adhoc - adhoc_76ec55e9.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: 215.2 s
total steps: 330

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 are spaced across the far half of the table; I’ll move the left gripper above the left bowl to line up a side grasp.

move_to

left_x0.4200left_y-0.1800left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3794, -0.0223, -0.0196, 0.9995, -0.0219, 0.7929, 0.6029, -0.3786, -0.0135, -0.02, 0.9974] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1806 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2948 right_y=-0.0005 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974 state[joint_eff]: [-0.4171, -1.6205, 9.9897, 1.7509, -0.0073, 0.0269, -0.0611, -0.5265, -1.3744, 10.1538, 1.9121, -0.1148, 0.0464, -0.2808] 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":0.42,"left_y":-0.18,"left_z":0.15,"left_gripper":1},"note":"Three bowls are spaced across the far half of the table; I’ll move the left gripper above the left bowl to line up a side grasp."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe left gripper is just beyond and to the right of the teal bowl, which is low and left in its wrist view. I’ll shift a few centimetres back and left before descending.

move_to

left_x0.3900left_y-0.1500left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5926, 1.6085, 0.9871, -0.0898, -0.4789, -0.3565, 0.9996, -0.0219, 0.7975, 0.6037, -0.3897, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.4091 left_y=-0.173 left_z=0.134 left_yaw=-0.0134 left_pitch=-0.0494 left_roll=0.0214 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1769 right_yaw=0.0028 right_pitch=-0.0148 right_roll=0.0017 right_gripper=0.9972 state[joint_eff]: [-0.335, -7.8564, 8.6085, 1.6825, -0.3492, 0.1148, -0.0611, -0.2256, -1.5658, 6.9812, 1.7949, -0.0122, -0.0513, -0.0269] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.12},"note":"The left gripper is just beyond and to the right of the teal bowl, which is low and left in its wrist view. I’ll shift a few centimetres back and left before descending."})

tool

executing move_to over 3 steps (0.3s)

step 20

assistant

agent noteThe teal bowl now sits nearly between the open jaws in the overhead view. I’ll lower the gripper to its sidewall height, keeping the horizontal alignment fixed.

move_to

left_z0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5713, 1.5532, 0.8539, -0.0475, -0.4675, -0.3561, 0.9995, -0.0216, 0.8005, 0.6003, -0.3923, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3888 left_y=-0.151 left_z=0.1096 left_yaw=0.0001 left_pitch=-0.0833 left_roll=0.0346 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1739 right_yaw=0.0032 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9972 state[joint_eff]: [0.4034, -8.5538, 7.5829, 1.9023, -0.1587, 0.149, -0.022, -0.0068, -1.1419, 7.3641, 1.8291, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.045},"note":"The teal bowl now sits nearly between the open jaws in the overhead view. I’ll lower the gripper to its sidewall height, keeping the horizontal alignment fixed."})

tool

executing move_to over 5 steps (0.5s)

step 25

assistant

agent noteAt bowl height, the teal bowl is still left of the jaw centre in the wrist view. I’ll make a small sideways correction before closing.

move_to

left_y-0.1250left_x0.3900left_z0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5694, 1.7042, 0.7265, 0.165, -0.466, -0.3603, 0.9995, -0.0219, 0.804, 0.5999, -0.3927, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3804 left_y=-0.145 left_z=0.0387 left_yaw=0.0071 left_pitch=-0.1392 left_roll=0.0665 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9972 state[joint_eff]: [-0.2256, -7.3915, 5.4632, 1.7021, -0.2466, -0.0073, -0.0122, -0.1983, -1.4564, 7.0906, 1.707, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.125,"left_x":0.39,"left_z":0.045},"note":"At bowl height, the teal bowl is still left of the jaw centre in the wrist view. I’ll make a small sideways correction before closing."})

tool

executing move_to over 2 steps (0.2s)

step 27

assistant

agent noteThe first small correction shifted the bowl toward the jaw centre but not all the way. I’ll shift another two centimetres left to centre it before the grasp.

move_to

left_y-0.1050left_x0.3900left_z0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5304, 1.713, 0.7158, 0.2001, -0.4381, -0.3405, 0.9995, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3861 left_y=-0.1354 left_z=0.0357 left_yaw=0.0124 left_pitch=-0.1374 left_roll=0.0562 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0293 right_roll=0.002 right_gripper=0.9972 state[joint_eff]: [0.6906, -9.8393, 6.1197, 1.4725, -0.1148, 0.1099, -0.0122, -0.0889, -1.306, 7.0085, 1.7656, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.105,"left_x":0.39,"left_z":0.045},"note":"The first small correction shifted the bowl toward the jaw centre but not all the way. I’ll shift another two centimetres left to centre it before the grasp."})

tool

executing move_to over 3 steps (0.3s)

step 30

assistant

agent noteThe teal bowl’s near side is between the lowered fingertips, though the camera view is partly occluded. I’ll close gently and check the settled opening to see whether the bowl is actually gripped.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4942, 1.7016, 0.7128, 0.1806, -0.4171, -0.3149, 0.9995, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3871 left_y=-0.1232 left_z=0.0348 left_yaw=0.0191 left_pitch=-0.1556 left_roll=0.0681 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972 state[joint_eff]: [-0.5265, -8.253, 4.7248, 1.6825, -0.2027, -0.0317, -0.0122, -0.0342, -1.1282, 7.2, 1.7265, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The teal bowl’s near side is between the lowered fingertips, though the camera view is partly occluded. I’ll close gently and check the settled opening to see whether the bowl is actually gripped."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe gripper closed almost completely, so it missed the bowl. In the wrist view the bowl lies left of the jaws; I’ll reopen, lift clear, and shift toward the bowl’s centre before retrying.

move_to

left_gripper1.0000left_z0.1000left_y-0.1750left_x0.3900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4957, 1.6997, 0.7086, 0.1928, -0.4263, -0.3119, 0.0377, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3879 left_y=-0.1227 left_z=0.0365 left_yaw=0.0224 left_pitch=-0.1438 left_roll=0.0713 left_gripper=0.0377 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972 state[joint_eff]: [-0.0615, -7.1453, 6.1607, 1.3895, -0.0464, -0.0562, 0.9206, -0.0752, -1.2376, 7.0496, 1.6923, -0.0659, -0.0513, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.10,"left_y":-0.175,"left_x":0.39},"note":"The gripper closed almost completely, so it missed the bowl. In the wrist view the bowl lies left of the jaws; I’ll reopen, lift clear, and shift toward the bowl’s centre before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteWith the gripper raised, the overhead view shows it beyond and right of the teal bowl. I’ll bring the open jaws slightly toward the base and toward the bowl before the second descent.

move_to

left_x0.3600left_y-0.1400left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6308, 1.6787, 0.9386, -0.1398, -0.5034, -0.4229, 0.9947, -0.0219, 0.8093, 0.5957, -0.3965, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.386 left_y=-0.1719 left_z=0.0804 left_yaw=0.0142 left_pitch=-0.1753 left_roll=0.0813 left_gripper=0.9947 right_x=0.2924 right_y=0.0001 right_z=0.1686 right_yaw=0.0028 right_pitch=-0.0415 right_roll=0.0023 right_gripper=0.9972 state[joint_eff]: [-0.4991, -9.6068, 8.5265, 1.3944, -0.3492, 0.0513, -0.0073, -0.0205, -1.6752, 7.3368, 1.7167, -0.0415, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.14,"left_z":0.1},"note":"With the gripper raised, the overhead view shows it beyond and right of the teal bowl. I’ll bring the open jaws slightly toward the base and toward the bowl before the second descent."})

tool

executing move_to over 3 steps (0.3s)

step 53

assistant

agent noteThe teal bowl still appears left of the open jaw gap in the wrist camera. I’ll move the raised gripper several centimetres left so the bowl comes between the jaws rather than under one fingertip.

move_to

left_x0.3600left_y-0.0700left_z0.0950

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6022, 1.5349, 0.8379, -0.1997, -0.4877, -0.4084, 0.9957, -0.0216, 0.812, 0.5953, -0.3977, -0.0166, -0.0204, 0.9972] state[eef_state]: left_x=0.3605 left_y=-0.143 left_z=0.088 left_yaw=0.0251 left_pitch=-0.1968 left_roll=0.0923 left_gripper=0.9957 right_x=0.2923 right_y=0.0002 right_z=0.1674 right_yaw=0.0032 right_pitch=-0.0457 right_roll=0.0025 right_gripper=0.9972 state[joint_eff]: [0.2256, -6.7761, 7.0769, 1.6581, -0.0952, 0.0806, 0.0855, -0.0615, -0.9778, 7.0496, 1.7656, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.07,"left_z":0.095},"note":"The teal bowl still appears left of the open jaw gap in the wrist camera. I’ll move the raised gripper several centimetres left so the bowl comes between the jaws rather than under one fingertip."})

tool

executing move_to over 7 steps (0.7s)

step 60

assistant

agent noteThe left arm is not tracking the sideways adjustment well, so I’ll park it and approach the pink bowl with the right arm. The right gripper has a clear path to that bowl.

move_to

left_x0.2950left_y0.0000left_z0.1800right_x0.3700right_y0.1500right_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5888, 1.499, 0.8318, -0.2058, -0.4877, -0.4084, 0.9957, -0.0219, 0.812, 0.5953, -0.4114, -0.0166, -0.02, 0.9972] state[eef_state]: left_x=0.3606 left_y=-0.137 left_z=0.0977 left_yaw=0.0358 left_pitch=-0.1776 left_roll=0.0782 left_gripper=0.9957 right_x=0.2903 right_y=0.0002 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0595 right_roll=0.0031 right_gripper=0.9972 state[joint_eff]: [-0.335, -6.694, 6.5709, 1.3553, -0.1685, 0.1734, -0.0024, -0.1436, -1.2923, 7.1179, 1.79, -0.0708, -0.0073, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"right_x":0.37,"right_y":0.15,"right_z":0.14},"note":"The left arm is not tracking the sideways adjustment well, so I’ll park it and approach the pink bowl with the right arm. The right gripper has a clear path to that bowl."})

tool

executing move_to over 13 steps (1.3s)

step 73

assistant

agent noteThe pink bowl is nearly in the right gripper’s opening but a little to the camera’s right. I’ll make a small sideways correction and lower partway before the final grasp.

move_to

right_y0.1250right_x0.3550right_z0.0700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9573, 0.7506, -0.5659, -0.1978, -0.0925, 0.9957, 0.5625, 1.4086, 0.8021, -0.1745, 0.4107, 0.3157, 0.9972] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1666 left_yaw=0.0859 left_pitch=-0.1877 left_roll=0.0742 left_gripper=0.9957 right_x=0.3552 right_y=0.1448 right_z=0.119 right_yaw=0.0454 right_pitch=-0.1339 right_roll=-0.0376 right_gripper=0.9972 state[joint_eff]: [0.2803, -2.6872, 10.2222, 1.6239, -0.0073, 0.1197, -0.0073, 0.1299, -5.9419, 9.1829, 1.79, 0.3736, 0.1783, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.125,"right_x":0.355,"right_z":0.07},"note":"The pink bowl is nearly in the right gripper’s opening but a little to the camera’s right. I’ll make a small sideways correction and lower partway before the final grasp."})

tool

executing move_to over 4 steps (0.4s)

step 77

assistant

agent noteThe pink bowl is centred between the right jaws at sidewall height. I’ll close now and use the remaining jaw opening to determine whether the grip holds.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9611, 0.7528, -0.5869, -0.1844, -0.0792, 0.9957, 0.5007, 1.4612, 0.6373, -0.017, 0.3779, 0.2836, 0.9972] state[eef_state]: left_x=0.2939 left_y=-0.0003 left_z=0.1626 left_yaw=0.0682 left_pitch=-0.2122 left_roll=0.0791 left_gripper=0.9957 right_x=0.3435 right_y=0.1178 right_z=0.0609 right_yaw=0.0224 right_pitch=-0.199 right_roll=-0.0695 right_gripper=0.9972 state[joint_eff]: [-0.1162, -2.5504, 6.8034, 1.6923, -0.2515, -0.1441, -0.0073, -0.3077, -5.2855, 6.7487, 1.8535, 0.0904, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pink bowl is centred between the right jaws at sidewall height. I’ll close now and use the remaining jaw opening to determine whether the grip holds."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteThe right gripper closed empty while its tips appeared over the bowl’s interior, suggesting it was above the narrower sidewall. I’ll reopen and lower to the bowl’s lower side before retrying.

move_to

right_gripper1.0000right_z0.0150

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9611, 0.7528, -0.5903, -0.1837, -0.0784, 0.9958, 0.4961, 1.4727, 0.6224, 0.0574, 0.3576, 0.2607, 0.0089] state[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.162 left_yaw=0.0676 left_pitch=-0.2157 left_roll=0.0798 left_gripper=0.9958 right_x=0.3498 right_y=0.1231 right_z=0.0625 right_yaw=0.0505 right_pitch=-0.1633 right_roll=-0.0513 right_gripper=0.0089 state[joint_eff]: [-0.1162, -1.9487, 6.8444, 1.5702, -0.1587, -0.0513, -0.0073, -0.0479, -6.0103, 6.4752, 1.7118, 0.1832, 0.0317, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.015},"note":"The right gripper closed empty while its tips appeared over the bowl’s interior, suggesting it was above the narrower sidewall. I’ll reopen and lower to the bowl’s lower side before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteThe right fingertips are now down alongside the pink bowl rather than high above it. I’ll close once more and check whether the jaw opening stays wider than an empty close.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9649, 0.7528, -0.5915, -0.1837, -0.0784, 0.9958, 0.4961, 1.6066, 0.5423, 0.3016, 0.3622, 0.2512, 0.9935] state[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1608 left_yaw=0.0675 left_pitch=-0.2206 left_roll=0.0808 left_gripper=0.9958 right_x=0.3543 right_y=0.1247 right_z=0.0283 right_yaw=0.054 right_pitch=-0.1351 right_roll=-0.0484 right_gripper=0.9935 state[joint_eff]: [-0.1846, -2.5915, 7.0769, 1.5409, -0.1099, -0.0122, -0.0171, -0.2667, -3.2068, 4.2735, 1.0085, 0.0806, 0.1832, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right fingertips are now down alongside the pink bowl rather than high above it. I’ll close once more and check whether the jaw opening stays wider than an empty close."})

tool

executing move_to over 10 steps (1.0s)

step 107

assistant

agent noteThe second close was empty too: both fingertips entered the pink bowl rather than catching its wall. I’ll stop trying to grip across its centre and instead approach one rim from the outer side.

move_to

right_gripper1.0000right_z0.0850right_y0.0750right_x0.3500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9653, 0.7528, -0.5953, -0.1837, -0.0784, 0.9958, 0.4961, 1.6157, 0.5411, 0.2993, 0.3573, 0.2466, 0.0094] state[eef_state]: left_x=0.2926 left_y=-0.0003 left_z=0.16 left_yaw=0.0677 left_pitch=-0.2247 left_roll=0.0816 left_gripper=0.9958 right_x=0.3527 right_y=0.1248 right_z=0.0241 right_yaw=0.0597 right_pitch=-0.1481 right_roll=-0.0542 right_gripper=0.0094 state[joint_eff]: [-0.0752, -2.2906, 6.8171, 1.5604, -0.1343, -0.0659, -0.0171, -0.2393, -6.7897, 5.2171, 1.6386, 0.1685, 0.022, 0.6618] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.085,"right_y":0.075,"right_x":0.35},"note":"The second close was empty too: both fingertips entered the pink bowl rather than catching its wall. I’ll stop trying to grip across its centre and instead approach one rim from the outer side."})

tool

executing move_to over 10 steps (1.0s)

step 117

assistant

agent noteThe pink bowl’s outer rim is now between the open fingers in the wrist view, rather than surrounding both of them. I’ll lower slightly to bring the fingertips level with that rim.

move_to

right_z0.0320right_x0.3500right_y0.0750

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9707, 0.7525, -0.5983, -0.1837, -0.0784, 0.9957, 0.3183, 1.3437, 0.548, 0.0204, 0.2352, 0.123, 0.9952] state[eef_state]: left_x=0.2923 left_y=-0.0002 left_z=0.1579 left_yaw=0.068 left_pitch=-0.2333 left_roll=0.0833 left_gripper=0.9957 right_x=0.342 right_y=0.0731 right_z=0.067 right_yaw=0.0499 right_pitch=-0.1822 right_roll=-0.066 right_gripper=0.9952 state[joint_eff]: [-0.2256, -2.7419, 7.0496, 1.5556, -0.1245, -0.0562, -0.0171, -0.2256, -5.4906, 9.2376, 1.6239, 0.0952, 0.1148, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.032,"right_x":0.35,"right_y":0.075},"note":"The pink bowl’s outer rim is now between the open fingers in the wrist view, rather than surrounding both of them. I’ll lower slightly to bring the fingertips level with that rim."})

tool

executing move_to over 3 steps (0.3s)

step 120

assistant

agent noteOne fingertip is inside and the other outside the pink bowl’s right-hand rim at low height. I’ll close on that single wall and verify the jaw opening.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9745, 0.7521, -0.6033, -0.1837, -0.0784, 0.9958, 0.3141, 1.4845, 0.5041, 0.1402, 0.223, 0.1127, 0.9958] state[eef_state]: left_x=0.2915 left_y=-0.0001 left_z=0.1559 left_yaw=0.0685 left_pitch=-0.2423 left_roll=0.0851 left_gripper=0.9958 right_x=0.3393 right_y=0.0729 right_z=0.0245 right_yaw=0.058 right_pitch=-0.2476 right_roll=-0.082 right_gripper=0.9958 state[joint_eff]: [-0.0752, -2.0444, 6.8171, 1.5116, -0.1197, -0.0171, -0.0073, 0.0479, -6.694, 6.1744, 1.7753, 0.1929, 0.0366, 0.0562] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"One fingertip is inside and the other outside the pink bowl’s right-hand rim at low height. I’ll close on that single wall and verify the jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 130

assistant

agent noteThe jaws stopped at a small opening near the pink rim, but that reading alone is inconclusive. I’ll lift a few centimetres and check whether the bowl rises with the gripper.

move_to

right_z0.1050

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9745, 0.7521, -0.6098, -0.1837, -0.0784, 0.9958, 0.3141, 1.4742, 0.503, 0.1753, 0.1978, 0.1211, 0.0302] state[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1548 left_yaw=0.0692 left_pitch=-0.2487 left_roll=0.0864 left_gripper=0.9958 right_x=0.345 right_y=0.0794 right_z=0.0327 right_yaw=0.0772 right_pitch=-0.2088 right_roll=-0.0466 right_gripper=0.0302 state[joint_eff]: [-0.1573, -2.2496, 6.8718, 1.4969, -0.1245, -0.0562, -0.0171, -0.0752, -4.3282, 5.7504, 0.7741, 0.4322, 0.0073, 1.3309] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105},"note":"The jaws stopped at a small opening near the pink rim, but that reading alone is inconclusive. I’ll lift a few centimetres and check whether the bowl rises with the gripper."})

tool

executing move_to over 5 steps (0.5s)

step 135

assistant

agent noteThe pink bowl stayed on the table during the lift, so that low pinch slipped or missed. I’ll reopen at the same outer rim but try the higher, wider part of its wall.

move_to

right_gripper1.0000right_z0.0550right_x0.3500right_y0.0850

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9764, 0.7521, -0.6106, -0.1833, -0.0784, 0.9958, 0.3141, 1.3102, 0.6491, -0.1364, 0.1955, 0.1143, 0.0395] state[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1542 left_yaw=0.0686 left_pitch=-0.2514 left_roll=0.0866 left_gripper=0.9958 right_x=0.3445 right_y=0.0796 right_z=0.09 right_yaw=0.0828 right_pitch=-0.2109 right_roll=-0.0503 right_gripper=0.0395 state[joint_eff]: [-0.1573, -2.1812, 7.0085, 1.4774, -0.0952, -0.0415, -0.0171, -0.0752, -5.8598, 9.0188, 1.4921, 0.0464, 0.0269, 1.033] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.055,"right_x":0.35,"right_y":0.085},"note":"The pink bowl stayed on the table during the lift, so that low pinch slipped or missed. I’ll reopen at the same outer rim but try the higher, wider part of its wall."})

tool

executing move_to over 10 steps (1.0s)

step 145

assistant

agent noteAt the higher position, the pink bowl’s right rim sits between the right fingertips. I’ll close on that wall, then test the result with another short lift.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9764, 0.7513, -0.6106, -0.1837, -0.0784, 0.9957, 0.321, 1.422, 0.588, 0.0048, 0.197, 0.115, 0.9957] state[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1539 left_yaw=0.0689 left_pitch=-0.2521 left_roll=0.0871 left_gripper=0.9957 right_x=0.346 right_y=0.0824 right_z=0.0527 right_yaw=0.0863 right_pitch=-0.2414 right_roll=-0.0584 right_gripper=0.9957 state[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4872, -0.149, -0.0611, -0.0171, 0.5265, -4.8342, 5.4359, 1.7998, 0.1343, 0.0171, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At the higher position, the pink bowl’s right rim sits between the right fingertips. I’ll close on that wall, then test the result with another short lift."})

tool

executing move_to over 10 steps (1.0s)

step 155

assistant

agent noteThat close was empty; the pink rim remained to the right of the closing tips in the wrist image. I’ll move the open gripper outward by about three centimetres so the rim meets the jaw line.

move_to

right_gripper1.0000right_x0.3400right_y0.0450right_z0.0650

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9764, 0.7513, -0.6109, -0.1833, -0.0784, 0.9958, 0.3244, 1.4254, 0.5793, -0.0032, 0.1959, 0.1085, 0.009] state[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1538 left_yaw=0.069 left_pitch=-0.2525 left_roll=0.0868 left_gripper=0.9958 right_x=0.3414 right_y=0.0823 right_z=0.047 right_yaw=0.0931 right_pitch=-0.2615 right_roll=-0.0669 right_gripper=0.009 state[joint_eff]: [-0.1573, -2.2496, 6.9675, 1.4286, -0.1099, -0.0562, -0.0073, -0.3897, -5.5316, 6.5709, 1.5263, 0.0562, 0.0415, 0.7009] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.34,"right_y":0.045,"right_z":0.065},"note":"That close was empty; the pink rim remained to the right of the closing tips in the wrist image. I’ll move the open gripper outward by about three centimetres so the rim meets the jaw line."})

tool

executing move_to over 10 steps (1.0s)

step 165

assistant

agent noteThe pink bowl’s outer edge now crosses the right gripper’s closing line in the wrist view. I’ll close once at this corrected offset and check whether the fingers stop on the rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9783, 0.7513, -0.617, -0.1837, -0.0784, 0.9958, 0.178, 1.346, 0.5774, -0.0845, 0.1032, -0.001, 0.9947] state[eef_state]: left_x=0.289 left_y=0.0002 left_z=0.1523 left_yaw=0.0694 left_pitch=-0.2603 left_roll=0.0887 left_gripper=0.9958 right_x=0.3379 right_y=0.0459 right_z=0.0571 right_yaw=0.0877 right_pitch=-0.2811 right_roll=-0.072 right_gripper=0.9947 state[joint_eff]: [0.0479, -2.3453, 7.0222, 1.4872, -0.1294, -0.0757, -0.0171, -0.4444, -6.1197, 6.653, 1.4725, 0.0464, 0.0806, 0.1538] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0},"note":"The pink bowl’s outer edge now crosses the right gripper’s closing line in the wrist view. I’ll close once at this corrected offset and check whether the fingers stop on the rim."})

tool

executing move_to over 10 steps (1.0s)

step 175

assistant

agent noteThe lateral rim pinch still closed empty, so I’ll change strategy: rotate the jaws ninety degrees and approach the pink bowl’s near rim along the table’s forward direction.

move_to

right_gripper1.0000right_z0.1200right_x0.2900right_y0.1250right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9802, 0.7513, -0.6178, -0.1837, -0.0784, 0.9958, 0.1757, 1.3415, 0.5758, -0.1009, 0.0956, -0.0036, 0.009] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1517 left_yaw=0.0699 left_pitch=-0.2629 left_roll=0.0893 left_gripper=0.9958 right_x=0.3346 right_y=0.0459 right_z=0.0553 right_yaw=0.0933 right_pitch=-0.295 right_roll=-0.069 right_gripper=0.009 state[joint_eff]: [-0.0342, -2.4821, 7.0085, 1.4481, -0.1245, -0.0269, -0.0171, 0.0615, -4.3009, 6.2974, 1.5946, 0.0806, -0.0122, 0.7057] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":1,"right_z":0.12,"right_x":0.29,"right_y":0.125,"right_yaw":1.57},"note":"The lateral rim pinch still closed empty, so I’ll change strategy: rotate the jaws ninety degrees and approach the pink bowl’s near rim along the table’s forward direction."})

tool

executing move_to over 10 steps (1.0s)

step 185

assistant

agent noteWith the jaws rotated, the pink bowl is visible just ahead of them, but the gripper is still beyond its near rim. I’ll shift back a few centimetres and lower partway to place one finger inside and one outside that rim.

move_to

right_x0.2750right_y0.1250right_z0.0850right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9844, 0.7513, -0.6209, -0.1833, -0.0784, 0.9958, 0.0135, 1.5894, 1.1114, -0.8845, -0.6449, -1.3693, 0.9952] state[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1501 left_yaw=0.0699 left_pitch=-0.2701 left_roll=0.0904 left_gripper=0.9958 right_x=0.3121 right_y=0.114 right_z=0.11 right_yaw=1.3934 right_pitch=-0.3324 right_roll=-0.0805 right_gripper=0.9952 state[joint_eff]: [-0.0479, -2.4957, 6.7761, 1.5604, -0.1001, 0.0024, -0.0171, 0.2667, -7.0222, 6.9949, 0.2125, -0.6129, -0.0366, -0.1001] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.275,"right_y":0.125,"right_z":0.085,"right_yaw":1.57},"note":"With the jaws rotated, the pink bowl is visible just ahead of them, but the gripper is still beyond its near rim. I’ll shift back a few centimetres and lower partway to place one finger inside and one outside that rim."})

tool

executing move_to over 3 steps (0.3s)

step 188

assistant

agent noteThe rotated jaws now straddle the pink bowl’s near rim, with that edge just to one side of the closing line. I’ll advance about a centimetre and descend to the rim height before closing.

move_to

right_x0.2820right_y0.1250right_z0.0550right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9848, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0341, 1.594, 1.0145, -0.9329, -0.6621, -1.536, 0.9958] state[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1494 left_yaw=0.0705 left_pitch=-0.2741 left_roll=0.0915 left_gripper=0.9958 right_x=0.272 right_y=0.1215 right_z=0.0831 right_yaw=1.5642 right_pitch=-0.3386 right_roll=-0.0298 right_gripper=0.9958 state[joint_eff]: [-0.0068, -2.3043, 6.9128, 1.453, -0.1343, -0.0562, -0.0171, 0.5812, -7.706, 6.6256, 0.6374, -0.4713, -0.0952, 0.0611] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.282,"right_y":0.125,"right_z":0.055,"right_yaw":1.57},"note":"The rotated jaws now straddle the pink bowl’s near rim, with that edge just to one side of the closing line. I’ll advance about a centimetre and descend to the rim height before closing."})

tool

executing move_to over 2 steps (0.2s)

step 190

assistant

agent noteThat very short move barely changed the gripper pose, and the pink rim remains beside the closing line. I’ll continue the careful descent to bring the fingers alongside the wall.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0422, 1.5932, 0.9974, -0.9035, -0.6594, -1.5452, 0.9959] state[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2722 right_y=0.1234 right_z=0.0791 right_yaw=1.5726 right_pitch=-0.341 right_roll=-0.0496 right_gripper=0.9959 state[joint_eff]: [-0.1846, -2.4, 6.9402, 1.4383, -0.105, -0.0562, -0.0171, -0.0068, -7.4051, 6.0376, 0.5006, -0.486, -0.105, -0.0024] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.035},"note":"That very short move barely changed the gripper pose, and the pink rim remains beside the closing line. I’ll continue the careful descent to bring the fingers alongside the wall."})

tool

executing move_to over 3 steps (0.3s)

step 193

assistant

agent noteThe descent has stopped at roughly eight centimetres, possibly because a fingertip has reached the pink rim. Rather than force the arm lower, I’ll close at this contact height and check for a secure rim pinch.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1833, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9039, -0.659, -1.5455, 0.9959] state[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.149 left_yaw=0.0698 left_pitch=-0.2753 left_roll=0.0915 left_gripper=0.9958 right_x=0.2722 right_y=0.1232 right_z=0.0791 right_yaw=1.5725 right_pitch=-0.3414 right_roll=-0.0495 right_gripper=0.9959 state[joint_eff]: [-0.1162, -2.3453, 6.8308, 1.4237, -0.105, -0.0464, -0.0171, 0.0479, -7.4051, 6.0376, 0.4518, -0.4322, -0.1001, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The descent has stopped at roughly eight centimetres, possibly because a fingertip has reached the pink rim. Rather than force the arm lower, I’ll close at this contact height and check for a secure rim pinch."})

tool

executing move_to over 10 steps (1.0s)

step 203

assistant

agent noteThe rotated close was empty, and the arm could not descend further in that pose. I’ll reset the jaws upright and approach slightly farther forward, aiming to put the bowl’s wall at the actual fingertip line.

move_to

right_gripper1.0000right_x0.3900right_y0.1200right_z0.1200right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9016, -0.6537, -1.5448, 0.0088] state[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2727 right_y=0.1225 right_z=0.0785 right_yaw=1.5708 right_pitch=-0.3466 right_roll=-0.0516 right_gripper=0.0088 state[joint_eff]: [-0.0752, -2.0718, 6.8034, 1.4335, -0.1441, -0.0708, -0.0171, -0.1436, -6.106, 5.5863, 0.398, -0.4908, 0.0024, 0.7253] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.39,"right_y":0.12,"right_z":0.12,"right_yaw":0},"note":"The rotated close was empty, and the arm could not descend further in that pose. I’ll reset the jaws upright and approach slightly farther forward, aiming to put the bowl’s wall at the actual fingertip line."})

tool

executing move_to over 11 steps (1.1s)

step 214

assistant

agent noteThe pink bowl is now nearly centred in the open right jaws, with its near wall reaching the fingertip region of the wrist view. I’ll lower beside that wall and check the actual pose before closing.

move_to

right_x0.3850right_y0.1300right_z0.0250right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9901, 0.7513, -0.6254, -0.1837, -0.0784, 0.9958, 0.3958, 1.5639, 1.0519, -0.4744, 0.1329, 0.0814, 0.9956] state[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.1478 left_yaw=0.0708 left_pitch=-0.2801 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1345 right_z=0.1039 right_yaw=0.2258 right_pitch=-0.4067 right_roll=-0.0617 right_gripper=0.9956 state[joint_eff]: [-0.0752, -2.7009, 6.8855, 1.4286, -0.1245, -0.0171, -0.0171, 0.212, -7.2547, 8.5538, 1.1062, 0.2515, 0.2808, 0.0366] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.385,"right_y":0.13,"right_z":0.025,"right_yaw":0},"note":"The pink bowl is now nearly centred in the open right jaws, with its near wall reaching the fingertip region of the wrist view. I’ll lower beside that wall and check the actual pose before closing."})

tool

executing move_to over 6 steps (0.6s)

step 220

assistant

agent noteAt low height the pink bowl appears to the right of the jaw centre, while the wrist is tilted strongly forward. I’ll shift slightly toward the bowl’s outer side and reduce that tilt before another grasp.

move_to

right_y0.1050right_z0.0350right_x0.3800right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9913, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4324, 1.7485, 0.9436, -0.2768, 0.2382, 0.2619, 0.9959] state[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1476 left_yaw=0.0702 left_pitch=-0.2809 left_roll=0.0926 left_gripper=0.9958 right_x=0.3731 right_y=0.1302 right_z=0.0236 right_yaw=0.0485 right_pitch=-0.4662 right_roll=-0.0797 right_gripper=0.9959 state[joint_eff]: [-0.0615, -2.4957, 6.9402, 1.3944, -0.1197, -0.0366, -0.0171, 0.2803, -7.4462, 5.6, 1.3358, 0.2906, 0.1245, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.105,"right_z":0.035,"right_x":0.38,"right_pitch":0.2},"note":"At low height the pink bowl appears to the right of the jaw centre, while the wrist is tilted strongly forward. I’ll shift slightly toward the bowl’s outer side and reduce that tilt before another grasp."})

tool

executing move_to over 23 steps (2.3s)

step 243

assistant

agent noteThe right fingertips now sit on opposite sides of the pink bowl’s sidewall in the overhead view, with much less wrist tilt. I’ll close and see whether they catch the bowl.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4438, 1.8416, 0.3767, 0.9833, 0.3882, 0.0906, 0.9959] state[eef_state]: left_x=0.2881 left_y=0.0003 left_z=0.1473 left_yaw=0.0706 left_pitch=-0.2821 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1075 right_z=0.0211 right_yaw=0.068 right_pitch=0.1228 right_roll=-0.0857 right_gripper=0.9959 state[joint_eff]: [-0.0342, -2.4, 6.7761, 1.4286, -0.105, -0.0366, -0.0171, -0.335, -5.6684, 3.3846, 1.9805, 0.2808, -0.149, -0.0073] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right fingertips now sit on opposite sides of the pink bowl’s sidewall in the overhead view, with much less wrist tilt. I’ll close and see whether they catch the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 253

assistant

agent noteThe right gripper stopped about five centimetres open, which is consistent with holding the bowl rather than closing empty. I’ll lift it clear and confirm that the pink bowl moves with the jaws.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.4435, 1.8362, 0.374, 1.0283, 0.3889, 0.07, 0.5143] state[eef_state]: left_x=0.2881 left_y=0.0004 left_z=0.1473 left_yaw=0.0709 left_pitch=-0.282 left_roll=0.0931 left_gripper=0.9958 right_x=0.3773 right_y=0.109 right_z=0.0317 right_yaw=0.0756 right_pitch=0.1663 right_roll=-0.0874 right_gripper=0.5143 state[joint_eff]: [-0.0342, -2.3726, 6.9538, 1.4042, -0.1441, -0.0611, -0.0171, 0.0342, -5.9692, 3.7128, 1.3309, 0.0366, 0.1343, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12},"note":"The right gripper stopped about five centimetres open, which is consistent with holding the bowl rather than closing empty. I’ll lift it clear and confirm that the pink bowl moves with the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 259

assistant

agent noteThe pink bowl stayed at the jaw opening and shifted with the raised gripper, so I’m carrying it toward the blue bowl in the middle. I’ll keep it well above the table while crossing.

move_to

right_x0.3900right_y0.3100right_z0.2000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9951, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.4438, 1.4376, 0.461, 0.5526, 0.3805, 0.0669, 0.5148] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1466 left_yaw=0.0707 left_pitch=-0.2843 left_roll=0.0936 left_gripper=0.9958 right_x=0.3747 right_y=0.1095 right_z=0.1081 right_yaw=0.0842 right_pitch=0.1742 right_roll=-0.0834 right_gripper=0.5148 state[joint_eff]: [-0.0615, -2.6462, 6.7624, 1.4774, -0.1148, -0.0513, -0.0122, -0.3761, -5.9692, 8.5538, 1.9853, 0.1538, -0.0122, 0.2027] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.31,"right_z":0.2,"right_pitch":0.2},"note":"The pink bowl stayed at the jaw opening and shifted with the raised gripper, so I’m carrying it toward the blue bowl in the middle. I’ll keep it well above the table while crossing."})

tool

executing move_to over 17 steps (1.7s)

step 276

assistant

agent noteThe pink bowl is visibly travelling with the right gripper. It sits to the right and ahead of the blue bowl in the overhead view, so I’ll correct sideways and slightly back before lowering it.

move_to

right_x0.3400right_y0.3700right_z0.1700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.6254, -0.1837, -0.0784, 0.9957, 0.9199, 1.7763, 1.214, -0.0071, 0.7746, 0.2905, 0.5152] state[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1462 left_yaw=0.0708 left_pitch=-0.2861 left_roll=0.094 left_gripper=0.9957 right_x=0.3854 right_y=0.3081 right_z=0.1849 right_yaw=0.1306 right_pitch=0.1688 right_roll=-0.1124 right_gripper=0.5152 state[joint_eff]: [-0.253, -2.3863, 6.7624, 1.4432, -0.1441, -0.0708, -0.0171, 0.1573, -8.9778, 9.1009, 1.5458, 0.4518, 0.2418, 0.0317] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.37,"right_z":0.17},"note":"The pink bowl is visibly travelling with the right gripper. It sits to the right and ahead of the blue bowl in the overhead view, so I’ll correct sideways and slightly back before lowering it."})

tool

executing move_to over 6 steps (0.6s)

step 282

assistant

agent noteThe pink bowl’s overhead position did not follow the last sideways motion, so it may have slipped from the gripper near the blue bowl. I’ll open and raise the right arm to reveal where both bowls actually are.

move_to

right_gripper1.0000right_z0.2200right_y0.3000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 1.0931, 1.8984, 1.3132, -0.1204, 0.8772, 0.4107, 0.5152] state[eef_state]: left_x=0.2882 left_y=0.0002 left_z=0.1462 left_yaw=0.0704 left_pitch=-0.2858 left_roll=0.0936 left_gripper=0.9958 right_x=0.3389 right_y=0.367 right_z=0.1581 right_yaw=0.178 right_pitch=0.1341 right_roll=-0.1456 right_gripper=0.5152 state[joint_eff]: [-0.1026, -2.4547, 7.2274, 1.4188, -0.0806, -0.0269, -0.0073, 0.2803, -9.2923, 9.4017, 1.4139, 0.569, 0.1148, -0.0073] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.22,"right_y":0.3},"note":"The pink bowl’s overhead position did not follow the last sideways motion, so it may have slipped from the gripper near the blue bowl. I’ll open and raise the right arm to reveal where both bowls actually are."})

tool

executing move_to over 6 steps (0.6s)

step 288

assistant

agent noteWith the arm raised, the pink bowl is clearly resting farther back on the table, while the blue and teal bowls remain separate. I’ll make one focused attempt to grasp the blue bowl and place it on the teal one.

move_to

right_x0.4050right_y0.2550right_z0.0400right_yaw0.0000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.997, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 1.0107, 1.6505, 1.2175, -0.2295, 0.8146, 0.3363, 0.9961] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.146 left_yaw=0.0708 left_pitch=-0.2865 left_roll=0.0941 left_gripper=0.9958 right_x=0.3393 right_y=0.306 right_z=0.2093 right_yaw=0.1763 right_pitch=0.125 right_roll=-0.1546 right_gripper=0.9961 state[joint_eff]: [-0.1709, -2.0171, 6.9675, 1.4188, -0.1343, -0.0415, -0.0171, -0.5538, -8.7726, 6.8991, 1.7265, 0.2857, -0.0855, -0.2125] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.255,"right_z":0.04,"right_yaw":0,"right_pitch":0.2},"note":"With the arm raised, the pink bowl is clearly resting farther back on the table, while the blue and teal bowls remain separate. I’ll make one focused attempt to grasp the blue bowl and place it on the teal one."})

tool

executing move_to over 11 steps (1.1s)

step 299

assistant

agent noteThe blue bowl’s right rim is at the lowered right jaw line, with one finger inside and one outside. I’ll close on that rim and check for a nonempty grip.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 1.0008, 0.7513, -0.6254, -0.1833, -0.0784, 0.9957, 0.8417, 2.0674, 0.9234, 0.5018, 0.8284, 0.2745, 0.9965] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.145 left_yaw=0.0711 left_pitch=-0.2907 left_roll=0.0946 left_gripper=0.9957 right_x=0.3966 right_y=0.254 right_z=0.0326 right_yaw=0.0282 right_pitch=0.1387 right_roll=-0.2017 right_gripper=0.9965 state[joint_eff]: [-0.0342, -2.7829, 6.7761, 1.3846, -0.1001, -0.0513, -0.0122, -0.5265, -9.935, 4.9573, 1.6093, 0.3443, -0.0171, 0.0317] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The blue bowl’s right rim is at the lowered right jaw line, with one finger inside and one outside. I’ll close on that rim and check for a nonempty grip."})

tool

executing move_to over 10 steps (1.0s)

step 309

assistant

agent noteThe blue-rim close was empty; its wall was just left of the fingertip line. I’ll reopen and shift the jaws toward the bowl’s centre before one final grasp attempt.

move_to

right_gripper1.0000right_y0.3100right_x0.4000right_z0.0350right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 1.0008, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.8383, 2.0686, 0.9237, 0.5308, 0.8288, 0.2741, 0.0174] state[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.145 left_yaw=0.0707 left_pitch=-0.2903 left_roll=0.0945 left_gripper=0.9958 right_x=0.3997 right_y=0.255 right_z=0.0367 right_yaw=0.0216 right_pitch=0.1582 right_roll=-0.1815 right_gripper=0.0174 state[joint_eff]: [-0.1846, -2.4957, 6.8034, 1.4676, -0.1197, -0.0464, -0.0122, 0.1983, -9.6752, 5.012, 0.8864, 0.2222, -0.0513, 0.5201] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.31,"right_x":0.4,"right_z":0.035,"right_pitch":0.2},"note":"The blue-rim close was empty; its wall was just left of the fingertip line. I’ll reopen and shift the jaws toward the bowl’s centre before one final grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 319

assistant

agent noteThe open right jaws are now closer to the blue bowl’s near-right rim. I’ll close once more; if it is still empty, I won’t risk moving the bowls blindly.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 1.0027, 0.7513, -0.625, -0.1837, -0.0784, 0.9957, 0.9302, 2.1845, 1.0889, 0.4629, 0.9001, 0.3069, 0.9951] state[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.1445 left_yaw=0.0711 left_pitch=-0.2921 left_roll=0.0952 left_gripper=0.9957 right_x=0.3965 right_y=0.3064 right_z=0.0312 right_yaw=0.0451 right_pitch=0.1806 right_roll=-0.193 right_gripper=0.9951 state[joint_eff]: [-0.0479, -2.6462, 7.3094, 1.3846, -0.1197, -0.0366, -0.0122, 0.3624, -9.8667, 7.0085, 1.4579, 0.4518, 0.1538, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The open right jaws are now closer to the blue bowl’s near-right rim. I’ll close once more; if it is still empty, I won’t risk moving the bowls blindly."})

tool

executing move_to over 10 steps (1.0s)

step 329

assistant

agent noteI could not stack the bowls reliably. The pink bowl slipped from the gripper during transport, and the attempts to grasp the blue bowl closed empty; all three bowls remain separate on the table.

give_up

hindsightFor these bowls, closing over the centre or with the wrist tilted strongly forward misses the wall. A near-table grasp-point height around 0.02–0.04 m with pitch commanded near +0.2 briefly caught the pink bowl, but a nonempty gripper reading did not guarantee it would survive sideways transport. Lift and verify the bowl’s overhead position before moving it across the table.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 1.0027, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.9363, 2.17, 1.095, 0.5362, 0.9035, 0.3275, 0.0306] state[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.1445 left_yaw=0.0711 left_pitch=-0.2921 left_roll=0.0952 left_gripper=0.9958 right_x=0.4007 right_y=0.3164 right_z=0.0512 right_yaw=0.0216 right_pitch=0.2422 right_roll=-0.0993 right_gripper=0.0306 state[joint_eff]: [-0.1026, -2.3179, 6.7761, 1.4383, -0.1392, -0.0611, -0.0073, -0.4034, -9.7162, 4.506, 0.2418, 0.2222, -0.4078, 0.4908] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not stack the bowls reliably. The pink bowl slipped from the gripper during transport, and the attempts to grasp the blue bowl closed empty; all three bowls remain separate on the table.","hindsight":"For these bowls, closing over the centre or with the wrist tilted strongly forward misses the wall. A near-table grasp-point height around 0.02–0.04 m with pitch commanded near +0.2 briefly caught the pink bowl, but a nonempty gripper reading did not guarantee it would survive sideways transport. Lift and verify the bowl’s overhead position before moving it across the table."})

tool

give_up: I could not stack the bowls reliably. The pink bowl slipped from the gripper during transport, and the attempts to grasp the blue bowl closed empty; all three bowls remain separate on the table.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 6.392 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3794, -0.0223, -0.0196, 0.9995, -0.0219, 0.7929, 0.6029, -0.3786, -0.0135, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1806 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2948 right_y=-0.0005 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.6205, 9.9897, 1.7509, -0.0073, 0.0269, -0.0611, -0.5265, -1.3744, 10.1538, 1.9121, -0.1148, 0.0464, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc6b84ed4001775734eff13e922df3340be18fd5bbc631314ad82afa1af650e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71219300e7d8e05afa7dbfb66acad1b80547955f65b15df09a74534cf9ce45a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1304497d723dd6fa195822e4a4986479c9569c418decaddfac1335cd576354af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.104 s

