adhoc

completed
2026-09-23T19:05:46.593946+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
160.8 s
total steps
270
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 noteI see three separate bowls in a row; I’ll leave the middle one in place and approach the leftmost bowl with the left gripper to check alignment before grasping.
move_to
left_x0.3900left_y-0.0700left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.6041, -0.3817, -0.0227, -0.0261, 0.9994, -0.0219, 0.7933, 0.6018, -0.3824, -0.0154, -0.0204, 0.9969] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2941 right_y=-0.0001 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.4444, -1.5521, 10.2222, 1.8144, -0.0269, 0.0757, -0.0757, -0.3214, -1.2923, 10.3726, 1.9951, -0.0952, 0.022, -0.3346] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.07,"left_z":0.15},"note":"I see three separate bowls in a row; I’ll leave the middle one in place and approach the leftmost bowl with the left gripper to check alignment before grasping."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe left gripper is above the left bowl, which fills the lower half of its wrist view but sits slightly left of the jaws. I’ll shift a little left and forward, and lower toward the bowl’s rim.
move_to
left_x0.4000left_y-0.0500left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2905, 1.309, 0.7097, -0.0895, -0.231, -0.1726, 0.9993, -0.0216, 0.7975, 0.5999, -0.3931, -0.0151, -0.0204, 0.9966] state[eef_state]: left_x=0.3717 left_y=-0.0652 left_z=0.1247 left_yaw=-0.0162 left_pitch=-0.0944 left_roll=0.0189 left_gripper=0.9993 right_x=0.2927 right_y=-0.0001 right_z=0.1744 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=0.0002 right_gripper=0.9966 state[joint_eff]: [-0.5128, -5.6274, 9.0735, 1.7705, -0.1783, 0.0464, -0.0171, -0.0752, -1.4701, 7.1726, 1.8193, -0.0757, -0.0317, -0.0317] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.05,"left_z":0.105},"note":"The left gripper is above the left bowl, which fills the lower half of its wrist view but sits slightly left of the jaws. I’ll shift a little left and forward, and lower toward the bowl’s rim."})
tool
executing move_to over 3 steps (0.3s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bowl is now centered between the jaws in the wrist view. I’ll lower the open gripper to about mid-height on the bowl before closing.
move_to
left_x0.3980left_y-0.0460left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2161, 1.4338, 0.7162, -0.0017, -0.2012, -0.1497, 0.9993, -0.0216, 0.8005, 0.5999, -0.3931, -0.0151, -0.0231, 0.9966] state[eef_state]: left_x=0.3903 left_y=-0.0459 left_z=0.0976 left_yaw=0.0218 left_pitch=-0.1292 left_roll=0.0258 left_gripper=0.9993 right_x=0.2929 right_y=-0.0001 right_z=0.1736 right_yaw=0.0011 right_pitch=-0.0202 right_roll=-0.002 right_gripper=0.9966 state[joint_eff]: [-0.3897, -6.9128, 7.4872, 1.9023, 0.1294, 0.1099, -0.0122, -0.0752, -1.3197, 7.0085, 1.6777, -0.0611, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.398,"left_y":-0.046,"left_z":0.045},"note":"The left bowl is now centered between the jaws in the wrist view. I’ll lower the open gripper to about mid-height on the bowl before closing."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left gripper stopped descending near the bowl’s rim, so I won’t force it lower. I’ll close gently at this height and check whether the jaws catch the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0132, -0.1764, -0.1383, 0.9993, -0.0219, 0.8009, 0.5999, -0.3931, -0.0151, -0.0235, 0.9966] state[eef_state]: left_x=0.3923 left_y=-0.0458 left_z=0.0895 left_yaw=0.0073 left_pitch=-0.1454 left_roll=0.0212 left_gripper=0.9993 right_x=0.2929 right_y=-0.0002 right_z=0.1735 right_yaw=0.001 right_pitch=-0.0206 right_roll=-0.0023 right_gripper=0.9966 state[joint_eff]: [-0.3214, -6.9538, 7.3641, 1.8193, 0.0122, 0.188, -0.0171, 0.0068, -1.306, 7.0359, 1.7558, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper stopped descending near the bowl’s rim, so I won’t force it lower. I’ll close gently at this height and check whether the jaws catch the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper closed almost fully, so it missed the bowl. I’ll reopen and lift clear, then tilt the tool forward to improve its approach to the bowl’s outer rim.
move_to
left_gripper1.0000left_z0.1600left_pitch0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0116, -0.1764, -0.139, 0.0095, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0238, 0.9966] state[eef_state]: left_x=0.392 left_y=-0.0457 left_z=0.0892 left_yaw=0.0078 left_pitch=-0.1468 left_roll=0.0209 left_gripper=0.0095 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0025 right_gripper=0.9966 state[joint_eff]: [-0.1573, -5.9829, 6.2701, 1.6142, -0.0806, 0.0073, 0.6471, -0.0752, -1.5385, 7.2274, 1.7363, -0.0317, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.16,"left_pitch":0.28},"note":"The gripper closed almost fully, so it missed the bowl. I’ll reopen and lift clear, then tilt the tool forward to improve its approach to the bowl’s outer rim."})
tool
executing move_to over 15 steps (1.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe bowl remains centered in the open jaws after the lift and tilt. I’ll try a straight descent with the forward-tilted tool to reach the bowl’s outside rather than closing above it.
move_to
left_x0.3950left_z0.0450left_pitch0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2344, 1.3151, 0.5007, 0.4313, -0.2413, -0.0902, 0.9959, -0.0219, 0.8043, 0.5999, -0.3927, -0.0151, -0.0238, 0.9966] state[eef_state]: left_x=0.3893 left_y=-0.0459 left_z=0.1403 left_yaw=0.0075 left_pitch=0.2012 left_roll=0.0178 left_gripper=0.9959 right_x=0.2932 right_y=-0.0002 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0237 right_roll=-0.0025 right_gripper=0.9966 state[joint_eff]: [-0.5538, -6.065, 6.1744, 2.2198, -0.1978, 0.1978, -0.1636, -0.1573, -1.1556, 7.0359, 1.7851, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_z":0.045,"left_pitch":0.28},"note":"The bowl remains centered in the open jaws after the lift and tilt. I’ll try a straight descent with the forward-tilted tool to reach the bowl’s outside rather than closing above it."})
tool
executing move_to over 7 steps (0.7s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe tilted gripper reached about 5 cm above the table with the bowl centered between the fingers. I’ll close here and use the resulting jaw gap to tell whether it caught the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2359, 1.8442, 0.3416, 1.1812, -0.2573, -0.0853, 0.9971, -0.0219, 0.8093, 0.5995, -0.395, -0.0151, -0.0269, 0.9966] state[eef_state]: left_x=0.397 left_y=-0.0455 left_z=0.05 left_yaw=0.0206 left_pitch=0.2624 left_roll=0.0125 left_gripper=0.9971 right_x=0.2931 right_y=-0.0002 right_z=0.1706 right_yaw=0.0028 right_pitch=-0.0313 right_roll=-0.0049 right_gripper=0.9966 state[joint_eff]: [-0.1709, -4.8615, 2.1538, 0.6862, 0.1783, 0.0611, 0.1099, -0.3077, -1.6205, 7.0769, 1.7265, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tilted gripper reached about 5 cm above the table with the bowl centered between the fingers. I’ll close here and use the resulting jaw gap to tell whether it caught the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe second close was empty too: the fingers went into the bowl rather than around its outside. I’ll lift, reopen, and offset toward one side so a finger can engage the rim.
move_to
left_gripper1.0000left_z0.1300left_y-0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2359, 1.8584, 0.3347, 1.1893, -0.2623, -0.0788, 0.0087, -0.0216, 0.8101, 0.598, -0.3962, -0.0151, -0.0269, 0.9966] state[eef_state]: left_x=0.3946 left_y=-0.0441 left_z=0.0445 left_yaw=0.0204 left_pitch=0.2502 left_roll=0.0238 left_gripper=0.0087 right_x=0.2928 right_y=-0.0001 right_z=0.1695 right_yaw=0.0032 right_pitch=-0.0347 right_roll=-0.0048 right_gripper=0.9966 state[joint_eff]: [-0.212, -7.7197, 3.7812, 1.7607, 0.0024, -0.0757, 0.6374, 0.0342, -1.3607, 7.2957, 1.7118, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.13,"left_y":-0.085},"note":"The second close was empty too: the fingers went into the bowl rather than around its outside. I’ll lift, reopen, and offset toward one side so a finger can engage the rim."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteWith the gripper offset, the left bowl now sits to one side of the jaw opening, placing one finger over the bowl and the other outside its rim. I’ll lower to rim height before trying a side pinch.
move_to
left_z0.0370
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3923, 1.4742, 0.4667, 0.6495, -0.3988, -0.1387, 0.9946, -0.0219, 0.812, 0.5957, -0.4114, -0.0151, -0.0269, 0.9966] state[eef_state]: left_x=0.392 left_y=-0.0841 left_z=0.1183 left_yaw=0.013 left_pitch=0.244 left_roll=0.0184 left_gripper=0.9946 right_x=0.2904 right_y=-0.0001 right_z=0.1649 right_yaw=0.0029 right_pitch=-0.0542 right_roll=-0.0043 right_gripper=0.9966 state[joint_eff]: [-0.335, -6.4752, 7.8291, 1.7802, -0.1783, 0.1197, -0.1099, -0.335, -1.2239, 7.2274, 1.8632, -0.022, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.037},"note":"With the gripper offset, the left bowl now sits to one side of the jaw opening, placing one finger over the bowl and the other outside its rim. I’ll lower to rim height before trying a side pinch."})
tool
executing move_to over 6 steps (0.6s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe gripper is now beside the bowl’s right-hand rim, with a finger inside and a finger outside. I’ll close on that wall and check whether the jaws retain a gap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3965, 1.8751, 0.3809, 1.0538, -0.3977, -0.139, 0.9954, -0.0216, 0.8154, 0.5949, -0.4156, -0.0151, -0.0269, 0.9966] state[eef_state]: left_x=0.3862 left_y=-0.0837 left_z=0.0251 left_yaw=0.0013 left_pitch=0.168 left_roll=0.0505 left_gripper=0.9954 right_x=0.2898 right_y=0.0 right_z=0.1628 right_yaw=0.0032 right_pitch=-0.0626 right_roll=-0.0041 right_gripper=0.9966 state[joint_eff]: [0.212, -6.8855, 2.865, 2.0781, -0.1538, -0.0317, 0.0708, -0.1026, -1.5932, 7.0496, 1.6874, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper is now beside the bowl’s right-hand rim, with a finger inside and a finger outside. I’ll close on that wall and check whether the jaws retain a gap."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe jaws settled at a small gap, which could be a thin rim or an empty close. I’ll lift the gripper to see whether the left bowl actually comes up with it.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3958, 1.8648, 0.3824, 1.121, -0.4362, -0.1108, 0.0241, -0.0219, 0.8181, 0.5945, -0.4191, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.3932 left_y=-0.0795 left_z=0.0447 left_yaw=0.0256 left_pitch=0.2453 left_roll=0.0594 left_gripper=0.0241 right_x=0.2894 right_y=-0.0001 right_z=0.1612 right_yaw=0.0031 right_pitch=-0.0691 right_roll=-0.0042 right_gripper=0.9966 state[joint_eff]: [-0.335, -5.4632, 3.2615, 0.5543, 0.8474, -0.6129, 1.5018, -0.2256, -1.3197, 7.0906, 1.707, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The jaws settled at a small gap, which could be a thin rim or an empty close. I’ll lift the gripper to see whether the left bowl actually comes up with it."})
tool
executing move_to over 7 steps (0.7s)
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 left wrist camera still shows the bowl after the lift, so I’m not confident it is held. I’ll pull the closed gripper away to uncover the table and verify where that bowl ended up.
move_to
left_x0.2900left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.395, 1.4097, 0.4992, 0.5537, -0.4438, -0.1204, 0.033, -0.0219, 0.823, 0.5945, -0.4221, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.3912 left_y=-0.077 left_z=0.1359 left_yaw=0.0387 left_pitch=0.251 left_roll=0.0506 left_gripper=0.033 right_x=0.2892 right_y=-0.0001 right_z=0.1592 right_yaw=0.0031 right_pitch=-0.0771 right_roll=-0.004 right_gripper=0.9966 state[joint_eff]: [-0.294, -6.2701, 8.9504, 1.9463, -0.0659, 0.0415, 1.033, -0.1573, -1.6342, 6.9812, 1.7558, -0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.29,"left_y":0,"left_z":0.19},"note":"The left wrist camera still shows the bowl after the lift, so I’m not confident it is held. I’ll pull the closed gripper away to uncover the table and verify where that bowl ended up."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteAs the left gripper retreated, the left bowl moved with it and remains beside its fingers, so the rim pinch did catch it. I’ll carry that bowl over the stationary middle bowl, keeping it high while I check the alignment.
move_to
left_x0.3700left_y-0.3300left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1524, 0.6559, 0.3775, -0.0025, -0.2539, -0.0616, 0.033, -0.0219, 0.8291, 0.5945, -0.4328, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1967 left_yaw=0.0907 left_pitch=0.301 left_roll=0.0246 left_gripper=0.033 right_x=0.2879 right_y=-0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0938 right_roll=-0.0036 right_gripper=0.9966 state[joint_eff]: [0.2256, -0.2667, 8.1846, 2.1221, 0.1587, 0.2222, 1.0281, -0.1299, -1.5248, 6.9812, 1.8339, -0.0757, -0.0317, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.33,"left_z":0.2},"note":"As the left gripper retreated, the left bowl moved with it and remains beside its fingers, so the rim pinch did catch it. I’ll carry that bowl over the stationary middle bowl, keeping it high while I check the alignment."})
tool
executing move_to over 30 steps (3.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe carried bowl is over the middle bowl in the overhead view, with the pink bowl still clear on the right. I’ll lower slowly toward the middle bowl and check for contact before releasing.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0512, 1.8843, 1.3102, -0.0601, -1.0664, -0.551, 0.0357, -0.0216, 0.8307, 0.5945, -0.4446, -0.0154, -0.0273, 0.9966] state[eef_state]: left_x=0.3683 left_y=-0.3251 left_z=0.1885 left_yaw=0.0748 left_pitch=0.282 left_roll=0.0345 left_gripper=0.0357 right_x=0.2861 right_y=0.0002 right_z=0.1528 right_yaw=0.0039 right_pitch=-0.1072 right_roll=-0.003 right_gripper=0.9966 state[joint_eff]: [-0.4991, -10.0444, 8.7863, 1.2772, -0.5788, -0.022, 1.033, -0.1026, -1.5521, 6.9538, 1.7411, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The carried bowl is over the middle bowl in the overhead view, with the pink bowl still clear on the right. I’ll lower slowly toward the middle bowl and check for contact before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe bowls overlap in the overhead image, but the held bowl is still above the one on the table. I’ll lower a few more centimetres to seat it before opening the gripper.
move_to
left_z0.0690
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0538, 2.0159, 1.1587, 0.1669, -1.0645, -0.5507, 0.0357, -0.0216, 0.8314, 0.5945, -0.4454, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.3646 left_y=-0.3214 left_z=0.1053 left_yaw=0.0567 left_pitch=0.2564 left_roll=0.0867 left_gripper=0.0357 right_x=0.286 right_y=0.0001 right_z=0.1525 right_yaw=0.0036 right_pitch=-0.1087 right_roll=-0.0033 right_gripper=0.9966 state[joint_eff]: [0.1983, -9.5795, 5.7641, 1.5751, -0.3346, -0.0366, 1.0281, -0.0342, -1.4838, 7.1043, 1.6679, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.069},"note":"The bowls overlap in the overhead image, but the held bowl is still above the one on the table. I’ll lower a few more centimetres to seat it before opening the gripper."})
tool
executing move_to over 3 steps (0.3s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe descent slowed with the carried bowl overlapping the middle bowl, suggesting it has seated. I’ll open the left gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0538, 2.0754, 1.1336, 0.268, -1.0637, -0.5499, 0.0357, -0.0216, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.3658 left_y=-0.3237 left_z=0.0832 left_yaw=0.0596 left_pitch=0.2632 left_roll=0.072 left_gripper=0.0357 right_x=0.2861 right_y=0.0001 right_z=0.1526 right_yaw=0.0036 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966 state[joint_eff]: [-0.1709, -9.2786, 4.9573, 1.3895, -0.3199, -0.0562, 1.0281, -0.0615, -1.4291, 6.9675, 1.5946, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent slowed with the carried bowl overlapping the middle bowl, suggesting it has seated. I’ll open the left gripper to release it."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe bowl is released and remains at the center, but the left arm still blocks the overhead view. I’ll lift clear of the stack before checking it and approaching the final bowl.
move_to
left_z0.2000left_pitch0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0538, 2.1059, 1.1133, 0.2817, -1.0565, -0.5507, 0.9952, -0.0219, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966] state[eef_state]: left_x=0.3631 left_y=-0.3202 left_z=0.0644 left_yaw=0.0465 left_pitch=0.2426 left_roll=0.1033 left_gripper=0.9952 right_x=0.2861 right_y=-0.0 right_z=0.1526 right_yaw=0.0032 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966 state[joint_eff]: [-0.335, -10.5778, 5.6547, 1.4725, -0.5006, -0.0317, -0.1441, -0.2256, -1.0462, 6.9812, 1.6386, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_pitch":0.28},"note":"The bowl is released and remains at the center, but the left arm still blocks the overhead view. I’ll lift clear of the stack before checking it and approaching the final bowl."})
tool
executing move_to over 9 steps (0.9s)
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 first bowl is now resting at the center while the pink bowl remains on the right. I’ll park the left arm away from the stack and bring the open right gripper above the pink bowl.
move_to
left_x0.2900left_y0.0000left_z0.1900left_pitch0.0000right_x0.3800right_y0.0950right_z0.1300right_pitch0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0538, 1.8931, 1.2766, -0.0704, -1.0725, -0.5388, 0.9956, -0.0219, 0.836, 0.5945, -0.445, -0.0151, -0.0269, 0.9966] state[eef_state]: left_x=0.3643 left_y=-0.3195 left_z=0.1719 left_yaw=0.0565 left_pitch=0.2619 left_roll=0.0975 left_gripper=0.9956 right_x=0.2862 right_y=-0.0 right_z=0.1513 right_yaw=0.003 right_pitch=-0.1129 right_roll=-0.0028 right_gripper=0.9966 state[joint_eff]: [-0.5675, -12.4103, 8.9915, 1.3602, -0.4908, 0.3541, 0.0366, -0.1846, -1.7846, 6.9538, 1.6728, -0.0464, -0.0024, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_pitch":0,"right_x":0.38,"right_y":0.095,"right_z":0.13,"right_pitch":0.28},"note":"The first bowl is now resting at the center while the pink bowl remains on the right. I’ll park the left arm away from the stack and bring the open right gripper above the pink bowl."})
tool
executing move_to over 29 steps (2.9s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe middle stack is visible on the table, and the pink bowl fills the right wrist view just left of the jaw column. I’ll place the right gripper slightly to its right and descend to pinch the bowl’s rim from the side.
move_to
right_x0.3900right_y0.0720right_z0.0470right_pitch0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.186, 0.804, 0.6483, -0.4259, -0.3103, -0.1085, 0.9957, 0.4034, 1.401, 0.4252, 0.5827, 0.3611, 0.1051, 0.9966] state[eef_state]: left_x=0.2931 left_y=0.0034 left_z=0.1927 left_yaw=0.1181 left_pitch=0.0195 left_roll=0.0861 left_gripper=0.9957 right_x=0.3726 right_y=0.0951 right_z=0.113 right_yaw=0.0352 right_pitch=0.2066 right_roll=-0.0292 right_gripper=0.9966 state[joint_eff]: [0.2667, -1.6479, 6.8581, 1.8144, -0.1343, 0.1343, -0.0073, 0.1709, -4.7111, 6.4342, 2.1416, 0.3297, 0.0708, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.072,"right_z":0.047,"right_pitch":0.28},"note":"The middle stack is visible on the table, and the pink bowl fills the right wrist view just left of the jaw column. I’ll place the right gripper slightly to its right and descend to pinch the bowl’s rim from the side."})
tool
executing move_to over 5 steps (0.5s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe right gripper reached the bowl’s side at low height, with the pink bowl’s rim between its fingers. I’ll close on that rim, then test the hold with a lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8074, 0.6483, -0.4446, -0.3, -0.1017, 0.9957, 0.2989, 1.8454, 0.3244, 1.074, 0.2821, 0.0555, 0.9966] state[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1877 left_yaw=0.1062 left_pitch=-0.0037 left_roll=0.0929 left_gripper=0.9957 right_x=0.3767 right_y=0.0684 right_z=0.021 right_yaw=0.0276 right_pitch=0.1441 right_roll=-0.0618 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.2786, 7.1316, 1.873, -0.1685, -0.105, -0.0171, -0.4034, -7.0769, 3.9453, 2.0977, 0.0317, -0.0024, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper reached the bowl’s side at low height, with the pink bowl’s rim between its fingers. I’ll close on that rim, then test the hold with a lift."})
tool
executing move_to over 10 steps (1.0s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe right jaws stopped at a narrow gap beside the pink bowl’s rim. I’ll lift to confirm that the bowl moves with the gripper before carrying it to the stack.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8097, 0.6483, -0.4465, -0.3069, -0.1013, 0.9957, 0.3035, 1.832, 0.3332, 1.1603, 0.2604, 0.0742, 0.0396] state[eef_state]: left_x=0.2909 left_y=0.0033 left_z=0.187 left_yaw=0.1117 left_pitch=-0.0066 left_roll=0.0981 left_gripper=0.9957 right_x=0.3875 right_y=0.0775 right_z=0.0472 right_yaw=0.0347 right_pitch=0.2467 right_roll=-0.0064 right_gripper=0.0396 state[joint_eff]: [-0.1026, -1.4427, 6.9812, 1.663, -0.0464, -0.0562, -0.0122, -0.3077, -4.9573, 2.947, 0.9548, 0.1978, -0.1832, 0.8474] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right jaws stopped at a narrow gap beside the pink bowl’s rim. I’ll lift to confirm that the bowl moves with the gripper before carrying it to the stack."})
tool
executing move_to over 8 steps (0.8s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe pink bowl rose with the right gripper, confirming the side-rim grasp. I’ll carry it above the pair at the center, keeping the bowl elevated until the alignment is clear.
move_to
right_x0.3700right_y0.2450right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8116, 0.6483, -0.4526, -0.3073, -0.1013, 0.9957, 0.3008, 1.2964, 0.5053, 0.4488, 0.2523, 0.0689, 0.0395] state[eef_state]: left_x=0.2902 left_y=0.0035 left_z=0.1853 left_yaw=0.112 left_pitch=-0.0142 left_roll=0.1007 left_gripper=0.9957 right_x=0.3852 right_y=0.0771 right_z=0.1533 right_yaw=0.0422 right_pitch=0.2423 right_roll=-0.01 right_gripper=0.0395 state[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.8242, -0.149, -0.0611, -0.0122, -0.1299, -5.3675, 9.3607, 2.0244, 0.0904, 0.0024, 0.5299] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.37,"right_y":0.245,"right_z":0.19},"note":"The pink bowl rose with the right gripper, confirming the side-rim grasp. I’ll carry it above the pair at the center, keeping the bowl elevated until the alignment is clear."})
tool
executing move_to over 14 steps (1.4s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe pink bowl is just to the right of the white-topped center stack. I’ll correct that small sideways offset and lower it toward the stack, stopping short of a forced press.
move_to
right_y0.2650right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8162, 0.6483, -0.4599, -0.3073, -0.1013, 0.9956, 0.8467, 1.5589, 0.8852, 0.1734, 0.7109, 0.2817, 0.0402] state[eef_state]: left_x=0.2895 left_y=0.0037 left_z=0.1827 left_yaw=0.1121 left_pitch=-0.0255 left_roll=0.1042 left_gripper=0.9956 right_x=0.3651 right_y=0.2443 right_z=0.1724 right_yaw=0.1019 right_pitch=0.2006 right_roll=-0.0486 right_gripper=0.0402 state[joint_eff]: [-0.0342, -1.7026, 7.1316, 1.7411, -0.1392, -0.0366, -0.0171, 0.1436, -7.159, 9.1282, 1.7167, 0.4908, 0.1587, 0.8962] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.265,"right_z":0.105},"note":"The pink bowl is just to the right of the white-topped center stack. I’ll correct that small sideways offset and lower it toward the stack, stopping short of a forced press."})
tool
executing move_to over 5 steps (0.5s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe pink bowl now overlaps the stack in the overhead view. I’ll lower another few centimetres to seat it, then release if the arm stops against the bowls.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8192, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8837, 1.7638, 0.8158, 0.3527, 0.7269, 0.2958, 0.0397] state[eef_state]: left_x=0.2896 left_y=0.0036 left_z=0.1817 left_yaw=0.1121 left_pitch=-0.0292 left_roll=0.1053 left_gripper=0.9957 right_x=0.3606 right_y=0.26 right_z=0.094 right_yaw=0.1295 right_pitch=0.1374 right_roll=-0.1073 right_gripper=0.0397 state[joint_eff]: [-0.1709, -1.5111, 6.9402, 1.6728, -0.1099, -0.0171, -0.0073, 0.3214, -8.4444, 5.3538, 2.0244, 0.3443, 0.1001, 0.4713] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pink bowl now overlaps the stack in the overhead view. I’ll lower another few centimetres to seat it, then release if the arm stops against the bowls."})
tool
executing move_to over 2 steps (0.2s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
assistant
agent noteThe right arm stopped descending around 10 cm above the table while the pink bowl overlapped the stack, indicating contact with the bowls below. I’ll open the gripper to leave it in place.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8211, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8875, 1.7802, 0.8112, 0.4236, 0.7284, 0.2962, 0.0421] state[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1812 left_yaw=0.1121 left_pitch=-0.031 left_roll=0.1058 left_gripper=0.9957 right_x=0.3636 right_y=0.266 right_z=0.0977 right_yaw=0.1266 right_pitch=0.1743 right_roll=-0.0728 right_gripper=0.0421 state[joint_eff]: [-0.1709, -1.4701, 6.9402, 1.6825, -0.1392, -0.0415, -0.0122, 0.1026, -8.8137, 5.6, 1.8339, 0.3541, 0.1001, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The right arm stopped descending around 10 cm above the table while the pink bowl overlapped the stack, indicating contact with the bowls below. I’ll open the gripper to leave it in place."})
tool
executing move_to over 10 steps (1.0s)
step 239
assistant
agent noteThe pink bowl remains at the center after the jaws open. I’ll lift the right gripper vertically so I can check whether all three bowls are stacked without disturbing them.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8268, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.7802, 0.8093, 0.4206, 0.7242, 0.2935, 0.9957] state[eef_state]: left_x=0.2892 left_y=0.0037 left_z=0.1784 left_yaw=0.1123 left_pitch=-0.043 left_roll=0.1095 left_gripper=0.9957 right_x=0.3627 right_y=0.2663 right_z=0.0962 right_yaw=0.1327 right_pitch=0.1691 right_roll=-0.0772 right_gripper=0.9957 state[joint_eff]: [-0.1846, -1.8393, 6.9265, 1.6923, -0.1197, -0.022, -0.0122, -0.1709, -7.9111, 5.8735, 1.6435, 0.1734, -0.0122, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The pink bowl remains at the center after the jaws open. I’ll lift the right gripper vertically so I can check whether all three bowls are stacked without disturbing them."})
tool
executing move_to over 7 steps (0.7s)
step 246
assistant
agent noteThe pink bowl stayed on the table when the gripper lifted. I’ll return the right arm to its starting side to expose the center and verify the final arrangement.
move_to
right_x0.2900right_y0.0000right_z0.1900right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8284, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.607, 1.0061, 0.0296, 0.717, 0.2878, 0.9959] state[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.178 left_yaw=0.1123 left_pitch=-0.0445 left_roll=0.11 left_gripper=0.9957 right_x=0.3627 right_y=0.2679 right_z=0.1771 right_yaw=0.1438 right_pitch=0.1508 right_roll=-0.0941 right_gripper=0.9959 state[joint_eff]: [-0.0752, -1.4701, 7.0359, 1.6581, -0.149, -0.0317, -0.0171, -0.2803, -9.9897, 9.1282, 1.6825, 0.1978, 0.0024, 0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.19,"right_pitch":0},"note":"The pink bowl stayed on the table when the gripper lifted. I’ll return the right arm to its starting side to expose the center and verify the final arrangement."})
tool
executing move_to over 23 steps (2.3s)
step 269
assistant
agent noteStacked all three bowls at the center of the table and withdrew both grippers.
done
hindsightThese bowls are best grasped by offsetting the gripper about 3–4 cm to one side and pinching a thin rim; centered closes go inside the bowl and come up empty. A rim pinch can read about 0.03–0.04 gripper opening, so confirm it by lifting and watching the bowl move. The second and third bowls seated against the stack when the descending arm stopped short of its requested height.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 0.8322, 0.6483, -0.4679, -0.3073, -0.1017, 0.9957, -0.083, 0.7906, 0.6258, -0.4183, -0.0769, -0.1795, 0.9959] state[eef_state]: left_x=0.2894 left_y=0.0037 left_z=0.1769 left_yaw=0.1125 left_pitch=-0.0485 left_roll=0.1109 left_gripper=0.9957 right_x=0.2919 right_y=-0.0071 right_z=0.1832 right_yaw=0.0763 right_pitch=-0.0112 right_roll=-0.0989 right_gripper=0.9959 state[joint_eff]: [-0.0342, -1.7436, 7.1043, 1.6386, -0.1148, -0.0366, -0.0122, 0.0479, -1.7983, 8.3897, 1.8291, -0.3004, -0.0366, -0.0073] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls at the center of the table and withdrew both grippers.","hindsight":"These bowls are best grasped by offsetting the gripper about 3–4 cm to one side and pinching a thin rim; centered closes go inside the bowl and come up empty. A rim pinch can read about 0.03–0.04 gripper opening, so confirm it by lifting and watching the bowl move. The second and third bowls seated against the stack when the descending arm stopped short of its requested height."})
tool
done: Stacked all three bowls at the center of the table and withdrew both grippers.
