adhoc

completed
2026-09-23T20:21:41.876397+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
163.9 s
total steps
235
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree separate bowls are visible across the table; the right-hand bowl is closest to the right arm. I’m bringing that open gripper above it to check alignment before gripping.
move_to
right_x0.4000right_y0.1200right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7925, 0.6014, -0.3782, -0.0158, -0.033, 0.9979] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9979 state[joint_eff]: [-0.5402, -1.5248, 10.1265, 1.7753, -0.0415, 0.2418, -0.0611, -0.3077, -1.306, 10.2906, 1.9316, -0.1001, 0.1978, -0.2369] 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":0.4,"right_y":0.12,"right_z":0.15},"note":"Three separate bowls are visible across the table; the right-hand bowl is closest to the right arm. I’m bringing that open gripper above it to check alignment before gripping."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe pink bowl is centered in the right wrist view, though the arm still reads slightly short of its target. I’m advancing a little and lowering the open jaws toward the bowl’s sides.
move_to
right_x0.4150right_y0.1450right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4259, 1.4193, 0.7944, -0.0742, 0.3191, 0.1871, 0.9977] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9995 right_x=0.3821 right_y=0.1164 right_z=0.1254 right_yaw=0.0471 right_pitch=-0.0887 right_roll=-0.0378 right_gripper=0.9977 state[joint_eff]: [-0.0479, -1.5932, 6.735, 1.7705, -0.0855, -0.0659, -0.0171, 0.1983, -6.5299, 9.2239, 1.6923, 0.2857, 0.1929, -0.0269] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.145,"right_z":0.06},"note":"The pink bowl is centered in the right wrist view, though the arm still reads slightly short of its target. I’m advancing a little and lowering the open jaws toward the bowl’s sides."})
tool
executing move_to over 5 steps (0.5s)
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 right jaws now straddle the pink bowl near its rim in the wrist view. I’m closing them to test whether they catch the bowl securely.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0422, 0.9995, 0.4625, 1.7142, 0.7902, 0.1368, 0.3344, 0.2035, 0.9977] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=0.0006 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4007 right_y=0.139 right_z=0.0462 right_yaw=0.0581 right_pitch=-0.1657 right_roll=-0.0686 right_gripper=0.9977 state[joint_eff]: [-0.0205, -1.5795, 7.4598, 1.6972, -0.0562, -0.0171, -0.0122, 0.1436, -8.2256, 6.8308, 1.7411, 0.3443, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The right jaws now straddle the pink bowl near its rim in the wrist view. I’m closing them to test whether they catch the bowl securely."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe close came back essentially empty; the bowl is wider than the opening at its rim, so both fingers were inside it. I’m opening and shifting to the bowl’s outer side to pinch one rim wall instead.
move_to
right_gripper1.0000right_y0.0800right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3901, -0.0227, -0.0422, 0.9995, 0.4648, 1.7355, 0.7898, 0.1925, 0.3336, 0.207, 0.0076] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4072 right_y=0.1435 right_z=0.0469 right_yaw=0.0611 right_pitch=-0.1345 right_roll=-0.052 right_gripper=0.0076 state[joint_eff]: [-0.1026, -1.347, 7.1726, 1.6874, -0.0464, -0.0611, -0.0122, -0.1573, -8.3897, 6.653, 1.7558, 0.2125, 0.0904, 0.5983] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.08,"right_z":0.055},"note":"The close came back essentially empty; the bowl is wider than the opening at its rim, so both fingers were inside it. I’m opening and shifting to the bowl’s outer side to pinch one rim wall instead."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe pink bowl stayed under the open jaws as I shifted, so they still surround its interior. I’m lifting clear and moving farther to its outer edge before trying a single-wall grip.
move_to
right_z0.1300right_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4011, -0.0227, -0.0456, 0.9995, 0.2729, 1.6547, 0.7006, 0.1921, 0.1986, 0.0776, 0.9951] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0332 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4021 right_y=0.0801 right_z=0.0421 right_yaw=0.0513 right_pitch=-0.1758 right_roll=-0.0634 right_gripper=0.9951 state[joint_eff]: [-0.0479, -1.3744, 7.0085, 1.8388, -0.0611, -0.0171, -0.0122, -0.2803, -8.759, 5.7368, 1.7265, -0.0122, 0.0073, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_y":0.0},"note":"The pink bowl stayed under the open jaws as I shifted, so they still surround its interior. I’m lifting clear and moving farther to its outer edge before trying a single-wall grip."})
tool
executing move_to over 7 steps (0.7s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteFrom above, the right gripper is now outside the pink bowl, with its inner finger positioned to enter near the rim. I’m lowering it beside that rim before closing.
move_to
right_z0.0430
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.049, 0.9995, 0.0029, 1.4441, 0.8268, -0.1497, 0.0254, -0.0944, 0.9963] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0044 left_pitch=-0.0415 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3988 right_y=0.0002 right_z=0.11 right_yaw=0.0232 right_pitch=-0.1994 right_roll=-0.0699 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.4974, 7.159, 1.7851, -0.0415, 0.0024, -0.0122, -0.1846, -7.3504, 9.265, 1.707, -0.0855, 0.0024, 0.1099] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.043},"note":"From above, the right gripper is now outside the pink bowl, with its inner finger positioned to enter near the rim. I’m lowering it beside that rim before closing."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe pink bowl’s side now lies between the inner and outer right fingers rather than across the full jaw span. I’m closing on that wall and will check whether the gripper stops on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, 0.0002, 1.5909, 0.667, 0.0624, 0.0177, -0.1055, 0.9964] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0046 left_pitch=-0.0434 left_roll=-0.006 left_gripper=0.9995 right_x=0.3816 right_y=0.0005 right_z=0.0295 right_yaw=0.0339 right_pitch=-0.2943 right_roll=-0.0694 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.4564, 7.0085, 1.6874, -0.0806, -0.0708, -0.0122, 0.0205, -6.6803, 5.8051, 1.9756, 0.0708, 0.1001, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink bowl’s side now lies between the inner and outer right fingers rather than across the full jaw span. I’m closing on that wall and will check whether the gripper stops on it."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper stopped at about a 4 mm opening, consistent with pinching a thin rim but close to the empty-grip reading. I’m lifting a few centimetres to see whether the pink bowl comes with it.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6037, -0.4084, -0.0227, -0.0494, 0.9995, 0.0006, 1.5867, 0.664, 0.0811, -0.0116, -0.0967, 0.039] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1689 left_yaw=0.0046 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.3843 right_y=0.0059 right_z=0.033 right_yaw=0.0549 right_pitch=-0.2732 right_roll=-0.0413 right_gripper=0.039 state[joint_eff]: [-0.0752, -1.3197, 7.2684, 1.6825, -0.0513, -0.0464, -0.0122, -0.0889, -5.1897, 6.0923, 0.9109, 0.4274, -0.0269, 0.9792] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The gripper stopped at about a 4 mm opening, consistent with pinching a thin rim but close to the empty-grip reading. I’m lifting a few centimetres to see whether the pink bowl comes with it."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe pink bowl rose with the right gripper and remains beside its fingers, so the rim pinch appears to be holding. I’m carrying it high toward the middle bowl, leaving clearance over both bowls.
move_to
right_x0.4000right_y0.2300right_z0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, -0.0002, 1.425, 0.8738, -0.3229, -0.0162, -0.1066, 0.0419] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1683 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3801 right_y=0.0064 right_z=0.1069 right_yaw=0.0643 right_pitch=-0.3056 right_roll=-0.0424 right_gripper=0.0419 state[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -7.2684, 9.6205, 1.4969, 0.0122, 0.0611, 0.6081] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.23,"right_z":0.23},"note":"The pink bowl rose with the right gripper and remains beside its fingers, so the rim pinch appears to be holding. I’m carrying it high toward the middle bowl, leaving clearance over both bowls."})
tool
executing move_to over 19 steps (1.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe carried pink bowl is above the middle bowl but a few pixels to its right in the overhead view. I’m shifting slightly left and lowering partway to check the nesting alignment.
move_to
right_y0.2500right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6537, 1.7889, 1.7252, -0.9325, 0.3584, 0.3801, 0.0428] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3955 right_y=0.2294 right_z=0.2165 right_yaw=0.1065 right_pitch=-0.3369 right_roll=-0.0602 right_gripper=0.0428 state[joint_eff]: [-0.1162, -1.4974, 7.1726, 1.7656, -0.0415, -0.0708, -0.0122, 0.0889, -9.0872, 8.5812, 1.1795, 0.3199, 0.3004, 0.6667] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.25,"right_z":0.12},"note":"The carried pink bowl is above the middle bowl but a few pixels to its right in the overhead view. I’m shifting slightly left and lowering partway to check the nesting alignment."})
tool
executing move_to over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe pink bowl is now visually centered over the blue bowl. I’m lowering it gently into the blue bowl and watching for the arm to stop at contact.
move_to
right_z0.0670
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8185, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.6926, 1.8252, 1.4235, -0.6552, 0.3611, 0.4015, 0.0442] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1659 left_yaw=0.0046 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3847 right_y=0.2427 right_z=0.1221 right_yaw=0.1188 right_pitch=-0.3862 right_roll=-0.0831 right_gripper=0.0442 state[joint_eff]: [-0.0752, -1.4701, 6.9949, 1.6728, -0.0659, -0.0757, -0.0122, 0.1162, -7.8154, 6.8581, 1.3748, 0.3541, 0.1343, 0.6178] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.067},"note":"The pink bowl is now visually centered over the blue bowl. I’m lowering it gently into the blue bowl and watching for the arm to stop at contact."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe pink bowl appears nested over the blue one at this low position. I’m opening the side pinch to leave it in the middle bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.693, 1.8652, 1.2774, -0.5072, 0.3584, 0.4011, 0.0477] state[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1656 left_yaw=0.0046 left_pitch=-0.0591 left_roll=-0.0056 left_gripper=0.9995 right_x=0.377 right_y=0.2372 right_z=0.0695 right_yaw=0.1126 right_pitch=-0.4195 right_roll=-0.1038 right_gripper=0.0477 state[joint_eff]: [-0.1299, -1.347, 6.9949, 1.7265, -0.0757, -0.0806, -0.0122, -0.1709, -8.1709, 6.4889, 1.1844, 0.1587, -0.0171, 0.3492] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl appears nested over the blue one at this low position. I’m opening the side pinch to leave it in the middle bowl."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe pink bowl has been released over the blue bowl. I’m retracting the right arm to its home area so the stack is visible and the left arm has room to collect the remaining 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, 0.8196, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6937, 1.8717, 1.2682, -0.4599, 0.3519, 0.3927, 0.9962] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1657 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3816 right_y=0.2428 right_z=0.0685 right_yaw=0.1308 right_pitch=-0.3964 right_roll=-0.085 right_gripper=0.9962 state[joint_eff]: [-0.1983, -1.3744, 7.0085, 1.7167, -0.0415, -0.0562, -0.0122, -0.4308, -8.6085, 6.2154, 1.2821, 0.2222, 0.0073, -0.1245] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The pink bowl has been released over the blue bowl. I’m retracting the right arm to its home area so the stack is visible and the left arm has room to collect the remaining bowl."})
tool
executing move_to over 21 steps (2.1s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteWith the right arm clear, the pink bowl remains at the middle location and the pale bowl is still separate on the left. I’m approaching the pale bowl from its outer side with the left gripper open, aiming to pinch its rim as before.
move_to
left_x0.4000left_y-0.0700left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, -0.0219, 1.1332, 0.9707, -0.8318, -0.0071, -0.1833, 0.9965] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0625 left_roll=-0.0055 left_gripper=0.9995 right_x=0.2941 right_y=-0.0016 right_z=0.164 right_yaw=0.0825 right_pitch=-0.4289 right_roll=-0.0882 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6825, -0.0611, -0.0513, -0.0122, -0.0615, -4.1231, 9.9624, 1.4383, -0.1441, -0.0855, 0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.07,"left_z":0.12},"note":"With the right arm clear, the pink bowl remains at the middle location and the pale bowl is still separate on the left. I’m approaching the pale bowl from its outer side with the left gripper open, aiming to pinch its rim as before."})
tool
executing move_to over 9 steps (0.9s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe pale bowl fills the left wrist view, but its near wall is not yet between the fingers. I’m shifting the open gripper farther to the bowl’s outer side and lowering beside its rim.
move_to
left_y-0.0200left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.276, 1.4105, 0.717, -0.0517, -0.2123, -0.1997, 0.9995, -0.0216, 1.137, 0.9691, -0.8577, -0.0158, -0.2008, 0.9965] state[eef_state]: left_x=0.3797 left_y=-0.0651 left_z=0.0977 left_yaw=-0.0084 left_pitch=-0.1526 left_roll=0.013 left_gripper=0.9995 right_x=0.2886 right_y=0.0002 right_z=0.159 right_yaw=0.1032 right_pitch=-0.4599 right_roll=-0.0863 right_gripper=0.9965 state[joint_eff]: [-0.4444, -6.3521, 8.841, 1.7509, -0.2955, 0.0366, -0.0122, -0.1299, -3.6171, 6.6667, 1.4237, 0.0366, 0.1392, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.02,"left_z":0.05},"note":"The pale bowl fills the left wrist view, but its near wall is not yet between the fingers. I’m shifting the open gripper farther to the bowl’s outer side and lowering beside its rim."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe pale bowl’s left wall is now too far to the right of the jaw meeting point. I’m lifting clear and recentering that wall between the fingers before making the pinch.
move_to
left_y-0.0530left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1146, 1.4918, 0.5793, 0.1295, -0.1219, -0.1188, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2024, 0.9965] state[eef_state]: left_x=0.371 left_y=-0.0175 left_z=0.0451 left_yaw=0.0335 left_pitch=-0.2037 left_roll=0.0189 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1049 right_pitch=-0.4675 right_roll=-0.0858 right_gripper=0.9965 state[joint_eff]: [0.4718, -5.0393, 5.641, 1.9023, 0.1099, 0.1245, -0.0122, -0.1846, -3.3299, 6.5709, 1.2967, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.053,"left_z":0.11},"note":"The pale bowl’s left wall is now too far to the right of the jaw meeting point. I’m lifting clear and recentering that wall between the fingers before making the pinch."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe left arm did not follow the combined lift-and-sideways target; its height stayed near 4.5 cm. I’m trying a straight upward retreat before changing its lateral position.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1001, 1.5055, 0.569, 0.1852, -0.0978, -0.1005, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2028, 0.9965] state[eef_state]: left_x=0.3763 left_y=-0.0169 left_z=0.046 left_yaw=0.0166 left_pitch=-0.1748 left_roll=0.0113 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1051 right_pitch=-0.4676 right_roll=-0.086 right_gripper=0.9965 state[joint_eff]: [-0.1573, -5.8325, 5.6, 1.7705, 0.0513, 0.149, -0.0122, -0.1573, -3.3436, 6.5026, 1.2137, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The left arm did not follow the combined lift-and-sideways target; its height stayed near 4.5 cm. I’m trying a straight upward retreat before changing its lateral position."})
tool
executing move_to over 8 steps (0.8s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteA straight lift succeeded and cleared the pale bowl. I’m moving the elevated gripper a few centimetres toward the bowl so its outer rim will be nearer the jaw meeting point on descent.
move_to
left_y-0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1001, 1.3392, 0.807, -0.0814, -0.1017, -0.1047, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0158, -0.2028, 0.9965] state[eef_state]: left_x=0.4022 left_y=-0.0188 left_z=0.155 left_yaw=0.0204 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.287 right_y=0.0002 right_z=0.1572 right_yaw=0.1049 right_pitch=-0.4699 right_roll=-0.086 right_gripper=0.9965 state[joint_eff]: [-0.0615, -6.0103, 6.694, 1.2576, -0.0073, 0.0073, -0.0122, -0.1709, -3.494, 6.694, 1.1795, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.055},"note":"A straight lift succeeded and cleared the pale bowl. I’m moving the elevated gripper a few centimetres toward the bowl so its outer rim will be nearer the jaw meeting point on descent."})
tool
executing move_to over 4 steps (0.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteAt the elevated pose, the pale bowl’s outer rim lines up close to the left gripper’s closing point. I’m descending beside it while keeping that sideways alignment.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2287, 1.3701, 0.815, -0.1375, -0.1749, -0.1623, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0162, -0.2031, 0.9965] state[eef_state]: left_x=0.3926 left_y=-0.0561 left_z=0.1369 left_yaw=-0.0145 left_pitch=-0.1078 left_roll=0.005 left_gripper=0.9995 right_x=0.287 right_y=0.0003 right_z=0.1573 right_yaw=0.1055 right_pitch=-0.4699 right_roll=-0.0859 right_gripper=0.9965 state[joint_eff]: [0.0479, -5.8051, 7.8291, 2.0781, -0.2515, -0.0513, -0.0122, -0.2393, -3.1932, 6.694, 1.2234, -0.0171, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05},"note":"At the elevated pose, the pale bowl’s outer rim lines up close to the left gripper’s closing point. I’m descending beside it while keeping that sideways alignment."})
tool
executing move_to over 6 steps (0.6s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe pale bowl’s outer wall is now at nearly the same jaw position that worked for the pink bowl. I’m closing the left gripper on that single rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2348, 1.5589, 0.6067, 0.1852, -0.1806, -0.1802, 0.9995, -0.0216, 1.1389, 0.9684, -0.8654, -0.0158, -0.2028, 0.9965] state[eef_state]: left_x=0.3812 left_y=-0.0549 left_z=0.0421 left_yaw=-0.0036 left_pitch=-0.1793 left_roll=0.0117 left_gripper=0.9995 right_x=0.2869 right_y=0.0002 right_z=0.1572 right_yaw=0.105 right_pitch=-0.4703 right_roll=-0.086 right_gripper=0.9965 state[joint_eff]: [0.4171, -6.3658, 5.4632, 1.7509, -0.0855, 0.1001, -0.0122, -0.0889, -3.3846, 6.5026, 1.1648, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The pale bowl’s outer wall is now at nearly the same jaw position that worked for the pink bowl. I’m closing the left gripper on that single rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe left gripper stopped at a thin opening, suggesting it caught the pale bowl’s rim. I’m lifting straight up to verify that the bowl follows.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2348, 1.5673, 0.5968, 0.2016, -0.1734, -0.1955, 0.0389, -0.0216, 1.1389, 0.9684, -0.8646, -0.0162, -0.2028, 0.9965] state[eef_state]: left_x=0.3799 left_y=-0.0559 left_z=0.0382 left_yaw=-0.0012 left_pitch=-0.1822 left_roll=-0.0041 left_gripper=0.0389 right_x=0.2871 right_y=0.0003 right_z=0.1573 right_yaw=0.1053 right_pitch=-0.4695 right_roll=-0.0857 right_gripper=0.9965 state[joint_eff]: [-0.0615, -6.147, 6.4342, 1.3797, -0.105, 0.232, 0.8767, -0.0752, -3.3846, 6.7077, 1.1893, -0.0171, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The left gripper stopped at a thin opening, suggesting it caught the pale bowl’s rim. I’m lifting straight up to verify that the bowl follows."})
tool
executing move_to over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe pale bowl rose with the left gripper. I’m carrying it high toward the pink-and-blue stack, with a slight move toward the base to match the stack’s position.
move_to
left_x0.3300left_y-0.1900left_z0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.3911, 0.7891, -0.178, -0.1772, -0.2035, 0.0428, -0.0216, 1.1408, 0.9684, -0.865, -0.0162, -0.2031, 0.9965] state[eef_state]: left_x=0.3798 left_y=-0.0554 left_z=0.111 left_yaw=0.0062 left_pitch=-0.1923 left_roll=-0.0048 left_gripper=0.0428 right_x=0.2871 right_y=0.0003 right_z=0.1567 right_yaw=0.1056 right_pitch=-0.4717 right_roll=-0.0856 right_gripper=0.9965 state[joint_eff]: [0.0342, -7.1179, 9.3197, 1.5897, -0.0611, 0.022, 0.8571, -0.0205, -3.5077, 6.5436, 1.2137, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.19,"left_z":0.23},"note":"The pale bowl rose with the left gripper. I’m carrying it high toward the pink-and-blue stack, with a slight move toward the base to match the stack’s position."})
tool
executing move_to over 12 steps (1.2s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe carried pale bowl is about 18 image pixels left of the stack; its higher image position is expected while it is elevated. I’m shifting it right over the pink bowl and lowering partway for a closer alignment check.
move_to
left_y-0.2450left_z0.1350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7555, 1.438, 1.2892, -0.7799, -0.4885, -0.5964, 0.0454, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965] state[eef_state]: left_x=0.3298 left_y=-0.1919 left_z=0.2158 left_yaw=-0.0319 left_pitch=-0.2132 left_roll=-0.0086 left_gripper=0.0454 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965 state[joint_eff]: [-0.3214, -5.9556, 9.1145, 1.2283, -0.398, -0.0708, 0.6178, -0.0479, -3.412, 6.6803, 1.1746, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.245,"left_z":0.135},"note":"The carried pale bowl is about 18 image pixels left of the stack; its higher image position is expected while it is elevated. I’m shifting it right over the pink bowl and lowering partway for a closer alignment check."})
tool
executing move_to over 6 steps (0.6s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe pale bowl is nearly centered over the pink bowl in the overhead view. I’m making a small rightward correction and lowering it gently toward the stack.
move_to
left_y-0.2500left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.87, 1.6047, 1.1568, -0.5865, -0.5323, -0.6865, 0.0463, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965] state[eef_state]: left_x=0.3223 left_y=-0.2374 left_z=0.1329 left_yaw=-0.0475 left_pitch=-0.2624 left_roll=0.0304 left_gripper=0.0463 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965 state[joint_eff]: [-0.3761, -7.4188, 5.7778, 1.3651, -0.4469, -0.1245, 0.6716, -0.0342, -3.412, 6.5436, 1.1697, -0.0757, -0.0562, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.25,"left_z":0.085},"note":"The pale bowl is nearly centered over the pink bowl in the overhead view. I’m making a small rightward correction and lowering it gently toward the stack."})
tool
executing move_to over 4 steps (0.4s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
assistant
agent noteThe pale bowl is centered above the pink rim and still supported by the gripper. I’m lowering another two centimetres to let it nest before releasing the rim.
move_to
left_z0.0640
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8894, 1.6882, 1.0706, -0.4541, -0.5404, -0.7074, 0.0486, -0.0216, 1.1408, 0.9684, -0.8646, -0.0162, -0.2031, 0.9965] state[eef_state]: left_x=0.3199 left_y=-0.2445 left_z=0.0868 left_yaw=-0.0421 left_pitch=-0.2817 left_roll=0.0495 left_gripper=0.0486 right_x=0.2872 right_y=0.0003 right_z=0.1568 right_yaw=0.1056 right_pitch=-0.4714 right_roll=-0.0857 right_gripper=0.9965 state[joint_eff]: [-0.5675, -8.2256, 6.1197, 1.2381, -0.3736, -0.0611, 0.5055, -0.0889, -3.412, 6.5162, 1.2137, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.064},"note":"The pale bowl is centered above the pink rim and still supported by the gripper. I’m lowering another two centimetres to let it nest before releasing the rim."})
tool
executing move_to over 2 steps (0.2s)
step 202
assistant
agent noteThe left arm stopped about 1.5 cm above the commanded height as the pale bowl settled into the pink one. I’m opening the gripper to release the final bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8902, 1.7008, 1.0382, -0.3805, -0.5404, -0.7227, 0.0499, -0.0216, 1.1446, 0.9684, -0.8845, -0.0162, -0.2062, 0.9965] state[eef_state]: left_x=0.3225 left_y=-0.2482 left_z=0.0791 left_yaw=-0.0403 left_pitch=-0.2624 left_roll=0.0167 left_gripper=0.0499 right_x=0.2831 right_y=0.0004 right_z=0.1533 right_yaw=0.1091 right_pitch=-0.495 right_roll=-0.0839 right_gripper=0.9965 state[joint_eff]: [-0.0205, -5.8188, 5.3675, 1.0281, -0.2662, 0.1538, 0.3199, -0.1299, -3.3573, 6.5436, 1.3016, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left arm stopped about 1.5 cm above the commanded height as the pale bowl settled into the pink one. I’m opening the gripper to release the final bowl."})
tool
executing move_to over 10 steps (1.0s)
step 212
assistant
agent noteThe final bowl is released at the middle stack, but the left hand still blocks the overhead view. I’m withdrawing it to check that the bowls remain nested.
move_to
left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8902, 1.7077, 1.0264, -0.3809, -0.54, -0.7273, 0.9952, -0.0216, 1.1446, 0.9684, -0.8871, -0.0162, -0.2062, 0.9965] state[eef_state]: left_x=0.32 left_y=-0.2452 left_z=0.0724 left_yaw=-0.034 left_pitch=-0.2751 left_roll=0.0282 left_gripper=0.9952 right_x=0.2825 right_y=0.0004 right_z=0.153 right_yaw=0.1093 right_pitch=-0.4976 right_roll=-0.0836 right_gripper=0.9965 state[joint_eff]: [-0.2256, -8.5812, 7.0085, 1.1648, -0.3394, -0.0073, -0.1587, -0.0205, -3.3299, 6.694, 1.1844, -0.0757, -0.0757, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The final bowl is released at the middle stack, but the left hand still blocks the overhead view. I’m withdrawing it to check that the bowls remain nested."})
tool
executing move_to over 22 steps (2.2s)
step 234
assistant
agent noteStacked the three bowls at the middle of the table and withdrew both arms.
