2-aOrmt3-xi4ROPh8H5o903bdGrbcDhC4esNh_Duza7tv_rdUomcvFvDDw-RmrpBnOOC5WbNz4ts8RdcmY7PF50pzGzNkUerd201Z9QFmFeuOE9FKpztdgtMNGnPdGgZIkMszfDVYkAOe357SwykbG5VxaLcRiEWiTJMhyUHXGhf__q6SFmxyhOlhQWVYgAlgunUf2AAgdOnyAivPclVSQ7x3YQoCxmTta4WXNi0VPbliai80gyVHs8ObzZqm6zyNxn-7JxBc0jcjEwsYNjUCl0fWvIPKoQApkpoorr7BrDEAa0CjlNdMIL-SWZAX3fZOiDef38So20QMSqBmrlRIuu3dhIEXOabKqzDlr4GIsQ-Dn7WcZGRbtNB5KdJNpf_RQ1zIfonH5wINa4CsbbfwFOHzyBmXgXYiSWKKGykOlNQkYQF7_ALFefb6H9C8G8LZwTu85L-z4zkfZos1WpEQ-KPrUj1Yd7yfTSVsPdfUIc6jloNDm_vwZ6zz23_kw-g85nc18S7gnfbH6pGVJYpqz9P_xxGZYITfllpUHILt4PXE1b3Cx9oqHrOrhbXgVQ_UWxeUQthNCpdybQVUgZDGrhnKTkiOsHLmAgaZ3ds0jgBpzNLuMgBhNkY7uG3qVpY9eXAFlDCimXHLwe43PPp8DImYF0YJwTSbdxAF5dfnm51A8hvfRI2FA2F-G7aN7tjy1s7iU2itgLAUo6sRc7AlvmpFYh6OaFsMOvbY8Fxcooq1apZsYW_AShz7yeo6ZI9-M4uKjcNKCGlHWa3rKunsxR64eo1Pjmt7-6EqApj9-SzkGtKITRXrFDNUmNjQOjoa5a3GRGpzAqo2jIZMske-Baf1oBFsxR36X7OS5-Vyxc5VeEpJaxE7BWSlChsBvrLnRHeCg5ZudApsF_QzY4y6jHv130t8L1MkThx1hH6LW8X5BDnDlW4An6tr9xG-fFG3ASHHyI-sOxbCkOdMZ-z1eSS6zzC4TIAoJTDrk8JgTQaCJ2KeWicS05WQND4kWiDI-BOHN5QCAFrcpRfkzpleZBjk49qbC3zHMCjf84mr3fEYQ26uHhdhvg0l2406w2033qIYCFCSVwKx1UodYfJA_sUa4tVr_8Ju_Z_amfF2Nz6p4QDFAcXqnoTh82oRaEkXAo2ejL8JqX2ZML_8k9YA125uvsM1VO3Tit2-tk39b1d4BJVOjVVkP8iHvRY_ZNzz7pDdKQqwzEriOxEOVIekmSftQJtgyVNrhe4z50LbQFdnuES5QYPPObQYNIhoDIlHxMTCX2ctnEJSEQJdB_1Pi2ONv9FPybXzABhaWKzXCttJ1xECLdkVnWZc5Te_OI5D3d1J2EZQGrsGUnOeciCUR2-kFVMgDLeEURIil9WufgNVfs99jOktpjqZT7KLiuDbrP0XexcWBcsTOfX-AWOOqStBcVtagntBXM37magwkl6JFkjPH4h8vZ7Zur0-kMalJ9GV8qpQ_J6H1Q3_TXfpHb_KitjPGVyIKT0O6EAlK_k-Bo8AsX9yExz-AOKv3yPciwGRGiE_ex8cqcMTgd18TgD3tiXUAzhAxsobrZNP5FwitxvIa7Kxbp2HPMPF705YkM4Mz05EXBetcPf07oKGsePEGzs1DqAhY2wR6puz2NlIf22TO2dqp2oPuwYqfSwPUSmR66xg6IpgOITn_sFoomRCgXs4NSiYwtKxelGiCdIuoizvu_-MhD-p4Mk9VKIKsUpvUS-IM_vwxYdC-vQJ3PK6HeCL8VbG8yzhqZ7wi0lLfCxcG1PN06fLoJmfWh8HfMxYea_6t1h7LUNJQeCG-mnOIVFlKJhdRRohDyzdSVxRH6xJfRfs7sZrcAaDhvvfPaQlIUyGhY8dvHedLJk941fE2FOLyx5CxPbCANSPI0XWXeCq3AkD5D6-5a6VkUcm0U_PAP-Vv82tC1x2qjhGoHbpb-RKWXi17LrZqj-GQdcEOanBK8sx8_y4H4sV6SmqK9i2USQpUxzLv_WCFk2Hl3-p4IrZ2PDL7fZilY8Yl2QFU5gQtGIJPlL_DozfjSUtObVU7QJjpLHFc03P1MpfrNX1zKmdLsG0VpX3zLrv9pgVJaCOGTL_wsQvjyi_ZQ8sbBUKR4hodFG2_gNmiTLYE6FxOol-3AnRCb6Xo4ybz9zorQ4nme24JuYLtcyNKO4NwJRtf1mxmy_6MVScG_7eM1VQI8UKj-mybwa_YvGlo_oqoWA3RmFwuXTujFdwZlfkjl2rVve3wGYbalnA_9ajDvZ5bLUipaQ_BGvDJ2KhdFdTTP4qNdgr1uYOS0zxN5GtZFdc93zOOhFrqTQV1GFqHwe37tbexHBQKmMvF6WXOMa7rihyFL91xc6WbILVTe8quaF5uJORZWpyNN2hOjfYaZ8_Mb3z-w61Fne9X2K4RkGftIbDqEDzU-8GYFd04PHzce9W4X1fKCSS5PZALZzMTABnHSAUUu-8wnZPrggDd5LyRKcqfmwGQcqSH_P4Ux4EYfm1B0sGY6nrVI-S3e_QTuskYCSkUFhhpSWoCe4qfXMVWEAcEZYq3dDevlZpU3Eiy1Qrly6viQ4K89o3waReCqX3M3QGP898HOj4_t7WR46-KQPuXUqsyKFnhVVy9Exa9NW9QUKjrrKc_LTjN-nzmn8aGPECh9D2UOaPak9yDrprGd1hBjuWvwbSATJCI_7kSgmaNQP779BWAET_FncABzG89Ckxfuj-JA7W8WwNFMaXBN4QM0HjXJA4WZT9jlohd80LWt0MYtRzDzfpEqbneMBiPkPxx8wCb-qb0q_2An1v2XgGRNnwKnSLrqvffmR_aW0LG0SKnWOnLsr-eq-IBgHnAoBdJKlCoDX45UKlz2w18TTJLeTkqeoxYN9N44GZiQoE9CG9OUVbJrVIkHQ6kRNnl7m3KViHCz638QQ9sok8vCvJzFa1qmRMkLUgmWff4KllP2sNJvccHTPk7eP_NYj5uoUU6NnXDqbCduzsjiPcraBr0Z4AvjsdHx-4vaDDvWMJOwEZmDLYjoXykxtkGN6DeW2r3EhZpl1Y3ce0JYvVyel_0tXrhWFBuYaxhuhRcqVt547nBBajsgjcfjTNK8WBDwTPEXKUhjQHVc_6tGyOTO3LSpPZh5SsqKeJIWYuCMAfALOfphP3CHYA8I2PEPEzfGfI78q532QtxCNbCt173RF1g1pyG2cjHNzl5KvOXleXkvzWX1Awva7O6t5m-eBRZccOnSqqRJenh8g=",
  "id": "rs_0d7de73a6f232f0b016ab4361802d487d08c3c13aecec7d22e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYetCwjfjMe5urh2zyW4aejI9RBX2JAPPOgBcowjVsrjNTk63fwuAuKhbVNydqfam9tkPUpO8LWAwbtQUWJZzMGQElU5NKH3LT_AvkXI6Hbz7v_dp9qe355XaZg_86Djt9Xo64IUuhSsFic8atqq98NMnazECalf9kc8Kl5pjtfcMBGowPoZD2GCqriGMLa9PRA9Uy42Q38-ExZPLA02gW2fp9eYGB967DaTpGui9trcOgVK-I5DhOK0vVue2xPix_DDEYtaTkkQsPXMR-BgiHzlAmU3C8DjQ1nBCJx6_F7iIdujLNXr9HYromv1lQFXI1W6gKKjXo9HpiiU93LBmDUAS8s6ymhmCWz5x0fv3NlTuHYFguEFTWQNAQ_x4grWOuYrUOnH97-zxhm-cG7nuIMVlJE73H4t-LQWCmvXSgXSkaQrueYZvdbQFcqG0F8VxA72HtOqlRyM8w0K92mrIRcrygQWGGyJ0-7bGaVkJ3uK-uGNGeklstVScF9kgy5IIzj5WDdmt2MHOuOleycmEgPrhEy4kZwVvMiOasd-CuEKmi3YteQEt25u6eVmEs3GmxWN86jKq1CULyQK20v049ocDr1Fn12b35YIbbyfSUHhLmqipnUz2q-GTQci6NdF-F21vInlz1PQR-UiaAjbZ5xlv85rdf9IM4J9P_D0p31ey0Kaprr2Bpe5p7uoNNmoOPbON3iuw62R5s-nScBi-pPYNcnR_pn94bC9XzVE05ZQ-LtC4jwgC2TvC_bfD1tbSKOPmou88Iqq9c7X_uG87ZknBU8bTILk4fi7yZw4y5ZCbDzdvfbaT3HN3jiANIX_uhmmDnx4AWjpa4L7Adgw8URSZJi1Sc3FnXF0Wt5IC2ClK7m2ZSORElCMkHB5lZ5KAwRx6Q_1Ua-KDSJ8XrdVqJy8FKqkRgvXJdaM2YGxWD6JoWq23-l3IjDUu1Xow1nR6pQ3n6Tm4OqZxYTZ1FfRo8BaQ5roHfjSHd2ejz7EVvexFTRjL6YaduTGr9MtBHnW9EV5jiCWdAV0w1Ynd2_Vj50_tbV6Y2dWYmkDryPgo9O554hV_y1tN5qjRdLi8d1camdGWLK32PZiy62vohXKiAsgCPJGl1R7nl5L1R3UzLLmyWrWOu8sFS4hcBBEAPiyHxHIQkt10gaGe4DxjUu5cutQsloCr0JvWOVHnh1Rl7VzZYkbQCC6MtKI5anE3_HRPfVs1URYIlHVITE-CcnIAOv-I4063pDgm5aXPW1ak_6YrGLbUjU_ptrxTWtdzZccYmlx6jPpImWi7-A5YJHrU8xUGYRrBcJ-MyAR1MrhFxYEivkDZ2OWc0busQpQgRB121-_HNsmWBTDLUNB-Hyj6dxf0Hp3w9pwPHQmV4YdM9ToJz-hRhc7LtqQeUh5bwCuv5CMZZ1rNMEzRMQPJW7mxTi8X2wLyNXGarhI3ok0fs57_Emt7RFm1oWV86ztsGCqdhQZIJFaj6xo0I9uMm98RIQclshj5k_LQxQXQ4EOMK-ftMu2oHqfYg9d-c0cyICrocnu-weX4s0olLxJFymw9kD9pIzGoKcWW12O1KTYI5N0Axb8SMuI9iRxQ8InMKYbaxsFsJBJZZIjn2Xuuf1sXnHFZSVpLZziSABcHcK2GkQCQr6x3VrjcEDV9_hxou5WHX3CvyXxj7YWDIqVmOq7VN3PL1MGG4MB4cfTnzySlxMzTwJH46z5hVd2_wkmv5fuvZUFToYwLv32jcHaoVhtrrhCRV3BUz21ml8u1o3esC6ldUOLQGlVQyiBN7fKocyG-F47-pAMGvhWRhn4bU_aVQMZY_fR2JOj2tzvi-HQ9JLtGzM_O5NRjkwk8vp-AQ6gGK0MPS7PHJh7yXfFQQabHgW1t8p3AnoH_WDtCTcTDf5fbZFCZmrOX5W3JuZB18u1wxts5CfNyuzXuLiHiUVpBGSywgHpaR2_04LcUv_MCOKbv-s99_4sL0uqbGzcj-cERRj",
  "id": "rs_0d7de73a6f232f0b016ab4361c31b887d09e1f63ddd9a85304",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.105,\"right_z\":0.11},\"note\":\"The pink bowl stayed on the table. I suspect the fingertips were behind its rim rather than around its outer wall, so I’ll reopen and approach several centimeters farther forward while recentering.\"}",
  "call_id": "call_ZUNJHbyMKNYmVwAoEoFGQknw",
  "id": "fc_0d7de73a6f232f0b016ab4361d886487d0a6a289980b3a4ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZUNJHbyMKNYmVwAoEoFGQknw",
  "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]: [-0.149, 0.9894, 0.8127, -0.6762, -0.2173, -0.1013, 0.9972, 0.3153, 1.6451, 1.0332, -0.3023, 0.1989, 0.0875, 0.9955]\nstate[eef_state]: left_x=0.2894 left_y=-0.0013 left_z=0.1661 left_yaw=0.0829 left_pitch=-0.2587 left_roll=0.1042 left_gripper=0.9972 right_x=0.412 right_y=0.1014 right_z=0.0911 right_yaw=0.0777 right_pitch=-0.3234 right_roll=-0.0929 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.5641, 6.7897, 1.4042, -0.1001, -0.022, -0.0171, 0.3624, -7.8291, 9.6615, 1.6435, 0.2271, 0.2173, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd2e08a53cc7b41c078a202dfda1c8730964ad87cd9eb37ff7336e84faa73c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ca5541dad5de9d80694bf2b4d6a744682e9f70efc54f8ead814334842d4076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977dadede03a8d3f65ad833a2f3eaff66ff21b99aa41d9c124b318df5f39b747",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.807 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 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]: [-0.1486, 0.9848, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.1638, 1.486, 0.6727, -0.0399, 0.1219, 0.0177, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=-0.0012 left_z=0.1674 left_yaw=0.083 left_pitch=-0.2543 left_roll=0.1031 left_gripper=0.9972 right_x=0.369 right_y=0.0429 right_z=0.0535 right_yaw=0.036 right_pitch=-0.2773 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.4137, 6.7624, 1.4237, -0.1636, -0.0659, -0.0122, 0.3214, -6.1607, 7.0632, 1.9805, 0.1343, 0.0073, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9855, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.3533, 0.886, -0.3565, 0.1177, 0.001, 0.0115]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1673 left_yaw=0.0827 left_pitch=-0.2546 left_roll=0.1032 left_gripper=0.9972 right_x=0.3734 right_y=0.0442 right_z=0.133 right_yaw=0.0496 right_pitch=-0.2492 right_roll=-0.0719 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -2.4137, 6.8581, 1.4139, -0.1197, -0.0366, -0.0171, -0.2393, -5.9692, 8.7726, 1.4237, 0.0855, 0.0073, 0.5739]",
      "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]: [-0.149, 0.9894, 0.8127, -0.6762, -0.2173, -0.1013, 0.9972, 0.3153, 1.6451, 1.0332, -0.3023, 0.1989, 0.0875, 0.9955]\nstate[eef_state]: left_x=0.2894 left_y=-0.0013 left_z=0.1661 left_yaw=0.0829 left_pitch=-0.2587 left_roll=0.1042 left_gripper=0.9972 right_x=0.412 right_y=0.1014 right_z=0.0911 right_yaw=0.0777 right_pitch=-0.3234 right_roll=-0.0929 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.5641, 6.7897, 1.4042, -0.1001, -0.022, -0.0171, 0.3624, -7.8291, 9.6615, 1.6435, 0.2271, 0.2173, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd2e08a53cc7b41c078a202dfda1c8730964ad87cd9eb37ff7336e84faa73c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ca5541dad5de9d80694bf2b4d6a744682e9f70efc54f8ead814334842d4076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977dadede03a8d3f65ad833a2f3eaff66ff21b99aa41d9c124b318df5f39b747",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYiRU8UIscYENowrvUe97yvhkygS3zEg8NkABiT35ZiI0OZLuz_xUWWJjBGa1Cke9uSnhPLHjT05Pcu93ylaFCOWKfgPQHF8wCaaT3MSuqc2B_Pw0Aoy0SSrNz3zUsO5lB3QI1rwniHnYNc1H2UwU4eBetC_CxojAXi5JeyUUO16fUGhVySFu6OPfElSX23Qxy4KNX1ZkzXMglKEx9MxRi_N2Orv_wSGJNC0kQkWS7URK7HtOHjr1nmtygZLIKXDzkuna4b09STQGDjlZRp8GfK4-SWQAYhzA5EcU7NbLfFoWBhZwmTeQuVp7s_l78M3L5vsWBkh_hkfgmDg8vrOlSDt3pfJlOSHRyqk56szwS03QwazXdI0ofbL_7iMdZVxWDnOTCVxYsDIypgV2ueUc9zrn1lIyeqx-9IdkSIB2JkQe8rZaM9b0cw19lEd69y_ItpgEdSSq1Mr3_Ja-OBMDTos7gonQSDMaaqiFBhmkA9kF7mYHVXdYrCX8F3qIUII2hHMjgQkK_gQkOJaQqvcUZ6MfCITAtvH7ny0ZLOsqquylZCgrSp1cqMGqKiIT6Ft9sey0gFZTICMNRqS8vETmyeym2YhriQsRDf7PDq2ve9wJtMuXl6LsYnlcHaJDdVAYSHdqaN3JcAz7J7g06lC42EFIowVdlp7yAsnh4rUghgLwz3ODg1hw1Wl-QGgSmjjUjYpbpdIygdKvnpu42jrOIGba7UzG4hRLPX_FoEFMGEWw7BbHjTJ4qST-54fW69dUyEgE3MIk0kifL7YDhSuAYVsCFtsuTisQ_VNG295j_a2okNSJEsmtYCDHnEqrnfzfJUkNRSD0-cLQwE_Rqe1kPy4k9UkaQ1uG68xWLjCMm5GqpXYMf9pguQOlq4YQcgF-UZder3jOcX1bc8FdXIeOQoHeCF8fsoS29oAuZeZoTbmpvEhVFdx6GK-bnoUAC4tk44XXYsLaMJLcdU_7aaEhJj11Nh744ibpthflYyFFO84RbfGf6c8NQlqx_s4ouqEsJAtOSe_VioyB_JAzkn7UCllGcVf-rRTdlpCA4OO9piMxkt_7V932C6Ny8j9qt5YPbCYdn-6jR3n4AFFMjRXJZslwXEBj5glxxOdEEiAqEifCLIujTXU7mDaq0BYkTSmVnG2y9Z8hhc9mjo53SxRDf9mdYxZ3oX9e6CX65m5ZS7Qqjy5URG5yn_RXqDWJYBw2N99B2FGBoOvh-drBEPH5ro0xankRwad5dSI2FslNcvCY-KpWFrCblb6-TYxnSpbBYaYJQWbVuJV-TvY6opwPskuT0pE20NVcpVu9lDZAbpp_IoRtzoepH_8qpf_gLZctH103_w9wCIOHXEU18xcuuwS2xxqTFKz-kQftEpAy63n8ySKUgN4UGWeZTxjdlwDk0TSuwb7omWPxxlTImY487scE05H_0ZUVRmfkeU_xI44NUhufZRL-TcGlHEhfV2mYerV5X-nUU4AfByhEpgyGVfQEo0JY7_1XKtw22MUUuZNuA83J0wghmQbMIC-9JAeiCVmchg_l9pUrz97IwUKfc0mMtSkF6xLTkx26xjTayJ2JgZvv3hRNQ4UrNVXshGIBOSUbnD5rOyMn9F4Y56pMs-qetPhHCVyGl0tr6oca7k1CINc9Tj4cOUFgpntyF0AHN6JjoPy4DBS1Vqtlhqjqo-dKUMIecPUzaJ2K5Ln3pYnF5yqCOoYUty05lcVPNBevFGEugG9zB8G4A6sE_dIcWv3T98jxKeutsa0dTA6cxejMb4OR8elWhiln6dB54q_M3nu14wLYa0dLLI9pt4y6dg28fWrdK9d_bfIbVpRUvg1JvvBPFLe6af4gGWLHOBDvvUAFmD62Ld-deEutzbT3Jq_5imSUL6I4JN3es5Udh6p12lQFT_AIhB0Wer6ivTWWmQAjMwq168Lh0c_A51UTuW7FSIJdUFCzWHrEGv29YKDWutRFWMrpXvrQDnfuLNFv4SW-9sZ61m8fVu5gq4duDARqMqdzjKwRDsuoT-o962kO8K7FoOLxMW7Yss6zyuhAhbmUXr1lhatmlChbgyY27h7jY6NMZgSUm7uz8yJD3y0AX0SgNXG7NuaeKtxzz5jyGaNNTTjrN49ube38Lc3tPkh9BnmnNHPW3dqQ2lvEfbhKvevdvdXdr6aahvPPyXXeG12uwlPjCEa14uOhc9DsKWDJpMYQBVM8fZIOgjxaRxie4CODc34kIB5NXDNHkvAH6JMotZrHFUzV11MYwwfcpnOnMAOXYS5lOWlx627zD05o5lY8DWzUQQEWYj0q3fuQZd",
  "id": "rs_0d7de73a6f232f0b016ab4362022f487d0a8eb277dadca0e8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.102,\"right_z\":0.06},\"note\":\"The pink bowl now sits deeper between the open fingers in the wrist view, after the forward correction. I’ll descend a little farther so the jaws meet the narrower outside of the bowl.\"}",
  "call_id": "call_y3nE0jluvceDknVwYIHp35qA",
  "id": "fc_0d7de73a6f232f0b016ab43621e13887d0b09933ec6c6d0e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y3nE0jluvceDknVwYIHp35qA",
  "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]: [-0.149, 0.9913, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.2981, 1.7714, 1.0416, -0.2371, 0.1917, 0.0742, 0.9961]\nstate[eef_state]: left_x=0.2895 left_y=-0.0013 left_z=0.1657 left_yaw=0.083 left_pitch=-0.2606 left_roll=0.1047 left_gripper=0.9972 right_x=0.4232 right_y=0.0986 right_z=0.0518 right_yaw=0.07 right_pitch=-0.3767 right_roll=-0.1084 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.2496, 6.7214, 1.4042, -0.1343, -0.0317, -0.0122, -0.4034, -9.4838, 8.8684, 1.4823, 0.0317, -0.0855, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae29a61b73909e7714897cf3a0bfb3dad7ae882d7984051c04713ba12834891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff27ecb83ca3ffffbc4c79433b13705603734672d058d7e4de3c2aa5328f28d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a96a2b0ab81493984fc9b49711b7bdfb18c1e010df49273a438b56909ec58f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 9.246 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9848, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.4963, 0.6529, -0.0113, 0.1204, 0.0063, 0.0095]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1675 left_yaw=0.0826 left_pitch=-0.2539 left_roll=0.1031 left_gripper=0.9972 right_x=0.3672 right_y=0.0427 right_z=0.0471 right_yaw=0.0433 right_pitch=-0.2794 right_roll=-0.074 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.359, 6.8855, 1.453, -0.1001, -0.0464, -0.0171, 0.0342, -7.241, 5.7231, 1.4969, 0.0757, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.149, 0.9894, 0.8127, -0.6762, -0.2173, -0.1013, 0.9972, 0.3153, 1.6451, 1.0332, -0.3023, 0.1989, 0.0875, 0.9955]\nstate[eef_state]: left_x=0.2894 left_y=-0.0013 left_z=0.1661 left_yaw=0.0829 left_pitch=-0.2587 left_roll=0.1042 left_gripper=0.9972 right_x=0.412 right_y=0.1014 right_z=0.0911 right_yaw=0.0777 right_pitch=-0.3234 right_roll=-0.0929 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.5641, 6.7897, 1.4042, -0.1001, -0.022, -0.0171, 0.3624, -7.8291, 9.6615, 1.6435, 0.2271, 0.2173, -0.105]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9913, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.2981, 1.7714, 1.0416, -0.2371, 0.1917, 0.0742, 0.9961]\nstate[eef_state]: left_x=0.2895 left_y=-0.0013 left_z=0.1657 left_yaw=0.083 left_pitch=-0.2606 left_roll=0.1047 left_gripper=0.9972 right_x=0.4232 right_y=0.0986 right_z=0.0518 right_yaw=0.07 right_pitch=-0.3767 right_roll=-0.1084 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.2496, 6.7214, 1.4042, -0.1343, -0.0317, -0.0122, -0.4034, -9.4838, 8.8684, 1.4823, 0.0317, -0.0855, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae29a61b73909e7714897cf3a0bfb3dad7ae882d7984051c04713ba12834891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff27ecb83ca3ffffbc4c79433b13705603734672d058d7e4de3c2aa5328f28d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a96a2b0ab81493984fc9b49711b7bdfb18c1e010df49273a438b56909ec58f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYlRGPGN-d39eMrMWUwtKl1oLCVH90UbVpqYxkOR2cIaQrGRaevC0M5jJ9CFbRSRj2DXp4j_G5KPKqKziX3AzmXyczWeroEQS1td-GX3xnONaruux1TNvvuCVDnue9JU1HjmmpKMRT_B6zVKMhY384_-bAar-jKZweXRd1naAZclsCWqC-eiLj3S8HqfjUHsBytvnVTeZGV9SGaFRrSUwHne3lLYHHkPHy3xqAKLxGermorhJqoThmOPctxsmKOZ2ZYYYz4kOWyDWnTRU6jwDkQoDjI6AQX2N50hUVASjwhV_FOVbWQE1AAjNZecnVf1pk3tGmKwxKQBCbq0HaErMDmu2uwm_hMYeojMDlmbyz7FXqDwAMouVNHKqqSjJdPn7uCNaWxBw6qrxNUAnuA8GAGB7fAVmR39eqO7GguZ_prBW7RhqabbjbLRUG6oC_w8ll4NfPesVGOHX0WPuSw2dMlVk-Hm2yNEm7ygZhU0Fx7qRZTDLarvakC_XRHen_y9jBidgfHyFSofrTHFp9-Ylqou6MWBMcWHNXFap8rVA6D2gIkeAlojUScRwYXrkdiGGjslZDLvJvgv2wNIXy4idmWD61YZ5fDnMqM6LTQWAZ8gcB9uEE2AZ9dbEWALhaRsxs9cYBb8y9JvabsQprQ3CmZq-BiLnpVAQXjsrTK6dil0Soza34Zx7YZj43RfUETPQxynV3hq_9nkWLdu1vRrVOyt55ZGqjETwdsaUtctHB_YoL5TryO5dCFFoC8NYLj9bPaH-TMid0A8uLeTGpXngo6Gzwh7fyypnqYAagdmI0EHhISK-iYEzTrqTw9voz7tgjW1wzeVtotJUoYs1AVHRA7Jr6YWt3qaMVmBLvfBTu7XGCY3x1pPj6NYxTMA0-7yNMGBaftgZl6j9QuI39hcKlcUFsJW2O0opoHluV19aOAsFekLFH_pU2Mjmcpj-GQhacm5eKvlz5jSLJ9dnMc-mloIzB4k4jzrwllqQEhWTVlS-xBrXjrE2kz-mqCh-OfSfLc60rA6FMqh0qq_Hu8Fcei6FPp7R_oz-_A3T6F_w5pJsG5ccMvNudVlJiiS9SnqW3sGEDiakMGonAdscke8aj5dum1jt9jbhvU6HORizFrPHD_-iaaFTlPUoWy97t9H-tdeIecF5yKqK7e8L-q45RiZdmm1qb0Qvc4QlvUWnB6s4Gq9YUVZvke6Fm49igrEvzxqsv30aPi9-S4tYObmRlwpiJXGRH2H56dzzd9rLxxbYuj_Uw22y7W2HkHbTJcvCdxYt7rD-vlIDXZJWt5H9ayWgsETveUrHBLvQcTO_r0XrfQXkp0zu_heLIhTwqdBFLXqit_6Ih4wYVX7WYxXlhaOCx12kB1ebQdaoJW0dAgNvJSEOaYJP_Bm-SHlol7vzVB",
