adhoc

completed
2026-09-23T20:04:36.518045+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
158.2 s
total steps
258
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 bowls in a row: teal on the left, blue in the middle, and pale pink on the right. I’ll bring the right gripper above the pink bowl to line up a grasp before stacking it on the middle bowl.
move_to
right_x0.4000right_y0.1800right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3798, -0.0227, -0.0326, 0.9993, -0.0181, 0.7921, 0.6014, -0.379, -0.0109, -0.02, 0.9967] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2945 right_y=0.0002 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967 state[joint_eff]: [-0.5128, -1.5385, 10.1538, 1.7558, -0.0366, 0.1734, -0.0806, -0.5675, -1.388, 10.2906, 1.9267, -0.1294, 0.0415, -0.3492] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.18,"right_z":0.16},"note":"I see three bowls in a row: teal on the left, blue in the middle, and pale pink on the right. I’ll bring the right gripper above the pink bowl to line up a grasp before stacking it on the middle bowl."})
tool
executing move_to over 15 steps (1.5s)
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 pink bowl is beneath the right hand, but in the wrist view it sits slightly right of the jaw center. I’ll shift the gripper a few centimeters right and lower toward the bowl’s sides while keeping the jaws open.
move_to
right_x0.3800right_y0.1500right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3866, -0.0227, -0.0265, 0.9993, 0.6056, 1.5368, 0.9516, -0.1467, 0.4694, 0.3202, 0.9963] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=-0.0033 left_pitch=-0.0088 left_roll=0.0053 left_gripper=0.9993 right_x=0.387 right_y=0.1751 right_z=0.1386 right_yaw=0.0409 right_pitch=-0.0696 right_roll=-0.042 right_gripper=0.9963 state[joint_eff]: [-0.0068, -1.6342, 6.8171, 1.7802, -0.0708, -0.0855, -0.0171, 0.1709, -7.3915, 9.1966, 1.7558, 0.4664, 0.1197, -0.0464] 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":{"right_x":0.38,"right_y":0.15,"right_z":0.07},"note":"The pink bowl is beneath the right hand, but in the wrist view it sits slightly right of the jaw center. I’ll shift the gripper a few centimeters right and lower toward the bowl’s sides while keeping the jaws open."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pink bowl now fills the gap between the open jaws and is only slightly off-center. I’ll lower to its lower sidewall and advance a centimeter so the fingers can close around it rather than above its rim.
move_to
right_x0.3900right_y0.1350right_z0.0230
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.804, 0.6037, -0.3866, -0.0227, -0.0261, 0.9993, 0.5503, 1.594, 0.7143, 0.0879, 0.4339, 0.2871, 0.9963] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0035 left_pitch=-0.0165 left_roll=0.0057 left_gripper=0.9993 right_x=0.3698 right_y=0.1439 right_z=0.0616 right_yaw=0.0282 right_pitch=-0.1347 right_roll=-0.0782 right_gripper=0.9963 state[joint_eff]: [-0.0342, -1.2376, 7.3231, 1.6923, -0.0073, -0.0659, -0.0122, -0.3624, -6.2838, 6.5026, 1.8339, 0.1392, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.135,"right_z":0.023},"note":"The pink bowl now fills the gap between the open jaws and is only slightly off-center. I’ll lower to its lower sidewall and advance a centimeter so the fingers can close around it rather than above its rim."})
tool
executing move_to over 3 steps (0.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteAt roughly two centimeters above the table, the pink bowl’s sidewalls sit between the right jaws. I’ll close gently around the bowl and check the gripper’s settled width before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3897, -0.0227, -0.0261, 0.9993, 0.4984, 1.7416, 0.6933, 0.2379, 0.4, 0.2493, 0.9963] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1745 left_yaw=-0.0035 left_pitch=-0.0218 left_roll=0.0058 left_gripper=0.9993 right_x=0.3822 right_y=0.1338 right_z=0.0213 right_yaw=0.0223 right_pitch=-0.1647 right_roll=-0.0943 right_gripper=0.9963 state[joint_eff]: [-0.2256, -1.4154, 7.0496, 1.7558, -0.0757, -0.0122, -0.0122, -0.2803, -8.7453, 5.4085, 1.7167, 0.022, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At roughly two centimeters above the table, the pink bowl’s sidewalls sit between the right jaws. I’ll close gently around the bowl and check the gripper’s settled width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe right gripper stopped at about a one-centimeter gap, consistent with catching the bowl’s rim rather than closing empty. I’ll lift a short distance and verify that the pink bowl comes up with it.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.485, 1.7615, 0.6861, 0.2901, 0.4026, 0.2199, 0.1039] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=-0.0035 left_pitch=-0.0214 left_roll=0.0058 left_gripper=0.9993 right_x=0.3879 right_y=0.1302 right_z=0.0199 right_yaw=0.0245 right_pitch=-0.1431 right_roll=-0.1068 right_gripper=0.1039 state[joint_eff]: [-0.0615, -1.1556, 7.0222, 1.7314, -0.0562, -0.0317, -0.0122, 0.253, -7.5009, 5.8051, 1.5995, -0.0317, 0.1294, 0.6129] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The right gripper stopped at about a one-centimeter gap, consistent with catching the bowl’s rim rather than closing empty. I’ll lift a short distance and verify that the pink bowl comes up with it."})
tool
executing move_to over 6 steps (0.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pink bowl is still visible beside the lifted right gripper, so the first hold is uncertain. I’ll raise and shift the hand slightly left; if the bowl travels with it, the grasp is secure, and otherwise I can realign.
move_to
right_z0.1700right_y0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.4839, 1.5581, 0.828, -0.07, 0.3988, 0.2089, 0.1031] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=-0.0035 left_pitch=-0.0226 left_roll=0.0058 left_gripper=0.9993 right_x=0.3857 right_y=0.1292 right_z=0.0903 right_yaw=0.0314 right_pitch=-0.1584 right_roll=-0.1194 right_gripper=0.1031 state[joint_eff]: [-0.1026, -1.388, 7.3915, 1.7118, -0.0611, -0.0464, -0.0122, -0.2667, -8.3487, 9.0051, 1.6337, 0.1294, 0.0855, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_y":0.20},"note":"The pink bowl is still visible beside the lifted right gripper, so the first hold is uncertain. I’ll raise and shift the hand slightly left; if the bowl travels with it, the grasp is secure, and otherwise I can realign."})
tool
executing move_to over 6 steps (0.6s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe pink bowl moved left with the gripper while the blue bowl stayed put, confirming it is being carried. I’ll position it over the blue bowl and keep it high until I can check their alignment.
move_to
right_x0.3900right_y0.3350right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.3901, -0.0227, -0.0261, 0.9993, 0.6662, 1.6051, 1.182, -0.4282, 0.4839, 0.3237, 0.103] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1733 left_yaw=-0.0035 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.9993 right_x=0.3838 right_y=0.2017 right_z=0.1598 right_yaw=0.0808 right_pitch=-0.1641 right_roll=-0.1134 right_gripper=0.103 state[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, 0.1573, -6.612, 9.0735, 1.2772, 0.3394, 0.232, -0.022] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.335,"right_z":0.19},"note":"The pink bowl moved left with the gripper while the blue bowl stayed put, confirming it is being carried. I’ll position it over the blue bowl and keep it high until I can check their alignment."})
tool
executing move_to over 12 steps (1.2s)
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 pink bowl is hovering slightly right of the blue bowl; their vertical image offset is mostly from its carrying height. I’ll shift a few centimeters left and lower partway to check alignment before setting it down.
move_to
right_y0.3700right_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3901, -0.0227, -0.0265, 0.9993, 0.9035, 1.9984, 1.7695, -0.7727, 0.5938, 0.5079, 0.103] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1729 left_yaw=-0.0033 left_pitch=-0.0275 left_roll=0.0056 left_gripper=0.9993 right_x=0.3832 right_y=0.3325 right_z=0.1729 right_yaw=0.1202 right_pitch=-0.2115 right_roll=-0.143 right_gripper=0.103 state[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.6972, -0.0513, -0.0757, -0.0122, 0.0889, -10.9607, 9.3744, 1.2234, 0.5006, 0.2711, -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":{"right_y":0.37,"right_z":0.085},"note":"The pink bowl is hovering slightly right of the blue bowl; their vertical image offset is mostly from its carrying height. I’ll shift a few centimeters left and lower partway to check alignment before setting it down."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteFrom above, the pink bowl now lines up with the blue bowl as it comes down. I’ll lower slowly to seat it inside the blue bowl, watching for a stopped descent or rising effort that signals contact.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3904, -0.0227, -0.0261, 0.9993, 0.9497, 2.1593, 1.6844, -0.6083, 0.5949, 0.54, 0.103] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1727 left_yaw=-0.0035 left_pitch=-0.0283 left_roll=0.0059 left_gripper=0.9993 right_x=0.3763 right_y=0.3618 right_z=0.0819 right_yaw=0.1339 right_pitch=-0.2648 right_roll=-0.1811 right_gripper=0.103 state[joint_eff]: [-0.0615, -1.347, 7.0496, 1.6825, -0.0659, -0.0317, -0.0122, 0.4034, -11.8085, 6.3658, 1.2186, 0.4762, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"From above, the pink bowl now lines up with the blue bowl as it comes down. I’ll lower slowly to seat it inside the blue bowl, watching for a stopped descent or rising effort that signals contact."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe pink bowl is down at the blue bowl’s rim height and appears to be resting over it. I’ll open the right gripper so it can settle into the blue bowl without the fingers holding it off-center.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1967, 1.5909, -0.4938, 0.5877, 0.5392, 0.103] state[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3717 right_y=0.36 right_z=0.0425 right_yaw=0.1386 right_pitch=-0.2808 right_roll=-0.1895 right_gripper=0.103 state[joint_eff]: [-0.2256, -1.2239, 7.0085, 1.7118, -0.0415, -0.0073, -0.0122, -0.3897, -10.5368, 6.5436, 1.1404, 0.315, -0.0122, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl is down at the blue bowl’s rim height and appears to be resting over it. I’ll open the right gripper so it can settle into the blue bowl without the fingers holding it off-center."})
tool
executing move_to over 9 steps (0.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe right jaws are open, leaving the pink bowl in place. I’ll lift the hand straight up so I can inspect whether the two bowls have nested before moving to the last one.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1998, 1.5818, -0.4656, 0.5869, 0.5282, 0.9952] state[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3731 right_y=0.3622 right_z=0.0407 right_yaw=0.1484 right_pitch=-0.2714 right_roll=-0.1846 right_gripper=0.9952 state[joint_eff]: [-0.0615, -1.3607, 7.0222, 1.6825, -0.0806, -0.0415, -0.0122, -0.4171, -10.8103, 6.2427, 1.2479, 0.3248, 0.0366, -0.1294] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right jaws are open, leaving the pink bowl in place. I’ll lift the hand straight up so I can inspect whether the two bowls have nested before moving to the last one."})
tool
executing move_to over 9 steps (0.9s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pink bowl remains at the center after release, although the right arm still hides part of the blue bowl. I’ll park that arm to clear the overhead view and make room for the left arm to pick up the remaining white bowl.
move_to
right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3962, -0.0227, -0.0261, 0.9993, 0.9539, 2.1544, 1.9778, -0.9379, 0.5705, 0.5198, 0.9956] state[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1717 left_yaw=-0.0035 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9993 right_x=0.372 right_y=0.3658 right_z=0.1521 right_yaw=0.1581 right_pitch=-0.3043 right_roll=-0.2028 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.7314, -0.0757, -0.0757, -0.0122, -0.2803, -13.9829, 8.4444, 1.2772, 0.398, 0.0562, 0.0269] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The pink bowl remains at the center after release, although the right arm still hides part of the blue bowl. I’ll park that arm to clear the overhead view and make room for the left arm to pick up the remaining white bowl."})
tool
executing move_to over 31 steps (3.1s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWith the right arm parked, I can see the pink bowl at the center and the remaining white bowl to its left; the blue bowl appears to be underneath the pink one. I’ll bring the open left gripper above the white bowl for the final pickup.
move_to
left_x0.3850left_y-0.2200left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4072, -0.0227, -0.0261, 0.9993, 0.0135, 1.0382, 0.9009, -0.7288, 0.0578, -0.2569, 0.9956] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1693 left_yaw=-0.0035 left_pitch=-0.0451 left_roll=0.0062 left_gripper=0.9993 right_x=0.2966 right_y=-0.0026 right_z=0.1777 right_yaw=0.1045 right_pitch=-0.3132 right_roll=-0.2091 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.2103, 7.1863, 1.8046, -0.0562, -0.0317, -0.0073, -0.212, -3.3846, 6.5162, 1.5311, -0.2271, 0.0122, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.22,"left_z":0.14},"note":"With the right arm parked, I can see the pink bowl at the center and the remaining white bowl to its left; the blue bowl appears to be underneath the pink one. I’ll bring the open left gripper above the white bowl for the final pickup."})
tool
executing move_to over 20 steps (2.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left wrist view shows the white bowl well left of the jaw center, while the pink stack is on the right. I’ll move the left gripper a few centimeters left and lower toward the white bowl’s rim.
move_to
left_x0.3800left_y-0.1550left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7467, 1.6279, 1.0191, -0.2035, -0.5766, -0.5045, 0.9993, 0.012, 1.0428, 0.9009, -0.7364, 0.0467, -0.2802, 0.9956] state[eef_state]: left_x=0.3765 left_y=-0.2123 left_z=0.1264 left_yaw=-0.016 left_pitch=-0.0844 left_roll=0.0278 left_gripper=0.9993 right_x=0.2955 right_y=-0.0011 right_z=0.1752 right_yaw=0.1262 right_pitch=-0.3273 right_roll=-0.2145 right_gripper=0.9956 state[joint_eff]: [-0.4444, -7.6376, 8.7863, 1.5849, -0.3834, -0.0317, -0.0122, -0.0205, -3.0427, 6.8581, 1.4579, 0.0806, 0.2076, -0.0073] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.155,"left_z":0.065},"note":"The left wrist view shows the white bowl well left of the jaw center, while the pink stack is on the right. I’ll move the left gripper a few centimeters left and lower toward the white bowl’s rim."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe white bowl is still left of the jaw center in the wrist view, and the gripper has room to shift without approaching the pink stack. I’ll make a small sideways correction before closing on its rim.
move_to
left_y-0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6044, 1.6291, 0.7456, 0.0673, -0.4873, -0.411, 0.9993, 0.012, 1.0431, 0.9009, -0.7361, 0.0437, -0.2848, 0.9957] state[eef_state]: left_x=0.3717 left_y=-0.1519 left_z=0.0596 left_yaw=0.0091 left_pitch=-0.1304 left_roll=0.0523 left_gripper=0.9993 right_x=0.2956 right_y=-0.0006 right_z=0.1751 right_yaw=0.1315 right_pitch=-0.3275 right_roll=-0.215 right_gripper=0.9957 state[joint_eff]: [0.3761, -6.653, 5.9282, 1.6484, -0.1392, 0.0952, -0.0122, -0.0752, -2.4274, 6.8991, 1.4383, 0.0024, 0.0122, -0.0073] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.10},"note":"The white bowl is still left of the jaw center in the wrist view, and the gripper has room to shift without approaching the pink stack. I’ll make a small sideways correction before closing on its rim."})
tool
executing move_to over 5 steps (0.5s)
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 white bowl is now nearly centered between the open left jaws, but its wide rim requires a low grasp on the narrower sidewall. I’ll descend to about two centimeters above the table before closing.
move_to
left_x0.3800left_y-0.1100left_z0.0180
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4526, 1.5612, 0.6418, 0.1177, -0.3992, -0.3195, 0.9993, 0.012, 1.0447, 0.9009, -0.7361, 0.0437, -0.2882, 0.9956] state[eef_state]: left_x=0.3695 left_y=-0.0993 left_z=0.0504 left_yaw=0.0413 left_pitch=-0.1549 left_roll=0.0598 left_gripper=0.9993 right_x=0.2957 right_y=-0.0006 right_z=0.1747 right_yaw=0.1335 right_pitch=-0.3295 right_roll=-0.2171 right_gripper=0.9956 state[joint_eff]: [0.3077, -8.0752, 5.641, 1.5995, -0.1245, 0.0757, -0.0122, -0.2256, -2.8786, 6.8855, 1.453, 0.0122, -0.022, -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_x":0.38,"left_y":-0.11,"left_z":0.018},"note":"The white bowl is now nearly centered between the open left jaws, but its wide rim requires a low grasp on the narrower sidewall. I’ll descend to about two centimeters above the table before closing."})
tool
executing move_to over 3 steps (0.3s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe left hand stopped around five centimeters high despite the lower target, suggesting the jaws or bowl rim are in contact. I’ll close at this height rather than force a deeper descent, then test whether the white bowl is secured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1181, -0.3809, -0.3023, 0.9993, 0.012, 1.0454, 0.9009, -0.7361, 0.0433, -0.2886, 0.9957] state[eef_state]: left_x=0.369 left_y=-0.0966 left_z=0.0506 left_yaw=0.0312 left_pitch=-0.1586 left_roll=0.0594 left_gripper=0.9993 right_x=0.2957 right_y=-0.0005 right_z=0.1745 right_yaw=0.1341 right_pitch=-0.3302 right_roll=-0.217 right_gripper=0.9957 state[joint_eff]: [-0.1162, -7.8564, 5.5863, 1.7167, -0.0904, 0.149, -0.0122, -0.0615, -2.8513, 6.6803, 1.4237, -0.0317, -0.0659, -0.0073] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left hand stopped around five centimeters high despite the lower target, suggesting the jaws or bowl rim are in contact. I’ll close at this height rather than force a deeper descent, then test whether the white bowl is secured."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe left gripper closed almost completely empty: it was inside the wide white bowl rather than around its rim. I’ll reopen, lift, and shift toward the bowl’s left edge so one jaw can sit outside and the other inside the rim.
move_to
left_gripper1.0000left_y-0.0500left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1165, -0.3744, -0.3004, 0.0095, 0.012, 1.0454, 0.9009, -0.7364, 0.0437, -0.2886, 0.9957] state[eef_state]: left_x=0.3686 left_y=-0.0976 left_z=0.0501 left_yaw=0.0251 left_pitch=-0.1622 left_roll=0.0574 left_gripper=0.0095 right_x=0.2957 right_y=-0.0006 right_z=0.1744 right_yaw=0.1337 right_pitch=-0.3306 right_roll=-0.2172 right_gripper=0.9957 state[joint_eff]: [-0.1573, -6.1197, 5.6684, 1.5311, -0.2271, 0.0024, 0.6471, -0.0205, -2.7829, 6.7077, 1.4139, -0.0269, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.05,"left_z":0.11},"note":"The left gripper closed almost completely empty: it was inside the wide white bowl rather than around its rim. I’ll reopen, lift, and shift toward the bowl’s left edge so one jaw can sit outside and the other inside the rim."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe white bowl’s left rim now lies on the left gripper’s closing line, with one jaw outside and one inside it. I’ll lower onto that rim while keeping the lateral position fixed.
move_to
left_z0.0330
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2707, 1.364, 0.6884, -0.1192, -0.268, -0.2008, 0.9943, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3632 left_y=-0.0485 left_z=0.0925 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0582 left_gripper=0.9943 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9957 state[joint_eff]: [0.3214, -6.4479, 9.2376, 1.5702, -0.0952, 0.2613, 0.1001, -0.0479, -2.9197, 6.7077, 1.4237, -0.0122, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.033},"note":"The white bowl’s left rim now lies on the left gripper’s closing line, with one jaw outside and one inside it. I’ll lower onto that rim while keeping the lateral position fixed."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe left fingertips are low beside the white bowl, with its outer edge crossing the jaw center rather than the bowl’s empty interior. I’ll close on this edge and check for a nonempty grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2684, 1.5181, 0.5514, 0.0811, -0.2615, -0.1986, 0.9949, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9956] state[eef_state]: left_x=0.3477 left_y=-0.0445 left_z=0.0218 left_yaw=0.0536 left_pitch=-0.2782 left_roll=0.0847 left_gripper=0.9949 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9956 state[joint_eff]: [-0.3624, -6.106, 6.0239, 1.9414, -0.232, -0.0513, 0.0464, -0.1436, -2.7692, 6.7077, 1.3846, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are low beside the white bowl, with its outer edge crossing the jaw center rather than the bowl’s empty interior. I’ll close on this edge and check for a nonempty grip."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe gripper settled at a very small gap, which could be a thin rim or an empty close. I’ll lift the left hand and check the overhead view for movement of the white bowl before transporting it.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2684, 1.5093, 0.5503, 0.1188, -0.2539, -0.2211, 0.0293, 0.012, 1.0473, 0.9009, -0.7361, 0.0437, -0.289, 0.9957] state[eef_state]: left_x=0.3545 left_y=-0.0478 left_z=0.03 left_yaw=0.0559 left_pitch=-0.2361 left_roll=0.0483 left_gripper=0.0293 right_x=0.2958 right_y=-0.0006 right_z=0.174 right_yaw=0.134 right_pitch=-0.3322 right_roll=-0.2173 right_gripper=0.9957 state[joint_eff]: [-0.1983, -4.9026, 6.0103, 0.9841, -0.1734, 0.2711, 0.5446, -0.1436, -2.7556, 6.694, 1.4383, -0.0122, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The gripper settled at a very small gap, which could be a thin rim or an empty close. I’ll lift the left hand and check the overhead view for movement of the white bowl before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe white bowl rose with the left gripper, confirming a thin-rim hold. I’ll carry it high toward the pink-and-blue stack at the center, then refine its placement from above.
move_to
left_x0.3850left_y-0.1900left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2684, 1.3209, 0.7803, -0.3164, -0.255, -0.2287, 0.0443, 0.012, 1.0492, 0.9009, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3536 left_y=-0.0473 left_z=0.1111 left_yaw=0.0625 left_pitch=-0.2515 left_roll=0.0493 left_gripper=0.0443 right_x=0.2959 right_y=-0.0005 right_z=0.1734 right_yaw=0.1344 right_pitch=-0.3344 right_roll=-0.2167 right_gripper=0.9957 state[joint_eff]: [-0.2393, -6.4479, 9.2923, 1.5409, -0.1441, 0.0171, 1.033, -0.0752, -2.8513, 6.7487, 1.4579, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.19,"left_z":0.19},"note":"The white bowl rose with the left gripper, confirming a thin-rim hold. I’ll carry it high toward the pink-and-blue stack at the center, then refine its placement from above."})
tool
executing move_to over 13 steps (1.3s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe white bowl is now hovering just left of the pink bowl; it is still visibly higher. I’ll shift it slightly right and lower partway so their centers can be compared at similar heights.
move_to
left_y-0.2200left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6556, 1.6482, 1.3758, -0.7269, -0.469, -0.5488, 0.0465, 0.012, 1.0512, 0.9009, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3803 left_y=-0.1872 left_z=0.1758 left_yaw=0.0436 left_pitch=-0.2798 left_roll=0.0542 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1728 right_yaw=0.1345 right_pitch=-0.3363 right_roll=-0.2164 right_gripper=0.9957 state[joint_eff]: [-0.3624, -7.6513, 9.0188, 1.1111, -0.3297, -0.0659, 1.0281, -0.1299, -2.8376, 6.7077, 1.3651, -0.0562, -0.0464, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.22,"left_z":0.095},"note":"The white bowl is now hovering just left of the pink bowl; it is still visibly higher. I’ll shift it slightly right and lower partway so their centers can be compared at similar heights."})
tool
executing move_to over 6 steps (0.6s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe white bowl overlaps the pink one from above but remains a little left of center. I’ll correct a couple of centimeters and lower toward the pink bowl’s opening, stopping short of forcing it down.
move_to
left_y-0.2400left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7219, 1.776, 1.2247, -0.5293, -0.4789, -0.6014, 0.0465, 0.012, 1.0531, 0.9005, -0.7368, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3719 left_y=-0.2142 left_z=0.0933 left_yaw=0.0311 left_pitch=-0.3326 left_roll=0.0822 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1721 right_yaw=0.1346 right_pitch=-0.339 right_roll=-0.2161 right_gripper=0.9957 state[joint_eff]: [-0.4991, -8.1573, 6.0923, 1.2625, -0.4664, -0.149, 1.033, 0.0342, -2.7556, 6.7897, 1.4139, -0.0464, -0.0659, -0.0171] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.24,"left_z":0.06},"note":"The white bowl overlaps the pink one from above but remains a little left of center. I’ll correct a couple of centimeters and lower toward the pink bowl’s opening, stopping short of forcing it down."})
tool
executing move_to over 3 steps (0.3s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
assistant
agent noteThe white rim now appears almost centered over the pink bowl, and the gripper is still holding its thin edge. I’ll make one small centering correction and lower until the white bowl can rest inside the stack.
move_to
left_y-0.2500left_z0.0380
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7647, 1.8664, 1.2156, -0.4591, -0.4957, -0.6373, 0.0464, 0.012, 1.0542, 0.9005, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3698 left_y=-0.2334 left_z=0.0621 left_yaw=0.0274 left_pitch=-0.3413 left_roll=0.0918 left_gripper=0.0464 right_x=0.2961 right_y=-0.0005 right_z=0.1718 right_yaw=0.1347 right_pitch=-0.3397 right_roll=-0.216 right_gripper=0.9957 state[joint_eff]: [-0.2667, -9.7436, 7.3231, 1.0476, -0.2906, -0.1294, 0.9988, -0.1436, -2.9333, 6.8718, 1.4286, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.25,"left_z":0.038},"note":"The white rim now appears almost centered over the pink bowl, and the gripper is still holding its thin edge. I’ll make one small centering correction and lower until the white bowl can rest inside the stack."})
tool
executing move_to over 2 steps (0.2s)
step 215
assistant
agent noteThe descent stopped about 1.5 centimeters above the requested height, consistent with the white bowl contacting the stack. Its rim looks centered over the bowls, so I’ll open the left gripper and let it settle.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7849, 1.9015, 1.2171, -0.4133, -0.5034, -0.6758, 0.0479, 0.012, 1.055, 0.9001, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3711 left_y=-0.2452 left_z=0.0533 left_yaw=0.0312 left_pitch=-0.3261 left_roll=0.0622 left_gripper=0.0479 right_x=0.2961 right_y=-0.0005 right_z=0.1715 right_yaw=0.1347 right_pitch=-0.3409 right_roll=-0.2158 right_gripper=0.9957 state[joint_eff]: [-0.9094, -6.3111, 6.6803, 0.7692, -0.2125, 0.2027, 0.823, -0.1983, -2.8923, 6.9128, 1.4188, -0.0073, -0.0366, -0.0171] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent stopped about 1.5 centimeters above the requested height, consistent with the white bowl contacting the stack. Its rim looks centered over the bowls, so I’ll open the left gripper and let it settle."})
tool
executing move_to over 10 steps (1.0s)
step 225
assistant
agent noteThe left jaws are open and the white bowl remains in the center. I’ll lift straight up to clear its rim and verify from above that all three bowls are nested.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7979, 1.9228, 1.2194, -0.3672, -0.5114, -0.6788, 0.9952, 0.012, 1.0561, 0.9001, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3746 left_y=-0.2551 left_z=0.0506 left_yaw=0.0188 left_pitch=-0.3023 left_roll=0.0446 left_gripper=0.9952 right_x=0.2962 right_y=-0.0005 right_z=0.1712 right_yaw=0.1348 right_pitch=-0.342 right_roll=-0.2157 right_gripper=0.9957 state[joint_eff]: [-0.1026, -7.8017, 6.653, 0.735, -0.2711, 0.0269, -0.1685, -0.1436, -2.906, 6.9265, 1.3748, -0.0611, -0.0269, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The left jaws are open and the white bowl remains in the center. I’ll lift straight up to clear its rim and verify from above that all three bowls are nested."})
tool
executing move_to over 9 steps (0.9s)
step 234
assistant
agent noteThe white bowl stayed on the table as the left hand rose, so the release took. I’ll park the left arm to get an unobstructed overhead view of the finished stack.
move_to
left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7971, 1.8542, 1.5635, -0.8085, -0.5064, -0.6815, 0.9956, 0.012, 1.0569, 0.9001, -0.7364, 0.0433, -0.289, 0.9957] state[eef_state]: left_x=0.3767 left_y=-0.2579 left_z=0.1528 left_yaw=0.0246 left_pitch=-0.3249 left_roll=0.0616 left_gripper=0.9956 right_x=0.2962 right_y=-0.0005 right_z=0.1709 right_yaw=0.1348 right_pitch=-0.3428 right_roll=-0.2156 right_gripper=0.9957 state[joint_eff]: [-0.0889, -12.3556, 8.5538, 1.0965, -0.3687, -0.0073, 0.022, -0.0752, -2.8103, 6.8581, 1.3895, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The white bowl stayed on the table as the left hand rose, so the release took. I’ll park the left arm to get an unobstructed overhead view of the finished stack."})
tool
executing move_to over 23 steps (2.3s)
step 257
assistant
agent noteStacked all three bowls at the center of the table and parked both arms.
