adhoc - adhoc_14873510.json

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: 222 s
total steps: 295

operator

scenes

trials

errored

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

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

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls sit side by side near the far half of the table. I’ll bring the left gripper above the leftmost bowl, keeping it open while I check the alignment.

move_to

left_x0.3800left_y-0.1200left_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0193, 0.7944, 0.6041, -0.382, -0.0227, -0.0296, 0.9996, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0196, 0.9969] state[eef_state]: left_x=0.2945 left_y=0.0019 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.8046, -0.0562, 0.105, -0.0611, -0.4171, -1.3607, 10.2222, 1.9267, -0.1099, 0.0366, -0.3394] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.12,"left_z":0.15},"note":"Three bowls sit side by side near the far half of the table. I’ll bring the left gripper above the leftmost bowl, keeping it open while I check the alignment."})

tool

executing move_to over 11 steps (1.1s)

step 11

assistant

agent noteThe left gripper is just to the left of the leftmost bowl, and the bowl is centered in its wrist view. I’ll shift slightly toward the bowl and lower to rim height before closing.

move_to

left_y-0.1420left_z0.0750

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4862, 1.3518, 0.7506, -0.1051, -0.3878, -0.2901, 0.9995, -0.02, 0.7975, 0.6003, -0.3893, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3657 left_y=-0.1137 left_z=0.1291 left_yaw=-0.0212 left_pitch=-0.0728 left_roll=0.029 left_gripper=0.9995 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0168 right_roll=0.0011 right_gripper=0.9966 state[joint_eff]: [-0.3761, -5.6274, 9.0872, 1.8144, -0.2222, -0.0464, -0.0171, 0.1026, -1.5932, 7.2137, 1.8486, 0.0024, -0.0464, -0.0464] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.142,"left_z":0.075},"note":"The left gripper is just to the left of the leftmost bowl, and the bowl is centered in its wrist view. I’ll shift slightly toward the bowl and lower to rim height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 15

assistant

agent noteThe purple bowl now lies between the open jaws in the wrist view, but the gripper is still above its sides. I’ll lower to the bowl’s narrower lower body so the jaws can grip it without catching the rim.

move_to

left_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5735, 1.5211, 0.6701, 0.0513, -0.4294, -0.3408, 0.9995, -0.02, 0.7986, 0.6003, -0.3923, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.3563 left_y=-0.1383 left_z=0.0657 left_yaw=-0.0432 left_pitch=-0.1399 left_roll=0.0593 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1744 right_yaw=0.0009 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9965 state[joint_eff]: [-0.1436, -6.9265, 6.4615, 1.9121, -0.4762, -0.0952, -0.0122, -0.3214, -1.3333, 7.0222, 1.7705, -0.0659, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.02},"note":"The purple bowl now lies between the open jaws in the wrist view, but the gripper is still above its sides. I’ll lower to the bowl’s narrower lower body so the jaws can grip it without catching the rim."})

tool

executing move_to over 3 steps (0.3s)

step 18

assistant

agent noteThe gripper stopped descending near the bowl’s rim, with the bowl still between its fingers. I’ll close gently at this position and check whether the jaws secure the bowl.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1135, -0.4473, -0.3641, 0.9995, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9965] state[eef_state]: left_x=0.361 left_y=-0.1412 left_z=0.0652 left_yaw=-0.0256 left_pitch=-0.1068 left_roll=0.0365 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9965 state[joint_eff]: [-0.1846, -6.8444, 6.2427, 1.7021, -0.3297, 0.0366, -0.0122, -0.1846, -1.2239, 7.0359, 1.7558, -0.0269, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The gripper stopped descending near the bowl’s rim, with the bowl still between its fingers. I’ll close gently at this position and check whether the jaws secure the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 28

assistant

agent noteThe jaws closed almost fully, so they did not catch the purple bowl. I’ll reopen and pull back from its center before approaching the lower side of the bowl.

move_to

left_gripper1.0000left_x0.2900left_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1108, -0.4442, -0.3645, 0.0092, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.3605 left_y=-0.1415 left_z=0.0646 left_yaw=-0.0277 left_pitch=-0.1101 left_roll=0.0358 left_gripper=0.0092 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0009 right_pitch=-0.0221 right_roll=0.0018 right_gripper=0.9965 state[joint_eff]: [-0.1709, -6.2701, 5.9829, 1.5604, -0.2418, -0.0464, 0.6471, -0.2256, -1.265, 7.2, 1.7558, -0.0611, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.29,"left_z":0.11},"note":"The jaws closed almost fully, so they did not catch the purple bowl. I’ll reopen and pull back from its center before approaching the lower side of the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 38

assistant

agent noteThe gripper is now back from the purple bowl, with clear space beside its near edge. I’ll lower it here to reach beneath the wide rim before moving toward the bowl again.

move_to

left_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7547, 1.2285, 0.6193, -0.2131, -0.5442, -0.4961, 0.9927, -0.02, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.2962 left_y=-0.1481 left_z=0.1078 left_yaw=-0.0506 left_pitch=-0.1056 left_roll=0.0206 left_gripper=0.9927 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0236 right_roll=0.0018 right_gripper=0.9965 state[joint_eff]: [-0.4718, -4.7521, 6.4615, 1.5018, -0.3639, -0.0855, 0.2027, -0.1026, -1.4564, 7.0222, 1.7656, -0.0415, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_z":0.02},"note":"The gripper is now back from the purple bowl, with clear space beside its near edge. I’ll lower it here to reach beneath the wide rim before moving toward the bowl again."})

tool

executing move_to over 6 steps (0.6s)

step 44

assistant

agent noteThe open fingers are now low behind the purple bowl, and the bowl sits ahead of them in the wrist view. I’ll advance a few centimeters so the fingers surround its narrower body.

move_to

left_x0.3400left_y-0.1230left_z0.0250

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7612, 1.4914, 0.4145, 0.1696, -0.5472, -0.5137, 0.9937, -0.02, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.2861 left_y=-0.1406 left_z=0.014 left_yaw=-0.0376 left_pitch=-0.1679 left_roll=0.0651 left_gripper=0.9937 right_x=0.2931 right_y=0.0006 right_z=0.1727 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0019 right_gripper=0.9965 state[joint_eff]: [0.4444, -5.5043, 4.6974, 1.5067, -0.2027, 0.1294, 0.0855, -0.1983, -1.5248, 7.1726, 1.6923, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.123,"left_z":0.025},"note":"The open fingers are now low behind the purple bowl, and the bowl sits ahead of them in the wrist view. I’ll advance a few centimeters so the fingers surround its narrower body."})

tool

executing move_to over 5 steps (0.5s)

step 49

assistant

agent noteThe purple bowl is now centered over the low, open fingers in the overhead view. I’ll close the gripper around its lower sides and check the jaw spacing for a real grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5705, 1.5635, 0.4999, 0.2131, -0.4431, -0.3878, 0.9938, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965] state[eef_state]: left_x=0.3299 left_y=-0.1174 left_z=0.0185 left_yaw=0.0005 left_pitch=-0.176 left_roll=0.0594 left_gripper=0.9938 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965 state[joint_eff]: [0.253, -5.0667, 7.2821, 1.409, -0.2027, 0.1734, -0.0024, -0.2393, -1.2923, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The purple bowl is now centered over the low, open fingers in the overhead view. I’ll close the gripper around its lower sides and check the jaw spacing for a real grasp."})

tool

executing move_to over 10 steps (1.0s)

step 59

assistant

agent noteThe second close was empty too, and the bowl shifted slightly forward; the fingers were inside or behind it rather than around its sides. I’ll switch to gripping one edge of the rim, approaching from above at the bowl’s right side.

move_to

left_gripper0.6000left_x0.3600left_y-0.1800left_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5533, 1.5692, 0.5125, 0.2134, -0.416, -0.3397, 0.0084, -0.02, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9965] state[eef_state]: left_x=0.3341 left_y=-0.1183 left_z=0.0193 left_yaw=-0.0305 left_pitch=-0.1824 left_roll=0.0737 left_gripper=0.0084 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0011 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9965 state[joint_eff]: [-0.253, -5.3402, 6.9675, 1.4628, -0.1197, -0.0269, 0.6422, -0.0615, -1.2923, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.6,"left_x":0.36,"left_y":-0.18,"left_z":0.11},"note":"The second close was empty too, and the bowl shifted slightly forward; the fingers were inside or behind it rather than around its sides. I’ll switch to gripping one edge of the rim, approaching from above at the bowl’s right side."})

tool

executing move_to over 6 steps (0.6s)

step 65

assistant

agent noteFrom above, one finger is over the purple bowl and the other is outside its right edge. I’ll lower the partly open jaws to the rim’s height so they can pinch that edge.

move_to

left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6746, 1.5612, 0.8948, -0.2024, -0.4789, -0.4427, 0.5943, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0204, 0.9965] state[eef_state]: left_x=0.3605 left_y=-0.1795 left_z=0.0986 left_yaw=-0.0443 left_pitch=-0.1738 left_roll=0.0518 left_gripper=0.5943 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0014 right_gripper=0.9965 state[joint_eff]: [-0.5538, -6.7077, 8.1983, 1.3944, -0.3346, 0.1245, -0.0855, -0.1573, -1.1966, 7.0085, 1.707, -0.0122, -0.0366, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). 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":{"left_z":0.04},"note":"From above, one finger is over the purple bowl and the other is outside its right edge. I’ll lower the partly open jaws to the rim’s height so they can pinch that edge."})

tool

executing move_to over 4 steps (0.4s)

step 69

assistant

agent noteAt this height the purple rim still appears just ahead of the fingertip contact line. I’ll advance a few centimeters while keeping one jaw inside and one outside its right edge.

move_to

left_x0.3820left_y-0.1820left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6796, 1.6913, 0.7685, -0.0422, -0.4797, -0.4461, 0.5954, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965] state[eef_state]: left_x=0.3464 left_y=-0.1705 left_z=0.0287 left_yaw=-0.0345 left_pitch=-0.2505 left_roll=0.1083 left_gripper=0.5954 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965 state[joint_eff]: [0.2803, -8.3487, 6.4479, 1.6777, -0.2418, 0.0073, 0.1001, -0.335, -1.2513, 6.9949, 1.6728, -0.0171, -0.0708, -0.0122] 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":{"left_x":0.382,"left_y":-0.182,"left_z":0.04},"note":"At this height the purple rim still appears just ahead of the fingertip contact line. I’ll advance a few centimeters while keeping one jaw inside and one outside its right edge."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe purple bowl’s near edge has only just reached the finger tips in the wrist view. I’ll move slightly farther forward to put the rim fully between the two jaws.

move_to

left_x0.4130left_z0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6479, 1.771, 0.881, -0.0673, -0.4648, -0.4377, 0.5955, -0.02, 0.8062, 0.5999, -0.3943, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.3726 left_y=-0.1782 left_z=0.0318 left_yaw=-0.0197 left_pitch=-0.2521 left_roll=0.0994 left_gripper=0.5955 right_x=0.2931 right_y=0.0006 right_z=0.1718 right_yaw=0.0009 right_pitch=-0.0309 right_roll=0.002 right_gripper=0.9965 state[joint_eff]: [0.335, -8.0615, 7.5282, 1.2332, -0.149, 0.2027, -0.0024, -0.3761, -1.0051, 7.0359, 1.707, -0.0806, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.413,"left_z":0.045},"note":"The purple bowl’s near edge has only just reached the finger tips in the wrist view. I’ll move slightly farther forward to put the rim fully between the two jaws."})

tool

executing move_to over 4 steps (0.4s)

step 76

assistant

agent noteForward motion has stopped at the purple bowl’s edge, with one finger alongside its wall and the other outside. I’ll close here to test whether this edge is securely pinched.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0925, -0.4618, -0.4244, 0.5955, -0.02, 0.8074, 0.5999, -0.3935, -0.0162, -0.02, 0.9965] state[eef_state]: left_x=0.3792 left_y=-0.1766 left_z=0.0364 left_yaw=-0.0153 left_pitch=-0.2544 left_roll=0.1067 left_gripper=0.5955 right_x=0.2933 right_y=0.0006 right_z=0.1716 right_yaw=0.0006 right_pitch=-0.0312 right_roll=0.0018 right_gripper=0.9965 state[joint_eff]: [0.3214, -7.159, 6.2427, 1.37, -0.2027, -0.0171, -0.0122, -0.0205, -1.4154, 7.0222, 1.7363, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"Forward motion has stopped at the purple bowl’s edge, with one finger alongside its wall and the other outside. I’ll close here to test whether this edge is securely pinched."})

tool

executing move_to over 6 steps (0.6s)

step 82

assistant

agent noteThe jaws again closed empty; the fingertip line is still behind the rim, and the low approach could not advance further. I’ll reopen and come over the rim from higher up rather than pushing into the bowl’s side.

move_to

left_gripper0.4800left_z0.1150left_x0.4150

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0914, -0.4606, -0.4278, 0.0082, -0.02, 0.8074, 0.5999, -0.3931, -0.0162, -0.02, 0.9965] state[eef_state]: left_x=0.3793 left_y=-0.1769 left_z=0.0365 left_yaw=-0.0144 left_pitch=-0.2538 left_roll=0.1028 left_gripper=0.0082 right_x=0.2933 right_y=0.0006 right_z=0.1717 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0018 right_gripper=0.9965 state[joint_eff]: [0.3487, -7.3368, 6.2974, 1.3846, -0.1197, 0.0317, 0.6569, -0.1299, -1.265, 7.0222, 1.7314, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.48,"left_z":0.115,"left_x":0.415},"note":"The jaws again closed empty; the fingertip line is still behind the rim, and the low approach could not advance further. I’ll reopen and come over the rim from higher up rather than pushing into the bowl’s side."})

tool

executing move_to over 6 steps (0.6s)

step 88

assistant

agent noteThe higher approach puts the rim between the fingers in the wrist view, with one finger inside the purple bowl and one outside. I’ll lower just to rim height before trying the pinch.

move_to

left_z0.0580

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5766, 1.7653, 1.1721, -0.3439, -0.4385, -0.4046, 0.4757, -0.02, 0.8112, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965] state[eef_state]: left_x=0.415 left_y=-0.1761 left_z=0.0986 left_yaw=0.0104 left_pitch=-0.2497 left_roll=0.0927 left_gripper=0.4757 right_x=0.2935 right_y=0.0006 right_z=0.1706 right_yaw=0.0008 right_pitch=-0.0351 right_roll=0.0015 right_gripper=0.9965 state[joint_eff]: [0.2667, -10.7009, 8.6085, 1.1941, -0.1245, 0.2515, 0.0269, -0.1436, -1.0872, 7.0632, 1.7753, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.058},"note":"The higher approach puts the rim between the fingers in the wrist view, with one finger inside the purple bowl and one outside. I’ll lower just to rim height before trying the pinch."})

tool

executing move_to over 3 steps (0.3s)

step 91

assistant

agent noteThe purple rim now reaches the outside finger while the other finger sits inside it. I’ll close and use the settled jaw gap to tell whether the rim was caught.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5739, 1.8088, 1.0954, -0.2592, -0.4393, -0.3931, 0.4765, -0.02, 0.8116, 0.5961, -0.4011, -0.0166, -0.0204, 0.9965] state[eef_state]: left_x=0.4091 left_y=-0.1708 left_z=0.0637 left_yaw=0.0126 left_pitch=-0.2796 left_roll=0.1215 left_gripper=0.4765 right_x=0.2919 right_y=0.0007 right_z=0.1672 right_yaw=0.0011 right_pitch=-0.0469 right_roll=0.002 right_gripper=0.9965 state[joint_eff]: [-0.2256, -8.4444, 6.3932, 1.5604, -0.1978, -0.1441, 0.0708, -0.1026, -1.3607, 7.3094, 1.7998, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The purple rim now reaches the outside finger while the other finger sits inside it. I’ll close and use the settled jaw gap to tell whether the rim was caught."})

tool

executing move_to over 5 steps (0.5s)

step 96

assistant

agent noteThe purple bowl slipped sideways on closing, so that rim grip did not work. I’ll park the left arm and try the pink bowl with the right arm, aligning directly over its center before descending.

move_to

left_x0.2940left_y0.0000left_z0.1800right_x0.3700right_y0.1500right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5739, 1.8328, 1.0733, -0.2527, -0.4419, -0.4053, 0.0104, -0.02, 0.812, 0.5953, -0.4122, -0.0166, -0.02, 0.9965] state[eef_state]: left_x=0.4033 left_y=-0.1665 left_z=0.0471 left_yaw=0.0282 left_pitch=-0.3103 left_roll=0.1384 left_gripper=0.0104 right_x=0.2902 right_y=0.0007 right_z=0.1645 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0026 right_gripper=0.9965 state[joint_eff]: [-0.0615, -10.8103, 7.7607, 1.3162, -0.1343, 0.0513, 0.7204, -0.1162, -1.1419, 7.0496, 1.8095, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.18,"right_x":0.37,"right_y":0.15,"right_z":0.12},"note":"The purple bowl slipped sideways on closing, so that rim grip did not work. I’ll park the left arm and try the pink bowl with the right arm, aligning directly over its center before descending."})

tool

executing move_to over 15 steps (1.5s)

step 111

assistant

agent noteThe pink bowl is nearly centered between the right gripper’s open fingers. I’ll lower toward its sidewalls without changing the horizontal alignment.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.136, 1.071, 0.8848, -0.7189, -0.2073, -0.0704, 0.0122, 0.5632, 1.4422, 0.7467, -0.0883, 0.4118, 0.3195, 0.9965] state[eef_state]: left_x=0.2981 left_y=-0.0005 left_z=0.1664 left_yaw=0.0704 left_pitch=-0.3143 left_roll=0.1319 left_gripper=0.0122 right_x=0.3546 right_y=0.1446 right_z=0.0993 right_yaw=0.0394 right_pitch=-0.1344 right_roll=-0.0375 right_gripper=0.9965 state[joint_eff]: [0.2393, -3.3436, 9.935, 1.5751, -0.1148, 0.0855, 0.1734, 0.1846, -6.106, 9.0735, 1.7949, 0.3443, 0.1587, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.035},"note":"The pink bowl is nearly centered between the right gripper’s open fingers. I’ll lower toward its sidewalls without changing the horizontal alignment."})

tool

executing move_to over 5 steps (0.5s)

step 116

assistant

agent noteAt low height the pink bowl fills the space outside both jaws, so the fingers are inside its opening rather than around it. I’ll move to its left-hand rim and try pinching that edge instead.

move_to

right_z0.1150right_y0.1960

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.136, 1.0744, 0.8841, -0.7414, -0.1986, -0.0689, 0.0134, 0.5667, 1.6012, 0.6121, 0.1429, 0.4103, 0.3187, 0.9964] state[eef_state]: left_x=0.2938 left_y=-0.0014 left_z=0.1616 left_yaw=0.0637 left_pitch=-0.342 left_roll=0.1313 left_gripper=0.0134 right_x=0.3452 right_y=0.1404 right_z=0.0305 right_yaw=0.0394 right_pitch=-0.1891 right_roll=-0.0689 right_gripper=0.9964 state[joint_eff]: [-0.2803, -3.2479, 6.7077, 1.6337, -0.1587, -0.0806, 0.1197, -0.4444, -5.8872, 5.4359, 1.409, 0.1294, -0.0073, -0.022] approver: 1 step(s) modified (delta_clamped). 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":{"right_z":0.115,"right_y":0.196},"note":"At low height the pink bowl fills the space outside both jaws, so the fingers are inside its opening rather than around it. I’ll move to its left-hand rim and try pinching that edge instead."})

tool

executing move_to over 6 steps (0.6s)

step 122

assistant

agent noteThe right wrist view now shows the pink bowl’s left rim between the open jaws, with one finger outside and one inside. I’ll lower to the rim before closing.

move_to

right_z0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0744, 0.8841, -0.7444, -0.2024, -0.0715, 0.0143, 0.7189, 1.5597, 0.9165, -0.2474, 0.4759, 0.4191, 0.9964] state[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1612 left_yaw=0.0691 left_pitch=-0.3442 left_roll=0.1334 left_gripper=0.0143 right_x=0.3459 right_y=0.1999 right_z=0.1006 right_yaw=0.0813 right_pitch=-0.1948 right_roll=-0.0623 right_gripper=0.9964 state[joint_eff]: [-0.1026, -2.9607, 6.653, 1.3797, -0.1294, -0.0269, 0.0708, 0.1573, -8.0068, 8.3624, 1.3797, 0.4713, 0.0952, -0.0073] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.05},"note":"The right wrist view now shows the pink bowl’s left rim between the open jaws, with one finger outside and one inside. I’ll lower to the rim before closing."})

tool

executing move_to over 4 steps (0.4s)

step 126

assistant

agent noteAt rim height the pink bowl’s outer edge is still left of the jaw center. I’ll shift the gripper slightly left so that edge, rather than the bowl’s interior, meets the closing fingers.

move_to

right_y0.2150right_x0.3520right_z0.0550

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0756, 0.8841, -0.7456, -0.2024, -0.0715, 0.015, 0.7189, 1.6611, 0.8021, -0.1188, 0.4709, 0.4229, 0.9965] state[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1608 left_yaw=0.0693 left_pitch=-0.3464 left_roll=0.1339 left_gripper=0.015 right_x=0.3337 right_y=0.1903 right_z=0.0401 right_yaw=0.0706 right_pitch=-0.267 right_roll=-0.1101 right_gripper=0.9965 state[joint_eff]: [-0.1436, -2.8923, 6.653, 1.3358, -0.1343, -0.0464, 0.0611, -0.2803, -7.9658, 6.2154, 1.6581, 0.2613, -0.0611, -0.0073] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.215,"right_x":0.352,"right_z":0.055},"note":"At rim height the pink bowl’s outer edge is still left of the jaw center. I’ll shift the gripper slightly left so that edge, rather than the bowl’s interior, meets the closing fingers."})

tool

executing move_to over 3 steps (0.3s)

step 129

assistant

agent noteThe pink bowl’s left wall now lies close to the jaw center, between an outside and an inside finger. I’ll pinch that wall and check whether the jaws remain open around its thickness.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0775, 0.8841, -0.7475, -0.2024, -0.0715, 0.0157, 0.7345, 1.7271, 0.9131, -0.1677, 0.4637, 0.4236, 0.9965] state[eef_state]: left_x=0.2928 left_y=-0.0005 left_z=0.16 left_yaw=0.0696 left_pitch=-0.3501 left_roll=0.1348 left_gripper=0.0157 right_x=0.3471 right_y=0.2119 right_z=0.0463 right_yaw=0.0905 right_pitch=-0.2736 right_roll=-0.107 right_gripper=0.9965 state[joint_eff]: [-0.3214, -3.1111, 6.8308, 1.3211, -0.1685, -0.0611, 0.0659, 0.3761, -7.9658, 7.6376, 1.1258, 0.3297, 0.1783, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pink bowl’s left wall now lies close to the jaw center, between an outside and an inside finger. I’ll pinch that wall and check whether the jaws remain open around its thickness."})

tool

executing move_to over 10 steps (1.0s)

step 139

assistant

agent noteThe side-wall pinch also closed empty: the fingers were over the bowl’s interior, not across its near rim. I’ll rotate the right gripper so its jaws close front-to-back, then approach that near rim from above.

move_to

right_gripper0.4800right_x0.3050right_y0.1470right_z0.1300right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0786, 0.8841, -0.7475, -0.2024, -0.0715, 0.0164, 0.7376, 1.7321, 0.9104, -0.1825, 0.4561, 0.4198, 0.012] state[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1597 left_yaw=0.0697 left_pitch=-0.3513 left_roll=0.135 left_gripper=0.0164 right_x=0.3429 right_y=0.2113 right_z=0.0412 right_yaw=0.0974 right_pitch=-0.2957 right_roll=-0.1183 right_gripper=0.012 state[joint_eff]: [-0.0615, -2.8923, 6.653, 1.3211, -0.1587, -0.0611, 0.0562, -0.4444, -8.3487, 6.0239, 1.4042, 0.315, -0.0122, 0.9353] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.48,"right_x":0.305,"right_y":0.147,"right_z":0.13,"right_yaw":1.57},"note":"The side-wall pinch also closed empty: the fingers were over the bowl’s interior, not across its near rim. I’ll rotate the right gripper so its jaws close front-to-back, then approach that near rim from above."})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent noteThe rotated gripper is still forward of the pink bowl’s near edge; the first move was spent largely turning the wrist. I’ll retract a little more so the near rim comes into the fingertips’ working area.

move_to

right_x0.2800right_yaw1.5700right_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0836, 0.8841, -0.7536, -0.2028, -0.0715, 0.0165, 0.1093, 1.6016, 1.1625, -0.7879, -0.5919, -1.1984, 0.4774] state[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1575 left_yaw=0.0709 left_pitch=-0.362 left_roll=0.1377 left_gripper=0.0165 right_x=0.3351 right_y=0.1395 right_z=0.1222 right_yaw=1.3239 right_pitch=-0.3336 right_roll=-0.1225 right_gripper=0.4774 state[joint_eff]: [-0.1573, -3.2889, 7.0085, 1.3602, -0.1343, -0.0659, -0.0024, -0.1846, -7.1863, 7.0085, 0.4225, -0.6129, -0.0757, -0.149] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_yaw":1.57,"right_z":0.13},"note":"The rotated gripper is still forward of the pink bowl’s near edge; the first move was spent largely turning the wrist. I’ll retract a little more so the near rim comes into the fingertips’ working area."})

tool

executing move_to over 5 steps (0.5s)

step 154

assistant

agent noteThe gripper is now back at the bowl’s near side and turned so the jaws span front to back. I’ll lower beside the pink bowl’s near rim and slightly center the approach.

move_to

right_z0.0450right_y0.1250

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7551, -0.2024, -0.0711, 0.0165, 0.0978, 1.5536, 1.1431, -0.968, -0.6373, -1.446, 0.4785] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0705 left_pitch=-0.3651 left_roll=0.1383 left_gripper=0.0165 right_x=0.2924 right_y=0.1379 right_z=0.1252 right_yaw=1.5212 right_pitch=-0.3453 right_roll=-0.1168 right_gripper=0.4785 state[joint_eff]: [-0.1573, -3.1521, 6.6667, 1.3455, -0.1148, -0.0366, -0.0073, -0.0752, -7.8154, 5.4632, 0.569, -0.5934, -0.1392, 0.1001] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.045,"right_y":0.125},"note":"The gripper is now back at the bowl’s near side and turned so the jaws span front to back. I’ll lower beside the pink bowl’s near rim and slightly center the approach."})

tool

executing move_to over 6 steps (0.6s)

step 160

assistant

agent noteThe right arm has stopped tracking the descent in this folded-back pose, so I won’t repeat it. I’ll move forward to a reachable pose while keeping the jaws oriented across the rim.

move_to

right_x0.3450right_z0.0500right_y0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4785] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4785 state[joint_eff]: [-0.253, -3.0291, 6.6256, 1.3602, -0.1538, -0.0366, -0.0073, -0.1709, -7.665, 6.0923, 0.4029, -0.5592, -0.0806, -0.0024] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.345,"right_z":0.05,"right_y":0.14},"note":"The right arm has stopped tracking the descent in this folded-back pose, so I won’t repeat it. I’ll move forward to a reachable pose while keeping the jaws oriented across the rim."})

tool

executing move_to over 5 steps (0.5s)

step 165

assistant

agent noteThe arm also held still on the forward-and-down target, indicating this rotated pose is awkward for its joints. I’ll raise it and unwind the wrist before trying another approach.

move_to

right_x0.2900right_z0.2100right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4786] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4786 state[joint_eff]: [-0.0479, -2.906, 6.8034, 1.3114, -0.1294, -0.0415, -0.0073, -0.0752, -7.747, 5.9556, 0.3834, -0.5739, -0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_z":0.21,"right_yaw":0},"note":"The arm also held still on the forward-and-down target, indicating this rotated pose is awkward for its joints. I’ll raise it and unwind the wrist before trying another approach."})

tool

executing move_to over 10 steps (1.0s)

step 175

assistant

agent noteThe gripper is clear of the pink bowl but still partly rotated and tilted. I’ll restore a neutral, open pose so the next descent is not constrained by that awkward wrist configuration.

move_to

right_x0.3200right_y0.1500right_z0.1700right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0904, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.3191, 1.1938, 0.9581, -0.7544, -0.2203, -0.5304, 0.4786] state[eef_state]: left_x=0.2917 left_y=-0.0003 left_z=0.1552 left_yaw=0.0713 left_pitch=-0.3714 left_roll=0.1395 left_gripper=0.0165 right_x=0.2793 right_y=0.1367 right_z=0.156 right_yaw=0.8239 right_pitch=-0.3914 right_roll=-0.1225 right_gripper=0.4786 state[joint_eff]: [-0.1573, -3.3299, 6.6256, 1.3016, -0.1538, -0.0757, -0.0122, -0.212, -4.041, 8.0889, 1.4432, -0.105, 0.2027, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.15,"right_z":0.17,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The gripper is clear of the pink bowl but still partly rotated and tilted. I’ll restore a neutral, open pose so the next descent is not constrained by that awkward wrist configuration."})

tool

executing move_to over 14 steps (1.4s)

step 189

assistant

agent noteThe wrist is nearly neutral again, and the pink bowl sits just right of the right gripper’s center. I’ll center the open jaws over it and lower toward the bowl’s narrower side.

move_to

right_x0.3400right_y0.1270right_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0924, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.6918, 1.1973, 0.7689, -0.3229, 0.4664, 0.3233, 0.9958] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1547 left_yaw=0.0714 left_pitch=-0.3733 left_roll=0.1399 left_gripper=0.0165 right_x=0.3087 right_y=0.1573 right_z=0.1552 right_yaw=0.1249 right_pitch=-0.087 right_roll=-0.0502 right_gripper=0.9958 state[joint_eff]: [-0.335, -3.2342, 6.8991, 1.2674, -0.1734, -0.0757, -0.0122, 0.1846, -3.7949, 7.2684, 1.7705, 0.3883, 0.359, -0.2466] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.127,"right_z":0.08},"note":"The wrist is nearly neutral again, and the pink bowl sits just right of the right gripper’s center. I’ll center the open jaws over it and lower toward the bowl’s narrower side."})

tool

executing move_to over 5 steps (0.5s)

step 194

assistant

agent noteThe pink bowl appears just narrow enough for the fully open jaws, but it is offset toward the right finger. I’ll shift the gripper slightly right and descend to bring both fingers outside its sides.

move_to

right_y0.0950right_z0.0370

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0943, 0.8841, -0.7567, -0.2024, -0.0711, 0.0165, 0.5198, 1.3521, 0.5549, -0.0116, 0.3588, 0.2218, 0.9958] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1542 left_yaw=0.0714 left_pitch=-0.3756 left_roll=0.1407 left_gripper=0.0165 right_x=0.3236 right_y=0.1179 right_z=0.0661 right_yaw=0.0897 right_pitch=-0.1777 right_roll=-0.0891 right_gripper=0.9958 state[joint_eff]: [-0.0342, -3.2479, 6.7487, 1.2674, -0.1245, -0.0317, -0.0122, -0.1709, -5.1761, 6.4205, 1.8486, 0.1685, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.095,"right_z":0.037},"note":"The pink bowl appears just narrow enough for the fully open jaws, but it is offset toward the right finger. I’ll shift the gripper slightly right and descend to bring both fingers outside its sides."})

tool

executing move_to over 2 steps (0.2s)

step 196

assistant

agent noteThe bowl is still shifted toward the right jaw, which is inside its rim. I’ll make one more small sideways correction and lower to the narrower part of the bowl before closing.

move_to

right_y0.0690right_z0.0280

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0954, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.4576, 1.3766, 0.4816, 0.1452, 0.3046, 0.1692, 0.9958] state[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1539 left_yaw=0.0717 left_pitch=-0.3763 left_roll=0.1406 left_gripper=0.0165 right_x=0.3303 right_y=0.1076 right_z=0.055 right_yaw=0.104 right_pitch=-0.14 right_roll=-0.0704 right_gripper=0.9958 state[joint_eff]: [-0.1983, -3.0838, 6.6393, 1.2772, -0.1343, -0.0611, -0.0122, -0.1709, -3.0701, 5.5863, 1.6532, -0.0073, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.069,"right_z":0.028},"note":"The bowl is still shifted toward the right jaw, which is inside its rim. I’ll make one more small sideways correction and lower to the narrower part of the bowl before closing."})

tool

executing move_to over 4 steps (0.4s)

step 200

assistant

agent noteThe pink bowl has slid away from the jaws toward the right edge, so I’ll stop chasing it. I’ll lift clear and try the central white bowl instead, where there is more room for a straight, centered grasp.

move_to

right_x0.3400right_y0.3200right_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.0962, 0.8841, -0.7563, -0.2028, -0.0715, 0.0165, 0.3038, 1.4117, 0.371, 0.2684, 0.215, 0.0807, 0.9958] state[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1537 left_yaw=0.0721 left_pitch=-0.377 left_roll=0.1411 left_gripper=0.0165 right_x=0.3229 right_y=0.0655 right_z=0.0225 right_yaw=0.0721 right_pitch=-0.1832 right_roll=-0.0838 right_gripper=0.9958 state[joint_eff]: [-0.0479, -3.1521, 6.6393, 1.2576, -0.1636, -0.022, -0.0171, -0.1299, -3.7949, 5.6547, 1.873, -0.0806, -0.0317, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.32,"right_z":0.14},"note":"The pink bowl has slid away from the jaws toward the right edge, so I’ll stop chasing it. I’ll lift clear and try the central white bowl instead, where there is more room for a straight, centered grasp."})

tool

executing move_to over 22 steps (2.2s)

step 222

assistant

agent noteThe right gripper is above the middle area, but the white bowl appears left of its fingertip column. I’ll shift toward the white bowl while staying above both it and the nearby pink one.

move_to

right_x0.3500right_y0.3730right_z0.1050

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.1015, 0.8829, -0.7673, -0.2024, -0.0711, 0.0165, 0.9737, 1.8511, 1.401, -0.5739, 0.6136, 0.6189, 0.9958] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1503 left_yaw=0.073 left_pitch=-0.3942 left_roll=0.1449 left_gripper=0.0165 right_x=0.3349 right_y=0.318 right_z=0.13 right_yaw=0.1112 right_pitch=-0.2069 right_roll=-0.0929 right_gripper=0.9958 state[joint_eff]: [-0.0889, -3.494, 6.694, 1.4286, -0.1197, 0.0073, -0.0122, 0.1026, -8.8821, 8.7453, 1.0965, 0.442, 0.1685, -0.0171] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.373,"right_z":0.105},"note":"The right gripper is above the middle area, but the white bowl appears left of its fingertip column. I’ll shift toward the white bowl while staying above both it and the nearby pink one."})

tool

executing move_to over 5 steps (0.5s)

step 227

assistant

agent noteThe white bowl’s edge is now close to the gripper’s working line, but its center is still a little left. I’ll make a final small centering move and descend with the jaws fully open.

move_to

right_x0.3540right_y0.3980right_z0.0410

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7712, -0.2024, -0.0715, 0.0165, 1.0138, 2.0697, 1.5726, -0.6109, 0.6163, 0.6369, 0.9958] state[eef_state]: left_x=0.2889 left_y=0.0 left_z=0.1489 left_yaw=0.0738 left_pitch=-0.4013 left_roll=0.1463 left_gripper=0.0165 right_x=0.3405 right_y=0.3603 right_z=0.0882 right_yaw=0.1245 right_pitch=-0.2577 right_roll=-0.1479 right_gripper=0.9958 state[joint_eff]: [-0.0615, -3.0017, 6.6667, 1.3651, -0.1685, -0.0562, -0.0122, 0.2393, -11.6718, 9.4838, 1.1551, 0.4567, 0.2466, -0.0073] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.354,"right_y":0.398,"right_z":0.041},"note":"The white bowl’s edge is now close to the gripper’s working line, but its center is still a little left. I’ll make a final small centering move and descend with the jaws fully open."})

tool

executing move_to over 4 steps (0.4s)

step 231

assistant

agent noteThe right arm has stopped short of the white bowl at this cross-over reach, so forcing the same target would not help. I’ll park it and use the left arm, which has a better approach to the center of the table.

move_to

right_x0.2940right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7738, -0.2024, -0.0715, 0.0165, 1.0191, 2.0876, 1.5978, -0.6182, 0.6163, 0.6407, 0.9958] state[eef_state]: left_x=0.2884 left_y=0.0001 left_z=0.1485 left_yaw=0.0741 left_pitch=-0.4039 left_roll=0.1469 left_gripper=0.0165 right_x=0.341 right_y=0.3661 right_z=0.0876 right_yaw=0.1277 right_pitch=-0.2574 right_roll=-0.1452 right_gripper=0.9958 state[joint_eff]: [-0.0342, -3.1658, 6.6393, 1.2527, -0.149, -0.0757, -0.0122, -0.4718, -11.9863, 8.8821, 1.2527, 0.4567, 0.2125, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.294,"right_y":0,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The right arm has stopped short of the white bowl at this cross-over reach, so forcing the same target would not help. I’ll park it and use the left arm, which has a better approach to the center of the table."})

tool

executing move_to over 31 steps (3.1s)

step 262

assistant

agent noteWith the right arm parked, the white bowl is unobstructed in the overhead view. I’ll open and straighten the left gripper, then bring it above the bowl for a fresh alignment check.

move_to

left_x0.3600left_y-0.2800left_z0.1300left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1356, 1.1072, 0.8822, -0.7811, -0.2024, -0.0715, 0.0165, 0.0048, 0.8024, 0.6037, -0.374, 0.057, 0.0174, 0.9958] state[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1467 left_yaw=0.075 left_pitch=-0.414 left_roll=0.1493 left_gripper=0.0165 right_x=0.2958 right_y=-0.0051 right_z=0.1789 right_yaw=-0.0565 right_pitch=-0.0021 right_roll=-0.0071 right_gripper=0.9958 state[joint_eff]: [0.0068, -3.2615, 6.6667, 1.3504, -0.1245, -0.0317, -0.0171, -0.0342, -1.6068, 6.9949, 1.7216, -0.1343, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.28,"left_z":0.13,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"With the right arm parked, the white bowl is unobstructed in the overhead view. I’ll open and straighten the left gripper, then bring it above the bowl for a fresh alignment check."})

tool

executing move_to over 25 steps (2.5s)

step 287

assistant

agent noteThe white bowl is in front of the left gripper but offset to its left in the wrist view. I’ll shift toward its center and lower slightly while leaving the jaws fully open.

move_to

left_x0.3710left_y-0.2250left_z0.0850

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9436, 1.7893, 1.166, -0.3416, -0.7696, -0.754, 0.9975, 0.0048, 0.8047, 0.5999, -0.3916, 0.0441, 0.0006, 0.9958] state[eef_state]: left_x=0.3509 left_y=-0.2685 left_z=0.1137 left_yaw=0.0618 left_pitch=-0.0601 left_roll=0.0388 left_gripper=0.9975 right_x=0.2932 right_y=-0.0028 right_z=0.1728 right_yaw=-0.0365 right_pitch=-0.0262 right_roll=-0.0151 right_gripper=0.9958 state[joint_eff]: [-0.5675, -8.5538, 9.0051, 1.4139, -0.6618, -0.0171, -0.0904, -0.1299, -1.5111, 7.5419, 1.8681, 0.0952, 0.149, -0.0073] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.371,"left_y":-0.225,"left_z":0.085},"note":"The white bowl is in front of the left gripper but offset to its left in the wrist view. I’ll shift toward its center and lower slightly while leaving the jaws fully open."})

tool

executing move_to over 4 steps (0.4s)

step 291

assistant

agent noteThe white bowl nearly fills the opening, but its center is still slightly left of the fingertip column. I’ll make a small centering correction and descend toward its lower, narrower sides.

move_to

left_y-0.1930left_z0.0280

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8234, 1.7851, 0.9943, -0.1799, -0.7177, -0.6662, 0.9986, 0.0048, 0.8051, 0.5999, -0.3927, 0.0437, -0.0006, 0.9958] state[eef_state]: left_x=0.3637 left_y=-0.2163 left_z=0.0705 left_yaw=0.1034 left_pitch=-0.1021 left_roll=0.0891 left_gripper=0.9986 right_x=0.2931 right_y=-0.0027 right_z=0.1725 right_yaw=-0.0356 right_pitch=-0.0278 right_roll=-0.0159 right_gripper=0.9958 state[joint_eff]: [-0.8274, -10.8103, 6.3248, 1.4579, -0.3053, 0.1636, 0.1001, -0.0479, -1.306, 7.0632, 1.746, -0.0073, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.193,"left_z":0.028},"note":"The white bowl nearly fills the opening, but its center is still slightly left of the fingertip column. I’ll make a small centering correction and descend toward its lower, narrower sides."})

tool

executing move_to over 3 steps (0.3s)

step 294

assistant

agent noteI could not secure a bowl to lift it. Centered descents stopped against the bowl interiors, and attempts to pinch a rim either closed empty or slid the bowl sideways. The bowls remain unstacked.

give_up

hindsightThese bowls' upper rims nearly fill or exceed the 9.5 cm jaw opening. Descending over a bowl's center can stop around z=0.06 m with the fingertips inside its opening, so closing there reads empty. Several low approaches and off-center rim pinches also closed empty or pushed the bowl sideways. The right arm stalled near right_y=0.37 m, z=0.09 m when reaching the middle bowl; the left arm had a better approach there.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8104, 1.7901, 0.9409, -0.1108, -0.704, -0.6441, 0.9987, 0.0048, 0.8082, 0.5976, -0.3927, 0.0437, -0.001, 0.9958] state[eef_state]: left_x=0.3623 left_y=-0.2098 left_z=0.0578 left_yaw=0.095 left_pitch=-0.1058 left_roll=0.091 left_gripper=0.9987 right_x=0.2929 right_y=-0.0027 right_z=0.1706 right_yaw=-0.0354 right_pitch=-0.0331 right_roll=-0.0165 right_gripper=0.9958 state[joint_eff]: [0.0479, -7.5829, 5.8188, 1.3651, -0.4322, -0.0562, -0.0024, -0.1846, -1.5111, 7.2137, 1.7411, -0.0024, -0.0562, -0.0073] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not secure a bowl to lift it. Centered descents stopped against the bowl interiors, and attempts to pinch a rim either closed empty or slid the bowl sideways. The bowls remain unstacked.","hindsight":"These bowls' upper rims nearly fill or exceed the 9.5 cm jaw opening. Descending over a bowl's center can stop around z=0.06 m with the fingertips inside its opening, so closing there reads empty. Several low approaches and off-center rim pinches also closed empty or pushed the bowl sideways. The right arm stalled near right_y=0.37 m, z=0.09 m when reaching the middle bowl; the left arm had a better approach there."})

tool

give_up: I could not secure a bowl to lift it. Centered descents stopped against the bowl interiors, and attempts to pinch a rim either closed empty or slid the bowl sideways. The bowls remain unstacked.