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

{
  "content": [],
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  "id": "rs_0628cde06b0d387b016ab42ac9855087d088ae678bef1a520d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrO-MsSi0Ke8PF5BxsVqZh3lMMZrfAVh5lruHnJJ6DatwSp_aWQUFf5AhRkvTpJkwidDowLuoLe_Y8uMZPNCHFRD2Lj9Nfxk8pQn-vcYj459vxH6Wp_oZu7dyRtpJXDl8UkkVsJQUFvPUdtLwqnEZowUHUzazYCJNlrZs2MtQlqKhL4ACjsrxnCo7SuYL-rh4z1-Nncbxpze-9F_9_nY96sGBJ7A9v-sEWg9zhi_Kq1IrwgQLeEC6C890ORlfTJWMXtUfZHsdHdP5UJCOSXBoACs9XSs-p7D6MLSOh0f_sG14VyWXJiBd0tT1bZGTUdqH4-gVbUxNEzsxohVggr_Ji6UK-PNGfGrYi7cQQvmr7jqoYML21AeCy37RrEb6NEBU9wV8uhZg5luJz6JDlRdbVdHJMtNfbgL2UJnI8GkWF-Hq6pm8JJLOEF8SUK3A__6K8LCfE0zjf60OgDg5PZM3C_nlr5WI9f-kYh_6uXebBvV5jWRrmMA-VGRu4Aej2ZVScV2iYKT2z6UdXKwKmT1b3KyCyoHgGndDcpcRZ7eOltHpZ7D9M2OdPTn_Dy6CgIUlfoJaqbqw5AgcahVUCBwepppxwuFYYjIS7Hi6KXhOqy1LZpi91b6dVfr5Q8eO7cFQNJkyTAegd5jx9yi8uC7jWI3bXccOZouzNOAxTdgfHzQWzp4d_r9pWy_6PWS4r5awmnvi27dqXiwnie5fzCjFFy6F0X6K8Dm4NKisShpE0cQcAX6HNzPD34fA5rZP4Pxi_YK9f7_fWt_GLaR1qfJexFN5Xaw46zHsTL4A3ZRMAYCb89vZSIXAYEZKArnenZsWjXZ0d_CJFQWOk_-XvH_zDOOtgmrUA54xySHS16VkuWOgOC2fET69reRCZvCkGd-Pu6Uoy1-Az8wvubTsWOc5mh7e5xPv0Xno-STVrWU5-chu3oxlmhBTBH61AsqRDs4fRuB-xwLmlSlmPIApnOGjNh_N4XpKxoOoZgNEdO6hSafwrW4AaJbCasP_ePXi8qpnwL0ild33sxwSjtZD-5P8keJMWxBFhJTvV0wNaRAAmKFwB38HnctP76SpK2snAYrkZWdZ6Ox07LtE_pCPp9ej2eCXCwEVFBT-gFRT9bw6TK_mnXlomBbecFLZRMnhOeWvVxYqcorxMbzqiZDrK9kGZJNr14L0A1fMiiOWMb-tqOGtXLYLvcmOPHFwg2LWkuwck9yRr217CCgF2MYJO6hsOQXuDmTmzL5p_IAZqW_jaHJirQRRD1kSWUarB4gMkZoLwwQw6jJd6T3wdZv_NRQlPsZaOKwo8ktocVLzFjwIhjVZGMGPd4cG3-P2AdnSzApviS0azx7fwixc3wMtR2OToyh9bneFGL0P-INKC8XrwTi7ejW8_K6veJ8_vn5br74GjkEbI7W3hb7bRKlyJ3XaRoi9KGpVLZicGOKaC7bWFp0lJZeud0tL4He8pNCxTmJOvWHOSD9EBB7f4Dn1Gv1N6YiQ==",
  "id": "rs_0628cde06b0d387b016ab42acda0d887d093971057875a8344",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"Three bowls are spaced across the far half of the table; I’ll move the left gripper above the left bowl to line up a side grasp.\"}",
  "call_id": "call_lFyw4mh1JLxTBPNvnsrohCQT",
  "id": "fc_0628cde06b0d387b016ab42ace36b087d09f19787b131dab0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lFyw4mh1JLxTBPNvnsrohCQT",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5926, 1.6085, 0.9871, -0.0898, -0.4789, -0.3565, 0.9996, -0.0219, 0.7975, 0.6037, -0.3897, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.4091 left_y=-0.173 left_z=0.134 left_yaw=-0.0134 left_pitch=-0.0494 left_roll=0.0214 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1769 right_yaw=0.0028 right_pitch=-0.0148 right_roll=0.0017 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -7.8564, 8.6085, 1.6825, -0.3492, 0.1148, -0.0611, -0.2256, -1.5658, 6.9812, 1.7949, -0.0122, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de083b196f82a7ddc64abf3c0b933051aa798c8dce61fb1853ec5a3846cfa2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117b27662ac9b58de971edf8c6d1ec70387c3bc5bf5e5da9a8979232bf94b57c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b020d474eba4d44dba9c0a3091f9a6dc198188592c1a2ca16985b5f85ae830d",
      "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 · 4.021 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3794, -0.0223, -0.0196, 0.9995, -0.0219, 0.7929, 0.6029, -0.3786, -0.0135, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1806 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2948 right_y=-0.0005 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.6205, 9.9897, 1.7509, -0.0073, 0.0269, -0.0611, -0.5265, -1.3744, 10.1538, 1.9121, -0.1148, 0.0464, -0.2808]",
      "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]: [-0.5926, 1.6085, 0.9871, -0.0898, -0.4789, -0.3565, 0.9996, -0.0219, 0.7975, 0.6037, -0.3897, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.4091 left_y=-0.173 left_z=0.134 left_yaw=-0.0134 left_pitch=-0.0494 left_roll=0.0214 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1769 right_yaw=0.0028 right_pitch=-0.0148 right_roll=0.0017 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -7.8564, 8.6085, 1.6825, -0.3492, 0.1148, -0.0611, -0.2256, -1.5658, 6.9812, 1.7949, -0.0122, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de083b196f82a7ddc64abf3c0b933051aa798c8dce61fb1853ec5a3846cfa2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117b27662ac9b58de971edf8c6d1ec70387c3bc5bf5e5da9a8979232bf94b57c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b020d474eba4d44dba9c0a3091f9a6dc198188592c1a2ca16985b5f85ae830d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrWENQWCl3QA9X0SsAlFxV3NQip8DLrUmWr0wiYgI4J-uFaTxyiwy7P-PBqxNKfJwYMdn71qaP8ymPW0DRVjmprfoIRhJEF-fay6WpN9DCtvucvuvi8F39z1VOYov1hz0UuwH2NHpewKtRtUViqIFwewiPGdM40-pSFmG1YgLM77boAHLJGRje-ZAawhQvpUa2NZTUdUUdX9GEM3d_vCGs1D_SUufE4kgfabC2yI1mjewVp8WLyrgH-07Lt6uKhx8I455n6JvZvQUGSeZm4XVvy4cOGdGhU6TQTYr1fq751ugOrK7CTN5wyuT3aVhCYAls5b5K-xmxHnolnopz_L2nn5f3yZUJp_y4Jk2lFdKeN7QNb30ho-k1kQ8-tYOp22A0qqvjuQo-E0Yqtx7Vn6OLjuFI4R2wBmFO7OiIaUXrD_WeThfsVVNs1yShRyPjFjEGHskXLCPHdHGKFxZik9t3mDw8ibFyY4VJwfMzpvqBFMeeb8FbfpCuITEzteH42eu_x7SUUUGbKeRKfpK6KY4swDYpZz6q-pslCsB7TFUmTe6AczwT4600tpIpkxEshyNPw54TeVjTrK5grtC4yb9Z3BWcS5sHknhZwjZc825TRFHQvf0GGfVufqv7cjhzqYsj7Pe43P1XifF1P2SKJMmzeuZg4esOicKdpvcBZYd2IoOOGh0O0EBoveiHG2xctt9C1N6xiQpKcxeRkkf_Gu8dq0WvkcqmxEiq1IOi6v-g9z0X3Lda4LV8aI2QrXPoBg3GAzTUvDKg9o74SoxMfVyOMbnPkuaQknaajuZZYsS_lD3JE2U1T0H-tRJpSUhB2VYA9ytyhH0l6ucC6Uhh4tI-0rQ0rGxtMNjUIWDIBvfbRXtcYnLTGoP6QfVe4oP0YrJw3Lxj_VVxb-QERQXGUfYl8Ab4nUh08LvJZARXIlKxK9vAsCl4SXhZnVn2qw5eeet2sjJH9yKomC2-0qhxRTxiIFvn_S166uA8WFkxWENq2qgJ5ln0bSe1Mk0ZtCbPnx3W2deK5TkEq3mgU537VXsd9VgtBcrOE76mLgonqoFChs6nOSSsjqTvT7Ggd01wX31w5YLl_XSwGV9YISjjHFrq9CFB0eVnqD1AiuI1GgKpMxk05T--BrrmRHC3oVvayg5k_MQzSxI4bhnyqprdbkFJJmUyAvp4qLeNsnnigtKjpDt0Jfrcn2rcFEHubPmTDrz7lhxaSnGF6lWdKehNrxxtgP2fgWBjhLH392rTJNOUqdeo2QiP5ZTakpcXcTEAmbXlnIDO7fxDghMJTcfHW09PzPdcsCpU0WEzq4E8EBMMpRFa3khXI2gtH8Bp-fyjGJGkeGu4Ck-Ti4XXdKhX8A_YtXsgPyFLgE6Xm-6AWYjlEkTvpN98tdwFgKcfD-y8bhdhEfiITp4p96tm9sDGIBrhohLrnpwR7ylpGysxpYWmfbFMV5NR3MBy6mdxNnqkFVG0DwplWYzYSL-R2-XNqoyI6w2QoQOoaDhLK0PxoqsZnnCidxXIgwN2Gbm8K9kWH9TDGadKt9gmsCSBwTBK7vzIwTD7yom8QP-HStOaii3AGZtA-bGVzXbRvKpIvqka__FsX1Pnuq1su50d8Np06blUfashHqnPnQgKl6BEfj6_CtC2V9qKuM7NIVji4e0HlBgvHgznWqjax-O9s-pBfSzqUWKe1FhThpE10urnwehBxbxWAJCzGu2U1knk1c_i2ypKMQtfOn0FiuI6DSIGY1Vbmq5DCkeGJV8pNn_K3FUDFySytP1-GHGgOYpsNQJ-48_NZ8uGzbWE_XI_rbdQxrZDCLtzjjPD4ZCbudnj0JtrCHJHjKqC4ADN7n6uinPN0853_KLzOKkStdAQL35yyHaanExhAxggaNvioV3YaE3LWYgwTElwGqOS1L-Y25bgyZOUiv6Tlh8DTQepEwXkgfdjaMbDvRygOkkaBk3aFlSCNz-mOcnAWjfiGVskKsIIm2VXFwyLG8lHesZdZA5RiLsUPiIIr4GZrtszKO8sO9uPVNl_CCK3q_rpcEwyZdeueP-N0cJ2V_saCNWMwwnd0sXNzixtev_2iKQmIQwN95lelVYRDder697sKH-tsNazuz3eHQCf87lNTztqfzfqw9jDGXWkUnDS8QQZDZgW1wlwmh1ZHXSxWYeCTs2sGx0p3Pr_yEyOQChEp1dtg4Xofvd4tqEKtznma7wiSzW1KoDDPL2-flXhCngGjG8_JBQ8fj82Aa8DIw1mdsFBjQ82qspwqT1X4Lzwas8c01KWNnA_w42kuGdew-r5qtBzwAS7HuFZ_P0KgA48h-Osh6Z8Wdmu0C-tHAMLl3YBsD5dVQFdI--8og-4qmMoz3_2jLajrKi6m4JwLu-f07ZDXsGEks4k2ZbrQCk9vAo1Qqvq0LR4CkF-WLG3NygD0IthbgzvheELhnV9EMzAh7msyXZo260ScChgdoQJanFxTx5gr_TvCJYyddrIwBYIShnX_ccrjPTdWfrLvcmqSiheGhHOL5rcUCmJ8n9IQp07qUAF9c1rFRu83oWhqsqjtnnCrwEqlzAaRDRwxGKAjDrQr6TzgYJBPk1_FsH1mRJkI5vZ4drQfQyuYgQSpTtauLqqTtZ1bVLhgAjNerxd0svSLS0CcrVG0xmnPg2dHGRV3uwp3Cf7xvDtIhSyq6dJvtLSXunDkUljpF6p2fkvIAJ-nCrLkmgsjTJAPXZhtUccDbxtqG3N_L-Y5adjYszZwIKjagKcWQ6QCCDa1SihQVHPXX9Qq30-O4aubS-kafUpnsOgNjY7vbHFnr-k2bYaBSIXWouXtZht_wNrO8C6InBBcCIIhqY2vyMDLKFdIHoR_AzKyD6-D910Io_WzIZVMxjgR7bxBBdKItKPcMKgPpPVSTsXAkCEO7WhBAFlQT5feXmBdNBPPPQN7F7AFT-gM_RWHLv_1JDQ3WhZuDZwiblQcfI-PmJ2vAE-tMsVV2oh6oIinXQIKZ3CbTq8m_-LKmy-HxViwXAbmDDspddmmd3aWplWdjZjPbLQdX3cX2NOaH1aKn3iDVsTc-4fiIQIgLs0G0Y3pG0t1tlLTQIv_NjHANdbZYyOgrsedsc8CfBevxYoS3jNdiGhxJ5F6AyAmLAO23p5tet4PCKCyN2cAK8LMvPCqBvGUu_87ZstNlMAnCWgSoZ5GvujsvHZNJPc7mbm3Db7xnc1sxDk-ynLFkRxdmNmtAKqRogd1Taa3i1j29VFdm0m9__-FPz7j39f5mdM7RbS3iydUl5tZMlDN3Se9p6EfBomtkSpSa8JaxwdrJ593HHkWqADwh7ayUJEru1YWiVvpK-Zdd-MjUwBdw0KBCi7IZeK5XZpygypzVnyGsUkni3tu_mrHPtLmWC414YzQJYm9fSUlRQ-VP8C-MSICWS85fY753VBlBHKWTye6vCwzJEvtrz9qETiW1gxMJSx96AKo2o8f",
  "id": "rs_0628cde06b0d387b016ab42ad1675c87d081ba9ded4735e199",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.12},\"note\":\"The left gripper is just beyond and to the right of the teal bowl, which is low and left in its wrist view. I’ll shift a few centimetres back and left before descending.\"}",
  "call_id": "call_vUgodB2eLBrwzmRrztszDw69",
  "id": "fc_0628cde06b0d387b016ab42ad5eb6c87d0bd8590a1dc562fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUgodB2eLBrwzmRrztszDw69",
  "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]: [-0.5713, 1.5532, 0.8539, -0.0475, -0.4675, -0.3561, 0.9995, -0.0216, 0.8005, 0.6003, -0.3923, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3888 left_y=-0.151 left_z=0.1096 left_yaw=0.0001 left_pitch=-0.0833 left_roll=0.0346 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1739 right_yaw=0.0032 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9972\nstate[joint_eff]: [0.4034, -8.5538, 7.5829, 1.9023, -0.1587, 0.149, -0.022, -0.0068, -1.1419, 7.3641, 1.8291, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7338ed690e27f9667afb960b46e1545fa381e2a542d2476512631a064bcbbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727c1f545c7e0de0df94d716b49c06c194ca15c7bfaf95189852660815f18f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f84de8ec673f982f048ec5baf0dfaf3a769b7dfe82dd09069fa6f0771c0e95e",
      "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 · 3.545 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]: [-0.5926, 1.6085, 0.9871, -0.0898, -0.4789, -0.3565, 0.9996, -0.0219, 0.7975, 0.6037, -0.3897, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.4091 left_y=-0.173 left_z=0.134 left_yaw=-0.0134 left_pitch=-0.0494 left_roll=0.0214 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1769 right_yaw=0.0028 right_pitch=-0.0148 right_roll=0.0017 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -7.8564, 8.6085, 1.6825, -0.3492, 0.1148, -0.0611, -0.2256, -1.5658, 6.9812, 1.7949, -0.0122, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5713, 1.5532, 0.8539, -0.0475, -0.4675, -0.3561, 0.9995, -0.0216, 0.8005, 0.6003, -0.3923, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3888 left_y=-0.151 left_z=0.1096 left_yaw=0.0001 left_pitch=-0.0833 left_roll=0.0346 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1739 right_yaw=0.0032 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9972\nstate[joint_eff]: [0.4034, -8.5538, 7.5829, 1.9023, -0.1587, 0.149, -0.022, -0.0068, -1.1419, 7.3641, 1.8291, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7338ed690e27f9667afb960b46e1545fa381e2a542d2476512631a064bcbbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727c1f545c7e0de0df94d716b49c06c194ca15c7bfaf95189852660815f18f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f84de8ec673f982f048ec5baf0dfaf3a769b7dfe82dd09069fa6f0771c0e95e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrajgZ56bJ16HGTqiW9U9R3HrYQFe9uzN44GMkhiEKcXBBeTXJrv-rR1zoRTIov0GTP6A_4wUvQt3_bcrMzWFa1H8FP-jBIWm7lxKdf_RmC4SO6MhuIEohz_QCv_xw7gAbblmHeGH2394ICsHL1yPPnvEbMwHm6YTQS7Wq6T7dkGY8U_Jb0VNfRxLVgRQ6BM4E36FeVIOShO2zduhT8jLL5-avoHcF04WNIx0SQ8BdKkyGfRyINkKMJYI5Y8pjT_oO8D2GvkkQ1xCBD6F80n-qAPEQzkUQ5Udou-VFpT4KVnc5uxFsleR8rAJcSdYNzMdWejoXzeXdNYmSVc8UeEeJHmOmnl7UDizG3K7DXIG42huWi5X0O_goXLnHiexuObWAcmFrVO0GAyi7HAvDs2YUkPKDIV4mzzB5pjkM8EcXzJs7IHdZph-VoZKx86-norBE7uA-bp7umCjto466c4BGuluPexAxkif-WAEQ-cjfR0UWZeZCSRbC1c6rXKcjWRdCwP8SVGMhTSsMVQgrmw7xmU5LAgj1W3VUbGME4tGSwNOribXD5JRgYwVl-vyyOhkp7XQFQI12LExlsuLWs654AsoCOfjSUIQdtP3tKQEcIFaAsYG_uU0ZUmzlHynDWzGMbvSOI0JmX16HZA2gbIWeldGrhUuI75V1gmd_dL_RG5kcQ1OcuuNzkgq5bIECZgSHDfPEgHnHLKTs-0PwQiJWyqTnLOBOpWAHxI1q__-LddQYUhZl2oVg5Sd7rFC_c7crC5HbLKfOWqEfg1fSEOzqcHBXjheKNsmxbLbywgZxMaoH0txJHJuSMebDwKEZ5eqMgIyukN_JE5JX7rTSBKMtAbi2-m3_P5Ev3IxLo4VTAhUz62WtSS25H6n2QCujpIt9DiASGNfRsiu0t_OxXERERpyvIz6K9_MDFZaVOuzJHmmwTE5m93hXT5ULOoZHX9h8w7X1bpWcFoM3VQaZWn06WdpCF14a5cq9FSiN4-GGen99oM9N5puv0CUZfGeoFQ_7LrnP0bVln3UJHvbGWAkUrQqEVk-3KWKZuOjD_q-E15tFVOeWDbhEWg_a6lghl1mV9OnnfLZVegYz6od1MlS_UrAjn8Vbo_hlMtVLvv34Jxq40E352814jaF5N33se5gWTf5-f9kx5SeivznueU3o3oiZl_RJj3y2XrKTi8jWuLR8hAFMQwipElXZ9OrmD97oDKJfnMk1P2HPHFgQtnd5F5hGekqOmgU_MHLjQuJB9FrTd3CDv6rhr4pl1CF3VVd-MYOJ9btH0KZCGarG-WPDqD27QqV8jXKjlYBOXhkdUJZN6BqxnAfaxwF2ENdKjBOffow5H5nD5B05-HKSDmlM7BvIW-eGBj63_fyX3GsRQNmMyFdet1DwbDFaJDWrBCMhvIBAMWFbBR3UVyvrLZN3t0_JTjkyV2KRN1uESTj2oZevlf-uo2ymSMDw0hAEElCqF8a_tSBcYMw71jwTO5EcllLlo2L7aOt71iKUy5oVVmB8kgzHN9DDz76y3ANTmM1A6phcJ0xpmnTtprpZYKxr0zFnJTOeaNbGE6JSNvu_CfLRZxKgzrBqnj4CIgJ2lLywZhf9vh3dm-m_KSJtKDdgqN5hohfe9EPE1sQxz7x145aFMbrZhWoZeVlXPKKQ1FRvZaWx_06CKQDJsxILnSBhS4XhB_GwL6ZIAqS9zVSAp7SQGuYXFJAd0IKahkxULcFrHMxMz1dZp0RyZUMgZKijjCkyqgWZWm4wf3q1Cau4CDZ5lPP-VBm2MRTtUHmKQCnQw7ezoP_5aACkqZxSxNJ6hiiBVUDHEUVwNV9Se-cisTOA-K_TMx0AXLtIfYl0S0N5dyicKwbNv0NAsihN6jIyiy_F4W0PMfvLA9i7fj2uQHHsgHLz8dl1JgvIZa87wbNZdULVGxHH-Xa4fL5FNM1bllKyEJ4PIWNFNoqsnqO-xBttGcEi_ey5a0ISaroBI0sWokj2jMhwPObNuxDGT-d-SuVGTRhld2orWwuyiCAGXizaRP7OP6WEjK5E3rq_JmUGJe2sNMorIKafJOL0Y-v6FHOyomRjLRFI8vUvUA-ijpYCNd1SNMK1k_NK4S7to2yGtR-DQreMFdNgM1aqS8w5PBPSCWXaWGZhyuG0hKU7BQT_3pSCvti21RJ8gxAg9J6NI7q3g4hM9g77R4H_VgHk5uL34lb5IXAE9BnDgyHlubxCi-HytGv_ywF3s5nOeerzBybRLuE0tkyKXTZVqxWpnNsSG-Xkatu-dW71PNrN1kL1r5GbJBhapsrGbdsEiUiz4MI0dDqoc5p0-Y0efzQoaEHmvStZ5WIZJzFK3plTUf-xCCCQ8ZZIdhDfhiz67hjM_5Y3g8aqhETtP3ieKHzJ5x5Fqslw-k0CLeOY-1D8IjHnH4ET0ajs4JS_tZEELJ-gkkjqhmIf5Hbyjm8ND4AASpg==",
  "id": "rs_0628cde06b0d387b016ab42ad7b92887d088cb81f509b6b9c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The teal bowl now sits nearly between the open jaws in the overhead view. I’ll lower the gripper to its sidewall height, keeping the horizontal alignment fixed.\"}",
  "call_id": "call_0bdcjLk6YCq2STX8dRQxlfwU",
  "id": "fc_0628cde06b0d387b016ab42ada415c87d0a882dd2469ce08ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0bdcjLk6YCq2STX8dRQxlfwU",
  "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]: [-0.5694, 1.7042, 0.7265, 0.165, -0.466, -0.3603, 0.9995, -0.0219, 0.804, 0.5999, -0.3927, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3804 left_y=-0.145 left_z=0.0387 left_yaw=0.0071 left_pitch=-0.1392 left_roll=0.0665 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -7.3915, 5.4632, 1.7021, -0.2466, -0.0073, -0.0122, -0.1983, -1.4564, 7.0906, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb52bc8657fa159fdfd3b546181e8f2ffe274bd226f19ba9928e6c2be369d35a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117ef3340c347208100ec31fe6fe42a429421e0321537dfab8e46c77dfe5f4af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e39adf741e8ad9a1e8b3073d7f13789fa86c5d841e3d1e9ed47781cbb90f21",
      "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 · 3.262 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3794, -0.0223, -0.0196, 0.9995, -0.0219, 0.7929, 0.6029, -0.3786, -0.0135, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1806 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2948 right_y=-0.0005 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.6205, 9.9897, 1.7509, -0.0073, 0.0269, -0.0611, -0.5265, -1.3744, 10.1538, 1.9121, -0.1148, 0.0464, -0.2808]",
      "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]: [-0.5713, 1.5532, 0.8539, -0.0475, -0.4675, -0.3561, 0.9995, -0.0216, 0.8005, 0.6003, -0.3923, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3888 left_y=-0.151 left_z=0.1096 left_yaw=0.0001 left_pitch=-0.0833 left_roll=0.0346 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1739 right_yaw=0.0032 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9972\nstate[joint_eff]: [0.4034, -8.5538, 7.5829, 1.9023, -0.1587, 0.149, -0.022, -0.0068, -1.1419, 7.3641, 1.8291, -0.0317, -0.0513, -0.0122]",
      "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]: [-0.5694, 1.7042, 0.7265, 0.165, -0.466, -0.3603, 0.9995, -0.0219, 0.804, 0.5999, -0.3927, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3804 left_y=-0.145 left_z=0.0387 left_yaw=0.0071 left_pitch=-0.1392 left_roll=0.0665 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -7.3915, 5.4632, 1.7021, -0.2466, -0.0073, -0.0122, -0.1983, -1.4564, 7.0906, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb52bc8657fa159fdfd3b546181e8f2ffe274bd226f19ba9928e6c2be369d35a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117ef3340c347208100ec31fe6fe42a429421e0321537dfab8e46c77dfe5f4af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e39adf741e8ad9a1e8b3073d7f13789fa86c5d841e3d1e9ed47781cbb90f21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCreVAgXRI-0hdxha7ScyWXFasUVBH1ANHnkRsGX8ovto4Rsv-QZD5ILZGwVW4oAdTVez8dcZAwr8vSYcBdjgpftDZeX1WOKuwxG7X1WVnd_gkisGmi0VrEMGCoDmVthS9kbeHd53RGQ9iTscwRomdv5P3xkxwj82s2UumbjmLFnjWtJ8RgwW1i17mzv1vqIi3FoyDVOieenAUFuH-jGUHHwy1_bLSMHx3j3tNzxfMkIpEkpjupFkSfYWJmT2bITmUuSbaxJPH3MgHE2jbnv9SQkd7DgvzmpX_6aQlIxiuy6cUhRI3i-fT3fgtjXO49fjXz4BKMP5_4kc1hFJSW5cj2vZJSEqyODRNSJMIXejF_H-6XXGDbuTYg3hz1sH3vxp46B4IPpX4kbbCLOIWIokE21t1PP0LO6ofGc5740c-hHsaQs0p30kx_gzqGI1oDkxUjlVeZrK5f2_E6BlQHbCRxAs8VeamP5WGNmf_DNOQa26gL0t6zW0JTDlo9amJjx-uFU1gZB1nlFrvNZRYxJxz3teYMnUiz51YcSk5SqWX9b3zRX_Hs12pt_93lCXQtePi1FERNRroB90Zfds-Ih-KlCUMui93bIPxJs1XngVvrp5U09B27txesxxRbPYhK76VEZKvvH_7F-vgILXXPFRYUlqYajtM8hH6zcsggHRj3KNZVzdhzVvtcofrq0evxMMPX3lcF3ewiHcqmjwSiVrx5cmv0BQdYKo8VRUCFr7h53rElfA5hq-CGaxDzlzLKWRbyR9OboM_YbI77jBoxuXr3P7WI6Vof4XAHZjZXFl-vw6wr-j0lAUJkQ4-h4GYEHMKBGSQZW9EU6ft3qa0jZ7ZxDwduJNsUgKY1vjk8W9keyc2kAuLBBppwm0L6e8WXYiTbK4TVPujqm4Jrpk0b66l2Bn8kpMxx2unstsEbO9nQKR7FRvw6gdYX4VbO2vxM2wJdumE_5gpMq_7uVk78kTSFi-Jk6EuQWxBPp02Z-JcDtgdHuiFtiNI-dGoCZRBbNvpPUr2UQf3Dko83d6K8PZ1i50Yw0GqHoTKmTgVBfN41FaThZ8qLBptLrdvp9px6WR3SRIh9n53u4OMwwVU5gBa0vKkuLLbG_EkYRPcMwMZ1d9hLUTCUaKNafXiPKSLnSld-yh4kr2_517WAvggVnj55k8dytZyqoxrByV6eHC3Q53lY2aG3myVvKb6DzIqLhdK6wuTpz7QcfP-Ds9zw57BbheTLDy4H6fy2n0kxP8lSY9jCcMiH0I5ZYY7u3-tt5Zec7PpcWAIoR6OSn8DDEGpz43iiWHbWkW3VL6opboRzF7dyd0RVGsSdbaDJXDbyjr6NWyxstLNhuxdbrphOrzCa2jMffX_i5WhBcPSawgJUM0Vjzh3Jg_sYfiZJ36964T1OvSwlKyJ36LX_343paFmSKDAynS2VZzs9ci7Sn-lhMKwtUlkcxJF2f2xKgtQ0SeY_grAkKd24gkkeiymDI5GwF3IXWxxoR3YKwWI1Y4y4a_8MBj7ABATITkNd0Jht6pT9L7prNVTTFLgm7691CwAq2WkooUk2z3JVHsZYtS_R3kGvYF51xoDWVlQ3AlSv5pU_DP2lGFSQUnngq5xqACEKeQLXIPDmmuD-hXYyrIAGSNDr0dUtF_c5ODKFPP4N2s51UhISulzTbRs11rTM1SFWuIqdHt_N9c_IWim_aKGE3IUvhzn35dCXcJArRFSDiRt7pHbQjWpGU61cUuX0Nu1MTINjcldVpv9LK8i559FT3NtRzhzXB4a2TwVrvn-UFLZZh6PxgrJywuzo82IgjD00TDtKZi8pX24_yfjhEfoggs_qAuB60hy3ZzGwuvBp4hyceI9uBfMJTBUf1fFBXOUDYeJIxz67iKoc3qIFkdpbSQkg1HlJquFWUlsLbjTzC2VujG6ZeTed-K0nIxbY457_xb_daom7nHJ8u9pkLW3JF6fRB08_yVj3g1KSojNtB-1tMdulObOQ4NoVN7oIvI6lYEjn28Z_ePLqh_J53LadqhQ2ly1x9VSlkHTGN43Tf-otTMdQ2981HVF9PNzK_sEM8lw==",
  "id": "rs_0628cde06b0d387b016ab42adc37d887d087bd54a99e4be01d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_x\":0.39,\"left_z\":0.045},\"note\":\"At bowl height, the teal bowl is still left of the jaw centre in the wrist view. I’ll make a small sideways correction before closing.\"}",
  "call_id": "call_88Qt9T2Gg8NTuEPfsEWgpHkq",
  "id": "fc_0628cde06b0d387b016ab42ade2ecc87d0b8cd4ee04218a080",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_88Qt9T2Gg8NTuEPfsEWgpHkq",
  "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]: [-0.5304, 1.713, 0.7158, 0.2001, -0.4381, -0.3405, 0.9995, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3861 left_y=-0.1354 left_z=0.0357 left_yaw=0.0124 left_pitch=-0.1374 left_roll=0.0562 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0293 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [0.6906, -9.8393, 6.1197, 1.4725, -0.1148, 0.1099, -0.0122, -0.0889, -1.306, 7.0085, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d65f2245f03c0b72ed8f59db8eb7a5cbc1a4ebf8a13e6af047ad7981a8ca58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22512b77833a6cdd0f0d62cc183e65227895eb3f32eaead2c5bcd7b829ed065d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd90e4bdec9573e509c6f2e37b7ac2a889057b4dabea5dd9a9062e2c2a02702",
      "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 · 3.249 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]: [-0.5926, 1.6085, 0.9871, -0.0898, -0.4789, -0.3565, 0.9996, -0.0219, 0.7975, 0.6037, -0.3897, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.4091 left_y=-0.173 left_z=0.134 left_yaw=-0.0134 left_pitch=-0.0494 left_roll=0.0214 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1769 right_yaw=0.0028 right_pitch=-0.0148 right_roll=0.0017 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -7.8564, 8.6085, 1.6825, -0.3492, 0.1148, -0.0611, -0.2256, -1.5658, 6.9812, 1.7949, -0.0122, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.7042, 0.7265, 0.165, -0.466, -0.3603, 0.9995, -0.0219, 0.804, 0.5999, -0.3927, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3804 left_y=-0.145 left_z=0.0387 left_yaw=0.0071 left_pitch=-0.1392 left_roll=0.0665 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -7.3915, 5.4632, 1.7021, -0.2466, -0.0073, -0.0122, -0.1983, -1.4564, 7.0906, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 1.713, 0.7158, 0.2001, -0.4381, -0.3405, 0.9995, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3861 left_y=-0.1354 left_z=0.0357 left_yaw=0.0124 left_pitch=-0.1374 left_roll=0.0562 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0293 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [0.6906, -9.8393, 6.1197, 1.4725, -0.1148, 0.1099, -0.0122, -0.0889, -1.306, 7.0085, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d65f2245f03c0b72ed8f59db8eb7a5cbc1a4ebf8a13e6af047ad7981a8ca58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22512b77833a6cdd0f0d62cc183e65227895eb3f32eaead2c5bcd7b829ed065d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd90e4bdec9573e509c6f2e37b7ac2a889057b4dabea5dd9a9062e2c2a02702",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCribnbMxSwnbTp-E5QgEhXBF1sVsD3h00n7Ql5HGGcywKWqBlYr6IY0UDxQiJJRO6a5RdbB-SG6ntty00E4IFVsGXVmtE7ve-6owjqtzCQGxhOpiw-YDXnRuXq-VI8MJq46GnHZsc07tlbMgAUndjiki1_1yxPY-Im82CCdRSAx21xkrGpmCOs5-JNdWudEP0B7kx_BPlrpo3BzrcSYYhrybPClqB06GmbNenJBmWSzMXtI1HGGDiQ-dAjc2oLSSx9LiULxvYl2hxPvKAuJcnhBz8Ic5P4PYfOkTmWIrHIBjCvcHj2AWYjnn5LR8xUfGoMgL5kPhOVrzRF9o16vPs6ptshTf7Og6BvHT1vJU25VNUMZG-9dElGl_E_-SoH_NJ9d6ZPn8EPxH3qXZ_672ahtjSWbzLewnS2P2r-p1PBdPvnhydm__2xaPeuAWxOvJdcfyRGlLpEzTaWGUTvHmEApM1_fvONNWcOceHEDNvc_5ymFlU7UEu7ZnKaB8C1WSQLOkzrhlc7fkiTj-AtAxPpfu-Z2MYHYw_9MFJh3CchyKHXTrDKGfC89d91VqP3I_yRHz9-urtz6Pwm8xkzMJs2nroHM70BCmWoaWg6YGtyBxPEMEJ0jZ23Cc3MUoY1U12qUMt3jnPd-h7yWmVG5yjefzZvJcwWIPA3tN6MFLWQtV_eYRS2_nM970OXqEpAwUSrWfNAqdC8XPxF2fHnqPSKmpsUuNER7mEwP-3OokwLgw1mOnXCACl0KBcedidECqWJsLHwjkOjTVBvb1Y-Qtrz-lk7tYRKbjljIl1yrQ8XAJ-Ox7xXgp4cZwq8GbBCw1HavyLiDg0gUCAAmgh1PzCH9TpgDiBCPCeFfrSD3rEPq9nx9qsyb1ZUdhG-GiS0HKJgdsk4KQcEo0uwMQ3EP8dcLspUDqqpHzKie5fBz_vyrBSZSos_H1DR6m4gcCrEz-7PMdYdZuZqgJzvz11RvU-QOcVuoxKQrlEVvJZZB1Vz8U2oyN3W83Xb182wC8Dd5xp63qu51w7-dVCRxZCG7UIg7Gmg_Om1StNeUko3r8R3U104OEzG5SC6BPTYTaWSgCkQ6kvyQGUbCKONVX7V19sZpQzo2shWUoHISrCVkTrArs3GAdYvkGA3S9oZf1R9KNKiA-dDDOn-Hjp_-Ev_VrsNIFneB44_F2FqPAGx9It15sdJXeoUt44RuO2gfS5EXHT5WdZ-GpiDZZpcisPn61yMLptYxMPdHUBIPJKg1vWyACLgZ_eKbpXurMMS7IH7Vob8YgFw1alHETOKeS3LGmNwfIwCx2IVI3k2xpXLvkMEeW-5Zf-Q3YGyZw5FJWVFS04PeOv2hr9fa3b0qwfd3RXOJEOHs1nGMYAEzmjgSRyG9vP84_fsWsyZHf0MF332nUdOrWl8Q-xmvUeNBcDWF-rfCwX-44EmwS5kckm4icY5ps3XChXZHP4RU6x8CJzkYLCAizt_9LoKNHKIkeqU_1nsEp9T8joOc6OIZnmsenpx1BbHnaUOZIFRqWhUMI3hOvpVrMFlw-Sukrte6bhju2ptpDgfZkw4WeP-KBkkXvI0bUX_syWKZ7K1mJjoHFBGUqEPyHmMxWV089Adg9dJZ7RI2iiiHKNcdPRqOYEKLy1PNYIC4PcM7L0dlGir2fQykFOKAiJ9nmFHgREuR_SLklxzDw2TgPADiDkeOclQkmOqTG4VrAaZYs9IrYE8PY8d-TpF5CUO36N1-p7_tHe_hBIgX2g==",
  "id": "rs_0628cde06b0d387b016ab42ae02de487d0b95917b3f7cd854c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.105,\"left_x\":0.39,\"left_z\":0.045},\"note\":\"The first small correction shifted the bowl toward the jaw centre but not all the way. I’ll shift another two centimetres left to centre it before the grasp.\"}",
  "call_id": "call_4SxRAYJ1tdtlV79wDdwtMNfU",
  "id": "fc_0628cde06b0d387b016ab42ae158bc87d0870f8ad859159816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4SxRAYJ1tdtlV79wDdwtMNfU",
  "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]: [-0.4942, 1.7016, 0.7128, 0.1806, -0.4171, -0.3149, 0.9995, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3871 left_y=-0.1232 left_z=0.0348 left_yaw=0.0191 left_pitch=-0.1556 left_roll=0.0681 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.5265, -8.253, 4.7248, 1.6825, -0.2027, -0.0317, -0.0122, -0.0342, -1.1282, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ecabb83adb928d513420745d0f93b7e6e73738f159b7cb6fda40809cd55c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e4dc1c69f6c0337e28bcdff56a38fe6c9bb7dea556f7fea37dc9716d054e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70274aeee4e1582262679acfcb082b01c783f1aa95f85694cbb60a322fbbdf8",
      "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 · 4.122 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5713, 1.5532, 0.8539, -0.0475, -0.4675, -0.3561, 0.9995, -0.0216, 0.8005, 0.6003, -0.3923, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3888 left_y=-0.151 left_z=0.1096 left_yaw=0.0001 left_pitch=-0.0833 left_roll=0.0346 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1739 right_yaw=0.0032 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9972\nstate[joint_eff]: [0.4034, -8.5538, 7.5829, 1.9023, -0.1587, 0.149, -0.022, -0.0068, -1.1419, 7.3641, 1.8291, -0.0317, -0.0513, -0.0122]",
      "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]: [-0.5304, 1.713, 0.7158, 0.2001, -0.4381, -0.3405, 0.9995, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3861 left_y=-0.1354 left_z=0.0357 left_yaw=0.0124 left_pitch=-0.1374 left_roll=0.0562 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0293 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [0.6906, -9.8393, 6.1197, 1.4725, -0.1148, 0.1099, -0.0122, -0.0889, -1.306, 7.0085, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4942, 1.7016, 0.7128, 0.1806, -0.4171, -0.3149, 0.9995, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3871 left_y=-0.1232 left_z=0.0348 left_yaw=0.0191 left_pitch=-0.1556 left_roll=0.0681 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.5265, -8.253, 4.7248, 1.6825, -0.2027, -0.0317, -0.0122, -0.0342, -1.1282, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ecabb83adb928d513420745d0f93b7e6e73738f159b7cb6fda40809cd55c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e4dc1c69f6c0337e28bcdff56a38fe6c9bb7dea556f7fea37dc9716d054e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70274aeee4e1582262679acfcb082b01c783f1aa95f85694cbb60a322fbbdf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrlryzZZX7A8DMHZyEQDRrNEC2wo_SOGSSLR26VOO6B4m5S6UUMR-DE5J_FzMLHcAoM9fWJhaBxHhtf8khwLdYIBjjbt3CUZY-sp7_CMGyUzfgPJUsDSQTl2wGDKJ56ucj-A7cRYZJW3SKbIJsHCvFQCdNL7RkxXSb4rWnYUYvrjOzwum4spzJ4ilmvN7TSyoiLk9N9tL-Y7Hl1kZSnP3cBUHBqBA0wVBqhmT1cjVgNkfBuhQ5OycwXJC0nmVxKqibIOmRHEm6eXrL0WvC4Y95rvhT1M7LQf2cWhgvz8HklvT_BwZv0uzR9ui7pDtMTAtX5uSE_JWC0_byVIa_TGxRXNcpN6ZbhAhyHX5IjJY3Llp2Aq5oIWv8kXcmvI9-O3kvPVMmcYUwcmlzX-O1qlDW5WgrA3A7VCalkFCqM0l5wSl7jo3QSfHiwEJJ8_-6nkNkENZqh7JYTvyhKKV9U1tOHnH-flK-uCcClw0PXQy7ciMXAcG39GUtfecXVLwJzD9Vk9zxLM8NtHzRccx8tU953cf4g8UwMFBLHr3E6XNU97XKkHSivD1wmtRVQMOcigl0FiuGpwkE7_4JnuTdZCBirfg1ZHOrtV7FHNz65gEMETf04mTb-8jJ6Yh2KJx2-A6_JrequjXL5PE_gPNrW0IYw8SAHrZaz_cAiV7Xf70QdmpsVhZg84wuKx6AWQQo8PQ5LvocnuMbhUGhFcksFEK-SsfJSN1j0q5SDUAAvwG9eT6FhVnNETFP6_C8id_4d-4VLNYr9UlMMS28zFHU1x_fc9_v-3sOVejQYaRIwVlLafrExcN43NzCXSK6Fhn4ZEMM2wiiQW2Yz7fXP6_T52uD97Nov2yrexjKWC3MZsBtcJ1LOQwx2HdRIkbYMwzDPdeRn4Bblj13bx5Ph8JspfNBO43mEEh3H1pZ8aq1HfDcZmoFncXLd7bfZGwEoE-O39fOQYkbHkdbXkXhSffUbSAYafEOJOqW_qqXq1wKaF30j3x8A992UZoS67eWkIbg9gSYb7_0B-zPIdxkuiSC4ohbmaG9P38t7be9neq89l8j3XJqTA6QoFO3KoPN62GhFFhX-wZYLu3k8--GE6NmPJaxcdQMXVrEYYusps7aMxcOb6kvPgAw7gqVRkC6QGBEDqatKA8r24OSk928vCAkyiEYslycPM3Wlc6SMPhCMISw7225og0yU4rprhWfBHWFSFPP14Is09OLs5s5uctZ7XV7Bf7LQOb97Tq--xQ6RRKHwc639T4FTi1xEyTVYM3mM8ORm-YiSp0b7YkCIWc4fkka4MqZJyOuRxvVxIua3-OlqcUGgX_vWnsZ26cgghePGchtJSnOwd8hChN3ZJhJ2fkKMFKBtjayz9ESTmSOF6Z8P4zFgQNCScLAhPaJwkNiK08-yQ_fOy7GWFR6jeXZ9-Fs3f-w_vhgFJ2BQA5fgBIzjlgdtgq5bVkduPibSqZBVgZh6FEl1t6ouRV--17UhIM_4hDDyqJHwwi2mA6njmCVNQpFkJEBnJxbDom9eUahE96owawUyE8ewr7cOoRW2JoZOfngaLlk8jYnaxfd-9V_Fm58FKEC5dhSq7-Y2YqNJ4qETHvSmlNQJgSLTWqL5AKQFFicwFmCPDY8T0H9Egq7iKjM0x40wUQ-kj0FKJBD7_rJxdEI9IPVf03PdJI1mwSF9cH9O4Ede0r5fXN9h8qGyqX_1UiGhz8H85nIjncZtsiRvyJuHasthasPbB2fd7dfumHx-AYZYe5weWk4EYVJsy5UFc3XcVN-Y8iNXDLPZmehqDNexoD9W4LnfkUEDw40lRGuG0hftkzAGjHPEgOiQ9tZzatN0fYtOUftt8SaIW3Ln",
  "id": "rs_0628cde06b0d387b016ab42ae378b887d097efca27b94e0397",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl’s near side is between the lowered fingertips, though the camera view is partly occluded. I’ll close gently and check the settled opening to see whether the bowl is actually gripped.\"}",
  "call_id": "call_eTKg9r8NQS8O52oaUVidFSSc",
  "id": "fc_0628cde06b0d387b016ab42ae529e487d0ad3bf571a4544964",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eTKg9r8NQS8O52oaUVidFSSc",
  "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]: [-0.4957, 1.6997, 0.7086, 0.1928, -0.4263, -0.3119, 0.0377, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3879 left_y=-0.1227 left_z=0.0365 left_yaw=0.0224 left_pitch=-0.1438 left_roll=0.0713 left_gripper=0.0377 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -7.1453, 6.1607, 1.3895, -0.0464, -0.0562, 0.9206, -0.0752, -1.2376, 7.0496, 1.6923, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd32c4712c615a0153dbceaff32600a1f198bc1279f590103f5b1f150de0e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ab3bf14a02c2705d6abd2d1ce9773aedf45e20ee0da2a84f2fba946871da4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c87142ce6633e8451615110110fddfff0492de0f81d1e70627831066f9e2685",
      "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 · 5.633 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.7042, 0.7265, 0.165, -0.466, -0.3603, 0.9995, -0.0219, 0.804, 0.5999, -0.3927, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3804 left_y=-0.145 left_z=0.0387 left_yaw=0.0071 left_pitch=-0.1392 left_roll=0.0665 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -7.3915, 5.4632, 1.7021, -0.2466, -0.0073, -0.0122, -0.1983, -1.4564, 7.0906, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4942, 1.7016, 0.7128, 0.1806, -0.4171, -0.3149, 0.9995, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3871 left_y=-0.1232 left_z=0.0348 left_yaw=0.0191 left_pitch=-0.1556 left_roll=0.0681 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.5265, -8.253, 4.7248, 1.6825, -0.2027, -0.0317, -0.0122, -0.0342, -1.1282, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.6997, 0.7086, 0.1928, -0.4263, -0.3119, 0.0377, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3879 left_y=-0.1227 left_z=0.0365 left_yaw=0.0224 left_pitch=-0.1438 left_roll=0.0713 left_gripper=0.0377 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -7.1453, 6.1607, 1.3895, -0.0464, -0.0562, 0.9206, -0.0752, -1.2376, 7.0496, 1.6923, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd32c4712c615a0153dbceaff32600a1f198bc1279f590103f5b1f150de0e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ab3bf14a02c2705d6abd2d1ce9773aedf45e20ee0da2a84f2fba946871da4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c87142ce6633e8451615110110fddfff0492de0f81d1e70627831066f9e2685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrqRutE7T1J8SSDVN5R8FX-MluQK8kZpdDciAa8O5haHweRpVr2AGgLh9PY3XzWbtrih37AIIzuYzNKc5XdKMk8BSQDLvrg5WwbodT_QIjS0-4EL8FlxwmfKuPXhVyN5KNaSU8HCoXcyPH6d8tZ1BP3w2_d7kaJD9wqjBSngeEUWgFP7g8iCckdPDaDnjstt0IsxmTaV0h-nZaOkPEVuoayL6wa_V-TrSZze3JykUoN2eXGVyd2eLnK0QhRxbsfrdscLOe6_8VujeL-XWO0AjchRC6vC6MV2o4IpQY62q-XKzaErWUtWsyGc-X9jP04S-WfnO70RWJRMKsvR7pgJAG8wrqen3lPLrDPPQmerZI-1lOwPbb33aKt6N-4m0B6PomN1_B6apC4ABSQHcgMt80A6YB_-5Ze760uj9nEj-6YTNDDgP-ot0eHpMCxn71ZSH6O_RtkXIjYOuTmNXu1xqgZgIam2dhfcS_drko1O3UOAvWfmKypgAGQKV-tQmOIV8fraOZ5stURAun1Ta9nqAqtV2VWZt7RRJAiLHAfvcSGqXvb4JX42Rz8Dd0Gb285sZnHW1NsiFKqIp1sLyJzpBb2fDR-DScLn8ljFKcECnILgGrH7PLs7apmreK16GtourkV9VkJRm5-VFQstIuCU4zqsioVHhiaFHAioA97iXXd48kJJKmb7nM97vLEGY0vdt4Z-MzqTr8ZgEcyY9AC4sQDevPRs8Q_Ldmr9D2a4BkRJ-rWNPmTBYyytxg72LrkAEGMm5xOjG_5jsuY9ORdLUWGu6O5KQkQNJb7myyKA3hBygncwDl5nFIGweqh42nXRisL-SjI6jkyfU7OtS4al-74ciUPcNb52Pn7ySgaGz1KZztwJOSGTR5Q-ZegfevwEPsGjZfdh2mCFQkFBpXCrRRy-Jh4kTJZtkgUj5UAvtVCEi1bfMdhaMVDBW9LJUikS13lITapvdg9GAZmJAXwo9afKV23u26HsX-zF6nI27mql3xmnd61bhwttfdc0LTz9rbGurD7uGoTBBCkNcip7dwd-cx7vxqwOciIpLSB6KkdduCyWk29UAtepBq3hHnggnsyEJZMjV3LVMEa9mOZ2ILAgfSGaVTmYAge95G9VDw7w4dKqTalJZ-KvEhfxEVfuF9gRrNBqJi98dysXqCiOKdZac_u_qlzae7uotWgZay4nRmt08jqt1a98a5pqsrnlmm0He3P8ZoJFGFnTj8UOf-8pnrV7mz7xnaIeGSuhbKj-nrkomy37jCwAt3g9uWVnZgFfZYaIJLGVUJL937x20E5y_mHDlP6GLnYmJdB5k78km5t_6xG5TwIyXQK0XohL2EVEtsGy6xK5IKD0vHE-Q99FTA-atyAm01Hk7CeXUM8Bz94nQJQj2_qaWWCK0-5yHZYFLDbTwE9FPLN_qB2k5yyC11z79zxo596TNKXFKcYZi0ZpNVycPQVgp1udRlEMAAJupOw101eQGwPt6aqiJi5MqsLDb-7l4aSuKT6Ed64tnVBi-sUqqhTbnK4mBD3_Q1pM2iFAaSW0w3Nru3gnKfDEn1UYOITw8xV18nBypteajPjUlUGYfti78y9DS_CKXxDZMvT3xmnuiIb1XBkxPweHRI-UC4QFjxrR5QHYRiG3WQd2Rxtvf1Nw8SiVaUsxXm3etRRaNJClfTvskDGHok6dK5NevL1mYV5LCrlmTvFfHoB7TsV9ByDak009HjlIMoIank4EUKV6OYQIGgPa2YXbPDlv5e74U2RqRLwVoD8i1prlwhBTVTx6sGQsNqAlF0xfXwx3VYOCInkLyMrBMOIDLPXNIlfi6qk2jfA9rReVAVbH45O9nWQT3Rlct-ItekbVz7wfQou5-xg04-P5EMSNqAy0EWuxgaKRn2Yxm-aEfnwXGIw3nJVZnBdBQhwUNsfy93mhXN0-JRGdIupFcaO7fdOYgVwotUZ6zXatcFmbkFtqJUUbGWtFitJarU0ORuAEjp8fRxb1CTFkUd4NmD8GzM2aqmqKj17hENWWumwOePlv3M249pLSF-ZAM5LLvmPIVfM8KjWvQikesOqWPHdkfddMidMuqbOx5iCoph6KtvdQehsJoBYLIMDG5CKRTw3wQMOm6Pr3vw6cyuaK5Qu0DAZpUN1_-7bwhJTBxw8SWrg0gjqWrAofbJYcObnK0-Ln_2bbp9ZpuQu3hXQf3k1ZMkiMpwuEL7b4b377dVn5ZgouPfwg1C_Hh5r075ML3pgmdISneEpqV_Y2PN5fAlzp5JspjUqQpckUzsHBp7cZ5T3MjcjLj0la19frhJ5ykhmZYbrdheF_SOblkbNYVslYphjmhoTz7-mQ62MKlYMthA=",
  "id": "rs_0628cde06b0d387b016ab42ae7d9b487d0a4cccc7610ba11b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.10,\"left_y\":-0.175,\"left_x\":0.39},\"note\":\"The gripper closed almost completely, so it missed the bowl. In the wrist view the bowl lies left of the jaws; I’ll reopen, lift clear, and shift toward the bowl’s centre before retrying.\"}",
  "call_id": "call_8eEUat97LEgiGq3lrM4vunvF",
  "id": "fc_0628cde06b0d387b016ab42ae9dd8087d0b86a10bcd46a730f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8eEUat97LEgiGq3lrM4vunvF",
  "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]: [-0.6308, 1.6787, 0.9386, -0.1398, -0.5034, -0.4229, 0.9947, -0.0219, 0.8093, 0.5957, -0.3965, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.386 left_y=-0.1719 left_z=0.0804 left_yaw=0.0142 left_pitch=-0.1753 left_roll=0.0813 left_gripper=0.9947 right_x=0.2924 right_y=0.0001 right_z=0.1686 right_yaw=0.0028 right_pitch=-0.0415 right_roll=0.0023 right_gripper=0.9972\nstate[joint_eff]: [-0.4991, -9.6068, 8.5265, 1.3944, -0.3492, 0.0513, -0.0073, -0.0205, -1.6752, 7.3368, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de80825a8c832317ade6e4bde7b03a548d2f12107d7210de4ed03cb6cb15ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dc3304653edf7a234c916079797c93aa884a666258ebd4487c1b3849026b16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb72c70ce2d8b4d9571cf7e97dc5f8f3406d9c4897c6ee35527c157d56026fac",
