adhoc

completed
2026-09-23T19:24:12.582413+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
202.2 s
total steps
320
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls spread left to right, with the middle bowl as a natural base for the stack. I’ll bring the right gripper above the right bowl to check its position before trying to grasp it.
move_to
right_x0.4000right_y0.1200right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6052, -0.379, -0.0223, -0.0257, 0.9996, -0.0193, 0.7925, 0.601, -0.384, -0.0162, -0.0345, 0.998] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1804 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2938 right_y=0.0008 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.998 state[joint_eff]: [-0.5538, -1.4291, 10.1402, 1.7802, -0.0317, 0.1245, -0.0611, -0.5675, -1.1282, 10.3863, 2.0488, -0.0659, 0.1734, -0.2222] 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":"I see three upright bowls spread left to right, with the middle bowl as a natural base for the stack. I’ll bring the right gripper above the right bowl to check its position before trying to grasp it."})
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 right bowl is centered in the right wrist view, but the gripper is still high and slightly behind its center. I’ll move forward a few centimeters and lower the open jaws toward the bowl’s narrower lower half.
move_to
right_x0.4250right_y0.1200right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.387, -0.0227, -0.0261, 0.9995, 0.4252, 1.422, 0.7979, -0.0925, 0.3119, 0.1825, 0.9979] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3802 right_y=0.1166 right_z=0.1223 right_yaw=0.0503 right_pitch=-0.1017 right_roll=-0.0426 right_gripper=0.9979 state[joint_eff]: [-0.0889, -1.6752, 7.0906, 1.7753, -0.0415, -0.0659, -0.0171, 0.1436, -6.5299, 9.3744, 1.8632, 0.3248, 0.1783, -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":0.425,"right_y":0.12,"right_z":0.055},"note":"The right bowl is centered in the right wrist view, but the gripper is still high and slightly behind its center. I’ll move forward a few centimeters and lower the open jaws toward the bowl’s narrower lower half."})
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 noteAt the lower pose, the right bowl sits between the open jaws in the wrist view. I’ll close the gripper around its lower sides, then check whether the fingers actually hold it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.379, 1.7184, 0.7856, 0.1349, 0.2794, 0.1532, 0.9979] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4074 right_y=0.1137 right_z=0.0405 right_yaw=0.0428 right_pitch=-0.1865 right_roll=-0.0724 right_gripper=0.9979 state[joint_eff]: [-0.0205, -1.5795, 7.0359, 1.7265, -0.0562, -0.0659, -0.0122, -0.5265, -8.0615, 6.7897, 1.8144, 0.0415, -0.0708, -0.0122] 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":"At the lower pose, the right bowl sits between the open jaws in the wrist view. I’ll close the gripper around its lower sides, then check whether the fingers actually hold it."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper closed almost completely, so it missed the bowl; the fingers appear to have gone into its open center. I’ll reopen and lift clear, then aim off-center to pinch one side of the rim instead.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3782, 1.7447, 0.7853, 0.1928, 0.2684, 0.1352, 0.0075] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4144 right_y=0.1181 right_z=0.0392 right_yaw=0.0628 right_pitch=-0.1601 right_roll=-0.0681 right_gripper=0.0075 state[joint_eff]: [-0.0479, -1.265, 7.2547, 1.7265, -0.0464, -0.0611, -0.0122, -0.5402, -8.7316, 6.6667, 1.8535, 0.1343, 0.0855, 0.5397] 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_z":0.12},"note":"The gripper closed almost completely, so it missed the bowl; the fingers appear to have gone into its open center. I’ll reopen and lift clear, then aim off-center to pinch one side of the rim 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 open gripper is clear of the bowl, which remains on the table. I’ll shift it a few centimeters to one side so closing the jaws will catch the bowl wall rather than the empty interior.
move_to
right_x0.4300right_y0.1500right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3786, 1.6077, 0.9215, -0.1524, 0.2535, 0.115, 0.9949] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4039 right_y=0.1169 right_z=0.0878 right_yaw=0.0824 right_pitch=-0.2329 right_roll=-0.0946 right_gripper=0.9949 state[joint_eff]: [-0.0479, -1.265, 7.0632, 1.7705, -0.0317, -0.0611, -0.0122, -0.3761, -10.1949, 9.5795, 1.7705, 0.1783, 0.1441, -0.1343] 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_x":0.43,"right_y":0.15,"right_z":0.10},"note":"The open gripper is clear of the bowl, which remains on the table. I’ll shift it a few centimeters to one side so closing the jaws will catch the bowl wall rather than the empty interior."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe sideways shift moved the bowl to the right in the wrist image, but its interior is still under the jaw center. I’ll move farther toward its left rim to line the jaws up with the bowl wall.
move_to
right_y0.1950right_x0.4300right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4324, 1.7184, 1.0531, -0.2359, 0.2657, 0.128, 0.9958] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9995 right_x=0.4155 right_y=0.1447 right_z=0.0806 right_yaw=0.1136 right_pitch=-0.289 right_roll=-0.1144 right_gripper=0.9958 state[joint_eff]: [-0.0205, -1.2513, 7.0085, 1.7021, -0.0464, -0.0366, -0.0122, -0.1436, -9.1282, 9.0325, 1.536, 0.4029, 0.2125, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.195,"right_x":0.43,"right_z":0.095},"note":"The sideways shift moved the bowl to the right in the wrist image, but its interior is still under the jaw center. I’ll move farther toward its left rim to line the jaws up with the bowl wall."})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe right bowl’s near rim now lines up with the jaw column rather than the bowl’s interior. I’ll lower the open jaws to rim height before closing.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5381, 1.8236, 1.2087, -0.3569, 0.2977, 0.1768, 0.9959] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9995 right_x=0.4159 right_y=0.192 right_z=0.0781 right_yaw=0.1567 right_pitch=-0.3432 right_roll=-0.133 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.3744, 7.2547, 1.6972, -0.0659, -0.0122, -0.0122, -0.4171, -9.0051, 9.3607, 1.536, 0.3101, 0.2173, -0.0024] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The right bowl’s near rim now lines up with the jaw column rather than the bowl’s interior. I’ll lower the open jaws to rim height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe downward motion stopped around 8 cm, suggesting the fingers may be resting against the bowl’s rim. I’ll close gently at this off-center position and check the gripper opening for a captured edge.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.829, 1.2282, -0.3706, 0.3073, 0.1909, 0.996] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9995 right_x=0.4177 right_y=0.1941 right_z=0.0815 right_yaw=0.146 right_pitch=-0.3389 right_roll=-0.1314 right_gripper=0.996 state[joint_eff]: [-0.0889, -1.2239, 7.0222, 1.7265, -0.0757, -0.0513, -0.0122, -0.5538, -9.1282, 9.0325, 1.4237, 0.3443, 0.2662, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The downward motion stopped around 8 cm, suggesting the fingers may be resting against the bowl’s rim. I’ll close gently at this off-center position and check the gripper opening for a captured edge."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe gripper again closed empty. The rim appears just beyond the jaw tip in the wrist view, so I’ll reopen, move slightly forward, and split the difference in sideways alignment before another attempt.
move_to
right_gripper1.0000right_x0.4500right_y0.1700right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.8294, 1.2282, -0.374, 0.3061, 0.1864, 0.0081] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1753 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4171 right_y=0.1939 right_z=0.0808 right_yaw=0.1491 right_pitch=-0.3431 right_roll=-0.135 right_gripper=0.0081 state[joint_eff]: [-0.0479, -1.1692, 7.0222, 1.7118, -0.0708, -0.0659, -0.0122, -0.3214, -9.4291, 6.5436, 1.3846, 0.1392, 0.0952, 0.5788] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.45,"right_y":0.17,"right_z":0.13},"note":"The gripper again closed empty. The rim appears just beyond the jaw tip in the wrist view, so I’ll reopen, move slightly forward, and split the difference in sideways alignment before another attempt."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe open jaws now bracket the right bowl in the wrist view from a slightly more forward position. I’ll lower toward the rim while keeping this alignment.
move_to
right_z0.0650right_x0.4500right_y0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4545, 1.8313, 1.3941, -0.564, 0.2481, 0.0933, 0.9947] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4357 right_y=0.1686 right_z=0.1146 right_yaw=0.1599 right_pitch=-0.3911 right_roll=-0.1545 right_gripper=0.9947 state[joint_eff]: [-0.0479, -1.3197, 7.1453, 1.7021, -0.0659, -0.0659, -0.0122, -0.8684, -8.6632, 9.9897, 1.5311, 0.1148, 0.1099, 0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065,"right_x":0.45,"right_y":0.17},"note":"The open jaws now bracket the right bowl in the wrist view from a slightly more forward position. I’ll lower toward the rim while keeping this alignment."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe bowl’s rim now spans the opening between the jaws at the lower height. I’ll close once and use the settled opening to tell whether it has caught the bowl.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4492, 1.9266, 1.3285, -0.4568, 0.2451, 0.0818, 0.9958] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.438 right_y=0.1675 right_z=0.0612 right_yaw=0.1571 right_pitch=-0.4444 right_roll=-0.1756 right_gripper=0.9958 state[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.7265, -0.0708, -0.0269, -0.0122, -0.9094, -10.8786, 6.5846, 1.5556, 0.0659, -0.0024, 0.1001] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bowl’s rim now spans the opening between the jaws at the lower height. I’ll close once and use the settled opening to tell whether it has caught the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe opening is again effectively zero: the jaws closed beside the bowl rather than on it. I’ll reopen and move a little farther forward and toward the visible rim before lowering again.
move_to
right_gripper1.0000right_x0.4700right_y0.1450right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4458, 1.9469, 1.3144, -0.4671, 0.2424, 0.0742, 0.007] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4315 right_y=0.1631 right_z=0.046 right_yaw=0.1541 right_pitch=-0.4886 right_roll=-0.1918 right_gripper=0.007 state[joint_eff]: [-0.1709, -1.3197, 7.2137, 1.7363, -0.0659, -0.0562, -0.0122, 0.3897, -11.8496, 7.241, 1.1893, 0.0952, 0.1197, 0.5153] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.47,"right_y":0.145,"right_z":0.12},"note":"The opening is again effectively zero: the jaws closed beside the bowl rather than on it. I’ll reopen and move a little farther forward and toward the visible rim before lowering again."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe right bowl is now much more centered between the open jaws in the wrist view. I’ll lower the gripper to the bowl’s side, keeping its current horizontal alignment.
move_to
right_z0.0650right_x0.4700right_y0.1450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3748, 1.9701, 1.6138, -0.7658, 0.2012, -0.0124, 0.995] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1748 left_yaw=0.0006 left_pitch=-0.0244 left_roll=0.0002 left_gripper=0.9995 right_x=0.457 right_y=0.1457 right_z=0.107 right_yaw=0.1712 right_pitch=-0.5287 right_roll=-0.2042 right_gripper=0.995 state[joint_eff]: [-0.0205, -1.4701, 7.0222, 1.7509, -0.0806, -0.0708, -0.0122, -0.8137, -9.2513, 9.6889, 1.1941, 0.1685, 0.1294, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065,"right_x":0.47,"right_y":0.145},"note":"The right bowl is now much more centered between the open jaws in the wrist view. I’ll lower the gripper to the bowl’s side, keeping its current horizontal alignment."})
tool
executing move_to over 3 steps (0.3s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe open fingertips sit on either side of the right bowl’s visible rim. I’ll close here and check whether the bowl prevents the jaws from closing fully.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3687, 2.0159, 1.5673, -0.6903, 0.1993, -0.0238, 0.9963] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0252 left_roll=0.0002 left_gripper=0.9995 right_x=0.4611 right_y=0.1445 right_z=0.0773 right_yaw=0.172 right_pitch=-0.5467 right_roll=-0.2121 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.0872, 7.2684, 1.7021, -0.0659, -0.0708, -0.0122, -0.8821, -10.359, 6.1744, 1.3211, 0.0269, -0.0415, 0.1245] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingertips sit on either side of the right bowl’s visible rim. I’ll close here and check whether the bowl prevents the jaws from closing fully."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe right gripper is empty after several rim approaches, and the bowls remain separate. I’ll park it clear of the table’s center and bring the left gripper above the left bowl, where the approach may be easier.
move_to
right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.4050left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3664, 2.0537, 1.5425, -0.7025, 0.1963, -0.0353, 0.0078] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0248 left_roll=0.0002 left_gripper=0.9995 right_x=0.4504 right_y=0.1398 right_z=0.0505 right_yaw=0.1703 right_pitch=-0.622 right_roll=-0.2318 right_gripper=0.0078 state[joint_eff]: [-0.0205, -1.2376, 7.1316, 1.7265, -0.0659, -0.0611, -0.0122, -0.0068, -14.2154, 8.212, 1.0672, 0.1343, 0.1197, 0.5788] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.405,"left_y":-0.15,"left_z":0.15},"note":"The right gripper is empty after several rim approaches, and the bowls remain separate. I’ll park it clear of the table’s center and bring the left gripper above the left bowl, where the approach may be easier."})
tool
executing move_to over 14 steps (1.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe left wrist view shows the left bowl off to the gripper’s left, with its rim visible. I’ll shift the open gripper left and lower it partway so the bowl is centered before trying a grasp.
move_to
left_x0.4150left_y-0.1000left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5323, 1.5017, 0.8951, -0.1253, -0.4217, -0.3309, 0.9995, 0.0444, 1.3113, 1.1927, -1.0183, 0.0906, -0.3149, 0.9965] state[eef_state]: left_x=0.3913 left_y=-0.1424 left_z=0.1306 left_yaw=-0.0143 left_pitch=-0.0873 left_roll=0.0254 left_gripper=0.9995 right_x=0.3062 right_y=0.0012 right_z=0.1747 right_yaw=0.1389 right_pitch=-0.5855 right_roll=-0.2415 right_gripper=0.9965 state[joint_eff]: [-0.4444, -6.6256, 9.1556, 1.8095, -0.3394, -0.0317, -0.0122, -0.1709, -5.3128, 6.9402, 1.1697, -0.1441, 0.0708, 0.0269] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.1,"left_z":0.105},"note":"The left wrist view shows the left bowl off to the gripper’s left, with its rim visible. I’ll shift the open gripper left and lower it partway so the bowl is centered before trying a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left bowl now appears between the open jaws, slightly toward the gripper’s left. I’ll advance a little and lower to its side so the jaws can close around the bowl rather than above it.
move_to
left_x0.4250left_y-0.0950left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3752, 1.5486, 0.8322, -0.0223, -0.3389, -0.2577, 0.9995, 0.0437, 1.3113, 1.1927, -1.0409, 0.0772, -0.3336, 0.997] state[eef_state]: left_x=0.4075 left_y=-0.0935 left_z=0.1011 left_yaw=0.037 left_pitch=-0.12 left_roll=0.0362 left_gripper=0.9995 right_x=0.3012 right_y=0.0031 right_z=0.1722 right_yaw=0.1654 right_pitch=-0.609 right_roll=-0.2329 right_gripper=0.997 state[joint_eff]: [-0.335, -6.2564, 6.5026, 1.8437, -0.0122, 0.0611, -0.0122, -0.1709, -4.6427, 6.2974, 1.243, 0.1685, 0.1538, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.095,"left_z":0.055},"note":"The left bowl now appears between the open jaws, slightly toward the gripper’s left. I’ll advance a little and lower to its side so the jaws can close around the bowl rather than above it."})
tool
executing move_to over 3 steps (0.3s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe left bowl remains centered between the jaws at about 6 cm above the table. I’ll close the left gripper and check whether its opening stays wide enough to indicate a hold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3645, 1.6939, 0.8116, 0.1207, -0.318, -0.2359, 0.9995, 0.0437, 1.3113, 1.19, -1.0409, 0.0765, -0.3347, 0.9967] state[eef_state]: left_x=0.4196 left_y=-0.0971 left_z=0.0589 left_yaw=0.02 left_pitch=-0.1472 left_roll=0.0486 left_gripper=0.9995 right_x=0.3006 right_y=0.0032 right_z=0.1713 right_yaw=0.1672 right_pitch=-0.6117 right_roll=-0.2322 right_gripper=0.9967 state[joint_eff]: [0.212, -8.7043, 5.559, 1.79, -0.1929, -0.1148, -0.0122, -0.1709, -5.2718, 5.8325, 1.1453, 0.0171, -0.0611, -0.0464] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bowl remains centered between the jaws at about 6 cm above the table. I’ll close the left gripper and check whether its opening stays wide enough to indicate a hold."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe left gripper also closed nearly empty, and the bowl shifted left on the table. I’ll reopen and move left to follow its new position, lifting first so the fingers do not sweep into it.
move_to
left_gripper1.0000left_x0.4250left_y-0.0400left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3645, 1.7164, 0.7929, 0.1192, -0.3222, -0.2432, 0.0212, 0.0437, 1.3109, 1.1793, -1.0424, 0.0761, -0.3374, 0.9966] state[eef_state]: left_x=0.4125 left_y=-0.0937 left_z=0.0429 left_yaw=0.0301 left_pitch=-0.1854 left_roll=0.0624 left_gripper=0.0212 right_x=0.2982 right_y=0.0032 right_z=0.1675 right_yaw=0.1703 right_pitch=-0.6237 right_roll=-0.2312 right_gripper=0.9966 state[joint_eff]: [-0.0068, -9.1692, 7.5556, 1.5751, -0.0562, 0.0317, 0.823, -0.1299, -5.3949, 6.1744, 1.1453, -0.0171, 0.0269, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.425,"left_y":-0.04,"left_z":0.12},"note":"The left gripper also closed nearly empty, and the bowl shifted left on the table. I’ll reopen and move left to follow its new position, lifting first so the fingers do not sweep into it."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe displaced left bowl is still slightly left of the jaw center in the wrist view. I’ll nudge the open gripper left a few more centimeters to center it before descending.
move_to
left_x0.4350left_y-0.0100left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.189, 1.5772, 0.9207, -0.1543, -0.2134, -0.1406, 0.9949, 0.0437, 1.3052, 1.1515, -1.0348, 0.0723, -0.3412, 0.9966] state[eef_state]: left_x=0.4199 left_y=-0.0386 left_z=0.0982 left_yaw=0.0591 left_pitch=-0.2205 left_roll=0.0635 left_gripper=0.9949 right_x=0.2939 right_y=0.0037 right_z=0.1602 right_yaw=0.1782 right_pitch=-0.6381 right_roll=-0.2262 right_gripper=0.9966 state[joint_eff]: [0.3077, -9.347, 8.9368, 1.5214, 0.0171, 0.188, -0.0855, -0.2393, -5.8325, 6.5846, 1.1502, -0.0122, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.01,"left_z":0.105},"note":"The displaced left bowl is still slightly left of the jaw center in the wrist view. I’ll nudge the open gripper left a few more centimeters to center it before descending."})
tool
executing move_to over 3 steps (0.3s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left bowl is now centered in the wrist image, but its wide rim nearly fills the fully open gripper. I’ll lower near the table to reach the bowl’s narrower base, where the jaws should fit around it.
move_to
left_x0.4350left_y-0.0100left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1059, 1.6005, 0.9386, -0.1799, -0.1688, -0.1001, 0.9957, 0.0418, 1.2865, 1.1141, -1.0157, 0.0689, -0.3416, 0.9966] state[eef_state]: left_x=0.4219 left_y=-0.0114 left_z=0.0906 left_yaw=0.0835 left_pitch=-0.2594 left_roll=0.0661 left_gripper=0.9957 right_x=0.2896 right_y=0.0035 right_z=0.1541 right_yaw=0.1801 right_pitch=-0.6373 right_roll=-0.2225 right_gripper=0.9966 state[joint_eff]: [0.0342, -7.3094, 9.6889, 1.6093, 0.0366, 0.232, 0.0659, -0.253, -5.6, 6.2291, 1.2381, -0.0464, -0.0269, -0.0073] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.01,"left_z":0.005},"note":"The left bowl is now centered in the wrist image, but its wide rim nearly fills the fully open gripper. I’ll lower near the table to reach the bowl’s narrower base, where the jaws should fit around it."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe left gripper did not descend at all, so I won’t repeat the same target. I’ll back it away a few centimeters and try a less extended approach to see whether the bowl or the arm’s reach is blocking the descent.
move_to
left_x0.3950left_y-0.0100left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0914, 1.6085, 0.9424, -0.1795, -0.1532, -0.0929, 0.9957, 0.0391, 1.2675, 1.0767, -0.9916, 0.0685, -0.3416, 0.9966] state[eef_state]: left_x=0.423 left_y=-0.0081 left_z=0.0887 left_yaw=0.0806 left_pitch=-0.2655 left_roll=0.06 left_gripper=0.9957 right_x=0.2864 right_y=0.0027 right_z=0.1486 right_yaw=0.1773 right_pitch=-0.6316 right_roll=-0.2231 right_gripper=0.9966 state[joint_eff]: [0.0752, -7.5009, 9.306, 1.5849, -0.0073, 0.188, -0.0024, -0.1709, -5.4496, 6.3658, 1.1306, -0.1001, -0.0513, -0.0073] 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_x":0.395,"left_y":-0.01,"left_z":0.045},"note":"The left gripper did not descend at all, so I won’t repeat the same target. I’ll back it away a few centimeters and try a less extended approach to see whether the bowl or the arm’s reach is blocking the descent."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe arm still did not back out at low height, which suggests the open fingers may be caught against the bowl. I’ll raise and retreat diagonally to clear them before choosing a new grasp approach.
move_to
left_x0.3500left_y-0.0800left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0914, 1.6104, 0.9463, -0.1776, -0.1532, -0.0929, 0.9957, 0.038, 1.2579, 1.0451, -0.9791, 0.0654, -0.342, 0.9966] state[eef_state]: left_x=0.4244 left_y=-0.0082 left_z=0.0897 left_yaw=0.0804 left_pitch=-0.2618 left_roll=0.0593 left_gripper=0.9957 right_x=0.282 right_y=0.0027 right_z=0.1413 right_yaw=0.1806 right_pitch=-0.6407 right_roll=-0.2181 right_gripper=0.9966 state[joint_eff]: [0.1026, -7.665, 9.0462, 1.5214, -0.0073, 0.232, -0.0073, -0.4308, -5.5043, 6.3932, 1.1648, -0.0659, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.08,"left_z":0.18},"note":"The arm still did not back out at low height, which suggests the open fingers may be caught against the bowl. I’ll raise and retreat diagonally to clear them before choosing a new grasp approach."})
tool
executing move_to over 7 steps (0.7s)
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 left arm has lifted clear. The bowl’s rim appears wider than the gripper’s opening, so I’ll approach one side of the bowl instead of trying to enclose its full diameter.
move_to
left_x0.3950left_y0.0250left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3828, 1.3495, 1.0332, -0.5617, -0.3134, -0.2909, 0.9958, 0.036, 1.2343, 1.0012, -0.952, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.3609 left_y=-0.0828 left_z=0.1673 left_yaw=0.0373 left_pitch=-0.2539 left_roll=0.0516 left_gripper=0.9958 right_x=0.2778 right_y=0.0021 right_z=0.1349 right_yaw=0.1784 right_pitch=-0.6339 right_roll=-0.2189 right_gripper=0.9966 state[joint_eff]: [-0.2667, -6.8718, 9.2923, 1.3553, -0.3394, -0.2173, -0.0073, -0.4308, -4.8068, 6.694, 1.1844, -0.0806, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.395,"left_y":0.025,"left_z":0.14},"note":"The left arm has lifted clear. The bowl’s rim appears wider than the gripper’s opening, so I’ll approach one side of the bowl instead of trying to enclose its full diameter."})
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
assistant
agent noteIn the left wrist view, the bowl’s left rim now falls near the jaw center while most of the bowl lies to the right. I’ll lower at this off-center pose to try to pinch just its side.
move_to
left_x0.3950left_y0.0250left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0235, 1.4132, 0.973, -0.4191, -0.0704, -0.0216, 0.9958, 0.036, 1.216, 0.9684, -0.9379, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.3862 left_y=0.0251 left_z=0.1362 left_yaw=0.0839 left_pitch=-0.2889 left_roll=0.0465 left_gripper=0.9958 right_x=0.2731 right_y=0.002 right_z=0.1295 right_yaw=0.1784 right_pitch=-0.6342 right_roll=-0.2188 right_gripper=0.9966 state[joint_eff]: [0.2803, -5.0667, 6.8171, 1.7705, 0.1001, 0.1978, -0.0171, -0.3624, -4.6291, 6.4068, 1.1551, -0.0611, -0.0611, -0.0073] 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_x":0.395,"left_y":0.025,"left_z":0.07},"note":"In the left wrist view, the bowl’s left rim now falls near the jaw center while most of the bowl lies to the right. I’ll lower at this off-center pose to try to pinch just its side."})
tool
executing move_to over 5 steps (0.5s)
step 177
assistant
agent noteAt the lower height, the bowl’s rim is still just left of where the jaws meet, so closing would likely miss again. I’ll shift slightly farther toward the bowl’s outside edge before gripping.
move_to
left_y0.0480left_x0.3950left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0212, 1.5318, 0.8154, -0.2127, -0.0605, -0.0196, 0.9958, 0.036, 1.1965, 0.9348, -0.9165, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.381 left_y=0.0223 left_z=0.0629 left_yaw=0.073 left_pitch=-0.359 left_roll=0.0437 left_gripper=0.9958 right_x=0.27 right_y=0.0018 right_z=0.1248 right_yaw=0.1777 right_pitch=-0.6271 right_roll=-0.2201 right_gripper=0.9966 state[joint_eff]: [0.0205, -6.2017, 6.4752, 1.6239, -0.1929, -0.0757, -0.0122, -0.5128, -4.588, 6.7214, 1.1502, -0.0806, -0.0904, -0.0073] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.048,"left_x":0.395,"left_z":0.065},"note":"At the lower height, the bowl’s rim is still just left of where the jaws meet, so closing would likely miss again. I’ll shift slightly farther toward the bowl’s outside edge before gripping."})
tool
executing move_to over 3 steps (0.3s)
step 180
assistant
agent noteThe left rim now lines up closely with the jaw center, with one jaw outside the bowl and the other over its interior. I’ll close to pinch that single wall and check the settled opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.094, 1.5745, 0.844, -0.205, -0.0319, 0.012, 0.9957, 0.036, 1.1858, 0.907, -0.9081, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.3873 left_y=0.0458 left_z=0.0588 left_yaw=0.102 left_pitch=-0.3671 left_roll=0.0396 left_gripper=0.9957 right_x=0.2652 right_y=0.0017 right_z=0.1186 right_yaw=0.1786 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966 state[joint_eff]: [0.0615, -6.0513, 8.7726, 1.2772, 0.1587, 0.1441, -0.0122, -0.3624, -4.6701, 6.8581, 1.1795, -0.0659, -0.0904, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left rim now lines up closely with the jaw center, with one jaw outside the bowl and the other over its interior. I’ll close to pinch that single wall and check the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 190
assistant
agent noteThe left-side pinch also closed empty; the bowl’s wall is visible beside, not between, the fingertips. I’ll lift, reopen, and rotate the jaws so they can approach the thin rim from above and below instead of trying to enclose the bowl’s width.
move_to
left_gripper1.0000left_roll1.3000left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0944, 1.586, 0.8486, -0.2211, -0.0265, 0.0074, 0.0089, 0.0341, 1.1687, 0.8745, -0.889, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.385 left_y=0.0448 left_z=0.0539 left_yaw=0.1002 left_pitch=-0.3899 left_roll=0.0322 left_gripper=0.0089 right_x=0.2617 right_y=0.001 right_z=0.1134 right_yaw=0.1763 right_pitch=-0.632 right_roll=-0.2192 right_gripper=0.9966 state[joint_eff]: [-0.0342, -7.8701, 5.7231, 1.5165, -0.105, 0.0317, 0.569, -0.4444, -4.6974, 6.3111, 1.1648, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_roll":1.3,"left_z":0.12},"note":"The left-side pinch also closed empty; the bowl’s wall is visible beside, not between, the fingertips. I’ll lift, reopen, and rotate the jaws so they can approach the thin rim from above and below instead of trying to enclose the bowl’s width."})
tool
executing move_to over 17 steps (1.7s)
step 207
assistant
agent noteWith the jaws rotated, the bowl edge is visible beside the lower fingertip in the left wrist view. I’ll lower a few centimeters so the jaws can straddle that rim vertically.
move_to
left_z0.0650left_roll1.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2283, 1.5345, 0.7353, -0.0154, -0.7673, 0.8783, 0.9967, 0.0322, 1.1507, 0.8421, -0.8783, 0.065, -0.342, 0.9966] state[eef_state]: left_x=0.3789 left_y=0.0415 left_z=0.0987 left_yaw=0.087 left_pitch=-0.4396 left_roll=1.2146 left_gripper=0.9967 right_x=0.2563 right_y=0.0004 right_z=0.1075 right_yaw=0.1747 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966 state[joint_eff]: [-0.4444, -8.1026, 6.3248, 1.5946, -0.4908, 0.1734, -0.0659, -0.253, -4.2325, 6.5983, 1.1306, -0.0708, -0.0904, -0.0073] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065,"left_roll":1.3},"note":"With the jaws rotated, the bowl edge is visible beside the lower fingertip in the left wrist view. I’ll lower a few centimeters so the jaws can straddle that rim vertically."})
tool
executing move_to over 3 steps (0.3s)
step 210
assistant
agent noteThe rotated lower fingertip now appears to meet the bowl’s outer edge in the wrist view. I’ll close the jaws at this rim-height pose and check for a nonzero grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2344, 1.6192, 0.6479, 0.1658, -0.8101, 0.9615, 0.9972, 0.0303, 1.1294, 0.812, -0.8616, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3744 left_y=0.0458 left_z=0.0691 left_yaw=0.1085 left_pitch=-0.4638 left_roll=1.3076 left_gripper=0.9972 right_x=0.2528 right_y=-0.0002 right_z=0.1037 right_yaw=0.1718 right_pitch=-0.6278 right_roll=-0.2198 right_gripper=0.9966 state[joint_eff]: [-0.3487, -6.4068, 5.9692, 1.4383, -0.188, 0.2418, 0.0415, -0.5538, -4.0684, 6.2838, 1.1795, -0.0562, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The rotated lower fingertip now appears to meet the bowl’s outer edge in the wrist view. I’ll close the jaws at this rim-height pose and check for a nonzero grip."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteThe vertical pinch also closed empty, with the rim just to one side of the fingertips. I’ll reopen, lift, and move inward a couple of centimeters so the rotated jaws straddle the rim rather than touch its outside.
move_to
left_gripper1.0000left_x0.4000left_y0.0200left_z0.1100left_roll1.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2405, 1.6424, 0.6289, 0.2253, -0.8059, 0.9733, 0.0089, 0.0303, 1.1145, 0.7876, -0.8516, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3761 left_y=0.0427 left_z=0.0628 left_yaw=0.0934 left_pitch=-0.4548 left_roll=1.3072 left_gripper=0.0089 right_x=0.2492 right_y=-0.0003 right_z=0.0996 right_yaw=0.1717 right_pitch=-0.6274 right_roll=-0.2198 right_gripper=0.9966 state[joint_eff]: [-0.0479, -6.1333, 5.3949, 1.5263, -0.2808, 0.0024, 0.5836, -0.4718, -3.5487, 6.3385, 1.1502, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.4,"left_y":0.02,"left_z":0.11,"left_roll":1.3},"note":"The vertical pinch also closed empty, with the rim just to one side of the fingertips. I’ll reopen, lift, and move inward a couple of centimeters so the rotated jaws straddle the rim rather than touch its outside."})
tool
executing move_to over 10 steps (1.0s)
step 230
assistant
agent noteThe shifted wrist view shows the bowl wall well inside the open rotated jaws. I’ll bring the gripper partway back toward its outer rim, keeping it higher than the previous pinch so the fingers meet the lip rather than the bowl’s side.
move_to
left_y0.0430left_x0.4000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2897, 1.6413, 0.8158, -0.0452, -0.8265, 0.915, 0.9944, 0.0303, 1.0992, 0.7605, -0.8364, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3938 left_y=0.0219 left_z=0.091 left_yaw=0.0891 left_pitch=-0.4962 left_roll=1.3104 left_gripper=0.9944 right_x=0.2461 right_y=-0.0004 right_z=0.0952 right_yaw=0.1714 right_pitch=-0.624 right_roll=-0.2204 right_gripper=0.9966 state[joint_eff]: [-0.4308, -9.0051, 8.4444, 1.2381, -0.4811, -0.0904, -0.0269, -0.3897, -3.7265, 6.5846, 1.0818, -0.0464, -0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.043,"left_x":0.4,"left_z":0.10},"note":"The shifted wrist view shows the bowl wall well inside the open rotated jaws. I’ll bring the gripper partway back toward its outer rim, keeping it higher than the previous pinch so the fingers meet the lip rather than the bowl’s side."})
tool
executing move_to over 2 steps (0.2s)
step 232
assistant
agent noteThe first sideways move was short; the rim is still just inside the right jaw. I’ll finish the small alignment shift before closing.
move_to
left_y0.0480left_x0.4000left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2546, 1.6402, 0.8268, -0.0551, -0.8032, 0.9459, 0.9951, 0.0303, 1.0912, 0.7456, -0.828, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3956 left_y=0.0321 left_z=0.0916 left_yaw=0.0948 left_pitch=-0.5166 left_roll=1.3143 left_gripper=0.9951 right_x=0.2444 right_y=-0.0005 right_z=0.0926 right_yaw=0.1712 right_pitch=-0.6225 right_roll=-0.2207 right_gripper=0.9966 state[joint_eff]: [1.0051, -8.9094, 5.6, 1.58, -0.2418, 0.1294, 0.0317, -0.5128, -3.6855, 6.5846, 1.1111, -0.0513, -0.0659, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.048,"left_x":0.4,"left_z":0.105},"note":"The first sideways move was short; the rim is still just inside the right jaw. I’ll finish the small alignment shift before closing."})
tool
executing move_to over 2 steps (0.2s)
step 234
assistant
agent noteThe upper bowl edge is now close to the rotated jaw opening. I’ll try one pinch at this higher height and check whether the gripper holds an edge.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2207, 1.6402, 0.8253, -0.0486, -0.7834, 0.9791, 0.9951, 0.0303, 1.0851, 0.7368, -0.8265, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3959 left_y=0.0426 left_z=0.09 left_yaw=0.1018 left_pitch=-0.5342 left_roll=1.3214 left_gripper=0.9951 right_x=0.2426 right_y=-0.0005 right_z=0.0911 right_yaw=0.1713 right_pitch=-0.6236 right_roll=-0.2205 right_gripper=0.9966 state[joint_eff]: [-0.5402, -8.5265, 6.7214, 1.2869, -0.3687, -0.0415, -0.0073, -0.4308, -3.7675, 5.8462, 1.2234, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The upper bowl edge is now close to the rotated jaw opening. I’ll try one pinch at this higher height and check whether the gripper holds an edge."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteThe rim pinch is still empty. I’ll park the left arm and bring the right gripper above the unobstructed center bowl for a fresh attempt with the tool upright.
move_to
left_x0.2950left_y0.0000left_z0.1800left_roll0.0000left_gripper1.0000right_x0.4050right_y0.3200right_z0.1500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2264, 1.6402, 0.8257, -0.0669, -0.783, 0.9771, 0.009, 0.0303, 1.0714, 0.7197, -0.8215, 0.065, -0.3416, 0.9966] state[eef_state]: left_x=0.3936 left_y=0.0409 left_z=0.0878 left_yaw=0.0993 left_pitch=-0.5503 left_roll=1.3262 left_gripper=0.009 right_x=0.2397 right_y=-0.0006 right_z=0.0887 right_yaw=0.1712 right_pitch=-0.6221 right_roll=-0.2208 right_gripper=0.9966 state[joint_eff]: [-0.0479, -8.4991, 6.694, 1.409, -0.315, -0.0611, 0.4908, -0.294, -3.2068, 6.106, 1.1502, -0.0317, -0.0806, -0.0073] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_roll":0,"left_gripper":1,"right_x":0.405,"right_y":0.32,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The rim pinch is still empty. I’ll park the left arm and bring the right gripper above the unobstructed center bowl for a fresh attempt with the tool upright."})
tool
executing move_to over 27 steps (2.7s)
step 271
assistant
agent noteThe center bowl is aligned on the right jaw column, with its lower portion visible in the wrist view. I’ll descend toward its narrower base, where the open jaws have the best chance of fitting around it.
move_to
right_x0.4200right_y0.3100right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0635, 1.2793, 1.1374, -1.0172, -0.1162, -0.1188, 0.9976, 0.8833, 1.9297, 1.4044, -0.3592, 0.6529, 0.5304, 0.9966] state[eef_state]: left_x=0.2943 left_y=0.0054 left_z=0.1647 left_yaw=0.1145 left_pitch=-0.5787 left_roll=0.0704 left_gripper=0.9976 right_x=0.3899 right_y=0.3114 right_z=0.1256 right_yaw=0.0494 right_pitch=-0.0889 right_roll=-0.0659 right_gripper=0.9966 state[joint_eff]: [0.2803, -5.4359, 9.2376, 0.9841, 0.0952, -0.0122, -0.022, 0.1436, -10.4274, 9.1145, 1.6679, 0.696, 0.2515, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.31,"right_z":0.025},"note":"The center bowl is aligned on the right jaw column, with its lower portion visible in the wrist view. I’ll descend toward its narrower base, where the open jaws have the best chance of fitting around it."})
tool
executing move_to over 7 steps (0.7s)
step 278
assistant
agent noteAt about 4 cm high, the center bowl’s upper rim is still wider than the open jaws. I’ll lower closer to the tabletop to try to catch its narrower lower sides.
move_to
right_z-0.0150right_x0.4200right_y0.3100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0635, 1.2808, 1.1385, -1.034, -0.1055, -0.1387, 0.9987, 0.8345, 2.1216, 1.3083, -0.0586, 0.6201, 0.4858, 0.9966] state[eef_state]: left_x=0.2908 left_y=0.0037 left_z=0.1629 left_yaw=0.1188 left_pitch=-0.5966 left_roll=0.0528 left_gripper=0.9987 right_x=0.4144 right_y=0.3097 right_z=0.0366 right_yaw=0.0483 right_pitch=-0.1002 right_roll=-0.0745 right_gripper=0.9966 state[joint_eff]: [-0.294, -4.2598, 6.2291, 1.1111, -0.1832, 0.1441, 0.0904, -0.9504, -8.7043, 5.2444, 1.2821, 0.1929, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.015,"right_x":0.42,"right_y":0.31},"note":"At about 4 cm high, the center bowl’s upper rim is still wider than the open jaws. I’ll lower closer to the tabletop to try to catch its narrower lower sides."})
tool
executing move_to over 4 steps (0.4s)
step 282
assistant
agent noteThe descent stalled near 4 cm, so the jaws may be hitting the bowl instead of surrounding it. I’ll lift and shift toward one edge of the center bowl, aiming to pinch a wall rather than its full diameter.
move_to
right_x0.4300right_y0.3850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1051, -0.1394, 0.9988, 0.8345, 2.1784, 1.301, 0.1375, 0.635, 0.4782, 0.9966] state[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1626 left_yaw=0.1191 left_pitch=-0.5985 left_roll=0.0525 left_gripper=0.9988 right_x=0.4311 right_y=0.325 right_z=0.0357 right_yaw=0.0464 right_pitch=0.0005 right_roll=0.0053 right_gripper=0.9966 state[joint_eff]: [-0.3077, -4.0821, 6.2701, 0.9597, -0.0806, -0.0073, -0.0073, -0.8957, -6.0239, 4.6427, 0.398, -0.0904, -0.0513, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.385,"right_z":0.12},"note":"The descent stalled near 4 cm, so the jaws may be hitting the bowl instead of surrounding it. I’ll lift and shift toward one edge of the center bowl, aiming to pinch a wall rather than its full diameter."})
tool
executing move_to over 6 steps (0.6s)
step 288
assistant
agent noteThe right gripper barely moved sideways or upward, suggesting it is caught against the bowl’s rim. I’ll retreat diagonally upward to clear the fingers before any further placement attempt.
move_to
right_x0.3200right_y0.2400right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1047, -0.1394, 0.9988, 0.8345, 2.1906, 1.301, 0.1829, 0.6464, 0.4706, 0.9966] state[eef_state]: left_x=0.2904 left_y=0.0036 left_z=0.1626 left_yaw=0.1187 left_pitch=-0.5986 left_roll=0.052 left_gripper=0.9988 right_x=0.4354 right_y=0.3273 right_z=0.0374 right_yaw=0.0417 right_pitch=0.0292 right_roll=0.0171 right_gripper=0.9966 state[joint_eff]: [-0.212, -4.3692, 6.4752, 0.9646, -0.0708, -0.0562, -0.0122, -1.1145, -6.9675, 4.0821, 0.7448, -0.149, -0.0073, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.24,"right_z":0.18},"note":"The right gripper barely moved sideways or upward, suggesting it is caught against the bowl’s rim. I’ll retreat diagonally upward to clear the fingers before any further placement attempt."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe center bowl is still on the table after the gripper cleared it; none of the grasp attempts produced a secure hold. I’ll return both arms to their home positions so the bowls remain accessible without further accidental contact.