  "id": "rs_0d7de73a6f232f0b016ab43623ea7087d0a853d5ecbf60e487",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this lower, farther-forward pose, the pink bowl spans the gap between the jaws with the fingertips outside its sides. I’ll close now and check the opening.\"}",
  "call_id": "call_xvEblLB530iMGbFc8VIP1vVx",
  "id": "fc_0d7de73a6f232f0b016ab436244f8887d0a07d6ff205cdf5d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xvEblLB530iMGbFc8VIP1vVx",
  "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]: [-0.1486, 0.9913, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.2924, 1.808, 1.0447, -0.1993, 0.1707, 0.0597, 0.0174]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1657 left_yaw=0.0834 left_pitch=-0.2602 left_roll=0.1046 left_gripper=0.9972 right_x=0.429 right_y=0.1015 right_z=0.0423 right_yaw=0.0916 right_pitch=-0.3771 right_roll=-0.0984 right_gripper=0.0174\nstate[joint_eff]: [-0.0342, -2.4137, 6.7624, 1.4432, -0.149, -0.022, -0.0122, -0.1846, -9.7436, 8.3487, 1.4335, 0.2369, 0.0269, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464299d3c22946b798d4bc3a4cead98a66861d91511fbdda23798d9f8441c719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0c1acf3df175ea6b2c3b8cf77bda708b34e7581d508e4c6e1befbb7780deca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526e5d199350ae71edb75748285820cbf2dedf064957a526c5fb1ed7a708ff5d",
      "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 · 4.825 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9855, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.1635, 1.3533, 0.886, -0.3565, 0.1177, 0.001, 0.0115]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1673 left_yaw=0.0827 left_pitch=-0.2546 left_roll=0.1032 left_gripper=0.9972 right_x=0.3734 right_y=0.0442 right_z=0.133 right_yaw=0.0496 right_pitch=-0.2492 right_roll=-0.0719 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -2.4137, 6.8581, 1.4139, -0.1197, -0.0366, -0.0171, -0.2393, -5.9692, 8.7726, 1.4237, 0.0855, 0.0073, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9913, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.2981, 1.7714, 1.0416, -0.2371, 0.1917, 0.0742, 0.9961]\nstate[eef_state]: left_x=0.2895 left_y=-0.0013 left_z=0.1657 left_yaw=0.083 left_pitch=-0.2606 left_roll=0.1047 left_gripper=0.9972 right_x=0.4232 right_y=0.0986 right_z=0.0518 right_yaw=0.07 right_pitch=-0.3767 right_roll=-0.1084 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.2496, 6.7214, 1.4042, -0.1343, -0.0317, -0.0122, -0.4034, -9.4838, 8.8684, 1.4823, 0.0317, -0.0855, 0.0464]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9913, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.2924, 1.808, 1.0447, -0.1993, 0.1707, 0.0597, 0.0174]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1657 left_yaw=0.0834 left_pitch=-0.2602 left_roll=0.1046 left_gripper=0.9972 right_x=0.429 right_y=0.1015 right_z=0.0423 right_yaw=0.0916 right_pitch=-0.3771 right_roll=-0.0984 right_gripper=0.0174\nstate[joint_eff]: [-0.0342, -2.4137, 6.7624, 1.4432, -0.149, -0.022, -0.0122, -0.1846, -9.7436, 8.3487, 1.4335, 0.2369, 0.0269, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464299d3c22946b798d4bc3a4cead98a66861d91511fbdda23798d9f8441c719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0c1acf3df175ea6b2c3b8cf77bda708b34e7581d508e4c6e1befbb7780deca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526e5d199350ae71edb75748285820cbf2dedf064957a526c5fb1ed7a708ff5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYvyszYi1mX3rvf-RF_kupFuASc0qA4C4kWmaqSPt3BrJRaWw4jCZp-Dsx6NlUlLIG9mPztZZDdGmoa11_dV3qSqLf33hJTmJFh2t-YbtPkqbkOa5cS0QWSv9eQKYH2IFJ-aHojjO7z2K7wSXtjPjm7tWbJeKMubPmmvRh8YKNXYEd9vGAtsfCZPRc65YFI7LlvOflAJP6t7lhApJ7Ba1TSxTDJhUMcNwLrllj3Hj2qzTeiVIEojPHGbqeo37nhB8RlGBer2CEBJhJYdhlN94sFGtpiFGyKC4_ww7aZXGJ9IZO1Uh3TF9cso4CQT9-kMmuanNFQKgogjl_oLIEKKxYfRpJjQ5Vj9S9evfG6UehCXKOKzzohID8Sg-nGsSRTaW4ntXbOIhO2vDvRoJYWfVLpJfmL0kmyjN22jAQAhoxJkh8iQfN-efbgc2__Cu_quE0oUOSNVFVN9ons_g5cjFGdU-w4FU4YxD-pqVzVKICRXVCQgMk5et29--XrKZzEIlYvJGZNpQ2RWtTmEenf9wLLA0uVo7QTe3GFJfk7BlivwD_EbdHL-tNXugxXmHrGYxEQKulxRlIKWqGxUacokOhVSfq8Np_DBMvl_YWPImOcf8bbTR8yKdex6YRYrRm0VRC9UpQIvoDFN4nYt7nR8WvMYAsfh2XrccZL1kFl68QqITA_06F3H2iN2NW8NtzozXZPHMsRBBHSXY5M7dqH02COQJokoteAzOL6eBYjzuVFVQ2ZJ_IEEeeFQNKOzrBA1YdWTr5TnXgmi7puhMMjh9Qx1UrvdI7FEdB2iqac0Qiq8d7uh7b4BbO50HGxt9IC1Q77dlUMuCw4MQbhpyxuAmfBLVI7RwA8fRUwAub4Oak5aLWIHofX14C5pqMdmBQNFYDvTxO8jYxF2ZtUJ7BiEC_zlcisBpt6nB_Uk9NAMpftQZwO9cTCMBkkTBO5as5CZIBRUjdwIQNI6Zw9xHlPyiMcYxqcGofag7waW26Yd4Vn02_fGrZ9xT3WzshLlscyYAx69p_97DPGxYHF73ma-FzUyM6VEnHw63iz4BIR2AbmM-Waz4nhQ7za6z9w54urnS924cTTL5QdyjtN1MCy19b0hd4xANmYvOsSBhcLqLa19iB7vPGCy4rrEHfGX61Os-zMnhTeL6BAhkesHoGXdvTBJoW1JT5Gxu35fELAbIbaxv2KryFXauAFNBUfAtqS-qv5aWjG1Wz8yzPKwRPAggnGRDURc_d4PnLjJBNW0ywgQ6dB5Rxna-O8KrRNKr-qExFFYkdmZaL29WBvMwdduSbc3kockTFX-F_nNnkEQNNxuCtilr2aprrkUCYbWmVEMjnurtyUJVl7j18SgmHI1fE4lO5lzTW56XUts3lJ_F8yncNz8AVQhEYWB-3drRSR0AFgs1Ry_GSeYclUnd6Vt0VUs_XHU_pqLUJOJsoC5wMxEwZxjtJPHcJ6f3FBdPf7mTeiupOqAe-tLxUFlTAeAT68bFit1ETKZZc-3WNkFrMCvzMndmSzyd2-4GlTE4Bshmx7mRb6pkG2q_pgdE8zsxqQYG9Fy9u9yCeNMRA0d6X4Y6E0bZJQri7qIQ-x8gBQV-4N6EG5JXl9VNLryw1c4VMwTHU1aYCrE0CDXmEB8m7R83nYLIbBeybmhJRboMoGJ9DurYDWTfg3b-bzD5oZn-WQYhrOCcAZ_SL5-m8dUzegrKf0N-pI4lio0aA3T52t6qYC48SI91HVijW6W5TpvOZThfFVEZGbMYjtsInnQXRbGyMAZqZkwIN_y7th9_wBx1nAi6psDGjZtj5wa51DWqR5ADiuDUx4dtc9gBsG3Lh0f9q4KJcwe3_NzK9nRTAU6-0DgfAdDtEjUvGDUYWhd8HYKXb3PW7kGDNQgxfcoZoP4joUox0zWI1n2ZqhMtrSnQ-ei0BP12siuOuP5aTzLRa73xtrn_vWpTCg2EASQJntVDulEsJ5ZeyHkiWGPxszEQ0gtnT8wDBg3BakRgkA8qmdqMkcqcAEUSvSaectEiHTPLwZYyvjQhkeIsBQjdo4LtAOvTXUmxpzyaBzXzm7IqJYGqV0WelEQV_sy6LQHTURnOe1Qyg_fJrCIvXXx4KVfzvj0t1tnSbH6ZkQbsaaejexaGLmUIHnXsUWtYvPYuVRdJEWDiwvEXala0I0TSzPGorBIJne3CJ_BZ1vswT6zXNtUcL-oJDd_gLaoXOvI4xNl5AqlfNn_MSgaz3pSWefyDYgH4o-8Qjsb8FobFuHB2ZgakRPbqPVUSjMm4-I5H1AHPnqSdwdw4hR_HWO7FADr5ZbmCatFMVJi4mqfWqH3fuSi-F4EfRhAzQh3lKvSEn0ri93eTBSAyVH5jRO32Z-Z2sCYEU857z3wnyc6DSIPgmeld62L_wppzi2JxFtxpxAjsaIISIgVaNiJ3g6VdKpy5WuG5xJaqxqMWOBm1UX4xJ3ghCPzl0Um9stGOFNWgjQY72I3-8FtYAM8b2IdzpkhUGm1Zww2132QcyByJ87ohXWUaPFvtOumlkVPUf6nbcC_ugZF_udZAdKrA_Toj32TnKMezPPRiaEdp_lQpDWnnDRkyQAJw88JUShmHbMU9iiJl3iyJCSqLY76QrfGosJyaEdyjh6MCR_TKLvX_xVJxHYSCxRL9fo5OSSToQxWUjhie21NgrlbrTDGPUownB4pOAb96ZNm9WIk15chdfS-zjIxGYeNX1gQh3QQFNqYI_lm0QzBfm9X29uquBMDetJQ342SQ6rnIFN7Sm9A61lg6dR87RZeSpzJnSKQydH1G7KDUhTRMhnhk609vM3_ecrsbqcL3_ZmhIiJTYRlonN5wbHpqtBLTgQ5z_q7mWFrpaGMLu57nHWz4Ey_97ZnKjgRt2MRtasT0xHLR9VhCGErLoM4d4-APtlyz_FdOLbYHHpqQCb5uydZETjNZoSZ9MYSTyDuX4SFEhB3f7A-vZpeD4xw7t774I52YpRioi2bUz659tBfkeQk44bjS6ccGjIsJZEak43FdsptXzcJ_-vv36zDMzBDDTDj9QRRSFJqzsHZ6wz-s1Itrua4Phqt0ZzNRrMbhxekq-XncaZTnLvZexWeYmrc4u_CShhAMxUhGskXv7cVFdPJqA1xAPQMr9bZtG9xJmFdya7QefCn2QJGgRUXT1QhUotawK1DXGmsWo8SPgKbZRxNI2iC6_hN3ghikXbnE741A5hx5h9KTFWHcLhulOkm25FdCznJKtPr83aKH2_QlsblHP6pOLln5olbRAItZHCyT0UqrxBGg39eWxjZV5b6zB35AClUUhCYnGoQYnTdfhO6-SE4pFreWjqLAJMQJqjCCCH9jNO2y5Ro2FKH_jE1IU6LBl_0nUBhZ31MywbA9du1Za5det_4OIIoQ2m4Bdgg07Vewlha1JJ1G8UEI60SKi1rx3MzZvklP_tdoPgkvce2oHwrkTBdQDNKVjXwhDHJefgH-9861S6pUR3p8nFkGjfIcKrmnNmZHgiczu1Znl-mSf_heOARbgdt-RXyGC8VQn7HKwvkd-6ep4XXI1ZRzB1PndAm1boUJCY-iv09mIgE1IVfwE9-LTH6mSzVOstE7kpbLP_yElmyuwFRONIBko7woz-Xw_T0tpwd1SL-NxzKgp7BoaKukjNCEd1Qj-vQvcR5wWsaA9Csu_NjkZfxLG9PbYtySMRQx8RFQdx20UTTD2J4RZ0UKzL3dq2cheNk16ERII6XLFTUzRv0lUL6T3k-I12er_f4B5SCE1-7xorUdxjnNXr-dsekvE8ur82XRJ09aB3hyW9D2Axs1OqfGm0YOg-qvCQCwnfL7o9lH2lebMldmq09YWQqQt8EKOuZS6KOp-v3iyzmgEP3HGn9XvUfhpKKXvz3wHDakZDDqHv2fq3RZDVQRVel_n99877tZ6gAcgkFAx_aWSd8cULOwFGOPlLuEyexzbmL7-ZCxdD8oKUbL5WGGKHEZsejIl7cuBD33nK0WDM6Ls1as54oslENlqOIMhw-GKBEeL7ydeDEN5Huv37dpL22iwA",
  "id": "rs_0d7de73a6f232f0b016ab436289f9887d0b0db6af869e01b01",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYvi1cTmWdfGlBqoCHQzUWTh8BUIpw8N3qokIKyfuYg-vm2qM_oOIsD7wBRb8pIHzZ2wGUCWNmncbi0lAv-VS7wh2nuKAilKclcLG2C_9EJfeqC6BZ4Z2KKg7HD29z9-pjyWPoNBxYyx3lHsTjEXty3F3uS3JTvzXClH0VyhuxQ2h1E9Qg7jDX7zHZNIKT8DF-PXYqzajnGufk75_238G4ZKpGubLG6TyQg8OE9_mEYRCFjrN3KZEhTd53FJKt9uqi6x9gYcDg8kyZSGCyBICaq-PIK2GK-o_2J3Z-Ni9H8V1B2uRbU6_oG3FtvRM_BxB9_6C5kkBZddRxihtJfFCJPnWTMyCY2SUx4UJwh9ySreL95M2LwBUaqzaJUOiBV3QDdSbYKI05BTuHRJLiVLwYjMs3o0r8ttiRS4GAlUetF2aTLzFiF95xpJxeXZNzktrwuPT15wwi1UrikSASWKeFUpKgOaDkdB0KevwyCml8mVnWvCiHgGfJ4u9RC5WL8JwwGl_tXp5y6N1JWXDelz_WjJhQE76B2TJRGb8FhQ8ZGgSIn17AkOi-R6w0c0dcyrFiIBn8C6dspqMRPWtzzDLdnGgBUm8cG-1es1EH1hrN6BHIZqx7b5V3snPxuHwg7CQHbCbXtAcMEzs1UAjTfyfpp-obvZKbKjjSJwh93tRlFulRx4a8r5ZVbwQCWFId4glM9Lnn0IT-OP1QDPY_jlnOYiNwVNAVHPYlfui5n5CHgpyV5ya9VvAyMq9sDFMMvN3AFfDIYkGMWumMTtPXJY_5ZtlppZDdzF-YuSyOExV9vMdfHQF7Dgp7cL_o_tkiqxKUkNxj-eeXg_UQZ_nTgY6yG9IZHLC2WEMRl0akcqaxIqGF4da0YXS2EAysnn1pqanS1FJmHY0gHosooPcLEdpr7p3fpztmE0T0xxMz9Uz8BkRoshB99H4FMIdnY1P_BqOx3X8hw9NXCrlG15Ig-LIXuYMth9PxdKjsR14ddXh1cszvv4ojsbi9vP_Ds-2_j-K75gdcvFB5jA4ICnNdEKZwtaPWn_7_enBJed3jOfHh1slkdCKHZqUenSyDLXg3rtRM5342ecN8QWLzF3kodyX3x8JzefCxo7hjghC-izlVbZdChi--Cd1SJkIFCnpETUQhK0SJZE-tTbfn69ptD9dWKGcpmrjIB2jpipvCG4EPcXP0OyMLm-YalF_jRAN2mxy8weMni0ANplC_OxawAffiN4JePcIMa0RXCbjTPooFrHkXX_yHFS3A2WRlGldFetL4gUWOMtKCi-ZhK9lgmYf1QgCWLpDrqZ1l8FYOD43ZY5qAp7YiTOYXZtBMBSDI4CbqLEALioIUTc_42r_GRct8tG3rcq3qaKh60xKXHgGcrewraO452pu9RYHQ_H6DOl4kYY2u6R4Q0I-WaoDD6VGAGZf8lj8Jhu26Xp7rBPxZ6V4167HBJO4uk13-rRIkJwyD8sGbyK1p9RrRGAenk6XLZAVInOo_KHojNDpVB3MoeDCo5WXZ4lCk8A5NyFJBhm2NVahACUuCCFgsQDQVElsHtoTen31ZNRtRz--lPqTFBNYIzSDw-upEy6305KKlYzRkGAxST_LWRnPj_wEltPswPb2mbxG2uOKUXH_nFKyS1PBxM2k36KaEi-xbF1WHFWc7ilApBxBpyLzvFETFMU5LgkMbcdbJVk_OuAAN_ugM84xQ44U_HscDZt0_UdgGGOrRL3hjVQjxyq9jNhgSY1VX0SgZMC1QRHDSSyT1gY_ZhDan7ctoxQl-SGh1GOkfE-nOKCEwJIgfF8W7hGGGVnuvsEs85HIedZHxOOTof9bJ-j9HVqNIrF7eQwcxm7aPerRNMVhBv17V9Pf7wFE0FBdr7MwIJFVKwV0RftWzSNzytPFn2utThqozqgZIidRjYniz3IUP8OLyEAokvMuI9450ujwIRnvN8gSbRQMJ2LO6pOVN3yVX6pO6dr-Wg_9jtpJbO7fUIU_B-gXngeKioSBLvxieL4X9xNCjRY_Y--XKDUfrg1Bxbaf5qbB62p50jE877ItzHyiP3UTY40mm9nVjxUZqxJWATG9sD2RibeCr4aSWkYcdKYcyFWcTanJdWmReMAUoceuj0g_Ecl2LOofRFZIqtMX5zEsrfHeSZNVCsyLd4dtbw33SypVZn4DerhQWf0HDeij6X8BcyOx2QVoP3iwU5-z1I27leAMkWrhWibYq_EwEmxRdKLF_gr-IeDhmSt8LiEiHb_WWgqYgws2oEAWjrtx6lfEVckxCuPvrpohtepGgDCXY7QQe9yP_uU9Xd",
  "id": "rs_0d7de73a6f232f0b016ab4362d357487d0b323e271ba7e40b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.405,\"right_y\":0.155,\"right_z\":0.11},\"note\":\"The pink bowl shifted left when the jaws closed, confirming that the last grip pushed rather than held it. I’ll follow its new position and approach a little higher on its outer rim.\"}",
  "call_id": "call_fGPMd03cJh0h4DDLkJT9xz97",
  "id": "fc_0d7de73a6f232f0b016ab4362f1d3087d0a456b3f271dd9e5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fGPMd03cJh0h4DDLkJT9xz97",
  "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]: [-0.1486, 0.9951, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4591, 1.742, 1.1786, -0.4816, 0.2394, 0.1757, 0.996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0012 left_z=0.1645 left_yaw=0.0837 left_pitch=-0.2647 left_roll=0.1057 left_gripper=0.9972 right_x=0.3983 right_y=0.1542 right_z=0.0831 right_yaw=0.1202 right_pitch=-0.4345 right_roll=-0.1121 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -2.6872, 6.8308, 1.4335, -0.105, -0.0562, -0.0122, 0.2667, -10.8513, 9.5521, 1.1795, 0.2711, 0.0952, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ebffe8fbd46c6f75d4814aea56ee0ab18a2a711139331df9e5b6a5edce224c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c164f02bb26e0349effe87f522d9dc3cbf40a702d2a50f83791ca7f636bde7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c9b037099015ba3593a324feec43e655d551135bf8535235f6cb44ac8789f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.155 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 91 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9894, 0.8127, -0.6762, -0.2173, -0.1013, 0.9972, 0.3153, 1.6451, 1.0332, -0.3023, 0.1989, 0.0875, 0.9955]\nstate[eef_state]: left_x=0.2894 left_y=-0.0013 left_z=0.1661 left_yaw=0.0829 left_pitch=-0.2587 left_roll=0.1042 left_gripper=0.9972 right_x=0.412 right_y=0.1014 right_z=0.0911 right_yaw=0.0777 right_pitch=-0.3234 right_roll=-0.0929 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.5641, 6.7897, 1.4042, -0.1001, -0.022, -0.0171, 0.3624, -7.8291, 9.6615, 1.6435, 0.2271, 0.2173, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9913, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.2924, 1.808, 1.0447, -0.1993, 0.1707, 0.0597, 0.0174]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1657 left_yaw=0.0834 left_pitch=-0.2602 left_roll=0.1046 left_gripper=0.9972 right_x=0.429 right_y=0.1015 right_z=0.0423 right_yaw=0.0916 right_pitch=-0.3771 right_roll=-0.0984 right_gripper=0.0174\nstate[joint_eff]: [-0.0342, -2.4137, 6.7624, 1.4432, -0.149, -0.022, -0.0122, -0.1846, -9.7436, 8.3487, 1.4335, 0.2369, 0.0269, 0.7253]",
      "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]: [-0.1486, 0.9951, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4591, 1.742, 1.1786, -0.4816, 0.2394, 0.1757, 0.996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0012 left_z=0.1645 left_yaw=0.0837 left_pitch=-0.2647 left_roll=0.1057 left_gripper=0.9972 right_x=0.3983 right_y=0.1542 right_z=0.0831 right_yaw=0.1202 right_pitch=-0.4345 right_roll=-0.1121 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -2.6872, 6.8308, 1.4335, -0.105, -0.0562, -0.0122, 0.2667, -10.8513, 9.5521, 1.1795, 0.2711, 0.0952, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ebffe8fbd46c6f75d4814aea56ee0ab18a2a711139331df9e5b6a5edce224c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c164f02bb26e0349effe87f522d9dc3cbf40a702d2a50f83791ca7f636bde7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c9b037099015ba3593a324feec43e655d551135bf8535235f6cb44ac8789f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDY17UYvwG6jjkCFIda4roGGrCBq2xytnw9uHf-zM0bgTtbSbdmlDR_53zui49qX6MSy6wplWfKVno00K5N4DVAdQYggWEXsg14TJPPwFIyJk6BHsDEw63DlI-e6xAvTIZIqyuRh24fifJz8AU4mvIvWxS9WXZATix8cQriedktaaziE40bO7XYhoEW1jhEF4TafzjOLEa_A8Ke8_btxtDN5s7Wgc9I9_cStBNtOPPAZCHB2_RES-Ktt8ob8OLtBChw0t1Ekfoz61Qhy_VKvIgHEC-cubUSWKu6ObIxzu_EIS-ZEiU12xj0cOGtB2znnI5U8i4ZYvvXBFtyq2MNnXID7ylTiI2RpuCyPKZTO9OgZMwcAX7lAnmiGC81i-ogZf5g2xq5Y2FJNjjhVl7gkLWbmtWp6-Kc5KimgQedy6PnbMmqGaVGFdZLa5b8Ig6DmmhBVXuSKAmY_ncMzMQ2Wa3kIfcDHSY4pcSfLVBqdWf2nbUBOHjdlsyhBuFM8taXptESaWnPTvuodt7_7AwWv8dIaeugdyxOhW20ux6YRIdxR2xaKYJrKWlhezzM-ip5STPc12JR4PD-n6sfNSWq-j1IolD5Ylsty2bhQplTWrZ8B0vZn_nfWyTI19ncgTI21ybDJwwj-M0qyxD6CMetPLF2JR9BBOeFt9D4WHmZ8FmZWz_V215Rync_uU8fJxhAmpliWpgJEDofakW6K6R2ytG--b9Kfca7HwBmK2fKvSDBQKR6vQ6T7jLeZmM299I7k8vDei0_u_NHaporHTGaxhY9GTi0r8lFGAO4jrJPqAN0N2F4DjK77EAFt-_RLT6QswBETXavlDV95qBHbh2Gp95XetQs9kmDyLrG7WwGNNvAyP24reYo2C4L66ftxg09VHgItBLdMVM61R-KOzzxButP88_6vHZuAWoeZTdCMWhG6NyvgG68rlU80K1AfxiEWtIAvwsrPvkzAWN7i3RJkP9YSuwrHLT734f_Y_yb-q31tN9Ptm5OlHE7O_4cFpE2nXBCmcqTtHV3iVFTkNIIvp2a6-w62AQdSPDzNl_0qFR8cvHAk6fpiG3dnfxkFC-_CP81xP-KKQtZjOoYbINoFwVzsv-XI7pgaoz4dQ2thBPF55qA3i4_lThQPuuLs9jzyAnaXiWVjf5i-T0HQ89pi24RO9DD4xpI7NxQd_1CKSackYi7OmGFWQ6AUDajK4vy7MFabADMs6eGsotGdzGINiKGS8HJlBv02zQGsgSmE5OLjganoIAWGOhmQMyw65NZ8zp8aIMDVMV5X-Z-_W0xwYKoYxX8TjTlcalolFCmv8cL4-8m0CEqdQJBBq4U0c-5Gu1DLz3kyQg0C50fwZZV5KgOiuF-qp4iwc-oN5LBiR-NfjAqjd4rZ7QY97htfqzRGIJ7qcoJoRf12CHXSFKJsCqlRZcmYZyqYMHfQxo4i2TEhZSRhDoYbMW8bnpdZJt_-eBUSNrNV1syla_6b91PllF8qtW6Ey6dNW5jywjRxCS0yZgVh2ptV8RHeXC601AYt4KUE0ra1LFBcg-xDt7D1k_RXf_tzPnCki0kS6GuddqyIUTJornaIlTFY-1HGlIAwFGBHlPTiNahJb0_fQT3Y4QEb6DFV2_movhSBCtY7KVRO2X9nA10LBK_xZEQS42Esz0Na3yi7WyvIJGtQGgo_OZIJcNCXAURROpnESi4kt4isPMfweMB-dRfYdKjMq9-LNLpypVbry-I3nf1q5jl5XHx8Njv60CoBOL0Azr9w5h1dC98v_oWivTgnvjENmFBhYoKwmTlM1rZKVe3-plUVePM4nc0RCXIpys573dC9kS0kIkDBhuzkPi0mpd1opXd33FRIAgQ2fgmaEdoA0VxGBui6otkJPdkMX2KE6DxGlEFiYCrmD_liDRApg8h8ntu5tA_J39hQ1KK2gu7vxWCg3QPfNT5-9mME63Dfl5a60fULpH1j4VGn8-piaLCSCiNfradDKFhTfBsf5vFz96sx8vYu2MD2aqW-OM62cc4FJwhC7TNjC0_bwztrJMtekjW2_ZLEtmfbDu2gr_wZPqavkHXZ936vAdd92VPDm8ct9j3HI-YFieGLF3xvJ9zRCIVNKE7xCVe_yEmB3rewm1FrDKBx7spQ3Sf5snPPp8WspEOSjP_RLw_y_0pEnxQUbsBaUx5s",
