adhoc - adhoc_dda71c6e.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: 218.1 s
total steps: 378

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 separate bowls sit across the far half of the table, with the pale bowl nearest the right arm. I’ll bring the open right gripper above that bowl to line up a pickup.

move_to

right_x0.4050right_y0.1400right_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.02, 0.7933, 0.6029, -0.379, -0.0154, -0.0334, 0.9972] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9972 state[joint_eff]: [-0.6769, -1.5385, 9.9897, 1.79, -0.0269, 0.0611, -0.0611, -0.4444, -1.4564, 10.2906, 1.8681, -0.0659, 0.2076, -0.3004] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.14,"right_z":0.15},"note":"Three separate bowls sit across the far half of the table, with the pale bowl nearest the right arm. I’ll bring the open right gripper above that bowl to line up a pickup."})

tool

executing move_to over 12 steps (1.2s)

step 12

assistant

agent noteThe pale bowl is centered between the right wrist camera’s jaw columns and extends to the bottom of the view. I’ll lower the open gripper toward its rim before closing.

move_to

right_x0.4000right_y0.1400right_z0.0550

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.4812, 1.4788, 0.8474, -0.0731, 0.3668, 0.2218, 0.997] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3894 right_y=0.1359 right_z=0.1267 right_yaw=0.0433 right_pitch=-0.0801 right_roll=-0.0402 right_gripper=0.997 state[joint_eff]: [-0.1709, -1.5521, 7.2547, 1.7705, -0.0708, -0.0513, -0.0171, 0.2803, -6.9402, 9.0598, 1.7998, 0.3248, 0.1685, -0.0366] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.40,"right_y":0.14,"right_z":0.055},"note":"The pale bowl is centered between the right wrist camera’s jaw columns and extends to the bottom of the view. I’ll lower the open gripper toward its rim before closing."})

tool

executing move_to over 5 steps (0.5s)

step 17

assistant

agent noteThe right fingertips are now at about the pale bowl’s rim height, with the bowl still centered in the wrist view. I’ll close gently around its sides and check whether the jaws retain it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3878, -0.0227, -0.0261, 0.9995, 0.4812, 1.6817, 0.7288, 0.1585, 0.358, 0.2173, 0.997] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3861 right_y=0.1358 right_z=0.0415 right_yaw=0.0482 right_pitch=-0.1644 right_roll=-0.0766 right_gripper=0.997 state[joint_eff]: [-0.0205, -1.2513, 7.0222, 1.707, -0.0562, -0.0513, -0.0073, -0.4581, -7.8291, 5.7094, 1.8681, 0.2271, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"The right fingertips are now at about the pale bowl’s rim height, with the bowl still centered in the wrist view. I’ll close gently around its sides and check whether the jaws retain it."})

tool

executing move_to over 10 steps (1.0s)

step 27

assistant

agent noteThe gripper closed almost completely, so it missed the bowl; the wrist view shows the closed jaws inside the bowl below its rim. I’ll reopen, advance a few centimeters, and raise to the rim’s height for another attempt.

move_to

right_gripper1.0000right_x0.4100right_z0.0900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.4816, 1.6962, 0.7219, 0.1543, 0.3542, 0.2092, 0.009] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0168 left_roll=0.0 left_gripper=0.9995 right_x=0.3823 right_y=0.1347 right_z=0.0327 right_yaw=0.0541 right_pitch=-0.1892 right_roll=-0.0908 right_gripper=0.009 state[joint_eff]: [-0.1846, -1.5932, 7.4188, 1.7363, -0.0366, -0.0659, -0.0122, -0.1299, -8.4991, 6.106, 1.5311, 0.2125, 0.0415, 0.6862] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1,"right_x":0.41,"right_z":0.09},"note":"The gripper closed almost completely, so it missed the bowl; the wrist view shows the closed jaws inside the bowl below its rim. I’ll reopen, advance a few centimeters, and raise to the rim’s height for another attempt."})

tool

executing move_to over 10 steps (1.0s)

step 37

assistant

agent noteThe pale bowl remains in front of the right fingertips, and the first close was below its rim. I’ll move the open jaws a little farther forward and higher so they can straddle the upper wall.

move_to

right_x0.4400right_z0.0950

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4465, 1.6718, 0.8963, -0.0883, 0.3267, 0.1684, 0.9953] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9995 right_x=0.3998 right_y=0.1325 right_z=0.0656 right_yaw=0.06 right_pitch=-0.2399 right_roll=-0.119 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.0051, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, -0.7179, -9.935, 8.8137, 1.5018, 0.0952, 0.2076, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_z":0.095},"note":"The pale bowl remains in front of the right fingertips, and the first close was below its rim. I’ll move the open jaws a little farther forward and higher so they can straddle the upper wall."})

tool

executing move_to over 4 steps (0.4s)

step 41

assistant

agent noteThe bowl’s lip is now lower in the wrist view and centered between the open jaws, at approximately their working height. I’ll close once more and judge the grasp by the settled jaw spacing.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4038, 1.7435, 1.0645, -0.2066, 0.2974, 0.1299, 0.9957] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4281 right_y=0.1305 right_z=0.08 right_yaw=0.0609 right_pitch=-0.2709 right_roll=-0.1323 right_gripper=0.9957 state[joint_eff]: [-0.1436, -1.3607, 7.0222, 1.6825, -0.0464, -0.0659, -0.0122, -0.5812, -8.3897, 8.5949, 1.5751, 0.0659, -0.0073, 0.0317] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bowl’s lip is now lower in the wrist view and centered between the open jaws, at approximately their working height. I’ll close once more and judge the grasp by the settled jaw spacing."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe second centered close was also empty; the jaws are passing through the bowl’s interior rather than catching its wide rim. I’ll shift sideways to pinch one edge, with one jaw inside and the other outside.

move_to

right_gripper1.0000right_y0.1740right_x0.4300right_z0.0750

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3935, -0.0227, -0.0261, 0.9995, 0.4019, 1.7454, 1.0645, -0.2295, 0.2974, 0.123, 0.009] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1754 left_yaw=0.0002 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4244 right_y=0.128 right_z=0.0758 right_yaw=0.0604 right_pitch=-0.2948 right_roll=-0.1456 right_gripper=0.009 state[joint_eff]: [-0.1026, -1.306, 7.1863, 1.7411, -0.0757, -0.0464, -0.0122, -0.0342, -8.5265, 6.2974, 1.619, 0.1148, 0.0269, 0.6081] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.174,"right_x":0.43,"right_z":0.075},"note":"The second centered close was also empty; the jaws are passing through the bowl’s interior rather than catching its wide rim. I’ll shift sideways to pinch one edge, with one jaw inside and the other outside."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteWith the gripper offset, the wrist view now places one jaw outside the pale bowl’s near side and the other over its interior. I’ll close on that single wall rather than trying to span the whole bowl.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.0261, 0.9995, 0.5095, 1.8244, 1.1511, -0.2974, 0.3378, 0.1909, 0.9958] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.0002 left_pitch=-0.0278 left_roll=0.0002 left_gripper=0.9995 right_x=0.4187 right_y=0.171 right_z=0.0664 right_yaw=0.0889 right_pitch=-0.333 right_roll=-0.1557 right_gripper=0.9958 state[joint_eff]: [-0.1436, -1.5795, 7.2137, 1.6972, -0.0562, -0.0464, -0.0122, 0.1299, -7.4598, 9.0598, 1.4237, 0.3639, 0.1538, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"With the gripper offset, the wrist view now places one jaw outside the pale bowl’s near side and the other over its interior. I’ll close on that single wall rather than trying to span the whole bowl."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteThat edge pinch also closed empty, and the closed fingertip still appears inside the bowl rather than at its visible lip. I’ll reopen, advance toward the lip, and level the tool before trying to catch the wall.

move_to

right_gripper1.0000right_x0.4700right_y0.1700right_z0.1150right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0261, 0.9995, 0.514, 1.8313, 1.15, -0.3107, 0.3321, 0.1825, 0.0085] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0002 left_pitch=-0.04 left_roll=0.0005 left_gripper=0.9995 right_x=0.4147 right_y=0.1722 right_z=0.0611 right_yaw=0.0999 right_pitch=-0.3552 right_roll=-0.1657 right_gripper=0.0085 state[joint_eff]: [-0.212, -1.3607, 7.0085, 1.8388, -0.0806, -0.0659, -0.0122, -0.5949, -9.6615, 6.2701, 1.4286, 0.2271, 0.0757, 0.6422] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.47,"right_y":0.17,"right_z":0.115,"right_pitch":0.2},"note":"That edge pinch also closed empty, and the closed fingertip still appears inside the bowl rather than at its visible lip. I’ll reopen, advance toward the lip, and level the tool before trying to catch the wall."})

tool

executing move_to over 19 steps (1.9s)

step 90

assistant

agent noteAdvancing 5 cm moved the pale bowl entirely below the wrist image, so the fingertips have gone past the useful viewing position. I’ll back up slightly while keeping the tool leveled to locate its rim again.

move_to

right_x0.4350right_z0.0850right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5041, 1.8256, 0.9047, 0.4358, 0.4343, -0.004, 0.9961] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1713 left_yaw=0.0 left_pitch=-0.042 left_roll=0.0008 left_gripper=0.9995 right_x=0.4601 right_y=0.173 right_z=0.1015 right_yaw=0.1304 right_pitch=0.1229 right_roll=-0.1815 right_gripper=0.9961 state[joint_eff]: [-0.0889, -1.4017, 7.0632, 1.7216, -0.0806, -0.0171, -0.0122, -0.7179, -7.2821, 6.106, 2.1758, 0.3297, 0.0366, -0.2173] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_z":0.085,"right_pitch":0.2},"note":"Advancing 5 cm moved the pale bowl entirely below the wrist image, so the fingertips have gone past the useful viewing position. I’ll back up slightly while keeping the tool leveled to locate its rim again."})

tool

executing move_to over 3 steps (0.3s)

step 93

assistant

agent noteThe pale rim is now just at the bottom of the right wrist view, beneath the leveled, laterally offset jaws. I’ll try a single edge pinch from this new orientation and inspect the jaw reading.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5392, 1.832, 0.7456, 0.6033, 0.4583, -0.0166, 0.9963] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1708 left_yaw=0.0 left_pitch=-0.0439 left_roll=0.0009 left_gripper=0.9995 right_x=0.4312 right_y=0.1711 right_z=0.0722 right_yaw=0.1521 right_pitch=0.1276 right_roll=-0.2027 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.0188, 7.0769, 1.7216, -0.0904, -0.0317, -0.0122, 0.1983, -7.665, 7.6513, 2.2589, 0.2857, 0.0366, 0.0073] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pale rim is now just at the bottom of the right wrist view, beneath the leveled, laterally offset jaws. I’ll try a single edge pinch from this new orientation and inspect the jaw reading."})

tool

executing move_to over 10 steps (1.0s)

step 103

assistant

agent noteThe edge pinch was empty again. From overhead, the closed right gripper sits to the left of the pale bowl’s visible rim, so I’ll reopen and move laterally over the bowl rather than repeating the same position.

move_to

right_gripper1.0000right_y0.1200right_x0.4300right_z0.0900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5488, 1.8408, 0.7208, 0.6632, 0.4679, -0.02, 0.0085] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0002 left_pitch=-0.0442 left_roll=0.0006 left_gripper=0.9995 right_x=0.4285 right_y=0.1728 right_z=0.0718 right_yaw=0.1541 right_pitch=0.1532 right_roll=-0.1997 right_gripper=0.0085 state[joint_eff]: [-0.1983, -1.3333, 7.1179, 1.7118, -0.0708, -0.0757, -0.0122, -0.2393, -8.5402, 6.4205, 2.0635, 0.2955, 0.0708, 0.6129] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.12,"right_x":0.43,"right_z":0.09},"note":"The edge pinch was empty again. From overhead, the closed right gripper sits to the left of the pale bowl’s visible rim, so I’ll reopen and move laterally over the bowl rather than repeating the same position."})

tool

executing move_to over 10 steps (1.0s)

step 113

assistant

agent noteFrom overhead the open right gripper is now over the pale bowl, and the wrist view shows the bowl centered between the jaw tips. I’ll close at this corrected lateral position and check for a nonempty hold.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.3988, 1.7382, 0.643, 0.6273, 0.3386, -0.0898, 0.9955] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1699 left_yaw=0.0002 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9995 right_x=0.4277 right_y=0.1205 right_z=0.0754 right_yaw=0.1502 right_pitch=0.1167 right_roll=-0.2118 right_gripper=0.9955 state[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7411, -0.0269, -0.0757, -0.0122, -0.294, -9.5248, 5.5863, 1.8584, 0.105, 0.0757, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"From overhead the open right gripper is now over the pale bowl, and the wrist view shows the bowl centered between the jaw tips. I’ll close at this corrected lateral position and check for a nonempty hold."})

tool

executing move_to over 10 steps (1.0s)

step 123

assistant

agent noteThe centered close still missed: in the wrist image the closed fingertips end above the bowl’s near rim. I’ll reopen and retract about 3 cm so the rim lines up with the closing fingertips.

move_to

right_gripper1.0000right_x0.3950right_y0.1200right_z0.0900right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3954, 1.7336, 0.6407, 0.6247, 0.3283, -0.0982, 0.008] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.4272 right_y=0.1205 right_z=0.0756 right_yaw=0.1599 right_pitch=0.1142 right_roll=-0.215 right_gripper=0.008 state[joint_eff]: [-0.3077, -1.388, 7.0496, 1.7021, -0.0659, -0.0855, -0.0122, 0.1709, -6.9265, 5.6821, 1.8437, 0.1783, 0.0904, 0.5934] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.395,"right_y":0.12,"right_z":0.09,"right_pitch":0.2},"note":"The centered close still missed: in the wrist image the closed fingertips end above the bowl’s near rim. I’ll reopen and retract about 3 cm so the rim lines up with the closing fingertips."})

tool

executing move_to over 10 steps (1.0s)

step 133

assistant

agent noteRetracting brought the bowl’s right wall up beside the open fingertips in the wrist view, with one jaw apparently inside and the other outside. I’ll close on that wall and look for a retained jaw gap.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4446, 1.647, 0.4915, 0.7162, 0.3618, -0.1028, 0.9955] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.3928 right_y=0.1218 right_z=0.0754 right_yaw=0.1823 right_pitch=0.1454 right_roll=-0.2263 right_gripper=0.9955 state[joint_eff]: [-0.0068, -1.388, 7.0085, 1.6972, -0.0513, -0.0611, -0.0122, 0.3077, -7.7333, 5.0393, 2.1612, 0.2466, 0.0464, -0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"Retracting brought the bowl’s right wall up beside the open fingertips in the wrist view, with one jaw apparently inside and the other outside. I’ll close on that wall and look for a retained jaw gap."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteThe closed jaws are still inside the bowl and read empty; its right-hand rim lies off to one side of the fingertip in the wrist view. I’ll move about 4 cm toward that rim so the jaws can pinch the wall rather than sweep across the interior.

move_to

right_gripper1.0000right_y0.0770right_x0.3920right_z0.0700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4442, 1.6421, 0.4828, 0.7074, 0.3573, -0.1062, 0.0081] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9995 right_x=0.3897 right_y=0.121 right_z=0.0721 right_yaw=0.1881 right_pitch=0.1323 right_roll=-0.2308 right_gripper=0.0081 state[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7363, -0.0659, -0.0757, -0.0122, -0.1299, -5.9692, 5.6821, 1.8877, 0.1441, -0.022, 0.6081] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.077,"right_x":0.392,"right_z":0.07},"note":"The closed jaws are still inside the bowl and read empty; its right-hand rim lies off to one side of the fingertip in the wrist view. I’ll move about 4 cm toward that rim so the jaws can pinch the wall rather than sweep across the interior."})

tool

executing move_to over 10 steps (1.0s)

step 153

assistant

agent noteThe bowl’s outer right rim now crosses the jaws’ closing line in the wrist camera, rather than sitting in the middle of their sweep. I’ll close here and check whether the rim holds the gripper open.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4084, -0.0227, -0.0257, 0.9995, 0.2817, 1.6283, 0.4248, 0.7235, 0.2218, -0.178, 0.9961] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0515 left_roll=0.001 left_gripper=0.9995 right_x=0.3886 right_y=0.0757 right_z=0.0567 right_yaw=0.1785 right_pitch=0.0846 right_roll=-0.2402 right_gripper=0.9961 state[joint_eff]: [-0.3761, -1.5385, 6.9949, 1.6728, -0.0317, -0.0171, -0.0122, -0.253, -7.7197, 4.7521, 2.1221, -0.0855, 0.0269, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bowl’s outer right rim now crosses the jaws’ closing line in the wrist camera, rather than sitting in the middle of their sweep. I’ll close here and check whether the rim holds the gripper open."})

tool

executing move_to over 10 steps (1.0s)

step 163

assistant

agent noteEven with the rim at the jaws’ closing column, the gripper closed empty; in the wrist view the rim remains slightly below the closed fingertip. I’ll reopen and back away 2–3 cm to bring that rim up to fingertip depth.

move_to

right_gripper1.0000right_x0.3630right_y0.0830right_z0.0750

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2802, 1.6272, 0.4229, 0.7113, 0.2184, -0.1837, 0.0086] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0511 left_roll=0.001 left_gripper=0.9995 right_x=0.3868 right_y=0.0752 right_z=0.0537 right_yaw=0.183 right_pitch=0.0707 right_roll=-0.2449 right_gripper=0.0086 state[joint_eff]: [-0.1299, -1.388, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0068, -5.9419, 4.9162, 1.9267, 0.1148, 0.0317, 0.6227] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.363,"right_y":0.083,"right_z":0.075},"note":"Even with the rim at the jaws’ closing column, the gripper closed empty; in the wrist view the rim remains slightly below the closed fingertip. I’ll reopen and back away 2–3 cm to bring that rim up to fingertip depth."})

tool

executing move_to over 10 steps (1.0s)

step 173

assistant

agent noteBacking up brought the pale bowl’s right wall level with the visible open fingertip tips at this height. I’ll close on that edge; a retained gap will tell us if the rim is finally caught.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3405, 1.4643, 0.3878, 0.5713, 0.2546, -0.1684, 0.9955] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0002 left_pitch=-0.0545 left_roll=0.0008 left_gripper=0.9995 right_x=0.3644 right_y=0.0857 right_z=0.0708 right_yaw=0.2047 right_pitch=0.0627 right_roll=-0.2502 right_gripper=0.9955 state[joint_eff]: [-0.0889, -1.6752, 7.3641, 1.7167, -0.0122, -0.0464, -0.0122, 0.294, -6.3111, 5.3128, 1.6142, 0.2222, 0.1099, -0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"Backing up brought the pale bowl’s right wall level with the visible open fingertip tips at this height. I’ll close on that edge; a retained gap will tell us if the rim is finally caught."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteThe jaws again shut empty, but the wrist image shows the bowl’s edge only about a centimeter to the right of the closing tip. I’ll reopen and nudge laterally by that amount rather than changing height or approach.

move_to

right_gripper1.0000right_y0.0730right_x0.3630right_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.3405, 1.459, 0.384, 0.5533, 0.2523, -0.1764, 0.0085] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1678 left_yaw=0.0002 left_pitch=-0.0549 left_roll=0.0008 left_gripper=0.9995 right_x=0.3614 right_y=0.0851 right_z=0.0674 right_yaw=0.2109 right_pitch=0.0452 right_roll=-0.2583 right_gripper=0.0085 state[joint_eff]: [-0.0615, -1.2513, 7.2274, 1.663, -0.0855, -0.0562, -0.0122, -0.1162, -4.6017, 5.6684, 1.9707, 0.0464, 0.0269, 0.5934] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.073,"right_x":0.363,"right_z":0.08},"note":"The jaws again shut empty, but the wrist image shows the bowl’s edge only about a centimeter to the right of the closing tip. I’ll reopen and nudge laterally by that amount rather than changing height or approach."})

tool

executing move_to over 10 steps (1.0s)

step 193

assistant

agent noteThe bowl’s outer wall now falls between the two open jaws near their tips, with the near jaw over the bowl and the far jaw outside it. I’ll close to test this corrected edge position.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2905, 1.4097, 0.384, 0.4736, 0.2146, -0.2073, 0.9956] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3573 right_y=0.0713 right_z=0.0671 right_yaw=0.209 right_pitch=0.0084 right_roll=-0.2687 right_gripper=0.9956 state[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7118, -0.0513, -0.0464, -0.0122, -0.4718, -6.1744, 6.7897, 1.7949, -0.0855, 0.0513, -0.0562] approver: 10 step(s) modified (delta_clamped ×10). 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 bowl’s outer wall now falls between the two open jaws near their tips, with the near jaw over the bowl and the far jaw outside it. I’ll close to test this corrected edge position."})

tool

executing move_to over 10 steps (1.0s)

step 203

assistant

agent noteThe rim-level pinch remained empty even though the edge aligns in the image, suggesting the jaw pads may be above the bowl’s sloping wall. I’ll reopen and lower about 3 cm to try the thicker part of that same wall.

move_to

right_gripper1.0000right_z0.0350right_x0.3600right_y0.0740

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2878, 1.4101, 0.3824, 0.4671, 0.215, -0.21, 0.008] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3562 right_y=0.0699 right_z=0.065 right_yaw=0.2074 right_pitch=-0.0003 right_roll=-0.2718 right_gripper=0.008 state[joint_eff]: [-0.1709, -1.388, 7.0222, 1.6679, -0.0317, -0.0464, -0.0122, 0.2393, -4.5607, 5.6957, 1.8046, 0.0659, -0.0171, 0.5934] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.035,"right_x":0.36,"right_y":0.074},"note":"The rim-level pinch remained empty even though the edge aligns in the image, suggesting the jaw pads may be above the bowl’s sloping wall. I’ll reopen and lower about 3 cm to try the thicker part of that same wall."})

tool

executing move_to over 10 steps (1.0s)

step 213

assistant

agent noteAt the lower height, the pale bowl’s side wall fills the wrist view and now crosses between the open jaw tips. I’ll close at this thicker section and check whether the fingers remain separated.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2943, 1.5768, 0.3523, 0.6365, 0.2195, -0.2073, 0.9963] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0584 left_roll=0.0011 left_gripper=0.9995 right_x=0.3576 right_y=0.0719 right_z=0.0315 right_yaw=0.2086 right_pitch=-0.0271 right_roll=-0.2744 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.6479, 7.241, 1.663, -0.0464, -0.0415, -0.0122, 0.2803, -4.7795, 4.5197, 2.1074, 0.1245, -0.0513, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At the lower height, the pale bowl’s side wall fills the wrist view and now crosses between the open jaw tips. I’ll close at this thicker section and check whether the fingers remain separated."})

tool

executing move_to over 10 steps (1.0s)

step 223

assistant

agent noteThe right gripper settled with about a 1 cm gap instead of closing empty, consistent with a pinch on the bowl wall. I’ll lift straight up to confirm the pale bowl comes off the table before moving it toward the stack.