move_to
right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0635, 1.2865, 1.1378, -1.0348, -0.1047, -0.1394, 0.9988, 0.9184, 1.4628, 0.9977, -0.1982, 0.6945, 0.5278, 0.9966] state[eef_state]: left_x=0.2907 left_y=0.0036 left_z=0.161 left_yaw=0.1194 left_pitch=-0.6038 left_roll=0.0532 left_gripper=0.9988 right_x=0.3297 right_y=0.2512 right_z=0.1917 right_yaw=0.0567 right_pitch=0.0796 right_roll=0.0783 right_gripper=0.9966 state[joint_eff]: [-0.1026, -4.8205, 6.5709, 1.0085, -0.0904, -0.0708, -0.0122, 0.5949, -3.2068, 7.2137, 1.1111, 0.0757, 0.0904, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0,"left_x":0.295,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The center bowl is still on the table after the gripper cleared it; none of the grasp attempts produced a secure hold. I’ll return both arms to their home positions so the bowls remain accessible without further accidental contact."})
tool
executing move_to over 21 steps (2.1s)
step 319
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.036, 0.8101, 0.6136, -0.4389, -0.0505, -0.0509, 0.9988, 0.0025, 0.8093, 0.6075, -0.3775, 0.0483, 0.0063, 0.9966] state[eef_state]: left_x=0.2888 left_y=0.0021 left_z=0.1681 left_yaw=0.0211 left_pitch=-0.0656 left_roll=-0.0024 left_gripper=0.9988 right_x=0.2964 right_y=-0.0042 right_z=0.178 right_yaw=-0.0551 right_pitch=-0.0043 right_roll=-0.0007 right_gripper=0.9966 state[joint_eff]: [0.4855, -1.7573, 7.0906, 2.0781, 0.1148, 0.0855, -0.0122, -0.1436, -1.9077, 7.159, 1.7656, -0.0952, 0.0366, -0.0122] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
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 · 5.198 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6052, -0.379, -0.0223, -0.0257, 0.9996, -0.0193, 0.7925, 0.601, -0.384, -0.0162, -0.0345, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1804 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2938 right_y=0.0008 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [-0.5538, -1.4291, 10.1402, 1.7802, -0.0317, 0.1245, -0.0611, -0.5675, -1.1282, 10.3863, 2.0488, -0.0659, 0.1734, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24510eee8d87b677f3e78beddb7a49fb3da0297765189a4e7030bad14ed5713d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a504beebc22841e2f87b5eb6256c0439dc5ac5d6b143a1c36adcf0461a9358d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27e0bbba3a00bff315fe81a24c191d6ce09ca4ca53e4f623059786e74997347",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.743 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCduOE4p3bmCl4a0-DEfbydPYDOCCxjWHdpWYMl0ayss6sss-bA0z6XZ3_0khCuWcznAmEbjpJexEuVdwq4MDkO4sbrwY5HBC9SfgQLFfBlrgxzJvM5p6tZYE6C4chZPdrQ-T7WIlncy1WD9cSEsZF-vgZfpLeFU2O2zBU2gPP6-dV0HmdKO9n_oEiB91NVuHGy7UkxLo4qKqKmB4g_Yg9gfDt-OW3y_i3xFZMRS4x0R3GJhfrZ4OM0fDXAwrsHN2Jju56kKMMfmiy_r6ig0V5fwKoxLuNGVQgN-U6faEOiQO0rhhq8nqp9Rjsc1n7w8eceFjhEzQ5xxbJ5J-mRB-wGV_LdOURnGae_bvbhs-h6YCdxRujKgJE5McN4_-_3cVZEXhvAS32ogKhRCzqYpZO894RG0FLthIr2tw20fkOhD4zBCoEvpchv7DDzyCQxsHsLSqcoBV6lrUdx38LN3aT9Tmw1AifsoSYzP76Mrl3OU_VJ4g3R44h3d8wjWlATXLkO62peVoSy_F6z0zCTqDx4Tp2Oyy7oLb9txC4HWkkXzx-REqsWWWCNAtwwwT2_A3A75ziJka3bi3OZvXHAHf7JolUD_WWATn6Xt09T_1X06gfyJCvLvpD7kl6AnICEWe1T9YONp1IpsASEHTBwfvpxHhCtmSrzBE3ATfNjlBXjZJBJTv-UbcT-wLQuJZmbl_mq-YTOFxbY7_D9-PHcgYD-deNplGntAmIJBmh3v9R6_pLv0_kbX4Yj6DXWxJvjzeOPs9j83l0lkQNw8Pu3rCICMg2VvkaEmEwTE1eA7nn1qGRLLJaFEyJVq3FIsJAzSg4p9kj7QZRGfGeN0jAfc4H2AY23HXkzU5XCtJgsl_ET993wOvzXN7zX0_5N8gjN9Bz-gzFF5YwXGwaVkkMKffkFqSP8vGr5XJ9y7EuHJU3uih6RWLoRnxyH-PkcV8QSt3ppLvRf7az0G6Efy4zu_p3bJjZC68dKh3ZeU49ayVrui0uPQzXZcIk6XSq3SIlgT9p_Lba8KON488Kv3_iiioUAYamaKYQIgyk2oZuOTdFVsBBSar7W2a1IaoY7xTFRIW8gUpZPuB-jzCTFyxOh8_o4OuK8Ghw2JiZc_sac_NGvZio4rNAaB7oAZBnXy3UlSGWYBCn0d2C5lO3ucTp3GWypcngPxI2DnQYHfctBIUu-7HV4w7v1y-IOIwoJ0zYx02K7eCVnkgKYhWYhBOxKoYo_6aTpKIldvfCcG2dYlYgKYYgSy7WX6uR54ohjj9iBY2Rl32EoiWvtQcpazKVR4i0j1bJtgZwmSzoAFIvyFBN8a-pF9ZK5nz-QFf0lzwPAzX0tpNxAbQW3oFCQe4-i8rBiOxUdVncmNPtNDfRrBXY4Td7x1YuSbljDZRLKi-VU7ojYnzOGExYw8ifcvSPVZJ28yWJdp73c8hgpwp_ZTpgqcLlzmcy3Dt3enhOBlGy443EaVirsLebtfOswVwPMi_P7FfjK1hTWRp8RSjiaYeGb-2goRHCWMTPPdwEICdSlu0-EOeIO7-fl-kOLUZHTzyPJLyLD0nGvfAswNF41EFfSLmw9RIepMCgQVOGDJECULqhPXiS9JK5PT8A8ZCUjn6SPy22XmeoPNxfxyb0vfbMVGvFlDZC2qOaW0w6NPIn9wUmKT8nMwigR0IcUfZ63B0mbmkWNn-0RWkT3QlQWPTfUNLAQwSsOB5M7zU57gwgbvh6Kw0RoVd-XCRwheHIMDCLQ_X7heRB2lkEmxjhv-ybxJR8F3izRVJ8G29wZzmfM6Qcy9HyDwl__mPaAiDzfrXV3AcwIOMhNaLo9R2ZnEUn61WujfpRFrcIkM5UYYXf4xFk4l5YfIOD1bZP9Kb8g2Qw2Ux8PUErY2cIZpQELTYQtqeKImEW7Tq6haDIf4sexXijVytlKbReQbOynnqFJpP6tbFA6NsM9kWONpsgVUUp8G3PEWUMYhOPwREeLrjfrfIt8frO6oP7qVClMpXmCpEq9h2E1DTmQVTm8HyQA1wzJ8F4WJJFrxxNOfMNBZuDqqt01qmWFzuDAhcfbw_INadk2oGMnV2tu3_GyM6os8KQ5Zva0VYttENQ1LR-pW5z5q3xNlu38IP-WE13gtVFd52KlWZQSPq0JITGhZbLHGywltvJZ1MSKBQI_1Fz9iTSmCZtq6syi4Asgogbpj8EXs2Us-5_qGFpxTUefZ_Ob2bGoEMznSuodg3sIdjELxAdTgzMDeHhOEjTHVsCkVPGMmpStDRW2_k_ps9nH3gQM9xf1oA_Ny59eFN8ftub3Tc6KqBYEyN-h_skV0_36IegS76ie8vBOdZyJPVj_NP61AeYsNWaogylZObW0eqR6VrdHnz_PcT3oUKzAGxJ0BDVjERyau11GPIHbYFqXgmLFWGkn0He5wNtOMK4NyzLbDxlY8jCt0Jx87l2R-qIsI1NMPJbEWv-nBZOsiS8Siqtq-kiUg128PpgSPjKRWsawTGvCDG7G8_XpSG0ZE4BiKf_666r528kQ7WxwJXjBnuMgd3fz_C5EHaazB8BjeGWk_qeiYOGSjiZKvGit6UK2EnpnE91Vx0GrvqeqhUrnH163hV2NMWS_kP77Ug29MtqXTUoWbWx1PqTHfkjRE4Jz1A4dkpNRQaOWH8u2XpewevA6JiTLyAntszjkrwooeQpuBaA-cRjDsIT_vxZoCooR3rGNid3XTISmFZbugFYHYNclNiFgLhAS7F_u4qZ5p7vGgwtJkgpEv1yvrCJxoxLjvBk0W7LUZtSHDyAWCfl8x2mfykdpJ6pi7SxHLkuyjg3gClGTPuGMEObmvQixyqBNh3KM57Ywywz0snw4mdnYg9UNNWvB3g7OOHFr9olq5uPbWrNuCa-nRdSJxBRTZ2PY2ZnMItO3VKyqarRQGi3mydeA8Sjf0SwL1mWP-FkDSN1DJzIn7VNlNu1KzH-A2vWh70zeZ__lL0Q==",
  "id": "rs_0f22ad7b96695d7e016ab4276a4c6487d0912ac1c8d6823f34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"I see three upright bowls spread left to right, with the middle bowl as a natural base for the stack. I’ll bring the right gripper above the right bowl to check its position before trying to grasp it.\"}",
  "call_id": "call_Jr1oCe2v0z2Vst1lkz3NvuTB",
  "id": "fc_0f22ad7b96695d7e016ab4276d7d9887d0864a2a63c5b38513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jr1oCe2v0z2Vst1lkz3NvuTB",
  "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, 0.8013, 0.6075, -0.387, -0.0227, -0.0261, 0.9995, 0.4252, 1.422, 0.7979, -0.0925, 0.3119, 0.1825, 0.9979]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3802 right_y=0.1166 right_z=0.1223 right_yaw=0.0503 right_pitch=-0.1017 right_roll=-0.0426 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.6752, 7.0906, 1.7753, -0.0415, -0.0659, -0.0171, 0.1436, -6.5299, 9.3744, 1.8632, 0.3248, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583178475448b0e96a770296c777fe18b615f5d0e730c78161576ed44c00dd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ce33762bbc9aa4bd134985fd183cbc86bf81ea861f80338c8d0aef38328492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ee10ccf38d8be07a38a2b068b66ad51ea3e6ef21f4ec01e7201055f83dbf21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.084 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6052, -0.379, -0.0223, -0.0257, 0.9996, -0.0193, 0.7925, 0.601, -0.384, -0.0162, -0.0345, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1804 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2938 right_y=0.0008 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [-0.5538, -1.4291, 10.1402, 1.7802, -0.0317, 0.1245, -0.0611, -0.5675, -1.1282, 10.3863, 2.0488, -0.0659, 0.1734, -0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.387, -0.0227, -0.0261, 0.9995, 0.4252, 1.422, 0.7979, -0.0925, 0.3119, 0.1825, 0.9979]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3802 right_y=0.1166 right_z=0.1223 right_yaw=0.0503 right_pitch=-0.1017 right_roll=-0.0426 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.6752, 7.0906, 1.7753, -0.0415, -0.0659, -0.0171, 0.1436, -6.5299, 9.3744, 1.8632, 0.3248, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583178475448b0e96a770296c777fe18b615f5d0e730c78161576ed44c00dd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ce33762bbc9aa4bd134985fd183cbc86bf81ea861f80338c8d0aef38328492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ee10ccf38d8be07a38a2b068b66ad51ea3e6ef21f4ec01e7201055f83dbf21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCd0KAUkib0dsUWevtxy66B-Y95_dN35EhAukMetQ4uyVee2V6MKdBDJkfL7at4k2rr6rUVVfFHh9BLPIwFXdN_l2GDr2Cbe0jRwn9VIvJ001DFVMfwxPilfljv_A1uLiDWcmkKcsqqDRL3WHq8sd9WOr-rcttRyQ9Sx6wMkbs0jTioEM-hzLN72gq1bSe_uRah-B-lkOgji8mbpnYnWmL_9gBOPy_6Rxg3xx4MFNyIE3fB7vpOGBhY9U66TWLLEJVcIncYZ3d996Y7HtyVo43dJwZyTxXbEuKwUY09L-WY1qyeRwbJKxDYZmOBsyj-WbMWLpE1-9ZSDNtUKtprea9VajgrOK-KJveW0hY8zeQwTNkTZawPy3YJ-ltDH0E6igfbLjOOZ2giGiPnOJt5w9dl3sstTXSlvrVuZDx-mZqd8Fp795EM9rvz_Jgr6CYAYP7eJLw9qWvFtRgmKsvsABzAngZ_ZNmTr5K9OaOVQ3gG6SImYLCQYi8oGQCQTzbcTq9bKx-VmJB98pfVAjTl1kKMKs56x65lYIef90zsUGlsLoSOAj5n8UGgM9_diKQjEEkN2ZKdQzP4jtxIIz41BkFyI_OFK3T_HWqxNz6zAh4PksQWCQoSDu7uxRZfCGRmpN9YrE1HcBx1KlIr7LrI9dZ5vV4-HjesnxeSpMvrUoH3YTCjyGfwUxFVXA_imSLQX0CqGFNVOrgJlMoVzdp_-wM9T14bi6fnyPqRTfRAcBwXrjeffW18EzySEyvyLaoQkymblKTcosS88I1xMp40ygB2Yc0JVIH8mrd61qQePGpP6RB0jptqKY26AEB9r0vJYjxMYSEI79zw0wP7svelXwWXLhx1iWVrU2IxXB2P5rtLrr85pwYnsg3DSsr6caW5BAcMm71l_gAeKGDKZHIv97RxD3Eowc-hvhOmCM5tonBlswCG1a-h57ILCTg50KdoHbBRDBiivp0YrQ__5foAOSsS9gMnWSazw9X2N_xlYfcdBvVClc2G8NMoYQgG4M702DCegn1Tm1mkb9WzHWuf38z7PcFadY4oocMLutXy08Ktbed8-I5Nah-bWOe2ysFFekYPygYapqiiLilMq1c_KZpl14JNxRj0-FiWNeBe3LnTTHBADoWyAKRNomUYQBnqXLKwZ766Aj-3J_kY3mcaRNxpZbbFx1t4PWHZVfAiVz69NBxAUQhsY9wyGz5lA9i-gVwBqshhRrN9p5tETHSjLrhOsiMHyKkbGcTPImDt97-auBo733gAo6MR3VUNf-UzvfJRSAxEnLY55Y8ptKvbRoLCMpmVx2za31-t_LeXYOJpaiw7SluyYl7bqqqivBZ8mcGT2ap6zFy9b0IFuSOoA8s2PEeMa6FjLfheZYpl2nL1UsZSivpltwU9-yadExG_x95iGLH86UJ4Uyq3Yt0Sn-oFhkMKbg7DqCdHhs_sD-dMlROLBlBpN8EhMTioAnB4xHJ2Om0b5gFYlxE-xcXBUXGdoYtpnyM3DlhhSoSh1obvrivn5z58l6Dti0P5ux7WOHIBF4goyZULXmkfeskmpjTvtPvxG68lzVz-jxYOeQPk1OuvXNDLcypa4edGhny0P8nNR0_xH9NYsivGkTRKVxcHrB4SOOSWoXHy_4B4rIpDxzv9ziO6QmzFO8S-U_NxdixZ-3q7z7EDz2f3An3en4CfQvV7J2flp4BPFq7KQhgn_I5TILnz1KGJRy5WpCqOFMhFfaKhrtyRQsIf4de2MIjR3jfyAIaT7j--9ICyuKpDt5D6zlrrDXaq-Jky9oIFb1UbcONnIfUI3aEmaJy9lGs-L274vAw6FBD532U565PoaHrnY5zzYJi5YLee8g4Sa47fIS7ciYB3mMj6_PIWAVkA7LUXGTuan4eMtpJcEDCILnmq4aRMmvrs26p6BrLyVpWVzX1OKdU2ylarHR1sNtQmy3Tq2Uh1C35kqyYEephadUJWjLchWhlYBo-M-YFzgLOdR7DtUvfBX4LSoHGl3eSs5CJXi_XKaqMWLSZTPZV1nkelsvp6xNWbkYyCV4WwgediwaAqMy0GbjNzk8l3-NDbLyoLENmnf4LaoRZqkSCeh2PZeQgw2roNolqnBXv6J6_ubbpRcxNNq77qbOibbEmGOw0530Rs2vg3jrX9ZaKVELW6IAhybQaPau0DX8ZMgFdYUyzcpCS5OLCqb1Fh0Hhfr8kKIos6V5yTtq1VRyzMCHyzsT51L33VBviLJPs-jr6TuAAIVCVjWDej862xRFMY7Q-XFpvcFDeYxDN7YhElvGUijIdDqqkWbaawZti-SzpZq67UxdPBlUConPehdwx15j92VqPSbL-nSDK_BVj9oxGlnjhUqIS4O2LK30xBpEyZh3aGyUH6OkY015Zx03KYCKVURfuyfNkDXZjuUCpJwj07qFAYrXQzDhPBKovoEY1-0vyOJAq2a3daenp6o01eq-Bh_zyBgsbzz9Lo76YeMvZdrHiFetwhz-eCrMIUYc_bXp6GN8B-sNJJJG-YOJ_57JvTaUCUHwoLWUStlUcWpUdNGOWnGfPQx-bGQivz5vRdfoY2kf9Gtz3ffboUf9QkK36BW3fUzvAj9o3VxRyLKJ5-d5He1dt6o5N4P7ycs4fKhK_VNj_W8JF0KgvBG_HJ1-mL4d4H3Y6Vxo2c78KEJ7H5hJxqzEtVqZEnJpKw_3tdCFiDB-l1Aj6-XRLO4eO_jnQ==",
  "id": "rs_0f22ad7b96695d7e016ab4277059c087d084180f2893870573",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.12,\"right_z\":0.055},\"note\":\"The right bowl is centered in the right wrist view, but the gripper is still high and slightly behind its center. I’ll move forward a few centimeters and lower the open jaws toward the bowl’s narrower lower half.\"}",
  "call_id": "call_3RwG95R6HYs6AJoy1rT1QJjO",
  "id": "fc_0f22ad7b96695d7e016ab427735d7487d0841d8139a436134e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3RwG95R6HYs6AJoy1rT1QJjO",
  "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, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.379, 1.7184, 0.7856, 0.1349, 0.2794, 0.1532, 0.9979]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4074 right_y=0.1137 right_z=0.0405 right_yaw=0.0428 right_pitch=-0.1865 right_roll=-0.0724 right_gripper=0.9979\nstate[joint_eff]: [-0.0205, -1.5795, 7.0359, 1.7265, -0.0562, -0.0659, -0.0122, -0.5265, -8.0615, 6.7897, 1.8144, 0.0415, -0.0708, -0.0122]\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:9101c45dfdcd075b168f5080727f4a3b0a0af8015c16b6ae6c56ab7d8a0f3234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5215d8f2cde7be1bfc60cad66e7f158d3ae3d4d1befaa54a81b0eacec5255866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f63edb84d44b524ad6b5002c9705719f6296e68c7ef8b0cc2c13f222949f5c",
      "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 3 attempt 0 · /responses · status 200 · 4.955 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.387, -0.0227, -0.0261, 0.9995, 0.4252, 1.422, 0.7979, -0.0925, 0.3119, 0.1825, 0.9979]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3802 right_y=0.1166 right_z=0.1223 right_yaw=0.0503 right_pitch=-0.1017 right_roll=-0.0426 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.6752, 7.0906, 1.7753, -0.0415, -0.0659, -0.0171, 0.1436, -6.5299, 9.3744, 1.8632, 0.3248, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.379, 1.7184, 0.7856, 0.1349, 0.2794, 0.1532, 0.9979]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4074 right_y=0.1137 right_z=0.0405 right_yaw=0.0428 right_pitch=-0.1865 right_roll=-0.0724 right_gripper=0.9979\nstate[joint_eff]: [-0.0205, -1.5795, 7.0359, 1.7265, -0.0562, -0.0659, -0.0122, -0.5265, -8.0615, 6.7897, 1.8144, 0.0415, -0.0708, -0.0122]\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,$blob:9101c45dfdcd075b168f5080727f4a3b0a0af8015c16b6ae6c56ab7d8a0f3234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5215d8f2cde7be1bfc60cad66e7f158d3ae3d4d1befaa54a81b0eacec5255866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f63edb84d44b524ad6b5002c9705719f6296e68c7ef8b0cc2c13f222949f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCd2T44sdBH2Z-iDw3BBue0fWyCwyYfA7tyJy_0EpjhYJVlVY2lFdJh4glqFv9CebasI--NM3USoNANAPKY8DjpcY7EukkHlWgWN-0gbDgO8jNbOwZ2TkrFtP7SKzKoY27O8vj5HtJ6vIl9IqgFJ7givcXLMg3LOkDxNPAVY3Jf24hXjw3er32ho8-GTABXyYSWY_eUQyooY1d_Sky5IQuG8AXfk4gpn8fPfHB8Xk1Nd-CkrS05jDTbuMw8_ks0PIEpUdD4lmLp7rjSpeJLlBZiRT4dUWuL2Go5BWgnzj-bEE7Lumc0PJAbHkHc4uTXbipQnJ9p1R39cl5agtuuOLtZ65PNfed-eS_MwM0Sr2FI2L7zWieEpuSPTYNvdQE46f6iwl55DBs5En_ExqeJzrsGQScD05cawNGY3v8zOJ06JtHGzHPfGDTbwtBLYxVcyQSk8fu6lBBCQsRc_mTfPNnVm73v2SsekwZUsTHWQMhpRjBf9MFu6BJOhE9uKM_MxWv3EURdnZOXq2NE9FaROkLRyN5SZgBiz2hftII-tcVjpRMUDxDDJ66fAlMticnd1C7PfnRhsGbnp788U3zNqlMJEy_k_IliC_EsUJjsCr7OKPWftw9I0zN7ao6G0_vi7LVmciICc5q82A8J7rMD0iPpQGCIMiVIA9PZ0XOGDX1i_EoCxeYc28Rmx3DWclFVq7ldQnilKjKH1m9BxJXJZgdTXUesi1vpOJ4uTFlzkrtap7v0U01_d-Nr9FfywULuvLoCvNQ4ZJTyy_S81ZiEjOLUnsyMx-x-UFONLWFY3PlXT5T91gWkQ8rghJtW3oYyW8KwJwDYeHZu77Wnw3DqN0bKzyCvlEQ8YlNmmBPkCVG3mMYasTI2UlUFi-KINMqf5DZlAqvjZJK-eghlIElDPqcdvsVvbQQFjFS6-R8OHM3RJBx8ci3XC5a2H13hRp3zo3N2wU2lKAvHq7fLLJiD-_esL1fD2C7f4Bmdfx8J5NmRvuEFAx4U4gvoYacbt8t8GGqtX8D0FilVxroqstWgNCwcDqmNPqBGwJSCFxfW2qbwqBNjQgfVkJXwwUcdaCkozjEGuULcDsfUQhNXtCDuFSHfjQ2sqEXIkQt5AZCqGLWM7GncEQNmv0CL3mkFAHivoSb4FETqwfo4NSF9sT7gEbpjhWjDH8kEmWSFz8cFGGlsmtOpGaH8W_LmL1GNsrEaWrJR6zBRhNOezvg95h9VsbnQjh3apALdHu2cQyRuMz6DBEMFkR_HCzGt_r0F48tpm5l8gIW6o0DrDGGyRPcUkuR-eBjxg2hcR87ntQ5ztEBLnfjutyTLpvdXeWGLNPC9LJBq1DpAdVP1Si9HtD-63eaUdf3AIMV2qnwB_0DRa8yngXcgjSfASxfQZTCW-VTMMgV5BlTdam_cdYNRybbOS94iOXrNMuXYGRT4b0xkDqDLJLN63U-YQsnyW20Fx6H9vuvGz",
  "id": "rs_0f22ad7b96695d7e016ab42775794887d0b3620d914b34e13d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the lower pose, the right bowl sits between the open jaws in the wrist view. I’ll close the gripper around its lower sides, then check whether the fingers actually hold it.\"}",
  "call_id": "call_Us8bK3FLvNKehrqRogr509wT",
  "id": "fc_0f22ad7b96695d7e016ab4277609fc87d087e47206960278a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Us8bK3FLvNKehrqRogr509wT",
  "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, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3782, 1.7447, 0.7853, 0.1928, 0.2684, 0.1352, 0.0075]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4144 right_y=0.1181 right_z=0.0392 right_yaw=0.0628 right_pitch=-0.1601 right_roll=-0.0681 right_gripper=0.0075\nstate[joint_eff]: [-0.0479, -1.265, 7.2547, 1.7265, -0.0464, -0.0611, -0.0122, -0.5402, -8.7316, 6.6667, 1.8535, 0.1343, 0.0855, 0.5397]\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:45eb5850503048847189a61a9e0c7b8084a69e4506532b41dfefd950eacc2e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b79c128603302f72937bcbadbd47bbb7e9baafe7a214c1dec0d9698480613d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdaacae29ba1492f24a412073dc8c44a1f5cbd39213d04f3498747b1999fd05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.884 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6052, -0.379, -0.0223, -0.0257, 0.9996, -0.0193, 0.7925, 0.601, -0.384, -0.0162, -0.0345, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1804 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2938 right_y=0.0008 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [-0.5538, -1.4291, 10.1402, 1.7802, -0.0317, 0.1245, -0.0611, -0.5675, -1.1282, 10.3863, 2.0488, -0.0659, 0.1734, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.379, 1.7184, 0.7856, 0.1349, 0.2794, 0.1532, 0.9979]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4074 right_y=0.1137 right_z=0.0405 right_yaw=0.0428 right_pitch=-0.1865 right_roll=-0.0724 right_gripper=0.9979\nstate[joint_eff]: [-0.0205, -1.5795, 7.0359, 1.7265, -0.0562, -0.0659, -0.0122, -0.5265, -8.0615, 6.7897, 1.8144, 0.0415, -0.0708, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3782, 1.7447, 0.7853, 0.1928, 0.2684, 0.1352, 0.0075]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4144 right_y=0.1181 right_z=0.0392 right_yaw=0.0628 right_pitch=-0.1601 right_roll=-0.0681 right_gripper=0.0075\nstate[joint_eff]: [-0.0479, -1.265, 7.2547, 1.7265, -0.0464, -0.0611, -0.0122, -0.5402, -8.7316, 6.6667, 1.8535, 0.1343, 0.0855, 0.5397]\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,$blob:45eb5850503048847189a61a9e0c7b8084a69e4506532b41dfefd950eacc2e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b79c128603302f72937bcbadbd47bbb7e9baafe7a214c1dec0d9698480613d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdaacae29ba1492f24a412073dc8c44a1f5cbd39213d04f3498747b1999fd05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCd8eU9iTMphs8V1QjrOBdYpjD2O0_r6FL2e7-tRHDnqp_9FJBs5DlBZp8M1D9wZInuN9M631NmH_ST1bOwYZf47U_xmJcAM8l3FftL-UzH5dnq3f8lCv6zghsohVLcrJStZTDHUBJtKbZeLvBTqDoiYPLpsTLsAqxLm-z2tbhg4vQzVsVU4GXaJCG8Z4sSdEosYyzwBh1yCQmSyCnQ_ygSbMkuhVTc1SO68SSneQLluUkt1r9HtB6D3bSIekBI3nAgIZjv08Yk8hLmxW25soKjlwIRasglS8VtO07w87Gpx1u1id168Iomny9SWoOq0TnUOeafop49elOaJRFPE_pfu0myvYyD0on778s0c9-Z8gbiBtvAxENO6elnbkufjM9KejExc-A_wpEukTtuHOGh5hUFKPXfSE0j7m_fTnKJ2POvePwyu5BQB5JxIhQOI5EJD0ADNO59IGL0lLNt32lFaK-fCtahcdRumPfZPEFtA4JIEFwicG3MBkg2Lh1G-I105LSur5df9ix-W4T5AxfQxuTrEBUXGaYRfJmwUc5J5I7ZjLHqYw25O1WGKkqr702ZM2sE6YfmH0Qze4t965LXshdhvwj_etI32oLMHLLIrKRTchd-XHXnq7KUNXUPr6oDzL1u01RmFsj9E_3u-nSs9374Jfk8cBzAwMQAvXaFT6j0zJmVqEkYYhryrvFlDvDRV9cb99vUCVaHszPx-B3zWRCyttBlGtIxVoDrPLHDfAFUCEvCcKF_uKbCwSrLwYHOTZYETv_V4ILyx5mtUKhWgIXkCeAkA8IvQhxK5RUVJjTN0XOBR2hPqBtdHMiRpT86fh6L8zoiI9Is7tnIs01xEX_jACUwzZF8npdpy7WsO8T-UIiawwByFXCd3tHCzXZ56LVRUCbK9NPaaAi5Ty_VDsqYG7W9LHKdg4YcLWvRf63SaE16Li7h2Fw6mY1HU_uegIhavVtpOykM_9JxmTPSnuCrLGIRnZWzPIGYbCpKvdBy3yPIsGqRJhocNeOAud9B5zBmVOQxiGDy-O8eUpC8jF2jaoFisa45eqnWL1LXq-fPXNfIaXdJFHHxcUj7gzqFJK5IvVQgKZe80qQztSkYuzNUXOO1S2m3kW0MLqjO15S_sIrACf_1bRJeLru1w6rOdRNkcl_Dx6IxkeRV2TbW1MR1yddfqo8WfYn37kW3cI6QOWxNqH0MMbxwX7KsGhDIrMAcA88Ox7UlVispu1LSUc6VEyluGJgi5iujqo8SvGmGZJ1XGO5g0Z9hLoWGTTxStzQokK4TclVW1lNz_emNEnSghQtkGkrAPVztg2HDxIqrTdmQpUXFR9JLZN1oUJC_iQg9nvFKVQ7T5adPvbd8BNXa9VGzLK3oKIGSi8IOiNnC1gACYBA10D1_Gd1fA3WCvJvvODOlS5YBUizDigMfLmpYSxRJlPkOez0njw7TPBGqH8yjMKLacZknkYknGT4Z9S1uqt616JN_SCz0zNuJCTAmTtLC4otiJyxnTiZe9YfbBs43NrD1FZ_zNNWv8LmU4ewFTvS9rrlbQrraKSoU9I-uM38Uvsd7QxisGS96AXtO8WrifuC8WDCLDvCIrmx4B__pVm4YbvhWzMLej_NZM0vwngy9tahtDChILVFolLwKrMFvuT_s79TrTWS_JJ1SpU9kmuTMr1Wb4YUc8XqSqIxqjAj1g-SMEnJKvIFAeHkW_E6LqC45H1jFbbs7I1pwLn--eRFza4ibbzm8a3CTCy1-OfPgTO37DAhaV9HMeiysCZ_F9QlmY93zMNKXDZi4wr6GJl6CKY8LDC1oao8sx4VpL7ttLTkOSs942XCj-hMbv2mEHQbyFH5jS5ZUv92t5K3vMvy8HlQLVZDvatlaJYLq2ZKphv60N5y9haDK7vVl_fyHn8UrlkkRnThUc6OMYT9R03tTvf_cjB4Mp2Izxpk0eKHrdD8tllniYHV3oY-iBhV7dzYJSdciuTgPAHV0VQMyw4cZum0GpntSLjIZiwAZA_i_rZiqHKHCNnozqrvdLGKMYoHYAczMQiOj6g5kaj5w44hvn6d_le4XybTsmjxgac6wdAI7oaIGpfnt0mFE8Qnxz7Wda3gJcplnf9hiS0_RUf9hU1NK-8S_9Io6ZKJi9wsl1V1d0C32VR0V3xtqzttr-tchrIVZEU4k-mKkgX0b7I60X1XX0pEiyjhzNw5UmfNPj2wkQV-rfa0VgqCMMjS1M8WMDDrwpyAUiY7UvORQzfQcQuMa-FqZARbQKhONEbBlMHn7TyrZjM22F1_H0HOWaeVOdauFL_hcotkecGoeLBTSyLg7FfkQSgaoIkbZABdJAEo89lo4em2PH_BIeK25VPXXqGcRw4Alx1M3vtktTcdZ0badTgdLs5hnVeB_ZxFkIdLopidM0HqaB6G7yN4xpoT48Kvu3pqC8VjHK1dpbi8N1zBgGdoAcdLrmZqT_vxTPqo6YoVdqslZdOkOKofx6_FSCzwYvwFRV4d9FfUYTb8yfLdzQoNI0CDJ3mOjQmyqlca8vSHScTHN67zD8Wyru3hiUQ1yIrDfiT9pPN8s4dkEcBtezEW8smxaQV0z-0C1ZEbXzQkdjsQpvJKgKR18FkRFvmWCN_fiw8hQgZPgQBFAh1hzinP1ZiOZdID4W0OfDxIC9AkGOAcYkaU6QQaHiYmitPDlJW_QbXqKJ-KYKfzJyDl2d9UGJQ08Z7X2e7n9gMzMlWhW-PlIY1VnHmEJfIgsx50EfijS2hfrp8zyb6ybggHd_DOaZ4O3sj4XItpR0PplJX_kfVHSsgDjmsldpocPfd295jbdh4F4WGTqD2IGVZW3M5i-U25LR3b_TeVyhXuJasrg1jUe7PSBhBcGSRc24Rb4zDpHSTiKeFugdoNtjl-t0ZUHXm9Qb877sGw6OciXA1WKkqCcsXTiohP6G228bzxjB4rfStYNsDM8qwesJi4GBsapA4yHt1AFqGKGjDeYGZ3024O8LlAhT7vlfkN8zU7uZi1Tz9avey6_HcVNFYzitXThFlk3VkOo0PPQde-audyhdpyvU93u3AHwRt1paYST9gGsZAm7C2cnhEACL_kl2RI0cP1STJLdV6UxwXcyjXNJwkvW54j3JCB3WqHZO7uxyoNPRdI-3sKpfu7gKrATwMd5E5giL-qM4372AzEPY8V0ugf5UrQc=",
  "id": "rs_0f22ad7b96695d7e016ab4277878f887d09f9adf58204562a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.12},\"note\":\"The gripper closed almost completely, so it missed the bowl; the fingers appear to have gone into its open center. I’ll reopen and lift clear, then aim off-center to pinch one side of the rim instead.\"}",
  "call_id": "call_CM3wjaRL8HMsWlvS6C2JZhv6",
  "id": "fc_0f22ad7b96695d7e016ab4277bda5487d095a5916a0104c995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CM3wjaRL8HMsWlvS6C2JZhv6",
  "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, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3786, 1.6077, 0.9215, -0.1524, 0.2535, 0.115, 0.9949]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4039 right_y=0.1169 right_z=0.0878 right_yaw=0.0824 right_pitch=-0.2329 right_roll=-0.0946 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.265, 7.0632, 1.7705, -0.0317, -0.0611, -0.0122, -0.3761, -10.1949, 9.5795, 1.7705, 0.1783, 0.1441, -0.1343]\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:a4d61b4bac54a8b29951cd61afb9297c92abcf2ff24f044d59803fc1dadbe6de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae7a24a2dce45279b48f8e8686a82e186cce4b15af043dac8780ae469214173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7df925d70e78cd93f21b479e84945876ce7caf1da0f5bd5510577e6c1ea8a8",
      "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 · 5.402 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.387, -0.0227, -0.0261, 0.9995, 0.4252, 1.422, 0.7979, -0.0925, 0.3119, 0.1825, 0.9979]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3802 right_y=0.1166 right_z=0.1223 right_yaw=0.0503 right_pitch=-0.1017 right_roll=-0.0426 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.6752, 7.0906, 1.7753, -0.0415, -0.0659, -0.0171, 0.1436, -6.5299, 9.3744, 1.8632, 0.3248, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3782, 1.7447, 0.7853, 0.1928, 0.2684, 0.1352, 0.0075]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4144 right_y=0.1181 right_z=0.0392 right_yaw=0.0628 right_pitch=-0.1601 right_roll=-0.0681 right_gripper=0.0075\nstate[joint_eff]: [-0.0479, -1.265, 7.2547, 1.7265, -0.0464, -0.0611, -0.0122, -0.5402, -8.7316, 6.6667, 1.8535, 0.1343, 0.0855, 0.5397]\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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3786, 1.6077, 0.9215, -0.1524, 0.2535, 0.115, 0.9949]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4039 right_y=0.1169 right_z=0.0878 right_yaw=0.0824 right_pitch=-0.2329 right_roll=-0.0946 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.265, 7.0632, 1.7705, -0.0317, -0.0611, -0.0122, -0.3761, -10.1949, 9.5795, 1.7705, 0.1783, 0.1441, -0.1343]\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,$blob:a4d61b4bac54a8b29951cd61afb9297c92abcf2ff24f044d59803fc1dadbe6de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae7a24a2dce45279b48f8e8686a82e186cce4b15af043dac8780ae469214173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7df925d70e78cd93f21b479e84945876ce7caf1da0f5bd5510577e6c1ea8a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeAm_98rdJPZagxR2h3anPrH4AxpqbtunPsNU8Y_t9Dt8SvW7PNNE1Qxsitbw3l_tYx6T69MBhFNHFlS0d4LkS1TbvdrcRQVBRs8NO7YGsmjnFcYID_LSBW-qy9WGYiONogVh6SCbkHwzS_0gsjATSzi8J7anx2w0W9J-Re4j7oPLMSRkeli_qp-ljBbSZkh_3_3ULQdmYnmZpAcMqOF6CQLym8lErIvJ7iAt8d5RqXCN6I8XV1SABChuU05soz9rZWwJtby6KXx2KfCbvdCB6mlbDVeYazcZVXGlXvlvMOSEv4QQsQTWl5v3GO1t-EEab3AYfejtPMWXCfe6WJ71AtzivxN1cYt7qrTbSFstlzYHSiiZkliwcr8L4B9WBDa88bIXXyy32Ccn9FvCq-B-gVIieBuboY2LOcVpbz6OgDo2YPEiU9lcTxkb5OQ0jnjITDqLE5ygHtG-rgyE-EcKxLEi9IMi-jWy6AdPnTgG4PzKcGKfVDIaFqMlTBRfd_0eVqY675GZdYy3zvgIIWU2qp0Adtp-DsaLIh2rLnaa9el4Kx_CkuVtZtgU_46l8aQ_6NZOxg7hejdN-nXTk7R6XRp-GVKH56vE0yZNSGyvB4qPddcprTuAQbO8olzcH06CQHlvgDBgKN5MfwFgRVqdO8KdwJivaL_El3G4UPOysivBYPLS43-TxWnHEZN-yHUgEY1bO2mzJ_9HlxjhhvMmkTAB-7eml9JruKE_uoIlp7jVlGH33_1SBdX6ZUP7nMhRcHE7h7zywPozdqnLV5uVPYGTXz2TT2ccetXwLxxKZ503kallF4oBfc_PUdAeXe3uH_jwbD7jY1aqvtS56i9jYizyFeNSWJNPos8q7KAZRMkeY19Tb3l96x_xM6VbOFhvQVEoDd3GrUfI0BolCIzEZ7OgxHE3RF-WGdbKSvaFKwCwdmjLrFoe1nIhRGiq0CEdMsLI2mKlduZXgGoAIpCHG8aLI-o9bdHJj-XY-ze1vtAsZxJxvEr4krMlJnrGI01NrrLnl2fsEsreo4nlY-018MnIyQMEJg8FWOvWjdt60t9-JeSkRR3i3Pn1ufBV_A14fErssb-ua0Y2tWRujLsLmSYaYUoeRkvmTEvKhfgCjhs6QOFIKf3Vv8vLGx6JF9SQspEJjHuyoZ93vl3YP69wWe_yHFLUkv8zfcUqHs83uJeuix6Mq-xQWCY6g4L32UsrwZMimdR63zAPPcN28HKF9DFur8a7Rhs6uBlv5xkQ2DdCRrMIqDHM75s8w_dp2ldECnCSzfCjQZKJif7zWru5ypByIiCRLP2mFojVE6BshDaej-DR6yrLhAlZPetaxCb9sREnxTpbvBCwWtQQOBBQA5Ws4dtUOBcwxC1EPeXNo-fu56azcjAoIlmEfagJrukVpFQe76ae_cEd2E5uuDriGDTR0Yz3IV8DQSkF65Y5RtlcJHbF_2n-n8hpDtG37rWtJdn0FpMB7jNH_P0b8vz7VfKzK2Zjl0K8Avulpr2-VvCUxoDTG8M522j1HxmkS87NAdpNktW7iUm1oHrLZn8U1uMjdOqhm3qyhY32Zp5kxwHPf8_QyB-Umqiwsx-2XVt2UL",
  "id": "rs_0f22ad7b96695d7e016ab4277e7dfc87d09c8820189d19c967",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.10},\"note\":\"The open gripper is clear of the bowl, which remains on the table. I’ll shift it a few centimeters to one side so closing the jaws will catch the bowl wall rather than the empty interior.\"}",
  "call_id": "call_GTiWekJIN3dOrX04qvOlqGqu",
  "id": "fc_0f22ad7b96695d7e016ab4277f926c87d090accad7e180eb43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GTiWekJIN3dOrX04qvOlqGqu",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4324, 1.7184, 1.0531, -0.2359, 0.2657, 0.128, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9995 right_x=0.4155 right_y=0.1447 right_z=0.0806 right_yaw=0.1136 right_pitch=-0.289 right_roll=-0.1144 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.2513, 7.0085, 1.7021, -0.0464, -0.0366, -0.0122, -0.1436, -9.1282, 9.0325, 1.536, 0.4029, 0.2125, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69b014a857d200a4a51d3d826a21f1b3ac29b1a89ad258a75cbc9cbf7044586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beb77eb5739e03790ac3453f79694758e029519986f092373c80190baf3dfd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee4c25d65e281a8bece194afe3406880a49a48345de7ed2c34dd2c71bd95b58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.571 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.379, 1.7184, 0.7856, 0.1349, 0.2794, 0.1532, 0.9979]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4074 right_y=0.1137 right_z=0.0405 right_yaw=0.0428 right_pitch=-0.1865 right_roll=-0.0724 right_gripper=0.9979\nstate[joint_eff]: [-0.0205, -1.5795, 7.0359, 1.7265, -0.0562, -0.0659, -0.0122, -0.5265, -8.0615, 6.7897, 1.8144, 0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3786, 1.6077, 0.9215, -0.1524, 0.2535, 0.115, 0.9949]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4039 right_y=0.1169 right_z=0.0878 right_yaw=0.0824 right_pitch=-0.2329 right_roll=-0.0946 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.265, 7.0632, 1.7705, -0.0317, -0.0611, -0.0122, -0.3761, -10.1949, 9.5795, 1.7705, 0.1783, 0.1441, -0.1343]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4324, 1.7184, 1.0531, -0.2359, 0.2657, 0.128, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9995 right_x=0.4155 right_y=0.1447 right_z=0.0806 right_yaw=0.1136 right_pitch=-0.289 right_roll=-0.1144 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.2513, 7.0085, 1.7021, -0.0464, -0.0366, -0.0122, -0.1436, -9.1282, 9.0325, 1.536, 0.4029, 0.2125, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69b014a857d200a4a51d3d826a21f1b3ac29b1a89ad258a75cbc9cbf7044586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beb77eb5739e03790ac3453f79694758e029519986f092373c80190baf3dfd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee4c25d65e281a8bece194afe3406880a49a48345de7ed2c34dd2c71bd95b58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeF1LQT2gUZt4Rvxm2R4FShgwYVpgwSbN4yhEVtdjNxELIoN81zDXTCg3nwKcgX705KOCKBQ7R_ceSiRyqb5nBdRRdrSy5u9dz_t4vEyLSvce2MgAXcYiGGQAE-bvKE0AAjmnKfNEtPLIcel-S34extEKR0_2X7WT09zqRzyLFSnY1Ybml1l4BDF9He8ztoPBRg7poZXh9HUykaRH1LA7cwwKIjVzgraFKHSkZtgh0yEKOwglxQiuLhK4wm9OoJBwU-A0LgxeQohGEE9WeyEcxyuP2yEc7BYnRH7rs0qe5FTtPuC-XWHE2WU_9gejSM4R2PURVY-Bf_9qZP8a6MKLuPtm7xi80IZ9LhtbljDEfHUjxhrZG5tSQf4RnlX6ha-RqQZeF96igAYKXHgZwDxrC9a0FMeTnSmWqUg_c2hhQ6hqwV21jPqKZpi23JqufVvsHT38xXridosmRMvEJifZf6VcqP3evsJMV1njT7j7hE0Qj3ioMdUcHa9n2THhA9K97TXYp5l8XNuzMm_YcJ387lF_H1iouFGMJ83kybj_PqgMvyc5o2nlOdrVXr6yKhuA2KL4rixJg76fiD1dGLnF_dIOPX5BQGW83x4BzrrY7IBHb66X0NetbOrpQnw3rlhHIZSeHLCijg0LoAxVc92qvO1OM0300soYfqMKWEK1csKRa5ZC1AnZflhqAxvgFub4DlHVhhl4Ke0ePJnPjmxwvzrcWqKb1RdGawkNIjDFAvAzMuWYLJlujA8y6DV9lIBH76mDbcuvKWX_Tr04YdmLe-r8YewgTNcepaeLvRowpKWMvBDv8aAQR8rr9f_L1Z4MLhNMN9cEwSBV867gYV71v1RAcuOogKCTa1s3cWQjp9GmpFq5QqI7FvV20LqRv_LkCtw4OLwL7Mu_pAPKCndVwq8h2UAqKwz875qKfsDO6TS9FDJ7eEDckTjxtRe7OHN5fIZ5BqPxTmTDM2XGj1tuQWYHbU87a6IA-qscl7ymY-gKuTbFIhSx8EYYRcmNx3ZLZsqXKADYUIVJiPlIcY_OomiAMqSMo3SdHuLB2fX_0DdPsXJx1cHDF-kV0aWlVFWe8TzFlk3cvduYnErgp2mzU0sVlNzgMrW_F_CFnUTIXT1FHQo3O0VvwIgujriWBisOIgKX0VmZDimjNuv7ExH7aEFNSM7mrcy-KWgkDnAxyOWv88V-z7uwJdK9SazfY79AgrlzMPXvEYWw4wnmkBBgxdN1jQw0B5d23npO5bqmQHOaUjKBwFBPmd-GU_D8ktEsfDqOUumdtTFhsIGHjGTbFM5pm8aq4y1p-DP0A8P8-0xwM4MxknEFXY0ovqCR8xYEvcBrVHMVDegdhrkQmNQk8U35zQptP5YbaELrK6ZxuyMH_IXPLWnyzYhudoX271xhZC0II24J_0dF1YZeac6DmJpNmAirn04YTz-14iZ1c9RATAdoSfvGholR1lBIbYKsktjuRFw74rfpryVifmF6QReiM1wyXXAJaZb05-yWpWb0NgIwpLWFNOLv3ZlBt85mKFBR6Vn2V7g8X8moEafPkiIom3_tIUThMyr319uhY98VkPJKVhBQzN-Qe-55KvzCifVgh0njo6FAsnsXzTTAMoWl3ejKHHDdb7DZabU0MBTXH936arIb3vOlMd7QAoV4mAlE81sTeetK110Pd2UUr3BIobBw2ykz2HpCXpxJYwYkbVZCTAslsUmf5N558uW6RVDWErrV0efsQbdULhHcNZ81bqF_dp6aAFnocZ6hbakencV5ToDnSq4LYqd8HFtHSZAFV7phdJnUhH5N8gCkHRI2eJ4VamNcbxJXzKcExzd3SwJgL43iviNXTu9yaxyFWZV36l62bAsL_XTAWKE5Fr8lAXvPXxFCcdVAL_jMQ282r6D8kaYyv8j6vkx4DngZoDbv698jMw3cuODno_u9FoA5ok2iJ120DFiBN4fB4G5c_uIcVuw9IRrwUjXcg7mO_zt2Yc_1QZf7p9RhBPHaF1SkQqyUrehztE3Yjwg660_Fp6Myt3TDdOVOfJU4N1Kqfev95QHBKEA76OYQn5kzRWDm_KcqRKYSjCylJfUDLBxSVJRfBJcomiE1YJsQER3oi-g-nEb60TWDZ0V8Y6Ln13-6-TxENZGk1f7AcZ7hSSWA5HXyHgv_rZf7uCqilklhREbz_EM8v_DY45kJKAw-mM7sInv0ZznmL35LNqYerPfu2kkqeKWrFcirxU2q-WBRTgjJUScCFffuj4QJO3Cnfduw==",
