adhoc

completed
2026-09-23T18:39:00.028347+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
178.5 s
total steps
256
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

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit across the table, with the blue bowl in the middle and the pale bowl nearest the right arm. I’ll bring the right gripper above the pale bowl to line up a pickup while leaving the blue bowl as the base of the stack.
move_to
right_x0.3600right_y0.1050right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.794, 0.6044, -0.3813, -0.0223, -0.041, 0.9996, -0.0212, 0.7925, 0.6022, -0.3794, -0.0166, -0.0334, 0.9969] state[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.4171, -1.5111, 10.0855, 1.8095, -0.0415, 0.2711, -0.0611, -0.5265, -1.3197, 10.2632, 1.8828, -0.1148, 0.1978, -0.3297] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.105,"right_z":0.14},"note":"Three bowls sit across the table, with the blue bowl in the middle and the pale bowl nearest the right arm. I’ll bring the right gripper above the pale bowl to line up a pickup while leaving the blue bowl as the base of the stack."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe pale bowl is centered in the right wrist view, but the gripper is still above and slightly short of it. I’ll advance a few centimetres and descend toward its narrower lower walls before closing.
move_to
right_x0.3700right_y0.1050right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.4358, 1.2598, 0.6327, -0.0883, 0.3202, 0.1909, 0.9967] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0013 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3414 right_y=0.1016 right_z=0.1123 right_yaw=0.0522 right_pitch=-0.1031 right_roll=-0.0418 right_gripper=0.9967 state[joint_eff]: [-0.0889, -1.5248, 6.8034, 1.7607, -0.0415, -0.0562, -0.0171, 0.212, -5.1897, 9.4974, 1.917, 0.3443, 0.1636, -0.0317] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.105,"right_z":0.055},"note":"The pale bowl is centered in the right wrist view, but the gripper is still above and slightly short of it. I’ll advance a few centimetres and descend toward its narrower lower walls before closing."})
tool
executing move_to over 4 steps (0.4s)
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 right fingertips are now low beside the pale bowl and the bowl remains centered between the jaws. I’ll close gently at this height to see whether the gripper catches its tapered sides.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4034, 1.5158, 0.5766, 0.1398, 0.3035, 0.1764, 0.9967] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0005 left_gripper=0.9995 right_x=0.355 right_y=0.098 right_z=0.0423 right_yaw=0.037 right_pitch=-0.1859 right_roll=-0.0731 right_gripper=0.9967 state[joint_eff]: [-0.0205, -1.265, 7.0906, 1.7167, -0.0757, -0.0757, -0.0122, -0.4855, -7.0085, 5.9419, 1.79, 0.0513, 0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"The right fingertips are now low beside the pale bowl and the bowl remains centered between the jaws. I’ll close gently at this height to see whether the gripper catches its tapered sides."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe gripper closed almost completely, so it was inside the wide bowl rather than gripping it. I’ll reopen and shift toward one wall to pinch the bowl’s side instead of trying to span its full width.
move_to
right_gripper1.0000right_y0.0600right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4053, 1.5352, 0.5541, 0.1768, 0.2985, 0.1638, 0.0078] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0145 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3522 right_y=0.0985 right_z=0.0336 right_yaw=0.0495 right_pitch=-0.1923 right_roll=-0.0808 right_gripper=0.0078 state[joint_eff]: [-0.0615, -1.6068, 7.2137, 1.7021, -0.0855, -0.0757, -0.0122, 0.0479, -7.4598, 5.6137, 1.5897, 0.2271, 0.0757, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.06,"right_z":0.025},"note":"The gripper closed almost completely, so it was inside the wide bowl rather than gripping it. I’ll reopen and shift toward one wall to pinch the bowl’s side instead of trying to span its full width."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe open jaws are offset toward one side of the pale bowl, but still appear high inside its opening. I’ll lower them to table level so one finger can sit outside the narrower base before trying the side pinch.
move_to
right_z-0.0080
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2607, 1.5162, 0.495, 0.2623, 0.2062, 0.0586, 0.9943] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3573 right_y=0.0616 right_z=0.031 right_yaw=0.0419 right_pitch=-0.172 right_roll=-0.0826 right_gripper=0.9943 state[joint_eff]: [-0.0205, -1.2923, 7.0496, 1.6972, -0.0562, -0.0659, -0.0122, -0.3214, -5.053, 4.3145, 1.0818, 0.0708, 0.0659, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.008},"note":"The open jaws are offset toward one side of the pale bowl, but still appear high inside its opening. I’ll lower them to table level so one finger can sit outside the narrower base before trying the side pinch."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe descent stopped with the fingertips near the table, while the bowl’s smaller base now lies between the open jaws. I’ll close at this lower position and check whether the bowl prevents a full closure.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2546, 1.6329, 0.4763, 0.5152, 0.2073, 0.0559, 0.9947] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.0179 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3805 right_y=0.0652 right_z=0.0301 right_yaw=0.0392 right_pitch=-0.0572 right_roll=-0.0599 right_gripper=0.9947 state[joint_eff]: [-0.1026, -1.4564, 7.0769, 1.6972, -0.0708, -0.0708, -0.0122, 0.253, -2.6872, 1.7573, -0.0024, 0.0122, -0.0317, 0.022] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped with the fingertips near the table, while the bowl’s smaller base now lies between the open jaws. I’ll close at this lower position and check whether the bowl prevents a full closure."})
tool
executing move_to over 10 steps (1.0s)
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 noteThat second close was also empty: the fingers are entering the cup, not wrapping its exterior. I’ll test whether opening them against the inside walls gives a secure hold before moving the bowl.
move_to
right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2565, 1.6455, 0.4664, 0.5106, 0.1997, 0.0513, 0.008] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0013 left_pitch=-0.0175 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3752 right_y=0.0659 right_z=0.0211 right_yaw=0.0496 right_pitch=-0.0848 right_roll=-0.0647 right_gripper=0.008 state[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6972, -0.0904, -0.0806, -0.0122, -0.253, -7.0085, 5.6137, 1.7021, 0.1245, 0.0317, 0.5934] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.8},"note":"That second close was also empty: the fingers are entering the cup, not wrapping its exterior. I’ll test whether opening them against the inside walls gives a secure hold before moving the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe jaws are now spread inside the pale bowl, near its inner sides. I’ll make a short vertical lift to check whether the bowl actually rises with them; if not, I’ll switch to an outside-wall pinch.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.636, 0.4667, 0.5388, 0.1982, 0.0463, 0.7951] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3801 right_y=0.0676 right_z=0.0301 right_yaw=0.0544 right_pitch=-0.0478 right_roll=-0.06 right_gripper=0.7951 state[joint_eff]: [-0.1026, -1.1829, 7.0496, 1.7167, -0.0513, -0.0757, -0.0122, -0.0752, -5.2718, 5.1487, 1.2821, 0.0269, 0.0806, -0.1148] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws are now spread inside the pale bowl, near its inner sides. I’ll make a short vertical lift to check whether the bowl actually rises with them; if not, I’ll switch to an outside-wall pinch."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe pale bowl stayed on the table during the lift, so spreading the jaws inside it did not hold. I’ll move the open gripper to the bowl’s right-hand rim, where one finger can enter and the other can stay outside.
move_to
right_y0.0150right_gripper1.0000right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.3739, 0.6086, 0.1425, 0.1959, 0.0402, 0.7956] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3796 right_y=0.0679 right_z=0.1027 right_yaw=0.0597 right_pitch=-0.0408 right_roll=-0.0622 right_gripper=0.7956 state[joint_eff]: [-0.0068, -1.2376, 7.0085, 1.7021, -0.0659, -0.0855, -0.0122, -0.1026, -6.0239, 8.9915, 1.7509, 0.0269, 0.0269, 0.0366] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.015,"right_gripper":1,"right_z":0.095},"note":"The pale bowl stayed on the table during the lift, so spreading the jaws inside it did not hold. I’ll move the open gripper to the bowl’s right-hand rim, where one finger can enter and the other can stay outside."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteFrom the right wrist camera, one open finger now lies inside the pale bowl and the other outside its right wall. I’ll lower the jaws to the wall’s height before pinching it.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0559, 1.3582, 0.5575, 0.1432, 0.0605, -0.0631, 0.9964] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3729 right_y=0.0138 right_z=0.0855 right_yaw=0.0281 right_pitch=-0.0881 right_roll=-0.069 right_gripper=0.9964 state[joint_eff]: [-0.0889, -1.5521, 7.0906, 1.707, -0.0366, -0.0855, -0.0122, -0.294, -5.0393, 6.3521, 2.0733, -0.1832, 0.0122, -0.2759] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"From the right wrist camera, one open finger now lies inside the pale bowl and the other outside its right wall. I’ll lower the jaws to the wall’s height before pinching it."})
tool
executing move_to over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe right finger is outside the pale bowl’s right wall and the left finger is inside it at low height. I’ll close on that single wall and check the jaw opening for a real grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.5021, 0.4702, 0.3153, 0.0429, -0.0788, 0.9961] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3648 right_y=0.0152 right_z=0.0341 right_yaw=0.0479 right_pitch=-0.1481 right_roll=-0.071 right_gripper=0.9961 state[joint_eff]: [-0.0889, -1.4427, 7.0359, 1.6825, -0.0415, -0.0366, -0.0122, 0.2393, -6.9128, 6.4342, 2.1319, 0.1441, 0.1294, -0.0366] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right finger is outside the pale bowl’s right wall and the left finger is inside it at low height. I’ll close on that single wall and check the jaw opening for a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe jaws stopped slightly apart at the pale bowl’s wall, consistent with pinching its thin rim. I’ll lift five centimetres and check the overhead view to confirm that the bowl follows.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.4982, 0.461, 0.3363, 0.017, -0.0681, 0.0406] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3652 right_y=0.0198 right_z=0.0359 right_yaw=0.0642 right_pitch=-0.132 right_roll=-0.0458 right_gripper=0.0406 state[joint_eff]: [-0.0615, -1.1966, 7.0085, 1.6874, -0.0855, -0.0659, -0.0122, -0.1846, -4.2598, 5.9556, 1.0672, 0.442, -0.1099, 1.1355] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The jaws stopped slightly apart at the pale bowl’s wall, consistent with pinching its thin rim. I’ll lift five centimetres and check the overhead view to confirm that the bowl follows."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe overhead view is still partly blocked by the right hand, so the short lift is inconclusive. I’ll raise and shift the closed gripper slightly toward the center; this will reveal whether the pale bowl is actually being carried.
move_to
right_z0.1700right_y0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.0521, 1.335, 0.5583, 0.0807, 0.0166, -0.0753, 0.0406] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.364 right_y=0.0196 right_z=0.0817 right_yaw=0.068 right_pitch=-0.1272 right_roll=-0.0512 right_gripper=0.0406 state[joint_eff]: [-0.1709, -1.388, 7.0222, 1.7411, -0.0855, -0.0269, -0.0122, -0.0889, -5.4359, 8.7726, 1.7949, -0.0269, 0.0659, 1.033] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_y":0.105},"note":"The overhead view is still partly blocked by the right hand, so the short lift is inconclusive. I’ll raise and shift the closed gripper slightly toward the center; this will reveal whether the pale bowl is actually being carried."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe pale bowl shifted with the right gripper, confirming a side-wall grasp. I’ll carry it high over the blue bowl in the middle, which will serve as the bottom of the stack.
move_to
right_x0.3850right_y0.2700right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3885, 1.2961, 0.8597, -0.3161, 0.2321, 0.1036, 0.0406] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1744 left_yaw=0.0032 left_pitch=-0.024 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3588 right_y=0.1068 right_z=0.1517 right_yaw=0.1237 right_pitch=-0.1596 right_roll=-0.0646 right_gripper=0.0406 state[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7656, -0.0855, -0.0464, -0.0122, 0.1573, -5.1214, 9.5795, 1.7265, 0.3248, 0.2076, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.27,"right_z":0.18},"note":"The pale bowl shifted with the right gripper, confirming a side-wall grasp. I’ll carry it high over the blue bowl in the middle, which will serve as the bottom of the stack."})
tool
executing move_to over 14 steps (1.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe pale bowl is directly over the blue bowl, with their rims nearly aligned in the overhead view. I’ll begin lowering it slowly into the blue bowl while keeping the side-wall grip.
move_to
right_y0.2750right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4019, -0.0227, -0.0494, 0.9995, 0.7818, 1.7363, 1.3724, -0.5442, 0.474, 0.3717, 0.0443] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1707 left_yaw=0.0053 left_pitch=-0.0408 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3762 right_y=0.265 right_z=0.1622 right_yaw=0.1625 right_pitch=-0.2115 right_roll=-0.0977 right_gripper=0.0443 state[joint_eff]: [-0.0068, -1.7436, 7.1179, 1.79, -0.0757, -0.0366, -0.0122, 0.1846, -9.0188, 9.4701, 1.4432, 0.3785, 0.3004, 0.6422] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.275,"right_z":0.095},"note":"The pale bowl is directly over the blue bowl, with their rims nearly aligned in the overhead view. I’ll begin lowering it slowly into the blue bowl while keeping the side-wall grip."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe blue rim is now visible just behind the pale rim, and the pale bowl is still held. I’ll lower the pale bowl the remaining few centimetres so it seats inside the blue one.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7959, 1.8217, 1.2152, -0.3763, 0.4805, 0.3836, 0.0461] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3684 right_y=0.2646 right_z=0.0888 right_yaw=0.1544 right_pitch=-0.268 right_roll=-0.1391 right_gripper=0.0461 state[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7216, -0.0855, -0.0757, -0.0122, 0.4308, -9.1009, 7.0359, 1.5263, 0.2125, 0.022, 0.4713] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The blue rim is now visible just behind the pale rim, and the pale bowl is still held. I’ll lower the pale bowl the remaining few centimetres so it seats inside the blue one."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pale bowl has reached the blue bowl and the descent is nearly at table-level placement height. I’ll open the gripper here to release it, then move the hand away to inspect the stack.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7967, 1.8759, 1.129, -0.2249, 0.4828, 0.3859, 0.0481] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.369 right_y=0.2652 right_z=0.0544 right_yaw=0.154 right_pitch=-0.2578 right_roll=-0.1322 right_gripper=0.0481 state[joint_eff]: [-0.0615, -1.3744, 7.0769, 1.6679, -0.0611, -0.0562, -0.0122, -0.1162, -6.8171, 4.6564, 1.1453, 0.1685, -0.0513, 0.7155] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pale bowl has reached the blue bowl and the descent is nearly at table-level placement height. I’ll open the gripper here to release it, then move the hand away to inspect the stack."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe pale bowl has been released over the blue one. I’ll lift the right hand clear and bring the left hand above the remaining teal bowl for the final pickup.
move_to
right_z0.1750left_x0.3500left_y-0.1100left_z0.1550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.7967, 1.8973, 1.1149, -0.2028, 0.4706, 0.374, 0.9958] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3668 right_y=0.2658 right_z=0.0424 right_yaw=0.1674 right_pitch=-0.2755 right_roll=-0.1402 right_gripper=0.9958 state[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.707, -0.0659, -0.0757, -0.0122, -0.3214, -8.6222, 5.5043, 1.3846, 0.2759, 0.0317, -0.2027] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.175,"left_x":0.35,"left_y":-0.11,"left_z":0.155},"note":"The pale bowl has been released over the blue one. I’ll lift the right hand clear and bring the left hand above the remaining teal bowl for the final pickup."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe pale bowl appears seated over the blue bowl; the teal bowl remains on the left. In the left wrist view it sits slightly left of center, so I’ll offset the left gripper toward one teal rim wall while parking the right arm out of the way.
move_to
right_x0.2950right_y0.0000right_z0.1800left_x0.3600left_y-0.1500left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4984, 1.2289, 0.7223, -0.2443, -0.3763, -0.3298, 0.9995, 0.7975, 1.7874, 1.441, -0.675, 0.4633, 0.3656, 0.996] state[eef_state]: left_x=0.3369 left_y=-0.1053 left_z=0.1345 left_yaw=-0.0243 left_pitch=-0.117 left_roll=0.0205 left_gripper=0.9995 right_x=0.3659 right_y=0.267 right_z=0.1487 right_yaw=0.1719 right_pitch=-0.3091 right_roll=-0.163 right_gripper=0.996 state[joint_eff]: [-0.3487, -4.6427, 9.5385, 1.6923, -0.2271, -0.0122, -0.0122, -0.212, -11.6171, 8.8137, 1.3797, 0.2271, 0.0415, 0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"left_x":0.36,"left_y":-0.15,"left_z":0.09},"note":"The pale bowl appears seated over the blue bowl; the teal bowl remains on the left. In the left wrist view it sits slightly left of center, so I’ll offset the left gripper toward one teal rim wall while parking the right arm out of the way."})
tool
executing move_to over 23 steps (2.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe teal bowl’s right wall is just left of the closing line in the left wrist image. I’ll move the gripper about two centimetres toward the bowl so one jaw lands inside that wall and the other outside.
move_to
left_y-0.1250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5987, 1.4834, 0.7254, -0.0624, -0.4335, -0.403, 0.9995, -0.0166, 1.0485, 0.9077, -0.7372, 0.0063, -0.2691, 0.996] state[eef_state]: left_x=0.3522 left_y=-0.1461 left_z=0.0818 left_yaw=-0.0346 left_pitch=-0.1558 left_roll=0.0345 left_gripper=0.9995 right_x=0.2969 right_y=-0.0025 right_z=0.1761 right_yaw=0.1183 right_pitch=-0.3202 right_roll=-0.1694 right_gripper=0.996 state[joint_eff]: [-0.5949, -5.053, 7.2684, 1.7118, -0.3443, -0.0708, -0.0122, -0.2667, -3.3983, 6.9812, 1.5214, -0.2711, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125},"note":"The teal bowl’s right wall is just left of the closing line in the left wrist image. I’ll move the gripper about two centimetres toward the bowl so one jaw lands inside that wall and the other outside."})
tool
executing move_to over 2 steps (0.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe teal bowl’s right edge is still just left of the gripper’s center line. I’ll make a small final sideways correction and lower to the same side-wall grasp height that worked for the pale bowl.
move_to
left_y-0.1150left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5621, 1.4693, 0.7002, -0.0406, -0.4133, -0.3882, 0.9995, -0.0257, 1.047, 0.9066, -0.7593, -0.0181, -0.3027, 0.996] state[eef_state]: left_x=0.3536 left_y=-0.1347 left_z=0.0796 left_yaw=-0.0228 left_pitch=-0.1547 left_roll=0.0274 left_gripper=0.9995 right_x=0.2924 right_y=-0.0007 right_z=0.1727 right_yaw=0.151 right_pitch=-0.3418 right_roll=-0.1682 right_gripper=0.996 state[joint_eff]: [0.6496, -7.3368, 5.9556, 1.4774, -0.0806, 0.1538, -0.0122, 0.3761, -2.3316, 6.9402, 1.5702, 0.0024, 0.1636, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.115,"left_z":0.04},"note":"The teal bowl’s right edge is still just left of the gripper’s center line. I’ll make a small final sideways correction and lower to the same side-wall grasp height that worked for the pale bowl."})
tool
executing move_to over 3 steps (0.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe teal bowl’s right wall now crosses the jaw-closing line, with one finger inside and the other outside. I’ll close on that thin wall and inspect the jaw opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5072, 1.5299, 0.59, 0.0994, -0.3817, -0.3557, 0.9995, -0.0238, 1.0515, 0.9031, -0.7639, -0.009, -0.2974, 0.996] state[eef_state]: left_x=0.3469 left_y=-0.1134 left_z=0.0391 left_yaw=-0.008 left_pitch=-0.1939 left_roll=0.0467 left_gripper=0.9995 right_x=0.2912 right_y=-0.0018 right_z=0.1693 right_yaw=0.1424 right_pitch=-0.3549 right_roll=-0.17 right_gripper=0.996 state[joint_eff]: [0.4718, -5.9692, 6.188, 1.9853, -0.0415, 0.0757, -0.0122, -0.3214, -2.9333, 7.0496, 1.4481, -0.1441, -0.0806, -0.0073] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The teal bowl’s right wall now crosses the jaw-closing line, with one finger inside and the other outside. I’ll close on that thin wall and inspect the jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe left jaws stopped slightly apart on the teal bowl’s wall, as they did for the successful pale-bowl grasp. I’ll lift five centimetres to verify the teal bowl follows.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4953, 1.5505, 0.5667, 0.189, -0.3805, -0.3332, 0.0385, -0.0242, 1.0565, 0.9012, -0.7673, -0.009, -0.3069, 0.996] state[eef_state]: left_x=0.3534 left_y=-0.1123 left_z=0.0382 left_yaw=-0.0132 left_pitch=-0.1546 left_roll=0.0409 left_gripper=0.0385 right_x=0.2905 right_y=-0.0019 right_z=0.1667 right_yaw=0.1481 right_pitch=-0.366 right_roll=-0.1742 right_gripper=0.996 state[joint_eff]: [-0.1573, -6.3658, 6.2701, 1.2381, -0.0317, -0.0904, 0.9451, -0.0479, -3.0017, 6.8444, 1.4042, -0.0562, 0.0464, -0.0073] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The left jaws stopped slightly apart on the teal bowl’s wall, as they did for the successful pale-bowl grasp. I’ll lift five centimetres to verify the teal bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe teal bowl’s grasp remains slightly open, but the overhead view is obscured by the left hand. I’ll raise and shift it partway toward the middle so we can confirm the bowl travels with the gripper.
move_to
left_z0.1850left_y-0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4957, 1.4025, 0.6899, -0.0875, -0.3855, -0.3382, 0.0424, -0.0242, 1.058, 0.9009, -0.7742, -0.0086, -0.3088, 0.9961] state[eef_state]: left_x=0.3529 left_y=-0.1112 left_z=0.0899 left_yaw=-0.0065 left_pitch=-0.1575 left_roll=0.0428 left_gripper=0.0424 right_x=0.2891 right_y=-0.0019 right_z=0.1651 right_yaw=0.1495 right_pitch=-0.3748 right_roll=-0.1741 right_gripper=0.9961 state[joint_eff]: [-0.3077, -6.694, 8.5949, 1.4579, -0.1343, -0.0024, 0.9011, -0.0615, -2.7556, 6.8308, 1.3944, -0.0708, -0.0464, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.185,"left_y":-0.2},"note":"The teal bowl’s grasp remains slightly open, but the overhead view is obscured by the left hand. I’ll raise and shift it partway toward the middle so we can confirm the bowl travels with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
assistant
agent noteThe teal bowl has moved with the left hand while the pale-and-blue stack has stayed put. I’ll bring the teal bowl high over the center of that stack before lowering it.
move_to
left_y-0.3000left_z0.1900left_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7471, 1.5066, 1.1503, -0.5335, -0.522, -0.5419, 0.0427, -0.0242, 1.0584, 0.9009, -0.7822, -0.0086, -0.3111, 0.9961] state[eef_state]: left_x=0.3515 left_y=-0.2006 left_z=0.173 left_yaw=-0.0333 left_pitch=-0.1686 left_roll=0.0262 left_gripper=0.0427 right_x=0.2876 right_y=-0.0019 right_z=0.1638 right_yaw=0.1513 right_pitch=-0.3833 right_roll=-0.174 right_gripper=0.9961 state[joint_eff]: [-0.3487, -6.4205, 8.6769, 1.2772, -0.4371, 0.1929, 0.906, -0.0752, -2.865, 6.6256, 1.3748, -0.0269, 0.022, -0.0171] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.30,"left_z":0.19,"left_x":0.36},"note":"The teal bowl has moved with the left hand while the pale-and-blue stack has stayed put. I’ll bring the teal bowl high over the center of that stack before lowering it."})
tool
executing move_to over 9 steps (0.9s)
step 193
assistant
agent noteThe teal bowl now appears over the other two in the overhead view; the left gripper is deliberately offset because it holds the teal rim from one side. I’ll lower the teal bowl partway and re-check the alignment before seating it.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9173, 1.8107, 1.5326, -0.7231, -0.5961, -0.7059, 0.0438, -0.0246, 1.0588, 0.9009, -0.783, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.356 left_y=-0.2959 left_z=0.1769 left_yaw=-0.0471 left_pitch=-0.2009 left_roll=0.0283 left_gripper=0.0438 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3845 right_roll=-0.174 right_gripper=0.996 state[joint_eff]: [-0.5265, -9.265, 9.0188, 1.0281, -0.4957, -0.0317, 0.8278, -0.1709, -2.8513, 6.6256, 1.3162, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The teal bowl now appears over the other two in the overhead view; the left gripper is deliberately offset because it holds the teal rim from one side. I’ll lower the teal bowl partway and re-check the alignment before seating it."})
tool
executing move_to over 6 steps (0.6s)
step 199
assistant
agent noteAt the lower height, the left wrist view shows the pink rim protruding to the right of the teal rim, so the teal bowl is a little left of the stack. I’ll shift the held bowl a few centimetres right before the final descent.
move_to
left_y-0.3300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9218, 1.8526, 1.2957, -0.4835, -0.5976, -0.7109, 0.0469, -0.0246, 1.0588, 0.9009, -0.7834, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.3494 left_y=-0.2902 left_z=0.1007 left_yaw=-0.0414 left_pitch=-0.2249 left_roll=0.0564 left_gripper=0.0469 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3849 right_roll=-0.174 right_gripper=0.996 state[joint_eff]: [0.3487, -7.8564, 6.147, 1.3553, -0.2466, 0.022, 0.6325, -0.2256, -2.8239, 6.6256, 1.3309, -0.0757, -0.0562, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.33},"note":"At the lower height, the left wrist view shows the pink rim protruding to the right of the teal rim, so the teal bowl is a little left of the stack. I’ll shift the held bowl a few centimetres right before the final descent."})
tool
executing move_to over 4 steps (0.4s)
step 203
assistant
agent noteThe pink rim no longer sticks out to the right of the teal bowl in the wrist view, suggesting their centers are aligned. I’ll lower the teal bowl gently until it seats in the pair below.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9737, 1.9617, 1.4242, -0.548, -0.6041, -0.7654, 0.0471, -0.0242, 1.0588, 0.9009, -0.786, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.3458 left_y=-0.3238 left_z=0.0917 left_yaw=-0.0506 left_pitch=-0.2464 left_roll=0.0575 left_gripper=0.0471 right_x=0.2868 right_y=-0.0018 right_z=0.1632 right_yaw=0.1519 right_pitch=-0.3875 right_roll=-0.1735 right_gripper=0.996 state[joint_eff]: [-0.3214, -10.0444, 8.8684, 0.9695, -0.5885, 0.0366, 0.7009, -0.0479, -2.7966, 6.6256, 1.3358, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The pink rim no longer sticks out to the right of the teal bowl in the wrist view, suggesting their centers are aligned. I’ll lower the teal bowl gently until it seats in the pair below."})
tool
executing move_to over 3 steps (0.3s)
step 206
assistant
agent noteA thin pink edge remains visible alongside the teal bowl, but the bowls look nested and nearly centered. I’ll lower another couple of centimetres so the teal bowl rests securely before release.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9791, 1.9926, 1.3571, -0.4675, -0.6003, -0.7742, 0.0466, -0.0242, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.3414 left_y=-0.3226 left_z=0.0632 left_yaw=-0.0497 left_pitch=-0.2593 left_roll=0.0637 left_gripper=0.0466 right_x=0.2868 right_y=-0.0018 right_z=0.1628 right_yaw=0.152 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996 state[joint_eff]: [0.3214, -9.7299, 6.2701, 1.1306, -0.3541, 0.0611, 0.735, -0.212, -2.8786, 6.653, 1.3065, -0.0269, -0.022, -0.0073] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"A thin pink edge remains visible alongside the teal bowl, but the bowls look nested and nearly centered. I’ll lower another couple of centimetres so the teal bowl rests securely before release."})
tool
executing move_to over 2 steps (0.2s)
step 208
assistant
agent noteThe downward motion stopped above its target, consistent with the teal bowl contacting the bowls underneath. I’ll open the left gripper to release it, then retract for a clear final inspection.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9791, 2.001, 1.3289, -0.3996, -0.6197, -0.7715, 0.0492, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3119, 0.996] state[eef_state]: left_x=0.3456 left_y=-0.3238 left_z=0.0587 left_yaw=-0.0458 left_pitch=-0.2269 left_roll=0.0504 left_gripper=0.0492 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1518 right_pitch=-0.389 right_roll=-0.1734 right_gripper=0.996 state[joint_eff]: [-0.3214, -7.6513, 4.6291, 0.9646, 0.0317, -0.0611, 0.7497, -0.1983, -2.7009, 6.653, 1.3162, -0.0611, -0.0659, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The downward motion stopped above its target, consistent with the teal bowl contacting the bowls underneath. I’ll open the left gripper to release it, then retract for a clear final inspection."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThe teal bowl is released and remains beneath the open jaws. I’ll lift the left hand straight up to clear the rims before moving it aside to inspect all three bowls.
move_to
left_z0.1750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9802, 2.001, 1.3209, -0.4057, -0.622, -0.7757, 0.9951, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.3434 left_y=-0.321 left_z=0.0556 left_yaw=-0.0406 left_pitch=-0.2335 left_roll=0.0603 left_gripper=0.9951 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996 state[joint_eff]: [-0.1162, -10.4137, 6.612, 1.1355, -0.3297, 0.0073, -0.1148, -0.0889, -2.7966, 6.653, 1.3114, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.175},"note":"The teal bowl is released and remains beneath the open jaws. I’ll lift the left hand straight up to clear the rims before moving it aside to inspect all three bowls."})
tool
executing move_to over 8 steps (0.8s)
step 226
assistant
agent noteThe bowl stayed on the table as the left hand lifted away, but the arm still blocks the overhead view. I’ll park the left arm at home so I can verify the completed stack clearly.
move_to
left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9802, 1.94, 1.6268, -0.7944, -0.622, -0.7864, 0.9958, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996] state[eef_state]: left_x=0.3459 left_y=-0.3246 left_z=0.1488 left_yaw=-0.0304 left_pitch=-0.2458 left_roll=0.0708 left_gripper=0.9958 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996 state[joint_eff]: [-0.1983, -13.1077, 8.6085, 1.0427, -0.3736, 0.0806, 0.0562, -0.2667, -2.4547, 6.6803, 1.2918, -0.0708, -0.0317, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The bowl stayed on the table as the left hand lifted away, but the arm still blocks the overhead view. I’ll park the left arm at home so I can verify the completed stack clearly."})
tool
executing move_to over 29 steps (2.9s)
step 255
assistant
agent noteStacked all three bowls together at the center of the table and moved both arms clear.
done
hindsightThese bowls are too wide to grasp across their openings. Pinch a single side wall instead: place one jaw inside and one outside the rim at a grasp-point height of about 3–4 cm; a settled gripper reading near 0.04–0.05 indicated a secure rim pinch.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0696, 1.0039, 0.8616, -0.6765, -0.1032, -0.0467, 0.9958, -0.0242, 1.0603, 0.9009, -0.7895, -0.0086, -0.3119, 0.996] state[eef_state]: left_x=0.298 left_y=0.0011 left_z=0.18 left_yaw=0.0243 left_pitch=-0.2444 left_roll=0.0618 left_gripper=0.9958 right_x=0.2862 right_y=-0.0018 right_z=0.1623 right_yaw=0.1524 right_pitch=-0.3924 right_roll=-0.1728 right_gripper=0.996 state[joint_eff]: [0.253, -3.1795, 6.2564, 1.4335, -0.0269, 0.1978, -0.0073, -0.1436, -2.8376, 6.6256, 1.3748, -0.0317, -0.0659, -0.0073] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the center of the table and moved both arms clear.","hindsight":"These bowls are too wide to grasp across their openings. Pinch a single side wall instead: place one jaw inside and one outside the rim at a grasp-point height of about 3–4 cm; a settled gripper reading near 0.04–0.05 indicated a secure rim pinch."})
tool
done: Stacked all three bowls together at the center of the table and moved both arms clear.