move_to

right_z0.1450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2943, 1.5673, 0.3553, 0.6777, 0.2043, -0.2024, 0.1035] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.0584 left_roll=0.0008 left_gripper=0.9995 right_x=0.3641 right_y=0.0767 right_z=0.0441 right_yaw=0.219 right_pitch=0.0266 right_roll=-0.2578 right_gripper=0.1035 state[joint_eff]: [-0.0342, -1.4291, 7.0496, 1.6581, -0.0757, -0.0806, -0.0122, -0.1026, -4.6291, 5.094, 1.3602, 0.2515, 0.022, 0.3199] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.145},"note":"The right gripper settled with about a 1 cm gap instead of closing empty, consistent with a pinch on the bowl wall. I’ll lift straight up to confirm the pale bowl comes off the table before moving it toward the stack."})

tool

executing move_to over 7 steps (0.7s)

step 230

assistant

agent noteThe jaw gap persists after lifting, but the overhead bowl is partly hidden by the arm and it is not yet clear that it rose. I’ll shift a short distance left while holding it to see whether the pale bowl follows.

move_to

right_y0.1600right_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2962, 1.2304, 0.5541, 0.149, 0.1993, -0.2066, 0.103] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0 left_pitch=-0.0603 left_roll=0.0012 left_gripper=0.9995 right_x=0.3639 right_y=0.0782 right_z=0.1321 right_yaw=0.2273 right_pitch=0.0326 right_roll=-0.2584 right_gripper=0.103 state[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.707, -0.0562, -0.0415, -0.0122, -0.2393, -5.135, 9.1145, 1.7265, 0.0269, 0.0024, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.16,"right_z":0.18},"note":"The jaw gap persists after lifting, but the overhead bowl is partly hidden by the arm and it is not yet clear that it rose. I’ll shift a short distance left while holding it to see whether the pale bowl follows."})

tool

executing move_to over 7 steps (0.7s)

step 237

assistant

agent noteThe pale bowl remained visible in its original place as the right arm moved away, so that jaw gap did not represent a successful lift. I’ll park and open the right arm, then switch to the left bowl with a fresh overhead view.

move_to

right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.5915, 1.3148, 0.7898, -0.0658, 0.4091, -0.0776, 0.1029] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9995 right_x=0.3594 right_y=0.1611 right_z=0.1674 right_yaw=0.2798 right_pitch=0.0101 right_roll=-0.2695 right_gripper=0.1029 state[joint_eff]: [-0.0479, -1.4154, 7.0359, 1.7021, -0.0513, -0.0562, -0.0122, 0.1436, -4.6974, 9.1692, 1.6386, 0.2418, 0.1783, -0.0171] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_gripper":1},"note":"The pale bowl remained visible in its original place as the right arm moved away, so that jaw gap did not represent a successful lift. I’ll park and open the right arm, then switch to the left bowl with a fresh overhead view."})

tool

executing move_to over 14 steps (1.4s)

step 251

assistant

agent noteWith the right arm parked, all three bowls are still separately on the table. I’ll bring the open left gripper above the turquoise bowl, aiming to grasp its wall rather than assuming a centered close will work.

move_to

left_x0.4050left_y-0.1900left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, -0.1097, 0.7979, 0.5785, -0.321, -0.1307, -0.4267, 0.9961] state[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1653 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0013 left_gripper=0.9995 right_x=0.2994 right_y=-0.0062 right_z=0.1803 right_yaw=0.2172 right_pitch=0.0096 right_roll=-0.2784 right_gripper=0.9961 state[joint_eff]: [0.0342, -1.7573, 6.9949, 1.6777, -0.0611, -0.0024, -0.0122, -0.2393, -1.7162, 7.0632, 1.7607, -0.1783, 0.0904, -0.0659] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.19,"left_z":0.14},"note":"With the right arm parked, all three bowls are still separately on the table. I’ll bring the open left gripper above the turquoise bowl, aiming to grasp its wall rather than assuming a centered close will work."})

tool

executing move_to over 18 steps (1.8s)

step 269

assistant

agent noteThe left wrist camera shows the turquoise bowl off to the left of the jaws, while the purple bowl is to their right. I’ll shift the left arm about 5 cm toward the turquoise bowl and lower to inspect its rim.

move_to

left_y-0.1300left_x0.4050left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6323, 1.6154, 1.01, -0.1879, -0.4843, -0.4206, 0.9995, -0.1116, 0.8028, 0.5774, -0.3405, -0.1387, -0.4419, 0.9963] state[eef_state]: left_x=0.3946 left_y=-0.1827 left_z=0.1244 left_yaw=-0.0138 left_pitch=-0.1141 left_roll=0.0245 left_gripper=0.9995 right_x=0.2971 right_y=-0.0051 right_z=0.1744 right_yaw=0.23 right_pitch=-0.0154 right_roll=-0.2789 right_gripper=0.9963 state[joint_eff]: [-0.4581, -7.6103, 8.759, 1.6923, -0.4029, -0.1099, -0.0122, -0.0752, -1.6342, 7.3641, 1.8828, -0.0269, 0.1001, 0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.13,"left_x":0.405,"left_z":0.10},"note":"The left wrist camera shows the turquoise bowl off to the left of the jaws, while the purple bowl is to their right. I’ll shift the left arm about 5 cm toward the turquoise bowl and lower to inspect its rim."})

tool

executing move_to over 5 steps (0.5s)

step 274

assistant

agent noteThe turquoise bowl is now visible just left of the left jaw center, with its side wall near one fingertip. I’ll advance slightly, offset toward its outer wall, and lower to a sturdier part of the bowl before closing.

move_to

left_x0.4250left_y-0.1530left_z0.0430

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4793, 1.6108, 0.8692, -0.0746, -0.3962, -0.3347, 0.9995, -0.1116, 0.8032, 0.5774, -0.3424, -0.139, -0.4458, 0.9963] state[eef_state]: left_x=0.3982 left_y=-0.1261 left_z=0.0849 left_yaw=0.0255 left_pitch=-0.1695 left_roll=0.0483 left_gripper=0.9995 right_x=0.2968 right_y=-0.005 right_z=0.1739 right_yaw=0.2324 right_pitch=-0.0181 right_roll=-0.2811 right_gripper=0.9963 state[joint_eff]: [0.3761, -9.388, 6.4479, 1.746, -0.1587, 0.2076, -0.0122, -0.0752, -0.9915, 7.0632, 1.7802, -0.0855, -0.0024, -0.0073] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.153,"left_z":0.043},"note":"The turquoise bowl is now visible just left of the left jaw center, with its side wall near one fingertip. I’ll advance slightly, offset toward its outer wall, and lower to a sturdier part of the bowl before closing."})

tool

executing move_to over 3 steps (0.3s)

step 277

assistant

agent noteAt table-level bowl-wall height, the turquoise bowl’s right wall lies between the left gripper’s open fingertips. I’ll close around that wall and inspect whether the jaws retain a gap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.506, 1.8069, 0.9138, 0.0257, -0.4019, -0.3458, 0.9995, -0.1116, 0.8051, 0.5774, -0.3462, -0.139, -0.4461, 0.9963] state[eef_state]: left_x=0.4137 left_y=-0.1461 left_z=0.0382 left_yaw=0.0142 left_pitch=-0.2115 left_roll=0.0694 left_gripper=0.9995 right_x=0.2965 right_y=-0.005 right_z=0.1726 right_yaw=0.2326 right_pitch=-0.0235 right_roll=-0.2795 right_gripper=0.9963 state[joint_eff]: [-0.335, -10.3453, 7.9932, 1.5556, -0.3541, -0.1392, -0.0122, 0.0068, -1.265, 7.0906, 1.8242, -0.0708, -0.0659, -0.0073] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At table-level bowl-wall height, the turquoise bowl’s right wall lies between the left gripper’s open fingertips. I’ll close around that wall and inspect whether the jaws retain a gap."})

tool

executing move_to over 10 steps (1.0s)

step 287

assistant

agent noteThe left gripper stopped just above the empty-grip threshold, and its closed finger sits against the turquoise rim in the wrist image. I’ll lift a few centimeters to see whether the bowl actually comes up with it.

move_to

left_z0.0950

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.8187, 0.9142, 0.0303, -0.4267, -0.3424, 0.0395, -0.1116, 0.8062, 0.5758, -0.3485, -0.139, -0.4461, 0.9963] state[eef_state]: left_x=0.414 left_y=-0.144 left_z=0.0355 left_yaw=0.0279 left_pitch=-0.208 left_roll=0.0922 left_gripper=0.0395 right_x=0.296 right_y=-0.0049 right_z=0.1711 right_yaw=0.2326 right_pitch=-0.0282 right_roll=-0.2778 right_gripper=0.9963 state[joint_eff]: [0.3487, -8.7863, 5.6684, 1.3944, 0.0806, -0.1392, 0.9451, -0.0068, -1.4154, 7.3368, 1.7558, -0.0952, -0.0122, -0.0171] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095},"note":"The left gripper stopped just above the empty-grip threshold, and its closed finger sits against the turquoise rim in the wrist image. I’ll lift a few centimeters to see whether the bowl actually comes up with it."})

tool

executing move_to over 4 steps (0.4s)

step 291

assistant

agent noteThe turquoise bowl is still visible at the wrist after the lift, so I cannot yet confirm a pickup. I’ll move a short distance toward the purple bowl while holding the pinch and check whether the turquoise bowl travels with the arm.

move_to

left_y-0.2450left_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5091, 1.7378, 0.9905, -0.1627, -0.4202, -0.3416, 0.0411, -0.1116, 0.8082, 0.5755, -0.3595, -0.139, -0.4461, 0.9963] state[eef_state]: left_x=0.4092 left_y=-0.1418 left_z=0.0673 left_yaw=0.0282 left_pitch=-0.2415 left_roll=0.1071 left_gripper=0.0411 right_x=0.2946 right_y=-0.0048 right_z=0.1681 right_yaw=0.2328 right_pitch=-0.0408 right_roll=-0.2733 right_gripper=0.9963 state[joint_eff]: [-0.3897, -10.3316, 8.8821, 1.4676, -0.3248, -0.022, 1.033, -0.1299, -1.4154, 7.0496, 1.7998, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.245,"left_z":0.16},"note":"The turquoise bowl is still visible at the wrist after the lift, so I cannot yet confirm a pickup. I’ll move a short distance toward the purple bowl while holding the pinch and check whether the turquoise bowl travels with the arm."})

tool

executing move_to over 10 steps (1.0s)

step 301

assistant

agent noteThe turquoise bowl stayed on the table while the arm moved, so that pinch slipped. I’ll try the central purple bowl instead, centering the open left gripper over it before attempting a low grasp near its narrower base.

move_to

left_gripper1.0000left_x0.3900left_y-0.3050left_z0.1000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7345, 1.8645, 1.5108, -0.6529, -0.5259, -0.5476, 0.0413, -0.1116, 0.8097, 0.5755, -0.3637, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.4078 left_y=-0.244 left_z=0.148 left_yaw=0.0097 left_pitch=-0.2548 left_roll=0.0926 left_gripper=0.0413 right_x=0.2941 right_y=-0.0047 right_z=0.1669 right_yaw=0.2331 right_pitch=-0.0462 right_roll=-0.2717 right_gripper=0.9963 state[joint_eff]: [-0.4718, -9.6342, 9.0325, 1.0867, -0.5348, 0.0708, 1.0134, -0.1436, -1.4017, 7.0085, 1.7753, -0.0855, -0.0366, -0.0171] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.39,"left_y":-0.305,"left_z":0.1,"left_pitch":0,"left_roll":0},"note":"The turquoise bowl stayed on the table while the arm moved, so that pinch slipped. I’ll try the central purple bowl instead, centering the open left gripper over it before attempting a low grasp near its narrower base."})

tool

executing move_to over 10 steps (1.0s)

step 311

assistant

agent noteThe purple bowl is centered in the left wrist view, with the open jaws straddling it. I’ll lower the fingertips toward the bowl’s narrower base, where its diameter should fit between the jaws.

move_to

left_z0.0050left_x0.3900left_y-0.3100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9066, 1.9312, 1.2549, -0.2016, -0.7017, -0.6334, 0.9949, -0.1116, 0.8101, 0.5755, -0.3641, -0.139, -0.4461, 0.9963] state[eef_state]: left_x=0.384 left_y=-0.2997 left_z=0.0949 left_yaw=-0.0111 left_pitch=-0.0599 left_roll=0.031 left_gripper=0.9949 right_x=0.2941 right_y=-0.0047 right_z=0.1667 right_yaw=0.2329 right_pitch=-0.0469 right_roll=-0.2711 right_gripper=0.9963 state[joint_eff]: [-0.335, -8.9641, 6.3385, 1.6532, -0.442, -0.0122, -0.1294, -0.0615, -1.3607, 7.0085, 1.6972, -0.0855, -0.0269, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.005,"left_x":0.39,"left_y":-0.31},"note":"The purple bowl is centered in the left wrist view, with the open jaws straddling it. I’ll lower the fingertips toward the bowl’s narrower base, where its diameter should fit between the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 317

assistant

agent noteThe descent stopped at about 4 cm with contact feedback; the wrist camera shows the purple bowl’s narrower lower interior between the open tips. I’ll close at this contact height and check whether the bowl holds the fingers apart.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.91, 2.096, 1.2049, 0.0818, -0.7456, -0.6418, 0.9951, -0.1116, 0.8108, 0.5755, -0.3649, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.3988 left_y=-0.3119 left_z=0.0431 left_yaw=0.0183 left_pitch=0.0082 left_roll=-0.0102 left_gripper=0.9951 right_x=0.294 right_y=-0.0047 right_z=0.1663 right_yaw=0.2331 right_pitch=-0.0484 right_roll=-0.2709 right_gripper=0.9963 state[joint_eff]: [-0.212, -6.7214, 4.0821, 0.4469, 0.2662, 0.0562, 0.0024, -0.1299, -1.3607, 7.0632, 1.6874, -0.1245, -0.0513, -0.0171] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The descent stopped at about 4 cm with contact feedback; the wrist camera shows the purple bowl’s narrower lower interior between the open tips. I’ll close at this contact height and check whether the bowl holds the fingers apart."})

tool

executing move_to over 10 steps (1.0s)

step 327

assistant

agent noteThe centered close shut empty inside the purple bowl. I’ll reopen and offset toward its side at the same low height, so one jaw can engage the wall instead of both entering the bowl.

move_to

left_gripper1.0000left_y-0.3650left_z0.0600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.907, 2.1101, 1.2049, 0.0837, -0.7498, -0.6445, 0.0087, -0.1116, 0.8116, 0.5755, -0.3668, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.3995 left_y=-0.3095 left_z=0.037 left_yaw=0.0256 left_pitch=0.0033 left_roll=-0.0008 left_gripper=0.0087 right_x=0.2938 right_y=-0.0047 right_z=0.1657 right_yaw=0.2332 right_pitch=-0.0509 right_roll=-0.27 right_gripper=0.9963 state[joint_eff]: [-0.294, -12.2598, 5.6137, 1.3651, -0.232, -0.0171, 0.6129, -0.0615, -1.347, 7.0222, 1.7021, -0.1197, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_y":-0.365,"left_z":0.06},"note":"The centered close shut empty inside the purple bowl. I’ll reopen and offset toward its side at the same low height, so one jaw can engage the wall instead of both entering the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 337

assistant

agent noteWith the left gripper offset, the purple bowl’s outer wall now falls at the right jaw while the other jaw is inside it. I’ll close on the wall and check whether the fingers retain a meaningful gap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9756, 2.1956, 1.4567, -0.1387, -0.7876, -0.7307, 0.9946, -0.1116, 0.8162, 0.5755, -0.3695, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.3984 left_y=-0.3587 left_z=0.0558 left_yaw=0.0284 left_pitch=-0.0048 left_roll=-0.0112 left_gripper=0.9946 right_x=0.2936 right_y=-0.0047 right_z=0.164 right_yaw=0.2333 right_pitch=-0.0577 right_roll=-0.2676 right_gripper=0.9963 state[joint_eff]: [-0.8684, -11.0838, 8.6085, 1.2479, -0.5006, 0.0269, -0.1001, -0.1709, -1.7436, 7.2274, 1.6972, -0.1001, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"With the left gripper offset, the purple bowl’s outer wall now falls at the right jaw while the other jaw is inside it. I’ll close on the wall and check whether the fingers retain a meaningful gap."})

tool

executing move_to over 10 steps (1.0s)

step 347

assistant

agent noteThe horizontal side pinch also closed empty despite aligning with the purple rim. I’ll try a different grip: rotate the left jaws nearly vertical so they can pinch the rim from above and below.

move_to

left_gripper1.0000left_roll1.5000left_z0.0850left_x0.3970left_y-0.3600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9798, 2.2024, 1.4601, -0.1432, -0.7864, -0.7307, 0.0126, -0.1116, 0.8165, 0.5755, -0.3698, -0.139, -0.4461, 0.9963] state[eef_state]: left_x=0.3967 left_y=-0.3604 left_z=0.0529 left_yaw=0.0235 left_pitch=-0.0099 left_roll=-0.0049 left_gripper=0.0126 right_x=0.2936 right_y=-0.0047 right_z=0.1638 right_yaw=0.2331 right_pitch=-0.0584 right_roll=-0.267 right_gripper=0.9963 state[joint_eff]: [0.1846, -12.7658, 5.9692, 1.2381, -0.3394, -0.0513, 0.7546, -0.0205, -1.2376, 7.0222, 1.6728, -0.0806, 0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_roll":1.5,"left_z":0.085,"left_x":0.397,"left_y":-0.36},"note":"The horizontal side pinch also closed empty despite aligning with the purple rim. I’ll try a different grip: rotate the left jaws nearly vertical so they can pinch the rim from above and below."})

tool

executing move_to over 20 steps (2.0s)

step 367

assistant

agent noteThe left jaws are now nearly vertical, with the purple bowl’s lip between their projected tips in the rotated wrist view. I’ll close once to see whether the vertical pinch actually catches it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0187, 2.9013, 2.6301, -1.5501, -1.4437, -0.4362, 0.9969, -0.1116, 0.8181, 0.5755, -0.3698, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.4173 left_y=-0.3365 left_z=0.0777 left_yaw=0.0228 left_pitch=-0.0189 left_roll=1.3596 left_gripper=0.9969 right_x=0.2937 right_y=-0.0047 right_z=0.1634 right_yaw=0.2333 right_pitch=-0.0599 right_roll=-0.2668 right_gripper=0.9963 state[joint_eff]: [0.3624, -12.6427, 7.9795, -0.232, -0.989, 0.2711, -0.0708, -0.0342, -1.4838, 7.1863, 1.7314, -0.0855, -0.0171, -0.0122] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws are now nearly vertical, with the purple bowl’s lip between their projected tips in the rotated wrist view. I’ll close once to see whether the vertical pinch actually catches it."})

tool

executing move_to over 10 steps (1.0s)

step 377

assistant

agent noteI could not securely lift any of the three bowls. Centered grasps closed inside them, and attempts to pinch a side wall or rim slipped or closed empty; all three remain separate on the table.

give_up

hindsightThese bowls are too wide at the rim for a reliable centered 9.5 cm parallel-jaw grasp: the jaws enter their interiors and close empty. A temporary ~1 cm gripper gap on a side-wall pinch did not mean the bowl was held; a short lateral lift confirmed it stayed on the table. Rotating the jaws nearly vertical at the rim also closed empty. Verify a pickup by moving slightly sideways and checking the overhead view before attempting transport.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0138, 2.92, 2.6308, -1.5497, -1.4368, -0.4347, 0.0093, -0.1116, 0.8181, 0.5755, -0.3702, -0.139, -0.4465, 0.9963] state[eef_state]: left_x=0.4183 left_y=-0.3337 left_z=0.0676 left_yaw=0.0297 left_pitch=-0.0342 left_roll=1.3726 left_gripper=0.0093 right_x=0.2936 right_y=-0.0047 right_z=0.1633 right_yaw=0.2333 right_pitch=-0.0602 right_roll=-0.2667 right_gripper=0.9963 state[joint_eff]: [-0.5812, -16.5812, 5.3402, -0.0855, -0.6911, -0.0757, 0.5495, -0.1436, -1.0188, 7.2684, 1.7265, -0.1099, -0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not securely lift any of the three bowls. Centered grasps closed inside them, and attempts to pinch a side wall or rim slipped or closed empty; all three remain separate on the table.","hindsight":"These bowls are too wide at the rim for a reliable centered 9.5 cm parallel-jaw grasp: the jaws enter their interiors and close empty. A temporary ~1 cm gripper gap on a side-wall pinch did not mean the bowl was held; a short lateral lift confirmed it stayed on the table. Rotating the jaws nearly vertical at the rim also closed empty. Verify a pickup by moving slightly sideways and checking the overhead view before attempting transport."})

tool

give_up: I could not securely lift any of the three bowls. Centered grasps closed inside them, and attempts to pinch a side wall or rim slipped or closed empty; all three 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 · 7.83 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, 0.7952, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.02, 0.7933, 0.6029, -0.379, -0.0154, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.6769, -1.5385, 9.9897, 1.79, -0.0269, 0.0611, -0.0611, -0.4444, -1.4564, 10.2906, 1.8681, -0.0659, 0.2076, -0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0d39a6b2f83fddd219fede4608f3542c3fface0969e3328e0258f3b64b38c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039eafc3c2d58365ae28532996412e67bd005fd3afaba7163e141c6e281f1e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7263bcb3c2618fd377946e250c413a9e50fd05d3ddb77afa74ac2704a09f19a0",
      "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 · 4.598 s