  "id": "rs_0f22ad7b96695d7e016ab42781bd3887d0af06772e8f7c5629",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.195,\"right_x\":0.43,\"right_z\":0.095},\"note\":\"The sideways shift moved the bowl to the right in the wrist image, but its interior is still under the jaw center. I’ll move farther toward its left rim to line the jaws up with the bowl wall.\"}",
  "call_id": "call_tAaP6sy8zX8x77ha7YMSsDvy",
  "id": "fc_0f22ad7b96695d7e016ab427842bbc87d09c309881c004a3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tAaP6sy8zX8x77ha7YMSsDvy",
  "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, 0.807, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5381, 1.8236, 1.2087, -0.3569, 0.2977, 0.1768, 0.9959]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9995 right_x=0.4159 right_y=0.192 right_z=0.0781 right_yaw=0.1567 right_pitch=-0.3432 right_roll=-0.133 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.3744, 7.2547, 1.6972, -0.0659, -0.0122, -0.0122, -0.4171, -9.0051, 9.3607, 1.536, 0.3101, 0.2173, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339f0fb105e4101017d8fecf9b9c5fc0a09c945372889ec0d1997392b4971545",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483afcdc93eb4dd3f1681be0b1bbd8796873190f7ff6b8f528286ee7c58ab548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9986af5ae0623ca5d71e43decd58fdd49f7f634191b79f48d47a573eb18fa3",
      "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 · 2.725 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3782, 1.7447, 0.7853, 0.1928, 0.2684, 0.1352, 0.0075]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4144 right_y=0.1181 right_z=0.0392 right_yaw=0.0628 right_pitch=-0.1601 right_roll=-0.0681 right_gripper=0.0075\nstate[joint_eff]: [-0.0479, -1.265, 7.2547, 1.7265, -0.0464, -0.0611, -0.0122, -0.5402, -8.7316, 6.6667, 1.8535, 0.1343, 0.0855, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4324, 1.7184, 1.0531, -0.2359, 0.2657, 0.128, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9995 right_x=0.4155 right_y=0.1447 right_z=0.0806 right_yaw=0.1136 right_pitch=-0.289 right_roll=-0.1144 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.2513, 7.0085, 1.7021, -0.0464, -0.0366, -0.0122, -0.1436, -9.1282, 9.0325, 1.536, 0.4029, 0.2125, 0.0855]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5381, 1.8236, 1.2087, -0.3569, 0.2977, 0.1768, 0.9959]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9995 right_x=0.4159 right_y=0.192 right_z=0.0781 right_yaw=0.1567 right_pitch=-0.3432 right_roll=-0.133 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.3744, 7.2547, 1.6972, -0.0659, -0.0122, -0.0122, -0.4171, -9.0051, 9.3607, 1.536, 0.3101, 0.2173, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339f0fb105e4101017d8fecf9b9c5fc0a09c945372889ec0d1997392b4971545",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483afcdc93eb4dd3f1681be0b1bbd8796873190f7ff6b8f528286ee7c58ab548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9986af5ae0623ca5d71e43decd58fdd49f7f634191b79f48d47a573eb18fa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeJM0aHZrgzsKaL18heUx8NRuyr2zUIJcSQWkGY8Q8SzaeuDkPGzmOLgulQMVB5SeN24cAYAV8DgddO4VC9_nf1W585gwWECMmivhx2xqQ9Qanl3kUNZEvbJJV6ofI7HnKA4MlaP6VElDVWH8eI0xZd2qubHTpce6NNs90m_jYocpnp5HM2FGtbiR5X_tM-RR3Qm4BJvxEDMdmL4vxI2gYABce_7Ybz6IEHebyz29jgH310AgMH638RRtYyL0JMwudLePpSNKqNH-EDAo8dwwIOAFVoj_QGXUXWrRlcIlVlGhWwz_S5GCmHiNHTvmtZXFoGSb6gpcYtabYtPw7tAbebXDIOlqElj9OVVP04eb5rtdZn6RB4VteVFAV5lxX0LMRIE7OfBQ1DSIHA4NJ7qzqOJkEK_8CzPtcymtVuDcJg4qoUYpXYyeQxLU-oXLmTkgMPeX-ehld0H1D7boXV9xwRp8XM30Od--XXSChmagpIhjdXC33wSBkZedlqIg6blnzIz-GwMGQDfXSTEFTWGWJBfCYwlW48SAsUjiTg5t_rFBVct_pc-0qwsuiHjbZFxe4MtJDU9qLDorbb3YR9Sb3eObjqv9BBFyuEk_qoc_vaEUcoxeioKNiATt-FJlU7SzI-PiCJYCwbQXATI2BcJmBfZXKV5gYt1Nj6n7W1-t9Hkuafub2vjXdiyw17-HOoYOUqIVMKJM-5YWRUsS0vVbslJYelAAcVSCj9w-mfyozsRsZonbixV0rnpmEBQgGVVV-Dk_B2eESNyJluZ3BGZpu5yEku0fle0PLpE9_x5owM8yVaDV6EEluMRCMPQm0FdKiw3DkDdWnddFG1Ql-xqqT4hXfuc7_DPA1_4J91eaoGarxf9vPGn4SZOT_pZZPQKmp9sCUJGEfZ4g4UzwgUQFqKiumqGV5jazXtSy-NUJhM7QSfiOHleZrStD6O0V4X7LG5gS5PeALzcmlsqA76MQihozjAEvvDY7QYn3qoES3-x1LPsGhj18-VF-aRnmtfJuVzMoKBZUVaDCL1gjccEELdjLxmdJcLj5X9f2lBR6X1rgYLfuWkMYTJoxbSFtDrppqqA1zyhcyIc7RVDn5KOUyVCRQqJETZmXYHuvBSjn2pQpmDR3HAqd767OUD_Jm7GdQ0x1xW0gbeHuv-tasTXzXzNQrzQWlwxAPBa7BmtGZzJaaMGW2RU1Sq54YvTbPZ_WKAyFmHtbhOEy6fZma2zvWUjnrgODZ6lrMa4hQnFwjzzhHxVAArwURDX0kttRfqWz48MKWDum3OspHFHVgb0HGF2liObfuny4ganBMGfVq_G9dctxpg9f2J0yK-gK2S8tjUo3Ufl0bccODzZuyz3PIKRGVG8S_5asqlHELm9jzK1onTtGm6DGAWD331pi0SpEP1VbkdqXugWrBxuel-sB5GNpI1_yqNIjAjoxzHikiNSkv_cTRojIxM1NQoXFKeEn-qQRnRBWvSMiCZ-akXk1BoJ5fHtwUbrHfdDh1A677nvrks4Awyz-gQ-4KGw2GZPMxHl1yoUKWWCRTSAtoqOQ7m9wUkOgxwa0zCTij4NFg3cmLQGflLW60XKN2XG9DuWpZKpvMCq76T-AQAOFkxVKpBnnh2O-eWcw2hdwR4rWlrJ58=",
  "id": "rs_0f22ad7b96695d7e016ab427875cb087d0a72131b774bad07a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The right bowl’s near rim now lines up with the jaw column rather than the bowl’s interior. I’ll lower the open jaws to rim height before closing.\"}",
  "call_id": "call_O6jk2yTKqhu7qhoi5fJ9krew",
  "id": "fc_0f22ad7b96695d7e016ab427884c7887d097aec3001dfea447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O6jk2yTKqhu7qhoi5fJ9krew",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.829, 1.2282, -0.3706, 0.3073, 0.1909, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9995 right_x=0.4177 right_y=0.1941 right_z=0.0815 right_yaw=0.146 right_pitch=-0.3389 right_roll=-0.1314 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.2239, 7.0222, 1.7265, -0.0757, -0.0513, -0.0122, -0.5538, -9.1282, 9.0325, 1.4237, 0.3443, 0.2662, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168788d46cde07222114df989be6cb97b224a074e60039ed2cd3624620850446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561e7341ee3c7b488b62090b833b175639eb03efd9d5a9f831eb6c752bef51b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f36e20a355ff97f0560cee87a2abbcf12fa9644eaf9a15ad71c509afcc94de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 7.822 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3786, 1.6077, 0.9215, -0.1524, 0.2535, 0.115, 0.9949]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9995 right_x=0.4039 right_y=0.1169 right_z=0.0878 right_yaw=0.0824 right_pitch=-0.2329 right_roll=-0.0946 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.265, 7.0632, 1.7705, -0.0317, -0.0611, -0.0122, -0.3761, -10.1949, 9.5795, 1.7705, 0.1783, 0.1441, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.807, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5381, 1.8236, 1.2087, -0.3569, 0.2977, 0.1768, 0.9959]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9995 right_x=0.4159 right_y=0.192 right_z=0.0781 right_yaw=0.1567 right_pitch=-0.3432 right_roll=-0.133 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.3744, 7.2547, 1.6972, -0.0659, -0.0122, -0.0122, -0.4171, -9.0051, 9.3607, 1.536, 0.3101, 0.2173, -0.0024]",
      "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, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.829, 1.2282, -0.3706, 0.3073, 0.1909, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9995 right_x=0.4177 right_y=0.1941 right_z=0.0815 right_yaw=0.146 right_pitch=-0.3389 right_roll=-0.1314 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.2239, 7.0222, 1.7265, -0.0757, -0.0513, -0.0122, -0.5538, -9.1282, 9.0325, 1.4237, 0.3443, 0.2662, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168788d46cde07222114df989be6cb97b224a074e60039ed2cd3624620850446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561e7341ee3c7b488b62090b833b175639eb03efd9d5a9f831eb6c752bef51b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f36e20a355ff97f0560cee87a2abbcf12fa9644eaf9a15ad71c509afcc94de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeLkAISwyV38U0ZA5L0gjX2GllrZUSpxsgKpJBUwQ8KWUuAGVh4UdFfAZCPD_OF_MvuWMjrySkImuFXqdvvor7mrp8YKoL73_MV6IbXu_A6QCtCEnbPIwVffXKPSzAFQnQ1Et8F6ptOOqjwFkFBae8whJMNmMsH0HB-_7RNWvcsoTT0oY9vEpmXJZ9scdY-1E38rFD2tj2AYoVn79pbeVonw2Q3m-VT_3Xr33bZr1onYU6hcQ9PaSPd7S4oYOgrsQHqjMxhzyY27uoRuuCbHSgRILF4xnyjVxdiBqV4qW3SKusw69aXDyAHcHwZXMywu-7m9dQTKJag6nMjC34qJGVyqOMC6UM0VvFz1WuVMyGKhkHrrsANR9zPWfF9mW-w7dc-GBzIUXeoSluDvvNg-tF3lleZeaDexwR80cx0kf0u8RAZ0SJc6JZcA0-5VBCDWRTRIpE5kaCbZfYQ5-hze80fAYWh5dEkMW5bgpo0g3QIUKWsV-9Espc4VK7VTIrOmMoT87HBcnXDm5L_gjQZqEfouCt-W-yvBEMEeZmh1t-_cW_rnxHN5Ie4VITDrr5lqP5vXBBjEK1jYZ48wLHCoe6b9XqKVxsJT9B9LJ6M6tNlmc4mPK5hfBTvGXTUNz_htQUbHWanNb3efUYnb_x9AabCX0QXqsHBJYL_H6qw85smqrX0AbxfsXpDVFybMEwz2lQc7H98Nk1MNGgxT8xmRv29rbNWLPGYwxWYtISn4XYX1NNriUwU8OG1e7bdP8uFequfCoGZ9rMQ7n8kknKVPwOu4losjKoorz3j7dLWwoEdeYgeUOjf9X9SpENuapJ6QfOJd1Tmqf82mkob7_foWz7N647UUGDN7g2JQ1ZUC6Dl_6ZHVdjkP5NMhJboS-KXFydXv-zak1HUVNzXD1z62QPhutj0zuDKNooBnpiKhjkSVlqwhfoPOV_uL-295p5act4-Z-EttXvvqh8LOn1EGICXsqq8v1VEwXWIH3-qHffYPwwrE_Vq-6p74jT1csDJMNbBA66v3xe0lrdcEaUr8nzfji4N6JKlcQFLsTEXHAnQVUVxcubGgeihocS4hkLxiyH7oUEVemTZMJ_AvwklnpXV4dN_qgKtBLhCpjDDdhNFMRWZjEd9TIgi-ETNZHzKXYPb3ThFwqy_qDZhO145LVxk_HWlTW6ONiLG1ysIHI-JzV4c1Qn98_UDQ3RnHUTSYWTqIaiw4upJhPP2krWbouGgJtVRgscJ4xxF78NJcqfv8nT7Rkd9NdoDkJf9USRTUQXalleMtX13A-M6kTU0EbCX3gJ0gNF5bZNWxUmHWVhO0UqKSZi5ThL6JwoEOnE9MzQRAToJa-dLqeBzpfx4cplZWoCY448pV2cm3nRvlYbaMCfKFtXcTYqlDgB9Ru-6KRgEBDcjW53PaFNviPWHueFnMvbxyAfY-YOdGHi6w_HezLY=",
  "id": "rs_0f22ad7b96695d7e016ab4278aa96487d09b9ac27eb1d975c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The downward motion stopped around 8 cm, suggesting the fingers may be resting against the bowl’s rim. I’ll close gently at this off-center position and check the gripper opening for a captured edge.\"}",
  "call_id": "call_O2G08nDE0IoPpCOYYndnge0W",
  "id": "fc_0f22ad7b96695d7e016ab4278b22cc87d09fb797c04487bd77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2G08nDE0IoPpCOYYndnge0W",
  "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, 0.8097, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.8294, 1.2282, -0.374, 0.3061, 0.1864, 0.0081]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1753 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4171 right_y=0.1939 right_z=0.0808 right_yaw=0.1491 right_pitch=-0.3431 right_roll=-0.135 right_gripper=0.0081\nstate[joint_eff]: [-0.0479, -1.1692, 7.0222, 1.7118, -0.0708, -0.0659, -0.0122, -0.3214, -9.4291, 6.5436, 1.3846, 0.1392, 0.0952, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb73c9f6f1e15a1f30948057b94032ca0fb33aa48d43aa343acab249b30c6bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679636b1518784d3aa95c4a30ba81aec0c6cdfde6d62fb7259db85fa1b488ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7787b231ecea8f71dbcc41652e929ae7964723a6ec05fa117e477e042471675",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.136 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4324, 1.7184, 1.0531, -0.2359, 0.2657, 0.128, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9995 right_x=0.4155 right_y=0.1447 right_z=0.0806 right_yaw=0.1136 right_pitch=-0.289 right_roll=-0.1144 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.2513, 7.0085, 1.7021, -0.0464, -0.0366, -0.0122, -0.1436, -9.1282, 9.0325, 1.536, 0.4029, 0.2125, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.829, 1.2282, -0.3706, 0.3073, 0.1909, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9995 right_x=0.4177 right_y=0.1941 right_z=0.0815 right_yaw=0.146 right_pitch=-0.3389 right_roll=-0.1314 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.2239, 7.0222, 1.7265, -0.0757, -0.0513, -0.0122, -0.5538, -9.1282, 9.0325, 1.4237, 0.3443, 0.2662, -0.0073]",
      "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, 0.8097, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.8294, 1.2282, -0.374, 0.3061, 0.1864, 0.0081]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1753 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4171 right_y=0.1939 right_z=0.0808 right_yaw=0.1491 right_pitch=-0.3431 right_roll=-0.135 right_gripper=0.0081\nstate[joint_eff]: [-0.0479, -1.1692, 7.0222, 1.7118, -0.0708, -0.0659, -0.0122, -0.3214, -9.4291, 6.5436, 1.3846, 0.1392, 0.0952, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb73c9f6f1e15a1f30948057b94032ca0fb33aa48d43aa343acab249b30c6bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679636b1518784d3aa95c4a30ba81aec0c6cdfde6d62fb7259db85fa1b488ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7787b231ecea8f71dbcc41652e929ae7964723a6ec05fa117e477e042471675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeUGu3sjiqA8dymC29dqzwFE3H_KBtwTEGbxYlzasfQ2jrQfFaS1merDOY29XOTzfDY7c6Cp4sKQUWye4KkAFXEHOTEC0UgytarE_idFXCN-OEdVheM9YDvoQ8IL4dwh0MaGQNsEor67SRSLXqZAHzGDyG9Ma0mVkwYv-YEgaUyBg4GNrEW_fiil7K27d4OboP4QV5V6d4NrJk2vbmINRooqu5iGsm-Uxvd-uiL7pWMNOeBGqIAmKHOciE5Ndnh4OM3Xlr8PyQ-QbvxbtnXNDUgTpRH8yTQ9_TOARLdmqihbzK0ngDZkK01VGQKO3IHsOh1eNVjrZioA4WhIkaZ3qZbZd3Q0R6Qnxou5nZlX1KB1G4touwJIBFSCmvFqqz93U6mUJoB29OwBChxQIX3Z5zcEqS1too0a9AwNmdXG886W_lpyTGMQdFZIu8XBnHfeOB8WzQhL9faE3OtoUp6Caak1Z7o6zz5mtq3lCWjwXKPwulihhDj_wPZr7cexkbl8hdSNMZIzSzpG8UDOYPiDwk6F-DbP2Ir7EohCRLn5LFcjgF_LP86JWHuIUhfQcOGZJmFMC4KgNBhh6Eitv-csxKeEmIXmR-IlsnGQX5JvHGjRDrdR-d8MhINKUpjuM3FuuMqdvMPBKuE_TjePcKWkBW6UeIMRDYTjcIWQbu4szdSiGlDAE3xDj5krN3mamMbL3BWV0yemiFENRA8DKwdusCr3Vp7_ZoIO3Tx9ncB_EUbpEIHHxePBDO5uFUqV6VZFIXjnctZnWpRLZWYnMgRr4HwDxWFfWxItVkXspTdZm8TNnBk_R6ziDn_ou_mNoDXjgWBySo2xoMIx0daBQituuzRi6ofUYXSuoofkcoahQrg7THamojCjpClXoXQfXtMggl94Cy4F4T4RiwhzfHkHMghhJgj41sSgMW37KJJ1ddqJ7FtTiPF5cnc7VTgfVIArM5t-4DiKlxYW8zWlXXv8r88Vs_cEWGkjWivMPNWNDMJjxWmKLMd-ko5I4uDWe60nQ0EDLH7nM8nL1shrFivYzu-2eGFdiYYin35Rtg_FAFv9U3mg28Jg73G60ybAdggasZ4RKQFNgKh_yYmcg9P8pg4SY0CiAhZu0ZcAOHlS-iQO4_xWSojxEA5KHNqeHn9ZAx0j5a6smzW-3C_LWZbgCShuf_M-wccUHkmTuQC53PdOSVkytn3VO4WUZSzs6c969_MGjkKjzbFg67oeSafPDzBWQdBphwquTrXQ-LXYGZWqHfCs-AY-doznSalu9zOkQUVXn8tq3_n3qO6QpNJQ3B9aXSVk43UxOXETuwrE8qhPBagl0VY7C7vRpBvD-EM2Z8AErGHH3A17VBBa-wHr4X8aXmgc2J7WkS397ViYww8hvVxZoWZqm27UIQ8nBP1hhnNd3Ui3lliySLzeXhIYgXW9SLAtnISIsL0LOVOFV8NQh3zksMBdD5ZB_TjeRGisua0LBywV7F5ltPo3e4skH6YKKDtip6a7LesY17mzR1z3tlA9Vy1DyJ0wsR2Kqh1k_ExyefFAh28dKfiPE_OwYCT9aIOQ26D3CPrtDCdkOIz6G3OffnO9AKtW_IHyOrxNzmYla3fCxGYLyNKRA3qTiwQaerp86RxxpMZvCPUN2ecXkH38nQWk5ufZm5JdbOkSZwx-A_3oDmymNlv7RxSflNdJbyHCc7jfrHph6ek1YrVArZnTmKBuT0BeIXOodNnpWMDD7kKNOV_PWh9CaVptn6plOssVjnLJ7zBe2H5xgGIIkxmlBlGwBZ7NQ9hhZcufK5H6WIuxh-UU-vQYNSPcIShCM8rQgtU-iJHt6SIfzaj-bdjYcn1_YkO1lTptN4b1gupYwSVTtqxrE-Oo8Da5hZehMCgzj9HJMSdeS6Wozipb1ar2paKBo4GVZPLi7J1Fokq4ydkX42pFEsWe8ugGA-NgdXebyfE76GFM5W44UbfwO-hgFmhlCBaYQkzbUnHiuvnZa78_p3pKce4akukwX73f5ISref2KypvYvpyq41AgSoU72N3peuL3MMU2RuHn6IJ51LGurDWnjKW21BEar4Ex5jJOm9Pj_RRzft-JZM2uw49YAdQcUpsJ5Dk2BgCgv77V-sGkCllZMy4ywCRDXZpsGy6uZpy7jlKm4Ey4VrHtNktOOTrDkPxx8gFFN8N-VcACqapSityZJonJijpAOBu8cJpGdtWjsUh5-qK3dIJEQX4CgTasqlnf7aJU0pNgscLUvgNZfMIIKfecxWE7rbHcSAD8yctY7LJygaC4KjBlDtJcpGSYhnq7tlNMUjirgS0ZvIY8UXaaGZ3KyoiHNU92xU54EOW7PwIxNlzf6qp1CiJp8uPnHf1x5f7gUCHyA0OJJ4HrxWidR5gJ8ZxCa3uAaKq7p7KyaZzcivt53ekl_pXaZoJzJqfWwCUPJhpWoIlbF_XhRaHFDQrbHWjgDG2dCtwAYy9ELfgddZNUmQpY1Tf8-T-hvZp_ONiRtzWmAYGzR05YCmVyzM-GO6YNXf-qawzWEiNbVR_xNqogng7U6dD7MOpH6g9NGEnkATfGVqAiKYT8SoinT8iq9zdOy_wgmPViglWk7QLWmcY18dDD3vu0QRsXjlhGyO4XVLRLhTGMljGdeMt5xKElxWnwFMg---4gkVPbMlTY1ysysLnUUkq8LmJrPynu3xkRY6EPtBqEvH4-PdX2CdTjqpdIJ4XwIFcZUunJ1ey_wBnVQPvWbeCMJbElOsWKMGkz0ROIsLqhzWunp8fxk1PLm_iSI4LrgS35bSJX9dohshjzWIqRWQNxeEX2RRNjEUQd4kJf9-jExDY2T7ViVSQ99jjEW10NA==",
  "id": "rs_0f22ad7b96695d7e016ab427909b3c87d0a3bc9d2be57ca8d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.45,\"right_y\":0.17,\"right_z\":0.13},\"note\":\"The gripper again closed empty. The rim appears just beyond the jaw tip in the wrist view, so I’ll reopen, move slightly forward, and split the difference in sideways alignment before another attempt.\"}",
  "call_id": "call_A0VskrQBzSmNPsGM7RkFz1Va",
  "id": "fc_0f22ad7b96695d7e016ab42793a6e887d0ba6219eb07925e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A0VskrQBzSmNPsGM7RkFz1Va",
  "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, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4545, 1.8313, 1.3941, -0.564, 0.2481, 0.0933, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4357 right_y=0.1686 right_z=0.1146 right_yaw=0.1599 right_pitch=-0.3911 right_roll=-0.1545 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.3197, 7.1453, 1.7021, -0.0659, -0.0659, -0.0122, -0.8684, -8.6632, 9.9897, 1.5311, 0.1148, 0.1099, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b17cdda6d7e9c554758840fbe561f894e2ba7c2941b0e3fd7330397a6cc89ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e4b6eb9b320f8426e0163881d7fc7a1cbec09bfc2f0dff7cf6bd859fc0c372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d088b4178227ed98d7f642d2506126cd473a2770d08af4b7cc6c7c46eb596189",
      "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 10 attempt 0 · /responses · status 200 · 1.794 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, 0.807, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5381, 1.8236, 1.2087, -0.3569, 0.2977, 0.1768, 0.9959]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9995 right_x=0.4159 right_y=0.192 right_z=0.0781 right_yaw=0.1567 right_pitch=-0.3432 right_roll=-0.133 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.3744, 7.2547, 1.6972, -0.0659, -0.0122, -0.0122, -0.4171, -9.0051, 9.3607, 1.536, 0.3101, 0.2173, -0.0024]",
      "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, 0.8097, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.8294, 1.2282, -0.374, 0.3061, 0.1864, 0.0081]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1753 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4171 right_y=0.1939 right_z=0.0808 right_yaw=0.1491 right_pitch=-0.3431 right_roll=-0.135 right_gripper=0.0081\nstate[joint_eff]: [-0.0479, -1.1692, 7.0222, 1.7118, -0.0708, -0.0659, -0.0122, -0.3214, -9.4291, 6.5436, 1.3846, 0.1392, 0.0952, 0.5788]",
      "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, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4545, 1.8313, 1.3941, -0.564, 0.2481, 0.0933, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4357 right_y=0.1686 right_z=0.1146 right_yaw=0.1599 right_pitch=-0.3911 right_roll=-0.1545 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.3197, 7.1453, 1.7021, -0.0659, -0.0659, -0.0122, -0.8684, -8.6632, 9.9897, 1.5311, 0.1148, 0.1099, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b17cdda6d7e9c554758840fbe561f894e2ba7c2941b0e3fd7330397a6cc89ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e4b6eb9b320f8426e0163881d7fc7a1cbec09bfc2f0dff7cf6bd859fc0c372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d088b4178227ed98d7f642d2506126cd473a2770d08af4b7cc6c7c46eb596189",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeYyqTgRs8WDAM_vM5JPfXUJx4TSkl5c2FZYUdJRqs8pr6JyR5fwtUndJA2AUmzxb6gmyc8J1PO_6IWqMv6yy59lIr4gs0-rmJnRtlh0qlaBVnc_X4vyML6szqM9VPhaDeFKUxHMryPV7hR6xfNpX9yYsB8NJkSSUTjwkqc0BQw27WOzrBCzgiP0F0XMbcCAsxefoiWybGWsu-TmH92BUBBKE9v5BKczFV6Q2_knoX26c5cGATxLfDwnNNK8eWghDtVXFwbLMKTJfpQgKVf87GF64JvLjIstw3nsSBVfhAqHqeILEnnqKLEE7UNiw_XTyfKHzLeE7-q4W4M1Ex2s1mudOAv6zleYdZ1_yVTJzdZFRGQn6iRFnm7QUivh-pSB5zleUSM4P2ClJ2w13wSUgZbd9j-vPENLHj936metjhvWtxjaK5_ntFMLXWoCY3MSGdmugfTNxlYBGNqPq81hRN2M_9C3-Oy0po9m4q9RCw_uyWBu_ppeYZq5DQADFo-sbFkROMZfxEutCJs_03rOyhITkVxviBJTACIRS9Nhy29hG2q0BzyS17GJ6Z1PhZinOD9rPxfH9aiFLh6CJE84PNYY2qyQ29guu1666ViB-0PzD-NkH62AbCsyehJvy4zJfgzoXR86cLiLnPe7AM1YYkZ2QnsPUXASPeYvONZK9S3v5SC08IeVXOlwFJOlFAoJCrZpHGpWkFKtenFLrlMztE9c4RXdSoMHI69AAAqnAW5ElnmJYjVfpvmLB68qfLQx5-BRxINCsTvFSXbBXseFFJPAIX6agAJsJUVzkVKzugvaJrgMS57v3mhIaxS4RBnj3zdILnu9gUjNpedIKmY4nBqZ4xyqrS-drOWH_0EPRb1MjFKBK0QjDiC0jtwTZdzzIB3OZmf7AWNS9akU89_OJXeipnByBFb3i6IrpfLYqu_hDC9Ue1Zi4O_wOqisV-kKRYbVN8whz0YIkLzyFLXjEg4bRy_-hXzI-v0kg23iCGtzqWrsloCNS68tYDkZ7MedC3PwGZjUS6S1sZvV881NULNGhoOs2kfaLh5_5Sw3mo0FdbQw1SbE9a6vP386rQJ4W_CGYcllhiMVIKn_9hwnxETuLx21bb8kbC6HZRkmCBFvG8C8T3ExCkw7GjArkz2-_VwGCE220p16iQ9OwDV9XaPaDTo1swO4o3Z25ObSQjDRHYzeSKHKTpNr4YyJS8BAiFxDzJQ9BYOyHrgIuu5k2f42TrtVKB3-uRkkgZITa7Qb54-n8pHWvvK4bOuYy7ujxjomBBHNHAjK_oCdyw9Aav0HO25nAAWXRUbi5RwP_fK7JOnPJ7sz_Yt_PX1lW3av1rRsT3wdkqxQmZHYwmnZfz_pFGroo-ji-i21LfyL-uXCyPQmf9gxFXlN0gEUu_MgVvYCZxoSyVo00JAaT-BgkVUCoBkCg9wg2lkDT873VhnCZeVUr23jGhRCx678c14LNHlmU0cSVQSZmcqOsCALzzcf1Hoc7LcFL-LJq5Yekul0jqPJlF23_wbL1KTUGL0Ho2EUfHesdSs3Ij5W8F_1VPCxnIS9GW3sFTNT4qrF8KCMsDK28daGgme1p7TPv1JgBv19OW-bwk3V7q6iXisa9yJh1kSmBGd1PK4BkXj76V4KUZZf5tP5ZJWlTHlBYDZ-wSS5klYkUMYvuEx520swqQIyVJN6b_tZOTEogZyNmiQBLU3UUJC4HHj3mImUn4y1vBlEqh7FETpBiS2H38EtPRNkh3O2IG9IwOBBaNwqncKa0nqS60aPwdZ9dHPNRd0ZmYj_f3O7tVckc5LIeB2PXke24kYSeVHsvbflEFJiaJJczQKmR7bgWmvHkqNiOXX4KpSw8ZhaQZdrYpwCDLPN9HjzXA69O0Bl1OZ0opWqhppy5SMdLbKMQkhaQh5M6b93b25aWQMMh07plHsuU3N5GpNMQ4lmfGQjepPIFz_oq5bj1woZ6MCzkIQxvu8raxcSqmXmFL5ITjM29pF411J8ddeWaLTEHSxPph6Iq_XKLetK6qQv2zs2HP1zk0dmVdqz2BPj4OwMyaQ6lxn-4udffWZiQdXoOrMyrUu7vvE0VLXtvk=",
  "id": "rs_0f22ad7b96695d7e016ab42796944887d0bdf787023ff8b929",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065,\"right_x\":0.45,\"right_y\":0.17},\"note\":\"The open jaws now bracket the right bowl in the wrist view from a slightly more forward position. I’ll lower toward the rim while keeping this alignment.\"}",
  "call_id": "call_yvySpmYE3Hway1xbMaqciksd",
  "id": "fc_0f22ad7b96695d7e016ab42798102887d0bd03384543f5d1cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvySpmYE3Hway1xbMaqciksd",
  "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, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4492, 1.9266, 1.3285, -0.4568, 0.2451, 0.0818, 0.9958]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.438 right_y=0.1675 right_z=0.0612 right_yaw=0.1571 right_pitch=-0.4444 right_roll=-0.1756 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.7265, -0.0708, -0.0269, -0.0122, -0.9094, -10.8786, 6.5846, 1.5556, 0.0659, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de1156a18719dda7ad3e9c18937eee5087f7cd06721b629357e2abb564c7c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c8cb7214a20e68bcfd02999876bc3ca31e2a025deeaa2cc9ae5057ec2a35b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94fe846c4aedf16a93901f0d23c72dbaf66aef2600f4621766a8ba34ff178e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 5.639 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 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, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.829, 1.2282, -0.3706, 0.3073, 0.1909, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9995 right_x=0.4177 right_y=0.1941 right_z=0.0815 right_yaw=0.146 right_pitch=-0.3389 right_roll=-0.1314 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.2239, 7.0222, 1.7265, -0.0757, -0.0513, -0.0122, -0.5538, -9.1282, 9.0325, 1.4237, 0.3443, 0.2662, -0.0073]",
      "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, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4545, 1.8313, 1.3941, -0.564, 0.2481, 0.0933, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4357 right_y=0.1686 right_z=0.1146 right_yaw=0.1599 right_pitch=-0.3911 right_roll=-0.1545 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.3197, 7.1453, 1.7021, -0.0659, -0.0659, -0.0122, -0.8684, -8.6632, 9.9897, 1.5311, 0.1148, 0.1099, 0.0562]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4492, 1.9266, 1.3285, -0.4568, 0.2451, 0.0818, 0.9958]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.438 right_y=0.1675 right_z=0.0612 right_yaw=0.1571 right_pitch=-0.4444 right_roll=-0.1756 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.7265, -0.0708, -0.0269, -0.0122, -0.9094, -10.8786, 6.5846, 1.5556, 0.0659, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de1156a18719dda7ad3e9c18937eee5087f7cd06721b629357e2abb564c7c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c8cb7214a20e68bcfd02999876bc3ca31e2a025deeaa2cc9ae5057ec2a35b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94fe846c4aedf16a93901f0d23c72dbaf66aef2600f4621766a8ba34ff178e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeavE6g8exUkrA3_D3FNBECXRLkY6VuolHbbRxktKHF_vSCebE8sVqZeorC0AshXMyK6dzkxVsqYresf9YGmhkioOjizwcsoMKWQ1E4nMatS4pzmLwE0jDOaMxNdCdRSE2K4ezY6vW-_khA7NnJKEyKc9qAaNzWr41Ql58tyAvQV24woQTsdOLaETgkqqYlxwSqgNCmQIdVFTbLkR6BbbGOsEFiRx1odEl8qeO7Ul_Zq2FGnLfMrEc9Rxnd67TlXwbKrmn_R3aKF4kEB_72-rYJWDmLekWG8nxoQryaoRy96RiitGIzYrpLDRZIBSAXAv56TNenlZMDPYyKWPToCBu5htzoVWpHwogVZUZ2Qo9n4D8aK77b1LjsQfXmkSC10wO4b1fJPKTxedUQ7sZZPMK9ZkD0IncY0CjwbBMVawXSdNWJw3TO1ysBhfmOjCUr27AGUXEfoh-e7wAtucDnVCcqupz0sdotLkEMi5fNvkO-Yfr2k9RK24S29pRU7EEzdrlDJ8y0MCoqccVlEwktuAYhGp998tjXNXT7BwOPeN3ZCumRh-oVft3XXFvKdUFeJLCuFUY2IaiQkokgdXWi2lkDTqrUlDWlTEBNDabb5QZWF4w5qK81au8-VS2H_FT-p4x6Ment4ec6JQye6ALUmnDhz0lfhvEKJoTkC8gWHHigABc2sooMHDIPtAjjK1tST4DVGKmgO_Sal4utWzeVm47IDQnQPZfIHohft8BulMY1QgnBUzqQBAbu4xOFYpELOP8iR7-WETr_ZypNrbalg_y2VajZuqKiyOn_Vu0m4J7DS2w4LvKnfhtEEZLQf0AVmJkPfrlrtCPmhDsL2MtoVv44JYn_8RT6QUvHBpTtkk642YNj1lqonmbONkT3pIx_Yd63axMJIv5T_yM9eNoPJ9OCtBTJQ6b5uUk6RMN63z5UKh6XVvZv97mQ5FjizMUUzJs1vHQj4ufxKVZ7VGt8y-_0jzlTXt3s2ihrKC6nGfKPoWT-fRZI8Gf6_oQitCTdduNsHkoyL0uF6-bkB-4dGGzNEw9s0D6GJhcB3UKayYfk8rv5xRLBs98Kh39PVkSsYaM7p2QDeRdjzAe3Ls7B09B_Whdqn_PQ7JMicvjd-u71Gi5TEm4IkVg2p4ObSx-M0OS-doRqpCiQlLGr1tFUx8N5OaxL6Ur4jv5TAo-3TDKj3A0CFnTfgrAU1wdRmCT1pZ6PC0CD9viFhyPrm3s5_l42y0pN2uL5gfmcAV7utibO7jWgt99Lq6vH4rJsJwg87ZbW2Ma3NhM_LPYwuvcW5xKLcX71OgxhZe9Py1CutQBeH-Dz3nabuBq-KQkzzJfbr6mg",
  "id": "rs_0f22ad7b96695d7e016ab42799d9b087d083213c663c2b37cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl’s rim now spans the opening between the jaws at the lower height. I’ll close once and use the settled opening to tell whether it has caught the bowl.\"}",
  "call_id": "call_a44RXDBmqhUnXr9cG2RER0dz",
  "id": "fc_0f22ad7b96695d7e016ab4279a340487d0a766135cb4097509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a44RXDBmqhUnXr9cG2RER0dz",
  "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, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4458, 1.9469, 1.3144, -0.4671, 0.2424, 0.0742, 0.007]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4315 right_y=0.1631 right_z=0.046 right_yaw=0.1541 right_pitch=-0.4886 right_roll=-0.1918 right_gripper=0.007\nstate[joint_eff]: [-0.1709, -1.3197, 7.2137, 1.7363, -0.0659, -0.0562, -0.0122, 0.3897, -11.8496, 7.241, 1.1893, 0.0952, 0.1197, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbe9203d740030814c501e5e9141c88c39dbaeb74abd4a56e2937bff9bce81c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d366afc20cb51c69e17286fb2d41df00443deb9f827b28c7357d7698288fa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181705210141408cc194fff3383a953f933cf4dde589c5ae30ff216ecd3efcb1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.237 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 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, 0.8097, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.5434, 1.8294, 1.2282, -0.374, 0.3061, 0.1864, 0.0081]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1753 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4171 right_y=0.1939 right_z=0.0808 right_yaw=0.1491 right_pitch=-0.3431 right_roll=-0.135 right_gripper=0.0081\nstate[joint_eff]: [-0.0479, -1.1692, 7.0222, 1.7118, -0.0708, -0.0659, -0.0122, -0.3214, -9.4291, 6.5436, 1.3846, 0.1392, 0.0952, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4492, 1.9266, 1.3285, -0.4568, 0.2451, 0.0818, 0.9958]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.438 right_y=0.1675 right_z=0.0612 right_yaw=0.1571 right_pitch=-0.4444 right_roll=-0.1756 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.7265, -0.0708, -0.0269, -0.0122, -0.9094, -10.8786, 6.5846, 1.5556, 0.0659, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4458, 1.9469, 1.3144, -0.4671, 0.2424, 0.0742, 0.007]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4315 right_y=0.1631 right_z=0.046 right_yaw=0.1541 right_pitch=-0.4886 right_roll=-0.1918 right_gripper=0.007\nstate[joint_eff]: [-0.1709, -1.3197, 7.2137, 1.7363, -0.0659, -0.0562, -0.0122, 0.3897, -11.8496, 7.241, 1.1893, 0.0952, 0.1197, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbe9203d740030814c501e5e9141c88c39dbaeb74abd4a56e2937bff9bce81c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d366afc20cb51c69e17286fb2d41df00443deb9f827b28c7357d7698288fa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181705210141408cc194fff3383a953f933cf4dde589c5ae30ff216ecd3efcb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCehPh5UwugW8v-Sp04ESrGe2VvBA8A_mRxH0sj7EZSntVuLzQuqGpGBqIbuFGVcsbxFwwsXtintQqwURmqD8EDDVl5If9GsDAG_z1CNGK9WJ1HQhB94xkMTRk8IeR6L1oNciuTf52UskiS2UqWmVACTGHwMX6MR9zrQNz3EDSCSWJXggZzvo7tTAek_dn5JY87oALUDIzd9LxtLyXcAKxIIOsVhVIgPhhvh_reqoW9BBanbBeXrBRweJQlERHNzeydewShC70AJWq60vfipvr2xuZ_LGuGRbQxkNsh7uDbSVZ7m9Vfh4ckpKdSQgp9CUM3w6k0I3EzVz_jCGdkK65b4m590H6WpwmRkd56onqYDS099u4iPSgeN0Coo0QqMsIF4A-ekgY6txZGzBHVsS7_ntIUwXbCejtIBS8gxNxuYh4StWp2tJT3MowUTogCA0vfNWsP5DUn14qve3hml6fY6JOnrHB559_Ihcg43xas2_aUTl2w_3MRMLnq5C0ZBVqLpxf0iPDKYTOwsYY95JUfDfFUGRWQvGqn_6X-HtbOQ7yiquYU3oT_pqs9RpifvYBpSLgn_3vamKIA3vTtj4DL6QIQP5fkbOg53dtCo21VTLgD7g7xOQ7-uJ5tiW432ndGQ5rUXGrRFTt8jU6Y0IevGXZKEeVsSXsgawc0n-ywv5HSheV7eGyhhpYOeEf6EQVnZZdcj_0geOU0UvDMMMuQwfb9dcQV74rlLqGRUhuX-WQdxeeZuJ16Yw5wKC_iJPU9E79zFtpJP6zJ-OogNC-DMKC2v2Hg3Gcc1qseEqeYuc2xmmU_BvyDBYy8mVYPz7jIb7xB9XWWj11lGzu8QQxoWc7DNKPbgfl7TTEjXqbor2u61k5xtim9ci4WN8WzzzGntilecHNERzdEbDYa7C7rRgaOHl5atA4vVvhMAbC1AlRU9s92d2sRl-sgHw3RWdxyoPRVD6iF_7hzSN2GmmgjF-C8aC-8JE29F2v57NXXkyInOD35f1deURHatESpx1xa9q3duvhOMyb3o-Ir5mx7iKSpqZYnKX8vg5u916R1Db8GcUbPAh12n7LBwIPKZ8jiAfmShuaM8RwsbMof0HpIszQCruDasqsZSC6uceID_qu0IVSQUtdJGUPNc5D6FoqmsVO6HGT7ebmknr2cvnqAp_HygTYPRWof26NJoHqmONUqO6Z4sa4zHT2m12ycXL7trTIhNbYuwjagT-iQpCssKu4vfRIZc_SVY7wZDatpTVzzPJmJPS_IdMabAqPpNT1IPAek0uiwjuLkYY4HA1fAGAwucSu_pr2jUgXy-xA7UNUPqN_Oea59AtzdJkPl2jRz7PFzY5uuLwFb2H1fFwsf8Hl2ti_qqXUJmQTBgly3VQdsU4Xsfm_nrD1jCXHMMRNRSeOazuLy2onQ9OVlPLviyNPn3aUdHHiHjuvU61hzHq5rtVHXXbGxEMmXc_YMsTmFavjnjGcIECDXB3nelYwZBdg0AI6A4l0UZsRCviaw_h9ODGJdJ6lGg_0xkcEZYNUn9BCXElEvNw5y9vHsM4Glg4e_ezgFU3LP2JEMqZ_Jd8n9tduPWbfGBtSyTz8ZbGYiOwzAx1tpwe9lpp8P1eoFJ6IYsO1qfGtjlSaLFzHt4Q95PcA0Or_jCDAK0dWPI-v1QUIp-CFNS1KqPo7VzJd4GgsaA7akSes0L1k_vCFq4b1P72TxaiPKOtL9IgMJEGDcN4gDNeMU9KtRHno16Jyr3DmHSwMdJH_ubewG1KePar1nWoG4OoOp-5GknikvH-qJs1O3wQ31un1d3VXfgMXSwPHZzTM3hHmPppy0g--4yPqfH9NZqTKg9zealHlts52evgFeiJrhP_T8P3gsFMtMsgMy4_0FFn4CJdMNWrCfPbbHsjDM3b3hOU_N6oEHgZo53HtVczE6WGaR0a6GwatRv2p6oiseyGspaePyY3AbAfnDFtRXyjfSiaSoxQmi3nfkl5UhsYcnq1U_N3C_Kqzz9ISYn5coPkBDit8c0Qcf5AoAlQ0Oxco3uo9uVma1zqyDCoOgXv3Mp9m2IKafZfzTcPddAn1U7fiUVBiYyLxwHSyo5IgSsui0_5PgLH-zQnZBmw4XcffOtR0-2ESJAU52GMGP2KDaDN2VjV08bVeG0B7_wBu2ZYzAfeGa8eXc4tLtkwh7mBWxrGoIyiLX8gwr_ZObzRxeQR2bboCEdz_XqJp9cswmu8xMXHx105rK6Y7XdjgW9oGnuF606mhtQPq7r_M9Bp1jbP1Xexg0IaAQ-SWWvv7X3ZFC1XIALOOuD4ewvia0-t9umm1v2R9Nd-flhu4P0vtvpB813j9k7VNgeSK1QlJ4q4g4lzu7kG9R4PyvqVuUIymrQ6VEXc3susYvx4epWIVEB4PuJcra0RZr6SeZ_JBzNFtcWHW80xtw6jMSdRR13fLufPeqBsFo4DCxBuL_BYurpzyNYQEcZp6dZ3aolZw6A-qip3gvZViLFHma3iAjTX35hFNQ-f68V-8l92_15-7_DVMFWYyauQBYRzoUwVL5hz9F0paVrsda_a22K5JOp3XoYDiXa7tcP9KIavfYtmLsFYUZ9jg-G8Io0cLqVwUltM80VauYvGkbD2RiXhdUvnnKqB6qOZseND68_lGcUG6iizmGRqbajRxzopJFj3_RqmdkTxtHh13HqoF2DvW-UinGHNIdMqMSQ0GZrMeVTAS-haLkRH2rWcHNA-DKElhlrZipb-l80-9yOLww6BSmhbcFsqMFyqRTjzlY4_MRXG30biK6ZKhHhYeQNoRB68Nrc3k_fJfTW41TVaU2BcfOPIiy8opyv-eXMLArOf78eRWAm50fgCdj00YWWDSGHVDndDqb6zBWoK-eA6-MAESTNH6RGoxHaqTOot4CvHlnVUyxLyPisWbYwv85-toDX5G4D24jn44NMUrgOMm6a8BmMtnerT0xKeQID88h0ODNBjKAJACmqKZCa8AgnnNHU0muFozQDu9-xWHa8UJSXxE1jipThNgSBr9i5abTXK34Yva3BkKGtY_BzhRb6kgi6Z0y8NFtoFEJA4nOaB7SrMUHaJrgNsj4f0qEAN3JbOnKOmn5hysRn73vptETi9SLmRLSN3QqEO7RsxMmPHLvLIRT4GXXSGfFfpY8HQUXBoN2dYYuUbzj6Jrp1O9DTOW2YFPtYRMe-mT_p6vKR97C0nn7tYUMEsb9s3RUsSRkDoDAxqQAo4tIYFxdxUFzqxa0JaQFaIFazoEZiYGIeOuhYOE6pZNf8aNjmUl_drx1prMTLpVLZTJi0Xz4MeAniUWU8PyXdOxDTuJrQ4AlI-yjN",