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 · 9.264 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, 0.794, 0.6044, -0.3813, -0.0223, -0.041, 0.9996, -0.0212, 0.7925, 0.6022, -0.3794, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5111, 10.0855, 1.8095, -0.0415, 0.2711, -0.0611, -0.5265, -1.3197, 10.2632, 1.8828, -0.1148, 0.1978, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3686ccb3ca399fd979ebc8caf183a9c419cf83fd5cccdf678d1f7711d71f2e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de4413c504900be083238e3951d9075a53e7e1ebf7f26deda466eba0772dfdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b6c698b1469847c8e2f506a7a8d93288dfbdd9808ad1fb6456270fda17a0a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.933 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0dfc25f8d82bd41d016ab41cd1f11087d09d028f672bd69e04",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzaZOhc1sKaqUA-foPHGhv6AmEpHJuZYrMwu0j5h7-xGaVGBoKYRx4Ua6_n8h2C5sD8hYvnotW3q_SWly0cb_dzkWEIgwvg5VwGhAASIJGBxCoc0DJjAfuPJ42XeXhrh7x5ZvROiqhORkgOVG-Mhqea5ZhaxN5p5GHtU4u5EUJWW38S_RIf0ePL6Iht31vGzV5ExT3ez6PRHhYdc736ToKHO6Dpbni4Y2rwDCTunozDcVecr40lHSch3PUkbUY9-xkQAatLqWNxPQYhC11c2lf_3Hh13BUWE3R5ZEMSdi9aaZz5ykV63HtnNWzaBKBLJDtfSmvx200amYt32yUmorGqgW3hsP6KVvQQaY7EZZdcgpudD62vtkNLUfboi_hI-I3MTcaJX0-GmJvcmiEGOyXFYffIwbEHURARhgm-6xL6r5isC39mTwSmPRJKefe_Og1WqV2697D7j6dnuAM4JUfRCPSBlSVNtJesd7nh_K9A5uhwVkT5-A67Vcx75y5_Je4xpLFVjNhQcb1Q0uVCrHff6X95Uy1n3LoCyBw4paFqCrmtYZ5iqEBNIx6U3Hjl5uOUlgYqFaal-sDfAHd8LshbtekGfbiac65Cc7FLg56PUibtyCWAF5EzbMS7OWQca7Diz-eJK4_VLekF0DjF6jzUL-7wXg0KPLsk7Pu0k22X01p2XY254psPprzWByYzoqc2Ob_R3FPRwyjaOj-Di65v4edldIg-61pSZLwR0Q00KzxZH9zXDn793v6L3R_saMp6HNzZwJvXj7w_ew63exJRDe_oOQGwqvoK5IAj0Z2oj5B69IhquhCCs-RbEiiiump6l9YWQe1WHN1mIzORxKdFeIg4np8Ux_pw7aIDa0iisPwmKt_d_iOremHExXcDmbPmYCJQFll9yTeWO_KdBTMcEf98vSxUfTs5_R-eGZEN0HE8mgFUXokaf_u7MwrZi7BRloOEpTzkqKXqNevCCKHabqDTvsFqfq3fQMmleWad4Gq2GO6Dg4DZpUOZO79Qa1cLl1kLsvPF02dY6nMtmFi7B0IvKHjJYD4SYz1Olk7LhMEX7m0ljbLOKc37KUZl2MHxnTQBKcA1ENAt64B2X1vSgOl64MINoXPnijKyt4ogk06Z5cYttZPymD4vJ-OVoti3ziYo9vrZ8V0ItMoYZTzegNMdAKppocYnaf3Y2GNXsv3nbeymgtqos67YBTU1NeGNhqs252Uew2Cl2KTQMbvwKGt435kZTegaa7lNEhCSDJFSShBsRnp-vKrdUSPwXcIFz80MGfOj3W7OfPQLT-jTthZmn8wmnlLsW5WbtMsKivXAeqeXhickM4xkemTt6jycQHunrdG8d1U9MapKn9SknatkcXm_qyP0tlpOWlKiXE18XZFTHzjL35mK3dqo9p0ar32xKf1JlTvMG3NJ8a-aAyZblJuvnSM6qBzs-OpaKAnTh7WThSE7QVBETG1FTuinnQuWPE7pXfAhY2ya9ngbVlIgCWkBnrhrSwHQuose3ZFQ9l9yzXId2F6tq7T9paIX3wYFPo-vU8lhs57VBnUJe3YjTebrU-kwERCHgmdMDUhEEATh1p8hWaBSUF7vF3Eu01nEVGganLdhf9aOLFTj8wWeXbdUpjP-BRFMH2m9BQkztngIycUOI76fucdnryV8WnFgKeSCxXOMMSPVVxqUowBFDmFnbH_u6TI_tKcYE4loAIfTIAEqwH3SMko0ja7HSENxiVLCkml5WZC3B59X7ZdmOMYU9amChlSlCGTc2ko_prVzJW1iXNuoOdDNvAGnmyIyEuPup0vIH-u1AaCzZ8U7x2pav33zTbbqHmRueNpo-WB6ePPRrK9Zfx4UuIU3j9CCtezWlDoNgV4N_rSKjt3Qdo4GI3P9O0rOPO2tP3YC2PJHcyx9I4bRg3bGswbJIAuE8Yq63q0CKFIKGrxlY3mV-VyupIQ8L1CkZQ-d3v3cnc44w1EQTxXVADqBkHdUlmPDvmI8O1HwCO7vqvys5phXhjOlYS9iAi4NcVVBiYfqwr3Tv94w3zxV0qic4HKhnJD_JN626D400Z3_igb2eUJ4oKkiNFETN6EmV5CHRUdOIIqmlXDq0Pj99Yfw9DFIpaZFaQUNk0VT1eGqp8ddZm3tMAFEYHhA1LzBW6dpMejj03hI9mKqrfxABv2ETmmBrCnh_qpcunbh0obiTyerfB4OkkJDywarS7QfjHnts2ANrlun5DUGKhjcCkDJdmuFDH3D8C06f7cmQ0hca-autBz7w4sHWc0KUcBBXYdK57qPWIyYTu6BYRF5EQPwC7tItslPIujYrw-29NWjalIuOISoTRRS1bCwooV4Ga0N7MCT6gBXFBRlnhhDg96ei4dlgKxZjus8OjbQlYL2Lz_kTrPJqY8rW4oYdMHRwVcZWF5gS6-0j3GRERg2Ei_4I3PWonKZnflmIyV1qMCIBsxposdFapgcvas_3CIVqqYgGKTFoNImMvXHvXrxe82nSPvQsDG-K3qZqWcWtMAvmF1p9LRjSvIMBdWEMzeYCm2Qhm0IGLMN99zv0AeCUOSBtmC-IuuT3NuLa8h-zpKALwobezYFk8UBGbaXH2uxWMQYrML7MxbCCARJeUCrq64HWfSGnv5Br3vgYVjJDk0R-g6lgk1J_aD_VvPkvaf-AVawlfIRsHCH1g0p4NjEf7XRyZ-R_P_EzOwUJYCheqvxPM1VlqWCbxMXEfqfIz1ald2XYmGkVTsu9lxcwU3p72JshRLcKf8Gag_C815Q8YDWVRcADKh4oo2U-TDL6P1RKO19PpcQBRg97PvikTBxdfJE84Kn8gD97br8gMGc0v3EBqb8VQ==",
  "id": "rs_0dfc25f8d82bd41d016ab41cd6587487d0b725407ad62848c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.105,\"right_z\":0.14},\"note\":\"Three bowls sit across the table, with the blue bowl in the middle and the pale bowl nearest the right arm. I’ll bring the right gripper above the pale bowl to line up a pickup while leaving the blue bowl as the base of the stack.\"}",
  "call_id": "call_sXidXQsPzdubGWHBlEJRcTzT",
  "id": "fc_0dfc25f8d82bd41d016ab41cd95fc487d08248fcf0b626c20e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sXidXQsPzdubGWHBlEJRcTzT",
  "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]: [-0.0196, 0.7986, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.4358, 1.2598, 0.6327, -0.0883, 0.3202, 0.1909, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0013 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3414 right_y=0.1016 right_z=0.1123 right_yaw=0.0522 right_pitch=-0.1031 right_roll=-0.0418 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -1.5248, 6.8034, 1.7607, -0.0415, -0.0562, -0.0171, 0.212, -5.1897, 9.4974, 1.917, 0.3443, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93eaf275dd467ea5732cabf20a19c1c947263a277adef7b0efd6da28b748475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2fab0e0289fefbdbae3d2fa3f647cd6bc28c5c944c497f381113f54d658e42b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9f2a4ad137e7702c858634d45a027f4d803328ec902e395b4be8a02b61ead3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.5 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, 0.794, 0.6044, -0.3813, -0.0223, -0.041, 0.9996, -0.0212, 0.7925, 0.6022, -0.3794, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5111, 10.0855, 1.8095, -0.0415, 0.2711, -0.0611, -0.5265, -1.3197, 10.2632, 1.8828, -0.1148, 0.1978, -0.3297]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.4358, 1.2598, 0.6327, -0.0883, 0.3202, 0.1909, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0013 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3414 right_y=0.1016 right_z=0.1123 right_yaw=0.0522 right_pitch=-0.1031 right_roll=-0.0418 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -1.5248, 6.8034, 1.7607, -0.0415, -0.0562, -0.0171, 0.212, -5.1897, 9.4974, 1.917, 0.3443, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93eaf275dd467ea5732cabf20a19c1c947263a277adef7b0efd6da28b748475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2fab0e0289fefbdbae3d2fa3f647cd6bc28c5c944c497f381113f54d658e42b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9f2a4ad137e7702c858634d45a027f4d803328ec902e395b4be8a02b61ead3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBzeFYf5_CysZS3aKJghxaXw0J3wUVlQxYom1H_5J5gOSEwbTjAa7LMfAJNA-k1swN6BL9MjTK6J_2neL-3BiHK8OiwvnpU225QXn9WTkSx9Y7UgVWATpQa23gl3lyj5uMGJUDC4n55Wcf2M4MTVMnSBdkqBrR-dUqh8mglbP8f7FsE5toToH8xGG5nNj9JHGxDHKb1RZFhFBU0wa_CggHn6govggFSvYK-EhmQyzbNbHlJbhebzEOLYxFTKxeWFFU0KHCtyq_J6Tvo-X_nyA-05HWjQfINgr40cEEMJmcEwGSLukJeo2aWmiuxlDuGeoByauzKZV-vL1S0l_CNIgLntYBToKlnXP6PrUjS0twq9eOZaTCH_p_SuJEy6Ui_3poiKdVv34-VK7t5q2eqAIOBrNt07xHSx92OM5cTajVJC8ESYoQu18fukf2YjDKQkPLiEPIKGvrIGeDMNIx2TRYypjzpKvaFV_X0SYZRq_TuONv-L5zdfBFTmYaFLCEJGuNPKnt2A1Tnc--oIl9pREOb3MTUhhL-mh74lZygWPBexMX-8tdnOXbq6j1jIY12AuEp3KmA_hAZ5ICQrnP0Kz5Hx5lQhI57wDyRlreuW7hjhcXFDmHJvbLAeA2hclvoSew-lOANWhuXbOiC_jvIcOdtr5Lvh35SFEJFZ2_stRR7BnssFDs3NLjRSt0d1h2LgBffgmL1rhRWlzlQXjYQxpJAONjvLJwLTqRzVzqEw1b8bZSehDjHz9c-dSycfNcjd_nQs8mRTVozxitEm4kAjCtia4dB-ms7lGTBqYB_96_AjjvmvAuLfMqWHR6zFWordf4b1dIwGnBGDFXbUYhgphrXtVbGbA9yw1kth0jZW8Do9kkDaEpqEQPvGOcC3ty3M0a56G5ecqIjfcC14FqRI1Ivvv1YEodAM5u5O8r8o1-RyCVBl2YBQ7C-D8d7tA_8bedH8O7w9qVsl5Wzvb7SUpRLWgvrXVVMjiWYrf6Sb-4U90mHiMOgpDYFJZDgtFNviANkT1vdvidLbXWoBAsWiiXsOO3TdnXYbnHlrW8Fm0LdtBSVMMAbHrgI_Z4ZeoSxCfvlqOjvGHj932FtjrKHyrVUhQ1ROE5ig7J5FEynmQSbDoVQd-VChaMeXnHet7gb4Xe18ExEWM35kW_y2imSlj15FUyuYu74cDKzOIeTCsdxvGpSCwPkat7AQX_AzSyB5D0_j1o7kDUKJz_TF6PQw415mdZqukrXsVoUVqg7x5Kw6sRbfrqrEKYQNncPNawFsRZFtS23QQaK_Fjc2SGeM8UvUnngW58F0XE6WDTpVIZ8XmsS_wIMAe2IhTRaqDSIus7Rohl7Qpl7ZT7c6LEWUqwiUc1QbztzNKMoalZJoLcZomIQ29Upxek7_heLxT4iRoPc2eAuiuT4xdJxqg42G2xvG1o0N4Px0HKmSkEFmG_JQMfDs7GFwWTKUW8pajL2Efic8qmICdawPLPePx51d9QUlrlS1-G1dnbk9J4In8QqUFq7Fbs-rpSNP3x6Z1LdCI85ahStJv37VGD9dkMW8wgPEAADKAPsyNh0VhQJfL3J8cioKZEgEs5dk5Y64Gn0qQkVKCDPkuVi1kwDZ0eG5ZWKQwLbHIgHhDJjQXvGmTV8IV_gDLS3LG_kq51jvQjkkpSywxlbD2aCQvV-hKgTA5Iq9bKeG2borq6XjaijEuiQ30L_bnjq6cj3kQ9vRcEyfkEFe5KbCavK_ZaJDRLfmpd32skMC8Md4hs8lhby80oRi5t0l4SZXBFkShkb8y4SeTTf69FYoCWNMVPU_hnVB48BkyzuXY_gzOu_5n90cuye_rYWheGW3B-XTkToBC1p9PF9DexQSnuMXN__H1-6BrPKUZrKk8kakiTwsuESntxWLbnSgOnFp04IpPhPvF0KmAobZ0L_mpK83HizC-dONWqF0KUO7WzJm6uXEajzNvRJjNKMPimCG_sRdYY97zX_Y_qG2NV_mPnZJYLsyM1v-Ukg0Qyy5HEYGBb65wNhlWJ1EEKAdmsTs3Mi8hy6KlkelCO-pu6ln8-sZbGVeSlmphMsC1puaT9ne-_zut-0VT41Ln7pCn9IicnPTFnz-s4h2jBmgElYKLAQ72JIr_C86QqQdlw0Itx8SXRighrRebyuj7z50m-BnJoBoPZAbCUVuhrJmzvwgVLXylLSz2rGTBIoXHX0-qcBn5s-IV7FjcptDMTZPudmmYn7bGJtAjnpDMnt757l0XDAyaKAWTL5Gk5HqZlwUn6NvSN5faU_jUJZV7qr13QJEutvvJEtnz4HadVQ_MgLTI7QNlzoRTzij5GomTw==",
  "id": "rs_0dfc25f8d82bd41d016ab41cdbf13487d093487156c43bc91e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.105,\"right_z\":0.055},\"note\":\"The pale bowl is centered in the right wrist view, but the gripper is still above and slightly short of it. I’ll advance a few centimetres and descend toward its narrower lower walls before closing.\"}",
  "call_id": "call_lnhETOS0vAXC3m8aqKeZDMAz",
  "id": "fc_0dfc25f8d82bd41d016ab41cddf6b087d084dd6a39ed00bd44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lnhETOS0vAXC3m8aqKeZDMAz",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4034, 1.5158, 0.5766, 0.1398, 0.3035, 0.1764, 0.9967]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0005 left_gripper=0.9995 right_x=0.355 right_y=0.098 right_z=0.0423 right_yaw=0.037 right_pitch=-0.1859 right_roll=-0.0731 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.265, 7.0906, 1.7167, -0.0757, -0.0757, -0.0122, -0.4855, -7.0085, 5.9419, 1.79, 0.0513, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4832df95977d021d8ac376545719fb1fa091197e237f29d9e49dfd39f970f888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91acc1baa38ab2bef2230bff3c9b2001543d1fea5a1ae4abe85fbebfdac45694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd181b6bf656b88ac0eb7a375b840fc83cd50dbb5f892df769d8f6266cf759b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 8.242 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]: [-0.0196, 0.7986, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.4358, 1.2598, 0.6327, -0.0883, 0.3202, 0.1909, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0013 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3414 right_y=0.1016 right_z=0.1123 right_yaw=0.0522 right_pitch=-0.1031 right_roll=-0.0418 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -1.5248, 6.8034, 1.7607, -0.0415, -0.0562, -0.0171, 0.212, -5.1897, 9.4974, 1.917, 0.3443, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4034, 1.5158, 0.5766, 0.1398, 0.3035, 0.1764, 0.9967]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0005 left_gripper=0.9995 right_x=0.355 right_y=0.098 right_z=0.0423 right_yaw=0.037 right_pitch=-0.1859 right_roll=-0.0731 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.265, 7.0906, 1.7167, -0.0757, -0.0757, -0.0122, -0.4855, -7.0085, 5.9419, 1.79, 0.0513, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4832df95977d021d8ac376545719fb1fa091197e237f29d9e49dfd39f970f888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91acc1baa38ab2bef2230bff3c9b2001543d1fea5a1ae4abe85fbebfdac45694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd181b6bf656b88ac0eb7a375b840fc83cd50dbb5f892df769d8f6266cf759b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzi-umLG5I_cCjE5G05j1XflTYQ2bwQdTmpY6vmy88M3g6BVh-IwmNfNT0JngE2kRJBxKNLqaadati4Njau8LHsz527hIC6R72hL5HMhGfafUv2jBxupNzvozo3Wbq_wNaTkJpebXy7lD1johC0M_uJADHslX-gyxhBOBEasS_NZzw36WYKuFYJRkZ4IorLS8XpmqwVEVmuScIcVb2Fdbpxcy29k5PrlLzhYUFbKgb11FZYYEUJ1EZWpHBZot8vCim1tsPe8KyJbdiVPzm8fT94gF34jtTBeBxWbFnjdZHAuGI4kTbZLO1oFuLDV9NzjdW4KfEtCLLd2coBBNZtfGysl_Ly0j3xTIUmgnQ2WnbwDWcUrxNUioYkYuFqrUUIwnh63d6zMpnjgi1yKKB67hyKOLhj_zw306Ck916GqBAb3rKVOL4zTHNyOXk39oGcP-Q3bPmCiuk8xdglgRWA8YlgnLaCnV0HrHfM86R18XflOXBFPDHEO0pOSYWC9RpmZyuUmN8xWaQBb53JbaWfBjGZTM_t0BzwherATmzpc7uBtccWUcNFE92SB6Ut0iuW0MxguGTRxbDZtCi4N1B0tCZ8pd0TMaZ5GKfyXmdzDCbC2LhjiQN1z99ZLyXGkDqpRr2i9upq4Ybk5WoZ69-mu7Nk9_ducC36uXtlwLVA5A3gP24eQfCV5kFCBN5ubOz1FPojbZXIPLPoOAjR9Cx3MCzSrEvMrxgUtKxRwlD80UAx3U4pPVuK2cQPSxPwq7R-LsRWHq5teTBgLSf1MUKLxJSQRIHuU_OFWZDtDMsbvc1gfLHIa7LRePOP6bBGWHdF93_SwWwQ2fA07Vb65nzDQalQ5rFrn-vP89Ixr0C6qklTgqJp0coUerk3eJUDqn9kec5PmM5wUBKwKhRxBiURGO9EO4uLMMWNadaVu1Y2j5-cNb8gvx7wHp5f9q9o8fmlQA2G1k60zmjsgXLjQa1Muk67I1sgHAhxL8rV_-3wzEwxHxsh6VoXoxARDZdgvbmX8SEYFo4KZctZgNW1cvjIofiJs4FDM8nmaGUX2CCHi0OyinC0pcCR5jS-nLrV9StHph8X7sD8Lp8WIwVucnvvZm8ez2FuV6ad-XvVbZmxCwhQV6AE2J_CiAEC5J7gGqacv1XHAjJ9GrDQlr1RQy9wEOA9e0vkuYg3MqP8k_PHnewquDN63XwZqU99ORSFgnpXF6MlrNX0Lf2lT_CdqWDDCN9f6rqwYuE_zymtrnm-hyVMVijaIrxxlMYQ5g8FlCh7aqhBKEPwx9h1vE4onkvn0NKpeSRcPV8ZRiGf0JdCDm-F6bDvoLEO1MpRMYVHJJKERZUMR4mjeXmJzgD_UHrCscxa9F3xBYpnrYcabmzHn2u9LxyRo-gL_B8am_SQN7wVI9aVipEfljiPjwffozpeBT3RDsVPLP0lbKBGMNSe2Tnq0oGJeIUbK8THWAu0v8oy1uRsr23Isd44UqP8RUxBtja4_85Vvuhr_bSp-e3J03X8lDazHeBCVYYgJICU2-apogVOJeeFHMK56ElrTf7LohDlsZJDCxQxynz_ip2CdjQnKVEuJHZq41I_Cnh-T4O5ZEojuAgAz3dFZ1MUW7-7Tk4gY1BsuLVwhCV5f_KEoKtwkCLwdf_3SiyWxQZ1yZqIluo8eZdOMm6deobdpSwtFhTYPwJiJDui13wqmG7OMWJAoy-_MXVGhto2MLHzlBUTQNUA_jd4XK7PWXIaO5Bxg0Jmh569rBcumW7e0BSpZjar44vB3cYFCta2xTjWGU4w3UTw_zAQ68A--IKgL4TM_X3UOB00oioc_K08ixqUhbcf9OlPHEKtY_TuI5tEH0ZFXGUlngpKXVXtOTF3VPnivxXFWVPs8_mYkj4eKaQB0NyGo2OWYG2HWhmr1SkB3YLHQVSMhR-aX5WQXSuHcoX2Q7s3-ePO2FCLUPtFvS8v8tMr3GQ8FhnSeP0SbSnkl2nU1YO5gDJFCF3ruiUNQ1Q7HCj6ReLAg9RJQ8a6OISMU2zPvsyf_7Ff4qi_V4hjDZCJzQ6wOf57VvFvQDWrABlP5X3x6aGIpQbsqe9vvoC4ulLCkP2wbiHA1Jv9a_kT-BdXn0eF6jsOMQGtS9AT0FifEKpAboaGF55wDUrAn3n7EMyl_k0pIHPSzsisn2rq8ra2sgvv",
  "id": "rs_0dfc25f8d82bd41d016ab41ce0274c87d094b0fc4d751372e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now low beside the pale bowl and the bowl remains centered between the jaws. I’ll close gently at this height to see whether the gripper catches its tapered sides.\"}",
  "call_id": "call_bvGiyfREaTIxheakmUn8kUAX",
  "id": "fc_0dfc25f8d82bd41d016ab41ce1e8e487d0852f9cfa601507d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bvGiyfREaTIxheakmUn8kUAX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4053, 1.5352, 0.5541, 0.1768, 0.2985, 0.1638, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0145 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3522 right_y=0.0985 right_z=0.0336 right_yaw=0.0495 right_pitch=-0.1923 right_roll=-0.0808 right_gripper=0.0078\nstate[joint_eff]: [-0.0615, -1.6068, 7.2137, 1.7021, -0.0855, -0.0757, -0.0122, 0.0479, -7.4598, 5.6137, 1.5897, 0.2271, 0.0757, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30c5be4f86fc4649bb666d1bfaa15d9f73411ee8651680ca8d4efecfb9d7a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc1d73411eb36917f4e4ddf74619bbef840ee09e2b0efcd142ca947899d09fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999049f717c55f050663c8165f7096b594116339a72c99a6f1127233ee565736",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.782 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, 0.794, 0.6044, -0.3813, -0.0223, -0.041, 0.9996, -0.0212, 0.7925, 0.6022, -0.3794, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5111, 10.0855, 1.8095, -0.0415, 0.2711, -0.0611, -0.5265, -1.3197, 10.2632, 1.8828, -0.1148, 0.1978, -0.3297]",
      "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]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4034, 1.5158, 0.5766, 0.1398, 0.3035, 0.1764, 0.9967]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0005 left_gripper=0.9995 right_x=0.355 right_y=0.098 right_z=0.0423 right_yaw=0.037 right_pitch=-0.1859 right_roll=-0.0731 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.265, 7.0906, 1.7167, -0.0757, -0.0757, -0.0122, -0.4855, -7.0085, 5.9419, 1.79, 0.0513, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4053, 1.5352, 0.5541, 0.1768, 0.2985, 0.1638, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0145 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3522 right_y=0.0985 right_z=0.0336 right_yaw=0.0495 right_pitch=-0.1923 right_roll=-0.0808 right_gripper=0.0078\nstate[joint_eff]: [-0.0615, -1.6068, 7.2137, 1.7021, -0.0855, -0.0757, -0.0122, 0.0479, -7.4598, 5.6137, 1.5897, 0.2271, 0.0757, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30c5be4f86fc4649bb666d1bfaa15d9f73411ee8651680ca8d4efecfb9d7a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc1d73411eb36917f4e4ddf74619bbef840ee09e2b0efcd142ca947899d09fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999049f717c55f050663c8165f7096b594116339a72c99a6f1127233ee565736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzrCpMw1mp1259g3gHFXdf-w8nmt3rZxy8LnUpFxr_1HrkfuxHaMM8J2gdua_mGgsmxIl3_-pIfcsRzv5EH8IYVMlqtL6Fz3ZfxHPfx0MW2J2ssk4aaHisu5cuD9JuKeycaCE4oEkeXlX8twOM3_xFPjJztl_DTkc5KYkl40_PK8KzhUlVrLoqiAdlKJP3cfRW_gZ-nuz64zeLhuRkUSINiUzGsTFD1nwSvxPBEtsjckQCHQddrfAH_9prkWhfMjzTv5TupJ5MD3thD0TCeZ1GXZUkCtKh4aSE5ZjHjCvFA3K5Mdn5bNiWxqz1lB2b1nNAxrgDvEoZD2L8Skft8pGKcu_47bweJtNllhoM9aXZ3BZHtT2E97_2y_Dk__dub2vWodXwX7R_kAl1M7TTfJqN7ZCu7xKjmXCEXatcy87bZnkYgIiQqscend5a-CLXnMwxFkVCBkUgQWocYlTdchSJdWSgZIALyFgqgoTKw8lRf0OlbkfgdYrz9DcyWrgtWkCgOd1tIelXYWgPHLzZS1uSXiAdEAxEsKFhRtnpQ5_jYxhrBOcAetB3ei4330FLky-L3ldV6rqH0x4QBpv3oAnULNqqegMjvsEctflb4Ef52kfV1Aslb_BBx7500BQ266BjnBqFXQZq8O6hwkR6z-TxLBysv-8BeaKezUFUuamlMqo8TYSYQsPAtLTyZMAG29imEvjAIrcTwh-wCIbWbmfgcLpx7tymCbqyjYw5rLpz2zYGeebN07PbrPjrMWQ4I7v81S1RrqJpbrYpMKkNAGQn3YHnqPA14KO2zgSg6lPuZid79WKMaXXzf5aZk2m_JV0e4vpSqVGL_bG3Gzvo7Xvhg6NfbXobtnOosdcTiK7fntCmFj2PigT5H129yNnOaqKDK65cXLNT0HBkzctuZe3PEv7r6me-8Dxkv2TdZEi8bSywfAuWiZ0YPFv_dzBPVfg32RK-G5lUEL9-0VqafZ1bgjlhVzmwgl4IXNuFerEADQA6OXfNb253ULaeac4PAAaTXenYw7wNvio-zPI0_jREEDMLHjNFPciw-U-izn73S7pae7GGLtFzmJYanlI1IBtfWYsH39XzNpUNChJeg5eAbzi85tGvhXkCuw8qjt4Cnmz8-CmEjwwyLxYBvCFvo7pCJduMD-mrTKNFJyvECcOs4x15r5pS4AlteOsPyWyzNqy-SWoWSUZOhX9wVX8WPWRZHfhdXuPHw2OEhLwJspmzsNTOdPNYDUzBdJ8AtXNzMQOTHlB3sWa_M5jlkUl3AbolOcu4pMNcYr1erWRA-4HS44RInVjAHHx-8P_Gqxq6wm3SMTPj5pKGLvWYWwxFXLLo0qtudfmT40NVe5LqhCD12dejfW-CJrrp9zTSmBu5D5hLHDJK68vk-g-DSw0qsZRqDEs_F3HE7U3ZD6077ckt_3ogynQ2oqw1JA_jN3ouIeO7u6_Sf6PCg-nWLLHFBXI7xv_AMQ_iRTZt3rj96uZUNzA-QVrm6UX6UzVt0j-M8v2p9uepfLEPbt1C7qFBXA7lU55bWIibg_0gy1T23R1CqvomSQhEwjs13YAMioiqcL4Ip5WJP0En6H56A5zx2kpnsT2zJ5eKCW71cfUeWWmThhZ-tUGMitdYSGUNsihCc7B-HhtK7AlX-bGI50z_hHv1ccAWUvyYInnPiClnqdOOd6idz_kgA2qbuXqwWvXrNfX93y53ZmZODVwuwNGsAJ9AFcILCyw_dFVNgOIV6d2NkA51T-cQDbHld-mQFN324ouaG9_WUoFySlecs7Mr5DPwrVv70z3aCBKimJ_3n2Ub0BKvQ3smZk07bVpWN1ELX4gI7gXqln7OCS6i9GSlWghUEeok4wPBBSmJxy5q5H3X0HtUMiLiZ9bqjuqI2ZAW89MTZBUYJ8D5j98GhkaPnLXI4I_zzU5Y0JbMsI0YrNuAVnqe-L8KSpP7-8_EHNGRhJVqSVHcn_S7UPugRKQTgL3HoL8mbHpbGWK_WXG5zpeMPxAiM4JpS5g5Bv3CwX-nRcBkYvX9NCxSq7YOxU2m61tr69KAlb-u7k-mCzYiWq7gX7-eDN9wKJbEjvP8SSOzmTRPuU3_wf9rBXndtKHHj21AXnlmCfnXNCWVTVoZbGPPz_25QHh-eCn8w--b2GzKCwlVPRnOjB_ZCEbv4vxTKsc9u4ZsiEyQJFojJmNFwb0Cnc_iVtJPigb4FFh4zGHK42RaXcJvCFPhrfRdor1oP9-eZ-XnV0uhMmHEcpSzAa7hMfX15K3q432TQsHPiZXu4pp_yGvyxSKJQq75-fTunTY6xvR3zAR3H9UYVfRRV9G9vVECggFTWh5T9vaxs_4XcZFD8J2lNL09qGyNnkyzpFsrQSlh2Zn2gNSw3uQ6tPQMMGbJNoo5XsR1wOIYxm4Cq-OFeYpBfRDZTXi-mnBwxGGGdVjIuaygzr6Pa98kULieovA--Wp2iUaTPQAGUwRD6-eS4Y_94EfSUFv8PSQm4TYLnHxvz8EFmtxUOkkhi_yxKZi6QX56VNFdRHFiUwIaXE3bF8JxgPjVzvG5-OGPH909-Fuv0mrtBkN9PBQwsQDOoMnFU8VW4xB4vzLXsvJHqrpOGPWE8ufO1xVk7Z1gsu-0mvh7J6JlQPB4fwDfynxpLwPLR0JSFCvdKj6quLyVpQ-QiznEr8XU2kE_GCXH2DX59wi7ZmWX3_vV5D-sqEKHmj9Q3UST2MoFopeQJbY_SsJQcKHnQG1L1JCbJkYaIS93ClD7hfogVktqz2mX87P9dPCsindUYPnmiRcnbh01aVpNvp5zj1qtV-9bzx4SdAAIP55prSV3ITslPKlgARCThDsUnE3ftq2PpxHWD41doBmV04FFi8o9WmNi5icwLtWB7X2fJuh2rY_K-iVwiH77TghZs7jFNHx9Fj7byeljoMEICHfAcfzsjDN9Ek68qJOQh2qm-hpR3STyJ6ltVBq3Spf6HMo2T2JakfNGvUTFQ9aWbHkabr3mWEG9NdJKlaGEuuKCoMUVe-BRaI_ObOuiBye2oKYqMGYfIMcTY3HRv58CeQ4FMKaRqHIluaVpzsRORnQ8QX3B1rEIa2m7nILyADxKYv3zTy5-bGDSC04qlVHX_CAAgOvL0ZP-2gmrogNf8MvCF10Fk8KjhP4ETWaqGEDtWj1tfWhT_Na0bjeRrMp9srrbnyNIqqbyfb6JeQhz9GMmODW0V-Xw9k8AE3iRZYhtuzJNQQVGGvCViCKbPnMaE_IwmoIye6n-HQkX5R8WbK77Eswpd4wiRhfvgm3d4_OhCvRywJRt8RUhkJKNsA_03uZ81wjO1Xy0Q7BFCtOogWXUlnECtI-AKeWWhjTZZjV6Jre1fl5668IeCMXV7HReENVi5gnVaJ7V0pgswWf5tjiM-uvqv-w1O2gZ8o_-JYxFgF0WeoI9h9gg3dHG0YghZfip7on-y5We1UcCPATsdmRg_qvi493mkUqGIWuH9MG_fJeE5QhYc_IkTJnonIAwSIpFmD2ZiNhNblqbOu9UsrahfLKvjBz5090AfsUl5eSKyirBM3HPh4bAIaW61kuA_SdIgJyL-WEzOf2BPtlXd2iZqLe7ms_hqV0Q-zbuXoMM2q6fPld-17YQ6wot3PC3UibMuai2bd4ExDX9VoIC2H7DqTNP6NBypjtXZZafkQxkizZRepfDXWQ9_oeAvBa4UXoiiLJyQKx6fJ4sr635XBqj5HG1p_ZfLAHWY33PUmmobigIinLYi4FbH5pyQKY5UipN8fNht-RfQB3qmlW82TF9op0yojfpNGxgRcWuSEtx1qflxdcWHskaRV5uH3kCJJR0viwy3yRzu9bJM3ny77KgBI2taQtvzzUhnLGILtu-Tv-zO10_RwjvbZ5ncBxEnOqnvwvMF8eKRWKo-nyPX_Vcm1NlJl6Z4j7aXEV9kvtqmg94O5rlF_Lpp7H0XqUhqFqKNoCeisDolbN6DFn8B",
  "id": "rs_0dfc25f8d82bd41d016ab41ce4dd2c87d0b5f5a2ad3b56585d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzrZDv4f-8pbaiZ2n5U1iVnAVcSq1CiFxDBlqB5vPhvSy8W8JIyUdU1sr-Wp-H--y7zf8hI6pTcV1dBMMt_e1fk_buYCABNafgNOsJP7Nfifkn_3IZWqEXHPS0QjSPz2dH2R1JVTxCHjT1XGgY5xSfhB86xCf1Fi46VH5u16rPtelEQIzAgg899YL7Czibd7eDlb8mP26Ghw-hOGkWAtqlgWpeRarxFnVuawPXc-a9Agk2c2CkdYag2PcMimLnm8bIOZU7ZYhI2J0CACNmf7QVJegylVseM7RjXSKSHx7QqzsPfYQnI48_a5vZUIz9Z03kKIie1yYsp51FtymXXTf86sHLbyH_7ix5jTItawzk7b4IZxFgUpgC-1RXPjhV-kQ-_RTUnmVZ6MJkvSjPcV5C79m0dhBLIWgxKPxYJ6YC2Jc20oE3UlyLb8q2mwlgVx7_ak_iqhTKM6ZEYOwJ1aymfQRWeckX1bsgNb7qJpAEvblYtMdaK1i-kexWaw5AB7hTq9p-hqoVAtlEvHiBgi_LQWsvEqgEF_ZB9kchZnOjPJ2uBSm8Vks36W61EfghEkSWpo8MXPr8A8s-wxyZa4u9Vpq1sgXpDAB60GGgpl7hJvT_baskNL6bcZ_YlYV1Z4ZJOf92NtXZAuqDdGfwLtb4V2u482r8qOmMbty87CLWvd-NoNn7EQcI17CjkVpJpQ6KtjpCwOZrk1vXWbY4k8X0ocMghrCbYkd--zwSc8EOdpjKEAEaPPm9XT2iXugKW9J_AXx8clIc0Hu6Jwmlg64bAb4KtFUewi-9V_ekeJKlmInL9oJGKUwnXzEZj1o-mhAsZngzYKyIngu7Mt50Nryq1rQ1m0yoQxuQP2eqn6Yd97wII0jCZP8Zzso7-nFRcMtUprEV_n9PZTYffMjeVMPMd8bXeIk5fOTgr8bK68S-A7qdWuQ8_cKFHKEGPc6TLLvz1vnknPd1jJMRtuB1yAy__kO6OBmCdzEv5y85BsocQac4w__Ew8btwLOGxewH9gO54HFUewrgxsDs4Uf8oE3z1wrcBaogzBneuUWHUGlsfRuylBYC21i4EGp4qm33rP1CBPe3Z9odf1zAoTyAoPoEKqWzZSWRJIutWhAw6zRjMiTL9GXvh9M3opqGhQ8cKDO-SJNuYthaCf7Ez2Gwwh287Vdvxk0XcX8mvz-g5R7O-cVzq9hCxGZtjcMCbmCmkhGatJEzgGhAvRrR5oztU933Prs2VTSC3Pze-skkx5tHJzhBd9Ri1kcDwGSZ9A8E467jsNzjQP00ngUXQOTlmxtbZ_avMrPjAxbzQDfdbIN3yBNtSczoOFqdruLUh26P46nn5DpKinx1YevMuNmZfpeInvrYOuoUEMRjNEUzgQxbURrBkd-HguW9RYAN0UuKt_Q45hWsnwj6AXO3Uu8v3_gybRlHXE9RwKXheSrLY6tdUCVJPZwIJI3MNNQwpV41Zon0yXfmEd03t2dsThVe69hZz1EG0KsRkeW6ZxioiIQ-gvatUuTz3cLXddz8ZN863SpKQOFQjpfsRGel8q01OdbmcQnT6PY-_VZy61l05gD4xJ-TSnJklrbTPp7ZWS68RJtFDfNx0r0FrSR0kCTu7PHmG3V2ugzvKlGPUMQQ2d5asH1qaJkeUXyWUd_vuA560BVUT4D9yWTv8T4lgF_SdXL-Tgb6wePEAJ-IlUnVdtVhwygMvfyxVF4NFrjE2sc3UFErkVx7-UIaRjxkS7G3ampJwp_1fipRpiuyko1dVMEFZsHwTG5InFFDVUZX09bp3O8wdTwx7ZZG4sgKYY9ODTjRGlpsXE6N1e4TUzn6ZeFDDbEtF11-RNnPwf6RJaH5iJZ3YbCvD5CVmiJrME0FuS3sYrEWuS0NV1kf23XFjp3NRcIc1FvewZmpIvBYNE7qRdI5_987QSZuTbQhZ-A72Zk-oqju05zRz2dxPh_wUZFk9X1XLxLWdYkT6mUUJEpP6S18Luf7FzGRRPusL3T4hRRTKFI4RwMlODv-8goXMRT5Kldw=",
  "id": "rs_0dfc25f8d82bd41d016ab41ce94f5887d0900d388392ea74ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.06,\"right_z\":0.025},\"note\":\"The gripper closed almost completely, so it was inside the wide bowl rather than gripping it. I’ll reopen and shift toward one wall to pinch the bowl’s side instead of trying to span its full width.\"}",
  "call_id": "call_zCtkDSyXYg47lScqmiZM8cTV",