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

{
  "content": [],
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  "id": "rs_00603d911051d89b016ab42dae01c887d09a1de6aad0d6ef48",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC20F2QP4CnbWSCBYu5tVQtXplVd_tfFpD1ueBW0QeHwl-oLnmEFuGzbX_BZ4FZPPWs2PwJb50c_grPCno3i9a9w0FaKOL5S_w_osZ3hMCyUY1_FPtaKnp-dxZJEVcqyEsGgBWPZMNWQtF3D56oOFjM6YQvw6plYu4b2JIUbowWnBlU_QQt3A71MF-uDhmFRQbAUCTUHLDZxzHXhRU5eWtI9u907uqSgW3dSZkw7lH4gRH4ZvHFHztDKHQj9Ag3m6m56cA5BzFWUa5ona1TQKGKbxFg77fH9-Gm3bJ-Ys_fniIV3QsQne6z3wT3kTvcKP0z7fZoqlCVwX2cg6Pr0n50c7D9G7tqzhH_sg2EtbdoNrOCkLjkfPaYbfDRRlxNTG-USR5AmATd5oSrj3PiyKrGUzqj43G9NMlqZPIFbupALlSJmvui73-CLR-pVoXQuh2cK49iiWqaIYPNBCZtcaLSxbiQqFJU-xU3x1ihumZfqYndSv4mLyqyN1d8lm3m2dpeMoJzvltGAZmdXgEtFIEBeVwkzjiDXlpiwBJXuJ_3H4rboqUlhhcwQ9sKXi2GZ-FKHBFv2QpIydCoN7rAebGESha4Gj_sYJ6gvOBQME7eIMHX-6GC-CmfAaEs_hNCL8JvMkal1KxRkBxcZEbcc_1KpYeiEZaNRrhZ5tlqsElTbtGAG_tBosm1bXNuW_JhnZMWyUSOFzXkHUZFyNQp902fWIbqSUPuepL_HKNF9E3snbW7nmcciz9ZLcQ7WvVHu5xtv0T3Sbapjkal16nuEFIUHZaAkQWrqlr6iO9VhyKf_kEP2o04Kn1DO2rOLhb8Ob_qI29fs34rYiYbVvCdgPrPBHp4HNPp8UEDd_qfLWBBBm5JhEvPDuDdnklsRehypEGof-rsr6MyRbFHzAf2yOrowFyRKma_sez2NQkQRJ-V9h1hizEmmhPlOynEPaWQYxmFOxDpcHgQdDCEA5OUxTiLkRhFuNECvWXzC2Yyj1LFqS5WoVMSSkieKOBrxfrZavAmKUb3AcoK2PEOcU3KA6HMGCAdFtkzG_wOSA3Vf7RzT6rnwPcBDvGCvEvSq0rl6ouBrYAGfi7CFsumPPXrgMgHP7Z50Z82By4y-vhJGvIJx-SUG9qHz--yzfqaGvjiGTgSc33RYfxF8uFpYXsmw0Jb9PqecXI3UsrMJzWcBHSg_FyJ7V09zaYbwdilDwv-gIrsN",
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.14,\"right_z\":0.15},\"note\":\"Three separate bowls sit across the far half of the table, with the pale bowl nearest the right arm. I’ll bring the open right gripper above that bowl to line up a pickup.\"}",
  "call_id": "call_BJ22zWbO79KFfNquMhgC26E5",
  "id": "fc_00603d911051d89b016ab42db3f5cc87d0ab95bbbcbebbe5a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJ22zWbO79KFfNquMhgC26E5",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.4812, 1.4788, 0.8474, -0.0731, 0.3668, 0.2218, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3894 right_y=0.1359 right_z=0.1267 right_yaw=0.0433 right_pitch=-0.0801 right_roll=-0.0402 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.5521, 7.2547, 1.7705, -0.0708, -0.0513, -0.0171, 0.2803, -6.9402, 9.0598, 1.7998, 0.3248, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53306908a744b838e7db350a27d763162f94d4531d5a612c403da7e0e3b45f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345945a2902f5c4ff5236d943f6febaae30d2cd3bfc5c16fbae8d1c668fd3454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff6b747b3ce3eec94218f8dcf5adc1c70c64e01276773ee13082c2a4a25dbc0",
      "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 · 2.619 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, 0.7952, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.02, 0.7933, 0.6029, -0.379, -0.0154, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.6769, -1.5385, 9.9897, 1.79, -0.0269, 0.0611, -0.0611, -0.4444, -1.4564, 10.2906, 1.8681, -0.0659, 0.2076, -0.3004]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.4812, 1.4788, 0.8474, -0.0731, 0.3668, 0.2218, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3894 right_y=0.1359 right_z=0.1267 right_yaw=0.0433 right_pitch=-0.0801 right_roll=-0.0402 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.5521, 7.2547, 1.7705, -0.0708, -0.0513, -0.0171, 0.2803, -6.9402, 9.0598, 1.7998, 0.3248, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53306908a744b838e7db350a27d763162f94d4531d5a612c403da7e0e3b45f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345945a2902f5c4ff5236d943f6febaae30d2cd3bfc5c16fbae8d1c668fd3454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff6b747b3ce3eec94218f8dcf5adc1c70c64e01276773ee13082c2a4a25dbc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC26yWGRIHn5RdHKuYvvxgVhG_fe_Cblb9Gra4TXrFzGUL877ZEXrl-rYENOZUNUuFDkoXCfevXaO7MR7xtvcdyTePpUJNZi0bWyJCuYa68tUjTS-GY3kOmQ3wy6DDaL5kAPLTpk2K5XlnlhZHpAPxCk0V_KRVjzpP0jgQu7YqH1KPOtpRyiZikORPEK0pgH0QtSoHs7Zbucs5ZM0rCKA44xh7DthH9IQ61ASrnu5k6r9Z2JIvNDSQNg-n_Q_gH0BE33ebbQ5XNdqMqf424Eh0YgvOHBuOoM27aWu-5gYoCn_ILbXTM6WGWIXtuujEKZjJaSvIhUYbtrW86EB9EqKTchGFTWu8gPMz9W4P5hMUQ-gkzGT6V7iTPDo_0FwOi0xH2PmpDb6Cl6EUnEfFjUC63dj626xNKh3cxlVroec2WNsKB_P1iJuDjUsBaiLBzok1dVVgf7zPFZ5lIAVDHT3cG5QMMpmiPH1YOSjiyxf3X2PCWvQnVxUuPpV4vJqtX5NL9PD-j_CY8-OOepPcdaSwZhTIAzLAHDUxECXQTkOVGoZqMVxWipncTE4QUMM_wPgvfohN3TZnDvBbBHYEY0u-d8M_LXvpcq-eG6M6A-Bd6hdllUr-aavKv4fvrMMQTAtMnJ7jhUjoS3oJRJxYw96uKr6EUib90IvPz74E7NhuE69JTwk2SCcHA_ihkE68_fyv8MpdzmCEjaB-ldj-vSWaBJyQ5Y1w2AwJGqBvf7VK-cJe71zEQykq-YRaT2_vuBbnLsNQqriib6SuGxr4lmGtcI0g4t1IVxSBkD-f329vfGFYlba6UEDhV7fv7BJ4EF9An7DXeD75OvuiVH_bY2xzh_4J3J-i2aaOnuMlPA757hn36WEJ-Oq5SonD5XM5jB1z3I4ciboVrUlEYfN0siw0UGwkjlkERUCwvLEQJn24y-Pf5bMNE8r4rNVcrZLW1GYtbS28dB-QBeV9UuVeg4qmNRKKU4RnGfjZ4coL9tYodjkuwgExE0jpnPS4MTjopyPq4k68eqB6V9JQBUwdmwPgsLzKcQRzTrD10uYtVTKxGLDepxngFwxBSCOukIQSKJOzSHjXhLx7x4Z2JX4QD4icr7xsw3u0PU89iWzQ3AA-NFLD26v_nkpnwmn1PaU5DblHQYPMl_uOBh8FW3rARCNWQDAHrA6CKJawnpPFyvCTq-6Yg7Bam4uLsA-woD6bqpwNXlahhz9W7NQVqPos0ACAlW1PGqFpgTAsxUUTjUpZp3uAHL_bIU4P-MWhK4XARXFHcf-pTRlITiqOBG0IX2D_bZj_9h4YDn7gC4OHYWNgex5GxRomLeqyrGjRuRZYq-aM5Ax3X55gaxQE_owszodBBtwd_TUAm54Cs6E1DnRLd0lvtSU5Z9dk3uLV0xm6B6Wcpdqig8u9MaLyQzIXeQ5QS_DieZxwHb8IK7hYyjbB4hAQRgwo7rPZl6eepXIZHXB7QyJ0F7p6G1g1KdR8t99Qq8oEKob8Jnn_9fo9o12k78wYPevHtHojSmFva_dT25n4W1jBJsSjywyfy-o8b-bg-JgDgUkOm3604rLCBf-6ApLsm4CdN1j1FY_-zOYOWtmxqv1l9TPhHMy03UfV5fIsEJOIlHDAlpifWQDpwMccM-KmjVZBI17pB6H1FzGEsjAO6JSUKfH0hteyRrnwq6pOqkaZSjME6VgwHNJAqHXeX9SmfuQuglhxm1qu7iqoCbb8GgB3Mmgfa0XqsVeQH_d3JQwjVEDrT_I_I4XZ-8cTtqSy6-niu689NelD7zXerRgrTmrKeo-SVeCxgGbVcYux_2e83BOilLEZrc20m1leJQncdZdb8_zlSPczADt5LZtaq1AqgeBM0I-fDBmXwsMOGyPWmyZ9zlBC2n5FyBcBICQijfjVN9hXrU7vdGxbRRr4bHrL860SXtfdQVlahR-vSUhsJEDouhdwgwJ2_6OPbu6uEGWsyddv2Pno0IoVd8e8_3NeOPkGLcn_wd2SGqvh51_r99oi1d22lQ7JVZx8A-TK9u4QywZyF0jNM65rUWMzhusZVYtCPZIrkowBTdv-8hwll0-o-iObWwazForlvho1yTQpP1k1Uwfh0fGVixeFenPUPGQhBIhgJQrdbWcn_8jJcui5G0KN8FYVqSr2EY-Y6rPgQ5dOLOaepPL-iVkg_2bAfCbGj_htvx07Tlvo42HJKbrX4UCRT5Eyoj6Rq2UTJyJFajsDQI87_ebiAXBBm_Z-6wWBzPqFpKsFAOGy1nuwJbLGM7XyF1HUXq6EMZIq3-Uja7-q2M4NPkD9cruwn_mLmrchra3gCLu2JXP86w3J_Xd8_R7FumbUcTKWHHWF-BilYINY7OOtIWi2YAg0EvDJ0CMBLUK2ei1fjg3Ij3vCk2G5DPZyUUb-nmF3AI6jT9k7ZwvFXrYC3aaBUagTzyzUeThBxZT445qg8djWnSoKimInTro3iLc3k8Nm_KFccpTA4UxhWOwj82_iYEXcKe7T1Hv9U_GDY_C1-1Ht8XwvTr_8Pc0cFGbStGVBQvSG33Zhwa8hHTjTF-Q-WorGp8qIDGE6cPORJ2oK4v-Ie8YhlDFXMlDbQFNQc5xLD9Wsdn-oumcSScZlMNnnkPVCqSnQxuSFAmWXbRcacU8-KOl-8O_sc7HNmwsi9gKeDbB1fnyaU3MRKO70U8xAjY-4FQA1CG5yav5qteaKZ2Zs6HIMBJ3tRDWKKKef2qSjm4fHQ=",
  "id": "rs_00603d911051d89b016ab42db6c6ec87d08350122dd1aad386",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.14,\"right_z\":0.055},\"note\":\"The pale bowl is centered between the right wrist camera’s jaw columns and extends to the bottom of the view. I’ll lower the open gripper toward its rim before closing.\"}",
  "call_id": "call_SqNSFLjWLSboQ4DqPOjKXeal",
  "id": "fc_00603d911051d89b016ab42db9b47887d0b708d7b3a8c9558c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SqNSFLjWLSboQ4DqPOjKXeal",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3878, -0.0227, -0.0261, 0.9995, 0.4812, 1.6817, 0.7288, 0.1585, 0.358, 0.2173, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3861 right_y=0.1358 right_z=0.0415 right_yaw=0.0482 right_pitch=-0.1644 right_roll=-0.0766 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.2513, 7.0222, 1.707, -0.0562, -0.0513, -0.0073, -0.4581, -7.8291, 5.7094, 1.8681, 0.2271, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fbb9e0430656852f92f145ad7ce7decd05eca6b0eaed6090d5c62b316516c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b93a99c7649c46312104fd364e2207466fbecb8db703fd5e681cd801c2022f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03b15e890cd40bf0bdd73b116b222553e06275fa15316fb5cc80b51e7836a7f",
      "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 · 5.408 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.4812, 1.4788, 0.8474, -0.0731, 0.3668, 0.2218, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3894 right_y=0.1359 right_z=0.1267 right_yaw=0.0433 right_pitch=-0.0801 right_roll=-0.0402 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.5521, 7.2547, 1.7705, -0.0708, -0.0513, -0.0171, 0.2803, -6.9402, 9.0598, 1.7998, 0.3248, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3878, -0.0227, -0.0261, 0.9995, 0.4812, 1.6817, 0.7288, 0.1585, 0.358, 0.2173, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3861 right_y=0.1358 right_z=0.0415 right_yaw=0.0482 right_pitch=-0.1644 right_roll=-0.0766 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.2513, 7.0222, 1.707, -0.0562, -0.0513, -0.0073, -0.4581, -7.8291, 5.7094, 1.8681, 0.2271, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fbb9e0430656852f92f145ad7ce7decd05eca6b0eaed6090d5c62b316516c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b93a99c7649c46312104fd364e2207466fbecb8db703fd5e681cd801c2022f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03b15e890cd40bf0bdd73b116b222553e06275fa15316fb5cc80b51e7836a7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC29qw9LPxZbmX9nav2BDMktdLgOTvWie0EbtmpCMVVH9Y2UdIDHSvVnjF6T81nogFxsdg_HHl4CvPWjaufclyJv9Os_ed2Tx8qyWPq7ZywS-AIreGrNVk_MirPiSeVIe91Nm5ThuSIWLPax-Qrpytlge5Tnnj1gioJcepLGNgOV8HNpQ-xcRPevAn8eWVUFxcSzRJI_TtjG1mHVuQEXrA8rWjFoOtWFcibroHM5FK0mA0ZwEnH49dp1n_F3e-5hmDjjl_hAmpPepfTvsd3AbCB6CoCW7YERx3nc0mfceWwkN6IbHzWGNW4bYoVD0cVVVixkPgnmsdUtvWib6UQrMxcgJGHgB8IUEy9irlFFUB4xU7q09wHbTGpoN4APOEGPUtyot5ImlzPvvkgFJuEUKQdOm1Q1UQ2eHnJViEyW_O5XT9O3rxvH_yBlZAhFQ-RUx9s7CIaZ-isZsXNEYRP55cjdCQ2W5G5pXxaTkdQkkYVdCdLpW28k7ARRg9EomdlQHV0ZkkUvrFys7JPC4PPI3FP7FZ6O1ZBDv552Aq19iA9MuPRcSD3DOmJS-GGQt6T7x4J357e_EgIfq5bQWvYIX11S2uRGY1gc0MNg7ziF7jjvtjNjgkfbj6TDTWg97CPdHEzIeVVQkm0NAYKIzGKkJgWTqg3ty5moauTew8tpBYtkqRK3wRTghj2AMOuXepX5PJ8hZ1ehfUuGVXDOaxQhAxlrx82r9CNZGMA7q9B6GRYCgVE6Dii2E9Ad_t4QPAiQmtGaj8dcSFvYSP5ysTDzPCb5K4wqhK2x0ECxDrEJaGuaL2jGmI_M77_e1DDISYsk8mtea-_fPlGGIOTKTnpVgrCYVsQ1GUzcW52UxewnYVPZ4fhxibjrFrQLcJZMNm5cQhkKHesiIRqR6IwIKb1ahxiZur1Ms0eDHpSCRlswnCsORfm0UHMPlVy3aP_XhPGmdsPAVsCTD-E1g5kny97K2v1-Q3Ir0vGjjRaRYBcnG7_wOSm8UzuSnfQ7b9feBJFWfMAE1ab3C_7AvFTHR-aRSvJV-xgcsHQzvrF5ktsTavMwjLQao9qiCjz3B1ypC6O6PZtgj-R-P4zDEW84nZgSI3HtKucMrzY1rWKPNv6qmlIuVzBB57zAcUE8gsGh7tCMw0eaxkaYdvHeKisNRMV3iscdQGXVRxEK-nxsrhX4qyXOb96spNHHPON4mQ6eV26EsmV2t_iuwHudO8WxBcb3zGQkubKYNKkzk0-cdyZcye6w-30sxKxklwXhL8UEkgKxM153nlDH8_HB627vbbS2aQcKq8fn6PxRa8KkNt_OD0MlFWS1exu8556XK6uffg4MY3rA0lFJ1cN5yUyH6hjTJciExJSMA-s8vWyB7EJ_7L3cVR1l2-k-pjZ2mQ1-oOc_6-k_unFTGu6dxgiqbVGk1Q7JDC7IYypVG2jhjlh4ZLa6WVBvFFqXXMEQySdw3HUNE4Eyq6oAuqw1oPJhRwbuWM2qo1NU_Om30YY75TcKLWGhFfgp3mjseugEJs1B5YI92YC-",
  "id": "rs_00603d911051d89b016ab42dbbe6c887d0a48b532cbf70f65a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now at about the pale bowl’s rim height, with the bowl still centered in the wrist view. I’ll close gently around its sides and check whether the jaws retain it.\"}",
  "call_id": "call_TE5pZKMCC5ZXtHQYCE8SuUZE",
  "id": "fc_00603d911051d89b016ab42dbcaf1887d0850d5a91e32ea797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TE5pZKMCC5ZXtHQYCE8SuUZE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.4816, 1.6962, 0.7219, 0.1543, 0.3542, 0.2092, 0.009]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0168 left_roll=0.0 left_gripper=0.9995 right_x=0.3823 right_y=0.1347 right_z=0.0327 right_yaw=0.0541 right_pitch=-0.1892 right_roll=-0.0908 right_gripper=0.009\nstate[joint_eff]: [-0.1846, -1.5932, 7.4188, 1.7363, -0.0366, -0.0659, -0.0122, -0.1299, -8.4991, 6.106, 1.5311, 0.2125, 0.0415, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64440b5ad1e9a31658059c6388a63d53d6f80ecbd2fbe17e3fe2a0d4563faaaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7affe159f352315ae606352ac4cf12e88e5c4431d530bcad5bf208f0d202853",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aecbcccc2907ffbf00fc9e82c72525c048105085badc8c57d2b5490a59268a",
      "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 · 3.944 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, 0.7952, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.02, 0.7933, 0.6029, -0.379, -0.0154, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.6769, -1.5385, 9.9897, 1.79, -0.0269, 0.0611, -0.0611, -0.4444, -1.4564, 10.2906, 1.8681, -0.0659, 0.2076, -0.3004]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3878, -0.0227, -0.0261, 0.9995, 0.4812, 1.6817, 0.7288, 0.1585, 0.358, 0.2173, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3861 right_y=0.1358 right_z=0.0415 right_yaw=0.0482 right_pitch=-0.1644 right_roll=-0.0766 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.2513, 7.0222, 1.707, -0.0562, -0.0513, -0.0073, -0.4581, -7.8291, 5.7094, 1.8681, 0.2271, 0.0073, -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 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.4816, 1.6962, 0.7219, 0.1543, 0.3542, 0.2092, 0.009]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0168 left_roll=0.0 left_gripper=0.9995 right_x=0.3823 right_y=0.1347 right_z=0.0327 right_yaw=0.0541 right_pitch=-0.1892 right_roll=-0.0908 right_gripper=0.009\nstate[joint_eff]: [-0.1846, -1.5932, 7.4188, 1.7363, -0.0366, -0.0659, -0.0122, -0.1299, -8.4991, 6.106, 1.5311, 0.2125, 0.0415, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64440b5ad1e9a31658059c6388a63d53d6f80ecbd2fbe17e3fe2a0d4563faaaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7affe159f352315ae606352ac4cf12e88e5c4431d530bcad5bf208f0d202853",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aecbcccc2907ffbf00fc9e82c72525c048105085badc8c57d2b5490a59268a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3DqdAYYBnW7SFomWkBItm56jsg5xl2ZUGR1rIVP_eoQ6IcJcZ23ASCVstgB18Ogsehs2EJaoAk8gaKrcWot-JqtO2zsPt0b5ID2Dw3tjeCWltJGhbMvcfG2xzJruLseYxwGLdMAx7fHUfFf1NNCezHFJ4jWLiT1utCX8ADBff0H0GrrT0d2CeXavyi51MjQW_05sascKwQ10JIR5G5I66d5EMIn--7DJfVftogfdOOdUwzryp11fa7B84fAf6YYiVj9R9iWqmWadVYWM1Oz_0R8PC5NQqU0lUyPJuYxdJX51ppUr2dpsDM6k8cZOipTynw34O4S7MWPqSYEIiaihJdqRaHWxUpsbh9kbbX-_GCkSjYDVPWddWnjuy4Rfxd9pbv6MwdpXaYtYigyJ-Q6YH-Umz5YWkz9z-KEDODU2wrRq7xd6TvzINQ06gV-Eclh13PoEUMHjSE-Z3fBetxiFQAQvYbFNLKenB1y1xmE6wnfVx2PiTRPynwG0HPecyzCMs0wMEs3r410EB0dkCf8Y7cp3a6rbwAebvuoSk5hHHQh8CeVtWFLroVEnoSAl9IB8FK-31H2uN_KQDepikGf6gRVqjt2QUmUuXvXKZQbBSdEkwzb4tcKa-vvpHDacyPSiCIJ3ScYDMwn0JZNLNBZ6uY6ZJ1DKc_V-LnWlurmFq6iMgyFDiE3W1o1ox7iw8HoGXrhA7cyoQ0BhLJJRTyjAn202sQz8jxy8BUu8VkVPNgWaxEyxzX35dvUllE10Dc9FoJLa-YCH8-uy4BrzPOShx5DjIx0Br9PQ0nwNFV7kZJk8DsGNz5M8avdLx-jmxCBuPXzktY2uEEVAFsPFTn2w_7elZjZs7W2H0wGrQVBJ1_j6FCA9xgVW5Km5v3thxZFtwSq8vD1Mb2Wkn3dUZUq0a-L4Pc-fHPvf_gUSUaAjapn5WkqdfWA8_7U0rpaEyxeGnPCKQ10SPQn0epSdSBY_fOiy2JJ8o7Wq63XQD_88UFXRFTTrtiNMyHqcV3NU5QNJHo-JBwIrx-bhMttQCXuc9t83tSahQ9jPjcoGdmQYT3AmYFDGvUd_gEeF7TrndR2vViSsTS9trvn1FohIPeTPH5-wHiKhoN9NK8HReFBgKqnzivwaAL0yqR88Ou7U-_aJA50WArmuvEFik00xnkLScf10c3AFfq8SU9n05_6_YTT7b1J_9LJHfsnUfHrPqROJWC1wPzqV2HtbGpL0uAt9jfAfIgb4TV0gt3bQ9XA-Stt6I6yJJ-nhi8uIlzCRej8uP57fwNKCgM7ZrfcOCBOVd3IPKxAcSYMlvD7MnvQ77rVd8DrrsLojNNR2REO-81otysMmMghMPBOdbElcZf9580tfV01mNCIvi1MlTugXeiaXi-xjZl5VTNvk9pZMr5rRtGpKFgQ-FGlCkE6BISgDZfmPaD2LzV_hBCrFHq0KSunqhBMPIPeBFT60inP14l_j4hZ1VCtvJLVzpfXNxf-9q_dOQaijr2ALSVAXO6zRkHeVI32YnnGoKIITnSUwshoCvMELWVSq45BiMaABr6UBlqq0Xer2gR-ea6FYIw71VUyb_w131YnUlisKg6jXM8lHpiSTxPB5zog6e2zm97J0csin1uLrw4OwaMlClWImY53p9bgyGOtHtfbx6TIW3IEby3URxF1Fw8vTnZk9mIwyXHeUEkZO9tFuNWskWr3OoM_uEaKNfFCaD-5o3rvJeza5z3HpeLFTV2gAVyofLdTiD3RzYfJxhKAKnw9x5Ihxz6TlNoQ_aTACwp7IL81TEy3wAwkiIUNa-wUmQuypSU69OugDYBYPfXQICSov_0bfbrASjW73piVJYMq6hc-ato8Zx3svHfiBq0q87BO9sbF-cFpv_kGjk0ynjL0ixJgIaLJMEjeXqJQKpt7aAKiWbXS3TxLjqFLIt27z4sICwYBRXFgz5H_34Iw_rNyPW-4KXFlJUjcGbwPe7z8AOlnq_S96CPO3UQF--OR40x66r3cLPuh6W-83DLyHgeb6I8HME9lRIgXcboMN47kG1D_4WxcBBhJuzt16KTzlwqMAuEFuZRlL1a9_GrzDtrVhs-hOnKeUY=",