done
hindsightThese bowls are wider than the grippers’ full opening at the rim. Pinch one rim wall with one finger inside and one outside; a settled gripper reading near 0.04 can be a successful thin-rim grasp, so verify by lifting. The bowls nested when lowered over the middle bowl and released.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0437, 1.0317, 0.8474, -0.7017, -0.0628, -0.0639, 0.9957, -0.0216, 1.1446, 0.9684, -0.8875, -0.0162, -0.2062, 0.9965] state[eef_state]: left_x=0.2926 left_y=0.0019 left_z=0.162 left_yaw=0.0254 left_pitch=-0.3118 left_roll=0.0237 left_gripper=0.9957 right_x=0.2824 right_y=0.0004 right_z=0.153 right_yaw=0.1093 right_pitch=-0.498 right_roll=-0.0835 right_gripper=0.9965 state[joint_eff]: [0.294, -3.7402, 10.1128, 1.3846, 0.0513, 0.2564, 0.0415, -0.0205, -3.3436, 6.5709, 1.1697, -0.0708, -0.0757, -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
done({"summary":"Stacked the three bowls at the middle of the table and withdrew both arms.","hindsight":"These bowls are wider than the grippers’ full opening at the rim. Pinch one rim wall with one finger inside and one outside; a settled gripper reading near 0.04 can be a successful thin-rim grasp, so verify by lifting. The bowls nested when lowered over the middle bowl and released."})
tool
done: Stacked the three bowls at the middle of the table and withdrew 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 · 10.06 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
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    {
      "text": "Goal: Stack the bowls on the table.",
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    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7925, 0.6014, -0.3782, -0.0158, -0.033, 0.9979]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.5402, -1.5248, 10.1265, 1.7753, -0.0415, 0.2418, -0.0611, -0.3077, -1.306, 10.2906, 1.9316, -0.1001, 0.1978, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ac3f037178443954653837c05fe61e8542d9a4837855567286580a0b026cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc591a22bcedefe62a06f897b4988714b8bcd0267cc6b26352cd6aa46b57b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb4e83de910325c396c12d581a8cfd2a180e65566d689671dbbfc2a07bf329b",
      "type": "input_image"
    },
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      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 6.96 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDTs44JCO0g9ev7OKpmMj-RvCqIMs6RzHmglX0u9iaYnUgTJCkr3Afp9RytclVgPqDPYoGRYsPiP7i7kJDIz71l25rDjxPXM-UeN2PcejDc9nL4_Qy_X0wVsmW7GDHKcwX1sSA98YV2_n6svq9Eicdut8s-dv7Gh7j4mYZhrD8naZW5cuYY3jH2N_K2LxTxSC_v70_nI8A1BPUsWgScC0aElW4avbwxBRS3DwaMlHeyvurEeruwJDM0FpM-nUjejUaYbacau_JnTUbqE2vL2g4seg7WuwGcheBbuEzQaQ8J19m5-79whQE7ySsPqbC58O0u4_Ega4kJk4lUgQx-c6KneqKKlOhP1FDAabf2xSdUuvmcUEFITdNSVmz1ZAl1dSxDQKiML9W5v23GhoKlkVf2Jjp2zfdYqSm-S_wYtW-8vuLvyJo_qJwf22LWPkXf8SI3vG5br16UMKkAYaJBlkBD6LnNigsQ5R3HvM-JKU5A8KD0a7SENiK8oMqgTKKOmBrlC6trGWEeJ3rRu7bGCLOwvWsWl5mh5xnz8aXEkYmFDrtzWh1e7ByYFCPGp9lUDFnQ8INHHbbaYxcXudLWlKyaAfRBmfa-tiy28XVQw0kar_MX50B-tqVQ-7J-kc9U6hshWB50GLTC8p6jMsh7fPtjJZWrDufiI8vXBr6TVrciDu1YG1AoMmAboQN_w_6UdLoEnWiKH1a2hp3ZsWg9-Q0xb5Dabk6nX8OaKFkFwohIEsbsMoz5VogbfJmS-DVFSzl5UZpKwjPhTtLD_h4KHHTcmBC6TVN4bMJMQYd7Ruc9mhp9J-5PekwHrD9H71wjwOYjHHmJqxs2bjm5Dl_i5tFCFS7tP-TDK2yUiTTvE3c_-XwAPEYYgNOGoTE7T0O_1hvqpczLVhES0LTTe1SSQPvpfFI9vV14vsBSm-grquqACiVTa7M7duILU4RubQwtuLgdFjsIqGflrUcjcHIX01rshhpBWLfVma0YW2pfCYUy60lLxZuKip8IkKbH9dYCtFmHgVtWn4xRram40gG0QHss4r01LiZcLXLeEamRXUvZc5DhSuSJ5pS1wGgK56-l-B6yUZiuCqSCOFJVDSWwf5b66P1llvVKsBDiiMrD2Nog39glIuIOElaWohP0uKgWSK8UxpCuVaTHXDldH5SvY2qVi99w0BkBhTOegTl52WOBTmt2rXUHxTu_YwMetWnVBHxrdg7PxSb9xqdaIBu_zsOf9gd0G37QKD7Hxcg2KWPWPG-BPPgN8ahJ9WyEvM4WDcnHEclqLExwJCHQNzmVrjfhOlC1FfaxfUUqEqLU1zelS-3fmhMBG6309pCUkQ8nBdQWxRN6hnUlN4x_EuY4alNSAwyoCJOUbyMltewJQ63TpUi3Lt92AZiqEGxL7STc4H_6Ejcp9bSnnkvZ8n9BpkexMMidNmWMwHD32uSUJHngfNerKWzU2t8KbJldWVyhUQKn-Y_KqsfvZBFwhlp-FqfBcc81krvUJrhWYfnIV8m7zqFjLiu1ZlNcKeXKAA5iJ0UUTaXU2PTWCH0yNZyL2iuRyNauUy9xh2hoCJxAzFOEtjG4_ra5zfMoaEPmfUDnIURMe3p45pAj4bGDwK9Ec6A-1n_kWXaC6vdMsbbsFDw_hXVIHaWhZJ9t-AJ20R2unRv4DxmUa39S-W22WANZx9e-6mzMKaHGJ044_nNx1jR6WoiKu8r8KuiGdXism8y88C9KYbdyqPR65m_VVJLLcoP8vgOZ_5kEfdz2-mE_r7T5-AHgr5VtymwJgYaXcjBC-QVWBmb6x1NEO5KNIP8oxXJ-c-VL1l82XU8rwH7kBDnsMYg2f7koeva702mzWGCqASkPqwb754VYPIiVQluvofNxiyeooKsCgxHdM0jnu9Ky0cdqYpea1GGvIR50A8qFpOHZc9iDTPrObaJFfr-09YgS_icQV8u5hJKRJsby2QsuWs_3W-lyC-1sqBti5AS0MoLDQ2JYWhMX6GRYLsy4KPkRZMSgUnOgQlox9CAPRw38AgVyfXwXrfYxktPbBSMlcbUHTL5VnUCsyhStJGSzMLDrVsulJdP9kGk8kMl90uN0288wYVY55yFQGOL41WMyx5LaM5ilCSh9BaEhwE9y8pF9CQUHplEku9ROmUqLrQlUs8AjzRAinYq-YJiOaVMDcH83l",
  "id": "rs_0acaeb9c36968f96016ab434e9af4487d0b011e500e9b0f403",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"Three separate bowls are visible across the table; the right-hand bowl is closest to the right arm. I’m bringing that open gripper above it to check alignment before gripping.\"}",
  "call_id": "call_70tBvMt0p35pwnEJWdkLqUUY",
  "id": "fc_0acaeb9c36968f96016ab434ebce8c87d085526d18ec428dce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_70tBvMt0p35pwnEJWdkLqUUY",
  "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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4259, 1.4193, 0.7944, -0.0742, 0.3191, 0.1871, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9995 right_x=0.3821 right_y=0.1164 right_z=0.1254 right_yaw=0.0471 right_pitch=-0.0887 right_roll=-0.0378 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.7705, -0.0855, -0.0659, -0.0171, 0.1983, -6.5299, 9.2239, 1.6923, 0.2857, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d57c65057936bc5b3cc375de67a083b8d43e322d8085330147686c2a6917c92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286f0f8f73d64e31744b585594172670782bc5339f2ffa598ec1fd6abd7f29fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8707ae9d91c9f3db71eac0efff9ddfad2e55085d0519ec724cc83c0ffb83b31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.095 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, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7925, 0.6014, -0.3782, -0.0158, -0.033, 0.9979]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.5402, -1.5248, 10.1265, 1.7753, -0.0415, 0.2418, -0.0611, -0.3077, -1.306, 10.2906, 1.9316, -0.1001, 0.1978, -0.2369]",
      "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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4259, 1.4193, 0.7944, -0.0742, 0.3191, 0.1871, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9995 right_x=0.3821 right_y=0.1164 right_z=0.1254 right_yaw=0.0471 right_pitch=-0.0887 right_roll=-0.0378 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.7705, -0.0855, -0.0659, -0.0171, 0.1983, -6.5299, 9.2239, 1.6923, 0.2857, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d57c65057936bc5b3cc375de67a083b8d43e322d8085330147686c2a6917c92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286f0f8f73d64e31744b585594172670782bc5339f2ffa598ec1fd6abd7f29fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8707ae9d91c9f3db71eac0efff9ddfad2e55085d0519ec724cc83c0ffb83b31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDT0D_uO-DnFwyJ_UevTbaGOOVSdp29IdET0twbx_9_IriKhSuDQGG3D5vFxjqCCqwIKcxXmW0jHhBFmiBTaInlJBsWl9FcrVT5QFjyu-Qn9tV4nfZ1hIl0tEzHOHOhBG7G_jtx3T7UwguFN_tg-80hKWif4KoOkTHdFoUgZYYWWkcbLYYhelrLmRptd6garmkF1X88Or3_lLMVhOOi1vTfQMS_2gH8h8JQnBlVNJlf4HICrjOh0Izr_sYz84pcMkmcPFTCabPJEKVve3B2T2VKf0Fr53i8SvuI2WMOjJP8tIr1NtQ_vbSuzq84ulKAJ3haRlBKixCYaguQPQ5iiNvunqFhLNuDk8j_bfsWzt1JrHMW_dncCr1ipXXKQ13c35T7s2Fc-i7cnirfOMzqJmzTNsBG6vBZWGXB9hoj7EYjm8QBsefJX4UgWVh_XJ6ia19EjbgLtMhtzR6S-7pNPvrzHVEcJxanJiCA_seYKr5ytONVvuVt0aDSmmtIQmcQD8Tro5kgCCYraPLqPC-y_8f6yFfc5P9PZItQ5Z3AO1Y9F-3BRzCeAU9mV940gBRs_3MYehxPk0x2Saw0_coupuF63Png9HIrnILXj5V_SYQ6v-2ubyw74TcaCJtQ_bqR2OzEe7KiwX5aVCMKnzNd7xfEZsP9p0p6oHKmaZofHMJrapuIG1e0EGQbjeNHlk-FXd7ec5R_Jn9ZNVKCVpocqIKQLHhnEcSTcFqEjGUqVgVPVhcuIq58N_CdqhPIATqJ9aNxBvqcyNBTjZ3e4SpUjE_-S6Vw0ilimXhxefFrts4n9enBy1UUkQ561m2spgOx0BGAL04jQUz5TuAjhIJKRqg6KXCGZx_4-xzgmY7aaMPy0qQlQRlGAQjt3_h1u8W6B0bU8jVhL23FlRftYSGIqtYYxQZeb2vmRkVsu7xUunZ3eYvMx9n-4l42774z2OpiNiESL4LpCFm--ZRE3jDJEYiyRUOxsTg7jULkzcu5G6DI11Ct_VPBsxTULXYWEHYePUNHbWSMPl_1r6WeKzoVzDemTLI1ly_1erJZR_LehqLafAd_oaaiHw070jUMTA6Xmik_DpESzSMjY2OETMGvP3V5Ljuev3OOduB2UslTSddF-7gWqWfWAHEBqkntFKV-J5Crp3LH9J99iRzwaxXhcbjhtJ9bbd7SXacfV0K4xx1BIzHHjI54G2rxM0kinypdxusbfY9ur3uRLCnQinV0klVfsj4IoT4_LVa_u4uUt4G68IIHMTII2kHkjPdcoZjknq-nbQQuKxnDr9lLbkfq5wzflyY6jL5S-pW1YBDbG3cxLS5iXOm2E5-yVGfSARFkeKuvbO-T48aBSli1wbwlgENHnLdI3RqhqNEGBLyxPjXA-66IapSTeLF11ZYM_me2OXinwnqaFb9P23ZX7ZD-TWNchFtRGTw-ZODC8L5Qf_jOatPFfk1W2cSTtAmSVa3MbSxGgeCU3haP14j0qSakQ_kRAaxSUQX2VKOGASRyC25kRSJR6Cw1-59FNxvWLy4hgiHpWkgmx7q8bY2_COjm3pP3aqmtggzhuFS92zdb0Hq60nbSJXXOYGzhbIjA_ELCL5FPo_p9QR1tb9H4EXCP0St9LN4jfm7ictJ4KS9Vp9DI4VChck5dIsPAXl-PgCp65bsRxK-doT8k0C9CR0kolkbb8vLro1Er1AByXu2RQpFu1CH7UZs8Z6XR5QtJib03D9GzCQRe6i15ZaPr726ArsL69qpbU8_h_odk8PPIMFONEswxj0A4odFFHY_Zdwv9s1Pv9oL0IS15ABMZbF6qL_azdBut9SxNQI7tlTUv2kok2iX1CMwnQeYI43_QjS38hbaRkC6lJFieWGJQHf1TIpkdqvPtL_NmWAQavVurYlnRDTlwEcGzezmGSQKaVL5_IQc6Hw1uTptmIOUsfq8j6kWf9MKpGmkNDzcBN5muYVMcy0O87XrmKnTRIYXcn0tduHr57-71aOmNC225rDWFX7kSEJxv0jSjqzzkMUDEaFTgaUEOOBKidbb38PdVwGv2I5ROvL3_NPt2d0aowcvPj0KAiZLB4QkmvpknCJup1fLecHpfV7O3vuZHoiTsFvvAKQu_Lhq26Qkiaa_FSZ2eA1e60BjLc9lA5bNa5J-xT0O8Z-NCrtCcMg-LAFAla6T63UQHA2J2tyXFxmzzFCl9zjuMkDAv7J0iEONRmQx1z2fInbfWdzRzR1KxbFsmlMj50GstlMH23_DnDXcH4sNf-0eG_Q2AJmugLRJ8R4qPyz9Jg8m77x111jmNA07Kwk4MHMyF4oreIUT5in3D6n5oQN5eY6G0lAWYCS6Vd_6TcIGTDTH28HqmZ9CNPiTLsTnx_lYYxMd9A9YXiAP38RjunaViiRRIqCrq7764VvYZxgwHchMiVWvsebuNe_LWUT_zYCNgvEMTGA5A1h9lLFsQockkuA7c_1fzJpbUZAGPT-GS0BtA1lqV7zR6qVyoNkVLqss1XvoYpctYYcSwlQPOftKczl3Q4ksHJdN_aABq6zJ0isl-YyzROxTqVBkOwC7iUeAaHT1YW1mgQEoaM3NrreW1-HCwt5ccJ49yW6iFzeR90wfFZ_z59zC44mY1YwznylxxhzLSIF_NUT04x9z0TjG8f25NItbthFzPYaajDv3G8tAAEaUQ08b8By5foiHsndyAqfSHT0a-bENUfZhQH9S3KlFVLaii7Sliqii3oN_rwJmyVc1f6OzAuxpGw-0PEV1md17WKccUz8lSQ53lRpBSDksDZUAbGnthGv6EZLVt9U18jtIzyQhIrGvpQlQMfiruqQePBIfzsHtdLXEVml5IOyumqmOvvxysae4oN9XXtaEEtn0DF3Fh_0RsIUxJkX00oh__LEOKwA7f0rtZ-zjmAo7Mingw9DnpFiGvdNpg9omd9hK475YV8bA986iQ3JPoHozJhvT_fOT2oSpwk3R8vPTAlhgiaeoQrv9bme2i4tdNFS_Q1gfZHc4Aefc1-yWoj6EIPhj8L9jI3vUsNaXrANyJDrfqs6etZd0IrNj7uN6e-yHocCX0KXWodQT1AdG20pXXp5h9KnHjdrQfvTJbE2F7_tIGoNg0amT7W1fYXQP3R-clGbscDLtRzt99FzPoU2bmHv-gGPG2IfnPWAIiJlD80RBN8In9r2HCQ_nhVkoj__4Jxo71IBCzmv0-Eb1D_YUA2r6EAZKuCCt75O_wl1yorUoesqb2yYwyQ--ng8vT6BOtTEi8TX7bPQ-TrB7HV_dDNg-NFuG3H2tj-4e2NgoCDqia6pxfhgPaKxQM1znnzJh0a2v-Y4GF3PKO03UQQks_GQgQRV4UXTOSGvg9ovX0pAqixOAO5fkiyiByuAeaUGKAZgKEzgLmH2RUgdokg",
  "id": "rs_0acaeb9c36968f96016ab434efe9dc87d0b567087ee4f1e30f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.145,\"right_z\":0.06},\"note\":\"The pink bowl is centered in the right wrist view, though the arm still reads slightly short of its target. I’m advancing a little and lowering the open jaws toward the bowl’s sides.\"}",
  "call_id": "call_t0upVxPDWaXvOnfcNw22okXR",
  "id": "fc_0acaeb9c36968f96016ab434f3dd7c87d0afa69d3ae4da3855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t0upVxPDWaXvOnfcNw22okXR",
  "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, 0.8043, 0.6037, -0.3897, -0.0227, -0.0422, 0.9995, 0.4625, 1.7142, 0.7902, 0.1368, 0.3344, 0.2035, 0.9977]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=0.0006 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4007 right_y=0.139 right_z=0.0462 right_yaw=0.0581 right_pitch=-0.1657 right_roll=-0.0686 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.5795, 7.4598, 1.6972, -0.0562, -0.0171, -0.0122, 0.1436, -8.2256, 6.8308, 1.7411, 0.3443, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f479456cd282db1545fd96998a9977424256b7181455cbddf9fc2754adb3991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc322cfbb435616a052b344a5e8933541c2452932c36742ddc31ebad7b5401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbad19f1f009bc03320a5cc3d8247d688c9e67b5a73017c318a32f8779d9643",
      "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 · 13.56 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4259, 1.4193, 0.7944, -0.0742, 0.3191, 0.1871, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9995 right_x=0.3821 right_y=0.1164 right_z=0.1254 right_yaw=0.0471 right_pitch=-0.0887 right_roll=-0.0378 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.7705, -0.0855, -0.0659, -0.0171, 0.1983, -6.5299, 9.2239, 1.6923, 0.2857, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0422, 0.9995, 0.4625, 1.7142, 0.7902, 0.1368, 0.3344, 0.2035, 0.9977]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=0.0006 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4007 right_y=0.139 right_z=0.0462 right_yaw=0.0581 right_pitch=-0.1657 right_roll=-0.0686 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.5795, 7.4598, 1.6972, -0.0562, -0.0171, -0.0122, 0.1436, -8.2256, 6.8308, 1.7411, 0.3443, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f479456cd282db1545fd96998a9977424256b7181455cbddf9fc2754adb3991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc322cfbb435616a052b344a5e8933541c2452932c36742ddc31ebad7b5401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbad19f1f009bc03320a5cc3d8247d688c9e67b5a73017c318a32f8779d9643",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDT47KWvuH1yvN6AWFzCpjwEsqdXKjoRx9mtnRD6C5hXPyMXQRuTTIzP1DU683lJDhvMV24yo8eEDFX-M2DRjFW5kOO7k5WCC1-PTCI43XjiSDVCZziARGzN1PaiH_-iy_qUlKFqlL6KFaxAtaAJ3zBHNuEW37pgaGCk8Rm7MeKZf0EOJpWuxtPMQgmzzHU-1BL5uedejhubXbeEF02oEqWKrGg9876KlFgAb9NNP2X61byy2l-HtjdoaCd5F8rqJqW0XT5QZZgGQqwjasUJ5ESaCbVr3kE7Q84jNmak5lzMC4XBujTJAHkVFelzgia7Eh2CHLhXi0HSsU_cY-YgKc1_JyZNajt8ADepamIpuyeMzzX3eqH5wN5ik0WK02AsSYee0lld6V-BoXaz83p4RbeJ4cpZ97XkIQ9VVRBah2mHcN3Zrxi97Fqw_j65unZDwEc25iRUuYuLSH58X-5BTlyjWOiyhAkJjVruxUP-4-BsyLXyrR9pb1KoNwtvCeWe1D5YUb9FIOBg_g2hLPZZmywomxjTTw1B5jft9ubw4kUPiiolKXEGqZ2H4Gio4VXKiNNmqfr4PH9Z0HOQ23TxAqv-_e71l2tfl8Rz5FCrPK_DjsHJ0_p2Xqb5B8Ckv1C5AXAWePWGfWG_C3Fkl3C3zLPA2MGlwP0OlHldVdA0tEK9M6kTW5Xz3wuHvy6SB2FzwuICFiJ1aiRa1dkmbBveWcjmLd6FIvmnWp9g8HBfmYloicFeVAyPZaSzbacrAqkFXUTgzSCvwu4yVEITwdY3qXh3cMWUWLuQ1-h7TjkTBQbBXAmzspRiOhYn0qRURrFCGmXM1lMV4q_lK8sJoNhfOWxNZI9PculAi09ca8JGq9f5PUmZptTFnQnIDtaOMqO0qGl8qbyj-dKNYfvBjDWwf3-XOPZVILcT9B8CwVjX_3ooeSajCgmsLov7e1WUrsdD-zue21-Y2pB0f5EiZ36YBZkpN76pTWqfuEg5pcSYtr6smF8yOSXRJ0HtdmMRt3A5TBbDQlOLUkZ2pQts3mR_3uEqJC8kPzzrXxLBGvMwgG1dW_MYL3YucalmKWIJ8VNXBX5Lb0FdWihm0JYI22XbM7ehbF_YGdAEO5W_4OHcUFnn19YNcjgLy9Ek1EDHTAK7kQTv0dC_CycQCRy0URniAMrKMhpEQAKVF5_dnLr5xDtzHexqmNtgZ_-Vpbivs0va9K3MG_XdJ8VytQ7Cv4oxj0SJl4FLMdu3aVSSqxxCfIucf7KcojWHkXzv2AHxJfdxtbtsGkORilNrkdABbK65iJ1RyeZXOnGkNn_F56Sq1xt5OEHdbG9pbOhMYRB_XytUMTXBq7cchtRD4AKQDRb2hFRdW4jg5rMrn1crkqwVX2EhWY4f_WHse4ht8gM8cxoy5duBx-8ymmHcZ1gpzVNNrBEA5pa0sT7iZNBikSb4li12ASLiwYA2qJsm9k-naNxvL3cFxwZ-uL4XzdRfM88vDFGJ283-ynmYhzV-JjUbpyRT2-Ey3MhYIx6h-kncnAjZ1-SArGsASq6pj4Ugz1eIqhVfLLg15wbE-IfcG4-4G1Ha20U6_Q5oeh3u_gasO93wh0ZPSjzi_qMIiAOWEm1OChjyoPyoOYH8GO00snVF0zcCRjFdj1Z97Byj1ylx_k4g_lBVGZx4xRS-K3Hhxpd88aH2novofZeZVJ5Sehwuev3ODHSGKXnqNpghNZO1tAQxN44qRmYm6U5a16zv31zMBxk6vlygsPGqhYIiTX6kwHKmvvmDjl07RKWOpv3ayUldlZUg_Q4DSRzclgxtTFFdcaiDS6opiwpu7o5E5LFeGtsvy-b-CaqivtisFqY7mBXJuhQi",
  "id": "rs_0acaeb9c36968f96016ab434f6011487d0a50ec8ba2ec362b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws now straddle the pink bowl near its rim in the wrist view. I’m closing them to test whether they catch the bowl securely.\"}",
  "call_id": "call_3UtHT0GOz8vbDixjACNaIbQZ",
  "id": "fc_0acaeb9c36968f96016ab434f797f487d0911ee5e6e2af23c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3UtHT0GOz8vbDixjACNaIbQZ",
  "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, 0.8051, 0.6037, -0.3901, -0.0227, -0.0422, 0.9995, 0.4648, 1.7355, 0.7898, 0.1925, 0.3336, 0.207, 0.0076]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4072 right_y=0.1435 right_z=0.0469 right_yaw=0.0611 right_pitch=-0.1345 right_roll=-0.052 right_gripper=0.0076\nstate[joint_eff]: [-0.1026, -1.347, 7.1726, 1.6874, -0.0464, -0.0611, -0.0122, -0.1573, -8.3897, 6.653, 1.7558, 0.2125, 0.0904, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d884b7217667ec609d1836f7270e6e917abfb9df6f098c2f6e0da2047a1216c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb2ee41d4c88e0d0dd0e8b227a21ec960d96739259b527d56f146027ee750cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c67103ca1f150e89e73e6628ab1f9b11b6ae8ede35671b941afaadb0fbe0698",
      "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 · 7.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7925, 0.6014, -0.3782, -0.0158, -0.033, 0.9979]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.5402, -1.5248, 10.1265, 1.7753, -0.0415, 0.2418, -0.0611, -0.3077, -1.306, 10.2906, 1.9316, -0.1001, 0.1978, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0422, 0.9995, 0.4625, 1.7142, 0.7902, 0.1368, 0.3344, 0.2035, 0.9977]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=0.0006 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4007 right_y=0.139 right_z=0.0462 right_yaw=0.0581 right_pitch=-0.1657 right_roll=-0.0686 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.5795, 7.4598, 1.6972, -0.0562, -0.0171, -0.0122, 0.1436, -8.2256, 6.8308, 1.7411, 0.3443, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3901, -0.0227, -0.0422, 0.9995, 0.4648, 1.7355, 0.7898, 0.1925, 0.3336, 0.207, 0.0076]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4072 right_y=0.1435 right_z=0.0469 right_yaw=0.0611 right_pitch=-0.1345 right_roll=-0.052 right_gripper=0.0076\nstate[joint_eff]: [-0.1026, -1.347, 7.1726, 1.6874, -0.0464, -0.0611, -0.0122, -0.1573, -8.3897, 6.653, 1.7558, 0.2125, 0.0904, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d884b7217667ec609d1836f7270e6e917abfb9df6f098c2f6e0da2047a1216c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb2ee41d4c88e0d0dd0e8b227a21ec960d96739259b527d56f146027ee750cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c67103ca1f150e89e73e6628ab1f9b11b6ae8ede35671b941afaadb0fbe0698",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDUGPDtlYhHRBCasQsY-FIAHTgdyIacYP40yBV2lTTdui0W2gv2U8RIc5QcBNEpWwin2E46y78UaCgRM2io5Uf7NXtuYtO_DjdpC1dz-mg6uKXoYahrUFi8kJ8DXwTUFYvcMt104fvOfG6ldjP64dhBUyfxnt2ZN5SxMRBFgaBSvEC2CzxY0tp8cuWVKEHcsyg3NT_l9T4AiZNxnuszDu4CaiGbcZotO2veR_MoKNtCNCLnb_yqOdB6sgfwg1LWENL4p48vHdrwR_twSCWmTC5VGqmpmBZBzVYT2CAwWtEv3kSisZ1ETJ76g2nbC_wLgvlmTHq82jDDSS7-Hqfj3jdaA1ccxVJ9KNSbCLtMnok8h6ehO3K-HCcXalNvvGHRiK-B9aZ1CJI-RPUKSD0FlLiY5aPuaWBLyEjArTBnx82FFzxdfP-YV6VkVzLbfa4NRhi32ZS1A5kbqpf0rn4nY-_hV9VCl0zURIgT-avvJBwXm9NDSL2IHnaXHHeRxxE4cKq9-QMHh2l9k4xugYju_N5t4sjBR0QHDJ3pFW0upuzn-bsjRMit977W0Qe4U-BxJjevh_3Nozw68inuObEn1lII_1OEkqtMZyC_PDSm98eMcgKfb8WyDsN_vxW-Y5E6ctbww0ftseptkNYiiVVNZeCUWUFgymI2ckKnixSDRspq0WXetphRr3bi36Ajj_YAItfuijH1CYRs78vKEzuL-6sj1Dq9S13JxMDVHrFhqdGoKkiQiVKr2391lFriGLgahGYWc3NP0wErWODAPSPnO1vt_0N4pGJSVt_1wkYT8LtlndfBOBD0DJ8cs9dE719grW4rQyE1yuKtAK7rV2tqJu7anjDYQVLs5Fq1LEnj5GbHCxiuthAMpzH5raMKQDRz_EDK9Em4g0A0jJqVrhLTOPaWPH6MU8VSR0T_v7ciAM10xp5iyx2XK_VA3iJFKCejlExotMKhaOQWlbjJsgC1wApbEAfrFaWb9swakIOdG6Zw7sbYrZcqpA-bI7Y80jPSFtIawcu095ParRIJ4XeFDa_rmf5RGkt4dpDp8wV1jIJTya73alFzHf-kMV6XGFHpqDs4bY2KlFWfuSdiIafHLyC41hslgOdkUOAIy2FyYRvWEQKvsmDsphdwug-nqm_ceBextD05UdQFCQDJOnwiXY4k7jliUcGU06QfeBmkUHzfZ0gF2BpmRaQDETKGBKJlu_F21RjzjwD6b8_m_tL2HyxQHn-DFkw-86UpLeBf9WM7VvwKpYEg3GUTu7lBuENsABZyTPnOywqM0pbIF0Gu_ApTQsOIvtZLTgZdyv5eKndC_Ur_KKmKNo3f_0ygYjX5_KdTJe1ucwIDuWGDtDTlz8GvdFD5tGBBh2RGhlCaoDacFSDzFepjhyX9sBHStZ-gkL2DJaHjZ9R2dm1GEqasFEUtH1gmaQ4V_alINdtX6DpzQVal8tV7n5mTcig0kANms1mCT1zZDmiDjP0XT2hlsF9VtmpkXUlnCWKvOPR-tz6HvHZFbqmjYbjuyXmvxwWWS0PFVLndrwCStHSeEaBJyseTRf43Tw3XefepRQyqRpBXp6k4ktPgLQtsSKCsYI-phLQRRfF15w7M8OKQwHiIOJxsyVmE3eE5XhMoP6Ytd9wicrSLsxgRjyHiWSIBXcEeo_yBBoPpf6W3JS-Qf1uyrntleMCXIu_xECK7tI9OjLX28kt7uOrlQEJ7A_qYC9nxdKgUJmPhse1Ay-uaqZGqRJa84L-XQj5MD7fc9AI_gvEAAoGEOED1ZBkV32Lp1UIbL0W0f_R-73NIsnvUzWGr94Qs4VewKrXrTeXpswfmn4RQaXGtqSGF0QOSec1nPIq_BJz6KLK-MOv4M4Qp81bKPgMPS3tl1-chxRLsB26KjrpbtgS_nWURWgJVtvWR4RNczE8TvOo7AcqucRcyPg55dOZ6ngEZI3lrre2BbV2DdldmFcr5uGBXqaiunB0ggZcNf2r4qJGxOK62G23afcHUZVJkGEuJ8CabQu_M2Sm_5DFJMaMgJ4hZEftAmzLjcdvqUy3XthjelW-DXP1v2EP7sR-7RMFs9CT6CbRb6iRs5o_F2aL9DcMVnWQrawU4Sdldtqr-DP1kdT2ZIajLeqL4snoEDTK1PdxGynmPkB418ByIBQNjtTlkzpTWHa6FpWV6Npe-x43TDAV1Jupo6McZB0NfQgQsJYoFo67pR3QuxosgETA9lqq1rNXagQHacGRISGjoK7-n2XXJqIW2whwVBvqR7-aGvBexyswSJYNdyFF-Pz10xINzERg-JzyzC8T208oOsmRLU12SjUNwqTLZXNfN_0MhxZHmX-417xx86Y3NFs4ER-JKyp0GOh-YmBJvvn7XuMJrA7q5PeygXUa_MaXlaamFLiiAmqvC5sL4VCFspkeYbolaKxApOn75UpouD1NUGg67vckIMBKbXjjs-nCGmXEcluWtFEOEfIXMo37RcJ6QKnSVFyTh9K_JzxHelvSheW0UmxjhMW3iW-uIouNpEwQX16O-sFIwkudvN2oy209Lq5qpXO2VkP5a2zWojtql6wZZ7QcX25Emji4AR9kgednL2FrJPmTiWtX7x4aFfvfNzD0osWr_VQ3jdk2eUfD1cNXcPehMZAA9_qWFBaW2oCFPG7qDvpnnx9JbK4AC1AGrJOLRrwDZQJ7OKJt-Wgd3ArNWubIyIC609Z6RAULzWemq-k3tfikgNG-KgOwnH7aIyDDpewwx99bHQYgfOvqSFeanOxK6HwJkbqPthkCNLh3v-X8nN4GDPXM0jYI-IBBbFx06yWZCg-vh2FDcT1wRBYWi07StTPo-7ZIg_fHWMn2lEfFaPYSj-OFMZ-uO4SKOlFGJpTXaOe9iGYbLrkHkSTs6hMyA4wjyfB9L1o1AnU3fVqbe__6L2E9tHHTTOOvb3LPyHd1oh5x9xxTM6W_w2WCCiRI0fICpK9NAxVn80fVXUoWXhewP8mheu4T-YuQ6yni82OCnIXJTaPNoSPRelBZgi2Ka2ck4qPEC3pzvv-ZpAhN2xCpF16jgxXMvFlQ__RGMoO2mMEwaZqv6AdVbTTMTn9pttPuBBefkBoMRgxFNtZCo8MuMA05DfhuU0qho06GfFyDCncCkxxpp3wnDcsiJ0QGKILLA07G_0xRE3EuMVqDUjDBvZwpKQ1WrQh875PdpZ69lVU-07MVBJ_rt2MQFNF6XfoYvkOurl7NfYMGoUHfxJHXrVOKFAWnThAocUdWyM-Oy3OebtlxEu3ZIrlEzi1itBcATPrebcL4joXiJCnh4SSxawlwkaY_3bzhYtKNgmmoN5KuGXNQWHz1nRFwmezbGVvAh0Noo2vXzT_zLba-XrZ8Ceg5mfPD172-zDYtoY8fYyTG3IuQ58zFwY9hNF26Yr8VtdA72gDUwtJlg4im-jAi0uLfJ2aCUR1V4zXmY2l1M3z4xPLgAgalWVvQNHU3b5J5UXgcmLnEHeSjLgVaib7QbwnRqV5jLRV8Btk1d_vn-aejTdJfNfLBRnE_hBD9dmD4PG08Z7mNtUcIwi56LX2Y6wZxKj-6HeDmAHrnoLWNw8tYe2wnnQSSwVUuOc2xTwk0bTDdVbSHjZ4YnbjLH7GWEYmZAfYDgrpWRoKANzYjgg73eVe4705GETBT3MFmxiGEPCWsv8HvfJA9EYJorffm55su87-qPzRxoGRB0lHsJn6S2idCRfic-suEjID1IHGHj55ngUmMtmCx7C8boTJCHnCs58n-RsfvW1wV2_Xbr11hiFEO4xPb9Mst6bSmst7AxAkEMAw37sxDjwLT92SJBpUoipLs4duK1R1OybBEPhCDtIFeCSqmGhpXWlkaaPVLrnatd8hhUuE1GUjJwqyGFnZdotFy8NeM7T7UN8Z-iOs3AYu4PkhbkIZtkS0CNbdUCf6Nya5rxlxgnvoyUu5X0p9hoeUScyi4-LmdZcbHXoedPWPO_QezWo",