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 · 7.203 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
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"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]: [-0.0193, 0.7944, 0.6041, -0.382, -0.0227, -0.0296, 0.9996, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0019 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.8046, -0.0562, 0.105, -0.0611, -0.4171, -1.3607, 10.2222, 1.9267, -0.1099, 0.0366, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74165a45a3c2c8c66d55bef38c5b6b76cdbce6cb516535bd520654ac3a178196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b517f9d935d877567d86dce04ee7c56a30bc3f5f214adee261066166abd5e8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3831aa77922814bef65c699384cfedb076beeb99941d99aae1fc8162b946ee",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 8.113 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab438a75f6087d0b41e76a4f82286fd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDitUcKN7QuSOHhzAaYxGFKa9xhRpCvsx7KU6j0eraK7p2Vf-W2w4ovSYpSdgs4cJUBK3YsBCidYXNPczpjsyp6DV36T91gJr8EAT3y9T00n6JyBepYOBqNoS6xBbtcS0uxxdAEKgfbSkUm8qoEblWOPjdYTgyzMS7aNHkGh3VLlAYRVqj4ngTWVjV92M9YXrRcVeBkewUX7HhHCxdb6kMHRoV_vmNXWaXdMUQy_KmMIN7jkjxQj_Y7vkQKvb3D1dkgpIxk6t9O5TuFCQJmIB-zHP9YWk4_foeLm8sM4KXS7bFMh1Tg4JpZ8H_NoWSzAttBwTaj_AxsSPilaeKyQEAGq-kb1teefi0TDbNunyCgOJlBSZ4BeOK0S_LIXsXzw8wkeIC3urfyAIIzQwCDg9qVCajid_nzDeCptcumaFwbsfnugueiG_Tz1fJQ-_XGgToiZWquCnf9p-sUyoFpqeomemuVzNngNBVESO1nICMPkLprm6uX29f9pE6XAaerOu4oDW4acd7t2B3y6rNeAvu6rbg_ywNpi5t5bJ4W5nSjzpubQod8EjW_XyEF5XMiO3sdzU0zvGM3v66LqXmuAT2ukBB7Su2OitUF_lKTa04sXu31lpGMt5FV4wEWeg15xtt-vBV9cEq4UYkK4tGXmHdYYhMMbibKjYACYL16QvFJIEUzB9fPxmMYN62EASu6-XguTdP5LHAt7Edhfq1DquqBGlUEoyAsqIqYJHA6bwFr8Yw8igHAheKVaBEYo3JsQcZJbY4sb6wsva3FRle0-zc-n-OkW_m9enxxNFPf1TqT-Ow-lhZ967JggPC16b0FeBfWBlHwavxVZvGrnb3OOHrYekAlHCrIOgZcDJawHAyHKrB8RGVcsAhArFuwb6SqZ52HLOIubUAFQxCKAI9rWr-1IyQ9Mx6XFpdNC5KQ-x4OmpsoQ7NeLWZOQmdiDlXg2V6XxUY6Fy-hL7Y4BT8LK1fCGkQO7_O_Yn1WsejdbJFninnHRCgYx9tzfhN7vWdSHOAtzy_EZ0rp0xn-woHuH2VOI8fd_uaywWxM8P9XQg5dY7xqGo_MbWvPWH7vBfRR55Di6u3NfNlZ1DYjPwrdhlkQEJybCK21XPMMiNb4WwvQL9uK0jS9j4-1D5Y2Abcuj2h-O3Ml6q2CkDX8RKVaDLPeuSoqTzdM2kG6FjbuIXuZeHCF3uSBhh-gYv2WSjnVspvCTdzdmIWPMYI5RfMgeICrvxpM3kXsytl8151xsKCJoSyeZqJOiU_9GU_VPtot5IHHXj3K4yR_SwWg28iQ0ZXcOF_HEwPyQAvPz7QGP69d2VvxMBW8ozhOZrUTTCWIMCwvMMbDUB3_2ePAGzkiUlxCifqh8A1_KG3YO7VBF4XM9s5Zzl1Q-VuifEz1V6uC0bgPp2DfK4yhHgnvciVymNQss5AtNiFhFRbU2LyVt-1Rh6aw=",
  "id": "rs_02aceb5176981c56016ab438ac259087d09f6d3ab02676f142",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.15},\"note\":\"Three bowls sit side by side near the far half of the table. I’ll bring the left gripper above the leftmost bowl, keeping it open while I check the alignment.\"}",
  "call_id": "call_LQeV3wl210os8unFGHAgpZx7",
  "id": "fc_02aceb5176981c56016ab438ad02c487d08178caf1b3380f7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LQeV3wl210os8unFGHAgpZx7",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.3518, 0.7506, -0.1051, -0.3878, -0.2901, 0.9995, -0.02, 0.7975, 0.6003, -0.3893, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3657 left_y=-0.1137 left_z=0.1291 left_yaw=-0.0212 left_pitch=-0.0728 left_roll=0.029 left_gripper=0.9995 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0168 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -5.6274, 9.0872, 1.8144, -0.2222, -0.0464, -0.0171, 0.1026, -1.5932, 7.2137, 1.8486, 0.0024, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dacc1012d253652b3cce26481cd3ad7140504be82fcd9e42d2e42a110959c5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa5a645f6b78ff56dfb01493c8077acb9980c5481ebcd9907a9ddddc5cbfb19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5362d3f222b23335715c0138a22e33ed43c5de731e95ba7cbae6daed4ef774",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.961 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0193, 0.7944, 0.6041, -0.382, -0.0227, -0.0296, 0.9996, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0019 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.8046, -0.0562, 0.105, -0.0611, -0.4171, -1.3607, 10.2222, 1.9267, -0.1099, 0.0366, -0.3394]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.3518, 0.7506, -0.1051, -0.3878, -0.2901, 0.9995, -0.02, 0.7975, 0.6003, -0.3893, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3657 left_y=-0.1137 left_z=0.1291 left_yaw=-0.0212 left_pitch=-0.0728 left_roll=0.029 left_gripper=0.9995 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0168 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -5.6274, 9.0872, 1.8144, -0.2222, -0.0464, -0.0171, 0.1026, -1.5932, 7.2137, 1.8486, 0.0024, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dacc1012d253652b3cce26481cd3ad7140504be82fcd9e42d2e42a110959c5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa5a645f6b78ff56dfb01493c8077acb9980c5481ebcd9907a9ddddc5cbfb19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5362d3f222b23335715c0138a22e33ed43c5de731e95ba7cbae6daed4ef774",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDi2hrJRNwgJp7BG3pvEnPk6A2LljCOlEwK4bJ73dMMPOdSQXEH6LVsaVJMTVdssYiLxhTkiZjQQ-urasJBrtvfRv0rAv7j5zBidBIauXcnjH3OpicEHk8qpgIpBcPVCaqNsNjERCurlFpIaqYdplg4fMjIic3k9ruwFBeQPALpcZSTf1mfWC5LLlYujvYSAjRSsZw-ti5EYD_NVTzZXskusxSxosiFySzOL-pvM1A4_gBJLCJRTiQP0XdDa0jRablVixvziI6BUQ6FEjwMeMFxwKqoa3zmzEQoftgERwpXvAnPnEXmOkNs5g86yg66RQtUYgpEBx8bHL9Cu2BhLTuOyljXN8p5lzGboMovnfKOLxwO-AKemzvfo09kaTv8_92eKdpjwkY75TF6pgvoacTqkktOdbg9SHUZy5ArkxCU1ZlwyI7YgHVE25nCmZfyq-lIbguL_dnMR9f68_0Bbi6Zo5L0WbFSNfc_uZqMYpA_5jgGVvvo8yF8qkhnkJ2nkb1Upx63GkJS1kC5YvEehCmI5wc_irk65bhZ_lzprxIz-qvUqVaNLp3duNaZJj2_zIYXNKgksIt6KHrD3Dj1yQ0C7JJZDmWwQ3R7pC_r25vSodRRhRbshj8rc70xqaJ2Z7AtdvkBTD9o-4smBOpd5zsb58WW_NKdfjHHXZc3W1v-30FszGunPS3yWsRVkjfy-m0A5PqDqepLZgrQF6IqMsjSsYQRAPoPDFzvfsqdFEbjxc2WMXDojxW9q6RGNMCsc0-fWdtbmPMmQhvy0kTTdJMe8l9MJtRWbHKF4eDv11NVQoth6149YlCiMXaw5x2lgDFaGJQig9Aa2ScKfpEjB4XtIhkr8uumzW_puI2WHK0t6c0zpv4bC1rxaadx3pjJjj9KYM05Vz7n64nhF-GzKIzBucsAWQ_KX6BBFXAU24psFUE7kYrb5DJ6U0lcHWrC0gOIx5qa3VwEkb6NjQMgbFk7no2d47jshaD5YiZkl9d1gI39e5NDIXu-QuZCMFYyWpWqslnJkRwiB7gBX2chHNaMuWi0G0MbAKoOF-yWaVuSujzbeDc3Ae3g695kMQ-GciON_MJAOg3gu4uKE-jUctyEMZfInV65PFNnAX1n28oQhTkCUYxVdSlb_Wx0e-73-gGbc8KJwyCg7jXtk8U8Caq0RPiY2hiqcWRcn6eL1WPFRrRIoPQeduiKVLukNBoOgN6z87R7yuyey8WmtmLQ4q1LdixjzYxxVwyOy3VpfOpHtThhai4i4FGXOCC7FHvsYhaBJGyf7f7g_XNykFVjlgOC_0sKO4BFk7J97BAUlo1CCKwqLUMkYAsILIS2cFYB55C9IN9nKw0GYv7ugQCwuuGjVb1sWKLgNkC-nqjwhrf_VnOXXPve-Tws9EKEfPZXTEEe1sTUMsEIqgv0kWQvmJ5mPFAVW9_M-yrGb2pTvYoiA6WvwmvcyULc6CimgMrj9dueEcs1hWiaBgQ1-cO4CdUsnXm4hREn8EfaQIA4ojo19TrCFJXF9lKmrNGPZdJO7sNsaT7d-cOZrQNTYWtThYc57DKnpcbHdbVRDw47PuVj0dhT1zp88lJ3IfBkczNSL_2RK3SE4BIMLhkDTCYmJqYorroSXPSyGdrkQ0kwttOHPfvnlFgB5VKes8m7PHepc-38CwiPeZYgMmid25Gw9FknVtHlNDYuB2l-KBwe3p8ViPL-U2tWRLVv5d7JGo2l3YYRt3ru-VtziXX2HvvXHYswe-5G4W9wmDWgNPyzzyBes1oKd1mqqvnm1SHJrfW36RYHweBgPxDL6nInSFD10w79v0617pk1sto52qSQQFY7BwOLDX85WzdQ57zq7UDzrbhsvJbrR32Ui5Q0zdeF6-WQ_52WK_-vV77Nnf4h6_yNfDeIbhpXcdnOZIxF6gJ-0Gt8qRiopUGzUn461JPeal3oYugpQI-qDCBp4MiBb7CFPVgtvyaoOX-VaMJuhCmd3SSQSmj-vjLCNdupo1BJ99_KXkn3KQ-wKNa4nRzaEK5rGTA3vSZi8OeBCV-FMIoaP3GUBGfnokVnbj0GwUHKSiPeZM3zMrjJdvN_UDtLQEGCXHuIhuPrF_do5B9MvUgx0NB4YWczoHbL3fM0_GAk8W3OWVbajIDI5LcZ8IXr4Eoo5KYapHc7cNdBXbdAw_li7afM83ddvNI4eX2pkNAZRBCkN_HjoHLTmnBg7PS9RbpT7OD53_zmws_fxPPsMowNwMzLgIwSlMWtFWtQXITE5gGIJ1ykGrGZsCGfEn1YeNjpXwUBsEVn5Czup0kluENPSWZAWSD0BJv8oIFmniCSRmRKg6A==",
  "id": "rs_02aceb5176981c56016ab438b1bbc087d093daae917ee64604",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.142,\"left_z\":0.075},\"note\":\"The left gripper is just to the left of the leftmost bowl, and the bowl is centered in its wrist view. I’ll shift slightly toward the bowl and lower to rim height before closing.\"}",
  "call_id": "call_KotjR2i9EFjPn7EUk3rlAIMN",
  "id": "fc_02aceb5176981c56016ab438b5a72c87d0b9c0ddc74864ca90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KotjR2i9EFjPn7EUk3rlAIMN",
  "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]: [-0.5735, 1.5211, 0.6701, 0.0513, -0.4294, -0.3408, 0.9995, -0.02, 0.7986, 0.6003, -0.3923, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3563 left_y=-0.1383 left_z=0.0657 left_yaw=-0.0432 left_pitch=-0.1399 left_roll=0.0593 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1744 right_yaw=0.0009 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.9265, 6.4615, 1.9121, -0.4762, -0.0952, -0.0122, -0.3214, -1.3333, 7.0222, 1.7705, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9a1192b79c41f61515e3ab57d01cb2a81e72f50699971ec1c2990f5d8b8b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17bd13807e49eb6fcedcf6f7f41e2c1426b2fd6039c5b86dcfe93d710c71761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235cc2bd8955e6202998751c72456518e51f68802d47e57ee95a166d03fd310d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 4.128 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.3518, 0.7506, -0.1051, -0.3878, -0.2901, 0.9995, -0.02, 0.7975, 0.6003, -0.3893, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3657 left_y=-0.1137 left_z=0.1291 left_yaw=-0.0212 left_pitch=-0.0728 left_roll=0.029 left_gripper=0.9995 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0168 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -5.6274, 9.0872, 1.8144, -0.2222, -0.0464, -0.0171, 0.1026, -1.5932, 7.2137, 1.8486, 0.0024, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5735, 1.5211, 0.6701, 0.0513, -0.4294, -0.3408, 0.9995, -0.02, 0.7986, 0.6003, -0.3923, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3563 left_y=-0.1383 left_z=0.0657 left_yaw=-0.0432 left_pitch=-0.1399 left_roll=0.0593 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1744 right_yaw=0.0009 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.9265, 6.4615, 1.9121, -0.4762, -0.0952, -0.0122, -0.3214, -1.3333, 7.0222, 1.7705, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9a1192b79c41f61515e3ab57d01cb2a81e72f50699971ec1c2990f5d8b8b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17bd13807e49eb6fcedcf6f7f41e2c1426b2fd6039c5b86dcfe93d710c71761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235cc2bd8955e6202998751c72456518e51f68802d47e57ee95a166d03fd310d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDi7uhiFf6BGljVIMzfunwGsx2eYpyGrtUf0ZW3oLWqYevxg4PhewVei1U7TDZzKh3cZz6rsHdF7TdSkt678CP7BbrkcpdoHhXvOp4KwViRoiXRZtLVkujj-5YLCImfBHK3iqxj-9KGjXnsTG0H7k5lnGtxir6nHqWwxx5QWGYo_2p15ALefF_7cSzRj5nOrxsqYlJFZLu3RMqA6AkrgGZ-qb4_KdBGGjO5A36The-6YOEr7uCgnKIwdntk_cUBVwOicUhnm31J30Terws8CzO77DMhbsqDRcsMdsTNjqDBfFc3sbfIlyNOQkr_Du46I6gKMosf4wdfQ79TnR2NNqrizqBXvmJpe0FT6SgsVfwtSIfaJ4mcyeL-zZ6KFsdsXZHqWZATvWT4sXxpEUeOkv1eOn__i1KHLNzJaMUQTQIu58dCsVmzSzVMkm-GcSbXqxdr5WZ0GpZFTzOC5vEi7gD--TUXQbFpHdgtqrej0NFIruukwjkJvIK50ZTrv29h-JYdWk00QUMiv8cVeTRIQ9c7LP-xCB9C_SF2vdM9l943Fx25QsJYi_9zJvDF5lXYuo4M8ukyiQPjOXhA4tHCmdIjNFv0bxOlycXVBQXqXwnuw7vm-CP_AG-j47i9EhKBBtQDA1u-hAsvyb7kkr23rS-H2oFjGIh6Or6bU-7e8D1wa63ZeT4L3jpshfzwQ9ElFtzWFhGjt_lPVJAjzu2x1b6NMEkeLG_CIOG6tlE-bBf9YLKzHXxSn2V0izPmToIx8HCcVBnwxmsx1HJAYq3SBvYnxxIL6PuAQc9blY3Plkr8KsDkwO0ctu5lPKQvYP5fuSONeD2WQGT7NO0hh_xn6PDPylZMyMqcoLbZQe0lB2TMD0ofOC4MEYZxvDPoMB1AbFj6ZBd-jwTnd9piGH9zUixmInoYBJKPgi6xkAzGRiUA2vzKwq9rz4il8v2c5U_axVToV7MTN2fwXs8-QNUWr5f5OlZFETng30q0zwG85wBW-t2pipO4zmCbMXc7t2HPBPfl4ve3Rf6cCtIGmQmjr1KSh71Rma1WlsIStPQ5SOod6TS9ITnxXq719YmLqiIPdO7mYeJzacUw8n7y5d5o1qsxFW_YTgMTE8SQVw1yNUVD0WcancczrcXUfByCPYZiJBufsdrY3ox3X-8OhRcgcTvs05-n40ljT7h-EWD9QD123d_q16910IB__JhHPLbCuxoxHTvY0yTuVVy1TW_7NlzoOVT0VqYY04-HAWCeJQ2RVOZHhGoodpjg_avonLc6mgyVNZ-SqDEKfrjMz41pxt1wTXcemkpH2Xl_cCusGGiBEBwJ5MaBbN5dWCMLWX4dGrcuHAJLDuPI3HTAQDfj_Z5QLhu1FbM1oNW83UC8ObVmjsRrggXt51aKin4L6Q6ML8a4mtgSYEvzio64f0ZOIGpICtwzJggi4BMMvqS4dZPUZ7VvnWLZkRbTD9WJMM6-Wm8aJWbqezXr8lnL59ck6XycwxedWXrDcMTrfFL5t06sX4m-d0Gy6Cma-VAylxLdnRl0tZ-0rqdthKYbtZwv3pqR7wMfg1L-xXy7AWKPhtnHLHHAqyhZYqcZweOqaMxQM6xNm-7lC_MnaIEwhH-JtdMirdWM7CzA4WkefW43_kzZrW6Byb4NZilzsMdBi0SaLctuZM5DgjtyVTO2AD9mGWeo3aU6RfCYgDZ2YaDjiyeSBEwX3TesWn6MeGxS_BKlvSzhv9gY0wU8-OS5FCF2PGU8zo3Xl6SbSuuoSI4M-wq5qlZv2s-9L7Ft7ku6lu6taBvbRf2xJKyyM53i2uuw9khc-_uRKAxdxwHO1jia1QV8O94bxo1tHHfvFL0zpkR2IIcWv2Acb8l3Ci2JNYeDN0A3umesqtRK22Zur4zgTk6yy_JiydzwuyFeF3rNMMbK9hfb8LLt0a8-aHb6OHU4q_trdF3DbjNCXDkW3mWJUjM_wrgXtf5P87oQP_WIeQrrykUjR2xXov-bJAswBXCt04NcB4aSDAsSWXJflm4DPGFGMGsCB98IcoXJ-jiMbE-R-h7fvGnvM9BknB8_x_PkQNiuwdrfe-EE7H7u7y8cMipvG5cQXm0Y20r7oYC9KDFAKEbHvLbxfr2op7T8XGNpaMJukOmhSdQiSP3GxLP2QYBJCDpZg9X4iO-of1r9h88ExWV81K1mUUpYmvRoPuMQze9FFldeKvCZ49lQVrvgVwoef7Bc=",
  "id": "rs_02aceb5176981c56016ab438b8783487d0a35ae5fe10aca42b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The purple bowl now lies between the open jaws in the wrist view, but the gripper is still above its sides. I’ll lower to the bowl’s narrower lower body so the jaws can grip it without catching the rim.\"}",
  "call_id": "call_6f5VDiKje4FDHC7qY2WRr9EB",
  "id": "fc_02aceb5176981c56016ab438ba92ec87d0b88bdb1707ed5bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6f5VDiKje4FDHC7qY2WRr9EB",
  "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]: [-0.5808, 1.5429, 0.6598, 0.1135, -0.4473, -0.3641, 0.9995, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.361 left_y=-0.1412 left_z=0.0652 left_yaw=-0.0256 left_pitch=-0.1068 left_roll=0.0365 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.8444, 6.2427, 1.7021, -0.3297, 0.0366, -0.0122, -0.1846, -1.2239, 7.0359, 1.7558, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aefd707dcd3e9fca49916ec309ae367e9f6ec92dae743b00123496cc67812f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231f4c70488700dcd8364b27b6067f7c448541aa8c0f1e5b6e2b0c7433f1ff4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8027e20dfb6b5f15b194f618b34919ecafffad9292e253defda413825f4bd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 9.662 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0193, 0.7944, 0.6041, -0.382, -0.0227, -0.0296, 0.9996, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0019 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.8046, -0.0562, 0.105, -0.0611, -0.4171, -1.3607, 10.2222, 1.9267, -0.1099, 0.0366, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5735, 1.5211, 0.6701, 0.0513, -0.4294, -0.3408, 0.9995, -0.02, 0.7986, 0.6003, -0.3923, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3563 left_y=-0.1383 left_z=0.0657 left_yaw=-0.0432 left_pitch=-0.1399 left_roll=0.0593 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1744 right_yaw=0.0009 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.9265, 6.4615, 1.9121, -0.4762, -0.0952, -0.0122, -0.3214, -1.3333, 7.0222, 1.7705, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1135, -0.4473, -0.3641, 0.9995, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.361 left_y=-0.1412 left_z=0.0652 left_yaw=-0.0256 left_pitch=-0.1068 left_roll=0.0365 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.8444, 6.2427, 1.7021, -0.3297, 0.0366, -0.0122, -0.1846, -1.2239, 7.0359, 1.7558, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aefd707dcd3e9fca49916ec309ae367e9f6ec92dae743b00123496cc67812f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231f4c70488700dcd8364b27b6067f7c448541aa8c0f1e5b6e2b0c7433f1ff4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8027e20dfb6b5f15b194f618b34919ecafffad9292e253defda413825f4bd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab438bc4dc087d0bce7297d42c9de53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper stopped descending near the bowl’s rim, with the bowl still between its fingers. I’ll close gently at this position and check whether the jaws secure the bowl.\"}",
  "call_id": "call_B3zrBgRi1nJfDSAesFDwSrAF",
  "id": "fc_02aceb5176981c56016ab438bec2e487d0b307166f40866fca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3zrBgRi1nJfDSAesFDwSrAF",
  "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]: [-0.5808, 1.5429, 0.6598, 0.1108, -0.4442, -0.3645, 0.0092, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1415 left_z=0.0646 left_yaw=-0.0277 left_pitch=-0.1101 left_roll=0.0358 left_gripper=0.0092 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0009 right_pitch=-0.0221 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.2701, 5.9829, 1.5604, -0.2418, -0.0464, 0.6471, -0.2256, -1.265, 7.2, 1.7558, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dd9c609ea076704af717b3be07bd0932bf4ee2c2841e7284edb29cb66fecb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ba2f10e402a83a31cdbaff580f6b3af38bd113074a22d91cfaefcc15a1c81a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768b1437980b8d64e05d2746cec44fab3ece235b4536fe029ae8639d8789bfe8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.451 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.3518, 0.7506, -0.1051, -0.3878, -0.2901, 0.9995, -0.02, 0.7975, 0.6003, -0.3893, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3657 left_y=-0.1137 left_z=0.1291 left_yaw=-0.0212 left_pitch=-0.0728 left_roll=0.029 left_gripper=0.9995 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0168 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -5.6274, 9.0872, 1.8144, -0.2222, -0.0464, -0.0171, 0.1026, -1.5932, 7.2137, 1.8486, 0.0024, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1135, -0.4473, -0.3641, 0.9995, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.361 left_y=-0.1412 left_z=0.0652 left_yaw=-0.0256 left_pitch=-0.1068 left_roll=0.0365 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.8444, 6.2427, 1.7021, -0.3297, 0.0366, -0.0122, -0.1846, -1.2239, 7.0359, 1.7558, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1108, -0.4442, -0.3645, 0.0092, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1415 left_z=0.0646 left_yaw=-0.0277 left_pitch=-0.1101 left_roll=0.0358 left_gripper=0.0092 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0009 right_pitch=-0.0221 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.2701, 5.9829, 1.5604, -0.2418, -0.0464, 0.6471, -0.2256, -1.265, 7.2, 1.7558, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dd9c609ea076704af717b3be07bd0932bf4ee2c2841e7284edb29cb66fecb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ba2f10e402a83a31cdbaff580f6b3af38bd113074a22d91cfaefcc15a1c81a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768b1437980b8d64e05d2746cec44fab3ece235b4536fe029ae8639d8789bfe8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_02aceb5176981c56016ab438c1646487d0915bef2d96aec5bd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjKfMwmi4kQU7wb7wyGuR4QQjT9k637lWtROE5vxvUrc9W79qVthgF572a08UQOhAaRCmbOC4x9aIyfOKsLiFTpV1NLENdjWQbXxwyk9S5P8drPNNNQafTM0OV8Vym-uwu-ft3IYF7LiqxGpxMLjC_f0taIxkvl2UAAdLWWF-hD9uQM4g0ktztN2rdiH_3aFiQJUfP07P_N3jAEya6FoNBh9ovwhSPzjw6r9-Jq-oCyz16eBF0f70a-CINm0qeCZA5mRe7Q6ni4nKWNgxHzTMYG1qTR6viHSwqE2ImwdWbb_t8imI3HPqeeUun7UyzXX_Ur601_Am40dXjL5yq6-4bdypGnTGbzs-UdByuyqgmXGv2M4XamD7d51OboFYV4nVdP84d49jlpbwGEDKvpUYYsgkmNMuiXrwQsXfDfzmlDbiXBWEw93jVNCGd5hkRD_zh1jS2lNzNoi2LGsgJyFsNR8GS6GAy5_04DFlYfxgKeVsOzCyP38StSCG3--Ykgf26pwHnj3YIN1IfPnaJQH4Gpq-JrXeblWLlt6oX-aivFjw_-HPzD-uQVJFHq3WP_Ky4-4gB6hj285EfPKy2fTyyuRChvK2-hRzrrcyDiegxEGeA_47Vkta-OPzn5T1zNuxe0aVkNwszpbeJPOOU71zATujH4iKVWFDtF1LEdz5fE8X1BiIg-ZpQUVcqgnd3C46LoDHF34idb9iOACU6y4x6_O3PqlWQVjnMIuCt1D2TUHqskLo7EszXf0EzOtn5PPdZowZCyBJHNZYX9ta-8nlCTyMwP4CMgv8Y23o9vp6u5YJChIkk_bBppxO4a0t_qsXavBZqAdnxq-X7w31I-iuXmGFKy2vDusgVtawR11b0yMufk-jt9Hp_LOml8Z-Pp2wtNRR1zdAGnUS6838hrFIwJ0SymSLP5XH-oZh9TpJfPjv-7Ag5Rhr_wNP4xA-VHEsH-7rAfMaB8ANUeGW1Ly8_1g0SUk4FfIdUecOtJI2YdCyTnvnNtTdgY4-6cBKIuhroybkbnvzz35H9uQWydJzjCVL_wa11pQdip-P0Q40iG9xTJZBFTaAZQzvaiPTH-oXeyFX4AoUXdYl8ZRlb5B4mZ_IPRl8uRslqnGVVWgKH8kEUY4n6LZGs8viDEoi8tp5WF5QdBiP8tR_Lsk0UjsZaHcrZ6pX7h3tOf99WwTVcYlDg9wuVeh5YXhCQWkgQqzu39amZ4fOhMlsecUJm3o9V_pNQYDC-P9qPSPZuNBh25-ADDnjk0PSn46XMyiTvtDBlnhRdiIQjzzMWBqrnK3amuG-0BbxmeyPdQPIrnHcWcW-GLivXYdWCvU3pLZUwZ-hciKy4adjlAap8zrWdS2BuF6reCgRCGt_0ct3UswtyFTrfz-dWyDf_60r5JkenG8-b0SehXJwqVx_ydNHEWkh55wif88E75GpcGbytcsvvbV6aoiFLXSMI3ZA-8ZR1evmY3kcDrEHsA7A3GH7s9tfc9F1lHuqDw5D3RYBj6OGGSUW-WWUN-EZwvgD4BsRgLH5j_qn4xZtSu4iQDvbArMaoB83v6l8dGF50Z06jja8JEh4DjN6xMEiAdRvNOZiGcjvobHufelTaWwyre-6c4xZwJ8pMfGemRCo8A5rDhKHTHh6CFlHr5yPvmobZkWVjoyn5Ho3SH4ShMnWOBAUDlfxSK-MN_0Xa3cRgQa2RQKDMnn74nNaByEcX2juVrGr8rZTGNNELUmrIKIqqupteS9YiMsLZo7sPIxDpIjNXNI29c_vDzS7Uw0y_6Jhc_a4vkhpYmukx1A2vqJSEZo0XlZ0CGXoM1YKtj_f4SlLn6Yaf38aouQyDy8mD3wr9ywIED4_Smfl66r4s0uwpr1UccsGjrUBaIJ1uiPLDOi3ozm3kB2ylgczCzJAZ4hEgqYRXQKDn5Aiqe4Q5jB8R1J7ZL4_yE64nMGI63wXwoTushfvEpHqFAZ1EDvHHvh1PFr6DcWSdvVpgslh24LA9lgQ3eKKfYJoOsDQ7GewUjfetsvYga9AxqE6Kbt2apUp2Eofk0wW1N8DfM-2As_aeVUXlmjnxunX3qrrkYS5Eom18L2P7UjQpnMtkBD9vlvkM-PWxFlwoWG3EH-Gk4HVjlkL_zhQOMIObdpoC9huqEUKf84Vq7LgDS33RQBvEfKE5WXW3xhop7Y7elj1diSizGgb6BJw4jb2M22EWJRCcPQGCb7ExTxaaDzw2wnX5sdFtgKKGR3qSWwCO4S7-a9pUw-RotJGu1-jZQmjAxdwSjDFJNPIWW-aHermMuOSuGaGFDrAthxBH0xauxXaZfLV8wHZxRAhizN5UxwtBZKGF7hbG9CWeokJf11-oItQFGw3VTrCK2eo2FR67HedKgWnWHZroCO2oEAHjnR4Kb83f4WKghpwpNfcOTYe-1GK_3D9nASLoGbG8KJFNCB8zE2RbM-88_jtLZOHsksPrYJm2hb6WSIC1mq0uCniDDvEhQTEWpbj882iIq6TQ4vwFmFAw9Ur4YygNnyVoN45ismBv8yqLRPBv_OYTA8AKRRTfTjASANi5CJ7XrK_ypqHQUhN7JoGjMCYRq_FJBUXSqWLbDSOPIGqNv2WiCX0OieCx1GNzehfK6u2CpEbkjIzKNKLDlJcY9TvhVA0K0QivUstq99vGy1vkWoTzxmowtNxVY2GRNWfF81HOuO4pivCo7OnDB0yZX1SOzAwau1uiCVE_GIShlwajNvrg1r-f4sAbl0pNBq8b6Nrn6Ml6Kdb9gm6tvrSa1zDLzLlDOlvqYcrbTktL58UFPm_63znT4iPcl11LfuosIfk-4Cl_68FLoDaca-8IyDBvGRjggMAdKto8cLVmBw3i5p7k8aJIvgpOs71re5pFYz-IGX6kiTLZ2l-i-IZyc9oVYpK1rYC3J1k0PqIEfVcuWTgXrTbYOPd-KymjE6vKNdMyvI6j8HGIWtWwLo2DNx7X_fo3YEq4fhFzrE4ecVQI4p_45ON7OcLhTR2zu48L4S4Wo23jN1aB-6ccmaukhKLFLuA37MTBovbNMbVlY3KsQOFg9PHDebKhOJjKf6D0sj1qucgduExvickKROkN7C6bu3g==",
  "id": "rs_02aceb5176981c56016ab438c5b4d487d09c2097dd1cedd5f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_z\":0.11},\"note\":\"The jaws closed almost fully, so they did not catch the purple bowl. I’ll reopen and pull back from its center before approaching the lower side of the bowl.\"}",
  "call_id": "call_OYrOqWg8WMd0dikxA8Qqzi5Q",
  "id": "fc_02aceb5176981c56016ab438c94dd087d09159957c3e65ada8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OYrOqWg8WMd0dikxA8Qqzi5Q",
  "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]: [-0.7547, 1.2285, 0.6193, -0.2131, -0.5442, -0.4961, 0.9927, -0.02, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2962 left_y=-0.1481 left_z=0.1078 left_yaw=-0.0506 left_pitch=-0.1056 left_roll=0.0206 left_gripper=0.9927 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0236 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -4.7521, 6.4615, 1.5018, -0.3639, -0.0855, 0.2027, -0.1026, -1.4564, 7.0222, 1.7656, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44593177898d41f64e717394f8f56e85b3bae42784c3e5c141d02f6b46b2da75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56069598276efd47fcbe88062b5844a61d8d2debd4a5e4cf1742bc910c4f872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9733e3797e8c4c6b11baeacbe234ee8a3c602db6c3679ca20409f6ef754d60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 3.718 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 11 changed as sent