      "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 · 4.884 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 1.713, 0.7158, 0.2001, -0.4381, -0.3405, 0.9995, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3861 left_y=-0.1354 left_z=0.0357 left_yaw=0.0124 left_pitch=-0.1374 left_roll=0.0562 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0293 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [0.6906, -9.8393, 6.1197, 1.4725, -0.1148, 0.1099, -0.0122, -0.0889, -1.306, 7.0085, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.6997, 0.7086, 0.1928, -0.4263, -0.3119, 0.0377, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3879 left_y=-0.1227 left_z=0.0365 left_yaw=0.0224 left_pitch=-0.1438 left_roll=0.0713 left_gripper=0.0377 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -7.1453, 6.1607, 1.3895, -0.0464, -0.0562, 0.9206, -0.0752, -1.2376, 7.0496, 1.6923, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.6787, 0.9386, -0.1398, -0.5034, -0.4229, 0.9947, -0.0219, 0.8093, 0.5957, -0.3965, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.386 left_y=-0.1719 left_z=0.0804 left_yaw=0.0142 left_pitch=-0.1753 left_roll=0.0813 left_gripper=0.9947 right_x=0.2924 right_y=0.0001 right_z=0.1686 right_yaw=0.0028 right_pitch=-0.0415 right_roll=0.0023 right_gripper=0.9972\nstate[joint_eff]: [-0.4991, -9.6068, 8.5265, 1.3944, -0.3492, 0.0513, -0.0073, -0.0205, -1.6752, 7.3368, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de80825a8c832317ade6e4bde7b03a548d2f12107d7210de4ed03cb6cb15ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dc3304653edf7a234c916079797c93aa884a666258ebd4487c1b3849026b16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb72c70ce2d8b4d9571cf7e97dc5f8f3406d9c4897c6ee35527c157d56026fac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0628cde06b0d387b016ab42aecaca487d0af5b2430b1a78a07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.1},\"note\":\"With the gripper raised, the overhead view shows it beyond and right of the teal bowl. I’ll bring the open jaws slightly toward the base and toward the bowl before the second descent.\"}",
  "call_id": "call_sgQBdvrkFZu7qE4CdjUSlD8j",
  "id": "fc_0628cde06b0d387b016ab42af0689c87d0b4aa2f75716da286",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sgQBdvrkFZu7qE4CdjUSlD8j",
  "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]: [-0.6022, 1.5349, 0.8379, -0.1997, -0.4877, -0.4084, 0.9957, -0.0216, 0.812, 0.5953, -0.3977, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3605 left_y=-0.143 left_z=0.088 left_yaw=0.0251 left_pitch=-0.1968 left_roll=0.0923 left_gripper=0.9957 right_x=0.2923 right_y=0.0002 right_z=0.1674 right_yaw=0.0032 right_pitch=-0.0457 right_roll=0.0025 right_gripper=0.9972\nstate[joint_eff]: [0.2256, -6.7761, 7.0769, 1.6581, -0.0952, 0.0806, 0.0855, -0.0615, -0.9778, 7.0496, 1.7656, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13aecb4416fe072a8a7a1c1c29f8d5d9d8a82e380109a0f934860f90064bd89b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4a7cd7405a0852db2b0e9d854e4f83adbad6f996f8eca1c249ef87db4f1155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a71326b227cddc5edaee5c6acf9c3678348f3047683b20fd0d5582373fa697",
      "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 · 6.136 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4942, 1.7016, 0.7128, 0.1806, -0.4171, -0.3149, 0.9995, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3871 left_y=-0.1232 left_z=0.0348 left_yaw=0.0191 left_pitch=-0.1556 left_roll=0.0681 left_gripper=0.9995 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0032 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.5265, -8.253, 4.7248, 1.6825, -0.2027, -0.0317, -0.0122, -0.0342, -1.1282, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.6787, 0.9386, -0.1398, -0.5034, -0.4229, 0.9947, -0.0219, 0.8093, 0.5957, -0.3965, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.386 left_y=-0.1719 left_z=0.0804 left_yaw=0.0142 left_pitch=-0.1753 left_roll=0.0813 left_gripper=0.9947 right_x=0.2924 right_y=0.0001 right_z=0.1686 right_yaw=0.0028 right_pitch=-0.0415 right_roll=0.0023 right_gripper=0.9972\nstate[joint_eff]: [-0.4991, -9.6068, 8.5265, 1.3944, -0.3492, 0.0513, -0.0073, -0.0205, -1.6752, 7.3368, 1.7167, -0.0415, -0.0513, -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 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5349, 0.8379, -0.1997, -0.4877, -0.4084, 0.9957, -0.0216, 0.812, 0.5953, -0.3977, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3605 left_y=-0.143 left_z=0.088 left_yaw=0.0251 left_pitch=-0.1968 left_roll=0.0923 left_gripper=0.9957 right_x=0.2923 right_y=0.0002 right_z=0.1674 right_yaw=0.0032 right_pitch=-0.0457 right_roll=0.0025 right_gripper=0.9972\nstate[joint_eff]: [0.2256, -6.7761, 7.0769, 1.6581, -0.0952, 0.0806, 0.0855, -0.0615, -0.9778, 7.0496, 1.7656, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13aecb4416fe072a8a7a1c1c29f8d5d9d8a82e380109a0f934860f90064bd89b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4a7cd7405a0852db2b0e9d854e4f83adbad6f996f8eca1c249ef87db4f1155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a71326b227cddc5edaee5c6acf9c3678348f3047683b20fd0d5582373fa697",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr27K4SBoOaz8hjwkEpIBu-MgmOUNiHTICf90XzV5YQBvkXuyitZ9KaaW_s7bs_lFNtu7Oovwuc2LvrRjwIf3OxDin82bL5lByPaWblTWElgl6gktUAtL4QFjFf9NlJLaqwjOXziGOW2-2T1zikv52Ehq4GSFtzp72oqqup5gpeWYfQ39V1Cu0pCXbDVOZ6xsqeidpMHmkcs8zJO8u5r0Nm3QVCjiTX-h2311qlpHC3mf9kMzbygh84ghDgj2-6EV6-WBJTqVPeqsMx_wNkeebmVSUmGu7kA_zn3ou59CrLS89S8qVhbHVA0IR3n30mF0hirq-ZoU7s00xzlwY55U6xagdFMbnvXSEmSyKJXo5zc7jT8hpQwPkf3BM8indCsNUGh4TMkiOFfUPKsayKjy1-CX4T6Xc6xj-XwYlhSY5rqRWsry7Qj7MB48CWIVa8PcF5D6vcCf_TCzhE-CWTFHIp5a2KKk9iVJbH-0SNhi9nwJR_4TJ2NiVjppp_HA1KUVKwu_UGY-YesLPB90ieDtYqcHmksNlCvYCAAwXr4N36PDKR2SE2CuGgXgFLqk7Qr0DrWEPPwPC6CaXknwADuasmSOrcbwbwtUP8f1HrlzOjUuERTx1RhgCkLTrcUQqa0W9SFVpe3cmUBl63t3qjWolkfX52rU8S8zF4TeEJKyOpji8p32HHGZVUTmZctOJmqujQxwz9jba669jC9pGN0yzuPGKK1svgfpmae_G6_B8kWXAqstWUUu9zZB_pSKlIqxnbn9oqMJUx_fuSA7auv4ojYvyhpIN9I5aTjlqRmSUpXSD8COL0vrMeo5NuorcMLgq-wsNy1mrHR9OCGwMBJhanHCajodR2qzyygZjAyBj7aju5DgQ2C1PoxvNMzren-nS8cbx2GV73Qitw9XNKjI3njzyGKNfnjRe9c3CBqTAcQYQV1uN40qyMpio7_TgBilDEbWAAbbYWrv-xtsKjeMGAZS5o4DVmxgGV7V4XcAz4eOJO6RNUmQl5fuuTbPUIZWUzvY1UBpTlXQgvOOH5yRUfElJIkl0ewmLvDowmW-L0vvIg3e__bygGzQwnGaYd9BZOXFc6bTUyKvnn4mx-RHXfpEU9pqmMTwjo3aoVkZyJ2krwHlw60YwIRb25oVT4IYyM4UkjBOnP5gky_u12L5mHbd4TzaA9zJ26Q-6vrL5l9QsDLDLmJr1BmsmbMmKR8rpLWGSSk3niPSUREyEX1TqesYxYWBI4ysBcatK3VjcKuTIwJyYQgT4xVnwf3sbTmLH0b--BdrzcFEsMU24zcFaVdUDnAejvQstP8fh7hLYNUQBITrwpANBDYEoMsc-c2frsMojc9PE24-aeBY0cH-hVEqmASq9Q6Cnm94MvS3MvH2bPs_d45IkCnQH0vO03s-vtpKx69Wf-9jbs_NBANbR-h489ItyaoE_Lgpm99juVPRlQYDFbSHFWmCrsDN0znFM6IbRwYSyYFbKBgMf1jbNu7BUw-CHawyPaDZhCJAmirtVzwg6q3sj-_teGOJxRherMX1OjXkSL4TvdNutK3yifxqCs3K9CT3PoKwjBxCsjODulIjOkgMNK9e060QlCJSm_yK4uLtdYS1rx8VTSVGetjstCO5slBcI_MJL2iRH7r-Jp1g0jAwGHjRRzWCB-4woXv6smDxnipmEEJGpXrfEk2HqL0gfnQvWLBPYnLCRvmNdHupi91I6o17ZyTWvr1KJA0GF2n4NNjBvo5FyM7pk8lZCvoJ8vJ7okyx4OyJCmlpaXVMrF_h-J4U1rsIdAFmYSx92SgR2Yuwlba5If0dbgIEoqH7W1h7M9-YXm44QkYMK2X9KvHkx-6hw7c21DmKPXGd3hhfm0o1vj8YHpfg-JvJIGktPgPIKmLgOswuFpvr92WXq9Rox5DXRT445QHxMDLMR5h1XOUPATIZzKPYRaQQsCbQ5-ogYc_BUqNWboCZt4hrBzGJSbwIFyNmSXZhqhe7ANZq49Bt5MwzzK3oze9wbBSsbDFU5d0DFDYcevLs2NDT8OxWSSU9Iw6cSdPbLscaDvLD1roefaC-e9zXObEmqqLDEMvzVR-nvUFwMhxWMFhYUuu8xNfEKZcg6sTz1yozHbPywBRBYxjF_LSFnsx-Ie0IMftqwj8botbLX39n-VqVjnfCUROWLSbDzqhxF_8BPYPNeRz_JrWwsDzATKHEcF-AOM6DtMz5JYM_I2QTTReEbhERtI8C3f5T4tYF60arDHncF0kRTAwcm5GVY7OeO_VXgRXbSxs0_Bl-YUCgPMM5korCDE7t6WW8IUw1mSgatPSHWUp8ZYfBqdhLgkW6h9SegP5gooO3ziifPExvZEJVPmwPtwJguPMqg3lJIyRHEifPh_ivSa-wDgh028maHcJe4ZbC2wDwjMpvp-82OtpfE22VwdAd3Kvgl1hwMMMrVI7e94_PurQn_CqM50ig==",
  "id": "rs_0628cde06b0d387b016ab42af2ce5087d0a8dff3f52f58961e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.07,\"left_z\":0.095},\"note\":\"The teal bowl still appears left of the open jaw gap in the wrist camera. I’ll move the raised gripper several centimetres left so the bowl comes between the jaws rather than under one fingertip.\"}",
  "call_id": "call_6ooanwGFgUI4qJKUc3u3Auh9",
  "id": "fc_0628cde06b0d387b016ab42af589b487d099b47fb9851b3199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ooanwGFgUI4qJKUc3u3Auh9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5888, 1.499, 0.8318, -0.2058, -0.4877, -0.4084, 0.9957, -0.0219, 0.812, 0.5953, -0.4114, -0.0166, -0.02, 0.9972]\nstate[eef_state]: left_x=0.3606 left_y=-0.137 left_z=0.0977 left_yaw=0.0358 left_pitch=-0.1776 left_roll=0.0782 left_gripper=0.9957 right_x=0.2903 right_y=0.0002 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0595 right_roll=0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -6.694, 6.5709, 1.3553, -0.1685, 0.1734, -0.0024, -0.1436, -1.2923, 7.1179, 1.79, -0.0708, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:751a8bbdad7e916800e57b365d4d2d80ee832949a697bd9125ac0d39be0f776f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01f575e9dcec4bab1bcf277033f43a4d29b0cb44c87bee46fd2ff52accc2902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737392082dc9e680b63450b02a799a27754b9939d6dcc7d4004147cda8825766",
      "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 · 3.912 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.6997, 0.7086, 0.1928, -0.4263, -0.3119, 0.0377, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3879 left_y=-0.1227 left_z=0.0365 left_yaw=0.0224 left_pitch=-0.1438 left_roll=0.0713 left_gripper=0.0377 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -7.1453, 6.1607, 1.3895, -0.0464, -0.0562, 0.9206, -0.0752, -1.2376, 7.0496, 1.6923, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5349, 0.8379, -0.1997, -0.4877, -0.4084, 0.9957, -0.0216, 0.812, 0.5953, -0.3977, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3605 left_y=-0.143 left_z=0.088 left_yaw=0.0251 left_pitch=-0.1968 left_roll=0.0923 left_gripper=0.9957 right_x=0.2923 right_y=0.0002 right_z=0.1674 right_yaw=0.0032 right_pitch=-0.0457 right_roll=0.0025 right_gripper=0.9972\nstate[joint_eff]: [0.2256, -6.7761, 7.0769, 1.6581, -0.0952, 0.0806, 0.0855, -0.0615, -0.9778, 7.0496, 1.7656, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5888, 1.499, 0.8318, -0.2058, -0.4877, -0.4084, 0.9957, -0.0219, 0.812, 0.5953, -0.4114, -0.0166, -0.02, 0.9972]\nstate[eef_state]: left_x=0.3606 left_y=-0.137 left_z=0.0977 left_yaw=0.0358 left_pitch=-0.1776 left_roll=0.0782 left_gripper=0.9957 right_x=0.2903 right_y=0.0002 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0595 right_roll=0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -6.694, 6.5709, 1.3553, -0.1685, 0.1734, -0.0024, -0.1436, -1.2923, 7.1179, 1.79, -0.0708, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:751a8bbdad7e916800e57b365d4d2d80ee832949a697bd9125ac0d39be0f776f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01f575e9dcec4bab1bcf277033f43a4d29b0cb44c87bee46fd2ff52accc2902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737392082dc9e680b63450b02a799a27754b9939d6dcc7d4004147cda8825766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr9sMsLJxLDa4cDp3yF5ZRmLR2r9CfeD_Hro3gMJaEAETYzJ4djvFb54bP8tHt_tP6Ax8BQWKXu7KmzCT9l0dTNImZzNMzoTsRSmt0lHd-TfGbkmPMwc3prQrvm6Io1pcLqVr9hkD5kTQwyLHWxhjwwObNmczTPJcnn1xH6SI6Rs3E2gvkVjjdUi_VfS6Mu2cx4U23dsAw5oerTgVnwx-_d3ziztAL7tKYdpHm4uPu0_ptns0QpB5Glu7bbGWfsjjbNBDG_5TZv7YzyR-FHKmnW-bMQmH0S66Hr1Ub_WjcAB2ZxK6dWjM2KDD4okWZfgRXu_6wA2nBgUMl875sBCOm0z9jBUlc6UbdQ-ABeFz-1-4KTtSeUYdfO6gyfo2wIPxix6hg-rY9mWXXNRmrQZ5U7m0chml8LZElSfiLhWzYqwb5KdO9ZaF6XWpjtXBqEOGd5BMjf7NKjB-tkusBUAJT4ZBfmWbys9uZh01xf_UrJEw3uA0oz1OPmIKBGZM6S-QJthhUjTQAbA7NfFKF-oH0VMzXrqNbsSUkKdxpqvUtOe1mrZHPXbHoKFTwnTm-kgJNERgw5axF2zqalCQCQcDCzjHncjo8KS4Mv61wKQ-Z-qA5dzF4TTP9UJWOlLIc8MkjPydgC5n6qmqAZzKjeQP_4rnoc9zo3-SP7BIn3zBhOSHnxrxlqQ9hKRNFwXri6-CfZLnHnJNT6fkhYTziMdPYCDJcu_VYg3fAHVKdefkTZBnT1wlJ4I0zkGi838e9JOULNVTd3TQepaUddJBBPG0wBVtjaM_iFU8qMA_zLF0gsFXLI4U69VL_zqrAJAzK0LJ7V2ZxbkQtis_MqoZg7StcRrxubozP1iwmx5rAjnzGUpExi0BwBBgyuBAFWUOdMQDM5nYT_DcMSKAUmqtIEk0VDxDoyW7Q4L0RcJD58XlixJfJyCQs7h--WgB-20rQTj4fUMoPFBDWBsrMtSG5t8w3DjdgiAspqHtOmzHwIrPB9NnorpfsIj1B5RBO-Z0GYA7n9DW3reD-XUBqlqwStO7GKNaXizRbVb3DWKEuF-Hp50XE1J2VueSJuAGG7XcSb8-RzbDuC452M_kgx2ukyjqomm_f5-zGRb4dGoXOrpuN3SG3Pn5-e1vShU9E7IwB6B0KjM8M5rJtBPNumPU1laN-vUejIUjm_nmqbeEAbBKpb_q-G8mOAvVrEIe-ntKzbP0Af9GRomSUADR2eFYWsPFmL6plogxzquXdNJ1Tq6RL5lW8RBJ3-pX2jUHcuNl4C8XWKKw_QWiUJbGn_Vldx_85dYhaDAneA1hBpkQdIz3h_WuhhL1OZ-J6BwtdKQ_rPIb27taiSfqV9mpf0FP9lKJCRiRH_dPJJhOVSPcte7Bw2-8rGf6GYGd0VEvpBZEuO7juLpH8C-6jyhqaiWlWbhgmUEdsmRESH93dqtNcd_TNnhMRNmAu9-AGINBM1wOkmbEDtciKDDU5CHyqDiNoTj5PNsLl-t5BToW9DL_MV8CMSm2psYXKZPdIR8zwq7Jc7cKmit4eZGvO8rES4v5PZAoBMP3EWnYvBqaBnUwgm8th9xqolAddCs229Bo3dQgej51AU71muSF012MDh7JaOZiaZSr-p_OnQXom_TyWCDzVqX0UDlfVKEsyeMb-DA5QaQhit_PxawF6pUxXfrKQZy6MM0eIY1ts0-KWeW7dFqrSbz459pIQ8m84f3ai28S3mamzBBUMtrWBBF1rVDHIGYdN3fB9TW2RHxz4m8M3ynLRQEMMyho8zcXRIQUd8dbrxFVVbEuU5LVcV5QvIPq5L_RIrFSf5mgorzyFWH9D-BcNrtr3NYs1lMG9fODJxaE6S1bUIPy67_u9OJUG1qMc6yjymFWygKQU6iaA2Gf7WMXauu9jxfRJvNvOKWCmDwcKJUnNK8DBGzzBW1o6Yh-1UysLSHQ7lDlqe8G_BM3OPUOmMth467Z2U9VoCXI0UyR9mHLWtK5d1UYjhAbx_0vYn9rfsyNMsFRhZRKfTJw-zQPsL8HFT-h8OsVkvnPMgDVSsGRvm-Nh28KD3IDP7bMwZxxJlhR9S3l59-KSaXYPB3budH7xNnSRDfEWsWP1iqr4n44Hs5-6bqr6J0Nx12YFkPn8iuhcMq0JnaqOO-4eAtFEwidIhXmhDYWfaVmC_IGegJHNyzBAYyfSm5OlmyzlBVPvlj_kcVEAyZTHGnHxz9KM8kXGTyLmV0pEd_92QJNPBIfizYfDsqc7PkXGRArtsbSASoBe1k7_lplG-lGfBi_gS9VF_slzsPqCY3bq11J6VI_yi8oYOVK7nnFNBz9I2w8MJNB3HPAdA7U9luBFn7iiamJw4aFY6StXYywKRSLRtKCqod1fNb_zVDclVdOlfKzY6xoVemC3UgDAREE-sGT61n_eHLJKZIx_jE2UXFJCsjWtCTxCLy-04KnXwncyJQBsL8GyTyzXeXMipWGJERBMWzsM6-h2Aaay_NUs8WSlQWzkM68QK3jovinW9m0KhhmK9dX9dew-z6fjTZ7TzPdGjfR44z3VdqPoBOdovMYzty86e3-ZAom2__TkpX7OzzXoLE5VPgtl_ba57EH8xd_5xGewzWe-EjYA68YBAGzxQ8JBorkqbhwGP29eJZLZCx3hmP8z8aEGvHw0w53eWXNaU8tKthLMyy0it2dQ-Fpo-alRCWik2gI_49NX40UFO9hAY7t5zrrC9PM4fyliYOMfgBBUgU-Bd69fG37cWKqty-ZJGk5Y5nxZcpXLFhPRHppMjhCKWYR9VeaUyMtIr1675VK-Ek3jbfEQGa3o-KlFTrO2SGtzwgwIlxNFoMgAF6c0iYYgyHuscFe-eNkWR7TVrFp5T9TMZ21gdDERnO3ZIgznyxOPH-HBFjDl6AHcmO1Eb7GlLMvo2ro1kW7g9nCTmqIKw8x2zBc5TvGY4J6-7KObPQoD3Yv3oYrtEMSccOhMIpX2CQ14ybRQX05qCA_ONWyFePVSGVk2FVmS-NuHbuQtXA8I81DarGUavx4cP0rbqxYdGD3ZKX6qCx7VzMOvK1EnOPazzJGBgwub5bg3mt4A9mP0xa8eoQTQa9UQ43VcP1iK0avJ0vCvS4SFnBuEdmw047OSp-jHvY03Mt4wfP5CN",
  "id": "rs_0628cde06b0d387b016ab42af8281c87d08a9bdf90b9342314",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.14},\"note\":\"The left arm is not tracking the sideways adjustment well, so I’ll park it and approach the pink bowl with the right arm. The right gripper has a clear path to that bowl.\"}",
  "call_id": "call_ASYgrCvB2QK3SsyS996RJ81H",
  "id": "fc_0628cde06b0d387b016ab42afc7c2087d0941ffdef933aab3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ASYgrCvB2QK3SsyS996RJ81H",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9573, 0.7506, -0.5659, -0.1978, -0.0925, 0.9957, 0.5625, 1.4086, 0.8021, -0.1745, 0.4107, 0.3157, 0.9972]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1666 left_yaw=0.0859 left_pitch=-0.1877 left_roll=0.0742 left_gripper=0.9957 right_x=0.3552 right_y=0.1448 right_z=0.119 right_yaw=0.0454 right_pitch=-0.1339 right_roll=-0.0376 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -2.6872, 10.2222, 1.6239, -0.0073, 0.1197, -0.0073, 0.1299, -5.9419, 9.1829, 1.79, 0.3736, 0.1783, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55aff2b55de876d60aeeb3a0a926933d2c35a1d71473edbb83b8696eab4bb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1178725491dbbe941c6c4246a536579aedc7d90a324c5b524e62006d77708a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346974e882f4f5de3ce87951f9528ce42e99e88ac9efff65c8bfa605c4347aa6",
      "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 · 2.344 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6308, 1.6787, 0.9386, -0.1398, -0.5034, -0.4229, 0.9947, -0.0219, 0.8093, 0.5957, -0.3965, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.386 left_y=-0.1719 left_z=0.0804 left_yaw=0.0142 left_pitch=-0.1753 left_roll=0.0813 left_gripper=0.9947 right_x=0.2924 right_y=0.0001 right_z=0.1686 right_yaw=0.0028 right_pitch=-0.0415 right_roll=0.0023 right_gripper=0.9972\nstate[joint_eff]: [-0.4991, -9.6068, 8.5265, 1.3944, -0.3492, 0.0513, -0.0073, -0.0205, -1.6752, 7.3368, 1.7167, -0.0415, -0.0513, -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 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5888, 1.499, 0.8318, -0.2058, -0.4877, -0.4084, 0.9957, -0.0219, 0.812, 0.5953, -0.4114, -0.0166, -0.02, 0.9972]\nstate[eef_state]: left_x=0.3606 left_y=-0.137 left_z=0.0977 left_yaw=0.0358 left_pitch=-0.1776 left_roll=0.0782 left_gripper=0.9957 right_x=0.2903 right_y=0.0002 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0595 right_roll=0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -6.694, 6.5709, 1.3553, -0.1685, 0.1734, -0.0024, -0.1436, -1.2923, 7.1179, 1.79, -0.0708, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9573, 0.7506, -0.5659, -0.1978, -0.0925, 0.9957, 0.5625, 1.4086, 0.8021, -0.1745, 0.4107, 0.3157, 0.9972]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1666 left_yaw=0.0859 left_pitch=-0.1877 left_roll=0.0742 left_gripper=0.9957 right_x=0.3552 right_y=0.1448 right_z=0.119 right_yaw=0.0454 right_pitch=-0.1339 right_roll=-0.0376 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -2.6872, 10.2222, 1.6239, -0.0073, 0.1197, -0.0073, 0.1299, -5.9419, 9.1829, 1.79, 0.3736, 0.1783, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55aff2b55de876d60aeeb3a0a926933d2c35a1d71473edbb83b8696eab4bb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1178725491dbbe941c6c4246a536579aedc7d90a324c5b524e62006d77708a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346974e882f4f5de3ce87951f9528ce42e99e88ac9efff65c8bfa605c4347aa6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsCv9N3MLzDGGaXKPcHsHQc0xD2wjqL-cifp-VmcUu4yamjHGsJUj1jT-NphCHgvwfsnzGrrjySsKx-z-jlxI4f5PpQ6AOzVABX6U--TJdTvfQnkFf_M7yW0JAB9kPb_ALOTdCUpLKDB2RatczUc_hkdqDJDB-gSSnv64aH6r2VqA8pow3KP74LMcL2VPhMLVwnLJ7mFL_pGpxN1AR1sKPaA8rS_faBT4E_rG5NRGMbVbRCVSZJANABFfOaNgRiQo79_RECiEX6oEmNZT0n-9trQaiTrbn8hdZO8claZG8z15FjvmHS4fITxd7K5G2sWwg0jWG6afwNBUgErzIkAGY3PLQVu3iNFCHXr7KOUYwf-GJ_bx51LsQ3FoGWlVcqzgXX_HcrbkTr26kRXDNeuwUdSSdEUKkg9dnozg6McRmGcVMon5R8UBMFjDGW2qj9nm_LCmVbB0xsZuFJ3Njm2WlGm7jMDbcYjbbzM-q0tmbOM1ojNy0SZr443mN8Wc1fgf0nPGmH1kdSqd6YEl7h6feJYUcjnmTZWyeW50POvPzfP95bCrh6HQgOh3H0N24e0ms0yj2nw_jEDQm6r_WXRaApo1aN9r68BtSnVbxdkuA2RXKRjEZ9YL2QPMkHdd1SKTFTzUPo6UsX7SP9SWCgHBcBtyLzs60JPUsXdsII7n9AKNIAsvZjndaAJypmvqWFayJ3Q8Lo5XfCRVr-lWJRuWwmLntQxv-UaB2eDKmGPCayi3ugtZPrR73rgGNsGQq6xmyo_WTyBjlyjFeR3vocdLBqo-d4MBLzsiL-q3_rRN8OB33_0vfSIECtMM8HX6o7GbaITbs0meT13VFG7WObwp01xSMfL8JcoiAANJ0ZMfEiAwHYbXVY0uuiRCeHRl5PyXhFZOdi7lVkgNyXXUouW8-gK-UrrG4SYJjU-2zHEb35kMM9kf3wKoOFmwxJ2_-Vyu7nh8cx0XT7970O8w9k2aapQkPL-SuhZWyutAyzpi071o0bSZXxn_YHm7NYfpSPQWCCCvng1k1XOeDH9GsK7NP2olkLozBg8n4wZqkTkA10cvgBkx4Tx1LdBUerlsHpEPAPF2oVgukTEE72Q5XZL6UOu7-pIFESRQbaj_w7_im9BNNfmGK1vlGedXEHvEEI0UdnWtC6lvmUPH36h1OMvHNJro-XFjZxlQwJgZYDDep8wwnlcJYMwnWd8aZMIlCgFh6vS3HZ-2sV1Xg45IqWoD9ijLX53pPZk_1t49VhDrrpgYYk0QwRjiH0odcpI7vcNUwzA-sUZgcm3xQ9Z4npOfGSpO3kP_9B15SS91J_ZdqM96utY3FHIqhGNd7FHTETn9K1rLpsMi_EXZzKF3fvHkTvC3zWQLFWtL1AeToZjPVGny3rhLAIM1ayaQY0Cmsv4I120QTFMGBxZzoS5j4kCl-q55UtMY11LxMjkI0P3gWLIg_ElB0KBM0giTjmaRKl0aTRJsAN6ZgeszUlaor8c5eVEBWpgKo_aeD_yvDyi-z-OMEuNX2jDv1Br_UV8wbotXFfkp8C3ZoXPBAlALMKJ3jgA83ADP_W09_n7kLN8psSvMbfiwF-ac6qRNw72wpnaeeJiMfY61yJCpLo5Czs8p194r4V2x5SjRmMFJIpja_ng0w2rUIUomHFgioITcoEY2EKlnssV_A0uRZLF8434pb23lJxXygtViyPwjvndoam8RM8P_piBgYfg-eccPdUgP0RaD2DfAJLeJGBbo1yOoZaojloueE5aDG-TPMxgSRNhOKp9ipv_f_KkEN0nzvFTxVjp4KpMkK2ksCp32nq07k_9DtIYBNj7U8hgIUqzKDUVwFdckXqOXPLTifFnueQx2KgpOQmkrEtUVrZ-nvZmDz28qqn4VZPAWJoTAwVLw3roVx8uIngrpvXAzmWUGSd_6QK4aNLb_LcbOsQkjtGCawSPTRVZzQNVzWlDCcQJlUi_f0MjTSoI4EXQofMq9IRhErZ_JFyu1OZWgYSRTawWbFbLwX2hQafN1eIarU441wtboX9UX7TZw4L0BYlx5xz_0EtsppAyo1_7d4UbHFpTpvN-xDNvq4Zy6Rb1PSfaZl7xh4-07l6qGGXh75F68vVZ9WhPkSXMOeMKZx01YiBXwToCKorhVHpnWWXZVZ0WsEGsyYQvI_0-7UEZ6YOtNT1UfULJflSXMoJTyQEUgjlZ9cBBtXiaXLpml9Nw7cHKK-ibTJtB49mm_uO_AOCSjiVDOaHUnHKn8LJxZhyGh2XA1C1nPbYHWvG5kZV5Py9p2XZeHP2SEEKlnzaaRpCux1JFnfDF5N9mBcxxas20RN5i_Vye6XU5EnrIierYyohOZkZNL4=",
  "id": "rs_0628cde06b0d387b016ab42aff944c87d0bfc84c62513c1e25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_x\":0.355,\"right_z\":0.07},\"note\":\"The pink bowl is nearly in the right gripper’s opening but a little to the camera’s right. I’ll make a small sideways correction and lower partway before the final grasp.\"}",
  "call_id": "call_WIzuRrz620I41h17pKCzDCxe",
  "id": "fc_0628cde06b0d387b016ab42b018ec887d0a2f44d06554f7d34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WIzuRrz620I41h17pKCzDCxe",
  "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]: [-0.1238, 0.9611, 0.7528, -0.5869, -0.1844, -0.0792, 0.9957, 0.5007, 1.4612, 0.6373, -0.017, 0.3779, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2939 left_y=-0.0003 left_z=0.1626 left_yaw=0.0682 left_pitch=-0.2122 left_roll=0.0791 left_gripper=0.9957 right_x=0.3435 right_y=0.1178 right_z=0.0609 right_yaw=0.0224 right_pitch=-0.199 right_roll=-0.0695 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -2.5504, 6.8034, 1.6923, -0.2515, -0.1441, -0.0073, -0.3077, -5.2855, 6.7487, 1.8535, 0.0904, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c82073088ffa9f434a23aefe68c35e62c47ced1d2c29f57527640b35a337ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c383440df4fc1680fbfda49a9ac2660ed18ee6d5de5278caab948c0615496100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78857706e0d1d8602120ee2aeeaace2dee8c63a66360e85388b776777ffc6e3b",
      "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 · 7.128 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5349, 0.8379, -0.1997, -0.4877, -0.4084, 0.9957, -0.0216, 0.812, 0.5953, -0.3977, -0.0166, -0.0204, 0.9972]\nstate[eef_state]: left_x=0.3605 left_y=-0.143 left_z=0.088 left_yaw=0.0251 left_pitch=-0.1968 left_roll=0.0923 left_gripper=0.9957 right_x=0.2923 right_y=0.0002 right_z=0.1674 right_yaw=0.0032 right_pitch=-0.0457 right_roll=0.0025 right_gripper=0.9972\nstate[joint_eff]: [0.2256, -6.7761, 7.0769, 1.6581, -0.0952, 0.0806, 0.0855, -0.0615, -0.9778, 7.0496, 1.7656, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9573, 0.7506, -0.5659, -0.1978, -0.0925, 0.9957, 0.5625, 1.4086, 0.8021, -0.1745, 0.4107, 0.3157, 0.9972]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1666 left_yaw=0.0859 left_pitch=-0.1877 left_roll=0.0742 left_gripper=0.9957 right_x=0.3552 right_y=0.1448 right_z=0.119 right_yaw=0.0454 right_pitch=-0.1339 right_roll=-0.0376 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -2.6872, 10.2222, 1.6239, -0.0073, 0.1197, -0.0073, 0.1299, -5.9419, 9.1829, 1.79, 0.3736, 0.1783, -0.0171]\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 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9611, 0.7528, -0.5869, -0.1844, -0.0792, 0.9957, 0.5007, 1.4612, 0.6373, -0.017, 0.3779, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2939 left_y=-0.0003 left_z=0.1626 left_yaw=0.0682 left_pitch=-0.2122 left_roll=0.0791 left_gripper=0.9957 right_x=0.3435 right_y=0.1178 right_z=0.0609 right_yaw=0.0224 right_pitch=-0.199 right_roll=-0.0695 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -2.5504, 6.8034, 1.6923, -0.2515, -0.1441, -0.0073, -0.3077, -5.2855, 6.7487, 1.8535, 0.0904, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c82073088ffa9f434a23aefe68c35e62c47ced1d2c29f57527640b35a337ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c383440df4fc1680fbfda49a9ac2660ed18ee6d5de5278caab948c0615496100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78857706e0d1d8602120ee2aeeaace2dee8c63a66360e85388b776777ffc6e3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsFSHKLVWBBPEGsJxi392sZS7MYscyi_e2t_n06WphG6EWJ6lgU14z1uEgDEt74ECvgTGe1RAFrc9RctPLhI2d4vQxfLhCiET3M10Sd3FnL0d9cHR7Q25zzLGId5ZOORMkf1XYpYxM7mhchs89Zhltx5HM2ihCIFGDU3_fhGusXB7pWtUviy67tgwN5vO9YHRHOj1vroBad-FYaUf9BHt05UX3igjBl3zXZuFH-fOoWqQ-imuYgu2l6FdFSWKLdY5QjUjKn_eMqTSPYcd7qqJ5fvxSFBf6JruVhF96hNX6OAUdxtShgwBuHH_yIN7FudEgZIZ5muF_XqfuS7BaS0FwrLC7OlI0SpKzCOAWU3-RZ8mFJcICNK4x60tW0ieEWo68hgoUEJHg8drSPKY2YPaiSs2TeFdoTxPnUi7WR1AlE_5If-574770N0ELyy0n909FWAtUtVjZm94vzknk0S8obqzbN_W6fiidMez6nliLz5IapZX7kipgxrB-B9rFuwB3Jn2w4dAZu3Hdi-emW6bvwTYwVjUuyhztCstEue-O1B0zhMKrYaU5deWCIzAfu0FNZFqK9RMAg3kFQAeeMmOE8_D6zq-gF6n40eMhjCatJUYP3KdB8T7d2oeWAl8SVn4Y2xHD6aQi2Z8vLhwZHSDrSOZ2f2qraLVnQ39S9f0hCFAoOflxfB4e0JhNbm6AIAW630-ET5RWMgQGzA6dtFSCJVMTyifYA11CMvuwwFS81YtAyrl83Tbz3ihEyCKc9h9sodEUikXKkDb4vx04-MiFxRE_MzvAV3A9AhYLIge_50M8ihUlpZ3UV2mYGVOapUYxJk79XceRV0jX56OwPCXybOLtHaKNnO7jpN87Rq9rXltxWI1gHzyto_jSvRvO2GxI2JQBa6new_VSKnamiY8VokxCuTPO9oyn1maJV-xAEUi5-YSoHgyUysmAikyKf1yHUr6QQsVSwQTluHteC-qzEDki_L9V733YLWdjNCaGNJvJ5lwlPeCo2QXrfKBA0cR3fbxUl_Rme6DIojRc5QLHHvmFkxxD6CTRZQ_yjuLy7uIDZFfkNzIGYAg5oLdcwkleB_wNsdBLjtevl0Re3rhLtFUbT0YqE5ZlQSMjq7LKdDqRCJqTb9hAF9YkFeZ_NZo9dHbdA88bZm0okH9LSzqVA5CfQ6Xq8ifRb6TsNSLo6JasZ-gZomZuvoYQ7c63muLmVr601vUNvkhVp5wjaXj-g_af1PsQ11tbCOXTeQPYtTHspBiwi2m6MbBxQvocAAQb_VqzmQInNhrSYA7PQ8gJW6aYlqc850Tk66zbL0Fi-obKRTUmilxCZKDMC8QFAx1z9qPmHRQKVsK5fWEx780cvBA4jhmEYGB_D8lhGf-LdxmS6n6-e0P84U1hGdkIWx4jPfsGEdifE8Zvv2rPyoOUb33C6BqrUNaGRwFDIBkqRPIugTZGr7z6tBoX9q6DN3W7cKa10jQ6H1pF0JY2vn1XQ43x3c0xtM4NkEGxCaUo4YMB2c7Wn8Jun0LxxFgYMjdy5m5ZylQWSKXc617leU2pN_UiYkkE1Niw4NEj_oFf9RdJlYElrLUZBOmDurs-dDuIYbGQlMoliJKihZUzxXmUvpw==",
  "id": "rs_0628cde06b0d387b016ab42b03c64887d09ce926015603fe76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl is centred between the right jaws at sidewall height. I’ll close now and use the remaining jaw opening to determine whether the grip holds.\"}",
  "call_id": "call_a6O4EoDsRvFlB1HGPyNd4mFO",
  "id": "fc_0628cde06b0d387b016ab42b046e3087d0a1a30be951b75b11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a6O4EoDsRvFlB1HGPyNd4mFO",
  "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]: [-0.1234, 0.9611, 0.7528, -0.5903, -0.1837, -0.0784, 0.9958, 0.4961, 1.4727, 0.6224, 0.0574, 0.3576, 0.2607, 0.0089]\nstate[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.162 left_yaw=0.0676 left_pitch=-0.2157 left_roll=0.0798 left_gripper=0.9958 right_x=0.3498 right_y=0.1231 right_z=0.0625 right_yaw=0.0505 right_pitch=-0.1633 right_roll=-0.0513 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.9487, 6.8444, 1.5702, -0.1587, -0.0513, -0.0073, -0.0479, -6.0103, 6.4752, 1.7118, 0.1832, 0.0317, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45887bf0a4d03141cba7e64663559cb261d12479b33cf381d585c1ac38fb6e89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06bbad297532b24fc5252e85ade29b66baeea0a1083cc95263075159a91768f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20160ef9b17b924af443f36068000d1dedda6f430eb8a075ea900fbfa4eeda",
      "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 · 2.562 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5888, 1.499, 0.8318, -0.2058, -0.4877, -0.4084, 0.9957, -0.0219, 0.812, 0.5953, -0.4114, -0.0166, -0.02, 0.9972]\nstate[eef_state]: left_x=0.3606 left_y=-0.137 left_z=0.0977 left_yaw=0.0358 left_pitch=-0.1776 left_roll=0.0782 left_gripper=0.9957 right_x=0.2903 right_y=0.0002 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0595 right_roll=0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -6.694, 6.5709, 1.3553, -0.1685, 0.1734, -0.0024, -0.1436, -1.2923, 7.1179, 1.79, -0.0708, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9611, 0.7528, -0.5869, -0.1844, -0.0792, 0.9957, 0.5007, 1.4612, 0.6373, -0.017, 0.3779, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2939 left_y=-0.0003 left_z=0.1626 left_yaw=0.0682 left_pitch=-0.2122 left_roll=0.0791 left_gripper=0.9957 right_x=0.3435 right_y=0.1178 right_z=0.0609 right_yaw=0.0224 right_pitch=-0.199 right_roll=-0.0695 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -2.5504, 6.8034, 1.6923, -0.2515, -0.1441, -0.0073, -0.3077, -5.2855, 6.7487, 1.8535, 0.0904, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9611, 0.7528, -0.5903, -0.1837, -0.0784, 0.9958, 0.4961, 1.4727, 0.6224, 0.0574, 0.3576, 0.2607, 0.0089]\nstate[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.162 left_yaw=0.0676 left_pitch=-0.2157 left_roll=0.0798 left_gripper=0.9958 right_x=0.3498 right_y=0.1231 right_z=0.0625 right_yaw=0.0505 right_pitch=-0.1633 right_roll=-0.0513 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.9487, 6.8444, 1.5702, -0.1587, -0.0513, -0.0073, -0.0479, -6.0103, 6.4752, 1.7118, 0.1832, 0.0317, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45887bf0a4d03141cba7e64663559cb261d12479b33cf381d585c1ac38fb6e89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06bbad297532b24fc5252e85ade29b66baeea0a1083cc95263075159a91768f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20160ef9b17b924af443f36068000d1dedda6f430eb8a075ea900fbfa4eeda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsNmYYws0DeTRWNIn46h43_fQ2Hd58eOQNy6VnQz4XBJ5lTWH3WRjmoXWQsf-9hNyEHrZS1BJyc7fPnn53PNeUO-1zrQH50TeIUXKxQhEwcuXXeJ_lnRRUN_TJG7cwXyh8f8hgXF48IDPS7jq7szNHKtTjvEgcT8ZH7s-3oiNt7tE_tEEHLy4cWaf62hrgGwyKlNwJVP3iYjx_ifiG3q5BMi3rV3jyaF37hpdsXSJPJDOOH2IXEdiKoTN9Ye8i8rQ7NViF-8cRjhaTTP0_LQ4KqHctNdNUGnvw6koPiTcIqpb9IxywHryV1AhblbEC7UNAopcCGQqMH3w25w4UzByEtxZyH_2yeWG27WxHqzJ3ZmSHgjy1C516ieWZB5iE_g-tlYsb3YlAqboOQzNkkG2jQGWLpBvpFT8I0CJHVyF6lxSBedLXBFTMm-JLAq7lGS8ao9x-7Eo0FX-zeH7AjfDDwB23HePe2ixa7zJqgakXGAWG-wD3Em7_jpSlnIIxK9PvVNdnqTAK8DlZygsBNMim9JO5abmqwWha60ln3_Fa_YQ-TGlAJvdvG56yLuRC_MSo5uoYNe027AquexN605radbPst_hUZ_9Drfs2eMfbwWGwYkt4SPNIfppknPIoIsWuGRiMNpCQXxEwJIxsfkW19iWE9ux3dpnCfUqiP2m8YHxz2ixSrFcpg9if7AkJ2hG27PfKcsKZYsUU2HgGR7MOduGkzucsRGVzWEVQ5IPmD5MWxLT_5FrFQXigKp7UEu_b7SGIwVF0g6WRf59mbbIj9tmINnEoZxD3Aldku_n7S8YdCJtcKgHK1UjaC0kZ3VyR08RPgsyxvJ0WUAXSBt5N-ic9Py5ly_Ss35Cv5V1wGYC6WM__O1VLHy_Z9I0npagXDAQtKKPOPXO3LKJS1VXC4vfUPByflDCzBXzWfrOsQhr1_nK3xZnmQa2ln_ur1jOBekwNeIUd_NA2EQO5ltwoDZL4vijw4hW4TGYKAR6M1hKIU8JRkD_cBUaDU682HNS6FMkq44uxYlqC_r0aLkaYguNDDaTO4LfGekZJVzy_ueQkT4fzIKcHX3OBrQPQJDq9iR7UNyHWOYWU8uCCOX_2T5M6LaWVpRb7yKlLTR8coc2-gR1cqhpksmbaq0yqBdFKGJt7YyuoFdW_H19OlXFvfOMvV7EVDDG0Q5DLZ8eTCOd2kkj4TVDnefkLY8IdIp0WZ3m7H8DeV22lIWkHZFVpzKVWkufpaCHxLCTKs1UrrMTTKWy2ptWScdux8DoE7JT5ZKxCNUrcodYe4E7-zsIRiWasW1MhWbMd02HJ8JvNNFcOGujyl5jX7kSJVMQ0mZ0MnivhJGmMdjzMcqtMcTcgPGQgysGR8lwUlMUZXkeCB-d3EeYaIZMPWCPjWZ-tbHhOvPxSZOA6A_IiGEybU65DtSRX8PcunKEylPY-gSaOj28ODOciseMOugEdI9IX-5pzNTjucu7bDbRYWfEkhEzxnSWP9C_EKGl8aTDFNM8WJ5oxkkjbVloS99RfwzopatsnsDM3Nf1kEhQDXfWjFziqZ12_EnV2cO5xRxIXNyGUcmySDlFu0VgEZNH1GlwHY9EuWBakY13ySIoj25cjO9h2GdC-9Tgc-avwHljb3ekD5rjmfKfu4iC8cvz0LDf5lm-cYZ7c_lVvLXkXQGA-op1orE5eqn77d9YUItop5gZ-OZRWnFn7cS2-QOj1Nr9bRm_RnPDKWVuezq9NfQ_CPkXeJTTD2jR68RdmGYbgInrfQgyZDMuMkU0zix2O9vR3FG9hl8XZVHZa7_8rxZqYyvnF3maRoEM7ZHnZTpB5HhX9_q8loM-ZxQhY_KR4PTgHScyeiG1-Sr6wxyiPcHpJRybyjqDS_LDee52_9VT5lcf-A9X8fdeKFk9Rt6yiAE8NijvG3yiseNuApdqBiQnx0YrF_uSKHeHi2Q5qpWGewJvxtckknmKK8meuGQ3-XSTa8vytiNXD1EtIVzOodb8Wxw_hbxkx9yWsESqtkg3kbgiqtMgvlhi_x5JOroBxgXEaitzIhkZ4IRJ4p8aNYjqxbXVq1MD8kf62SsWESPYrNsO8E_r75HODbESp6RC6D2J3XGD0Bf6FfQiJpadVQFKWjjiF82TaYI8RLypKWZur35O3Y_47qzJSMG9VVWWRw0yKIfZSG1Dsvfpceqw-z1vPguJoi5D85jchNWmFxD0KNYxmWYTTwutKkT4leakxr3qslRwo-b2ZW5RblQVhO-cxPKdsopSfUINpAK1DobmSfzxu26BpMcqTo6OAwYAA81O4h3Cq6CZNAeplwkq0IXoCRrXBESc7nVnDEtm7JFc_CZbwWnvo9vfbsjpEhCmj6Gesp18_qNn0fVc3p9pI2yJHn_QOuIcIrHnGknaf0LMVACu4UbkXUBy6EsYytrIeZEvfQWuALQJpvFSWwD2ZrKI00D0D-tjaD7ArsvGzmakl1f0W_qbWOLK6wZd1cqS1cudOUt0srdL1xaIljAAdzKZQYq0Wp3Dar6reKjLjQtpP6lC67syE0Y1u99Q_t8UV1TjfWkbW35V0F5C2YGruQQGoam9fPCZqZGPo8XpBG3vWsflPyathFaIc9UkTFx-kc2tRGtupdxnh0fmDjvKMyy4R7bO57keJoGb_zNuco-M4KZdwcB-l3Qq5R4F2Rck4I4CtCtTIEJb1SWja8ciSow7Z4bbUkUYIMzeeA2RNK2tnX8WI9adgr_fu2iDj6E9DA6ifAhSRXPvHyPWyx4Yc0vbGl4HiIqm8OB8Fia_olk6XNLqguW4k7z-F8yS7m6JFEGCaGX2ypezKzfIw3AaYkl-X_eGwQ8c5RcowHI5cw-bUbJpHIinEQHJibaCWXt_nDg_4wz-jGri3G9MtxdHxRNDA3cYyT0jlEIwvvvm5NmPt3xHGr2km07cgsfW8QRwuMWROhe6huIysZFOqSQfpu0DqFhQPZ0QgaMnxnEtlaw8iScb48u52COD8XF9570Ioz6_mVkIUyO8801yfCA0qQEL8cnYq-_3esIx4xb6NC9MXLg3qIic-Qb6L918Ux95KB2OEf5sL7KgoFrTymX0Nn-RUY9BEEQaFxaRj0bWq6TBfkGZsFMPT3PYKK5tUyvbO6Qrq4lckJqbBKCiPBJ9POQnrB7iH2heLl1TqNSCLCVCH_pckyRe1vnK2tXzu-bjOZ56XCfCXn7tkDxZiv0mUm4VR8HiZi7eJBdhcMwMyr7vfQ3I6D4MrB3L7zJo-CGyVF8HsL78p9dDr4wBFL1ed5UNkK2WAc5wN5Na8uqwIXDVY3h9fJLdlyQAhmYCeVdaMK9927u1g0Ukyd92iRnO_qBDhquEsanu0djtiyULoWtj8Y5bxjE1DbvbAaD0F5uvA9Wrwe51lO5eDxT1f-3kQU47DACT0y97Zh14ix3oZwxqx_n11Kkq8EK0LAuJVLhatiIRXf4wJyP52ejMOIj3WXTto6Lf6v42sbKYaR1xbQn5sW4dtS9csw2k601uNBi_HYjWanjoa8t6AZ6PwJ5NkmTcrSvDb5GdPYtpF5RNxPiIWVYQHZho1xKIAD9F1eDE6Yy9LFDv8Rr69_aXESc52ivMW6VyOIFE4SHhNNSMElUai-OnZsYJTr1j78VB7NsoFUInlD0pu1J4CGysG8-FIDNEt5sNi5kHBacj2yGcQvqHeulhJ1VHkE-q1VTkCvzl7jS_vhHQucutxwx1gJ1YYMt0m4pPvTCEbS_rl1PHkH_29EwPpKOhGkpVwcJefi8kae1oiuSgOpTFun_5vuAnO2C9xee0NbTCn5ZxFrP1tWnUkWvPTAUdjlIoke7YQZXaHtWhZjaaapdT7SYs-DyKJIkCcZ4KPU1Q8S5hmA-vs7VNOfFysstmvawRFTfEl7L3CSzW-BXtQVFO1VLC2KYLrpWgafddAvZgVcYzdlfuwyQ4OOibrWXgM2iWX1gHr6HyfTRm9QCCWh",
  "id": "rs_0628cde06b0d387b016ab42b073f2887d0985abff0ee0e43fe",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsNWJzhqADqBYjCe_5TrmJ3qxECfscLmIMRig1ALk7THcCbH2QRCM4CYitfEWawrPHZv0vjLA9WRogD1L-6G-6bxu3gnQDbYGVxNMiSXPt9Hf_zkK-fWiGe0phGsGEqBnNlQKpzsripj522u6OgNwMu5v8iHltAKGpFHLup_tcq44m8oWEuEQHejX5KTzcEhtGLMt0iUqTp4kmcpBDiT278V7sQ2xPPxQGAyCHBiKOxbpf4AYJLcRIbIDePvY2PhhwCulI2pQnK-y_Ly3fIRTwZluHPCTvYTM_WF1xNuJv5Cz3tbZwicgT7I5h9FqRf6wJOoHs04EneMnv52b1onohtJuBLY96moPKS6_gf1A8LdolsHIeS5D215rDNpouh5sOfnSuzSrzMI84vFXF5ixAV54mli7ulg53xZDAYXpky3e6zUuZWIcK2_YZ9h80CgENZLk0Xb3BfhUWam4yYNKnAoZCHJzPNPPSedwJXE7ZTt9-8ZR-A05TZD85Nl-eKF1egZgIhznsjTZjT9sOP3HiGyDyUzNPE0M3AhBXdfE5Gcd9ayX8oFHAVGjbvoDD36fyNQeNfiYQwGBNbfkSzGsnEC2TqYAZY_dJ0UHKlZ7OQOnvGnBLpUkcbSVr7SotCEi1-nOQyXfaldN-LyApCy44HwruZIE_VAQmHejWawZ6MmC0FrFNCwYplGgDpZX59NozA6DQ4XA8BUp1_8-50hO4XE_vppTE2SY56nZluA0w3ZtmdfkLIoYugcuEkl1mGdVLAw2kWNSaPu5RWLFMtH-MhpSREYJiMk9FR-XN-_IU4Uf_XU-Dg2OqzgxLMkl20S8tZ4D1RaPCctxPBPjqtDZMQukSL3j0ZUR5nlmTcQN6OLjMjI0hVd03CbEJd6svQ6rPW0xwO43QDYEiJ3WiO0en1wYXs9ppswpPlu1V9dmp2O31r-x0ocKgP-36piP2W763lOWS7eUVHqVwbchHurfeN-urofb82O-O3lZWK4IEPokoLEXKWpZubp5Dd2DslIpjI616tOvuFgHPvtK7DzlC0J1MekCXAI12GLk1FNUnvbmDZlCoOQsuun8l8dOftEPrbh0wB3HK8T6pHh5AQMPh4TxfOgMIjISxABmZrOOs5i1TPxnLdoMCAWKp0I4T_jDqkSzoq3sKutrYRutJXaTUc6f-8DXq9dn1iP-diFzax4_B3WyVmt0_1J9LFNiVZKJR6DHYZmlP-S-9gwvehWYQiC4OMTx_FhUk8H_GQybDx28ZvWNL7x_avKriMjLP-_HKmFxmss5dBSnyMGTguAHvHa3iYBrgunSmgZKXsaQJB_OQ=",
  "id": "rs_0628cde06b0d387b016ab42b0c168887d09a830395bed3c8ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.015},\"note\":\"The right gripper closed empty while its tips appeared over the bowl’s interior, suggesting it was above the narrower sidewall. I’ll reopen and lower to the bowl’s lower side before retrying.\"}",
  "call_id": "call_7hcswRFrgR7MXbdxom1soiME",
  "id": "fc_0628cde06b0d387b016ab42b0c49d087d09e8c915fc7809c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7hcswRFrgR7MXbdxom1soiME",
  "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]: [-0.1238, 0.9649, 0.7528, -0.5915, -0.1837, -0.0784, 0.9958, 0.4961, 1.6066, 0.5423, 0.3016, 0.3622, 0.2512, 0.9935]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1608 left_yaw=0.0675 left_pitch=-0.2206 left_roll=0.0808 left_gripper=0.9958 right_x=0.3543 right_y=0.1247 right_z=0.0283 right_yaw=0.054 right_pitch=-0.1351 right_roll=-0.0484 right_gripper=0.9935\nstate[joint_eff]: [-0.1846, -2.5915, 7.0769, 1.5409, -0.1099, -0.0122, -0.0171, -0.2667, -3.2068, 4.2735, 1.0085, 0.0806, 0.1832, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a424f65446538a693eebf63dd097c0bafa1e308a7bc20df2ea10265ad8b2dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9e35fcc607011ab452fd74cad24a6a16f34c9f5879ce21b20714354e26368b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7d89c7e6cf89d764414d090f01b6589a168fe614af235f279d95b0d5908ec3",
      "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 · 5.745 s