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 · 10.4 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.",
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  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
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  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6041, -0.3817, -0.0227, -0.0261, 0.9994, -0.0219, 0.7933, 0.6018, -0.3824, -0.0154, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2941 right_y=-0.0001 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5521, 10.2222, 1.8144, -0.0269, 0.0757, -0.0757, -0.3214, -1.2923, 10.3726, 1.9951, -0.0952, 0.022, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701183deb9ce09c0cbc567dc574bcdc1e0a1331ca64c78f171fe8e48c31f3aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47508512ab25916523718ef072ff66da80c107d115cf899a503e36ed2dbeef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca88457baeb8c4c52215e7d8bd74a10f2b70b38d4cc65f91b6ebdc20ff4dc96e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 5.611 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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  "encrypted_content": "gAAAAABqtCMhieWHQ5JzBjJCaocmLYAQ8Tlx76QFfiDMkSb2nHpWB-PjA4cR9xa_CeftgfemG6DsLO2koHoIftNirHUkyC0Z1gmoxiRSQr0V7xY4DlmcLI-Dg5q-VmRuJ2wjBxOt7iPU9Mzt219KIp0eG6SQI-MJ-JJLjsKCxBwoVb74_cXZWzLn-aIGAgtXtG3r58Ahcqe5QJRVK-NkyhORNjSPgdDO2ld41eMoY_nyW9shVnWYqeYd4Hjc3yFoMDx1OnznPEmqYwS8M13uFVstMowZt3A33zKp3AHpNvFzM6C1xp5gSOrcgtUCkhfmY7MWLrE4hJzFPasz0x8wy-5g-9JCgEEZ2LRfMsUfq10Ijka3hIbX8uKmomHDc7E18BZ1vgLSIH4KNPUMVBu-xIFeSG1ineVc2DTwEzdGCNvw3NilTwBqTZHcg6-NsCzDD3fgplifOsjn1W9OL9yh8uY0ver9zAzVC-xG7rRfWDsian5ZOssQOoRnpvNp81s4JEwwZTj_3SHNmvdHML-Qzb02-O5rJTG3SNnJMRvrWpWlWCYyxJ3OYR9trpDADnhhARfyusd_0fdS7P7s5eyrkYtxA7_Mlh6TYYM4-kpdeO4IRYSaTctnKg-8Mnsgs2ZOyOKqrT6ckiNZjoYe-VHzea4L1OWq8z0O_Fybe_nr6OIgJ5xnRYocNa75Q3t1l2GhxgVV_CzW4igsvFa87LqUv2qr253MNUQiskw2ig7d5w3z9hoZFkD-BVEjPvaMzjwKMa71vkUxfk4GwihHFTrsZBepqmvEo4mLkdggEcZueMR6fHafD5rKoi2fbIdbcAhbA8EWkwuF8BtS2LAIFc0J8eAwCHpGefSl4RItfsA9XeikVnwChu575QmIPHMEhInf3vPgUDhlHbkXouuZh9bOq5o_saiKdAPhGtupbnHAaHos9rp5KBUfAAcrRoYvoiZBdIRx7nHgbmFpE5JH93si67B9tHTZccjTdJj2HdONMXeIwmRQevqlzaTjMp30htP5y38VPgwhywZn0UAmf6g3KVHVMb9E-ZvTL9THkmnqVQAFp30cf-2SO_g1rkmQs7Egn-7fMs0O4gtAyMr9WY5HAKLZVa8nCiMIcrGeulip5ZcMiwVTZAJevGEQwBFph9zZrKeXbkbxrQR8s82d_dBjU-MPKbbSChsARtBDgYsWrh-k1aoI-vbLzj79kmpkm-_GhSRtLQ60IdERFAoBoS5uZIt_q7QKQlOyW3NDC6xTTpWJhnTr23QAajHC1lPumcd7CuFK7CSmFQHwkV98HjBi_NlRtX0pVyNcWkindGiaVclXO-kY-mV4wrvYUbxWRkiXQq4L6KsXY3CGoNzhd3AIaEI8rIXtBzSiHH6J5Hmxht5mbqG6aLCTageWU-FX_6AyjTjNOMvVZaOSK48mipFzCIOeVw361lHBoLjIOnQR9esA25X_WJaaor80AXhxMHrB40U4jilwpxzpgdeqDj6G_azus9VyUZETbQn_DDW0NiJrIhRuLuHwz2oD2vel67JmZK8viOewJBnFXsyhDszV8ANPWPJfmRfAPfmwn-fnFsA3lLY2c_gDRhT8kdLUCw_PDfaBouRtJOdoWV4fYltsxwEHhILh4F5ks0UCqAxq0jup3kUsHelzxj1q6yCrbT57gjjCx3YPZmr4DNr-HqO2yacwaoRIXHZNm-X_RWOaC0cMVCpHLi7nWVrvhrGoPQ1dEjl9u_p0L7nyzvRMaUu1D8C_YSrCsJojG2RKU8CyyFzoS9d0CU4K2hEMn5K_WQ8YbW2MKVnhtZPZ0J9szpKMl1UYRkjn68tdZHgNbhDO6z0ygwLzlx_Pw4QVRem8NaZhGmjLLCjdvRkiwgy6yJ0AtdkUEz3Zlqt7XirwJjARKZtKNn1lgdP9BkuoCdFaww04wsjjTmlCgzFuivMrUrzlR0mB845hAkZscm4xY-VypQdlAmc6CSlrgMNzawiRX9VDNK4AZPG4o1ku4WBRGXo4Yv8jqKHrh83CxUKD2WPiiPQT1QC0wuBB16wQPV64tFaorr57t_WoRQFUBDqK2yvoWHA7Y9DIfNdjVm332TAmIHgifqSABYjZV_lLu8ieWZr8f-iZwnta7vHTcesZdRzN7iSW--m3KxO-vZs-B2N2tzKK0sRnhJGZvSG8uZcRbiDiA7xpKJQXxV0uSc4wTBK5sFXzZYH-45cEYKzzzqaegEwB4zKECTNeQ22Nr6FftS4Z2Urf0VbB5vVVIfXAQci_Hc-AtL6R3mivNpOAbiCpgV2bNz7oGNQ0jx3lHdxc010fDmtsgwpDNWY9FsBwde_6dlydnLvgYMO4YjdEtKw78kYFr3j-vGZwvHrc8Co9ud94kC1zIPAjEIBhqk5SZ--SVZJz6hs-R96yF4VcuA-czMru7_ZBgHSVpy7hBATrvFByXeMBC54kNC62lvsq5TCJB9D9P8Y7bbn5Ve34poo_S5IaWJUyslkEWlpFoL3dxYQOOcRTyEyw_RWqsdnIBD8IATXIcuphw0Ut_D2iederILNrsjuxaSL_RzAN8Lb610xIo86XD7ZPT17c2drWgnVcNYn7RBqddABfkYvzm4kB7L4-VLna1ysT_5O__pWxjea_cijCbJ5jrhzvGzgXUGl0HeL2SIb9aacAmt4O9NqwqfhiV21-DhyS1qI9diU6iYjCPu8aNJs-30FR6rsPJgPS9Tcbson16qjgfOBIQDB2QnksAm11ZZG0XAvlVXo9wgUQ0mVlEqxsYJ38fn_Etk3h-vhBva99E1uvgsuZ1FAURrw9ZxJVUN3ujReTkD_vmWZoOhHroM1ledTVTFsRraRLFu0QKylCfihSJd6jVJw47ywJ29GhkuHmdvUqC_1FlxJ0wgM88S_rX9A6jYFBKt43sG8B9fvc1y0aOWsX9l-4-ekoLu3M6zTp-XwQ3m4LwG9rU_oBnBlvMntnHPcv_gTC0QJTe2Ol8l7d3AYmVYFRiGbgT0N-CKPOXvWGbPLdxvuqo_9U9DcOfy2PSdBkz9fOgZHjDvyoBlYXB-9AlnblKSFDX7aTYs3U050lrpeDVVg6I0Hwm9yF6P26Hx3A9zpYMr4rlhc27CFYjuDBJc44JH4aRTtkyXAU3Rgfgxazi8ymu5PcIf-bI9i0Op8J_A2HLJd_l8Hn4YVbA67nz4otrtovCbbINmzVNy4JmPjQHe5bqCylXGtFLnoIBN-Wt21jtVD6RFqBgcdRN0NfqgnQjHs1IoY7UamXb1Gr8L8LJn2uVL3gU-WGWioVyK3EaBFK3kFdudyJ80JHp7jrgaAW57YMGjvIsM4DBps1PbZEPEiExHaI0dlnSVIYi-7sneHmLL8rJ4xaTlpPPz9dIOxzrvcF56zTNNiL2G9JfgA_ILwEPJMH0gscIjG4KTkL32p9uTJcWb6A6XI41J98kwQm40zjvoyc-H38R278uqMaTMCjLJ5E3WwX_mqla57u6gnLythHuC_eRByJqwc4DmHVsFFhIXU4JpBZgmSnmlWzbtuv6Sxixn9miQVfPCYkGv9VCopqxc7X1AkItuF6GiB_7OdNOOaBipMD1CA=",
  "id": "rs_01df46fe71eb0292016ab4231cdac487d0a0d4cff70c5a16e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.07,\"left_z\":0.15},\"note\":\"I see three separate bowls in a row; I’ll leave the middle one in place and approach the leftmost bowl with the left gripper to check alignment before grasping.\"}",
  "call_id": "call_WdZ35Jnrz7elz8Qawt2LISU8",
  "id": "fc_01df46fe71eb0292016ab423210f7887d0be46ecbe990a5d24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WdZ35Jnrz7elz8Qawt2LISU8",
  "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]: [-0.2905, 1.309, 0.7097, -0.0895, -0.231, -0.1726, 0.9993, -0.0216, 0.7975, 0.5999, -0.3931, -0.0151, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3717 left_y=-0.0652 left_z=0.1247 left_yaw=-0.0162 left_pitch=-0.0944 left_roll=0.0189 left_gripper=0.9993 right_x=0.2927 right_y=-0.0001 right_z=0.1744 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -5.6274, 9.0735, 1.7705, -0.1783, 0.0464, -0.0171, -0.0752, -1.4701, 7.1726, 1.8193, -0.0757, -0.0317, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fec3ec0c98ca08f7bbf4bdc8e9a01873c87a2e34f9b415cbcd602557b0d4f55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5f1d1b17f9b74d117190c966f06a00128e1d26826c0ec3ee29721dfdbe2794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69058761dc49e3abfc5ba445780d5f2ed625c5b0301e835ffee18d601c9f989a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.307 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6041, -0.3817, -0.0227, -0.0261, 0.9994, -0.0219, 0.7933, 0.6018, -0.3824, -0.0154, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2941 right_y=-0.0001 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5521, 10.2222, 1.8144, -0.0269, 0.0757, -0.0757, -0.3214, -1.2923, 10.3726, 1.9951, -0.0952, 0.022, -0.3346]",
      "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]: [-0.2905, 1.309, 0.7097, -0.0895, -0.231, -0.1726, 0.9993, -0.0216, 0.7975, 0.5999, -0.3931, -0.0151, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3717 left_y=-0.0652 left_z=0.1247 left_yaw=-0.0162 left_pitch=-0.0944 left_roll=0.0189 left_gripper=0.9993 right_x=0.2927 right_y=-0.0001 right_z=0.1744 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -5.6274, 9.0735, 1.7705, -0.1783, 0.0464, -0.0171, -0.0752, -1.4701, 7.1726, 1.8193, -0.0757, -0.0317, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fec3ec0c98ca08f7bbf4bdc8e9a01873c87a2e34f9b415cbcd602557b0d4f55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5f1d1b17f9b74d117190c966f06a00128e1d26826c0ec3ee29721dfdbe2794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69058761dc49e3abfc5ba445780d5f2ed625c5b0301e835ffee18d601c9f989a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCModGxkssLD8fzWC-HrjBa619FdjM-9nQUFn-eCpR3oSodxzDd8qIspZVFqqcMIsj6fQy_DQhiEiLuhDkVPf047mDHNh7SAzwhX6ClQoo6VFjK7dMA_dzP6I8_Dl3yTq-D7Azk-hjbhLpIGlFUtzlEgAbdZvcqJ2uI94s1KoXYXv0vOLLQudlbDCHhTmr8kdO3b6X10_UEn3qez-JiRi_5WEoT4yTh-2LDUFVaq0jyETOg2gPGD1MaznGsxyoJCjRUUt1W8FYTZugd9HO8aVYCDg6bOTm4KJqAmCmW_i8APCe6gc-CPYxKxoixjVVIZuHru0CbNUQoS4phsKRkaZkjHHshwTYLcpXZF5JQo5On6F30xMdJHjxOS-iqhyosq4RvE2XfYIUOFk4ExTcGQSeo-OphJPVfJWV8hJlV1UsrdiUepRIMBlNezD1lWkRMq-Cl5NQTW-8qBFrjcYL6a3iVIxzVUd-rklF2y0cZh20fCFsEYorJ1TZdWBd4qxOtaND_bhuZZ2PZS0PEybKtOwSIHGjlUKyZqN7QLOXH9DlT7nY05DKWiNmiqAPfFVKGZrZQ7NSvklotEijURKYYeq2BFnw0QrQXiXJqL10WbmG2_JtNu0rVsvMPpG1LOTyZL5blgb12MpV7HXKEEOKCmzU5A-lduBAAZ6Youe-DB8P2kN_9wcJ3-_k2ifFeNS6kZHT8W1LGV2LHLMaWw3UXpxE0xgsUiYXssldaAl-3aE7ZWasbO6nkJvj1HyUSzFMCiVfD6T4Fwm3xTeyTmu-EwBG-sboK_qHTmfd4xi_spnFN3RaaJfJrMX_kU11lq6NU3ODNa8_yAxb4vfSUG5_mYuySIgtOp3Hso1Jzvh9NUmf7Jh4gz8gS_8oRJ8HehS_HvvdEQccVV-dY1lpT_l80I4dmqxx2dugqGjgirgCSxui58MO5YSiiHrPKf5UUNfFr_pAoEY8qQr7rfZaxSQbC0TIAi6ceEmBAwRW4eChI-txlMBKPKuCOElPW7CrLBD7k98uy3CXac0TJgzj_4f9ceyIk-pV6QRyQWbAOUi_QVgdSR3PaYxzIN8F5H0pEDo_6aVQgni4b9dLKJEBs3YXX6XDkhE41ECalN-EKw5kdsFlM-kG5pSffRmcuIHO-6y8ZNrnJbEVwSx4cDuVIR9Tbroae3V2MC2d5pMrg5Bi5IlbIA1orzKRMn6PBWs4Z72xZ_O6YWqqiPxYRFZIpdtzpBqZFpm2JhMR1kCm_TGadmSSIJ0d9338wpjY2mgWYbWzgEG65MtTu-aWv8-hse3Yq6wSAxzfZQbYIpLxlevMJ-H56NVvUCxe29mETEuWriQ2waFVdk_7oTH4mJ__2gZKRpv-m2W1f_AxhNtFt36_QB9HBQZ3_T8WAabnZZz52UOHhr92pjckQnNeeYETB4JTFHSDLv5oMNgq-_za49KZT9nCC55lP1cChMuCw6XwTQ__PTYxQkAtjfBweDDNnMu3hloUpqTqLtaGpgBBYGIRlIgb6v0zuqwJHXAUN08G4jlz_dYw1tr2LplrW4M5qiskCyMBoM6U27amBPhCfliBjn8j8GBd0pBF4vQp0twngjab8YRQB_eWi2lrQlzLvroCg7obGsGxIKTb_3IeQo_5Jv8m_dqAeVpBKi-eWiBR7g-UliY2x24t051OYnfrYZYLspiLKdD5QU8VEq9AEfnKmPuheGn1Y_JJBptYz018cCzXQ5lUn-s5128fMcaPyUvUGT4h9tdp3Xa43Gj-ZdEP-nQVq4Dds3ovf26OUTkQsySV2PmmtIFSsDUXnj7Arc6B_8DUpNrlzVXUckZkMizf6hP0QdrN5036jq_mOrhNO3G7WVLnekyR86IuOZEfeOlF7elnLcWxvs2DKqu7LKO1ThvNbEqyC1_jqhjsYpqFHSxvuA1mhU7r2H6Gc1cIuplQHZ2xhDzvR72_Jw7xAa-h9qu2ZcO2Ll1XAcGbuylc0h7cQ_WipFSmposFl-hoe9zysWmm9R6DE5nJydANzM2apbl-GumfrvC-ir6h3lkRysSMCYumryTtDeS6e9OcI9Z2MuoCQWgGgchix45RmyDx5o9Ss9RP8iF3rmWG6i0tc-tA6NluIVsOM6qCHI31SU9c0wcZ3ZU_eadKjG9aQfL-lG8bHf430g8jzW9M4oREL1nLbcNlINboiwRsmJPaOTy_1vpn2HqVkcqutNG4HZ7gXuXA4q4caAiKV7kaWsKTwWPs2-QlEaREhZmRsYQQa8t3OTskgpSnYvsfMr3KbZLT0abLkucFmyRSjjeQ5fObz-ExthWWFBqCt9CgFrLEU2c_zFfqStidHSqIrf58BHzvOm0Dos0S9aCiFfd6h_8Eo8VCHTdPcWcIwQEllmHX7zWXxH5X96bbxaJ4Se8fgMA6EXOJrH2fGnzXtgTN1po6itit3yyBmKdqgo-uGq4PevDcFuCSeWKacO4xaVQePR8cS1ZH5ddc4nY3kU66Ydnu6efKmb-Tb1AoDKvToottNb1YkfYb3j6opUYY5aPCj51k2G1fREgfVj52SjEIiyKSMnpNjEI1tcu9NR34Ps7foAVs7kjMQdfPo7CJId_VrwIFwHi5BlRePU6EPVMMdXNrJJzvHjNsZX405OYSZWfln7XKdReUjmY62WavIW-CvAtFoXqwMtxtHAl8VWib-WsKkAtZ-4cVd5Suvxyin-3M1wtPnixMWoFfnLlS4rif_xITD72nHwyVPeuN00Oo3UFlstkx-fzH4Hd1U88407j7extzeBLEDoV4O46PjXBKxZ_iEqCl5HObNUd6mkT8kWqcodIDanF4T4jgoDtf0ypE5Uq7KMbPKO_YuL3TN434r2BxaoGgWJ_gNgN6_Tjk5OU4kQHE-B6Is5-A2Y01cTCpXbDGZLZ5pcymwXU3_ZTnLcDrf45U8UA_RFd-bNBsM9uiHxhVMmXhZq68-ZZOcLnr609hlAu3ZihVxRHHGsm5L_-JBtBH9H7C3DPFi93dnNXXLS1QSC6Pzl82c3yVX43cleknMiJePhGNhGChcUcpyCu8Zvb2QcvrLccfUbAIifHrG1E4IlO2ef97LoR1WTMAiIqxOu51a1jE2U34vGiT3S9Neoozy3KWz92NI9f71iOSOvzFl-n1Nqs8Ap1eJ8JDQZRPbKthzPyEyWJ7k7j9HYEt8KKUwKZDe47mDSPGni5F_v6S0_C_8990yEKzz_iUQ8kVu4OCBoVw==",
  "id": "rs_01df46fe71eb0292016ab42323d1e487d0a73c9f6dfc200e3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.05,\"left_z\":0.105},\"note\":\"The left gripper is above the left bowl, which fills the lower half of its wrist view but sits slightly left of the jaws. I’ll shift a little left and forward, and lower toward the bowl’s rim.\"}",
  "call_id": "call_zkT750HeMF1s8qvThaZhFR6G",
  "id": "fc_01df46fe71eb0292016ab42327323087d09ed051b7f5ab14ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zkT750HeMF1s8qvThaZhFR6G",
  "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]: [-0.2161, 1.4338, 0.7162, -0.0017, -0.2012, -0.1497, 0.9993, -0.0216, 0.8005, 0.5999, -0.3931, -0.0151, -0.0231, 0.9966]\nstate[eef_state]: left_x=0.3903 left_y=-0.0459 left_z=0.0976 left_yaw=0.0218 left_pitch=-0.1292 left_roll=0.0258 left_gripper=0.9993 right_x=0.2929 right_y=-0.0001 right_z=0.1736 right_yaw=0.0011 right_pitch=-0.0202 right_roll=-0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.9128, 7.4872, 1.9023, 0.1294, 0.1099, -0.0122, -0.0752, -1.3197, 7.0085, 1.6777, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99dd9c4d2e53b2fcac315738c31485f9722e14e9a5a49c3d65d0ba714313005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e4c1c3e2df256e69260672abba71ded83419c32f95acf278b458b80d4d38b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:949eb1c32cdfd0925e067a9323ee3103980e45932055067898dd26522a81b2fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.261 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]: [-0.2905, 1.309, 0.7097, -0.0895, -0.231, -0.1726, 0.9993, -0.0216, 0.7975, 0.5999, -0.3931, -0.0151, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3717 left_y=-0.0652 left_z=0.1247 left_yaw=-0.0162 left_pitch=-0.0944 left_roll=0.0189 left_gripper=0.9993 right_x=0.2927 right_y=-0.0001 right_z=0.1744 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -5.6274, 9.0735, 1.7705, -0.1783, 0.0464, -0.0171, -0.0752, -1.4701, 7.1726, 1.8193, -0.0757, -0.0317, -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]: [-0.2161, 1.4338, 0.7162, -0.0017, -0.2012, -0.1497, 0.9993, -0.0216, 0.8005, 0.5999, -0.3931, -0.0151, -0.0231, 0.9966]\nstate[eef_state]: left_x=0.3903 left_y=-0.0459 left_z=0.0976 left_yaw=0.0218 left_pitch=-0.1292 left_roll=0.0258 left_gripper=0.9993 right_x=0.2929 right_y=-0.0001 right_z=0.1736 right_yaw=0.0011 right_pitch=-0.0202 right_roll=-0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.9128, 7.4872, 1.9023, 0.1294, 0.1099, -0.0122, -0.0752, -1.3197, 7.0085, 1.6777, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99dd9c4d2e53b2fcac315738c31485f9722e14e9a5a49c3d65d0ba714313005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e4c1c3e2df256e69260672abba71ded83419c32f95acf278b458b80d4d38b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:949eb1c32cdfd0925e067a9323ee3103980e45932055067898dd26522a81b2fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCMsu47hMLMi43GcNcQqSKbqXtpxHhcSFH5Fwn_JT2OkitvKpRMLYJDttHbtt3MSHK3BXcP1JbhhnpLiZcZqYf-Kqn2-e0amvpIGFehtpigH7U8wn2ajob0oMljTfhu3AllSctJTLsNPg4bagIIYjNVo9y2A_wcqg65ib0RHkzfN9DMZzzXIid06031gEcDuSOy4W4T38zjUKwWRvDguvAYg9gT79zRviko9tomCHrjaELFsyhjgwt45rfv1q-7RAsJ3mRGzfZTVNhq59UazkKLLe_0y1IC5UrTuoaUgXT2baDw-TfiflDM7WTX6IBwTsJHNvrIsJZJ8Umak_ZvFUJx7XCCEFGfDWDq_BHkJkkL5pSYwl3nO_7GyvVg4Ua7mxWgi6x0CZs5J8kGtDz8kAnPRf8EoU4f5QefQXIBCt_Hx6A1TYWSKXbgDJt2y-pZvx4BdvkrE8aNwW3YIurkDtszTwB3xtR21D1XFRuYM_04IOy_9QttJoNL3lmdu_KvjH_HadwFa59337Q3vNLbSFhEOSF3ihZGFUOmCvLtyrbyocdgvr6YNBuIJzUYd0a7sXMbIBKzp-4Dv7f44F5etMNT1chX5luBUZz23vBP_817RHdmTjMc85v3TskBRCpWe3F_Cl4w9TPsbQ53r-cR015ZETScyAsPTXhLqDdTQzKyh4Yynif_eZ8pl7x7eOEMHg-4WOrti1QG_5v2aixqmmpoy4gKn2soX53Ra6W5B9HJwIv25RYcTX3BPytEem0q-E0KDeouSd4KIyIh3flK7hiy4huZxvAjL6iPjuG-v4yLwnBtIa2WG3PSFv2uST5AKaVlr5H_HgMo8_yyFEB7hrnbvV1I1IyWz5B4WNqSV12NWihwpfoCJfSXp9Or1p0eQ6YqpvEQqxgtEUYGxfNtX1dY4z7ksC3d6nu8tERn1DO5Mv5TmjxxojV538TvE-HdIckMh9PVJ9hBh83A9bL_l_k0Z2JfWCz0PMAmxbOcB1ZnRveaYwBIwyUW7haDPStLBjNGY1rZBebDr1YY-pY52QB3TTqRGDqp_QNO35AWUt_M1aBvBZKHBfKmVAsgAb4NGkCeKokhRkY43bn26wil8bIVQfozr5UF-Pwq2Gu0oOClGT-JgXUfarVC8r-5F6EqmzG2M_GTnWcUVpQ020wUiFVlCSQH1k1X1yRi3IYsHJwwKF0Y3KnP1mIkG2_ebnAHtF_tZaB0xc1O7NC7Z_aEk7lx6CiselVOmedNc8FmdgxabsJl6xQgEwvRvLY32_WuduvaKg678K-a5l8VdZXbDKoGnuHHhZqxV6J6Ng9cNHPojPznGhyDxhV7b9Wv2TlGgBiW2cGulCNkfnU3H5RWqJlC0ko2UCtg80C8kKAJKDrv8aodpIYu29qnC_FyFiwKKyefrebR3MaJa2COtPnqn2xfOFNfmBYZ21ANVbE7HEyJIs-QH5BA7iLEabZXOdlK6wjFpBbb5RFgyfbqCqGXPcCybAfmSthSbHQwWzWlR4wPabVyRy2ky8HZ13hfjNtqpdyyIAo3kKk5OHGN377fSbqloyLFQ0eVGbSNbtGT2kaBmXDyWV1cQXPMF1ZXomdZbT8sLJBxupt1RJyMl61S4k2wDpHSNPUzgL0y-rLKe_JDKYkU0r28RJS51CCAC17nUtg4CfdI4QasZ0PQvgUSK481SadaH-RYuA6Xwf9htxUTFKgRnzvBZb7o8eN4zmDD8U5WBP1ujPgVVPq7IimRiOWV_7Vdpg9KIDtK11dyjtQxorSpehiAdl0S35rLNbkeD65yve4oVETJ2c73eo6MleCDInNGMsnqiH4jocVtUOObUBs7Cvc0T9tosFY_O1qMvN3Lrnlmzyw9vFcq8zcATTvk1nt2CPe7p6XmeRPvvt2w3nBbQXI-L6Oi5sPdWgYmbq7YSINC2QJHa3Xy7NZ_6-lbT_rT33hpY-Y2-oEj5eCJkMoDojaXg-B0VZS7LrV-H-B46o1CQwXdWje6PkqrkGZVz0QfM5uu8Js-1Izqw-eMiP1cRdZr1gR0s2M8jH1unDDTzNTzEKZh0a07JO1vFpTr1GQ==",
  "id": "rs_01df46fe71eb0292016ab42329f71087d0b53b014a57eefe2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.046,\"left_z\":0.045},\"note\":\"The left bowl is now centered between the jaws in the wrist view. I’ll lower the open gripper to about mid-height on the bowl before closing.\"}",
  "call_id": "call_NRlJ0caMAhVeVkuvMPyTK1SS",
  "id": "fc_01df46fe71eb0292016ab4232bc6cc87d08b09f75f0f5faa3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NRlJ0caMAhVeVkuvMPyTK1SS",
  "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]: [-0.2039, 1.4609, 0.7158, 0.0132, -0.1764, -0.1383, 0.9993, -0.0219, 0.8009, 0.5999, -0.3931, -0.0151, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.0458 left_z=0.0895 left_yaw=0.0073 left_pitch=-0.1454 left_roll=0.0212 left_gripper=0.9993 right_x=0.2929 right_y=-0.0002 right_z=0.1735 right_yaw=0.001 right_pitch=-0.0206 right_roll=-0.0023 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -6.9538, 7.3641, 1.8193, 0.0122, 0.188, -0.0171, 0.0068, -1.306, 7.0359, 1.7558, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b1204241f307f356a0d9f7c9fef2d83c00010510747f60384faa9e80423a8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcdb384df453bf0ae3f8583c94fb6c51c9350ade952cdff310db190cc6e11cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d944fa94d688ae42d486ba9f7a452cf18a686b715f52ed9d758134ffc4b7d459",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 8.488 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]: [-0.0196, 0.7956, 0.6041, -0.3817, -0.0227, -0.0261, 0.9994, -0.0219, 0.7933, 0.6018, -0.3824, -0.0154, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2941 right_y=-0.0001 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5521, 10.2222, 1.8144, -0.0269, 0.0757, -0.0757, -0.3214, -1.2923, 10.3726, 1.9951, -0.0952, 0.022, -0.3346]",
      "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]: [-0.2161, 1.4338, 0.7162, -0.0017, -0.2012, -0.1497, 0.9993, -0.0216, 0.8005, 0.5999, -0.3931, -0.0151, -0.0231, 0.9966]\nstate[eef_state]: left_x=0.3903 left_y=-0.0459 left_z=0.0976 left_yaw=0.0218 left_pitch=-0.1292 left_roll=0.0258 left_gripper=0.9993 right_x=0.2929 right_y=-0.0001 right_z=0.1736 right_yaw=0.0011 right_pitch=-0.0202 right_roll=-0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.9128, 7.4872, 1.9023, 0.1294, 0.1099, -0.0122, -0.0752, -1.3197, 7.0085, 1.6777, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0132, -0.1764, -0.1383, 0.9993, -0.0219, 0.8009, 0.5999, -0.3931, -0.0151, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.0458 left_z=0.0895 left_yaw=0.0073 left_pitch=-0.1454 left_roll=0.0212 left_gripper=0.9993 right_x=0.2929 right_y=-0.0002 right_z=0.1735 right_yaw=0.001 right_pitch=-0.0206 right_roll=-0.0023 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -6.9538, 7.3641, 1.8193, 0.0122, 0.188, -0.0171, 0.0068, -1.306, 7.0359, 1.7558, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b1204241f307f356a0d9f7c9fef2d83c00010510747f60384faa9e80423a8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcdb384df453bf0ae3f8583c94fb6c51c9350ade952cdff310db190cc6e11cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d944fa94d688ae42d486ba9f7a452cf18a686b715f52ed9d758134ffc4b7d459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCMwhQBkBDYBZkSQRBHqCSNPQLTXAP05cL4h9Mfne7Eh9MwS_jAa4SOH-OUua1nVAYInz9l1GrebOWrTQpoQLyjuZtOvJ06ZT98388B-lROupYtD9uIHruJFtPzMlvPwmJRk955jH83o0P-BWHQzciC1gd2st32-cSebJ8axgWW62Gscae3VkDjgphVri4kApFB3ujaCYPIIv1gCDLqChTg338FnT-DL0NL_qfT7VEeNHpjZfsCyXKmoM3I3QelgFJADEDaVVfAcu0Lb5p8qKRtd9fL1-vTBG5VAh5e8pb0ZPvU5QEDYP6HXO7tws7O248Utd3asmpoGn2E39Cq_01eidhdtTmLcoCJxpj0hog-Q3A0C6PLAYLRWW9DNv1tYkXhJHAP3pjHWwJnHUmFv0vqAyrYb53N8Hoe_k7to1XAM5jMiLIUTi-GIXJ-u35cEqQloC7Xy9jVwOgKHO9JDRQRivyqY1Zr6flxmw_VeHt7wJN3M6ybkU_8CERo_bLW89wZ262BDB3aFGcc9VUrkrkDXWmK86CkIaELo4ITf-lLwrlrj6_CODwguukTQVPs2bbZQWRbZXf3a1xnHILDTRsOtsY9Vp5pX7I3cU-OiXySe7XmMAEDzKN2M6vXxPQzPx2fMTIEATLrrLcCAgy79yigrbGOzT2eqnIGxIXmhygQ0gUSJs68KtIOsTj71PmJBVfOGF4v8IP87rbrVtHIzd4LdhzBuazqvzI6i_puXrM-ujGwnI8EbcjO1JQ_fDfCOTxNEU_OE5-81gzW8plfCX0-oX41Q-wpbbvT3Ra9kbPdOT76vu3PawJ6SnzKfKgNfLzDvqpUzu9Xk3V2x9KwS3zjh-ClLF-gWrpB_3-xVhSezXyTUQRYzrx_fSH3BGTHXby17atnWTMYSxEA-t_z6b08j_evX7SDR8DhSedsr2cJ_BDafXe4cWrWAta8lx_UF2wWwuDLZiXwoUmNo3nMxYz5aUnLJuLAP3UOhqnZvR3OCMAAKRax1t7v3nu2hjlCuiDtnB3k-G0VtOZFGU_wtHQoXcv3ldSU_rB_d2NVO1E4DbygLv2STMhbej5AUQdiKzgYJc5E0omw8Cq-8dis26AgVem0H5RqkG6YzNUB_5SKjTfs4YxF5zu0lg_pW8J6NL2etsTRSEGdwnw9Cvf4tzg_1hwRmLRFL_nVBHdmM6pykdSFw5LFsbAuguqayD4BrXKa8JeE3QsgJfUiPUvDaz99uVdFwkdioYvfWOcGQ98R1sBLX237o9NeupIv_us43RFbBFrPYY9K0mdY1FtlUmo2xXJkauO37FfRbSi_X1Mygdxp9p27mEV3_fDu6tRBUXd_lMkXZs4ixk5upxviSWcDkI1-ihjahIqfFXJsSA5Qltkv98rdkaLPCUb9mVlV3RoB3hFI8MwkuF_vuTwq5px7ayr1Hf8m_Jdf4XX0-EpnbZ690qhXhnZJ8IiIUNv2gcYHLYGxtEAIgEAVKdFDnmSEyeEj9gX2SWkEczC4VY_D1ivHNQmGQ1qpThWuqYTx6P0FHBnJxr4w0pTpjwaDEq6Aut1PxXU7RwsuwT50jKecn-sFZUErWChlNo9oqqZrsPNqrMJ-f2dCkXH8M8o7qA8vtNYK4mpNegyPSyyzJXPrek6WmrSkA-SPGYbpXxUjAOlIbEkZNEDV3RRdXKNxEWquj9CWt-B2vHDzqTudQBtibqGYFolVX6_xuoCgTkrFIrxBFKmzzC19wg1K9Rispj0-3ELiHwV-gOe5uKVWdclrysalmj4SRZn-0MZsDY6BTpiLppK42BOt-y_agfVK6aUk_ITDapYjNtChPdRuQlBhS9A1eQfzWLH54VUHLq4awcqoeskwbIqBlTmjokmXo95IJwGlEq-vP5Affi1G49mbYg1zMltv78h8KOCVbLLMQprLpaXwD6Thl3v_Ptc4XjRhyzP4IWxz6_a_vHVlIbP9HwPPgnEt_zkaLkjq5B6LnwugyS1m9rKAI5lmcT8--Yk3uyfDT8did64T7TOugQGaXL-T8tcM1g8-c8HLDtALaOuJrTRtklqwsW3izuShzTgLTcQ==",
  "id": "rs_01df46fe71eb0292016ab4232df83087d0bb1cc9cb8ded6bde",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped descending near the bowl’s rim, so I won’t force it lower. I’ll close gently at this height and check whether the jaws catch the bowl.\"}",
  "call_id": "call_K1JkRjRhhWhHpoA7oQruUOIS",
  "id": "fc_01df46fe71eb0292016ab4232f7e8487d0b8458cf001923ec2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1JkRjRhhWhHpoA7oQruUOIS",
  "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]: [-0.2039, 1.4609, 0.7158, 0.0116, -0.1764, -0.139, 0.0095, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0457 left_z=0.0892 left_yaw=0.0078 left_pitch=-0.1468 left_roll=0.0209 left_gripper=0.0095 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -5.9829, 6.2701, 1.6142, -0.0806, 0.0073, 0.6471, -0.0752, -1.5385, 7.2274, 1.7363, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04958da705f5b3914ae09f497be1de6ea0e90e05dc330456996357e5e5ac6654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5841a887cd009ab471088a6f7a31cfc17fa9ba8935520b9d3072f9bc4596e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f74268b657cb5a83195394565d4a334f59587806277a60c5fb6bbdbd731757",