  "id": "rs_00603d911051d89b016ab42dc07dc887d08ca5a36014e1fb52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.41,\"right_z\":0.09},\"note\":\"The gripper closed almost completely, so it missed the bowl; the wrist view shows the closed jaws inside the bowl below its rim. I’ll reopen, advance a few centimeters, and raise to the rim’s height for another attempt.\"}",
  "call_id": "call_2HR0lRjDxhZguv5uknVsYP6X",
  "id": "fc_00603d911051d89b016ab42dc2b3e487d0a2911b6819dc535f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2HR0lRjDxhZguv5uknVsYP6X",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4465, 1.6718, 0.8963, -0.0883, 0.3267, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9995 right_x=0.3998 right_y=0.1325 right_z=0.0656 right_yaw=0.06 right_pitch=-0.2399 right_roll=-0.119 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0051, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, -0.7179, -9.935, 8.8137, 1.5018, 0.0952, 0.2076, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff0890c39e9d9805ee50427cd1948211f6419499c4aab7cbcdd8b464bc3711f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0216a177fdce5bf03f2cdf83e4436721023ba8855623ef3d7426683d0cfb1a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7295335e29f983229cc0e433d7e7b2ad86fffb539dac06352d4fe113e3ec967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.414 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]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.4812, 1.4788, 0.8474, -0.0731, 0.3668, 0.2218, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3894 right_y=0.1359 right_z=0.1267 right_yaw=0.0433 right_pitch=-0.0801 right_roll=-0.0402 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.5521, 7.2547, 1.7705, -0.0708, -0.0513, -0.0171, 0.2803, -6.9402, 9.0598, 1.7998, 0.3248, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.4816, 1.6962, 0.7219, 0.1543, 0.3542, 0.2092, 0.009]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0168 left_roll=0.0 left_gripper=0.9995 right_x=0.3823 right_y=0.1347 right_z=0.0327 right_yaw=0.0541 right_pitch=-0.1892 right_roll=-0.0908 right_gripper=0.009\nstate[joint_eff]: [-0.1846, -1.5932, 7.4188, 1.7363, -0.0366, -0.0659, -0.0122, -0.1299, -8.4991, 6.106, 1.5311, 0.2125, 0.0415, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4465, 1.6718, 0.8963, -0.0883, 0.3267, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9995 right_x=0.3998 right_y=0.1325 right_z=0.0656 right_yaw=0.06 right_pitch=-0.2399 right_roll=-0.119 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0051, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, -0.7179, -9.935, 8.8137, 1.5018, 0.0952, 0.2076, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff0890c39e9d9805ee50427cd1948211f6419499c4aab7cbcdd8b464bc3711f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0216a177fdce5bf03f2cdf83e4436721023ba8855623ef3d7426683d0cfb1a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7295335e29f983229cc0e433d7e7b2ad86fffb539dac06352d4fe113e3ec967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Ih8qFldhc0Gi9Cwy_SIkwdGdF4k1PiULL8piQ15laNB84wJanlnCMu3E-qUHfnsbMR1R3oR9ZEnbDydw1tpf1RtEcv_MnSl0OoHu_WqchYq2Ndf9pq_-XyLV8l31AS4Golf2r62XKMAKuFe07pgrclX1Jz3HrV8XF15isSVbZPxXXMa5MSxudjEBH8ifiGj5Gv_M-DXxBSlh1ZSUXtvFGx3IRKr8rE2slQckct9MLItycHvMmQBV1MXhBhitwJE9oVD2qEhRuemNrgsoWp8O-cSTn7Dah4myRnMa8piSy7TgFHKqMz8WchU6e4gVzp5r-aMfNxGMLNydsP6eJUJ88OiLMppHkZwc3dK21wJplDjlNgBUg30jbl_QIu69AjtCW-FryBGxQWt8wcLCDsb0xTkIJ0reHSUP_gZs-FiVUaXai6nemGovfNvG0pBFYU5yVs1fpU21zB8PEL0-6m2-yb2exbsb7S6R5Qe4T1otEQdhY69WqgSArN6cKo9hoItL-3YW-3WPocqByrchpyTH-yyfcvMZQcPN5BSqZYrQjQa6-xlw1hzHpLXWnvdvXqYxUNiGPH4eJ2TNOQ68gpl-GsDeKd51KOTSlIbhzmJJIIbLMdCAdK8a3tnR4g5BBvr9KmMEWHfjvZQKD4iOA6v1vyuUCqTwPyWQKqy7WrLuFtsOfwSf5OUmc5fr2D9L3SxglpSdSMvtx6dGZXoCCc60_ncWDEPS0Wg7l4MRsfpoVNJQnrzGBvd-jJlVHKbJ95KbT75s-5_SQanDKdrdgPdz_t1wUNcl2MLUmgU6RkwZVlKBblRkrBqr8C8cn_3gexgpxyjr9mLFFma9TQCl35FmSWPVY87njEOvhux4M85cNiYA37N699fzvmr6mrSjMm5jMeD_wodHhVeC7busR3ptd5Zl0dqkJ_rJ3Zmy5wlTCLWIajCopvQO8RapUuKsuoXACxkceqYrHKhK2S0U8wp6XHg-y4-DhICx_zS0MsTlQ59ZlA3ldxMY-ZQlQC8EigO4-Ba_n9dHnlXNhEHuq7DwsOdCaHpAnIhyB3PUKVqAObCRfZKjXqvay75xQkNzsPlfANLry0Ofcqpy6Ss9MMBm7kCElCkc73ONdikJsZRZTj0CJvoTvSdCZ2fC8-FV66UrE9zxicWoyftpYTXpEPV4W-IcDbn3GWPHM4cM6k6IvaNeZesZ5jMxLnr1CEQ4prmXeT1HkLEFAunD-kIkHVK4uPBy7Ovj3K8NmAfmMyiRfJJwG5xujZxDPozlfIT_TUPMEJjdwQqN9AttUISwcCUst9u84P5jBFU9R834VAA1ZVR8WNKJktCiGD8wJnceRz6oeuAYhET8Dd8k_eP3_-bEiNgoNrKnPBe5s-ijVquw8Qb-pTJqm9Gh5aOYh2xEDEOY3Mk-eN4HcQnTdW-i4OXolOjv6ONraOAzhBOe0pXniMFATKR7_3DuNJy6gczaa7Et3LuEg8Aiw53Q7ej3c7CarzKAdJVWlCfpscQ6bFMCsVVge86WcfkMNDA3qeoe6-sVUlfdyDhtnywUHfx2eZuMdcOR7kTaI0_HC8AKjZYDut479IvYCDpb6o_i92A7VjM-mVZ-kcL5krapCRkNofrjaCtRsBHidQG5rNsoMRxe2Ht3uzIUBtkkF5kdVHnH9gqLj5bS36Ltsj6fcjCgAhYW-DzQimKGCYwbvawIZnb0G_-ErKz9iR4ZnHJ4tAWuVl23J9Mf1FOWbmlKpY88zfvwDUaeCTSqzJdvN8lIdDXTZZE3BSEvKOU_RbtIZ-TeSSs4FO1bcAiiH_C5C6oPBu63n_sI0z1AzwFdzlONzGw4JDPD4YGUbPcsaWv-42kRza8TUThoX3tFESZRxhpH95keXosy_-dA14H0plH4PjlmL0D1oVR3PrQ3MhUtc3cE90vlg9cf5lwDr7iWDpS0hvu7yq9TEtcenCf5AxJVsmClQvGs3ATd31wOG1-PaYnSvuwwydzj4TPj0FWBLoYFRQO_JXLeIpqbIrt5AoKUVnfdYcNrDK0XwjtZ-4xDLjbW8Xw26IhPZ0y92ocaPkaLgHvyfl_Ns_6ydfkkZcleivDWpvksLaTqf_vgxAeg05whW8OgWwof-grTxbTeH6c2LL2Zo9EbOvLtnZe6fAeQztZwUGDnc1ZqK9mFSCiLICpCXAg5ALOpT_6tl84fmDMrKfRF1HemjMF_MEjfsFsNXG860wbA=",
  "id": "rs_00603d911051d89b016ab42dc5c45887d08c54c0c946d5eb4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.095},\"note\":\"The pale bowl remains in front of the right fingertips, and the first close was below its rim. I’ll move the open jaws a little farther forward and higher so they can straddle the upper wall.\"}",
  "call_id": "call_Qq4C6H4BjlEWhzaMmS2N8qh5",
  "id": "fc_00603d911051d89b016ab42dc7f2d087d09f6ae9faea061bf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qq4C6H4BjlEWhzaMmS2N8qh5",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4038, 1.7435, 1.0645, -0.2066, 0.2974, 0.1299, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4281 right_y=0.1305 right_z=0.08 right_yaw=0.0609 right_pitch=-0.2709 right_roll=-0.1323 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.3607, 7.0222, 1.6825, -0.0464, -0.0659, -0.0122, -0.5812, -8.3897, 8.5949, 1.5751, 0.0659, -0.0073, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f624be4bddce6a15e81d0cfe508be4b2d03fdfc4309361578469267e3e53625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee3db6965e1f1d82bf2875c668dd78d8e5b3bcafe5d18d3fa3cabc1a3b3e321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ad69ab42c56c7dc41856b140a4f4da8d264447035da4c8e17d65c02baa2d60",
      "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 · 6.351 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]: [-0.0196, 0.8005, 0.6075, -0.3878, -0.0227, -0.0261, 0.9995, 0.4812, 1.6817, 0.7288, 0.1585, 0.358, 0.2173, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3861 right_y=0.1358 right_z=0.0415 right_yaw=0.0482 right_pitch=-0.1644 right_roll=-0.0766 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.2513, 7.0222, 1.707, -0.0562, -0.0513, -0.0073, -0.4581, -7.8291, 5.7094, 1.8681, 0.2271, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4465, 1.6718, 0.8963, -0.0883, 0.3267, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9995 right_x=0.3998 right_y=0.1325 right_z=0.0656 right_yaw=0.06 right_pitch=-0.2399 right_roll=-0.119 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0051, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, -0.7179, -9.935, 8.8137, 1.5018, 0.0952, 0.2076, -0.0171]\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 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4038, 1.7435, 1.0645, -0.2066, 0.2974, 0.1299, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4281 right_y=0.1305 right_z=0.08 right_yaw=0.0609 right_pitch=-0.2709 right_roll=-0.1323 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.3607, 7.0222, 1.6825, -0.0464, -0.0659, -0.0122, -0.5812, -8.3897, 8.5949, 1.5751, 0.0659, -0.0073, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f624be4bddce6a15e81d0cfe508be4b2d03fdfc4309361578469267e3e53625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee3db6965e1f1d82bf2875c668dd78d8e5b3bcafe5d18d3fa3cabc1a3b3e321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ad69ab42c56c7dc41856b140a4f4da8d264447035da4c8e17d65c02baa2d60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Lz17vc1fchktrX1byIvtzysKLKFNQz9qkIZmjP9t-3mqwggSdBnDv09-TsKK6tQwdyjGYZXe89JLB4pPp5CoFvBF7hFUv9vydC-oiDBu_6KURZioBsNRgIj-JlbCikw8FFoen8gF9onV711FP9ocQrUhYwZKNjLFw3j0Of-MjyVjDfrCfOVuaqYoQmjhzm9vEVl380AOJ2npU7BduA-_bf5u5zMEN9mTOfNTz3GtHfe5A06xwz0mc1aqy0IMbkx8uIcEsEuMaeKsAtdly_e5e318HCwIELrRZbIjqWGi5nIz3XWxGRCuuLoeEVqy5zpWpc206391muf9eu0rvqagmD1c1imjJzA5DwP5MEIIr_6ZjUuBWHiUHNYIT0gKHK--slC-MkSUbLGzeYI1_9-QAvamz6FgMuTYgwSCH1X0lmPMxiqmvBw_nFUdHhfyDDCX4G8GKMGyqLzy0iYs58lenOd0niQEqEs5OIuw4Ssf8moGZXcQaXvOFCum8LrHC8R7l-1pgp6X-0ptYJfvVPDgk-Uu3FLjrfGMiyFloAIeLtnnu1txZfSPMQ6cWx3Ss2K4kvXqtzYBMKY9SR-ZSwn0rYrWdk7lyadlsaL7-zWZGX9qMg6JYC2H37ZacQBOdX0iVUWSMVq8Lr1YtxyReaMWbKtcMX56Ly2du4KidPRlSNnLBF_2TfO7g2pzATS3DZXLhpbkSPN9DtRH6qhiae7x0Pul644YyS4o33HlfyE4eABk87oAeP7y8_Fs7mBSdr2SAWmpJu0kcZQWXzikiqQp6fQIJAVhwqdhWyZRdMMXSScAJVbN3AyOMtYja2KjuH_H-TFaZABwx0mhdWGCr0gpaq53AXLcuelStrBJPT2CWfIe7rcdwVSS06rRuGF7bDmunsiqeRyiKA1XIARpuiU33n1dnldIAqB4fGO5cpCfQKPBdqIMqzCAhFwqvWLrcpZUG9TtYEh7wgZfLIAKcPOpVQ2BHZH4hK-FeEegXXLbj84SDUPVnxBQAx4VqGQAZX6DjxHEe6-HYP2nhBnXMjlhQcQxdzThEmehjkK7KDB9i-61Jp13l6jHIWV5oz-8jA0OAhmmU8mG6bpCTOc2nLdaQJzpUIW2hVf_CdEac8-rr1hR1_qAvBbCE5S41k2f-LjgS2JZjJg-mn_ylsPKvXV1YR3du4QbU1ROuzbvD29DrPPy6PUp2TppZmTBVaKVmjPPCMi_CyFCmO2If3mkt54yUYqghcwocBDtzP0UGbZ8H4c7B7E3Gvf85gTzFQrEBN5NpTguTiEqwToYwZFQLrRbNMC5q6QBS39sAUGtJe7bpBDwqqUMUqyX7GeR59YFax9ZaO0yKIgUJqwNm3aWHssl_LlcQlTNr5CHld5MjZjUfrZ-KJnCbClV11gwT-BYpIEi2C52UAT9oJdPR5Tw1G1V99fIxFQsUjNDxBnZsYrhLKcbO-8Z4wNfAMq0xENMPxDB8tD0-i787_nAlr2Uo1I-w5CwPcZV-H_jjET1Yg98lHbgWjxLzAZMP_ItTg8rfLUqNCnZVe__tQDj2Ya-qJpVTA8ktNheZ17ygT3oC00fgMrdvxpHzcmMk7obUjm5DJCpGjkcKkKStG7JrUhbzwE0K7FseG1kSuudnppaoB1HcX3bLbdGedrM8t_or9NXKdEak",
  "id": "rs_00603d911051d89b016ab42dc9da3487d0956cecc15440a699",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl’s lip is now lower in the wrist view and centered between the open jaws, at approximately their working height. I’ll close once more and judge the grasp by the settled jaw spacing.\"}",
  "call_id": "call_A4pJtPSDoFufgivtwWCnPiQz",
  "id": "fc_00603d911051d89b016ab42dcac32c87d09a1ea2bf942880cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A4pJtPSDoFufgivtwWCnPiQz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3935, -0.0227, -0.0261, 0.9995, 0.4019, 1.7454, 1.0645, -0.2295, 0.2974, 0.123, 0.009]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1754 left_yaw=0.0002 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4244 right_y=0.128 right_z=0.0758 right_yaw=0.0604 right_pitch=-0.2948 right_roll=-0.1456 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.306, 7.1863, 1.7411, -0.0757, -0.0464, -0.0122, -0.0342, -8.5265, 6.2974, 1.619, 0.1148, 0.0269, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfb5c2cc62cc8eda764c4cac72ace1458a041b104a9b2f31cef0887fc8b9c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ac37928b2cd8a65d3c976dd306f8e3363c3b97b79adee3fd8ae787157d5686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41a2242dd955f4e24b8aec2a7a06788e05775546fb04b8aa825cf61169a97ef",
      "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 · 3.029 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]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.4816, 1.6962, 0.7219, 0.1543, 0.3542, 0.2092, 0.009]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0168 left_roll=0.0 left_gripper=0.9995 right_x=0.3823 right_y=0.1347 right_z=0.0327 right_yaw=0.0541 right_pitch=-0.1892 right_roll=-0.0908 right_gripper=0.009\nstate[joint_eff]: [-0.1846, -1.5932, 7.4188, 1.7363, -0.0366, -0.0659, -0.0122, -0.1299, -8.4991, 6.106, 1.5311, 0.2125, 0.0415, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4038, 1.7435, 1.0645, -0.2066, 0.2974, 0.1299, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4281 right_y=0.1305 right_z=0.08 right_yaw=0.0609 right_pitch=-0.2709 right_roll=-0.1323 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.3607, 7.0222, 1.6825, -0.0464, -0.0659, -0.0122, -0.5812, -8.3897, 8.5949, 1.5751, 0.0659, -0.0073, 0.0317]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3935, -0.0227, -0.0261, 0.9995, 0.4019, 1.7454, 1.0645, -0.2295, 0.2974, 0.123, 0.009]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1754 left_yaw=0.0002 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4244 right_y=0.128 right_z=0.0758 right_yaw=0.0604 right_pitch=-0.2948 right_roll=-0.1456 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.306, 7.1863, 1.7411, -0.0757, -0.0464, -0.0122, -0.0342, -8.5265, 6.2974, 1.619, 0.1148, 