  "id": "rs_0f22ad7b96695d7e016ab4279ca1cc87d0a00f8920fd3de010",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.47,\"right_y\":0.145,\"right_z\":0.12},\"note\":\"The opening is again effectively zero: the jaws closed beside the bowl rather than on it. I’ll reopen and move a little farther forward and toward the visible rim before lowering again.\"}",
  "call_id": "call_Vn4FaBGR7caCoZlaAybgSozH",
  "id": "fc_0f22ad7b96695d7e016ab427a084a887d0adec78603095d2f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vn4FaBGR7caCoZlaAybgSozH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3748, 1.9701, 1.6138, -0.7658, 0.2012, -0.0124, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1748 left_yaw=0.0006 left_pitch=-0.0244 left_roll=0.0002 left_gripper=0.9995 right_x=0.457 right_y=0.1457 right_z=0.107 right_yaw=0.1712 right_pitch=-0.5287 right_roll=-0.2042 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4701, 7.0222, 1.7509, -0.0806, -0.0708, -0.0122, -0.8137, -9.2513, 9.6889, 1.1941, 0.1685, 0.1294, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087ed90482a783c446165a5438a781d08fd4bd4adc1527e3b2c1903261f40196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fb395e7840851c664866d944e83fdb395bc2627152c1640182f1d5bede4de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75c16e15b1368f7a62f5e2610b7d3af427b2ab49335d2d1cbdb009ddafff476",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.021 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 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, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4545, 1.8313, 1.3941, -0.564, 0.2481, 0.0933, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4357 right_y=0.1686 right_z=0.1146 right_yaw=0.1599 right_pitch=-0.3911 right_roll=-0.1545 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.3197, 7.1453, 1.7021, -0.0659, -0.0659, -0.0122, -0.8684, -8.6632, 9.9897, 1.5311, 0.1148, 0.1099, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4458, 1.9469, 1.3144, -0.4671, 0.2424, 0.0742, 0.007]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4315 right_y=0.1631 right_z=0.046 right_yaw=0.1541 right_pitch=-0.4886 right_roll=-0.1918 right_gripper=0.007\nstate[joint_eff]: [-0.1709, -1.3197, 7.2137, 1.7363, -0.0659, -0.0562, -0.0122, 0.3897, -11.8496, 7.241, 1.1893, 0.0952, 0.1197, 0.5153]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3748, 1.9701, 1.6138, -0.7658, 0.2012, -0.0124, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1748 left_yaw=0.0006 left_pitch=-0.0244 left_roll=0.0002 left_gripper=0.9995 right_x=0.457 right_y=0.1457 right_z=0.107 right_yaw=0.1712 right_pitch=-0.5287 right_roll=-0.2042 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4701, 7.0222, 1.7509, -0.0806, -0.0708, -0.0122, -0.8137, -9.2513, 9.6889, 1.1941, 0.1685, 0.1294, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087ed90482a783c446165a5438a781d08fd4bd4adc1527e3b2c1903261f40196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fb395e7840851c664866d944e83fdb395bc2627152c1640182f1d5bede4de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75c16e15b1368f7a62f5e2610b7d3af427b2ab49335d2d1cbdb009ddafff476",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCelUvI5PkTKK8sAsUWv4hD-c2XhkJ3fQLEp0GQyhMimhYeZnYpLmNCEsi3MeVtvAfwaNWGaKuN-u_6PlxX9MUi8_dIgXo6In25vaQPxuzlc1uCmeHkQzYYX5GM8K5yd8MEWOaUqXxogOwYf4P2DuFCnfplswG_Wjjx0XFurxxo3pN801Pox-PloU9Qww4Wa8SfVDUH2ODOfSzsS2GDvNyW8rsj2ok7S9lgpOsWdvUwnb6kREgBNYe1TbAvees_7lue99wTtEkzjcChuKmKIGooID0trMPDBAZvLcb8487k20CgNz3TYyie9xYb141wORAfKWH9pfQhzgJWY3hNx-I4Ah7FFlnHaX5unl3nlETuqsAe-9pF-pH-txQ7J-c2XXqEPzyRmKJ_bYbgG4WbeqtD-d94A5pFf9zrmRwQ_7z6rCAuSRrZ-pJ5n9a0QYH9zOczDfNE1lUJw5EVMoqL2q_yDFh6IdlM2dNsUweNp3It0wJlEWpD1bRPZCC80eat5iVCaXDNUC2UPyZX_69ouTCVerWewHSjjS4978nNOvMzz28jJTsfbcguZjDRadNoIup8hPV30cE7gPOXm3_5YeYIwMgYwIEYourSHu4rrFyE1bz29pcXvqB-RBlATkzxDsGl6lXrhrLXyw887ir56Wl1TdPoACnpVdzBQiTis5Es8xK6Ugt9OCQInU6vZ-bj2P_koBg0017tU1vbZXvtwC8CGFHhqNq8DIo5OeL9nigGsmhjNrsRDWfQkgSH6pdrhjGCoys2LQHfejVzDRDpwP3whAGIvgXsxpoehHKnGtMlsI_n1N2Wt3m4-vGGm43W4WYbiGyUb7uz1H2Pf_daOvZvfA6OlTcyxaQHu4MxDI_PosVMxGEWlVWWyTcerSXcBn-Ui8CFXqFBpGiahywMrtgdArSKRibTg0dV4j9rsp87I8OAn5vE_kI-_0t8-CslI0sja0on3iC6nTfnlQYk_EHZB-KqAWzl3Pfa1FaI59_dJVK241rQ-8M40I6NXdRTsdvFEmPJ13a73-suUUZ9KgZrEkh6rp3c2iB2wjfaUJnB4tmONtwZLddEVC-skXtQoJR4TJCz-IwwfvZtsq7shfxl41olLwZuKLqOXUm5ruU1e4Oyfa2tBhFeC0-PuJLkUaCsgTr3Uv_YB9OPeoPS8_ZUMRgMRUOFVULzqIu6Q5zUrcsJU5ucJmx4oaaU8CsYGRXY8Ou8bOMKd-0B-dCWMX0r2AvF0b9AxUhUGmPoOTrYZsZdNIF1avLR1QssckE2IRKusi7fasBCFLDtGSqb5eTvXnofXMeSknjews39JA8LwMTjO7Xo9imu-udNiWY_PzvjWMt3NAyS-E0LrTX7ncUq29SQUogVsKBjnSJDx-E0uU4BduLGZLsFAtMOWCS55l-hR-Q2cWTK-1dqrlaC87vpYGmdy7YbB8DrTzM4j4yiRxjE=",
  "id": "rs_0f22ad7b96695d7e016ab427a35a6487d0a05f5a6fbe787ef0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065,\"right_x\":0.47,\"right_y\":0.145},\"note\":\"The right bowl is now much more centered between the open jaws in the wrist view. I’ll lower the gripper to the bowl’s side, keeping its current horizontal alignment.\"}",
  "call_id": "call_T6GKKYO8kDHCI7I4WPBQIlFa",
  "id": "fc_0f22ad7b96695d7e016ab427a42ba087d09a76ae948463c2b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T6GKKYO8kDHCI7I4WPBQIlFa",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3687, 2.0159, 1.5673, -0.6903, 0.1993, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0252 left_roll=0.0002 left_gripper=0.9995 right_x=0.4611 right_y=0.1445 right_z=0.0773 right_yaw=0.172 right_pitch=-0.5467 right_roll=-0.2121 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.0872, 7.2684, 1.7021, -0.0659, -0.0708, -0.0122, -0.8821, -10.359, 6.1744, 1.3211, 0.0269, -0.0415, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce5d1d8e84d1a12b7e0ff1f7086324f81c438482d7c61e1416012e0f25ea4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7554a04bc21c85821269599eadef28b2874b2ee96994203d56fdf600e3f850fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b094c73094f65ef6050e704536e7ba8bdb97251233d45d5ecbab660d8e0b7dc",
      "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 14 attempt 0 · /responses · status 200 · 5.524 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4492, 1.9266, 1.3285, -0.4568, 0.2451, 0.0818, 0.9958]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.438 right_y=0.1675 right_z=0.0612 right_yaw=0.1571 right_pitch=-0.4444 right_roll=-0.1756 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.7265, -0.0708, -0.0269, -0.0122, -0.9094, -10.8786, 6.5846, 1.5556, 0.0659, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3748, 1.9701, 1.6138, -0.7658, 0.2012, -0.0124, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1748 left_yaw=0.0006 left_pitch=-0.0244 left_roll=0.0002 left_gripper=0.9995 right_x=0.457 right_y=0.1457 right_z=0.107 right_yaw=0.1712 right_pitch=-0.5287 right_roll=-0.2042 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4701, 7.0222, 1.7509, -0.0806, -0.0708, -0.0122, -0.8137, -9.2513, 9.6889, 1.1941, 0.1685, 0.1294, -0.1294]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3687, 2.0159, 1.5673, -0.6903, 0.1993, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0252 left_roll=0.0002 left_gripper=0.9995 right_x=0.4611 right_y=0.1445 right_z=0.0773 right_yaw=0.172 right_pitch=-0.5467 right_roll=-0.2121 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.0872, 7.2684, 1.7021, -0.0659, -0.0708, -0.0122, -0.8821, -10.359, 6.1744, 1.3211, 0.0269, -0.0415, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce5d1d8e84d1a12b7e0ff1f7086324f81c438482d7c61e1416012e0f25ea4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7554a04bc21c85821269599eadef28b2874b2ee96994203d56fdf600e3f850fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b094c73094f65ef6050e704536e7ba8bdb97251233d45d5ecbab660d8e0b7dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeoEOMFO4xTdIDJdHZrQLAQPRRT1Bcou05dUSjtasFMX624ZfIZbTqZwpAR0JPlP1_Ip2dC2CCitwgO_jil6btFMGVRfF-_BgnaerqpD-8751yHKk3blIrmqDuAFgMFjjnY6SdOyzd0wSg5Bb_PZUs2_0y2TM2GzxBmyiRu7il-Y4W85XGPVTiv0PYXmiPO6NzCKhIKkXQAaQ7Xupccc2mDbV5Lsd8oi0lttnPvJYpF06LxjlhM0YrVg-04Ja5igJtjBacjjas_p-49fIGXLb9wlyYZRccJgdRFVkRj_yT26JJ01qaAdKI29WSbyppZXNkYhcGuzgEuVuNu8KVRT9PVL9hlu8SkFn5cQIfpPh5I1q6-aHOhqedt5FErqppMRo3h3NEZzP9nrAdWeXpgfTXHsWGVFEQP3PS4fhLHnIiA0Im0rUOINA7-RnakYCq2cQbveIsHZ193MfCwX2_Ou0102krGn_mV9JJOBHvyOZrDvDTReABU4_SUaX62lTNaIplsnww9Q-BBnu3tE71lwSHKPyfZK5hS9faGqBYu-gWLm5Q50sYGtowoAGYbo18ObwjY2HsnCLvst_CTKx48KmlZqKkzpcH3AU60IV4ZBvsSujMzWe-jBHxjp3cf_P3wmBq5rztLDn7-ryhbIEHskGA3-fVaIt41rAfO6uxF6YwfJ0vatZ_gHtplrHw_QVcueRJVACT1ZEy5lF3ygSKcY9J6wm91RaFG346tOTcAYpDhSwfHaQZOP0VeQtYhaR9n3BjLzVcuW-rtJEH2zUsjS976PiDh2qcHvB6dkVz3Tai-_r_wHGSU3U-RhnR0eeAQp_Z-l0UTcEFYiZ4zPhVLa2DHbK2JY9CxXNS_NKsnK8QzpS7lhLb5SWWfX_mF57I-XHlqxtBOvOv29b2u0hR6mHF9x3yr55rx3MUoMHgvMRW2lDVaMoSk2gHShZYRdFBSih-J_LX2UjAAQmEc-NUUpWbkc2Qm6AZSuDUkVZnrbiZjd5NGpZneSCS2TjYVhrugUnoAxUBCFlCFGSQjO7AvtYDtdLh_rtGthVmj9TjHrJtRJt7v4vyonW7uNUv0RUPgHKbxmnvZXQlgf9rM0IoZI7Zaa-BiReC4gaUQIjJzjbxIy7ccZPxvRuPEj_o7dvKUgsLyjji-JPNBFdMNCHfLwUcn6TmaPOpvFbsMt33xjkesZZxsrJ3sDHLexwrrW6lwS5DpD6sxAeAzQ6WTfCfHr87xJrzKfTGT1qJ8GX0fZB6Ghls0xS16qxr7Bogs55hcxQXuiEiB_DvAjVRLyX09HvpgW_B12crD9GEHsjQ15BeYkZRAF814BT0zVAQCU9mfJFLQG80sC8JJ5yvWaWxH4UpfHA==",
  "id": "rs_0f22ad7b96695d7e016ab427a7984087d0b001aad1a9f5444c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingertips sit on either side of the right bowl’s visible rim. I’ll close here and check whether the bowl prevents the jaws from closing fully.\"}",
  "call_id": "call_FpNGuFonHINyK9TOA3b4FXIN",
  "id": "fc_0f22ad7b96695d7e016ab427a7fba487d0879a7cd58911cba1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FpNGuFonHINyK9TOA3b4FXIN",
  "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, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3664, 2.0537, 1.5425, -0.7025, 0.1963, -0.0353, 0.0078]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0248 left_roll=0.0002 left_gripper=0.9995 right_x=0.4504 right_y=0.1398 right_z=0.0505 right_yaw=0.1703 right_pitch=-0.622 right_roll=-0.2318 right_gripper=0.0078\nstate[joint_eff]: [-0.0205, -1.2376, 7.1316, 1.7265, -0.0659, -0.0611, -0.0122, -0.0068, -14.2154, 8.212, 1.0672, 0.1343, 0.1197, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864fac9c263424bc24becb6905598a19d551b7502773b931a630d8ae39fa416d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686172445c4f8a9c9337f688c9426d76a34e3d20e8ccefad4acc644f525ca00e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc5ec1a2e8d35987e8152ff5686a5e2eec0d618dd86afb15f3c4535d2757e4d",
      "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 15 attempt 0 · /responses · status 200 · 4.059 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.4458, 1.9469, 1.3144, -0.4671, 0.2424, 0.0742, 0.007]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4315 right_y=0.1631 right_z=0.046 right_yaw=0.1541 right_pitch=-0.4886 right_roll=-0.1918 right_gripper=0.007\nstate[joint_eff]: [-0.1709, -1.3197, 7.2137, 1.7363, -0.0659, -0.0562, -0.0122, 0.3897, -11.8496, 7.241, 1.1893, 0.0952, 0.1197, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3687, 2.0159, 1.5673, -0.6903, 0.1993, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0252 left_roll=0.0002 left_gripper=0.9995 right_x=0.4611 right_y=0.1445 right_z=0.0773 right_yaw=0.172 right_pitch=-0.5467 right_roll=-0.2121 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.0872, 7.2684, 1.7021, -0.0659, -0.0708, -0.0122, -0.8821, -10.359, 6.1744, 1.3211, 0.0269, -0.0415, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3664, 2.0537, 1.5425, -0.7025, 0.1963, -0.0353, 0.0078]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0248 left_roll=0.0002 left_gripper=0.9995 right_x=0.4504 right_y=0.1398 right_z=0.0505 right_yaw=0.1703 right_pitch=-0.622 right_roll=-0.2318 right_gripper=0.0078\nstate[joint_eff]: [-0.0205, -1.2376, 7.1316, 1.7265, -0.0659, -0.0611, -0.0122, -0.0068, -14.2154, 8.212, 1.0672, 0.1343, 0.1197, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864fac9c263424bc24becb6905598a19d551b7502773b931a630d8ae39fa416d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686172445c4f8a9c9337f688c9426d76a34e3d20e8ccefad4acc644f525ca00e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc5ec1a2e8d35987e8152ff5686a5e2eec0d618dd86afb15f3c4535d2757e4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCevMu9jsDop0P7Me4nIMGGsHxmA1BoIAcBdiB32crO-A3LEccEUy0jKvpvOZlFtoeVOR8MdYrR9wT4X8zxmj_dnIyjsQQJD2TaAzfPL2FQF725_LYdCg6b8y614oQ3K6J8J5JXLAEM5UNjmPJUT4vYjUkvaWaNzHCvlBD4qP-pvOc-nYJz0m_QUrf_GC6guU4ZMY3gl4Ndqkb_U-RoNeLlJj5jBhXWAIZ3mLxLAQhMu2GxnRA2bslrGWrnIbTpm9B-qHlvA-QXGNNfzy9C6DZn783w-JpraWMyZqK9pmTRWupf5B053AnDOydy0eL8nfFT6OavJKmaBHiW322-rdeq5Pko-QQhKH7URqa1o6XqnNNd76raTtML61-KAI0mj-s5NJc39zIHZH8TYPz3dXkQ1uX2hBwUM54JJIrCY_sTGyM0e7GhC_2pb595XSrl1evn2q9o1LPHSAdm8UR38r1eHCKEYEkzqfIdSHkKg16GoxCI2g23lFbk01UpmkTRxo6YB4xy46NfDsq8cbT343pjrrBgdtLvmHSXWiuXPCP1e_99BsGOgY2iGMAyb2N-5RiZnUd4_pHvBvS2yY7O29-lHThAuCTE1Uity2GGCA7odE5SrDSaFkmEWF3suQpelhRcs4il4hYanILffQKnpz0kPoYwnY2qjtK-PXw5593aRJXknRKoNbra54nnGFXID_pABJf_h2byjfncrm6GA2zVRYYrjMCydDrZyncMPlz6FNlIQ0A3M2Gr4dqL0huOaYj9nyA2lpzG8nWfR0ckpEdSHeGV2Pn5O4d4co4lgoWbPBI3tyvEsNtPZaY5C1bQ2rcpkGZxdTl6Zxv3yOjSmWXOjXMh1xMj5_5lipSldU_L1S0CwYpQE3Xb589cqHdBk_rd3GWaen3tLuTnovg4n5pF3fsahoFWjt2-zkn5eOtJBFSaUrhdZKiJDd0sg_HiFRIMDhX7SNlrDPh2bQeZsK7eX0e3hOJL4xyrp29K5uFLdDNq-5-M1-iNK8hl0krM-DnDdn3twhtgusPk1ltZibLdlX8u_-BzM6NZgb0f8W-XSnyKgJ1uDPnggTEzRS552LjBVsWpXfAilT1GOGz70DEb213OV1EeiiHDlgwM3L4WX7_wHmP8nTn_52EclvGF3BVrUHgRcvFjb8kYoZoEyhg6Vxxc6PrTZDvg3cpcUDvVsgPeGh7Sw1MAZz0BEMyKnpfex_Ja_MDPsfk2ydFuNpeRnOFOEj4GaD4WiLwV75wEHPlwxdKw8G0JAfi1hgX5tyj3Dv2UDk8kDsKH6TObkpi7EMdpk3x3kO6Bwfj45Nn_DjL2GjHAloDH04tQkd03mKuuO9EDq8E39jE67fJu_dwxS2Rbzdnjd0cKA43ibP-qDhJ2pL9X7QWq3vcZ_cdEbf84b9XMOXkwFDsyy12D1so7F166EymTBLyq7sF8MoBK4oVBUF35XPw7TLi2FxRmOGue_2WY-Kr-j_KzH70w4cnFG_h5xBRPSbSiiKOUB882tc28fPVywo3Ld9oh_-njbKCxediEuz1-lr9IfkachJN8POQdDNU6qIAl1GIya2X1M69s2v87jrhlFBsGCeKqxJQBpEoSqojSfKvrIS-ctrcGUY6eDVdP8mlbXqiV-SdnUhg-enAM5Z9MMQVzEWVXDPDUsncTRs85KOjrgNxbjj-XPsibe2jZKEk0XgOZ2else-L_W0xqflx3YV2gs1aBdsW0vqC8c8JlKTdxnlfq2Eevh5WeQy1X3cLPGb37iV41CcH7KnTYPc44mJZwEQJUbAGaoCJZs1YRAIECVH7e9cqDXXDok8HGw7jvDg7AU__r29jwwGaZn4BQ4DyIYjixGOO8ebgaP8OXf_S2xodS2OHCpvA_KPOEAV3KwjaOjPFxRUc9RRZgkHLlLK2NzMHaLGNT1NjY5ggJ-tBt-B4m3bWKWAxq0E0lydYNu2-veBacdSx06aP_LGD26H-Pc04k7pPHBd4oO0D35uL0C0TszzLu6QuucubOEQ0LAsr3nh4BBiGjdtPVK3XHeRw801pGuGrvBSf0mUq5Ue3Zjyt0YZlkduTgMn0c7ciIOpU4-N6oZaP0GbL08TYZGq2jUGJW7a5jSho4ediRDJ6yGh6KPoqN7x0cSrAaWjsLv09I-fGYGFPheM7HaqFszRjUpXObiDFnST0_ol1A4DLHsgOLloLcd5wuLDfCn1t_JoIlN4fzNjY3m8pdMMZDKT14-eFUuGA18-2WL-C0IBsbx23r21WGiMcRhxOLEvtwlxzL-BsYqxFoyCtdoeK7Ijj_6mtRaQf-p62v9lHAzI88uDp5TpgBpddwSpQA3iTQu5lfIVX3s46M4g_clayp6ucd24VsSqKLup34azBPJ9deKWIkdXHqTElpTHm4TRzzIrzYqyVm5NuNbuwdbYyGsqlAHkb8Hd8cubM6YwGKWC5sDdvMzp-8f8FUQULmjy79goi0lXFD3Ud637OMKgONCamPm4luk-Uo8bpBMcW3xfnlwTNAGwMjy5RH1C80jZkB04O6S7_YBwdIrapMm_Kye_yDfGTLM-sp1cQc2uiANFjC3XVz0U381bEIonZB4QNI5I4ypULcWN3DR_nLFI_t9xKdnT_KzxUp5oE1iDbXzWEKQ3DBG1A4sAn9I0HZpZPgajpyuNkv0bss=",
  "id": "rs_0f22ad7b96695d7e016ab427ab4a5c87d0aabbcd8337e01873",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.405,\"left_y\":-0.15,\"left_z\":0.15},\"note\":\"The right gripper is empty after several rim approaches, and the bowls remain separate. I’ll park it clear of the table’s center and bring the left gripper above the left bowl, where the approach may be easier.\"}",
  "call_id": "call_TsbYAn8BsCERfSOK1SnY8PWK",
  "id": "fc_0f22ad7b96695d7e016ab427ae4e7487d0ab56ea287899b5ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TsbYAn8BsCERfSOK1SnY8PWK",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5323, 1.5017, 0.8951, -0.1253, -0.4217, -0.3309, 0.9995, 0.0444, 1.3113, 1.1927, -1.0183, 0.0906, -0.3149, 0.9965]\nstate[eef_state]: left_x=0.3913 left_y=-0.1424 left_z=0.1306 left_yaw=-0.0143 left_pitch=-0.0873 left_roll=0.0254 left_gripper=0.9995 right_x=0.3062 right_y=0.0012 right_z=0.1747 right_yaw=0.1389 right_pitch=-0.5855 right_roll=-0.2415 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.6256, 9.1556, 1.8095, -0.3394, -0.0317, -0.0122, -0.1709, -5.3128, 6.9402, 1.1697, -0.1441, 0.0708, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42673bdc6bebc41a0eb7d8e08703b67ae1c62d063b7802e17d4961c251690a63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e265e4a3b9199c8f8122e82547a6df442334b450bcff33ba53ba4862e7d0152a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e791b756f76609a8a1cc6a6b30002769155c3e90c19e0513a0d6ca895bbbb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.838 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3748, 1.9701, 1.6138, -0.7658, 0.2012, -0.0124, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1748 left_yaw=0.0006 left_pitch=-0.0244 left_roll=0.0002 left_gripper=0.9995 right_x=0.457 right_y=0.1457 right_z=0.107 right_yaw=0.1712 right_pitch=-0.5287 right_roll=-0.2042 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4701, 7.0222, 1.7509, -0.0806, -0.0708, -0.0122, -0.8137, -9.2513, 9.6889, 1.1941, 0.1685, 0.1294, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3664, 2.0537, 1.5425, -0.7025, 0.1963, -0.0353, 0.0078]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0248 left_roll=0.0002 left_gripper=0.9995 right_x=0.4504 right_y=0.1398 right_z=0.0505 right_yaw=0.1703 right_pitch=-0.622 right_roll=-0.2318 right_gripper=0.0078\nstate[joint_eff]: [-0.0205, -1.2376, 7.1316, 1.7265, -0.0659, -0.0611, -0.0122, -0.0068, -14.2154, 8.212, 1.0672, 0.1343, 0.1197, 0.5788]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5323, 1.5017, 0.8951, -0.1253, -0.4217, -0.3309, 0.9995, 0.0444, 1.3113, 1.1927, -1.0183, 0.0906, -0.3149, 0.9965]\nstate[eef_state]: left_x=0.3913 left_y=-0.1424 left_z=0.1306 left_yaw=-0.0143 left_pitch=-0.0873 left_roll=0.0254 left_gripper=0.9995 right_x=0.3062 right_y=0.0012 right_z=0.1747 right_yaw=0.1389 right_pitch=-0.5855 right_roll=-0.2415 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.6256, 9.1556, 1.8095, -0.3394, -0.0317, -0.0122, -0.1709, -5.3128, 6.9402, 1.1697, -0.1441, 0.0708, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42673bdc6bebc41a0eb7d8e08703b67ae1c62d063b7802e17d4961c251690a63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e265e4a3b9199c8f8122e82547a6df442334b450bcff33ba53ba4862e7d0152a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e791b756f76609a8a1cc6a6b30002769155c3e90c19e0513a0d6ca895bbbb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCe04i_Wa9INObugLi4He9Vu8nEDhzGqHInoVQ_gFYq0xI09JdC89Kqu06NAOHI7NRLMawTzU9Zk1-jipeHUzbQR9maYsLDZNifaYIzLTb_GyPK9q6H6Z78Q04aMTgBFQ7_oevXGKGn2p_-nKd6o6u5Lj5cm110gS9pBKN1-MbkqRmuyj5Zr6fXL5IcYU-LVIesuc8hrlOZdpBLc7dyP3OKTlP66uVBlfwRmm_iSfjnIhDWSX84W-M7p93bnqEPvj1Z6ko3Gg3CgxBKr4avaegBJlC7PFV_AtXIksCgEvIUDSv99ieLJGgRAFRYjmGPEUH2-n9lyOwxnn-cwjhST72Sb5FNjUxV2Q3Qz6oFMISweDfcVg7lwzyxSSIiIJi-CXm7dWt8zeObUxpWNZny27swqPrnKdc3luVpev3sacbgxhSOSk7KJyORBPqeur5jS2Uk3PwnXfmDVN_bJrAoZBogETnRp1xNXhSMh4dHH8CA76nyOOGkPKDuUUqCQdVs5TGTjNHwaJjVHNgNk1Odjw1KrZsL9X0Rf7YvMjt0wWJ21C8lXS1CatrMFyf1REdajj8ZgjEed5p92f-KtHqtJbsoTLgjpzdu-v16En3LpKJnk2-iGvLKAivnsdzzHEXrbVpf0lEIeLCPvV0lY_5FmgC2pNL5saNBLTKJw6v-cm3w8wkm40wPmfoPGbIq88tc_Olm_9j5y8n2FwnOEcOy6xlfPR0pJhKXV9Vk5D1WrDWtUVVJfJ7e5cjYe8g2WTWIdE85m-PXw6Qnf4GMRzkPyB0Fh3kKBKwxi60AyesrXHgtGpEuLCdykbVxIk0gY96jFQX4hz8d1L-m5FNhSoo-W5XkCiYVzkbnTb6fhqa0unOZkSVkJU6vOUe1i3Q55BxAgkfbdjD6qD8px8Lyg-3pLufrV73AURekKKTmG_0Anlpg-ZJLUC2qEoKC6sNFcBTfIiwsKcH8zinYLdPzIAavbN2tmTTScXUioP4wNUX1K07DTqDiFxNs9eau02IRuWhnEClOu7hzeaUC502KpDGhQ4MWrBa1pl1aL3p-bFzPyeHlbBW0d5gJqw_Aai3IruMLRBHPHvwB971zCzQuLV4tMYq7jSFzjy12qBTLFIQm6kA88XKDim13U52mArhCaQn3S9lAQ1GBMszw0V8x8QbadEWOoyk-TWJhs5KLDwQYGhb5cw3zjSjGkEWgvkBEb9Qn7E7Zs2VqeWTAK7CuvipL9HpalcP5bDWBJ254i4YgEu0CudC2lMrfQeXJZlobzqNz1a37IQDVIB4o0IwYQuCP6NvpsHGXBhqQIQQb4h0CEuyf2u87GZRKRVu0-YCt4oiQvwk2qVEDx6HWhOIU7YolpXRIXUd0qUbuhadLMBINTCs7S6ai_BcsyXduVjQqZbzHXYG-J-o6W9ljsDCjnye8-YJBjYHA7es87GCJkrUaiUSRrcbIFH9Lp4F-DxsMxFl0zCk__buYTVgjx-cRqgw8c8eMQZMlay0k2AM02B4jY2MwaqRi96TzDTBrKACgMUM5KzZlg_IoN56Y5gbq2dtU30IDzRVpGzJGZ28trmO6lkxXZ0Nnma2Yyl739STRVUVfy4sYmvgVa81Z0zzjP30gs1L5hkHZUib23iWjYMG-_E2JJaPR9LvVjw084KGqoCpPNWzLvy2BOVBk75uUYIZ8zILhbntwOaCiY8fpKdnd5lNkXCBcdg-vWht5CgI0c9-ahFJkOdO_TPvqpj8ab5i6XfKBw9_Cv2uRygfuWxHI3y9l_leyc9xewrVeiT2nm-qgDlINZ3_39weEeA-Wn1YHcuxnNXdrseZ8AmYsiALeXjqseM35xc3_9kr_UMVZI4MDlxMoRomWWR4VdsPR4Uy5Hm7pZtier5ue6BCSI1kEHtKuXGCOUzrOS1dUqcEKH0WcGB_u_Zf9hDjfjyxv4OEAGbsONirqzicp_bxYR7atnPYvwnQbMt2wRl1omloOwYZMoTixOs09yylrlHkGb5Cyc-Kqtf4-Q3K1bJH1a3InpZiuwKW5lj387zbkD4bVZ9kOmb3YShJ7aoV_XQf5Ac2cFmKkN4L8_CU2oG8UgHkffoNNjGg8X29vJkegDTNMawEXQuYlGWOEieGIAA0SlRBg2VTCbbECHiSCi50AQa4n4_Odanj2gczBlfSYe8QcECOXS1cITSUA5lf_8_Bst1gmBwaCm1Pvke_WhChJM6gdd4_6MOKWPdKPAeUi_vIC9dQKYDFHfpwVVtrr6dU6XScUkoPOumo-JWc94QBu-W7_2gD-AyClhEH8gzur_rGgBIJsI6G1S95g1xFvsVWaD0j9h0CGxAA15P8H2mXpoISbKFouQrsaXs8CWreuEpdoWjcKIlpdJbdIbfKfZaP5p3WSe0HnQTw==",
  "id": "rs_0f22ad7b96695d7e016ab427b185e087d0b02fdbf8614dca48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.1,\"left_z\":0.105},\"note\":\"The left wrist view shows the left bowl off to the gripper’s left, with its rim visible. I’ll shift the open gripper left and lower it partway so the bowl is centered before trying a grasp.\"}",
  "call_id": "call_lA674Asq17PyLAz7B5CSP2vW",
  "id": "fc_0f22ad7b96695d7e016ab427b3e76c87d0ba2a53f07dcce399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lA674Asq17PyLAz7B5CSP2vW",
  "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]: [-0.3752, 1.5486, 0.8322, -0.0223, -0.3389, -0.2577, 0.9995, 0.0437, 1.3113, 1.1927, -1.0409, 0.0772, -0.3336, 0.997]\nstate[eef_state]: left_x=0.4075 left_y=-0.0935 left_z=0.1011 left_yaw=0.037 left_pitch=-0.12 left_roll=0.0362 left_gripper=0.9995 right_x=0.3012 right_y=0.0031 right_z=0.1722 right_yaw=0.1654 right_pitch=-0.609 right_roll=-0.2329 right_gripper=0.997\nstate[joint_eff]: [-0.335, -6.2564, 6.5026, 1.8437, -0.0122, 0.0611, -0.0122, -0.1709, -4.6427, 6.2974, 1.243, 0.1685, 0.1538, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55ff971673007723df34feaef1a54017470ff31e5df29db0ad2d579a90c5892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dc47a36a243e0916b91a275d88d8393410fcc42bf43a7df1a928affff8db62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa01b0d5c1291a5210062752f9f7174bbbb8cf33fef6d9fb9b69a757257f610",
      "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 · 2.225 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3687, 2.0159, 1.5673, -0.6903, 0.1993, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0252 left_roll=0.0002 left_gripper=0.9995 right_x=0.4611 right_y=0.1445 right_z=0.0773 right_yaw=0.172 right_pitch=-0.5467 right_roll=-0.2121 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.0872, 7.2684, 1.7021, -0.0659, -0.0708, -0.0122, -0.8821, -10.359, 6.1744, 1.3211, 0.0269, -0.0415, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5323, 1.5017, 0.8951, -0.1253, -0.4217, -0.3309, 0.9995, 0.0444, 1.3113, 1.1927, -1.0183, 0.0906, -0.3149, 0.9965]\nstate[eef_state]: left_x=0.3913 left_y=-0.1424 left_z=0.1306 left_yaw=-0.0143 left_pitch=-0.0873 left_roll=0.0254 left_gripper=0.9995 right_x=0.3062 right_y=0.0012 right_z=0.1747 right_yaw=0.1389 right_pitch=-0.5855 right_roll=-0.2415 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.6256, 9.1556, 1.8095, -0.3394, -0.0317, -0.0122, -0.1709, -5.3128, 6.9402, 1.1697, -0.1441, 0.0708, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.5486, 0.8322, -0.0223, -0.3389, -0.2577, 0.9995, 0.0437, 1.3113, 1.1927, -1.0409, 0.0772, -0.3336, 0.997]\nstate[eef_state]: left_x=0.4075 left_y=-0.0935 left_z=0.1011 left_yaw=0.037 left_pitch=-0.12 left_roll=0.0362 left_gripper=0.9995 right_x=0.3012 right_y=0.0031 right_z=0.1722 right_yaw=0.1654 right_pitch=-0.609 right_roll=-0.2329 right_gripper=0.997\nstate[joint_eff]: [-0.335, -6.2564, 6.5026, 1.8437, -0.0122, 0.0611, -0.0122, -0.1709, -4.6427, 6.2974, 1.243, 0.1685, 0.1538, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55ff971673007723df34feaef1a54017470ff31e5df29db0ad2d579a90c5892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dc47a36a243e0916b91a275d88d8393410fcc42bf43a7df1a928affff8db62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa01b0d5c1291a5210062752f9f7174bbbb8cf33fef6d9fb9b69a757257f610",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCe3T_HcwCcaOwmzhQ5Hl2_14ifD-JILqJWgAit8XKnLO7rbQoJP8E3Q1ewgys3ZytuweGYHd_G5wtOXd0UZkexVD9WpKBDtPk5vROt9Y8Hi97cgotLc5Iyqrnh_8BO6pGsY2sM6Qepzy52b_PVfofdTkNr4yEQojgU2LtP-SsmCsDTBFgKrkpUJToZhdc3tFHrRINgyOvpqTtTk3Z5HbG6LyKlQ1VLVMguCDirMByGDBszl1lB63VYw3C-Ex54-dVgGm-9mpqmTB-og3G4ULDVHUF0lnBaw2LhOL2lSin3D8AgUzy6pPaznN_6IamchRQV4Pw-chIPLRq1My_JebO6kmtrWs4FJivY9Z4aO1iilqPRNss3BcAtIVt0LHAkayHXNMIdTlvR9eFAQhqvt2_eIhmUPM7IHRUNnOS5lsOaSjtJ7lZq7R5BwTuvUIoCQVFP0yoXJQa4ie8mOiW5PVIKZl48uu8WLBUj8lkShNLtbgiCQqM50CkRBfcaQ_YC2067RgaJtGliDwHKu_zPsGFiMYPQMVXVdKdW5iTi3k80V8nMEN92doUk732IKKyYvKuLOv9nVIhDDk9ariq7B7qxVqU5mHJAy4s_o3PRIcxtIXu1qPCoLcLWgwbyCaJ7zHKuyztQsuKJWNG4nb2sEs-UUpsBrhLz748bdPWUCk2nsCNS7dxdJCt-MTNHvaMRmJLPMjsqVUFhZQfthUzDdwLoewX_IfCAIIgUAKX2YA7CWLHTAZQtMh7w65X1deVtokVRU8UOvHNyG2Wasig5mX57FURhxb6Ovyis_-Ip9wEKISHHDlJJK6KVaI8N6SukWzdyJqA0Spk0Z3QEVYhZtHDRvIR56fTjh95ANK9Lh-zpf1FhlC13Y8Rgb9wnfMHclQhtHfafrESgIXJzPT0NlI0Zs_rmxf4PggEMBfW5qIO8MMvNY346rIVSp4OQw8PE2iR19EYbuLuhKTe13PaYdBIM_CRlrLCtWwUlXIY8KsFhwT7oeocn1lttJ8pPFSbaXef9P-Wt-MUdfET3S1hcEFyZMuqL5wxmPcelTFpdVZEjW6iRJ3pK5Y-JUKW3d2WPrOKQ3dzmti2rUj1AFVAy3cxATFX501T0kaW6JYCM-4fz6OV_FCn25QGRwyHsm9L9m2p3utgt1klt7l3jk3azKl0tRvvj6bQMnVRxONYb23TnmqssuEz5_yOSCIaF9TjcYrGXa8GFfeAkJn_o4AtacrPiZ3_0ppz7n5pYIIdu3QAMXOp6zCTmEWdYMCaO6qERIpzWC8sDcyh8rV4Ud9Zw68eXzOnauqpkcGCib08eBKl3tYGsumDHWfnQM5v96y_kBlPZ7EAJx7FFwXXsGHmwn0cS_z1TecGBOBfdpwHRqji-eKbLSsiA6zuXC76noTIA8S_uYNuKy0j4NYCGd6GFMvAVRmxzfp8ReC5Js0ekg5A0EemOl1lyKJ_MIJhTvpoTdctMqF53Hkq9uq5iYBIGW68nXanK4x-nedLuF4nYUPtbz31dm26sM37XI3vRmgvbaA-rM0gLNue6GHKDQP1TKY7U3uksOWYx_8_nBisL80d8SeIWVCysKDh8RBvNqKytlPgh6uRh-ol-r9wJD5Li1BHGp-auOLziyysFLca-JzyXLI6GIvFbEARmzoFP_WYmShXVtNmhH_5PhGr79Qba5fz94-sW6F0NaGCIkKntWiLZzfRtOJF3T7SCTYcYIUPe2VrNnSd5xbXlL9sPzrlTrLqxANAixhFNBYN059_9Ul2lPbnA=",
  "id": "rs_0f22ad7b96695d7e016ab427b682b087d0bfeccc6b8d1b1c33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.095,\"left_z\":0.055},\"note\":\"The left bowl now appears between the open jaws, slightly toward the gripper’s left. I’ll advance a little and lower to its side so the jaws can close around the bowl rather than above it.\"}",
  "call_id": "call_IBgD1qmFQKhPNqEeiejtQ6IK",