      "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 · 2.471 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2905, 1.309, 0.7097, -0.0895, -0.231, -0.1726, 0.9993, -0.0216, 0.7975, 0.5999, -0.3931, -0.0151, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3717 left_y=-0.0652 left_z=0.1247 left_yaw=-0.0162 left_pitch=-0.0944 left_roll=0.0189 left_gripper=0.9993 right_x=0.2927 right_y=-0.0001 right_z=0.1744 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -5.6274, 9.0735, 1.7705, -0.1783, 0.0464, -0.0171, -0.0752, -1.4701, 7.1726, 1.8193, -0.0757, -0.0317, -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]: [-0.2039, 1.4609, 0.7158, 0.0132, -0.1764, -0.1383, 0.9993, -0.0219, 0.8009, 0.5999, -0.3931, -0.0151, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.0458 left_z=0.0895 left_yaw=0.0073 left_pitch=-0.1454 left_roll=0.0212 left_gripper=0.9993 right_x=0.2929 right_y=-0.0002 right_z=0.1735 right_yaw=0.001 right_pitch=-0.0206 right_roll=-0.0023 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -6.9538, 7.3641, 1.8193, 0.0122, 0.188, -0.0171, 0.0068, -1.306, 7.0359, 1.7558, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0116, -0.1764, -0.139, 0.0095, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0457 left_z=0.0892 left_yaw=0.0078 left_pitch=-0.1468 left_roll=0.0209 left_gripper=0.0095 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -5.9829, 6.2701, 1.6142, -0.0806, 0.0073, 0.6471, -0.0752, -1.5385, 7.2274, 1.7363, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04958da705f5b3914ae09f497be1de6ea0e90e05dc330456996357e5e5ac6654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5841a887cd009ab471088a6f7a31cfc17fa9ba8935520b9d3072f9bc4596e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f74268b657cb5a83195394565d4a334f59587806277a60c5fb6bbdbd731757",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCM5dy59wu372z4CwnfZjR8y6p9Dr2o473hnxuLRlzgwWWrOtkkQWYtw1bmU-_jXDMyJcsPG8spOdewK-p9tuKBBsYtvAwVx1REhEpUYYG5d5HQNoSgn68-9ijDeZfRMypmycUwYkaq87t4CNeufKlfBFOPywqK7kaO-kkdZoOX6w3v0Vqk3SuWfmeoxJ961-E9fBZHay1vxc0ADTJJyCjFIgzR249PFKZQ0pHvrjElrmAWC7XRFAO2hZkDRi19poUz6nGJEkZ4Mp2pZxWJGIvtdgk0eglmyCIfNTDw3C5_w60ddXUdZNO97YB9CxJTReIKxIjYqfTKWfjr9oTNdL17-9A-i8eYgHXqIjmWVpLMhissL1h9LBIZ52Rout5JV1iWWSZYuNejL5jXVkznj5OEw_jAT6vOL2oxKX0mrBWkkuzgcjzADJxVA4XyRHGXodjiCXNzgMEZbvDtRUwKDp4vSAth4nhVYg70LwMxd0cXwTj87t5uNWf9Zo4KIxiwNIQjHHnxc3GxTdbu8ku-APcejWN34nSGh8JNMCYodS6MlCaAKfq7BNwMNjRUwiFm0-I0oHbJnXR2ofwcecNY3hGdJCDi4HfzcNZn46SwKgWulkuqXhYGC6lcgThBZpa3-vkL2yDFWUF1FrL6MgCdbmaV3Qo1MYr_7giW2fD4v-5yJ11frvBcmRb83HrYMI51QQ_Hv4NXnyX1Tux3Pb4Pn3hk4ixOIA9gigqEUl2NK9NMKoU8b2ZX9R1kgeJgyCRYFmwLZKqiPPoI3v8iZpnCsCcB_spSaEUEbhE4QNv4wVIIQRqywswDa5yucrApzVUvgj8UuVZmsV7PE7qcWtN1q3j8UJ9POhEFmrW37McpZvtp_OBSoCFQ_rpVrzJEMl49VtRXmYOHqtBVuwf9R_wCxIDdB0LrLcQ1Z5w1Q-RW7JQKjQ383Ec3v8Uk6DOgwe8t2vZTX5RGFEuO5xtWRDxnKnYiKjBmBGBRimD-IECn467rcCvy6HBIj0X2ozz3s3zqibuUaAuqPGitp0qJW_CNttsnz2exBBfSVs25TwN26LA-1TmrLQcQN6DDMxV-2vumOPprlccxfZbdXZ7XiiCd8-KKB3fJ1t7QNag-UGo8piJ23FuGBHjpK6FUxWh6LJHmunrNqf6Gu8w8iE97VRIsmQ499jtyH1XEC4f5a_khm23e7kVLKnuQrbJSmGgrtgeAwLABI2m7qMg6Dj2f4RkrM0vEwWLP_y1BKU7MJgFsMklusvRMUvvie1EYH_TOchOyWa6jmU-Duxcgjo6628u8xABA29FFswdpAQ2snyU-q_PRbUNMfIVB91iKfTZScpKBfV8SvZlG04DtB46LRJfLrSUazQGEawMywv01y4RpE4BaN9qtfbCgy3yfgP-X8JhrERavP0V83dKrIKRls6FxP3MIHjHuq-ZkAJ7fTPtPSRrdPuAbXOfsBPwECakrnGVPgkJIGAXTq2yEwz7avVIPb1PnH_cwIdR1cPAQEMbF28OIf2B8xEKyJSxgGuAZ7pYMo8EhtWTC139YQWgGqwYmT0fPHU8kJn40cYy3FkC1NHHbwPa2pT_EUYczkZNIE6H2WK_evklEVgKPscappaHXk5Ll2ij5CpMp7hw9y5ownb6P8LRCXSNtQoETXytsuTGMSbHcbDUyLJcCk6PJKrRDLlJVknPUflXr7ccporRAhLISRS9IfwaqWJipTmdZJ8EtzTy0vicVgImjU46DyqVSzYNCSeLdwKdm52dLp0F0jpkAtXrLowQ4r2_-Tds4C10NfOnxjufCZWiY5tGeNOHhQb4F4y7sZQhNmjoLXBOI7ScnVWUZ6KOwihcV6cpRhC3THYDoqXFKzFQuKVDZePLtHkhZVCAHMsJjrS8H3ZU3vyBPJjU8T1x-HMznwg1XGcBLF6_EQIHrbt4NXq6uX19ap4S3lsZ6NT76TlGHqF-mpM3paLVcUafQjSoacgohl1t8bEUGIxhzyZOy_o9pWxijeiO-WSYzygnoVZEkGSMTxBu5Dj-BV08h1C9Wp9vzkGr1UdbWz3Bcxtc4AuHV7zPvX4XXtn4Nf5u94iwzN8LS-9G6boF9_zvCgzOzcNavI5Nlayrwg-OtUn_HO8_zWAMS-uaNWkrc9outr8afcf82ayHBzZPCO9Y8gG_aXaVG2kzbfL1nnyR_lvdJ5GIqOmTZxhPNcpa6tIYG8e4XOfjvIJaN1Z2seVZjsm7clO2A8HQqqkWQybpPIugDsWa2Xbg9Z8xWCTpJwfFwPXslS98SAgP66E4a_pwXvu2g8IilQhalFdyqLZH5WF0t6cFupIKVlCA4aQOND0ofgcTOKV2Twu2j4Cc_ncc_a80wofYFK_iQVMXpl7eNWulNPPFDNYNBe2bRYQFv_E6WfvyD83b59Q-ErrOXGDyJStOEgLquHNHxigu81jX387_iMo4-l37FUCtxuP7iE9fQ0JZuGTlp2TzlM9QTvwmpV78Lngg6fWxnJ1aU2Z7AyOA1iW8gyhGNHHXD7nrORGorBsrfHDW0SEUMzExMsRpcM4IyTW2sWviRU-4a5iWXWuPjIWYJXcBGzhKDSP6-GNiCSnyCP4ZR9Dl5PbkaRaz2yGV1SM4Ifw13DQUbeFJF9-9hY4XlWRCwLAG6hvpmCXuZZrmUMXTWDkTObzK5afg7n9D2XQhO9iXoTDvS2RgklDBeiasmSALKLUj1EUe1rUuXlvtHIstq-WSOFlgJklzK1HLVyb5HPbHgk9HQI5c5zaNc20sbZxT5VLjo1ODrf8sUkKgijl7n_ppwY2yvM8XyHBNbCDdscMIAK2mOTq_MCw9NN6d4aT9NS0IM5CzfJh1i0noipMCiu5MMA8pgiZi2HInQWLkzLAgOW1M6dKZgdtoie4J5ctwftOi90LiSnYn-YgQWg4KSx9hnerrWh_zkKkw1_wj8CBNZM4WFOKQVCBZ2R9CqUS__SoEwFqptUzebhcHMcAkGHtqNXWuMx5UQefUGFuBWXvqnr__ecffpaJux3NrQ9W4fln7nWZjBIWLJetIyJI7AOhBulTgEFpJEPDnXU3u3tcHWDTclGJZmazUfqMgLh79QjPqkevxzFtX-CmFKo_nX7WBtVEZE64snk_6rkd5nrNBNFQh1Gpu91_HP5OLSOi50IYI-nqpVrENUkMUWTb-nIALOns7-Oll2xKbOViK6ziLI6gjzpYcapTY3gSkM8sI5i9ZQwuwubgi4HBN5_EdJY4ya6GfigaHcsffSzjl_n_j0yoAJZSYb10pToFoz4m5pQeOiUFZjT0kggpP9dGzlUyGNQGSj6Km2_SVZ3Z0NTEbC2TBOT88zkAHyJQPvZ0G38Gb3H6sZK9Kv7seOfvPHr79g-SZ-NFyZsAPpIfRopR8M--4sp2IOL_tNkC1khn82zAWGQf3O6s3Q-XIISv6OeK10SGEAQTp-1UuOSKSbxvJk6JSS6hrRv1qYArZ7qwxu5ac3O2rsorj3TSLkw1wWZ2FX40jsx-XvTD0fH-ttZNJLZ-JEcLhbWOQzU_gMneqXx4tOopTLtLIN5qVryLMKoUezJCnlFYDZiwCaOi4jFQp6grrRzcwTWxr5aBdeJMnXu-aRNlrJhNPQcZdtw8l5I5zJE48N6BFK6jtna85euIUlvsqkAsicRKkTx4-9NyI-QKCUf2_8ZrrXhGmFt80yehScXNNK6axsvXCeb3Daa46nPB_J5g73Z-FOaOGsgnmjVIGl-Z_RU537Xb7EiLNCOutjIBGDzRRjHFhrAhv8ApeYrUs0B_efrnBzQ1hJ9Bk6JLRTfy2qqAfU4HAxoVVuemTsoZHduxfKlL_I6BA1XWBn6a4t-mIahg_c4SmpqI59mPRlpwpgEIjShtwBuuzFT7pB3KlGLBRfk5B6LWgGFAT94NNaLmyR6S6pZ_MBV9_tm5_In-klEok8miWq9uBHAN22NO8ygbLaC7AONFMXeYYhNpsequnVwS_0oUkLxbqhPakzDMyOMszIjSsGeP-F24H80ZGCzDmkBqwvUjIXYdt9fsw45rban-PqILdSLJioUIs8e_2F1HL2OWO7nwgNQYkdKbGp_2bdQDXNRkzQ7d1Eu8Kmgmoz6x3koHreFzGU480pxaq3c3IeP8ptC94o9DwFhdwQ=",
  "id": "rs_01df46fe71eb0292016ab423322f5487d09fcdee16d6f1e1e0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCM5pnwqH8FcVwpZxAes5zrLMzgh4SaKLstOjvUaQBM2W-zZHkHlLD-sIQfDDLhev6yXJ44dp-IIem3S9Jh-c9I33lZ8bS9d4kNO2yz0_DNVn0nN24fp6lsai_QJrmzPsknVk2o7dIgEubCaJ4AEZkSVnfW2vfDBumtiBNYjkcSQjVenc5pHbjeVuVg8gi2kkEH7Rs5AWeNAq_SdYJLS-n1XuKXklxRkAqmXHctsARbE1EG4qrsZ80JzFNl_zczKzprPCvrcLITjtMB-qZ--FDXGQ6rPgBEdbbUBHsyicd7ilNCS1047NJH7PD5mt1XhY1x03HmIQPZAEV_DX6tsI63CYTNz_35-OYnilBBDaKcN121kV-NT2OteIHoM8Z9WsJkR9hLGjYpinQtbltQZo9-oP-FrPb9OACgUTOE_DkFj2CGSs-o6iXzsYrhBeAKGiLViAYF5Vv5U0Ii9YZ53138ptcznkqbOdy2MFkWj-ZEmMFNpMbR4wVOnDkkFvrJwWC2O9BdYCnSbvOtlnxo7v7gflWdH9Fb0YOVC9ngAW3GOyAAnNljpN1_GpBFmV5lCXGaDnt9oLcHbFoG2aNo23K5Hf9BTEWdQot0QJT53Lp0V5SqorVw_8_UMfvsIo7drME4mt_KE7QcpluPGv1CQhCN1Pv99L1BTci4Ay9BWkLyoJzkxFctGC6eP8Bn8M6PdZY1miLt9vTafsQCDlsKS7JytJMcMrsQvBYKpxipG00VoGY_lyB7C2Zt_rx5ldXCPL8p8nOWeqd-Rn-BkyuNeM447tLYpiUUq6M_rJbKz47h57pAT3wY5_Ng1kAJHH4I9MgiSkQtMwycmWVrfocQ7h56skxNqBgepX93zBwsk4Fm_pWhMKO6UpU_bYJAAPI172eJ534LHNG8KHfNDgqmQQS2BIPFok1jY1Ud-hLeJl1CvDsKlgLLqQaG8BOxJXsCQ0t9hzfsirmYpEWOfKO6tF4DyQj4kIIr4PuES7WMLnFx9qOZRJmQh1Wazv_LSXUH1WAq7uyD0tp4dakwx-t4n0cgnfPomgSelZL528qHuN2MoxdKRIfKxg8o6QLG3m-ip0RZ3SdnQKP4bRw06Xoq0G87WuFZ9noMG0EEnrV82O17YUNUxrT-yr0yKTJgO-eBuVzoZGPaOTW8R6XzR2Hb8-1eHC2xp65dxdSlTbVkT2UzTm-sOhKuPHQ9TN4RMnJFH55dlU4dH6p5Q8dJIZHo0YmYr2TKMZHyhjC_fjwOs03wKVub02bHohZM3y9pgGmntuLHzw7a6Fm7psWzFy8W-DGAxq0I5qFCa_qIuPkQtsmTqbjafu-dGwkCuw_3nJt80sTQBnzJ7N5rWsdLjqU2iuRoca2FMUXab4i1wyTIX_UjLAFZXRqVxc2uKCH_648XsGdEIXee6Wc3ZylZF1t962AGw2BzWmoJo4N-TH785C2Ys8wa87pajnIvPgKMMOV1xsP7o1WDzK53HZIhSlYpkrmPR3WDY0xngZajEVsusREQymIcEDkG02HYrY9aAPJ7KmTiemCAmFPuxXB2JuHSvKhTUGhP-t6q5ZySJ2hcSIlCwuYLuJGWYNbHh1kA8o8aK28Jq6FzXNaozekB_NZvPhow9vcf9HYYY7vnVqFpRvdeV5JO8XQWCNAYnDJ6eqB2BWzf0uFU-Caosk5Iw-8Bg-gm_Vz8j3z0qzHlE9J3251IoiVD1EHNztGP9YnkC-nfS937UEhWIPec8_Kr5TuQNJ8FBj8P7YIxcP2VAoOCXrgiwOaVCb7qEbivsLDxDFwqqhChCRVBm0ASJZSxWvXAymwW68d5uW_ZjQvoh4ucUdk_A5_MI4dW3pKcBVEeN2DFRmzhdBLL7Wb5OU9KmGxa_HgboG-Bfb4g1gsf22sgdqlUveNevPqOyCulXPh40s0psPZVJJcxnJUWO2_AhmUywBdVN_eeAdmeqeMZJx7IFJ-Tr6CNItDQRPvPjLQqfkNXHRwhz89QZQCTEE1qO-j36EfzQsG76AQJt9Bcx37y3uKSj4LGfGvQekv8HWvfC34zCoZfZ9LnxZZIJnzxR4YGxb8ZXQUT7xuuhKt-fOPdYLh3QcO8pplzydXLRuYX5mNW4OFiCE-NBvaDSB5FVGDDegICsielL_SLJHYH399w-_UBsCa6_uWfzWLMDtNt_oQCxIF4USqmnm4fYx_YqyEC-mMVfQ1wazZl3EI34_MdQciZamrgziGpqvoxk9u9da2ybmpr_pbH5MTgAClTTofbEKVEhzSbz1dH5YwNnHS-_fbfkVUFfLQNGU9F713URloIlySudeuCZs30EXG9XuWP8yIRLDR1_vq8CUWN-KgkvwCWhEZIYWId23942pSDFmcRBvIy3ChzVOhIm7yBAR9VnKZN4FGrQocx51kU2F7vLybZfo9k=",
  "id": "rs_01df46fe71eb0292016ab42336a9f087d0bc1dc663bc3022da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.16,\"left_pitch\":0.28},\"note\":\"The gripper closed almost fully, so it missed the bowl. I’ll reopen and lift clear, then tilt the tool forward to improve its approach to the bowl’s outer rim.\"}",
  "call_id": "call_lHhZLfVzP3PAfHpBnjTT5wdQ",
  "id": "fc_01df46fe71eb0292016ab42338e68887d08604bdb9198d607b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lHhZLfVzP3PAfHpBnjTT5wdQ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.3151, 0.5007, 0.4313, -0.2413, -0.0902, 0.9959, -0.0219, 0.8043, 0.5999, -0.3927, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3893 left_y=-0.0459 left_z=0.1403 left_yaw=0.0075 left_pitch=0.2012 left_roll=0.0178 left_gripper=0.9959 right_x=0.2932 right_y=-0.0002 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0237 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -6.065, 6.1744, 2.2198, -0.1978, 0.1978, -0.1636, -0.1573, -1.1556, 7.0359, 1.7851, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043e03ea1db348d58f9d5de386606a3f9a3647ea668e006635987a21e641925a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81386501264fe53361139ad611a2a8b93b54a78c819402901b3fb16c47d5f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a021a3ce7f86d202ec4251b519dc067a768f0abd23127960b70b550843ad2fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.832 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 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]: [-0.2161, 1.4338, 0.7162, -0.0017, -0.2012, -0.1497, 0.9993, -0.0216, 0.8005, 0.5999, -0.3931, -0.0151, -0.0231, 0.9966]\nstate[eef_state]: left_x=0.3903 left_y=-0.0459 left_z=0.0976 left_yaw=0.0218 left_pitch=-0.1292 left_roll=0.0258 left_gripper=0.9993 right_x=0.2929 right_y=-0.0001 right_z=0.1736 right_yaw=0.0011 right_pitch=-0.0202 right_roll=-0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.9128, 7.4872, 1.9023, 0.1294, 0.1099, -0.0122, -0.0752, -1.3197, 7.0085, 1.6777, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0116, -0.1764, -0.139, 0.0095, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0457 left_z=0.0892 left_yaw=0.0078 left_pitch=-0.1468 left_roll=0.0209 left_gripper=0.0095 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -5.9829, 6.2701, 1.6142, -0.0806, 0.0073, 0.6471, -0.0752, -1.5385, 7.2274, 1.7363, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.3151, 0.5007, 0.4313, -0.2413, -0.0902, 0.9959, -0.0219, 0.8043, 0.5999, -0.3927, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3893 left_y=-0.0459 left_z=0.1403 left_yaw=0.0075 left_pitch=0.2012 left_roll=0.0178 left_gripper=0.9959 right_x=0.2932 right_y=-0.0002 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0237 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -6.065, 6.1744, 2.2198, -0.1978, 0.1978, -0.1636, -0.1573, -1.1556, 7.0359, 1.7851, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043e03ea1db348d58f9d5de386606a3f9a3647ea668e006635987a21e641925a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81386501264fe53361139ad611a2a8b93b54a78c819402901b3fb16c47d5f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a021a3ce7f86d202ec4251b519dc067a768f0abd23127960b70b550843ad2fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCM9JfC0tUEVo4aCwThf8u88URKuQc9dFo8VwaycdCHGb7PHMdN0Z5PJKTpAriS45bFaZNcox_1gbwO2BzIl3ZRJeaG5A4SFBeorLKoQlILhIrKS9uwFpBqv5JyY6rFT9su43QDp8kEZBSYo1YsnLRDaCijftUS_-B5Ke_Rr62Bahg3FLXjeDbF6tBKmUsWRHtS-cCNFpUu6eUyzGQX08ry0v_xxqwyyLGsh1FK5RHJWEqgCyKw5gT9u5IR2ph6Rd6RBkrtaCb9urS2xKy2JFXoNMpplmQfZKXF6fE1rrewg-XCBt_nmv0-OUOD2ozpCl78cKgHpk2dOb94CwfqXe8sKymgHc0lNHGPptMkzyPAy4qQdAnHjy2-qpn7E1G7XExJSSMBiSPFJXiG0-oHa9fHRYdsFR9PAhBn1hmR5LKJcw2ukuR8Mu_T3d1VqSd5gJVTClOukEMGZGa1EY64LVAMYhMRxXdWC5rKPxhzKnF4WDCzrKo62UMhaf0d2-nnsPbwPMD2IgWKMn08qOsyZDttwEyipKl-Z0HXU86I_pGNAtD3a1XIjrcE7fyTVLt486SpPOIApAwBLv5hk2mPSKb6jb-6a7SawWRsqy7ln5WEvbciCz1dv50HdcyyRcXcZ5puk55_Fa11y6q1aMq00p6yzsQOMmoDWZ6h0rByL3rVUla5DmKrtr7PpNfdvXFuvHArBKKy-L2shhGmc4zq-wuWO3JA70h4RbL7tAjM5zuJAEiffK4mG6owu9qSaXW56-b9NwzbduuV3oG45ZQmpTmb3WT_8JOhLCrufLg-cYvOtuJG5i5WqjkKXPEbB45eYBBfK-fzwqN8LFiKAFJOXlXOYsg0vL2Yr5gYyjx_3gpxehDKbp2mYi0ISYvclNucrTnJg0-GfXJvVYT4xunBBX2qbat5qnGjncFLNi9_CcmWblVgvLQ2RqPG38CP_Vwza6J1Q0HviMGWC3JIVyscLGsVjD2XZhVENtkHn6zCrCs54f4cKrCUpnegJJDv9cqSBrFniuWeYmF7S7Pg-ZVgiX2oDstsmbXjLWZTCOr3075JC29rVg2_JobqWdpRhP3vFK3NAQP6hXE6jHv-MaPD9lHaUhN5FfklK-bO1UGASHg2Eg8hFIFsFhyURcO68SLZCNc8rrgWW_Yg0W0E1r5U3goaXDn8O9k3EPf1_200560DidkU9z3GIy8E0E-mryoW9-AmhHGaFGtBGmdu8mfhm2-jwVFeF-Lv9nVAY31Ek5gRHYDlqHTtAe-XKEJTx4MVpvA8DDTxMQLI4-fzfz2-NLmrW8GaqG6pLFrRAFmhBx7whpbd-F-gfFDPZpIILfrrhZhmCPlBv7C-dF7lBVi144RTCDP2y8egWlgen2apwldEYMGAC6AQ2qXgCHReZt5YR3MJX4-3QK_3TovDUoaEo6AcTbXmG7xaGHEfpKjbhTWwBpYmsLp77voJAYF2bZUZkLYaOWVYZ7943GSnI7-U2UqDEDhZzhgfl5GLtIpds_ySOBvslQV4l5SOwOjVBdkguiVuglH1yJVvuGLuG-bj_8evNyPkI3Xxs___y0kfWf82-Xh0=",
  "id": "rs_01df46fe71eb0292016ab4233bfdac87d0b05464dfb0f58297",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.045,\"left_pitch\":0.28},\"note\":\"The bowl remains centered in the open jaws after the lift and tilt. I’ll try a straight descent with the forward-tilted tool to reach the bowl’s outside rather than closing above it.\"}",
  "call_id": "call_EFKVLVpcpS46qcBme8i0qzm7",
  "id": "fc_01df46fe71eb0292016ab4233ccaa887d080cdaa89ce92f7bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EFKVLVpcpS46qcBme8i0qzm7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8442, 0.3416, 1.1812, -0.2573, -0.0853, 0.9971, -0.0219, 0.8093, 0.5995, -0.395, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.397 left_y=-0.0455 left_z=0.05 left_yaw=0.0206 left_pitch=0.2624 left_roll=0.0125 left_gripper=0.9971 right_x=0.2931 right_y=-0.0002 right_z=0.1706 right_yaw=0.0028 right_pitch=-0.0313 right_roll=-0.0049 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -4.8615, 2.1538, 0.6862, 0.1783, 0.0611, 0.1099, -0.3077, -1.6205, 7.0769, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2754b612e193784cdd9db6dbda3c8407eec2aa9e1b816845d4f068d0cfb4e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36e5171182e3f1f5aeb55acfa2ed990a65af4ef9ca287f05865c8a96b28609b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64fae83c3ffae8990f9afa10c5c7bbd8256b8ac5bae5984d903d11274d0b9e77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.577 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]: [-0.2039, 1.4609, 0.7158, 0.0132, -0.1764, -0.1383, 0.9993, -0.0219, 0.8009, 0.5999, -0.3931, -0.0151, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.0458 left_z=0.0895 left_yaw=0.0073 left_pitch=-0.1454 left_roll=0.0212 left_gripper=0.9993 right_x=0.2929 right_y=-0.0002 right_z=0.1735 right_yaw=0.001 right_pitch=-0.0206 right_roll=-0.0023 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -6.9538, 7.3641, 1.8193, 0.0122, 0.188, -0.0171, 0.0068, -1.306, 7.0359, 1.7558, -0.0269, -0.0659, -0.0122]",
      "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]: [-0.2344, 1.3151, 0.5007, 0.4313, -0.2413, -0.0902, 0.9959, -0.0219, 0.8043, 0.5999, -0.3927, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3893 left_y=-0.0459 left_z=0.1403 left_yaw=0.0075 left_pitch=0.2012 left_roll=0.0178 left_gripper=0.9959 right_x=0.2932 right_y=-0.0002 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0237 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -6.065, 6.1744, 2.2198, -0.1978, 0.1978, -0.1636, -0.1573, -1.1556, 7.0359, 1.7851, -0.0562, -0.0806, -0.0122]",
      "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]: [-0.2359, 1.8442, 0.3416, 1.1812, -0.2573, -0.0853, 0.9971, -0.0219, 0.8093, 0.5995, -0.395, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.397 left_y=-0.0455 left_z=0.05 left_yaw=0.0206 left_pitch=0.2624 left_roll=0.0125 left_gripper=0.9971 right_x=0.2931 right_y=-0.0002 right_z=0.1706 right_yaw=0.0028 right_pitch=-0.0313 right_roll=-0.0049 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -4.8615, 2.1538, 0.6862, 0.1783, 0.0611, 0.1099, -0.3077, -1.6205, 7.0769, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2754b612e193784cdd9db6dbda3c8407eec2aa9e1b816845d4f068d0cfb4e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36e5171182e3f1f5aeb55acfa2ed990a65af4ef9ca287f05865c8a96b28609b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64fae83c3ffae8990f9afa10c5c7bbd8256b8ac5bae5984d903d11274d0b9e77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNBL3qIGUBts8UsvmnFu2HTQHRLqJ0G5h26YIvey9HQEhRP477tCujWjfSCmNnHKPoUkkfGv-VUyI52xDlkMQlvCrTz5933yO_wZJ4f2MX6G24UmbMoX5_VCgkqB9UTrA7veJfQsXl9XC_cVYaUf1VXxuRJKynWWkpUPEC9h6aj6Pu_WPHQxK7YETLCKANIgXaZ07eiucTIsjIktMwE8A00HBF0bv9puHJ5ZOja5xFPE36aH6VBIcpgLFcjsQK0qwW1xv6S2YP2bGrCf5jaRYH-v55ODlbsuw0W2K-yJpodqyqzylqqW4v-jtuX8uhclSmGhoVB7H7lZR6Mz6VmBl2HwJDfeHZL-DHssDnh8iVlOI5PYPsXvDIAq2fvAgWUYrONz9oLQwWIMU2RcjoMxpfMQUfpHhdsB-fU6BAqTbjqqfVIi_lZpZZVQsBOEGTTR8Z4zZZGfAcikA19aftlFoLt6NAZZrU8dQo4hd2sUpXEjCGCZMtiQkXopxciSjFZT3SJsdrDC8AeoXXZaIWpdFctGl2khxMfMDWKqXFEzHOBsAPupb4ItyllPVfZldBzOQf5cNZKPOxCbClLaIOLJN9gKeoR8fYdau48TJaW0HmEhPiRQkgvPfEfF2X84aMSSXTp7sYxQfVFaww3K9qzpby31ZG5YTYF0Bcba5QOOZHQbRPT2VeASy2P1fQBL9hRKwIaUJ4C0eiclQev6iJ94Sn3Ooz7OeJ40VvAB48sN7rYKQsdzvUvCu658Ln64vDIxVJVv7V9lx4EiQyBzvoyHl-U8xdQyQQpBrjb17urQY7oR1c_3s-TfsGRPbtiuIfW2TpY4txkIhNEzArt0RW8KQUSIITFupsCILUlOf_XezUaLRBDnQoLgN77xmf-i4Xvxuo6ietdf6POrk4_rkVzIFjX2n9Xpm4IfT6Tzz8wPbGQu2aE5i08oVE2VuvtI8b8VsBbF9ejmmBlNipGs4NGIF5L6mRcF3g9ux5pjqAecwALzWT6Uz0DCH8N9FdUA6tapL8EE-t29AHsk0ConRWL7CqL5EEwsBnJWzTp8yV4QQULCzuBQh6ly8iOMK_0IYj1uiyW-Xbk2qnXbeapjOk8D6XFKHM49k5MQqrZKLJKFa0vDLz0qI_VcweYAJVfJfLaHwlKOjN4PZukacS8RgJyrwR95KR8bHS8E2trEKbiMFWug2JUqvRKCR7YPEnXFfTwUAzBfY5zsVSagXLefJqX7VsoFLdx_EvYfAt428r5tKQ6mJwx-SJetH_cJgESdIk5L7pcemn0ymRTqqbhvHBjjJEm1f1sCaCPsN4S0hJkj57V_jPpv1cJRWo8cQlhGudgIEYtuXcyEtG4-5OAXwAFIZlcA2k-B3l_TZwBbCUvF4SwZzTkMfWv1Yi2AeqTm7ZnjyvMtb8DBW7svj7qIIr5ckIbrU7_AQ5KNPQIEPUwRIhMikpnzZGMtdpA7ZOvR_dRQFz0EeJJ4eBLUpTLrFM9uy3eY74-prRpHNlauIuMgO6eprE0VrOwqXmH0iuK-pnbj2-hzWPpR_NXb2TiFCJF3N6ffBqYlyZPfty6WL1jdg7kOJI0K7kkt4bXa5X1g2kSejGzRqiDRRHu8v9VgdDf2VrHphezTvqwuKp7wsMi02FFzzIylGaPXpt0NKNsFZeU29EgEGUI1cagI1fwvsAIS_UCt73r7yhmx5xgSECBAJHjmvevlVAtjB5TCpk2cEVR1rM5WLqL31QV9YYI3ZxhPN7Tyj-bBIBHmNVRd5yLtD2BjHEUxFVJ0Pat7GdjsmvIv51YblrCvkBOkRcp0EjgzZ-EO8hgCb8zNUHlYiGWmz1B9LWzifpNomhGPErOt-ApxEvjY20keVSf0C2uzZooPLNyGzwnJzsFFMg44XWi4nt5rwRcGQg3o85R9NiIY4M2l_ZIBEg1Z8VBamfNoQvPTE_OrpIw9bTyn9EiOLscn6CB0cY=",
  "id": "rs_01df46fe71eb0292016ab4233f755087d0b3fac78d936e023a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tilted gripper reached about 5 cm above the table with the bowl centered between the fingers. I’ll close here and use the resulting jaw gap to tell whether it caught the bowl.\"}",
  "call_id": "call_AUYYTLfM7isAgfyedn2ZMitk",
  "id": "fc_01df46fe71eb0292016ab4234112c087d0942e901147d14b76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AUYYTLfM7isAgfyedn2ZMitk",
  "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]: [-0.2359, 1.8584, 0.3347, 1.1893, -0.2623, -0.0788, 0.0087, -0.0216, 0.8101, 0.598, -0.3962, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3946 left_y=-0.0441 left_z=0.0445 left_yaw=0.0204 left_pitch=0.2502 left_roll=0.0238 left_gripper=0.0087 right_x=0.2928 right_y=-0.0001 right_z=0.1695 right_yaw=0.0032 right_pitch=-0.0347 right_roll=-0.0048 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.7197, 3.7812, 1.7607, 0.0024, -0.0757, 0.6374, 0.0342, -1.3607, 7.2957, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec82a16cdc9ec1e65c1ea04c300dcce53ffd41bd3e1c848f1b99baa38eba79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba71b2a41ddbd357bac03c56471b1e908a4751c64cb6263e61e66d31aad07d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebe950f4654a42b192709aefa1465c364c0438ca04b3dbf016bc2ad3b4e3f7c",
      "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 · 3.321 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2039, 1.4609, 0.7158, 0.0116, -0.1764, -0.139, 0.0095, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0457 left_z=0.0892 left_yaw=0.0078 left_pitch=-0.1468 left_roll=0.0209 left_gripper=0.0095 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -5.9829, 6.2701, 1.6142, -0.0806, 0.0073, 0.6471, -0.0752, -1.5385, 7.2274, 1.7363, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8442, 0.3416, 1.1812, -0.2573, -0.0853, 0.9971, -0.0219, 0.8093, 0.5995, -0.395, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.397 left_y=-0.0455 left_z=0.05 left_yaw=0.0206 left_pitch=0.2624 left_roll=0.0125 left_gripper=0.9971 right_x=0.2931 right_y=-0.0002 right_z=0.1706 right_yaw=0.0028 right_pitch=-0.0313 right_roll=-0.0049 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -4.8615, 2.1538, 0.6862, 0.1783, 0.0611, 0.1099, -0.3077, -1.6205, 7.0769, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8584, 0.3347, 1.1893, -0.2623, -0.0788, 0.0087, -0.0216, 0.8101, 0.598, -0.3962, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3946 left_y=-0.0441 left_z=0.0445 left_yaw=0.0204 left_pitch=0.2502 left_roll=0.0238 left_gripper=0.0087 right_x=0.2928 right_y=-0.0001 right_z=0.1695 right_yaw=0.0032 right_pitch=-0.0347 right_roll=-0.0048 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.7197, 3.7812, 1.7607, 0.0024, -0.0757, 0.6374, 0.0342, -1.3607, 7.2957, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec82a16cdc9ec1e65c1ea04c300dcce53ffd41bd3e1c848f1b99baa38eba79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba71b2a41ddbd357bac03c56471b1e908a4751c64cb6263e61e66d31aad07d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebe950f4654a42b192709aefa1465c364c0438ca04b3dbf016bc2ad3b4e3f7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNIMCbU8CvXxIfvLVB1wg1W1d08iulHIHKRNPtUrPPGukDB1Mu6CaEjXPYtxR6BUpERy6bIonEtmXWZ4mGxL2ZMRQVN6BbuWN7IYxHZYcuKkae8o8qPaEo__OVrzltd2O26j1uJnW9O_0_qAlC973B75Kb9dC-V-ROcXtR_qswUFEbHDRSo99DBukb2JHRoSSitKt3x_bo2MUC85tJwzX6J96M7Nj8lpbw6OAgDsSidZ_btRQoui0K7jqfD-IR01DNIGuR7uHrKA2d6VNExzEJI5AKLuVNsbs289LSTtGlhQ6wsuSE5J5DLLR9_f0XdN6FhpoaQjIrFyBYxvNPin42Ym1FSY0z9rzJDwIJs94lmspucHUNvI5GaGrlT13jiZx4u97dOqGMRlk_pSwWGpi_9RnCq1tpffZnVfGvHnRl3jh5X7Z0PbgvfvnXxf-KFAtN8dK0loWtmaNWg7L1LDBFBFzo_7ENNbSrv6Y5aF_g0C1RsF0dqQfpYHpyddUiuRrgM51LT9VU4TxWxFhM9l6H8hbfaDdFarOrsvMY5VKVDFmflalf4U2LmQpIfa7qZd3nhVkksREuy165LXAUb4SxIoCLgOBm1PjtxtrK8KCOWzGWyOfKkoit2Lvzf0ACU8zMWi-hPF1u5poiHUO0SfuPttbwVszsvGMl2PJAP6UrTQG2EDk3S_QHRx5ioEdTVCEKijof_Qw2PZnQX_s8U2pC_7IYnKhiJv1QgY7kYS8U3h8TMoDPWmay2lgvmGpMIaLfo7wLNQQxL4wwdrM91Ldg9b_oOxvjZaElONAchY70ZtACHQdqUZlcnNGhqNa11Yz00r05uUNyP_TcdloSroQHr07tL6jHMB-2lQR139wFoIwmhPfaFPPfhTVzJ0FUXDVswzKx9nHNqG6g5-nnTyQ71d_fjZTsrsX6bS7aXFYZ6mPUUhzL2C_QutL-vEE0DciEZ_5wVowZjz-vuwCJFNpvXmzHb456UDpQRO_F0A__EVwqrQKeLDg38yDN8xeZ5AMq3Acpt-o9Rpjq215biolsoBiJSD5dtEC1xA3BSBzEwB-QXrAEGwPDATeM1MnUsoKiE2_ILsSBNmSp59vIuSQSvo7h55yRXiH0RR0bX4XwXzkjlMC8PbCSZct1YrUCIN_I7w6z-NCLkMO6Z5P5UZzaAP55kH2DBPIoHqY4oAd9adtwHtIdVLuPACTnYNQW-LPh_jfZwdgxL_hjNiMWioLH9gffH1Pp1Dgyxnph3ZwLEg8RxHrwbeYIZfz8Bxd7xY0QO8b8GfSlfj6l7uxAJvwkvBeRlg7KQLqgGGjx_odC8xFfHtcmYLrtUv3kgVjgOkSPi00HxH3b4oiUWK7OxYyRSekWvRGiEsB8xvj1XEMimrDSqRasMGuH5LYYNwx4yxqfc6xI_6C7UowAeEz9I22uD-7LBvr0h0VhsiUxZd1nZlxiijkYbXt1i-7rkSwnK0XF3IuLsSA8FHQoA1Mg7vDLylFbbD5_nBYLho2qkfGAyEFNisdR9Fvy0wzYxLAx_w_9vaJ451myJK0DS5enO-xVGhe1inyAK5y-zak3ItLAXL4OVS0wjAcxV08lLpCvQqfxR4dMvqaipM4KOiUxX32Ix30koUtLgrV6Et-odwlVSzaVSEIcmvw2aQ_l9T0npWRoKtJVJbzOsVmMpQ2RklC2pDke_vXGbo0M07avrfRllExZG8uHGw267qH-f7_KmPu0c0rXFVRrLQmOTkiwZ3YeFBx0ENr66ww0wmZUnWY6ElpbbD7Zpc-Ahnm-vrAeQ6fu1ao4JWL9RRYMei3_pK3h96YSL9qaC9t-LKi7VVBvrn7-Zqv5THw0hQa-X2h-EnJs4cCUaFMbcF-yFCGj-9t8jPwPOyoceaUCK3PL-drJvRKD77SsglVXlKtUfHoz9Upbbv5dz65sSh0nTHUdrXHhY78kerMwctwlsUzbAtH10V6lIOe_yFHzQ9iAG6ews3Z3CZo9X3rEdgniu8y9DiFPNoIkpM0sxKDU7gbPtJlBBlkkQJUnqstqD0B2CKm53EY3YKTAs-_h6Kh2AJokZ9tFZcTGzQb5qg9i3BbwJQhn19272QZQvzFxF7Zy1gSzuh9BzFNpSBBiJZA9B4O3yAjnsEpQMSYuY1QWJu23Q5P4AFaJkopu8HBQA_lhEDDNrNqKPygTaff5zmQ-Mfwd5GdR9NZIWtzHzMWXxjcMYF0fzTwhU6MKwlVlsAc7N1C332M426mB-ibOaqrFCR-h4BLxZgTGierb66MwDPrsVQUe4jL1nnYfqxV3MJ3LZkT9tR7aiWlxHqWz5JoRIHlCa_16Ic8jcYdhPWfG6KnPPW38dA6wLb2E0qpvBg3__o3EWoSbaCrveKMZiVvRDP3lqP0dliF67_wdO1EwFDHC7E_BsxWzJSOKhc-RJsw36wHqXIUfgQqMYAfwIs-Vs_EpoFKeW5JYH15kzhO2Cm2urC4Ahc1C8wVsvmX8RGcrdyNdjVTN9ICPThGeWfgbjVQ0xg6hIUCJ4ajHdF8FG0VbaqRgprWLJ_jUUqUoPo10SiIO0dMs48FaQVHxCZNLPDI8hGaAeUCLPx_wOb9m8jdfa5BjgsiWi8C-o80xsmOUj15v2nsTU3lre3VetNmYXZScBvapbEpsKNuznEA-Yu-GTh0H69Kubr7qOfITBlFrdQGEuJq7f30tjGyav5HbDhFlF4FTkpClrU73turjfUM4pR5IVEYy38XVQCrwQRKcyiG3KjhHAdE-dHxOE0tyvE7YstzACwXQCME_kKqKieHlVZEzQinjCbMjR9Lf7Zrm8o2rapMFWdlg9mMo7d1_SIn8F_Pqorg==",