done
hindsightThe pale pink bowl can be gripped low across its sidewall at roughly 2 cm grasp-point height; the wider white bowl requires pinching its thin side rim instead. A white-bowl rim grip can read only about 0.04–0.05 on the normalized gripper scale, so confirm it by lifting and watching the bowl move. The bowl stack supports the descending gripper at about 5 cm grasp-point height.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.091, 1.0763, 0.944, -0.775, -0.1402, -0.1066, 0.9956, 0.012, 1.0588, 0.9001, -0.7364, 0.0437, -0.289, 0.9957] state[eef_state]: left_x=0.2977 left_y=0.0012 left_z=0.1786 left_yaw=0.0763 left_pitch=-0.3264 left_roll=0.0558 left_gripper=0.9956 right_x=0.2963 right_y=-0.0006 right_z=0.1704 right_yaw=0.1345 right_pitch=-0.3447 right_roll=-0.2157 right_gripper=0.9957 state[joint_eff]: [0.1162, -3.6171, 6.3385, 1.5165, -0.0269, 0.1587, -0.0122, -0.2256, -3.0291, 6.694, 1.3944, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls at the center of the table and parked both arms.","hindsight":"The pale pink bowl can be gripped low across its sidewall at roughly 2 cm grasp-point height; the wider white bowl requires pinching its thin side rim instead. A white-bowl rim grip can read only about 0.04–0.05 on the normalized gripper scale, so confirm it by lifting and watching the bowl move. The bowl stack supports the descending gripper at about 5 cm grasp-point height."})
tool
done: Stacked all three bowls at the center of the table and parked both arms.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.634 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3798, -0.0227, -0.0326, 0.9993, -0.0181, 0.7921, 0.6014, -0.379, -0.0109, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2945 right_y=0.0002 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.5128, -1.5385, 10.1538, 1.7558, -0.0366, 0.1734, -0.0806, -0.5675, -1.388, 10.2906, 1.9267, -0.1294, 0.0415, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9deb3d88b929d4468ed442a44f4c44dd79aeaf5a6c89872d811adcb839abb12f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6877f33d80e7aa2f99c0b2a86996119c72d19173298ef33073cfe7bfaec0490b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a7d58c0f648aecab82110e2a8a00aa5abb9a778a6a6571278c96f5bca563b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 6.831 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDnvDqbefoeP2Ud4Q3yOz6G6KItDCnggyHDy5hu5b3OxkWt68gpmrwcnFngiGvcjh_gpjr6n1kyE7mwPCX1KcCFfHpt1YkC6vCIXXNHcaizOfK9n-nRSwAYzjnx_drs--kvyvPVEhe2ikaEszW2ttI6_zpS2GFikoCJ-7yQFXrv7qTda_icX490_JSZ39jiJg1mNLPaOTAUp2RF-NfV1pUR1EFMwCqcvYGj028LPz6s-7NUu0CYvfxkUZfOgyPvh1TYuFTQaqcGT1Fs6mC53sDoahiqDTM6AMTZg78ifSRDStqf0pTpUZ6y0ZmoJWbu-58FJ6xSXgc2_zHxlhw3IW4QcXQ06hvY-Kt_2kbAYtMqRI-DqcGCx-1U23m9BwNuQT3uFBBgXhjZQl_3oe-GSNXqXfHM2pFboS78ddi2CVPVQ0yz6btOsL0cdwOzG_GHQAlopQUsAGBn6YabeY6X9N1WZ9xUvbvHa4YLczZfVUg2nEe52I0ZgS3jJbfyxbtnccKWVuN1yqXlAJE91nHuYyM9Qxlv8u2H0t7TfmqvDZ_d63E6beY_b0iES6Fw4sUsTyWuS1DzFbKJfE0bdyewnz5m7onSEP_FVFhorIgwlwfgLdAPecN5wRMxwKwtRIIOvI-GG8JT13acao6UPbidhvwSotoNgiynE8BE74Je0LYPT2JNeA_rQtjORDxWvVCBM-HbuAZANCWlTu_cE8Lxv77dOTI9eBUaHFelXqe2e6d8zFRKv30o_vpgBrC2_11INJpgxYqnZx59A8_o8BA1c_2uY85Bbpyja-usJr-2asExkNkotWyLBTH3sdd8CiAZ5Ua1s0_35Ic21RjwcomCHg5A2bRgfRaq5cDp_cHtUjdcsZqhVYMVE2Nnc-O3QhIXWN2PnQcfr3r9YpCfoOMP2k8_VDfPV0rNZuoz-omf50nBFvvp8_2wIRsi6KNnHTT-urwaDdESzlpRtiMuBEkUMns0b9mo4jH0zngli5zu3PS51L2CtBjNLKg50QcRuFkae_4qm3boICOFMlHTgw0J8PpajCxdDJq9QJkYzP9o8c_XDkzPsfZQe2bbgxTbvZAyPlBpQq6WSPH7oMS5eqOJEQ4w_C6uIQsoWzvaxz3WmfFD9X_03WejZTGuXUS1CNfCr3KYknXsbAdJt485k8ykCzk6X9-r26tJTWAcmPXIoap3U4bk58lphR98myyQ4gz9v63DpMbgKe5an8V45hm6t_GcZV7YnbXcZF2d2rcYsqCVtzBTCACykWD117MKDTCD5dMD4kHLzYil3GeVFaaaGUrI7g==",
  "id": "rs_0cb0562fc3213443016ab430e6ed6c87d0818bdb70b8e54599",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.18,\"right_z\":0.16},\"note\":\"I see three bowls in a row: teal on the left, blue in the middle, and pale pink on the right. I’ll bring the right gripper above the pink bowl to line up a grasp before stacking it on the middle bowl.\"}",
  "call_id": "call_q8ABWQunNLj4pUUbxqoXXUG1",
  "id": "fc_0cb0562fc3213443016ab430e7217087d0981cb639ecf711b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q8ABWQunNLj4pUUbxqoXXUG1",
  "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]: [-0.0196, 0.8001, 0.6075, -0.3866, -0.0227, -0.0265, 0.9993, 0.6056, 1.5368, 0.9516, -0.1467, 0.4694, 0.3202, 0.9963]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=-0.0033 left_pitch=-0.0088 left_roll=0.0053 left_gripper=0.9993 right_x=0.387 right_y=0.1751 right_z=0.1386 right_yaw=0.0409 right_pitch=-0.0696 right_roll=-0.042 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.6342, 6.8171, 1.7802, -0.0708, -0.0855, -0.0171, 0.1709, -7.3915, 9.1966, 1.7558, 0.4664, 0.1197, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49c1974a7f599e04ca7219944f4275e010d77bf0ddef12015e591f96563d745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c9c83690923145a365d01087f2fcfbb717fc4e3d0ce1dafe93899ecd883bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fb9271d1b0d28855900fb5acf709a43092c1c767b2560d8701de874ac2658d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.657 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, 0.7944, 0.6037, -0.3798, -0.0227, -0.0326, 0.9993, -0.0181, 0.7921, 0.6014, -0.379, -0.0109, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2945 right_y=0.0002 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.5128, -1.5385, 10.1538, 1.7558, -0.0366, 0.1734, -0.0806, -0.5675, -1.388, 10.2906, 1.9267, -0.1294, 0.0415, -0.3492]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3866, -0.0227, -0.0265, 0.9993, 0.6056, 1.5368, 0.9516, -0.1467, 0.4694, 0.3202, 0.9963]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=-0.0033 left_pitch=-0.0088 left_roll=0.0053 left_gripper=0.9993 right_x=0.387 right_y=0.1751 right_z=0.1386 right_yaw=0.0409 right_pitch=-0.0696 right_roll=-0.042 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.6342, 6.8171, 1.7802, -0.0708, -0.0855, -0.0171, 0.1709, -7.3915, 9.1966, 1.7558, 0.4664, 0.1197, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49c1974a7f599e04ca7219944f4275e010d77bf0ddef12015e591f96563d745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c9c83690923145a365d01087f2fcfbb717fc4e3d0ce1dafe93899ecd883bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fb9271d1b0d28855900fb5acf709a43092c1c767b2560d8701de874ac2658d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDwyYA4nldpnx3PRPMA39u-lS_ruv3Bzi48dzxe3ia8JyerIXg18ai0EdDfoIGESJS993kWBBlAQ95B2yDqmX4sfJ9NErw2qD2rJ8DXxVA-6EQ8E7J3zNH5duqDuaFeTkFZJZEda1-rZhZP3IC1rYLKKPcExgipxs4Gq4RxVeAsHFtvddMN7psMGKF44t4TVIxaYdwDfrZLieVXoUeNmkluwQQJUK7v-zGryYSeyV0dwSpEbHeXiDimMZf3LzF1ojKfz3GKlfPLWXUQUdlu_raNzddcJOc0v5tAeL75AdZUT47VTU1CzHFQCNdKS6R4vS4rAkVAtcyPm6bwRIQMEg2HL_u80pCVxCRoj14eqCtEOjN0GBeVmXMgYgPASlh1hcvdeCFbgyxfeWOFbWiSTDs-GWBKZYjSzqosyMl5362osDk8JAg-z7MTzsImqDLVSRkA4pr_BCorxegvSo49dlMh3sOoteWxJ_jgV2xqqvcPA42iJ8hayHGsU7fu_Hre_t0JkN2nqOZ8iXn7lFcy1EFZh_mT_RJUHXh0XuAdIkWBQETfF7BXgYGjApLlVBvM7a5XAsnQJqdUUKHbKPh3nLvSTp-OiCaC6INQDJHnsi1SywNha-LpbEOOy98xa4ul8CGO7LzxrutMHdPKp72GfLgSe5tPBTJ0MmYg1L7JY5awRNbRMK0OY95Ijss6U1WnpgvSC_LrJWQyGPGC1xCf2Lu8CJcKT30IT6HIx7Wi0kx5tzI4syfQMiKG195GquXENeZlqWsMyAClOeJW-pAfz0Nljy7EJRjQm3EL-XNNr7Z5gujP1tk4cXa8LFhbSc1_fXVYBmNdUT3aSEmKRZPlI9qEPEROKfa_tzWHllOGpBP4VvawDz8IUduq3Kdxh0RyEOPqPiuUXMjrh1MJi5V9Dxdm_4jVFlb1GooqGt7iHYv5WrVMtO61hxt6OS29mg4FLhDP5EbynRhea6-H3SCqUZsbIjYxgt1QwKDXAI5XOa-6OUH7zw5YE0ZqEbZsV66xTdLwQGci87xu91qMJRyGv-wR0S_j1Ft6NHfM7VouGFzxXRpQEldPmBo3k0MoJ5dDeAp7lRbCtO0daDGGSAJSq28rm_pGsW2OP1ttq7ovDtr0JUAB5yqCZYXVlyNu5rkAqTvbfNe6vv-n0HagzfHmdjy__JLss0-839HkFIhr7JqeuB05futGlhv7nLmKlCFQ2dvmaOy0mJor_Bpw0VSs1dSjtyBKmxVW8lnvyyBiGH8ywpnxqFG9xUpxnaIZwBFCHHGfSGWJ5tPPJ5LCXrGVic326BUcfQdxtZY2EDiFtdZNEIbxoVqoSuL4NikeJHXaDFRDrRwRrrTa_aImqKySf7jfvdD5W3A_NlMJn2j4CbomDKL8vCwd03u8J5IpgbrpENuUQsVOD1ewV0__AZqEhI8eiTjhMGyINqMHF3emTQapkjJiLRhkpbXxm0H0SKSubAIzAYxF9n-snJzGYfGjAuqcLX3uw55Y0uRKdFwfvDfftvsFRrziXEOKH3wcPzjbUc6Qc9s8JQAq8mwI_OtgyDy1Jb3sai-iwiXMD7v6sSYdYYFyRpXaErOsNYCxJ4nt8dbpbr5cgOKEEgIWlpwMfCQTpAdfcLva1dw3tnsECTfukVdnK-arWKRCx3kxmnzwOWhkkLaH1owzUdWQQAAmxjx87n67w0Xv6fOciIyP2-FyTw-0vCGeXc3IriXKN7SdRIlUmBlarHO_-cfGvMZfih7F7tofFUsR7yvL3oLAAJB1Bm0fvqpXIDMq96GJIaPuh-Cnj5orvCLt0XcOPxu3qSiclkBC-1F61gSbjn0o_9muA-6uUNX-j62gGeNL8D1YnNG6OEj8Uli8-q3h8CW1Spx7oGGJU8KpkAYLWWEfRJ3JvrrPGw8V25p4NxMy4Lfwima2ORR4DADljhIL87Y44jITrEHqNSrVocEyPSLl0rt5jIbKtK1HiM2Up0fKMxPAtlwPCnLxyB7pms-CEmq5otVehnfxlJCL4P2rGChGbvgrxSWz62EFhT0ih7sa0O-lt2H3ypdIPf7uAfVFnlPLMGpI3x9Eq5XddhrEWwlFgosDwqdzESXkRVCp-X-yUm_Ip0BbZIyQPlFNR6ALedE9_bH8j6nvKGjV0muM0m8NvoGDFIuTty2qFLwLBAKlLpvSISs5Noet2CIcr5gHkuHdCTzik9vw-q-AT4jD0wzyBC1UlhsHSgHNGr20TJr-80aGxd-U6oWJsERPwKtmBiu9S3FDYDWZm7POOZWSN3f7QPej-18jl416APirpN8jQ3UEHddW0HDt6rvl1bFa7ct5UYS0tgUe-RJjl0WBUgotaQyW4Z6XKcN7lg2RphlmaW8-hy9sl59dkXpZZ3l9ZkmYA7aByAB5nvN4isngbXYzS5fyY3ONnUu5Nv6G2t0mZYQ23vryrHFm0np0gqT4oxBWFl9TuW0m1oMH_020Bydkb7zx8STyB4zMOn4I6A8OHxCh2PqnnsGsI4VLpoYkj9qJjSRmxcFj4wvpz3f-oaOdfwu1jPGLmoC5KpvLM8JWg4DdllgnFiyEw2vZyCNnoJyrU_OZcmtTfKoX9sJR10InGAx7rA0_L4ERYsrQ2o25nFhsxLgJalGsgVFuM1OZthL39m--EQa7PSGPuSs1j0Gnc2GfAsbuMuXV9PvXykJ8Dmkcp4DuwLR8LNebiyxS8TTUDCVaggi4V_mnY8xZVPiThScmvuYTkgosKROBom9GpZdcPuesmVMcX38eUflrqcm8w1FDHnePUkPYz9PBLx_-eCVMb3CmYrfQ_dIim21rEXBz5YOJIp5fT_O4RS6OVuVhBP22_naoegw7ZCyoIoo_xiIjdsDOG4SymMjxJn9MOt2eHO0HgQYP91N7r-k0gFly-MkAzARH121Yoop4vMhAyv9gaCxjo8TCyzP4MGQ_KVdYJMCMa-AIKrVRnH5pz-zIRry8MLT7i_auf7djy27aRc-W7UJVfUO8uj1F5CepADF8I1p1iQdEJ2Tawtr8pEbCf32M_59_U3FHRntPhsRpBrcuFHlnNNOlYeB1wxuWA_6kfsCrLWEtC6nuU_A61HzWmnRPQFJMxZnSrH1v40DUVg2ZsjAZcDqCNDnGz81TcbehgDxrapGdQZzfkthfMpXwmg4Qt5cYqhejohQBsho9J0ZoMZ0OUWbmjrF8a_WpULizqqcMsZ5aoIYzXJLMrrxHUZc3YlEP-RgrEGpI5Zasb_66Q6zyCgSBLzm_vK72QyXaPLOf2Q-cpzdf_d7UVRc-UhYFnpGCVtJ0LXLswvw1BrY5LSxPxxkLG-FvW5Ep6jH-xOEqaDG_kyvscWNkPuS4YBsAlUuqmC1uX6UO_jszu0WW6_tEffGjb94n7J19IRozqVDmHVjw8rTlGnbpsQbHxapENcRelpbO4VkZYBi7fSDjX8Em3nLf9DBXpfOfL9rC5micjYyNSFUAWtcZVWMqFdn6bhDuEfFGAa5wx73RafbegX_1tgGNY3ojC5DWBBkxygM30QnxO5dAWS_v_if1ih3sb4ZmLEG4HhxoLyRGsc3blgfdllprOjHRMME_WIDZjpr0hvBis8FTSuA_zUgv62djUKDs69RSu7EuyKwfVR7bZhQ-iJaq4Hb6oe6KHS8d8JV8J0XaqmpLzu-pWcqoI565zGmtvWLJnDtN9yqLKHnL2lwssMQsrrmXtOdJK5x4PypvhTf9xnSPzBp3bD53XsRmNQSpui9inJAZbLBp2jlqs108ITJCbPrA5lcJmEM_IgzK5S6tRFvwsUoSe_WSjuuygxww5Fih12ZfdtIG-4IKkWE=",
  "id": "rs_0cb0562fc3213443016ab430ea7e3087d09741b43f629d3db7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDwjDmzabE8JFUXCSJfeF-1hTBkWVR0nbW3TKCDpeDilkHgGWxkvfSedt1fRA8XnI_HGgeu3ns_mx55_CaNjyWy-JPPItd8a8Yp-JTm5mtdErvGNk0SfhPspkZpXbG8sdo0eShfprHOpWDsGsFIv8oYLpWvQLKmrkEFJWzDS5-d4atMKNMhRn4OKFtGBB4uHkJSaoOcSrM11dXbAuiPYKvAVbXx9IJlBVKzHS7Op6i013OFwa0Q91oJn9vomvQ95LSpBPmdkp7T_TPTD6TXoPLLDX1B4F7nRNEDt4qY0feWhl0CoNLqO_72MtVkU40WXFY2cgpDSu1UXYhbhwywhZvkwagB-I3t-ES2nCyiDcNY29Pv48eatQEZqVksOU0oDzrJDiUqpa2GUxSpaRgpk0Iu-_96Z6Rd33nkZ-fOd5Y2PVvskCRfQKO0We4bLRIG6GP70Wk8Ju9sEDPdVNbnRtyTuIhmbEG8J-CTYG32EEq7k-eSjSoDSPPoweBhvTmFyROiAw-3FvLYFme8z_NmzJVGqpuc0ZxBUM_3KQmYigSiR-j6JKjP-nwafOxGoEMddke94g_IQr7F2zrQPdJf2AOmD0gR4oAG-4T2cfyWnXhR6r0lca2ZsoX-zdnucwZ5cUeKZoaaJ9AO3SPNOk_zKSAXNxHPN3-pjd2X3UzQ8jDSCp5ntW5e-XQ_rzC_q6C_AlMtD8Xf0J21THvdRU2vllpLjuv1PelTwQQ8z3A3WErlHtTi72oQy6ldd0EzJTYoEhw19bRk4jXhmS2xUtoT13pFtvXjn2U3dYeqkJOflBZwMxzT5WyQiReT5-96zFqQ2-mKu1YrDUjSfhC4z4tJZw09zOzGWwMA08vedPyhcjNWjefn5EEjnEV1tjQ3wD5-SgG36suzNU6jsFu8SBOMPG6mEjqRuwX0YzZVpX4pX0-1Op1tylH5n26lKYCiL2Z2NtJ38wLkEocLVkjlPqN7VySobSZ8ts5HfMlQJy-roYzHhHpEKZ6HsEEpVv1OdS6uumjtLA5vNcwkl6930nwPwPZkdzjuO__F6Kdz7lSjCN1mexWuaP5lZy_iSVUhyRXWpMN-IbgOVbU7ZqNMc19nxYhPCSQ8xic1X7f7rCmyaHHiIY8eSpG7JAG3mnyZlpPGbFydbykqZ-Otr7Jlky2u9W6nIsVa76tDyo80c1miIAJhLbGe7DHB0FhxHixzyzNHsE26r6Y1myERcPKWZWYMTeSgfmZCxomkLoWm8QK7U1rTIjRjCMR6IegOCQMToLGwr869aEry7ZYtdMvOzrqw2VaJyf7vr07IJ0iB6p9EOSVjcqk=",
  "id": "rs_0cb0562fc3213443016ab430ef14ec87d0ac52bdaba31ffb4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The pink bowl is beneath the right hand, but in the wrist view it sits slightly right of the jaw center. I’ll shift the gripper a few centimeters right and lower toward the bowl’s sides while keeping the jaws open.\"}",
  "call_id": "call_kKGPJsbRMfnEhA5FhqRzOZjL",
  "id": "fc_0cb0562fc3213443016ab430ef57a487d0bf4fe691c901b668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kKGPJsbRMfnEhA5FhqRzOZjL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6037, -0.3866, -0.0227, -0.0261, 0.9993, 0.5503, 1.594, 0.7143, 0.0879, 0.4339, 0.2871, 0.9963]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0035 left_pitch=-0.0165 left_roll=0.0057 left_gripper=0.9993 right_x=0.3698 right_y=0.1439 right_z=0.0616 right_yaw=0.0282 right_pitch=-0.1347 right_roll=-0.0782 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.2376, 7.3231, 1.6923, -0.0073, -0.0659, -0.0122, -0.3624, -6.2838, 6.5026, 1.8339, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711ad6aba02523d3cebb3f062892e9f574bf8ff98497037e4a5bea29af907a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222d1c152b60b0d702afa9172903cf5e1c4bda930d8c52bbc0399eb76f6290ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a25352e62c7daaf1b1c6f59290198e945cf135aa5b71d9993fbafc67a4cfce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.925 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3866, -0.0227, -0.0265, 0.9993, 0.6056, 1.5368, 0.9516, -0.1467, 0.4694, 0.3202, 0.9963]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=-0.0033 left_pitch=-0.0088 left_roll=0.0053 left_gripper=0.9993 right_x=0.387 right_y=0.1751 right_z=0.1386 right_yaw=0.0409 right_pitch=-0.0696 right_roll=-0.042 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.6342, 6.8171, 1.7802, -0.0708, -0.0855, -0.0171, 0.1709, -7.3915, 9.1966, 1.7558, 0.4664, 0.1197, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6037, -0.3866, -0.0227, -0.0261, 0.9993, 0.5503, 1.594, 0.7143, 0.0879, 0.4339, 0.2871, 0.9963]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0035 left_pitch=-0.0165 left_roll=0.0057 left_gripper=0.9993 right_x=0.3698 right_y=0.1439 right_z=0.0616 right_yaw=0.0282 right_pitch=-0.1347 right_roll=-0.0782 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.2376, 7.3231, 1.6923, -0.0073, -0.0659, -0.0122, -0.3624, -6.2838, 6.5026, 1.8339, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711ad6aba02523d3cebb3f062892e9f574bf8ff98497037e4a5bea29af907a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222d1c152b60b0d702afa9172903cf5e1c4bda930d8c52bbc0399eb76f6290ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a25352e62c7daaf1b1c6f59290198e945cf135aa5b71d9993fbafc67a4cfce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDD29W7nCOcwbDuGKlDVjcEecKBfjYcB7HBc-22rwnKCSIE5L5wPd7Se7r3H-QekpM8lfuZVdtsuTFkqlUkXT7XMWgIaZ5ps4_Od1REOFRxIHiCHsqPlXvRPq0vvz76HpgxsOEPVGXX68GrE1zfbhqky1JBt5ftCql0CYDs8peuG446uYTJBDI59N4eui_ntPe1uFTkWaEOD7uyrVGUwXsniBWBi52R4TwdaQ6MuuLhrh4EJTIVwXHGR6JnCdF6DguN8d1Wf3dqlPDgvZi94TCsx4mI7TE670KwzTlj8_3cE4_LuMPl-FIA_dhLzG6FNzCOLHOVeaBtHz_ax6Lzb4GoBdeBn2zqnvaEqtCwRxBtlvXVTw0ZeZYOmeGQu0aUs7Tf0Zk6ZBvbfhF8e3_vY1TPKWdQf2M_FuWzIzH2bjdaWX8Kqry1SqUtBJnUp6iZ1X7XBHe84GTtDpj5G2-RXFyBlxh4h8v5EYv1veU8lM9OQVGcEjZVwVzu1OhbSBUBg4KjgqIfahMzNsMFPzl8pYEB3ZcRH7SKqPAobi_XY4cIr-xgC11a6VQ60Uh7eR7Pkh6Jvv4tyHLlltN5a1uwMl15V_ThI2rJTZXq27yMOMnbVVEwuefYREEneQrVzgp65s89ia6xWKH1n-nrDmTGk6haVN2Mj2otZJhxrFFRVKCOuvLVNylPdACAbl0fex2AwaxMdr6mxymkcrkMUF0om6MS2yC7NsiyNUkQRDGnkvHO8S41WJBvclkkVCsjNWqMgCpa6dltqq3eSPFHlBsV43h1HrX_adET0SUupHmv_weBZwEeFC3nhJ1m37Hd-oXL-7mWAzbHe0HG_CVhOTysDDIqg-cTfpT_qhuTAhnKIrBGygL6Tay2rgC682etr3f6KqMMj4GKLWVyHEytUhnxe_QidIF85oiaXLSxlUI_02S160zGq1yCwodZZqVzFkPDxEY7HLktOwdZ91ImQXfF9kE-BMRtD8FWu4z8qBFjfI6dhWstsk4kUSRbRJfUy7ko6tHApCB0OvnuSBgnEiPl_eGcpp6s5g58J3o9rK47-ow4eYjiUfmUtvKG7WMBMstItcgddUtFtbhOcICAvxTnEuuteOGF1wP8QHtGAEy83Ih9XiVxaN3db-SH5gXXtMY2CkEQKeo56QCaMv_X0zKsdfZmq702P50lXiLvVZCar9kL7VTydmBB8cts2YtQG2HLD4pa4JC__32CGYWj6PqqaeMU5HUa3rMcbS5MdukBhpQnjLtfZXsbrBLUinOX3CLZvrYFMIbVr4lW5EBg86_WZx5ET_qKTbdTdV0cgIvshdPcAhPi8aAUaj6CdSW608b5JCw5p5WLiOjzOAgqUYVGwLgX-QskNiX1qJuXWeM-UVl0vcgNzXlKQWUdfcMPTNSTnRV_I6LDWfvXT3UQ4-yldRZT0uyv7JKTr4VFSArQnlchsfHzRK2b6cV3R_6S8nj6jhDWhdPAe6X6qv7x8z7k-mCQJmi0X-J37-CMn-3O8kKmQegQc2msIfRTKrg-lTbc12hoVA-55gCt_gSuJp2Q67XG4Jchq6DNuBzkgHrin1VL5aXCVWUiZsNrH7xktUfNLFGrQ_6TMaxwPcWMruAPuJ5OIPzTSNbzrJ4BSTMuc546zHsvXEND6ImhI0aQitSyLGbh1xnJCBNXHaDyyk1Yj7FSFcIrdCbH7JEcZ4KAGLvAnOXy23R7f-Oi7UtxzYinUl9oB7d_fHFTxd78jmx3TrfbUZdxR_4uir7FWlmHo65MGSWrct2M2__sWiOYzWScAO4zfYVcM8lWr_1qGzz5n2Iq8jX5145M2Hka1Fm7GJ_lIHiE-qctnP525jv6o-4jjInbGhYuKoKDxRsUwuYEOQFuKYtTxGmXRrLDcFnSt91FWx5_bHXHtusd2N1a5TCbYYyW7O3Po6wgzK-Qf8Dvw_lnhqjMT_JVMRd8-8mY9yJ3qLgcPs9hQy5-tWrf0ut9NVUOJrilc9b2MILQDRT6M3PPx-GQRCRKhQQE1sZze588S1bma1HQGecrogKEd9UYl8-gMOaRMSFK61pWp4rhg3-ozVJGTiqLnQB7lhizisAXVC41UvTofppnUzllzuLmbRIfMUGX3tR7rjpSLHQbkoqvYyzfP8qHCOW2QF5funs1B0q_S1engp-QxuoBiiWOn5IvVyzgf1ck_LwtPaA2AqQ_4Pv-D2T5cdE_AalbFI0Si85tkntM69IzkMpyx2vE8wthJHZ70vKAariR8gW9Ffy6TK-4dMmFlMvtMNhfepib74ig7HPVLokqZiu3uAAYNz8LWyaT5OxjjsSs4lGxPGlLATPDN77EmDhOx2jy24708wqAVeM02mfNJuCO0hS6RD0LzXQqgLopxkxZEXxwy4Jc6EK2SjvgRf1ZyiC2T6NjMegGiX7Sg_mUDCEotbcAXH2JKvfl41zEM-aYNlPoZ1nQAFnCAZqfdhDgPLHXt0ZKclKe0UTFuwnnCNRXOMLRN840v7CiaPzgHlf7qj-VRzBn_zVRp7u-4euBB2uUmktyk1tNj2_NuQAeKzK-3byROhJb-Ad-KZ8kR7MR8CGsIbjtSPzSpABQN4rI0CLwGe8C7ebPnXEqTY-0NHDaOAt8OtulMLoSoZp8UTo9RBSX2CXvFaEy0PbmStD4qLjDNMjroZHm2p8DVnGcflHLUokHs59LKi1XFMAOpuK1pzKUCAj56zvPew-diMyzdZrhCzQcbWQOqG8X2xxt9FUD628SohSGTS-BJIuYxZMoUNlqXO-HFrrdxCApkt0ho7zXtMJa9LC4_0nrM1jDgH7uCcOOaZYQ542wW74BULMkvBD6L4gju0PfRuIFNOF9fCCZn87TTEnpFWb2-SSpAnT8viOz7siROjO8-Ync8KEHmv4n1V7BI88SdQDKjjW3vMwDJxcxDHYGC233suUcYpIQPhb39xXjCWxvwxINH5brgYAkFQMHB_-mAonaAGv7LBZ1Qbw8hgBIMFnks2ryhcknElnymuxD61yR0tdogtamgeLgPnzoBewCxUhevURaeZ_UfB2pUIR6xnRjVo7WcjF-SqTs6bl5T2XJRFstqpn6XFW6qK72C4TG8V008Sv7gpTpbSa98bTXAF_0FQMAWM2c35rVoqYzNvh6wCsMRSl9dHQNzf_kLjOSE6MZgAfvEzlOLrdG1KsLiSvSX4Bb04BiUvBSek73LhHsRG9Asyt5hICC_UVx-0400mpHoMk7FKDZ-QFPfO9F0IN7mtL4mat-DG5uw8-8m",
  "id": "rs_0cb0562fc3213443016ab430f1d1f887d0b848c8c9d3d2d4db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.135,\"right_z\":0.023},\"note\":\"The pink bowl now fills the gap between the open jaws and is only slightly off-center. I’ll lower to its lower sidewall and advance a centimeter so the fingers can close around it rather than above its rim.\"}",
  "call_id": "call_sKW9nts9dP1W2i2jKWiJhMBj",
  "id": "fc_0cb0562fc3213443016ab430f55a7487d08da303ae18cea07c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sKW9nts9dP1W2i2jKWiJhMBj",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3897, -0.0227, -0.0261, 0.9993, 0.4984, 1.7416, 0.6933, 0.2379, 0.4, 0.2493, 0.9963]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1745 left_yaw=-0.0035 left_pitch=-0.0218 left_roll=0.0058 left_gripper=0.9993 right_x=0.3822 right_y=0.1338 right_z=0.0213 right_yaw=0.0223 right_pitch=-0.1647 right_roll=-0.0943 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.4154, 7.0496, 1.7558, -0.0757, -0.0122, -0.0122, -0.2803, -8.7453, 5.4085, 1.7167, 0.022, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a225ff3b908554d77d9ce3c29e442304b379efd2101e413a43b00c7e504755d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48811d68e5a39b2eb59cfaad6632e58218cee22b0f31231893e5bf488b7a2f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca7d562e2aa83197a56757055c12c1289f2aaaf176ea03230d6334844c48a43",
      "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 · 2.214 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3798, -0.0227, -0.0326, 0.9993, -0.0181, 0.7921, 0.6014, -0.379, -0.0109, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2945 right_y=0.0002 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.5128, -1.5385, 10.1538, 1.7558, -0.0366, 0.1734, -0.0806, -0.5675, -1.388, 10.2906, 1.9267, -0.1294, 0.0415, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6037, -0.3866, -0.0227, -0.0261, 0.9993, 0.5503, 1.594, 0.7143, 0.0879, 0.4339, 0.2871, 0.9963]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0035 left_pitch=-0.0165 left_roll=0.0057 left_gripper=0.9993 right_x=0.3698 right_y=0.1439 right_z=0.0616 right_yaw=0.0282 right_pitch=-0.1347 right_roll=-0.0782 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.2376, 7.3231, 1.6923, -0.0073, -0.0659, -0.0122, -0.3624, -6.2838, 6.5026, 1.8339, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3897, -0.0227, -0.0261, 0.9993, 0.4984, 1.7416, 0.6933, 0.2379, 0.4, 0.2493, 0.9963]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1745 left_yaw=-0.0035 left_pitch=-0.0218 left_roll=0.0058 left_gripper=0.9993 right_x=0.3822 right_y=0.1338 right_z=0.0213 right_yaw=0.0223 right_pitch=-0.1647 right_roll=-0.0943 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.4154, 7.0496, 1.7558, -0.0757, -0.0122, -0.0122, -0.2803, -8.7453, 5.4085, 1.7167, 0.022, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a225ff3b908554d77d9ce3c29e442304b379efd2101e413a43b00c7e504755d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48811d68e5a39b2eb59cfaad6632e58218cee22b0f31231893e5bf488b7a2f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca7d562e2aa83197a56757055c12c1289f2aaaf176ea03230d6334844c48a43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDD5rIRVV2Yyd0toCNc755g57ugdRZ-fXnHc5btRKUFR4ZRRTvNYcWSq28joc6riy6R5JKEn6m2Cf1kf1XIug-jY86LD1r2SS1qWXcb3hKfW8f9fQ7Vq28_3F6Rje1CyJmfe3NcdzRjSRr21dYdwBpo4r0CC8wekTw1Zl70fMFRezZSZuSxmsUHYQCZhNck6wxXy9tUTE7bAlTxbfdak0XLBbLvtXxtTr8vRUvgXcD5zI1XrLBSGMPq-4QdAPko1amtUt4gV-iwwve8xJ-ztJdqionBrVn7xhOdLP_szPz0WFlKoAZCYg3K_TIDXap7NfNvXR3quyBzK4Q_P1FVhCB3ALmlob-8TLE5KVLB8mh1VPiycB0iPF1fIDf5K8Xq0O7x2JUd8a8tIBa8FcIHxg_Bx6OBdnGBBQvXsEmoaVGlZwfqRj-1DakuwDGqDJSlg1DM2Gy0MSmgF3HmYx-teAVqsqvUbKynUynG0_51PDMPReoaH09Wh87xYabY3-LKgD4F5SlAki8IMr9i3zr0nc5-Jn99Cnvk1kh6SEk9RmhBPm-jEh9uzIMWvnQDSEdRuFBcIHy8ZZW_Z4og2qFR2DJwfxhhTqXD6_JInBVfcf3T0AYVMsdSJ5BMqzQPLFjs4SrYZ5MFESSgWKRUXcoY_1MkJoilQBdoBKZUouREeSSJ6A0PMLdW8p9aZahbk6dXe9wGyLTvQ5mTv77i9CyDOyudg35Ol4QjYBK3pRajrcEUKuB8oQhtF1q0uFGfMrK8iAvSDZCGw2cRir99bogqjMovtPnY2CKofTEhHw-ZfnUk2_CTHhKLrvnN0xeCXJwG0DsUx59sTwF-OVgEbUmDZE97HZhEnAUiyeAAJlHCTN8D5kv3o2U-L3Ngs86EybE3KTQ1CkfRQmOy_sqANxQ4fvgD1PZhHkyZwNwtxsZvBmpVhdWYXDhEv7cVmsyttq97GVYsJVXCAZu5WFgFeOoSeC89izVUgxLWB_mTyU__tiNHZf3cj_wS1SRJtQ4bG5g0wNybPALhAY222b13cTz5VtSt0m8y7E3hfnBDp8okHnNjdot5cmfWSNXzNWdiZ19CAMDhdaibVZEEMsAEI_Fdp5QI5OATtPtuJG_Y-9x1ZD-XcRRUcVW6OCzP7RzKdaql5BNDkrSu7WaQ8e263kSG3JnpCutW2TIefi4LAE6UA2_eo53svXbhopO5UQT_d0jXDRrUd-trMqJCt6c9hhH1xML5kulOOIMyqRliR8sDE7BFt83vzYqagkarfxDMO86IqSPGNqF3mCDamK_LC6iaZGvFhuMCw26gCUOY80OLx8gs1CCZJUgBOZoaNZmBSdx2KitivRdIA1pZSg7_JfR5NpTPFSkO73lzEBHy8LPOrpwwl-qdN08T3tLRMqu32aa-5MDBzVtaLth0lYBVpHQY-H5QeeK-EZ_O2ZuypvQJBaeNIg-oBt2wAkNbkaWfVmjE6H41bO-lA6yGWJzAYjY_BYNVFgUW_RfR3Scr1xu1PUPbSbSZeUtmTK-2kfMq-Lq6Grla94dhyjHMyho6ek9cot1BthTNInH0LoJg32-xderUOpMbF6wevlJxSiJb_vnucD5aA9I1u4HALGjgry5hEkQiw_WkDuY5R7sTIkpZc9aYjkTpLODanfPTuGnide_8zeX-INtpOvM5nLlVBGIYOgiylLfy3aYIlyNcyJh39pyZAGObkG4d9RnRb6XZToUxCta0ufCtriC49rEdVgXNtNwxG3mZxSrRzk6GUw51JcI4NgMuRlX06rGVL_qkvC21eeUd9",
  "id": "rs_0cb0562fc3213443016ab430f79cfc87d08ee71c936158e471",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At roughly two centimeters above the table, the pink bowl’s sidewalls sit between the right jaws. I’ll close gently around the bowl and check the gripper’s settled width before lifting.\"}",
  "call_id": "call_yfBebkOITWJTfO96p8Dv10MC",