  "id": "fc_0dfc25f8d82bd41d016ab41ceae39087d094aa024135859df8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zCtkDSyXYg47lScqmiZM8cTV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2607, 1.5162, 0.495, 0.2623, 0.2062, 0.0586, 0.9943]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3573 right_y=0.0616 right_z=0.031 right_yaw=0.0419 right_pitch=-0.172 right_roll=-0.0826 right_gripper=0.9943\nstate[joint_eff]: [-0.0205, -1.2923, 7.0496, 1.6972, -0.0562, -0.0659, -0.0122, -0.3214, -5.053, 4.3145, 1.0818, 0.0708, 0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0558781ec5701f924e57fcc4eca2dab48a7049a83ed3ab1ac1f35eaf9fe9ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cab5c4e96544957b1d3e7d3ad85ac2adc75d07fc75cb90420bb512821da52e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab5558842288fbcc481564105217ae7c3413e4a56add3abd8fec651c8a71641",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.797 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.4358, 1.2598, 0.6327, -0.0883, 0.3202, 0.1909, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0013 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3414 right_y=0.1016 right_z=0.1123 right_yaw=0.0522 right_pitch=-0.1031 right_roll=-0.0418 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -1.5248, 6.8034, 1.7607, -0.0415, -0.0562, -0.0171, 0.212, -5.1897, 9.4974, 1.917, 0.3443, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4053, 1.5352, 0.5541, 0.1768, 0.2985, 0.1638, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0145 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3522 right_y=0.0985 right_z=0.0336 right_yaw=0.0495 right_pitch=-0.1923 right_roll=-0.0808 right_gripper=0.0078\nstate[joint_eff]: [-0.0615, -1.6068, 7.2137, 1.7021, -0.0855, -0.0757, -0.0122, 0.0479, -7.4598, 5.6137, 1.5897, 0.2271, 0.0757, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2607, 1.5162, 0.495, 0.2623, 0.2062, 0.0586, 0.9943]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3573 right_y=0.0616 right_z=0.031 right_yaw=0.0419 right_pitch=-0.172 right_roll=-0.0826 right_gripper=0.9943\nstate[joint_eff]: [-0.0205, -1.2923, 7.0496, 1.6972, -0.0562, -0.0659, -0.0122, -0.3214, -5.053, 4.3145, 1.0818, 0.0708, 0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0558781ec5701f924e57fcc4eca2dab48a7049a83ed3ab1ac1f35eaf9fe9ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cab5c4e96544957b1d3e7d3ad85ac2adc75d07fc75cb90420bb512821da52e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab5558842288fbcc481564105217ae7c3413e4a56add3abd8fec651c8a71641",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBzwPEvhQFseKi93ZtLvP8797a6_mjpiBGfPciceqZHPC3WPlPnR2dmv3bVqJi8x18zo2DtHUUnZ7b2TXvlCQJx6xcp0M7jXI76YHpJFelBi7L8-6fEHYhW-3JwbkyR15WAVXVHTudNOp_s7ipmk-EO9nhc4slejreULSBpX8ZYwaUXcYVyhWMwaDAFI9BGrLkuzxue9DLitTZpvb5sXGEimYwVixBgQavWSyG8xxmDSp8o1SCYTqfb-PZ7-SIG3PYVnu10DDrbp2X0No7eqD_mZfzfrzHNb8ih8H2kWryGr_f5q3ORtN_rTHFqjCBDdTs-ga0v7bOpd5VTmAvjEamsRp-XiapDl9qVtsW9fWqppdJuXVLpcP2hj20PJzILsqN-3s2_NDAjYk8bYV-ymXJcbYhcNzW8CI4070112qPp7qQZxXR8BLFn86d_S67yP1pWU5JYJJ0-ccQBUMb2unfmVbYHUKa1y650ZKeB-FU2O5A2Cqv4ftGj0H7aDm3J8NXmBn0DsfTd7TQI1scSOTYIM4w4nSTyD7nWkVw9AWuUu8Q9W7oqQKzwbLANe5Vywx96jtDRwKQ7EK4GRyK5KEe7fFe1W3-Vdcp4-mWMEFtSrsu7_bTYi2P8gEs7vo89Z7iGTsaCX9XeGVYb7-CSJCs74ZcdqR0O1RRJDJru_TgwuYon2J7SnoInfiHt6t2a5pc6XWaInfHxAryq9FF-pAPt9OXDGOXJtLlRFDtlB-_0BPzaCvezkgcydS0loveWcPn3G_xjCKtbY0fKAoKwNji-G4YNGBGMt-sIHZjQsAFbhQTk6bMB0SCDsP8-wbXuyhczfc246tlnfuiPyzjeqboBMS5p5zi0JT1B-r8nxHhLRAh1litv3azylvdVYBf5BDPB4VOURksN5K7Ldi87Gbt0u5dqPUvjFEqQ19s64oETJEiLyunK6xPHyxAPI6J8Tdfm542cZC_UFHbFZeCVSQYO67BF-wFwdG19L3z4GJJIDEtpmWine74RMmiFM2IfpEpALWoO2_4IvS2Wry0P4k4NAb2jy4uJiLvWBOdBLSMH98Qedmcv34ASMemdTyrRWlQFQF7dJZN4wJUIYbnZO6C5LUoQPV0eAkWQOmj7HEl5M7-WkKX7Reuj4F7VaDoJ2y6RYFYlFn3Eix-iKuO-hijqisBke4Y0LVHkGZ9dfIhqgWoigiH5R_QqYzMHD139KroccR40O9ug7rPCiiCg5fsPMeyRAz7eVxHWYo67I2qF8VZvnNkw784oOdqR2BtlHQD-szgqiSpA7vVi5YYCoxzBCzWeFRE4Gq9UuQVmKbbk7yNCsiWWgijNgRex1pROphsBfGaS9XooGAxa_MXNoofnNAODZlVdjnJoy_iJ3ybtFh7Utc-gpm_0twIokaDMxbeN2DT_Iu0TpSZcp4khKBxGg1hgnTAgNT8-zwxOpiYJM5UyisHCNDoaYDan9cSjKSu-XemmSR3ebK3SOmY03qjJ67oTle_0pmGHe3oRBlanZyUQPS1jLxZsQMhHyEzg83lgZYlpPb444uFs7iRTuXdB_pEpN86nepkWbQEsjvAH7nttvfZWO4ZBAAZwpaAzDcg4kC7rcUjPOgSaxKvjkBd0VqJtkcfTNB0t6bUUSn1j3wiUhx-EbZMeYpDVBj80yIyVLybLM3hq2sksEjxDQRd-AqaC4Im5e50TozXsovQkFrSoLfuVvg_VZIU4aDxyaUEEi0xkVluHwUYwWDoaNolB-M0_2Ss264Uxk7RtQGH-2KsmrMzqa8NEikH1wopHH9MzKsBjCK8Av0Kwr-0xdWQO3RFfFZxJsz4pTDfVjzD5oblF9gxCFX1UAVALfT1Sm4n0aEUkLbi-DvQJxcY3mGw1mxycKSha09P3YFtl13JuFzhAbg-GiwgiVbkvS4usNNQ1hKcqpbjPTM_05ywmD3FQxn88lEfsjb5jmyw_QdQx2EEd5wNM7N5wVUUSSCa3y6hvtl2uNGq2TwIIblOoY6h2ByT5TpiiwJLp8WNJj9L3HlZvTJmHEJ4sJEHxCbL0Vl3O8JXR2vlf8cVPWhDQrcTfiHlAMOx3f0hOVqz061lr0c5fE6FmMQDVfcmiZcpuk1kg8GV4-WZSEU0CjES5SNfewE416gyulKFr6phiFyvQd5NAXfOSvP8Gq1GNt01_EFoFxH5LceGpLlZsxifgtnDyyu9fTi1O6GoAiQo0ZGlJTjlg30lR2GK6iPm85r5h1BpHcpjCmUn1T831N7yBRusnWAisb4K9AGhMKJ7qb25xC-luEMSKwjDmbg4nLCemFapImrjc-HfOa19AbBKkuFKz0uLbeyzpFpCZoON9J-4FC6uY5S1Ri9nUIhID3S8TybFM5DDW2VO-UNBe2led9_xSKilPGTl3Bdw7foQSSiEmGFzXYMmt4w0KMQcrUvPdGcNLPDIWwZqOI8Oywbwq0ySYHOjTV59PaQW0XZVptmFRmlBX8vOT-VzVvkBvrb_al0c6plVSVkRXLs9wr5yym7cP_XxTeWz-uZZudWHhqYxlbBAukR0-AHMn2vh16W0vlXjbFppcN-cKVCmP9XuLc52D4-07qALqEyAd2MQLa8YOodxQ=",
  "id": "rs_0dfc25f8d82bd41d016ab41ceda73887d084057aad66034f55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.008},\"note\":\"The open jaws are offset toward one side of the pale bowl, but still appear high inside its opening. I’ll lower them to table level so one finger can sit outside the narrower base before trying the side pinch.\"}",
  "call_id": "call_tkJkT7W35HicYMBfqEOHzsk0",
  "id": "fc_0dfc25f8d82bd41d016ab41cefe89c87d0b7610b0c838f2dcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tkJkT7W35HicYMBfqEOHzsk0",
  "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]: [-0.0196, 0.8062, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2546, 1.6329, 0.4763, 0.5152, 0.2073, 0.0559, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.0179 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3805 right_y=0.0652 right_z=0.0301 right_yaw=0.0392 right_pitch=-0.0572 right_roll=-0.0599 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.4564, 7.0769, 1.6972, -0.0708, -0.0708, -0.0122, 0.253, -2.6872, 1.7573, -0.0024, 0.0122, -0.0317, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7753e71f0897c3eebc6c2b9b2eabc161305e5bb050047eafd133d8acfbd01a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef5cacc62f1af1ea57ffd1992856e5a2ed6b2ecefd5aa084822372f9b1d5da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7225e662b29f73f26f8275a6ae18f07d9718fd1a541f384ab0eaaf6eae54dfa8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 9.954 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4034, 1.5158, 0.5766, 0.1398, 0.3035, 0.1764, 0.9967]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1781 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0005 left_gripper=0.9995 right_x=0.355 right_y=0.098 right_z=0.0423 right_yaw=0.037 right_pitch=-0.1859 right_roll=-0.0731 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.265, 7.0906, 1.7167, -0.0757, -0.0757, -0.0122, -0.4855, -7.0085, 5.9419, 1.79, 0.0513, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2607, 1.5162, 0.495, 0.2623, 0.2062, 0.0586, 0.9943]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3573 right_y=0.0616 right_z=0.031 right_yaw=0.0419 right_pitch=-0.172 right_roll=-0.0826 right_gripper=0.9943\nstate[joint_eff]: [-0.0205, -1.2923, 7.0496, 1.6972, -0.0562, -0.0659, -0.0122, -0.3214, -5.053, 4.3145, 1.0818, 0.0708, 0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2546, 1.6329, 0.4763, 0.5152, 0.2073, 0.0559, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.0179 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3805 right_y=0.0652 right_z=0.0301 right_yaw=0.0392 right_pitch=-0.0572 right_roll=-0.0599 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.4564, 7.0769, 1.6972, -0.0708, -0.0708, -0.0122, 0.253, -2.6872, 1.7573, -0.0024, 0.0122, -0.0317, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7753e71f0897c3eebc6c2b9b2eabc161305e5bb050047eafd133d8acfbd01a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef5cacc62f1af1ea57ffd1992856e5a2ed6b2ecefd5aa084822372f9b1d5da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7225e662b29f73f26f8275a6ae18f07d9718fd1a541f384ab0eaaf6eae54dfa8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBz0suHjZLXf-sZxfEgM02stpZAb1Py6NALpufoKR-p9NR-4vQOcFJcDG_nW5wfWbF5bOOTJTb8uCYfgSVHddoyJ6QCnPftsLwPpTC_V7qJJbmjNgI2naPgH2UcievLCzVgEwJ7R-8YB8rETXo6lnqYMRUXIWFGyejrQmXuYOlUfeoWRZ1m0lFFx6x51Xzx0HeSKikz-uUNij7COxmMptn_uWgCsaRLZZq5OEXvMlLtX86nUnqS-e1vJt5em-uN9-5UL7K0zv1Ec4QoIcL-p9XB9GdDjuxk-nlviUI4RiJoDKH7BLmSilSCJQyiPVe8Zva35aukvmXNvF7ZPMRuhSSQhRaIZymEnbXKOKdOkyn_lPi2FCo2jHc4ND44yg8F8PfWed8Z3s5zfHNriZS6WrumU8BDxFMXC0MkXWR8ximuTCsU0DhaH3dTPvIr6jl23q1iZGGPOr1fh9_BA4htS1KLKyEwgn8X7Hru1yqEq_aWCPfAIwoLribP9B0at9dVH8TBOhzxkZhETo8NhQ9sdpTFMs_UHZqJvWSNmAj3xkZIwv8JE22TPGYH6k9xaz2l_5wVOuKDrmEtx_3w6tfX3u6f579AAZjs4R7IkDEryna3XwnL2vjYChLNNPta05jGp6CvFYyta0Z9_5K6IcBljrhpE_38gCBLIQDaGXN2t8kYzGGO_pqGl1RkEto3NZPoa2Wc2MdUzhKlwAWzU2zZX6j0z9v3CBXr2qy1DJIplwNv6pqaYmCCXg-3Nntgb3EAiMht0T-IolWaeU7hdDkM8VUlH6KK6zjvkc5gDIGO8zlD1WvjexfNsohFJgI-dJ_z9y2XASZxSOM60tZSEWy2PZPl9fkizIHao-Xv_hDzkKkNFQQU0GW6clcF-MsoYFrCpTCqwhidX24fyaFRAImjshPa-PvX1GF4a_AdKUz5E4YECluBFfiGVviHGRg6M2DUHJG0nW4eW_cNTp4byooCMsFqN_fTttBOo7PZ2quE3VG6uwoJnZ5ILA66RAal1reuDDL7-O7UXY126oIFpxNwH8DJ8Yb3zPWcB9Be1QtmGyEd8PEXfDbEzpb76N2tOB4p98gaX-BlrM6El64_nfYZPeQKEBiehW62S_ApRgfGYrhrNXkQnQG-dnqPBBBS4sjNUqpiF7sVpfRtPNEqHuPwE7n7ibNaZosSG0wM46a3W58zXNInqPck63rsnjb3vsgmpo-_G4ZZ8yAa8V3HAbYdn1lbYArAh39q8KMXwONZY2C4ZfOWYCcgR2c_Tf_avQK_qss3btOy176iO7JAmgz7BnEhlC-Eht7Vl79Y8kXRL-dBy3_Hzv3_H5Eav6TzAc6wYOE2x6QJYDyvX2Lvhx4V0tEJLpKPdLQXZMs0RTVEpkQW35-LkBQgbI2waUgOmrKpfFQSlgjldfU7C0nQ2sXZTuKqI7q67juT60FXLJgZHgx2FRAAR5v70DaymuRr2--B7VgMYTX5WDwyMgv-bPp53Vdj3NanqRIcgq7TQdiYbYj7spvwXlf6X2pTGiV-BYNZbyT4dnAPmPiMl0seP5Km7rRGiLsAFVi6FQ13dyInNnimJ4VrPJ5DiuEIygz5NMFngmeWRZdykJnVFjGtmo0xA-EBK3Nin4F7t3SdtzOHRysqoAHbf2xNeTsUxLO1zYTIJjcC_lsd9sl3S9laq04p-lGrahnrbFzUPQGQ0fCdvNQlK1unEYSZUUmnNh388FZwLVyJhOf1kbcdw0crnfTW1ymMn4iAKIaQDfllmUgXV9exTimoNCu7UDUiGtOYN3WQnPM8WqO9QTW5ZV2ySTzTy1H9lLPObYtqx86Q5YrJPjAxX7RECEEilW4-itNPhYGLy4OvDiR-M8CWSTSOl2vhytdxuOC5PF0up8hf8L-l6QogMVH0yBaeNPqQCpenAI2PHTTViptAN_FJyy8k1Akcjx5dySNUkUwSQbnGTXjRPA5VyIVXvBCRd1OSbrjwf_Ro6sdvedukPxWJqNQUfpjXh6XoTGSYqNjh30NK2AkdBM6cEhgZY4V7eYqQDeVSU6vtOzrVoxoyc9xNhSRuM9EAb-tYwOU4amrXecEaAI90yUAM8IuGJnQNihOWPAAg88DRSroe6a0RbmYDl5N29G8VcRPOjGg==",
  "id": "rs_0dfc25f8d82bd41d016ab41cf1df4c87d09936bc6691a6ceb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped with the fingertips near the table, while the bowl’s smaller base now lies between the open jaws. I’ll close at this lower position and check whether the bowl prevents a full closure.\"}",
  "call_id": "call_LxETR23bo5hsSTD8GeTKX9FX",
  "id": "fc_0dfc25f8d82bd41d016ab41cf3e8c887d08dd921fff680fe95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LxETR23bo5hsSTD8GeTKX9FX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2565, 1.6455, 0.4664, 0.5106, 0.1997, 0.0513, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0013 left_pitch=-0.0175 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3752 right_y=0.0659 right_z=0.0211 right_yaw=0.0496 right_pitch=-0.0848 right_roll=-0.0647 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6972, -0.0904, -0.0806, -0.0122, -0.253, -7.0085, 5.6137, 1.7021, 0.1245, 0.0317, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461dc23fdb1ed151aebef6849ae10ae3762b4a16a59aaf58583ceba3bfb57c5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6ef30770273835f17bc165336bd4a84e8d9b90245b62ca936828b8ddd3c256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02483cbd9826187d4a6538c59c84f3037060a4d166164ddccfaf96005ce4102",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.497 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4053, 1.5352, 0.5541, 0.1768, 0.2985, 0.1638, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0145 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3522 right_y=0.0985 right_z=0.0336 right_yaw=0.0495 right_pitch=-0.1923 right_roll=-0.0808 right_gripper=0.0078\nstate[joint_eff]: [-0.0615, -1.6068, 7.2137, 1.7021, -0.0855, -0.0757, -0.0122, 0.0479, -7.4598, 5.6137, 1.5897, 0.2271, 0.0757, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2546, 1.6329, 0.4763, 0.5152, 0.2073, 0.0559, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.0179 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3805 right_y=0.0652 right_z=0.0301 right_yaw=0.0392 right_pitch=-0.0572 right_roll=-0.0599 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.4564, 7.0769, 1.6972, -0.0708, -0.0708, -0.0122, 0.253, -2.6872, 1.7573, -0.0024, 0.0122, -0.0317, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2565, 1.6455, 0.4664, 0.5106, 0.1997, 0.0513, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0013 left_pitch=-0.0175 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3752 right_y=0.0659 right_z=0.0211 right_yaw=0.0496 right_pitch=-0.0848 right_roll=-0.0647 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6972, -0.0904, -0.0806, -0.0122, -0.253, -7.0085, 5.6137, 1.7021, 0.1245, 0.0317, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461dc23fdb1ed151aebef6849ae10ae3762b4a16a59aaf58583ceba3bfb57c5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6ef30770273835f17bc165336bd4a84e8d9b90245b62ca936828b8ddd3c256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02483cbd9826187d4a6538c59c84f3037060a4d166164ddccfaf96005ce4102",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz_qxYrNyXpiH-keDt3aAXUiWHA_UoFRzNAiM37adhs0mydUdjCqwO7XA2JRBztbhtnZSpcUzzWHDwMeEEbLPsWXOsy046aCttFbf_rJRqnkLyeqYRbe-DWCVhBFLokcnoXj0rMUWzLYz5NBI6JCbTHoPMbGEbLC8U_LIihTyUm5yK21Zjlg0hP_JfUto_BzfbGW9089I2wWBDVGUFTOqobrfgQRIyu5A0oJqV7xOxMvyVxxSEFL4rpsVrjkKaTxreATuu8Z7al45y2MH9H9CrD30vDddxdTP0awAFWPvEKD9-9l1k8YSj6xXVhcCJx4x6QdEInmpGf8FMJGUfgActi23KrnjFhfEN_zneIe_TMnyvEASHgDoQnAQXV1_AF54prRK0-NwZNdntEU14xL6XrItUDzTPGyQ3Q6PN3LJ3__7F46By74z8Y8DIMkUCeDiGXSyjQD2gSMiBnR7jiVNxz3FB8d6LK9TQmXUqGiE3hK6O99BsgwxzUlkaevYtO3KyZa49BRM3yGAwniKzb2KhlRQ2Zp9zrejuFuXPdqpMqTKuMm9UZGN0jw3uxR4qkYG5_VMoGi4evBgh7ios75aHslRDF-RYqEEDUjKPqLuodr6KSK4USszICwayJNAKrSGuT2zwJ8zoBP5KBWRNMB3FZFdpHJe_7pTNRG0qB2jtfsV2bm8QMjqOgzX8-3tkjK3lM-c10w3j61VaY0U--OD-06-Z3I7R-68IxLhdy6wyPAtn1TmrckBvr0TWG8V5BjstmA1x6tRHFeb44Qs2US--QPaVFN0ivM8Q3nF1A_20ro7Ow1ewlaHXh4Gsegx30RV8tcJQVXkpS6HVzXLe-CSqzZLMQNDgQQ74Vo9o-b_efDGAwuW6M9cznmnVGreNQCOgymTRKHzKrlAPZC1TJjdRqGSeQDxePCFWlJzaR8K7fd1WjLRsiXC7ybxisy6ZACXWa_PPbPxiDR76phaqMx3KMZPHdBGDEb2qtEXS6pfRhrali0ysCNWze3U0KPFDVtRhxiEZaR0SK-rzpsmWxmQSg3VV9zPUYYmvOfrRGYKoStck0iLqIlyjwtS7xNJZFpdVJ2ktvEgVPoVtGnjsw9YA88ZF5JJIe0Lpx1j7Gvx_2HQWrVsfzu7GvI989G7KQ6GYRDUB9pUPhqJZzBZA61KtYuBEsgcuOb7sM8UyxbWOwuMF4eVmaK_gzJsl89S_CaDQGyUIlBbmhWv2iwmXAu3MeznnNJDayO9cEE51ZzLP6vA1fJ6-G3hlsPv3wjwUR01n22VM3Gp-26knWrSxTksbY__ZF4wk1qZVbs-8oPdjx-srftSaG8qRayYOnVkZ3UJyaIj8LUiHpTR9Rq0zwERirYLY-7lAIYzwcqA52LdyKFLOs61gjccD1y8ENi6jk2nOXlvVZmjnmyHYM54h9Ung0isvpwQrhImxoH5KCJJug2y3BGYJmaldus0lZXu82VXWEI8KUFsD2v2cAfj_8AY3ZSChi1QXdIBcFTjdETggfPjm5ZHIUVajU9jMHxJzhVu2blAEgZ8eN51VlKatdVR-jEaiBmzGa2IRxNcAPWSXzAnWRrOdUetwHkme9sTm_-JE8gW_DBPn0Av0vylyO3aNmMoQV6yu8GhKlWymYDDNBcjULd-WtAuV_NeV4SZ1d-MF4usa4tP-jkB_cSNTJadujuzsP75c6zCZqlxl0elaZpOH2KUKVY_JDEMfCtGUBJ4lIrwKeFEFHrs2hOXicagIWsGQaD77f6yaqYkTr9G53ibSlK16Q4694WQtc6vttxFfBg3IDKRVwMqxab5HcDyDUo97uBVUcOihaHjCd2u2sRY7h_UoWSifF5cmn9srmbV6dy3m44AQ-vXVYKigWHDEPqElHAhcrJr-ppo7roVFB4X7gs02g4CIpp_pQ7Akap8_yI52YyA737QcafxVDnwykOR6yRJ1udZ_rKjRhqGsTn9Feap5P4-SONsR0bYwaKHYREdUOH7Cnlw741eiK88O8dCiFJEU-ATT__FyCONKYYwZ9xjzrkGeWXSU2gXhDrlBzcNAz9L-7_tKVsgthYyNveUSqajGAnl0RvrZ5RyxuvYdB4DJuphjkaTqwL6xjSvysQfzEn422RW2F92fQPLm1CY8K3pkf9hLT7kvApjn0iUt4__wZvy-YOAuDqtA2fL8SdlScF6kuKFp6FrEvb0EvYMhgaaC2dZZZbWFq3HtMRzo9oTXNiDFoFfpCh7dKmEXpnwQpETivEcT6j0jgZ4nOa8LfLiCIrdsuJkBX7o3boxzyNMX_NbmKxm4xOTtNF0X4VAHs01q-nPklQs4MUIJGZZ5d9lPBHA_v_Ozh2IJe9ypCwJ7CMmoABbfnAk00THQJVbaFLUmneQTwHulalQIHNTriqd4ro5K3JSaZ_Zk3Hr-reHAMyYBm5JrKYd32ovXLL2rvtpyiMjcwyCYi50Es-SBXkRcHTHFShVbGygmH35GcDROeWslUg_-CHhcB5A8SeNl_z6jfRsKYKf_I3XbvJzLbb-OAHrSDIXzfbyzOQDvuFFio3DzX8GrxGb0i2KXHjkbgDNdiXIGUTRMWUiBMRiaIt15ktGT7-A87h1oMVyybGNAyJO2jEnaVmfbE5paMAn942rAjc8oyE_lPObN2FgZAZ8lPCiOXdmm7ECR5LB2f89JZVxLxnuyl2U14HKHVHNbPqodcazgWQBapXX0Hi6uScDENX8TN2b7dQI_x0lo24MkVkN9yEjTdrCI3jx3asjWJs92boViwVb6c1dFOu_dutZiEajfCF1oIvtr930sTHNaDtbp43hDX8W8DDFJupIoG3HazdlajAfQudYOxTGvSGEBYMCdHXISfAA3xOEiJqH6VTnLs4BO1M6eU7M9291b4Ir68mx3enlB_vmmB_81hy5b2kj0287GjRbCzJzSKtHFELQLjKUaSAvlBdeBs4CpoYVizKBiYEIuPpP7xQ-u4A5doe8_STKixHUE6NwCIdJxa6rxcKcWPtRChF2Qk-ijghNkixKKfBCbUXx6dTll9gmcvWGBByeh6AegS3-a7Uy1ae7sKTDahoHnUSgbpUYWPghLkgwYI04p5KXh8CNiK0eGjkNJx3609_3gIsQ_rkrcVlQgZwYhAIBcoPpKPnUHF4ozivjE1NjLpO1pA1QpWpkVelLenEWxjYAqSOB4xv26iHv_fyTIYAihAAaWcY6-4nb88jBA4QfvJjBYnqA5xlkUUZ1Z2nBkNHvF3hVK-o0yvLrIO1lJ3s2NT15jn3mrXrc1CLMjJPQqcRRMUHibuO9I4UzwV6w6_p0uw0maCtW-aTRiAGLHqtJsBEhY4hcJCe3lBPt6laiwTJChu9ZGVTX-ODa2OkO7l_EaXCd3nVC3GOb_aMzYob-oIZdzYjbVTK_SOxR2inDMrHsvx5ibSMxVp1opwhKBb_qa1veDAVxkZfUvNLEiFLecUX_GoRc82gdI0AirXAyfe-XvsyOPy6Woe9-sM1rBUzyVkFfPjBULifkDLANrNm3dsrtlvu6rEQ9haQ32CL2H3LKZX9ieOVvlYW2nOCUEEcC444VeLt3cu6Nvl19XoZtRdonP3HduuD6Jt3JUMKxVgpY_zKWx-waX-vS6z3ErAzRWiMLqb54zlcM6kotGMpJqcMBuqk0eF0PvKfFfXAgaD-9iP0lmEgNbJHlWX8zfuUCGkvS9gn2lfkIo5sZu2QneIdwodEKJfAw8EKq85oaoPkl5wqaC_M22fPHWKEtIkJriZ55pziSWZqNpS5kXARERxL4gcDfUaMk3dONkiRbzop0lbkHFjT6mw9KF7o737wRN64BkWyEQNzcgk_VQ_TB149_v8cvRrKXsFQ_Q9wrtHHViQUBA6hG6QMz1cLLjqkZL5rcI=",
  "id": "rs_0dfc25f8d82bd41d016ab41cf69c9087d08bfd52e150844a14",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz_P90KdPL6-H7pi09X7riRo6BQx9EafeoiAdzJui115QC-auKX1guNcXcf9pY_PjVjhKkqAW5k8AaTP4Fhpv6IXLxPH5DsiY1yyUsXr6zhjfcqxzbFkjQX-GjzyzPDKnZig5vjwS9My9Hh7QP9thZUndZ1AaYv3fx5asMRO06OoSJjayVNYyM7puIb2tdhzSWwFF0Zq4S58qfpYyT2IzBQahwM8-R5JQrz-W3OPfZPcUlLi4l0zBYYo7xaj0o-K54CvMbLOKRM9NHm1f1bP2-Kv0xlR9YAqhGcy7k3GYRQBwXxODXo56BBbqNXWjLpnRP42bGe-63S5VZN01-_CJqvWUE3H1l_W5VzJ7u6_ZVEt8cISL_amyJafR5ThBv_SarxUc-lo66O14KgIhfLcYH2yWDW3d0FRpHkFn4goIR0Odtq8MYfdx61V54daEzf5qWYHrsxBGuI6s3JU4uiF6w6itpRNQh3pUXSMq3kZIDtX5hlHcau8ZRa_HxTY4gZBh4-Eoxrh3OI3N7lnmaX6rWnwg465rPgXR9tTKyHElWOBbtMKSKDwH2IFOZaUaVIfXN8LHs-1Va3GJ4gB--PZCh5UXpaIqynoUkgI8RyJFkasLDH8L7MPUl5xSe2fM-o0Rn2ChAPQBTo2bfWqzA2CD52g3fGKqCRLG4UtybAIORkfFRtfiE46Y_bzxUycVN4fW5a6ahSgrwyk6hk0ceRqOoxQQuSqRl1ak3EfE1EE0jqd-9hkGe4pvK_mQkgYQzy-AsvBGRLr5k1yWzmUEKY3xacRJV1TdKqG3EBRBC06jisP2BGQHDdpVQ5M_cwxdZs4dRiNABakydlZ2ucTjp4u9kc06zDl9k_PoUMl9Qpp1QsRQ-rfigDdi42JeM4dZYXhhKoeNYSu8y1MSHMAbOprQmay8wXhSp4ma2q1ceidCet_NlIbZ3PijcimJxhdlGFqZAJzG3HiZYJ3l0sxdodtXDysXMdRPgdi1bunoBAKGnSnTpFeHdmfRKc3A33k2Sf3m5lnv0BQqw1I30m6f2FPeyOVMkLbtDUr-HIr3rOVpFSS4nfrKbT7pADgHXM_SRhTo22vsXpcSfIe7cCZxbs06F4KGt80SadI1HvphncVcriRzrDclqfqGeteZRJzteeVXdWIccRasLBKvTI11oq6jpXZjdVNClcJhQ7EwOM6HKvtUMhZK8p-hAX-1zr4daXB2QYzlJ8dSsqSzMqTMSKWLoBl6prUnHXq0SoYBzpMwKq7fV8lhHfZt-gIZDQ8oeaT7pgOZg08kbtMntMlDqAu5kVgnOkYCgRfk1zYPvoZ_YOgb27liMUiJn7R0qfVAkRr6QTEW62a1trU9OOolvnOdf5GSASXAl3l77xOg0k--HKCRRiRsF4EDdjS6F8sXbEPYWSFT5tD6SHbOIzOdlNJyNRULfijBzCGycg8Bbp5mYudLGXANrZ2PZO0orkVxPnJz1RiKsP_i5hRA-XfsmcxzCdZs05zeNHhm9kbxXNfKO29qcrmhjFvUUQBf_agDwRG-JNDM0L3Ib8YzLsbJXqZcCxZzEaSZIAxNuSu8Uk5ZK21iEnMglqjH6B8LM2Jev29vI6yKOu5_oUgMYBkcII7EVrR_6wrz3xxHzfDbadDU4btXX4VBnJ2dTeQ0bYw3F6ZzSZHIFVnlk9FaHE3b7qfgAJFINjr8mBCOrXSZCU8hOarsfQozVJNqgwM3cpvBUI_3OfcaV-WAJ2ngYL5KlR8qu9Z1jnGo8jAFjyC-DbE01nseCqx0ty8mALqNj3lzshX8CqTDh9SR3jGEiO4n3-j1u2Ct2Rld5S9ZSEqI4oiTBMJxyyzclJ-_pTV4Vtui0yNRUezN3kBqXSi6wTBGVwpIzyzTQdJkWJfYPFIH8vORTGg7W-w8fW9WI17mqS2qCMYzd4WC_HiCNnzAyEIcYW5ti1R1LeCWfKnD5Q3IJ03w8pC3Ub_dlYT8dj9zwMFGEDuvv6IfFPvRvRJkrS6wudFyi_WxCB05yYRuLjOuxyMhuED9eCeBHNnzSsJnvfWmoDW1vomPYjtamIXiDY5f_86mTNd-2hi9Dqsa1aVRIaO9T_P73SPif7NIirkuCkuzUm_yeT2wzH7CWNE1_1H2vk2ibNwGXBergKKZ9puM7CxmcSeM252HEps7LSLnW61_a-JWrn_XoyHzfWEbXsi3v45raKKKk4bsEmB_lpFbwXJ8fSAzqPVsY3SxSiRGk5AQ6TA15ReXt-9xs6j322jxB3oDUq9-VSJzgKDeLjuQ-LYzq_9_3ZqUx8eugLcAgcGjiZn-2libGqLNKKRZwA6p1O9HftSrLy3PrONlZ3xdHPMdr0W6_cIr-PbADSbEvfSwpwA7qIbBKlEks2W8ywV2qkikXWNCtGyx2N9lDkvUNi0IuIdefVmBSXlkVk6Ggkrx7qa2idLllKTXs1BsPN8T2oYF2uioHsbg5fvw5opDQECEOUepkDaZyxG9C_ae_ogOoURCuFAIx5CtS9BWFdROyk-B2dms0sh8okvuEJJGm7zZpgUmDlYqknHIJwVZPkTYCinHwAtAsS5gczmLW2UiHeloADUoYzRRooj-ibkTdi5o0-u2iyrvXHXOgwT_JS6x02cP3IGpifjysK8MOdQ8nhK26kDcw6zRn20nl3kibQcRCguEpETaGTLy6JMxxo344TzSAaJPc2dsAJBx7B9bksczKNn802CkBqeDkLYYxRd0glFIyGLbU-lN25GydW-cctakEeRo6WIDVnjom2dIOpERUZhF7zOOmaYkLWmEdfZ6ESeCujWFdB5kA5o7MX8tYENXSPVYbHni0dQgqzSTYxHpkioboIZzAxnxCYra5zmuZgQEP2IQgK5ofFop1Sdiu4EnLAZM0icGtoFSLK1_vaxSc9wGXeGzXcvkCxqEw5pyQ3GZU7QAlT9mhuXZSrrrwK2_2DRLNNksDeGaUyGZFHn1dWNs-T5fu0ZiQRBOoI45l4ehLdc8VwJxIDxpDjPyLF5loe0m0HwZMqd0lBa9BvVT0Ex4YSacS8tyCQhqMgybgMrl5m2qn3K6b6x2tbRrb2r_3TdPyecfjao_1m1HooRrThiXzoXX_1I4UMEps0tYLC5gw=",
  "id": "rs_0dfc25f8d82bd41d016ab41cfa7d1087d09378e27c0f95bc12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.8},\"note\":\"That second close was also empty: the fingers are entering the cup, not wrapping its exterior. I’ll test whether opening them against the inside walls gives a secure hold before moving the bowl.\"}",
  "call_id": "call_cHn2AwJsB449Z6oWbDZHAsk5",
  "id": "fc_0dfc25f8d82bd41d016ab41cfdeff487d0ab1df98405e3bf8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cHn2AwJsB449Z6oWbDZHAsk5",
  "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.636, 0.4667, 0.5388, 0.1982, 0.0463, 0.7951]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3801 right_y=0.0676 right_z=0.0301 right_yaw=0.0544 right_pitch=-0.0478 right_roll=-0.06 right_gripper=0.7951\nstate[joint_eff]: [-0.1026, -1.1829, 7.0496, 1.7167, -0.0513, -0.0757, -0.0122, -0.0752, -5.2718, 5.1487, 1.2821, 0.0269, 0.0806, -0.1148]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d2e0796ba6c29c8c6ca97f467cd95a547a4731bf20dd7e93f7430dade9b7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1dbae31bd719d8c3f76a40b3d089a7958ad4a25f35ff5d8dcd4a60432adeeaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5065e8e765adde865121bb7523edf41e75a30eefe7a23a671a3cdd14ea57d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.972 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 33 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2607, 1.5162, 0.495, 0.2623, 0.2062, 0.0586, 0.9943]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3573 right_y=0.0616 right_z=0.031 right_yaw=0.0419 right_pitch=-0.172 right_roll=-0.0826 right_gripper=0.9943\nstate[joint_eff]: [-0.0205, -1.2923, 7.0496, 1.6972, -0.0562, -0.0659, -0.0122, -0.3214, -5.053, 4.3145, 1.0818, 0.0708, 0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2565, 1.6455, 0.4664, 0.5106, 0.1997, 0.0513, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0013 left_pitch=-0.0175 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3752 right_y=0.0659 right_z=0.0211 right_yaw=0.0496 right_pitch=-0.0848 right_roll=-0.0647 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6972, -0.0904, -0.0806, -0.0122, -0.253, -7.0085, 5.6137, 1.7021, 0.1245, 0.0317, 0.5934]\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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.636, 0.4667, 0.5388, 0.1982, 0.0463, 0.7951]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3801 right_y=0.0676 right_z=0.0301 right_yaw=0.0544 right_pitch=-0.0478 right_roll=-0.06 right_gripper=0.7951\nstate[joint_eff]: [-0.1026, -1.1829, 7.0496, 1.7167, -0.0513, -0.0757, -0.0122, -0.0752, -5.2718, 5.1487, 1.2821, 0.0269, 0.0806, -0.1148]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d2e0796ba6c29c8c6ca97f467cd95a547a4731bf20dd7e93f7430dade9b7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1dbae31bd719d8c3f76a40b3d089a7958ad4a25f35ff5d8dcd4a60432adeeaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5065e8e765adde865121bb7523edf41e75a30eefe7a23a671a3cdd14ea57d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0DKB7vAnN8GwOnlM2b8fiR7OeEvBVEdJLH_R46Wu6zV1RIVnHSaF6UsJLDVUR4PndHCx2QZkWl4dENkXeai3KWXllizB5knrI5aHyAhnR5PTLrFiQ00TPgG3tp_pD5BV4txBkGjlnndsgQmezykakw7Uoy84P9UMVBK_NoDJQCC1NAQ7XzT6-b6o_AS8ZI4bX0MtX0feDWpRj7ma4KPbmL4bykju5_HRRGbpPV_VRB_LSYai0t3b82PxM7g96HcWX-ORGRDVZJw1vemJV2guxfaKqrwI39aam32bCB3olGlW1O02W-qKgmyLSTR_C8JCgP7NNHGGe1BVqBv6_NGrn7sttYMUP9OAPzWU6Gb74YHX8Lkmue7PN2eTrfXGYzIJrisCElwJigqgKsZt7EJxJC5C-ygCWWiUqV2B21c14jfuD5KQrNhli54xdYWS3moU5t6rl-VCcnPjoj7N65ic78EJkV-OppN5zha95JNmYtcq1jqfF9HRCSPKsSV4giaUy11QTo2SLbcRm2vzvKJIw7TX-btdgm3tsL9L-9UVr6qj7bFnja2nLkOG8hRj42fyUS-64BEnnJK_3kSzdUPy5qh7StQ5hb757ML64qfhMo9eK6ipYe1e_ebUlUhZJGLoXm9ZDWH3XSqOsWiDRdI-PPlkoSJpZkYnhpdbGk5kZNG1tupeGDlU-jFTjdGelS8F-Pcnxry04e25GKiBtlLhA9EyObuvzcrCG6vHZpWNKD9Y3VFg8oV-ZMSfCoODZMFLdqoJOaI4Cz0tz5OZ_LY5YGsBHOBXTnkl6guWlXnlWHoSB3ApsaItQIYv_8A7cTs4ie9qzOtKTxzR7UepZBN0hS9EyIar08FhMzGLgQRzr0EDyX_1XEnhlN217uqNtGZBS4_rEuMQLAGt2BBoohCr4wrhMXSxr2tCGidZ124SfiTY-D2fcekjIyBleuQW7PXCoNETrU96GFEAILStMoByMvxVCutNGgMzZLjb9DTpKsWCULhmEeAawjTxbFY0Tmid44vxUDZa4Ol5V0GDDp3k6U21dtxAXUqKbMMKkYv_spo8EPIdwRnbBekUmhAzNNC8CYmyI7yJVMLc3dKJdHDcaU1N6jXGpHvp7ykM10P5dpxFtGXtRReUSdYvV4VR-W7yrq245QC6qyMUTUM27aZgPC43hoOl5UP-S4z08-mepyw8BPA6ZePETZAmho0LGWt732yDGP2j2_BhOIfQAnUVrtVlTAPU5Bo5Dm1noRDvZqXhtnQVB1yJn_u-4iEjCLXDIgOsF4jE78Y9NSsCTQVdjoORX7gmF9lKkFAawTwO5xS9Rk5-IGRLF9NMtJr0c1_fvtcwPAG6i0BvxEKxnbHqWOvSBEkYI7PNynLv2xcL6Y99e2OpYy46HOyZBe6yTUuB77oXI81Qio2ZNJd2ByNLFAWxc5f9K9YyYV7RteTpkqcZw0DMpyJm1aoprVF0DFtafaw4saxY4yBuI0TVFbf2pv69S3L4qWZTPEEQlTPaPZlsctDJU2w0XFk3c7MmA2UtG1SrxNn7G5nZMoAx5PvVDXY4Se2e-IRFTJtGC-3JCqpg4lr3V4XT0KgDACi2PoLQ7FVKDLuw_bT--cJ0NF_uVWU5l3f26_4qvtBEg4nFxjvl_FKC0qHXKoiUDDdYT7dnnQW04XM2fnnMAIozkZM5J8Ezvhci7kWbZABZVKXir0O0C_rodQa3Jmt7m2DMdFIGNJp-FpIza9O8zgbhEo6NwFGQ5RsEkGbq7Y269czT7-HaJhnA1IMLfvykq9DcvQL6e8rdm8bMT5eRoMCGcmZMSY2QpvJkygB0yKxuitkfMfo8pzLdM3kScvOxMQxmNdgpYYFc-Behb4RzW-cMwka7HW1qvr6f_zg1mAUtUplidv66g=",
  "id": "rs_0dfc25f8d82bd41d016ab41d01355887d0909498c0266ec7f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws are now spread inside the pale bowl, near its inner sides. I’ll make a short vertical lift to check whether the bowl actually rises with them; if not, I’ll switch to an outside-wall pinch.\"}",
  "call_id": "call_aedDKH9NPpsEPQQfwHqzfTMP",
  "id": "fc_0dfc25f8d82bd41d016ab41d02bbd487d0be9b696e9dd60a4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aedDKH9NPpsEPQQfwHqzfTMP",
  "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]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.3739, 0.6086, 0.1425, 0.1959, 0.0402, 0.7956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3796 right_y=0.0679 right_z=0.1027 right_yaw=0.0597 right_pitch=-0.0408 right_roll=-0.0622 right_gripper=0.7956\nstate[joint_eff]: [-0.0068, -1.2376, 7.0085, 1.7021, -0.0659, -0.0855, -0.0122, -0.1026, -6.0239, 8.9915, 1.7509, 0.0269, 0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b31fad51632ccae1fcf01ff5d9db4138bc1e9132e536947f931b6ba762d1ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714c9e2b501b0f5915f4bbde7867c5ed82f51257426b1a08e6104fbcc5d50b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc633a62592825bb98bc6ca535533cd497e2d8ef0b96c00ba495b39b3a439c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 33 changed as sent

