adhoc

completed
2026-09-23T19:44:58.786164+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
204.7 s
total steps
255
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 side by side near the far half of the table. I’m bringing the left gripper above the leftmost bowl to line up with its rim before trying to lift it.
move_to
left_x0.3900left_y-0.1400left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6048, -0.379, -0.02, -0.0257, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0162, -0.02, 0.9967] state[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967 state[joint_eff]: [-0.6906, -1.5385, 10.1402, 1.7558, -0.0513, 0.0952, -0.0611, -0.4308, -1.4154, 10.1812, 1.917, -0.0562, 0.0562, -0.359] 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":-0.14,"left_z":0.16},"note":"Three bowls are side by side near the far half of the table. I’m bringing the left gripper above the leftmost bowl to line up with its rim before trying to lift it."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl now fills the left wrist camera, with its right-hand rim near the gripper’s jaw line. I’m advancing a little and lowering toward that rim, keeping the jaws open while I check alignment.
move_to
left_x0.4150left_y-0.1300left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.532, 1.4132, 0.8394, -0.1337, -0.4232, -0.3164, 0.9995, -0.0216, 0.7971, 0.6022, -0.3889, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.377 left_y=-0.1336 left_z=0.1401 left_yaw=-0.0192 left_pitch=-0.0657 left_roll=0.0274 left_gripper=0.9995 right_x=0.2936 right_y=0.0002 right_z=0.1764 right_yaw=0.0009 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9963 state[joint_eff]: [-0.4581, -6.2564, 9.0325, 1.7558, -0.3834, -0.0024, -0.0171, -0.0479, -1.388, 7.1726, 1.7851, -0.0317, -0.0513, -0.0464] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.13,"left_z":0.105},"note":"The left bowl now fills the left wrist camera, with its right-hand rim near the gripper’s jaw line. I’m advancing a little and lowering toward that rim, keeping the jaws open while I check alignment."})
tool
executing move_to over 3 steps (0.3s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe bowl’s outer rim is still alongside the left jaws, and the gripper is above rather than touching it. I’m lowering to roughly rim height so the jaws can close across one side of the bowl.
move_to
left_z0.0420
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4686, 1.5742, 0.8501, -0.0151, -0.3939, -0.2966, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.4039 left_y=-0.1245 left_z=0.1017 left_yaw=0.0112 left_pitch=-0.1033 left_roll=0.0412 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.174 right_yaw=0.0006 right_pitch=-0.0233 right_roll=0.0002 right_gripper=0.9963 state[joint_eff]: [-0.1436, -8.1846, 6.6393, 1.9267, -0.1148, 0.0562, -0.0122, -0.0342, -1.2923, 7.3641, 1.7411, -0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.042},"note":"The bowl’s outer rim is still alongside the left jaws, and the gripper is above rather than touching it. I’m lowering to roughly rim height so the jaws can close across one side of the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left gripper stopped descending at about 9 cm, short of the commanded height, suggesting it may be resting against the bowl. I’m closing gently at this rim position and will check whether the jaws actually hold anything.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.028, -0.3744, -0.2848, 0.9995, -0.0216, 0.8005, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4095 left_y=-0.1251 left_z=0.0902 left_yaw=0.0015 left_pitch=-0.1115 left_roll=0.0397 left_gripper=0.9995 right_x=0.2929 right_y=0.0002 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9963 state[joint_eff]: [-0.253, -8.5949, 6.7624, 1.8681, -0.1099, 0.149, -0.0122, -0.1162, -1.1829, 7.0222, 1.7509, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper stopped descending at about 9 cm, short of the commanded height, suggesting it may be resting against the bowl. I’m closing gently at this rim position and will check whether the jaws actually hold anything."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe closed gripper reads essentially empty, so it missed the rim; the bowl edge appears just to the right of the jaws in the wrist view. I’m reopening and repositioning a few centimetres toward that edge, higher up so I don’t drag the bowl.
move_to
left_x0.4300left_y-0.1550left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.0303, -0.3676, -0.2848, 0.0093, -0.0216, 0.8032, 0.5999, -0.3935, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.4096 left_y=-0.1264 left_z=0.0903 left_yaw=-0.0041 left_pitch=-0.1115 left_roll=0.0345 left_gripper=0.0093 right_x=0.293 right_y=0.0002 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0275 right_roll=0.0008 right_gripper=0.9963 state[joint_eff]: [-0.0205, -6.9949, 6.3248, 1.4921, -0.1734, -0.0024, 0.6667, -0.0752, -1.4701, 7.0496, 1.7118, -0.0024, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.155,"left_z":0.16,"left_gripper":1},"note":"The closed gripper reads essentially empty, so it missed the rim; the bowl edge appears just to the right of the jaws in the wrist view. I’m reopening and repositioning a few centimetres toward that edge, higher up so I don’t drag the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe bowl’s side now lines up near the jaw column, but its visible rim is still ahead of the fingertips. I’m moving forward a little and lowering in one small approach to get the rim between the open jaws.
move_to
left_x0.4550left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5007, 1.6211, 1.1217, -0.2634, -0.3943, -0.3302, 0.9947, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.4253 left_y=-0.1513 left_z=0.1501 left_yaw=-0.001 left_pitch=-0.1233 left_roll=0.0264 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0006 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9963 state[joint_eff]: [-0.3624, -6.8034, 9.2923, 1.5409, -0.315, 0.1001, -0.0122, -0.0752, -1.388, 7.2274, 1.7265, -0.0366, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_z":0.065},"note":"The bowl’s side now lines up near the jaw column, but its visible rim is still ahead of the fingertips. I’m moving forward a little and lowering in one small approach to get the rim between the open jaws."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteAt rim height the bowl’s near edge is visible just left of the left gripper’s center, so a close here could miss again. I’m shifting laterally about two centimetres toward that edge while holding height.
move_to
left_x0.4620left_y-0.1200left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4644, 1.8332, 1.0267, -0.0132, -0.3737, -0.3187, 0.9957, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.4431 left_y=-0.1459 left_z=0.0604 left_yaw=0.0166 left_pitch=-0.1806 left_roll=0.0491 left_gripper=0.9957 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0003 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9963 state[joint_eff]: [0.2393, -8.7316, 5.8051, 1.79, -0.0806, 0.1294, 0.0855, -0.0068, -1.2103, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.462,"left_y":-0.12,"left_z":0.065},"note":"At rim height the bowl’s near edge is visible just left of the left gripper’s center, so a close here could miss again. I’m shifting laterally about two centimetres toward that edge while holding height."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe bowl rim now reaches the jaw center at the working height. I’m closing on that side of the bowl and will use the settled jaw opening to tell whether it caught the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.395, 1.8549, 1.0245, 0.0067, -0.3317, -0.2829, 0.9957, -0.0219, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4524 left_y=-0.1224 left_z=0.0512 left_yaw=0.0329 left_pitch=-0.1989 left_roll=0.0494 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0005 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9963 state[joint_eff]: [0.3214, -10.0171, 8.9094, 1.453, -0.0513, 0.1832, -0.0024, -0.0479, -0.8957, 7.0496, 1.7265, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl rim now reaches the jaw center at the working height. I’m closing on that side of the bowl and will use the settled jaw opening to tell whether it caught the rim."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe gripper closed empty again, and the bowl appears off to one side rather than securely between the fingertips. I’m lifting, reopening, and moving over its center to try a lower, more symmetric grip around the bowl instead of catching the lip.
move_to
left_x0.4820left_y-0.0710left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3958, 1.8549, 1.0245, -0.0059, -0.3332, -0.2852, 0.0137, -0.0219, 0.8116, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4504 left_y=-0.1217 left_z=0.0492 left_yaw=0.0357 left_pitch=-0.2098 left_roll=0.0541 left_gripper=0.0137 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0005 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963 state[joint_eff]: [-0.0752, -9.0872, 6.065, 1.4628, -0.1245, 0.0366, 0.8278, -0.1846, -1.2786, 7.0359, 1.7167, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.482,"left_y":-0.071,"left_z":0.16,"left_gripper":1},"note":"The gripper closed empty again, and the bowl appears off to one side rather than securely between the fingertips. I’m lifting, reopening, and moving over its center to try a lower, more symmetric grip around the bowl instead of catching the lip."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe bowl is now centered between the open jaws in the left wrist view. I’m descending into it to grip the narrower lower wall; I’ll check for a stopped descent before closing.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2417, 1.7912, 1.3167, -0.379, -0.239, -0.1967, 0.9946, -0.0216, 0.8116, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4789 left_y=-0.0713 left_z=0.129 left_yaw=0.0642 left_pitch=-0.2542 left_roll=0.0562 left_gripper=0.9946 right_x=0.2936 right_y=0.0002 right_z=0.1706 right_yaw=0.0009 right_pitch=-0.0355 right_roll=0.0007 right_gripper=0.9963 state[joint_eff]: [0.2667, -12.588, 9.2103, 1.4628, -0.0659, 0.2369, -0.0855, -0.1162, -1.3333, 7.2, 1.6825, -0.0366, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"The bowl is now centered between the open jaws in the left wrist view. I’m descending into it to grip the narrower lower wall; I’ll check for a stopped descent before closing."})
tool
executing move_to over 8 steps (0.8s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe gripper reached about 2 cm above the table, but the bowl is slightly left of center between the jaws. I’m lifting out and shifting about two centimetres to center it before closing around its lower sides.
move_to
left_y-0.0480left_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2394, 1.9579, 1.0824, -0.0196, -0.2356, -0.1909, 0.9956, -0.0216, 0.812, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4711 left_y=-0.0688 left_z=0.0182 left_yaw=0.0639 left_pitch=-0.2948 left_roll=0.0705 left_gripper=0.9956 right_x=0.2936 right_y=0.0002 right_z=0.1705 right_yaw=0.0009 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963 state[joint_eff]: [-0.3761, -8.8137, 5.641, 1.5409, -0.1734, -0.1294, 0.0904, -0.0479, -1.3333, 7.0496, 1.6825, -0.0757, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.048,"left_z":0.075},"note":"The gripper reached about 2 cm above the table, but the bowl is slightly left of center between the jaws. I’m lifting out and shifting about two centimetres to center it before closing around its lower sides."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe bowl is now centered between the jaws in the wrist image. I’m lowering to just above the tabletop where its lower walls are narrow enough for the gripper to surround.
move_to
left_z0.0080
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1913, 1.8771, 1.1259, -0.1635, -0.2161, -0.1783, 0.9952, -0.0219, 0.8162, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.467 left_y=-0.0482 left_z=0.0483 left_yaw=0.09 left_pitch=-0.3184 left_roll=0.0695 left_gripper=0.9952 right_x=0.2938 right_y=0.0001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.9963 state[joint_eff]: [0.3761, -11.7812, 8.6085, 1.3651, 0.0366, 0.2759, -0.0513, -0.0752, -1.7299, 7.1863, 1.7021, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.008},"note":"The bowl is now centered between the jaws in the wrist image. I’m lowering to just above the tabletop where its lower walls are narrow enough for the gripper to surround."})
tool
executing move_to over 3 steps (0.3s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe open fingertips are down near the bowl’s base, with the bowl centered between them. I’m closing around its lower walls and checking the resulting gripper opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.189, 1.9408, 1.0767, -0.0772, -0.21, -0.1726, 0.9952, -0.0216, 0.8173, 0.598, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4625 left_y=-0.0473 left_z=0.0146 left_yaw=0.0863 left_pitch=-0.3456 left_roll=0.0761 left_gripper=0.9952 right_x=0.2936 right_y=0.0002 right_z=0.1681 right_yaw=0.0009 right_pitch=-0.0431 right_roll=0.0009 right_gripper=0.9963 state[joint_eff]: [-0.4581, -10.0034, 6.065, 1.619, -0.1392, -0.0708, -0.0122, -0.0889, -1.4838, 7.159, 1.7363, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingertips are down near the bowl’s base, with the bowl centered between them. I’m closing around its lower walls and checking the resulting gripper opening."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThat close did not hold the left bowl; it slid out of the jaws. I’m parking the left arm and bringing the right arm over the pink bowl, where I can attempt a better-centered pickup without the left arm obscuring the table.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.4100right_y0.1000right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1936, 1.9373, 1.0744, -0.0578, -0.2409, -0.1669, 0.0278, -0.0216, 0.8177, 0.5957, -0.3931, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.4659 left_y=-0.0447 left_z=0.0191 left_yaw=0.1031 left_pitch=-0.3192 left_roll=0.0988 left_gripper=0.0278 right_x=0.2933 right_y=0.0001 right_z=0.167 right_yaw=0.0006 right_pitch=-0.0458 right_roll=0.0007 right_gripper=0.9963 state[joint_eff]: [0.1846, -9.5385, 6.106, 1.1306, 0.1636, -0.1392, 2.0098, -0.1026, -1.3197, 7.2137, 1.707, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_gripper":1,"right_x":0.41,"right_y":0.10,"right_z":0.15},"note":"That close did not hold the left bowl; it slid out of the jaws. I’m parking the left arm and bringing the right arm over the pink bowl, where I can attempt a better-centered pickup without the left arm obscuring the table."})
tool
executing move_to over 14 steps (1.4s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe pink bowl is clear in the right wrist view, slightly left of the jaw center and ahead of the fingertips. I’m moving a few centimetres forward and left to center it before descending.
move_to
right_x0.4350right_y0.1270right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1402, 1.0954, 0.8986, -0.7082, -0.2119, -0.1368, 0.996, 0.3435, 1.4429, 0.8448, -0.1261, 0.2531, 0.1684, 0.9963] state[eef_state]: left_x=0.3039 left_y=-0.0017 left_z=0.1669 left_yaw=0.1132 left_pitch=-0.312 left_roll=0.0912 left_gripper=0.996 right_x=0.3934 right_y=0.0975 right_z=0.1259 right_yaw=0.0354 right_pitch=-0.1275 right_roll=-0.0305 right_gripper=0.9963 state[joint_eff]: [0.4308, -3.412, 9.9077, 1.4774, -0.0513, 0.232, -0.1099, 0.1983, -6.5709, 9.3744, 1.8828, 0.2711, 0.2173, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.127,"right_z":0.11},"note":"The pink bowl is clear in the right wrist view, slightly left of the jaw center and ahead of the fingertips. I’m moving a few centimetres forward and left to center it before descending."})
tool
executing move_to over 4 steps (0.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pink bowl is nearly centered, with a small remaining left offset. I’m making that final centering adjustment while lowering the open jaws to the narrower lower part of the bowl.
move_to
right_x0.4460right_y0.1380right_z0.0130
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1015, 0.8982, -0.7357, -0.2096, -0.1383, 0.9972, 0.3813, 1.6527, 0.9382, -0.1032, 0.2623, 0.1764, 0.9963] state[eef_state]: left_x=0.2989 left_y=-0.0005 left_z=0.1609 left_yaw=0.1181 left_pitch=-0.3452 left_roll=0.0974 left_gripper=0.9972 right_x=0.4155 right_y=0.1211 right_z=0.0844 right_yaw=0.0561 right_pitch=-0.2142 right_roll=-0.0602 right_gripper=0.9963 state[joint_eff]: [-0.4444, -3.6444, 6.6803, 1.5946, -0.1978, -0.0366, 0.1099, 0.3624, -8.9368, 9.7846, 1.7949, 0.2515, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.446,"right_y":0.138,"right_z":0.013},"note":"The pink bowl is nearly centered, with a small remaining left offset. I’m making that final centering adjustment while lowering the open jaws to the narrower lower part of the bowl."})
tool
executing move_to over 5 steps (0.5s)
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 arm stopped above the pink bowl instead of reaching its lower wall, likely because the wide rim blocks a full-jaw approach. I’m backing up and positioning over just one side of the rim, where one jaw can be inside and the other outside.
move_to
right_x0.4200right_y0.0750right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1019, 0.897, -0.7292, -0.2096, -0.1387, 0.9973, 0.3882, 1.6684, 0.9501, -0.0937, 0.2623, 0.1772, 0.9963] state[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1613 left_yaw=0.1178 left_pitch=-0.3404 left_roll=0.0958 left_gripper=0.9973 right_x=0.4189 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2087 right_roll=-0.0578 right_gripper=0.9963 state[joint_eff]: [-0.0752, -3.2205, 6.8718, 1.2527, -0.1294, -0.0122, -0.0024, -0.3897, -8.6496, 9.6342, 1.8095, 0.2808, 0.149, -0.0122] 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_x":0.42,"right_y":0.075,"right_z":0.15},"note":"The right arm stopped above the pink bowl instead of reaching its lower wall, likely because the wide rim blocks a full-jaw approach. I’m backing up and positioning over just one side of the rim, where one jaw can be inside and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe right arm did not move on that adjustment, so it may be stuck in an awkward pose above the bowl. I’m withdrawing it upward and toward its base before trying a new approach.
move_to
right_x0.3400right_y0.0750right_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1027, 0.897, -0.7296, -0.2096, -0.1387, 0.9974, 0.3882, 1.6684, 0.9501, -0.0933, 0.2623, 0.1772, 0.9963] state[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.161 left_yaw=0.1179 left_pitch=-0.3415 left_roll=0.0961 left_gripper=0.9974 right_x=0.419 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2083 right_roll=-0.0576 right_gripper=0.9963 state[joint_eff]: [-0.1026, -3.0701, 6.694, 1.3065, -0.1734, -0.0415, -0.0122, -0.1299, -8.6496, 9.6068, 1.8193, 0.2613, 0.1734, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.075,"right_z":0.22},"note":"The right arm did not move on that adjustment, so it may be stuck in an awkward pose above the bowl. I’m withdrawing it upward and toward its base before trying a new approach."})
tool
executing move_to over 9 steps (0.9s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe right arm has withdrawn normally. The pink bowl’s right rim now falls near the jaw column in the wrist view, so I’m approaching that side from above rather than trying to straddle the entire bowl.
move_to
right_x0.4200right_y0.0780right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1038, 0.8963, -0.7292, -0.2096, -0.1387, 0.9973, 0.3191, 1.2366, 1.0645, -0.6319, 0.2192, 0.1249, 0.9963] state[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1604 left_yaw=0.1181 left_pitch=-0.343 left_roll=0.0965 left_gripper=0.9973 right_x=0.3465 right_y=0.0778 right_z=0.2041 right_yaw=0.0593 right_pitch=-0.2118 right_roll=-0.0629 right_gripper=0.9963 state[joint_eff]: [-0.0615, -3.2889, 6.7214, 1.3748, -0.1685, -0.0464, -0.0171, -0.4171, -5.0667, 9.4701, 1.6679, -0.0464, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.078,"right_z":0.15},"note":"The right arm has withdrawn normally. The pink bowl’s right rim now falls near the jaw column in the wrist view, so I’m approaching that side from above rather than trying to straddle the entire bowl."})
tool
executing move_to over 6 steps (0.6s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pink bowl’s right rim is aligned with the middle of the open right jaws, with the bowl to their left. I’m advancing and lowering modestly so that rim, rather than the whole bowl, sits between the fingertips.
move_to
right_x0.4320right_z0.0920
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1065, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.252, 1.5043, 1.0508, -0.4332, 0.173, 0.0704, 0.9963] state[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1594 left_yaw=0.1184 left_pitch=-0.3463 left_roll=0.0975 left_gripper=0.9974 right_x=0.3972 right_y=0.0746 right_z=0.133 right_yaw=0.0571 right_pitch=-0.3026 right_roll=-0.0856 right_gripper=0.9963 state[joint_eff]: [-0.1573, -3.3846, 6.7624, 1.2918, -0.105, -0.0317, -0.0073, -0.7179, -6.4889, 9.4838, 1.5946, -0.0122, 0.0806, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.432,"right_z":0.092},"note":"The pink bowl’s right rim is aligned with the middle of the open right jaws, with the bowl to their left. I’m advancing and lowering modestly so that rim, rather than the whole bowl, sits between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe right jaws are over the bowl’s side at about 9 cm height, and the rim remains next to the jaw line. I’m lowering straight down toward the rim before closing.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.2348, 1.6512, 1.0492, -0.3241, 0.1589, 0.0479, 0.9963] state[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1592 left_yaw=0.1185 left_pitch=-0.3471 left_roll=0.0977 left_gripper=0.9974 right_x=0.4181 right_y=0.075 right_z=0.0906 right_yaw=0.0627 right_pitch=-0.3444 right_roll=-0.0966 right_gripper=0.9963 state[joint_eff]: [-0.1573, -3.2752, 6.694, 1.3162, -0.1148, -0.0317, -0.0171, -0.6906, -8.6769, 7.1453, 1.5409, 0.0806, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The right jaws are over the bowl’s side at about 9 cm height, and the rim remains next to the jaw line. I’m lowering straight down toward the rim before closing."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe right gripper stopped descending at about 7.6 cm, where it appears to meet the pink bowl’s rim. I’m closing across that single edge and checking whether the jaws retain a measurable thickness.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.2272, 1.6951, 1.047, -0.2943, 0.1482, 0.0471, 0.9963] state[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9974 right_x=0.4222 right_y=0.0745 right_z=0.076 right_yaw=0.0639 right_pitch=-0.362 right_roll=-0.091 right_gripper=0.9963 state[joint_eff]: [-0.0752, -3.2342, 6.8444, 1.2918, -0.0904, -0.0317, -0.0171, -0.1709, -9.5385, 7.3504, 1.5751, 0.0757, -0.0464, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper stopped descending at about 7.6 cm, where it appears to meet the pink bowl’s rim. I’m closing across that single edge and checking whether the jaws retain a measurable thickness."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe right gripper also closed empty; the rim was visible but still short of the actual fingertips. I’m reopening above the bowl and advancing about three centimetres before trying the same edge again.
move_to
right_x0.4550right_y0.0750right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2268, 1.6951, 1.047, -0.3035, 0.1478, 0.0414, 0.0097] state[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9973 right_x=0.4205 right_y=0.074 right_z=0.0747 right_yaw=0.0666 right_pitch=-0.3714 right_roll=-0.0959 right_gripper=0.0097 state[joint_eff]: [-0.0889, -3.2342, 6.7487, 1.326, -0.149, -0.0464, -0.0171, -0.0615, -8.1846, 6.2838, 1.4139, 0.1001, 0.0269, 0.7839] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.075,"right_z":0.16,"right_gripper":1},"note":"The right gripper also closed empty; the rim was visible but still short of the actual fingertips. I’m reopening above the bowl and advancing about three centimetres before trying the same edge again."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteAfter advancing, the pink rim has shifted lower in the wrist image but remains aligned with the right jaw column. I’m advancing the final couple of centimetres and descending to put the rim at fingertip depth.
move_to
right_x0.4750right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.2138, 1.7405, 1.4052, -0.6418, 0.1398, 0.0109, 0.9953] state[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4469 right_y=0.0755 right_z=0.1453 right_yaw=0.077 right_pitch=-0.3995 right_roll=-0.112 right_gripper=0.9953 state[joint_eff]: [-0.0889, -2.865, 6.694, 1.3016, -0.1685, -0.0366, -0.0073, -0.7179, -8.1573, 9.5521, 1.37, -0.0024, 0.149, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_z":0.06},"note":"After advancing, the pink rim has shifted lower in the wrist image but remains aligned with the right jaw column. I’m advancing the final couple of centimetres and descending to put the rim at fingertip depth."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe right gripper is now lower and farther forward, with the pink bowl’s side at the fingertip line rather than merely visible ahead of it. I’m closing once more and checking for a nonempty grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9064, 1.2858, -0.4206, 0.1371, -0.0036, 0.9956] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4596 right_y=0.0733 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.4642 right_roll=-0.1275 right_gripper=0.9956 state[joint_eff]: [-0.0479, -3.2615, 6.9265, 1.3162, -0.1685, -0.0562, -0.0122, -0.6085, -9.3197, 6.5573, 1.4676, -0.0171, 0.0122, 0.0269] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is now lower and farther forward, with the pink bowl’s side at the fingertip line rather than merely visible ahead of it. I’m closing once more and checking for a nonempty grasp."})
tool
executing move_to over 10 steps (1.0s)
step 180
assistant
agent noteThe edge pickup is still empty; the bowl is being nudged rather than held. I’m switching to an inside grip: I’ll center the right gripper over the pink bowl with its jaws partly closed so they can pass inside the wide rim.
move_to
right_x0.4250right_y0.1350right_z0.1600right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9205, 1.2797, -0.421, 0.1299, -0.0051, 0.0095] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4566 right_y=0.074 right_z=0.0476 right_yaw=0.079 right_pitch=-0.4856 right_roll=-0.1243 right_gripper=0.0095 state[joint_eff]: [-0.1026, -3.0564, 6.8855, 1.3162, -0.1538, -0.0171, -0.0122, -0.1162, -11.1932, 6.6393, 1.2186, 0.105, -0.0317, 0.7546] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.135,"right_z":0.16,"right_gripper":0.55},"note":"The edge pickup is still empty; the bowl is being nudged rather than held. I’m switching to an inside grip: I’ll center the right gripper over the pink bowl with its jaws partly closed so they can pass inside the wide rim."})
tool
executing move_to over 8 steps (0.8s)
step 188
assistant
agent noteThe pink bowl is now centered in the right wrist camera and the partly closed jaws fit within its opening. I’m lowering straight into the bowl before spreading the jaws gently against its inside walls.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3756, 1.8378, 1.5394, -0.8211, 0.1944, 0.1173, 0.547] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4276 right_y=0.1358 right_z=0.1331 right_yaw=0.1105 right_pitch=-0.5223 right_roll=-0.1341 right_gripper=0.547 state[joint_eff]: [-0.1983, -3.0427, 6.9949, 1.3846, -0.1734, -0.0757, -0.0073, 0.294, -12.4376, 8.9915, 1.1844, 0.1001, 0.2222, -0.1587] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The pink bowl is now centered in the right wrist camera and the partly closed jaws fit within its opening. I’m lowering straight into the bowl before spreading the jaws gently against its inside walls."})
tool
executing move_to over 7 steps (0.7s)
step 195
assistant
agent noteThe right fingertips are inside the pink bowl near its floor, with the bowl centered around them. I’m opening just enough to press the fingertips against the inner walls, then I’ll test whether the bowl lifts with the arm.
move_to
right_gripper0.8200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.3775, 1.9167, 1.2514, -0.4942, 0.1963, 0.1146, 0.5481] state[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9974 right_x=0.4172 right_y=0.1322 right_z=0.0334 right_yaw=0.1059 right_pitch=-0.5607 right_roll=-0.1498 right_gripper=0.5481 state[joint_eff]: [-0.0342, -3.0838, 6.7077, 1.3309, -0.1294, -0.0611, -0.0073, -0.335, -8.1299, 5.6821, 1.0574, 0.0611, 0.0073, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.82},"note":"The right fingertips are inside the pink bowl near its floor, with the bowl centered around them. I’m opening just enough to press the fingertips against the inner walls, then I’ll test whether the bowl lifts with the arm."})
tool
executing move_to over 3 steps (0.3s)
step 198
assistant
agent noteThe jaws opened to 0.82 without stopping, so they may not yet press firmly on the bowl. I’m spreading them a little farther inside it, watching for contact rather than pushing the arm sideways.
move_to
right_gripper0.9600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3775, 1.9427, 1.2304, -0.4782, 0.194, 0.1089, 0.8157] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4118 right_y=0.1305 right_z=0.0174 right_yaw=0.1063 right_pitch=-0.5915 right_roll=-0.1601 right_gripper=0.8157 state[joint_eff]: [-0.1573, -3.2615, 6.8718, 1.3162, -0.1636, -0.0708, -0.0171, -0.253, -11.9453, 7.4735, 0.8571, 0.0513, 0.0073, -0.0269] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.96},"note":"The jaws opened to 0.82 without stopping, so they may not yet press firmly on the bowl. I’m spreading them a little farther inside it, watching for contact rather than pushing the arm sideways."})
tool
executing move_to over 2 steps (0.2s)
step 200
assistant
agent noteThe jaws have spread nearly fully inside the pink bowl. I’m lifting a few centimetres to test whether friction on its inner walls is enough to carry it; the overhead view will show if it comes along.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3779, 1.9415, 1.2301, -0.4904, 0.1944, 0.1051, 0.954] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4092 right_y=0.1296 right_z=0.0167 right_yaw=0.1067 right_pitch=-0.6028 right_roll=-0.166 right_gripper=0.954 state[joint_eff]: [-0.212, -3.0017, 6.8855, 1.3553, -0.1832, -0.0464, -0.0171, 0.0342, -9.7026, 5.9966, 0.9792, 0.1099, 0.0269, -0.1538] 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":{"right_z":0.12},"note":"The jaws have spread nearly fully inside the pink bowl. I’m lifting a few centimetres to test whether friction on its inner walls is enough to carry it; the overhead view will show if it comes along."})
tool
executing move_to over 7 steps (0.7s)
step 207
assistant
agent noteThe pink bowl stayed on the table when lifted, so the inside spread was not a grasp. I’m changing the jaw direction to approach the near-side rim radially, with the jaws only partly open, rather than trying to span the bowl.
move_to
right_x0.3900right_y0.1400right_z0.1500right_yaw1.5700right_gripper0.4200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3786, 1.8668, 1.4677, -0.8261, 0.1936, 0.1005, 0.9549] state[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4094 right_y=0.1301 right_z=0.0957 right_yaw=0.1068 right_pitch=-0.6258 right_roll=-0.175 right_gripper=0.9549 state[joint_eff]: [-0.0889, -3.2342, 6.735, 1.3504, -0.1783, -0.0562, -0.0073, -0.2393, -12.0, 8.2803, 0.8816, 0.1587, 0.0122, 0.0855] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.14,"right_z":0.15,"right_yaw":1.57,"right_gripper":0.42},"note":"The pink bowl stayed on the table when lifted, so the inside spread was not a grasp. I’m changing the jaw direction to approach the near-side rim radially, with the jaws only partly open, rather than trying to span the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteWith the right jaws rotated, the pink bowl’s rim is visible between their tips rather than across the full jaw width. I’m moving forward and down a short distance to bring the near edge into that narrower opening.
move_to
right_x0.4350right_y0.1400right_z0.0800right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.1802, 1.9152, 1.7458, -1.1278, -0.3138, -1.2961, 0.4229] state[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4077 right_y=0.1334 right_z=0.1492 right_yaw=1.3532 right_pitch=-0.6154 right_roll=-0.2152 right_gripper=0.4229 state[joint_eff]: [-0.1846, -3.2342, 6.7077, 1.3114, -0.1441, -0.0464, -0.0171, -0.3214, -8.9778, 7.3368, 0.3394, -0.4322, -0.0904, 0.0708] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.14,"right_z":0.08,"right_yaw":1.57},"note":"With the right jaws rotated, the pink bowl’s rim is visible between their tips rather than across the full jaw width. I’m moving forward and down a short distance to bring the near edge into that narrower opening."})
tool
executing move_to over 5 steps (0.5s)
step 222
assistant
agent noteThe rotated jaws straddle the right-hand edge of the bowl in the wrist view, but that edge is still a little off-center. I’m advancing roughly two centimetres and lowering slightly to put the rim at the closing line.
move_to
right_x0.4550right_z0.0520
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.0953, 1.739, -1.0485, -0.3607, -1.4956, 0.4218] state[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4251 right_y=0.1361 right_z=0.0793 right_yaw=1.5575 right_pitch=-0.6226 right_roll=-0.1652 right_gripper=0.4218 state[joint_eff]: [-0.0479, -3.2889, 6.694, 1.3162, -0.1197, -0.0317, -0.0073, -0.3624, -11.0154, 7.4462, 0.5495, -0.4908, -0.0806, -0.1343] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_z":0.052},"note":"The rotated jaws straddle the right-hand edge of the bowl in the wrist view, but that edge is still a little off-center. I’m advancing roughly two centimetres and lowering slightly to put the rim at the closing line."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteThe gripper stopped advancing at the rim, with one fingertip inside and the other outside the pink bowl. I’m closing on that edge now; a retained jaw gap will indicate a grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.034, -0.3679, -1.5311, 0.4216] state[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4275 right_y=0.1377 right_z=0.0698 right_yaw=1.5897 right_pitch=-0.6203 right_roll=-0.1681 right_gripper=0.4216 state[joint_eff]: [-0.1846, -3.0974, 6.7077, 1.2918, -0.1441, -0.0708, -0.0171, -0.335, -12.0274, 7.3094, 0.7155, -0.442, -0.1197, -0.0269] 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":{"right_gripper":0},"note":"The gripper stopped advancing at the rim, with one fingertip inside and the other outside the pink bowl. I’m closing on that edge now; a retained jaw gap will indicate a grip."})
tool
executing move_to over 5 steps (0.5s)
step 230
assistant
agent noteThat close was empty again. With the jaws closed and narrow, I’m advancing them past the rim first; then I can reopen around the wall instead of striking it with an open finger.
move_to
right_x0.4600right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7277, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.029, -0.3683, -1.5417, 0.009] state[eef_state]: left_x=0.3004 left_y=-0.0007 left_z=0.158 left_yaw=0.1188 left_pitch=-0.3504 left_roll=0.0986 left_gripper=0.9974 right_x=0.4287 right_y=0.1379 right_z=0.0701 right_yaw=1.5932 right_pitch=-0.6203 right_roll=-0.1791 right_gripper=0.009 state[joint_eff]: [-0.0479, -3.3162, 6.6667, 1.3455, -0.1245, -0.0708, -0.0122, -0.3487, -12.0137, 7.3504, 0.6471, -0.3932, 0.0073, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_z":0.055},"note":"That close was empty again. With the jaws closed and narrow, I’m advancing them past the rim first; then I can reopen around the wall instead of striking it with an open finger."})
tool
executing move_to over 3 steps (0.3s)
step 233
assistant
agent noteThe closed right gripper still cannot advance and has not secured the pink bowl; none of the bowls is lifted or stacked. I’m withdrawing both arms to safe parked positions rather than pushing the bowls farther across the table.
move_to
left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.1149, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.1616, 2.1208, 1.7401, -1.0195, -0.3683, -1.5421, 0.0115] state[eef_state]: left_x=0.3003 left_y=-0.0007 left_z=0.1571 left_yaw=0.1191 left_pitch=-0.3541 left_roll=0.0996 left_gripper=0.9973 right_x=0.4308 right_y=0.1383 right_z=0.0704 right_yaw=1.5867 right_pitch=-0.619 right_roll=-0.1908 right_gripper=0.0115 state[joint_eff]: [-0.212, -3.4803, 6.8718, 1.2918, -0.1294, -0.0464, -0.0171, -0.2803, -12.2051, 7.4735, 0.5983, -0.4322, 0.0171, 0.2418] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The closed right gripper still cannot advance and has not secured the pink bowl; none of the bowls is lifted or stacked. I’m withdrawing both arms to safe parked positions rather than pushing the bowls farther across the table."})
tool
executing move_to over 21 steps (2.1s)
step 254
assistant
agent noteI could not secure a bowl after several rim and inside-grip attempts, so the bowls remain unstacked. Both arms are parked clear of the table.