  "id": "rs_0acaeb9c36968f96016ab434fa582087d0b4ba54dd603ed2af",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0acaeb9c36968f96016ab434ff822487d08f1ced298fd0a1f5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUGw8NjFXhewgk1XfZvsnMWSrM1I_7tU2m8rEXadDR8g10aKugzW2HmNQX8YCVDSKkruqL5JA4dZQWMtv5j1sv8aNagwkdntQ5_qJ940C54VloOpAJ9EK5dzrZ7kuFiYi1SDaqcXCvL5F-P-AamntcNAi66XAw3SyZRlFgBUN6EMmUIPPiXU53h19hPpOkaS1V2RgbFFRD1c1xTos0mqWeDlBzHcx8sihA59aMVY5EiM3UhEypgQPuv2JACJcG6x1r7OkGo1dWNUhCyjwyYOQO5PE4UwNsSqgQ-1ENusonivednGrd7xaCitpol1fs-0SG7HUVpq4Ljf2_IC1O4qsvCNkOCozonKdkGpAuPgifjBt78wLca_HedVw-sVj5sl_5Fb_VQod3orvI4MrKsRX05Dyni3gKt3vQo2FmE7LgJE5z9p9F-qdvP8eeVIsaO-hJJiaJY7g9OwmwLr1fdml8Ns2efJRxkWF_xRtJoibCZotuS5rLAmBmJsZzAGp27IbysUkdmTVz8zmwekI8aZSIw7pwj6EE8_ysDVyJrMI-5wZA_CpjyoqdDYGM4JrTxzYJx0xCWtfwMe1UKpRQS1lcjlBi_QeGV94COHROVP-3y7UFxl30ZzXKSMCOU9GtswnEjARUwvMp_qKs7kvFPkuFuoYTfLCn1wqf9BqMXN8L3Zyvi7wxfTAdjUefr0koZuMPgzy414qDPof8G9KIt2_80_PC0vKzsfgHa6XDKiUxLL_hqqQ-Ck4Phf_VN-y-XsA6SSDGwsj96GaG_Wl-bO6ol4E-419eA3qXaCRe1gAVecyDyjBwRaCQMERZ-VjW5vxLUv3WSpy-NOxYTuBMfKJdFlW7aZIMHUF7YbU_WrtTqDhM6eWaNfVEil8wfQWn8dhF5XHTku_bRPjUzU4WytVXjhCzknA1VLS4ErOqfZ_fQ5ATQN7Nb4hT5IzVQ_c0HexdOysr4HNtavDUcj6LNtxhlQZjYFm_dovZAFS5dPJ8Gq2sgtL5QT4Vq4aCpwUlq1STpH2eUp6BGWkDLnUOg6IZV2ZCdC_T86m_au_ZAJ-c2kRYSMDKSf-SjOf84OF0oEs4tr21rYkrufNOzQyRlTfp5WfXHdbN-ERJsQ5i1T7Wa8PSvbHLb03lPlYzF5LkhX8nmjDWe4dmaRldg4HqlyStLBREpkOz44734tcbOGAdBoLwum_q_6J-CzxjKPTWqyvGZdhbbphQXcXFzqF8Ibccd-MpryJwC61aWjRkgJj5wjArcp2dkNmJ4B0eWz2fYuCYWK1SZUoHRQzE3xc4Onc4oFDOsghHLDlBB01hMEbQKhkmrgE49YCelGHWS1x2UmYRGbaKbQCNSCkBxMiJTML0asOzeNsw7yQIdYF7Y4HFN5xB6YmB-N0oHU5mc_ipe9XmoC-ce5RSfBTSt3SxicApb2FrRAz2zdW6fAsfrzXXO-O4BLvGrbMk2MXP6IJw9klD9G-vSZZIHuHJQ5ttVwFzzKPfzm-k6fNkbTuPCQmX_-foqVL3rdOEBd64Lc4GCbc9m13U2PCXAdS1iRXiuGZNL9IZkQ7JyG0grSK-_XzFrgfWJUZpCAVXw04CJGzFVANEzxeKiAm6w5NvDqYwWHLTVWF29P6GpigGPCMtEu4UJvgLY6WS2HCl-dNBNhP_I9DZphqZcx-nqahYftvv4FwIkcI3s0sQ2VinEPyc3CKRPkBx2_n1vRfBaaTrB6jqPPS3CYt7e7vJSI7ro31vvoAQw1v_muyaKNy8qH3PK5ssfBzcZ0MSDGkHr4Nr2YFhPQDKtf525NVZaeWR263XL8Ir2YVjyOyg_mJevVDIDNSJ1UDp6sKoJ3Vff8rdYSQZGjz5-6oSr_Gt0p5xpIoKMAvWjPIJ3jxurVJoacJmjoO5nkFRI7oYmta6cjRQ1eijLlLpCbtvnyempNrC49YW-qm-8YRtFuRVWSTSo62sBVV86R9EeH0Re33lyappPu2ieDJXvfe2K9MuUoP8pKnD7wNVwOhtZLYv8HdV5s-A8yQfSlwE=",
  "id": "rs_0acaeb9c36968f96016ab4350423a487d0807636d74453bf36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.08,\"right_z\":0.055},\"note\":\"The close came back essentially empty; the bowl is wider than the opening at its rim, so both fingers were inside it. I’m opening and shifting to the bowl’s outer side to pinch one rim wall instead.\"}",
  "call_id": "call_JHn23eC5QJ36TgzoZDZIQGni",
  "id": "fc_0acaeb9c36968f96016ab43505c31487d08f3eeaa6eb09f3da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JHn23eC5QJ36TgzoZDZIQGni",
  "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, 0.8082, 0.6037, -0.4011, -0.0227, -0.0456, 0.9995, 0.2729, 1.6547, 0.7006, 0.1921, 0.1986, 0.0776, 0.9951]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0332 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4021 right_y=0.0801 right_z=0.0421 right_yaw=0.0513 right_pitch=-0.1758 right_roll=-0.0634 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.3744, 7.0085, 1.8388, -0.0611, -0.0171, -0.0122, -0.2803, -8.759, 5.7368, 1.7265, -0.0122, 0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23463af99838b71a57fd0f8a3fe652dd33f0d8200d8dbfe7ed318d7f27d31101",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f8937812005a986dc4c7ac60ccf1f48183c4ddc025bce8bbeef70341aa70bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb8db691749488b0e893c3502bdb7f9d8c6e57b88b216d1b5a9ff0bbb9104b5",
      "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 · 3.99 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 21 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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.4259, 1.4193, 0.7944, -0.0742, 0.3191, 0.1871, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9995 right_x=0.3821 right_y=0.1164 right_z=0.1254 right_yaw=0.0471 right_pitch=-0.0887 right_roll=-0.0378 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.7705, -0.0855, -0.0659, -0.0171, 0.1983, -6.5299, 9.2239, 1.6923, 0.2857, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3901, -0.0227, -0.0422, 0.9995, 0.4648, 1.7355, 0.7898, 0.1925, 0.3336, 0.207, 0.0076]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4072 right_y=0.1435 right_z=0.0469 right_yaw=0.0611 right_pitch=-0.1345 right_roll=-0.052 right_gripper=0.0076\nstate[joint_eff]: [-0.1026, -1.347, 7.1726, 1.6874, -0.0464, -0.0611, -0.0122, -0.1573, -8.3897, 6.653, 1.7558, 0.2125, 0.0904, 0.5983]\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 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4011, -0.0227, -0.0456, 0.9995, 0.2729, 1.6547, 0.7006, 0.1921, 0.1986, 0.0776, 0.9951]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0332 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4021 right_y=0.0801 right_z=0.0421 right_yaw=0.0513 right_pitch=-0.1758 right_roll=-0.0634 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.3744, 7.0085, 1.8388, -0.0611, -0.0171, -0.0122, -0.2803, -8.759, 5.7368, 1.7265, -0.0122, 0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23463af99838b71a57fd0f8a3fe652dd33f0d8200d8dbfe7ed318d7f27d31101",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f8937812005a986dc4c7ac60ccf1f48183c4ddc025bce8bbeef70341aa70bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb8db691749488b0e893c3502bdb7f9d8c6e57b88b216d1b5a9ff0bbb9104b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDUOwN-7exqhdeayHCLDnjRfa7p_EvLRFpk_lxGX15gMxPvKI0UR7zwiebD6t1oAPSV33oQQ7u4gMTZLf2HhWGjreyhCojzk_4l1tlZa1ybU2QfqbJlaFSzdpZXuG32G55nYjAfcjFbnOGF4JbZ6eIZGd2ruMdOZil4hgFmcLkSBVLIlUEfxxBg5W6A6inFr9mMAvOemEODgLfrRlF4SQ4A2PZmy9Xj5c_MRtR9KoCMnJ14nRmlWYK2CjG8iH8xLeSPZ7HrC-VaCOJcWEvqCTgPzIRGcJdqMMnRu4Z1oc-0GD-8z02ePsInvuJoitjQh6xwaw6j5IRbM38wP88v4nXhRHoQYt79OVWU01mmOihMdfKvnMiTyGcpYHYI2vUll5NvmQkPX3TOOdY34qYhCcYNcxJXAM8_MADJPqcc4ebCKMCQ8lkpUueiJLxoRt_ckuahqe5PPgb-P_QMkI7kmwppSBglJyfMrB0RtTAAgx-iKglNo-oB2dBu1cXx7ieWaKmhcQG7U4OydQuMT8oyiHhGRWb5bL7MZwXtfIvXwYUOyoTC4IyEkk2zkB61L7Wz_petaukMCO7F9bX3xkeM8ub0hZSTyA8bwgQkQjE8_qDyLz4Wd4v6_qXKU0Oy6LUjanxjdEnMjjZwCiIdAZhAVE-bf5JJL5ZD5ZbMfE8oMuOH4UA7m6-VVC7_pjSpmxavdnCRZlrNTOPhOsjkFl3okp32_oEuc0PiWHWMn3IcuHyw980QZkcceevlxplURVH2eH_kYwwsw-loc2shbKbnTRpcIGKnSrcnh1lTettAjkAdvYnK8uIdPrtVg8VUN8PwVO9apeYTPYJEXQeJ864N0QQdvNMiRWRfcz0s4G3uv553rfx4j5VNCT7i_B4LvhTJUa2w7n2MjJeRpr5GMSn1_l1Db747tlAaQF5si7dTDyP4TgWy5eInqy-B2DYg2Je-6Cj5ZmenvRQeWfAFH7tPcRKoMLwzLx9kQV11C5NbO5OL44yW6SemlzE_7c5mfY08thXts7uyGMiCNHgRepQY-AQzOkL26l5vnuspQgLwxoY5InXXiGzsOjByQH425CNU_YwA4XKG8gg7OnXq99ZUHoQy1cqCXdiPvYbEh_7SKbh2s9W5wlPHY0B-8IuLEE7OgSGtqgfL61LeM2H7CFuIuJXowxggqekbPHpClRH-p1AwrLkZ1DU_42UYXRImc2Y8OYxG0irNtQ2uvf75U5GFMsgzB0wZAThulkxtJhS72hWN3SZfQHO-y1emfKIt4mCmNmLvX9Ozns-LfkMy1KZJPEQtia-asCZ0euFmwMeKQLrW9p0c2zcwBf_GUfEY1FH9uLOMk1-llF3z7oJk49UIVrpBNcw-sGc18CbiP5Y3wY00drzN7s1aSvThPnEzoTIzYnN0tpQ6GIVnpm02Y0RxCGWuFuI2qhZgaR4-yY3grFA_w9TS1IyrRqxGQw2DVS1GR_ggGO3t77yALT4M0K77TPyP26zGKn-odmlcaW23eBkbvBfWpdKpqzCn3EcFd-8iM-SBVAIvSKxGtKaxVBg9rSJXdHxwRmfld28Gkeffmeoti6Sp0gPCGr6LsMb7ofvIWhJXHvs4jvrqLky03WAtJ2ucuGz3uGdbyUvAk7JLudRBpc1xIWiyNZIXbFIh3XlnmveAGhmDpVV82MobyflodCOaGh3ASOSPm0QELi4aoJS8p-w1XCWAHmLR8OvRDkGf0HzABMMQLxqjXiKFejDDciusOI5Aa7fq7oGu-KaDjcu3UHgCoEOTQEnB_xoUnyQlEW71BrbJ5RgdkLO1A890Dbj-oLLfpU0WDlSSqWYpLzNYt4eSlnchdgCE_y1l8DU62Wc7fRuty88U95YtCT6IP6o4Pq7Ck2Wo6CFQ_6AiJ-5ZwUKnOfIBIZ3axx2PwgUn_6QWAUfSQX-i3ofA-AtO8Lq4TMYvHNJ-INtw1Bygei9oFqmjbeG0A-ph69kXMYWYGffwmOxGturoBzo-2URSzguxz0O3bPh0FV49dsXxLy3cixxzNQr_s3fmguRlT7AnlvHyR2UB-yexHH4ROxzWqgl3F3hJOaXvBO9hfsQuaWxOso9TlBkFbeuZ5zRGFJKgdBFZnWgSZkRTuA1HqAmDxo7B3i2qug0tKD6TSU_RUvFJQg7w0GA9qkSN7Zc2U2pj16Y36xJeJFJ4Vxb8oEk4xSRG9OxVgbosF0LjM_KgQ1ooCFqKDybDS3oVBSXcp9B5hM8l_KQxeIak3GYqQeo6UZvUoXKwhxUYEXjQJYJaVhH463wHYjqxF0zYDkv9oTFK_LGweJhZZkng9wSmaShXo-TNqgs5-SfZ89BLhAk1W4H3efkJ5fOs6RXw-88aL-frbROdgaGzedbYMrHTYqB7CRp_MiPj79Ny8Ah5ZtFn0zWm0t82d17rIhBErkfmySj7wEizWzE9wilxo-zxi1lfuryQcrnFa_RPHT-LZMykiB2y5jr4k9ifL1siEiPBvIHWGnPB-0_bL7_WhKCghUAJquhJFR0foMK0VB48-UTo7koUdrXW1gdRP3NUPnckUD2Z4ufQmc_maDkw0w0hHm17wkKEIcv8A2clAiSJ5atG7NGrzfyalvlB8HhlScqn3fct0270fghw1zYlmX4sMuuxtdDMk6SnwstYicTJWFcSy3t_u2nQ808UyXc1PNX4j1erzdWO9muvJP1U4wLXv-e9bKubcDsewBaX8MPGTiFqyZkEz6dKCuaBAYLTZdSCCe5F1pJPIAFuIO0BDY9MmP7yV098sKYt0W7Zm7rPfuxlqMQfjDhKWNzug3M2nlgNyQm9PLV_HcjiveITtiNmlRzswIhtsh30A5ecXf4JhB41Rznq3QhxYXEbsbVqbL_S2mEXrzcGIkK1M3DaYgvbmauNiI7aytqlZbpnfskKVY1sgRIfK_tIsE785seWueKxnUjbZZ4tWv3_I0hkciZADLFRYcWTXRWwHCRXHPlOaIMlRm5_4TMlh3h8UVzO7XeAgWBUcPd91xOmTXybxKfe2Gi6pn5YwghjvQ2UWxEuA54iDmbKNzIpjdENuc0XaBhNhGarQrBdZsOhaF-YXls2fGdrFc-kQHuGn-pRJU0SvCVB8F8xfXzPevMbbyI5ROFdPMbk30CjftJ5NBAwJuWpIEIS3DESPE491aHjbFiMl1xdGkKVm2hJInDOWSSUug7bqCOME_Ihd9yYivOR9a-Up-KERLmJzrQV9G73S4d-8FOclcBWCD-5I2N4yCOVZ45be1-mAKn4cuXtzgL-5MeSfl09vmas_9lRse39DGWu6n08FGvDes_CzmfxW3A1S-F2zf7Y5Ii9IWCfa7IvPdyh8Qw0UQ2VtGmdYoS8rbEFoXb5R3IdhvG1CiuXwhbR-qJiUEWMUo3DWCyaTGZ1hGNhKkThqbdSI_aSwx8JwX8_Fg955v7_TOUrGDce_tCn1TmXaXbEStXW6mCZaWQuvwwP8x6O0NdtgRDPVgqedVhgFKp5oAzqpFyhTHlXSglJ8k0Wo6ZpC2r92bgNXLi43YQkK_YZY0-6UWv_GX-YPV-96fJZliN8BIgLkOxlGgnaoXfjwHZbR5pdCnOINzUhmW_qK2iZY-XQOx8IUlztmFShf3B2Fkmt-L5Az5nQGZ5qckWwtcNfodNSHvuOR8szEKDNq1Lq8zDQAuGP2VMKDrDIxA1Yc6TPh8F7vbCYPNba7V_xUqgwWcgwSVqSsxmcIRoR3-FFTkU44I9cB8Yrkz9VCDFcLcQO0pigCVgZojN49XMm6gzU3g3o76Ubt5vToFFRuTZ400afE9g==",
  "id": "rs_0acaeb9c36968f96016ab435087d0087d092b9a7496dfeff7c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUOtKQItFlr45R3B4AjGXv-u41BeJvZe3ur0WdYncSnJ7yi-64sqZdui8Q43_qkyYS1mLeECD59ZLkPwdNaVU7Yvsh_bfE1dogyNsRbNm3SPzbHxrkxPljHp0anEdlsbF5gpdsn1OXpC9MrT4ECitgE-ykwUKj6D6-mYUfgvSiQrX1AYQEo7FhuVlao6pzpApt_-qJqRPhS2tdaYAFsCnFlpuF2YGd1_F8Oc1WG6eLXE-pJCErlOI7iRD-V7_rAwn6e5wCkCeSlpOPhrUj6kKyr4NijtYCZUY7GHstBbQTIMZZKjfNzNHA9K_3Tp_4u75S1wE6Ki7l1jPhvdryO1mmMCBOsL-dRnF8LIgdBNTPeNFEBqyYb4m4VsxoPTBc2yCWsE4cV2akDzm3nx76duFLy3fc3LFFCYqsKHJzgXhsQ3eAUI5vjT6qdh9uKXqcySX-9VhByteztZmozN6ToNaDoZt902MtNhW4d8winL5LTx_UO8zDZy4TB_gZMp_O_n04K62bKehSWBseoCq4m6fQbINbdtonXDoR4RSnlB1n8XTe_fX-2V_W4GjDtz3KRqIvKMuVM66A4iZQjk8F4K7izCbMjC7A0hpC8DAuzw0Czkyy7-VoCyrBRVNnj9RtfIdZpVa1hEPixIaP8hhMuy4bEZ41m0qltv9JKmzs8eQmBV47oI4gDz7ktAJtiaziBZOraWCqiQO_fuR4Z9mjz1LsmkwLkqNYTASZtdLpEi0dnsyzbSBNoLpWlcLLPDZluwKc0CkYndjYQmGgvNKiM1eDtiyKDHFZVbNiGQ_nxyjOgBO2Hpugsj50HeF5_PbmLkTs-ONUevIuY4dwIXdJqYQiLw7UhlaOvE7H9nWXwuecX4kdDqlR_lZiY8Lt0918F7APFaNNjAxdeHDCW4HGEsrM_NmjPcNHfMKAQXeF2rOCgPVlmDtSb6PUnR4_AG7u7-ichHI80WnnTLhHMqGvCWIeXeqKHJkqntyIP6JjohbzgbTfw9PA4YsdzdhH9IN29ahJT08NADILW9QrvQ7vbOc26ZjRwee25c4tHIxWNt6EWAdvlimxYNp8GvBj-EkUPZF_4iw5hcjbx8J8d_rxXGbSdUvhwKNG8pSxfzFySG1GvnM7QP40OOlgRwArJgTVC9TdUkzkTaI8cWp1tbDvt8G7kcg3K-D5DApQRLuRodsnHoeaVcyssyhnB0RXh4Z_t3FyfNkpcfa7Ox6FkQGLDfVwlgkySdNth9f_adGPKKaTfcV2dkq7YgtcHMNO7rE0j8f-wUJISXxRASK6Z-jignK7vuJgPI-9kiaCV3QmPr-zisZ68Cl32J7JGB8B36lwOranpTO2ezCHibd_plMpsYja9blRwcH0R0QgFihWnT-AzrzA=",
  "id": "rs_0acaeb9c36968f96016ab4350d48c487d0856794911b2a9708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_y\":0.0},\"note\":\"The pink bowl stayed under the open jaws as I shifted, so they still surround its interior. I’m lifting clear and moving farther to its outer edge before trying a single-wall grip.\"}",
  "call_id": "call_E865ACHXvw7dkrJKrGefFyeY",
  "id": "fc_0acaeb9c36968f96016ab4350dc57887d08e02550c74a7433c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E865ACHXvw7dkrJKrGefFyeY",
  "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]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.049, 0.9995, 0.0029, 1.4441, 0.8268, -0.1497, 0.0254, -0.0944, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0044 left_pitch=-0.0415 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3988 right_y=0.0002 right_z=0.11 right_yaw=0.0232 right_pitch=-0.1994 right_roll=-0.0699 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 7.159, 1.7851, -0.0415, 0.0024, -0.0122, -0.1846, -7.3504, 9.265, 1.707, -0.0855, 0.0024, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe0a26d0c084119d7176d809012a00f1d5d2f45691550eefe80caa9c09d2b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53e64eb4f671e5086ca88c9dba43a1d9f93aacfc2e190b1f50a5b767abc584f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf14c1ca89d26dca1f50ffcd850f148e1ec6eb43bef39b7f0fa6fd1d20566f8",
      "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 · 2.718 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 21 changed as sent

message 26 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0422, 0.9995, 0.4625, 1.7142, 0.7902, 0.1368, 0.3344, 0.2035, 0.9977]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=0.0006 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4007 right_y=0.139 right_z=0.0462 right_yaw=0.0581 right_pitch=-0.1657 right_roll=-0.0686 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.5795, 7.4598, 1.6972, -0.0562, -0.0171, -0.0122, 0.1436, -8.2256, 6.8308, 1.7411, 0.3443, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4011, -0.0227, -0.0456, 0.9995, 0.2729, 1.6547, 0.7006, 0.1921, 0.1986, 0.0776, 0.9951]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0332 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4021 right_y=0.0801 right_z=0.0421 right_yaw=0.0513 right_pitch=-0.1758 right_roll=-0.0634 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.3744, 7.0085, 1.8388, -0.0611, -0.0171, -0.0122, -0.2803, -8.759, 5.7368, 1.7265, -0.0122, 0.0073, -0.1245]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.049, 0.9995, 0.0029, 1.4441, 0.8268, -0.1497, 0.0254, -0.0944, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0044 left_pitch=-0.0415 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3988 right_y=0.0002 right_z=0.11 right_yaw=0.0232 right_pitch=-0.1994 right_roll=-0.0699 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 7.159, 1.7851, -0.0415, 0.0024, -0.0122, -0.1846, -7.3504, 9.265, 1.707, -0.0855, 0.0024, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe0a26d0c084119d7176d809012a00f1d5d2f45691550eefe80caa9c09d2b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53e64eb4f671e5086ca88c9dba43a1d9f93aacfc2e190b1f50a5b767abc584f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf14c1ca89d26dca1f50ffcd850f148e1ec6eb43bef39b7f0fa6fd1d20566f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDUTDypwxZ601I1hNwgokYuDvMhqfa0N0Dd3YZP5Zfm-Q0K2NQ4LvJwt-r-h0Nf5Q9IYCHY7kvbuRIa39CTaDsFLyRbKAMDF2xRl_DiXasHfofY-umGbCQpEbsy3MrNx64rbPxTLtINQBer1_3ZYJ95j6y0_rpNWv4Utmu2mWRuMgiBykoxlHfULMlOkRsTrOCFEolKq3xFOxokE7nOuR8agAYQyoK7swxz-CovhBqBXMz_L05sxZVhycZAk5idrnN74XtIRhhgbHmpllF4GHY0EEfwOb2mx06tYJbyg0kpuk2csO6KZWVFktJEIR3OAE0aYyMcsyU5XYLl21h4r1a61_RtaFZpEQCenYG16IbMGPGDY5U8GLpTDtRtzAYIFpjyU4iXXgbhvAg7CKUkeiWqexhKxmu2CgvceMOlqmNM5GcBu6KLA6NowW8I6HOeW81yv6SVH22lwmwee1pi7hMo4JR8vZL_OzedjdzihVCMFH6JyKs2HDEKGrWb4GOMnARou3FePmxooLUY6S2O7yGVZMUQW-kF-iSCFNTQpM2DPKgXNS2wd6apPaLX4-l9VlMJe7XEiVpw_dk53sQTXIieYXPO3lndFVmXj-EJcZzsBxFRezXaVps-CF6xvw7fgKNPdvZenh9LZOj1Ogf_WBdVJSO1oUpwnUdDgcrrWbbV9VMR0hQFNVHgSGGhypZ8lGi70eXvOkYG1d4C3kXrbVHEFflWjlrNQuS41Pnp-M5iaKHSxjCfOvpBW3U-lt9dgLeAkenbdMYvn-bsj8Ayf2W2PVNa7ba5GAs8qoSo_euoHwEwQlJeEr_LNRrMBFTCnQ7Aa8yRtmkfNQfqMnNxM_s4qJ748UsWQ7GyXT9RcsftpCVnMNtis_exM5PEQIppR4m_nYXMlKdoRbFzhGNyo6dki1PuInd18OaL9mfGlJBfhfeAIBRUvDhc-4Pbrb31ZTTzoeGkd7ZHNl-SQ8TaQ4b9-KR23EhzzAx591-cFhTc94W4_MLiPQdn7G8Ey-fF2XcEY7iD8Cp-TjhHJhIgi6OKKI0caaNvv6fZGB6tBOo2Uf0lPoXORCBDbh45nYbVatCdJxL5STr3bNk7cfhtQTKePCy-QFEdMEs6LtR6tmvaZcRbiyjz8-qjeRt79kEUZazuvCsBs8vE7A3LVdUzUR39tmCdMPQ5nXSr6-6_ZV-SSlFItzxxFb4rYC7gslD1A2sw6ab_B9DlksfuR62-00V9bcaoASlzrrzyikOTbU5vDvGSYNDkZOIySwrVn3gTMWQ1RWNsScHP0evamz4u0bWGb5P11idPWwQVDEFaoeCR8vgQ2o7orbElPEG00_VwSU-6oDcXOceTp14q271yydJUAWW8_z-Fi5_daCn3lK2fPJtr8sCP9OhVzntc49lCD65EJVlPoYCiFqm-UwgPG1i8uBjLgmWm8UOzQW4dcfYzXb_PIQUu9z3Eoo9C3GdF3FvJdFyX_TELMfjIF_PiEom8x7o7H3P_KABvjRn2ZBf5EKKrmHGH1VOoiztKAf1374YTaL2PKeACJGnuK1-p_FJltWYpu3cf2ZiSRXHbtOE933ZGP8lOZldS2G-RxdV7uwelJWs0Sw4TaqHv1Nhj7UrwGSCis_rP19UH8rXaSeFzTZCTWOMqZ9CRn3scvXCyasU6PtETlwJRvAOyE1HEc5wyViyKfuEaFlVGbIq07v0Zl4CiagHOHFS1i6yLOwCpjjUl8USGun46ISxan3ZYPf6VA8qFCM1Z4dPXaj8fSYHWTzyAJvxoTLMz7cy30AayPn_da3_pf1Fuld3DQ9eULh8KT48iuRuzAgljx_xlwOvhHvB_gVKC7fWm2z6RppupL7bNi7zO58wF2YcUVtDhF6fB9LzglhKlVUul5yWAPQ_QXtkn3zV120yejNs93lj6aAPqBl3oznLQlJekRVWXU30Z3ibSXaqrwSmohwFd3TOceh6v0-Vv6QW46SOV5LgqV2OgWS8lOUA7VlwFgLJDCvTuzxDHv6ChsMioJOAQ-3ky9g1HnlmuaysIByg2PJh7QhUdLq1qzYQ6WV4P2BjM0vecvVcTVWodlZT050RpJ6Yn7nBJjZl__q1eko149ckVJCkJ9-cBPTVGQoqEKKkx8Aje-xSkizMNE8W-5DxthvjLlhUaFZAvSwU8PLHjwdtg8EX6XYALH9DKw6t6WUiDIqCcUZwRIuX-NTayU6DLqgtH2GgSBtTi8I6bSPrU56bKIt-zeYyubRoMMP6leIVOZExrQ9C1DD9Kqhqzgi199aDg_9oYutjM0RuRBZkJrlv-oyz-s",
  "id": "rs_0acaeb9c36968f96016ab4351019cc87d0b1a551974eadc472",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.043},\"note\":\"From above, the right gripper is now outside the pink bowl, with its inner finger positioned to enter near the rim. I’m lowering it beside that rim before closing.\"}",
  "call_id": "call_tL5oX5JdeEcLzTrRKiqNhC63",
  "id": "fc_0acaeb9c36968f96016ab43512445887d095bd9de3b91922b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tL5oX5JdeEcLzTrRKiqNhC63",
  "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, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, 0.0002, 1.5909, 0.667, 0.0624, 0.0177, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0046 left_pitch=-0.0434 left_roll=-0.006 left_gripper=0.9995 right_x=0.3816 right_y=0.0005 right_z=0.0295 right_yaw=0.0339 right_pitch=-0.2943 right_roll=-0.0694 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4564, 7.0085, 1.6874, -0.0806, -0.0708, -0.0122, 0.0205, -6.6803, 5.8051, 1.9756, 0.0708, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7189c2c9ace085437a564f834b3c12d1995d552dc3d03ef6f53361d9ca9813d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e494e12b854d2029a4ed92bffe5a166a7f50121a2b5aeb8c3aa8912cc05d349f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dda4cb01ab06feeff6944f34c048a377bc06eb30b39082f27d4872d5754747a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.822 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 26 changed as sent

message 30 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3901, -0.0227, -0.0422, 0.9995, 0.4648, 1.7355, 0.7898, 0.1925, 0.3336, 0.207, 0.0076]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9995 right_x=0.4072 right_y=0.1435 right_z=0.0469 right_yaw=0.0611 right_pitch=-0.1345 right_roll=-0.052 right_gripper=0.0076\nstate[joint_eff]: [-0.1026, -1.347, 7.1726, 1.6874, -0.0464, -0.0611, -0.0122, -0.1573, -8.3897, 6.653, 1.7558, 0.2125, 0.0904, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.049, 0.9995, 0.0029, 1.4441, 0.8268, -0.1497, 0.0254, -0.0944, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0044 left_pitch=-0.0415 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3988 right_y=0.0002 right_z=0.11 right_yaw=0.0232 right_pitch=-0.1994 right_roll=-0.0699 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 7.159, 1.7851, -0.0415, 0.0024, -0.0122, -0.1846, -7.3504, 9.265, 1.707, -0.0855, 0.0024, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, 0.0002, 1.5909, 0.667, 0.0624, 0.0177, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0046 left_pitch=-0.0434 left_roll=-0.006 left_gripper=0.9995 right_x=0.3816 right_y=0.0005 right_z=0.0295 right_yaw=0.0339 right_pitch=-0.2943 right_roll=-0.0694 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4564, 7.0085, 1.6874, -0.0806, -0.0708, -0.0122, 0.0205, -6.6803, 5.8051, 1.9756, 0.0708, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7189c2c9ace085437a564f834b3c12d1995d552dc3d03ef6f53361d9ca9813d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e494e12b854d2029a4ed92bffe5a166a7f50121a2b5aeb8c3aa8912cc05d349f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dda4cb01ab06feeff6944f34c048a377bc06eb30b39082f27d4872d5754747a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUW9eKMcfVL1pRxtSJsF7Q0z7qrpRPsQuqYu5yQka0nsVRshfwku9PfG139XdlE9q6W5m4UXKCWBZCnzPN7jcquM52nQVvNZ3bmgzzmwneqyVvMHUX78dod2Cly0Tq5s4MAT03XGdnNHn-MT3KyvsPz-ZV8t466Wp_fWrcPnmDlkpHf5e9HC0R-6hN0c3_ZRHa3DswGmt4gt35i8hj6pDvMw6KYFIkceZWhkg9bYRIqhJDzyRto48r7g-ZXdbuKPPofKe0L8h6V5rj5xtEW3sRJHpPxNgKYq-dchU2miZ9qcd0X8aJt7PKgHWlWkYH7V9qNPhAF66be5AqBYXFukyewyapZs53L14TT-Z80-vvEXs2kKvLoXleDxERsc25Vpao-taoifNqijDktOn_HdvCu4fCmhK9vSH91GGca5FW5VbGAQLA36uhCEfU6eILbF_RpTYgrIfhi5-DwcjEWcTqvQUsdmhEoQE6HmRriyHqzUsBT425d-PNxumlPi_ajqkIozohlE2PzDv9G5IbyeZixyFIj7OmZ-tDYq6JKjTw9EbQ27Fr9sa5VCNkppW7r4nM14PI7RmrsGWKuitiU_qO6NlSM6YPxD-w6tR5lDrOfkChzKeQoB2Z7FttK69OrkaSuJ8wR50RvNW5z3eWFMHv4tPAxcL_hRT7QNtIBrZvPShtg8Jq0ro-G92y88Bzkq2o_qzZkJuwg9Q_9ora6sC_lzdhlXIy_5VMLL5YJc5RHlSPpn_thJcmUYdHBL3ur-M_artaTk7o77ImODndftzkGrF_fruhQEhm_Z6Rq4uRdcKBy-ihB3RcvklTSE13-Evy4m-uf3V-J005RLu6j0BtAkRUbNrLKbCOedDtqbpHgyzsP4yHOQZO_T0GZVYcJAVh9eJ03Cnp02FseKooLhZXKmJ6I0x1PkxrH1DrzhjJX1fYQ3hPti_SVNDWB2-r5NErHLz6ozFP0eXuPEt2PnGe8X-5d8PfnSzSB73lCdR1Rs-BawsUC06OkFjvqoFADBzCtj27wuGvNe3AFzpRXo4ixc2J6qJRgnfw1zO_cvMEdFteebOHKaxzvPtUKHopqswRpLT0xaAQ1AeaUw5bQHU9zwwwhXYR6VYBKYip74XqYmWFCHWl3hL036V1GDgXLuPr9FVYpEQYByij7zhH7-JWmGT5c1_1pYXTeKQ9WV7vUEFikQ9BcbyyWtvU7sA4tOPEWeDfbGX_wGw0CNfdcvN9FPHO90lL2NdPur2i17F_ipjJEZOG10NVHx7sn42r4A4n-ngy6tU26J0Zu2A-o2ClUhHvv1loTuVaG49JUtYPxt3mRtyyuBOK3zxhVzHqqq4f41UoLFlOrQIi1yY6P559HXZ4fa1LxuDv3CvQi-XxIEV9X8O-m5Ak1VzzwQbsBAihZ",