message 37 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2546, 1.6329, 0.4763, 0.5152, 0.2073, 0.0559, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.0179 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3805 right_y=0.0652 right_z=0.0301 right_yaw=0.0392 right_pitch=-0.0572 right_roll=-0.0599 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.4564, 7.0769, 1.6972, -0.0708, -0.0708, -0.0122, 0.253, -2.6872, 1.7573, -0.0024, 0.0122, -0.0317, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.636, 0.4667, 0.5388, 0.1982, 0.0463, 0.7951]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3801 right_y=0.0676 right_z=0.0301 right_yaw=0.0544 right_pitch=-0.0478 right_roll=-0.06 right_gripper=0.7951\nstate[joint_eff]: [-0.1026, -1.1829, 7.0496, 1.7167, -0.0513, -0.0757, -0.0122, -0.0752, -5.2718, 5.1487, 1.2821, 0.0269, 0.0806, -0.1148]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.3739, 0.6086, 0.1425, 0.1959, 0.0402, 0.7956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3796 right_y=0.0679 right_z=0.1027 right_yaw=0.0597 right_pitch=-0.0408 right_roll=-0.0622 right_gripper=0.7956\nstate[joint_eff]: [-0.0068, -1.2376, 7.0085, 1.7021, -0.0659, -0.0855, -0.0122, -0.1026, -6.0239, 8.9915, 1.7509, 0.0269, 0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b31fad51632ccae1fcf01ff5d9db4138bc1e9132e536947f931b6ba762d1ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714c9e2b501b0f5915f4bbde7867c5ed82f51257426b1a08e6104fbcc5d50b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc633a62592825bb98bc6ca535533cd497e2d8ef0b96c00ba495b39b3a439c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0KSoG6nMD3obJZTjB4acVAeD7DG6tP5Mz0K3plnxekHRzKNmF42aaos5BN9ah4CMGf_V9RgKAfHa3-FUEWzuOQz67JRejIbKVOrRfmiSyQSDbdeI3APfLfHxCAynG3NfVLkCc1ODjAHW8j1wtQE-m0aDouDWAUwEG8T7VEt9kJ4tg3mgFzCPsY6Aexzu287vg6hlUwr4DzoMpp1B-LiJEN-6bfoOSGdWhyfols9cELbDcKAhQJqUaRhX_aOGX094_5DhvZR_cWF4MVxu6AENRMXJmzdqiYCL6Q2Pe8pO6402BazNG9hobnpnM1OMXLlVGdDLIUYabP19y1dfet0V4Ysp2MOAv97S6YpkAwQQqbRivVjECy8kuZ2JgatJ36RyKmTrFOHYmaJFwpisgDu8t5oUZ1ldXNs1jFqPZKHI5ItRAj1Nw-wxWxSWFIxFfYeUV02oVRDaiWsZfTAP5ndWYOEAMYjpzMk_J-b8ezbQz4SM9t3iG-aU0wy-9x9RGIzPr_oYzz1DExLBJ7mOHck-Gez5liclDCOS8COn8kpMXXi-6--bSiXvQX-euYC_PBswa4nF9J1qjZclgfnLMbMtX64eG-_OUzcRqiduJeAHvcOmAKBhLG6nB1VfuHyihn49tRNIQRUtbCNVA5BptPJg-vazVyFQ8dETjVGQTuVBQWCKmpgyhNjLlHXd0nT7JcXWR7N3ftkQTaJTinr5lY_fqGwq2xYodFaqiSViqn1g-MoSuBOz8S1_f-vrRVs__AVuRE40h7qSc9Pm0sxhyX0wLT1x2HREMUlnTvF3QRABfC6WuQPokitD3HXu_JdwUWunSY6WsAoftC5m88h1CfgYBJ_qcuqiV9Zxm0AkZghUWVBMkMgODu0-E802gmexO8HJgVTBqXVnLRMeBty0p7WGniSErMSvIFKS3Z_Q5wlpKWd5-kliDWAP-KtVwD3u2DzYYVx02J1xQKBUKF6rSG3T4ZEC9UROPR-jACwTiAS3B6d0FXaRyX6D1PwcmfYP440zTazILm_ak1yXsIx4v8xEh8Foe8S_Z1HjJ1YSVH8O9gPJZPj54Q6-BtEXPh4XA-k833IZdcTtenS4pBcN4liEIAb74H9Vc5uzncX4svNiiQ4DV5AIFEc35aiFj3NursUkkbLVG7mRCVLVD6wfnD4P98MHmayvbAepg10oCWjyWh5IcvmmhyyKvXYLGZp_roh-5--fg_OQ8KOL3sdd7KJQnZC_ycOw5Legf4y46mNlNDuMGWAnwuHfDdn8VvANODWZGmAoJiZMRBfwmigiEnrIMskmZ7IQnyDDZGuFcm_9VosldcuL5hTBDHY4hKDMIO1w5px0BfAzgssq27Y1gZs0gziI9LNMqJb5gliSN6GFdl11ZtJ9ADVrnyFKHoWPYs-cFggLKqgYRsKGBIVWm-whcbYir-pDnFN92NQJp-DYbtcqG66Vec7tutzm43Jsi6XcZLCJNk4EV5rE9TVxQnhF1riWDlpLAg4b91znX_QJJiEuTKE06Jt5ec3GHiIsrWWrmweoSEFoXg9kFvH7CndlbNBenOzU8QMUr5dA9yXI3p1YwmgoTFy1TKKAsZUsHgF2xsufBKIq5C6qNXLRHePHQ9-LyZzfiooazXdFISEbjEdjmhM1cWoMfUuBvtt2mU8wge0zXqH0eM6hLQynRaKwWgYwWM5xueLnIlm-_35eAeU9WnaN8mkNakqPDLv1n4QHA6IuQWlXUODCL-CxrVAIiEsCiJOcJ9Q4RU1BBzgkBLqbWYEI-WNXzB88D4aVPCRZcwjseemoP7qP7ho8HO9bKKmB5juCW_oqz851qujGfQ8SCLZoCBYY4Ge_LOWyDaK0tHTodX6w9UaGbkeGPTjLbVb1EWM1mLV1xa48Frp96R-nR29RKx7HNP3JUQiZ4dErNhAMD95_rJ2lZgrg9s7hQMOkuZi8f1VwdHn7R9ws953cAF0T0Jdhe3byVoxvklRg1dPSHF-rZbtTO43lklgs19PZIBkwlHL8iwNJNr2rQxaNjPBjodfg6ZSR2AsfH0MavQLltIUlwpkuRfcwFoSgkJmd-tqXaXUQ030fDtPMMZEEwLS64pxEkQ-FMbArm1GZEkocBxAaygunh9OA_V5S9PHPXSQyY9tF1guacqsVVwaIjWANDm_ZDqcJePhDG3l6kocJ47ofYdSmDgAdxW8JzQzGplPHsdpqds3yjGXLHULTHiScFGmp9OlH7-r47Y--R3gxrhX10XozK7XznjrZylQzLgPcRbjyChzgs3WUXP1j7zQn0MF0qdSbG2YQg6uPeTC_wPJrhUhlWBwM9LNUep1Zgj6oFFmj0d3B5IkYzul06xbigz7oonRIJ76gCN8MToPXXdmOLTq-QgzM_ReySBsuGLTgg9V1aQMT1wAl--j12y0fxO6tOBhnoP-UJ8rX-jZ1yvV7sY5vA5K4ozDe9EHBBpcpnFSNWmVuqZOFnXvN3N0WYcyM1_pmU8snrG263BuJbQKl6ANvTFvZ0yzDStrw4Qb_BL4NEROtTizlil8stR6X1vWsnSvjEsYOU6o0eLPM4nX99EmQcgeTtftux3W67w5sXNz3wfRsfeNyVidKigVqcFZaaH3tV4_RarCb3Z42DMF3bupEFOdaoNEKYFELRSHjnYwBo3c51gEn9wOzc3gOgT2isX8KE8rZAeL_yR8EBSnL8yWy8Hq22KzvQJcpdfoxW6fDG70eJTdB3Vd_v68LwKYvu3NIb6EQEuIchnK-yLwH8xW1b_XJMIVWb7VSuOV7rxh1Hqs8R74bZMtLeBBvFgaJGV5m4x5knbSee6J2nOKAhC7r9dfw4m7ZVyhJMUuLWp5tRAswf1F3CkSBZ5Jxux-w3jOz7bfyIctNvADRMP8i42KdAvxIkZCm7W4vVmFvCBuwc0qpvsbrFQugowq88l-AMcEPrQxhWSHLIvP9-tgrx1U47q4FEiDAuHAx7f1EyiVhDEzkAXVgtXLYfGyy6s2aPbUOI2QB_hNi6crvPG4UC4BaVIJazm10db5lfVEMys1hyRVCYbJm5o2gXeuotUJZQrUKYWJGpPdnCupx94ljZ2QyUetkMpPJmJ4Q==",
  "id": "rs_0dfc25f8d82bd41d016ab41d0545a887d08d08c7fce5f7447f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.015,\"right_gripper\":1,\"right_z\":0.095},\"note\":\"The pale bowl stayed on the table during the lift, so spreading the jaws inside it did not hold. I’ll move the open gripper to the bowl’s right-hand rim, where one finger can enter and the other can stay outside.\"}",
  "call_id": "call_xU8k0aTpbZZzWfirbNMedTQJ",
  "id": "fc_0dfc25f8d82bd41d016ab41d091a2887d098a901844126ff45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xU8k0aTpbZZzWfirbNMedTQJ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0559, 1.3582, 0.5575, 0.1432, 0.0605, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3729 right_y=0.0138 right_z=0.0855 right_yaw=0.0281 right_pitch=-0.0881 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.5521, 7.0906, 1.707, -0.0366, -0.0855, -0.0122, -0.294, -5.0393, 6.3521, 2.0733, -0.1832, 0.0122, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685499f0abdc6f3376d1c1bf6fbc784e3a83885e8cd906b55e306c749382af02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e6be5037b420b0f07718b41c8377c6365b4e0a0c43ed706c34f0fc4d8b9bfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13fc99920201c26d12359e5e4dd7258e3a2e27a9211ca166b0ed01fa3459c789",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.82 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.2565, 1.6455, 0.4664, 0.5106, 0.1997, 0.0513, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0013 left_pitch=-0.0175 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3752 right_y=0.0659 right_z=0.0211 right_yaw=0.0496 right_pitch=-0.0848 right_roll=-0.0647 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6972, -0.0904, -0.0806, -0.0122, -0.253, -7.0085, 5.6137, 1.7021, 0.1245, 0.0317, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.3739, 0.6086, 0.1425, 0.1959, 0.0402, 0.7956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3796 right_y=0.0679 right_z=0.1027 right_yaw=0.0597 right_pitch=-0.0408 right_roll=-0.0622 right_gripper=0.7956\nstate[joint_eff]: [-0.0068, -1.2376, 7.0085, 1.7021, -0.0659, -0.0855, -0.0122, -0.1026, -6.0239, 8.9915, 1.7509, 0.0269, 0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0559, 1.3582, 0.5575, 0.1432, 0.0605, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3729 right_y=0.0138 right_z=0.0855 right_yaw=0.0281 right_pitch=-0.0881 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.5521, 7.0906, 1.707, -0.0366, -0.0855, -0.0122, -0.294, -5.0393, 6.3521, 2.0733, -0.1832, 0.0122, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685499f0abdc6f3376d1c1bf6fbc784e3a83885e8cd906b55e306c749382af02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e6be5037b420b0f07718b41c8377c6365b4e0a0c43ed706c34f0fc4d8b9bfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13fc99920201c26d12359e5e4dd7258e3a2e27a9211ca166b0ed01fa3459c789",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0dfc25f8d82bd41d016ab41d0bb98c87d0874feb2dc3594049",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"From the right wrist camera, one open finger now lies inside the pale bowl and the other outside its right wall. I’ll lower the jaws to the wall’s height before pinching it.\"}",
  "call_id": "call_KfHVUuq23XFaubBslY0ReFS3",
  "id": "fc_0dfc25f8d82bd41d016ab41d0d1d6487d09c76191045a7b04b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KfHVUuq23XFaubBslY0ReFS3",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.5021, 0.4702, 0.3153, 0.0429, -0.0788, 0.9961]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3648 right_y=0.0152 right_z=0.0341 right_yaw=0.0479 right_pitch=-0.1481 right_roll=-0.071 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4427, 7.0359, 1.6825, -0.0415, -0.0366, -0.0122, 0.2393, -6.9128, 6.4342, 2.1319, 0.1441, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de76316128367fbd9202552833657011863886c864b8555e60c657781fb110a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c113e6b5778be9092a1cb9d0f2bf1f0398e214fe8d6cf639080201948e0433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5524f324977ed1d011d3449eaf3085bc0854b3adc4ab99526f5aa96304b6c2b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.234 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.636, 0.4667, 0.5388, 0.1982, 0.0463, 0.7951]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3801 right_y=0.0676 right_z=0.0301 right_yaw=0.0544 right_pitch=-0.0478 right_roll=-0.06 right_gripper=0.7951\nstate[joint_eff]: [-0.1026, -1.1829, 7.0496, 1.7167, -0.0513, -0.0757, -0.0122, -0.0752, -5.2718, 5.1487, 1.2821, 0.0269, 0.0806, -0.1148]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0559, 1.3582, 0.5575, 0.1432, 0.0605, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3729 right_y=0.0138 right_z=0.0855 right_yaw=0.0281 right_pitch=-0.0881 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.5521, 7.0906, 1.707, -0.0366, -0.0855, -0.0122, -0.294, -5.0393, 6.3521, 2.0733, -0.1832, 0.0122, -0.2759]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.5021, 0.4702, 0.3153, 0.0429, -0.0788, 0.9961]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3648 right_y=0.0152 right_z=0.0341 right_yaw=0.0479 right_pitch=-0.1481 right_roll=-0.071 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4427, 7.0359, 1.6825, -0.0415, -0.0366, -0.0122, 0.2393, -6.9128, 6.4342, 2.1319, 0.1441, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de76316128367fbd9202552833657011863886c864b8555e60c657781fb110a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c113e6b5778be9092a1cb9d0f2bf1f0398e214fe8d6cf639080201948e0433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5524f324977ed1d011d3449eaf3085bc0854b3adc4ab99526f5aa96304b6c2b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0dfc25f8d82bd41d016ab41d0eee7487d0b0e85da317433697",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right finger is outside the pale bowl’s right wall and the left finger is inside it at low height. I’ll close on that single wall and check the jaw opening for a real grasp.\"}",
  "call_id": "call_cDeGBrFVavo5DgdXmTeFEhXU",
  "id": "fc_0dfc25f8d82bd41d016ab41d0fa29c87d087cbfb492c2168b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cDeGBrFVavo5DgdXmTeFEhXU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.4982, 0.461, 0.3363, 0.017, -0.0681, 0.0406]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3652 right_y=0.0198 right_z=0.0359 right_yaw=0.0642 right_pitch=-0.132 right_roll=-0.0458 right_gripper=0.0406\nstate[joint_eff]: [-0.0615, -1.1966, 7.0085, 1.6874, -0.0855, -0.0659, -0.0122, -0.1846, -4.2598, 5.9556, 1.0672, 0.442, -0.1099, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b140d4d6c987e59525a853cc1cac2261a7a1fbdff1693a466f3f24714b4280e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688bd33d4a333505bcd4bf8c25445ce19decc0188fa17dc13f4353d205831671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecec567084d3cc5a9e916f6f22475cb7a7b127da0bbcb08539ca2dce79ef3c7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.677 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.2569, 1.3739, 0.6086, 0.1425, 0.1959, 0.0402, 0.7956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3796 right_y=0.0679 right_z=0.1027 right_yaw=0.0597 right_pitch=-0.0408 right_roll=-0.0622 right_gripper=0.7956\nstate[joint_eff]: [-0.0068, -1.2376, 7.0085, 1.7021, -0.0659, -0.0855, -0.0122, -0.1026, -6.0239, 8.9915, 1.7509, 0.0269, 0.0269, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.5021, 0.4702, 0.3153, 0.0429, -0.0788, 0.9961]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3648 right_y=0.0152 right_z=0.0341 right_yaw=0.0479 right_pitch=-0.1481 right_roll=-0.071 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4427, 7.0359, 1.6825, -0.0415, -0.0366, -0.0122, 0.2393, -6.9128, 6.4342, 2.1319, 0.1441, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.4982, 0.461, 0.3363, 0.017, -0.0681, 0.0406]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3652 right_y=0.0198 right_z=0.0359 right_yaw=0.0642 right_pitch=-0.132 right_roll=-0.0458 right_gripper=0.0406\nstate[joint_eff]: [-0.0615, -1.1966, 7.0085, 1.6874, -0.0855, -0.0659, -0.0122, -0.1846, -4.2598, 5.9556, 1.0672, 0.442, -0.1099, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b140d4d6c987e59525a853cc1cac2261a7a1fbdff1693a466f3f24714b4280e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688bd33d4a333505bcd4bf8c25445ce19decc0188fa17dc13f4353d205831671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecec567084d3cc5a9e916f6f22475cb7a7b127da0bbcb08539ca2dce79ef3c7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0U5aZTOzohO2KkDbdciLUhB3IghiZF4w7MB9JN78toWzRHlfCoMPNYQEN_AXoJh56sd9QjiuQ3B6mAHeND1o27BVT2j0DjNYJuwk-fFGkd4raYtQv56CgXk5Eeq8OyQ3viQ6U0O912GALH18f3gNDL6fPD_1vpYOTfSiVhouUm8AD7uOhZx96eUzKHyez23hA_BpxdeCL5hL1bN6UxE1OcrVGRBRSiM9SzCQ0x8utBcB27ISBqkWNLFuLdgIYttjBUReJCjM43zQFGO4ap_ecXoQstcp4eU0kpWyuWuSBESrN3cS-LkVMUJGmQEKDj4PL2QGJ_T2agUT_isnsTfKZIcztHBIDxqaKciChRm-V7jmP8vFCXUpyoQbLdlHgLg25EcjelAuhbXcJX3Fe-iBm7W0kYPdoPmCz_UUBsPfEsG83sFR9WNXSnydlnXcTUzVw3zqmpk9Dbd5STQR3Db4lLm6Ppb3Z3l9fN3LvgbQBh2Njr9qBBBofR5dCrI_MIzFDtNxmNdIt7JRYbzRLfHrxBK4HHkaXWy6_lp0EHdHD2cz8EJ-58zw2Jj7oUCO1irTjtzJUgrXOoGh2zycPIuZ56xSi5KFJyaOJkRWUO7HYaM1Jw7WoO4y8SR1WEIEpwonIrWZ04F7b2v6LWIBFbY2fmzYBo-BCBvRKzzLwt_8M87F_20pXdtndMCh1pCxS3DoFuUYAaHWrGOLBVFni9cjf5ivzQyjzyrIvkkAEBC4IZLk-8OMjKtlbcK9n-j3eTgQlDPPzMbV9tV7UCYfWK4PFP7uUicBN_pKPcU9fIhLjuZOaIaB536xm7YGyxRMzJ4w5OlHIyXck7sHnI6o4eEJA926C_x4yWuvXUUbTHzRMXpDhM-G9oI3GnZOYgLe0M4j-2OjviRGi9lqrjT4wS1UMEBzqc_uAUeaGEXLT7rrvxwiiMbdjRsZhwVlQal30vE-8LFGSdVououuf3MMWMTm6D9RLazkAT6Yy01K63w5A-C8ykGEmAycSvBxjJsm-y1S0zNQKp7SqwinW6P8qISM-0oRaQROHCCgapBmJ_7r955xdI8lPz06pSEQTeg1T_nnSRpx3gNFZ2sT-sPlVCAqhHdTUcKc07tlzCQAlIORoqOR0fq7G5OUAZYTETANS0jm6jQBnR4F5Kn-lCEZHDBJRe0AIwNeVaj40yKj5qPokeuRh5_GPc1CkRMnBE-33UGFXlCRCtM8gkUSrs5tecgkMWKX81hzmTqhpIDsOJebjCNZau3MlRsyGtT_pkajyqEri9SXsvUzZtuUsBj8fDWLF6_sMaedkyhY-MLquAqLv1a24=",
  "id": "rs_0dfc25f8d82bd41d016ab41d13720487d084c8120dc0256a19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The jaws stopped slightly apart at the pale bowl’s wall, consistent with pinching its thin rim. I’ll lift five centimetres and check the overhead view to confirm that the bowl follows.\"}",
  "call_id": "call_xZCVlqTN7rGPEfVNkGuPJVSG",
  "id": "fc_0dfc25f8d82bd41d016ab41d13da6087d08db35a2369336902",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xZCVlqTN7rGPEfVNkGuPJVSG",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.0521, 1.335, 0.5583, 0.0807, 0.0166, -0.0753, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.364 right_y=0.0196 right_z=0.0817 right_yaw=0.068 right_pitch=-0.1272 right_roll=-0.0512 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.7411, -0.0855, -0.0269, -0.0122, -0.0889, -5.4359, 8.7726, 1.7949, -0.0269, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a840b52c8e2c1a7b390fb3e9e8bbf9002ad0e319f30ff99e3a3c32b1beba7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b20ebc5493a92aecc61575a767a26bd09e1d1994dcfcaf6d754f53ddfff0fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8200b72095936320fa0e1742dbba1578e9bfe80d50ac2221c027b4984186f0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.679 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0559, 1.3582, 0.5575, 0.1432, 0.0605, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3729 right_y=0.0138 right_z=0.0855 right_yaw=0.0281 right_pitch=-0.0881 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.5521, 7.0906, 1.707, -0.0366, -0.0855, -0.0122, -0.294, -5.0393, 6.3521, 2.0733, -0.1832, 0.0122, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.4982, 0.461, 0.3363, 0.017, -0.0681, 0.0406]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3652 right_y=0.0198 right_z=0.0359 right_yaw=0.0642 right_pitch=-0.132 right_roll=-0.0458 right_gripper=0.0406\nstate[joint_eff]: [-0.0615, -1.1966, 7.0085, 1.6874, -0.0855, -0.0659, -0.0122, -0.1846, -4.2598, 5.9556, 1.0672, 0.442, -0.1099, 1.1355]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.0521, 1.335, 0.5583, 0.0807, 0.0166, -0.0753, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.364 right_y=0.0196 right_z=0.0817 right_yaw=0.068 right_pitch=-0.1272 right_roll=-0.0512 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.7411, -0.0855, -0.0269, -0.0122, -0.0889, -5.4359, 8.7726, 1.7949, -0.0269, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a840b52c8e2c1a7b390fb3e9e8bbf9002ad0e319f30ff99e3a3c32b1beba7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b20ebc5493a92aecc61575a767a26bd09e1d1994dcfcaf6d754f53ddfff0fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8200b72095936320fa0e1742dbba1578e9bfe80d50ac2221c027b4984186f0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0ZKwkqAnsqgQUun-GtulLUW4aIVCTt36zajFeGySBNtj3Wgv2WxeGjhBUQbqWHIbgRkGHo9dF31pxuRTdKIBiOsWiqAfmp90YvYNmnYRem5lgqcGl7X_N1MzwDlCrQ9rIQ6MYu0JlnTm1Z3PqCLkP_y1pf1kwfUtGSyXAeEwKY9aUHd8TI2NJAkAh8lsEXEaahysklDsePqjERCBg7LqsZM8VUWZg6p_rjwu5os8k2B7PgXdag1zKrspIqux22WZqdbhO-A3ypdD-vW8ABiGhkJNQIM07ULLikX_5MidyJlJH3cQwU98DEiieWjkjolFJQpNBzKf3fUS0bhSgyDIKtZhAblf39nQaPae07xp1wo37hhFQCfiJnwMsDq_dG3w4AgJnyf5nVChcLuG7D2oVHOFlSM1sXx5ClYOsxTiDlbtBqMy3ZTqiVEyQHtYFBfr8k9XG2KK4o9li1tP_tcclaeaLIYFxHFEOg1W7DuZnIOuY6DTG81Qa7mWjqeTAhKnSJ1kU0zKoP_f5V_ULtqpb97oJnRA-3zWvQ0kItukiPjE7q7masF581rcSHayucb3Z4-LR-_NosxW8C2HkamqI1Pub-VWc39JzOinREf92jCK4qrqBVZNOiCXfdPJGXcb6zJZ37Hglv0UCjCuf4JcYzK4javMxr2YG7mYVcHuCBHOEhKl36a6koiI4wxH2TvHPfNrdpAWQPO43Eo2Yctt6qWS5iFUYCHCRNLYHTU-eH6HP7brDjsPQxPToyqebc_MWIqTaCer7HXbOkB2lXVwI-zZf5vRsZ496DURDqfLwVxfi8ZcpLD76tbLwL4Rj8S5-yUnKCtRu_vPC6GdVoPGVhf1Vj8zWT4kUhQFTEx6EbupYcgTbEh8599bgubffdt58vfOIwhh3I0Tw2i4nGbPJRIcNvXeZTPFTazmu2UvpLcX2w6ao1ou1HN-EV6uQXkuBGyb660Jf9caiuf89OPTMCmefuJ-27ZbEVrZBuxc6eC8UaAYhNWTChDsaxDivnBY6-Mr139EMe1ydOp23Ci7COKjf3M264NkactTIsq7xYYK1N9t1kdnvF8d4wGeDp854ROEiOltXATyP07oWmg5-y4NiW0eNwQTe6bcsmv3K3_Jy_ZKhKmPgchScICGvvOztp5WWrucnfVvOPpZqujzkquRR20XLjnvVSzW-eyOFOpPykOd-h_svSRqWwr-D9LEGKbp0uuvSdn0R97ygzh7k9DYCdLqdvjyVwKoTXRa0_0JkWek4wgzXujMh-NcIzpbT8a4TL5holqrWiRYoFt0eqf3iK0S6UJuPPgSpn-SfybaZ0QejpQ7G4vit9EbE6s-IvVtaaMg6syi9WJqYuP5GDUbc1Yt0dygknOL205uNGmv55qujcH7lVuukxABMnrZZelUJoCyoGRRibj1GdW7QL3eZAEmpZqCxctS1GZSSfe4xEUE4CjehcGMkOIpM7oGtFQfHbRGLIKUMXsfBvE4Ss2LvPf8RTXDsmqGAQkzsaUBEtwgz5PHwodzp4Ah5w1WW1S4dvS9AzOBKolpSNqAB9ZO9NRSsjQy3IEgktsVo5l-hg4iqp_Ytnqzp7RIWOAjTGk0LdCVklPttH-IvHhb3t6Zp-kSjS6vTToCxfTdDGDBETd3KKOkNblP1gs51keQ7BbH0fn6xn2azcIwCRuE2K8V1UnitUFfiooP_S3OMsZT3hoLlqlkcUH_JJ8aRQMkJFz-vuOHOohRbc9Ye3P5d3B83S9Ze4tNRr5BKrjjbSxxOFgwrjqxFRDs1Kcl2YgU_Mj-pb1oQg8dwXCXnSDl1jYkhV3b3uRFSlrdpYpnP63JBHWpz9FezXtTLfNMfnmchaSn7Jd1J9_OpkwzXu5V44A5zGy4gyWJ1Te74AsoVXrq_2Yd7Oe4TpJmAmgJUPOYHHt-J9SdDIFonX7e7uzl4V_F0oi5AK0R3decFlSouoUUI=",
  "id": "rs_0dfc25f8d82bd41d016ab41d165dcc87d08840f4baa32b3657",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_y\":0.105},\"note\":\"The overhead view is still partly blocked by the right hand, so the short lift is inconclusive. I’ll raise and shift the closed gripper slightly toward the center; this will reveal whether the pale bowl is actually being carried.\"}",
  "call_id": "call_0yN2aAoYeXtfEXKCS0J3uVQq",
  "id": "fc_0dfc25f8d82bd41d016ab41d182a8887d083a552ba8a11eb7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0yN2aAoYeXtfEXKCS0J3uVQq",
  "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]: [-0.0196, 0.8127, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3885, 1.2961, 0.8597, -0.3161, 0.2321, 0.1036, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1744 left_yaw=0.0032 left_pitch=-0.024 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3588 right_y=0.1068 right_z=0.1517 right_yaw=0.1237 right_pitch=-0.1596 right_roll=-0.0646 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7656, -0.0855, -0.0464, -0.0122, 0.1573, -5.1214, 9.5795, 1.7265, 0.3248, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96773518ce7ba21f72b6f07a8f2b09e573364516cc8a4e6d623a3ce82a62397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e294407fbdca02c1f8b791319312c897cde02e2a9aac1047b573865ac754c69a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c64bc83e2c53ab03d054722b33b8664654ce4298f09544a146ef6718cbae93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.772 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.5021, 0.4702, 0.3153, 0.0429, -0.0788, 0.9961]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3648 right_y=0.0152 right_z=0.0341 right_yaw=0.0479 right_pitch=-0.1481 right_roll=-0.071 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4427, 7.0359, 1.6825, -0.0415, -0.0366, -0.0122, 0.2393, -6.9128, 6.4342, 2.1319, 0.1441, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.0521, 1.335, 0.5583, 0.0807, 0.0166, -0.0753, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.364 right_y=0.0196 right_z=0.0817 right_yaw=0.068 right_pitch=-0.1272 right_roll=-0.0512 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.7411, -0.0855, -0.0269, -0.0122, -0.0889, -5.4359, 8.7726, 1.7949, -0.0269, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3885, 1.2961, 0.8597, -0.3161, 0.2321, 0.1036, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1744 left_yaw=0.0032 left_pitch=-0.024 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3588 right_y=0.1068 right_z=0.1517 right_yaw=0.1237 right_pitch=-0.1596 right_roll=-0.0646 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7656, -0.0855, -0.0464, -0.0122, 0.1573, -5.1214, 9.5795, 1.7265, 0.3248, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96773518ce7ba21f72b6f07a8f2b09e573364516cc8a4e6d623a3ce82a62397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e294407fbdca02c1f8b791319312c897cde02e2a9aac1047b573865ac754c69a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c64bc83e2c53ab03d054722b33b8664654ce4298f09544a146ef6718cbae93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0fe2sABZIJXTJFb0bz1O9i9jsu7n08agBEBPoCGzcxCGeYQMY7z0VAf7Ee24iCxY53oAFtmXEv_9GQqDsOA9HMvZCMs1IT6yzUJBtzvoq4lPoEzYLj7Q2vHvjYK0BmkjQOzhSTZBqQnNa5TOQVncYrXeqYi1BArL_0vSHRYIX97u3pVepkxfhoW-cKltrluAwmL48Ycv9zipiS-Dhw6FA45tGkn7TZ9yQqqdxsnjbUXeR9XwjDF4iYKmhSm2H6qFdsGDozXk7aYExssGTirpVeGynnpomTQndXkDUGwJJCmcrOb_MowvtOG_YCTErbWQS0t3KUQ7SNhhajbLfy-yN3fgpgum7Um4IqGoSjXrk_DakYhlWdDOlcpIISkizAO-xPpo3NyJmWEcBFfeICFCMk5Q589kwtazgo4ZwUL3l0bq3ddnDBKMRI9qI-7HlTxvHUsK_cA4a1gS093gqlWFZlyOYntVc0ww5ngMd8BPE9_FYhBlyV5kbjyjrtJvzPk_qXv5LEYWlPa9Bbwls6kWJIxg9SC8wMd_21RH7oHQsOEBGl5NV20l0Pf7QTlEA0BIAskXb-XM7VSkIjEL1R2FqgnSRrZst3gZ0qyWH2nTDd_tqpOqAT4SZGrj-X9N4wN1clsQIF60M5-CX7z_dJw5nO0--uqVxO3YrHD9RrTCTvAO2XYeMPXOnYYIktYkyfHoCzFeJi5p7M2MhGdg73TsaWy4NDv7xChHwHDxS_OebsvZNkZ62yQAfLjuoKPHENxVUK2foysyLv87fdka1geODTPWryNomVtX-Ur2LhcCFGFw-84WQg-uNxoGpcNE-5PfwjBya2OKFibw-wTqpD6Jb-xl8_bBjC7PnCrGE2OZao9m0RQRQUniA12JglpHS6LLhK2413-aLYfg-CVZ_lSwzWoW16at55kKl8HxbkCPzAHpjOg7LRKKuUifGLGK-CKV9ElHYq_1UWzSaukKQz37_qanBVJDx5JHsxCz4c2Oonizs4t116bKf7Kmr3c7Ca0BzUMSJ6nLIJcsrNhQWN6Fn0HHa4GEJhosHs8dNkftBnvMoHvgP5t8GOpRM0ivGzc_4UuULJ_G0HLgfDhMC6PrwhoH6XRm-mprvl94-CTGk-Ffrr3mX_rrykxS4bq5DDM-WYZ-fc_UtA9XpKhQ7b-GpLBAc68MoTrZDZN4rkTDf8nuWKRb52FamznQ7CqKHhgEFpasMP98oud2Mt7Y8Itu-93WeTPcduYFad5DO1UV5Laru5NnWAkfzM1CniLGdEl2Bd7QK8AsFcIyT0azmTsyj8SLl1y2jzaXpGocbouDcprp46xzbCOX7hwt4NifQXigrT2UdGfYWgqvC5xz5vqB3f5s1F7tnYzqdECBCVLzJNHs8dErc03t2Nokb6aKFA-SeiiTiEVUf83etbcdIVKHLGEokEdSKps_oN-4nUgufRnHEjbve7UakZIVlIyuPMzdiIGIVAgv9MIQbQCbjJbkLIgwO9pEIDTbZUhXak6XPdvCs2gi9l_nEXzEri-NKa7ir5MJBcxvs3-iIi9SssbTB3cEzJdW2jrlYhQReCpo1bExqlTZLz0Ad9lC2dm5eQXnUwLjKOpRP8s1agiCMayBe5-FdTT6uRiCT1GVZKihbVSWzSZGgYXaFSVIM90ZUZUdo47g8XCBEm9S6qEGycTiCol0DbYgMzULAnuJ-HAKBZp9jfr9I7Cnt-6vdBmChYpVBjDQvtj0lI546JyExnotkKoAgXN36nFh1y110VuZoBD4izwDkZ5PauzCYtvA6oVAMKDg9WIt-y1F5NJCTlU9hB2Gd8JZYbFMp-S1byMhzi1wtNWSpRUjqdUbHDv5Q80kpDkY02ZP_lk4wLuYd6T4AUHD0BNhqA4QDwwj-QH4Mh3-SbmCYAd3b9o3nJehozJ8ceC1NcpQHdhkSs5-T86MNJ5vw7FhhxDUemPSDfrxbWiIhbnQhd8eCUMhFS_M1ElA9G0qnNR1hRAHXbIFKPpmazhfWBJaBTGZrRyNw6oeub_OGszFUh0QcHg32qieL9WsALZglF-e019ex_uWasinMsIfVEo9H_Z7QQ0NmYVreScSPGgs6yWM1d2MNKBDR2Oz4o_SU-nhsduJt6SMCLd2hz2NiHbpdBfCFIeGBi-CKVa4x9ZH9RQKNBl7PIpM7M0j45Z38ph_FDH9EUiAkN0sDwl9tdgMuIHAIbpJOKl2FUQKJkTQ1l_PWwLqMsKekD1dlDOdweoh9bBezVSpw6zG_Q63HeJoVUi-_BoGw34rsKg1uEDZk55whrCHsxTMHVLxy6d2QKvsfnfso6zOPE7abZpE033h--uCGlD5vd5Bk3AYQeO1F4inpP5srF7RiKNQgAebKKSnFe094XR2MQZ_DHV1mcJPxNuo-DmlVPKjKqUHSkZ8cpEDh8Oxk0M3dARLFeDvprBwO378LBHx2i4uZSHsU8EJlwiXVPQvs_zkOtBpWHJY9WbrNS7j-hp4BYLi-5jSU2tBl81bAZeyFHEmsXVivnmhXOBNvlwX66Oye4wFhUTB8Go0GD4fTT-GLG1KuUNYAmqjVzbs_XVfqlleQajsR8btfQLEr6HJz4HVRFt_LeEV-IO4Fh0K_nYeKAH3Qdpz_YKHb9iIZs7hMhnUh4KlkWR5JkYyyRN3aVa84HM6ShjR_B5VjIgIFKRM7MsizbK64rsJwwvnVVA1fkswpgosk-jhqMA46zXNeneOqqGT2tQhX6HANzuBtCfNL8xPGdKDaFt3ziM4FPNFOGL7_UpVNwCBeYmMKhzCkgqfcqKBiiZOvfMpUNqLCCLIEMRk8Yk_tM3uygv1K7OopDLLieXLe8LGu3r4yMHnIUzWIdNCywE10BkdTUMhtesVVv7WC1",
  "id": "rs_0dfc25f8d82bd41d016ab41d1af43c87d09d673826686a0919",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.27,\"right_z\":0.18},\"note\":\"The pale bowl shifted with the right gripper, confirming a side-wall grasp. I’ll carry it high over the blue bowl in the middle, which will serve as the bottom of the stack.\"}",
  "call_id": "call_JIGejMtnZhfGnBj1FoFEfYGB",
  "id": "fc_0dfc25f8d82bd41d016ab41d1e748887d0bea55dc9bd2cc82e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JIGejMtnZhfGnBj1FoFEfYGB",