  "id": "rs_0d7de73a6f232f0b016ab43632a2b087d0a3057f986f57abb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.175,\"right_z\":0.075},\"note\":\"The pink bowl is near the open right jaws but still slightly left and forward of their grasp point. I’ll make a small forward-and-sideways correction while staying near the top of its rim.\"}",
  "call_id": "call_u4cRqlBiogpz9U8ZtDIxa3uE",
  "id": "fc_0d7de73a6f232f0b016ab43634fb0087d0889621103eabe0bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u4cRqlBiogpz9U8ZtDIxa3uE",
  "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]: [-0.149, 0.997, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4725, 1.8568, 1.2713, -0.5079, 0.2466, 0.1833, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=-0.0013 left_z=0.164 left_yaw=0.0834 left_pitch=-0.2665 left_roll=0.1061 left_gripper=0.9972 right_x=0.4122 right_y=0.1662 right_z=0.0656 right_yaw=0.1145 right_pitch=-0.4773 right_roll=-0.1328 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -2.359, 6.735, 1.3944, -0.1538, -0.0366, -0.0171, 0.4034, -10.3863, 8.8137, 1.243, 0.0806, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2071bec5114ea6b6b2dcb3d5b0c269de17f639a973fbaef571ae994ae11611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb230aad7a5bf11dfd70b44dfcfdb0843c1869acabf70f3d87a91611ee18f03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251ac32b04dbe75a4acb3c43769d931233a18cd5312340e2611ae5cb456f632a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.381 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.9913, 0.8131, -0.6765, -0.2173, -0.1013, 0.9972, 0.2981, 1.7714, 1.0416, -0.2371, 0.1917, 0.0742, 0.9961]\nstate[eef_state]: left_x=0.2895 left_y=-0.0013 left_z=0.1657 left_yaw=0.083 left_pitch=-0.2606 left_roll=0.1047 left_gripper=0.9972 right_x=0.4232 right_y=0.0986 right_z=0.0518 right_yaw=0.07 right_pitch=-0.3767 right_roll=-0.1084 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.2496, 6.7214, 1.4042, -0.1343, -0.0317, -0.0122, -0.4034, -9.4838, 8.8684, 1.4823, 0.0317, -0.0855, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9951, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4591, 1.742, 1.1786, -0.4816, 0.2394, 0.1757, 0.996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0012 left_z=0.1645 left_yaw=0.0837 left_pitch=-0.2647 left_roll=0.1057 left_gripper=0.9972 right_x=0.3983 right_y=0.1542 right_z=0.0831 right_yaw=0.1202 right_pitch=-0.4345 right_roll=-0.1121 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -2.6872, 6.8308, 1.4335, -0.105, -0.0562, -0.0122, 0.2667, -10.8513, 9.5521, 1.1795, 0.2711, 0.0952, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.997, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4725, 1.8568, 1.2713, -0.5079, 0.2466, 0.1833, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=-0.0013 left_z=0.164 left_yaw=0.0834 left_pitch=-0.2665 left_roll=0.1061 left_gripper=0.9972 right_x=0.4122 right_y=0.1662 right_z=0.0656 right_yaw=0.1145 right_pitch=-0.4773 right_roll=-0.1328 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -2.359, 6.735, 1.3944, -0.1538, -0.0366, -0.0171, 0.4034, -10.3863, 8.8137, 1.243, 0.0806, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2071bec5114ea6b6b2dcb3d5b0c269de17f639a973fbaef571ae994ae11611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb230aad7a5bf11dfd70b44dfcfdb0843c1869acabf70f3d87a91611ee18f03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251ac32b04dbe75a4acb3c43769d931233a18cd5312340e2611ae5cb456f632a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDY57EyAR5hgQILb03_fRgZ-SRrlc5xOPVORDuseDA_KukMUyM9idEmpVXcSzmG-P4MoGdt4RDjgXcdtDFQ1HcLTCB_oFuhZZR7mgzucgVcL65tdvzNgb5Rcc2hkDWbnUVkRLo3qSI16rmp86blVpkBv1HV78ZSE7NzejHs2dypwXFck09qsdm9Js128X19mFO4d68RggnuwUkm2NSUAHz_FhPG4OMXKb7ECm1fGB0D17ibQ2JMzdAM_rg_xAo-Af1mE4x_kniYxpoQzysUp8yxKHN5npdTCKFdeEVnac-lHXJyJG5rIWnF_kRF_eyUKvcOknq4GpNQen4PrTvylyZdbmIrAUOc1wgxE3Q_KDWXiY3mOGpxzSrzNkzoX3VroeVsjfh7ckd336q3y0Zlo3fgYzDQNkkd8HkmzbeqE4IWYAPkf8iFPbh7FfkJiSZ3eVJsJy3zxyGrFnYYxyxa5ikvsNmJ1Co82nNZaKTSiqK0yX-LSg0poVyzDrYRVj9tYcyPlvmVeILRC-OkSVngOqFi00RdSEzDMO3Ryu922bjTXE7x7TCsFL1YS4VRDeaM5hquA5Vut8DyWMjX3C-iQ1Un9fvdEjSxgm4FcJbiYouXDXxc7Avqo3YN8G7yBgukQ3-LSLUyE3J8xzheh8xBzoXrfVRuPbx5rWNLooU3UN5p6W8adIsXbe0x-a57uXaRMK-WbPAZqzBeCLDELYWSnwY6lCpbHF8BO3M2W5XxnSDcTjkPeafKn7JpXFtbJplCiAl6TlAa_WKqdjkfbi8av_miv2GoMgyPrvlDeLfMK271nOd22JVDugKOb8F_P3Q1t_3EA4NdajKwBxoEIEAYBvAGKFjviDkrZE6h8anmYRWVm07PGoWgC_XAlqOwelqCbmWKvngVryx9EDHoERXy1ZkWutJC4Txbu6xEjRAhfcM87WTUTfLvOZ5GpP9JbTKotVvA1G1VDZxF6j24Y3URzsiAy0lRF55XKgXPeIi-P5JCp9D-S70tgPp5ZqqFlVDgM9x8gVSeT4wRiyz4-fnBolZ2kWRX2bzvARvkB3Zsk5RSm0fzamaUpm2LmH5LZqRMPdBlGiAzCPUpQ7FjbTNXSX0d9tFVVBZIosznAc-N0fkefan4i-asP47DqzDdJ1Jk7nYVlP6p1dqUx5AwvFiqSPfC8jXiXlVG2nuwnbyt1_dxjh_GggfKbyDD4XMjJtVJh0oah0i9TQN1O5Qpsbwb1iFnPVv3e9dj41CUvXr61aTliAs6Zq1BbfkUFyzbJ1z4OTmBcBu04JtEQ3iqN80smtipvUKaIKhSYPToCFg8lJXiqNZ0eg88kFjGu0hZzatk0XTG-R-IS_3WN2M3dsU-kyn-pT_9cf09QNPymwHvSkTDvParv8KOa1AD7QbCFLqlKHHq6X6KxWlYZRT0hVBgdOBuadNR-95fXyFEBJrGMiwQNaircQG-0vcmCAVSNtvqA1DKPMA9HR4HcMnZBsXIPh9bS9Zj_5lfZHR8jM6pTZ_a9ECyim45_nCuWcvmSNwOVSAdN2YlkPyPLT-ca032r_bmbFagfVLTCxFapRHp7adTm8pPqluL45isUnvYJjCOEtefY7Mig23L8DgHiyjpaqvUcgvDw4aNaxSWeyd2S3dhTaDfonqizG342h0vxg3qrI94qGpyAYbudjnLtOgQRz4z6S1UUxgIIsAa3D5ifSjoNIhB1y4JIxAn7VT5F4lVbIcdbWGdl0EXSIK7hYLY8q1vMRA3DuSWozP62x4D4JY3xieDxxUNeAmh-XVwUNQn0r6XgqLy0DF4XKU8EdDXi4a7o1Q==",
  "id": "rs_0d7de73a6f232f0b016ab436371e5887d0b03d1b184643f2ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_z\":0.075},\"note\":\"The pink bowl is aligned sideways, but the overhead view puts the fingertips just behind its center. I’ll advance slightly so the closing fingers meet both sides of the bowl rather than its near lip.\"}",
  "call_id": "call_JFtMvTSKOrTqk5IwFhJQ6Cev",
  "id": "fc_0d7de73a6f232f0b016ab4363839fc87d092898a0b518cee20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JFtMvTSKOrTqk5IwFhJQ6Cev",
  "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]: [-0.1486, 1.0012, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2766, -0.4988, 0.2462, 0.1837, 0.9962]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.1629 left_yaw=0.0841 left_pitch=-0.2706 left_roll=0.1071 left_gripper=0.9972 right_x=0.4134 right_y=0.1688 right_z=0.0563 right_yaw=0.1158 right_pitch=-0.4906 right_roll=-0.1378 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.2085, 6.735, 1.4725, -0.1294, -0.0806, -0.0122, 0.0479, -10.7829, 8.8274, 1.2772, 0.1636, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4687fc46765e798d78a8855f2906fd6c983ece44337b2338f4d801dfbd378eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9441c0192a3c56c562856d81d189ac52f8a22afa50794351745462e8d9667d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c050db15d949afc9d786e55ca7c2a7ddf05a8f77dc44700c4a8cbd054247b8b",
      "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 · 6.516 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9913, 0.8131, -0.6762, -0.2173, -0.1013, 0.9972, 0.2924, 1.808, 1.0447, -0.1993, 0.1707, 0.0597, 0.0174]\nstate[eef_state]: left_x=0.2895 left_y=-0.0012 left_z=0.1657 left_yaw=0.0834 left_pitch=-0.2602 left_roll=0.1046 left_gripper=0.9972 right_x=0.429 right_y=0.1015 right_z=0.0423 right_yaw=0.0916 right_pitch=-0.3771 right_roll=-0.0984 right_gripper=0.0174\nstate[joint_eff]: [-0.0342, -2.4137, 6.7624, 1.4432, -0.149, -0.022, -0.0122, -0.1846, -9.7436, 8.3487, 1.4335, 0.2369, 0.0269, 0.7253]",
      "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]: [-0.149, 0.997, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4725, 1.8568, 1.2713, -0.5079, 0.2466, 0.1833, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=-0.0013 left_z=0.164 left_yaw=0.0834 left_pitch=-0.2665 left_roll=0.1061 left_gripper=0.9972 right_x=0.4122 right_y=0.1662 right_z=0.0656 right_yaw=0.1145 right_pitch=-0.4773 right_roll=-0.1328 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -2.359, 6.735, 1.3944, -0.1538, -0.0366, -0.0171, 0.4034, -10.3863, 8.8137, 1.243, 0.0806, 0.0366, 0.0073]",
      "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]: [-0.1486, 1.0012, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2766, -0.4988, 0.2462, 0.1837, 0.9962]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.1629 left_yaw=0.0841 left_pitch=-0.2706 left_roll=0.1071 left_gripper=0.9972 right_x=0.4134 right_y=0.1688 right_z=0.0563 right_yaw=0.1158 right_pitch=-0.4906 right_roll=-0.1378 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.2085, 6.735, 1.4725, -0.1294, -0.0806, -0.0122, 0.0479, -10.7829, 8.8274, 1.2772, 0.1636, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4687fc46765e798d78a8855f2906fd6c983ece44337b2338f4d801dfbd378eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9441c0192a3c56c562856d81d189ac52f8a22afa50794351745462e8d9667d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c050db15d949afc9d786e55ca7c2a7ddf05a8f77dc44700c4a8cbd054247b8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDY7-Nb79F_YP80qtNK4YRIUsDw3DVQzJwXembzvn1m-ly_10Yf5Yt6S0Z0VH2snvuFVIZ58KUhjENwnjOdv7nW5AtwNeKUZnYECxiI0HKtQbaXUW8WN2PBKFkbgSAqSaZ3FTqF-ktUWgJJyCFvBtLLfZpIj9s43AzV2h8lHaQB49omK3Bg8UKDwfNSwDKkroni5sl1m8ckJMnBMghP905AGmKbGsTd4ObcLTD8Br4GLcRugQ7FBQ29sykPIwUjOs6w6mPZzvuotsra91Xo9Mt_UNZ6DOop49TCU707uxgBWjGsqMdhmOhsO1BgWKEbBvTLdPPY8-Ug62kn-sUdMP2jWDs9vl3n_11o9VH2UX79eqhs_FAy801-PJyXlSS9hPNCcg_KCIWGeYl6U6COEVSHXXE_cnjH0ooxZHSIU3B9Crw5OmzUIeL5qImS5R8YuP_FMbBx3Qv2AyQ8QZ9K2rRz9k-fzp6-JK2Eulxu1nNug0KP5klwJYXsWrsAAuxT0KR3ZPUc3CAlYNXAC9aJWF8b5z2jzmAqFU_A4dY5XLSsC628RhTG6Gg62goApANsGoiyi5IFyRIBFvX_0jN3UDTAwPaPxxWs4FXU9eMS58qAMFKmdczLffiDl2A0BEqqtO16DW-EzIMlqcvvouzB5HlizZIRKLyb_PLqcO1mUr1aJXxopG0n4AHV5dPWAxox1X73yuYbEfQ8_ZNkRw9Myo6nuw25T7STFmKf_QEyzqjlFAOS0aBrhKod8M29adGyvFQFfZtf1lCv2fqvSE7kH4dYJEd8CkoY84de1evtQdD9T3g1ArY-CHkMIoPI6XwsMxqUFH4bVjV0NLRdqobggfsDENrf8X7dmQOGzTPe34lpAX3_BnvtyiTvsQ6k1hBPBhB2hn8YkLUeJu1FDwEX8FCO7_3E-ZF2ph3ruQrzCsaV-uEzbNgFhIQGCPBl92JqDmkupf5zyChbVMpiSUVbvFum_DxW2e-Gqthqle_nc2HsX_7DF0w0q1kek_9NT-AHkZ69A0d1MQy8EC_NSBrFuu9dJJFBi55NYQT_HthMu0wC54bOYTbmeS7PgUQrS-aKoCvLsqUMTRzhIWZFiWbQEqdo-AvN--JAXE4BrfGPQKyt5btLod7YhM5PE6TTvx1H555Do-8sUYrtzmRWtEbd8WXwhSsTEMhbpllhF4fiBW7GA3XsfHQmUrg9tLj0P4Nx839ew7gQxarGu8OokdOdF4mkgel5t4szLHUmTYQKmZUmNWvc8mdqpjYIJSgEWbjgQYXKQyqWmHWL0i5Zd5xAI4KZ6CR2a-oBpda4v4NntUFmalZmn3v8qfcHamjfz70IO026pkP_PdsSN409W9XQ2FUmseREdwr7w9QB6oFzJtPYLQoFFViJc971973d5vHH7Jt8pBs_LS4Ai7JZcwnrF0tounzGOkM-O7QP-VfzIwZKviFS0n4TVEdjALj1yc2OIEMd_x0HGVJX1oakegOgNwAppldKm3NHuuhYM5I5WIkykmsyDgtnLf-zxlBuFQ80ICb0lrMk-ysSufJGDe-_oVH2tjCx1T1nuF-jlbyRFIhVq6KJOO5fnAVDIls0FOGpAKF1-I1l7Ao247TmgcwAcvZ3mtA==",
  "id": "rs_0d7de73a6f232f0b016ab4363a326487d08d01ca4c39180a86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm cannot advance farther at this low height, and the pink bowl now fills the jaw opening nearly symmetrically. I’ll make one grip attempt here and verify it by lifting if the opening shows a hold.\"}",
  "call_id": "call_tuHPzyqt4alPXpxAET3lVP72",
  "id": "fc_0d7de73a6f232f0b016ab4363af3d087d09d14e0f8410540c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tuHPzyqt4alPXpxAET3lVP72",
  "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]: [-0.1486, 1.0008, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2758, -0.5011, 0.2462, 0.1802, 0.0092]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.163 left_yaw=0.084 left_pitch=-0.2702 left_roll=0.107 left_gripper=0.9972 right_x=0.4128 right_y=0.1685 right_z=0.0558 right_yaw=0.1173 right_pitch=-0.4938 right_roll=-0.1409 right_gripper=0.0092\nstate[joint_eff]: [-0.0342, -2.441, 6.9128, 1.4188, -0.1538, -0.0317, -0.0122, -0.1026, -9.7162, 6.2291, 1.1404, 0.1538, 0.0904, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24ffc7af8c3af5366486d048d01f195eefc929ff6e30496fa900d3af91d9bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838527373854b9a9d509eaefa6fe3e0baf5baa8dd5102f8e845ed4981da16ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe0c1b988e0694cf55fc464a57cebac7565eebe991968397004ae2173f2a957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.465 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 0.9951, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4591, 1.742, 1.1786, -0.4816, 0.2394, 0.1757, 0.996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0012 left_z=0.1645 left_yaw=0.0837 left_pitch=-0.2647 left_roll=0.1057 left_gripper=0.9972 right_x=0.3983 right_y=0.1542 right_z=0.0831 right_yaw=0.1202 right_pitch=-0.4345 right_roll=-0.1121 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -2.6872, 6.8308, 1.4335, -0.105, -0.0562, -0.0122, 0.2667, -10.8513, 9.5521, 1.1795, 0.2711, 0.0952, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.0012, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2766, -0.4988, 0.2462, 0.1837, 0.9962]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.1629 left_yaw=0.0841 left_pitch=-0.2706 left_roll=0.1071 left_gripper=0.9972 right_x=0.4134 right_y=0.1688 right_z=0.0563 right_yaw=0.1158 right_pitch=-0.4906 right_roll=-0.1378 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.2085, 6.735, 1.4725, -0.1294, -0.0806, -0.0122, 0.0479, -10.7829, 8.8274, 1.2772, 0.1636, 0.0415, -0.0122]",
      "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]: [-0.1486, 1.0008, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2758, -0.5011, 0.2462, 0.1802, 0.0092]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.163 left_yaw=0.084 left_pitch=-0.2702 left_roll=0.107 left_gripper=0.9972 right_x=0.4128 right_y=0.1685 right_z=0.0558 right_yaw=0.1173 right_pitch=-0.4938 right_roll=-0.1409 right_gripper=0.0092\nstate[joint_eff]: [-0.0342, -2.441, 6.9128, 1.4188, -0.1538, -0.0317, -0.0122, -0.1026, -9.7162, 6.2291, 1.1404, 0.1538, 0.0904, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24ffc7af8c3af5366486d048d01f195eefc929ff6e30496fa900d3af91d9bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838527373854b9a9d509eaefa6fe3e0baf5baa8dd5102f8e845ed4981da16ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe0c1b988e0694cf55fc464a57cebac7565eebe991968397004ae2173f2a957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZDWXIxQeb4xT5MHESqZpX-GudlPPlCk3j-m0WzpDEZE8b5RKROzxkFfczDt95_U7JLzkvVwYNT0efUudOXy6YNjlIGUuH8q6HZTzWoGy3mve4s_z3ezhqnIBJmyYbPk424kumowkwSVrwcau_n5H__EIkywguUPxYD48DVCQAANEaiHZJuy5pQQqmipdVTQJ7aHW0-PiAR4Fakyos2ogUEwYpXMg4IWWReWV9-7ZwXcXsonK2MEPp-wScdnSuJbN5U__w15oTSibtisldRTVwyJLMF2rhhAWJ0FchNKXURVQTi3EqzumcnvgLyY5VAyOFWQqhlqsHFvuEDsoTH3-goCMfTsGqCf4HLa9t99XxeElWdmMotbXWtdY2eO0Ge98BnFwDLwzUeg2yJkHEjkCRf25pLvqGVaSZN9z6qJrPTz4VyKcmaMc2fimZGl3XUiO7GzWSeq31Q5UiEOXg4CZPQaJeMZRzRvAiERmXtVILydU2NvFY_ZGFGfA0_UVwOP7MNqd8nHte13E99ebo64BJKKapmiFqO2_SOhYzdoEog-hjpwC_0xq-5-PwvPaEKbamVh1615Gn672eUXDink_HvoXXeY4H0kaC7ZIErUGCMrmCTdAHBInBRi0DyTkHJA73oGDKbRAm2QzuQIEbu0AlQNGib65_axUAVtd2DJgK4FVBRuK4DzGRtP1VIwhegrl6fZyp6SpIfZdIFZl_s_IkK2aLCdq8saKCyZyWiowuCl53I58oea3gMWiAj3QKe3vGu4UK4zy5xnywArW7MDiZvoDEyexnRRpe7OoL1VoGiHGidn2Ptndo5d7rR-H86_rTyvRz4mOJKNeIsaP0L7MbHECOvnH6SxIk8GHwv4R1iv-lRmEySsdok55NdkcmXzS79xb-lMWu1e5Y0faEW5PLphxfLyacsJH7A2Bju0J0fyVR3leF32UnourvdU3HsovHMEqOExlcmUI4Q-Awx8ZdMmKQERwfz7fA8JUC9AEJ-rttOHm22WvR0J8PeoRqk1Dmz-U9DQswd03rzpr2eGh7P1dMfMDCe2O3RWTHv8tF8PIX-ngBKwuBpgm31_Gz1Go3pbcZA2hi-Ud0RH5WGsRyienllZC3gj9NVG7yaMTLSd0uODWotSVmElyzf7DgkNZqmoipqgkqq7WpxpYjx2LwxE7_0BGZOYsol85lCNuylnX6pI4BdkFfKx9hnLcNBs8VHjkOMn0jOlORTxxQegyFJdUwDrCjHwyPk4Y3y9vZMGJq11Ad5mvf0oopxfHQgBOxEg4RdYA2Xsn30BrcITpDW0TX436Iuhnvv-4-eo4o1xux-t79JXuAl6HDDU9Q9xXEUpIQ_2IEydmt-MFQQnSTAtEANkKrq9JsVDcWv0ZwElhZ25fdqUIjLGAaG4lAwccls9Jwc1WWuWg7PbMzoqvUb4oVp63JlomwoaojF29STIlBK3lpLl5m80S_YkhYwrNaf1aehcM-Izhs0YOcQUCP4r8Vw2yXhiJJVvZpFiO9Kug0UFWrKJgh9CRYRUK2Eaui00gAK1TGfK1doMKpzER-il4oLeVd51wm9YKWLKBNRAF6qhff8N45Qht-GD9jI5VFU1xUZ69uyj4-TZJhEKFWXe4w-pBPkAjTXlhSClzsSYASRT-vbr6pOkLRYt3zR9dRAo-I2FCCYC7gLPtYmjhYGX4cSKM12EaxKUr4VcyAilAFU7U6j5azou1WdsJ3kW2-jH2jrsAeO9T1W7gz8EMDO6LGTHPN6Fq41tlSk_Wx9YjiHC6zHbMTQagpp289kYm3XEpGyETRsZbizdIl4RN-KBYcDlkp4fqxpzhnGERRFm8Z33AS5FSSeXdaJrhuqSP-zeS83gBABQULGo7ZRy6kqxPoFha9EA5pNTJkHTgTUZ3gNQYaC1I9ztATzbZ2ciFHMBdh9NrOR9BAvUc3YWw8IzgYkKrq0Z6e2P2avZDKuNPDCbMpfVzDcSdFq4hYhk-xzxkhoG8CBLiZraq8bD6d65xgi2vUA3wmPC6tnyktTkBvmshPwIUTC4k5mA-K3SIQV3MqM3tOLfF8P43GU6i0njoLgwCGPdA0yZiBppTaHzUTzJRrVnhURSlhR4fpwSSOElbzUHfSv5BdcuHI3QHvaX3wnqY--QAr8oTMET0TLMhfW_Vt2s0M2eIBl6-Qgr8syn4wgi1RH9Egbu2p3EyfXXYwXEkDiUA1tXDE6YH-PcZ1dHxysGa2VmKOHKaIsXpZDFiCBWpk3l4kgH-nQRIFzryRNShpuK0knVftl0xsB0vkyYCtC2OJ-JXPZP5ZR0euCbRrUkdtEpJ5fgsMLDjAODnogAL6UIQresRnZ8n9nR0OZA1gQZslvPwkvvkIzRuuikufE-hdUJXCPicc6nFmOhIUz_ZLO2t1vwiCpGBCnG3JyJPx4PawL_i3BLiIjaAZKNFJhYXRAgIcLGOWLcpENJlvp5DRhbUj-nsRIWngI7DPADh-krMNQROtaq2DoRgocNcjr8__WljJzEBK4vKuckVaReL7ujonDv5m8Tb-kKTU9UGgamxmWB_GZS5zUXuTUyO2FEFfH8QKWjbSgR8MWJq-zaspqMBC4XrnNcUyyUl6ycYcFPnYSm6ZSjJpuosrwbLbXgvXjs_tnaibDyhdwZT-pctNbYHD9viFppqWi0UGI-cqD5agQBw6ZmH2jhnjBpTOJffvVakF3SVGmgIfNBqWKd8sjTF7mPxJmXvSGIYVFYy7tOTh9QjLOPgqYz6PSIG4UoAN6aU1O1j2cNmrLS7HjByaJTmQE25bGwfKX9zVXZX7CYq8vtW62QpFbf_p8xe3yzAlCrz3IDNR6UjxWpylqPLUmKQl1W2iYb7KOpqeaH0wbXXiIaTRRJ8oqditBuWxQzjUJG6At-I4YGj3R4YXg2oWrtIbu5dLFqSbWaWcMRyo9RdCG7VBqtG7lAHqC67hcM5WGz5cB88ogg41fjow_RN2c-TKyFGG4ggGMwct6Pj31UYyI5YC_-C8Jz3NeSfUjOHsS-1ZLoBzHaCRps02IiB0E1r2T5mMpvPPNiTicevoT8B6nX4cPdYF_lUuirnb-Q5wH3f8ERCDslS97It_Sagui3S7DOTdM2TTQmew6YX7Wnh_bSifAxdjsGqZWZIsMVViiSaYo0SGxr1RC4KTDrPmfOo5O9npsWklz3mYMPEXQP5wv6WIZcRQmomfGkXijmWX3mZZ2HR8khb9tE2rtVI8L5r1ILLBS9MGuPUIf6H_kdZ7JBsIC37A_vtCBymRf6h9X_R59Y1uDkXeJz-Gk-nNvybpe9uspGjgyxlNIrxGDvF6VvI-x-oQZQokde1e-3EP2Cf3ZwdKV2T3OvAeVszvvVfmIqLHAaf9S8ymm70y26ce3O5LSOPlWnzJJRZWMr15v6ik4RD6nipaiR0H67i-A1Omgre4nlAp-xttsFXI9gPLdz_tgiDRr6-GCJ2o21OkFPv3wK_FXomKS8A==",