give_up
hindsightThese bowls are wide enough that fully open jaws catch on their rims during a centered descent. On this setup, closing on a visibly aligned rim repeatedly returned an empty gripper reading (~0.01), while spreading the jaws to ~0.95 inside the pink bowl did not lift it. The right arm also stalled around x=0.43 m, z=0.07 m with yaw near 1.57 rad at the pink rim; withdraw toward the base and upward rather than repeating that target.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0345, 0.8085, 0.6106, -0.4194, -0.0486, -0.0479, 0.9974, -0.0292, 0.8177, 0.6071, -0.4053, -0.1036, -0.1101, 0.9962] state[eef_state]: left_x=0.2911 left_y=0.0021 left_z=0.171 left_yaw=0.0216 left_pitch=-0.0477 left_roll=-0.0005 left_gripper=0.9974 right_x=0.2928 right_y=0.0133 right_z=0.1702 right_yaw=0.1149 right_pitch=-0.0431 right_roll=-0.0223 right_gripper=0.9962 state[joint_eff]: [0.4718, -2.0444, 6.9402, 2.0244, 0.0855, 0.1734, -0.0073, 0.1983, -0.9915, 7.4325, 2.0586, 0.1538, 0.0806, -0.3687] approver: 1 step(s) modified (delta_clamped). 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
give_up({"reason":"I could not secure a bowl after several rim and inside-grip attempts, so the bowls remain unstacked. Both arms are parked clear of the table.","hindsight":"These bowls are wide enough that fully open jaws catch on their rims during a centered descent. On this setup, closing on a visibly aligned rim repeatedly returned an empty gripper reading (~0.01), while spreading the jaws to ~0.95 inside the pink bowl did not lift it. The right arm also stalled around x=0.43 m, z=0.07 m with yaw near 1.57 rad at the pink rim; withdraw toward the base and upward rather than repeating that target."})
tool
give_up: I could not secure a bowl after several rim and inside-grip attempts, so the bowls remain unstacked. Both arms are parked clear of the table.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.951 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, 0.7948, 0.6048, -0.379, -0.02, -0.0257, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0162, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5385, 10.1402, 1.7558, -0.0513, 0.0952, -0.0611, -0.4308, -1.4154, 10.1812, 1.917, -0.0562, 0.0562, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58df9ff1643011841d90bcfa2bbd211282db796be33a06107588cafcd1a56789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01da1bda3f4ca137d22cbf00ca417b4cc584becdfa1ac041e39cade626b4bc3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfde9495811c8a405b5da9e62a3a3f8266a16b9e11948bf996eb84c59a0874e",
      "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 1 attempt 0 · /responses · status 200 · 6.105 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0777fcb52d07398f016ab42c48826087d0800fb191773a2268",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxP6SOW3dwJ97kmxi-3uPcDWuiSBAmKSMWkqVNZRt9ntWZA3UVjYAoVx0UKDHW61z5qThwfMEy4M5sHNVSCGfQdlMzilphkZHmVXAUvs8-MozFc-HJeJduBAMmOKztEDWdwXY9Er7XTWtWy57quo9GEvMjP4KoBtj7YBziegyIMGdqfuAyXiDgfDtUDiogVSogxkp2EMyW9XsrKC_UxUEg9st3q58kjBfV1ktbimD4jPxlzqXOCDAb5VBx7XMhyxcKUDbEitd6awGVga6RpDTsggCo02HQCZJiTd3Rrs0UmgFr9tQlbKJJyevIrP0LLaFX15KiFenL6NmZO_cnSVmMZzrYL05JpuF-yIpvfl_CzEvMs6bYi9ISQYDIPnIMQFo0J8HgcF4LFs5_OM-KyA50few3Q8nZOEmehC_6MKhikHjCw2aZmPTenvmV-1gM97Aeck7uAGe173bLFCaRA8dW5LnNK1w7NuvBccaDQEDLJGdCU6iF0ixzLnnXl_EPIxPtfA6L7_SQan1-kq7wqp-S2A94GoAE9C4argAeTIs0cdrRWBK9cqwK_X-WQ8Ck2e-xa6XR6YMHIn31KyV1TjLrqab_nzy4GTX2u8m318mZNu7mWooFpqyvxbNkG57LZ4xaRiQK3szbfGi1u2zJDUxAf4rOfPb6hvTho7yFeovqoaX20a5YjYdZ5lGyv2Mt-yj9X9d8FgCPcfetGvUXwz3T-pY_ccmzw1476qrUbhJaG6oCX779fSCLEv9moe2-9OL8-VgzcRKZxbKEX_AsY767Q7B2_eFQowsklYRvxj_MFp8ZB_eQ7Rgj-PfSbisi5VrEhxEhZzja8dNfknmOI6YLKR1WQzBa15Mkf5_J3H3lLXjgjLDqZhEClkrJXyi090IReIoNCTtcNWjr0kx3QVKAOQeoXMBuzmQ-sdnuJyHnWNMQ7u378awBHXjrxUjAwUn-p3cf7EJep-grReww1wPq9kVi-s0dV7c9mkNyVeuC3coM7mn0KDRKoLv9YzNE9kmSYALRbH0IrtaBrnFj6EtdX5JOWcM0x7SUF2gmoDBnuC_6jYXyQfmBMzhB_HwrQv1z06ONfdnUlfSbeuAuLzn5V-uNAIzlJa-LTEz-YI80Vw_fXb97s1NZo5fgnwKd6nQVVzKSecyjkGhDoWjndon6vtfrNvkqLY84OanfC3VJz6zT4FxjnKQ1QXAPSi4cV7u2KmClG7rmWx1DiNb0tiJ2xrs6xxBuJw6r12-AEHgN93aLF1ULEaeF8H1-U2cTX8SB-EeRMHuFDgfPqeMw9AaR96yQOiS4STcIGU9bwdXS3tg93nUG_ooFkdWvQL1qMqjwvgd1ElA9pMgIJ0it5u9K-t06KRmagdiBjCgNKtip_m-PeZ8QLVCP-6stsJ3gMI5uwJINXFOuQbpjY5d3Y2xgjqFDXJ6ppKUndo0kvx8aoA8p3kETXFMpn0M4BBhIGEuqbGnPj3lUTkdw6JBXqUgtAy67kopSBUeYpFelLPtE3M-2glSiY46WjDWuqF2NrdRpu7bCQQcURDMw8z9OGePzDsaom2ycAOumvAuGfABtlfvs_9y9YigD_qtCAP6TFqJAQXhTB59ncQGahkbEx1GkNBL91J5fOUS7KyIqx0HlmKbTdksU1skfy5Rz6qT0tBpSS_odfOoRwINOyRpLy8s6xXuBfV6Y4NFB7fPcBgKf9nQ39ZUzTRoaS3wcdaBdT85H5nbNwKYxPZBxoqjlJH7_m8u8tkpmoBDJO9a5uAa6PGMv_ffWiC0QLUANbkk0bMPKnYxdsepTTo88kG2P6yz09hxnJIVbmVSIb43YwyULcUl9Eah3a-m4EbT4OP85CoL1nuxT79CHjrh-8rHmnrw3LFjT8u1CS9uy6fZW8qrQS6xbtrX0pEHZ0aG41tUK_uuVV1rgHNkJE-rjn6CEOHazUd32CPo_17WxcohMV1UtFW4MNUfLfv5cW1o8sM3Gths_CS1VXqyhVXsTFAslzp4Rgl64ObiP_L7zs1L-kO8RQP5_Zgsj_s_bRhDEtpkNXLv4qA6gqQ46iJM5OBgNdvLqgzjsK3zjmhGaeeDldwhUIxVuN6epIt7ajzRex42-AfGZa8Zxxz2woIYXRbnPrdJI7ro0B2DiuyS2gF7D2xUFO8rOqUWuZsjadG4f4K6FOCf3aKVUPxygW4L2Q1wAuwLvVH5emopCltowef2UKhaGi6wOTbhLkW8agrVwbu9SYeZKq0XOnC3DNSZi2CzN551B9kMtW1KMixQvQQxplCI3zgX8=",
  "id": "rs_0777fcb52d07398f016ab42c4cce1487d08e36a8cc2b331430",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.16},\"note\":\"Three bowls are side by side near the far half of the table. I’m bringing the left gripper above the leftmost bowl to line up with its rim before trying to lift it.\"}",
  "call_id": "call_NBigcvnCfvszuok2MfEdIfS6",
  "id": "fc_0777fcb52d07398f016ab42c4e801c87d09821db6227f09d1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NBigcvnCfvszuok2MfEdIfS6",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.532, 1.4132, 0.8394, -0.1337, -0.4232, -0.3164, 0.9995, -0.0216, 0.7971, 0.6022, -0.3889, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.377 left_y=-0.1336 left_z=0.1401 left_yaw=-0.0192 left_pitch=-0.0657 left_roll=0.0274 left_gripper=0.9995 right_x=0.2936 right_y=0.0002 right_z=0.1764 right_yaw=0.0009 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -6.2564, 9.0325, 1.7558, -0.3834, -0.0024, -0.0171, -0.0479, -1.388, 7.1726, 1.7851, -0.0317, -0.0513, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21045978501240fc0f87c3a3f0fd8690338c0bd75a03b202719091888d9098c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7afbcb5fe670f6bf4aab263ed34d2b415139d1df703ed2ef2f6ac4937072b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bb532e7c981d66b65b3d102f47e500edefaa5437a9e17e2bfbea62108ef090",
      "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 2 attempt 0 · /responses · status 200 · 4.577 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, 0.7948, 0.6048, -0.379, -0.02, -0.0257, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0162, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5385, 10.1402, 1.7558, -0.0513, 0.0952, -0.0611, -0.4308, -1.4154, 10.1812, 1.917, -0.0562, 0.0562, -0.359]",
      "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]: [-0.532, 1.4132, 0.8394, -0.1337, -0.4232, -0.3164, 0.9995, -0.0216, 0.7971, 0.6022, -0.3889, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.377 left_y=-0.1336 left_z=0.1401 left_yaw=-0.0192 left_pitch=-0.0657 left_roll=0.0274 left_gripper=0.9995 right_x=0.2936 right_y=0.0002 right_z=0.1764 right_yaw=0.0009 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -6.2564, 9.0325, 1.7558, -0.3834, -0.0024, -0.0171, -0.0479, -1.388, 7.1726, 1.7851, -0.0317, -0.0513, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21045978501240fc0f87c3a3f0fd8690338c0bd75a03b202719091888d9098c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7afbcb5fe670f6bf4aab263ed34d2b415139d1df703ed2ef2f6ac4937072b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bb532e7c981d66b65b3d102f47e500edefaa5437a9e17e2bfbea62108ef090",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxWyghMktdMlUVNOfg10k63EQ0M561dmcjmDN9x_ddXftOmCiC1YKUStVTjgk1cIlWz9J_xZJdoZiLOzX-hJ3DbI38n1-bu0PMnsgZGJKQz7LwsuWTmMeS6tn_dCPB_nroIsl7I2UYo3uwJbcr-GnNkzOLsuMSyMKro0JVW0Q3WrSPx5FdfYfFUHNs1gMdk99z7LYz7bHCStPWUXDZAAygI8kW9Fi9r4PHRvMNWLqPpMYKVSt09XxzljSFwFphjFKyWXWxMYodBng0kU42WSbgNqPyls-Cyd2RK3yhjU5nu31yJAbtl8Y7cJQ9b-AvNP6s0228edJernvRuJGeqzlY72WSRvdibde9hFPvU5hK1hDfn5hSK1kQG_8WSbcTnHjDOcBodXbYwagns9syvfudH_bERrytV1wuq8kgsGznOy__NS4rZxP9NqLefgHWU903Ao8Gywo4KDpUIkwIQ4mbIsoKlGHRNhogkjdG-pgkQcsEMj1FERG_RbbbtjpLc2feRtx71rscdaN4aCvyXkWgV1VpVP-cUQH6MW-M48kkZEP3Dj0gpWD40qQvjvC3SuzAmhP8OPW_aUF1P07KbjYotipCofZWWZs4nluQcqzV8wekFeUCthrp8MzEoBsKmfwPRZFRoG8cQc9RgqE_oXVX5fWrqVcoIV9ID0_V3h4sMSUakw9ZAQmeXD7IA2Z8hVQL6bgCRB2XzXxT8RsdnKcDGLJsIcA7-Hi7T2EfSzwefpRtkFN6DMX-ihWRFTgXBp-CkLNcPi6R8lCCOv1kE6cWgl1sjHPj4cilwf2_hqHrHAIgrhjihu1GdMdZbXRXs-_3BWPkzaqspRc5ysVGnLxN4fhSpHA0nfjNW9MLX_VkP8Ns9C_nigTvWALA85ovQuJqW6_czZFPMuk5oFyYknN2Ly7niV0HanGxoyMEBpSsMGZZmjGkmcnsIdDMceltq3rf9Yi4HRaCmp64J2wwxeeOWlfVR4EeJqraz2OHRXnNTQvfYV0FRnANdUMZdrWZCheWNzwVgI2F8QcTwglg5sTgyKbBIwpLqiWQ1gZjUjlb_q4omfxiJWUwiq11WQqH3q-SRjuAxzpxOtQ7emPBwVXWOVtm3vLKvr8uZii-EhOgMfeqfk_hPK7a14lSaW7OAbwHgh_Z4rZdGBmWNjEVGMGCSC2vBI11bGkwNEiH4N3hxJPhFrDQjv_F08AS0qUjD4JVG44vlaWXC8mLXoRahR8g_qg8PGsmFs5ZKLkCjQT7JmC97GomyGAf-qMiqWiF-9DMWVX5qlIT-1M1TrXtDGCQPDyA2-RGD-_9ean437_tTVIfswo1zBj1x9_EuLlr-9bCGA7LHK3YMk5cgZYqhrAnnT0AxhwoF41EphTVkgA9_VPtCe8iFH9jblPSBEVakrZO0Ly8ANYRXAcMTcmOwZ88qbY7zRZm-9H79MLLb2VuhhO8wa3RMOGGf3uMoQZAufu66VoL0nyklVuKGkURA2tM9NFdWBaO9mn9gtrTk5ho6a3njJrH4k5WB-BabXAsxiFiXwKDGwPtPvH28ixNpPfVV8l6H6jw9vlEiBLkk7yWA3kxFSkDc6aGS5le23ev2gcbylz1Vfm8t8Dgo_LXyO-Ym0lhPv7F3HKsK_qNhUPuW8goPVJRtgyJER4uy9jKjCn50u8ur5080AIT2TPUI1gpLO1P_38bjVKF3Hf3M53o7TIDARuMIfFgYDvM8lvWUTIeSneK_Z43ht9GF22n7FikSj0TGa2loG0NnPeHAWKJ9clFVG57P8xpa4gdpusCKqIkC-pvtTxXLdXEbyba4DcD82BDd3GbbVt-YWgzG2ew75_ud7OdxOY7RxpjdujM8XWqHTGf_nREVyznWVLkc-BdFsLFGpPzKbfP5sAGZ5tGdmJixLbI05Qz0FXHntqzdYOKNjNLsbJAf8jnD7KZnVCTRnwiSARW0g2D4s3Fsdv0qQrzK0Qzl60JmP_Flv0tl1Q-UdQ0iGMZc8KWYhsxgNqXlrBxe2PIqo-FSJEcWHmw1t8qg-L5Hb1BXqIoT-smMSpvG6pxBxdJ8dEWyAoJ9B1OOwClTBxJrGhkcOd397AxsHY56BHhVUc0shK-pvTDkbvBSxC66fjZEcm9pfpvSlXaEWSNRU0gA6UWTmyhYqcPsUL8ZiqQZx_egrN1uvgtF8X6jrYgf0s70pXEar3AKkhZBnlqcyca_W6XwiqOHvL8_brBDmUnuYuchxkV5hwhiuGGGGr0Ij_CYLnZmqfPFzd_bjMziazrp3bbKMyTjSFQElpa4NbU2ky_m0SLZV86F4Qw4-bVIDWbg2ROE-2QAaUvu13-0YGC7ZswoeSWvU7SWBYKHvKUyCDXjrBqkkE1uGI0zeBVliNni95KRoW7VFtkQpafhZ_wzQRMcXp7DVSvGoetDncJwI1ChYC9gI-RVfRUI6ahC_puCZ_r_p2YEbkQaIMfdfyPuRCCc_CrZo-hFThj9Vuc3J5EZ1djeqxf1VJxFiYLf5jv82Xi1BF_WpUk_tsxxQM28F4r7LSgTYWtSt4lMaYrPr48JCA-jPxQP0bk6lmhV0mEEmTJpOT0wzsaPQRsRDOuypSzYaljZXqCTMg459qglkjo8LlnhzQ2PX4vqm-cCNBUpFaaQEqMW2tfi83xZuaDJ5JZ2oqs_FaFzYHPDgzKCb54FGaQJo8bzk_IxAN-oxd_6qbvl7uUpkeEDwBOAHCOPXSbMej5EIjSLG6wCV1X40fJoaBYlFsKYdUvS24poZbvsUefSIZhmWidkOuQ5HY75JpNFI8oWRnUGgCD82BAIZ-sxJU-R1PBiiQGq3oaEWWZF-PLbhJbA1lm9B_xGG63DoqltzFqYwW1FTLXjH7ZmK2f6rl8WljoMjMVkWc2aGfQjS-PuK5HA4q0fhx8xxKKLT3rJKPzU6e2sx-pzJOhYNdGiKh7r7qJbXt_CgHB_ZFHlVaseq4Webr5XYjoAR7tabgTBLOwSjJnEjFZGGZIhGECfxhxQH8eOB2NjG4jdXbq3a_bLkKBZud4GPrVTIRVg2nQWGouSWzknCaOZrGgSaQjKenw9U3XTYFOMjwpdLjZ0o4KcZLQpppLpPog06y40GRQrAtmvKRWfatjVFSlHjNJogqxsSbFxE8FfCRkyGndDY9N3wsucZdOseo5DjfYE_rPVkpFqerU8LqnOqvOrIebnoLAmz8yfQc6zvVUP1322Q9Onp7uxD2p1fVW7UAV3Yv607CQzQyGJCX3DZLQV_npsHcO6EVgg1rpuk2lCYG_dYbkcWcV3LOiQn4f1tumDBHEU0nePsr-ODtCSJLMAwmqgvDae3I1ly6QcwjRQdP93QEJv4NjQeaJcI9sRNX5jTX9A6gAlCovGFZ9qT9w-McpiRAP8LwDQZQVl4ocu4fbOfaMBUDb-VCCQsZ8rF4a85LO5MKKIRtsfcsUfSJ8FfZi8k74aJsB8csPZp8TTdO4xDAON4pBNVv9iAaphVWwWemzakBSXORAimW0JiU-IRt1CNWqeVzLkgjMDbn7oJKHJlBSn6WdKXbFCm9PJDF-JIinqRSWO1_mHaWAWBNNW10mT28pHcu6gf457hrULuCNykyTp1vSNUUcEamBiMWoBXezRaDaFIhfaOU85OzGHdfeGryoZPfd9T3kHY2iN6zIYP-ur90ODLnb9iA58rS-ar3TJu6tMv0q96wE=",
  "id": "rs_0777fcb52d07398f016ab42c5189b487d0bfda998f0aa0a033",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.13,\"left_z\":0.105},\"note\":\"The left bowl now fills the left wrist camera, with its right-hand rim near the gripper’s jaw line. I’m advancing a little and lowering toward that rim, keeping the jaws open while I check alignment.\"}",
  "call_id": "call_65ciqGflSTVC4TP2aIfvJOJK",
  "id": "fc_0777fcb52d07398f016ab42c56320487d0bc71649b59cd9dde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_65ciqGflSTVC4TP2aIfvJOJK",
  "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]: [-0.4686, 1.5742, 0.8501, -0.0151, -0.3939, -0.2966, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4039 left_y=-0.1245 left_z=0.1017 left_yaw=0.0112 left_pitch=-0.1033 left_roll=0.0412 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.174 right_yaw=0.0006 right_pitch=-0.0233 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -8.1846, 6.6393, 1.9267, -0.1148, 0.0562, -0.0122, -0.0342, -1.2923, 7.3641, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a661a7bb44af333f104ef007dcf9ad9ed20ad312ef9ca796b584d0adaab1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a665ee25080c7448642287cb30356449dca7840bf374a0608272a646ae8fdb32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5dad33c94f4664ad3722e72f043ab987ff6a20059c7db525881ddd34cb3e37",
      "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 · 4.397 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]: [-0.532, 1.4132, 0.8394, -0.1337, -0.4232, -0.3164, 0.9995, -0.0216, 0.7971, 0.6022, -0.3889, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.377 left_y=-0.1336 left_z=0.1401 left_yaw=-0.0192 left_pitch=-0.0657 left_roll=0.0274 left_gripper=0.9995 right_x=0.2936 right_y=0.0002 right_z=0.1764 right_yaw=0.0009 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -6.2564, 9.0325, 1.7558, -0.3834, -0.0024, -0.0171, -0.0479, -1.388, 7.1726, 1.7851, -0.0317, -0.0513, -0.0464]",
      "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]: [-0.4686, 1.5742, 0.8501, -0.0151, -0.3939, -0.2966, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4039 left_y=-0.1245 left_z=0.1017 left_yaw=0.0112 left_pitch=-0.1033 left_roll=0.0412 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.174 right_yaw=0.0006 right_pitch=-0.0233 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -8.1846, 6.6393, 1.9267, -0.1148, 0.0562, -0.0122, -0.0342, -1.2923, 7.3641, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a661a7bb44af333f104ef007dcf9ad9ed20ad312ef9ca796b584d0adaab1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a665ee25080c7448642287cb30356449dca7840bf374a0608272a646ae8fdb32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5dad33c94f4664ad3722e72f043ab987ff6a20059c7db525881ddd34cb3e37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxb6qYhKN69bFhLZe9YxQLzvOnFanStyej1itK_JvgkWEoth5xDnyt8l752l-Oz2Kcb-Eu6SM3_lX4jn5B1qsZ4AaJJQ994hcgYPAy4I45EikUCHOA5K5M5w7muVZzHjikEtyqAZeGhYLQix-nvL1JZFJICcSKQpLr-jpUGBcbHr17UcQrkBkukeMCjse1FmXFBQ95BbnlCHflLpp9tvDAcpS9_gaddwz7_SmfJh_jfEpPJCqZJF-LYybkcK2b7nlSwB7CRSULeQ79MN2JeDYMzbh8L-CIUYC3OAhUzO7zovMnKSGlyOC9BS25qCVchtCeGIlT41FiPVfNdTQIOth2PcaMmYpQn27iojbvFe1iJTaMxS0Q2z-Ku21ArUxu-EmD6kgeiVU7wzR-D0Nw1R17jdrh135x7kEyK_LqLmASpOpxGidCnI1kWRKbQ4Tv8rchW37bJ71frCGLtbwwCXxL8XrxYpJxfSjQhiY3nf2OoBYm9mnEI9vrI3Nmtf_EncAXDtHLtKsHPP5aHiKoxwBgrHwm96UMhNX-zhH4pOvMoXdUAQA7r1HQpY-7N2RQeuX-lcoK1iUXlxGX_aSTUdYcz6XDbSqVAfz_xg6hZAKMMZITIOYx1V9_qsCJ6IHclMRJ_TqM4gxMhi793oXaOtSqSZ01at4_Wfsn_58cLzDh1OQ5BZEFx1DXcaKikPo5aK4HtV3bPni5meVjYjdN0sqZ-hrGC_b3_anlth-Urzk5ZwHdiaiJbM7PTuV8oy1uQS2Q75csSz-_MX4iwgIcbTXgzQxrOX2Pl1r_qIhaDIWfRCbQXoyVTgdH5uydFltrM6hRv_AdUib5HIQ33PQp4abPzvOv5socsvk97XCU006GSYmKCc1QnyZESVguKd7YvUAZKu9jkKfXy2qmY9cFOnYnCQxUZxBAQIdZy69ekHL1asJYV7xIf7NcIdjBgLl-gfIAbt9J4oN7tp2TojDMM5wRQgIdC2iwPRvKm88kheLCPkpOBI-OMQUT_izEGX0Mv5GivDvD9zoIEJdyoLdfQXA9IRUzAFd7zaBMLuqcVEsQLWcnNdp-F6BUDmE26DTiQYZrrTSADfJtrRGkO1dALKjdNdAJKVdZWvmHU9thMUbKpkFIQq7yTClvJrb0CrWq5w8urPolOVtdomwrLM9gulatKPvVuysZPAmGZDPzu4SILFtLJEJHCITDcJbZOvrGMyzE5qahRSzwyO4uzEC5fiM91QTIUYc2DkQ7ePreb4_LHs6PDUQPDtgr6e_4RYxNpY45uwyMzm6-1KsC6ZomiaA6fB_wORci9nHf2Qx_dJtE3UwjlTIp4_3EJtqJdJo87yk_HYyilzDREJCPSUZcn4PoUsXCN5DhvYieIa5vVR5s4sVTEffqINQzpLRqr3kBv4E8n8MyURymr9h8Oph6aDD7gPr6RCRJnyuVu3FFL-mQtbQbTGSNM5S6YoEih8ev5wMuzmU75OB-4OsDOj1O_lrvnodl3pyG34OP25gkTbIjwwxjaKCyFMGFzgA46oUlq3OgNil0amjcl8l8qOWBGNlDv7v-ENT077u9JwS6QDKZGptxA7P3F-HVp_kiB-N54g0VUk7rSC7gMZlqO2M-aFXM0UU0ZyeuMdADIUH1kP5JHgk16sWQGucC5F7PLaCE0oLVrpAHMPPu05pI32C1MqP6ryM7WeY3dqSwT0lzBKKM50-7pFrCpx0yjKTs0wdkSLAna_MRZWiy9AHTNTfC8sLoP_jt3rovCpEgE2atXeBMtPlhAKo2LJbw1v8OBcNhvPOHp8Z9Bxo6zzcRtl56kGQURl_1Ae2Cpkilc1ltezNRn8VpVolqGdqGv5qCbppTgTNaQlYcxJtuSFQipMS2MyedIiLuUEaOXxvbttWGLM69PZXhRtivf8-TN4ARnP1VO8Irw7FgV3v742lhQ8TPOEoXCPfp_1NRTseqCBFv6Xdg7blxgFHQIIfHkJ6t1u_5udwdxyxgTN-sJLHSSIPZmVSxrxy49AUhzjnBQ59DbmoiqG3XQ8_VP_ZT9SmI1GH0jtYT1bL44Ain5axf5Naa5-I5k5Q==",
  "id": "rs_0777fcb52d07398f016ab42c58d83887d094b458ae77eba1e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.042},\"note\":\"The bowl’s outer rim is still alongside the left jaws, and the gripper is above rather than touching it. I’m lowering to roughly rim height so the jaws can close across one side of the bowl.\"}",
  "call_id": "call_tfw3Z0LjWgf7GnpDu1dcjk9t",
  "id": "fc_0777fcb52d07398f016ab42c5a321087d08b57f74292ac24aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tfw3Z0LjWgf7GnpDu1dcjk9t",
  "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]: [-0.4564, 1.6161, 0.8467, 0.028, -0.3744, -0.2848, 0.9995, -0.0216, 0.8005, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4095 left_y=-0.1251 left_z=0.0902 left_yaw=0.0015 left_pitch=-0.1115 left_roll=0.0397 left_gripper=0.9995 right_x=0.2929 right_y=0.0002 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -8.5949, 6.7624, 1.8681, -0.1099, 0.149, -0.0122, -0.1162, -1.1829, 7.0222, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97291a4252c2b92cdef63b9e42b766a8ba90307b9092115c75bc44f397481df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0200cae6176edae4f4c4877edc124d9ddcc266702fbd6880f8e733251fdbdab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520670be4ae85d1769678518e8dedb4d2b48f103306db10aec1351fa539e0889",
      "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 · 6.06 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, 0.7948, 0.6048, -0.379, -0.02, -0.0257, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0162, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5385, 10.1402, 1.7558, -0.0513, 0.0952, -0.0611, -0.4308, -1.4154, 10.1812, 1.917, -0.0562, 0.0562, -0.359]",
      "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]: [-0.4686, 1.5742, 0.8501, -0.0151, -0.3939, -0.2966, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4039 left_y=-0.1245 left_z=0.1017 left_yaw=0.0112 left_pitch=-0.1033 left_roll=0.0412 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.174 right_yaw=0.0006 right_pitch=-0.0233 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -8.1846, 6.6393, 1.9267, -0.1148, 0.0562, -0.0122, -0.0342, -1.2923, 7.3641, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.028, -0.3744, -0.2848, 0.9995, -0.0216, 0.8005, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4095 left_y=-0.1251 left_z=0.0902 left_yaw=0.0015 left_pitch=-0.1115 left_roll=0.0397 left_gripper=0.9995 right_x=0.2929 right_y=0.0002 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -8.5949, 6.7624, 1.8681, -0.1099, 0.149, -0.0122, -0.1162, -1.1829, 7.0222, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97291a4252c2b92cdef63b9e42b766a8ba90307b9092115c75bc44f397481df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0200cae6176edae4f4c4877edc124d9ddcc266702fbd6880f8e733251fdbdab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520670be4ae85d1769678518e8dedb4d2b48f103306db10aec1351fa539e0889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxgQI8qKQM2NcDWE1p70hw1N9VPLN_jDtvULAADAYohhg41TD9q__8VfmuFqpjttddV4Lro0Zg3uBGXxpDmQcFgOPgLXnsdhkKXJIFtSM_aQBB6HHl4_hwtLFRytdifJEQw4bwb_FvZq0dhQdzYlrtgO7ZwlDfYcbqf1Z0FA2mSdTHB9v_vHQfaEyyu5pQqJjUXgkkX1OABA_lfEFDFiOQ2Irp8FaWOYdz-0Wq8p5fPlHtVgqLhjpwoVf6tG63-krW5L-xSyD5s0jvxXy3AXxEdb7XIBadMEvM8kxKBd4S8horMy9_6DOtIBFht-JhMLhSahzDyA0mIhfRT7htg2799CnpJwOotcxen2CYNpFu30TuN3ZvMjp8FY-Sx4ZBuvlzC-8l96KRLoBxYN4TcO0CMaTAK9RoZa8WytgIFrRvBi-J95BRnT10MSrn4A0v6dS5Dezv__YRtSI1FOC5gUjzY4wOQWdx6d78OVGF5_KISm9KRoAwqPHYXyU8pKeMjj4qxuMkTCnnIiFywDriwrXAVjkiSAwZOje8STIZRgZ5irtCirV9XoAXA4CL1ps4Be_uUkyYNpjxyQgdxVmZ_eHUcjjxcHSXyvpuat7uT6pxXe_Y-PXdb4LT24Nl8yt_CvuJzCGzuO2GhbMxS4uVwnvngGtVYrA3fbEVU16fL9cJ7u36OgHQ3qvPDxMvGqi65wwL8fGEj1P68w-MLdp5z2LU_iUWYl6wSvdfS5CZrdTS5PQFTyTnmsgMEqAw3Ary4eAGWIrI-ZoMUcgWcsRCEY0MTuOoN1MFPIrHGChCXICUaSMnXQqlPeb7Gvy3S-9vSZFntvQa_VxolwPlfBCDPCYuhhsdc0KfRI8WTWvWVyK4jb_y_qCnJVt45LTxGBLcG94FW7nWkNlq741dBuh_1Z0Rb3xeJ2vdiGDL6MOqH5qr3cGFN7CBeAxqZUY6nFJN3eGpkzgiDuLQMhy2SNSTvAyv9nYL3z4giIGPgoquu9zQM-SW0j5e61ruZTGZWRyxOYIZfTM1Dsp2V4qHv7YDxpUCVe_1oHbH-qM966tVKQeONj530pO57LKC5639EvUARvVXDAREoJPnUhA0BzywqMO_81jSIw5DyzCKovP-fyB4QayvNW8gX1cCqc1KqOPS0-USPNFBjcIIXYldZQoa9U1w2XOQ_g86_XN17NxTtOcrenD1kD991gMQBmBHUpVpj33kJUo5HkepjevJkOGFGFe81ttzg5EdBbzjebmVnuyzXTX-ntOAvzcVrCPmUsJ-hTZTBoVQXCYoDqjhWO0CzPWnYsPIePPtPU44mThaKPrCF3X9MUHMPkbSmhHi4QrbfNhbKChjhmb3Ik5MJooCzQhpq3xCoJahf0fBBzT4VN7idpZYYm8iFlgkh9MYO5nWmEI7wrIJwqHFcv_f7u3ES7I4AUfjFzU2Zd74CpNTube4DcWeJIOKmBTmL5Mz4rVKdPipPmgb2BSZN_c5EfGlni7ozpa8Rjd4XrJCia1LZlrxaBBFLaMPeClOggQo3rqif1ffzX7UpVjrijuE6xLLuaPvKZWMKrACHAymY4rpkl-OM1EZUgPgvtkdZ2sEmtcUMbWYYAv_vdso1hYlhmztEg37bsSJ-V8afhevvMmgjkhw71v0H3e0WBvBbuvY0FjzRvQ5ktOAClT5K8CPw7M3dcr_tm5-zSavVe3EzMt8aT-pMqlfaSTSSIRRYKh7jyr2VeBeYNIW4J2Jirbz2S8fL_CxFlMU1I2A4QHwqLhltHuTTD657pb5CRhgCbRBqUMNhk3p8-O_WQb9nNIzQYD7aKlH_cThXoDopO3OjDVfVk93yvWdjwhcBv5kZeyDYyXWyrY5vR-CIAxPHndCOexVN1_uXgJdaycUoGJe26XiSogPUR4T_fR-kunIcNqBy2p5-tzMufgvmgpZMDdh8L3cqlIA32-MNra_amqylq3iHf1UTZjr0vA9Iatw-ftOSmiYt9mEiHnxJTzoHskQ8R-HetlbEIL2BhETWdkvbQvrxvOHEzrZa2nkeVruDvA8fDOyn0X-X-Isa91h3_qo8Tt83x9VLxw9ZFIPbqigBWq074ZXT8bPS82rrtFn_GqN3SPVrRgtv2Mv-k3ZuZFu7XHwMMyTpDldoKzZ07qwlKgGbezZwc2hPWmY_qIdyGJSgeQGuMqD6x1gsuqnz17solG5br8_mGFIvK8hwYKoVCWElxqDvI0QPOanzI4zguBJS3R3D9xACCr-zH6l8rV-OVoXwfMQHpFCl-0wG-8uRICYSlygPJCBAZwT2Fc1ACBddhI12xWif",
  "id": "rs_0777fcb52d07398f016ab42c5dd3c487d0b03271dce4488286",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped descending at about 9 cm, short of the commanded height, suggesting it may be resting against the bowl. I’m closing gently at this rim position and will check whether the jaws actually hold anything.\"}",
  "call_id": "call_9epC71kD2FxgXeGuNygiUtfv",
  "id": "fc_0777fcb52d07398f016ab42c5f960087d0904b94c2fa99a761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9epC71kD2FxgXeGuNygiUtfv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.0303, -0.3676, -0.2848, 0.0093, -0.0216, 0.8032, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4096 left_y=-0.1264 left_z=0.0903 left_yaw=-0.0041 left_pitch=-0.1115 left_roll=0.0345 left_gripper=0.0093 right_x=0.293 right_y=0.0002 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0275 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -6.9949, 6.3248, 1.4921, -0.1734, -0.0024, 0.6667, -0.0752, -1.4701, 7.0496, 1.7118, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac88bab350054a2afae14a703561a7b3ea2c8459eea4433024c200b20424f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b826b0bc822d0ad4d3ec7f8d7d242fc3890ef8853a5532493ad06a6baa1868a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cb20fa20f97e5f0be6cb4789407596de111283b48778b4ac4453b6be167c33",
      "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 · 4.494 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.532, 1.4132, 0.8394, -0.1337, -0.4232, -0.3164, 0.9995, -0.0216, 0.7971, 0.6022, -0.3889, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.377 left_y=-0.1336 left_z=0.1401 left_yaw=-0.0192 left_pitch=-0.0657 left_roll=0.0274 left_gripper=0.9995 right_x=0.2936 right_y=0.0002 right_z=0.1764 right_yaw=0.0009 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -6.2564, 9.0325, 1.7558, -0.3834, -0.0024, -0.0171, -0.0479, -1.388, 7.1726, 1.7851, -0.0317, -0.0513, -0.0464]",
      "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]: [-0.4564, 1.6161, 0.8467, 0.028, -0.3744, -0.2848, 0.9995, -0.0216, 0.8005, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4095 left_y=-0.1251 left_z=0.0902 left_yaw=0.0015 left_pitch=-0.1115 left_roll=0.0397 left_gripper=0.9995 right_x=0.2929 right_y=0.0002 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -8.5949, 6.7624, 1.8681, -0.1099, 0.149, -0.0122, -0.1162, -1.1829, 7.0222, 1.7509, -0.0464, -0.0464, -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]: [-0.4564, 1.6161, 0.8467, 0.0303, -0.3676, -0.2848, 0.0093, -0.0216, 0.8032, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4096 left_y=-0.1264 left_z=0.0903 left_yaw=-0.0041 left_pitch=-0.1115 left_roll=0.0345 left_gripper=0.0093 right_x=0.293 right_y=0.0002 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0275 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -6.9949, 6.3248, 1.4921, -0.1734, -0.0024, 0.6667, -0.0752, -1.4701, 7.0496, 1.7118, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac88bab350054a2afae14a703561a7b3ea2c8459eea4433024c200b20424f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b826b0bc822d0ad4d3ec7f8d7d242fc3890ef8853a5532493ad06a6baa1868a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cb20fa20f97e5f0be6cb4789407596de111283b48778b4ac4453b6be167c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxnwvvwy090BDfSkl8pDUjFAX_SlvH8ujmNghsx_MjSzfj53sdhNKalX_mTjmHFdMJhn1jfs--dgJBoqvw0H7mJCvUlfT_rhGmkYb5BGaRB2ripzTZExpW9-I1_YiTMe5NXmyd3yp0o0UcF2UwDJwE9WlGNsFFEo_nSIgTbr5QuS2tlOIW-PU13vteddOs_BdtGIX8lXwYwdzXnmAEhXTkpV9N0dTZu1f3HmJ1AoyqTM1Dplg6x_Rh_z0PcNBTpEprFT2k20NoRYa__0DUdDwf8eB2RNuUo0Uw-RQymOvRvT1Cq-ANqmc7GB1GypJPcu5FmwyeCtmMtwNxdydwaO6wpNt0wRSTJekeNrOPUZRWFTPQzqPPZvzVu45_cSsB7sV_Za1hbmnHl0NNrK47-3LoIbdhZSmAzqnGErPPkXB84LmKyUreK8bfFzm-XJC8Cd8grNvF9fEyatTzT-sm2fbZyC_mFth720paMdzGSsQSYSLmQiV_9cMx420_zB5gHPFa0brja_Bp0lTdbufSYFNnw7yHFE9ZVNfolqKxvsJjIpHsae5xSeuXK9SZQ-J7pcQZvY7WCpufm5-b65dFrUbHIw8Y0ap4tmKRrMT9zaguk4lpuDUVdsu6s4sENMMjjRE2UQYM7HGhd27bh-PNvS66Ubk1Aqs8qd0xbhISYEBWCf66mw5YoiHNrcl7_w3LAaNLD4IvJTQ6JKriSb8KzqkbCUjXaEbA7-VOD91LwI2HbzDp2WOW4u5CCQuJPpqbXRx8AZpHi6drjGka0r31lBsC2vq6peszae2cAfXfOCe1nirBzHl58PSbHZP5JLiIr7kRhG3ZqIwN2RIWAJ7sYz5ciN5OBbwzcjBcKGAAGHUi-Swobz3UE0c-JAYBXfp893L9FtazZhO9dNbmIugrUP3DSzA7Ub-5VJ3XornTrDbiQTVAjWj_MbhjsYjaCMIY8HVkAtk3NzUGcUSoCPYrtr4Du24NJHyPfln_YsHS0JhHCiEsiXZiCSDjfwpSm2HbYktKkJQAlaJ16AU1wt7u001a83Cw9mP3ZZGCIi5kUBLgy7Uqm8ms6E8ZZ1-pORM-JNLNM4L1jIOtNWKmpGjzJ_wysehizLxX1Xnu8uXkD9c1MMlaVAlyAM4sM1OVUTL4sk8HyKWz2lEzRigB2A7rkQ-p9mkKwNNliyxyaOjCdcxTTaAgO1GAUMmlg1cSm7WIUR32o5N-C0VtEaiOJaeCVq4UhjtjmR4Qi6FYZn6kRdPzpXo3vZLzc_zfW8hGkgyN8wkVZv_8gisKEOtUek14oknhPmoBSw53TMslUDn3tQEO2dLVvua9-UxXTpE0XdITx8YZLXSoJU3ud-QnvfIxCLl8BMb_satGBRNC2PRIM1Tn5tcaZChjg8wJ7VbgjdtLs_EXQkuhTWCwiEYJlxVfrLGXAzG_Kaflm7yQuc3KI4KJokc94WqwUvKscwGbP45j39MYbo6Yd1hViTXVmuHltCOLTnDb5Vf1D_qJPNzPvfkNiN2szW7xITMn0Ln0Fxc-7srmIIh_61fX_c0cundMRO8vlEnFg9YTvwNU5n-F2XbVJtL2NDUBvBpt-Z0bQ0eNN9422_4fkzKiq-3CzYxU-iOJcfvY7huo1s-fgiSSo94fJdsfRDCZhHzzMBwUi48t86DIATMKT9NDJgpkr4N1K7sOIklWGsjJAm1u4vizS9bW9MUDuSkkhVp_aL46NXVda8PdO7mHiZMiV0jqtKGjBoPfPQIKwcG9ihOw07KFw6zc2B725TxkDX4zVHv__gqAn1X4RV7Qwl9ij5o-dJrDdfcnLoY3jVztL6gtt-uIq-bsDlRFuhU-sVHXF_OTAFy-NN5IqgjuCBypySVcDhcBokKhq76Ni2lr1q2E81-ujP-28cvlDlNU81ljsueIf7afSndd0B6LzZ_mhya9oY6KKx33tCRG3VWGGn8iXyG5B7OTh9JY8dpJwUliZ6bXDRFENJagz-gcm3qLYA35_FF4t_CeSYXycJOBEJeRVAnVAAiFbHRJVvZexmpQixVf9pE5o4v6FIBuZJFG4Ib3jrWe0MaDXhCu2tNWVCXc8FOJmHJqIyvHbDGva527O8cs37E_qy0i21xEyoWl8Yw-zPRWg4dJx88M1CQF4orfA55RpHfWUuYaRiKB-jsjsM5gxZRKykr3O9UJOfRrzrz6WL4sx6FQgLS9Foy0JV37QH00LptJ2eQU8w5toe44qlL7pRBXuakMo20NLBsO25DpSrouIvGz4sZuS2MBB6QsBnPzuTlLNxeJL6L85pbWe_UJpgtHPWiIo64h2PWtt9UO1lpXQnoN6Lbce7PZEPFl7UHJSXh4FBLlpFRpGAG_UpgTh-J0RUDTVpUVCAgfKT5usNuEsT1IM2-fTXIZjz3E4jUKesDTWI-8ma7VOZG52HucLWPU26-u7MbUJtVvbQX4HLRprRFy768mj9S8v8ypVbFG-1teq1qVCxTIzAqr2lHb3AeETOb1HCw2iQ2WL3iOCdINyV8sbrRqNSBnn49OxOIkwdE7y5cO8AzMfaPzMXlw-ipznNuM-5aL0LPUjdQomVIl_fr0oft-xCm_iH5aHPNOMPCX0hgfOrdAABdDykOZs273Lz0C123FyfQYDiAtNn5R5IcrJg2t5NkjMMojBEgr2dKumH_fcjuF_QfDcx6d4etbh_pFY4Omemx35D3STz9Y-3GkdKQi8e7wBSrS9EDWWBfzf94GucnMuUvJDt_3tm8b56M_bc7FLfEKeVAY_vc7gnM-jbuq_O3lErrH4tulRcMMz4E8nE5J-bBP8RFZ8vAWSiG4ciQSXwYAsRsmzLnzlVBTV-D6QMWGZb0u0k2HRm_2fhzBogb-gEyFmcheHnOo3szecDrKqYlfYgskjXzxTyK0EO8cso_ucQE1BsUvzpXWZoySOoF40ZTEeM9rKd8OIYgg_",
  "id": "rs_0777fcb52d07398f016ab42c6252dc87d09ca5a4bc6fb94951",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.155,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The closed gripper reads essentially empty, so it missed the rim; the bowl edge appears just to the right of the jaws in the wrist view. I’m reopening and repositioning a few centimetres toward that edge, higher up so I don’t drag the bowl.\"}",
  "call_id": "call_WWqAiBGvHaGBZY9Wo4plryAl",
  "id": "fc_0777fcb52d07398f016ab42c65172087d08f58ccc058a1eb3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WWqAiBGvHaGBZY9Wo4plryAl",