  "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]: [-0.0196, 0.8173, 0.6075, -0.4019, -0.0227, -0.0494, 0.9995, 0.7818, 1.7363, 1.3724, -0.5442, 0.474, 0.3717, 0.0443]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1707 left_yaw=0.0053 left_pitch=-0.0408 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3762 right_y=0.265 right_z=0.1622 right_yaw=0.1625 right_pitch=-0.2115 right_roll=-0.0977 right_gripper=0.0443\nstate[joint_eff]: [-0.0068, -1.7436, 7.1179, 1.79, -0.0757, -0.0366, -0.0122, 0.1846, -9.0188, 9.4701, 1.4432, 0.3785, 0.3004, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda5ebeeb59505b857772e8cbbd2e377b8c0218a31383b45cefef840999abb23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91ea5e9b5134c1b94ed4195289767fea0c57c05af50aeef1278304762725991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536b549a04831c7bcc6154b34710e43db2c2f9021bdc009e2d33dca979238e26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.296 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.0525, 1.4982, 0.461, 0.3363, 0.017, -0.0681, 0.0406]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3652 right_y=0.0198 right_z=0.0359 right_yaw=0.0642 right_pitch=-0.132 right_roll=-0.0458 right_gripper=0.0406\nstate[joint_eff]: [-0.0615, -1.1966, 7.0085, 1.6874, -0.0855, -0.0659, -0.0122, -0.1846, -4.2598, 5.9556, 1.0672, 0.442, -0.1099, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3885, 1.2961, 0.8597, -0.3161, 0.2321, 0.1036, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1744 left_yaw=0.0032 left_pitch=-0.024 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3588 right_y=0.1068 right_z=0.1517 right_yaw=0.1237 right_pitch=-0.1596 right_roll=-0.0646 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7656, -0.0855, -0.0464, -0.0122, 0.1573, -5.1214, 9.5795, 1.7265, 0.3248, 0.2076, 1.0281]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4019, -0.0227, -0.0494, 0.9995, 0.7818, 1.7363, 1.3724, -0.5442, 0.474, 0.3717, 0.0443]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1707 left_yaw=0.0053 left_pitch=-0.0408 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3762 right_y=0.265 right_z=0.1622 right_yaw=0.1625 right_pitch=-0.2115 right_roll=-0.0977 right_gripper=0.0443\nstate[joint_eff]: [-0.0068, -1.7436, 7.1179, 1.79, -0.0757, -0.0366, -0.0122, 0.1846, -9.0188, 9.4701, 1.4432, 0.3785, 0.3004, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda5ebeeb59505b857772e8cbbd2e377b8c0218a31383b45cefef840999abb23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91ea5e9b5134c1b94ed4195289767fea0c57c05af50aeef1278304762725991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536b549a04831c7bcc6154b34710e43db2c2f9021bdc009e2d33dca979238e26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0l3FVv5cC4ZCxnzNF_XQUV_GAohUImn3EhXr4HnNOVOOQ-1r0HkPG65cJSGwIPzx8o6Ciq30XSVRVsz1bqBW3nHRULEWV80OgJhWu0UUDspW7dtF7M53rWDXqVsOyN3UUJvNphxBywlAphjYjVrnGp1t-bqFJkrmaFwwxSxb9VBkDJpYooP8yg_kTa4KBtmjYPjNmxQtkdp0q7lUvgIU0NSlCNCtJ7wYToGP2hyQfaF-p5aiLm53yF-zpC-Xs7S3tQnE8SKFQRacmddCEzS-Zn-9nSd3qF4uZgrIT-SMwHHdLLKzCMGeE-qKKF6UWkdWgdUU4cUmVpEXiMugWHUd7C0kA7n8895rqlRGICU-9nXRuay6s8fjv1TAyo-a0tFQv7UnGH18mUdRC8oNRAD2-f21uxTYfmwJ_lH7eY4L7u6VDJC993jryL4a4exCD8E6vndklpjvyKuenGXiEzZAWFJS7C82b6QFiaO3zfWC2Cw5vi3tI3PiTPXpdVHPBsMgElabfaZMu-UiWZMBAOjl9qIQbdSGfOTzvx9d-C-R8jvL-t0ndctkyrpVGjgodu2Wh-l-7QEicsnJwWd6-lp5Ckl9but3ZcjXXgCOtC-6kO4j1Nr0bgX0dulXczt-HJyQhCUQbIua0cc3gNU_ZTxlyqQ7ZkL82nSydPYnNk99CkudfeFyPvOlEVM-jU0rg6Z9bFHMEnQHzpzfWPuMGVSMnQu9dQu71bpn7V_jk-FWzhLfzkc8IgHr48LHkdNsgIWSQuxLX7XJORQWuZeDTUv8JzL7V9xN9gA63lpdrd_1X_EaVrzCistjdt5vRNeQ87YVnDrSZpuCbjBylmuailtwGGw0bsjhBnQVwhCt9AHSPVeKQECLpBx-43tjB1LG4exHVvNsw94GExnD05vCHsD0psThvqujwHRLU6SK1D8hRVM_sYFw1o4qVeHDS0rupL-PaE8gStutot_9a0s4v6PBMEatvotC0n4vZ6jPMe8liA11CX8LpYf6EeoYJ0y1GCEi_IIarBLhJtFKn5nRkmCx4rWSJZi3XePeDHe5ZTOX6gyj203MOJi1iSzEoDKkP8VxRkN2L84w6qXhFTIxATMOfN0kpIvbqgh5komilHcFLt5uwv1lrzJZyJZEAHzE05SEWqkJpXSQu8yVkRXm5xlQzQMUW7PmIThdm-UkSXilKMipqeEaF6bh_pFlc39LJhYGrEct6SJaSEF2u_HegZfMHOOH96JDq_xkFhpmEe69JU7lcBLb5X2bwEn3p1uwX5kNOslBF3zdFxRi-imM7QQMTNKDeF9yi7m0r_tWrHb76pfECZW-fVo5qEpRfMgoDLZtytTV8lnSWc-JGpm-Bh2XI71vOyMvKDWfFoSCbyhjYnd-mcP26DDBo4hMAsH1CQwNUQTc3V2jtAz4Y6kkCO3qy5HTX5OV4w4zNELmi557OGsfxUCRjquVvpMz-0LeB-oikjfTAiL4jjlaM1wBmoNAT1Gszr2QusNaMS9cJmRm9FoExV0ZcI8X_1BLao8m0oxldoB9HBOE5AauPNJgGq3WS6-FBCwJoOJFPourjKFhGn47zAMLKXkv5J76l78irKC5No4tZF_yFZl7U8-eVMqW0QA6L-izE_rbNMS2YSWipZ99ZzQZVGq9R4wGKNRZL7odPHXHc1S23ZOo9_Uo2XwLiphvj1HZ-THMjkLQTzFYSlggWd-dMYvFiRs-J-h-wkkVVwXAiShWEbbsi576Q7PqWOpu1wHr--uh0kevNHUErCgb1K0Cf2Gxv2EbCAuscZd4HTVeqhRx7VKoDIvS4W6Y2AABLT8A2N-5byHo73V9vB8ItVTvAilRvc44SFAc8MD-4GOwrLXdQ-lXGgfMuprqpWYegLhQviQKrNbehGvIu02lo7MlXEAy5xTU-W-CCdx9wm8kxqjvwJ-a1QodWmQ2T1uVb5CCynABYtc9Q6S11F_JBKACtf-6uKQWgyMLLU0a6tpSG4qEK70nlFl0056_Mkuf6tcoyqmCR8adSMSD5qhZXRSiYTYQTau0fEW3F5Ex0l-1GFd8yCesWIJCG9X1L1mEwbpa-FTkjqhF625TajmHISyZ2kcyKh3DpNz6j8xwB96br6o4_Eeo4Hdamb3d5W-O29wATUJH2ceESfnxnljVTnY29pi9mmS5YhuJUFuS1htcG_u88F6oCyQEuC8tlh2SQvoG2ehk4_8YOzMcm2_2bv977wftt3NRNJ6WWi_puIRLTIaM07yVJ4ljX64DmUFw57iicGcgoBCX6JRARSsOL5BvHuUD6RH3Sz971xlhulXT7oeoselkJgXVfyNLdfSCxkAVIPW-MmfeJdIMfN_uolU1hI6ad41X9o_L__BuDBh3P8NvmbH0qpZz5VJOZg-QEyMaYz9NFvXG6QD3rxJYRRYL1bfNWYrnngkQeVhWXVRoTdqPOOk1umo6HWbKoaoflVmUFCXLqDBcYVPDp8af0y1UtNmNI7f03vF6qyyrl83pVWqVFyIsHNfgPN5A14hTSMw585rqi5Wd5ZCY1vLIlKXU6_BJuY2CabJ06EtjA3aYnaeWQQcGQvSw1ZZX2iYmG_fNuwK3kUmPHGBXpY1miS_I-nzjm6y_uTiXY3mFczPNPZtctuo0tQdud-P5sgtmg66zHNFiBlM_AwlXWbyhUEICHqr_3B3MkV_ipC-H0y2pE-BRGRiMpETnoBoqV5VhW3oCpmVxTkZnHBjhZDY2aeNf7AZ_X8LU2u2b5TxBVe72sxfBCCEbeUprViZybzMg==",
  "id": "rs_0dfc25f8d82bd41d016ab41d224f3087d0bd103da2c775222f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.275,\"right_z\":0.095},\"note\":\"The pale bowl is directly over the blue bowl, with their rims nearly aligned in the overhead view. I’ll begin lowering it slowly into the blue bowl while keeping the side-wall grip.\"}",
  "call_id": "call_1k7I4uZlNmCLWBiNk9ID2ujd",
  "id": "fc_0dfc25f8d82bd41d016ab41d2485a887d08ffd45e8c230be70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1k7I4uZlNmCLWBiNk9ID2ujd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7959, 1.8217, 1.2152, -0.3763, 0.4805, 0.3836, 0.0461]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3684 right_y=0.2646 right_z=0.0888 right_yaw=0.1544 right_pitch=-0.268 right_roll=-0.1391 right_gripper=0.0461\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7216, -0.0855, -0.0757, -0.0122, 0.4308, -9.1009, 7.0359, 1.5263, 0.2125, 0.022, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c53fe98c2a372702cb06236618c88f5630130d54e70d80a8413b7dd0bef0bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f0647887d3db5398a4e4ebcfce91cd7a4a11455bb6e7761b59fa69f11fc32a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff68633a062ac518af4a5e009a11477a6a616dccbee7be30db6f04a755d1626e",
      "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 16 attempt 0 · /responses · status 200 · 2.972 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.0521, 1.335, 0.5583, 0.0807, 0.0166, -0.0753, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0013 left_pitch=-0.0229 left_roll=-0.0003 left_gripper=0.9995 right_x=0.364 right_y=0.0196 right_z=0.0817 right_yaw=0.068 right_pitch=-0.1272 right_roll=-0.0512 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.7411, -0.0855, -0.0269, -0.0122, -0.0889, -5.4359, 8.7726, 1.7949, -0.0269, 0.0659, 1.033]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4019, -0.0227, -0.0494, 0.9995, 0.7818, 1.7363, 1.3724, -0.5442, 0.474, 0.3717, 0.0443]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1707 left_yaw=0.0053 left_pitch=-0.0408 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3762 right_y=0.265 right_z=0.1622 right_yaw=0.1625 right_pitch=-0.2115 right_roll=-0.0977 right_gripper=0.0443\nstate[joint_eff]: [-0.0068, -1.7436, 7.1179, 1.79, -0.0757, -0.0366, -0.0122, 0.1846, -9.0188, 9.4701, 1.4432, 0.3785, 0.3004, 0.6422]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7959, 1.8217, 1.2152, -0.3763, 0.4805, 0.3836, 0.0461]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3684 right_y=0.2646 right_z=0.0888 right_yaw=0.1544 right_pitch=-0.268 right_roll=-0.1391 right_gripper=0.0461\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7216, -0.0855, -0.0757, -0.0122, 0.4308, -9.1009, 7.0359, 1.5263, 0.2125, 0.022, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c53fe98c2a372702cb06236618c88f5630130d54e70d80a8413b7dd0bef0bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f0647887d3db5398a4e4ebcfce91cd7a4a11455bb6e7761b59fa69f11fc32a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff68633a062ac518af4a5e009a11477a6a616dccbee7be30db6f04a755d1626e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0pr3ItxwT6UM9t4SxgREdg4G0K02RrUmEfsUrEuIPyMpibVW09zZoLDbBcsvHZsSGck_d_ckSWtCD8Q4Ff09IytJDcE8M9zMQAxOmLxfeXwncYjh_MdmvQZpriOOcwC_WX3sHXNtMAu86eGM-A5De2qXPzV9cImaTI1YW1luzwwyTp3RFt9cvhbuBIi84mUoEGxSmhgB0W53iEI9iP7lqHzCueq1YiltCBtzxNxhLy7SImmkndt7RLQ-qdX36f-ExMnKvqbwpOWH25iIs1KLSVXdq6vps7ub5eXqtoREhlQ5Ui3hEvJ8dz-pX9CI25pwJaBiWcojOs9a_ziBKpCx_4Br1HXrgdpx57MEWD7lhs9jtwhh3VDvpbzQhcDso27z5gx84A91-LaowDbXi5mB8pbZYheTRUBCq4P7vHQTNIt8QN5FemvWI7QVkRGFWyJ8YAdV0hDKFUu2arb11rKdXql4Yj8HabbNSDUImwUM-hFBC0qEjDJ3wZ52CxeXOaFkKtyW4JG_rNVhNnW_4dwBwJnMAqld7MuMj9-EzTTutWTodTxNzz7AxbVoFBU0cDw84WNEvF0Whlod2AnRUfPx77ETPWbwjqH1zKapQPVIAIKgTng0kLrrdUNwF5YjavKaqu6vda3z2PZJK5-vD2ostaiHMywTnLN_GasCnozKhvXz0o4TIbEJQOBWOEhQ7VjM0H7BEDue7DalHlJgkEgBE_Vfj3cKfYUa7QxVGhMcwR7VVFhLyc3FRNDA-4X1LB8x8uE4j2fvlBhrF-F1GeK4bPEyMZfqcqufWY_F1olAC_X76COpQQO-MGFCk1ObjK9DNpA5qzOsL6qn6Os_0hbCzQkKxn3zmq1KFAOkOjrm06wB5GE1qW1Z0nN0LaHRMof7DJ_DtITFS43zVTXJNvSpLmuz6hE3xgqWP7NsZlGs3nlZXOHxPcegwGDRDsQDvYJ1MXi6sZRlb80dpoid3QGqQgUEGLRBJUafCRV58Jb6vJ_x_3NMOVbDLT0aeDeCxu8w2P4DxdYGEHciDtFMXB6UzycNlxjNTmVZlyWN5a4Vi6CP3Eh6qzIz54PkfzxO6XZMTwdbkUQ19F1wf2jsVrEBTGc1VoWcSOKNqjor2lRkP0Kx0cyW0Qs7_ow9F-wIwILkDYXY8V7jkLN3AfMTe4b1Rrm7uNpBhU7gzsLPxPs5C-oXcQEA-CsS9iEbnSEOk4m1WOKeLd_jQYoY27mK56rcx4bQki4nsSUT7ZEKg6fiCLMpUkmjcP2JjufFU9KH8Y52TcaIsRxyvmO35WSZi5UZqTGzXpTUSpbDowzuCcc85dW6t6cZAHphSX7GVI2ZjyV9yv_nWnlNWerX_kDwLO_BVuXajiwNLMzuhDujb43GCFYVSCsGRns0OIzUHAc0MP1ha2NgjcX3_-rVctGafjvaTXhrD6GGc9SmoQGKL3uCxZOOOm0f6xWsKtxEXbVsAq7Kw_Cj9r6Ieuc0aC87lJzK9fR7meWzaNVvk30V7o4xKq8pRTQHQRGLib7J3yHCHG_Rg8r1nYq_pOsP6RMEci5UXYRxJDVSemRhRGevtJDevG99wZeYZjyAA3D885-FpFbsTlPWChThTLhtO-jo-z0AuyTa5a_gdxNKDs8zIq2bj3uoWJen1-HbRY6kmHoDLhcpb22Uav0RR31rb1YLQ4sFlVJzSQEQKvTQwQUqRLc5CHgl1pvykiyI9DIYlmj2HjmYUGRAM9ermZufN3z1rEX9GJiBLhrcFsFzJK9jRl1ma6_1IvNFyqBXpLQZ92qeNcrjd1Ia8XNcUy-xPY3a29Fwy7ZqD29Xpc-ejq02xE3Tp93g7y_-rCfvGhuAn_qmtbKuS-8OB4Ea8lq8G9x6oBxPvYNA==",
  "id": "rs_0dfc25f8d82bd41d016ab41d27106487d0b870522144014670",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The blue rim is now visible just behind the pale rim, and the pale bowl is still held. I’ll lower the pale bowl the remaining few centimetres so it seats inside the blue one.\"}",
  "call_id": "call_nXZXmznk9XyRN7Tv9D8LYQ2V",
  "id": "fc_0dfc25f8d82bd41d016ab41d28558087d0a754c23e7c10dcba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nXZXmznk9XyRN7Tv9D8LYQ2V",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7967, 1.8759, 1.129, -0.2249, 0.4828, 0.3859, 0.0481]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.369 right_y=0.2652 right_z=0.0544 right_yaw=0.154 right_pitch=-0.2578 right_roll=-0.1322 right_gripper=0.0481\nstate[joint_eff]: [-0.0615, -1.3744, 7.0769, 1.6679, -0.0611, -0.0562, -0.0122, -0.1162, -6.8171, 4.6564, 1.1453, 0.1685, -0.0513, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8590aaa2d42e4a6d42d87b00cf74aecabd3142d75a5d9446a823d94580457683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aa77e2c430a526666a7f385abe9941705488becb0661df3daba3d606bb8e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afaaca0f39624f89d24864656d2cad0d72a7cfc314d109e1c0624843cc2a5c67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.65 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3885, 1.2961, 0.8597, -0.3161, 0.2321, 0.1036, 0.0406]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1744 left_yaw=0.0032 left_pitch=-0.024 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3588 right_y=0.1068 right_z=0.1517 right_yaw=0.1237 right_pitch=-0.1596 right_roll=-0.0646 right_gripper=0.0406\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7656, -0.0855, -0.0464, -0.0122, 0.1573, -5.1214, 9.5795, 1.7265, 0.3248, 0.2076, 1.0281]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7959, 1.8217, 1.2152, -0.3763, 0.4805, 0.3836, 0.0461]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3684 right_y=0.2646 right_z=0.0888 right_yaw=0.1544 right_pitch=-0.268 right_roll=-0.1391 right_gripper=0.0461\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7216, -0.0855, -0.0757, -0.0122, 0.4308, -9.1009, 7.0359, 1.5263, 0.2125, 0.022, 0.4713]\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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7967, 1.8759, 1.129, -0.2249, 0.4828, 0.3859, 0.0481]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.369 right_y=0.2652 right_z=0.0544 right_yaw=0.154 right_pitch=-0.2578 right_roll=-0.1322 right_gripper=0.0481\nstate[joint_eff]: [-0.0615, -1.3744, 7.0769, 1.6679, -0.0611, -0.0562, -0.0122, -0.1162, -6.8171, 4.6564, 1.1453, 0.1685, -0.0513, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8590aaa2d42e4a6d42d87b00cf74aecabd3142d75a5d9446a823d94580457683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aa77e2c430a526666a7f385abe9941705488becb0661df3daba3d606bb8e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afaaca0f39624f89d24864656d2cad0d72a7cfc314d109e1c0624843cc2a5c67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0s1QF_17HFXD4JCeQycJl7wZ--3d-In3J6_alZDIn9Ok0McK7Dnu0qAkpZuGqQZohtsjPKiBqyaSf0g9io5CvjgsU42epmFI4VBM_IPgA-2iAZ_oIf8HkjzEbeQZSoRNMtLv_YkHE5R89BIqW1qO3XPAnyuWakmkid45WR7Blg5Vb2tr01HyMPA8585d1jGwf9sH9ikThzfasye2awaJt-IqoBLc_7l0LvzKBc6Q6Nt6goKL7jo0nQS9eS6z6duePT-f6XEr1AkH6zDu3tmtque5cmqMYqZh7SHghUtkbX-F1yTz-Whcgimsg647KawnBEJjhfiNHAWVkIzAxmG-Iklt5Ysz_NaN5wv3McDDcy3wkVHSM5py289wDQiB4ukgyoOvElWuNSdlh3xBxXR82hh7xdfZ3m2-0LXzhRPZFl1XDN7QssrfMojYlbYlVNq7u5dNYbv85yXSXtL313pahiUP6ng3EK2CKXFFoL5_ogUg7V8b2Z9iCXh_srCrzXP_d7Y_RCyFxwwp5pbLjZMuL2A6VTPCndGAkUCv39-s8ige_YY2_JUwzy8tEDdCFGrUZ9COJFsWolB0OrorODZvGGc7DGnkCVNEOvDb1zNhdmrS7ufmIl9nB6vu2PckujTo4Tm_6v3_FRetwtKAeBSvE4DkYG72wzet1TM9lrZfzARVADP-OXCYERul9KRk4RFv0Vx8j3XFp25sItq3IDWOimupbmmJ83WjSDHEC0DCTsa2Oq1_sFijO8DbRlkZkjYytFa4LRVIawpZKulJYOialUsb5cjZbIqWnlxHrNyzc-BYquKRyDupFJHI3Z5Lme660_I_T1AM2FeNehNWyPmkpYkwE1jo3TcFChOlYH8XriJ-M4TyZKeIP6sZ3SucejNCDLTFXGqJus2jmaSPo_tieDqXsH53aKdrX6rtyRWuX6c78P6leKpQIxXzquXkpqbG2CYj7dl89GD5iVqPt-ThmKuQmCC8r1O29cfslpF9n8FkPXx8dPzYOyfi_iZ2334VpV1Kp28Qtzte7HGEVyrEOZqDTCglPkpDrF8SUr7ijkCKICMlr4aRizw2CUyHbDPKfwkITDsYit-W6AJ_ouS6hDVadSsVdk5LpK5_OFdz4fJNsJrCE11u3ZoxADEXcCd7ymdJF4h2X4NVpixd9XKTfneN5bc_COVcAm0ey0wK4B-Xgd_C4uynOU8F0-fInN5fKmRoYmtR14q2TLVCyFdQ5r6gbIysul0IfsC_dULmpaxbrPRQnEPK3IhGrTXAFXrC6qavlqmmIHfO7zINNvYgs8s-EiSrkD04XO1hCuoK-5dbqw9wMzM9NMM2TAL0adp84cTYl2R9ub8V37c0XxDaBCL32H0ztmw8zEH7nOGFAye_Rg638DWjtlQGPXGild_ageQH56YGOtmAGPl5NZsArD4SzvDRIr2JltYsW_YZYt20XHpTp6t9P5cns-MeRX1YwMG_vD9W4VpUMGH-nLXrE7r6nC36hcSPChNXuLUixUZo0EIgEjjKuLt-lRX8Ke6owCwvQSiBPGaKGuSimw6zb5DuNyQabP1Yg_oZdYiV40ywI5BszqHqzIotSRhDuJW5kyvE7SwzR76EBz-caNc1KEcHJYYi65Ki2RUn66F6pG8X4-TeTB8Qnf8IbQDrV4LvdM1UKmykv2uxkAcd971Absz6BYo4deYfxsij8GAWvAuaoIOmrIn9MLH-ksYr4T8YRv9lbYTr6bFlLrV83FYpYutgCSfcJgCgu4o2oBeKJGSA0XCcyO6i32uaNeebEpeTuy8pUqU2eP9sjE9kHUqUxLJ0DS5m9PkYAUbmwPKPbgn_8FHZ3f8hp29L_9FmtsJTMbLuzgLEbll6_yU0XxVUeXJDD3gAv6NzvlX0W5rlKzMCUUrJuSo3Va0HF5AtSLkR72w7A98vzIzs0-Vz4U4x7YPQ==",
  "id": "rs_0dfc25f8d82bd41d016ab41d2a95c087d0af490fc0ab60cc49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pale bowl has reached the blue bowl and the descent is nearly at table-level placement height. I’ll open the gripper here to release it, then move the hand away to inspect the stack.\"}",
  "call_id": "call_Seq4GsBuMlPDbFvEH8GQWsue",
  "id": "fc_0dfc25f8d82bd41d016ab41d2bc69087d09a302b7cb398810a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Seq4GsBuMlPDbFvEH8GQWsue",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.7967, 1.8973, 1.1149, -0.2028, 0.4706, 0.374, 0.9958]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3668 right_y=0.2658 right_z=0.0424 right_yaw=0.1674 right_pitch=-0.2755 right_roll=-0.1402 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.707, -0.0659, -0.0757, -0.0122, -0.3214, -8.6222, 5.5043, 1.3846, 0.2759, 0.0317, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48c00bf963b6c05ff06bd06c71a40c421896d7186664f667ee19727bb5d4368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c8c63d74afa0d24b354d9e6eceb91103180811d2a88246c16ccae3bb6ea798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0101b8411d12a217bc22f680d8feffa507a9ea9d739176fb53c5db9a80eacc6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.841 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]: [-0.0196, 0.8173, 0.6075, -0.4019, -0.0227, -0.0494, 0.9995, 0.7818, 1.7363, 1.3724, -0.5442, 0.474, 0.3717, 0.0443]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1707 left_yaw=0.0053 left_pitch=-0.0408 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3762 right_y=0.265 right_z=0.1622 right_yaw=0.1625 right_pitch=-0.2115 right_roll=-0.0977 right_gripper=0.0443\nstate[joint_eff]: [-0.0068, -1.7436, 7.1179, 1.79, -0.0757, -0.0366, -0.0122, 0.1846, -9.0188, 9.4701, 1.4432, 0.3785, 0.3004, 0.6422]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7967, 1.8759, 1.129, -0.2249, 0.4828, 0.3859, 0.0481]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.369 right_y=0.2652 right_z=0.0544 right_yaw=0.154 right_pitch=-0.2578 right_roll=-0.1322 right_gripper=0.0481\nstate[joint_eff]: [-0.0615, -1.3744, 7.0769, 1.6679, -0.0611, -0.0562, -0.0122, -0.1162, -6.8171, 4.6564, 1.1453, 0.1685, -0.0513, 0.7155]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.7967, 1.8973, 1.1149, -0.2028, 0.4706, 0.374, 0.9958]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3668 right_y=0.2658 right_z=0.0424 right_yaw=0.1674 right_pitch=-0.2755 right_roll=-0.1402 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.707, -0.0659, -0.0757, -0.0122, -0.3214, -8.6222, 5.5043, 1.3846, 0.2759, 0.0317, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48c00bf963b6c05ff06bd06c71a40c421896d7186664f667ee19727bb5d4368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c8c63d74afa0d24b354d9e6eceb91103180811d2a88246c16ccae3bb6ea798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0101b8411d12a217bc22f680d8feffa507a9ea9d739176fb53c5db9a80eacc6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0xWLmu0J6tz90i5k0ftLfDWAdZ9S-V2jKh5A3WFMLkeoxvs8x4WoniBjbmJE-bDH4rCxeRgo-BKgBtv_7yJie44fbC5FMhkwwWN7Dh7DfcgighrSBI74LffL09yqQT-sLs3HssAlUC5Itdh4ihC2Ps4sk98WA1EM2vP98ypSvjcSqfawrggyhvoDUlmwwPpuxqgoSJKsVsotXhoq_NvzJiPlix0SPUDmgzG0BClG2P8jgkNa2gY8DSj6jwFj68oPghRGq1QM-EhKLFYAueP1t6YkObMV_y2Ya5gURPyZtOxHs82ODo0Xq9MX8KzgfgeU1J-iUQQryYLHYPeflW1mYowxbJi2tqrULrsvVbp9LNBWa63l3YH-Xt6VuYSgxMPwQVlR60uGet7DFTnvgdk7efj0A5aqqcFIzrMLwJvs64l6MgnJgARo2z49iqVdW3z31tf5QWwhvo4SPpEgGiWLTKnlOJOHOSRlCbh7R6e-eiKk2utdyjDiAQaL6x2Gi4qGTZLnm6KRIv_jk1dmsMoi8qHhTDyJnFh4M3eJspgeOw8g0x2P5QDDp4lJbk3hcLEs-n6VV0r2jeFVCdtyAL5GiUIn42QXB3syOwJAyZum6CDX5DvMp-vpWP4UT_UL09fWRkGS02OTlA2I63LNHkv7u-XYqUTHwmkqFgwli-TD0gIAuBt6eRUZBjbjXZJiO7pWfplkOyKppWS5_DxRtdEnM4J9QW5sQZ8RppMsufFQN9Jg91ytM2E4WPDMzGeDHA3JOdDRP7efylRDGDFxLQ-G2YLXvnpcMOD2pTsBQX9dzzrevYaUE8LU5xDWrlN_427wE8noU04qmG1CSOmYUg-FsaIWQvI_rUQ6bnZV2g2MryCRnVYCYImI-YGM5Ub44Z8Hr9pOAqqge8vTjvM_Rle4hd3-toqUtzDWfQrSnQYfFPMKNjWUjnKfKNP1_0K-pqNQO3cXSlFJOknfsv7zoKX4fCGa2zX-UGTvpzFQOfmNyb96UvF-f0S3tJG0kQtcIt7vjLSx_r-699XWla7Z_XYA4lkBe-UlWnljB-DsT9CgnVWeCz1Zsg9F-8KrPcYJjC8DhjHTHHZqilAIV6cCoWu6QWIbaNCkaHzDyU4JJTnx5SQwmungcFjRepz1DKliRHvSh0Naj7wgUAVOrKnrk951x2qZIKPsMwJAMttouUovwY-Mg6I5s5GCxDN_HFl0AszeVxt38BA0ueoGPVPwFFKatVnrlnQLBZNlRs07GbnckaG2ef1YFI6ViLb6AwsjEiEvShDgNAzUzh_u_pR81FVv2XW7PIjqrirBbcCcePZDtBRy9XyyFl34Jv2nO4uF_ptbQhbvSTnD0VK5ZsnEWCf2xzYWICoojPu0JUUi_RzMbtEGtkPIvv5vIJU-LqMtzexNtbYttLRt5hjioh4fYB8-9wwYVGB0X4LkMf4TiKUrZVhoR7WM0bfqsNA14I3YRwRxt-RYwYuoYSBJpU5z0JJPFlAMTjtUrguuZZMZYnFjGPKHE8nCAdq8NUIFTgW4qTO-gZijTivBqXurVLTkqyVGvS3HcAe7ldt2hEEWVHowzEdOVegw-C_ed98Y1Lj1Mu2FifSywq5UzaCdHyYKFLqQc5UGw_uwTaDZ0WRzdrmUkvJ8QfvNmTBDRGnoDN5KdfMlv1YYMoKFP-0WCg0XlBX-lD6gkcXpszHXh0ZnyHZQf35seksCvHIj97uDp7vCbyyuDYVMkLCLuNQs99_3DfId0iPR7IMiDazLAg2B5bacYtimHSaNoNdR0-l53HAarUxs_pTNC953dsXvHPglxbOJ5YptsiNFs42W7IKWni9ZRc0jYHZa5MMLzLoYRSaVKPQz65xOZOVGzPKnLZnurmwEhRTThNQN2A7wSXLFZvJ2NBbEufOIIF_djWBrnHYVEARFGb_uOakjVBamdydXPuJMYcKrjhuUQlfeJckPiKQMcVA0fdtElyhZ-0ms2THQXyWoQ-UjSRP_iZGvasFBCP9HbtEw81KEyTRJRzA65W6SDmkZ4Vbdr1CFGqkjxVVcxio5u5hDUZQzB7191SRb7mMWWcjQ==",
  "id": "rs_0dfc25f8d82bd41d016ab41d2f210487d083d034e18668f4bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.175,\"left_x\":0.35,\"left_y\":-0.11,\"left_z\":0.155},\"note\":\"The pale bowl has been released over the blue one. I’ll lift the right hand clear and bring the left hand above the remaining teal bowl for the final pickup.\"}",
  "call_id": "call_H9ZEII0AjKNNCQtGtdWBM3Hw",
  "id": "fc_0dfc25f8d82bd41d016ab41d303e2087d0bfda4380d2286560",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H9ZEII0AjKNNCQtGtdWBM3Hw",
  "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]: [-0.4984, 1.2289, 0.7223, -0.2443, -0.3763, -0.3298, 0.9995, 0.7975, 1.7874, 1.441, -0.675, 0.4633, 0.3656, 0.996]\nstate[eef_state]: left_x=0.3369 left_y=-0.1053 left_z=0.1345 left_yaw=-0.0243 left_pitch=-0.117 left_roll=0.0205 left_gripper=0.9995 right_x=0.3659 right_y=0.267 right_z=0.1487 right_yaw=0.1719 right_pitch=-0.3091 right_roll=-0.163 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -4.6427, 9.5385, 1.6923, -0.2271, -0.0122, -0.0122, -0.212, -11.6171, 8.8137, 1.3797, 0.2271, 0.0415, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21769e944228f4d59ac201c2346aa48e3cdd128a4d27f705ba68d169952e25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b989721b889f0e49913cf198c5f3b6b235e990517d8946e4be93ec167d90d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce35d12825fe7f6b4ab96ada8ee33a03b4cef1f9acc9df2b10d9265cca2268d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.921 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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7959, 1.8217, 1.2152, -0.3763, 0.4805, 0.3836, 0.0461]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3684 right_y=0.2646 right_z=0.0888 right_yaw=0.1544 right_pitch=-0.268 right_roll=-0.1391 right_gripper=0.0461\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7216, -0.0855, -0.0757, -0.0122, 0.4308, -9.1009, 7.0359, 1.5263, 0.2125, 0.022, 0.4713]\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]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.7967, 1.8973, 1.1149, -0.2028, 0.4706, 0.374, 0.9958]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3668 right_y=0.2658 right_z=0.0424 right_yaw=0.1674 right_pitch=-0.2755 right_roll=-0.1402 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.707, -0.0659, -0.0757, -0.0122, -0.3214, -8.6222, 5.5043, 1.3846, 0.2759, 0.0317, -0.2027]",
      "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]: [-0.4984, 1.2289, 0.7223, -0.2443, -0.3763, -0.3298, 0.9995, 0.7975, 1.7874, 1.441, -0.675, 0.4633, 0.3656, 0.996]\nstate[eef_state]: left_x=0.3369 left_y=-0.1053 left_z=0.1345 left_yaw=-0.0243 left_pitch=-0.117 left_roll=0.0205 left_gripper=0.9995 right_x=0.3659 right_y=0.267 right_z=0.1487 right_yaw=0.1719 right_pitch=-0.3091 right_roll=-0.163 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -4.6427, 9.5385, 1.6923, -0.2271, -0.0122, -0.0122, -0.212, -11.6171, 8.8137, 1.3797, 0.2271, 0.0415, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21769e944228f4d59ac201c2346aa48e3cdd128a4d27f705ba68d169952e25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b989721b889f0e49913cf198c5f3b6b235e990517d8946e4be93ec167d90d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce35d12825fe7f6b4ab96ada8ee33a03b4cef1f9acc9df2b10d9265cca2268d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0dfc25f8d82bd41d016ab41d33337087d0a46d701ad12a886a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.09},\"note\":\"The pale bowl appears seated over the blue bowl; the teal bowl remains on the left. In the left wrist view it sits slightly left of center, so I’ll offset the left gripper toward one teal rim wall while parking the right arm out of the way.\"}",
  "call_id": "call_B8P7bftsD7kmwWtZnKEyuCPO",
  "id": "fc_0dfc25f8d82bd41d016ab41d37d78c87d097754b326e252966",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B8P7bftsD7kmwWtZnKEyuCPO",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5987, 1.4834, 0.7254, -0.0624, -0.4335, -0.403, 0.9995, -0.0166, 1.0485, 0.9077, -0.7372, 0.0063, -0.2691, 0.996]\nstate[eef_state]: left_x=0.3522 left_y=-0.1461 left_z=0.0818 left_yaw=-0.0346 left_pitch=-0.1558 left_roll=0.0345 left_gripper=0.9995 right_x=0.2969 right_y=-0.0025 right_z=0.1761 right_yaw=0.1183 right_pitch=-0.3202 right_roll=-0.1694 right_gripper=0.996\nstate[joint_eff]: [-0.5949, -5.053, 7.2684, 1.7118, -0.3443, -0.0708, -0.0122, -0.2667, -3.3983, 6.9812, 1.5214, -0.2711, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d883b0ef2165ab567a17ccb6c6de8bfb4d58cb1cc76d2ae56e1d5e090e49b09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b424df05fa1894bba8c0533d2484fdaabbee2a6688f398568897464d5453a5c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0904700c7f7d75a7fd2d98b02bd23c0706f19ecea2747dba352cd78aaf4924b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.87 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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9995, 0.7967, 1.8759, 1.129, -0.2249, 0.4828, 0.3859, 0.0481]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9995 right_x=0.369 right_y=0.2652 right_z=0.0544 right_yaw=0.154 right_pitch=-0.2578 right_roll=-0.1322 right_gripper=0.0481\nstate[joint_eff]: [-0.0615, -1.3744, 7.0769, 1.6679, -0.0611, -0.0562, -0.0122, -0.1162, -6.8171, 4.6564, 1.1453, 0.1685, -0.0513, 0.7155]",