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

message 43 changed as sent

message 51 changed as sent

message 56 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9573, 0.7506, -0.5659, -0.1978, -0.0925, 0.9957, 0.5625, 1.4086, 0.8021, -0.1745, 0.4107, 0.3157, 0.9972]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1666 left_yaw=0.0859 left_pitch=-0.1877 left_roll=0.0742 left_gripper=0.9957 right_x=0.3552 right_y=0.1448 right_z=0.119 right_yaw=0.0454 right_pitch=-0.1339 right_roll=-0.0376 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -2.6872, 10.2222, 1.6239, -0.0073, 0.1197, -0.0073, 0.1299, -5.9419, 9.1829, 1.79, 0.3736, 0.1783, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9611, 0.7528, -0.5903, -0.1837, -0.0784, 0.9958, 0.4961, 1.4727, 0.6224, 0.0574, 0.3576, 0.2607, 0.0089]\nstate[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.162 left_yaw=0.0676 left_pitch=-0.2157 left_roll=0.0798 left_gripper=0.9958 right_x=0.3498 right_y=0.1231 right_z=0.0625 right_yaw=0.0505 right_pitch=-0.1633 right_roll=-0.0513 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.9487, 6.8444, 1.5702, -0.1587, -0.0513, -0.0073, -0.0479, -6.0103, 6.4752, 1.7118, 0.1832, 0.0317, 0.7155]\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 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9649, 0.7528, -0.5915, -0.1837, -0.0784, 0.9958, 0.4961, 1.6066, 0.5423, 0.3016, 0.3622, 0.2512, 0.9935]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1608 left_yaw=0.0675 left_pitch=-0.2206 left_roll=0.0808 left_gripper=0.9958 right_x=0.3543 right_y=0.1247 right_z=0.0283 right_yaw=0.054 right_pitch=-0.1351 right_roll=-0.0484 right_gripper=0.9935\nstate[joint_eff]: [-0.1846, -2.5915, 7.0769, 1.5409, -0.1099, -0.0122, -0.0171, -0.2667, -3.2068, 4.2735, 1.0085, 0.0806, 0.1832, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a424f65446538a693eebf63dd097c0bafa1e308a7bc20df2ea10265ad8b2dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9e35fcc607011ab452fd74cad24a6a16f34c9f5879ce21b20714354e26368b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7d89c7e6cf89d764414d090f01b6589a168fe614af235f279d95b0d5908ec3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsQYK1OByJjQRWGP7OiHBlXY_yyhwmOMcWblnXieLO7G5p_06_BgnIQAu3l8FDULIpJEtOF2THsLMFKj6sUJ9ftDmOT7KgqfjCy98wSqYL2NthtTZ22Y7lHeZZJMfxh06IPW6NlwzA5eZ5v2OPtN-bEzWyCzEGM714HmlbbD7Gd9AeYDL09YPCKxEr0RPklezalHemIkk7iknX99eGVgHiJ6rJwOgIWdesIpnUM2hE_cBpKHKkDTa6suyQ0lzybvf0jI5q11fWpFB06QRfPp4SQ4g6TUSvJv_DFRXZfVqXl3VkBrmdNTSVTKmOeXF6ic5UcuyLS0b6apcsnU3LY7eHqODcr6iX-bSQva6hCv8mHUmhzf2g0cLldpG8jFVXi3yPCqHz9L27717ms783ccgRMVpiu60P8yIPC5SzHvi9f6bjZ4FeyNmli1IZc6Y3pjP4saiNd4J5uZhFLdBIav93_LkR640mEmNy2ZL0LRaAVCXcHjtMWo-876Uq6UW3m9bh7Vu8GFupTcEl5DqAIxXJD5qnaAqCfwATk_nljjq7JUj7o8DIBVin2KTd2C6o7aahUcGwBDo6JvC95vc1ZrblMsRM5CKIz3K06aY7gi4Ahpk3shR2Iz3zI5xVi4k2BupOSfaLLz09r8a1Jd3OsaYt3mIRUkLhkNjWCh_0P180fiVoJNFm8a2eOwwTyD2jKnPjaI3Bdzi8ABvS9e1LRH9VDqZZgwnLtXxQD5_kybM1Cb2_jEmMZ7Ic8oTQkCfOP7MvPYZwobH5mY9VgDTOqBiM16YbL3SQcEpEzJfzorwhfof64J4128lrZyBxzlTZdnlPBGw4D-P76OkPjVMkZPtus6WqNQmgGOXl9vNsQfbBPGLAPshKOxGyMoN5e8llQLXog_tqLTtCk_lP9BvIk26nuvf5xC4cy8HrSB5giFK4HKYLw6O0-ZZv5zrmjxMCmMw2_LYeXb1kknf1C-MoUYHyjJkUjPg0WwtFTjHLKFJ9m1O7HqRwkIJHPxnjLax-TitprmMS3jz0sExNgiROFTofv5T7Ab1URIgx8j1Z_YKr1xOuNcbkWTiO-wSAqlcgHqc3MNxA22B-fGAjk83uD22ayUgMyy2PNM0wHgJIUuxQGLu3epuP3LjUVCv6pgnPcnAOkQZDR5f7QDhGmKJ_vZIySKDeDJc9eGAGYiSD1viEOECVU6rNmkEPAO0MVVD_NZc38OozNg6ZgL5iUwR4d4ooK6Ka8I6D5ftLajn0vs0pgL8xrn0ATu9cARO4PUC6JTYa7ZN_Bdn5wXL11aZmeG1xrZo2z9XK-b0LZJbeTyD3Pv_cog_dDjzxDifWrgMiuPvw9svIGwOQhRzoR5Ue9Jn5rgQyamyY5pSjhNQJ0dRIP3u77JuM98pDRztDL4lAoPRQNG6Sz3BdFW0dk1a9N1F6CNIoVtZTPI6frBU8g5F_4NqE=",
  "id": "rs_0628cde06b0d387b016ab42b0efe0887d0bc497d4a55f04bd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now down alongside the pink bowl rather than high above it. I’ll close once more and check whether the jaw opening stays wider than an empty close.\"}",
  "call_id": "call_P13r7f0rZrNfpJCUGvp90Gst",
  "id": "fc_0628cde06b0d387b016ab42b0f9cb487d08882dc2c9fd121bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P13r7f0rZrNfpJCUGvp90Gst",
  "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]: [-0.1238, 0.9653, 0.7528, -0.5953, -0.1837, -0.0784, 0.9958, 0.4961, 1.6157, 0.5411, 0.2993, 0.3573, 0.2466, 0.0094]\nstate[eef_state]: left_x=0.2926 left_y=-0.0003 left_z=0.16 left_yaw=0.0677 left_pitch=-0.2247 left_roll=0.0816 left_gripper=0.9958 right_x=0.3527 right_y=0.1248 right_z=0.0241 right_yaw=0.0597 right_pitch=-0.1481 right_roll=-0.0542 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -2.2906, 6.8171, 1.5604, -0.1343, -0.0659, -0.0171, -0.2393, -6.7897, 5.2171, 1.6386, 0.1685, 0.022, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c963171e922cd61038845f338e4bebbc07be2da8945496349f5105e2087725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530f5bb4a54225630a441c5f0623dce50c2f007b9a569b6bcc085d1c45b402ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af2949308644b892a54a55dcfa88f0ef06dfa26fb07b05adc59edf270767d69",
      "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 · 2.817 s

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

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9611, 0.7528, -0.5869, -0.1844, -0.0792, 0.9957, 0.5007, 1.4612, 0.6373, -0.017, 0.3779, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2939 left_y=-0.0003 left_z=0.1626 left_yaw=0.0682 left_pitch=-0.2122 left_roll=0.0791 left_gripper=0.9957 right_x=0.3435 right_y=0.1178 right_z=0.0609 right_yaw=0.0224 right_pitch=-0.199 right_roll=-0.0695 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -2.5504, 6.8034, 1.6923, -0.2515, -0.1441, -0.0073, -0.3077, -5.2855, 6.7487, 1.8535, 0.0904, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9649, 0.7528, -0.5915, -0.1837, -0.0784, 0.9958, 0.4961, 1.6066, 0.5423, 0.3016, 0.3622, 0.2512, 0.9935]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1608 left_yaw=0.0675 left_pitch=-0.2206 left_roll=0.0808 left_gripper=0.9958 right_x=0.3543 right_y=0.1247 right_z=0.0283 right_yaw=0.054 right_pitch=-0.1351 right_roll=-0.0484 right_gripper=0.9935\nstate[joint_eff]: [-0.1846, -2.5915, 7.0769, 1.5409, -0.1099, -0.0122, -0.0171, -0.2667, -3.2068, 4.2735, 1.0085, 0.0806, 0.1832, -0.149]\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 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9653, 0.7528, -0.5953, -0.1837, -0.0784, 0.9958, 0.4961, 1.6157, 0.5411, 0.2993, 0.3573, 0.2466, 0.0094]\nstate[eef_state]: left_x=0.2926 left_y=-0.0003 left_z=0.16 left_yaw=0.0677 left_pitch=-0.2247 left_roll=0.0816 left_gripper=0.9958 right_x=0.3527 right_y=0.1248 right_z=0.0241 right_yaw=0.0597 right_pitch=-0.1481 right_roll=-0.0542 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -2.2906, 6.8171, 1.5604, -0.1343, -0.0659, -0.0171, -0.2393, -6.7897, 5.2171, 1.6386, 0.1685, 0.022, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c963171e922cd61038845f338e4bebbc07be2da8945496349f5105e2087725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530f5bb4a54225630a441c5f0623dce50c2f007b9a569b6bcc085d1c45b402ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af2949308644b892a54a55dcfa88f0ef06dfa26fb07b05adc59edf270767d69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsXz5XL02FdtLGntTczfV-g0u5yg8ooNzlNFUik5sdbhjdqIcUYcNXh5rwKGY8A56sifBFCNYkbAuYkiZwFuCk32a2VuLEXbdrg_vBA05bK7Xkuzo5m-uO8SxNPPNcRSlPFvuguVxrquGnI_rD4-KjYrLQ6y74PXHmvMfd7SKYUVwu7Cjigcp4IIwNw03qPJQlg-D8NoYYD3nBTxvRglkco8cVykIa7Nkle81LFcyPG2W1po7ZfNkT7b1iX9uCavnNcpPz0VK2tiQxdnWptd7TtbRtMwQiU24cN67xBWfLLsjG0IxYQwQMm_8-s8xY4EQM7H60IRsVr_Pp5VrfCP0MwtEkTSC4JGt0cH2OE-tiGK8ekZQE5M9jl-gx7Y5QEs9bDLhNc4Fj8hqDcA6l2IVrzloT7ODSOlcwANJn38g4LCzUor1uWXaExLJ-YSalJmeikoj4FSMJeRKBBTd_JtHJiW9SCV_rY6_RZ8U6N9XitbkBEkyuGZzIzrsvX7k-OuyY4XogUT1I-hCwt6aCD4079cmis3eqPpxYvDSm6pLX5rHGSmsrO4485Qop3pTrTCMLORzY1e00joS2Cvz7ls9zu6_1Ld6QiQhaAsTl4KiH1BxmpZwlyxKlIRhfNeMygT1oPdmpBvH1ioR-UpzeGud2hknkD7lheHRxfU7Gy7ibSnrrXvpXSygV2QBCB3Hp54IAltjkg-Opr7-a6SVjBAqpEM79yG1wtru8b3MBkXz75gw6W6oHPA4fgR48jtBh42zuaIc4t7EwJj6o7p1nVtNvrMvssx57BO8uH6MClztATC--70XpuGpzuIFQV1KehJNyEpDeGdOTYnsOofHW6KFeEp4RzvBxWQmToO_4dKO-f03JcpsMKkob9BPhIufRV2pZPHDskaqBd_XRGw5Chl_ZO6rZX-bl82LDX0427NP-rFUiDysbr76i5EaaokiLQrufiJjq0lSXTHlg1vZfh4zO9Q1FASayleyBrHv0PVfB4I7D6oZkq2_GoDyL4LQJXpW5zF8WwKWSUQVvJ-Sie1FS9-nRPrkVEQco3KWFM-hMa1KCdjGWqjUtDz6B2eXTqoj8vSWCaIOzrAvWAJdWqFbR30M7hDOH-shlTrJKtqpxPxz7-OgEunVHTI3NRJSSg5DVpQnlQ3O5cwW0LQz_-J3Mg57-QZX_NDjTeGpz33C3d_IwXmtICsMp_Zuyitz7BDmc4h6M59ctraJP_zNPcf4wOxOxpzUa3dbA5Z72olsnJ9iRrsMsZjgOm46Nb8Lnvx4Yhn7Qd83IDdd1UwsVk-OAU4XBZBs5AES7gHw62vUPgFv-MroXKX6oqUY6O50lMpMZkGC97f3zVQbQM5z7y01zOuhFRupXm0FZgY4Kq5sspKL5XEzI4rzNQEQL4D4VxvEIh1FJBTGG3Hfs_9kR8LD_1jNVHrol5X1z13U7l9IlqN-bZcRnCBgXwNUBOzaCNbj4MMJztIPjHH7sFNaQ_50LREDbo4GISS44vy2aI-OmffCLeZqyAa-z2o0trbI-NdC19SLQV8XKVWUtPS543perN9Zw5GqgFMHWrlhkLZubajZei9WyGdS3QtUOvwhYwLRqUqHGwkWZuVlqZhR2pvzIOTYSjpqDEG5DKaSFsz2QHSqCrZZ2oOXYeVw4CoxuWT4r9axkrIelj9quo2C0e6HzDuDLozwz8f7XlM228N7KSdea76NBKh6xZGVHvrOeC2CWzHJNZUqAfpUYaJzENYMpaPIXCrAVfaO1USRKitciWft-QgANGgpFRStPaKpsPwnQx0rk62v48qX4mELPdfVD_ngvJC71wRTiCbhwhmBNbbdceYhBV7ETt6Dsy-TzEhpgTvAl6MCED82lEm1phZgmAlkqcpW61gJ9AXO-r_Nd91ud3HeZ072ZoGudcssiWwK5RzoJQvYhlEag7UjrkYqK_cgnFdTdbznSJcyPz4X9fxh0cP_8XwHknSytzC3c2X813EWABvdzLAxPWZCGhg7Ixycyf8pvAm_GkrrVOhd6w5OnwjZSP7vp-Ul-dAAmBVOu-fMwI9WYt4VjI1U7BMgPGQfLfwH7wQLhbfokavektazsQDIVYBqdmVbaoRmbkBt5T-eqRHW29WakNsBWh5HUE8Oa9RxeSnO8pExaql9x8wYwBltDsALvumW1AvEIstWiQONnWda_5Sk52yzYbK8pTgsXmdBw2PV6dFLg3mCnzoesUHSRDletJAUkM9NwxwMehlnGgqrNjfBXQYMSVBTMpc3DX5ruaS9JDUosapkTHk9WFfqc3jpieF0hErMz9tnPzwYL3MZOFgydFXuUF7lVrKpxup_UjLjvQtkMbfkiclVsrARHyjaaO3621vRVandRYF2lU59TtmpcRxD0b9-xh6__4l53zhQeiHl4-QAsB0wOJr02B-qUGYf40nri3NKwbA0Psg0knQwy9BTzQVzxPajZF4WiiKNYGIf0OoHUhAqvFm0saTfrpmwqyPyHUB5lbpSFA4y6h9O4IW7QPSRYENvlxb6zNYHKrk36iz2VwpbcVxArkDAfVRXrdPFauq78bpWbJ_EY-8rlnqekOySQo5s-gBqoNrB6Lhu2aa7heBdck-Gzc-e6Bk38ja70C3vpXNadkglCijKnpS8z1ljUqSY-Iu1WLWZqbRGK-wCN_CRMSCfGv50CaEdX2kC7eMh1l-KcMDVzAPny9rGf0QfbGWV3ucFMN0V9IMfa7wpT-w0u0gzNQqb7hiiQijjHZhCRrcjExoPyf-wdCxJcMO-DVVS_wT7rUdmSnTu2lqp_TgfpLXqMGrGfeMxdXkEnNhIaHygL8W_QU4sAafvnkIogNR-TS7E-sGvILzbHcHaNKO7g6LdV9CV0xGqjizPs1tyMbbj6Al2ciarytEy99bThLvTXpV-c4q07DBpiabjU9dqWYPJU07rn7XhBPag5MFLQCHfv8rAORDO75deEn0BrclKkj_i16gf-uzrL45sRpLXZeKEDwTFvkb6bIP5t-xSVVXF5TH8z5PfqMZj-mKQwNmO2umCCX9D-8Q3bYvfkXcLlN-crsYfsRWVL0npdDF7qZLQpKZ_Am6Frm9b8m7GnliZTaqvH9zaGtv4N2hyYOYUXENSyZ-1GFri2Etauyrj31yZ5BHPX1YyEpj6mWo_DDR61I_RvP8Z7KuTZNTgSuQRU=",
  "id": "rs_0628cde06b0d387b016ab42b127f8487d093c1a596947b27f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.085,\"right_y\":0.075,\"right_x\":0.35},\"note\":\"The second close was empty too: both fingertips entered the pink bowl rather than catching its wall. I’ll stop trying to grip across its centre and instead approach one rim from the outer side.\"}",
  "call_id": "call_EuuHXUPWnS9S4GljtEnx4mQm",
  "id": "fc_0628cde06b0d387b016ab42b15eb8c87d09b6a368425712074",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EuuHXUPWnS9S4GljtEnx4mQm",
  "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]: [-0.1238, 0.9707, 0.7525, -0.5983, -0.1837, -0.0784, 0.9957, 0.3183, 1.3437, 0.548, 0.0204, 0.2352, 0.123, 0.9952]\nstate[eef_state]: left_x=0.2923 left_y=-0.0002 left_z=0.1579 left_yaw=0.068 left_pitch=-0.2333 left_roll=0.0833 left_gripper=0.9957 right_x=0.342 right_y=0.0731 right_z=0.067 right_yaw=0.0499 right_pitch=-0.1822 right_roll=-0.066 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7419, 7.0496, 1.5556, -0.1245, -0.0562, -0.0171, -0.2256, -5.4906, 9.2376, 1.6239, 0.0952, 0.1148, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006e3450991c3c71a2b88676c5aefb5204efeef507768b0b12e52a63e10f4c39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561230283e924a3f2414f47f838d6f05256100dd112f7d58c724e188f94c6227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0e689ff0be7b2184860340687bf0f8f0a6aea1a5fd41a8e35f57cbdff0803c",
      "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 · 3.067 s