  "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]: [-0.5007, 1.6211, 1.1217, -0.2634, -0.3943, -0.3302, 0.9947, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4253 left_y=-0.1513 left_z=0.1501 left_yaw=-0.001 left_pitch=-0.1233 left_roll=0.0264 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0006 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -6.8034, 9.2923, 1.5409, -0.315, 0.1001, -0.0122, -0.0752, -1.388, 7.2274, 1.7265, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9b4170758c5b114c144fa01ec74690fc5a031c7e1640d73de4fe77538f76be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1ecf25fe1d68cde7ff40e52bd03f4dca2ad58623887b9a54e84b8edcd09625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33b5f69df01a6c0586d7cb87f1035100fc43e3a32409d5eadc07d9335c39292",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.763 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]: [-0.4686, 1.5742, 0.8501, -0.0151, -0.3939, -0.2966, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4039 left_y=-0.1245 left_z=0.1017 left_yaw=0.0112 left_pitch=-0.1033 left_roll=0.0412 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.174 right_yaw=0.0006 right_pitch=-0.0233 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -8.1846, 6.6393, 1.9267, -0.1148, 0.0562, -0.0122, -0.0342, -1.2923, 7.3641, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.0303, -0.3676, -0.2848, 0.0093, -0.0216, 0.8032, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4096 left_y=-0.1264 left_z=0.0903 left_yaw=-0.0041 left_pitch=-0.1115 left_roll=0.0345 left_gripper=0.0093 right_x=0.293 right_y=0.0002 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0275 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -6.9949, 6.3248, 1.4921, -0.1734, -0.0024, 0.6667, -0.0752, -1.4701, 7.0496, 1.7118, -0.0024, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5007, 1.6211, 1.1217, -0.2634, -0.3943, -0.3302, 0.9947, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4253 left_y=-0.1513 left_z=0.1501 left_yaw=-0.001 left_pitch=-0.1233 left_roll=0.0264 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0006 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -6.8034, 9.2923, 1.5409, -0.315, 0.1001, -0.0122, -0.0752, -1.388, 7.2274, 1.7265, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9b4170758c5b114c144fa01ec74690fc5a031c7e1640d73de4fe77538f76be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1ecf25fe1d68cde7ff40e52bd03f4dca2ad58623887b9a54e84b8edcd09625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33b5f69df01a6c0586d7cb87f1035100fc43e3a32409d5eadc07d9335c39292",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxsxKPU7FqTAtX1fAlnbr4n6Kululrka1XyENamjqDrZDn0Lr_OSVjnVtfxQromFuFPCc-rbil03RVxJmtOeTf7hrIKJbyOujrjQiVwk3lEjVP0ylkK2qfkna7Pxn1KKz_KFh3ojHSAxzCS786BPINs_vh1mg95-VOqSQ7I-4fkyrrQwzzNBLfhKohfHSJk-odetFUVlKFQf9DcRYd5bwlb8bWg4qiEeQxwTUeNebEKiNY2DydvAajNi_xi3pTV1yKcExgUYVbZlbtVVk6SVRt4miLCqjv6lYO_jhiWaomMokzPozWXNjNFwn87lD_ZmzHB419wWUS3D2H7XCeHs1CcQej4_7b-yW0a1sGtR6bKSl1LfyOFhSwQ3Bp2RFd03qEJtkhUqv4Aoj8wzU6Cichfc8I0ezZxMmQeLuSYP4UZqGZhTwxDMQ4x7uTphxjFKmQZ0icbc-7WuqgXZKrCM8Bn3V8inb62MzzRRxp-KKzo599_Nv0_NNxsx4qIteR6f7ipo7ps8OCPHxgwAGeXJ18XJgB3yfSbx7Jby63QLcUVO9W1yUCQLK00W9c1zloD_DlesCl3wVrouq9gOCA9WK_uyoyVawsBn1kR0uzXEDzzwLhFnFCY-4Tb4cZ2p4N5MR33Wi-HDAEjC12GORSMgTY81VvPVNaXfl9ul-YPmQyz-OEMFbMT6j8feg91LI8h-rQjnvBx6EM4jsSoT2FrTfq-q4w8NKwja0T6W-BUHlMLUb66q0oFH3UFl6_8qw55DCE-qU_GjYmkQxc8IoDH78FCylJwb8OtD8jtR-tACiZUzYSmStT7vbmVXnnUrzdiFqCEzmWwSs_W6p64o7HvtC2Ch6ZaxjP0snkosz4rtlnHinHLdJQlf8_BBmOyrv1_WLcAqcMGpEVuqpcZNOnwBodbReHE2RWxmvWTlR_4CCK04ijzVzHp-nAm8uGXRRZUhX3SMCoUcjODDQ6vZZMu_TFYECPTFEQ1lXcNHHVsbm0JvWfRuJXmZFlXuvcRWqD7uTndHRRbdL8-njHQ0iuo9AiaAQL1ybPvx_WhLAutOqI9S5WAg3u31zSWefOR1tnpkp5kHJnxTJoivmIxP78rR5jMPiWt99q1F79de8-tKg9IZUp8EqvgjMkb-hjVIx0yuGTCVaDqmctv8YYU3nnF07oDtABHKNrwBv3rbWD-N4juH8s59Fv9VaCZFLsLlrHu-_0W-1vJ5b6LHGcXXtZKzAr30-Uc0LETcHYHkhIUvSfA6MBnw2dd-q6p9olT1LCMMHRYliNVW87ZxCMyuELuDSFnpS2o4iccIDnOAKID_rKESNWKR24WmlIssx_Ajz1auTqzMgE3t4MmuVkWJ_1A4HQaPVOYAI9d4Qz0YfUffjs6THH_sRGkL_0XZmTd9Xjkz8s57R70nDqjq0yECYYWziSL0Geki1NQkh_xjqkLIgLHtEOC8BB92dG5S8Lbgf-jl3ZKRswuE90n_IW936R31GC53Y4rg8rl0wIyvm3R0FjLsdT6UQy6owT7JFqs2vluqnFTw8SA82I9QnPp5uE-M_bqona0pHgT6hUr2ZUqiCBvTv70y-mSl9rGuBRQJhBJCfwFytJezwNL76KbLPEbbgc7klBWdPTAORhCdu6uz8wHOpeS3elzJppK0SoW48QUPaqBZcWJQDQXoOK4WWJVQBKhr1_YaaAE7ZWG6fI_-W9PCN-mKYFFSeoqUh0DNlR2cLCz963VUhEik2a7pF3Hqoh2dpEBTu3jNIaTfMScgJelvKBRRwQzoHFVV4FPxxJaMqjcXzi9zw8tywCcvrcZp4nTmLA_yDKWnzWlfp-QiwKtfz7bHk-OkqFHIfjIvwo4NKlKUVhS5BaXIbDGptXQenM-22APQmj8VaJnRcRo46ZjlgZsoGpLP6o4xhT3h22pmo2Vq93LsmvokqMlYpKOuX-o_RT0DlUBuTmTCHj491DMkhI3LQZHyLe8xOYmJ0Rk0-OFfOZFXu8j3cRniKvj0sxW7z0knKT3HcQXWRMPkRPdymchu2M0FqhHiJ3Nm9-8gUIxN8ViTuwR0laNzkYc9N47ezAcXyvK8TXoA9o6zeqjD0ZVH8BCEoh4aJMKngDSzn07Bqh2KdlQncXS8-zsnxxGpzZgZguaPkDBhkuInZKPdtht9Vo0oEj-iEEu8mU0sSMqvolTgozdeo3xHOnw4CgaZqc_i8jpN1bNZ2g6JKdth_xH6y-07QXTsstY-drwCPsXTg8hq3rMDlM5wchPfe1-uU87VjFCjD8QCWmuDVD1G2wgNGeATHbyuL8uklo4G6MPuwivgfyrQ-qie-nU5S2ZLHm506zLd-4hx-lLt9-tB3O4iCXIlg7RYlNeYqOLg0kdICHN19NDzAoydZ-A0H4WVa2HFHi0BaX0GGXG7WlmaRg6qsSagN5YQp5BwthW1KpCAYpibiJWutx3IeGQDUeuBDPEzhyW6Nj3xLOdbsiLnyrm_j9ou2w_6pQMqqCfDIkvG3lEbuP0cywhWCnSrw8MS4tiGPdsm8_-Czjf9OKjP0Om0mZcYru7g3398Ws7BUHzCLClIKbkplhpFpZK5M-XzS755k3XSRshboY7I7_EO6eUXNFFteB3YhERRzcopxlCdP1MsmsHB9o-YSzqd7UhAQ==",
  "id": "rs_0777fcb52d07398f016ab42c698aa087d0972799423de0342d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_z\":0.065},\"note\":\"The bowl’s side now lines up near the jaw column, but its visible rim is still ahead of the fingertips. I’m moving forward a little and lowering in one small approach to get the rim between the open jaws.\"}",
  "call_id": "call_NXXywG4J4ksPHyd9du1rL0ni",
  "id": "fc_0777fcb52d07398f016ab42c6bc42887d0b1de70ac19ec352d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NXXywG4J4ksPHyd9du1rL0ni",
  "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]: [-0.4644, 1.8332, 1.0267, -0.0132, -0.3737, -0.3187, 0.9957, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4431 left_y=-0.1459 left_z=0.0604 left_yaw=0.0166 left_pitch=-0.1806 left_roll=0.0491 left_gripper=0.9957 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0003 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -8.7316, 5.8051, 1.79, -0.0806, 0.1294, 0.0855, -0.0068, -1.2103, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3628b34a232b40e7f80061afee6be7d3a543843ba71fac7bee0a2e647ba21a83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffe73eee3e31fa73d172caf60f04288553058e7e36c22754d32948ec7a4ae77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975f022f96a5dcc2d04fb8953415ed2e2ee845575e1c997f3c13af77158a9b58",
      "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 · 2.257 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.028, -0.3744, -0.2848, 0.9995, -0.0216, 0.8005, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4095 left_y=-0.1251 left_z=0.0902 left_yaw=0.0015 left_pitch=-0.1115 left_roll=0.0397 left_gripper=0.9995 right_x=0.2929 right_y=0.0002 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -8.5949, 6.7624, 1.8681, -0.1099, 0.149, -0.0122, -0.1162, -1.1829, 7.0222, 1.7509, -0.0464, -0.0464, -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]: [-0.5007, 1.6211, 1.1217, -0.2634, -0.3943, -0.3302, 0.9947, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4253 left_y=-0.1513 left_z=0.1501 left_yaw=-0.001 left_pitch=-0.1233 left_roll=0.0264 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0006 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -6.8034, 9.2923, 1.5409, -0.315, 0.1001, -0.0122, -0.0752, -1.388, 7.2274, 1.7265, -0.0366, -0.0269, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4644, 1.8332, 1.0267, -0.0132, -0.3737, -0.3187, 0.9957, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4431 left_y=-0.1459 left_z=0.0604 left_yaw=0.0166 left_pitch=-0.1806 left_roll=0.0491 left_gripper=0.9957 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0003 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -8.7316, 5.8051, 1.79, -0.0806, 0.1294, 0.0855, -0.0068, -1.2103, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3628b34a232b40e7f80061afee6be7d3a543843ba71fac7bee0a2e647ba21a83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffe73eee3e31fa73d172caf60f04288553058e7e36c22754d32948ec7a4ae77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975f022f96a5dcc2d04fb8953415ed2e2ee845575e1c997f3c13af77158a9b58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxxzVwQFYwMrFkAbVqkqyR-EPyRmbEXEW4qC78DVU0Femi8caOLNAbLlm1gkpbdzjWrgaWe3wDFrvMzC9kdahm1Gphpa0rAIq1SeZLbjLgG8bNIHwvZdKRXATaCrYg-xtDAhUvWzBgDElJtbnYUx7Pn1fHAblM1EQDqhDIajjABZZTDLYU8TG_8ba2dRPnFLnBFax4QpWxbw9I38yclOddWyq0JF76lma_6lFXK13zdNJHe8b23PAdiussH0WPgVyZe9lcDS90HBavmVUsAK3CVAsPoM3VwiKT9YgV1NF0J6FV5do-_hdlvA_2W0OSLPHKys_flYK6ZjmpmJ2Xwg4Vqcj5IyBzypiLBAOlN550klsxtHTh2Dydeht44uWjcLxZCPDW1vj-om0brY81tyk3049Fkk_V0gfUI9flC5w4B-h8AHCna2FZ4rYNA4BhBVFuC05duh2G9Xp8137d6eZC2rD6-3AUFHjex2sA-o3IzENDa5IOcFdXYZeKq4qW4J11Vp22752NyqZMH8TfeVlKzKOzDL52QUo96hNlv-oHUjq8icFAXMmXulnPb2diToUeYXp1geCZ7WxoCPXfGJAnJtBZDU6NJnuYfC6SpxDc6PlL0CTF037CyCr2K-t2NoyaI5aWxRv21jJ0KaHhzujs70fC78AYl550hsXMDj5eMD4n9ilOn_LzUE5JqD1AWB2LxPK-Z4bAzuMnAmWUB38XRhNperZTJgU6uYA1kAFvEoS6H_p-clHqMG9o9InOho3FNdO4Hp7gw3tPkju8dINanMPnaVVeNnh3XTdCe6sqHRDbBZjq7UC1dhkS7FR0aoYDODGPR0UvFZNrHBOVfSMxaKCdOxWWaKhFcp3Q7Al1qFuKLYiye0Z8RlxH5NdLp05bI2ox8OT3b_YXqgxHWA9jMGwB4P2BKKwGBfXveVqhFx350XCcLPWyIGpZuzGPZo3hNvF7Wu6vdGtMWZW-jK09_BZxxR5XkEGBq7H0poE9zsSrf1nzmgIbsBpxEZnRu1JTNavLAKjV07rCtSD7MdEHUrlTNYPlMj-fLHQScNuandiD2spqApr8cq1dupLt3SQtUieL10DrGirNd_TDUZhz0fopyXKjfi10PqdGCjukcSjXRcQuruk0G_Q9YWmtzsm6T9WO8R3EqXxol9LhPqZAD7U1yZNMuXALFIafJ4POGIHT-whqTpFxovuwgim-BM2sPUiTSHr_0wcznLKRMCVioesEi-R-pdXb0TgY67mQKUV1maesNIKnJEJ3uNGBBmohpBsCnSr-XYRRhhyHq7rawpOUoWii9Nw9RdQrxQLOqNZVdDbCFSS-b3b213W_I3mZUoWL_aDiq9daaRNCeFdJL3Af2kav-04X-TSw-P2M1WdkysdADr-15bC5PcqwdODNQM1gfElZO-UgpegujjE-q_KxEuZQuto4EarojFwFl_oPcOByVpztLQOg7uKnnb7JofoMcTngxfjEyvukVtE1djrAurGPsrdMZWcafHHv0Fa3bS-k9Oa1Kpl6oGAcJA2Q2aEtSG6AjuM4I3oVukXJokfkW6N3IF0LKM5YImshd9QfNP-wXOb6cQSKDEgDuKiBN9lR4PNk7RH0UnQYTi-RVSsgr1y6k7Tv2r-FgZvtKbF0OpAIVN8CkpBAJftJkBveG01OAYKNOxfuR_3j-ki0EgTjnUnGD9wBLAdqXSqTFko4xcgAzHTyexmU2gYAGcge_8SboCnq8Tm-Ihq3htAwna_Xs5xalihIEGMIXsxS1YxStdavIyPiSdIHGaIktJGbzRV4tSIJ7lvdTzMuGfJo7KfEj443HxZEPeTMw_XXuO9ynXOGzBJxShTVB-PzCFRQcUtu003tjJ3_67XY86PlhWMoKZU5fnDCIwZYt3T69YLUqZsCAdsrCOe9rhyDrHU61fMFGTr4XzhYSFQlPv66P9BLy97I0K-Ii9RyI9RLFYzXDRa1T5a07DThjlpIjL-ClA-mSONZ4ACLnNKVRKaI1jd4R0ZFWI_0bJwMU8UwG_QPyDFxF63S_9flxwC-eGyki1Hf9VxdKJ4Xa_YMhSLfpbFaIYAUs29kbENb-2-GYXurhV0OBUj8U_N4y4P3HYPcKfBxyEpfx6eWBGtsA3SYks-iowirHmZkPKYmMql9bVXBisVh33U-Cu-j1IEYv95XN-p9zfUFoqnaXWns8bNRh4A==",
  "id": "rs_0777fcb52d07398f016ab42c6e95a087d0bf3bb602aeb2c2cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.462,\"left_y\":-0.12,\"left_z\":0.065},\"note\":\"At rim height the bowl’s near edge is visible just left of the left gripper’s center, so a close here could miss again. I’m shifting laterally about two centimetres toward that edge while holding height.\"}",
  "call_id": "call_DdIINaNIbszhsvMa16SKyaGM",
  "id": "fc_0777fcb52d07398f016ab42c70253487d0a85c6e6adb0de766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DdIINaNIbszhsvMa16SKyaGM",
  "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]: [-0.395, 1.8549, 1.0245, 0.0067, -0.3317, -0.2829, 0.9957, -0.0219, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4524 left_y=-0.1224 left_z=0.0512 left_yaw=0.0329 left_pitch=-0.1989 left_roll=0.0494 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0005 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -10.0171, 8.9094, 1.453, -0.0513, 0.1832, -0.0024, -0.0479, -0.8957, 7.0496, 1.7265, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639262c990c929f8b535ac3c4c8b88e9c39f05e06e4eaeebb5e9b80c6c584591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc13baed7a8c6c649c8005a9658c7394e226cdf91ba7c147deee37fed7645bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d4e1a57219749655a69abdfb7b403990080b16ea13c4403502e6566c0b6845",
      "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 · 7.77 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6161, 0.8467, 0.0303, -0.3676, -0.2848, 0.0093, -0.0216, 0.8032, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4096 left_y=-0.1264 left_z=0.0903 left_yaw=-0.0041 left_pitch=-0.1115 left_roll=0.0345 left_gripper=0.0093 right_x=0.293 right_y=0.0002 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0275 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -6.9949, 6.3248, 1.4921, -0.1734, -0.0024, 0.6667, -0.0752, -1.4701, 7.0496, 1.7118, -0.0024, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4644, 1.8332, 1.0267, -0.0132, -0.3737, -0.3187, 0.9957, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4431 left_y=-0.1459 left_z=0.0604 left_yaw=0.0166 left_pitch=-0.1806 left_roll=0.0491 left_gripper=0.9957 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0003 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -8.7316, 5.8051, 1.79, -0.0806, 0.1294, 0.0855, -0.0068, -1.2103, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.8549, 1.0245, 0.0067, -0.3317, -0.2829, 0.9957, -0.0219, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4524 left_y=-0.1224 left_z=0.0512 left_yaw=0.0329 left_pitch=-0.1989 left_roll=0.0494 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0005 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -10.0171, 8.9094, 1.453, -0.0513, 0.1832, -0.0024, -0.0479, -0.8957, 7.0496, 1.7265, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639262c990c929f8b535ac3c4c8b88e9c39f05e06e4eaeebb5e9b80c6c584591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc13baed7a8c6c649c8005a9658c7394e226cdf91ba7c147deee37fed7645bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d4e1a57219749655a69abdfb7b403990080b16ea13c4403502e6566c0b6845",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxzaUcHRSqom9UEzIjoz45tNSCGTGb0zZAo6JODvEdNqmjnx_6U7OhNNpH5IcKKEAEjqNyH4CVaKvBi2fZ-iuhxIJExpMT67XmgmsRc0m6mOHRHEXIPqa_NMNBMeTS2lA0jnaw57qWn_zVJITQePNGrONrFrgsqPi8mgFEtgn28bKz6lXE7jvE-J_smvvxCgUztuQrcXBCl3v7C5qp71ocgSUZqg-r0bja7qNT2JRUD0ks0qvoW639pGld3N7kvXbrpVQkU6vbX-HIOM-h4R06YJT8AOYo8pFty_N-2rtPffgaEWd0wOgKzcin93gR_dtUrOjAUv_IPL9-81UDBoSR0-TJI6dxnp40mMO5mOu_SmOEZdqIr_skWMB7elCG1ZWl6SZP8EoS5M3Qy6YC94iHJDicfKCZZyf2GdwxMilAjSII4WPC6T-Hg2M1YF9DK0xPXuJG0m8Dv76x82rM8aIkaf9PziTdpXtbUc-onV28NhaRmXxcxPVkYASKS02Xf5kKB9G9BKvd-6bhhqJ_QJPHvoHPwr4vR_QZrxkUgInffazt68XVVV8ehs3050uUnhffVO7P-iiY5bkrnV_5cTIcWonc7EtgzBBFSMBCG4jpA58UOx6S9Rx5KWZMJ7uAjJesu80dYnIUdIjrSeV5z7Vor6nGUQzw7Ci4UYvHkiphsOLlOx9Lg6m_jM2OPn-aYjuQ0tfn9MKcA_7QiIuCeKgySVDcHCORcqgdPhJKfmacShyDISsZsdt8Q6XygGnyubl4aS6GvsSJ2GLhW4d5NG9u2OTRlbTgvtKIxrGv5Uc21qM8WKSI79xI38EOhB8-pJAtzGQVeuZ-qUFdpc-4GDmiygOmvM5r-aVMAnsEbi0kkxMFjgNAJxqGtoVc1ty8ran0iuvA51-hU2T_78iqLIk2XAY-vNWmqfBABap37cNZHKYvvnFbJqbwTAmn_r8xPtMFxEmnH24LiKBUigDzb1EeWMOWN7VkjmrbIG4_4-SQVPF5eYMKGKxSO2lgzZM1sFv3kiVU-iZ_oKA28th3mi4S8IX7sJvgUEX0CcZLU_oveycTqg7zZlii3GAKW-lBZ9R2PkG9qM54sFPeckW4cdQl9TiwdtwfOiXBtGWLtGMD-KOcpIPCzBI-SZtWekpIynqYsjxTCjGDqIJFNsfvjxQOXGrIwuIiJU9QyXruL6Y3rXFSuzp8lEIcfjpuaqlZql17PWNgeru4sUCqLU4iQPgzgLQnK9CRNJ5UIY6MYQTw_ggsSD2-gZkTY1WYfGcO5pHNJ8jAuRPikcwiv2IPR-tClSKKffsY7HjlOjJwNE3IE0mSMfRESp-QeN7P53qRSTtXaAlJ1uEMw3gy6s26ov7jXcT6G1xVQDpJRQG06wbwMiSvkQWrZui0v_mLhDuTBfBo8BOxh64tNzj9NiqmNQ5kWtA==",
  "id": "rs_0777fcb52d07398f016ab42c72568487d09128c655fc85f15e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl rim now reaches the jaw center at the working height. I’m closing on that side of the bowl and will use the settled jaw opening to tell whether it caught the rim.\"}",
  "call_id": "call_jzIpQZI6CpVwkOmMFdI4rbMH",
  "id": "fc_0777fcb52d07398f016ab42c72ce2487d0b480d011d07cb037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jzIpQZI6CpVwkOmMFdI4rbMH",
  "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]: [-0.3958, 1.8549, 1.0245, -0.0059, -0.3332, -0.2852, 0.0137, -0.0219, 0.8116, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4504 left_y=-0.1217 left_z=0.0492 left_yaw=0.0357 left_pitch=-0.2098 left_roll=0.0541 left_gripper=0.0137 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0005 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0872, 6.065, 1.4628, -0.1245, 0.0366, 0.8278, -0.1846, -1.2786, 7.0359, 1.7167, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c880be0a62b6a6abe3bb1fd6f19baf7fcf867dbab84ceccd723e26105c778078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ded5d72a25480c4a470ab55e56842af34008de86439bf286deb11ac05f0e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050b6f82bc146e40840941af677361aa1bf5a1f597d0bbd1edd6c4d4eb0e5da9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.951 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5007, 1.6211, 1.1217, -0.2634, -0.3943, -0.3302, 0.9947, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4253 left_y=-0.1513 left_z=0.1501 left_yaw=-0.001 left_pitch=-0.1233 left_roll=0.0264 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0006 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -6.8034, 9.2923, 1.5409, -0.315, 0.1001, -0.0122, -0.0752, -1.388, 7.2274, 1.7265, -0.0366, -0.0269, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.8549, 1.0245, 0.0067, -0.3317, -0.2829, 0.9957, -0.0219, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4524 left_y=-0.1224 left_z=0.0512 left_yaw=0.0329 left_pitch=-0.1989 left_roll=0.0494 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0005 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -10.0171, 8.9094, 1.453, -0.0513, 0.1832, -0.0024, -0.0479, -0.8957, 7.0496, 1.7265, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8549, 1.0245, -0.0059, -0.3332, -0.2852, 0.0137, -0.0219, 0.8116, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4504 left_y=-0.1217 left_z=0.0492 left_yaw=0.0357 left_pitch=-0.2098 left_roll=0.0541 left_gripper=0.0137 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0005 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0872, 6.065, 1.4628, -0.1245, 0.0366, 0.8278, -0.1846, -1.2786, 7.0359, 1.7167, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c880be0a62b6a6abe3bb1fd6f19baf7fcf867dbab84ceccd723e26105c778078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ded5d72a25480c4a470ab55e56842af34008de86439bf286deb11ac05f0e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050b6f82bc146e40840941af677361aa1bf5a1f597d0bbd1edd6c4d4eb0e5da9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCx8TN5cC7jtTBK3wC46PzOjcpGAwJirEGPfawVMwGtJl37qC9kquvEjg7p-8fb17KUPr1gzUJyMDJb6GU4WOamqoYty_PfPFgBnNe7mEF4XSUz9kYgCq2kDdQuoxsnfs9Z2imhbu7RAaZIDBlpc9b8ZEkhD0YC5fg6w6hbI_OWfh7N5jDdBNkyxAANyAZ0_ruTp9EuNDlsG-tWJH6ItK_L7dCYJKtTNCQQhsQvZD2Y-LFSm0vWDRQDezI8tG_HCzuvAOlT1c0Qa-PTJ8SJaZly4FBAba1gfaqpRWZRikbmD8JJLIbWmDKSq9fmcqdORnNZIwK1W9shlNIY0KpAjbbXZmJM-CHzgTzUbXreZdcCoX1VDsmjmK0cW4svSn2w8LQELk12lXZZQJZtSKTSroxE0q7Gv_kfQTk9s0KYxIfSCwbwYRrT2fquCI7sr90R-AjY48p_NANBzqSBVtLIQ5Xk2PpyC0PN9CajY2NqZaTRJPEfecLe4hFUiN__iX8n3zkTHBHTw1VtDJZ7OJbgqzJSrcrFcavUxt84vktCIN9AjkiPHAJ8aJl4EkWEKKxZ3AtAol5hOQcTHT327epJzcR_1TY4M7zj2AgYLciaXXgeu_716B3nRstG9HmgyicW0rmnceexwbZiQ8EAY0Y1NpF1lxH_5V7Wy-lOpC1mfb9TCcYYKDHTqPav4neEdbc8uDo7lNNuUMkP1W3A1ysFGwF-qhyh5yjGsZ66bdfuP-lw_ohTn_gw8Pi48OJkwdEBRN2BADLGAu3i3MK1EOdSYYQWOmCDVrmOh8rZvvzctCSkaAHOw5T3psLqzvJhLUYIL0eLANUO2MRlfYCKrNWCSo4TlHTb9H-vqdGROhDfGGpjejSHiKui7_JyP6DMlsJx90SJr3Oln42QswCatXIogGWcx6nZF7IrrARywFmuYjTdanGtvxopityIsEdZEUGypSbkC-r30MPoZiMdKt5CMnkaEpxJ8EfErKMIDOlttxYdcM9JQ-X4HL_-RjnEJsXAA6OgOllnyg_eEoKpA9ySdPGErsozqIpzRzwPGvxRoPIo1FY9XKZahDKl6xSnjnD_b-fr18v_3xQ1nrlvNCFhudkp3ljCm-pIeM50-xZmdW_aCQLuc5tpnq1fOsf-yCq6vPjRndsBP6Lmopx-hgT2zIVdQn7gp1s0MmIE0S6INPFUvceY9ZkzfUf0bO4AkRgChIin9r5pDdGwcsBYuN7uGIDZMauGnJ5wD5LYUp_T1erkhVrDHwPINw7ERqC55EYeqbfDs_ujOmeF0Z6w42lYna4gMOlLey3L5yBinrFUPVGmJHwe64utJedCgFaOGfvcBBxJ3BCtC2RkRm-edmNO-iCG9in-r6wJOWntoaYiy8oEIwzG6Xsnf9TUILBq6_ePwiVVmgRhTDgPCTI3rWYVZXxmnoI_rS4imba0EWCmhyr8YvhgIxXMr2oXksQWJ5KEYLTkMSQqExGeUYyGtYIt8apjfdrJl_nu3rJ_WYEl3O26eGErRsmDND4aiebxiXLNvb2AY5EEajjH0v8lIGKTAW-cPPh0qPib8wvUzVBN2r0pXBPAWe0P2dayOPKCJuQZrA-0T4DnRFaGsl3I3nDmg10oRrZHW4VA7cVobxNM1C36tQdjX3SM6yd6RrrFet3_AJ_9OXB6BWvDBVZbpsGu6wGCjabjotlvCWP5Eu1D4_7abT7ND-qerItrqYSMgkyafmicmw7YxMUptbKzr-FttPBsC5o9CpJ_lGBp1yZixRKn2-p0ths4at59clpUnb8ZWisk3f325yS6GRF-qI_lRw2sAbrmVooQsJ7EZKt8Kynnu9wSEwodY5nJeZCQDmf5A47d_oTofmn7161_bBf_OcP2RWRaUTtgeEtjOddHWEpYmbebE3Mg0WOX2o1TUhklNUfvqwAktkm3wZ2qNV_pHIYiOZh78q3i6nLf-rUxbz4fD6XBByApb5_Gx9x7P1GEg12k6-V2AvuFGZsXGA_5MFEZmgEraBU1xghrZQvDss-aB12fLS4YvK89b-DLFBffm4l55XtB3WdrCpa3AGHq16kZhlOXtK22_Kj-lO-t39SxATQrsJcpxrinTj0hbUiaGD3Y5NfHllS0QVnSAwQ1h_s7thoXCej_1Wxuf6xPwzUxZ0CqObw3yhxv8DOo4L4DdlSKvu7Yl23wSVCU5PijR7WFc5VArf1IQaromO35oPtqGwsHxF9napqROoAdH3qcu9H7R-dKolhSSa0-R7GNdgWBD1i6ECs8PnMk998-2MHA2XltR2dTd3ELFbyKQjA8eWjPUqTH_5KM8y25F1ag5llEldMXPmuKyIeH8wxbTGkw0kLZFVrqXESzGmJ6sGPBlOkVLP_PnZNW0uSz-Ry_Um5No1xombuoMkFcX94DLe3S_5kw06dJuU_Xtj55NOSK_tZ5TVUibWjEHKk7YumVYcYFK1bzCsl-4PAuBK1MoCH-I7i_AqJn_4MBKlEcgwv3S1f9ihVuJp42cCwFVSEC7UBkI2rXrIRWl1kSYfREt0XHKuHdW5mm4q57K14LsnhF0-BJa-8lHQTgxgwSEkHEWSFu_14jG6t0w-szsH4wge5mvkDtPnpcggvjWN4nBnCWU6VJeCO-eY3PqSQfWI9SH1p9QI_Dvu5hAIrCTsU2LeBoyPNjSdlyekJjQOCk3ZcSaHmvq0dtKitaEr2pfggYA6ysPmYdTz_I1kUFyLbaPacupGHmRZBZqg5wmIkWoQXKzQHNlNilB9wjJrUPf_Hv9JY7_TgP0uylJqT2xmnP68OTdmGb6xcyi2sKRoUcwTmD0l7m9F8-6za29iGrOEzOgAmE90YROXd16yN1UIRquw1ouYYE8GQ8QN3PaEbDS0ne7sdsy6vS75gmJvjmMMXCByA8TSr2_aOatsat7MmfkvRkazgne-9Vt98AFmb1DS5FqleQ5SrXB0qgBJ5Ox-3qII7DGSa6qOtqA3ysCVSCjOdmOx8av3ILNvPSb0kp9n3DGM1Pv3q1gAAmC2zDivPvnwGjn2T1sCIMKxQWdRy2xMTe5ycI993tp8ccc6QTYBreTUuAC3m9CcEKNNFxrPF8aa-y0vWcuA3ZQVmWi8Rjjbyt9-ZZ7rppDe7C7by1TJwnNrduAQL06BojxPWAhmpdkG-EqzbymWJ8JzoChKzR4O-qk67D2fxhl9USY1yhxT5DN4xCZ8ViPmNdG0ArOr3CF-23xzkSF4uMOy7QOuQj_r-St04jJAlvuB0NMnc7J2NcP71Az89sJgRBcIK3cz-Ii0YURElTFdTDCIlmMFm2zdyYfj7K6HesZHEVaDN8khHXPa1cUYUEUbWC-1FEgXdxvvc_ETV1yWrLx6qrtwQ6GHNnDgWsvdARjL-EHvbhPeGnq9sFBUHtFwEp_jV5flnIPWOTJ0l0vTDGF6yXc-OYCKof4wR70En-kS1IwsbNO1oAGfNLwY6PBqF1ELvYfYURuBHtdedsKQzKCbfFcI5hijSHhCMlk584_FE4PBwc0ux41XOJbaIhZDeZyfT8eLaWuMfYyykKp3-Kj6ASPlJYvw6sPW0Vq2LlmGDbm3uPGm4n6sN_VnKLB-3c9RbrnFycJdQb3vl1LrJThXVK7hoNbjh4mX3gpI_H5z_k9aZfVnOexInV-k8jsQccsJvAfnpMEjVTVJ02PpFPbqLKZChgR_hV5Z_GSWPR75YjH6GoQcdNV4kn4ro-wrttvSyg4DGkvWE_WGAGrZ-YjbN7UJGueBeUWa88vGtteYl5IaUwnjmPrUduejWk9ygCg7fDFnZ6te5_01QibBJRw2KTs5dp6Gbrf3oeOoC2FmuNg0JFvvK0dL9wSnL9Ur6QXXQ1bOq4reuuEbDlTBkCq_Z_2pNFo6Ej6HFI=",
  "id": "rs_0777fcb52d07398f016ab42c75d67c87d0a867773c891f7301",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCx8dEZlZIZLS7X5dGepukssxAtx81bWoKZMdsi9fO61rYIWRd7NcR3aDW62i4F9ItRpcmZA_74BqRgCGq-LcxS2K6b-SN8BGTBcq6ZYztuQa5rq2apci63akBR_ot3mb4jSOHNZ6lvil3TBFhSkYcIwo_3LsHTz3HM2htYRWVyUiHoppD7fuq9jRXC3ymFdMkTSpLMvvm-aRy3hUroFpZEqs3DB-tuPQpYRLA7dl5IciYjWShvJG-guiuetjPdJ_aMxQvHY4FBquPKfqc09NndGliowLJSlhif-bviKE0WmpnkKdUTETq8Y6augNrV8r3_33cP27EUJib1D6rl_80D_oFViXOkhSEoBWE2nOSzrM7DS4LvQ-y2fCyfnnpH17py5i8OBjwfXYu3lBIB-a4CcihjgS1YTTQgA-lV2NRRhv4ebbSyr1MGt-DLheVBXdidGUMuB4bQgJ7pI5SO19JtVpGSKRRu3F2DY_S9odksj82RvXIw0NU56GHlhk5DVoq830DkyG7S5xFudsVZmUiFbrk_0z43ULSoBtCZb--wIH96DZ281mlS30Aeahb5bkUuXXkagBhdOFLSKVGt2HT8cau1HtQ5Q-l-4Iav1ObClx352fuZDxDtGtAdq_Zn47P7bz_ko5p4W5RQZTZXVOolCB-_aFjmcSQTbW6MUnR49jv0r4LKhAQokhJjFrYmseXaC_nP65X5RdcMbF5lVRjpCfUAyjSl1G2BAy4lyPwBHYGkOf5vxsVuKPG6YfTDnFhWu68vxFtLeNlhVLbxqdpZwr2lar9bHzkpHC-EO8ROR7wGAUoJcXH2h9pXnPFfZRxVcdGMl_LMmABQNoDXnWUHjA3LFzhazNdb4nG5a7si_kDkR4OFp_qsqXgB2oAVob-aPHaby2gtpZ5b-ZyuiSrwZVDMIrZajj-RLqZ15t1AhL3ovdW0i7qkbwoLonRqySVRVt_LlDtwGhlVmrP7SGWJnU6nnJMiMFbCOKXhab8dBXGyB-MSAqSBvtGFMyDDj4j1Q6T-uDnG6Z-tEe_3FvmhFOBirRepfATd0_YD8qAgFxrQEn-Fv_mXoONWuBvoNJth0n15iRvP0XWTGBBlBtiyFNaMxrCx8c2Y2YFJIkWi3x0wxv6vc9F_GPCFTziA_le5QikhvAXv5aRMkaoMT6PUniJVEQJLIUqE27DWMKmXORxX-vhV44v1ZEiMAy6Kw2iownY54-UU8cK2mtUZMdBiTglFNyEX-vy8wEXpWVXLCbme5w1so-xRfUTYyeasaHKsiuQ-AEHmJg0Fj1S-Y4PnYQYz7cHmUGrc8PmMUOufiM1XRnPjqISiEJ1Zf9QwV3GM3MNYmM5y1U3DKq9R0_sJKiikAenGfSiF2o1VTqxaKQKIOHeT8KdRtZPXmwex5RzCh0u5A2TmY3eWVOazH825C1Fa347WnTPP4-rBcKIuponyzGcUF_NEHgCw1EsI2qCvv24Zl2Sb0Dx9hazjhsYIqDi0KIED04rrNU1Xp-N4NM0i7I66NDQckkb5VfLVplx2hSRszsUI3wuv_jP6Zu98jDFHQszPIa1XpObO3zYWX3G3o5069Vc47b0R8kVoorbWieEUsfLMGajXBnYgtxVVZhfNp4It-5omO9HUqadLfOp95gKsgD--jtIhLz_4o43ne79NWxxnWfqxq-JDX8BtR-kB2l8Si-ri4Nf1Ka45andzKD6k324CxtgtknW8vOSbA1Na2Q90oUgArVKBW49F9h2oZ1ufgepWPZoNJT7M26uO5BNUIl0K-Q3ALM6qg6b4D8LmhiptUsG77LOwrH2bpbixqqOY-hNspejdt7VUHQbw0rOleAD61SPx3CPGpWZy_6EoR3cwI_BrSBwjuE_ZCyOl7Hoohuo9t6I3zl7q23jCqhx1IkQDpZj0tTP8ztlo373v1q2nHpPsLQmenVeYe0E1Zbn9aYeUHmSxaQPnhaiU=",
  "id": "rs_0777fcb52d07398f016ab42c79efb887d0ab57eb8d09d73aa7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_y\":-0.071,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The gripper closed empty again, and the bowl appears off to one side rather than securely between the fingertips. I’m lifting, reopening, and moving over its center to try a lower, more symmetric grip around the bowl instead of catching the lip.\"}",
  "call_id": "call_pbCVYuk26hdbutg2AvyeyAFc",
  "id": "fc_0777fcb52d07398f016ab42c7b40c887d09cc6beb9816e72a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbCVYuk26hdbutg2AvyeyAFc",
  "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]: [-0.2417, 1.7912, 1.3167, -0.379, -0.239, -0.1967, 0.9946, -0.0216, 0.8116, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4789 left_y=-0.0713 left_z=0.129 left_yaw=0.0642 left_pitch=-0.2542 left_roll=0.0562 left_gripper=0.9946 right_x=0.2936 right_y=0.0002 right_z=0.1706 right_yaw=0.0009 right_pitch=-0.0355 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -12.588, 9.2103, 1.4628, -0.0659, 0.2369, -0.0855, -0.1162, -1.3333, 7.2, 1.6825, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0190ad0d39b68491fa41dabaf83a5f80affcc1343b942094ce20deb7dc8ebe09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85a15fb0025d117da39fbb7b1ae01c815249000181f4878c82a3dc2928389b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5fc7845c54cd99ff293926362484a8cd1bb7c08e45064428bb5728ec59bca8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.568 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4644, 1.8332, 1.0267, -0.0132, -0.3737, -0.3187, 0.9957, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4431 left_y=-0.1459 left_z=0.0604 left_yaw=0.0166 left_pitch=-0.1806 left_roll=0.0491 left_gripper=0.9957 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0003 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -8.7316, 5.8051, 1.79, -0.0806, 0.1294, 0.0855, -0.0068, -1.2103, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8549, 1.0245, -0.0059, -0.3332, -0.2852, 0.0137, -0.0219, 0.8116, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4504 left_y=-0.1217 left_z=0.0492 left_yaw=0.0357 left_pitch=-0.2098 left_roll=0.0541 left_gripper=0.0137 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0005 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0872, 6.065, 1.4628, -0.1245, 0.0366, 0.8278, -0.1846, -1.2786, 7.0359, 1.7167, -0.0562, -0.0317, -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]: [-0.2417, 1.7912, 1.3167, -0.379, -0.239, -0.1967, 0.9946, -0.0216, 0.8116, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4789 left_y=-0.0713 left_z=0.129 left_yaw=0.0642 left_pitch=-0.2542 left_roll=0.0562 left_gripper=0.9946 right_x=0.2936 right_y=0.0002 right_z=0.1706 right_yaw=0.0009 right_pitch=-0.0355 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -12.588, 9.2103, 1.4628, -0.0659, 0.2369, -0.0855, -0.1162, -1.3333, 7.2, 1.6825, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0190ad0d39b68491fa41dabaf83a5f80affcc1343b942094ce20deb7dc8ebe09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85a15fb0025d117da39fbb7b1ae01c815249000181f4878c82a3dc2928389b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5fc7845c54cd99ff293926362484a8cd1bb7c08e45064428bb5728ec59bca8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyBEVZaI4Ms2LgPHSYi6SaLkPbe1fafYXguKS3HceWQ-_ofXNaB7NZ9oN0MeIbjgQXpv9l2UQGx6Bts7I-R6PKAx3FqQo8aKFw_YCBEU06ANqrrP1Doa5O8jZmJ7Y-w0sLF5UX83HCs0pONUGzqQTyOM8uvFSKnyMiVSUWOyiN520e0qqvYvy3iXpJT_A23GGfr8BkJ_o-noXSC4cdORb1JUnAGYUsDUnMFUUgLfNR5BgimOuyeEgHi5dXaa82zt3ejjkGnS7lvNST9k4CyQFXlu4wF8N-OTTLUhGVeyzvsiTfm5WWUT1O7RgD2Tw_bGDxTchw19CmIpSnEbSa3exXBVpdFpFyzQ60zqfkWHqlJPHSqQj7r2ZR3B7t9McLh30SrwQBOBt20N990ZgMg7WVP6g-1GJugukEcXqUh9X85qgDIvnN46Dary1lKvF_USbwlkr1qagNPWZrvgWUUPNsHMtqkni6qMwTxT6QwhpkW7bsgbUKJh0NZx_lKLM67V-tJfxdkRmICCZkFhCnCZVgBjc5q30rp_xF0GfD_w-p13LadpZsZmA-NAwGzzeg2GYv6l8OrWi8DJBn0TzBich5qUzCFfnibnM0HMJDqjtvcg81B9DMHR8Iii_So9VSqJwfwitLzTADY4CkxQ9y5kdDTdD2Xwf2oSDuFmY6Kvsj89cpIMFVjn1w-4ptciOoKR6G4hWEpAwjgXRmZl24Sj27FRhKjetUyS8SW-Rufpjd81Y-6Bt5OclnTxWm3VqF3WQ9trxbNswdFQ8ODYuaVFDZJh6cyIg-5CecULZdXWf35qjXHSf8vHm0pwW0ZYEtw10lOmhBZLHlxf0YP4AIF9MKEdIzsDxU7d3Y9-gjlGRDgLIokiH2AbOQvb0b2olRO_JWOvnlnlGac_m2cPSa4DWKLvX4NKTTwjarQlOhArOCZ6EJBwB1Nawvk_JHXALmonODs0xlLlZlZuVrXj2iaGPydykaf-EnSNNdt2ASNtD4guVzWJHFmKlYejNZWsDaA_A90ZTE0f4F_zMaeirfkb0mZp38ttVkz5MI8KjWSKaauAmoE2FbybSXoqXCem2Cs7zQ0hjrX-rNA6XHbeETAaj1Jw3PeLWfDTKudqnKQXfiOPZOQeijrziw-kbGHDDWyc-bBXiObxu0cufOFOdID4eIFa472j-2bTf129VSUS4hMY6kPSD318liug4m-Z3qxruZuu6q4a0Jl5JoE9SMsMdeKogYSZG74FIBlcXMePG4nrDu7HspqFEcnQBSOqGK5DIlmQaKxUK-V9E8MvTi1QJyLXBPKIHjhAYgAwUfeY-kzq1i8Q1pxkPhVR7QeHiQ-vwX2RpSbRPrdtnOrSIIFYZRe1w-rthlhM2Wakkff7jPaym_VUdwyQISMGS9JosIZV7FInZuyrJQfkYhkBxr9944DMv1ODV4sRzvbwQl04Yf4epjMdZWTwTqzMVEgg5J9Pln8DhFMS7YPbPGzqXcYbW9u8KkY9t_u8jSAa2iu31PuxFtm1hMkDgIozLeJmaamXbT7i1gWabyIcyZyM9WMc1uYpYUlCA5qXf2Q3toyjj53fTdj-pTVW3RuzHz8ykbjB2EY_W3IOb_46ackDxnHBSifejHOKwBTKJTfQfyvgLR0wrkkXvl7alO3Jo9dbeQaYMtdm70lq97tl7ou6ebmB3ojLZtiedVbgy0rxIXHJ6UhLQvuPTwDEiB1yBA8lImTNgQSC99_hOmXfP2ACXRq3-6rhyFo1EOtqzF_cC2JLG8qY-wRPJx2hZwPDkLwKG3PsHfcHiPpe7yqxUcBhIFUgMibIweVXD9KzlasLXK2VLOvJkKSYO5rFjboqWqjavA6qaQmL0fnL22aSPLpaPeJQi50u2YZFvSO0h72m5Dfv_-nn9kdsIfJIi9FpFnOtEvvamakfnN3aREw2VI3jH5hEIWkfHRd-xYjlZsN-teNE6AuWplDV4yX28kWy6T-i9q1HsBHetzef6vKL8r28fHDZzkEDn-k9z3cRz-Ix_DBWEV-SJjEutJWOh4lHbfpCuosRIifVV5wORBFlVXsBO8FlzamMkigdIbAt5keHHiGoJ1OrEPLoRMU2EIh0qC6aZ8YiLkaAGGVZ_AQ0f9BXwA3BYhpNAtIWR9ncXr3ZAeZz_6-pRoI2ezQDh6SLhSv2MVnCicek2ZzTdmUfncAlMED51VUzX2wD-3hoyq-lkbTXcrDzhsQZT9B-J7iVWmTYfVoh9TS3jcTeNjDnBlh9B_gPP466D4xkSAdS4slK3n1qnndBOitec5dY-0QIpFyQhsJhvVRdjFYwxQbF97OvrxVtUP94cjpVoeT8TIlejOc3pCWd22qCwQYXT6-SlJq_uez8Y9orTVArndkbOeeue6e9OWSF-STxicn2tRMKeoCzWChjL4Srex-ko1nVRTcb1ranpc_rTjkcin-MsmknXeMn9TrXM-TDuCqIxf51KH9rJc5uybvVWUTq60_f_aNHOoGkO08wo6kNa9wa52Z3Z8FhKxAzA==",