      "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]: [-0.4984, 1.2289, 0.7223, -0.2443, -0.3763, -0.3298, 0.9995, 0.7975, 1.7874, 1.441, -0.675, 0.4633, 0.3656, 0.996]\nstate[eef_state]: left_x=0.3369 left_y=-0.1053 left_z=0.1345 left_yaw=-0.0243 left_pitch=-0.117 left_roll=0.0205 left_gripper=0.9995 right_x=0.3659 right_y=0.267 right_z=0.1487 right_yaw=0.1719 right_pitch=-0.3091 right_roll=-0.163 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -4.6427, 9.5385, 1.6923, -0.2271, -0.0122, -0.0122, -0.212, -11.6171, 8.8137, 1.3797, 0.2271, 0.0415, 0.0122]",
      "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]: [-0.5987, 1.4834, 0.7254, -0.0624, -0.4335, -0.403, 0.9995, -0.0166, 1.0485, 0.9077, -0.7372, 0.0063, -0.2691, 0.996]\nstate[eef_state]: left_x=0.3522 left_y=-0.1461 left_z=0.0818 left_yaw=-0.0346 left_pitch=-0.1558 left_roll=0.0345 left_gripper=0.9995 right_x=0.2969 right_y=-0.0025 right_z=0.1761 right_yaw=0.1183 right_pitch=-0.3202 right_roll=-0.1694 right_gripper=0.996\nstate[joint_eff]: [-0.5949, -5.053, 7.2684, 1.7118, -0.3443, -0.0708, -0.0122, -0.2667, -3.3983, 6.9812, 1.5214, -0.2711, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d883b0ef2165ab567a17ccb6c6de8bfb4d58cb1cc76d2ae56e1d5e090e49b09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b424df05fa1894bba8c0533d2484fdaabbee2a6688f398568897464d5453a5c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0904700c7f7d75a7fd2d98b02bd23c0706f19ecea2747dba352cd78aaf4924b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1AtyZBs7bNjc1WFj_k5UoEUItVHPXqm8SE4b4HPgCEnYS7jiANOkcM5yIvzst5aE8AJT_lGcd-aqQGlYmUQNKPMai4lBP0SHf43y-AZeWLcoaajAIbWFFC2zFc3kqf3u3Q0lyn8b_SsafZPerdYMZfANLltGOUNTpO7S3aJp1LxT5xnccONJ77-gB4yf7T6IO7aVu0g5k_LyqBqNeOTAJetIPibt9ZNglKgOWNzDl2OhCde5QsfthVPQ-avysfm3vm5b4tr2_wv2Biv5ozu0EZZEEvfcOB_ZKGePWPnJLxISj1jG23tuxcA5AfYyQ-h9DFQfyb12Ki5zlug106SZvNYN7H0OLYi_-oboQPdxPyvdJ9pDBZRCmjjbVLZiJ4aLavHpunqYVhJFYjhr5_ZNVdb4dc34tb05BKfxR91Os-bkbnqV3wPV-2m6oh6NBC3FwIg2YFS34MDFQ0urgeuq1LEkkOxjo7S7OV6yXhDy1anY-ueeECzeq5NSfdzgZrcN5VuPopxlQupDdkxd5Bml-Ffawj65_sC61vkAbjj1XzvxbrMma-PjtZEWGaOR0y8XJMIlh29CkYO-e8eCieJISOifKe4GFGKP2pguIRHJaeyQI3WtRao9xa40nyLI0Bc0AaeArCZCQh8T-godatdaTH6tLhihP_kP18ILiUc0vw7OhkqRce0Mn_X63rE0jBb0cN_-xN8BL5dHln9TRqKDAIBMh4tuZEejpCn7FoH_PtamvPnt0ux-wWUOulfPNUwvLQzRXstBtzijr__Z9Fv1em6GNXQhXXtKGWbipWtjl8FK38mcCOTRNcDxTvWu0FFWJ3xlyxqzN8QqCyk2FWGShh8QbSYpEukxhyUxd_tHzgBf7pLDGs6jAntkDF3sbH_JuDSgRWJmXIMjLHwzLDe5aGtbbeoXqgJOlyJcT-TTnmW0BUOBvxomfYU-2OODG9KD0cilASem3UtcgVDXUKMwk-FsGS-rl4dBFypArfK0E3BZMq-vi865apscmiRjV00pGnRHLgzcEKWam3hrv6-xdPfpFDc3746PJvQCetviSXAlfXpaI3nx3-HKJjnNHGlvpIn3Oy0y1TZB37DmiUBPbxcT26VOXPzJ635fEEC7p8oLBQxrb2G8NLWNNcibpD7pwU4XpWTiml6MuMuT_Mw9lK_sOLpG2NOvpaz9ARkHwLErGY2VezQmoXz8tqqshIStvFNb-hzqSj2q1C4WR0Rvb4j5sMIv9lU6CXUyQUIKZ5IytPFdB6XMttueq_t_988FjcPw0ZOh-gmySjq0YKDLeS0IG_S_EN4A4JcSpdzC-1M-P7Htn3aawMvysuVkdAmr9ZaGR3JAIuP12OReAbsKOZe6wtQjuXSN8q327fZTLddr3iMpkb3c_SCZ1865V6Yo8K3XEh48Fa4FMCqLe62eMYyfL0UP-_8gywNJNyYsf2IIuCsk2xu8BFJTsEgbNrDMgSZDQhvj9mzZi8mXKIv1MGZ9kDk1V6DEZpET2BCD6Uz_pfz0JxYGGnuFcHNgyiT6eS75J_1094qtK_AlLjcdX-CVwb8B5mXbe6CPI7JTpZYCLV9J7A7IRjvm2TlZRzNIyUUzO7eTUhmQlYLrDxDml8RdFyhsvxYfGoYF3R_1kHk3nPoAPn-B1HX07MRN8Rebgzdtuv5fB33iXt2Xk4a0WHZhYbXQTKXwmcw9LqxQDi990BWs3lEAX-zlkyyBVvUoiEYlRd1bEybmIzLx9ovtdge3zxIuDLBhEgt0BxBK-J2IYdWQG9Jrb9m0mo_wpMNWpP_UNGf2SrJ8pnCfI4p2ALJYA_8n_K2CQDyrYjszIXkMrdP91083AlMiPiOuwuUV7WFznveEYxKY2XOl2cYcpXCE2PVEZSzSDyX_RQ5bHtHXu6GtZ-Cps47x2RXitiH5U9eJgcQ3ugUnm2JPq5CUuHz56P-XXcu10iDOlUziOjcJnHGNxtxO_x_aOEF_sSzndCypXVAynE3DU0184wTHmD0BAYr_e0QcHX0PHqt1d1Hw-c-logz9EWSOors-NlZu7IKzjMLg7M-prawHSyuU2Y973ZO26TOGR3T2mQuvB290lxXmYYCZb0JfqYma957CrQqk2Fwm9ZwWT59E2Pfbx2a6aHytTkucF6B8sa5grwQ4wMi8K67R2DOmkKA5oJr5yhHgjI5t96TXpibt74nEUG-lgNI7J0S0ru9QCrS578xLGJUhJqLt6DBXW64d09KWYH3TRxCjtp_nWI6EXSSHK-WWO24jlMhXIBewSFlfil3QPhEQxlxVRW9XgbGiAYOFy47LyFbpx3zhqioMsDIYMRUSKUEH1gdmhW1cyQ86_eZ3tff__-YN2XRdrQz5rbSO_YAoR_ZKg7vnvWhDYanUWwSO4r9_P1na_iR6_Nd9Q46SyyhUcNLl_GYGGh81-Tz3uT3zTqJ7I0tNlTv_8ldImzMK13xMTMX6fmTVzY8VLeyjF6dMGrjA0yZN_doEnYsQC2KOyPi3LUNS4HymF8nhqk34utssiIIHhPF7wPe4jnyjRXYPExTdw5nAd2E-7cYLlq2LjCFD0mZBC52TeoBaA-1rOf3fldfeeVTT9z6hu_lYH21wt0vpXuyhdgqQ61-FhvgrDMNG2PbuB3Kyrk5OX0sMTcX5IPZCLNOP3N8Vz2Z0jJ78MtP2moP8Xb5-XR95zdNC1XyOAwGJfxNwcfWLTM-H0QKOt1iLkIlYMYqFBpsVBHGDkzZ2HTP3O1kL19G3Ir",
  "id": "rs_0dfc25f8d82bd41d016ab41d3c3a4c87d08bba75185575a221",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125},\"note\":\"The teal bowl’s right wall is just left of the closing line in the left wrist image. I’ll move the gripper about two centimetres toward the bowl so one jaw lands inside that wall and the other outside.\"}",
  "call_id": "call_k5xvwUyq0Gk9gFkVuY7CezAD",
  "id": "fc_0dfc25f8d82bd41d016ab41d3f49e487d0b1a6d8d3132e0934",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k5xvwUyq0Gk9gFkVuY7CezAD",
  "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]: [-0.5621, 1.4693, 0.7002, -0.0406, -0.4133, -0.3882, 0.9995, -0.0257, 1.047, 0.9066, -0.7593, -0.0181, -0.3027, 0.996]\nstate[eef_state]: left_x=0.3536 left_y=-0.1347 left_z=0.0796 left_yaw=-0.0228 left_pitch=-0.1547 left_roll=0.0274 left_gripper=0.9995 right_x=0.2924 right_y=-0.0007 right_z=0.1727 right_yaw=0.151 right_pitch=-0.3418 right_roll=-0.1682 right_gripper=0.996\nstate[joint_eff]: [0.6496, -7.3368, 5.9556, 1.4774, -0.0806, 0.1538, -0.0122, 0.3761, -2.3316, 6.9402, 1.5702, 0.0024, 0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffed8f97566ffbf6b7d96bbddf679300df844ac4841b36ce190ef74fe271f0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ae9342a166d11e9ab215ece9ead6e04fdb1d58b9db0ef4f08a4a8cdcd32c28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c283eac1e220e5f447a788b0d4dee3d1fee481aaaa66e00c7f6b6525f7439bdd",
      "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 21 attempt 0 · /responses · status 200 · 2.777 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]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.7967, 1.8973, 1.1149, -0.2028, 0.4706, 0.374, 0.9958]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3668 right_y=0.2658 right_z=0.0424 right_yaw=0.1674 right_pitch=-0.2755 right_roll=-0.1402 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.707, -0.0659, -0.0757, -0.0122, -0.3214, -8.6222, 5.5043, 1.3846, 0.2759, 0.0317, -0.2027]",
      "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]: [-0.5987, 1.4834, 0.7254, -0.0624, -0.4335, -0.403, 0.9995, -0.0166, 1.0485, 0.9077, -0.7372, 0.0063, -0.2691, 0.996]\nstate[eef_state]: left_x=0.3522 left_y=-0.1461 left_z=0.0818 left_yaw=-0.0346 left_pitch=-0.1558 left_roll=0.0345 left_gripper=0.9995 right_x=0.2969 right_y=-0.0025 right_z=0.1761 right_yaw=0.1183 right_pitch=-0.3202 right_roll=-0.1694 right_gripper=0.996\nstate[joint_eff]: [-0.5949, -5.053, 7.2684, 1.7118, -0.3443, -0.0708, -0.0122, -0.2667, -3.3983, 6.9812, 1.5214, -0.2711, -0.0611, -0.0073]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5621, 1.4693, 0.7002, -0.0406, -0.4133, -0.3882, 0.9995, -0.0257, 1.047, 0.9066, -0.7593, -0.0181, -0.3027, 0.996]\nstate[eef_state]: left_x=0.3536 left_y=-0.1347 left_z=0.0796 left_yaw=-0.0228 left_pitch=-0.1547 left_roll=0.0274 left_gripper=0.9995 right_x=0.2924 right_y=-0.0007 right_z=0.1727 right_yaw=0.151 right_pitch=-0.3418 right_roll=-0.1682 right_gripper=0.996\nstate[joint_eff]: [0.6496, -7.3368, 5.9556, 1.4774, -0.0806, 0.1538, -0.0122, 0.3761, -2.3316, 6.9402, 1.5702, 0.0024, 0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffed8f97566ffbf6b7d96bbddf679300df844ac4841b36ce190ef74fe271f0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ae9342a166d11e9ab215ece9ead6e04fdb1d58b9db0ef4f08a4a8cdcd32c28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c283eac1e220e5f447a788b0d4dee3d1fee481aaaa66e00c7f6b6525f7439bdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1EacwSTIZuNnEvfHkTdZWksVi-H_6cF3W5Quu7tUFmwyVW1E7zJpRNxNWYngqQDXkDnySTo6Nt_vEEaALqKhwCecHsTgsLqUXs8TpJbivRYtX9zFfJWcHnMnEjYqvMqvYKLGuAFlnbunqknmSGbqA-nuTjU_T7-6WCoNpPvrtoZ1nmSICucm8c9E1IRhsrZlLbpKGaucLSjCYMmLo2kIiwKhRXlnBdVKxdxe6emNgGrxQgx1HfyFr65AXQvEkBb_UuWDLlsOIWav4ChXYLtBplfNMBYo4hwQVoMiB-flWUk0kiOq8IjVwYs74Ng0MMcfgO6dHAwcdAKE94hVQK8Q6z5BxZAfP5hltjamkfNZeAiu35xxmdCyBX_virbBRi8a29SaqbWp7zLsiiR7QdZBTgNRvdibmRNkJyvcloZ2vaY6hNotY0iRLoRqsxdFP6wZcPL2FmRzKRF9FWRdDzyGO-70Dg3ejJ0Sqwpx4Lvvhz-UBMa6Kx7hSis2cINltHw8gnb_QeSubwrwhSqYi3WDbLlo6eYTR-dTJwpb5vm6leYg2bUtN15ghwej0zk18p7sj1WslDDlpPSrOAZ88JYmKnNz1dfYivEVSV2CLeKYxUJmLexsTN36ULZNbGJPTl7O_Rnr2gGxKsgQkHYLUnsmI54ljgrTm1VDnbqBxhXwaJa_Mj-BTzrvwKmw3yKWD1ub5P88VRmAxou_uhyHe4lpn2NbymduGOGTvQnidomnto9UMGjI8x3oCMpnsetk7u9z53NNSMCdRXaARdGtIvCWjqfvQcHwAOnx2B6mCF5P0dDvSWLz4f_zbCZcDmGi20uyZoYfWQvU6t-_ZL5kgcLca4ATs_B6RGGQfIBH2OynuSRsp9aNVPVae1Sjc9zyDD5X7cWv-aUjPCXQUZtmNAwOtSamNF7rDNvFIGQ6uH6IsPVvsFJ4tz5BbdXP_5WbcfZb5G8I_M8BoDFYP_2DatP-XSe-CsS7bDMdnJtIKb25XpkZqQqySzXTLZPhqd1Ff5xFIp_mx6IWvJCgeJjU1t7p6Vjuu2cL5SxO1lATNJ3cT-z80BKkimRE4lmUtIEejpRZuSx-U0L67b1YW35u8wSblecxKf1IH4seqnIFxHVKkRcSqCqyIeodT6yGBQrxEwmy644hI-B9J1K_MfGF8TrbbWyU1eHBT_ESmjD_aaNBHFkvzBDZ1kdcbX53h52H2tWwOBmi5sczvikDguzTlmcN8jtLhOOTWN3FTIGgv60OYV_EyrP7MWUi8D1T53z_KPmWVY0-e5CA_HMTrFQ_Dw1c7V9oi43I1oh8b0ceR7la3_gMoQLxWnJMCb6SaZDpZ89uaCawN3SPR410BKoX-Whtc5R0f4CtamtlCAYfPzhI9NQ9Pim85knY1q49cZXx1ZhJNf_1Fkm7Wne8MDs7HOY4eHohn3xvPCea21hHxcBm1AMnNnfzJ_8hX58LwMcaE8Ku0hwPKQO5UHuwjnStxuMxI87hrbH-soJTxZ4kgaNoNgV875zrsvYe1Du0yNrr1AsyYqCFpJHEmYrIHh3GXXTZYhWfxE172Ba_uzYhChpN1_RxjjQMWBdBv1jaQUAqlgDrt25lrrLQSSEFl-aN6cyS4byeMNpFCFtm-5O0O6FvTYSiWrZ5qQeA2_lEJNI6Xt6H_u7voGBvVy4PRJkmHTp5z8HRnRkrhAzihMzikPRKHmFYacQHSgnUYQhiWyqcQiPfQcQ3hSMLZpGnb9dA2zSDizQxPUzIj-cLsI4FpcgUju1IBF15Fud5khqCwAvFt4Ox6I6xm3qimyE-rs9TNNeY3A7dFqIqXhWptNb4uCEQlzbqvR51-UcZLJ8kwuyU-KyD7XO84t7sMFeT4jkU0dFZfmNChwcR3IgvoxDIAmqhp7t0x7vEuyvR3cdjsjlyl4q8WJo2Drx5u3kBdgMFDpN2mURxf-GH_9CubH3aOiIleaG5SRP-RXEqs1WeDl0zS4Cm15aw3etNE4HAzEoT7lNwcO7WexMEiPxb3EZdNCs7rqRxfnhiQlZXSXVpKsrz8EmDn9w968J9cS4j6lX1r2GzK-jD6f1jj2issPDQ9ywZU7B5pXQzdCPndNtlPz5T-C4K-1",
  "id": "rs_0dfc25f8d82bd41d016ab41d4191bc87d0bb1bc8b14dda1deb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.04},\"note\":\"The teal bowl’s right edge is still just left of the gripper’s center line. I’ll make a small final sideways correction and lower to the same side-wall grasp height that worked for the pale bowl.\"}",
  "call_id": "call_vWiPfRHhtRCgirespB4facqL",
  "id": "fc_0dfc25f8d82bd41d016ab41d43277c87d0abfe9df8a9d766b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vWiPfRHhtRCgirespB4facqL",
  "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]: [-0.5072, 1.5299, 0.59, 0.0994, -0.3817, -0.3557, 0.9995, -0.0238, 1.0515, 0.9031, -0.7639, -0.009, -0.2974, 0.996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1134 left_z=0.0391 left_yaw=-0.008 left_pitch=-0.1939 left_roll=0.0467 left_gripper=0.9995 right_x=0.2912 right_y=-0.0018 right_z=0.1693 right_yaw=0.1424 right_pitch=-0.3549 right_roll=-0.17 right_gripper=0.996\nstate[joint_eff]: [0.4718, -5.9692, 6.188, 1.9853, -0.0415, 0.0757, -0.0122, -0.3214, -2.9333, 7.0496, 1.4481, -0.1441, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a091c8928cc288f95740a76ca51722339702b4a39623ff4f6922a96735a9c8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d4d009dc5fa33405c70f0020b4d7f5579ee68932dcbee6a86b8bf8f9313064",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68eaf2c40958ac64a62a40bb7a4bc9590e2b05df5e3a047bc8c481d18122bd79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.342 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]: [-0.4984, 1.2289, 0.7223, -0.2443, -0.3763, -0.3298, 0.9995, 0.7975, 1.7874, 1.441, -0.675, 0.4633, 0.3656, 0.996]\nstate[eef_state]: left_x=0.3369 left_y=-0.1053 left_z=0.1345 left_yaw=-0.0243 left_pitch=-0.117 left_roll=0.0205 left_gripper=0.9995 right_x=0.3659 right_y=0.267 right_z=0.1487 right_yaw=0.1719 right_pitch=-0.3091 right_roll=-0.163 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -4.6427, 9.5385, 1.6923, -0.2271, -0.0122, -0.0122, -0.212, -11.6171, 8.8137, 1.3797, 0.2271, 0.0415, 0.0122]",
      "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]: [-0.5621, 1.4693, 0.7002, -0.0406, -0.4133, -0.3882, 0.9995, -0.0257, 1.047, 0.9066, -0.7593, -0.0181, -0.3027, 0.996]\nstate[eef_state]: left_x=0.3536 left_y=-0.1347 left_z=0.0796 left_yaw=-0.0228 left_pitch=-0.1547 left_roll=0.0274 left_gripper=0.9995 right_x=0.2924 right_y=-0.0007 right_z=0.1727 right_yaw=0.151 right_pitch=-0.3418 right_roll=-0.1682 right_gripper=0.996\nstate[joint_eff]: [0.6496, -7.3368, 5.9556, 1.4774, -0.0806, 0.1538, -0.0122, 0.3761, -2.3316, 6.9402, 1.5702, 0.0024, 0.1636, -0.0122]",
      "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]: [-0.5072, 1.5299, 0.59, 0.0994, -0.3817, -0.3557, 0.9995, -0.0238, 1.0515, 0.9031, -0.7639, -0.009, -0.2974, 0.996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1134 left_z=0.0391 left_yaw=-0.008 left_pitch=-0.1939 left_roll=0.0467 left_gripper=0.9995 right_x=0.2912 right_y=-0.0018 right_z=0.1693 right_yaw=0.1424 right_pitch=-0.3549 right_roll=-0.17 right_gripper=0.996\nstate[joint_eff]: [0.4718, -5.9692, 6.188, 1.9853, -0.0415, 0.0757, -0.0122, -0.3214, -2.9333, 7.0496, 1.4481, -0.1441, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a091c8928cc288f95740a76ca51722339702b4a39623ff4f6922a96735a9c8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d4d009dc5fa33405c70f0020b4d7f5579ee68932dcbee6a86b8bf8f9313064",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68eaf2c40958ac64a62a40bb7a4bc9590e2b05df5e3a047bc8c481d18122bd79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1HywI75BhxdJfIuWoLhE4U3VlRrYODcuwkv1upeWNjMElqtITJXHENG7kmmnD-U81i2ubHTe38Izfid_rNmScbQ4dwDhhHmom5OweMq_M0REkpn78nG40RJboEJi_6hlUhy9rYI9WPMQDR4OpQ0eXGGB6WZTzHOp3arFrOMLkIXqvrODWil882Aiwo3JnA7yOqccPR-2_GsaDP_dyys4VEHBH_LlmnqX4FlBGnImX2oYzivtQ7o_1xLdFC42uuH5P5kfbqPvBLo4mHO0chbBaMrHVSG4M6Soz9YsrA572Rc_4j0qBc8q54PWpf1fQ3OzMjAOfNoFdwuqe72k44HTlwF2pV3jw5hPWQSicZ-vlX_stNWNYLZudMMdVPY5v8-VpHGCBvUx8XJhh-jDoC4BJYYt7MnMEoYvUhnrt6ukuWGs9D5WNae3GDmFKN4_K2eAgqqbi0cno1jgZG0q0kV_Fqd-1yLSWI4HpFyLUjtc6XoYtEathNmOoG7mhu1C4xN0rqmODvghYWmtmOaWLZMebMnFuRxRMuU8qVruk1_WnSCNRh-McTfzbyqiyqRoo7dAixrb5bB2LVuYYe-B67uwKfNzGl44Xz-Rg2S83-R7q2fbYjFDpoiHlIKeipYMKrVSExhaanTLH5M_9jT_2DnBEu2ZCMwiCXXuC7qTHqmrrJ3F4mGjiKs_vdowaj8McQlch8AqgSwKzJVCTgwu5K8LQOJaeai9Z3Q75MJvkAFs9-1UsxJniITGz7-b-M_nZ_DyqpQwFy3CHo5WVu-6Qdo3zHkvbFyTpOvvice41DVTWLQQSZi5zV-vHgMHcLaWGwOEO-qxes-zlFW6EN_GVsglHWXkaPIYEhefmA8yZ9hpnXJfhs9hvImeeiyHUrspeybtk3jY4ngC8NAmbu1kwsnUUJTvtJfFKvUyWd8hg8ALkVdsFfp2TbZl2mhR4TXJhxXgzw504CRqUuZjXqwuLPZ2URXwxnuKXkaqsQ7P7ka2RsWbutlEjVz1Hd_bEOlO7pikj6qhd_lXYshsuCzEYYqE1IR5cgM9tCes4trxdEJo3vaLvtpUv838tAk55rdfpM2HkO2Oo6Too72673Ak0hfiQ8FHZ1RZOi0gr6Gv0tv_PV4ock_B2AkobLoBLYpwVz1pnCc35zUzzDyuSn4hbpE5v6MDL72uXA8VulSMXgGwZ5cWFzNoC29j6ZiThBhtLxIHzCQIMFZHNMTa8byGeJX_aOx3jNh9Pg83vgspd9IxFsCgl0aUd9gVmK9-gvbispPd1T3FeLc5rp1E6rFBZPRq8BfA==",
  "id": "rs_0dfc25f8d82bd41d016ab41d46112487d0aac881f172ff215c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl’s right wall now crosses the jaw-closing line, with one finger inside and the other outside. I’ll close on that thin wall and inspect the jaw opening before lifting.\"}",
  "call_id": "call_75L6nxbn58SVyWOEikIQKeeb",
  "id": "fc_0dfc25f8d82bd41d016ab41d46481487d092c9c67406e37380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_75L6nxbn58SVyWOEikIQKeeb",
  "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]: [-0.4953, 1.5505, 0.5667, 0.189, -0.3805, -0.3332, 0.0385, -0.0242, 1.0565, 0.9012, -0.7673, -0.009, -0.3069, 0.996]\nstate[eef_state]: left_x=0.3534 left_y=-0.1123 left_z=0.0382 left_yaw=-0.0132 left_pitch=-0.1546 left_roll=0.0409 left_gripper=0.0385 right_x=0.2905 right_y=-0.0019 right_z=0.1667 right_yaw=0.1481 right_pitch=-0.366 right_roll=-0.1742 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -6.3658, 6.2701, 1.2381, -0.0317, -0.0904, 0.9451, -0.0479, -3.0017, 6.8444, 1.4042, -0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc4465dee622bb0f7fd426c0c514d679732632289e17a01e88e2e5c2070b26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da86be7af85fb0e1fa01a63e55278b0efd912983ffffebeb92ea852fe403b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2147b20aa4993d9fe0bb1728be220f95b03e67a83c1eee101ae787682fd54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.063 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]: [-0.5987, 1.4834, 0.7254, -0.0624, -0.4335, -0.403, 0.9995, -0.0166, 1.0485, 0.9077, -0.7372, 0.0063, -0.2691, 0.996]\nstate[eef_state]: left_x=0.3522 left_y=-0.1461 left_z=0.0818 left_yaw=-0.0346 left_pitch=-0.1558 left_roll=0.0345 left_gripper=0.9995 right_x=0.2969 right_y=-0.0025 right_z=0.1761 right_yaw=0.1183 right_pitch=-0.3202 right_roll=-0.1694 right_gripper=0.996\nstate[joint_eff]: [-0.5949, -5.053, 7.2684, 1.7118, -0.3443, -0.0708, -0.0122, -0.2667, -3.3983, 6.9812, 1.5214, -0.2711, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5072, 1.5299, 0.59, 0.0994, -0.3817, -0.3557, 0.9995, -0.0238, 1.0515, 0.9031, -0.7639, -0.009, -0.2974, 0.996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1134 left_z=0.0391 left_yaw=-0.008 left_pitch=-0.1939 left_roll=0.0467 left_gripper=0.9995 right_x=0.2912 right_y=-0.0018 right_z=0.1693 right_yaw=0.1424 right_pitch=-0.3549 right_roll=-0.17 right_gripper=0.996\nstate[joint_eff]: [0.4718, -5.9692, 6.188, 1.9853, -0.0415, 0.0757, -0.0122, -0.3214, -2.9333, 7.0496, 1.4481, -0.1441, -0.0806, -0.0073]",
      "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]: [-0.4953, 1.5505, 0.5667, 0.189, -0.3805, -0.3332, 0.0385, -0.0242, 1.0565, 0.9012, -0.7673, -0.009, -0.3069, 0.996]\nstate[eef_state]: left_x=0.3534 left_y=-0.1123 left_z=0.0382 left_yaw=-0.0132 left_pitch=-0.1546 left_roll=0.0409 left_gripper=0.0385 right_x=0.2905 right_y=-0.0019 right_z=0.1667 right_yaw=0.1481 right_pitch=-0.366 right_roll=-0.1742 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -6.3658, 6.2701, 1.2381, -0.0317, -0.0904, 0.9451, -0.0479, -3.0017, 6.8444, 1.4042, -0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc4465dee622bb0f7fd426c0c514d679732632289e17a01e88e2e5c2070b26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da86be7af85fb0e1fa01a63e55278b0efd912983ffffebeb92ea852fe403b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2147b20aa4993d9fe0bb1728be220f95b03e67a83c1eee101ae787682fd54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1KjuIPfm0sbHIk-OO5NIq-v27DNhNSp-i1nyttrLvylyVTwoSJfKGtj5IOkB4wKtHcj2OIvN6UnN7W_QNV0Hf3roB-5pf9gzGSoUFWCJqJEdF3v1KVrGCFOLFs0iA7kWSrEDv_GtvRZV8ijKDfONzyT0A8REZViyuOry-PxTlj1OHRKpRUx5RFyhjEXB9izpxQyTEvOnnVnMSmyCcC_i7Hpji_By0i3Mk4A5wgGzSCPVLzLBadNl9AJVGnf3CLd7YdKjyXZeYaa2_4RuHvun9xOiRnBaYUUxLRLsoUrMO37kgUxeS0AAItv5RQADsAUZeKfQT3am76n7r0YpPZpfWFsu5-bwFGn3hZj5vC-6cxY-Zwktmb3118Wk2Klvu2SsVP8YVDqn9DRK41utQB6gTgRJexKxKfDq9gLTEXG9PsgeAJiQf2Bff8RghSPkxrU78u4X3-mQh64ffq0kugG62HxrddYO3kAljdEt4PHn7ibzYhlFIxvw_Wie7TfAhPtSZe_E9UgJ6RMf7xCwrwz9hRg0DAS0-8TLdlFpLf70_l2bAUca2vhnksoOsVXi78AftVlBMHvI3sj3L6ACQehfJr3i-IY58xGUHN-8iq01Db3_26rIe1vj29zEQF1Hf2pYM1rWb8fQ9xp57W2PRyv4PH-c0mPr__Sxd0DKykdxykCaoplQMwgp6EL73UcIPwJLxa5IV1WCEencumQr4GRdK-bxCwPU9PzEbkx64phG6yc80akqfktIbcDu1EJ7AidD3_CeYaCqm92FHbATKEg1Se1qPdri4pWE5_64uWZyy0oKbWFZHZr1M58fsrAXsPjNbzHcgBY7oEizUuoIkL8DWdwZSJFK0YQetv5wefQj8uj1diXWZ43oDnX5gczrhw3spZQfDKatCYlfMv9Trm9Kxzl4nm1Zzgn_CMkUkEgXTf071v3p7yE9IHWqBeh8nu0yBEffVhD5miCIzJ97KKfNLaTrGpuEA4yWfhXx7BNGGVIs9_b4BvrVjiUpKxILEUKwL01Q_rkqqhFRtjvBZlBycHkIud26tdmsKs6932HAx0Qv6mplopaTizVs4pfjMnoPW7pANgKlb3yKs1sLVRsRW_cy13_gw3wdQdiUxTLmnedrpUY9PB7WnFGh3CJ37o2pl23F40hudfEls3jZspbZJoUaygv-C0erT6otMYOGN451ZrZ7-7ANBoP4X2Ju_TMaoATVf2ViNAkm-jnAU2lBv60zsrhE1Hk0lMVaxH9wRD8l2jlt4mtI9S51LcNM9Bpm4k",
  "id": "rs_0dfc25f8d82bd41d016ab41d49465487d0a47a8cc2a7b1c034",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The left jaws stopped slightly apart on the teal bowl’s wall, as they did for the successful pale-bowl grasp. I’ll lift five centimetres to verify the teal bowl follows.\"}",
  "call_id": "call_XWqMG4uI5b5WNLkPth12nzQR",
  "id": "fc_0dfc25f8d82bd41d016ab41d497f0887d0901559d6f1b32af0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XWqMG4uI5b5WNLkPth12nzQR",
  "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]: [-0.4957, 1.4025, 0.6899, -0.0875, -0.3855, -0.3382, 0.0424, -0.0242, 1.058, 0.9009, -0.7742, -0.0086, -0.3088, 0.9961]\nstate[eef_state]: left_x=0.3529 left_y=-0.1112 left_z=0.0899 left_yaw=-0.0065 left_pitch=-0.1575 left_roll=0.0428 left_gripper=0.0424 right_x=0.2891 right_y=-0.0019 right_z=0.1651 right_yaw=0.1495 right_pitch=-0.3748 right_roll=-0.1741 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -6.694, 8.5949, 1.4579, -0.1343, -0.0024, 0.9011, -0.0615, -2.7556, 6.8308, 1.3944, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c7f6dc209f01bc4828e36e5c9dacbff8e88434892c8a033e08b915bfb73801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdf6120a4d5af677b63952514e6aff26c17961e98fa098d69b975e95a4857e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8416ca2c23e70702f6f466714c0d7ed2c9eea0da53ccd30bac53b16d54817083",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 9.816 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]: [-0.5621, 1.4693, 0.7002, -0.0406, -0.4133, -0.3882, 0.9995, -0.0257, 1.047, 0.9066, -0.7593, -0.0181, -0.3027, 0.996]\nstate[eef_state]: left_x=0.3536 left_y=-0.1347 left_z=0.0796 left_yaw=-0.0228 left_pitch=-0.1547 left_roll=0.0274 left_gripper=0.9995 right_x=0.2924 right_y=-0.0007 right_z=0.1727 right_yaw=0.151 right_pitch=-0.3418 right_roll=-0.1682 right_gripper=0.996\nstate[joint_eff]: [0.6496, -7.3368, 5.9556, 1.4774, -0.0806, 0.1538, -0.0122, 0.3761, -2.3316, 6.9402, 1.5702, 0.0024, 0.1636, -0.0122]",
      "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]: [-0.4953, 1.5505, 0.5667, 0.189, -0.3805, -0.3332, 0.0385, -0.0242, 1.0565, 0.9012, -0.7673, -0.009, -0.3069, 0.996]\nstate[eef_state]: left_x=0.3534 left_y=-0.1123 left_z=0.0382 left_yaw=-0.0132 left_pitch=-0.1546 left_roll=0.0409 left_gripper=0.0385 right_x=0.2905 right_y=-0.0019 right_z=0.1667 right_yaw=0.1481 right_pitch=-0.366 right_roll=-0.1742 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -6.3658, 6.2701, 1.2381, -0.0317, -0.0904, 0.9451, -0.0479, -3.0017, 6.8444, 1.4042, -0.0562, 0.0464, -0.0073]",
      "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]: [-0.4957, 1.4025, 0.6899, -0.0875, -0.3855, -0.3382, 0.0424, -0.0242, 1.058, 0.9009, -0.7742, -0.0086, -0.3088, 0.9961]\nstate[eef_state]: left_x=0.3529 left_y=-0.1112 left_z=0.0899 left_yaw=-0.0065 left_pitch=-0.1575 left_roll=0.0428 left_gripper=0.0424 right_x=0.2891 right_y=-0.0019 right_z=0.1651 right_yaw=0.1495 right_pitch=-0.3748 right_roll=-0.1741 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -6.694, 8.5949, 1.4579, -0.1343, -0.0024, 0.9011, -0.0615, -2.7556, 6.8308, 1.3944, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c7f6dc209f01bc4828e36e5c9dacbff8e88434892c8a033e08b915bfb73801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdf6120a4d5af677b63952514e6aff26c17961e98fa098d69b975e95a4857e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8416ca2c23e70702f6f466714c0d7ed2c9eea0da53ccd30bac53b16d54817083",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1NRDLZOPZ5Ztgqyj1g_K0s9l7MQndithqBo9bNAyV-WCH11pddOhtXzA0EbEcFmr5-LKTvjzvhiI2u7Ctvw_9jXY6AUr9w_OVG72u8MuKpUPX4yBavzkRSCHMw8IDi3yYT3VExhC5_8jnKctYru6Wne2YlftdM41RE8foMXnUu6PxcZb50v80pMrpAavY4JM75rImnZ49QFacWlE62lO6HGPO-AUtRxGZz5eBxlcSxF3p0RP47Tzf0gptCpAIXnLCjtYPSFJCdFObaFS-lfGrJyhMHbbQhCqkQMFxvgmOVWM6otK9jfEzlL9qnX8-BOmClLCADjOoXNmocuMq-XXBksbE5xzJIpB2Mc4HOKrdLDraI9HQkp1ScczT66hlZJraeg8aThqnfk58dkRXhYnAldvplUFzDzPV2nvRO3-2jpsNCBs9fdWSh-c9c_FS7UNklrNJHGXPlml3IPWaxLYHAs17bO26gejAMQcd9onc-MeXeAunfoe6qG5muAvUSqDJ1e6oX-zZRADBFjF5kJp5QcgcJ76_QdCeGTrZ_nNT2OvH_BOrM_tei5WB4ufvSYr7sznCe8H2CLZ24IfNknEQOMYCeL0MWgxp6xlx9fhyz69FMZj6Zy3hmfPz2vBdwIfdSkYpGt8tukaSF6NYUhVNL3dcLGp_INu2dbBBc_gF_W7u_xvexBME2VUAfkx9Yd37MSYViSsQJYGwxWgB0AQzZEzuArjtaPUVQBQ4WS4n_Bzm-Yw-57sNVtiOuxbHRk4DOsyUuQcrdMMQlC_4j_00Cf4hmrNcUC2MqFOFGGs518VSWpe8_Lnu6jmW1rGgpvojQ0rjVgoAvCaq1kle2shyQgtv0tqEJcPTNsoDvtsgR2PGaafkMCxWmHV32DzWx5oc_bHsPxZHqd7zZVGnD7nHolWs1QXw7vcgZzqyzjAHD3OLAgSs7dM19U8FRO2uX2dFLkFWBRHbPmjPI-Ag5vJPn0q8Ucx5nf8GvlJ_pAwjN8LGVdMOUlHyabTIimlpSkvtdnDUan21T30WmqrJRjVgtKbaDs6eN3DdKYYDqFAcLMdKzBZbkKZYo46cZT1CctwcXps7Y1YwIDlTTBglzmkQxQpheP6mG4GgARhmCihSAH10FmR13AfMxx6mIINhUOsMlj9dUX3w_U_Q7Vb3ho1Vo4EgBHPdn_pjSpUC1zGobCI5DQ7m_lHfc8kCEJjL_xZITJ_UrK2eaGvrlu5XG0eOonRkFPpzGUZLb0CGa3sbMOZpnUbO5RPhuHQQU9B_o4xs7ivzfB3hEPQ0SedhMf0YF5oLwpPUPTDWBnVHZnYrxD85qZKS-hJCfpEqYrPgaGKd8IUXiRFwCt2nOa8MOFhmHoYQRJH-9pyJFF3EkRLG5oDG041lkRprIX1AtLNzfdNkP1WTJhus2GWDn76Of2qwHmzjDFNNa7MOtNNn0CMJZURT4Q1L7Jj1n-uFkE4nmydjYYJOI_jkMd_kR7DkH9zIEUvzchX3Y1j073gU7WH7xIq_EnjKdcP9g6ZrOopA6H_YI5nXJU5_RXDUxzs7NUgi0rRpTDx013LM7nwW2ZwL5xT0gm1mmRAMHTGcPGHzptfu5ukQ-Me_yk5Q59b7UU6PGMPaXZrqqo0rExsowjLUIEE3o-oA0op-q-AuBaJbMqpXhk4Fj5qUBx5Mzt0Yj65x9onbgdCbBdlzGDuBhqmHl3lqlijmJzLIEcWIovc3GvCfY9ICwwQPB3zOKIxJG9FwYYjsDTr1isQsgScGPQa1HaVnameXTUkDgxu4D2gezvNKx20e3Hu-q2CskchPZOuMyYBvyfzuAGoFahPmU4SYRrBs3hs2Ba0DzWaOtCuIzi3zm",