message 19 changed as sent

message 24 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5735, 1.5211, 0.6701, 0.0513, -0.4294, -0.3408, 0.9995, -0.02, 0.7986, 0.6003, -0.3923, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3563 left_y=-0.1383 left_z=0.0657 left_yaw=-0.0432 left_pitch=-0.1399 left_roll=0.0593 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1744 right_yaw=0.0009 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.9265, 6.4615, 1.9121, -0.4762, -0.0952, -0.0122, -0.3214, -1.3333, 7.0222, 1.7705, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1108, -0.4442, -0.3645, 0.0092, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1415 left_z=0.0646 left_yaw=-0.0277 left_pitch=-0.1101 left_roll=0.0358 left_gripper=0.0092 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0009 right_pitch=-0.0221 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.2701, 5.9829, 1.5604, -0.2418, -0.0464, 0.6471, -0.2256, -1.265, 7.2, 1.7558, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.2285, 0.6193, -0.2131, -0.5442, -0.4961, 0.9927, -0.02, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2962 left_y=-0.1481 left_z=0.1078 left_yaw=-0.0506 left_pitch=-0.1056 left_roll=0.0206 left_gripper=0.9927 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0236 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -4.7521, 6.4615, 1.5018, -0.3639, -0.0855, 0.2027, -0.1026, -1.4564, 7.0222, 1.7656, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44593177898d41f64e717394f8f56e85b3bae42784c3e5c141d02f6b46b2da75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56069598276efd47fcbe88062b5844a61d8d2debd4a5e4cf1742bc910c4f872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9733e3797e8c4c6b11baeacbe234ee8a3c602db6c3679ca20409f6ef754d60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjNlE6ZwA9zi6645X2wjb6l2DuXhZj82TsaqaKzVSvkAPqVIc875GVKv1sB9IQaacMBw0f95RcKSf0rfdopgbIVav3WJNn2IUwE5WLsgqEvzLnW7I_CelyCAVYfIHLRqwc6hJa3WbKcYCdb6kV18f57Sn9UNiytIQ56hjk3UGqvhNulYMXwQdjOrGAN6n_oeUScJdzNTx9j-YQ9HM2AgfIqGNqTJlJy4KOzSWpIwqTLczCEuMeLrGbcz1pUpHZsHyRhQ2Xzdlqx3caaQ9K5V3AA5RRgIG4BkGBrKMx75Z6kN4rgLXr2HmEHwR4UPK4E7iBxn0xPXUjRU2IUqACISooWVkx0B0tvX7-eQyOjuz8ey_bs5d6UrXlh7MT2z_9PLvy0Gi51Jklr7G875YfpkFOkYDiHSgxTZX1o_CaHyt5Tixh_fFHfL9Xb5IOOh9tla0E3ytQ8CB9op3NAguRgsp0vx85bKsXpsMLhoUPrRbAQBHG5Jrd6HkA5DXvKpZ9yQ7kYVRqIuU5PngS9VzDZWdM91NJ3itVSqdaYZ7Z0ujXWQ3bNxFq7Fe95wbcmqlvNsXm5wh4TbR__eA07A-ynoWoBkZJqa44SnL76Rvk_huiJuqEBiqm9dWizu2EHEgu4zbePf0ZBXNwwCYGxeV-z4OGQtQPPJ9JBBOyTJLaUKtH1DdXeV2wZMc2LrvfszVLB0iLsl1lAhAXepqtBRMivkfpedq2pJOoe4jyO79xdVlFOOP0zpg2FkaPn5Q9iibyUovBpK5bdXBX6-cuDGAe9mKRBL7P0ZVypKd9OS00X2zbc7focNwE24bI6mAMUIe10HuvzY0lJL93BiETQQL2sQ6WFXetEgwGNbyZGxnXfEfR7BODr4SkduXmL4yzRmMj2R1ofDzXT2WwJVDJbmGw0KudlQePEEQje6S96EdyZgX8ljX2MchaTQyHwvXUCtI7R-8Wb-bck9IMwYUDrh1f7T-n0f5vH980HyBqXAk4LefzSvCMN5Cgpw58OVIEibkVeZgRAnGvB95qZlDch5BmSIcAZUf9UWv8JTQsDBp4DJuovSjsxXMF8BqOmckLQy0pLcQgaGY0z9IjXDaeilHLO5jh3rpnWd9RcO5N_xqURLjtt0YbA22zrDQ3Plf7eiu-avGymckgCDw-JCd9uLi42KW9CmCgIE2ElXJ8h0Z-EhuLvN1Mb6OjVkhNzv7E0LdCEsUCvNskC2pQuh83jaPGFxNOE2a3XBo46VDYumAF8R0tXMVUdX9Z8A0rS7BGn6LQhnjuEULd4_PZjAfvlz6Qj7ZX5X2-_tSTPviT5W4sLI6RPKu00kraYJFpy0VFLRy4o13hw3V5_nMnrIgvIqP9GCp2TKz0DJ_LRJ7eJ0qc6qmnIf8GxxkGJebwgGSIcPlGOpY4uS8OFUfaF2ApGFl7xGdx1QSjriBeYRftRCca1jVonksw=",
  "id": "rs_02aceb5176981c56016ab438cc595487d0967b9750405dec5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The gripper is now back from the purple bowl, with clear space beside its near edge. I’ll lower it here to reach beneath the wide rim before moving toward the bowl again.\"}",
  "call_id": "call_8cBttDHghiuEu9L3Gsf2vrrM",
  "id": "fc_02aceb5176981c56016ab438ccd8d887d0b5e20dd3fcd5d48e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8cBttDHghiuEu9L3Gsf2vrrM",
  "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]: [-0.7612, 1.4914, 0.4145, 0.1696, -0.5472, -0.5137, 0.9937, -0.02, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.1406 left_z=0.014 left_yaw=-0.0376 left_pitch=-0.1679 left_roll=0.0651 left_gripper=0.9937 right_x=0.2931 right_y=0.0006 right_z=0.1727 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0019 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -5.5043, 4.6974, 1.5067, -0.2027, 0.1294, 0.0855, -0.1983, -1.5248, 7.1726, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a6e44f6c99662c74e86b7524549568761f2bea5118e7ed6e8abf809ada4b49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85763a32075470a3bb00ddbe35ac3d3d9a20f9ce0f119813099c4bcaef3956b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74dc90824cc9e1e2d5a658615ce84b9c9a76a69d4005a5e00c2527e32edf6e9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.586 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1135, -0.4473, -0.3641, 0.9995, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.361 left_y=-0.1412 left_z=0.0652 left_yaw=-0.0256 left_pitch=-0.1068 left_roll=0.0365 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.8444, 6.2427, 1.7021, -0.3297, 0.0366, -0.0122, -0.1846, -1.2239, 7.0359, 1.7558, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.2285, 0.6193, -0.2131, -0.5442, -0.4961, 0.9927, -0.02, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2962 left_y=-0.1481 left_z=0.1078 left_yaw=-0.0506 left_pitch=-0.1056 left_roll=0.0206 left_gripper=0.9927 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0236 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -4.7521, 6.4615, 1.5018, -0.3639, -0.0855, 0.2027, -0.1026, -1.4564, 7.0222, 1.7656, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7612, 1.4914, 0.4145, 0.1696, -0.5472, -0.5137, 0.9937, -0.02, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.1406 left_z=0.014 left_yaw=-0.0376 left_pitch=-0.1679 left_roll=0.0651 left_gripper=0.9937 right_x=0.2931 right_y=0.0006 right_z=0.1727 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0019 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -5.5043, 4.6974, 1.5067, -0.2027, 0.1294, 0.0855, -0.1983, -1.5248, 7.1726, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a6e44f6c99662c74e86b7524549568761f2bea5118e7ed6e8abf809ada4b49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85763a32075470a3bb00ddbe35ac3d3d9a20f9ce0f119813099c4bcaef3956b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74dc90824cc9e1e2d5a658615ce84b9c9a76a69d4005a5e00c2527e32edf6e9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjR5RSD0cjl8mxWaNlxhFOXqXRfx8bm8atOdxaoBrwytJHQvukhM_JrfOdFbx8CMVU0zDc4KW9KkFhMsw0rwLCwy-pmiDb2ZL4nRCWshQsZcEVOh_6W1gae_EuXBRrkoMn0j-Pedmjnfjj-yDOq1J3bc6y31YYlVI7IgARFGMHIQluhMIE3ZO6Re55rcw69HBeo7olvY56TCOyc6yrEVQwwe6si6xuHSd_JRk8awtlf7G4DElXf4B6uHtsNtyHznbh7olUL0H2tat0-Frp8-oD2cLZa5cyuqhjbLeAWHAwo13sfq-oJQ8PQRvKXizihSZzOdfrwEeXFuy-1PpSIVxYjQbzmFLQCYdyKGeiZLfXSusKd_OxqIk778rZ8JnnFJCvzBAl7jMCTmKMOS1BIpefgrM2a5LTW5U7M8F5ympSqb2mwCOOaqcuH1OaXVhufoR1YVC1DxlEGAiXTRoIhiFT_7MngF4jW4SnRwMHtO-tuwzbscoLqMrQqhUTeLQH0AUY-fdyMhA6MGrynnlLUV-f2DnXaS6pYL4d1OLxhqwfVgX-U1ba2e2UJRw4H14fuc9vPGY3RzOI36YGOXW3zZwwuTwSEJ2AZLQYTLCQ6vzsFW6pLDUUaLq2o7ve58httaFjvaETc5sDWg9EsOOblO8EI7lbTQvVwxfjsr0moAEMBkGC1YdbqcDbL2ko8eKtjRwsnGYn0008a2P8g8AplbJ79_WE1KL08Fzz6EFilFuOMxynGl4CQ4rg4O1-HuUojl7h1F-re4KmlLXOTMiwTz3sP2sefm4pUdqnIQsHwTvXmfPD7N053mFymL6PR26bLp9t503jDHcmuffpHqiU9zwwOQWJniq5yqFQj0GhmCCQxEn2uuqRDSZHQ5QTPqBb3zNhWHENEb5LjJBE9cEk75Wt46KIr58GAHvPeaTh06_nSClq8EcIEBRMNuPcEzvPIzEw-pyKDsX_IjfUlMg3uMAI7-laNggtxBS4wwIhnBBGHdu9VQJz4Yj3rm4FOU0jEmIhU_NjsYhAPP9M_Vj4Px7ckffAE4aD7aIa-GIzODb18GVIXxq6JWgb5Cd14wCB0pDS9TuzMCzCEUXcZiwLaXZoR_-5eF3Yhg6KygHAirFCdH9vb9hUh16Gp4X9MT-f1r3G0vBjQT-BvSpVWpcrC--XzmHKhcCYBMWGDNcamscSJOT-h66ffCln2DZ8kmyCPydqK8xIn6l_4VudaOAH6pF6PDSP3UZ3h18Due0wyM5csnght38ZKkYfHQCci0zPT_PlN-sZmTaKi18GPrSvNzDrm1O3Fs80m-qYtakfqSmlxvCsO5y-UMwjnMuoKR2UCDsouj6rytYdKxT328NcA_yDCqfZcEbUNAmjymRAMH6a-txIpGl6rxPGoZZLtpSZMSHuXE8m35OWsTGUQ7zyD4DaEbwBmdvZaNcRrU1h-nleSnpCQMR12Uq4c8_uZsPDXjBEiHHltI3jeVa1a-2CFg2j2REihdmLlGBgqFsxGiR-qCRVetgllDZuwuM3EHNyxFVWNR5ap201xuO7XhPWtOM31mPZK5ONi-hMhUcyoAbC1qvaiRoHAOFAR9emOs_sPdIKrF89JUHadXyJDyVblS-Kr-bob__lR_vkhX3nZpC6JAagBEX_vmQJSTNFSn2kHSr_jRCuul9UMs0uQVwbgFEn1_s4-j0NWva6uM7KiPube1oJ-SuNObHQ94OEiZElRer6mZWub1QrWfc6Mt1lMaL5HzuYWl7c-2W9VstpmaCGKz9hvQa1tq8kL6l5QmpQbnTWTtBb4o4TTOlO60MUgJtJf9FJcpOXYucbXGu0-JH3XqG5_bu8A0UE4-K5lxvMEJHHM-jCM4aJYk-c_dNFuF9gWPsEniyDgZJFYjtCFa3ok5lAtb01j07ZAENWF5m6F5YIvr0ogv_rtnydH027nGqAjF0MO0Ll3-YmVcygOls5SBFJq5qRqbLSNGvrnjgc6b6p9GZquWVX4BJ3HTZs6na5ifKSUNodYYChqBq4Izk3mXhSr-vktzrFjcRazkdGpvr9ghZrIyIdIeLGnAp0kU2NSq5V8l75cwtE_365_COX0wlXl139teaf5QdzLbHedsedyseqGijMflN766x9so_fN_qDRu1mOF5TCKGljPmW670kq3IcN1j-Iy84UzHPsKx-6e6JCg5GxXtq5h6kDWZKBDfw77F8sVuLgOX_QVMVu7bfcSOei-85LbqG1N7YzCbLLT4Oe5LhHfrd94qK5YI5SUOPELuyNzMTikj8pgxHxD1yyyMnhahGWNSP2nEnvUSHTiiEMN0twJpEKE84kYG0NTtCefAXAKOO5VXP81uezWa8ksrHbEnAoqErYPv-5-Auv",
  "id": "rs_02aceb5176981c56016ab438cee5b087d087a842ee3521edaa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.123,\"left_z\":0.025},\"note\":\"The open fingers are now low behind the purple bowl, and the bowl sits ahead of them in the wrist view. I’ll advance a few centimeters so the fingers surround its narrower body.\"}",
  "call_id": "call_fnzBxa2KFbqi9fBKIIPIVd5f",
  "id": "fc_02aceb5176981c56016ab438d0fe6487d09f356a5bba9faf19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fnzBxa2KFbqi9fBKIIPIVd5f",
  "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]: [-0.5705, 1.5635, 0.4999, 0.2131, -0.4431, -0.3878, 0.9938, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.1174 left_z=0.0185 left_yaw=0.0005 left_pitch=-0.176 left_roll=0.0594 left_gripper=0.9938 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0667, 7.2821, 1.409, -0.2027, 0.1734, -0.0024, -0.2393, -1.2923, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0680d248f0441d866e5b7f62d442deb134f4642a599e52651174f912094206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3516565d25746005491158057208fc78dc6e99f65eaafa508c74d4dff033117c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5eaf7d16fd4f7d12cf9e7684cc7b1942d68cca8e78213c1dcb9e0ade538582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 8.769 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5808, 1.5429, 0.6598, 0.1108, -0.4442, -0.3645, 0.0092, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1415 left_z=0.0646 left_yaw=-0.0277 left_pitch=-0.1101 left_roll=0.0358 left_gripper=0.0092 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=0.0009 right_pitch=-0.0221 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.2701, 5.9829, 1.5604, -0.2418, -0.0464, 0.6471, -0.2256, -1.265, 7.2, 1.7558, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7612, 1.4914, 0.4145, 0.1696, -0.5472, -0.5137, 0.9937, -0.02, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.1406 left_z=0.014 left_yaw=-0.0376 left_pitch=-0.1679 left_roll=0.0651 left_gripper=0.9937 right_x=0.2931 right_y=0.0006 right_z=0.1727 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0019 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -5.5043, 4.6974, 1.5067, -0.2027, 0.1294, 0.0855, -0.1983, -1.5248, 7.1726, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.5635, 0.4999, 0.2131, -0.4431, -0.3878, 0.9938, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.1174 left_z=0.0185 left_yaw=0.0005 left_pitch=-0.176 left_roll=0.0594 left_gripper=0.9938 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0667, 7.2821, 1.409, -0.2027, 0.1734, -0.0024, -0.2393, -1.2923, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0680d248f0441d866e5b7f62d442deb134f4642a599e52651174f912094206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3516565d25746005491158057208fc78dc6e99f65eaafa508c74d4dff033117c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5eaf7d16fd4f7d12cf9e7684cc7b1942d68cca8e78213c1dcb9e0ade538582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjUSyt6Fk6zVv-MtUonEfZ6tYqMRRD8KwsRhRJ237ZNeGIVZlCwjx5UvYk3tKD4BFbHiMPlNKz363_fMpKPhsPfsAkLwCxPrrWnPeyJQFJ1NpI0aausLtjzaSFTICvdE4-2g5ugg6YtbU_bwdVS6BmTdvdiGDskYO2eTsEI-WqVv--hjWO26VYo-gn7I_y3OvtFYxjCUuGiXudEwm5prXcIA0tmHzwmGKjvvnSIKaEBlMRtrDUUEVfCkk8P6Xo_EaUgJx53dE598tQDiOT-Ixc21-AseSgFouvmXSQC0aFg174FEG3q54lzQzC7MdY86ReTIsnfJxXuXtIf-VhC8HAI8lZXfIoOFQLBypSeVyzApxgxQuVF7OmiCg87SPhQuSXdLBbBb0Zt8YWeYXDAoEa3tYu6nijNNPQdzhhMrGJkcbkkyXet3-kUhqYEOje7uDgPqc2e8QYRk26DyEeO0ONMWff15TMagKXC1hDfGGwndJabkpbZ9MamP_oxwiOY6Ndi6srim_XrDQOi0GNn-lnr2vHLpp8YFO_6RqCuAn7TXcN3XRpsPjWj1z-f-_nuTn49OYPURm4Cf8BsUcJL9qjFumLKvjs5EhO2hCrLBivvf__LdURvGKpcJJKBBorPed5uSdbBoi8Yhqp1Q0tvbjRDBLEoMp1hIz7AEHuBjguG-6ODLdhZMIMxL1e4iJuInfWjPBYCt38eekkLQReYpFciibfqU3I1F_rPC58lXGdb4nPtyMluNt_2-0l1Z_qaiYX6t1qdK6qVspkW_BOxZjK-t-m4aSs7KG2_ChYHKIgaXu-V5sPQYIBsVa-fCx90_ERrwKYHe85fC6ZGfnBP2aXpc2xMFfvizOWBiCEe4WmOOq9wjJ-EDpLZEo0kw8Rrkwi6yIQ89f8H4hdST3mes9N4UOg_g5QLEcv7bcuS8zMkP2rcJXMjxyXtfjFNySHdtlvzC_imO3Zm4SuAJ6OVXrHqYWeZFjRGmZ-dAvCaDXLNj13a4qYcJjpqTev_3Xtvm3KHotcyKa3XcD8ZYQzwRo6Gk7a0VAMtR_Niqlk8YVNwfQENBb3BDGk8rMTypdcpV8z9jTf0UaqkeU6hDt70MadkaF0dbxZbRaDoYRQbyZmsXsBRqp0AMGOzUVxSH1cbBMU3gmxclN24p5lOaBaaQY8jKiaGtar6BYgk1zmhy_g2YXF3KF0ovNfyaxcPDuccR9f0NvP86Vip8eCfwby4CRtnl34KtOwCj9hVZwASq9SBSbk27pllmaJFN8CpvDrBNn_Xvl-2LfokFHv-c-JT2Zi9ROtlOBpsT1twqvnCFcJaJbHw8eVIccRedreBObEOG7m2xzoinuL8YmiefdqpAa0_FZc5AQ8svBDUsZi1aY5BR2pURMrMaf0ojaAr668f8I2NpyH88lW0_JctvwMZ4NBcW2zXfmsFpGFWp3VMH50364zb-nKAzbBpC8ilg4s-lRYJ2XBwnHvNlQ3t7sl3kBLy9IbvoFKW10umWKIB0k_fdMhPGqVJev0TjV3EuCAk_T0qA3tM6EPW9BMhyjqINWA58Y9cRQkIw3_kDI_URuflzI98jEHMDtke9rFCKuusXD3A2WC4HtLnmBXI0d9thnQ1RlQ5LAJJnOykwTvTZt0eeS4eLlaJa1qwF2V61P2aEchW",
  "id": "rs_02aceb5176981c56016ab438d3548487d0a539ec1de8dd84bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The purple bowl is now centered over the low, open fingers in the overhead view. I’ll close the gripper around its lower sides and check the jaw spacing for a real grasp.\"}",
  "call_id": "call_lEMVJBUU3ZUeAC3QMEz6pvqr",
  "id": "fc_02aceb5176981c56016ab438d430e887d0823697550e23a716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lEMVJBUU3ZUeAC3QMEz6pvqr",
  "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]: [-0.5533, 1.5692, 0.5125, 0.2134, -0.416, -0.3397, 0.0084, -0.02, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3341 left_y=-0.1183 left_z=0.0193 left_yaw=-0.0305 left_pitch=-0.1824 left_roll=0.0737 left_gripper=0.0084 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0011 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -5.3402, 6.9675, 1.4628, -0.1197, -0.0269, 0.6422, -0.0615, -1.2923, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da3c9462d20eefc06046c52703be4b8197d51d60ef13fdb139e5508543fdc15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465898f87ef620d1d6a084dce558d96662dcd7f71533dbfa735b1e7c706dc909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2838c335a9b25839da01b95cd69d8e27a1a8ccbd754d725aaaad6bf18104d32d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.928 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.2285, 0.6193, -0.2131, -0.5442, -0.4961, 0.9927, -0.02, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2962 left_y=-0.1481 left_z=0.1078 left_yaw=-0.0506 left_pitch=-0.1056 left_roll=0.0206 left_gripper=0.9927 right_x=0.293 right_y=0.0007 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0236 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -4.7521, 6.4615, 1.5018, -0.3639, -0.0855, 0.2027, -0.1026, -1.4564, 7.0222, 1.7656, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.5635, 0.4999, 0.2131, -0.4431, -0.3878, 0.9938, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.1174 left_z=0.0185 left_yaw=0.0005 left_pitch=-0.176 left_roll=0.0594 left_gripper=0.9938 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0667, 7.2821, 1.409, -0.2027, 0.1734, -0.0024, -0.2393, -1.2923, 7.0496, 1.7021, -0.0269, -0.0513, -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 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5533, 1.5692, 0.5125, 0.2134, -0.416, -0.3397, 0.0084, -0.02, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3341 left_y=-0.1183 left_z=0.0193 left_yaw=-0.0305 left_pitch=-0.1824 left_roll=0.0737 left_gripper=0.0084 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0011 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -5.3402, 6.9675, 1.4628, -0.1197, -0.0269, 0.6422, -0.0615, -1.2923, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da3c9462d20eefc06046c52703be4b8197d51d60ef13fdb139e5508543fdc15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465898f87ef620d1d6a084dce558d96662dcd7f71533dbfa735b1e7c706dc909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2838c335a9b25839da01b95cd69d8e27a1a8ccbd754d725aaaad6bf18104d32d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjeFHiYuyFJsBUcQHwoWptSmzHdmpBIkHMhRafJ9gktVKvuyiP2RDQ0D52mzXzTuBtGDA-om7SxHhAuuq0GILRVnegcdPmbU8h4c3jAXW62DaBnjVRWxYIuoyOC554jvgg3U9K2pIT9RFejCIOrs-5y4Sw0pqQhmKk7V1FErRRntAvU-qFTyW1Qj_cewhKT9LfY5AtWxxZ1BNBktSJ4OtBiI7bwYbIkmYF8FRpLX3BMCAE2seh2oNgCs78d4-DaiegT2pp4LBuh4xeyDwHOqqImGdBzz38K59sXR8K4z9DsIH7auu3_Xp5UQktZ7_4JabmMKdhLAShfbQ1HKp5AbWv1CoUxJK_sURl01fJI8CPvKICTmx7DepY7dkWZ6hlSAd8tePPpg5kAJIPzgDYPk_G8v0DzfV_j1wd2XoZ5j6xNhTExchYINkc8m2dfW4JVl5qJB4Z1A9axs0rjlcwfl8py192s_evR4Juv09fLd-oy52mfaO0E5rKGmGCE9A4INXf739GvLP-5j40-EnB0l8vhz_VIdLiHlmiPqUS4b6L-kLjqtOGDIfdFFcg0fx9zuPzP4IEmCt4YqIjzdmrxZlssb0bjODU8LSEZGN3wyYdZ_W_SqFUNyQ8PAYujPSN41MyRLcg5Cds1owTMls4gUhCTP9vsd_7qTVi5r5-P2FIEEFSBSc3lyAkSPRM-TKOvbl-50Xm6BoM8IqT2jvTS0LHKKwVwQf2fymHbee3gEJcdDudeo-vhmWCQr-2_hjNXBt704nzvWmGsdL1mKq9J4q5DOS_tidmI73DPH06NJsanatGKL1RiEQoXWGpfv3F8JT0A0yzhVfPL1L0PywF19ou72oFToZkyucs-MXMrzGo9-l6YxA4uoVeeKhupFnevrYZ3RqnTQWYiooF2dZJkovyfqr80foCv_rJsuwXtaZVMgs0bgxUrGo6XCThquQscWTHQebdMCIQUy4PaxobRUZtOPVOaxgjht1cRhgnLzm8detqoVJk5CISCgKA6HevExQZT89MvG8JaqMY1elVQuPISmdKIEIZkMiPdI7weVFcfoKIUdcIVxZrIzELHM_7hKFOQEvg-S8jXIc7YmeWBZPUMFPyec12h7vV4Gy9puhNX5gafuHLRJn86Kv6shw7h9mUeBKaUyum201ZLvH_lIcdVypTAd2T7HMbCJbsaLCC4vVdY2ItTkCHUzSO26UBl0CEpLQ0dGLoBKfR3aESHLZMgUTBUrtyK8GGB9JtZn4nvkY_QUjJJiHO_kU04sDCZ8g7D8lfpRCb0fnjxHmK96VGLkxigXvJl3FU3l3FIZ3B2dQvBc80E3wtSkXeLcNS6fo6x4JSQKDJerCSbhPfZp5uTt4Fqq75a1aQWL1qccONE6_f6mTq_hRQ2X3yXkPv_kicnhQSq94R8X9reGg0_U2p28Y2zyDCbOSTs802dUZ6qzUBdrf4x9IPD9_StIl8NkOTsNF0MnbouZu-EW910Cp5qdMCtiaY3-zluJc9eV_2d1mnwijhxtKsZTWqGJInEPAtbbJMtE53wUFIUMlWdSHbk-f87mZwjSrRtF5fShNVgjGeG90F30Q8vXGVdYV_wi52GGUMlEkBz9q_x17UlIksTwr8jkoE7H6Ji3sBshEtPF7sDZp8hKaK251X9X-Vw0P4MDkwKYfakEoDZcZod2aB2eG-RgIxjwhI5rkOPg5LPBySadTzSelnt_GE4ajaO-aMU5UxbMORPX2D6G3rGsTvfckQSkPOe6_U6jUMpu88AuS_7kTjE0rE-SPCHhnJY92jTd9PU8b21cxydK1PshL-UlcevK1oHA6q0aCL2SKlaICQAymOnuL9VIECUsD-rcOXKEbCDKbhZWq09HKtyso0pI-cEkLM-0t5_pP9QUdknvTSm28Q4uVgZ3-fiTWd8pEbuRrjlGgY3iFV6tknd-VXPX726veArHLKwbJi-4PWDOnnRSWlOGn8sKdwBElphjORIfoQl0mQgk6Tpjy9sh51NQkxTMOzH_Ed8Rc4mLj-bZD_5xNIZvUALGncKllZgO4Snhm-5pq08vGjeiMGwfscCEpRgjrZAEEMMrJX2suJLTfn8ZVvWKIQ9b4Gnw1Dpvi8pE7UyOod5AwEHrEOW-HhERaotcMXNEzqFhpa0YbrhOKCm6P66KqcrSuhcFtJsHHzmLqTBIY-rL983jZDnRa3VPpkuAhTALNKaQ9Xe6VnP_TNjkufXm1nEo4v6CLuSbuMwITqbc3OnyQ5UA2hfyJO94syMggMPyf6wTiYNqZRk6hp3R29WdA7ZPQKys-XxRNeEd0JOOQOTeWevNlhM2pTp-Cy9_-OA7vRztijzUTMAuaDD6FQHYXbSq-d4AOU-pDcdB-AfDwYtS3gwSe6WJpjk6OfJI7LwKZdNJuu-oyWMfqkqexYqefSBdYqfoMIcyCkiJQFtu8xbxTrP73UtE-5sH40Id9YNCDI9qdDbIUh94vJdp4cRGVxpib8zGgeenXNFFz4YnD4tzxy_mBSyf_1OKvlZd3q4rEQ5AsWhieMgXEB8EOiE5KHJTAhVvVSvxA44u9YiRdXcizE2UKloq8_jrdKtBArJUSNr4Z3UTycfsoZJqZ5zw7zMrc7tLDt-hgGINsy355362ZDML_ZDd2HeYG_ENQTK3Rp6DRdw1WjhrF-wti52JF1LxCXphQ0s1AF71Hg4t31mE452dHcs114aN4bs1AuI_0Kv56_Z7pUmVwBfk7_h_kQYbkvlFsPxmEsU2J4otIUAJxF-t3IjlyJsof_IMhx3lJconbB8nqzGwrLiFplZ22QXtvzZ6bTYfQPNSydSYI8gVxjajDZBqr3_4relB5JfxaVeFdFFdeLz2PXsg2kk6WvKjBZxVt3ZQVKG0qL79-z8kJxFVaqa2vJaD7mz7hiuZLpIhAK3zBYJGo0ELP6Cu4TmFEb28ow2Aaaeyw8zzwg0NdjAVnBvBQQG76QO4Q_19wCfCBzO85at0kDirEs17jvYhcLEBfH7ofJs_76kDzPvYOEphu5zNn4JEj_UEJVnzM4u86XwKfAIEVzEs-cn5IAY3GAna4gQwUqqDgx7-IdRIfLyUT8RF7Kkn21q1jxLVMqpgAwutCJzbIafegMQH79tv_-wUJNv_9d7_DBCNjC68EkYZA3-WSdlcEeEd03iLbeYWKyVZUk-9k1j1ZlW7QsuEt7Gb1FE7Rm_k6d0rgAmGuFrzaR853PGQTek7f-4x9mDWgORNi_HyZR4bj9nlWnYFU7DsiYkXh6DQEKYs4eKJ6T61NHgF5_O0j-P8HtDjdUs5D85kMz_kSqBGjefUUBdRkMWQZrYi5cgMTsVsuUgdIlXsR4nCuNKsXYuE1TSeyGRBSk4biKWApNNypELahBj3ykmH6QhVlm3XN6DtZbS33pPz5nl2soGfrFUhIydGRquGHrX4-N5UEFhm3_rHc_UvYS8zeD-DYHweLQsV9JZCLkls-N6NZpJQlKWsTWKVLqOO2eiMSOBFo_LsjbO3SXW3uDI6Uuufze-f9VzQTjnSJDDHgiCNr443fMAyzomRP6s-Zz5BT51GDqvovh5YaGBd-TCwWvuom9yU6jgLoXfKoOX_XAdlLR0EVV5WZxEFQiDNhAZ7v1aY4heuiitsTcgvCEWz2hNnf3q7itkTdqj4dSB-NLZ_HwyXC9jnsP9IiO-vS5aX9abEZidlRnNzoWlMVXtgmcK0e8qK-_TJcQd4CFyq9BLYgNEpEHFmcW52vyPppme0wInvuV8gZA0vPN9muL8kmosWhN3xRgT69HS_l9MwsXnLTPjea6cGGl7g6kmgBxQ-7Hd3GY=",
  "id": "rs_02aceb5176981c56016ab438d6ab2487d0ad4b4c4a9fa5d5d4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjeaz3Nd-rKAALsHr5CMBlR5YKtKa9IFRr3DdTbI0qGR8z8nQmU3YjzpBAPgzvNb7TW2R6OOxG-fVBaFuXLd7LmM-lBWM4CqbUslLPg2_enSdxU50V9q5aOPwmTFQnJ8nBmHBkOcjJC9OHXDCKDv1lsHPptD4lbZmomuU-gTOFn83OZ7F1PwP4BWPYwVlAiP_U4AFxTEQ_4uoWnMiBYf2JyKSHMavCx_PeNQT03jNR1krI-iuAi0TdaHPqPeIY9qALG7WsJvc1lmwgEw8VGrwdU6N-WpCGyeWsfnKj8T9IDYvXElW3R5CKj1AGmC3E-5CHAVqpkBS4-jQbTlzl-d39wMk1WjILonayYIZP7Ih8ciUpxlx2-gRWvG46vGtvGSaEdWuowz6iciTTcBZWh_eXhu-Ae1kgNYYqMfx5Y5wvDSIZpg1nMwVzhsgdycwT3md9B9_0v1kvU-YYWTthgRRmzUOipHdbTDHvIUuC9vEhbifmMGyPTc0Kri8HS_6Lm5HTNqp9WDQWlS6qmOCScfzO8kXn1m3yaSIWtNaxpSPfVAF1RBy20fnAFBAthmKQVRRaOdaWTcjKOOYjyMRTlQ35FJxC40UFAVnkPfF_5HvrTUBPY5_CT589uRXwVh05QTbgcngOrU1xVdEib9wRyljz9vuqv-kV7CJ3juDEvGkWxnUTOxXay9YQkC3mdycklk4IHm17SNwWwwKM9a9KGaZtrrFGqpOMSASrPLhYfqHio4pBqW8GWdUCzkMqZaS_0dsEFrzVgjIKiDXtv2Qc1z9Ny238BDBPcbnp_HBLmuBK8gX_-8QGPGaLtmVkabqAvzfXmRZHz2aG-snPtRIk0YHt8PS5B2AXDcBgE2Q3GKcj8nCgVZobsK4nROYPRfBO4kcahxtDA9CnKVti-DIRpGCYQvJBGy3xQDdEgAK9-2E64IvjfpO4MSqV3yk-2jxzrWlxT4hWr4NuUIJzvccTD7xPw5_XE6iF5o6njxOBR9BXsPLtLvZ8KWpdQO3G3rIP2DjQjVpFEmtLID28rejqRFIUHT51hB2rX37jocomklar6FzzmommTqE3swl_Hbnhwp7x98mEwWKSdDDyh0CA67gVL0nyE1xB4c0igsQi3r3W5Og3BJMdN7MLSz4dHkQd1XVZ3dYw23e06A1dwdnaQTlANBdUoIoXXP7Zf2a3LW8Om1SNnvsqroZIe74_LxnMoDi-TMzxKVk-b1s8uS9DU4ws5lbHXv8FZIxq_JVuuVUkAXVyFc5bf10STiPBFRJ0zlXvLCL_J9JdWwDndyfzTjk4YjMM8If4oPnCN_Usp5_8bK4q1huAOsLG9MkNZdE4SS_d6Yp2PVVUJAuchLEQapBJiIyNfWXNd30RGeEaMaDzZ0xpy5R8-R9ODANZtdsF5sFAd7UvFrH6RIDAY3u7gjHrS1bb4KRjSN4ZAY4A9qWTdl8iHvVwd9F3ehybSCM4W8RGQN2Rwe4ZkC2fxbMHpb4jFHJRMuIT6cxk8IGq2gajQPB0Zp6LeuuAmGdY6OCzjatbEnTW5pQYl1ZCEX5pims1jJpHVZIcGRmkWNLwgeS5XyDPvyNrHAPYAI4Zt5QnYu7wlh1VB9YAawihlxX83l36vUybDrhgwEC5Fk_bRJ_t8xio-evVkAyOjdisOENuOCQ970U3_J_aNggb75oWaSqeSL8CuDGbMbsNBYkPulkDJ4zK_8xPHIySatRn8l-j4uMIUMXb1ToYhuICdwotMzUgDN4w7CUeXyjsI_0u14QV_GetNPJWwMuhNK-WGDLpss8imwKqQfkjo2k_u2oVehb5cAqjc87xxxvnK4cy2vwO7AwsgGs2BIr4awvMZeLw6_HzELL2tEngy-lhNQ6mRcmBgzwuwSRRlQkrpTYLTlNZC1v2AMjgm_RVJ-8AadSgwMSIH",
  "id": "rs_02aceb5176981c56016ab438db929087d08881a08f831c154b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6,\"left_x\":0.36,\"left_y\":-0.18,\"left_z\":0.11},\"note\":\"The second close was empty too, and the bowl shifted slightly forward; the fingers were inside or behind it rather than around its sides. I’ll switch to gripping one edge of the rim, approaching from above at the bowl’s right side.\"}",
  "call_id": "call_PSsE7E2yy9jIXmfPGzPLdd4V",
  "id": "fc_02aceb5176981c56016ab438dd460c87d0b244d9ff4912cf89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PSsE7E2yy9jIXmfPGzPLdd4V",
  "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]: [-0.6746, 1.5612, 0.8948, -0.2024, -0.4789, -0.4427, 0.5943, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1795 left_z=0.0986 left_yaw=-0.0443 left_pitch=-0.1738 left_roll=0.0518 left_gripper=0.5943 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -6.7077, 8.1983, 1.3944, -0.3346, 0.1245, -0.0855, -0.1573, -1.1966, 7.0085, 1.707, -0.0122, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea959319efbaf0e5f56c8f26021dbcde2e8ea2e230f012ef8869b23dbb638f52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48856c130072ae76c13ec030ab8219ec353ff272b9eda720ed38106c8366bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e429ac7d2d59f040ca2ed2919528375320195c7d6a38805bd36df3c3e2cf4294",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.051 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 28 changed as sent