  "id": "rs_0d7de73a6f232f0b016ab4363dc06087d0ba1296c57fb9a4fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.1},\"note\":\"The pink bowl again stayed in place, so I’ll stop repeating that grip and return to the more accessible teal bowl. I’m parking the right arm and approaching the teal bowl farther forward than on the first attempt.\"}",
  "call_id": "call_3GLmK8GPJZxjNmKikVpJ6z0i",
  "id": "fc_0d7de73a6f232f0b016ab43642227c87d0b23c107386716644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3GLmK8GPJZxjNmKikVpJ6z0i",
  "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]: [-0.4789, 1.7588, 1.1614, -0.4065, -0.403, -0.3717, 0.9972, 0.0185, 1.1995, 1.0557, -0.9237, 0.054, -0.197, 0.9959]\nstate[eef_state]: left_x=0.4157 left_y=-0.1337 left_z=0.0871 left_yaw=0.076 left_pitch=-0.323 left_roll=0.1245 left_gripper=0.9972 right_x=0.2942 right_y=-0.0005 right_z=0.1665 right_yaw=0.0749 right_pitch=-0.5068 right_roll=-0.1486 right_gripper=0.9959\nstate[joint_eff]: [-0.4718, -9.0188, 8.6222, 1.2283, -0.4908, -0.0464, -0.0122, -0.1983, -4.3419, 9.6615, 1.2527, -0.1832, 0.1001, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719e9f20b50ea2adb1e638f476600a68a9898a1913cde630a6fd0a56e19d3986",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb3d782ce0e3bbea0239450137608c34837d95991d82cb5a9f02e3a74c08584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d827d83baa03d92a7fbf569a8e128266fb00720dc114d9618aa51fc6009b9bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.652 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 0.997, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4725, 1.8568, 1.2713, -0.5079, 0.2466, 0.1833, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=-0.0013 left_z=0.164 left_yaw=0.0834 left_pitch=-0.2665 left_roll=0.1061 left_gripper=0.9972 right_x=0.4122 right_y=0.1662 right_z=0.0656 right_yaw=0.1145 right_pitch=-0.4773 right_roll=-0.1328 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -2.359, 6.735, 1.3944, -0.1538, -0.0366, -0.0171, 0.4034, -10.3863, 8.8137, 1.243, 0.0806, 0.0366, 0.0073]",
      "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]: [-0.1486, 1.0008, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2758, -0.5011, 0.2462, 0.1802, 0.0092]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.163 left_yaw=0.084 left_pitch=-0.2702 left_roll=0.107 left_gripper=0.9972 right_x=0.4128 right_y=0.1685 right_z=0.0558 right_yaw=0.1173 right_pitch=-0.4938 right_roll=-0.1409 right_gripper=0.0092\nstate[joint_eff]: [-0.0342, -2.441, 6.9128, 1.4188, -0.1538, -0.0317, -0.0122, -0.1026, -9.7162, 6.2291, 1.1404, 0.1538, 0.0904, 0.7448]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.7588, 1.1614, -0.4065, -0.403, -0.3717, 0.9972, 0.0185, 1.1995, 1.0557, -0.9237, 0.054, -0.197, 0.9959]\nstate[eef_state]: left_x=0.4157 left_y=-0.1337 left_z=0.0871 left_yaw=0.076 left_pitch=-0.323 left_roll=0.1245 left_gripper=0.9972 right_x=0.2942 right_y=-0.0005 right_z=0.1665 right_yaw=0.0749 right_pitch=-0.5068 right_roll=-0.1486 right_gripper=0.9959\nstate[joint_eff]: [-0.4718, -9.0188, 8.6222, 1.2283, -0.4908, -0.0464, -0.0122, -0.1983, -4.3419, 9.6615, 1.2527, -0.1832, 0.1001, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719e9f20b50ea2adb1e638f476600a68a9898a1913cde630a6fd0a56e19d3986",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb3d782ce0e3bbea0239450137608c34837d95991d82cb5a9f02e3a74c08584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d827d83baa03d92a7fbf569a8e128266fb00720dc114d9618aa51fc6009b9bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZHnlYs8E9fg9MuSdu4LFt6IeBkitMtn3a_5GiANeYHny9r29b7-7euhtSzhY0nZjmOZkSJQOKTNZ3zEkY8dOZhZf2pfnrN0QXa0EuTXbH6lpnDIj8JgecXHDg0EGdY2KfQtFNOkVlvClZmvElYDRvVtiUk2Lolt3B0DbF1iE80DB2NOAmOM8E9VH9xUzUjuZyq329GzVXLFtSDRwECBDyvADi7T4OnND7kqF34d7RL1G90zwpJrPPmnVlS6ldvmtbm6TZs5Hk9MM--ZXhsbYr5L9hA5lKE9aMU3CEq0yzaGfmoQKHz22_7G6jubVXwIXBL1eVXDpZDdyyPcRlRoV5bTq8z3RREjTHeDiOaQfokbEedsNpBIcYzrZl0KeshnM9aXTT0cLt3_RYu4Um2o2M966ehhSlg2gPxoxZ6T0hDtYe05Gn5QjDbXoHfm6sGFKpTOHyWHtoJ0zdD321huXB40taN1RMzYjklHP2DM-yjUv18X9ZnQFrIRePGw1nO3D-hQ3S2LISjIKdVqvc52V3I3db9Xh1BrGIXZ18d73tvqjiIoXt14Vnpn_j1EiJXg5I5hl14__rOaOmKM_GC6QR98L2KY22k-aqkTW1CdBLz-Rmbd1Zf0i6BaKLUsEfFIvtc-LCTKvmeCPfEMLWTq1d6npSvPNk7WV5uIUeY3eJsexw7wJfh-BXptxQ0q2hef-smSFbOK_OtqdZIfiyrGxlxQ-EU4UO_ystdfN-xh8V_3Np3gkuWiNO_Gn1pEjAVMCg4OLA29UYm0ZEUO9Oq1B7l-6X0nsSEz1QZpmo3IWlrdoNK2P-t71kA91G5lSlzk8ppVL-KNjM_sAiy3u9YT6uE-LuJGzvxs68jXGyokBUcfoBAGxONsCOiqbFhSuyRh4xsXmYc1w4cgDChzATaqlbGyhv9qvnyZzDU1j9A1vmq982-LRjVPI_HJWZ10xmE_LKsEUwXYgZ2IB_4Rhx1B7MWJQKt_5JM8g8OPIWTrX1ay4bE7gmvYRi2XOTsMMBlZiWWrDU-p7Jale5BrNabWcNPV7kGE5TETaVJBq6-lOpuwuwN-dx5aXeNws1DmI62tf4xyOuRDe7s_t2hM7fwDJrdDXTsZQVqZNV01IX3wVIhqwT6kpVbcKA0yzxA4qxl1ip8bkNZlPsiAz074d87IQI2TIVtZl0R__OSD_EiBBdts8dNb8GOf-CyKecklkzTQKeBEuvd9d-a3kkmxOLTECyID79nY9qO_zU-O5yjb5byLYFQT7dM-E8kQbfn4GfMeImic2h0aIk67a1-lGm1nM4JCd-Y2IN0gcE4VkvddV8VTh03wl7s3jPi9f88fbb7qunB9hV9IV8e_qBuBeCZ0CyuJsnrJHCrpd6_oIz2duuYz4aQQkW344fncSwlZMFx_U8mYwncwsgY6MqPklUZcMXOno5BnBcCK3SrI5HUxml8JZ9p0uF-WzVwrHqmChUvyGeE_XmCdGQlyYyGsm7ZO_anEPgXNVvlv6B3d43S4_xu1hIzF2EkMAxPweBYc8DjfZhht2nfvoi3Qt-hleOQtqf5kM2LE8iIBgeILkeUEM54Aivjvr9ff0iLqvoXGjTwrVKjG14f0SKZ1EQh0VFoweyLy_ct-hQ8K5d9TySHqRlLnkyrpu2ZaIaynEm3M4uETjNDJwizv9iuGN2f4ys8zA8MalcJnIZvSYWZsibLjTzuBSN_QWjKwLd0ygEaga2RHNLPOfx7f_0XuKKZw47ajJrs_ufMyqgL5hLfhUPT76J39U_KQaO_VkBGnnOURZUwkoV1MQObkTzKL4_ZJm7f7O6ARXUa9H04d_M8jW45nJPL9PUj_gFIr6LsXxL8fRAOjeIVCAl4P8Q0cjBm664k420jtVyBrCMvry8vUOYHwzvwKZPel3KOiyobeITJOhRlU6nQorojKp1-3atwErGJkUzh9sqoaw9Ahb12QioUj-M6j0o4X3PjX-Ml-HekI8y1orsYCliU-LD9yQaBecRNU5INIY3hO8f0zLxAuv19Ojt-xrAuNCpMrhFvrcpn_-8M6dFehBAm6X-i0XtgHFzrKrong8MtqdJ-2QZD_LS11hthq20=",
  "id": "rs_0d7de73a6f232f0b016ab43645b2cc87d0a5db8df392cb7d26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.103,\"left_z\":0.065},\"note\":\"The teal bowl is forward of the left fingertips but sits left of their jaw column. I’ll correct that sideways offset and bring the open jaws down toward the upper outside wall.\"}",
  "call_id": "call_nFzpeZf0mp5IHOhfuStNe3TF",
  "id": "fc_0d7de73a6f232f0b016ab43647422887d0896f5ae0b2c29c32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nFzpeZf0mp5IHOhfuStNe3TF",
  "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]: [-0.4015, 1.7771, 1.108, -0.3305, -0.3683, -0.3275, 0.9972, 0.0162, 1.2011, 1.0561, -0.9512, 0.0433, -0.2192, 0.9962]\nstate[eef_state]: left_x=0.4225 left_y=-0.1064 left_z=0.068 left_yaw=0.1002 left_pitch=-0.3374 left_roll=0.1246 left_gripper=0.9972 right_x=0.2884 right_y=0.0006 right_z=0.163 right_yaw=0.0978 right_pitch=-0.5365 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -7.8017, 6.735, 1.5311, -0.1734, 0.232, -0.0122, 0.0889, -3.5897, 6.5299, 1.3016, 0.0757, 0.1538, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ad1ffbd3cb59482e66018ceccaaa18cb24a6d46250e7e67217bf6eaebc38fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22957ec3d7b879d86cafc22c0a146a1ee23fd66037714ba2fcc9548d7e87fe16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b9c78901f4a392a55a5c4f80ed4c18f7d581f2700b7c67e94cb5e0355bdfff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.5 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.0012, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2766, -0.4988, 0.2462, 0.1837, 0.9962]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.1629 left_yaw=0.0841 left_pitch=-0.2706 left_roll=0.1071 left_gripper=0.9972 right_x=0.4134 right_y=0.1688 right_z=0.0563 right_yaw=0.1158 right_pitch=-0.4906 right_roll=-0.1378 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.2085, 6.735, 1.4725, -0.1294, -0.0806, -0.0122, 0.0479, -10.7829, 8.8274, 1.2772, 0.1636, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.7588, 1.1614, -0.4065, -0.403, -0.3717, 0.9972, 0.0185, 1.1995, 1.0557, -0.9237, 0.054, -0.197, 0.9959]\nstate[eef_state]: left_x=0.4157 left_y=-0.1337 left_z=0.0871 left_yaw=0.076 left_pitch=-0.323 left_roll=0.1245 left_gripper=0.9972 right_x=0.2942 right_y=-0.0005 right_z=0.1665 right_yaw=0.0749 right_pitch=-0.5068 right_roll=-0.1486 right_gripper=0.9959\nstate[joint_eff]: [-0.4718, -9.0188, 8.6222, 1.2283, -0.4908, -0.0464, -0.0122, -0.1983, -4.3419, 9.6615, 1.2527, -0.1832, 0.1001, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4015, 1.7771, 1.108, -0.3305, -0.3683, -0.3275, 0.9972, 0.0162, 1.2011, 1.0561, -0.9512, 0.0433, -0.2192, 0.9962]\nstate[eef_state]: left_x=0.4225 left_y=-0.1064 left_z=0.068 left_yaw=0.1002 left_pitch=-0.3374 left_roll=0.1246 left_gripper=0.9972 right_x=0.2884 right_y=0.0006 right_z=0.163 right_yaw=0.0978 right_pitch=-0.5365 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -7.8017, 6.735, 1.5311, -0.1734, 0.232, -0.0122, 0.0889, -3.5897, 6.5299, 1.3016, 0.0757, 0.1538, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ad1ffbd3cb59482e66018ceccaaa18cb24a6d46250e7e67217bf6eaebc38fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22957ec3d7b879d86cafc22c0a146a1ee23fd66037714ba2fcc9548d7e87fe16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b9c78901f4a392a55a5c4f80ed4c18f7d581f2700b7c67e94cb5e0355bdfff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0d7de73a6f232f0b016ab436497d0887d0b9aa5fe7104a7de1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.436,\"left_y\":-0.085,\"left_z\":0.067},\"note\":\"The teal bowl is almost centered but still a little left of the jaw gap. I’ll make one small correction so both fingertips can meet its sides together.\"}",
  "call_id": "call_h3HduXelJhRMfPWDjL06bLhG",
  "id": "fc_0d7de73a6f232f0b016ab4364aa2d087d098de60000055161e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h3HduXelJhRMfPWDjL06bLhG",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.7771, 1.0962, -0.3096, -0.3489, -0.3107, 0.9972, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2157, 0.9962]\nstate[eef_state]: left_x=0.4251 left_y=-0.0987 left_z=0.0655 left_yaw=0.0998 left_pitch=-0.3382 left_roll=0.1158 left_gripper=0.9972 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.0973 right_pitch=-0.5374 right_roll=-0.1454 right_gripper=0.9962\nstate[joint_eff]: [0.7179, -8.1436, 7.5282, 1.2332, -0.2125, 0.1001, -0.0122, -0.2393, -3.9179, 6.7214, 1.0476, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2084f6113ec234ccc8ea6b86a2a6bbbdad618ba9733dfa5d65f61880b1aed32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d9add5974b345ad782816066cf35c150f9a7e351820e4b58592edd93deb05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a727cb6bbab152092f0f297488d767789b3c6d365db05017384c697bc957ca4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.0008, 0.8127, -0.6765, -0.2173, -0.1013, 0.9972, 0.4763, 1.8854, 1.2758, -0.5011, 0.2462, 0.1802, 0.0092]\nstate[eef_state]: left_x=0.2899 left_y=-0.0013 left_z=0.163 left_yaw=0.084 left_pitch=-0.2702 left_roll=0.107 left_gripper=0.9972 right_x=0.4128 right_y=0.1685 right_z=0.0558 right_yaw=0.1173 right_pitch=-0.4938 right_roll=-0.1409 right_gripper=0.0092\nstate[joint_eff]: [-0.0342, -2.441, 6.9128, 1.4188, -0.1538, -0.0317, -0.0122, -0.1026, -9.7162, 6.2291, 1.1404, 0.1538, 0.0904, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4015, 1.7771, 1.108, -0.3305, -0.3683, -0.3275, 0.9972, 0.0162, 1.2011, 1.0561, -0.9512, 0.0433, -0.2192, 0.9962]\nstate[eef_state]: left_x=0.4225 left_y=-0.1064 left_z=0.068 left_yaw=0.1002 left_pitch=-0.3374 left_roll=0.1246 left_gripper=0.9972 right_x=0.2884 right_y=0.0006 right_z=0.163 right_yaw=0.0978 right_pitch=-0.5365 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -7.8017, 6.735, 1.5311, -0.1734, 0.232, -0.0122, 0.0889, -3.5897, 6.5299, 1.3016, 0.0757, 0.1538, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.7771, 1.0962, -0.3096, -0.3489, -0.3107, 0.9972, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2157, 0.9962]\nstate[eef_state]: left_x=0.4251 left_y=-0.0987 left_z=0.0655 left_yaw=0.0998 left_pitch=-0.3382 left_roll=0.1158 left_gripper=0.9972 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.0973 right_pitch=-0.5374 right_roll=-0.1454 right_gripper=0.9962\nstate[joint_eff]: [0.7179, -8.1436, 7.5282, 1.2332, -0.2125, 0.1001, -0.0122, -0.2393, -3.9179, 6.7214, 1.0476, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2084f6113ec234ccc8ea6b86a2a6bbbdad618ba9733dfa5d65f61880b1aed32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d9add5974b345ad782816066cf35c150f9a7e351820e4b58592edd93deb05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a727cb6bbab152092f0f297488d767789b3c6d365db05017384c697bc957ca4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZPWngDPsCoo3OxnwqFrsrLujd8weiIUL8R9E8RAAtle96Vob-QAPNa7ysNAcGnUwOiyA5UM3HTex6CKj8EeTCluziXNcnRFDysylZmqmMyxJxjKesKZnMpuFrDL4I2mGY3j9NZXbBlaUaNHk4ofFm63Xyoy6UAmRQwpbvVEoB5WwZzq08d8Zy0tEy0KMsxQR3ICKaQpVXN377YIQxw904JJ-sfc6S8OVr4v3l1h-usk9bwzojmASfCIOmqz2_nbW7AcK-LT9yI5wY7jNEMkt6lVHt25WlbO3QMxhRwVeA5WfUdP6vdqS-A5bX2onmRTnZkCZiMSfZFCrmiDlkx-a-qy7dOX1dLrlQtBEDUKYL864n9xJZGmSd7Z2W31YCYLKMW51Yyf_VN0TYAQAYJy3C3-lZlPrBqqpoKRM_a0gAzrD49Qrk6ILemZDV8JY6QiujfF2tZKV8fIfQC39b8gCv2tBxEruLD7c58inWn2BA0kJ_XxM6Mt-73-ypoK7vaMEBytsVBFhgxlTi1IxoOiC1sV-OYFop48Mb4zkier4f52JeXdBlVSo36z800DbrAsAXrsYHDKBgwcRjrnhNm-_rXLQjSU12wguAUMfsz81UrCsxDY_HKZufctHH-OosLqy6i2RxhoUeQxMteKGLoQ25bwVi5FT9T1P1NtejzeyCriW1IBUdmsQ7xhb1qkZmQm0v551Olx4GtmEJz_W505FKHgo7qLFYvPsC2CG2JbRlKC2XuaTYu0M2o9gCrXWGr59cXcp18QmubGycUYSyEhGoKhXHGuly4JuBGjkrYhTPMvYzh87k4Fr5SLoQPdQtBmOeUoRCkgUx9mjX-YXL4t3JkVwQxaJHjhzKgv-YUngKuCb4LackmwmOVZFANOcKFwBaPGD3GD45lBrp1e-7FBNN0gCpUZgpxL-PwkvaNTAwObaTonXKHwJ1CZ1c4kR8i1YCGpNZTXbX59Uj6T7WHP6ZMeuKkNrdr70zA2XS1b8n6HrRXe6BWruov28c-VJZVnHUg9eY787qJ310E1BGfvwG35BzYLZ36Nz58QXdv4q4yaJOZjuB1KLytEfYa2xyacQzEmyBfR7XklDiXCrEq7jftMLSF9eFHTGRRj1F21r4d6N-wbOtEAxrW6lK25kH4mNRiuCk5Fq2SVuvLIpH0C42bn5fbaTaJlwajCd3JE8QIKip38sWF16npIK0-E_PPi5jZdBmYb3LbivH22-2CZ5q0NXOQp_izzG66GxndykgeMOXjOA1zLNyn5plUPki4AIKbfikiEoRDeEJOurPbcYRTLYT96o9zb1teSF_VO6iKGV4MUpNuZ77kA8YgHWGCnFanDPDdPuZVdxrfLaynBaGGVzKyn1U8wNc4G6g4PLwSg3w-IzDPo-p8xTfrWhnqe1Nl4RT7v4XWkvJNXJEwJG0QEsIvJmunhjINb609NwZtSrw=",