  "id": "fc_0cb0562fc3213443016ab430f89dd487d0b71e5a534ecbe937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yfBebkOITWJTfO96p8Dv10MC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.485, 1.7615, 0.6861, 0.2901, 0.4026, 0.2199, 0.1039]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=-0.0035 left_pitch=-0.0214 left_roll=0.0058 left_gripper=0.9993 right_x=0.3879 right_y=0.1302 right_z=0.0199 right_yaw=0.0245 right_pitch=-0.1431 right_roll=-0.1068 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.1556, 7.0222, 1.7314, -0.0562, -0.0317, -0.0122, 0.253, -7.5009, 5.8051, 1.5995, -0.0317, 0.1294, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9ea2e3f9af93efbb20fb1cf32acc657ecbec1b2f282d79c4ae118a166fe93e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b01dda459f6a4ceae860103e6bc45db6dea2a8259bb43bd3324fb2ac025b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55487f93657c573ed8ce706a298e2e320b95966a6cf5e1645c8155163aa1dc57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.993 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3866, -0.0227, -0.0265, 0.9993, 0.6056, 1.5368, 0.9516, -0.1467, 0.4694, 0.3202, 0.9963]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=-0.0033 left_pitch=-0.0088 left_roll=0.0053 left_gripper=0.9993 right_x=0.387 right_y=0.1751 right_z=0.1386 right_yaw=0.0409 right_pitch=-0.0696 right_roll=-0.042 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.6342, 6.8171, 1.7802, -0.0708, -0.0855, -0.0171, 0.1709, -7.3915, 9.1966, 1.7558, 0.4664, 0.1197, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3897, -0.0227, -0.0261, 0.9993, 0.4984, 1.7416, 0.6933, 0.2379, 0.4, 0.2493, 0.9963]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1745 left_yaw=-0.0035 left_pitch=-0.0218 left_roll=0.0058 left_gripper=0.9993 right_x=0.3822 right_y=0.1338 right_z=0.0213 right_yaw=0.0223 right_pitch=-0.1647 right_roll=-0.0943 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.4154, 7.0496, 1.7558, -0.0757, -0.0122, -0.0122, -0.2803, -8.7453, 5.4085, 1.7167, 0.022, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.485, 1.7615, 0.6861, 0.2901, 0.4026, 0.2199, 0.1039]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=-0.0035 left_pitch=-0.0214 left_roll=0.0058 left_gripper=0.9993 right_x=0.3879 right_y=0.1302 right_z=0.0199 right_yaw=0.0245 right_pitch=-0.1431 right_roll=-0.1068 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.1556, 7.0222, 1.7314, -0.0562, -0.0317, -0.0122, 0.253, -7.5009, 5.8051, 1.5995, -0.0317, 0.1294, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9ea2e3f9af93efbb20fb1cf32acc657ecbec1b2f282d79c4ae118a166fe93e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b01dda459f6a4ceae860103e6bc45db6dea2a8259bb43bd3324fb2ac025b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55487f93657c573ed8ce706a298e2e320b95966a6cf5e1645c8155163aa1dc57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDD8B0jQTWxqw2JtngZVbCsq-fugQ616o4SQg59rNvejDmeS2cn3H5FCVk8lLowzcajlv80AM1oSLC9m6NMy0_oUEsNpo0IltlblpXUYfN4G-QlWpGVt2ViS_HG5wxrXGnZsvFE558BECevNJ2emXdAldWXxfckDXMqbo2TbO7r5JMp21Sj7YBFAmTAEHDpCu_UHP8iDKmke8JZTXSOCfnYLkANjffIyZ1xktzgtrOzrkekrZET8IqxngFgMc6EOj7rc7DxUo8JiQdJqUuM84PU3BbyXT2oE0YT6QU7CEkPHI7BnbrXJ_gHuRyff9GWRY_KhDeKskmsQQP91CFlY0EiU0AoRBo8_KoOpl-fJCx_CxSLAy_khDIvPFAjk4kSm8oy_9Yne-rvvRSMWtUDkaqslVT_TmLHUe0TBhDiLPW1PwaiLGvzDNFSuZB15jf-8R10lfrAUcx7d9J1zlqufHMhCB2E6Cgwk5XGq6ScyrDQJzGCF6-Pf2MeVCwl6MqOioRtaLSE63AncVhysx5PCR04RzfhdIJxhn_rtU1-yykrafojh21ApvmHX3UHBGDIj5zGRoxj47yMF4Y9as1mQLshgOrXrkgsHgJ9HUT1lTybSNlev_a7s1nOGyL9HG0YPlgeLBV_JfqP_aeEP0Obld7aFIabN3H2f9bhU7woXQoLRccYU8gQqziX06OnlNIiNdDZYF7cBsAzMk313PDnPSndsXcYSIOkMBSZ7tehSFwEFDk3GWkm-wvncxu43zf8L5PvH76KaezA0XAxKVrKK6-Jlke5evE-k5C7eYR5IB0BQzVRHo-sNq2RxDeDUpSfFX0n8Vwo2k7TQ9Ko8Dc4uNDMYRUJ9VgiaO-7Yr8_Sga8Z3rkj59d-A5l5mymlKVKyNXtggS3-SwuG7zMir36WQN_8SojGDCnfXhIJ85jjOxw5M4VhVjqqkxVM3JtBmZFOeydvoBC090884A7n33BZEaKT8aLYkhxAECY_42tFHzHeThRHRLOWIBS-s7LF6BuklzuSmFb7PfczbfNhTzoQ-SEDhhwBRUlTixfdNnrrsjq1XFGalZrr1wTSl3pqoDUsFH6452gCfOaX6XzIDEYtt1ABWafG4K7vJTwnpHmn-q_a-1znI3mU9BczlhPhAKL2RhbtWJrcpO7YPHvI_zV9XFYGZsTvdatGig3CbM80gLqxH1jULtADNyKrGKTriCO-zFq5OxxaU4xz-sGUI7ANmkk1mqcM6HcY3KOFFnUDBlfnCKkyvlx--wN8bwUZqQuU1vY08hj4yIk0zGsH_V5ktbIEhtQmuc1lxJwlvLeJ_pnO6Vi_BVy13seJqhsFom6wFSr50a4FEoxekWm8CRcGPN89o_WoA4SjSjLImWaMuj-xyYZBVkVIWpgUJTCLI8bhFwqzP_RxyhDPZ2fX4KGHftpWRLtqhqr1wyKJN9lD8jTH6MfZlpsUXH-nL-udqemMS_SJNJysOM8h-QtyBm5tleD1_A==",
  "id": "rs_0cb0562fc3213443016ab430fb4f8c87d09285ce15c8a0c5f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The right gripper stopped at about a one-centimeter gap, consistent with catching the bowl’s rim rather than closing empty. I’ll lift a short distance and verify that the pink bowl comes up with it.\"}",
  "call_id": "call_G0nHl9ZdcBLfV8PrrQVUp3HX",
  "id": "fc_0cb0562fc3213443016ab430fbf67087d0b53825fef5b86d1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G0nHl9ZdcBLfV8PrrQVUp3HX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.4839, 1.5581, 0.828, -0.07, 0.3988, 0.2089, 0.1031]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=-0.0035 left_pitch=-0.0226 left_roll=0.0058 left_gripper=0.9993 right_x=0.3857 right_y=0.1292 right_z=0.0903 right_yaw=0.0314 right_pitch=-0.1584 right_roll=-0.1194 right_gripper=0.1031\nstate[joint_eff]: [-0.1026, -1.388, 7.3915, 1.7118, -0.0611, -0.0464, -0.0122, -0.2667, -8.3487, 9.0051, 1.6337, 0.1294, 0.0855, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31dc996586d4e2d8c04278cde77af5f09a616aa6e6ba1247bd9afb262e3b4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50912201b4216eb9e42b6d9f4a39e54df5aaf008fdcda100fb833fbe13604420",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62499a326488f64d490202e621c3077e77c773dca39894aec7a17bb8488a4b89",
      "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 · 5.702 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6037, -0.3866, -0.0227, -0.0261, 0.9993, 0.5503, 1.594, 0.7143, 0.0879, 0.4339, 0.2871, 0.9963]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0035 left_pitch=-0.0165 left_roll=0.0057 left_gripper=0.9993 right_x=0.3698 right_y=0.1439 right_z=0.0616 right_yaw=0.0282 right_pitch=-0.1347 right_roll=-0.0782 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.2376, 7.3231, 1.6923, -0.0073, -0.0659, -0.0122, -0.3624, -6.2838, 6.5026, 1.8339, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.485, 1.7615, 0.6861, 0.2901, 0.4026, 0.2199, 0.1039]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=-0.0035 left_pitch=-0.0214 left_roll=0.0058 left_gripper=0.9993 right_x=0.3879 right_y=0.1302 right_z=0.0199 right_yaw=0.0245 right_pitch=-0.1431 right_roll=-0.1068 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.1556, 7.0222, 1.7314, -0.0562, -0.0317, -0.0122, 0.253, -7.5009, 5.8051, 1.5995, -0.0317, 0.1294, 0.6129]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.4839, 1.5581, 0.828, -0.07, 0.3988, 0.2089, 0.1031]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=-0.0035 left_pitch=-0.0226 left_roll=0.0058 left_gripper=0.9993 right_x=0.3857 right_y=0.1292 right_z=0.0903 right_yaw=0.0314 right_pitch=-0.1584 right_roll=-0.1194 right_gripper=0.1031\nstate[joint_eff]: [-0.1026, -1.388, 7.3915, 1.7118, -0.0611, -0.0464, -0.0122, -0.2667, -8.3487, 9.0051, 1.6337, 0.1294, 0.0855, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31dc996586d4e2d8c04278cde77af5f09a616aa6e6ba1247bd9afb262e3b4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50912201b4216eb9e42b6d9f4a39e54df5aaf008fdcda100fb833fbe13604420",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62499a326488f64d490202e621c3077e77c773dca39894aec7a17bb8488a4b89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDECar9I9PAb_Rt0WqQhTlM8R9Ms5hcgSE4sTFvDJggD5fsQar5disTP3xR1AO_aI8baQEv35PEHActckC7cqwc_57eZ5zLyZo9PUDDFAr3EMB8elljwThbddFKNiQjxGR46yKcmhEp-UM7roMpf3MazpFGo6Flo1Jb9H-aMWkntDeRs7lJbY5qMPi_6Gj-wGF753DIB_ajDq2erDIs7TgCeuIGhorANA_iEqfxF69DevGqSvHcm32l9aRN70SGEbQbNkQtiyJXMjxsakUN3JE4zeSERVrWDwPWSXelI4B_DdLA100fGnaR9qttq0g2WSGipD4Rk5EM8Kyd3dArTbtPLlwUsfBGWcy9zRuE2hcQrPAEBTzQDBY_MEdLNoJMeh_5AJov0CCnmaGUI8NbCFTGv6cmyw3R872SnbNlIqckWbFrdco9bdHVC4OqDE76CvUqnms_2IS1hYf3rJhhNKNDC17VA3nE7sdIlNWao-UqqDTrgXqX3HlJIIlcLywu_IrlH458Xvsxi8GPzKTCqkYjxd5O_qHsXGgs-FpCK8Ovt5ovJESpyo-RtZjaWPvt-W1l401CVTDCNwb_Rpm8-q0lN6mlOAHbtneC-VYjVDcaexjlJX9BhVE_dfUxBxGfsRK9Vb6h-e6YBmtrkO6BZU-bklf08c2FMVYaoeiZVwzyzuejttrHM2Zl_B82a28dGn-yF-T3KsQBQSusEtvOiCLSfTs1NZU5jHiOBNnQImrOHnfOzMcq_UR_3orcrfBjsoA5ROSmWhElMXTaX2Ui5ElAm6x3IDNVUt9oY2RyRertOCNwfZc8zjmxwVexMv8JD7llQgbETnEjMFMFqC3BZuVZXFetQ9wrSkvcScghO8dGSaJo_TNZFw6UaCrNqRvqJHJDJWcOEJuH8O-y09UWuw80VHhjPgrttlcZmdSpPAsX0ZI3Jgygu7bBwMTByNeqjw02DOC_o2MR4gsX1ciAig6Ali2z6P3k7_Z5J_tDkxMSnOGYYGww-mHZtlI_nHGctQfd6l8QhX5SPyT354tC0XNQeVdpL0N03GgODDIsuXg72HukPnw5EAIM-H6lc8_yXgveI0VVwkQACDO3R5Fmpaue_yNg4CltAjIELJ23Fr_ZVzuGBBRp9hcPPUevpB-iCcjqp0-NUSUb2JC6suz76i52SzNx59u2urxul71qJ24k1OuswzwWf1KO-YNEzyp0q2wblI7rZdsRc9Z21y5d3Qr_63v2xZR-Jr0sKavN8ynVi848qF3wdXks83AAcF59Ep63OZu8Ce2YBLv2A0degsp48MMODXZiE7IkIsKjTVejGMPmvXLV1J7U3a5ZwrqquEjFBo4FCDpi59aGPUdxfBFInYJYQUHUkVlNJY41d8HJbw1WXPrUCOBVcjZs3a8OmYXQQeQCwx6BNWpSWd2PzxXgnWUTHAA4nTu_qczizxcTx4utsADFYDW2rv_9I0uub3F0kZuxPLSStG3spfEMEC_mCm6fjJXo9yJ8H7R4McCfKzNKOiYUmaL9LxvNMAWOJhRl9-645CrwUN39k5wAwKUBePq2g6P3QmvBTQumsKHwfvT3eoK_L2RxXGdVzqnmkZ5qvVgB7kUC9C_D9FUTaCNQOc1TU88XRjhE7_5X5W1CagvQaaABOUnuZZX2YG_sWD0xofUQSg-Q72M9vxI6Ao_mLUAQSIqKx90787Bpt978Clt0TZsLDVbMC98X8gazRRB7uQzU2Tg6nWFW7bw24z2wW9IEh-JiPZ49noyLIuaU9H5cNyLmJVebIT8DquQJC715OMZfcK5dlfp01ztNLwKFibKkevLQmbUxSGyzJA4Z2OGNNEe0yfz6kaJrG6k0vv_YH8tJVDMgTcetF0t22MECtVFibsAOvl1o0KPBv64rWBnF7raSFhojY4fDQIyYwJODE2ABYGuvOQUDulmBNleQ_P43RZKd_tOFuy8EHV36q0xBZM9q6450DC3e5HA4qpOiCf-KiOZ1b0wa5788CFQy3WbIQWoX5G1aIsOM0_UHueYMsZzsCU_PkIxn5vbXZT10FhTZWwtKiNdC-O3Nw42RbFZwjTxAXm7bou1LGlLCJ-Jm3nOeRV8AL2is5krY1g-H0ZLjR1Eppe3vgMj8G1b5Lg6OGe5X3dWxuDc_USVBkolNHAVYLzJdLW8cLc9ovSxmawpO5bG9v185cBmeM3LfElrxwilhJNy9K47nTCFPyIYLU5-pbFiADEKeApFNtGhuyjOKILSQEoNyhURhRDX2sxyF_gmML9OKmjqsCbT5snjCmapUcQKNr4Mq7BNPIz8bQ7qyoIJELXfS3p-hPTADcFnVdJ3FD8ZO6YRoMfPSsFugpQMhvcMoerw_Cy4Tpq62XLBqOa7joa3j5ps-eN7DBtq-cqwKtkLgBQvkpEq0YlCYEJzDnVZFNHrWrsQokjKR7j2nNgdbQUImCup-sPwgBuHGGSl4h6xroyto7UyvBNdEp0gS0wd6zN1fGbiQntcXtB4JEV9j9jkj6wx83cWASIcN0CPmZH-jSNPqdk_9xJAMOLA4XXwR_cjdeF_y0Waw8q0-CCVHW1uIxbwy1kUQIbZtB8aBQcIM0OH4f2iqfldK9UIAWEG4oGbHO4GSdpQItaSK9AEXcbomF1iFklEbEWbuAFxfDijJEX9y0rwbZrlpEKMpMqSAZu8erBx1vcAIL10wisndN69t9mcTWHpvYxKYzk1_79Nm7t40KO3LmnWRkeo9wpZDDkxJhHVoEg2eXqQeIzoWiiY02KMjMSJamb-ii2CWXsZlPJDua1j2snFrQE0Crf-9U5bLKwf4zG0ass-VhDTUQEVe7fjhtxOFdsdRdA6zibQ6LR2KXJao4lkOLqanIyL5JPqBJC2dHVG_EdH26LSmK2NXgvTfDuAZhG1MEtYA4HwSacuEECqWZGioNFojrNlFia4_pUOPPr4z6CagLvgGieHn5rl8D0Fr5uj0J1BXr8J2QCVRzrxeVMkzhBFHGqfYTUwaNjTmWl_MELDMJ5toM_QDAMFctfCoht703WAxnBazAtYlLzOR1mhhyWn30vclYmqKGzdtx72oaQMieanZ82RnXdnxNK6nG2saXtHciRfKBSuXKOAKMwOMardfmyHvH75qdsetBjeWZw6xlCLIoLhyNNbrtIix7GHeMFCpVvMj6_EIKbzd4-XX4vkWVuAZvVjYEVSq9ConMQMo_CQ_lCpdh_Z7xm_gelR6Pb2ZR_oDa8AbfnMtAYTgwymCnA6w74Mr-Vocp449yYoGmZBmGWAYVquZXBivKAX4IQqEuGFbC-K_XqZLMP6bxEedSDqiIe0MKr9tw7P5Z2X1YdzHRvoWJh59-XYxbun-x8rl8BXjZnfffDR8jjKVsHej4Mmi9cHEYe4ULtEzTnJ-Ks1-FLECZPlPeAEofZA==",
  "id": "rs_0cb0562fc3213443016ab430fe6e5887d091397f5d55d82420",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_y\":0.20},\"note\":\"The pink bowl is still visible beside the lifted right gripper, so the first hold is uncertain. I’ll raise and shift the hand slightly left; if the bowl travels with it, the grasp is secure, and otherwise I can realign.\"}",
  "call_id": "call_AyrCN4VkUW7kDFRU7r8AVx0t",
  "id": "fc_0cb0562fc3213443016ab43101616487d0bc7ae2b751281e10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AyrCN4VkUW7kDFRU7r8AVx0t",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.3901, -0.0227, -0.0261, 0.9993, 0.6662, 1.6051, 1.182, -0.4282, 0.4839, 0.3237, 0.103]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1733 left_yaw=-0.0035 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.9993 right_x=0.3838 right_y=0.2017 right_z=0.1598 right_yaw=0.0808 right_pitch=-0.1641 right_roll=-0.1134 right_gripper=0.103\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, 0.1573, -6.612, 9.0735, 1.2772, 0.3394, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a596942da293edef24c56ae21cbfd4c33418f421c87f87140760edbf170c40d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da056a580948a0cdc8f8996df311262ebea648361db37b6f273fcf27d7fd195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be448956024705e96ff9c32fb54eeede8136694905f3f7d82b8f1f5301674741",
      "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 · 3.828 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3897, -0.0227, -0.0261, 0.9993, 0.4984, 1.7416, 0.6933, 0.2379, 0.4, 0.2493, 0.9963]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1745 left_yaw=-0.0035 left_pitch=-0.0218 left_roll=0.0058 left_gripper=0.9993 right_x=0.3822 right_y=0.1338 right_z=0.0213 right_yaw=0.0223 right_pitch=-0.1647 right_roll=-0.0943 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.4154, 7.0496, 1.7558, -0.0757, -0.0122, -0.0122, -0.2803, -8.7453, 5.4085, 1.7167, 0.022, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.4839, 1.5581, 0.828, -0.07, 0.3988, 0.2089, 0.1031]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=-0.0035 left_pitch=-0.0226 left_roll=0.0058 left_gripper=0.9993 right_x=0.3857 right_y=0.1292 right_z=0.0903 right_yaw=0.0314 right_pitch=-0.1584 right_roll=-0.1194 right_gripper=0.1031\nstate[joint_eff]: [-0.1026, -1.388, 7.3915, 1.7118, -0.0611, -0.0464, -0.0122, -0.2667, -8.3487, 9.0051, 1.6337, 0.1294, 0.0855, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.3901, -0.0227, -0.0261, 0.9993, 0.6662, 1.6051, 1.182, -0.4282, 0.4839, 0.3237, 0.103]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1733 left_yaw=-0.0035 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.9993 right_x=0.3838 right_y=0.2017 right_z=0.1598 right_yaw=0.0808 right_pitch=-0.1641 right_roll=-0.1134 right_gripper=0.103\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, 0.1573, -6.612, 9.0735, 1.2772, 0.3394, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a596942da293edef24c56ae21cbfd4c33418f421c87f87140760edbf170c40d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da056a580948a0cdc8f8996df311262ebea648361db37b6f273fcf27d7fd195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be448956024705e96ff9c32fb54eeede8136694905f3f7d82b8f1f5301674741",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEIsRRM4gZTU7jvmS3JL5WfOwymgS5eCqDloUGdL6VqkGeCR5ixH0Mj6jh4ianougL5flf3bxsFOF2R9v817NKCotkGJaFUsRP4Ew76vuuvXK782meloUTWaVnjV4NAhCH62NJS5fjuTGhBXLTzdXXJax8syMXkFoIvu2BPqFCx_RcGOryI6j12eN7GHP59_dxLedQjJOt0mwrqHhxZv5slIHLH-JByjGx0u_1ZvQ1g-fPj8FpHOhmf_cdantkGPBR6zCNSvg5sfEeoxYAVL_oBB58nKfKWytZZt4i5xhtq6_JVDNSgXgMoLc0Z0ZfK8JNGpP9y1uyj8a1Xut1-TL1qCTkYVzBZiUrhm4coosEur1bTUfrGk38uKtLdB7sBap3mqnQoqapOffPNnMtiOAOZ8JJhFFX36gwWdvo7taanVlm0pMXrcv7ngDPXs8RggRRYZsf-_qsdzm16qK06lcWLn66J_qpKnNyAHjh70ydXumzHSTvJ_OW4BqbNC_Da0nnQvA1VazPJI46JuW1WHX_euJ0jSR8BEtdgeaa4PpVG-kG0z5cjZMqLTFcyWkCCsqJFNRdrNO_fEd1yn3urP_ZJe-vpRmW0Bc-wfK-HVxXnfNJK2e6sZmPRxD5fbLMjztFnZ7RoioDpgY4MTfK899JVY7Ux2tllm7JEYHAx9KDa8J7onT4OYevN46K7KMJGjNUkfTjTg0_W2gh0LsX3qkRiu96L9bSYwMPn5dHZABNT_V367af7vrwww9FsZ8Zz4vbiye5dhVLMKtOfOVbphuLqeDxbk-z0OjpGaQmcqRVSpVjC_a8pwNuJ953KAg2ztfO-fsjnKEG2DRPly75xaRCAOEPiIMhHVR5tcUXrK9hCeRAcgHKPl5LkyoBInPf1Z2DVpgs1laRwNAelNPDGnvGddpLUFlB7e4hXiHjWRtHTybYDcd0RO2U0Mtl2oYfOa-wAJ1Mqyk9M5ffkjzon3177onjGZGZuY1_G87knKFIAqfz1Rqy0fYq43QByvvHLgFqNgGLXMST4h8Eajs9AJ2uElk7BkUAbJTtjiqGBp2UdRE9ckTow6SLghbkz47wJ1CStI1c14strettmH20pJAj63jlsVANlxdZqN5LfWU2TG2DLAoofzyl4dcrkkIYnIFHzdREDtDY0TTM26GKoUrqeEnha_FxzoCxAfa6Ctiq9-cepNev65q1pwRToCxvM4PrcC7aor3nBJ1V_09KKwnHvTz0QzDjX0KNZkoBVeH01PhOCJjDGxUf-dYcqNvXNQVzgucQljuhtGWvsrjK9rb-ig_s8FJl1qMO1RmSuNmgzaRNo1le5v_58QTQTwJC_v9kXwYsqv0WsKKYop_qLTPXNtYVvLxe0-4-nBNjjAfI6m_3G1paDseFmnGTCCUu1Qjr8VGIkcmKvyVkypw2kcMylFpv1PwxVbMMzzI85edJtxQHzt9evr2FmRIoWJlttddKjXMSruIw--Hzljqth2JCKLsFJEBVbpUqtEHdmejBQO1SxxXXgBUH42YFvOgUsxk5n-dUr-qN8-7kJhpw46Rw5CQzhTKKXR8pcXSavGtX9u4xAIgHFSXIXRndceWtt9780uDb3tdiJii02Fs8H7MYL0OHpdhuM30m9F4aVyGNYvkBHu3IS96gsvbqRuqqC5MB6bgk98NlAVvCqYHCiKZaS_J2xy56PXBVwWBrHHLcRZNQQ_TPxr0iJXvodmeblhLYAtADU8NiHrydmeV6WqP_vqZXgU6pY67TA0dhGcNuVwSTegEXjCGhc8LgS_RT2t3K_Gr_mQbgxhSvGOfTxDaixA-GvFXLUZkasSZZiZeJWXdCBJTrrNEc2SwkimuxBBJSjHD3-owVo4xTeUnJr8r6C0eB3457i8TSHklNo-QqiJG6TajsNfts2lsLY1YYc0FgAlWju0yoY8ZO8YC1a1BcFeEDyvIMiwPQV15OJlU5AXivlhGMWAJLMnirMxnMWbm-5t6PI4AL2nnX-1FK1FdbCUCoKX0t698ldxb0sRoZzzmVlV-nXCF-zG3XJaAEl71x3U4RgqW19K6kDWRbEij90XShlhD5t5i9QssMPVl_6v7-8M_-URN9huTm0rZm8zMrmRu-tyV193ul3ZPNETWG1dtkvGOEAYI_dozKLhzn1miZpioc8pVhaQ0Vr6maqnLsVvjVp2NAno65Sngj8BnHgPX8UPrzW0Uy55YhXPj2p0s-BYMdVzVlbMEa60m3JLJ9VQvmGzwC0sojsOXtkW45-0IlTE2m11IHuvExF7nhpQnXYtjPTjuCw-CpVbMndQmpekMAS-JLEy-9S6ZKrCKE_Dqatk5WHc_OecjEK2CUXnH04kYX4i5KJHQnK69kXRDRPHSKeSCm4mf70l3GPI0ZZh-fLhpmJCZa3TcmTrVpvyqq-2_mz97byTryLv9Fy32lGEnRYsVScHttEH4D6WZjkQ0X5gv2CGML2C-CV2zVzHgIVIPFhpUePIh-pzVCxbGexcfyKFXK5aaBRLZhvp7sTm-3uc0eEs2GRQb7NxVu3NVjc0yhicToVMXkERt_jbgULA0U1bPq3p97BvrbkwYDa3pOpjSGItTPD63JkNe28zI8SrrDCLngQzfJT8I3tpicLq_wx2NGYrgCqMpTxxpUC0ALbQEwA2dfjwUrNl1EPX8-JccpGbGyBqJtvtho7zoStG46q4rJZmy4zYIoc2EpBP9TWU_mp0EP7LFXNHL4q4IJiShmKntihT2c961vL8ByaoXshItMoJnQUsB3rixqloxHNeWW69if2aL5_xMtocSI6qs7RxpeX8GJojJOnljM2HZYMfoaGB_O3h1AHeb2C3IFBrFUEOmHAwHaUi0DPMwLrjYwS5e5yZky4wkxMwQ6g7ENjK-GxEVFAO1kVefZtk7odqnvzrqiVBwGlaCGA2xO-EmFy17sIiMzZIe7A-PWXw2voJkOqzu0cPRGUBPWvCEuyi_79zzq2Fuyyf-xed-29SpQb6dCzXRdH5inLrpSQIaEDY78qRoJ-VWh1CfIloxNPwEeDcE5tvbU687UTo0o-_hK6jUnw8PX-YvkcwH_iGTKZalbZY4dmR3nN3jCIY_fy_8UL6FLJ1RBuZdVmAF0wmU9L0j-12utdpdG2vCKJv4YD55Av6PJk2Obnv0wKLgD4FRo1qln0NkZoqnllxNEvLs1J0609CjAgIHHuVDD4gLkoILTg5WWqP0xl75ciwqmX6CLd-Uq2ZiFEDIQo6YhaTObOVVAyj74UzSnXi9LyZM1xhC4Ls0YShQRu2ZedyA==",
  "id": "rs_0cb0562fc3213443016ab43103756487d0b3c7d3f3bd593535",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.335,\"right_z\":0.19},\"note\":\"The pink bowl moved left with the gripper while the blue bowl stayed put, confirming it is being carried. I’ll position it over the blue bowl and keep it high until I can check their alignment.\"}",
  "call_id": "call_uwC4GyqBDWNWgi3A0t5eFx4f",
  "id": "fc_0cb0562fc3213443016ab43107834487d0acd2a4960b5e03fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uwC4GyqBDWNWgi3A0t5eFx4f",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3901, -0.0227, -0.0265, 0.9993, 0.9035, 1.9984, 1.7695, -0.7727, 0.5938, 0.5079, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1729 left_yaw=-0.0033 left_pitch=-0.0275 left_roll=0.0056 left_gripper=0.9993 right_x=0.3832 right_y=0.3325 right_z=0.1729 right_yaw=0.1202 right_pitch=-0.2115 right_roll=-0.143 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.6972, -0.0513, -0.0757, -0.0122, 0.0889, -10.9607, 9.3744, 1.2234, 0.5006, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2929b944ad3e278b74fbebf59a1657916e1eef4c67fb0819a466f400f7eb594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d62005751362889f37a0290e2be728297297a5a1cda034b4f02f8b8a2354d67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402e70f7977619dee43b5c571ee43f5a61e7c037cee5ff85529e60ff41925f81",
      "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 · 3.247 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.485, 1.7615, 0.6861, 0.2901, 0.4026, 0.2199, 0.1039]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=-0.0035 left_pitch=-0.0214 left_roll=0.0058 left_gripper=0.9993 right_x=0.3879 right_y=0.1302 right_z=0.0199 right_yaw=0.0245 right_pitch=-0.1431 right_roll=-0.1068 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.1556, 7.0222, 1.7314, -0.0562, -0.0317, -0.0122, 0.253, -7.5009, 5.8051, 1.5995, -0.0317, 0.1294, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.3901, -0.0227, -0.0261, 0.9993, 0.6662, 1.6051, 1.182, -0.4282, 0.4839, 0.3237, 0.103]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1733 left_yaw=-0.0035 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.9993 right_x=0.3838 right_y=0.2017 right_z=0.1598 right_yaw=0.0808 right_pitch=-0.1641 right_roll=-0.1134 right_gripper=0.103\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, 0.1573, -6.612, 9.0735, 1.2772, 0.3394, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3901, -0.0227, -0.0265, 0.9993, 0.9035, 1.9984, 1.7695, -0.7727, 0.5938, 0.5079, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1729 left_yaw=-0.0033 left_pitch=-0.0275 left_roll=0.0056 left_gripper=0.9993 right_x=0.3832 right_y=0.3325 right_z=0.1729 right_yaw=0.1202 right_pitch=-0.2115 right_roll=-0.143 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.6972, -0.0513, -0.0757, -0.0122, 0.0889, -10.9607, 9.3744, 1.2234, 0.5006, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2929b944ad3e278b74fbebf59a1657916e1eef4c67fb0819a466f400f7eb594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d62005751362889f37a0290e2be728297297a5a1cda034b4f02f8b8a2354d67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402e70f7977619dee43b5c571ee43f5a61e7c037cee5ff85529e60ff41925f81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDENh38yioigqKqEyRZ0xTfV4LmxNrGMTBxiUsEecEXCrB4oAYZhBvZzWBZlsiqX4bhnso3EpQ2zmlBfHbq2OJbxr5kZQfy7hoN5psInNp6bNCMt7uxQr5kVfMLq-wQyQFvHZgZptCl_3jNi_6pWH0MnQvtAUygrpYZhTzjQ4tlr_sks89eyz5nnXSejTZULSq1QcnqA_H84rUPnrmDbJwqoSoS8EJ5al7174uHSkeqk0hUFxa_Um5Tg01VBA7JYCdrDkCT_ZHW2Mbl2tveqLb3WAbMdQ0WzENowHprHCX5FSrEwb_SMFRr_3jt9yhMOCi0r22Eb9nKoCCez-7Fer_oMtyHsc3rAJJHvzVhFeU8Tvt7tPhJHqj-B8j_BbW4MjLoE5T0NOi2svLbigMvTAOtsZv3dsN_1PTyiB1TC0EndrWcPpgDn3eoI0QbDgHJQSaMCQIuouCXi7U8IxFaYIu26W_Bkyp-7OItB81QTQIasznYS1MbcUfobrkv2eCfDOOsVL1utQEIgqv3SKcaGEUCZ9DqcAMuolJbAOPxplgjhgN05w4WOlHwuEjJDxiBSSDBaebOqqLer10iUc3YQEoxrjEq0WH59Fz6K3V7FIsxl0_F9CbFsDwQUFFMSH5jFDLxeCO7TsiZyJdJFHENnaf1Bm1C8hC5ZsYt5mLHvUsF6Yw3eHxDPiCyTxbwTXJ-fhi0wrd6zElsrm0B5qqE2pdpuKJO50TrAFOD1k9Ima682Nl-mp1nGKAbLATBSdUZmMMK0TgxLTGqgXL4OSRz-uikBUwGpjr_g44sozCGlnLfgfyf7saRfeBO5x9ahqNB8Q4FomjOwVTJ2hBQ6SxRjQmzn8Vd0c2rnqR4ElWjIG_JmjMJ1IZlLlN8F-7efgzk96g3zt4OYSJJBfuibeKcdaWn_vqJI1ofUX0OzObx3mJ9ccIIKTwVceBvRUJHtHDAAvUAhnssxsnuQKyE3sA_0zZJwNJyg0qeZR1jvlDkDWBBIL4tsElmKnJ35GQ5pUHKpNQ40Ws7V1C5G4pzlQJnRccgsKMjZPeQs1D-AkmHyg02_vmaCfNtjB5aQrsmK_9YF4F3-gqTZMxsm89iUqZttdLxmkqr-7ETTdZZkc5fPASLeO4j0V7F-xgCaDJNAxL6t0-bH1rsFqq35pZCuDD4QB1mM36Gbi8fU2oomG4TBo2Z47Ie7uqhlZocoI_OqXgJd-28DJTtyeBH3WdSu-W0-Be0x274Jwwn5REMSTi0JmXa03yM1BWm22sZHur6SGRsNib-Y-8fpI41Q6UxtAy6Lum2emZpsWBuFPtjYxntOC5NWE7MC6ItJFQLNoOV2gby9E-LVbyBxqANjFXnBCuATrcwc89U0VIUitK6_zKn5Y0f0kBldu4CMR9l9UVM_wkyXspYjjOQIImMjnf-XHy879c7-yggAjrM1X5Z1zhIh7v2qvIGZB2eZl2C3-j7AUsMNxCfQ_FabdDaUeZiFlQqLE22BkhTKMETq9GbjwbRR5Hob9-n3aXc5GR-LDzjvA2CDplkU0CEXXrjj3eQ5u-qLRsTAOzPeWcqZg7XbJLIPJmyJhVqtsE7tMpME_sQ_C60POqLpAuQU1pxpa7PKEMTGfwB1qWpz1_A5qcauZ3ovTsi_wc17JEcMts72AFH_EkCICkGU_XtB1SGz8rw8j89UVykUc1_ann9AdUX7pnKphlfhdUprnVxFY9eHDHOVQm4Qck0zn4FMkPCI2NEXxs0ZTw3VBgpaEPBM3KALkMQmRS3EY7UxMNW---hfVjyjXVG8RH38MlGo2uEOJcq2-6M_12E-ktWHnD6FPV1iHaTRi2cvPqDOWip2LNAKR4QqtrKmIz9j7XRCrZiZWmppT_F74XzxovLMC53x6EE7kO-SGxkQCag8msyMnW_sT39RuFqTdjrJR09DOMXXKDN93vTuUIU7Gyfs0G2j6XD9XsdbgP46IuffNJTZ2zwLrnEaczAJN3Q_hci_2qNfUs855LMV3e1ml08Bg5jNNCEjh1RfpL86H029q759vrwnXqhGlOP8uSELG6xdDRbOwVMi7lx2rQalj9AVy_JmsCNVEXkZbEQhgmuVLo3Oz9c3vzovI3o5WmhTnEsEwIcG3cuPbnsu_RYXaaA6pakuQdL957aFEX9HdvN8tSP7AEC-A_3wfqtSFzRyYNCHhx4LZaB6SRfi4uaSxYwftCH2DWuMG29WfvHSUOoEekmxoPZSJVz32wABYqS8r2Geir01hY_mj7fvKPw8XkvuKY1Z66Yuf57oDjTAlLpskB9267gwt6CSyyU9P4_pfj2UdWl9oZNKEz0HhpH2Jk-ia1c2edFitvGIn0T3Rb6B0LNlXL8AAfNlqngGBaSgjmMS7YNqFjjBabAHPrCvlA==",
  "id": "rs_0cb0562fc3213443016ab4310a84ec87d0b7448a5790680633",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.37,\"right_z\":0.085},\"note\":\"The pink bowl is hovering slightly right of the blue bowl; their vertical image offset is mostly from its carrying height. I’ll shift a few centimeters left and lower partway to check alignment before setting it down.\"}",