message 36 changed as sent

message 41 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7612, 1.4914, 0.4145, 0.1696, -0.5472, -0.5137, 0.9937, -0.02, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.1406 left_z=0.014 left_yaw=-0.0376 left_pitch=-0.1679 left_roll=0.0651 left_gripper=0.9937 right_x=0.2931 right_y=0.0006 right_z=0.1727 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0019 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -5.5043, 4.6974, 1.5067, -0.2027, 0.1294, 0.0855, -0.1983, -1.5248, 7.1726, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5533, 1.5692, 0.5125, 0.2134, -0.416, -0.3397, 0.0084, -0.02, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3341 left_y=-0.1183 left_z=0.0193 left_yaw=-0.0305 left_pitch=-0.1824 left_roll=0.0737 left_gripper=0.0084 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0011 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -5.3402, 6.9675, 1.4628, -0.1197, -0.0269, 0.6422, -0.0615, -1.2923, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6746, 1.5612, 0.8948, -0.2024, -0.4789, -0.4427, 0.5943, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1795 left_z=0.0986 left_yaw=-0.0443 left_pitch=-0.1738 left_roll=0.0518 left_gripper=0.5943 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -6.7077, 8.1983, 1.3944, -0.3346, 0.1245, -0.0855, -0.1573, -1.1966, 7.0085, 1.707, -0.0122, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea959319efbaf0e5f56c8f26021dbcde2e8ea2e230f012ef8869b23dbb638f52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48856c130072ae76c13ec030ab8219ec353ff272b9eda720ed38106c8366bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e429ac7d2d59f040ca2ed2919528375320195c7d6a38805bd36df3c3e2cf4294",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjhP811ziz0PWcr_p0cY8rO4k4hXn5p4QRRP-braIDRKwHnaLIv1jkm32wRjn80CTz-Az_WSHHfvaCjdnne6-C2cz2RV21FmASnRyZhBfyxKYvlDOlxSy0G_spcuSffkpaHV15FIh_IiSoa3cxY9dhJKlLNCp0PA9nGCrItB-1eU-fnqjKPHB6X0ZfIcdImjon7LGzlvzcL_W1dhJarlsWgn8rTctKqq9SQgZ_bqp3IWvx4pAOgHlkMqiL_aWUlb-5j5r2cKW_o7x-YC2Jo7st4GbmqryzEnBlRP60acHkojRen-58XGYH8_YSxmA9xrW9XTuGlYQKgMU9iz_is04gxXDSMsYI5pU5loEgtw5gA6IDsTeUERnO8l4lXyi0nRj5dOzeXAymaS7uyWRJK-TBmwdIgVv-wUHiLLSDnI-E1QNtzL1ftrScOGVLDMBZR1yQUguNkt0JHoxoh8xk97YOtiTbwboUUq2GBFGhvppwgwga4egZoK7BEDL1F4jfEflPiWMJbhK6OixbjB2JwsL7lBQ14me2JqBwHhpgKcqnWGer9msfxX_0Hrd4Ngx3557jN7w-d9jLZYiKgV-7skMgYKXgAa5ine-eCj20cOiiRAnI3L3Aykclewck9KjPWHflYKO0NFXAZJfI9PFzfkKz6bYLoKTn1QfaBA3gidMMQxssCFyi0fXyfMII3sGEvK2s4c5CfLcHPFI_ubxPxIkAVgTfrYIAK15Ojxrbkz-NjvsYiuaU4JjSbc6k3zjsLXKYtfAG8-UYIpV6RwiiWxlprrzhnnDOh5R94cHVWEvFKTGHhQm4eY366DYEtYN5E-B1rL-h7zzWqj37C8eTAtqCPjBcdB6nxo6C1krUaZrsCtIPCxwtDv9RZSroYg4WdYTk81O6EhM855HR560kTtshvElwI1x_lrIDaxXd7rI3Lum--V65qMUikwRndCaDMMTFq_SCREiXo2lxy0QXN3WgcOiXzm9FIPlU9LtyRc9SBMH0nyGyPPt4-0OlJWWT4Nj5DYfgmEx_zArRO55uSnQ58pb6094zWxFDAqQPAcruuewHrDazaFdi0zLw3MYZF3b9Xui_yAbAyvwvedGdyLId5kNCLRAan-fR2eXhmWq80tArUSM87QGGxVlQAe6cTJNginUumqAtVPiVvtokeepXYP4KpVgtHiBGLdF8e1RFaL0PZxCHJaFwjFRR1OSJ_Pi4KBOJALaQMQMx5AvYeznb5Oo0XAHm5dkSkVuN8XhyUkvr4bkHlRO2iHAqcVfgMyvs_VAlNGCM2yj0K8vwF6xLGMXG9mrFfsMeZrwjl7gUzedNyLVPXDdM7WhbuUfBxkV9eH7Ztu7d9Ih9uZn3YLTKC-HJ6A1CSrm8yuVuY6VxgPagEdOHHD0LSxDAoDxlDMlPHwWrwwpfmRATs5knKOV3L_OkdEGnk-Vyj3ArMRaZ9wokk-DhNmo2Ae-Qyp10nzW4eAxoy0TEPPLllkL07LJq13Nu5_jgDULluHPJY5OMoiOhZK7Ha2qbE2abtnuhKG7AdWnfurSAZV2SM2XtpcVapAWB81d7LS_nSoVhbcv1YTmb8hP-8Ms_osSSMt9DNIFYR8b4hsU-rNgoiuAxFtF8RYg==",
  "id": "rs_02aceb5176981c56016ab438e0066087d089618383e3838f0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"From above, one finger is over the purple bowl and the other is outside its right edge. I’ll lower the partly open jaws to the rim’s height so they can pinch that edge.\"}",
  "call_id": "call_sIqbMqoy9euoR5wdwMsNVTyi",
  "id": "fc_02aceb5176981c56016ab438e1054c87d0988832a9d4022e8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sIqbMqoy9euoR5wdwMsNVTyi",
  "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]: [-0.6796, 1.6913, 0.7685, -0.0422, -0.4797, -0.4461, 0.5954, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3464 left_y=-0.1705 left_z=0.0287 left_yaw=-0.0345 left_pitch=-0.2505 left_roll=0.1083 left_gripper=0.5954 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -8.3487, 6.4479, 1.6777, -0.2418, 0.0073, 0.1001, -0.335, -1.2513, 6.9949, 1.6728, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f096e97613b5327ec81c3473af89cd48255fde7782588a890a1461e4e413f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1d5aedc27a8cb9fcc7ed9670d48b84b2260e2aa244d524b429b44b26a2e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de13fc0e851fe157b68875dbd88f450a1960de0e3eeb6791cb4b487d41a37e8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.031 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.5635, 0.4999, 0.2131, -0.4431, -0.3878, 0.9938, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.1174 left_z=0.0185 left_yaw=0.0005 left_pitch=-0.176 left_roll=0.0594 left_gripper=0.9938 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0667, 7.2821, 1.409, -0.2027, 0.1734, -0.0024, -0.2393, -1.2923, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6746, 1.5612, 0.8948, -0.2024, -0.4789, -0.4427, 0.5943, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1795 left_z=0.0986 left_yaw=-0.0443 left_pitch=-0.1738 left_roll=0.0518 left_gripper=0.5943 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -6.7077, 8.1983, 1.3944, -0.3346, 0.1245, -0.0855, -0.1573, -1.1966, 7.0085, 1.707, -0.0122, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.6913, 0.7685, -0.0422, -0.4797, -0.4461, 0.5954, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3464 left_y=-0.1705 left_z=0.0287 left_yaw=-0.0345 left_pitch=-0.2505 left_roll=0.1083 left_gripper=0.5954 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -8.3487, 6.4479, 1.6777, -0.2418, 0.0073, 0.1001, -0.335, -1.2513, 6.9949, 1.6728, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f096e97613b5327ec81c3473af89cd48255fde7782588a890a1461e4e413f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1d5aedc27a8cb9fcc7ed9670d48b84b2260e2aa244d524b429b44b26a2e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de13fc0e851fe157b68875dbd88f450a1960de0e3eeb6791cb4b487d41a37e8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjl4IL1n8xkYviEe8rhIkKVHtKzonMyjVfm_JaC5L76B1bqpwkIJVIk-Pl7P_tN_Qc6EBxC14cHFa0GGD520wyhFuMmnYirX8HszGmbP6HyaKJf2oRWlt6eOuopK0V-y24JID4Cr4YQWnUkFHFhdfbAmO9xnl8MqPD0xjXv-ITHHvP3BYTdZ3KMMYny0xQuOpm7KCYJzbTWHxuAlQhuagGqZqbZGir-cXvnLbdhBZbMY9I-FyCXeWGfg61wa_zwwGc93iDr72LLJGrM3uejJotCXO92cxUGgdTGqT5MyMYKYlFusbjvhq5K3kJZmczrKtj0ouB0qabD0HGXYwnLRzoFCbFpd0QsOnKskCFI96fVro3basNpNHaK6vD3oVD-PLP8E76r75lKPF8BITzAZlpVvo8qXKaiFcaHkqFKPqULyRi4R4XfgJtRZy07YB8zDduxOLeLZ1GNtzr8UF6xeeyBm0L-7KrsdAl0ihCaqF1SRMijfAZc6AP3v8hxFs5HVg_N86wRPG1Mm9-9ytQ9wP3EKxdag1QhgqGP--VHq0Sr9LV-jU5T46-fPMFpRVBBvWfupyUsnBNE7K7ULaXmk0IpDS4k_kCVQW5gf_P1t3ZrfUTdqVDMPm1WqNRucA5HopbT3QUzPQ2mEork9SkG9HPlNNFORhE7H6Mb2KK0FGpTtyuU-a7IOYS4kDRJ5zpXeRL6iJbe1h-KC5FR98yky24dSODgRZ-PXYEZr02vNLCDDxbQsG2iHCq1OEBFk_rPIlvsyoedT2NanIH8RK8yLznPOXh731vwynx8IvWh25svad59zX8TmroqhSupGjq5aqsumqTlnfUIJGayD61GpsGfMFLk1cpzl-Uz9HfwtF8vjDvNu3Y1W9Xx-a4LkZSz_RLcy4w6I8NIlwmGsUpfKElseVKaTrXODJDwM6hvUiMuAG7EqZ2hf3WJt7F8IM3X5ddsQuE_dhb3xtl1Q4dv_wpEeFC2_PwLncKzPAYR2cTeecPVSk_mCglP25t1dCJTrBoBGC_5ATXIowiSOUZe-suVMbrmVXWBiKOTA5nncxAeIJ_GTQIQXHnbSgBrp7SZGPej5_5KvcpIFKsFlsB5CoBwuKLRqjK0G70lEbtobu32pbx74BKH0AmMjr0t-rF6IvC3PjKM8tJG0GuJQcwdr1GmatBEaqWyC-nWwfqCwpkjv9oqpJ4H7P_0huNUtyV0HEryo62XNjeqMXNaJLYRIclfZT1P4gxOLHIjZXRRgoolSYJNSK3-cUT7ty9MsNl01vJ7WOVixKrj3aDu2bFHSzbmWXRd5SXEMTWqtf-_saaighBrbiiSmc5fsPrW6iGbi44DbBxCGNM5SaxW-fFO69FcsfbBv2_89sxJ-fWwgKB0IWQuX9kjrm93NsaGGhBUGaDCov4CIcsAG7C7jYiZqpGwDU-PhtaNh0x7A-1jjF2Auu_EIn0ewjJQkf3s_XdOT8VIBQuUXiuHcWURS0F2i_d1BbZxF5uc1vmg0Xe4U0fxAs69E36L8pRu0qD4bwznkKUb_t6O_xz2gAj_bQuZrg3gfSpoOO1L9rQ9Wgck2F3ZrIPZl4fKJB6nOC8c4yvzFBuenvgqTeeFgY4EwV5Pejqyd2gLh-JgMAcKBhueJBa7Rh8WpevFFNKnOE19S0dUKoh1AmymsJzXvlhmQ_8Pry_VzYfRGMyIBBEReTvUJESckggJeCgIxL861wUgL0pTW-QImJAd0VSM3Uph-yn4WzHheiTasNWU7FbVZBq1A9zsY9A=",
  "id": "rs_02aceb5176981c56016ab438e3401887d0a4c3aaca13271b3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.182,\"left_z\":0.04},\"note\":\"At this height the purple rim still appears just ahead of the fingertip contact line. I’ll advance a few centimeters while keeping one jaw inside and one outside its right edge.\"}",
  "call_id": "call_lbLyzSgM4Najwbq3sshpcRY0",
  "id": "fc_02aceb5176981c56016ab438e464d087d0aa0c1ee70b4b36ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lbLyzSgM4Najwbq3sshpcRY0",
  "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]: [-0.6479, 1.771, 0.881, -0.0673, -0.4648, -0.4377, 0.5955, -0.02, 0.8062, 0.5999, -0.3943, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3726 left_y=-0.1782 left_z=0.0318 left_yaw=-0.0197 left_pitch=-0.2521 left_roll=0.0994 left_gripper=0.5955 right_x=0.2931 right_y=0.0006 right_z=0.1718 right_yaw=0.0009 right_pitch=-0.0309 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [0.335, -8.0615, 7.5282, 1.2332, -0.149, 0.2027, -0.0024, -0.3761, -1.0051, 7.0359, 1.707, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d44326969e6ebcfe7da85afe42401eb33c2276cb27cacf272f8df0f7715e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb2c923edd1f178f17972766ca63dd531cdbc1651abdd2da576411617fd66c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd18aaa5ea451dffd3be8ffb1c1eb6065e297bb75ca5ff536bf544ee729face2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.867 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5533, 1.5692, 0.5125, 0.2134, -0.416, -0.3397, 0.0084, -0.02, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3341 left_y=-0.1183 left_z=0.0193 left_yaw=-0.0305 left_pitch=-0.1824 left_roll=0.0737 left_gripper=0.0084 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0011 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -5.3402, 6.9675, 1.4628, -0.1197, -0.0269, 0.6422, -0.0615, -1.2923, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.6913, 0.7685, -0.0422, -0.4797, -0.4461, 0.5954, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3464 left_y=-0.1705 left_z=0.0287 left_yaw=-0.0345 left_pitch=-0.2505 left_roll=0.1083 left_gripper=0.5954 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -8.3487, 6.4479, 1.6777, -0.2418, 0.0073, 0.1001, -0.335, -1.2513, 6.9949, 1.6728, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6479, 1.771, 0.881, -0.0673, -0.4648, -0.4377, 0.5955, -0.02, 0.8062, 0.5999, -0.3943, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3726 left_y=-0.1782 left_z=0.0318 left_yaw=-0.0197 left_pitch=-0.2521 left_roll=0.0994 left_gripper=0.5955 right_x=0.2931 right_y=0.0006 right_z=0.1718 right_yaw=0.0009 right_pitch=-0.0309 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [0.335, -8.0615, 7.5282, 1.2332, -0.149, 0.2027, -0.0024, -0.3761, -1.0051, 7.0359, 1.707, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d44326969e6ebcfe7da85afe42401eb33c2276cb27cacf272f8df0f7715e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb2c923edd1f178f17972766ca63dd531cdbc1651abdd2da576411617fd66c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd18aaa5ea451dffd3be8ffb1c1eb6065e297bb75ca5ff536bf544ee729face2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjo3_Y9boisHVvlg-FX9Jw79M003uPUB52NeLFw0FX6TqpamaulMW7O0kOH2Rpppr_h8A5f0mY0DPMi1h8r-56w4ZV4fuUzw7paGwr_sjW08Qo3Ac_NIgYUoSozd666gFEa1g_bRRMS62U9B6rtBVF8NUTzYFBunEf_lPoZc_Zii56P8awo3rE7-XyTP3erTQ7drgVqVA-7JDBnrPzXiJqHmppe44ZdararUsEqD7JCbEI7-xg1Rc5kInegW-GgI5iH6SijYaqIOmXv8FTpSoNGDHwKTqDFBGAjq2iZqHw0D_yhyxq1WcyYcyoMHAFSCQHvyJ_gXQOdN3tOPATCH6WK_DOHfrw6hpYw7b3uMH4Vsns7wXLZCVNivuol5wO4keC5YH2GoPaQ_cnG7oppKKhS8v3k5VrnQXvDGfiQ7byN0hHslFLbL7EHobQ12dRJsQ4BwjEPNASVlIzRShx6wxbKktPrUzkfcLOSRpPC_MuvEk9DHvhOAKi2eWLLBnpaYUZ7WlJxs5vs41wy_BQK97oFebdQpoFZHcwPke4UPKHHshWdbZ5XpjMe1nqYv6XNUuQVTLuKkJLuv7K0a1wdAtZgQVdjtiuZVRIr7v1WGbEu5C4HfAWUYDCNpRPVITM9Vq0iblo61AEDWjlANLrqyMHMWuqgt8uUFp00VsQFiErWgY2oLwKe_r2VLMo6T2RAG7pcHilKGyw_P_pJWQGppEUXJpZt8PW6CKe5JyHs9kUzv3tnYOFioGungJaKRQGBdJaSxgv1-2KnEVtzRqEQxTjgUq036Wve3l15Lgrs0cW_s_dg5-I_fKZaiMt6tObCQNnO1_uNRMsA47lozA547ZSFZxst55is4dvO3yfNVFH8xH28B_mjPWNl9hI32U2rdDvzNLpI7END3ZmH93uWi4BnZ0_xzcl8tZkKaT0fHMA-j_OBB4qzfVsttMTUCMembPcomJ-6SkDAcNqF2totFnDCkfDDOg1bwLEUfdGeZcW_68LOCuAyRWOrt_eHIrWJIOjinA2QHbKUrpPWy6hAl64_4hDRGxHwWW450DG8rV9eiq3NrJAc1zIyYuAX3QuQeQoy4cH9FwLR4G8bvjaGk7tClfNWUX5lmfkPGAYk5bqYmzSyoF4Flk4Cc41dRRmVZA2VOeREkix8cZyMky2OB9EKU9XKwhaLOaJWvde78LyedYt332exErAmyduDdMUmbjKYRGsmCIRLujpoRNkvHG6prqmqzyqao8plrXTB6S_ekJd9V_nWCjX06lQ9J0PWciPpbs-17kxv-frt9beeibc1qK3b4EdQUd4MhstxbHSGbeoLVyG-Ku6PjNofCu-8QZcw4oSVSAwFVdkDafAQXZXwwgkAKj_eKiZZjIQt4JWW0JnSsNB075YWwumZ6yrNkiwlh9VfUwl69hp4X4coYtfEAfGTa_fjilxLJgiJngzp0q3MHExg-xlRQPrJMQfGEty8z7wTekoYI526lVRt8sU_RFI0mdzvZrv9Sh0SvP5xpd02uW0YR3tKYWGWRuOwnT0eW67V6Ats9XnIa41yBOuJ51GsmzrqBBA5SVfjI30sWaD0UI87iPfTD3EGSgjae6Hi7TiE6r76jfc-c6-UnnSUInMaHBeKvJqTP5kPHKiRE4eA16L-1imE96vqFFO165KJFEgy-hgINq5WH_G-i2bn0I6gLSEt23tX9U3mFb4Q-6c=",
  "id": "rs_02aceb5176981c56016ab438e68c6887d097b1d63ee77696a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_z\":0.045},\"note\":\"The purple bowl’s near edge has only just reached the finger tips in the wrist view. I’ll move slightly farther forward to put the rim fully between the two jaws.\"}",
  "call_id": "call_4jMwCBzH6B3VBICEpNHtpIo5",
  "id": "fc_02aceb5176981c56016ab438e7b02c87d0ae1b6c5287e58b1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4jMwCBzH6B3VBICEpNHtpIo5",
  "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]: [-0.6338, 1.7771, 0.9123, -0.0925, -0.4618, -0.4244, 0.5955, -0.02, 0.8074, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3792 left_y=-0.1766 left_z=0.0364 left_yaw=-0.0153 left_pitch=-0.2544 left_roll=0.1067 left_gripper=0.5955 right_x=0.2933 right_y=0.0006 right_z=0.1716 right_yaw=0.0006 right_pitch=-0.0312 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.159, 6.2427, 1.37, -0.2027, -0.0171, -0.0122, -0.0205, -1.4154, 7.0222, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9b39ebc2b5205266854d2793d8f3059f195a33bbbe658f0d8c949d6e8e977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19584c7600c54774ca8fa0fc0dc20ac07135b021bb193250aa624918b321487f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a7f3e186403b4df32c2ac986236872ef67338f19402bd91aeb4e324f8dc78e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 6.077 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6746, 1.5612, 0.8948, -0.2024, -0.4789, -0.4427, 0.5943, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3605 left_y=-0.1795 left_z=0.0986 left_yaw=-0.0443 left_pitch=-0.1738 left_roll=0.0518 left_gripper=0.5943 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -6.7077, 8.1983, 1.3944, -0.3346, 0.1245, -0.0855, -0.1573, -1.1966, 7.0085, 1.707, -0.0122, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6479, 1.771, 0.881, -0.0673, -0.4648, -0.4377, 0.5955, -0.02, 0.8062, 0.5999, -0.3943, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3726 left_y=-0.1782 left_z=0.0318 left_yaw=-0.0197 left_pitch=-0.2521 left_roll=0.0994 left_gripper=0.5955 right_x=0.2931 right_y=0.0006 right_z=0.1718 right_yaw=0.0009 right_pitch=-0.0309 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [0.335, -8.0615, 7.5282, 1.2332, -0.149, 0.2027, -0.0024, -0.3761, -1.0051, 7.0359, 1.707, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0925, -0.4618, -0.4244, 0.5955, -0.02, 0.8074, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3792 left_y=-0.1766 left_z=0.0364 left_yaw=-0.0153 left_pitch=-0.2544 left_roll=0.1067 left_gripper=0.5955 right_x=0.2933 right_y=0.0006 right_z=0.1716 right_yaw=0.0006 right_pitch=-0.0312 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.159, 6.2427, 1.37, -0.2027, -0.0171, -0.0122, -0.0205, -1.4154, 7.0222, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9b39ebc2b5205266854d2793d8f3059f195a33bbbe658f0d8c949d6e8e977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19584c7600c54774ca8fa0fc0dc20ac07135b021bb193250aa624918b321487f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a7f3e186403b4df32c2ac986236872ef67338f19402bd91aeb4e324f8dc78e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjskfsp31qhXIgIrLAUP0QVq_Pj5b9GW-9CjQm16hOlFzmBJfkV-JRF1wGKrG0GYE_7KHzjuEs6S11MXbFLef1aztEsqRAdkMz4jKNotfP7FEQovikALA2ZdjdoCZxtG2Uq5qAghkau-ZXdhgSryW27PD3iIbmS9-hu9wM7lHR9yY1WaXW_6VADdNsAbeI2ggi-sxiYP50n6AWFvRS_5dvny17uU9tWjSE_K69buzfiVbQzSo_dn7CviSvF5v6JJMxooZHP1jLr0QSblYsrgbp950KaQFuSK4rVwOFTUwPHV_nkzlwMnYcIsewuS9d52rOpLnF5IhBIqDcBuYpwNwDXR0TbnBSHM8Ohkh9wE-OZGUV8Qx2XDgjSai8Gfk2IKBOgJSJmLa2IgSqTa4j8Y6zvvTAYzej8VYVnX2U4DWz0-j-6XfdbX8Za8mO24nzhjrn7Nz6b_VIrNLVc_wll3KXY6YuGSNZ1BU5ny0ubMKWIAuMd4r7gkAysIVPToTl0nyZ9Gv2jA5kDL6c9AZRxQPyK4nlaEnrbC5vgCZ8bclUsu8DLAuIirmd06CGOGsay5sleUg2rshY15SYlEX7KDz09BBNYrKZZUQGJNynfL9f-pltMtLSQMtzHewMnwik1W3TLg73IhYQNBFJiEddroSGfP274VnbZ9RdGmDeOMkOfNm6UdeWUSqH8_LT3kzgkVrFP8meCyGA_Qq03ffwfoBKbb8jUOsc7E4stNp83WETPHHhFBJKDqsT8eKdQaMqxLcKJaIfpTm6N0OqHEIAC9ag7QObeYCzNp-RiQoBv8PbMzXnIJtpXCipyCjrazWf7fypi3tQNHyAREEtZdfZWm2g83L17W4ckZNEtzlFW_OT43IiZy1Zb66aaaKrI7UKK9rlGRa9IBKzF9NSked0ffeCZ12WD1GCBYzpz_-_zRKSd5AlzNf29l1BBHqcnuel7Ok8LVJPrrtZCEb1B3zDDKfKpbDfUMgiJat22L0cB1GUriPBk5wkCcSS1TmszToVjDGxDslhxyUF1-Odtx5ZKbLRJQqngxPOm8GyaCUqv1r8bXG0OUyBG_IHkffnWTrb82oeVxeL4WlO41Rf6T86DJ95TuMlaFxbauD8s7Ytk-3gNJ95q9vbBpZtFcImhSDCX2F-zwDXSRqap9PXb1MfojtFSEI07pyMlmuqOrf6MOIMOu0JSUtHqeONLGAUS4cboExu7xOwxbUIR_sKP0ti1IIkJBwZNEqWh9tfv2dJWWGMg_apTC9z_UBCiAE95LX4Gjp7MyF_8R7bnBcaB0xDcFBCJKqXo2nZPxLKEu2Abbel828PAdq8bsLzAXEYpmU1wSKx2JrYO8yohLyddUonMPye_H9Fup7sx6HK2sk07p_QK_KqHQtqBTU5e232Hsapf7UyQx8O0A_J27mKMFYJvlIhbEae9esNTCIuvlqMxqq3cVDx39ko0ok_ASm50UIOgXplJqaVT7oMURfaQ95qzEHaaZOYbxMW3J0sS6b92Yi2k_fFdg3IaQeD0_-ndzI872EsZ_dbF-SphxDSVLYJhUPohsiZ5un3cQnVlOBqZ1eO8EFPPgC8vru7WM2T4lKDauYOrMwtzhVFbSdrHMc5xvMZocts8NPBAZtYwqQ_7k4i0_BjrB5l7GXpcRKdJNgbyoWJ5UlGRZ5RMcj8P0sEcYhq4YN9rerIewONYsnZ15I5bBpkSdWtqFk81zLYgsVHfoHT0-BCgvlegx6WrCBN9rPn1BGubLuKGZnQWxl4x7MRcr10oLQtG2x8Ml7KRvLTsjeNitmGqXmDpTiq6QWgrQBZQwgfY8zgD5aLTtN1-rucSgLkgl-HiDY6ofi_KnDJH5UbB4HP9mZnoDTpgfX1Chrex-69H3hoZu2IdqHcg24RQfcoKzu1JmjeNg9J08POst06ltzhuHnk-gH4H5WkZEsX9m7XmXa4xx3ocZaTaeW6GC-j5fW4mkcIxrYK2X0_DyDhFoYrYrSvOtrfxQgsDQNo0GoRTSFIodzcnqtOZ7Np-T0Xhf019cDLfHnCNvnAmpTD7",
  "id": "rs_02aceb5176981c56016ab438ea05e887d09f182f340e045335",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Forward motion has stopped at the purple bowl’s edge, with one finger alongside its wall and the other outside. I’ll close here to test whether this edge is securely pinched.\"}",
  "call_id": "call_ixYCVHuAwUO59NZitkuKTuAb",
  "id": "fc_02aceb5176981c56016ab438ebe2a487d0a96c2290c04c57d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ixYCVHuAwUO59NZitkuKTuAb",
  "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]: [-0.6338, 1.7771, 0.9123, -0.0914, -0.4606, -0.4278, 0.0082, -0.02, 0.8074, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3793 left_y=-0.1769 left_z=0.0365 left_yaw=-0.0144 left_pitch=-0.2538 left_roll=0.1028 left_gripper=0.0082 right_x=0.2933 right_y=0.0006 right_z=0.1717 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -7.3368, 6.2974, 1.3846, -0.1197, 0.0317, 0.6569, -0.1299, -1.265, 7.0222, 1.7314, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a67a44be87d332b926901486d40d8d5ef25e134a006ac825078e8c9f36e751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c19f9b4d711325918c2d196c439c12ee8ba6ff5fb0bcc058448de3472cb5a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7c69baaf5007bd12773959ab5fa7d463afadfee3fc4373076ae434314bfff2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.751 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.6913, 0.7685, -0.0422, -0.4797, -0.4461, 0.5954, -0.02, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3464 left_y=-0.1705 left_z=0.0287 left_yaw=-0.0345 left_pitch=-0.2505 left_roll=0.1083 left_gripper=0.5954 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=0.0008 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -8.3487, 6.4479, 1.6777, -0.2418, 0.0073, 0.1001, -0.335, -1.2513, 6.9949, 1.6728, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0925, -0.4618, -0.4244, 0.5955, -0.02, 0.8074, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3792 left_y=-0.1766 left_z=0.0364 left_yaw=-0.0153 left_pitch=-0.2544 left_roll=0.1067 left_gripper=0.5955 right_x=0.2933 right_y=0.0006 right_z=0.1716 right_yaw=0.0006 right_pitch=-0.0312 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.159, 6.2427, 1.37, -0.2027, -0.0171, -0.0122, -0.0205, -1.4154, 7.0222, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0914, -0.4606, -0.4278, 0.0082, -0.02, 0.8074, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3793 left_y=-0.1769 left_z=0.0365 left_yaw=-0.0144 left_pitch=-0.2538 left_roll=0.1028 left_gripper=0.0082 right_x=0.2933 right_y=0.0006 right_z=0.1717 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -7.3368, 6.2974, 1.3846, -0.1197, 0.0317, 0.6569, -0.1299, -1.265, 7.0222, 1.7314, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a67a44be87d332b926901486d40d8d5ef25e134a006ac825078e8c9f36e751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c19f9b4d711325918c2d196c439c12ee8ba6ff5fb0bcc058448de3472cb5a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7c69baaf5007bd12773959ab5fa7d463afadfee3fc4373076ae434314bfff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab438eef35087d0828d2a9c1a9935ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.48,\"left_z\":0.115,\"left_x\":0.415},\"note\":\"The jaws again closed empty; the fingertip line is still behind the rim, and the low approach could not advance further. I’ll reopen and come over the rim from higher up rather than pushing into the bowl’s side.\"}",
  "call_id": "call_mNJTxcZGSc0Zdq4gxHBdvVy4",
  "id": "fc_02aceb5176981c56016ab438f27e5887d09f35eb400dcc0e75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mNJTxcZGSc0Zdq4gxHBdvVy4",
  "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]: [-0.5766, 1.7653, 1.1721, -0.3439, -0.4385, -0.4046, 0.4757, -0.02, 0.8112, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.415 left_y=-0.1761 left_z=0.0986 left_yaw=0.0104 left_pitch=-0.2497 left_roll=0.0927 left_gripper=0.4757 right_x=0.2935 right_y=0.0006 right_z=0.1706 right_yaw=0.0008 right_pitch=-0.0351 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -10.7009, 8.6085, 1.1941, -0.1245, 0.2515, 0.0269, -0.1436, -1.0872, 7.0632, 1.7753, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6fa2a3bd82f76570842f47d9d418c1c996dcf0f860538ebf55821458a9664c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa38b231bca588775061e03d50d1c9651ee281b8c6e22109e0c61c399923ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7569e2b3a31451c082c8f06449d1914a1c6275502325a223934bb5824b5ff2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.595 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6479, 1.771, 0.881, -0.0673, -0.4648, -0.4377, 0.5955, -0.02, 0.8062, 0.5999, -0.3943, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3726 left_y=-0.1782 left_z=0.0318 left_yaw=-0.0197 left_pitch=-0.2521 left_roll=0.0994 left_gripper=0.5955 right_x=0.2931 right_y=0.0006 right_z=0.1718 right_yaw=0.0009 right_pitch=-0.0309 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [0.335, -8.0615, 7.5282, 1.2332, -0.149, 0.2027, -0.0024, -0.3761, -1.0051, 7.0359, 1.707, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0914, -0.4606, -0.4278, 0.0082, -0.02, 0.8074, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3793 left_y=-0.1769 left_z=0.0365 left_yaw=-0.0144 left_pitch=-0.2538 left_roll=0.1028 left_gripper=0.0082 right_x=0.2933 right_y=0.0006 right_z=0.1717 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -7.3368, 6.2974, 1.3846, -0.1197, 0.0317, 0.6569, -0.1299, -1.265, 7.0222, 1.7314, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5766, 1.7653, 1.1721, -0.3439, -0.4385, -0.4046, 0.4757, -0.02, 0.8112, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.415 left_y=-0.1761 left_z=0.0986 left_yaw=0.0104 left_pitch=-0.2497 left_roll=0.0927 left_gripper=0.4757 right_x=0.2935 right_y=0.0006 right_z=0.1706 right_yaw=0.0008 right_pitch=-0.0351 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -10.7009, 8.6085, 1.1941, -0.1245, 0.2515, 0.0269, -0.1436, -1.0872, 7.0632, 1.7753, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6fa2a3bd82f76570842f47d9d418c1c996dcf0f860538ebf55821458a9664c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa38b231bca588775061e03d50d1c9651ee281b8c6e22109e0c61c399923ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7569e2b3a31451c082c8f06449d1914a1c6275502325a223934bb5824b5ff2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj2ObSkAbhqRdf78WK1AnCPr2JHIAgSd9MGCj1uWCP-0MFqLt_orGhAYhSO5jeaQdSAaixcLBLMttT2mFnNdVYvWvSvEt9EfsTI-0ol8ESEhRu2tE0J4yehiA2Yo59wRKabJ2Mp9UcYZ6O1CnsD1feZccRp5LwKRPbN4oovz56dUmmOWApi8vDf-IP_VUwSvWLEmM0vlXvlyH3fklfCK5DlHwytXPj-mqkZ0nxlEQbCA3z60aJgkiZR8zctbG_M0ZrelSc_6BHj_eGSOeE7LqoAckFe6ms_ovBbKSe2zqJyHnCG0RlVrz8qwPKij71ChiAOn_kuhuhGFx5CAUCUGNw5zlFcAtOOiZlaRS3p8oAPdGWGTigVQ_hgQM6xsNMwRaNp1Lp3RTjwRcwukCA-cLZ5Bfkp-QvfSseu6NoQAaccPP_GJVz7q0Jfl7T4fNPqzyfCLlLyuSRBk93RoKKLR89-Baw9pBQ9rBIM1YIaqOoYlnfaSgrk9i7T4ZAmrLEQARyA6ykH1HHBxVD-npT3ref4Fk-zY76J9qwF952WYXdYBqwV-f-8ITPYwoNeBr0xPFGJ2oFW6IbLGcmsKksjzMq40hnDELYU2dcgHj9Rl7eAcNK_P3PRBMFMUUd6z9OG4B4E5wW4Qf0GeWsvNYvfmaI_GDuaXwtJHn3cplnxGB56r3zXBs0uYCjlyHz4M5QOIm1x5l_3gUn8z4M8NbySgh6mphbwYRj1tLeRYiDVgEWh8iTWOsKWfhb7SCfDjMM0pjphTN-2BcElUOHJYBCtHjSpyfUcewM-eOrjUL3ClKuwhd0e-3mAjtPS-dyir9H6RtWzuZosHajEZMRTEwSGMcjAMDSSPx_ct4HrJbkeNSaQtnhabxDn1Nqc7cwkfsZnC4XWmymcvMdME0EK9Z2VGL948IkSrCSKMb84ht2TXPDmT4KjPu5xy_3UMhYl5MVBvFjsw9oEjtN44Ob6nAvxVsIhK8Zhee8EWH4sU_p9BKeubC-IuNq9uNnjXppfgMoF83pbBFMy-3vUz38caY_xpl3-p2STbSwduOYXCXghVcBsfpr4JDPsPAXmsS0Vl_vK9H-mz-17V-rPOlPCRxWmADWXWCH38evE9VF7kMMEYU4wH-cX-l-XZroPz9ED0Ky_GtJv3NU_TPRMy-ZXizNHV9tP5sAllS28XoDOGFIFANpH-qCVhe9VmBUlbM48MbXBp7OTEEp1OtQtjxWC1MW5RS5XUvzirV9slSJ5VdZT6W6pQnIQwYjbSQAA_5mmFG08dlgicp4HZGjzF-ThyhkcCiMUhY9zynagdW3B2nYqGOlycFu0MXxo9wfgrMClQ75h7aPy3xL0l64hlay-Kkmgd53MbUK8ESbXhsQiRoVpvCu1oz7SsT6BmblX4-UG0HBiaxn3_UKqOkFiNUZRO0xSBq3ceqRtYf__9s22kIpukwukvv0CUIB4oERwFS-djAKpQHYcikRU1CvbjJdJBl_yhMpAeneS6z1R6-E-QL6heg03ZdFalNie-tYMf3IyaUCxAh4UiHIjin7Qq1l7xiZU8x50MYn_dWiamCz_mSsg9H2L8x6PCXiKWxavo2C3WJbyIjwSMVW1k_8d_7ZI5eKO6MiFgakAq-E1Y4j21A5B5hKqZWFu0cvOZOzoRpYWu55tOMRJ",
  "id": "rs_02aceb5176981c56016ab438f4d25c87d0aec45101da79d387",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.058},\"note\":\"The higher approach puts the rim between the fingers in the wrist view, with one finger inside the purple bowl and one outside. I’ll lower just to rim height before trying the pinch.\"}",
  "call_id": "call_sLHjDJHooIWUzdNVomyq8SUA",
  "id": "fc_02aceb5176981c56016ab438f5c18087d08512f92addc13e73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sLHjDJHooIWUzdNVomyq8SUA",
  "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]: [-0.5739, 1.8088, 1.0954, -0.2592, -0.4393, -0.3931, 0.4765, -0.02, 0.8116, 0.5961, -0.4011, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.1708 left_z=0.0637 left_yaw=0.0126 left_pitch=-0.2796 left_roll=0.1215 left_gripper=0.4765 right_x=0.2919 right_y=0.0007 right_z=0.1672 right_yaw=0.0011 right_pitch=-0.0469 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.4444, 6.3932, 1.5604, -0.1978, -0.1441, 0.0708, -0.1026, -1.3607, 7.3094, 1.7998, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93dec3f372111f9ba145e9d5e29494875e183abfb23664afdf981c9e8460fce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb452c69c2a6f911959b9592026acca176b303233f6d0050aeeb330cfbf02237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c81a82ac5f5eafa3ed3f35d65730788bd3270dcaf1123d281090b8d0d5095216",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 7.958 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0925, -0.4618, -0.4244, 0.5955, -0.02, 0.8074, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3792 left_y=-0.1766 left_z=0.0364 left_yaw=-0.0153 left_pitch=-0.2544 left_roll=0.1067 left_gripper=0.5955 right_x=0.2933 right_y=0.0006 right_z=0.1716 right_yaw=0.0006 right_pitch=-0.0312 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.159, 6.2427, 1.37, -0.2027, -0.0171, -0.0122, -0.0205, -1.4154, 7.0222, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5766, 1.7653, 1.1721, -0.3439, -0.4385, -0.4046, 0.4757, -0.02, 0.8112, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.415 left_y=-0.1761 left_z=0.0986 left_yaw=0.0104 left_pitch=-0.2497 left_roll=0.0927 left_gripper=0.4757 right_x=0.2935 right_y=0.0006 right_z=0.1706 right_yaw=0.0008 right_pitch=-0.0351 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -10.7009, 8.6085, 1.1941, -0.1245, 0.2515, 0.0269, -0.1436, -1.0872, 7.0632, 1.7753, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8088, 1.0954, -0.2592, -0.4393, -0.3931, 0.4765, -0.02, 0.8116, 0.5961, -0.4011, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.1708 left_z=0.0637 left_yaw=0.0126 left_pitch=-0.2796 left_roll=0.1215 left_gripper=0.4765 right_x=0.2919 right_y=0.0007 right_z=0.1672 right_yaw=0.0011 right_pitch=-0.0469 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.4444, 6.3932, 1.5604, -0.1978, -0.1441, 0.0708, -0.1026, -1.3607, 7.3094, 1.7998, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93dec3f372111f9ba145e9d5e29494875e183abfb23664afdf981c9e8460fce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb452c69c2a6f911959b9592026acca176b303233f6d0050aeeb330cfbf02237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c81a82ac5f5eafa3ed3f35d65730788bd3270dcaf1123d281090b8d0d5095216",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj50IMsvAuwBj6tKW5Uqn-MrtW-GmkOV0amUImce1J5TfFcE-A8LO4EWzy58SELoHzFn21bg3Js3BRX3oowJcuU8CItkbJO2NcZVQHOQREXY-B0qZa7bzrIYttjeiRpRVaORy-MdGLIUIOmhDthoeqCEds1IfuwrOyR90aNR2UBHBdBuf9c_BJ91leN6GPP02f-Yr5tlkNzYzasYNhvypHrKuXhFwpWCo7xWxNLTRlLoH0eC1gboXKjatLY1Xb3JmOUGLP7pezeRf2oX-oytFd8awP9rVmKde4ovbqRBJvZjqfhbHVPv9KAeMUIIworDtMEz8031vhIub471-x3jZeRSXZUO_ONcQ8mPPtvZV7w2_RQbWDcZJM6OBh8iFGqlk7kpun3rQvu6G2WH3wvAk6e_kEXvx4_a3Roxrvbph4YW5ZqPNeFJmJ0HUE1NB5fush6nrhNKSZJ16KQfl2vAt5l_ArQWqjo2kcTUiDmzLZONEhbU_kOL_DKaKsDVLummkzKop1v1wBphi8wieht7DSHpFzbG_zgML3HDqyI_IVfrnZOZxs-ITB2yQwIBVS04FNdfJPEO4s60H68ihIrA1DpngxqN4d5QFvu9Fb5rJvopY2jCnRPAZBHWqafQGDe8FemibU5XTEVkglyN193raKkboDIRrJxorXWRMskR12EbxPBHHI7DewUyKvUvJ0WgWmJYRULtknqyKziqHMPNgOKPisoZ7-Vwq5VRbQKKocWGaz7MBFW1pM1TAqhn-LgypIL1QXz-EXBUdwhwfJ8CG1tYA5t0CzdLtwx7DDEShBM8-wTENSBg5Tx5s2AEfTCS9m2S0_ebK4ScEVFczuKgcpGAr2QDx5mIs7HT3sSkBpH-F9JwZ5iVuPhuARNYEfci3K9p83iA7T0M5Vy-_uVTgu30oS9c2MjsyvlF2GBwlNtiinjsFtKwaLJR5VAH3DS9NMwhX2C3jUv1VzF_GDRIB0O0WRgJ0sCUREdz2-eenEgkjTP5kwlSyvvX5KgmERUsiVu-A0ucOHiBFw8XAx5lEsajeKf7nOtC8sWF7_pERBqAyEa2BVJOSmNOEPVLsGpzBQfudW0OpGxD7riLh_-gV1Jf8lMyEXvcJ3OWpdEDvIF7VSHBrUVQ8SJrDCE51jYQ5gSxBAjXI_C3pEMFVvoCM1gzaqTGe2dJmka1LUGLKk_lsq_fZ_zVPZ5DMe97nZXDIbZRSQPN6rKZB2ArZKb3zWBF6FuTzBAMnxYYKFbndu3ojRbZ7BjugC8kH8MuCpuFkulSVu8xoiwovh7GNxcirvX_Fe9cd-MDye3QBWytCaeoXdmrfZb5C4yWP7uD6IPU_j3mHZ2K33BLirqzeRGsHixkSl_4Wx3RwETcO0SIU7hcA2FEc-hUDhMurgOpQx5haDWbf4o-w-6KgUkFZ7dzIogvyjxyk6VuWvJ4ALlXtelc-w=",
  "id": "rs_02aceb5176981c56016ab438f81d1087d09825dc4bb6fde623",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The purple rim now reaches the outside finger while the other finger sits inside it. I’ll close and use the settled jaw gap to tell whether the rim was caught.\"}",
  "call_id": "call_oqUFCRR6heMRfJ6de2qQ5AE7",
  "id": "fc_02aceb5176981c56016ab438f8d4fc87d0b5400cf06ed2b590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oqUFCRR6heMRfJ6de2qQ5AE7",
  "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]: [-0.5739, 1.8328, 1.0733, -0.2527, -0.4419, -0.4053, 0.0104, -0.02, 0.812, 0.5953, -0.4122, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.4033 left_y=-0.1665 left_z=0.0471 left_yaw=0.0282 left_pitch=-0.3103 left_roll=0.1384 left_gripper=0.0104 right_x=0.2902 right_y=0.0007 right_z=0.1645 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0026 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -10.8103, 7.7607, 1.3162, -0.1343, 0.0513, 0.7204, -0.1162, -1.1419, 7.0496, 1.8095, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424d78d064b1598ebd4481299e24cbf28851284dd07ccd6e54946dc2e6318307",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988197d75565856757aba4e096e452d6a1cce5f42ff02cd0669c0bf3caffadea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8abf5a583b3df25699b9351a48508aa510a486bde61c4718ced0b4a4ef7f11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.24 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6338, 1.7771, 0.9123, -0.0914, -0.4606, -0.4278, 0.0082, -0.02, 0.8074, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3793 left_y=-0.1769 left_z=0.0365 left_yaw=-0.0144 left_pitch=-0.2538 left_roll=0.1028 left_gripper=0.0082 right_x=0.2933 right_y=0.0006 right_z=0.1717 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0018 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -7.3368, 6.2974, 1.3846, -0.1197, 0.0317, 0.6569, -0.1299, -1.265, 7.0222, 1.7314, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8088, 1.0954, -0.2592, -0.4393, -0.3931, 0.4765, -0.02, 0.8116, 0.5961, -0.4011, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.1708 left_z=0.0637 left_yaw=0.0126 left_pitch=-0.2796 left_roll=0.1215 left_gripper=0.4765 right_x=0.2919 right_y=0.0007 right_z=0.1672 right_yaw=0.0011 right_pitch=-0.0469 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.4444, 6.3932, 1.5604, -0.1978, -0.1441, 0.0708, -0.1026, -1.3607, 7.3094, 1.7998, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8328, 1.0733, -0.2527, -0.4419, -0.4053, 0.0104, -0.02, 0.812, 0.5953, -0.4122, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.4033 left_y=-0.1665 left_z=0.0471 left_yaw=0.0282 left_pitch=-0.3103 left_roll=0.1384 left_gripper=0.0104 right_x=0.2902 right_y=0.0007 right_z=0.1645 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0026 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -10.8103, 7.7607, 1.3162, -0.1343, 0.0513, 0.7204, -0.1162, -1.1419, 7.0496, 1.8095, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424d78d064b1598ebd4481299e24cbf28851284dd07ccd6e54946dc2e6318307",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988197d75565856757aba4e096e452d6a1cce5f42ff02cd0669c0bf3caffadea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8abf5a583b3df25699b9351a48508aa510a486bde61c4718ced0b4a4ef7f11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkBL_Chxz8bElnn_-9REOoNfW0wDr0Tk3gRx8IztBYBHJTI18eiRCNydGqIhX4HzYwF0MIOgU8T6FBIo4nFGPUrAvSFxgpWJKJnyFsaIpFs3ZlZpF-jy-dS5UHMSigSMiP_GMDfTDuWXhvurZtarmhn63U7KUwIaHKIc2hgtN2F-N3pfH1eKj2UMhV_xinNhK3qNJ2lgDszlHpqpasWdC_J78QuueyfR7CphnJIKStUi69vZ6kEQVUSaxvTcGmdNPZQ73Lfr3fcZHQzwFD1WQfWz-pOskuR4m7X-lcxtOPLn20SSAyNXCun5uIbnLyhUNoGOdFUC0ie7Z53fnQxZZegxWryLkJwPB581JtDvAYR9-J0v-YI30P_nWT6_g7_gt5hgkHPi9-_pWMFy-Mw6ucEvbSUjb-iFJMtNvAkKwVb-KMK6Sfd_IvONPzGxgEEyPEcltKDZDQ-3VWGAAl9w_02QGr3_WctnRdKwEe5gBgZnI2sk7BjttwPNUprko1ACdLc5kTNi4xgv17rJBDaxgwDD93g1zf9x9mhCSckTp8xhvofUMydB2lgt3aZlrRZn9qkr8YlNt3FHY73CiKMrfUZeuuNn9gdrseR7QhGKxCZi9hROa0_M0Kja9natc1HIt0QaWjE84K1S607hVwcRr6C7oS8UTHxBEk0IfZdXB--oIKkymDpHGt1-_g6Fu568bGISraQtTHMQ4vSi0audbewJO9cpwhrnrHYvp4YTKm4R0ca_-LjteDnEzj6RgjS9Jx6FMUDE-bUE8CEomUYkGmOaq0P58RqJkYpHPdobfRNOq1wA_6OJJtUMnSNZnvyyPtaD5hP_JYYFPV-o0U9fn1FgZ9Xv-Xd3m0hcJLxewtq_VIe065pL0AD7GOc_5py4PVdQdoYW2ZhodwbBjvmkxt8f8EFS0ipQrvyYjF7v1Kx_sE_YbkoXM7E7YFqrOoFhLfBq24epjDaFK2zpKttSXR3LHFfbYhJtT0Zqavrd66IMc85crCkPuN0HUIgtcsMi6cVI2_ytyUJteGnY2AISP-MT6PmquqKb208aRdfdjC40TSYgvY83gVl5SSdc3JEZLCT-B6QZLBQPBAQRMI4I2uXSlU35cfOMvQ3jJDWMd4sgF_8tOeM0veBtPkBfQby9DUeNqVY_haYG36bddSIQ5RLjfBdIjcM0A6N7pkETNg-CU9VM9K1s8K2GwDEpfwgl3M9L0bkl8iFeaagFfHByJVm9KgM9y3B2pGqP8v0K5PTOYXpshd1lUGI9ZbWZ-uoWDSlBMEJsjV3QK-q9vZHmEA8EmeKJ3Ndl_HiQtR9115IHnOmTCO14Q2EpQRNl20eqssjbEQVXfZ_cf2TyjgzrNSRJwo5Fvqd8wz2ogP15V6rmxQwXDbhn7MwufavoNmwCur6XtFHAkImvBOmjFH0QGr9VVNTZF2H0t7WpS1axKSJI_JKNVQwDEUCJVdU7jIWYFRiX9eAIM0Wof5U3kIN-CQqcksb6jxVmZ7EXA5K3tbBqfSER8X40kA_J2PyIR6jU2Tr2lsqQOdQYLefa7reA4uF1zcxp2fuAU4Pmz0uGWcmawJv9CtRLg7boxSetRjnj9PyFnwN6XpgFvysW0d0CMQwIzzb7KOXhglTg6YGjnYSih0MhL90OegDcAIGzzzhhK6PDHs0Sj4MP963BvA8fT7keHrm_Ckf3Qn6XzH63GLX_8CDVtHmPxcH19-5bnfMDcVJawxhCy6_NpoZfak1yEEVPMawnWs-lFEwasS-DB8CIzOk-Ou8zfMB5fRxj5w2eYbTRqmfxqpsL4X_OLeoUSXeUva0aE2ToGRVPq8n7nCnV-r7JRxFKd6Qqax0GGPPZKDx_R_yJNGEyBBmVlJdWcnH7JETTK38lmJo3ABrnf8cV3J_AL0ZGUL_pLh5hdO95AtVNC7zzInn4l-tHMMcFzXL8lKllz_3RwshbvfekSk4MehoiLvSqwFLTVvALTTCVfOGvCrcvGVoOGmJX9oK3bs5Ss9v0n-IkCdduz-Sl0bZmqoB5v0gv7BtI_5fxH6oQIbYUIiY3vpFOsRHsrEsM1s_jH4FOTVqikU5dOq6caDDC3lL_kDawcQ9gPN6NFUVwlBLkS0DBw6jWatWPdZvFaFWByPeRYcRHS3eZJqscN7tCTAofhOTDvU1O5RQz5UASTiQ-MaZWazU332qjOuKi0LBMzfxxFoDYD3kO1PjBQwxNemOGmklCH_w7bEL_3eSq6SYdslktPIlNdzHdFTruL2eJfQ6zp49nHkr4n0TlsXCYDzdmFyHYKCrTWha9Ax92ydkNuQeYYsgAkWE7ynQ9uQ2wmqAb3LI5lCvvF9NmFKlCoWB9byvUQ11Cz4S56fJUORZaAqttHljXb8FI8x5I4yol6AHfitxa3KYf9GOVCCd072_T57kbuIMzE3AoE8YORvoTG_417OaACVnMcdcZ6JqFcJiPjb4VL0_4oGuQrDt_sebvrZ55Y4_8Bn9DTIKlEUe9EdYaF6_C-z1tlel2sgdUeIf3pvDVyzuPGk36jdipIShkaQRxItmFkB_r1cB8PinPKX5M1kLS9XPVaIK0pqMbTdRMdcfjQHNqS_77k47OslhJIhLgcmCodSuuaoz19IuaRUqCQJIWECBMTPczloaQGmIuuOpzSw9_U7LwiBsjIeJEznmjL1t9m8A5k32irnTtiVSTHU1Zz6eIRsDJyXLRoQLD9o0Cvd6IACZBZqxjcciq4dAG8F8SdLp3bIq-n9qGpT4wY784r3yZqfgje0T5Jx_AYVpX865HymegFvOJUjdOm4s1pMSD_RyX_ivFS_VTZR5qMNm4haFI3ZI28m1jMx1nWCEVXeX0ekh8ziYHsaHCpbsiVmk0x6BW8e5DXWruAvW5-uaqHqqESc7Gy5ISGR21o2CvSl1PmZ79doFxzk8e19c_oOIAoWrAgtClxhAe0QAAVuUGo5rieh-qvCwJB5nQDjRhACvg6LugI7axXuMgyIAK3PznN5jBvi-hnUt1TzKXdWHcX1LMzvvN0SzzEj-uvLUQDKtUaNP0AJQVgutIsInoHKyFsrWUslpslnf93ETRxmM3pbfTlbib25aNAWbGLmkswxo13ECcNeCKcKXkCY96LSO1PvFWeP_3NgRLDn-BGkWuYN_ODbKwHlJBP8IDhn_o4TunHYU9ZxVlKiku67IG-CwlCc-C0bJl9QtB-5j_52nADh44LZ368zcQfCmPCQag3ZMs3v28tpe4e-TZUOsuUvdoNrfvjDL5S1Ib50ynPwUbwBXsCBe3A80CdyZqkS2Ei-dOx6lYMbwuDNok1ZjPH0Ze2v6kmNRpRsXSWnSA0xHoXiuKaFdS2CjJcXZsr3ukWp9nCuqZBDMuP7RShfqVEXoYrVYQcjMDydZse56XFLtMMNqMzI4vyZrxnUOaZCzkSHHqRv81xZ6fFVzioqpcxveqXdJOzAw9SHBEYEHnYZq3YUQUdXISJZt0M941NbIVfWO90QLdEED90Z1yjsRnoYhj6FOQoQKb_hWPSgFx61uTF5S2WmEsY-KdaR9lXm_RS8EM-JmjGra2URqUsNJ4R-wmlFY_wzG5Qz-AlyNRZd9cPKwhfkHoUHB95XuInPtXwSNfif0XwLy9Wst2Hl0K6o0FeEbsQjCvh-YcMrLJYlPOi3E6JbENAVGqtXnfAVvCm2QnK_73p0_7otdheIaK6ROCn3giiAdwB5zBWx_akp9qGzezCEedP7LRm_LLXG390BWy1L54JMs8OFCPxcScg1cmCX7dGlnb5Pb1aDJyQ9jES00UTf3xj88GA==",
  "id": "rs_02aceb5176981c56016ab438fabbb487d083bad3c852fc36fa",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkBi_GU_WjlxDacq46_XW9vh-1kIqqrr3_x9euIq7jBIlmdBfeYjzjK85KLQOqcv5GEByFyQ_5bOewLJbNqighYQT6lAkMhq-rVfrj7T5nf-RFE1-TO5ljwDNRu8PyuZoh0v2bn_xe4BUgucPLRlkq3y_TgKArksd0DDw7S_BJCTyg5Ez9bEw53UDIPJtvUv05gjYMPGCDBLNwBkGcjWH2FJyPX2ItP4KSnqMg0I57PX6yktva2vPRpNWQetUzEOH2ZmkOP3o7gjMAAj9Sp5tDWWifFN_JaO6f9Thrik6CWO1lS81Ay4KoSgIp2uysQUiuA8HUBe8olaUOeFxop5wz1G_m_kGxVEOoBqS9hGLqreZlcQxnN2r-RbyFOjuqu6107bw2aRJLwXDYy-EgSjrbuUkpDcfT_oId32HKnoJeW34p6MpLlzqOPA6Z65T4d65KwhsXUGuWQaULKm1JPCAyX-YFPZOdWV3p1T09-oOnQ9WPzggu-H2gA_SPBnWzxo3wVwM53W70zuY5DmE6BSOPH9cwYLEaDez8yhi6xLk7U5lzlG0I6SH7yBN05cdkHb8-SBiwChe6wN8TPLeOJhQ_aqcLm1M3EKpF5FQDoS-xtHsTC6YXMLmBSOqSGv3Cx4IZvyzC2vQx1HHUk7Z_T0su8TZWcmr94UbEdofnDUt2TAnA1h1W9v1e4kJx0wQdXjKD66gY2nZyHjeEiumfMzzF8vWN7_NkGkKTgwMQ87z-n9nYHGNVTxSk09Jli9P8setxabt2ht4sOSxjaCk9yzMArn69p-Fjc7jYwgn7noOAn3F9_v_j7O5eK3Gu1hnPLaCIfyEWUWu1iT6qipMYvBSAaojvmICqubF-m0q-Wldm4ZX5MYMOg2PUJBdgq30PV0PFhC6aB5gvtL8hZVMTiK5kcYOqvVVzn0HeNVS_58yu2mG3PM-piumdFT9GBDm7b1doVG0x-CLUOOwnTIipq_OJg-hVzNNCylQwy7npQ-63WbXHgDqSOW7ATK7c7ktNt69wy5S-Idj8-GRnn0cIScZqNfgg9Q0QifniMQvXwx-mXEHfn9bPv7K5-vsgPFKwgnmOKYW1XGO7ytgQCkK5Yjs9v_ip6eayGNtqAUXSe4n5umWSquWqwJuH8gZ0d5z_DOEud_d7bm3i9J5eGT3VjIprzRRo5K67z5K4-658hPIh3Et_RIuBDEx7CR4_caiazHAjXl9tN119lF6CWO_BljWeCkzH3Ol2pidpDKYJEhpP-xX73Hw3TKN8EbnkIS9TTZmBTnKruynZerW-lQFIqaVXuC58kfj7U7FxGIQwsv0jVWgMtZBmg3djMZEuQGhqMN1shPERPI2kSSkYsIQKODmXhoVjx2xRgQkAlQIPN3Nx0qRgc9XRfF2S648VGUDSCSjIJSdL8A6fMUWqrls19--i09wWCoa0QcETSdBNDxzATLk_yhYs37Y6pESraRoGLh3QKAfDSr-n0xIpU5JBuYMluUrvTHF8izL6GCB3XocfbDAGfmgAS8cp6Ix1fPUXZzSFqrtSEC9e3okn-tDqAmcY9zzzsAecBPKu3J0LBgWrtL_JPHaFetKNdGAlJCHnChn9DIDBXLoy20oPGVvUhp7DsUmGxgsecHrTXRhTYa4Jne0NN9MSvuLrRnktoPr4cPFodW-A-13pPZoiDS9G5hi-uhp-v6UfHnNYTkH8Z8xs1VIIlGO54jWjaS1OeWPOXquOMJ70WSJTAGJmF6uY9lJ4QRUs7ZOh7StuLbhlSRW7U2gCWu0ZgdS8FoNeL5GOhjr52AI_kMRucBtbSS-H2D8nAMKURdoUEzllA96BYOVUZjGkQyZopTlKnNph8huKhOCHmJ11YXyrEKfYCpbi3ZBtgC7IPInW3kaeegkKjc-oFce1ESwMGOyFG19q9nMA7-a6SushNIvMCrY2wBJzqnCEWE5NFd5niob-e-hHr9vMXacniua6o8MXwiFFK51vJgZ7UwdxmOoGvpTPOxorAP6xFHa2FXulr3AJfAMM6WFg4h3s=",
  "id": "rs_02aceb5176981c56016ab438ff48b487d09a1f33d519979127",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"The purple bowl slipped sideways on closing, so that rim grip did not work. I’ll park the left arm and try the pink bowl with the right arm, aligning directly over its center before descending.\"}",
  "call_id": "call_b8xVQVXlbSkpuog6twPNa8ej",
  "id": "fc_02aceb5176981c56016ab4390100fc87d0990dfddfdb0efacc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b8xVQVXlbSkpuog6twPNa8ej",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.071, 0.8848, -0.7189, -0.2073, -0.0704, 0.0122, 0.5632, 1.4422, 0.7467, -0.0883, 0.4118, 0.3195, 0.9965]\nstate[eef_state]: left_x=0.2981 left_y=-0.0005 left_z=0.1664 left_yaw=0.0704 left_pitch=-0.3143 left_roll=0.1319 left_gripper=0.0122 right_x=0.3546 right_y=0.1446 right_z=0.0993 right_yaw=0.0394 right_pitch=-0.1344 right_roll=-0.0375 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.3436, 9.935, 1.5751, -0.1148, 0.0855, 0.1734, 0.1846, -6.106, 9.0735, 1.7949, 0.3443, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b4d2cb20471a22c2de1d69af9af3a27fe5339c9f3741960846e20e2514f4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b325932cd1789630a334c96e16f442c31cc2dfe1effd36538f3c0559e653191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a38461b5a40fd95579db997520dc935a0a307ff377dd0d11e8b0078f4018e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 9.102 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 61 changed as sent