  "id": "rs_0d7de73a6f232f0b016ab4364da15c87d0bd31c61bae7b5139",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl is now centered in the left wrist view, and its outside edges lie between the open fingers. I’ll close at this higher position and check for a nonzero held width.\"}",
  "call_id": "call_Qdr1eudj2xEsAe2CFM3eLgoQ",
  "id": "fc_0d7de73a6f232f0b016ab4364e2bc887d0b47e98dc5225c5c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qdr1eudj2xEsAe2CFM3eLgoQ",
  "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]: [-0.3702, 1.7771, 1.0962, -0.3187, -0.3485, -0.3031, 0.0084, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4238 left_y=-0.096 left_z=0.0643 left_yaw=0.1016 left_pitch=-0.347 left_roll=0.1248 left_gripper=0.0084 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.1006 right_pitch=-0.5378 right_roll=-0.1482 right_gripper=0.9962\nstate[joint_eff]: [0.1573, -8.1299, 7.5145, 1.2234, -0.1636, 0.0708, 0.6667, -0.1709, -3.7949, 6.4752, 1.0916, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7128af525b215ad997a0cfa0b029a43359fa67d94a2c03229ae3c31e4ff69401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272fb70b298b4c88dbd9524f83c1f61a63d246aa1ea25359dadeb848f89762a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f860447d22c93cb301cce86105d617965c275cf0b5b85b1039cef9d76b5535",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.628 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.7588, 1.1614, -0.4065, -0.403, -0.3717, 0.9972, 0.0185, 1.1995, 1.0557, -0.9237, 0.054, -0.197, 0.9959]\nstate[eef_state]: left_x=0.4157 left_y=-0.1337 left_z=0.0871 left_yaw=0.076 left_pitch=-0.323 left_roll=0.1245 left_gripper=0.9972 right_x=0.2942 right_y=-0.0005 right_z=0.1665 right_yaw=0.0749 right_pitch=-0.5068 right_roll=-0.1486 right_gripper=0.9959\nstate[joint_eff]: [-0.4718, -9.0188, 8.6222, 1.2283, -0.4908, -0.0464, -0.0122, -0.1983, -4.3419, 9.6615, 1.2527, -0.1832, 0.1001, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.7771, 1.0962, -0.3096, -0.3489, -0.3107, 0.9972, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2157, 0.9962]\nstate[eef_state]: left_x=0.4251 left_y=-0.0987 left_z=0.0655 left_yaw=0.0998 left_pitch=-0.3382 left_roll=0.1158 left_gripper=0.9972 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.0973 right_pitch=-0.5374 right_roll=-0.1454 right_gripper=0.9962\nstate[joint_eff]: [0.7179, -8.1436, 7.5282, 1.2332, -0.2125, 0.1001, -0.0122, -0.2393, -3.9179, 6.7214, 1.0476, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.7771, 1.0962, -0.3187, -0.3485, -0.3031, 0.0084, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4238 left_y=-0.096 left_z=0.0643 left_yaw=0.1016 left_pitch=-0.347 left_roll=0.1248 left_gripper=0.0084 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.1006 right_pitch=-0.5378 right_roll=-0.1482 right_gripper=0.9962\nstate[joint_eff]: [0.1573, -8.1299, 7.5145, 1.2234, -0.1636, 0.0708, 0.6667, -0.1709, -3.7949, 6.4752, 1.0916, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7128af525b215ad997a0cfa0b029a43359fa67d94a2c03229ae3c31e4ff69401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272fb70b298b4c88dbd9524f83c1f61a63d246aa1ea25359dadeb848f89762a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f860447d22c93cb301cce86105d617965c275cf0b5b85b1039cef9d76b5535",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZUt-Vo40RbYXQ__4Upnwqw0-7CNE-ioj3dqkRvSVybqzGqvslZUvL4dakTESA3OcIlECf9n0sZ-d-7YQ-CzCwyOsMvTrdQ8F1x2L5H3YeqLYpOBVCP7G_WTGThhTjP8yOzX6RipM_CLvfqU3pxgD8OEY-iAOIhqUbtFvwy_PotgqONwpmgck9YuhaKcD83DItoR7KRsRnvOkqg6nMcnxKVc2GxhSFUWn498OFc9dZmj-C9lCO-T4ftuD1_gFuO-mAsCS52ImhAiaLFo6MRKognETWqp02Ce9HJaXSoj0YRLbGqa1Z21oh4OlG1VOdqfEPpv6wgkda6fxyR4QCwa0i8MzNkCCGt9kGpSUxAIp0mUzD-SnyeWBHQzlMAwbpEovkQfpdrC15vQYTYShYd1gdVpmD-9xjsk2HauN8KvRGQPEZT7_SL2PsrfLWuAC-PDzBhVHNhN8tbaY7C6YYgBIgmydZIDfFIGYQJEvH9CnC34ybewZhDTwECpbbOtirqCJjxyESBWCK_-K6VO1oJ7XK_YI_0XH0OwjzVBFUo2ftJjNdVfMrJd5XH-pDSoM6iJZ52y1zilKbHU9UGfuZ9-x4HzDZlruSmwL3YKgisd-Dkmi2eFtfnfssNIQHQjz-dfcT5CtKC-WU1Ow85YzA8myfojsm8cYPTRN2dqoKrk4j_6IjTjqRjpJgOzz7nWoKVWpFtfWIAnE5ZZZI_Kxd0gHP5xKkI0EUwz-rQH3IjBG7H-EhREGrC-wXhILDefu37YGYYMtsLIO72xUNtkKnz5MIzukPYc9FzMCvBi9yOAqJKXqKAAz4u4Tbsffd6XV6O7kQ0NR03fyU3cShzudiVb0bUzTYLQwy_JB2VfB5piRXAX8CaDHIM_Ytaicp3fUtOdetuYeGfRAotiKbYYgV2VwELOeCUdOTwAZlPaStlR6u6HEg9zq7T-i26AEjkAhlC3xJSp8NWq8W_Da9alutl-78l2VvGTxHp1xJe10iJG5HrwN-lGXzEclKgTvTGQktSd6Vm93OtH1hkrnrNY2iETUUdA7ejGIu8uDtPLBh_Z5Cflpr0ezQJYYUNX2J365sW_HOOKc1v2SUYa4r0YrhbAJ-I5s_jM-ixCCJ3LNH_AXcHauMg7jVmZhM7OlUw8ChPbddoUB_viCRX-VZ0O_BWswHIR24gw2ngdU-j69Jr2L7N-qUdY8w28Yo56vgGaENK_JbI7Z6dpM5j9rFR4MymrCZtU_r70uYIPFabOzNiVWejRxzDl8BGKKZEzQ7koKabMACFmwlQkN9fi2YhtIWOZuGaom2aJW6b2qKoHN76KVazAnmAKLTwod9ATTx0TDP7YSmKBmvOep2i993S7b0UopOz9VNWrr0VohIAW0A_sgLEaCz6oxVTb_2X7wpH0va6JBwcMfRHViBVzxKEKeVXIIIW8HWJkfpwCxy7alGBr0vqWnHkGBLNDBZB7qe0jfIyPQaAN1Hz6ni9OVmt2alzPEOqKrLJrWPeuG6AAruVU7LB90zPuw8TQweLE0UEsnLGgVUHwm7Jl1WRSnJFNW81VF27DtluefoScwo38-pwCpFsCE-cLNVFYwXrFGExc4uhv-ZqCCyZS5U7A6hf0R0EtzC2e46bn9-oKEU2cZb5iRenXHqaJMXfirPOZvyhsejlxvePBK8yYbpl8qtsJ0suK7UmtwK3f3ocbWXwzvShGZmMTBhVHF6F-JnZ2kxguHH6gWFKqqOg9A8o3_8X8FIl7lnY26gs89IX9NA_T0hQGHQMTMpDtV2iYGxGjpE-BSgqYuqQLQQ2Ke1GLYZ1Wx_Y6TIkl__r7uIeGUDoHnh7jR7nN6CfJGXAmU1t_pj08BJDjgPwQBSQ43CFtHKg0LFUrScS5JDgxcenvp7JCew4YjInygxe1Va186wBru1EPGQzgS-WXiLDGMCrqiY5zkCLnO7UZr6xn1uMJ8qsyn3FEUIep-mEa2oGYSbq3v6kM94pmJU15tySB-Tk3bdfh1Zl3D78uI6QsWUxH_9JQW2MczKHj2coh7gTCCnjdl4cVUNJx72DCO7THX9ZNEbx_UCNzCZWakV74dpQy7ib-hITVekrrorUHp1vpTnAnjOvuxm9CsUGkLGkcTzGqXGCYO2KqhpKyxqr5-gyh34YgiXxRgISf0Bl8xp12H6hPT6GcM8w6RWamps2RF1MuJytPNSuQhaucyHkAsKQQWemqtJlRNvtoMK7bcTzvEJKZ0ETDZLxcYtZ3ZNy2dAJ4fZnqA73K_3akpKv3r710Xn-bAJj6N5ZBhjIOTKQtFixY2ENh7Q_IoigBNh-F-utWZOaDMbE4WD0ya_iK30y-J6-JV_QhuzeJA3_8pMk5ziKsvoHth9dk1uE3IyVwpsF8rPrPOWqieoVz_6A1f7GO43scLJkTdD_vjH4wUqf71DNqglHuw4w58CQC0LJ4ClIhFXjAbF3EHG5lCyBXvRORjLe7D6FYM7LlTR8MI8z3OQsnEYt_InfM2CZ39nBFpjhOJk4HQWPJ_a9OtlV4ixo1x8zDppaazZmYpqiJWTQ2qUff_xRBRzpwKOWUsvx5ZM6muD_3m13AxuwNEHGbbW4yR7HFVoumNeeyuE=",
  "id": "rs_0d7de73a6f232f0b016ab43651603c87d09d152b6eb413adfd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.47,\"left_z\":0.11},\"note\":\"The left gripper again closed empty; its center finger is visible inside the bowl while the rim is still ahead of the fingertip position. I’ll reopen and move farther forward before trying another closure.\"}",
  "call_id": "call_IipgEAAUmAyO1ASCW04jPPyb",
  "id": "fc_0d7de73a6f232f0b016ab43653acec87d08a2442f9a0220f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IipgEAAUmAyO1ASCW04jPPyb",
  "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]: [-0.3328, 1.8595, 1.3716, -0.5121, -0.3302, -0.2806, 0.9946, 0.0177, 1.2026, 1.0515, -0.947, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0953 left_z=0.1038 left_yaw=0.1112 left_pitch=-0.3558 left_roll=0.1248 left_gripper=0.9946 right_x=0.2885 right_y=0.0011 right_z=0.1614 right_yaw=0.1012 right_pitch=-0.5386 right_roll=-0.148 right_gripper=0.9962\nstate[joint_eff]: [0.4991, -8.1436, 8.9504, 1.2283, -0.1538, 0.0806, -0.0122, -0.0479, -3.7949, 6.5299, 1.0672, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5a7af89d708362a7db4d4e7a1e61007c2b9ceb48bef8d8aa2ccd5b102c66d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450136d818010aad02630aadbf8c632cfab9d6cb6ea93e20c26e481e3c2ceb4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cf22feadf9f56d0123e2e430b69e812cb0fffa1148c356a9e966e223ec191a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.779 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4015, 1.7771, 1.108, -0.3305, -0.3683, -0.3275, 0.9972, 0.0162, 1.2011, 1.0561, -0.9512, 0.0433, -0.2192, 0.9962]\nstate[eef_state]: left_x=0.4225 left_y=-0.1064 left_z=0.068 left_yaw=0.1002 left_pitch=-0.3374 left_roll=0.1246 left_gripper=0.9972 right_x=0.2884 right_y=0.0006 right_z=0.163 right_yaw=0.0978 right_pitch=-0.5365 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -7.8017, 6.735, 1.5311, -0.1734, 0.232, -0.0122, 0.0889, -3.5897, 6.5299, 1.3016, 0.0757, 0.1538, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.7771, 1.0962, -0.3187, -0.3485, -0.3031, 0.0084, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4238 left_y=-0.096 left_z=0.0643 left_yaw=0.1016 left_pitch=-0.347 left_roll=0.1248 left_gripper=0.0084 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.1006 right_pitch=-0.5378 right_roll=-0.1482 right_gripper=0.9962\nstate[joint_eff]: [0.1573, -8.1299, 7.5145, 1.2234, -0.1636, 0.0708, 0.6667, -0.1709, -3.7949, 6.4752, 1.0916, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3328, 1.8595, 1.3716, -0.5121, -0.3302, -0.2806, 0.9946, 0.0177, 1.2026, 1.0515, -0.947, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0953 left_z=0.1038 left_yaw=0.1112 left_pitch=-0.3558 left_roll=0.1248 left_gripper=0.9946 right_x=0.2885 right_y=0.0011 right_z=0.1614 right_yaw=0.1012 right_pitch=-0.5386 right_roll=-0.148 right_gripper=0.9962\nstate[joint_eff]: [0.4991, -8.1436, 8.9504, 1.2283, -0.1538, 0.0806, -0.0122, -0.0479, -3.7949, 6.5299, 1.0672, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5a7af89d708362a7db4d4e7a1e61007c2b9ceb48bef8d8aa2ccd5b102c66d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450136d818010aad02630aadbf8c632cfab9d6cb6ea93e20c26e481e3c2ceb4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cf22feadf9f56d0123e2e430b69e812cb0fffa1148c356a9e966e223ec191a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZZlLcBOTfWrzG8wBhePnyFkuMG7u_wL2x1TMBz2XzUSNbFDckgi4c5f9ttwzxgH40RdOo1eBpeNEyln6KVaFp2KX23MtonUSL9objthpreiBVE9nM7CBHJ_hAO2tNKTZxQ_-u9w-EJaNl6iggH0HIPVa2fM-h7X4HP5E404W4EkfBjO1x3HpA2e_me3_M7_zauCIVneP6GBszfclckaPkYjP-6Ngqiu5wFIASFm8E3OKT4hBMiuRPojj73XoownWdup-KC17DGvjJXIgzmxwatlwlwZ_Gtv0UANEZZH-5fe_pZaadZCUjyIteB6M6sIkGTwto8XzkxDU3TS5EgYuNtV_S-erKPYmKC_2Axn8lsi0biwuNzTowQ7J81azF6taqaweFHeoYpn1ArdZVUu-dNP1NUVvN0WsFtqskSDDGnqxNxCm799iQwdvDS8-j0nD-Qumzk5RqUILbyn25Rvmy2h5ADeS5sI-BpxYK_naRrKgQWBw6HEzHvlR-4aX0ea9pZiGSnYLPrlDFE8syNKOfIzpSxcIMmkI7Tx-MsSRD12nrfJK_E6YBmSctvWYLVME7jiU6VYZlBWx7yIC7fJgUFK4PyzGx5hR34aw-5fSZb4yf2wvXsaTIe8-VhrhmZ_Kvf0cUoN6Kvmh6qDksRx4FP8qveTDNTBReEsfdYeLOQwn9U9XxGMDAex7dbAE8p-4rXbsQe5J9_I-sHSOFd6TbrcVxQRIJJ9VfMaRTPoIEzYdIhu0BrdgJZRP9I3hl3dffzkB-OQciC0_D02mkO43FPcWhkVtzvYrPWWaRy_VdMQImcVlkJk5cyYjpVIky7b3u8U3CZNyvWB5ZatYPBpjJBvkEJji3yBPKNUCx1Z8QVOADwOVqWGJIOhETCpUHk74llMtF1rWncLio_Qg08_I7RaSHVKtcVPQ-tprReZu9ZKx7MUHWBGZnt6PgY2tDsm3vmYcOyhyRTZM_7oZWmHe9QjS1MaCRIEixZaQMLgCOXMpZJiSg0i-NfQZNEhbaIRF-gdg-bOQjuMS-mZUOfOPPwHod-NLCMDdEs4cEKBpG1s1a7mV_DNgKoN3DsVlvu8boofYycWPDrHLSr1uGLe527I6GWbyYVSZR5h9V2IdEo0-ILe7GwW0t8C1l5zxKbrHoztNfUyYluJSUsYPfovXptIoG57Y_tNZk66ojgELdlGgl0E8NKvJz5eSTR0gt9ldZIdD7OX-uektVmIIDlZjBSQXD2xTWG9CBzsjKcNi-qlRTwrwb-0U403dHrA1nts1T06JZb8AG0TC-EDkKt0CnhyuDQbEnKjIz2mTwlJFbK8HcYVOFENTTeEGBOP1HKlAHasOtKTwg1esfyY25IHitj2KdjUlnbBiTF_uuXZQudsU6VfyN5Xp9FyIsz9UVzWDtXSO_kixv31ROKwnXLnxwWFfttPZZDiXxcW5VSs5Hjv6V_EEvLXbjWCnBnQsSAfCshMMuhXUsO_Pai5ecSkay-e_4VFrtzvFLNBt4Nw-jgHLEQPvIGeeW5Lt1yYpLtXVZw90PJTtjzv9wfvKkj0rboz9i_tLfgJNwqZsh2l16xVf3xym0MBd7BsqXqyP4TQRTd45TlVIZnvANH4pD313X37kLfqk_fHzGNcB3kdfX8V43vmIiljUZgSIRqIMUuRrmHz5CqITlj4bC3q8ZjhKjZcAeBXKfFyOGo-1jUh-yRrw4C4KqoMG_uVIXXLc_K-xuSkizIQJoMDvJn-iO3sYCuUSM8uUytd49_EVEWTRmsysPrs-9c0njv5AtE5hRv_I5t6fJJmd-yf1O2bmNoiLeKaZEK7ZTvjqVTRkjLEEylCZdiLknmjHqeOWFD7eHolUWVSPLILoQUk8yvPdtWeBLolhGhFpxa76LHU9qJcL3hTOFU_rs9WOy8Ps2zh2JzfGu48WjBN-i5U_xh4vgyB1h9qjnOBz2uaOl2fN7XIGWy8NKFhl-RnLjRIkZHZhM-9Zm0SIwMZioWJQ1ek9ZvS6VBf4VWLWxHQW5lticC401iZWQ4idrL_4QS6gBT0euyIxxoTiNPCeLm6UL6QH1tVo2MT5vOKzQNYAZJzDpNW3T0IXpZlJLxTKFvKX6tLNalflHq",
  "id": "rs_0d7de73a6f232f0b016ab43656d2d487d0a0dce816c73f3d97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_z\":0.065},\"note\":\"Advancing brought the teal bowl down near the fingertips in the wrist image, which was missing before. I’ll lower at this more forward position so the jaws can straddle its actual outside wall.\"}",
  "call_id": "call_qPqOFNEBoVUow7PqqaRig8RJ",
  "id": "fc_0d7de73a6f232f0b016ab43658612c87d0a52c5c4ed90e35f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qPqOFNEBoVUow7PqqaRig8RJ",
  "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]: [-0.329, 1.924, 1.3468, -0.4328, -0.329, -0.2768, 0.9955, 0.0177, 1.2045, 1.0496, -0.9543, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4696 left_y=-0.0962 left_z=0.0755 left_yaw=0.1135 left_pitch=-0.3655 left_roll=0.1308 left_gripper=0.9955 right_x=0.2866 right_y=0.001 right_z=0.1594 right_yaw=0.1014 right_pitch=-0.5496 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.7316, -9.5111, 5.6957, 1.2576, -0.1148, 0.0464, 0.0806, -0.1709, -3.9316, 6.5846, 1.1306, -0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24aed2ef8d42468fed53f37f059d21558f18627a667547344337bf6777a4e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19546afecd6ab260bbb5849587120d3a3a720600d356d867de9061518df20a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ab3f806f84c10ac129d69836b24680609e283111a271fec372e079e939cba5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.628 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.7771, 1.0962, -0.3096, -0.3489, -0.3107, 0.9972, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2157, 0.9962]\nstate[eef_state]: left_x=0.4251 left_y=-0.0987 left_z=0.0655 left_yaw=0.0998 left_pitch=-0.3382 left_roll=0.1158 left_gripper=0.9972 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.0973 right_pitch=-0.5374 right_roll=-0.1454 right_gripper=0.9962\nstate[joint_eff]: [0.7179, -8.1436, 7.5282, 1.2332, -0.2125, 0.1001, -0.0122, -0.2393, -3.9179, 6.7214, 1.0476, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3328, 1.8595, 1.3716, -0.5121, -0.3302, -0.2806, 0.9946, 0.0177, 1.2026, 1.0515, -0.947, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0953 left_z=0.1038 left_yaw=0.1112 left_pitch=-0.3558 left_roll=0.1248 left_gripper=0.9946 right_x=0.2885 right_y=0.0011 right_z=0.1614 right_yaw=0.1012 right_pitch=-0.5386 right_roll=-0.148 right_gripper=0.9962\nstate[joint_eff]: [0.4991, -8.1436, 8.9504, 1.2283, -0.1538, 0.0806, -0.0122, -0.0479, -3.7949, 6.5299, 1.0672, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.329, 1.924, 1.3468, -0.4328, -0.329, -0.2768, 0.9955, 0.0177, 1.2045, 1.0496, -0.9543, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4696 left_y=-0.0962 left_z=0.0755 left_yaw=0.1135 left_pitch=-0.3655 left_roll=0.1308 left_gripper=0.9955 right_x=0.2866 right_y=0.001 right_z=0.1594 right_yaw=0.1014 right_pitch=-0.5496 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.7316, -9.5111, 5.6957, 1.2576, -0.1148, 0.0464, 0.0806, -0.1709, -3.9316, 6.5846, 1.1306, -0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24aed2ef8d42468fed53f37f059d21558f18627a667547344337bf6777a4e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19546afecd6ab260bbb5849587120d3a3a720600d356d867de9061518df20a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ab3f806f84c10ac129d69836b24680609e283111a271fec372e079e939cba5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZekSCO1k-vuKYNmqfll9j9f1EzoNlsRdz70Fz-zYlMFh9iuKh3k9usbn5-vGp0A9BUtYNJZCQC8uy8jI81tViBQNvSjY4JWow53c7Aktmuh5xJq_QW9vBTzRK9hIh0kWIoTc4m1J_lfP8biD-k7en75C5KZrC4-Rr6uMps61zwKT2oqyTZEnNDPQCwxc-w5nf5r_bopg5AMsUsbgPsdzWZ9fo2lorZZPCxjrRQtH61Le8EQiib73t4HFCFPLND_yF78rjPbuVUo9hOBn4fE9_UEFiTEQSN6BK5xYU2zSGN8eoeUlPh3_q9nlrDGqWEqoUg37SO6HHkFNSknpx5qGME5mepWdj7hMSPgYEWyA2ruFmes-c8SnF9A9my7XRqg2yxHKa50xQS0f1bv_XON90xiwKDS9ySti9pJ30yKdgrBlWXOi9RBjKAuCtc5kJGZ6Nvb4dWypAsKVO_4BhLqQmdlOcihI8bop6ZRMkO4bFRItpiXEmUeyjnVCRipcP1DeXtQOJVrpHo8ZA9sxbv2QM3hIVNpPNSVQJtDkFR_2PFeS0LlN-__ljtCi1ISWgkewAz2PLX358PAW_uYD8Em6sWePoMnnDtk-jY32b-xlZYUI2M8sF9W9s9bNrP1v2TgnaYdfWYctoD7hcHhISPvrb0pfTzxlcXxOpWcdIOtYsqbbuVpPjzWtJl37NxtXpzxi9xrwwY6jnly6uDC0pmNTHRKDa5EiN7b0BYrB2KXGOdw69kwdy4Njbboa6pHQdqF93268Jyx1duC9FCW4PMCh4ozfa4Uq7QgPL2isK7NDSfs-nQ8mQKAbZ6_HhDGE7fKyLab4-FbKC_gPFW_OEOqZq9af-aWljukX6KvWsYb2EeF7nRFP5PYWmDGbvdZ2MEVqww3iBdLMzdEUCv3TuvvjS29JI_jRQi8OgkosA794Dfc12CPTOdxWvKKCwcIYtklvWlepSy4Yrg0SA5wfT47WkJQwp_STrAo9INDQ51N14xIkplJZxptPCacCTmSdnOJFLVFapFZUzSuFnK3h4a_jnHcO2x136IWV6G4yRrAKaVPAB8BvAhJHj4O7jwjFEycTame6BBSurbYdI9KLLEoDir9VM18fhBXkY0-GSsl_pdgw8lMuysRTvgOVRTuS0-WOeogyVBpdVevE_SGB8fjLAp2BtsNLDR1tp-HzXDN2FB1acpV0lZWu_YgEME2EbP9sVh3NahXbYnASYvwOgB_yUthbE_oyN4hISYnh5fL4cXjHcTKpP7gzSskhlsrGxbffVSdEsRJA6zITKcAoSQxqESMyuNoAMIKne1gn38mxXD3gT_3jeizAv2RWLe2HbsHroWaGmFWsKIiRLPMvF994b-fkpXs9c40dTFYEqx19E-ZdyNypds2izIT6O0Y2fYesZ48mHn-0ECex0Lqa5KSmHoY8QQ2seK4Ozy9mJHN-J1pnZitCAlGhs-h5fXOERkRscF5PNDJsws6PIktvn0fbENLbc7_k2u_pa4CzjeSOQCiovqlGHJmeJTgkhPkN7SktsoXWYTdWQCXHHFg1Mr8j4vQdpGyj_JHorjwS6c9uq_3qPNgpyYmLenFWduJYlFZqpstuIAfBiHAomaxYctiCN67vFjgDhDjg3Uth2IyHFSjrhtmLoXrLYk8zpO0PG6cNswYaetis202WidqN9_Y87QYxFQkPsisufl0ySM_LoQ7Y3vQ8iFXDw7j1wh--xpsNWri2SuQr_QomzPiYu45LRMv5py9boqJx1ukwx7IQjltlMozavD2uKY19MRJxNzbzhoyY_QtHbpYzmezPkEthd7URfAFxgYj7NxrcVeUeMbuOKiUy5i7to_hgWqThHp4K34IV0zt7mw39iDx73mx7wWO87UWqn43-jYsgpQ8jPyjvdeLmfsKtrMLfn1ems4ENWbvYg6c0cd-wFaL6SZROiygVrpSuOtZPI0WAVYy1cKVE-gnl0f090S3YtxHYxI0zA8PYzrxM98yRYjmE-Ul2YMTUvtreV6uufOw1ECXKFudSRj4DIAc066U3itfJkLpXLri0PdnCWGq8zgW2yPuub1WqYdZqijUE2I4GL4hxlLULpo2N0tr3xwaWLSr7FWle0Z9QezdkqmoI2DgxsnpNZvNUk_4JCvLlGiv5vliRGyH6s02-ORKrNbjcVBPybN0JQus2FTui8mhtUhPFpyvY6FUkOxfgmr9pMYlLmJqBMggMpTpbyVVw0YdU7p2_CX3Vn219jGhLvm86ckeK5L4_Tq315IdwNwW12c4_FUov3_IwO77lxMH2hrAnzUOKUVE6ZIunLjhi75kUzKdfHIftb8iRNhWrxjEL6-vjLmxOxbZOV04WpgJr4FvDDakdQW57q2_oCkdaEnGjpW7l6Q4UO6MZXXYq-Y4oqGSqO86RLje_DM6XkSudz3tnItRup3o0fQAdW-j0d1RKygiL3Wxy0w-MyJWdzG7UB0OJ34KDr5UCa2r0TeqA4kzrWE8wkCaQaegrNeZSv4tjDkWW8Uv_mtG6LrDLHmH8wkf5XJNkt4CrYeGkqky2cCR07vyAhCehTy2FP2aBVrS9JqTNImmDozwg==",