0.0269, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfb5c2cc62cc8eda764c4cac72ace1458a041b104a9b2f31cef0887fc8b9c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ac37928b2cd8a65d3c976dd306f8e3363c3b97b79adee3fd8ae787157d5686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41a2242dd955f4e24b8aec2a7a06788e05775546fb04b8aa825cf61169a97ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3SI2xmSvV8LwbtX-Zeiv7zmorkLkrA6-VNHDKxSe_wFHciCwd4l5-y3huWa5IajWy4OIv9nY1BBfnjrS5ZxyQCcvl20Zi_vqulYQNYNJYClaC5U3GFZudDH24fVKgtFClH46t4jEehzonYBfaFOVoAQ6_WBl5hBejJcde5kriWhgvMrUE3RszQkfnOcWaeLhlj0AWJrfreZfFoyVQ1dvKmu1cWeklNyM1rTXELJNNQZpezJIharEZtDavYPYBbi9644sMBdvt5t1Q_FceUiSkeD65f9UYHADYtu6hP4j7CGjV5zvmovJBQPAko6b0inlC7rquMrA5UtAC75UKuynP9T4bwXpLElcpQl_0d3IOYVHmCahLcsIiLhsNL6eSsk1f7LfbqdqNlNPi_IckskqQyRT6waLDY0EK2UT1oRH_IHEKDYn2zeTFltp3HcFLsBeBUDETAadkKY9nh17GclEmnkIO3_GxqkLvPTPmTcUgkaCYo_2aIcIuK7PdKSSJ93UHNRsVcOKZCBG0itjr4ID77WZCPtaZrFwSJCfc2LbL5chiqMmgeusYuzGsXp2aw_HvfJBa5P2NFTKstWgugE0tDrxY6azm2EKMSrwLrr-5skoBY02DLe-PbDMeqnGBSuipvqDOHR_krict9CU8_-YWA33E8XvezznPiht9Tzp4ezIeb-_Hgng4i4S1tdacEaconqhpQS0DWjsb88_2cjja3JW12Rb552hsLQMTW-9sjnFkFmI3XIvgpiQZHT80pHqBAQU-r2msWkbZpZTiqG-037dPb0hG-yNVxErlumCIhmpfCsATx_5CLkae0OoXKlnTfrT-asVGeEN6rP_ipjm9J9Tl4ZywXC0eSm9Qnh0ezzezp5IvalRL83NJLKDGMPO8D96rkhqF8PwnwILbGzXpqKBHjhpJJir6T5GM-0HLCRVuZ3qjJCxqx4xVIdZ3mfM3RBeABGkjX5zwu3DjcPTOPvJooQ7fHMDGOLZP4VahLsBrfha40bl3pAbPsuynhV-B8a3ebPDqgSPpZGehIXwg0uY9be1wl_ojTMxPB77NuWGaBMc7ZbRVjsOucpJKrsg-tvlvgFYf8HVM3gmZmu0EEC_1VdNbLYJ3vxgxxb12Vjv-wusEDNL-x1Uh5vmOtmYpLZcDE86MqeWPP-xQi4_OqbaYod1C4YmDyJj_NoATmDLBEB0AXnhkKgv3PIUfJUiGmyZCz7JsoqTnZWoe2VGucMlXuGsKp341DP1-77-LGmfAdOJJteN_9_wt0sbVU0bjDIzB1kjN9sXpS3MMe2tJu92x2B2Ztf65S1wuV0kdmgR-5IPDdYQgweqKNIkpIUj86j-br_WH02hM2yvIlMAaNcRFHmwLE43HEteJWH7sqsn6MMrhhSeK0RbqSGcQ7qN9SYIuiTHg-bIYicSCKgiYL_a76_x-OiEEFKuXSM_YmWTLbHR8uKVgwyDN0PYl_bFGyRLnZFr8owMC8_z8O43_ZNOBsQtSW-cNjLCRl7JOO1sWlXobg16uj7PtNaoFD1Ex8sdf-j-eI88QxW9txL5nHLpaOpV5nke4zvYyUa8VeGNwvoDU7Q9VmhfAQtExa2duTHyASNCQ1ah5YCqqaYRv1UPlkCue1eCXJmEh2KCsd7n6wOh_4Y16n8KRtzQ6h-X_ADN25ROovgBN3BLsZ7PBCPdET1wp5Q9DLH6Y1Q05vG_6cAhhcL95QE0um2anrqQPfr_hcCatktCEB1920FIvJskcmY1zEZN0LbnWVEX6Qw8EHSHP06TRjmKYt38Z7aZY8yZ3Goo9l75INlmEx5VhQ3ogDAPH4tyf86ulCQynwfIYi1aIWyBgRopxMCidROg-1RZtZb6cudByaCjUp4A_dsMNHHr0-f89cBzYnxPbtxYBbT_n_WmoeGzhoN6JS93Yl1_MWbzjnfocwiTm9LL7xKnih4zMwYlO8TMSImOl9b_qCkDYuG9IVGRv5w1fZeWgEHALyfa1pmtjfzFE0nKrHBLysv_PRwASzQ8ma2-v2gqRzlowlS2XD53yrQMBzh3YoU-d2atQRtfafXM0q2VWnPfTXf2xWDVh1rzowML02P-f714ha3Ox5Q0sKhPC_2_-RCO6NN-bxzKhChuoVFsRVIzziOjmt8BJ-SmCnmW-ei99M7w9Bwt-QLfeUK4aDg2iKktflj7j_Vso911mzSnY-7dxBPBbQIsuDH-GgDRgTkY2ibsjnmaW0b9S1K9hjtqAH7GK1Z71IHQWn8CMo2O0-DO_RcJH1lg2qzGfx0eZ55v3opPmqiFUwbokW6RpP3KLpqKsoD7vgit-t1-uoW3RR3Ig38hDjLM2mULo8z7ZEGznqXwIFlqyaxlWpJsogX7ScdiSF-nvgfZCUd0xa3rw8uUFIKPAHjovYsIVeTef6jTICdTT5zYh8Hcs1qqrBBVWMOf65MbQbgt0ZMqfJZh24t_Jo4kseTkPgYM1DTi-qDPNgx_PA9cXhtwwXSXDP6FlDbjC3ao2feKAR7790-IPrKJmM-9j57LjGDKYphBAh3UpXmXuoSj5LPLHFJTMuTeczFXQEhkTvtqu9Yt5VX5GwpdB9wYwvdPcguKtn7Sq18_Udhqwlu7K_AlOCkJHE_nA8xD_n7OghyWqB3PC8pkKrQSQh1ioqMTr2BApuFtrGsefTjtK8nHyAJMQ1pZsuro_GeQtCwE_dViDlCqYh-2uf1dDXWa2Q2LRLx_N4pJApezfv2I-ZqLa2wbeXyznuTyBxytN1dTPaMoXgw-rdh8fqED00vvgIerUHkF64A55vqc5Cj4FYyQT-FE-GYU-_aOqKOTBEt9xvSj6_sqHPXPXaE1wBreJA8DQJbZb5xUyCfsiKI72_QIZWAgWcLoM2ytFQc5t80m2piWSm69uOcZHJsE66GwAiWjwYUD7Y5VDNDcYWN7W4DLbJ6fLEMKQSS9jWYibV9YGVbZLG1R4a0T7e6LBsnJDtLC-ysludweHk7HGdVQMen0PXjrmeM3AzMgktuHxQXssNxHJydC-zj-8U39MopxfZ_hAYr468I8BdnzhiFDhgoBYzwN0u4jd8Ghk_y-hYZ2QLjqTrl7UAg3RHd9COiZ_hWc76nCtvXo-62jg0OX07Zl2ENkWztk5lz-imQ1qbIqpEL1t1acUgatuqP44euEKyGKsludd3Dh4ij5WxKeiAwgUgcNjVCOVmer2x-EIG7I5utbeuL-tl3V6didPaD_WoZfWmWSSByrTfk_ExV8cbGnKIXBLXctLAGAnTzkcmDVJ4Jjvxb0a-IZdxMoq-SSY-AG6fXhsDg3G-9FVAOdbBXQqdfN_0eoOPhIJDmfQGZ4k1AwlC7VfzLOoFK6L__FzetdQEC42Vat1CDgvf7Fy5YEmKkNb5p-yZrSoNT5mrx0N2BBYXL2eArvpCSCVUF1VyHK1qtSOtyPM28zRiePlVvxE6_DNQ9bU3P4CKCvI_-B_cIrTYD-sicYS62xolwIdkqIJ3ddjUNvhvsi4KreX5KfzOKWLmBlHsCaAkOhdJHkdGHrYI-23tieqse-QykRycXHuA2ppGMJFNGELMIiWW0FAegYTGEzML2mAKH8wvwjW7e_q_RTZb2GyAg1N_1dQBhDsk_dZZwaFVslOs5JGWm2dlsUFxv9FSpr7POPODjhIyGmMO6J0Mo2dE4OpkAuFHEKz7Q6JE0HBExvI=",
  "id": "rs_00603d911051d89b016ab42dcd3fc487d0b2b13e466833eede",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.174,\"right_x\":0.43,\"right_z\":0.075},\"note\":\"The second centered close was also empty; the jaws are passing through the bowl’s interior rather than catching its wide rim. I’ll shift sideways to pinch one edge, with one jaw inside and the other outside.\"}",
  "call_id": "call_MGUD2AOulj8i8URTpu515tBJ",
  "id": "fc_00603d911051d89b016ab42dd1fa8887d0af20066ac2a4d175",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MGUD2AOulj8i8URTpu515tBJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.0261, 0.9995, 0.5095, 1.8244, 1.1511, -0.2974, 0.3378, 0.1909, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.0002 left_pitch=-0.0278 left_roll=0.0002 left_gripper=0.9995 right_x=0.4187 right_y=0.171 right_z=0.0664 right_yaw=0.0889 right_pitch=-0.333 right_roll=-0.1557 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -1.5795, 7.2137, 1.6972, -0.0562, -0.0464, -0.0122, 0.1299, -7.4598, 9.0598, 1.4237, 0.3639, 0.1538, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f312c28861e6761b63d26eae6f118b3461c5690dcde69276d2d1b442cc9c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9952200efebd49b592f2e26340861a492edffeea4e76236ce9afaba920dfe79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a567877d6e44f570a98abfd473242da7e864978164c28ad75c6e7bc1c8e79430",
      "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 · 5.835 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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4465, 1.6718, 0.8963, -0.0883, 0.3267, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9995 right_x=0.3998 right_y=0.1325 right_z=0.0656 right_yaw=0.06 right_pitch=-0.2399 right_roll=-0.119 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0051, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, -0.7179, -9.935, 8.8137, 1.5018, 0.0952, 0.2076, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3935, -0.0227, -0.0261, 0.9995, 0.4019, 1.7454, 1.0645, -0.2295, 0.2974, 0.123, 0.009]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1754 left_yaw=0.0002 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4244 right_y=0.128 right_z=0.0758 right_yaw=0.0604 right_pitch=-0.2948 right_roll=-0.1456 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.306, 7.1863, 1.7411, -0.0757, -0.0464, -0.0122, -0.0342, -8.5265, 6.2974, 1.619, 0.1148, 0.0269, 0.6081]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.0261, 0.9995, 0.5095, 1.8244, 1.1511, -0.2974, 0.3378, 0.1909, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.0002 left_pitch=-0.0278 left_roll=0.0002 left_gripper=0.9995 right_x=0.4187 right_y=0.171 right_z=0.0664 right_yaw=0.0889 right_pitch=-0.333 right_roll=-0.1557 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -1.5795, 7.2137, 1.6972, -0.0562, -0.0464, -0.0122, 0.1299, -7.4598, 9.0598, 1.4237, 0.3639, 0.1538, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f312c28861e6761b63d26eae6f118b3461c5690dcde69276d2d1b442cc9c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9952200efebd49b592f2e26340861a492edffeea4e76236ce9afaba920dfe79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a567877d6e44f570a98abfd473242da7e864978164c28ad75c6e7bc1c8e79430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3W3KYjLQ4QF_lKqkHUWgW3OuYj_m99vcRtayBOCs_R2vtedLZh9vwHJHfOSvqdribPFhDl0ZZXgM_S2T0j7T_ACtL842HspnufMtNTLQZD6QSULbNtUXZvT8rmQD5Y0uBnZ6RyoUhq4vE8UOdGvkAMxDbFZCcaNeWwAu9f9WbOyOBy7g4TgbaNxUHpi8t3j7pcOznOVad_YfUqNqJkB9FAnavwDnHfKqa0CcbbMweTS4dnWb7NRX14nRAdEDu2hVKMikmBgOc5RC-ksri75D24v0sZGdt_yiUqugtldZPDwIR4ITegTvWShyevlrLZsqC-wwt_Fwd7O9Uf9hJ-YD9bZtvzh019TJDYqNpK6FQaF-Pau9NOiAxLWumFkU2YxSE90_2G_2hHnILcSJ3dEwHpBq-eC7gZk5cQhNW6zjoL5u0Jqy7FA0ZNjBeLQcRQMC96i6EW6HlVGea3hely_ien0LCrZigSBRfQv5t0wnd8wkRyIq0cwwVI0VGePb8gOtnkgd3II_VrwZBrufgeC53KxuJ6gSdk4p6Ga2gCQ0ZlN3jhssKjVyKTGG3-0UDiESyOHxqITQb0Nwl2AuVKsu94qRhPchJimq7o98zAnJNWiRL0o6IaZi3fy3sWsQZpY_BjJJVjervORK7maAJIBC9wOKjvw7WmqmOa5aGkZAvx2BbQ267c5sVvdYTwACmGA3jZq7loTPOZeVUDFgYUkfEeP2L-5gxzrEpI8TBCZvvN3g_McucV0kDSb0Ni3z4OlZqyeKW0DtLBFvSBPrfOT9qbQPhh14Ssxy6McqwHJvifJnR8doXqft5L8A_kcNzteMsBaF--NQyW96rDi_AYxJuMMAH8iWYlEKepMrWGBUTabMnz3go6MhdyWF7704j_Lg_fGS6d2z4ruRUNqrJ-bTJwq4iPzdzPrBtVXssE1RgeHVBC57Y7BJDrnMtGwxOwaZEO-_s0qpZp2NGPe1ORxB95ZeRF_UAKQQbDjJNrRmr87XiRZRkgwVezyj_KgDUCkaCkRT4VznPDDX_dJBGK9tx7LFfMMXMfOGa4Qwd0R9LcTnjEQv7LJUH49bn2sxWTlFpqMdWPrApOUYk0hXw1tX5vuoa6h7TmJSSvyvSC9qg7UbC5tFKVt1UecisFCs3slCIro-Hnrlxo9pCGWTD6lUMJkYeYPnhrBwr_MUPVqpiSom1LVWhI8_X9TzmACMXJWJo5mVyNcwxx-PZD3x33tldmG4PjJYAwvPs9cslWwMeFWXBg7q9YLNkeUf5U-XZC2oJ7TlpWUCcD0HfgtIJVbhQDHnrsUX_Fthgm1JrdNOE6pG50KxTrJABd0Mq9U4Jkg3g3_LicZW71g2R7Px9P8hMrqKmw9MyIxTJ4fHRfkV3ISBrQbaqbJOKgKuGSazGUFuDPM26ML1Y3PunAmGEtgjbc7O8FOzkqGfTD3MYiHDREz4ZK4y_dek4uL_a75O3kOA4rZhc-Vhbe1vbcb9iCm-W0pYmsqxW10-vrOIs_w_yz3E2HxTIePGx14MT3I6GcHe8Hkbj607sMsXLoYqYAamUWnw==",
  "id": "rs_00603d911051d89b016ab42dd5083087d0bf39a2578560a89d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the gripper offset, the wrist view now places one jaw outside the pale bowl’s near side and the other over its interior. I’ll close on that single wall rather than trying to span the whole bowl.\"}",
  "call_id": "call_FK86hgHFiG7mZSbFyqlTt8eh",
  "id": "fc_00603d911051d89b016ab42dd5cdec87d0ab8a477a7534b184",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FK86hgHFiG7mZSbFyqlTt8eh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0261, 0.9995, 0.514, 1.8313, 1.15, -0.3107, 0.3321, 0.1825, 0.0085]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0002 left_pitch=-0.04 left_roll=0.0005 left_gripper=0.9995 right_x=0.4147 right_y=0.1722 right_z=0.0611 right_yaw=0.0999 right_pitch=-0.3552 right_roll=-0.1657 right_gripper=0.0085\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.8388, -0.0806, -0.0659, -0.0122, -0.5949, -9.6615, 6.2701, 1.4286, 0.2271, 0.0757, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a956de871725bd03cee25b5ba74e80f2dede282ac4e523d57550fc348591e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698ffa588b10ae521c5865533c1d5fa76fa6d99789f6a4fde1f3b7669e32e679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ef3b4ae291f7328f58e425712ed0e7e7555618b1d1235e9fabab1f770cc481",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.68 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]: [-0.0196, 0.8051, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4038, 1.7435, 1.0645, -0.2066, 0.2974, 0.1299, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9995 right_x=0.4281 right_y=0.1305 right_z=0.08 right_yaw=0.0609 right_pitch=-0.2709 right_roll=-0.1323 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.3607, 7.0222, 1.6825, -0.0464, -0.0659, -0.0122, -0.5812, -8.3897, 8.5949, 1.5751, 0.0659, -0.0073, 0.0317]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.0261, 0.9995, 0.5095, 1.8244, 1.1511, -0.2974, 0.3378, 0.1909, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.0002 left_pitch=-0.0278 left_roll=0.0002 left_gripper=0.9995 right_x=0.4187 right_y=0.171 right_z=0.0664 right_yaw=0.0889 right_pitch=-0.333 right_roll=-0.1557 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -1.5795, 7.2137, 1.6972, -0.0562, -0.0464, -0.0122, 0.1299, -7.4598, 9.0598, 1.4237, 0.3639, 0.1538, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0261, 0.9995, 0.514, 1.8313, 1.15, -0.3107, 0.3321, 0.1825, 0.0085]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0002 left_pitch=-0.04 left_roll=0.0005 left_gripper=0.9995 right_x=0.4147 right_y=0.1722 right_z=0.0611 right_yaw=0.0999 right_pitch=-0.3552 right_roll=-0.1657 right_gripper=0.0085\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.8388, -0.0806, -0.0659, -0.0122, -0.5949, -9.6615, 6.2701, 1.4286, 0.2271, 0.0757, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a956de871725bd03cee25b5ba74e80f2dede282ac4e523d57550fc348591e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698ffa588b10ae521c5865533c1d5fa76fa6d99789f6a4fde1f3b7669e32e679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ef3b4ae291f7328f58e425712ed0e7e7555618b1d1235e9fabab1f770cc481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3dNv83MBLTdL0QM2Od6L8e5WX7BHm-iaa_YWzmpkuyX4eEn_eB0MLlmRz9fOBa5QATBSaciyVf5Qr2h35vvplnUk6_iSijNuXK7TRWnYcz3GJbECLH-qrvPx2DYQNS38S5XO6PWDCUJN-GuvZYusW_kR--rV-w6X_EYH67IhUaaEx7x2Xl7llF0ID3c5GdeBdACB_-tztOF6EF4R_XPJL2WUDyNEpbWQicRfatOxfgOfo0hctjrn2RHq8YSLVX2x-UEuJW0kfk4xCkRwVTtlrZsse9bScyq4CeR9h53u6sdCjK9b07d0IighasvFzH_mr-_6znNwFBXAyJNzEuDf27sSzVUesEkMdZxjo8uSkzySXCLBPmJQ_63jKCmYkLUUxFBVftZrDS6PJfEV-MLk1dXsL6RAATTTFcRccEuHjaaEsxofbxEIltJ534jJE779iHKhVu64Hh320abA0oyZpL_nrpIJdtt6GIRmqlACVb_PHqDGaIYr2TcNMKqqeVFDhyYWepcvDLjCAoqGWgXXXf29Bg9EuqZwrgFz3Y79VlyjD7N3scD6nOZAWDRcM2tVw_ITR6AJaWKVc-23fDHMhSY3Kqi0bffoB-LjfwBGxp2Ezqah3Yh79bQnMJnmPN4_Du_HVK-INfZwDOlLYf6nXd5eoOX0Pu1b8BLN2MMOZwnqfv1xE8ru7hH9M6vEv59w36d52QgiDaQRovCjv0ySYqbB3B12SqzvfV82sOpBtlpFZjg0ORvSxgvKFX-5HObLsoI175WYmIuBvBKloK1zwf4dTLX6w-2X-NP47CC2zULGntDvopZsrdkJ8vgK7GqyPR6VVsU1CBLZHOF-zQppt_XVB8tRhZ5u7UPel7LaqkICDqaFN1MLwd69wvRRJuGzs_9eOsIu129AyJPFju88K6xnJ2d2f5nRflxAPrxa1XaytxatIRXYIQJV8wpWqaEUNIYzzg9WSfTqAHNUu0m-3Y51vvwC1Mj6FVGYwHZcwJFcSe2JtO-PscUKGLdxd-tYGlHS3wRp93cubFnXHJFUPHaJXSGVtT3SuDAOaYr2fNzCtU3PIwGkg_3wnmKb9EnFnbN_KbyFlVcQmZ1EE2q9YwZ8Ime6SACi5vrEMwqap8JTaWxP5_QtzE9jkOQOhWfogwONjj5j8gGoX2FfoIPkFXwCtA9BhEsHVW-y4rzRAr3LfY_WzSh1kz2rq8q79w9eEi-VCCCBDDN6Yrj7pI7akiNjc8mC0lzKl9NwPaOPg4U2fzTge0vxE9zS-f_B_1weve2ArvnRGdwFtyYcRo5KfeeVO1qwwwu2JXjtlhEKoKwrUOPCoKr_ywjwUT5zn-fwBK4kM9YRsVpT4YN6Ktalq4ppbrx8WyvyKjxuZ7E1HwBD_WKG2PcbooKRCoSPlvObbu_BE5hh992anywb7sLyOWTYnduumI3uuwbpByInoTV7UvEqWagRDFFQ0TNqz09EWBMBoDWkDQdBZ8HwcNVtmKuFozy6MPU3ssvTjEsTpAZPocjEE2BXHJvgw_o-4j44094kzi3JNnng3LR65uAmhw961m026GQYTuwA886Je6dQhGqPiuhM4qXFN0TmHMOKpp_DGoztttZEWjVNRF7tOAfMYHxM2sW1i3jMbApZ9IrFu1NaVk3MmsbjUhVSN-BLvWHFtP5eu-KyNSqfKqg-zw9QTxfKquolLFPKifYQ6UHDa2v2_X09gS98ED2qX7Y3jUyoZCHMdtZoAWkwDy6P4Y8MHPGVLxamhIz3E9YBK-OnGVYsO15A42xcfvBW_27iStQfZyYMOwU3qHOaqZ1ZpxoDSTgvp2nTQL9j_09wT8GmQXAXldlMgHL5h8T4H8h7ois370eO1sB53I6K7V-o73tzF1yQ4dT9GXGGATlyZXplZqtBcIwK3ZANGwGwtd8L5CVGDbKYrVDq8b8ECK3NRYNbXtrnaD7Vg7DpTQIwp32DIWLnxUIzyzwS--nNqC66UjmqQPz5tnrCA2ghGSSQUHV8hu4EQ7FPqXJxwMnNkOkMXu_KbAGHWGFQgd0MmtZa-rn_dotw5s6icmYR9Yo4Zi9a98O16esG9YLY2TzRuwMAfVMb9j1hCsE5NlTTttsMjTAKX7LshczECgczMSHx12D7T90Bj-vXq89Or9XB4xLm8jAHKmFm4BXA7lTU2lieqoDA9j9u3pDuQ-gJ87rN2hYPJcKQustzYOmHq15Cc9a6AS4ubmzqPbDaDkyBHyafy1hcT8BX9j1f8HEXd2bpYZm8nEbEJ_54ZN7z5owN0sRVMLG7d3iKAI0KY5RwABlG_dG-9K8zj4srQ4JIqPpZuNBlIYRpB8i9QL5B4_Evf2onYSnteu_Mw2DxnbYM1MK7MHw3HH3w-3CaovW6OzdT8Z97bOeP4Oz3u6ERYIJ9S5BCM5HZagp8wkHV6sOO7PAlskn0rMDq5OhvBpE7F6Qjydgx7oltexZb5k-8q3N1JE2ScERCk_DRAMNf-W6g5v47nS1qbR6ilxPI5LmJT5lS3_i73KbUvCKbK3MBOZJ7fPyuJc4qxqyJK8r0ViyuoMPBZ3DOE14z72KhkSwKFQQVcLBniKeQ5ZrIpSoxUAgH9ygpfnCFGwp1q72o5mBcaGx4VAmBl8Lukj1IdCGSZHAJt03GVPF8y2_csf41QAyuKu-ZbexrJMo3EQz0BJU8XCYJIQJnZWfmxXcqk4csgRMX4cBwBGX_wiLfQKfzbd_Rrjue-RreGKyPPgmA2G4SR1VkJrZbPsVPLeHNR99oud4Dw33EYcg2RDUGzZnBfGfYEg-Ye0XrGa2KMaiIBv51SIQa66g4ai7A9f_7J9cJv0h0fnCu-OOR0GV4lgJ2xDT9FcK_cywjSDxm0MjnWi5Z_lan87EGTJgk97CUgyRBZ27x4BdgYQKmrq6F0wgkdFXTNNFheb1idhbEENycJu146iu81-oqUhbi4ltxl1Es7ivmjUWZMfcbVxAtOVMlmXNnn_C98pSLbntrqGW3yLGpG4911VSgzEFP9YW03PjovBmvp31X5M95Y5tJabjReOWx0wBjeNo-X3DLEbKkdUa_S6fz9E7lf-6z_DxHF-RnTG2lZMYQuiSZ3CLyAK8et51_cbu1wQ7iKnDgQe-_CgwmKeBj3p6gxoPfQ4P9fzwfLT_rzREMo09Y7QZMErRMgn3jjgsB2vmdeuUZSx4hnUhz2OMqOttcPXPviQLr1dXrla9jkHt5iqA2yyIz7PxpmwVUEYVPujM8fJ4W4v9cxfJonmbRKIuvTB2lbvJnm3ZWjiJIqP3PjyGm8tf7-EItNnCru1J6u8VbnKURPfP42TFahGDHBL-v2gw9bdyNclIjOhsRtnMe8kAFKqOueRPjSpzsaAgRSb8-iveUm5LhPgZQakzzSh",