message 69 changed as sent

message 74 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5766, 1.7653, 1.1721, -0.3439, -0.4385, -0.4046, 0.4757, -0.02, 0.8112, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.415 left_y=-0.1761 left_z=0.0986 left_yaw=0.0104 left_pitch=-0.2497 left_roll=0.0927 left_gripper=0.4757 right_x=0.2935 right_y=0.0006 right_z=0.1706 right_yaw=0.0008 right_pitch=-0.0351 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -10.7009, 8.6085, 1.1941, -0.1245, 0.2515, 0.0269, -0.1436, -1.0872, 7.0632, 1.7753, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8328, 1.0733, -0.2527, -0.4419, -0.4053, 0.0104, -0.02, 0.812, 0.5953, -0.4122, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.4033 left_y=-0.1665 left_z=0.0471 left_yaw=0.0282 left_pitch=-0.3103 left_roll=0.1384 left_gripper=0.0104 right_x=0.2902 right_y=0.0007 right_z=0.1645 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0026 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -10.8103, 7.7607, 1.3162, -0.1343, 0.0513, 0.7204, -0.1162, -1.1419, 7.0496, 1.8095, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.071, 0.8848, -0.7189, -0.2073, -0.0704, 0.0122, 0.5632, 1.4422, 0.7467, -0.0883, 0.4118, 0.3195, 0.9965]\nstate[eef_state]: left_x=0.2981 left_y=-0.0005 left_z=0.1664 left_yaw=0.0704 left_pitch=-0.3143 left_roll=0.1319 left_gripper=0.0122 right_x=0.3546 right_y=0.1446 right_z=0.0993 right_yaw=0.0394 right_pitch=-0.1344 right_roll=-0.0375 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.3436, 9.935, 1.5751, -0.1148, 0.0855, 0.1734, 0.1846, -6.106, 9.0735, 1.7949, 0.3443, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b4d2cb20471a22c2de1d69af9af3a27fe5339c9f3741960846e20e2514f4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b325932cd1789630a334c96e16f442c31cc2dfe1effd36538f3c0559e653191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a38461b5a40fd95579db997520dc935a0a307ff377dd0d11e8b0078f4018e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab439042ac087d093dcebf7bfac4b51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The pink bowl is nearly centered between the right gripper’s open fingers. I’ll lower toward its sidewalls without changing the horizontal alignment.\"}",
  "call_id": "call_bvcbpFMQOesWkN3llA0qw6Sj",
  "id": "fc_02aceb5176981c56016ab43905d19487d0a4d5fc3027911228",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bvcbpFMQOesWkN3llA0qw6Sj",
  "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]: [-0.136, 1.0744, 0.8841, -0.7414, -0.1986, -0.0689, 0.0134, 0.5667, 1.6012, 0.6121, 0.1429, 0.4103, 0.3187, 0.9964]\nstate[eef_state]: left_x=0.2938 left_y=-0.0014 left_z=0.1616 left_yaw=0.0637 left_pitch=-0.342 left_roll=0.1313 left_gripper=0.0134 right_x=0.3452 right_y=0.1404 right_z=0.0305 right_yaw=0.0394 right_pitch=-0.1891 right_roll=-0.0689 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -3.2479, 6.7077, 1.6337, -0.1587, -0.0806, 0.1197, -0.4444, -5.8872, 5.4359, 1.409, 0.1294, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420e5be9af1035f331fb2ed09bba5a76518e002ee842de64d27dcc7158034879",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f185e90798f7890d0337d9d4f3b8a30fe07e6c673d975488c695b95f32597ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c7992e6d80cb2d6a393eb035aa4ce3dd7e5f64ebcfc7b56a11e3e3146ed526",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 3.531 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 65 changed as sent

message 74 changed as sent

message 78 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8088, 1.0954, -0.2592, -0.4393, -0.3931, 0.4765, -0.02, 0.8116, 0.5961, -0.4011, -0.0166, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.1708 left_z=0.0637 left_yaw=0.0126 left_pitch=-0.2796 left_roll=0.1215 left_gripper=0.4765 right_x=0.2919 right_y=0.0007 right_z=0.1672 right_yaw=0.0011 right_pitch=-0.0469 right_roll=0.002 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -8.4444, 6.3932, 1.5604, -0.1978, -0.1441, 0.0708, -0.1026, -1.3607, 7.3094, 1.7998, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.071, 0.8848, -0.7189, -0.2073, -0.0704, 0.0122, 0.5632, 1.4422, 0.7467, -0.0883, 0.4118, 0.3195, 0.9965]\nstate[eef_state]: left_x=0.2981 left_y=-0.0005 left_z=0.1664 left_yaw=0.0704 left_pitch=-0.3143 left_roll=0.1319 left_gripper=0.0122 right_x=0.3546 right_y=0.1446 right_z=0.0993 right_yaw=0.0394 right_pitch=-0.1344 right_roll=-0.0375 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.3436, 9.935, 1.5751, -0.1148, 0.0855, 0.1734, 0.1846, -6.106, 9.0735, 1.7949, 0.3443, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.0744, 0.8841, -0.7414, -0.1986, -0.0689, 0.0134, 0.5667, 1.6012, 0.6121, 0.1429, 0.4103, 0.3187, 0.9964]\nstate[eef_state]: left_x=0.2938 left_y=-0.0014 left_z=0.1616 left_yaw=0.0637 left_pitch=-0.342 left_roll=0.1313 left_gripper=0.0134 right_x=0.3452 right_y=0.1404 right_z=0.0305 right_yaw=0.0394 right_pitch=-0.1891 right_roll=-0.0689 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -3.2479, 6.7077, 1.6337, -0.1587, -0.0806, 0.1197, -0.4444, -5.8872, 5.4359, 1.409, 0.1294, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420e5be9af1035f331fb2ed09bba5a76518e002ee842de64d27dcc7158034879",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f185e90798f7890d0337d9d4f3b8a30fe07e6c673d975488c695b95f32597ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c7992e6d80cb2d6a393eb035aa4ce3dd7e5f64ebcfc7b56a11e3e3146ed526",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab43908483487d0a5aae14f28f53159",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkPfsA5QOhB7BH-95EXjfKaGbw9kZcABEAbr85rAfgAaj34GAFMZb8jgn6MZsg681-MGj545b2CairaLIqmIYKNYT1cAJCrZzoJdsJpktoKUhmCZtQwAUXh1XRdIefA4Dm8vzAqRNl-VA0HNkq2KTqcUe8NSc2Gow1V-HO0k3YA1gyfvDQkIfkKOd_bRUtXW_rMl2n2Mol0rjMlRP9v9BLBw4LbwmZpIcwzXhsbRLudF1FoigDDSFP7R0DnPmg-EGCihMn_oK7CoHxPa6xuozqfDYJCeM4O7wwT91tL5ekV2N_D44PMcxT2nsqRfKHzEZZnuwEdkbUCEkSkKjZN_dMG-GQjqVm7m3yCQxza0P2TisLSZ9SRr-22IyFQNIs8Kv60gVLaxGu_9DHkiJuRe8lVfR0HHMmIJUQopI_pJIFweSXSwqCSOsIs4qZzaZQuGsL4LDx3DWDs5_eHMMMQ1-BRZD7zkDxkhInINCV7FQGmSzH6v3ZSLQwWrDzFeLm09_37SU6Eoh47F3d9eOqGFNRbTmP5K4v4qHiQunGEXNbzEM9gt1V89mZQI-u1LLZ5QXvLjHTXLH7q-2QWbaRNatWzpVFeonJFIDD53sWMQ_VGPmaghCCDCKiH2sNwVkejvJdr3hzrUzRVsh7JE9z7gW2SRQi7rFYmVoVfXAoAq2XC9nQrSF_yx91mDjzNFRdpaG5k8rHgTAN-WUdyO0G_3_dk7akDxSyu5bh7FSP2EdEDx27j0nIf8ZkDw0cp3yqcxa9Ia_pf0pnaeYahQSaNWAxJafXv6HrvOXKX4c6m8-I4UwoJmLlr3KxP4t0EIil4txUhlTkbwkD-UUnXNdE4Ua0pAl_SEx69z40QfjO0KS8yZNnw2M7rxNARz0OptAMzmrKXI1NPe7-UjbYjbFNMSa4bt0o8FVyhV5xtlqCqc0zn3kw2qYQr3n6kHXTNEpe2hy4UYorizVYf4GZvsWOUa1HPRdh0XVtwyfqCcs8mGp0Pp3UPXNUMyz_YU6y2DYbpMUBVRrscMk6uZqdHwBJOwRa9vCkgCHKlbI5CpWZjW_BSxaoTX-kTTTtV5o4QFoM7gsyVwdDx9YlKVXPSFZoQg0nG9pyEMmOJ1AMT-7PEZfYe0XouzzchTEFNSyW3fcv9sm9kPIyrWCABNW_CO6RzirNwlJ6W0gy0w1vzqQZszs_nuZ3FKteBL0Ts25zhsSafSLp1ErskJzFQUBhhL9FMiTZpGTz89DSPjYXfUhvzoi1ADL6PZrTU6jTKcErYJ-j65XWe4yNh7bp3NYfepeE5EAucoeuXZwGPpKRqSoqhlawDwDN_WXR5NTZYT4pkcGh-fHQGzAEb776qb0yDoRXyQKopLXC33kv1cXhzREBW0UAB7z5wE_bJXRvlUjibkeKNFI9FdcLdhF6gFqjn9hvZNfvxhBd1YmX3OBMQeRnTCwQBImfXplvmDZdwX6X_dkulHmtQlsae3UE1OGIwyVgl0p44LHHY8pUwgzTGyhYequhkQc4dRG5TwEijCMgglwvKtwo_GJFEFsIy9QhsZioF4HwT3DMlh-wuASKsVlOyl-75A1kSbHsAvIf4MPrOjK9L5EG0ww5f9NYlanamBrHzmbKxrZsRtiryUfJNAN5PSic93N2kLWtRFGT9Htx7mzC9bAupdg5Wfn4xheyfetFT35yaBhxy-ZRYA2hGPTabK5VYWBQW7G9qCYRvsrUPM2HWKh18HQdSfCVH5k0RYdh7XNJWpg==",
  "id": "rs_02aceb5176981c56016ab4390caa7c87d094ea30e646a1c2cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_y\":0.196},\"note\":\"At low height the pink bowl fills the space outside both jaws, so the fingers are inside its opening rather than around it. I’ll move to its left-hand rim and try pinching that edge instead.\"}",
  "call_id": "call_xUgxIQa4pwNccLUaIYOpPOg8",
  "id": "fc_02aceb5176981c56016ab4390df62887d0a9ed6177ab218cac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xUgxIQa4pwNccLUaIYOpPOg8",
  "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]: [-0.1356, 1.0744, 0.8841, -0.7444, -0.2024, -0.0715, 0.0143, 0.7189, 1.5597, 0.9165, -0.2474, 0.4759, 0.4191, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1612 left_yaw=0.0691 left_pitch=-0.3442 left_roll=0.1334 left_gripper=0.0143 right_x=0.3459 right_y=0.1999 right_z=0.1006 right_yaw=0.0813 right_pitch=-0.1948 right_roll=-0.0623 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9607, 6.653, 1.3797, -0.1294, -0.0269, 0.0708, 0.1573, -8.0068, 8.3624, 1.3797, 0.4713, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc28a17a8f27bd1569149143fdddbfd6fa7a9a536f48c2de5bde58f1fddd0759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62519a97ed3bc5ecd453552a3706e945ad9d66b5b9a4a95061ecef629c1a87a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4848089a67d70c076388e800c4bdd78c4f7aacc6b10f44f11a1961a08b35a32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 6.382 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 69 changed as sent