  "id": "rs_01df46fe71eb0292016ab4234421e087d0ac20ec9009d3b2c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.13,\"left_y\":-0.085},\"note\":\"The second close was empty too: the fingers went into the bowl rather than around its outside. I’ll lift, reopen, and offset toward one side so a finger can engage the rim.\"}",
  "call_id": "call_MrQ7pXp77VCH12UmS6QneUEP",
  "id": "fc_01df46fe71eb0292016ab42347608487d0b674759fd5f11210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MrQ7pXp77VCH12UmS6QneUEP",
  "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]: [-0.3923, 1.4742, 0.4667, 0.6495, -0.3988, -0.1387, 0.9946, -0.0219, 0.812, 0.5957, -0.4114, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0841 left_z=0.1183 left_yaw=0.013 left_pitch=0.244 left_roll=0.0184 left_gripper=0.9946 right_x=0.2904 right_y=-0.0001 right_z=0.1649 right_yaw=0.0029 right_pitch=-0.0542 right_roll=-0.0043 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.4752, 7.8291, 1.7802, -0.1783, 0.1197, -0.1099, -0.335, -1.2239, 7.2274, 1.8632, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc305f0a6a3c16ff80cfe004c72914684d798ef9d3aec4c00531056edb9b59dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f34ff9efeb59f0dcd2677159a4fa1809fb1d7ce4686c784d4deaf1a8f5dc719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8b483a1b711fe5226403c9248163cf19079440a3c2958159ee1a80ae2a197a",
      "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 · 3.59 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.3151, 0.5007, 0.4313, -0.2413, -0.0902, 0.9959, -0.0219, 0.8043, 0.5999, -0.3927, -0.0151, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3893 left_y=-0.0459 left_z=0.1403 left_yaw=0.0075 left_pitch=0.2012 left_roll=0.0178 left_gripper=0.9959 right_x=0.2932 right_y=-0.0002 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0237 right_roll=-0.0025 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -6.065, 6.1744, 2.2198, -0.1978, 0.1978, -0.1636, -0.1573, -1.1556, 7.0359, 1.7851, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8584, 0.3347, 1.1893, -0.2623, -0.0788, 0.0087, -0.0216, 0.8101, 0.598, -0.3962, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3946 left_y=-0.0441 left_z=0.0445 left_yaw=0.0204 left_pitch=0.2502 left_roll=0.0238 left_gripper=0.0087 right_x=0.2928 right_y=-0.0001 right_z=0.1695 right_yaw=0.0032 right_pitch=-0.0347 right_roll=-0.0048 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.7197, 3.7812, 1.7607, 0.0024, -0.0757, 0.6374, 0.0342, -1.3607, 7.2957, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3923, 1.4742, 0.4667, 0.6495, -0.3988, -0.1387, 0.9946, -0.0219, 0.812, 0.5957, -0.4114, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0841 left_z=0.1183 left_yaw=0.013 left_pitch=0.244 left_roll=0.0184 left_gripper=0.9946 right_x=0.2904 right_y=-0.0001 right_z=0.1649 right_yaw=0.0029 right_pitch=-0.0542 right_roll=-0.0043 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.4752, 7.8291, 1.7802, -0.1783, 0.1197, -0.1099, -0.335, -1.2239, 7.2274, 1.8632, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc305f0a6a3c16ff80cfe004c72914684d798ef9d3aec4c00531056edb9b59dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f34ff9efeb59f0dcd2677159a4fa1809fb1d7ce4686c784d4deaf1a8f5dc719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8b483a1b711fe5226403c9248163cf19079440a3c2958159ee1a80ae2a197a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNMKuNGqZL26UsnKHCr7Aaw2KZJbvhfrc16qpr5-ylDGhi9iH9byKxDtUvc4QE6VFHKvpkXTuMZZMX9_nDsyDamCLBPfWT23oDW5wtNCCGFicKmmE6NDLG0VEh7x7E-grzjOToRocVfyPwJ1n0UcjwI4g1HMZIfGydWitpa-6K5vOEMf0v-pZPkLt97QRRmULEq2us6brUR4bSH4K0eqFS5Vmzi1hGshB-FWJVaIl__bBcfhSzLsQNgBdxbCbOuBWPFBFRj48jdLjFU5N2eKi0WwqofSWNo27ccFu25dU0OoAdERgIBX0bK5SvxkV0tDd47P4c3Ia3IKVK9aezjaueMgIZyQCfOci3VHP6MXcuF1JWAOF7XpVCG_DyKstwfHQGRcpq2eKYZZqgf4R3i1DBE-wuUPqU-8GcESdZe1cKXyIT4G904-pHf5plq1TKAlQoTyKoxA2gGVO4PWKOjRVF0xrsDroci2DiidszOKnpa1EzXTjBlNImuapZEE50yjPtPPnLkPEWfV6Eg0ltDDauUdRk4SdFdNUsYdYUf6aYHSjwHuutsxPXy1K149IFZpQobcdCwgZaaf58BxmPfO6V75wUNTarmENqN0oM7yAsr-wD7SS7Z-FB6yebiuwrPtwy15VGU7ajbzZpfao1yJkhVRnZyZ3frRQkGoqqZowicH70QaabakeGIYJyB_lGaAec0HSquOjdl-yd9MNPcUWXkhb_L_40nWw0xJEHwXZ4Ip_4rnLyWmk9nMs2Jg_unvQjTzhHbtQrKdYSmN0uoDyY0tWGnbs5OoLhMavB6IKPjFN_TH-WIIWmcDDN2eJtBvhPXSYU9Tb_PsFZ9seDA3tf7EPimgr0igmf4QbMHsYS0PSEYIZIh5mrrBgDwN0bTdAY2UWL7SB5jnpb-BZytZ39yxlx59azbyrmImpePIq8vs5XwLjuKEifNvtSNPSncPG3YLSoMeXepIk8d632r6ttHtEr8J-wNfz3q3eJGOD3uAncSoTsdjmIPnKQszGYdP9KgQ3jXv-lfCO3V07dbPlDZpmFfOyqFq2X94v_5riKbsZLz4SJBgD_Jx6ppDc7WiQah-ilLDEQok1mpQPHuM6CNDmhT4YKYdg_BTb6KQO6sGFF2tM-yuDCu6gHAFGGKiSPpw-k8NQgdCRV8ztcDOEZeHysmYMX7qE5s3k84V4wLzN4w3ZDVSWV8EYXR66REZbWfgzpRgdKtlDGz_itCGoSB_Xvv08pxgWkcT4zJ8Pb1sNXrO1wNwAmjDApHoh63S0waF42XZY4sERozEVk7f5uocfgHhrHaZnLBmnygwb_kwfwlrf-s2Z9ik7m2d4HwYtrXY3krEuMTgaIORDyN-5kab8JTObfUdc87t2YCRh9YwEbJCjfyFXT3ANVKvd0WGRSo3f9b_C7nPAaRxR3pANy27m8kLFGHqoA2pWHgrDsb8szVCvY1xVZBWSJg-D_txAxFFGJsNf16Uuyq0NWBJYxZCPUsewBwfioSGc7C58MfBacEIZhpskbfOuQaFSZgYUp3MA9UKUo2foRkPBEXKhLne__5eb5uvy_y90UoiXRBYaWk-mY-K-_8LcV9ibE5b1Wum7fZat2BOunOgx1rMpBK3ely5z0CSFF48llU2gDalO3dIFWSIo5wOv8lJXOPHuiGJ_mrnk2MD73iCU5GTkPKFGPcivW8As0KA-mWIMdtqhBeCxZ3jI3l75zL8iNei3C9",
  "id": "rs_01df46fe71eb0292016ab4234a88a887d08ef1f5383cd22e1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.037},\"note\":\"With the gripper offset, the left bowl now sits to one side of the jaw opening, placing one finger over the bowl and the other outside its rim. I’ll lower to rim height before trying a side pinch.\"}",
  "call_id": "call_YSUjruIsAqFXQ2RhfjY7ucpg",
  "id": "fc_01df46fe71eb0292016ab4234ba00087d088e25287c8c2268b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YSUjruIsAqFXQ2RhfjY7ucpg",
  "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]: [-0.3965, 1.8751, 0.3809, 1.0538, -0.3977, -0.139, 0.9954, -0.0216, 0.8154, 0.5949, -0.4156, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=-0.0837 left_z=0.0251 left_yaw=0.0013 left_pitch=0.168 left_roll=0.0505 left_gripper=0.9954 right_x=0.2898 right_y=0.0 right_z=0.1628 right_yaw=0.0032 right_pitch=-0.0626 right_roll=-0.0041 right_gripper=0.9966\nstate[joint_eff]: [0.212, -6.8855, 2.865, 2.0781, -0.1538, -0.0317, 0.0708, -0.1026, -1.5932, 7.0496, 1.6874, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d790921a54ee7d51814f82687aaea60429c4a8c962eda39679a52ef5418ab21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eec9d810494425cdba64fbc45a18e5108a5273fd4204b4b116c1360fdcf266b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aaa167f182de70d679a323319da228b2fdcd9226ef15ee228fcf09c6586f08c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 1.992 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8442, 0.3416, 1.1812, -0.2573, -0.0853, 0.9971, -0.0219, 0.8093, 0.5995, -0.395, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.397 left_y=-0.0455 left_z=0.05 left_yaw=0.0206 left_pitch=0.2624 left_roll=0.0125 left_gripper=0.9971 right_x=0.2931 right_y=-0.0002 right_z=0.1706 right_yaw=0.0028 right_pitch=-0.0313 right_roll=-0.0049 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -4.8615, 2.1538, 0.6862, 0.1783, 0.0611, 0.1099, -0.3077, -1.6205, 7.0769, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3923, 1.4742, 0.4667, 0.6495, -0.3988, -0.1387, 0.9946, -0.0219, 0.812, 0.5957, -0.4114, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0841 left_z=0.1183 left_yaw=0.013 left_pitch=0.244 left_roll=0.0184 left_gripper=0.9946 right_x=0.2904 right_y=-0.0001 right_z=0.1649 right_yaw=0.0029 right_pitch=-0.0542 right_roll=-0.0043 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.4752, 7.8291, 1.7802, -0.1783, 0.1197, -0.1099, -0.335, -1.2239, 7.2274, 1.8632, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.8751, 0.3809, 1.0538, -0.3977, -0.139, 0.9954, -0.0216, 0.8154, 0.5949, -0.4156, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=-0.0837 left_z=0.0251 left_yaw=0.0013 left_pitch=0.168 left_roll=0.0505 left_gripper=0.9954 right_x=0.2898 right_y=0.0 right_z=0.1628 right_yaw=0.0032 right_pitch=-0.0626 right_roll=-0.0041 right_gripper=0.9966\nstate[joint_eff]: [0.212, -6.8855, 2.865, 2.0781, -0.1538, -0.0317, 0.0708, -0.1026, -1.5932, 7.0496, 1.6874, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d790921a54ee7d51814f82687aaea60429c4a8c962eda39679a52ef5418ab21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eec9d810494425cdba64fbc45a18e5108a5273fd4204b4b116c1360fdcf266b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aaa167f182de70d679a323319da228b2fdcd9226ef15ee228fcf09c6586f08c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNQQpT2HLTwKcqSpx8YIJ6_5Ln-Spdr5_eQprMc0HgqMj3B7EzUM66nLvv9pQnUWbRlVUlFyWaXFaYeHDvmI1fvkJBqGBsCsv-PMMzoXfM2htYSPtM4s-IQ38vPGNFDZicZMvHqXnNTvhCpUHqtQn1nF0Fmkxfgl9Vvcyc5xbCc5c968finiAqTpEqG_KV0OiOW6WCuouJkYK-YwtxSJpr9YgP3oPi5VZXz8_MOslaBT8iNZv0ZdL3NOq4zAyQJm57EIpubgvvL5stH-jxnP52Co6NmUemvvsIP7pPsqbUsKKKTZhsIbl9sDzyzeRmXbIzox6YYfDCbOQLR9skwPHZ91vI8U1xN3ExW8AtJDIDsHHN9cp0MELeYaxjPR1-n3hpOe9QtCFEaIlaRKl8_OuZE6dWl3YIZ18GFe0WiTftAbuaMqAimcaWhQ5YephAkx4xSpoxxZfZN0JJkKiiB-Gxl_DKZAVAiGc4QlQLRVWSdrjU7tGzty5532yfBMs2_hpN57M4Md0uYTNcYVm7sj-e7ecDpdSx68tjRr21wNS-PMzlImfbzehBUe_4UAN9tauzv0rPOv35T_5wqWkLW6C8rGl9uMeN23F4laSH2HZHNTbuycFA8PhAZJ4_kTbEXWn0-BkxsIl0eS8-2H8toqPlq9AfcPvYRuQOnT1Ht4kK6hS88K-xCGXnOvskB5gaAcDn5nJLp1_OMibGA4dw8ZNAk-aSWYmDz6KolAObXhD84DnjIG8mMJBXrVQbHO5BQkp5Caw0C06rS_O-9N_V9LCCfWYQxMaArH2iW137NFfwssf62E4llFnzIUZVkcqOwNfubQaqh-E9RvgpBdEiTzX19myJ2GN85MqHYBUxGJDbhT_P3Cid9vxI5JzXZiOrtAYY8F_3TnNNPax_cgOiLRgQsBAsJX5w7wxbWrDCsi2df0MlsfJfEJvzte_62_73i3KjXYIrJ9dscQfFMCKAmNLhI9rPONp97RLx8jiq6JihGP-IqITwoK8Sbw-7MQwDTKCrla-LrUwahFPdu-ff4cRbsAKTy4WkwIIUmz2VEKq2soqrSqfNxwP40-TwtUnAwNsdvsz7BQhVdYvKCN9E7WT3xTGR64SpB8lg3yd0N21ql2ckoxJ3NbxiAhw0qkRYVP2xRUM2Jmop1B0So0qgF3VMlFa35Y2egVuFvxa9l28w1c5gOcrFw_OcC8sh8XcNXrvBlFonIh_ju6QtQNurtqc9RR9DD471eBmW-zPVBw1xw8o9lgJkv_ofZ-x8ZKkVFMlYN_d5hOWTBbXA51iypAd5GgchMSbi0d8eS9pu9FNao5XocuYmLO3Iyuu1jhRxaZ2Neq5ghgcvmfYPfTZBxpqqTyWPD_ZU3bdhtxf-JWwS-YbDw0n6SRMSWCJVxSLQl3CYp",
  "id": "rs_01df46fe71eb0292016ab4234fbe4887d0a91628b927a0a534",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper is now beside the bowl’s right-hand rim, with a finger inside and a finger outside. I’ll close on that wall and check whether the jaws retain a gap.\"}",
  "call_id": "call_VhSa2awbnPMacMeRiu0Mo52U",
  "id": "fc_01df46fe71eb0292016ab4235035bc87d08976557f3f141dd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VhSa2awbnPMacMeRiu0Mo52U",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8648, 0.3824, 1.121, -0.4362, -0.1108, 0.0241, -0.0219, 0.8181, 0.5945, -0.4191, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3932 left_y=-0.0795 left_z=0.0447 left_yaw=0.0256 left_pitch=0.2453 left_roll=0.0594 left_gripper=0.0241 right_x=0.2894 right_y=-0.0001 right_z=0.1612 right_yaw=0.0031 right_pitch=-0.0691 right_roll=-0.0042 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.4632, 3.2615, 0.5543, 0.8474, -0.6129, 1.5018, -0.2256, -1.3197, 7.0906, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f1cad15a00f2bb47c8cbf802d02b03008727f88dd388d49f464fce58b58e66e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd40ff3b6a91a479c75dc76d57ded509926502fde8ae152a15f176fff095f83f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb9e095df77757e05624bc68be3e03ef92a16e42711f0d7dc7f7224636c09cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.511 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2359, 1.8584, 0.3347, 1.1893, -0.2623, -0.0788, 0.0087, -0.0216, 0.8101, 0.598, -0.3962, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3946 left_y=-0.0441 left_z=0.0445 left_yaw=0.0204 left_pitch=0.2502 left_roll=0.0238 left_gripper=0.0087 right_x=0.2928 right_y=-0.0001 right_z=0.1695 right_yaw=0.0032 right_pitch=-0.0347 right_roll=-0.0048 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.7197, 3.7812, 1.7607, 0.0024, -0.0757, 0.6374, 0.0342, -1.3607, 7.2957, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.8751, 0.3809, 1.0538, -0.3977, -0.139, 0.9954, -0.0216, 0.8154, 0.5949, -0.4156, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=-0.0837 left_z=0.0251 left_yaw=0.0013 left_pitch=0.168 left_roll=0.0505 left_gripper=0.9954 right_x=0.2898 right_y=0.0 right_z=0.1628 right_yaw=0.0032 right_pitch=-0.0626 right_roll=-0.0041 right_gripper=0.9966\nstate[joint_eff]: [0.212, -6.8855, 2.865, 2.0781, -0.1538, -0.0317, 0.0708, -0.1026, -1.5932, 7.0496, 1.6874, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8648, 0.3824, 1.121, -0.4362, -0.1108, 0.0241, -0.0219, 0.8181, 0.5945, -0.4191, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3932 left_y=-0.0795 left_z=0.0447 left_yaw=0.0256 left_pitch=0.2453 left_roll=0.0594 left_gripper=0.0241 right_x=0.2894 right_y=-0.0001 right_z=0.1612 right_yaw=0.0031 right_pitch=-0.0691 right_roll=-0.0042 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.4632, 3.2615, 0.5543, 0.8474, -0.6129, 1.5018, -0.2256, -1.3197, 7.0906, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f1cad15a00f2bb47c8cbf802d02b03008727f88dd388d49f464fce58b58e66e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd40ff3b6a91a479c75dc76d57ded509926502fde8ae152a15f176fff095f83f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb9e095df77757e05624bc68be3e03ef92a16e42711f0d7dc7f7224636c09cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNT6IKOWHCsaqDYc1LvmAzJWiAhWDN7yuvX10U8kDVwHy87sfulDU9dGFoBK2l2iMU5p1syE66vebM7ijwBqYUGBaVj5_R55PiBVAuegqdm6q8tjRAgNZpwMZqgYwMPFa3p3vx8_TsdN7ip49And4-Y7USUcfSV9G439YX-bI0kII7nZ7mYRplepQW8mqAcBQwv4hIEG2UFDbR0lWM0G6ybivew9RT2fzn10nrZYrAwnEIBgtHueoZEU34gU5VeChDNj1tYLA6zqD4-GaVhXCdY6xDy2QLSY9k_qVXWGMcnH4yJIxTj9Yk5rA9nT_oyrfjal3oohrDibRzEi5Jx3mgV4EdbExg9k29YqLukqmT35k9jSbuRK03i85nfYHWXV7zmDfRlStf5D997g26-TDrabK65yi1EgrlIYTLovnru8gkPVF-wRq9KS2eD3M2erBiigLkrQbe283adG78vCj51OjUgoL0e27OwC_s47M0tE5bmaUdrzaxzfW8fhpmdAsEYLwdbPG9K-loWXeNd61F_lWXZWYO4o18-qKMgFD3_ULSqkBkA6xuyjvs6j8SbVSXlPfIF4gNV8kzIL-0xfp6uUVOZ6Lu9u1OOKWKiN0oYVeBydw_7-P2zzORKeexdBxQS2x9gZEvsdrUYfHcOK-EKPXfIH-FEqpmcbXvujXhIKt5myxV4SqqV88700wQfUA45goF81HRZvI7Kxvb0TJCvdMfs6MG4bmMcFEZCzPhPTpeYEmePczImL0pDSWbar0JrJN6_d07sGcy40EAI2S6qdpEK-7nRoIBk2GWly5hQHkBm1HXOM0TKVHgSpd27_PogS1b7wS04gDtcuWLrGN1YrB4jyc98EUvpcOtU76i8XlEp0yTQROfXgR_RB8tMhQ0vek2m_fdFN1ldVVWr8ITJ-jRZ_Ad0HnEK90wO4OTE1n-lzaNRT8wavzBAkr0_Ol_XcP8ScK0gyyizA7TXWneWSHDje9vIB344veJY9iOIES9R0MfsrukwcummCBeB3Glm0wbYlZ7AFIyyTLgOiEYrc6PYKKdKfJ5DL5B9h-d3T-r8xLEEtkfuwLTrfNWTpbZ0awf9BSObr6XEZYE0wdhkMQggNVg1gx-8jX2OpkexvZ5RSpEDf8iGe6XGKkBZYfwwQhZG0TuTawsvlxtKlvU9HgpIv7i4TwES2MsNucEwW95DExOHh_R9RAgrNGvb_IbJuxRp6Vvsv-quzGFPasf4anDoFbTeZwQTkhHLxaxgL9D5wud3b7x92VV584jyJZC8YnuVJRvGVp3hfEnlLwiXkCu-GmUQW8rxi8Dhal3MJoMgg1tJAAAsCJ7RfKd-Mn5MeHpPlAi0XZN4RbTEr0eyWVJEbPx5CTEOhAx68OtWIi8rqBck9l1zfUerG6dpZgvo",
  "id": "rs_01df46fe71eb0292016ab42352b23487d0b19bf186b4a69c9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The jaws settled at a small gap, which could be a thin rim or an empty close. I’ll lift the gripper to see whether the left bowl actually comes up with it.\"}",
  "call_id": "call_iVI5k4OwIEsHw8P65Gz72It9",
  "id": "fc_01df46fe71eb0292016ab42353271c87d084f6cdd38438a0e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iVI5k4OwIEsHw8P65Gz72It9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.4097, 0.4992, 0.5537, -0.4438, -0.1204, 0.033, -0.0219, 0.823, 0.5945, -0.4221, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3912 left_y=-0.077 left_z=0.1359 left_yaw=0.0387 left_pitch=0.251 left_roll=0.0506 left_gripper=0.033 right_x=0.2892 right_y=-0.0001 right_z=0.1592 right_yaw=0.0031 right_pitch=-0.0771 right_roll=-0.004 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.2701, 8.9504, 1.9463, -0.0659, 0.0415, 1.033, -0.1573, -1.6342, 6.9812, 1.7558, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249060889e0c3b879a87ed320f23edb2777acf905584fc71f602855866fc61d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d477cde7ddee168be81e4d44ea4b3ea2d013098aa5dc2053890a052e49c6762",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e22c0ed28afec71796f1bfc00fde90b49db714fe2e98b054562ab64e736e84c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 11.13 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3923, 1.4742, 0.4667, 0.6495, -0.3988, -0.1387, 0.9946, -0.0219, 0.812, 0.5957, -0.4114, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.0841 left_z=0.1183 left_yaw=0.013 left_pitch=0.244 left_roll=0.0184 left_gripper=0.9946 right_x=0.2904 right_y=-0.0001 right_z=0.1649 right_yaw=0.0029 right_pitch=-0.0542 right_roll=-0.0043 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.4752, 7.8291, 1.7802, -0.1783, 0.1197, -0.1099, -0.335, -1.2239, 7.2274, 1.8632, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8648, 0.3824, 1.121, -0.4362, -0.1108, 0.0241, -0.0219, 0.8181, 0.5945, -0.4191, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3932 left_y=-0.0795 left_z=0.0447 left_yaw=0.0256 left_pitch=0.2453 left_roll=0.0594 left_gripper=0.0241 right_x=0.2894 right_y=-0.0001 right_z=0.1612 right_yaw=0.0031 right_pitch=-0.0691 right_roll=-0.0042 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.4632, 3.2615, 0.5543, 0.8474, -0.6129, 1.5018, -0.2256, -1.3197, 7.0906, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.4097, 0.4992, 0.5537, -0.4438, -0.1204, 0.033, -0.0219, 0.823, 0.5945, -0.4221, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3912 left_y=-0.077 left_z=0.1359 left_yaw=0.0387 left_pitch=0.251 left_roll=0.0506 left_gripper=0.033 right_x=0.2892 right_y=-0.0001 right_z=0.1592 right_yaw=0.0031 right_pitch=-0.0771 right_roll=-0.004 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.2701, 8.9504, 1.9463, -0.0659, 0.0415, 1.033, -0.1573, -1.6342, 6.9812, 1.7558, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249060889e0c3b879a87ed320f23edb2777acf905584fc71f602855866fc61d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d477cde7ddee168be81e4d44ea4b3ea2d013098aa5dc2053890a052e49c6762",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e22c0ed28afec71796f1bfc00fde90b49db714fe2e98b054562ab64e736e84c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNabXY5BxvEvD5tSars7xA9ygvHAMzwR_ZsiDobNatvu1XAsnUkARMEKETsoukk-5c4GnP-U1gx2-Dmv9ztcZZaMi14cf7Ctm8J8Q48womAPwXVQ_6wTf_ulxFvilZxD-t4yrbdTpktfduTg-0xFAkeQboGpvL3AqqJYOFX2UJA3GrQR8ucEwftqqbLCE9em7F2HJZTFjT8qxhO9_jd6VJsyLbGHZRW3p8kqr-qg6CVWof88eeISJLjQLSHcUePRh_Qw8KXmOOhRevnFRCZ4ZtYwXignpSSvToVUD300YG1maAHyyZxwblh2QDuNIVh3yu0XoeSKMAdar_ywdSvvgM249y9dMD0TxSoAwSdyesoytSQQSmtNYXGAfdMFAoCmW9jGMxrJzw-evCpcTTWKNWhexvU11pJUf3AuKban2Ivi943VNXky-jyNuYCzGNxUAtiiFa2hYttNpUulVi325sZLjuuZwtz5KmkPYHDjYObuL2bUG-LzT5ovNbwttsOqLi9TjS-RQDExTOePdz9Uu6_DhS4gBHsLF8QFJShzNb4vYBa2tv9Vtj9qSO0041G30myL32syTybNmOssCFHypBGXOaQnWFFH-Mg9qrfr0YXLsloLQWc0JrhWoLcCObvJpHI_bL3rRW_96WrfoEj_xjGE4c7G9i1RB54zDIyVzvlJLrqCAeWwkrsWDu5sZ3BMZzQSJz4J7Hh9b1V9zClj-Fxt__d6Q8YcZYpjxyT8xtOQKD5Lvvbjzu_XwAHJnO8f2PTM0uAhv9a-yCeCqjh2wpr-uZjAN9dX5ujEAgaVMXP642TbAjUngBbExHon-C0gM_t-w7ujAaMEvehKaMxUTogKHRlUFHjYGtF_WkE9gOjiQq_amVe4wbS4I-g589I3oPW_4Reo5b2kI49mXSecvZBEicCX36yW5t6WS-qctnGdu5udlalAk-UJRRxfi6MICdaOwfgzzzZaY60WUu2CflEdiFz01IczFh_JXFfVGH6CVpeM0icefRhWE9wqLcaneEKLIUnA4hhz0zNL7A2T2JSXvgIBFRTsFLKU8i1ttPb_-cubIr-kUf9zZgIEDRW-FzPmCyQZ-GiX2bgy410vCp7Y7724PFvaTJrx9bdmDGCujKXBcCuX8QWFrM-l7GI3Ur6VPTcaETE9ppLUvm6lPLVEw07N0Vyfjb3S1zzIRKQL2pVuJu1wiOSM065VrqADF41eFYz1ba11XMiUA3qTc9eCwFV22IYmGucfXZ-o2XYPuoQZpoi3YDa9ZzxZiQ_yYw6NQlAfVSJojtiwMtTq35-h24UWVNehT-6Hb51RVTsbioy-KZxok7i1h7hGB1zWw4PpaLUr3A7_uuNDD-HbgjGBsVUN1wrgYK3K3fR6k3Kd7aB-TMLHsviq4k2rexFzahZfAUcrYnFhsea3gdsE0kXUYHbK3sBBCakedzkTSSkDhtqW1R1fxI4cPclXviQYSeRyXwpnTfEGJMtN2_3lIjyHoohRiT0JrmiHCIpNo-2dr2fPF6v7GHzQhiokQ2CsXC5OmWlA29_3cUpLWDyqsH7MF_k98HIHMJE3fFI60tjoglt7l_CUuqxpSa0cAvdkImDul7ge0hCkgaOcDZ_SQwkzew1AiSiVQ6rpgIruhDf_7aD-xK17BIu4dfx6MVLY3oGKZvjabmZc9VDa3nLzvfWtoKDZdfVAbWLAdC7N5RE_mkLCiWT3ojjLFe32FtToZOKrfV6QGuxJWOWRDLcw-3fEibcE7eWABizlVi5LE4K7fJUxNnY5pnVwEmOdbUQSXROqtbrZPRf8qAVWN9tyHqK7yHJ5XKCZi1dLSxWQuYbB9kJHH5gL8Aq_BpYNnbiYqDSP_GinjPV2Pb-w6rWgvzrWfddsoXEu6Jr4RccYdJgxwRdRgBygm0XeV4jDg1qXZ5HwZFolYElGUTJC07F_9D2XS-C7n4-bf7OS2my3zA8CHX_VGEG6xIC9W_XQ3Lfp-pEMZ49X3poShUbCDDaBTOOD4ZtlvG2YdCkkwj46lAR5OYTfn1RQI30pzTwtVjseDwAXAGxh6nIeNuCfP876ZFHEVsMYT1FadxVK2Fx2FclNGfpx9X44uP0v16joT4T6W-cQRo_MKWTIRS1FYYuNbkxBLHu7wUZDYSj37BidWHEJJmdkoWtWlmFJlSy6uG3AVTw7N7tcGoxyNN2xfrjaW6JiPi84KcAIxIQ_LlvLfm7DIuHXfK-Y2rywIKoguVjZx3-Hv4zWq-RpZ62JyI6EKyscXxA1OAi9_jovGjCUPS6uaQnW-AQBtzMHr4ZPzjhDN1kM8BpymKA87XjVYdgCcWxi74bpx_4_3srP-0nRlL7ogoVPd3Wixmy5B1P-rZjDEjBXhp5MDlZhJsni9fiHmkOhtJKkM2t59ETzcA3Pkai-z9qEw0wtaXd4gt0INPafefAY2wsxiyV04SVoDPs1aUPoJRrXYOkTWTRHGm-VyAdS8U4A7jfzEO7YmSg3xGxuC5JSCn_kX7GD6CphEAcTFioz_eAX_ZOadnoOBsEKwoHMh11BN3Vj0je_Yl0x6XxO4o1GMgzSBY0XE8YfLlC6JvEhDbtVdAZVAOWowx920fKoLuJ8J6q1ehskKrCvYxMRhHt9BUE6gE3jdOO1Sy1Tju6kQs38WkCGyw-AFLANex9il7OH5ksdduALuW3qJ9tU2nzQxzUnnDRDmHQ452kpHeVhUn4hKN1FfzWoj2PUuKDmor3JCVG3Wb7OfUjn4ulMam53nyN6IMGBIyMgb3F3E_wnyPdRpz9lwJm0cU4cLJC-t_j0Ibks8CBTUV3B8OfQNlBR1EfiizqgiDvCMSoVWEPL2-8fqQ3hOxvZJM8SKOC5Hauug3JDqIa7OAVoAs5ktXiJZSdP5BfnunC77YATD1fi_wPmgEkxrdkfZA59O-WOQdtLXSfBQXzCkb50ep9tGyR1G-FeA1r_NN7Iwcwd6OkU1YK3C3DqQZnJRweRPCsJv6Lj17K6SWN2YsWxpdfxwgvi2unP-ohVobHGgK-eM2t2HsZH6hT7qIxxFmVD1pKJcmT3xTzmxe3zB9pimffbb6iyuMpHV5ELEOgnZf1RF10CCgzICR_4FP7S5igpEAf7Qmt3PLi4QHr89LfaAu2CxJA2hMHjRwMvt2WwP1_qZ0m-cckZUJNZPjQPw9_RSZ1gU_mXkc7P53hgI2lHGepyDHSF6clhPdpYhLAtWJUUUHXuHIPXo5SjXlNwB_WxXJxmzum8lZ0KhAR81shuRaLe0PSIJx89O8g5k3XozMcb-C9tQzvP3a4SQagnYTVAOTxQl7Ef8ZgC78EZqts6AMVqpUx-lS-j0PohydKBmm9YsCRaB0EQl8cJg3V4YdGy64-58ReuLF-mpP6W4f3tRwiz3U-S8Cv5R6W6EqQrD3P54lKCrUoWI6Q-ISTfFbq6zTnaXyeoKjf0Le8rF1UDSahybR8RmpAveo2IWWPCGBPGqTShQsergEjShNI_S8GfpUT9zk1Q_yL6suEcRDG0B5e2BepaL3yPgiy1nXOn1-OGpS4FDhzEFhaDayZkF30s7hfp2ll4c6SDZKRIB7YHhb3FhoxcD0ugGU8DCCQTJSUw4d734wO4SbhPfuZipOD4aQ7X07RBiNZPN9OUQpGhqQkH9mr_u17vXbmEKFFUtpgGShn1_YoEN_H9Nr3k8cSyQaF5DKwj7M2uLlYULTmaQZEiMh0LSb2vPU1scRWX8Ab5fdEmMmted-zEMuUTybv8VCtNMim_1Ki-NJ5IzG1t0RVOr44UdAMstxh7nVrwv23YMet0-jHMSDkVIWDBkkFbDBWZpg=",