  "id": "rs_0acaeb9c36968f96016ab435153bc887d0bc8681105303914f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s side now lies between the inner and outer right fingers rather than across the full jaw span. I’m closing on that wall and will check whether the gripper stops on it.\"}",
  "call_id": "call_0vBgoSb6FaM0hsDmoNQ8CO6a",
  "id": "fc_0acaeb9c36968f96016ab43515c46087d08534b4572c82d07f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0vBgoSb6FaM0hsDmoNQ8CO6a",
  "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, 0.8127, 0.6037, -0.4084, -0.0227, -0.0494, 0.9995, 0.0006, 1.5867, 0.664, 0.0811, -0.0116, -0.0967, 0.039]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1689 left_yaw=0.0046 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.3843 right_y=0.0059 right_z=0.033 right_yaw=0.0549 right_pitch=-0.2732 right_roll=-0.0413 right_gripper=0.039\nstate[joint_eff]: [-0.0752, -1.3197, 7.2684, 1.6825, -0.0513, -0.0464, -0.0122, -0.0889, -5.1897, 6.0923, 0.9109, 0.4274, -0.0269, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a645faa1ddbe1d29121b95ad7cec4b91ef88fbb7c1796a71bb4ea9ad078df7b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b6aa714f1869cbf86ca6cf5383411f57c16c4a824c67e8d66822ad1b632290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe34370021be365fe21b48c088f9c346572854290bd56bf9ecd48cd6e9671f4",
      "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 8 attempt 0 · /responses · status 200 · 6.772 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 30 changed as sent

message 34 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4011, -0.0227, -0.0456, 0.9995, 0.2729, 1.6547, 0.7006, 0.1921, 0.1986, 0.0776, 0.9951]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1716 left_yaw=0.0025 left_pitch=-0.0332 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4021 right_y=0.0801 right_z=0.0421 right_yaw=0.0513 right_pitch=-0.1758 right_roll=-0.0634 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.3744, 7.0085, 1.8388, -0.0611, -0.0171, -0.0122, -0.2803, -8.759, 5.7368, 1.7265, -0.0122, 0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, 0.0002, 1.5909, 0.667, 0.0624, 0.0177, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0046 left_pitch=-0.0434 left_roll=-0.006 left_gripper=0.9995 right_x=0.3816 right_y=0.0005 right_z=0.0295 right_yaw=0.0339 right_pitch=-0.2943 right_roll=-0.0694 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4564, 7.0085, 1.6874, -0.0806, -0.0708, -0.0122, 0.0205, -6.6803, 5.8051, 1.9756, 0.0708, 0.1001, 0.0024]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6037, -0.4084, -0.0227, -0.0494, 0.9995, 0.0006, 1.5867, 0.664, 0.0811, -0.0116, -0.0967, 0.039]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1689 left_yaw=0.0046 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.3843 right_y=0.0059 right_z=0.033 right_yaw=0.0549 right_pitch=-0.2732 right_roll=-0.0413 right_gripper=0.039\nstate[joint_eff]: [-0.0752, -1.3197, 7.2684, 1.6825, -0.0513, -0.0464, -0.0122, -0.0889, -5.1897, 6.0923, 0.9109, 0.4274, -0.0269, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a645faa1ddbe1d29121b95ad7cec4b91ef88fbb7c1796a71bb4ea9ad078df7b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b6aa714f1869cbf86ca6cf5383411f57c16c4a824c67e8d66822ad1b632290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe34370021be365fe21b48c088f9c346572854290bd56bf9ecd48cd6e9671f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUa2nMbJgJZEP8XBsLy-PhdgYN1em-ArXCKaO-nq7xw67G_7YeJCCBCaDBmRT4Zv2xOSkw8EgpHCOs7QghpYy0mqxXI7TSqkvHIv5ygsKjPoohdBFLYTrZZUzpYh3NOYMmgyob9UgABxP3l_ySM2KJ--VbucrCUOzuiKIvtuQ10J-5-IMop2IY1ZyyzDcQl0bXI_2T_Oedft_-723aI6Ug-LeD0c-vnazOuZiOFjQxIGxFvyIRIKQUhuxhSVCmH8GH9TNbKmFjByk4by_1w0iBzcQRNr317qkv_BfgmHk9AHQblq8l-LKxb4ArvZJc8r3o6Lbo5QWaMZX65C0utI2t35_YXaPM7QIPn8nZ5nvLYpLPmKraORD3Akq7lg5ADIuVGC_jyY0oIczOcs5SgmZcqY8xAGZPSfaz6UviE2tSG2ALPhJyEpYbA6F_2ZhoHpbCrtGTEH1LUJqXMRg5nPeyVftdmVYbH3Gj6mPBp8mMmkuHoTvX-IkCcLm7wkikJ1zMfFoNI5fDDzyv17ETGrdD2VDJIKVrLQegsYh4QLFOw7_2kBpT0TC7m65ivPpeGoKvLty1JkpYcCkXS9lFX4ZLY15CuAybpSWtGW2KGo1xJoN82hhktKsmRqtfAtQeW2Ob0UhMy7xm8i3YWNN6oxHuBPFqpPDkPKocF2x5BAQs-Pc6zc5n_nVp7rWw4brVMnyrKYnaJ26ODXYk6Py-kOzUt2FCiFQI_rYV2dVzE4cHD2CxyA2bzpbTqE1xkrJZlsnFEgAb-eLnoh3CxIV11wEt3aC88yPuiNdYnGrCrlcw5nWD11ICewagv-H9l5KIgjFxeDuRcwQAi6hdydty6tCl8LB-wRCJ0H7YE93ya7j2YQIKz2GdM-QZpjSseiDTh4IyIcirbaKCVLivQ7I0b4czN9-iu6Jw98i8ADv4Jn_i62Xj87NZgVQnMarIcgjt3KpYdHxUiJilgSK0BrJTo5AiY8jtM_ULb8edEWpUo_HGEfnZ4CcCWc6MXCBJ6jURLxc3fO7v2utqoPnfgeMkas-RIVzl1hSo1RB_siXETbBmWY9t7EAjE26MwANTEiO-CbhutLJDDLKTh45cp3z0d-7Hna0dS1r1T9gR8mOwUu7rZ2VuH_VRhhv0HBfsZ0TCVsyqf1NmmRGt1jXk7I8IC5HT1PVVSLbb0cmUmkBtRX4THKq1BHOZdLuNgxu5oPn_KGbxcTMWm00f5GOqd43XFTqEFem0msOIFaxxwKiMGoRsiZrvJLMkjBmBptSO7RtXXCNIrGwp7fl9t_l_W5BgK5Ids-k-5Xog9cBc2hp4T2Di5hpmf-MtuKP1EzPYq5lfivpKa",
  "id": "rs_0acaeb9c36968f96016ab43518e28887d0b4a63c24fcccefdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper stopped at about a 4 mm opening, consistent with pinching a thin rim but close to the empty-grip reading. I’m lifting a few centimetres to see whether the pink bowl comes with it.\"}",
  "call_id": "call_X1toxS4KQL7c5I5fir6rl3td",
  "id": "fc_0acaeb9c36968f96016ab435194f6087d0a616e15dc8c37ca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X1toxS4KQL7c5I5fir6rl3td",
  "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]: [-0.0196, 0.8154, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, -0.0002, 1.425, 0.8738, -0.3229, -0.0162, -0.1066, 0.0419]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1683 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3801 right_y=0.0064 right_z=0.1069 right_yaw=0.0643 right_pitch=-0.3056 right_roll=-0.0424 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -7.2684, 9.6205, 1.4969, 0.0122, 0.0611, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c657384e2f8c2fe5e840c3a8738782055c95702b7819d9c01836f13e979fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1afb9aad0de91917d2c4e37eb96fba72587dc1e5bf8ec8d4e1637627d7979d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0087c9d3919058fd3c8ab01ffd020c72a1ec02758d47bd72a2a674ba8edc6a",
      "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 · 5.099 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.049, 0.9995, 0.0029, 1.4441, 0.8268, -0.1497, 0.0254, -0.0944, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0044 left_pitch=-0.0415 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3988 right_y=0.0002 right_z=0.11 right_yaw=0.0232 right_pitch=-0.1994 right_roll=-0.0699 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 7.159, 1.7851, -0.0415, 0.0024, -0.0122, -0.1846, -7.3504, 9.265, 1.707, -0.0855, 0.0024, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6037, -0.4084, -0.0227, -0.0494, 0.9995, 0.0006, 1.5867, 0.664, 0.0811, -0.0116, -0.0967, 0.039]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1689 left_yaw=0.0046 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.3843 right_y=0.0059 right_z=0.033 right_yaw=0.0549 right_pitch=-0.2732 right_roll=-0.0413 right_gripper=0.039\nstate[joint_eff]: [-0.0752, -1.3197, 7.2684, 1.6825, -0.0513, -0.0464, -0.0122, -0.0889, -5.1897, 6.0923, 0.9109, 0.4274, -0.0269, 0.9792]\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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, -0.0002, 1.425, 0.8738, -0.3229, -0.0162, -0.1066, 0.0419]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1683 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3801 right_y=0.0064 right_z=0.1069 right_yaw=0.0643 right_pitch=-0.3056 right_roll=-0.0424 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -7.2684, 9.6205, 1.4969, 0.0122, 0.0611, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c657384e2f8c2fe5e840c3a8738782055c95702b7819d9c01836f13e979fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1afb9aad0de91917d2c4e37eb96fba72587dc1e5bf8ec8d4e1637627d7979d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0087c9d3919058fd3c8ab01ffd020c72a1ec02758d47bd72a2a674ba8edc6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUh8CFmtRWJtrdkIkG5pfuKmAXfOt1VLcBc08i-KnYaxaQg5qlJbJDtRKr0qHbfn7ZtLPf2SusaG6nGbGaGlKXWDd-yeTSAkRNsf85g6VdSFQ3e5PlQN3rz2rlRezygJ-JWDRoCj0zbzBl-mNYW_QKgJdWL2k3zHa0GZJWMJaAW59Q3XsBTulHlWU5OtEmy5R4b1pGpP_hDYr5Y9X-VjEcVW8Y9cmz1G84h1Uvny7eGTBW14ue_zUWqDdFCBDsMnLd1mmm5wgOTna3V5VTTcNStBTg5rvGxPqXEEGHU62Iz7NHh8wh1nklTQGJFBQZaGgDA1QTfgEoamFUUT_ES9k0CQLZzbfvIPmKWWA1xJTGOgU91_DRyhkm4F0h2LLgWg5J9hgpJ4jB-W0VBRGvYepz2oQuZ1HXs3biO8XK3dp-vYvFyfo1oh0jnYK6o7tQNYPAgK-sDuYvHt17DAIgd2Rm8wGbNHhYoA5dZfh7AOKjOt89PpmicvkA9aH4ub5lpXXWPumtt-f-RY79k8_qcXdmtSV9LBuw0hUSg_7iWjw8vrV-fxo0rUlAwfl9lGmgLXxunEaEFgabavGLiIm1PoyPfLuNF_VuXCkbJFdMhd7ipN6DhFXhnBQ5_pTS7vzgWfCkEEU_4jjVTXpWi3GSvqqE1GoPYg_GiWbW56Zuh78HVmJFOWKt8p3ElmEsDe2Rutw5EzMF_JwD7twkwnDLgd99QFUgXpeClWqWdGMg4l1G2VjEdyHBVATzTDHa5zsW0BQKL9fIsBqVrYlq0N3TyH3ULKdPYRCT-EayWsH0WbfHoLTBxgdX3qi_sYotkzTI9wNclAJpSunCBfDi62Tdtd8dj5SRpjAz6gvgpYDSZctEvZK06Wy0nYY1yT9wB5NsSSFxvBo3PJaI0UwGCOCJdVMs-DsiB7UWAT2XoOqLPme8iTXrD0qKoP0gQN_8xYmJGqNhfakMEw_6DnDLNhGPI8ZLKSxFbrVwMvJ7CXMXKBxcbCHNLqXQ67giTDal97DtthkLSMW3qDlYiYOWwa4nUDbNNrCNLDoPHOZYbqPm-R3yuNyKnGt4PNrVSwW6U75kCyW6aYKrBskBl_-Bx7xWACVw7DOWild2hqEls6dXxD0UXGRkSOjgghtUxpdLM6P6NPYgKHxsSVfiDj4BlfqFLyGwBcNNeItxtZ5nbc5QOLW5OrYzcWCoxZgNWYlKNqI0BrG7hBBOaspiJthnbTHe9JXDsIGoHr6Pdi37XDaHuW2x6_xeNQw9sJw_tneA2YHu6BEM1y8Fd2kGJvsd7aPCAaOVAEWm4JjDAtfLhTL6aQ2xtZsNpyfrQiTmId7FRoD6QcisEdEgCtDLcKgMQGPv0aEspsO1SRPQbwyU28H50CMPBD57MCbjmqt3KRBmIHxBSHVHPXJ5qmJvsGHXVSuKV3y5pf3AfK8flCbAP_-xPtQOCK3QgRasek1OtTwrHMwKv_ZMFbeyG8cEpLFSLHRYnOErBnne--cQWzmf21vzSor_UDGG2l1CD3Qam_JPV7PnRBnkGkM6NLtMzOIrjuM3bgqLYJkqcz9UFYw-75nqaZVmrNR6PogqG7bxZiBS_uTwQEeEbNvGMT4hWyrTUc7wuxrlazgSQgMfXUes5n4S1vDy9q-V6bTMTSXYh7pYnf4zxHYch8Qt1MP0eZFDSVqlTwHbqeNKe6N2a2Y3aZKCxSzwWlZL256Z0hrMSA3MKyJeeGUzuCnVmxpEuPX70hvg6M-2zWLINFkuOg8SlEWwm_dKClRvO92CuHSjrV6pAXBl0YKvx7gOFXZvLhEkO050Ll6l35kv7Y2uQoIFIDioJW0YKc6NMj2e5PEssMfQVoOZr13uOkGeOvFUi95U-PonoA5A36XV7TcdfArOOLgBIERBwHPgMYqrkkHNDz6UDneOUQW1pANH4uUNJcT59M_7MvUbyeo65V-Q69DMULT_Tq2WTGWpBAJH7gZWIwUoP_1BgmFsWUd_DUoj_Q74vZIeeNB6AC8ovcw9GGzdO-NkYVpd672Z6oGUZrFuapboeioJH-tsdIqDkv8VEhfR-wknCV_t83gIOIRY-rOiklFl1UcqOzSYcgLrpC9I4KnGtz9DXhpJp_w3mS0t7U1yHNW38FMVS04VwF2BFpgPDaUDVE5JnsuGMe92YzOtPoxLfZSPFO32vuwU-qLj5BOJJcOXxCo8NqrfwfB_MEiibc67BJnPASik8r7LAOHIgNaWRUXB0cLUoHp-mgLBn-8KS69oa2UqHbYICPHq9sFyrIy1BsrA0erpriKqVqwYf2piUpLBFC8ZjODsnCnCu9MPaNEXnyOGuyXKrP0k4kaZGqviTYmFWtAT7YIuv1J7ymawldoVsV6kXJntxbm3feFCi3kCbW53GgUj8vEorPs6fbzrwF1_z7Hw6qMdBsFj8wd_PUkIomk9GBRQCU8sORdpRqa8oQEZn6UWpmwpYlNiopO265VbQusQUbJ_V2eYpD2jPE_1SqE6SOh1CpOdLCgqVNyHERLigbPxsEMP_5frGLQeVFAqNitfCBMx5qtoakE9d2JYRZnu75jiTmM2z7Cdxr9fNC9Xq5t-ky_03-WNqjLi0bv0YauTLtVEkLgtYM3POPO5_oIG-s4N2F_c2uXPPdjgnOMIf2Z7YLeocOgfdWWBEf5RP9-NVnoLbmOF9YENSg36peqme4G6EeGOQKw7yvETQCDtNVba4zdoLiWk0ePQpc03QEw8bR3B2ht-ynwI-66lKObtcbk70UXXbWqfKxadjTao_vxG7HZevF1gv8cAOYe2-yp61CO1F__6p3F3Eyzvq6eb4tvsIHRLrl3nOUgwQJfTNwNrW-AE4TzVW_NAa1o2V_yemOjKOUhYVqKXAXV9kA3Ra-dYLdaU8WssYySujt-exF9ENZhp1vcga9TQ2ppb6Puo_P4VpdvkWspYhqL_neT5QyAoW8nnfwmvTxl-HkaDIw_6aRGziBySan6ay1MLLKUy6Z9iH8CvvM2ELOg8ucp9NaOwOwe8Rmdr0SIRyUdl1B38cyUAFpXudF_SbepC1YElA-t_FRTzT5BdfuM8Y-ZTTLX34dVgtBk-qtm5sOZL5QNkXGhea_Cr2lk5uqEvOTV-SspqRztLa-jc1Hdc3pVaWMF5F4Iw06JgykPvM6BJqZXdmGa9gf2FI_GVp5jB_l22ebuNfJ2l4S3RFdwv-zZEPTVFDeveJe8AhPULElzMrHKIFJCrty_oXbf8yStBCyeayEkx8miP6DhoWolkZMLWLpeSIg58ZuvaZgOTC7Wwn9glg_eTuXiljbN0bGmnk2FljMA594_eIL0pXgrwk9pBshNJ5XanZaEkm5zxo03CnbO7z0rc5pJlsmEH54IZLNwlDDKavEGBGtgiuqTn59sgVaqzwKPXRUffCk9xKQMyydFGJPipgIHxom0W0m37ftLUnf0hoyaJGBTJ2pSXWfh_HytTdWq7nt-ndnpHbEdbWE3bdlxYJdHsdV7vKB9wRqOcG6yx0Ml62pVxq7RoTO0ENCt-fBiSYAhehbYMvQLBuds-v8zSPEvVQ4UcLis9czxrCVBHyh2YeP-Lj9FBZupVYQAjqc1qSjsQ1gbcUoSYICRPq7qMiAERYeMPeMLiXuS4yJZ4s17KRhyqXn6eu4yin2O2ZGTS4buP5SaV60siLlrrpXn_LC3MMuBH40GEgHz70k10nb6XjgGoJDrZv6ve63vMA4bw1D2fDFAUUrxyY2lL65Mn0mvAHkN5FbHoJrDw=",
  "id": "rs_0acaeb9c36968f96016ab4351c301c87d0bed441ebbbec7716",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUhOaNNrQyeOXkv3kjV0vrduVcLPgECcWKyvQWVZ2KNjockSaVkaWEvSk6EYL6hQNJOqwZg10sTNE1CNANhO-jNFjdnJub_rNwEkyOToMF8MTE38lNxUX9Ej1bt8Wp0vJrGjKEvuMhIvLyYO48ZqB4F4w4554coI9RYZ23-6feDOASGZ5WclP8stOKlyhS6tG5luhzmqdwZYhKL373qXIWTpw1mJzAW2gg4tZ-ZLiHOD5svBi4cwL1eoM9Au9L_kTkukp8RZUD-zDTO5s1yd686M02b9WUeNvKY1rQBRGFTo9JQvAa4P2WA0ANjMJTKy8qSC1BxvKfcTDnXJ6zBb-4u94rGDNscI4sRjB_Yl0Pm01XtqYVBu645Z9qCOmodUbhAr6-47O83oJmG4-qAeTWHA4wEpDMjBpdp0NEeORWgghU6eIndbFL6PR--c_GoClyroZY0Gw7MA4MCZfnJgvKCIay14QOnUD7TTJVj0JxP4Q4SjATWPGSlgM32TyPgX33gIGmeBZlrHrTX3xLJieQaE2UhqWFFAxGpaHCvS_BxuEaKzsZ-TMHzZRJoYKu8jkcv8Sfctdi4A_rB1UeD632DG8fqDax0sFznGCCSJ126g_P0FfdG9DPJkVSin2dYsw1NANftEh_-_I91Ma6wbOb_DbWQZ1eC6bHZTfP6EQgqxPnk6BeB6jEjTPPz7bjTe4tlXjY338l4U427YyhIrWm3-oVEXUWkzBNA1PriT7TzZ1vvaEHMNequkOFjnqu1KTxneAVahAub9bwZSZWGZJBsodZKmjcjd8Z4_iAE1J6HbB9t4rva6uk4bP9rceDOic6X6p_kAO6rIsYiGLnD-G984m60yHG044w51UeM_KwBjDRa92NkUDrXOLEVfm_tagpXjF23iLnX1NC-U909gF-S5V46T6AcBPCVg5vwRj7y82ZcEdKJK2-q1J8ssUdOn8JYwkRPG69deHkCkRow-IGW6G7Phi94DuvrnP3ldFpbkgWZ3iw2aqyGo1BamwdEcgTipQt_W3WPCCrGXtq14CmlVJTh7opYUkmnxRF5BE75Uraz0uOBrr9FxaNLmgLNHXI5QJPrmmHpJBpTMrEYWv_iHBfmeglFhAutzHXCDELqE5gtMYuhibwLQa3VLTidPf-ypAuz-RMnYmQxhXy7oL17bBgAO5CRNVJHEdVwuhr2_x7HB4BQst9jDXrzrYQ0zhXE5FBzm7MmvdmKYl_ad0OsXA==",
  "id": "rs_0acaeb9c36968f96016ab435209d4087d08dcc21c9af69b06c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.23,\"right_z\":0.23},\"note\":\"The pink bowl rose with the right gripper and remains beside its fingers, so the rim pinch appears to be holding. I’m carrying it high toward the middle bowl, leaving clearance over both bowls.\"}",
  "call_id": "call_D9n4BM2LAHa8ar5QZC74sI0q",
  "id": "fc_0acaeb9c36968f96016ab43520bb8c87d0accbec8f2439dd46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D9n4BM2LAHa8ar5QZC74sI0q",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6537, 1.7889, 1.7252, -0.9325, 0.3584, 0.3801, 0.0428]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3955 right_y=0.2294 right_z=0.2165 right_yaw=0.1065 right_pitch=-0.3369 right_roll=-0.0602 right_gripper=0.0428\nstate[joint_eff]: [-0.1162, -1.4974, 7.1726, 1.7656, -0.0415, -0.0708, -0.0122, 0.0889, -9.0872, 8.5812, 1.1795, 0.3199, 0.3004, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8740bb19b2564ec2277ae2e4dddf39470ea7b8089dc05bf0829614d3530b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a385075f592158c2c0a976b5e061efe2bff67cfe6a8b365197cc250239b2b4e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720c25aa06a9ebb49b43630364241a9f8a92e754991701e1f220bd924c0f151e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.725 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 43 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, 0.0002, 1.5909, 0.667, 0.0624, 0.0177, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0046 left_pitch=-0.0434 left_roll=-0.006 left_gripper=0.9995 right_x=0.3816 right_y=0.0005 right_z=0.0295 right_yaw=0.0339 right_pitch=-0.2943 right_roll=-0.0694 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4564, 7.0085, 1.6874, -0.0806, -0.0708, -0.0122, 0.0205, -6.6803, 5.8051, 1.9756, 0.0708, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, -0.0002, 1.425, 0.8738, -0.3229, -0.0162, -0.1066, 0.0419]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1683 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3801 right_y=0.0064 right_z=0.1069 right_yaw=0.0643 right_pitch=-0.3056 right_roll=-0.0424 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -7.2684, 9.6205, 1.4969, 0.0122, 0.0611, 0.6081]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6537, 1.7889, 1.7252, -0.9325, 0.3584, 0.3801, 0.0428]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3955 right_y=0.2294 right_z=0.2165 right_yaw=0.1065 right_pitch=-0.3369 right_roll=-0.0602 right_gripper=0.0428\nstate[joint_eff]: [-0.1162, -1.4974, 7.1726, 1.7656, -0.0415, -0.0708, -0.0122, 0.0889, -9.0872, 8.5812, 1.1795, 0.3199, 0.3004, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8740bb19b2564ec2277ae2e4dddf39470ea7b8089dc05bf0829614d3530b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a385075f592158c2c0a976b5e061efe2bff67cfe6a8b365197cc250239b2b4e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720c25aa06a9ebb49b43630364241a9f8a92e754991701e1f220bd924c0f151e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDUo3kEHmPQ4PX_sRNwlOFu6HU1Q8EbPUQFUrs2gw4A3mYA9omSFoMkcuNvfkYQDtMUlzmymMvuvUKVGcqIwBKUitFksFDwRATowHhW4FBD4vEI5smGZ7_tEgYFKPUmw3nXzghfIzAj9mCT-L9TPZ6BSlfhk85ngl7K3zkRP0tz_x_bPZapiDgHj7XpU0u9Ms0FYaf6AyRS0PgJ3RRrsl10hryzx1mzHh7Wik-beC6Oi9hRfCGaa5eXB2M1-vyjlmZCN5FteJNjAkc9hhLKod6HZQZDnCOb1athMCL8ZPj2er7mJPRTPGF3F_EV80aTBBaLOsN55EDVXwnW-ha3W7GGeK0G711O5V-7Sj_fYsf5ifO0mrWeiW8hJB_5aA0-fpS2bZuAEOk0BPJY-GhRGDGSFxHP1ZPVRa5xumnMDF8Val81kCk-gFmpmrP6W7_tWjAUp1wZ-PPwjEJbiEgiU0JjqzN_-5x6TsAhtrQqmqzPv-cfH9sR7jI-WfIS3WLe3IrJiVbqTlxH1OF4wp6L6fnW-FPe2DhHDro9bGtNM0weiuuiOoKUvhPHnbiDIbn2YwVpC19DkIRYGocgXh6l18pbLIvj3OGYuDN1trdTK65C-IzvnshBpZszQfzHnWx3GnFuU_d5xZEKsGawX9Qnu28ogdGmVTIGlOyVREQQ2ZPjsh2vx9oCmTz457H5D286zadJSZoGouDX75VA4vMjlA_LFIeDgeu2E5FYp3oO_THp_qCnfEK6ZRMhz2Bhn3iGaaI2H6NCSPxyXtZx1U1SBS5tcB3uBzaxnKtxdPPX01z-Dg6vLXF8h8Iqy5cYjvbpYlubBVU90AmLv9LdFAHBqZaES83grG23aPn7q0DMhZ6_Eg6jAsFDLMtAebNnQron0LYdvNlPHVK1nzJ_PYBPtS2233kWKl_6MlKP93Le7OM5vc1190U8mHrENZ7nijzYTX69SYqNMDRnWybC45ppKM7zlvqdt1TkY_W-tbYOvXcdcD-Md5B7mx8V_URuZTYUc0DkYcwxM2_qbm7m78vCLHkwXukQrqfSyru1x6BUu3rUjRZM3bgOo61xFxuQy_s_4rypoCy_WYcttSoU5LYQYBqLk61s0JF2uWpBXd9fCCRf7OoKlJLAX7uKU3N2RrpNDzDKpvXfEerw5xagdHi77xTXVijF-Y7vsulX-mg1i6ZHAXEu0c6GQLBsoFaKXwUxVhBKu59cAOf_rFg5VOORkZVnczDFaHkkNatJzBV1GFETZWrAGH32SRWf75ycCMASP9_bDKN8JIADPd_X1oCLpKQJsQxgDFzRjegxlAeTP_vTE1SyUBzazzpd9dY_E_iFO2LDNcwdCnU0Ejx_RM72sDjkQ58FlZtM2mY2y5vMUX2k-X8kmTLj51sifwVeo6zHdsYV35RD31cFnQg6I5vOlgy9G1QnbNygBsga1ZqCFy7Fdu9lAE2_d-3yeCAUD54GD_feQSJeaNPAsBRT1-gbp9uLvz5W04lC8_Hwc3nNcD7E9H8Va460inB0wNhWyW8D584rSNxEUAo0Y9eJPUkccyaSEdYWp3S1oC6EDXwuDlV28aPLkB3reYkqFbOyCfCbGnbpx4ht-z1vACGegRFtBYOT9ZvVui6dIL024DeoLREY84PblSaFi9C8gcR_m5nq0kx7mQTIxLO1rRMyeOJ4ejpOMI92qP29LbTT4Pi74awmv6Mj1vjffEmSL11GV9dWjlwo97GbuAFMCvWCidxLHa98tUo5KmZamY2AC32_0KLfibnDEGzhiUdjXbSEJ-dlTSwTzd7QTbAgV34Oc2yr-0wP62RuWVfFBqW1tWY4I3Gz0OmUZaHlVAgFiyUpF4motGPkrcDdIQLaEk4LF5NDpyX6dO6L05CkCQya57r-qegQHsbLtHY4jECT00IT-eGAfjDRrsQRAqMK59Vgwk2SWFzN-a-8NCvb5fpRxCIwuon_Zt-u7AxxmZFddIvCPto5WwqB5ZZSJfnjWIlI-eoZJDbwA0uRMTj3RialhCLp68DvesFUEoqoSOx2MsHt8Sr7WSf1eqIyvP7pNDq6Ym3qYHnXT9W_aBTl8crUUGgCbV5AG6Hnvm31T2LLYsf0WhRDtcIbTGdeMX7ED6pSmd8cHDFbUFSZfmsb_eljyguoy8IreWbfbWZvnbdq8VtehIvCrcbyhxqdoJb-a7YelC00IwuTT6cH9taQby4OegLfFZzBpZPS3mIXvksFfgsUCsQg_ISWeOVeFGK7KeoVO2urkCMQB9baq8nRrWAqcEHoy93I0GPzmDLeA6sA8lGJJzxG6LLRQefLlKr_KMZo7aiHXdkUbRnY9xh49M1j97lbK8cBvgdsHxYu5Y-kpv5OGjprzJOmTb2gBHPSQ8So3mwY7DKSD7DmhiDXcTT1EFHaDYVzYWsGqZxSWyGZem1Uqh9yQ8dopMZ3j272RwKvZbrMWLFGvbhnVhp5jDcxBrVAm64Wu6eq6tzehqf8yc9BAulZNMCjwxnj60nTccjY0pCst6QeRxdhRkIg-zOH-d3kwgjbWd_-ciAD3EaSt1jSwvAYfOy8IC_3wVjYDVcB71b9iLDh6JcZUzADXm-F06PRuULjDSzKXQPROcXe7W507pkkVhWYbgLQgr8VD97pRiymKVkJHtYwSfaUSS7B0-k9pkEkBpFzMAWX8ysf7wOCzxS89u0M3fR-dWa5yHChJ2kJwpETCxtNdJa6aB6my2rauXeWDKRLI-NbUXXjOUroA-TjU24qqfJwRkFncQiyE2e0vBRi6nT0GL6l_-g3Og-FoxF8UqGsJTg_bEsqEws3IVhzG0-eyYFvijuf5tj11OA3ubb_x4VW7SJG2UltUpuir6-tM9JZ51Ljj0VZUP7ylINL9s7ej98ZttjPYeSQoYxyKmmVINfSrNdNMNm_-l5U3PnewYs38cg-3OZJpc6cvVnUA5y06jzVfQ9relLgbxeJgEn5VYg==",
  "id": "rs_0acaeb9c36968f96016ab43524b20887d0b5dccb556e70313a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.25,\"right_z\":0.12},\"note\":\"The carried pink bowl is above the middle bowl but a few pixels to its right in the overhead view. I’m shifting slightly left and lowering partway to check the nesting alignment.\"}",
  "call_id": "call_UFdH0e7mmAVIWibWyeVyTbXk",
  "id": "fc_0acaeb9c36968f96016ab43527b37087d0b6e2943102bfcdf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UFdH0e7mmAVIWibWyeVyTbXk",
  "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]: [-0.0196, 0.8185, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.6926, 1.8252, 1.4235, -0.6552, 0.3611, 0.4015, 0.0442]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1659 left_yaw=0.0046 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3847 right_y=0.2427 right_z=0.1221 right_yaw=0.1188 right_pitch=-0.3862 right_roll=-0.0831 right_gripper=0.0442\nstate[joint_eff]: [-0.0752, -1.4701, 6.9949, 1.6728, -0.0659, -0.0757, -0.0122, 0.1162, -7.8154, 6.8581, 1.3748, 0.3541, 0.1343, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e96011ae86102e1b681be66d46c9bcdac9f0e1eb121301abad297bd3d3de91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bb231f21cb48d5cd3b41be20042d30d857572309c04dfa479cc13e2b5eee25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e044d0a05fc0d5ce9b384b6810e47f85eff0e13fb6ebea2862dc67da5149ebb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.133 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 43 changed as sent