  "id": "fc_0f22ad7b96695d7e016ab427b73ba487d0a1d387b20e8a9f86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IBgD1qmFQKhPNqEeiejtQ6IK",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.6939, 0.8116, 0.1207, -0.318, -0.2359, 0.9995, 0.0437, 1.3113, 1.19, -1.0409, 0.0765, -0.3347, 0.9967]\nstate[eef_state]: left_x=0.4196 left_y=-0.0971 left_z=0.0589 left_yaw=0.02 left_pitch=-0.1472 left_roll=0.0486 left_gripper=0.9995 right_x=0.3006 right_y=0.0032 right_z=0.1713 right_yaw=0.1672 right_pitch=-0.6117 right_roll=-0.2322 right_gripper=0.9967\nstate[joint_eff]: [0.212, -8.7043, 5.559, 1.79, -0.1929, -0.1148, -0.0122, -0.1709, -5.2718, 5.8325, 1.1453, 0.0171, -0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ca519ee5a74a1eed480a3b05f02d80ac2f35858ce8033b9c44e4e490f3bae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f48944e348780a16bab54fbea8ff84b52f3747a7fc8a66cf902e5de22d5227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c552d919c813748a50e8759aab3368275865232e592b86e8284eae9a457f76a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.083 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.3664, 2.0537, 1.5425, -0.7025, 0.1963, -0.0353, 0.0078]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0248 left_roll=0.0002 left_gripper=0.9995 right_x=0.4504 right_y=0.1398 right_z=0.0505 right_yaw=0.1703 right_pitch=-0.622 right_roll=-0.2318 right_gripper=0.0078\nstate[joint_eff]: [-0.0205, -1.2376, 7.1316, 1.7265, -0.0659, -0.0611, -0.0122, -0.0068, -14.2154, 8.212, 1.0672, 0.1343, 0.1197, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.5486, 0.8322, -0.0223, -0.3389, -0.2577, 0.9995, 0.0437, 1.3113, 1.1927, -1.0409, 0.0772, -0.3336, 0.997]\nstate[eef_state]: left_x=0.4075 left_y=-0.0935 left_z=0.1011 left_yaw=0.037 left_pitch=-0.12 left_roll=0.0362 left_gripper=0.9995 right_x=0.3012 right_y=0.0031 right_z=0.1722 right_yaw=0.1654 right_pitch=-0.609 right_roll=-0.2329 right_gripper=0.997\nstate[joint_eff]: [-0.335, -6.2564, 6.5026, 1.8437, -0.0122, 0.0611, -0.0122, -0.1709, -4.6427, 6.2974, 1.243, 0.1685, 0.1538, 0.0415]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.6939, 0.8116, 0.1207, -0.318, -0.2359, 0.9995, 0.0437, 1.3113, 1.19, -1.0409, 0.0765, -0.3347, 0.9967]\nstate[eef_state]: left_x=0.4196 left_y=-0.0971 left_z=0.0589 left_yaw=0.02 left_pitch=-0.1472 left_roll=0.0486 left_gripper=0.9995 right_x=0.3006 right_y=0.0032 right_z=0.1713 right_yaw=0.1672 right_pitch=-0.6117 right_roll=-0.2322 right_gripper=0.9967\nstate[joint_eff]: [0.212, -8.7043, 5.559, 1.79, -0.1929, -0.1148, -0.0122, -0.1709, -5.2718, 5.8325, 1.1453, 0.0171, -0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ca519ee5a74a1eed480a3b05f02d80ac2f35858ce8033b9c44e4e490f3bae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f48944e348780a16bab54fbea8ff84b52f3747a7fc8a66cf902e5de22d5227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c552d919c813748a50e8759aab3368275865232e592b86e8284eae9a457f76a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCe6DZYuqf9gOxpOjpGGNOIpgklXT1lBl-9xA-U9LCVgy0L324ljVL7OR8L5Yv4u_SmD89MLkl0RxYgH4RW58RtbIOhJDjikpGVtbAXCVz-J8TmoSpMpBeUuQ2gZY-3ZMUlr8aYS6zBPoBZU3JZ8-sFpMqX9jjDMjuckPAeVokRaXLdxx2stPU3960BmCJ1n-c3Z0yGEBnT58ld-VKLJCoTvHV-dT0oliTjuIWCnNPYANp2Bq6bD073xXdkVoYt41Wp0B9mrd0qTQcOCjzsq22JHWrgcVfTsmWklDRTrELXElK3ydDDSZkAPOc_A_TVWQn7gp5243O4pwfyj-BBXo5eIxPU_GTvZlKB1g0pur-0gXzMyNKkO1vxI8GoVFLYY-Avl_MPbQfp4eMB14RMKlpdqZq7yBK1TzdXGzP1qccZQpWosWf1WGyOiox1OhFC_YhgQGmsY38XrJw5nJUzo-46Yq5n65DSWfuDUe1OJhW0hfUP67mUaNy6_ipFcavAtJDc4bTLLr3GJ2dodMrdl6z8Wu8SbQK65Yn8DW3kq2bk8CPJsMqamcQA2vyI7_g76RTG-v-QF630Q3CDINn6wgsLyeOOytZK3BNOQT0RkJkIFwCHkVBPoSCb3i7zEqqDl1vri9oURxfKBmkPmAtzwlkmpr9Eol8TRlhQUfNA-VLF7GMXHHM4tcCbXuB_RVggjjZyiJ0WpbPX7MOAHzlkDYa6jvTNx57mum5eRACdKvZaMXE5GCAewPwshOJq22URnjb0v9QTTk4RZkyy2Wfsvr1zIzOOhx0-yrr3n8LYFdWx0EjZJk-wNkFgfBjkEH6SpkWyFsZ_bxQzpEWla7EmqHTyAruLxdanClKZDbCSjGBeVAvTJjONbISycFv1zK_Z9-1NnpYFlHIqRSL8k2WorNN_QcjvjlS3O5lovFDjbWW27n5RCn8YrRjGEX8P-OLn1tW_QFAnPF9sVlgbLPZcsZI7w3JGCx9ZGhjVNfj7PTmNpoesrKNAD0ncSVouug1piB0ii70cebB8ub2VHqNAuoY18Ijjb3hi5myNb4X3L8QN3zUBZqso28N_NvuOmO17YM0uRGqgJt5OGFev6qm2zk2N_I3Nc-7alwMvnvQzXmTA509DYTBpfndz2law_sJrqIME50b1ju5DkijET3w2TRadFkq9lWccez42Ps3B_35D2t5wIlvLGfDhwoYLvyZyetHuBaTNY4eacY0ubZhVximgyOBGx-0bTSiLdxbYzxNNay7YZeWn68LJ7219VYuXrw5_xjT1mVYiC24bSFCEd5J1Jpe22a0DGy-m4yrf9Evcysf39769RDEgJxelMmHB4A3PS6Har9Hh3PVSsd5DCjJjyz5_poBYe00KvF4BYwShECme9A5-3aSoBvS8Yw26ORTTv",
  "id": "rs_0f22ad7b96695d7e016ab427b904f087d0901afe592ca9c20e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bowl remains centered between the jaws at about 6 cm above the table. I’ll close the left gripper and check whether its opening stays wide enough to indicate a hold.\"}",
  "call_id": "call_CpugtFLmxnM8SMOajDR7043t",
  "id": "fc_0f22ad7b96695d7e016ab427b99f0c87d0812585aebde135fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CpugtFLmxnM8SMOajDR7043t",
  "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]: [-0.3645, 1.7164, 0.7929, 0.1192, -0.3222, -0.2432, 0.0212, 0.0437, 1.3109, 1.1793, -1.0424, 0.0761, -0.3374, 0.9966]\nstate[eef_state]: left_x=0.4125 left_y=-0.0937 left_z=0.0429 left_yaw=0.0301 left_pitch=-0.1854 left_roll=0.0624 left_gripper=0.0212 right_x=0.2982 right_y=0.0032 right_z=0.1675 right_yaw=0.1703 right_pitch=-0.6237 right_roll=-0.2312 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -9.1692, 7.5556, 1.5751, -0.0562, 0.0317, 0.823, -0.1299, -5.3949, 6.1744, 1.1453, -0.0171, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44cce43fb2ff95fcdfe03ddda9d2c01a82592c73dd001c29db51c49d662363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd2a9952b9811e9b234b85ebbd4335ef63ffa2aeaecbf965774d2f1ae21b85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6749c7648b6ef62f4c5fd7360fa8cb9f6fd88ada70d6ae6acf7d363982464fe5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.911 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5323, 1.5017, 0.8951, -0.1253, -0.4217, -0.3309, 0.9995, 0.0444, 1.3113, 1.1927, -1.0183, 0.0906, -0.3149, 0.9965]\nstate[eef_state]: left_x=0.3913 left_y=-0.1424 left_z=0.1306 left_yaw=-0.0143 left_pitch=-0.0873 left_roll=0.0254 left_gripper=0.9995 right_x=0.3062 right_y=0.0012 right_z=0.1747 right_yaw=0.1389 right_pitch=-0.5855 right_roll=-0.2415 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.6256, 9.1556, 1.8095, -0.3394, -0.0317, -0.0122, -0.1709, -5.3128, 6.9402, 1.1697, -0.1441, 0.0708, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.6939, 0.8116, 0.1207, -0.318, -0.2359, 0.9995, 0.0437, 1.3113, 1.19, -1.0409, 0.0765, -0.3347, 0.9967]\nstate[eef_state]: left_x=0.4196 left_y=-0.0971 left_z=0.0589 left_yaw=0.02 left_pitch=-0.1472 left_roll=0.0486 left_gripper=0.9995 right_x=0.3006 right_y=0.0032 right_z=0.1713 right_yaw=0.1672 right_pitch=-0.6117 right_roll=-0.2322 right_gripper=0.9967\nstate[joint_eff]: [0.212, -8.7043, 5.559, 1.79, -0.1929, -0.1148, -0.0122, -0.1709, -5.2718, 5.8325, 1.1453, 0.0171, -0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.7164, 0.7929, 0.1192, -0.3222, -0.2432, 0.0212, 0.0437, 1.3109, 1.1793, -1.0424, 0.0761, -0.3374, 0.9966]\nstate[eef_state]: left_x=0.4125 left_y=-0.0937 left_z=0.0429 left_yaw=0.0301 left_pitch=-0.1854 left_roll=0.0624 left_gripper=0.0212 right_x=0.2982 right_y=0.0032 right_z=0.1675 right_yaw=0.1703 right_pitch=-0.6237 right_roll=-0.2312 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -9.1692, 7.5556, 1.5751, -0.0562, 0.0317, 0.823, -0.1299, -5.3949, 6.1744, 1.1453, -0.0171, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44cce43fb2ff95fcdfe03ddda9d2c01a82592c73dd001c29db51c49d662363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd2a9952b9811e9b234b85ebbd4335ef63ffa2aeaecbf965774d2f1ae21b85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6749c7648b6ef62f4c5fd7360fa8cb9f6fd88ada70d6ae6acf7d363982464fe5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0f22ad7b96695d7e016ab427bcd4e487d0a1b10ca479647a10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.425,\"left_y\":-0.04,\"left_z\":0.12},\"note\":\"The left gripper also closed nearly empty, and the bowl shifted left on the table. I’ll reopen and move left to follow its new position, lifting first so the fingers do not sweep into it.\"}",
  "call_id": "call_a81jkZQL9CXqH8EPpFLLAoXa",
  "id": "fc_0f22ad7b96695d7e016ab427bfe3f087d088562e1baf5d3c79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a81jkZQL9CXqH8EPpFLLAoXa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.5772, 0.9207, -0.1543, -0.2134, -0.1406, 0.9949, 0.0437, 1.3052, 1.1515, -1.0348, 0.0723, -0.3412, 0.9966]\nstate[eef_state]: left_x=0.4199 left_y=-0.0386 left_z=0.0982 left_yaw=0.0591 left_pitch=-0.2205 left_roll=0.0635 left_gripper=0.9949 right_x=0.2939 right_y=0.0037 right_z=0.1602 right_yaw=0.1782 right_pitch=-0.6381 right_roll=-0.2262 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -9.347, 8.9368, 1.5214, 0.0171, 0.188, -0.0855, -0.2393, -5.8325, 6.5846, 1.1502, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854c691f40cb996403865ec3ed382e618e1ca00153e53f067358fd2eb2878873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d65744ffc53660a5385bf3528a94e5468bde2834120d271d233d31424b52af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142365e3b499e4a3e2d01786ed124987f6ca5aed8f65e4932c0f5bd417f29917",
      "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 · 4.128 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3752, 1.5486, 0.8322, -0.0223, -0.3389, -0.2577, 0.9995, 0.0437, 1.3113, 1.1927, -1.0409, 0.0772, -0.3336, 0.997]\nstate[eef_state]: left_x=0.4075 left_y=-0.0935 left_z=0.1011 left_yaw=0.037 left_pitch=-0.12 left_roll=0.0362 left_gripper=0.9995 right_x=0.3012 right_y=0.0031 right_z=0.1722 right_yaw=0.1654 right_pitch=-0.609 right_roll=-0.2329 right_gripper=0.997\nstate[joint_eff]: [-0.335, -6.2564, 6.5026, 1.8437, -0.0122, 0.0611, -0.0122, -0.1709, -4.6427, 6.2974, 1.243, 0.1685, 0.1538, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.7164, 0.7929, 0.1192, -0.3222, -0.2432, 0.0212, 0.0437, 1.3109, 1.1793, -1.0424, 0.0761, -0.3374, 0.9966]\nstate[eef_state]: left_x=0.4125 left_y=-0.0937 left_z=0.0429 left_yaw=0.0301 left_pitch=-0.1854 left_roll=0.0624 left_gripper=0.0212 right_x=0.2982 right_y=0.0032 right_z=0.1675 right_yaw=0.1703 right_pitch=-0.6237 right_roll=-0.2312 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -9.1692, 7.5556, 1.5751, -0.0562, 0.0317, 0.823, -0.1299, -5.3949, 6.1744, 1.1453, -0.0171, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.5772, 0.9207, -0.1543, -0.2134, -0.1406, 0.9949, 0.0437, 1.3052, 1.1515, -1.0348, 0.0723, -0.3412, 0.9966]\nstate[eef_state]: left_x=0.4199 left_y=-0.0386 left_z=0.0982 left_yaw=0.0591 left_pitch=-0.2205 left_roll=0.0635 left_gripper=0.9949 right_x=0.2939 right_y=0.0037 right_z=0.1602 right_yaw=0.1782 right_pitch=-0.6381 right_roll=-0.2262 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -9.347, 8.9368, 1.5214, 0.0171, 0.188, -0.0855, -0.2393, -5.8325, 6.5846, 1.1502, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854c691f40cb996403865ec3ed382e618e1ca00153e53f067358fd2eb2878873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d65744ffc53660a5385bf3528a94e5468bde2834120d271d233d31424b52af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142365e3b499e4a3e2d01786ed124987f6ca5aed8f65e4932c0f5bd417f29917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfFvc66uEJd-qySIFI0KDOY34Iu3rjQCbhs43BhK52zi0cnENe7LNB6_Mt2eeIx_hhbYj-7TEa1sy1sbSf-E8h3LXAZcjYEyfmynz07gHPPf-y_s_-p5WZafoUPaxMFt-R8Dqu9fYiqpgD6IYCCRO6RV8GSik9F4TEsc4I2vjROGjfAV81EL-dPij1cV2IyUaJU2Xz9oX1nJEzZTYOxrF9SdUamIfyCOc-KaVDRJg5Bce0u0vKM6SWW-c-nNQVDw_akImWVusLb9Ta5unclgUiq7uEsHdQq1Bz0Q4dI0sxpa4NVO-Zu9t-Xsm00_9VcgJdIxVqZZ3siG1Lny7s7uUqCGy7CihF7RvLNHmI07K8VzYbHm8GaJ97bB6e1G0yK047IAVGDzSl01fZ_JAuG_QB6-_ejulCilrPzZ82LED6RalcN0j-0S3ZNNJMLqyZ08aVfJuJDNwLsa4QxuLIlQQP7WfjyiEkSRiBK8hL5CXTU3b6y_e7lhBewSMaLO7NlQuwWc4A_ajxOVs7dg7YsM-M_w9WzgVtqa_BLX07oy377vW70cH51y9aPfXn9IDCShGCfrvesJ3xdxpfthEvlFDNd0naRAcMpKE6_8IteCyp_y5jCwDHGH37IJ-erkdKYqGj0Fc3bvFafSnjbgEvl_7db0ygdWWJWAVzdDl5dopx5075P82dy8T-HQjetC2UG-wu_S68XnE76-3He1G0Rs33nOhyGpMaFsFyleyuFVeVJZmz4ddENA-Wjk6Dn5RgqnsKZwFYfrlblnG_sU5oM6NHlOCoNph0cKQd8BCVnkHfHadVLD1xrlQpu7J7RaYcScdIFcOS9ddpBmcw-QtOUUgWfS20-vsYyGDIPEOgDZsXnQ17m0CH9jOE5dxJlbM7nZt3jsW_AKROYckw1EBattODjG0KnvxHDXNqnfjUXUvr9jmaNEsN8SldSXy0QdLfi6vBhqvWhdgeP9OwJ3BVfj4WvNCCAhzrD5s6W8Xmasyu3Tr_pJEFjPp9aQrZkIDGouXGbL8PeXCi7-oIDasn7UUkQA64nrAhittLoJIkG1mlEx3ywST0qbnSEwY9IXSn4ISxhbCDyMZHtONU7xE3hhrvoLnxHYxgsskR54SR0oKviLWR1cA5Mp5ax9kLwxpeRWi46-vxjgs6XbH5cBW1jLwFiyBSsPQRT7YU3t9SLaBuQIzD64s6hFCAMI7AYhesNbpEIZcH6_7FpSgoievoK81l9Vou9N4ZMANIzds2vR0KEDOvRwP2vTwFFmZLjHVC69GI3tOlXAH8qEShORtx2V3ZylU8oYrafUNtjr9oTo6-GnQELVDTqVcKRu0drowXCZEGHz5zXxHiSvFBAmiLvjIJDd8rtNYu8d638dEmJgdyCuzi0ALQOgPbsZzPmEZrRueZD11-jxn91oaKV6sM4iLK4GHQxaBfkthEMGWqd921s26SsxHFi8uVdwiQLxpTo-MU9nynX3iR3ycYG-Gd44iERS_EcwB6_NWAfVdXSDoVTiPVXj7MVUNp-ImTJ8rRDMqlbKx_CFNw8keosZoVqL-ZQ_Its6b8JP7M1x-rvuN7BOxk7CftEV4BGEPS23yvrg_3yhlYY9UXV2WPuy6-dQ7OAWhEEWd2oLAVvbS9GKMKtQuAyc3doQ-HWsJkWnpeLFALiXShdO223YhGSuLsGfmjaGiHUOEGNGhCrm39JhKf7O-VwL_ySATvDvvygZL5AXJZlV14qsS_Z0m7-ATYo03xNLqRWCZN5u8j_M_8Bn2jMLx9uXgtq-5yXo0q--ToZs9ckKdQSy2nJ3_3rR15TFvcTieqxU1JT6sC7tg1Lave5_B4=",
  "id": "rs_0f22ad7b96695d7e016ab427c3222087d0acb4162bfadd6983",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.01,\"left_z\":0.105},\"note\":\"The displaced left bowl is still slightly left of the jaw center in the wrist view. I’ll nudge the open gripper left a few more centimeters to center it before descending.\"}",
  "call_id": "call_XmeXcsV0IFFSLpGJdTe75sRh",
  "id": "fc_0f22ad7b96695d7e016ab427c4541487d09edd26926117564f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XmeXcsV0IFFSLpGJdTe75sRh",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.6005, 0.9386, -0.1799, -0.1688, -0.1001, 0.9957, 0.0418, 1.2865, 1.1141, -1.0157, 0.0689, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.4219 left_y=-0.0114 left_z=0.0906 left_yaw=0.0835 left_pitch=-0.2594 left_roll=0.0661 left_gripper=0.9957 right_x=0.2896 right_y=0.0035 right_z=0.1541 right_yaw=0.1801 right_pitch=-0.6373 right_roll=-0.2225 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -7.3094, 9.6889, 1.6093, 0.0366, 0.232, 0.0659, -0.253, -5.6, 6.2291, 1.2381, -0.0464, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687363e7ff4ef115d15adcf07c0be3d6297f2949ae0657cf7954fe1e3d73d30e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602c4b9967d8ff38350662f50937a9c27f31a64cfd60882a368a38f694e71af3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b04fe300bf2e576459ef0bc29c351b5e3fd22a6b5fd82da6a1788e55d3240da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.758 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.6939, 0.8116, 0.1207, -0.318, -0.2359, 0.9995, 0.0437, 1.3113, 1.19, -1.0409, 0.0765, -0.3347, 0.9967]\nstate[eef_state]: left_x=0.4196 left_y=-0.0971 left_z=0.0589 left_yaw=0.02 left_pitch=-0.1472 left_roll=0.0486 left_gripper=0.9995 right_x=0.3006 right_y=0.0032 right_z=0.1713 right_yaw=0.1672 right_pitch=-0.6117 right_roll=-0.2322 right_gripper=0.9967\nstate[joint_eff]: [0.212, -8.7043, 5.559, 1.79, -0.1929, -0.1148, -0.0122, -0.1709, -5.2718, 5.8325, 1.1453, 0.0171, -0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.5772, 0.9207, -0.1543, -0.2134, -0.1406, 0.9949, 0.0437, 1.3052, 1.1515, -1.0348, 0.0723, -0.3412, 0.9966]\nstate[eef_state]: left_x=0.4199 left_y=-0.0386 left_z=0.0982 left_yaw=0.0591 left_pitch=-0.2205 left_roll=0.0635 left_gripper=0.9949 right_x=0.2939 right_y=0.0037 right_z=0.1602 right_yaw=0.1782 right_pitch=-0.6381 right_roll=-0.2262 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -9.347, 8.9368, 1.5214, 0.0171, 0.188, -0.0855, -0.2393, -5.8325, 6.5846, 1.1502, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.6005, 0.9386, -0.1799, -0.1688, -0.1001, 0.9957, 0.0418, 1.2865, 1.1141, -1.0157, 0.0689, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.4219 left_y=-0.0114 left_z=0.0906 left_yaw=0.0835 left_pitch=-0.2594 left_roll=0.0661 left_gripper=0.9957 right_x=0.2896 right_y=0.0035 right_z=0.1541 right_yaw=0.1801 right_pitch=-0.6373 right_roll=-0.2225 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -7.3094, 9.6889, 1.6093, 0.0366, 0.232, 0.0659, -0.253, -5.6, 6.2291, 1.2381, -0.0464, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687363e7ff4ef115d15adcf07c0be3d6297f2949ae0657cf7954fe1e3d73d30e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602c4b9967d8ff38350662f50937a9c27f31a64cfd60882a368a38f694e71af3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b04fe300bf2e576459ef0bc29c351b5e3fd22a6b5fd82da6a1788e55d3240da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfJxU18qe_go7LGzF3XTOODdkEAM_aigea7gY80Ws6b71gV0jQiKabzT8E-8xmCjQFup1i9FO-4OjfVJ-JfjCJIHTDc321F6Hb42_PG8I6E9fHYSbA7Nzp99KpavWtIM460hF36anFmXJv9eYH1ZcrHb1e33rRUMi70Cx89fIAzlbOulLXKvayR4HFW6PmQQQfUmrU5ZMNb4NVuL21WgVxEo40dD7f-1HI-BTcQw851gaOSd98AihxDseHHM-SvhwWMeNbZTIiGc7jyrFkhV6w_BhOIO6Sbt_dAwMXOGIN6XMv6h542zHtdvTx8BjdYzClRrR0yPYm-YDIlhHjGucj4_e7soEYxOsiryNwAPNXkzUu-BF4KdEb5iE4tHv4kD7-PTiN5aJ-5Q6cXD8Q2AVBpDJy7nXWLhLxTNJZFL7shhw_16Y6vzVlyQKJ1eHM5dzVH-_RvXY3Zh8lA0kPsK7gM-Pu8OiGXH7bE4zqGcqEv6mKKG3hfRayAbxCvzRShWZBh6Ur0bh9l6KKkY4coZF26HKdNhIBY-TgGdE8Tm7Yh4_JXDVVyfM4BXlt27c3mCIaYnrYauQ25jIxAa-MN4OG3eP9o-HckEN5MEbXto_69GJXKms8VVyEMY6vuPoz6YvR0qHRMeIy3NkeuHOWDaMC_RQ4toOmHEiO5FQ6s7GnVdh7SKibIV48E43pzktLDkCm8yXHtw_4-213kEPoIqLEDEurra3xELKZVPET018kYIEloE2tjhgiz_d-iPRTcgXnLpBRv-3FiECTdLzqMoWCL2ltcu4LzxhYDrmPb45U84iNbS0m-2DNa5kS0IDRcdUHb7ScQ5RZY-cUd4ctrDfuGVpGXxejZobimhgsA7QTeoMwvpvK9Oz7a1JRgGVNeoBskamJG7UsdVT4Qv9fNcy_jcRKiaXIq2xxOk61L9F2Z21yPF3eDLs-E77VLWv0hk72sa1ihnFiAxzJ7vcPUCzznJKT2sf_qxDCp4Ou_y-O6ejuxPDzoG6Ykw7BUcXhVDeLaSrRYo7r_L-AWvwHf6p0kId3vRv3RFngLzcOw5GtA2STLYn1QrVsdzawngHpWHRNo4ug6u-M_R9BEhPLWnvdWqkNHDm01D9J-RME42GRHkROgkzDIcRBt3D-aLMq1I7C1LNrEKMvswk711_D-xuJ3ytK8B8u12vFu6S6U3SVnuXg1sqZKRElHPfjsF19x72OCRo_vVTcPGPItKKu0BalMTglUo7TyvWpEY0kj5P0K2GT-QP7_sWs0gLdaoxF1NuO2WanA_zpF0BxB6XfLoCQLf33vhehk9Ri-s9y99WYmd07kld-yoTG0zEHz7gUTH0XwTWO7XtBAUiF7x3g7z0P5GUvrNmf21gjCEPwaZ-Rz0wVD3lXLU94UHDM51mBb1qxVUkQ0a67GFDBmhUejLRjuIQmqpo3FoXZGFzV2BUK5rgzUyGOBMYq0dE8Yr7ODZxNLyFy8-gYXqPM0qL8tRAWOuMob3n9x9oxnrxX_QjAYnNYiLIjVsaAIhcVtKZO01T3w2fNx_bpPWGEpRn1k3VT4p8-CfK8VX4Nn5QI4Aou5qac1hJe1-G0zsHMxLpKiblvdv1L_PvLS2uXGtMTj4W5cZO8Rib4HBohDUAeNaHObj2kySwlZ5D9StqHxR8CuYHbSqECRkIE18TDxtdVn5i0DgagN2IWDNZbhjRjruG50b3L2_b5t7lzTWyhyDCZqVAbzE1GWjo9sN7HNi1-WeEWwuPKQhYmwmUbrvU6QXteX5QFu2RWKTrUtmStxaNgAuOI7xBfZwK4oIa7R7JVGzo7ipmQikMBvueWf5QWEQaA6JJV2IL--PS8ANcOKQ-9XhrVfJzP9VwkgT-J22mMHywtWcX-sDsSUT1Loi32p7m9XHIzDvENiZBu8DMApdttCu78UFq8d3IjPFpVU9nH48QMXU8PyQfFwlkixSvZo-vmdPmDEDvFxyOx05gGfd0_CG37HFz7iRwpV8n5bFrS7YMVg-A1PD_dmXtOT8RjVuUXZhFGsGCKvMOUvrFuQus3sXOgZNFXG4hD_t2kig3Gl4Atz0R0cuf4pQAvZ0mKp4X0dKj5xAC7AMt8jI-TdoUapInm4m9AJJ6U1mhMaUW74WU2Cu7ZtphMxvO2r8fq73Q9XlYeLFJAWBQiSe6xraGI4G94KJ_WqRTM4t0yVU9DK4xUw_LEHWZJ3_97mrk_S-79oSOOWW6susEFq54322wxhK5YQBV54nZmyzWNMd4dTJRk7eeox4F8jT_lhoOCli6YdAfinFPBY-kGzpAcajn_Z4cvipoJFZoUerNkWsJ6EcwVbHGFHFf8GehVwE10AK97noodbFBttupVtb5sXor6iyzqX7yc0C9IuD2yQgTAsh5XGao7Vku5UWBszcaB93A7g7lMFmHwCIu-Z9VH9lNjLGood",
  "id": "rs_0f22ad7b96695d7e016ab427c67acc87d0a6031ba6ceecf7c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.01,\"left_z\":0.005},\"note\":\"The left bowl is now centered in the wrist image, but its wide rim nearly fills the fully open gripper. I’ll lower near the table to reach the bowl’s narrower base, where the jaws should fit around it.\"}",
  "call_id": "call_cY0Pw7Ab9rMePnkwG7md9DTi",
  "id": "fc_0f22ad7b96695d7e016ab427c8874087d08742d8ed5a6b72f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cY0Pw7Ab9rMePnkwG7md9DTi",
  "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]: [-0.0914, 1.6085, 0.9424, -0.1795, -0.1532, -0.0929, 0.9957, 0.0391, 1.2675, 1.0767, -0.9916, 0.0685, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.0081 left_z=0.0887 left_yaw=0.0806 left_pitch=-0.2655 left_roll=0.06 left_gripper=0.9957 right_x=0.2864 right_y=0.0027 right_z=0.1486 right_yaw=0.1773 right_pitch=-0.6316 right_roll=-0.2231 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -7.5009, 9.306, 1.5849, -0.0073, 0.188, -0.0024, -0.1709, -5.4496, 6.3658, 1.1306, -0.1001, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad025a57ece8bac4e55730f7b39a8e6ce657dfddc8615a9f37547aa7729e491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c82a63f03d9e16e1172291a840199a7740bb7c63b5d51b3068ae663858f1375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76b84708c21df8c7f45eec9296d002dbbaaca15a0c5d8c5b249d6290c98db3f",
      "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 · 2.441 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.7164, 0.7929, 0.1192, -0.3222, -0.2432, 0.0212, 0.0437, 1.3109, 1.1793, -1.0424, 0.0761, -0.3374, 0.9966]\nstate[eef_state]: left_x=0.4125 left_y=-0.0937 left_z=0.0429 left_yaw=0.0301 left_pitch=-0.1854 left_roll=0.0624 left_gripper=0.0212 right_x=0.2982 right_y=0.0032 right_z=0.1675 right_yaw=0.1703 right_pitch=-0.6237 right_roll=-0.2312 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -9.1692, 7.5556, 1.5751, -0.0562, 0.0317, 0.823, -0.1299, -5.3949, 6.1744, 1.1453, -0.0171, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.6005, 0.9386, -0.1799, -0.1688, -0.1001, 0.9957, 0.0418, 1.2865, 1.1141, -1.0157, 0.0689, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.4219 left_y=-0.0114 left_z=0.0906 left_yaw=0.0835 left_pitch=-0.2594 left_roll=0.0661 left_gripper=0.9957 right_x=0.2896 right_y=0.0035 right_z=0.1541 right_yaw=0.1801 right_pitch=-0.6373 right_roll=-0.2225 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -7.3094, 9.6889, 1.6093, 0.0366, 0.232, 0.0659, -0.253, -5.6, 6.2291, 1.2381, -0.0464, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6085, 0.9424, -0.1795, -0.1532, -0.0929, 0.9957, 0.0391, 1.2675, 1.0767, -0.9916, 0.0685, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.0081 left_z=0.0887 left_yaw=0.0806 left_pitch=-0.2655 left_roll=0.06 left_gripper=0.9957 right_x=0.2864 right_y=0.0027 right_z=0.1486 right_yaw=0.1773 right_pitch=-0.6316 right_roll=-0.2231 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -7.5009, 9.306, 1.5849, -0.0073, 0.188, -0.0024, -0.1709, -5.4496, 6.3658, 1.1306, -0.1001, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad025a57ece8bac4e55730f7b39a8e6ce657dfddc8615a9f37547aa7729e491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c82a63f03d9e16e1172291a840199a7740bb7c63b5d51b3068ae663858f1375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76b84708c21df8c7f45eec9296d002dbbaaca15a0c5d8c5b249d6290c98db3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfN-wDWZ4NF2cZ1cNnuZEqKrm2K7bs6veLGEhwyIgz7Io8droUoW_zBOzngYFBujoKgTI4pjDloPjaS9_Hj7xuKaInYbkuAHUi_A_byLLc08z1uiZtnBeHPhVgBHToBolVCh0fIgkjiTrLkoKBSCHliMwfqCjUOlKdfHykeDm9TKc8PeIvs2SBYJSwRWGhsEVLhJXIPaUBn_3X-QwwfyKQb0R0yauODpyzKFhZkVZg0yzU4tvigaAA8mshZD7N47k72SwwsERzVjTqQdzgGzp6XYtSHAoWM09dgqCjcHgr8LR9eUOSabz_eQjjG9RkWqeEbipMX229Cqd-L5VHf_zRSg_zHOXPX6A-zSbkfBRiA2wUZlZwuWkB8YUP0GKLkJfhzvT_M8n67yRiHAJyws_uBZcGm8kHZy2j6ZmqmvDmUd4XLkL2g4Yb-xr9py-W-DDMWzBktbSAuCbw_Y6HKfD1eZqxzrWBfrQgTmYTqajonsrM8KQpMoPHOaPGSngXlHIJ3mV2jkcQDL2aEPE2MhSVSzP0rPIOj0VtKDhdtcxa8tS8R73ILlkdY5mGKWbNQK8gvhn2qmNIJ9S2J10ETLWFGTJLpcsTHxdeVP6Wq5-SspXmnEoAI2TWSci4SkI9wptz6Kie4vqXOlhxnOa-c_5XlwxhEXZSPmvBThyJpWffbRJcS5YeaPJ18Vyduwcj1lemrwgdHQAYpxE62E-hYDD7MrFxBiTd12aybRBvFh0E4b-b7307kYVtBPxocJxngR0vQA6zYicbRQhVoBnC-FYmde7t7w9G35m4G_yfrKVM1fcXRjlcVThDAz9JegUp-9gd8TSuzSm7SGIHBTLPUuvogbRe4s7K03Nkumzm2G9GLBbl0xNCCccrlY4q2Xd2cgwFXSfp6qZgExoYDqT-Jgac5tbn7RRRqWk7PDQmjaF9xadd6Myhm0J_0hcc8r9lw09zQJQvPWvPxpaFvZ5Ddjl6vDTyR9PtTt87fvfSV_8nWZfmwj004idnJUbNpEkGp0uDdYqoXwGmFCY9IxNZrJq7SjfBRU8kWbeCaIWq7kvjMC1q34Rg7im-4nn-oAtt77yKr7uOMZ58U89-xJUdZoSu27jJ3EUG6WbP2nEkCrKSmwrlG_3EZ3eX93eMfRCRROXglpilAbIH08apCUIvIdSnOO0pUx3vY8er5lXgCwPRJbxCLuvSHEQSb9S8MYD0NI0GNmaceI5_sOKNhSgVMRiMisfFHdQYmCzj78R0ghA8j-1TbciCkc8MOBwnxlSTiFr7jIGPd2Zo0ePxDYLDlE0RtPNzKh-VAMPvGD80fI-k6lj_SKU1WwCl44KEI9sMllW8NCsFHXin7rTzK3UdO4o0HJpTL7e_pWVmLij6zFXMGii637P2l2_tkAyPPu0GBgIM4V-uGdAc3XU6lskoU_sKs1E4rvsoGx383xkvIFOlmsQSizWD67cmP3-0M7jerBCk4UvNVmHb0A25JZtkANbiPjSUBFFYInJrCUAomPW9j6cWZZtfqKeennVGJa2tcGKWIIFYqyFIbPPcSEEwi-DWxAdcqimCBwGsXLTCC5D921Cp4FwfEUBj1xMWfiYRgxRTJxw-XUKUPMd_0NGUIPqaryNc5EOFV1BTLKl_6K--UH_D6dukzqE67AsBYsrrrsa_4-NHilEPZT7kULim37QcnD4prOG3TvGGGZx-FHuZbiCc1LWWfI7wbLV6GMdXraFxg51Gu3RID_do2jHE_jjWNo8NxJUw26dJ9c-llbOMtkLZwRRFkWfmnvul37Dme0T0lNpA51ASjabSFoUJXjWpJkNPrjALOLoBqOoos_DSngWzN4JRQl1jrIf2NLTKuNLw-geAlAWrthu0vO6adyQWTWu_m0yMIufDpDzpGZ0CKGglzznsUCZQC0MiGyl_lamewQqDynx-ljzp__P4mQprGrjowvAA6Fq5-Q7lQYYrB_YBRnytF8MLSw5J5DGO4-QYZArQ8nQ8KuvHG5cX5KIvCb7YpatvnrS2pKbCVywuTocWX58xBbUDF5oW7VNXkWm_nlB8lUS3LIb1m9DThAvFVOmik9gNHIaZyeHAC05Wm3p4WqO_07qJjLEtIZ3KyXyxstk_AcXef_c_dd5LpRjKIpXLABAFrnETWoCP4WVgQsF3Kz6dqHo9WduPOZECnWz_bn75nmKZelvGHCzJi5f4RhpeNK1L6vqJVmEUvUirGDDFpwjIYCxDDheAHiErG0x4-jxOnwExdt2ZyxlbFJPZHjgC2JcoGabMJyVQEBRQwZqrXNqqcKf_ScLd4pnc1hx8x",
  "id": "rs_0f22ad7b96695d7e016ab427cafaf087d0a54c8fc113578fe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.01,\"left_z\":0.045},\"note\":\"The left gripper did not descend at all, so I won’t repeat the same target. I’ll back it away a few centimeters and try a less extended approach to see whether the bowl or the arm’s reach is blocking the descent.\"}",
  "call_id": "call_kccv7muD0c2yexTrQXB3tb4k",
  "id": "fc_0f22ad7b96695d7e016ab427ccff4887d0af7aa37ba13559c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kccv7muD0c2yexTrQXB3tb4k",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6104, 0.9463, -0.1776, -0.1532, -0.0929, 0.9957, 0.038, 1.2579, 1.0451, -0.9791, 0.0654, -0.342, 0.9966]\nstate[eef_state]: left_x=0.4244 left_y=-0.0082 left_z=0.0897 left_yaw=0.0804 left_pitch=-0.2618 left_roll=0.0593 left_gripper=0.9957 right_x=0.282 right_y=0.0027 right_z=0.1413 right_yaw=0.1806 right_pitch=-0.6407 right_roll=-0.2181 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.665, 9.0462, 1.5214, -0.0073, 0.232, -0.0073, -0.4308, -5.5043, 6.3932, 1.1648, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdfe4cdf8502c07968aaffbf2aa2d363f270ffb528776a72b9dc35c8181e5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3152ae302bedfe5a80109a7e07f7b8425bf54a7a1d8d4ee018f6989916cdbbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11a700ff5c50c0eab92d5cba50d17479658ff1c1fd25079d3a436e19fa165fd",
      "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 · 9.146 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.5772, 0.9207, -0.1543, -0.2134, -0.1406, 0.9949, 0.0437, 1.3052, 1.1515, -1.0348, 0.0723, -0.3412, 0.9966]\nstate[eef_state]: left_x=0.4199 left_y=-0.0386 left_z=0.0982 left_yaw=0.0591 left_pitch=-0.2205 left_roll=0.0635 left_gripper=0.9949 right_x=0.2939 right_y=0.0037 right_z=0.1602 right_yaw=0.1782 right_pitch=-0.6381 right_roll=-0.2262 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -9.347, 8.9368, 1.5214, 0.0171, 0.188, -0.0855, -0.2393, -5.8325, 6.5846, 1.1502, -0.0122, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6085, 0.9424, -0.1795, -0.1532, -0.0929, 0.9957, 0.0391, 1.2675, 1.0767, -0.9916, 0.0685, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.0081 left_z=0.0887 left_yaw=0.0806 left_pitch=-0.2655 left_roll=0.06 left_gripper=0.9957 right_x=0.2864 right_y=0.0027 right_z=0.1486 right_yaw=0.1773 right_pitch=-0.6316 right_roll=-0.2231 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -7.5009, 9.306, 1.5849, -0.0073, 0.188, -0.0024, -0.1709, -5.4496, 6.3658, 1.1306, -0.1001, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6104, 0.9463, -0.1776, -0.1532, -0.0929, 0.9957, 0.038, 1.2579, 1.0451, -0.9791, 0.0654, -0.342, 0.9966]\nstate[eef_state]: left_x=0.4244 left_y=-0.0082 left_z=0.0897 left_yaw=0.0804 left_pitch=-0.2618 left_roll=0.0593 left_gripper=0.9957 right_x=0.282 right_y=0.0027 right_z=0.1413 right_yaw=0.1806 right_pitch=-0.6407 right_roll=-0.2181 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.665, 9.0462, 1.5214, -0.0073, 0.232, -0.0073, -0.4308, -5.5043, 6.3932, 1.1648, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdfe4cdf8502c07968aaffbf2aa2d363f270ffb528776a72b9dc35c8181e5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3152ae302bedfe5a80109a7e07f7b8425bf54a7a1d8d4ee018f6989916cdbbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11a700ff5c50c0eab92d5cba50d17479658ff1c1fd25079d3a436e19fa165fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfQTLPmXfcKTS4lURn9uEzjx544MqEsoScD0uhWVqGfrwQv83WAawRp0CShGW9WmRmbXYUCm9HirQjUW8D85HbUU2DtpsiI_9zMfpmh5NpmkF5OMjsUjv4kvIqjW4i5rlVfx4xhqROFXTm0b18xY9qdLabDZnJgEO-NjjJfvmC5IxQ4OJHPQkenLSlHcFf1x2DwILKx4UamU1su8UwCNpRTG5pablEaQY_qxC_RkU70FczpkntV2MVL5FBnu9KMHHA7xrs65KDB8VANqSs18-gFDGT84Hn_VcmgRx2ilM8d2tF3IN2ygMdsrSkwXZ2ovJGay8gnYExqmhoRs-2jreVnK0eWWB-_3hTbUoR7Q5A9zq0uGgqSplP513Wgsu2P0MV0whlva9ur4qkEPJA8LNTWczRxzjpavGLUZEfZNh75M9TDWUwU51gcG1Yy-eDmDpBqWmW1N7VngKM3FISmscl4elLIi9OqXc1fUFJVdl_olYBYVDPFXK6sM2C_SAID6Cu9jEdNhMFB_ThnObwJkmvOhZqYL7JlC4IW_Dbi32-BZxETCXTtJ8zsE9xloQZAJijf64n2KwHyfPlyxcrIOi1DHoWecFc0onndDaXOCYCPGvOmh0v851srC2DZO5Co7hISFPOvuc1VVtACgqc6dTlCfAoN0rT2oArcUPKtDTESu1mbWfVIHxnttzjs0-rokVfr3-bX14YxOnUclQDlrmVCDLyMR7o8JW5bt9lzaWmVGg1Z90AFX_68jpPBcaduXNWcuRfM7xuNJU9my2La5D9CVZxVX33Xr_FG5OFuZRHDfuBJd8tLJSwf9FYNduYu5JV6UR_nBeD-_8p3sAWuQETerpkE_iLd68uA-8WyCTYtV6tlRx4XRQqM5oU5NaxR3nZBP-R9QOAtQ_sh7Hu7jtpd5zCFbGRRdlCvdWS3pBETPB4Uwnkc_b4OviTZKbI9C_nq8RTEHBx6h2HQCzFLo5rbOTzy6QxrlO1EHD_InQLplnvHpYAuELNpsDn1kpZS981NDNxsLiUGGvk_n_MaA3bUN293aNPyXLPbvCRzFbkJAvhiLCu-tWToeYQMG3aY9XI16rCXBWWIE_3afqgBnqZv2pNLb5lVrAIykHJaBxx2Ow-n8OfyrhNBtVZByDl2dMDC6HPKg2XdyBrMJp-5T_b_yKbSIyKXI5wBOuzay2EO4s_4g8nKqyz1clXAU6gVPXZMtXG6hJuxTyI2juLx7lft7DoeZFOPwjZl3rG2M04HNB__scnjv_pyW2MeXm5-9fZFNcPTuSJi6T30cQ4p4dEMuGZZQd7PTTVrvHLmEAO78lBdKyONyzdpGCNPLDyIMm14DA4OckCUX0tQZXsOddZ5Zf_-n25aQFLz2DsLyG79rMZ99u_xtIjZC7UJN8cYlHwpjxBHPuGqTRjttxq-e-ATsydHuBWgrcnztC8cU8rdLG2e9s49nYC__Fqa9ckhMZ9LZdh-h_k2RYB_2d2mCOIeRxEWcPKfGKmvempSuEEpMQwBC3JjWl-rfiT6j_UVFRO8sFZf0R34444exXoELHIAd_Nbwa2mR1hjVcOWCj9ufpL8JwQUUv2d3IaxPii1xOEV-1IuxEcjxlTns63R5PDa3g==",
  "id": "rs_0f22ad7b96695d7e016ab427cef29487d0952a74246b239fa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.08,\"left_z\":0.18},\"note\":\"The arm still did not back out at low height, which suggests the open fingers may be caught against the bowl. I’ll raise and retreat diagonally to clear them before choosing a new grasp approach.\"}",
  "call_id": "call_gTUSgST8tYDPviGcvNRWZCNM",
  "id": "fc_0f22ad7b96695d7e016ab427cfbda087d099b9c09787c99451",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTUSgST8tYDPviGcvNRWZCNM",