  "id": "rs_0777fcb52d07398f016ab42c7e096087d0964fe920c04ad403",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The bowl is now centered between the open jaws in the left wrist view. I’m descending into it to grip the narrower lower wall; I’ll check for a stopped descent before closing.\"}",
  "call_id": "call_d1DLKGHZCtz7Z9kWUai2FTBf",
  "id": "fc_0777fcb52d07398f016ab42c80496087d0bcab9d36a54174c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d1DLKGHZCtz7Z9kWUai2FTBf",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.9579, 1.0824, -0.0196, -0.2356, -0.1909, 0.9956, -0.0216, 0.812, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4711 left_y=-0.0688 left_z=0.0182 left_yaw=0.0639 left_pitch=-0.2948 left_roll=0.0705 left_gripper=0.9956 right_x=0.2936 right_y=0.0002 right_z=0.1705 right_yaw=0.0009 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -8.8137, 5.641, 1.5409, -0.1734, -0.1294, 0.0904, -0.0479, -1.3333, 7.0496, 1.6825, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c68d75ec5e83b01b2c098dd1c45ffe419ea0b639303b8f037006742596b1414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7832311b73c50a134d1b25484029d3013feff0f0852650dc6694c011acf297df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28556253c1a80aabee125b4e3996affd1fee13962fb919967b8b605491fcc29a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.451 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.8549, 1.0245, 0.0067, -0.3317, -0.2829, 0.9957, -0.0219, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4524 left_y=-0.1224 left_z=0.0512 left_yaw=0.0329 left_pitch=-0.1989 left_roll=0.0494 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0005 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -10.0171, 8.9094, 1.453, -0.0513, 0.1832, -0.0024, -0.0479, -0.8957, 7.0496, 1.7265, -0.0171, -0.0513, -0.0122]",
      "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]: [-0.2417, 1.7912, 1.3167, -0.379, -0.239, -0.1967, 0.9946, -0.0216, 0.8116, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4789 left_y=-0.0713 left_z=0.129 left_yaw=0.0642 left_pitch=-0.2542 left_roll=0.0562 left_gripper=0.9946 right_x=0.2936 right_y=0.0002 right_z=0.1706 right_yaw=0.0009 right_pitch=-0.0355 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -12.588, 9.2103, 1.4628, -0.0659, 0.2369, -0.0855, -0.1162, -1.3333, 7.2, 1.6825, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.9579, 1.0824, -0.0196, -0.2356, -0.1909, 0.9956, -0.0216, 0.812, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4711 left_y=-0.0688 left_z=0.0182 left_yaw=0.0639 left_pitch=-0.2948 left_roll=0.0705 left_gripper=0.9956 right_x=0.2936 right_y=0.0002 right_z=0.1705 right_yaw=0.0009 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -8.8137, 5.641, 1.5409, -0.1734, -0.1294, 0.0904, -0.0479, -1.3333, 7.0496, 1.6825, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c68d75ec5e83b01b2c098dd1c45ffe419ea0b639303b8f037006742596b1414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7832311b73c50a134d1b25484029d3013feff0f0852650dc6694c011acf297df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28556253c1a80aabee125b4e3996affd1fee13962fb919967b8b605491fcc29a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyGrDf_eb6DJHxfWf15Qj8K1s7aij5Iagn5qAnlCgazipXjNgD1LmnreaPMbROoSiZFQ0leRjRNsYPUNO_jjBpcup5pIYVERDUsHxN5PFqovKIBS1yZF0nofupg215bapDP1TMDm5Krc4bRPgda2ozhgUm6SoOrh-IBqNVxhPQ7LL9yHFp6fg58uRt030DnvHoDm-GDwmEaImrZn0xgFpq8lL0A2QNtMyeAriIgkIVUMicJKVY2o09ycCZEmf8G_ls2Mv2KbuVUyTuzJN1pkI9KmwnyxF1HUeO8ltR3bijxY1diyQJ2jQbhAxNg6weuW53yqagbJQrxRB-GYis31BLLkxI9ib6U8H7wUDCfx6efDwzfCdhBHg0BO5nNnzaUdB9X1ObfrW6DwlaqX4178tKHpJvhB6Udk_fRUZljZOS1iZT_OlU372lpcMPqFGZd8SKDVPrebbp6GfM4axtzktUmQikkioWimuQpsxgV_BJHGbTjgv5xsN1E6se7AYdbTFIeORjRJDRJPLApnTRDhwJphZJFTzPA7hcroYqYDMPkACsheo9AcN4VpvnEUkHZTXht3rV1vU1HaPXuGxcI_aCoopqz3lWrfd__Wql-EF8PmMXLv7hiNRAr5UhQbLhdLPCUxWo8UXDTtDaKYkbBc4vxxX56fWNC7MpRjDBYO0XNr4olVe6K7D5Qp1Tbr5O9UUvgPI7so8v5MT3qsaQQMUgvZfV5FQZMChVV0Ww9q5xHBWPV5yfljQgd0p1WMz_62ZpyDKpx73ACkuaNQin2P7P34TA7dttLl6U3363GJueGGDt7RWQwPkg2XUryq7y2epzB1YaSVyqli0KTdfe1nr35XX9dAIjXG--6fZD0MBcwLsta50TWMsNO5FpQBiNG9tn1yRrDQb9ompWT2o4w9JCl3lMwji3v77A8SWAmZnwQY03X8WnG5emaN1nqy8s2Mkk-s-9K1JZ1iZg-u8oCKHe8RrWCZP1traHDME5DebuRJfPrbBcQzAnh7iQplEYcNAQkOSN8zk-6OGEHlCr6c04q0B9l72m3ACYN_G8z8uA-a8fXpnJNGCuI7QYSIA2fJWSfiNEe6kdKP-xOEA6Z9ZAJODmf6xvR506Q-xZQdHroKEqT6w0ZmEIm_qtF8t_krz46PxRqRMVhDXGz-yscx4ujzSPnA11vwwhYgT4qYi1LYi4nj8FsFUoO1St2gGdBc7GhIjoJfFsO_E2p7mjOh_pcl3ybDw50TtjFC_MUOWPUtVkag0bYCX1Ya_NNRCEAviqEo-WPkKKg-d2sSKuYeZvLv9rhDAJQMedySalhJawbasdp-zEsRkAVfIk2pYKME4nX34_1Qxqd2G2ufivgq3odtI-yNH__kL8mIUxg-qjPOYFx_SB1Xwgd-i23Mqyk8rBaTZ2d8zezPYKYj4qVWQ1CvPMy7NGbhMkAybfqCZF2mrJbQZ278sMkfGc5e1qDmf2yz174TgfjK1lbk-pkeo7DGYT5eCplqDNHlEqis42Lh1XjWxMAd42ZxQJ0Ub17beYvi5H3APX_qv2gYGOJS3w_s267tHQjOKW90r7BVvxN28PhBM9fboMsqBQzAkAT4y8q0O6VJx4YIr7L7vKkdyO12AUpfW9yL3UXY9qaMAsmqNnjATo-ydIDZpbwrnsUPBgtidSnB9_rr1dUvCaGZpL4qfsOl7NWtzOmgM1mOMtZwNCC1DnXqR6Yf6GapM7xFFsDRsLxWLaCS-kxqBNadTzX5w7r3UkQgfJjcoatm1hB2FAvHO2dXRMjRUXynlylT_DXAnVGrjZXmqbncbL00dJ2ot_YFTYJgIkwevxSdGYgCRi64HS7irvxHQcWXuQUS1MnRyduCriTTRPjcEZnvPa5yBlphhqhDYD9y9U7GHCnm0ohV3QOWc9xzGBTa6istxKwJE4WVpGcdwynDWO23NzVcuiXKy1nupXLQJaDVo4P3tOpQr7Ls0SWxv3mI3_4yQ2RgIkLiF7YhsxyDlfV4hPlHaAH0GhulkYgzyQalJAxe5u2_G2Ayyrd9Ejz1jOF154qCWkNMhpEbjm-TsYt1IWO0Vp98DVwhtm7rRz3bvMWtUsLsIxHV8MM5eBpvZJpUYBx1RirX3hB8hSP4UIwlveTaTRmeU8m4BQLC3iSyy9LucTTAJRHdUiS3h4J1K5J2Mg1ayZgkhKqAGFdaS29isa3UAnFjKtGWiDV5MFmdRsyOekvghqGH7oEvW1MLWjAslX2h60HCA2pMcnEBN99NJj-ZtGl-MOcIL6lTu_1yDjVs1-nLO1EAAFEHt-aDNV0WYO8RQgQkGRm0RSQzEyNlyoz_zFGX0yWljstF9WV4SWESj4C0niTmhHyszt7tB94q9byQHRURMNam71XGbsSmYdJ3wjGdgKTJcCgzY4UswSx-Qg5GPxpJKQWhmAyHdoUWQzEbM0E8WdxcSzzFUAwYS2KJovpJtS1kVizTGsu6gl9AtXyY8ZjcfCoRphn99mrFxJ27PNcX89GOEwqBsmt0QtkF5y_FIz56reXXtxvBS_9QerX_QxnN3XRLq8438mYcpNf4YjkZ23bYl7bJeyeCh11emaU9bYZ_TjHTlzioxvGHGlnRMiTGqGGxDp7vKQanTrz1LcgX3F9H0cx5LmrPbLTwr9r1kBhcc5ziDC6wIeSTYu0iKK9ipex3JeSJUILPyjnULRMg98aTO8urNskXt2faY1q8gXieqa31LSKMFDtZs5dtGtt00vZp3h6t9IKucXWO-rio30TAcXiUWRYsXmabKkTDXcFNtKgdZiaqzV5wSLzgL2-kUc3pj6670-JqkZN2v2smss_5NoNtV801c8eaI-7jWgMfwtuIIbVjSrnCPSkagXryB_z_YU1e0H_996MLaL8nXGpAudMaacl-rfyLbTYjLEVcsw0SHJBEB9lOwAEm3WYU-UznqZRtab3sycb2Rdmg-TfHBdRmSIBmaYV2A==",
  "id": "rs_0777fcb52d07398f016ab42c82a8e087d0a7a4e6e41ab3cf5d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.048,\"left_z\":0.075},\"note\":\"The gripper reached about 2 cm above the table, but the bowl is slightly left of center between the jaws. I’m lifting out and shifting about two centimetres to center it before closing around its lower sides.\"}",
  "call_id": "call_TuKJME1kyIJYeAHB9f5YX8CL",
  "id": "fc_0777fcb52d07398f016ab42c85ac7487d09c8acf511b4d8bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TuKJME1kyIJYeAHB9f5YX8CL",
  "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]: [-0.1913, 1.8771, 1.1259, -0.1635, -0.2161, -0.1783, 0.9952, -0.0219, 0.8162, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.467 left_y=-0.0482 left_z=0.0483 left_yaw=0.09 left_pitch=-0.3184 left_roll=0.0695 left_gripper=0.9952 right_x=0.2938 right_y=0.0001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -11.7812, 8.6085, 1.3651, 0.0366, 0.2759, -0.0513, -0.0752, -1.7299, 7.1863, 1.7021, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1635a2be4fb2572d848aff62b35460139a9c2298267c68beb6421218f17e40a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5537fe553f814717dc73198f06f4785fd9eeda8d613cbfbc45fef5764e496b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab12cff769e518af751b1710f10b5bc95ad52316beb1f1e12ebc80a749236096",
      "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 · 2.503 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8549, 1.0245, -0.0059, -0.3332, -0.2852, 0.0137, -0.0219, 0.8116, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4504 left_y=-0.1217 left_z=0.0492 left_yaw=0.0357 left_pitch=-0.2098 left_roll=0.0541 left_gripper=0.0137 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0005 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0872, 6.065, 1.4628, -0.1245, 0.0366, 0.8278, -0.1846, -1.2786, 7.0359, 1.7167, -0.0562, -0.0317, -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]: [-0.2394, 1.9579, 1.0824, -0.0196, -0.2356, -0.1909, 0.9956, -0.0216, 0.812, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4711 left_y=-0.0688 left_z=0.0182 left_yaw=0.0639 left_pitch=-0.2948 left_roll=0.0705 left_gripper=0.9956 right_x=0.2936 right_y=0.0002 right_z=0.1705 right_yaw=0.0009 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -8.8137, 5.641, 1.5409, -0.1734, -0.1294, 0.0904, -0.0479, -1.3333, 7.0496, 1.6825, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1913, 1.8771, 1.1259, -0.1635, -0.2161, -0.1783, 0.9952, -0.0219, 0.8162, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.467 left_y=-0.0482 left_z=0.0483 left_yaw=0.09 left_pitch=-0.3184 left_roll=0.0695 left_gripper=0.9952 right_x=0.2938 right_y=0.0001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -11.7812, 8.6085, 1.3651, 0.0366, 0.2759, -0.0513, -0.0752, -1.7299, 7.1863, 1.7021, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1635a2be4fb2572d848aff62b35460139a9c2298267c68beb6421218f17e40a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5537fe553f814717dc73198f06f4785fd9eeda8d613cbfbc45fef5764e496b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab12cff769e518af751b1710f10b5bc95ad52316beb1f1e12ebc80a749236096",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyJkbZga6zH4x-50Z3_0TbY2_Znp6TJAKPs8l5ZKNBDNL7jxtG9Pd9m_HPfXBlni_Jsk8bmFbOfxahcAlG_8mrUgqc61Rdt1es2SfBPS9gSG_It3Pdf7_eaMY1ASGPM_lsuNOgoL7hVrIiUD6IsFacKYDZrmArPbGzBzYKXWlbnKZQwxLNcWnn5n2u-9v45uukIX6mcIzr-nMgpzU1tbLpi5FgLWg53Tw_wDuRpl6L5gMWaD7WiDZRPmAbKG4Bs4coeLKi5ClB7YOcqeXPJP2E6q2x82rHhkav3GkF3u0otbBAVLh8F6h_WriHY3ebXZpgfObuC1eTlsUqrX4WiImskjZWdCS3BwFBaLV5lRd4lBsGW_HfO5srV8dXzshaxgz0eiUbRtMFZfB5swjIXGCDOx5I29D2t0xYaisycROQ2kV6rq1AS_ECoddEPE-dvLhGM0MRnZ-a8KAantj3KpeiTpCufyNuGJ3NGsdo0bh0eBoCEoFtVuD3hxPyfNnOE82eSP1sY5L4NfM1XRqivqblkY2tvqLBb0LB-fKgZ9B1lqRuz2fxxskV6YLpEGxmBd08kjvQ9keoMbNHBjlNtiUUhPOCIFH6uxLmPvfAoXcRfzosfaXVRTDGZfiy0_zhOr-qdl2bF0w3G5xk710WmQdH7E93r4UBnzhKoqAVtI5chIXJfQxgIuvz_w2Gfcu5oZwu2Cmw_OlhG4vD4ux5dX3r6vAnfNg6EaAbBh4aouSryeiFfq5cxPOIa6JWkHuNaSLL8wYjudQv7RfgEH6R5WSdFXEt0G_nwDGvIOZfgWanw5U6ADpwlkZ3vJNYhjI4ReJ-FuXU9Dyik3WioSKVLtFZon3_2LuP__c2KP_lGQLq6_NCQOfmi61jXe-20dHkw5I_l_Lo0-CHfU_P0nNMS0dp-snUee_kaaHC48ZB0r3_TyOVepgwVzK-K-1CBmcOpuMxw6UIY81m7Al5I3Hc9F18hf9nsgMeVDzEdCSXBUa5gvuKoyBqr99C7eOjhbZBdPjofz0VRmcyo7Az3dpyPJoTps-X9y2Ex3dgsR4UyTgVZ44ZLvQ4ag7atITVaVjPgiSl0H6No6Glk4_WiekYSvTLByJpzfmFhM8lW5GFbXMLtdu6EQSgblzmx2ZniatOWFMLBzd5xSzqYE5IRGEXHK8KIXHdefHk5nKn-AVV5L-1OIRxm2mLzkR0S-38VAph8z6OWhzI3hgwk8DUPYvM1_nL40RgyQCp5VCe2zxEJ0NgC7GTLyOJm3FgKB2bZarjDgVcW7xCGM4eMrqypcmmyMdrNadH-x-MsBLVpFrF3tXrQvxZz70UMiiDp9xeBFlSBIuGnA77OgGLWJRNK3R0w6391bcrQVFSCIK156Sx22GXIo09Gye2WbUoI9IKLOBCaKOwI",
  "id": "rs_0777fcb52d07398f016ab42c87d4a487d0bb28307122534ef9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.008},\"note\":\"The bowl is now centered between the jaws in the wrist image. I’m lowering to just above the tabletop where its lower walls are narrow enough for the gripper to surround.\"}",
  "call_id": "call_T2XXPYu99iHho0nzkemP0DTe",
  "id": "fc_0777fcb52d07398f016ab42c886cbc87d08f4c177f88cadb24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T2XXPYu99iHho0nzkemP0DTe",
  "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]: [-0.189, 1.9408, 1.0767, -0.0772, -0.21, -0.1726, 0.9952, -0.0216, 0.8173, 0.598, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4625 left_y=-0.0473 left_z=0.0146 left_yaw=0.0863 left_pitch=-0.3456 left_roll=0.0761 left_gripper=0.9952 right_x=0.2936 right_y=0.0002 right_z=0.1681 right_yaw=0.0009 right_pitch=-0.0431 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.0034, 6.065, 1.619, -0.1392, -0.0708, -0.0122, -0.0889, -1.4838, 7.159, 1.7363, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6074b611fc08c592cd04ca15e412010e88fcd3ab4730de3edea82c1691bf789a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6827eca4d0ce694a5007eb5401dbbece9849100f4cdb58551e36f3b0007d282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18cca977def9c4a516cd0b021f0709ef4e3b2a08c9c3c0486934d735d6fbb041",
      "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 · 7.537 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]: [-0.2417, 1.7912, 1.3167, -0.379, -0.239, -0.1967, 0.9946, -0.0216, 0.8116, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4789 left_y=-0.0713 left_z=0.129 left_yaw=0.0642 left_pitch=-0.2542 left_roll=0.0562 left_gripper=0.9946 right_x=0.2936 right_y=0.0002 right_z=0.1706 right_yaw=0.0009 right_pitch=-0.0355 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -12.588, 9.2103, 1.4628, -0.0659, 0.2369, -0.0855, -0.1162, -1.3333, 7.2, 1.6825, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1913, 1.8771, 1.1259, -0.1635, -0.2161, -0.1783, 0.9952, -0.0219, 0.8162, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.467 left_y=-0.0482 left_z=0.0483 left_yaw=0.09 left_pitch=-0.3184 left_roll=0.0695 left_gripper=0.9952 right_x=0.2938 right_y=0.0001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -11.7812, 8.6085, 1.3651, 0.0366, 0.2759, -0.0513, -0.0752, -1.7299, 7.1863, 1.7021, -0.022, -0.0464, -0.0122]",
      "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]: [-0.189, 1.9408, 1.0767, -0.0772, -0.21, -0.1726, 0.9952, -0.0216, 0.8173, 0.598, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4625 left_y=-0.0473 left_z=0.0146 left_yaw=0.0863 left_pitch=-0.3456 left_roll=0.0761 left_gripper=0.9952 right_x=0.2936 right_y=0.0002 right_z=0.1681 right_yaw=0.0009 right_pitch=-0.0431 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.0034, 6.065, 1.619, -0.1392, -0.0708, -0.0122, -0.0889, -1.4838, 7.159, 1.7363, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6074b611fc08c592cd04ca15e412010e88fcd3ab4730de3edea82c1691bf789a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6827eca4d0ce694a5007eb5401dbbece9849100f4cdb58551e36f3b0007d282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18cca977def9c4a516cd0b021f0709ef4e3b2a08c9c3c0486934d735d6fbb041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyLrwbRz5xwd0DnC6QTzSi2u8zrjiwwtLbcYoi_0V42d_fhv8qor8Hhcy_RWgCqSPoecoXLKihl7uI_27Nl2LnE9Xf5L-eRLz1m7IT42oLDD3kdBJjjTBLZXYn_8WSvakiAYgU7skED49_NJxJs7gRVKFg9Cp1ktMzemaN-E6_WlXTWBY3nCfxw9yngHHEyBaClrPKOA9YnWjs3G9zLGBKAiVoUIjptn4gJX850egugEEk71cabpLVBZDLHAU0-0cSxzN9SLf6_SAZQ1avanj8E6D_lOz60kiejGl1parF2IGmZGL8PFjRt6zkC7UR9ElNTHecotZBUCBAaIQ-yTo1lGwfXtkGXtpawE3_zyNDLCUz2967Z8hdzuRAucWN6vEGVAH37kPevmF9xHHM9FRIldFnbvKfrpj7O2t73ZfwM3_78kC0MjQ65Xa0m9pxbDRkdJ0M3hC_NnIwPMomhp5jE_eS1JT2A80yWxvSkDv3xu2iPZHPWZXf5Q_gfgAYxYkEisjZcFbs7KCkKEvaHvdJIxCUItV3CM98bO_mZFsZC4LE2CiGTR6efPBxiocpR-0LSasTyIAtDYuYTyB-MU3Jy5gWryHukGvciaQi5WwcrnGygh_6yWs0wtwFh9TQA04YExXq_JNkkZkcLKjKbVD4t3wJ9qkpXya8uRhhZ9vejswISONml6ZoYlqPl7hFy58DmX5Vzw3xQtOyvbHVfFgO5wjHWUTYy8YMxBUFcE-kFXazPjRctfGEOYxw3GNnIoZRpWM4S_XodDOLmBhrVXYGuUWd7ZWjT1VLNMtNiOptBtAso1oQmwjy1HZqOao0C-PvtzQbeg9bC3qkfLz-RRPH2s_OmtHDoYy-bbw8Dwlv-30_l9FUd-cWhQiR6jgUwZ8mteHAjNwh6zecJiWK35EcdFISHjo9Vv5enmPiUsZpEgO4cyKQNwIKsgK3gMR-V0zQ4GRdBfVicxBYKnqwquQbFiynGgbJb4raVYXQokxmKbltInOwgJQefGIUydiQ90aaDRCM_jy9Xa2G72lb5SAVVt-qL680WV9TUvVtoc5hfDVibRgfy-d5700sAKFlYpR6nKQxUy37Wg_m_Q4u2x8f1HMkWGfWeM64E8AjDypMATnrpxnWGQT2qHhF7YSD4Fa9eTqEfeS5_fTGI2UxvRv7to5pnxaT7-GBchgEHQXI2o4FD8b9aPhJzNprRC9WWLGPRi_MRGDx6hFqOD7pDYonyv_EgIh6aG_k9nhsBz-ms4jw=",
  "id": "rs_0777fcb52d07398f016ab42c8ab33487d0bf8ff567d2a83f52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingertips are down near the bowl’s base, with the bowl centered between them. I’m closing around its lower walls and checking the resulting gripper opening.\"}",
  "call_id": "call_oHzGlzaoGzhYVS8XH9ifiz18",
  "id": "fc_0777fcb52d07398f016ab42c8aef8487d0a06cffdad8494dea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oHzGlzaoGzhYVS8XH9ifiz18",
  "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]: [-0.1936, 1.9373, 1.0744, -0.0578, -0.2409, -0.1669, 0.0278, -0.0216, 0.8177, 0.5957, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4659 left_y=-0.0447 left_z=0.0191 left_yaw=0.1031 left_pitch=-0.3192 left_roll=0.0988 left_gripper=0.0278 right_x=0.2933 right_y=0.0001 right_z=0.167 right_yaw=0.0006 right_pitch=-0.0458 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -9.5385, 6.106, 1.1306, 0.1636, -0.1392, 2.0098, -0.1026, -1.3197, 7.2137, 1.707, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39535d7dd671539841d75da4527a04095ea4c64a401f19cdd836d23f6709db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022faafe09f466f77b793b2e14d14c4a6aad0d75eb5c5ceb7204469f5eff7739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d4ee1721774a32a7ecfd358f8e72142287d4d7102f05725fd74d810d1dc019",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.08 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]: [-0.2394, 1.9579, 1.0824, -0.0196, -0.2356, -0.1909, 0.9956, -0.0216, 0.812, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4711 left_y=-0.0688 left_z=0.0182 left_yaw=0.0639 left_pitch=-0.2948 left_roll=0.0705 left_gripper=0.9956 right_x=0.2936 right_y=0.0002 right_z=0.1705 right_yaw=0.0009 right_pitch=-0.0358 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -8.8137, 5.641, 1.5409, -0.1734, -0.1294, 0.0904, -0.0479, -1.3333, 7.0496, 1.6825, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.9408, 1.0767, -0.0772, -0.21, -0.1726, 0.9952, -0.0216, 0.8173, 0.598, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4625 left_y=-0.0473 left_z=0.0146 left_yaw=0.0863 left_pitch=-0.3456 left_roll=0.0761 left_gripper=0.9952 right_x=0.2936 right_y=0.0002 right_z=0.1681 right_yaw=0.0009 right_pitch=-0.0431 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.0034, 6.065, 1.619, -0.1392, -0.0708, -0.0122, -0.0889, -1.4838, 7.159, 1.7363, -0.0415, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1936, 1.9373, 1.0744, -0.0578, -0.2409, -0.1669, 0.0278, -0.0216, 0.8177, 0.5957, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4659 left_y=-0.0447 left_z=0.0191 left_yaw=0.1031 left_pitch=-0.3192 left_roll=0.0988 left_gripper=0.0278 right_x=0.2933 right_y=0.0001 right_z=0.167 right_yaw=0.0006 right_pitch=-0.0458 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -9.5385, 6.106, 1.1306, 0.1636, -0.1392, 2.0098, -0.1026, -1.3197, 7.2137, 1.707, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39535d7dd671539841d75da4527a04095ea4c64a401f19cdd836d23f6709db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022faafe09f466f77b793b2e14d14c4a6aad0d75eb5c5ceb7204469f5eff7739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d4ee1721774a32a7ecfd358f8e72142287d4d7102f05725fd74d810d1dc019",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyUAm12sBvtwTzOGMhos83onPAGkel_Jk3Rf9wqvV53-HuAEHDuKtvHHNeStbAPIUWdhDGcvD6xdvdxhROJxLAD-PL6ONjVWhutHpynsBrk_Tn9RVKx16NOMO4QvHewHqxOsIzGJppLlo3xx66sgbrkH0bmUZXIAhmCV9Vk8ViTQR6bUAjjnG9RhIDl1j4KyJ0PQ-gClEUmmpLwg5k6t-2yZPJiw92w8L4Sq9cfeIsVPrafizGnc9zkluc_AcXdFWmWclfHLfLx2DAPa9r9F-nNmBtnAAW57oD4gp13wi-38z_76LrThtJmqMD2wu8XYfjG7kOqYdhCLA6-tQ_i749ZoRucBss-Yls74CX2t-k_wD2QbJ-MvRqAj3bpQ8p5Lqolb5iqwCNP0oHye54rt-WSjIBLCDq2kTXlIjVrMZOa9CCKPDBTyjvePkkpeT-psxue4Nsdya4rk-2hDGSakyPgNjUW5OnFsPOoZOzkwwkLLXslZs2DhXeYAU-Hv6kvGoLXL3brka4rKDJT8h5iF6cwCJ-ToNgV7QyCtDT5__MdtJPWC8acMFIZ5x8md6YWQZlRseG2XM5BB50nbTUu5h6HslTXSNN5iA62mvoHLj70GNGCC5qaFTifE4AUKT4hPFad-9KYb65OVQVA_VB6ClucE_Ksjxc-7bOaGjDRSJILDTGk84VlsqukbbP8s0HfCtNAxZJ3EQGWQzDOM1fMpz_i7QkhihRD3dnkSuliysD6jcQv2YXzJ3Ths57V6Z9rSeO8G60lGQmXjzrI0qLMWwTq2Fz6YxknOv3fdYTEgMk80Mt1Q56CfS3V7CLU2zMP40VtRTTgGNTAyAnjFWobyn5f518pGdX9TYwO6FMZZlBksXPO8p9zvc2XbW7LMGT6a_ha89ZwueUwJxpXRvQ9pWr9SHmfibJLEgxfkJDzXv0mOHqbkhDOSa-UdfrOD-fYBLyzebedXblBUjsBrRU_1cOB0qKY_Jwbry1mzDgbjlfvYRvaKp7-5lLkw0GBMc6D6jIiYqWA6N6iUu5GEg58qSbD-c7J3_m9ogCJmFv_XFdWeI59kQzH82aEQfFK74elRTkbpW9cjoXB5-EKMWg9zRCfYykNxKwj1FnKU9Leps0rTnpF0r7b5pB2DTFjddtJ8XxDXEh_mN8pNw5_TwvnRR0YDmS99mpVO7NAuZzUVYOP3xKn4-rIN41iiy8EBofgWKFOkbpJvq7AeGZHGHAR1_vKJw2xCe1Y1yr2mEZ_HsFGploKXNx8023eVl9X-exBXxDRdQhNZWyFbrGl6KpRAPhCTz_zcb2__atMEVM72y4HuTdG6JQzp4JCpSuozHB4IXq9gZBki9OTsqEVE_D1v-Ekk-kU8QyawcEQh9bFheEUFywfiFfXOlK0cE2QYVitZxwUCHirAi7eJFHpi7KovYd1Erqg9PzIgDwsKhKMbQNpzxt6wbK5nvDEWDCthg7Imv73mYTWaXkO1VCbkGRuDrGSz07L6G3GPz3vW0lcZQj7XsHQEq1lLt1wduYkaDUfb7ydk9QGH8DoTbo3ePVnSv5O2ITr4UR1azayKMbwDtCxx8IbLSSjGWUK0xk1mOjQb8FcK3kgg6AM-ptOa8joQUKedwNw1IEa93TQ1W_L4Ttsa7Y6WURmBVB3rCMaiy_yVckgn31Ez2pmKp3wUCqaCdiXBAMusaVNldZdNEIuQUs_9nul1PCEjhO-CxHGE2ClcWlsjluo4dkGyb-XitQlolw18worViUVx3g3c0LzW8XxxzTIAGePgwwn58ohvZMaGB3F7EVEzEahtQbLQTfj3ktng23SPbnPA7aQ6-fAzY4q3jdeehDl1aPkN92f-5lyc9LVk0Hx-3Sx3FcAxuxl0asnlkOWhJnu-Pcs1i7VRiYrh7tsGlGFyYSoHGJ2YByIWywMz1C1R27i1v5BjRPBKC5-PFe59-_n-mZMg4j5_eoLtjHhDeNlPbhUGh_kTx12yTmpS0e0dXHugRWbckWiKAb_u6lIg-MpfaENHxtmKziS6eXxzPo7PWFYBQNcB4g5l5u4xjWzryLW0McXJzsoDGRmWrGIgtQQ-OVRC3BcQMkYdqN6-VQT3L2ddY1FRY8GgE25FuYA9Vpw2fshK0wN1L2h-j41pjyExTEg3887N8PNFqmJybRypDz4TCmoDggu1mOuipT6u69_JYc5IqIWMApjsieuqXxVav8FbdiIAUsFIsM3QLechORpDweP3KyGYG7s0JB8Jq7U39HChy0A3XY4TyfdM3tJuubRuzIv_eGXX15ZCEP8KWr1SVuy7-uWUpK5Bp_vbd2g6FDv4xHo5yI1ZZrVn6JqeH0U3uRjhCdfIIH-cXTY6age_PQTfPMdo_ne-7X48o2mC14R92g9VoFDm437gmWkMsoeG26Ap2DIntG_edf3jdeYYu_RnPZSfo7S22MsJIo6Qv7tM5PA2rrv7tlEkO_hfct14unZKAnfSwbPNC8aXpgELZ00lM0tx0ymlbtKjLVS0e37sFr-PCzfjS62aD2U99ayqrSty9rhPZRv8Jf0cf7mgVYd-7RF-OQW_o8_0LPPR5sP-4t-plw5r7pm-TornDyDzocbDtizz3-Ff61s8e0JA2Jjy0w62HdyiyRuaw3Sqn6tUnJoaWFfZxMRiu6ZG-Sr7XBwRjTRPQTKrTlqLbNJckPKN1dlUgwNrnFIBJlDYXzE_OIifDkHJADxD0t9JOCB3U9h_Wrlt3YPzoJkjmZwtaW17RIlcPUEfVNp2EHstmt_BlsA7DvqQ5iqe3FlXrbIK9Fkt3rYtjDblJGwfT61NK3U8LLucaPqzNoh6X8s0sw3uxEdQnsbIufm7yfoyebftXMDzPBZAPy-MlyMk1JLnwMYUCyOrbVUtRu5GPmeQz0WIB7el-luTMvZmCYB0m2sGF3wUrsv9hfDVqLEJWA2jimDqzs8HXXQ4GzDVVt3shFa1kcw9IffytQcPA0lKwwwE-eKFbvzQYU34BPpn-KU9T6pNa57YblYX1gWDzWHRbZ4yzDJSmX8eAuleD6jpRejN3YoiMcmkC30A9SUQAodPeWJjX_x78LK3AMsDDKDODjdpn6kCvJNY5nd337HnHoLN-gfrhuh8u_0qKooEWtfeCTC97wjSqGjJA0FKN-2txsGhZneEYgmAwLViAzQ7JaYZ5CkPkLhOd7hGukx73L4NzwUeU0_Y85o4ZlXgBbOUDMLMmVeRBMKgOIjNRVAV_BP_5e_A4lFqQ9vaiHgitMz26yNL6EKRTXl38hxeoNsMwG4vKvGsfkI99cuwrFzxTHIftirqQDIunHnVUz5OFVwSmbBBTRFNntYl70_O4uCeAWSeMu2i5jOFXEsggtPhCkHbtzwvdDfeoMaEmas2nUprni3PVU2CgnvRXYA8gKPPlLQOBUZbgunsHUcUGRsiaYYkvAhsfTXmz-MPInOIqrk2jAKTDaveymUrOPSDQNMdlOKDQyWDK4LtIKJmIUM8RVGnAAx86svvnvuRQOOO_f_mWncGa0tPa1WvXlYGhUyYjp5qWeKAiVTBVQm5FDV-z5KxY7qiWZdglLGVo02kimigHKVc-HJ8K2jYWq6A8vz9AuRV2DNvS6r04RQkzOg3W11y8azetcrMJaEnTu73-Mee-9Rb4FQKd4KMUpSC8MFTPlBkiwiq1qPexoUEsM1xAAY18Jg-UTE5aSPz9b4Z0T4Oa3-y0moawcmoz36mNJSqeZBxJOYmEyPrY0Q7eHhEzEwPIPZwbvaLnwt1UCTQgrNOWIwkkJace-oM1-JKSCAhTv67GlLFFDqGRXq23pHN8iYOgZOfXi--yBgIwiX7FRbbynmYFdVXpEC0QrkuYYTAQQi8xWkmzYPOzLrgVZLBGWdPmMj9nZIdkXviz8Jpm87MWW0H8CjjKMLxfqkBGC1sG_Gbn9RHPr9Qg==",
  "id": "rs_0777fcb52d07398f016ab42c8de5e087d0aff6d016b40e4350",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyUJv48egS7992NK7ZLI_jWbzF2GKMP5ZWBSJuXQgmb1W8wlcE09mbqY2sQfh6Kk601JkCjcpPOj6Ihm_2A9WKvT7Ba0SMHg9-nm92KVHGPjnw_2H7iRFx7_GrIuPjIDXKE8cBzwMlCDtZg-4reTJbhAd4--_PZiAi6nBQAknesHwdRGFzyhUap4Cli-xhJ3XQfLSLoI5mIxY6ioYMsyerdEWj8QKzJwFrx0qqVEETJqKXVLe838cDm5UrJsnhteJIIAja-U2kQf9hyDkd3qy7lrrJzmrj8XN2SRRCLCEznXcZsH_Sm5z51afN4Dms336gFII140UNnzTdBjcvKoFD-EhnXzRYxtNSLdmixYiZ2AyL_L32mNlbFxzpqOitJqgxGWcWRZ_QWS7FS2trYpNr4P7H82WY3z19KiP3rYhGSQCcC1RKK1m83fahndP9yfar5h12_fGOO82o5Xzii_PML3ImLqBmO_TJ4QhvVMgw4-lg6RrDSodUy6Te2o41AwgCj58IMjXTtgzrn7tayCSydEKEPQqx1k_WEueoootH5POXc8HP9RBC8OFXwyYanjvV4a2S-og7z-nUn6-3O5Bh_m10rg1Fuzu0BMYU1ZDgk4hu23fyg3PhXK_ge-wHFuMzU9EoB31GQ2_JVCyMjCc8eK4Ji161CJCdSSgFTW4uQoUBgg_W45ouja1f26Jw3FQoBTK9slgsMsH3W84NSyU80XK-wSaQHMyavipnArnTmgRl5iluIH93hcBxv57_CzVDhtIrs8exreHn_VzKrdKMFF_CoRhNjbjd-LK0NX3VFxeQb5JeWS4xaOsJnVbm9ZLnG0JcHmwMaPxNhL-ZVJ4JAFfIzgLAjyRYtHAcp65IW5oM3E_j8_zfhHjgs0GvE8g0aDp8WgWDwUyDqgqnIyuoe702kMQXVDFsKPUgV8nYlJhz61M0dAT0AdimVGaaglBOr3SL63CmP6buqc_yCviS1CsCmrN8KQ6C7zr6RqzkMnaMvoKBGWtBRzsdDJnvOlrC8knzuwTsf-VP7WeA8uKW-Y8Gxm1iOVZZrBnS4pE12G-UK2w6oB0Ovm4XyxmbSaPDe3R_EcBr2ZDjCaUxxil81PKmOKUY2whBlQs4nMXeLQWGqpg5LgAKRwC3KO08kHRxvLoft30R_g5iMgyyrN0paJlgTjlPDzsxkh0F1u9MVEUuR0Cb0rEJpUPXw3780SdR9Y7CD0akeflWBOHDzjDLkKrAhNtNKb32PnqbG3X5LZ-UyfnQZJKDQ3jhtZ9_QD72USR6VP27xB3R6VINNnJ7kGi3_J55OLKBTKHGJkWpu5LlN-oadS6kTztUOvgMNXTpiuz-gCzL4Hy0RTerwJO9vH1Bo23uV6hP2V_lQvlvsyPGMf730FlngxOxhpLasCZOR5cu4RpWabhxnqx2yHqconUSUrcPXJbtDSnl0zplCrVJq5ZLZpDytksdZ5CJ8ZdrJsEvoTvwlW4Q3s3AAxRpLh2G8D7NbZypsbEw_ThClteMpZImI-6_rP-KlITYn3QnwP9lO3m-IgubiDe1OjA-7k1zT48UubjpNlCWRTj68ki-WD2mBCEKpx6dItx5MSWYR1WR5QQong2sIQd1lVUw6cIKynoQdR4G5fgcGbzglxCEbEwbVfNrLWN_WH19N8F2d-7Vve1NQtbIF-iJamanD2VzzCNqLiuN5WWM6tMKv2CPw5vKQOJYkVjI2psGWyrNFcad7actB35c9xa7ifenS3u5RlwPJv4EHF6-GHJeeQB35e9KuTQbvoCJAOU9uKxWb",
  "id": "rs_0777fcb52d07398f016ab42c926de487d0ae920fc4a7e2aa56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.41,\"right_y\":0.10,\"right_z\":0.15},\"note\":\"That close did not hold the left bowl; it slid out of the jaws. I’m parking the left arm and bringing the right arm over the pink bowl, where I can attempt a better-centered pickup without the left arm obscuring the table.\"}",
  "call_id": "call_agjVfkzt3Z8ayTSk1RXt60kY",
  "id": "fc_0777fcb52d07398f016ab42c936cc887d0ae1cc31f96a3e530",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agjVfkzt3Z8ayTSk1RXt60kY",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1402, 1.0954, 0.8986, -0.7082, -0.2119, -0.1368, 0.996, 0.3435, 1.4429, 0.8448, -0.1261, 0.2531, 0.1684, 0.9963]\nstate[eef_state]: left_x=0.3039 left_y=-0.0017 left_z=0.1669 left_yaw=0.1132 left_pitch=-0.312 left_roll=0.0912 left_gripper=0.996 right_x=0.3934 right_y=0.0975 right_z=0.1259 right_yaw=0.0354 right_pitch=-0.1275 right_roll=-0.0305 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -3.412, 9.9077, 1.4774, -0.0513, 0.232, -0.1099, 0.1983, -6.5709, 9.3744, 1.8828, 0.2711, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dea83c308afcdcf33aaea6b9437ca667bac5b9eb74e56c3edde8961667056af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c253251ce3bca60283d0fd812d8f0ce2351f6b65618fbe0b823277564aae82d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48c3995bd417214c518c0a4ebd80aba66a0b454c6988354893b116f10c97bf2",
      "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 · 3.524 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]: [-0.1913, 1.8771, 1.1259, -0.1635, -0.2161, -0.1783, 0.9952, -0.0219, 0.8162, 0.5999, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.467 left_y=-0.0482 left_z=0.0483 left_yaw=0.09 left_pitch=-0.3184 left_roll=0.0695 left_gripper=0.9952 right_x=0.2938 right_y=0.0001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -11.7812, 8.6085, 1.3651, 0.0366, 0.2759, -0.0513, -0.0752, -1.7299, 7.1863, 1.7021, -0.022, -0.0464, -0.0122]",