message 47 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6037, -0.4084, -0.0227, -0.0494, 0.9995, 0.0006, 1.5867, 0.664, 0.0811, -0.0116, -0.0967, 0.039]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1689 left_yaw=0.0046 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.3843 right_y=0.0059 right_z=0.033 right_yaw=0.0549 right_pitch=-0.2732 right_roll=-0.0413 right_gripper=0.039\nstate[joint_eff]: [-0.0752, -1.3197, 7.2684, 1.6825, -0.0513, -0.0464, -0.0122, -0.0889, -5.1897, 6.0923, 0.9109, 0.4274, -0.0269, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6537, 1.7889, 1.7252, -0.9325, 0.3584, 0.3801, 0.0428]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3955 right_y=0.2294 right_z=0.2165 right_yaw=0.1065 right_pitch=-0.3369 right_roll=-0.0602 right_gripper=0.0428\nstate[joint_eff]: [-0.1162, -1.4974, 7.1726, 1.7656, -0.0415, -0.0708, -0.0122, 0.0889, -9.0872, 8.5812, 1.1795, 0.3199, 0.3004, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.6926, 1.8252, 1.4235, -0.6552, 0.3611, 0.4015, 0.0442]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1659 left_yaw=0.0046 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3847 right_y=0.2427 right_z=0.1221 right_yaw=0.1188 right_pitch=-0.3862 right_roll=-0.0831 right_gripper=0.0442\nstate[joint_eff]: [-0.0752, -1.4701, 6.9949, 1.6728, -0.0659, -0.0757, -0.0122, 0.1162, -7.8154, 6.8581, 1.3748, 0.3541, 0.1343, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e96011ae86102e1b681be66d46c9bcdac9f0e1eb121301abad297bd3d3de91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bb231f21cb48d5cd3b41be20042d30d857572309c04dfa479cc13e2b5eee25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e044d0a05fc0d5ce9b384b6810e47f85eff0e13fb6ebea2862dc67da5149ebb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDUrH22UH-H1wNzqYCvHn-OGwOeJmoLSqd0oJy4gElB4rb6rhjWKMZFuvNWu4zQrYAwntpIvLDc7ybf3YEDzcR3AtqVLOZ2rd545jY_osdg96aRqzQR_MB0bw-wglntBPHUZA9N_i37kGNfLulK9ctREy6dDkm2bD2b8GXSXS71BeBjnVhnG3vqXpaDmWMendrHPgVCyobcO5hW09455Ge5ra0crMWNUi2IidntfjhiwGiB-GJ5XwSccX76exkvgXuxMb2Zo_NDFFPmWrM09ni_PWnBr9d3VmB1AW9omxTvxs26iNpcFKRRNTYHagp8DRFnnuf2TxFJzyfcyFImKByy9oYqrQL_LmEjr7yOlySOKWjHzMBp9tK7La-OiK-mlG0q_jbZJNdT3fi_QcOCHZZZo0HQHyZDO4ZqoJzNsPLAaCtbegP9lEVZ_6bmmU6cnoJ-bNiWLnN4grRYyukv6kG98ZO-0xZLRavA00keA4v4ei933uv8Efa0x4TNiJKxkk7xe_z4YIIn3kUDkFaNVcLA3_eMoWEpzbnkymCtdpfJvTLKFRqk3Ap4pOjHcan86Ks69M4Xz7oCK61HcbY5nVKkpox06huMsFxdxYppwgBrBeM7NWKwDb53M3hw9vfQZdGKQDwfDdq1fnkFpqkdarOK5MO5c9uMSshEzc5-Q80bryefs61OvTY7nbdzuRo12GRC-MQNbAD540mBWUa8XprLF4J2DlMm1J_RNY_PKoKLchndu5-tKuFfDm2cf8zWAk_D4JcflKJb-ObWukGNqYzESvkW9STmvh5NMUv_r60449QuMrREKMtposJb9ntHvIZYXeDs5EPxD-OA1Tp3E8Mcv0p4rIEXiujA7B_IYNVgBvbuQjM2GoOo8Fy2AXZTdQG5X4ZP70EHp7jTVNuLWm2wKcm3_kX0tzllVqkll1vKLcYitoOLkbFr48y_mSDYNqa9VM-YTosqd7vJ1jVBIbRja8x3_HHznKFb_craD50hfq_2PIs_XnpR98vP2weCaVt66kWXcLUrW1rwS4f0fujOMJyVCDHpq79B0npJINlnYhTlTwdYfzyoNFvgOFrl7JEXOW4qCWZL7LzY8fEbYgrvu2d1vZ7rWDJy1WNViPq5eKLdyFYRCnV2ZH1imOWb2FUnBsgeyaRFwK-6vJAJLz6wDn0ryQ1KrzgID8TPSqQj-EKA5Xowz4hb9ufauqtV3z_A3ta69YYT7ZglHcbhlf3Vxue6GQEgQR4bqmct38P4kSjzrxomfRBhbEl9kl1qVkskC0lAcLfUcVvYPIXB9EfZ-TQC-86IPAxdmQkWQQ06yu91tOt_9ec92yYWNsl3YE5KpVBDYcxrh1Sr3HxM91zyTx70lnbTCeINRI96Fvtn06bQH69SuepybI-dYdTGtuTJVzLYvAjJDC1ucwGjy-4opnb6UC2WT-Qzzkfhyt1YJBOyKgOpy6iSuV-9IH_MnoI-ljENQ6wNLBQdjL5mJRA-4LEDNqnP_4oXod4AxBTe6BnmAKEX4kOv1TBHqFibTwy3w4Lcrg8oKo7EAXxwzdekqjLxkbb46PzOcfy6FlKu6VvYwBP6PlIZ1otMmgqvA2WmvnYZt21jsura-uxHCAGH9nhYGjsEKzBgyFwoeerKZlQbakVq1Pd5_xunFB6rWqnM3f1oCFb3e78Js6Y9LbKkFC2fYtAVLNory0GBfjucFqz5ySKSTkPhpqkE5WDugKf6k",
  "id": "rs_0acaeb9c36968f96016ab4352a04c087d0833b1c04f12e318f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.067},\"note\":\"The pink bowl is now visually centered over the blue bowl. I’m lowering it gently into the blue bowl and watching for the arm to stop at contact.\"}",
  "call_id": "call_EsiJSGX1futEzHSX5IR2Db3n",
  "id": "fc_0acaeb9c36968f96016ab4352b348487d09f9a0fab3e9afe38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EsiJSGX1futEzHSX5IR2Db3n",
  "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, 0.8196, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.693, 1.8652, 1.2774, -0.5072, 0.3584, 0.4011, 0.0477]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1656 left_yaw=0.0046 left_pitch=-0.0591 left_roll=-0.0056 left_gripper=0.9995 right_x=0.377 right_y=0.2372 right_z=0.0695 right_yaw=0.1126 right_pitch=-0.4195 right_roll=-0.1038 right_gripper=0.0477\nstate[joint_eff]: [-0.1299, -1.347, 6.9949, 1.7265, -0.0757, -0.0806, -0.0122, -0.1709, -8.1709, 6.4889, 1.1844, 0.1587, -0.0171, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103bb946d792fac597fa0bde4d294dede25f4c077c20a74b65f1656d798a958b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2ebc5564e769d202ea15b7901f37d7e5457f3eb4b2fb2185ab9392b363e761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0276ceec0079b42d472b62dcbaf3787a1a2d33e209ba2272f27a2c4fdaa0c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.817 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 47 changed as sent

message 51 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.408, -0.0227, -0.0494, 0.9995, -0.0002, 1.425, 0.8738, -0.3229, -0.0162, -0.1066, 0.0419]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1683 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3801 right_y=0.0064 right_z=0.1069 right_yaw=0.0643 right_pitch=-0.3056 right_roll=-0.0424 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -7.2684, 9.6205, 1.4969, 0.0122, 0.0611, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.6926, 1.8252, 1.4235, -0.6552, 0.3611, 0.4015, 0.0442]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1659 left_yaw=0.0046 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3847 right_y=0.2427 right_z=0.1221 right_yaw=0.1188 right_pitch=-0.3862 right_roll=-0.0831 right_gripper=0.0442\nstate[joint_eff]: [-0.0752, -1.4701, 6.9949, 1.6728, -0.0659, -0.0757, -0.0122, 0.1162, -7.8154, 6.8581, 1.3748, 0.3541, 0.1343, 0.6178]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.693, 1.8652, 1.2774, -0.5072, 0.3584, 0.4011, 0.0477]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1656 left_yaw=0.0046 left_pitch=-0.0591 left_roll=-0.0056 left_gripper=0.9995 right_x=0.377 right_y=0.2372 right_z=0.0695 right_yaw=0.1126 right_pitch=-0.4195 right_roll=-0.1038 right_gripper=0.0477\nstate[joint_eff]: [-0.1299, -1.347, 6.9949, 1.7265, -0.0757, -0.0806, -0.0122, -0.1709, -8.1709, 6.4889, 1.1844, 0.1587, -0.0171, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103bb946d792fac597fa0bde4d294dede25f4c077c20a74b65f1656d798a958b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2ebc5564e769d202ea15b7901f37d7e5457f3eb4b2fb2185ab9392b363e761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0276ceec0079b42d472b62dcbaf3787a1a2d33e209ba2272f27a2c4fdaa0c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDUwxp9sgIMhkn6HR4saw5NoUPle4BTETIgnGOc4U3gLoF8fS_CdVN46qGP1iUBefAHIFX2Z-WN4KyM3J6suVK1qagGR5XHyUQ1-47Y1Dq__p8SDzhqJoxEZpvlvwLe-UxJDguFJS56BnM6QhvY-GFz5LlnJR8wxLLGpiMYSLxyGUs_tF1NUbgs-ElIo7LLDEpLM80smQhqROTjYH23RWdem6LsFaAONVFRDs1I6sfU0c3HoHZ7bkIgvtPf4TmYPCcioWAYB8TkRj-Q_1zLNY-GAdoEzQ5rnmuHIHR5OUKXTgTLm-aKNDIxXKOqiTRRuxHvzr4AjWYnTzs1iMUICnui2_w0LrGE0IZLLij8UIIxgEYT9SwDtdS4D97HgzwrCsdW5qo9Z9gv1fzUX5yoPSf2XXzwPLcCT2IxSFPUk9nwYt2YpFpZNv54iVskT-ju-B-mg62SQ6tTqX8nC1GwQ88BJhqz1GcVnVxvqLH2QlRDgTBh5TnSYmFWdYGb2QMlPjjd9tH6BVQfZMI6K_12CGqSWXaTN19pn9LwcWAYPfjQDKGtLxSxvbKj6uZga5YzG44KMxgHz8aaMy2ccpQBIR8Oa8u259bEk-TEqU7Coo_hb2jEW7XhwhaqAPeMaSkfjExMk6XdqWnr_H0w2M4DIHsaCZVJUrX2PVyu71954sz3BW0O8r_j4MA_fN5xc2lGDS-Oh2wuFJGsSG-vqCdm4hB6HNq989wrGdO5GbUJs1Xfs-2o_Lr-UkmAdiAZ9fHjyGf-ti0uWZQm9519nbuHjgWVWUCf58rwciJSX7Kg7mJtyokoivpQ4L-GjN4VfG4k74g8wHT6uOI8qG3-KDSqmt545SGGuzXvNZG8yOH7Oqd3DayMsB4z7_YXCahCLJ43a3b8sEW-cYmhxfGyC2b-V22Mf4Ie_dooDOixQ_0dL2gSl1FFv3Nzyqms9-8-_wx9J13kznPpFB-nQbak0Jn8LFoT6wqbksWZvney6HVn0ScmXWpY0JlSmZWHEZmQvXR0CDOUiVsDoUC2cLhAhO-ZzBeI1AoVWAXUsc_9ZlyclzHxNXQnmO2k474OfEmRCyQ-UmiCuOrELCqKd5iq1YxFwY51KC1_S0q3Hd_qFZqKI_VPKY6pGo7pWaA6n3qolaiBWY90zcsOttyZJUpBKjwFL0FLE-bL4cRNP5s_4oRfVY7WRYdi8fxK_QNiTmxlbYLUTqTFzFMLm5yK-zkl9wWFhYaG0tE2H41eVing3HierUO3arKN-Je2pRF5lF4mcBXyOltt-UvJ4DOJiCnrenqmaKR3QzZ2LNfNxiUpjwpuoNZREfo5BaH1GZniPD42pekojVf714kmA7AqnE_TJ1eZc0dcEw8maTjaTc1EXYhrSM9z5wOryWFyHsqXNpISlcfw89159Zn1wQFRpVRolef-AiswzrNlwRufgj2cix753LRbCnAjelbly45UEMHXrmrvBLL2C8PZ1B3psiaSwp3Pj2oczxTOYANjCT5W6f6IPvEVobbWbZQWhcPxLE0xN23T-eoXJYxc7dZMlZKGdjSh5uNcyhTObWvK1dp-cZsuOAmk5zFX24mwDIXgv0N2fWt3B981ppU0srw3eiZCRj2oFwqqHBL7Ggt2pzfUskxgA5m02uJq1DKZ2v6UKp0DTUR_oruaFpEAkc-z91Fi-Uuvm7xDOh9ikg9Dbv2jAXeq54NWSX3LrIMJAbJzHfi2iUbDhQYra7TEygORAxp0HaM330q2x8oSTW9aPOqtWz1Kw3wg744vVAf3XhMOF1mDd7xiYM7uJkrktfXU9jELEvM7acgFpveC6xZzR3qu7bbfptRH8X-jkPV7bZwSJZ2uH3zkKVUvfQ1AaPmK59XAjsZC5mTWal9F6CwZMBcj17gcXgjWtIKHHuP7hAT4NDuexyAkuP7NsFjGDf0hGjmhzexs-zrpF0pFvAPXWKlCn6niSZse8LGzhLAeaTJrEtwNu4tNKWzNFNjBKerPxlM5-pNVxhD5e7hlPpn7HNf6p5OgZoBOTLVF-DGXK9JCublfjLjDojNeh",
  "id": "rs_0acaeb9c36968f96016ab4352da9cc87d0b42621b29d4a7993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl appears nested over the blue one at this low position. I’m opening the side pinch to leave it in the middle bowl.\"}",
  "call_id": "call_H6qLb3K6qEDj4CrKjye1Yyef",
  "id": "fc_0acaeb9c36968f96016ab4352f3edc87d08303bb64bf0182a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H6qLb3K6qEDj4CrKjye1Yyef",
  "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, 0.8196, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6937, 1.8717, 1.2682, -0.4599, 0.3519, 0.3927, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1657 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3816 right_y=0.2428 right_z=0.0685 right_yaw=0.1308 right_pitch=-0.3964 right_roll=-0.085 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3744, 7.0085, 1.7167, -0.0415, -0.0562, -0.0122, -0.4308, -8.6085, 6.2154, 1.2821, 0.2222, 0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd32605af8a84ba8753760c963262b4cad9b37d8b93d94a6502114cddd619216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fa3eb2ddf84a473780c15b4ca21af174ac96b0b2f1f4ff85ae96de1009aebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418e47026489204d5fc40cf81c5802b6039afe14255dcff00c3b1d8b22a44e49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 7.575 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6537, 1.7889, 1.7252, -0.9325, 0.3584, 0.3801, 0.0428]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3955 right_y=0.2294 right_z=0.2165 right_yaw=0.1065 right_pitch=-0.3369 right_roll=-0.0602 right_gripper=0.0428\nstate[joint_eff]: [-0.1162, -1.4974, 7.1726, 1.7656, -0.0415, -0.0708, -0.0122, 0.0889, -9.0872, 8.5812, 1.1795, 0.3199, 0.3004, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.693, 1.8652, 1.2774, -0.5072, 0.3584, 0.4011, 0.0477]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1656 left_yaw=0.0046 left_pitch=-0.0591 left_roll=-0.0056 left_gripper=0.9995 right_x=0.377 right_y=0.2372 right_z=0.0695 right_yaw=0.1126 right_pitch=-0.4195 right_roll=-0.1038 right_gripper=0.0477\nstate[joint_eff]: [-0.1299, -1.347, 6.9949, 1.7265, -0.0757, -0.0806, -0.0122, -0.1709, -8.1709, 6.4889, 1.1844, 0.1587, -0.0171, 0.3492]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6937, 1.8717, 1.2682, -0.4599, 0.3519, 0.3927, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1657 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3816 right_y=0.2428 right_z=0.0685 right_yaw=0.1308 right_pitch=-0.3964 right_roll=-0.085 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3744, 7.0085, 1.7167, -0.0415, -0.0562, -0.0122, -0.4308, -8.6085, 6.2154, 1.2821, 0.2222, 0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd32605af8a84ba8753760c963262b4cad9b37d8b93d94a6502114cddd619216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fa3eb2ddf84a473780c15b4ca21af174ac96b0b2f1f4ff85ae96de1009aebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418e47026489204d5fc40cf81c5802b6039afe14255dcff00c3b1d8b22a44e49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0acaeb9c36968f96016ab4353202f887d0ae65f5ff6fb3c2b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The pink bowl has been released over the blue bowl. I’m retracting the right arm to its home area so the stack is visible and the left arm has room to collect the remaining bowl.\"}",
  "call_id": "call_LYTT4BDCBuVWm7Z6aBOswufk",
  "id": "fc_0acaeb9c36968f96016ab435362a0087d09950483c2c45b8f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LYTT4BDCBuVWm7Z6aBOswufk",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, -0.0219, 1.1332, 0.9707, -0.8318, -0.0071, -0.1833, 0.9965]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0625 left_roll=-0.0055 left_gripper=0.9995 right_x=0.2941 right_y=-0.0016 right_z=0.164 right_yaw=0.0825 right_pitch=-0.4289 right_roll=-0.0882 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6825, -0.0611, -0.0513, -0.0122, -0.0615, -4.1231, 9.9624, 1.4383, -0.1441, -0.0855, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b137500b1eee94d97bc87ab84007ab147a480d972f30dc2e61ea044451c0cade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09390d5d8a4f3251492f1b45a58184da2af60bc1d24938a8a4adaaccccfb9b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2cac4401ef1bbc53d8cfd534576f1dc9fff3ff9a5662449ab8cd245ccf32ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.004 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.6926, 1.8252, 1.4235, -0.6552, 0.3611, 0.4015, 0.0442]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1659 left_yaw=0.0046 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3847 right_y=0.2427 right_z=0.1221 right_yaw=0.1188 right_pitch=-0.3862 right_roll=-0.0831 right_gripper=0.0442\nstate[joint_eff]: [-0.0752, -1.4701, 6.9949, 1.6728, -0.0659, -0.0757, -0.0122, 0.1162, -7.8154, 6.8581, 1.3748, 0.3541, 0.1343, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6937, 1.8717, 1.2682, -0.4599, 0.3519, 0.3927, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1657 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3816 right_y=0.2428 right_z=0.0685 right_yaw=0.1308 right_pitch=-0.3964 right_roll=-0.085 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3744, 7.0085, 1.7167, -0.0415, -0.0562, -0.0122, -0.4308, -8.6085, 6.2154, 1.2821, 0.2222, 0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, -0.0219, 1.1332, 0.9707, -0.8318, -0.0071, -0.1833, 0.9965]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0625 left_roll=-0.0055 left_gripper=0.9995 right_x=0.2941 right_y=-0.0016 right_z=0.164 right_yaw=0.0825 right_pitch=-0.4289 right_roll=-0.0882 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6825, -0.0611, -0.0513, -0.0122, -0.0615, -4.1231, 9.9624, 1.4383, -0.1441, -0.0855, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b137500b1eee94d97bc87ab84007ab147a480d972f30dc2e61ea044451c0cade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09390d5d8a4f3251492f1b45a58184da2af60bc1d24938a8a4adaaccccfb9b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2cac4401ef1bbc53d8cfd534576f1dc9fff3ff9a5662449ab8cd245ccf32ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0acaeb9c36968f96016ab43539d79887d09141983bb200b9fd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDVAU3fHpgdhIvZs6HiALBueXIYQRXuBZAr3ZQKvKjtzDhcEXcBjgL6T2nUlvWqGg9RduxZmhppYDNkXqWyQkLQYrGfJrcI1dAPoyR6NrTuE5Y2131U_soZnlPpltxTGpJCX1dhFo91HiyC2HnuJY09k0j7_8YrI--jyTM2q45W-bum1naevxgar62J5GKvzvZzy6-5Zpl2uFKCyUgG_8Y-QJtgkntElf7fgo4_ALAg2zOTOVHg1H1DxaWNzy6YUqx6BWoFSn79iW6Cj8UQ_0EdYBcIqvncMYr9tH6Vi49jvq3Z2pkCmAY8Jm1hskGbH9yLNJP2V0VfqOqdWNJyYBTzg1yUVoUBVR9nNNd7OnETvOB710AqgnO0wIT6Ri7ww2VGd6MqOzL_xkGdqwZpEr48vS8j0vH4465pV8qnYazLF7mTg8TmR_yffoEhqZMN9cs7rISZQppGZXkiXKcZLnJi_TMf7M6gyWbtrtjtrgZJYOPfMCue0BasA2zMMuEhuQS5jS0a5gz5aFpi3BHtwGFD258F5qQsf8QrRh2kdyt8H0aw7vtNMjOHl3nDHm9Q-_aa3TAPNT213Qd-jRo4sCBXbwsZZ3ByIq7V8yBJw-KiKBMQMcowGNwFD-VNySg6_EdoIq5YcEI3vYIZZM5bT5lGCKH7gqxo7jTL0QD5ygOE1EkhReuOi3eoCbbs3J959pXsoPCMv24S2gUwywkcy0Oa5EMspesqRLC_5hNoxfMhywRN6dJJvu87Vp2GtshuoX1V7Nc1KP0O6sNCpvW1WQYR01tzNDR3OFjz8sOzp_oyl_XDsk6h6KRSXoexolB_Tk_c8DQzJ9CjpQwqZanGpP8gyFTXy36RKWkDETX2ACIL3RUpoFtBZOKKOiZxUgr8MootBMBJCdsDhNuBUCP56CFHPLz1clMH5WyDHStLVDqVcR0BBTjhBwoR1fhTNVAlurMJybbD-ejkV4wfYBNXQuPuw2ALKqYmPotiKd-aT-BOcbvlELF0JJvbWcZ-PFAMcO3YiKtq8F_gT-2qAIUwej8MwB_bDGlwR8g6FJ9xYXyP9UTsKqc3FvTZ4AheDkEy9_c1dAGhZP-_iUz3PGbUYzPmwfe7fRvJyK9SB7IedAWTtOhogcUWd8mxsQjAaBG40swmg_i_v3dyY7MLJpUaDeDZoFJgMb-UVLE5RP2Q-pyckzONCET_XLptnpETBkLlxBTb3Xo1UQT-vzOgSX2ZiYt4HuiTQeW4wS5Xwk4iRxDOeQLSeWJo8TLjWlIl2jXVUHyReDXLldyZ8QDyZccz3FgRSg4Tv_LPWsnztRlxNkMbsgf7TuoduzCiWbLlEnDpIoZ9RdxQMdAr4u_pgn4CFcsSO_CcE_IkfXr3-xvoBQ1kVlJKaUcNGK12qYrn_lj68iQjd-Ryitb6kfGPVdajfuvLCRH1QBYpk5tNPMdN0dmLdKJvGMN60JiNHgf-hOIa_1COC2TbGxKFgJFHlyZKHO66kg27qyrUc12SqKWC2LsTNhRgu26LsieXrZVMzL3Ea5hq4OkQw9Ma9-iIk8TA1VO5ez2ZJFZY9UPThq51jCNTW-cxxEddmyT3xs7mIOKSbiBvkGSekJbH-NsSosUOVrmE869aabIcW-Ld58VyCDQh4VZQVK8xRXBB0DI2NcDLbCCTDnPaOi0foRfBk0aPJmoCb0L34dxOPewjm6vCmsNm0baZj7e8gUscgJFnBJmieJ3A5bba-lt5bFb8GL53JsIC1For0x64wkJYzjkbxoextYwFH0_ZmRAUdbj7nAyH6P7wdYgbRwHiUMKvOmYJpAJF2zVVyTX6U5HP4WD13rutKLktL0U2b79Dnaj68E8ln6iwJ",
  "id": "rs_0acaeb9c36968f96016ab4353e6c7487d081b2f97d2e941280",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.07,\"left_z\":0.12},\"note\":\"With the right arm clear, the pink bowl remains at the middle location and the pale bowl is still separate on the left. I’m approaching the pale bowl from its outer side with the left gripper open, aiming to pinch its rim as before.\"}",
  "call_id": "call_w3TTSg9t9JtZwR6nECTVRPb8",
  "id": "fc_0acaeb9c36968f96016ab4353fae3487d08d19ffb44c932295",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w3TTSg9t9JtZwR6nECTVRPb8",
  "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]: [-0.276, 1.4105, 0.717, -0.0517, -0.2123, -0.1997, 0.9995, -0.0216, 1.137, 0.9691, -0.8577, -0.0158, -0.2008, 0.9965]\nstate[eef_state]: left_x=0.3797 left_y=-0.0651 left_z=0.0977 left_yaw=-0.0084 left_pitch=-0.1526 left_roll=0.013 left_gripper=0.9995 right_x=0.2886 right_y=0.0002 right_z=0.159 right_yaw=0.1032 right_pitch=-0.4599 right_roll=-0.0863 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.3521, 8.841, 1.7509, -0.2955, 0.0366, -0.0122, -0.1299, -3.6171, 6.6667, 1.4237, 0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aecaa9e5a2846f8841e36b7c65af988b8c0e5aab9b2b62fadac1d83e778fb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa345000e455a23f8a4fc17f6fbcc58b98fd5d6f692323e441b735c3b24f02e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef913249e59fb7fc592c41d6c41a0adf86fc0a5394c60ac7181ba3dc1743ed18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.494 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, 0.693, 1.8652, 1.2774, -0.5072, 0.3584, 0.4011, 0.0477]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1656 left_yaw=0.0046 left_pitch=-0.0591 left_roll=-0.0056 left_gripper=0.9995 right_x=0.377 right_y=0.2372 right_z=0.0695 right_yaw=0.1126 right_pitch=-0.4195 right_roll=-0.1038 right_gripper=0.0477\nstate[joint_eff]: [-0.1299, -1.347, 6.9949, 1.7265, -0.0757, -0.0806, -0.0122, -0.1709, -8.1709, 6.4889, 1.1844, 0.1587, -0.0171, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, -0.0219, 1.1332, 0.9707, -0.8318, -0.0071, -0.1833, 0.9965]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0625 left_roll=-0.0055 left_gripper=0.9995 right_x=0.2941 right_y=-0.0016 right_z=0.164 right_yaw=0.0825 right_pitch=-0.4289 right_roll=-0.0882 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6825, -0.0611, -0.0513, -0.0122, -0.0615, -4.1231, 9.9624, 1.4383, -0.1441, -0.0855, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.4105, 0.717, -0.0517, -0.2123, -0.1997, 0.9995, -0.0216, 1.137, 0.9691, -0.8577, -0.0158, -0.2008, 0.9965]\nstate[eef_state]: left_x=0.3797 left_y=-0.0651 left_z=0.0977 left_yaw=-0.0084 left_pitch=-0.1526 left_roll=0.013 left_gripper=0.9995 right_x=0.2886 right_y=0.0002 right_z=0.159 right_yaw=0.1032 right_pitch=-0.4599 right_roll=-0.0863 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.3521, 8.841, 1.7509, -0.2955, 0.0366, -0.0122, -0.1299, -3.6171, 6.6667, 1.4237, 0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aecaa9e5a2846f8841e36b7c65af988b8c0e5aab9b2b62fadac1d83e778fb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa345000e455a23f8a4fc17f6fbcc58b98fd5d6f692323e441b735c3b24f02e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef913249e59fb7fc592c41d6c41a0adf86fc0a5394c60ac7181ba3dc1743ed18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVH_N_L9jLOAVSPpk_eLKhHhlDrMKoyGHbm9Io-uvfp94H6Mm3Oxc4aahWKOwilGGlhiiG3jywDBE87QwyzGxbdE39Z6-6KDEBjhc_FgMvXMolTwanR_YXJFtgngJL9VaUNMz3k5QFzxFIIfZAgD10DRy0D0JdxfnutqgUROkYOQQwhYlAOyt7Z3-I84KAXBs9ZCvqweX3X4ST6AXz5tvIVZzn5FTxXyV4xvgd6vhLTKfCm5mrs6EOA0lqS6kMq8WEsHhgB9lNXuJ7ZJZ91KFVghMZR2fGTmMz6t5ragZZpNYF3eNLoY6X3FQWHgVT4cyVkIyRtyRY0VJUwSJEG669VUQZAZHv3ZJ8b6zcZjnQN_pKSLCCjYgBAfOLrZnHyTD59uRR4boq1tyoDbKEJgOtc6VAMKzBO5B1O7Io5rGmuk55iXmGxsM9pUNnuyh27tlKeFCcbcEw16GeRnuXoD7dazk4ccbscPjS7h7sqol-aggGP30goX3PNSW05hD-tNfTyCP1Wzw7Xo58Gvx8JByT5V7x7znBKmgYdSUyUwt0sT4V0Bv3pwLW-mLZOiq-l9LubQKIDGG9HnDoI4gdcq5J_ruXuhon5L1UkEN_mYt2rynN_NJ5eHULgSGRYEvvvuNeNjBskITrj4mfSYUK3z4Nh0MdbuxmNRwiteMYqq7zBhSgyYge6iwK4YO_i5EY0r4PBlJ0Vb0VNeNnjifIls_x7T8LuN5-49ZdmupfZcEkKlEBQmug3hRq090DJHOQhoV_ZMieAjckqfGBVzbwEbXfXHVGrhtifS4B3kY5CCzXWSRT4T26HPcDLJvfIYg9oWwSIyewldJbwm7E6XjBhO22tTY0BzetLmLLOAqzqU72mxNspBGxOGj7erJBvNCY6LOIR78yfHlGy0loWmdvKGaUViD-g-wuzpeNk1Up12Wjw9UBGlXwMRSZKXQpyyGSEM71v8UCweLeJiUUXMF1sT5ItwKeWtpWIJW-D618WWOyVCNzxvhF4SLvSLpTmyD_clKwrk37v2jkzWW686bwHHB-QwVXxgybCkir7gU25ge3uzkgV2ZhD8L3pzDvL7TMhMIN6P9nYtpYRw7MY3Fa5v7iqhGcMm_2BVwLN2-_qtfMVeqlwH0eP0AnJDf0AsMBK-nwPypnqmq36mYLStiWS1-EmDNnaP8S1L3-dJmmfXNRuWdzuMmjApWNs9rfUNH17M0SjAHiobjcOpMV3feuP_suNyI_x_mndfSiS-edZACka4t87zV9r39PmfCwyvJzHb6m_F2kF6iey0L9IF4j69Pj4UvkKOnYRfx2RiJa_tEFrMXsxqiW-JRil_66eJyMYCCW3XGZzNfIzXFTaXcDgeDOp9t6QOF-PBpCFEL4GT--nD7qZPxTsqziP1zWOeUS_QULxVN8HfiWJsFy9JDsHrioCA49qA6bTRNn7X3LCWl8hwXd29JHKfDi0NCUh61kjpVAcO56Yqp_VTLoSAekyilkKE5gJu3w0tmfRAlkopF_Lz6NAzGHgU8uEvg2osAdWcUneUxbcEBFN2OE12k3iU51NUB0H8mjEOdzhw_vwZfgijF34_n-5ak1KFafhKEe6vsn_rY2SYELArMK4ADxfkUk84pChZbqZZRCsJ3qjFuFKrK6AbTRu1tDrmehu9ksu0Y6c63WTecqUTDuELNkzg9EVydS7zwIFWcAixQrQKX4V3sa9rq_QoxqJzGGXsVOc6SAsX4erbIQceTlw0JbFku1i3iWPuTjwd3tCqXe3VTZXSHFFAMhO12pfHw0JNTx-C1QIHf4V9MbsnbgI_yYPqsZxEF_AzUbOVU7IrH67_BgkoZO4OHtdGajk-Rvl7l86CLJKH06RwfkivCdg8-GWpHecoUcj_lglwWIb6MinN5y8YkJo79RgZor9FXYC1d0NLQF_ZfgnZwJGiaJEM874IfrcconVPxpBmO-UYT4RRlGIhx2X-o3aWEcaA0yNVVqpE6PQGykZOmf_ZjBb5ugZWVnT0rBmaQ8CsRDnrwHWDw8cZd6zpp3k1_M4nGUAiurU0dg2t4MM8Lhbv7siPsIPIcqDbdke7Fe_BMTvLrbLGIIvuJtbCe4i3jcJVzNxEH5tmDZJDokZwYDtlpmmBxzL9mvdyqClruBd2QU1B-gmfWAqtmFMtoZuCDM83RWvsGq8O-EBZGGSCiPLnIU0ydJFZjNGapeSmyEF1sAWJnCgB0I84qOmGHzPxBNHM4WjIoL04dS5uPg68Dtt_kBg14id7CRX_p2UkHHV49Tr6bg37znk2dJxgxyRGxkekzaepSKeOa9n9GYjPruOHWbKWxAf99NgnzXNqRoGgrv8VTNsBRFE8UJc8H7tVptw6BAeEs1z5yXVy_n94L9_ttiXP8dX8rSm4lOdpOdOwPTLSm2V3bpzZ796O91acFg4QR5OfF5L4OmwvI_RIaRbDNMDvwtLgiCG8wllwjzUqmaWILJIeP1dwAJ4k98BV8SYaXqogMsG9sBJ7Xil2K3q-mFD7fyj_hlHzGZ2RY70jKRCsPiaXPWaDOgNoUH24RPwfF2WvQlX9ni51hytSuoxKGpFizMWN3dL67_GAkamGhbhHleRrerE3l8zAouGhz6gb01pLTgeJEfB9oZUlzCEZevfX2ADqTeJC0kzTWxI2GRdh2ja-gNipU4slCLpNHx4FlEnn8b28A2MBvOl56jbIm71QCuVp8g1Kl4PKSw69pMy3_ddVoWbsBKF9L4FTKqzjld5Tjf-0xkjjNqzPW8azJJrGMyTqp5ujdo3UaCZ3ZwrD1TYYJOtiAGYx1xl5Qut_WLeerHloi8Y0R3LtEiNFWL38isr87EKSoQ4sVqEBve9KPkJRBsZ6DgJ1XQZjSSrNNaNeiY0zp2yn3NdQQFqYR4xAdsrNqDjs0P1kb9Foz91uDAcFSZL93k2b6k15OlkjWzgqvdqXVD2SMX6xrmi93srW0bIXB2JmXXV9QVoenjAgBCmUG77oFJoEJOrSj8sbHfKRWbCkcBciHG-AsLoEWsB6nqYEAM2zjiJwiztcsq6322zs2Dz_CQIzVXtnDG7I7tDQ-1rpzC0yhqhFNaq7HMns38eMTyhG7clCl7niUWNCjGUHJV0LP2K9739QzJrkg1ORLuLABycfkTY4pqUALrSiDtaS9goetYU_Btocqq55UrTLy_UDj4VebnEVwRUOJXJ-1ouZQeUoSbnXVd8hZxQmtDXBO2r43P0NmRHRu4EPddtDKh3w25M0e1_Im3gkqRafhucIJa4nP7vMGWvibvdGyVpBPmUdwMkyk9N1d4AsNGeQ-PIjTiBKvZMd-E4js6uY-j-zhjCsIlXyxRFyJGGZbV85FAdlu-Uo-xfmhUZDr1iwV8Q68vb3vNFXbcgOktU7ocpmyAwPYows-FS1fAPtOtHA9he8_bf4RKTqElRsYvKrHy6Kpg=",