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

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9611, 0.7528, -0.5903, -0.1837, -0.0784, 0.9958, 0.4961, 1.4727, 0.6224, 0.0574, 0.3576, 0.2607, 0.0089]\nstate[eef_state]: left_x=0.2933 left_y=-0.0003 left_z=0.162 left_yaw=0.0676 left_pitch=-0.2157 left_roll=0.0798 left_gripper=0.9958 right_x=0.3498 right_y=0.1231 right_z=0.0625 right_yaw=0.0505 right_pitch=-0.1633 right_roll=-0.0513 right_gripper=0.0089\nstate[joint_eff]: [-0.1162, -1.9487, 6.8444, 1.5702, -0.1587, -0.0513, -0.0073, -0.0479, -6.0103, 6.4752, 1.7118, 0.1832, 0.0317, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9653, 0.7528, -0.5953, -0.1837, -0.0784, 0.9958, 0.4961, 1.6157, 0.5411, 0.2993, 0.3573, 0.2466, 0.0094]\nstate[eef_state]: left_x=0.2926 left_y=-0.0003 left_z=0.16 left_yaw=0.0677 left_pitch=-0.2247 left_roll=0.0816 left_gripper=0.9958 right_x=0.3527 right_y=0.1248 right_z=0.0241 right_yaw=0.0597 right_pitch=-0.1481 right_roll=-0.0542 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -2.2906, 6.8171, 1.5604, -0.1343, -0.0659, -0.0171, -0.2393, -6.7897, 5.2171, 1.6386, 0.1685, 0.022, 0.6618]\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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9707, 0.7525, -0.5983, -0.1837, -0.0784, 0.9957, 0.3183, 1.3437, 0.548, 0.0204, 0.2352, 0.123, 0.9952]\nstate[eef_state]: left_x=0.2923 left_y=-0.0002 left_z=0.1579 left_yaw=0.068 left_pitch=-0.2333 left_roll=0.0833 left_gripper=0.9957 right_x=0.342 right_y=0.0731 right_z=0.067 right_yaw=0.0499 right_pitch=-0.1822 right_roll=-0.066 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7419, 7.0496, 1.5556, -0.1245, -0.0562, -0.0171, -0.2256, -5.4906, 9.2376, 1.6239, 0.0952, 0.1148, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006e3450991c3c71a2b88676c5aefb5204efeef507768b0b12e52a63e10f4c39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561230283e924a3f2414f47f838d6f05256100dd112f7d58c724e188f94c6227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0e689ff0be7b2184860340687bf0f8f0a6aea1a5fd41a8e35f57cbdff0803c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0628cde06b0d387b016ab42b190df887d08370b29fd3fd2b21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.032,\"right_x\":0.35,\"right_y\":0.075},\"note\":\"The pink bowl’s outer rim is now between the open fingers in the wrist view, rather than surrounding both of them. I’ll lower slightly to bring the fingertips level with that rim.\"}",
  "call_id": "call_YoWzfVAEaxZVchIRzLfqK7qd",
  "id": "fc_0628cde06b0d387b016ab42b1a4b2c87d096b41a001ab9081f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YoWzfVAEaxZVchIRzLfqK7qd",
  "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]: [-0.1238, 0.9745, 0.7521, -0.6033, -0.1837, -0.0784, 0.9958, 0.3141, 1.4845, 0.5041, 0.1402, 0.223, 0.1127, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=-0.0001 left_z=0.1559 left_yaw=0.0685 left_pitch=-0.2423 left_roll=0.0851 left_gripper=0.9958 right_x=0.3393 right_y=0.0729 right_z=0.0245 right_yaw=0.058 right_pitch=-0.2476 right_roll=-0.082 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.0444, 6.8171, 1.5116, -0.1197, -0.0171, -0.0073, 0.0479, -6.694, 6.1744, 1.7753, 0.1929, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c689bb77191e872000ceab544dd544189b5a2ede5fda0d7be4f0338f3053c902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c462a53608db5a7afe8627124faa1f5cf51a9adef19b5b095e7c388ec95e3c32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0114ac6b16ebcc3159dfbf386a17928a465e50597b678d6ee6b66646723604",
      "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 · 2.294 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9649, 0.7528, -0.5915, -0.1837, -0.0784, 0.9958, 0.4961, 1.6066, 0.5423, 0.3016, 0.3622, 0.2512, 0.9935]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1608 left_yaw=0.0675 left_pitch=-0.2206 left_roll=0.0808 left_gripper=0.9958 right_x=0.3543 right_y=0.1247 right_z=0.0283 right_yaw=0.054 right_pitch=-0.1351 right_roll=-0.0484 right_gripper=0.9935\nstate[joint_eff]: [-0.1846, -2.5915, 7.0769, 1.5409, -0.1099, -0.0122, -0.0171, -0.2667, -3.2068, 4.2735, 1.0085, 0.0806, 0.1832, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9707, 0.7525, -0.5983, -0.1837, -0.0784, 0.9957, 0.3183, 1.3437, 0.548, 0.0204, 0.2352, 0.123, 0.9952]\nstate[eef_state]: left_x=0.2923 left_y=-0.0002 left_z=0.1579 left_yaw=0.068 left_pitch=-0.2333 left_roll=0.0833 left_gripper=0.9957 right_x=0.342 right_y=0.0731 right_z=0.067 right_yaw=0.0499 right_pitch=-0.1822 right_roll=-0.066 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7419, 7.0496, 1.5556, -0.1245, -0.0562, -0.0171, -0.2256, -5.4906, 9.2376, 1.6239, 0.0952, 0.1148, -0.1148]\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 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9745, 0.7521, -0.6033, -0.1837, -0.0784, 0.9958, 0.3141, 1.4845, 0.5041, 0.1402, 0.223, 0.1127, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=-0.0001 left_z=0.1559 left_yaw=0.0685 left_pitch=-0.2423 left_roll=0.0851 left_gripper=0.9958 right_x=0.3393 right_y=0.0729 right_z=0.0245 right_yaw=0.058 right_pitch=-0.2476 right_roll=-0.082 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.0444, 6.8171, 1.5116, -0.1197, -0.0171, -0.0073, 0.0479, -6.694, 6.1744, 1.7753, 0.1929, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c689bb77191e872000ceab544dd544189b5a2ede5fda0d7be4f0338f3053c902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c462a53608db5a7afe8627124faa1f5cf51a9adef19b5b095e7c388ec95e3c32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0114ac6b16ebcc3159dfbf386a17928a465e50597b678d6ee6b66646723604",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCseRBR-5MO8WaNmF-JPaya9C7ivdL7uLLRc6VMfxpQWXcB3OEJSTu3M-Xy5RrH5R5DneouyJjlhjZJKqFy9Wsv3jbgYhHnQN52R52NHfY5sO0PdSL2v2wECb7r_qlRhMQXALJFUOEajg4nT9ITii8jqLj9IZM2Hn3saoRQhzsGDJO9WwpZGSRpGLl3Ewe8fMdj1fNgOPwGJenbbqdrWKRLG6h31JdmMCwb2UBt4q7DhtQ_5jD2dSV3zeSwDTvCBelUe-vJ3Sq9XMhqGFS_k-h7uK3KlfxraZ77hxQfK9Cga2hLPchhW1ZflFVrM1JtRskiSU3qawGRC27-_sbx1lYvCnQxeiOjWNwDMSNtzkhSG3OgjKEYRbwsS8d-Z6JIS3YVTM5Edpu0N6vMFeCblJ-EDpCoBFfADBQ5lWlDKmN8sdqLpaP1d0jkCjXiyPy858xRnh56J6KC8ZuX-SljkPkj58c726WcHB3vTsL2zKIcpYT_uGT0oxJH2PCOVHAZrBkPFJ4UST4Mefy7I570uAcLrx721pTBzC5u9TYCb60p4IHieGndrZAnGz1vr2SuAZxBMvuX4XldOseTXO71k2oQKxE61HKXL7V1D4GBfOR0FwJU_r5U484kmuQf43qMclq9KVQf8V8fFyFR-6x3JY2a2IrGTEzAFtftgvFA45zcD1ZPCpE0NTZJIb3G4Fi7iJJEQ2GROlpe72V-IayZ5rk45jU3vB3Ay8JL3wNl9jzfPC3dcuDt9zezJ7AWLiHYA7ezje1apIWqCPd-N09jLbpT1cOECJ8QL1A6ktMin1eROefgqjABFyxfwq4SRzWx3NdtV4XEC-vFCD3nbdIUGZphd9AibwB3yDZivMyIQ61FTkn7kUqykSuZ8TtnDYJIMua-AvVz3OHDDyx3DAuXLrQ1gY3y-9dJ-4KDKOUFoDHa0a6pKE6KwhJtqsKRhmxLNWSml1cz8zWJVoD7CjV82F0MS2DbqnrOiXvWKE1eaijsmLM0tki6WuicVtWdfgTf8TXIJ3nEUcYM-iVGDS9b8BBOCHDZbRaa83JGAaLO2rp-bQwVEBAF2kFOqjtx8eudywpCc6cnCPX2YdynIF9OaF5R99SttJl61BzXYzZ0WM4-HP15WyGv89wDDK_1JrNE0gfSGQ5SIbCL_J3zGQ0rYJoeaNSfBy-3mEoAimoIIe5W2A8NKQXwhdGxQGBdiR962Rkmt2XFQGkdcjKxD2pUkNjWEqVvADkYwaoevrJDeaml5liXmXxojVAJs5a71iH-5bo76IpGGY6Yi9zllcc0NJcpPi71oY6pQjigciT6fUDK4ztwQNnrgtAS-9EWM-SVISBU37LvM3-0GaHLS6KjmpODTmw==",
  "id": "rs_0628cde06b0d387b016ab42b1d061087d08fbc670016a151ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One fingertip is inside and the other outside the pink bowl’s right-hand rim at low height. I’ll close on that single wall and verify the jaw opening.\"}",
  "call_id": "call_bQ1W45Rb6ZNEtxC5I2PB6A2h",
  "id": "fc_0628cde06b0d387b016ab42b1d72b087d0a95c0aa713a08831",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bQ1W45Rb6ZNEtxC5I2PB6A2h",
  "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]: [-0.1234, 0.9745, 0.7521, -0.6098, -0.1837, -0.0784, 0.9958, 0.3141, 1.4742, 0.503, 0.1753, 0.1978, 0.1211, 0.0302]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1548 left_yaw=0.0692 left_pitch=-0.2487 left_roll=0.0864 left_gripper=0.9958 right_x=0.345 right_y=0.0794 right_z=0.0327 right_yaw=0.0772 right_pitch=-0.2088 right_roll=-0.0466 right_gripper=0.0302\nstate[joint_eff]: [-0.1573, -2.2496, 6.8718, 1.4969, -0.1245, -0.0562, -0.0171, -0.0752, -4.3282, 5.7504, 0.7741, 0.4322, 0.0073, 1.3309]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87b9eab51885c2d0beae644893e1c949d78e60da1e3bbe2101e1d6d8eb150b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2759747c1df2e9c8dca65a7568f8af55b2c4659432a6a1a11df60007d314c470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc234afbc10571f15d02d82a937de840b717275fddf5852599f4408ad067aa4",
      "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 · 6.906 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9653, 0.7528, -0.5953, -0.1837, -0.0784, 0.9958, 0.4961, 1.6157, 0.5411, 0.2993, 0.3573, 0.2466, 0.0094]\nstate[eef_state]: left_x=0.2926 left_y=-0.0003 left_z=0.16 left_yaw=0.0677 left_pitch=-0.2247 left_roll=0.0816 left_gripper=0.9958 right_x=0.3527 right_y=0.1248 right_z=0.0241 right_yaw=0.0597 right_pitch=-0.1481 right_roll=-0.0542 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -2.2906, 6.8171, 1.5604, -0.1343, -0.0659, -0.0171, -0.2393, -6.7897, 5.2171, 1.6386, 0.1685, 0.022, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9745, 0.7521, -0.6033, -0.1837, -0.0784, 0.9958, 0.3141, 1.4845, 0.5041, 0.1402, 0.223, 0.1127, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=-0.0001 left_z=0.1559 left_yaw=0.0685 left_pitch=-0.2423 left_roll=0.0851 left_gripper=0.9958 right_x=0.3393 right_y=0.0729 right_z=0.0245 right_yaw=0.058 right_pitch=-0.2476 right_roll=-0.082 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.0444, 6.8171, 1.5116, -0.1197, -0.0171, -0.0073, 0.0479, -6.694, 6.1744, 1.7753, 0.1929, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9745, 0.7521, -0.6098, -0.1837, -0.0784, 0.9958, 0.3141, 1.4742, 0.503, 0.1753, 0.1978, 0.1211, 0.0302]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1548 left_yaw=0.0692 left_pitch=-0.2487 left_roll=0.0864 left_gripper=0.9958 right_x=0.345 right_y=0.0794 right_z=0.0327 right_yaw=0.0772 right_pitch=-0.2088 right_roll=-0.0466 right_gripper=0.0302\nstate[joint_eff]: [-0.1573, -2.2496, 6.8718, 1.4969, -0.1245, -0.0562, -0.0171, -0.0752, -4.3282, 5.7504, 0.7741, 0.4322, 0.0073, 1.3309]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87b9eab51885c2d0beae644893e1c949d78e60da1e3bbe2101e1d6d8eb150b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2759747c1df2e9c8dca65a7568f8af55b2c4659432a6a1a11df60007d314c470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc234afbc10571f15d02d82a937de840b717275fddf5852599f4408ad067aa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsh3lNnJ_NyTi-5vuNG-18j1aZPhG0CClE8uvnLq8xYfN5TrkioLjLam296v3kkRFZoz9EHU-k_EqnT3rEKJGabcc1NFG8_9p8Kz2iyEIBxbH2AV9M5EYSBobhFmfy7knc4Dxnwrc90ekhSrAGlVnyBBPzplISJE5eRjcJfizIkiwO7_y-zA3URbh81rrdUeozZYt8l51taZ_Bx21-8ykbaZIBaoL6VutrRAqut_RlHRj_4MxpGEzQ9vmEuuTl3V-z_JTYm6yIB9KR3AT0yhaI-sJjuZ-VdZCaqUDQyo6p4MNUTvi_G8ysZUwBl0rLXXa4-42U6NNu_7VT-juJHIROhSrGVdDI4-Feh5CMIUL7QUJ6oCHhDESQReIhlpZX2GsDJ8UFP0ILUXl_kphsoH8DbJ2hcZSejTClOv6u638pjgrIbdmIe6vAI6rMD-UFqVonorGyeRi1k0y2Mc4T2QcSkHt0CROggd80lSA-fKrmD4nB3yvt1A7UhamD51WAOzqe3ifu7tEh6BtQoEPP0HvMf81ewFn-Kz1bhGJhxCRtM_iUHymYzuDnyxGLbHBmMvWqfXAsBYfzlOzC35RnS0JBz6IHRZQb2V8HayD9oVytD3nZ2yqzYrErd6S9cLAFDd7B_q9oO4uz3ZFJtJprXm0M24HfDgiv6GlqHN8L8SKd6S5dAVAKSYaAxTMzLGHa73D71NVJXjXfEZEtjxy0RExKkhzJn92wU9il-wmybIdS4GZU8KhMWCE8EE3SUhIHRgphiwu8ex2tTidqtts1cBb9Vnrv3fZtK57eGtiXFElZVgUg_XMfbEIfVEBqp_M6K0BoAGEUU0ZCxsLgVl3xyvxlbIXln-PiefbDZWAFdOSo4xI4tGDOFq1EbUB1taYEkXoPM6uTfYHSKX4DSBKJs78J7Pn9d2pkTAnaRn-c7VKT591v1w_6OjFgy9tnKqTK0oLbuJbVLqFdYeMZHd2Tw7oJ8yR1t9ykIkxNXsI2PIsoX9-30D3eyWKuGvCQz69pEHX8IZgVZM4Ei90_1vOs7bUj4Q5X1hKAVRH_Slzq16IF6Ju6-amBz0vGMEqWMkzZvbv46jxDaYaOKWwf-80qFCa4K0RUkBD04wAPcve1G0v5_6yDYpIUevKiCAAyBRhma-6tTM3aBpmqDzgBzKz_9AmckKTG3KU_ug7aedLYCt3mTsQ_gme4HxnkIxL8q5Jgiou8TMnIo3VIvvshU-XJZpGquJurAoQXsi-4I5EUZZrpNItkF5rh6DfLcNweIwCUT5Ip8Pa_MK2EVVP0cwIjcNeySN7NEK9Ya4M4hRg8meM-yIuY_7wqCzspTnXozsKALe-LYvdefgWrmPDbiV3qImoxNroFr7zfvVM3g84YIA0s7UvjLdorZFWdMLYp3Azji7iiRXi_8o8VgauuX_CfKAOM2YWbZ85Ib0FCvIBfw7JaOi-x49jE2FAy7hO64JofBawcH",
  "id": "rs_0628cde06b0d387b016ab42b2025d887d0917436f1f0f79991",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at a small opening near the pink rim, but that reading alone is inconclusive. I’ll lift a few centimetres and check whether the bowl rises with the gripper.\"}",
  "call_id": "call_kcpTuQH6ACAYtXgpiAXbBCSM",
  "id": "fc_0628cde06b0d387b016ab42b20c48487d085837dfaf2a2a5ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kcpTuQH6ACAYtXgpiAXbBCSM",
  "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]: [-0.1238, 0.9764, 0.7521, -0.6106, -0.1833, -0.0784, 0.9958, 0.3141, 1.3102, 0.6491, -0.1364, 0.1955, 0.1143, 0.0395]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1542 left_yaw=0.0686 left_pitch=-0.2514 left_roll=0.0866 left_gripper=0.9958 right_x=0.3445 right_y=0.0796 right_z=0.09 right_yaw=0.0828 right_pitch=-0.2109 right_roll=-0.0503 right_gripper=0.0395\nstate[joint_eff]: [-0.1573, -2.1812, 7.0085, 1.4774, -0.0952, -0.0415, -0.0171, -0.0752, -5.8598, 9.0188, 1.4921, 0.0464, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c33a1895ac7ba2105cb02f1eff26b9eb96fd0482f3624e780d27e7ff148334d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105e4fd3aef62da76372c84e38320aac7ed3f75ca1e5847fa4735ecf9d441fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e0fb5c026338becf650dac4d1e10fecf81ce769ea32923eb38b76062f27436",
      "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 · 3.429 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9707, 0.7525, -0.5983, -0.1837, -0.0784, 0.9957, 0.3183, 1.3437, 0.548, 0.0204, 0.2352, 0.123, 0.9952]\nstate[eef_state]: left_x=0.2923 left_y=-0.0002 left_z=0.1579 left_yaw=0.068 left_pitch=-0.2333 left_roll=0.0833 left_gripper=0.9957 right_x=0.342 right_y=0.0731 right_z=0.067 right_yaw=0.0499 right_pitch=-0.1822 right_roll=-0.066 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7419, 7.0496, 1.5556, -0.1245, -0.0562, -0.0171, -0.2256, -5.4906, 9.2376, 1.6239, 0.0952, 0.1148, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9745, 0.7521, -0.6098, -0.1837, -0.0784, 0.9958, 0.3141, 1.4742, 0.503, 0.1753, 0.1978, 0.1211, 0.0302]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1548 left_yaw=0.0692 left_pitch=-0.2487 left_roll=0.0864 left_gripper=0.9958 right_x=0.345 right_y=0.0794 right_z=0.0327 right_yaw=0.0772 right_pitch=-0.2088 right_roll=-0.0466 right_gripper=0.0302\nstate[joint_eff]: [-0.1573, -2.2496, 6.8718, 1.4969, -0.1245, -0.0562, -0.0171, -0.0752, -4.3282, 5.7504, 0.7741, 0.4322, 0.0073, 1.3309]\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 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7521, -0.6106, -0.1833, -0.0784, 0.9958, 0.3141, 1.3102, 0.6491, -0.1364, 0.1955, 0.1143, 0.0395]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1542 left_yaw=0.0686 left_pitch=-0.2514 left_roll=0.0866 left_gripper=0.9958 right_x=0.3445 right_y=0.0796 right_z=0.09 right_yaw=0.0828 right_pitch=-0.2109 right_roll=-0.0503 right_gripper=0.0395\nstate[joint_eff]: [-0.1573, -2.1812, 7.0085, 1.4774, -0.0952, -0.0415, -0.0171, -0.0752, -5.8598, 9.0188, 1.4921, 0.0464, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c33a1895ac7ba2105cb02f1eff26b9eb96fd0482f3624e780d27e7ff148334d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105e4fd3aef62da76372c84e38320aac7ed3f75ca1e5847fa4735ecf9d441fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e0fb5c026338becf650dac4d1e10fecf81ce769ea32923eb38b76062f27436",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0628cde06b0d387b016ab42b23650487d0b942c444b2d7cf4f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsoAXoSxPKSb0JUlsL8VmCX5FG_MNHgRqkS2zlTbYJvr_lUpb_5BXDI0xji9kuSipH0azLP7JM4XDYWWDwqMcGjHC305_NMGyji7PMsx_LV6drNO7BWPgSd0kCB3TBn6qP3lDnuHRnlriDiIxtP5qTs3jIpgmIN-CVgmUr0o6FnsFJYAuTMgVLrnwk-qr9CquZvoX3n5IXoYxVQnBh_rL-M6vjpjYcWBQgukZLJZFCvyuC2jv70NqEd8Z9Z-7YgtGd5BRfQ6T2yhDHNte2K0jGmxyU-iL1CzL7cBj2AwFkjVFWfn74zSiUPVGoYj-Hc9FS8KomLhEYjk7Q-kTtnEqLu4d0Y5MZExPQyYmVG7pd0wgL4K8qX1vT2Sofl5MdgA6NPOUISydQW9V3EmUbLQdXJk3iPJCWKNTOlSspQ5evryVNe5kjCAjc9StJ2gDaSOdLR3MWczs-_-k6rPPCLQAw_CkdUolKAGm4enII87RzHU51nhiyKSJAkKdYyIEyG7xl83AvT2MB1W2-s_SEm_L_28DGa3YK7KjF99GZEQP29HajXTKgAsiCZSzjf0_ObI1cT2RzaZbhOwNzVZexEjTWPE3d6yMi3BcIxoal_HHQzW1MUGpKHYmkdeY1aFaHvuVDTJBHsgBvh-auXttJAsgD2vymMXkI6GN3tnW8eM4isvZptU57thk0sOjYIu5unFbx_wHm6E5SNeZhlhWqCNf3WiFqyWaXyPolktthAZPUyC6smkz-nUeAKXBkL2V8bGFC1ddM7Yq72N1GMTAJxs924HwOD_iBMHkea_PBIaqWkOcBtDkOOQkH7PtsAzkm-xyiXH8WghrMbQY478dUnM2EnvTRssk9n0SKjWUC-rPgo7jerHoBMZH7RPS7wWSv3vMQ7QJYhX0OraIeqv7LmG6j7c-gGX8GrtWIDwX68WHU22I7j6u-OrPpXMUwKPEOV5zuTTv-KBdTEW4a1OFxs9OVbjLXxS_azc7xbLj5MaAgNyVIPy06CdBWy-DYmaCIXsxxqpwDAjydpTsmbBqN4F5DC8qknaScJoyU2Kts53JOf1NM5vD-5I6uUXtjFQ0dOabGkn1uThU0zNy6_-Z7mMS1RQN4Zir01vkk3B9mCn23f71ilCtDh-1WFXULF7s_M4EH5BB6zgF2WdFYeVxW2kGi4TPtnMRQm_GquiObjrP1vR1C5JdoiEQT7g8OzEjYWHcMuI9WPU9_m-VpPLqqKHQdNkz0eiHbqC5nBI7lSMEZk-kDmxEqM1hZFR82luLQSoaqIqaJVHhE26WYgSI9xIyfGcoJkfXNVMIa0HFVy9PJn6_GkOqMd6rC5iywVPmLFBRDFvxy0vzz2Dl3yHIR2gmIKvwDKLuELIHC3GGzDX0rtKsILa5KukuoU7n0jhE5l27LwlVt7Im3cUSWcb-gWE01z3c9Lq1utzRxdAaMVpZwzjGiL6toIwP2dt-2K1U9JLZcsPv5tVV6I2tyMnmI02PtamQJe8DFiV4vF7c6U8fNx7hY=",
  "id": "rs_0628cde06b0d387b016ab42b270df487d09ac82f433f82a36d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.055,\"right_x\":0.35,\"right_y\":0.085},\"note\":\"The pink bowl stayed on the table during the lift, so that low pinch slipped or missed. I’ll reopen at the same outer rim but try the higher, wider part of its wall.\"}",
  "call_id": "call_9gpUtxUKqXVL79CjC23YdqAk",
  "id": "fc_0628cde06b0d387b016ab42b27c29c87d0994ca6e84ba50ee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9gpUtxUKqXVL79CjC23YdqAk",
  "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]: [-0.1238, 0.9764, 0.7513, -0.6106, -0.1837, -0.0784, 0.9957, 0.321, 1.422, 0.588, 0.0048, 0.197, 0.115, 0.9957]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1539 left_yaw=0.0689 left_pitch=-0.2521 left_roll=0.0871 left_gripper=0.9957 right_x=0.346 right_y=0.0824 right_z=0.0527 right_yaw=0.0863 right_pitch=-0.2414 right_roll=-0.0584 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4872, -0.149, -0.0611, -0.0171, 0.5265, -4.8342, 5.4359, 1.7998, 0.1343, 0.0171, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76276fcd2854159aebfa0b4daf34cf5eea5ab987612efa0442e0b7c254363999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387a8ca7007d76542eaf4b87bbda0693afadab14baf661b5a79dfcdf8ea4383a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb8ad5517e733cf3dcaab654db45428bf546d09cc1793e61a4c4b95e76cfe43",
      "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 · 4.157 s

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

message 68 changed as sent

message 76 changed as sent

message 81 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9745, 0.7521, -0.6033, -0.1837, -0.0784, 0.9958, 0.3141, 1.4845, 0.5041, 0.1402, 0.223, 0.1127, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=-0.0001 left_z=0.1559 left_yaw=0.0685 left_pitch=-0.2423 left_roll=0.0851 left_gripper=0.9958 right_x=0.3393 right_y=0.0729 right_z=0.0245 right_yaw=0.058 right_pitch=-0.2476 right_roll=-0.082 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.0444, 6.8171, 1.5116, -0.1197, -0.0171, -0.0073, 0.0479, -6.694, 6.1744, 1.7753, 0.1929, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7521, -0.6106, -0.1833, -0.0784, 0.9958, 0.3141, 1.3102, 0.6491, -0.1364, 0.1955, 0.1143, 0.0395]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1542 left_yaw=0.0686 left_pitch=-0.2514 left_roll=0.0866 left_gripper=0.9958 right_x=0.3445 right_y=0.0796 right_z=0.09 right_yaw=0.0828 right_pitch=-0.2109 right_roll=-0.0503 right_gripper=0.0395\nstate[joint_eff]: [-0.1573, -2.1812, 7.0085, 1.4774, -0.0952, -0.0415, -0.0171, -0.0752, -5.8598, 9.0188, 1.4921, 0.0464, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7513, -0.6106, -0.1837, -0.0784, 0.9957, 0.321, 1.422, 0.588, 0.0048, 0.197, 0.115, 0.9957]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1539 left_yaw=0.0689 left_pitch=-0.2521 left_roll=0.0871 left_gripper=0.9957 right_x=0.346 right_y=0.0824 right_z=0.0527 right_yaw=0.0863 right_pitch=-0.2414 right_roll=-0.0584 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4872, -0.149, -0.0611, -0.0171, 0.5265, -4.8342, 5.4359, 1.7998, 0.1343, 0.0171, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76276fcd2854159aebfa0b4daf34cf5eea5ab987612efa0442e0b7c254363999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387a8ca7007d76542eaf4b87bbda0693afadab14baf661b5a79dfcdf8ea4383a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb8ad5517e733cf3dcaab654db45428bf546d09cc1793e61a4c4b95e76cfe43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCstKFP0hq7Du3HJ8a4SAWY1yvoBrsSkzzM1cZ-Wt0SbX5ufBzFbOtUZcxsbJYCK9yyg_QS4MiQ9goS9QSXVb_SsoPMlDDYvJLgk_O8_UPCKVlgM_HOdu3do3XYrGGgLr-1LndioolNjaaqn0XJeS0znAXPskSUKvWUSI3DRIzeLFuHIueNhX67HDB2OgeJmDkFG4lOkwG1uFNNyfcCZh5cdpq6xdUhOHxqWNfacITbSzhgH5tC8Xp2w9uFEvpKS2itGLgMsZd8fPzMn4YIvYpiVJLtpTleQpcR0l4It5uxVjhGF6xrlWGyaclmMFIhu9Lis8FZ3cEVv_RnPZQy0Q3kjGDsdii5wJh6ivfA8ziMyT5i23Pcs-izFSCXbvH-e9DbaP4uly8YvcQDDRABl8wrKJ-3eLOrAXLA4vGMdrrVwJBO-SjHx_frt4V3XvqWZoXgOH29O_7n1QGz4Yr5igompvbc02qerT0pfK8Z7bTWaAMUiaVW-fS-cR_BDlw_gTulXgb2dHjPLxoYr_Q-AtBfAcsDV4VLFPKVw_WFwH5OshsGIx7d25vWVeKmmChh7FIhZ5I4JWfncEqBNfXzRAbwYjqURSofAtOAeOO8kLeoJ40_QH-HwUdqjLdpk6mEPNzGlglSgazbaAxQMJFvNWKopd0xPKSXJeSi1Xp290sKejLhlpYxQw4rkXtL4qXgV2GRPJrARuCbSLpnHyqXkRYqsK9ttt0x1GuHALI_BWdLrOPP8Zlynb4gJ9tFDrgu9gdNbQBKu-tbKyVjkJ8K2tBtPShE3u-oBJsV67GWvf53Vs1o1-gx2vlAP5irOXZmiFD1lqIQCPgrrClbKUpNti32dmdhJiicfJ3-Vulrp6YKQC0nLJgfuBRtmLV7ZCQD-U4Q9M6bMFM-BicGfBTzyWz8xKWhePOaK-pX_gRzkm_Kir5ctvRicO9rDS2HnUOZS6LHwoJ8tg1hVIm1E77qTLpxzlUWEW9uKa0uMPZWFRxdpVy7FYOlshaA0NxmQC9N8RF8sX49WaGghLqvpEs1KDs4TYSP09JDFWXBl6yyhAdRH0diujxpPwdJ1ho_qWl9ERAx_GXioZsRabx_Oj75GLCjVAWP841qufaHPRuzmReIU75TrISg1KwSHh6WPl9PPWH2uUJw1U4fV-ETA57yofFVYNHsYWEznk1vwWOc-wh7KR3IhPUtPu1A1B2z2TL0ATkeJC-h9ukNqGiaaVxZbvLvsFIVtIWuLRSPf_ApOhe_tz2b7Gx5fNBCRybdvHaUkk3820fCoJpGrdCELrU6fpTrB11hQboGYToipLZ0NirDVlBVCAb0hES_lRKSEi7Z1zQJ3MOoj8ZWZG8Rt9fTl-OnsceXnK8yhmCQVPKnUmFjpxa7R1NqMEi7CcxYWIJI9gQoS",
  "id": "rs_0628cde06b0d387b016ab42b2c097087d0ba000728c51f4377",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the higher position, the pink bowl’s right rim sits between the right fingertips. I’ll close on that wall, then test the result with another short lift.\"}",
  "call_id": "call_lompFDkgCalx6bTyE6WkEgrl",
  "id": "fc_0628cde06b0d387b016ab42b2c87f487d088c6ad22ae9a0536",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lompFDkgCalx6bTyE6WkEgrl",
  "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]: [-0.1234, 0.9764, 0.7513, -0.6109, -0.1833, -0.0784, 0.9958, 0.3244, 1.4254, 0.5793, -0.0032, 0.1959, 0.1085, 0.009]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1538 left_yaw=0.069 left_pitch=-0.2525 left_roll=0.0868 left_gripper=0.9958 right_x=0.3414 right_y=0.0823 right_z=0.047 right_yaw=0.0931 right_pitch=-0.2615 right_roll=-0.0669 right_gripper=0.009\nstate[joint_eff]: [-0.1573, -2.2496, 6.9675, 1.4286, -0.1099, -0.0562, -0.0073, -0.3897, -5.5316, 6.5709, 1.5263, 0.0562, 0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360ca3e2a39bba918d32c803721aca31830f6ef8517c358e1bcca358e10d620d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b46fec88aa6a5d9d30642cf232abfedc8230022847f18985a5e5a02fe96f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3af25f8b8fdd20327ac5d255d266f4c3941c35d6fb7aaa5de145e570b65565",
      "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 · 2.241 s

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

message 72 changed as sent

message 81 changed as sent

message 85 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9745, 0.7521, -0.6098, -0.1837, -0.0784, 0.9958, 0.3141, 1.4742, 0.503, 0.1753, 0.1978, 0.1211, 0.0302]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1548 left_yaw=0.0692 left_pitch=-0.2487 left_roll=0.0864 left_gripper=0.9958 right_x=0.345 right_y=0.0794 right_z=0.0327 right_yaw=0.0772 right_pitch=-0.2088 right_roll=-0.0466 right_gripper=0.0302\nstate[joint_eff]: [-0.1573, -2.2496, 6.8718, 1.4969, -0.1245, -0.0562, -0.0171, -0.0752, -4.3282, 5.7504, 0.7741, 0.4322, 0.0073, 1.3309]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7513, -0.6106, -0.1837, -0.0784, 0.9957, 0.321, 1.422, 0.588, 0.0048, 0.197, 0.115, 0.9957]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1539 left_yaw=0.0689 left_pitch=-0.2521 left_roll=0.0871 left_gripper=0.9957 right_x=0.346 right_y=0.0824 right_z=0.0527 right_yaw=0.0863 right_pitch=-0.2414 right_roll=-0.0584 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4872, -0.149, -0.0611, -0.0171, 0.5265, -4.8342, 5.4359, 1.7998, 0.1343, 0.0171, -0.0855]\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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9764, 0.7513, -0.6109, -0.1833, -0.0784, 0.9958, 0.3244, 1.4254, 0.5793, -0.0032, 0.1959, 0.1085, 0.009]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1538 left_yaw=0.069 left_pitch=-0.2525 left_roll=0.0868 left_gripper=0.9958 right_x=0.3414 right_y=0.0823 right_z=0.047 right_yaw=0.0931 right_pitch=-0.2615 right_roll=-0.0669 right_gripper=0.009\nstate[joint_eff]: [-0.1573, -2.2496, 6.9675, 1.4286, -0.1099, -0.0562, -0.0073, -0.3897, -5.5316, 6.5709, 1.5263, 0.0562, 0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360ca3e2a39bba918d32c803721aca31830f6ef8517c358e1bcca358e10d620d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b46fec88aa6a5d9d30642cf232abfedc8230022847f18985a5e5a02fe96f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3af25f8b8fdd20327ac5d255d266f4c3941c35d6fb7aaa5de145e570b65565",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsymhGMGIy3ZTrKdxEOUPvSJVFqwk4wvKPpGk1625iHE5tjyQtY19VcwSr3cHBySuuw3LI8K2vqejMTsHe_Nu1CzCQN2iAtLcCa4U5fw-HNpKTUskzyOETg_mcVc7WmaE8xLMrsJrtdgUqG2tQBvj8A9837wM5JEMo--Y9OVC8A4lSqW3c9ooCD-pK0-ISuBhqDb403C-skEkNXc5QIC8wQOzCwZY877SSfBjv0fX-rstyX8h4zFHRQSjOczH9pTfq83QDoOPFZJWFUiXVsBBZhcQ45yiaeRlPRU2JI8ivKiwafnwtxHmsm-CjyxXLOLJnE7GP1xL-DyRDOotQHgsQ0_fnKtJ_SWAWPDvRKdRgR_JiiuZidMl2rsQ496Ij03qVIdGUB92nFzllvdb5mwLVsFGBDkww0xTWt2eGUaSE348P1qPBMB6xuDrX7C9p1ibrZM_dy9U_nopEcmEBoROK-kx4yQajuvu-drjj1i0bBFm0t3jmUpHwB8hgw8qWMBLpDcgsVDqtY_SS-pd9m1FdF5a88v-Pa_EQKcUjNeyJC9F9VOZyWCQsG13DzQAejWp2o3d1nat9pkefEX1RbNKiVgyevZEJXfKxPUI4XAOQR0bshmXNTiwbTHZ3AL7sOqbz7gjvhE_cW1bP2TkGX-l1ClhExUba6DSaBkr1sQ91Hj9E9-ceCFi-vBbLvL3IYYmd-li_FglXv31cxIwDPIsERzmHpy5nrQu6ZFKrarxSduZgwHNNi4YUARGUl7InPN0QTvKlcDm6km3aIS3JHNp1K9bQaIrhgaNztiqDq9jCTL7CxGx-XB7v4NLS1I-aXzJLoLzsR9OVym0BolaTdWF9UMux6cPttdaBrid7SYoXAY1ddNaTdRNeg2G41rQBZIVeLOSPTQ7wSmoLPu8S48MbxfZh1TseleGn1QjGhe2wSw1EfWuwrcwpiSSGFHhU3P5vrEzu3LgAgyccokSuO0ZWxJXJLQfSQd1wD91DeS_mM7wOaObU4OhOueuNBOV2jChUUNJQEi0lzcRe-oS9XVA9EsoiyEDgbZVRaCI0ZsKhT2_5wgSlVKswTc3DkFhRDTmS04h8blDPcyXpuSNDjmABWhtaaeth9B1ZKPfamdwIvEdpWu8xewMQJMSStVYblF7juXWev_xXVkhtymGgY97dXz-sI0aatMDCCDewkfti6KDQMqOmet_NfnLE2rHyu9oxnjyFJAmBAd34exMaZ8Cihzp8q06ddBFyAY9J_358niI4Ft9oZMUDHGdHPCK02fpEf2Yo6T0u9_76042AfM-epD-qCJkZpPOlDVI_-3imFcvU8FLK1GZhOsPXdqRNumIjUixu3WEsYfzatAu-9-ZXqi7M0DxJPVEQHQ_YL2_TT1HQ6EoHKe2nBKsS3xkkJ-2ASxens5RtS9i08tKBziNLOzH7BcY1Yyf5ARFJP0cSYuf1HH8sJvSVvbpnt9QBS03PCVP9nBA3Z1iDWgySdcnfFddoYr_BO5ConZ390Tul2RbcNJwZkeSc-_ym2lpVnsqEmw9XCt-vQzap9g300giGBWdq-CXAy_yOi3PqWbpGW2S4PqIzA7xflWXeLXnhWiwNEr-DMoryNSoz4GESLlrb13yLdZGFoRuXAjF6aIXUuKx40laDJzqkdt-ZTdwYcukUmoLYuvuwax5uMd8Dr37L3ITyTcdk-OGe_6qhnTUXL5RArTP5pCX4h4vDaXr_ogMmXFySc51mtCBlL5-nOWIKcV2sG2V205LihApwECoPDyYikbe5NX0vOyINzJRTM6wMGIEOphLdjzlxG_9TSxTPiEOoqn4zBpIkBy6C__ppi4oX9chLiycEq3LJ8m1O839ccyPQNbsNoNTu4Q3TDf1T2RtiZHoHmjv-0Z9XjV5DIcLLrlYP3VpBD9cBsQyRoX5pNLKloDr0J9N-dnx3pyTbtmtQ_nDp-P_a0KV9J1yBteXbnGyPw5EUTVoH2UN6FnK441EpUuSAVeSPk6kr7HL6kDBWRGWvTWmklNlQVENu1QH4BtrTcpdJ-pb3rR9DdqbXWLOyWG-o2glMVbW18Qv6fHlXzsdwdlkp5vsUZjuA_OXyJzv8-HjKElMid_ZexJoqSp7Av99DRkRJCooN7A71Pmn9ZLyoyBJORUDtdVgwsv58oZVwGGKlWLea6cUSE01c2j0grADqZF4qi_-_B5foJ3BXcyPMi4O12Dawqo18pL1ezJywo42E7aJUEvAitrWTOuDnSYgchvghVr024HmiFPyS4K7takBWt56m26s2tsDCBmi7Wx0-8LSuCKUcmVlQf",
  "id": "rs_0628cde06b0d387b016ab42b2f432c87d094528568ccfc55a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.34,\"right_y\":0.045,\"right_z\":0.065},\"note\":\"That close was empty; the pink rim remained to the right of the closing tips in the wrist image. I’ll move the open gripper outward by about three centimetres so the rim meets the jaw line.\"}",
  "call_id": "call_xkvxtTsxYHCuqeC0kSVf6iRu",
  "id": "fc_0628cde06b0d387b016ab42b31739887d0950f12e11d362c4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xkvxtTsxYHCuqeC0kSVf6iRu",
  "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]: [-0.1238, 0.9783, 0.7513, -0.617, -0.1837, -0.0784, 0.9958, 0.178, 1.346, 0.5774, -0.0845, 0.1032, -0.001, 0.9947]\nstate[eef_state]: left_x=0.289 left_y=0.0002 left_z=0.1523 left_yaw=0.0694 left_pitch=-0.2603 left_roll=0.0887 left_gripper=0.9958 right_x=0.3379 right_y=0.0459 right_z=0.0571 right_yaw=0.0877 right_pitch=-0.2811 right_roll=-0.072 right_gripper=0.9947\nstate[joint_eff]: [0.0479, -2.3453, 7.0222, 1.4872, -0.1294, -0.0757, -0.0171, -0.4444, -6.1197, 6.653, 1.4725, 0.0464, 0.0806, 0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054852309d6881356be3dd23aaf977e84de36f07643ac7658b62f3ad3dab16b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3416ebf19625fd7d2514701514f30e798884927bd34d3fa005759c3ea9669d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01d0e52beedb1fb71472896775a643890aaff372d497e6a1f665ed9aee2a3c4",
      "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 · 5.376 s