      "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]: [-0.1936, 1.9373, 1.0744, -0.0578, -0.2409, -0.1669, 0.0278, -0.0216, 0.8177, 0.5957, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4659 left_y=-0.0447 left_z=0.0191 left_yaw=0.1031 left_pitch=-0.3192 left_roll=0.0988 left_gripper=0.0278 right_x=0.2933 right_y=0.0001 right_z=0.167 right_yaw=0.0006 right_pitch=-0.0458 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -9.5385, 6.106, 1.1306, 0.1636, -0.1392, 2.0098, -0.1026, -1.3197, 7.2137, 1.707, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1402, 1.0954, 0.8986, -0.7082, -0.2119, -0.1368, 0.996, 0.3435, 1.4429, 0.8448, -0.1261, 0.2531, 0.1684, 0.9963]\nstate[eef_state]: left_x=0.3039 left_y=-0.0017 left_z=0.1669 left_yaw=0.1132 left_pitch=-0.312 left_roll=0.0912 left_gripper=0.996 right_x=0.3934 right_y=0.0975 right_z=0.1259 right_yaw=0.0354 right_pitch=-0.1275 right_roll=-0.0305 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -3.412, 9.9077, 1.4774, -0.0513, 0.232, -0.1099, 0.1983, -6.5709, 9.3744, 1.8828, 0.2711, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dea83c308afcdcf33aaea6b9437ca667bac5b9eb74e56c3edde8961667056af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c253251ce3bca60283d0fd812d8f0ce2351f6b65618fbe0b823277564aae82d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48c3995bd417214c518c0a4ebd80aba66a0b454c6988354893b116f10c97bf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyYJI0vQzkYKuhPeCfw14eX98T8mXq244KmXVgxFdt6l1Ge4_Ee94Y7GsETfeuoNuQa8Uw-xN6bHsjC2c_lK-kguzSGB7lxzXTWjyOIGfo_iGd9T4_1GcoWHQewCpsu7_qMrYCPY1qCcPsD2sIabQOZC11WRwfMviNnnpYQyBT7jq3WKPyiIs1B28Uo8qQeSePphzmB548BV6xl6_gxGj-dY1-qpDm5i8KTt6wk3O79nJr_jmj5AsLvRscT3MI5SDjFwdjy4PnSTVrjNCfnUQBqcWqqeS-l71cGe57Bk9cPLi8cEiGNsU6CRc25Kq2aQGpRsrR38ZPJlTSiS8ELnTout229TcSxupRh_FG8_dYFYHhkxZ_pB7887BLer42Va0OhN_ivSLuL-N-aH3uvZ03ewM-TWA-M_ujii6WFT8BV88Djv8TGfQM8f1U_Gvy3JcU4b-iLhIfvgiyGWdJMhEdPadHkIN55HJyGl0yac0J2N5g2DpdhsolXy5zD3gkCg6tGMC05Ln0jKQcYXPk5C4quphdS22I-67U9o178V61mKSfDT5hHMREVXz5N08NTdNPjHQk-rNpzOeHBG9iGBvENYaR49VfMuXMlJwtleZxpAZS1mQyjkrmGJHdwZuQUirYzKCdxy-2fVoXDH_Dn1tvdv6HLbIq04NYoNQ2GfS4A_L6O1duzO8FddoYimQDCycd9KfF-9hEf3-58HFsrmzEa67Fe5MrGBilO9cwQvcRePAlv0AddAlyp3kWKbEraj1KngrTPTVeY2nLcK3D7QXrNQs5vJadOlC58UdnvEj9ddZeOOX3_COFFOPXYrA6W7MKXhq9BAlkOHAamjdULLg4S_8mi_yMQszDTVEZQIjPPO0APoigpa9gel7lOOTg3rCqAHamkVDoPamJ-M-iRdo90BbdxpOH0w5g2b13xnZQVtXeuGYaQWaeGRMjeiNIfqri9Fzwh1APM2Tyg-68-c9tuwuGG4qoqENHuigYjamQaB9Ok57-WaKxGuqogVujKBcrqkQ4uK9TQ_GIcY4_TzYANJigEsRD7BgNusKEaEdIM5BgWFctixNjU4xbnhJNAx51qdv6GA2RRuXBifzXNP4HJ6dbYoKkarCkPtqxKExzoxsEezIpMBVj_4DbtfupIdWElBEz_6CgUCYLZjElHHS2czlAnfl8-UcOATf1AXp6_RFutaZPoWJKBThbaMi7dxL9m0ea6izlZbbM6X0HfCJpZ7aDCNeFFbTLfhc_0jCC08xLG8xSJVDOOIaYHOeAEDTRSlaXDBmiwY-w7cTD3_k9WD5JUKJAYr_9bQO5QW-FCTit2myPgsYEp-2Z7SAQ5pBmycycdtbycvOFEnj7kU-IaN8nIcFQCogb3DEtGj-xpv7egBJ-sbrzk1Vv993Xx1u1Nd5BPJXuJ2qIm_XRZdXBo8L2kpTS7_sBPrbXxwQ-oJ5PXamhOrZIRV2Y5WLS0XjO0zOuoLQ_8wtlLhSarF_Pkw1kYMAuZeKONOFdr0PfYUWFArQgfU6A1o26z-In7OlFNcTuQoM5Gtqqce0oQAEdieHO3pRSnUW7YmGbjWSTgZs1zVcw4s2sfq8YmRYYlQQt78ngoax9NCDmJMt-6h3m9HDeqTFjUzT4yMO6gmbQWpT0wPnOtTIzCyR8xZpgEqAUBtg0lAMaFf-1TDcy7Rd703M8JDvUSOvB9xmbtICfoR44rhCzpFINw4_KzzbtfoT6chY44ICgyLwWw2fe6YQ_GIy3G7pJ-OOLDEhNdJ4pp7iN7D0QwolqcS9r16R7Fshl_H9DPKnJIPmVew91cIcVdtURuD089COLJqkvtaISZfTTT200QyGRoAWRFXRe91J-GIaoppSz_cXpxEVlb5WZ0AhRay_QzgBF6v1vXXzo-sUoC_d_nkgQuiBCAjwWeQ1mmOhhewlKwTF1-VmZjLKwseysDYC6aLlcO1uIHrc2dciNrZ_8PcSHiB5VSFiL2aTNRfpEvEHzJXKL3Y25QLWgpTg==",
  "id": "rs_0777fcb52d07398f016ab42c9696f887d0a2b34256f027f873",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.127,\"right_z\":0.11},\"note\":\"The pink bowl is clear in the right wrist view, slightly left of the jaw center and ahead of the fingertips. I’m moving a few centimetres forward and left to center it before descending.\"}",
  "call_id": "call_1G2I1jCB36DsQC1nVpeYcjwk",
  "id": "fc_0777fcb52d07398f016ab42c9819d887d0a3546f70b834d87b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1G2I1jCB36DsQC1nVpeYcjwk",
  "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]: [-0.1371, 1.1015, 0.8982, -0.7357, -0.2096, -0.1383, 0.9972, 0.3813, 1.6527, 0.9382, -0.1032, 0.2623, 0.1764, 0.9963]\nstate[eef_state]: left_x=0.2989 left_y=-0.0005 left_z=0.1609 left_yaw=0.1181 left_pitch=-0.3452 left_roll=0.0974 left_gripper=0.9972 right_x=0.4155 right_y=0.1211 right_z=0.0844 right_yaw=0.0561 right_pitch=-0.2142 right_roll=-0.0602 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -3.6444, 6.6803, 1.5946, -0.1978, -0.0366, 0.1099, 0.3624, -8.9368, 9.7846, 1.7949, 0.2515, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d11f0649ee46cfb90bd28a91d359a283b8636bbb24a3991ca7e4f0ac8f80da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de6b16919dfc806092e18aadcd210520e590eff60de29c5a4d03f4740ad3231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208b12c024f42a0ac00d1ed4a30d7cfb2c58afee947c9ef73c71912c3d6e7ff3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.667 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]: [-0.189, 1.9408, 1.0767, -0.0772, -0.21, -0.1726, 0.9952, -0.0216, 0.8173, 0.598, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4625 left_y=-0.0473 left_z=0.0146 left_yaw=0.0863 left_pitch=-0.3456 left_roll=0.0761 left_gripper=0.9952 right_x=0.2936 right_y=0.0002 right_z=0.1681 right_yaw=0.0009 right_pitch=-0.0431 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.0034, 6.065, 1.619, -0.1392, -0.0708, -0.0122, -0.0889, -1.4838, 7.159, 1.7363, -0.0415, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1402, 1.0954, 0.8986, -0.7082, -0.2119, -0.1368, 0.996, 0.3435, 1.4429, 0.8448, -0.1261, 0.2531, 0.1684, 0.9963]\nstate[eef_state]: left_x=0.3039 left_y=-0.0017 left_z=0.1669 left_yaw=0.1132 left_pitch=-0.312 left_roll=0.0912 left_gripper=0.996 right_x=0.3934 right_y=0.0975 right_z=0.1259 right_yaw=0.0354 right_pitch=-0.1275 right_roll=-0.0305 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -3.412, 9.9077, 1.4774, -0.0513, 0.232, -0.1099, 0.1983, -6.5709, 9.3744, 1.8828, 0.2711, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1015, 0.8982, -0.7357, -0.2096, -0.1383, 0.9972, 0.3813, 1.6527, 0.9382, -0.1032, 0.2623, 0.1764, 0.9963]\nstate[eef_state]: left_x=0.2989 left_y=-0.0005 left_z=0.1609 left_yaw=0.1181 left_pitch=-0.3452 left_roll=0.0974 left_gripper=0.9972 right_x=0.4155 right_y=0.1211 right_z=0.0844 right_yaw=0.0561 right_pitch=-0.2142 right_roll=-0.0602 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -3.6444, 6.6803, 1.5946, -0.1978, -0.0366, 0.1099, 0.3624, -8.9368, 9.7846, 1.7949, 0.2515, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d11f0649ee46cfb90bd28a91d359a283b8636bbb24a3991ca7e4f0ac8f80da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de6b16919dfc806092e18aadcd210520e590eff60de29c5a4d03f4740ad3231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208b12c024f42a0ac00d1ed4a30d7cfb2c58afee947c9ef73c71912c3d6e7ff3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCycHd-2MaKIA_0QQFsadEjDN5UBCmYChur5DyfOnMKLHe8gVVUPy80MFPIpJFE7hNl2smD64fPIvVoVwdKDWdE7_zjmDxb4MoC2SxBVE3IPzoWrDp4uhmg0A184X_pGobpTWnOLXZpPAmnEYGFqqCQbrdf07ufmwjQ2kpOGVD37z854Ha6Obm5eV0w8kriomfGM2doBwd8UDMfHi7iX0MgXkjcpvVWfLpnt9b6KygieCDA03rnE7saVCqSsq78sBQGRqfcFlxJQzdPO1foX6Dzf6sa_BkpphDLVjeFRe_ZgP2h8Yj6gmcudaZz5p6LYby-f-Fx072wJOkDDLr-QXzcRo3uGhVXKY1ziZUik6OXddevQKpNOLVgl39MizonfWnr4aYm0QwLSjo3_Cgt-VaNNr5AleKPIw7VFenypLF5kAXMIk46uTgaJCiD6wbPpe9R9dUSPXVn28KErLcIqutdFTHdmD5TcMqoeW-QisvgulrFsea-mrmODKrJ8NGILDITJ6mF-70w4pJpsZtumjB3tyQS8ntOBIHLvJrt8PWEIp98wYVInIYDxDZ-tI3Q-8R4SnR33gnxK-ZUMcTuGx2nHGTA8lBVifLaT8OSYjIGePV7XpVuVF6A_u-zgCVXFOIxOO9iXERTLTibeLCztKqgf37YHOoIc4LwaPhzcvfjX-7aSj8O5LlbZskcBU7Gxam8XKVVLXClfIUwj4OpLKpdAs0NfzhxHTfjnge9kWcRAlIef2epEhCOwoaWgKU2YlATR3yP-ff6ErDsWy9l-86cezd9Efn3Smqp0O1OmVkt-OfDR_TLmtQM6F-VPb8ILnzpeS8m9oHUQdiAC92MsXmwyKmKHlaLwOUT2JtWdvH1EkWR9jXnCg1dVVtxby2s6tB4q3muoMcbKLIjHpmWCLFs1cLS-yx9PBUvcR6Y49BHWytl3lGbs5BZv0AemMKNbXTHE1qGVvhn0M-B797kBN5q7clikzr7Fxc-569U1IwTnKCrnbZmQ06D1a6jWkvf8zIVeOYzs4gw3rccEM39G2C_1ucxC1_MWQD7Pc7eSPUuadK3b6mF6YTp6YBE5iLRTRi1RciPBNGhv1yFvcYWx1Ge5yGnOrGLdwLfjaNlg3hOFq2tQS76z6ofGBWC0Ut7yZ5sT6R0vN6SVyuichOh6wQUU7H7UBFH71Fy2KLhtNbcg9Dr8g8LAIXWSv9dVk4OxwL9Rip99ght-FuIlpMKw1-NY8FhxvSf6eEwP-d7A_YoaBqN1q9HLbdREK9bldQrcmluqNK9tZDIsf-OrOShT5q_CzTjAlRqk1XPjOWWOnmcwnxPBEMKaiBEravJpdqjBO-HmSu8VzGiDwE-Aay7kf5tn6moPxLGwcEKDK9yHJwR2i-kd4i3U4cIWndtShBNkwONyxpMkrb3gbpFXvNmwMy8jszIKZXjza8SHhj6vWHuzwLCB24hJwBE71Q8hlvqLhd6IVeS3c-ylwTILi1h5qtORQqOZAYeyICSrqfKpRAIOvx0hG6jYhD4sLpcJJU5erDryR1OiEAPEN3R7EHSaLwdTE35AQ-zeQjA5vHYw6p77tUoQS6JwT9oaINmMlSp5ImeRitIE_KYfDnl7CYv-S-Cq5g==",
  "id": "rs_0777fcb52d07398f016ab42c9a7c1c87d0afe02a00686b843f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.446,\"right_y\":0.138,\"right_z\":0.013},\"note\":\"The pink bowl is nearly centered, with a small remaining left offset. I’m making that final centering adjustment while lowering the open jaws to the narrower lower part of the bowl.\"}",
  "call_id": "call_5LZKcLRQncDusOY4sfVz1kJa",
  "id": "fc_0777fcb52d07398f016ab42c9b5a5c87d0ace5e763c7ec8bff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5LZKcLRQncDusOY4sfVz1kJa",
  "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]: [-0.1371, 1.1019, 0.897, -0.7292, -0.2096, -0.1387, 0.9973, 0.3882, 1.6684, 0.9501, -0.0937, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1613 left_yaw=0.1178 left_pitch=-0.3404 left_roll=0.0958 left_gripper=0.9973 right_x=0.4189 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2087 right_roll=-0.0578 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2205, 6.8718, 1.2527, -0.1294, -0.0122, -0.0024, -0.3897, -8.6496, 9.6342, 1.8095, 0.2808, 0.149, -0.0122]\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:c69b9ed5e2bd87772ad00f6c12fc8c367fa6285bb0ece3b598b298d0eef79697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf28d11e1de3c938e84240930d3bdafc80683d49b669da08b5c0a60e36df1ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90dbe78ed8214f77e0314d6e4c253d9af25e42843115f66d3bc12c91bf04599",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.689 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]: [-0.1936, 1.9373, 1.0744, -0.0578, -0.2409, -0.1669, 0.0278, -0.0216, 0.8177, 0.5957, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4659 left_y=-0.0447 left_z=0.0191 left_yaw=0.1031 left_pitch=-0.3192 left_roll=0.0988 left_gripper=0.0278 right_x=0.2933 right_y=0.0001 right_z=0.167 right_yaw=0.0006 right_pitch=-0.0458 right_roll=0.0007 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -9.5385, 6.106, 1.1306, 0.1636, -0.1392, 2.0098, -0.1026, -1.3197, 7.2137, 1.707, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.1371, 1.1015, 0.8982, -0.7357, -0.2096, -0.1383, 0.9972, 0.3813, 1.6527, 0.9382, -0.1032, 0.2623, 0.1764, 0.9963]\nstate[eef_state]: left_x=0.2989 left_y=-0.0005 left_z=0.1609 left_yaw=0.1181 left_pitch=-0.3452 left_roll=0.0974 left_gripper=0.9972 right_x=0.4155 right_y=0.1211 right_z=0.0844 right_yaw=0.0561 right_pitch=-0.2142 right_roll=-0.0602 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -3.6444, 6.6803, 1.5946, -0.1978, -0.0366, 0.1099, 0.3624, -8.9368, 9.7846, 1.7949, 0.2515, 0.1538, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1019, 0.897, -0.7292, -0.2096, -0.1387, 0.9973, 0.3882, 1.6684, 0.9501, -0.0937, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1613 left_yaw=0.1178 left_pitch=-0.3404 left_roll=0.0958 left_gripper=0.9973 right_x=0.4189 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2087 right_roll=-0.0578 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2205, 6.8718, 1.2527, -0.1294, -0.0122, -0.0024, -0.3897, -8.6496, 9.6342, 1.8095, 0.2808, 0.149, -0.0122]\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,$blob:c69b9ed5e2bd87772ad00f6c12fc8c367fa6285bb0ece3b598b298d0eef79697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf28d11e1de3c938e84240930d3bdafc80683d49b669da08b5c0a60e36df1ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90dbe78ed8214f77e0314d6e4c253d9af25e42843115f66d3bc12c91bf04599",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0777fcb52d07398f016ab42c9df6f087d08436a879ba0ea91f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.075,\"right_z\":0.15},\"note\":\"The right arm stopped above the pink bowl instead of reaching its lower wall, likely because the wide rim blocks a full-jaw approach. I’m backing up and positioning over just one side of the rim, where one jaw can be inside and the other outside.\"}",
  "call_id": "call_ria64jfgzRlkC30E01eLJqzl",
  "id": "fc_0777fcb52d07398f016ab42ca1b66087d0927f4f2e4c3b8859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ria64jfgzRlkC30E01eLJqzl",
  "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]: [-0.1371, 1.1027, 0.897, -0.7296, -0.2096, -0.1387, 0.9974, 0.3882, 1.6684, 0.9501, -0.0933, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.161 left_yaw=0.1179 left_pitch=-0.3415 left_roll=0.0961 left_gripper=0.9974 right_x=0.419 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2083 right_roll=-0.0576 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -3.0701, 6.694, 1.3065, -0.1734, -0.0415, -0.0122, -0.1299, -8.6496, 9.6068, 1.8193, 0.2613, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba1707cb4546e2182f288b00b7539f02b61a4216b6aed7acc9632d0887de1857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb9d5013b05c80de87953535dddeb2ac0b4828437bc1f9fc0334fc5d5385dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273d875814df9b344aebb8ee290ce073f1d5895be07fadd0aa5e5c760c6eae29",
      "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 · 4.29 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]: [-0.1402, 1.0954, 0.8986, -0.7082, -0.2119, -0.1368, 0.996, 0.3435, 1.4429, 0.8448, -0.1261, 0.2531, 0.1684, 0.9963]\nstate[eef_state]: left_x=0.3039 left_y=-0.0017 left_z=0.1669 left_yaw=0.1132 left_pitch=-0.312 left_roll=0.0912 left_gripper=0.996 right_x=0.3934 right_y=0.0975 right_z=0.1259 right_yaw=0.0354 right_pitch=-0.1275 right_roll=-0.0305 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -3.412, 9.9077, 1.4774, -0.0513, 0.232, -0.1099, 0.1983, -6.5709, 9.3744, 1.8828, 0.2711, 0.2173, -0.0122]",
      "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]: [-0.1371, 1.1019, 0.897, -0.7292, -0.2096, -0.1387, 0.9973, 0.3882, 1.6684, 0.9501, -0.0937, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1613 left_yaw=0.1178 left_pitch=-0.3404 left_roll=0.0958 left_gripper=0.9973 right_x=0.4189 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2087 right_roll=-0.0578 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2205, 6.8718, 1.2527, -0.1294, -0.0122, -0.0024, -0.3897, -8.6496, 9.6342, 1.8095, 0.2808, 0.149, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1027, 0.897, -0.7296, -0.2096, -0.1387, 0.9974, 0.3882, 1.6684, 0.9501, -0.0933, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.161 left_yaw=0.1179 left_pitch=-0.3415 left_roll=0.0961 left_gripper=0.9974 right_x=0.419 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2083 right_roll=-0.0576 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -3.0701, 6.694, 1.3065, -0.1734, -0.0415, -0.0122, -0.1299, -8.6496, 9.6068, 1.8193, 0.2613, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba1707cb4546e2182f288b00b7539f02b61a4216b6aed7acc9632d0887de1857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb9d5013b05c80de87953535dddeb2ac0b4828437bc1f9fc0334fc5d5385dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273d875814df9b344aebb8ee290ce073f1d5895be07fadd0aa5e5c760c6eae29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCylPkTvBhkvWieD9cIghVxFFKj2JXY6J0TF5Memn480m1NhVAgAIlUSSk2pUAsziYyqVtVopKQXpMPl7_xlio6bde3ERKugfUVSxHnAECgrlI0jGbReWhA9cXCDJ0Ao69kFW9CU8uRr_WOATJ50tBeich4CVYfWGklgaJWWcc3pGI9wGSFBdM7HWuVBnMadxLmi__V2wZrHGzHl7lbEGmUZeUG0GsOIvRESwAvZQT6eoVPi9orPbL4o0zyu-PrXDKDo1bkmaqtXsYfErOuh6Tu97oB5jtWIjuZ1mN1LcsnZF7rosoToCK9A2UG1hkukl9nBjblUqXYS7CMNwDv-c323WBE_fcrKZjgXRss1a0xJh_qc0z-6y7p8l7HJXAcnMdzMUUaw2ZOHsgBCU21Gld1gGO849hryRFGRkmONKTpyhrWltkC4U7SfaCzlSf6-EhSPgcuNpHPWC2CRAoF1j4bAfGM_YMDzJJkWq2bgHy12NphcY2a12TSV9fFw1MVbfihADpwaxdt3oSTBnBhX8AzckAb1GZ6PQgKi5_Hskm0y0oCdDQqRT8ytWlAPY95tS0ejq6931Cj-CNtltykUn1Au0iT_bis2zc7QzQLfOxvXC6lWpf0T6Jec9kvwnzGCWkAMU02fmdNMF5z61hQMN39U0SckCZRV2e0wMYt_LEre39jOqBu1U-G2X9GmiTqgrZ42ye-bax7P8UXNTaQEoAfjsSQh5QiCzqwpsUfx5Lh_H937DPXwGqpZ8jwvgkgLGDesO4gr0el878Ywtj2DcY-zbVQQTGndUNu1zwJ3Tq5Y9SB970Ubnfc-Ymy58qqGHolKB6Z6HDqjq0N9iy7r6sOj47Sa16RlIBfM_g25NSm1r9EEBYGyfZbEoVOm3wmbT7vsbnRfZ4fLqGrSJfUi9I9WEjpAXNp4SzfwhKXtDLujkJAfXreCkjS1_W-0NsRMdp3xUPI2xTYbAKGDqygdRBMjOtCtsAZmbk7xWF892QnDmxq40bgTILMIQ-HiSVEow45_Devu5xdgTM3ptfraejpQbG4IZBRhG0W3RPyVCYen8QMDRKJuYfj3JTDwMRW2uSUYaIiK0bpkSal0nthGrbnIeWoCSpKfJGOEyZM-_58Epylh1-zJaZluHh2g4F7S2ZEiQvKSZrRULser_9N0mNZHmPWfUvC5GTfR5tJ2rmKKDqKHyx8R3uxeoc_a_98grV0WHn_YqmEj964mp4r47pDQmF2CoS9M5T7DRs9nZX-Tu6XXOSGNb8Dug-QIHiq1EqF1A8Dryu7VzrrFpK8fiFbbb_CXtPp5U-cWAHFRbW6jX42zO_FBEVTYhc7be4SVhzKGM9Zc3c8jQA2kAIz1veyY2OCBC1dN4B7EyL-nE70r-jK8vT6xJmYNdCS8LwouAqhGNUZIWm0uN2A4WF6k2_OfZ_JEsvK_HXW8xvUjn5jWV0IyeSZUdRMJKvQkMPHe6RFyk5WE8wvM_Qy8ZaMwgbiTqIAYx6Sa_T1ckaQKqLTOnVJjHKSkdoW1RboR2FvCvHeq6hnIgpB1_jJpEHYGEE8PJvUcO4HsQJbofxxgR3fjOmK2OusEK2yV8Oh3XhPV4GQTvNeS_VWX6-GFhPNKdxoethFxMwnx-nlbTyqIrZVIEqiQsXkeR3ikb85S_i9FAKfbYCCgGvRhuZONG3fBqBUYhPOTRu4Xd-p7uqVCgvrw-zFO2bxQ0JkkU7bzaEEE_f9M5nskI4g9J6mEO_ZFCSTnmPfiJ1ymkoNGdiX_7RS_eYksD1p5Je8_tAgwo3yBqX9q9-vdp2gYEChQ0AAoUgY67ADdVBdzgN1v6x4sP0j8XiaFSkq2OS8L8Rcd2lADGRwgVTngLOoi1lmJ9Jr2F1X2-l4MaHa0Bc5qBYmn_St_kN4=",
  "id": "rs_0777fcb52d07398f016ab42ca418b887d087021a567d48d9c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.075,\"right_z\":0.22},\"note\":\"The right arm did not move on that adjustment, so it may be stuck in an awkward pose above the bowl. I’m withdrawing it upward and toward its base before trying a new approach.\"}",
  "call_id": "call_9a8oyAfir9jWUI7AkPysHo5l",
  "id": "fc_0777fcb52d07398f016ab42ca517d087d09e0c391371ed3745",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9a8oyAfir9jWUI7AkPysHo5l",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1038, 0.8963, -0.7292, -0.2096, -0.1387, 0.9973, 0.3191, 1.2366, 1.0645, -0.6319, 0.2192, 0.1249, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1604 left_yaw=0.1181 left_pitch=-0.343 left_roll=0.0965 left_gripper=0.9973 right_x=0.3465 right_y=0.0778 right_z=0.2041 right_yaw=0.0593 right_pitch=-0.2118 right_roll=-0.0629 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -3.2889, 6.7214, 1.3748, -0.1685, -0.0464, -0.0171, -0.4171, -5.0667, 9.4701, 1.6679, -0.0464, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceec7cf353018c8873f0c5eb641b7b48c9c403af6e7852ddc1e84d0b1e2229b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562022e0f100ed92d08d99eefab4a31124fc970a52a3d2415e2843f0c1875b44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d733a171ad5259925cb023fc70e428a42374bbfc83b1b86f0aa6f4405ced46a",
      "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 19 attempt 0 · /responses · status 200 · 3.42 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1015, 0.8982, -0.7357, -0.2096, -0.1383, 0.9972, 0.3813, 1.6527, 0.9382, -0.1032, 0.2623, 0.1764, 0.9963]\nstate[eef_state]: left_x=0.2989 left_y=-0.0005 left_z=0.1609 left_yaw=0.1181 left_pitch=-0.3452 left_roll=0.0974 left_gripper=0.9972 right_x=0.4155 right_y=0.1211 right_z=0.0844 right_yaw=0.0561 right_pitch=-0.2142 right_roll=-0.0602 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -3.6444, 6.6803, 1.5946, -0.1978, -0.0366, 0.1099, 0.3624, -8.9368, 9.7846, 1.7949, 0.2515, 0.1538, -0.0122]\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]: [-0.1371, 1.1027, 0.897, -0.7296, -0.2096, -0.1387, 0.9974, 0.3882, 1.6684, 0.9501, -0.0933, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.161 left_yaw=0.1179 left_pitch=-0.3415 left_roll=0.0961 left_gripper=0.9974 right_x=0.419 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2083 right_roll=-0.0576 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -3.0701, 6.694, 1.3065, -0.1734, -0.0415, -0.0122, -0.1299, -8.6496, 9.6068, 1.8193, 0.2613, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1038, 0.8963, -0.7292, -0.2096, -0.1387, 0.9973, 0.3191, 1.2366, 1.0645, -0.6319, 0.2192, 0.1249, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1604 left_yaw=0.1181 left_pitch=-0.343 left_roll=0.0965 left_gripper=0.9973 right_x=0.3465 right_y=0.0778 right_z=0.2041 right_yaw=0.0593 right_pitch=-0.2118 right_roll=-0.0629 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -3.2889, 6.7214, 1.3748, -0.1685, -0.0464, -0.0171, -0.4171, -5.0667, 9.4701, 1.6679, -0.0464, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceec7cf353018c8873f0c5eb641b7b48c9c403af6e7852ddc1e84d0b1e2229b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562022e0f100ed92d08d99eefab4a31124fc970a52a3d2415e2843f0c1875b44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d733a171ad5259925cb023fc70e428a42374bbfc83b1b86f0aa6f4405ced46a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyqKOLzPhD08ugP4EIr0H4skUhGp8wl_ms2tYGyq4YRG5fl-IOSviAXRwMWDjHgjtOxT8OGb5I6Gw2Fd8Gx6kzDw2TTr6xvU2TQWgri9dLG5wmP5DG9nHqMeeZjD1yx4YfpNWJ74jOGmGji5jhrutzU6Mt7DVWmdFX-E7dv_SP6st1X9T9SoNnJxjTisHYA0cw1E8rhL3Y6Ydwl-J44nrqkQYmHWb-4u_22ZWtTGueSYJms0gMj3M-C8sLp7L1FQVYo9QYzXkcHLBAiec3aig557EtXuG9knacoUZoTD1qhHGIJ4L2oPUITY6XO3kRTmcWKgjyk6Q5rYEY9GQxEcj7oYDDcozf5lcKFCjAZSeVaR-8PJMQtWjNyhsuWnVvQ-nzOEtX4zGh_gKUy2TsRTUgK4jB2v3nzFcsYdtW5P_-zyHuLy-Q_HxXIqOTnxZlF9gUOktADcj3x-1GxsWCGqQgKyX_GKmYxhTeE8sUbMgFMkn0E8N-MF3W2ZLzfc4nUOsBND1cXf9EFvfJTdu9Rnn07BDUpTqYUbKR7fXZ2ZhQhEeFCY74d2JYNH3oMzlRerodmTX7SoLAmj9eVlfNGFBTTp-qZTxi8aD1LMWT5WT3rtRs6ygBaJ-vZfWBQLHn7s0_An6KPEGXNuwDK-5vxV2qIlPbkwilG52LxpqVw6ickfBZoonB11CUyHrD4-EiB2QYNaWLT5Q1cJwMQF5xgNTgBs5TpqMuDaSySZxaxLO-s1M0315gYJJaYxLRJf6iKe3EZiJBfyXBjRJfw6_hlX22Ah5gjp2wUI_rz2mR2zxzdRJZIolaLHJBbzpcORlgzNqz18055frY-ZfNWnMNFpWFiF1D5u263JKeXiRwRU5SdtMeicsvbSQHnHmLfmAHWMzyoS6AcQ4wpIuAqrXZ-jR4NhQ7OKH8p4cE6ZippP2Iqh8lgw9XiMXaF78oPirB9llt4j8Muu_0avoiUmKTrJCkIJYBymepgv4OXthtUyFi3D_AUpcD-ZWfAGI3ePNUSjkobqo3RbzTt51PG7dO8ccv6jQqVwvcnpxpCyOLVRPM14lDuomiktnQ2CWBPXTriPQawHY3SL_JTsLBQGpFrY78FEgAxEvuLX6eyNjhAf8SSp__c20pup6a-W-Y2pZYxye-IYhPBJJwS9EKu7KAVM3mOdyXG-aamJExEJTejajXn7531LLovnwKhffyJT-QOdHyzzPCHmjvE1iqF-SGwbMZighjuACBUNMMQxQJK25yiRvKrR-l1cyGhMt1me89EFmZ2z-0G4o8R_5VNfjL8pHCrkC4YNcFAMIlGIGXcOAm8mRgcVuuIwSnOeSwK7bz_QnfWr5oZ2ozrQ38nWtjCVXG5DAO9fTgZtctsnREez7hPBiFHNe-0P5pMLHulk-xCNFNSDRBy2fKRrviurycvOBTzIxjmY2m9rRyI2b2lTdOfGrSKgK_YSity_FImweFGlm2MmIALiYmC-jkoWHa4liVzXPJNO-Xa8YjnD2oZMN61D4dGdw7k3MdejQNn6B555ZkbfHIX8O9I_CH9wTWmNs-jh7d4toDikM9o4heeWpUX1SMQFF4EW5O3lZXEUfkvsqLzx9PA-TziqolbHkSOPN6RMSoMw-4-xzUMJcwqwwhYa3H2-fJKi46mUUwMS6mwFdw9tc92dRcX97Xaeuh1FW9jYfkkkxGrB75XipElRu7OL27nD-dC_fTtsN8l1Fw6Li8luFqROITITsyZBWpCcSEMvpmoP4_B4D9V_yZxuYRbuFeLxZhVhjW252ljZ8wcSYVtfIg1E7Cg3GJW2G4A1R19XfRS6nd7VR7dQY-ehOdveBlaR2atRoNrvkIwJjW5Bg3qcjbkxH840_58Hno8mNF0SOSrbozV9RuAqOxZ3Z0y6X5ptHKJtEv7JSrMKlM1CB41PKw5mMk_InMCorqzavGRErzDYwCU9I-Ks3Z1u9nKTgUu5X5_JBF7WvHIft_mov0JCHrF8a-HK_lrW0OemDYcBacCcoe-QUO7LTNLIvKvTcO4tzmUeiVOBsu4qUvkXDvyqVbj2L8_aRKYxRWuNOyLzi2fFre5a5X99DOMv_r6MVrj61bLv7zgG3G6yH0wdPZdw9JvKDo0hisXLmVuVjAuB2fnpULY-vi6A-HGlO8Nm5URhZU2JofN0pKcl2AaAHxJcNxf5Ym1On4K-gfjklQniFHkrsUX-5eY3g6gPjPx9ICkzejXUcu3RqUCKIzkwOYpNzNUz3cY3LmAbb3ZQV5RRc2M_RWG3OKdTI5vPVaYdIYXv8ku0IjtDTx-hBfK2QH5D-kt0nx3qRaUFFbbixaGBXKY2DxTalF-XubnkhOCJLXAzfiQFGta1crbhIiUIZvsV0Mi2_aFkMwHhsQT14vIlZKDjwS9L1bY98BxG_yPOAs-3f4qyjIwGAgYe6Zp04Y2pNl6J2VUH5-ziSp1v5Ko85In8TeoajM57hvzF-aGjE0I0STdDTlNU5soDDQUvIvJ",
  "id": "rs_0777fcb52d07398f016ab42ca78cf887d0adbbbe5bf11a25ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.078,\"right_z\":0.15},\"note\":\"The right arm has withdrawn normally. The pink bowl’s right rim now falls near the jaw column in the wrist view, so I’m approaching that side from above rather than trying to straddle the entire bowl.\"}",
  "call_id": "call_7Ofw3jCzvliCcu2kUxsHG2d9",
  "id": "fc_0777fcb52d07398f016ab42caa3a4887d0a7899a3f45c5930f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Ofw3jCzvliCcu2kUxsHG2d9",
  "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]: [-0.1371, 1.1065, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.252, 1.5043, 1.0508, -0.4332, 0.173, 0.0704, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1594 left_yaw=0.1184 left_pitch=-0.3463 left_roll=0.0975 left_gripper=0.9974 right_x=0.3972 right_y=0.0746 right_z=0.133 right_yaw=0.0571 right_pitch=-0.3026 right_roll=-0.0856 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.3846, 6.7624, 1.2918, -0.105, -0.0317, -0.0073, -0.7179, -6.4889, 9.4838, 1.5946, -0.0122, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b547680a0f659c9a273414b086c890e3c47d35c5be3e8c43470912e2aedf75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b70698e6e917702ee918f4522c2bbc2e19b3e3b011d1f18abbc7f190e000ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd5a330bb51bfb20b0e600a1e4c44538cb3a041e4e1e7707b0b70899e58f5ac",
      "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 · 2.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1019, 0.897, -0.7292, -0.2096, -0.1387, 0.9973, 0.3882, 1.6684, 0.9501, -0.0937, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1613 left_yaw=0.1178 left_pitch=-0.3404 left_roll=0.0958 left_gripper=0.9973 right_x=0.4189 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2087 right_roll=-0.0578 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2205, 6.8718, 1.2527, -0.1294, -0.0122, -0.0024, -0.3897, -8.6496, 9.6342, 1.8095, 0.2808, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1038, 0.8963, -0.7292, -0.2096, -0.1387, 0.9973, 0.3191, 1.2366, 1.0645, -0.6319, 0.2192, 0.1249, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1604 left_yaw=0.1181 left_pitch=-0.343 left_roll=0.0965 left_gripper=0.9973 right_x=0.3465 right_y=0.0778 right_z=0.2041 right_yaw=0.0593 right_pitch=-0.2118 right_roll=-0.0629 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -3.2889, 6.7214, 1.3748, -0.1685, -0.0464, -0.0171, -0.4171, -5.0667, 9.4701, 1.6679, -0.0464, 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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1065, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.252, 1.5043, 1.0508, -0.4332, 0.173, 0.0704, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1594 left_yaw=0.1184 left_pitch=-0.3463 left_roll=0.0975 left_gripper=0.9974 right_x=0.3972 right_y=0.0746 right_z=0.133 right_yaw=0.0571 right_pitch=-0.3026 right_roll=-0.0856 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.3846, 6.7624, 1.2918, -0.105, -0.0317, -0.0073, -0.7179, -6.4889, 9.4838, 1.5946, -0.0122, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b547680a0f659c9a273414b086c890e3c47d35c5be3e8c43470912e2aedf75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b70698e6e917702ee918f4522c2bbc2e19b3e3b011d1f18abbc7f190e000ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd5a330bb51bfb20b0e600a1e4c44538cb3a041e4e1e7707b0b70899e58f5ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyulHv1pI397bIB-sYbVDddWbnmKOYgu93QcfvaBmPKmOkS2nhZwqjCt3rNsllAqgA_Am47HCNWBhYupOIsZP1saL4nrd4O_R42fRv1mWDZFLRoMHEKzPLrENNcXgIOiIRF1weBzCvN6GW--YcFnrPRxj0eOK5wpc22W-AbHuM4_hD1hVR2xOiI4hDBm04x44yKiaGV7ORT4wup4E_yE0L3ExciBjFKbtcQ93OVcxwmJL19wWvCbEsf9tgsK-epMZPMJPDTCQY-6dFS_azdTSfzWx5wmi2NR4c59lyph5LvEcc1AXwOrtI4iDS93NWDszpEAkbZMv-ZEaMUcydDfdEsL3rWqSsTmpEMr6b3oPJaMDV0jAfh6kLG2-0QA87lXwzgwcuRRvXcR-T6vVm_QSQemFD9HPbwCHG6iJkKsHBnmuxHT5vDiGqWoSAD4TO0cf-KM8l3y-sxHg-9utunm-vPPlK4bYXEl8sz8jZg7y6geWJYz_-bkpP2O0uaWpcExOTeTtlrKvLPVX_HIKn-PFkLYdI4IidfAVrSJ5c0PlsC_YBzikSZDf0v0_UcbI8mTDzR9-HQFtZndSQ9wLuREczr7yxDGAnnt4rhXcOkIFVA3hp9V-QHHZsJlNC5k4FRSxHXDSYfdUzW0UUJDza9BAHsldEbrQV3In-XN9uQDENgmfLyQC4Qeimg7H_w2naLRHqk136822NHERFjn9LQuqTB8Idtow1dxJoEc4G2yanaJgkXVWEPkB4RllOSaZxio7cUpgNUBU_RPOwuPYqAaIVpuz-shJcbGltHox3SvyGJfr3h2AA_XOFoNu-1AnDXTEoZXdNMZJjTXj9NGTqihr7zWf93oOC-HqWHMpOe-cy1R54cxMBwvbwEVpLBgBesnjdmbWwq6715yE6WWVxRukCBasGlKlUl_b0EleaNepYGoyEShKtjZrzCIMWaKsFDmUtB7Wrf6wdmnraAawX23TCQb8rI6NhdtqvpsO4YclcQtutqCeBy2H7VBe564eYX7vt5rcYFT16POHWLJFu99pJRuFPyaWgxv4c16k1eJ5jGG3YymMF-Y06SwjlV1i0kxCftxgKKdyID4kKzqU3vI7zk-55El68NniDfo4RcOpLMI6WTVSMnNGTUwVWHEbSCLCQXB5k9rWn92g3zkTaXQGI6-SLQ3eboLRIiAj4LIO43Z_4-qXI3orOy1OLqdH5wxObMyi_lNaA2ABX0gdi9cyfAElwK7-LThLCZGpvBk2AONT5PyO8cPLdJlQ74xBs1QIUeinwY0Y60hjdxs7xfrISQba1724btmW8ZtBbQd1RUx1kWRi2MKmE6l_pthYs4V7J_elAcag6eGiRovP2YmyRaOfRv3M6isY1rL3H8C3-Algewwn_wdfAPriAyB-m0gVLNhi_yZqEBzywQAzAmCl1Wq1hf4Kw1F5CXvdX16RsMqXN-EQOMKF3g1r88q-HTEhY7zy9ABMryPHTErIpmq5VEcxCVMSp961CadXp77jM2bnCbdZy4zPWeY4d7lifrZQewLg5WA05G_iW0JyHSzGvYOud0EWVqgbuSY4U0K3KW3FSrLlZVBvYk2hulz9Gt7TXObwaudyDKyM-CzN2i6aIep0AOEH3wdZsmrX76kto8XtfBTPaJQG5fV0rVyFbWo0QsKhDwvhMR2o7G4_llpan3GR9tNfVYGl4Rsuwm8ZKbCurSefc7qfw-yYxn_DhdckR3n_TqmUXx3-IIyZY-IWq33jpwm-viCvcQA_9esbVKH12NxsCGR7JDnEpzlf-ldl_bk8PlLq2kho09S02CodCnwBWBC_l56qlU7jDwoZ2JfBdhm-7BmpisCGXFkPinU1xXT9u1nyYLQMFuy8Y0V9K_YSUfBcjQEm8_jGh8YshrXl920VHVntpcJF7JCVBM9ej7doxFm934DCU_QLgTD2ksmcL8_QH5dPLm6DtUcroF9yLftwuh32xAVnWpYjPHUeK9Fyz1clm6--HuF86xaLhgvsrUbnvw9KGToRxmMDDwSK2ym5vaakiQRCruvy_fkeF8oNxrKKDOLWQtkFqsG2yDVhG3AUSbBaw8qy6zI46K3ogTcFx1__tUK7zvND9ncPcwH5TO7DSho9WRm05l9g6eOSoTV0Mb9qxuRnB8fvrTq3eAH3K8g_SAbO6zjTMOwHVPIWzYuvLzQgNko3jaeNDvGpz7PSFaPDf6_0R1LbUaRCc=",
  "id": "rs_0777fcb52d07398f016ab42cac96fc87d0b9a909c8bda5a45f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.432,\"right_z\":0.092},\"note\":\"The pink bowl’s right rim is aligned with the middle of the open right jaws, with the bowl to their left. I’m advancing and lowering modestly so that rim, rather than the whole bowl, sits between the fingertips.\"}",
  "call_id": "call_VIgjjFY4788r0Guz4lflyLVA",
  "id": "fc_0777fcb52d07398f016ab42cae3edc87d0bfc31c25ee3b2505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VIgjjFY4788r0Guz4lflyLVA",