  "id": "rs_01df46fe71eb0292016ab4235545ec87d0a4b1eea3f6f2f101",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19},\"note\":\"The left wrist camera still shows the bowl after the lift, so I’m not confident it is held. I’ll pull the closed gripper away to uncover the table and verify where that bowl ended up.\"}",
  "call_id": "call_pbkdatvpu42Z5WS75vAu0mB6",
  "id": "fc_01df46fe71eb0292016ab4235a052087d0ae7694dbd44cd6c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbkdatvpu42Z5WS75vAu0mB6",
  "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]: [-0.1524, 0.6559, 0.3775, -0.0025, -0.2539, -0.0616, 0.033, -0.0219, 0.8291, 0.5945, -0.4328, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1967 left_yaw=0.0907 left_pitch=0.301 left_roll=0.0246 left_gripper=0.033 right_x=0.2879 right_y=-0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0938 right_roll=-0.0036 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -0.2667, 8.1846, 2.1221, 0.1587, 0.2222, 1.0281, -0.1299, -1.5248, 6.9812, 1.8339, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194a922beb25ef327eec4a8604c9a4674fbb13c7eb81c4d67dcf7e4c237fbc73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4661fb1c183fa03329944a7ddd442452d5e067059bb69551c4c44c73040a014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e488ea7811715376199662f8333c0b1e2d32c0eeb693dcfab3c3c3d7f36a5b22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 7.825 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.8751, 0.3809, 1.0538, -0.3977, -0.139, 0.9954, -0.0216, 0.8154, 0.5949, -0.4156, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=-0.0837 left_z=0.0251 left_yaw=0.0013 left_pitch=0.168 left_roll=0.0505 left_gripper=0.9954 right_x=0.2898 right_y=0.0 right_z=0.1628 right_yaw=0.0032 right_pitch=-0.0626 right_roll=-0.0041 right_gripper=0.9966\nstate[joint_eff]: [0.212, -6.8855, 2.865, 2.0781, -0.1538, -0.0317, 0.0708, -0.1026, -1.5932, 7.0496, 1.6874, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.4097, 0.4992, 0.5537, -0.4438, -0.1204, 0.033, -0.0219, 0.823, 0.5945, -0.4221, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3912 left_y=-0.077 left_z=0.1359 left_yaw=0.0387 left_pitch=0.251 left_roll=0.0506 left_gripper=0.033 right_x=0.2892 right_y=-0.0001 right_z=0.1592 right_yaw=0.0031 right_pitch=-0.0771 right_roll=-0.004 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.2701, 8.9504, 1.9463, -0.0659, 0.0415, 1.033, -0.1573, -1.6342, 6.9812, 1.7558, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1524, 0.6559, 0.3775, -0.0025, -0.2539, -0.0616, 0.033, -0.0219, 0.8291, 0.5945, -0.4328, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1967 left_yaw=0.0907 left_pitch=0.301 left_roll=0.0246 left_gripper=0.033 right_x=0.2879 right_y=-0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0938 right_roll=-0.0036 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -0.2667, 8.1846, 2.1221, 0.1587, 0.2222, 1.0281, -0.1299, -1.5248, 6.9812, 1.8339, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194a922beb25ef327eec4a8604c9a4674fbb13c7eb81c4d67dcf7e4c237fbc73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4661fb1c183fa03329944a7ddd442452d5e067059bb69551c4c44c73040a014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e488ea7811715376199662f8333c0b1e2d32c0eeb693dcfab3c3c3d7f36a5b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNmp5pRTzcjKzwvVSaoGe81AsYppQYGrOt1sjswhuoHrOY_fqeeKWfHQTwTG-mcMt7Qks5d2Y7u9ezEi6bUFM4JzuWQWRmbmp-evAZS-8DDoa5aJxus5OKCErNz8fM0s5a4FTqW8b-DzLP7B9wqCkxkuljJF9ZlI36uidIY7jSGxrB7iDFLS09GNFNLnREBatdfVY88qfGn-9aLNTgvenTOpx_Mh7RTxXPHr1KvW4qGs1NvY071utxtd1zna7DJ_MjjQBFQBZOvprP5_7eDldKG1W8rYfmgjs8ediMwmywMmEAlxt0h-VR9XOAh_IkHVF9v9T4YgFWXRNrUTc5II0jfQtyRwp53tbbEVPPIURxxlCKgGOS8bJcNc8hjRYN0LvtUxF3-EbwnHhMGPhwHm9h7TIw6mc5krsdQHyO_qhZCzPIvItwwzzbynDATAuKfOv-H1dpZO-iCbJ7KC6Aih_Rg4TdoIxZuGps7RhO9BcC8lSmzPq4xy0OY-yO0hynq-WQZ5__hD4d06a3w7t44guXrhytHPmWbQsi6Na8DmVUn9Jt73EGQxpz5GN6BK-vh9IgbLuW10GtQpo3m2fWSajBrwMEvLtYG7Q7dV98SNOYoWfSb9JRJPr06CnDA0RO5sDSuc92UF0VloJTF1KEJQ-b0yxjZqnFzGgVtWipYuO071XgzgolH0sug7d5HlyVHtIJEdW_osvpqlwJTmvghcoH_GuT-be3k7cEtkqjtKDDkL63vRKy-2fw9rUQZzoU0i3_EM9Cm_IAtHPjqDwfk1bwWWOEEhAbGqkDy6b7a6hGm362fuGSdQ7g3k5OK84oDY-ftjZs3D7dRZNpjgAyfwsw_JkjHBx1nKJyNZS1CoG1wgAiUa5ug1WpVW-XZ4iWs66U9Mow_CBQkalWkV9Gz6G3AKqqmW0iFajGY9ph9pn1bJBhZjLXt169W-lCE24hXZheryDPC4t2BFWwHK_TijADqWibLp9PhiSNtmz9hOFOmA2fyXRpVC7xogPN7FutSz1vil2pIZE1GwYql4fTbT0p1Hrknnlu-JRGXnjXelcCPBsGXY9MWx_MMAjaIalNn-w0o3agQiSK3xBUn44jol5yKgP_iJ7TfmNuqHLdLfL5sv0Jsd7aqcT1scNImlQycen-HJwAZUAsRRIyHmqEhMGlfPGNpKvg9lzrw0N-0GYBDw_oShtioWcYov3d_ChppRTRSuUQ-iQUd2aTG884S3JIDSo7KNfiZUbPk37xIwoQXKT4KEQMyaUZ_qwtDOWuhT68rF5D4ovDVm1X655mMFbOgv3cIOnZzEgdZ6sb8M71wLnxYnHIjkCAIgsMSDKLNEpWSaZ_AWv3y1Lw6gjq50mUrXuRGoWpJDTmC-k6qayKelQ3Y6XV7GoLyLO2W66PUWWZc0X07U3phOTdnvFQm1B78cvQBiEwK2A0Ndb-3Rd18CIodC48dYTIX32oj9EwIewbxq6xYf9YBT13RIS3gpGvKrq0mUGLu0yLHIL3_3wleEvKJaWAx6W_UhMl2FJeKmssxa_jJtxrWxCFO1Is-R_Dco63I4vdiVFzbSh1f22D242TBjLFvYcXUc0dAKodyi0ASy1aYSw_aq1tzTX-Zk0QTBK6ftl06vn-hRL1k1JW6x1rsfTur7tVtQI63bdCUZMd6RlXRE81IxmCel-s_oy7N-jmyXtiwJHIdDeuf-1bwNoR-tcT3_a1Uaah0sBRPM1xA4WH68cygkpJ_9-7uu_3NR-CVfiAkQDSuW6JDBmk70gjWbzoqIbF1DjZg36rmuClBoy7GlEK80pTXUvExxAjF0BiL26OZ3ifOrf6UbBFbqnNQ9SATep8I94X3ua3nQJYge1tTnHX8qsKWXFpJ1jnacS2w6S-4tnwbpBwSUFkUpkdrZDFTi3uCgXH34N3NizliLGTLdyXUBu369ACX_Q8OiFytXa9PvGhz0Pu8H3BPlyWfJ5HUZeJzvKghidpldb8nihJVZOXe2ZlcFeSrbFkAN_yb_Ok03TkmIqPKil3bnyXQ7hx0MUIxiFNoHqEkNepWNEap8ey2kcQwE2v0tk7rQoPRuF1bepZNOfee06h9GI9394t8kAHZsMz68lr5W7bbg8WJmrKDXRXofgCOepHPoCdtUI7R9tH8X9RaebdV4FXyAvcG1N25MZ3atDslTSFo3-JvG3kDRNgcEXyl3OPgmK5dNp7P5-QP3NA28sPbkeZi5pxcmHXmkLGK-xnWk5CfiziGpBfn89Pqx8jQFvxHNF2mPb6dg0xIurKankcVadqPMnLs3FXwsA73pi-nYx9YzxfpEzSDFBP2PcHbvJcgR9Ya6wa2bUmC8fC-lqjvFxKbwTWL7blJXYLyIzIC23ckTZa1NON6ml6BQdowE2bymEv2C-8sTjKw0zu5eeN7fJ8ExREwwwGPwBh5aJVEVHfcSnb2HjWfMmNMAnPMEaMdtlXNJBL2llrb6ObwyOG7V3ohEYutfvZPu8Lf8Tpavex6oDx1LTpbbQheKQGA69ECojFG1EY4byH8HJ-t2DRE5PPO-nhoSaCkYYnukoGWBCjxRFIQA2_wrdNTf7swNw3JASZ_PE78GNq1_eIXgR-2NYl1QiYvpc1Hr6s0IsAnpdCT1UC-3gMmRQCizqc4KjZ9CL8P7SW2lZB-pI5F02GlUC53wNsRCFeeF1lB2H0ZtESK1HHlXZs8sG_-yIUkf2jZspXE3Ctskr5YoGdPYyUPqDmZXtNrSUluOQpKiOL5w21oBYsp94majWJx8jHDlZ8vS6QOSzAk1V0aDoLQsSYhmxdvqa40IdzWgGI2urrF0vLLssWEvYcylngR1Vhie8uWTgSjbd0lDnwevE9S_aaSGOF8gpI6_jiykgiH7RXFHf0w6ahycMHqCgxnVa7ZTQD26AzMmscaG99VQQSGYIf7R5yxGP-Iy-hCim1I5FM-AJ24vicvKW1MkzaPZ4S56gXZf8gkcyZjvO9gO0dnJ4gnZ0WSfSFrATC3hRvAX9IHgsCsIT2tJs1Fg1fslkrrSSyCWXbHVRFs-WX4svqBJsvm8b3gUUNQ7rct5uDgXFDcJVtN45kOdj_b7KrAziWxY2IrjTGSksNvCOUjZxXUVUWsuVF_s6weyQXzY7ON3FiJ8j17yECBuo_ugUzWatKY51eqU7nP-clzDvT64FSGYbv_dNsCLIySZdInFOmGeo-DdzlZgelNOMsHqccR6dXtY65aMAGT7dg4SSWqDTfyDXUZnLeNgd9wTIwFzh49XSRUgh4PcpghYe0-MFwIeTWJwPNjuI24gwjevir0K869FSHT7ftuLaJ6PwUdsFUcsQm8wnt7Jc2gpdVF7uU_hxFYjjqVltgUEesYDSn8sSAFdA_VX49_FrDw_ys893lVbuJTBPlXM5ZR4HNkzJH3fbiVf9WIdROWOfG7MYb4qQdJpSWGYzhQDK4Z3Ax5d23g-VIBlEI_fVI9NOz7KLz0n27Bt2JbXqepwioAAtqYUuGaA9qKi2CuxqXgEfa6X4RKJRoh8JkU_vJspR6a3BdxbMiRWdNTLRL_pqBWM9hFbpTlE9rrJ2XL50nUPqvMCr8aeIk0DOaIO1r9-wqwS0Y2Em6s-KlqBB2vcCg1qf1qeQBfppXeg1OHLj15FT1rh0aegQUly0akcAgMWzO6tdCiCe0qk-b-INdgW5iyZTmYVpZWmUZrIz6jxY9hJb-gmiTGLOxuvUoEjo_ZQ73q5uVXVKqVpr1ZLBKo51BbQAp0_o6bxJpXv5iRoUIxIKNjnIdy6FcP5NupVYcN9oQC3Flk6RH-Zbx0nbf9Ip9fkwMRoRGFEZHg0uun3mZubi-0XrtVdXOwKczjKBQiCPZwm-JpW1oWLjYPqw==",
  "id": "rs_01df46fe71eb0292016ab4235caeb487d0ba13b40d725de362",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNm-c50ejOuRSWvB-53HTjV0sNpL9599n9qMrqjmjazaBKAPykglOusp7HIRHVdUnb5hTUrqjsUzjvzc5A-vL1E0UK9rUrhhQfpX0Ym7fdFGakhoIGoN38zwBHAeM0UKLw9NZGZTqBvXlBRGK-F2kBPesXcjW-NJx8PaqG0BdJrJJ0RcF0LbB5I1DB3lgkM9j4s8W-U1CZatm0GVUazk2zHfZhwvRir3toQcIfSqu59dYJdwwD6O-8NVHqxNOdwKKK4SNj0ZkwnTisccLaXRw7FxdpiEQpwZCholzRuWnhdA_PKJVdUX3r3v5ast_6SnuLkqsdRXJYO8ZsJUhqxpKEcM_yj4f2t6T1E185NALNgTHh0aH4HQxIWVXACy0QMs0wyMKwURbLBZJ_hrG8ihwI_yEbVPqpKZ4kq9aYsqpW4EkM2bYsnv7WzrKke3cKnEbEeceY3LNnI0q_KB0WIP1QXaizfq5GqMfJztLeIrP3tJJqSPJ2_gkI1D1YtTXDykEoZ6KUZ0H2grN6ZH-db73dWZq-NhBak5KGjWRx1Jg6eSmGTRTxEnBOlZn7gk0pcsiYZ8sk3eKAk43k-547_RtEKlC7ij6cgJ4uL4UdTYOpqY9j92C08LUQ_QnL6PmbpZ4gvYYcpxO-UErnRpuIPtHGruO7ocwiU8-y1Ofs-6f06smnjotduEPWI_XZxuEIxSip9_mOgz4y_TkUJ-Kmwtscq3p_vPBQzh4NUw4r9b89CmPhesOxQKD-UbZkYZ7kcz07o0pCCUkemVzIB80JbBIY2MvuilhCG0PGprM6KPyt2cCciiFjSjuuWlVr0zZ_x7YmBAV21yqJ1uXISMxWBSQe3vXsCa_7TnfhNNz13wINoLCqN_P0PX69Vlnc6g14gZOGfycWYA6z0-O_N4u7ZBrhhEGX_C_svroDwdmPQmvNSuXt4vb40Tq5lP1Nc6WJqlLjv4ZkxliCEP6FxGGZg8edGNUonXeM7Wll_3wjZhT2ufehh8JbQCwkuK-HvpCJYJIPKVdgHp_ns-DryeWJTQL82g07eZS45mii9jvDV6SiH1GYTiayIAX-qR6yTRLQhKGCdTnY6Msn-NpNjthrFlsPL4YhRGup7D5fs45QZF_f92BR0NuyvLwm21TRQfccQO-jqiTEg7P7o3yxX0M_H77Zf8jhrmC8Ka1Ik_YzLvRJD6HDbRWmTGeVp9eAscnCtrH5VtSGWJM_D6qN9viaSs2ypjGoiUepEd1e-pVQjqwg70egYJOqu3-IdJVSQfXz402T8NVc2YiN0cVbJSTTQp3JDAIqBztjjtd9QbJ8Y6L0aYGDgfUrBvpaxLrG8MkFQKr43E35a0ylUjifcLp72xDa_f3sG9SDheRz82XLdZw1Ej56L5ezdn8SbOKu_pmNZzSdqc-S8MplAuHNSgt1JstEPuMwtV4-9EQelgmGorhOyRjeG0hVuXXsgoAj1XRcuXE2GTTHD4RztJ6feayY2XlOfeV0rcn4b1l-CLC8mWbXe29VsnZlRNdOp4JTtFxxIURmwz11DPaa6h9_a3ttlR4j4Lpr7hsoykrpFgkuvzROJwQY62CyZmxX7XaNjD_me0aV7tWJSFTMhitNlB-W7Ss09or1_XY4nzTR2cuPq9RnX3E0IAb2kqT-izp7F0_Kw4hvHVdSyQXZhyEpHCos3AhPzwOIMty0i1PLoqLbkggcUkZEM3wAJURyNx3mhTIMfZ466kATsY1T67styrvyFNp8A0wsc_wunIImgTiCGa9LYeJY-V8FDscw2uGiMNc4pss_PoiAg_LHkKtvTQJhK4rRqrR_2CM4XMmoQr0F3YLAbhUTPDppu_1aN3cA46rHMvClb1Yd7FdJOs7kIAz3BCMLBHacWfMNgRnonCunF2KCUd9zlpOUh565yRSBWehAnhgGI-1HZQP1RVgPqXicgut-wSzflf2u_iaAN0ryp1zjCpXQXoS8cP7pFT46CSrIk0sbifAJEbNCkLjkfl39-rsMeuXiNUVRbllPsVXXr3kU-Sn9eyuEgMhP8aWmILdpthg4tTNg7RiVM0zRbldiK3bPl3MPGYS5drOAokTQ7aHH39dNGaBjD6qk_l1UhQyzJ5u7kE4gnJOsnNGZC1yisKMT_PG6GOoYNdma9zUHRBjhDQckJKTDqz08zVpzdVwTxnpu7xu6ijYz02Hio-xyzOlziQR6zsJyLM1RpSQ_ZtXeBuW0UUa-8BjxoGTx2yj2NS9gqxjIB5e48D7RX0TPVYl20lXmIRnmDGz6h8WK3PzhLpFok311fXleleUsHzjBTN8-oJcnTgAzRPJ5K_7UgV8oeRRDGiGJBsaNt3VpOzFVZ9a3-N6XjTYdOYwly-2TmjQCiYifR9vfcCUPm0mi4fsBLcSSJYLc-fpX82PKLkN0TtcOfYlV3lsolk5Li--k99P7XFixGHjiPC1UUhfvbUntNeO7vuNcyM4GdgjmUlFMWJPDdfd-KAa2jYeihf3EFn7K_ahJHJGOCD_9rgyq6OAL1XPotlGIfQ9gkMnSJpEzUNCIfWEjLzG9w0RYwwQ8dc5E0umyXEnphmH1JIbS06qAd3UrFvX29f_iXLF1LZdMw2D8uaJ1Hysht0xahsCHUEeHNBpWB-IFon0ZsSqbnYmFZY3WoGBTcQlPZFzS3YZWoTR-MZSyg-gnIRq9FNVUG6w1yoGPgcb0LhdY_uSUG21KwYLDh61Hd54kbdx8qUbkW3o4_y_WgNQGic1GUGAFhpnCMvkgT4so-LYZE_uyyTZodYQ==",
  "id": "rs_01df46fe71eb0292016ab42361679487d0804436a4336f2d3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.33,\"left_z\":0.2},\"note\":\"As the left gripper retreated, the left bowl moved with it and remains beside its fingers, so the rim pinch did catch it. I’ll carry that bowl over the stationary middle bowl, keeping it high while I check the alignment.\"}",
  "call_id": "call_hoeLNOzncYyoiFvziLZOpW2a",
  "id": "fc_01df46fe71eb0292016ab42365d88487d0ae6e8955e51f1012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hoeLNOzncYyoiFvziLZOpW2a",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0512, 1.8843, 1.3102, -0.0601, -1.0664, -0.551, 0.0357, -0.0216, 0.8307, 0.5945, -0.4446, -0.0154, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3683 left_y=-0.3251 left_z=0.1885 left_yaw=0.0748 left_pitch=0.282 left_roll=0.0345 left_gripper=0.0357 right_x=0.2861 right_y=0.0002 right_z=0.1528 right_yaw=0.0039 right_pitch=-0.1072 right_roll=-0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -10.0444, 8.7863, 1.2772, -0.5788, -0.022, 1.033, -0.1026, -1.5521, 6.9538, 1.7411, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5325e546e2d7fe76c98c0b1cc41cae648b66d0003c66d7183b501a70b4f1f46d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616055e59729dd41e127937248d7c03b5f66034a4200a9009ad07166c9d05b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d648c99bc72f0867decb157fa163410a98659678c04335945143bbc7e2161",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.53 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 57 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3958, 1.8648, 0.3824, 1.121, -0.4362, -0.1108, 0.0241, -0.0219, 0.8181, 0.5945, -0.4191, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3932 left_y=-0.0795 left_z=0.0447 left_yaw=0.0256 left_pitch=0.2453 left_roll=0.0594 left_gripper=0.0241 right_x=0.2894 right_y=-0.0001 right_z=0.1612 right_yaw=0.0031 right_pitch=-0.0691 right_roll=-0.0042 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.4632, 3.2615, 0.5543, 0.8474, -0.6129, 1.5018, -0.2256, -1.3197, 7.0906, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1524, 0.6559, 0.3775, -0.0025, -0.2539, -0.0616, 0.033, -0.0219, 0.8291, 0.5945, -0.4328, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1967 left_yaw=0.0907 left_pitch=0.301 left_roll=0.0246 left_gripper=0.033 right_x=0.2879 right_y=-0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0938 right_roll=-0.0036 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -0.2667, 8.1846, 2.1221, 0.1587, 0.2222, 1.0281, -0.1299, -1.5248, 6.9812, 1.8339, -0.0757, -0.0317, -0.0122]",
      "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]: [-1.0512, 1.8843, 1.3102, -0.0601, -1.0664, -0.551, 0.0357, -0.0216, 0.8307, 0.5945, -0.4446, -0.0154, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3683 left_y=-0.3251 left_z=0.1885 left_yaw=0.0748 left_pitch=0.282 left_roll=0.0345 left_gripper=0.0357 right_x=0.2861 right_y=0.0002 right_z=0.1528 right_yaw=0.0039 right_pitch=-0.1072 right_roll=-0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -10.0444, 8.7863, 1.2772, -0.5788, -0.022, 1.033, -0.1026, -1.5521, 6.9538, 1.7411, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5325e546e2d7fe76c98c0b1cc41cae648b66d0003c66d7183b501a70b4f1f46d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616055e59729dd41e127937248d7c03b5f66034a4200a9009ad07166c9d05b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d648c99bc72f0867decb157fa163410a98659678c04335945143bbc7e2161",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNxt656ncK_y4cSk7OL9cxBgKSMMtmTCllKGNpfI28jrRLyn-9A4VtvBR863FzV_YP5qa_KQMV8o4xM9JZJjGy0dRliR2T7t8dD_u8qRjO4T4y9o7TEpzQgbmW7yTrqAXMcGsQYYJpX3kGI5a6DvYLRExD6JKxCky0K2eGbPy0h-eQF00TrN2XLEXXLK6FmG2Ms2fd6jvFE9zmqTAvXWxaHrfh2Ccc0UqReVJUIvZ2ws0wv3CI4o3U8-giIqDJQ1tMBayjjJil7yGISB14edMgznNy1ZgALzQoqfEliNkBfUV9mQkRp0AeyUlIjBrU2iemkPxJRuguXVhBTxr1dcXeXMc1eVJXu4YdpSOkvAB1VHguGPvZ7YQtRJRIKHRZKMf7G8_au5H7NzA4JV8n9_G5J3Z4_XX_qb-MmICfwi3kGowrn9-jWchdVn8GWk_r28W6xnSHyWagFxjFVbnwy5qoohCvq8EKAxCvJ_ZB3eMQMEIz5ZNgdlbx0YFWd4KHQs4W6DkhHc4VfOgQTSR1jV5bl6MV0FD2RqaYuwBUZ4i5GDIG6DRrNzvnVIv_hyYZaVUPkQSK8I_UbNw67-P5vkTsOMngtuRy8cv_unHgTtaDro6J9PZNgEpVFfWK-s7SRXZ41bRRvKrOWWpc6uVGn0LolhQCML1gUG4nZbjgeUoPRv7LVInW6QTX1QPIQ7oHm78i3LmhcE_uWBdUVU2_IOnM50HqnUpif5wvSkvIdBdEgd_Bgc3OTp2AyC2rVIwAMDO0VOfNn0TuJ-YC2qlwOt_FVK1VD6TlaP87ORs2uxEIZP7Vp23jR-4RLEW8F_U3rxsaDABCG2s2qIgN-ulMcPcioTOFrkrSfIbewOsaKB5eZ_FO6VhDMAIaP0wi6iyb-UhpiWuqlNS1urciLv7ln3ytxqnVMOAfg76t2QKdyouu_aTQoJ8HtJNkDxlR2Fyr8a4ZbMs35-z-IoGVWI4UoF9Tq05zgqvF3Bx15-nSWiVTwTdGmMth_D4hHrQEsf7QE_bxrs_0AJ2hJGmYDFo_EftDGHOXCctWgjUc7RbKl3W9XW9v4MxmCYFHVThPgrYt0LTEE_zWCjnEo_HO06_EAxw2kD5KcFTtxLSzwJl6exlVpV1OlcK-jCgdXzHMwvxpsfWeT2ifMQKE7qy7N2fnY6KIQJCJkqbaW5NiQzmTgrU-nU9wX2Q4tUcuGn2xbkEH3_EGHcGeAeDu65Y7_dnwNWOlAe66SB4QeX24WWnl4LZP9LImIY0KzO4X66vykzp9lT87POQgCNF6QLVxvyRMu0877Ch_Ct6AstsmlXCW5HDrzx6ltDnQ1ZGq-20mPsIHdb5YQXKkjVUxjrZDZSoUJyzNREkmD3_S_XOFZfbPSz8X9CjoNNcDiW0QTUVM_MUqtWQO2o33IGEwVXC6LfFxN_Crbln3aXRqsyGe399p4j6rbx-CLG-lzyk156O0vjJ2HC30PgPD2NtIJykUUza4Fop6hMzKPyz56s2i_yUsmvG4_GGGB99nMonzoUfwrpedcSkh7dkoextCxt36zzWLZxmAjDrW1XqYyiGVBG_HYjWm3HzeEYtZh5A-ik5T0p1Uskiyjfey3E_sm2U0kZDE2vL6gyJ9UnlPv7flNuAioOev-B_FWEHEPcDBRcBe8akMvO7vQrCjZX5On_aR1WwogNYV_g_wrqzDYU71fTr64SnJmncTO2eDrN7V4I1Pm8Ed-niwirGL-Jgr3CSVey3d4FoDgSoRkQJYhPmE-mZHO4jFQ-GqQpfu-hJZJeaJ7XEzF3xRz36JVrdqVB-XGb4rdnHbOkMBIW4BwSc9vyq-QeUZoHJJdBvvJ6CRKJQRIaEpHB5qesd_TB5QcD81f7FPIV3T0Vwtsvl3ci77sWN2mVM_uHo3LLalztWHw_X3JdBB7f-HvE3iKP3pfRVm_FDCL-vKrbMys0NxmVb_2P02Uv2YKbxjleu-worepJrGIIeNtdP9bwnruZjnjhInxYFtknNdau-YLu1nCnt_EPtmzoWZrlIIwoct7VnP_28MOHpaZ1kEoD4ZxrxpIKoMGdG6SDnrbXrngY29q8qazRal9OfjeFcccQ--fme3tH97nnzSWwe0vIPhqvDEEr1Zcv8IXO__rKta4z3jFEpuWCpnxPBBsA7Xn8zFcke7mhlvo0owXUU9MMSn_g7FxguDrrpRg6F__5ti3WRcagfakueox072Puj3g_dSzaBtu9L6a3MnQl2wG5sP-WVLIfVE6EL0Neu9xyBi1CHqCweOn7VDg4K0_IEi2wNyxGTxdIW_0QYjbKxUSdJlHOQNPBCm1nO87Thz9V62loszPcy8tBFasA3gPDZLwbV5CoWv5uG1M_ArDZuzc4q0RygLkWoSEYhBiOqzGiGUaLvv9H5qqrqlm0jzfxEQCUH9UJn9QYuUsnpQDib3dsXKYCaPf3GV9tpgve-_q3x-N8XAQsTvasjsXWITktAZF2XFe9oEm0Pcg11oLdDa3x_vZXPllW2nCBQhgkDDrL9wOdttgIY21ZijG5DtJVL_ZdpqCCowChtuvNMiKyM6h8Tte1Bm4Damwb9eTrbAVY8NeusXodTSE-hC2sPrlmBC8E80paM8UIhpKcfmfhJhh1d2E-rWDByGXYwXx4KMKV222x7C-6QNCjoe299E1-xBocUkuMuh-i0VPj9itgSrIdjT5IJfStOaN7ZrCDU0dWJFyWen8eR5cEj7WXgK9UGpYPMYU8C5gkK8-tDZiKZueePx0blQS7TESi4sLewxTntgl9Obg8Cn4kqV7vT1B0VyOoU4d4R59GnqUSrR82i4hxYhBZlxmYZCsqT64O42JENGzQEVAHEetHoU8J483tiTekyxMznGihglC5XOS3Yw4wOiW1tizfwAj6CU0XYq0zbMhJVfTxsmLHfUisqxm1yeDpgJah7h1qs0wBrgAUMxjXaGhjonMzHH4CiCj5AjtUHYNDAo4v1Mq0i9e7RqfKgXh2C0sZ8hvsFoQoDSnFb8pOMEscyHEXKcN1Dm9yWg2QDE5si6nl9BFI8cPVer-GxTWwir_Y8ZlubWcVTS6S_cXc3NVFN8QBA7QqUjjQSxnooELjxEIHNdmDrCXVCX0hjjrgRqEgSDK_fZ4DYJteHyrXjMuPGdRkXwdwLNj_7qqsiCJ0yBf2ert9vR33Iad2aY93UCgWaXKvplNIxNdeWke_ZzXRIu_4_0SxI9qqgj3TKKH3ccBZwilDQCcE-DKejbwPsiQJC0nKn7m-tHhzhMmzyyMlLANZtRbswH6IMyLD89K6fvfzbI-6pA_tmHJWWM-a9ZiqNqjufFDCCCznTO_jL3j2i6I9Oux5SoqvYQCmStQ-zB2Rnugw1oWovvesoYd0j1Tq2qJWa_ih7-w7B2V_y7AAukmr7G8bOEY845p9ABIrVfSedBdrHpJDjFpoWb6Btj82N6fgQovxfUu2dm_Zo09HRzWPw2n-PqbwuBpaY4aJU6mT1WVmjuOJ7mTCrlo8ND1A0-d1HSXoB5jgvjeTc0-0NAlxJbE0PRKh3pp7AyVoTBTIHFwg_ZzBU3NYMFyNMY8fVhG0eD9vpWBkgQhTR-TULjad8IvL9kV2mOimtyfoXkUm2xT60LPBsuAgau5rKVrCVxfHjGuTfZHnAGPOmtPZArhRqfpiApzo4CmiULBJqsu8QMj4wrEZXS4iQt61wC-GvWprsZP4DQBlePlRE6-gFA7yNurWlX1KM9R8FK1iOAAkrvuQYYE9fIudS5zcjr35H03ZsFGk3vjD7VEyAVSEB4mRVLrzQZVN3WekKhgxE6gxB974zSHfZO2GL_4rpu8kXV9z9jGYgSjUiC-UrL5qZMTLjAF-HKkYv-EVB-TC9gthLd5lqlDEqlznMJYe7WLlGX6SX6fz9ONE5z47XnRbysCajrji61UbFhaeDzatY1Hz3MZuDgE7kdABq0=",
  "id": "rs_01df46fe71eb0292016ab4236adbfc87d09842d1c45c97ec3a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNxNdT0-vIQAWzA9lcbd4l1c-Ad5ub--FU0XwO0xQRDfEBb76VBh4Z-vgs87Yaa5V-__E9MPDCvX5puwdhDbPsFNqAUL_4Zv3fNghyQlKmvTRFJF_Dgrq26l6TGBsylmujaIwXcknVYLU0ikUFHq9VuVswL95xssPaTi_s2FiByWuNnDA3-v4hP_FIoDQnXOOBA5Vyxwn2utT5UZoZ1Fw0kvnc41gQM38K5sQrhimOM0KoBKEQsI39WVZS6DThlBy_JAxcOy-9o8CkP9tcHD1QNCRmFK0f5hLUyMf_ExVf1iZFmm8RiG7mEet9KQIJMtND6_WHB7eq35DY-eouX4McV-xBz9bzez0gwpj6E0jC0NexUqW_e4noSwK2o3L6H5q36vIFcFA0h73gpXhDM5N4fDagoHkOVPtl_PzLXNT7JAmIwz40FgWXTlwtzVhkGitgTcUZaoRz3cyWSTuYVKtHTMpGtzZyfdvAyEes0_Cc-Z_fuPE08uSbIQ0X-NGM2cdaazzahttp0-sLJp7wfn8dPW6qeJWh1Bv0-ritVEu2PbB6aGIGaLj3PWn8Vv7IxYJZbFVpfnXDafUPRH78OcWesyoG3p20qMinGIRZD1mtok8B4_FWVju3Ma_uJisEhM8uA4vZ1NQwKSm5npRcLt9ycz07bnw--H13yn3qx0Xd2261tNSSFJZj_BmK8O4T4qDBz9beYneR49WlUMjsJzcJGkg9r5wpt4wL95U0ob6f5xMn-ywEDWFQg2-OLC4ozWDBU8VJbrbU3Hh3zJd99WlJDmgwstsb3bHtlYM9keem2YeWROhumygFL7nTme3mPSeh_svOHlSyEIwuVyoo5fq_QAhRzHZHtwMC6ONEn75DCy-WG-1Vgr0FfE-L_IRm5gsKwegHN6NJ-LjRj39ULSHJB57M4BBBc8PYPIUR9EuLciQyX9MFZfcejk-0zcuBQWxl13KrFh917Lw8maqGKEGMT7pD5RTHYEV_j7lxug8NBc_Czdk16j7SOpRNfxCcN25vCSO_Kwfqb4yhzxlSMcICTg47fhRS26SvjIuJTWuhdrY0tI3iUMJK9ED7_e5T7mAqGtI5v75BzyvslFATc1RKcNv-ZqFwQevRXuANfePb5IA4zn1c8MWAmit47kH8i7beHRE9BJITZofO064COY1vj_5ARgP60nINhdM6zehU1tJJeDOv5ZjsH3tMTaZc2VUvraASa55-duJ1MHSZbV0OInLP3OCWaOxHtWvt_j0XtsjR4mDLNOTSXbOo-6nQbK9-Crvw7BM8MJaPNpMF1vtb8PGJVhzvZstC-sWoc9_7z_He6WXt3lU_U_dUR_GqvEK_WICX3h7lypfvouGshNxNnN_PcBTcKQMQQLU_bwygAsovMZeAF2V71CuH45dobR2d7IyNrZps685WQ0AZ-XUrkuk2MP-4GVRka35c0F3zcUDXImdWeP5Vpec49JzPzRe9SCpCsccIppIHKr6oC39EGYjzGw-H6S5EQ23B1wV-aH0xC3or__7XZ6s2YUKGRvTzVF-U_4qqirSNbb3oz6rpObA==",
  "id": "rs_01df46fe71eb0292016ab4236fe33887d093971b189d872bd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The carried bowl is over the middle bowl in the overhead view, with the pink bowl still clear on the right. I’ll lower slowly toward the middle bowl and check for contact before releasing.\"}",
  "call_id": "call_8XwINmhB2PUnQ4uhDjSIkOaa",
  "id": "fc_01df46fe71eb0292016ab423707f4087d0b9b7e7b4f155c989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8XwINmhB2PUnQ4uhDjSIkOaa",
  "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]: [-1.0538, 2.0159, 1.1587, 0.1669, -1.0645, -0.5507, 0.0357, -0.0216, 0.8314, 0.5945, -0.4454, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3646 left_y=-0.3214 left_z=0.1053 left_yaw=0.0567 left_pitch=0.2564 left_roll=0.0867 left_gripper=0.0357 right_x=0.286 right_y=0.0001 right_z=0.1525 right_yaw=0.0036 right_pitch=-0.1087 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -9.5795, 5.7641, 1.5751, -0.3346, -0.0366, 1.0281, -0.0342, -1.4838, 7.1043, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593f22bc7693e40eb4ff36db3cf66a8b235651c781d68a2c9cc965c5d47d8a11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956810fb8714b75b5abeb1770c7529b8a1d5de314a0ad91ab5ce8591ccf12f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b7dc41adee917f1949b3a447a28f6ea156360e28c079dce2f1c13a75312706",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.036 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 57 changed as sent