message 78 changed as sent

message 83 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5739, 1.8328, 1.0733, -0.2527, -0.4419, -0.4053, 0.0104, -0.02, 0.812, 0.5953, -0.4122, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.4033 left_y=-0.1665 left_z=0.0471 left_yaw=0.0282 left_pitch=-0.3103 left_roll=0.1384 left_gripper=0.0104 right_x=0.2902 right_y=0.0007 right_z=0.1645 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0026 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -10.8103, 7.7607, 1.3162, -0.1343, 0.0513, 0.7204, -0.1162, -1.1419, 7.0496, 1.8095, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.0744, 0.8841, -0.7414, -0.1986, -0.0689, 0.0134, 0.5667, 1.6012, 0.6121, 0.1429, 0.4103, 0.3187, 0.9964]\nstate[eef_state]: left_x=0.2938 left_y=-0.0014 left_z=0.1616 left_yaw=0.0637 left_pitch=-0.342 left_roll=0.1313 left_gripper=0.0134 right_x=0.3452 right_y=0.1404 right_z=0.0305 right_yaw=0.0394 right_pitch=-0.1891 right_roll=-0.0689 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -3.2479, 6.7077, 1.6337, -0.1587, -0.0806, 0.1197, -0.4444, -5.8872, 5.4359, 1.409, 0.1294, -0.0073, -0.022]\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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0744, 0.8841, -0.7444, -0.2024, -0.0715, 0.0143, 0.7189, 1.5597, 0.9165, -0.2474, 0.4759, 0.4191, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1612 left_yaw=0.0691 left_pitch=-0.3442 left_roll=0.1334 left_gripper=0.0143 right_x=0.3459 right_y=0.1999 right_z=0.1006 right_yaw=0.0813 right_pitch=-0.1948 right_roll=-0.0623 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9607, 6.653, 1.3797, -0.1294, -0.0269, 0.0708, 0.1573, -8.0068, 8.3624, 1.3797, 0.4713, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc28a17a8f27bd1569149143fdddbfd6fa7a9a536f48c2de5bde58f1fddd0759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62519a97ed3bc5ecd453552a3706e945ad9d66b5b9a4a95061ecef629c1a87a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4848089a67d70c076388e800c4bdd78c4f7aacc6b10f44f11a1961a08b35a32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkUpeRZ9qPndYFqi1rI_TKlkDYUK7JfY4BIIvda1kGERf33qrj52lwwRdCadiPOFVYq27J7fjTpZ8VGH4V5HNsH6oMvfWMWfLS9_7IMRmN1zPg5mUV2N6KddHgW5H0M7Hemxs6nPq4I2d5qn7rRfsOblOdQkViq7UX9hDKJnf8HpfYMpt5NwBK-8txBYGl1QkbF8FniFQDuvnd8GmkULpF9gVpO7_dLQittfMKdeVXMNRMWI5Luq9EtF5CoQAt_lG_k3c3YcWjGcxvYqWHqKujTseQc002eMWEMzRoHK7LfJnssH5ZtdLVVg-HD-nm4093nsXOogaFkdvQEFTUuWJzEL1nsxxVEvPgll9pWFdrmX29wOVttyjTR06RzxeY7w0FbxAe6vKgAj3v5yEI7HraQR0l_BIKm3kJAc6G-hdyIcyTSwflW2TPzQMnnN9I_QTU1S_WnfzG8yASoFSudQJQ_pMNq4ts2okdgbTJJz1z-ejOofZd6t6qvqCcIA3ghv-PI_FUtBXEdliRBFP-O7u43Y-TjHP7s3oA2QhxeleEWF-Eek2-M0MvTYS-Cvd0x0Fds3NP2CuQj8lTC4X16P7YlnvAOpBp7_0feHnN-EmY3k7hcAnbRjw6-VHHleXu-OfDemM5Ljo9zoZCdG9AxuRR6ufcM2JQddeyjseRXY7L1eJCzWmz9LEbq1heYkieAULV4J5bY3vFF842EbmYy6tyJmWSu8lFuPWgP29FqwN6808Tle70FkxwwtQxUtQDSdk98n1hUlnnjJt_ug6XDoBkOMi-8-kYwF9ulL-wlY-VyncBBhVIWTL3uKjSkByamk8v9Y7DpJI8fh5_BW2oUMg9G_1VVsJFLPv_EFUim0i2quq_MtEwVfjaEfTH2RRGF_xeqQIWraPB9SuuAweTBY6Bczlr9QWlGlfZBc0ZrID9nLYxx318oeFUxJbhwdylmrj_1KymqFO7cawugyuEdjAdaFLvKGKLC7-SkDFenuVhQ3XXXoAQNfhstxrT5a-RZR2Wh4DDfQsGKHv7-Ugeo4QQFneGYuEY5UhPpHpJo-0UFjjVOxMtBYlkVOdnuktTMx4702mqK2eX8nMtWmNU72zh3FECYtcEMO6FT7OxksnBGupxZrrt5qEoJRwp22jrY6jN7Pf3DFXQ1KpRTyHV900CdH4ww2S9R9VE2rVxicxbISCZFO-8dvbmbjeGaam23RsztvIMcOZEvtU7512n7OTbXhspfZm7xNz2lmAIAzBj8lhrNPcotRm-E_PGQnvz774pYg41Cn_ySljdPCVYFNaNscCbJzn6Jl7eWlLRA3Uft_9f26uctNe3UNIrvPyJfqlaxpYXtRvCid-2RmcBmZ9XbLO3Wyd4M8oHjmEIuQinvO1xgE_pQnYsB3fCnqw4u4zlKV-ivkn6SlpJllOggK_P-1LOTRGQO770FXzuWcMcIj2nd2JZGk1hHGxULiVSc6TXYRIE7i1Oq_xNsygNaRLJOs5oTV0Q7b-BmGrOVdj-0YGKr3yl1xuu2ivJeccIG1dPA6AM0uKbqtaYun1DVuSo1-7nR169n0purYx2ab7J7q0Cqgq--htCOAOmoxV8gPqORnCx6sbNy8BqoOUE97yz_cXCjk5Tk_J6iIV7DiNr2LRcksq9qmXFsNUcmXsLwwZW3rXoNa9Erwyk64jYk4iNw64vaRI5quXbR2nc8nkPt5aRtbszCtySsUvlNdYgGuPxIa-oakV0QIRSEakCzrYI6bIgB6osuUlwsXWn9jBicJh5nskxX3xUpty73w8Xuz9EsxGud7Ssd1AIpFYbxWu5smb4egeT8YrEHfgLCiNkvOleGq-I_UJSTc68Ox7FPQwBfL2bscrX-5SdKcTgWnRj4gGosJ2TD_2VKtjalEy7IfVxWEWZKJ5x9EHNwmE8UIUbpr_CtAZQq8jtGczncKXsMEGGny1Lo1xz8xb2WCeaRXzI1pP6Ls2PbsNt81Fq2xxKg9OkU6UozeoNe2u2ZVtgO4mc3q7-bcuEQkl4e3lhJjfw5kxylY3-bdTJ9BLDu4FomPdvsI34E0dlSrtPisZDStkS1ypJ_Ed-TZ4YRIG9XbR8lyqtVa4ELrXwB8Nsrn47_D3okorKghnba94SUUgd6X2-AZaUK6j1XOtBYFVgalew9EU3M3l7Lr3k04HBR3uvQ",
  "id": "rs_02aceb5176981c56016ab43911efb087d0bd419856da85bbbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The right wrist view now shows the pink bowl’s left rim between the open jaws, with one finger outside and one inside. I’ll lower to the rim before closing.\"}",
  "call_id": "call_QZHWr7ufbDyrBgVlpXGtMIoY",
  "id": "fc_02aceb5176981c56016ab43913693c87d0b6b635a3806591c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QZHWr7ufbDyrBgVlpXGtMIoY",
  "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]: [-0.1356, 1.0756, 0.8841, -0.7456, -0.2024, -0.0715, 0.015, 0.7189, 1.6611, 0.8021, -0.1188, 0.4709, 0.4229, 0.9965]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1608 left_yaw=0.0693 left_pitch=-0.3464 left_roll=0.1339 left_gripper=0.015 right_x=0.3337 right_y=0.1903 right_z=0.0401 right_yaw=0.0706 right_pitch=-0.267 right_roll=-0.1101 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -2.8923, 6.653, 1.3358, -0.1343, -0.0464, 0.0611, -0.2803, -7.9658, 6.2154, 1.6581, 0.2613, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948a7f7da0abc656557b823d50be3bbac568d47cd7cd0310e47d2dd24f9e04ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec72549cf434c930e21b328ada6c90767026ac19bf8675fbccad2deb930a878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b040fd09c32388cb442ec1b93f8ee776c66e1b0437c1c4cb3560c493679fab28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.367 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.071, 0.8848, -0.7189, -0.2073, -0.0704, 0.0122, 0.5632, 1.4422, 0.7467, -0.0883, 0.4118, 0.3195, 0.9965]\nstate[eef_state]: left_x=0.2981 left_y=-0.0005 left_z=0.1664 left_yaw=0.0704 left_pitch=-0.3143 left_roll=0.1319 left_gripper=0.0122 right_x=0.3546 right_y=0.1446 right_z=0.0993 right_yaw=0.0394 right_pitch=-0.1344 right_roll=-0.0375 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.3436, 9.935, 1.5751, -0.1148, 0.0855, 0.1734, 0.1846, -6.106, 9.0735, 1.7949, 0.3443, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0744, 0.8841, -0.7444, -0.2024, -0.0715, 0.0143, 0.7189, 1.5597, 0.9165, -0.2474, 0.4759, 0.4191, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1612 left_yaw=0.0691 left_pitch=-0.3442 left_roll=0.1334 left_gripper=0.0143 right_x=0.3459 right_y=0.1999 right_z=0.1006 right_yaw=0.0813 right_pitch=-0.1948 right_roll=-0.0623 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9607, 6.653, 1.3797, -0.1294, -0.0269, 0.0708, 0.1573, -8.0068, 8.3624, 1.3797, 0.4713, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0756, 0.8841, -0.7456, -0.2024, -0.0715, 0.015, 0.7189, 1.6611, 0.8021, -0.1188, 0.4709, 0.4229, 0.9965]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1608 left_yaw=0.0693 left_pitch=-0.3464 left_roll=0.1339 left_gripper=0.015 right_x=0.3337 right_y=0.1903 right_z=0.0401 right_yaw=0.0706 right_pitch=-0.267 right_roll=-0.1101 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -2.8923, 6.653, 1.3358, -0.1343, -0.0464, 0.0611, -0.2803, -7.9658, 6.2154, 1.6581, 0.2613, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948a7f7da0abc656557b823d50be3bbac568d47cd7cd0310e47d2dd24f9e04ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec72549cf434c930e21b328ada6c90767026ac19bf8675fbccad2deb930a878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b040fd09c32388cb442ec1b93f8ee776c66e1b0437c1c4cb3560c493679fab28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab439161a9c87d0923343d52de816de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.215,\"right_x\":0.352,\"right_z\":0.055},\"note\":\"At rim height the pink bowl’s outer edge is still left of the jaw center. I’ll shift the gripper slightly left so that edge, rather than the bowl’s interior, meets the closing fingers.\"}",
  "call_id": "call_BNaGJYW0rhYAXNtSEDibavVM",
  "id": "fc_02aceb5176981c56016ab43919feb087d09e9fdbf6209d26d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BNaGJYW0rhYAXNtSEDibavVM",
  "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]: [-0.1356, 1.0775, 0.8841, -0.7475, -0.2024, -0.0715, 0.0157, 0.7345, 1.7271, 0.9131, -0.1677, 0.4637, 0.4236, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=-0.0005 left_z=0.16 left_yaw=0.0696 left_pitch=-0.3501 left_roll=0.1348 left_gripper=0.0157 right_x=0.3471 right_y=0.2119 right_z=0.0463 right_yaw=0.0905 right_pitch=-0.2736 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.1111, 6.8308, 1.3211, -0.1685, -0.0611, 0.0659, 0.3761, -7.9658, 7.6376, 1.1258, 0.3297, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c550c66e1f3de74b026b253538478e48d2cc9aac66da89bf05de3093610d3e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e78c3acea1ee519043eabe2628049f45d1820921da4a7f02a013b66526ec46e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6839eb65dc1e81c86ffe0604210f8e42044db8add73c57ebc465f6aaeea0c54e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 10.46 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.0744, 0.8841, -0.7414, -0.1986, -0.0689, 0.0134, 0.5667, 1.6012, 0.6121, 0.1429, 0.4103, 0.3187, 0.9964]\nstate[eef_state]: left_x=0.2938 left_y=-0.0014 left_z=0.1616 left_yaw=0.0637 left_pitch=-0.342 left_roll=0.1313 left_gripper=0.0134 right_x=0.3452 right_y=0.1404 right_z=0.0305 right_yaw=0.0394 right_pitch=-0.1891 right_roll=-0.0689 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -3.2479, 6.7077, 1.6337, -0.1587, -0.0806, 0.1197, -0.4444, -5.8872, 5.4359, 1.409, 0.1294, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0756, 0.8841, -0.7456, -0.2024, -0.0715, 0.015, 0.7189, 1.6611, 0.8021, -0.1188, 0.4709, 0.4229, 0.9965]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1608 left_yaw=0.0693 left_pitch=-0.3464 left_roll=0.1339 left_gripper=0.015 right_x=0.3337 right_y=0.1903 right_z=0.0401 right_yaw=0.0706 right_pitch=-0.267 right_roll=-0.1101 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -2.8923, 6.653, 1.3358, -0.1343, -0.0464, 0.0611, -0.2803, -7.9658, 6.2154, 1.6581, 0.2613, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0775, 0.8841, -0.7475, -0.2024, -0.0715, 0.0157, 0.7345, 1.7271, 0.9131, -0.1677, 0.4637, 0.4236, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=-0.0005 left_z=0.16 left_yaw=0.0696 left_pitch=-0.3501 left_roll=0.1348 left_gripper=0.0157 right_x=0.3471 right_y=0.2119 right_z=0.0463 right_yaw=0.0905 right_pitch=-0.2736 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.1111, 6.8308, 1.3211, -0.1685, -0.0611, 0.0659, 0.3761, -7.9658, 7.6376, 1.1258, 0.3297, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c550c66e1f3de74b026b253538478e48d2cc9aac66da89bf05de3093610d3e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e78c3acea1ee519043eabe2628049f45d1820921da4a7f02a013b66526ec46e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6839eb65dc1e81c86ffe0604210f8e42044db8add73c57ebc465f6aaeea0c54e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkdE5dvQIwE7ur7AJLPOvVS4Uh0eS5k2ictoHqHjEJ7NTFzXQskvCu-5vJ3E6l9ZsCQ_RG76eWx5nUOqpWmt_1P-ahtlgi4KlIvoz0JBWgEUr3zFtErESoravhmuyyPwGYtm-1nj94hGa8wq9Vu6y1Kic7_sGd0ZMN1hNpfuWH6-YpOenE6glxnNXyTS71smQEKvpEy8gXxOvwQ6g1BSCDt1xdV5TxPa1qjStnDrDOrGvavhROV8Pr41cvG_yr9O5Do4twPRbWarAQ8abWCzRRQkfN-XBsnOukaxwM8FxJqCR40NehoxnhKUruMjdXqoOj-It5XWx1yPUBk1w7_Lp_Jd2yiS1u85RVW4jOAZQ11QwTDifzQLuIYD5bhlpU2OLokofVPPj51WdlMw0Hratvdy1u_MKEVmkaqA1tEXyNL1Mg7972SAR_Kxk9xXJs_bAnU35IgFVW-qXv-eAZngzfCXd2JlIrh_hV_dH3TDxkGRCuJE3Zh6DIzxFbXlBZct9ewvwUXhKkEilwn7YVUhRmEmFIMECC4CUFbRDhzLEsd1qHG90WobuHjSL8h0r1q2f_Czi6XvtvJYzcH0krXxl8pko6F7qnSFU7NDg2gWynWu0H6ax3Rk2PIvMrXIQsFBR-64eNsG71sD74zUdfQ07LwG0YG0K2rq6CEu9fyMe42sCRf0fbmt3qkPBj3DQkPHrhAFdyGYXD7rtwZ9tqu6jeXRorFJEHtxpyEOzZpq9zbESjd0pxt-6uRUD1Hnx6W7h4OKuQk1T-wALXDVDJDIBF4chue1uFLMZbH10UMzya9mEygnP6uvbKTAeDdw8uWZ2S_qi85yeVK0Hv8u7RdraWVPUwrsuGKyzjGTaCh50kfBZ1ru2T7JrSleQUcHyXBZHV1Mf_XqXLg2isPlghdEQRvZSvas6HZwae9ooSwG_Me77syzADThT00MWSVbfzByRKiUWnU-U2tSVPr_mIa4UHSBQpjeE5Ixtc5brBAzL6SLQipK-6CU-Ck6eO8TNiVeknzq7hKgMnQuR_kRzFmljNe72KkNEwilwHr2TqEzF6u85TFev9TdtcC7DcvsfHebtzqospVeXm79dK0uujkrvphMa39A074DOHWaiuwA2ja5m-HqpzEaNPFXw1Y9hmaIesbNjLgfCMM4mpBPhdKrWbcw0bFpN6v2LpvXAsHPHfmdNLy01AjNVcj08ZweskG5oJKXsdiYPimzx2olRnMXairJejZsc3zenjDSWh28kvIUswZzF0ACZg3og5vmEcLPDTbcd-buLQshlVWTGibLT01VQ==",
  "id": "rs_02aceb5176981c56016ab4391c7c2087d0afb8e6a0eb97ef0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s left wall now lies close to the jaw center, between an outside and an inside finger. I’ll pinch that wall and check whether the jaws remain open around its thickness.\"}",
  "call_id": "call_mVseA361g9xHff2Rg0A5tmkH",
  "id": "fc_02aceb5176981c56016ab4391ce15087d0b0eba3b4157e5ff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mVseA361g9xHff2Rg0A5tmkH",
  "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]: [-0.1356, 1.0786, 0.8841, -0.7475, -0.2024, -0.0715, 0.0164, 0.7376, 1.7321, 0.9104, -0.1825, 0.4561, 0.4198, 0.012]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1597 left_yaw=0.0697 left_pitch=-0.3513 left_roll=0.135 left_gripper=0.0164 right_x=0.3429 right_y=0.2113 right_z=0.0412 right_yaw=0.0974 right_pitch=-0.2957 right_roll=-0.1183 right_gripper=0.012\nstate[joint_eff]: [-0.0615, -2.8923, 6.653, 1.3211, -0.1587, -0.0611, 0.0562, -0.4444, -8.3487, 6.0239, 1.4042, 0.315, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb7f686801da1d9963a0c578e0ce7f51afadf601704280e3184b743ad8fb4ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f67146d67dfa1894a6875d082780f87db8efbcc07d2e6a24879c74bc61bf5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd1710e4fc97edaeb6bd46d158db0b9ecb611ee4d07c98bf34e49433fdc0683",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.256 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0744, 0.8841, -0.7444, -0.2024, -0.0715, 0.0143, 0.7189, 1.5597, 0.9165, -0.2474, 0.4759, 0.4191, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1612 left_yaw=0.0691 left_pitch=-0.3442 left_roll=0.1334 left_gripper=0.0143 right_x=0.3459 right_y=0.1999 right_z=0.1006 right_yaw=0.0813 right_pitch=-0.1948 right_roll=-0.0623 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9607, 6.653, 1.3797, -0.1294, -0.0269, 0.0708, 0.1573, -8.0068, 8.3624, 1.3797, 0.4713, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0775, 0.8841, -0.7475, -0.2024, -0.0715, 0.0157, 0.7345, 1.7271, 0.9131, -0.1677, 0.4637, 0.4236, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=-0.0005 left_z=0.16 left_yaw=0.0696 left_pitch=-0.3501 left_roll=0.1348 left_gripper=0.0157 right_x=0.3471 right_y=0.2119 right_z=0.0463 right_yaw=0.0905 right_pitch=-0.2736 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.1111, 6.8308, 1.3211, -0.1685, -0.0611, 0.0659, 0.3761, -7.9658, 7.6376, 1.1258, 0.3297, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0786, 0.8841, -0.7475, -0.2024, -0.0715, 0.0164, 0.7376, 1.7321, 0.9104, -0.1825, 0.4561, 0.4198, 0.012]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1597 left_yaw=0.0697 left_pitch=-0.3513 left_roll=0.135 left_gripper=0.0164 right_x=0.3429 right_y=0.2113 right_z=0.0412 right_yaw=0.0974 right_pitch=-0.2957 right_roll=-0.1183 right_gripper=0.012\nstate[joint_eff]: [-0.0615, -2.8923, 6.653, 1.3211, -0.1587, -0.0611, 0.0562, -0.4444, -8.3487, 6.0239, 1.4042, 0.315, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb7f686801da1d9963a0c578e0ce7f51afadf601704280e3184b743ad8fb4ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f67146d67dfa1894a6875d082780f87db8efbcc07d2e6a24879c74bc61bf5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd1710e4fc97edaeb6bd46d158db0b9ecb611ee4d07c98bf34e49433fdc0683",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab4391f7dcc87d0b3d9052698ea14d0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkokogAP5EFrfP1gJm7nULMZkgFFQTvbMNrUtVYaMHau7n-VaKNUAnd30w3g6bfZSAKQNH8ejKC6Pz689NPQ0fatTqJdQrXB20Ad8xXeBIAeWTX4vmp6ILZjFrhiWez1gMP3s1h8s97LWz_Dq3u_mwxPVZnrx5UWywwnC5gi1ppUotQkE--Mfda5su_OofpEIVFKivAkXgaZqA5yH60TAAVpcSwQKBpqwd8T0v58tdHJPO0QfbN0-ZoddBz3mnl8WG8ssFS6IwRvsg_MRpX5Qv6vRpTF0smsJSC0rhWwz0oKduT3lzwubCzKN1CSU6hAQ7p3E-SogEcvmfxF2dy--15hDNoDblkn_f79JffAaCBRmnEQuRS0jO8WMfdBA5FWxmIMknPw-iahYz064W9HE4SvAJrL3CCOx5o0Oo0suzbdoaMU7P_za0_xk3te6Yqk1NUQ3qPjgjEBWe67KW528wFxQmxtfOh9idQBuVvWL7WzI2EXtzBhTomO86sulCWd4ggrEaAYLDTwbRHGIN7KoThS_dQLHTW7inLFNgHKPu-t7XlFnTY8LQ4fzIy0pZU0fMCub0OWG8rK_4reoKlKzHlG5N24qux64ZUfWodBQLv0u1KrxrT2qi1CgX10Z-U1EnAVPDsE1YnL4v9vhW88lYCvNj_3yr6CHTm1g014Ght1q1eMIlbZPL5ilEMsU7ZMm3lPQwfxs7B-Z2S5imliLFJaRb9N5CBWVp70IqWktn0YUX6LmcGvOYDIaVfnPTm9LI5GrdwR-Pxod7wmPM9V7kj2i5LPXAdyX03LbYCZS6-lphG5GbWlP-xjO8T8aC32FMMNniOmqdcJHeN2u9bmuC47AI5xfW74-0j3OpMeHGzsXRXZteOXmCAa9xP7OwJ5l-X3RrTn8E6IfWwsZyb2VEZUwabqEt2YOyhwxGCWwNahp-SrR4UPUT8zszTpbl97r3xVU7DcfRDFHKTHysigIC5czvDPSNSDhGbsPBoMFH3MBo6lw9yGcFSKGVKdqktLIngZU7IbVRLB_YhI0UUm-KCdvKfDrzqKnIANJVaqHWFUZzOiDbihVuA1JDMgwMlccCWC7d2RFn4O72Qv77giAVsDkABSA9LKnwVKa_5K8Pz9okGVuin5tNr5msVrQYQQIO_51MpfLdfWBMDbtNMf_YWQnsWlt1AKCnrk97Whs3zNUh4IjE_LZlk2qmdQGYU976NWJ78o3BJmryhHBHvKFefs_3tcfQBVeHOEVlDHPwFctmrOChXO8BvHajGcc4ZwaEeFTyj6xMUow3P9bwL9upSwr8moYGsII7YL6MLIEHf8Sa_Kv3sMQ2LMZTGFnqQpzDql6mLewULMLC_XxirKPJHJ5OwB3BsczkAGQTnEJd00Gcf5zdymesUsbqdeS1rQHAegYQx10k0PyLu4Rsg2hMWjaoD2lvp6FIbTeeGI3KLlkBo01wRFdlv_178bD5GKatlef0gdec7VdSNbOrjj2b3jSl2eqzkb9si-avdW_C-jgyYpfWgByLlmqkpfJfduW-dw3kadB9KmVQkn_A6a6QzODId2Dzxt88fvy-MWVvT7KaJgtLBiNAlMzzezkcA2vzEAL_CIxTPWMKuSBnPzxKcQWqMTNLRU73BAEL6fcUxjkOXdP0X4xp-OEiyzynrSPDtKRhsDVliO1r-IwGrT_wgPEZDbvO8oSi6IGDS6D-xcrrA3yxdTf9CCLoFypCEGqZ69jVZ6cPrDjsPJqkm-ji8tPx-7FomD4EnDeo0djfVEr4D8HfSHTRSbnJu350C4qO4gs5CkOXQWsBgvUk_vNMzHsEiPElTbfUs-C3qqOeyyfOZET2IIcvUrcH1O6S8FuvhYfYYCJsUpEzqCM1Krbb0IeE4qDtxgYBqWz9uk8PSYnZk3T8Kv9XPRV6BsNcrkfXWBigwsEmSVDqzon5iQ3QGXlMqYlGfrZpaw-bEoEp9hXmvYB4HiB6cDs9wFv4UPlwvjmi3xaBYMN-Wmd4vrpiDys0Lbg6qfvVlsYrKzhvKaDKnxW9keOTW8iC4LmMUpQmpad_IEBTZSvaNxLhVFrJBPhPpxmi-vakqlbgX_20ia2RzsH6nKRDpmBjGxwUY-YONnoWJdDvKOZZK-Ismv3LmaoxownL8D-XERnH8Y1sW9OvdnE9dvGIvUp0anW5VpgPXcXlThPr10e3jN05ELeUGQFNtpfXu1s4zWCvsyuGvyEYAEXYkixF6a8t1WU518EqokdvCdis8eo1E-ydTBn3DhoocWeDVAbMHUjJq8tSMkii5EXYRArW_dF2jK6IuTzu--n04fUzlfbki1-qBQPOYltnyqZwsAluyQjp4dDFJ-3o9nd_3iBDeeUVYWl_S8Lu5CMFRZsd2kBs5IhFEQ51vnwyDMld3PIkuMWnx1DacEo9eMk6uUiybBuJiQeBh7Ux_qnbMNMhmbFWxvtQ-VPzYh2BKycPNKMTtATQHBee0MZyV1ZRjF0SG7lLqNuEdy04ZgAC3lywPRC4NXHunYuR1taf8jWRtEnYuWFW-4A0hSfll9UB9AVkxXuLr224R0uvtHCowRIfoaE62nomm9mM3_Oo-VG5HMoEscY9ICumkLXF_P_Mbn5cZZyEkxmER58QIPvldo9p1muj3U1O2Bw_A0czM7UqPIlphtGKChVyhp3LrXvaVL83ruWYK3kyTU2igCD6oMG7BDkhHQnVcVao6XjvNpRpC_efKWpFP34eemoJC_J4btV_ItXNpM7xp6UmOv7fW72RVbIZr32xhZ6QGKJkmncP-sb65ygyxcgZjqQaLtkNzHSwCBtfrrBioQFWoZDZaWnM1VrKX5o05QaYSoTPj4x4CipkdN2d7T-eSq_0bZqcagxqu_04D4BZOfmmlDpLIcF-kz34WDQ6GLQrEnKK6vsR-7v3ioCXFi5CprO9_N3ZsqXrchZgdKhwxlsJkOXmAKIt7NoQkVMmxo20nCV1oRMROlxUe3YtmVMIoH0pa84bARCs80T3a0JZ6uMAtswyUQ5clDHvATnJliiT4sKAQqAS0O8PKH5V02evHQEeiSpPmgS_dtUybQ7mYV-kzONIwL1n2l7Wruue9LPDtqnkhkNleOuOCjGktd6Qhp-E8t8xua8uwDOzZ7WBGIVSc4UX_v3ncpRmu4crzuS_2XZFWQke6jUsImvySfFodXCOvBd-TRhy5kQw3tvpg6lURgIxE3keKLu1mRCKuGdBnVFnibKZhVp9Hinlt8W7PaM3BAlWz8z-hxIz0bhux0iJUT6-plp0oi8yg1I1NMOMcFA==",
  "id": "rs_02aceb5176981c56016ab43924062087d0be4d71c4d27401e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.48,\"right_x\":0.305,\"right_y\":0.147,\"right_z\":0.13,\"right_yaw\":1.57},\"note\":\"The side-wall pinch also closed empty: the fingers were over the bowl’s interior, not across its near rim. I’ll rotate the right gripper so its jaws close front-to-back, then approach that near rim from above.\"}",
  "call_id": "call_xxxRw5jrTWkiEWhE4AepFP6C",
  "id": "fc_02aceb5176981c56016ab43927d8b887d09cee006b50a2268b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xxxRw5jrTWkiEWhE4AepFP6C",
  "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]: [-0.1356, 1.0836, 0.8841, -0.7536, -0.2028, -0.0715, 0.0165, 0.1093, 1.6016, 1.1625, -0.7879, -0.5919, -1.1984, 0.4774]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1575 left_yaw=0.0709 left_pitch=-0.362 left_roll=0.1377 left_gripper=0.0165 right_x=0.3351 right_y=0.1395 right_z=0.1222 right_yaw=1.3239 right_pitch=-0.3336 right_roll=-0.1225 right_gripper=0.4774\nstate[joint_eff]: [-0.1573, -3.2889, 7.0085, 1.3602, -0.1343, -0.0659, -0.0024, -0.1846, -7.1863, 7.0085, 0.4225, -0.6129, -0.0757, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256a291bde66a4852b577f28a29903440c51bf27e443f94e3257e6b3ddb8b6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8204082f2b9edcc3852a388417139af3e101e8da0003690c8f3751023fc3469f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3525558e2095e8c238a0437f33f740dc24be259d9f6c6f327c70c9622a45f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 5.309 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 87 changed as sent