  "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]: [-0.1371, 1.1072, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.2348, 1.6512, 1.0492, -0.3241, 0.1589, 0.0479, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1592 left_yaw=0.1185 left_pitch=-0.3471 left_roll=0.0977 left_gripper=0.9974 right_x=0.4181 right_y=0.075 right_z=0.0906 right_yaw=0.0627 right_pitch=-0.3444 right_roll=-0.0966 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.2752, 6.694, 1.3162, -0.1148, -0.0317, -0.0171, -0.6906, -8.6769, 7.1453, 1.5409, 0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32f059cec7e2a42f3aa6d8e03876aa4982a116e3bafdc7c41935ae0035fb0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd980c4d6bc5921a02bae7d12e141d5495228e1dfc74d2e5d26047fb5cd99fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c444b56648ff21bbb461c9431e3d9c9101b41ad2aa2500749aeba5bc9bb53fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.015 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1027, 0.897, -0.7296, -0.2096, -0.1387, 0.9974, 0.3882, 1.6684, 0.9501, -0.0933, 0.2623, 0.1772, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.161 left_yaw=0.1179 left_pitch=-0.3415 left_roll=0.0961 left_gripper=0.9974 right_x=0.419 right_y=0.1257 right_z=0.0842 right_yaw=0.063 right_pitch=-0.2083 right_roll=-0.0576 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -3.0701, 6.694, 1.3065, -0.1734, -0.0415, -0.0122, -0.1299, -8.6496, 9.6068, 1.8193, 0.2613, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1065, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.252, 1.5043, 1.0508, -0.4332, 0.173, 0.0704, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1594 left_yaw=0.1184 left_pitch=-0.3463 left_roll=0.0975 left_gripper=0.9974 right_x=0.3972 right_y=0.0746 right_z=0.133 right_yaw=0.0571 right_pitch=-0.3026 right_roll=-0.0856 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.3846, 6.7624, 1.2918, -0.105, -0.0317, -0.0073, -0.7179, -6.4889, 9.4838, 1.5946, -0.0122, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.2348, 1.6512, 1.0492, -0.3241, 0.1589, 0.0479, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1592 left_yaw=0.1185 left_pitch=-0.3471 left_roll=0.0977 left_gripper=0.9974 right_x=0.4181 right_y=0.075 right_z=0.0906 right_yaw=0.0627 right_pitch=-0.3444 right_roll=-0.0966 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.2752, 6.694, 1.3162, -0.1148, -0.0317, -0.0171, -0.6906, -8.6769, 7.1453, 1.5409, 0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32f059cec7e2a42f3aa6d8e03876aa4982a116e3bafdc7c41935ae0035fb0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd980c4d6bc5921a02bae7d12e141d5495228e1dfc74d2e5d26047fb5cd99fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c444b56648ff21bbb461c9431e3d9c9101b41ad2aa2500749aeba5bc9bb53fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyx-JuFEsBFnOuSntbIAXjM5wkxRwufCrU7vlgtsAR8RrwbF7vDRbo_ykRFg5Rvdic1bHoO-5w6tY4SXWpcDul_792ZBjdjgan8sEKb2goHeRzvfA-f5KViZ10Si2ANM2SnIC617yaTZKQuL648Ql5gtLO1L0eL13AALBZzjdpeEBSOcIuUhCXijpw_6KyMHoo2dhbq-UmMXxNExBWn4UPmDKZzAq9TAzFh4ikzjqy8OpBaJ1qGjDWRXRiKM8zoLBAMtbEQL8vITEWHbmRcRCfKzRgF-7H5Gz9OIaN1V3x0T4S0p2oM0S-2ZT8qvxfBK39Z7vOg6EyOo_Hhm_j8AG8IsjrUgRDieodsVH82Xes2kH6mhKo7k1nnsxbg53j30ddg5Fpq0vQ3TlIWeKqljNyi2_y3DV_aKWF16usqwrOGJsGwMCIvM8knUm-4npcEL-UFKKzBYAtQyNXwcoQV_D7Zh5PEAaG2Aqj3WUQxTXQfciFEXqHaM__SeOSxTdFS8M8iZWJHdwrYzi8viTjCTilmagzF48zYT0sJC1aBWAn-Ag6dniAubVMivrkCZbLipLSa0HovmTZDbvMvyNX7myI_KFfioQH7m35CggatRltHv0ZsbezvaLuTMLDR1l3TalfCtRPUcsLxrOuLnj7lsBD8ePFtlr5zVyMi6zQGhn3HxS90qPKy8W16tnUcaBsJr635ubjda__KXMAOAahELeF75nsJarbBtSAR-IGBEXFgNteBr23BWDIBz8_WW2hWeFgBUChz_vl00Z0ZYEnYOd-lkvtdI8kOiZoti6erB7QeDnPb_uX04jXxiIlu9PVcb2plofvrUoSU87I6arqELQGqaMabivJknSBUa9RN7-kyPjL1A2Pp5ygo6Wg1n0F7ohdRqwZ-phRem7irQ3b2q3tfLqYqSfvwJFX244zO4tQ5-SM8zO6jY4PTWMnlwddzCDUhUzwJUmv40PhbAkQc7XTwp97b60bUddxyc2rop8oHv2BFHYzKcUT3DWAkQpo2vHUP0EM0Xm0f92QHMzM98xhzzmsH5SDxjDhYC6gFo1RxCYfZHh2-IeKP1NkIt4LJKJfbyn6L9H64_ZGmcqVV3siB8Ly4qdKvmydzMDnSjYlpfCH9_6WOQKXaRMryUM_aCymylarNfUkK_hgfYJ6BX21pjyLU-3XyTVN0GkI2XXeP3RMaRoIeaURZrH3SIirqRbYE7YfM08jKBgV0P61KZkPR8BucA7aR0cGxgsuul3atPaBjuharMHjQziXlEPEW0O1NmfzGAnwmQrvdky1t_b4awiL0lrz1gkGzQcr_zIRBhe-nJ94wI8i50sV3LIBN1m5AvaE5_fk3ZyJpmhCTecLOA-tML3LaNPKsgROKx2a3B0I=",
  "id": "rs_0777fcb52d07398f016ab42cb0079487d0bd95c515bb293b90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The right jaws are over the bowl’s side at about 9 cm height, and the rim remains next to the jaw line. I’m lowering straight down toward the rim before closing.\"}",
  "call_id": "call_VCQrRqhgjaaVZLZKcACx7Ojo",
  "id": "fc_0777fcb52d07398f016ab42cb050f487d0a415ed994b187f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VCQrRqhgjaaVZLZKcACx7Ojo",
  "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]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.2272, 1.6951, 1.047, -0.2943, 0.1482, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9974 right_x=0.4222 right_y=0.0745 right_z=0.076 right_yaw=0.0639 right_pitch=-0.362 right_roll=-0.091 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2342, 6.8444, 1.2918, -0.0904, -0.0317, -0.0171, -0.1709, -9.5385, 7.3504, 1.5751, 0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db70f826f92b1635737e4af0a7c22fd13d2573e873bdf467a7eb682532a1e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f8c01784b93fd50d3350bdd6361fbc5091ffdc5b5d9bab2735de5f7a063da2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546f4143b2a92ff6c1555b390eef9fe19bd44b3456b3291921622b19b29fa82c",
      "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 · 4.369 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1038, 0.8963, -0.7292, -0.2096, -0.1387, 0.9973, 0.3191, 1.2366, 1.0645, -0.6319, 0.2192, 0.1249, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1604 left_yaw=0.1181 left_pitch=-0.343 left_roll=0.0965 left_gripper=0.9973 right_x=0.3465 right_y=0.0778 right_z=0.2041 right_yaw=0.0593 right_pitch=-0.2118 right_roll=-0.0629 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -3.2889, 6.7214, 1.3748, -0.1685, -0.0464, -0.0171, -0.4171, -5.0667, 9.4701, 1.6679, -0.0464, 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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.2348, 1.6512, 1.0492, -0.3241, 0.1589, 0.0479, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1592 left_yaw=0.1185 left_pitch=-0.3471 left_roll=0.0977 left_gripper=0.9974 right_x=0.4181 right_y=0.075 right_z=0.0906 right_yaw=0.0627 right_pitch=-0.3444 right_roll=-0.0966 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.2752, 6.694, 1.3162, -0.1148, -0.0317, -0.0171, -0.6906, -8.6769, 7.1453, 1.5409, 0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.2272, 1.6951, 1.047, -0.2943, 0.1482, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9974 right_x=0.4222 right_y=0.0745 right_z=0.076 right_yaw=0.0639 right_pitch=-0.362 right_roll=-0.091 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2342, 6.8444, 1.2918, -0.0904, -0.0317, -0.0171, -0.1709, -9.5385, 7.3504, 1.5751, 0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db70f826f92b1635737e4af0a7c22fd13d2573e873bdf467a7eb682532a1e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f8c01784b93fd50d3350bdd6361fbc5091ffdc5b5d9bab2735de5f7a063da2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546f4143b2a92ff6c1555b390eef9fe19bd44b3456b3291921622b19b29fa82c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCy0yQTGbM2VQRqsfh9pFDeR-ngNTN-prxQ-ssok2dJze5V7G2ITrJ_ZzuI1BLMlMvUBVtJoxWs_6GgqSSzN9FlUJkpaDEPYENm-rl2v0LxJ83hEC6acYlyVguanp4sX1pbv74TUrkdtYeDcXbzYDsPzUY93O9DnqIalqHd3HWBBARjQ2N_Y6mvSHLRK-8iJfYnv9y1QmQKUJ3uX01zALSCBk7VnF2FndNeoUvR-vClZOD-0tOE2S5Xg7opZ2HbQbnA97soZNl08ev2PCZ2haQaaGdx_ui_u6wLXNesGalBKf2DT_ZBNjuhFQ7sgUNpaanY9WX9L7Kt0V7k7fbhXor-rIpVeIWVuc0XCNqkTXQf-GKZNOLP5ti2jAd4_MUIycO44EiIpM7QDUtUdk1ZHX6cUtvG1fB4HfIgAkIK6nZSCPHzsGcwNUsD5keogd492ibiEnBXIJzbQZEER4l3AjG2lSj8wBGR2rfwb-AnWRnQ-IllpIA5_xRkr1U86foGScy_dZRvfc4P_DRJySv_6e_88eKCT-AN8s30PTaej6tx7M2xseuMDf9tjtoeltTpEaAnHWGYqnPFRHedn4MOg1Gz1J7W7kooRXcSV0bmEQYKlTA1dlOIj-Znd5Hw6Kqzk0zcJp3b5fEsv5eFIpGqsLtuLra3u1z53ahWkpLGKkhiWAurifgOsdKlyRE35vpCm-dY0-HG4OnLww8n2RKaSxoAxoC40xH7C5KbyR8LGlRGwdt35J5hMRMIthBkCQz8MBLJQiWEJDh9YXqrJWJn6jLqCwxeVVDA5eQX0VHslDWe5uYvN1u9Ah9PeKlg5034uow4X5D6aisSJEkRK4rJCDC55OZcCJLvm60PC2HVPaQ9qvOZzGD1yY2fZ5qzTimI60WiSbu2NPtwSXpIDGqJB_Bnns8giyZcrWkl3sNxD13X-Js-9xtiTQALepWX3o18J0kOFAKVbJH01XeaezIE73sM5inImGSQ8q5PShQWmi0mqU1bMZO7KERS0CXl4awuHhWIGurgyYYEXsnxBSP4WyK68Rb_FSl1u3iI7MEg7kDgixOYPE85wsgMXx78jK2_j9XE8k0cIJpi0tN3vXeIIZrKNq7Wun-7rz2ROtuWOd59dHMbLKxtoThuJLXh8nqttbqjUPQGeWnO2eh3KaN62ntK_JRV1dKHaxsNvPVf4dL23mgBHUYKzjjfyrYUvOAzUgKL8dQ_hUOJJO3nV4CmloUJNfU5K-hZQO2r0pB3OyU2NLH0n9r6iNScEfVkXaILV9_yXcSr59lvzO3N5HmuBNvSLwA==",
  "id": "rs_0777fcb52d07398f016ab42cb2ecbc87d0bdb6217b7d7c5e79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper stopped descending at about 7.6 cm, where it appears to meet the pink bowl’s rim. I’m closing across that single edge and checking whether the jaws retain a measurable thickness.\"}",
  "call_id": "call_1dZk3pN2Keqexb4RlSp294tu",
  "id": "fc_0777fcb52d07398f016ab42cb3796c87d09d123218f3d35cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1dZk3pN2Keqexb4RlSp294tu",
  "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]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2268, 1.6951, 1.047, -0.3035, 0.1478, 0.0414, 0.0097]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9973 right_x=0.4205 right_y=0.074 right_z=0.0747 right_yaw=0.0666 right_pitch=-0.3714 right_roll=-0.0959 right_gripper=0.0097\nstate[joint_eff]: [-0.0889, -3.2342, 6.7487, 1.326, -0.149, -0.0464, -0.0171, -0.0615, -8.1846, 6.2838, 1.4139, 0.1001, 0.0269, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bca7c72724dd07bf32f529e9e664832adfdbb7c7153641a43d7092a74698ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c025a218383d835c50b6596846dcf7a3dbada61ac79f94286bc04c32d7c7d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffcd3c0754ac6ea7f81b19d7edfd9435c1a8c3a7a7e27e2d6b17594bbf5a7959",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.641 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1065, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.252, 1.5043, 1.0508, -0.4332, 0.173, 0.0704, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1594 left_yaw=0.1184 left_pitch=-0.3463 left_roll=0.0975 left_gripper=0.9974 right_x=0.3972 right_y=0.0746 right_z=0.133 right_yaw=0.0571 right_pitch=-0.3026 right_roll=-0.0856 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.3846, 6.7624, 1.2918, -0.105, -0.0317, -0.0073, -0.7179, -6.4889, 9.4838, 1.5946, -0.0122, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.2272, 1.6951, 1.047, -0.2943, 0.1482, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9974 right_x=0.4222 right_y=0.0745 right_z=0.076 right_yaw=0.0639 right_pitch=-0.362 right_roll=-0.091 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2342, 6.8444, 1.2918, -0.0904, -0.0317, -0.0171, -0.1709, -9.5385, 7.3504, 1.5751, 0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2268, 1.6951, 1.047, -0.3035, 0.1478, 0.0414, 0.0097]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9973 right_x=0.4205 right_y=0.074 right_z=0.0747 right_yaw=0.0666 right_pitch=-0.3714 right_roll=-0.0959 right_gripper=0.0097\nstate[joint_eff]: [-0.0889, -3.2342, 6.7487, 1.326, -0.149, -0.0464, -0.0171, -0.0615, -8.1846, 6.2838, 1.4139, 0.1001, 0.0269, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bca7c72724dd07bf32f529e9e664832adfdbb7c7153641a43d7092a74698ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c025a218383d835c50b6596846dcf7a3dbada61ac79f94286bc04c32d7c7d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffcd3c0754ac6ea7f81b19d7edfd9435c1a8c3a7a7e27e2d6b17594bbf5a7959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCy511YVVDW7prce0021g77agS-RQf_SBSPpnXc864uAOZaYPEvXuefBHIUUZdWG9g6ZLzKbYDQaB4AELlXI1onQLSwABRD9MnbFhcpAmR8zKuAsIdHl1O9Bigr6kbpTwtR0hrmfP6oaKBS5UZrD7ZOrxieNMyK2xIqVXlLPdNGrsZsDV1J_djY67vBIV2jFJDEyb6_jgxj9Ro-KA6ZChZns7p7D7I7dhOe17-yBYQIu-8_RrcYWf5dJpHCmK-WMI48RW1kK-gvkE0Mt2PYYMSJ_6ZmNu9bH1xFnxBZV-eWmA1smuURrpqO61fOLetxvThd34DXWPnkZJUIUZniqJR7FaeIJoSS1p1P7hVeAdYvg-5nGFRbc64OwfcUDJkOp-W8neKy4n24Nq-nT8Hw5nPP7G6lFcQ5ZmED4-ycSg76Aabj-0qVqBPuBYzfBnde-EUOoFLRCWuVrXWAM4Co7jZPuuIXGYRVfuoF78s9oYBYjL1ViFWqs6XRB6cMu3IL6Hu1LBrzLU6vCBkojCxNkejkrescj88SODDxQv_28qkDHelb3-TYdqGZ58fYPuFh-rBWXHOgJhtxcPH5c-prG_PDSCIfVXZWM8CzpIQ7rQuIg6O0rzsr65FOqZ1kiN8AQt3xZJOJKfWzTneVvJl7jrIVSGz8IhKVGU49zFJ2XCSMl76GvHb4lxviM4neREYSxW2xepJhc4YIp5uxvjJyGz4iq8cPaaLFuJTmmS3uAXo5tikZADCWi8WIrcASEK_JTXr1ZLG3jiGaLyCLm3fPhqKso2EPhqfKnBCM-U8BD2BknwLkw3U3D4_TzYPWqXJq6quOefdmnmE_hq50FpiGcMPUO9wllihUNrYRkIYrxUYuFAOcbhLrUc-3XAFyxDQ_iETl0r3Lyaol6pAb8HxJWgdRzYrXvgqUAw5t22tCj3Ou8Bl0_7GFBfzZqKympTYDxgaS0C4NSPP4c2nEextzEaGH-isTXideXYLo7cXZTUSfqomd3Bf__jYt5GjB-aQ0CjOGyIoROM-qU8zf59xfpBaD0hDAMJAFz_StiZzHXwRoeLiu589EEvent_2z5PRLfRifcHB3RBg-qQCL35Eio2LPOtwp_xXBPsrUGPJ7T2N3FqEqhnwy6MNRyHmkpJ9sTISHLwLVmvpz04fFlN46qBc20afg1CFXARSo-MkHrRZAtx9vvgrrblBpXLkrdaYZ6guupWplkCoKobz6PT98ZrthKkU1hoWMZdX5tfjeJI8x695AaF5PeVipsGnTqJdVBBi0k7xj4JwfQSj_boPNXIpWR_nsOjutJ0DZmD81hDqu-LJic7pJMt3oSe9yBix0cuyj_BbIzm4BJinHRp4ni_J1BqUWvwfAWTMbMgjZKEXrjKrHb2I1jT6TRzrRNA0fh03UAaI-FT-hFw2J9elsLZAML4q9eI0q0qvg_gM5TO-NwBKjw2Xk0qG3g-gm_naPS2KjjfyGCh0qAdr_O0BG2sE36JLbwlAW2FbBE6mwAcIHo_Hx1sdRgptwmYvSGPv2oRaf48QZ3bXK8uJv8hOyM8APNbbKhytH_QPAWmEyCiRyOtiMGe9aNHF_HanqOPd3qq3RispaSTxjWZhHjQRoiFfxZGcx3VfAY9s4QwM2qVhU3sJfE3pB_C5nDplJscJwuBsOsSevzGjn9W6ULmICUBOWHG-GxhExwAfpLsO0KUWBouYzEFVZnATTeRnYUR-b8jnkT1SWxQdXFnKSXz-VGYxCPDF-7HLusJZ7zxMh52VPyKkaKNtGrrds8r8U-BlxHbBu70wU-X5Hm8cMw_L4t3b2Fvuw6g9kUbEwZJIXi_uwVBKvR5JTw2o7A6_0iEtNHppgvhNMK3bfqkED0y3Kc1A6UcsKiD5kXqvnoNLYyYmIkS-cSaxalJdnTDmyyKNF126koPIBQSYtMoZW2RutFzpuXPQOScatIl9WzCTatBocer8ONFyq7Cx1B-r6ZP3gJOp0PiMg2iFgTUNfur0wDofxtrDMPVuizBAw3I636zc1F-E1AdztXHXk36sIadA1F205Fv2cFXTUtVERSm1JgYn3coWT5s7LKnydffIVKE_cPn--sQBEcXdWSOuZBoghNCERzik-Q5LUR9cgliwT6cvFbu2kcoRNED-4VN4b4KdlmQwrb8QLtTv_6LRKYqk2JkqpoTJ7c2e-WIXPoFAcgipPTo_d5jYw1aEv1yoPNHM-uvg2xFnHxqT_uZYoP4OWtskBLrhtMof7WEbWRSBWw_3PlobVUw3OMF8dKxCjs0v5i0p6O9knidqz0yhNQDR88u76hcD6JY7UStjhJTVdmwUdutD6P9Oyug34ANGxqUy08o9RtJBdS-99daxD9n8Fu6QZB",
  "id": "rs_0777fcb52d07398f016ab42cb6efec87d0b04b3582aeaa8de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.075,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The right gripper also closed empty; the rim was visible but still short of the actual fingertips. I’m reopening above the bowl and advancing about three centimetres before trying the same edge again.\"}",
  "call_id": "call_TnnJRAUEZCFEYC0tZjXrtDHv",
  "id": "fc_0777fcb52d07398f016ab42cb8da4487d098ad393b7abe8b6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TnnJRAUEZCFEYC0tZjXrtDHv",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.2138, 1.7405, 1.4052, -0.6418, 0.1398, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4469 right_y=0.0755 right_z=0.1453 right_yaw=0.077 right_pitch=-0.3995 right_roll=-0.112 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.865, 6.694, 1.3016, -0.1685, -0.0366, -0.0073, -0.7179, -8.1573, 9.5521, 1.37, -0.0024, 0.149, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c95b85f402a2a0db9166815ab0ebaf44c2f592a08aee56fe76307bc18004f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ab55aa512c515203d555f02e6f5b79184a81174ab0232d99623c48d176f352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263259043f9b02e9f141db160a18570fd633bd39f49d57210fbf033270df963e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.82 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.2348, 1.6512, 1.0492, -0.3241, 0.1589, 0.0479, 0.9963]\nstate[eef_state]: left_x=0.2999 left_y=-0.0007 left_z=0.1592 left_yaw=0.1185 left_pitch=-0.3471 left_roll=0.0977 left_gripper=0.9974 right_x=0.4181 right_y=0.075 right_z=0.0906 right_yaw=0.0627 right_pitch=-0.3444 right_roll=-0.0966 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.2752, 6.694, 1.3162, -0.1148, -0.0317, -0.0171, -0.6906, -8.6769, 7.1453, 1.5409, 0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2268, 1.6951, 1.047, -0.3035, 0.1478, 0.0414, 0.0097]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9973 right_x=0.4205 right_y=0.074 right_z=0.0747 right_yaw=0.0666 right_pitch=-0.3714 right_roll=-0.0959 right_gripper=0.0097\nstate[joint_eff]: [-0.0889, -3.2342, 6.7487, 1.326, -0.149, -0.0464, -0.0171, -0.0615, -8.1846, 6.2838, 1.4139, 0.1001, 0.0269, 0.7839]\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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.2138, 1.7405, 1.4052, -0.6418, 0.1398, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4469 right_y=0.0755 right_z=0.1453 right_yaw=0.077 right_pitch=-0.3995 right_roll=-0.112 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.865, 6.694, 1.3016, -0.1685, -0.0366, -0.0073, -0.7179, -8.1573, 9.5521, 1.37, -0.0024, 0.149, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c95b85f402a2a0db9166815ab0ebaf44c2f592a08aee56fe76307bc18004f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ab55aa512c515203d555f02e6f5b79184a81174ab0232d99623c48d176f352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263259043f9b02e9f141db160a18570fd633bd39f49d57210fbf033270df963e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCy-lK9q2swDorzSMlXXTfO2sOfErZobQMVtmLg92sc8EWgiMCOTHwVEqp02dgJp_gZvE4yizyzzwW6rhMN4B75B8EPW0STPVHzmjPKNo9N7lNIjHIjnm9HmsLLfbgMYmiCb_pHkOtg4SPzwDXD2DHTd9Yqk2f8m3oByYxjDKyLwwa0PUrVzzGYM63jnAsUM0-z0CDTlTir8-Mz4OQo1pqQluQJAEt4_5Yx-VZm9MUMxmMNF213KsNb0Ur5arXYi08RCuWA1mLhAnmRCRA4vfIhnkxEcUtWBVaUlvSZqMNXmabuoXNVr70nYukqTc6HYEKzNyzV5H7K3C_T3obGOOLe1EVHuQzDPkeH6kz_y16QJnhaM1GPd0-0eJHE1xhI0aNj5KyXk0lT41GwE24pFpMyuktbG0JPcteuS4BJbJxGih6YWaXJMOiKAbpjSO181-0PDk8cfzBq5sWDhri77EVZSWl950tyKUWKXXBR4o38058yzPPgNE918Nd8AbBrlTYCj23jCTX4XhSvA4LMMeAzkJJQNOzr2EbXupWPPjgGjZuQ9vrXgTziOvaaS4UcWgDOX5_5CIpBa5f4uztPP---3IkxM5VnOkQMCBsNDTKNS6pnkZHLM5Adq7VfpSLJaCndiTQCJGcyI1r3PyUfTHf3Ssus8i2wW7VqBYfVplpJKQDDwNY9RBG1UKG2pCRn1QEtIqbJd8sNpGZPPo-am6vhlYFogZ56rAZdJ_SyPV-MSx80KTMT7pl-m0nXvN2SXkPKE-oHykTQ1tjbHcyYU1Bf4Xt0_rc5DYA4VcAsnypsuedc-vKgUVKzcTDjmIt7HuZjliUvF3C-tKxP78svSs6JXU4ahjX5b07vSeodfhmBIQalGZnQQj0dv6iP34b6ht_16QJnFqKghGyE7vQEI6rgWuTgjf84dA24kNMHb5pw4ZYgtCgwgISv6EsGiL6HmzTgMH19-nzgD1ZlvnouVeYyONvUz1ens70AI4cQwYbFcQ8I-yFl_XymhR0BL6QzxPxKmFVumgzb_KLeSdO6gYbEoYmHVUlprpT_I5x-LPQ3nxnc8O0XcPduE_BJyFlhgB9ECAt9RJmtreXXQIUUibGz4RVIkRslQVOBYLVVLNBEKKwVY4WabqvZHXvfbi8T--V22jU6JMbVX4WuQuzgKfgf73G6AEqTPVBp5DUSzf40uX0wA0vlsxgp-DG0sj_Zf29mO26CgDqWJzytR_rVRcXA0l91WxUpiCLOqB6ABkKY5Gjp_U2NlGSARx8V7iDe-eF9eePDrrOt_FcpvSgQa3zs_qxQ-Lr-yPTu2Q4SPUnPoMrhtC6SIHnNjFQjNE1KDPjC5DgM4ezWXTxqONTzGBj1ko6YcZcdz8M1Bkub0YSkwhtzhiJ9mPRvE8-HgAXl3xKb_jxjHS4hf11YXKhm0cKVgQKgDuEhSXq73WILS5dQSLeIMQhuZw3T9ApRarrGwXDhq-VzWioPFqtU-pFj2HLVySIi-1NcLYvywhPUCXDX2E1G3gIluig6Nefykzy9elghEgYxNZ8BzxMBxakC16Thyab0oWgZhFliFP1f50AOaC6o44dxA0RQWS6_5UrLKElGp3nRLhsIwM7-HAv-K3T_kWoHupid2a3jgFDSN7AokSjR9k42gphkgJrkCd01jSEGPAytUYM94fsYUNQdcuKgDHZt8Hrt3vKWfnuZhokQF8Q7WyTrQt_CnM7ltvV3f0X6rMvnj4lR67znfF8JMqGWJfh-wIQplehti1IH7Uoc2p5UrC3VbTkycSH3Dt46Y5n4lpCttXNlRR-ykX_4URHTgAX_Pw-kevqM54PNbGpIdqr4Oarc0nS84nAmiB1McBlVaVtWISQx7I3fapCQ_sIeRIzFwyyOMLOnq9hIqkHWsFSKhTp9-lCJkrPpYSn_8tpxHs2yD7iNL9hdtOeLMgm5WpSpNglLjALmDGlQPbZOISUqpBgBrl_XoXFfVn-UunNkVUYXLpH8x_AIfGKriAq_3XG7TOCkBKsemq2j1zhTq09xbAtMoJfuJ-ffJFC5jY4kkIvbOlQfKoRPlXLgIHnftsfIVPo27jyvZkGfnlhZorSM_V_yoVuJ0hbvxxG4ugZln34uAJYlnwqZolpSJN0N-pNpRfuPzgHs7o6VJzFABr-EXyRTjv3FsXtegax3MJ3aLcEMUZ81BXj0CkJ-H6j4oLlSCwHWBZv09PDqR7wmC5po=",
  "id": "rs_0777fcb52d07398f016ab42cbbad1487d0ac0caabebd7f489d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_z\":0.06},\"note\":\"After advancing, the pink rim has shifted lower in the wrist image but remains aligned with the right jaw column. I’m advancing the final couple of centimetres and descending to put the rim at fingertip depth.\"}",
  "call_id": "call_9F4TGyXUDUtIpq6w61ZKJw9P",
  "id": "fc_0777fcb52d07398f016ab42cbda48487d082e308dac36dc940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9F4TGyXUDUtIpq6w61ZKJw9P",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9064, 1.2858, -0.4206, 0.1371, -0.0036, 0.9956]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4596 right_y=0.0733 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.4642 right_roll=-0.1275 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -3.2615, 6.9265, 1.3162, -0.1685, -0.0562, -0.0122, -0.6085, -9.3197, 6.5573, 1.4676, -0.0171, 0.0122, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b226684a6bc59276b96a1aecf688133945a2820363ed1ceb3e47ecf2c28d706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7227febede6fe665b7f77adfbd15aede156451010fdabffd495fe35129c58c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e1a0e1a29fedd2e1639dc0da4cae3f1cf91619febde6f9aaae4bb411b450cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 10.29 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.2272, 1.6951, 1.047, -0.2943, 0.1482, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9974 right_x=0.4222 right_y=0.0745 right_z=0.076 right_yaw=0.0639 right_pitch=-0.362 right_roll=-0.091 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.2342, 6.8444, 1.2918, -0.0904, -0.0317, -0.0171, -0.1709, -9.5385, 7.3504, 1.5751, 0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.2138, 1.7405, 1.4052, -0.6418, 0.1398, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4469 right_y=0.0755 right_z=0.1453 right_yaw=0.077 right_pitch=-0.3995 right_roll=-0.112 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.865, 6.694, 1.3016, -0.1685, -0.0366, -0.0073, -0.7179, -8.1573, 9.5521, 1.37, -0.0024, 0.149, -0.0269]\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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9064, 1.2858, -0.4206, 0.1371, -0.0036, 0.9956]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4596 right_y=0.0733 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.4642 right_roll=-0.1275 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -3.2615, 6.9265, 1.3162, -0.1685, -0.0562, -0.0122, -0.6085, -9.3197, 6.5573, 1.4676, -0.0171, 0.0122, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b226684a6bc59276b96a1aecf688133945a2820363ed1ceb3e47ecf2c28d706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7227febede6fe665b7f77adfbd15aede156451010fdabffd495fe35129c58c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e1a0e1a29fedd2e1639dc0da4cae3f1cf91619febde6f9aaae4bb411b450cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0777fcb52d07398f016ab42cbffba487d0af1c3e6a4bc822ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is now lower and farther forward, with the pink bowl’s side at the fingertip line rather than merely visible ahead of it. I’m closing once more and checking for a nonempty grasp.\"}",
  "call_id": "call_ntat13LZNVoOaVBpqIwwbJWc",
  "id": "fc_0777fcb52d07398f016ab42cc0cc1887d0aab13a1283861698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ntat13LZNVoOaVBpqIwwbJWc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9205, 1.2797, -0.421, 0.1299, -0.0051, 0.0095]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4566 right_y=0.074 right_z=0.0476 right_yaw=0.079 right_pitch=-0.4856 right_roll=-0.1243 right_gripper=0.0095\nstate[joint_eff]: [-0.1026, -3.0564, 6.8855, 1.3162, -0.1538, -0.0171, -0.0122, -0.1162, -11.1932, 6.6393, 1.2186, 0.105, -0.0317, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36475a9a89ad848b65e1a85bbe15b4736ae8e1f54756aca811a9783c98c8e062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff86c6d8f0b09121701f590db071bba00ea03868f795b07427c77b086ca4754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e7f1881a4bff17e4460e6a73639ff3385508ebcb39137c4bb0614795c478df",
      "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 26 attempt 0 · /responses · status 200 · 4.11 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1072, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2268, 1.6951, 1.047, -0.3035, 0.1478, 0.0414, 0.0097]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1593 left_yaw=0.1184 left_pitch=-0.3467 left_roll=0.0976 left_gripper=0.9973 right_x=0.4205 right_y=0.074 right_z=0.0747 right_yaw=0.0666 right_pitch=-0.3714 right_roll=-0.0959 right_gripper=0.0097\nstate[joint_eff]: [-0.0889, -3.2342, 6.7487, 1.326, -0.149, -0.0464, -0.0171, -0.0615, -8.1846, 6.2838, 1.4139, 0.1001, 0.0269, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9064, 1.2858, -0.4206, 0.1371, -0.0036, 0.9956]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4596 right_y=0.0733 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.4642 right_roll=-0.1275 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -3.2615, 6.9265, 1.3162, -0.1685, -0.0562, -0.0122, -0.6085, -9.3197, 6.5573, 1.4676, -0.0171, 0.0122, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9205, 1.2797, -0.421, 0.1299, -0.0051, 0.0095]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4566 right_y=0.074 right_z=0.0476 right_yaw=0.079 right_pitch=-0.4856 right_roll=-0.1243 right_gripper=0.0095\nstate[joint_eff]: [-0.1026, -3.0564, 6.8855, 1.3162, -0.1538, -0.0171, -0.0122, -0.1162, -11.1932, 6.6393, 1.2186, 0.105, -0.0317, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36475a9a89ad848b65e1a85bbe15b4736ae8e1f54756aca811a9783c98c8e062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff86c6d8f0b09121701f590db071bba00ea03868f795b07427c77b086ca4754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e7f1881a4bff17e4460e6a73639ff3385508ebcb39137c4bb0614795c478df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzMgzvTkRBIs-OzqsI6L19tzoF2sMMboO_F9aDpQOn4dAIAudOILQvI8bJAqRSuj78CdTVFOlNditlbtqumJB7q7f-b6Bx9IqkLA37G2NuhD_M4sWedq6fkOanxjHfEHzNtSKG4wuOd6jxy2-CsT19Yi1ICLXp-m5DhHqVmlpBGnUE7pNNyp2gWVactD9Hu58BO-wPjqVpLG-sBdIYRJcbS3Jzt0vGkffwnEowTcvBuCsuO1e0JXbp1_OVS_PZLNwgoPxK3PnrEAnYKklqx4qRYvwvwQ9BkxFB-lWsNNip46FQi03Qv3oF7kroVwdy4eBMx3Z4Hmhfs2NM7vZ-PpsDU_Dns6dJ7IgWSvrLWRmWAawnyY-UmELJO_Y_QVkZ8ogEbZnvtYZteZ25oJx8GzFnMyJvdyn84iBffZBdWcU-X0iNpRctvWAHmt5nhoXtZ_kI0i4NK9J9aFdoCyEBWbqDMvqli0M6mFVmoD3ldKXFREKnaxBMPuIFcuyETftmkoxJPeFEdI2nXjO6-8GlD0hqeu36lk8ujj1dvJuaaQkQIo5PWlSxuWGt8t8l3lsPVOWuFZjvPrkzH270Ks9OCehCtz2N9mlhnvQxRIQ5Vugss_At88RfuMcMH9_CuU4XEx-fJYFhqrzHdybzVNqbMeXgabq8bAcsu5-KznCyy6w_8hjr14m5NnjcHZlt2dab1-UH1ERSq7VtEwrHo4f7aV7fQW9YUn9rB2h-n-cPpIxdRkskdOjFXKoOcuJYOn_Uz3qFYuzUBNtZ_tLdlV1lzg2KXR6dr54oyO3064wTfhnzopYPrvGm0N9_v86qjGWMP4-bAq10EZIIH5bYxcQyhFakO-Whz4gAMQnVI541dW5uPQlWmcK8w1VaC1QbZ-Zy-Zaj5LD-FX60HJPQmD7_4A3kmptRU-zYaLwogdOuTVIxp0bsdm7GGX-9jvUEzMtvoHpWrDzkEGKbPbefdQpGFVXUupJwqH-ebK2aMGHG1wDtT_-Pay7unfyAAMfLDK5OKWBAoTmBrfQjh-lsTIz_oyRs2wIuWZ34djBKLnXrVV_KkHvCcqVCdCWiEpQq2Fbm9ubnpEsuf_eeP0ulyUi513bVKIFBc73RHV9snyDgOofhMGvU5Y84kkWmifSfib_L7ph2qkt-2V0mONcn6IRKVlY7K7zUJ-P8ap1qY5PPcbn1Qqgup3g_kD7yR-5ps4cWKMXdWOZ3GswDrBTrrGmCEia3424GSIobS97uwtHBp8tBEY7gXd_oGL1h74C_nQBTAPIPRzGr9S_-p4H1-OTfkKINSbZN4wZuOGwFcUbZ459b7qOKoy1hdMv9aMzCfubOPLrG9_-kH0W_6nSVjHyvbchyPIkQcUesHzCea6KcugEzVVwmDVZNW66zXcjKWwW6FR9DoZRK4ETV6EPmz7rt1Es4j7vm_bYZ3eVEr67PrlJ4KHEMJnhNh7JsLpB3VP3QHToioD1lfmAAP1WgYSyg50CoROvCpNCOg8VhtCh0d7TWsBKJPmx3qT9RRn5JGVHDrSBn97PjP9yVF9GpXhx4kCpQdeucRRxnjlLh9DwadW1BLjZZ_zSRCTUFDRSu7i7kVmqeVRr0myUXa0QKEC_kthkpNv0S3C982nt54GvcvuN7IDdhB9mJLs0Wm0peLUYG36Aj6MJ4M5UdtfAIen68AKs7Map0soxtACekvhnGdxLTPRRdAjLuakS0g94MjclEHHqxRfNUS4Wx7PiTBh-3QRnjv9A-wnGW_V3qdzjYEB4kz0evdw542ZsyJFOboj6CMIcAZ-wBpaX-UdxxzpFpyRYRz81vDKwq3iSaoTJTKmgBKLh7zCILP6fBfGjbqq9nmrPZ5zh29pEyW_qfunBGUcSb6KD-wxogjXvkH1rEvZ9PlPYlHrpFcIkM_hEsNttxssdQL6R53RHPXgU49_PlTeuET3KeKj5dsESiCfalXGVDBX6Inar_PnBpcbKA6lb-3wpC0193xgOgqNb9MMySwR8XyflFqJVJk_bdWPtbDt7dDIOpm8xjEpk8Z7LrsNgpjDTPBqvBab8XAbfdx5s8Jc0Jb2ritxX_b_gjor-4dxXgYvvVx89HIeU5U49TpERU0-VD6uwVPrg8Tzn-wMdx2_Of8qLwQNCjhv3vK4FWHxYFp2_92IZXL-TcvkujWwMPIZ6mD0f9Th5w1gRLmSMsJes79W-WcuTJ2SMsdtqCxkato8xc6mn_3IobpUJQW_D4cjXMPyoQesmNtEX6qotbbUVSA-K39SOxDbkaxVC0NJ95L4pVX_vBsUMqX5foLoJ4ZcJf5jxqOABFQrZmYCbDEMQZ9abRfsdiVKUJGaaKnXF-Y2CMD3iWL5GQ0AMxJ1tj_QQz0ewg8BP-kU5VrnbZyJaChJ9pYGILp6-8k8SIjX2-qvCu7lRmu_UVXjmyC-uLvRRSvm8lgFqpPanyP3y4ybmQjlgerYIk0DqnTG3h5D5CX-ngSCIlRhQ8BmrBnb2OGLz0vTn0djynjcgrXYqC8K7cIuOqqwfkE1IxMvGXCjVK2zhoE3wQ5RqjqaV_2Uf9SGBvy1ZbUPcxEh2aFFJbELAleEFGdfd7kyldZ_XjNAZtu4h6TcW0b5KqD0sP1ypY2_LS_z3P1uETig9jeDOb0iczfIKPXFQ010wMvzJ7jU3zsT2OdsukYuExM17il1Mm_vwjgpEXxAd4PI7HOYIG-zmX_rdzbMSQJNFh9-ybRJcdGRJTZActlJUh1JiKNfkVZlSIO9abtoGE7OZ1rZpVisq0F1HP7lV8jhDJYmXENBV3SKVMxRtfPEOAzaI_E6lMwKotWqJ5eNoz38NUuFezP1Frndci9qRHFZ6-o3G3Mfcxax0Py8uIY-PAHIB7IBfEWeIeORohekYo4QbkT9vsk0k8lRlPW-gOXcexdtqs1apDfvyxas8MVzOw2lVSqreqTb1h5eM350iE6J2H3Cp6YBYsi0ue23Ue_i8v-B_Ax5UDlfGLpjB-Sgok0cKp4kPHlsZJCtJNyOC7zKiUEocbOQx-jlDmA64TyTS5nYcI8mwRUiXQCbmMW4-nbw5aWU1E_cNAp2yUa8u59_Vpnkh2y3W53DVCzAZt90VET3h-n-x0yCKyemYMUZOeS5B7rHz9yyw3B3cgPCUvjpRjFHYa8ln32BUEVVB2nxVb2_kpnrkfUoxOQeiFtzYiz32pYJ2RnAoB7j4xopm-ZwbWFIgvp36pclpdv4IZUh6DyRHVmPFk0qE37cD5ORz9i3ewnZufCksU2UFpGyIz9246Ca3f7sLyksAcdhAkfTfusgwlCvtoMVZfN88S697E60NTOMVWCmyMDvl-z772a6tAQ6lbN0rDlcza9Bq1rQmHVTyf8mhQ5AQlUhjP7cGm0XxeQNxfFChCbxSbjExGj66ltVgKrD_5dXWk6ug8V55AnGkklHhdC0dR_yaCcpmYd2readAQoerGbZbQXCkZZwNSmC5nu4sKGgVtbx8ZNrdwot7RTMujRf5B3Cj1lDnDwr3GN_Ev9kCcBcZ-loTr1OgHCigOhhytgkKPcZXAbxtg4OvOttTrsjzOirBC5CwlFORklK4ijbRNEGVekr6KqvZ7a_E-oUvVV8gK6wTHeLmRNKztUeYbcHtnA0iyhsQjg7_X6nluBDLEjEr9T67kw5kSdeSfCaCuahpBx8s5Yba7ikYEytKvNbpJ6ditlimeug8nyxGKb05I86x0wW35RPoW8MyUZVaarjFLofhd9qxqJMlTSdhFPLVQ=",