message 62 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.395, 1.4097, 0.4992, 0.5537, -0.4438, -0.1204, 0.033, -0.0219, 0.823, 0.5945, -0.4221, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3912 left_y=-0.077 left_z=0.1359 left_yaw=0.0387 left_pitch=0.251 left_roll=0.0506 left_gripper=0.033 right_x=0.2892 right_y=-0.0001 right_z=0.1592 right_yaw=0.0031 right_pitch=-0.0771 right_roll=-0.004 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.2701, 8.9504, 1.9463, -0.0659, 0.0415, 1.033, -0.1573, -1.6342, 6.9812, 1.7558, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0512, 1.8843, 1.3102, -0.0601, -1.0664, -0.551, 0.0357, -0.0216, 0.8307, 0.5945, -0.4446, -0.0154, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3683 left_y=-0.3251 left_z=0.1885 left_yaw=0.0748 left_pitch=0.282 left_roll=0.0345 left_gripper=0.0357 right_x=0.2861 right_y=0.0002 right_z=0.1528 right_yaw=0.0039 right_pitch=-0.1072 right_roll=-0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -10.0444, 8.7863, 1.2772, -0.5788, -0.022, 1.033, -0.1026, -1.5521, 6.9538, 1.7411, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0159, 1.1587, 0.1669, -1.0645, -0.5507, 0.0357, -0.0216, 0.8314, 0.5945, -0.4454, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3646 left_y=-0.3214 left_z=0.1053 left_yaw=0.0567 left_pitch=0.2564 left_roll=0.0867 left_gripper=0.0357 right_x=0.286 right_y=0.0001 right_z=0.1525 right_yaw=0.0036 right_pitch=-0.1087 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -9.5795, 5.7641, 1.5751, -0.3346, -0.0366, 1.0281, -0.0342, -1.4838, 7.1043, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593f22bc7693e40eb4ff36db3cf66a8b235651c781d68a2c9cc965c5d47d8a11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956810fb8714b75b5abeb1770c7529b8a1d5de314a0ad91ab5ce8591ccf12f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b7dc41adee917f1949b3a447a28f6ea156360e28c079dce2f1c13a75312706",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCN0H8hNe5dYzLTFBb3yRCBmhKpt1HOhtuZkaARQ6OWPYP8R4oy4PUu4WI0DWWOfUPGJtdBfMNEnbY4lXnSXMVGfIO7lInqQkrFISbi--963yNHUS_vaVt1vQRqbdF3W1FZWX1-GPndd-xCPmehFV0Vym6Ud-gE67fEKp2fHec2Te5n_jtMBYrboIb1WF_o0_Ki98d11AkdJloAZ5cI3NLfHfRKkpV76vph121NxsiqwyYCIuwJX9KIfwurBiotoG8b5ETtJgQlCUVBXsNk5Z2ct83O8qEZZkAgM9Oltdme2Qvulbdz1f82OecIhhlUiNQC71LnPpK_aZpO6P_HeZp4a4kJphP7tSUHt-f4dt_NauY3TEZh4e-pdN1s820Q96mIgJPSH8BRRcZ6TcqHnKI90XP1CQla2HegXbrUWCOBQnhT7lenHYp7Q3S2sUpKM6SdNx1zTrjrFZKa13NCt-n2KM3cZS4p3LlqRpDI_QigSHT1AaPwOQzr0BBtai-psFQgTApqEEOifKwWc621x02MR8HSuN0BcW68aHNJ-mE8EYsK1k1ZJqM71oOdV4XeOLBwKptj4cL8DRFmpYezES34lBQumD44lQT2sW-gg3ZieJskJNDtqv_Q2EKRk-YrA6kLHmkWjtKZf-QFVZu_jslp7y4qt2RWj9RS9HOkDPae_5RgpVSs4VHAs-8W3OpbqglKJlTwe6JnA8pwu7jTYVYUwjqBXKdxO8eeyLwmiLveDZ9tlseF6mB0ne8D-lhOEsEU1cLJN0L7c8vahkr2hpUWTS7sj5syRl2SOr7JvfMCFf7-QpVXEpARcQunorW3q4rqyXejjcxPkYEGO4GZjhgriRgPVeCgu9INUEvmynNQp9dIhYNJ1wPX_yySJBJ1uadUdxtwsXkDbkOu6XfrG5Xvl_3hejYciL4r5rQ3GhCyLXVHct8Mh6brcTn5SZwd7VLZzAScbvLN8x-bYZe-JaIoUkajOlhsYhZ1b28P6106kx0nw8ZdUwJuce2pknvSci5sTgnN-rwYiXZfOemtA_Vg9X7ZBuIV0rgYC2RnxLkchZQBjHWPIqyp60zqluYmlUXCOon3RKYr-pFC2KsWsbCAXz3XQgzxkXzS3jjPmJXKsGhW9pD5SbYLZsUX0RqNZQDFSAJ9Lru7GxpBI2RLf77RtjdeHOD0NaAYP4_q7u5krWDzN1mPI6y3Enbu_0TvBB2Sy47uHVtW06hCG80htbrpUqBRJSJfb79kZQjGnqgn1iwZXcKrqce6SHu16IUNM1VIPEGh4WTmhuOJXd6Y_yRcIY8otd-7CHDvk6BP7zbW1uBe00WLZKhteaTHL5uIfdPfr7ZBsGbHhXGL-KPpAC4upwWqh4jg-W4uvpoJj88DArNG191t95enEjHZvpLIOUHxfOVVkSbOL-kS5iSsI9PHtPmO83LBqPlcatrSWDt7Ur3NSgy2tmqwt9DGm2S3E3Eml9E40UEV2ALJEO2o-Iu8UjfUN_sHRH3qMIgj4gV-rQU0_xkcpng34Y8E_0OlGhBjNQDrqqeEJajlHz0TwTDMTF7GFAh0v4I3X523flDJ7PuM=",
  "id": "rs_01df46fe71eb0292016ab42372f93c87d097fba28ef5abe735",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.069},\"note\":\"The bowls overlap in the overhead image, but the held bowl is still above the one on the table. I’ll lower a few more centimetres to seat it before opening the gripper.\"}",
  "call_id": "call_crGbwUcXK3ZYusykngF17STG",
  "id": "fc_01df46fe71eb0292016ab42373ae7c87d088517a3afeff1a03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_crGbwUcXK3ZYusykngF17STG",
  "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]: [-1.0538, 2.0754, 1.1336, 0.268, -1.0637, -0.5499, 0.0357, -0.0216, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3658 left_y=-0.3237 left_z=0.0832 left_yaw=0.0596 left_pitch=0.2632 left_roll=0.072 left_gripper=0.0357 right_x=0.2861 right_y=0.0001 right_z=0.1526 right_yaw=0.0036 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.2786, 4.9573, 1.3895, -0.3199, -0.0562, 1.0281, -0.0615, -1.4291, 6.9675, 1.5946, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d283e67535fa21651110da8f5b7e100c1e685f29c61b18a07e7f84bc58cd4d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9e95b7c1393c6e0d29e9d68595a224712346e8d5651243b2cbad97d5161926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b63e3a87f104b724905d92d64e39e849e37b055976429bbfcef4f4579bd269",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.89 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 62 changed as sent

message 66 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1524, 0.6559, 0.3775, -0.0025, -0.2539, -0.0616, 0.033, -0.0219, 0.8291, 0.5945, -0.4328, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1967 left_yaw=0.0907 left_pitch=0.301 left_roll=0.0246 left_gripper=0.033 right_x=0.2879 right_y=-0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0938 right_roll=-0.0036 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -0.2667, 8.1846, 2.1221, 0.1587, 0.2222, 1.0281, -0.1299, -1.5248, 6.9812, 1.8339, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0159, 1.1587, 0.1669, -1.0645, -0.5507, 0.0357, -0.0216, 0.8314, 0.5945, -0.4454, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3646 left_y=-0.3214 left_z=0.1053 left_yaw=0.0567 left_pitch=0.2564 left_roll=0.0867 left_gripper=0.0357 right_x=0.286 right_y=0.0001 right_z=0.1525 right_yaw=0.0036 right_pitch=-0.1087 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -9.5795, 5.7641, 1.5751, -0.3346, -0.0366, 1.0281, -0.0342, -1.4838, 7.1043, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0754, 1.1336, 0.268, -1.0637, -0.5499, 0.0357, -0.0216, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3658 left_y=-0.3237 left_z=0.0832 left_yaw=0.0596 left_pitch=0.2632 left_roll=0.072 left_gripper=0.0357 right_x=0.2861 right_y=0.0001 right_z=0.1526 right_yaw=0.0036 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.2786, 4.9573, 1.3895, -0.3199, -0.0562, 1.0281, -0.0615, -1.4291, 6.9675, 1.5946, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d283e67535fa21651110da8f5b7e100c1e685f29c61b18a07e7f84bc58cd4d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9e95b7c1393c6e0d29e9d68595a224712346e8d5651243b2cbad97d5161926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b63e3a87f104b724905d92d64e39e849e37b055976429bbfcef4f4579bd269",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCN3ECiUzzV6useW_aRiHfHXAKv1i7BvYAnVls-UpaJmwlQbQ_4yVKXxP9cFI2kY8YyUjBAroyLt-sM26BixxkkY5HK7HD_S8ooBefgVZDAUpa1Fa85u6OusbFvwJyzS-eQpsZ3CbBwRQHJz-ilC2_UBkPs0YRV1qGI3TALzfJ_ngCeK-VKhcEyhs8bq-6JsCqvndg2cH-oU66_FjyVWdMhKw-ZFOTHb1roVTBB0fRRd0rOgW3LxCclyDo0VbtwhaRloOrxD9oASpXou2Gqbdetiadi6lXmhRQBG1LnODORa_qkgZLEb-1dicVt8UKJeO2ehooNtoaSsSrLSlB2gonAmFvTy39QpsjLDrP2wzvq-GutZUC5G1f0QsoeieM_CTkRPATi8JlPmQV7S7ShnpiTjwWzvDEXnzcEOPkqdQLuafXvqtnRRtSdS-7cne_4nsnyvOoRBv2rQd5ElZ2xuBwiI9fsdpE1mJJq0ln6ACE6TF0adDKE6_uYLQwTPsObg9UGhXDbwC3eUSyvZwdFKsi3SmVonJeV60syombok3Zjk_izb7QRA-6m40e40UmZMxOn9XvqHnNrfOWqKrqfbsbAHbKyvhUz030CFatT_hQrVmW1v5Lb31UziyJiQDw1XlxVbaj5mI-U2bHhfx1dQFya0EebNDELOBATl39UNg_hZO4btUJwESAfGQy1ZfLiy4m2BjpnxbNBlSrFsJXMxBisVjc-XH9RkN4UKfEdHvUV_uQrTIBGWR6UOKAimrW8fBzbWiWBn8M4ZY-uglporXuhMFLJfkExXrKa3nWnQq-OHUnFv6r99k9_krhN3fvP_Kqvv9_xRVgU8iwFzaNWdzHNj7-rfTzMw1NTPHWnpri2qWyiJfQUqW9l8c2T-hBoZ3DD3r0JbVluXaOFiHrRVJ0HZZLM6DMWj54iBk7pC7NcxPTsWCgEq_FMWgncOIYwX-xJ3yKkiqoeH3ZYd5p8hI3ZSAv6Mhyi_ikiO7WFcV8DBEK1zmx-59KMQLJMcQpCVKqGyw_U2payVg-4d_cfq4I7lfAi5x8qqnsDeMqy6kOhHxiqjLJAsD5UokldSgpD1WFj5SAl7kVqNzgZ1Kb6g1AqR_J8KPkm_oDBxDqD_JSveS7avKo_tWOUBEaDr5GGZolvfVwUpnVDE0kBRL7gIwOKhMwjhIH0GKszR9EeNxmiDyjeoTQRm0M4aym4zDllRHqvUvNvdtRkxISVIhW1F8mDztmZvvZSuNvCQuaR52oEJfIC-kOCKyqptiEDHaWbIwHr-ThytUDtd0V7nXbPSMa-NBHOUjl2j37t3brzHuRCwV_qI9LxobsmYyBasnauD_xKt1FXk62UXnURqe59oTv306w==",
  "id": "rs_01df46fe71eb0292016ab42376101087d0ad8052dc1880b3b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent slowed with the carried bowl overlapping the middle bowl, suggesting it has seated. I’ll open the left gripper to release it.\"}",
  "call_id": "call_fMd6O4v8kSa7jVdbtC2KHDf8",
  "id": "fc_01df46fe71eb0292016ab42376f37c87d0a26e404ab3aa70ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fMd6O4v8kSa7jVdbtC2KHDf8",
  "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]: [-1.0538, 2.1059, 1.1133, 0.2817, -1.0565, -0.5507, 0.9952, -0.0219, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3631 left_y=-0.3202 left_z=0.0644 left_yaw=0.0465 left_pitch=0.2426 left_roll=0.1033 left_gripper=0.9952 right_x=0.2861 right_y=-0.0 right_z=0.1526 right_yaw=0.0032 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -10.5778, 5.6547, 1.4725, -0.5006, -0.0317, -0.1441, -0.2256, -1.0462, 6.9812, 1.6386, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ab3a4316a79b325ba09d7aa5b7328795e385c7335178cb216979548dd7e71e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1498fa6f266462a99d4c8a8a563724f70de4b7f24f79d5a30d664098246214c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14b32c35e35d51295f6ae7fad01295f820128231c26e71a297120fdc4b44b65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.711 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 66 changed as sent

message 70 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0512, 1.8843, 1.3102, -0.0601, -1.0664, -0.551, 0.0357, -0.0216, 0.8307, 0.5945, -0.4446, -0.0154, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3683 left_y=-0.3251 left_z=0.1885 left_yaw=0.0748 left_pitch=0.282 left_roll=0.0345 left_gripper=0.0357 right_x=0.2861 right_y=0.0002 right_z=0.1528 right_yaw=0.0039 right_pitch=-0.1072 right_roll=-0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -10.0444, 8.7863, 1.2772, -0.5788, -0.022, 1.033, -0.1026, -1.5521, 6.9538, 1.7411, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0754, 1.1336, 0.268, -1.0637, -0.5499, 0.0357, -0.0216, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3658 left_y=-0.3237 left_z=0.0832 left_yaw=0.0596 left_pitch=0.2632 left_roll=0.072 left_gripper=0.0357 right_x=0.2861 right_y=0.0001 right_z=0.1526 right_yaw=0.0036 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.2786, 4.9573, 1.3895, -0.3199, -0.0562, 1.0281, -0.0615, -1.4291, 6.9675, 1.5946, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.1059, 1.1133, 0.2817, -1.0565, -0.5507, 0.9952, -0.0219, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3631 left_y=-0.3202 left_z=0.0644 left_yaw=0.0465 left_pitch=0.2426 left_roll=0.1033 left_gripper=0.9952 right_x=0.2861 right_y=-0.0 right_z=0.1526 right_yaw=0.0032 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -10.5778, 5.6547, 1.4725, -0.5006, -0.0317, -0.1441, -0.2256, -1.0462, 6.9812, 1.6386, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ab3a4316a79b325ba09d7aa5b7328795e385c7335178cb216979548dd7e71e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1498fa6f266462a99d4c8a8a563724f70de4b7f24f79d5a30d664098246214c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14b32c35e35d51295f6ae7fad01295f820128231c26e71a297120fdc4b44b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCN7Pd_nwRhuWXVmMrC3KXnOVx7eeIqyzYb7Y86gYVdJRRInHiSlSrgZ-ZwqIHCGfW-GzmVazZKVXpg3tGJxOyPz2Yl3c7g6WKg853poRfybx1WfoU3bKjVYiHPLWAv_gu_OY-ZiItY5A3DLVmulxTaOO82jfjR7bM1x-1vHBMROvEaI_G1uYLxcStCjzUip5YWhjyIlZR99G6t940ygXv979xfEfEIfonG5YiPaINV0baP4I-jF2SWZrfleqBKlLFrv1ItqjFttTziXht16g7CAhCiFpY-i9u_E_NJVtaCN0ptT0ps2D-WpTVbYrUGt0Y36UxiajmPYVB6ZGgqmYzFpZduux0Jp3mGmuD4XR5g_TlqwIMf-0SYQf5oDBbOzdrEDv9XWytcNKpS5cEu7LOwFASMO2BAJKDi46s29a-e9fGaBsZ5UMUnS0MivVfwUX5iKRwFDNY6bH7vCtpYlJOGVSzT-QQdfUKDn7ww2Xq1EuZnIwtYyqrm8MKVTnFmhscuYSLUhi8JWcgWlYqJhWoCEwYEPUn84z_7JrJIz_BVPOsrnYmuMgLLodNzhxy-dwx_no1obwY8721OvYwCUoZu3UIe3UunGiSll3KkXujHLut147DuhX0esYAbcc53-WWk1sLb89YL54OLQ4mUR_rIzIIRPYKjwbYtI5MBQrBV46L04mghdraedPYHnqPqlvbrkhFrShDwa8PuSbxbU1GY-3WzgGE1-ACw1mNGDOG4liFb1O2NpifoC2s-0v1YHtiAoWuMw_llghuhBaOiHINlFB9Qwy7kSpFyYmRyrtF6aJ7eL7SCXuFZrSYW3xIzjC8ovt5UQs6uAyVzsH34Nv5UgYr47L5PzpPBiOwt647K2hHH-DQLrprbeMv7d_i7SyaP5mbNc3ihx2bf9W-aa7CWhd-V5_B9Oh6YY3931U_cf6S6fN2U3AZcCSTzVbrKMQL041p9AQZh7YpPDp2IdRQ2udx8Kz-m-bOm-RFdLt9vVUhIGqz3LS6B8Iqlf5n-YmVYfPthvqV4LHhRKjkpLzeBGBkSPvJtPR3KXzHxyT8uWfyOz3xmuseqEgwzeeBUnaAcfjlLqbpoSzaTE10FsNLIP5MwQc_YBIyeWfdSXN59Q7WW5H6oBT36-xt4R0Jhn-InP3IcAWh1Ra0Bf9NxwK-FCfr9c_im2es5COd8qE6jaEnILKQTzCDlht5k0xBcT5E-OraPOpg6vhRJuxlJnZI-s-djCa4WGAYW5c1a7AxbIJ3e8yzxCKYvanMsKImxqSt32hL2xTOpdun1-fwWhzxrUFTFYeqQTd9OJnla7wwBmhAROnP7e-WkgOjdi3aXE6FMu-J-XQroew9iazKVnUwhmzfDNc5GinNmCZSQ6USepo-YmgovR0BAs9hlQ_1AgRyxBMbpOhoO3IgvAk_GuooGZPDXKUKAO4r4jn9lCS4GM-Q_uEGMXBE6i0Hv1WQPK2DCS3dLCQFHeNOdy5wMHUiSo9BY53aIG_Q6d1gn6zLC4bjGeOapzDFxenPwq1tg-GYchKgn1Tqs2q7V4c8QYWyBQVd-tLc17McdB4cfQgEzmbRsrhxjWHYIlNVkznwzfbYbR",
  "id": "rs_01df46fe71eb0292016ab42379e54487d0b8c948393b977473",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_pitch\":0.28},\"note\":\"The bowl is released and remains at the center, but the left arm still blocks the overhead view. I’ll lift clear of the stack before checking it and approaching the final bowl.\"}",
  "call_id": "call_V3b73UsO55muEZsC29lZkCBq",
  "id": "fc_01df46fe71eb0292016ab4237ab67c87d0b85553cb412044f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V3b73UsO55muEZsC29lZkCBq",
  "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]: [-1.0538, 1.8931, 1.2766, -0.0704, -1.0725, -0.5388, 0.9956, -0.0219, 0.836, 0.5945, -0.445, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3643 left_y=-0.3195 left_z=0.1719 left_yaw=0.0565 left_pitch=0.2619 left_roll=0.0975 left_gripper=0.9956 right_x=0.2862 right_y=-0.0 right_z=0.1513 right_yaw=0.003 right_pitch=-0.1129 right_roll=-0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -12.4103, 8.9915, 1.3602, -0.4908, 0.3541, 0.0366, -0.1846, -1.7846, 6.9538, 1.6728, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9ede9ab570dcfcb65fd6325cae59223b7fff7f5378676ebe40023626db85b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3854ac5917f1dad3b9ddbb661e1f703524c20c00c0d5f928402af4e94d873ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47894e635be48e45bf1c36621e139fcfb5407ae58f86e0a152d602954f4d2b74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 7.979 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0159, 1.1587, 0.1669, -1.0645, -0.5507, 0.0357, -0.0216, 0.8314, 0.5945, -0.4454, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3646 left_y=-0.3214 left_z=0.1053 left_yaw=0.0567 left_pitch=0.2564 left_roll=0.0867 left_gripper=0.0357 right_x=0.286 right_y=0.0001 right_z=0.1525 right_yaw=0.0036 right_pitch=-0.1087 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -9.5795, 5.7641, 1.5751, -0.3346, -0.0366, 1.0281, -0.0342, -1.4838, 7.1043, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.1059, 1.1133, 0.2817, -1.0565, -0.5507, 0.9952, -0.0219, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3631 left_y=-0.3202 left_z=0.0644 left_yaw=0.0465 left_pitch=0.2426 left_roll=0.1033 left_gripper=0.9952 right_x=0.2861 right_y=-0.0 right_z=0.1526 right_yaw=0.0032 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -10.5778, 5.6547, 1.4725, -0.5006, -0.0317, -0.1441, -0.2256, -1.0462, 6.9812, 1.6386, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 1.8931, 1.2766, -0.0704, -1.0725, -0.5388, 0.9956, -0.0219, 0.836, 0.5945, -0.445, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3643 left_y=-0.3195 left_z=0.1719 left_yaw=0.0565 left_pitch=0.2619 left_roll=0.0975 left_gripper=0.9956 right_x=0.2862 right_y=-0.0 right_z=0.1513 right_yaw=0.003 right_pitch=-0.1129 right_roll=-0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -12.4103, 8.9915, 1.3602, -0.4908, 0.3541, 0.0366, -0.1846, -1.7846, 6.9538, 1.6728, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9ede9ab570dcfcb65fd6325cae59223b7fff7f5378676ebe40023626db85b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3854ac5917f1dad3b9ddbb661e1f703524c20c00c0d5f928402af4e94d873ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47894e635be48e45bf1c36621e139fcfb5407ae58f86e0a152d602954f4d2b74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOB0mH_vz4M6QTCnmtdsa0sExPAJphS4788qloNZxoSr0G9XwYvW4frnPwXM4IZRufFWszIJVp75XkWMeMaV5h_fNjdx_TRz9aVU0T5m5JX0PbaUkgacSLDe0o94MQ231Ln2zkZ4B5XRmZP8lMNSxHx-A9qcWUe8CthQhPJb4LR2K4z5JEBeCCarE02ve3y7o0PWvQHk1uSqh3sE2NU7Mv4pcHHK3h7Fd_geMSnnrcHpEZHLsyO46MvgTtthq198eopAYhJIcNpRLZGwAoVV0Nhgd5oOgnRqsKBkygIIp_6cA84uL90N-k9zGAb2kNQfh0BcoEImMhtDblPsH9_HdakauvmiAUwBSfcm6xjbvtiMgoTTz4lNV-8YdfQIsPcJ_wnGJJWu5C84cGCw5e79RvGjniKaBxWE37evw5WyeObOO6kaiTqsxrYaKeJAyhPKDNuemtaD0Om7NMsRcY8D8u7EZtnTw_xnT9SNGWbe7GAWdCZjMaia_PrfUHYjcjrIGBG1lJi2h1N-7EBFwT9lYVn0FMiE4dyfeLdLy9qvnQRpiTHpZ0gDqenAMSv-eCRt1-clnx1x569QrXQvas4Jj3c86NPCeWB-bRBSXNmBQGyjE2v3OOA63_YIIBfe3LOopA4hPorMhwB1Zx7ZT6nmhkR3ExHfjP5QybnACs3zmVMTv3vvyTCYup1lYyoe6SGwRiI2XR217jkNCxcZbj44vEwQgjftiotC9BNXAjsqR0Q7mZ941ExwKhQLdhXh3ckm94U4RrdBBdnQVuAs7aKR6UEtFN1jULxUDKXu7OFpenoRBfWtEcXGGiz2i8zBTQI3qm0U0ajeCJ0xhFyOP3Y81CGq5JOnMFdPyEHj64jx8wkUrCPKfASwXhY8O8fcorAhruoE8ZbYKSIRjDk6kdwm8O7E1qwVs2KkfvJ8VNgFPIkYskqdjq3dcT8KJgrEn2Yqek1QaZ7qG7St0ddMR0V9OZSrpXcNSxSkg3IkIV4mpLGI-mQuyJB0vio5fGu8mkltMLVtInWooycs_KBAscNTPMeIfU6PFrLXZEYtmOQEuxNSEyUIu68bQR3JqNkgvu_4F7BKIsGtNKFa3uTBolYBZmKySWcFvCW7cVJ9d9t6cYyRrzIEZ7OsYoVjzMlN__Iwn8XAGYrB7qrTbWjZGWBW75MzcyNcmhXpx2uHUS2XJiRtu03yF5fl2Sqto3I2UzZtsZTFD5Gixev7uCZjRSuN2UCPvcPVTQWNaaYgzUbgPdbDXTl5FXQ3s4HuzwuQFijvcwu2JWPfZ0XSm-uXttJQtLj29wgxoGHiaG4QESHJXxXPQsb0c726Fc1LW207ISljhe3DM9xGJJ1Gu82jrKE9EXvDohL9_J9RwbqSs5qgP21vQlKC8kvBddoYtkszLVF_5WY7Rw9CGsL4rGp1cIIyv1ulgPzX2Q03K5Nr0BoeOAc6VwwyRMKkliGoLuHfFHB5m0pXIO_kdsoJZW13Ufnr0zjjw5a2jlceSiEJB8I6ngv_s1iCylWqNauKRKX9ATxSY38sZwNOhtSx9nKKFzxnv1WgWK8XfSN0g2mXem9FFYp5SZM-t0C2htWy_6JLjcM_c5pYjDxYC45QC9W5NPUG5qQVYNUWIGXydjeXzPXjZl53osmIvrYlpx6WgF9HtsiSDM6X3ly_iS2nFt7L9Xeoem13NokbRVLD0_ZqQW0oC00hAyjkocBaGQmDcFa81wZQRull5n48sIbuAEzVWkmfd9AiQbnwnJRXh4M1ogrdoszVxX5_i531R6B-ckj3Mea_UNp6ffiNbk6363ovLEtd_St-9SKytTl0g09XPPFg4mG7onv9yxsulLUZkMo5T0-2WypmDKhmAaPCgFIe6w1HqM1cfToKB1ye2x9I9QCCiKlI48=",
  "id": "rs_01df46fe71eb0292016ab4237d9fa087d0a360a08a182223ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"right_x\":0.38,\"right_y\":0.095,\"right_z\":0.13,\"right_pitch\":0.28},\"note\":\"The first bowl is now resting at the center while the pink bowl remains on the right. I’ll park the left arm away from the stack and bring the open right gripper above the pink bowl.\"}",
  "call_id": "call_tDjW2jkgjKmfYvGkItXbH9tD",
  "id": "fc_01df46fe71eb0292016ab4237f5e5887d0b17622a4e20b53f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tDjW2jkgjKmfYvGkItXbH9tD",
  "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]: [-0.186, 0.804, 0.6483, -0.4259, -0.3103, -0.1085, 0.9957, 0.4034, 1.401, 0.4252, 0.5827, 0.3611, 0.1051, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0034 left_z=0.1927 left_yaw=0.1181 left_pitch=0.0195 left_roll=0.0861 left_gripper=0.9957 right_x=0.3726 right_y=0.0951 right_z=0.113 right_yaw=0.0352 right_pitch=0.2066 right_roll=-0.0292 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -1.6479, 6.8581, 1.8144, -0.1343, 0.1343, -0.0073, 0.1709, -4.7111, 6.4342, 2.1416, 0.3297, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc69d6901a0e7d26c475d2bb0ae4b4bc8d5a9596f9b50d0e4e083794606e953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0231e289fc398771d66a7c3120bf15170bf0a70679000bcb29d4acf0abe663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f112cbf0b0bbfb4a740299964539afe3961fa56de07c514721ffbff145f1188",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.804 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.0754, 1.1336, 0.268, -1.0637, -0.5499, 0.0357, -0.0216, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3658 left_y=-0.3237 left_z=0.0832 left_yaw=0.0596 left_pitch=0.2632 left_roll=0.072 left_gripper=0.0357 right_x=0.2861 right_y=0.0001 right_z=0.1526 right_yaw=0.0036 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.2786, 4.9573, 1.3895, -0.3199, -0.0562, 1.0281, -0.0615, -1.4291, 6.9675, 1.5946, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 1.8931, 1.2766, -0.0704, -1.0725, -0.5388, 0.9956, -0.0219, 0.836, 0.5945, -0.445, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3643 left_y=-0.3195 left_z=0.1719 left_yaw=0.0565 left_pitch=0.2619 left_roll=0.0975 left_gripper=0.9956 right_x=0.2862 right_y=-0.0 right_z=0.1513 right_yaw=0.003 right_pitch=-0.1129 right_roll=-0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -12.4103, 8.9915, 1.3602, -0.4908, 0.3541, 0.0366, -0.1846, -1.7846, 6.9538, 1.6728, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.186, 0.804, 0.6483, -0.4259, -0.3103, -0.1085, 0.9957, 0.4034, 1.401, 0.4252, 0.5827, 0.3611, 0.1051, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0034 left_z=0.1927 left_yaw=0.1181 left_pitch=0.0195 left_roll=0.0861 left_gripper=0.9957 right_x=0.3726 right_y=0.0951 right_z=0.113 right_yaw=0.0352 right_pitch=0.2066 right_roll=-0.0292 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -1.6479, 6.8581, 1.8144, -0.1343, 0.1343, -0.0073, 0.1709, -4.7111, 6.4342, 2.1416, 0.3297, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc69d6901a0e7d26c475d2bb0ae4b4bc8d5a9596f9b50d0e4e083794606e953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0231e289fc398771d66a7c3120bf15170bf0a70679000bcb29d4acf0abe663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f112cbf0b0bbfb4a740299964539afe3961fa56de07c514721ffbff145f1188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOLdCcnOW9JZrbJt8RZr2teBo3LbAbVriIgY1Xvmntjd_y4f43TuNJHQ94CInbPXtu6gIRQm8qNGfwFd5s_WXvOjyWeX11Nwvz0qABCN7qw3_9yiqKar7yITyQcr5o57IBnYuDZcojfTS3ZXVsI3jG0E-O_iUsH3jUbOCl0bDrJhAirS7vuq2eR-accgGzd2YauYEjJi1ebf0TaRmfKT3OKKEItqdVSk4P--YAUd5m7m6u-g9-4xsMP7M9gRlN40OCXHz0d84hBZfIk6zozeRIIJhtplV62g1xh1wUrn_Uuo6mpGvQw2XtjvwI_FlV8phTMnORpHyTCOzJ0guvdtLHeG4zg7gOMdYpKKwPZuGZO34WHf5OrwWNy2uLCp4MjPj0LR6OutLeNLBqr47JcoAtLiAgEPEgXmRynTQQsA0lzjW6Cfm-YhpTRZNZPLfF6KmU9s7moJlQswuQ9dRA-UGOzc2JUDVumnOzL0_WTHfytj6GTrz73RAgQ9TLFCFs20uIJA9_k8R5Uu1J-77n6Jt4B7HzrdtACW-oscT3NNxoYJS5HCx7b01F_A7s6reEHnBAMxaQrU1ldNFCXg7BcopE3BGF6n62leAbMlRXjcxIX_pltI6ewJZOHxviaS22HStKQVsqGRWIvolI0WMsD8djvwlBCqrpAIt_ZdMNP6hX6y19DA-_1GzQjty1FuJjKg837YvTq5pgecb9O28DfLp6XfbSwoWLT4Y94G07fNiYe_XG0eWfAlnqXgGO1MUzNblq5eJGI_qYwpCXy-kaLNh27X1D5WtRFO4oD5HYORlx-aBipuF_41hcsNn0HFgwKK3hbcTqQ7JVkT-ce6qXEhDjwKIRsz5-pbN5tVxKicilffmwBsLG4RdWUagOSlkpZX_3b6_IsonsJ8o3IAuJ9UrKSGsb1YLeVdpm3l9RDdz77tSGar5F6hHBl5CFUNMr0nteceu6YSvEgeK-mvwInxGgihUPLUVCQLpbO5KB9uF_SoznnTcKBj6xL0PJR2FvvX8u72yCGAeW5rLfd438w4_6vMljql55kY2DsXoUFZjU0lbUbIwv-R929MMV0S_YPLS1RsehESDyMT-jxKnF1sdGN00Zr8q1DjV1XRnD4U6Ey8tIc_L-pqiRwubCzksd0q2sZuVnUdZh6csALQH8FjAK97yrNiA04xXPbN8bHguchltqXgOTumgLCfoPOZBbruITRfbtYU3MuqbV4IVM-hI_2nBnEvptDm0Vc6hqbJyEYavttXZWi6GJg-24wWiFNm7WPiKGYbdYWylBU5YuUBTLEBGGqSWiAi8vrzkRIgJwcbVEuH9RlGoFgn7CIczXdQrf6AxbyC_BrggorBnLTzE9-v351OP19L7AZdsOiPWvIwqG3cQiS1tdvDY4OAbwA3hmViT89Zb4jopADIaB-EZR4WXRNDYrafU0MkrF4N53HDAhbFvjGwYmLQEUHu_-wrZe0VBUjicT8d7rJRSF5t9K7zBLYpEgIdrkx65qiAIrKFqRmAVodyXqw-A_Jnb7o-CXtpOTg0hzO4b-E4OmOH7HjaiXMkpSBSuEyNxecgtUk6kIkKa9uWw-sLu7LNCxPJ11izerVX_fZrggfGVhpWTv_D7IeJj2ZGAnpSNZMuJ42jaQ2s2CfOK94a2CWzZZ-t_dRX9sE5mVd1yT4zI59cwOR4ZkDZx3TvxVJX56ici5fx6XOoJ0OmgIleL3Zgg7BTr4xm0BuFe766oZxpj6tswnPGGYD8AEql73gkLArB9gDnhFm2uKnBiWfDYG0n-zDWuYYB5icLn9salesK4Fu1aQih5S5YHoiKD8mgXSKBAGPD_5ND13npqLOCrG87MW9uiWr0GUmeDBnaFeGx-WeUCqqlrJnogCo2ijRNgUXgPvnJOR4uMDlCHyEuzLvvN3jpK5kqVxlhjg0GCV1qkXZCT7Nm8JCQNkbNmN3CqlF_bFp9lBZClib1O4ZuHPsUL4LoY6XANztOMn7AqyVx7s3I0meH5z2l9gcvt1KQyZsWLKiP7EO3_GH_B2fEmojzimGN7zox3fua4BiLlRTagjuzyZ4bCMaR5aYZgafpZsFiXS3Ld1Acr-CXE6rx2tb8oHR1ARmiEpmNVKGLSyLz0yM0OQxcyp285EdxBDDgDk0Xhzwlq55OBhGVl1sikJ6BhpGO-vEsYfpM6cbFZTzPA0jPHsjVFN57Swa_ruF_PfiY5CZJY7-CyeLVybglAU2TwG8AOy26dMIkfQiyYnZvgqT4nOA9gh-xFY-6wijXzMuJ5NNUZcHHA4p4IgYCvyUfYB6rEipMTGoLq0MMh5Kfh6ngVfaclaZWqOYSfqDjyOsMsjcBzI1hkCCmBK5gsXKFeN6KJ9ABe1_4Z-kmnd9YkgOzUEHhIVr_l4tkmzjy20reCCA1WOArUE8HFPLxsARl1sVSanpPPPvS3uef0ts3Dl0GgY2fb5dJe4qMeHzrowtoPFnoXOlvrtBHJOypY7Jy0fX5L1__nLZjV3LIqNfPa1Wo7H3ejzTyZ6sbhXkuCzrK5GPeQknkmcTRcHD1Jjht96Gc11S5wy01CFtMPmvCHn_ekT3HodlNkF1QorW49TIQTCmbQzFQccXh0UQhMXIJZ0HnVjUv42CMXGUGzc6bhzqaPb9nv5QVOPR9--4hzVUZNTlmduNdVt_6yB3dXLm-L3ZQoB851bX5y0qNiuxOipSW8vVdzcKcHaGkv2xS1DQQZx3_NoBvSMw7jyu6e9WNy3SJJiruKlhNtz4An5jFZuZXg4S7GDUxpSgxKpuZo357cuv_gYe2bRNDr4oe2T5VMuBRbgUvDtwpM7fr3HuY1AI_iPTtrL4wcTHJgN1y5WA_62nO4ld2o9nWGYPnYSPkV8Olz8oz4X7pjgviqbd9BsxpZ2SaoDBl9tQkM56CBk-XRWY3FfSzey8iOwzSe0NVdUs7NhBLeplkQUq7ecjplOqNDHRIyMmAC_ZGjMTJJzXgGPHB2vrr1VtTaniaVLEaD26U1fyNA2uXZSqaoM51KO8wda_B81pReAeMyPS7QtYmQTdjX8n_jHlGfS-8lIIrqSEzwn0d4Ewt3bmDQv3ClQ95B0WJ6kM3V_J4NAAQ6oYfmJT210eJJFi_gJgbTo_n3EG4wR6tfc4PJtvl4ApVxnVh3kD2kuG2AqBef6SCJaCGpH1Jxq9mEhttpEYydZ6rXLBYpXEmiufbxeFlcRIb9izMtqN9N0std0UxN9Tl_A2mDmEBEKKdEAofLzWESbal-OwKfAmZ17w-9KybqgpI_2vEge5qpn9Z0g19Hc4Gq2IZLOjft7rI4y_3M-ln4SlQ5KuKHJSoiIS3CNWEHjNQ-EzaaQgkCkOM-8PZFGvTR7l6tsLS7Z2lflWIZyuE3szhRMN2xo9Lzu3UH4UIluTfuMaLskOmyvj3Ruw5fYTXm4R3sfK9mprBIFcSG4aLQe9ABJS_v-9P5Skst31B6zgx00JqnqE1rtTDIk_WMiAA2peqbnmeyoYRv0zioOlwFwXB0-l9Afh1NRDn27Fq77Er0j030dYIoJEpa3wnemQxbe4GbKERfZO4qJMvImIb1Dwcu2BLwCl9yWFzn3s2vw2ynnUHNoiFSupeJ-q7PAeP8ZDyLYWbp8jWFclnaR0UzDooheRr_grVLLdGQP0JlKnHmrdEkQ-KQmeC6D7EEkTLePenAp-MHAqgqfyixT8DVd3k6rKR6MewbaHkCgBLnh_WspeN2blBLhUU2wZHNRkQKp-QDYfAvsTwQqnw5IXKSdAn0idMgw0wdZGB1ExlvzseSNISLPSfPkidE29MlWPdQcy852a2jc=",