message 95 changed as sent

message 100 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0756, 0.8841, -0.7456, -0.2024, -0.0715, 0.015, 0.7189, 1.6611, 0.8021, -0.1188, 0.4709, 0.4229, 0.9965]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1608 left_yaw=0.0693 left_pitch=-0.3464 left_roll=0.1339 left_gripper=0.015 right_x=0.3337 right_y=0.1903 right_z=0.0401 right_yaw=0.0706 right_pitch=-0.267 right_roll=-0.1101 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -2.8923, 6.653, 1.3358, -0.1343, -0.0464, 0.0611, -0.2803, -7.9658, 6.2154, 1.6581, 0.2613, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0786, 0.8841, -0.7475, -0.2024, -0.0715, 0.0164, 0.7376, 1.7321, 0.9104, -0.1825, 0.4561, 0.4198, 0.012]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1597 left_yaw=0.0697 left_pitch=-0.3513 left_roll=0.135 left_gripper=0.0164 right_x=0.3429 right_y=0.2113 right_z=0.0412 right_yaw=0.0974 right_pitch=-0.2957 right_roll=-0.1183 right_gripper=0.012\nstate[joint_eff]: [-0.0615, -2.8923, 6.653, 1.3211, -0.1587, -0.0611, 0.0562, -0.4444, -8.3487, 6.0239, 1.4042, 0.315, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0836, 0.8841, -0.7536, -0.2028, -0.0715, 0.0165, 0.1093, 1.6016, 1.1625, -0.7879, -0.5919, -1.1984, 0.4774]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1575 left_yaw=0.0709 left_pitch=-0.362 left_roll=0.1377 left_gripper=0.0165 right_x=0.3351 right_y=0.1395 right_z=0.1222 right_yaw=1.3239 right_pitch=-0.3336 right_roll=-0.1225 right_gripper=0.4774\nstate[joint_eff]: [-0.1573, -3.2889, 7.0085, 1.3602, -0.1343, -0.0659, -0.0024, -0.1846, -7.1863, 7.0085, 0.4225, -0.6129, -0.0757, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256a291bde66a4852b577f28a29903440c51bf27e443f94e3257e6b3ddb8b6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8204082f2b9edcc3852a388417139af3e101e8da0003690c8f3751023fc3469f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3525558e2095e8c238a0437f33f740dc24be259d9f6c6f327c70c9622a45f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_02aceb5176981c56016ab4392acee887d0ab8780c250953143",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_yaw\":1.57,\"right_z\":0.13},\"note\":\"The rotated gripper is still forward of the pink bowl’s near edge; the first move was spent largely turning the wrist. I’ll retract a little more so the near rim comes into the fingertips’ working area.\"}",
  "call_id": "call_UGcj3SAb8sjlCej5LTKLzFE8",
  "id": "fc_02aceb5176981c56016ab4392c125887d095b29931382d3ae8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UGcj3SAb8sjlCej5LTKLzFE8",
  "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]: [-0.1356, 1.0851, 0.8841, -0.7551, -0.2024, -0.0711, 0.0165, 0.0978, 1.5536, 1.1431, -0.968, -0.6373, -1.446, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0705 left_pitch=-0.3651 left_roll=0.1383 left_gripper=0.0165 right_x=0.2924 right_y=0.1379 right_z=0.1252 right_yaw=1.5212 right_pitch=-0.3453 right_roll=-0.1168 right_gripper=0.4785\nstate[joint_eff]: [-0.1573, -3.1521, 6.6667, 1.3455, -0.1148, -0.0366, -0.0073, -0.0752, -7.8154, 5.4632, 0.569, -0.5934, -0.1392, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140bbc7d887be8aaf13edfdb54e7638ab20b0b50a3122001a409f268b09cfc90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6ddf2cbf6a0b4257801587098f7f2ac9c087cff5bf285af003f4bf2e462309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d36baf0d5333d6c7fa472b772f4a8d40adb23f7cc0593c0e5bafc49a60447a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.716 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0775, 0.8841, -0.7475, -0.2024, -0.0715, 0.0157, 0.7345, 1.7271, 0.9131, -0.1677, 0.4637, 0.4236, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=-0.0005 left_z=0.16 left_yaw=0.0696 left_pitch=-0.3501 left_roll=0.1348 left_gripper=0.0157 right_x=0.3471 right_y=0.2119 right_z=0.0463 right_yaw=0.0905 right_pitch=-0.2736 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.1111, 6.8308, 1.3211, -0.1685, -0.0611, 0.0659, 0.3761, -7.9658, 7.6376, 1.1258, 0.3297, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0836, 0.8841, -0.7536, -0.2028, -0.0715, 0.0165, 0.1093, 1.6016, 1.1625, -0.7879, -0.5919, -1.1984, 0.4774]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1575 left_yaw=0.0709 left_pitch=-0.362 left_roll=0.1377 left_gripper=0.0165 right_x=0.3351 right_y=0.1395 right_z=0.1222 right_yaw=1.3239 right_pitch=-0.3336 right_roll=-0.1225 right_gripper=0.4774\nstate[joint_eff]: [-0.1573, -3.2889, 7.0085, 1.3602, -0.1343, -0.0659, -0.0024, -0.1846, -7.1863, 7.0085, 0.4225, -0.6129, -0.0757, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7551, -0.2024, -0.0711, 0.0165, 0.0978, 1.5536, 1.1431, -0.968, -0.6373, -1.446, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0705 left_pitch=-0.3651 left_roll=0.1383 left_gripper=0.0165 right_x=0.2924 right_y=0.1379 right_z=0.1252 right_yaw=1.5212 right_pitch=-0.3453 right_roll=-0.1168 right_gripper=0.4785\nstate[joint_eff]: [-0.1573, -3.1521, 6.6667, 1.3455, -0.1148, -0.0366, -0.0073, -0.0752, -7.8154, 5.4632, 0.569, -0.5934, -0.1392, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140bbc7d887be8aaf13edfdb54e7638ab20b0b50a3122001a409f268b09cfc90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6ddf2cbf6a0b4257801587098f7f2ac9c087cff5bf285af003f4bf2e462309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d36baf0d5333d6c7fa472b772f4a8d40adb23f7cc0593c0e5bafc49a60447a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkyYVAas_auajVMo48-UNfc_E3ZFaD_HmgkoDOW_M50Nwn6Mpq_1N-zaDyTKAFxRx1N8fGq_iU0qiz3dtgGPeXW3kMjvLd-al7bARPNmfSo9BC7-Gmw6wnHNPDQDkGMMiDalLuJUajoxINdNh5CYVUfDGqxvqGCeCYPZodIlQGBjDDqA53qbw9ph30-B9JjMW4UAYQm-zyotSFSwfn6a_YqxRUe_lWru0gO-eEMfPKkv4ttj8Imd5x3lnWeq-0eVjyiuOY-SiTU4r8xx4P5we0efmKVrEj97BT4jzxVMH7_g0EGwByVcnpWreB9H7VXMycSKQLpX3ViQIuSokz9lO5Gdny0FptuanFzZhTFXSeiv6ypLkcjYYEtwYpmK6pqpSpOrPoCI3O20WtIZKixI4kObAiCxwZCv27HCZ9rUQoY-VLohRd0y8weBtnM0IRBFWbfHDv2OUuG4PejBiFdXOw97SWggMKc9I2OtJ8dyHUbczE-gE7F6KNttlpAn0Rm8lshelGee55TKloq1ScFGGnsXkWe1BnlKNXzIThmoN7RSt24xbHiwe2Npos5GKQ0QHLaNa5anNZre9L0dkCqCDkqwaccSYsM3YIC39AMYxCAvNQPxMRxX2_9iCW34xwEI1xyJoSO7GNQPl3vfNor_IxLXkQ0iUUHe1cTT9ZM3TY56GuzmfCHvFaIIXh4fKn-l_Q7Naep6Yy1uC7VvGkJEij3PYOqmPiKxZLVFQiXXkoXVeUlmGzkO289V_DLXBepVr9SnYBd5p2oGVxKazDJgINJs9AyWTZqGAo_SEqF71RjbtcKiIAiAMslLwDnEXbXKoBC4eaVgCfJPIOXy0by_AVzI97zJb1-JZw2NBPe5GbgViR3p2XJXZHwzOsT6N_d_j9nkx9b5VqHG-HthjfqrJ_wdgtudlvwkfvvejNUKJFxNYXa1qOmkDOJfvba0LN7ckaCc9zIkJ9IHchgcqP0sn0klNlA6Acj7Hbw9VldSbSel7Hbir5E8GaH6qXG9wvP7BLUiiPaNcLonfk9EsFRGjFob9Tpi7-PkGr3wbJT1vG33v6A0jMBjyE5IzXzmFzwuSTNg4cmZT_k6dNMtw8SaG4_RYg8qcPzO5k6dDkLNT95y0pZtrwNqQggTOVtRYi_nVYRLc7j_8AbcddoZCphe9AWsp-CjnAOX57gDqNWWaqbNpemOfS7dGuu41Z6Kr8pEt1TYSUSsS25HNYkNVyVABEtoQywHoiE6RsuGO_P84Sk_haKzOQuIYru_yPwPTNxc32IjsB0KDMRCleICUUjs8WfvXEBfLyMMcekM_KtSpYl5_uHQep94LSOwV_SZLI40O-thr0ankFcBcKMi5jZ24nMKNfeTTJNwC2e9mJFDNAcaK5RsuTpfmqZkKTsLJXtggYMDZrCSHsvbBNvXJOEnoO2eXvXzvkDJI0a30dm7pB8A8y8uqM6dyv8YQH1I6sX2QdByjsWxmdhSUs5-LwSaayDslll5Xa-J33nG_0ZSJh0ABjr7gjypSjR7ybucSoWiHH74rZNiFv9IMAR6TqQhd8sh9Q6nCBKVf6w-BDKHs--sY4AwDyyx20RlLU_mZXOnonevEAs2O8VO-4x01I3A6fxW-BiPcfQpZleBaMxHTdxPqNbwhJk1OSZ38tCr7Fc7choZeqfpFbvGbwKcEM3x_8P2y8pq_jdAYPrN0R_61em_MeE9ADho-T6baUrsNp1XXmxLFQjjjEJ5aIQbKunyuQgu5MCaxRT6GEVYqddDUmwvLu7xPB3MIyVKHNKm5nTAXRphSdG_jI_NYS-1TGq0_ZYJvD2PdkABIj66ySwjXWRAJLWyEsW0tGZcf8nqSTvwwjEgVzJ3RLpFekcHNQ49YZmW0-Ks57Nr5_o2P_fvtC2FFDBJBA4yPabPsuhNGxlAJuxGw1GuuSBERZYVwtA1SbdPMrsBwiXPVKiUhu9xTPC8W3JJZpDyQowX9gRrtnfKNcDJbMOBn9rYItB3oCCccBgewnFZlBDEibyd5y13z_PNlG7GbjxQPihuO3Cs6CXtMB0biAu-3c8sZKx22LO1DSmrgFC-EoxVIz9D3hej_1o1EKpgtmLK8Whi3I0QUNnZGYGhQ4nM1S0Yzg7p_DYVL5ohpxP1NtnCtiw22wSMn-TD2UpaO8pfhPplenhgAshph2awZCQ8W-hSsUwTzqwu8yPMBb5uJjd1Bj8bSNfpC_qNtljKo1jJIStewojA0kcJDw-msuGtAlNatG2atY1waQi6IsUgWNmR9wi8THVmKpiF5qLWgMDWS9ijKIXDEunqmNLuRiQO8PXbKcg1Ix1g9Xq8dgVvMDFQLZGY6rxHoAlLsWyhEiEkyrZzeqb41V6PCT43H_lEWGAkKgBRGqPDdrqKywlbhr401LnEwtkKo-ShkSt6njFqaf29mT7Y2hatDvZcTgHtSAbNwwROoa1aZhw1HvBhYBL4xWiYCbiKndJCfxd7QVO8MAUGD5a_BcD7WvRqqCiiUMtDvcKbLWfZRb6KtgLr7rnXKRU2yVV43RIzd-00deO6soj0EtwNiRJsWJL55tVCxshsZAHGs0pnsxNUT2Jfuy9fbfH-IjdSZEdtoIdrjrm3yCDq-ltaJyEb9fyuvS6RvIJiwwjAPFWjtdSg35n-fHp4xbb0SPJilUGzXAM2-eLwQNYpPL7bcqOM-bH_luPjd2-ESIhCgbYd9i2ytZkHelex_Uj1SnaksOsAtx79N1nKeC_4KzAiYDDqlMoXdp49F72-fl4o3v1p0bPlCs0YDUNS5V82KSwdQfhlVGiGRd6xnxWg1t43lX24NvNgdaaiJSKpdlYQM_LEPFcTml30JwGiZFVHd3olqcOTEdInqdG6XD69PaaboQDe5K_IUocelK2lbJhwbLl7XasHrGkTXu1v8qHMa_PBZc5Xy1_ZJeAHepTCYFzZwKHZIgtUT-p37X4rPXmtyTiCoRPBoHeeFrAqStb99o8kHBCfVcQFEUYS7g-8SiiZ5aF7zz7LeziaiqFbxW6mDgB7TiTqoRszqv_2BPo-vxS0MJ9U8o3e2azAcewfnCH6Q8mxRZd-KBdvYuuhGBf6Yvnen5kufy_wRE2d1-gUp37039sGnE=",
  "id": "rs_02aceb5176981c56016ab4392e68cc87d0b71393276d85c51e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045,\"right_y\":0.125},\"note\":\"The gripper is now back at the bowl’s near side and turned so the jaws span front to back. I’ll lower beside the pink bowl’s near rim and slightly center the approach.\"}",
  "call_id": "call_5FGyTTJoIA8NjDxAhcwI7MHN",
  "id": "fc_02aceb5176981c56016ab43931eff487d087534ad0c799aaf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5FGyTTJoIA8NjDxAhcwI7MHN",
  "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]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4785\nstate[joint_eff]: [-0.253, -3.0291, 6.6256, 1.3602, -0.1538, -0.0366, -0.0073, -0.1709, -7.665, 6.0923, 0.4029, -0.5592, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11daac14623b228609f5581696e607d0cd45544537a8f0465c8e5f2df13c287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1fbfa26ca0388ec788ae99739054b1af3436ad2792f96619780342496f81cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e750d538d5f9b75e70fef89431b146e589e7513cdd9cddcfed44dbc22b72f979",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.896 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0786, 0.8841, -0.7475, -0.2024, -0.0715, 0.0164, 0.7376, 1.7321, 0.9104, -0.1825, 0.4561, 0.4198, 0.012]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1597 left_yaw=0.0697 left_pitch=-0.3513 left_roll=0.135 left_gripper=0.0164 right_x=0.3429 right_y=0.2113 right_z=0.0412 right_yaw=0.0974 right_pitch=-0.2957 right_roll=-0.1183 right_gripper=0.012\nstate[joint_eff]: [-0.0615, -2.8923, 6.653, 1.3211, -0.1587, -0.0611, 0.0562, -0.4444, -8.3487, 6.0239, 1.4042, 0.315, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7551, -0.2024, -0.0711, 0.0165, 0.0978, 1.5536, 1.1431, -0.968, -0.6373, -1.446, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0705 left_pitch=-0.3651 left_roll=0.1383 left_gripper=0.0165 right_x=0.2924 right_y=0.1379 right_z=0.1252 right_yaw=1.5212 right_pitch=-0.3453 right_roll=-0.1168 right_gripper=0.4785\nstate[joint_eff]: [-0.1573, -3.1521, 6.6667, 1.3455, -0.1148, -0.0366, -0.0073, -0.0752, -7.8154, 5.4632, 0.569, -0.5934, -0.1392, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4785\nstate[joint_eff]: [-0.253, -3.0291, 6.6256, 1.3602, -0.1538, -0.0366, -0.0073, -0.1709, -7.665, 6.0923, 0.4029, -0.5592, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11daac14623b228609f5581696e607d0cd45544537a8f0465c8e5f2df13c287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1fbfa26ca0388ec788ae99739054b1af3436ad2792f96619780342496f81cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e750d538d5f9b75e70fef89431b146e589e7513cdd9cddcfed44dbc22b72f979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk1Uhm4SR5xIBJOYRRYlvku8hMWJz4m1eCbM_EqufwZe--dI3ZYMmz7fDhUL43eWNGWQd6CztyroC9SP9brICOWhMMInzykMuxQXCiewURe9d2nLV7fVPPovidbxSQBHZexD2xmNSOKQBj7AtZP34E8p-qGlIbdGFnOOXou7PMQdr3RUfiAFOiHdsMeyvEoo0JHUbSTIQCFpqavXG28h_pXDZZbtarJvzgF0Zp9oiV0v94RUTR657zo2v9Mpd9b1KKD7_AV2vPZleXGK9SnWEE9ZRzOC9REnpKm2142feVWnA-Uez1eDakcCYT90YOKE7yq69metDPDO8dWwfFU_0gTQG4qjBHtnCX5vRRpZkFlbONgzk_8VI9iqYfCqjvBXzFy_OILp5o2olVhjKPbFnS_jd3pIklBoMTVPEbewxNlZwwNr0rSRLaZk-u7mvNNYk3mFob2sEQopVaBmpki0Aaw76iZCbzDgDiQs6McA2KqyH1LdBfnAGft-IvwG7zEpoYtL4j4KnfW9Mv0vUdhed1y8jzpXlIoaJxuf4Wn7fv7fR9qk98Qc7w0cXVgZWr4klf7E4OGXGE7eh41gGDBWoPVO0NUSu9ZoDwoEa2HSar2qntC4lT2bqlXrjl7Q1BFWwzvf-qgZl8d8jbbobzERUsAYtsiv-l_txDL4v4_niYJC9n1YxL6LWf9PRGzdMTJuJl_N02kgnVw0Y-pXhBpEUQUIrwCllY2b9xuLg1yEjtfS7wBkf82g9TKlmvYDNWexY9JsQxsNtic9h-2iHlYQ4sRreNdJs9Ya2fhP9VYE8_V7-GSzpxJ_iUy-ymMebXM7_NqiHsl6ExeYnpyqaSjZbGfvWcDeqecUZf2uVgV_jwuvLwhZku-hiDgai0i_vvFJfpDNHVYH9r4bsal2uXxYxdpe5lhL7RN9DavMl6dNAGl4Q83PiSVNrVH66INNZZSDqdyqVYxgYZu0Uh2LYiDfU7OGyuh-1gn6IR3OwmPZ5Xo5q07bnE_arL1sJqOMfr97MLJ9LMjgIU-Dwny5pAXcDY4RcRGDEAfptcjU_CFI0kzJ7_zP7er9fuXzYKJUgMCW0c8BrSO9I2IT8Rau92pQG-gMNwWgbot13SEUd2a_Ut8zDQVokJgeWOSVD-8onB529ecsv4Iq0jMdVDhUxKi0xz3BbKBGtKRJRa_ReSxXkQTTp15Wqs40_lY6qDcYqJUrTCWr6RWvWUPTR7IoJjlN7TueouBnotCTEquAyhzv2_axX9XEpkABxtek1J8YoGkAvAJ6xtmHdqpZcFCjKsoUxAQBhFWdiLREGehhFwuWTZ3GMuTbnGMFW5c9EpU1r1Vj0JhZiNQJKOXPtqNx-KuZNWeuf-L4RX0GBisfreAgRTASTHDV3oU1jObfQjnB2B8SojfNibVhTd_PyYth_c3NYfziw2yPMTjcuE-5aqkR_2F91HQdiJTALmPqADG7znRMwIwx7hc2sDTvFT696WXf5wtk3acCXy5YbLn5FXjt8P5Ah9A4-UXhi19v9-bTjWvAYlJQWG8LXCj1ufO_TY2HEGLpIFTBrw0dG6daM8OMHsfajvMLDZlFLeLrGZxXg4wdWCSEya9dFk-r8hW3Iv7Y_8bsDlQwm-Dhae8eeBjbfFHtKVGxhtlXB423djJ89QA-PxS",
  "id": "rs_02aceb5176981c56016ab439342fac87d0be833e4f2afe1e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_z\":0.05,\"right_y\":0.14},\"note\":\"The right arm has stopped tracking the descent in this folded-back pose, so I won’t repeat it. I’ll move forward to a reachable pose while keeping the jaws oriented across the rim.\"}",
  "call_id": "call_xyU9Oq8lVhPkLZiG22nJ9CWN",
  "id": "fc_02aceb5176981c56016ab4393524c887d082b4788fbd292f01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xyU9Oq8lVhPkLZiG22nJ9CWN",
  "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]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4786]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4786\nstate[joint_eff]: [-0.0479, -2.906, 6.8034, 1.3114, -0.1294, -0.0415, -0.0073, -0.0752, -7.747, 5.9556, 0.3834, -0.5739, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbefb7160484d2421ce499e196e4fa39bb2db1194658c1ec26bcff124ec061b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c06c6492fb96fbdd49e2e16d43e4c0e9af5794db09724f47435f87e8315957a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07876d66091e2becc4a22efa83595fcb5b3eb6ea4d0cd042ac81f3e2954355ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 6.49 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0836, 0.8841, -0.7536, -0.2028, -0.0715, 0.0165, 0.1093, 1.6016, 1.1625, -0.7879, -0.5919, -1.1984, 0.4774]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1575 left_yaw=0.0709 left_pitch=-0.362 left_roll=0.1377 left_gripper=0.0165 right_x=0.3351 right_y=0.1395 right_z=0.1222 right_yaw=1.3239 right_pitch=-0.3336 right_roll=-0.1225 right_gripper=0.4774\nstate[joint_eff]: [-0.1573, -3.2889, 7.0085, 1.3602, -0.1343, -0.0659, -0.0024, -0.1846, -7.1863, 7.0085, 0.4225, -0.6129, -0.0757, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4785\nstate[joint_eff]: [-0.253, -3.0291, 6.6256, 1.3602, -0.1538, -0.0366, -0.0073, -0.1709, -7.665, 6.0923, 0.4029, -0.5592, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4786]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4786\nstate[joint_eff]: [-0.0479, -2.906, 6.8034, 1.3114, -0.1294, -0.0415, -0.0073, -0.0752, -7.747, 5.9556, 0.3834, -0.5739, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbefb7160484d2421ce499e196e4fa39bb2db1194658c1ec26bcff124ec061b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c06c6492fb96fbdd49e2e16d43e4c0e9af5794db09724f47435f87e8315957a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07876d66091e2becc4a22efa83595fcb5b3eb6ea4d0cd042ac81f3e2954355ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_02aceb5176981c56016ab43937995487d081251715df4a8dd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_z\":0.21,\"right_yaw\":0},\"note\":\"The arm also held still on the forward-and-down target, indicating this rotated pose is awkward for its joints. I’ll raise it and unwind the wrist before trying another approach.\"}",
  "call_id": "call_LE5vU83suPPfHBfLz9oGsAhl",
  "id": "fc_02aceb5176981c56016ab4393963a087d0860a15909e73f913",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LE5vU83suPPfHBfLz9oGsAhl",
  "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]: [-0.1356, 1.0904, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.3191, 1.1938, 0.9581, -0.7544, -0.2203, -0.5304, 0.4786]\nstate[eef_state]: left_x=0.2917 left_y=-0.0003 left_z=0.1552 left_yaw=0.0713 left_pitch=-0.3714 left_roll=0.1395 left_gripper=0.0165 right_x=0.2793 right_y=0.1367 right_z=0.156 right_yaw=0.8239 right_pitch=-0.3914 right_roll=-0.1225 right_gripper=0.4786\nstate[joint_eff]: [-0.1573, -3.3299, 6.6256, 1.3016, -0.1538, -0.0757, -0.0122, -0.212, -4.041, 8.0889, 1.4432, -0.105, 0.2027, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2b39d883f7bf93eb729f883c5400fb2252dcf3e19e581199054aee05ed72b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a9f2e35ac6594bcb36539da66d9d360969b1dcf25c86bb47a775677880e245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ec6636427708e316406c3dc90adbf9760972934a442f66267cbb8260c79bbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.594 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7551, -0.2024, -0.0711, 0.0165, 0.0978, 1.5536, 1.1431, -0.968, -0.6373, -1.446, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0705 left_pitch=-0.3651 left_roll=0.1383 left_gripper=0.0165 right_x=0.2924 right_y=0.1379 right_z=0.1252 right_yaw=1.5212 right_pitch=-0.3453 right_roll=-0.1168 right_gripper=0.4785\nstate[joint_eff]: [-0.1573, -3.1521, 6.6667, 1.3455, -0.1148, -0.0366, -0.0073, -0.0752, -7.8154, 5.4632, 0.569, -0.5934, -0.1392, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4786]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4786\nstate[joint_eff]: [-0.0479, -2.906, 6.8034, 1.3114, -0.1294, -0.0415, -0.0073, -0.0752, -7.747, 5.9556, 0.3834, -0.5739, -0.1001, -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 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0904, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.3191, 1.1938, 0.9581, -0.7544, -0.2203, -0.5304, 0.4786]\nstate[eef_state]: left_x=0.2917 left_y=-0.0003 left_z=0.1552 left_yaw=0.0713 left_pitch=-0.3714 left_roll=0.1395 left_gripper=0.0165 right_x=0.2793 right_y=0.1367 right_z=0.156 right_yaw=0.8239 right_pitch=-0.3914 right_roll=-0.1225 right_gripper=0.4786\nstate[joint_eff]: [-0.1573, -3.3299, 6.6256, 1.3016, -0.1538, -0.0757, -0.0122, -0.212, -4.041, 8.0889, 1.4432, -0.105, 0.2027, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2b39d883f7bf93eb729f883c5400fb2252dcf3e19e581199054aee05ed72b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a9f2e35ac6594bcb36539da66d9d360969b1dcf25c86bb47a775677880e245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ec6636427708e316406c3dc90adbf9760972934a442f66267cbb8260c79bbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlBr40dIIMSNvSj8BJhCJ6lTK9T586li0ANLFdb-FbXhHd5obxAMuPd2YQzIhQ7OsIjBBT4mkWnYywCeAz26MCjXwnAcLWIkyAbr5HGTWm9HgOIyaOeAfBdXC73wcblRM8upXkIGwSRyUDp9-SzOPSOhnRAxOeOF7D9LL4hNwmdCqxyKIFavoG0YdHv5AkViv-JepCn4VcGI3gJolW498-8qW4zoL_QY4X2CEUTlVncFgqh18o_HT1G8d6GkOqzzGUGQjYr_mHwmuqozKXFO9NGg6l8ztC6V8PnsH2wdvh6hJInk-XIPF8YfkXfVBXAF8AUUMFg1uUUKoJ4fdXW7A-CskrplXZ_r0WZLvs7kwl2hDWofrBmqvtQlc5zm-aCP1VRzjsjSCbnANAgyOtLy0TrbtQkcdiG8h-Fk64oKANYtmUD-W27HmKnpPzcuCa-CMEE1Dcx2Iz_oOZIrSgtQ-V0j28Cx1EXJKcWFeU_FtWYSSUAwSZI1WN0nlfkFlHkNKcMyjzV90stf2ppNqrTpuIrp-u6Z8arkE5PsOrkrNBaDzJhqNZx3S--PuJuR7ZzaQt7ddbshd50rRtrtlNsd5ptnsKb037WtpTdyjc63IVYTc4rZZB70mv2OJAfgqlKtTr0Xmh90ro1z4SHfqFhOE6ket9vj8KfwMJ_gUleooSmy3lOM944i3WeLl-jXaNlBauTiX2_25Wqkr8RRnNIdEiK0EBjepTzUPDE_oFxsH7q4kdd18XtD1PJKwD_PBpNLGkdyEq8gJpFXNbtPQmXR1ah54MO8CYiwUrXqUUTBN9C3hl2NqvjCQqpj20y81zrcm-WUgWRX0ZXVFrmFMF5cQ8EdT_nPB1YldJSBg6nFtceliWkiTvE2CYP2JTSaKNb-VAnIBZQLy9aeQ6WU8hTbq2THaDy5uQhS_wJEyxrGIbkoJbdajQ4YxmgLzaCxfpJyC4419f1X8rdqZ0jzO2mIFuxuvK3-zJdebgMISwwQCWK9T_ql96eqY-_31rEt6KwxWE3eT9bYHZMqNej0hWx6BudZRICjbbeL-mfZkUye1yTgEYUMl0-V5cnqnHxJet3qZOkBvSmnCDM9AlIb5AnGO95amyiHoytvouKbEf38w_T8K4e906sVFC42zCpW9iqHxWQEO3SrtKdxkF5XuNjXicK788s8xphBAR1X1C2qNzLa-_0DX1JE83wZyiB_hoQJNUOgDWvYm7hHanxu8houfwJLUffCAZEM6mh6vp-5nLFHghEnHGWn8aSKxyjiPhhRxo3p6Y8SwwGH432Xh7Dzv65tto4GJ7WCVtpLsNYJesP0KkLRPcACL8jh2oxiSIHTpSMzoBlXsc_uGuuY6OqutG12cdi96Gb0jw5FqD48boTLHuwXQoChbqZJaDWWMlugmDueuHvbjm7yudopCUWUcMyP5RXT3FpSsOAZiHk7YZOfNKwV3mhW51qtmSBau44TUUfKMhA2hN2MKsEO7xAqfewkaYz2DpC1FZNfGL2Q8XB5fB1Fc517IW7-Nv2jiKuuL5610g6r6kaD2uG6zc0KF6LUVTWb7EeEPYJLpfPcUodML00FpY1fnCL4DcIrBYN0zqlBHYKQowFrRJMOGVKjETZpq1zdFDE-sGhmqJrt0vrKCdWfIAL490_ruFtWxlsY2AKRz0tboLfVqE1SoAbU9M7qIOHGvDSVSuOIUWpSbwP7rcylRDEc1IsDVWziwA5nqgwo32hNS8pgBCPztrq_WzPhh2KPTNgmw-EPu2f8MfVoPnMVBNyB5-2d3UaMH8biJ3Es511-iw2d5g6NsE7QlDFwraLsCVTIhdeXzhJa6PmplRI6Te-r0nVMbL0itNXDtPs_nhcIOdeq9T1VYRH6eK5GzGZXdBETg9s7_99hgu0Qp6q3ey0K1vKcaA1NtTkhl9nnGo7LsRPhH6YIwYGQvt_-BPnQNX6RrNed1v2EtfJEiHt4mAOrCvA6MxMZ19nWuKPifMLhPbV2BlXE-gmDqrhTt85eU6r7ZKWJ1Bvc0b94MTguf8THlbNSAA3i-QGsWe_elQyssKeSeYynVmunXHq3HQ7KuIXy8QTTpTYaRhRyhh0p6jXr-lNeBXT9EdXYYOQfW0NawnYh-dCWwOwDfoEiBbWfreuXVKliAPGikJBWUNiPEh9XEiDfacaMM9EQ7XMTAPwnzDIxJqy-ewy3xML7LAYklDDJrRxs0OIU_5aV_kMH7ar_h80hRaMm7yPmyAnYjsgY2Ec56t4awUPlZfAQKLY4k1EZeUGCzECc24aD7OQauVdH21TRn9VbjkURFy4zv2arUX86qEhA1lkzGLgbI5PykmsgznKeTbDrLW-AkKIHtCcjd6o3FoNMVqhIDAN5_NDToeXFSN0u-7uYpXndUf3HlGNEYPfAlxluRJ7qNzdQcrq4lDeNJ-yNLuhpzRouZOQ__H9qRmFfnYk_KWChoemT4DQzvlbFJDAEZTZWln0p_WxE-mek2tQKqJj60B3JWDjBOJFhmdRgu9Pxen6Rkade4__edVaSLHrRUbkUiXDtxkTK8ig55vQi9G8vAtaroTVeFdbO0TWFKUKTa6FKIkbWgITwpzZWTg2xr7QgGOSe5Bsd_cVMrb1H4ZM22poQBd1AShFFnkcKK78nL2kCr0JnPirH-56LT7v8lflnmXtkT4lHK07-S5W7hppiA4MB69XjTKdbUM9XYCsENKlArfx667oYqLUnTZNs8X_096q2Cjw3XnglPMmbm9BrqfoSu7a8hhNqGwQthEVF-3cQ3C85t2FBHfP3TZhs3Lm4tTPkOHpsfUafE1PWrymnZy-IIsopy3JuTx0OJKF7xhxCdSDTChC3G68Nb19mSxP_7DFBjSJFZaSzGx-WWvpkhV1NIEljrm3lLQPFNF64n6Lb-gAJwrWKzOaXBO47kDs-7NVxV995b-_HBcMMW38YHlrda-yRW8Y44vuU-g8IH2EcYzRN8uG0e4Xy1c3ATmChd1uwE3PIA1gWudWjHf4Wy1gaoweaqkQuCjqAP-Ik4n4X4ySGjIr92JwWNg_nFXNx4Dy9LgQmpU-zpcwZblrVfqREhXND1DbKDCvAxjIzi7DB2s_ODc1ghLvHxJcE5Z3h0IxfRBbaeTMnXCjkGtyAAGNMPI-nySMUbWkDDxTTjHmN3eArXZjQS9L1aW0s9Umq7VcvI9Fss1hWF-aE0cJUD6Xgr4qfnypRRtPDrkjvZcOKT-M4SsdlPV8pMY0jk3L8N4x2fuIRuEemWwyIURU9B_EQK_WqouRUa4lvqpj-BxlkFxFa2F-ZDer5R07xoSptxnl5WvUad802pTjQ9Ebw7dw5gMr8UEE3arwSsN2ihmO__tGmIfrtlkd8uQz7prP0qRltGlWjPq6Fcw0a-N9vWB7rjKzENpNbG_0wwKiSfq51THNrP912B2ycWJcPBTaDWrPkJlVgsNMdKkyfK0j8thMgFyKFTCNxZbviICAZxvfw667R0Up2kfWjCstPGG6sFx27xDuiDvgB1zhZOioSI09NV7jk9Q69KwJEXjVKzyS3iPpKaTmCCtlqIZtUobgvBcZ2OjyccNXdop4v0SND4hWaznlVGF6_c6XXuVXzgloH7fl48erQQGrW8E2XYRVl4CIojh65olw7B1wxQNC6HJH_LpsVaTN-Su3cGRaLryB6UK07IQfJnwMPYrUCoaYaSmtMH8UXPn1wVP5vem-UvD-cKognz69rjYAs8ZeSaRHGqXuh0QCjFZm0_Q_0ubBdSROHDHQR_a5hPLFM3jkZ73wjaNhKK87yyaP3f5knwPxtXMODQv-m5kz75R9GO-EoMqWwA5_4JTFMoRBUK-c6ACB-Qul69ipgS1ZWyBdjP3wbg==",
  "id": "rs_02aceb5176981c56016ab4393c568887d0aa855fdc0e7ebe45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.15,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The gripper is clear of the pink bowl but still partly rotated and tilted. I’ll restore a neutral, open pose so the next descent is not constrained by that awkward wrist configuration.\"}",
  "call_id": "call_rS4lHWKTZKVaKtzvJK0J5CIo",
  "id": "fc_02aceb5176981c56016ab439409d1c87d09abf7efb26dcaa06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rS4lHWKTZKVaKtzvJK0J5CIo",
  "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]: [-0.1356, 1.0924, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.6918, 1.1973, 0.7689, -0.3229, 0.4664, 0.3233, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1547 left_yaw=0.0714 left_pitch=-0.3733 left_roll=0.1399 left_gripper=0.0165 right_x=0.3087 right_y=0.1573 right_z=0.1552 right_yaw=0.1249 right_pitch=-0.087 right_roll=-0.0502 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -3.2342, 6.8991, 1.2674, -0.1734, -0.0757, -0.0122, 0.1846, -3.7949, 7.2684, 1.7705, 0.3883, 0.359, -0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d96b7f0f0308641e37faa38d1c7b994b58531d22c9c57cdf52ea9764e96073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db64663370c52c673db0daa9c4307aebf2879cf674974e4d002a2b57f9bfc06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a77b37c0fca1c58d615d8441bbc2f464d5b4d1c7e32c6f966c5c790e8d7c6aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 3.676 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4785]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4785\nstate[joint_eff]: [-0.253, -3.0291, 6.6256, 1.3602, -0.1538, -0.0366, -0.0073, -0.1709, -7.665, 6.0923, 0.4029, -0.5592, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0904, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.3191, 1.1938, 0.9581, -0.7544, -0.2203, -0.5304, 0.4786]\nstate[eef_state]: left_x=0.2917 left_y=-0.0003 left_z=0.1552 left_yaw=0.0713 left_pitch=-0.3714 left_roll=0.1395 left_gripper=0.0165 right_x=0.2793 right_y=0.1367 right_z=0.156 right_yaw=0.8239 right_pitch=-0.3914 right_roll=-0.1225 right_gripper=0.4786\nstate[joint_eff]: [-0.1573, -3.3299, 6.6256, 1.3016, -0.1538, -0.0757, -0.0122, -0.212, -4.041, 8.0889, 1.4432, -0.105, 0.2027, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0924, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.6918, 1.1973, 0.7689, -0.3229, 0.4664, 0.3233, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1547 left_yaw=0.0714 left_pitch=-0.3733 left_roll=0.1399 left_gripper=0.0165 right_x=0.3087 right_y=0.1573 right_z=0.1552 right_yaw=0.1249 right_pitch=-0.087 right_roll=-0.0502 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -3.2342, 6.8991, 1.2674, -0.1734, -0.0757, -0.0122, 0.1846, -3.7949, 7.2684, 1.7705, 0.3883, 0.359, -0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d96b7f0f0308641e37faa38d1c7b994b58531d22c9c57cdf52ea9764e96073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db64663370c52c673db0daa9c4307aebf2879cf674974e4d002a2b57f9bfc06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a77b37c0fca1c58d615d8441bbc2f464d5b4d1c7e32c6f966c5c790e8d7c6aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlGi85YpIvb_B0f8JTNDW-OCFgrEgDDwV2RO8JjJaUBM40LD8kcnjECY4UqHM81zlWoy6TxT9q5mjKipkpHwatpzAbf3cQd5mJeYee8bsiLyPXoGJ0J9MxE2St02L7tMhUd9MRI6A2l4Agaivw5j9qV51vVtSi7hZLsYgSZMkExuABgeMlxJsyAy-grRUtDlRcdkwO8nQO7KKwCS7yPqwIC_bPammpN0JANoKiLaUX-Mv5nDwpzfwetuSQa1S-31jDiI6bGU5tbEqpJSwzg9pPEH1nEAy8pLcCtDhmJFyDlLTicbSQurgq48v7bsHpT4ZNarWvi5kty30s0Tmx_QVGhIDpqhdjE71b5miau5oHBniRSyl-ISoSzhPS-xPMR_uCRgLBWUh8qvtfjQhDaQgd6wPfv9lwe3aqzB8ybGk0jn0tFK0Wb0EGcCNbfe_1X8Qv7hIacJKf-QTtB7cyHV1qgvcgqiyvy56OaLoCe5HAR2WgU3V7sb4g9apZ0Qka57HjZEH17jtn_iiKNusNo4ma6mYRkTYEAiX5Q84GE8Uu8LFRmmEGNU3eflAhG7PaoqiAatlPYQ2W4xho4BF7anTZ4ldaP8JCRuYQm017UzZMWqPkgihxrDtO4yS6R89Uhd-ov29V3865eQZbYlasfgEsC1wan05kUz6WDrminf9_bXJhVWcX-I50RkLsD1mXULe-KbwXGGVtL6H-0Fhsqs2bQk4oAgujAqd9SCraIAF03PuWcMRJXsfkV2mBef03vBZp5SG3_FlV9BCM0bBlmw30FXNHwSc6wa04MxNpgiWMGKsi5o4YDCGxYK46v0u9lA5opj3ev3-s2cFPu--aavng2EauwQ21wM-v0H_yDmuE3XJgGH5C_bciM2px74y7oxJzvwjsVcxaO6JYPhNV3sHSEwqtLowlRjbNdtmKpOQXsFkWUS6hz6mdhRPmhY1bhBHUyz0ecJB_KibrRihqzc9Qqnef-yQk9vNh607Bz4rf-s_VEiWuvxtI-3CurmU4GMH0S_x6XmC460bfkpNUS1tDL7Sn7V2iHSAJLd99z-vDxrZyBPnE-o8JJBmkgL155vTOHQObnaxCSiYTocnZiXERoQozmTKqUtwsUUNnSI5OU8KAwIkFAdXeSGDjvzDI1y01-uv3epJXvGuQZja1RX8yP1uFXFTWIzjDY76-yOpAlqjPfVLxNp4xbjjM9mgu_DcKAbiQTrKSVMyOyuz7MIhNHfh1fJ2R1VRJQvDxG7vpoTEX0GyDiDQi5s3WmVEU8F8f4XspU1dSGPK9PBI_mBtV-G000wJzd9jYeBqg-q3EA1-jNRYs12V01ZBVSNMS68qpBiREq8fDwA7a82OhdnT6Nfk8q0w3ytaGlQu2SbgpWWkgXLA0niNkN4wMasPVZsnjEfWpxkS_fdSAHqTpEfOdPtr-rNZvMKATUwXS4c2FGlYarZ1UcTREl1MYgkY477eCPzEe3RU5eSK9ebXx7Ny3R3fo_V0T-8syr9HV8Pa9-U_bNNidqcdWhh75E9bEc3rKijSVtggO2DOXzbKZCLFLAV4-NO2q17hI7Qo-qgz1te4V2aM7d_xaCW3crBeE4lbm07GzovbQ3tBWq-3xAow9LBoBrdZCTy4xHXjaDlAp4RIa3DEqdjxbvgUx5iiM19zs2UV3TyF0ufhpjUeWwbqkMKG4mpW4pkM4bU6EbfDtOVuRyHkQUpb3wMgk6I9PjDcz_0MhAI5-b9web2uvUeqTXYcwOSPjWJhj4o5FkKkmtJSApPnOrmxUm3qOPR0mM76uNIdYPANBl6JNXZiqhdey9mepnNpVVBQyO1UHpO26TZ9D5-FC9Rgc4KEAtHbpMjtU6blot9o6FkZTxDDB0vfVqHOvntT4p-ntjX1NEkDxUn_hdE8aDKzJgNBJjyB8sqnAZ0qwiofxFqYqZH90Ki5v7E_TSev7kImxb1I7PFKeAZc1y1ezdRS1ZY_JZahUUJP7bKbPkbM07vfrZcSecTk4EDqXQJHuAgrZDnKEluJJDoQy0lZ_zSy3LmlApcLR7xJ-4SK2DWqqc2-RPZ5pGopwNMWu-tOoUkFGy1B569xEvDfbK7KFiUM1oiEIbIShpI_ixRkNdYTLrYYjCF4TOXDMNUmqovwjI7_V6HqDltSe4fcBUwgmODHsvekH9-Yrt3gxZLobLCW0GlH7reOWlAdU563CdIew3YDMhyms-2_zhk9Y=",
  "id": "rs_02aceb5176981c56016ab43943f78487d099faccec65137b0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.127,\"right_z\":0.08},\"note\":\"The wrist is nearly neutral again, and the pink bowl sits just right of the right gripper’s center. I’ll center the open jaws over it and lower toward the bowl’s narrower side.\"}",
  "call_id": "call_4k27p5rR3r2P413jLgCJMsZx",
  "id": "fc_02aceb5176981c56016ab4394615e487d0b648160f463534d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4k27p5rR3r2P413jLgCJMsZx",
  "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]: [-0.1356, 1.0943, 0.8841, -0.7567, -0.2024, -0.0711, 0.0165, 0.5198, 1.3521, 0.5549, -0.0116, 0.3588, 0.2218, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1542 left_yaw=0.0714 left_pitch=-0.3756 left_roll=0.1407 left_gripper=0.0165 right_x=0.3236 right_y=0.1179 right_z=0.0661 right_yaw=0.0897 right_pitch=-0.1777 right_roll=-0.0891 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.2479, 6.7487, 1.2674, -0.1245, -0.0317, -0.0122, -0.1709, -5.1761, 6.4205, 1.8486, 0.1685, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b06875e020eb5e474d027df033669c30b8e83b9142e36c8bcd9333569aa3f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1ed63055c0eefc383e50e21b79a28a890e489c5fe2a5f91d6791db1f1e13b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ded8cda19485f004cb6dec385a9bfd965bcb9098c75beff3a988046a3eeab4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 2.927 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0851, 0.8841, -0.7555, -0.2024, -0.0715, 0.0165, 0.0978, 1.5471, 1.1347, -0.9977, -0.6373, -1.5005, 0.4786]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1568 left_yaw=0.0708 left_pitch=-0.3655 left_roll=0.1382 left_gripper=0.0165 right_x=0.284 right_y=0.1371 right_z=0.1235 right_yaw=1.5637 right_pitch=-0.3529 right_roll=-0.1187 right_gripper=0.4786\nstate[joint_eff]: [-0.0479, -2.906, 6.8034, 1.3114, -0.1294, -0.0415, -0.0073, -0.0752, -7.747, 5.9556, 0.3834, -0.5739, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0924, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.6918, 1.1973, 0.7689, -0.3229, 0.4664, 0.3233, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1547 left_yaw=0.0714 left_pitch=-0.3733 left_roll=0.1399 left_gripper=0.0165 right_x=0.3087 right_y=0.1573 right_z=0.1552 right_yaw=0.1249 right_pitch=-0.087 right_roll=-0.0502 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -3.2342, 6.8991, 1.2674, -0.1734, -0.0757, -0.0122, 0.1846, -3.7949, 7.2684, 1.7705, 0.3883, 0.359, -0.2466]\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 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0943, 0.8841, -0.7567, -0.2024, -0.0711, 0.0165, 0.5198, 1.3521, 0.5549, -0.0116, 0.3588, 0.2218, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1542 left_yaw=0.0714 left_pitch=-0.3756 left_roll=0.1407 left_gripper=0.0165 right_x=0.3236 right_y=0.1179 right_z=0.0661 right_yaw=0.0897 right_pitch=-0.1777 right_roll=-0.0891 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.2479, 6.7487, 1.2674, -0.1245, -0.0317, -0.0122, -0.1709, -5.1761, 6.4205, 1.8486, 0.1685, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b06875e020eb5e474d027df033669c30b8e83b9142e36c8bcd9333569aa3f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1ed63055c0eefc383e50e21b79a28a890e489c5fe2a5f91d6791db1f1e13b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ded8cda19485f004cb6dec385a9bfd965bcb9098c75beff3a988046a3eeab4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02aceb5176981c56016ab439481bd887d087cf8aafaf112dde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.095,\"right_z\":0.037},\"note\":\"The pink bowl appears just narrow enough for the fully open jaws, but it is offset toward the right finger. I’ll shift the gripper slightly right and descend to bring both fingers outside its sides.\"}",
  "call_id": "call_f6Wi5g4AfOyE9qLM0yE0AAGp",
  "id": "fc_02aceb5176981c56016ab43949df3087d09c8dea327b226678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f6Wi5g4AfOyE9qLM0yE0AAGp",
  "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]: [-0.1356, 1.0954, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.4576, 1.3766, 0.4816, 0.1452, 0.3046, 0.1692, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1539 left_yaw=0.0717 left_pitch=-0.3763 left_roll=0.1406 left_gripper=0.0165 right_x=0.3303 right_y=0.1076 right_z=0.055 right_yaw=0.104 right_pitch=-0.14 right_roll=-0.0704 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.0838, 6.6393, 1.2772, -0.1343, -0.0611, -0.0122, -0.1709, -3.0701, 5.5863, 1.6532, -0.0073, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf5539a7fa1b202878903297a34b2119bd0d1f104c90c04e938a81b6a10b4dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f984f6a31499f609ce40e3f2a1cc20ce6bab98a21cb9a10e69c8f65b2c4093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5be447b8290ec19cc2ea1c96fa124dfe2bb756ddc330060cb5e05bdb911443",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 8.262 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0904, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.3191, 1.1938, 0.9581, -0.7544, -0.2203, -0.5304, 0.4786]\nstate[eef_state]: left_x=0.2917 left_y=-0.0003 left_z=0.1552 left_yaw=0.0713 left_pitch=-0.3714 left_roll=0.1395 left_gripper=0.0165 right_x=0.2793 right_y=0.1367 right_z=0.156 right_yaw=0.8239 right_pitch=-0.3914 right_roll=-0.1225 right_gripper=0.4786\nstate[joint_eff]: [-0.1573, -3.3299, 6.6256, 1.3016, -0.1538, -0.0757, -0.0122, -0.212, -4.041, 8.0889, 1.4432, -0.105, 0.2027, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0943, 0.8841, -0.7567, -0.2024, -0.0711, 0.0165, 0.5198, 1.3521, 0.5549, -0.0116, 0.3588, 0.2218, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1542 left_yaw=0.0714 left_pitch=-0.3756 left_roll=0.1407 left_gripper=0.0165 right_x=0.3236 right_y=0.1179 right_z=0.0661 right_yaw=0.0897 right_pitch=-0.1777 right_roll=-0.0891 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.2479, 6.7487, 1.2674, -0.1245, -0.0317, -0.0122, -0.1709, -5.1761, 6.4205, 1.8486, 0.1685, -0.0122, -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 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0954, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.4576, 1.3766, 0.4816, 0.1452, 0.3046, 0.1692, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1539 left_yaw=0.0717 left_pitch=-0.3763 left_roll=0.1406 left_gripper=0.0165 right_x=0.3303 right_y=0.1076 right_z=0.055 right_yaw=0.104 right_pitch=-0.14 right_roll=-0.0704 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.0838, 6.6393, 1.2772, -0.1343, -0.0611, -0.0122, -0.1709, -3.0701, 5.5863, 1.6532, -0.0073, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf5539a7fa1b202878903297a34b2119bd0d1f104c90c04e938a81b6a10b4dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f984f6a31499f609ce40e3f2a1cc20ce6bab98a21cb9a10e69c8f65b2c4093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5be447b8290ec19cc2ea1c96fa124dfe2bb756ddc330060cb5e05bdb911443",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_02aceb5176981c56016ab4394be9dc87d0a61c33f92f116a8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.069,\"right_z\":0.028},\"note\":\"The bowl is still shifted toward the right jaw, which is inside its rim. I’ll make one more small sideways correction and lower to the narrower part of the bowl before closing.\"}",
  "call_id": "call_V41moGMZjw4N1Y1Io3k1lhNG",
  "id": "fc_02aceb5176981c56016ab4394d104087d08c3cdeb0dddbb641",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V41moGMZjw4N1Y1Io3k1lhNG",
  "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]: [-0.1356, 1.0962, 0.8841, -0.7563, -0.2028, -0.0715, 0.0165, 0.3038, 1.4117, 0.371, 0.2684, 0.215, 0.0807, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1537 left_yaw=0.0721 left_pitch=-0.377 left_roll=0.1411 left_gripper=0.0165 right_x=0.3229 right_y=0.0655 right_z=0.0225 right_yaw=0.0721 right_pitch=-0.1832 right_roll=-0.0838 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -3.1521, 6.6393, 1.2576, -0.1636, -0.022, -0.0171, -0.1299, -3.7949, 5.6547, 1.873, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5fe2970b973987f3726cbd7cf7f1f5c7d7432b675f9e51a8e6719d2784674d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cdd48762f70ef91b582626265a3f11068f074a62b3f3add9a160dcafc07ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da58b2868b20251cbd50746f94c0715716d5dd26dc15bb57f048865bf76a1662",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.093 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0924, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.6918, 1.1973, 0.7689, -0.3229, 0.4664, 0.3233, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1547 left_yaw=0.0714 left_pitch=-0.3733 left_roll=0.1399 left_gripper=0.0165 right_x=0.3087 right_y=0.1573 right_z=0.1552 right_yaw=0.1249 right_pitch=-0.087 right_roll=-0.0502 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -3.2342, 6.8991, 1.2674, -0.1734, -0.0757, -0.0122, 0.1846, -3.7949, 7.2684, 1.7705, 0.3883, 0.359, -0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0954, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.4576, 1.3766, 0.4816, 0.1452, 0.3046, 0.1692, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1539 left_yaw=0.0717 left_pitch=-0.3763 left_roll=0.1406 left_gripper=0.0165 right_x=0.3303 right_y=0.1076 right_z=0.055 right_yaw=0.104 right_pitch=-0.14 right_roll=-0.0704 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.0838, 6.6393, 1.2772, -0.1343, -0.0611, -0.0122, -0.1709, -3.0701, 5.5863, 1.6532, -0.0073, -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 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0962, 0.8841, -0.7563, -0.2028, -0.0715, 0.0165, 0.3038, 1.4117, 0.371, 0.2684, 0.215, 0.0807, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1537 left_yaw=0.0721 left_pitch=-0.377 left_roll=0.1411 left_gripper=0.0165 right_x=0.3229 right_y=0.0655 right_z=0.0225 right_yaw=0.0721 right_pitch=-0.1832 right_roll=-0.0838 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -3.1521, 6.6393, 1.2576, -0.1636, -0.022, -0.0171, -0.1299, -3.7949, 5.6547, 1.873, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5fe2970b973987f3726cbd7cf7f1f5c7d7432b675f9e51a8e6719d2784674d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cdd48762f70ef91b582626265a3f11068f074a62b3f3add9a160dcafc07ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da58b2868b20251cbd50746f94c0715716d5dd26dc15bb57f048865bf76a1662",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_02aceb5176981c56016ab4394f303087d0b697fbc241c7daab",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlWWKL-pB7AWoyFZFeuUuZW9WKBXEA9IhQoKzlOj2x4mLGMJddrQW30XgAldhQ3QWO4luh8U5O27MVdCtykQpoLPQAKJQUlYADPN52i9vUNSHK12gDq6TJWEltkfZgyJTLzi7fT6Yt8jW_s_QOifUhgiAmh7wvastOaQjWFozElfxFRPPPuFy6VPYkhh1FeRM73H_T8GwoJ3uxfVkzjanFfr2E1HGCp4vKDrUTKUFQvxnRdsp5-IMvuGapB_tJBoNZUS8vn3fCeRLzP0JnNu9kqED-410D7eu9E3NxlztFlBG2eraBqPMgdEIZB6L3d36J3fYKoZJf-8SOH_H0C7HghC9woY_r8U-MiPQ4T1Ojuqaj8Zi_Iw4orzonrPQtxV4G5zk4T36O3CYgUEV6csyhlraEu7MPoDuf6GoLHV9Y9pQHnX7AGSFPoYGks4bFuiVRMjnKQta7YuaVs_vbpRtWJ_QdvAvFSWla9ihPV-Kp0Ob6hTAIw9a3tyBORDcPWAU23YNjd0fFTnEskf7KKtuvpdj6pWyTuX8MPMS92JvYPPFgMEIDeSGIT1ThYURyixPqTP6Nk0PjUfsg8BgBLK8162xDCl6Ow6vFKhgnt7EbQtUFd4-y4uUaZ8w9zNoT9wCU1NdvyP70SfK580cCBGWNhxhXYoPYUVvcFZKD6LnuBiY1Xev-Ba8djSggjaUt7mBFCJ02R3LL3nkTOtGv9Kmrrm8-ILYUxxINFdIsniShh4A2rG2ckYObje6c5v-Zd8jkll20fmyQL5mgNfHNsuwZ8cTHODTWlP8xaGbubWcezgWdQveCL1FxcgaFFK78abgHy2zv77Xzo60IMpBmJjcZVbyFD2fUjZPlDPme_yLPBvIVIVlvDzUBRCTj9RbxvqytdsDCqUl7O-iP-5HxTI3l8_vwy3VIRMoLloApt_jQQOjwFBnQw_PTRF0rHDttOIABme-pR5zyUhsnKu__V5Nbpl4OSRxKqinErANrPNRUQpt_-8f3Lmm5XJMORd6Wz6IVqW6ljDrqbQw_6b58jeTEhdwawqF2r964I-I0xbqA5QywIO_ijyXAGTkiMtWiOJc0EJ2mVdbk6vXwJAuOehwHtf_35vmrdKzEsfDDsi_SoT_EYx34sqY7bhCv1xCbXOP7Drjye3lOL_6fB8ZYYgNbkEpRueYtuA2DzHMQH3aYzFOU9YyZ_hLar5aq5AZaaspBojtK_-nZiegc5d4rghtND_1llixoOS7RSpUcSVJEaOEtIgE6eOJ6ZulU3z-JQqp7YRYiVH6hr_cH8O42_PZccEHFDuIL5c5iZ-1kdn4A_Qk7UK5G_qdnVZyDU1joY7uV0kX_15LRbanjjVLwe4xhxgCqcz8h4sGnBdM_4kQ_RrL49XdmMwQNapR4C6ARY2AtWV92DOUQ29-pSkKeiwOkH6qLrbj3ijZaaX0xaeXJt1AAmmL-Q8Aj4RZiwqMVOYiy64HNo_UqFv7kJdofNPYCeV0R0bow4lqN1oEZX17_0jSe4hXh8TNrw29j_EiDaEYK23JNBt0mYWy09W8NKK0ZHVTChaIPjUdR21BqJ5k7NX12jEIIMpnM9sxNCSie2iMwfXMnWBa90_Ihy9jJU1tVJIUyUZsD1oYxjijoTb43P0oxHFihOBimXO7ZodOJDNlqQnkCgdV3M4CEhOlR68_2EwbIPrMPaJuGW31nDNjtoaPsfpJCvPSz4RXyaIpSeuSVgimkXcJL6d9ymu0F4QWNUNjo-c8mNyIXTwQ65QVFwxpiSrhblmUEfMDUkOun-CYaaWiVM8K4GI8xa2m_aGoYLy_7VXDeU-veesIqScDLT3g_gT4_cSapPKQYUD-4WJHTgT_uTUZ3D4LKI5KSYg21rSwRtDOxzOwb6U4GxUhAGpppXbp_mKBxNxAys7dsBK_VpqoLz3CEIETeIelPIEd7V8tSd8KaUnFCG_vR_BCYbWOnoQaLUAO99roZucc-oW6J-aQG9GT1rUWcNk7lGGYRcCrGLeeEoGA2UOY1UDDJAA76_HoRxi60tqprytM1wET3RKMdXTW6MBFkKeSFxvEZ5oG31eP17HdcQVC0F4qqUbSyoJKb6oou-BFlNGLaLiu4WPu-MAP4RX6uIloDVeo-jv1V2wkYWey_qkV0243p3Lhqo-L5ar_mzKgsTwsQC_nhf1VFr052idIW-puptVJHQyDkDY9ri9ONLuo4R9tIk8vSkSc2hHp8AtITcbPgd1JRYBH27UcmSUEIS75iff5YEZ_pkMj1-gvE3oxK2XDROsS_UE1VPQYg4gkb_xHt8Dh2qBJYgPhQ3MkVKTd8GkArIeHBwEFduGsdWbRTr4kbbL17fTPkhDKxfh-SLB8jgz4IcGba5c9SnvrN2ieCEcAGCIgA2j4MlUwafJ_Ff2AzF13B_ZDCfRf-AoENc8VMHR7tH1f6TfdY08GBvi3Vr9MbPnpl8c6HpGx3CmVAvy795r4gkyKVPFx2RGopSXutqhWe5",
  "id": "rs_02aceb5176981c56016ab439536d8487d0b2abcd89fe9ff0a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.32,\"right_z\":0.14},\"note\":\"The pink bowl has slid away from the jaws toward the right edge, so I’ll stop chasing it. I’ll lift clear and try the central white bowl instead, where there is more room for a straight, centered grasp.\"}",
  "call_id": "call_lUpaRQxrPbRnwfVynnmZved0",
  "id": "fc_02aceb5176981c56016ab43955683c87d09259975a99e22374",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lUpaRQxrPbRnwfVynnmZved0",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1015, 0.8829, -0.7673, -0.2024, -0.0711, 0.0165, 0.9737, 1.8511, 1.401, -0.5739, 0.6136, 0.6189, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1503 left_yaw=0.073 left_pitch=-0.3942 left_roll=0.1449 left_gripper=0.0165 right_x=0.3349 right_y=0.318 right_z=0.13 right_yaw=0.1112 right_pitch=-0.2069 right_roll=-0.0929 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.494, 6.694, 1.4286, -0.1197, 0.0073, -0.0122, 0.1026, -8.8821, 8.7453, 1.0965, 0.442, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5669bdbc21ea0a28fbc2ffb59744ebe25fa0246b603821f7ad429c1779e0a45b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba984e310a4ce091ac849c908f3f0a6acdab4000d54ba17e8e128c04dc3b9c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca921a48796a6ad20e4ace4fcfeb1cbf204e3506a0a1405b26812ca4c413bff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.664 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 124 changed as sent