  "id": "rs_00603d911051d89b016ab42dd868bc87d09472fb2e6148a518",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.47,\"right_y\":0.17,\"right_z\":0.115,\"right_pitch\":0.2},\"note\":\"That edge pinch also closed empty, and the closed fingertip still appears inside the bowl rather than at its visible lip. I’ll reopen, advance toward the lip, and level the tool before trying to catch the wall.\"}",
  "call_id": "call_o2tzYClAuZoXk8dIaWRRiqxM",
  "id": "fc_00603d911051d89b016ab42ddc934887d0963fd0fa5f526fc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o2tzYClAuZoXk8dIaWRRiqxM",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5041, 1.8256, 0.9047, 0.4358, 0.4343, -0.004, 0.9961]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1713 left_yaw=0.0 left_pitch=-0.042 left_roll=0.0008 left_gripper=0.9995 right_x=0.4601 right_y=0.173 right_z=0.1015 right_yaw=0.1304 right_pitch=0.1229 right_roll=-0.1815 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4017, 7.0632, 1.7216, -0.0806, -0.0171, -0.0122, -0.7179, -7.2821, 6.106, 2.1758, 0.3297, 0.0366, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24aad99eaf405815bf8a04c7c620af049b9e8865acc6cf3d737a046ab794b3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bfa5b4feaf55276335196e9d4fbfebf4588b7abca152bc03d86dda4850c941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffc6748bce3636bf1e639a56bc976f4d7da33210ca52d3f158dbdb500552679",
      "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 · 5.473 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]: [-0.0196, 0.8062, 0.6075, -0.3935, -0.0227, -0.0261, 0.9995, 0.4019, 1.7454, 1.0645, -0.2295, 0.2974, 0.123, 0.009]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1754 left_yaw=0.0002 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4244 right_y=0.128 right_z=0.0758 right_yaw=0.0604 right_pitch=-0.2948 right_roll=-0.1456 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.306, 7.1863, 1.7411, -0.0757, -0.0464, -0.0122, -0.0342, -8.5265, 6.2974, 1.619, 0.1148, 0.0269, 0.6081]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0261, 0.9995, 0.514, 1.8313, 1.15, -0.3107, 0.3321, 0.1825, 0.0085]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0002 left_pitch=-0.04 left_roll=0.0005 left_gripper=0.9995 right_x=0.4147 right_y=0.1722 right_z=0.0611 right_yaw=0.0999 right_pitch=-0.3552 right_roll=-0.1657 right_gripper=0.0085\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.8388, -0.0806, -0.0659, -0.0122, -0.5949, -9.6615, 6.2701, 1.4286, 0.2271, 0.0757, 0.6422]\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 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5041, 1.8256, 0.9047, 0.4358, 0.4343, -0.004, 0.9961]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1713 left_yaw=0.0 left_pitch=-0.042 left_roll=0.0008 left_gripper=0.9995 right_x=0.4601 right_y=0.173 right_z=0.1015 right_yaw=0.1304 right_pitch=0.1229 right_roll=-0.1815 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4017, 7.0632, 1.7216, -0.0806, -0.0171, -0.0122, -0.7179, -7.2821, 6.106, 2.1758, 0.3297, 0.0366, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24aad99eaf405815bf8a04c7c620af049b9e8865acc6cf3d737a046ab794b3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bfa5b4feaf55276335196e9d4fbfebf4588b7abca152bc03d86dda4850c941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffc6748bce3636bf1e639a56bc976f4d7da33210ca52d3f158dbdb500552679",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3h2Yr91W5TOtXD0eV4KQDer_PQeGo3wNfphmKzsPsmWNnXQcZXptqNFSA4-STTAZbaXMWccSXLUtvVokdNblY09KPidAUVW2NAkC2zyqg03al6mfQnoQXB7zSbbMnLfys_YlSe0tCxHSjcEPaC9tMh1W6Or4zhmvpKU12OHZxPO5khdQaDyQEn5NxUb-pHRzbExfil9RUbbDaKY-BvHc5AcWjFMCYuseJirkPeBHLArWc_YnWksWd9GP26HhMHkyJEo4kodRH4_kbDEltxbTLAmLaX0GOLApBzrZQ_q3fTUFexA0EWxmiXEX_nDyh8BLnD3FzTqfwE0ymLeC-RxdelF9ffogRMhEhNQeYgeXw1-JAibUnLCyHSK3CddJYCIiu5D71fP-3crUvHXgNriLClD-TSxaFdX6u93HomixmAI5I1fXgxYV3o4L1QF7v-Uo4emxCzN_iNsMx4tooNNGt37nvL_pNjk_FSSdhpwNBatEEmQ4688Sume8RXWuOz95-_Yb1AgicpfAk0chbNna2qx6M-ZLnudlmwv0aO3aRQ3HXwmwWEhV3HLx71o_lrBQF-EQlMQ6R-qqm5XsJMr1pRuq0BDEFiyxevJiu7zNfYk-TzpKuEjR8DMRJcwe50j1KBg1BS3LI29qf_cWWfKkeoplVCGq7WUeAKKP0rlzGPXd5ca5H-TqoFjNBMTS0OEFooQXZ-HPRJhjDLVhdqLqNQgFZpta_YLb1CALfbn7ydzpWN3BTam96enTYtUkJ_u40Z1UFQnzIKGHVXUGgw3nvtfbXBKCZZYLSR9_5ME_6tDmP11ARkLLxt6FDDhrXnK-0D0iug0cQxaOivMR9KgamKWo0HSx9Nb7RdPSHGC5-a0rqUAAn-Tw08G9XSFwqESaLuAfCpv4Kx8kdcRyS6Nt3eMLWxLCcd6A_DXIH05JTwKsK7iRr1sFWdpSa55n4-LAawuIgrXLLz6Vd9huEsZRaFi1-w-hdFglmpxLLVL4sUKuKfgoEX5cnH1lJJZYUR0Ft6rYMKcQ2E3HWdhm7EBSAkGNoGqIZhZ5D-SQJxCD5MYae_q9MTE3W5LNYrvNNEMiWjPOK6oRM3_bOjJUflN_1L9EhHoFb3wY2QMdGqwxE6qkJT-R6GEU9S04pEr0Y-scTGLyqcH8sH0O34Bw8TF6X0xnInxadbC42uLIcStRt_XrYMCR5ovAH1y7g-pnUNUdohkSCjqXTKh8yEBEbWA5ytGkeJ5yczX8IpYoGtdwJT_nCNQErLqGUBuLynUXc41knah8rkp8uu-jSpTIcxgyUIjE9rQ1FPwMHOu_skQaDB4eBN4ISSHToHZ8DiUKwvMw0wvubUg819aRQUwun6JLI7gWzXwQj7vdA5RfOryvYPhJltf-D09Wi44Q1B51EeVWLqf7KvGfqSTBkaerucn2zraQ==",
  "id": "rs_00603d911051d89b016ab42de06d4487d09ec2757394125cef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_z\":0.085,\"right_pitch\":0.2},\"note\":\"Advancing 5 cm moved the pale bowl entirely below the wrist image, so the fingertips have gone past the useful viewing position. I’ll back up slightly while keeping the tool leveled to locate its rim again.\"}",
  "call_id": "call_qOP1UfHP3a0cEfgSCQQjoeYd",
  "id": "fc_00603d911051d89b016ab42de0e66487d08b767f19806f10a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qOP1UfHP3a0cEfgSCQQjoeYd",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5392, 1.832, 0.7456, 0.6033, 0.4583, -0.0166, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1708 left_yaw=0.0 left_pitch=-0.0439 left_roll=0.0009 left_gripper=0.9995 right_x=0.4312 right_y=0.1711 right_z=0.0722 right_yaw=0.1521 right_pitch=0.1276 right_roll=-0.2027 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.0188, 7.0769, 1.7216, -0.0904, -0.0317, -0.0122, 0.1983, -7.665, 7.6513, 2.2589, 0.2857, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e17e119d3b102ab0ea231475778744a078b0916b0b30db85dc2f9815fd1178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbafbcc5c8b479dd3f801865643bfec4b233d7f366829f13b6dc9981211307ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7c89814065f0564a8080095f928bf7bf91d7f711f7eaa4cc6429461d7c1d7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.147 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]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.0261, 0.9995, 0.5095, 1.8244, 1.1511, -0.2974, 0.3378, 0.1909, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.0002 left_pitch=-0.0278 left_roll=0.0002 left_gripper=0.9995 right_x=0.4187 right_y=0.171 right_z=0.0664 right_yaw=0.0889 right_pitch=-0.333 right_roll=-0.1557 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -1.5795, 7.2137, 1.6972, -0.0562, -0.0464, -0.0122, 0.1299, -7.4598, 9.0598, 1.4237, 0.3639, 0.1538, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5041, 1.8256, 0.9047, 0.4358, 0.4343, -0.004, 0.9961]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1713 left_yaw=0.0 left_pitch=-0.042 left_roll=0.0008 left_gripper=0.9995 right_x=0.4601 right_y=0.173 right_z=0.1015 right_yaw=0.1304 right_pitch=0.1229 right_roll=-0.1815 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4017, 7.0632, 1.7216, -0.0806, -0.0171, -0.0122, -0.7179, -7.2821, 6.106, 2.1758, 0.3297, 0.0366, -0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5392, 1.832, 0.7456, 0.6033, 0.4583, -0.0166, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1708 left_yaw=0.0 left_pitch=-0.0439 left_roll=0.0009 left_gripper=0.9995 right_x=0.4312 right_y=0.1711 right_z=0.0722 right_yaw=0.1521 right_pitch=0.1276 right_roll=-0.2027 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.0188, 7.0769, 1.7216, -0.0904, -0.0317, -0.0122, 0.1983, -7.665, 7.6513, 2.2589, 0.2857, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e17e119d3b102ab0ea231475778744a078b0916b0b30db85dc2f9815fd1178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbafbcc5c8b479dd3f801865643bfec4b233d7f366829f13b6dc9981211307ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7c89814065f0564a8080095f928bf7bf91d7f711f7eaa4cc6429461d7c1d7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3nxXFKS5vrGszL6Ny0qj4IXKCLRaI3AKcb5azdbHJ-RWGjP6S3esZLHRYNHWSRMWjcV8UC5cNy4c6P7bQ9KlsO0by41Q8zhQp1ICNULBHBM-UErDIudWMrZbeSleG7Vf4dUayzSkwxLwZk-9miWV0UHyvc3zmT9tahI9dNwI7yoHtBBPBQnEBYcY_KNxIH6LwIVFQ1tDXpoqVL0nmfvh6IaE9mkYXa6JbUetFNZZfSrU0TyIJbGOBh22hAbAo2OVm_46tXfDMamIEV1-0Eyfk9u6fBHHJOIM2D4cO6paFWsVIFNuuvldmLaSn6YslDle3yK19rtFnWsjy-iuhpLkMnfwdxHfeVQKv_DCTU2lgdYWPvOg_jatKl3El9xd9S5GVycT5p3JotKpC3VYFkNmQOlKv08ULelhQqtiyRwFt8MPPq5qxyuyXg_hDMvOv_uR9d2kHVNIdn3F8e-Wuf5RVzqpLCZAYjWRV1Hf1bGnyN4cJt2v3AgQyeyqDtN_-MvO-lfvXDhmZQ3MlsNF-EoSh_DAGHE1V2isQTRGjCNDiVUOrEzTiytGqzpMa9R-phv6Zq9HNL_QzFD5YNff6Q0YPrzBhp7e8mc8APz90ouHWgMoqIyQ4SGSCIzWkN3dQoQ32zBIc_cD8qPwWqF3rnGDG8iRLHj6NYBwexiD8AVnhdwxEvRojHsBOArYCwo_GR18t4bHIck1y4o28Do8iX9FP4wWExIu-dI6bPkhOsgaPftu6o6XNc5TWh6HI6dA_o1nQ42QvF0ODr_jmFAl_jeK7pQQC7LjNn9NXUnc3B2_XTT2ha3dY7FLN73rA6Z-JiCbjOxhHz-r3W0I86f6Db2UB_aJTPXH-uPBtCVLW_8PK8lHAo5J48sTszY-M5PCHlXbYgXowe-3U8pGaEbqKAft0E5mV4IHEsjkV8xx-KQjwO2aoqLbPNjICxN9Jv3CMO6eaV6bC-HehLSY7xmmeXzXHd6hq5naeSsp26wXvI7Lo4UvbFe0FvjUIlqLPpAB51MNQlAIth1E_clWwdRfANUJjBkJ0-BCDw2ixPMi8comwvtjXP90e2Q1rkDPPv_tPZtX_5GFTIW29hSqNg4HjJ53AosiXmmJft4DqAzwUJyOmntyX-yH-ttNZyYQQDI7C9RPCjTr-BcwN-IGfehPp_CQuTUXmpOYtbg25XHJrTnGaq8N3Xkk3zaAvjoVeNXljCOyy_Y7aUwyrzqlvflFD7zxfPtcfsufZrR_ZJUZMe1NmCJmw1ZiO5owlFzxgvFyM32Mk2JZ0hZnXYc1g7sMVGbFcEGSVZkrx9nxnNCB-S8Z272ZO4VVIAHollcbiRi-Oy6KYRKPlBo4EYynSqmAxJt7wynIJWGuSPtgbxa-skf939DCSUi-v-C0Q55cCL2LHLohSGJwd182MS4VXajlp1EGkXq0EA48aKyldMyFN0uhocUvfKKY8SbwMUkc8EFmi1msM9u8FeK-HUPKkf629KGBmPd24FguPMUlEVg549F5atmqKqcZEUTkEeiL4LIIKanSMidnztT0vUu22ZG4ElzYC4OhYawZ4o52Gq_WziWgN14NswZYNjOx3bpRi_7yA27xEw5j8yHFTZy32-3d3FHHXHVGQ5fwiFariGTe4wakEpi6cNgTH3SqKeNDFCt6zGPebn4J_hmv7Hre2QD-nZrV-cL6OZMQoDF3T8fuZilOYfV_fG0gXJ06TqToTLs6u_YqOhgEEABwJTG6BCwJ_sN2OeiqmbjVRQCR9sfGLMA3p3VyY54Cq6_N1XCDzb7VI_zws2JwyAbgIFGABegSNYm0_B7JAhK1AhEJM1s5G1zQoPCaNaEtP4MH3rF2cRklbt3oAg0P4MIvQWi7UGmQso2VCpRXVYMyBkUKGumk2HSbWt4_8ZbxGhHNJsWREmNPnMlcDgz7vHCWJWr9fgtOojMRLeTvCTPPob6TazaGsQAPQIq3HxcIuXmJgUfV_YqncItYF6Rczw7XQvqsTx6647Rz2gvSHZk1Dy7OBbXmIoo66tTMua4gm5LbtuPsyzbnos7spSBaefxQXvCyjgj8PZ40OHU2E34qQz3pHG5p2gAKO33c6_QH7c_1AjVd4OiwpRebs3BOHrOdDFI54pHEh2DziNPYFZiy9_kjSNUbEMnw0rkzI2INHCKrJkcmvryPEkajuh4QjVNC0Yx244lpMg3-pkTw7nMDqs7cMjFLQQVt2OSYBcuMlxMvFf5F3hneLFOpKAJbPZfDBs-5jiGBTdzmZ2jZR_KFoKmRgX12Y0bSnxDQohGBBZZJS8kks0zoDqUiaFpZDYtYRecubImGI_sjf-SujnexWIW7x9FzU-OdmGSS41F6h45NGbodFn4bdmo_-9MQI1w1qd9NLGRXBeLI0Ye8yrKTBUvX3UHs0XDAx24lfZIub4jrCET2JMse-_-AY_OlZ5lIA_O0NaAlMpkPepbDstf82BbVHc9vEQf4T8sePzCD-zzgADhhHXecWnpF9BW_n5Ekf5g4B1bQWWI-Uf8aoJY3VTO4IeXiuJzovfU_fVtaNw9__iobWNJKeZ9E0ZJffUKRfG7apGEmpiyZm_pPmQKTpJsY7tKnxs_2XGw5QO1tw1ab8AzqRoO4W8rhUVbDS237dvSnm6V-FBvnfM1ZxogqjutWS9S71OjgkO6sAgBTThuTA96P5YXNy4lYs2eCGkqpFJoH5y6G7U9pSRQIQhFu3DaRjcBarM9PA5Bs7PNcQGTFkXYSzO6--s-2-4ImWdCi9wRD7ijzD-9kO5XXUMorcxHXYG9lZAR8WB4KPX4ekDWutnqj-o57S_WaPWydDQWf07eqnJ-fjXsP6O83dq354tZPx_jqWW5R5SolHUYqo-YWStT-z6gj2-9IRTRvmwxQpczLibBnpH2QNHA18I_a6e9xaID3YnvE7qlwkmhoNW0ov7rz_XXy22eZpwJQ5EsZVpnNwJpIWpjFMz2C3FJW4kSWZWvn2s19qpIZ558atvd4ZLnbe9CAmUAYTETxS1DMq0FD_FYUEjfWjWu29yih2wznDpQz9otAwjdmpp0F46fpfzLrNCP28IHK1bLvEjmsZYcEJfrl2YlpYFJHU8ARDbqPWLgzzakPB1F7wMkhG4Jy6KufiNtHuZNEX0L9regxxP0hzI3v3TR305COhRbgnM5xGxikVtHMo-XviSgbeqcSgjPDX4UsqJlxV0i3sRFhYvbSUniqm8B9OhEK3ANBN0GK67JEhLaOaezcwW6G7YWHScMQ8gzzA9a-mb0DE3GLpn8u-pkuyQ_gCkcL57KEpqcwrtsHD5fwZqDLfC9OzbrmoyAs4GV2PtiOJgJnsft4gh2jowkJhE6dTqeg==",
  "id": "rs_00603d911051d89b016ab42de32d2487d08b2b27cce677c2c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pale rim is now just at the bottom of the right wrist view, beneath the leveled, laterally offset jaws. I’ll try a single edge pinch from this new orientation and inspect the jaw reading.\"}",
  "call_id": "call_V522uI25KODc1pwW6oznRXi0",
  "id": "fc_00603d911051d89b016ab42de6f38c87d0981a3097c8fcb281",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V522uI25KODc1pwW6oznRXi0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5488, 1.8408, 0.7208, 0.6632, 0.4679, -0.02, 0.0085]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0002 left_pitch=-0.0442 left_roll=0.0006 left_gripper=0.9995 right_x=0.4285 right_y=0.1728 right_z=0.0718 right_yaw=0.1541 right_pitch=0.1532 right_roll=-0.1997 right_gripper=0.0085\nstate[joint_eff]: [-0.1983, -1.3333, 7.1179, 1.7118, -0.0708, -0.0757, -0.0122, -0.2393, -8.5402, 6.4205, 2.0635, 0.2955, 0.0708, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da54ffb24eb89b5f3a75fabd52f45d8830594b995718950d4600d24dbca5928a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f64cbef3ca7a8fd1804fd3c75546fb0ad5fd45f0a1cd46460594ff791f43636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b143b8b566a9e382f7ce04d937ceb42a1a841d2070d0cc97b639a069c30a05",
      "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 · 2.674 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]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0261, 0.9995, 0.514, 1.8313, 1.15, -0.3107, 0.3321, 0.1825, 0.0085]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0002 left_pitch=-0.04 left_roll=0.0005 left_gripper=0.9995 right_x=0.4147 right_y=0.1722 right_z=0.0611 right_yaw=0.0999 right_pitch=-0.3552 right_roll=-0.1657 right_gripper=0.0085\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.8388, -0.0806, -0.0659, -0.0122, -0.5949, -9.6615, 6.2701, 1.4286, 0.2271, 0.0757, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5392, 1.832, 0.7456, 0.6033, 0.4583, -0.0166, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1708 left_yaw=0.0 left_pitch=-0.0439 left_roll=0.0009 left_gripper=0.9995 right_x=0.4312 right_y=0.1711 right_z=0.0722 right_yaw=0.1521 right_pitch=0.1276 right_roll=-0.2027 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.0188, 7.0769, 1.7216, -0.0904, -0.0317, -0.0122, 0.1983, -7.665, 7.6513, 2.2589, 0.2857, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5488, 1.8408, 0.7208, 0.6632, 0.4679, -0.02, 0.0085]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0002 left_pitch=-0.0442 left_roll=0.0006 left_gripper=0.9995 right_x=0.4285 right_y=0.1728 right_z=0.0718 right_yaw=0.1541 right_pitch=0.1532 right_roll=-0.1997 right_gripper=0.0085\nstate[joint_eff]: [-0.1983, -1.3333, 7.1179, 1.7118, -0.0708, -0.0757, -0.0122, -0.2393, -8.5402, 6.4205, 2.0635, 0.2955, 0.0708, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da54ffb24eb89b5f3a75fabd52f45d8830594b995718950d4600d24dbca5928a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f64cbef3ca7a8fd1804fd3c75546fb0ad5fd45f0a1cd46460594ff791f43636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b143b8b566a9e382f7ce04d937ceb42a1a841d2070d0cc97b639a069c30a05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3r9bcwnOyKQ-fS9ZZMg93_9zjDhmyO9geyxKp7F0qPsqa-1VsV43TqNYgGkIU2swsYEC0N0EHxGEu38WusfJuVpQz65FpAZKmlr56mvoAP7ikwsEngoVbJl8xektPKOobU815kCbgZqlZyVeH7QzAmUfLJK4ZFMPuOk2D4HWV8rK5fwBzrjXns4TmROjhZHXqlJBcmHC7Vp3YY6l_pNDh7VJ4PM8lWhQyvR-C2d3F06LdYBoflap059mDBkUqBmRYOkjTQ7tpdD1QxoLHpJKTdOaiM6eR7sBcx1bpX3EkasMaESvtl9F-DDZ01diI73x1iy0CknmWM6kUxb9KtDu38HresBQSw6WdtGV2MG-GuqqVUoXhZDvjzGGuEW_k28TywRSIuWuiop5D5SDlHj--ZhXtkkM-_WCIy7XT-WRdA0vuE6-msSzDO3Du8ohX53sjM4-aY5XFo--0Lw6d04FBDg7bJZNAvxvMNzyi0zmbw4USSEej4v3412N2TkfXQapiOZCpY_nz8_z9s_uBhN_xQloLSDIplIlT5uqgoE-5Hrnh4cXD2ZLB2egYOpF9Vl-mqhHoqfM5H3dHhukNtfo8KPiyiUMmWWq2fQc4mEEJrR5_0Babj9MlNo78SLFOeaxaSTslJcR2R3-OaH2Wb8WtEz0MkAUswG-q5ZAEBOBAmCX6ORuZqaA_5HWNDQawxpth8NmeBO5ZMpTUqnczAj82L3zfTFr0Az5Op6BD0k2DCgRG-dZgogBwSDRxWcOdVgiHvFFtAJh2n2e48C4bQmUpegJrz6C6AP3FgbHv1IXdwlVXoHafYwY5qNMamqMQGLAWNbDS7yzrbC3Do53MWR6uAJos0brLgV7OFj6RW6RACGEeHNtYA8PBv5bPz2rBdYbCuemuSeduXbvFYKPR8gZ4oHfOvMamjQkhbcR-y9Rc213l1J9iTxg5pYN7vFphInAG8HEwLiGeu7GF2sF0Ifisa933NuOHeUE8BTjkwRJJN5QyTEYe2Q1PozrIQEqfS8mrAInukZLnz26gJ0dkryd12dvNp2n814C_YjXDBI001LHZGuYhQA9bBp-Bh8sfyHxhgWmA8zA-Ec9PxZrVdt4glDGVGd39BDTXX7V-zLT8uZg-u_xpbMM2kRwquMnV3VoGrz3MvFoqoXLjwFUdopIUtM6ba-dgBnEoiJZwX6xxNF0zTF4VpMy8k335NoXR8Fkz0TCF8BvaWL3H4fe4dDZTMFaJQlGjlKc2YdonI_JJpQOUpmB7qD8Tp6QxiqBy-5fbwhZSdl_4B7PIeyn1jLrYsjPwAl1RjopaRfmHZDtRGqHaO-alIjDLd2uCl91zZsEnZ5WfWi3zI221SfqSo2wtEj3gLUXnbTrB5xar2851yrL_Oq5AFY4ChM2hG5G-KmdcqGl13N5-DScaCImdn6UUXtZDjegyqkiuFIAR6bd4wzCjdo3jhnV-a7mhNTSVAmPXtl3vCAqzkT0eP8vhrR0fQmZLCkDgUI5hWCnAH548wW9pL8-YXp-IDcTP9ro6di_lhbXL-jM4_i8TNbeLcuMSbwUZaEDxhUuspqPyFuCs3HP0jS4ubX3_OF_-qEKkeajEDXP-mXJT-MIf5uwlUK1l9hJ--7eyxZy-TYnFIFzEPuVUyMU0k3K_GPn3qYkmhWsQcMKcAmF4HiAllk6Q5B7SGX8o7x1TsewFqCXFqw4unW6Fi07-R3nMF47eqKdeyKrpJ",