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

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7521, -0.6106, -0.1833, -0.0784, 0.9958, 0.3141, 1.3102, 0.6491, -0.1364, 0.1955, 0.1143, 0.0395]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1542 left_yaw=0.0686 left_pitch=-0.2514 left_roll=0.0866 left_gripper=0.9958 right_x=0.3445 right_y=0.0796 right_z=0.09 right_yaw=0.0828 right_pitch=-0.2109 right_roll=-0.0503 right_gripper=0.0395\nstate[joint_eff]: [-0.1573, -2.1812, 7.0085, 1.4774, -0.0952, -0.0415, -0.0171, -0.0752, -5.8598, 9.0188, 1.4921, 0.0464, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9764, 0.7513, -0.6109, -0.1833, -0.0784, 0.9958, 0.3244, 1.4254, 0.5793, -0.0032, 0.1959, 0.1085, 0.009]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1538 left_yaw=0.069 left_pitch=-0.2525 left_roll=0.0868 left_gripper=0.9958 right_x=0.3414 right_y=0.0823 right_z=0.047 right_yaw=0.0931 right_pitch=-0.2615 right_roll=-0.0669 right_gripper=0.009\nstate[joint_eff]: [-0.1573, -2.2496, 6.9675, 1.4286, -0.1099, -0.0562, -0.0073, -0.3897, -5.5316, 6.5709, 1.5263, 0.0562, 0.0415, 0.7009]\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 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9783, 0.7513, -0.617, -0.1837, -0.0784, 0.9958, 0.178, 1.346, 0.5774, -0.0845, 0.1032, -0.001, 0.9947]\nstate[eef_state]: left_x=0.289 left_y=0.0002 left_z=0.1523 left_yaw=0.0694 left_pitch=-0.2603 left_roll=0.0887 left_gripper=0.9958 right_x=0.3379 right_y=0.0459 right_z=0.0571 right_yaw=0.0877 right_pitch=-0.2811 right_roll=-0.072 right_gripper=0.9947\nstate[joint_eff]: [0.0479, -2.3453, 7.0222, 1.4872, -0.1294, -0.0757, -0.0171, -0.4444, -6.1197, 6.653, 1.4725, 0.0464, 0.0806, 0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054852309d6881356be3dd23aaf977e84de36f07643ac7658b62f3ad3dab16b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3416ebf19625fd7d2514701514f30e798884927bd34d3fa005759c3ea9669d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01d0e52beedb1fb71472896775a643890aaff372d497e6a1f665ed9aee2a3c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs1b2RU2Xj-sb8qWNhlcAmkc-wjD8J-bno3NTQdYwIhXBMO2QUcs-ibjifhyvhnZ5Fk0V7d82UOSKcZVZc93N3scHc0OaDMk7R8pYGBwKNw0Zv-635Y9Pwd0WpK6xMtGO32ZULyZ456Uus850DMAtmxr79VAhUzwmzE_h9w9FKzwocrbFaSQMurpxozqKBvynJM77as_nzfDrv9rGuQq7XZ-pxtNsvWXrtmFX9E9URKD9A6x2zCxnfoKhG_ZfIWTmnQ2uLRbgPyyWW1a7RPHsmWXG46g3tSUMcvOQuAE_md-wyoepmYXEojCNHkCy1Ax8E-R1Xj_B5XQLeumHCfwHUriAbRiM2IYThTw_ldHJZDyvFbh329crxaYh8m_s2THLW67XNzydL66tQjdS_1PFmir483YSxQnUxIMJNuglqILUVH5HxANXiKmkKEFDO8QVwh0mGcjF5QlFoTKDar9A-zNsJ7XjRBMfJ6YALuIaDyaCa4cw_BhBHzZSbpa0cuX52wkcqPGguqJ0CDiwmCC2EKBVuAoTF8yuQvbdJCW5Yv2ZcTRLto29r5y7FoP2IBFuticP734MfRMqiZ3MyxdrBGo0a3N9BKvLdj8oedadZewWBRLeLkjlZIbNi9cGgtSPJH8v13qdjHzfHKKpnk13ifHdR4iO6sA3iE3mkPJD7U5-BCioZx3jYLdBOaIabCmT5V9D4RAAbLl7ik0l1s-9lSJmsXCIRsp85K4PbLOT9Jc-71mD4JngKpnZQIbk0WJbjrlCQnEK36tB5ZQwc86tAk3q25ic4_f4awz13Us0TTcxX9vy3DJ10rksNdJ9nprMjoF0CtMEEcwFK59M6sM8Q6rBM-6L_A_LBnk3iGuPguxdVysODZT6g3wtHB0JRrFuQQpaA-EAC1KH1NFEIqDESMQ4VQT5qgRd_qtZLNCDIidzJGuvp63AEqqj-h50UyQvnP53BYPfxIzDggGa-0MbNOfwGhpjsZVBDvA3oi1I0cx3GEJqwfB0FsXJDLSTV5Aq4ukrjn9CrBDIylsEPyaMUUOP4CyR2wkmDFolqPgG3YZMAvdQDouT4DLoMM0ZeihJC8fqa7rx1IiLv_VnzMxcZn13pgEo59vUwlwXwOuCPLXlMOpshdMn0Q4AvfQdueFdyGKE2hHFNaTMzDKydr5WD0-shLFLwZ6NZHtdF37DfiHETQ1OzWBb9a7s9Z_MjDwgmVoNcsmlDvl461uS0n6xwfJxwGrJlkXJ5S7QqS8AIvxZ3R0jQ_PHY76Qa2FpagthD9ydKGn8VkNFafXZDIRfmhf5fmATQt_hIIf0M3jz92IiPOAwd4fTZerdIyvl4mE55lnIhxZGN2pCGoRA2edDO-x_KiHIqyVpip83A33aZ2yDOlqu5KUJCAqZtEx0hMMBpAZDKsXVbC5lbo38YXpm9t9yERMJuEq5kU97Sgyk33zX2IxOd5LDhCDz1cBJyjyHuD",
  "id": "rs_0628cde06b0d387b016ab42b343df087d0bb4da54d8e5b280c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s outer edge now crosses the right gripper’s closing line in the wrist view. I’ll close once at this corrected offset and check whether the fingers stop on the rim.\"}",
  "call_id": "call_SNvdcYqPQVH7uNn6xpkqAvqz",
  "id": "fc_0628cde06b0d387b016ab42b34c3f487d09477a7b91235096a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SNvdcYqPQVH7uNn6xpkqAvqz",
  "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]: [-0.1234, 0.9802, 0.7513, -0.6178, -0.1837, -0.0784, 0.9958, 0.1757, 1.3415, 0.5758, -0.1009, 0.0956, -0.0036, 0.009]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1517 left_yaw=0.0699 left_pitch=-0.2629 left_roll=0.0893 left_gripper=0.9958 right_x=0.3346 right_y=0.0459 right_z=0.0553 right_yaw=0.0933 right_pitch=-0.295 right_roll=-0.069 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.4821, 7.0085, 1.4481, -0.1245, -0.0269, -0.0171, 0.0615, -4.3009, 6.2974, 1.5946, 0.0806, -0.0122, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284cb48801fbc70532ce55ccfb1c7b96b8d301909cf9464a462f34437a588adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17df2f85f5f3d1e046e26464d01a04b75851cf8d9b0110b2ae80323a394b4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f40aa18cdc5b9e0f9438fc56f75609fa7bbc06f0da65daec6c478e4d54909f",
      "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 · 4.363 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9764, 0.7513, -0.6106, -0.1837, -0.0784, 0.9957, 0.321, 1.422, 0.588, 0.0048, 0.197, 0.115, 0.9957]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1539 left_yaw=0.0689 left_pitch=-0.2521 left_roll=0.0871 left_gripper=0.9957 right_x=0.346 right_y=0.0824 right_z=0.0527 right_yaw=0.0863 right_pitch=-0.2414 right_roll=-0.0584 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4872, -0.149, -0.0611, -0.0171, 0.5265, -4.8342, 5.4359, 1.7998, 0.1343, 0.0171, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9783, 0.7513, -0.617, -0.1837, -0.0784, 0.9958, 0.178, 1.346, 0.5774, -0.0845, 0.1032, -0.001, 0.9947]\nstate[eef_state]: left_x=0.289 left_y=0.0002 left_z=0.1523 left_yaw=0.0694 left_pitch=-0.2603 left_roll=0.0887 left_gripper=0.9958 right_x=0.3379 right_y=0.0459 right_z=0.0571 right_yaw=0.0877 right_pitch=-0.2811 right_roll=-0.072 right_gripper=0.9947\nstate[joint_eff]: [0.0479, -2.3453, 7.0222, 1.4872, -0.1294, -0.0757, -0.0171, -0.4444, -6.1197, 6.653, 1.4725, 0.0464, 0.0806, 0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9802, 0.7513, -0.6178, -0.1837, -0.0784, 0.9958, 0.1757, 1.3415, 0.5758, -0.1009, 0.0956, -0.0036, 0.009]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1517 left_yaw=0.0699 left_pitch=-0.2629 left_roll=0.0893 left_gripper=0.9958 right_x=0.3346 right_y=0.0459 right_z=0.0553 right_yaw=0.0933 right_pitch=-0.295 right_roll=-0.069 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.4821, 7.0085, 1.4481, -0.1245, -0.0269, -0.0171, 0.0615, -4.3009, 6.2974, 1.5946, 0.0806, -0.0122, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284cb48801fbc70532ce55ccfb1c7b96b8d301909cf9464a462f34437a588adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17df2f85f5f3d1e046e26464d01a04b75851cf8d9b0110b2ae80323a394b4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f40aa18cdc5b9e0f9438fc56f75609fa7bbc06f0da65daec6c478e4d54909f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs7BOWJyS_rSUKb2PlC5jG5MBgHGInvyfwPKEEtlP-PuDQcT3nwdBXbR322AYRr14HqQUqMip3xs_SBs_BJthH8PB3b6VdHo10FfmlIOlPY_JTSp8KX-hTkB-DKrF9A30JpbMlH7_ZxH20u3Oo5ix4E4sBmKgz0VK-3GvBhp0LJUyDAaV3F6jbl5KLjBur5bMpFJQ9DU7K6o1mi4EFr-KWEkCvHuTCVIatiSh2U63egWedYZUk1ZAxmQ7tsHurXGgur7KXUMwrtN4QNCXf9CBsPSk2jFufYQjIhxRD078zklbQ12jKLBmIf5kUsd8DciQgOz6d0KaKWE8GcqdFtsq4cEXMthbUILuZntNMLnyvk5eNC4v925GpRcsFE6LJzUcn79wI812P6sHgRWf_EopxoK5l-OHsLTcf01_efdXf3Cx_p2FO_96B_LdurdVBU1A6nsBFcsFs2hfYYhq5MzQurK598hVb5E7lSnwSvcT-vOC-xLoBNjnjFkT0kTCHfoMQkZt6jtOqZPxr-CV4nwPDZCPp-JDoYWw7o3kz7uKlxBDQCnbDy460qSH8fkdGhkzFadgX8mL2byEsCgfDrQyW_AHaokfyPdEt4lXGS1GPHdECTroV1izpGV9BF36u-q65G1Jkni2FhuZpYsINTMZUM0qKY47dV-Tfet8tyupbmT3o2O1Uj8b_47g5qoYL4qudvbshAzlkVnbCP8UAyfGhGkVkLaeL4GzurhYNHSQ6RTDHQ_3pBspwM_-M0KUNF49N58bJPH-Uqt_bqs9YlBt4MTbeEH9keoVK7GTvIXnJPqsq29cXrRIkHRReSsxvWdz3NDR_ZmWpBqNc2Ix1nSy1SzQ4wZk0KEAzodq1Wu_kS5-2CgU8ZXq88sR_2MxbWhfN16Xgb1qjLSmzoWEZiwRsSn7haPkbuZPBKWHi539SV2EqR3LZCasdSrREgITfI6qBnpPr54Qa3fsVUAJ6GeJNwBZHsti0Ha4PHe2HdyBvzXeOucn-FtCLvo-SeRMGlgiXms1DAWhBgTgQXtz2_-4tmE3lhZygxdDAF7auwfaE38PSNnwXvXtDqRuTG0-fJz9tSZDH7a9wTBdDYx5iUuJqq2HERT6cjg4ccZs5ZFdghCHQ-QS9fclbpXHAF6c84vsAghjBJfzyjdrvw_NmQnayYHwOebJyjSSgwbg8krCSu-IRINFyJ1o__9OIbFJtKNCa0z2yCHc_IB2DwV6mQ-REIl6SuUU_dX5Szqeaw4W6_E85nJK2ruMTmEHVuq7L5Bin3sHdTYyYV72k0uFsgJOBgf41BIMU35OYLuxBSFrfQzrQidbouoB5iIZ8RWt1jnJdMV3BJE8UuOwr6Dl5hzcEzgpX9Y26c8hRycfWHvJQXge01yGNw4l17Mb3nQuxshgxTGtcPQHy1mIHx64E58_oX9KJrtWYiRHUCn3wnXR0mIVRFF7UR7kbml_8Vbn1WGF0C4dQA1eBn2b7TNwLgf6q6lnCS6VGfdtuigKZTT3BTpB7nHfFZJvjA0cn2CfshOkf1Ybmg7x937QrtLCz6muG3NoqnlXGx4sHEbnRViIXlKjA4MlwQ6JurDVobBGK29lXe-2_aODhri6DtNF5Bfp-iNCUfuBH6ZrDCUuCWq91CeEep8vnMaSUtkpnvC4Vpp-31ahUCNqVSwb2AmlHfdew0gBtKitzswSe9_ZSAdinze5uGo6dYcUIfBqKkH6jMthmqk1Xl9EfwdprwIKmhyAPym9HouLQklzvNqFw0ctyq9VCPNQUJhFxuZXyDqNzyZiTcb33fQnyrVnOebbzSruXnJmUV4goVjKI6XqdVeg2zznS-z_pL7UJE31jPD2owMRNiFHHswjyPaVOclHCTv260TqR7Dp4OH6jQPn_bsCDPEtnlyOR_kqeKTNoJo-IUpodoKaEAWbXul41kZ455Ht_t3Fl-etDjXTaw9ZFG4AS-dsBKU3Lxcr79a4I0T_4SfY0gcWoK8skV_9r6iD065MEoUSxuoNlSfC51fQogiNG_EStjzv-ThMgAfC2mjymcG_Lo4ym7a8jN5BRCkguX0MmYSJwzy_ieVofE2fm1sVIClOIBwnw3lhTvCvimaZ6pFl-gnbTHaEcj_cHhY7JcWWabWhO0pVBfluaA0RpkJa_RAudmc7Sq_m4xn02dq_9lzDEUG2NjPjPW0b1fskTHywMUG9KFqgV_w97WCitmQYGymXKucIyPDxWIrkK75QONlO5NIB0RbZqxm0apHukBr-1qP2J7eLT0qJ_UybACQHvXXdk3MXylpF0w9gnGuWQl4eZjalwIn3dGov6TlE8X3Erbra0Q83sI4LlgHs0EcPHInli2UtcBVj6adLWGEvyrlaGR6X1ddgJt_M7AJABjCaMec1K8c5UxaeVF0k3qP9n8q1cxCKkqkyOgu6xKo58r6ANVwTJV1TBq6UPhENYVOP5Ce9ELECvNL_tNzgXJ5_mgGKAz1N_I_D3YUer-4V2wMEk_Gs3gEjTMRzIQmGfizhGX50P7lpOwPYEPRUYK2GzUiHpq3nWvlUjWrnYkbkrV93HnBSQ_Ae5V49Ng01YJqzeCbJY5WIHberqhXF-qkuzdPaOD-Qmbix38rRSTxX46J_1vupZFkT3G6utRZVOftQiFt9feBmgCzNd1gjris6PL-1K-A2770DjLiQoDE6aLKjcSktdH6zDu71SjNfhW45inDA==",
  "id": "rs_0628cde06b0d387b016ab42b37a97487d0862a765d1d54eef5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.12,\"right_x\":0.29,\"right_y\":0.125,\"right_yaw\":1.57},\"note\":\"The lateral rim pinch still closed empty, so I’ll change strategy: rotate the jaws ninety degrees and approach the pink bowl’s near rim along the table’s forward direction.\"}",
  "call_id": "call_nIDZNBG6rsvx3NyIK3KEyPdu",
  "id": "fc_0628cde06b0d387b016ab42b3a385887d0bac736e898c31fe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nIDZNBG6rsvx3NyIK3KEyPdu",
  "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]: [-0.1234, 0.9844, 0.7513, -0.6209, -0.1833, -0.0784, 0.9958, 0.0135, 1.5894, 1.1114, -0.8845, -0.6449, -1.3693, 0.9952]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1501 left_yaw=0.0699 left_pitch=-0.2701 left_roll=0.0904 left_gripper=0.9958 right_x=0.3121 right_y=0.114 right_z=0.11 right_yaw=1.3934 right_pitch=-0.3324 right_roll=-0.0805 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -2.4957, 6.7761, 1.5604, -0.1001, 0.0024, -0.0171, 0.2667, -7.0222, 6.9949, 0.2125, -0.6129, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2796a0dc5d3830503908115ca9483a7511df81723031298b9c5697815149b7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d17fab145f529206efc6e96e345e7fd192fb4bd8ed22cd5e1d53d5496995b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863fe7f1ee5986011e63292412c5ae722af054b9313ccbe6f1ff3d09ab4b1e08",
      "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 · 5.116 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9764, 0.7513, -0.6109, -0.1833, -0.0784, 0.9958, 0.3244, 1.4254, 0.5793, -0.0032, 0.1959, 0.1085, 0.009]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1538 left_yaw=0.069 left_pitch=-0.2525 left_roll=0.0868 left_gripper=0.9958 right_x=0.3414 right_y=0.0823 right_z=0.047 right_yaw=0.0931 right_pitch=-0.2615 right_roll=-0.0669 right_gripper=0.009\nstate[joint_eff]: [-0.1573, -2.2496, 6.9675, 1.4286, -0.1099, -0.0562, -0.0073, -0.3897, -5.5316, 6.5709, 1.5263, 0.0562, 0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9802, 0.7513, -0.6178, -0.1837, -0.0784, 0.9958, 0.1757, 1.3415, 0.5758, -0.1009, 0.0956, -0.0036, 0.009]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1517 left_yaw=0.0699 left_pitch=-0.2629 left_roll=0.0893 left_gripper=0.9958 right_x=0.3346 right_y=0.0459 right_z=0.0553 right_yaw=0.0933 right_pitch=-0.295 right_roll=-0.069 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.4821, 7.0085, 1.4481, -0.1245, -0.0269, -0.0171, 0.0615, -4.3009, 6.2974, 1.5946, 0.0806, -0.0122, 0.7057]\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 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9844, 0.7513, -0.6209, -0.1833, -0.0784, 0.9958, 0.0135, 1.5894, 1.1114, -0.8845, -0.6449, -1.3693, 0.9952]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1501 left_yaw=0.0699 left_pitch=-0.2701 left_roll=0.0904 left_gripper=0.9958 right_x=0.3121 right_y=0.114 right_z=0.11 right_yaw=1.3934 right_pitch=-0.3324 right_roll=-0.0805 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -2.4957, 6.7761, 1.5604, -0.1001, 0.0024, -0.0171, 0.2667, -7.0222, 6.9949, 0.2125, -0.6129, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2796a0dc5d3830503908115ca9483a7511df81723031298b9c5697815149b7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d17fab145f529206efc6e96e345e7fd192fb4bd8ed22cd5e1d53d5496995b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863fe7f1ee5986011e63292412c5ae722af054b9313ccbe6f1ff3d09ab4b1e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtBGujYsVbf1Z9A7NKKhbiWMWNW7cH9z0bY9uAZgxA5QYSpYYioU-4bCbYd7LqJzYRkr9eauO59d7nECl5gQRsA1JuaumazAoZ56XmjMH_Qly8tabM0ujTpmD-zoq8-_DsD1Orr92dDZ2ke0iBb_89B904SUliDzZ8hOBr_KhOH7vDSu4kuLRkRIhKp7KTWcGE-QSc-WvgJtezd91lfceh5imLie0PZWggcyVFLZ3oB5Tbm9Veo4S5JHXeWSOEIks7hC0XEBSJvu4rOUopfxlfFJMxNUk7w0j_Qgye4wYJq3a0OPPVG7VSuDhO6hSUoJBer4bNw_gcinJroJZOOzP8zSxyIqetzfvPsIRH7121rAEyq9m7tarBNXzioyWjtP7fq6sePJ_yPTwRiJNIqHhu-BjkmMwvFjpEEAdAB6WV8DnsrU7ASGLEWpo2CRoKLUxlXYLl_9QZkIaCDfo6CQJWzN7yOW-e3fo_ANFD9mTNpdEfluSe9t6f3I4NPkO7E8WJ6opo5YtD6T-c7t-m9lPh_sV3TSwDmAscTHLOs9lyTbyW0Jtz1J0vJLE8AV-vZpW9-uSpVfgyWnLmLShrbt8y_BzRzhG__TqJBQA0EXPPJ4TzRovbwC_w-qeNDiQs-MPlZf8B-vWWgMsb3d9eLLMxyO64_htzKsfrSolW0558zXVPg146EQcBz-fGZ1kGeILtmK72Ams55p_xSELDiHDImQ4N4pbFwcH86w6_0-zvqxQbi7Ups1reI2Zojm3jZvzp0Pj0LMGiwEd5Sc2lW8aO4D4R9Y2EwYjWCEytYR598BwdPHZf7AJ0BcN3ADN8SiJKFnmr41w6KjVM1XCeP680PucgiEA_eUYa0PKK_QxwfuzrbePTU043496nWvvoBZp4qqPefupawZJqp2Dq2Wa10J1vwNEZRrhaBMvG37CiFcZn4smNAIrt6a5s0eP9H3jyQWxj8p5r_G_rXBQLVZ4J-Ucsd2lfzp3pHDo3mpXKbOjOFJbJmzoIpRLbgnmljziwU3FaJi8uJWejK75r-VQwflqtZrGh-Kaa40pfdRQ1eRivmRQGJCWen4621QP7hoXgMDcQaj8tfRzjHY_Y-44AFdq0ZHSo8QkdPYiurxbuWqBTARsISGDg1NvbpqGv34OW5MohJuyzIZ_oRdRGGECoNSjkkLWKxWL2M3jkSFjYLMPjBm1zzITkMpSSUMuShJOpnyt7ss01r8MRTxO1ldFafVr6qXHeNbK3lV17EOYVOAHUpFv49XWONDY-dALbGuyaXSKd8CzX7zQvuDDMoK3MQ1g8OctvukdN9hTTzRJ2SMnmLz7qVB90Nhxvgf7WYzMnpW8CV0BKGfvpQYb-RX4RqmQbLM6kgJfei_BwQltW4iZ_W1OiDbrYoUyFoWhOzUyP_zUuuV-UaR7ZWFaauU1Kafk-Bh-RPgBPxtstCV3vozZ3GpnVNhfOI6_LThw375oD1pkAmvOiWxYvZIOk3yXyNUsfvkF-nLCGfEZh4l23O3oV1x-59rDG_l1aA2CC7OjDx0iTHJF3b7hJIaB86xooLajy63UzRz08oZCBqMwooapZ9zkMrkUyQ_YWk_kzCThZuGwNTNs_iE7pfaboX7Lwu_J9jo9SseFo85s9LAlUx35zuba9Jlc60pXi_hLeevGWG1nu-0RWI1HHl7zMCJA71J6gtMM3I8kHiu-lt8u-9Nsq4GksR3uIRBSWHl5bs-_L0aElyJZI2U3pXSKgVXsDxXvMfIoTbNeoBckfOSyakkfCDkuyPdW9RKAuEmyqXYubuwxtwiY1HYQieNXdbhjkR3AKW2WwFKKosU1YpRr8zoRc=",
  "id": "rs_0628cde06b0d387b016ab42b3e756887d0829e9a66d34e9816",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.125,\"right_z\":0.085,\"right_yaw\":1.57},\"note\":\"With the jaws rotated, the pink bowl is visible just ahead of them, but the gripper is still beyond its near rim. I’ll shift back a few centimetres and lower partway to place one finger inside and one outside that rim.\"}",
  "call_id": "call_2ylEjTf9wC1M5LTbZZ20cnTp",
  "id": "fc_0628cde06b0d387b016ab42b400e2887d0822bac9bff4052c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2ylEjTf9wC1M5LTbZZ20cnTp",
  "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]: [-0.1234, 0.9848, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0341, 1.594, 1.0145, -0.9329, -0.6621, -1.536, 0.9958]\nstate[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1494 left_yaw=0.0705 left_pitch=-0.2741 left_roll=0.0915 left_gripper=0.9958 right_x=0.272 right_y=0.1215 right_z=0.0831 right_yaw=1.5642 right_pitch=-0.3386 right_roll=-0.0298 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.3043, 6.9128, 1.453, -0.1343, -0.0562, -0.0171, 0.5812, -7.706, 6.6256, 0.6374, -0.4713, -0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e503bd216900a0f16ed8520ada20a407a59d7a9015a95eba79a8de9e748c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91a0b9e27fb31320ce27310623c1776b126d5a96249fa88b43b8094c09a3f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb37628890506d57edfe14a7b2030256ef74f26c6bda7fdf577bd8ba03d44e6",
      "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 · 2.93 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9783, 0.7513, -0.617, -0.1837, -0.0784, 0.9958, 0.178, 1.346, 0.5774, -0.0845, 0.1032, -0.001, 0.9947]\nstate[eef_state]: left_x=0.289 left_y=0.0002 left_z=0.1523 left_yaw=0.0694 left_pitch=-0.2603 left_roll=0.0887 left_gripper=0.9958 right_x=0.3379 right_y=0.0459 right_z=0.0571 right_yaw=0.0877 right_pitch=-0.2811 right_roll=-0.072 right_gripper=0.9947\nstate[joint_eff]: [0.0479, -2.3453, 7.0222, 1.4872, -0.1294, -0.0757, -0.0171, -0.4444, -6.1197, 6.653, 1.4725, 0.0464, 0.0806, 0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9844, 0.7513, -0.6209, -0.1833, -0.0784, 0.9958, 0.0135, 1.5894, 1.1114, -0.8845, -0.6449, -1.3693, 0.9952]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1501 left_yaw=0.0699 left_pitch=-0.2701 left_roll=0.0904 left_gripper=0.9958 right_x=0.3121 right_y=0.114 right_z=0.11 right_yaw=1.3934 right_pitch=-0.3324 right_roll=-0.0805 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -2.4957, 6.7761, 1.5604, -0.1001, 0.0024, -0.0171, 0.2667, -7.0222, 6.9949, 0.2125, -0.6129, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9848, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0341, 1.594, 1.0145, -0.9329, -0.6621, -1.536, 0.9958]\nstate[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1494 left_yaw=0.0705 left_pitch=-0.2741 left_roll=0.0915 left_gripper=0.9958 right_x=0.272 right_y=0.1215 right_z=0.0831 right_yaw=1.5642 right_pitch=-0.3386 right_roll=-0.0298 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.3043, 6.9128, 1.453, -0.1343, -0.0562, -0.0171, 0.5812, -7.706, 6.6256, 0.6374, -0.4713, -0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e503bd216900a0f16ed8520ada20a407a59d7a9015a95eba79a8de9e748c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91a0b9e27fb31320ce27310623c1776b126d5a96249fa88b43b8094c09a3f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb37628890506d57edfe14a7b2030256ef74f26c6bda7fdf577bd8ba03d44e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtGpoaQp8Q_eQvZ7eZJ_W2nbg0QbdtN60-G7__DFPn68JynSR5PyQzaZExPhOJGrF4pD7iD5gbwrRR66-vz03HJXRVB3AUBZuQsd4xWMdop1gmIGDpJLzm4sx2OsT4AzfhMb4jJwQOBmljcPC56u2ilrw7afpPIVBbOfDINeHuylot8UgGl4clNZL2AtVWfimnfYff7YLoldIouJpUFVnkTfashJms6awHCN5i5J14hxrFe6NFFfb23V84tcbz_yUOsp4-2QDGoQZNrV5mQvndZCt22l_y0flrEwwalhfmpm6JaZXwMMFplkyfmlbZi8ZnYCzSnJRNPyoSSOADbbKpgdMoYDrPZ5VM-dTMr66wNcHAdTucHCuYe1ozSxhHBp9pqiWhdRCPlHZ32MYtnsP6OeecETHBGdndfo2T2KwUjpCnNADnT-5xm6PRX_5Io-dYdfb1XGjQxfGQHuqrhRAgWsjFPc3S_UtYBId0hSBMk9wnh3YsbJZryjloy7F_7gKsd94yDMJsZGbF7LJQGksqyA2sZfYCmMaiAjhKJ-1SteCIgsnmOB-IC5mgqN0ebWUF9hli8wlf3386RK-QUZp7kEy4QQgDWF1T__Afo2LgEtkbnD7PrgPjrSaTWsXRT_iqcEICCf8mwl8iJdRasA-meVEbT38jyJxTcZDmtaZ6zYSNOraSDtva_sRxc9x8EQVRxZcC_BkSM5xmqD8Wc59Z0_mnpZR-X_IbuzBOW2j65utQBO3Xwxr69wJEUTYz0PvbNGKg-iZJYH9aij1lFS5p3Udh_KkkV47ucvQ133b3nddR2Wq21T7PmLjZxCm3JDp7wptYTSZpQBcsO4xsU3Ov0qPK1jeEQXFpt-seEKWNTsZ0PoC1gSQm4VSpl6J5ss5DMktfPeYaWA_PvYLiumj8ODQzsM5w_irR1O-_3hOACp5eizo4c-Yip8rRSYBxUUdjd68C_tmKR9kFisS4RQwjFBNzwWVs8IYPcVDaQLCG9TvXzkCgfD0FnukW4uMggKEzzcBuX_ZWSLTljMW9qsiB6LWHDy9FF-4pAWI-SVJ3YJHYXvIZtFIrjl4XytW0jvXYHqdgitfsZgNzeKR0RcjAUdzWW-O8C7ynld4QY3iRWze1YbIUbqkxYMolx5kbHvI5kUg5Y1t8lqSr7EKpl-YBZRAvHBMHqgxIAhpqggIVCwOqaPpbfV4m5lcu3qfMrT0uhYrE7FuSvCKbO7xIrgLfziTQntRLydjwkGoUThxyzQg2Abu-Z6Ys9uimabJ48-VQ2_La4qmrZ8wAY_SdvJLSGHCPrD_JBfiTGCfod94nM_cfsHdo0Q2bHxmHqc1tVZ12_qhG3h40NSnzzJtepDkNZU1AcFaG9LuTnCeoLIC-Pl4y0MHAe1t7xu_h_9-Q-OVvleqMrFaiMKltPQQuxt0Oza2RLKtSwgYKMjhRrwP-TugU4QIoQIjVJZq25c2JP7Oddr9eQD4753xxvHaOl3UkSv4FvYBhAihawdfeCX4xb9zxazQZamHgAVCCFYECz37bPZ_mAUKwvV2iYg9R8kTgrF_751W9DsDoVQ1SuU8m23LTXxHYYZdNm-N6H3nF8W-6O8HLnS7rYtSAXQRfTM3fW5cjgGJWlke4hRFW3zq7471M02hi6s_nlF9Aw52DBaE7a0LgZT-63APbUzl8-wtv3ehnmohSJcxGDzyTFL33Xhj_nxuuqgFUgZl9cfWJzOjobXNqoap336BFnLrMp5AIySH0T_gShlv3vSRgDX3d6Os-ZisXdoRIuJUR0uw9chP-CpJp8U1btMB_DIyUGQt1t18ON1YjZg-nKgKyJaK24IgnM8J2LZ2JYvqyvUib02QOy3_XzQP_K032Vhj31C7Z8gKDSyq2647HExA7bEaAYz5oTstSpiJ6W5kuU2N7ZJzEirKdHXFCaxLtV7mCgHIMKfK4-XL2FahZ1XuJ5U6hJXHbQoFx52i6kQk0GyIN0LPrSHgheFciEZSsPkLu_PzyUP-xCbJTvQqXHQIR8owi3S_fnSZPcKGqVMsKg4mMJdrFgiCWnaFPUQq3e3soeQNWJEvedv3z8wz_rAM8ooRFmNVAkFUpSl_x7ppE30N8OwIb8M6CotRmyhocwFkvNX-vmGE6zcak5AsuoQkSszMJxU-ZFai9pIRUVkKulca_K09Sit1dO5QYFk2YAtlroiF51vqml2UYKRPyszYfRJMylrCGkDtNY3Gf5c_bw-yHheqAFA698ono34Qc3Tj0dH5ZFcPhMpJ3-5mDsqVbp0LY6Ss1GEmfDLW2NJJW2MmQPQMjb6B3Tbp5QW12oHbZt-UL6oHYXfuW9mhOFHH8E2crLVJu6zV6UJyamJNtt3xstUFWOCeiMYIJJZ9Fdna9FMPi7YOsOlJpxz_BlEnqhK_nowvxcRuTa-hsQcYNbJ-j2dxd4aek3sA-Txdx31Z4LDIsf-F_FiX9xRVWaAd3fAMRZ5FcweO3AHo8revqfdZb84qIU4gi3ofVCG3rFvsH-qtJDPMQuSEc6I0SZVj_yagVwgt6guy-OLZAVPNqzbqLTg4MpvlD4mqV4-VOuIxAh_t8-f4nLbPX8lD4eLUH3cR3xcmi0pc7U6vH8QMxAtyehvXntnTPWb96C1HZF1N5WUgIEJlPOu7vL0EydGHsLzoc4EAQ=",
  "id": "rs_0628cde06b0d387b016ab42b42cbf487d0b6cc9f4c54125add",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.282,\"right_y\":0.125,\"right_z\":0.055,\"right_yaw\":1.57},\"note\":\"The rotated jaws now straddle the pink bowl’s near rim, with that edge just to one side of the closing line. I’ll advance about a centimetre and descend to the rim height before closing.\"}",
  "call_id": "call_QK0pcvfyiHNL9zYue6W0kVUx",
  "id": "fc_0628cde06b0d387b016ab42b45751c87d0b06f77240b4fb10d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QK0pcvfyiHNL9zYue6W0kVUx",
  "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]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0422, 1.5932, 0.9974, -0.9035, -0.6594, -1.5452, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2722 right_y=0.1234 right_z=0.0791 right_yaw=1.5726 right_pitch=-0.341 right_roll=-0.0496 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -2.4, 6.9402, 1.4383, -0.105, -0.0562, -0.0171, -0.0068, -7.4051, 6.0376, 0.5006, -0.486, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf73e4f9296d96550411398a95d9cd30fa86b75e9a5715d69bf456076c97450b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f56a65f27654edb81a19b02fbf59ab64b2f5615ceff36bc448459e92e667fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75d4f8a1bf0a4b6873b8ffb062e62324c8a1d4035907b4d5d02a6812bae4fca",
      "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 · 4.799 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9802, 0.7513, -0.6178, -0.1837, -0.0784, 0.9958, 0.1757, 1.3415, 0.5758, -0.1009, 0.0956, -0.0036, 0.009]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1517 left_yaw=0.0699 left_pitch=-0.2629 left_roll=0.0893 left_gripper=0.9958 right_x=0.3346 right_y=0.0459 right_z=0.0553 right_yaw=0.0933 right_pitch=-0.295 right_roll=-0.069 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.4821, 7.0085, 1.4481, -0.1245, -0.0269, -0.0171, 0.0615, -4.3009, 6.2974, 1.5946, 0.0806, -0.0122, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9848, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0341, 1.594, 1.0145, -0.9329, -0.6621, -1.536, 0.9958]\nstate[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1494 left_yaw=0.0705 left_pitch=-0.2741 left_roll=0.0915 left_gripper=0.9958 right_x=0.272 right_y=0.1215 right_z=0.0831 right_yaw=1.5642 right_pitch=-0.3386 right_roll=-0.0298 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.3043, 6.9128, 1.453, -0.1343, -0.0562, -0.0171, 0.5812, -7.706, 6.6256, 0.6374, -0.4713, -0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0422, 1.5932, 0.9974, -0.9035, -0.6594, -1.5452, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2722 right_y=0.1234 right_z=0.0791 right_yaw=1.5726 right_pitch=-0.341 right_roll=-0.0496 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -2.4, 6.9402, 1.4383, -0.105, -0.0562, -0.0171, -0.0068, -7.4051, 6.0376, 0.5006, -0.486, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf73e4f9296d96550411398a95d9cd30fa86b75e9a5715d69bf456076c97450b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f56a65f27654edb81a19b02fbf59ab64b2f5615ceff36bc448459e92e667fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75d4f8a1bf0a4b6873b8ffb062e62324c8a1d4035907b4d5d02a6812bae4fca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtJY0sH797fYVNjUcuIAujOnoTFLgZr4D_KsbKvt1OrzNsY4QFz2Oh2GjlbBV9u5AYsxKi7xHNv1pDEG-CG9aHnGOVb9fxYATM6BVRYmTmPRiAKgU5HXM-SIYnqDxTnbbDWCo_ZVPJdaCvnIAj-zvc3PHBE7kdNp9FkXi5PXUGAMFNSCPAPnuecgW82Vw64Nt9NIuHrmeS1Q9EDHSlXZE0oi_X4VXIAnkqUoqiLa-JTbQS59GdlvBpyEutVrbMpcSGoJbp4J3nXHm3ImsoLhappU8m4dF92KeeCoVsgEPA3uNfkeSwWzKLtGMpbWsI3od3t78dwmLVH_Um-ns7HgkFK8Jptsu2QS-V6DVdl_sUF_BtyE81f4S5x1a646SJQaUJ9K4nq76mrTdsaRpO8g1eMUiaYB4x-hbswXhRjonpQj22mqfbsQAFdcZ3_eyu9K6nmJt0OpDootJRQ_IYoPXPZ9rTFoHzU7b-ZrOoqaM_FH8nnNL5F69Lsee1oi8f6rgu99-GeiFVJu7eEzDmIYrf_Ef8t_wnnLLdRXD-i1ssUI5w7r3VTyTNjLCQF_V_KU8ieXRkD969GZmBkkZ6_ITxEgKCpfdDESRCpSN9zvCwJIA_X6rFb5v1VuLy057VAm5iZ6m3o7Ws9dSijC2XEKK2rFq2TfqV37pO4Uopoj0frSlqzSpQF_cXSOXoxTcPLODpvMWPpRgqzePo7cAsYbxNYdMlSRSH4fhYCs81bNfagySizV7uIKLnOQocPlmHeK5sd0fg-t_UQV9ToqkXXuVh2YNOhgrX210LVZS6-KNUnNMQD4O9rzXhkJVaPjf1CEqGxxzd5-_2bDwdfblAzzTiidtI5KuBfOaZFB4Kzt_TWdkjAs_MlwAdM2vufmqV4lfxgI64MxuGeVqh5JqxwZy7j1PPw352pJSIYV5GWvgrMpq1zXbhQaI39ipIAibO7afb1Uy74-7kuJ6xjU-TzaDRnOMTKaevQC7oN9-ab9MJ0nI8uAjNEkLrl93MFbd20W5U032KwU8VlYUU3p7fk17tUj6eeT-qGRuNXWsE7pdefJygOFkik0j_hWGR8dyuTLmHT3DEn2uVV8k2VYF7FgdM0-UWHqhN1z1XKUYUPLO0AYucNXmSaRyLBHzZVrIJSQmSeuBnrRk0J758v7Ga1pEeYzqG9vZJ-_2s6zRLU_PXS54sWgHKqab7Cmllun1qDAHdAN5anbj734ygKzajnTFDlWv7UTYwn5IAkKgUP-GjTAR8-0Vn5Ynefzqzzk822N_FoLXEpuBsrfXEwaNlGAzWpiRlEKKiHteJ9rRNxWJQvoywdXspKlPQuZkkHjxbdcLGvRdYUtbGii4r4YZEbR6Jr_CG7xIKhvaODMFYCX_ln0ebNRNJGUhIV6n2qMhHjfOsYeDoutxixXzWh-x1uk4VCNbfU4JkYrnnD6pZ-UFbeMpFYVahkDOI-mSI3jw3-JEEanh59v61f50sH0829mSHcoHSug2YgoYdYxYOmdhULkfl_6P1rGMk3Kqd0eEvrB_BofZ-fK5xz_QopgxuGV-88WQ==",
  "id": "rs_0628cde06b0d387b016ab42b4868f087d0afed0e5e5b46edcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"That very short move barely changed the gripper pose, and the pink rim remains beside the closing line. I’ll continue the careful descent to bring the fingers alongside the wall.\"}",
  "call_id": "call_RaImdwOLgzvQVSPmoEPDoZoy",
  "id": "fc_0628cde06b0d387b016ab42b48e68887d08ce4c32cf11f5757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RaImdwOLgzvQVSPmoEPDoZoy",
  "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]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1833, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9039, -0.659, -1.5455, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.149 left_yaw=0.0698 left_pitch=-0.2753 left_roll=0.0915 left_gripper=0.9958 right_x=0.2722 right_y=0.1232 right_z=0.0791 right_yaw=1.5725 right_pitch=-0.3414 right_roll=-0.0495 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -2.3453, 6.8308, 1.4237, -0.105, -0.0464, -0.0171, 0.0479, -7.4051, 6.0376, 0.4518, -0.4322, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3cb846ace22718685c1c41da79725fd9677b9c8ca183e50fd85424644abb94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58ba10a79c8e7b98ec5d9b1d0e93b61232cea92f863ed201f26df0464f17961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d83aedce22929e69af792cd38b3751b899551738422ac4d3f78d284100bafc",
      "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 · 7.775 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9844, 0.7513, -0.6209, -0.1833, -0.0784, 0.9958, 0.0135, 1.5894, 1.1114, -0.8845, -0.6449, -1.3693, 0.9952]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1501 left_yaw=0.0699 left_pitch=-0.2701 left_roll=0.0904 left_gripper=0.9958 right_x=0.3121 right_y=0.114 right_z=0.11 right_yaw=1.3934 right_pitch=-0.3324 right_roll=-0.0805 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -2.4957, 6.7761, 1.5604, -0.1001, 0.0024, -0.0171, 0.2667, -7.0222, 6.9949, 0.2125, -0.6129, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0422, 1.5932, 0.9974, -0.9035, -0.6594, -1.5452, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2722 right_y=0.1234 right_z=0.0791 right_yaw=1.5726 right_pitch=-0.341 right_roll=-0.0496 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -2.4, 6.9402, 1.4383, -0.105, -0.0562, -0.0171, -0.0068, -7.4051, 6.0376, 0.5006, -0.486, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1833, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9039, -0.659, -1.5455, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.149 left_yaw=0.0698 left_pitch=-0.2753 left_roll=0.0915 left_gripper=0.9958 right_x=0.2722 right_y=0.1232 right_z=0.0791 right_yaw=1.5725 right_pitch=-0.3414 right_roll=-0.0495 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -2.3453, 6.8308, 1.4237, -0.105, -0.0464, -0.0171, 0.0479, -7.4051, 6.0376, 0.4518, -0.4322, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3cb846ace22718685c1c41da79725fd9677b9c8ca183e50fd85424644abb94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58ba10a79c8e7b98ec5d9b1d0e93b61232cea92f863ed201f26df0464f17961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d83aedce22929e69af792cd38b3751b899551738422ac4d3f78d284100bafc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtO4qiSxlvPnWASSpuos2VFDKlor9jIne1YTHui_SOft3REiEv1C8tAhW8pDKD10ovlAFFfYVmHvgGJ4iTWnscfzXjb8PXOwjkkVp_2yuKJ4klnITI8C2SbeAc0XA_r2pOouI8GnwlnfXmqvTnhmsx5sLD4eaRZi9e9FYILEkMV78qmSw1iQ1igeb9-xCWTDJznVTUJZTm8zsc9ejG97LaiPbNqoHFgwcLDbJn50NOlTxC73g0RxcXWBSj125WfmFrheZFWi8u0Y_CjVvAd0b5OVGqWjltJWBHoRftupWRhqC7B8wbZwYpyMUcpnrbjduAO-UHDnCnfWM_sHFyDwsBksA6DA1lfOxmoqJsbDesqPq9vcQi20sjSS7vGMkS5FLlH_HKKdsjyV0FNjZ_bWVzkJlUlUFYDiaDs7A4bwC2U3_CMc9xb5AGrqPEvF47j6jVMrSILYV7wa29cyzKcHcnuxZMJmk8rpG6oOgu2dsfWdAQsGR1mji7a0vX39bxe-Xn95jB7HWG87nrY3cmP1P7TiSl6GAdZ3earF8azWI8EGSVOWqfgt2Z5B1dUW_ykj2HAzmOOVjdONy-_nMilTBld0dJaq5-XFaXX0Kxrk_L1SUdFwTeLbtpF9rZrmlJOYZDvWY2xRspwcLBras7QBO4xsX0La_wdH-SdpAbyBO2eCbyHJFnXE3Rs9-w62-42FwDdAYaKZ_qfaQ0gbQDKXfpPhjYzu0-5d6GYcqAf-54Xs7l4uHDU9X4Ik_sdPyBqSmmC6Se_9KEAXxYurHoaagoKEwipNCie9xl7kQW2SGBWDvc4wj3v4USymMIBuY9zWojzLI1kK5kMOmjwOxLvtnRGCR68bXpEeJVYm0pIMkZPH5yQNyjmN6fszdY09bMNL7zlJ9fSeQ2j_AItlvGFZ_lo3RKzYtt7MsAMkK4G1p7gwrIalgYvZylEzyD_hOGXVC8uZSljK69tmilfkwcsGdtt4JKJNB-vFRJHaJnN_4ifj2HYZK5NwrqfRR2bFaus5qiKgrM_SoQErIx71zcXjIE8hhkMWw6CgdgYEPEVoTm5KkVn8x8cygcLGsy1wwbhvaHGFBmIrwTF-t3W603QSVU3ZhNkVpyKKagTHK5deDUT7I0lJfJLygULPuJtmJgampp73KqTtkPj2-ciiHnPC52yyafQIsaiGnNsFlQbCucLD1o2LxHb2QYNJTPxe5RumKGappjQVqFrM6o7UXJF2eVMDWnSsvS9aLgiUEakxFDNXk1wmnY1ylz7_qY2ewT8V8qxhrhtXps0m8k9TtnLiTVYwEKdwUJAReTyGdjI2tmyldTFWi54_esgDhA8tmttQS60i3Q12abeJWmlQI_PnXLjR2ZlB96Zb_EBBWjznsQvSJmStEJ04GjsVs9QmlYgJ7Qq7WWtea1ZzcaZ1PYuZuVfGbC5YaArqb-ShWtN7t-m9pqRpuniUEII5OlH_MWHWqHUAMYtdq5GiZosjDkX22S-KSvAVNH0c7gfaTs2krIS1R6FOv6AlUeiHQXQ-a2vrAmvqsj8q786kXHVvakoieiXaWTImyeKhTm9Q3omXbTBoQUe3_bYfMnjCmlrXZscKL7o4p33fDxymyLE1RsGMFv6ztwLB2cT-jZY-JnT-fhiNRx9EyxdkaUahbB9dr06zenHD_O5diKilJqwYluTcYNhJMJzDvW2i9NLEAt_yE9WwI6ojjkOoZ4P0senFMQBDXwcQT62cTgRi3IXjMGRNck6yAsH3zs1nntdo0Iixp-se-GIeW9Hg-FX-yAaBd3KuidWwSFAQIYJoW9qRU7h4TWBPzvjVrOhtun1EkAQkFIXDODkf9Y2xNQvHzuo2H2JHA8S-lGBu3ei1Y4eE2JCg1Ohk2RkaTOMi32qMQCOdRfNKZHpfzGlztg0zFvMBBmWyyOt7I_w-U7AcBg6394uB2m5VaLTNsA52hu3RqAbKFWqY-8H5FZkd0-4iaE8M6xJqjlIDKOlR1iJhKQi9IUVEtfXiKVjuvR0lVY0HsKTaNt4h_2naw2juWM216_qb1MbWnn2lKPePx_ncrwcrgxrquA7Aa4uaLIKcSfni5Ku9LnckG8xX3zDqJobMh8IgEcxqy8cs9wPHhKHh7gx-4_kxGmIVyBE4GrRC8z2faX9Xk1wlewsQNtvAPvUaIOi18qFbjdKCn8NRo2l-PVD_rncS48XWER6W3utfISwxNOgBPDpNE88x4H1qZL2aa0-YKQxWpBeM-aOy6SEbY1okGFX0O6Ftlfr2WFySzBTL0E_vyapdhRTa1iEX7MjIk4H4BPRN6kCq3HVUArDX1ZctRmyOTLU2JdMFYgKd11rYT1UekxsWbQjJpuazMnijK-odWBgfIZOG0qUBOdtOojUBX64XHjS8Wa2hLzc5qfT1s2am4h4N91zzYt9BwGN1p-vYfc4lxIFxyXkM007ZJ-EUWRiwooJeQtSbJf1sx4BnbrmtiLaxbE=",
  "id": "rs_0628cde06b0d387b016ab42b4b092087d083a5e0f2f511fc3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped at roughly eight centimetres, possibly because a fingertip has reached the pink rim. Rather than force the arm lower, I’ll close at this contact height and check for a secure rim pinch.\"}",
  "call_id": "call_sa4mcAW32i77QWMizfw1U1lB",
  "id": "fc_0628cde06b0d387b016ab42b4d5b1c87d09771abb848656e6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sa4mcAW32i77QWMizfw1U1lB",
  "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]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9016, -0.6537, -1.5448, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2727 right_y=0.1225 right_z=0.0785 right_yaw=1.5708 right_pitch=-0.3466 right_roll=-0.0516 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.0718, 6.8034, 1.4335, -0.1441, -0.0708, -0.0171, -0.1436, -6.106, 5.5863, 0.398, -0.4908, 0.0024, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8fa6715079a9d148532a538e48a70c09a0f7252bcc1b30f744b36442528f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9145cfba9c136d503644550572f24eaf6a2462cddf2ab884d22c9fcaf99a6fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d979c1e9971c4398808546d153331ca142e351dd3ba2092d7370e28eb15467d6",
      "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 · 2.995 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9848, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0341, 1.594, 1.0145, -0.9329, -0.6621, -1.536, 0.9958]\nstate[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1494 left_yaw=0.0705 left_pitch=-0.2741 left_roll=0.0915 left_gripper=0.9958 right_x=0.272 right_y=0.1215 right_z=0.0831 right_yaw=1.5642 right_pitch=-0.3386 right_roll=-0.0298 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.3043, 6.9128, 1.453, -0.1343, -0.0562, -0.0171, 0.5812, -7.706, 6.6256, 0.6374, -0.4713, -0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1833, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9039, -0.659, -1.5455, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.149 left_yaw=0.0698 left_pitch=-0.2753 left_roll=0.0915 left_gripper=0.9958 right_x=0.2722 right_y=0.1232 right_z=0.0791 right_yaw=1.5725 right_pitch=-0.3414 right_roll=-0.0495 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -2.3453, 6.8308, 1.4237, -0.105, -0.0464, -0.0171, 0.0479, -7.4051, 6.0376, 0.4518, -0.4322, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9016, -0.6537, -1.5448, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2727 right_y=0.1225 right_z=0.0785 right_yaw=1.5708 right_pitch=-0.3466 right_roll=-0.0516 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.0718, 6.8034, 1.4335, -0.1441, -0.0708, -0.0171, -0.1436, -6.106, 5.5863, 0.398, -0.4908, 0.0024, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8fa6715079a9d148532a538e48a70c09a0f7252bcc1b30f744b36442528f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9145cfba9c136d503644550572f24eaf6a2462cddf2ab884d22c9fcaf99a6fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d979c1e9971c4398808546d153331ca142e351dd3ba2092d7370e28eb15467d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0628cde06b0d387b016ab42b51e58c87d0b828df3b5c7359bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.12,\"right_yaw\":0},\"note\":\"The rotated close was empty, and the arm could not descend further in that pose. I’ll reset the jaws upright and approach slightly farther forward, aiming to put the bowl’s wall at the actual fingertip line.\"}",
  "call_id": "call_bfJZvBJGi6rgYoA3H6rVcVr0",
  "id": "fc_0628cde06b0d387b016ab42b563e6887d09ecd08278ec9a1b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bfJZvBJGi6rgYoA3H6rVcVr0",
  "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]: [-0.1234, 0.9901, 0.7513, -0.6254, -0.1837, -0.0784, 0.9958, 0.3958, 1.5639, 1.0519, -0.4744, 0.1329, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.1478 left_yaw=0.0708 left_pitch=-0.2801 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1345 right_z=0.1039 right_yaw=0.2258 right_pitch=-0.4067 right_roll=-0.0617 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.7009, 6.8855, 1.4286, -0.1245, -0.0171, -0.0171, 0.212, -7.2547, 8.5538, 1.1062, 0.2515, 0.2808, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cd0ca78021a26facb114876f430d0f7340eb1c7f52f63742c74ed18a917db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b748f46fc14ab0a7113bdd16bc714ba073c0a8efef0ef8ed49ac67f3317fd89d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466b5c7f18425e6dce47f36a87f56e4bfdd325b18333ca31e2ee990a9dd9c413",
      "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 · 6.223 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0422, 1.5932, 0.9974, -0.9035, -0.6594, -1.5452, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2722 right_y=0.1234 right_z=0.0791 right_yaw=1.5726 right_pitch=-0.341 right_roll=-0.0496 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -2.4, 6.9402, 1.4383, -0.105, -0.0562, -0.0171, -0.0068, -7.4051, 6.0376, 0.5006, -0.486, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9016, -0.6537, -1.5448, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2727 right_y=0.1225 right_z=0.0785 right_yaw=1.5708 right_pitch=-0.3466 right_roll=-0.0516 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.0718, 6.8034, 1.4335, -0.1441, -0.0708, -0.0171, -0.1436, -6.106, 5.5863, 0.398, -0.4908, 0.0024, 0.7253]\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 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9901, 0.7513, -0.6254, -0.1837, -0.0784, 0.9958, 0.3958, 1.5639, 1.0519, -0.4744, 0.1329, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.1478 left_yaw=0.0708 left_pitch=-0.2801 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1345 right_z=0.1039 right_yaw=0.2258 right_pitch=-0.4067 right_roll=-0.0617 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.7009, 6.8855, 1.4286, -0.1245, -0.0171, -0.0171, 0.212, -7.2547, 8.5538, 1.1062, 0.2515, 0.2808, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cd0ca78021a26facb114876f430d0f7340eb1c7f52f63742c74ed18a917db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b748f46fc14ab0a7113bdd16bc714ba073c0a8efef0ef8ed49ac67f3317fd89d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466b5c7f18425e6dce47f36a87f56e4bfdd325b18333ca31e2ee990a9dd9c413",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtbNaaUjpAbcfIkcHTpLrhgnbhrVyqgpZF5bRLyCTvSMyG63MOO3DDkTp0_TDCYCBtKfN-6d8OdjG8g9oq6-sQLXkjWeiXm7fcYQN2HdAJlQTLbmB5M9sXKTdcRgdEu12-DEENa6dOojWWID6FFNH34qgx9bZoqvjIgi-Y_f_qKLUWQTtH4y3NwiXzx-sQr0EJGSDZsgsVZaBJ4Wkxjq9Fr6cJt-glM-adL2w7Bw8Kjef_t2YaZNvXVYTbR1mhxyGre-1jtPO6VaILGxLwezB5DSejPzg_pc00QCKhU4Mei9j56IA7ANlrORv_L5Dv9xFu_UsaaryiUMPTDj4fGF1YznbAhj59bcu7JHF9wDOtfWXoFc3v14-cVOu2cRHLCBu4mQklVjMfXhhJvvRS-0oMQJbsBLUng8FH-80oP-bBHkBiHBuRGvBcvUlzqA-NhCpqYtMzC2iDD5LIWWjcGuIoDeNoApDmocaJpHJwcp67DuzLFJIyHGvtXjubfvgV2ny_vmLdO6TJ6D8ML7JzEBlo-olgRFz6TzP1PHUb_Td4Dvd5TEP3v8zI3eH3bUHOe1dkMqA3VI_bTyJw18NI46AFyGhCrxOAQT1clFLwHDmg2rb71d_TxufrTeYJPA7uHV3CSRmkelv1rXowHUMAPwTMCdqZ_Xy8Ww-8TJosrIA7MN9Y8NOmQnDRvg6wrwc2WQNKSjBrBKUy6AGn2uW1dRMwz23pytH8SypoHQkETDt3rZ1HkoyKCWmFTjy3p2IPFhUEeSOEC1G3B-XyCiUMrYbgVOvDX-SKog19pN3chLuLmWXuUxu76vRN92JdThZUZA8yBHCyNUuiHhDyiMtjyXGI83N2DKQmmfgCtMKbr8nwkF52ibCCP-3KlA9e0qB2XLI_Y20CuPT4c_bC5wPCIsw4hGFj7diUKsYmWj-2JPfzFlLWWbP_MUBH3FoCrE78hSnDWxzxoBE74D2oRleExx3Ho2Ho9a0bBXCN0uFmjfBOZ4CALS5CiuUE6b6ESItT0pbyJFIayzCUo660n8TAo4TXREcC35q1Hvo1_AEy1EpIYKZAEl6wyLLYsBpaP1Sb8BlW1tvfnhXeKTBtuHMeof2Y-EVqv1AfuZvtMwTDy_avkuqPmVIClwSA1FgESV-C5O1LgusEH-NE7hf3JKZG1VZaTzXb4T-5HnRJAxuIJo1qmc7xRr2LksEhrxrlxdUK9sM0i7D8f2HL46pmXcgPEwKCfp2oUmN6b1MvLXYFV-PMN29d286W6CSFOA7pqq5sVSjz7aBFRw93TUNb4mBZveuvpMJDYzwOiRhFuG7oAtVT-K2_1-x63UA1uonBxAp8bd7-FFZOm2QGlvvhfru77a6fyLXO3qzeLWYhl7pC0BqghH4GxyrY1xdx3RunRGI97ZpFqa9KG9zEBKsFHEWBNR9IBO4_-bqSUI0XBVSJGXEshf2JeniRnmkX3KOUy-hYVW-6P8w1L_PJfToHeCVikrgqnOw==",