  "call_id": "call_n9W2T03wkidsxCblwgGw7I2K",
  "id": "fc_0cb0562fc3213443016ab4310c83c887d0ab6c75f13171d690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n9W2T03wkidsxCblwgGw7I2K",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3904, -0.0227, -0.0261, 0.9993, 0.9497, 2.1593, 1.6844, -0.6083, 0.5949, 0.54, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1727 left_yaw=-0.0035 left_pitch=-0.0283 left_roll=0.0059 left_gripper=0.9993 right_x=0.3763 right_y=0.3618 right_z=0.0819 right_yaw=0.1339 right_pitch=-0.2648 right_roll=-0.1811 right_gripper=0.103\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.6825, -0.0659, -0.0317, -0.0122, 0.4034, -11.8085, 6.3658, 1.2186, 0.4762, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca274c1135e11722f11d72a3287f00e680a272b03d66af77116aff7ca151f9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422bd1751044b00a761d91c798bc86a544d21ff36a95dde396952b92f1b4f1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e083dcaee4ef973a98b6d0f09a6929ee98232050dbf58752c72f74654ab0295",
      "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 · 3.937 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]: [-0.0196, 0.8074, 0.6037, -0.3893, -0.0227, -0.0261, 0.9993, 0.4839, 1.5581, 0.828, -0.07, 0.3988, 0.2089, 0.1031]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=-0.0035 left_pitch=-0.0226 left_roll=0.0058 left_gripper=0.9993 right_x=0.3857 right_y=0.1292 right_z=0.0903 right_yaw=0.0314 right_pitch=-0.1584 right_roll=-0.1194 right_gripper=0.1031\nstate[joint_eff]: [-0.1026, -1.388, 7.3915, 1.7118, -0.0611, -0.0464, -0.0122, -0.2667, -8.3487, 9.0051, 1.6337, 0.1294, 0.0855, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3901, -0.0227, -0.0265, 0.9993, 0.9035, 1.9984, 1.7695, -0.7727, 0.5938, 0.5079, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1729 left_yaw=-0.0033 left_pitch=-0.0275 left_roll=0.0056 left_gripper=0.9993 right_x=0.3832 right_y=0.3325 right_z=0.1729 right_yaw=0.1202 right_pitch=-0.2115 right_roll=-0.143 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.6972, -0.0513, -0.0757, -0.0122, 0.0889, -10.9607, 9.3744, 1.2234, 0.5006, 0.2711, -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]: [-0.0196, 0.812, 0.6037, -0.3904, -0.0227, -0.0261, 0.9993, 0.9497, 2.1593, 1.6844, -0.6083, 0.5949, 0.54, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1727 left_yaw=-0.0035 left_pitch=-0.0283 left_roll=0.0059 left_gripper=0.9993 right_x=0.3763 right_y=0.3618 right_z=0.0819 right_yaw=0.1339 right_pitch=-0.2648 right_roll=-0.1811 right_gripper=0.103\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.6825, -0.0659, -0.0317, -0.0122, 0.4034, -11.8085, 6.3658, 1.2186, 0.4762, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca274c1135e11722f11d72a3287f00e680a272b03d66af77116aff7ca151f9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422bd1751044b00a761d91c798bc86a544d21ff36a95dde396952b92f1b4f1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e083dcaee4ef973a98b6d0f09a6929ee98232050dbf58752c72f74654ab0295",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDERc_7outhOM_k47Xd-Xsd2yI0DcQYyKFQsArFvUcjAti88ZqIq2HYUAk9c0P4-xynXG-xm6pxjjL0Q7DKOAbccwfdNM0YAYPBjrJADGllW6_fJMa1UNaPBMCaIwlIuGiX26gOXLh-hIYDcaVfAJbct7EN-HLob2jRf2x3EKfP8Ziszm5qvm47Ciox33WQe4yLZdROFeUM2LSZZ6yxvpOXdokBiiSw2mtF8ckn1h_dxUpTBwPy9evGQji2me_dHg_xHYM6q_g859xOd5TmDfVWWW93QWDXjq4VG3Wf-38R4J7VUJjngtaAEZvxZT4HQo8cecQs5GcZ2sDXYp7ZrQTSvNwhWxls4cq1Kgqikx1j6HA9eJeyqpf2BHhlwXNWT_b7LyId9LawjUUm_m4ONqQchftaSDBBbcGSAcsbY65-gB_Cq5tiuf747wpD8Cow4-HSu0-aOkSEbgSL2wX6fQv9VrilBOGCqzw8uXkn5ip7sFyqxPEp-VlPAEZWSR2-8KO_-9wE-UJysmB3S8KMbFc-nMTFpcofj-OuPhGLV4jTu5Il22zFsgwbRjxeYi2siCBDc2BzjPZgjqU2hyQXC7A3gWZCZ6rg0qgjNbosJWXw4Z-JAlgMjEfpK8KotVjCD3qAEEg_2aWsQJeHkyM57zdKTInv1AU_a_o4C48JfCscoMLB7Fuq-9hERFsya5akqJj8gqVVQVt_rOOG83DvID-F6Dc1fp-VTUgtjd8zpSYF7YjeSyB0YgxphqOhpyxL87usvtCbEUCQx8SCO_BvKw9Fdi-5gCckNrmdlfsx5NZrOwFseT_apWuPzxi07PI8_cm-sHF06geXhoteNaiWo_GemYeWtj6k0Fl787Q5GOEXFiipbmpLScht0AYIPwcaD0SvVlCAMloXm_xdN2GG9vgSg234TybTeO7Q5Ruf0RfwFyMhvZkYnuiJ3V6jB7FrJazC0jISY9wh3sYQe2SgZ07PtGANsNaqzpwGDqgUjY9nnP-VSjmbQ4KtqI5glH4G_Z2BKlnrtHzQSvhDuRUPrKYM0V4ZPkHsxzNmSONJLRbRnPwQ49gCGLOYnhDw9SRt-59MB5SqGkcchsgN1Nu8l-hnDnBWLeVMRjzpoy9AjZZ3IBEMwrKrw8B2O80Z_B824w-KG9AFeSJKdTzuO5Jn5ppSExbFvt-yF1wPCjyxFglUY3xza1gr9BQ9XNgd8KV6rGDLwv97ajQA6ycuSMrJZsh6CWZkIb9hOu83-jTs6E2mNhf0Su_KR4vNXVhOpVTi3FRB_Pp5dc01Gt56bsRcm-xk3N0oFo3GAAxY95PyDOAFeqy9fqAh2A1gM_OqUFP-b_PH3Hl-Ps--iB5DEDH7otdHR5nV-51OQTGSf4RskSppeIJcaratS3vfq3XYOnS7mcn_cJhBDFCK-DdP8ZCQc1eCT1YMZvrTP07E3O4mVGQIiPZ0EoktAgb8IlwPZDzEwSEZ2hwDiak3nxnB00uKgV09lGiCmiKaEihtnSI_DI4RE015bg6DN6SdlBYf2xJJotuR4dW-tLpB0S-t_JsH3SZaZWFwXge6TXTjslEDe050YdYJw9iRK_tJ1jGkXN9A0ROyq6wSjx84m5gGckuudyz5Oj5QpcrpWZXrnPR12WD3rKArA_wiomVlhEqT_hUi1ArnVHr8Ufpke_xDbV4TKpfqV6Y_VdHNXc_tHPROUKQJqMOfBrwDjiGkyEJEGSuJ0wRAhxXd_vAi2UTaTddeXDepCXUbg03-Pvqm6XKCq4MrybClyQwHsjpxLK2FT8dujgxjgZD5zJkBOvtZCQX56qk1FJ8iavs9WoNRR-6pyPVc2AxqwyyI_mn-tkJojWMPy9SFJ5TotbC57YmMVz69ESiuBnc1lkZOB2geW30KTms_F0sW2o9pv8HcjMZJwqhziOu78ygA_Bm_9JOABcMasfyAQnLJnMgqbC4RSqqFPLotCHVnJKyKQw4c0C1G2258NPX3KRsbgHoPeU9oi0wOXkfG62GS21mbdRo5p-STpLDVX9BE4Asa0pMHYif1cHWhE4yUylIs1wK_RR884GwGwaIF6qSXQN1fYNag-ZpDUSxDTs5PspTmemaUOXSRWYGbpX_jP",
  "id": "rs_0cb0562fc3213443016ab4310eb76887d0b3f2042f88adaa70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"From above, the pink bowl now lines up with the blue bowl as it comes down. I’ll lower slowly to seat it inside the blue bowl, watching for a stopped descent or rising effort that signals contact.\"}",
  "call_id": "call_OENVzymG0tA5oj7q2d2KbSrq",
  "id": "fc_0cb0562fc3213443016ab43110549087d094dde23278b4c901",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OENVzymG0tA5oj7q2d2KbSrq",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1967, 1.5909, -0.4938, 0.5877, 0.5392, 0.103]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3717 right_y=0.36 right_z=0.0425 right_yaw=0.1386 right_pitch=-0.2808 right_roll=-0.1895 right_gripper=0.103\nstate[joint_eff]: [-0.2256, -1.2239, 7.0085, 1.7118, -0.0415, -0.0073, -0.0122, -0.3897, -10.5368, 6.5436, 1.1404, 0.315, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7e28fdf55c534fb58966491d51c4cf63eee3fccc8a232af579806426a99b76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19da291e48e4f37f849d7cb26f52dc54fb6322ec8580080377f5f8e5d0504266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59605e5760a75d3a18ff55b4a1a1b2b78d0648f56f9dcce30bddfcab57c2f290",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.033 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]: [-0.0196, 0.8101, 0.6037, -0.3901, -0.0227, -0.0261, 0.9993, 0.6662, 1.6051, 1.182, -0.4282, 0.4839, 0.3237, 0.103]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1733 left_yaw=-0.0035 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.9993 right_x=0.3838 right_y=0.2017 right_z=0.1598 right_yaw=0.0808 right_pitch=-0.1641 right_roll=-0.1134 right_gripper=0.103\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, 0.1573, -6.612, 9.0735, 1.2772, 0.3394, 0.232, -0.022]",
      "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]: [-0.0196, 0.812, 0.6037, -0.3904, -0.0227, -0.0261, 0.9993, 0.9497, 2.1593, 1.6844, -0.6083, 0.5949, 0.54, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1727 left_yaw=-0.0035 left_pitch=-0.0283 left_roll=0.0059 left_gripper=0.9993 right_x=0.3763 right_y=0.3618 right_z=0.0819 right_yaw=0.1339 right_pitch=-0.2648 right_roll=-0.1811 right_gripper=0.103\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.6825, -0.0659, -0.0317, -0.0122, 0.4034, -11.8085, 6.3658, 1.2186, 0.4762, 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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1967, 1.5909, -0.4938, 0.5877, 0.5392, 0.103]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3717 right_y=0.36 right_z=0.0425 right_yaw=0.1386 right_pitch=-0.2808 right_roll=-0.1895 right_gripper=0.103\nstate[joint_eff]: [-0.2256, -1.2239, 7.0085, 1.7118, -0.0415, -0.0073, -0.0122, -0.3897, -10.5368, 6.5436, 1.1404, 0.315, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7e28fdf55c534fb58966491d51c4cf63eee3fccc8a232af579806426a99b76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19da291e48e4f37f849d7cb26f52dc54fb6322ec8580080377f5f8e5d0504266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59605e5760a75d3a18ff55b4a1a1b2b78d0648f56f9dcce30bddfcab57c2f290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEVjXy_t1Shv7HQl57qH4dFfY4BpuhB9_t_f4GjzYxtyXhNHZK11rDsS_a3JmWYyXAQt4VMDymB6zH-K5Ps2pRucgqpHBkfes9-9oRdjlAoJoftyiGqThHd6TBGSUDp6lQ45HJ4zfWUdq3MSZeuBTM1hx0rZsrjtZ2_mn_F_vHvGtb52aLqivSYvtn3Xnp3ZpuhlvGsjaHh7rSgSysRL4GoVclI-Hap8wYt0jGQyblPt2mEj8Fa5R6F8j6PRCi1FHrRRk0GsWcAyNjTEqAP0WWsLX4kwDJahonD8wrwG-QXWR5RynYNJFJnapjKPZQ0KQahVxxg9P5ZCxRdYhag1oyP7B2HcUdKgMARPevvv603ZRzkuzXI2KxbTw6md1rTZLxCI32hbtF3CA_oSjmEzikBcCDWvQIXyV-M7E0SXQVAWlhH-7MFlrY84HEMRh8a04hqe8Klw4aYh_qdpT212R6Q2FcQIISKlmCuGVC5KY-sQqtD9EOKbDXUMqSmn7h0aQQPMAd1Bb2AzynChlnyqh9ChZIKguBdvuoJyy6tpIb_Nj4XKggDWw5_LXfqI2mBwSSoB-pOR90uebdchtgLSoV-n3pjfE0cRgSO4Xsaj2LRMe2IU0-_DMamidZhYo1bdlmpfEhhGXjFHQwdUQ7-tE7uzQjE01phstokTvxY71F1DTsmQ37dcjeCKfTh6tp9EzkAjmmn6bVd_86etX-4tgwD0lhoLus3jdvaooIkfVr5Bsk-yuyn9k926GMWsoj11lQqzTjBhV4eBhZOgLlxEtbjUJWFZvEZaUv_1j-fsQsWm6o8zKtT5QDvFFUI1nNnMXgE7gj71HgOkApDx8gqBbDuWU9PegJ2yXuXx46k2SHaAgU4qWi86lwRDSDF1NV_EPr8fpJHk7HltJd3rKpd2LkIfSC1_Kco2OqrK91xlvg65GQ_YxwvxwMgWoHOCBxiyeamP1bDnBKUXga3vwjQYlhODbYFpNqFwad5lCny5ATJ9iuV79x8a7JT-WJz5ifygHXoor3cP63WlRPeiDSIsgXBbmXUYjF05xrvSPCEV7lkabUZLTnLmXd9OpBrCV8Ogc9VAomn4UQTY8hKg8D0NuBhWZJvoakb6R8NS_DIDQJCvFhCGCQkQ6bdSDyFzGLgFydjSNdK_Bg0Vmgq8nE5-vrjbWrui-VzA32ZCJ3XA3GH8qkYRAk3-DBlfYEhBGFIVt2d8ye5oDJi1JwpJIuorMAfcxX7AEaF9Z_fRFqBWdu48fD4e46_ZLyIQip5G5G4rbD12_dqQGVU3e7I_z960bsgfChkX1AoXGwXcbBkKTaNxBD3lyNRlwSlWGwiUbMZIfxpSG4-8QaXVvAoE2kkUeFbRYjXi5hZfkggvYbWRO6Jcad2EjDiEwIyKzMMq6542YBN3oB7XSc10YGJnaCoiQSLhAKv3u9XnERkPGE24JPubaXOnyZn_BOc1xt1Q-0u_zKhreG16bRTCFCGVpISrFixntxIPic9pS9ukzztCHxVxBEtBk5FL_r2n09XMipQjCM6ItEaZa_bwgw0uF0cKHjJd79R-t5DW_RsDWzIWJxWVDs9u0tq6i7rcyOTL5V5BnQ5AIMITvR2irYFe8hxXumtuNUlDU0xGx53G9u5uTKFDXsoCR4aD9JvOF5McOCvbqeO30wIvtslYLCxHBcs5LakdE_dPp4LjoQWTPIOMIRxhp-uXES5RZZo8KUuTHmrm_2PRCxWp6wD_5TeM7J2T0ei_z6T_DjUeKmZ9obwtjXhH3iW6eyj9WRM1k7V1Y7FMCiLEdxDEHUnsAvc8WUHyM_z1QRzrvClKf-eqSlqwb2npvQK2Fit0Vc2wqQoxMRHgm2kMBQFB41lop1d42FmzEqUeQ0rUQsslMA5Yvnu_JyTZCIMJRF5uHQqqGjjO0N_VcykQkM_tQvAGJDw9vDRv1JO5WI39pGNBD8ObKbT22WGdxVOBxjY5Z-fWdU3TPQvKB1OgVMKCUQ005ebrvXXa5rM4VXQyJZcgo3dSLHrYJCC7g3qH_-fzt2z9mLlXBPWuFDf8RKsAdJWaLiw7Y0M4VaBNq1DH54PWPRyguKdFa6eLxHaC0ohrGpW1qDc7uq2wTnF0z1t5_zOe97v5vba_D552yit-kxqBC88-ks-I0QcQBkqumuu_hmXpMcc2QOYhla8P_x-8VM6YfnoeVrcX3S6umij3dfR8c5wIy4SkAFPjduPI9BvcctFsmeiXHH57n1jV5y02DmHsjmssuBgq4QjTWFpiMrn8aX15nKSN1TAFl76fyNpImRzP8kU-WhCToLe1W3amlWSb25CvZ8N0I94_nG7S3xZAMw03TdYaiskd7o=",
  "id": "rs_0cb0562fc3213443016ab431126fbc87d0b5edc7ad61a3f8bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl is down at the blue bowl’s rim height and appears to be resting over it. I’ll open the right gripper so it can settle into the blue bowl without the fingers holding it off-center.\"}",
  "call_id": "call_zcoAX02XmctqwMBlRtVybmkd",
  "id": "fc_0cb0562fc3213443016ab43114893487d0ad725b0d757bbea8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zcoAX02XmctqwMBlRtVybmkd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1998, 1.5818, -0.4656, 0.5869, 0.5282, 0.9952]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3731 right_y=0.3622 right_z=0.0407 right_yaw=0.1484 right_pitch=-0.2714 right_roll=-0.1846 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.3607, 7.0222, 1.6825, -0.0806, -0.0415, -0.0122, -0.4171, -10.8103, 6.2427, 1.2479, 0.3248, 0.0366, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff729fc4076a5c97619d881ad074415d16db80eecb65be70242bb2e667b8374",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89825368ea1094e6db3153a6bf6c2b80f5edba87b672d17ee4e981ea2aa172e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbbef2ba94be89decedb1635dc8f623506a7a3aadf9f5c81296907d68751fb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.71 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]: [-0.0196, 0.8116, 0.6037, -0.3901, -0.0227, -0.0265, 0.9993, 0.9035, 1.9984, 1.7695, -0.7727, 0.5938, 0.5079, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1729 left_yaw=-0.0033 left_pitch=-0.0275 left_roll=0.0056 left_gripper=0.9993 right_x=0.3832 right_y=0.3325 right_z=0.1729 right_yaw=0.1202 right_pitch=-0.2115 right_roll=-0.143 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.6972, -0.0513, -0.0757, -0.0122, 0.0889, -10.9607, 9.3744, 1.2234, 0.5006, 0.2711, -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]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1967, 1.5909, -0.4938, 0.5877, 0.5392, 0.103]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3717 right_y=0.36 right_z=0.0425 right_yaw=0.1386 right_pitch=-0.2808 right_roll=-0.1895 right_gripper=0.103\nstate[joint_eff]: [-0.2256, -1.2239, 7.0085, 1.7118, -0.0415, -0.0073, -0.0122, -0.3897, -10.5368, 6.5436, 1.1404, 0.315, -0.0122, -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]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1998, 1.5818, -0.4656, 0.5869, 0.5282, 0.9952]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3731 right_y=0.3622 right_z=0.0407 right_yaw=0.1484 right_pitch=-0.2714 right_roll=-0.1846 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.3607, 7.0222, 1.6825, -0.0806, -0.0415, -0.0122, -0.4171, -10.8103, 6.2427, 1.2479, 0.3248, 0.0366, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff729fc4076a5c97619d881ad074415d16db80eecb65be70242bb2e667b8374",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89825368ea1094e6db3153a6bf6c2b80f5edba87b672d17ee4e981ea2aa172e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbbef2ba94be89decedb1635dc8f623506a7a3aadf9f5c81296907d68751fb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEY6p9PTFfWSsKyr3xc8kbZiLJ1WsXJG7nU-lW0LyHWf3SIml8NvCCq5ysKRcSOEREcpaDB2Xyg4U2SY-9TF85tatJXnk5GRX7h5mQktmJr5Mqlc446er-oJ13ouOXzv3XT1GEV5uP6bbMWiKZNT8CHNsJmSY16QnsSf1LwH6LnCbqSpIFvwGgtNFW1772WrcXy0Qmt-bZzehY-jBGSU2Hnx8Hhm3E4aIE1qplHv3GVkdXW83aB2D6JmWqIoRpmH_Rd3I-PulLWNTz2OAih0D1jqiIvHYVdc9_LEHAdj5yfffd8I8k_g-PZs9PbkLA773KG_pMQu_XEjM5-Xwbe9-ZNJP9ntMch5VgUwo2Aa26NAQmZkTu8fWB2WocW-WQcL--S3BfH0wP1RJBEtQOqOdJY75a866uKJfopvyN3Fs_3Ag0SCzaKcqEPaL9m9Zzl4MHt7EeA0Qd3Stdos3aBNiiRJJTnnlYnIQeCwpYpHUg3npc5q4rCotPa75QnrzoyZtRnXjxCSIk7hkVj8n2i3IcoIutNlmCCXc_npMcW88FHh6Bcv-WwT0QDusdQnognOgFL2zBWJ1Y2ny8s6Bn6DszGmM9Tc-S7QEoZyr4zdI9WPtsYMgneHQFjd6SRCmqd72pZtSvjFmb0pxbiaHeRuNi94mRVI8cLMyNzD85bCsDXDGxPxYDgCJFT65HZKvV_8wph1XgfBuNOjCHAGxbVqsFFfJOwD0SA82Br3mD__h0tMXbcetUP6BnDFdUm69t0oTJ1sDWIb-On6k9h_uXbmiw1Klji21Re2bux5WG13b9GetWQ8ZpW2g21SfkW-jUMqrU0gAgIcxTL3HfnmIj9NhfMFWPjqJGM3WxfxwyYSkqVvrRSiqn1skBNb2yiPEWRr7OTEbn3UVuLuFo6_ttECxgdeU6Pg3VysSB427oUq__5JDiBizs0lNMWxUiYFjplGuldyPCJUJzWRz6xi_LZPW1WqtOYG_86ePCFC1ruop2_ZgCL6lCRRhcyILmcsqHmLAKxn-WK6a6c9I6nn5-spxCnrJIaUOtQnH4JoUhpGCQIx91hYd6txfKkPE6g10luSqlvQ5lMuiCHnZja-HI1_HrAY6uy-rmHzlWTQEylmz46uHvBqktjvuiEbnZCJWVr8fG6zyN9m-HwcgTfsUmL11SQEF1a0HJGHYOXoKs1_Ow5_98MQaXDsNW9ve38mR8Ans8FTMylmV7UO1Jmh2VjBB3pU5TD5CDMARK4-7H1itA4QDZkiEJShSQ5R43wACGVUp1yvF3GljsBWBUUmCU86sAlvP9i_j37YFLYTIGd7bivie87A9n1rkCtswcQILvM6qAOh-CI4tD3W0YvaiZLFVDy4X_U_Sb8ZUmmAsAp1wQ-Fn5tPinUC-Bb1jw_6wTA45XTjxYH5JnlXCtBEAscx_SsRB4CaMA3HAw2u2h_EUC9U5Qi9s6-I95EVF5TnOEDsejogIKaQqbBSlGpf3--sjxo8lJQKU0q2UIk8l-IPRaLl0g=",
  "id": "rs_0cb0562fc3213443016ab43117027887d0b7a4ddf4f3dcff8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws are open, leaving the pink bowl in place. I’ll lift the hand straight up so I can inspect whether the two bowls have nested before moving to the last one.\"}",
  "call_id": "call_wY4BiPHMIZXhxUyuWyJkBMX7",
  "id": "fc_0cb0562fc3213443016ab431177c1487d0a55e418ff72f15eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wY4BiPHMIZXhxUyuWyJkBMX7",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3962, -0.0227, -0.0261, 0.9993, 0.9539, 2.1544, 1.9778, -0.9379, 0.5705, 0.5198, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1717 left_yaw=-0.0035 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9993 right_x=0.372 right_y=0.3658 right_z=0.1521 right_yaw=0.1581 right_pitch=-0.3043 right_roll=-0.2028 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.7314, -0.0757, -0.0757, -0.0122, -0.2803, -13.9829, 8.4444, 1.2772, 0.398, 0.0562, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c16b1d90bca2cb8492fc41a0c7c0d046617c120c2a1091c30b5bdab9697810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec61e17eb22de38b1bf075071052f181d256b36b2f12fda27ca7c0579ff80c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cea135f92d5f0f2a226d165d64342c83996c0c759eb9d5d180f6f3bc7f065dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.712 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]: [-0.0196, 0.812, 0.6037, -0.3904, -0.0227, -0.0261, 0.9993, 0.9497, 2.1593, 1.6844, -0.6083, 0.5949, 0.54, 0.103]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1727 left_yaw=-0.0035 left_pitch=-0.0283 left_roll=0.0059 left_gripper=0.9993 right_x=0.3763 right_y=0.3618 right_z=0.0819 right_yaw=0.1339 right_pitch=-0.2648 right_roll=-0.1811 right_gripper=0.103\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.6825, -0.0659, -0.0317, -0.0122, 0.4034, -11.8085, 6.3658, 1.2186, 0.4762, 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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1998, 1.5818, -0.4656, 0.5869, 0.5282, 0.9952]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3731 right_y=0.3622 right_z=0.0407 right_yaw=0.1484 right_pitch=-0.2714 right_roll=-0.1846 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.3607, 7.0222, 1.6825, -0.0806, -0.0415, -0.0122, -0.4171, -10.8103, 6.2427, 1.2479, 0.3248, 0.0366, -0.1294]",
      "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]: [-0.0196, 0.8116, 0.6037, -0.3962, -0.0227, -0.0261, 0.9993, 0.9539, 2.1544, 1.9778, -0.9379, 0.5705, 0.5198, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1717 left_yaw=-0.0035 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9993 right_x=0.372 right_y=0.3658 right_z=0.1521 right_yaw=0.1581 right_pitch=-0.3043 right_roll=-0.2028 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.7314, -0.0757, -0.0757, -0.0122, -0.2803, -13.9829, 8.4444, 1.2772, 0.398, 0.0562, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c16b1d90bca2cb8492fc41a0c7c0d046617c120c2a1091c30b5bdab9697810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec61e17eb22de38b1bf075071052f181d256b36b2f12fda27ca7c0579ff80c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cea135f92d5f0f2a226d165d64342c83996c0c759eb9d5d180f6f3bc7f065dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEbTEx5hId07TAKOnliKvj8qXU3GoActj-ikBwh9dsLU__7YILhepT6hFwuqgXQojUnLvvPpOOZ-migDIanNRrKrgdehqNuDeQnlZZk08w--LGUrYZS5LHzsE8qk8XOs8uh1jwLyLtvIE11tHsOAZ3rXyrifUHo8zY5nM0pO2JfT3aomgoO_EcAg7WHukVY49BB7M0mad8OL7ZfWZPgBX0E18i0sdkaOhi2xxyu3T7UYg6WLZYdh2IGOIZ2hUa9Y50WL-J8gE1nKZd2yJa-w83Z9LkXMYpxyHle7W_QlmYo0TTwVPEEh7FBOEglkznCOvMW1pc_EUF4-sDErJyUIrW6dZpXANdps5vmKm5p1q0UVKf4kopJYXtd7BX1Rt35I6gvTHKSQeTirkA3QVFs-3BPgnSt4adn5BmBTlGUcpxaEHhtHhKMA8kxcSxA9mmRrM_kuOoGuTdwzAcjMV3k3eHVamPLzw5iHEnMY7QaDZcAeDQBKfaJQqhFPo6zDNzPqIS_IYyg8NMxZltLA8FsXMte2AWXp2xkzdZ0A0V1OpCBcJdKhZhhObOvRNmV4fcJ8VucM8eHJScXNPVnzopsDzDXRx1AsAutREjzNvf4rtqdl1acZYk7K4oZojd28IpPkSOzBrQrvpKo13wYVd1FbtLd4mXFUGb2mQnMr-Nz3b6f9l1TKPa1fMWk__U3DzumD-zI6kZkDjAlGKmGQGXGCyF4NEU8Q338EH0O7al6OJiZQ7lbGW7_8tG8jn48gdMX4K9veN5mWDBXQ0pAtLlCXFPJv_M0r1FIzGP16-mie-ckLPdXXNL-SdXxG_yl8nqY63T93e9HK14-TljH7efNIxDwUos39Adhe5wFKsF5gDom-ZZcLDtc4U7g50Ef3ml-nGHvuq-5Eaz8R8qKIOEw6GBp2tC-jNr6GVhVRvpj57snzjO2o3DvqV71jV4XkEUJ4wJAH0fT4SsJ4rURcl1dYLsvi2Rar2ZHedwIMOOhYiBIFrAj-JKSADWQXymfUCflWoiQytDauWsH_nh2A798qioJd6-7Ys0L-87P_Ra-jHrBnrallduE3xdfQu-grBUw1QdFlqwPsyLKyJ5MXSIDm8-d_pMaUrJ7A8r8exC1PODDX3bd8Hl_dH3cdyiHvOIfnVrg6KunHBLKknKHRAwYHamUzoecEG-t7c71tTgE8oulMFFNXs6SDwx-6xNgVi0_9-Us3Gsx1yXh5NHUhS4ZBzmwyrm8LfEFndGoFtY9897RYe2kaSt0diRZUjXMox9DA5eEznJYLTQuFkR4I2TmcYWAD4DJYIxHIxj4sWeIOhrFOXBZfpI3hFLSmVvcuKnuXyuoy9KgXHlgLrpnc3dHgkcWoSgkWSJKufXir8L6Y5m2Sq6cgz_TaO2DS5Uwj4QeKmieUwVStSN7Ez1wsJZmbPqnSpLzCgRQknxNCd3ogKbiR6hDLBc91EceSlnA2qfVGdVSQO8s0VU8D9qtdZbkcxm0UYqRkwGIEyVtYYDT9Rai8ocvFtBjwCLyxhxBBzM_MQxhQGz-H6QJ6ckcX7SekZ0eG9ZaOsrUy-fhHB77gDmUV-SIv3y1ShTv9weodJ-0Enk4PWYUdun8m_h_m7RwuPSAouSRHOhK_cDrI0CZg9J2kgc3kdHFQ_XPhxzSFN4WdD7Oxcj6k3Bys_oVLa3QArSYV-aP-t8zmyfr3RuMBWCtA8O5pO8GoHedkonuYW900Y0TlRbf9uRe3dO_lytMMiW8_6rk2b-VgNWblsgdEOeXpyYpHBSlVji7Mow4R_KK_MrC",
  "id": "rs_0cb0562fc3213443016ab43119f9a087d099dae5975d261c77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The pink bowl remains at the center after release, although the right arm still hides part of the blue bowl. I’ll park that arm to clear the overhead view and make room for the left arm to pick up the remaining white bowl.\"}",
  "call_id": "call_NBZxJzSNFG3GFhEf7nuzHp4P",
  "id": "fc_0cb0562fc3213443016ab4311aed0087d08b20e634e268a394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NBZxJzSNFG3GFhEf7nuzHp4P",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4072, -0.0227, -0.0261, 0.9993, 0.0135, 1.0382, 0.9009, -0.7288, 0.0578, -0.2569, 0.9956]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1693 left_yaw=-0.0035 left_pitch=-0.0451 left_roll=0.0062 left_gripper=0.9993 right_x=0.2966 right_y=-0.0026 right_z=0.1777 right_yaw=0.1045 right_pitch=-0.3132 right_roll=-0.2091 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.2103, 7.1863, 1.8046, -0.0562, -0.0317, -0.0073, -0.212, -3.3846, 6.5162, 1.5311, -0.2271, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9942a83b71eff0022cd92c794682c9f32bf9c98b7fdea746f075eb5e87f181",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9756372edc2f7e8d2540dc1c5038edff7b5390d7d060c13d17ce67ff4540cafe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927d0c3befc6a8de8b53ebc62ee59f9d35789917042160460964eba6a78c0c51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.443 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]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1967, 1.5909, -0.4938, 0.5877, 0.5392, 0.103]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3717 right_y=0.36 right_z=0.0425 right_yaw=0.1386 right_pitch=-0.2808 right_roll=-0.1895 right_gripper=0.103\nstate[joint_eff]: [-0.2256, -1.2239, 7.0085, 1.7118, -0.0415, -0.0073, -0.0122, -0.3897, -10.5368, 6.5436, 1.1404, 0.315, -0.0122, -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]: [-0.0196, 0.8116, 0.6037, -0.3962, -0.0227, -0.0261, 0.9993, 0.9539, 2.1544, 1.9778, -0.9379, 0.5705, 0.5198, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1717 left_yaw=-0.0035 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9993 right_x=0.372 right_y=0.3658 right_z=0.1521 right_yaw=0.1581 right_pitch=-0.3043 right_roll=-0.2028 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.7314, -0.0757, -0.0757, -0.0122, -0.2803, -13.9829, 8.4444, 1.2772, 0.398, 0.0562, 0.0269]",