  "id": "rs_0dfc25f8d82bd41d016ab41d4bc5dc87d082b5490fbccfd7cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.185,\"left_y\":-0.2},\"note\":\"The teal bowl’s grasp remains slightly open, but the overhead view is obscured by the left hand. I’ll raise and shift it partway toward the middle so we can confirm the bowl travels with the gripper.\"}",
  "call_id": "call_SA34CdToSopsjeb8VdWcIpAM",
  "id": "fc_0dfc25f8d82bd41d016ab41d4cf68487d0a91179433a1de59a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SA34CdToSopsjeb8VdWcIpAM",
  "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]: [-0.7471, 1.5066, 1.1503, -0.5335, -0.522, -0.5419, 0.0427, -0.0242, 1.0584, 0.9009, -0.7822, -0.0086, -0.3111, 0.9961]\nstate[eef_state]: left_x=0.3515 left_y=-0.2006 left_z=0.173 left_yaw=-0.0333 left_pitch=-0.1686 left_roll=0.0262 left_gripper=0.0427 right_x=0.2876 right_y=-0.0019 right_z=0.1638 right_yaw=0.1513 right_pitch=-0.3833 right_roll=-0.174 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -6.4205, 8.6769, 1.2772, -0.4371, 0.1929, 0.906, -0.0752, -2.865, 6.6256, 1.3748, -0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d449d2e55a2336408d8b34a95a9fbc93b27eba45557b3b8afa4a59e900987dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043bb73ee1f3769ae7d28b8ef85353ed3abc8fadd2e43197bed63e1bc46d1fb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bed41ff972af58721baf12ab180102c3f8c0167321690760b92e4d96bfcccf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.49 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]: [-0.5072, 1.5299, 0.59, 0.0994, -0.3817, -0.3557, 0.9995, -0.0238, 1.0515, 0.9031, -0.7639, -0.009, -0.2974, 0.996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1134 left_z=0.0391 left_yaw=-0.008 left_pitch=-0.1939 left_roll=0.0467 left_gripper=0.9995 right_x=0.2912 right_y=-0.0018 right_z=0.1693 right_yaw=0.1424 right_pitch=-0.3549 right_roll=-0.17 right_gripper=0.996\nstate[joint_eff]: [0.4718, -5.9692, 6.188, 1.9853, -0.0415, 0.0757, -0.0122, -0.3214, -2.9333, 7.0496, 1.4481, -0.1441, -0.0806, -0.0073]",
      "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]: [-0.4957, 1.4025, 0.6899, -0.0875, -0.3855, -0.3382, 0.0424, -0.0242, 1.058, 0.9009, -0.7742, -0.0086, -0.3088, 0.9961]\nstate[eef_state]: left_x=0.3529 left_y=-0.1112 left_z=0.0899 left_yaw=-0.0065 left_pitch=-0.1575 left_roll=0.0428 left_gripper=0.0424 right_x=0.2891 right_y=-0.0019 right_z=0.1651 right_yaw=0.1495 right_pitch=-0.3748 right_roll=-0.1741 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -6.694, 8.5949, 1.4579, -0.1343, -0.0024, 0.9011, -0.0615, -2.7556, 6.8308, 1.3944, -0.0708, -0.0464, -0.0073]",
      "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]: [-0.7471, 1.5066, 1.1503, -0.5335, -0.522, -0.5419, 0.0427, -0.0242, 1.0584, 0.9009, -0.7822, -0.0086, -0.3111, 0.9961]\nstate[eef_state]: left_x=0.3515 left_y=-0.2006 left_z=0.173 left_yaw=-0.0333 left_pitch=-0.1686 left_roll=0.0262 left_gripper=0.0427 right_x=0.2876 right_y=-0.0019 right_z=0.1638 right_yaw=0.1513 right_pitch=-0.3833 right_roll=-0.174 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -6.4205, 8.6769, 1.2772, -0.4371, 0.1929, 0.906, -0.0752, -2.865, 6.6256, 1.3748, -0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d449d2e55a2336408d8b34a95a9fbc93b27eba45557b3b8afa4a59e900987dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043bb73ee1f3769ae7d28b8ef85353ed3abc8fadd2e43197bed63e1bc46d1fb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bed41ff972af58721baf12ab180102c3f8c0167321690760b92e4d96bfcccf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1YkzhUE1TE7VTZfTf4G91beSqxteZhTSpADQQD2LBnQxoqPwEKL4mPF0tWvv5Jt8Brt9D3hPI9mBfIIi16VMFCbRULcz1AgGs7oDcYSuvdlrIp33nuFTHvrRWrtbsABq0etkFMbEvoVz_DVDD3p0XNIYAjzNerfOw6IfPJhn7Hzi0H48rti8VtEaoOagHjdxNxDYNQgtWVaV1LPg2JGDSorD5PMh9iOdph1-56bmWzC2Bmj_r1dzPkAEYxh1xoWrSUhR4mfQmBsCCUfmfF0z0xslAVpABB3yCJcgZs40Ugfk4jjWmHKhzwxyL1din4XwMYH5hwpB0S8AYbb-yutQb1av_yWLptEmxqp9wTtg6ypz2Sz3p48HCC-2d0e_7Rlh5s4IH39FS2evlb8PGnqkWnFwrMwztP9ISbsg2mDcbuxTM2asfBLtke8qsT20IftF8-9E4y5FPkDubQavCWSkJNI08d66hePpGAXL_nQZkWfLRRYhNPQT0JABypdBEX2U24bc-8uGrhTHd-R2jnRcWoNxq7qawdtS6Dp3nJbgrDPThwqQKaIycgb9QHYrnXGfACRxZ0476pHOA55-AOn08JRKpOFcJRZs2SCKHXJlOBga0FslUKzCxBM8BrXzPg90s54PwqN6cyi84Q43WQSxHKR6jOPM81iXp-zysPxp6KQjJvaunJYh0FEUnwBJZbdyYY9832eFTCcQL45pdNKzU6ofiTLBtMcrhiyYUqnj1id-k2PQQcwmosoGfH2-2_BzI7I9wCpsYixiCK1UHCIAiMVtEFIka0S5AZsDpfgqwN5OSZU7qoh8ANkKOmLYNmg1rMIvmJ6MUl5N6w2nsID7LUC9AXowmIpmr2Mz0v1XDD9ZlmC4dOLS8u9pz0-KsrkrhcTaA4e9N-nHMeHg2Hmy1waBYqkMVEVRMxdPSTc8FddP1ZHCp7mslzIGpJDVqifd0MF8cBplb6I2krZtR9uyxtzV7J6W7LN22zLZ1iiQ3XNcbuQ9FJLKQUpRGUT77Cm48ZO2sMDX8D6YqfVPmUp3CCoXFIHg1KDEGqM2irDDWrR5lZuKrjToJc-L7zWZyRrR_Y4GBDcVopgM0lPazez_pzI26ZxfiACEKCJVIRFaZB0dQ4FjP-DpTT2xHmxPRLWIBvtMD4Cyu2_qfKuqxaGXIVbtKKO37ExbESi3_sWztaV48F_EametvmlWQ2pPCb_hsRtcVZrID-m4eQ7DfKcta9AeyyYv-zVXADq-HWxNoO7Ah1WlwMTSFEJ15CBhrXFrcy9aZ8lorPvhlvzMmIrcU8PsHX8E7TqqRpH0OPJhY_5DsR1mYV_zRysgm4i1uBUvRDijUV-fFei0-q3JG7mQwfxAXbvZ2tppWVXdx-tLtTOJ_zr1JXmfW9OwGSJ-gt8vMQt3edPhqaUH55gVRxHK5981Xlax2E1UqHNEAPTctyeQTq8XZFhRdpgnEBGtFtz6SwMyvdrjxzhnHW4eIINS3HQ8gEdv8ilHTzmHLl6ZdyHJOQI0VYWUnPN8Pj3vAdcsjoghdWz2Om7eEPR0tDUTUUVUxojmVhICKe1u6J8yVxJ3ulbEWGaJ6W5Yb5AmzC91akt_v_Jdt5fk3Nlb35SQZ-UVqxCghMp3iYcVHoJ7JVmXuc_WXgaCuPiBFpTcLlGmIoW6Rtq0CbFP8q4xZH7Du7-xcMNVNnUBoPwhGzJgkcdriKVTmGmX4HS3UJPuHc0Sn6BpC1WnwwlzWItHZJUKRTSVD2bUin26mMsHOvvve67im_0osbEuNsMwINnsumYFQL-sKEzdnB55qZfMkxJbJzWQep76seSqTPV0qXJl2v0v-SPr7cPkeT95KIA_BaWb-FuruOl3jlwy-h6SzOXCQdl2rLiCftLVwE5FV9Yz1tb1cCTrl9Z5agHFsRLgRv8df96AcD6cp39JOXm68vwrtCfHfvMV61ONhNxZyNvYx1WKU8WcoTT9fS7QwFCREzqjJ6Opo-lamctl86ytL8YD2ub6_mL8qZXPBrtgl0HP5YmoNcSpekfdNs4QWUwp6VBg7EtRom7rAY6u2A12-uS1y-3g9l_IFtnX3ijX7PHanmmwk7bMUoXf4-NRumAyFNUEUsDIQ0uAtf1QC_F3DQhkU1n9etO82XVeSFktP02fxvxtDmAV7CJaxw5e3Nv_dWI-IGJ7rW8xiQe--SNylN2Zf0kfbCy5OVbNZlQEDmNfFTOxFpafv8f-P_bT2ytyrwxSRxBtQRY6xHg3n3mNsXz1IcWYPjBIc_iY_1qKPnAwpBWeZYj8_mG49OR8XXgDm2qe4VJEsb224JrZQbEKvjyC8HunOenKlWKfCUhvXVF36g4VdbtFHZptJnHcZ-PIxEMNmVG3tYUPbUQj5Rw7Gsc6HhXJkCJngQKi10Lhu3-kkJvs6Q1l3aTOkIEZYCY2JOen4qV2Ax019nMTyZynB4KdnH1Wb9DwUUjSDmt5XKQ9-Tpj83d0suaKf8nJxOV-D4mKB6liGJVk_L-C1c-HTMZxCucKuvpRvHKblfFa5qCdJzOLvtHvJQNCwJsvar-CY8azBRYIA7HDQ1EpFjDgu7N0XXb8ixc724zKZLZZZ0l-e1GuOVxRbcN3vYCcyDrrJ-c__tVt8vOPaYXfjnckGuVJXKC8ATGeCn8atl_MjAbp5DFgUObXNLw_KbM8NzVhFmpx2AL1DyuZFfo7CAbn_lGC5G8t3DWy-lPKoThA8pT_t6hLwLrvzoZjFeh2tZGp4bqXHrOMNkEPu1nRoCPTkWHypYK47akL_U8vZmVq-5LbrzENmDH6UOc65Rp-PO-_nbELDcwAQmB2F4iQTMMHRLOFX4saPWFrJmHdPkQW4_Qxh2-ToM1qnQlmUzlbnK4sBz0WNXK9DoE2t4OySC_ZPvM9p9DEp-17WwGuNDHjJHDbckQdxuQ4gs1h6JzX7g_QBnX-Wqrftk1a-KO9MXXUQITmqGVthXYxThFfD5FhjGv5vNw2QRvquEqx5T_taYCnlf6E1aop_rrkvMH14IssLnodW3JZXpW-eF4d2JmflVxX4z_xOrMjBcvHzN0hWudivMYoo13yWcr69MWcFq4tvMiPqKUKF39esv7AUwBQsQYe1QjxKR7c5P1O6bcpL0_TufPxXvXHftQRJ6R9pEkPqdZmfFyV2olrUSmCOXTRGh5PNCLPHQI_5RUnNtE5iRPZjv08YN8Xh5qJV3cBoV5eQbJ2wyY5DYBir3Oj1JtmGUECMFnjphqYmf9T9ctV80ijgKp7VXixgwHEGtGrTII3MHDZVLfoV_HnqJQg57huTULFaZSamYdF1FbUVZIzuJZ9EqXHSvFFtkayP0zV77O70K9O4PAYjwWNqI5aNcztvLAD7mQLXFQliaZiIzjzXTeCNoOheuVfinmha80_9F2CTQy2cJtItKwHOO-Xi8SWgvbURrFFv8Fzuh_dR8Ls0fPJvHyIWYkVvh6LqOYVTwGLmoTooKLTFotZY8c5X0wSzqcHGu7jGtf192KDnahcdImau8ZglHjxf17croIc339yZZDkUNggVEP4aOMwTe9vB1dcmPqrYOZ5W2LihzqmTA-o_wl7zh6ZZokldGqfLOCMG4TBvhJ_ohQVR_HrrZdR1MGVq969rdu8iQlUXpFu6eU7g375mmwK1WtJJLqy_6s3GVb9Ojxu6p2psFwmbvB6ExoQPsUDRBn6acDO3L9L_wy-P_SSUaglIBXSZDV-p-vygLBh5XVsXKZOt1tWz8FiMfhuQTqbs9QQMOivAQLlO9R8JWqqf08DdmLLZWxhyHVh38IP9dtIyqNzoZPg5yZfCMlC4zzWIZsJkvpUDrh9QbU6icKnn1oksykTViwJ88ayXKWD8oqQ==",
  "id": "rs_0dfc25f8d82bd41d016ab41d5050a887d099220441895c8e10",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1YTmOo7nOugsVijuvpNZJc7qgn0nuZWjEp5eMvKgY3UuoK0ZYSQe_RHNZDUcUhBXolit9ttB_E9wEquvpq09YOTB77-EAy8Tn2T8RGfm1tlut2f1BBIPmbJOyDpRi28d2E1DgZ4FycTyx8ovvIalPoiCwbkEF0uyVWXPoxuuGzZzOx3SEoYUPg4wDVsbeS6HT7bASyLsOTdk4eIWpKyfm5TVh4mgsQTf95jdlXBJYNwkOaT6lYdhGAOvMwISrXkJJbsCUKO5SvZTzRW1UqO2cMIj2u1frxfBpQBmK2WCkTcAojaXrOG6otEHT8ZGpMNvKCw3VLVR-R7NneAO5CWu9h088ScFUl5MNBbLDUXjlqDoz1JK2OyDzTusKoDKI9-gWY6vDjENfYi8JtNw70h0tR3CwCvnsnUSh2L97U4u7xSH6sx5Y6RUcxPqUM2gcnlQo3oNhD8KWvANyWxpVMRjLce0lq6v2VYUdWlx6h_SICn-hLbx7360vwgaNQH9K-cntc7gFZCfQ4iqGaKqxc_dZHkvDcy2FVhxbdVxg5QP7gmt2ldQ1vRWAKRihfU4HNBulbRpnAGh66jqigOAB_YgafiIn6JsF1Lfyu5vWLc4QD2NX_KQ-zOpKAIUPj4L54qXO98wYfJKWy9MDjIl4DA55espAysDSh3zBb9nKb7OKL7-54TopdisiNp0dd2IiDJ3KScdUUGFCkncwFrCyvWBPhJxTYn3GSLdvzsjcvcUIsM8bX2y9vIqKBbMXjxc741EXid_r7RvxJOWuCvGt6heZmPx4abemT_wQFj_vvNW37CzMjVK5Cb-rjB_vpDDUaPC2pQlC-rY-fFdWE_XTgwGmkNN0lx3zexbrMKBf1hNcOMF-4qHR4fAZubXeeJy-qEykvp1gGex08UCScxB9sepis4ikjAHOuzNLi0c7UvnyvCoRPrT9ZqNBy3SvEJowmXHDS2ngwdPwC4ft3WP-YVrJRaCm-JRTXgc5TSLqFy1c3fDaVAhihcpI-BFY4HOV5p6n5OGweS6pg93STxNSHQ0sGAtJClNnb4jL7LL8NXR-EKhL0PidIRw25K1rj8i-8lQF6ILotvpnbWjj4M37ZbyN0Q77uW8B_Z1ih64iA6qt-E0Yhyxlg-vnrkD8Ab6oW6Hd4cz_kNCexevhR-plKOQRIatnZ9iLLFNR05avQ42MK3ogUxLR1J-2wYTN0AKosWtLhZa-UAzpdDEMR4SpmQ5k55Baene5GB_UfMRjw_Q0O-_yCa29h8RioUhQHyctOopb670Q9_yz_M_UPZ884yMcaNI4pEcjMY4gaspgzxpjNDIxFzMK8hakvB99x7DK4KbM7G3jCdlKAWJiGeOJPMHM9Rw2T_YAViWYQu7C7L3HGP4kzTThW86DtAckVGepSV7C1k-4U_p66O4ZsvibNcsmHzJJZr-UFVUmw5NBm-wvE3udgVTCNX_E-txWL2z0o_C5Hzrdh3ef3KLaAvMbiR9RKB95DdVmbHjGBsdH2tumBe19iyq8uu_9Q2kabmvnNjuyZw34hCpP6-Y2jn8PGeVAzg56fD4BQWwgMzl8upf3qeX0ImUUmvQppNE5Y5_XSWS7Hmv3fq238_gskOUwscwb3VbFtzraNMtPE7023MLQt1dNrT2H8R2ntTF4AIY4UA8dQuKcOkBvKPQ7X4Sdk4JxGMkozaPAf58uEHi4pUDOEmZDtegJdu_3AwQ6vtVrDY-4LHVG9uF4DZNEOocXl-gvSr5LW_Nk5dIF4ibA-ef7vVFO8xAODoei_UBGNiZelfojbshs6IVlul-2DcqRkmkaQTeBiE8hhmmvkKZDT-APfEIFMfi_7dia09SjGr5K_cdOWXnt9j-I2NBhQq8AkWvYVouyK8X2fv_pPIg7_xMTPRub9J2r-Pi8JWfrAIiIs52NNMNNNUNpiR_Oogw_ZYbUEVtqDhOt8txyicJiq8QfyGYlOp9o3yR1_RczryfJSWVboEKWVEo-s2wjR_Cu9xNICEKlGc3XUA9NAnsyAlY2iapsQsQ4Xg0Ih7FDUGJwkG1k6Z_dotHbtDVdwLVTZYkkonoMwSYGnCp34kj_euCziF2wxfaEjJOLNlQmCQ5IDOm7uRkkSWgJwma7VYEqOgCZ4bOY88gMWaPUdWNHESB4ecbgChG4aD-MVDkUFaSm_MiHP-ZYCWaf_mG1MWLYd9zA6AsaoTXu7f7mFTp6vVK0yqXcE2rj2OwDlJJiJqxHzKot9MQj07q37y0N2J_8sPKJSs_uVp2DMwCJvQowVmrxoh0AI-jdia7tByEjUf2yozGPfWuOklvjXlcmSjXRqJRhXERuiweGzW0bQO939H5Yvr9-LtfjFKh7puVAp8GD5HtT67AwmsliXtH9WAG1dLOLxBbYIyB_oDANaoKrxCRq3B70U9Io5AJZX7ukgBl07vxQWxVW58sapygoE_TQR8qMmoYRDCh3O9daeV1DeHCZ-GSIDf3otJmaoplqJfN25xbL9JvfpA5Gjrd25MDzo1_xfq53b4tQEmQ8ouRWPWHiBYDa0fTUiFZkcSCb8lphSbOz_PfTJTlBhcQNt3DvsC0H88Xu2PFNyxnZfYgjRwOYKMuHHx-grd3KIjY7fRDQ1dATi",
  "id": "rs_0dfc25f8d82bd41d016ab41d54e22487d08cc142aa807ab61a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.30,\"left_z\":0.19,\"left_x\":0.36},\"note\":\"The teal bowl has moved with the left hand while the pale-and-blue stack has stayed put. I’ll bring the teal bowl high over the center of that stack before lowering it.\"}",
  "call_id": "call_fDahdmKGcCcQxu4AqpYScwY1",
  "id": "fc_0dfc25f8d82bd41d016ab41d578b2087d0ae386221d106ad83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDahdmKGcCcQxu4AqpYScwY1",
  "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]: [-0.9173, 1.8107, 1.5326, -0.7231, -0.5961, -0.7059, 0.0438, -0.0246, 1.0588, 0.9009, -0.783, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.356 left_y=-0.2959 left_z=0.1769 left_yaw=-0.0471 left_pitch=-0.2009 left_roll=0.0283 left_gripper=0.0438 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3845 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -9.265, 9.0188, 1.0281, -0.4957, -0.0317, 0.8278, -0.1709, -2.8513, 6.6256, 1.3162, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2547bef282a279245eaca7910dcf4023ed0dae7984dc8be750cfdd9d8d85db0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e0a26dd6b20ee227a0b242c121d09c1b454ba933cc43bac1e64313a279538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84c0f9df8a2b2b4d632fdd989603c4fae0d74796493d8cde196f11e51990ebf",
      "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 · 4.587 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4953, 1.5505, 0.5667, 0.189, -0.3805, -0.3332, 0.0385, -0.0242, 1.0565, 0.9012, -0.7673, -0.009, -0.3069, 0.996]\nstate[eef_state]: left_x=0.3534 left_y=-0.1123 left_z=0.0382 left_yaw=-0.0132 left_pitch=-0.1546 left_roll=0.0409 left_gripper=0.0385 right_x=0.2905 right_y=-0.0019 right_z=0.1667 right_yaw=0.1481 right_pitch=-0.366 right_roll=-0.1742 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -6.3658, 6.2701, 1.2381, -0.0317, -0.0904, 0.9451, -0.0479, -3.0017, 6.8444, 1.4042, -0.0562, 0.0464, -0.0073]",
      "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]: [-0.7471, 1.5066, 1.1503, -0.5335, -0.522, -0.5419, 0.0427, -0.0242, 1.0584, 0.9009, -0.7822, -0.0086, -0.3111, 0.9961]\nstate[eef_state]: left_x=0.3515 left_y=-0.2006 left_z=0.173 left_yaw=-0.0333 left_pitch=-0.1686 left_roll=0.0262 left_gripper=0.0427 right_x=0.2876 right_y=-0.0019 right_z=0.1638 right_yaw=0.1513 right_pitch=-0.3833 right_roll=-0.174 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -6.4205, 8.6769, 1.2772, -0.4371, 0.1929, 0.906, -0.0752, -2.865, 6.6256, 1.3748, -0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9173, 1.8107, 1.5326, -0.7231, -0.5961, -0.7059, 0.0438, -0.0246, 1.0588, 0.9009, -0.783, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.356 left_y=-0.2959 left_z=0.1769 left_yaw=-0.0471 left_pitch=-0.2009 left_roll=0.0283 left_gripper=0.0438 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3845 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -9.265, 9.0188, 1.0281, -0.4957, -0.0317, 0.8278, -0.1709, -2.8513, 6.6256, 1.3162, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2547bef282a279245eaca7910dcf4023ed0dae7984dc8be750cfdd9d8d85db0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e0a26dd6b20ee227a0b242c121d09c1b454ba933cc43bac1e64313a279538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84c0f9df8a2b2b4d632fdd989603c4fae0d74796493d8cde196f11e51990ebf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1fjht6b-GR0M7gdwX6mKyLa-r_e4hTaj5zvW8hiiLXAcvI7xsUcdh_Rfc06gsdQLvzfSc3Qv6lNAGz72tlQcHP_bXjprqb_zhLPOh7S-2sehD39X_aRH6j32ooht3w8HV4YRj_kcDCJmHjxwNyQEB_3svBUPjrE8wsuklYqeWZVXHPVcQCa5tIX9smtjYkgCSFQxnqkg1jMI6PkUrqgrfOv6scLlVRlpmAqpL8-DUvCaeIcYxbw_5fVXtk0u-fKuBmT-pys07_97bLyt7p2NZw7a2_i81HpB45zLQIAwmxBnVozBjZrrZr4-a-Qa_VQNSfl4MOaDobHDdkidHxTQfHJmjU6SkA5ELU2VwHgZvlcoZXz0WWViGTgbEwJP8cy6pROWKgc3k19EEwcELtdSXjnmZl7zQITK1q7xz2vmCxvnEp6fFhtRf8ZnoAckrnH1_NVFbdQp6BU0-N7-lEREAk-cK84jk9R7hvnJdtXK9ZY3HXwur95bm_19Xvrk_OTLJqgn2jcTBn98MbsOT5yR5hJU_JPyh_YqaJsmn8os1RzYa6g-yaJ7JXMstDG5GhSPFqS4kcl-lZEG1c8K6p90mevB5g4E-EZKd0VzLCKb_SZLJhTRktaImh1zLU4dIz7-bGXIrUwunuevvtNh_HxNqhAJICONtqjSLhy64a2muTHUNLZWTbGe3_3BoqMh1wGvRR3corghXZX1hKT5MslfTfOGQu3_abGRERu1RRXlDZFGQhmuA8HEgy19_s_Tz4yFHrkHTMcS5TrGBP0zyfD4czZqdDfbsKG5hvDuiiRjVoI4YBHC2-wFwONQbBW9CUT8KWPZQ6Wga0Xbfa2EoIIq_Fqi0c04wvUQ0RXXvnG7JqguUvG5jPWddTr3XIOrqmmUVYO-w9utJp6MFOi9Wz-DhN6VdLxsOnfgScRiXx_scNiOtgiAKHq-0v-AK3onf7cr4uS51A1Wu2objksj98Wkw_hL8vpD0lQM6WciVw3y-_QpKf02Rcr1iIPyghbI-fuvtab14_wHzqGJ3Do4d6RvMjE8cycfOq5bgFvpc7bN1OrU39-rEceaS-lLgyllzhYTj4bhClptseEjrDgPY54OXJvOtDeHlFUVGFS0c2QVyA1gU00Eo3ed0SrKC2FCGwzRUh18OsUXpAjnzChDUyVMEbOs9j7eypD7MWl05RHeuVMYIGAEgaFwsIX_p6iScGLZ3utrXK0mfnHh4rEQV9Ev5C64dX0wiYvjAK7ZIFd_hT1BLw6PrcOfwhaEmyI4c2nDeifY5irkEFbhxyrtE0e_DIaO_7FSSxbKKHqdve68xLRbGdww7jJOzm9cvjdl4k2YRUxzge3oUqcXguvwkZKDxGAixDenq1FFDP2IQBfrz0NCv1oGRlsPi2A7Ft6z-1RZGiyuBRd3EpqOQ_FZB1xJYf_N7g2ex4NlMFBeBkDiF04cltVdc98AKufTiNdGgN3lT40Ott8HZSC4SgZtx6iAJxkkc9T8fAdsCr2Wnk3JROw7ox5Qy4iQZdAlmQSkG2INZw2WWRvK9YVDxAc9IT8XTS6g6XbAnvjUVksHbOsZ6OsKDr4QoFo420P_NhLIuQozM7-pvJZRRMc0tx7TqCuo_Z9DNsRveyFIVjiGNpw1TzjdRRyBIlktvs2fEgsRYtGbv1HUQokYgT7sd8aDo60oIhW0UXqkbRwMX1Gij1wz_TdOxJROUSzNobLwZwPyu9d2M-SVh3sr_mTZbTqL6A1xR22ekQdwU0cX7lJ7baWLvRNYV5zhTGyI7HZVK6Wr-PU7AcQ_jTGnoVklDqAfk69NJ303q44V7hHQxQp-jJRTt6xWG1uu6UJK00zBkEI7Uq61thEA3m7aUqJrMEgRJhi30jPTfrBjkiHBCSEjWl6ESCKJykcbxfPFNk79nk8kftQlXyX9vt0_iKuKdJFswOAq4N0Axi8HZZt2RygPvmCufknvPZW743jDNLLuObsaEnBqt9X5FhLH3fuPMdQELLnm58iUyDPFCU3p69sbmLG0lFEjbHr1j91l5FCC1xmxkyU5M3XUu4TgNRPDouxGFoi72lwl_SNIThyU67oXX7swUqdFVfvjv3lIUDqMkapSdsby60cHfNZEdLtaFH2KbGTeNA8oc2GCQ6d8ZUesrUJ065KnhL5ANnmHWft22GkQx-D-RNeTn7UsrkeeFuyxxTV2TgQOYa4ooPXJflz1J-QoI5Rcj3yy22-Oi1Zt8awqS0QmtipSw9WA6Ha3KdprbSeUzQHTGH46t3hZiX4nD_1wnwWpWZmwpHKAsOWyi0cAvtW5g5pqSnwuXpwOLQ9EFqJJKEi4XEc9Pj4MhihL1xMusPrDo3KYAbBh8UOTJ1RTcZjn7XYRfishhtS4zfCyvPcT-Q6S9GvbyRDBG6mJWr6rVzD-V3TN20-Srlq5y7G1EAjSppNHjLMg00L6m_MiYFdIatFq9L093eHOz3H4XKUE06TCkCa85Pt0bTdZrgOsXJ9XmuuF4Obrd0hoTex7W-oaojkjq2AIhWT6GUb5WIRjbrJtixHAycQjltN-XF-P7TgLb5_pyIlzuPMirJhyfH_lBE1uesrwih9vjH4DEPE-PqPAzGy6ajyDS2OPrSTuHaXpWPQge9C5yF6RgEV3tg0xXP7d1nKdjtkPV3el1qme09BXKfoRBiUKjAsOI7ph6D0rysUayxIjomrpKAhZQqEoHoASrmP6RxW98Ir2K3jsNA2In6jXfV6L2LFE9RGbaeSqpfuLeeJNfqSMM_f1xYQUpJZZwR--QNY34plM1x2LMQGPFQR6-HCJg-Vb4TIJtzqA9kd0GD8OAF4ydgwpspru6mDBsT-CUFg7lh5UL43G3bVRMZb8NLYhvzD3Ncruf3G4fjxuiijB9bJvftsC1sfyDrIRUcMMJBMymo7rkpDr1X6WVxLommt6YuOHaVJgLBH5ZAvOtXNiswTnnDMUWklX8UcD-bR1ZtW_Msfd_HZHYx4eEYknbs2wwjxMp1vPiXqxsvFHoy-YA9IW6A0DgO8qDWTe5aCKdBZ1saLRAJ1i4SdeSh3CSMCuSHZsGVSWHyDjcph98UesuoQ6sDTUk5PASO-qv-b_2_BSwutBPzI6hQYGG3IrwGrshS8sUlXMbcRv_BsKcwwqhYzpH8rZDmdhj0jMiZ0YqjZKy7k_OnEw3KbfeDKxU7O8RlCDE8xbBk7sbDUlPqeivHfXCcBJocoWCkgPqFPhe0OKR7Nn0Ju8FCGPmTX65RONacYQ0kQiXQIc0R0ukAB6e36_ukUdXOUeC8O06YOaIoVM6nZuGufFXVCji2PWP5k5yFuT5hq8WqXMD6ULs4Un0jo4Sf59hHCLHYVr1vQSnkAXHt65FMkFKbUuXdswlJAgHCOg4AxhWRkMZzeb2kkQ21xwbZpjS8EAI1VenmVoCB52Igf4Fwjrw_r2kU35YacHvkclZN5tvGY3LH6bp42VHWIXlGWq6kW0FhK_UeZPO_QAh8R2BWzCLlBTPKJYt8VsEPyHdiSffGrQis2GnqjIOns8pyxTORW5CGo8X9inN-m9NUkS5d3Emk6E9St4NKi99ULPVhSZcjm5D8CNEv13I-H8_UmtrTEpBuj_VX9uw5EaLvqv2BtrmIuxZHwHJPZ9BD075yc-CRWmSpQuZcz7PrplSjPAV5s-B8stWFfp3NUWnYoqzHMBuRGuCuFS_vi397OjYZ2d7sv8soUadsjN2aQQZo8TJXPFm0_B8yqnGFssDdoCEmVQgt5xYFXoQRWsrg33z99azqSyk_uadh-akYu31DFoxACARiCSIG18Fi_cnNRNkbiklMsuVUWHsdIKqUDOm3VnWyypsC",
  "id": "rs_0dfc25f8d82bd41d016ab41d5a3af887d08515364509d9813f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1fRyjCOb7qZH601CHjlDtx7VJZFr4OHO4CsFiVdYHPokRkGKci2ehmlqK1cQ4cRCnu98qS08zFiOsakfALt3MymceDOuvLpnoV5ZTH0YWblY-tj8oQzq-IlKzDAx8CtUVBV3B8EtRqbAiVqUB0fc4HlEzvhSmJ7mOpccGaYWRG1yCatxCrz_NLzHA032xhJAqXgHH0HV2Vw2u0Koyc4YXOq2ayJSoT2h2bAgjXCi63N8yVjOlazgyFHxUxXFJWMgp8RGJ4W8FxLpYhXECspSOrgTvZr1Knd-9TPFfARi68ajHLzBUY41YjmzPhJAmq2zcvQ0G6FPsKrl3oXTQ-azbOXwJ4-OK5fNtUe__whD0ddQ967vQgyV6gPVMbDxU9bV3M5b_zOI18J2C2of9rnIMR-gcGIgHzZdyxX-Lo070djehP-imTo5Fo6kxMjHojT-1iktJoS0xk-H3hXq45nb-_q5TOuqSeqfEEr7AxqJgxCj1XWNiJR5r1mX6uLpWJObkrVA0E37q_AfWAZCI4tfGo-nb8Vx_X7Gav-nHngsxXxH_PPSIPZ5FM604P6L73AGUjBA94cbhwLFOrfJ9TQz8BAqYzoLAN4a6lSp7_K6b4kUUWZkF-Rq1NmgeFYoaDY21Jcqcg-jHdbu6p9-Q7xt1yChWL1DuGsSXFJTakTMkV4sVC15dQ9O-evWvAxK03StiEYAmjVjo2b0kn5Rp7RmtrHG1oFrKnwjI9RBfTmcbQbo7HbI3JZ8LGwm6qpv3a0AOC0TY7GAczVRk4PuSfJjl8Js8KFJ1fEzIM9SqJAQIjX83X4hqnvoCzY5FiB7d-AGvDsM7YSD2ao9dy5JnAA7zvEurL60zMY84JknYF7AmbovPDdGQwaB3o20NcVq2VMaoHPmKciwn6awiQoQaLCJTChP8H2xNhmzgYdA4_Wj2bEKvTVBli1B8AVD_1E87WnwqBlz4GmfCfmiAobMcAqOTmov2rgcp_tvd9v0V8YNIhMZwFsNIsykSF-PzrOOschUiX-LV80L50ZLyCZ_1HPZCScd0mcsck4C-Dm5pr6IclzufgfcKLF84tqxiuVKxawkGGM52ej-vQE5Uuj07USbw2jY0galz0ciohTXEAAoOndPGku5dh5kuixmSLY3PWKo5neYMOTnuOgD_EbO0p6awquwqA6mTVjvvaW6afOgrD0CxiBbA84e2RcyMqvZ-wnQ443FJhrZItIFXwhYKTvaA3nUReWZElImsmHe2Yhtsfaf8GNNYV4WfSxW-cBsV2ZqH8kH4qb-Bvpvzu_iNQB7_GoWWKjQP73z5CuX4LsR63c-dhzh2a9I7ZNZCuf6Bdcze3aq6PoF1UpyEn-nDJlW5bmp5XVprFv2WfG2aHEm7Le_U53t9Yh3umvUWzfZMsaaXz3c2Yc7GSfWn3QHSmaX3RSKrIMjUoLSUHO-c-_xZo3Ho=",
  "id": "rs_0dfc25f8d82bd41d016ab41d5e5bec87d0a0b6700594743279",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The teal bowl now appears over the other two in the overhead view; the left gripper is deliberately offset because it holds the teal rim from one side. I’ll lower the teal bowl partway and re-check the alignment before seating it.\"}",
  "call_id": "call_YvKnhmFfYYY09ojaxRLruklw",
  "id": "fc_0dfc25f8d82bd41d016ab41d5ec71087d090467d63ea8a5211",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YvKnhmFfYYY09ojaxRLruklw",
  "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]: [-0.9218, 1.8526, 1.2957, -0.4835, -0.5976, -0.7109, 0.0469, -0.0246, 1.0588, 0.9009, -0.7834, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3494 left_y=-0.2902 left_z=0.1007 left_yaw=-0.0414 left_pitch=-0.2249 left_roll=0.0564 left_gripper=0.0469 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3849 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [0.3487, -7.8564, 6.147, 1.3553, -0.2466, 0.022, 0.6325, -0.2256, -2.8239, 6.6256, 1.3309, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db10187f5928f343eeb3aacd073db439b27174c76adf5a1d9cf46d0c28fd09e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e345bd68038c8c935e86147de495ca52b7338b1f832629d3f03b2a69a5b41ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693c6a0569e7b09fd373fc6f1e7786e3e097d2501a5fced6c4ecbd7ef94b9ad0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 106 changed as sent

message 111 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.4025, 0.6899, -0.0875, -0.3855, -0.3382, 0.0424, -0.0242, 1.058, 0.9009, -0.7742, -0.0086, -0.3088, 0.9961]\nstate[eef_state]: left_x=0.3529 left_y=-0.1112 left_z=0.0899 left_yaw=-0.0065 left_pitch=-0.1575 left_roll=0.0428 left_gripper=0.0424 right_x=0.2891 right_y=-0.0019 right_z=0.1651 right_yaw=0.1495 right_pitch=-0.3748 right_roll=-0.1741 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -6.694, 8.5949, 1.4579, -0.1343, -0.0024, 0.9011, -0.0615, -2.7556, 6.8308, 1.3944, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9173, 1.8107, 1.5326, -0.7231, -0.5961, -0.7059, 0.0438, -0.0246, 1.0588, 0.9009, -0.783, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.356 left_y=-0.2959 left_z=0.1769 left_yaw=-0.0471 left_pitch=-0.2009 left_roll=0.0283 left_gripper=0.0438 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3845 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -9.265, 9.0188, 1.0281, -0.4957, -0.0317, 0.8278, -0.1709, -2.8513, 6.6256, 1.3162, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9218, 1.8526, 1.2957, -0.4835, -0.5976, -0.7109, 0.0469, -0.0246, 1.0588, 0.9009, -0.7834, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3494 left_y=-0.2902 left_z=0.1007 left_yaw=-0.0414 left_pitch=-0.2249 left_roll=0.0564 left_gripper=0.0469 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3849 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [0.3487, -7.8564, 6.147, 1.3553, -0.2466, 0.022, 0.6325, -0.2256, -2.8239, 6.6256, 1.3309, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db10187f5928f343eeb3aacd073db439b27174c76adf5a1d9cf46d0c28fd09e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e345bd68038c8c935e86147de495ca52b7338b1f832629d3f03b2a69a5b41ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693c6a0569e7b09fd373fc6f1e7786e3e097d2501a5fced6c4ecbd7ef94b9ad0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1kFlEnnnkWnRXsjsuIj_8YD264n6Q19bAQmi1XDWQkMokHaGxp2OhsFujXrTHV6aOLDmCoIxYy7NqQYHcxxaQ29d1XbkIMPn-v5nyz_N4GemxoAEC2sQUvXLMyNVN-eU3zOezSvPeagrNJ1ykRrB16t6VjNMpf-dsMaGDNbDpKvU4dnemMki29eynC8ptmirCRWWclqontjMqh8lqcMtp1anN7DfD1zBtlKUoZpmugDZeZeUUMmxT_ba9qZp3JTq7SNIanYh7hBmsoldp2ykIowDZhiWJPzoITlvhqP7KOjeKua33x_wtgd3cwrJEORrFH9JHlGm4pi301kj0RorXSiOLVlO-xDSal9LDjfv4L7JjqtiWle5qmFRGm1RSRsYNsqu5eRn9Cx_smoE3CLWH2yaDnGiK5AyZfshZjJ2U3Obpes1bUQqx-DcPxwzIOJeawIVpu3yARsC4kSJTgiBowlYDTj4ikw6OtvpY5vLMpqzMIAwaqbtZsc6H9RsZJCTkI1B5TB8MK4uuN61JJfBynp3TKrHo95pls_rbjKxf3hdjaIwI0sDv79S6d0nXgvOub4KFzMSimXCz8GfVOxcq6Nu_spq2VskYrv5WBg3sV36MyB6_EStoE4K20Yt0cnMKrSB6JMpsZn_40C8sLtKvOqFfCfNUuyryLAcstJjMLiadeZLBMv0e3Qv5nbpG7v7Sy-qsJNuJZ54HnH8tkQaXSauI9AOJyF0E_NmOPXgEBpdYYpL9VKTl-ggt2rZcZZLy-Zgr0lluebwq7E1BSp24jm39LQgfZ2koED8-bfpK5M_jOAPIyMdFwjrEBlP-3NO4azQO2m-ySVkrSPdcKM8x2FyQwNpqUqvTVQvk8SwbCOB-QNOJRWYmfZaRz_DCsBCIjy18TO4pOKX1xCvGtMZQiumDxBIbIiSmw6RmMypD06Jt4zdX5jIoAkKphHptXaPhzzTedP4xw0z9H2T0kO23Tt0_QiDxZ-U7QCu3Hv6y2jCdk-DW9Yiw-ntTNIuaitHlmZwUWGBIVezYMq5RyVKJ3ZqKCan3frQqaPjY-ai1FMNLMY7XzQrGb-0w-n3SMbY9YiPmQYzsGI0Z51xgrq7RjyHRuxT5RxTiYcfu_n-5t8s9UPG1kdw_kW1n792MIRJvs6STQJwjfnDZiQLFA0kWONRkiPSpAlg-HuLiRQzFKLQ7hlbQaUVMNkRUjOMn_8KACkk8mk-gGBSBKGLc9BIKv8ucC2e3yEsRCuOkTq6VmTsC_SpRjnCHxJzD8brSXoh9LarLgBl-c8M5nOcKO134nHps8mv4u21lWG2m2l3gkKiy1ykjqqngGg_FWB4-9TSg0P0IBzZAk7IUfx5LlWE6upVu9j6ThduCZJEf1GPh3To6-Wz2_Sl1246QEq0JeK3nEF64CCS6Lp99u_b6eG4Zhr5LwCvV0LcUzIf91VmQ3Wa9korqMrz6Tv7zl-lwK4HxngOHqOLb6R444Tqu3E3SKx8Ax3wKRktsPX7Sdq1aQgf9E-mK2dx5FS81TlvVGlOc0seQcTaP-T-StodvcXFdqniQMin0xp1QsM7BAhsiBLGLy9-05CrWVLtN5p0qoGDSjkynDyvQl8bLOGUqJ4j7WNkn_RnPjtp71cY6h3FZFTmuy7Y3oz9yKAOgXm1Iu7ZD8bm1t0-muPVEDDTU6FbLAkGmSoE7QYBWwNF8JVsQHFh_KTTM3vJg3HHynm3pO03oAO6vGo03ns-ZmunIasNbFhZZpGyGK9wP1QItKhxuSHnvnMujXqPUylYF3gjaeb0okVr7JOYEIPVE91_selUZuIdGx1v-mWDWuoMJdv3KxTNdYj4g3ei5paAGstjt4GMBmT6qf8CefcVmF-vEOHN1yglEaVSI_BtCHlvjAZgsePka88T4VlEO6rY1KyaOQ1e2VsgniP_HKnRuuIMKikSj5wdi7fgDwmvKJO_ITbL1hChDCwjFm-VydM9H8biUIN4xqv3gFkkyw_b5VwEx_AjJcOBIng3S9jLy3nhlSM3Ks7GXdBenoi1ghvRuJ2hAiXotBPZZkgDNXturgZnHZOLYxN246ahvYbvHOYrvTw1UZtSQpzMFER9AWH54dU21JogrSKridN4nk71RKGL0kV10lDWxXnd88Hk2-U96AswVxu3BeQCxGr7v9Aa_adDLd5ZR7cAY1A0EmiiklH1l97W_KqMAC_KMdFHQ8F_Csz6NMfrrPWH-d0ZV8WvShwycxyGosCbrCvQMToZo01_QuZbY7fHOWozmsUiVxdCRbwbjImrOhxuiRD90DZJCPs3aO4yexTa9BU-k9_CnsPlGQmU-VKJfi-R0u-jOK30VYuEcF2MFvlWDF2uKInWBuy0jtJXGbnM5bx1UHazrHadGR4czb3p-qUuY8eBlfZH6oIfMD2tyPm2oSGA5yzkRjRdhsF8D45pPspOQCk9TvC9bPdAE-aOIQO8QtCb9sDIrq2lNC7Zhb5E_7CF-WhPtAuci0gB8PbvBZ1fHA4PvbmuR6YrNyDeCK_j9dSsaAYkDAiIvW4XZd4KUJ6jnCskHF00Reh56i_ySpLX_857HOJYtBX3huoYaGIh78jMPiWkyaVCmLONY=",