  "id": "rs_0acaeb9c36968f96016ab435424cd887d0b9f99aa92d2db56d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.02,\"left_z\":0.05},\"note\":\"The pale bowl fills the left wrist view, but its near wall is not yet between the fingers. I’m shifting the open gripper farther to the bowl’s outer side and lowering beside its rim.\"}",
  "call_id": "call_Fgjwye5mSwUiGM43XckqjB4b",
  "id": "fc_0acaeb9c36968f96016ab43546abac87d0841838b5867624f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fgjwye5mSwUiGM43XckqjB4b",
  "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]: [-0.1146, 1.4918, 0.5793, 0.1295, -0.1219, -0.1188, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.371 left_y=-0.0175 left_z=0.0451 left_yaw=0.0335 left_pitch=-0.2037 left_roll=0.0189 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1049 right_pitch=-0.4675 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -5.0393, 5.641, 1.9023, 0.1099, 0.1245, -0.0122, -0.1846, -3.3299, 6.5709, 1.2967, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7f95aedd9070099c7e94c876844ee1c3e8eab2cb77d70f86c58c9ff46e53a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a640c50add4edc1afbae7212fa293ec335ec8cab3d7a47d7af709ac4a5119ef4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cd048f9de286851ec6526305f48904ad1bf782a99a616c556d1482b650f745",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4152, -0.0227, -0.0494, 0.9995, 0.6937, 1.8717, 1.2682, -0.4599, 0.3519, 0.3927, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1657 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3816 right_y=0.2428 right_z=0.0685 right_yaw=0.1308 right_pitch=-0.3964 right_roll=-0.085 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3744, 7.0085, 1.7167, -0.0415, -0.0562, -0.0122, -0.4308, -8.6085, 6.2154, 1.2821, 0.2222, 0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.4105, 0.717, -0.0517, -0.2123, -0.1997, 0.9995, -0.0216, 1.137, 0.9691, -0.8577, -0.0158, -0.2008, 0.9965]\nstate[eef_state]: left_x=0.3797 left_y=-0.0651 left_z=0.0977 left_yaw=-0.0084 left_pitch=-0.1526 left_roll=0.013 left_gripper=0.9995 right_x=0.2886 right_y=0.0002 right_z=0.159 right_yaw=0.1032 right_pitch=-0.4599 right_roll=-0.0863 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.3521, 8.841, 1.7509, -0.2955, 0.0366, -0.0122, -0.1299, -3.6171, 6.6667, 1.4237, 0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1146, 1.4918, 0.5793, 0.1295, -0.1219, -0.1188, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.371 left_y=-0.0175 left_z=0.0451 left_yaw=0.0335 left_pitch=-0.2037 left_roll=0.0189 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1049 right_pitch=-0.4675 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -5.0393, 5.641, 1.9023, 0.1099, 0.1245, -0.0122, -0.1846, -3.3299, 6.5709, 1.2967, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7f95aedd9070099c7e94c876844ee1c3e8eab2cb77d70f86c58c9ff46e53a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a640c50add4edc1afbae7212fa293ec335ec8cab3d7a47d7af709ac4a5119ef4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cd048f9de286851ec6526305f48904ad1bf782a99a616c556d1482b650f745",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDVN7YWgwydI7CCf3a-jXiQgKanvJnw3DSUTQql9_xI2QrwrSjXdefCwi7KndcCZhjmlxNkHEaWzS436ZOtV7L_YpEXuaaunIL-HJV2ueYgt0Qxo8WnpDsdo--6jbnrqg2HbLud89PZNIYlLy_T_Lvl4am-fTFdpIK0CQESu8Vuc0E32zCbdCbqkMzcXGjwYb0b4GowztyyLZlSOEpIIYjJ0KCdmG2b3sv_OfQB2BwV7FwAfyFnUE2C7rtAjh8Tvu4LM1wFnaryJ4B28RrBB1_uVFvADPlSy7OnI0jmzPNhXcgxSYJgnWq4Y3U5Fy4MgDey_eS9J50ejAA58u2rgJ2kJnPkaDVrfizUEdfT1ED7zT_yqu3Jq12w1lYQn4hYX-Znw7UoERy0-Du2I2RVlvuUE0ZgyJYn5FC1uaGcxtfVKSmEvBjWtpjfw0IL-UD77TGPu5I_f_B8libHSghlKvj6R9AGn1EbMN8B2Kk89BB4uXcpeYEqOt6Ddsz1PhRgvwcgIbEvE97yDNMfIB1P71T8OlQtk2VbrTXwMW4A0rI1LQLhTymViCl0-G4MvYeXZs0SSHa_F54SzbhbDB9qao8tozDILNDz_k3qCvaWQE5G6ti4fOcS3iSRPNvZon76HreET1BvU0iU1tg8-7XgVh2WD8UGxPgr-R2NXtYzpKqQZVEW1H0BDu9_gZhNqT2sHerzfbkrw-Y3e1yhTp3cOd1-GMD_lA61nbLwDMc27JIKmUeFo_TOkkCr5tpN9vXyf_BpREqkLxZL_MucNgg38qEfJXWk3vj88zcaJpG_HIAXEoqAmr_9Tiay-1NYkoLH1Q5KEJx-h-QBNMBhE0CBazsBliFOzEAezJVw_KvWsYxsv1qloTmxdzhOUAMiiqKL_VRhISg9CtmfbPZTAZolIvz7S7iBx3pvEISIQZe-myqiGnglWvuFAZ7W7umfKSmo2wmp-ANPwleaj5WSb6TyyqaJdUeJ5p2Eo2KbgbPNANsBXdJppCZwLur9bM8psGrnYPrnPAWrFvgIdOgizZaY-P9mOKQcuMduP4UhLLJ2GBuTWGs0_hQMM3nYhEYTsaP4RYS32k1KGTJ5tzKyNnkD0dHBXR1Y9MYf4I4DS-2wfb2KKkLdzMCHFH8n0UtEPewUcDaFpQsjMtWtDMc5iP8s_FW6DasU5A89lZNpz8S2jRpTcJBbM7jCdpdj-PbIUyPRWC6LxdPIsn6MF6JhLlOqOTuLGumXuXD5GeriuyX_bmdJLXlOtREi2Vsar9tWEZoaKgA_ezNS9xDDUG5CfUvKSmXakVdxa0OOhWY7qfXZk_yVrVElgbTJuP9rvkutu6a3vXH2Hcs1LMeD1T9tqv01Em10fhiyfeYJDdnVOg2A6ZdvtZ6J2tW5cWAhw1vWO94clzlANozLNKQDKOkVd7q_3wUeBAsqk6TZ3LDTsUSwjbeMKH26gd5OjoVYRD9jgaAXTxAQxr24rulcnOb_pI0cstYQAL3cODc97dlv8_L4rT5r1786xnyXP6lYnfwcdDJktSQ5LjToaUkuZb_TUBiUEk5uIgU71T88Ol-kQVPMFFtYaG8n-CsyPCLicge-gx5idwKW-OP-9meoJ5kQf3O9fTkoAHeVr855Pf2nATseH_33mWT0mBKdO2udWJoA4aC3zzq6HEI6dGZzrA38fFRSpGw05CKYNvrPCozIIeF5eZ3D0YUxwPOzsj2VW_C1hKILao1HZZ9xS6KVAUsdUcPBQl5qZ7RCnUFMYcRrqCRswdfbM4L6LV7Y-GqTUcm7xXmILU1JiJs-kmtYgInbLLmBvO6zdIwNepiZdtFt7J9LO8SAQCzb5aIPaIgqJIo7ZwqK0gS6-hVV4mnx5Cc8u8_MQyMTPBTgfU1DU8FAo0w5FfdayApUAdP4sc2vR1WFiygmQXfRGb6CpIThkYDC2PTdyj4puOxjqOzuCoiw6HmFHAxskQlfJRmLnsIFq07Jskt-mXccStsDJ-XH1IwItIRGOHcDO_LKQu3ZmcpNYyrDDJEt2SHPvpim9C5GXKr-pT423_aezxrYb7L1n74KcAT7KHueghbqNkajCv3dGJUN9E8iK0vUXSgUrC_PccEDVo8vvFBFk0Oe56fzOaocgtYTIVM67lsU7Nqg9VfBjx31ib8FYb64uxSAoHSrz2HtWIb7aPBnaYa2tZl4gtP8yUx0iDHkT74Gm9H_yFzb395vx-kqvFUEdoOUKNi2y4cV5u3lpVF1_ydqTtb4EC9ZY-vT0CFiT91G4A0b9LbQQTFnWYYsCFKOoZz8G2FVUAYG3SaP6KHWYZ0p_Qxz-NIC8UAPcN2T7m8RCsDQcwjt9cGQFAJeSlnu-wcUiP2XrfYAw1ls48mw6M1znQXXCkYe0083Y3e6KOtDwAHP3OoL_8vvgsnlMqAsSiQDuvQvhQoXj67t0K94WJmYIwC1vct7Xp1VtaovzKXnX3krKbNEEadhe-AAvZ9VcuqZOqbi32ccngRUUD2sKF2jnNTP-9ZFBxJS6zPsqnYs6MLV9RoQnp1LLUtrC29mUHa5XWyd8KsVwKNbY9_gvMdi2vlbiF_Q12Ee0hIJ_AiC6qg1VfAJpkOQaUSyAjxo87WXIxuNp_GFi-k7fJrrFaxt0_XQd36ZO53PSXp_RVg1tvQI6VEowr8Bw9halYpUy78aCpWCYzjifs-uMmagIVK40rpmtaINVBJnjg_MfRZuAXzTM-J_K5o30a1ot2qbe-gM1MQdl5updn3Ech9LCovG8wdwihobIw4-mbujF5JoA-BjSiAbs2buGiXJXnQQilSQO6DfbLAxYcRM8iYdjmWeMLXB4fsESuXom3Q2VRd7SmKz4_0Gek7mWB_GLeDfDPEMlo41nxqDmfe2BfWmxlP7XDzczrL3xWjftFKg2hQktE_NaLwd2Zi51iOz9K9CAafEKXJZzrqMu6FWH-qjLvx9KQkm0BZuKgmQ2WpiYgG5YsvWO75vgm-sfWso4I7o=",
  "id": "rs_0acaeb9c36968f96016ab435496ac487d09ea7181408d79ef8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.053,\"left_z\":0.11},\"note\":\"The pale bowl’s left wall is now too far to the right of the jaw meeting point. I’m lifting clear and recentering that wall between the fingers before making the pinch.\"}",
  "call_id": "call_FAoXbEaR5EetEWhiX3VFwCHm",
  "id": "fc_0acaeb9c36968f96016ab4354c631487d08eb5082597f8c958",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FAoXbEaR5EetEWhiX3VFwCHm",
  "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]: [-0.1001, 1.5055, 0.569, 0.1852, -0.0978, -0.1005, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3763 left_y=-0.0169 left_z=0.046 left_yaw=0.0166 left_pitch=-0.1748 left_roll=0.0113 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1051 right_pitch=-0.4676 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -5.8325, 5.6, 1.7705, 0.0513, 0.149, -0.0122, -0.1573, -3.3436, 6.5026, 1.2137, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61340dc609652dbb3f3c5ee1cc79c18590c66d722b530b6f6513de4951649df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ce3aca4dd05840b5b9327edeae9d42f61d04f2ea73939e3a2277fa156747c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979ebd760c86cbaf8293f526d826a094022e10891ec816f544db3f03a381fab2",
      "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 · 2.144 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0494, 0.9995, -0.0219, 1.1332, 0.9707, -0.8318, -0.0071, -0.1833, 0.9965]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0625 left_roll=-0.0055 left_gripper=0.9995 right_x=0.2941 right_y=-0.0016 right_z=0.164 right_yaw=0.0825 right_pitch=-0.4289 right_roll=-0.0882 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6825, -0.0611, -0.0513, -0.0122, -0.0615, -4.1231, 9.9624, 1.4383, -0.1441, -0.0855, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1146, 1.4918, 0.5793, 0.1295, -0.1219, -0.1188, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.371 left_y=-0.0175 left_z=0.0451 left_yaw=0.0335 left_pitch=-0.2037 left_roll=0.0189 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1049 right_pitch=-0.4675 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -5.0393, 5.641, 1.9023, 0.1099, 0.1245, -0.0122, -0.1846, -3.3299, 6.5709, 1.2967, -0.0611, -0.0366, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.5055, 0.569, 0.1852, -0.0978, -0.1005, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3763 left_y=-0.0169 left_z=0.046 left_yaw=0.0166 left_pitch=-0.1748 left_roll=0.0113 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1051 right_pitch=-0.4676 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -5.8325, 5.6, 1.7705, 0.0513, 0.149, -0.0122, -0.1573, -3.3436, 6.5026, 1.2137, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61340dc609652dbb3f3c5ee1cc79c18590c66d722b530b6f6513de4951649df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ce3aca4dd05840b5b9327edeae9d42f61d04f2ea73939e3a2277fa156747c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979ebd760c86cbaf8293f526d826a094022e10891ec816f544db3f03a381fab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDVQ4IT1kTbOUmn1zcNmknq_7XEHW7fGL4kzvWmQSq2dZKTJCCEtiPIjAXajkcDPWHv06R39vJf55Pa3RvURDdd9D3M-uuyp4J1AMazdT6SfjlQIvL8rVmMx8OFJXiDG7TSHEdrymZCogvVKkgKu6-Q1fjDggf1norOmEwy8mf2ggIeOH3Njv3q3oNAgmCPKquQy0xy8XuAEZyWDR3ddacfwCbgpbW1ByJ7NS7jwRhG2DHzkTj7fcL-qLtl2VjRo_fPqwa9fw33elbc3DL_FSLFRHNkCxmUneridnhKCynogFE34LCtsl2cSGcL_3jJasuedlSVj_KqzZK-5tdARqi1B8zIlaWDLy5X6CRlnVggY96VQrkI3BFZxqxgGbSYvgWl4yamAdwQRdbKDkiLQS1EpxS4kfs3ymf8pS8qDU9cu9EO4g8sm9WFHiVJ8Q-cRPcsc6YCDnHYtBEFF6_JXLOl-Z2RBjf5LBQPNP5u5HNK2yscpvECByCcgx_2KhQ6TjNqQprW0vdTzb5XAgOw_54kCJuBSNOlZmrgliJW7MMmksLbrhsNpceEEZ34NkIMZpsf1XW1-xP05_B6xMvjQcNN4pCpQMkWhJREftlElX1UfUgValBSVlrVdz70244O4lFvp9EsiHGR0b4IIlowVdhOVMgZi6xyKB7ekw340_iFvrbDn8AQ-PHsHVEGhuMcLinbp6Cdta9-bgoy6qClKCLI-p-sYR5sQ6sWmlwmh3xfnPcClCAj26bRMU2CI3tJBreC0J6uV_lEglbB9ALAyjO7U-smZO_cwPDupy77eoAdjKs78plyIHYbK3rdz5rwXQEKZTUJQSeSlFfFkrF5ErA42hUwuvOzg-MW7KG6BkomsPB69LWpkUVANHmOjk4G6O7LCsll7VNHjLB27__DUzbFtFvpYTsyGj9oFH6Dg8VPjyBxVZBrFPk_Hugh-r9GDvqQeFkQOwOoC8yNxRit-b1gHe-ht3sPd__cyeKtuuquvOiMbb315uKN9HEme4HvM8k33tvbJMYf206iherRg3a0sMMQ9e6ixOOJ8M-PLEi-AYEZ1SqbxMQc63iAu7LotfGFvRN-mz3GbaAsGUg60pQVghJUiInOkXkMBNNc8NjteVfSIV937bq40cl4B4Y9TDCRA0PmirIo1LVtZb6NpMHBCdsAD758LYXF_iIoo34mMA2HrMd9j5q5kiedlVU79H6PoUWM0JqwbTqcQIn2YppEGTNMnDaaQLBOXbTH0usqABV6Ts4YFyzUdNwphbgYJzD9KsLbNoH1bjzLMCkgu9r29XXcF1-pVF4VlrIvXJs0NdxlfJrPMOj7GGz3H_RRRJI550KiGYZMauV1py8rA5Rx7HROAKKWGL5j87to6V-v6vlygxDbfD0yAMU5KJwz6FreGNhJK97xeYBm-1UMSYa7vT7IcSCWDe8gZ_PxglO-Dcwzk1HBppdjZEd9mpsZndtn4pc_vETabLNKgU5vdwckRrC-3SbVrSlOb7XehMD8piQNfU_E2dul9_W7E_fBRUUD-YMK0DyP_fyVEOTKwYesl2TAqsxs1NBFpLKaj8frZ8PpkyhGB2g2syxb2c4pgUaNuu05mOpuAC6T0q7tqb7mvXikP3CwybjCHSRlmpkC7kS7Q9GTGqiQpwCdksBAK4Er2xX-iMX9PIqDUW1JCI3eRgA==",
  "id": "rs_0acaeb9c36968f96016ab4354edee487d0b0a803d4e147f4e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left arm did not follow the combined lift-and-sideways target; its height stayed near 4.5 cm. I’m trying a straight upward retreat before changing its lateral position.\"}",
  "call_id": "call_JnNgITqDpcMHeuv6LyJchHSI",
  "id": "fc_0acaeb9c36968f96016ab4354fb14c87d096672a361d421790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JnNgITqDpcMHeuv6LyJchHSI",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.3392, 0.807, -0.0814, -0.1017, -0.1047, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4022 left_y=-0.0188 left_z=0.155 left_yaw=0.0204 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.287 right_y=0.0002 right_z=0.1572 right_yaw=0.1049 right_pitch=-0.4699 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0103, 6.694, 1.2576, -0.0073, 0.0073, -0.0122, -0.1709, -3.494, 6.694, 1.1795, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd29b3cc4e37a7eda8d05adfbccb08003a3707e8f9a379b3028b1db2a2febc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69d0604e28f7fce5b1a6bf3ead0af590a02704eeb914a2b222ed2c248718b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c795a29588eaf2e06aac41e58f864c1181e6061e5a7ca031f57a97394df5ab3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.787 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.276, 1.4105, 0.717, -0.0517, -0.2123, -0.1997, 0.9995, -0.0216, 1.137, 0.9691, -0.8577, -0.0158, -0.2008, 0.9965]\nstate[eef_state]: left_x=0.3797 left_y=-0.0651 left_z=0.0977 left_yaw=-0.0084 left_pitch=-0.1526 left_roll=0.013 left_gripper=0.9995 right_x=0.2886 right_y=0.0002 right_z=0.159 right_yaw=0.1032 right_pitch=-0.4599 right_roll=-0.0863 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.3521, 8.841, 1.7509, -0.2955, 0.0366, -0.0122, -0.1299, -3.6171, 6.6667, 1.4237, 0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.5055, 0.569, 0.1852, -0.0978, -0.1005, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3763 left_y=-0.0169 left_z=0.046 left_yaw=0.0166 left_pitch=-0.1748 left_roll=0.0113 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1051 right_pitch=-0.4676 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -5.8325, 5.6, 1.7705, 0.0513, 0.149, -0.0122, -0.1573, -3.3436, 6.5026, 1.2137, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.3392, 0.807, -0.0814, -0.1017, -0.1047, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4022 left_y=-0.0188 left_z=0.155 left_yaw=0.0204 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.287 right_y=0.0002 right_z=0.1572 right_yaw=0.1049 right_pitch=-0.4699 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0103, 6.694, 1.2576, -0.0073, 0.0073, -0.0122, -0.1709, -3.494, 6.694, 1.1795, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd29b3cc4e37a7eda8d05adfbccb08003a3707e8f9a379b3028b1db2a2febc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69d0604e28f7fce5b1a6bf3ead0af590a02704eeb914a2b222ed2c248718b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c795a29588eaf2e06aac41e58f864c1181e6061e5a7ca031f57a97394df5ab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVTweQJBvEkftSrNepV14j75idBCHl_h-nCoLJcsKpSc2Pnmo8_AW4BWSLd2bcPoZUfcU8m2cuZjhPmClVDp4LIT244kB7QXqADJqBXb2YrjFpSGUg401uYrLDx_MAmfMb1kaMeL3Sc0URjLQKS1BuVQstPt545qJNnFkFo7bziiEpm1lySzxNzCdeVColPvDvQQHf-OXQ4kR_F0oLemfmlHZT_H8_QYW6FzB51VWVA5mCpMQke_HGQQtJpRnu7Gygwbty4lxgYY6RH6wzZFAAAI9452SJ3JT2EPHcrsIy2CNMsf-emJDAJO-yP_v7-fro8Gy0hwo1oods9SpzQGjQQ1LFGQttxJGqCza7b6odnJk3KKujlyrM2JZmsyCSdIu5Lgb0cVCc48H4WwTYOXwAW4lViS3LAKo8O1D8RKkYHcUyW_QeJqMKlxFYQHOiDOBLVuerMGlpLO-SnohHaG_qSdPT5Z7FJED2f67eBsjnE9XIWMiKdiMWDYajUtxy3SiXw-GRhvda0ieVicozVbEmHvbHuhCkh0M-PhRopcnA1Rp82FvMQUf6l9_WNs-iFbJTOnsv88I2Du1hv4QX3_CRa4abe-ELeerE2RxxSWDKJVzYAppX9BzpyFSCuPnntcTdi7r79tzw2joNw0twHP2cBRMrHFBF6ZWzOJxROvfTKTBdda1FvB2n3uMpA72H-Z4p0sVlGSdr8n-u-g97NCcRjGOo_F4LTmjP5N5ptxnnhUYMrp4bfiltbuHgcqWWfikuSc1bNCoxFD_l-_mwgJQ-pX1JGmB-34sUtEvplUG9fhavMRI9KDJypyABZwfBD5kNQpo6ga_0NDs9157cY_47WObzQggB6c_JC4s9zMczRwy-IzjnYKJj9Io88hcU8mYLeQQMECs7GWUBcUIJx9IswJbNcLsQdC8eRTq-Vl9lV_dlWA57FS0iwV64xE2YKh8v6b5VA0vxW4y9pXgYp7Z7mf-lDvL0OaUUsTk6QUnTOQYRDPgOrrpOON9X1Dk0HNygCPH4VpFByZjjRJnJIfbUzCppwIjhZRC5vdo3FbYT4dv5cXTJ1_C2VK7Bq4gBeYiMMaC2cBB0weZsolNWXHR28tYY7swEx1hE4oHSDpoyEl9RlS5dVnr4VTAAQ8mCU2idcPyP__bu8dTz_r70VLFQltEjMfP6-_rjDgECiWp4Jstxp-bG0roGtHShtzCVLAJDXJd0mTbILVVfAo5SvCD7oGY1zvs9zi4CZDfJ4urksstMD_UQ2Dc4oHQOBchi8hz5XbSLjBNABdY2bfRfZrTP94t03iWkKTak4PbUyKs0rwjWx6ylTx9LjmhttJYEA4V0eGVW_E4cuS3RiaU07Uqj2HRL71fcWsSBj3TBjFZudII9A3PTlKOSbdH9Sa9shkhGtM7kbKEv3ofB_ZFZc13pqAy48BQlSS23_rfc17I2dbjbHzpzOpAbLHdN9GvyDAhpkNsLoEd8VzSLLm2vRgO50dA==",
  "id": "rs_0acaeb9c36968f96016ab43552982487d08a143ae14cf2dd0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.055},\"note\":\"A straight lift succeeded and cleared the pale bowl. I’m moving the elevated gripper a few centimetres toward the bowl so its outer rim will be nearer the jaw meeting point on descent.\"}",
  "call_id": "call_CGiyr3EmdMgeSLU2nKoZ8Q7f",
  "id": "fc_0acaeb9c36968f96016ab43553255087d08a8f054733730ca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CGiyr3EmdMgeSLU2nKoZ8Q7f",
  "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]: [-0.2287, 1.3701, 0.815, -0.1375, -0.1749, -0.1623, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3926 left_y=-0.0561 left_z=0.1369 left_yaw=-0.0145 left_pitch=-0.1078 left_roll=0.005 left_gripper=0.9995 right_x=0.287 right_y=0.0003 right_z=0.1573 right_yaw=0.1055 right_pitch=-0.4699 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.8051, 7.8291, 2.0781, -0.2515, -0.0513, -0.0122, -0.2393, -3.1932, 6.694, 1.2234, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c25223acc751a4425f3908c8316a0c63ed7573a0dae07d41d78a47e6be7c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d2ed066d8200e8698e5e0ef7d708fd28a5f564cf1bdbd4f7866f66182b7377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d087597dc6e3d1a11b00b7b6950ecc84cc5bafd302914f7db3d4cfe8b0d4c75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.583 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1146, 1.4918, 0.5793, 0.1295, -0.1219, -0.1188, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.371 left_y=-0.0175 left_z=0.0451 left_yaw=0.0335 left_pitch=-0.2037 left_roll=0.0189 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1049 right_pitch=-0.4675 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -5.0393, 5.641, 1.9023, 0.1099, 0.1245, -0.0122, -0.1846, -3.3299, 6.5709, 1.2967, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.3392, 0.807, -0.0814, -0.1017, -0.1047, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4022 left_y=-0.0188 left_z=0.155 left_yaw=0.0204 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.287 right_y=0.0002 right_z=0.1572 right_yaw=0.1049 right_pitch=-0.4699 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0103, 6.694, 1.2576, -0.0073, 0.0073, -0.0122, -0.1709, -3.494, 6.694, 1.1795, -0.0171, -0.0269, -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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2287, 1.3701, 0.815, -0.1375, -0.1749, -0.1623, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3926 left_y=-0.0561 left_z=0.1369 left_yaw=-0.0145 left_pitch=-0.1078 left_roll=0.005 left_gripper=0.9995 right_x=0.287 right_y=0.0003 right_z=0.1573 right_yaw=0.1055 right_pitch=-0.4699 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.8051, 7.8291, 2.0781, -0.2515, -0.0513, -0.0122, -0.2393, -3.1932, 6.694, 1.2234, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c25223acc751a4425f3908c8316a0c63ed7573a0dae07d41d78a47e6be7c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d2ed066d8200e8698e5e0ef7d708fd28a5f564cf1bdbd4f7866f66182b7377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d087597dc6e3d1a11b00b7b6950ecc84cc5bafd302914f7db3d4cfe8b0d4c75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDVX9szvg3wSFybUtSvULKgvhtAbToLemLv7YXlfU4_0qyNDUJZ9i99f4k6LeId68vj9UErP7H2zRRDmdWzhgE6DsFWn1UTy2zu2RwqcITDz_D5x7y5cYG7vvyORRQDv-g7qgEco2w9vfnvJj2kTTGo3wB9rnOUy8jaehILul_gf6b_n97slIX2iDkJHOGHWwM-cIPZyd1Hbf6xfqS-4dJBq7T57GOSbfrPF_LhhKeIflzOCaVZlONu_qQqzHKGcpSWYMbUUjeDVHfg6D-WRgjKKJWgaGzWOYne6kB4hMq--NJ8IoP1OAQeVas6M9gNao5TY7o_772CdeQmugbCSt27mMafiqdML3GAJGUKnyxp-RHKZ5-QgZbb_a5wfsYRVfueTAMd3zmFHwdK-ca1Rd3fKLe3tYEyLN6OyLsw1Rl7iYlto2CoCQqGEvSQ2eDeosna1B7C-1xj3ipoX1M5zKuubfLf3-V4Alrw8ruNJXglIIzYg7lUqxgqvn6A084g50ejCvr6b8L215E1DgSJKBvRnf-lfmG62YhA0-nhERR68J_O3yeyGHmgGnRRmxE2SLgKUrUOLyooDh5UPdIt6TKQV8rUNZqxwo0P21z13MeOducmq7MYWRL9mqfA0qZQxIBb-XQrJZXkasRH6AymTvc4IUH24zPiaMDAPbxDyXnJ3C4YIJlKmZdZpFRLcURFJPzxuWF1Jlf9KhIYad7WYP1yprUY3-gqoreCRw8Ip14-og1EFdvEaNbDd_eDs3grc5ztMnDPiocr2zOEaBIBHS6pqViGtIyraZVMOU_3tRPRlKQDbJzT_ppTP-08RBoWdgZv4CMoL0fiG0x5lXRB5TWkp1H89Yju2zm9cW6w7Ou7ELfdHEeV7FxiI42ATbyiyvID8GZylYPXUstXSzTX3eVYzVM4aoxTJr5N-A_Oafc1dxeYwJXZwXFMXzByU7E0YanGhaZnLW7nCqHQ96W9qbAp6XVNYQ3ghEH1OctJE4TymaJPwH4itMeAP_LaX_t0deMOsVBrpwACPiJlLUiTnDzJ_SSNNdNZawF_VoUW70aOfje9sX-E8i7I1Sa7Ft-MuMEHN2XQLGrD50dXn8Btf6_DTEZE-C2a7hNTmj5mn2aXbZScGJ8hyM1UAFh3tRQuzPLIYh1esNYOGYgVOyDo_ogFZbbcLl3LHhSxRBjm41KVC2wgQgauPdojyIbRa5H_2O5zhXVs5XLe9twtTLP1_NYJHEORV0zXr4O8OSTZixddLSOdkUwVmXax-O08Dgxq-aygDQyWegCMBGZ15r3w9q2ilO6zPOQ4-nJvYDYaeMjm3L_4LrzTTcCfUh0yfaQ605h2slxEwSGkd0BhV1yl_PWrYUytgAH-wk8uZPaeXRcd87LKDg4OwpZsDFLCBr5h5UuJQCpIivklygsRxeVDCU1lchukugikdGo3aMPMc8IBcH8G5nVXjZwEmcdvKR62CaWg6HPsbPvkM59uFYYwWzzDU3tbEsuy2sJhuEA0u3wzav-PQ0S3PBg72erpeABJ6Dh71ojqcKhcib8oQGMI6KMVjAA==",