  "id": "rs_0d7de73a6f232f0b016ab4365a72b887d09fdca4b3016b2822",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.449,\"left_z\":0.07},\"note\":\"At this forward position the teal bowl has nearly disappeared below the wrist image, so the fingertips may have passed its center. I’ll retreat about 2 cm to put its rim back near the closing line.\"}",
  "call_id": "call_k6W9ELSoLeovx6Q7UFHA38RE",
  "id": "fc_0d7de73a6f232f0b016ab4365d2f0087d0a19b1324d2b27d33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6W9ELSoLeovx6Q7UFHA38RE",
  "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]: [-0.3325, 1.9419, 1.3056, -0.4068, -0.3302, -0.2806, 0.9956, 0.0177, 1.2049, 1.0492, -0.9543, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0952 left_z=0.0559 left_yaw=0.1189 left_pitch=-0.3947 left_roll=0.1448 left_gripper=0.9956 right_x=0.2865 right_y=0.0011 right_z=0.1591 right_yaw=0.1018 right_pitch=-0.5503 right_roll=-0.1468 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -13.4906, 6.0513, 1.2576, -0.2808, -0.0269, 0.0024, -0.1162, -3.3436, 6.4479, 1.1209, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c61a2d1fca78736443e74960564f96326febab2ffb1cdc5482fb2ec4a0d3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be033b6e11a1a819a308c0c4d4215c955b0526a36824ac676e279ae6a3e3b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d706a9a079d0d09b2adcc09f316cb83aa43b24678e640fe899a4aba641e1d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 10.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.7771, 1.0962, -0.3187, -0.3485, -0.3031, 0.0084, 0.0177, 1.2026, 1.0523, -0.947, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4238 left_y=-0.096 left_z=0.0643 left_yaw=0.1016 left_pitch=-0.347 left_roll=0.1248 left_gripper=0.0084 right_x=0.2886 right_y=0.0011 right_z=0.1616 right_yaw=0.1006 right_pitch=-0.5378 right_roll=-0.1482 right_gripper=0.9962\nstate[joint_eff]: [0.1573, -8.1299, 7.5145, 1.2234, -0.1636, 0.0708, 0.6667, -0.1709, -3.7949, 6.4752, 1.0916, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.329, 1.924, 1.3468, -0.4328, -0.329, -0.2768, 0.9955, 0.0177, 1.2045, 1.0496, -0.9543, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4696 left_y=-0.0962 left_z=0.0755 left_yaw=0.1135 left_pitch=-0.3655 left_roll=0.1308 left_gripper=0.9955 right_x=0.2866 right_y=0.001 right_z=0.1594 right_yaw=0.1014 right_pitch=-0.5496 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.7316, -9.5111, 5.6957, 1.2576, -0.1148, 0.0464, 0.0806, -0.1709, -3.9316, 6.5846, 1.1306, -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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3325, 1.9419, 1.3056, -0.4068, -0.3302, -0.2806, 0.9956, 0.0177, 1.2049, 1.0492, -0.9543, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0952 left_z=0.0559 left_yaw=0.1189 left_pitch=-0.3947 left_roll=0.1448 left_gripper=0.9956 right_x=0.2865 right_y=0.0011 right_z=0.1591 right_yaw=0.1018 right_pitch=-0.5503 right_roll=-0.1468 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -13.4906, 6.0513, 1.2576, -0.2808, -0.0269, 0.0024, -0.1162, -3.3436, 6.4479, 1.1209, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c61a2d1fca78736443e74960564f96326febab2ffb1cdc5482fb2ec4a0d3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be033b6e11a1a819a308c0c4d4215c955b0526a36824ac676e279ae6a3e3b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d706a9a079d0d09b2adcc09f316cb83aa43b24678e640fe899a4aba641e1d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZhjJZaCJvX-3gNHLCF254UIhS_LrKcwyxIILlQKLrGY-hAJhzyDOyWyJI9BvIS3zTtxW0LIgYcwkGMZW_O5YFW4quc4Qdsdx3F9BF28KpTlzrWEPU_js_J-AdQzWRqQehESA5lese5aDiTaOipByJaONkYT2723rKtejADsDTTNId0GKg_dpmp2s-vJdGvs7CxVFwIykYeB6QrR5NVPVQNPxBneyWlSJ8i3ifATsfDTAcfCKFyVBT36WCRqZKaMkvxbYE__iZzA_Pii_5YYd41SchCY7eIyPQ7Xs2dsJR_ytQWWm2nPht6Ha9DMimWGwCTdvB8aiwJz-P1jQH__D82maVDd7So-x3eR1Ygmr0KNyem6-b8q5QoRf0ydRKDWfjTWHAhicie0PzY6kgELYt_FFKUJ2vVjrZTUE1Qjb7hiUHvG0DV6FXzzDTDaMYJr1D6bxT29ceY4sxEPZnJocn-G4bP0e6UC2Htk5GyB8FkI3C8GAXpbseTuD6A0xIyvwyhrHHumc10M33JcDLoik1-CUvkV7GMYJES8cIHCciDGSF3Rk_H_uk3GmxbsJDVc0klfVkYSrqqu13PpoKgvnVixr3y3Dqc7r0GcywVi2-X0BvevK2vqtXFPLWGsBBySSegYEQETZ2DpxXEXYQv9i5AYchE7wExJZ7JcYSQMH5u4x6kUbxnzYSVTKyBiLxRNWwHoSoNXXhSJHmVJKyeUMTiPFIvJRvEeVegHA4iKKt7ym0gtZBM1KO7pvt1tuMR0i-js1raNx5UQZ1nJ9IUYKyCAJdVvqyjCvYQhqsONtJkP4Wj1EYVdHBbUeebMy1oopMNP53Vw9RiwBUwcYjOT1B1TqhrdIU1c-SoVA97q9Q4oldugCGXUAxk7xh_aabomyfKyLc2ZSMjdMXONQ-PYe7zQ_NNehodduwm50qc1kLcNjClwcE-Vs8qbwvx7KSdjQueS771TlUDvk2nALbrCiBOJ25odP2ghWwcw-8XnbbSsYYIMx7l-dycS-YRc9Cnn_X4pjRGqMqzuNW7KW5v7_EJWKwWjfhgGEB1lyh79rGbY5UzMBcIYBhkLbwB4gPv2mKfGbK6_q5ahLx-3bj1S5kP9aq0R_NialNrgIJhBKsiI-dEZYlusY9pKY7xPMMCVloj0Fexd_dOIWXUdhf6Y82u1DWsPebaNTf2u6YfNxZ5AXNiEZnPlDAPxxWLsHWKENRRhpP3YM5x8WFkibM3FNN88Eyxl1mK2HN33beRHV9jhZn5tlpWBk2EXJbXAQpWsbUOkSx0lbE57ZKL4KxO1B17-WmpDQBpC-MFQQFPj9x57wOWsVk4SrUKdm1gOrDWSeqkKttVECxl1oAU0Kz2cLqgruDE28W3yIvAmymbc-ESivCRc0heesoHh_TpTCG_4goZsHMQNmqOoQAf73yghvL_CFB1lKk8cH4b24nD2Y6P7Je3zjprRR9IggvlDKj7Fxfl9ds502svfNVWYgIlsYBtWmdTYSGAaHznehorXy5pn3iBGyQoJyKgNrKTxrFw9j_c_-85QM8XZ-AZCvkXGW_5hOhDl7QyCT8pHdIOMCGSaMI7dn5CuHR4X2Yo4TCcSsTU1a1711t0uWkusWr5AwaBqfAzhsT_wUFQUCtnMT6J_pdm7OCwaBV1R59yNxSU80UK61xrVVqIBDwH-ysrjo6egREAqN18ruy3eK7pgEyMN7Ys5QgVVxZLtB_om6UaZbkSG74nzPFx6GA5ycOKRxMImY79jEyjt3VVjnGq97y876ii_iSGnaqlE0Ih9RpVcftmuRS6Bh_3wU9ep8RYNlz5XNaKF3SDUxvtvIigPAYGYMmgNyLe1QtzPTi1eyAlKiCo4Iu6B1j2nClRuGkxSxDfncSEfU5in9U2fB5a5KJxqNY8ehzN_HOxC2VpSoAfweH7fgxBgrFK0cMXVNdsLk_4z7-94thXlqNIzTc0b7TBoQQ3iMubqaRpR1tGrvVOdSLQKVOKRRecGKHF4gKGTxfRBl84QLT60Z4QmREsosCl0JRh7VzYEn8fbe0ryWbpOMoLawEmfxJJjxNMcuyzEhyIdLflekR_sliNKkENKSHdnHR6XdwHXy21Z7aUWzV2APR_",
  "id": "rs_0d7de73a6f232f0b016ab4365f567087d0979b8fc595306ea0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl is now directly beneath the fingertips in the overhead view and has dropped out of the wrist camera’s forward view. I’ll test a closure at this contact position, then immediately check the gripper reading.\"}",
  "call_id": "call_bakrGZ7sTt6SfEpM4dQ13lc2",
  "id": "fc_0d7de73a6f232f0b016ab43660f8bc87d09af13a1febb71a33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bakrGZ7sTt6SfEpM4dQ13lc2",
  "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]: [-0.337, 1.9297, 1.2972, -0.4141, -0.3302, -0.2855, 0.0129, 0.0177, 1.2045, 1.0485, -0.9623, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4585 left_y=-0.0962 left_z=0.0575 left_yaw=0.1179 left_pitch=-0.3973 left_roll=0.1434 left_gripper=0.0129 right_x=0.2846 right_y=0.0011 right_z=0.1581 right_yaw=0.1023 right_pitch=-0.5587 right_roll=-0.146 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -12.9436, 5.8735, 1.1941, -0.2418, -0.0073, 0.1978, -0.335, -3.5897, 6.6667, 1.199, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ebdd19a296fe87ae8ab6f74cea6905ad7c952986856c5f5c604f4c85d8e64f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ee95871b11bc1f9c0cbe4f004dc4cae38eae58f84bc4ad2af6b843d991cfb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841decd0136516a058d4af408a528df75d103d0c15baa0016a2f128258fc7036",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 4.912 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3328, 1.8595, 1.3716, -0.5121, -0.3302, -0.2806, 0.9946, 0.0177, 1.2026, 1.0515, -0.947, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0953 left_z=0.1038 left_yaw=0.1112 left_pitch=-0.3558 left_roll=0.1248 left_gripper=0.9946 right_x=0.2885 right_y=0.0011 right_z=0.1614 right_yaw=0.1012 right_pitch=-0.5386 right_roll=-0.148 right_gripper=0.9962\nstate[joint_eff]: [0.4991, -8.1436, 8.9504, 1.2283, -0.1538, 0.0806, -0.0122, -0.0479, -3.7949, 6.5299, 1.0672, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3325, 1.9419, 1.3056, -0.4068, -0.3302, -0.2806, 0.9956, 0.0177, 1.2049, 1.0492, -0.9543, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0952 left_z=0.0559 left_yaw=0.1189 left_pitch=-0.3947 left_roll=0.1448 left_gripper=0.9956 right_x=0.2865 right_y=0.0011 right_z=0.1591 right_yaw=0.1018 right_pitch=-0.5503 right_roll=-0.1468 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -13.4906, 6.0513, 1.2576, -0.2808, -0.0269, 0.0024, -0.1162, -3.3436, 6.4479, 1.1209, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.9297, 1.2972, -0.4141, -0.3302, -0.2855, 0.0129, 0.0177, 1.2045, 1.0485, -0.9623, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4585 left_y=-0.0962 left_z=0.0575 left_yaw=0.1179 left_pitch=-0.3973 left_roll=0.1434 left_gripper=0.0129 right_x=0.2846 right_y=0.0011 right_z=0.1581 right_yaw=0.1023 right_pitch=-0.5587 right_roll=-0.146 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -12.9436, 5.8735, 1.1941, -0.2418, -0.0073, 0.1978, -0.335, -3.5897, 6.6667, 1.199, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ebdd19a296fe87ae8ab6f74cea6905ad7c952986856c5f5c604f4c85d8e64f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ee95871b11bc1f9c0cbe4f004dc4cae38eae58f84bc4ad2af6b843d991cfb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841decd0136516a058d4af408a528df75d103d0c15baa0016a2f128258fc7036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab43663fbb887d0a3738f3e2c34a7d9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZs56wXPyAdiu_yxYfVQW-iRGoHroNb37ycPfVYc5CRWAV95HqwfUq8EQHnCfnwTXL15JqTWK7RW11mo9rDEppmpM-31_maC-1Hg8cm3mcH2t2bs8haxZzKGwuNqChzfRx9jW4j5RfjD5gOTVEnKdT-xlkgIP5HBZN0KnRd9FPQASC6Ifl4gxvQtqRMY3YEUNcB_M6fFFoW9xubGa2JnT8GnuCU6X0fZXo44LA3Pp0uhrAdQ_22UPN55YuIyhEWUtvvPH6liYlE4JFRQWJMPMrF_U2YXucaC5b73TF0YJK_je1otWnjEdZ7ZYYWrR8cNze8jg8YyVzQ81fFhtQgmiEki0-FMDSc_ple8GTIyjE7Z_zM0pcr9lIn6xbbvfdTQHMJYRAfFUN85LeBPf83Oo7u0h4EeQTo8vQaciftDVXKoen4_1xrXOkKLjho7H7m838yCatx6bvgrozglc-8rvHX4ZSKsw4Htpb9WVQq2cGKUM4USxz6lx1FDFltT1U6OZfawz4TKARKwloof9BIf_x8_7ZEZsRfZ4C6V9xMeGMm9zoV8zDyCyJD2-8AHXM1NmsyiV71DQhgJCbewyIvS2-z5wm2MCS_8egczVQ7Hld3dAonRbiRjeYcvw8LGN8j6Vy2c4At0PF_jIuGf-jzY0XrQ7MZIjImNzJYRr_7cw_iwbwqN0K0gib-TmV0jo_joSm5V8TkXVzolTZzKjcc9zTthT9Z-uaTtUIy1EOOUZig3nCfj9H8Eoy_HnicBonsluB2nSoctIGbga3NYVrnXPpPGdzNrEuHPUXOg-TIXtRgfyWmpzGctCA8IARg2wvZE0NRKtsTFoIBEO2LkCg5bWem1Mn5p1a_69TfTF-_hfvI4uvxo4-ANXe8Zpf49CfOXFNk7sojWedKQQ0aVLI568dtyciSro1Pphoag7GyJeY8fnNPD8bmsNipStn8wbjoslDU0DnXNoWlvE2xQeeVjW6_HrX2xq_6wl3VcvLPYrDrdYZw-rL1EtSgxl0A3PCAyvWp-LFDTs0VcgNlvhHJ2nXmok7r3dQoHh_-LBHvkGeRoWvuDW73Fx-7mOEdJwzJbMvHN5VO7goxrrKdrLeWUKjvpYKSO7JDvBj6klr-PuEKm1ctpIb0zSs2Q2IPzaaSMr35--_64703xQP7XHaho3OPN8oQpweKp6qSm7DRhP-Bp9zAnXI4jYIbB66QcFwXF0jnSq_xUatdn1FMmLEY0NucdPZkXA5Os8Xv2Oaw5hQF3zQ8u6PsyRxkleFrUucXIlRgy1x1d1xZa65EY-Mb6SDBUf1yg-EPU_QgPjWG7z-MIJcgFzB1E4XbPTnqv3N3Cl25zf8k-xT0zo9UqV-uRJRlhGiVvV9T1x7TgQOXD6F-epS6r_SIoWwM26U312VqNDYiz-VvQITg8PPGaBgPdKBqH1ibxq6X__2rn-4xYC27NW_C5uCv4gd0ESKZVeHspwtasKrgQ63lV-a5sCse4V0NuOaJ-hC73d9ujs6_7tEKSCqspKZqt1QX0RnfC0TDOhnP7krFe_1KbyY0-DTHv6tD-W1eElkNZHcyXENrdhd7kiuaWRmAHaZ1CrlA8UqH9BOTp8XY-09h4NkV1X6-RbJ3URkGWEizhFR6mwgTdGtnUQelGhsEZRU1AqUfHxNE8EPPSdzlMKbQrzzR34i2hJlmLL3jBPfiAyAKYlBsalfZ_p7dawyJztz6imZM9OH70nccHgoriTOWL-KG0Y0Mzo9V4r2AW_atEV5iFE7YHaLj4dI2Eu18nTvx5jkzzBj9JbyRhdwAdTfXOEshGbdW23XLhE-ZtIV54ANdkyqpTkhFq3IAv-hym4LSDoXJra82kQLJcEPv9HzQGe7ZI8Rcd_d15jhccNN9prkzJaO8UtGHPNPhmrH_eFn9jt_6_T4IHzCQGdC6m0lg6DpqhiLOSwRonRTeMMt8dhvtaD7GjcC0m2C58hVr21MUdeoJqfa0QJhNDh6UbmwMJ1DsPPnc7aq7ViPhM6wVxDiBj21GmymEPSSDS8xSOjkuVVXTwQgTl2XQMF9OD6wNEGAOO_qoWq1CD1FBQZOIyH8r_clGjOy5HD54V4LZRPqWg28hhkWE3Sz8EQ-E_NJ6RKO2JO9VmYX0fnTKjhb3rlSoSq6vZt76dAIEd-By0mh4PF9hXNnVJRhiChP-F7UdSXeQddl3LtuS4jDy5sz46UP_-1wtro77Usy4Dsm9WkA-heXCXE2NP6AunQB6AncivFOosfatpGnyvElVo6Sq97oKInRPLsmKAJwswyf1PLFKJpTCXHk5aJNlfpk6OT07-LJM4jwScuwAZOZL4jnlbMA1pWuTAiiLFpnlUmQblgcjbav-EtPR_sfmeiuMfOVxH7Lup6TLSN9tYywVmMBOvJLwiaLfEGp3cBTCNZCp4_mtOOrc35PChvnAXP3tcrSAMEigvwcfz2mgPQ==",
  "id": "rs_0d7de73a6f232f0b016ab43668503487d0a7d92a4b6de98a4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.425,\"left_y\":-0.1,\"left_z\":0.14,\"left_yaw\":1.2},\"note\":\"That closure was empty too. I’ll lift clear and rotate the left jaws so they can approach the teal bowl’s rim from a different direction, instead of repeatedly closing through its open center.\"}",
  "call_id": "call_zPUdUNqdAP5oYl39FzDaGCqz",
  "id": "fc_0d7de73a6f232f0b016ab4366aac2887d0b8d75e1290fff788",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zPUdUNqdAP5oYl39FzDaGCqz",
  "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]: [-0.4568, 2.2871, 2.1536, -1.4414, -0.5842, -1.4574, 0.9938, 0.0177, 1.2072, 1.0485, -0.9688, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4422 left_y=-0.1048 left_z=0.1207 left_yaw=1.0347 left_pitch=-0.4173 left_roll=0.0763 left_gripper=0.9938 right_x=0.2833 right_y=0.001 right_z=0.1567 right_yaw=0.1028 right_pitch=-0.5678 right_roll=-0.1451 right_gripper=0.9962\nstate[joint_eff]: [0.6085, -13.1624, 4.8205, 0.0562, -0.4029, -0.0659, 0.1685, -0.1026, -3.494, 6.5983, 1.0916, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31575c2b334c0703a7b3453e05cb4ee0a753509cfdb45e693c9a31811b543648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263ee1a535fc423098015ab5634b3b781e350a83c740a8ac7b8268034512b55d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce20af623affa42825ac4f4fb0364f31e8011936b03bfbcf53cf92142c720e72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.028 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.329, 1.924, 1.3468, -0.4328, -0.329, -0.2768, 0.9955, 0.0177, 1.2045, 1.0496, -0.9543, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4696 left_y=-0.0962 left_z=0.0755 left_yaw=0.1135 left_pitch=-0.3655 left_roll=0.1308 left_gripper=0.9955 right_x=0.2866 right_y=0.001 right_z=0.1594 right_yaw=0.1014 right_pitch=-0.5496 right_roll=-0.1473 right_gripper=0.9962\nstate[joint_eff]: [0.7316, -9.5111, 5.6957, 1.2576, -0.1148, 0.0464, 0.0806, -0.1709, -3.9316, 6.5846, 1.1306, -0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.9297, 1.2972, -0.4141, -0.3302, -0.2855, 0.0129, 0.0177, 1.2045, 1.0485, -0.9623, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4585 left_y=-0.0962 left_z=0.0575 left_yaw=0.1179 left_pitch=-0.3973 left_roll=0.1434 left_gripper=0.0129 right_x=0.2846 right_y=0.0011 right_z=0.1581 right_yaw=0.1023 right_pitch=-0.5587 right_roll=-0.146 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -12.9436, 5.8735, 1.1941, -0.2418, -0.0073, 0.1978, -0.335, -3.5897, 6.6667, 1.199, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4568, 2.2871, 2.1536, -1.4414, -0.5842, -1.4574, 0.9938, 0.0177, 1.2072, 1.0485, -0.9688, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4422 left_y=-0.1048 left_z=0.1207 left_yaw=1.0347 left_pitch=-0.4173 left_roll=0.0763 left_gripper=0.9938 right_x=0.2833 right_y=0.001 right_z=0.1567 right_yaw=0.1028 right_pitch=-0.5678 right_roll=-0.1451 right_gripper=0.9962\nstate[joint_eff]: [0.6085, -13.1624, 4.8205, 0.0562, -0.4029, -0.0659, 0.1685, -0.1026, -3.494, 6.5983, 1.0916, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31575c2b334c0703a7b3453e05cb4ee0a753509cfdb45e693c9a31811b543648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263ee1a535fc423098015ab5634b3b781e350a83c740a8ac7b8268034512b55d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce20af623affa42825ac4f4fb0364f31e8011936b03bfbcf53cf92142c720e72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab4366f136887d09a505fcd3ff7a84c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.57,\"left_x\":0.42,\"left_y\":-0.075,\"left_z\":0.08},\"note\":\"With the jaws turned, the teal bowl is visible along one side of the wrist view rather than centered. I’ll finish the rotation and shift toward its rim before lowering further.\"}",