  "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]: [-0.3828, 1.3495, 1.0332, -0.5617, -0.3134, -0.2909, 0.9958, 0.036, 1.2343, 1.0012, -0.952, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3609 left_y=-0.0828 left_z=0.1673 left_yaw=0.0373 left_pitch=-0.2539 left_roll=0.0516 left_gripper=0.9958 right_x=0.2778 right_y=0.0021 right_z=0.1349 right_yaw=0.1784 right_pitch=-0.6339 right_roll=-0.2189 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -6.8718, 9.2923, 1.3553, -0.3394, -0.2173, -0.0073, -0.4308, -4.8068, 6.694, 1.1844, -0.0806, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6421811d939ac577f991bcb6791c86bc17548a1e494cee75c08164db8ee80ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b798d5cf31c1300dbab09b09909f012112517482dba70f41e5f94da30437de2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a8d7a0860adf78ed25ca315acd1284af9d0372f4dd772189b5698223f0f961",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.72 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.6005, 0.9386, -0.1799, -0.1688, -0.1001, 0.9957, 0.0418, 1.2865, 1.1141, -1.0157, 0.0689, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.4219 left_y=-0.0114 left_z=0.0906 left_yaw=0.0835 left_pitch=-0.2594 left_roll=0.0661 left_gripper=0.9957 right_x=0.2896 right_y=0.0035 right_z=0.1541 right_yaw=0.1801 right_pitch=-0.6373 right_roll=-0.2225 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -7.3094, 9.6889, 1.6093, 0.0366, 0.232, 0.0659, -0.253, -5.6, 6.2291, 1.2381, -0.0464, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6104, 0.9463, -0.1776, -0.1532, -0.0929, 0.9957, 0.038, 1.2579, 1.0451, -0.9791, 0.0654, -0.342, 0.9966]\nstate[eef_state]: left_x=0.4244 left_y=-0.0082 left_z=0.0897 left_yaw=0.0804 left_pitch=-0.2618 left_roll=0.0593 left_gripper=0.9957 right_x=0.282 right_y=0.0027 right_z=0.1413 right_yaw=0.1806 right_pitch=-0.6407 right_roll=-0.2181 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.665, 9.0462, 1.5214, -0.0073, 0.232, -0.0073, -0.4308, -5.5043, 6.3932, 1.1648, -0.0659, -0.0708, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3828, 1.3495, 1.0332, -0.5617, -0.3134, -0.2909, 0.9958, 0.036, 1.2343, 1.0012, -0.952, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3609 left_y=-0.0828 left_z=0.1673 left_yaw=0.0373 left_pitch=-0.2539 left_roll=0.0516 left_gripper=0.9958 right_x=0.2778 right_y=0.0021 right_z=0.1349 right_yaw=0.1784 right_pitch=-0.6339 right_roll=-0.2189 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -6.8718, 9.2923, 1.3553, -0.3394, -0.2173, -0.0073, -0.4308, -4.8068, 6.694, 1.1844, -0.0806, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6421811d939ac577f991bcb6791c86bc17548a1e494cee75c08164db8ee80ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b798d5cf31c1300dbab09b09909f012112517482dba70f41e5f94da30437de2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a8d7a0860adf78ed25ca315acd1284af9d0372f4dd772189b5698223f0f961",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfakx8FN0wXYg8ZfYwSt2ECP1t7w9uX1eNy0B0zy6RkEL7gkN_jazUQf9Yw6yWTjgYowPSrEVQE0dnIJc1NMPvNl3jbzX-3jFeOAU2RRlXq02fAJaT1iV0IrsbxUetLb0vIbttIkeaQLj8mJMu9XOGLkll_ZVC_PtfPoijgSn4VWwramhk_0qJp9T8A3zvykI6EtpY4y-pcIDFi3qocVYrMG3RYfqHJzTjzygisAOwWkJGqizWaYQrVTfbiWOddtoyKfNE_w2dKwlpzZGObo6SOwFok_9PE1A_zNSRH2rgblAqCZMMK_3GITX6T7N0nSfRyP1H8uIwZtWoR8gbhupw1THrrMd7DAZKUmggZ5wU0Kw1_AaALPbSCd2DjR8yHPtlr5tVwMnRbgrWAXzPYUOijwIEx30BB3vnVXMy3NI85QvZKPqhoN3glVhCh9jg0j6nInzcf7rZCKgw4z-w241VTP0UhIZTOf0z354gpOFDMBcrXnEguLA1p_t0UltQ6rHbvYyt1dxavwIR0QjV2121eTyaQNDJnnyO_ed7W6ssTr1XIKwY-nV0PxPhqQZyIWKbxMQNtZ0_hI0NOBKTaMYtghNU_nXI8Xm88V4Nx1Tz1c1fso2LD_bqvPBAp3c-PGeI3VsajG7eMZA-AoZCLwjlXsFxlUnkema2dDVF_F3Cw67gNVKTvtE3fGRp9-ywkazFaDZmgZGLMYI-C7j25ns-yAXPjOw0TxeqdGmBfdvFy0eIHPDS7xcLCW8RX86XZZgywIaPrYY4o3KKDOeFG5lwLqHTWJr6Y1a0SnSrVZX0Kp6G5wE632c-iwsehsROP6jxxjPpOb30X8dCAUDfQTVqsk2BGRtzk0NKXxxRGgT-_m5djR6SH6M-idmtUMpR0NHYFIiJCLUfrfyD1ucuFYWq7vhRWHtCitq8HJZcC-nY7tYNBX54l9N1P1Z8StdPyFUfXYxz_qVBI2yr8trUpcFTROxCQeVYxTCKF35cImsCjRddLpwMp3UD8tZimsTk-AU4wdwzLwXQ4kAp8Xjm4XtupDFSmcSq4HDLJFZhvySaJCDN1hh7IRQLchLl6qyY_TViJf8usV0UUHNCFa9Nf0FC2Uh2zvgV5NshtzOm4kJXAPPQ35KfqM59M0mckm4_IaqaAs5x7_59iFb6GY-F66kapk3zmpjB1qECVhZBlVk3VpG7d37qfEiAD4ulccSgam4xxlDExXpTeJU2jCxm6YcMLEY4GmS56xsEtlP-boxczeExKXyJN0oAZfn85wAPVUgAfpetCLhKOtgt86GoYYWLGVWXhvp0PMQmMX0f45kDs5xZMDeg2z1EJfHISfQVDxWa4afpLF5UlIFMvhDKDEgSYBoeEkQUaXSlGNCPrptIMOJWItLAujyl-Tn_BH4xxvSPvy8SsGwKpOXWm34mqcOelZR8GNQIKrh0emkk0HcZ7U4jIrVRiZu-nuulch_dmWVszq_ptOLWD2FlD8kEQ972d2_kcdojN-MGiP7bZQ9wNpB2Y-ampyGHYrZy4yQ-dVDk6Zy_DYzLGXh6dp5dw5smdpmaoM2xl84fuqZMFkLne1zZ1qsmd-C7Hi01Xk0TJZYeYtOiUoehoYpyDplcd_d0pBFcETDbNdzPL8V7h9nMiD5z8xDxaiKfKJiwXgCcAkx4xfLNl0CcgqeZD3uyE2hyBEDILiwT5z-_j7e5MpivtOW_pz0JkWlVVp_bhYvnV-7mQ_r4pnMGZM8_CJvdBC6ves-WQJ11VC_8JSlSFsDUHPgWienpp7MS-AT5pwORA_nffZ68KRvM4_Y6lzkg-symo4XiMyXhPHfp01klsxNdCe3oyMVyLX3Zs4UBJvGmYnCJdhR-8rnYt_T7v9hg0Y8r3eKpuPBPEwcL7pHu6BeaNCRMNqtL4Lwh7EODbQDqlRZcpwHEtWWD0Z6JCGeJOOLyMo1sMh7BeI8GkpuzPY_6H1l_RuQ82rHyrg0mFk-FFRWd1Y109VvWCQZx2dyXIq63yineup9a7qXdgczT-MRNHv6WFZ4hjSWWzWCu2fBod15SYTRJd38zvDclZ_iYFNZjr6eym9F8_Y-AiX6A1pNkK1Xw5kht_aJXfnohW1MV4RUT7RkmG965xPwIJbMoca_G5ylrWJkFpJ5RWsAggfLkhLNjkVItwuYyNDXl7kZUzkB5cqBavvZ_a8VyE6yVwUnQIDaZrXiD3BM3uA0GXvNLPT2nVzXnSO0jPJPp7rwKa3-7Jfu9HeZiRfHYeUIV2kchF6lqbCffUI1v-kXd_9wrfCYltkZYjAE7A7UOSEQ2bnGr4Guw5VtA9YOrZdH62PLREOVcOwNGWm8sMA01QtSaICr_2Ed9DhmyLDZ_Di4V9DIuasZUnUXvMbP9B8x0VO4wQzVRg7pdAtInG5Q0VQbMjRUwwyYYSt4gIjlrm3vKSywWbvnUF-a487Nh1KkEnct6ZB7RCsezTlf-bLwxJcey1cgTiIOSGdiED_lkznuVRXueHWp8Nb_gFwtgBDpWYds2wBVywd3XSTwkh2Pvg7PqB-hiOAP11yT0ca1WNkaqIUv31P11tiq3fr5Inm8M3kq5G1qj5Nt9iXypfC--4__RRt6fIu6pD9TnBlopJLtT8F3P537ceZZbOhpnO5B42LDGIcTlm-El7qz2Yebo0xXwbWsLlwDDIAVPeoYjckQKLRg3Ntszd9v9P5jQiL-yoU0JDSp1m8DCo8jByITQM09fpRwgXLDDglHpMfYAvccrKGREFEOTvtRioaJPocK7YDDnqfvPSzlc8dw95Tq7yX8QgfOMf4Wo34RstPLotwtbQVtH_Ndt7pF7t0u-53FgHS6PcA3nh6pGcfjoQkAjaeErzbdWeehdYTpgVas73axl1IdnmPav9tvHX0PRjP5CfbX7R_2mJaJZsfTBmHJn48kYwUW-nI_rSgKajicxL9sH24shzNWZg9-SSTlfUhzA2S_yTPjWpSsYld0XjOgeF8uLmEfdQZ8BgQfQ7Mczpv9gU16jN2Futiy2Ka_AFD0dOVeVWp1FwNlsTOIcCXtSV9N3InMBDUcJEs3DNYMLCMeQooAP_52CIH2dhMXHimUXNmMpd0W266_QqLNMqKFlDQHl4sqLKjeK9I54zq-yl0syk_SpVWDbyoln1dTu1ubHc8y3Aqk4q_1Bh4f9R44PtH1ZXEJdPRn4Eceghlj4oCLiYh0NCXcKfV_DcCZRkZ2jI4_VPNwbAKVnJCaUAIP6SCI8HfEvs1f0ow9jg75lXdWBHgSNjcmwUapVlbX5EaymtisL3oaXlejHiO2Kj7MeNcEPr_B1aNLUHmY4WmSgihvLDzWj-wlDSdmTBvY8MsMtgieO2u4yDvBhKckfH5Hr_2Ifm0dNiEAGjTJ9tHpZ8vfdjuNPJrRB_1YU1Xk1JG3e9YZx0ZQcfVYzlOWIJRBOuNGmpyI5qjNXTls9Ef-O7N32Uo11Yl5yfFaw88_jscRcZVVwnroQbQh-z6G1DwWhKaIGcE3hrJi6a0sE3kSyCxxgH5QTT44W_VTUkAitebVNEG2fjgjrSpTvWB0mUQ9ggBGhc9bv2FC7-AgGG0vdzclX6Kx6h-Si2mSKsc5ELjGqBQtEbM0kwSqXzAcYrh_EfI3jEBkq5Lij-vRrvgsZyBth9HyDAKB_kVNJCbcUU-gHj9evW9IfgtU8WVo9OUhZSbjEtAZ7RAVODBtd31V1GfYQIoDhQmWKGhwB_bHcQ4Q-PDZgLH5s1tkoRXhLcvk0RxnXfSYNNZq2Z3T-MyPoeN_D6T2UWINm7in3YIrHR755OsQwJpg==",
  "id": "rs_0f22ad7b96695d7e016ab427d2ef3087d0ab39da56b698cc7f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfa_oCU3jerFiNOD587pLpMXwrPl-8eOIT_enSmqoW860ve3y-2He7Dsf80i6qh8DsWBAAX4AaFa6Xqnk_mRuOv_6TLgLiXDmPTrv4WyZmWs2B_smAKM5TIviTdtbcA7SYAcxWUl_BYui7V3dUq8EkhrflLJHPF8grHZUIE1jpHLEXFsDIa7kDianlS9bBjf0rTwB8TCherGyfGYjZDjT5IA-V48icDqnq-ZNS-L9VpFqzknS6CPF4C0reQVRyNu9hxiOnevAP37XELFiYPOeCzxgjZKtgSTBH1Hc8I4tWgzXnHhfgptvZxaCDr0ZBLPqq6Un1WReyilPcNDNOtmdyCmiJmBeG3TSpxlfTHU7zIA_UEbPKLsbYfYTZGCy1SFcYxbI5c-nu8s6Fcs7CbmANmVAHwYkYeC0NxpZPZiOl39O85cq_e4gizQpYSLN6-zOUl71MEg6IvEicMcHWI1PfAgUdet-zYa_vrHOuX8ToxhxB_glw-niRbKrLzoE5RX1Czf31zbVQNYBvkc9UeOMFmor6nEQafXCueMEB7qVySmNJBEZBt9iC7XbwFav6lZOQc9jUCkxzvvQqwIap8nsfSnLSoV55Bzk4l2uQAZleen5wCWjc7WXOWI3wlNAEJaJz8UovivUFy7LPFqSHXYajfjDuuZwP_G1UK4os5MeXVXhuQFDwWqconDNg60uy7e4Yyp4_jKI7rdeD20dIMYQuQnlApq8XwicqnM6UKiEh95mGfQYCXayBW4HcG3p3652bgc6waEICb64S9EY8-2VDsMd39_jaGhOADlsQMqJ6R0no_q5_cw1VvdGRd_e2tOhuf0F9UZ3Hvw109SQWMzxLndo5r9fPTg6uvXcC3tCFbVnQgz8eZlWFgY3hm6SOE79I28O2glRx1yipwBHgE7ZJUlFJ6h1xhRrdgLS__qVZitcf60cDaJXzF0MJsgMPdBXrz_Uwq2cGqy-tm-skk9-kdsjjp3g1qRsJX2sg9MlxUuTQvgQuiREZgBSotyNhYbDvbDnXpCbbK3dLwXqF7NRLEDassVMJ_BcqpzyBfYq8Y-jUXeB2smin3ZFRhKebHy_PreHFwb8kXBziZVe4WUpkgOpHpLH-XPTb1dleiUkgJFvrWK7QQeSzI4EegiKfKZrbgoR-oXbi7Cd57DdNHivN4J1VyDpxQVF-vcAtHg8C_Q3l9VZ0u0zyiigNMLoR-d1Pm2L5UBv3QeHaiCndQdPiZ2xSpB9eLlPeIK6TI8fv2SDzCxtMz6CW8n4z-7VuCCKY8H2xhQwkmARZm71xvytCAE4zF94LqMag8b0zeXLtNh49thpD9I4tgzyi0EFywVR1bNYZk5NcpcxynrRyvtgaUBtcijpKhuhjYVAE8Ztk37xSWTW_GOsHAGGd3fdruSd02NdC42pkQPtk3TMfnZS6HKKvZu25eamppIJelMxXK2ih4-ToBZK-KoO__R5gsvZhkBSkyMxHVWPF-yeLiUHuktN2SjX58yMQpT4y_QkGMY8C3GWFqoNaioW9DqstmyXo5EeFZYvgJGCjFUmtNc3yZ4CqCi3oNWSAAJfcm6opqqEXJiebq2pnoOtg7KHjKOx8l5yHvC_WzShgmRsNO43k-6D89Hcy6G5rNoV-A_pICdO6OECCmMs5D3K2rF_Xu9_7Dno7R8txhh9BTGvZxgIPq-MfDtPcTcx9aqrsmD1-pU-nwoCxAi9EzZxye6D0ffLOPUI9gw93XRuUXdDEBIj3ykl0i2SzKc0MITUihxqCK2zGmQgf7grpRSUFztxqswjgrfpvK-057OZu7NfB8RRyD-ltwvnSbWhgXfnBrurbvh0IkgdL6H8z6VYzNLqRSA2HXkKVk3-ziRQNvR2YQumxbv3xYUXU0q_-eGPsrF6kFGIQ7DR33VMBqgKAm0aQ-XNKoWMwOci5g7FJ0Latc1rLUIaUPpIfC9sWJ_WXQRuty16P8p96o2rbk9wOEhgcQHVM6oLEkUvRkvqriG9ISAVaB_avb709PXWLlsV5iwDmWz0jl3DAHQ0mjV3LsJ8LVDywSpWCMfOxOio051T5i1Tbqat_lN6jLBKj2PjBrG8R-xYaoS9catJFoQOG4UYfWtmHPQ1j7Pip7jLuhPfUrMUAqxjkG2YseE7TsFbzWcVpXcXmZkCn8rL3c5AQaPqlyrA6EYaORpL60P7jTaGswZKWWAFU_vlQ0lijpYNY6bb0weZg=",
  "id": "rs_0f22ad7b96695d7e016ab427d7924087d0a5e026e5d4a73014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":0.025,\"left_z\":0.14},\"note\":\"The left arm has lifted clear. The bowl’s rim appears wider than the gripper’s opening, so I’ll approach one side of the bowl instead of trying to enclose its full diameter.\"}",
  "call_id": "call_UiPyQR6IUFdWRPOSpH3Ako3S",
  "id": "fc_0f22ad7b96695d7e016ab427d94a4c87d08c0826760ff8ab19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UiPyQR6IUFdWRPOSpH3Ako3S",
  "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]: [0.0235, 1.4132, 0.973, -0.4191, -0.0704, -0.0216, 0.9958, 0.036, 1.216, 0.9684, -0.9379, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=0.0251 left_z=0.1362 left_yaw=0.0839 left_pitch=-0.2889 left_roll=0.0465 left_gripper=0.9958 right_x=0.2731 right_y=0.002 right_z=0.1295 right_yaw=0.1784 right_pitch=-0.6342 right_roll=-0.2188 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.0667, 6.8171, 1.7705, 0.1001, 0.1978, -0.0171, -0.3624, -4.6291, 6.4068, 1.1551, -0.0611, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664231bd63239dd981bf2b3c442d165e4c10b14fb4b0dff64fa8c2bc76846d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f684fe1253e0161ad4f97b40443391399c5972946a506d50ec7e25e723de29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ce04de735e099cb19c509338ddde99b113bf2bce64dc8f9dcf4aed66806a1",
      "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 25 attempt 0 · /responses · status 200 · 3.37 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6085, 0.9424, -0.1795, -0.1532, -0.0929, 0.9957, 0.0391, 1.2675, 1.0767, -0.9916, 0.0685, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.0081 left_z=0.0887 left_yaw=0.0806 left_pitch=-0.2655 left_roll=0.06 left_gripper=0.9957 right_x=0.2864 right_y=0.0027 right_z=0.1486 right_yaw=0.1773 right_pitch=-0.6316 right_roll=-0.2231 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -7.5009, 9.306, 1.5849, -0.0073, 0.188, -0.0024, -0.1709, -5.4496, 6.3658, 1.1306, -0.1001, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3828, 1.3495, 1.0332, -0.5617, -0.3134, -0.2909, 0.9958, 0.036, 1.2343, 1.0012, -0.952, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3609 left_y=-0.0828 left_z=0.1673 left_yaw=0.0373 left_pitch=-0.2539 left_roll=0.0516 left_gripper=0.9958 right_x=0.2778 right_y=0.0021 right_z=0.1349 right_yaw=0.1784 right_pitch=-0.6339 right_roll=-0.2189 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -6.8718, 9.2923, 1.3553, -0.3394, -0.2173, -0.0073, -0.4308, -4.8068, 6.694, 1.1844, -0.0806, -0.0611, -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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0235, 1.4132, 0.973, -0.4191, -0.0704, -0.0216, 0.9958, 0.036, 1.216, 0.9684, -0.9379, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=0.0251 left_z=0.1362 left_yaw=0.0839 left_pitch=-0.2889 left_roll=0.0465 left_gripper=0.9958 right_x=0.2731 right_y=0.002 right_z=0.1295 right_yaw=0.1784 right_pitch=-0.6342 right_roll=-0.2188 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.0667, 6.8171, 1.7705, 0.1001, 0.1978, -0.0171, -0.3624, -4.6291, 6.4068, 1.1551, -0.0611, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664231bd63239dd981bf2b3c442d165e4c10b14fb4b0dff64fa8c2bc76846d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f684fe1253e0161ad4f97b40443391399c5972946a506d50ec7e25e723de29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ce04de735e099cb19c509338ddde99b113bf2bce64dc8f9dcf4aed66806a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfdFP_k-4R8aQGb3GAs_7G2uFIEspIkbfnzoLLjpViLOfs2jxOK-op5YzJAwf--KmNbwFeBk4pb1gqSe7NRuaSvMLzBfu5xZcWDy-pmHdDeUnVZmfwBpI-u5n8CBtgc4hypfKmDMunIL9D7PY9iwb6m4j-xJXEJs4WwJXbGi-_1_7E3htgGQ0d6IGhKTtLJ8VkRmVcOFQ6hV4-ylWSxZyugD1685YUQmB09s1u3eYIYlV0xZBo9LImcedXxx6vp7DTMMpspbDTwg4UlpOEKh5eajbpFySOEDCqdcule7dbbLN2N3JvyMaB0Oe1i3aatwHHpqZDvY5Q8QB1-wjgCmxVkmRIPOl9No3ZkCnZfhCcnui4eZSCaIxEuelA3ynJyZeDVNEjB1Gm4Mu8Iuu9DOBJxSxMp9Nuz1A07cZ-1HAk7gTJgAn2QnTaHZ1_I0Z4d9cS3wWWfN5ywL8TJbgWCYkHiWXFCZ-bB1jNQvxRWJPxJcflM8WTNhLH2HNILXmkXRSn805qk176SBqCgfjx9dtAcz6BJPI5DopGZI-sLCjGaHwzj-d9TQX8U_UdrN-rYNb1Z9ptKiDu7QLuedbWF9XVpDgQoSWssl6OonLi2HnJ37_5W1b_3CgVEUd5F_xDXRXTWQ_asQjg2hr_u07vyXKw2SkWGjbGBOqeMsa1G9om3Sg_ZNbrLITazACnJO4UuHa0Skn3HYTllEAgoBcWHRCgFypGfH3SELskwbizP2PmqEveD9jtv_L_qqzw49W1SYDO5TUEwSMLPbVHXPuyEUihJmLuoanNmlJb8DT2HICgWlR3gcxJLasmGpzGyyGqGbMQ6k8IEmEUObZbdUFgxXWAyBXOsZkDHl3Mk-ETtDOrmPuBAXsoxYDPQHvRtoXNqWuKr1EnMK8oAtr_vFjwr1E7tT2KtysI4mHaOTrJ9wqP6GA5n7Y-n3tQ6h-5ZP7jQhkfvLvY-VFCJQHe87yDHsYWFsANBMn35uZ1y8clIX69wLv-s8Dt4BbE7g8aAWoceIw3qGaYky1GA0__OYE_ydREjtomFkUZlfJwhI-Eyec8AJX8c2-aRgdAsgcg79p1D5b5Yk6DJOEPTaIyTr3L62as6yUzVfRH4HcrXk5fEnJPNxoyhWtV15F9FaB30QBJnurY92zADmpSXBT2bd6Zkd4S9FkXs_-hJOxELx_PLqJoTqNnD7Yu-pTlNR1IXiyCfDcVJKygVMG87IlYdLua4mKCD733OKdQnVHOc7LuJl5GQ2gtIa_tLV-ouB730T9ZvZTTCIOXx-kdzcR53Wa3p38UgJwGn3ok8DsjbLhWbn5I_4GRtwZRi_xXA2UI7QgprcsstvF33buFrMQjDjhcdV0I1Du10aGDNVEHW0DjuSNnAx6pzAaTxMiAJovwuojU4RKLHnD1dxHXLYrbveLQB8ig07SxGzx2Oa3WgV8b2uBmWAyB-YHoEWTn-LGZZqbMIx5mbSAoo0P-70_-aaoAED-uRBlKwXaKHhdUrvQVfyWTgckHujviQoCt86LebOii7yno7K3dptjRKHyiCuVM1iyEm5CekQuT_LaryY8Sqtq2ZoI3G9N8uiVg7dgcR1mXJ6kO5nvB_dAgSA7lhkHUfPnuUkcVns9Ufz5EiFfvX-GkyTSjgPTBDeKJQkCVJf__IQtM9",
  "id": "rs_0f22ad7b96695d7e016ab427dc1d1c87d08eb8626ddec28ad7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":0.025,\"left_z\":0.07},\"note\":\"In the left wrist view, the bowl’s left rim now falls near the jaw center while most of the bowl lies to the right. I’ll lower at this off-center pose to try to pinch just its side.\"}",
  "call_id": "call_u8hySKKQ9kdhqRU9P9PLEkRk",
  "id": "fc_0f22ad7b96695d7e016ab427dd13a087d08c0a8d20f7561850",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8hySKKQ9kdhqRU9P9PLEkRk",
  "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]: [0.0212, 1.5318, 0.8154, -0.2127, -0.0605, -0.0196, 0.9958, 0.036, 1.1965, 0.9348, -0.9165, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.381 left_y=0.0223 left_z=0.0629 left_yaw=0.073 left_pitch=-0.359 left_roll=0.0437 left_gripper=0.9958 right_x=0.27 right_y=0.0018 right_z=0.1248 right_yaw=0.1777 right_pitch=-0.6271 right_roll=-0.2201 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -6.2017, 6.4752, 1.6239, -0.1929, -0.0757, -0.0122, -0.5128, -4.588, 6.7214, 1.1502, -0.0806, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d3d0653bf17883daedc52d37b099397b5920375413be0b709408319e0ccd80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd67f7a133d147dc08b36f428ebc52ea977ab44e6acbec51a06836df6140b079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f90779eb69665ddb154eb0e00e256655b0f4d6aaf5082ac8fb1920c82ac30c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.401 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0914, 1.6104, 0.9463, -0.1776, -0.1532, -0.0929, 0.9957, 0.038, 1.2579, 1.0451, -0.9791, 0.0654, -0.342, 0.9966]\nstate[eef_state]: left_x=0.4244 left_y=-0.0082 left_z=0.0897 left_yaw=0.0804 left_pitch=-0.2618 left_roll=0.0593 left_gripper=0.9957 right_x=0.282 right_y=0.0027 right_z=0.1413 right_yaw=0.1806 right_pitch=-0.6407 right_roll=-0.2181 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.665, 9.0462, 1.5214, -0.0073, 0.232, -0.0073, -0.4308, -5.5043, 6.3932, 1.1648, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0235, 1.4132, 0.973, -0.4191, -0.0704, -0.0216, 0.9958, 0.036, 1.216, 0.9684, -0.9379, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=0.0251 left_z=0.1362 left_yaw=0.0839 left_pitch=-0.2889 left_roll=0.0465 left_gripper=0.9958 right_x=0.2731 right_y=0.002 right_z=0.1295 right_yaw=0.1784 right_pitch=-0.6342 right_roll=-0.2188 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.0667, 6.8171, 1.7705, 0.1001, 0.1978, -0.0171, -0.3624, -4.6291, 6.4068, 1.1551, -0.0611, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0212, 1.5318, 0.8154, -0.2127, -0.0605, -0.0196, 0.9958, 0.036, 1.1965, 0.9348, -0.9165, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.381 left_y=0.0223 left_z=0.0629 left_yaw=0.073 left_pitch=-0.359 left_roll=0.0437 left_gripper=0.9958 right_x=0.27 right_y=0.0018 right_z=0.1248 right_yaw=0.1777 right_pitch=-0.6271 right_roll=-0.2201 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -6.2017, 6.4752, 1.6239, -0.1929, -0.0757, -0.0122, -0.5128, -4.588, 6.7214, 1.1502, -0.0806, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d3d0653bf17883daedc52d37b099397b5920375413be0b709408319e0ccd80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd67f7a133d147dc08b36f428ebc52ea977ab44e6acbec51a06836df6140b079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f90779eb69665ddb154eb0e00e256655b0f4d6aaf5082ac8fb1920c82ac30c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfhefNQpV9KVH9YIoksSxmDYNbK--f1x3JN4eCHHVjHxcdp6mCiIoiCwBE8G1126_YWu5SrCJHGKO00lqYyseJKmXjMATavoESK_GKvEWf2rj5w42olKFaKmpoJ7X9_THgucXCJcIKSeWLXgoVu7sX_b8EVrUG_p1eC7FNzUoIfeOhlazONEMMYPID1s2eRGR6hMAnD1qZ7jTSYhqPwb8gtZly78vN3yvdp1ZlMrA8-qfCJ6zH6ku8uo2JDb2WjjHCLxoBB5CAvstEUnqnpxkSTVYXQEsjE35SpjkyF81BG3FB-_s7WWGB4essuew8VjJbI1yEjhSEdDSdqPvsUtQuWddXa4GcLMWWRbf-GXCwVyx7WODcTkI4W-4KG_FqRYd4_CwcaZtLfyb-7nw0JdoQLUxTbUIyj5LF7X08S-re_pkTMgbENlmNwWMosUE-n4bViaM-012owpDH2I8o5kjyIrYR9W1wwvxcBTEuyGYs84UP8nXYWeBRVCJ_Nz7Jxf2Lbiv_kZeSRrWQVBq9HJD1lW3YO7K_3w6chGgBs4VKXd6cocpk-qXl9yAj14o3xlqfXDNR85ryxlFm_kLpjmEzJK5thAW5FZWPoeeqBUhxOq-ngXxvcC654jedPDgWLI4v4VMA3APeHfYTbMOM-C4m1Gh2jDpeST3htwOxF_gkxOYbvTyMkq0wDzZsOJCaqVyockACvH9rinvYP0fVuUt7BUr8zVFvlCh0ujxM0rPl6spq03mKDSmh8ucjzH0F2qQRs1kN5mWjEdF5I5_hMUr048hxIKRxeYnYkrvDQOCrAPDhzrcj69MRCycxymI1-IQTF0sL-ByPeAtjitZpJVtFNKGHyOvB7PFhmzYU_IRr6BHSqWcEKaynVfiBi0xC2qqbWGlVJozYKDl8_j1phEeP2E43wGOwiQpsIRB-8gqB6wNeN3J5Om080URjfHdRyagBJxfGxah05b3G_cLPXWWtxRNTunVGm8ve0jbfWO_A7niXiQ8Wannw1L8X9HUoOf5JY5-_sWNpu28gSitzgQRXmquzWeuHu9Kkc4-elHfCIPCGnHcZ_dW-VmkhXnAPA6rQCnk4NfbH3lRxY3bX4sc4t_BTwRBWJLsHywBQaqL4EOf7XLvaiXBK4UhdqbQHcOkpUx80Z00QRB8n26gmIAWseXcIErX-8C4-S8P7Ctv2FxEgeA_fdR_xr_7QTva3Z38hhhkt7ScWPv5V9nqpmNL0-5GVEeF5SHBmWLQTa5TNFbbXiA5-1aKPgWwEuuhbXnByuJ8IZ342LH1aNj5Qh1gPte53i9JIxFKcywwZjpKVUHcveXOo-IJ4wW1mqeQtDaAtAVD9d0b7gMq8wTCIHBRcyzNX9HX_WsbBaN4PrvGF-8ekDk99O1OQGjoconh5K9RVvjLqNZpDnitohqQNcBklak-jGpm7EodQmdyFKcSZDQDTJDYiVC_wmUZ9vMqbm4OfVeMRuZJDsGmm9Vh-qsDqiIsvFHacog1pTZpcFM3jsn_M8xmdTtwXNgUHpTkkBLWLPh_hYPcvEg4mFN2pLigg11-s1Asx0CXuq0ITSkNz_gekYBFpipikLutWITWrus4Yic0utAqr6sVSwKsmkfzivUuj38K7TzvuIpII-bNCf8D8=",
  "id": "rs_0f22ad7b96695d7e016ab427df75c487d0810d6ee9d91950c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.048,\"left_x\":0.395,\"left_z\":0.065},\"note\":\"At the lower height, the bowl’s rim is still just left of where the jaws meet, so closing would likely miss again. I’ll shift slightly farther toward the bowl’s outside edge before gripping.\"}",
  "call_id": "call_FK0bqYQBiwOCVR3YLSjEwxCZ",
  "id": "fc_0f22ad7b96695d7e016ab427e0f02c87d08959eb7e432949eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FK0bqYQBiwOCVR3YLSjEwxCZ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.094, 1.5745, 0.844, -0.205, -0.0319, 0.012, 0.9957, 0.036, 1.1858, 0.907, -0.9081, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3873 left_y=0.0458 left_z=0.0588 left_yaw=0.102 left_pitch=-0.3671 left_roll=0.0396 left_gripper=0.9957 right_x=0.2652 right_y=0.0017 right_z=0.1186 right_yaw=0.1786 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.0513, 8.7726, 1.2772, 0.1587, 0.1441, -0.0122, -0.3624, -4.6701, 6.8581, 1.1795, -0.0659, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc409da21df003bb77a7d66b64e3ab31a6da5cac984ce5d7f7db3bb06f8b8757",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbee4af119eb805fb0428ed2e0e436edd0a5a722f3778aaa0d70bfece493ce47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b7b2eda7b45922888fa654dd1c38dd053b7abdf1278c0e4531765c13ea8cb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.645 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3828, 1.3495, 1.0332, -0.5617, -0.3134, -0.2909, 0.9958, 0.036, 1.2343, 1.0012, -0.952, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3609 left_y=-0.0828 left_z=0.1673 left_yaw=0.0373 left_pitch=-0.2539 left_roll=0.0516 left_gripper=0.9958 right_x=0.2778 right_y=0.0021 right_z=0.1349 right_yaw=0.1784 right_pitch=-0.6339 right_roll=-0.2189 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -6.8718, 9.2923, 1.3553, -0.3394, -0.2173, -0.0073, -0.4308, -4.8068, 6.694, 1.1844, -0.0806, -0.0611, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0212, 1.5318, 0.8154, -0.2127, -0.0605, -0.0196, 0.9958, 0.036, 1.1965, 0.9348, -0.9165, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.381 left_y=0.0223 left_z=0.0629 left_yaw=0.073 left_pitch=-0.359 left_roll=0.0437 left_gripper=0.9958 right_x=0.27 right_y=0.0018 right_z=0.1248 right_yaw=0.1777 right_pitch=-0.6271 right_roll=-0.2201 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -6.2017, 6.4752, 1.6239, -0.1929, -0.0757, -0.0122, -0.5128, -4.588, 6.7214, 1.1502, -0.0806, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.094, 1.5745, 0.844, -0.205, -0.0319, 0.012, 0.9957, 0.036, 1.1858, 0.907, -0.9081, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3873 left_y=0.0458 left_z=0.0588 left_yaw=0.102 left_pitch=-0.3671 left_roll=0.0396 left_gripper=0.9957 right_x=0.2652 right_y=0.0017 right_z=0.1186 right_yaw=0.1786 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.0513, 8.7726, 1.2772, 0.1587, 0.1441, -0.0122, -0.3624, -4.6701, 6.8581, 1.1795, -0.0659, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc409da21df003bb77a7d66b64e3ab31a6da5cac984ce5d7f7db3bb06f8b8757",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbee4af119eb805fb0428ed2e0e436edd0a5a722f3778aaa0d70bfece493ce47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b7b2eda7b45922888fa654dd1c38dd053b7abdf1278c0e4531765c13ea8cb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfkj6afFztysR_BDqqHD6wI8CpsrZ3HbV0OLpZ2MAcJSao_1eKla0bhHfEC4HVQQaDjHjp7500F32gVewwXW5QkScEZdFWhoSTVQPwYMYXUtyBKGjt6p3w5pjzJv12KAS4bHwBI_fe300tU3DCR4lhNQK_mXpfkimwhnjD4zItiEkJRvstSZXYsRKoncm-fsU6i8en1dak1HXPp_G1pOrImw11XviWKOLv1hbm06MRITcbRRxywDgNa5M-EDEJ3Ad3Ct1CkxE2Cj9i-S5qt3ETi-J9PZnktWiZ1qqhx1ZBDpfm3gt9Lk4r5X4Gxb0sBkSVpIZmvCZCt5yeYkb8IZjlbxX7_d4FL_ansnRdCmQQelYChr04NLgErDZ9iakfvIfot5C8MLxaky_d0DRaT7dVddT470Qia1HhaE-dqfsWtcLdMI2K2LEWy3QuMF5cWnedx0BmZWQ6OivtWfdymEuuxt1L5CLt0c0aOA5mlpNHig_YVU9s_Yjlz8f1nvWIhjhHj2uPcl8a2WCVVTxNL4rint2QpSwdhTuvWjP2OjHPTFd3m-_LjNh1K7PUN8WJG9UURyaoEVbeHQKlxhFmiORpl9b9JORjdxfkEHYBJkzpyMuRmkv6wkLsiDKExH4QfTDNG8JIVc3FoWzzUdAvRL6scEQtBQv96AvnXYKnkPg-M2dNA_Im7xuERzerQIZknSofbro7m9AHNco6tSSN1QX56vVt5F44Znv_d4p2J2msCUXa7-dsc57OmIdeH4IT_iWWWhOR3AAHr3nDubFJlKgrRD3TABEAoOXUxH-PliaVmMe_DOlC3PpVtiIvPHU4GBXXWoQBWosjtFIZIJ3lwuhSRu4UEzt1Bj3PHc93SKmDNku_DIFG_MJkxDMAFUVVBI5vZGUReEpjcayrCcXVKtowJ4qVYpXPuRruLPmT985GY1YNkd1khHK_K0rJ6u96OZ-ZZJarM9XA9GhLgV72HUV_EZcq55q-4lhZ0sDXAiFxo6bxwZJjD77lRduHfvERtvjiqfqHj5RMo91UcqNz87OwOOD2tbruajqpl-t2DSkjSo0JnJHInf8-FyPzVIJcx824ziugwYHA9OsBPl2DgrXfYVV4PIl46_ms0BJ2XhazwTqwxu7vnZh9R_isZh9IP9gzohe9App6PwF0GqEWKKIRCBM2xCkB5SgvBJF08BLsNzkCV1Eo5R0zMPFMlpUQeg_54JEm1twYWxqvgl_XNB0fjb7UmrWQd6a1F5sD43bM4Bjw0d66H38nPVtKYg-p4KTNxRQvvJT-vvYVvqgy7oQrSTiim0J9xx6Pqght57BPiRonzccKG-YL5NbfxuzK3fyHdB_0J0s4jwX4S3UAKEUo_C7O06N2hOlOel6IkTht0YOXlBuhFnZzBRbTneQBghkAo94mlXBXicNR5YvEejtdI5ttaUIaPmNqsnzsgd-_uUjFDWKC7ttinzPLt79yfqhgab8-uDHYyMq-xtTidbGXJ--T52PU8c_oO5UvSzLcFP7L_Jd-I9mnm_l0WC6Io3_TNi6eVV4wCQwLtfjdF3vHKcg==",
  "id": "rs_0f22ad7b96695d7e016ab427e2d95c87d0ba5b8b9ef50bdabd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left rim now lines up closely with the jaw center, with one jaw outside the bowl and the other over its interior. I’ll close to pinch that single wall and check the settled opening.\"}",
  "call_id": "call_ZBeZFR3cW2FYc767EAm4E3ny",
  "id": "fc_0f22ad7b96695d7e016ab427e380fc87d0b914877e1660cb6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBeZFR3cW2FYc767EAm4E3ny",
  "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]: [0.0944, 1.586, 0.8486, -0.2211, -0.0265, 0.0074, 0.0089, 0.0341, 1.1687, 0.8745, -0.889, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.385 left_y=0.0448 left_z=0.0539 left_yaw=0.1002 left_pitch=-0.3899 left_roll=0.0322 left_gripper=0.0089 right_x=0.2617 right_y=0.001 right_z=0.1134 right_yaw=0.1763 right_pitch=-0.632 right_roll=-0.2192 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -7.8701, 5.7231, 1.5165, -0.105, 0.0317, 0.569, -0.4444, -4.6974, 6.3111, 1.1648, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7214d6d578d6d4479f14580dc73765aed29a028a55e9c54ea99df8e52ff7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d58fc8e4fa8a3885de0489966e637dcc836ce66ad886ac9c097f5a932512d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4eb1fb3a3acb4690381fabc85075bf99530f54f89da4bf3aca0ce7ca232118",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.898 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0235, 1.4132, 0.973, -0.4191, -0.0704, -0.0216, 0.9958, 0.036, 1.216, 0.9684, -0.9379, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3862 left_y=0.0251 left_z=0.1362 left_yaw=0.0839 left_pitch=-0.2889 left_roll=0.0465 left_gripper=0.9958 right_x=0.2731 right_y=0.002 right_z=0.1295 right_yaw=0.1784 right_pitch=-0.6342 right_roll=-0.2188 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.0667, 6.8171, 1.7705, 0.1001, 0.1978, -0.0171, -0.3624, -4.6291, 6.4068, 1.1551, -0.0611, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.094, 1.5745, 0.844, -0.205, -0.0319, 0.012, 0.9957, 0.036, 1.1858, 0.907, -0.9081, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3873 left_y=0.0458 left_z=0.0588 left_yaw=0.102 left_pitch=-0.3671 left_roll=0.0396 left_gripper=0.9957 right_x=0.2652 right_y=0.0017 right_z=0.1186 right_yaw=0.1786 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.0513, 8.7726, 1.2772, 0.1587, 0.1441, -0.0122, -0.3624, -4.6701, 6.8581, 1.1795, -0.0659, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0944, 1.586, 0.8486, -0.2211, -0.0265, 0.0074, 0.0089, 0.0341, 1.1687, 0.8745, -0.889, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.385 left_y=0.0448 left_z=0.0539 left_yaw=0.1002 left_pitch=-0.3899 left_roll=0.0322 left_gripper=0.0089 right_x=0.2617 right_y=0.001 right_z=0.1134 right_yaw=0.1763 right_pitch=-0.632 right_roll=-0.2192 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -7.8701, 5.7231, 1.5165, -0.105, 0.0317, 0.569, -0.4444, -4.6974, 6.3111, 1.1648, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7214d6d578d6d4479f14580dc73765aed29a028a55e9c54ea99df8e52ff7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d58fc8e4fa8a3885de0489966e637dcc836ce66ad886ac9c097f5a932512d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4eb1fb3a3acb4690381fabc85075bf99530f54f89da4bf3aca0ce7ca232118",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfpXhE-apURQUyRxdbyDeCCUjIRjyJ5ym14ZmbTV5rGK3Mcr5NLcYw60WR7OIy2T_3koTKXXf6izbvE75BCNnlbyM6cWsUKvZsxEBS5XuLMCGSMLgRF-yag6cBbkoGyr95QO722soMmHiUa0-0be7L37JWj8ZL8Ut6AJKhMs1rrt3QZ6hbVglr5dM13-utn0mTnOeCkgqAVD0qWFOzttZp7qFqzLhW5dLVyKNMJ-fv8gFE44XaoUdSqMD0kZY1wSRJ-vJ900eMCZ5u5I6rOoaSpRe-9MeH8n4kZZw_hHFY-zPKspxqoWX9a7sSn0JFSUtBQ4nFNvsRlNPDmD8qpawOhdzjbfPAE64HXcKDx1g2bBiu8UZKTi_Gt3vYxq7g32f2vQFr0BwihhoAJo1MfZXUXad5CK0CiQjapGZ8VwogquHnbO-BS4Q7DCuPscmv_2zxq6_uI68-WELzWD25jt461KuVm96aBxNZLQbmxKnZs94yisdqRAxjePrQSKt93Al2jyMIpnNhk4pNQvAyRnVF7zMiiPK2ekfXUhKwAy6YP3g8y4ky3-SQBBt4R3s1XUN1x0hvnP2YGSms089fIBJElh-m7BjeajtgEDA0WKvXW32q1fNmtmhk0oB8tS21A_1SU6UKYNc0Jj6TY85NssGx2BtdAh63meXwbOPWe7O1k_OfgnJdbH1hQIfjl7zMTyIad7fvniNjhHE1fz125zx5qJfUN67MGgHSz_ovsIWucUqyx-72awHpmug4Xihy_bfFD87XGlWMw0oLnMY_QaY8RdCSov-BpmbEggCK6RKwIiOAb9KCRh-QjHy4a6dvDS-Cv3grk0M_NvSAuaapv1SDY0W0fGdBLzzK8dgwdPHG4A8gvNcRPkqd0DcsENY089SPNckOSbpIwt7NiczfYNjXi0VYWE7N4DGLgM2uoqOvv4nmBn8DbsPcEEN2o42z385_ppquq_Zdlk4VOAVbp7JH0Mn5yH_27f1mrVAoLZnKRlXO371vcrk3pfqoTnUgcHFJzzaWBqZjutInHhAuXJdSjyRYm0nGFcrGTjJNUSEZoLf_532vgyjbxUUnwzc78coetl6dErRXIq-fumK5Td-cK6gH-dvQ0Sj7Wnpn2cj4oJ2uVKxa8s790x7_4exuvO1FjDEUVKgeVYWKFHY8-mLXsfudwbvKWUHKTPxbWAZRcfzYturKlSnX8AclhTOH21Oc6UIpttd8938GAfpGwjnOI5O52ZSedgfbiXzu4Sb9TtevOUjS6Lqfm-DpCINjEBR75f8_bAYmlslNCidMaFEG_wLNYH5cYpYaD9Eh0dAzcfW0Il6ouAN4_Mtw-7OLPFAMd8aIGjqx-l_PVQoswQBCIMGjqsQdB8CSWeQ9K3eZsOWHey-KDDJQVFc5-JVvWyjAR0IYBCNlCSt96d7RTyOJ6fHG2KgB4GVIpkyXfu0FgjDvQlIkv49s2ui9XKYvdO1kMQPiUKMp83oFsiWQn41M0vZz5xZLGv4Knc32Ok4xaUxU82OfclKBJIypmUqLndyTD933zrN1cG-BzthRQMC0RFGR1RofXy302RsqKmMaC_DhT8qQo9GS0l_SUA0MCEeNr6JiLWrAJrXeCpr6241LNH1Gu-8267K8yc6g-JBHMulyCGMlkPKruNFApoucHojP7RkGILyA5MQ5ZRvAZiTAOT1_U-EYwFdzYeAtECar9radq0BB41FgN4oGP4GQbDmEr7WBCdZaTjSFQfiOfFXi5Ilm1zW8Y45sUggPEqGYLlMpGCUR3_YmG_WOxsYliUmyV3WKsONiobttwoRIGF273ydZSMK734RR03Shf5dzsjz-nO2cZggYqQRsvWCot2k8mFvMRuavsgssgI-aNbiWw6tDVtCrNJsI3Aapm5-kQHa-9aLaMwUJYUj_qWPsVYp42rYKulWMpd9dRSWiMY18zFgdUAPS0s05ijnjm0OrU7O4f63WBKDE8hDlNqD5qOzFEfCjKxwucvZcCWtJAabKRJTXRFoxfZMKWZvujvyMaIcRJlJ3ZLYZsXb_hadqkUk7s-Dj4aiPhEHi9uarbTTww7xn5MfGijAYOTzTh8kGGqu3C-Db_d_rfb9GkoE6bB9ulztcwz0TGC7u0LDBflRhCEMNukboguf0reNVlOcgiaTAjxWuNwX0cmhSxIZyarSUtgkM5XZaf_tKaDqlm5luRwkI8YySuB49VovE1ZPA8obHhVieKOuCVvo6oBmC2FKdcsQ5MKVYYpgOHJ2i4kz3ZZMMLMm4hEptU6lffrTOyurf1Z-ClpLrqAxTLByKt8e04fjEE8F9gJ_AYr-jA-8gptygvVJNymBE-Bdqu3Q-RlbPVGrhBOrUkIXomdXhjPVUsokpg_R8eTSY5Uqf0rcLud5WrLgcjcfcj4l9kZAhjHoGFEKCpdraC2LqPWg90C2t4rFipSXAxGeiacaHxPN3yoa0VsjHBAixjkGqZkMdfR_HE9-K8oFeU9KsqHFqb939QXH0k1sjC0BUctF9TrKilbQk1d38SpYShaJjUhWtPpVISeaizQdzjp7gQGrvzCoVfYtbejGzdX2pRgWPYWKUQ_tf48ZBflWf8ARE_9fvtLwz-eQA48W4Asz4HUW1DzHabb4A63QJVTmUL4RH6OwqyC8eYiK-swjjo3VbtDNtupIl1ZcCvSe88xTXqQynu4QX95XdP06YkeLb5MvuutuLtW_3z6dA3nitNtPXFKrCcFpzlwAhAetjSN5r7XYVAy8ntKFLJKdqdoYKq1y0OS8ltKA==",
  "id": "rs_0f22ad7b96695d7e016ab427e627a887d086d74dc23dde35bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_roll\":1.3,\"left_z\":0.12},\"note\":\"The left-side pinch also closed empty; the bowl’s wall is visible beside, not between, the fingertips. I’ll lift, reopen, and rotate the jaws so they can approach the thin rim from above and below instead of trying to enclose the bowl’s width.\"}",
  "call_id": "call_SbT7jntv8VTqwvcQRLOBqyC2",