  "id": "rs_0628cde06b0d387b016ab42b59973087d09c8da23d73765f5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.13,\"right_z\":0.025,\"right_yaw\":0},\"note\":\"The pink bowl is now nearly centred in the open right jaws, with its near wall reaching the fingertip region of the wrist view. I’ll lower beside that wall and check the actual pose before closing.\"}",
  "call_id": "call_uWytlgdxUOZZAzdcffRKQ87R",
  "id": "fc_0628cde06b0d387b016ab42b5a28bc87d080ef63692a62bea2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uWytlgdxUOZZAzdcffRKQ87R",
  "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]: [-0.1238, 0.9913, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4324, 1.7485, 0.9436, -0.2768, 0.2382, 0.2619, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1476 left_yaw=0.0702 left_pitch=-0.2809 left_roll=0.0926 left_gripper=0.9958 right_x=0.3731 right_y=0.1302 right_z=0.0236 right_yaw=0.0485 right_pitch=-0.4662 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -2.4957, 6.9402, 1.3944, -0.1197, -0.0366, -0.0171, 0.2803, -7.4462, 5.6, 1.3358, 0.2906, 0.1245, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319a772655b93d3777d47fbcdbfb94142c2bc75bfcd4ceae3b688b2ff2fe31e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf314b01e446e2ecfc563d0be103a4251c4e77bd7aced0eb7021f7383920f70f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac2847f49e188c662a1b171b81cc6517a90321a2175f897f4f3ed9c2ea8d258",
      "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 · 2.44 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1833, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9039, -0.659, -1.5455, 0.9959]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.149 left_yaw=0.0698 left_pitch=-0.2753 left_roll=0.0915 left_gripper=0.9958 right_x=0.2722 right_y=0.1232 right_z=0.0791 right_yaw=1.5725 right_pitch=-0.3414 right_roll=-0.0495 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -2.3453, 6.8308, 1.4237, -0.105, -0.0464, -0.0171, 0.0479, -7.4051, 6.0376, 0.4518, -0.4322, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9901, 0.7513, -0.6254, -0.1837, -0.0784, 0.9958, 0.3958, 1.5639, 1.0519, -0.4744, 0.1329, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.1478 left_yaw=0.0708 left_pitch=-0.2801 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1345 right_z=0.1039 right_yaw=0.2258 right_pitch=-0.4067 right_roll=-0.0617 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.7009, 6.8855, 1.4286, -0.1245, -0.0171, -0.0171, 0.212, -7.2547, 8.5538, 1.1062, 0.2515, 0.2808, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9913, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4324, 1.7485, 0.9436, -0.2768, 0.2382, 0.2619, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1476 left_yaw=0.0702 left_pitch=-0.2809 left_roll=0.0926 left_gripper=0.9958 right_x=0.3731 right_y=0.1302 right_z=0.0236 right_yaw=0.0485 right_pitch=-0.4662 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -2.4957, 6.9402, 1.3944, -0.1197, -0.0366, -0.0171, 0.2803, -7.4462, 5.6, 1.3358, 0.2906, 0.1245, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319a772655b93d3777d47fbcdbfb94142c2bc75bfcd4ceae3b688b2ff2fe31e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf314b01e446e2ecfc563d0be103a4251c4e77bd7aced0eb7021f7383920f70f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac2847f49e188c662a1b171b81cc6517a90321a2175f897f4f3ed9c2ea8d258",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCths2hriJL63CR2ttbu2Kvy3m17AK_zNmF0lFHo2qmAAEDyx1ykr4CYxjH9WMJ-FkfEMXDsWqyheNa_EWGNdb04QorR9OhTvaYl7-bayf6clnfw1JdhjSytSlH-VVYQeYRoqmDMl1RAxczLMmN8s2QuOC9DDEVw4iVyK5mYThD9w-n1V1uZKU_2uDhp9wFgC9qPguFoep4FiRkEML4_VY8OEVhOwbHUsWIGpvtXCKQovidALDNhfPfXEwO5n-750EZtMffalhT1-G1_fSDHVK096eOog99RP4cA6WlKFcbl9H-OT_EANNcf2pc6tMti9SrGNmqj865xubgZO59atfUh9uhwxpaBa3qtzdP7SFxd2Yn9dtbtQKYdvz9JYvZ7dQWukQEzc1m8ukWywB7rZbwzzlSpCdbOjf0jmPfudg6DPYHTEluyY_zYf_8rEaqw1m9XXYyMo7kwd05Ldcqs9Zt4uVpAM4hajK005TTer3N8BzVqqVmp8tIQBUz9Mzw_6OS7Qcf9s7JJEhlNbAT1t6QgEcD5SBURCXd-0iTMHi9HhAChy_g7vDWccbS9Wc2QGwU4bvyJfJCcITFVtStDyljt_DwopYIIyq2gpMTSTEjKgWp7QKBiYcq7vGWpx-TEpcHT1b9WK8bx0LRmLJtLeskTZvJ_Poedl20P89BN5l7bdvIDSvCRfow6J_Sgm6t0denmbUg9UABHIwudLCIBPLixfo6miPEJ6FkL_MTVVWI_KWdbIKwKfoJLCNaEGwMcQq-iBxdDzqrdy9IHw5SaMrb4AKDT2gXb8UW2PWXB6FdYoRDfy4NV1ebjdZl2tG2r9sU2LfLdlgoeUIugArpOYeMXCUAYT3yZU_LVfKTI61RhHCdEENycQTQgskHWyCme667_uW06oy3fCS5VBL6zJI0tjYGn4Yf1PcpQrSUYsnaP5Nugx3-viB-bnm-fWBhycQ5wAg4krPwMoOlt2dXEjGqAKZqdJJ9EtcT5124supy9vARaEP47suwbZOXFrFQDUqtK8ftMm0mWgK4Anyec4p87XMZFYrTg6Fo6mcdf4FKmaac-dUEYQKelFSbWbNy7w6h3muq5cFgCV4Fq1sw2Wx2IjHnuKAphgu9hRF-zfBzaSdftNmsq5PkVQi4UYX4b32q8jmeU0MJlBzzjNU2zISz79cblczapV42W0-wgBlfp6ANgdG7wezmHp1v79zA8HNypVb9A6H1EkzqED9Hg3yz6F4ut7I-2qwjoosn2SfhrAgfEdVjiG9BDsfvlBix7Yo7-GhMmptfZSC6dHKM-7UqiCRsVmnEBIe-XwtOV0R-CAIflZ2p411exkI2ue1jC-tB_2xhWoJAM3pAUnp5JzF8k0TUzSI_7Z8ZP4LB6Sc23P_F7mvknIfgD_3hfW8YhHH8_o-kQlnRmzdBeMos1CmTKOdVOoC-JJ0Y37U5PZ9CHvpb1uswtzqM58NNimyVw98WkkToEFkiHHzyxMHPIIQFNoG_HTO9JF_RkcK1FD2Hx5xvji1wdyxo0j10cQ5B9sHC6KvM2ZgIu3Aso7kiYOaO_nUvRyyvpxMJhAx9IyX8fPHG3K_YzA4qgM57Qjy8KgIU_F8zh98ba-xvWEMBgME6N1ommxNQrJmfMpf8AhtqdqojH-ofChKiClAtI9eCKuKvmiOyTCLkcRDGXFsxDkseW3SN9Vltx_WuHOn4gPfI5gxezQx1q_9gnDGd3ji9ngEoLqCo970bb6KEEjpDpgH_7FLqJQGRaUTuAIvylvrRJbeJYynsnpZTVsuUEGtDzLKoJd-yjbCHEw69ZIUWx1VMhU1hnryh6X3stWC3WPUhUmyEFUn-gRCoNnz8SJY71s3cBQANtaK2Ae4v2d0p4iBbEmXwEOoBROZ8kwSW8416dkxrG5d6QRtP8kJ_QgCaKISFzBMq5WXz58H1kWuB2XLM9xnM7UUJh-0HJUSzF4Goh433LbolPYrkxOmWJihlA-izB8nwnctW5sr4NGcFq3CX0o-62-hwzc2izsldBBG2J4pNaWt7k_QH7Bn6UQR9NmDLdjCU1r3Qv0qIGBTYCnbH42htvIG446AjJ6u08Q5jo0S4_t8D98kqF7oJTKBDVJQCVAh2THp1Cww9CJV29LePF5lpJktIEnx1RHAiFJKg8FeckFB4veA9kpM5YWScXwH_5iqHO_qkHLi5oRkENj27419uH8HqIqwgPVdfDIboUx2fNxnAQy5NYnzlhvtV1FYJY9IzjIfB_MHm56A81Cs--JjWhCrSmjHtFC9ohfgJZY1KlrDsKG3eVQ5-VZol0FoqX9eAVnVH3YKHURDQCDpFebjvIoklsLEYoz638hQgv-HqpYJbJfyHACJZllckGD-_9lobYe5DaH6s9ShMoSS6sWskyvuaajZAiOtHbNk9cEkZamjyKN8zFc-ni7w5_ATBzNKxaHTs4BvlOZPKTNzNwoj7pJDBcvLH8objjpPxKkqa7ZL46OCaFlbEgrQDq5RsvvS5flDKy36g3ABtLGZpcCXVKxSWQ1bWfs5x4LXLibz7Wi-ryYWTrpRvDCDGCNjSvXGzJc3MPtLlIZjlll6cEdF8avCDvV4mFAWH4Ex7RznzH-4qAI4x-TSVivDda01CD9QwUT0ljkuK4TCmtRhujPoryhJrq4-mE0NbisLBf3fIzjzwBEqcL4v3u2GVP_0sma_D59dvwWQXWd3NLMeJD3v4cQiHl4y1sgWBUbvo4EislKuF4oE2oBzyb8RvnmOoRv0j91ELdN2VYDytKqBfM6Ml-6VZdxMvdYdis4IqNGFttufcVjVh4n-rEbP_Bx3O_klbAD-OVrVcHjNnApsolPmsnAwzOWIbPC5cJFIPfpXUs-oyqosqrmGeM4OyYFMYEZslM-W6MkP3k-z9N0FWetVXmKpvYx95BJ8jAZvDRl_QQe7JNkB3fEsEh0XMsdEPeT1866dWr8FDlLLT2XYyaBgb32J1jiHmh0FHZ4UyWD4lrfbf-n9p7MQKK2h2lG8r40cULVKQ1chaZMry8SoF6jJUbP-Z9KszkkdQugiLPL9gWKairJqiJCmjNEfVFQsouT93pEcXlACWs6aZbDnHtUG7AKYps3btQslvlkjb_6Zxe8DYMorNr9b0uHrqBs912A1OV5er_WrkGO7k0pvuFqpOAzV3nz1sy-iK86hcm00hJDobN9reJhimgW3Wnka2R7NfZZrOccABMn-JB6HR4jwGx-2laYfUP-daDTwvuZQfZUEXm2ESZnN4ekgeNaGoqCb7UWokGZ8nIHyWpg9iT-Dao7ZoEmPHAiw1AdDbbmkQlOZ0K6oRefjd79GYo-9TH3uMCOrbiQWNrwA2bVV5xG4EOGDngnArro80dZWl4pjYDplT1taCkuSnHEdTvh8T3bU-q8PvbO7iKhMpkKwmO9qcboVr1RhxCpKOsNIX8BAAmL6J0H1z_bZUXrkN-v6b275xUa55cG4gfR422MWUYi9W3Ap65QmISAqZrLAEX-6VkpxPb_47nAChcR5Xa8GMueUkEWOhaANuAMj7dedAiPFyfqzG1NU_iQ0XfgG1drOCSMloUCP9peFtO5ikmdWdyQ5ytcXQ9Wz20R9ZTXpa6CYpex7HeN_3RE8IOSIX65OK43XcqF2A_jLljlqaiU2_5zlyqvyTUAmbJ62Wl4uB-cyQdWcHFkQ2Uk3Ztz2c8yIf5dVdYsi1CcST3UhfH7e9I",
  "id": "rs_0628cde06b0d387b016ab42b5cb04487d0ac62f2eaa1f49115",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.105,\"right_z\":0.035,\"right_x\":0.38,\"right_pitch\":0.2},\"note\":\"At low height the pink bowl appears to the right of the jaw centre, while the wrist is tilted strongly forward. I’ll shift slightly toward the bowl’s outer side and reduce that tilt before another grasp.\"}",
  "call_id": "call_6l7zlQNKNVF9DpvBTqoFC5w5",
  "id": "fc_0628cde06b0d387b016ab42b61153087d086dfa898b826edfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6l7zlQNKNVF9DpvBTqoFC5w5",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4438, 1.8416, 0.3767, 0.9833, 0.3882, 0.0906, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0003 left_z=0.1473 left_yaw=0.0706 left_pitch=-0.2821 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1075 right_z=0.0211 right_yaw=0.068 right_pitch=0.1228 right_roll=-0.0857 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.4, 6.7761, 1.4286, -0.105, -0.0366, -0.0171, -0.335, -5.6684, 3.3846, 1.9805, 0.2808, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ced82f4584d29532c055310ae698c9d1ea021848ecd1f481e4708ad9caced1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85b8f4f9bd6bed6c8b60a741a042580b9a819fe563c803c3d1a15a32c58153a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750d54871ced0539f7a590b94fb10af3ba10fb35ba18e695ead27ce55e977fc2",
      "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 · 2.519 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9859, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.0418, 1.5932, 0.9974, -0.9016, -0.6537, -1.5448, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.149 left_yaw=0.0702 left_pitch=-0.2753 left_roll=0.0918 left_gripper=0.9958 right_x=0.2727 right_y=0.1225 right_z=0.0785 right_yaw=1.5708 right_pitch=-0.3466 right_roll=-0.0516 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.0718, 6.8034, 1.4335, -0.1441, -0.0708, -0.0171, -0.1436, -6.106, 5.5863, 0.398, -0.4908, 0.0024, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9913, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4324, 1.7485, 0.9436, -0.2768, 0.2382, 0.2619, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1476 left_yaw=0.0702 left_pitch=-0.2809 left_roll=0.0926 left_gripper=0.9958 right_x=0.3731 right_y=0.1302 right_z=0.0236 right_yaw=0.0485 right_pitch=-0.4662 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -2.4957, 6.9402, 1.3944, -0.1197, -0.0366, -0.0171, 0.2803, -7.4462, 5.6, 1.3358, 0.2906, 0.1245, 0.0269]\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 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4438, 1.8416, 0.3767, 0.9833, 0.3882, 0.0906, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0003 left_z=0.1473 left_yaw=0.0706 left_pitch=-0.2821 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1075 right_z=0.0211 right_yaw=0.068 right_pitch=0.1228 right_roll=-0.0857 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.4, 6.7761, 1.4286, -0.105, -0.0366, -0.0171, -0.335, -5.6684, 3.3846, 1.9805, 0.2808, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ced82f4584d29532c055310ae698c9d1ea021848ecd1f481e4708ad9caced1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85b8f4f9bd6bed6c8b60a741a042580b9a819fe563c803c3d1a15a32c58153a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750d54871ced0539f7a590b94fb10af3ba10fb35ba18e695ead27ce55e977fc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtmy3b3VMDQ_pi69crXBTl6Egp7frnXnnWtyCwVppkjrKJaVAPApct-Ut9FcnLwbyEavOxti__h_ksesipsw4CUlHh_eEfXCqESm0VTzTf5hNIDs5ytJbAXJ6G1FtpbSn9-JtVQervUV1DjsJIlK2ir2OHA2oAoNVaXkuXtBau3Zi8I_IZkELioOmw0EPjraDkknmyl-qy3NSGKyZAtPL3-Y0c_GQ6x6M5j9uurBaS6uKT3fl2eBD0rFxSYQ_R_Ju2DKOj0MmWikOM01GoNst7frEYBeWZ4WPSfVaRv6AmgG9ltx_LK5YzGcdgFzm6hZlECHCsHv37Lk6UPOgrpsnpyfaPbY76NQWcmzwZ6MOFQGXFl619QVXK8xlxuESuz1QV0422HlBRfrqFQqY9orHauqRAi1kA8tanKDYq1n6CBHYkkjVwyqgT2CljVGGfYFbVXI1SpDcFbBFDaYDo2GH8WrpGZxlh8Y5focngZo0LC24UNDyB8EneFRlKiLapYQnsoMgqBZhtlwQtTa5ZrtvlbqOHrCQaSG5Ms2rdJgyjy0YgbqEiSy5aaW7ifK7-axIJQcnmVmoJQur4xLXbYMpiJAy9T9AYLZGA8rU_FZeUZWfV6xXfXoUPXgx29m6DaUgiGntxH-9bCqWvB9LYQZDEwNvnfSq63_0ArCHj6YFbZs6afMiUarIdCoeVcui60eablNoZTS55A1-L_fzS_Xkw7U-4BZjp2Twc4-jKXmMo_DEngeZk2OCv9zzePg8MZvtKopPZpz4kAGcsnVAENqnMpegYmbB6SyMpqfWg3eQV2s_MtYQRoUBhdOKkS1CHiVmZj314kftso9XPlw9eCZL5ELmHnHx1y7FPaaBhb4mezXOwJWmruR4xZN_KkMWfkU3g7r0nm0IkGvLgmxpSM4VWJOyr8U-3iQ-wjVpmhSSzz5Y7QyNVLLIy2_AbcqJ7cxKeZx8KjRmsTqB_iQtEo5z-SQ7Jl5p5-wYVud8QToareEwEtGf7Dx4zQvy-Jn18mGQama36ZU5z94fhnjihPALH3XoN39vz9I9RMBLkMCzpSlup7_n3ehPFjIC2d9ZVEc9BTcwV-T3HSnP-g3IaVZwZpv3P76ZJ8XnsZQJ5Z9YTfnYTPAGBzXVfXJ2pWmWFWmNPtsYosxCqLWbxfYHBhCfoDpMRpm8FRVgjNJ4pigU65h9gc3fUcp8cdQrMYoh8uE3LMERa2WkckJLpBHWbbpek_EJdI8ken-DWceD_3U55G7Dwowqo0_yM-q1bFLqmBrZuk3bynSo9KD7_I2CI07ehIg-uE7QEh66JM-1desCx1nN8dnZ4Cv-HMXEChMHqTWKvjus-oGbH4dnA4Vl9lAret0qbfO7S0fkiofYxP6MvjNfYegFbDD1sEE8KVVY0tsLxMqVXu0Ww63kV7irwlJ8h1M8eCV1R_5cvNxQDxDtqRJgq4bjmtuPGRfz9ozKQs1C6TIZOKdKJ2pXWiDKETu-_8bZ-WRY9MvilAM8JV_l799_TTOAVbqBF_fFt32BRrHw3FpS36rW396Lr1UEJWcC4NDn0uRn2NUR7V2_EJOe7CEcw=",
  "id": "rs_0628cde06b0d387b016ab42b65573087d0b4b6027017973778",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips now sit on opposite sides of the pink bowl’s sidewall in the overhead view, with much less wrist tilt. I’ll close and see whether they catch the bowl.\"}",
  "call_id": "call_jfcCDsFbmXKrUmqi4Q6zudJ2",
  "id": "fc_0628cde06b0d387b016ab42b65fa6087d0a098488c13d817e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jfcCDsFbmXKrUmqi4Q6zudJ2",
  "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]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.4435, 1.8362, 0.374, 1.0283, 0.3889, 0.07, 0.5143]\nstate[eef_state]: left_x=0.2881 left_y=0.0004 left_z=0.1473 left_yaw=0.0709 left_pitch=-0.282 left_roll=0.0931 left_gripper=0.9958 right_x=0.3773 right_y=0.109 right_z=0.0317 right_yaw=0.0756 right_pitch=0.1663 right_roll=-0.0874 right_gripper=0.5143\nstate[joint_eff]: [-0.0342, -2.3726, 6.9538, 1.4042, -0.1441, -0.0611, -0.0171, 0.0342, -5.9692, 3.7128, 1.3309, 0.0366, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1edccbd06eb569cedab87971da1808db1bccb195b72f029a4cbe6523da09714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777aa733d6b6789462e04ffbea03113259f251410a241f9f4d7dc04653898eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27645a4a6a6802e026ae4674a9944b162ceedd61dd6e5b16cc495d4b8f7f24e8",
      "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 · 5.074 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9901, 0.7513, -0.6254, -0.1837, -0.0784, 0.9958, 0.3958, 1.5639, 1.0519, -0.4744, 0.1329, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.1478 left_yaw=0.0708 left_pitch=-0.2801 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1345 right_z=0.1039 right_yaw=0.2258 right_pitch=-0.4067 right_roll=-0.0617 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.7009, 6.8855, 1.4286, -0.1245, -0.0171, -0.0171, 0.212, -7.2547, 8.5538, 1.1062, 0.2515, 0.2808, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4438, 1.8416, 0.3767, 0.9833, 0.3882, 0.0906, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0003 left_z=0.1473 left_yaw=0.0706 left_pitch=-0.2821 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1075 right_z=0.0211 right_yaw=0.068 right_pitch=0.1228 right_roll=-0.0857 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.4, 6.7761, 1.4286, -0.105, -0.0366, -0.0171, -0.335, -5.6684, 3.3846, 1.9805, 0.2808, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.4435, 1.8362, 0.374, 1.0283, 0.3889, 0.07, 0.5143]\nstate[eef_state]: left_x=0.2881 left_y=0.0004 left_z=0.1473 left_yaw=0.0709 left_pitch=-0.282 left_roll=0.0931 left_gripper=0.9958 right_x=0.3773 right_y=0.109 right_z=0.0317 right_yaw=0.0756 right_pitch=0.1663 right_roll=-0.0874 right_gripper=0.5143\nstate[joint_eff]: [-0.0342, -2.3726, 6.9538, 1.4042, -0.1441, -0.0611, -0.0171, 0.0342, -5.9692, 3.7128, 1.3309, 0.0366, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1edccbd06eb569cedab87971da1808db1bccb195b72f029a4cbe6523da09714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777aa733d6b6789462e04ffbea03113259f251410a241f9f4d7dc04653898eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27645a4a6a6802e026ae4674a9944b162ceedd61dd6e5b16cc495d4b8f7f24e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtqRMj_91VIL_Qr2AIKSCJQaBG3sAaz7zKn_9G1bnjryqlaSLqI75YTavJp_1L8gSe88s1hd8D8NNa2Ou0acEa8ZPQIT3oq0j146x9rXmgDgKFTC-Drig70peD58S73Z32wXHF3WkHLeLRpXh3igDRov4WhsTybfPQNPUuVX5IiSUL0M0AdhvpDs9IZSjAVVrfuJwErDdxZu9OTTMJ12A3Ne9BEw8IFwqSd6BtDrJBrUsRCsKvObJkTX6AiPHv93Pwg7gOc1ey1oxPR-FJr1MnHvxu4nVJREnu6scaD20V94_zwMaJ-WQr4vv0Xv2na4j2ZMcvuV9f81G_sx-I_wMF3jHhfa5SututuiNfIWXqFWeC9RshQLSWKVgirVFQUzUuyqV_HhHyAp_OHUYgeNjEOnAcVtH8pxH8FoObqcjdoaM14ADm-f9THfxBeTg5e0ZFLr3twZIoVwoKo7piHoUqBo2E1huagKhRytam-OFroOsDXSoXhB1ErYD3iUMiAMN-ZnKZoTOMbwd6Hv2zI-oe2wIzB4IVcjcEH0A2G42kLQbz6CgLnEjnZqMdvxe0zH9MZWpXsPCQMbW5UD2tXu7YjZfyAXA7MRbcxFcRUKSFtZvRdCsEJOkZw9OUJ2OsDmZMwiv4zsQ8GK-BsxWF592Ex04b8V_BUf2BszHG-orAwQwcr8M1fAHX7QhEYyT35usGWyYiKRxhgpR8yGLq_mbZkFJr5eA7nC7b9L_xgH6aWdyZxD3VT8o4Ek9v43FEOvrhdt_p1JxtAYj_wfaJgUaR4e1iyqA1cj-vlVzvURAE0B5U1IfRUbPB77fCeSI4TWB6SaMIDhMlIIKUJ5czoDiYQOpdUaMPYjaaikYa_SbwekJ-nSKtBs0-TrXOVxgx1LBqQUCUIURRKtm0ZKO_lwaRiW_r1loRrETQDMePCBjQIdMtp-VOEfBurcQS7qK8sMx4TiBf7DRRICyzShmFdPCdu8vKxJQe5g5MAMjTmaxQhmSy5bUPrdFQy3fnVrrOXw-CZmUY1hCuqfiH883ZzoS2bCsHO7Q2C9eeg1-wXO2CU3I44tb5pF930riWMz36lW2x0eXfPwFwVklUtXpLQnNvGHEe_UFMlOEHTHHBhTDHu-lT_HprOT3QmJGSM_Ksc5kvr7OHR0nK3oS_J74o7msAICai7drf8T5z7AtLhVjUisztFCQTfJ_YxdzGsOr_Q4MdAvKRqYzSTsYnEn6nL0reL6g==",
  "id": "rs_0628cde06b0d387b016ab42b690d6487d0b3c90513ad201c96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper stopped about five centimetres open, which is consistent with holding the bowl rather than closing empty. I’ll lift it clear and confirm that the pink bowl moves with the jaws.\"}",
  "call_id": "call_m8YwbEsmzTtaK1p5YHRIa9ce",
  "id": "fc_0628cde06b0d387b016ab42b69656487d0b86929cc5180404d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m8YwbEsmzTtaK1p5YHRIa9ce",
  "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]: [-0.1238, 0.9951, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.4438, 1.4376, 0.461, 0.5526, 0.3805, 0.0669, 0.5148]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1466 left_yaw=0.0707 left_pitch=-0.2843 left_roll=0.0936 left_gripper=0.9958 right_x=0.3747 right_y=0.1095 right_z=0.1081 right_yaw=0.0842 right_pitch=0.1742 right_roll=-0.0834 right_gripper=0.5148\nstate[joint_eff]: [-0.0615, -2.6462, 6.7624, 1.4774, -0.1148, -0.0513, -0.0122, -0.3761, -5.9692, 8.5538, 1.9853, 0.1538, -0.0122, 0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aff520f3a90b277743e048165136205c723c5cbbdd6cb7f77755d018d4d230e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cc12f4b833dad9585d83487bb2f6303dbe20802a1c5e6db35e72eb54129a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a064bee9ddbdd9d75f75affffd9ba5167814c1392ddf9c17a217fc769e0247e",
      "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 · 5.133 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9913, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4324, 1.7485, 0.9436, -0.2768, 0.2382, 0.2619, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1476 left_yaw=0.0702 left_pitch=-0.2809 left_roll=0.0926 left_gripper=0.9958 right_x=0.3731 right_y=0.1302 right_z=0.0236 right_yaw=0.0485 right_pitch=-0.4662 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -2.4957, 6.9402, 1.3944, -0.1197, -0.0366, -0.0171, 0.2803, -7.4462, 5.6, 1.3358, 0.2906, 0.1245, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.4435, 1.8362, 0.374, 1.0283, 0.3889, 0.07, 0.5143]\nstate[eef_state]: left_x=0.2881 left_y=0.0004 left_z=0.1473 left_yaw=0.0709 left_pitch=-0.282 left_roll=0.0931 left_gripper=0.9958 right_x=0.3773 right_y=0.109 right_z=0.0317 right_yaw=0.0756 right_pitch=0.1663 right_roll=-0.0874 right_gripper=0.5143\nstate[joint_eff]: [-0.0342, -2.3726, 6.9538, 1.4042, -0.1441, -0.0611, -0.0171, 0.0342, -5.9692, 3.7128, 1.3309, 0.0366, 0.1343, 1.0281]\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 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9951, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.4438, 1.4376, 0.461, 0.5526, 0.3805, 0.0669, 0.5148]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1466 left_yaw=0.0707 left_pitch=-0.2843 left_roll=0.0936 left_gripper=0.9958 right_x=0.3747 right_y=0.1095 right_z=0.1081 right_yaw=0.0842 right_pitch=0.1742 right_roll=-0.0834 right_gripper=0.5148\nstate[joint_eff]: [-0.0615, -2.6462, 6.7624, 1.4774, -0.1148, -0.0513, -0.0122, -0.3761, -5.9692, 8.5538, 1.9853, 0.1538, -0.0122, 0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aff520f3a90b277743e048165136205c723c5cbbdd6cb7f77755d018d4d230e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cc12f4b833dad9585d83487bb2f6303dbe20802a1c5e6db35e72eb54129a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a064bee9ddbdd9d75f75affffd9ba5167814c1392ddf9c17a217fc769e0247e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0628cde06b0d387b016ab42b6ba98087d08d31560cd5edc6dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.31,\"right_z\":0.2,\"right_pitch\":0.2},\"note\":\"The pink bowl stayed at the jaw opening and shifted with the raised gripper, so I’m carrying it toward the blue bowl in the middle. I’ll keep it well above the table while crossing.\"}",
  "call_id": "call_a4oho63zAjXKNKuOG64hkv9r",
  "id": "fc_0628cde06b0d387b016ab42b6ee19c87d088a4b6cef3782726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a4oho63zAjXKNKuOG64hkv9r",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.6254, -0.1837, -0.0784, 0.9957, 0.9199, 1.7763, 1.214, -0.0071, 0.7746, 0.2905, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1462 left_yaw=0.0708 left_pitch=-0.2861 left_roll=0.094 left_gripper=0.9957 right_x=0.3854 right_y=0.3081 right_z=0.1849 right_yaw=0.1306 right_pitch=0.1688 right_roll=-0.1124 right_gripper=0.5152\nstate[joint_eff]: [-0.253, -2.3863, 6.7624, 1.4432, -0.1441, -0.0708, -0.0171, 0.1573, -8.9778, 9.1009, 1.5458, 0.4518, 0.2418, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c027db8fd814c75d38304b37dfa533406684bc551a3e71bfc714ddff3673ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727e78714119794a839c64ecb8c3e59a50f96a4b829cf8380b812c52d48c0995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22641f2f3df9c4c18e7fe33f365932263b13333f13e565f53d754fcfa5e1c597",
      "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 · 6.254 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.4438, 1.8416, 0.3767, 0.9833, 0.3882, 0.0906, 0.9959]\nstate[eef_state]: left_x=0.2881 left_y=0.0003 left_z=0.1473 left_yaw=0.0706 left_pitch=-0.2821 left_roll=0.0928 left_gripper=0.9958 right_x=0.3734 right_y=0.1075 right_z=0.0211 right_yaw=0.068 right_pitch=0.1228 right_roll=-0.0857 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.4, 6.7761, 1.4286, -0.105, -0.0366, -0.0171, -0.335, -5.6684, 3.3846, 1.9805, 0.2808, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9951, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.4438, 1.4376, 0.461, 0.5526, 0.3805, 0.0669, 0.5148]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1466 left_yaw=0.0707 left_pitch=-0.2843 left_roll=0.0936 left_gripper=0.9958 right_x=0.3747 right_y=0.1095 right_z=0.1081 right_yaw=0.0842 right_pitch=0.1742 right_roll=-0.0834 right_gripper=0.5148\nstate[joint_eff]: [-0.0615, -2.6462, 6.7624, 1.4774, -0.1148, -0.0513, -0.0122, -0.3761, -5.9692, 8.5538, 1.9853, 0.1538, -0.0122, 0.2027]\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 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.6254, -0.1837, -0.0784, 0.9957, 0.9199, 1.7763, 1.214, -0.0071, 0.7746, 0.2905, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1462 left_yaw=0.0708 left_pitch=-0.2861 left_roll=0.094 left_gripper=0.9957 right_x=0.3854 right_y=0.3081 right_z=0.1849 right_yaw=0.1306 right_pitch=0.1688 right_roll=-0.1124 right_gripper=0.5152\nstate[joint_eff]: [-0.253, -2.3863, 6.7624, 1.4432, -0.1441, -0.0708, -0.0171, 0.1573, -8.9778, 9.1009, 1.5458, 0.4518, 0.2418, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c027db8fd814c75d38304b37dfa533406684bc551a3e71bfc714ddff3673ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727e78714119794a839c64ecb8c3e59a50f96a4b829cf8380b812c52d48c0995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22641f2f3df9c4c18e7fe33f365932263b13333f13e565f53d754fcfa5e1c597",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0628cde06b0d387b016ab42b73037087d0bff9112dc1e022e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.37,\"right_z\":0.17},\"note\":\"The pink bowl is visibly travelling with the right gripper. It sits to the right and ahead of the blue bowl in the overhead view, so I’ll correct sideways and slightly back before lowering it.\"}",
  "call_id": "call_3yeK2Y4jT2wFU2C6cAk4TdtS",
  "id": "fc_0628cde06b0d387b016ab42b7574b087d0860e01ca094cd196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3yeK2Y4jT2wFU2C6cAk4TdtS",
  "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]: [-0.1238, 0.9962, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 1.0931, 1.8984, 1.3132, -0.1204, 0.8772, 0.4107, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0002 left_z=0.1462 left_yaw=0.0704 left_pitch=-0.2858 left_roll=0.0936 left_gripper=0.9958 right_x=0.3389 right_y=0.367 right_z=0.1581 right_yaw=0.178 right_pitch=0.1341 right_roll=-0.1456 right_gripper=0.5152\nstate[joint_eff]: [-0.1026, -2.4547, 7.2274, 1.4188, -0.0806, -0.0269, -0.0073, 0.2803, -9.2923, 9.4017, 1.4139, 0.569, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632f44bd123a8c558edd3609a2dee9d3f8d983e83fbc6bdd31893de44859ec31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80fe7da93315eaf849e8a655ce72a1ecb1d42c93b83ae903d30f76d5c6bda42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfd140e2c5a9f8482fbe96e7d6502032efbd58c87157f557a924d610d373a7c",
      "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 · 8.078 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9924, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.4435, 1.8362, 0.374, 1.0283, 0.3889, 0.07, 0.5143]\nstate[eef_state]: left_x=0.2881 left_y=0.0004 left_z=0.1473 left_yaw=0.0709 left_pitch=-0.282 left_roll=0.0931 left_gripper=0.9958 right_x=0.3773 right_y=0.109 right_z=0.0317 right_yaw=0.0756 right_pitch=0.1663 right_roll=-0.0874 right_gripper=0.5143\nstate[joint_eff]: [-0.0342, -2.3726, 6.9538, 1.4042, -0.1441, -0.0611, -0.0171, 0.0342, -5.9692, 3.7128, 1.3309, 0.0366, 0.1343, 1.0281]\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]: [-0.1238, 0.9962, 0.7513, -0.6254, -0.1837, -0.0784, 0.9957, 0.9199, 1.7763, 1.214, -0.0071, 0.7746, 0.2905, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1462 left_yaw=0.0708 left_pitch=-0.2861 left_roll=0.094 left_gripper=0.9957 right_x=0.3854 right_y=0.3081 right_z=0.1849 right_yaw=0.1306 right_pitch=0.1688 right_roll=-0.1124 right_gripper=0.5152\nstate[joint_eff]: [-0.253, -2.3863, 6.7624, 1.4432, -0.1441, -0.0708, -0.0171, 0.1573, -8.9778, 9.1009, 1.5458, 0.4518, 0.2418, 0.0317]",
      "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]: [-0.1238, 0.9962, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 1.0931, 1.8984, 1.3132, -0.1204, 0.8772, 0.4107, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0002 left_z=0.1462 left_yaw=0.0704 left_pitch=-0.2858 left_roll=0.0936 left_gripper=0.9958 right_x=0.3389 right_y=0.367 right_z=0.1581 right_yaw=0.178 right_pitch=0.1341 right_roll=-0.1456 right_gripper=0.5152\nstate[joint_eff]: [-0.1026, -2.4547, 7.2274, 1.4188, -0.0806, -0.0269, -0.0073, 0.2803, -9.2923, 9.4017, 1.4139, 0.569, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632f44bd123a8c558edd3609a2dee9d3f8d983e83fbc6bdd31893de44859ec31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80fe7da93315eaf849e8a655ce72a1ecb1d42c93b83ae903d30f76d5c6bda42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfd140e2c5a9f8482fbe96e7d6502032efbd58c87157f557a924d610d373a7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0628cde06b0d387b016ab42b781bf487d08b3edf2b639733f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.22,\"right_y\":0.3},\"note\":\"The pink bowl’s overhead position did not follow the last sideways motion, so it may have slipped from the gripper near the blue bowl. I’ll open and raise the right arm to reveal where both bowls actually are.\"}",
  "call_id": "call_GLhredTNiRxbzH3PUKNFYfG6",
  "id": "fc_0628cde06b0d387b016ab42b7c5d7487d08e7e4ed43a7d7ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GLhredTNiRxbzH3PUKNFYfG6",
  "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]: [-0.1238, 0.997, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 1.0107, 1.6505, 1.2175, -0.2295, 0.8146, 0.3363, 0.9961]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.146 left_yaw=0.0708 left_pitch=-0.2865 left_roll=0.0941 left_gripper=0.9958 right_x=0.3393 right_y=0.306 right_z=0.2093 right_yaw=0.1763 right_pitch=0.125 right_roll=-0.1546 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.0171, 6.9675, 1.4188, -0.1343, -0.0415, -0.0171, -0.5538, -8.7726, 6.8991, 1.7265, 0.2857, -0.0855, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ebaf0d540540982baf76cd0d8f1ae4aff27a42564b0a3ac181da5533715af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e373921ed4af39870a3b374b04dbb17a98c035f1a47a3795ed2a2b93b6b670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c021790064326e5f7aea5eeb18684dbde7ad8a5c0f5b81d9476d5b059a702f3",
      "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 · 3.757 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9951, 0.7513, -0.6247, -0.1837, -0.0784, 0.9958, 0.4438, 1.4376, 0.461, 0.5526, 0.3805, 0.0669, 0.5148]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1466 left_yaw=0.0707 left_pitch=-0.2843 left_roll=0.0936 left_gripper=0.9958 right_x=0.3747 right_y=0.1095 right_z=0.1081 right_yaw=0.0842 right_pitch=0.1742 right_roll=-0.0834 right_gripper=0.5148\nstate[joint_eff]: [-0.0615, -2.6462, 6.7624, 1.4774, -0.1148, -0.0513, -0.0122, -0.3761, -5.9692, 8.5538, 1.9853, 0.1538, -0.0122, 0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1238, 0.9962, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 1.0931, 1.8984, 1.3132, -0.1204, 0.8772, 0.4107, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0002 left_z=0.1462 left_yaw=0.0704 left_pitch=-0.2858 left_roll=0.0936 left_gripper=0.9958 right_x=0.3389 right_y=0.367 right_z=0.1581 right_yaw=0.178 right_pitch=0.1341 right_roll=-0.1456 right_gripper=0.5152\nstate[joint_eff]: [-0.1026, -2.4547, 7.2274, 1.4188, -0.0806, -0.0269, -0.0073, 0.2803, -9.2923, 9.4017, 1.4139, 0.569, 0.1148, -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]: [-0.1238, 0.997, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 1.0107, 1.6505, 1.2175, -0.2295, 0.8146, 0.3363, 0.9961]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.146 left_yaw=0.0708 left_pitch=-0.2865 left_roll=0.0941 left_gripper=0.9958 right_x=0.3393 right_y=0.306 right_z=0.2093 right_yaw=0.1763 right_pitch=0.125 right_roll=-0.1546 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.0171, 6.9675, 1.4188, -0.1343, -0.0415, -0.0171, -0.5538, -8.7726, 6.8991, 1.7265, 0.2857, -0.0855, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ebaf0d540540982baf76cd0d8f1ae4aff27a42564b0a3ac181da5533715af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e373921ed4af39870a3b374b04dbb17a98c035f1a47a3795ed2a2b93b6b670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c021790064326e5f7aea5eeb18684dbde7ad8a5c0f5b81d9476d5b059a702f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuFKrxcarLWwcqeN9ro0SdVShYF6cYKl--oBsob8cAnGh2P1zZk88YyLvlviuQAGgXc5wO2GT1sbsB3yr-zIKAbPDOBE5AuutVpUGTtSPFDUFtY_gzIXsg8RA86csiUt60HQEwjA6Mg5AJiwcSC3iFn-AHvD3Z0BTQ2zN7850Dz09fZX2g4JIfRuRZhkCzeiBSCa6fkmJPzDuRWxVMlsmvcg4M8t7NztGn7jEsKOqK3wP_aEoLjkOAdPttmwA4JOGBxaC5hcnYvHphaQ3ArrsXZ93rLt4TS-6tsQ5910DTizsUDBbm8lrlbhaSdWhBTovOMbibyxYIsWtqrkELgAeJXy4SnJcyAmcYRqZECR2GHSFuJ_WULFj5PAiW0oJ7T2ym7VDWqdxIcgXQLS6kFpygyoTF50DYd7LA6Lw6BWtWsdvnpkcN-_g-3UAQJlnUPowEvfF730ns-hW34PR040adVyvOSJSUlvsLdYMkMwNrh0HgG1m0Tj3d_tOrWwl1lWc7-V2lKRTk-Kg4Mh1w6pFDE1AUbdN4Gml6yaMEZ8Wz2UElwz3ADMYRSWqX75A7ZxXWBiRpS8Wr0Lvo9exfNUoPd-1ZbQ6vMTHYZ8SSZXGm1nqnJ1-0IKkGflk4cIxcLP8-wl_iAMvIJzbPXrU0yY54qP_ujfR9nCkiAtijAfk1Fd8CgJn9k2wI8XUIOJ24r8WjLHPtda5ASWIQADVAgjANFSdysyZ88v9N__hNtlh-dmCHBnfEvyY3XFGl76vLwTSi23NXrJT7NW4DjX86R9uecIvZNiJFubunIqEuUHsctBc1HESCatd_iPcra5MMLLVFdwmof6w0B-ONxTCf6ATpY1SDbWC7D8Uu2B7eaR2U9K-wNoXhHeLiixCCPKkSsGrPQSn_7I4YUwFg9uXO-NW1wGc7swzLt97E-hZ2B8l3a4I1dK22U8BRn7EICxW06XbQ9WmS2DwPLEZZEbVE4w0Gp-BBDIw_-ZBKWZfdySK0ohA88a3e1mlXor28LjvUHamFA9DhjulIaboRhYJ-mixZKotLMeDqFs7AfaiTh0eJyKxeDmgj3A9o9L9jYs82Ad3GYcYodijO_fulVlM-I4PqzloBxArALyN4jzt_IRSGjp9oejr-0gk-8uCf_aldM9JjoWyRQGUBYHaAZGzCZ6JhQnL6YfaXwnX1tMqEi4Rv8dcPZGj-TAzHL54vEoPZDq8i6xcxPLsCtYbP9g6U5W8f7O4HKfAdB7mIhpNkFaRxqQz_gAFWGUOwc-jd8pZoDSxlrgZMPzzlECSdjX1NaWEG0owDdDntuk-ca3047Jp3shybHQhSAs-qFlAg-svnTALvar5CbswxhxyL9tm8WR0tRk_iV09pvzGvIGpqpOmxQHeSHpNjPlrnWw0QY1Ztwdgc6Tq56WpImsaqeukXGK_9BxZzM57d1mQIqDXoDI6lS6taGFe53biFRWhQDCxWRshhQdq6K04D8VII6H7N4LIrR61bM1vQaXeAuhy2Yy92dQmLgc9nN3U-N72e032nwgMGAU630ASFAbeJlVhy70rkWUTELWV_khvrtcEcPNipWUx0Tu5HKH5n32Y8jxpUR45XoLFoO6yMBRoaQh1iYNcU-mnSwJoKJ6MhsfX0saj9MzzhtLcmi9_eAj8uikpIMvC9GQlSfflv03UOmWhjLC8C5gVBYUzDg71Cv2vxQF9PZgblJo6-z6HZkKDPYsynC88t6E2yGHVTqhbtc6ws8KTsgxgrM80iyD8lCFK2RFTotSP2S5-DEMKALkHogRgwausx7ZHXWFFGvMNXQabkmId_JPSN2MWBbnbgABRJaFau9_Pd0r8PbvY2B1sWFAiGIalpTTVhiUZE-9fkqgPa-JcOJK8svYD0DCb-wEjp8jDzH2kmH4p-wCJrAiOpwFRiGkUSSzkWLy5TOnqWMx1E2XlM1gcKlVTbuOQEBCzfwKtIHBG1-Xwbijyyygz9CIUy2TFAgDJfQ4xZ1w4aSWHV79rLd_pN0Or61k-Abk5bVpTTbGlqI6j3zi2SQgoouXQpNFrgxDuzrdM2WrVJ572HIq2sQjTk5EOE2wW5oL-nKjcVpJ0dtrNkYUpObLQzdkQ3iId6_Q3RUlsQ1dT1ZG05uAhIkVg6JO9c1E6faae-mNKsM7o0-QWLrRC05AGHe1p5pX8biSSzdWYKpQ99MARwCBjGEgsJnWvPFgZICDCCcwA9tdKDq-m75y3YbkROad0E8WXTjr_G1TnK-KrUNJfI2G3pWAswZXUr-BFLmr7k9gdvAA6Jno3Cjq2loADdJGWzYR_EebX7J3dEpq47RxD3DcY7p5j--4eR9r_Wc5wppYegflUnSbUrFmn3BgFV3_-m2ndZ0qKO9cdSzM1D9ZLFatcwvcRY7Vg-v8_pmnVITXSGMoxwYO5IzwXA-OOEC-_Lz61KIUQ0aWbI4Y5IjMk95Ge9FVKJKplv4hlTdTeGHrCDqfntKYZey5NvVmudJmIbeFEsElbaW-TmCGQ7Wj5AvIITyTENsu65mTuBLA40dqkixKWMZfTCO4pPJP2ItZJZIV0siOHdgQ6Hrw4u9tRuNGOEkDP-1HNBaik3hUQ-PekAG-j-WYl-qlp_Y8phxPP5M_43rjOcHwKGeAur5ZeY9JiA7fPXTFqpraPaVHDNPR1giBJK_nJwu1G9QO2yEhXuT49p8wCekP4MjjMaNBmFYgXFiQvFx7hcdSPB__wIL0ltbOrDC2btf1_8CV9wHkCZK-MTiy3mBHbuiFWXJW2W-lc9yLVqiP7eqIa94brXLZ4xhvJUIpfuOBNlfOHtLSnsNtgb_TqMM6AeCHb4ob837dzPi5aKT5NFM54bNiUUIEYpHFVipgLK3ABVH6qFRFyFOXA7uFkflY6TeH6e8yUw9l62ak6nPmwAAQ_mGnAVTButckHfk8hBguAsAHMTAJg_gNbyv9BYkao4LnEVGFPWwiqfjCOsKPtZAoj8Hmv2c1Kj8QVgxKenhGRg7YlfY_4zEX3G4OlqUqMQMOvJcbF8WXjEqPRh0fq2bCstdQnR0YuwYSN3MNtvUsNVVRVF8rtldc3G3mypqs8835QWfRw7ydXwoUfsf9nCGKUrLZRB7bkCsZnZeHQT3OKNpDnxPVx9JP0CLx7Y48pfpBFPfsz1sbXxQ-n9LfcMelpQLmFnoV5W3lQ1XOjgGsMbJ0l_zipVxC6Q6I7Py5VQUyS950yqDkE2ge3AFH6fDSKzmYvBxYCv2PxyzrwLM8Woemaa5W9kc4PUlHxeUZvNC1l2FTD0Pgi7vSRrcPtd-9D0I01ti8eq9JMMMXVs-_Y38R8o4zQ573KBdIhAFFEJ3GImscj-JV9aj8jBhvx9Gy0THRcPYcd5D-DuaJVHn0wHY1_bfI6IBrjyCI1igKH3k1FpKwsiE2VrTt3RQErSpwA4f8oioOjYKzJXPLyOy1kz8IQ7OHDaoncVcALubHku2GFtfEnBA8N3_KjV0KJUYCGsI2L4RuVKT2M7zcL1Gf3JI4iCEshzhawv8KgCp-SAz723cdPrgiljfo8zGJYYrxJ8uep5_-DTfEKDoyV2fUiwKsH6QkhuPVOtAULEcngzExsJI-rABmJy2Jepg8HRBTUoSsDfPiHfonRYCY3oeQYLYM34tFHcGWRV-gk_-lvJGwMwNNphZZjJo42XlyE6xZ7kVvwZYAYfjkJy2LcPDMxMqGlzkywmeBzdyJTlyZmdulIRDwldVhDPHPQ==",
  "id": "rs_0628cde06b0d387b016ab42b7ed7fc87d0aee015ae2bf4cd77",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuFJapZybvdpZgsi0HSEUKMNeQGbnb7CoyyKnLy5Gj1UMLJZoaDF1LXwVY6E99CCdZ14NHRRrZNFzCVVe_M_a0A6jS2DLAgP3UMmljV27dv7vpMfl1VttK8WC8mChxfNy446SV3r1wAgcY4AifQZCmvMtLtQLL_ZTS_34ST4JMLXXiASd1Tv9RJE1tL5WWGgLhJptJR_eHSc383-uSsutvfMA2lh6zPWZwgyUXhudbQY78Z2THcDylilZxRJc7mPjbxkANxt6uyjnx2xVOxBXWtg051L_2tw0npfaBpnbsFCBwIl0KJBDerfhgUNK9JUrLponR9S7Dr-w4UgrdwBP3o4sxoYzbGw7g6dfWvtLakOibyOgnyuCUGzXpciTGnECNA9jgTdvWJTWam4rQS6CUEWJGEaH87nE0HxCh443wQ-H5r3jA3AeWFnqjDqocNq1nRaZmMa3xlx5L2H_3YCKctyUOC9YmMX5nXiqFs5dwHhRYiKQws4O4AH0eonJ-smpfBPF-c5ctmw1lM81s7Uea18ATrfsxWLm_8yFsN43QhwhWjc9l3RPSLwUiCICW6YLHq_0NgZbXl-6Xj6AJH84gnrnbbvMVtDaUsTgT7WFYrGm-gwzwvFQXwnCJRv5Va_iePW49VYphvf7ajYaEII-t3em4J_PNcqJXxWFKzMaIPemL5xiEjcgc3ENu-YE_s2hWuA4OKIjFB1FLCjY3osW0705liqmybbLEmfZ5JYOq0JSj5y6ggKm0fxAjKDk54xt4rwKdOk-KjgJTYbRGv8zqBk9Zm5NxahUCqnF3Q0jUsC9Cv8RXvW6RCxrXQ1id8S8EQOW9Xcajz-X6aB_-evy8tcJQA3__sTaXsuSPci4NzH5CiaMGiUqcxVtsXzJOcHbgKuNuCbb5Ebf7Hod_rVqayBqjOTEw6it3XiOvgEaYjmTF5B1k7yqB7HuXCQ2oFgt3Ym6LFQrUbBOoaV_z1V9iAVPSplMl8DAIpS3iP2KwrsLYC3NsjCbnOsb-IHlGnAahtZImVCrUIQudvrBPU-yjFmBpzn3TvTfQ6cUezIFkwCsypXtwEypgbi-8eNH-J85qjQ2G3vRQxlEiInkFOT98fZpB8EGvXIkJqxC_pWhGTRjlUaEchcAFT1LI2iRy7SJ5Q-heqWfvH7ism7F7YmU3J_j1Zt-WavtlIkZGATah5DwcZ4-aEoXI4M0_kz-vVrSkUaTeVQujHnOKjxy_mW2B9vB13r6OAcF23ny3dE6Em025zCNmofd8h1Mfo_UwhCsNffEV5ozpWdDeA8FrCiA-uAe74tEobnx95gWPMet3Qjv6e1ot8sEQAP9afHycbq0fijZ7sicnD0BqE75wUMHzBDWd4p2K7VNrgHRZcgzcgB-ThycSiTP2LN2m-BCJhz6PjXKMwwXcsPz3_8z7h0pT86O-hVktnHdmq5Y8bcSuzTOVFc8PAS9n-weetA5B6ZZpVgLCwSoL6eI5cPwKUEzCuiHz8ewxJfvvFJrXo9CjyMjzUrg8CSdt2t2VR6YCNv6y3U7khXIuIeSO2DV7TamS41yiKejAhfCOFwWebI0R-WsoJNc1G_78GD0Dv2upDwE7vACMemJ6UsoEeRoTqk1RQo66TR7NEQbwuXWzh15jzMzgH9ivkJXmLnlbvDNAeVfB29iq0Tq4Ca8t4sWyIR3XZMKmvKlBeX6nzBZ76ircdBvriTR8gUWWOLIjCjWSDEUQ7KsxBvTwiJjphqn4734lBQTxSDF4MJtoHY_Iw5FW2fL7ydr-wSou1TgZ-_n9p633FWX5UTbChyBF1ALgvaTRzYrXgmZ8j_xcToXBy7ND7ZPXfBF5ncTpaL90NzrTq6wpwrrEKnTL96xkXlBntgIzoQfRXY_0BURI4zHDtZcpjgsKofRpUDGIe6uUJbf_QoMeP3elpdwYkJ0FG519PCAhZxho_WXMKttZhiH5AE_--TSlOb3Ec29fl8AubA8nKMuoJLKWgncDlDuI53RKoB9_jzfOBX5GRR1MUWZSzV40P1GMiMtMrUnvP9XEVOhW0rWe8MXp94U0_KWIhk4mxbCa8AwzoYtWK_4S0Hk0CNxXZmFd5nbGV9blKX0Vo54EBk6tB9YvM5dyV_7B_I4QmRpSGIATcfGwhyY8snwjD-AyhkZENjcMl7VgBbsyZImhx8BA2PvO3aSe6y1UmZhAO8rBA5mmTjQc-xUvvln0aChwOSDK8FiGKwg46pOSqWKNm41lV4n0Ug4Yizwb8JygHC_kTv2CwjK3YvSPCnQNS8EEib0Iq0JFR4qg92CaGBfCaagxVE7GPOnvGLqMoKE1cE2YGxLKma3Tur1b8TUDfBKrzuPnRhZtrc8dzNbLeKnvmclOiO7oKFX3_ZIMBQLjbeCIjwrB6NjWYdZJhJ9v3tGWnHlIbCnuqklsZVa5CLt2C-xuBFbBZ-F-4NAN1dR6VgBaISdCiTqeZlH-79POkLVtaZECFyEnJqicQEve1p82MXDdtuzxG3xahAjpOvij5o12i3miuDtidnWey6a3XdkrYqsXUmZHmPRXf66M7Fi_qKsWo",
  "id": "rs_0628cde06b0d387b016ab42b82830887d0ac966d3c0ce28b98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.255,\"right_z\":0.04,\"right_yaw\":0,\"right_pitch\":0.2},\"note\":\"With the arm raised, the pink bowl is clearly resting farther back on the table, while the blue and teal bowls remain separate. I’ll make one focused attempt to grasp the blue bowl and place it on the teal one.\"}",
  "call_id": "call_5mMoB9brr6p67j29ipfk219B",
  "id": "fc_0628cde06b0d387b016ab42b84dfac87d0b5d1feb5dddaa92b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5mMoB9brr6p67j29ipfk219B",
  "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]: [-0.1234, 1.0008, 0.7513, -0.6254, -0.1833, -0.0784, 0.9957, 0.8417, 2.0674, 0.9234, 0.5018, 0.8284, 0.2745, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.145 left_yaw=0.0711 left_pitch=-0.2907 left_roll=0.0946 left_gripper=0.9957 right_x=0.3966 right_y=0.254 right_z=0.0326 right_yaw=0.0282 right_pitch=0.1387 right_roll=-0.2017 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -2.7829, 6.7761, 1.3846, -0.1001, -0.0513, -0.0122, -0.5265, -9.935, 4.9573, 1.6093, 0.3443, -0.0171, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f78562f92a429b192da941ca99502d0bec65ea78d4719a7f9c4dec1db504124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798a19641eba44bd82abe5948419eb70dbe7d8130021b69fe0dcd20f34388e55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1489a9c86758b0f35e7baab6d5db8303179b25652b4e6c383f27e25e653724",
      "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 · 4.174 s