  "call_id": "call_G9LGIvvpqDkFkiLNkXK9BK1X",
  "id": "fc_0d7de73a6f232f0b016ab43671ea9c87d0b07996f8fd719d0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G9LGIvvpqDkFkiLNkXK9BK1X",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.429, 2.3829, 2.204, -1.5528, -0.5659, -1.7111, 0.9949, 0.0177, 1.2083, 1.0485, -0.9688, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4301 left_y=-0.0886 left_z=0.0929 left_yaw=1.2841 left_pitch=-0.4173 left_roll=0.0962 left_gripper=0.9949 right_x=0.2833 right_y=0.001 right_z=0.1564 right_yaw=0.1022 right_pitch=-0.569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -12.7795, 6.7897, -0.2271, -0.2759, -0.1538, 0.0904, -0.3487, -3.9316, 6.5573, 1.1111, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd21da9ef16ff53c968f0592242b165cba01d968e2f7a59a2a4e97a17c9e7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fcf25d1b42b67f8e7efd63155f5dd8c3c413a3e80c151333170eef1b6161c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbef9f0935c6155e69d532e979c232bf43b4a448f3dc6630cc43aa5a193d7af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 8.153 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3325, 1.9419, 1.3056, -0.4068, -0.3302, -0.2806, 0.9956, 0.0177, 1.2049, 1.0492, -0.9543, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4621 left_y=-0.0952 left_z=0.0559 left_yaw=0.1189 left_pitch=-0.3947 left_roll=0.1448 left_gripper=0.9956 right_x=0.2865 right_y=0.0011 right_z=0.1591 right_yaw=0.1018 right_pitch=-0.5503 right_roll=-0.1468 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -13.4906, 6.0513, 1.2576, -0.2808, -0.0269, 0.0024, -0.1162, -3.3436, 6.4479, 1.1209, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4568, 2.2871, 2.1536, -1.4414, -0.5842, -1.4574, 0.9938, 0.0177, 1.2072, 1.0485, -0.9688, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4422 left_y=-0.1048 left_z=0.1207 left_yaw=1.0347 left_pitch=-0.4173 left_roll=0.0763 left_gripper=0.9938 right_x=0.2833 right_y=0.001 right_z=0.1567 right_yaw=0.1028 right_pitch=-0.5678 right_roll=-0.1451 right_gripper=0.9962\nstate[joint_eff]: [0.6085, -13.1624, 4.8205, 0.0562, -0.4029, -0.0659, 0.1685, -0.1026, -3.494, 6.5983, 1.0916, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.429, 2.3829, 2.204, -1.5528, -0.5659, -1.7111, 0.9949, 0.0177, 1.2083, 1.0485, -0.9688, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4301 left_y=-0.0886 left_z=0.0929 left_yaw=1.2841 left_pitch=-0.4173 left_roll=0.0962 left_gripper=0.9949 right_x=0.2833 right_y=0.001 right_z=0.1564 right_yaw=0.1022 right_pitch=-0.569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -12.7795, 6.7897, -0.2271, -0.2759, -0.1538, 0.0904, -0.3487, -3.9316, 6.5573, 1.1111, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd21da9ef16ff53c968f0592242b165cba01d968e2f7a59a2a4e97a17c9e7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fcf25d1b42b67f8e7efd63155f5dd8c3c413a3e80c151333170eef1b6161c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbef9f0935c6155e69d532e979c232bf43b4a448f3dc6630cc43aa5a193d7af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ3Jh-4i8NbZYpWD5-NAfTJj2aZ8ccn1tvr2HJPG36yT6dk4aSvwFhAe-h-pducQD8U3DGSDlPyuX4q999zJpoOOznPobxlkVIW9ivbXugDY1NufWIPjdeI884PYfIINFUkXBvb_iV_kVOTrWEMb6JsFRD3z3ibaeNPt2iz8rUJ3nnMvLOMkzZiJ7WLT2s-eS4WhszWmgH-zHdYCjis2N0a9VBsIdb1r3Nq16GlbF4NpdQxOjUqR2k7HxjEQ29xmp5kOuYbfhNhrIqrFi-GdWZCowchH0L9Qzu8hpWJfUwU2G2DC45dcws7SpxLjvVZZCKIbqCt8sqMzc1p_dRX1VegZR3Wn9xDDtZ48wOg2jHiCUfnNeufumOdqpd3cWJ78vEAaJR8zaWIwu57qpYSJyAHEebI8hJfuTZiGm19-Iqye0yfsRS8L_ehxBQ0ARyrGjZRnMcAG04-sd3yoIHmbI7wAO4WZqjsQfxhmoWjyqOZOFPmrQ4e4R0bY2a-vSxdkeDo2hrHdwLQo5Qn2CFBxYZks9Tj9Rnuksp0VFIldLDADExY-YUfApJbDTLp0FqE1eiRL0INS8ZFEJetherI4WlyQdLeHtBMxwr6E4L0U-ToTSaL3YmaTq3ae_ithe9FQTDigPTb97P4Mu2FC2i6Dm-QF8emYIVHXcvD8OfLX5bWxJf1nmurPKxYd9Q62hYyGy2AZcHZs0-fXq6UmNPzv4-Fi1Ev4uvGJ_hnOapfhf_HTsDJqeD1yN8i6DdWV8BLUzzF9MEfRA9i3eWUu-WIp79JSB5QJZ4KBRs2binY6p9TsDDgbLQ8J2t9lqmZhZ6o6rMvwabcSUoPG2VLHj-1GWb-3_MCX0k6jIMxIuf83QVh2coLKDN1UZMJx-T4kwrW6VVlj8Tji4fcWUj-SUF7eThSfnPnHaubQoGlbspl-ZSZccbaSw8bebwzy8udwwuLHgaGIbu5WO3cJz-jwY7XCx67oA50YI1xmNWdVdRBimS1R4wAdfkhBtjDCa1Bfj6H_yoLetBZvhUmWbnAFXembtKfePMBIlXu_HxSquhM1pi0B-s16MrFBAC2WEId4X8PBsm_pDHij4fGAVbGGzgRQF8y4mvrPUkrWOJj4Z7huoWwMoy2VXjBT1ExNwIiT3PGGVJD7qUn1BxgG-_J4vIN3v8pwjt5ddV-AEsB5tfm9V6OJGHQ6F6SvI2Mi6ZZBlKFskionEE7NrrPl1DczhCmhzIbv9qsMbQp36jos45xhYgYTPjPdxbltANI_6sRpP8lULJltKy_Ufm943ODWtj-87fj8cZXhvYgedytIAyfbbuMmY8gNWewAZK67WNfmRP2VIsh0kHyzZXGIutIeGvbBmUpk6jSU7Jgt9f90Ge1NZyqqrjb4c-ZVQL1Mlf8gRK2ZITfNddrAmSYQegcBa41djZRPfWRFVFyyl5SOBBFLEqnQqq07AMo0yyPOO3vdnh8agruP3zH2ZeiLjPo1v7RazogEoRfJAvvORRub06VG8gwtJ5kGvrxSz3CUaGcnWu7SeWN6JqjqpGu7oc-KZLudyT3iJ8l_Lu4D6NfSeZsE-myI9XTXELIEnc5F0qbQ8WLXBOuCg1uGOrA9XO0vEYoMqXgS7ABptj8O-ple4ReBRfZAa_t34HWhfuirvzGdeWqkLo1diqe8eFldA2hvIKSLcEOeP0KPEkkHdA9i_QyfyGibJzhEu3dudPsRQAntE_EeGxLhywcfL7jSCdZBY7GTaPUKr_tE1dpbOfWh95vhRE3CYCF_SYWaqRkX9Hiy7CCPp5fWWqhmak4Gh411JCJaPCDmGNZw92Tu7tWilwnaAIcWajhKEIt8ie1FyQev34I64OVWgc9_pZAblkdBG22LykLur5BuZ-fH7e5zI7sxXqZi4v2vRG7AZdvDTIrsjCWg6s71QR3X9jxZnYljoB_xNfv_nSpwunIiXmBTwRAJh-5dE4=",
  "id": "rs_0d7de73a6f232f0b016ab436755b0487d0b4bff6ae87fe9678",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.074,\"left_z\":0.067,\"left_yaw\":1.57},\"note\":\"The turned gripper still sees the teal bowl to the left of its jaw gap. I’ll bring the fingers back and sideways toward it, ending near the bowl’s upper wall.\"}",
  "call_id": "call_3OZrATgLVuXfY7CuTGJ0L6Hd",
  "id": "fc_0d7de73a6f232f0b016ab43676780c87d0af6dd6945637e226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3OZrATgLVuXfY7CuTGJ0L6Hd",
  "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]: [-0.4255, 2.3825, 2.2044, -1.557, -0.5659, -1.7294, 0.9949, 0.0177, 1.2102, 1.0473, -0.9695, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4297 left_y=-0.0868 left_z=0.0933 left_yaw=1.2998 left_pitch=-0.4158 left_roll=0.0889 left_gripper=0.9949 right_x=0.283 right_y=0.001 right_z=0.1554 right_yaw=0.1027 right_pitch=-0.5728 right_roll=-0.145 right_gripper=0.9962\nstate[joint_eff]: [-0.4308, -12.8752, 6.7761, -0.1832, -0.3199, -0.1929, -0.0073, -0.1846, -3.6855, 6.5299, 1.0769, 0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50b9ea7d34a6fb79ee1571eb064ca053ce6bdddaa9c79563ddb5a1870d11d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56d3b4b42834e0ec716da62988c045f33025c0354ac3fb3145be3737928bb11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1f1d2cd75da2f5946a6acddd720bd5b0b677d580af89c61ac8397d3c20a9de",
      "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 · 4.288 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 144 changed as sent

message 148 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.9297, 1.2972, -0.4141, -0.3302, -0.2855, 0.0129, 0.0177, 1.2045, 1.0485, -0.9623, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4585 left_y=-0.0962 left_z=0.0575 left_yaw=0.1179 left_pitch=-0.3973 left_roll=0.1434 left_gripper=0.0129 right_x=0.2846 right_y=0.0011 right_z=0.1581 right_yaw=0.1023 right_pitch=-0.5587 right_roll=-0.146 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -12.9436, 5.8735, 1.1941, -0.2418, -0.0073, 0.1978, -0.335, -3.5897, 6.6667, 1.199, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.429, 2.3829, 2.204, -1.5528, -0.5659, -1.7111, 0.9949, 0.0177, 1.2083, 1.0485, -0.9688, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4301 left_y=-0.0886 left_z=0.0929 left_yaw=1.2841 left_pitch=-0.4173 left_roll=0.0962 left_gripper=0.9949 right_x=0.2833 right_y=0.001 right_z=0.1564 right_yaw=0.1022 right_pitch=-0.569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -12.7795, 6.7897, -0.2271, -0.2759, -0.1538, 0.0904, -0.3487, -3.9316, 6.5573, 1.1111, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 2.3825, 2.2044, -1.557, -0.5659, -1.7294, 0.9949, 0.0177, 1.2102, 1.0473, -0.9695, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4297 left_y=-0.0868 left_z=0.0933 left_yaw=1.2998 left_pitch=-0.4158 left_roll=0.0889 left_gripper=0.9949 right_x=0.283 right_y=0.001 right_z=0.1554 right_yaw=0.1027 right_pitch=-0.5728 right_roll=-0.145 right_gripper=0.9962\nstate[joint_eff]: [-0.4308, -12.8752, 6.7761, -0.1832, -0.3199, -0.1929, -0.0073, -0.1846, -3.6855, 6.5299, 1.0769, 0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50b9ea7d34a6fb79ee1571eb064ca053ce6bdddaa9c79563ddb5a1870d11d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56d3b4b42834e0ec716da62988c045f33025c0354ac3fb3145be3737928bb11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1f1d2cd75da2f5946a6acddd720bd5b0b677d580af89c61ac8397d3c20a9de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ_2VYJay4gGF8_uJKou0SYJnRnmIMeYuI6Sku_gts3qyo9Ur9VQ6JOSuJU2LWSM9Tzmc5Rp40x0uvPnke8uGGV6s_BlequGQE_wfnGrd82Xl1da26Qk3RG9NWLITopXyvlDVYh9r2x0aDEWq4g9s7rHxio1je9DIfuUXb3MLevCCAXr4eWQJTxBOXoxA-wi2b7t4hWcIPdKC0x-_GziBqD0VV7KGOomJjo1E2qNrabEKd3o83njeLOg2lM_nyroTuIzUn_6PnTcr-_dm-Ae1avJfPZF7mevPS6mlxXAqMJOAmvitfUqIqrCSg03dX0pIE0erJk_I5H-fe-4Pjv2Hf3vODhQiB_v9AuhouvpirMyyndEYxOwAJWqvyg1-nbyZQAkKSg9Hoy4mj8xXNrLp86K5wMLcHSS7SoBpAkeiqyjvBYSewgEHcfRKx5Uqc_AP1sK88ehpDCVY_8mvU79PHSy1Pad-_aTYEMu8mpjbxkpRK5LODQ_aGgBShWPtAipbcd0ytULoXaye8Fa8kyESdBYhcZGANXCxbBmPxQ_bR_Mxi3sfwbu_OLqyJN6eyLjGartXb63PJ-KrcN4FwUarx8lG3PNRtpWpt12-toWr5KoCqt5Hce8OF-lhpR3JseD7vtMdYBVIsq4SqgLgqBwfJmu_GWzytuXxHAAzSUboQs13WDni0RbhLTpPJqzJZx3uQz1WNPvYzBlcU2cb1D_3X3g87dpDv5H_bS2dhU5kFq-5PPGBviM8PJSY6lGvGGd4pjFGNLAbUhrP_43D_M9O3NbJimoY_BCjWuCMw2g9obu050g5OyUUDnHxQbkSW9wjCyaigtDABwmYEhS8MkyAT8br2E2CwPxzKcsdxYsPS-bCANhVr2B2hl0eFodSuHHTtmAmVHejCR1-hYYss6S96hGtAoEI-YL26dgnMA0dxSW0Z26lz6n57Drdy3unOhE2dmsp2qkHkuZhtdbBZFOXBowRyIuDUwngc5rFUeO1sNuQIHDCanSULLo6MgRVIJeGg96Ro2V3QEBqIn1VaFKXODiIys4ZnZrRHojBkZtxEl5V6TUYNlNlBzhn1H0q3x8qZf0vzWA6hvuHcX0Z-CBQDzxuOpx_elniObtTDsNu04IJr76tOyE3YJv4w_BG3vyaKGXWXrhm6PGgApTRm8si9l_6Kz3RK7ff6DE6tzMl9heEn4_3YWmOg7ho4heSnn0S2DGlJD81hv_cKuU0CRsLs432X6pr8y7w-wx9tKTA5YvwPMQUoFqTBy61GCMDhmTcjY6u6UhKfdLmzMiDq2djPUE-_B84yUJ6BxNgP-YtR3trtzFuUDSCh7pLhNX3Lk4AVdOLSAQPJXzQZiBJmeqwPsNNxo57pt3i1pDCM0wkFKeuBJpNEyAguEcjiSVEYxz5NxZJgn35qUi24rQZ6ewwp0VCHhxCK8DXG62rvpKTShUFCjNSj67aA0Sfj7kN0hp0shKtUwzm3jFdEn6rLj8n2hob2rHcJn7fm4hoYZqDDfza4vZB18Kn7nEVq7A3bJzSNvbPRRKfD2NQ7U-SxluhPl8VIRL5s_oY2HzvopVinsdF4Bj1Qs8HR8-KZnVWiSm4ZXfNf4nyDLzx9JfW9FtdgXkHlpB4N_67de5kSpg-iuiS6GIqBRsk_IsrwDJjZspem0hZFueIiI_8mHyZ4sdOqPfD6B8_h8ZHGT9HnzzZ2hvqt-_Vd4_Dl2oswLaDyQp-TmD6Mly17pWd9I8GqU4KQSDIu5hnd7kOmWiONLEOXJHJj3CRnbuL4pc_ayar1-yJJSEkxOeTPRS6Nzf8UltCkC51sU9F8tRbI8h8VPFsFUfV_OzQVSoKqXRjs0ZGOaJWWykRXxkk5GIuvHLs-nuA7D5OL2FXGGKGSxSKWuXkSisCx2WvAABsHSLEZYa_Iipa81-aEHFkble_1fGyueuzWHCnBGFrkCrUKowXAuisqkDAqWv5WaQi1AuwjX9ZSlfk1ALN0zwbkXoRz-fhNCJlvRBT0ElyZiHwpGZvJ6nmOfB0Vzmk51ef5fFSzTXna8f2wWrSF62R6FZBs8ce3-yoU1KOuqDhIMLmNcNfKLWBjqWuL6d4RC0AGQ-Wzz3h-twF3dHqGy-xymgLd9Jdn-5b_7MQkALGEPujRm2Mz8L25hciC9Dir8RE5NZQCes-iZO7vyAniNBGEALyjjz_P0p7sV-za5wwPO3XyRB3FhIjG3kMTp5ucHyYAfhTL8_SYWQ7RSYOmOLWM5hc3DmchC0YrXORrwtQbpXlIxkwukppqTttPpp_6ayKPJEJrdOtLRYVv6c7mTKNYnki5hiVzT0SV4__gIZSKeuraOnsqUbhQrtydyhjl4_OKnd3rxcpK0Ez6lqJp3EpDsoV8R-vnA8s96fLPNmxVcBvyj-M-dx03e_iv2yJSqsDYPL_V--RiMw0HFBZjasq16GhSGcLY3qRJQJ_ieGxGrBR7OUpFVWsr6bZaoaMjYosC0G9EUIR94Iv-TBrvhZcODd6RGSGp6pY5bYJ_OZesYLVf1pS4Jj7ZNrWmVnPqWD2iPnc2JZfxM_V5EJ4fn93F6Ln0Kx1UnrdOtV9DlqUg3FGMCPtMxjNoBttU5TtvG2gpiGAhpvfcwOVmMNHWRvBISpJHfdNBV58lH68yf3NFvE5X7cB9sCa7u80CkLJWeuxfabIPs6XlqO1nEfyKJfl5hux2O8mmFPxhKzKMdKTb9yzs_RdRQJQCDXinV8QQW1ULSEm3mYxbIvElwdLtwZGMVfAg__aMnbh3r5nHbMCP-JSHeKA1OlQ_qF2iaK2Y3HSBVnfK1zN7XvHTK2DiYtg52Sp5QfUgxbdp291cU5hTaVusnr853VgpvROj4UOJgp88_GOrNpEN3Y5QSJbQIzfwzPpD5oqCETecC8ZWD4T5z1C5dqLzCG58W4iIgqZszxSL9oxZhLjZGEynl_-37aIcrwHzWlCDWyzXwPZWz8ZKe4SFQZX8F7yXkRJq5XqlbTBNV__HIa0D3anwhVOjJozISAMAxuWl9iDcBw6w2Epxj_rNo3KeWYm0h1AbO-V1f7osY00HQ0GJLfLVsDRAiAFC41CWk0O7HbLnY8w6EDxL-55wK-01VjC-l1Y17ZuyfvvTsW7ych-zTvLI6gFMs5XRnpAWarViKOXmFTH0FWfmhR76s3ej7D0K0hoDgQsnom44tX2_cZo3Mh8L4Ef3_bqUsSPILHTdayy4t_p8iDScoDkhLzftosafXIxK09ew7OU9mIkGSpy5qdy8E-vmHSFDKr0pT1mGPPvZ-vr7C2jbvr8nmA6WhHiUsxotuLxhAsSD_WqEyCv4Kqtvf2Qso1z6DVX_jzkFwW-WAiJvekvAz92tJXd-ODkme3glAU3-1y6WST0hw9V3Ej8N7zkISH5NpaCKpmWGck-avkavF6qk9naybb_QW2FPNZO4UfxUPLK8YVBcr7CnTsZ7aNhpQ9jKorFLjlWBI58E910K730ccXXShhkd7n1PeT0XK1HO47THb8BOOVKAfGBxsNx3CsYg6HjjAWeqJcjqYZtWOAZxYtVQuf1chXZm1fKUWyZ2HZvwCYd_roSjTak7XQNLkrD89OKiz3H-AgrvDbi2H48eJGflIvNcBoT-81t3z0fMm5ySPkUMurzxjIwlWHoVUSRXMKuc790di2UPYZdv4ImLgvBOCpJIKu1WzZjYSxisFffleueCf2sctEsGHMCEuosRgWf7UHun1R3DjrLY4tgCOJR9wxpmfi2wfbOx5d9zPHAlyawo_s2UQnURQnUlPmiwx4dGLintAnpuXbn_wT_wqo_eRWRPE4Plcl9g8nLdoJlEkhjaiYJ86S9csZixhZpNf5SG7-l3_y1fOspINTlOjsClf3k6RsOjIAa0BFoeFNcJ26gERE8CMyLPizQMhEow4GNro-1bFAaWa60kCS-z3qFZyxsLuhSRu5l5KqFL7ibFUWxPpjkX12v5E1FeZOKtx-BOFhKMgZzQSVKXmvjch7hgmD-0iqe2esV-h-IHl9gokK77TB1JX6zNJlPAc9RI3YmkaLQh8YXt6PQ==",
  "id": "rs_0d7de73a6f232f0b016ab43678a85c87d0bfee6c1bbd36a205",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ_WolE79SfEkt7x2FXapTKChYyp52Dn6pQESz2kPEROaTQDoY8gIbL5PGph5wmptdQ1Mkrh-8zQ57DJP8fHVW0q8QDPBcMK0BnQQ3HMKslH7h24AB4CCkhNI291M83F3k4S-ppeRyfqBZU_gsvawZykwUZIOrVLCLYkMPldwFrL7KZY5Lh3vThFiA3Y7XbjDwmUdeC6IBcX-R4wREQK1c-o3A3e9H9hOORNWJQIfxSwe-moQaShLd5ePJnqdMtU02P0_bK4kdm_Oj0vnCTEwN1BrQLAS5NxxUITu_prXZ1nv3vfQigeQityhcJ-bpJ_pd72yXSofVrMX5AB0BKiTLYe9iVEAbm6YKOm__8m7pL73bwWbZUlilEXbjM3GraXgUNd-GXp858Lfs1iJGsPAcEJsAa4r5s0XxmbQrDfn4fBI6YmNH_02fMj_x-wxon_uaJpRAocH30W0dFZ29Th21l4gLfHFzS-1VF-HeAY0FdCCjG5VM96Y0W1x9Hsy7FscPs6__VTGku2VL4E_EsOeYHzOfYTTVI4NAVz-B3jKz-9_iWJI8Z2CMeFct6Wpia7z6_NwgvyXI0_dMNaHp8HfObWR3dgopcAVT5mvuPQEI80MVmddYKhTfvaTPhF55eTTF5jRlPE_lvJ52qFPnTkAYB-jiSy05VP9lfNkwAG8dfCy2tfepPt0qslqVpVCOj--hXzLJfE3k8aqx-DgV8J4j5YHDPjofymiar7px-EuUfOenFQtAb4P-KbayMx_8O5bB11F3cZwjVTSxgvdLhuT4LUDhfhyh2PQXnU3tQFl4QDH-aDFjbujQHa1yLH1JXds18o9WLDF46wCQta5i52by_MWRjwrOanOITT4dxLxV3uwjdYGCArJtGzUAAWQr1BOzkpjrTii02zNyojp5l1pKa-rljximP9we6xdvwpXqjmtFVFeTdqXXkDXEE4aST3bCRTajIgugjTFunSnwiZbspeeLGwH-PI2OWlEwvOt4wmtD8Y0c3dkyEAkEqHMDKPjiIbiac-7j763yWDKyb0qOWjTaf_HswJTBX8VRZczXUHsTphbNmWtsZ3-4-dvmKOna2gQuZ7h1hTWtQL0qhaZyCSr9116JC5hF9je6C6Fi8ME2df63b7kG3UqO2DMv8u1ZWzjMBm3HLcWFjGtd7nvCVf2F66rYFQr6oTJtMBT8jlidwarAIcKzNQ5JIftqGbl_cZBMBeb8zJHHx4YUKZzEQPHZsgrCqRwrDuBm1IwRv84iMz0BuIF8nOXQ648OFzrkIOsgGu-yAZ2-HJPbrN2fpi1lZccEmenwdaMCVP8b_yBS981pkeO2iTFY8wYZYw32B8tei2loXg5ycvSTVrcfWOQuK1fRvpB8aQB2EddZj0sRIR27QWRYm0_frMcb8obI-4Uebr1aCew9jNJH5YviaRLg35uhhMPQQV94Au96boc30KZQNQNJPlcnz9N8YwIuVwhItFvEW8mpcX_t8upfattDFxQzzPFQh_fxZ_GshkkfKi2PTyOVcqEe-CiP1TuV11MiXtL4-KtBHQqE5EfFcocuPm-Chabe1Wy9lyBhzU5xRt9panUR-GGjbOknapx-0_l9hWineGuB04wM1CyFNm9PMyv5lXU76Bh7uTNRfpjQa47NbnMtyl04c0OeF30xU97ZMjoWkkxczjXq3vXE0f_eFPl5NZbon0A5S2hg_uqCfwcZgtJv89lPiWe_aNtWpdGeHOcI0_nZP6VJ3OswbR07SmNgJG2sjl6O4FbKTiP9vuF-G-pvFWBkliBtIOGQrW_YcwpOBuZHrlPwnBbvafDd0Bw9nkBu78Y7pZXPwV0Y49UAQQ6Szd8cbF6Ist0sRYjz9ZEAgPIZuWh0ih3haG7VmrcbOCou9lwcS71jC4zhOLuxor2d6scxau-amaAZt",