  "id": "rs_00603d911051d89b016ab42de97bfc87d085fda146e94ac331",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.12,\"right_x\":0.43,\"right_z\":0.09},\"note\":\"The edge pinch was empty again. From overhead, the closed right gripper sits to the left of the pale bowl’s visible rim, so I’ll reopen and move laterally over the bowl rather than repeating the same position.\"}",
  "call_id": "call_tXtr9lM4NWmiqYxhopLMmUQP",
  "id": "fc_00603d911051d89b016ab42deac2d087d0a2bf0a6195748396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tXtr9lM4NWmiqYxhopLMmUQP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.3988, 1.7382, 0.643, 0.6273, 0.3386, -0.0898, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1699 left_yaw=0.0002 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9995 right_x=0.4277 right_y=0.1205 right_z=0.0754 right_yaw=0.1502 right_pitch=0.1167 right_roll=-0.2118 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7411, -0.0269, -0.0757, -0.0122, -0.294, -9.5248, 5.5863, 1.8584, 0.105, 0.0757, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb218efb9173ecfe246d423fa89f78ef1cf2f868a10a377eee7f6a3a7bcbf971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6ac5caba23b806e9a7b437551f0e5b24b895b3bb927029d76c9de4f21c9f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd615d259470dee861858b4bc6a916b9ecceee92fad29a0ca86aa30400f0e71c",
      "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 · 4.119 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]: [-0.0196, 0.8108, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5041, 1.8256, 0.9047, 0.4358, 0.4343, -0.004, 0.9961]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1713 left_yaw=0.0 left_pitch=-0.042 left_roll=0.0008 left_gripper=0.9995 right_x=0.4601 right_y=0.173 right_z=0.1015 right_yaw=0.1304 right_pitch=0.1229 right_roll=-0.1815 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.4017, 7.0632, 1.7216, -0.0806, -0.0171, -0.0122, -0.7179, -7.2821, 6.106, 2.1758, 0.3297, 0.0366, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5488, 1.8408, 0.7208, 0.6632, 0.4679, -0.02, 0.0085]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0002 left_pitch=-0.0442 left_roll=0.0006 left_gripper=0.9995 right_x=0.4285 right_y=0.1728 right_z=0.0718 right_yaw=0.1541 right_pitch=0.1532 right_roll=-0.1997 right_gripper=0.0085\nstate[joint_eff]: [-0.1983, -1.3333, 7.1179, 1.7118, -0.0708, -0.0757, -0.0122, -0.2393, -8.5402, 6.4205, 2.0635, 0.2955, 0.0708, 0.6129]\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]: [-0.0196, 0.8162, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.3988, 1.7382, 0.643, 0.6273, 0.3386, -0.0898, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1699 left_yaw=0.0002 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9995 right_x=0.4277 right_y=0.1205 right_z=0.0754 right_yaw=0.1502 right_pitch=0.1167 right_roll=-0.2118 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7411, -0.0269, -0.0757, -0.0122, -0.294, -9.5248, 5.5863, 1.8584, 0.105, 0.0757, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb218efb9173ecfe246d423fa89f78ef1cf2f868a10a377eee7f6a3a7bcbf971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6ac5caba23b806e9a7b437551f0e5b24b895b3bb927029d76c9de4f21c9f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd615d259470dee861858b4bc6a916b9ecceee92fad29a0ca86aa30400f0e71c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3vgRUzHLyPHUh1NS6bJyjldTDQTuLBw5LS7BpoOvv4mg6fEx2XITNslmc884uOBQkc_RbQtpYKLDc0hqC9NeNRiansM6-q4ymELQOTFuCw0-sWpQ5sdemjJ3LN7mhn_l1lHTfckhOeosntzNyY3LKGYLC-5Fls-c-RRaHcfXfrderM2wcSleLBXvTH6HJdkuG4F9QTIKdRordRs0bpTj7QYniBLbDajHrXdPwCSeowKGy4jj2sxHZ8Mu-eplwelsijYrI1kawhChV2CnQLB__PmLNrn9cpTU56ZYqGDaAYvVo89vogc1gEYz3l6LE9jFXFZmYnU_v-qKcFbH_xK1A2jb5R9UGwuirgzHWmEfKD-rKNVUKupcn54ZiAXeXL6Ve3dmMSg7KMYZlcl_cnloTLJaPEUTGav25qnuPrdQs1NVe_myemGJFKxomjGmAAL3NycUxz2KY4pcsjRjIkmANtHpZ1SdyzAIBzSjZublr1k49Mhj9OeLtt_WejEbxgDUo5p4XvKTxqxP4IKQr7I49_vLhhrXG15Q5v5WynK8DlnP2jAZghf8pKI29DWVi-yturgNCp69aK3L_KZ9fsiWByg_hIGnTmz83yRIpm-EgzrhueEBQa1UOSdRybjdldzSqjarM5O9TCjGL1FFw66JjaD1TxykPFVSKaLOV2CzjVvK6DsY0ELS7WbWHBM9SJxwmPjC7n-rIKJ9gp7QXwOAeCovQTLJyAnbRjJ4vPkQg02LV9vFTjcvJEjOWGPM-FIYakxtAW9gS-l_cn60hKuByovzG7Wg4-Hkzad-FiGoQrCnaw86i5j0Ci51PV4s9zM8pdXTL_bLXdsXwmqMMFh67uxOdB_9pY6PuH0TDQsT7vzcoe8zv9JkUZMXu5LpKaPKxMly2Rn57QjBbkcqJUAATGH5-5a9TxRDXZ59BUYxHXSr1xJSiAOLMXysas4YXCIVXRdiAx3BeqD5Mg4rnpBgn_rva2YEwSeqzg2m1QSc9G8bE2i5OvE2SspIyAeAxaV7XsxDOn8TFAdVbl0bWp3j09_RXfQ1yfQszLUvUruSxfbsq7Qc6-NrMsfUY7AWpMU9aCYvRYgLj-TcaW8WE5JSgCwNf20p3tmWA-SIL0_zQGdxm-9fR8LdXJuzIneuf3KqZhgmQsGWe5zKOM8-xxFbFZ2fSoEgVInR6m82YGHxRv_F5CGdF_t3oNd1DUxNSULBJj3Gd_cJSIA02zweiWIcZPpbD_JGnu8RE7xM2rbxvPFmILmImsO0TLQHGZ86XtgcViLEGDguj7Za4IV8h9T5HhGi0eOceyf-oKMGasseoJmlujuHbvh6258M1DAsu9E1QIXqNUK_wk9HtWfaApAOApBSP1jZ9VwCMWwbs9TeruVuhY1cHvQA8ZbEAjJtRAHG29n-ngRohv-HVhfb-ZQ3ZNtI7cHTTq1FFI9JvXVOJanLM=",
  "id": "rs_00603d911051d89b016ab42dee143487d0bd04aa0fbff7f4a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"From overhead the open right gripper is now over the pale bowl, and the wrist view shows the bowl centered between the jaw tips. I’ll close at this corrected lateral position and check for a nonempty hold.\"}",
  "call_id": "call_uM28Tdxtz98CXCzPRV5cpI10",
  "id": "fc_00603d911051d89b016ab42deeace087d0b1f8589cf0b5ced2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uM28Tdxtz98CXCzPRV5cpI10",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3954, 1.7336, 0.6407, 0.6247, 0.3283, -0.0982, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.4272 right_y=0.1205 right_z=0.0756 right_yaw=0.1599 right_pitch=0.1142 right_roll=-0.215 right_gripper=0.008\nstate[joint_eff]: [-0.3077, -1.388, 7.0496, 1.7021, -0.0659, -0.0855, -0.0122, 0.1709, -6.9265, 5.6821, 1.8437, 0.1783, 0.0904, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fa0ca75227d86e66937bec7709fa33486cc9579e089fd2324d6a9c0d025054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1bd5e6b2e381a2000fe0877b87002a54aa34218809d94ef001b9b92c58ff31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895414e37dad42d20fe3c5b55cf73e94ccc0b81fcfe7e9b0dc075a02060c8243",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.892 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4076, -0.0227, -0.0257, 0.9995, 0.5392, 1.832, 0.7456, 0.6033, 0.4583, -0.0166, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1708 left_yaw=0.0 left_pitch=-0.0439 left_roll=0.0009 left_gripper=0.9995 right_x=0.4312 right_y=0.1711 right_z=0.0722 right_yaw=0.1521 right_pitch=0.1276 right_roll=-0.2027 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.0188, 7.0769, 1.7216, -0.0904, -0.0317, -0.0122, 0.1983, -7.665, 7.6513, 2.2589, 0.2857, 0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.3988, 1.7382, 0.643, 0.6273, 0.3386, -0.0898, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1699 left_yaw=0.0002 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9995 right_x=0.4277 right_y=0.1205 right_z=0.0754 right_yaw=0.1502 right_pitch=0.1167 right_roll=-0.2118 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7411, -0.0269, -0.0757, -0.0122, -0.294, -9.5248, 5.5863, 1.8584, 0.105, 0.0757, -0.0708]\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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3954, 1.7336, 0.6407, 0.6247, 0.3283, -0.0982, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.4272 right_y=0.1205 right_z=0.0756 right_yaw=0.1599 right_pitch=0.1142 right_roll=-0.215 right_gripper=0.008\nstate[joint_eff]: [-0.3077, -1.388, 7.0496, 1.7021, -0.0659, -0.0855, -0.0122, 0.1709, -6.9265, 5.6821, 1.8437, 0.1783, 0.0904, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fa0ca75227d86e66937bec7709fa33486cc9579e089fd2324d6a9c0d025054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1bd5e6b2e381a2000fe0877b87002a54aa34218809d94ef001b9b92c58ff31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895414e37dad42d20fe3c5b55cf73e94ccc0b81fcfe7e9b0dc075a02060c8243",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC30hNfQAYsnaqNW4IfEFj-6XdKZJfIzCAy08fU8LDfrayPHLOzMslsm7Pvm1uCBIsEiOhd9qDntqpv2TkcNjfAqKJGWQ79_ss00rt4tX_ItDezj_5A7z0GsNN2NXZVPkYZtb6gzDEhAbmKhl5pIVmXzwtT1apicCet2M3_6znrMAf5AhcON4MULgbtRdckoyl33xBLc07JOdqxe1OpnxIp9KdQwmlgoDa4Mru-MXbMR69d2bXWrH4HiPuI7qQF-MDFxhO3Y6QwEBMWu_fAd-letCH_47UkHF4KTyu_8RZSTXlRtfV8q5ZqoVAfzMZuErhp1EGBOIvmgG0cRPMJfXJcYx6X_q9ehIcIJQefraIOBm4RK4jBvnNZUMcbbXXaOUE6S3zgJKnh3zraBSiMoURuy37tceJGBBeWUl6TN2Py0sPB3VyoCGZVH0iLrobpD411Jn25950lMI3yO9WMcgoLxftGNkLe7Orq-dZyIrW3rreHt_pPkSXFT3nER_2VWyUtNGeoMkSvfgsFS2XUIpQgfJ26wp8Pq9RJsBGw1xhxYZd_FFQPVr1tP-Li8luXxxyNUdqVEHrQKRy__ipDkOpsTO-XRjbljl8IVsPMFT0PFnvNtGjiUQkKFUrWO8HeNh27gRwhX6SSy39rV7Zkk8_d7XTANgzV88P8Aqt-e62RDF9G7dDSeG-GIa7K4AOnjNfJvaS0GEdBaUU7IqE9cUBT1CHX6Rzm1UqsWAYHZKoSaIJNMuzuQx32tgNEJyEYmMF_jpTI3u_IVqV_cZuEl73DPsP3YJPzxhYEmKL1jBHwqlwQISp3L-5YgMthTXEtXGPrHXTgBui4nSHDYTswloBZKSeQUGKS0NtiKyoEzPoNz5Bhq-vhpBJebTgYWmD6nNGh6sclbu50Ytu_LS-eICcaABEiz1vtsLHdSWzM6WCLe3idEJ_hF5Pj_sWPHNKqHFinYUr4TYSqDURPUsqaHLuxs5xRGrQrxLdSeZ91Mz6Vx8DAdcuGPhhMX8HxHYnKyHzO4fDxm2qHq37Ihxuc88IIw1CWqSyshrkPxDPUB_LzQNlIjPrG8q0_A6F91SL5zU2psSwJ9zLVQerMcBjHBjlBDhbZ1QsesykaycrNr5v2TF3qEkZUkdSsYSpgW0wuf56rGmnUJcA3bGrTDRE8u107_hbkU6ZECOyF9gKkCbzOE9CKCJymotX2dCmYg_GFy3fUk_z9qfayDmwS6alMPkVJmfs04dUlyD_Rcm6H7xQl18Zz0G6I9695-EDgJIEv9Gn8gzkwEvux6yiOrQM4bMv9oWkUXbuTryws0Sl1ox2u1fY9rBFfFl2CcEq0VsHc--WLGFLEelj7JSvJ1EWF7dCli4YUWlbMgl7U1ETkmD0vMu4eKgrC_NooCRkdA7eKmXsD6PulV41ZJNFzD0QXwghDqXFgI9ONqlK4SS6Hh_N2Tu7WFNzvB9IUePUecB-BhpF-lIHrOc2wL4fjcUJt0J_ttYiHS8HITEvUHXhgOSUFm3Q36Fxg76WK2W5mahxwywvo6SQqA64V68QAwzseQe4r5uHKqTXbXEyjiCDVJPBdH1TrRN14-xke252tGqSRIYSKLPr-HTgIe8F4VyP3qvPq-MuMJF_Or7q5sMn18x5vtdL8Ww7G9_WB9YR1UrQcvYtoA4Hdb2V8GX4YsGT1WiikiXLkBRJ67gqp4QhQKHv-nJMZAXTISA966aoznIsIuL6lNCkZcrZ1fYGc7pJb-eL_haDvzciOZ8oiuheoMkBomhcO8xZjfcIFAnDHyWDYyL3-5kCi5Vylh8qV3S9Mi4nX0eHtGoQ_o3Z39tZuDfWlegQPJKabw7QHzTgnsgA7leIKmOHQ8iPQdZGB0VcO66jaCaaLqZE-XczZjJRU0d9Xe8m2vh5TEIZe5YqQ7oD0u5YtSxKoVnEx77aPjPzHTKhnJyCIYArtRYkPhxRhSvtOkkM_D7SwKLkt7yROCGTlnG46VYCDDF4KVVcakFvRsV12hyBQjSRuLEd0pf84r5rYkwx4biOv6zq7r2F02mAmFqVoqVbCHv2tJ47HuTtABloRTJ2eKb_9Ixx_06NSfAB0j04ufEvK7_Hh3-7KJ_tQxQ5RvbagDY2dYvxfIquonAyeg1CT0hpn4hhwYuoxQBepZjho=",
  "id": "rs_00603d911051d89b016ab42df165e087d0a68ec8bceee91432",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.395,\"right_y\":0.12,\"right_z\":0.09,\"right_pitch\":0.2},\"note\":\"The centered close still missed: in the wrist image the closed fingertips end above the bowl’s near rim. I’ll reopen and retract about 3 cm so the rim lines up with the closing fingertips.\"}",
  "call_id": "call_Ux7xA9VSr8icxjvXpbSngMZP",
  "id": "fc_00603d911051d89b016ab42df3548487d088c94347d4b8437d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ux7xA9VSr8icxjvXpbSngMZP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4446, 1.647, 0.4915, 0.7162, 0.3618, -0.1028, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.3928 right_y=0.1218 right_z=0.0754 right_yaw=0.1823 right_pitch=0.1454 right_roll=-0.2263 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.388, 7.0085, 1.6972, -0.0513, -0.0611, -0.0122, 0.3077, -7.7333, 5.0393, 2.1612, 0.2466, 0.0464, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f8bd70e6cc08c28e3f868290459ad93f94907471b7331333d81fccad3c27bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f5fb83f4744a8ec26313c26cf37ae6a19a943c561cac842857c2264924ec4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7d90ae5b39ffbd23c9786160ef404195bfa17e2954efb7d2e2f2119fa7b5f",
      "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 · 6.238 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5488, 1.8408, 0.7208, 0.6632, 0.4679, -0.02, 0.0085]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0002 left_pitch=-0.0442 left_roll=0.0006 left_gripper=0.9995 right_x=0.4285 right_y=0.1728 right_z=0.0718 right_yaw=0.1541 right_pitch=0.1532 right_roll=-0.1997 right_gripper=0.0085\nstate[joint_eff]: [-0.1983, -1.3333, 7.1179, 1.7118, -0.0708, -0.0757, -0.0122, -0.2393, -8.5402, 6.4205, 2.0635, 0.2955, 0.0708, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3954, 1.7336, 0.6407, 0.6247, 0.3283, -0.0982, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.4272 right_y=0.1205 right_z=0.0756 right_yaw=0.1599 right_pitch=0.1142 right_roll=-0.215 right_gripper=0.008\nstate[joint_eff]: [-0.3077, -1.388, 7.0496, 1.7021, -0.0659, -0.0855, -0.0122, 0.1709, -6.9265, 5.6821, 1.8437, 0.1783, 0.0904, 0.5934]\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 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4446, 1.647, 0.4915, 0.7162, 0.3618, -0.1028, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.3928 right_y=0.1218 right_z=0.0754 right_yaw=0.1823 right_pitch=0.1454 right_roll=-0.2263 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.388, 7.0085, 1.6972, -0.0513, -0.0611, -0.0122, 0.3077, -7.7333, 5.0393, 2.1612, 0.2466, 0.0464, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f8bd70e6cc08c28e3f868290459ad93f94907471b7331333d81fccad3c27bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f5fb83f4744a8ec26313c26cf37ae6a19a943c561cac842857c2264924ec4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7d90ae5b39ffbd23c9786160ef404195bfa17e2954efb7d2e2f2119fa7b5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC34s624tsEqMfpTgcaCMLeZQU2O-EXxbXIoRGTiW6Mlxt3OquO7AwGCFg8wkRCyoFcw8rHybdOtn36raZNOrtSb7tJ2YDshWs4uLhPjtRE7m-JJbtiiZm-U-hixok73CMreHBSYeOheplAMwX9wlBFXSf57kpkYPKAb-pg3wX3987t-fW-VGCwZatl8xIJMs_300eq4lgYsNb54BslDOU2qxai5faK6Zn2piiGhrz3vTeVM7vcT44iN2IbhdE1Dtt5hPJ8Mq1KLm_fLAJzYVyeLoGqilQlnRcXukLIsTP29kTNyJXhyB9q_1voFveFcJgQWMBAyp7-1L6CfNNqByLaNxoTXZk3l7j2Sr4svH_0IOEn2E9qWkTfaGG11-8RZ4v-UalqtMkaqhKldvIwBFpDsJUk0l4CqWygn5wTJnYnat-Um8sCau30sDRtC33jafhK9KVu_XTpSnar3QCWCdgm09yjZysWEFwzYboq9yYev5yj1aBIgqTcxpYrvcDZSCpREQn46HWQlD-lPXkQ7NFeENhMgc1e5cUGKy_m2uLb845odh-fdbeOAhl4CJPI9SoGlxXddmFuc3C3RJGHyxWqJiTMCw_4CvssSXNtivR3rP54_GEUNuVLRucUzG0Q8sOVF-TUWa2G65BosDg9yvOLJAhmYy0GlaSpv7DHOFTTXkaT7TJScfcs12G9RmwUkPP_eGGICHMZKP91meO30ga1_pvbO1ZxY0sb1f_vdK9aqvAoRftCAU-ho7Gu-YR8ez6-L9uzSp9ypKn4tiVhvmYZ4eEiobtQzJ5GWtz2e_mKRf_ukVIwt4slCnGCRkWCQMcG48-Qm2dmjLuZ7OsW9u0ZcWiGEl1HC7Xs6STLjHZlkekzTOeB8SB5YjKLs9m0DupJbe_EEgowU0FTVuwVuW11MxYEIy_hjxJvhIBvq-LPfCPDKqvg9aHQu1H5pe4mtakBywirAAB93MD-Fpvg0nw08XGx5UXNfO-GXrQ3_34P8KG1TwYtxRfzOKDyx7AsrjfZ6h3QXEfmXw6YiNCX6rmFkTbxL2rMKSP9vIGeCAykPfp7bcQmcgankS8Oz_v3H-uO1YiFf0wjFVJiAGIk9BIRR5j_DKsKCDlQNBK1TzxmMwXd5UzWluvgxv1-XAsW_6SCEG_c1jJfg9MXBHeh9Q7Aenw6f6zfC0FnHw5lATyC_GlI8oQLVTOZfuz-WkjpE7Kuf9-xWP5M0d05utUN74YqCOEqfEHiNCxslbY5K9ylGGnabv08XISTtzGMv5g-B7uHd6ksxer7ZYTn32LbiTogkRAAt26CFcC4ujTPhd6oJ28u62L23Y3j6kCACRmGZGPWhTHrwetREjkPL2jd6v8INnlHeKht6E-KBRAppgTF143-ZeUVLF-8DS40z7PtZ8Plb3tQ1LIE4D8BFU5WosvekpjofRiwNPCRV1Ue6n8o5b81Mgo-J4LIHT5cfVRE60N9nn-n_781N5Lazi3ByvL5d_w==",