      "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]: [-0.0196, 0.812, 0.6037, -0.4072, -0.0227, -0.0261, 0.9993, 0.0135, 1.0382, 0.9009, -0.7288, 0.0578, -0.2569, 0.9956]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1693 left_yaw=-0.0035 left_pitch=-0.0451 left_roll=0.0062 left_gripper=0.9993 right_x=0.2966 right_y=-0.0026 right_z=0.1777 right_yaw=0.1045 right_pitch=-0.3132 right_roll=-0.2091 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.2103, 7.1863, 1.8046, -0.0562, -0.0317, -0.0073, -0.212, -3.3846, 6.5162, 1.5311, -0.2271, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9942a83b71eff0022cd92c794682c9f32bf9c98b7fdea746f075eb5e87f181",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9756372edc2f7e8d2540dc1c5038edff7b5390d7d060c13d17ce67ff4540cafe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927d0c3befc6a8de8b53ebc62ee59f9d35789917042160460964eba6a78c0c51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEig8ECvh52jMsOHUepArkUDEo_rpYz8pzAifFHa5bqtU-9h9IkDVarpcX7tS6zgARtk8zS53P3ZRdpNMvCZsCk3WOtydlkowJ5Voe-nxggtkSE69xjsIfREQ-GBbSNYUmRlbtvdZqVwfwtWuVIv5xEfOFgKtfJJSjJJYJiqQ-C62ZjUJaJT5ZXE6qlgr08xaDu2_ZHKo9wTI_4HuDpfRNIp4uxpz-d1F8q6OCVBbrLAa4XvJtKbh6eQJpyWRtzQMKPsMzWm3fE9r3HIxytzdNdNmDt52hAQiw0-ViowOoNvV5O-E9vKblflHJNTrpFDDZ8Y4sgEeRxd7loYzaMNPyqFklWOQOFhL5zQ3qZ2TqnMw7Vzmf_vbC5TtPhRLuusj0vdjqQk0qxClpI5YH6XEUR_hLueWMiOXENLnYCBhNPPvokJoFP3jWgx2bmT2P10qn-aq_o8grERXYeUknsMvTmGCSbc92cZX-wy4qfxDEDOy9CV3TvBs293a5Np0FkisjuGtU8cRNpuPWR_oWKYyrAp8j0pHK3uJhnezqRjO1V6EJt6d_76_SXVq6WHC1sTpr5lPdD1r4aTnr4OcXKs2FBWKX4G-K6o1hY9qrfjzbPIBJLjo3WpfPNGr4aB97TqWTCCdEtx5YerSEk0hnysPWmV3fh2WILO9oUd2brPVl5BVmpmWqjawEvFEfx5Bdg9NqfBUWhrVeXJGTxVV4x6Jcp6Nyk8do4p9ZNskOzFVSbzAqWhumCaDzSm0lJtozXjeA2M2NooHOiurMKc3CVFfJLfH_S6mljt5o7VRpRv-3tJ6eKMmcIUcWEa_K8HusOWnIDeVHmOan6VBDKuO-xIZSM8wERuys2WiH0gESoQeA78svjA2Wocc_YeHKRHT0iDMQgYboKU9YPzc2ifYWLCu32iAsbPEev5m_FZVIu0fP_gEnCI3A-SY94-jrcax7NnC2Zdn-bi3zpwSDRdiwBx5j3CcvT0XZ-bWgAeubQDl6Qpveo3ZHFcZOIl5vyP9gNSK2NavGG2bwBsTNwhlTLjL5myXZGvSKKhiaSTfu8cuhQCo7LZ3G5dxk1iN3MMGZwLghFU9H5sja1HSrNH4lc1dkHpFt7SZJHHMSBfjRFOogxA0LAoFCTCAalG56XmfuQ2gqv16ERouB6Lb-e7rUNg03KYlZ08_C-d54XPMKkMUGuCv6t8eBF2ZctqSGEjnVRSfuFL4kd4pmNGvBM2Q0iS_a-nykXoyjw1olb1X_yAAM0otDezranMYKzdC1gTzwUhVlO5h7hhZsXj3lfMYEs3f6w-5QlIm75I7PXy_ZfxeX2NI0-YGLc7czzwCetSnZ1Ts68KOyNo6l-1IebAD88qM-O5cjbBYelhEcUjoSutn-iTr_KV-julpQDt5DA-PbLcnLNpmyDuqLJ0geXuuEDjPJhA8di_MXymOeiq6n6rO2-KnRCYPXdvh7MwGCxmrh755er9WXgpkBiDevrX2K2LQJf6aSanyLKNiqD57CNHFUtQ-XeAU9epN8krELFQXZjBLYjq5bX6qdSUy4QO2JlX49uPVdRfB70DIlbNPcdW3ylv9gW_3n_2atxDgzjrTtD3Qp95O702RKYCyy7Uk5bodXsGhOB9Kfc3qCtiy6UqHfn5T3wzM8OpFaY_anKorXqBlkCjzCd2eY4AZhtDcgC1yVBToj0U7q62oISqd9alzBmd-ttao7liyRuJd8KiA28TaML1FtU2szTlTzYq8SR_u5CnHBVOpeur1UO12dpHQ7H7l9ZzlI8Z1GbVUrLwg4TSpqvuXXCB7SMXhZTzB3a_3HEej6N5iU0gDJJeqmo8Xq2YiF6GIjJoXN6SIMCu8z-Tmz7aN-ZOaXs8moeqgpPK5mnsw==",
  "id": "rs_0cb0562fc3213443016ab43120502487d0a7afa55a44d3083f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.22,\"left_z\":0.14},\"note\":\"With the right arm parked, I can see the pink bowl at the center and the remaining white bowl to its left; the blue bowl appears to be underneath the pink one. I’ll bring the open left gripper above the white bowl for the final pickup.\"}",
  "call_id": "call_UVMLtKaAocBYb5b4BzKA5ep7",
  "id": "fc_0cb0562fc3213443016ab431218c7087d0913628e3a57468ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UVMLtKaAocBYb5b4BzKA5ep7",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7467, 1.6279, 1.0191, -0.2035, -0.5766, -0.5045, 0.9993, 0.012, 1.0428, 0.9009, -0.7364, 0.0467, -0.2802, 0.9956]\nstate[eef_state]: left_x=0.3765 left_y=-0.2123 left_z=0.1264 left_yaw=-0.016 left_pitch=-0.0844 left_roll=0.0278 left_gripper=0.9993 right_x=0.2955 right_y=-0.0011 right_z=0.1752 right_yaw=0.1262 right_pitch=-0.3273 right_roll=-0.2145 right_gripper=0.9956\nstate[joint_eff]: [-0.4444, -7.6376, 8.7863, 1.5849, -0.3834, -0.0317, -0.0122, -0.0205, -3.0427, 6.8581, 1.4579, 0.0806, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f28da33b1f93efff8294495276560b28f7c3c5128a065a1a8e9d517d28bfe85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ae561e82dce77714b5571d778c6b1e0ac430ca40b861ecee66c6d816c4cda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7421d6631de87d7519496c44407dbd24624fda239f3c214543c9220844eeef6c",
      "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 · 8.623 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.3935, -0.0227, -0.0261, 0.9993, 0.9527, 2.1998, 1.5818, -0.4656, 0.5869, 0.5282, 0.9952]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1721 left_yaw=-0.0035 left_pitch=-0.0313 left_roll=0.006 left_gripper=0.9993 right_x=0.3731 right_y=0.3622 right_z=0.0407 right_yaw=0.1484 right_pitch=-0.2714 right_roll=-0.1846 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.3607, 7.0222, 1.6825, -0.0806, -0.0415, -0.0122, -0.4171, -10.8103, 6.2427, 1.2479, 0.3248, 0.0366, -0.1294]",
      "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]: [-0.0196, 0.812, 0.6037, -0.4072, -0.0227, -0.0261, 0.9993, 0.0135, 1.0382, 0.9009, -0.7288, 0.0578, -0.2569, 0.9956]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1693 left_yaw=-0.0035 left_pitch=-0.0451 left_roll=0.0062 left_gripper=0.9993 right_x=0.2966 right_y=-0.0026 right_z=0.1777 right_yaw=0.1045 right_pitch=-0.3132 right_roll=-0.2091 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.2103, 7.1863, 1.8046, -0.0562, -0.0317, -0.0073, -0.212, -3.3846, 6.5162, 1.5311, -0.2271, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7467, 1.6279, 1.0191, -0.2035, -0.5766, -0.5045, 0.9993, 0.012, 1.0428, 0.9009, -0.7364, 0.0467, -0.2802, 0.9956]\nstate[eef_state]: left_x=0.3765 left_y=-0.2123 left_z=0.1264 left_yaw=-0.016 left_pitch=-0.0844 left_roll=0.0278 left_gripper=0.9993 right_x=0.2955 right_y=-0.0011 right_z=0.1752 right_yaw=0.1262 right_pitch=-0.3273 right_roll=-0.2145 right_gripper=0.9956\nstate[joint_eff]: [-0.4444, -7.6376, 8.7863, 1.5849, -0.3834, -0.0317, -0.0122, -0.0205, -3.0427, 6.8581, 1.4579, 0.0806, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f28da33b1f93efff8294495276560b28f7c3c5128a065a1a8e9d517d28bfe85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ae561e82dce77714b5571d778c6b1e0ac430ca40b861ecee66c6d816c4cda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7421d6631de87d7519496c44407dbd24624fda239f3c214543c9220844eeef6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEnFrrWGMYGnzY4HG80AoIZgsL_oW21Jmnp6CIV6CDAPvkcdzWHvZcGVNHz57E11Zp-KQD9JnBpiINeCHuuBcrEZhm5qcg5QOE9eWtKLOMKaNS_8zTEfGIZetIJ-bY05zUTWUtfb-dQq1cR6EEJ4lw7IQXGoz3ymNUNZiK6h8QFX5g_54NC6MQ1O_d72R9JiYWWHZ_qzKSvFd0a6qrJm8y-gkYNK5GsuQg5ZsHU5aA52_PwrwTGmsuHs8igvvJBnvOlpptyKHELmUJZ_8HCuhm6p-a8rMkvM0AaKasNU3iXueOaauQZy05W5QhPuD8NiSW0ytj26kXX60Ihmm7ty7hIHX24ic45qBDttMjBFK6GDqGfHChjmjOfkpit8zzlSwgufNK9Kc9xto0yiCtMs84QtxMRy5DBE9qJnXubHlZx1IL9ea-PT-dT8HK2xeyQRWhti9rCcuZhEZaCMcVtFW5MOfkkxY0tItPAd55KrxHFzG6VwzN9KeGBS2pMQrCJDRE8HHM1QG0iEqBiXpsiN3Ce7KjYBQcQBWdNjjM8P90wZThdXhR7PpNxVRqWQ25OnwkwNKgBSbM9Db-LvseIn38zg7n9oaYXCi59JFu7ArciRLmg4H-eixO87ras8FOPFhg5QvqyWw6QZOZaJ4uAvcAj51fzpJf1709LqBz9OTcSRquIBuQjqGwzxBq1uKPxxlpBzde38LVWhDi5QveNSMfAZF6P2-JFOrjXYak2lxsQuQ5a6u3i5CbjBKGGrmz_y5BBr6Gdc-FQLZmJMYkVdN3VAFULFNWLOr4UUAQz7vhI0--6Fhy21264K_eMCAvny1xNVV6_5DSPI8HjveA0Kp8N0SpccBXga4g_Lh8oVOo8BtGK9mha_wtnXEeWUuKp1SPhCievoRbP46qXUu1SVq4nidon0GkHasz8H2fXSnCB0sVOcSyJZFiYw3TbOi2Nd9GFf4QMHX6A8XgLhRTXGOiu6C2e77cHW18BPG3fg2m9MalI50rbvPdvDpa2D4TSRsDsHl8nwIKO80xNAbkaOHxagTHya2El1jc9ZGB3cQ6CY2u-r5XeqmFQsCAOM8ogxhtcN76TuVlwHXyXsItASWy9viJXPJroYxFhv6wdGUUcDRz9pRKyZ86qgoepxPnBFJiufhXZCa8XIu8eWgr4no_SWWcT98bsNVRgONTRCCQ4iLpiyyNLCrSLuUaY91fdo4sG7HuTrk6uvHrw3pYXSm-dxJU0QxZa93MaphVg4c3pS3pCWaelcD9ECTQvB8f2kD2JnCCa30-IP5GYqjrohLUHD1AKlOA0hFoABT1NYC1Ft2FdWb9EVtD0lwyDdlfTtyPJco_zAiS60YRrRIo13lY9-zgmOqGsFD9WK_i_BQ1Y-jklFIVKHYcOLO-NlV8aZALLscim4UDG0gf6fnUnMEaJ8Wl9Ht3nj2jpJDtiWTdok85oLyp6A2zS4HA3Nyb1HCfyWuws4X16EbaM2ZlmP9b1OLmWThYD_SCxwfuJXXuDk_TIWDg3IWLVMv_fi_bNN8d_GX-G9SkNjgAeI7txgMcoQ0nR3CdgydODsM6OeBWu2nIxESaBh0CsX_bpcFNYaHYt6yAFIMoSZcd-4F5leirlY11TwwmY0JCM3lqwyTQNgw1FpNgWji2JOAo5OX7NFHPNevnKEQFRYnt1Lrdg0Ur_rP6PwVs9QnsZFl84CGRtEU1gmL1aYccwjF82A57IZGwb5wvw8NUD3bEiVttIUDG6fXWUCj-pgBZgH1Jca_UQCCD_4dstTJQIj-O7sAeKcdUPZGemLjer4pBvPn9dN5kTQUUk9FuYOsqGqWoGNCphdaJijdZ1LvPCFIIdbBqRVuh-l4HaJfy0LNm-X7SVj-AG7NVrWPRkMXD4oSpz8OCAyTNOIk2WyEwZaZrngTDzCfjrkIWa2ibOrgorrHnQIdnPv9wV8AWCcGi0cd1S0BMZBZXglFRcsHyA--3ABww_Y1JDeCaQTJOLcut_uc9eMKin7ahGfbfvSNlEYV1JsLjObDFtin43rGWECz96RN1eHcxpHNg_XzXu2R2pmRa-TbxKgfrZuR9l2UxUvKzZLvlxOVrgFIAecpIcjs5PcJJvsf3upjvrqHQMHFxjoqRjyGTC-aonn0FLLrZ2fT7RRKIOTgKs3FzNtLqjEVVW-mUttKRQD8GHzvWQTvtOxoVlr4ks3MjLJJoTh8PVM9rGMPKJcKk=",
  "id": "rs_0cb0562fc3213443016ab431253cf087d0a2bcb66ceb0f0b73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.155,\"left_z\":0.065},\"note\":\"The left wrist view shows the white bowl well left of the jaw center, while the pink stack is on the right. I’ll move the left gripper a few centimeters left and lower toward the white bowl’s rim.\"}",
  "call_id": "call_bmVIeY89Sgp6ldyQPzY77ohR",
  "id": "fc_0cb0562fc3213443016ab4312729fc87d0ac4b062250da3dba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bmVIeY89Sgp6ldyQPzY77ohR",
  "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]: [-0.6044, 1.6291, 0.7456, 0.0673, -0.4873, -0.411, 0.9993, 0.012, 1.0431, 0.9009, -0.7361, 0.0437, -0.2848, 0.9957]\nstate[eef_state]: left_x=0.3717 left_y=-0.1519 left_z=0.0596 left_yaw=0.0091 left_pitch=-0.1304 left_roll=0.0523 left_gripper=0.9993 right_x=0.2956 right_y=-0.0006 right_z=0.1751 right_yaw=0.1315 right_pitch=-0.3275 right_roll=-0.215 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -6.653, 5.9282, 1.6484, -0.1392, 0.0952, -0.0122, -0.0752, -2.4274, 6.8991, 1.4383, 0.0024, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3179913f93d7b655c821c8b2cfe9cad824b8b28536e4a1774ceadba15de84510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05af1d0faebb317da7c19a546dac3667a8ce8d8c1083a9ad79c167799f3abde2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d276d1f8d7d96ecdfa08e5a9a9052b8bedd9bd0e05ac35dab31a02eedadc80a",
      "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 15 attempt 0 · /responses · status 200 · 4.808 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.3962, -0.0227, -0.0261, 0.9993, 0.9539, 2.1544, 1.9778, -0.9379, 0.5705, 0.5198, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1717 left_yaw=-0.0035 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9993 right_x=0.372 right_y=0.3658 right_z=0.1521 right_yaw=0.1581 right_pitch=-0.3043 right_roll=-0.2028 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.7314, -0.0757, -0.0757, -0.0122, -0.2803, -13.9829, 8.4444, 1.2772, 0.398, 0.0562, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7467, 1.6279, 1.0191, -0.2035, -0.5766, -0.5045, 0.9993, 0.012, 1.0428, 0.9009, -0.7364, 0.0467, -0.2802, 0.9956]\nstate[eef_state]: left_x=0.3765 left_y=-0.2123 left_z=0.1264 left_yaw=-0.016 left_pitch=-0.0844 left_roll=0.0278 left_gripper=0.9993 right_x=0.2955 right_y=-0.0011 right_z=0.1752 right_yaw=0.1262 right_pitch=-0.3273 right_roll=-0.2145 right_gripper=0.9956\nstate[joint_eff]: [-0.4444, -7.6376, 8.7863, 1.5849, -0.3834, -0.0317, -0.0122, -0.0205, -3.0427, 6.8581, 1.4579, 0.0806, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6044, 1.6291, 0.7456, 0.0673, -0.4873, -0.411, 0.9993, 0.012, 1.0431, 0.9009, -0.7361, 0.0437, -0.2848, 0.9957]\nstate[eef_state]: left_x=0.3717 left_y=-0.1519 left_z=0.0596 left_yaw=0.0091 left_pitch=-0.1304 left_roll=0.0523 left_gripper=0.9993 right_x=0.2956 right_y=-0.0006 right_z=0.1751 right_yaw=0.1315 right_pitch=-0.3275 right_roll=-0.215 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -6.653, 5.9282, 1.6484, -0.1392, 0.0952, -0.0122, -0.0752, -2.4274, 6.8991, 1.4383, 0.0024, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3179913f93d7b655c821c8b2cfe9cad824b8b28536e4a1774ceadba15de84510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05af1d0faebb317da7c19a546dac3667a8ce8d8c1083a9ad79c167799f3abde2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d276d1f8d7d96ecdfa08e5a9a9052b8bedd9bd0e05ac35dab31a02eedadc80a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEwlpt5sbs7UVQHaYipfB_43qwsJ2myg_bRDwVxdwa0PczQbtYAlRxnLBhWHaoNu2kqAmBukRKh7QzHAJF9fzfX8Mgy55GC3oXvanjAK-S294mlEhn8uQuFvzXk8WH23teTwojVYEwdBgw4Y9hVtUZReJhmdqxCG0nAgFPMokPBxTLIT_TRRzP_R7dAkFz7NEGaBRfhSPtBBC9-F_Jmyn0de8nwMW8s3iLJSlzyADOozBI5mnxhFAQo85hS9BKraRQelaz0Nci_7qrjHjtawdZq6wP7_CAYZySQDsu8NruJqAjuuDL4zxJGJOAOhjkqIEnt3Q9cQq55_yV6wS3VWYmyXEw50a9UltxQQHjKggpOtiwrqo3zjm3Q4irWd0zxGw5Wm9sX3hIuFuMeI3XTTLZ6oTGlM5wBJdXFRrsPsMdMnb5Im6ZCdicQ-MxaREBPe-OPcEAnbK4_3PsNOihuP2Pq4squqBwiLj-5VjK04uTD63qRpwwvqUgCP1A-KEnc6noZlve6pOVkFuossR_iLCXOBWz0doRQPrjsZHcMrd0CJSqMLhnWNDrg06U6O86Zdk73fOHgRF3vUwwngAqDmQU2jwczqPsz25VizD2QgzROIWm0AFC5qJ_hfkZaJYFrr_L6J4gWM_4EBoBwZd-FpfepfgWRjHLXRN3YAc2KkBen1iOFOLk1rxwsK9EoeoHNpcz6t0z0sKvRcHeyu0FU5oYwuqyD4JiQOOJEgtLop3LYX_cfwdqB6YQMQM8Hl0IGRbEIkIPaK-HDIZ5NHRuAMBt-Rp4ljJpUGnMLipdFm570Y3taWgMlM_I6dWuyp1IekMNjHSrUahSKd_cqqznoNTtGlOGAJjMkjumLwttGmE0PA_ufL8vQysbRAoSE_d0v0SIYcwB3woD6w7PJqE4b8Ah7JpngOxO7b7r7Z0DdZMDwq7U-pTHgfsg62K9LSdQOJd8JMCkuTYUPo3F0zyZ799ENl82HBvuYijWL9Jkd5J7OniaDYY2YPjPe_Y2f2HJ715MDXohPnHorKAEAo5_E0WfdtNiy9oJ95MIkSVkJffe3QQxo7fWfU4V3Oo2zQzApY05eQrsHOEpWQ5RhtFInPpiDOuj6kTJeTRmKmuy3nv0zDcDz1zPLI0WjtoOaf9JcPGAg4RNT0AsFBqoLh1CnwQTCyjWSv98AyJIACkBw2Kb5-S5LJZGqQWCREWeJ-jiAS-1tTs6xryj5LUfdZwMV5aJqKLDIShGZCvyLv_a7axYL4qoFPQ1mgMLj39WMrCo-mOi4PBW85OmDl-OS4jyKP6mFixi4CfUNDiSX4iLCLQkBHPEMnmyLatigEIe6jtiwvxRtxzbOpO1pIMB2dh7B41iNVVD6jV2Dh0W1e-gVUiMRER2FZtbGcAcQ7zxxmL_pdD2kTd2VKPDPoYwNm5JXTy37C7vJfBjZ0-VWWcTGeeNMtmNGyncsKjcaci07q7ZZ8jdYLSDOZWKPvsYYkzS6wzR1aLbJDrGhUWzxqx2dc4Ct-UfHLDzZqAkxOFmL-XoDOMFPw8CSZGID5mHPy58UwFlHRdHbY2jbeH-R7dMkZCCLCzU-ekBuMSOpk-zCBsjN-6RLdcpEcVCTs72UiRRPYbtVF1zAOViiN0NJb-wlaUzXJfrgY6aak4iY8jkEMqOWYdGpzsXnm-ietAz5rhpeS7Pk_5gDxdR2df2PfWkgU10WcRxYMngz4nU7gdCWSaHryCQaJte7IcRaZws1m12kj5CC6MPChvP680SY9-I8Qo6FrUoKUn5acBBCiJgVr4-DFEEo6__ljPdRW892GG4SzKLtP5cHvt0creiGtHMi4mBd5HK1uQGtbICWDURacdOg4IGPG3M43df_LM6ZZvQBhrwhO8L1WG68SdCqZFN0AWDQZLpNDw0Pz8d2nHLgMeCBtPX-C043N3Y_q3xHJtu1YExjAIKUpebUIBwwfxc-Rd3lAmfKULBRxzH7Vm-alCCWaczk4i2cBzahKuOjxvImkBlXKcOV0DiXSJfS4cTioMrawklFIvYj2JzdpnFH9ObhcBD4WsBcKGqpQHmG6pO2AQC7CXA14ZEJJAXGDGQNd6l4rthin2s4sYShjIKNAIEUwyIwQ69lDLaFF7enOQgQvndnNCdFNwKbPybcMtg7U1nIbyE01o6tK9TOEnvb_K0OIVmdjWWS5HrO8RYOX4D_cmZAMrlnyvgzNXVchEZSTKTrl42ZvBVg58WKqp8lshpfaQi92hiFUsNQAx7fkrcrHeilt3vNkpqh8KNsBiHwky8WURd6HdMC5Mmu_FVoNi7vDQjo5lAVDX_0ZYcjxBInbsAe4eLAs6AokNwKu9STl4G-ALKV_4OVjvL6Em4XHqr-cMQlA_Ov1hWXWcMegT1lRR6C1w0CnYeyUhYhK5LhhStpPo8fX1UEx-XKVRI19NeszNuaTlhZ87PxlGbCj_ruyr9yPwfEOkPYuflufp1zB_AiYkTQm-1ltx__TaNyMbjYnIBcoFDyj7wyvUjg3UJymlycE6udC9_5DgnYOwtYDKkV-cVRjCI0tGXlcWw2zZm-mutCahVZrCUEeiOAxRY744C8P4vLy9mp18agpTS6VzzK2AdNWZnXVos2q02wEZHsjH_UNRXlYeHpqc-kUQaOlsAlXyo7MeuyVJmv4pkzkIu_LSC_lfoG2cHA1XIWH3hQsYKO0Aa3HZSLFv5FZW4vdIvnSYsY_4CXnVY0Pi8hfZa7Ciochqk-7UZb9lmHl1r3B5rVXwVs1WOWX6lHWMt9NkbXBhGr86jJq9AlEKc0ucirWqeFB0pTcQ5VfqxinMZHp7Ea_ELXJYsQbpBQ6BYm1UhFx4iN-g4PImQRigo5VP-xbiY9KQJVJR5FSbfUQKqTPxtq-1_llJQHDYMXifQAB-xdu2m1tewDO7RPcPaRyhmRz9cz6861OhjQoYvqOHYaodFYOqjqdjroHlsdYGoR_p0FWVnzu7RL9VmqARkttR08C0c2cPZGBT5pV9IGxFRuTxdUT3ZN0rg_nC0qi_SsHt7IZLG5rl5_ezkNeqAOOxss8m53X_kV5DO28lZ7dJ1Y7yG30EvXAMNcbMx9w7GLvUKPIV9eG4UD6FvRauS6vF8jBfuYjfxz9l-vtlteOtng4F67UxFLR5xKPqGw-B3eTdmYmewY_kn0beErqmGiNESxDj6qHmACKIQal3jWgMi5iTBrYNCxp1zbKDjRY9imNhmee8bRSbBnNhEtmVxIPbAMMrDLTwc_YvWZpjLUQElZAKYt3Qjq5I-GO2d6wpEr7WBE3b77QjqDMtDGtxfN7IGBojREA5D8HEU2hIIunIQgPp_Ibfjczr71ysTbRkXDwyHhvitxze0zHFyoY0ra7Y49zscJkOc52OEE-LaYNU522eV2G4IfS140twA85loMYBopF-QV7uV24XWcML4zNvN3_ApN0FAu9SgCP0cgNvSB3ixMl9dMC_UUES4zdjxlUvuydfRzAWEcPoF4Jg6aHWcNzpKSNAqhTTaWXzIR_0NsMioFDjrWr7JWHXgpBFAvM0Z7FEDqifaGAbaORBXgglp7XXqoNuo8jnZSnsci5A9CoR0HUgIjhJuKROgrwkBX5luSMf1rgXE_X53Z9DtDHmn8v-f6EinSMvTsT7oeblMRiITzkPHGZBledsmZi_x8l5ztk1DxmfM-_U9KNBucJUkfrhNdtcJDE_CZ7NnTcOzQ_OajkgFae4iZMkww14YAcuVXQDcpjKPNKoqUJ_4A4PNQ0WOjrDcWI3eQ9pFRodjwLD7WBj7tE4Y56Ur4048K_zmhHQ==",
  "id": "rs_0cb0562fc3213443016ab4312a64bc87d091f4a4e6e16da147",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEwMY5M0IdEd67SBNO2sXydXavQHwZRyNAhfuMR0h-C04npOYf95Iv7V-WijO5MS7IfKqYIFGt2v6nwQRzQG8vneC044lflxqBX4ynmMqFYuIhm2vukfQmD_fnOEGI0VKTkueVSaKKn-s5W4s4BL2YPDYEY-P-Vfs9Hqk7D9iNXmnuFNiW_vUV3O09yEJhWkeZqR2xmLPThoZfwQe4FUF7PgUQDYoXcIMVDmkp2Z2tOC2hSwwbIJSKyulMcu99VaujAlMS6VGIFvvViXhkQk8qbsxGYzPcrv1HMT2-ZRMqWym4glyJY65Fe4rBmKB0UCL2R8lulwQiDcIcL8cE42nJNMDnSUpfMq5Zo7xcoBfzN20xtl0OLuKpYKNTrMyB865dlmHCp8mZKkIsSGhJ9UU0ra0GZi5e_mQJUIfzbPrWttI-HYaubjECsNP7oqU7cc4L7J2rulGe27Oy_7hi6bDkVyVtCNfKTcbDvlabNvmhmMx86LKZHlJgoz9UBZruA8HOpNJQ3BGCGXxv7Kd6d7tUhtQmyL9aw12BSf66M3uYBjF1-OpUFkHBr0lElhxV7YyQsECAQKnn_uHHVcty3u4OUgqbslLHNMEuzHmh9gjEWXCGTn7FB7TnQlb2VG7EIHuhlrXnTEn4AyLWgc9BN_ER--4PPjsS7aeZkWAUvaVe6CP0p58UOTYiiU2KtMstt8HfepYcDQjC0ihFpOpLOxtD3_yn0aCPnBa2LwlBYae5dRw5MJWyYMM5oPwngyArr270wNBSwr1-JEwBA_EHG0XPzMXQso2377MT8-RL4uXGl1utiF8JhMpQSmK8YtTMGlGoPoT3AOKdWNL72fDo0IORdYeOlgZDnsyT3LWDn5IH8S_tRfC9xudAtyb9_ZGBkXTovoeB7cz_BZgiNDRVCeG1hw0wLmRUBEw0D29D5UY99DNRe2hG8xqB5c1uVDSLGMTUwJeAJ1pUbM-t1vuKGMfNth_95gKXqIzaEhbSSZNdQGvTUE_i2-YimCts0Bd6p3zL6zC3zn4rOdfxQxSnIOpr2RL3ZKf-J5s1o37AKPNDvwNmAD02w2w8HcPgnIM0cSNIWD8u8gUvsvrMgkArEd5dFkqV9ypD_jy_TYYcM-3cX2QG37lYYnZPAOkTpPorXch0WCdJuD8HDTu69dSkuQ76yvpK2dKVkAaT5V4htUJ-Y_A0ejZ3Ws4VABqBWAGmLkgbn4jOa1yfoqTrR64C8o9q-yQfA8R2_5Gm9a1N0dDOHty4WSqpNktP6tK9M4zkaiMgYO2Dn5k1x3qKOHMKfpoQVw2Edhah5fTeKFVT_xwCDor8907heaqPQfO1r_aNrFmFbDNBNYjEW9PY3LNiGVLpBG6v4-RXHYIbFJzL1Kp6hIB9afHRg31lX7C2YUIsc_r3TyxBxqn88sFrm3Ze1tWHECTdlX0NHr79ot5Ua1pIRW5i4tedJTd6t0HlUMhOhqFrJPuLz5HXHU_3mDDspvJSwwxDEI5qQ1rGsQkN3IpLEnC7qpdjKNmu-AeYmpDR5j0i7YUFXbHBPqq8dffswY60k33xyEq8QdslVZpBX1KlU1sjyR1Hj9NVp7051IUS6jirACzbKcpXWQw0UiYaBAHLL1oTv-TVBFaobzR4IlNXx1URouxtpRpMBLnLh1MVQ5Oj6Xolyon2eorFkZidvmrXQJUk_fuPkqnHcqcAShPC1SZIxFxH48DuvuiKLKT61DzPe_Px1QLADY_s7u-ul2fm4rUADSakc3FFEz_f8czIl_PaAKEgb3UKWXdKwYbV6XO4sQtWqLymbEhycAHpIjZakqAxelJ-Kh0XgWJucnyPQvym9pp5AvtL3XfK7d7fsDfcB6CGVctNLSFTT1m27jCZDTd-ll2xixHfaoL9soo8LKpPDfb49Q3ddg0Wt4-iI3BiDiI7FnwYB0J1N7WwpBVdoeq1-9DXvoYZLaRDQScCRDsVbM34AdRdlPoq-HjgAccfJeYVtW9kba1OTB-zluwFXKFB-MFkTsn1kCz1iO79QoCguRr3ej-HUD17-cNFyHNLkqL9Ir55si37mSPcXI-cb7XlKeXvhNpqN0JwzhmOXmwa34EWz18y3OX2WnJVHW44obb7kCMiaKYJjYujf8eD7u9n2L6uTFItlbehhmGVSkD5RlkHKAMum1uJVEJtnDMQB",
  "id": "rs_0cb0562fc3213443016ab4312f047487d0a32f740c25371a4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.10},\"note\":\"The white bowl is still left of the jaw center in the wrist view, and the gripper has room to shift without approaching the pink stack. I’ll make a small sideways correction before closing on its rim.\"}",
  "call_id": "call_nOz4d0aOEeMD6N9FG51DCP10",
  "id": "fc_0cb0562fc3213443016ab43130269087d083f55b41524a22d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nOz4d0aOEeMD6N9FG51DCP10",
  "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]: [-0.4526, 1.5612, 0.6418, 0.1177, -0.3992, -0.3195, 0.9993, 0.012, 1.0447, 0.9009, -0.7361, 0.0437, -0.2882, 0.9956]\nstate[eef_state]: left_x=0.3695 left_y=-0.0993 left_z=0.0504 left_yaw=0.0413 left_pitch=-0.1549 left_roll=0.0598 left_gripper=0.9993 right_x=0.2957 right_y=-0.0006 right_z=0.1747 right_yaw=0.1335 right_pitch=-0.3295 right_roll=-0.2171 right_gripper=0.9956\nstate[joint_eff]: [0.3077, -8.0752, 5.641, 1.5995, -0.1245, 0.0757, -0.0122, -0.2256, -2.8786, 6.8855, 1.453, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e5fc43d703770536a0105d75c5c77a6f296648e7392a4e32d26a0b48099429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025916573c6fb7a341e065d80cee9f3f50a8af348f42357d488e563724679b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5706ebba6a47ff609b21b59b7d13f0ba7d832c6fa1faeef34b94184798894d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.866 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 65 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4072, -0.0227, -0.0261, 0.9993, 0.0135, 1.0382, 0.9009, -0.7288, 0.0578, -0.2569, 0.9956]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1693 left_yaw=-0.0035 left_pitch=-0.0451 left_roll=0.0062 left_gripper=0.9993 right_x=0.2966 right_y=-0.0026 right_z=0.1777 right_yaw=0.1045 right_pitch=-0.3132 right_roll=-0.2091 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.2103, 7.1863, 1.8046, -0.0562, -0.0317, -0.0073, -0.212, -3.3846, 6.5162, 1.5311, -0.2271, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6044, 1.6291, 0.7456, 0.0673, -0.4873, -0.411, 0.9993, 0.012, 1.0431, 0.9009, -0.7361, 0.0437, -0.2848, 0.9957]\nstate[eef_state]: left_x=0.3717 left_y=-0.1519 left_z=0.0596 left_yaw=0.0091 left_pitch=-0.1304 left_roll=0.0523 left_gripper=0.9993 right_x=0.2956 right_y=-0.0006 right_z=0.1751 right_yaw=0.1315 right_pitch=-0.3275 right_roll=-0.215 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -6.653, 5.9282, 1.6484, -0.1392, 0.0952, -0.0122, -0.0752, -2.4274, 6.8991, 1.4383, 0.0024, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4526, 1.5612, 0.6418, 0.1177, -0.3992, -0.3195, 0.9993, 0.012, 1.0447, 0.9009, -0.7361, 0.0437, -0.2882, 0.9956]\nstate[eef_state]: left_x=0.3695 left_y=-0.0993 left_z=0.0504 left_yaw=0.0413 left_pitch=-0.1549 left_roll=0.0598 left_gripper=0.9993 right_x=0.2957 right_y=-0.0006 right_z=0.1747 right_yaw=0.1335 right_pitch=-0.3295 right_roll=-0.2171 right_gripper=0.9956\nstate[joint_eff]: [0.3077, -8.0752, 5.641, 1.5995, -0.1245, 0.0757, -0.0122, -0.2256, -2.8786, 6.8855, 1.453, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e5fc43d703770536a0105d75c5c77a6f296648e7392a4e32d26a0b48099429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025916573c6fb7a341e065d80cee9f3f50a8af348f42357d488e563724679b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5706ebba6a47ff609b21b59b7d13f0ba7d832c6fa1faeef34b94184798894d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDE2gQv0DeZCL9Ex6qtoES-zwGwo87bj_zS1Kr0RA242vhShXAmIRB_oyeYqeDxDtvvxgO8gk7uZsQmHrDVf_VH5awCgKnU-C_S5ECg7f25g4hBJTH1xikGRooMBytsqHDQ4yHSkOv14qcyvNBYb8NLoxtq1YgjdLCFupMNOGb50VpSA9X-Yo1ZnEZ2cdFBQ5YI2dPqswueNdWIAWDuEfY56kZcqZKBaiKM0iHGQYeg10sSsmTfQM_ek9dWhg6RGXzOEjjPF3tefa5rroo86S8jNMB7wWDb2_8exAsn5EWYqZk-kCuZ1t_3AIMdW2lPLCRMppxUqaiCPS93xIU_E-3QNJmAy5j6OiWq7DSZNIAd8etwNqM4tfOQguXvDswATXf25JjhL0QOnxi8aGSaU3yjAtqNML0m19wii-mTWuFY1NdcfhuA3UPd23_HnmGs9qcig7ixRpsbYZcg7lernq5UCy7JGt2lsNMXmDezhk-AvZxmRd9bYHEQh-m-APyflAkqXpz9nZ-3FnnWMdYy4qygLNYAnAWx7v8CZ0S2xsWjIcdA6xG-IN-2lHQ-6F_JJbP1VpSsyJId-2YVkO-J3gbogPCIBjqP0lwSzAaNq_rZIZGbiEwM5zXFTaCMOG1Tdb9v3mVCb-IYkOC5VGRPtH20DFzE6fKjpQS_zx8dfpuVfkao8lm5PDyNG1XhX_0iAuScWtUuYgWQA3n3Lr0BO6QY2ef_l-vfJqvGBeqVpkD4_VKtRnuDwQKWj16QEHD6jhjQ9xnKUuOy0QSjS7ZKy3SwUx2CJQ35_5SqqeXwGbd7tBkD2EKKVs-DAp0V_qCdXP1upShAsCAydsa0GTNrYPOwoQKJdpnrGapvTqcNSngvCPQ-_vVCdxBxQWnyQlAB9aQ5WmHGXo36WUl7BWEYslsAAbvpn33AXc6wIjiYDbYG6WuAYp7vFgfYKd_Zna00XfvT5HOYJ6GkP7eB8TSrKd3XrDjcBixnbpoM0TKw8_sv7_XgL_3-Gak0lrKh9Roxwc5R6rWG5Q8cmmGUeeeYMdwgwlOg2FYkLa1VUTLGGei_obrekNrh3qqeJYFmm5_fLFN_5CWAcngHFujYnnZ10t_wTanS3ZychUL8AR6YjG8vIYQk0Ra1KUVjpeWZErNeJKSkWiq0Fh4kYpoHuxDoFId6_k1EkvsSbtDWJWJAF3P7btWDjHdVWQSZdShkYmoz0o-rzH4OX5Eyl5QgvB9xjQLN5cB0UC-14-rzNxIFdOX4lJ4lUlZ_mNuEL6elX6DpZhZFbuSJvEymLpgKtaeumCfOtsYGwkbnjHs1ixFfpAwDJoY47sJ1lkBC6bTtZcUCNn-GemBhCK7JlsZdZXn5b-KLJNtwcGB_Swpxyl4mjoQf4sTS_nKwPvvsj_tv6xiSNSMZeB-b1pNksygFY70CV-QDE9ap-bkpZlECfZzT8G8e6B3lalTmy05yLm1md4u_Yovfj2Pg_xTnVmChmjgsKxDb2kkloDM6Pf7QXXIg1fSveePX7IZHnRp_KgshYgcJNNpxXXhifKJTCBSSeFfSZlXzseRA8HXibMywdERxPYPN6--aQEhMFdlOx84FmLy83vhwaC3AW_fYSpnEatP9C1hnfSGsxlnVHAc_bjXuUAL1xjbyHoRgJqLis9837bH7-EZWVT1YtnbUhGr57ceWZPVGL1gWk3MI5O-oP4q8OF8ZmrneId9bUMAR6_3jHcRrugPxP7ftbVgypcAPmg16gGmWArR0y-QIPzMdcJW2vyDoTfniFCyPs0-E2r70rHIAWVqmml627i1Ggx80gogEFuwTb0qp4lDIfM_NF2cGfl76tPSKy0mYLwE1Z605DZCLMDzyQpgktzLx6ab0-otgYr-yDXrKzQpWjW1nm352TR5aGOSgYBl610n2m45OuWIYSvoCEsI0eGloQjEXpt9kXskBkl6lmRvkKfPvTp7gIjnvREGT6cJGVEhE_aWmBcl-RkicMmD6h8ny-07CVSfMOki8ag4-Yxdv3FB8Yse6PMoRiSEpRkx_uMTNeyV_nydTiZlTpBD7Habed1y4rQRbmmbMFV8ehrN5AcrAIIzET8oKzLOibuYFFhzVma4_M1v154TOYb4zj6LI-9IvauRRvd6WIvS6wt-5NldshIMQVkaKzi4IHyftxQ0VXhAOKIoL14yMP-Byw45pjuNab4Dn-3QCOR25pcEDD9cr_G-J7cpoQX6pQzMSK3zP2EWb27WuDm9YtLeat1DWYJgMILTqjhqiIZnFqA4uChxnSQ8oYIa9EFD3Oio_7KBC4wOrUGZ0gTVT-5wYrO4YLQQpXiFIXC4AkpbbkVIDP4q8ZialDVQ3TVEZBAArADfJ4O0bj1QtG1fMommziM2TTkrIBGPqVST9ExSoJhH0rdzPq2lD_4YyU8W30BXecKmlivPGL7aa6Dm2NAXzx4tRIsUX9mh8U1Y54b_rqNUPz2B41sJWRiaySMacvfzmNrwNgLXam8X32eu6jG88QmcyStFeiA_EDq-f8HxzsuZQsYBaIexYuAQoGs7sVMjq1oivV2w3F8KGzA5dnWwiZyU9NrrvAexi7i6gtLcMuAAEOUkeWQ09meBr8_eI_zOficnIVNfB0m0yvCO8duUNxOS4mxxIce55gisAigyz7kQa0ZScVk8ZOgURxOZkUgrNBnkF8TvI5bzpGKTImOurUQxtLlbp8s4XmDgnva8-6geNZxe4Lyq23npzcvFlJBCqzH7NCrWoMSxIlKf7Z7xdeO_2lzctGUJMP43nVVHOwtwTTtUgPt5qoCxBv4cxaGiyBqR6tqTbetT3dqKPJLTL0O-ydxznUjVXtkDkOWl1FtQSe3eIGLOeMJWzX5bHKBbwJ6vnwqiqskjRFM6EH7COAHsBgL1-BQiHd2IUwbPtkPKxR79-YMYG2SPZbogsG10XJYSGtVqO0fhgiLODS9P97AheSVeT6qTvkpKIwMk3--zxVd-cOlh5m9TCmrEE=",