  "id": "rs_0d7de73a6f232f0b016ab4367db63487d08f6e6a2842e389a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_x\":0.34,\"left_y\":-0.14,\"left_yaw\":0,\"left_gripper\":0},\"note\":\"The rotated approach has stalled against the bowl. I’ll retreat upward with the fingers closed, then try an inside-out hold: insert the closed jaws into the bowl and open them against its inner walls.\"}",
  "call_id": "call_0X3DQLeh9MRJNazbYAD1Dyn4",
  "id": "fc_0d7de73a6f232f0b016ab4367eb5d087d0999c5a92c29cad64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0X3DQLeh9MRJNazbYAD1Dyn4",
  "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]: [-0.5823, 1.6569, 1.4982, -1.0645, -0.3916, -1.1748, 0.009, 0.0177, 1.2148, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.351 left_y=-0.1461 left_z=0.1763 left_yaw=0.5056 left_pitch=-0.4979 left_roll=-0.1994 left_gripper=0.009 right_x=0.2826 right_y=0.001 right_z=0.1533 right_yaw=0.1033 right_pitch=-0.58 right_roll=-0.1444 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -4.3419, 6.4205, 1.7949, -0.2857, 0.0708, 0.5934, -0.0615, -4.0547, 6.5983, 0.9646, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328d499e8a600da4e974e0337b79ff54a955922082ab1302512cefe6eb966d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec823815dfe3fc7659ab978aaab0ae3a8da981641bff9ff86b437768d0a1fd8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee7fbf6da834a3f44370c0db8be89a3c37236ddd48da0027258709e2d3ee5d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.952 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4568, 2.2871, 2.1536, -1.4414, -0.5842, -1.4574, 0.9938, 0.0177, 1.2072, 1.0485, -0.9688, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4422 left_y=-0.1048 left_z=0.1207 left_yaw=1.0347 left_pitch=-0.4173 left_roll=0.0763 left_gripper=0.9938 right_x=0.2833 right_y=0.001 right_z=0.1567 right_yaw=0.1028 right_pitch=-0.5678 right_roll=-0.1451 right_gripper=0.9962\nstate[joint_eff]: [0.6085, -13.1624, 4.8205, 0.0562, -0.4029, -0.0659, 0.1685, -0.1026, -3.494, 6.5983, 1.0916, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 2.3825, 2.2044, -1.557, -0.5659, -1.7294, 0.9949, 0.0177, 1.2102, 1.0473, -0.9695, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4297 left_y=-0.0868 left_z=0.0933 left_yaw=1.2998 left_pitch=-0.4158 left_roll=0.0889 left_gripper=0.9949 right_x=0.283 right_y=0.001 right_z=0.1554 right_yaw=0.1027 right_pitch=-0.5728 right_roll=-0.145 right_gripper=0.9962\nstate[joint_eff]: [-0.4308, -12.8752, 6.7761, -0.1832, -0.3199, -0.1929, -0.0073, -0.1846, -3.6855, 6.5299, 1.0769, 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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5823, 1.6569, 1.4982, -1.0645, -0.3916, -1.1748, 0.009, 0.0177, 1.2148, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.351 left_y=-0.1461 left_z=0.1763 left_yaw=0.5056 left_pitch=-0.4979 left_roll=-0.1994 left_gripper=0.009 right_x=0.2826 right_y=0.001 right_z=0.1533 right_yaw=0.1033 right_pitch=-0.58 right_roll=-0.1444 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -4.3419, 6.4205, 1.7949, -0.2857, 0.0708, 0.5934, -0.0615, -4.0547, 6.5983, 0.9646, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328d499e8a600da4e974e0337b79ff54a955922082ab1302512cefe6eb966d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec823815dfe3fc7659ab978aaab0ae3a8da981641bff9ff86b437768d0a1fd8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee7fbf6da834a3f44370c0db8be89a3c37236ddd48da0027258709e2d3ee5d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDaEGcnR6PD40Y7fTIAlG6CfyelGm6Fbvy4By_GgXSstVi6YRED3cCVN06ROzP9UOvTBhometlf7TUfIU1DoR6MFjpLRWGuCsYlaoKTVZOOLBXBb3Z0e4wlEY9yH--tE-PmpoBj6n7J_4Xp0ZgMjilhPwL1VacD7s3asuB2tYyqhvAMW5STq1WkNjq_rcWLsy0dh8BkibC12mRJQVf5R9tlJIWTM-f9UDC6B_6JW1lGe5Ed66IZLd-OGsi3DWgSfBsaDwWHA3lVopdYMnLb16T5BavxPqiPLr1wDTVUhuuGVC3rtRpt5P2UebbXwo64nU4LiWf8WL7TyKUoDaDQUe0pSytTYcfQe5uQ3nOE4PG93E00Q7HLefDUpXFVLmytPcaakB8r9EstEUb-euWnqMcr1gXaHvhiKXG6GDJopkfDy-EfxYsMhURCy5dq0D0mqPb9VaJI8MjHP_-MvGtUe6h24ygpqXfMmcLvyjnYzzeXU_tGwIc8uLWKrbyyXS51gsSBUDLk66fQrncGuSjULrUZkUezYPgdRPhTEWMZxd-IBy6muGdF-eFh8VWKlix5z2axEnWUgIlynoMijdP2zQu-mNH5oLAGK5q9JI0gzIdWTIMYWy1zt0OYu-Zh6DfXqDSBV0_Lq4RuiclXpf0ppYKaQm5HHDVQb-OX9zjv_uGqwSru3xw28qxdlDsJj6dpyzZaHDFQcOyptigjzdDhFMrxfISHQLcY4iR9r2q1fgO43X2kfBzb8ajB12fXblwDgt2ymAL7T0kBA_MKqaZXsyQhZNOn8RVr03ZP7dQiluK3xcOArBnpglUQLySkbnBEebEW5O2_m1IlY34TndwjZSYkRYwxMTelg914J5JGYQ9MyVMvGZQWFRD65GHLuJsKO2wmkWgPMnOX-4Syc3-zw1DpHKO_u2yjszvhy86zrTKmaDyPfAaCIspOzQ7RHQ00u-A3a_15eOh3r5eCGioDg1qq6IoYsNCpE_WJdRVdxQLHVBJmVwXDFu0iyuNu2PK_sPnVQFwEIyFIxIuofLsA-UfHtyyp72KO-iNKN5INDamdmaReYvrseMgqteTKHh8TF-brJ5m9wcByPMECcjKHEsuLuBciDMd4ioJ-gx4MyRtkoXiVA-QaAGr6XYvJydi6B7T2E7PfIK1r9gKQ9hVR8XFWktp2AlIUSosOo8A52lbH0j9l5b-oYbphKw-0p0_yL_T4aZn-SUPOKanzT_UQYJoJ9aJQcfSQJ90wGhLHPSd_7mx9JHX2bCB0WGVojaW0EZ7GvhpoGougf-n14cD396Iqakx6xrC_ZmlJR_ltwt4IRzSdY2B96CHxyYkO6PaU5ZPMSPNaK7CjkWyl2_Liev8qdXOA4BKWWuWbG8etEXgqw7YgHLQHdcfKcpAEADyZn2QbtE5XgKLnymyA_eYIteJhb13eJdlHLdypl0LXsVD0kunvDSPp-KpiOS6p0YNBhIhigcn1MCiApOK01eKuo4MSxV1zQyZUooajS7RwGSlBgm0Cs-2QSsJhjsDGAtlJC_gF55srUm3xcUxqDqrpD3jTG_DeKfQHQsoMFerEVYkzzTd6yA1WBGxgNiwcpiAEv3qcw9T5KaPZczzVVTFIvTOpJz3wlZ1SROggr9MUnEdUFtIq-XoveRYpcqumakOjrGDzME6jwzYsf9U7BCgVrkpcjlqdDcK8jOB2Fxxe0v1aMBYugEwdweelOO7_wDD7gu3zlPaM1NrLVE-AE1q-fgJovQO8sObMJrij88q6F9XZDSE_2K20t3llOTPBxjpPXaSupMpuUVVrceXeRKhv5YqXlW3OyfMQcssMafBQT_kMc1IGtZwJx3-ZBf08_x-0HNOwJCaDjTgShSzBL3PhIDVZ7CNdAKc9MFBknJOKaX5lKlNu9DsM-PQwCACIRwMfgbusN",
  "id": "rs_0d7de73a6f232f0b016ab43681d9a887d0a3f736aac0152aa6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.105,\"left_z\":0.09,\"left_yaw\":0},\"note\":\"The teal bowl is fully visible again, and the closed fingers provide a narrow insertion point. I’ll place that point over the bowl’s interior before opening it outward.\"}",
  "call_id": "call_LUUCIPtS45Bjptpi9qcUHLsk",
  "id": "fc_0d7de73a6f232f0b016ab436836d3c87d0ba0ea2bf196e4ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LUUCIPtS45Bjptpi9qcUHLsk",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3054, 1.6482, 1.1603, -0.6392, -0.1131, -0.5831, 0.0113, 0.0177, 1.2167, 1.0451, -0.9703, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.3793 left_y=-0.0949 left_z=0.0917 left_yaw=0.1592 left_pitch=-0.5559 left_roll=-0.178 left_gripper=0.0113 right_x=0.2826 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5823 right_roll=-0.1442 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -6.2974, 6.2838, 1.2137, 0.0904, 0.2222, 0.2222, 0.0068, -3.9863, 6.5846, 1.0183, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8077d8a8cd9873184c6866353caa14c6e079d665588b20e5cc3b4bd26d262511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709a62ee7742e679cc0a1af0493d945aa00ff64704925179f72e01640a2141f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f903fbc7f0e83a10876c2de942ebae5ad2801b1c4d218f7fa27b56a6c7a9c5c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.049 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.429, 2.3829, 2.204, -1.5528, -0.5659, -1.7111, 0.9949, 0.0177, 1.2083, 1.0485, -0.9688, 0.0433, -0.2211, 0.9962]\nstate[eef_state]: left_x=0.4301 left_y=-0.0886 left_z=0.0929 left_yaw=1.2841 left_pitch=-0.4173 left_roll=0.0962 left_gripper=0.9949 right_x=0.2833 right_y=0.001 right_z=0.1564 right_yaw=0.1022 right_pitch=-0.569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -12.7795, 6.7897, -0.2271, -0.2759, -0.1538, 0.0904, -0.3487, -3.9316, 6.5573, 1.1111, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5823, 1.6569, 1.4982, -1.0645, -0.3916, -1.1748, 0.009, 0.0177, 1.2148, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.351 left_y=-0.1461 left_z=0.1763 left_yaw=0.5056 left_pitch=-0.4979 left_roll=-0.1994 left_gripper=0.009 right_x=0.2826 right_y=0.001 right_z=0.1533 right_yaw=0.1033 right_pitch=-0.58 right_roll=-0.1444 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -4.3419, 6.4205, 1.7949, -0.2857, 0.0708, 0.5934, -0.0615, -4.0547, 6.5983, 0.9646, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3054, 1.6482, 1.1603, -0.6392, -0.1131, -0.5831, 0.0113, 0.0177, 1.2167, 1.0451, -0.9703, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.3793 left_y=-0.0949 left_z=0.0917 left_yaw=0.1592 left_pitch=-0.5559 left_roll=-0.178 left_gripper=0.0113 right_x=0.2826 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5823 right_roll=-0.1442 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -6.2974, 6.2838, 1.2137, 0.0904, 0.2222, 0.2222, 0.0068, -3.9863, 6.5846, 1.0183, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8077d8a8cd9873184c6866353caa14c6e079d665588b20e5cc3b4bd26d262511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709a62ee7742e679cc0a1af0493d945aa00ff64704925179f72e01640a2141f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f903fbc7f0e83a10876c2de942ebae5ad2801b1c4d218f7fa27b56a6c7a9c5c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDaJQYEY36fIlspQkHjhXDJSVAHmg_Kb5lVwjHDIkfXGXqTLuptIIJZBQTzGKEW89E7po0rSW1W5KDYqfZ9AHnKhMQUd-H2jeuW96RodGioAlFqiDWtjCXpw9zqr5UH_2l4tqQz9-bczSjDTIDOfx9pG75tTAtYIErg8t0W8ZxwRBY-TDmtA5OmZnj_8KgQe-EkaETcc1-G7fEuJ76IaGqH8WR70YflfiT7rNECPiHo7pG81ktl8EwG48tSqw-EyGLJPX8EqxpDiARpsp6pHtxfIRMyEIHuW8SdOK9ewQG4yAZtEH1vkTHC3scVpKIauCRd4f4WRWtw4h9m-kInaB5MOwT013KN09qgqbwsCoX96uimpLPX3xSE5Hq98SKdwif1k8KYMrNThV2kYDAXmkF8dS3HUvM-J1MShnJ_0Ad_yqLEMCZj4KZxWSbfIwkVTIknFCQfq4sBvyEIoFVEpVCHUSNPeZ4980dw1jf0DBYX49YCKcm2nZCt1OXdalKSnyP22wrc3kpOF-_fGJkE_3vh8w224zVuM2cm4tDPCsm3epPuQ9tA7YKhHtHIFamCHju4FmeB-MXgkKt0PZl6_1Z_3mQoJNcBMrfB4QmL-e10vduD4nRN4eB0CNxtnFsPuwP-8T1REJPx0Zt2Vm0wND4irVpgo6mfumBUDXqrd9XZOIcVYyJfoBQfJuKBvgUJfxNVyNFlZjXFjfhINSVohjYHyl9HAkaW3ITBkZNcZ3iF5387bpMqyST96patWJ0BThhLfP17CDK8xFHSpaYEoKGu87xpkcCBZ-Zy36r3rc3wwk8XcVNnwwdfWS3eIk0cOvsJsdd63moXe0EzyVwHzzHIn8eZIH6jHTS9Uplbwm_5hWmLcsk1PKw49X1RyndA_xPpaiam98PPMw8PCnGymB-M93M-a5LnjLl6mNLM70JPPk5LP9cNLGTqH8DOcFkKsnpTgn2HOWxEijbjv3pV1dkIu2f4hARKWgpFkEOgOtsUW252Nh7Tx_kdZhMTnqjZ2rSJbQeC7ZZDWlpCK5eYYphvgqKzYrk3O-sx7WN9domiLf0nj8u6Q7P3-WoLFbvEtif0Fn0JxvTpEWle7tQQ4vBf0QTUIEjFRIOsh1SsAbsHnpz_DBICARTwPTm_PkiL6q4RT1FbRqzNpnMA2QYoMpJZwvkj__thj9WrgaKBX5D8ugyfSMNFXQo_jDs2jjgz2X1OPqvOIBTxdCXnewGAHmhwiwUKcbN5jaVK4F_pWWs_86Asbl7uOCWEpuBzAnMTcs-AI3L0T3heMeer6t2x8TUmBdeB4VUsRWQ6im49PZieD_2iAowYnGLLo7JnWsvLOxUYtldixIU4y2KD583UZN7X0yr6QVABdA7eAA8q7nwlQH1CrT4g6jsjIf_Yz4vwlXMTKHlHGjcE9k19PW3wLRtxxkm_V7iV0Xh8c-5tjGmsysfbXv5pRyb5APeMVBdj1hylpKrQdgc4J8ONsoLbQsEhgKSStvedkaqcV6hIzqdsZKmzCdseD8nSDY0jvWZKLzhgylec0qDivffZu4GHniwqag0Y14GP3Z7T2khZmDx7lOR4_plCbb4G7eqSRfgVwoXUoJJnFNpUQqEwf5vQ7pvxQq2FEmWkZtaH6SqoDFBM9Ii7Wp4qsj3PazjbWmz1onpAFHrgNDidgZWnuroHiEbh5igbmRvNjwlrtLUhVfKkUTQoUzinnPZnORUl0P8M0LMrZjnhnoQ6UgdO6zXYFRuIJdsYhvRrgsnW1XbJBFFqV3jrsiVnZ_dbZvhX7E4a6SYi6nbuJ3zUQBqfRxjyzzFAhmunGuS4ooUUhUEtyldILahrfkyL5shDZrKpM1pjEO2pmAuBcTy2XfcbzquOiqCh1WSXI4I__48eh9oEwT_XAQLs=",
  "id": "rs_0d7de73a6f232f0b016ab43687142887d095cc3b39d3fe0885",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.406,\"left_y\":-0.075,\"left_z\":0.035},\"note\":\"The closed fingertip is now inside the teal bowl’s mouth, slightly off its center. I’ll move it a little farther into the bowl and down before expanding the jaws against the inner walls.\"}",
  "call_id": "call_GBJ3cBoDb8hYBLL2dpmSX97r",
  "id": "fc_0d7de73a6f232f0b016ab43688978087d09bf1e0c7b3d2ae32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GBJ3cBoDb8hYBLL2dpmSX97r",
  "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]: [-0.2821, 1.6775, 1.1458, -0.5594, -0.0483, -0.4595, 0.0128, 0.0177, 1.2167, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.3909 left_y=-0.1007 left_z=0.0834 left_yaw=0.0356 left_pitch=-0.5332 left_roll=-0.1928 left_gripper=0.0128 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5819 right_roll=-0.1442 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.253, 6.6803, 1.3797, 0.0562, 0.2125, 0.1441, -0.0479, -3.8222, 6.8034, 1.0476, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114e9a5f46af77c1fcc9bd685f8c520c67e565df2ea305b4a7e54f16be910a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bae3a2cd113f02eb4589ead9613a7221b2a14c60cf06670353e73e48e8ffaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05889f9f34e8add68d6a55aa428996dae4440708d7a80705e51ce50103715187",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 6.314 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 157 changed as sent

message 161 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 2.3825, 2.2044, -1.557, -0.5659, -1.7294, 0.9949, 0.0177, 1.2102, 1.0473, -0.9695, 0.0433, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.4297 left_y=-0.0868 left_z=0.0933 left_yaw=1.2998 left_pitch=-0.4158 left_roll=0.0889 left_gripper=0.9949 right_x=0.283 right_y=0.001 right_z=0.1554 right_yaw=0.1027 right_pitch=-0.5728 right_roll=-0.145 right_gripper=0.9962\nstate[joint_eff]: [-0.4308, -12.8752, 6.7761, -0.1832, -0.3199, -0.1929, -0.0073, -0.1846, -3.6855, 6.5299, 1.0769, 0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3054, 1.6482, 1.1603, -0.6392, -0.1131, -0.5831, 0.0113, 0.0177, 1.2167, 1.0451, -0.9703, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.3793 left_y=-0.0949 left_z=0.0917 left_yaw=0.1592 left_pitch=-0.5559 left_roll=-0.178 left_gripper=0.0113 right_x=0.2826 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5823 right_roll=-0.1442 right_gripper=0.9962\nstate[joint_eff]: [0.3214, -6.2974, 6.2838, 1.2137, 0.0904, 0.2222, 0.2222, 0.0068, -3.9863, 6.5846, 1.0183, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2821, 1.6775, 1.1458, -0.5594, -0.0483, -0.4595, 0.0128, 0.0177, 1.2167, 1.0451, -0.9699, 0.0433, -0.2218, 0.9962]\nstate[eef_state]: left_x=0.3909 left_y=-0.1007 left_z=0.0834 left_yaw=0.0356 left_pitch=-0.5332 left_roll=-0.1928 left_gripper=0.0128 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1034 right_pitch=-0.5819 right_roll=-0.1442 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.253, 6.6803, 1.3797, 0.0562, 0.2125, 0.1441, -0.0479, -3.8222, 6.8034, 1.0476, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114e9a5f46af77c1fcc9bd685f8c520c67e565df2ea305b4a7e54f16be910a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bae3a2cd113f02eb4589ead9613a7221b2a14c60cf06670353e73e48e8ffaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05889f9f34e8add68d6a55aa428996dae4440708d7a80705e51ce50103715187",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7de73a6f232f0b016ab4368ae14087d0a116eec986e7ec81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7},\"note\":\"The closed fingers are inside the teal bowl, and the descent has stopped against it. I’ll spread them to about 7 cm apart to press against the bowl’s inner walls, then test whether it lifts.\"}",
  "call_id": "call_kOy3i79wuicVpiraQy2cEqls",
  "id": "fc_0d7de73a6f232f0b016ab4368ce75087d0a92a2954d4919ed9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kOy3i79wuicVpiraQy2cEqls",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2825, 1.6775, 1.1458, -0.5568, -0.0467, -0.4419, 0.6947, 0.0177, 1.2167, 1.0451, -0.9699, 0.0429, -0.2214, 0.9962]\nstate[eef_state]: left_x=0.3913 left_y=-0.1012 left_z=0.0837 left_yaw=0.0224 left_pitch=-0.5294 left_roll=-0.186 left_gripper=0.6947 right_x=0.2827 right_y=0.001 right_z=0.1528 right_yaw=0.1035 right_pitch=-0.5819 right_roll=-0.1436 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -8.2667, 6.6667, 1.3895, 0.0073, 0.0611, -0.1245, -0.0479, -3.8496, 6.4068, 1.0232, 0.0073, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54006fc077c5ef1cdf64e54e06a08305ec05f652d2ccdaefce16eb02f3b1efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b444e504ae68c742b82c02e1aacae2980db7ee4a03c41c04d94e8ecffde0dc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e53471b3707308efe8290995564d359ed43f6145a9b738235b2a644e8c0861",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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