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

message 137 changed as sent

message 145 changed as sent

message 150 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.6254, -0.1837, -0.0784, 0.9957, 0.9199, 1.7763, 1.214, -0.0071, 0.7746, 0.2905, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1462 left_yaw=0.0708 left_pitch=-0.2861 left_roll=0.094 left_gripper=0.9957 right_x=0.3854 right_y=0.3081 right_z=0.1849 right_yaw=0.1306 right_pitch=0.1688 right_roll=-0.1124 right_gripper=0.5152\nstate[joint_eff]: [-0.253, -2.3863, 6.7624, 1.4432, -0.1441, -0.0708, -0.0171, 0.1573, -8.9778, 9.1009, 1.5458, 0.4518, 0.2418, 0.0317]",
      "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]: [-0.1238, 0.997, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 1.0107, 1.6505, 1.2175, -0.2295, 0.8146, 0.3363, 0.9961]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.146 left_yaw=0.0708 left_pitch=-0.2865 left_roll=0.0941 left_gripper=0.9958 right_x=0.3393 right_y=0.306 right_z=0.2093 right_yaw=0.1763 right_pitch=0.125 right_roll=-0.1546 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.0171, 6.9675, 1.4188, -0.1343, -0.0415, -0.0171, -0.5538, -8.7726, 6.8991, 1.7265, 0.2857, -0.0855, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 1.0008, 0.7513, -0.6254, -0.1833, -0.0784, 0.9957, 0.8417, 2.0674, 0.9234, 0.5018, 0.8284, 0.2745, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.145 left_yaw=0.0711 left_pitch=-0.2907 left_roll=0.0946 left_gripper=0.9957 right_x=0.3966 right_y=0.254 right_z=0.0326 right_yaw=0.0282 right_pitch=0.1387 right_roll=-0.2017 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -2.7829, 6.7761, 1.3846, -0.1001, -0.0513, -0.0122, -0.5265, -9.935, 4.9573, 1.6093, 0.3443, -0.0171, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f78562f92a429b192da941ca99502d0bec65ea78d4719a7f9c4dec1db504124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798a19641eba44bd82abe5948419eb70dbe7d8130021b69fe0dcd20f34388e55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1489a9c86758b0f35e7baab6d5db8303179b25652b4e6c383f27e25e653724",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuK3GffhUkO8f89V0hPSmReP2DsvBflXkncUpz5U0akuXntLqDuBYVfPdX8KKTxp7qCtIiw-nD2KqM6xCSCcwK2nrNm460uOnokMwUF52pok1ZRFL5Ik73OdolNjpHEIYdHrLKUqFyXfE-0vFitw-gJUY3WMIiiQDxuRs2l5juJv4Mt2PUHwzQS_xxktzXpOyFQopkcwLFWXCO5GLy4D5eQeNKqco6nA7j7A_0eEqveImbPpzhvq1pFJR1dbhjU-YPku6f0QpcK_gtmqZe1YshrHOdCK1lRmkYtuWbQ5IXbYD4Eak3BWmaA9QUq5tZ_NlfAwcJjEdS1GWtSGqEkCv3AlJ-JfeZ5f6oY7sbLDrVRM325cv8jEj379uDWZbzkaIP9XK1rSy7PfAJb-8K80mpXaXXqI5ywg3ji5ujLsiFikGsPOIzvGpg8KpWfjzdLuLwIctcLott6XOwO7YjlEVmYZhlh2wWCS2X94fEX36BC01FgCggKdwQ-95SKeWgF5ysstOhZ8sVliXSObts9JtL6dpJjLRSMbL9BWo7DzUY8oM4W_Qh8Cuc2yIslCYetkpFcsuAfKjbvPEVban4MFKQoALQGQwhj2h0_8O9toAh1eRK6Yl1sXxqJoBUvQFS9i9aqtJ0Y6Jf6G1yfY0bSRs1OEvlYd23yoTDwtnQyZKSkcLcVQNLNHcGKlhaqDjJSVuWSOcIfIcIiZXVRpSJGtx2FbbA8-dNdMn-TVhd1CPy4rvQtKUlu2Kqp79S_jVR0T1svfqsv6JhmV0MOr3_PG2akcEUnGvxMuvpppiq-1Uoc43FfuHfGWCQb2hlnW-s3j9ppmmnYCLKWxJEHqghLYgII5Uqd3DcS6zb71PaTMUZzdytCl1yKdrgVWFZqlPF3_Yj720TV0_o6H9tVXW7niKZdSb0wpMgfsz5Vvj6HM10IuQNkKCFffWlpG5AmaJNhiSj5Z19VdtN-TJTiwLv7C3fnt6s1rXtSMmVnbeKgzJ_Np-TSnMIibc6V48TCVTDEI5IIUYuEbvXr-GR89E2jje5Bu-tI-UEJhD_kN8le5UXU2TbMs_V_0JeOIWaBbpB4CxJSB3h8AYcAc07OCA6w1jVoz9aE8Ks19_YH496Mol3crH-m2PbBzlgtLfpBzVjSxt6jAgpSfFF2oZWMx20Qu3ExDLfLghLCTc19gaJAoM99h0VC66wpnCse6kGBcdTbMPgrBNx6vhQImf3lbr54-OxaUuF7JBoq3xhP8N-y9zMqSTxxPRRhDgBukYEbtj9vMWEbeSdOtFYNQkvoQcwjInlHPv5mxv7x8bJ1gf2uTEiXNCEYEsAEG9fu4Td561ZImbrxQSkHR4v2gk2VKYVO_7SND7kGl9hc9i3LYdxeotulbSKu4Jwff2J8QMgWtjRbb5P85OgQsBlYWqFyktCYxgGiW4spWpMA0ZuVqY9Z7c4Phzkf3QUgQ6ndFUQPg7tQnjn5kJQY1SYZMfBInl30FvS8qmj4syJbcM_Cr2CSpcHaR2ZXkiX8P-7wFa8GHNs863Axm8ckKbptsNHBMKXpzV5gB-mJn2vNmodtOjZeCGFxhpOsfQS7CZnk6bpBdRIUerv34V_MMh03zF-YGm5Of1xm96BGyIL9BGy1AfAB3uvkg-fRuCJJ8SBpTXGRC3bGkiY89xvKp9hZVSuBz97gR3tg0g==",
  "id": "rs_0628cde06b0d387b016ab42b88464487d0bfee1a7b2f8bfa76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue bowl’s right rim is at the lowered right jaw line, with one finger inside and one outside. I’ll close on that rim and check for a nonempty grip.\"}",
  "call_id": "call_1Z6XWLNJb8LKgU4IFZkkhOvF",
  "id": "fc_0628cde06b0d387b016ab42b8957ac87d090cf893c07399f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Z6XWLNJb8LKgU4IFZkkhOvF",
  "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]: [-0.1238, 1.0008, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.8383, 2.0686, 0.9237, 0.5308, 0.8288, 0.2741, 0.0174]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.145 left_yaw=0.0707 left_pitch=-0.2903 left_roll=0.0945 left_gripper=0.9958 right_x=0.3997 right_y=0.255 right_z=0.0367 right_yaw=0.0216 right_pitch=0.1582 right_roll=-0.1815 right_gripper=0.0174\nstate[joint_eff]: [-0.1846, -2.4957, 6.8034, 1.4676, -0.1197, -0.0464, -0.0122, 0.1983, -9.6752, 5.012, 0.8864, 0.2222, -0.0513, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f163f8574d83b3ef900a5a1e441343e681fd2437edf65f8c921ea698c165c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482a27261f277e4b74c5071876b5328fa194fc37cb1dc38533e1b4116da0bfe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:407bfd175d7ab0cefb57397174bb006d0e03e38cfabc9e1b65321888b7de89da",
      "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 · 2.182 s

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

message 141 changed as sent

message 150 changed as sent

message 154 changed as sent

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9962, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 1.0931, 1.8984, 1.3132, -0.1204, 0.8772, 0.4107, 0.5152]\nstate[eef_state]: left_x=0.2882 left_y=0.0002 left_z=0.1462 left_yaw=0.0704 left_pitch=-0.2858 left_roll=0.0936 left_gripper=0.9958 right_x=0.3389 right_y=0.367 right_z=0.1581 right_yaw=0.178 right_pitch=0.1341 right_roll=-0.1456 right_gripper=0.5152\nstate[joint_eff]: [-0.1026, -2.4547, 7.2274, 1.4188, -0.0806, -0.0269, -0.0073, 0.2803, -9.2923, 9.4017, 1.4139, 0.569, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 1.0008, 0.7513, -0.6254, -0.1833, -0.0784, 0.9957, 0.8417, 2.0674, 0.9234, 0.5018, 0.8284, 0.2745, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.145 left_yaw=0.0711 left_pitch=-0.2907 left_roll=0.0946 left_gripper=0.9957 right_x=0.3966 right_y=0.254 right_z=0.0326 right_yaw=0.0282 right_pitch=0.1387 right_roll=-0.2017 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -2.7829, 6.7761, 1.3846, -0.1001, -0.0513, -0.0122, -0.5265, -9.935, 4.9573, 1.6093, 0.3443, -0.0171, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 1.0008, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.8383, 2.0686, 0.9237, 0.5308, 0.8288, 0.2741, 0.0174]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.145 left_yaw=0.0707 left_pitch=-0.2903 left_roll=0.0945 left_gripper=0.9958 right_x=0.3997 right_y=0.255 right_z=0.0367 right_yaw=0.0216 right_pitch=0.1582 right_roll=-0.1815 right_gripper=0.0174\nstate[joint_eff]: [-0.1846, -2.4957, 6.8034, 1.4676, -0.1197, -0.0464, -0.0122, 0.1983, -9.6752, 5.012, 0.8864, 0.2222, -0.0513, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f163f8574d83b3ef900a5a1e441343e681fd2437edf65f8c921ea698c165c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482a27261f277e4b74c5071876b5328fa194fc37cb1dc38533e1b4116da0bfe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:407bfd175d7ab0cefb57397174bb006d0e03e38cfabc9e1b65321888b7de89da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuPiY7vlFNcQmUHdSwpjBaYJP2m1WrV8iCGLAvavLAvorAzA7tqtaRWexT4jB1WhdtKBCBorWDs-PF32Sh3Zut-MZCDJXRbXnrIcm8yg-OS1me0INmq5-nTrTMr9H3XoWgAPZY1rxZ1qKmTL12OQ6RrPhAOz5ozUkNTyFh6FUGlSl-ItZfFqgCQm_wdGG3gL8A1vXpBCFMNAtlLto9cCgOtbmEQcXybhhSij2KAVwILeFtaQC-jbjSHN9-X77w7rV7gFF3AcyUzsDStbOL1DMsWqPVipWTkiEHzOUT0l61sgKHqiFFq7bPvMz1RSbYmlUq_byrc4cUbJW9H5WrTHkfpNlnEIE9_l65C9nH44ZY29iacOygKOaG2aSMOa1vosPCUz3rskeFtXcKpmNjeYyotzH-6d7FDiVQOWycpNjCC80HN_Y4K0R2sRSYZRbjVG9OSDyYnBV24ZTjRjJ0WIZXm6Lpjj9_ZHudWPBiKhYsf66hM5l816Vnvtj82CfdjBwGRrAL-uZwVAoXS1KOi-LNr6ngVvZfyIq9h5t49gE6RoV7EdW3uQtbVecr_EaVnAd8ebtq7r4GWvE_CGtAGytquucNZsJg_Uv9n71tZQ96nmF5Q4yq8g5zceqji9kvwsbl7WpkMGemGQCWVHmhaWSSUSZpXK0kaybO4OVfDuV3glk9B4ZlMbZlogpaby7wpes8zkFgrA1KCq6ZRO7oN1ClV6ZecVexhP_1JFrw9mjwS3Htiv1h8DmvTdo1gQUKiFO90kJfWsgB4P9Ep_fDpbLmUQ-WAtj7omTEzD2vgsXElgT3tn6vbRfdrNq3ZJZSZzRFjsgqqZbp5vRcrahCpE1zNryHmI1xpm9u_nJ2MnfYD8I3lnpjBxA1r5bK5r1dHNKZ-dpniqgNvgjleSaQmZRR5As8FNk6YSQKqIpP1BeSd7bWloun44h-9X7rKwuacfprZMQe_nQveTPZh1GkpQ6NV-4h_b0dPL9NqdLvqQK8a9rrXdCkbybJnrShetrT0M-UwNd4k_mgYXJPv7auKDmJHmK7pDodLNxCCrwCZTWdPOFLUQ_tz_HmHTTnUrvMpHUO-Gxp0yyXEt9F--HP82LDyYgpif238GjhiZYg7nKNrfjTP72O08xv1aYfzfTj1GCfw9Ga1vSpx11A6KJH2T6ZjPEZ6c5BaZr0Rdjo7Dl-M1M-SAI7kxgpKWGmRyNzVci5-I7wvXXqj_pvT5m00CodH_pja6HMN49F1gQID8E15ClBz1WtzD7EZA9dPLd85ybt2KApA8ABi0EyWwtQdIMfYo-wLkCIlC4mlKYKaDaJ7Ycw_aVBbvqKT_RGcUCiz-PJROPxOYBxa4262GISbPvCERyhYJSuSsSpr9_cdXmNEfJcqvdDqkIdo2MhmCIyY1LxkmpTwH8OwRX2SiayFCILIurnGkl4A9UzI7xin1koBI8HFZAhBm5zKEUI5GLtNTRwcTKNUlHVA7LNDz-OEc-BJpIwaSrdzv1VYnT9GJzxa3K2DJQtn-k2bC1Ap1f8o9yRFKSgO1A7UDqpOHQ6dPHl9OCdwxNPAdevfcR4ygRWSr1b2c5gZyesQJ4IxqJogV2wNMmrP8XnWwkty3M9oCqaSbaN4w3L6r_xiYjvvIst0mnM9-z33eYQ7pXb8G2dsDkHw7UNscXb9nhtfTuoXinKfD5e1BBlcbbMRe_kaEGdkfpm4YDfzPFidIWRTezg8-HhAlB2dCIc70ILaGuwzLXIg4ImY66uYm14jRSUCA_aJ4V2M8NCs6TLEL-F0PbF3h1Ymg9by6W7b5rIPEeAOB1YpDd7zaDET4po4YuxuOjDsL9jv78jOpTuaz4WnpYiwrUAMhFqCYkuVG3yx80YsrqVnJAeYDKbEA90EXrgrJOIiaJ3tG2Rz8cUVkWfc1P78wppI_lGq9smm1gqHi5C_PvTWnatxdhnwUfakzOCVj8k0Oh4mDB-gSAFsiJM9WO-jy-XRz9Ah_ai9MW90ovv9vIf1F3U30JpQC8FF4w_b8AdWW9AuFevS0IXE4V5slMZDdIX_WWvi4EcdFIZlxoERxcDLrR2hIDr5V6sbGD1G4vWMSvAgTK6kG_zcfb_LXXzo3iVFawOkMs6zVxsLAxBCcrS0Rz4cSOun97duZQSwlxvaFL327Vi2sURDL0-R1VRG5__Y",
  "id": "rs_0628cde06b0d387b016ab42b8cd3a887d0ba318240b8926cc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.31,\"right_x\":0.4,\"right_z\":0.035,\"right_pitch\":0.2},\"note\":\"The blue-rim close was empty; its wall was just left of the fingertip line. I’ll reopen and shift the jaws toward the bowl’s centre before one final grasp attempt.\"}",
  "call_id": "call_P5HmE3G87VH2R3dIZphGsamE",
  "id": "fc_0628cde06b0d387b016ab42b8eab9487d0904b231a51ce375a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P5HmE3G87VH2R3dIZphGsamE",
  "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]: [-0.1238, 1.0027, 0.7513, -0.625, -0.1837, -0.0784, 0.9957, 0.9302, 2.1845, 1.0889, 0.4629, 0.9001, 0.3069, 0.9951]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.1445 left_yaw=0.0711 left_pitch=-0.2921 left_roll=0.0952 left_gripper=0.9957 right_x=0.3965 right_y=0.3064 right_z=0.0312 right_yaw=0.0451 right_pitch=0.1806 right_roll=-0.193 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -2.6462, 7.3094, 1.3846, -0.1197, -0.0366, -0.0122, 0.3624, -9.8667, 7.0085, 1.4579, 0.4518, 0.1538, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35307b0ed4a440d560466281a755f2e3f20e858fefe1ffb39ffb701a2ed0c27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b21aa9871c429137e2b056b8984adb8b5d3a827a58d7240ade5b626da02d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a2dc50458f6aa002da8088dd948f22c499fa0aa038a651488813bb6706772e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.231 s

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

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.997, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 1.0107, 1.6505, 1.2175, -0.2295, 0.8146, 0.3363, 0.9961]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.146 left_yaw=0.0708 left_pitch=-0.2865 left_roll=0.0941 left_gripper=0.9958 right_x=0.3393 right_y=0.306 right_z=0.2093 right_yaw=0.1763 right_pitch=0.125 right_roll=-0.1546 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.0171, 6.9675, 1.4188, -0.1343, -0.0415, -0.0171, -0.5538, -8.7726, 6.8991, 1.7265, 0.2857, -0.0855, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 1.0008, 0.7513, -0.625, -0.1833, -0.0784, 0.9958, 0.8383, 2.0686, 0.9237, 0.5308, 0.8288, 0.2741, 0.0174]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.145 left_yaw=0.0707 left_pitch=-0.2903 left_roll=0.0945 left_gripper=0.9958 right_x=0.3997 right_y=0.255 right_z=0.0367 right_yaw=0.0216 right_pitch=0.1582 right_roll=-0.1815 right_gripper=0.0174\nstate[joint_eff]: [-0.1846, -2.4957, 6.8034, 1.4676, -0.1197, -0.0464, -0.0122, 0.1983, -9.6752, 5.012, 0.8864, 0.2222, -0.0513, 0.5201]\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 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 1.0027, 0.7513, -0.625, -0.1837, -0.0784, 0.9957, 0.9302, 2.1845, 1.0889, 0.4629, 0.9001, 0.3069, 0.9951]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.1445 left_yaw=0.0711 left_pitch=-0.2921 left_roll=0.0952 left_gripper=0.9957 right_x=0.3965 right_y=0.3064 right_z=0.0312 right_yaw=0.0451 right_pitch=0.1806 right_roll=-0.193 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -2.6462, 7.3094, 1.3846, -0.1197, -0.0366, -0.0122, 0.3624, -9.8667, 7.0085, 1.4579, 0.4518, 0.1538, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35307b0ed4a440d560466281a755f2e3f20e858fefe1ffb39ffb701a2ed0c27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b21aa9871c429137e2b056b8984adb8b5d3a827a58d7240ade5b626da02d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a2dc50458f6aa002da8088dd948f22c499fa0aa038a651488813bb6706772e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuSL9wjasIc8mqdSwMcleY11euyyaonrzjYAQjsaV7AkHy8Z9ctVms19kxW5OhASb4xbanqhuJyDoz0Jv6IVNtK5aXpdFmvvKa1tTRnRfWQUZ5bTXF7JHUeyilkQCdKIiZyUmX6YNuNlKJZ55LjvPv39-CKr1mPkmEKot-KLI2SYomxYGFd_R2Vx11-MFEahoFSq3n_z_kZ95H8s0bXr7FeZhGrnQW6EuoUwxG8fyx-35LWluECJQIvjq9FGbKPY5sOx9TIW6228q5Ko3m0qZGERA9vrlMgBsaecUBjY6k2xsnpS8Xa76TIenp93gCnI5ZveQgBWmXemfFDgNGPKINpvz-hCnbhwHXg4O8DbgsbROOKuT6lZSacp8VACzn7gwZss8HP6LvdgRIRBsb14DM35GMLJiZ0CIxGE0nGpLN6lGucemI_5WTpPuElxsZ2H8fMOdBCAqGHjEy_lFI-nPsES9ZA5JrBu-ORHeBq2GJae3TA6kIiW7A_CbVQL-kJZjIsxJfRV_YixzTkjNy6AdTb4ZsuN8kIrSA9r-OE0-bfbGklGgXfVngomRpY5TdLDHqK7W48CnBQxJeeoaKtQJ4qjaeoEMimtmGm2yYEc-r0B6AeS3rRtMPtsiNbFvSartmxe-j59mMPcJ0P-OAIPLTlozcVc7p9jwL3zUqlHXeqYY8ksRfcRU7kFOT0AIBsTGYhfp3mV2Kn07keFO4JgGdaCKVh4SnsLyNCGbYm1xLDTFcoiW8Z7d6c8M8KHMvkm9TFiw4w5xyS4bQoEcKh8oOyr1BOzg4UPzFuX3EfIipLcMZyJy_54oUNakXEIDSkigO2uB3zF5ZbXhOQUhsGYK4emuYwGS752YPO3orM3qCyYL4puvMcGsctGBFdj1OSCgeHkNZag7qyh8eSTARrSp__1HYPWBq0lc8f3bOYNCUJznNRxz7Oeo8HV73AOgKnRJdNC-UFOBjlbqEPU18JZj4WXagVNHMLtsyfcrjhAVR1IEi7bRNgiPucx0y23Z5Cp3cvDpi7B45TVkjA0jlYz2qblGKsQqG6ZdoyMPHAFTunmpxm-aX7L9uTJou3NTynrIi1o9itz_oWHNJN9qHhOyy0-Mm3Kmr98kmuUgxN9eM0nrm_FUlNi_OkmOoBhfm6HGluPH9mV26z9BJUTZ_MgBrYrxHvqXaGpsbXST0a6CqmUljzukTxy1wl9qJ0O9lNYjqsvKjsMSuxaldSX1i9PBDCUHvF5RyyCtH5eXThDVywmmuKS_CxlAFsWVCAA0u1yWq9RVCcDigChQkArp_zAsvWa_i4CsjdXQi67M2E7BHNWs5S-fYrO_AL7_gtuI39XPj4wzwfjOpXcHJ9iwo-5iA2jYPwjf2qDWhQ95HIO1ugct4wlDm5JIR5_5vnwbDwBy3mOuY4VlupY265X6JzBPyvaRknyQnEoOBXo6nqlPU4uJ5T8W73qJuGJmfZ0CYxQCL9",
  "id": "rs_0628cde06b0d387b016ab42b91a80487d09005cb8f79a5e4d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open right jaws are now closer to the blue bowl’s near-right rim. I’ll close once more; if it is still empty, I won’t risk moving the bowls blindly.\"}",
  "call_id": "call_dR9KY5ENcbCLeXpVe9tpa8YP",
  "id": "fc_0628cde06b0d387b016ab42b92232c87d0a7aa7e3949bba2b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dR9KY5ENcbCLeXpVe9tpa8YP",
  "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]: [-0.1238, 1.0027, 0.7513, -0.625, -0.1837, -0.0784, 0.9958, 0.9363, 2.17, 1.095, 0.5362, 0.9035, 0.3275, 0.0306]\nstate[eef_state]: left_x=0.2884 left_y=0.0002 left_z=0.1445 left_yaw=0.0711 left_pitch=-0.2921 left_roll=0.0952 left_gripper=0.9958 right_x=0.4007 right_y=0.3164 right_z=0.0512 right_yaw=0.0216 right_pitch=0.2422 right_roll=-0.0993 right_gripper=0.0306\nstate[joint_eff]: [-0.1026, -2.3179, 6.7761, 1.4383, -0.1392, -0.0611, -0.0073, -0.4034, -9.7162, 4.506, 0.2418, 0.2222, -0.4078, 0.4908]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c071204c04efa1aa536050b35b34af3aa5329b5bb6fb7a11481dc66aa0550e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094a080b1ed8feb74b36c146147fc3c298ef4f070c38bb19bf19dfe6ef783195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093cfbce4ad26a52a49da81ce2a3ffe15ee1c53a88dfe8e0c066057402a453df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]