  "id": "fc_0f22ad7b96695d7e016ab427e8c25087d0b87c3ebd45487d6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SbT7jntv8VTqwvcQRLOBqyC2",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2283, 1.5345, 0.7353, -0.0154, -0.7673, 0.8783, 0.9967, 0.0322, 1.1507, 0.8421, -0.8783, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.0415 left_z=0.0987 left_yaw=0.087 left_pitch=-0.4396 left_roll=1.2146 left_gripper=0.9967 right_x=0.2563 right_y=0.0004 right_z=0.1075 right_yaw=0.1747 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -8.1026, 6.3248, 1.5946, -0.4908, 0.1734, -0.0659, -0.253, -4.2325, 6.5983, 1.1306, -0.0708, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83075533863f702ab9ae0ecfd99b4dbe2eb2d5c519a14bb4cc88562f19510d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d195d2e7d2a2aa966ea795eeb80f5d469b40b642118004fd7954fe3c3743728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d283474660d814451d724312ccbd2c8c83189886462e08397bc7b48256004c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.85 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0212, 1.5318, 0.8154, -0.2127, -0.0605, -0.0196, 0.9958, 0.036, 1.1965, 0.9348, -0.9165, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.381 left_y=0.0223 left_z=0.0629 left_yaw=0.073 left_pitch=-0.359 left_roll=0.0437 left_gripper=0.9958 right_x=0.27 right_y=0.0018 right_z=0.1248 right_yaw=0.1777 right_pitch=-0.6271 right_roll=-0.2201 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -6.2017, 6.4752, 1.6239, -0.1929, -0.0757, -0.0122, -0.5128, -4.588, 6.7214, 1.1502, -0.0806, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0944, 1.586, 0.8486, -0.2211, -0.0265, 0.0074, 0.0089, 0.0341, 1.1687, 0.8745, -0.889, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.385 left_y=0.0448 left_z=0.0539 left_yaw=0.1002 left_pitch=-0.3899 left_roll=0.0322 left_gripper=0.0089 right_x=0.2617 right_y=0.001 right_z=0.1134 right_yaw=0.1763 right_pitch=-0.632 right_roll=-0.2192 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -7.8701, 5.7231, 1.5165, -0.105, 0.0317, 0.569, -0.4444, -4.6974, 6.3111, 1.1648, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2283, 1.5345, 0.7353, -0.0154, -0.7673, 0.8783, 0.9967, 0.0322, 1.1507, 0.8421, -0.8783, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.0415 left_z=0.0987 left_yaw=0.087 left_pitch=-0.4396 left_roll=1.2146 left_gripper=0.9967 right_x=0.2563 right_y=0.0004 right_z=0.1075 right_yaw=0.1747 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -8.1026, 6.3248, 1.5946, -0.4908, 0.1734, -0.0659, -0.253, -4.2325, 6.5983, 1.1306, -0.0708, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83075533863f702ab9ae0ecfd99b4dbe2eb2d5c519a14bb4cc88562f19510d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d195d2e7d2a2aa966ea795eeb80f5d469b40b642118004fd7954fe3c3743728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d283474660d814451d724312ccbd2c8c83189886462e08397bc7b48256004c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfuF6sXvVKDpHzeCNIqBC9ZEa7LyLwW0Jui4991Sq3MTkpTN3oC83YeH2yiUqZjhDadkoER878xssYxN3z-ilGKz_ZiMk0ujGAwTNzn4-YoCs5nwTMSxRBH-X4CC9QKQ7Hosam_FVvt_IVuEgrVFCDbOZSwn9k5xMOE9zwL5I8Jv2inDcTqU7KyhCo7a_rz45UIsS4cD1txnflDXi16_DoDjMyG8ignOYSA5TH92Y-JXsn60xZUuAJRTQ8Dyt_GLopIr7HHsJLWwML4tbrAWli1dVzOxOJcjD2HZNIKM3d9kn_-0yxfdEQ-SulWhUCJs2AB03Nb2E-8XdD80oN3qYCwcy-fbCa1vwlD1MBg6IvDDiJndFIBNC1HF4yRKa4O9ZEmCbyVZJabVivC3_0Na9enZw9EQRKHOY32QJJ3LGGND0en2qpJCfoXi3cwoYIKGyuAHZ_-tZmsQnlVlShLfEYDg6vRAPvrelx2zfUD-CojLRmYq7X4dlZWkioWKWcEJSIMx290rHIq665JrNUMReT-rABBZxy3-pJcH_RqU6zrlLoDYSApN-lyWw5YHYL6j7QsYaGxvgApGwuOOWayCnkRJXJVCJLXnwXeJi5TtEpZ4lboOUADKRsnj67GlJ__TPegMssyLW9O0rMD2cELG7o8olkfr8vu_y16Qjq90WZRgCj0FB9LLPCLVmYeikKI-u_f5Yj0BEqN5wjjjsXSWg2l_q44--gxLV8Wts_g2EedTxyzZKLmFc7TLXmt0n8tYnSFEjB9xNUcuhwD6cjdkiQ2HmsjUUDXX4I9t-1BUug3DLUt3wOMVlkY5C23WpVwBNp-9by7psj62IlQoJiSeucXZLwNvU_7tfBo164vgEslzSCS0FpjP9UsQxGl_ZKxTSJGv7BnLOZU_NS8gTlZHfIod74Hf--6HHd93FxLHdszO57wCWcAV6iylwNaRC61m4dThdYU92chYqoPM5AsFTFIKtyoHHP_KYtTePej7Hbn1J-G26WQZzIO4scbd8YvHydmTJJJYkLQz0wPGZtsfV70UPtRkbFJkdJcvII5sM2Qb1KLl27-aeJ5WQClEG02MLmHgNvTCZOkWI8ROx5gUjBq5s2nCA4IXfPGL0-uki0M1HkPwzppvloBVUlW8XkA3R08KsThjg0CyHQbu1lZys81u6T_PO4aeJSXTQ0xq5sWZ9yMl724fX21IfJASpVrKvfYOoBSerOeNmiO55SIYJ1cC0QPvkWbGJ-ARnGoiSWt-kH_hwKRrn-eTmQ9WRnYZyWSAPqy1WrtRoykRQa6aLlSH61k9AyzhcZLUFx4HNFkBUwbTHFIe6DImX8WzU9JZ8abdQbRYUUxp_MIhNbwI6hbPpALw_LdDxavNQwKPOssy0jqkcAnRk3BzImWOSNsgtUwJ4qMFNWeq3zRB9TqsnQIMibpZBiot2AAqOhrxMeOJaFxgKCNET2n4HK13K6UqMxVohxKZ9II1G9KTMk4UV-3aIgNcZ0j4JBRQuwbdWDU-SPdQmstJ_AnKbTTsbDeVh3y-x95yewjGUXfKSryrCNmSygtCm6o6eqS2AlWrdWZ3U1XOczJv_MpJsObuEZl60QBJ3nUd_eo6Jed96H6C6N9Ek6e2oM_7vtQIGjQRG6QaqFwhj2scdhHoF7RB-_1XZ9xFR5fWdatw6HrgIUSJh3hq_aDQGHSLXBu7YIB-zOJuhOtmt6pu-z3hKr8IOpWAUfXzLmDqiVMTN9SPzYDiGZ005kf5VUqsjgbGSH4Hu_IkFI=",
  "id": "rs_0f22ad7b96695d7e016ab427ec835887d09379d48df2353516",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_roll\":1.3},\"note\":\"With the jaws rotated, the bowl edge is visible beside the lower fingertip in the left wrist view. I’ll lower a few centimeters so the jaws can straddle that rim vertically.\"}",
  "call_id": "call_0r28WbnZz5LQ3qedN8ofJ1y6",
  "id": "fc_0f22ad7b96695d7e016ab427ed9db487d09137cfe1c24c3da8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0r28WbnZz5LQ3qedN8ofJ1y6",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.6192, 0.6479, 0.1658, -0.8101, 0.9615, 0.9972, 0.0303, 1.1294, 0.812, -0.8616, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3744 left_y=0.0458 left_z=0.0691 left_yaw=0.1085 left_pitch=-0.4638 left_roll=1.3076 left_gripper=0.9972 right_x=0.2528 right_y=-0.0002 right_z=0.1037 right_yaw=0.1718 right_pitch=-0.6278 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -6.4068, 5.9692, 1.4383, -0.188, 0.2418, 0.0415, -0.5538, -4.0684, 6.2838, 1.1795, -0.0562, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a43007251686c37eeff6e98b9fb7d3a462da756bdc256ad67a2b60999a18957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00b14fab29f9cc402f4fe3fafadd57c6a9eda44e0d6868f4ae239700d50e425",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2873b236619657c1a8c9cb8ab94f9692165dc505e78b0856703a3757b3c843e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 6.527 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.094, 1.5745, 0.844, -0.205, -0.0319, 0.012, 0.9957, 0.036, 1.1858, 0.907, -0.9081, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3873 left_y=0.0458 left_z=0.0588 left_yaw=0.102 left_pitch=-0.3671 left_roll=0.0396 left_gripper=0.9957 right_x=0.2652 right_y=0.0017 right_z=0.1186 right_yaw=0.1786 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.0513, 8.7726, 1.2772, 0.1587, 0.1441, -0.0122, -0.3624, -4.6701, 6.8581, 1.1795, -0.0659, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2283, 1.5345, 0.7353, -0.0154, -0.7673, 0.8783, 0.9967, 0.0322, 1.1507, 0.8421, -0.8783, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.0415 left_z=0.0987 left_yaw=0.087 left_pitch=-0.4396 left_roll=1.2146 left_gripper=0.9967 right_x=0.2563 right_y=0.0004 right_z=0.1075 right_yaw=0.1747 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -8.1026, 6.3248, 1.5946, -0.4908, 0.1734, -0.0659, -0.253, -4.2325, 6.5983, 1.1306, -0.0708, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.6192, 0.6479, 0.1658, -0.8101, 0.9615, 0.9972, 0.0303, 1.1294, 0.812, -0.8616, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3744 left_y=0.0458 left_z=0.0691 left_yaw=0.1085 left_pitch=-0.4638 left_roll=1.3076 left_gripper=0.9972 right_x=0.2528 right_y=-0.0002 right_z=0.1037 right_yaw=0.1718 right_pitch=-0.6278 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -6.4068, 5.9692, 1.4383, -0.188, 0.2418, 0.0415, -0.5538, -4.0684, 6.2838, 1.1795, -0.0562, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a43007251686c37eeff6e98b9fb7d3a462da756bdc256ad67a2b60999a18957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00b14fab29f9cc402f4fe3fafadd57c6a9eda44e0d6868f4ae239700d50e425",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2873b236619657c1a8c9cb8ab94f9692165dc505e78b0856703a3757b3c843e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfyhe81GwXYwYaGN70abCuXJjyW6SHTq5cOYluClz3BZJfGJJhzE0-p2BDHB_YiVeuAPNVv3GqLAU8ed-LbBxy_LlyYaUICxrXVqC_WMkSTNjzRug-zvblv5rmSqf0a4YG41nZDKw_1BQoPGs54HDFSJ8u5akxedz1nlXG-QnsLnEgMz23hMbciqZStStyNm1xj7-xmfYrtzcdIZqljIh9Kn3fb5V3YnU8yVgxgIx63VA1kUUl-lPycZafwMSLnAMVKYIj-YiMUSkFkDnZo6FtP7KJEy38qZzJeBv2w-LdyhpsGTr7U1_J38xWWMEsbqbxkg8ASpFA5haFNZffZtOyTgf-qRZdj8TNzPK0MpGZqIhvQRPYuVwexP3Uds-VW8KRAvjYd9QQiWHgT5Equr0y-ZWl9eSz26kOGfXh3HmWl-k7yOsI9nq-nnoP-y41M43NCJu3h6AVoMYm5aDYIU5lJ2sb2VBaORjwpZ-Ki_37WxeYvaLZ-_CjPEWwcRq3vu09UDz86r67SjYpvVy1QIv1_1Ik-2QP1t3HgXB4UtPwytaWkjQ06dPI2_VHAEMNQmO5ikSP3sf4cVFpAmBh_iz2yEkK-anlZJBEyUMYU8VAwrGpLe36tHiz7SItF3JLbVPE8PiF6QeTM3W4-qYeCjgQ3ZKu-VLeY8JVs631Bl9TVKt2QZObVsZgTgv55y1fOoXtgoxk6Um0mXCRwOr85e7esHzowZevSFVHDEaEPta9ugK_RDNzHI2VvDB-57A1c-taXX0vc5F-EwriF0-Vk8c0GNmZvZqkD5WH7CFMebjcl2uLBmZi_VtCnajB4YgmjXBoGzBtUI0IyUMvvW-WRwwziWcVegavV8OospdThPVjdBXMksRz8MY-dHT9owVyEyCB7TjXSwNozTkxRKtT4wdfsMMLYq6J8oYti9RqGQFAcnTuGsp7mF_g7nXUUm8ulrL1fa5uAfnHCmTnTN_qcszh2lcJxka6WMVbSpSz6hCuXSF2jbv3t_uY36jvfmK_sMo0DJxxZVL_eO9i_Jk-5xqFGowbK6ipCVc7AabMI3NI0oGPeGAM9rNhg_dXSZVtD7HmMKT4IPNKtK5YJFbvtw-W6C9lMdqhnUgR60sqoLRc3tzpJoBXEqk6IFWjJikJODS5AiB31KT5j6_pHVPuWu6_7pf4-3-LxH8mFvEfTFcWUtCGA9_XKEenUviptKtzMWqnAEQjSNtjcTOkZVeqSSLrJB60sJdmTLzErgXxL-bNp88zHjFR06PLHwq_ZMKyHVJMOTsMV574EQLQC4tW8M49AEfzqVzTCbXwGFT5VuBFJND4wcu30nqVsMVDIaGdAEwpWX_fbmseuTdgPk0YGZxI79ZB8ytobEm07F1bshozEScaQFcYap3q5FgqBNQ-1M4OVLPm8V1XhDh7-Tqt5eE5k_r8W1nz6mJU5pdvBCw3_LjzaQERXpd7AnenOs724OqBWm_V47tYVH5ptqLbDeyPY_D7Kx86CvIUy1NYsyXOaCoSVSYHgsdv-Ycvod5oDOUIE6Y5BSJrWZlE-T6FngmhJ0Q==",
  "id": "rs_0f22ad7b96695d7e016ab427efe3d887d080d12853a2a7ffed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The rotated lower fingertip now appears to meet the bowl’s outer edge in the wrist view. I’ll close the jaws at this rim-height pose and check for a nonzero grip.\"}",
  "call_id": "call_xm3YelZeHpd1olDd4oggUo4C",
  "id": "fc_0f22ad7b96695d7e016ab427f09e0087d09da87a07a27c1cbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xm3YelZeHpd1olDd4oggUo4C",
  "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]: [-0.2405, 1.6424, 0.6289, 0.2253, -0.8059, 0.9733, 0.0089, 0.0303, 1.1145, 0.7876, -0.8516, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3761 left_y=0.0427 left_z=0.0628 left_yaw=0.0934 left_pitch=-0.4548 left_roll=1.3072 left_gripper=0.0089 right_x=0.2492 right_y=-0.0003 right_z=0.0996 right_yaw=0.1717 right_pitch=-0.6274 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.1333, 5.3949, 1.5263, -0.2808, 0.0024, 0.5836, -0.4718, -3.5487, 6.3385, 1.1502, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567b06a590c5de458348615288e34f505a93e919537437bb9ebf62fb6eeee5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6128bc56567fbdffc6516b82dcbe8fb5cb08f5d32c47347821ec480a274fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55d4e2076424b341c43d901bb67980ac3ba25235753d58426a9b1f3669d2e29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 10.43 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0944, 1.586, 0.8486, -0.2211, -0.0265, 0.0074, 0.0089, 0.0341, 1.1687, 0.8745, -0.889, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.385 left_y=0.0448 left_z=0.0539 left_yaw=0.1002 left_pitch=-0.3899 left_roll=0.0322 left_gripper=0.0089 right_x=0.2617 right_y=0.001 right_z=0.1134 right_yaw=0.1763 right_pitch=-0.632 right_roll=-0.2192 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -7.8701, 5.7231, 1.5165, -0.105, 0.0317, 0.569, -0.4444, -4.6974, 6.3111, 1.1648, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.6192, 0.6479, 0.1658, -0.8101, 0.9615, 0.9972, 0.0303, 1.1294, 0.812, -0.8616, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3744 left_y=0.0458 left_z=0.0691 left_yaw=0.1085 left_pitch=-0.4638 left_roll=1.3076 left_gripper=0.9972 right_x=0.2528 right_y=-0.0002 right_z=0.1037 right_yaw=0.1718 right_pitch=-0.6278 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -6.4068, 5.9692, 1.4383, -0.188, 0.2418, 0.0415, -0.5538, -4.0684, 6.2838, 1.1795, -0.0562, -0.0855, -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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6424, 0.6289, 0.2253, -0.8059, 0.9733, 0.0089, 0.0303, 1.1145, 0.7876, -0.8516, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3761 left_y=0.0427 left_z=0.0628 left_yaw=0.0934 left_pitch=-0.4548 left_roll=1.3072 left_gripper=0.0089 right_x=0.2492 right_y=-0.0003 right_z=0.0996 right_yaw=0.1717 right_pitch=-0.6274 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.1333, 5.3949, 1.5263, -0.2808, 0.0024, 0.5836, -0.4718, -3.5487, 6.3385, 1.1502, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567b06a590c5de458348615288e34f505a93e919537437bb9ebf62fb6eeee5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6128bc56567fbdffc6516b82dcbe8fb5cb08f5d32c47347821ec480a274fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55d4e2076424b341c43d901bb67980ac3ba25235753d58426a9b1f3669d2e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0f22ad7b96695d7e016ab427f4848c87d0acab8cf9082dfec4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.4,\"left_y\":0.02,\"left_z\":0.11,\"left_roll\":1.3},\"note\":\"The vertical pinch also closed empty, with the rim just to one side of the fingertips. I’ll reopen, lift, and move inward a couple of centimeters so the rotated jaws straddle the rim rather than touch its outside.\"}",
  "call_id": "call_V9bekm4RRzEkkEcgQOIdLGB2",
  "id": "fc_0f22ad7b96695d7e016ab427f8668887d0b12ee0d0c46b92ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V9bekm4RRzEkkEcgQOIdLGB2",
  "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]: [-0.2897, 1.6413, 0.8158, -0.0452, -0.8265, 0.915, 0.9944, 0.0303, 1.0992, 0.7605, -0.8364, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3938 left_y=0.0219 left_z=0.091 left_yaw=0.0891 left_pitch=-0.4962 left_roll=1.3104 left_gripper=0.9944 right_x=0.2461 right_y=-0.0004 right_z=0.0952 right_yaw=0.1714 right_pitch=-0.624 right_roll=-0.2204 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -9.0051, 8.4444, 1.2381, -0.4811, -0.0904, -0.0269, -0.3897, -3.7265, 6.5846, 1.0818, -0.0464, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1050243a40e32ed461c50e321eb416193a5704c2a34b7a247bab66f42d7eebd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956bfb6fa6c8482ab30e1adbf3060c62812005c0c83fd63bf34a2ce0325db24a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd5aead9fa12c816801e97d84cddd4778c60d213c3519036242c1bd5f35b69e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.406 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2283, 1.5345, 0.7353, -0.0154, -0.7673, 0.8783, 0.9967, 0.0322, 1.1507, 0.8421, -0.8783, 0.065, -0.342, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.0415 left_z=0.0987 left_yaw=0.087 left_pitch=-0.4396 left_roll=1.2146 left_gripper=0.9967 right_x=0.2563 right_y=0.0004 right_z=0.1075 right_yaw=0.1747 right_pitch=-0.6357 right_roll=-0.2185 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -8.1026, 6.3248, 1.5946, -0.4908, 0.1734, -0.0659, -0.253, -4.2325, 6.5983, 1.1306, -0.0708, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6424, 0.6289, 0.2253, -0.8059, 0.9733, 0.0089, 0.0303, 1.1145, 0.7876, -0.8516, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3761 left_y=0.0427 left_z=0.0628 left_yaw=0.0934 left_pitch=-0.4548 left_roll=1.3072 left_gripper=0.0089 right_x=0.2492 right_y=-0.0003 right_z=0.0996 right_yaw=0.1717 right_pitch=-0.6274 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.1333, 5.3949, 1.5263, -0.2808, 0.0024, 0.5836, -0.4718, -3.5487, 6.3385, 1.1502, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.6413, 0.8158, -0.0452, -0.8265, 0.915, 0.9944, 0.0303, 1.0992, 0.7605, -0.8364, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3938 left_y=0.0219 left_z=0.091 left_yaw=0.0891 left_pitch=-0.4962 left_roll=1.3104 left_gripper=0.9944 right_x=0.2461 right_y=-0.0004 right_z=0.0952 right_yaw=0.1714 right_pitch=-0.624 right_roll=-0.2204 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -9.0051, 8.4444, 1.2381, -0.4811, -0.0904, -0.0269, -0.3897, -3.7265, 6.5846, 1.0818, -0.0464, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1050243a40e32ed461c50e321eb416193a5704c2a34b7a247bab66f42d7eebd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956bfb6fa6c8482ab30e1adbf3060c62812005c0c83fd63bf34a2ce0325db24a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd5aead9fa12c816801e97d84cddd4778c60d213c3519036242c1bd5f35b69e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgFBDR4Pjo9oxReg12qbuPMRVKcpIPCWk-d4LZfmxwd4Xk2YUb2zy2f6YO2MLXTRBVejqphffbpgBns2Mo4Tx0FqVskmaGLrg-5YgqDhGatxv1PiJMV3qAqL7g2RhG4o9pOF-kHK4hiilLBwUJI6kkYyZSaA-dRJE_0J5tS5eN5gkuspcv8DtKFedz1gYDWuFgcAPu47eYh1wdR1j34iMct4CdRXaKglMdlCDRd47So3mBbNMNjWKOrJ4NwnZRCK8aVWCwAScwi7PV1TV3z48Sbm7RDgVG13vGsZ59-jWle_B5TWmFYNKG1iN1zOKNrnJZfrXojPBHtbPeQrth2okJz-EbcdFp2LclE5rfY6DjQOGFQJSjDA8bm10n2MQqhJsE6O1IeeYxmXCBwIifMRmlzRwW3hryeObpMGS4emClX6Fu80MAhFrmzkeQwTRIFpx1qHmsazU7T2qZpTXaPla5Fp-BEbwNSnTTA7xyjIjEnlr4pBnvx1ypid0dUcCoAtP0RelEnk1elz1EHdikiw6cxIPG2l6T8jOB0spOlOz6yQX1-eBndWuGRp2IjHiBqNAAVQyhoMaqLUzWozRPoU4EU1LZGdI5Bf0ImhLPm20YxDoagRGp3OpE6qnJAd183ol-lT8De1lNi_p3DOLhdzXCGwO5rZFkgpiHoH1zShKSeC3bCItRDn2hD6Lp6FGYMSTkijx0wDa4c8NmoRr4HC_NN_faQ3Y8nCpPDqTgtqEtrvjZUIAoHfdUyK3ZKCUnpbWlAccny7tM-EIsrjfRHPecfoXT73wl4D196N21T8PSdT6f7iVgjD2-6u641kB-O9p45jwDGuDO-UQ_UUSXL369oufjMWQnhcAIyjF0S0Z7pin_TuB1wcnlzwKc1CrQ8AyJN4kcnq5wcTUJx2y5ixyHWxVF8yRL0Ju5JVkgx28ZeWq2-SBGVzgBYakhQ8rdSDFIcu_c9udNpHoOGk7EVa9Mjmqp4uPSiAtiNCE_-JG84anlkHuIUYLtpTy3_L85YveFHrqg8ltkxcII37fyrBjxz-6unsvbfN0dgcgSPN4FKUH9lQyj1X_seOFbF1W0kfFDsBT6jBtewemttmK5kCm2bT1BySzXGSB3l45UIe5X0RZi8HIlpCLrOZGNu3-1IUVUQobv60P5Xm71i8iH_4KdCdDeCNomZqeUHi4VpNPmccOAH6XgbakWh_Tyu2nKm3hbPcs1MveD9enNEeGb1g5k38qyoXlt7xwr3u5cSSCmRvp7UjZyUT2MorI94UhsfoTScudi4QqEv_YKSZMWXht3i7UCdz1w28QFtdng57nqCQBjHIZujyhMmxh68yD8ACfxadopohHB3ewVBm4hCODZ4g_PXvcAHM9l5aomXipUBMmupGQsHk_GIJZAwp8VZMN281gjJMhdZEEA5CZsWn7Brup64C3pgExOxMdMtWjtJ4DyvauOgzXp6zNILZ2z0IDpLYwpNT53qgp9NIVn8vtjCitKJ6GyAEG6D0a7f4kEJjb4M1rWipa1k94Q7Lj4VuCOv1HTCEPdjZe_7vShwPaIP7sS-Jrx38br5E4nVlYMQf3Nmr3cqJa7p_jJBc7w2k5cgNcRr1jUi1J2zbJUxeBRMwLIMzUK6I1xztTuVnuCpbF2IURXqQVfzWYnGk06jFOkRUSz-5P_LhiMmERbs4_uUwFePUs0DMIC1awOykMJGjE5ajSmcTMKz3MkmpcQsfkzxZ-w-Vn4Dw2GGFQcBpM1egTMHuqgDdk6WOf4vCxrB2QwqUimAnwOl0hocGW2-sqJhfZHdda8oDoOlG-lO68_batE81cv9j3K8VhE_LOR31t2EKG0gs7NVs1Ni_Yf8u8rLCMxkyMUj0KfAONCJQVO-UeIj7mMFKv1aO6bNfm2HhLiwyEaMjaHBv_xYPnJ61UrcSbYroWNxmHtbhyzIZOo4iC2lkprOxUqn6hS9-rEzbDDqpByIy6Iynwfk25iSnbCrPvLpodhzOFC0BEoFVfy_PdWUbqvW66nu-VQxlmsnEeZ1-l_4rnoUDoYESEMtTMakLfWZj4dP9f0pFnMI9Ci70MNds1PKCmtHVmXUI-IOGT856lkh4-VTSbLZUTF59D08z17KOdPl2sIX5y4GHdzEMiySJXoGL3oI91rnsamWED3VvXL5vj_whuJEpJjiEhN1EVwjcrprgpkYf8Q0dGjk33czhmIrsKVPpEzZa2fYft0r74zZQvwkreFyL5EWh41BeX2oSjSMk-jWJFufip-1azr_hOqa-0q_MUWUuo0SF_D_qQ_YINdcDDm7P41-b7a836DumU_Xr3yV8WVrtkrq3WA10LMguSmRZhYReQHGHVm1dqMH1xe_fsFhWCEaNqTsGJBzblr4OgJXdalzD2F3Z8moP5T3_7C3WHkpUhgPnwq-X0k16H9QHK7Znz-x4jVmOrXLyVl1m5am0eKur3R8DbgSYWv2vYg-ty5FJo4W2rqsVoGCk1DzUje33YlUkgZIdjrBHS3yQERfRg1Iqbh1cRvZ6ZvVX9hIO8rRb7sEwcz8ElSf6DqXzrTbP67Jtkp7TD0kpI0Thq92gHB2b1d5ddGpPvGI21KNsc0ZebFw0EbIH4nSQwiGYNrlu2uocDu8rTv6tuWg9ZpLdvmg5juTLblk9hKdvJl68HffGcKt2EuIivUaZsttK4eBK02t-fgGWMVRkh6Aip1S93bNCwKrMG2jEP0c_mNrv1VITcHCXX6nsOWzFKkWuFhBW1kpeevzpQXMaXKWrNmukDybeTYgrGQKZ7WdFisdnBPg_vDCGa2RinnHsTXJX3zRrx459WLYa0FchW6zQS0cBZDy1Gu74f7BNkGDYjEJrvLCFI9xabe9MTT_4gDyQ35RkygaBxj3F6Ix44h--3uB9irZ9w47srHW3MPSFbvjiI0NL4OwVWz7pgJkKEj1T1IujJTZ-WjyvoSbkT0WbiCqi8z8OQuQ6r0yRWAqafJ32LRIyp8lXnjEWew4afoBpdREBBZtCaEInXy9qxg6l7Nt_zB8df5D_ej93TRLDWMt-DxpfromdsZ05TbRy6uGIQrbMyPxiU4O2kVXc2JfTgrP8xnyNBFP_t_MG54DtMXtHLWU3BCSXdLlqDs6cPMQHHPnJy4lB88c_LP5MCfrWprZAPULJKSO_jFLe7cUTxMkY1ll68MPyPA_26Wo8nSsb4HISoXejiV9pzJKyftPKp8TJIRICa_G-zp258g4SegUfyff7X_hUHtRCcJklcHQBlOpxNSfGQ9ExWWQLhQDsX_XEDQf1fMKb90cdt6pM90BBdyQq2bCjfzq2Rj7Ft2MAxTjW0RL3IVdv-46CLxQzpmOBZi4MY_LccsVYnHR1BG-QY_eOPqSXMibvcHCxD_fDYZbvlDUEk8mu5qXikGCoAvY-1W3KCEbAXaXGufgwh0xYO7B1aiJ2yrm_ndZCCpIG7eygCh056ZCT00jvanVHgSWqfnhjDF8imSbc3rRwI9r5OQ3gmO9O4r4mM23YfmwxqEsjfvBTwbxGvo7_1-432nPcYtzJbBUiPjlfm1HfKbmoi1WIH__g_ZpC2j-ekiFNLMfN26ZfxnkYlGnMhCE2_4oZb9vzzpAIOAtjy8ZmE2NgO4M7emMRG9wDSU0WGr9q2mNs-JT039SlWcxgGLGghdzR1dnlqom9qj_SD2CFjv8u4z4KMpZwEQGGwTDW2ebwa3GzjiVC1RjmM94z8tw31tIZqr9saljKJwxB4zeesQogY6Y4nVdl8M6zOIIAu0bJ4IXJvFn_WFw",
  "id": "rs_0f22ad7b96695d7e016ab427fbe31487d09404c1ec87159647",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgFJKssi5MiMYVGtcwHy4ivyLOHqEuxpSWBGIZi130oxtR867xeDAif3QLBT-XrBVb2rn5tppu3eqK74uNbepCKyD4wTXVxCPW5eT2oGq5CRBCXDgReHoF82upmHyntASsnq4CknB7_aoPZJWpm06nOEz78FutG1qqg9esmMMDIXe7dRrR9-O2O00P28FnYITQIB6rz7fDqFe8u5qA0AoZeTMbIEzxSXi6689msGAMyUF8sFJa4yK4u9Y0w0oRbPxkNElTsj05Mrm5xBBVRIChj0aN-7_xlwZkpV8MkUxp7YA4f6-DD5P8LZcgVIyrbkUcYNyll7p1lxEnQe5NHZNO-kvmjwHr4oxwmdmS2xQe5u5b025R6aVb3PmjBdJjTdBaJ_sCb2hhLoVNI69xUdUCQGM1-gV6LhanlUd5Fiz6NeP5tXIxjL8b3ROShhJ2U_5oGfirMWLw-jJIWBrkQ7ytvOlbWOMTlEReT5NU5_bCdvRP5jxkgugjDohEzzAwXDgc1DsGGGiHxPx_KtkE0bA7zTZ2HDf6NQM0WXbm2LAOmA3gGSUcPBbeKbL4ndTF14FsHREgz8kNdjOZZOin5BmF3KBenrYI5ZGf5s8ycJc5QCZ5QBP_VrgFA5VAjwf9NRTSFPLk5MRUbvngLJlf3GSxqjKpQRxwqSeYLBC_swLcwmgtY_pZcVOJftYkK9OWXqjJxHUVxstUXzfxy8iu1BqYf_4ftykWrmXR8E_oCK3xlVc_QEpRbNCT6ep_9ZD_y4p39-MQacvWMtiCvmP4dJrgGEdbOfIrr_4KYFBVylM-5J5DQdhcf6VWJVlhmJCE_AyvR-HpAmET6XpBaFLWFdBjHxofxUNGwuO4q3iJDQT-9x9Zr_jMEuIWPfXGJ2u5L09bugd4MgV81MqJXR0gkh0ezfAK0s-VDedmB_5tMMpyD0tidHkBw-nIE2bVjPWGtdsMc_ZIivWLtcT5HQbvd8QMvJzGoclFZcNPYzJYkaQ_H0Jbgp--klV6wsk94tqDT97x16NihUbEsgkhkdFCW-MOSPh5blDFhyNhWu1Owv1a4yZXXUvNyOPMVA4FlHUty5WC0KNBKhdX6KFOU9t1bCmHTxNHRT43ax499gBeEPjU-DQiZxv0LC_YzuqzkoWaYW5Ym6HjJJKfuBxTOIWlf8poFfpB6PM777tP-zyFfSxPxXUrNUzrtZ86hY5cc4YPrCRZtNvPdCcKZpKxiJcdwF9JSFVSmIFOZoS7yl3QIF0-S8sXQUDJPrb4iqyuynFPCqD_WoCpLmmmXVDiEoJhBEpIdWSuuh-qc26VeuX0Aet9engw6oP-lcYB15FpraH14og5HK0J898BOglw6kS9B45JbpDklZBpM0QdV8lLiBeMvhB6JUrBoTB7WhWudXn5HQxGgpLs2akg9WjvstKdnb76I_Sc2tqFQq-9V5L85im8fA5rcyt4zv6rSxY6MjFgpwZNNewCyydPbMi16Lr_-Y_2ZLiEbVpw2NwMvjybzO6KwHK1wgqPB0T2nRP5VR4nPfd5iG8KYvicaAcCtLLG_5qT1ciSqjlDGUvgLuIqb8F_5nSoK4YV393BJ50cZii8i3umOQi7zERX2PM1qTM01n8wvuEBzCmTZ5-2q9NrhWY8kB125adq-xSgrutcY593ZWCh4CC6cco6397SsOMXZxDFiXfhQswXJdHzP46CnP6ZYh6o71Sr8So-oThcnBw0n_HK1Z_11CzbbspPpaKvokri7bL0TbE7W4stQPwd4gCChEeOquNttumhFradpKeWqNFB8414ioEtWSfaQJOvIMCYVeZON9JlyKrJT0NlSvX-79iDHEYmjDcEwg2mQnDD-p4Rv8fZatyXrs5Zb1WqwdzSOZ6bkRtXaC_GqwFozdnO_GH95hgj9zibOJ8pHxtr05IUCNuHUtMHpatBcqTXWrh3WQmJUR929DbVCdUSlGsw49kMbfi20HiKKBRIWd_AXoEvMTQq2Dq4yS3pjhPF1QT-rG87oMt5nffPVXGuZ0kN5ZM9HXtTv50BR_hdSr0Ah22UIeyzhnFOAzP_zQOGpm_Jaj52CIaPkVpV_Y1IV90sZjo2mHngH_mHHkX9VikcSVvrqi7s3-vtV0TvFfjoICj6mP5zmrPSTuxCBsbyiOR4nKvCR2SJ0qpjvtZOMhP83E4DvvazW929t3gLuNCK9yu86jS6ZXH-0tCB_0hHeYMYEKebNG9t5XCq1iJ-BKezjET0H27P7oOb2Zd177ntmrcHoRg8sCo0bExN5FjORbWpQMm55n47jWcC81ODHt7DaLf6lx3Owjy5nhpzT1mneBd8S8SxDLfuQdov6qV5fC7E7FT8jABP852ejV1Q6lkV05anHa_w2VEugh7kc_JDHqxmjxeC_3RNgaWBufQ7amtWe6lbSIQSCYGfs_LERogUNyMuLgwuTOp1TtIZvygpdmKHp6yH3_ul4RrXv3ZZQxBR5MuoJme2ZE5RNrSELKUEetLdZU0cxQ1kvDs4rTg6ASDpjh1-xWTubV1l-33Cic7aZY2YjyrCk_bfUE3mZEMj2aQyDbr8S30pAhoq_TkKgb774d6yi493tV43zrPQ7vzJGvq16CdU0iTzNvotm2qBHjV7Hf6fUgWRsj2RQnKLZGtqb4iR05nR87QVddCMoqOaLNaLywG2jkDCbrA8fLWB2PT1qLbgn3I-89icSMzqCujeyWOyu_jEkW-tUHzjRjjQVI56_aN-ewqUYpBvC-SeGZbue-AscX1JOp7cjVODDJ5rSvzqldNYAaG9f38PFsZNY07QjslwOC0bKcHkRGKjpIlEgpIfvrtVmLpJdQVZxrtqAEoQAHD0Su2asOa9GUCxqAuLdQDN37-DudKdzLYDL25n5nDxVdQsMBRlbF9CCvaTchqbAyTc07PigZizLRpsq_x0OMIHkYWxfBlkEn2yTqfe233vYEVzBeg8WltScAicsDwongNDZsK2RJDqclUarQgPaIzdbbIFwYaBG9EtvE8-_wfarOyZ7q6nTQo_suHr2uqDFMUjYy1Xe3JHu62bRrL2rcokJ6wyRGxkgL9d7CsyXIMGMUQPKu0kDE7rjtv8P9BRVyqBjm961DAoDK47_psRNydHLUo-NetEMGQxjXBkIXX_b4LawjMjPeY_CPTkwveoPTkZdTSPBNuAYos0T8kGfxDq1_OLfc7Uiee592etW_3OS_MJvwSh7Nw10hL4guER6t7pUX5-9jkLAYBumCzry26zSActhgDi6tha4hBaYoRxXLx-tAJbbg5mOCw12BHH4TQlfg-orq-bG4heiz3LTo001X2o_PlDmLNOKm8joAvjk0BltM8m9TIg8XJ_lCM2kJ5La6kYalM4k59j3MyGWwEYR6VTnSFckUlweOesDYik-4Iw9uJB7m5H_ydYgxntbHI5Rel794IMfxXwM20IZ_s6bHmJIMVcKQu_qXiC8acZhcpwwPgYdbL-5Q_CmBcH5uSMC9vYBzV619AyBtWQ6qCmw1XMIH0szsGQN50-0Gf3w6Wk5cI9QjjSR8TQlSg==",
  "id": "rs_0f22ad7b96695d7e016ab42800201487d099d478df46751571",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.043,\"left_x\":0.4,\"left_z\":0.10},\"note\":\"The shifted wrist view shows the bowl wall well inside the open rotated jaws. I’ll bring the gripper partway back toward its outer rim, keeping it higher than the previous pinch so the fingers meet the lip rather than the bowl’s side.\"}",
  "call_id": "call_EWpGc98VxDgVevwUD5fwB2kC",
  "id": "fc_0f22ad7b96695d7e016ab4280456f887d09e36056e21c184b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EWpGc98VxDgVevwUD5fwB2kC",
  "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]: [-0.2546, 1.6402, 0.8268, -0.0551, -0.8032, 0.9459, 0.9951, 0.0303, 1.0912, 0.7456, -0.828, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3956 left_y=0.0321 left_z=0.0916 left_yaw=0.0948 left_pitch=-0.5166 left_roll=1.3143 left_gripper=0.9951 right_x=0.2444 right_y=-0.0005 right_z=0.0926 right_yaw=0.1712 right_pitch=-0.6225 right_roll=-0.2207 right_gripper=0.9966\nstate[joint_eff]: [1.0051, -8.9094, 5.6, 1.58, -0.2418, 0.1294, 0.0317, -0.5128, -3.6855, 6.5846, 1.1111, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47dbe6597cc157fd183294bc4ee53c9a7a997896ff3c8350ec1bde3b73e096b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a901a7854da962c4c74d273fbae1176f0a000ee7c26c8ed60dc4e058ee407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d631a8eaf2bd6f7389e90f3c41f6b18821005c80d3c0b4cd14b8e1ea4886c4",
      "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 33 attempt 0 · /responses · status 200 · 3.978 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 132 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.6192, 0.6479, 0.1658, -0.8101, 0.9615, 0.9972, 0.0303, 1.1294, 0.812, -0.8616, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3744 left_y=0.0458 left_z=0.0691 left_yaw=0.1085 left_pitch=-0.4638 left_roll=1.3076 left_gripper=0.9972 right_x=0.2528 right_y=-0.0002 right_z=0.1037 right_yaw=0.1718 right_pitch=-0.6278 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -6.4068, 5.9692, 1.4383, -0.188, 0.2418, 0.0415, -0.5538, -4.0684, 6.2838, 1.1795, -0.0562, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.6413, 0.8158, -0.0452, -0.8265, 0.915, 0.9944, 0.0303, 1.0992, 0.7605, -0.8364, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3938 left_y=0.0219 left_z=0.091 left_yaw=0.0891 left_pitch=-0.4962 left_roll=1.3104 left_gripper=0.9944 right_x=0.2461 right_y=-0.0004 right_z=0.0952 right_yaw=0.1714 right_pitch=-0.624 right_roll=-0.2204 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -9.0051, 8.4444, 1.2381, -0.4811, -0.0904, -0.0269, -0.3897, -3.7265, 6.5846, 1.0818, -0.0464, -0.0269, -0.0073]\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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2546, 1.6402, 0.8268, -0.0551, -0.8032, 0.9459, 0.9951, 0.0303, 1.0912, 0.7456, -0.828, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3956 left_y=0.0321 left_z=0.0916 left_yaw=0.0948 left_pitch=-0.5166 left_roll=1.3143 left_gripper=0.9951 right_x=0.2444 right_y=-0.0005 right_z=0.0926 right_yaw=0.1712 right_pitch=-0.6225 right_roll=-0.2207 right_gripper=0.9966\nstate[joint_eff]: [1.0051, -8.9094, 5.6, 1.58, -0.2418, 0.1294, 0.0317, -0.5128, -3.6855, 6.5846, 1.1111, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47dbe6597cc157fd183294bc4ee53c9a7a997896ff3c8350ec1bde3b73e096b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a901a7854da962c4c74d273fbae1176f0a000ee7c26c8ed60dc4e058ee407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d631a8eaf2bd6f7389e90f3c41f6b18821005c80d3c0b4cd14b8e1ea4886c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgHrex0iZq0kKPJEzBS2GSUWK6ihu3kR477S3jirXhAhhDU5xUd_0_cVPB4Fl3ZxRm7oto03l7-Ak_Q9N9F0uHHQ1QOV-ej8DU7MY8vb6k74Say-BI_J0vbux8GFjd7BwMrTYVOMuW3xyiVQzin2agLF8sqlQS-URHN6LhG6kLxUZdW5fa_PPoJp5CAwCicJXFg2ZaDbcjXEytQ8diGxfYHuIZMizxwvv411kQThWZknaEjO0X5dQvMiDSxMotborlz_NRcNT4UZZJx_F2A2j3rUEk1u718Vtw11MA0Mn9Kvaa5jM5ENkjOgx_VrdWfZ_Ai_n-RGsrBFxP98RFX_NAdKmF2R1vJUswspSu4GMJEfh_kv9tGDN5dr7aoFvdA1-F9lxvHuEXwJowOtw6jwDxVhc_u2VaO4-dUvCwAYTtFXGalxxOa0Z9EUYOH3nOiL_qLdiExsYfxlY25PoqBdbUI7LvAPJz3n3_F33ZRvjjg2UWpBZQASjeDSmecueStGIHB5C0fRAf4OsMijeQvjT_x6gTNaJC5mXGlEL2iqylC9rzovP1hxHRpm6O4j6j1Rcf1xf9pIspkHyQMnaHYZ7cL8zJxo46X9PzRdIXsDa6cxvVjoFO-qGzHPNjP7cayurcrBIqUld2kqH_yty4PLkC9NNr9NpK4LoNRZ3vcfrDJ7EmQWnrkf-bBcrfJYxlyE0dAzFZ6nuJSEkaUhtN0XFxmM7AJ42ecbE6ae6oFXP3rpHDN12njmQe0WjvZ1EAwmMNuwt2HBnbbt7e78Hk3RJG1eipMi6Cz9iGjGf7wTgbOPGfm7tQ2BTByk6NJd1GXdz7bGLiFQdooYQFwK4GDkaoUJ4d_6D7C0vq5AIV-19yMIgvpsfcxDKEfaSMciuvj8mdmf66SsELAgm4VUJuO0d4p8bxTKaP6Me9PlWYpJ_R_d1RXwOul_9aUUTZAADY2zCy30OkdemuTZHjb6gWcIcnAoiFQNLksv-clbLkiPgDWPk50sA_JP-kfGAsp-gzZIEDqq4jTtK-E2I7viwhLYqIaGx6ddA5PjOPENbmq4jqjTgArBQDcLPuUTSSFR4AiRLIFeFNcAd6HkOsuUYA38_x6NAdK-yZDxqLiO2qw5r2dZDpb4vw8bZN4HNzjvxQjQJFuuEAGrDQPSZOgdaVLiGI13ZVAtEUggpCQliYk1Ys9lJDru67F4UJoTcp0XU83ABT_1EawIVrd7mitH-bUlwLvRVDvTX1_ipL2gItxYz7lNO3i89vEq5ZdqHGqfvjeE8k0EeIa0ts0gncEBAbxOIlraOsXKEQMNsaY0EtGexczFLMuX8Ttn68sSOva1NZ8P_xFx6L5AR2WJBSPixiLOqzUgxgDVokmoq55er0ibz_oOvM=",
  "id": "rs_0f22ad7b96695d7e016ab4280688c887d09c4967efd3f072ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.048,\"left_x\":0.4,\"left_z\":0.105},\"note\":\"The first sideways move was short; the rim is still just inside the right jaw. I’ll finish the small alignment shift before closing.\"}",
  "call_id": "call_rraQYqmo4A7v3b2ETOLPi8Ke",
  "id": "fc_0f22ad7b96695d7e016ab42806fb7c87d082e2d6358a15d8c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rraQYqmo4A7v3b2ETOLPi8Ke",
  "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]: [-0.2207, 1.6402, 0.8253, -0.0486, -0.7834, 0.9791, 0.9951, 0.0303, 1.0851, 0.7368, -0.8265, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3959 left_y=0.0426 left_z=0.09 left_yaw=0.1018 left_pitch=-0.5342 left_roll=1.3214 left_gripper=0.9951 right_x=0.2426 right_y=-0.0005 right_z=0.0911 right_yaw=0.1713 right_pitch=-0.6236 right_roll=-0.2205 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -8.5265, 6.7214, 1.2869, -0.3687, -0.0415, -0.0073, -0.4308, -3.7675, 5.8462, 1.2234, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b14a75c29c6796f17e448b25ab615da44ac64491efa0e3995948bda94640f87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ebf40032518903b7bf8b485c791a0e118c1b019fa902d785df1f2472a8a3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e580af5cf2c8f6e97e6d7e48ba87436bd930e3c3bc2b64eadbbae1dae446a36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.555 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 132 changed as sent