  "id": "rs_01df46fe71eb0292016ab423861be487d0a30814ba7046af46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.072,\"right_z\":0.047,\"right_pitch\":0.28},\"note\":\"The middle stack is visible on the table, and the pink bowl fills the right wrist view just left of the jaw column. I’ll place the right gripper slightly to its right and descend to pinch the bowl’s rim from the side.\"}",
  "call_id": "call_wKkoafa04Dzd60oP0WisoCMr",
  "id": "fc_01df46fe71eb0292016ab4238adb6887d0bfe68fdfd0ad0c81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wKkoafa04Dzd60oP0WisoCMr",
  "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]: [-0.1856, 0.8074, 0.6483, -0.4446, -0.3, -0.1017, 0.9957, 0.2989, 1.8454, 0.3244, 1.074, 0.2821, 0.0555, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1877 left_yaw=0.1062 left_pitch=-0.0037 left_roll=0.0929 left_gripper=0.9957 right_x=0.3767 right_y=0.0684 right_z=0.021 right_yaw=0.0276 right_pitch=0.1441 right_roll=-0.0618 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.2786, 7.1316, 1.873, -0.1685, -0.105, -0.0171, -0.4034, -7.0769, 3.9453, 2.0977, 0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157c183c8287c93c3c6540f72633857bcfd3b05140ed4fbeabe3a78016114613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442dd569f42fcb64d414ee5ce6efb564b50c3b6fecf6c5e3757d2da14e981535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fff972b0d324d54fba51bd464d3d59b3200fcc90b2bdb66e9c4435f848636c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.721 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 2.1059, 1.1133, 0.2817, -1.0565, -0.5507, 0.9952, -0.0219, 0.8314, 0.5945, -0.445, -0.0151, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.3631 left_y=-0.3202 left_z=0.0644 left_yaw=0.0465 left_pitch=0.2426 left_roll=0.1033 left_gripper=0.9952 right_x=0.2861 right_y=-0.0 right_z=0.1526 right_yaw=0.0032 right_pitch=-0.1083 right_roll=-0.0033 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -10.5778, 5.6547, 1.4725, -0.5006, -0.0317, -0.1441, -0.2256, -1.0462, 6.9812, 1.6386, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.186, 0.804, 0.6483, -0.4259, -0.3103, -0.1085, 0.9957, 0.4034, 1.401, 0.4252, 0.5827, 0.3611, 0.1051, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0034 left_z=0.1927 left_yaw=0.1181 left_pitch=0.0195 left_roll=0.0861 left_gripper=0.9957 right_x=0.3726 right_y=0.0951 right_z=0.113 right_yaw=0.0352 right_pitch=0.2066 right_roll=-0.0292 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -1.6479, 6.8581, 1.8144, -0.1343, 0.1343, -0.0073, 0.1709, -4.7111, 6.4342, 2.1416, 0.3297, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8074, 0.6483, -0.4446, -0.3, -0.1017, 0.9957, 0.2989, 1.8454, 0.3244, 1.074, 0.2821, 0.0555, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1877 left_yaw=0.1062 left_pitch=-0.0037 left_roll=0.0929 left_gripper=0.9957 right_x=0.3767 right_y=0.0684 right_z=0.021 right_yaw=0.0276 right_pitch=0.1441 right_roll=-0.0618 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.2786, 7.1316, 1.873, -0.1685, -0.105, -0.0171, -0.4034, -7.0769, 3.9453, 2.0977, 0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157c183c8287c93c3c6540f72633857bcfd3b05140ed4fbeabe3a78016114613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442dd569f42fcb64d414ee5ce6efb564b50c3b6fecf6c5e3757d2da14e981535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fff972b0d324d54fba51bd464d3d59b3200fcc90b2bdb66e9c4435f848636c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOP62smc1sS55DWNvBnTBfF9o-vgmp9qoK3mbF9KKr1Z6cizLDDbyd9WQuok9dJleqq8dy4S6mrsDohS5oJxyqy69A18Uvg3uilIETxNA3_59VwrQ2JI9YQRtvDzhKMPzhvCqct8jW8hMrV2Ctb_R8yYoFzQwWWWGiURwSKNFG2hAt5yteP8xKRdv6rpPpZuY2_Lk0V_SN_lFDWur95ifChmhlZy0NzRfYSFL8U_WxbF16N8d3A-8vrl2hwzr3sQ4jR7rlMGVUGHHsL7nf8WgmgnLMPimZ5H83eYDZA9BcpEVKScNFS5hHLrHMDI8MlocryGzqVkqdmvKzWUqVLl-b2nQiRyMLqHfQjf9LTeQw1ot7RRwJYfyFTYkXhMcvcjqN1GZ5SWyLxelhJbkitT6NFlBSt-5Roqfr3X2n5k6cmWyxsbiq0qRqij_osiPrRHulWlhSwmpa2WhDY9xrqu0biWReqSuD89aCuCHD0m73BcgWYkhOBnvr5HnQ8BCckzi-ErlJwDZagckTmv-BKxlt0YSPpTtRCFHdTFRSQQYI-FqSAjuOauVlM4luWKRtxfDsAFnppHa0chGM_Di6v_VU4ygwQrG11taLlST7bI-XLjhZJoJWV5Oh8v0eiTieGcxJjYfOQIYgJyTg0zF18dpCNUq_gQpk4GetQDF3w1A3BESiLPl1Err8y7Lqw0k1SDK2V8j07VY2GH52imQsm2bR4CBOlmts5fXeGhe3wmOaxUywA3Gwiouh3s0N-qbji0NfgP_D4zNaEfhpq4aitNGAEDt3F3gr2Lx3vte1-csY8OpU5T7zuPI3dE9c8UfYF8zdaYnN42kzn2W_8ibp803hiCh7BdY9YiILF1I1H2DOFIUEVxH2FkNNS6YIZ0yBLozSALtAPJQ23AXKyBcxylk3mltVM6ZMkSMY_kNdiM-xy1hpp2RxyAtpNNgiWArwIXWnb_R8Yuq9lTKhbu8mcSUAIM3QurIYaJ5ZtIvIYfaP6M-uVroPqwVCuQx15k5QU7sZyLQB2BnjAR4OhVAo1KpSnz9FdIJru3K0M2qGXlak3uamElcuqC5R7a4WpxhnGKpBA2ghO946I8kNjXp5CcDA76yPDv8BsPyMgiy5aojBVKeZgvMrRpsWsRs1-Uo3TTpa8UiTS5TCYfWEAZWFl50n31IJ0Ta7daxBno7M_deE3wfpXymJ1cWazFoq1se07bEnDz_WODCXfp1x4PBb7ypfwxEUM3AQdpaUOkYE8oHX4J_814y_3m45ZQuPl3Cbcx3eA4yntc_20_yrhJcXy92F-Rpc9ioSvRtguHo8rr-fKRuZQ4m8Ll7ANQ8VEMmMUgAoHCNTHHS5rh6LTcyLN-ZGLBUqaUAmbOqdFOFEzONLpkHU4g_RnynZpE1OIDZpTDf2OlK8eIMk5t9CfW4Y-MmOB3_0aiMlkApAO4uACrbqt1OH2JrJJ3xbHQ9bUrzGLiJb39wj1zTBc6coZBsOiOKYsNv6Z6hsE3H1CFneHVf7Aru8Vq4gDIyxR_ER2dtFFoBJOJMHdmUGSAuSV4oqLJ9lIbXjGEkcGIvI6HV01e79bSxUUTPLbOqBBIYNSsI_JKB20cMeKxb-C8wcXRNq8PgGeTFxX4SKhBaM1lTGYLmkJT0A=",
  "id": "rs_01df46fe71eb0292016ab4238dafa087d0901c81818143e926",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper reached the bowl’s side at low height, with the pink bowl’s rim between its fingers. I’ll close on that rim, then test the hold with a lift.\"}",
  "call_id": "call_Daae162nZVGwDI4TtzEY9qOP",
  "id": "fc_01df46fe71eb0292016ab4238e676487d0ac08623a86ff93e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Daae162nZVGwDI4TtzEY9qOP",
  "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]: [-0.1856, 0.8097, 0.6483, -0.4465, -0.3069, -0.1013, 0.9957, 0.3035, 1.832, 0.3332, 1.1603, 0.2604, 0.0742, 0.0396]\nstate[eef_state]: left_x=0.2909 left_y=0.0033 left_z=0.187 left_yaw=0.1117 left_pitch=-0.0066 left_roll=0.0981 left_gripper=0.9957 right_x=0.3875 right_y=0.0775 right_z=0.0472 right_yaw=0.0347 right_pitch=0.2467 right_roll=-0.0064 right_gripper=0.0396\nstate[joint_eff]: [-0.1026, -1.4427, 6.9812, 1.663, -0.0464, -0.0562, -0.0122, -0.3077, -4.9573, 2.947, 0.9548, 0.1978, -0.1832, 0.8474]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c29f4d9f41cf5a355ba0018c50a9472dec1286277c3ce1f721feb0ad60663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e96df71dc8163bc348b7936cbbde5801dbcd28e01e5b3627bd1c3ccb31bf7ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d761b34d853a7ad22ccc09b97ca7808458c591dac355013107e1dde36cb48a8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.088 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0538, 1.8931, 1.2766, -0.0704, -1.0725, -0.5388, 0.9956, -0.0219, 0.836, 0.5945, -0.445, -0.0151, -0.0269, 0.9966]\nstate[eef_state]: left_x=0.3643 left_y=-0.3195 left_z=0.1719 left_yaw=0.0565 left_pitch=0.2619 left_roll=0.0975 left_gripper=0.9956 right_x=0.2862 right_y=-0.0 right_z=0.1513 right_yaw=0.003 right_pitch=-0.1129 right_roll=-0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -12.4103, 8.9915, 1.3602, -0.4908, 0.3541, 0.0366, -0.1846, -1.7846, 6.9538, 1.6728, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8074, 0.6483, -0.4446, -0.3, -0.1017, 0.9957, 0.2989, 1.8454, 0.3244, 1.074, 0.2821, 0.0555, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1877 left_yaw=0.1062 left_pitch=-0.0037 left_roll=0.0929 left_gripper=0.9957 right_x=0.3767 right_y=0.0684 right_z=0.021 right_yaw=0.0276 right_pitch=0.1441 right_roll=-0.0618 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.2786, 7.1316, 1.873, -0.1685, -0.105, -0.0171, -0.4034, -7.0769, 3.9453, 2.0977, 0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8097, 0.6483, -0.4465, -0.3069, -0.1013, 0.9957, 0.3035, 1.832, 0.3332, 1.1603, 0.2604, 0.0742, 0.0396]\nstate[eef_state]: left_x=0.2909 left_y=0.0033 left_z=0.187 left_yaw=0.1117 left_pitch=-0.0066 left_roll=0.0981 left_gripper=0.9957 right_x=0.3875 right_y=0.0775 right_z=0.0472 right_yaw=0.0347 right_pitch=0.2467 right_roll=-0.0064 right_gripper=0.0396\nstate[joint_eff]: [-0.1026, -1.4427, 6.9812, 1.663, -0.0464, -0.0562, -0.0122, -0.3077, -4.9573, 2.947, 0.9548, 0.1978, -0.1832, 0.8474]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c29f4d9f41cf5a355ba0018c50a9472dec1286277c3ce1f721feb0ad60663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e96df71dc8163bc348b7936cbbde5801dbcd28e01e5b3627bd1c3ccb31bf7ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d761b34d853a7ad22ccc09b97ca7808458c591dac355013107e1dde36cb48a8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOSA7ez4WuhtONZDHG_1UQlsOFAqLjshYXdxJUBGdHlCaIVpvjiH4cV5jxmNRFRyioeBGbOSiZmezZh5bAflaPkmahfPyT0dCQPvPbtIUTuL28CBR3vglJI5vR9lqskS-VC3FdEv9IpTZ7PJVngO9TJi2rCTR5LL6f_pKMfZqX23U9bERFy01FgHGsliPH-uqnGOE28P9Jx2dgNvCVd2iy1rAoDaBfPfTzj3f0U9SgwdyelY9M3KorUxW_p1itv3q97Hl4VLh1T0UcQGM-f-ktBiA564d65nBw6Jc0vgawvvYWJOEScU-ojmrxlbAZy8YUUS5Wpsjz8I1tbw8iHOgMbTEkvFqa_yt2RsHH0D_XfsDh5saVPms_UHJxLbwm7VfToexsnu2s0O8pfuXj95CeAH4aX-x-NWRPDgJ4UbgdibAVcKgZN3O_A-V3dTYKEDop4Dt1S18fvF98frct6j0mMhVTiSY5eKTLCzifHOiJbwfFAhY47NEjVf09PYmh9l6vuz5sbrUlD4lcUnJVl__9QbagaWAUnYl5OflvLhAsQ_CBitHtHI_5htGr4ETalbvgle9uA0Tn79c70zpXa0jRh_cX6mKTvIlmrPg8V-35B3tJF-nxTlxn1OPM9aJ7WHhcUypjO-JnbEQ5k3ERKpKYZjzrH9JrZ1rmchqK4JJL7OyIH1IJmc4okPipvjYspODovvBQJuhjiZkf__VJuU19kEqv6FrpZrhfG01iW46olqJltQiwkn-kmio5J1ZvEBWl7w5TfnhdGTUbSvF-jl6Gx3RSduHLxN-WPVS906XhcnR_9mHOF32SjjYvmDX3-JWa3M4xf5BBnkCfl4GMc9fFhtu2gX3zdNG7BTBc3AbmfIR-jjxF6WkoXKuN5v1hiSnmjA4ZeKXBxDXqAzwdIt1ZEaucSCxdR21pel-v7oiLiuwAyVBl0ytgR073AiMUBe366T46kJWC9zUqkORi0tGAyR09sG9Zm_sg4aauEb4Sv-QGeysqVra7N1mdGZKiuIi121xinHrHcf1ImZqXUnO9w6SdhlrG36jz5zHPk2cmE0G6yxofYxmxgdEymKhoANvTCPAPKqPTeuaPXU0cCTccrNr-m_qFnNkpnTha8aw3IcuqGOszLVLi0KbgvA7jBAepetfwG7FwJ3y1nbfPBh8FZdb5Rfz-it4U1HoZ-j9SUvnqVvS5tjCRKbMecAJrRICBw4ZHba_eVAYZ0y6Vm1qik3eRnZmd604YxAzXFKztcpqj0M0Q-IjFsPqXlK_dLJ1SZNQU97EGVw_m2xSLNfyaXjwcNJRHRhAq-p_qbOvlorUN5g32L54klvcbQ_NJrwGov-iDVOJVZ7gQnKl8S2nRzpSslEJanAJfY7QJeDFYdd7gmhOfs5IjkFdVbBARCUFJFmAhJtZjr3-jURrRYnsL32w==",
  "id": "rs_01df46fe71eb0292016ab42391b08c87d09241814bb5820f7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right jaws stopped at a narrow gap beside the pink bowl’s rim. I’ll lift to confirm that the bowl moves with the gripper before carrying it to the stack.\"}",
  "call_id": "call_2iQR5Wo81Ggwc4Ty6jbm4AYA",
  "id": "fc_01df46fe71eb0292016ab42392259c87d09281584a52486491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2iQR5Wo81Ggwc4Ty6jbm4AYA",
  "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]: [-0.1856, 0.8116, 0.6483, -0.4526, -0.3073, -0.1013, 0.9957, 0.3008, 1.2964, 0.5053, 0.4488, 0.2523, 0.0689, 0.0395]\nstate[eef_state]: left_x=0.2902 left_y=0.0035 left_z=0.1853 left_yaw=0.112 left_pitch=-0.0142 left_roll=0.1007 left_gripper=0.9957 right_x=0.3852 right_y=0.0771 right_z=0.1533 right_yaw=0.0422 right_pitch=0.2423 right_roll=-0.01 right_gripper=0.0395\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.8242, -0.149, -0.0611, -0.0122, -0.1299, -5.3675, 9.3607, 2.0244, 0.0904, 0.0024, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803a057cc3c3a86b354a060bf94fd747a5fc18140b4a2f570ec0b1eb18088cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8505d3c4adcf7629805823ab116a6028917de0b684687ac94a44dc090e5285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adde51e3209af1da24813e127fa8f1438d16e4632f4a02275cae2d16fcef80d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.722 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.186, 0.804, 0.6483, -0.4259, -0.3103, -0.1085, 0.9957, 0.4034, 1.401, 0.4252, 0.5827, 0.3611, 0.1051, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0034 left_z=0.1927 left_yaw=0.1181 left_pitch=0.0195 left_roll=0.0861 left_gripper=0.9957 right_x=0.3726 right_y=0.0951 right_z=0.113 right_yaw=0.0352 right_pitch=0.2066 right_roll=-0.0292 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -1.6479, 6.8581, 1.8144, -0.1343, 0.1343, -0.0073, 0.1709, -4.7111, 6.4342, 2.1416, 0.3297, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8097, 0.6483, -0.4465, -0.3069, -0.1013, 0.9957, 0.3035, 1.832, 0.3332, 1.1603, 0.2604, 0.0742, 0.0396]\nstate[eef_state]: left_x=0.2909 left_y=0.0033 left_z=0.187 left_yaw=0.1117 left_pitch=-0.0066 left_roll=0.0981 left_gripper=0.9957 right_x=0.3875 right_y=0.0775 right_z=0.0472 right_yaw=0.0347 right_pitch=0.2467 right_roll=-0.0064 right_gripper=0.0396\nstate[joint_eff]: [-0.1026, -1.4427, 6.9812, 1.663, -0.0464, -0.0562, -0.0122, -0.3077, -4.9573, 2.947, 0.9548, 0.1978, -0.1832, 0.8474]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8116, 0.6483, -0.4526, -0.3073, -0.1013, 0.9957, 0.3008, 1.2964, 0.5053, 0.4488, 0.2523, 0.0689, 0.0395]\nstate[eef_state]: left_x=0.2902 left_y=0.0035 left_z=0.1853 left_yaw=0.112 left_pitch=-0.0142 left_roll=0.1007 left_gripper=0.9957 right_x=0.3852 right_y=0.0771 right_z=0.1533 right_yaw=0.0422 right_pitch=0.2423 right_roll=-0.01 right_gripper=0.0395\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.8242, -0.149, -0.0611, -0.0122, -0.1299, -5.3675, 9.3607, 2.0244, 0.0904, 0.0024, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803a057cc3c3a86b354a060bf94fd747a5fc18140b4a2f570ec0b1eb18088cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8505d3c4adcf7629805823ab116a6028917de0b684687ac94a44dc090e5285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adde51e3209af1da24813e127fa8f1438d16e4632f4a02275cae2d16fcef80d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOYRqV3MOgY-huSR4jy2qPqBxNOXdKdxwN2P9LID7yWQB9DyHhq7xcH-ihCWZcewTmJjj_P5yCLi2G9H_T9OSbj8pVqDY3iTi5Lx1bT6IRLWjdsoGLsVB9sFQEMABA_G7978QjBWxkf31iaRLpeKa24_rqV62uqYxIGcXHMtTp2hZE2NuzuJoF2Xom9qNsHzJwrze4KOj7QP0mj92yDbT4AEBN-GORVonK3s2HHV527A3068RqZnXrtuPnmyX274NDwZ1cAbPZ2hhlDlRXkqBcloiBg9sqc0wD6Jk9_a-Eb45sEnbAMItP9t4WORFSZUHV4ypAwLJoZ2EZW2ZUuGrKopi-rK_TXb_sg8vZ_Zm4uaasmlSmU63Rb68h7rSHSJ9-k8C6j_NhEYRlZzmGEmz7jqhwE76UZEiOtzoOu4JHbcbsSGncZ8Nfz_oHujyh7N1TY0wX_0c-xOu8gYLqctCgyTQIbSk0Rx_Pz0n4Z6ThbFamQmzZb-dI4t7B0RrK1YgvN-B6m2tqtOVsPuLAgYobGsfLiEK_xFT_qgstdOWK7uxl4p6JJe5BM3bCLXfZ_3cGvBaob1R-jOZcOSOY631bwU8EEmwuaOdkZOaZem8MQqb4agvl9ntqX9LalYd-z1_1EoU177SE8xt5fW4LtztTxJZqUbr9P3s4OoPhYYRLJk57qTSiZDklWYiJpj-ekR_sUZzsBYg2ZpdnHM32VmA9Wqytz3j1BpFmDJXwm4pTdwYooAGadH16Ig9PBH3KaVuGIuEVBaALMtDpVukBlLe9I2npNV6RYtlzma4vy7MV2IBxaegCKT5sAl0MEhN6P-6nIyxo3mUDBX3Oy5_bX9LAvHw8IFy9YUnifAnBcxq63bYsDJuR2zASBJk0zbUEAVxuLjdAqrQQj-TYgdx7lcjvmvY33rlnJz1oMQme_HgLJxDpyH9RKVp9Yb57Idsa8rmFVbcVxjNd1qcnX4awYIOdp-d1apgFyvkiR68CxKAOfhtq2_8tumQAQdnX-m97GQH7UoOegMwrLBEueSVWueQ7wjCNBc5GOUEQaqHZToi83iJvtDAvOisgf8uJ9b7wgJMpixkTWbG5SqNqTxy62hTVcyjkpkm8CEc6FXrsTewbBky9eegOrx_jkvDZ3nLoc01DDlVrq7foGK-aM_n8YD-QY-H_eUZobMzJ2Dknv5XXn3vD-Fqgx4vuekiiyj1dcrA-Uq73iO0EB8j7q599V96IKk3QMEX7O3xx9yt8YDu4mlkTqfg4e5aWsxMY0glaoTtBHXzNXt11Vq5pdCXp-_5hhIH9ioqHkS_f-bapbEzqmr99bXZbEpADt01tsLvY8Kb0JY4ku1NHRXxgfgLk-pZiCTQimdD2BGGmezBaI1RsDDeDVOqzbnDTWmPpqG0ZmfeZH90ETU0a8q3oBH32feK0-WJgovBYMFtau1hd6E5dA3L44cAUe7mQNhD9mGupmzXCYZzv1VDIUWQ3z6qJH2KmEO1m5iQb8odOXXeElcAnNfKRah_c-YymAMNtcTGts5Bek-75CK7kPOHjVzJjuwZ5980q1tI71FS_TLjYTtOrizJgYf68PYhKiUeIBXiletG9SNZCvK0x4b0ILs_2y8B9s0seHGBg-IjyIqiJOARa-VmeCHHEVGwjQoGzjV6HFCgBYbHUO_NCzKe-361-UoXTR5sJSK-lh7aSztCXAWTxuqFmfMFAF83kZ4bqPJsHqbQhiOskm2uV1DOnDNZD890Sguv2HIRuTpkSkKDdsTym0ihOlA2sQtn9MnVrMHwmEuQYxOaJ4LbrouzixuJNpDku5-9aoSMUVm5g0Cc5TxF6QB_1NhecJbVgROmF5PaE-MFONoz-ZcnryUljjigBRfAojQ1KvC6Qz5RdFffs2CyBLnXqC0eRsNo9Lh_Dzv-ERAIzhQn9j9ODobMb2hkieosxw8g8oFnO5vvh9yUy5lA0-tE-EkRmBvo8V612GZyLSalB7Utj-1Kxf5hmU5xxotArelJ8v55tili2OOnINWpmDH5nIcJ96pbUNnr9Uq4-UXhyq5UOoiU97oIHUZ9qLSO0URqoMhVZSusjziH72P17ZUhY3ovYuQHYDczmBvtZC8xWPgu8orLkbswAOLS0NosCnbrN-XKg0HUFyeLO4BeLnUxCe7iOjCoIZdDNVLSsY4z3yk-RE_A_9b_YQln7BBjWr9mZMQcWSYSYJVHmfELuq89CyJLNBQaHVekBUOFd7tqo2Z2-WzSBx2QrtAnlngBBnqsQPA-BgdayykrxJq06qvy-zP4lPZ5v8qMj0rfu-GF2mO30qU_rxgSrM6S_3k0C18Ly9dCdnLci2kQ60VH3hx9Uv4W8t_RHQKtXT2xBYwAGRj0QH7A2vZnH3iExNo0EAgWXNXclBgwKFYBiM1Zm-oQWJQZh5M1IezuOAuDDysSN_D-jiVr2G5Y0-7q6S2Khd5wXD-Jir4Ym7q8D3v8DEQsqmo35QQWnBvUfqs37A4JCY7BDqBSt1cpA-JDJSI_kmv2rGB9SV-yQvCQZdX5g6SrqyApZNkHlF_h5dsTgPr2TabgKeogVrISSI5cRmWZoq8l2WZACMruaBDC27rYTmbegvuGAvPR75bcMPO6Q-XLKjNvj3r8I4xifyG5CknuzFNw==",
  "id": "rs_01df46fe71eb0292016ab42394a50c87d09d8a21af23eeb803",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.245,\"right_z\":0.19},\"note\":\"The pink bowl rose with the right gripper, confirming the side-rim grasp. I’ll carry it above the pair at the center, keeping the bowl elevated until the alignment is clear.\"}",
  "call_id": "call_p4Tc8xkCRHewnKP2PNotEcLy",
  "id": "fc_01df46fe71eb0292016ab42397bff487d0b056377c4f80e835",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p4Tc8xkCRHewnKP2PNotEcLy",
  "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]: [-0.1856, 0.8162, 0.6483, -0.4599, -0.3073, -0.1013, 0.9956, 0.8467, 1.5589, 0.8852, 0.1734, 0.7109, 0.2817, 0.0402]\nstate[eef_state]: left_x=0.2895 left_y=0.0037 left_z=0.1827 left_yaw=0.1121 left_pitch=-0.0255 left_roll=0.1042 left_gripper=0.9956 right_x=0.3651 right_y=0.2443 right_z=0.1724 right_yaw=0.1019 right_pitch=0.2006 right_roll=-0.0486 right_gripper=0.0402\nstate[joint_eff]: [-0.0342, -1.7026, 7.1316, 1.7411, -0.1392, -0.0366, -0.0171, 0.1436, -7.159, 9.1282, 1.7167, 0.4908, 0.1587, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517b9b0bd210346a4ccc571e3449632a6f5164fe792a455b16a75f1113aff6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31fd914d152f0d0551001caf2547227a07e15325ee99db877c724acb22623fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c6d3acb0c684981a4e42a53b1250fe7b4a3d7cbdd421dca0e3768a235db19b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.414 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8074, 0.6483, -0.4446, -0.3, -0.1017, 0.9957, 0.2989, 1.8454, 0.3244, 1.074, 0.2821, 0.0555, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1877 left_yaw=0.1062 left_pitch=-0.0037 left_roll=0.0929 left_gripper=0.9957 right_x=0.3767 right_y=0.0684 right_z=0.021 right_yaw=0.0276 right_pitch=0.1441 right_roll=-0.0618 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.2786, 7.1316, 1.873, -0.1685, -0.105, -0.0171, -0.4034, -7.0769, 3.9453, 2.0977, 0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8116, 0.6483, -0.4526, -0.3073, -0.1013, 0.9957, 0.3008, 1.2964, 0.5053, 0.4488, 0.2523, 0.0689, 0.0395]\nstate[eef_state]: left_x=0.2902 left_y=0.0035 left_z=0.1853 left_yaw=0.112 left_pitch=-0.0142 left_roll=0.1007 left_gripper=0.9957 right_x=0.3852 right_y=0.0771 right_z=0.1533 right_yaw=0.0422 right_pitch=0.2423 right_roll=-0.01 right_gripper=0.0395\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.8242, -0.149, -0.0611, -0.0122, -0.1299, -5.3675, 9.3607, 2.0244, 0.0904, 0.0024, 0.5299]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8162, 0.6483, -0.4599, -0.3073, -0.1013, 0.9956, 0.8467, 1.5589, 0.8852, 0.1734, 0.7109, 0.2817, 0.0402]\nstate[eef_state]: left_x=0.2895 left_y=0.0037 left_z=0.1827 left_yaw=0.1121 left_pitch=-0.0255 left_roll=0.1042 left_gripper=0.9956 right_x=0.3651 right_y=0.2443 right_z=0.1724 right_yaw=0.1019 right_pitch=0.2006 right_roll=-0.0486 right_gripper=0.0402\nstate[joint_eff]: [-0.0342, -1.7026, 7.1316, 1.7411, -0.1392, -0.0366, -0.0171, 0.1436, -7.159, 9.1282, 1.7167, 0.4908, 0.1587, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517b9b0bd210346a4ccc571e3449632a6f5164fe792a455b16a75f1113aff6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31fd914d152f0d0551001caf2547227a07e15325ee99db877c724acb22623fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c6d3acb0c684981a4e42a53b1250fe7b4a3d7cbdd421dca0e3768a235db19b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOeu0KnkRigGLCsjWZ2_uxr5jrmceXYj7IoDIa75C6hCpuixLZ9nZZOxHVCJelgv8TjL-h1JG-2Xllqe4imt6pAWdkFSbyoifry7TyPv5Q4GhMz3Zn2ts09sON_8dcK7i8_1k9deBeYHlXWI9HwdXyHj2Ktz4FQzEgp1WNmV-sGpypQk8L5QvlPA_eQ9V9xZk6kQ6H5HrxQWhrh_u5rZsxfKB_Bx7aNAmSNFYCyozXZtZKfJWtQBW9WpjSy6j5cr2SsU7X9rH1BINhB-28qWDayFa3XgpNrV939Ta9KwXXu2h5QRylOZhLyAH-zGm728ebDaavahi64cq0xrkZnl4V84j3wBP8o5xV6PvPujKEctCkmFOPkh7ADgYqS5FFMsCuLiD75VG4O-uvZDHEvVKaqnziBoXfMb_ykl0Q4jR4tggG1Gs3xz_e9Gprlj-21DC5utQsXR-icWZvpy33cBgVpxmiSLFsegPBeqxcz776250FDki40ozu1Dj69W3JtCt4TxHhQ6LVaGpMILatSP9eD19kgvpdfTqIYNQgNOwS89psA6MfPLd5SrWFjZKu01NQYZta6DEI_jxFVQ6CKrIm8zow6zUhSgKqLh0wxAbIql3Xx5BczYtjoOY1FtAGwwwhlKLE9uWqtIAtQnk36rk-BMgVsISuJ8N0dZ-l7CgmmEAX3FMhEMUQDRFOaxTWN2ka1pFZNdMNLalGPi-RLLXktMZU-CscDjnBU6fsTJBLbX_yxr7ScJnWWZsw1Y-gjykE5G6paiaAWi-B1RsKfGM5p8hOxb5FUhYKz0htyOwpFi98lO8NoquZ9qe5CoZolWh_nClipsXUWHfPhojfEgEWD-XRHEBtHrpSuuOoFOBvGEzUDy6WT464Roe-HB8XYjAHEDx2SyYvka5B-qO32a-AgDXbsMj5XuJ79W5z5mSNSzJjw7qPh6AEgZLlPoo3FMdDPLfbeFz_X_ZIt5dL_gOl-XDilkMa3abKqAI_UMKWXHvV6Utc6mvB5x2H4dJt7-oMuL1uehRbqXy9fK4CouOsDDeIxhKQiO0IJcyvbx7rq7mdTtYn8J0G5W7W_yIRMm--fsEtpIvTHUbuyijz1UnMhRUojmpaWil6Q5m7SV-YECbRZqYFUwlV1bzNSXrJRJ5y3Hu2crdJDiEebVQvLSVAhePhKkMhyqfwiIZSiHYnYTTyMEJiI5sqNjRuvr9-rZ6ixVumcnYqYEzEy7eEpIgTpQa6EDPWb_mQyNpklx18F65_K7K4-CdkLwEaRcjmDvEPX9KO__e4c2vaWU00LMPBlQxG4XqCCMv9SjwZ_SE1eH6fX6_-Nj9a6f7ItqVgxa6zeJjj-KAIMkCKZ9YtA5pYzqxM4Xr8UkLGuZLYH4CTRhG9nAkMOt4KgklhspzRWTwpqedXaQN-2t-y_fbJTiu6AsochqifDhM9yGOQRcdaU4nggnHxStc25xNokelAOP5vmJQpzKnY-MisFf85NaM1pQfp4MFICDFXf_k-ajS9xK0dQzv2Bus_zINXSVnzohDNPBvszFVROlgerkrPuUn-c7BLo3eM-ABlWsHWjCRWlkfL4Nm7jWjRAtfr6teGa_3KMkYEsZsdHrbCHXtO46nGbM49w9pB_5IEtWrsE5f36GxVO5ONv7wz6Aurt3MwIqJOdx-m46fpvyPfFgw-w6X5wsALn2xtHCretk1pPGle3U42h1GVuM4E4Ig-8n6NEdiaHusgv2UPn-BGOjZjJurMnM-fW129S5r8bTD4IshAYLWWxF4zNnXLSnY7ns-FOuGB_QmZgdc-Z6xgE8CRgyOEzuXFhP8wuRbEExiAlHenqfuJ1cX-H1P7indqgeO-un2iugZMNLgdMrtBsrAw9jAkhzkJEVaKKokYNsPvTTLHAI2I=",