message 132 changed as sent

message 137 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0943, 0.8841, -0.7567, -0.2024, -0.0711, 0.0165, 0.5198, 1.3521, 0.5549, -0.0116, 0.3588, 0.2218, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1542 left_yaw=0.0714 left_pitch=-0.3756 left_roll=0.1407 left_gripper=0.0165 right_x=0.3236 right_y=0.1179 right_z=0.0661 right_yaw=0.0897 right_pitch=-0.1777 right_roll=-0.0891 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.2479, 6.7487, 1.2674, -0.1245, -0.0317, -0.0122, -0.1709, -5.1761, 6.4205, 1.8486, 0.1685, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1356, 1.0962, 0.8841, -0.7563, -0.2028, -0.0715, 0.0165, 0.3038, 1.4117, 0.371, 0.2684, 0.215, 0.0807, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1537 left_yaw=0.0721 left_pitch=-0.377 left_roll=0.1411 left_gripper=0.0165 right_x=0.3229 right_y=0.0655 right_z=0.0225 right_yaw=0.0721 right_pitch=-0.1832 right_roll=-0.0838 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -3.1521, 6.6393, 1.2576, -0.1636, -0.022, -0.0171, -0.1299, -3.7949, 5.6547, 1.873, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1015, 0.8829, -0.7673, -0.2024, -0.0711, 0.0165, 0.9737, 1.8511, 1.401, -0.5739, 0.6136, 0.6189, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1503 left_yaw=0.073 left_pitch=-0.3942 left_roll=0.1449 left_gripper=0.0165 right_x=0.3349 right_y=0.318 right_z=0.13 right_yaw=0.1112 right_pitch=-0.2069 right_roll=-0.0929 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.494, 6.694, 1.4286, -0.1197, 0.0073, -0.0122, 0.1026, -8.8821, 8.7453, 1.0965, 0.442, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5669bdbc21ea0a28fbc2ffb59744ebe25fa0246b603821f7ad429c1779e0a45b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba984e310a4ce091ac849c908f3f0a6acdab4000d54ba17e8e128c04dc3b9c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca921a48796a6ad20e4ace4fcfeb1cbf204e3506a0a1405b26812ca4c413bff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_02aceb5176981c56016ab4395989dc87d0ab6ef3105a4819eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.373,\"right_z\":0.105},\"note\":\"The right gripper is above the middle area, but the white bowl appears left of its fingertip column. I’ll shift toward the white bowl while staying above both it and the nearby pink one.\"}",
  "call_id": "call_WJQU3ujiATsp3IEl4W9UROqK",
  "id": "fc_02aceb5176981c56016ab4395acf5087d0ba179a1a5e9418b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WJQU3ujiATsp3IEl4W9UROqK",
  "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]: [-0.1356, 1.1046, 0.8825, -0.7712, -0.2024, -0.0715, 0.0165, 1.0138, 2.0697, 1.5726, -0.6109, 0.6163, 0.6369, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0 left_z=0.1489 left_yaw=0.0738 left_pitch=-0.4013 left_roll=0.1463 left_gripper=0.0165 right_x=0.3405 right_y=0.3603 right_z=0.0882 right_yaw=0.1245 right_pitch=-0.2577 right_roll=-0.1479 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -3.0017, 6.6667, 1.3651, -0.1685, -0.0562, -0.0122, 0.2393, -11.6718, 9.4838, 1.1551, 0.4567, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25edff7b86f5a57d7e55f52a23fec30b2b3c11d369ecbdfad6b91c7e6a303d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b0a964033fc00777efc4777de4dd5e184fbb8698ef5c6cc5ff9b4da5df88fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54a9a6aa7f4cc65881413fb12b8af1854beae77a3d4f6f3e14b240281609c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 4.504 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0954, 0.8841, -0.7563, -0.2024, -0.0715, 0.0165, 0.4576, 1.3766, 0.4816, 0.1452, 0.3046, 0.1692, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1539 left_yaw=0.0717 left_pitch=-0.3763 left_roll=0.1406 left_gripper=0.0165 right_x=0.3303 right_y=0.1076 right_z=0.055 right_yaw=0.104 right_pitch=-0.14 right_roll=-0.0704 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.0838, 6.6393, 1.2772, -0.1343, -0.0611, -0.0122, -0.1709, -3.0701, 5.5863, 1.6532, -0.0073, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1015, 0.8829, -0.7673, -0.2024, -0.0711, 0.0165, 0.9737, 1.8511, 1.401, -0.5739, 0.6136, 0.6189, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1503 left_yaw=0.073 left_pitch=-0.3942 left_roll=0.1449 left_gripper=0.0165 right_x=0.3349 right_y=0.318 right_z=0.13 right_yaw=0.1112 right_pitch=-0.2069 right_roll=-0.0929 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.494, 6.694, 1.4286, -0.1197, 0.0073, -0.0122, 0.1026, -8.8821, 8.7453, 1.0965, 0.442, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7712, -0.2024, -0.0715, 0.0165, 1.0138, 2.0697, 1.5726, -0.6109, 0.6163, 0.6369, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0 left_z=0.1489 left_yaw=0.0738 left_pitch=-0.4013 left_roll=0.1463 left_gripper=0.0165 right_x=0.3405 right_y=0.3603 right_z=0.0882 right_yaw=0.1245 right_pitch=-0.2577 right_roll=-0.1479 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -3.0017, 6.6667, 1.3651, -0.1685, -0.0562, -0.0122, 0.2393, -11.6718, 9.4838, 1.1551, 0.4567, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25edff7b86f5a57d7e55f52a23fec30b2b3c11d369ecbdfad6b91c7e6a303d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b0a964033fc00777efc4777de4dd5e184fbb8698ef5c6cc5ff9b4da5df88fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54a9a6aa7f4cc65881413fb12b8af1854beae77a3d4f6f3e14b240281609c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_02aceb5176981c56016ab4395d16e487d08c83231c1372a4f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.354,\"right_y\":0.398,\"right_z\":0.041},\"note\":\"The white bowl’s edge is now close to the gripper’s working line, but its center is still a little left. I’ll make a final small centering move and descend with the jaws fully open.\"}",
  "call_id": "call_cveEI7GCljIv7uncBpJwBcHx",
  "id": "fc_02aceb5176981c56016ab4395ed7ac87d0b84c773972f7e50b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cveEI7GCljIv7uncBpJwBcHx",
  "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]: [-0.1356, 1.1046, 0.8825, -0.7738, -0.2024, -0.0715, 0.0165, 1.0191, 2.0876, 1.5978, -0.6182, 0.6163, 0.6407, 0.9958]\nstate[eef_state]: left_x=0.2884 left_y=0.0001 left_z=0.1485 left_yaw=0.0741 left_pitch=-0.4039 left_roll=0.1469 left_gripper=0.0165 right_x=0.341 right_y=0.3661 right_z=0.0876 right_yaw=0.1277 right_pitch=-0.2574 right_roll=-0.1452 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.1658, 6.6393, 1.2527, -0.149, -0.0757, -0.0122, -0.4718, -11.9863, 8.8821, 1.2527, 0.4567, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9ad4c06fdc39c80183447cc012af920ac9d7182e0482dd8283f437ecc4057d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27770b974694172db71202847f2feea8b73e47e6245f4e411531f8a394d04209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2036f207bbb8051418364542882a7916899fa191c56cc17e0e533ff86d3a6a92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 3.162 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 132 changed as sent

message 141 changed as sent

message 145 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.0962, 0.8841, -0.7563, -0.2028, -0.0715, 0.0165, 0.3038, 1.4117, 0.371, 0.2684, 0.215, 0.0807, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0003 left_z=0.1537 left_yaw=0.0721 left_pitch=-0.377 left_roll=0.1411 left_gripper=0.0165 right_x=0.3229 right_y=0.0655 right_z=0.0225 right_yaw=0.0721 right_pitch=-0.1832 right_roll=-0.0838 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -3.1521, 6.6393, 1.2576, -0.1636, -0.022, -0.0171, -0.1299, -3.7949, 5.6547, 1.873, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7712, -0.2024, -0.0715, 0.0165, 1.0138, 2.0697, 1.5726, -0.6109, 0.6163, 0.6369, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0 left_z=0.1489 left_yaw=0.0738 left_pitch=-0.4013 left_roll=0.1463 left_gripper=0.0165 right_x=0.3405 right_y=0.3603 right_z=0.0882 right_yaw=0.1245 right_pitch=-0.2577 right_roll=-0.1479 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -3.0017, 6.6667, 1.3651, -0.1685, -0.0562, -0.0122, 0.2393, -11.6718, 9.4838, 1.1551, 0.4567, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7738, -0.2024, -0.0715, 0.0165, 1.0191, 2.0876, 1.5978, -0.6182, 0.6163, 0.6407, 0.9958]\nstate[eef_state]: left_x=0.2884 left_y=0.0001 left_z=0.1485 left_yaw=0.0741 left_pitch=-0.4039 left_roll=0.1469 left_gripper=0.0165 right_x=0.341 right_y=0.3661 right_z=0.0876 right_yaw=0.1277 right_pitch=-0.2574 right_roll=-0.1452 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.1658, 6.6393, 1.2527, -0.149, -0.0757, -0.0122, -0.4718, -11.9863, 8.8821, 1.2527, 0.4567, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9ad4c06fdc39c80183447cc012af920ac9d7182e0482dd8283f437ecc4057d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27770b974694172db71202847f2feea8b73e47e6245f4e411531f8a394d04209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2036f207bbb8051418364542882a7916899fa191c56cc17e0e533ff86d3a6a92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_02aceb5176981c56016ab439611ef087d0b68211e926837604",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right arm has stopped short of the white bowl at this cross-over reach, so forcing the same target would not help. I’ll park it and use the left arm, which has a better approach to the center of the table.\"}",
  "call_id": "call_JM4nMT5J8gzV7j207GPwnxBz",
  "id": "fc_02aceb5176981c56016ab43963871087d08cf1f71ed7110597",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JM4nMT5J8gzV7j207GPwnxBz",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1072, 0.8822, -0.7811, -0.2024, -0.0715, 0.0165, 0.0048, 0.8024, 0.6037, -0.374, 0.057, 0.0174, 0.9958]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1467 left_yaw=0.075 left_pitch=-0.414 left_roll=0.1493 left_gripper=0.0165 right_x=0.2958 right_y=-0.0051 right_z=0.1789 right_yaw=-0.0565 right_pitch=-0.0021 right_roll=-0.0071 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -3.2615, 6.6667, 1.3504, -0.1245, -0.0317, -0.0171, -0.0342, -1.6068, 6.9949, 1.7216, -0.1343, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e815735a0f3919e02c53470a7c17bd1fb55abcda554ad0767088361c21759137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee09f16c0fa9f5ae773f42eef3d6e36d1addffecb7288eb8c289ee5ba1043266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b075303189c4a5d94f09db9463c9b017751b9a4dd144157ee159f21050ddb2ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.678 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1015, 0.8829, -0.7673, -0.2024, -0.0711, 0.0165, 0.9737, 1.8511, 1.401, -0.5739, 0.6136, 0.6189, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1503 left_yaw=0.073 left_pitch=-0.3942 left_roll=0.1449 left_gripper=0.0165 right_x=0.3349 right_y=0.318 right_z=0.13 right_yaw=0.1112 right_pitch=-0.2069 right_roll=-0.0929 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.494, 6.694, 1.4286, -0.1197, 0.0073, -0.0122, 0.1026, -8.8821, 8.7453, 1.0965, 0.442, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7738, -0.2024, -0.0715, 0.0165, 1.0191, 2.0876, 1.5978, -0.6182, 0.6163, 0.6407, 0.9958]\nstate[eef_state]: left_x=0.2884 left_y=0.0001 left_z=0.1485 left_yaw=0.0741 left_pitch=-0.4039 left_roll=0.1469 left_gripper=0.0165 right_x=0.341 right_y=0.3661 right_z=0.0876 right_yaw=0.1277 right_pitch=-0.2574 right_roll=-0.1452 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.1658, 6.6393, 1.2527, -0.149, -0.0757, -0.0122, -0.4718, -11.9863, 8.8821, 1.2527, 0.4567, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1072, 0.8822, -0.7811, -0.2024, -0.0715, 0.0165, 0.0048, 0.8024, 0.6037, -0.374, 0.057, 0.0174, 0.9958]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1467 left_yaw=0.075 left_pitch=-0.414 left_roll=0.1493 left_gripper=0.0165 right_x=0.2958 right_y=-0.0051 right_z=0.1789 right_yaw=-0.0565 right_pitch=-0.0021 right_roll=-0.0071 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -3.2615, 6.6667, 1.3504, -0.1245, -0.0317, -0.0171, -0.0342, -1.6068, 6.9949, 1.7216, -0.1343, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e815735a0f3919e02c53470a7c17bd1fb55abcda554ad0767088361c21759137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee09f16c0fa9f5ae773f42eef3d6e36d1addffecb7288eb8c289ee5ba1043266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b075303189c4a5d94f09db9463c9b017751b9a4dd144157ee159f21050ddb2ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlq4Tn4RSXanNVxH4wXBFfxVmbnMYVyjN_hNJ0xIV5gid4wV2eapPolq8u-bGXdyfFvDoQEHrrReXWZs0NQ_93CxRZ55m71yeva7tAbqlA1JOcDaCBM1f_30zmll8MPo_wTLuzoX7IB9l_WQI0panAcQVdXrzF20X2LQ1ts4oXIK-rlPx-_Q3Xvv5jp-1NUtd--fgDHNFTGd_JTE-72tDgnMWFBZEa2PTW-eSBaCpizHevMo1HNhcZqJRmUpEF2e8eLNVbg4wna3R3AQhfI3x0tn08zmdEXsqlrIrIKk5MGXw2GgMdFwOj-GgLqUH5QLk0iS5Rs3ZTdC14LeXF1TuS_OsjHf25phHa-QKmJhq6y10temfqjZID-vqSaWOi8kAPsDXGYIltnZDpLcIC2AGg-dCy0gLifY_rgwOwjzmjQwE9Ki9_4oFfhZcsOKj0ISYiPNnj_qTfPdfcL_D8bXzVB690T23e9nusXv2is9rwoIVIWP-zNM8dGc_3c08CcS-PFh4ry80Ax6i_YqHXuSBXsk_22iU8WG07tO4qUXPlwwQgWELc2JiS0fXwe8osYF_PHLQPgKdpi-Kn1AmJ2niGa-ShXEUbionWIelc9glj-EBRd9-cqD9nFsVaC43zheE6hrEG2fsau1NBFuj_Oa-OUVxqOmkzpD92LP51Kvh-Km2kyT7lVMVPaq-QlBLj1DwCF3jSiDY87GQ4EHW3pFHZ_gIOdZgIVs997kBj6DLrf_GOcD1QOF3sfPlyTBScvtinZCsnbpoJqd8M8op52IEkXe1y7ecH-_6BlYaNJ5A-Q6o4NJ7UJx31WDZDHJbWJOQyWHX035yCBW535UuNospdn1klZCj0W6fw8G_b1CWUQ-nJaudc1PJw3gT7Ho4IiONmmwm61n6vdz0BOSRO-44oq_quZAKIP39RO5_RQerKhAKyH5pjmSdpVp6Uyc4bW4uuN18SdZstuAvuUpc8vJoPB97e2WPBp9AXBgUByzNnoSjUZE0tC92NKLMG6RXvSHVi1OL17nY4WjnxDwzkZiOv1RJxQ65z1xhr_Ri0lFfOjHTUcjTfIWadA57yOaBTxvZKO3icKZyBtf4OX2HaQA3IQQIGWmnO1e-8c9FVGZ9w6DrbTbkdRwc7E0-MoWeIqtODuMEGEQ8nt7LNlx4CyT4TqkUmMKAYdd41kBuOjK0YitjI8mKwVQ_BAYRK1p5J-JY1lfIdh6pcgSGdoUOpF1r64RBt50QM8a7k2iPzCfR0vNJk579VzD2WM56DYtINutFVuE5LxnWpXl4VndJtmRxu6IiHfRpkspzF53k-JWj0-MNG68jpbUqlswZvgt7zu51tpoAZZdATtjG5381N8RSsD5iItS83tFH5dWtJgUxGHzFHaxeALp9O1FlC2IYUzA8ZNNXWHD-mlhIS9i869AJNdrZQZJer04C3Evq6P_Xr4HTvPZFJwQxOD-L5LcXcEZs8EZBNFUkOh5GiJqp3jYsTXBHj47NB4Q3Z5gTubdqIABqYcPwZsqXqKpXSfl0XFF67hXDUAOXMBNRlEtLTBayZhba8tJXHIV-_YOxBuJiSQNZ1WFiFSkKDANgDF2VaoK3AcMaQZNLINAeUaXBfdtt2Ol-O8MRphO3qw2MzemeLhD148K82eG_HSqE9tRcM56L5Z9C7jsr8kd7KuaYdxgzm7jZro8wuP1R4KQxiHIvi8-JVvkEQCw6WBSj19eqaegrQVsIaVhtB5GOSFcDuALD_iQ8i5qQYu0ySaKu8vxf9PxpYRu76Rzcja161RVqL0y-0x7w-4RXTaile_zBrYkxN6qUJ39vB3ecSOHIVGlcF6Lzo112ZUUrtiW58h8oJI648U",
  "id": "rs_02aceb5176981c56016ab43968784087d0b292580cf72d6fad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.28,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"With the right arm parked, the white bowl is unobstructed in the overhead view. I’ll open and straighten the left gripper, then bring it above the bowl for a fresh alignment check.\"}",
  "call_id": "call_SlFZ1VtK6o7zV5X5VPjaq4vE",
  "id": "fc_02aceb5176981c56016ab43969fa5487d094d7b1ca6e0fc745",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SlFZ1VtK6o7zV5X5VPjaq4vE",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9436, 1.7893, 1.166, -0.3416, -0.7696, -0.754, 0.9975, 0.0048, 0.8047, 0.5999, -0.3916, 0.0441, 0.0006, 0.9958]\nstate[eef_state]: left_x=0.3509 left_y=-0.2685 left_z=0.1137 left_yaw=0.0618 left_pitch=-0.0601 left_roll=0.0388 left_gripper=0.9975 right_x=0.2932 right_y=-0.0028 right_z=0.1728 right_yaw=-0.0365 right_pitch=-0.0262 right_roll=-0.0151 right_gripper=0.9958\nstate[joint_eff]: [-0.5675, -8.5538, 9.0051, 1.4139, -0.6618, -0.0171, -0.0904, -0.1299, -1.5111, 7.5419, 1.8681, 0.0952, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af737ea53c90222ddfdea90265a678558e33408aaee1ba608cdd3219f75e8c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2961b1f930da9d646547bfc9598d6f7cc8c3315a4e228c1fcc0c3b9d6ef20745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce16406a4a7a702dc3f7c11d691828837debea09be9e115ba7a4d24e4e84d78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.354 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7712, -0.2024, -0.0715, 0.0165, 1.0138, 2.0697, 1.5726, -0.6109, 0.6163, 0.6369, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0 left_z=0.1489 left_yaw=0.0738 left_pitch=-0.4013 left_roll=0.1463 left_gripper=0.0165 right_x=0.3405 right_y=0.3603 right_z=0.0882 right_yaw=0.1245 right_pitch=-0.2577 right_roll=-0.1479 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -3.0017, 6.6667, 1.3651, -0.1685, -0.0562, -0.0122, 0.2393, -11.6718, 9.4838, 1.1551, 0.4567, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1072, 0.8822, -0.7811, -0.2024, -0.0715, 0.0165, 0.0048, 0.8024, 0.6037, -0.374, 0.057, 0.0174, 0.9958]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1467 left_yaw=0.075 left_pitch=-0.414 left_roll=0.1493 left_gripper=0.0165 right_x=0.2958 right_y=-0.0051 right_z=0.1789 right_yaw=-0.0565 right_pitch=-0.0021 right_roll=-0.0071 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -3.2615, 6.6667, 1.3504, -0.1245, -0.0317, -0.0171, -0.0342, -1.6068, 6.9949, 1.7216, -0.1343, -0.0562, -0.0073]\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 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9436, 1.7893, 1.166, -0.3416, -0.7696, -0.754, 0.9975, 0.0048, 0.8047, 0.5999, -0.3916, 0.0441, 0.0006, 0.9958]\nstate[eef_state]: left_x=0.3509 left_y=-0.2685 left_z=0.1137 left_yaw=0.0618 left_pitch=-0.0601 left_roll=0.0388 left_gripper=0.9975 right_x=0.2932 right_y=-0.0028 right_z=0.1728 right_yaw=-0.0365 right_pitch=-0.0262 right_roll=-0.0151 right_gripper=0.9958\nstate[joint_eff]: [-0.5675, -8.5538, 9.0051, 1.4139, -0.6618, -0.0171, -0.0904, -0.1299, -1.5111, 7.5419, 1.8681, 0.0952, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af737ea53c90222ddfdea90265a678558e33408aaee1ba608cdd3219f75e8c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2961b1f930da9d646547bfc9598d6f7cc8c3315a4e228c1fcc0c3b9d6ef20745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce16406a4a7a702dc3f7c11d691828837debea09be9e115ba7a4d24e4e84d78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlwPCUHL0YK5NDLk3vC9-XdgGrALXUaVlC_4ppAe3Ff-iSzq5fGUyOuusPt4XdpYtULzVVpfxmIQMlF_4kWSBXXM23BRzUKzp0xoLyhd3E1cZfErt0sU08WBUUFhuBXJ-_4CgvVNGBLcnmBEDvy9_6DOpbBaOmRjrAL-Eq2JW6l5Zkqy3NfWJXpAf5WoouSrv5GbNrrqeEY0gh1rRWpDk5QwQqR3Pv1OcgsrqoXRenUP34Pert5iX_lRcUdZYzx0SimB78nCBGaFOwOeysD7NSgOA5Xjkdw6GctImpOZnc6A_CSOYoIi116z-9cdj63DbgMtCuLYH1XHX5DbEHTv7DAL3QUDWoLOgHTIazOL5vL9snWtYg4_TquV72fRXK14PCptZH9tGTKwxIYsF4jP6A-2CfIzl27LltP7aY1p_Y2fQCzkR6XdwpJq-GDCsLSqMp8CdNWCuTshb0DbKBMys1K1zZa6i6uxbG8hkfyx8ghSCkl4U2laR-SormB3spmmtKWgIiZ3AdYwRjJh6vmGupmfiScLXKgntsDdBKZPDHIduzTKZvx2xgczwgKdfAkBG-gKYcoJE_ek2gpFPr5JRJqijOruQKWPBSmuFF2AQnbACFc4etml2NjT3Im9iS60PWv1arNqzUJk4-zBRQpzOtTSkTE8G5rQfiy4uKqIv4_rquHu1mxBwYtK5b6K4L-n7l3t4r1eSCbJDXiQkZ232UwsqVjHy88b8VH0Z4IE0NpJsoDb6V71MgqgdD-YI5G5--NywuInJhIxaTBXQj5VeBYK_QyTyrWemL83xosdkPe-hZPcbvxjKnwjdX1Rx3O4MgYsiWxm_nSSAYX1AnMne25DPrrm_pDRhJZ0_fV6BwPGsXhBhU-2vr5G9mrLNQVDlTd6UAniJgzcgNxMESjAdDP6EwXVhkJr0mqVikAaBpM10f8hU3B-N9Gy_bVzjZF1VnjUoLwhkFrmNt6A_JkTjr8TZBSwFuOhucaFTyH6ExYxKYMh6YRyJCP05obLUsYHzIaxWMCwQ6rDNtq0mBayrIggLlIIlUL8Cl3kv3HR8Fkl3F1S_M7wIqROmDdOymGcjNRmhF_RlTkWCyx9p9D5d0c89anNe8ItMySH3iK4EVmJJO4_5P354PPygcgP9zpa91-O7UwYo8g7ywmKBFIyT57Kop_D86rYhWce-0JmpCkxCRMbhXZeFZpR-na3SEUjxaAdTKiAgSIRW4_xxGe7BCIW_5q5t_pWil6eOcSeDf8TDFH3Zww9guSrXDIq6rqZ_pK8GHW4vdhGKQj3hRfqbjOi3ghEy3GC2zjv6Kctq2Q64oEdhPnutd3xJTzxk_4AMZwPHfI-19b_YQ1Wj4nXs2_K8kty5zrerHkKgZWStSM7BxESDy6y0pkHnqmw5aSbiVjiH1DuEsTDi43GCRNMX4nk_gd1iQBqqNdKza6yQFbl-lgjy8HcCSsSqUjnrl5fHXpMypOOM7eoZCBKMVc8Hd4HG_-FSbHhdhIqYXK_wwLxb5YKMGzDf_gbGDH4mHqMt6Gv2bSFLljv3zcN6LRSou8vHE40uqW5e9eB4QrF2lVg6t7st__34P7QhskJCakoQCBcPYccrdww4q2eCmSKpz-El-Xt30feEgKKHQiM1r0j32XH2ZBkDsXUTcnYk27MddwEOTo22Ly1Zurjl5abADFnaxgtCoFOy5GEOe2OynIk43UILIz5jNbNOKwHKrFGu_dZfWpq1ysDMIqGLwhRdJlx00257GAVAHa_WZlkO5y-iEr8Nd77E_HX9jv9nW36NjOb0okkJ7F9slFD5jYCAPuUm1cvWJQ0ujewPb48Sxe9iSpP6rwi7YK0AxL_NrODa5QEmMWAaw02P1T1XFE19rJk38bQB-8sHvFWdTQ-TlW4xUjY3uQFH3ctZzbwBXb0uQib5cEOYhyEAM72QQrqLKRCKWxOixbD2g8AVcNk1dV2sOCBkr3u2iqNlII3L97kQXyw5jZCeXR1jrCDyUg8q8g4SHRXH5AWAp9LINT7WM4kuHu7D_FMmslEDGiKKYRu-HphLxgLhIfp3S5dfHZlJK7G31q9Z9pv-O1hTBYq2KbL4VwO9kY_QFJZqfnhF04vpOjKXEcIp89fOCc6r010l-yCP3_H4AofTPIgeCox4jFbx4=",
  "id": "rs_02aceb5176981c56016ab4396e4a8887d0b54b37425d7c8123",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.371,\"left_y\":-0.225,\"left_z\":0.085},\"note\":\"The white bowl is in front of the left gripper but offset to its left in the wrist view. I’ll shift toward its center and lower slightly while leaving the jaws fully open.\"}",
  "call_id": "call_sKh9fvu8KLdyXO2Wpbpf42gA",
  "id": "fc_02aceb5176981c56016ab4396ffc8887d09b27f5ed9a7ebe7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sKh9fvu8KLdyXO2Wpbpf42gA",
  "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]: [-0.8234, 1.7851, 0.9943, -0.1799, -0.7177, -0.6662, 0.9986, 0.0048, 0.8051, 0.5999, -0.3927, 0.0437, -0.0006, 0.9958]\nstate[eef_state]: left_x=0.3637 left_y=-0.2163 left_z=0.0705 left_yaw=0.1034 left_pitch=-0.1021 left_roll=0.0891 left_gripper=0.9986 right_x=0.2931 right_y=-0.0027 right_z=0.1725 right_yaw=-0.0356 right_pitch=-0.0278 right_roll=-0.0159 right_gripper=0.9958\nstate[joint_eff]: [-0.8274, -10.8103, 6.3248, 1.4579, -0.3053, 0.1636, 0.1001, -0.0479, -1.306, 7.0632, 1.746, -0.0073, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e6c85973dd648d50782212687143fdea1df30d6c4e863ebf83b1d9928307dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b353b0211648a7dac9da4a589b749e9e33785ff0a1afe3f31e8c041e778366e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8764d11c9c614a9587d1e13cf7ef4b013e7f59a57350aba0fdac73a21dd93a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 8.091 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1356, 1.1046, 0.8825, -0.7738, -0.2024, -0.0715, 0.0165, 1.0191, 2.0876, 1.5978, -0.6182, 0.6163, 0.6407, 0.9958]\nstate[eef_state]: left_x=0.2884 left_y=0.0001 left_z=0.1485 left_yaw=0.0741 left_pitch=-0.4039 left_roll=0.1469 left_gripper=0.0165 right_x=0.341 right_y=0.3661 right_z=0.0876 right_yaw=0.1277 right_pitch=-0.2574 right_roll=-0.1452 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.1658, 6.6393, 1.2527, -0.149, -0.0757, -0.0122, -0.4718, -11.9863, 8.8821, 1.2527, 0.4567, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9436, 1.7893, 1.166, -0.3416, -0.7696, -0.754, 0.9975, 0.0048, 0.8047, 0.5999, -0.3916, 0.0441, 0.0006, 0.9958]\nstate[eef_state]: left_x=0.3509 left_y=-0.2685 left_z=0.1137 left_yaw=0.0618 left_pitch=-0.0601 left_roll=0.0388 left_gripper=0.9975 right_x=0.2932 right_y=-0.0028 right_z=0.1728 right_yaw=-0.0365 right_pitch=-0.0262 right_roll=-0.0151 right_gripper=0.9958\nstate[joint_eff]: [-0.5675, -8.5538, 9.0051, 1.4139, -0.6618, -0.0171, -0.0904, -0.1299, -1.5111, 7.5419, 1.8681, 0.0952, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8234, 1.7851, 0.9943, -0.1799, -0.7177, -0.6662, 0.9986, 0.0048, 0.8051, 0.5999, -0.3927, 0.0437, -0.0006, 0.9958]\nstate[eef_state]: left_x=0.3637 left_y=-0.2163 left_z=0.0705 left_yaw=0.1034 left_pitch=-0.1021 left_roll=0.0891 left_gripper=0.9986 right_x=0.2931 right_y=-0.0027 right_z=0.1725 right_yaw=-0.0356 right_pitch=-0.0278 right_roll=-0.0159 right_gripper=0.9958\nstate[joint_eff]: [-0.8274, -10.8103, 6.3248, 1.4579, -0.3053, 0.1636, 0.1001, -0.0479, -1.306, 7.0632, 1.746, -0.0073, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e6c85973dd648d50782212687143fdea1df30d6c4e863ebf83b1d9928307dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b353b0211648a7dac9da4a589b749e9e33785ff0a1afe3f31e8c041e778366e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8764d11c9c614a9587d1e13cf7ef4b013e7f59a57350aba0fdac73a21dd93a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_02aceb5176981c56016ab4397233c887d0b5710d17e73ffb8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.193,\"left_z\":0.028},\"note\":\"The white bowl nearly fills the opening, but its center is still slightly left of the fingertip column. I’ll make a small centering correction and descend toward its lower, narrower sides.\"}",
  "call_id": "call_ezxyEvE2fTG7spn2b60qUn2z",
  "id": "fc_02aceb5176981c56016ab4397352c087d098f4d2a41921fab0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ezxyEvE2fTG7spn2b60qUn2z",
  "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]: [-0.8104, 1.7901, 0.9409, -0.1108, -0.704, -0.6441, 0.9987, 0.0048, 0.8082, 0.5976, -0.3927, 0.0437, -0.001, 0.9958]\nstate[eef_state]: left_x=0.3623 left_y=-0.2098 left_z=0.0578 left_yaw=0.095 left_pitch=-0.1058 left_roll=0.091 left_gripper=0.9987 right_x=0.2929 right_y=-0.0027 right_z=0.1706 right_yaw=-0.0354 right_pitch=-0.0331 right_roll=-0.0165 right_gripper=0.9958\nstate[joint_eff]: [0.0479, -7.5829, 5.8188, 1.3651, -0.4322, -0.0562, -0.0024, -0.1846, -1.5111, 7.2137, 1.7411, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a84d392e356d321e058751dba459f914e3c4f3f4bfd2db90b23c617b4b4948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f697a84cc36085de2cb980a992e99aef0c0c8d2766382ce8c48f476c160c3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558f61caadb7e20501ce177172949bf03b70a9c44948b33fbfc6e1ca093bf869",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]