  "id": "rs_0acaeb9c36968f96016ab43555eda487d0b797bf9744075ee0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"At the elevated pose, the pale bowl’s outer rim lines up close to the left gripper’s closing point. I’m descending beside it while keeping that sideways alignment.\"}",
  "call_id": "call_pbFIBshWsEFIXds3Vj1kuPXr",
  "id": "fc_0acaeb9c36968f96016ab43556d86c87d09a4b049a1e3bb836",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbFIBshWsEFIXds3Vj1kuPXr",
  "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]: [-0.2348, 1.5589, 0.6067, 0.1852, -0.1806, -0.1802, 0.9995, -0.0216, 1.1389, 0.9684, -0.8654, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3812 left_y=-0.0549 left_z=0.0421 left_yaw=-0.0036 left_pitch=-0.1793 left_roll=0.0117 left_gripper=0.9995 right_x=0.2869 right_y=0.0002 right_z=0.1572 right_yaw=0.105 right_pitch=-0.4703 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -6.3658, 5.4632, 1.7509, -0.0855, 0.1001, -0.0122, -0.0889, -3.3846, 6.5026, 1.1648, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11b78dace7204e3728faeca9ea8de79d256d1d97fd0a883fea7881edba1b105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd50a6aca766dfc2080721756332d94523dfaffee648b53431019698efb1b8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c2ee0a3c684aa51287797225244cfdbaf72eb901f70edcefa846feceb39fe2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.513 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.5055, 0.569, 0.1852, -0.0978, -0.1005, 0.9995, -0.0216, 1.1374, 0.9684, -0.8642, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3763 left_y=-0.0169 left_z=0.046 left_yaw=0.0166 left_pitch=-0.1748 left_roll=0.0113 left_gripper=0.9995 right_x=0.2871 right_y=0.0003 right_z=0.1578 right_yaw=0.1051 right_pitch=-0.4676 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -5.8325, 5.6, 1.7705, 0.0513, 0.149, -0.0122, -0.1573, -3.3436, 6.5026, 1.2137, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2287, 1.3701, 0.815, -0.1375, -0.1749, -0.1623, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3926 left_y=-0.0561 left_z=0.1369 left_yaw=-0.0145 left_pitch=-0.1078 left_roll=0.005 left_gripper=0.9995 right_x=0.287 right_y=0.0003 right_z=0.1573 right_yaw=0.1055 right_pitch=-0.4699 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.8051, 7.8291, 2.0781, -0.2515, -0.0513, -0.0122, -0.2393, -3.1932, 6.694, 1.2234, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5589, 0.6067, 0.1852, -0.1806, -0.1802, 0.9995, -0.0216, 1.1389, 0.9684, -0.8654, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3812 left_y=-0.0549 left_z=0.0421 left_yaw=-0.0036 left_pitch=-0.1793 left_roll=0.0117 left_gripper=0.9995 right_x=0.2869 right_y=0.0002 right_z=0.1572 right_yaw=0.105 right_pitch=-0.4703 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -6.3658, 5.4632, 1.7509, -0.0855, 0.1001, -0.0122, -0.0889, -3.3846, 6.5026, 1.1648, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11b78dace7204e3728faeca9ea8de79d256d1d97fd0a883fea7881edba1b105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd50a6aca766dfc2080721756332d94523dfaffee648b53431019698efb1b8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c2ee0a3c684aa51287797225244cfdbaf72eb901f70edcefa846feceb39fe2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVbRifHVVAvElosb2M6t8-frmDGYNr6lnu8m0VrFNVdgPnEIyURIK9efY7FImyQiwi2aM5pLx5Xq-FcNeNkPbMwuLunUPWyToRl-U_arCz7g3D-eAJMzD5ZJtFZ1odWu0ViPvNEcy3oB0lTmjbz3owox4q4bR1kuFWmp9JXlGg8G3xj6pa8B1oJn2DRGQJ6zAciNcc6GcBvHsvOx0a65sPqh-6bx7SNX05oat9PK7ETJknoofdRbgyUE6FNbz0NFdmsa31VI5NQsQrbQishWXNTD8LgGarVITbTQJZ90s3_iYPJpxjPO2WEP-f4fbGldFlYP--j8oNLbpbLiLPfsOqYp-p89R0UPCL4Qw6WWuoG1wwtMTkk4Ge2wuUuPQHGiCgh5YaYWrAXRz-C3wvoxCOlufCkXdLMHjW6ShXhYmSmsUh-R3yDqDTJrOmSOseavnOSEtxAWklBUIIryKfhXbYTJsZQM2uGHlOt7AHjpAVuJrMB7t_BUObFNHKaSuGUsYs7W1quoT1-KPng7D2EiHZ2hBirw-i7buWvrJfqz8nxdLpE_GxLeqQt8y683scFJwKjccUpiRKvw7touraGNB03O7uGYmOzkcpizzLWSdM-UWNB-aJh7mr9D3ZA5qkrdgw2cex55hovinwtUM1dswgTz0T1UE1EN67_jEyO0EsAl2tXDYz56Wq7vhToDENDeqNTcKnN-dyFYEA6ZsB7hewlO31q9vDsQLaafvb9pk4GB0PKZdMYua7u2Jc9ci4z6NHSHZ0BVr88dfQsz2fJgo7JyinG2r-3qeoc83IDlQ3Zz420n-yOhqZA4ioBtNJPftfzbOXNYIKVzBTsO6eH4Ed9HFtVB502WrrnXgtY0KAexMYGDq4FiQnh-AJyGgNqTq178kheTSAnuJhWZbs38NBKpYLWiRo9GqTuTMksPOqGI1KiZcAGmUUSwcJowovbOssPSIInmjvB8DKLxfXZkPSvfAUKItG6VSBI9VtMSpWUFitGAAZkzfPT2qLf6Gb9qDJ4kObmbdfcPblA4AJg6YW89EMkOl6uRY-hczXBGI4QlvjsYMhbx8dkPp--idBxhrevoXR6pwXVflEgg0D0c-yXC_XTrhB22rShxcmbXToPToN1tXlxoD3pNJhtGx0LNTmOunAKdYYIFsSN9tPz_UEVSJ0XKzYlRLcvKr4Ea7k1FyFR9dTLOmbuEAbXNaPTN20o_-xS51ad2ARM06c1_UVfjQhb4Jtn583Ss00yv1Wx028Z7OFdK7J3gePgwkXpgWnezHGmlpKMy8yeEoK8m8ki6avF4pa3Q1kaJfSdrXzV1k3TdzNudNpv8Z7MKUQZzx2W",
  "id": "rs_0acaeb9c36968f96016ab43559b6e087d0a920f197de266772",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale bowl’s outer wall is now at nearly the same jaw position that worked for the pink bowl. I’m closing the left gripper on that single rim wall.\"}",
  "call_id": "call_pjs64DW5mTEYSopWl0WHImfZ",
  "id": "fc_0acaeb9c36968f96016ab4355a3da487d08fd975b69de152f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pjs64DW5mTEYSopWl0WHImfZ",
  "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]: [-0.2348, 1.5673, 0.5968, 0.2016, -0.1734, -0.1955, 0.0389, -0.0216, 1.1389, 0.9684, -0.8646, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3799 left_y=-0.0559 left_z=0.0382 left_yaw=-0.0012 left_pitch=-0.1822 left_roll=-0.0041 left_gripper=0.0389 right_x=0.2871 right_y=0.0003 right_z=0.1573 right_yaw=0.1053 right_pitch=-0.4695 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.147, 6.4342, 1.3797, -0.105, 0.232, 0.8767, -0.0752, -3.3846, 6.7077, 1.1893, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f20a09730072c89da2602d77ec18daf8dda221092e9f0c995a90910cbbbf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c048479e98dfaf74975c75a6547bc4d5f844dbc5694daee830b21d329c37415a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90502c03261153bf8f7ef3db5279af1be50a1893a2e76a63180b4b72796aba64",
      "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 · 6.348 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1001, 1.3392, 0.807, -0.0814, -0.1017, -0.1047, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4022 left_y=-0.0188 left_z=0.155 left_yaw=0.0204 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.287 right_y=0.0002 right_z=0.1572 right_yaw=0.1049 right_pitch=-0.4699 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0103, 6.694, 1.2576, -0.0073, 0.0073, -0.0122, -0.1709, -3.494, 6.694, 1.1795, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5589, 0.6067, 0.1852, -0.1806, -0.1802, 0.9995, -0.0216, 1.1389, 0.9684, -0.8654, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3812 left_y=-0.0549 left_z=0.0421 left_yaw=-0.0036 left_pitch=-0.1793 left_roll=0.0117 left_gripper=0.9995 right_x=0.2869 right_y=0.0002 right_z=0.1572 right_yaw=0.105 right_pitch=-0.4703 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -6.3658, 5.4632, 1.7509, -0.0855, 0.1001, -0.0122, -0.0889, -3.3846, 6.5026, 1.1648, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5673, 0.5968, 0.2016, -0.1734, -0.1955, 0.0389, -0.0216, 1.1389, 0.9684, -0.8646, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3799 left_y=-0.0559 left_z=0.0382 left_yaw=-0.0012 left_pitch=-0.1822 left_roll=-0.0041 left_gripper=0.0389 right_x=0.2871 right_y=0.0003 right_z=0.1573 right_yaw=0.1053 right_pitch=-0.4695 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.147, 6.4342, 1.3797, -0.105, 0.232, 0.8767, -0.0752, -3.3846, 6.7077, 1.1893, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f20a09730072c89da2602d77ec18daf8dda221092e9f0c995a90910cbbbf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c048479e98dfaf74975c75a6547bc4d5f844dbc5694daee830b21d329c37415a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90502c03261153bf8f7ef3db5279af1be50a1893a2e76a63180b4b72796aba64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVfuH_X_Fc4or49kBZURd_9ZXJIqpimhFOV04GoSoqcjHRFcby4KuceV_KJC3mJnqRXiVMbXBlk8odkHno0qRPm-0OKNMA3i9JYqwfOu6VAVhrAYA_7O2Os9i4qHNNLVfBgefgXOkWCPailOlO0ZhdO0cETUbtElzfJSu_w4mStCfXhakGw3NHkTXe_5headvH57FHgSAuhC0wpJfMABALfORx5TconUrDU-w9ywiqy4PSzj6ck5NAC83dRghEdynI4QLu9h887ORoZANXeioCS-Seyur4f3E8SZOCHpji2WJcrClsM2e3A_qRzOXRSxnASHiA2pvPzAV3V9eVirGMSKolB6OmGvU92GnGhl0KhIcPeyhutn-8GrptxexuR5EtncJlbzxKcRrDc5wy0stJpVFghs0CFa20Of-drOtahoPijDMRdRN5gahPyNiovUmg5QPgd5v9dwtWRpmj15kXXTHYr328mabVHhIM2QdaGtFBvZWq82tWQLnDpxXJKGBa1b2Z--WwbNDlMmyfalh6EKmMZr6zpRkFrprY84PR9PsTWBVzJDxxNXDtkrSa7C88ssulIYxZShXxsLrnvHqTCM2IpR4zWm43GkSBI-4NTwk4L5FoSXFsvaVwkLC0LRm-wlMaP2CBnTACL5Q1cdL0d_tVltdhK1UhdczXVY1DgwLhhd_vognus7foGFkxiuWEgUUVu2BIEzBSL-66l_YURXodK0DbP3-0iXTosdHDUfyWf0-Mi00XfwvKhguikcrJH4JBFmkvJtAImHBKIUlJPG9aXaqHk4jf7vLzlPv4KYbOz_m74UOgw4kEBA3Feh-_RyxGmLPNQU1BFZrUpYXmxxjw76_zNuhLj1nmYxmZCQnXI3NWLJ90aoK-NbYj0JH4s8jwEi2em4BzZDtklfKwf4qcWEJ4Fa8QcB7J5X27NCxNnaDApyrcUgVxizlSQp6HRzgaB_roZw7U1SZ6JCgoS31DGuhaTLz7oK8cdCmWplRg5nGG_TDf46adKO_JvU3Jiso1sEgd7zxK2akYMxRj3MoZBs_Zu7o1GbjgfNzoiM7wwaaHkxtgUPcImOVbEBRNyuHGoXe8CdTyHutHRk5uxUnDZgyMAVNUrQf5R4m_dcNNiA1JutWRiW8ZZqDTlc0TEKH3t3U9vdc2sNsbbwCJvhKbBPcUvPHVzjkHH6tMWhpr69YGZ6YRiLKkv5Oar9la2F_PCAh-pq5Teo57b-GpFKi4EC2NmZ7WUa2QvB59TPRM=",
  "id": "rs_0acaeb9c36968f96016ab4355d469087d0abceaaed0bac3c10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The left gripper stopped at a thin opening, suggesting it caught the pale bowl’s rim. I’m lifting straight up to verify that the bowl follows.\"}",
  "call_id": "call_MAcLdhFAzJQFc0qy6uu6HC9I",
  "id": "fc_0acaeb9c36968f96016ab4355d925087d085bfaf22fb1e7e57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAcLdhFAzJQFc0qy6uu6HC9I",
  "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]: [-0.2356, 1.3911, 0.7891, -0.178, -0.1772, -0.2035, 0.0428, -0.0216, 1.1408, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3798 left_y=-0.0554 left_z=0.111 left_yaw=0.0062 left_pitch=-0.1923 left_roll=-0.0048 left_gripper=0.0428 right_x=0.2871 right_y=0.0003 right_z=0.1567 right_yaw=0.1056 right_pitch=-0.4717 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.1179, 9.3197, 1.5897, -0.0611, 0.022, 0.8571, -0.0205, -3.5077, 6.5436, 1.2137, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4496c00f6006fefd4352983ef70fc128aa7583d0b2a2301487c787a67c55a807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35317daa7c81e7c9dc6413cf50a5a72738d4eb0819ffe173f91b7f4128bf574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd72b88092ddb2025855344d001278642390b54fde22127ef3c2b500f043cce",
      "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 · 3.653 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2287, 1.3701, 0.815, -0.1375, -0.1749, -0.1623, 0.9995, -0.0216, 1.1389, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3926 left_y=-0.0561 left_z=0.1369 left_yaw=-0.0145 left_pitch=-0.1078 left_roll=0.005 left_gripper=0.9995 right_x=0.287 right_y=0.0003 right_z=0.1573 right_yaw=0.1055 right_pitch=-0.4699 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.8051, 7.8291, 2.0781, -0.2515, -0.0513, -0.0122, -0.2393, -3.1932, 6.694, 1.2234, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5673, 0.5968, 0.2016, -0.1734, -0.1955, 0.0389, -0.0216, 1.1389, 0.9684, -0.8646, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3799 left_y=-0.0559 left_z=0.0382 left_yaw=-0.0012 left_pitch=-0.1822 left_roll=-0.0041 left_gripper=0.0389 right_x=0.2871 right_y=0.0003 right_z=0.1573 right_yaw=0.1053 right_pitch=-0.4695 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.147, 6.4342, 1.3797, -0.105, 0.232, 0.8767, -0.0752, -3.3846, 6.7077, 1.1893, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.3911, 0.7891, -0.178, -0.1772, -0.2035, 0.0428, -0.0216, 1.1408, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3798 left_y=-0.0554 left_z=0.111 left_yaw=0.0062 left_pitch=-0.1923 left_roll=-0.0048 left_gripper=0.0428 right_x=0.2871 right_y=0.0003 right_z=0.1567 right_yaw=0.1056 right_pitch=-0.4717 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.1179, 9.3197, 1.5897, -0.0611, 0.022, 0.8571, -0.0205, -3.5077, 6.5436, 1.2137, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4496c00f6006fefd4352983ef70fc128aa7583d0b2a2301487c787a67c55a807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35317daa7c81e7c9dc6413cf50a5a72738d4eb0819ffe173f91b7f4128bf574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd72b88092ddb2025855344d001278642390b54fde22127ef3c2b500f043cce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVmjZ_Lcset7UCz_pvgy2OPGtefzVop0_oI2rHQj7R907c-g1mlbuLY8-zB9bMmgVfwwwS-lVN9DGL69bHDj69tswazd-32KGX7aBKgE0HwhqKrO2ZoocuCOKoEL7f_uKSfHIYl_18zqsvNkrfO-iHZuva_aenA3AF06u110bJnPwDWln31WR9jE2qlaNtZksBwx9UgEUjAOQ2eNoFTdY0wUkC4cg0HoGgwgYp7rkH4Ewjj-m7U_54PSfgv_RZnmdO74rB0LxHN68e4j_pGkbOv_N3r86UbF1zCMlixf-0bVC2VetMagCCZ5CDrEZyZF15uYHlenNDWwxKuI3Mz8sD74mjuzTUcyVWufef833C2wn2ULPFgXsIkoUfzQAujN6DeG32_OxDr1Oesu0MYjQKbuHUf8TIx4VvQeg6QBo-OyNTDH86WZXkMGgj9MnhC0KXuqk0xQqT8a6LAv4atdcsOvFVaKGeoKGMac9N7yXnaCaDVA1JlEM8DIrkiM5CF_9nXVbE4HU6_4TJDTM-Sea9WbDc-jXV-3queMCwNpFoCrDWAosrunK4IX7ch6PDEWDUHnJikQijTtIpApEEETJUsnHWkzMRnkwqW9h_4pXVpWyfWboWFZX6ekKpuyQF9EHklIxEaR-4jQwjm87d3SVIaSfbSknzTyZKHCRwvVEvcZAaaOcNMv5dccdiNfBEkrtvdjrBJTJ1_-VqeLAEgtYMcHheJTEbH8aZ_B2n1g8zJJrpKjNBfmTh1mwpIj1JuvN6eGZ_MPMV2RDGa30UbtVJ-A5L30P9Z1S-Hw8Awgmsf5oEgdHZN6RHTa-Sgh180tyMV8Ah7MczLHNgccqHD1Jh2zS_T3tDPHXDYdS_TsmVtW0P5LNqZdcRjAkdKnF9GdNyRsvyGNSeNB2qyWGCTQ3vo6Ka_jWcCmtMuRnlVreHlgNQvSZJk4-6JltGzDK3PIGHkmC5cPKDlpycisLgmGIzBTzZVcvdaH6Roo8DyHExsMRVPp8aadLwtBRFpd6F_hxvwzyzoSmhZ8Bhd0M6oIAeaifmUStmZk5t-GbcSPkJHG3c25VT_CJCHkUqH1w-2oFhDBnRIl8Z8UHcNzYnrRuy0-CdNwOlE9FRQEtNQ3R3Tnfurr6JyHIavryEFPdkTYZVEZ_xgy84ObTtxzaOHJWRWDueBFZiK7TTEWxcZe5RRXI3dWz-y-TnK4YgslalkVJhwSXQjvfpZhX7XKP36RQP4olQfnp_l3jTJx5QYAhGx8ouEa6Tc056S2hsUYd_28DtVJDVXFRUmBsDCmsYlVQSdLVtDJtN9QrwldxXi1MTTcZp_4Siv6OTaMwNWesUkXuuvqAWq6_i8h_Iid9XcW2TX3MBnRnGUEQ1YW-Wo2WFavjwTcmwk66UIlWudul7wIS1TJ3lL67AsUh0xLud0Sya7g-zYoS5BHDXNrQ-sXuuUgNNvAqEGpaMIxNkwlleplTZZAcaO7H4KuA2EKwUJ8bqN3NYMbWrPrbi6jqdylQ6sD9SsLnTR65nlp5wl4q0Ws4_4IfGYYptifmXRpYsmDPoCIcpiROdw_UofkY4kHZsmGU-nl-t1-7bQWVdZcT3r0xi3NmZrPkjZ2iQR9m8IaouOZUZNb4TP5RCYBxg2jzgCh2VDqgLCY_QnmJX25ybpk3Q-InUwq8G2im3tbNDuknKY6l4FS1Zl1LJInv2DhQ0_duo4IFKsPB31PAW0Msajm_xLEcEQjpfRmcCNZBElKClf0mKjc8YMp8gniHJlfINyHlISNpEtXjd329tqXGHzB00EpHAQDVSTvCtdpJvPoswMoZi45PFNV6KLPGm0KHuPNsrMSxJ0WVOIT-6qYsn7s1A7Mf5wteL3MbjT_g8TblS5rzvvAS8aXscJcXwXRTjQRJDJHFotiJUajUlso9vCR9wtYIIvBw8KWbcK6LHejlXT404wcDwPoFknJ33tAT1Kh4bZOcGruIZWGzSClgIQbQ7UQ7jzdjr-iPNC4hEtfTNEjMDwe5RdnyjZ9LhrSW9LvEfbb-H8EBganKQAQQQxE_68xEv3JS3Ylu4hLgrFmWWNOZpk1AgMO-dcwpGO5hkey4d3f49iPpEvzDuVbfl0SvQ855xdNVmsyO5J4ACvov_2K9NOpO6y-hSlwd0tZ3qtoCb1WgwKPdmpKFOeFcBupHbnws0HmJTiiDbsOMAM4aQHe5D8dEMR3JkxqKuUUK2zdGN_UbIp2W4JVLXOLNRReBOT4I-KUM4sGj_j43l3tUhBog419MeBlKWMcMBx-LMllbxGffOIP5RwwLT6aMfsg8djWuV9vveVtEP4JJ4DrQad-Kq9-AV6I8KnseB76gHiqK6zjZdxZaxcYl4otmrOcWlpLhuiMbHWobggvvJMzdYz29bIEk_uVWXq4Oj6C_pbcSVM6lydh7sIe3Ec7E-YN187_WA-JTCXF8vzRNx7uPJBZ-XkkSVA0BAfrknxG_J7z8mmfUL1ui8YfCIe3X0iXBbipU05LRmtoH8kQplcmMuvI-FhOAsUUXqfNak93a5406jcjamKvGJEv-WVBVcGTSByoa-3NtcIwlLwgGV1pmCAPxagL7Qxpmq67BbJRXZYa39kPD65TXMpm_EIYcHpR3xTwrImU4_3j-uMTpdNmc1pRwKa1emrfxme7mflejVDKE1srsr3agE6uxVYnm2q-3xFj-6eF7kEFREpvkbCFyfY4p51tBF7-5VpvnL4RoaZRrX557YArN-PFjDjL8hBmR2sHamKvEp8vrmi1jc5nYuQMUQ5RnZnfE7QhRzLj6h0qa0OT-sY152r0ncfrPSCw27-pK8VGR64H94xB9SkfsFwGFMqhWHkH76yYVMuDTiswyf5Yh-bTRSlvxV33-QlzgapMoudA6L_s-c3HDRcucgjrDu1-qWDY-2MIYbvLkKaVg-8LlSd_w_rD7zQx-fML4LWJkv7tAN5e9fdniub8u7CLadIEbfe9S-N7H-ElY35Zim4s8oDjpTtluzbm0ht3V843VG-RYPr06VlK6gtdNq7TonEHd2Od4QPP2iO5oVTR0DzFlbVWCRzba1OCBHEMo59yQBKPTERWaFDY1fubECglE89PA3Po2SPVnR9oVCT3latJVHwomW7oTaVLt5ge7ztz4Ah6Nn-EiCiD-utgZ1EALo48UdQiUOuGaFV1J49RJscoT43ipEz_yfp8J2XVkbVyT654gdHBdPM7whA67uP-D28zwq2F3VYq0SkgRN2-DpNUFcnHvUBfxt0VUVMDpFQ_eX1IP1QioarFa9JN1PWRKqtEaFCvkl7TeAb_zWvTEJ4tBi6Lsq3nJitVuuolcopykc93oPxvfjsbBG7sqZ3BjEIap-jDSfuDtsb7AAH6u-9sGa9fqFkah01OIBHD8TVT1pfhGE6T8pm1Se1nDZglQ8FgOCRJBcOHTnJJd8COrio8uNGgr2hOKJQ1UffhgeWV2zH9SjzaKvy4o2OryQCvB8_WeQQPL5p1IPqqIKJRlLa-2P3ja7ZTFkf61qZAirXjNVS7v_kg2rbQpo9gRoKlvL0STDwHVEY1nstJ8Q3VX3PuIW01r2VUYX7GUOXGBXBG88H3x_ULE36YbOkc9YKJvRb5m1dxAeEm6l3rJhuV1Q=",
  "id": "rs_0acaeb9c36968f96016ab43560f5f487d0962d20edcd177023",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDVm7tjwr76vJn-WqXfBI7TqwRPhNuCOW878IufiTFOMJThti2OKDxIkJh7t3-koaQGhwcE5P3A8tuNvPcowOQ2RcdgZe6UUmok6QzZUn4s44gEkPiCbdmzAvYFP_boKIWtN80zSUugqTd9I2o2oGploXVR_YyLXfzjXPDmRgfU3yNVk34DuIgyfFMzKpk0XlQlNEHL6A0RNe-Np462y44gn60JvMaQdpNhCJNwE5AZz2X8e4wuAhpUON4OzFJ1LO-StvbAD1RH3F-RwgLH0sDkrcyoFrA_eIT-aLjs1Jat745RdOB-dyIbr0OyqDZdnhkqX1JZ1ha-tz5gRPvcZgFzISg9ATczO46r-FpGFshOD450kDabO3ecueZ5Tep41drNp6RlFQdRwIhWCCtJsYkyAcvspUBife4Y9vKI2Bu1yqb132rBiUkpg0NYsdqJ6iF08lnWBdKyfzdVOMCzsfn5M9BXpyY-LeBq5YyZlna3-SK0l6ueZBUnQsdCGLIBjVHImorTGteXpVxOqLsk1UjaWbti0DDo06TGYqCcn2llMzFNct4ESJKJnHdTRsC6pOtslgf3jBUSoyP1ttKFhwU_WgUDk6iFdUm6p7dFQd1ZEpNYqUQKDjNZXa_2dJ9C6MlpvfIl0KQ611qUmj9h9fbZM9TcuaJzq6RkPFINZidBkQQI3mXQ7v87nYBvWVopyrWOxN799HmGFU5jznARMTACB6JAvhCz5uBF5NDCjTlAu_2SabV4usPh6zKPte9TWKo-Wx8bg-nGm9m3Xe7Jb1hhKV0rvdBdQDqJWG8LOLrAFFy9-Lr0s2uWBQL8JSQiRJcTWFofWHi1bYC8fM0TdjkonV1uytAgZefIvCECQ_y0uasccuJXnAAI8dh1uHfDdHNxJO9M1avSZtbbxgxsTsg4Ay2dlFCWygaVqki8AHqI2FwzV9hzQjB1jbEU5e67bfbNw7eUMCKrknu0JXvzLMwH1jxaaIzf5dSYOu4cAmZDhGo7MAac2zgwgdEx8KXTaXGUGGp4K3AwOHURfaGgHtB6ahPllptL7wKgEp3JYueVuLBnFNhpxJpooyU3CN273MckbI2m98lBaX77iHkzYy7b9gSMD-4NRzmQ88l-U1JFoF9iaYb-SgqHgtBR1SXp2FFAuJ1-eNW7YQTDlyRwOBIvADKbWl0--k_970WrKvW658S6yVvkxdebfuYkZXmNm3JoeWQtcRCP24hmoZHPtSDeDiaOD0zq8BxdNqAXJHj4_mA7EsSwTIZwMJQPnLoO8Ubs_etbDMvHkSa4VC7HZFL8J8z83Jmw-OjZo40kF00gnlGMN1_r2aVT4a7x9Ntncox7dXyJr9AxBNe15rE7GS506vO6vcKB9E4bazK-7gHJsvFq5eSivfz2m2NuvwiP5bFxg",
  "id": "rs_0acaeb9c36968f96016ab4356525a887d0b716ed32af75ad2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.19,\"left_z\":0.23},\"note\":\"The pale bowl rose with the left gripper. I’m carrying it high toward the pink-and-blue stack, with a slight move toward the base to match the stack’s position.\"}",
  "call_id": "call_9lyHKAdh4zb7etsFTHOC30F3",
  "id": "fc_0acaeb9c36968f96016ab43565b23887d0b77799da7f81ee53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9lyHKAdh4zb7etsFTHOC30F3",
  "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]: [-0.7555, 1.438, 1.2892, -0.7799, -0.4885, -0.5964, 0.0454, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3298 left_y=-0.1919 left_z=0.2158 left_yaw=-0.0319 left_pitch=-0.2132 left_roll=-0.0086 left_gripper=0.0454 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9556, 9.1145, 1.2283, -0.398, -0.0708, 0.6178, -0.0479, -3.412, 6.6803, 1.1746, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed842e4c1199be80cd7ce84e47c7674466dbfe6fdf1501b56a5324a395ca790a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925df1da218e205142e5232dc7d0f97fa84b2539e1c5c5e40c25449cf1250379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf68d1059a8a38031a491fac38deebf9216e53ba46344d0297a0471d33aed9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.68 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 97 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5589, 0.6067, 0.1852, -0.1806, -0.1802, 0.9995, -0.0216, 1.1389, 0.9684, -0.8654, -0.0158, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3812 left_y=-0.0549 left_z=0.0421 left_yaw=-0.0036 left_pitch=-0.1793 left_roll=0.0117 left_gripper=0.9995 right_x=0.2869 right_y=0.0002 right_z=0.1572 right_yaw=0.105 right_pitch=-0.4703 right_roll=-0.086 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -6.3658, 5.4632, 1.7509, -0.0855, 0.1001, -0.0122, -0.0889, -3.3846, 6.5026, 1.1648, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.3911, 0.7891, -0.178, -0.1772, -0.2035, 0.0428, -0.0216, 1.1408, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3798 left_y=-0.0554 left_z=0.111 left_yaw=0.0062 left_pitch=-0.1923 left_roll=-0.0048 left_gripper=0.0428 right_x=0.2871 right_y=0.0003 right_z=0.1567 right_yaw=0.1056 right_pitch=-0.4717 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.1179, 9.3197, 1.5897, -0.0611, 0.022, 0.8571, -0.0205, -3.5077, 6.5436, 1.2137, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.438, 1.2892, -0.7799, -0.4885, -0.5964, 0.0454, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3298 left_y=-0.1919 left_z=0.2158 left_yaw=-0.0319 left_pitch=-0.2132 left_roll=-0.0086 left_gripper=0.0454 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9556, 9.1145, 1.2283, -0.398, -0.0708, 0.6178, -0.0479, -3.412, 6.6803, 1.1746, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed842e4c1199be80cd7ce84e47c7674466dbfe6fdf1501b56a5324a395ca790a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925df1da218e205142e5232dc7d0f97fa84b2539e1c5c5e40c25449cf1250379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf68d1059a8a38031a491fac38deebf9216e53ba46344d0297a0471d33aed9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVr6jETKwyLCMrpZ1z7pA6Wb6_ZL_-qIFF5XaV1O7i8o6H2SWizwzA91o2BmVEERgmaYy2D1iMPnKmwGb18aZtpAd1kq7seFzJ15shZb_K5KXayAgSik7o1FNsKxdysTR9pSKmo6vbo5AogXeaoNTajZcNUq_E6koDV5O3eJfDK7PhX3wFzSxFqaQiSSPRm1T8H2vBWVNAqnzX1xheS8Sitz-cx9AXBsH__2zs4U0fq_Gn0aD-kUTVxh4x0NWd5B0hljW4AHsxh8e67QRwBfmePk5QUYV_VCnFUmc6Ln100EDeAVlWMeorNlkNEuAWyArK4oE0aON0g_cBaR1ftyvJqLiJi4KvM1NMchET_ihP646OmqEbmDPvsBzYIjyfUTzJzUUap-a3hK9F1aGl7vbGAl3CMHWpVdCEv5OQLpbvjVw8QhuJ4C3OvjduWaThBoHeX-2OjlcQHo8F1uJnTPU1VKl8TXNhfxSv5-Zr4aRSChjsuKwW5TrAl6CvgChb19RHNhMkaWNfc6UczvvLH9MWXPui5ap6lPB2E9UEuRaGXmpS38cDGabcXJOItuJW2SYhOQA-p5ql4hNmtGG75W4txBw_kNnZCZAEHW0igP1mYqEAOuvre4fzyPJ3EeOWnNMICE4mtS0c2hpDDr19a7Yt92JEMNC5XIQPHG4B6yy8f88jq4EENMvTdzFS3R2H74AnlWqI_gPtP7FaxK31mxg3t2oOQ0RR8M6sha8IBvl6WzJCj0mx8AdkPpeadlfDxUzvPLWbOH3VmW1OXruAqqrv0WH-Ahz81kgxMynNEr-MdW14u2-njEOsOUrXXUPMUCui7WszTEpGqAlG-L70Any0AAszDmvR1u_jD3Jm85i7pn-PIliniw378KNAaYBKtAUmG7b5BdLbdh6_z2n_TCYY7uPemSTwLKiI2617Qyu0sqB7F0UgqFvD6bWp6K12JarYXEVN8OM6zaql8NnW-bY6xomcKhkClz6eK-6HKetZQONY42Pe97QRGUeOma4CpfUrIUrMqZDMZE6WwUJSShLDvEKwCGgyXBq-Qh1SpuaOrkAdSVIxXr9pxuZkT8IUmAUv000b3pR6TbgCjWmXzmJCpJ_oG8yeCtzX5ypizTz-bPfZc_BubFryba5tyPmoTUnHyJ-ybFkMwDYZ-lXMjDs_BdhhQsPUOss_T_cOvfq0Pk88d5Y84W8a7WE4Wtm4waFgR9EBU0JOevhq77VW4XCbcGpenefuPrFER8Fz-Je_m1vaW2i-BjWZEMxIAfOg6kyyGp-nfjCFqikWyoPS8MfOscJwCwpOy20OkIxmi3NwnR91AbyEpElJcT53SAdfpkzVK3x1EH2GWdWaGNrk9NWBpgR3KTHfcx2KhkR8kR6Yk6YR-PcxZn5D6_dX80FH-mjnOvoL6RbTv948zic6NTP1jnR5EFvW2cBz0qrqZnNH-UL0epqjMsPuHYH6YI9Ug8gAwk6UPZ-ywFIbdzvpKmMY5KPjx6DJny_z5m7o4_JoM75LsFlQllRLqQObc4Cj8YMK0WKcXwYp2Rr7PqLxGDH7eglkWT6nl4gdCCmXP_5ZRMx6nO4KOX_9sc-WNLbdxxeKTitKwUQ9blvPwb_xU3D4cDQ0GznBt0tG5yr0LMYYVl4F3Rb_TIWBggK1Fg8GO4XPS2crcpotRtfrQVNcrjobCpQ==",