  "id": "rs_0777fcb52d07398f016ab42cc3913087d0b5ac839265e48272",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzMtYTQ4iORLOop-nP0ChlrmpHLkd_1GIp9aL8pBpHCaRzkZeLaGgkmNFwhI0N1VCUvHcqXvjVsKoptpQMX6RMiCbK8agyNNASbTPdQdmjFj1AkGkqeXVc6CudWGLnNEBUhGNnWh10Wgg_38GmNfj0C8WBe9tCoTKdZ3f90DINTKCBiG9-iKn7EPgpCY7GRGwYLHd1x4I-YSRhpWgui0JcE_WF5Gpor20MZu-r_RaCC0SozLSZ4swgJ5Pin_1ZuS29EgZA6GL9j5bLKD4-C-YQb75T5sB12kaNxL52khnaMvjEjG0Uqdls18nVV6VNYE5A3uw7RENOE0Csk7vqU5r4ch9zdL8BXg2jBaXYDhACBlndSK8KFB6NkS6Z0NW161EPxB307DcMpPzrZ-loiPX5kTYJlOH3R8bxIqTuJJFPpCLW891uQu7Sjm6FozlFSaei7OLbxwVM7emoWFaMlb-2MdfuRiV0Pb51T7nhnHLVmnw2FAKQ9hvjpW7rL5tI4bK61Y0xH9XnUjp4TTAfB8MoDubusSYIB-kTg5N4928DLlz2hENNgkuRlIW3oJQdOokoBsX8tggB3vJI51I4moLZQKCT6eECYVVuq97wgyZ3raAzHPYb18_-hNU4noy8GEmRriWKVnLfVk3GuQvxnukc6oJdTOuZvlL9ujoKKyQj1sFDvaum223CmjDwE1CBLWmtvJYJSTFi7CXvFjRrlUAJD0vG0MGbtH6_a_dNGEPpNXbi1nnvHmCnfipKTtrPjOWP-R41S8AixZgkYcecaStVrg3UNUYW2vVfzPcZbBceCgI55MVG_ds2i7cTroL51UTDN37USqsI2NAczMBePixpkWv0ojA38cQPI8DxyO6872GXWvUtEIr3wlXjpHYZV1HNbedRG0-BGx0RaFaR15irylq6Y1FqBwYatq2Ry3HQMKRrRIEiav21OwkQDga7KQhDX0OG-XE0sznv0Xe0UowVlGAVf8nIsw50WvvVWoVfsyyjhgo93OUSlK8dLSMfDkVgYTMVqOy1whxUw26XuT4Zo3QCVdQj2RBYyVygmlZFvnYq81XDBbz8aOEETs2g2NRSAS08F6fjv8vmtJecSWWsSmZ-mFdkQqvVIbBaIaM2m2wx0kGrxC4-TVB88cqrpWvV4LKd8xTfXQmwud4_H7Rqhiw2vnQW0dLW-lhbYQn_nu9lCiK28DJCvdzpGnfrtg9etLuN-BmM38RFk2mRyYptC9i59aOuDuDvhTCU7LbyYgy8x4CbLdQ1pvCZvya3XqezDzvSkVw0PCA_FFZVFOyzFIJ-mJS7HxUxv9cBBho_VlqXNsjD2sOc0idrEfB0lHnMN0FoemkGTWRB7X0Gg6odrv9dJzMNO1qp4QUOsfQZDG7ocx6o2LIH7y7tboLN7dBu9Ntzz47E9baIyPLzuZn94fpSvJ-CtMkjswyaG6Axxa7B9uh41XyRrusME8kUANlgu41WT-E8lg4ptOPEONcxzj-1CYCzfe20T6Z-HSj5lqA8UPGj4J1HALCdnsQWszGCylWR4Cs_MzdX10U-rH2OIreRQZvfssTych-02yt0xzn9gY4oMvdPEtvg6-hny9ECdNSRDj_XfpTOvWq9Y5oHGBLpJtNzm9zt0y8hSPx7Az46p2kru_LapsPIlAT8FZ5drdd3B2DW4720pfYb9TV58wzdQPHNybTX_OttflbXbehnJ_n2nNqurqiQUhN7JMGcqLExZxbXtWkGMPlDMtKNcNF73flW2EwxS6TeWKeVKTtfOtHTVkM3unmeeQag7Hey5RXqYGXjDPSNwa4p7eNhjIz5FCNRWlzipzlk0pGlCVpYmQCY_3509UBPjI7Mwj7cMwkZeiwdUWYhWfh06Ydm3UGB7h9qBWRIqGExM392-HtaJi_B3wboSs7FEoo3WoKeiNpbAmQ7M3dH0xKXdD1nidBXZnpYhfqE-f7lYx2jEwXnRAcQ1fr3TxRwHJzgFrAylA1_9nvOlMkv12wL4mQDon0eHmcYgRFpYyaX6wLmnKUWJANkvYD5BkNb5LUoOzyK3sHXrE7LW5wFHTK4hJq0ehJ0-7hmjHZcDQRGROk4LtOdcQnvF8RgEGNGzdUySApdly8q3FnvquzeGrKowPZdpcLjTToqOCwCj03eQiXTBnMAsgb65yziq5wwj1Fr4IsSxz1qfwZmiGaguXgAT-P_iW1V_BqHXYNgzg6RaN9zn-v5lXGKb60zrfXTNI-TvFmQv3axolYTwpDzslfI26IxLjI_vdUDKL2W0Vman_iNGK_XuAIUYtHv7hSxNN2FJZqAnCHY7BWVamFslTs_aiEs6LfxzOmnybOuzIpflUzQ1Iz_hpurb7SUzCFemhwNjurPnlPVNALWT_fsp6QMdb1K2-VbP8lJj0OFEmjab8fsDN0MFXUfXqaScS5mw8KeZv_PBfvQybWVO27MoF4JX6FV0UmbS2_OSlwDlE6nMXXWyJWpd4RhZT_gG3PcgYIi4PJnhqEB8a_kjFjarPvVTB8xpNrML2BEc1cm1kHPzeQxTIeaEX6Ervp8YMUaagqsnhfrM0AeOmRdGlyZOEqnldjAzc3qoCfXB2fWlD2Z99IIrLLRkgWH2lpT_Jv8mFs49r5g2qPVjMdgMDJ_fmh1CY2BZlpobiQkHfHvM_oj3jK6HJphCs68f9ygG0M38ASAv1AFdrZOD3J96pzdO8q9szYfvqNUPYtHbpdwL41nXPQcK7MpCEp6meWStp8liTqjHUDKz73oOiI31wTgJHUxPX8DXpS-AWjGRl1suuKuBiMSOWhzGWLDqcHXMji4qHCS8tqRcQBXcMEoTrZ1e0riR2IGlUtTu0XehPo92TB3G-1NW8svezrPUzBM5zf1jocAKZEuZGNQsvt1PqCuxAV9Cara-Z1aaxOITbocCQMDzyL2nsFLG5K5P1hD17zPZcRibaPSlIwi_GNZvnmO5TkbjlFhuIvkGmkniLasMrTIqXqpCHgMNtS8z9eDS7zisKqEzVrXsbBuNUu73tmcRQG5CPP4OuvQ8XhJeAOt-DwIlydcLt697Cn-zoSGhoCgsnTZY02MtIGU9DfZVymIDK6cr0_uhHbbMdgQ5bkCrwdOkLIa1S57cNW-VydED7d922hH53nx2aBN5m_7CHaMpahuTPVHNxh00_wn3YgiikupPv29H3GEN2Z4j_8UsgaOU1-q43gpSFK9amwziZacm17We4GuNtdJlSdYwtWxFg_srJiwIE4R4dgA2ArWm-WZxgzuZoDxDCZj-XVix5T8gqByq8CD58I_y9xoK_0fVRyG1B23SlMhGUBEeMblrE3HaiCLbmsM2",
  "id": "rs_0777fcb52d07398f016ab42cc7be4487d0b744933ae1d7acd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.135,\"right_z\":0.16,\"right_gripper\":0.55},\"note\":\"The edge pickup is still empty; the bowl is being nudged rather than held. I’m switching to an inside grip: I’ll center the right gripper over the pink bowl with its jaws partly closed so they can pass inside the wide rim.\"}",
  "call_id": "call_LjNsWEVXxpJHjRF82g2K6W8p",
  "id": "fc_0777fcb52d07398f016ab42ccb90ec87d0984bec965ee59620",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LjNsWEVXxpJHjRF82g2K6W8p",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3756, 1.8378, 1.5394, -0.8211, 0.1944, 0.1173, 0.547]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4276 right_y=0.1358 right_z=0.1331 right_yaw=0.1105 right_pitch=-0.5223 right_roll=-0.1341 right_gripper=0.547\nstate[joint_eff]: [-0.1983, -3.0427, 6.9949, 1.3846, -0.1734, -0.0757, -0.0073, 0.294, -12.4376, 8.9915, 1.1844, 0.1001, 0.2222, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d0cd458ed9e6b3cdadaf4c694b9cb76446e8b0ccd99df5ecb09e4c532b61aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d810625cebdb8817e961f586a14e2b576cfce4c6ca3a44d12e3095e11de6977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8ea4fab7efc31e110fefcd9ff0788cd9e1d04f4c88fdead60c1dfae1ff5707",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.973 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 110 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.2138, 1.7405, 1.4052, -0.6418, 0.1398, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4469 right_y=0.0755 right_z=0.1453 right_yaw=0.077 right_pitch=-0.3995 right_roll=-0.112 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.865, 6.694, 1.3016, -0.1685, -0.0366, -0.0073, -0.7179, -8.1573, 9.5521, 1.37, -0.0024, 0.149, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9205, 1.2797, -0.421, 0.1299, -0.0051, 0.0095]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4566 right_y=0.074 right_z=0.0476 right_yaw=0.079 right_pitch=-0.4856 right_roll=-0.1243 right_gripper=0.0095\nstate[joint_eff]: [-0.1026, -3.0564, 6.8855, 1.3162, -0.1538, -0.0171, -0.0122, -0.1162, -11.1932, 6.6393, 1.2186, 0.105, -0.0317, 0.7546]\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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3756, 1.8378, 1.5394, -0.8211, 0.1944, 0.1173, 0.547]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4276 right_y=0.1358 right_z=0.1331 right_yaw=0.1105 right_pitch=-0.5223 right_roll=-0.1341 right_gripper=0.547\nstate[joint_eff]: [-0.1983, -3.0427, 6.9949, 1.3846, -0.1734, -0.0757, -0.0073, 0.294, -12.4376, 8.9915, 1.1844, 0.1001, 0.2222, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d0cd458ed9e6b3cdadaf4c694b9cb76446e8b0ccd99df5ecb09e4c532b61aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d810625cebdb8817e961f586a14e2b576cfce4c6ca3a44d12e3095e11de6977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8ea4fab7efc31e110fefcd9ff0788cd9e1d04f4c88fdead60c1dfae1ff5707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzRMAAquk3ucefa8hJKKy4ucRh3ZkUIdLPpnPfqEqzcXgehVgvwYT9RdaENGFjtev8xECoNtv2Rzh8blDR__ErikGmPxaVeI8HEOlI1Tdwsce8mM3wAVkKonCHQNb01KAULxefKAb6f31swn6kcl_c0bXrLpWSJB5p2HzwOz1bz0u_qDdIPsi1ssMlESsgnKKaRSzhgsMuGShGY5w9GqkGpN4mpveXas2F4dms4Xo6psdZJ1atr0An9xfSThRYII-HBjeh2IglnkI2b6C0uXCrpCjxFzgWXZYU3S3pWL9aPetSoPwMCPQbhQHK62bGxWLWDdteREhw50hI6tcKdBkCFGTzXpeMHzPMOPsQmVJZ7u4muGCWZPx1GfnIOcJw7xK-lQN7bKeChg9hdjQOsZOxp47eRhINCcVEBeNJzeVywfrNf6ff0XviadsnCEriNw9MLwXgfiiQkDByHKwRz-IUi34miM1ch6ScTcmCs97RivifT6A0loCWmxxd7efAyGoHTaHJUoLEBkI4BLWMkzVMpcw2cPE23kjil9MfPFi9HemYZ_dvMvY-rXpaSYpY_qUm4LOpUQ-sKIuCHshr1dV7PjdLOWyZFlTzSfakkH2pexp_cmZA3AQzZrr92HmD7u6MgEYpFVXxxpTiRxFX0UTrdpIYEUcdF1x26uO-zThQZqgNmYGBlewylx-Y1yTG5bVxGnsKTxE7vTTYVu3gc1KgSJ4vZvQD28nuNLjvmHkvvgAZqI8adPWkB2Kyph1z2Kqgw30Oy6wuQu4wIRjI6qCoiUcw4lEw4clAmd0tU8RKy6ai6gZ_3BisY90_zR7mFzBZUafobdC05UtC__n5Y-AYLoRghGLVygfMi-nXls6Py9E4KBZ7CQPm3he96TIFxqX--XrM_NhQx2zuZ9CbaBgDP02i1U8JTrYBNRsSyuNGZjn_BSVTl3RmKDTZv5ghvHEZ09xKPXkVNNTPOfezFOoRB7ki4jhJiqkdjlNaTSYVzNAsz95B6V85n4fGQKtZqPuqEKMAKwUzxXlJqGE8bxWxanQSJQb_b4ov14xiiAdZuyhwtleGoiet7hdbW3rKVropnYFnq4r0dPZ0qQlQ2Y8ub4L_HsLWvx8xxWkzw9X5jfMGE3FrLPjJEHozOp7wpJu_aZ5pWqdF0fBU_IOD_8dje2XpM5LxohMXlFpAxRrRQ0I3MkkrPZ_zoaJE911D22mv10puG25-vWA0J4oBKdYsQDZ1k2vUFvX8k_YYtA9lowhoGYEj_sQ4kuRpiH112eLsT8yuYIK1VCq4fRTebQPAV7kzamhwjtGRRwrkRxFgGww_nLmcCbVeJtjQSIH-FkXKs-I9B1hSDKpyXPOY9pZBvR-1hHtgOBeZZS5C9QBA97BskOO5WyjB2cn3HXDQayJMS4oSoBz5JjUH_KE8YfuGtXvoSwdgCs-cg7QIqX8bt_Fa5WE8MOfHSqHZSik0GEftTTASmvCXbzs0iTnFb75e_6LDqn_qxUm1bcT6mZNm2v8JmCis-fo8oVuMjT-0UIwJebJLZzSoqPWJo0V33HMlHrA==",
  "id": "rs_0777fcb52d07398f016ab42cd0616887d0b4e3ff50c165148f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The pink bowl is now centered in the right wrist camera and the partly closed jaws fit within its opening. I’m lowering straight into the bowl before spreading the jaws gently against its inside walls.\"}",
  "call_id": "call_3phyZ37wXmu8CGyFGKLVxvNZ",
  "id": "fc_0777fcb52d07398f016ab42cd0fbbc87d0924a3ab39b4ba772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3phyZ37wXmu8CGyFGKLVxvNZ",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.3775, 1.9167, 1.2514, -0.4942, 0.1963, 0.1146, 0.5481]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9974 right_x=0.4172 right_y=0.1322 right_z=0.0334 right_yaw=0.1059 right_pitch=-0.5607 right_roll=-0.1498 right_gripper=0.5481\nstate[joint_eff]: [-0.0342, -3.0838, 6.7077, 1.3309, -0.1294, -0.0611, -0.0073, -0.335, -8.1299, 5.6821, 1.0574, 0.0611, 0.0073, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795a79ff63aaaa185f1b70b23aba73fc0535999f541b4c39533ec8b075e956d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15df258dc2e0bd3264962fa8aa2b13a9071bf8b66c37df461e8d7582ed14d574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9376d1ad7589f22770bc6b1afcc40d0c0481ab388eb6da899884aa96562d21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.505 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 110 changed as sent

message 114 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9064, 1.2858, -0.4206, 0.1371, -0.0036, 0.9956]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4596 right_y=0.0733 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.4642 right_roll=-0.1275 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -3.2615, 6.9265, 1.3162, -0.1685, -0.0562, -0.0122, -0.6085, -9.3197, 6.5573, 1.4676, -0.0171, 0.0122, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3756, 1.8378, 1.5394, -0.8211, 0.1944, 0.1173, 0.547]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4276 right_y=0.1358 right_z=0.1331 right_yaw=0.1105 right_pitch=-0.5223 right_roll=-0.1341 right_gripper=0.547\nstate[joint_eff]: [-0.1983, -3.0427, 6.9949, 1.3846, -0.1734, -0.0757, -0.0073, 0.294, -12.4376, 8.9915, 1.1844, 0.1001, 0.2222, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.3775, 1.9167, 1.2514, -0.4942, 0.1963, 0.1146, 0.5481]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9974 right_x=0.4172 right_y=0.1322 right_z=0.0334 right_yaw=0.1059 right_pitch=-0.5607 right_roll=-0.1498 right_gripper=0.5481\nstate[joint_eff]: [-0.0342, -3.0838, 6.7077, 1.3309, -0.1294, -0.0611, -0.0073, -0.335, -8.1299, 5.6821, 1.0574, 0.0611, 0.0073, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795a79ff63aaaa185f1b70b23aba73fc0535999f541b4c39533ec8b075e956d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15df258dc2e0bd3264962fa8aa2b13a9071bf8b66c37df461e8d7582ed14d574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9376d1ad7589f22770bc6b1afcc40d0c0481ab388eb6da899884aa96562d21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzWrOCibbsoOicv0bQaC96yVUVqT5fqM_RZ-fnyBDH_gRHW4T_AluRwFKkc2jE7FC034A_nH8gTUwD7BT4faMJvDGEwYRdjaw53zV1vJjEr6JX8F9AWE4K3eRSambiQQdNnVNsgQ45jBaWBOvwMeZEFvlc66UZZjxi_SiMXODbnEjpeJbpNdg23W8df__LdDs0kO4GrAvGIWdZQrJq81PcK2WnDomoqDydFHLNJ1ff5rCEEOLkQMamGzSc970KHdpvkt2COUiYkZk8BCNBljmrIjupnJSN5cia6sJHmPF5W4J6NohBQEznz_636WKrcBZJ4Z_0jILWV2YxkC9w1ob5dBB_NaYsN8ucMFuCayBgROkKu21x42_ogFolNDTMLzqmWTfioqrGnORf0tYnnTQkuxklUyZyGhn2d7cTaNPi6lIfl9IjEUsJQbYpzM1AFIq07Kao7v3b35tKdEVa87JFjj_0yzktWw7_8NH7PqPL2f4_umGPFP7ioYxm1t7WXci1G0kR9OCFdDLG_vblBDieW55qJKBSSEF30EMBNNPzHKXuCe6txgZfd_QaDdxkEh6vjN2-vay_CJwinryLcrRabR-LNOZp96p2BS2_P1vGcGoPexKe7_ouRbwmcwzF75TDaq2d6ws6JIBefhELje860L1HgG5-MN2tQHbqRmvcbNFqoTibQN125RKYDyJtAzgmfj4TQsBtSH04ye8rNzP-FU4YAkS8s8yeM5Ih0BsAifyB1E_-p2Jufa6_qIyqLeC7ZHiu3WBj7Ud8dbn88Za10MzeX-jZMrESy_MHJnIfuPnFPXQ4wWTNGeHHNMzAVYCfkkBbARZ45rDCGJup5vPUtn8lyKC_JhGKBmAO556bHjbpHw8tex7mKFOVV1NYt7jtAx8oc2M7xfKX493mBl6rduYvjU7KHmWVgUXDHTav93FNR_1PIpbQh_EOv-W0QI1xc4W2gauyNLwuCarTBw3hrqMys-ZXE1aOESGiKrhffd5hBcCamnzDGHxZv-evFFFp7qvcT8AjXgxHnddUT7XeaHywwDilvtcyF8cPJ3T3bGsZvIyg28HwxJBykMiLbxkPRmKS8PLQX-J7BKM6RhEFR17G2idR3ondmL7NSIO4ECgC4sgeLL_YrQ7oR8H80K8dAcLCtbTOiB1CX0tsVnFxr_Yhs_YljakE_TGVpSAzg1tU6J-AJhC9gjQn7iu4gEj5pzG0XrJvLpTSqzt58_jqyxty7M6fYFXDTFgTerQYv8xS5PzEyXiG_yhkFJxgQaBMmY4T2scs4qvz3FVzyl--dJMzOvzhc2mrSV8DrEhVDxV0bNfuof5nq-rktXQFitcw9IV6v28tByQhyGE9We17ai8kx_SIru85xaaV-Gc9X64yUHDzrbaHgMbEzIpjjxL5rPCdeIstLfUcXR0SbOKErLTVEXWFSstewu0EiuT6MMH6H6VlFrQEM_rWUHse4MQEgp4ilbgNoBcJxy6Jei2mNkS5rM8o39y-OwIGKrqEps88kQI9uEyWEXZ7gVsVC-elFwLUA8NSE_D8cPF7GseddR0dFaO_99pjOCb8j2P8_wU2iuZxTqNybMD-eaiqHm64IjkmdLaCi7lTABBN4Zl3nfWoy9M72JNuodGaSkcuc9gw=",
  "id": "rs_0777fcb52d07398f016ab42cd49b4487d0b1d177a272060be3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.82},\"note\":\"The right fingertips are inside the pink bowl near its floor, with the bowl centered around them. I’m opening just enough to press the fingertips against the inner walls, then I’ll test whether the bowl lifts with the arm.\"}",
  "call_id": "call_Oj4qyUxVo1yf3xgTtB5ewliR",
  "id": "fc_0777fcb52d07398f016ab42cd587d887d089a52904f2dfd59d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oj4qyUxVo1yf3xgTtB5ewliR",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3775, 1.9427, 1.2304, -0.4782, 0.194, 0.1089, 0.8157]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4118 right_y=0.1305 right_z=0.0174 right_yaw=0.1063 right_pitch=-0.5915 right_roll=-0.1601 right_gripper=0.8157\nstate[joint_eff]: [-0.1573, -3.2615, 6.8718, 1.3162, -0.1636, -0.0708, -0.0171, -0.253, -11.9453, 7.4735, 0.8571, 0.0513, 0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6c4450c6eb85ed9f0032ddfa71cdc77ee44335082f78e7432106bd13e6c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b4509eb7789c595357831418d4e0b736f122f019b41f07417f6da4cc45fb31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6575fb7616eb7e18f871c7134a65f544aed9cdf8f40792d4ce22c2a1d5a9580",
      "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 · 3.265 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.2024, 1.9205, 1.2797, -0.421, 0.1299, -0.0051, 0.0095]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4566 right_y=0.074 right_z=0.0476 right_yaw=0.079 right_pitch=-0.4856 right_roll=-0.1243 right_gripper=0.0095\nstate[joint_eff]: [-0.1026, -3.0564, 6.8855, 1.3162, -0.1538, -0.0171, -0.0122, -0.1162, -11.1932, 6.6393, 1.2186, 0.105, -0.0317, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.3775, 1.9167, 1.2514, -0.4942, 0.1963, 0.1146, 0.5481]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9974 right_x=0.4172 right_y=0.1322 right_z=0.0334 right_yaw=0.1059 right_pitch=-0.5607 right_roll=-0.1498 right_gripper=0.5481\nstate[joint_eff]: [-0.0342, -3.0838, 6.7077, 1.3309, -0.1294, -0.0611, -0.0073, -0.335, -8.1299, 5.6821, 1.0574, 0.0611, 0.0073, 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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3775, 1.9427, 1.2304, -0.4782, 0.194, 0.1089, 0.8157]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4118 right_y=0.1305 right_z=0.0174 right_yaw=0.1063 right_pitch=-0.5915 right_roll=-0.1601 right_gripper=0.8157\nstate[joint_eff]: [-0.1573, -3.2615, 6.8718, 1.3162, -0.1636, -0.0708, -0.0171, -0.253, -11.9453, 7.4735, 0.8571, 0.0513, 0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6c4450c6eb85ed9f0032ddfa71cdc77ee44335082f78e7432106bd13e6c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b4509eb7789c595357831418d4e0b736f122f019b41f07417f6da4cc45fb31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6575fb7616eb7e18f871c7134a65f544aed9cdf8f40792d4ce22c2a1d5a9580",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzaTFiGFZJGGEwRWk-y1DAnhqD7aJPqBW_qeHvmDD16-LvvkHc7gDUnMD3R_s1aLdIxtcM7olCBOxznd3zaGGxUYI6x2yJGOkkdNhekH_GIBv0Y_XRPZSieIg6BnUky6sp6gWgh_2DnZfFilSCI3eQ6K3hanH7-q58-BTW6zyQqDrBkgFO_VlcypO49PJaT2a4r1PNErns1JPL-B9vgjhMovRWNDe0cmW3ccN6y2truJflZXQNWQy7JRG9NJLf4QkK4Gf3V3D3DqBP9fSG4wleKAgv9FcT4qxKF33WqTEbheTL02jhY3He5Yqb5qXimahH0LI0lMEjp4CIE-WlF0CSBRTTWyXy6KZAA2vQmmt8s98wt7fA3c537UeJkTfMf42OXy_PcUfj2ncH_2f9Eij1GfIo1j4nZKUu3nyc9vn-6O1jHq8ERlOEZQuIdXefop74jBPj4xceEnG-6Fee6jHoG3nHjjrAQrRmjoQdkVqsdBDuFFTMwX1WL8RDid5p_PMUwpLNZdtZ4oj7nMdTtaDE4B4hGZOmM0__TIvH1Oek0gp-ZQRp_sIAAuUJwtWb5BN5Nb8giI89J5M-ri3cQpSryiQKOlCQDHcVyKU_gEusEdkF8JV2WNH4dYET-muXuZD62Br-eVfFzK0ObjQhRHf79NyTGaHxcuAZrbg9oBoa9jrS5HfwV7tSN1BASuikMt5MRO-X5sEKG-FeMxEf0WSr-nNGpN2GCJt_s9bORzbpEbxhemQeiRCB_vshFMo8OjsbRR64RejeCbPC-D9fnq4bNAALYa7UcFP665122Oy8YIyisaV5m5ZzYeJiR2RiZDd9W8HJXm6vQVQpUTgBA5yFYf8xW6ZytU7UQKpeaMTZLbhQzJKqrLvyBo-dcVk9rz88aWU7R_4WGEZzyA4GRyiar3U02gXmvax4cjUgNmg5mrWeD70PojZpSrpRCpB4NYXIGUg9Hto1oAFl1ydGDR8a3S3ZVlZEfEZrpp8WkB4TNpV6RyaG6g4sIKrycmnFd-u0ix90_lcujf7Jthp0jGqa2akrJRSqML71j3ZoSuqFQBvUKw2tcvS3HLDbfdRX7RdFGDdEcqIxPHitCQ-O0250yw87AkAf1QraE_owMaIKTfZy0XjtxdVnYWyzW7qRcIAOpYrCjnBON3gAjBr2wqn2_MmxAlMu6dhqzPZWDyxqiNpahd0-cuI1mAq5vrFG1YdkLIimmjEHpgqt7Icu0_k4I9h5uPe6ufJi2dIwbffSKprTiymlnavPrSBlvacRgC0pSbvxSdaihaB-MvP1oE_qkOXCefIGdCRaDRIUDPh28cqX8lY471tWWVtuA33WVXjj_gKhoSdIsehjW0yqJFo3KNMQP0JP8pwotlMAx1G6M0Z1pVuJ2k1472hpSSHIZXRzP8JpD2ppdB4AivWiLX7ZwSsFuMxknkXuLR3tptrhPe2SttQGXMXFG8b-3Cc1h40Rb5d_65TFXehwUqnfS4QikxHJpR2af2gJ6dRY-34lx7YvXfCV_53sHE-vjKlnxGtiq_pPH3pcVpsbL6TrZg6tTfoq8i6yQt-Xy_3nA1MKp8vuvWzQ2tr1WtXZbc68WDepmBYkIIndIND1GyWJKFlzFJn4qBibnMGYeZdcDK2dqei8Jk8rni-jTAy3FJ4L2dGazEAhKh1CSK5_MIFdStfZWFwSYsJcAHvMDUbbIB7S6oHSLlY03Pc6yPk7q_cTU7G6zRNJgYdpfsFgcnNnzipCpsEFWI5U-eDEJUg4Q61AgFEhBHndR5IJXf8PwN4-4sKgVnE6VaI6dZQIDAqRcZLikmt8bg0ji24OiHT_bdfhBObwQrEwHKcoAuFxqiRjymMB6P8dlf6WSre2c_aNkusfFmYxo1YMCxmLR6brakC1QGSAtwVmhunxhXmhTrRb-5kVXWeDEahm3c3NMYYHVjQh9GM7M7OmfOxlvK5VeEgx-fJzaSA2mqQwJXFLwnBQnWya86HGYiM3SvIc_RUYgX_dCE0wSD0MVe6gm32TRQI8gmZplP2LDIQU2rj35RtwD0LsP1QYllnHKV-GalEa_dCLjaw==",
  "id": "rs_0777fcb52d07398f016ab42cd7dee087d0b96e1db08de039e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.96},\"note\":\"The jaws opened to 0.82 without stopping, so they may not yet press firmly on the bowl. I’m spreading them a little farther inside it, watching for contact rather than pushing the arm sideways.\"}",
  "call_id": "call_Y3a6WBDLM6yrnoe2LZ40WOXN",
  "id": "fc_0777fcb52d07398f016ab42cd95a1087d09c6e0cde21d96042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y3a6WBDLM6yrnoe2LZ40WOXN",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3779, 1.9415, 1.2301, -0.4904, 0.1944, 0.1051, 0.954]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4092 right_y=0.1296 right_z=0.0167 right_yaw=0.1067 right_pitch=-0.6028 right_roll=-0.166 right_gripper=0.954\nstate[joint_eff]: [-0.212, -3.0017, 6.8855, 1.3553, -0.1832, -0.0464, -0.0171, 0.0342, -9.7026, 5.9966, 0.9792, 0.1099, 0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12e69b65aec048f5708f37f8fe16a3fd7ca2b7816f9d06347aed9ccf9cafbff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d569f9942d82268e5ac9d7b0e7c4262ab183b2faec780388f00911b1b46f0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067b7074b65d1c4cef51aee60d673fc5b8efb8304c7b22e229474f883cb572c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 9.741 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3756, 1.8378, 1.5394, -0.8211, 0.1944, 0.1173, 0.547]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4276 right_y=0.1358 right_z=0.1331 right_yaw=0.1105 right_pitch=-0.5223 right_roll=-0.1341 right_gripper=0.547\nstate[joint_eff]: [-0.1983, -3.0427, 6.9949, 1.3846, -0.1734, -0.0757, -0.0073, 0.294, -12.4376, 8.9915, 1.1844, 0.1001, 0.2222, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3775, 1.9427, 1.2304, -0.4782, 0.194, 0.1089, 0.8157]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4118 right_y=0.1305 right_z=0.0174 right_yaw=0.1063 right_pitch=-0.5915 right_roll=-0.1601 right_gripper=0.8157\nstate[joint_eff]: [-0.1573, -3.2615, 6.8718, 1.3162, -0.1636, -0.0708, -0.0171, -0.253, -11.9453, 7.4735, 0.8571, 0.0513, 0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3779, 1.9415, 1.2301, -0.4904, 0.1944, 0.1051, 0.954]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4092 right_y=0.1296 right_z=0.0167 right_yaw=0.1067 right_pitch=-0.6028 right_roll=-0.166 right_gripper=0.954\nstate[joint_eff]: [-0.212, -3.0017, 6.8855, 1.3553, -0.1832, -0.0464, -0.0171, 0.0342, -9.7026, 5.9966, 0.9792, 0.1099, 0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12e69b65aec048f5708f37f8fe16a3fd7ca2b7816f9d06347aed9ccf9cafbff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d569f9942d82268e5ac9d7b0e7c4262ab183b2faec780388f00911b1b46f0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067b7074b65d1c4cef51aee60d673fc5b8efb8304c7b22e229474f883cb572c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzdXq64p2ISU1fBkyID62jDb2cqpwSfRqESn202muLeHKfF2YNZjhxZa-tOId4Jh0uDzqBXt4u0EAOTA7oZlJIMsf4ZLIfuY__ObeswgW7RvrdDF1IleUvWo_gyroBODR9ZOkyvpiAClh49odskXXxdpOEO7cvpSlTlcX4PpafgTI_gjZypJ6hem3sCNUfV1BXkdJ7xfxNeoWGtjZU9DYBULvxbR_MIGyVcJW9BF1QyfmEbj1f7vJ_HJKS5cn6RCr_C87m22KVkU2-D8Lm_TINlFl17XDDhL7ZO0PcheeyeBa3jEIWYMLVubhysNySVXhvS-KfDYaY6kLhGM_Jkb7AwQ3IT24dSozT4xFtlfYn4BQvJEfW2DDbMe6Rz99CFwYIP5svRHnsb2NZJZ5g5JdgVbUyAVPRRV0vHe44vL5x_a9DD1eiqlsgHlKVrIM26po5Dwd0O9vJ41ydYd-I0kkSchbMJ-SZqejEZhrTSXhcCgf7ohs5HsXw8y670woHAAUHKNpwhCggOqos8t3SUFR3Fc7B13SsAFdrVGJeVgWpXlGX7OJElF1BM_ed5KvVOaJEJMyKP33CD_W3i6wOdL_YFybcUhfY1tZtcrcXkZt6QkIV0mvxve23dl0mOcckhkNwb3Dm92Q4tX2lh8jR16-b_RXXt7N0hzkHuz2k7LmuJmmZh-PSTJrxZDPOF516drs_gbiNg1dN3S6nL0JtG31uHa4MK13DPL_aws5ChjgscyCKye_YN5UgTpGp0yBUcZvWvDFaT9_dt7XndbWZEklrWobgKCMk9NvzBMJc3AbwG_Tq7biszEhoHEkpNeR-Nl5oHOCs2zY8cUKk1n07RnI47gGrWugYCWAJzA3FUM9ng6vxaEm4dzVjbZxUDkgbXycW2LVbcqkK5yVnGuJF3-MHoRaXV4ncyD2d7l-Kmh1-NfDHlwok60Mpxexo2HhNGJsoeA4LhnS8QREKGbpAXohmlWHaDFHn6U36Y8IazXvqnfKSH3tyhen_ARwFfK1mdaGdeINeaywKn8unYF_Bea33cnl2b9-XxEHWJ2pbuxWxzHnRA3S0eVp3JvvM0QZJMTbVnHHNIUnbY81CxnClDJ8VMoK4x8Zd3tRLxeEeEx3k5UaauFgRePFmoxDMD44is8BQ9P16VCbiFLzYs6ovp8xyfARlkewoDjsjzCBGIy9F1gJJbr-5L6_PtGveCyqseXAp9ob61SyuHlpqOSKJTgM4F75EfapjoA2Fdr2Ug34sdTaL-d5BCYjEYq-yPscoactNiUKmzjRlB4P-iAiFSgqTrYXij5EwTGKtMdRB9JoWyCgUWNqAZDt9JG0BiG4C7STIwII7RQhgXAUDwvUppBcKZ5Dm1BmTf70dxvyLw5uHuxL8dcov8gT31zXja4oX7tba_BarJIxi4dH3PuvbSWL6WqxtQVH5-khHAn24q-GKYKAXqScfDbjT9mEF6cAfRilRQ90JIy_2EslSaPoWqDJIjpRiocnQ3c_Y16LqY8NszapQ3CkNqjPRHKFnMYIisWM6cRbh2Pj2lAl1AwWHuSzDp9N5J9IzUJSpPw5xLUUII4moTgaFO-K4hcA9FJtgMofXFbdjxW_hqV0Ky51n4r9Mw8grNKEO0Xf0HyEbt1jYg_o6RALFAT6OMg1AjF2nHy7WnXDdRGojgowbavm35ZzJgqtMcH9bDsad6wTIz8F_AJkLayZzuaCJZkL7614Hh6eSX",
  "id": "rs_0777fcb52d07398f016ab42cdba3e087d0bf337bd3e28fed62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws have spread nearly fully inside the pink bowl. I’m lifting a few centimetres to test whether friction on its inner walls is enough to carry it; the overhead view will show if it comes along.\"}",
  "call_id": "call_Ipq57Ox0XNeJ2Q0djYniEDAH",
  "id": "fc_0777fcb52d07398f016ab42cdcb1e087d080e6015458bcdb82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ipq57Ox0XNeJ2Q0djYniEDAH",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3786, 1.8668, 1.4677, -0.8261, 0.1936, 0.1005, 0.9549]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4094 right_y=0.1301 right_z=0.0957 right_yaw=0.1068 right_pitch=-0.6258 right_roll=-0.175 right_gripper=0.9549\nstate[joint_eff]: [-0.0889, -3.2342, 6.735, 1.3504, -0.1783, -0.0562, -0.0073, -0.2393, -12.0, 8.2803, 0.8816, 0.1587, 0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2674d2519f844013cd29c407ff69607ceddf039c2ad4867d9c15873a85df21c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a68f2e0b83aa58f78eb8e4c757462e7fddfcbbe1cdf6e1f173d0a59cdcb9567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180382d8a8240317047bd9629bb7ae39b2305a57f47ad587494780ee26998a31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.574 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9974, 0.3775, 1.9167, 1.2514, -0.4942, 0.1963, 0.1146, 0.5481]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9974 right_x=0.4172 right_y=0.1322 right_z=0.0334 right_yaw=0.1059 right_pitch=-0.5607 right_roll=-0.1498 right_gripper=0.5481\nstate[joint_eff]: [-0.0342, -3.0838, 6.7077, 1.3309, -0.1294, -0.0611, -0.0073, -0.335, -8.1299, 5.6821, 1.0574, 0.0611, 0.0073, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3779, 1.9415, 1.2301, -0.4904, 0.1944, 0.1051, 0.954]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4092 right_y=0.1296 right_z=0.0167 right_yaw=0.1067 right_pitch=-0.6028 right_roll=-0.166 right_gripper=0.954\nstate[joint_eff]: [-0.212, -3.0017, 6.8855, 1.3553, -0.1832, -0.0464, -0.0171, 0.0342, -9.7026, 5.9966, 0.9792, 0.1099, 0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3786, 1.8668, 1.4677, -0.8261, 0.1936, 0.1005, 0.9549]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4094 right_y=0.1301 right_z=0.0957 right_yaw=0.1068 right_pitch=-0.6258 right_roll=-0.175 right_gripper=0.9549\nstate[joint_eff]: [-0.0889, -3.2342, 6.735, 1.3504, -0.1783, -0.0562, -0.0073, -0.2393, -12.0, 8.2803, 0.8816, 0.1587, 0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2674d2519f844013cd29c407ff69607ceddf039c2ad4867d9c15873a85df21c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a68f2e0b83aa58f78eb8e4c757462e7fddfcbbe1cdf6e1f173d0a59cdcb9567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180382d8a8240317047bd9629bb7ae39b2305a57f47ad587494780ee26998a31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzn47AC9poMaZoQNwmQNYe_7f_qITx6xMJFlrLwy9f3khXZfqWkz_PX2XLIkqSPXdcAl_6M2nbPagY4rsbkPkNASveYcjeUhqD0OCUqGlsPCtPHJVRNp5CPttLQ_b-Rnu3UCfKxbkUc13Qo1ss1jckFUVjngO0-BvgOVMEKmX07e-T6TDKLQQc7RL4BzmPNp3URLdGYS-SkzvltGojH7c3MdSrjul4uvlZlCCtDk9BA4vgAsF5pqyy2iEu-kzKmmAZdjYQKLiVg5STOkTuyr2ePtrbmWjnEP4278mAzgHHHB7Wn_DqSHkucuuASZoBMcqtMbgDIjlS9dgZ-yjJHx_Yzw-QX1un5HQAxY9SmjJVwTZh1omq9JW-HJjN3UJAzHIpre_gVpFNV83yekD84Yvt3MuTIhNKEpa--W15sxTzfBXAZwdU0FOPJjLjZvINppL9LQ7qKr92H11jtr6_wjXqnU2W5wHaKvH1UU1HZeXtrBDku3FhijVzZ45BFB1KzDtqSBPEVbitdKdAo6qZnntvoHW1CYXvJyppuKONMTY9TL85HhRB66jaPPQVZUeSTXF72DhFvGAedQ88Xr29MnpzDNs51deu_QqpcVTcL4sTt_HdQjdNyHV3R5A8spHGskM-r7DaOm8Cdu6VmtvRSrDLOWQhUDMz-bcwJhPZvYPiFsJIAo1XdlwPZ_jypObcQ7BDLsUB4WBLLfj0p_cJfOkF0iv9EzDzscXjI9eEOqatmqOt2hVPeFAxRxm-iK_qm748f2KXpkKZj74Ke5yzrj6UURmcLtUhn_zodzR9JOaxdqUVT6xVZLyIisMoscaviLEpTR4hoxknqGAKYwtoGWXcG96roCscvANIME8iT5oAlYCPBFh5CzVvXEgQEejNtlan4Vj7wCCGTCHl4fg5t8KDU1UeL4AxntNKyszggswQapgNEy_vburXmQflT_cdp2265x6zWzia0sLrqp1YTxXPo5b1MxE7uBz78AOApGiKaUIXS7kuw43YMIv4EPWXIDDa2Jso9Nt0BNXGCkJi43lH8ZwZVNJ0qMF8y7yeOMg8JCBNz2Yt3Fq3iXUNjQYBHrEX4I-Ptd3VOLNrbkNqcgwrMIProSxuevaeZL_vsWEKLe7-wx6feZFiAxpE_ZSiB0CFObt6AhTkPQv0d6yltRJSgtS1v8SSjH4eDtkEnI3pnBIs-5vwKjpzG-BAmLMNeEN08LUDYRANA6Z_RXctxzAyhtfBxo8U69vh00WWZ6hzM5fJcn-1d9PL9VmrkmZbc2n-bu8R1oKKL30dychSmUhvBpNjjYLK0TIiKlqop8CBdti3u8gI15skAchDSycew0-BHaczMyHuO4V0OZCxc-qWg3I9HS1injPXSXdsu-T8-h_cA49_F7LkWRko5FrmP6OKV1xPreIyXqDuD8qp-gyS1f9QMimPZwHnOY5ZLDXq-SF1kgfEAYQqA-sKqz1LACBtPhlanMui3A978oM7FP37nBgDmmZpaRG6PTnOvUmWPK-UWeDBn4pYPpjzmbwlSEHKDF1I--Hv5uTp8kuQ8AKbIn-HZ2bRS0TeYdvrtp0JmR4M8JMmoCsHt6ExaeORjwRohx_MsFrM_8tspc5dtqAIOkanMsv3kilvPiTHv3So4Pe62Ln_XUjAXv6-GyDNcK1JO5z4_qUkF7ldAdn1FZV4q8UUuQ5wviAEGOko07nwv6uTzY-2qzxXngLg2mdd8hyg2HpR8gb9l9PoLAtqpohCnrbFcLUpbUEc63r9Von0RstvqPwTrffnl4-QBPumYvbJhseXzuIryHDAgjB5PkCT4vdltqPEioy0OuohWUuzWkiNPHehwSGLVjiV2atlCGy0oIWKQRZvkAuWX6QnX-WmaebP3b2k2C19ijmFBH4JzfwXkM6rbfLqwSPaoPvQkprTsVAoxZgk28nYnPD11DsyGEwKv00kzZMh_xjR8mo-4KlksA2iCuSPNsV-SlBmbUShb8tVW7ItITRVziSIxc5niQB3_W4nX96UzQ3CGTJLxmDHkJoNV_PGFyjLLAmNN_s8aQG9CgYGhWbt6BJhD0g4wa7RFwJjUSJZWX0ybJguVxuxDMJIdv8X6t-rYcXkHUTa-12CSeCcuNFfenBaCXPY6bSStjO0H5Gs--v_xwm_lHYl5MT-DMD_1kzir1RAVCF4-Nan8il9C4r_4xjSi4H5-9vcloRLjA_zZI1EyRpFWF_NKruDQZXRuaU77fiOKXPq05aWZvEdsPJWXYmXNLP-nTxi1E5dnze8UiFjUJvbFRyb_RYNA0AY4EQHY26RYREWcGrEbgLeJiR1dDsydKPSAZeT9gzmW52c46PrwCL93VFy4JPzIcw74Xhp5ouJVSPUSId68jS04DVhBPhXW26x9OXpNZp0em8hLtC2rGIRz-AWdWoRqhzkOjKthr2usvBbVqG4T4x97DPM4X7OSM8lby583rjSYDtdUIPBU2Rzf_j2-URTJN-ZE8_eopFAMvkInZRHAWWS25MzrKP3zufz_tWDmK6I-0TylbLgXOGYfFn-xQnYCTtVEd6PwTjQ1ahX1W6NLzlXHzqRS4pWuco_gr9lBkoamifUOfyUwgmS6uHJp6i9u1XsO6fDUDit4EtceisvSbky3sAFVQCQUuvruSQOW65IyOtpOmzFdUlGTJOMGCAEEA-2lc-CjIV8Vah9YS5J3cs0yEX_thRSTezVEvaMNYBVQinGyQb3ONiZje5iXRhME8e4Hc3GDaHei0qD23lTQm4v27TqxWhTCq0-9XMjB3-45nH41KzYuLjjy0Av_aUEFU3oLR6k-k0czeZeIDT9vbUvJhS08qUFH3t3higyBeBBDpk3FWnoAkew4nxzzroCubcbXlXGyO3HOgyVFK7oiKM-S6tFj071CAppThJRZd3Qvgvv-m6P0tyGGRBEAZtAASz2N-IdKXBhJuDHm207cUeYe8w46uKQe91nxO0dpBw-Pxv9V4xIlaDl6HQ0U2cGit6tB7BSH7LiXCeMmJzNc4tdz6vwBlIoY2hWE8qTAOCC6Sr5bXcW8PqqFaOP3WVt74o1qsBGqQMuG14hoUG9AjmVXuipEu8CYVhOMBiDbAgzpL9rKh7UaCJIB0WVV4f7zwfw7dQckfds4Qf2_yUZRbQ4rli47HKC0LBpVZ8GwWCGJ_MBF_u7JmxTxzVLAhppqYGITSGCBO45GEEXEbKA5Exaa5DzSWnfb9b6i3LDVfT_UcxBHx9uUQEj5SmkUz08dK7_7N8DQ7T9aaK6TjWKe3F66Y0Bd75aVS5-2YDEJSGm_c2FHULsRWhHHsPUREAMGegi-7qfitIL1hYA0LdSTB_TVGO0uj83-5j13530ZnJN37_fH6pjIvcmsouV3BowSpnPCKPo8Dfe3wQGxauKVv_y5WvcaJ-45NnaRQaydgEdfkPYVmW5Sa6YLmMH8CBdnrHIzGoF1moglpG3iutUMSJXbHcI2rSZSosa4ls8Y8ZIQTjIdNS0SzxC2kjWEADVQdyXUgyOZDWBKf9sEMcVmTpCG_TEPQB7gXmEzlS9oUw9ybfFFF5haPYu5dl9VgxXF5IoJC5jz2_jPfUO-u_ylErdxtxuOXdiJq-7eQD8k7Lg_yTw8qBjTBBPnIzM_HxlBoO3qJ7jtNL7aHHO-5DZIj6sLWucn8cu4hpfFEckCzYYpUup1TyK2MEkGoBsmqqbtHbmIATxsebHPcGfp",