message 136 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6424, 0.6289, 0.2253, -0.8059, 0.9733, 0.0089, 0.0303, 1.1145, 0.7876, -0.8516, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3761 left_y=0.0427 left_z=0.0628 left_yaw=0.0934 left_pitch=-0.4548 left_roll=1.3072 left_gripper=0.0089 right_x=0.2492 right_y=-0.0003 right_z=0.0996 right_yaw=0.1717 right_pitch=-0.6274 right_roll=-0.2198 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.1333, 5.3949, 1.5263, -0.2808, 0.0024, 0.5836, -0.4718, -3.5487, 6.3385, 1.1502, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2546, 1.6402, 0.8268, -0.0551, -0.8032, 0.9459, 0.9951, 0.0303, 1.0912, 0.7456, -0.828, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3956 left_y=0.0321 left_z=0.0916 left_yaw=0.0948 left_pitch=-0.5166 left_roll=1.3143 left_gripper=0.9951 right_x=0.2444 right_y=-0.0005 right_z=0.0926 right_yaw=0.1712 right_pitch=-0.6225 right_roll=-0.2207 right_gripper=0.9966\nstate[joint_eff]: [1.0051, -8.9094, 5.6, 1.58, -0.2418, 0.1294, 0.0317, -0.5128, -3.6855, 6.5846, 1.1111, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2207, 1.6402, 0.8253, -0.0486, -0.7834, 0.9791, 0.9951, 0.0303, 1.0851, 0.7368, -0.8265, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3959 left_y=0.0426 left_z=0.09 left_yaw=0.1018 left_pitch=-0.5342 left_roll=1.3214 left_gripper=0.9951 right_x=0.2426 right_y=-0.0005 right_z=0.0911 right_yaw=0.1713 right_pitch=-0.6236 right_roll=-0.2205 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -8.5265, 6.7214, 1.2869, -0.3687, -0.0415, -0.0073, -0.4308, -3.7675, 5.8462, 1.2234, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b14a75c29c6796f17e448b25ab615da44ac64491efa0e3995948bda94640f87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ebf40032518903b7bf8b485c791a0e118c1b019fa902d785df1f2472a8a3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e580af5cf2c8f6e97e6d7e48ba87436bd930e3c3bc2b64eadbbae1dae446a36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgLSu422Qhy4ERy0L6aiQqyI9bb-CONJLxR30E5AER1zjvndcXk73_v7XdPZQBuyEslqc9iaRoUh9tJ5JSElfuxwx3KGpyvVtpH_apCbPXiNSmmr9wPEReLZWe0YbH0NpLRwzw5CWJQnfTUntfB9-lDxLg0gqYIVOkIKRg-qev_sCLbJDqr6hZrjU3BIhrI0a40a6SBfgI5lvnTDNnwoVfuTg_2LvL6RB0BaxVqEtBpnKi_V7fMWvbaNgPSv5ISPhfYicinRebF-0rOJTAyBEd_q_xutfNbbczf-Qy_ERfRPV9H-7U4-2ECP5w3LnBQF1PHOu-gnRll7GFVq3PUvafwOPKv2u_j_3NWdbiUOAXplYKJVWZQJkPyV3J-8RjjT2bdwMqYJJXoDy2e2FFoCWb7pa2Nc0WNjbmP0MQ6lJADLMjXSQda08tgOeopsqMpoDpGf1adg1y-gdCeahmZXMFfeAkzwER1VzgTxjad-osnpxTaIg60gmr8F670sqqZ7yD9ebDjIczyFdQaY8AMoxx1C9Rl8m3vP2P6nEh6T37HncwR0KnzhMXNuRmukpOai3WNDt6vrVwpRz25wghYf_alx58C5-wmMllnRCFoesFCuoCzU-0CJxiwtHDHzr-duGD7Dbn8jdWwsxQUAb7KBh31NJ-Obp9PHI4K88UXPWW40Ho5HyBzU1wiorYfx8__hv7_PpirxVW961tgWZS-kf4bVCbEKYqX3e7iyWJTbxKolaB_Ft62kqt-QNR5YREnVYQG_NTY_xsY6hXkJyh0h-WVDRSFmxJH8vs1n-kfH4Lm6fDxe5d7BkmNHboIwltqOnSfFW2zkD5VjYd0Fvsnagr9iC_zfN4HX-jZntOzq27lhavFAJHt_g16pWhCQlVl0oRZNy6Q-4WWUueXxuASqTYeuPyoKa5VmxzVdOEDcgyV9l9opLUpxt5EEltg9x0t870JJhZFAbRviJNPiIldw5kYA209KDVE5vKd-MyzEdtEYty-Xee23uglb4dUv7soH5LlV-j2wkOKnZihJwcFCJ9A5yA6g5uUmnhb3t0bMgXk4H-fdV17CXwg_NqeWeNBgdBhiJrjxIXKefKOjb9QWbVPFuQtRBxhF_B7YhKlC8EXavDWvmfn1yWbzV9SLDXQfPs3Ju9m-ZLf20PfXAQhRTc9Ho36cBRiPS4apkqwLDdWEBVkCKBKVfgTM6uVI55kslTq5bjpNQ-0qyeByOoU4UPeespFyfRPi2I0qVE4W0VKbuJK5_baCMDHkc3VCLi8lUewwONefXeWYh-M-_WvhGQYZkBTrXkPovW9Eqkq0o_szI_SmwKyqUDOEqzCptnh5LFiZ61bEjK76TIMSZwkOxNVT6AZMFjeMuPcoXuiTMvEhoXVStRkAZNbTNt0wOQjaKSWBFXqgHwZkt9mh9UkSxDNbc_uP7Du_yUYoCtbktudv4Pm7OmplA-GVOyi4r04wbIJr1uP4Xca3QVhcqVhnHcfdYxHyMBoPWdJn35k6ygips_d3E6Z2PMMqKKoeUaN7nbpFkQbH5DCJ2sAOrQkparethYRTNLHKukfdjNJhpWWj7WCqKvPrhOYMV2wobVSUKrRlwCF-qaAEDX13JgAtzuYqsfxEdndtOfBH_za0tPOwlf0RoA5GPZi-bo7jM5mv1PmnmUj_WpG6eMcd-3q8Bd7U551heHF-6frX_t82yR41W5IczfVnjz1cCGDKXaRARUSrqR1p3yPp0NnzJiqFxBWBvt4WRFO9zYyYQlLBZlgKQ97_tYhFI6mWuvunHdPrJAY",
  "id": "rs_0f22ad7b96695d7e016ab42809c57c87d0bc84197197546457",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The upper bowl edge is now close to the rotated jaw opening. I’ll try one pinch at this higher height and check whether the gripper holds an edge.\"}",
  "call_id": "call_ORncmgozMpCzghq8A9Cyebrd",
  "id": "fc_0f22ad7b96695d7e016ab4280aeebc87d0a24c6e92633f4929",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ORncmgozMpCzghq8A9Cyebrd",
  "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]: [-0.2264, 1.6402, 0.8257, -0.0669, -0.783, 0.9771, 0.009, 0.0303, 1.0714, 0.7197, -0.8215, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3936 left_y=0.0409 left_z=0.0878 left_yaw=0.0993 left_pitch=-0.5503 left_roll=1.3262 left_gripper=0.009 right_x=0.2397 right_y=-0.0006 right_z=0.0887 right_yaw=0.1712 right_pitch=-0.6221 right_roll=-0.2208 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -8.4991, 6.694, 1.409, -0.315, -0.0611, 0.4908, -0.294, -3.2068, 6.106, 1.1502, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a988105258b67b3c5498d75dea9a9a57a450971ec7e70e1dea5b9f1ea135723f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e616f83d568591fb5973845ab432b1051dd2e43926d9a4e522e247028d69c75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a2d8d9c8eae925e88e2942bb3c355b965a0742e901520099f17110438e9b35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 4.002 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.6413, 0.8158, -0.0452, -0.8265, 0.915, 0.9944, 0.0303, 1.0992, 0.7605, -0.8364, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3938 left_y=0.0219 left_z=0.091 left_yaw=0.0891 left_pitch=-0.4962 left_roll=1.3104 left_gripper=0.9944 right_x=0.2461 right_y=-0.0004 right_z=0.0952 right_yaw=0.1714 right_pitch=-0.624 right_roll=-0.2204 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -9.0051, 8.4444, 1.2381, -0.4811, -0.0904, -0.0269, -0.3897, -3.7265, 6.5846, 1.0818, -0.0464, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2207, 1.6402, 0.8253, -0.0486, -0.7834, 0.9791, 0.9951, 0.0303, 1.0851, 0.7368, -0.8265, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3959 left_y=0.0426 left_z=0.09 left_yaw=0.1018 left_pitch=-0.5342 left_roll=1.3214 left_gripper=0.9951 right_x=0.2426 right_y=-0.0005 right_z=0.0911 right_yaw=0.1713 right_pitch=-0.6236 right_roll=-0.2205 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -8.5265, 6.7214, 1.2869, -0.3687, -0.0415, -0.0073, -0.4308, -3.7675, 5.8462, 1.2234, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2264, 1.6402, 0.8257, -0.0669, -0.783, 0.9771, 0.009, 0.0303, 1.0714, 0.7197, -0.8215, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3936 left_y=0.0409 left_z=0.0878 left_yaw=0.0993 left_pitch=-0.5503 left_roll=1.3262 left_gripper=0.009 right_x=0.2397 right_y=-0.0006 right_z=0.0887 right_yaw=0.1712 right_pitch=-0.6221 right_roll=-0.2208 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -8.4991, 6.694, 1.409, -0.315, -0.0611, 0.4908, -0.294, -3.2068, 6.106, 1.1502, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a988105258b67b3c5498d75dea9a9a57a450971ec7e70e1dea5b9f1ea135723f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e616f83d568591fb5973845ab432b1051dd2e43926d9a4e522e247028d69c75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a2d8d9c8eae925e88e2942bb3c355b965a0742e901520099f17110438e9b35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgS3V0DRqTCE43kP1kTj7UrRGQqev33EezGFhdyZ37Jp0vjnY9289fq3kNnMGXke6T4JsleZ6CoDt7ogXfdm6Oh-Im9whzyzdde50gFejSzsM_Ro8AeH96s7j6QCzQ3mjv_STLCD5D03-qaq_vhjVvTY_98jv4-6qvbnnuYRC6ZTp-_uLDSWC72JVzSYcPtPYNCTZ1yE0MXV8fJrIBYZFjXbFNbYmqlc2In-R2dIk3o56M491AVy1HAg4FqFNkGFNf_ymY5kR3vDeWKN2yIbnEOkXIA_Szdzc5_7KmygQWC-BXXk8nfYRCWqLhqTVZojs-ZOK976psawNqtQcaNaqq24E_0pifLtvu1UlFqABCEcDqxIbVlbH0lanRsuanriSE0YpUqCbm_Z9kj2dwdMi1_KXRSQnm00vUq_p_FPrJ94e9LqD-F9R_i0m1N2g3r_FVoTNaEVQPCz3i_OkSnOhoFcreS5K4OAZZDLlmrwklI2dOxdBpmzbbmPDbs5iGekiVUuGpsFwstAnl3BxJIvBYeQZKQDzfvqLzqo--4Kz4v073pqIF6JWeZE8CrcfDUnzjJviPx9k5iGAJxXDP2XUwluQP_IDifMH4Dzc30WeJMEkAdJmULhJrZT33tTrrIggKkuRLdbYaNzKIra0gsurNgVUL17Qs_90npkXLK5QJ4d-5aqAjdHM1owa4Q51sUycXgniNYlUeqpwIMLjJM0qp47uF-zXpjBYIrxlmrgCYX6amuebDEe7zhB0tj6N_kDJFCtMEwxaZfBLfsjpYGdP_qQz32YJIDQJehoXi7cImK1Pn4e4Fw9v8YvEsbq_5eVERoS8gXu-bBdQSu5M0aMfx0OhBEkGrV_6TkfIjNsIKrtUZmakzfxPPnWTrR_07Y1ucXSFPqqjfR6uE6PvJ0en22TOLniZi6T3wbWspgqbwPX1QlylSmyuCLLl1_GcwW_O5mbql2faAFUmAndwdgP0dAFGpnRdKRZqu0xGnwsi16IHYpxNbJl-8AevFsekDO-GCGUb2xmvljVYRGinZUOPTsLar6I0Mt4CEZKG5dHj9R_5pZNT4Iz3fCIlNP7AH8qJ4HTX2td8n2Fz67mXqn71647EQnzImf6hNCJnwb2F80le7NyWGMsT8p_AqWBdkTbU3jF8KYmZvUfP3DKhED3pyVx0kAKLeiZZ2lbgA1GbekNte8XMCfBPssfIc29U7qMMS5MlxmHdyBqEwKI2FzwvMLQoaG5olNU0SkY0LJw_eYdq1B2Y99h3fE_tvjE0-w3QSfD4xQacDGWfxb2FOCehO9hjiqX0DlHWZ-2IBc9TQoZZv3AXHGxIOZcgdDe2T72IuouS1F5yFqcXrjNahRQijwvgvw_xhn1nB5Gs91gEkzBCjkpeZ8uw6BAjXLOp4dO0lxyrcvUXLWR6AskcHfE6YUVHxYIozMPndueqWxOfOnOPwOqkzlIhL8gbGXNLVkBu_43n6yGLJvvvAsftGjwT9pfPH2ie-bdtOdlc95HQXdVQj_UfptrAh9ZFDcqKT8K79VNG0byiSJdyZTuW_-Ubn4sOYu1qzPqsBw4Rlsf4cBh9D9GEhAI3KnEKqCbw1SBBSy1wNR4C0JXvISEAYeV-0bgv_Usz0iHqQUXRN461iQFV08ab_gyperCaldC7e4B2WIV-TdgrWFHXekwsZlZ44q2EQYa1sR8BL1XxHgVrsUrW-cF5mrbJSTmxvgofeqCQu7Rd226O1FFVlpB5dK0uFdfT4FO33BVLLMw_u7perIFotF-WQum_N-lu-ervTQtsrgFYIzUb5P2m5GJvgBH2QHER2YK9rMcn7Iz2KgBPsBulc41BH76tptEk6AfhhTZE5rG69vFhmARxIkaOWlEHRnLUWX9YrcYQAzm3Y9ksYoX0ktoMWD_4XaunjB9UtVd6MwIa0nudHPke_e26E8U8W6MD0FlWCGI8ox_BGq6FFU2TZxqBI5QsVfmwiILpCPLXG5XL2sKfZvway4yj80r8Inmdkx3w-gXWd9SlS5YkKXZ9JzMq65XUQoQEBroLtt_Ymnz-tdDh0Gtg46Hiz0C0_VCJpK3FCy4wUYuvuXEUSudsLx3EdHJTvFUwV9pHgyd56LpOQvmLH8N5nG3rYLwYvrvEsIWJxpEFWg66FsOXFOKdTEZvqBXt4knL-YPIju0fJq24KJLYIxRJcxjfU_06rF8ekjOsf3bgF2dvZReHsLotKy_VZuKO8ZTthZjM3jb5MNww3lR7nsRF7YGyEhkixE85bQBIYe-L76bUgu4C9xqgc_16E5fT9OIC96MEqm4hS5WCj3YlJGTfcv5oOhlGIQCNzBIw1NSJaIE4PpPmQQdmHOAQ8mD-jpAMZ8IgE3Mtl_Tq8mXn5EwRy3jJ38iQEq58Jrz9divMNUoURzjSWYkiVnOXteMHLEEUOFY0ljVxxG38sNTPFwwcVHXpUS9YIJfRBRPuA_o5mjDcopq0lPSXbHfRsWPxzes5sKi1nvOJXVsZE2hDESVAfbxNU906rTbBryXFPDsc94uVP161095DWKNIICqS-o5PrNSoO_nK-q4yy8RtCDx5N7KtF-unMi6kGOh-mnPkrjjNvEzRgFQDRhokFMEAUCJ78D9Ri8Qv-8hbhboicpOv8CABectSveTLHCI2d5BKMaa0GnXMzS91p7u2lxKNaLKOIA0vasQj7XLpTy9U_SvVd9uK1BD6BhwgHMPvnlgajd4speUieJQuR0-jho9IDxPlV8sUjiYqyG-Bf_2nBUfW32jYnvfVVjcmYqzUTjB0QK2orCtwmDD8ZTxRqi0g-Ne2snunF_Tic1drhUpSUmUe87u-cc-aVtOj1DIOJvhFTcrOcUzut0qUIV-wn8nwNk3k2PsZSg5WdGk9udr8H_3lvhqqsXWa6JaIWyvdfco5GaBSY8EWz9AWNtdRA9MAheWD-pZmzhwBj-DlW20O8-Wl9o7lHkYPOJZcrTPL72SLzzqHpApD-uYQrYwk1Pe0wPAOWSSemJvZhj8_DusrVXtrfwE6ww3WjlvA1sD-a9suz5p8ROtD2U0xMUZUPEtO9XljTZ6_LwdmRXPtPrjUNHCpiEmKWOmxhXcWBQLgVxKRtxzEX8kdNniOEKdbZaDZwOxzuqOyHqeuQ0",
  "id": "rs_0f22ad7b96695d7e016ab4280e3b5087d0a93027f59b256f7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.405,\"right_y\":0.32,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The rim pinch is still empty. I’ll park the left arm and bring the right gripper above the unobstructed center bowl for a fresh attempt with the tool upright.\"}",
  "call_id": "call_Z2GhHMP9wcJxhxLiOvpcuv9G",
  "id": "fc_0f22ad7b96695d7e016ab428114cb487d0bb9bed1b2ff6cdbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2GhHMP9wcJxhxLiOvpcuv9G",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2793, 1.1374, -1.0172, -0.1162, -0.1188, 0.9976, 0.8833, 1.9297, 1.4044, -0.3592, 0.6529, 0.5304, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0054 left_z=0.1647 left_yaw=0.1145 left_pitch=-0.5787 left_roll=0.0704 left_gripper=0.9976 right_x=0.3899 right_y=0.3114 right_z=0.1256 right_yaw=0.0494 right_pitch=-0.0889 right_roll=-0.0659 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.4359, 9.2376, 0.9841, 0.0952, -0.0122, -0.022, 0.1436, -10.4274, 9.1145, 1.6679, 0.696, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722b8ad9ca935ef437c4a4fd38893021ec77127588c73ee4f97e79ceab547c61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513e7b7d94d0a23428dbeaee82289dc01ca1c656cce428a94bf83206b5dca40d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae5daa96aa10e96d993927eb67dfe7974574834b6d50312e59a73c2463130a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.219 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2546, 1.6402, 0.8268, -0.0551, -0.8032, 0.9459, 0.9951, 0.0303, 1.0912, 0.7456, -0.828, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3956 left_y=0.0321 left_z=0.0916 left_yaw=0.0948 left_pitch=-0.5166 left_roll=1.3143 left_gripper=0.9951 right_x=0.2444 right_y=-0.0005 right_z=0.0926 right_yaw=0.1712 right_pitch=-0.6225 right_roll=-0.2207 right_gripper=0.9966\nstate[joint_eff]: [1.0051, -8.9094, 5.6, 1.58, -0.2418, 0.1294, 0.0317, -0.5128, -3.6855, 6.5846, 1.1111, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2264, 1.6402, 0.8257, -0.0669, -0.783, 0.9771, 0.009, 0.0303, 1.0714, 0.7197, -0.8215, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3936 left_y=0.0409 left_z=0.0878 left_yaw=0.0993 left_pitch=-0.5503 left_roll=1.3262 left_gripper=0.009 right_x=0.2397 right_y=-0.0006 right_z=0.0887 right_yaw=0.1712 right_pitch=-0.6221 right_roll=-0.2208 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -8.4991, 6.694, 1.409, -0.315, -0.0611, 0.4908, -0.294, -3.2068, 6.106, 1.1502, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2793, 1.1374, -1.0172, -0.1162, -0.1188, 0.9976, 0.8833, 1.9297, 1.4044, -0.3592, 0.6529, 0.5304, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0054 left_z=0.1647 left_yaw=0.1145 left_pitch=-0.5787 left_roll=0.0704 left_gripper=0.9976 right_x=0.3899 right_y=0.3114 right_z=0.1256 right_yaw=0.0494 right_pitch=-0.0889 right_roll=-0.0659 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.4359, 9.2376, 0.9841, 0.0952, -0.0122, -0.022, 0.1436, -10.4274, 9.1145, 1.6679, 0.696, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722b8ad9ca935ef437c4a4fd38893021ec77127588c73ee4f97e79ceab547c61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513e7b7d94d0a23428dbeaee82289dc01ca1c656cce428a94bf83206b5dca40d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae5daa96aa10e96d993927eb67dfe7974574834b6d50312e59a73c2463130a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0f22ad7b96695d7e016ab42816d27c87d0a2d9ef3d0898a7f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.31,\"right_z\":0.025},\"note\":\"The center bowl is aligned on the right jaw column, with its lower portion visible in the wrist view. I’ll descend toward its narrower base, where the open jaws have the best chance of fitting around it.\"}",
  "call_id": "call_ZiH6jgr1MI1lXEjUYQljDRN9",
  "id": "fc_0f22ad7b96695d7e016ab42818032887d092cf72ed57002529",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZiH6jgr1MI1lXEjUYQljDRN9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2808, 1.1385, -1.034, -0.1055, -0.1387, 0.9987, 0.8345, 2.1216, 1.3083, -0.0586, 0.6201, 0.4858, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0037 left_z=0.1629 left_yaw=0.1188 left_pitch=-0.5966 left_roll=0.0528 left_gripper=0.9987 right_x=0.4144 right_y=0.3097 right_z=0.0366 right_yaw=0.0483 right_pitch=-0.1002 right_roll=-0.0745 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.2598, 6.2291, 1.1111, -0.1832, 0.1441, 0.0904, -0.9504, -8.7043, 5.2444, 1.2821, 0.1929, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ba2ad2e683ee49a622ff94980dac4ea6e5fcf813db4dd0eb5a13e2fb37cfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a50f0deba1d97706863f6dfbc2a46f6e2fdd8e2403aea96e5edcb4d298e444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb19725fd08e70930b5638ef280a3a85d55367647d64494140e54dc83e128b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.341 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2207, 1.6402, 0.8253, -0.0486, -0.7834, 0.9791, 0.9951, 0.0303, 1.0851, 0.7368, -0.8265, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3959 left_y=0.0426 left_z=0.09 left_yaw=0.1018 left_pitch=-0.5342 left_roll=1.3214 left_gripper=0.9951 right_x=0.2426 right_y=-0.0005 right_z=0.0911 right_yaw=0.1713 right_pitch=-0.6236 right_roll=-0.2205 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -8.5265, 6.7214, 1.2869, -0.3687, -0.0415, -0.0073, -0.4308, -3.7675, 5.8462, 1.2234, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2793, 1.1374, -1.0172, -0.1162, -0.1188, 0.9976, 0.8833, 1.9297, 1.4044, -0.3592, 0.6529, 0.5304, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0054 left_z=0.1647 left_yaw=0.1145 left_pitch=-0.5787 left_roll=0.0704 left_gripper=0.9976 right_x=0.3899 right_y=0.3114 right_z=0.1256 right_yaw=0.0494 right_pitch=-0.0889 right_roll=-0.0659 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.4359, 9.2376, 0.9841, 0.0952, -0.0122, -0.022, 0.1436, -10.4274, 9.1145, 1.6679, 0.696, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2808, 1.1385, -1.034, -0.1055, -0.1387, 0.9987, 0.8345, 2.1216, 1.3083, -0.0586, 0.6201, 0.4858, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0037 left_z=0.1629 left_yaw=0.1188 left_pitch=-0.5966 left_roll=0.0528 left_gripper=0.9987 right_x=0.4144 right_y=0.3097 right_z=0.0366 right_yaw=0.0483 right_pitch=-0.1002 right_roll=-0.0745 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.2598, 6.2291, 1.1111, -0.1832, 0.1441, 0.0904, -0.9504, -8.7043, 5.2444, 1.2821, 0.1929, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ba2ad2e683ee49a622ff94980dac4ea6e5fcf813db4dd0eb5a13e2fb37cfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a50f0deba1d97706863f6dfbc2a46f6e2fdd8e2403aea96e5edcb4d298e444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb19725fd08e70930b5638ef280a3a85d55367647d64494140e54dc83e128b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgcFv7uWyzZ6Qx-aJ_DYPk4ZpA3AAfTJcM2sRl5pXYVO_YxhJ1BtbdcktfnpO2-kZYmfGPxjrL5hSYYCIf_4nRIMtXnbmYCE-UvAT-Xa51ShK6WOkPbufxPt563LUFyWrrp5E-Yh5BeSgCsOS6Ud78DEghprEoN8IkrQhLmfn1Gk_ov1URV3y9zgs8nVzLPEShU1LJvZc3x_mapN3_fGx2r_O8kRQJIHXZckC2dr_Ow3U1r9yvLQUvFztOQIJ5-LLM0o6PwddhPM5pqaaRACgZM4p4KBy2KxCkgF4p_bigDj_laR_tFKisfZXG-iKhY1t1ofdco_vfvZGEni9EqGFx4rmxggDNzOL--tqcLKw_kk4y5TvBOp2PSts5odehOxGnT89-iuXunjDV40vREbgMByx6rX-hi_o_oMCAiUQODg3Q-ID_wIoak28uqUfMs8N1cdfJ3_beTXxIz7Vx6WlDWECaAzK5ZJcGeiZ9ojMU07d0UZzAj7uWSHxHy1BfYrsMoMKfQhqQq0VEByiqf82pnXtF6qN8t4wveKSI40OXoZPfsATD9jqkZXJZuPOiBFvgmZSHuMCGUhYUwv9rT8aYGuq7lz2kUQSqsdjU23PVo42opaoQZgdVVUFf2421CqLo44fh0Wx8KRmgFrwa8p1oQ8ZPOyWhkbUpysnVD47DaYg7LnVPciE8mmwIdzjEDDsBNZu48roEMuiNURIYP7M-kLHE5_OeiPvKdwu3oGU7oWm9gq7UZOaEEBWe7OI1mZFbhN8hoMwTKhGfNEGONYN8V4sCPChLPiF5UD1gk_MJAd95GvIRJZhCfRnB83_rU25r3kUxSZDrIH33RLPLBt2NARtPjlJuiBJ341DFhB9g5zAwByWd4QZTUkSVvGFhVrSZLEytpZXiivI4S4T3ZCkt64L03Rwd-qnqInCcLJz8UtAXBeb9ROA_lW3Q3gCdclJ2FfgDC3nL0StyZG8y5OBHLBtMTTJXq5GpuOxd8MGGZZ7g1zX5FEpdBAw5TcL7lwVNOVxria3DgB0QJPAIW3qybkfGz-ojryv0kmZzSgjjdGbkEkMEqx3p4WrDn6jg_TvuHYPjyRsziTkxOPnMfRjIAUULKakPMfdhUTJ4ykLMaEF-OPuWymj5Eqg8Cu60heEC3QtiUwIsZwEf6mBhtphMJ8tETEpbkMb-YdzQf-3h0b2iR3H9QMdaVdxPbBPZDfCWTG8gU7-y8nWHw8KJ2h1ZmtezAXNMAwQ7P6hN-jJWfNK-UjwwBi-pKzTMC19WAuISzhWuXhpmXp27YcDihUejF6IB5f35mgICLiwog5HMe_BH_8Cz6j0ZOkydgV2XfAWk0jowYlfIaRTEwd6q07dChZq6uJ8VyrIxkCygxos5XlEZejMcQyTDzYVOth_I41lv5ru6BhZ5iJHnOMIHzoOm3Ol69UBTDxyv6eIvp0WA_lBMtxbF2qOs9-yAncqdTw0DL0wHc1ndthO39WPr0-FD86BXx8k8E_L6LROV8yV9bTOQXW6HGZBnz0-AC9UpeAlLkOyfaxZ0XRs9L67RmIsekzKS-wcviTY8JiTt2RmZ_hk43x2WZntiMiIMeeLckpSyGhd9gIH_c8PHNQS01EtXXl06Ho16RZZ0HRqdopQTNHLw=",
  "id": "rs_0f22ad7b96695d7e016ab4281b063c87d09672db17e33e34e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.015,\"right_x\":0.42,\"right_y\":0.31},\"note\":\"At about 4 cm high, the center bowl’s upper rim is still wider than the open jaws. I’ll lower closer to the tabletop to try to catch its narrower lower sides.\"}",
  "call_id": "call_xU8keji5YIS3NrwfpjVXBu6Q",
  "id": "fc_0f22ad7b96695d7e016ab4281bcef487d087a4c252427d1c96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xU8keji5YIS3NrwfpjVXBu6Q",
  "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]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1051, -0.1394, 0.9988, 0.8345, 2.1784, 1.301, 0.1375, 0.635, 0.4782, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1626 left_yaw=0.1191 left_pitch=-0.5985 left_roll=0.0525 left_gripper=0.9988 right_x=0.4311 right_y=0.325 right_z=0.0357 right_yaw=0.0464 right_pitch=0.0005 right_roll=0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.0821, 6.2701, 0.9597, -0.0806, -0.0073, -0.0073, -0.8957, -6.0239, 4.6427, 0.398, -0.0904, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc41d94d98d1a550fc0489eb4c2b922432643574966e029182ef74875aa7cb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6718a8dc85ba67948f3e27604a6e09910b3b9a59157994f456a91fcbdf5a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d7185c54c46b8e6e249842c33bbcb90705e1f981b9daba479ad27e73cc8674",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.247 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2264, 1.6402, 0.8257, -0.0669, -0.783, 0.9771, 0.009, 0.0303, 1.0714, 0.7197, -0.8215, 0.065, -0.3416, 0.9966]\nstate[eef_state]: left_x=0.3936 left_y=0.0409 left_z=0.0878 left_yaw=0.0993 left_pitch=-0.5503 left_roll=1.3262 left_gripper=0.009 right_x=0.2397 right_y=-0.0006 right_z=0.0887 right_yaw=0.1712 right_pitch=-0.6221 right_roll=-0.2208 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -8.4991, 6.694, 1.409, -0.315, -0.0611, 0.4908, -0.294, -3.2068, 6.106, 1.1502, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2808, 1.1385, -1.034, -0.1055, -0.1387, 0.9987, 0.8345, 2.1216, 1.3083, -0.0586, 0.6201, 0.4858, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=0.0037 left_z=0.1629 left_yaw=0.1188 left_pitch=-0.5966 left_roll=0.0528 left_gripper=0.9987 right_x=0.4144 right_y=0.3097 right_z=0.0366 right_yaw=0.0483 right_pitch=-0.1002 right_roll=-0.0745 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.2598, 6.2291, 1.1111, -0.1832, 0.1441, 0.0904, -0.9504, -8.7043, 5.2444, 1.2821, 0.1929, -0.105, -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 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1051, -0.1394, 0.9988, 0.8345, 2.1784, 1.301, 0.1375, 0.635, 0.4782, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1626 left_yaw=0.1191 left_pitch=-0.5985 left_roll=0.0525 left_gripper=0.9988 right_x=0.4311 right_y=0.325 right_z=0.0357 right_yaw=0.0464 right_pitch=0.0005 right_roll=0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.0821, 6.2701, 0.9597, -0.0806, -0.0073, -0.0073, -0.8957, -6.0239, 4.6427, 0.398, -0.0904, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc41d94d98d1a550fc0489eb4c2b922432643574966e029182ef74875aa7cb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6718a8dc85ba67948f3e27604a6e09910b3b9a59157994f456a91fcbdf5a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d7185c54c46b8e6e249842c33bbcb90705e1f981b9daba479ad27e73cc8674",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCggtBlTBv2dRZlqjlmF0NU9aRex1E-SnlyUYmiP9oTqaLWAvHvSvveB9aVUAk3Vdx5eaWZLD0xf7mXUxJv3phJ_wYIrBk66qSAwBaG4RHMdqcJo7U3GKlHNhXHu82C2kwWrbAXkbOP-EV5uW3gQiAc8Qrb114AeZrD8hBomsIyL5kvbrVsCWa3nz0ExFLvWKUt35vg1slTUL2HHCcTa_rG0anG7iL5EBIlDbbCPST3RAkzyd1DmAa8DUNmV0MrYvsZxL1cUF1YxWP6X_rkP__inVzkuagxGV3kE71NUbzV2nOINZ3c57-zS8EFYw01gNuek-e185SULznkBQGghKAiOfjGCvrUFUTQCvVKLhe3FeC8H3yvx-QdHYX0CX-DfFDBCG700zriWaQ8LBWyX07dSpYrHXx-d1BdcOQrnTPx3956rVtOs8KYIiJCccP73NvGxZX-PWN4NdTlxzoYr57ODbkwMXQEZy2A-aJAiX8j4RoSQLSeUViZmXwYtHJoKa6YckH6H9IrYixvCfB2HH5-TCYPsmFDSA4Hd3e0hjcB3MBueVm6V3zp9HaOr8yomvmtVYfRvBxU-UjYqmW6wHasVVkwklpFRZIHk_H9diw7iyfEmz9ZT-kx274gMRtT9Ya8-QqdBxDLawXpCjguswTwDojK_OEiEw2nu7pTKI49BKcUCLCdk7n7MS9i6uaq-woUS_YuuXywAaAKu2W5N_X6ClYrfh60TArS6cb0rOdmi89r6swFODAECzeWc_Kshi41Vm60QQOof8VfELxe-_S6kEF50xMKHuVPmbtDkBCtCwL_Ed-dW0mxJBeG_kyT7JaBsDwhIng2JMwZuEOCYbtmjEH3lSh0anOjwfBVOR9PKiM7W3w3P4uePd6ocG9tn4fgIqiBWlaV9mTetZ33kxB6J8ogc_aU0vfggz5n6asIYIZpdt4TL5ACMjLShnfBLVOTHlDRQWzpbaPy7VA-ssXLeRLpjiBtzftXAwjaR-kqqLQ0D6-CAVKimL96UmwefGMv_Gwykv3Cp45qwwf0z0PKzZHGiZCqN60620jJYVtzCSgIexd8G4PInp6K30SxBHAuoic3ufgZrMENIgwWnUmxToyAzchuGdyHOF0Iyl4rWCJaRrYGwCe_GOYUGgX9zLiPfz6JbKYLox7VCnDqNPldt47odjU4LU7zQj0nQmloBhZbot-ng6BNtIYGnswPsP4Cv-utcNS6kUkRMHEFBvWNrceqQVaMTKtKT8N0EgmPTBHO83ZvKFj5HH_5BA4Jpj0idwzh2WHmroXHgvjpS3PNunAc37KaTrpLuZ5RzFc6od4X4nQoYQLhBkn2ntWjoZ1YWJQA6p0C10vfbjObHUoS5rMdp2tVxCpLKM1JquM2Ca8zCrd_OvGjVHWqVqAktiTKlkQAhNzPHEPVl9aPnOBcCv0Q_chghezEhuAo8y6VBLMeNIL0o9SMhMMPUKZBz7QqkOqsSvrUrOIx57_YNch7gIDpYZOOcfBvVomoMXP0NE9hRaN8j0YmnCwi6SxhRECjvcV_TQQQwfVP0b-bTPQwvn540gEYQ4PmkAqev3Ey1vtUB5K6q5GvH4kijusf0DjUrnXyykkTVp87jPWGWfgDH1wxOUsiqNKTvs2OEE1CDjVT0Saj0-vD79TX-bwq85nUzO13aLFPGoIw_qNc7wUpEtYpNx-yc_puRE_hjMOl40TRTXS1MfsN8xyhnVPaEbTG4H17g3JySjIcJDuJSI1gGwuuXg-irdSyj9N2SDgLbnU_oHapeSWKrHWpxy-q9pOqa-l2WMeaHeq5UiNtjNK3lPz1kvsnO3f-vQd4Mnfi1adBgp0SR6frZ2kO2up7FfLje2XLGvWPtJvpZHrvGaMiEoASMVcUqXSlErulIYRi9GzDFLPgOH5anLCp9C7VgVHRRsTgA4s9X1RS92fOiA-rEVT_XWai3tNf0BC_im8BBm8g5tkC_ks-s8vHQQRkt9RRg33bQt-H0OyTFHOt8LkjeGV4jAKSGbYkPsfL1b3mlu3LkJg4ZS389RH7DdFzP7ICU",
  "id": "rs_0f22ad7b96695d7e016ab4281e5be487d080be66ac2522d7c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.385,\"right_z\":0.12},\"note\":\"The descent stalled near 4 cm, so the jaws may be hitting the bowl instead of surrounding it. I’ll lift and shift toward one edge of the center bowl, aiming to pinch a wall rather than its full diameter.\"}",
  "call_id": "call_7sZ65C5v9Rgcl5CbhZKpCp1j",
  "id": "fc_0f22ad7b96695d7e016ab4281fabf087d099a0e4ca78c80db7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7sZ65C5v9Rgcl5CbhZKpCp1j",
  "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]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1047, -0.1394, 0.9988, 0.8345, 2.1906, 1.301, 0.1829, 0.6464, 0.4706, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=0.0036 left_z=0.1626 left_yaw=0.1187 left_pitch=-0.5986 left_roll=0.052 left_gripper=0.9988 right_x=0.4354 right_y=0.3273 right_z=0.0374 right_yaw=0.0417 right_pitch=0.0292 right_roll=0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -4.3692, 6.4752, 0.9646, -0.0708, -0.0562, -0.0122, -1.1145, -6.9675, 4.0821, 0.7448, -0.149, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799df1be03bc28663506406368488202fd9059dfbeeb70f79cc026b05e220a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74415bdde044f55a2b514e62e09f265d5a22225ac777b865bd39c54d95a5f092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b17da22c7c8079787b0c5be2eb84679e30c22900c62b3cfd9f6695e88ba1b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 39 attempt 0 · /responses · status 200 · 5.418 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2793, 1.1374, -1.0172, -0.1162, -0.1188, 0.9976, 0.8833, 1.9297, 1.4044, -0.3592, 0.6529, 0.5304, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0054 left_z=0.1647 left_yaw=0.1145 left_pitch=-0.5787 left_roll=0.0704 left_gripper=0.9976 right_x=0.3899 right_y=0.3114 right_z=0.1256 right_yaw=0.0494 right_pitch=-0.0889 right_roll=-0.0659 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -5.4359, 9.2376, 0.9841, 0.0952, -0.0122, -0.022, 0.1436, -10.4274, 9.1145, 1.6679, 0.696, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1051, -0.1394, 0.9988, 0.8345, 2.1784, 1.301, 0.1375, 0.635, 0.4782, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1626 left_yaw=0.1191 left_pitch=-0.5985 left_roll=0.0525 left_gripper=0.9988 right_x=0.4311 right_y=0.325 right_z=0.0357 right_yaw=0.0464 right_pitch=0.0005 right_roll=0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.0821, 6.2701, 0.9597, -0.0806, -0.0073, -0.0073, -0.8957, -6.0239, 4.6427, 0.398, -0.0904, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0635, 1.2812, 1.1385, -1.0355, -0.1047, -0.1394, 0.9988, 0.8345, 2.1906, 1.301, 0.1829, 0.6464, 0.4706, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=0.0036 left_z=0.1626 left_yaw=0.1187 left_pitch=-0.5986 left_roll=0.052 left_gripper=0.9988 right_x=0.4354 right_y=0.3273 right_z=0.0374 right_yaw=0.0417 right_pitch=0.0292 right_roll=0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -4.3692, 6.4752, 0.9646, -0.0708, -0.0562, -0.0122, -1.1145, -6.9675, 4.0821, 0.7448, -0.149, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799df1be03bc28663506406368488202fd9059dfbeeb70f79cc026b05e220a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74415bdde044f55a2b514e62e09f265d5a22225ac777b865bd39c54d95a5f092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b17da22c7c8079787b0c5be2eb84679e30c22900c62b3cfd9f6695e88ba1b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgj7_cvkxGUd828D8fnAM7JRKpEv41Q_jiIXZLaXGuZLsjEHl89P5HDBTwQCSW1CXaXBo6K2wOIXv1uYwsfAYs6H_4Nhp1jbZFmcOJJVyZrt5sz05aYRMdaq27qfOlYGhzXNZVclUSuJxTJdDDbpwrlTbl3LfFRdweQFI0O60vFnWDeA3ntK3ys4WXYdY7LsWt4tLXRUEHM4zGiO3GkVpx1WLVYLSVzO96SJeGTZL3eK0bDXYhgh6uAjqpgqzZFMYjn_5a40ifHGhKczzrh7NC3eARnjp22V2XqKIoXkrx-_kHi6GZuHrNVZ0LBRAsT6FuNtmvm1466fRqKROKW8hgMfYwzfZuI_fCeBpBmWfgRZ2yBsWAl9nNrGc4KpOjaszcwFazXouhJ6V0jFgYjvhKcvCI1YkADsNnuW2vaF_AjO6GdJSIf3dkp-WWxqmcrbXFZo0cWu8iFa6JKt0XcbCOgMUuG20LsL07cs1L8HCTNsMotytpNriQXrf1E2FmnmeKZq7RW7Ap5eXIXi7AzFQ1Zu-Yf__VhAa-SiNfGGykFveYJvXuboaTNfdrxqI_kjbqzOLV1aC7G2LY7j4YB9rtVmS6OcLRQ7tUkd8jAYonhyZvhGz2CRkim-HaG8dfjyAKIhwtKY3XGF7ypPlIkQlHy3g4-kmxwytfbILH9qnry08GkEjMjvYa9FPotPzt1mGdzjCJ15sXugIvOL3N0axp9jCpE0N2Oxiqn5ehMnU-S34HT-M3I5VhPaddXFLDYf0Kxhc-FER1rsuUVbrLJD4mTl9R_F5DnXQwJ_qQzYh3VViemBFPAosgSGpkvHMHRx_kBn4TybKjqsoQ36l_YBLtufNiJpDqQXKy-f0LhY5UF_C3K8yrRchrQDzcaxscFyguhfsLogacJl1saKMkkvEPnqw5x-zFqjPtXMIsPdRTBPKBNAjZaIlhlBk_I6l5JzajttRE0QIdqBbeMef2K0WsHQCqQN-2wvuqYyHTmh1lM1T3aseonxL1z3-aVxaA39seeSsp81f6chPM5ZTnxTlQ4FX-CTetVIXJ75H7aHDlHk2F80WBIRXBlrnIK-r4FCvQLKisXYGUQKr_O171YAbDsOPFhyLPDzlbQDaKZMWYmUaZer42t-ZkMqYqnrJRHxTYAsjDO_zUlJeS_ClMZcZAuWF60sq5hNRdK2IrlY6ArpiTECDI5hFZnDNcPNo5IGhJNHMiYnc1CTYLYBTQ1Z1xgoCByxrpqC9EGo1TZ0ayaVQXxjovY4thTW1paf95wAu_P9eqYUNMzvDrpDd0rBWMxuFKHbnaEgbMcovHzedK0TrLCnBkntDEr99h8jBGHRe0CM1C4vZbKyFIS1H2PExlePKsM_1nfUQ8v1Mtx5Qra_qZ_MsUJuX4n4b-Umop_dqjt",
  "id": "rs_0f22ad7b96695d7e016ab428220b4087d0829e6fcffe65d5f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.24,\"right_z\":0.18},\"note\":\"The right gripper barely moved sideways or upward, suggesting it is caught against the bowl’s rim. I’ll retreat diagonally upward to clear the fingers before any further placement attempt.\"}",
  "call_id": "call_dzSTgUDdm4AR7GqoIyoQcoMg",
  "id": "fc_0f22ad7b96695d7e016ab4282278e087d0a7df32ab0ef810b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dzSTgUDdm4AR7GqoIyoQcoMg",
  "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]: [-0.0635, 1.2865, 1.1378, -1.0348, -0.1047, -0.1394, 0.9988, 0.9184, 1.4628, 0.9977, -0.1982, 0.6945, 0.5278, 0.9966]\nstate[eef_state]: left_x=0.2907 left_y=0.0036 left_z=0.161 left_yaw=0.1194 left_pitch=-0.6038 left_roll=0.0532 left_gripper=0.9988 right_x=0.3297 right_y=0.2512 right_z=0.1917 right_yaw=0.0567 right_pitch=0.0796 right_roll=0.0783 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.8205, 6.5709, 1.0085, -0.0904, -0.0708, -0.0122, 0.5949, -3.2068, 7.2137, 1.1111, 0.0757, 0.0904, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2cb5ee2a5c1390bc585427985fb7e4f7666371ba92dc2db15cc2e5a71ad999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb8c9cdeae83ebca41837c8a0222236737ea3ffca43bdb95df0c8f845cf4c3da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169cd13e85ca1b79352b1e3b82ed71775d7a2bfd4c1a69427ada76b3d9a98f6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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