  "id": "rs_0acaeb9c36968f96016ab43568a26887d08e591f01c1216776",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.245,\"left_z\":0.135},\"note\":\"The carried pale bowl is about 18 image pixels left of the stack; its higher image position is expected while it is elevated. I’m shifting it right over the pink bowl and lowering partway for a closer alignment check.\"}",
  "call_id": "call_ggxsNKhAMICZ7JAJBXhWhtie",
  "id": "fc_0acaeb9c36968f96016ab43569913c87d09d7f8ad5c47684b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ggxsNKhAMICZ7JAJBXhWhtie",
  "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]: [-0.87, 1.6047, 1.1568, -0.5865, -0.5323, -0.6865, 0.0463, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3223 left_y=-0.2374 left_z=0.1329 left_yaw=-0.0475 left_pitch=-0.2624 left_roll=0.0304 left_gripper=0.0463 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -7.4188, 5.7778, 1.3651, -0.4469, -0.1245, 0.6716, -0.0342, -3.412, 6.5436, 1.1697, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101f57243fa1b3e8cf660ddc60df5bc43a8cc6565800dd49e4f6fda53bca6b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ebe7c982241003ee5b01953715eea82446647605375baa9a3459e4a8f7cedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffb45241937b1b289ff2c31fe4e6c7e10d604c6ee51ae9e2f9e483dcc7dc887",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.868 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 97 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.5673, 0.5968, 0.2016, -0.1734, -0.1955, 0.0389, -0.0216, 1.1389, 0.9684, -0.8646, -0.0162, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.3799 left_y=-0.0559 left_z=0.0382 left_yaw=-0.0012 left_pitch=-0.1822 left_roll=-0.0041 left_gripper=0.0389 right_x=0.2871 right_y=0.0003 right_z=0.1573 right_yaw=0.1053 right_pitch=-0.4695 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.147, 6.4342, 1.3797, -0.105, 0.232, 0.8767, -0.0752, -3.3846, 6.7077, 1.1893, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.438, 1.2892, -0.7799, -0.4885, -0.5964, 0.0454, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3298 left_y=-0.1919 left_z=0.2158 left_yaw=-0.0319 left_pitch=-0.2132 left_roll=-0.0086 left_gripper=0.0454 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9556, 9.1145, 1.2283, -0.398, -0.0708, 0.6178, -0.0479, -3.412, 6.6803, 1.1746, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.87, 1.6047, 1.1568, -0.5865, -0.5323, -0.6865, 0.0463, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3223 left_y=-0.2374 left_z=0.1329 left_yaw=-0.0475 left_pitch=-0.2624 left_roll=0.0304 left_gripper=0.0463 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -7.4188, 5.7778, 1.3651, -0.4469, -0.1245, 0.6716, -0.0342, -3.412, 6.5436, 1.1697, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101f57243fa1b3e8cf660ddc60df5bc43a8cc6565800dd49e4f6fda53bca6b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ebe7c982241003ee5b01953715eea82446647605375baa9a3459e4a8f7cedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffb45241937b1b289ff2c31fe4e6c7e10d604c6ee51ae9e2f9e483dcc7dc887",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVvZ_bThqiS5_V2R2Svotm3RqQ86Uc4l3KqDRikOD21m2dfxt4DWRDOWRkIKcEstuxGvLPJBJSjuJcikW6BOKEQODVddjEYvBmvHx1E__SV2-0wKSw9lnTV-GJ0Yro2hqBOTvNqtoGGEafIE6eNuUbAV8Rx62kjz9e3EfGMkwBQpAdqVm8286bgBc0zUg16prBJ3bopVfn3zxzNQzSxf7hPJFlx5lHElpIzallVSJKi8zXxOTcKkjp9YlXDrq9S4n8-stkemicj1nHReCtv5taJgmCF549-XkK8IEOTwRt6OLEFddSzBVaNXfJIUJjpA3G1DJCd-wmS3duXXkc3FERqdf8yZhZqoJITxAZAw5MChG2_Y9P80J9PS5A_tTwUkUfUcnpYT_RD-nN_7wy1wvrkj8FWBEkra4a0BhAfiQcYsDe_uQoo7tzGNmkyXD6m6BBFDHEa1tDzA5f7Jy2_8GQJXfKaMcNJTP2ebU0W3oClR-bH-6f91ht-k9KBeNEYeoDtjaBO3PfToZyEK_aY5yLOFgfYiSJgrbT5Flv62uS8ufeo1lNFEPTGaParB-vRIzrOhgr8HmCbayFhwhKNszXSvxhkBiQemwDHGThmy_9yo6upjM1TKmmaaLfgsjgJ3TybCeqCdnZKNpQLFFHVinl3VgOjuuKi7JaSpNK8DMlzBCieVM0yc9vPEwbq5WnIXk6eQURahzzRQ6sBLFJjlUjxDNNxTalJLc-bY_KUv1OxHMDu7ao_CvHk88Q_lwQgXp1SQca89-QrYSAUzi7t4atszvmCJ72Jve9QX4WwnWgfQ-kuwI9ycd4kRJX0ZBOp7Dhp14tehNVJkoUZhh_dAvtHyAmYK0M-CkEA3A0jI_tUAaab3yYg5CUta2Yi8fwkptXsahNBa-C7wfGmlkFqzyWgEUNiWzxwe80HhjThPA7B37QDklEmrun_yq9iZipe6SbGolnaxJR87nn1hPgCX0hqeDMFegFR4HQrQC9bFzvLjn7McbIudTNWvlkqVNWBPSs2nC7rT77C6s19ymfzZntGhvzN8Pz0FUSuUdSlYEdVwe-QaW-ZX_te9kTZI1euYqgJG5OcNOMDLyfe-FSxM6q3jFRXu8teovvR07urdR_jy47aqPVWMZMsiCqTJCVWmskgxE1NZHYMJpEt8ElgTydYs_rOXMwEZFATyAz2sOkeWi6N3G1yKgbGnfTBmcHxFilUotD4-pQXWW_2hMytnJQVvZt8vaKucemZbvKTBgvD9AbZIN1jPqZ0qzQyYaYu5PRvNLnmfgXsDHFfcSHI28-iHdwK4STmhLZttcIewrujd_pfGs-CL1JwLcaIoTQu4XUJGdC3qdmVZiHr0NY1vzb84gN9w57z0GDBH_Fwgyz_hkAEJVO0El0G4xDTHxw6UZRNqSogmx3IbSSntx7Pzk3A7Xi1Fwjs3YlbqR0GDEbBFRQqpAxFcxf4j8-_1BEacXaTW7zl_TtTia3p8SVImaxZdLfBad7gVm0oGTUSVzPTwa3k5uFSOLCLXvn1i9rS11kAX04KnQdD0WzUKQK7p1YPq57yg18eMUU3XuoPlez5TQmGAsMkiko8SsSJNChn2tB5kCV5s2qmpSpeeaou5D0L-EqOjtoN9wZoCP4VQzRgR7kEbktswFN6Bc5LeChdA5_ks1fi-gQ8Fbf4Q5VhChkx3n3yTBK62L0cnJAcvesdIUgFAwGClw7nP7jRyGdONMwBnol5MZ03xabpL5gfZO1c0zKhLP0k_f3RJJ3R-Kvce6vWzH9-ZTImhu8lyNHqRzo30V-fyLEU9B5R1GcrATz4yaRRUr5qvln1RdjM4ujTSt4=",
  "id": "rs_0acaeb9c36968f96016ab4356d0aa887d0aec36ff3dcaa426b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.25,\"left_z\":0.085},\"note\":\"The pale bowl is nearly centered over the pink bowl in the overhead view. I’m making a small rightward correction and lowering it gently toward the stack.\"}",
  "call_id": "call_KRYr2fMwh0atGcdkqb1IdanP",
  "id": "fc_0acaeb9c36968f96016ab4356e47c487d0b5db7a0aa003e71e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KRYr2fMwh0atGcdkqb1IdanP",
  "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]: [-0.8894, 1.6882, 1.0706, -0.4541, -0.5404, -0.7074, 0.0486, -0.0216, 1.1408, 0.9684, -0.8646, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3199 left_y=-0.2445 left_z=0.0868 left_yaw=-0.0421 left_pitch=-0.2817 left_roll=0.0495 left_gripper=0.0486 right_x=0.2872 right_y=0.0003 right_z=0.1568 right_yaw=0.1056 right_pitch=-0.4714 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -8.2256, 6.1197, 1.2381, -0.3736, -0.0611, 0.5055, -0.0889, -3.412, 6.5162, 1.2137, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dfb3a259663608fe77ae67f7c10cb619656895526e97e30f5589cb906efbf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86abd90bdb869943fea2fc255b5c49c6fbae973cd990a7560b53b21001e0893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c339254df8434d58e373eb79fd2f3489f7a52f0979fce904376c70e913158422",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 1.87 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.3911, 0.7891, -0.178, -0.1772, -0.2035, 0.0428, -0.0216, 1.1408, 0.9684, -0.865, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3798 left_y=-0.0554 left_z=0.111 left_yaw=0.0062 left_pitch=-0.1923 left_roll=-0.0048 left_gripper=0.0428 right_x=0.2871 right_y=0.0003 right_z=0.1567 right_yaw=0.1056 right_pitch=-0.4717 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.1179, 9.3197, 1.5897, -0.0611, 0.022, 0.8571, -0.0205, -3.5077, 6.5436, 1.2137, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.87, 1.6047, 1.1568, -0.5865, -0.5323, -0.6865, 0.0463, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3223 left_y=-0.2374 left_z=0.1329 left_yaw=-0.0475 left_pitch=-0.2624 left_roll=0.0304 left_gripper=0.0463 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -7.4188, 5.7778, 1.3651, -0.4469, -0.1245, 0.6716, -0.0342, -3.412, 6.5436, 1.1697, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8894, 1.6882, 1.0706, -0.4541, -0.5404, -0.7074, 0.0486, -0.0216, 1.1408, 0.9684, -0.8646, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3199 left_y=-0.2445 left_z=0.0868 left_yaw=-0.0421 left_pitch=-0.2817 left_roll=0.0495 left_gripper=0.0486 right_x=0.2872 right_y=0.0003 right_z=0.1568 right_yaw=0.1056 right_pitch=-0.4714 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -8.2256, 6.1197, 1.2381, -0.3736, -0.0611, 0.5055, -0.0889, -3.412, 6.5162, 1.2137, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dfb3a259663608fe77ae67f7c10cb619656895526e97e30f5589cb906efbf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86abd90bdb869943fea2fc255b5c49c6fbae973cd990a7560b53b21001e0893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c339254df8434d58e373eb79fd2f3489f7a52f0979fce904376c70e913158422",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDVzgrfSAJdgscuooimg9mOnztC1H3dnhcEAjVOUg6ki3wtvaizVtW5lqSsYUJ0pZLNVZQcwecw0V8lbVTZ0u5YXJ5rPuioSjxPT0oDquEWlQRzjHyLHOenBu7Gzk26CT4GSvAmPfqGg_5VjijQY-0HnPWEBvz5Kr6KQ82f2KnxcdaYHUVNugraXcmt8X5P352-YJOD4OPMJCqA-9wJZkn3XVaEhkpRGcEX6r6UvVhyPw6C0KTcuZigwy5wEMXf_46EpK9g59hnFEZfO4pKAVnHHL5K96rxv51sJLy8w_WwUSe5EuoS1n0j4xVbbBJ5ZJul6eOlAXrQ3mDN1SNQONgrPwsDKjBqtRkIbhoOWqMs1z-eko0YO6y7ZLXPs9KppYus7t9SYTypiq1Wxug0HSIYZPg0rPupQjcBAiVoacwt-wtGQFZ0P9hGSzI7M_TRWwl8KPxoxpE_SpwoMxHS_UB2ZxxhSDnXgwooY6NJDyuou4VV3QSaDXypgOQ1UHHeM6vfyn8MrPWsfRsCgsumdXAKwmWQtRrFocKeb4cDELjELRyWCTBGemBHRSlGYTUbrx9c2LW24IV33B27MvmoHoSuSqdydOz4YqSSm_D1_0gxPISSUJ2WSluYSZEEVv88ScI1CkLvXv_wOrvMuw5kY6BVr0uIZ8u02LR1ll9YbvMb6myyiZ7CFWpjAhsBngSB7XN4-Ns-PzKSHqu_YZ2Yn168o7Tkr1uo2dJ4UualHRi26PaB5G9DzYWnB6_tlTZF1i0ZWYPenx1qDlXDIinj2SCxZEmfCKRjfK1s6NJ9QbO_1MbgvP-zI851l30sWZa7khFW9BIfNmLvb2Wii3ASv6KMtGrfD-vx8Olgv3Az19SBvjNKpXX0Wc6nkV4yTycJRPNWzCzR-lRmjm-qXB6ZACqcwKLlxZzz2Bo4f_KJsvXv2OT-whDTALzmQl7AWVndpu1zG_xYE-RK6jzXI-CTriu5NeW4HlcXpu82FhgQ__5sy9MuBxt8Pwx9rLrTWRgUXUbzmwvOeQHddNjdMqzm1DKiTvCR8UtE3CwvCF4KLCtEtLcA3bZsv3lR70sMKDvZXpCpwpXSl0j9ICSXfPvmolVBU3CJoKOhqenENBO4x3oXhqb8XjeD13vsVykE2i0yCChSEGDDEOi1-jJOoBOMp5k5IMxfiTpNClc3oR6Dpc-rW_ZiIU4WsKed5lQlAzWh7BS4Pndxi5vlq4XwJrjBj4WWN9kemnfiABLMlTUX2m4ohWrIm4sNU6wOEKUXdHqwtGJf7JHfw43QnU9Qz-WwNrhDSRW0dqk84C4xMAXMHJisii65EP52vKc6AreuCKa_a20sqgQZTe5RAkYD9WCTiLCa4oSIHe3q3rKjMs6KxL3eW1qNjqGcL4VQk699_jcEzW1T6BfyqZ8Q42_8-dFzxDWmjWthwz41jmzkuPEYUMrH8SmYhqxc2Lj9k8FETyaVXeUN0jGUG2AmLdzxjBCfMjlaWGp6gYtQDm9dSHOICHuMAkefi3S_0nV48dc0i8djg018GiSbMXQv3AndNwDi0LopIMNPGRAvR8fx9fazvhzccb0k1BHBzDI4z1ta8eUFJO0ycwpTVgkRx4J1I6BRjovXluf4omjhcgFMojg4XPvDMWBDL3W0oTUqCERzazSIerjrKYC7KAmj_eiTOKIm9CJ1L9eTLBE7glNaRglsUVGPCgmAvvDZIhT8UKXYR8dSJB2ghhWpREbZ4Bn7N8Ddgp9ROwar3XqhIwPml09TJVhkxis8fgPSvMKgt4uxukbxwK7FUra9yB5B_BCCHsqO0ZGG0HEGjPeSynS3NyV4_-BcIQrBkZBsuCoStTGvFhujUma2RgyuODD3lSajCKEgQWNZRqoxhFhvFqhfFnpDg2aKqn60pnZCXp4ayyjeNCpm-VcgXcugd-AV45TEjJQgSJvqcwj_5pN1oeEyBoYXQvu-ylHMmwpfYua4HV5uSobjwIP2DChGy6UwqrxEcU7f4V-UD5HwP9yCiXCMAG8ehN8pZ6wWcHHfid57BT-MmLT2KITOh1ORI0RmLbMYbGx0i_UeVzQV_VaeUpV743Dja4RKUKaCqAxhDOtBb3BqUDeutksRDjH1rRZOn692b-0uDeBA66vzpsum_2WNl3G_LXQCjU_FbYnNZQyrmkjZBjokVzXPjSxuyTT7tmI_txWgk8YZMViV6sf1LJuWUx8QG5Jhoz54=",
  "id": "rs_0acaeb9c36968f96016ab435709b6087d0b21b175d8930c7ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.064},\"note\":\"The pale bowl is centered above the pink rim and still supported by the gripper. I’m lowering another two centimetres to let it nest before releasing the rim.\"}",
  "call_id": "call_ipW71DuVOK4xxlmn1kXUfEOd",
  "id": "fc_0acaeb9c36968f96016ab435723f2887d0b9da5c119e6db6fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ipW71DuVOK4xxlmn1kXUfEOd",
  "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]: [-0.8902, 1.7008, 1.0382, -0.3805, -0.5404, -0.7227, 0.0499, -0.0216, 1.1446, 0.9684, -0.8845, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.3225 left_y=-0.2482 left_z=0.0791 left_yaw=-0.0403 left_pitch=-0.2624 left_roll=0.0167 left_gripper=0.0499 right_x=0.2831 right_y=0.0004 right_z=0.1533 right_yaw=0.1091 right_pitch=-0.495 right_roll=-0.0839 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.8188, 5.3675, 1.0281, -0.2662, 0.1538, 0.3199, -0.1299, -3.3573, 6.5436, 1.3016, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7589d2a319f1f6713c50a3cce78c5da0e3d8d43f38d9a48aca8319eaae469f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b30f1e71428d3498759175b1f0925645f267c47d70062802a05eb44b3d6aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4d5a910ab0ed6ba9d4b5b7f9e79b0000947078f0fb97b670bf5c41b18f192f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 1.912 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.438, 1.2892, -0.7799, -0.4885, -0.5964, 0.0454, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3298 left_y=-0.1919 left_z=0.2158 left_yaw=-0.0319 left_pitch=-0.2132 left_roll=-0.0086 left_gripper=0.0454 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9556, 9.1145, 1.2283, -0.398, -0.0708, 0.6178, -0.0479, -3.412, 6.6803, 1.1746, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8894, 1.6882, 1.0706, -0.4541, -0.5404, -0.7074, 0.0486, -0.0216, 1.1408, 0.9684, -0.8646, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3199 left_y=-0.2445 left_z=0.0868 left_yaw=-0.0421 left_pitch=-0.2817 left_roll=0.0495 left_gripper=0.0486 right_x=0.2872 right_y=0.0003 right_z=0.1568 right_yaw=0.1056 right_pitch=-0.4714 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -8.2256, 6.1197, 1.2381, -0.3736, -0.0611, 0.5055, -0.0889, -3.412, 6.5162, 1.2137, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8902, 1.7008, 1.0382, -0.3805, -0.5404, -0.7227, 0.0499, -0.0216, 1.1446, 0.9684, -0.8845, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.3225 left_y=-0.2482 left_z=0.0791 left_yaw=-0.0403 left_pitch=-0.2624 left_roll=0.0167 left_gripper=0.0499 right_x=0.2831 right_y=0.0004 right_z=0.1533 right_yaw=0.1091 right_pitch=-0.495 right_roll=-0.0839 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.8188, 5.3675, 1.0281, -0.2662, 0.1538, 0.3199, -0.1299, -3.3573, 6.5436, 1.3016, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7589d2a319f1f6713c50a3cce78c5da0e3d8d43f38d9a48aca8319eaae469f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b30f1e71428d3498759175b1f0925645f267c47d70062802a05eb44b3d6aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4d5a910ab0ed6ba9d4b5b7f9e79b0000947078f0fb97b670bf5c41b18f192f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDV1kwQFOySYX3rrl5IixtxGrxtGhs8h0I18memb3iOKcD2KhXKInA6t_tI4xY9-J2MPRIB3QSfc6k4sIndJHdiaz7yIOVRGWRwQjMvjPMLvreI-wDCb85F9gjGbpbqzdJtEboQa_Wtu9kEpxxqSJ1LLw9qjgRFH0PQ-K0IjFTbdW50HAvZXIjun5Z51Ralw4punNA-h8uHOE4e-HaOjQZqbF1pkBMucPc-Xe_98P2ByVS_DzTbntsWIVo_2G2SUNU5bCZZbJjivFyTBFb0kw2gpFu9vzqwToVvrdTCXLbtYN9twDxaZMJpiZVC0DSF7H2URrj5IS3aPACFA8qvzDeVYkizcyez7zC6n-qIrCeBQ_OJvIf7n1-StIIuejmSK3U0zh0zDUdu9HKrSr258UO5QVMJSIBadXyz_M6oJ6sfNyqUxz4NCZtcSDh1KgNFKsTicLgreRRlAm7AjFg3gxn_dSu6bVwJ951q2Ok5t86DYvKIiRHtzyLlYPv8epV2LIiWqo_J3HRBtDl2GK5oSjzqWs2BYWndh7qjvrWCQr2JMtZNZfxD919_JXTLbNoFqVhRiQy0nazeW1R07_7dTQ-H08-yc0tCpWh30MPd1N7jA7yMpGvaYXjCw_GP-wTWRvvgqLBKHxbHltPL1mGdsrQGPqb9C4p4UpJkP5tjnJhqZ6MgPN7rPYH5ubUnBuPavfAMJUqz4x6mVlf3koXICUK8A2B1WrNPm9Xt2PBLwdn-7P27pfu9wghSCJPK0CZKAXwxA91EdNtDfzrgRflXQv_piBVynEqHsqnQGN4J7xuzGL0V7un60C3Sd5S79uatET0X45tnw5MbXagnfqYhP-WwligG4auxYCh9yHGYgG8a3QELqrck3NLcuQLfcldX_KYfDvZks3F8Gs5Oj5xq9sdNRJRZ_nwpBKiBLWJ-lrLAtoa9LkjXdA4T37keZDTixc6kdMTWCwjKJd78pLEZLrwXTKT2sgRyM2K_tuugK5w2HW3xNCo-AYaRzcvFXadedQhg_jBtEcEfdO7Sd71lRTXkMpRivwaeN8iTf34poO8O34fttXaCwNCnFz_YplG7Le3mH9HgCm5Xyk7_KYImdLLrT2SqH3YR72jJeGuCOl9z05AVrqRMyK8GyFGgpSh2NqEtScmZPXPkIx-9PDQA9TB09-9vUF1Zt8vNqOtzzk2hT6MplFdlt2bRvkZHIWPleyi8TwCcVE8Lxhd3lZ1CZnb0XyBJTFzXvUwQCUsepq8DHGeHzbLB_Ai5ABWtZ4_luqjfghP-8XFyM2VmvT5xTfdBGC2OQPBIPb4mgR_Gz4Rhq1Qo=",
  "id": "rs_0acaeb9c36968f96016ab43574878487d0a880755edecd7cd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left arm stopped about 1.5 cm above the commanded height as the pale bowl settled into the pink one. I’m opening the gripper to release the final bowl.\"}",
  "call_id": "call_FmRbrkRBx9P0aubmHau7wUog",
  "id": "fc_0acaeb9c36968f96016ab43574dfa487d0b26a376fb28dd969",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FmRbrkRBx9P0aubmHau7wUog",
  "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]: [-0.8902, 1.7077, 1.0264, -0.3809, -0.54, -0.7273, 0.9952, -0.0216, 1.1446, 0.9684, -0.8871, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.32 left_y=-0.2452 left_z=0.0724 left_yaw=-0.034 left_pitch=-0.2751 left_roll=0.0282 left_gripper=0.9952 right_x=0.2825 right_y=0.0004 right_z=0.153 right_yaw=0.1093 right_pitch=-0.4976 right_roll=-0.0836 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.5812, 7.0085, 1.1648, -0.3394, -0.0073, -0.1587, -0.0205, -3.3299, 6.694, 1.1844, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293845b36419cb596a906cad72d08ce3b09d0789d14fca742a5305d20b60e9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7a84b73516b57e3f2eeb43435a0ac6d73f296f0ab7b6a07e55407a4593b04c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bdad5b7d784e7fb07ff90c0b3af1ba3c8f0a0a65daa51bf21856042bd463ec",
      "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 27 attempt 0 · /responses · status 200 · 4.252 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.87, 1.6047, 1.1568, -0.5865, -0.5323, -0.6865, 0.0463, -0.0216, 1.1408, 0.9684, -0.8654, -0.0162, -0.2031, 0.9965]\nstate[eef_state]: left_x=0.3223 left_y=-0.2374 left_z=0.1329 left_yaw=-0.0475 left_pitch=-0.2624 left_roll=0.0304 left_gripper=0.0463 right_x=0.287 right_y=0.0003 right_z=0.1567 right_yaw=0.1057 right_pitch=-0.4721 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -7.4188, 5.7778, 1.3651, -0.4469, -0.1245, 0.6716, -0.0342, -3.412, 6.5436, 1.1697, -0.0757, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8902, 1.7008, 1.0382, -0.3805, -0.5404, -0.7227, 0.0499, -0.0216, 1.1446, 0.9684, -0.8845, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.3225 left_y=-0.2482 left_z=0.0791 left_yaw=-0.0403 left_pitch=-0.2624 left_roll=0.0167 left_gripper=0.0499 right_x=0.2831 right_y=0.0004 right_z=0.1533 right_yaw=0.1091 right_pitch=-0.495 right_roll=-0.0839 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.8188, 5.3675, 1.0281, -0.2662, 0.1538, 0.3199, -0.1299, -3.3573, 6.5436, 1.3016, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8902, 1.7077, 1.0264, -0.3809, -0.54, -0.7273, 0.9952, -0.0216, 1.1446, 0.9684, -0.8871, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.32 left_y=-0.2452 left_z=0.0724 left_yaw=-0.034 left_pitch=-0.2751 left_roll=0.0282 left_gripper=0.9952 right_x=0.2825 right_y=0.0004 right_z=0.153 right_yaw=0.1093 right_pitch=-0.4976 right_roll=-0.0836 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.5812, 7.0085, 1.1648, -0.3394, -0.0073, -0.1587, -0.0205, -3.3299, 6.694, 1.1844, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293845b36419cb596a906cad72d08ce3b09d0789d14fca742a5305d20b60e9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7a84b73516b57e3f2eeb43435a0ac6d73f296f0ab7b6a07e55407a4593b04c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
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{
  "content": [],
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  "id": "rs_0acaeb9c36968f96016ab435779d3c87d09bdd3e8b67aae1d1",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The final bowl is released at the middle stack, but the left hand still blocks the overhead view. I’m withdrawing it to check that the bowls remain nested.\"}",
  "call_id": "call_2X072Nu7FkoSlDn9W6X6nlbl",
  "id": "fc_0acaeb9c36968f96016ab43577b6a087d0adabfb8d16ee446a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
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{
  "call_id": "call_2X072Nu7FkoSlDn9W6X6nlbl",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0437, 1.0317, 0.8474, -0.7017, -0.0628, -0.0639, 0.9957, -0.0216, 1.1446, 0.9684, -0.8875, -0.0162, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.2926 left_y=0.0019 left_z=0.162 left_yaw=0.0254 left_pitch=-0.3118 left_roll=0.0237 left_gripper=0.9957 right_x=0.2824 right_y=0.0004 right_z=0.153 right_yaw=0.1093 right_pitch=-0.498 right_roll=-0.0835 right_gripper=0.9965\nstate[joint_eff]: [0.294, -3.7402, 10.1128, 1.3846, 0.0513, 0.2564, 0.0415, -0.0205, -3.3436, 6.5709, 1.1697, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07acbab8c00335043edd8b8cbd06d7db3545fc7760c1e95444b64370a69f3dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b224dc544a0aed546a74d8f0eb6ae4fd064410875491df6ddecc8270b72b7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32bb60476abbab476bf5ce7237e334ffab6eebce48e8cf1b09dd32c30614642",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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