  "id": "rs_0777fcb52d07398f016ab42cdf238887d0a6e5fbb1fef53475",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzna4WNP30M8Dm5c9tZCqbQ-fydMd9WjicLRj34VvOA8GrTk-_sH_ScpNLqcHiut4LY-zAUFS0AP6QP3IonxhtM6q_kRxZs5M3WxN88GC2XdXCDplZwC8H9te9W5GsaRSRPrZgXmb53S74gLh1Paz12C-bR6QwHDt6PV-fucHwq2Xq0NmuBli9YL8SIOg2p2PWf8xeqn845QcaXIW0IHP141YLeGzkBaGWr0DZaBZ9UER8oCZ4iye0CVKAHACvw5lO5brweiEx4NqDH2pNd7yHQFi6b7BBbxH_-X4leR7U2HpyIJA55mDSE3xJuxekuqrGB2SaFWugtU69tcPenXEF5YRoIcIM2imSm1rIiDyY7LALm_dlinuCM-PQnXmQF4OJUeqQLL5ytnJ3m_JIEz8IbiBU21docldnDPA7mdU3zeS2cdxny--HBVSNNdgLlJYjjrIxCB3q0gk4nkH_Nps8BD8_XQe4mhVWs4Q__4MiKr1YKFTGuDZzcw3jNIhxFsrPKo-52pSyZ5XKDTwcmBNJrVVFHzWpG5Nn4CRzJjgt4bCs6ASqJX1NgkloNo-TtmN7L6QI6VdjMqrDc8ZlGpg-NKiqKH7i5kOWa3I330GXoI91cb7b3CjGw1B3L_YHM-cbRmphRLwOJd2V-7mzGdjMx0SNAQUJeVp0R3zNTpDaUN-Aqm_-V_KH28czLvtaM4AnQYXTSr0qtlZXW43e-h4nqmzOVhxMbvNxnk896XjWq4ccbX1YxLf-VDK-m11eoWkbFVsXuUBDQoy2XNXzOhjCIcTapdRAX62JHyVQuxFgiNvJCxP00cqI8OK7lNnO_-QPj7GkqzBA5sYYpKcLHJO9BNtIWimjVRXw7uEIczJjq6nCEb5r9sQCWhI0PO8q59BlDn8RAv_GBYD4L6SX8JRaTpsIkIA8V_NofujZ0siVEP6Q9-nwxem0ML10c4wIgjb_799Ft-txAp5kLhf0EFb1s2tTJXCtxj4LlWiL18gwyyPwyrVvG7_J-F8hXcCmP4Mg19cobIfbb3pmxTUp16-h4O6jB0TyA5PwHxECjBgOyf4NyrL-_X-LLUwLoDsQlR-0JuiKWWjXeQRUKYGJx3jnwZtmQgBr_rOwAyaGRZVJ3Whvpds6NnzWsS6Q9Tf2vhwnsR07uFsVvxSbGSC10VfKo5fu1BqJuOnlXCUkPF3SoN--Q9B0MlYWTNwK7J7bfX25JJTS2ugmlgNXhaaQQnkJmHIEx0N4CdvvsPdZny6zZSSzlImLZhs8sTdFGsEGAW_r1iZFzFF87AB5HwfzDj9jY98naVLoZQUi0C3e_M45oCAF7CHDGE6IP5mtkcvGPUa3iETMJqb3n6qgJXkScQlOEDzMeJ_kVZ2t8cIHpUnLJZbPmGZxNMkaYkTnw9dHGnr-2vrraYChlFbkKQ7mHXM0atxY1i8e2KB4mOg94qL-oPGBNzBR26r92CpM_hdwVQ4ywTi45qUwOit-_uB2UHHeYggNRXkMQWCosUFgpL8xrTsHL2bmxg2seJanxSHjypN0IOgpMCeAhzmXR5DDa-V01aVs78R5HUoAD3hcOkOb4yOGaTrZax2AQ7q-9jGHSUfxtBy11iA97Fwzorn0CWAp1bG2JA22Uea7QF6TUIaMDYBAjfMrUITO6gy-I9MZVn1zjDNOReof3AbXWrGE26TnfCBpwSVMp2IS-Bx8RHPmyKPQy3HIh0W4lNXYMpUOejGfJw4xNeeoN6-aQWPBTlXAlEW-XXNbKv-sX8CXD0Q1_rKMVK1mFMFXb_iDpoMXMKweaZZIrdmTh-tzGHceX52TJjQbg7I4U9FJVs4UAwgnWInEWItHj-LBsTQhIwYho9EZ42V7803TFy53ol0TcGN84nuNkEQ5PQrFrdkhf_1VcTNQZoeanoPVPVjeGUmpHJxXS-4Wi6YJp54Suj7vTLkADQ3mHrgx0pOgSdX_kbd9Htelw0MNjMVrwtCmfk_ssYdwMvMH8-XMVp2kkpIpFRKCa5_tNeHW8A2sV_nyXcslHljIgpAeM_Za11YaGujFhOFlaxs3D2850FdLzBgaVkLAi4RYdr0EC0PjoM6I99SvJ0d9lMY9Jn1Lr6LV3pg14MjBlIX9Tl2ISBJ9axyj0X74kPvdWw1h7ZlgcGgVo-U-easBziQh--2RUnGJdfJYDzWmEVj-6ihI3rq-tT5Cm1zb2oHVwv5gWBBWLI6FBPvogl4qeKJnyzphSJTz-tZpkCn12aCjCz5AWT9u9ssv9yaqvH4bI8f5zzAhn3jZim-cgKtP7hVC1S8X4tAZc9At9PEWNjAGziHf7S8XOCYQNeBDGukZYmJm4rVOy3mhqkgYf3o4-x-WgtABLSy_-lCGMA0DvLbzTGdCq07AL9UyJ9DeHMM9YAfLnlWBCLpUVTdFAhNC-WTLRaNMyhiaa19kxktiIoakWQDc7x1eSXqvrdoAhYdPaFjFnLPYarlhw5EkLMMZe1Re64cUtAj2i3PJRtwebE0HrjjrBleZIREh6TGYjCvum-WiMRBo1pGeyYqCbPkIzvmpXi0u7OrALQk4VKFf5il63SuMIcw766IKqElJ3YazQ9UGAkse6ehGvBj-UkfNofho_wfc4iY1KHKWyHzAhibSNVuZ96w6oVjsqHnKlivOenr0tBftubFFiEbNq0s85HhF9nciCU8N83hAjkoN01oyxwYHI9IKBegOoEPj8P8vr8MOodlfmO4-yPV_vNyIJjoCEXQHBHBs4N1ADxpqrv2z2mikg00PnOdCq0lBelK_D5NDx_W1SPq8SOY7w-ZCEGHcw1haOin2Uiyf3DQgY1kHqwyWyCOo89ufZz5HOIjM8Q3NbfKX-kaliM23_Q-mH764wV9alslEeCPJrjlRKEs-r47P6iYVWiOO7rLeA22ETAdI-GLxSusTTcexAvJ0XM35CeCWCD_gaHL1pzMIuOl3voWvqF2i7cS0p33JqR9eO2Ks5JdqFt4edjuDMjfkaisxYuWUxm0jn7NfeECUd",
  "id": "rs_0777fcb52d07398f016ab42ce3a28887d0979825e57dc96e2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.15,\"right_yaw\":1.57,\"right_gripper\":0.42},\"note\":\"The pink bowl stayed on the table when lifted, so the inside spread was not a grasp. I’m changing the jaw direction to approach the near-side rim radially, with the jaws only partly open, rather than trying to span the bowl.\"}",
  "call_id": "call_diKNE80rmLo8UpxJ6ATUC5Ob",
  "id": "fc_0777fcb52d07398f016ab42ce6e46887d0a29c3d20099e564d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_diKNE80rmLo8UpxJ6ATUC5Ob",
  "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]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.1802, 1.9152, 1.7458, -1.1278, -0.3138, -1.2961, 0.4229]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4077 right_y=0.1334 right_z=0.1492 right_yaw=1.3532 right_pitch=-0.6154 right_roll=-0.2152 right_gripper=0.4229\nstate[joint_eff]: [-0.1846, -3.2342, 6.7077, 1.3114, -0.1441, -0.0464, -0.0171, -0.3214, -8.9778, 7.3368, 0.3394, -0.4322, -0.0904, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdcfb5489c8d8f749ad54da4b14964a22d6b0332a56276b43b77078a93326c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceaf611c6f748de68a21c4d31d7391349b919478840f80d7fb8ff3bfd465183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdc0bd74aab44c1583b02b8de8f8efe0f29a424d3ea72dc27ae411bc1457a47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 6.116 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 131 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3775, 1.9427, 1.2304, -0.4782, 0.194, 0.1089, 0.8157]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4118 right_y=0.1305 right_z=0.0174 right_yaw=0.1063 right_pitch=-0.5915 right_roll=-0.1601 right_gripper=0.8157\nstate[joint_eff]: [-0.1573, -3.2615, 6.8718, 1.3162, -0.1636, -0.0708, -0.0171, -0.253, -11.9453, 7.4735, 0.8571, 0.0513, 0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3786, 1.8668, 1.4677, -0.8261, 0.1936, 0.1005, 0.9549]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4094 right_y=0.1301 right_z=0.0957 right_yaw=0.1068 right_pitch=-0.6258 right_roll=-0.175 right_gripper=0.9549\nstate[joint_eff]: [-0.0889, -3.2342, 6.735, 1.3504, -0.1783, -0.0562, -0.0073, -0.2393, -12.0, 8.2803, 0.8816, 0.1587, 0.0122, 0.0855]",
      "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]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.1802, 1.9152, 1.7458, -1.1278, -0.3138, -1.2961, 0.4229]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4077 right_y=0.1334 right_z=0.1492 right_yaw=1.3532 right_pitch=-0.6154 right_roll=-0.2152 right_gripper=0.4229\nstate[joint_eff]: [-0.1846, -3.2342, 6.7077, 1.3114, -0.1441, -0.0464, -0.0171, -0.3214, -8.9778, 7.3368, 0.3394, -0.4322, -0.0904, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdcfb5489c8d8f749ad54da4b14964a22d6b0332a56276b43b77078a93326c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceaf611c6f748de68a21c4d31d7391349b919478840f80d7fb8ff3bfd465183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdc0bd74aab44c1583b02b8de8f8efe0f29a424d3ea72dc27ae411bc1457a47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzvha6CTTtJtZVx2oxnKUoCo4rk9l2uvbUQmm2-ZgZLaY5D1_KpMg1i_AEihbTpVo0J5NExA22jyufnSdboil61_ZjY5EwythN9vWMUsWR1CzBPLwAPqXt6f8pStfY-rU4-ONF-ALC_vTIDB8NbzAWEEO19nqpc2IASZa0U3cj0h8TlmuN01PgqhIMZDuokh1ycXf_hG93-0L95rPPDz0YOxF_D6eBloOymi0tm2a-v6g4lssqjuiRvBIjX7rSWgc5OTZWwVYJY-uhMGIel7m_PY4XK76prgpQgvFKA9mQlE3hfnhUkBpYCbu_2117iX2rk0yNGPCYkOxICBer_jCeQBR6h56971Ke2fw2yH2ksu4agXY4TqsSV6rMbdAiPEzcw99lJQufDugF-KyPBhkZ1ztYP4HICnkeCKUqv3HSJVywyRc2748AYXOGQmLnNgh9_OKc82Nl7dYrfAxUR0zyzWTu20MZKvPh-OhG5S19FQnUXaC-4dXs29tfX7rEFludCkfC7_zwlYUd9EO480oNECWzFlTeHXlj88SbZyWx0gC60tkpSbgjSmQAii29KrO2gYdZN9_IGDE3g6mNNdhImcV9I67YProCjkPVPNngWdBlmhfvTnLWnU08H5sIclbUB6MADJP76JWYWZPcVK9apcy5mW7jRj-zDgt8aultHsC89atXPcHD891iqU9lfOw4kNDMfdUTkgvbyYQjEnCtlr6BmMcyoePFj9P7wBYiSVscCrnpD8ZzSE08k5iaICDuPiGnzQNMMDFwL5SXRdAqCURY7dwhwAwe4_9Z0woljQb3xvU9Fq_dyexwu2mGgdmyV8xTLcGe-8BQQFYmoTrT_W7gH_gYjLjISMoRY8cARX8f3HSYE5UEYsRSmbP6ydPgy4l7w9RT54aaaeb7RKyaxjPtKhH6ccidcR7E463tF0W1VcbjXalZOfL4wlK3IuSrqlXrzZrAGENdURtZ_RT2JyVNrQiiE7CIavG67SaCTjJ1jzknLZZQLuQ6k6Up1JzxAuF1480Ycp1IyFMce2nejd2af02n_Cc_UIwXOR1SjWDv0FkFKNY4SE0xBhdhNWh_WC9PRsaFyEhaLTzK6MSL7GyCYjFi1t3yDbXTFbc-_I4e1nZIzTox3L5ABJ1otzmDSuDF6k3B1hukSYgyYE6SOgsxwnxLeNX4US7wZDyWuyoUPqkpXKU293dT2GrdZ9DAPIJA07lhQKFu0HzFItjB7GRNI_Sw4Q49TXQDl8tFFczGKEDTyB_CIlfBavm-zAFbO-HFTABAfgnMYanBKLBJ6gKoKm-AKdtEyZvNnzLn3_ERI6QaRbJvZcWayKijyQfdB4mqwscSu34g3i6B3Gy7oVNKDQkcLN5XOOJoAuKTOplpkyzfCqpHxQtM6N77yNfUt3n5cqqsbq2yL7wnrg63JFqLCpgZx-LlZW97s25y1CDYwVL9oy_czh_a6LCVN08wRwxhTaGn74-0nleVCimXwLPGoklTZvHe7hAisRJgJBdIXpBLVJhVK0JscdVdqnf_sgakqi5O1KIMVylXHLhnFPvUAIeHpq5I-VHLI4aRn3pR-ga_qgvvXrnXLbUb3odJpf5BsymuFfUu18Jz0zR7iitXXU0NDHVTZIKYiXC5tnXuOk48aMRIOZf9NJBC8d7qk7TqCE6mCJDslLJhv9QjvWe_avPsWdVSwmqTNF6ZmlTcOcu3lNQ8E5NN3WWV2p7WhRvZr7hXIDy-NmsWrAkpkQDwhrswskQS-kbDk1YRudoHasnfpai_1vZwYerMYWFkhSdbKZMos3w-2Eq2V0GDPTwJ09liKm5pxTJcjnLEZxW92LhPSIi4-Vphpy-UKbJ4lcyuoQAkE-ZSG3fDITeztITGQc8srwUHXMfM88aWErb7SvwC0wPPrD7AVyFUEiK_M581W7stuTS1uM0ThojgqU9rUKisIhA6xV38SCEcBSOaYP1xWAFxDDdQn0jKqr3iafKcXE9cq6lk8XDXDSgBhlig7ki0hATKce-kmdnelotfWsZYeskGDrN_1mcZnkl7DHYpTSPuu24jU-09cgDm4lrqJ_ICSjq0pBJs_9hBxt4kPvkkR5umOkHArRf_ndDDG5eTRArXzwI9UqgTqENO9fhLwtQNVBiR458NBzrNQviXe-pBr_m0iOywjdtfMVqpG9DNBE2Pci5xj5S3QIAxyjirH6Rv_pS0tNh8gipD7q5aXndpysDGe2P1IRcnVDsYwL32LFSR5QJkpjSEIXZc67Mke4RGYo_PB3fyYz7DmDTY-w3UMRaLp6UQ3zmBgnPxt5_zdnCb-YVvxx1acT4ecuya3bDep213JOemAEyb4lM7fxi6LoG4z1jKPNWf6gH0FtsJwtN0zme-YDmRN0I8-6sPNCn8qwf3iCNn1IxL8w7SqG6as8bpJeLtSvkOjhIJLpR6d5Ns9seaLBsdS8kp6wrmyBSh_BES5RjVn1G9b3rJATz-UAt1xy33Rov4NKTIb7b_htLe98BMb04nu2r719RLnGTpI4Cs2RJvXObFe3IQdO7DJ5ElxfO1ZX8vKwTO5FpvAUAHsJdEHOxR47_asTkxxeOesu9u-XAw6VhJZorjwrTcx_ILXScQPnMuH1zCWE2rFVW-noEAOiRL6e36ggfSf4_LaCG5hh4HgXROT0jKZI9Y7t3Nj3lFcjq3g0bdTr84UQHrwUCnP--T4MBaRqWlJZI4TorSVK1pvd0T4oXcqzEH4K_brHv1_V__JNtBWSWYp3I1vR70A7DTpArCM56ZZN2mAr6OVCelFF5Zw-M0zRsVNUVHwqM_yLue8oBI6EaxIWxxB6NWpHUkoKCzXpg==",
  "id": "rs_0777fcb52d07398f016ab42ceb17b887d0b034c10d1daa7cb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.14,\"right_z\":0.08,\"right_yaw\":1.57},\"note\":\"With the right jaws rotated, the pink bowl’s rim is visible between their tips rather than across the full jaw width. I’m moving forward and down a short distance to bring the near edge into that narrower opening.\"}",
  "call_id": "call_kkWa02E4ILN7wxRLsFVj0FTn",
  "id": "fc_0777fcb52d07398f016ab42cee3f6c87d0922c4c5bc05de6a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kkWa02E4ILN7wxRLsFVj0FTn",
  "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]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.0953, 1.739, -1.0485, -0.3607, -1.4956, 0.4218]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4251 right_y=0.1361 right_z=0.0793 right_yaw=1.5575 right_pitch=-0.6226 right_roll=-0.1652 right_gripper=0.4218\nstate[joint_eff]: [-0.0479, -3.2889, 6.694, 1.3162, -0.1197, -0.0317, -0.0073, -0.3624, -11.0154, 7.4462, 0.5495, -0.4908, -0.0806, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012abfe5d1ddb675fc0709d6bca93453eae07e3bf05d004df3a92387d0b3a77d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a28f6671c50c3c08d733d6195fee395bc67ef8ff2d59a6f55468a3ea0a131d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84b13916faabab861d4cbe6abb39ba69e897b54652a66d4a7d4138bc3fcb7ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.684 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.3779, 1.9415, 1.2301, -0.4904, 0.1944, 0.1051, 0.954]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9973 right_x=0.4092 right_y=0.1296 right_z=0.0167 right_yaw=0.1067 right_pitch=-0.6028 right_roll=-0.166 right_gripper=0.954\nstate[joint_eff]: [-0.212, -3.0017, 6.8855, 1.3553, -0.1832, -0.0464, -0.0171, 0.0342, -9.7026, 5.9966, 0.9792, 0.1099, 0.0269, -0.1538]",
      "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]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.1802, 1.9152, 1.7458, -1.1278, -0.3138, -1.2961, 0.4229]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4077 right_y=0.1334 right_z=0.1492 right_yaw=1.3532 right_pitch=-0.6154 right_roll=-0.2152 right_gripper=0.4229\nstate[joint_eff]: [-0.1846, -3.2342, 6.7077, 1.3114, -0.1441, -0.0464, -0.0171, -0.3214, -8.9778, 7.3368, 0.3394, -0.4322, -0.0904, 0.0708]",
      "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]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.0953, 1.739, -1.0485, -0.3607, -1.4956, 0.4218]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4251 right_y=0.1361 right_z=0.0793 right_yaw=1.5575 right_pitch=-0.6226 right_roll=-0.1652 right_gripper=0.4218\nstate[joint_eff]: [-0.0479, -3.2889, 6.694, 1.3162, -0.1197, -0.0317, -0.0073, -0.3624, -11.0154, 7.4462, 0.5495, -0.4908, -0.0806, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012abfe5d1ddb675fc0709d6bca93453eae07e3bf05d004df3a92387d0b3a77d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a28f6671c50c3c08d733d6195fee395bc67ef8ff2d59a6f55468a3ea0a131d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84b13916faabab861d4cbe6abb39ba69e897b54652a66d4a7d4138bc3fcb7ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0777fcb52d07398f016ab42cf0fe5c87d0ab501edb471508fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_z\":0.052},\"note\":\"The rotated jaws straddle the right-hand edge of the bowl in the wrist view, but that edge is still a little off-center. I’m advancing roughly two centimetres and lowering slightly to put the rim at the closing line.\"}",
  "call_id": "call_J8L7xoisfCxU3KdZDlnxpNOO",
  "id": "fc_0777fcb52d07398f016ab42cf50fa887d0a6f4af9e248efe0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8L7xoisfCxU3KdZDlnxpNOO",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.034, -0.3679, -1.5311, 0.4216]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4275 right_y=0.1377 right_z=0.0698 right_yaw=1.5897 right_pitch=-0.6203 right_roll=-0.1681 right_gripper=0.4216\nstate[joint_eff]: [-0.1846, -3.0974, 6.7077, 1.2918, -0.1441, -0.0708, -0.0171, -0.335, -12.0274, 7.3094, 0.7155, -0.442, -0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c3583a89f1b2c82178554e690c2ca22f715afc76a7e39c0ef1d326e07a1e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce2f999518a9c4e77e27802082b026b052da67f2652bd5042da198c4948f196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f6928b58b9c9439209a3a5ad2d772162019147f8aea63002076b8511f197c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 8.186 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.3786, 1.8668, 1.4677, -0.8261, 0.1936, 0.1005, 0.9549]\nstate[eef_state]: left_x=0.3001 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3485 left_roll=0.0981 left_gripper=0.9974 right_x=0.4094 right_y=0.1301 right_z=0.0957 right_yaw=0.1068 right_pitch=-0.6258 right_roll=-0.175 right_gripper=0.9549\nstate[joint_eff]: [-0.0889, -3.2342, 6.735, 1.3504, -0.1783, -0.0562, -0.0073, -0.2393, -12.0, 8.2803, 0.8816, 0.1587, 0.0122, 0.0855]",
      "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]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.0953, 1.739, -1.0485, -0.3607, -1.4956, 0.4218]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4251 right_y=0.1361 right_z=0.0793 right_yaw=1.5575 right_pitch=-0.6226 right_roll=-0.1652 right_gripper=0.4218\nstate[joint_eff]: [-0.0479, -3.2889, 6.694, 1.3162, -0.1197, -0.0317, -0.0073, -0.3624, -11.0154, 7.4462, 0.5495, -0.4908, -0.0806, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.034, -0.3679, -1.5311, 0.4216]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4275 right_y=0.1377 right_z=0.0698 right_yaw=1.5897 right_pitch=-0.6203 right_roll=-0.1681 right_gripper=0.4216\nstate[joint_eff]: [-0.1846, -3.0974, 6.7077, 1.2918, -0.1441, -0.0708, -0.0171, -0.335, -12.0274, 7.3094, 0.7155, -0.442, -0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c3583a89f1b2c82178554e690c2ca22f715afc76a7e39c0ef1d326e07a1e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce2f999518a9c4e77e27802082b026b052da67f2652bd5042da198c4948f196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f6928b58b9c9439209a3a5ad2d772162019147f8aea63002076b8511f197c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCz4weehWeVgvrfjvmYhlCDKqWbslw0VID_PCJ4LGFiuD0bhUkYPWaSsiMwlKFgZ7RmDwohP0VY1PNzq4ujOtsnz03339MBdxKkghFhq1DpN58h9Ek2RG4t9RRTpvmtkE3F1oke_DdhZwx83uwQZ6edFAzjW4rD9PSHidUOVszQUXBj2gRuc_McZMWFP210RwR6CGYCvh9KWJksE2aYnPWYU2RRpA5Z5Xjqb40LyQM_AFH6XgcuPiEXpiTK38rKX1ULyMX86wNl9UJE-9RQb1fN-ZGIj8Ilvw1ca4VxUkz0KR-1rgfY6xkxXeWiatlchvIwP-zlCs-E6znWhY6WRbz4w8Ym9ojlG47t4cFQorG5j3DaBdSVe3dfu2-ZpApOjGrO3CAW7Yrr9KmHy3j7byAomZWPD3mTskxFngieUClgZj1mchMeUAOE_Ko6Ei9t8M5QGJD1hKHMLIu9L5raN28DmtwfAAsPkS6CroRJGWqqk3Dq51nNVFNYn9yOKq6ywGCzyx7F4GgCWMezk-qLdS8XRlUxLqjtocM8LrtA3poupsdjaeQI9yFjFHHvZQbBX4GR9brMnwckNbp_MivLr1zlFSbgM7TUe0x035cMF3VDzYrAHSR0b1suDRhj8Via1qZ85Z0_ILqL23L9_uHnU1j8HX1Bd_rZYfyRkSgBhSxv2e6zIlfqNfNI3s85EQJPpMPCD_9xorkwWi4zZ1bWzVDdowLw13ZS82TpAcg7b6GC_3j5Ie5lJDOU2aDchZsriG7fvK0_7joP1IXa2ipdbsqLv7_WznuyP3jyI3UFhdYMdIjRVcuiw-XqAZN_OGpX-VF5BYGuomwUnYmG-0ozGVKeoSiamOsfac35KNSrOgGqaa2xt5reahT4PvjZt18OGDPEWl9qf2aDhw6YxTJhyriOjeXujg54QGNy3vJPZknB8Der2XZZ-AV_lqK5m4wgEySTdvFFgxUd40Y7zFd3I4YKg7m1_P72pVZwr-iD5mgKsva94Ns1iOxf-emI1iHpOvQE8jT717QSexAn9I54ygeZ1DIFfixyqUAOk5vXaAACRnfmqDqa9B6JEenx7nBNlADo3d8mFKr0l1Qc5FfHJgCzfKUwTh8rpCFzOXxR6cXOiRFsWfrpPKBzo5H7JYHx3A8H8BMhRzXCOaLu6EcId4xuxopDqZqnLYWB8f3upMusELajuDKdiq-eRVe3C9pFbhlARIeDLYr8eFQXyh1ZZl-XNHVriNwG5YfNkMU-sP3K33QoHwzx641tRtb5rXXRgtLj1GGWbIN5klx_NTaLoZWZg3A==",
  "id": "rs_0777fcb52d07398f016ab42cf7d05887d0be2706d33db9e159",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper stopped advancing at the rim, with one fingertip inside and the other outside the pink bowl. I’m closing on that edge now; a retained jaw gap will indicate a grip.\"}",
  "call_id": "call_cmYAaxHel733R9xROwKCkYEg",
  "id": "fc_0777fcb52d07398f016ab42cf81ab487d095dee330fabf48cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cmYAaxHel733R9xROwKCkYEg",
  "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]: [-0.1371, 1.1122, 0.8955, -0.7277, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.029, -0.3683, -1.5417, 0.009]\nstate[eef_state]: left_x=0.3004 left_y=-0.0007 left_z=0.158 left_yaw=0.1188 left_pitch=-0.3504 left_roll=0.0986 left_gripper=0.9974 right_x=0.4287 right_y=0.1379 right_z=0.0701 right_yaw=1.5932 right_pitch=-0.6203 right_roll=-0.1791 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -3.3162, 6.6667, 1.3455, -0.1245, -0.0708, -0.0122, -0.3487, -12.0137, 7.3504, 0.6471, -0.3932, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc53954f016de8d68ee663962e6f872852d753e5cb426d6e441dde6db1f384b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc26a5f6ce54cdf50262ac98ba60789f7ebdc58ab5d2272eb24de61fcbb1fb77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64244146549f367690422562aca97b0937aeb9ab9891b458be67c9eaf68935af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 4.393 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1091, 0.8955, -0.7292, -0.2096, -0.1387, 0.9973, 0.1802, 1.9152, 1.7458, -1.1278, -0.3138, -1.2961, 0.4229]\nstate[eef_state]: left_x=0.3 left_y=-0.0007 left_z=0.1587 left_yaw=0.1186 left_pitch=-0.3489 left_roll=0.0982 left_gripper=0.9973 right_x=0.4077 right_y=0.1334 right_z=0.1492 right_yaw=1.3532 right_pitch=-0.6154 right_roll=-0.2152 right_gripper=0.4229\nstate[joint_eff]: [-0.1846, -3.2342, 6.7077, 1.3114, -0.1441, -0.0464, -0.0171, -0.3214, -8.9778, 7.3368, 0.3394, -0.4322, -0.0904, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.034, -0.3679, -1.5311, 0.4216]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4275 right_y=0.1377 right_z=0.0698 right_yaw=1.5897 right_pitch=-0.6203 right_roll=-0.1681 right_gripper=0.4216\nstate[joint_eff]: [-0.1846, -3.0974, 6.7077, 1.2918, -0.1441, -0.0708, -0.0171, -0.335, -12.0274, 7.3094, 0.7155, -0.442, -0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7277, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.029, -0.3683, -1.5417, 0.009]\nstate[eef_state]: left_x=0.3004 left_y=-0.0007 left_z=0.158 left_yaw=0.1188 left_pitch=-0.3504 left_roll=0.0986 left_gripper=0.9974 right_x=0.4287 right_y=0.1379 right_z=0.0701 right_yaw=1.5932 right_pitch=-0.6203 right_roll=-0.1791 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -3.3162, 6.6667, 1.3455, -0.1245, -0.0708, -0.0122, -0.3487, -12.0137, 7.3504, 0.6471, -0.3932, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc53954f016de8d68ee663962e6f872852d753e5cb426d6e441dde6db1f384b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc26a5f6ce54cdf50262ac98ba60789f7ebdc58ab5d2272eb24de61fcbb1fb77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64244146549f367690422562aca97b0937aeb9ab9891b458be67c9eaf68935af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC0BRlub79s_WKYmcPup6hF981X3qig3gZ6-xfBvx-6p61aZRsJpI4fIM79PMJZsd22t69oP3egnXHCRpVTeTuT-JWjs75vZD7ZAKzgTpCr1sdZK19K-s-vM2GIPssebiDBfHYk8vzpKOD2mwyv-rk754IgKrssXsxsbPEmFa2Idr2zWlOiQFY-Gj70FEyqM7kqaGjjBmG3pMbsjA20Wbs18CeyYLxeAa6Xdg4rxi-mqSSpXNpbeBAf677nvU5fQgSuxMfki9Rienu2dp7DbAMPZtvSfk_-uXYABR7oridAi92gh49HSmN2ItH8kJnR3tE8cemnqsiF-zqzTBB6j4sUGua5a-XsY31mFlCqhDl-hEUY9nwREtKFetWPW5IMa5AuvGqhEt0YXU4FAo2vWITWoUEheq9SrCLZrdM9TJmxDxv2Ytreb8cVmeik6PqHBL_L4jPpcSf-hHCB7KUCYY8tGuyw_qpmvNhsD9eajoBS4fJeR_819bIEQv9WGozm9TSZGHLnfVwei5o3iHB_svKW7fQ3SImm-2dggx1uReL7tQLkw9Jx0Yj9cfhZt9XOmdbTVQDmyrWYRbIsZRzQlS0oHiIPYm09SgKbycMWvE6PscQlDIjnOmi2jbQGeoMgyzCLez8Lrd_sWeuT7E8T0eSdgOssXZ57aGxZHFNRhyYoFqGJGc5UXzV4tCP8R-eMcNOnQML51MFiRvnXFn11wjsxZahPE8d4_fxiwfp0TybTfnfOq6giG4WTZXsfzihNKmiqHoBHXYrpv0mgK3fGsjK0RnyITa6MIBRgSqHXPLOXSO00kQ2BQdeo_IDzQTbKBXI-jEKqscz3QaGNlby1NgQkEfONFbMSTulu9oo9b2hmVmY6akbA6znfPBJ_wU9w4EmpyDzs2SneHrkiPtIi7nHInTQFmu3-_bGW7g311uMe-C_hVBZSu1DQw_1sD5FibzGXyaV8-BSGU8CXh4f6teKqXOaVpp-PocpAKdc_XwoHdZtqs5zKRrDByB4b8_Fm54PsONBQq4ZsiyOsnW8d7u01soJ5H0cG5uKXW12pO4I_FsA-ecyOSVCcNk3d0_egGWOELqms0t035w-6IQOL_lgNhnMvpegv5OkImtuU6PKaf_OjoDTzI7g2iSWZH1yaz8ve61qCcyBYS78hUpefkMcNYgeU51gt_grah8or5GQEixS5z9rUhB3jxzFEWBu9wUfkAqbGK1CSTTV30a4SeELPDMzkm1R38m0S4AdBS1iFuMf2nLGvLT8tw_GHFIeOtSDWvvGIoYV3Lfo7w2l4Fvk1i7WURH2aVeYRk-b7YmZHEezVbc4StVQXj3MjZmQ2xGRZLXgPW0ruULxEbTzN9_GghoF84UB5idBUauWT0I4rqxSZTICd_-BbO2QeeH49pQYo4Jlvh-g_zKssXcP_AL-edkvkVVoLbPSG7dDnlbaOEvjZWfaIYXhX4ckRj-d_--367_Sxzj7TQ2gxyIbzH6TCnGD-LmRDka-GZ_hY_wnFjU3ogenJJeS8Zne3acEjc3F3FnaAOXLHiqfkhV4oD6pywmue0sAx38pYmZkP4BDzjf88gruuJ4NItIh4uc9PHBqpv0pvWzqt6IdQg4VxJ-ZeZM4dncbxmgGRO564himsDMjE3A2t4h2Fp2n7Sw1O0OQ1MftEQF2oXhlAAZYb5h6Evnj-9TN8rOibfB5hgQPhip7452DhYA_SqBZQxqxreG0-aibCaTJzLfzSo8GAMKytlipAF2wsy_IWpf636ANoZMYy9Xr9d6j5kDij-eEvbTL9gUc7stes_vkeU3G_WCePaVcd4zB6LTuIEuZzDZm-nqrtqO0xcvIGNjFXw3ci9Mxsz8aWweOQDpGdsDzAO_Y412KnSY363tSt2ne7h8OuqK5XN-xFVvMoDXhLkU5stfPYulXSRnLKzaqvniHIXHjS_UZlMMABtSWAiz_68irwSCl_oOofI1LtL7Uy3sdpAmkILdkY8Q2WbvXwBsXUIjuN96EFTXWCWgEWZCbn-0kncCuatv-ibxjH_sI8jZ2imDX2Iiv1tRJpxu3-p3-_5y6vjI50vVoryaAlMhAwUmmi1lbOtJevRFa28Mdx-b5ty2yGOzCy2yy7-TGGM2ttPugl5Zpwwl6Us4Io4W9p9gNrPJbKtPlP5TznDxm_3ADldFDQDCLc3njRujJzYZEDWr1FW16FVIJwHmsNf5qj-6qIeypU-KyfrOaHrq_5Th9lI21JCAav3qIUsPz4zyifOoX90U7Md0a5aIniB6gjibucpF52hGVoyfEtp0SdYlmnQTM1zDINEH6juh63Jw0U4jVecK-_JJtO6WGeL3QOaUC2ggYbhqbOtIAHy2ffiSmEU8VNo9O7AzqiwQmf0-EQqF-UiNumA3CvvQSU1AbiSR1_gbnglWXsekWEG6xLsgwpb4LCsaIG0IxScjHRMMF_YUeQvl2yunZNfKvgYFx5zBiZ8AB-OdZ_6KDdTZncQF_Wqc-AGQAjNa8dWJCN8Jnj6sGbidIZjK83xxlb4gT1ALOdmg1YxKL_ozmBPIcnwsLIftSeXyWHXtuox-1uVnMEFrP5vyMOYR9yjKHJFsXm1yUZW7o-N4mIChrNb-2FL8kuaPfb4IVJKlmEr-8XRkPlHw-Cp2c5TYp4XaYo1NoueXnf1NXxSxtD_IOVo-VeuekH01DCb19aHJ_fjWXqxWkU0EJj_g_qD4zbVuFby1A0B2-hvt8aXG6QiLYrgowJ8j6-5VPPWZQJHDOH-fv8XQUpH5A2u2KVOwDMu13GdBT87053asoNIuv3olPCFgryx7XDgBrdOOVmkivI-gZVcQqwihRJgZ9txQTTkSpP4EnumyhUn5-mDMhwFGV69KUT2M0LYlckGKY8nZ3ivOnuonggTaTlRAJMyN8Wf1BeAUUZPPTYcMydYzsC8snylMG5NGSwtRP4fDW3st4MLI6pAhv5JwiNZCYGiYFX9G7toF-3AIRy9IzkFXFIm67Mz23mjAkZ159kaAdOnJAbp2J8au-5ziVefgJuVb697PyFGyMaB4OES7ZqcBm7JSrTYOD97zI0oOafsqmilBHu7NkfDLGOXeSeYYP-m6BJPiEz7c0sQ69Rvg2ybJvbP_8QxQcNeLU4zholt0Y9gYevEEAin8bEHKeqA_cdAZjejxaIH-kYCwbqJul1_el4EEqc4R4jKE04IV7OxmHhrlNqtTGkjI9afOvEE6j-_4e-xMnH-mhpgBSp1ZYdCTuWWUeRWNzzeSLA6CrUlZzw9rY5CBZRQXq4hFhm-A-10-RuSz5m7esQRKup-5NvR-aFHDhFEV76I-jRGtvnEsnC2B3Jq9WBP6M3J7MBJNZdVpqhNRUhsVs94hQ7PUsY2z5xWMDQsyVDwad6wyJ2TPcOkM_SVWsRUh9YwGHMtF3Y07AGtCAQ-z2JRDNQbbrM7Bb9lhK3ZKlZWOWP9W8IBTw9a-39PQgVkhRgTo8JDUPOBp7mqGUwuFyzmeKBYik3CwxjTATiLJXPiNmxmXvn4oYi3GiqUBe1EEv8cUmFMyN65iD2yYRaDwdFB4iu6HlbpoRQF03o9a0gv9bfj2N0F0nkT21QLFjP0yeBUq3bFIhG1g3z58h6IYrnO_n9Lc79ULQ0OPTD61U8CuvhsTeGnjieyKj2nA87BVW5SIrcGVDbD9F9xE3sKxgi0APGfEJE=",
  "id": "rs_0777fcb52d07398f016ab42cfcdef887d08600a5b98eb79c4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_z\":0.055},\"note\":\"That close was empty again. With the jaws closed and narrow, I’m advancing them past the rim first; then I can reopen around the wall instead of striking it with an open finger.\"}",
  "call_id": "call_L01ID917J88hmUncjGAVdurM",
  "id": "fc_0777fcb52d07398f016ab42d00b41487d081802eab99d13fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L01ID917J88hmUncjGAVdurM",
  "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]: [-0.1371, 1.1149, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.1616, 2.1208, 1.7401, -1.0195, -0.3683, -1.5421, 0.0115]\nstate[eef_state]: left_x=0.3003 left_y=-0.0007 left_z=0.1571 left_yaw=0.1191 left_pitch=-0.3541 left_roll=0.0996 left_gripper=0.9973 right_x=0.4308 right_y=0.1383 right_z=0.0704 right_yaw=1.5867 right_pitch=-0.619 right_roll=-0.1908 right_gripper=0.0115\nstate[joint_eff]: [-0.212, -3.4803, 6.8718, 1.2918, -0.1294, -0.0464, -0.0171, -0.2803, -12.2051, 7.4735, 0.5983, -0.4322, 0.0171, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a521e3fd8e0a2c714d5fe56a77020f9e6b215c47de2e35f8cacfe987e99a1ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7a2f284d6c3639711772dc5012957a3776fa9cfca339525cbc4b7284a81e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3cf014ca735cbb7a503b9732e9b91350fe18134d8cfe39afdf6358ea41e35bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.322 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7288, -0.2096, -0.1387, 0.9974, 0.1616, 2.0953, 1.739, -1.0485, -0.3607, -1.4956, 0.4218]\nstate[eef_state]: left_x=0.3002 left_y=-0.0007 left_z=0.1579 left_yaw=0.1189 left_pitch=-0.3515 left_roll=0.0989 left_gripper=0.9974 right_x=0.4251 right_y=0.1361 right_z=0.0793 right_yaw=1.5575 right_pitch=-0.6226 right_roll=-0.1652 right_gripper=0.4218\nstate[joint_eff]: [-0.0479, -3.2889, 6.694, 1.3162, -0.1197, -0.0317, -0.0073, -0.3624, -11.0154, 7.4462, 0.5495, -0.4908, -0.0806, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1122, 0.8955, -0.7277, -0.2096, -0.1387, 0.9974, 0.1616, 2.1208, 1.7401, -1.029, -0.3683, -1.5417, 0.009]\nstate[eef_state]: left_x=0.3004 left_y=-0.0007 left_z=0.158 left_yaw=0.1188 left_pitch=-0.3504 left_roll=0.0986 left_gripper=0.9974 right_x=0.4287 right_y=0.1379 right_z=0.0701 right_yaw=1.5932 right_pitch=-0.6203 right_roll=-0.1791 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -3.3162, 6.6667, 1.3455, -0.1245, -0.0708, -0.0122, -0.3487, -12.0137, 7.3504, 0.6471, -0.3932, 0.0073, 0.735]\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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.1149, 0.8955, -0.7288, -0.2096, -0.1387, 0.9973, 0.1616, 2.1208, 1.7401, -1.0195, -0.3683, -1.5421, 0.0115]\nstate[eef_state]: left_x=0.3003 left_y=-0.0007 left_z=0.1571 left_yaw=0.1191 left_pitch=-0.3541 left_roll=0.0996 left_gripper=0.9973 right_x=0.4308 right_y=0.1383 right_z=0.0704 right_yaw=1.5867 right_pitch=-0.619 right_roll=-0.1908 right_gripper=0.0115\nstate[joint_eff]: [-0.212, -3.4803, 6.8718, 1.2918, -0.1294, -0.0464, -0.0171, -0.2803, -12.2051, 7.4735, 0.5983, -0.4322, 0.0171, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a521e3fd8e0a2c714d5fe56a77020f9e6b215c47de2e35f8cacfe987e99a1ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7a2f284d6c3639711772dc5012957a3776fa9cfca339525cbc4b7284a81e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3cf014ca735cbb7a503b9732e9b91350fe18134d8cfe39afdf6358ea41e35bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0777fcb52d07398f016ab42d02a72c87d0bd3edb0f1122e5b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The closed right gripper still cannot advance and has not secured the pink bowl; none of the bowls is lifted or stacked. I’m withdrawing both arms to safe parked positions rather than pushing the bowls farther across the table.\"}",
  "call_id": "call_SZAo3yX8e3kUaeKlsFbixfSt",
  "id": "fc_0777fcb52d07398f016ab42d04d9f887d0b579ab42287a785c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SZAo3yX8e3kUaeKlsFbixfSt",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0345, 0.8085, 0.6106, -0.4194, -0.0486, -0.0479, 0.9974, -0.0292, 0.8177, 0.6071, -0.4053, -0.1036, -0.1101, 0.9962]\nstate[eef_state]: left_x=0.2911 left_y=0.0021 left_z=0.171 left_yaw=0.0216 left_pitch=-0.0477 left_roll=-0.0005 left_gripper=0.9974 right_x=0.2928 right_y=0.0133 right_z=0.1702 right_yaw=0.1149 right_pitch=-0.0431 right_roll=-0.0223 right_gripper=0.9962\nstate[joint_eff]: [0.4718, -2.0444, 6.9402, 2.0244, 0.0855, 0.1734, -0.0073, 0.1983, -0.9915, 7.4325, 2.0586, 0.1538, 0.0806, -0.3687]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326d92274975e5bc0694b430390620f67658d9261f50dc30d63dfe588fcbe943",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9596efbd89a22b15984c8d43cb3f86126b3c85917c9ff5da33e450073966918c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f22191ab0e7d114d88104ee662b1415da78f12a3610214833dd1ea455706748",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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