  "id": "rs_0dfc25f8d82bd41d016ab41d614aa087d09294449e6deaa9ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.33},\"note\":\"At the lower height, the left wrist view shows the pink rim protruding to the right of the teal rim, so the teal bowl is a little left of the stack. I’ll shift the held bowl a few centimetres right before the final descent.\"}",
  "call_id": "call_WyUsHMUnSkbuEcnuRXQDDHS4",
  "id": "fc_0dfc25f8d82bd41d016ab41d63d13087d0b27605ef12cb238a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WyUsHMUnSkbuEcnuRXQDDHS4",
  "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]: [-0.9737, 1.9617, 1.4242, -0.548, -0.6041, -0.7654, 0.0471, -0.0242, 1.0588, 0.9009, -0.786, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3458 left_y=-0.3238 left_z=0.0917 left_yaw=-0.0506 left_pitch=-0.2464 left_roll=0.0575 left_gripper=0.0471 right_x=0.2868 right_y=-0.0018 right_z=0.1632 right_yaw=0.1519 right_pitch=-0.3875 right_roll=-0.1735 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -10.0444, 8.8684, 0.9695, -0.5885, 0.0366, 0.7009, -0.0479, -2.7966, 6.6256, 1.3358, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e89622cf093d8e185966ceb71e5eb30167df0762c46f2f9c92985c646031b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8fee3dca2ee295006c1e27ec3a8f9c1f2220ed99e2e806d3ae1d6b76d691f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b7fb050999ec0a362c97293545c65329f2c396c04e39784e9027e0e9093ffb",
      "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 · 2.587 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 111 changed as sent

message 115 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7471, 1.5066, 1.1503, -0.5335, -0.522, -0.5419, 0.0427, -0.0242, 1.0584, 0.9009, -0.7822, -0.0086, -0.3111, 0.9961]\nstate[eef_state]: left_x=0.3515 left_y=-0.2006 left_z=0.173 left_yaw=-0.0333 left_pitch=-0.1686 left_roll=0.0262 left_gripper=0.0427 right_x=0.2876 right_y=-0.0019 right_z=0.1638 right_yaw=0.1513 right_pitch=-0.3833 right_roll=-0.174 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -6.4205, 8.6769, 1.2772, -0.4371, 0.1929, 0.906, -0.0752, -2.865, 6.6256, 1.3748, -0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9218, 1.8526, 1.2957, -0.4835, -0.5976, -0.7109, 0.0469, -0.0246, 1.0588, 0.9009, -0.7834, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3494 left_y=-0.2902 left_z=0.1007 left_yaw=-0.0414 left_pitch=-0.2249 left_roll=0.0564 left_gripper=0.0469 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3849 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [0.3487, -7.8564, 6.147, 1.3553, -0.2466, 0.022, 0.6325, -0.2256, -2.8239, 6.6256, 1.3309, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9737, 1.9617, 1.4242, -0.548, -0.6041, -0.7654, 0.0471, -0.0242, 1.0588, 0.9009, -0.786, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3458 left_y=-0.3238 left_z=0.0917 left_yaw=-0.0506 left_pitch=-0.2464 left_roll=0.0575 left_gripper=0.0471 right_x=0.2868 right_y=-0.0018 right_z=0.1632 right_yaw=0.1519 right_pitch=-0.3875 right_roll=-0.1735 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -10.0444, 8.8684, 0.9695, -0.5885, 0.0366, 0.7009, -0.0479, -2.7966, 6.6256, 1.3358, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e89622cf093d8e185966ceb71e5eb30167df0762c46f2f9c92985c646031b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8fee3dca2ee295006c1e27ec3a8f9c1f2220ed99e2e806d3ae1d6b76d691f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b7fb050999ec0a362c97293545c65329f2c396c04e39784e9027e0e9093ffb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1peEf79zb-qx2fme3HD07gyCL8t7vaGOjJx056ctidBfnAiIFFO1N-6kCzgWUvOzMoRWi45AWPPhxSoG8L3gQHlMWDP1RFzQOz3BOBmXcdhdaizk-PqzgQZlNXiqb-lbLOXwNCY8kMYOdujoXrTHdz-bWmzWUTMuvfwuikUwP8vXZDw2OMZpowUMPecYt8gOuueVqYY9sGfsmWKpW1bHO8nWCUUV5p0bbimVXqOyyE512RumS7l6qjFvXtBc8BZfQNN7Zwfda4kMcM3IQJXuU5CBcdnV4k1iYGQghjW3VpRl4z2qxCuHpZ29jvuTCDUqe302vdjkqXmpDNsXJge3AkNIHQjGSMjzeMkRuRWkRfvfzD5UEzl2VDyhE04W4bKYAPK9S5Rm9JKZ40sp1zkRxwu8L5gRrZbFkp2J0A4UweXDsjJDbBp3WHfqXP3VCGMRsgmSkpfD7Q5Cz4V5zE1G80gfjhhWz-xdZzEYMT83MdzELPxYrIO2ZKi6cDLgYtEoTmsbVxtRExfmBxsbW1xXPoUpXQ1CNFroXCu-K1F4bHtXH-unDmCvS6GOv07GeGI8hz-eNyt0hiDmTydDBJCXCgZ1R64py3cRq9U6AW5uqFNGBeE1f5z8GAVuBBl5nRIVrzyCmf0y3q-I3fpCroKNmwVOML3Wa4a_68VRO2YJ0ngZt_HVv8-jT4kbFR5gcyEGO_L8kw9t12XyMlZ4DxZog38w9QzQ4JhEnBFHBJRlWXji-d-tfzefM62Hk1yUt45npHcdG-Rk8qFCyp2dlgwY_hinz5RY6XKWEA9Z5pnHAobYlwF97DlF0d43tkf7gzzyXBTtFyue1AzT-ZtCt2QH1QMAi3iUuRpzMIpwhRNXeCuqxYgqeXaoRRKAHfxNz-PkR54k5z4nZZXPv_kFJwProsxpFy0VgqG3fGuQwqTVS_CVowDkbbi3P1Hh9w9xwk4Ymy6ut-cXAISBR83fwyG1EVyZ4hVmP616UrukVjbYW2OMyTkQB1rrX8r55zCPVYHr8AaMqMKay53dlIqBggwTBEejj7DY0LHccSOvXCTpY1dxGpOM_JK9y36G1C27J1ubU8yS4HNV-yUcsg4575ULYNC0dACp7K8w8U-4JGmwOIVwnKljQX5VuDvAUO7cuQB3L-H_dIbgB3DMxQ6wjXRGlq_9lAdiv8a4uhvehw-fOyqPUH7LT8-gxNKZkP1Z4-p0XFfXf_v3vE5zISkC2t_ryrYjXfI3Sv2UCPf--FAbDBkc5fnC7uI4P7N_6LscBuhrweCs2xa93CqPEa6XJkZ0a4oEvZLkQC5fFy8kUmPjYf-5YGufz4YX3UYaOI0yYsTaZiVZVOBr0Wx7lcMRqO-bxEoJ3E4p5fmMs62_wcog8H2J-el7YbhvUe5EfINzU_dDfiBH828cc2Dd0HvD1bMX7RbzwCnojiPr1m1LqlmvIJrrjTHSjamf7Ru0iRmS9zvYTklBYwBHuPETEt8ThniTzDZfsECrIQrmIQ8_Cq3QXhMK9VEblu12uEhQG--4q0rBlWM_tgxlR4kacXRZ-1gxVyMhShbX7A7OCRJ_yailh4wO9h0lP1RJtUjzJTVaBd0khc3kgSTbpo8xFWvNXQaRGlCIJxq_PrZndOnwZYR77CAKwob9o_Jv3S_PDtv-DYkuaD-vTjkzSg60JznyVrMcEeVznLMtx0WdpOhZGU8PuArsgakQ5lfPzI7UDcC6qR6iXQAvEfl2BAw5epdR6dXJN9fiNsXzKdfsl57P5NWD0GjSsi27uJ0F7QxEM3WEWivqzpn8J8lyTFO5ZYPeNeUq8EJINczUCzUMBMMQ3RcL2kdBOQx4rcZ-97U3Ol4C8o_r3ly34fxzhhdkLJPUeZ9b1wDDvAYqf-GvRSueozv3CuePhdtbHMBoKcpOOriggl2ZWL",
  "id": "rs_0dfc25f8d82bd41d016ab41d6711e887d0acc73620da6de786",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The pink rim no longer sticks out to the right of the teal bowl in the wrist view, suggesting their centers are aligned. I’ll lower the teal bowl gently until it seats in the pair below.\"}",
  "call_id": "call_jNBaIsx4Gt4C2eNHgG5kEEwP",
  "id": "fc_0dfc25f8d82bd41d016ab41d68597487d08ba2087b5630374e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNBaIsx4Gt4C2eNHgG5kEEwP",
  "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]: [-0.9791, 1.9926, 1.3571, -0.4675, -0.6003, -0.7742, 0.0466, -0.0242, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3414 left_y=-0.3226 left_z=0.0632 left_yaw=-0.0497 left_pitch=-0.2593 left_roll=0.0637 left_gripper=0.0466 right_x=0.2868 right_y=-0.0018 right_z=0.1628 right_yaw=0.152 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [0.3214, -9.7299, 6.2701, 1.1306, -0.3541, 0.0611, 0.735, -0.212, -2.8786, 6.653, 1.3065, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906fa5fa17559a4a59d0cd5c41f22664acf9caf7bbbc8006efaa993d20f6c308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8439bd568e6d153a25ed6f86106fa8dfcfcc3f52d6e8607737f7cd1c2b93f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76103184e2cda95f390c78da1d035fe825efa24df0d738103fd945872c3ea509",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.272 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9173, 1.8107, 1.5326, -0.7231, -0.5961, -0.7059, 0.0438, -0.0246, 1.0588, 0.9009, -0.783, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.356 left_y=-0.2959 left_z=0.1769 left_yaw=-0.0471 left_pitch=-0.2009 left_roll=0.0283 left_gripper=0.0438 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3845 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -9.265, 9.0188, 1.0281, -0.4957, -0.0317, 0.8278, -0.1709, -2.8513, 6.6256, 1.3162, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9737, 1.9617, 1.4242, -0.548, -0.6041, -0.7654, 0.0471, -0.0242, 1.0588, 0.9009, -0.786, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3458 left_y=-0.3238 left_z=0.0917 left_yaw=-0.0506 left_pitch=-0.2464 left_roll=0.0575 left_gripper=0.0471 right_x=0.2868 right_y=-0.0018 right_z=0.1632 right_yaw=0.1519 right_pitch=-0.3875 right_roll=-0.1735 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -10.0444, 8.8684, 0.9695, -0.5885, 0.0366, 0.7009, -0.0479, -2.7966, 6.6256, 1.3358, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9791, 1.9926, 1.3571, -0.4675, -0.6003, -0.7742, 0.0466, -0.0242, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3414 left_y=-0.3226 left_z=0.0632 left_yaw=-0.0497 left_pitch=-0.2593 left_roll=0.0637 left_gripper=0.0466 right_x=0.2868 right_y=-0.0018 right_z=0.1628 right_yaw=0.152 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [0.3214, -9.7299, 6.2701, 1.1306, -0.3541, 0.0611, 0.735, -0.212, -2.8786, 6.653, 1.3065, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906fa5fa17559a4a59d0cd5c41f22664acf9caf7bbbc8006efaa993d20f6c308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8439bd568e6d153a25ed6f86106fa8dfcfcc3f52d6e8607737f7cd1c2b93f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76103184e2cda95f390c78da1d035fe825efa24df0d738103fd945872c3ea509",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1rvKQzfhZWUthI7bEEsPZ_jE7MPTlB20hWAjNW9jYSn4MNAFZigdj620lBxITl0EKyQBUHF8emNm2aicwOHe1qSUP5rDmYv_1B8Q-EnxnSMnl0S2p3Rb3t1e0jQXsxBxz7PhG9Gsav3NZt0TMHPkJRXbUNXq73EhgX9w-9XBys1s11wTuXeCeDhbwp3nPiB2675m6loUuQbXMAkbvWJXZN8DeJJaP5AFGUZdiCHSEtjXvjQYLoUJ4Dlu35xQp9BFKdUfm3pUO0lr5iO00qbpKmSm3LVOdZ5LJo1r4Mdy_LbPG7miwCYrWmjSuL9e0g6IYS8mcUFUwNxGBPLZYKp4xfvRYmWix88quwt-ad-aDrkWGs84IJpJLMEjbe1Y7k9tNhLRzkb-nYkbBTIc-xshHQhMEiQMhVorbbgtbw5egKD36RVO__1d226oFlxyVu48ea8yi4YmLvxkb1u55GX_GfFXytU0YBycRFJe8Yxxx2bQgMc34OkZNMkxNSsVCEg7-O83aw99gsqp3_vqeC8tbU7ti4MrWyiWWTpqj5L7pO54WB22t5_WlR3Jl8fY3azHs55uGx6EP5yrEgpnea345EruaelrLg49Y_vqKYDtx1d9V3JnG95C9MFFutAEFCueYs8uxzKnMFcUibHhAALxtqRHuebqNHZVx52RNMD1Vs-jCqndDgb1C33MCZggiGu5xuyWkSqXEu4UNRozRFYSm1P8ZGL1R2gMkE72pw7OThhRZWAl2rMe1EGdy4n4SGk7sHJX50mkDyjTmO-3DudSV_MAE4fhzsd7K0rd-ExvwhUQ86D4Heo3Ytxzxsq5Fs_DtqipwBqv_aGp3kjF4GVBfFl77Q3MTfRqi_R7UpFg9Obdt8-Z0vaxqVFsONO6Ik3wxNLkNIX5tDxF9aGobD36SAJxQIyGLMzn82yDhjv0tAJEDtCWFlMOYLqlMn5xjjChPa_PEDKbWvnu3cKk9STHAB1IE6vaRVwf_XpxWSrh4UzGmOtuvCzEDfd-H8oo2e039uYDt9VA2MW4ASCAcWgTZRRDuIZoT_3Ugq_r92wb4S3Mx90x9sF1sV12N-WTZl_82PmrbEKo1UTbyArs48m-0oVSM_IeJJylge5ZqHt9gq_TXeu7Cfyn_iOW80j3ZMn-GpKMMYZ6n-WyWM4UCDdCR1RlEF5l4qUcARbR10RuNiFwRfExBkiOaUaRWtxXNRD9I1OXVH__arZHYMX7Fua1H96gR8TNQEN9nEvOS3z7VX8AOALOkEFRHg8MptxsYGRRtXzsQ_3clWac4vX0O54ZqFom0NQwiT2hx12ipUvA2PFSU6A_yIkksSEekpMFTL0QbwgkzlJubrJ0weXDCNM53N2dbLmX-HAp_GYPrBu7CVKqv4rhcbzFgq12U6KWtFEmg7",
  "id": "rs_0dfc25f8d82bd41d016ab41d6a9cb487d08e57575a3b407ffa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"A thin pink edge remains visible alongside the teal bowl, but the bowls look nested and nearly centered. I’ll lower another couple of centimetres so the teal bowl rests securely before release.\"}",
  "call_id": "call_SffX6mSlpuDBy1iLQaDvKXSX",
  "id": "fc_0dfc25f8d82bd41d016ab41d6af8a087d09acd483a72b9c036",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SffX6mSlpuDBy1iLQaDvKXSX",
  "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]: [-0.9791, 2.001, 1.3289, -0.3996, -0.6197, -0.7715, 0.0492, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3119, 0.996]\nstate[eef_state]: left_x=0.3456 left_y=-0.3238 left_z=0.0587 left_yaw=-0.0458 left_pitch=-0.2269 left_roll=0.0504 left_gripper=0.0492 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1518 right_pitch=-0.389 right_roll=-0.1734 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -7.6513, 4.6291, 0.9646, 0.0317, -0.0611, 0.7497, -0.1983, -2.7009, 6.653, 1.3162, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4614ff89f94d72f3ca4383ba076b94398eaae8546497656086b778b569583991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400edc2a131a9f4ba13897f0e72c079bc540d8ee4d1328c0147c14a327d4df17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8562c8a2081d058c18ea6c388fb9c2ef5bd6f20a81048517d481bb1294fb95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.215 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9218, 1.8526, 1.2957, -0.4835, -0.5976, -0.7109, 0.0469, -0.0246, 1.0588, 0.9009, -0.7834, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3494 left_y=-0.2902 left_z=0.1007 left_yaw=-0.0414 left_pitch=-0.2249 left_roll=0.0564 left_gripper=0.0469 right_x=0.2874 right_y=-0.002 right_z=0.1636 right_yaw=0.1513 right_pitch=-0.3849 right_roll=-0.174 right_gripper=0.996\nstate[joint_eff]: [0.3487, -7.8564, 6.147, 1.3553, -0.2466, 0.022, 0.6325, -0.2256, -2.8239, 6.6256, 1.3309, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9791, 1.9926, 1.3571, -0.4675, -0.6003, -0.7742, 0.0466, -0.0242, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3414 left_y=-0.3226 left_z=0.0632 left_yaw=-0.0497 left_pitch=-0.2593 left_roll=0.0637 left_gripper=0.0466 right_x=0.2868 right_y=-0.0018 right_z=0.1628 right_yaw=0.152 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [0.3214, -9.7299, 6.2701, 1.1306, -0.3541, 0.0611, 0.735, -0.212, -2.8786, 6.653, 1.3065, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9791, 2.001, 1.3289, -0.3996, -0.6197, -0.7715, 0.0492, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3119, 0.996]\nstate[eef_state]: left_x=0.3456 left_y=-0.3238 left_z=0.0587 left_yaw=-0.0458 left_pitch=-0.2269 left_roll=0.0504 left_gripper=0.0492 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1518 right_pitch=-0.389 right_roll=-0.1734 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -7.6513, 4.6291, 0.9646, 0.0317, -0.0611, 0.7497, -0.1983, -2.7009, 6.653, 1.3162, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4614ff89f94d72f3ca4383ba076b94398eaae8546497656086b778b569583991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400edc2a131a9f4ba13897f0e72c079bc540d8ee4d1328c0147c14a327d4df17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8562c8a2081d058c18ea6c388fb9c2ef5bd6f20a81048517d481bb1294fb95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1vl0_P2uSShkCvSpGlGltFXvPIzU0tfGP3_L-53rcMeATbj92D-gi14plwN5YAJeIByP0BeM-A6gUxmIbTEwc_QCxj2hLRwo_MW1bXe-qfzRMViZnAFNkfPgnHQdjTzqVsfIvKaui5oSXLkjIpV6NaKoxtokU_mjH-W-6FezVzCoHQ2-_UmL0whEHtCrRe0TgO9FjHFOJhvflbarGhI9HHcLi_aVIdh6ef8_DnszegNRLSGx06P1P6ZuruFdpH2Yp5MI5MdajLf3yDkx9wlAhvEFVrs6qircX3MReA2qlEk7XikcMncWZtf-xpAj0UqViV8D6pneBLdp9cf1AYupi1OmLGeLxlRUhTIX6SZB9w_6g50CdbHZlJePDdIR5skzJRhwIDN2iQsd4-sC7x03lnvAX5qb_HJkIP_DJ_y9F2Nd0WRIqKriN9o7-OeCkZ7ROu72LcVUP0wo0--FJxezim0yW1V5fQCevuayZGniJE63fcTDd61FdY9C4QtysDUa-QqX0cez8yDMMjLio1tLOjl6nIOH6EaWu0t65N5PYqd7z5Ho_sdoUrleeGbajmKWm6CrBnUDymJ8CEuaCC55u0VH0GB7AU3wksjy2oYWzc7YkKxV6TIwNSckAT3jIDqIknMs5ad7tTbCWCQxfCry0hx3ZKimgWFRC_1rAx7NXexlK9vXv3C8Sv-TQmtL7imtT8hkomXkgTxodiKxADhCD8udfseat-JzeNU0tetgiegAsTi6Lbyp-oWNz6dik6yLOUcHMbqUjqeCIMxAp3CGTiwXp-QxOvHYNjEEoJeIUqFTPedRXh-oVsGr536shg42lbupbEj-DXVID5uQg7UxEMuI2QTfNO2H-0j1RFFr-2FZquQF5sGzkti5EvWOhBqbCDShlLe1mXBP2y08g2lxSI9mFqpxbzI-996VPhoRnX3oLx_yz69D2fSBhY2qBJ8Y6JbebKABIVl00WF4e5dXO-M_tGyRyhafLzphUTPOVAJeZgwoXSUBguYdztzgUODPrSPXx_SxXg5mXgyU4x8dAr6RppeFBaq5CucSAPCJTR-TmDgOEGkuh_emn7RYjro5q_88GTGtjHT3LT_cx4jKtfHhDPRnarzYAAV985oSgFCCY5-V3OhmJ7oS6xTGYg1fLnPABLY967pkwCyIRsyg4fSIhbKdBvxpcv81yYzr8LcXFwZ8fjPKaMqMrgD86FJU_ARVh9iivA6zgFAx1bJ7M067cELbeoqmLBYnt-i6GkCGWxela1DqqsZgomF4bmKz7MtRHi3p2Zt2SenEZKooMpQIFyy23UwKpWgUQZXzBgeJFhbCrvxDfBxaqorw7sM4M9mVe9pxvS9FUmN3qYb42opTwjM2EBFQC2luF_RPx8SQkUMfQAwug9tJ8fRCF35SIw8FYl7oKA1o7Qn9-wDJFmmQ==",
  "id": "rs_0dfc25f8d82bd41d016ab41d6e0c0487d08ba57331edd9a240",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The downward motion stopped above its target, consistent with the teal bowl contacting the bowls underneath. I’ll open the left gripper to release it, then retract for a clear final inspection.\"}",
  "call_id": "call_Z9M9g7oSpeWN29P3TWAPLutV",
  "id": "fc_0dfc25f8d82bd41d016ab41d6e7ea887d09c8080f0bd4c1dae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z9M9g7oSpeWN29P3TWAPLutV",
  "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]: [-0.9802, 2.001, 1.3209, -0.4057, -0.622, -0.7757, 0.9951, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3434 left_y=-0.321 left_z=0.0556 left_yaw=-0.0406 left_pitch=-0.2335 left_roll=0.0603 left_gripper=0.9951 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -10.4137, 6.612, 1.1355, -0.3297, 0.0073, -0.1148, -0.0889, -2.7966, 6.653, 1.3114, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c393978b0074b169f431a389ada429a9d3453dc55849ecb47353ccd2b56634c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076704316ed8650c5e443df4b5129e0b1e22f440890728298188e0cebf87d6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623cae668533cab9dd6b10f245bbe466349bb3f6534741248bfd7890a67de743",
      "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 · 2.9 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9737, 1.9617, 1.4242, -0.548, -0.6041, -0.7654, 0.0471, -0.0242, 1.0588, 0.9009, -0.786, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3458 left_y=-0.3238 left_z=0.0917 left_yaw=-0.0506 left_pitch=-0.2464 left_roll=0.0575 left_gripper=0.0471 right_x=0.2868 right_y=-0.0018 right_z=0.1632 right_yaw=0.1519 right_pitch=-0.3875 right_roll=-0.1735 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -10.0444, 8.8684, 0.9695, -0.5885, 0.0366, 0.7009, -0.0479, -2.7966, 6.6256, 1.3358, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9791, 2.001, 1.3289, -0.3996, -0.6197, -0.7715, 0.0492, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3119, 0.996]\nstate[eef_state]: left_x=0.3456 left_y=-0.3238 left_z=0.0587 left_yaw=-0.0458 left_pitch=-0.2269 left_roll=0.0504 left_gripper=0.0492 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1518 right_pitch=-0.389 right_roll=-0.1734 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -7.6513, 4.6291, 0.9646, 0.0317, -0.0611, 0.7497, -0.1983, -2.7009, 6.653, 1.3162, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9802, 2.001, 1.3209, -0.4057, -0.622, -0.7757, 0.9951, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3434 left_y=-0.321 left_z=0.0556 left_yaw=-0.0406 left_pitch=-0.2335 left_roll=0.0603 left_gripper=0.9951 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -10.4137, 6.612, 1.1355, -0.3297, 0.0073, -0.1148, -0.0889, -2.7966, 6.653, 1.3114, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c393978b0074b169f431a389ada429a9d3453dc55849ecb47353ccd2b56634c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076704316ed8650c5e443df4b5129e0b1e22f440890728298188e0cebf87d6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623cae668533cab9dd6b10f245bbe466349bb3f6534741248bfd7890a67de743",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1ytaA279LC3xFRsnYSr6a32t8rM6Rha2sWcHuRFiVbkEz6P0B4QbkbzmlvGZTpL1qorxIqJRmWrKbY5WfVIczZsPRV-jVNiFM1cbjfi-s7hkhWBn046u44HTBskUmG1_4_vVosSRsxuwUveD_ohDfmrx0i6aL1Uq6MWkGOVDKmT2SVsNi6SxpL5svhPqzdbelhSc8p1BoMau8d6ErtjD_jOEWL8_r0LJ-xp3ifnN11c6ConTxe--SELqy4oE9OfyOkShz1LLMPZD6yAziW-uI750heKTbFcakf_6OPSQNPAdYD1nj2DVVUjL0H-40scUkgwYEG82bsWFREMFVsq5rFJCkf8tJ2MACppAFbQBitKdMb6oCdUNkk69MMfgw3U-i-u5M8V40L-8XhymicMCW8CSsV99tRP_ZWhXBwhPC3foT2EzOqA7vuiYemRIxjM0A48H6WHzKA89k9n8Mv4bjtMnRRH9_dq5InePyFnxcouJGKWGvkjBPXmuL7tvyFxAS7J4yo4U3ntd49NesdDUmUl0w1kzPvsq8RBvUIenV7PG8BuZNfPkCMNCYzW3V_BdNSCqERRi_Cu636Ov0QbvUrBEttbXnaKbWEwNjsu_5UFVmN9BF-w-S1uAcQvG91pbGD-kNfSSJEPgKz4JBChvbsjDKRnebNy8wt9R3Q-tRRG-BUax2sTxMQWHlDAolQ005gDwXIOLKWXsl7KLxP8DHN6apfAg5xhn8Q77RgN9s7B3esmhBXIC6wScRvvzF0O1LzIKQZXGFGr1bsDQajVpgn8hJgzIx6FyNsgLDETCybAHbVyfBCj5SiBnxBRkJHYVZrR1nwbifg8_iW4EFR0mGrKUqd0vF6Wfn7lZzP54qsDVNymWLiVNH3BJLUGSzJQOqWyV1fFo7qDduUzOSJ2pC7aI7c34RHVzuiHT0BST7MqqIq9EqE7MxYYlY9WZ_hPeG2IvpLtjhcNTSWIUJihkhYyaRrbBsD0e6AU8QxJufFPfeLLIf4pcW7Gk6NOv3Tfp9V62sp0L6m-SlH8L86CiX6nZjUIBvMxqdt6mjXjZtOvdA_hGwUOxY8sD2tN1Uo-CyGYdHR-oWigksm1h4YwhhehkLtenOh5zQo0BsDz-NRI09s1quUAt34KqzaKY3hkEROxMYYmCVp7CoE6YgdHQA7QYU5s4atGG9CnQppC8wJl6gaZuMW3eFAbJCNbh5lr_J4UUDorZbHGiNYSwRpw492RHcV0g_jLP1k8BQ3PIShpEJiSzbQ--ZeKcbesBR7sVP8sF28hH2oY3czDaZxbVdK3wvQ7Uzsp3bV0mXpeevkOho=",
  "id": "rs_0dfc25f8d82bd41d016ab41d7155f487d084612383763f0054",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.175},\"note\":\"The teal bowl is released and remains beneath the open jaws. I’ll lift the left hand straight up to clear the rims before moving it aside to inspect all three bowls.\"}",
  "call_id": "call_hDS0yHJz5gNiBJNN6GJ2CNIW",
  "id": "fc_0dfc25f8d82bd41d016ab41d71a40087d0b1659af5c6ddb2c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hDS0yHJz5gNiBJNN6GJ2CNIW",
  "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]: [-0.9802, 1.94, 1.6268, -0.7944, -0.622, -0.7864, 0.9958, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3459 left_y=-0.3246 left_z=0.1488 left_yaw=-0.0304 left_pitch=-0.2458 left_roll=0.0708 left_gripper=0.9958 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -13.1077, 8.6085, 1.0427, -0.3736, 0.0806, 0.0562, -0.2667, -2.4547, 6.6803, 1.2918, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e3aadeea1f20a5af1dae9092af3025538b934c588210983d07e28e601e157c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce41ab5eb4659f5b4ab516c0b171f4911e92a59a331876d10e3cf2aaca4a991a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c103301fdef09ff6f0943214d4c2aa85d2138462cad80fe2eb80456c0fd933",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.554 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9791, 1.9926, 1.3571, -0.4675, -0.6003, -0.7742, 0.0466, -0.0242, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3414 left_y=-0.3226 left_z=0.0632 left_yaw=-0.0497 left_pitch=-0.2593 left_roll=0.0637 left_gripper=0.0466 right_x=0.2868 right_y=-0.0018 right_z=0.1628 right_yaw=0.152 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [0.3214, -9.7299, 6.2701, 1.1306, -0.3541, 0.0611, 0.735, -0.212, -2.8786, 6.653, 1.3065, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9802, 2.001, 1.3209, -0.4057, -0.622, -0.7757, 0.9951, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3434 left_y=-0.321 left_z=0.0556 left_yaw=-0.0406 left_pitch=-0.2335 left_roll=0.0603 left_gripper=0.9951 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -10.4137, 6.612, 1.1355, -0.3297, 0.0073, -0.1148, -0.0889, -2.7966, 6.653, 1.3114, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9802, 1.94, 1.6268, -0.7944, -0.622, -0.7864, 0.9958, -0.0246, 1.0599, 0.9009, -0.7864, -0.0086, -0.3115, 0.996]\nstate[eef_state]: left_x=0.3459 left_y=-0.3246 left_z=0.1488 left_yaw=-0.0304 left_pitch=-0.2458 left_roll=0.0708 left_gripper=0.9958 right_x=0.2868 right_y=-0.002 right_z=0.1628 right_yaw=0.1516 right_pitch=-0.389 right_roll=-0.1732 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -13.1077, 8.6085, 1.0427, -0.3736, 0.0806, 0.0562, -0.2667, -2.4547, 6.6803, 1.2918, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e3aadeea1f20a5af1dae9092af3025538b934c588210983d07e28e601e157c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce41ab5eb4659f5b4ab516c0b171f4911e92a59a331876d10e3cf2aaca4a991a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c103301fdef09ff6f0943214d4c2aa85d2138462cad80fe2eb80456c0fd933",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB12tqLljheLdOlgbFie4qFBMGe26dVQS7N1_VdYOg-BLM3cq0DIwiI6igVO2S1OQxz1GJPvt_MXRJeLLyghhT6MEkJ9xUUryOIrqk1gA6dBeiETI_qz7u95AUsdB4OyCTOP8F5szK2Z-AlegjhOkJ2bmQ1ImCBAhVAHF9uYgro8-m4Z-ixxXCzuo__Ne3Ph2ZmkKifRzsuz0rNT9t8iAY3yzUogIo7XKotlaz1EYoAVdOpQBGDyzpjllAgDBRy3LzG3fcNo8BaLFd4gvHAJB3qIV9MoPnNWQidto_pM13JUwn7Cpb2NEGo_tWvREYhB6PdcOAejoTafJCDb45Bp4gGf77M0zwOxr1XqyHOTu7Mh6qLITmiqpsDDqZMJTbpnBTQMjfnow_MinB9vuxoXj2VcoaHREh1UAsS4Tjx1k23UawQBp9Z2Cjyf-NpV-AQUL4z36tx7MnMhakf2micwsUbEVJg97L6-B8UntgbLPu0OYnM7nvFXRBP8nVtOhT2TFXodYh3mmvzWpdh-ar9JUTMqnluJI0HFejynyeX1hjNl-3598j36AwMVblfLfhC38mxwlZo5o6Fz7KK58DcMpg0eYsV0639KxgJiBk-0nNPIHLsiJ3Q36CzDRhrGs6pjYegXk3nMZngCOQeMtCNwpJyyY5BM42TXP1qn8RR8I0qEwAooJPi4oqL2jtEceFHJu4sLvvBoKLZG187ulA13ZrPoCqgo9FsZ16u8nbTd-OVw0T4K5essw1uPTNOTTETuE_khav6O_0Om3jNYVu5mzd9c6vydWr7KshL6A2Q33cfY1lyOMh-SBOuu8OC_D9GBfQNEbmQeTbr0UPypwf7l78c8s3tQA4ui1J9vmyMjIk3Atr9AzyN6FpbgCSxbveAtJMpGhvKJZMvLO1ZR9CS5Uuu_lbwMrZa4qtusjjwfbI42w44XQp5Skghbd15LEwLTsREYrvYPjrJVrvWM1V4e4SNB0uqZUCSG9cr-bE6Vc3lXwUr_kru4hrUuPJpOwzZKlBvyLaq3FC6DRZ-nZsA34z4QEN2gdsKwq2AtlnxcswrsOvdULgR-S7Z81OsWnNwMkSsL30ehFKgRNiaG7DzP63LOh3nBqDMKYtByptisYbX2OdN8NOvM2y_mxOihAI6qkRhgnJ2-RJyipMWZCFy3z17cAjzeJrKNW2a3tfR5c4CG_WwwtPOfWLeNzgx-XRDafe5G7FOm5u2K2rZamQnxIqrv78XFCe70v_bqLOwDrJj08OCwBiIG7ZKRJDv6wiM1PGtvXc_nTTKQdHMVuOpibBdnGuKw2JDU8PNtKQyjXkoflP06a5SLQpJ_ebk-2wv5IhILfZ6axI2MlxMLII904wGBYw==",
  "id": "rs_0dfc25f8d82bd41d016ab41d75072c87d0b79958870e1346e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The bowl stayed on the table as the left hand lifted away, but the arm still blocks the overhead view. I’ll park the left arm at home so I can verify the completed stack clearly.\"}",
  "call_id": "call_UBDhYtY03DfXlYYAeqYdBVcp",
  "id": "fc_0dfc25f8d82bd41d016ab41d755f1c87d09e2dcb2a6eea0649",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UBDhYtY03DfXlYYAeqYdBVcp",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0696, 1.0039, 0.8616, -0.6765, -0.1032, -0.0467, 0.9958, -0.0242, 1.0603, 0.9009, -0.7895, -0.0086, -0.3119, 0.996]\nstate[eef_state]: left_x=0.298 left_y=0.0011 left_z=0.18 left_yaw=0.0243 left_pitch=-0.2444 left_roll=0.0618 left_gripper=0.9958 right_x=0.2862 right_y=-0.0018 right_z=0.1623 right_yaw=0.1524 right_pitch=-0.3924 right_roll=-0.1728 right_gripper=0.996\nstate[joint_eff]: [0.253, -3.1795, 6.2564, 1.4335, -0.0269, 0.1978, -0.0073, -0.1436, -2.8376, 6.6256, 1.3748, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b78924f8e6c6e621341931d7a366a4eba9fd4ea8120580fe598c05743f8716c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8208ec30c66ae9f4ae7dd053f94cee67be300ba418294372aaf3fa2122ce3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081d705d8a3eaa0be7e6359052c30839fbffc1a80af85efdf287ff7bca1c7d82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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