  "id": "rs_0cb0562fc3213443016ab431325d7087d0a75daf56f6f5cec6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.018},\"note\":\"The white bowl is now nearly centered between the open left jaws, but its wide rim requires a low grasp on the narrower sidewall. I’ll descend to about two centimeters above the table before closing.\"}",
  "call_id": "call_L7DJCL3DeoeTYhZ91FNwMp2I",
  "id": "fc_0cb0562fc3213443016ab43135501087d0b31f0f7750f3745f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L7DJCL3DeoeTYhZ91FNwMp2I",
  "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]: [-0.4385, 1.5517, 0.6353, 0.1181, -0.3809, -0.3023, 0.9993, 0.012, 1.0454, 0.9009, -0.7361, 0.0433, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.369 left_y=-0.0966 left_z=0.0506 left_yaw=0.0312 left_pitch=-0.1586 left_roll=0.0594 left_gripper=0.9993 right_x=0.2957 right_y=-0.0005 right_z=0.1745 right_yaw=0.1341 right_pitch=-0.3302 right_roll=-0.217 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -7.8564, 5.5863, 1.7167, -0.0904, 0.149, -0.0122, -0.0615, -2.8513, 6.6803, 1.4237, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f84a353d9df9a7185c2a65a85379f02b24bc057b8f3a1609841cb921331fb59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ab3cb4b838e239ef9dd08071bac67c07901b4d4d43517a23612e7bc9ae5336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fb3a07ffda66f51c6228c599f39e7052f9d1bc533aeca2cde0f33965b3beb7",
      "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 · 10.24 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 65 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7467, 1.6279, 1.0191, -0.2035, -0.5766, -0.5045, 0.9993, 0.012, 1.0428, 0.9009, -0.7364, 0.0467, -0.2802, 0.9956]\nstate[eef_state]: left_x=0.3765 left_y=-0.2123 left_z=0.1264 left_yaw=-0.016 left_pitch=-0.0844 left_roll=0.0278 left_gripper=0.9993 right_x=0.2955 right_y=-0.0011 right_z=0.1752 right_yaw=0.1262 right_pitch=-0.3273 right_roll=-0.2145 right_gripper=0.9956\nstate[joint_eff]: [-0.4444, -7.6376, 8.7863, 1.5849, -0.3834, -0.0317, -0.0122, -0.0205, -3.0427, 6.8581, 1.4579, 0.0806, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4526, 1.5612, 0.6418, 0.1177, -0.3992, -0.3195, 0.9993, 0.012, 1.0447, 0.9009, -0.7361, 0.0437, -0.2882, 0.9956]\nstate[eef_state]: left_x=0.3695 left_y=-0.0993 left_z=0.0504 left_yaw=0.0413 left_pitch=-0.1549 left_roll=0.0598 left_gripper=0.9993 right_x=0.2957 right_y=-0.0006 right_z=0.1747 right_yaw=0.1335 right_pitch=-0.3295 right_roll=-0.2171 right_gripper=0.9956\nstate[joint_eff]: [0.3077, -8.0752, 5.641, 1.5995, -0.1245, 0.0757, -0.0122, -0.2256, -2.8786, 6.8855, 1.453, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1181, -0.3809, -0.3023, 0.9993, 0.012, 1.0454, 0.9009, -0.7361, 0.0433, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.369 left_y=-0.0966 left_z=0.0506 left_yaw=0.0312 left_pitch=-0.1586 left_roll=0.0594 left_gripper=0.9993 right_x=0.2957 right_y=-0.0005 right_z=0.1745 right_yaw=0.1341 right_pitch=-0.3302 right_roll=-0.217 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -7.8564, 5.5863, 1.7167, -0.0904, 0.149, -0.0122, -0.0615, -2.8513, 6.6803, 1.4237, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f84a353d9df9a7185c2a65a85379f02b24bc057b8f3a1609841cb921331fb59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ab3cb4b838e239ef9dd08071bac67c07901b4d4d43517a23612e7bc9ae5336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fb3a07ffda66f51c6228c599f39e7052f9d1bc533aeca2cde0f33965b3beb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDE6EjAvcAO-0STCuiqhyo1i8LDAKYg-yRRMrnn6GLK3JHjURiTeCUbA2mSFgM84pvF6hJMpEyUCj5HsWWNcEkZ3AeYlpYHNRnh7vBoYCvYswP5I2gpIFu9SE-OCd4LAeU84JEKydpFa3nS-BIRmoe4f3YU8e6kL_dYwe-k-dY3tS4BB3AAr54dma0IwsgN6dZpOb6Bjlbw372F1QcWRiVDPjUgCpxKbmhdjF1pi5Aq9MnQZQD09VqwnvJbVO-bleXzH6S95uym35ZJJEEMbQsoeD0WHla1nhWmCParxI_zD5qgM_h_x_RM6fZG93SRgrTjaGOFZfISQyLgKXLrtQ2mFtSL8P6i6LLD7vAbJT83jMwsHkpnztgsellMbQBmse3remX5cuqMCTQVpYX7BL9Am7eUhnQQQR3D5boB9uqKfz3lPKgfJw_qmFCzFK9EmJxpqhrvzmuyVtArBNdmGztMEMNXDLo3KKgzp1TATbMJSobjU-1nSvTarqfKmUlOPKFCX3YqgJfkWSe-UvBxFy93P1nivrQqvIKTvP9pSzkm-wq5JtCLdj8w5mDn00y8f33kg2oLdMxccKKMfwMkDgUJk8k_O1DlW87bofUv71iD-OZO0BlU-z2voYty5firV6zNAkRBb6ptQaPAYaAEDVlcliFvSb9Crp7Sy0scXJ36jjQiuv-9Lca1ssSdCC2UaDEuiXr8wNQb4tJxzquQDPZd8-u9Ml21R7Z9AMHW9F6gdiN_pjg58rnskE9m8QkfP79lxdMQgIy4g1cnVZH0MIX-rERAJCTFMlkdxCpUwuCjB1ELy-l7IRglUt2rPaV2XbRZnEPSHhGROwxjGrYZFmARiBwASjgse-d5c8fc4sfS6sB2doyaQmr8wDix9NlMs9keZSGLJk4VoiM0S26NqtUBKl_AbNSpK5yO-VjKY2QF13HwbHitiKxhO0gWnQbO8TTFguFHHIVz-kVZwWjVDSQggAYOG_fZQaG_i0jOHKAiSYbK8NwHdd-FifxHsnolL8oyEE4CoJGVlslYs8eC1sowGHTrUSrMzJgtYN8519vfZaoVe-dp7wyvx7r4X-f2Xplqfx6tL7n_CNESWc3XEd6QFNNC4KuMmIJI3lSrxyiGUxCzdMcses3D4PwEGmkPkE2gu9gAKbGLj1bB9TrLlmuFj2Az19ECFEf7hUqm2F9CjFYSB8JsvxLBiBNVqNltC49V_NpsCKAguds4LcxzTePzHE-K0cK07tH9byOVnNmrztrCr5lpPvlhLfcl5IluUd6RyssmS84uGGYHY20goacWAUn78FwV4g5QDdBl5j56SCtQWRfPxYacSyudTh2Z4BXEn_2avhU-dlISuHw8_V87vEI8BFzt5iq6vblrnCIGdeo2cdHvHmIbzJEBNymi5N0ehbLpSH0Vp0rUcTcCWp0z5MojWv6JZruoIe8bfn8iPnhlnwmxkhK1Co1qffrJ5xERUWymH1B52TA19h_tk_8AYUSf_7Y-G78TRVRUHq1Ur7WjRmbbex84PwcohaO1MLYviuGjxC2__VRp4siJMGrfMhejgTkyKVDwIQVIHDz2KomMVBQYX11lq6sn4QJesWJk8ooZfohRwrZmXJjKyp8baswzlFzZUbMj5qwPl9-LCG9uYytkpAB7IPtuDXSAGj0GnyxBx7t6KBb3QYd7evy0fzKDmk5hdF5bjqm_3rr000KLliVzr1gLCjr7cg2Q0ajyNvC2TR9kzCtMewhZxx4jCfCpPTEwaVmUs0WS4zNGpPmUTkN2pVhON8IyMlStj3U7AS4a5GaA5ZbQAkqaKnxTyyoDAWj6OOMu-3jTv8l3POYvq1GS7-2RF4RI0l15UBB3hmn2OIFYf5nB8FmKQ6eppkaJHKMXcC9iWRGcylAw_K2dzbK3i65uh4t09LbZf326TBvp1pl0bySelT4ExfBaKJfN_b-NspKNijNh8na-PrAH4Wi-yb_USLS6JnFqlFSvx3MJzvS7GfhVWWi2F-Cl3kqn8gK4gh4T2rLjkXmTKkq21s_7WKqoQGQDjH2pZGqlOY2xqQSTnqOIHQkYhXLHLOKI9aOzrNiYZPo0nSR1OKSJZZ-hjdPDlUF-TYYtRZ9Tek9TohA_FuWF1agFoZ9DzLcJJUeXSP7lZfdjVfW58kkIJjhrtoebpxBcfD-z-1AK78QiY7f9bOEZwuex3ODrqHU7Vv1xA6jV6OMZB3kJ0cCSWS5x-TQD71Ri42SfScpPZNfRqlONuCFWth3bcO6zxEI3NDTL3uZ77VVdrNwnYyNpyqLXMfZdT2ogH7P78kqDx2w0ED6uunbz14XZkTn8yvQ==",
  "id": "rs_0cb0562fc3213443016ab43137b3d887d0b2ccfe27fd17c56e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left hand stopped around five centimeters high despite the lower target, suggesting the jaws or bowl rim are in contact. I’ll close at this height rather than force a deeper descent, then test whether the white bowl is secured.\"}",
  "call_id": "call_juV8FMJojyJlQTBrmVEXwaGG",
  "id": "fc_0cb0562fc3213443016ab431395e6487d09a3c5d121120dbea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_juV8FMJojyJlQTBrmVEXwaGG",
  "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]: [-0.4385, 1.5517, 0.6353, 0.1165, -0.3744, -0.3004, 0.0095, 0.012, 1.0454, 0.9009, -0.7364, 0.0437, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.3686 left_y=-0.0976 left_z=0.0501 left_yaw=0.0251 left_pitch=-0.1622 left_roll=0.0574 left_gripper=0.0095 right_x=0.2957 right_y=-0.0006 right_z=0.1744 right_yaw=0.1337 right_pitch=-0.3306 right_roll=-0.2172 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.1197, 5.6684, 1.5311, -0.2271, 0.0024, 0.6471, -0.0205, -2.7829, 6.7077, 1.4139, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059560f6877851e8addd798fe1945ab6201b21906189f78fddd04bfd73b9b078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:644055c9adcfa95295000a4c601afc617028c572b9cdeba44dfd7e24f757bc67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa14a040117cb02ce1647ef4556a80ed0072061c6699b138cb6504ee627b194",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.496 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6044, 1.6291, 0.7456, 0.0673, -0.4873, -0.411, 0.9993, 0.012, 1.0431, 0.9009, -0.7361, 0.0437, -0.2848, 0.9957]\nstate[eef_state]: left_x=0.3717 left_y=-0.1519 left_z=0.0596 left_yaw=0.0091 left_pitch=-0.1304 left_roll=0.0523 left_gripper=0.9993 right_x=0.2956 right_y=-0.0006 right_z=0.1751 right_yaw=0.1315 right_pitch=-0.3275 right_roll=-0.215 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -6.653, 5.9282, 1.6484, -0.1392, 0.0952, -0.0122, -0.0752, -2.4274, 6.8991, 1.4383, 0.0024, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1181, -0.3809, -0.3023, 0.9993, 0.012, 1.0454, 0.9009, -0.7361, 0.0433, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.369 left_y=-0.0966 left_z=0.0506 left_yaw=0.0312 left_pitch=-0.1586 left_roll=0.0594 left_gripper=0.9993 right_x=0.2957 right_y=-0.0005 right_z=0.1745 right_yaw=0.1341 right_pitch=-0.3302 right_roll=-0.217 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -7.8564, 5.5863, 1.7167, -0.0904, 0.149, -0.0122, -0.0615, -2.8513, 6.6803, 1.4237, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1165, -0.3744, -0.3004, 0.0095, 0.012, 1.0454, 0.9009, -0.7364, 0.0437, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.3686 left_y=-0.0976 left_z=0.0501 left_yaw=0.0251 left_pitch=-0.1622 left_roll=0.0574 left_gripper=0.0095 right_x=0.2957 right_y=-0.0006 right_z=0.1744 right_yaw=0.1337 right_pitch=-0.3306 right_roll=-0.2172 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.1197, 5.6684, 1.5311, -0.2271, 0.0024, 0.6471, -0.0205, -2.7829, 6.7077, 1.4139, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059560f6877851e8addd798fe1945ab6201b21906189f78fddd04bfd73b9b078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:644055c9adcfa95295000a4c601afc617028c572b9cdeba44dfd7e24f757bc67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa14a040117cb02ce1647ef4556a80ed0072061c6699b138cb6504ee627b194",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFF2FIvJqsCNdMmAQiWgTj2qK88fys7CN3taUuCZY58uMLITbaVcmPTdyZ3ibKPI-xPRo6hKN2YJUWsh_sU_jEXSdqCSe0Zmu3vF-wR8jDTDhLWNaeG0l6yTML0yGbBMYEj97l0KeVRXbKRZTHxN9jZv6UMrlaPcDrm4uzD1xvoMor30tuiSSuSoqJ8lSOBW-9MjPIR8w1bO90OU_BEHlW7jA77oLz0jJJapyKoJP73n_2DeemdmhfQw_rlZikZlq-8Bl5Pv6BvFCXCwEcJSbBzsWcvenRIlqz3VPwGqPUQSxa7OoKrKcdzwU_iYMWaxMlnaok0NRNrz-litTFyotTD9vZ-psjb7bSbDCmCsFn4DJzwRcT2Ewa-f85K3Gm6IeuKe5csey83A8hwusK6btjr7_O2cDfboeuHVVk4UAxY82DxSLWtoqJSQsUJvuv5pONnEoKebjDsiYB1A4BI7JFM8qOW-ejyonmj_1dlv5yhZ4vzKg_7VdmKTpNK_Psp91eL2P3cYh5geXRbrxFEPyzZpxtkyRKS0_DVcU1wqcitrvhc0b6ItsiFuytH2wN1QemCFFKEfpVJQRcXxsXxkkzFZdU33LPVY61w6dlbKL4vJy7gS-Pm_pGtFCxAsRG1GcDcP-rdOHnALbqseYXCXiH-NFkpoAg2i3N_g95rVUkCIsVqS__SDWnPujidBlYGu4iyBk778FHzzAFEbG5jBPfyFh0yoK8ysSy71slJcXqTsRbt4GB7na04Nz5zeAAV6HtlXq899QBHJjz1wvjXuvb0_K0dmCYN8pm_CsJhKIH2c8HwvsQ9MPj8UX3Vs5lLczhZjogYRopGybmG9TWASuvTqkM1E4YDSLXAfjnWLzU2ifkP3wub-B0PKFnBbCPPB-F4q--jg21Mn-UelvIc-Fh_b2iewOw3f0CmyACgZuTrcXzFL489epKkhH6MZLH1WYeZsd9aCpuTHq80zhLpufwhBKeh--a_Vce-jevQ1Q1gaECsyN5K4daC8CJFKHGbkU-JD9HBsn04NO4nxu-kxCVDg_SOvnIyMPBTl7o3-1nfuulJUldjP3bRmlrvqP7w1aRCecbuPA4IeWZjlVFfNrIzHxUC7oO0OdLKeXW4RAMs69StAVVseSqVESYRvVcBnHXxsyO-8g7vhhVppVmhSSYhv0hJKsH8falbtlx8F9ApA-ntHVA3uwXOYtpaarwUbPBj8MF6dHAkZuDlxoq6u-Qfw2J5cxKMKi2NoH9JUBkaAhfrGKa8NCznIxBtcASnlLDzLzrb2y0XQHlNJxGeONZ91HOYh25em_wxTj2qPfHHyRsbFb5CnFY01crTYz7bJIK-uEW6pFwkmiX6lDpFhQp9HqxVmjt6vc2DMSKoTrmTAo5TtHvczodSUFv8kg73LcBPVi9Fb9cRJoX2nckkehChkogAMnjOSsdEOjeSMlFZL-6DRFOXsDx7ONHNbTv9vOPapofutsHf677SW95Bygskb4lf5qcyujLnrp6XhJWoyxe6uVN2_rXu8hkaL6yOMCOTSmvGNraIzisSIvrY7LJdGzLh0pMh9FbDm6zCdrXnWxtok7L7Pn6ZcbS3U2axnkYmnpCOlFGj8Y3zmgo81dnn5n--aOD8ZOEEtynJ38inwd7a0zom4YJQ5BhGwjASEogBYcyqy8hMHDXdo-DQxVTqyvII4pCGImBv3qgIAfddfv_BCcHyDqfob48QzCmO8FcV6aIRkTGN92CGjmv6ioKX092Ui0whlSm3zMLD6orHeZfIXkJQzkByXLfau6qjyCcYvb32ueC0zYgG3dJhroLTMVsR0EiypLWRvGzNQOfkJCH9i6arEJo2WejxgJuG4ccfmXrLXPKuZd5t_9kCj4FpX-mjWySMVSaEcWvDt7tl8rsVDd-eXGAbaarBESpIhO-fs6976dooHqrWuOwnHfNuobXIP9aBjIKUM7ztLPpIGxHbO0utQJQtiAu1RxumGWcWQ7rqgyMIfrF_Gl--rsIfWsNSL5mKkaJRZ7i5ICFc6O1IkiAocdBDawPhKtPTtmMvx2m94OeHWZr30SXu5RJChInceD5Aev4x4sp5fXSXCa9btEpi2rbGMzQPPwlfURXxKlK2Y0y8pHiEV7ZA_UdcfnnKizZLH89eVnlTyR0R3dZJCdUNXpmvB1HqKPcvapqPdPPOEwo9GzKGABongQ5pBbkbeFBIyq4uq9RfhVpRFKRv0SEx-qbNWpNsWsNWUluunvWqiYT2X-OwkCZsJHXyPq99U6JBcPhE81gzhlgzsCAWlmcLfnIocUpO2K07WgO2xo1nLqX-OvtXAefknuzHyuspcR_JbZHwWAd_7LF3qOPin41ksfkbH1zhN2TMZI4Z_Bb0BO9l1C-YEngZeBMr2YarfU72Q0_fbsti72h3YMj7tencOIhi6JoEYuFvbzJ5_SH7Ite7aDPvIgeGJPjv9QeV6flIGPEAs5TE7h-u1J7yNHjujRQgsIgwtfW0G4DApMznjKOGEh5kMze3G5t6RZBQL52vkXfhqJw_KRPOCDFtTIAiJiN3KsBi4qp1g2gwwvOzYEmz-S1622b3DKjqhFTu2uj9SLePeAE2VKlR5rZ9W0FoemquS5TBDWpveHUELmo_1ZiCa5VE0f6UQjROSZQnBiGxPMbwJnjp7UZtrp3CnjzR3r7WRSf2EAt4PqNw6XOx4kwB5RyV0BladKljgWvuaC1X4g1RwoAL0balRSxHNtFDfiXFyRscfcqqti9uvwcPo2OEC7b7egn2PyqVSAKL6FoQf7GY38hp2sU-OhhBWuSrPJcZQ6C_R7pLtJm0zGBGs9TyQPemMdgzznlUvAD37w01nW8qthRhqs8M8wASXScGxK05R8effbEAsOOrLTGx562lOcD-9Sl1BefQjRuNVX5cQuL7IB-1IBisFSE9XVXdrruG8MHL3yTpASRk-jekx9YSO91DNFvTGAV_2Ra858JcwbAKAxr5Hy_1tySD6Y8c-x_vg7JMg2JcmnOgy_5hCKcX2MfW2XVf_dAEvZScM7y3Ewy4lI2Efoy3A8G7RYDmg9vcsdYnRJzitTG6BuUkFE2B60Ss2Y2EjCsE1k9eZKKV_3aSaJTvP1SyAQX23-KljuEbtHp1y1f0ESJ9MwmxYeXsac_NQKS898zf5zZ7zF0zicR20XNfzPUH4rF2Cwqz9jaXFYNNTqErT4Kk62xNZTM3hPNRZTYmJqFaAnIqLs3OxZqc6LE8GvKh5S0idWGEscPstD4LRA_cYlunfoLbt_uryT--KFc5TLxnPNE0-P3OfKZh9qGV_T4wYlYSIyW7Z7i-ZGA7lYqL4rqQ04DfboaVluD30khN7wEUCwYjSzFEfhbeLMe9NONPwDWHdqDWvzxPRj5p07LUaqlUuQkaHG2_irnok6vft1GwenatYBYp7k_6fv1f0shB1CgssqJR8D_EIuwCcg207d3tPlGxLqzobmJsJrIs9hhd_etmcOozlcaWQZrwQjFjWG8pQbj-wckIY8WUfV3bQJrLGYZPM6HaBJLiDETzi82i_9b52PHQWfzlFXgBtwSa19ZVPenxxG0aTYo9Z9PQNt68gQLJiaURFoW2wR0-vQ5worlGx0Ita01QDTG_OYN9aANuGhE4XeZ7S4Tb-jsdHArdEvXsaYV11HVEg7uKzW3cQYrgFewkoi4e4BfIXtydeXKxBOUy2Ntz6DTH_4lw0bMgPEH28qUXi-kgmJzkcciUBAGWBOKVMMFoGxsFrCRrkE8Gi14siP1_6fvuor221Y8_tWY3dHoRSCNalVX9khMJ0RPdp1zZ6VmnAEoYwspMQMiv7PeZsXkONf7NdG52Eajjh41W2dwP9QZ66w1Rnv2Oqg==",
  "id": "rs_0cb0562fc3213443016ab4313c411887d0a079c912715f1e5b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFFrHkjWmkZ-vyecyfi59yDkt0aMp1hf152tFs5r15KoLRvZ997dLIs3v3COsStfmRzwyOCQVb4Fw8I5dmRPwmNTd6mO3VzlaEXDtED3XYkTwHwuuBVaZqY9GDgnNUFknn03XzTIpeGlDLLaZa9P_OByzcBwM9dNprL7nPIs1_IN9jcy0w3BBVDCW6E1CGjwJWZgZyJAbM8j4snnh0Pi6L261DhfFAV0b8fnUWdtY5P8eDngE5KYZnHvPXHMWf40Mj_lyfRItmN5B86vUrNLgsxiXNtEQ_Nedb2VKDqs1_KcOZtRpgYRO1xHQva0FHSZ0nwQBox_LGiapsKPoRFlEsIXoIweyZ5hhOFj5GyJiSZbK3dPx_URwtU_SFOqHdEPXzvbnCo6egbCZ4QJ0mg-FqvEypwtcQ1A4_HFp7jGbKDatZOQc9sIwp14KtLbaLk-mzBqp8sKtiXXQCQ-TmbeoKMnr-raetGuxpBgUdBK5bM7ViTemBJbiFFhoW_OBs4eZQCJh_kqf8BGGRXO1PFgUKAqcsg9fXhjuh5t8vDhcpb8vXmzvZn9-Okma2CW6c7lOVwsQrGrlMnTvmMrue2PpSVquXpcDbNI9TdsCD5BLImxg_LItwf5Oa51qfrKGpnj-1D03DHDBkHWpfU2zkvoxAeJBQIzX-zRaQzxkaLN_nXQ3g8zxS3eRjNIbeEPprOwruq2wLPT_4gwmsMom7_mC8zw5jGSgqURc-UY0IDycof4tozzEX7c-BpXa-lWW49dDf7KjfHzreadpkI7YnnwTzt_YyZkzY3Ghi6a-kUVmrV1UemgZsDkDX3kJmNZ2lQ9YEBldW4O_94_oqWYU5JbWbILowlJVBlc7iJKlOf-zBq5736qnrok0yJSqxREfvS2GMG-wjCwWm8JBotL5i8weGxiQyuM3Jqz7gXmIfrtxXQeIPYlnjfiMIKJHeDJoxWlJm9FHP5ZdMhv5HLk9_vU90FSFtOLPsKVedcXcBL7G9nNwnSawlBVo2FvkpYI6R7oRT26PjgM4aygzVz2P4nk9oKbXZ1Tu_xIYmm8LhyAZl0Mz5M-E0T_H4nfS2nTWyCzJw9pY_rXMVE-zOuJ_Vma8pV3jde3xpHkYtQa9PKia37BdwQxoHyKU4Ew6yKhcfKQ2bwXmT5Fgbixt1Fc2DKoJfD5Jgft9SjV6tvr9W9bI-UbmlbHVIIMovo4Q-teIXzZedLQX8hFbH-zJmN_1QRiBgqVACGmN8hG0tsXCiL1zplxJZj0C12_x50-ns1y4cXTY2ZTKDwUDMQPr6Gsi7KnbFmOJSN5Y8zO8LpDzdUFGJSvNvDR8XwB4VwVF2tGW7M0pwJ80-Yp2ye0iBJSiiqvO1EhZd3BmLMSRlawkNkNQEujlDRhDm8sm0i2RcebenaPboVNojBHnyDNYd4wpJwmI00LzmMgkT8JZliAksk8vCvjd9__ysiWyFNr4WuIeWD2m-D0LMBMuRbj-ATFthbve94li8FPSYFbMrfMb0XttXKzkQ1eRzJ7WsGoYPtc0U0p3ezAift0GHkc8Ge7ZjaaAcOzw1QlFbaQe0Lyo3300r9NbMWy4kqijY3kxaeLAhJIdL-7Rx_gseD4CZQZ8ZfKmxCTqT8PerE4ZZmOpC7rT3fghmIb1Ycnyen6U3Y5RLYIsgw4g4rhz86C53X11zba-pYusRkoJ_QIMpF2e5kF6dCukZK-Kx3FRNYOJGN5myT0WLAadCadzPd4-jv_RzkWbZxiSs76DMif18oS1DsgnrEtChmLIhbGbJXdHJdofTFeLJX1VJJRoXy0VJxETeD6nD5Ufr4HWefHPCtgZqF_yLqOBQPLXu2n7OzN3IgZ-mne71fjC9F1IbhDWWLJxmZR48rdxPUeVrMXxayIMDm1LpS2-22H8CO49QpT1yF2TyNVM4IFOyTMJimFcItodxVG_KoWZpQodd9ljLcpSoGl6D3fHa0HjIxOH4p94YdnuTQ_RMSJVzbxSWd4dTXLFCIrGvfiejqUmjFP1GDPLWXfz7KPQibuJtT5JZZSCS8af3vcVroMwiLcUclN1nR98An_MY-snzKZ-w-BJ-Ayme4_zbYvYIb3lx0r4VGs8bmgRoPxBkmnNQCAC_iF7e_51NONRixKA==",
  "id": "rs_0cb0562fc3213443016ab43142abb087d085058ed25593d815",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.05,\"left_z\":0.11},\"note\":\"The left gripper closed almost completely empty: it was inside the wide white bowl rather than around its rim. I’ll reopen, lift, and shift toward the bowl’s left edge so one jaw can sit outside and the other inside the rim.\"}",
  "call_id": "call_ChC27FubsUN0b3ToGYtby7bl",
  "id": "fc_0cb0562fc3213443016ab43143dd8487d0976450840af85d72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ChC27FubsUN0b3ToGYtby7bl",
  "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]: [-0.2707, 1.364, 0.6884, -0.1192, -0.268, -0.2008, 0.9943, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3632 left_y=-0.0485 left_z=0.0925 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0582 left_gripper=0.9943 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9957\nstate[joint_eff]: [0.3214, -6.4479, 9.2376, 1.5702, -0.0952, 0.2613, 0.1001, -0.0479, -2.9197, 6.7077, 1.4237, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c34d7257a859d195e099ca954bef33b96668aaf8cdf82372ee9e529f418a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57afca45198833ce3ee71e777dafb6267cc7f597df7a3627fb3cebab6753d010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91037890b927e0bd6fa73acc85834959fb8ed08deb8c88b4d266be5200df14b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.405 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 78 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4526, 1.5612, 0.6418, 0.1177, -0.3992, -0.3195, 0.9993, 0.012, 1.0447, 0.9009, -0.7361, 0.0437, -0.2882, 0.9956]\nstate[eef_state]: left_x=0.3695 left_y=-0.0993 left_z=0.0504 left_yaw=0.0413 left_pitch=-0.1549 left_roll=0.0598 left_gripper=0.9993 right_x=0.2957 right_y=-0.0006 right_z=0.1747 right_yaw=0.1335 right_pitch=-0.3295 right_roll=-0.2171 right_gripper=0.9956\nstate[joint_eff]: [0.3077, -8.0752, 5.641, 1.5995, -0.1245, 0.0757, -0.0122, -0.2256, -2.8786, 6.8855, 1.453, 0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1165, -0.3744, -0.3004, 0.0095, 0.012, 1.0454, 0.9009, -0.7364, 0.0437, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.3686 left_y=-0.0976 left_z=0.0501 left_yaw=0.0251 left_pitch=-0.1622 left_roll=0.0574 left_gripper=0.0095 right_x=0.2957 right_y=-0.0006 right_z=0.1744 right_yaw=0.1337 right_pitch=-0.3306 right_roll=-0.2172 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.1197, 5.6684, 1.5311, -0.2271, 0.0024, 0.6471, -0.0205, -2.7829, 6.7077, 1.4139, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2707, 1.364, 0.6884, -0.1192, -0.268, -0.2008, 0.9943, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3632 left_y=-0.0485 left_z=0.0925 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0582 left_gripper=0.9943 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9957\nstate[joint_eff]: [0.3214, -6.4479, 9.2376, 1.5702, -0.0952, 0.2613, 0.1001, -0.0479, -2.9197, 6.7077, 1.4237, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c34d7257a859d195e099ca954bef33b96668aaf8cdf82372ee9e529f418a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57afca45198833ce3ee71e777dafb6267cc7f597df7a3627fb3cebab6753d010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91037890b927e0bd6fa73acc85834959fb8ed08deb8c88b4d266be5200df14b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFJTRreQf0XEY1ixGAmYdjMPQM0AIKkN5ilXKsQllUeoP7MJ-YtiqgHXrOfsyFH_TQ1yMA_EGP_dTKO9aJXDvH6wJ7PwEUqgIzyX0shF5k9Z-7O6pwS_ffUwPrWuYXLPdf-EsjY5tLO8qzUGxhOAfFsuuoWkGdhZOdQjOxMPRPm6NTqhJUx8G6KFoQA24KRc16pjohCAL3S9y_ly4QiLY5pKXAImxJWOUNluunwhjZYDsGfNZsxSEM73KmNvkUQ_wbKlXLVyPsIbTcd0TkMr8omUtZkH4_G_sleF2X4SVtscxGeMFpV-hrOATnequmjOXJlSEO8hz__k6YPIEon9Ym-8R_LBCgVKIfT4JPWjx1qLhzxb7biFkmVESjZ0KEjgLodohM6e3fF9Iky5vy-41nnEU-0LrWE-cZIUkyUl2sbmRvFaZbfxoiZUTwdUw5Uzs8lwB5O_wkNun6_JtWhEp7bJhpYmswKUn0GfurVAX2ekquydcHhLf-rOwe_DluzgaEAuWAN9fwhQz1SWL5RlUwZB18CsO_P8-1RnLfP3kBSsh3L1fvCb9NYWCA-HDKbPN5uNAP-RPfvNCeggv5erz2UjAkGY-fGwrsIUm7spymgElwo7G2O0eWAtmwmWhVv95qeGceVBFYypuCwQnYh58fWnx4DO8iNt2W0qln4l6jN_JWOYneX4iLRAHwsvvYBEsUP2SntE1764ACp8aiobMvBYhGhaCDTLK5r4fnRazCqOlgaWOny3tsBPFTGTjIyus-7pdJD31CEGRBhjv0EoxMex-lpelKr2ZDiMZ-O0n2VIvPkFfzM48Q7zDStEuQF3vC6Vd_lWLnBx0dLuwpQ_gmSKVYQoOfMi6eoT2GZBttRz0TP5td94JTqAsXqPT7erIh8vGbnZgdc9c65yVOweS7RKtRaiBdTuaP1b2FtuuNOPCvzHooFiFWM7GBPnSkUApvI_MIS81RHvhKii1usHiF8p75mXqtunjzQHxmvxHT6tNmxfsDfxYYIKwNxF8cw83HBU8Rq_d2XvaI0ZiwIICWmSRRYIx_YK7-cyJEGSdRuckIIaaGQYPOiY7rKQuU2PzzYWBcP4sv7P7UsF7BbRR-khflOUeE4F3DwSWKPY4oGm2KH5lANRzvejyLfbnoZnFRJQ3r3khJpw5wQfomFZq4hE0P-ADMsfOLTORGWQagWf2eSJ22fErGU2Q65jbxAyI4rlqI-Z-7pBBn7754oT4-QTTFWE6ZKG6IHkkga3U8hvCUS0k_y8m-21E-Hz6oQM1qLcI7xZnulA2tA03dk0xk4vask9xQfVVgx_nCwvL8wEx32otgoS27pYCwub7mmcdIgbOpBixuHXJQCyAhx6oIx7k3dn7cJfW8zySZwUB2iOM0Wdz01RuvSBqvPUVathltXxSJOkD_6MqUxYP-9Sh4Lyc_o30hw6j3iXwvWIAic3hYq87ouujhxl1esFruhjbnTWOWykrTrBEuW4v9vd8sVSJtE74R-5l4ZgKAC3caCzfS5HIjlR2aRP4_NBLdwDws6FXFYdDLGIKkq6DEIPLca8WhuU_qhBotc7Y8iPlzXPam1mnqJw6lZIp7yYRm5r55ToY_CzPZkkyaWaxRngAxkKpZHthDY_C9N2LIAS0jdpazgtzfUxNvF3VIosWhRGzhi0FAk-npFsaRm0CgI3IvmEG1D54Dupjrbxa-FzgvCeh64Y1pG0IJ-pJEtlPXxaDSJAtpcZd-293qonHDuLVmko6QfJSRMpifQ-O3foKHd8HBX3E344rreb89aGoCzLvM-u4vFead8LTvGYcsNFIDWesuz12k6xRr16YqI72nGSDsS99kCN2JeS4Z0wct6Z1E_28nH4LdkIHeVUvz_vl1vvKeHyHe3BqkFF9YGr-7XANqw0VixKjBPSIYwGU5gZMXOQHeoUwNa4w5-FD0o0gab89S79X3k8mu7qGIR4bM791okAYwie5c25RdRr625cHAbXPwjtoWFRNwvQFqfHx6rg0YJp0FOsSqFtTYGcbJXEz0AwfzGLeaoMnXKTkoBgTO0CeGhPvZ1Hlgm95mFQPgRj4tAY6jTzOAI46dAyFVUyFCA2xC-eSwBDRlD6FguQ9SQoWsBDnnKEHWN-YFb4Z1SCRjzFxY9o7nvNLCVqxfDzAA7Ifbz7BkPfftA2H3IKmjy2Sw_ZtAcj-bJEcedE8gs1g==",
  "id": "rs_0cb0562fc3213443016ab43147964487d0bcf7ddcfbdd2d8c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.033},\"note\":\"The white bowl’s left rim now lies on the left gripper’s closing line, with one jaw outside and one inside it. I’ll lower onto that rim while keeping the lateral position fixed.\"}",
  "call_id": "call_qmCHu879BPnT7uWlpNLZ9M6y",
  "id": "fc_0cb0562fc3213443016ab4314927a087d08b4ae36240f14b41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qmCHu879BPnT7uWlpNLZ9M6y",
  "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]: [-0.2684, 1.5181, 0.5514, 0.0811, -0.2615, -0.1986, 0.9949, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9956]\nstate[eef_state]: left_x=0.3477 left_y=-0.0445 left_z=0.0218 left_yaw=0.0536 left_pitch=-0.2782 left_roll=0.0847 left_gripper=0.9949 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -6.106, 6.0239, 1.9414, -0.232, -0.0513, 0.0464, -0.1436, -2.7692, 6.7077, 1.3846, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0080e725c8efc348f6b8a318a74359eabc009d260bdd97f38add4090894387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0beb38dd7c490bf4e6c309409c5021a4bf82ef51bb35d942c238059c166f6c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3547055fe664e03d4e845f9f7ab11679a9c95cff0223d9a702461596be1435",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.353 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1181, -0.3809, -0.3023, 0.9993, 0.012, 1.0454, 0.9009, -0.7361, 0.0433, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.369 left_y=-0.0966 left_z=0.0506 left_yaw=0.0312 left_pitch=-0.1586 left_roll=0.0594 left_gripper=0.9993 right_x=0.2957 right_y=-0.0005 right_z=0.1745 right_yaw=0.1341 right_pitch=-0.3302 right_roll=-0.217 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -7.8564, 5.5863, 1.7167, -0.0904, 0.149, -0.0122, -0.0615, -2.8513, 6.6803, 1.4237, -0.0317, -0.0659, -0.0073]",