  "id": "rs_01df46fe71eb0292016ab4239c807887d0a984cd31ae46e88e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.265,\"right_z\":0.105},\"note\":\"The pink bowl is just to the right of the white-topped center stack. I’ll correct that small sideways offset and lower it toward the stack, stopping short of a forced press.\"}",
  "call_id": "call_03BeFw2OkrTidJgdSQNxF8hH",
  "id": "fc_01df46fe71eb0292016ab4239dfea887d08ce83d4a370017db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_03BeFw2OkrTidJgdSQNxF8hH",
  "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]: [-0.1856, 0.8192, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8837, 1.7638, 0.8158, 0.3527, 0.7269, 0.2958, 0.0397]\nstate[eef_state]: left_x=0.2896 left_y=0.0036 left_z=0.1817 left_yaw=0.1121 left_pitch=-0.0292 left_roll=0.1053 left_gripper=0.9957 right_x=0.3606 right_y=0.26 right_z=0.094 right_yaw=0.1295 right_pitch=0.1374 right_roll=-0.1073 right_gripper=0.0397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9402, 1.6728, -0.1099, -0.0171, -0.0073, 0.3214, -8.4444, 5.3538, 2.0244, 0.3443, 0.1001, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab36673933cef25a84846886c39811d8720114660097d7e5b6373412769c409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190120a5721f1a5d1cf009a45656111e6bfe16e8273f7c682a5673317d8dbe44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171c1131a81dc561266769c49b7006f6a715ca0bd6e899b970b3884810234bd2",
      "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 24 attempt 0 · /responses · status 200 · 2.136 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8097, 0.6483, -0.4465, -0.3069, -0.1013, 0.9957, 0.3035, 1.832, 0.3332, 1.1603, 0.2604, 0.0742, 0.0396]\nstate[eef_state]: left_x=0.2909 left_y=0.0033 left_z=0.187 left_yaw=0.1117 left_pitch=-0.0066 left_roll=0.0981 left_gripper=0.9957 right_x=0.3875 right_y=0.0775 right_z=0.0472 right_yaw=0.0347 right_pitch=0.2467 right_roll=-0.0064 right_gripper=0.0396\nstate[joint_eff]: [-0.1026, -1.4427, 6.9812, 1.663, -0.0464, -0.0562, -0.0122, -0.3077, -4.9573, 2.947, 0.9548, 0.1978, -0.1832, 0.8474]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8162, 0.6483, -0.4599, -0.3073, -0.1013, 0.9956, 0.8467, 1.5589, 0.8852, 0.1734, 0.7109, 0.2817, 0.0402]\nstate[eef_state]: left_x=0.2895 left_y=0.0037 left_z=0.1827 left_yaw=0.1121 left_pitch=-0.0255 left_roll=0.1042 left_gripper=0.9956 right_x=0.3651 right_y=0.2443 right_z=0.1724 right_yaw=0.1019 right_pitch=0.2006 right_roll=-0.0486 right_gripper=0.0402\nstate[joint_eff]: [-0.0342, -1.7026, 7.1316, 1.7411, -0.1392, -0.0366, -0.0171, 0.1436, -7.159, 9.1282, 1.7167, 0.4908, 0.1587, 0.8962]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8192, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8837, 1.7638, 0.8158, 0.3527, 0.7269, 0.2958, 0.0397]\nstate[eef_state]: left_x=0.2896 left_y=0.0036 left_z=0.1817 left_yaw=0.1121 left_pitch=-0.0292 left_roll=0.1053 left_gripper=0.9957 right_x=0.3606 right_y=0.26 right_z=0.094 right_yaw=0.1295 right_pitch=0.1374 right_roll=-0.1073 right_gripper=0.0397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9402, 1.6728, -0.1099, -0.0171, -0.0073, 0.3214, -8.4444, 5.3538, 2.0244, 0.3443, 0.1001, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab36673933cef25a84846886c39811d8720114660097d7e5b6373412769c409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190120a5721f1a5d1cf009a45656111e6bfe16e8273f7c682a5673317d8dbe44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171c1131a81dc561266769c49b7006f6a715ca0bd6e899b970b3884810234bd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOhtHGng3Ah09DOKu5l1yzv2feyyz5dANA4NdkrPr7rFLvxJjfguKqf5uModZ0PXDASEWoQC3wvRARhu8rXIRwyiP7CJYnboSLLhGYjJQHnhBfQNE7kaSFK-P3cZvmzG1kq5dchxfleb9OSj-xubdKRlMt80odVEsDS7SaMD2Ag05kUsH6vv4UQa9muo6F06ROreVqBevAMwQDuLldfVDg2G2foLTBn2TRBbS8b14ACbAMMCNnVU1rJJs_eTjOEZKD0SX2LlkE1_SH9JQSzxWgdP3in_z3mcL8Trot0TxONubQknKQyvVJ4J04O37yQ8DYX1j4ut2pz_uCwAYI2eaAgcfIrypvA9RJqavao14SCVyT66fgW46CBul2rgIUuV3ri6cg5TaDUSi1leShmxAJ81d2n9HmnBl_O0iiwW44MHausNJymwGBZvPWKWMPohnv831wEahQAM-mztAfrnT0sHGPabctLVzq4GwVAicg5KPeAlWX6bQYicGlKF9fj62mtl4SqRPP4-t3g1iK7wirYvaWLqHRSoplTMU_sEofoX2HSEXFqtyOaxaZBldKZ1QHb8wKdjgNDPjF0w74srQC86bi4IbkoGi60TxsShVF3kX6kP5SU97xtnujWtG4X_9pFjp4qLCrqe-CMn1ZNqivgb3i_Zmrr0gdVsu-bxPDtPCEwmRK7uKP8YLLdccT-5z225iW7OT67UhT8qvNPkGQbcfUPJ6O5AHyjRQfSrc3PJhuNvZuHAsDSby-tOflp-It3yZb1b8pvajVLH0ulVwTYd1iVVVemfJGwCjTdZ-r7zlYaRTfATH-SsxF45FNONMbISiNK53dTvxWJxgEiQrQ_9muPvDILBy3Kd-Cp_otgguBVRRaRzg-RRFbdL7xkIjBnMo4YKXzsZIKAA-ufSIvoMc_vcBJAL_ETgn7XxD0GlxAAVjKOW6yy9SQES_Al5pFzxNmislgZVVK39KDyIaiiG0yl0qGRHfZeMLHPY-_YQ_gTnnchZ3_NDj9pLAvD1aLGTk0WVtmT_ISJZpeb7nlOERPldVngouKFc3vfEQWrHjZ9o-7EPVbmcMiZFmgOwVPS_XdOXZaQzNf-3XVbLjniR-mbvMBTiyGbUGFn3eiaF4IEylM6TRxZrUx1Y7fePMncSlzyHOe8h-t5F56rBN0PKvWNOYA9V1FsGqw6SBZu1h6Kz2Hnl0LPkIOEba_ERQbX_rxC7Vyj8rnkjDSFIJMc5WMKqFWt8slC-KdIEQ40ND6fzKyf3yU2Zhjy_c4JCvAJGAHg3uXdqPOmr6E3LaqITOWnFuDyWOenIx6HlCv5o6dU1PlNUwWi9BTNTkPC8q2eXcco9kAExkRj1FNtPvUuvL4CYccYbfLn1bfDaFV5-A41vkdmSsWwYZVtS1ZNAzOkOC8g4XGeBDQAWbKIEFCSZYLuJfhdP5MZZZ1TIOcCVphRGcwtMeKh_r1K3Js83Yl4cEaeeRqrWoiWt-2xtRUNEUTmuJBXPZlViSV8LtpmBq-QqHGvkFzp-HOJ4MZhsMQ9NyJg79_UZyUH61-4MLozxSGSsl641estF4fkSSlQV09A9-FPqWz5rCPfyJCX6g39",
  "id": "rs_01df46fe71eb0292016ab423a0228487d0939f1c4af6225e82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pink bowl now overlaps the stack in the overhead view. I’ll lower another few centimetres to seat it, then release if the arm stops against the bowls.\"}",
  "call_id": "call_6bpEQuZyR2y5kWVST8Yw4S6b",
  "id": "fc_01df46fe71eb0292016ab423a0f92087d08195b1c422728025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6bpEQuZyR2y5kWVST8Yw4S6b",
  "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]: [-0.1856, 0.8211, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8875, 1.7802, 0.8112, 0.4236, 0.7284, 0.2962, 0.0421]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1812 left_yaw=0.1121 left_pitch=-0.031 left_roll=0.1058 left_gripper=0.9957 right_x=0.3636 right_y=0.266 right_z=0.0977 right_yaw=0.1266 right_pitch=0.1743 right_roll=-0.0728 right_gripper=0.0421\nstate[joint_eff]: [-0.1709, -1.4701, 6.9402, 1.6825, -0.1392, -0.0415, -0.0122, 0.1026, -8.8137, 5.6, 1.8339, 0.3541, 0.1001, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026a3aea4bda9e1685a1cb55a896b41aa95ca27b8adf454a674f1417f9ed9c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110872a4e2968e10b736dfe5c3ad9b548fa3d1b86491988051e44f851dcaf615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d2b6c7a94ba2a6e100fcf4f2b673c15534fc6271596adde9cbe2c73895b8fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.933 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8116, 0.6483, -0.4526, -0.3073, -0.1013, 0.9957, 0.3008, 1.2964, 0.5053, 0.4488, 0.2523, 0.0689, 0.0395]\nstate[eef_state]: left_x=0.2902 left_y=0.0035 left_z=0.1853 left_yaw=0.112 left_pitch=-0.0142 left_roll=0.1007 left_gripper=0.9957 right_x=0.3852 right_y=0.0771 right_z=0.1533 right_yaw=0.0422 right_pitch=0.2423 right_roll=-0.01 right_gripper=0.0395\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.8242, -0.149, -0.0611, -0.0122, -0.1299, -5.3675, 9.3607, 2.0244, 0.0904, 0.0024, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8192, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8837, 1.7638, 0.8158, 0.3527, 0.7269, 0.2958, 0.0397]\nstate[eef_state]: left_x=0.2896 left_y=0.0036 left_z=0.1817 left_yaw=0.1121 left_pitch=-0.0292 left_roll=0.1053 left_gripper=0.9957 right_x=0.3606 right_y=0.26 right_z=0.094 right_yaw=0.1295 right_pitch=0.1374 right_roll=-0.1073 right_gripper=0.0397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9402, 1.6728, -0.1099, -0.0171, -0.0073, 0.3214, -8.4444, 5.3538, 2.0244, 0.3443, 0.1001, 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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8211, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8875, 1.7802, 0.8112, 0.4236, 0.7284, 0.2962, 0.0421]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1812 left_yaw=0.1121 left_pitch=-0.031 left_roll=0.1058 left_gripper=0.9957 right_x=0.3636 right_y=0.266 right_z=0.0977 right_yaw=0.1266 right_pitch=0.1743 right_roll=-0.0728 right_gripper=0.0421\nstate[joint_eff]: [-0.1709, -1.4701, 6.9402, 1.6825, -0.1392, -0.0415, -0.0122, 0.1026, -8.8137, 5.6, 1.8339, 0.3541, 0.1001, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026a3aea4bda9e1685a1cb55a896b41aa95ca27b8adf454a674f1417f9ed9c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110872a4e2968e10b736dfe5c3ad9b548fa3d1b86491988051e44f851dcaf615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d2b6c7a94ba2a6e100fcf4f2b673c15534fc6271596adde9cbe2c73895b8fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOjjLl21quJ-tTCB2pitF2pCYLQEmspnUqc5TA51XZUsLkWE8oGALK54uhV5awDG8i5t9mpkJBtB0M-R5VN270UlJXBnvviuvMg42nbgwsZwhYsp1ZnU86WBUloeiIH4cKWX31DeyZxmJqW7ScyQu4mR0Dc2C44_W23X6cVLwvFmNhInO64APKT8Cgp6SL2ZfX0EB6wHVzrbmh39h8HK_3oxUwCh-psCqk1iLpZaHKm48eEXReiLDY-BIa2Rty6U3veHOrh7SlpAGUVn2Ayth9N27iYPfCDVRka7guSfAR_7IxGq_jxuWVPX56r9Wl6TaNbdrRA30LE-TWfuhDpz5PLU9cLJuTtjRbl799rDHHqPVy9sO5QPjjWLDLN0bSOYoPSJqEKq7mQmgEowi9BmgpnCcW1eqq6WGaS6O2839ksN8NEw9yffoIIzF3F-44JfZePz5__elzuijq780Oi2RJ99-VvNTRS3zxVvQcedCHZK_YIT2LUcCZ2ROcpMtYicrf3NlTmS9vBptY4RvP-EqKVCG8N-c10QlJPvRmVuwfnaxcN6w-bwd4G1tBqD867qXdU-bwGAugso9Q7BmwOFqYfG_Kqel0uiuzKAUARVr3E-bT1V2HHUVzu6Ac9PbOfZMvKvQYyVrrcXv795go36bE0YvDW4jUYKsbouLVq4hinuC8Ymp4-r1_4O_5L53UpBszOFGQsJxsd77PSOTDgjLHI9gfNrbMiZzZsBZxhaGynxMUFEXjhPwvCaEdcZlA2C6iWumI-ADlLh4vII2Ep2AHms7rVr2LzPY5gei5gvGhAMzgHZuL7ErkKta6ZVlkuEjapxI_Qo9x6nRegxo-0ccW1BIVqi4ZsnfvrSC-cC7AgUov-lmlw_P7m-ttTEfzVbZ11tX5Say7lFxyvvX5yiRFqFkGOCZtPIvKxCuy3OPjuuh0JtMlgipnzRnXKGg31B-USeRUKN-JgJfP4NWZFl3AJ48cAJQj6R_-p7awLpS0F0hQdxfaEzCKxEkYYTdCMBtERlEgg4fD_fnxqO9PY3jPSih8Ew2Ag0Oc8cnB1NqYxvrMPvkILhvcB0-k5OXEWuogKgIaDvKtwH8eLRKcU5p9L1AKVw6PQYs0naSLvuAnX2L_YeZSxCJFkg9itB5LqmYm3LZfmeKNatcY8cTpB8gK07Sx2W9oaBV3lscpJA0h3rsEl7YbaAwUUgtguIPe-T1kpi0GAc0Cj_WSvkZRUkYXFLSPYyzvOf_Zla8rQ9iXFetchaIfvQlKTOq13KCE317T0pY7M_aNnWvRl_sW9I51PiRF4FUl4Xf3E7jXLJXy9htaHLCgHvRYvhoGkufQ5bupy",
  "id": "rs_01df46fe71eb0292016ab423a2ca2c87d09bf1db753a0b3e84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right arm stopped descending around 10 cm above the table while the pink bowl overlapped the stack, indicating contact with the bowls below. I’ll open the gripper to leave it in place.\"}",
  "call_id": "call_sbieOTjLvMH8Cm5OAYxFXhnH",
  "id": "fc_01df46fe71eb0292016ab423a3181087d0925d13d618597189",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sbieOTjLvMH8Cm5OAYxFXhnH",
  "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]: [-0.1856, 0.8268, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.7802, 0.8093, 0.4206, 0.7242, 0.2935, 0.9957]\nstate[eef_state]: left_x=0.2892 left_y=0.0037 left_z=0.1784 left_yaw=0.1123 left_pitch=-0.043 left_roll=0.1095 left_gripper=0.9957 right_x=0.3627 right_y=0.2663 right_z=0.0962 right_yaw=0.1327 right_pitch=0.1691 right_roll=-0.0772 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -1.8393, 6.9265, 1.6923, -0.1197, -0.022, -0.0122, -0.1709, -7.9111, 5.8735, 1.6435, 0.1734, -0.0122, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d503bc9585e784fd5fcfd90b4992a4cbc9ee15d42dedd59ddff9327c8bfe21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a18db59b54d34380cb6eb13395fa25da72ffa9ba1a3d0efe9af72a0fe831304",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e693c7dac15542138e8c509dac0f6285d72607ea2c599854adbc34da05b992",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 1.852 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8162, 0.6483, -0.4599, -0.3073, -0.1013, 0.9956, 0.8467, 1.5589, 0.8852, 0.1734, 0.7109, 0.2817, 0.0402]\nstate[eef_state]: left_x=0.2895 left_y=0.0037 left_z=0.1827 left_yaw=0.1121 left_pitch=-0.0255 left_roll=0.1042 left_gripper=0.9956 right_x=0.3651 right_y=0.2443 right_z=0.1724 right_yaw=0.1019 right_pitch=0.2006 right_roll=-0.0486 right_gripper=0.0402\nstate[joint_eff]: [-0.0342, -1.7026, 7.1316, 1.7411, -0.1392, -0.0366, -0.0171, 0.1436, -7.159, 9.1282, 1.7167, 0.4908, 0.1587, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8211, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8875, 1.7802, 0.8112, 0.4236, 0.7284, 0.2962, 0.0421]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1812 left_yaw=0.1121 left_pitch=-0.031 left_roll=0.1058 left_gripper=0.9957 right_x=0.3636 right_y=0.266 right_z=0.0977 right_yaw=0.1266 right_pitch=0.1743 right_roll=-0.0728 right_gripper=0.0421\nstate[joint_eff]: [-0.1709, -1.4701, 6.9402, 1.6825, -0.1392, -0.0415, -0.0122, 0.1026, -8.8137, 5.6, 1.8339, 0.3541, 0.1001, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8268, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.7802, 0.8093, 0.4206, 0.7242, 0.2935, 0.9957]\nstate[eef_state]: left_x=0.2892 left_y=0.0037 left_z=0.1784 left_yaw=0.1123 left_pitch=-0.043 left_roll=0.1095 left_gripper=0.9957 right_x=0.3627 right_y=0.2663 right_z=0.0962 right_yaw=0.1327 right_pitch=0.1691 right_roll=-0.0772 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -1.8393, 6.9265, 1.6923, -0.1197, -0.022, -0.0122, -0.1709, -7.9111, 5.8735, 1.6435, 0.1734, -0.0122, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d503bc9585e784fd5fcfd90b4992a4cbc9ee15d42dedd59ddff9327c8bfe21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a18db59b54d34380cb6eb13395fa25da72ffa9ba1a3d0efe9af72a0fe831304",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e693c7dac15542138e8c509dac0f6285d72607ea2c599854adbc34da05b992",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOnuUa35nximvN_OZWhyEmmxOtFqX26uSIdZz7-VPSCsPkUPN2vWyKca1i-3xaiAToiIYMGaKKWIDKM943HvrBq1ya5pObCKhYhmMhs7xfZpINvQbAUYOQm_QtpXSjK4D5oijqpNUP0C6UJf_IQM1zbxjn3mTE-0aEOzNrUPm1S0QmDdzfAhZjUf_fFg3m0Yf2XdAeiwDBz_446cALFrUraPBasdEMmlhDUHzchq25qBIEayKpAkVrW_xiC4OXTajHLKABE844pDxhqd8jITNtlc6QxftBgJjik9XpNAtMjFkvOg1qh99lB3j2x63eibfR4smY2LsbN4-hBxEabVHIMyLTh_OCmnRMxoBe-1JshwgfafvRnqdjwZpcQP6eTDZQpsrF1UJKwswJozbLaMsNQz-GzJov0OB5HKFiYJpB4zIOfuRvimG-eItHWazMRD-mxghxgFzRdhvkSXbx25Y8SPehjnRXj99YN8k_pUxhW9-XmCH3A2GfZfijmCRrl_O6jPeFEwLIqhkR4cWXl9t0Kgmw7km9yIGsf2io7QdxztZBALUiB_nETJie4M-XTXZKjjdbqzEXwtHvxuskaBh2MAusDCxqFYil95xDOXJbzyW88YSPhEYSv6gp32ZPQPsQM9d7q0_ekFb9SACwaKxun8FHSM86bttGAOLP4M785fLIH_EsihGwLKklF2LvdMK9eN7qkCn7_EqLCnW8YhG18DFXM2aPPGV48EmssyVYXTm_He54z6_Dq79YFG3s4f_VGdJQJomqhpAbgtW1LtfeCM8MLHQtzzJSOhLJaDq7jb9_XqAspSbqsW5CFwP43sdOWrHDy2ua6za2aGiFvyaA6SqwDKWq1QGwaTf7aj_9RQZsBq18kZlbfkXLDtBXLcRQNrEDCVIm2cXv7TQZaicvpjB7GbxRbCC7PY4ZUxCQJa06t2vfPdZzsYOPVrjbS2DNieLrOLeM9bMinyaZpfNbPAZ1ovKNvY0NwDrcy8fc81vtcll-gGHWuZqS__yfR-ITnKP5L_BXFhrfn73jNyN5K8o7_uwLsM0m6u0NprQs7y7PG_ApNtcyEwpowo4Yv0yVnn4upj4ILOze886wyiTzWg18V6MfP3HmR2gtR0qy9Juo-0oZJsr5knzT3ASEtjDK8toqG02FKQSsGBS2RaN_qCKWk8yCb7PTQEhEptqfs0L9WYbM7c6qFyPtRh8bWjezqI5RM3NXTZObmafK2qz1A-V_ufRXE_M8QPTbzSdOkm4O3FxOp_2owlxIR9EqvkudXPt5ruxKhY7fdBIET1EfE2tXRLde044SJyuO-mMLF0prPpoCz_heE5NA_CGtCY_1jHAuUVw3JV9EJTbQNFxeVwT80Nh5PC5PWQeJRgSWCWqs=",
  "id": "rs_01df46fe71eb0292016ab423a64aac87d088a880284cd59d3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The pink bowl remains at the center after the jaws open. I’ll lift the right gripper vertically so I can check whether all three bowls are stacked without disturbing them.\"}",
  "call_id": "call_lTtuUtg9Y0ihSAZ0GDa2BEgP",
  "id": "fc_01df46fe71eb0292016ab423a6bf5087d0acc18b0bccec5ed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lTtuUtg9Y0ihSAZ0GDa2BEgP",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8284, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.607, 1.0061, 0.0296, 0.717, 0.2878, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.178 left_yaw=0.1123 left_pitch=-0.0445 left_roll=0.11 left_gripper=0.9957 right_x=0.3627 right_y=0.2679 right_z=0.1771 right_yaw=0.1438 right_pitch=0.1508 right_roll=-0.0941 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.4701, 7.0359, 1.6581, -0.149, -0.0317, -0.0171, -0.2803, -9.9897, 9.1282, 1.6825, 0.1978, 0.0024, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910de39f47c63467cbfffd0cdb0feb5cca4d7f49ac704e0fe6d5c85d40e0231d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289c6d840a392c6ceb9e5fbda3e0bf5c6e859a7261f01bc10916fa7a7252bc6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b417615f63cc21f79fb42deffdde379710d277d05228aa87515ee8f95e143e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.911 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8192, 0.6483, -0.4606, -0.3073, -0.1013, 0.9957, 0.8837, 1.7638, 0.8158, 0.3527, 0.7269, 0.2958, 0.0397]\nstate[eef_state]: left_x=0.2896 left_y=0.0036 left_z=0.1817 left_yaw=0.1121 left_pitch=-0.0292 left_roll=0.1053 left_gripper=0.9957 right_x=0.3606 right_y=0.26 right_z=0.094 right_yaw=0.1295 right_pitch=0.1374 right_roll=-0.1073 right_gripper=0.0397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9402, 1.6728, -0.1099, -0.0171, -0.0073, 0.3214, -8.4444, 5.3538, 2.0244, 0.3443, 0.1001, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1856, 0.8268, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.7802, 0.8093, 0.4206, 0.7242, 0.2935, 0.9957]\nstate[eef_state]: left_x=0.2892 left_y=0.0037 left_z=0.1784 left_yaw=0.1123 left_pitch=-0.043 left_roll=0.1095 left_gripper=0.9957 right_x=0.3627 right_y=0.2663 right_z=0.0962 right_yaw=0.1327 right_pitch=0.1691 right_roll=-0.0772 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -1.8393, 6.9265, 1.6923, -0.1197, -0.022, -0.0122, -0.1709, -7.9111, 5.8735, 1.6435, 0.1734, -0.0122, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 0.8284, 0.6483, -0.4675, -0.3073, -0.1013, 0.9957, 0.8883, 1.607, 1.0061, 0.0296, 0.717, 0.2878, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.178 left_yaw=0.1123 left_pitch=-0.0445 left_roll=0.11 left_gripper=0.9957 right_x=0.3627 right_y=0.2679 right_z=0.1771 right_yaw=0.1438 right_pitch=0.1508 right_roll=-0.0941 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.4701, 7.0359, 1.6581, -0.149, -0.0317, -0.0171, -0.2803, -9.9897, 9.1282, 1.6825, 0.1978, 0.0024, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910de39f47c63467cbfffd0cdb0feb5cca4d7f49ac704e0fe6d5c85d40e0231d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289c6d840a392c6ceb9e5fbda3e0bf5c6e859a7261f01bc10916fa7a7252bc6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b417615f63cc21f79fb42deffdde379710d277d05228aa87515ee8f95e143e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOqqFp-uMleM0RrywC_ROC1JWDD7rFrKCfhcw23mOUcdqaGdO4edj6D2eTXp_WLUUOmM-ldYzBjmGZxeciKJ97t7cL2EAYNnXTXSc7Z0CH5Wi194N8GIJcvukMUkhCbk_vRIv7bBMOOsLkJF7cLdBauPgdwA2HAT8YhHuFB5Ct3Y1TX_D7bXOUg5qzM_iEBa7_LWnVEjvxWJfHgaki1OcLbrAo1A9NkHE4B_xIR9jwMV47qGN1mNC-4XGMH7BTAyWKuEKgh7yuzy8V_C6sxfFOadKHzr2gY09Z9DMXA54gKhdmpeHrvTyCxqwX59ogGgFrprQ8nnmcHnifr5bi3i5eIE2kb3t5gC3fvQ561zMl0M7uk7EipRFUvZupgvLHs-N44_gFjK5OBoyD_BTp3m3q_jbSyLURdFmdAhBtobs68m_klZJzcdFCcGkgb2JNfoefXNLJGWtE32936b8Ds2T78_huZI2ZfWpIrb9YDR8YGH5dwPscpfBQflurFdhrSu_wf0ydgM5xpAS6gDuy--cHBCVqkipUUbbgWCBJmNXPWis-dO8RXPfYLbd_Xu74pY80ygVepEv8NlLjurRJKP4myKv3thU-pWAOKuY6SaHK9G0jheh0PZAbCjyqZXbEYQ1PSiqg14RanhcmT5qyAkzcrZMRiOEraybuE0drYtOOSxOEY__dedhMmivZq0j56dMhFGLVrEYoVuC-Q5uqZ29mYUzMY6-VJKKDw02kq3EBAYNRqBT5EJ5bBpjydvVdDzUQzC-i-UZqddsJjft_NUo1YPr8j0hpZg78fPsv6QggbCDJUGGPCx3CbWXIc217mtxoZiAyBnVCaZQo1itkRxnFCHEtTiFC3Ty3fOuFg-Ci7isy9JismQwUVfM4DXj6UQXx2GckGHrhJgpzCMp1gB6vLoMjCR4qWbo5cByi1r4r9IecHS8b1_JKluz1S7x0IndKkBQQ0LONFRv8g_Qy19WWRRebYaql3m2wgFpNd7bVHP7qZk7zpKh9YmLbYRWClnCbZ9N6_AP1hkEYc68ynYw9wvfjF1ZFDtivZZgEtja2Fo0Sktp-j8nw9DpeQ9Uzc1-aYDwe-WtzAvYfeqPfUp4FGA_B9KqfQ5MyfN0NIFzVa8wCACaL2HsIjtZgPsggQUEV9zvBiAGikyIASIDT9vm_4O8KJ8trGhyMQZHv_LOqhzaY9UmIZuFxRwZ7JKys9xWqbSIM0UeWhdJWWn-ZOPRkxG8w5deAMMepTwrQ_7O-e9BMu40cgmj3wzztcB67QlB2UkzN7Y8wXQwIOsVOm29Yt2d8mNl-hIvl5LUogkDFC5g62l1E6EIJwwSSqLv-T2-CdGeCj52vcav6NlkZmujRcGw==",
  "id": "rs_01df46fe71eb0292016ab423a93fd487d099540725196756c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The pink bowl stayed on the table when the gripper lifted. I’ll return the right arm to its starting side to expose the center and verify the final arrangement.\"}",
  "call_id": "call_bPU3ibSCYRSrdud8H63I8gmD",
  "id": "fc_01df46fe71eb0292016ab423a98c0c87d08bfe73f46a5152d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bPU3ibSCYRSrdud8H63I8gmD",
  "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]: [-0.1856, 0.8322, 0.6483, -0.4679, -0.3073, -0.1017, 0.9957, -0.083, 0.7906, 0.6258, -0.4183, -0.0769, -0.1795, 0.9959]\nstate[eef_state]: left_x=0.2894 left_y=0.0037 left_z=0.1769 left_yaw=0.1125 left_pitch=-0.0485 left_roll=0.1109 left_gripper=0.9957 right_x=0.2919 right_y=-0.0071 right_z=0.1832 right_yaw=0.0763 right_pitch=-0.0112 right_roll=-0.0989 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.7436, 7.1043, 1.6386, -0.1148, -0.0366, -0.0122, 0.0479, -1.7983, 8.3897, 1.8291, -0.3004, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23432b5b42dc2ba8972eccf4ad96e80329300cf48b1e8bd4f5fa111c8a16f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebe539e9c0d542d5d8c75dfc7ed0fb7d2b1cd2fd20aad3817919a37def084e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06076cacacd6cdea3e109a47d70abf5c9acf242ef978345dc2064ebf4dbc8c7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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