      "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]: [-0.2707, 1.364, 0.6884, -0.1192, -0.268, -0.2008, 0.9943, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3632 left_y=-0.0485 left_z=0.0925 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0582 left_gripper=0.9943 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9957\nstate[joint_eff]: [0.3214, -6.4479, 9.2376, 1.5702, -0.0952, 0.2613, 0.1001, -0.0479, -2.9197, 6.7077, 1.4237, -0.0122, -0.0171, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.5181, 0.5514, 0.0811, -0.2615, -0.1986, 0.9949, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9956]\nstate[eef_state]: left_x=0.3477 left_y=-0.0445 left_z=0.0218 left_yaw=0.0536 left_pitch=-0.2782 left_roll=0.0847 left_gripper=0.9949 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -6.106, 6.0239, 1.9414, -0.232, -0.0513, 0.0464, -0.1436, -2.7692, 6.7077, 1.3846, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0080e725c8efc348f6b8a318a74359eabc009d260bdd97f38add4090894387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0beb38dd7c490bf4e6c309409c5021a4bf82ef51bb35d942c238059c166f6c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3547055fe664e03d4e845f9f7ab11679a9c95cff0223d9a702461596be1435",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFM4qlt1XIYZ37KyIzCQ8erxyoSiq1jKpEyVRn0Nz_5c1i43lIH7VHDfqWYyNiT0nSLdaGve198j6sJo_nfCxRwOPC5GKCptmomcggI5jv3swVAeFZkonXSWgr03AucT7m5mV0YJ1H4_Stl51OG1ZCXJeWW1zKEezhOcKAo-37MDIhQIaL_ZXGGrN2O7uaRVbKeHwMcp3n4QBuZlVsvc9jrLU28umPM0vCg-QqClq6W7reUcM3EUPFitn_c65nx6ODY8s_rR4nXIAOW_yF3w0u-UJuqgPuT6DaCmVLvvd22afsRodxXx5u_aT0sbZLABgIsotfTstRVlODN4ix5mLNEIwdMueoNA0B474R3O4Pv51o14RJo22oNfrDLg-fSaT6uIngF7UMDywh1e929tXu9_cn0-7ngUrS9OHiYOHJU9elHJn_a9wX4hbwF16h_ECv1oTdDP6GfdHZEQedVDn_pN-xIzuEnNwOEecLn4l_8c7FU8howwtkN8MqEMJWakJ5fGGVyhe7NOJl-UGFKeWt8AtMOcwBjunVvUUXqtYPwl1tRsUJy45_c5T5C8AiikVrxQBTKunVGrQ-RNHAuRmNVZ8kuqs3KXn5z9grr2G8JLpEcWCbBvFzxVehZEXuFwYbXO_LXy57Zx1DfrfTGV_tyCPOdGHm7LVIrrf1gwbYJHzR8MWS4Geo9KyYXc03chzLpeXKlbibM7whv92fdef7zd8Dc4Fb1p741d80MGdwitaapOYrMB4lKokIE6p5eujUs5Mu_gnrKT9LMqmxrqU0pWC06A0DRNATKr6sIy_PHrg0xQJyYsSnvWH9Mz4NgRHBtCo8mZiqZpzBlVokqoejpNWKP7smh8FSikdCZBlUw_cT9c2h6aW4UkyFicDug5ZHBv1La4f7L51KQ6sCfA_9Y7eZWYL8-GH8MrvY-3Pe5GtEh8rOghbIxoa9MGePxqruunZppeyAOGN5OUE5qt2lzwxKkKu2rDUIOwJ6j9q3C6c29MDyFOTfdnsezZalUR5rYitgDxdfKNylAD1yd4Al-vgJxlPfIRKRPf49DAcBYi2_Rjsiz0JvCDyJ8VbrPeuDjbLiEW6_IQ3vOPr0BpXdVs7Vp-Crxbnd6MKlzP3i9hianlCgCZdk8Jy7OEQqth4FKrfdDOYYS4hRtzjUDWkYy87C8JNYkh46-5UK7X5EceyG2hqDG8eSbnNjJTtVe954YQDtx4I5qSLnqDn7EbqmTEl6KcRhplhO7HUOS8OMKQ_P1WULx1jZc_GOSL3FmA80JSM_mtiODZw2jO6Bihwp01xrCzQ1XaS17oDwiMPffAYICoscEurKYwniSoO8f3I-hhy2vg6sXyhvm5hERZxW-H8TNn6N-jYYU4N0cikx2jUI=",
  "id": "rs_0cb0562fc3213443016ab4314b347c87d09656dbc3ed978514",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are low beside the white bowl, with its outer edge crossing the jaw center rather than the bowl’s empty interior. I’ll close on this edge and check for a nonempty grip.\"}",
  "call_id": "call_rHW3zLUUyl5je1yxvIRDirO9",
  "id": "fc_0cb0562fc3213443016ab4314bd86887d09913c3bd36b6ba11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rHW3zLUUyl5je1yxvIRDirO9",
  "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]: [-0.2684, 1.5093, 0.5503, 0.1188, -0.2539, -0.2211, 0.0293, 0.012, 1.0473, 0.9009, -0.7361, 0.0437, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3545 left_y=-0.0478 left_z=0.03 left_yaw=0.0559 left_pitch=-0.2361 left_roll=0.0483 left_gripper=0.0293 right_x=0.2958 right_y=-0.0006 right_z=0.174 right_yaw=0.134 right_pitch=-0.3322 right_roll=-0.2173 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -4.9026, 6.0103, 0.9841, -0.1734, 0.2711, 0.5446, -0.1436, -2.7556, 6.694, 1.4383, -0.0122, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb8940a0e2d764db79539133d9a1a5bd5b62db52911d053ac435268706f3a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabc76c093c02d59f3a65750040e904d6b99c4835a532f44bdf4d4815931c533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c45fad260e55a3ab32d0b0249a33455bc0b41af3ba8ae5711e710bdd6a1566",
      "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 · 5.409 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.5517, 0.6353, 0.1165, -0.3744, -0.3004, 0.0095, 0.012, 1.0454, 0.9009, -0.7364, 0.0437, -0.2886, 0.9957]\nstate[eef_state]: left_x=0.3686 left_y=-0.0976 left_z=0.0501 left_yaw=0.0251 left_pitch=-0.1622 left_roll=0.0574 left_gripper=0.0095 right_x=0.2957 right_y=-0.0006 right_z=0.1744 right_yaw=0.1337 right_pitch=-0.3306 right_roll=-0.2172 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.1197, 5.6684, 1.5311, -0.2271, 0.0024, 0.6471, -0.0205, -2.7829, 6.7077, 1.4139, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2684, 1.5181, 0.5514, 0.0811, -0.2615, -0.1986, 0.9949, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9956]\nstate[eef_state]: left_x=0.3477 left_y=-0.0445 left_z=0.0218 left_yaw=0.0536 left_pitch=-0.2782 left_roll=0.0847 left_gripper=0.9949 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -6.106, 6.0239, 1.9414, -0.232, -0.0513, 0.0464, -0.1436, -2.7692, 6.7077, 1.3846, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.5093, 0.5503, 0.1188, -0.2539, -0.2211, 0.0293, 0.012, 1.0473, 0.9009, -0.7361, 0.0437, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3545 left_y=-0.0478 left_z=0.03 left_yaw=0.0559 left_pitch=-0.2361 left_roll=0.0483 left_gripper=0.0293 right_x=0.2958 right_y=-0.0006 right_z=0.174 right_yaw=0.134 right_pitch=-0.3322 right_roll=-0.2173 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -4.9026, 6.0103, 0.9841, -0.1734, 0.2711, 0.5446, -0.1436, -2.7556, 6.694, 1.4383, -0.0122, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb8940a0e2d764db79539133d9a1a5bd5b62db52911d053ac435268706f3a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabc76c093c02d59f3a65750040e904d6b99c4835a532f44bdf4d4815931c533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c45fad260e55a3ab32d0b0249a33455bc0b41af3ba8ae5711e710bdd6a1566",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFPS4L5UkzCEWbfZG6nAc9dpbTr0mB1coWtq008_LHmSmImsy3qi8P3I2EK3uiDLN2HlRiQnwYKm9ww45QK6wFFI04TGFv34_1y5wucuS43itmfS7LwV1jAyAvVbtV2dm1pNi7n-epQFV5ZvNDKi-pkvXJC3iOpJVuAP3QayrCTL2k72PINeImFmxP14uSRFUTM-ScOMkEoXzpgipeCTw2MI7xtN4yFHdH9KUpU1UDGmLcw6OHJ0XpPNMhb0ak1OC7YINdek2FFJ0GOoTXpgTMyBbn6aY94Zvfwg9ZyDq5UL7w8nn6VzghVxDsyx4Iu6syLdfdTrQPYBc14ElY5wVuDyg5ddrqG5wuQqHfMEDWCccEFEblOn9W9jH0keSQWTcy24uWGn1a7qFj8IH8ygzND8yc_DzZF7LwSdlX5hsclTehiJzRCBmW99oZJS5uikTnXnJ4oBE8xLBr2Wo1-wCvNeYX5bZpOwVdAT6Q7Kv00vVOP-sq4yKNtgAIXWfUNDtzPfVclK6AWW0LnzpuLgNfwgMxk35BnBQ7E-nCxeWiqqXQqHSPDbA3JY8vtQHnOAEuSaPhmbynXndQJGFIr9_E6AtD04UnTtWd2_G7iTlD7LT457jMUPEwclypQ1P-CPLgU6zFlWWQGzY-GbxqN5JSk1E3jbVcO6J59bnTgUwRSXiFHvQXDiKK80o4HSm2xG20oDMJ4biVhZuRa7O39HHW0vzqavVbIIckqodd8YUZvjmqOnI4PHKo8UqO6ejPYfv27eukrTjTEV0eGMZoo3HiYUnLl9gurzc_t9YPXCY8qpZbAmMgokRnbHDMVWSug8CcwW18uucCAwhWYbsZxU8vNY-UikRkhPmufetBGOUB2JVZflveXJX1-66jXj4ovMlxqmyvTMa2gvPlzC0ZHGY0YFueQ2rP5-b9m7i5Zb75HHJA2QTKZrwf9F9ETMyYVVoblmivKjEUzhzZKtnkzSPQ0q5s-XuJhWdCxUkFceiEMA8Ooynv44InMav-_ao2eS61ypSWTe_zjGgxeMX0CBzXKiC81LhmH7EDjc-rEAz1yBl4o3JzNuCKpqCKJtWKrjpP8K06ytekuuu64lzXuqKg6xyhSaNurTKGeoGuZUFJTv8zlsP9idahlY_TsrMKsNfjsnxtHWgtF9Ux2bNtcS2FfDJTAys82DmeLsgMikMLjT72SldJg_GIv5GMsa8SMLjrbfGQLLdEIZunite6J8d9ySl3DB-g4vs5EE5gA2eoJt27gl-Vbf6Rw-YPB89a_YbMXdZISOuBUoOqzsG1Z50--2Uo_QloBQjYtCxYaTUUxKeMlsrLOmqjn6BP4o6xH1NdD1a75QaTXFYevWs1vWvhS4GKEzP7U0RidSKepWYbnEMFCA-qqN69OW3Z_1tfu324ko-KGsztV6yiPjXshk1TszFR8PHgdzcTR6gicW3apJfB3ItJ1Kcc0U1K8jiN8agG8Je3RxYPMPtrG6MlBa50ZF1b_rIVCaF4ILTflcfjuaSmDm8YuJWPEN9vuW4vqQfJPGnMKwGTsZ5A-65KQZptFp6bYPJ1UyU8b1hIazwKmpQg1GSmJT25Oof3LSR9tfUYKyPJ6m2UupGZZY2ewSrLa4A==",
  "id": "rs_0cb0562fc3213443016ab4314ea35487d08914c68e913f399e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The gripper settled at a very small gap, which could be a thin rim or an empty close. I’ll lift the left hand and check the overhead view for movement of the white bowl before transporting it.\"}",
  "call_id": "call_rvvPQzpf3kVq0TAuEIgrvyWa",
  "id": "fc_0cb0562fc3213443016ab4314f4b6887d0adfe05fdf70ff8f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rvvPQzpf3kVq0TAuEIgrvyWa",
  "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]: [-0.2684, 1.3209, 0.7803, -0.3164, -0.255, -0.2287, 0.0443, 0.012, 1.0492, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3536 left_y=-0.0473 left_z=0.1111 left_yaw=0.0625 left_pitch=-0.2515 left_roll=0.0493 left_gripper=0.0443 right_x=0.2959 right_y=-0.0005 right_z=0.1734 right_yaw=0.1344 right_pitch=-0.3344 right_roll=-0.2167 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -6.4479, 9.2923, 1.5409, -0.1441, 0.0171, 1.033, -0.0752, -2.8513, 6.7487, 1.4579, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52de522c9408cbfb2112cad855d30e9b34bf63ee7335ced3713d6aaeb8d865b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a246eeb94e4a581c5ea5b9fcea4b3e7dcccdab8a762fe388a37f0a2528ad32c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b3f6edd43afd9b6c5de26ac7583d36ac346a9c3aa09da6c8481d267a84c05f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.373 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]: [-0.2707, 1.364, 0.6884, -0.1192, -0.268, -0.2008, 0.9943, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3632 left_y=-0.0485 left_z=0.0925 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0582 left_gripper=0.9943 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9957\nstate[joint_eff]: [0.3214, -6.4479, 9.2376, 1.5702, -0.0952, 0.2613, 0.1001, -0.0479, -2.9197, 6.7077, 1.4237, -0.0122, -0.0171, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.5093, 0.5503, 0.1188, -0.2539, -0.2211, 0.0293, 0.012, 1.0473, 0.9009, -0.7361, 0.0437, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3545 left_y=-0.0478 left_z=0.03 left_yaw=0.0559 left_pitch=-0.2361 left_roll=0.0483 left_gripper=0.0293 right_x=0.2958 right_y=-0.0006 right_z=0.174 right_yaw=0.134 right_pitch=-0.3322 right_roll=-0.2173 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -4.9026, 6.0103, 0.9841, -0.1734, 0.2711, 0.5446, -0.1436, -2.7556, 6.694, 1.4383, -0.0122, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2684, 1.3209, 0.7803, -0.3164, -0.255, -0.2287, 0.0443, 0.012, 1.0492, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3536 left_y=-0.0473 left_z=0.1111 left_yaw=0.0625 left_pitch=-0.2515 left_roll=0.0493 left_gripper=0.0443 right_x=0.2959 right_y=-0.0005 right_z=0.1734 right_yaw=0.1344 right_pitch=-0.3344 right_roll=-0.2167 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -6.4479, 9.2923, 1.5409, -0.1441, 0.0171, 1.033, -0.0752, -2.8513, 6.7487, 1.4579, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52de522c9408cbfb2112cad855d30e9b34bf63ee7335ced3713d6aaeb8d865b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a246eeb94e4a581c5ea5b9fcea4b3e7dcccdab8a762fe388a37f0a2528ad32c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b3f6edd43afd9b6c5de26ac7583d36ac346a9c3aa09da6c8481d267a84c05f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFVK-L_GE-O95W6hKE2OKqsSqq6eyIQokbq1lifXxffomE5VcqYTmxNcCbpFp78H_2kXK--GAJ6Qfm2YS774P26la76fs7EHo-40TYBpL4qJb88dHQkxn8N4dEu--7zbHu6qHD8B3Q5ywB5gs7avnSidmxXhJTp_dOj9dO7NhVhlxdgVp1ZqWPGjPgYaAza4gXhLs0JROnN_pSGlBJ4NUeBIDTh91LHEs1qdbxjZ7iNPH49iZVbZoEk4gaL_aYfql5jLXALDNcsezWs6Y0TkHSfXVNhAQiynWbeEpwltLOwP84gclpDqgoZpMBITFjpTDUCSB9QvwoKl10s3iIVmc2csfL3lhpYSQwe-7LMvNOhgL1Sxo4j6JSVeN4gxc37EtHW0gbf6HMFWX5Dg4jbj4O6I0PQe5yjKCzEhLaxo4NTAieseK9DuT-p8q9IAWBMMgesaGaD7JNJKyKVYcRchGyZmVhAHXHogxS1NBxdI5zTOxXwsH3JDIXIAk6ZVqV-s2h7WSLDcLmNOs3eLMZdXcRJ1BE5F77r8aSx0EFXSTLagWUQIwVmUatDDMmlX4uIlkGrBG_HjehOYSyK9wtfv2dJ5jBcFPNgDdCAiYkRuG6juvpzKswaJfM6nj38Eh6_C-BSEgD5gqgUuYgF3_0VZ6Ho2sVlXtQWtedT6p-iT-fCtjukrZan9Rn5-zSl-_e0QhFd8BXhKrRGmU3QQGE8HdbnPpABi_aJLDVhsElbkBBZlZ2myuurPCMteO-6eYqvfLr_PV0ImRZ6YsUCMTR8GK0j99uSf4WBZS4ey57mXFCYqhfIHhcK7nc_Pj6J2PGw2WfjO04v2uAauElmFm3Zcx7CUMEfLtgtWr-MRANXSBd-oQv4QTcHJd0xjgzD8Bpns8V1Wdg8b3zTSjnZbn2tzpBc_TazK7pBLTiA4z6kvbWPm0fZLrV9Fkrf9DdUBjqSyrQjkCk-g_qppPBGELS5RL3bveBT67Sd8_O1BxsQa7dEFuWJzJEjz-5Xu_HFNoen4CURXxhOUFKeu9d1PjZ6zin4JzxrBfp6UOCY5LPygTKvVVSmx3GIBCuROL4anqjavCFU6HWQEcOW-SqBUx5Sc-4fDW82GRMFTK8UICoxAXLQjlEQGCsP-f60C83-x2RYDV49d74gUmct6uJKxerPPsHiQ1Bd-0Xu5_yYm84zakeiJl8dEAyBah3IWrusssqPmRnDimdDVow7RbfxdguMTk0ju862JSPs3-fBKW7cl51iYlv001Oqo6KsxwBlSnTFDy1t9bE_ceEY8sr5A7cGfRDLOVpSlGQLkgwRfLvrUbqSXRISwcbVQYCzGKJaA-CMxcTB7ZhP8rojJgZD96__MJsJuezNrOjmpUjpkC5YlDJrpXHzsnFmCIrPdt_6s5uz-xklJL6jeChWE3hcJsi_wfbnMva01Rv8iDJlI28IpF2rwU-JgLivegwlZb-BlHAiwanpVyMC0VipyxzsZpZES0ELaCJB20nMaXiNWbGRTaOHX0wO6nStnzTKqhAkPBHcbh-UiG7y89sjmw_HLUpK8urAN6jD9W888v5hsCFYyzc792I0KuYNlASlspd7EG7lMJJIa3Wkb_yNqz7cAo6LVNht3eSriTS-8SDQ71xFEmJ2V8uYwsdII6mgrO0vhdxrtCMTmR84z3tFmjmdy48nUVZG3YNoUdUAHy-9MJmkbALGd-td21zEkPXhoNx7Pq4bXRVvpfwH4rLi-tIXDj13fw9HyzXVf949X_QEeV8KveAR2F7r1nX5N8RcCbCUGYKAhMbeQjec96oRFXcq6ranKjKe0N4ZHN1ib4b32yLo6d3PlqF3sALIRmzjtVEPTFoVLfySSxP5DFX6Khe2gHReO_YqHo7TQRLrgPN46EfUWLIwnzjH27LLsRqXAHFcvVAlyuuesUP0GMDCIhk78ZtWRRElmTmxHxMrK2D2jnyiNX2xUT679C2twrJzrYX8QNtocjYRdVQVqa7bmzcPiODD_GapEA02BnC9iKyofiG9o54ZbewRGmnfTXhWhRYKDu-hWOKVOhA7qg8ADfZ39W9zPV5za7_GYnjpq5whGBUSiFdrXtZYRwzVNz5Ax4e3Lxw0RB_5vzWaQJRMIkAIn-kkTGcs3lGqUCH2TsaZGiAO13a__3MEyLNmxC227YekzV-6y76EiVFgswCGEd1lkSfoNY0RuJbRUf7RkkgOOxc8n5Dj68MzW_zEYILs7yG0UuFzGFAafQurca2Qlwjm6pNqd2G7xs7erCBt8aygDCzfvMbJsi_bdz3Giq2S83xszTGOpXvTp9r1NDIsqyKUjwHqD6ZmcbpdesqlWoz0XcqmVwji41YENrLhOK6Ayj6ew9q0-QtRxpdme_BpEf2RlAlm487FshrOBx9qwnA6NkbrIgkj9VB9PhX9JLQod5RLXdgrsSto7Ql30X4Sr1mqZdE1QgtKJlRz3L2HFEFbYJHQlNmfyYRNtLkfcz2STvoNOE-vpv4VBblrO8lZ9W25_9VDBRw5vW2jKiVbZqWsNVg1Gjkxyz72JCWjJ6OHRN_EGOxVRjsAyoNStgXi5EwkotmDVd_jhjhdkWzxA2zpisDjvspz6QVcfZpoCWfw1OH-xlq-CHFH7Sh0ni2kFzJs1H3rLKX2aJlrhZOIPiE5YC1KtnwhHtYTTMs05aijXkThhygr8T_MZSOm-n-tz4F2q_ByRUZeEdS3MoEZJtrWFIcJGVOH6A44ysmLrcDyunKaIzES40QOk-4MEKbUEX03bgq_Ct8Qa--LjyuOpyxuK_gxNd-OPTAOjpLXQF0ZDwt7kx0gpv5wT-JpjF2V_FmNycJFnpMGaq9Z-wnYp0WClCvaOFCYEBN6prgRO0vZHtzHsK-fCTe2aYpnvWs9OTlHQMwZC4jX0E7rs2r46Zs6dgQN4NI7d3NcKcf7vMX3FWoZUyp6biqy",
  "id": "rs_0cb0562fc3213443016ab43151a6d887d093d4811d9f114e76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.19,\"left_z\":0.19},\"note\":\"The white bowl rose with the left gripper, confirming a thin-rim hold. I’ll carry it high toward the pink-and-blue stack at the center, then refine its placement from above.\"}",
  "call_id": "call_7KDl2dH878RAwcPusc6GpFHT",
  "id": "fc_0cb0562fc3213443016ab43154f53887d09cfc878ca54b9716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7KDl2dH878RAwcPusc6GpFHT",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6556, 1.6482, 1.3758, -0.7269, -0.469, -0.5488, 0.0465, 0.012, 1.0512, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3803 left_y=-0.1872 left_z=0.1758 left_yaw=0.0436 left_pitch=-0.2798 left_roll=0.0542 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1728 right_yaw=0.1345 right_pitch=-0.3363 right_roll=-0.2164 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.6513, 9.0188, 1.1111, -0.3297, -0.0659, 1.0281, -0.1299, -2.8376, 6.7077, 1.3651, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160bd843b6b7ff524c9cfd2ab62eb80ad9be1572b911fba6e526a2689e4447cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b36a2736425fdf11cdda86e77bfb1766001cc04083ea87b2397e6412e9f684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2fac9dbba0c1f139581c47680122ca11375d22174bd1d081cdaf9eb096a856",
      "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 · 4.066 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]: [-0.2684, 1.5181, 0.5514, 0.0811, -0.2615, -0.1986, 0.9949, 0.012, 1.0473, 0.9009, -0.7368, 0.0433, -0.289, 0.9956]\nstate[eef_state]: left_x=0.3477 left_y=-0.0445 left_z=0.0218 left_yaw=0.0536 left_pitch=-0.2782 left_roll=0.0847 left_gripper=0.9949 right_x=0.2957 right_y=-0.0005 right_z=0.1738 right_yaw=0.1344 right_pitch=-0.3329 right_roll=-0.2169 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -6.106, 6.0239, 1.9414, -0.232, -0.0513, 0.0464, -0.1436, -2.7692, 6.7077, 1.3846, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2684, 1.3209, 0.7803, -0.3164, -0.255, -0.2287, 0.0443, 0.012, 1.0492, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3536 left_y=-0.0473 left_z=0.1111 left_yaw=0.0625 left_pitch=-0.2515 left_roll=0.0493 left_gripper=0.0443 right_x=0.2959 right_y=-0.0005 right_z=0.1734 right_yaw=0.1344 right_pitch=-0.3344 right_roll=-0.2167 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -6.4479, 9.2923, 1.5409, -0.1441, 0.0171, 1.033, -0.0752, -2.8513, 6.7487, 1.4579, -0.0513, -0.0611, -0.0122]",
      "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]: [-0.6556, 1.6482, 1.3758, -0.7269, -0.469, -0.5488, 0.0465, 0.012, 1.0512, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3803 left_y=-0.1872 left_z=0.1758 left_yaw=0.0436 left_pitch=-0.2798 left_roll=0.0542 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1728 right_yaw=0.1345 right_pitch=-0.3363 right_roll=-0.2164 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.6513, 9.0188, 1.1111, -0.3297, -0.0659, 1.0281, -0.1299, -2.8376, 6.7077, 1.3651, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160bd843b6b7ff524c9cfd2ab62eb80ad9be1572b911fba6e526a2689e4447cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b36a2736425fdf11cdda86e77bfb1766001cc04083ea87b2397e6412e9f684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2fac9dbba0c1f139581c47680122ca11375d22174bd1d081cdaf9eb096a856",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFaBZU3OBrYR8o7XT_oGXT5TXnQwPnGphnxp9Mwrr5rw-Ak78_SB72MD3B3pqMj-jck_wrreIqjqp9tmi5-3ZuYFWU2TwPGCkSDJk9D_4rvg1fMhP8AZqpsNp9-9Vwsr17CfaxeqLHp6it5Lyk6N7yw2a1LbG_66UuDNwcEG4q6il6gxtJGghWi__8OwUtAIy1dvvMBXvBm3TMRmMQJvuyP9aTCYHjaQO2yjJOrITv41sdUhsPXBvRl4LAkr5Kx4HiewDvWiXDL_lt4d4NBXrrL5x5NQ30CPFuwumUk_nc9oct6scG3gImhpx8SYEQg5ltQ3H2E2-_mrvk13Ix-HO8Fh1rbVaA7N0P0pB28t5buE4WHV39h2-M4yJPeCkW-Gdan8dZXyOKoKyCnQdnO2xxZ1Lz_5M4SKngSsWJHDL6qtKrP7S0dM15Db6LqZc86gsAfQv_SjtXO_0tutJzXtojs3x-B8cln-dwtXMQSuRsyVUgShJVe5Wj-oEQ8euaGeVbFKTsj3l6QIvRU3Ug6HyjpZDEE8HHw_bY2JhZdEvts7I1s30DPnhH6w_HH8oxPgstxdVbdHZggez3BmzLC1kNC0CO_S7HIch1gCKm783FUBVnXbzfSFJFRI1GEqYpyYjLIhdk7Kpt0xFYH8EG3ea_FCVdAFyJZ27ZgTLXycNMv5dCRDvsixaqlmxJOJ8KCsRDkUkcH6BPrt6AgX95w4bSiIo_ubwMveIXu3FefVtmF_ZT6gbem8QozliPyNHaHDFUq5p_9J-LyQCzYs98vM0mhX9KFRS_6pcyNE3oMl0Wk5cCftZZNB7T3wtNyXB7E9CCClVzruUSnZC-nwPLQ2fcmnFp8QM76rgAPXECIbGO-S2fsnM73aQjHu4SxzKGesR1foV6ixjQVo-X87dBwWBtgxTXQxArMw_QqmMOxt5tbckIzWStWdSfJY_nEpwVQGduD4SRSGOq-R_rNmdi9YsBAdbrur0eTQLT8HfNkHl3o4zZloanIidnAkXstpNy4iIKRDYbK86JeiPRQypOfAHdI3lLvevSpYL3iQUcu9P_821gGFWxBMxH-zsYtT9Zaci1hsyJcT6YIA9MRgSuWKAsFyLPpnNfV7D6ATlTZvJSoX27xVb0HZx0sQHY_1M6lpQIyIIJG9LS_BTd1DEyrUx5v93RTowb5O1OR8oGXTtYQSKHoiUDQ9_4GqUROc4TJvwtCKpM_tphKr0V-qOJ5NbMdpKPZWBFopBU3QpSnLhsfldADyiCkA-Rx22feAsQ0t008CJlGPri1JOKZ4bM6GI3bNYOIjM4SnuLG9r1kCOLhyWs00jaG4qAjSf3Ozng1BHAkBZ8JAsHLuMwbJb-Ut2LxJlv8YQhx1D9SCUprOH9-XrhAUmjlEYT1lpq0bwe6bDKtH0N8WVBQEwhfR3ZWnq533FSLL3vEnzcky6Y49BBGdb3_lkopI3iMTzZPkQKX9fUPfgAqJoNcpneN8b3VFJTIdKlBRzPfZb647ZMMCFpH2uuTpX0pIhGsvtY39Guucq-fdXunL26APA_6ZnJtjU0E2FAgzb005Tk8EdMdX9jvrlzWfgOq2aQTS6vINj1WPwQK",
  "id": "rs_0cb0562fc3213443016ab43158e04887d0be078b736ba828df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.22,\"left_z\":0.095},\"note\":\"The white bowl is now hovering just left of the pink bowl; it is still visibly higher. I’ll shift it slightly right and lower partway so their centers can be compared at similar heights.\"}",
  "call_id": "call_qTVXioyDwXXBun3ZsRDu25Vj",
  "id": "fc_0cb0562fc3213443016ab43159b3b887d093b05a4b3d4a2a00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qTVXioyDwXXBun3ZsRDu25Vj",
  "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]: [-0.7219, 1.776, 1.2247, -0.5293, -0.4789, -0.6014, 0.0465, 0.012, 1.0531, 0.9005, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3719 left_y=-0.2142 left_z=0.0933 left_yaw=0.0311 left_pitch=-0.3326 left_roll=0.0822 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1721 right_yaw=0.1346 right_pitch=-0.339 right_roll=-0.2161 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -8.1573, 6.0923, 1.2625, -0.4664, -0.149, 1.033, 0.0342, -2.7556, 6.7897, 1.4139, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90679b4dc4545cb96a77cd4d4a5e4d3f939dd3a82d760cd97ae36a04e7e168c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639b86e061072a92b9cf425564e5b0cd663c0920d7cd5f800445eae3ae8be9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdb56284e6afd19bbae6d4467d7a707970df72427c9ecfbd4fc40dd2f64819a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.489 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]: [-0.2684, 1.5093, 0.5503, 0.1188, -0.2539, -0.2211, 0.0293, 0.012, 1.0473, 0.9009, -0.7361, 0.0437, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3545 left_y=-0.0478 left_z=0.03 left_yaw=0.0559 left_pitch=-0.2361 left_roll=0.0483 left_gripper=0.0293 right_x=0.2958 right_y=-0.0006 right_z=0.174 right_yaw=0.134 right_pitch=-0.3322 right_roll=-0.2173 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -4.9026, 6.0103, 0.9841, -0.1734, 0.2711, 0.5446, -0.1436, -2.7556, 6.694, 1.4383, -0.0122, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6556, 1.6482, 1.3758, -0.7269, -0.469, -0.5488, 0.0465, 0.012, 1.0512, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3803 left_y=-0.1872 left_z=0.1758 left_yaw=0.0436 left_pitch=-0.2798 left_roll=0.0542 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1728 right_yaw=0.1345 right_pitch=-0.3363 right_roll=-0.2164 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.6513, 9.0188, 1.1111, -0.3297, -0.0659, 1.0281, -0.1299, -2.8376, 6.7077, 1.3651, -0.0562, -0.0464, -0.0171]",
      "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]: [-0.7219, 1.776, 1.2247, -0.5293, -0.4789, -0.6014, 0.0465, 0.012, 1.0531, 0.9005, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3719 left_y=-0.2142 left_z=0.0933 left_yaw=0.0311 left_pitch=-0.3326 left_roll=0.0822 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1721 right_yaw=0.1346 right_pitch=-0.339 right_roll=-0.2161 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -8.1573, 6.0923, 1.2625, -0.4664, -0.149, 1.033, 0.0342, -2.7556, 6.7897, 1.4139, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90679b4dc4545cb96a77cd4d4a5e4d3f939dd3a82d760cd97ae36a04e7e168c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639b86e061072a92b9cf425564e5b0cd663c0920d7cd5f800445eae3ae8be9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdb56284e6afd19bbae6d4467d7a707970df72427c9ecfbd4fc40dd2f64819a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFfp7uXVIi1s3sMcaonxwyqX13YWw9XsI8MHm_X-Vlo-1FhEFQiIZquwzQQB6qeKZjQb5Y5bPdhcDoZer88QDsQWKSfLzwRXjqKzDtIKl7ZJznqPsf61we24U9flbe_KHOMa_7xyVp63BliNuxOsqCvAJGS8m0kulRXKduuEesKn8Dfil8g-VnYe8tVgGjJxbSHgFpWJgtrpLER0g7Ip1YSdOVMTTvp-BvU3-dw0fIjck3fVx099ZaBESbvpGV7HLDelyTERcH4lSZTWtfS16BiKO5Zom7zkIDF8CR_u6HkPZtxb8sBrho4ijD72_6bMIBOybZnB4YurnaylY3PYqcrmmMKComf95jiJOHW1UpC7vDL3bSS1cXxYGFu1c2itG-agRQJV4pvpiTc6iqFEKyDb6o-yEf-txsYAvXj9XFIqkKtwp5yxBcKtXoWcnuj6cUqipXNqDSSb0orNy7Q5cCCuPggoPVy98QWTNCufCS9rEFIGktTEba8oyByKvsJTfjtb5Km-VQPoIdflHI-jl4uTl1d1O9s3GeFdEDpZT2yBOu2UjdXwgCR0-HC-7YTKRhNotBXtKBhvWV6c7yY2Ut_zC-G3t5a-1AxfhLu0oBg1JSA2xe4bRnRxo7SXUH6o3W-cvkw69qTZyI2WS0o3asJHjO9C2mzGVwostMAcpBIqpYSfSeT5zNcWmlFtjWLEdQ_ITbWW9YyoREa5pvE2V9Diq4jiCoGw5LsNzA4IjkiRkg0kKHJJk2a3NC1rV7NbUM8EgJbJp-L4bqAUeda2LHR_jQqExURsUQD3aEAmhHbhYjIJjzzEKvqIcnu_A6E2VG2GfNVRUnn__qnj6PxqQxRWVeBUuztfSLCwbU6Ofrno7tADVDaE-bEjIDPYCMOtPX5ku8ZjjCL4b3h2IibixeBTcnuAxRXH71j199lSmvRBcyhU4wqbXFpR6uaVCVIQFnsWm6E-FbxHhsCoeHexWCcWFwUiE5NrQQclSSbepY9WtnD_s1pDAsxA-l9XzuCbEfJlVOABjfyfQs7xHbCjgXwfjeG7z7TjUJwquNUnSzrOFr1VVTWM_V2BVMtEqhSG_cpI-tFaWZdcOJZzHFXipX4YSyX34ddTHtbIynZJRE5ZrrygOIcWlE2IYVy7_OSTW8nTS7gghRPRUJXHqOJC1SfawmHA34y4kmfn_on0Nl_UC8GGtQGJ1WI-4Kx9OIWuO6oI1M4yYB6fTlT9goXcVSiz6MajwEx1HTW7XrwU5X50y_6545jlVRuydF1oFMcwuCJpVJnY0IN_c9lBTdzLdULDXNy0Q_w116NFJM0FKIOUE_fvaK7ubd5oInrB3dCmy4G5iWK1nFEPLd4rsHgBrtLRgWGgXS35KxNQLUuBi-4mdFSfQc9Uy4T2kVB8_IX3PYZeKMo6LxJzY37tctYDUtx-urW3d-oztoyZo6H1ofIMom0L9l2y844aJ80PclTa9N91R4uR-SEcPtoqVbLn3jeaOzrVxGud_9-rUJvcwjD7uQ1KCm9aPZDmnBlLG2Uf_ZSIHCOhhsxPcKeL5jVh5iL2-lEMR2lbh70W6nY7f_9wg0quxLLb30GEYbfB77QvzNjR4MfL7F2z3Va7wqURvCEuRzQMZTnPClJVLehB-yZEczgPNwom4rNKLfEYr3B3IA3CPZpknUo3nO68iUCGFwvJ2XjXNuQ1eP0LvovKI1tXHLZ2ZTJe-w3UOzlqIGIgwvdqxONmmxXpYleev1CSPLBMA9GYP0SeWojfZqnuBQSUoWLgQ2_wkIBlduSfkp7D8yCwU3lWmrdl3BApDdx9VU--kjF14krx3Jff8uC8WvmMAV8lVXzKYwTbRZg5k8pK33qJOxI74tqpl58-jrX3JqECM6XO2YDgrKiuhAjiI2RDHb107UBPypYnCrER1eryJl89fXqr9lIKtMCZIDxYCukMqYDbVk8Gsy33OPkdbyEOMai0HuY7MKG3Ba860_5AQ6tj3ocCscPYgWRXX0dEoyKEMzHWZXBnj5-hgI-4U6rEED_m8XE7C7EwxD1ZWNdgOf4k9IQ6kGaDZgtq2McWDntEWiL-tNJ6pT8zG5Vr-o54Ql9bk2_JqJTJzWyaxfNnQioBfa7a-38CCp18agKAcA-YI5LVD9nZjhUWXVH7hfoYUfWalx-aPVQ8rMDyxVAUn8ua2uQs6Y7b-oCvExWkhEXWovcw1c3aDhenS9OrFBgmxxWbAaI0XhVQlGtCy40jIP1xNT94aJKrmS1oNsC4DD6fw_Xre-n9HGdtKEgwvcziDmE0cYtRnKKbTKRZtkl09p8rMkdk3ZDoolRVj5YQX_JbyLhdjXOeJtYJHcloManMKiHgM_QvVmNR2212v5y6rQeiWtPD2nPhAHXkPJShaLCmecfFC8LAyZp_vN5skroNxhqEiICfjy9AasfxBe2djLq",
  "id": "rs_0cb0562fc3213443016ab4315c46f887d0bcdc07c1045b6e8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.24,\"left_z\":0.06},\"note\":\"The white bowl overlaps the pink one from above but remains a little left of center. I’ll correct a couple of centimeters and lower toward the pink bowl’s opening, stopping short of forcing it down.\"}",
  "call_id": "call_X1eipc9a9YwuYv2WnlxrH9jE",
  "id": "fc_0cb0562fc3213443016ab4315e4f9887d094220451927f8911",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X1eipc9a9YwuYv2WnlxrH9jE",
  "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]: [-0.7647, 1.8664, 1.2156, -0.4591, -0.4957, -0.6373, 0.0464, 0.012, 1.0542, 0.9005, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3698 left_y=-0.2334 left_z=0.0621 left_yaw=0.0274 left_pitch=-0.3413 left_roll=0.0918 left_gripper=0.0464 right_x=0.2961 right_y=-0.0005 right_z=0.1718 right_yaw=0.1347 right_pitch=-0.3397 right_roll=-0.216 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -9.7436, 7.3231, 1.0476, -0.2906, -0.1294, 0.9988, -0.1436, -2.9333, 6.8718, 1.4286, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e968c76d09cd54f7100a2b80fbded04ab7c27868a413b0dd90764cb4a60dab8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb394a6880ef9d921e2acbdce7ae055bd750760ff81aebd946c977b1686813cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537ecd9667cd8e4e3296229d3be1debbb31f192901c51497dcdc960cf7a46fba",
      "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 25 attempt 0 · /responses · status 200 · 2.316 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]: [-0.2684, 1.3209, 0.7803, -0.3164, -0.255, -0.2287, 0.0443, 0.012, 1.0492, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3536 left_y=-0.0473 left_z=0.1111 left_yaw=0.0625 left_pitch=-0.2515 left_roll=0.0493 left_gripper=0.0443 right_x=0.2959 right_y=-0.0005 right_z=0.1734 right_yaw=0.1344 right_pitch=-0.3344 right_roll=-0.2167 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -6.4479, 9.2923, 1.5409, -0.1441, 0.0171, 1.033, -0.0752, -2.8513, 6.7487, 1.4579, -0.0513, -0.0611, -0.0122]",
      "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]: [-0.7219, 1.776, 1.2247, -0.5293, -0.4789, -0.6014, 0.0465, 0.012, 1.0531, 0.9005, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3719 left_y=-0.2142 left_z=0.0933 left_yaw=0.0311 left_pitch=-0.3326 left_roll=0.0822 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1721 right_yaw=0.1346 right_pitch=-0.339 right_roll=-0.2161 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -8.1573, 6.0923, 1.2625, -0.4664, -0.149, 1.033, 0.0342, -2.7556, 6.7897, 1.4139, -0.0464, -0.0659, -0.0171]",
      "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]: [-0.7647, 1.8664, 1.2156, -0.4591, -0.4957, -0.6373, 0.0464, 0.012, 1.0542, 0.9005, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3698 left_y=-0.2334 left_z=0.0621 left_yaw=0.0274 left_pitch=-0.3413 left_roll=0.0918 left_gripper=0.0464 right_x=0.2961 right_y=-0.0005 right_z=0.1718 right_yaw=0.1347 right_pitch=-0.3397 right_roll=-0.216 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -9.7436, 7.3231, 1.0476, -0.2906, -0.1294, 0.9988, -0.1436, -2.9333, 6.8718, 1.4286, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e968c76d09cd54f7100a2b80fbded04ab7c27868a413b0dd90764cb4a60dab8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb394a6880ef9d921e2acbdce7ae055bd750760ff81aebd946c977b1686813cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537ecd9667cd8e4e3296229d3be1debbb31f192901c51497dcdc960cf7a46fba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFjX-_nwei4TJMjhtABqUyR13Slf6i13kWE80ZLD8ZM6DGzVACkit_KTUQ7hjOwcoeO56HGX1u6w42CBDuDwtgYxl87jFzs8w9dQvFFiop-cBvG022kHRGHkwdzAVSht-2LcNzfhLu8yaMNITW75QtkPh7wEDiV0jTY1XiOybwRv65FdUGtjKU2wJUlBLotMVM1SKRZLVHPqWLNx8WNdI6uanOFwSsrplhb1i_WoeP1rgHNWtnbvK6b7XWUueqkX-04JoTjztgd7g-xrpOETdiXBnJ8oU-Du2kz6CawirFu4GVDq2_KkMoVcl6ZzvhODo9j3-oK00RBipF2ST9A-pW4YiZKIPbBuuDwASWiq5dhsQin2D9vgHH7h0hA0pTR6VkCyAxt_ng5FH7j7Q_WU6sMOQVo1aNDdJn6MeD-Ca6RnCYJsyphl1F4s4vSj5BPc1Ozj3ZpOQ2KIJnYfDtIVrrckmebJzgRbxI7d0YjKS4KUa4-cbCoVeqX__nl9AwGhMtPbdWgJN-fgi9PlTcZN2EKvb7rOcpZb8ESOsNL08Qe5cS_hTlGeEdOMNrmDgGitRsCMQ-zpYHyRimT7I5-_RMuJ93ViCS9VDTqEZnj1LT4g8qDyAOtrMlLvlVIr51xEhlDlv6uB5AEGj_nd7Ap5nWMGq6oqPlGkge1E7ErfLMNvSc9kgOSqMv1KeqHrOKSg7etkG2wksuR1RDZOzvFRN9lnPTK1UxrTGmLWdDqdlmqXpLZZh-xWKVVbmaSMOVw-nTQRU1MDXV2Lf0savGb_x1IvxAXNmchZ2LhhiZHwfwDajj0YoIYKEyj2GnGBZGAeWlTeP0CS35YS1rydhmgKehzVJbJEI5_GIqjcKBd5pnn7gVGwr2XQ00LDGmTRyre28tGJQuLspzTZ3qum-9jewPtTjOMsJHDVjuxQ6uUnQtoDeFI666Ca3lPFOpknWzbBt_kU3BrYg_DXBkiPmIDxISlBZmtuQbYQK1zZlTphRCZNgKkk26kYFYtdEu1V6ALxg8h9AOeTycoW13HfPpQSbgqtflvxWJez844ugDpXoteXVLsTTI6uMlgkXfmGhU19V9PlCk5DbExJyYS0bav_ujX8GOW9afJ7xb6WzAp6M0y5q-4xjR2RN12nxviwur8wlKbiex_sFEypo-eS6kzIvcB1FdHL9t4MS7E635pqak9VL4A6wl76rKNtRJO4ep5dqQbYHZDQLUvsgaIHbYdBuWyjQu14cobJhBirwlFwnYvdDoocQ8rWuonLYrkzrOqOx15xXwyt7M_qXL7dqhhIGLvhNgjul_Y3-yiSUIE4vUozWT5jAbdjjyyl_rtLyDpzMn_8C25xfkat3JNbt6wyqwTj1-Yx0YQ-OTfJWof5kL3b1WwMLolmhAcN6IVuYCTfqPIx0vhpK9-Z065yyVJeYH1V91oJYtGla1zZlWCJwYdNIBo5WGelI9ixgX-K2auhHHAd6XfO400Tu7IgwF9KoAAQCQE1lL2XhewCzbkixxhSCvtNYiu92nK-2VZF-IljcfZgo_dIjz6e6hh1A0dz3Gyie4zmUgvTXrx2kgipr0KueUdcjLpCrDRXSLkLhSSuWJwWep2YqjR79ks4K2B98BAR6mxOsch8hQ-Wv848Wxsti6rmmjOEhVOfuXSIkYP98VFfgtM2_GByPlkVKSSGQQBTrFdT_PpHoigAelBhGSZxsuS2ezoZQvdxu7BbKxxpVe2kdfGIn3BD0xYjZyQHZYcSWmI2d92IP9Azf1rZ8SwnrI=",
  "id": "rs_0cb0562fc3213443016ab43160e99487d08d8cb094b4be7a99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.25,\"left_z\":0.038},\"note\":\"The white rim now appears almost centered over the pink bowl, and the gripper is still holding its thin edge. I’ll make one small centering correction and lower until the white bowl can rest inside the stack.\"}",
  "call_id": "call_s04aVV81xK1yzPGykUA6rdVs",
  "id": "fc_0cb0562fc3213443016ab43162600887d0bb2ff622546c9b26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s04aVV81xK1yzPGykUA6rdVs",
  "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]: [-0.7849, 1.9015, 1.2171, -0.4133, -0.5034, -0.6758, 0.0479, 0.012, 1.055, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3711 left_y=-0.2452 left_z=0.0533 left_yaw=0.0312 left_pitch=-0.3261 left_roll=0.0622 left_gripper=0.0479 right_x=0.2961 right_y=-0.0005 right_z=0.1715 right_yaw=0.1347 right_pitch=-0.3409 right_roll=-0.2158 right_gripper=0.9957\nstate[joint_eff]: [-0.9094, -6.3111, 6.6803, 0.7692, -0.2125, 0.2027, 0.823, -0.1983, -2.8923, 6.9128, 1.4188, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b8e39ba78b481ad5f9eb0c084338a5d0707630165a741274f13e3f72a3cd69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfeb1eebf40cdfdb2ba21d6eef6c2757c1399996bcd99835e21e64fee30e674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95654f75733e649fef3996319c19345288ea87abd9d0647e052bf6edd82505d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.449 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]: [-0.6556, 1.6482, 1.3758, -0.7269, -0.469, -0.5488, 0.0465, 0.012, 1.0512, 0.9009, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3803 left_y=-0.1872 left_z=0.1758 left_yaw=0.0436 left_pitch=-0.2798 left_roll=0.0542 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1728 right_yaw=0.1345 right_pitch=-0.3363 right_roll=-0.2164 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.6513, 9.0188, 1.1111, -0.3297, -0.0659, 1.0281, -0.1299, -2.8376, 6.7077, 1.3651, -0.0562, -0.0464, -0.0171]",
      "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]: [-0.7647, 1.8664, 1.2156, -0.4591, -0.4957, -0.6373, 0.0464, 0.012, 1.0542, 0.9005, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3698 left_y=-0.2334 left_z=0.0621 left_yaw=0.0274 left_pitch=-0.3413 left_roll=0.0918 left_gripper=0.0464 right_x=0.2961 right_y=-0.0005 right_z=0.1718 right_yaw=0.1347 right_pitch=-0.3397 right_roll=-0.216 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -9.7436, 7.3231, 1.0476, -0.2906, -0.1294, 0.9988, -0.1436, -2.9333, 6.8718, 1.4286, -0.0317, -0.0611, -0.0122]",
      "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]: [-0.7849, 1.9015, 1.2171, -0.4133, -0.5034, -0.6758, 0.0479, 0.012, 1.055, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3711 left_y=-0.2452 left_z=0.0533 left_yaw=0.0312 left_pitch=-0.3261 left_roll=0.0622 left_gripper=0.0479 right_x=0.2961 right_y=-0.0005 right_z=0.1715 right_yaw=0.1347 right_pitch=-0.3409 right_roll=-0.2158 right_gripper=0.9957\nstate[joint_eff]: [-0.9094, -6.3111, 6.6803, 0.7692, -0.2125, 0.2027, 0.823, -0.1983, -2.8923, 6.9128, 1.4188, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b8e39ba78b481ad5f9eb0c084338a5d0707630165a741274f13e3f72a3cd69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfeb1eebf40cdfdb2ba21d6eef6c2757c1399996bcd99835e21e64fee30e674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95654f75733e649fef3996319c19345288ea87abd9d0647e052bf6edd82505d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFmeTiqlAg54or9XcWkryCCrKLYGS8pxv-9kaSecxbfMqF-2_WMxOMpKToOVwWvPYSpjFgA4i8gNwBKF-zHqV-4bAE5ZuVMxulCkHAyqmGqZa5AqdYrOB74Dm5sUBQGntOB-kmFgxNJdpK0tWkJMtVtc_nbNUDswgT-mBTBo9wGRmDYzOO-hiJGmyMw_MEjAdhfT-LPKqvQZJRTPYoGarwfYWxsS3W2E1_scdaL141bVgpISdBQb3iL36qekOTRYYpKHkkpsTOco6rgPIeks8DZISiiTljMCbNhdI5m-pbUBjzPwr68X0v0JnQFsW2emvcms4Uu5_H5_K8O1HZfMvhjifKCrk5rf7eE_WI5iUb76OhMjskufdaPDCq2JfEnvcZUBrp2nfqCDWB_8no7WXPynAPySRtJ9H5c-vcF5XrdYNnzakl_hRfK6ZVjxwhMkaXP_VZu1rAXaLAiZjRph6CBsBK7lnSIyQZ_byuIwhD94Usw_WsgAnWvWx7X2rncGEYVCPg_WeoZsBmfD8K_FnvAaQYquUQkIz52_44TCNjfJkZW6cYM7DIDRy6dtCBVLnrzH0K6PwLV0v1m_BcgPpAB1N8hee3xCRk4qGueZsv1hjyAKmWAs83mqIDXtdRppnuT5TwQxXd2xjzaQ_uwpVwKTbsldgHf4B1GYavBhbk8OzkoYH06aJ-4JSyg_LXAtOfRCfPjiz6Z_ee3rStIDrOgenEy7uVe0_bnz2TxyYAfSAI1CNSrE7DtCkImEr8-FWAyyXeRmGbSOWa_LYDnrf4EUiea5-OYjl6zbyerE2DPZXnFhzzCrhimhi2zi7JCPRBx1AxdMhbmOnLe7xdJqFfokjDuqRaJEH1G_kh-YCd-WGE0ZdZxV5XNm4ofVyF1bMbrihCg53voEhehSali-Lvuj-JER9qFVCLgk5m-g_GlHMhFIqkHJmH838hPX0ts1xAVd7jUJLVH3zf0-z3lfXjpkKi-rYWmACa8lcICauA0--581zcm70m8eRWh8W8bg9tdDXVo0KQWGypRjQjXWUCTIwk5FDKn6dHICWMNQUxut96ZVDE3hjqXdn-JnzoUVe9RTwfYHf98xDatTwWvZ1Ej6sSWwtGgjhVrXDCyTlIXMPNONQkhofPA2AsLUBu4W1TY9BY766kx-yMr-Ap-q_e1_7JCCWp928Ag5n6ey9IvxkNLrQB8j4UKKhbV0pa7W1oEgRoLlxd4bAm5NQqpEKjNP1LI4J6XsSQv6A5s-HHvz9GIadjIxOEBWVivn_zAe83MJvtsTZa3kgl6OSUFlxvbL2vaBgQZvU7i39afHE_-ESalLLouTDg2zEy1kOq4dkgK",
  "id": "rs_0cb0562fc3213443016ab43164e68887d0866cb58408ba1e82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped about 1.5 centimeters above the requested height, consistent with the white bowl contacting the stack. Its rim looks centered over the bowls, so I’ll open the left gripper and let it settle.\"}",
  "call_id": "call_BM6pANW3gKuviX6IVzxv7qzL",
  "id": "fc_0cb0562fc3213443016ab43165481487d0972223a70b819dc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BM6pANW3gKuviX6IVzxv7qzL",
  "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]: [-0.7979, 1.9228, 1.2194, -0.3672, -0.5114, -0.6788, 0.9952, 0.012, 1.0561, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3746 left_y=-0.2551 left_z=0.0506 left_yaw=0.0188 left_pitch=-0.3023 left_roll=0.0446 left_gripper=0.9952 right_x=0.2962 right_y=-0.0005 right_z=0.1712 right_yaw=0.1348 right_pitch=-0.342 right_roll=-0.2157 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -7.8017, 6.653, 0.735, -0.2711, 0.0269, -0.1685, -0.1436, -2.906, 6.9265, 1.3748, -0.0611, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f1cb61ae6b90f3e0b9c2f78812f7fb2764a54a51aaf9998430db1418dd32f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4f008dccfebd804f1f4f019f159242f59f5da3a15b0d6e976a9d2b34674e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d60f552c3785e7d192d8fd3aef5ee3fa94860db4b71802ac7a0fdacdfae9d8",
      "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 · 2.057 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]: [-0.7219, 1.776, 1.2247, -0.5293, -0.4789, -0.6014, 0.0465, 0.012, 1.0531, 0.9005, -0.7368, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3719 left_y=-0.2142 left_z=0.0933 left_yaw=0.0311 left_pitch=-0.3326 left_roll=0.0822 left_gripper=0.0465 right_x=0.296 right_y=-0.0005 right_z=0.1721 right_yaw=0.1346 right_pitch=-0.339 right_roll=-0.2161 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -8.1573, 6.0923, 1.2625, -0.4664, -0.149, 1.033, 0.0342, -2.7556, 6.7897, 1.4139, -0.0464, -0.0659, -0.0171]",
      "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]: [-0.7849, 1.9015, 1.2171, -0.4133, -0.5034, -0.6758, 0.0479, 0.012, 1.055, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3711 left_y=-0.2452 left_z=0.0533 left_yaw=0.0312 left_pitch=-0.3261 left_roll=0.0622 left_gripper=0.0479 right_x=0.2961 right_y=-0.0005 right_z=0.1715 right_yaw=0.1347 right_pitch=-0.3409 right_roll=-0.2158 right_gripper=0.9957\nstate[joint_eff]: [-0.9094, -6.3111, 6.6803, 0.7692, -0.2125, 0.2027, 0.823, -0.1983, -2.8923, 6.9128, 1.4188, -0.0073, -0.0366, -0.0171]",
      "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]: [-0.7979, 1.9228, 1.2194, -0.3672, -0.5114, -0.6788, 0.9952, 0.012, 1.0561, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3746 left_y=-0.2551 left_z=0.0506 left_yaw=0.0188 left_pitch=-0.3023 left_roll=0.0446 left_gripper=0.9952 right_x=0.2962 right_y=-0.0005 right_z=0.1712 right_yaw=0.1348 right_pitch=-0.342 right_roll=-0.2157 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -7.8017, 6.653, 0.735, -0.2711, 0.0269, -0.1685, -0.1436, -2.906, 6.9265, 1.3748, -0.0611, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f1cb61ae6b90f3e0b9c2f78812f7fb2764a54a51aaf9998430db1418dd32f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4f008dccfebd804f1f4f019f159242f59f5da3a15b0d6e976a9d2b34674e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d60f552c3785e7d192d8fd3aef5ee3fa94860db4b71802ac7a0fdacdfae9d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFp7mzx-iRJLKVSl2Jh4kUvH_X05iiDBULzwog-QiKr5KKlOnsn_PRwelop4cqruh90aCHW02DOkJufTjoaGRKt_qhu8kBLhXMErvqMNUExAPJzyHlrwDt7ojABxMY26V1jN42Jz1QTgAa3TWr71hp5AGo4sjDdavKj-m98lYxJ5NsWBXnwrT5CNm5q0iKkzr_cUp0usa8_JxjUexX5q6osf3BouKqM5kQGI6zrujuAWzTJV7x4poAAYhTbWon25euL_WJpFOj6D6NFE_QHI7c0VtKfzMJNYSMWbZxfAzZjIYppiVUZaCnCZ7O8YoaGflt5lEhmswqTdYY-gJlbYv9mnBvrh-FItWf4v_WgEq_tYHd1fINYYZisu447jx-0kiqkOFjful3Mjjl9wS2jll4bFQWvvdo0C62WVvRq7XVm5rbcPuGVpF_XVXnBowFx_2GDLVm2V8SFD2NQFjN-Q67KSkOwvnzVc6nRHSVSRkHmDMiolq2Tb9nc_Aoh3uUWSQ5XbBLsZiSUfsJRudlqxg9S_yX1CS8k0zmK1kAPIySoUkXsw8qQtP_CJMFcYqrJqcOmtOxtJwHfl9PfmwDo9CBaPPgCm2XM_SJV-JxGQDwYwQ5T8VsoJpWSPSPvOd3iIjbZC36Ss7geKDpImMO5F0QKkV3ssmsm3rH2w11AkA9tVFmc0t9yCLuAqDyXliLWPXDrj6oaJsRzB4YE9ZzcxwMjsQ4kVeCciNAZSqoxOqSz1By_AO8lovTwvt21C3tglpPStPH9bzkUCkbr3j_pjgcawfyivZtnU-d-fWqbGoqpiqC4o48cXP7WxdBla4bpjb7KiMq9MEHex8kmtwKfplqiZCDbx9B78qnc3C4aCJXpYYq3UXi-KwgdaDRiH8lPpQqEYv2GGuVW-zMP15LYl8GEfOGcDgjbycIN2jVvZHbOXP11DcXJl5vcK04vNTBk6sJnlfto0GHsgUMVIS0Ich4k0o29nrqRRUP82a0uQaPo4XzmBrqx9S4YXLOGZqDEDlV6Hdbd2RfBet-LXHPNTzM1ZdkwDZ5PhieZw3Kn8l4p4la3uWkEZc3LQdvyUfewjwFMWZY8c731aXHHeGqicofDoFvotdCjlg-lx9fUZXhH5Xu5tNO-f4hDP57pJHphq0E0oTDHGnQDloA3DIlSV8IBOYUPg-javx52iEnQCWTqiW2ctFhPAXIdyt4RHLzcorxFuGeRG5XzlkX_jW9gbpvJzxtdDw-GkNUVKhXGfo4GAEKsLc4qExlFh_oYyypthVd-iBWj7Hx0l5U6cfzybG4tMR0XBFYdPMG5xI-eTlR-HlGh5dZUl9VDF__-0X6esWpS_gRncKWfql2Q4YYKbnLWe3b91TP1S0k8A69qLHwttGM=",
  "id": "rs_0cb0562fc3213443016ab43168857887d0bf58a93b0fea8aff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left jaws are open and the white bowl remains in the center. I’ll lift straight up to clear its rim and verify from above that all three bowls are nested.\"}",
  "call_id": "call_6puDkKPH4aZg1GYQMpg9FpD0",
  "id": "fc_0cb0562fc3213443016ab43168d88c87d0ba149bdeed937a58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6puDkKPH4aZg1GYQMpg9FpD0",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.8542, 1.5635, -0.8085, -0.5064, -0.6815, 0.9956, 0.012, 1.0569, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3767 left_y=-0.2579 left_z=0.1528 left_yaw=0.0246 left_pitch=-0.3249 left_roll=0.0616 left_gripper=0.9956 right_x=0.2962 right_y=-0.0005 right_z=0.1709 right_yaw=0.1348 right_pitch=-0.3428 right_roll=-0.2156 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -12.3556, 8.5538, 1.0965, -0.3687, -0.0073, 0.022, -0.0752, -2.8103, 6.8581, 1.3895, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9da1eca5f9b5b3e359bfe8a03ea6d6251671159ddcff8a94c72ca8db6728d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e519df4d23ed8f240a9f44c2c39b5c212b7b73aa86b7f7bd4318d8cb82f7ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192a06d8ebcfee536a55387a5b2181fa0208b7621bf42c2ac1f1b6a205cf7154",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 8.946 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7647, 1.8664, 1.2156, -0.4591, -0.4957, -0.6373, 0.0464, 0.012, 1.0542, 0.9005, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3698 left_y=-0.2334 left_z=0.0621 left_yaw=0.0274 left_pitch=-0.3413 left_roll=0.0918 left_gripper=0.0464 right_x=0.2961 right_y=-0.0005 right_z=0.1718 right_yaw=0.1347 right_pitch=-0.3397 right_roll=-0.216 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -9.7436, 7.3231, 1.0476, -0.2906, -0.1294, 0.9988, -0.1436, -2.9333, 6.8718, 1.4286, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7979, 1.9228, 1.2194, -0.3672, -0.5114, -0.6788, 0.9952, 0.012, 1.0561, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3746 left_y=-0.2551 left_z=0.0506 left_yaw=0.0188 left_pitch=-0.3023 left_roll=0.0446 left_gripper=0.9952 right_x=0.2962 right_y=-0.0005 right_z=0.1712 right_yaw=0.1348 right_pitch=-0.342 right_roll=-0.2157 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -7.8017, 6.653, 0.735, -0.2711, 0.0269, -0.1685, -0.1436, -2.906, 6.9265, 1.3748, -0.0611, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.8542, 1.5635, -0.8085, -0.5064, -0.6815, 0.9956, 0.012, 1.0569, 0.9001, -0.7364, 0.0433, -0.289, 0.9957]\nstate[eef_state]: left_x=0.3767 left_y=-0.2579 left_z=0.1528 left_yaw=0.0246 left_pitch=-0.3249 left_roll=0.0616 left_gripper=0.9956 right_x=0.2962 right_y=-0.0005 right_z=0.1709 right_yaw=0.1348 right_pitch=-0.3428 right_roll=-0.2156 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -12.3556, 8.5538, 1.0965, -0.3687, -0.0073, 0.022, -0.0752, -2.8103, 6.8581, 1.3895, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9da1eca5f9b5b3e359bfe8a03ea6d6251671159ddcff8a94c72ca8db6728d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e519df4d23ed8f240a9f44c2c39b5c212b7b73aa86b7f7bd4318d8cb82f7ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192a06d8ebcfee536a55387a5b2181fa0208b7621bf42c2ac1f1b6a205cf7154",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFsdhlDGsYxc71id4l9ULp_eB8WdwWQvWgtuNm3l66eYQvYKNzBz1IupnfB0DzYsKZzsLbnE8euKaX_i_qzUkZWh64RJLEmddvKAGw7C6H_jPVxS96ggSN1MbFtYdZvB20acSaN8Id5SGkQKZRSDVQ-DlPaAP5TKa8Pt0AwyLMQYjiI-QCpHpFhX5Ia0m96J7kybHU8at0TEZHEcNM_99YAa3fK-XiWhFA9KHBFizJFVz8A6S_IVUIErxJ2eE6Zh-mtn6VGQdetm4AwqI8P5K6JXByBx__h045ysODS67srwYVxpqoAa3T3t0Ak6L5mEZeKLTPIPUPHpcr2yWP73qL_TKg_z-oosh8Fx49-EEmeHdwn_Lknn-4ZaoOf7Bg6dqNdpJF00pz3W4PAz2P_9mlcAAmyZp1GpwXtgLgmRbuqJIq8SXaRFtXj6m5EujZa30bTCMyHN3YP3rrdoTakMTxJOUtLEP6me2N7r6qViErUSHNBymZpO1HKO-snX0JI37gUeA6CJQyEkxBZUk4nZ7dz2VK4zFtDKXREalxN_xeNPubXpuDxPkgmbrTqdjYFsXpgV0vXcaB1BaErQ4eR5k2SmhhEpeUytGAYR-KZlze10jiM7AlT2eV18BWGyFZYzQOj-g5uD7t_KunLjNsPdQNdKnW64FgzFyeQfOMwnT9UCJbJvg5vfHsSTZ9R-oRJzVcwu3KCGBVXtxTG-2X3o2Z5uSP6VGN1bsLdtz6Sxc7d06JEYsyNd14HqdS-ShOxvAXvwOCRFT2ZFUfk3PSt_N7TtYIFrloGaJw0bLB9FhP3NqMl_8msnFJuTWcImZEai0N1sqCxuxyb9Rhy6sYr6qjBJi4WUdAUcxNTJhVgNGZxROQaQVmkl_RvTK8yYKxBvc9rJulHXznc9BkGTLPlZfmvqpO9aXMLoSHx6_INASFRkconvyt9vvKbzewjJD63ga9IxrWsmosELWg0cJime2qlg668IZClqzHKpDalsuU-1F_A43tDs1GFmjC9D2lej5jgKZeZxWw1jIu5oCzV58MG93d_KwGgvc9AFh8p5BAIlE-tET9fpLZ4ytldBRPgFrcbW6gSpLQpfWgw1QbBYTemySRvqjAzbN3UTIGc3J10B3hqiurwx5rXxQFVGgWHafU40GKsPBUkkows7_VW-Oxfs2B6qkH8U9MPv4XEtSFgQMtnQn5UYF4UTfWPr-CRNuo-DNv6N48YvW5rfEP978W5bPr8_Jy5puYgq7V7gUkEB_5rnv4Vxy_L0TaP59U4a0P2__n_flREXsUK4c75emknRrA_D8LvUkNQJn44BYhUhsrtjytqp1Z1hF1A9bVglZOm01TQN8p-p_p7D20uRtITC20jIzBt1irXb8tcf0iyhKFmqt3kMjNNWMpJDwYkfIDr",
  "id": "rs_0cb0562fc3213443016ab4316b835887d087c8d51c3a61fb6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The white bowl stayed on the table as the left hand rose, so the release took. I’ll park the left arm to get an unobstructed overhead view of the finished stack.\"}",
  "call_id": "call_T4520op2g7nbpgtprmrsh5xD",
  "id": "fc_0cb0562fc3213443016ab4316bcf7487d0852cb3c7e45c41b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T4520op2g7nbpgtprmrsh5xD",
  "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]: [-0.091, 1.0763, 0.944, -0.775, -0.1402, -0.1066, 0.9956, 0.012, 1.0588, 0.9001, -0.7364, 0.0437, -0.289, 0.9957]\nstate[eef_state]: left_x=0.2977 left_y=0.0012 left_z=0.1786 left_yaw=0.0763 left_pitch=-0.3264 left_roll=0.0558 left_gripper=0.9956 right_x=0.2963 right_y=-0.0006 right_z=0.1704 right_yaw=0.1345 right_pitch=-0.3447 right_roll=-0.2157 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -3.6171, 6.3385, 1.5165, -0.0269, 0.1587, -0.0122, -0.2256, -3.0291, 6.694, 1.3944, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42479d1b1a2557f002d729fceebb79369cc457acbef615c997383aa9fd5e8ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40ffd5190c23cbd57a8750b414a39a46e662ebfbd1f5571aea24755f10de784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831b5b166a972c4d55c8b34586f9a62fd3fdfb3988b3305c235f2ab96a0e43da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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