  "id": "rs_00603d911051d89b016ab42df6b60087d09807f393652cbebc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Retracting brought the bowl’s right wall up beside the open fingertips in the wrist view, with one jaw apparently inside and the other outside. I’ll close on that wall and look for a retained jaw gap.\"}",
  "call_id": "call_rMv3XojIVfAcb4k4r0HPijVl",
  "id": "fc_00603d911051d89b016ab42df7772c87d0b5b83ca74ce3f2b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rMv3XojIVfAcb4k4r0HPijVl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4442, 1.6421, 0.4828, 0.7074, 0.3573, -0.1062, 0.0081]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9995 right_x=0.3897 right_y=0.121 right_z=0.0721 right_yaw=0.1881 right_pitch=0.1323 right_roll=-0.2308 right_gripper=0.0081\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7363, -0.0659, -0.0757, -0.0122, -0.1299, -5.9692, 5.6821, 1.8877, 0.1441, -0.022, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86d4a3fc75268197ff90cba4593a8b0fa3181a6b25273e1dea8b1a6856babbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2823e309f61735ab57c9c4e78d24f995565bd7738c8ffd78d919346c5bd0224c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc24273a54354eb186531c4751d0fa81b7ac5ad7b13e7de56cac3f42d822b1f8",
      "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 · 2.653 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.3988, 1.7382, 0.643, 0.6273, 0.3386, -0.0898, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1699 left_yaw=0.0002 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9995 right_x=0.4277 right_y=0.1205 right_z=0.0754 right_yaw=0.1502 right_pitch=0.1167 right_roll=-0.2118 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7411, -0.0269, -0.0757, -0.0122, -0.294, -9.5248, 5.5863, 1.8584, 0.105, 0.0757, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4446, 1.647, 0.4915, 0.7162, 0.3618, -0.1028, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.3928 right_y=0.1218 right_z=0.0754 right_yaw=0.1823 right_pitch=0.1454 right_roll=-0.2263 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.388, 7.0085, 1.6972, -0.0513, -0.0611, -0.0122, 0.3077, -7.7333, 5.0393, 2.1612, 0.2466, 0.0464, -0.0806]\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 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4442, 1.6421, 0.4828, 0.7074, 0.3573, -0.1062, 0.0081]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9995 right_x=0.3897 right_y=0.121 right_z=0.0721 right_yaw=0.1881 right_pitch=0.1323 right_roll=-0.2308 right_gripper=0.0081\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7363, -0.0659, -0.0757, -0.0122, -0.1299, -5.9692, 5.6821, 1.8877, 0.1441, -0.022, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86d4a3fc75268197ff90cba4593a8b0fa3181a6b25273e1dea8b1a6856babbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2823e309f61735ab57c9c4e78d24f995565bd7738c8ffd78d919346c5bd0224c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc24273a54354eb186531c4751d0fa81b7ac5ad7b13e7de56cac3f42d822b1f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3_pN7l62e6bbFaeX49xkTIy33BbToyQePMb1GV-mYdTNRoyh6f5FjaamfLmhMlK7Nh7XYjY-4TZISxtMTuuOksdWV-oLEl5MndlSOQ81_gMT62SfxnI8KOuompTNIk-UUXMOqHvEu70q5cZt6HvHAWNfaOpmn8aTrXEIV1_VnWqC3lrwLgKhNte3kSDJlC4AwL_wHgDhWhBmJq4lJxwX6tBeBEzcAk3-p7O-AiGthGFPnodfmkIadS0oVvw3PiqN5c-CEFDgIMpN7mVce9XQtGy86S9I9SS1HoxO5RdXv4-N2ZYsSUEvKEaNQQCKokxipKu8sLxmjDuHNedUcnARkmKi75uTHQwmnZY7owtI0VK00sTS9yrci0nWKwJrxnuY8u9-uG6BDZo_S6o3mDkQDn6UV9bJ31xHt4wIDJ3NWZzJS4uHUh3tDnk4WUFzwuMz3BB-zTas9cxgPokq4MelTlGeNPZp_MJa_XDjvwze6UwrMSlkxa5jo5vuxW72jqJmDzna0HF_yy9Td-5k24GqeTxKhP_ZfvCy-xvm3QR6-FsQE0w9DfTZeOsWX_kWal8s4goxHFSiUN8hyFdEPp03b4zE00RdPgpwKakQr9r7J23jyOUeDpTYb5PDjUX0YiEfuwkniP3MD0ke0dRJyMGykgHU7zN1fdJyW86WiSnhsALnjobxwl7Hlp9jeO5xjxJMvVOxIfFSfJNLLpD9M_eP0yLFQseEv_tWzlQnljw2XRTkYvjVXMPUd1FdS1UYgiytHyFnqoWqovLQK5EjRxrg1uUCcfA5HWIVqXy-cDnkyZ2eV7CHXT9lyETQlKIythdsg8iktUOco307mrRk_LWDK0NdMKIRlHpf9dmDh9m4H8pvDI9rYXTK8fYO2oXhqROy5EtVL6e-y7FrP8wtwPZuo9yjFGw_sFyL02dSjobqO__LpQwkJxpvvU6AAORgCya1UcHcyQPn6RuyKvDh7zS63SHTVlE2pYbsO2GH_qExRZ8zo44IbXb1vZL8oguE8kfuby44063YI7hXC1MQsloZFaHYx-SWgulvJhBw9IUCIFamwzhvQnXqQGAZucYpLs3v8t0PHc_3DGjlXphktNCN15uBIcQZ_bI7dgOKwM9PvlQjA_6FfSNwZahdz9dZpUlag71pBma41x6qZPCJQL3ec5HLf8bF7Gpc_hshAhPh-FMYEA6XaNNslVln2iqJMhGyN7p9VcxvcmJG8S4uMrtSpjENTmWegUfDc55i3hpOMgEM-mnRUM7WcxAmERhFYRNC-XmHczUUJdnMXRMqrXqzKzxCaoUGHNpEkFHOe_JAZQ5TUMFHQukRQhPT1nGBPGBybTYWc7xya35SGFA6Sfjs5nMxOgg2GYHztLFiIUYeCC2sbrjF6s23zpM_yHOqyNJnJ8-orfBTsg_N6FYch8nH4B2Cm7oBj6_IRijaP-ML9oE5ZSvjaWBDA2TKMQWryOg6xrj6dTtPDF-sd4wQPoBxA-hiOpF8jpWg5ap3ICkXiBCJIK1dGMg4Ckmd_Gp5H05MThqIu3wfnVEoXbGO89eoS02fSYQTRdxi17YbmgREHNIMsgt4iCF8Qu2JUO5KadGnMTnDDamIGYAx3SVuOTwOPnJl2PannJggM86ZKNN2uQhf31ocAofRW5JOaCSWADRO67QsFzfdFXEhyI1c5QWgExndzANAr9pgvjOiXe25hQDIwPKDjdqGJouhPb25QLFjokkrr_7Mc-1qWLx3CUYAwyNVcdjFBwHkIJr2vy3RYTq_s3C5wFv5kNBvA3h7mjwvb9w7JLE9ttxZV8ukkW6gcV2HNDCc2iBH2BdVC1h7Zvf5utw1ZlH8TRWfeKDKrOJL9_Jvcwqm-DWIpvtyeKDxmcjXSv2Ph7BUTHsLs3bmonw585MEMn_nAGRxXpBF701o7f_-_x7EhkgfFBrh_ENY4srFc2xqX18K-OoqF8D2-i07EJNnZd5LfXJBxSZDsrMEfCpFGJx0EFjW6XqxJYD_YZAiqn4Jgjuhvckh6pZTX5OZ38nBFTDALZWrIH6VcduS0NYguYOBD80C1Nfg1hxUebGEk_a9Ev9Cp5t5wZKFsHmwpJ7HJK8HSVWk9bdkn5AK50voEAtdNwEVoLtHLgJWVZkVAPKPEU2zIBweqFubKxnC4xF27TNApjtVw92asVmbzWoJpeKwVWfVqC7ct4gRG5sHnzEhv6xSeAoqXwVYFvx-_-VgyWvFJiM5HR5dJfUvHR3JZZImiDzRXWhHStn71_iyCHf3WLDP2-fpJiMhIk7QYulG4tDFxcMVWkmJ8joV61jIyBCjgnMqlB0DJVaez_W44ZQDQKvuTkZ3lcLGm3MCSfnfZaDmmP04qvlHgmeeE2dIACXH9OZy3bQLc7Nuj0jTWosK_FQmqYIXB8wl3xTFh6zAUaVNF-pakTpVa1TPX5vWMYu-iFHyr_0J_guOvwpkAcHp_7yzF8wKCVnnFxp6_3XmyL4uIjv2PdM79LdH-yJXplzpSOTCo4bBVO66YDHAxNK61jWdlaHYs-Pm6JMq-W2cOAmMW5wxcFluaKLnXLcKoKvWo_LunUk5Jz6eeg6mAp6fucosfmNclaLqr5n1Usoh0AkTUQSu0muad0ERqMXwOFW-3mCRs5ZeJ_MyR59wr1YlVJwa0ue0SPw-pfy4d7e72DUFjZElpUznKAYtJ1avtdgYMdjmfPfS8gG8WWShBESThu4HJfhKsqphcBHTYDLUlX0uvjEM6vJ4HyJh3yjqQpS09LzQfmoc9yfQsKl-Vj6x3fiB6XGr9Poomf9pRNtn44WxFFfXTt5Zrz4-PHGrfwAzC_PrFC8KXdfGD9q8OtA3BZZviv6uk01ihX1joyxyyvsVb1YqQYDLOT8daGVHDMRju0_wbd6PO_8lNtD4xRIvAs-gzvu4-81J3D_7ujVjjN1UkXB2ZzHkCKwsyxfEAtSkM3RbW4sinfVvz7htncBQrzEYkZd1_Ls4eODXUpUN1bpn6I63GXSeCyA4S7O7rdNEhY3b7TbULToJuusQWPua2Fmjs0Q5m1swQwl-Rw1DJSQoK5uvO1kf_ErrARCqaktO35W3ISLMOwZSjy3e7tVXlKSo3QzgpDKLMfU76lap94cL5EW3rHOrTVVn_byui8FQAlVsZXzwyPLGF_1oAlwFH0BKiF38j9QB_kW9e7-W0hUkppz9p7UYkGfU_Lrj0-nc3vSCkL8BywidFeb617XxDgOSS7NFCr0PdqBQIe111rJ1P-0BKHjHC44xSrn6FZQ350vfMsrJ-nlJrQ6A8p23GrCIdOAiJ1d7l8mxc7cXJhlIUadtt80NZMSF0I9lVVRjJZ7hr0RFaWLEySLoSQFAkH8WyKNXHhqlrvjl6uV5McfVaz7fjKfb8j70Ou9PKoqK-EN-bvk3nPchnxbj-3ngr6grpEkBspj1YJ6LahsYDEOpCLpC3yovdB0oDgvJs6cbATtz3riWkuxTmGIg==",
  "id": "rs_00603d911051d89b016ab42dfa12b087d0902268d569f70d48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.077,\"right_x\":0.392,\"right_z\":0.07},\"note\":\"The closed jaws are still inside the bowl and read empty; its right-hand rim lies off to one side of the fingertip in the wrist view. I’ll move about 4 cm toward that rim so the jaws can pinch the wall rather than sweep across the interior.\"}",
  "call_id": "call_UAL0AKmtr370GzXt1YCKcV4g",
  "id": "fc_00603d911051d89b016ab42dfe0ca487d093425ccff1ffb531",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UAL0AKmtr370GzXt1YCKcV4g",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4084, -0.0227, -0.0257, 0.9995, 0.2817, 1.6283, 0.4248, 0.7235, 0.2218, -0.178, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0515 left_roll=0.001 left_gripper=0.9995 right_x=0.3886 right_y=0.0757 right_z=0.0567 right_yaw=0.1785 right_pitch=0.0846 right_roll=-0.2402 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -1.5385, 6.9949, 1.6728, -0.0317, -0.0171, -0.0122, -0.253, -7.7197, 4.7521, 2.1221, -0.0855, 0.0269, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2536b432f1d5dff70b3a2cfa58697768b322d62e5d6ef9eba71b01eb791ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0692708f833e5a869349c7335c35982a85f7c0be63b5dfc2284c72c8ec4e3c37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4475fd93105b1b57858a9f3f54748d1a754566317d1807d9292034411a28299b",
      "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 · 7.043 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3954, 1.7336, 0.6407, 0.6247, 0.3283, -0.0982, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.4272 right_y=0.1205 right_z=0.0756 right_yaw=0.1599 right_pitch=0.1142 right_roll=-0.215 right_gripper=0.008\nstate[joint_eff]: [-0.3077, -1.388, 7.0496, 1.7021, -0.0659, -0.0855, -0.0122, 0.1709, -6.9265, 5.6821, 1.8437, 0.1783, 0.0904, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4442, 1.6421, 0.4828, 0.7074, 0.3573, -0.1062, 0.0081]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9995 right_x=0.3897 right_y=0.121 right_z=0.0721 right_yaw=0.1881 right_pitch=0.1323 right_roll=-0.2308 right_gripper=0.0081\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7363, -0.0659, -0.0757, -0.0122, -0.1299, -5.9692, 5.6821, 1.8877, 0.1441, -0.022, 0.6081]\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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4084, -0.0227, -0.0257, 0.9995, 0.2817, 1.6283, 0.4248, 0.7235, 0.2218, -0.178, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0515 left_roll=0.001 left_gripper=0.9995 right_x=0.3886 right_y=0.0757 right_z=0.0567 right_yaw=0.1785 right_pitch=0.0846 right_roll=-0.2402 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -1.5385, 6.9949, 1.6728, -0.0317, -0.0171, -0.0122, -0.253, -7.7197, 4.7521, 2.1221, -0.0855, 0.0269, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2536b432f1d5dff70b3a2cfa58697768b322d62e5d6ef9eba71b01eb791ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0692708f833e5a869349c7335c35982a85f7c0be63b5dfc2284c72c8ec4e3c37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4475fd93105b1b57858a9f3f54748d1a754566317d1807d9292034411a28299b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4CAohyEud0EbTg4x2xJiBaqhhtkxVfhQGqU8siuExQcrz4sroPzKtsJJbQCVjqXV-Ro-QdQjX2d8uk482O4vh91767628oUVCd2CcEipN2DvBZzNnTmI7vQ4JMjXXkpbVIFZaOfkr3ScwLmtm3yqbQcZo2aS6OG0akpztnjj0UJponQ1cy6qXhILsaNdUDjGudUHAMTr-mQO0Ke--ne7k1Gd9iTlOmgD1CGCC5LDKOK2UC9ENr4cQFW2YNIl5CPPdgLenodiMjoYHEg0dzxgt8nEiABJMiNprfiAGv6d2xgFMZwHF3z1PIXThOwsWBDx8Fgu7O-pszEHwtbv4oHcXgxgKSKAtf0WAUX4FUf8ztLdn3d8Dx8L-7D9HKaDY9hDmuJKJuOqY4W-5nW5z86BTvxuD7hsqVvNG4OJ-rnXZySWXj5bqZviIyikoItQauG8lMTYhsXQQJ6EdA5VMRW6xI5fQqV1tQyMfI31TngyjPnp9tWpE_vFOufaFbYtYA6mfvxU1qB5g9pib9dOaU-uMUratn0ZtDSDMrz6kzduJoX4R32eia3ZJVH6XmTaqA7pg6Dh30KPpgo00oFqYb-Uj1gkfN9WjJtBexEwuq0qUwdp8vcJyYi7yLIFmVyPlLJAi_sWu_1RWvFZ1Fgt5AoVOtGuAwYVZ7n6PGUyLHN0yj5ALZME2z-BTnF3dSyrZD2kD0oPgwK-XIHKttrwsTppU1_isri_TQzKklSlyPrVA3Pw1VAOQc3qsaa7IeVujCxNbJLkaiUU9DBFjpVH0EgbUUUVIcxZWgZQ_YyKdGiUzg9Q-vu2TXHG_G5Rd2Cb7uK1n2nYt_5dlLO1m0I7rucPEpzLhdJcrfkYfxVowol64X1r131EHHKIKvLrAcOwTBUv64DvuInuiqiGbldxhFx4JC1crtv_JB2A03MeAKoErW_NJvKJvdvO4fWQBT3vlCUqw3wbshIKOrNU2ylrK431lLAbxgTThmlAVNqsYy6PD7VknXS1OAvO5sas_GtrtgmSCEQtbJiNGpIYqFTGqkB8UM8e1keZDQ1y3EL-HhDOyX7GLSKGd2eFRfJkpDI9XiWYqc8UutpUVvF33ycvoRjazJ8XCYDSV1KdMmg8XXETvtmRCwdZUZ-RAVmekqCEtdbSlBg5Wmba4fW7863MHE7RuyoQBZ6F5Gop_we41qoM4cMWlt2rBzWxJzfmCATUrHCBlnawPfl2vDAbjazO_-VgzDoXRQyzG1UlRfNiXj0F0ZYJDvjk0ptfpbZb_SdogAtGRbk_zEGRlfKsTdOP4cEH3b87VqeBwfUmd2Xd4SMr9NT7ZbUAdngEWOcb2klrRcDcInfNcTOhySps3VBRRCocbn9vvG8GvKSBZF6mtFciSyEUKVoWJIco1DMJ4LokbkBvZp",
  "id": "rs_00603d911051d89b016ab42e01b55087d0848cbb78472c2bdd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl’s outer right rim now crosses the jaws’ closing line in the wrist camera, rather than sitting in the middle of their sweep. I’ll close here and check whether the rim holds the gripper open.\"}",
  "call_id": "call_K4HvMyUSJAFJ0QFjEZIeo6Vk",
  "id": "fc_00603d911051d89b016ab42e0219b487d0abe120272a3a4615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K4HvMyUSJAFJ0QFjEZIeo6Vk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2802, 1.6272, 0.4229, 0.7113, 0.2184, -0.1837, 0.0086]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0511 left_roll=0.001 left_gripper=0.9995 right_x=0.3868 right_y=0.0752 right_z=0.0537 right_yaw=0.183 right_pitch=0.0707 right_roll=-0.2449 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -1.388, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0068, -5.9419, 4.9162, 1.9267, 0.1148, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f061512fe50435e3b319182e543c86ed1dd065b38866950f9ee2eb5f0d9c7ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2188bbc461eff6080dee9ca4b05ae06e42e3e7b979084aeaeb6db06b81fbb9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567ab615fb1a1de0fe121dee7b3b94347034acaa6df508b9111bface1bd34c69",
      "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 · 2.375 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4446, 1.647, 0.4915, 0.7162, 0.3618, -0.1028, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9995 right_x=0.3928 right_y=0.1218 right_z=0.0754 right_yaw=0.1823 right_pitch=0.1454 right_roll=-0.2263 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.388, 7.0085, 1.6972, -0.0513, -0.0611, -0.0122, 0.3077, -7.7333, 5.0393, 2.1612, 0.2466, 0.0464, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4084, -0.0227, -0.0257, 0.9995, 0.2817, 1.6283, 0.4248, 0.7235, 0.2218, -0.178, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0515 left_roll=0.001 left_gripper=0.9995 right_x=0.3886 right_y=0.0757 right_z=0.0567 right_yaw=0.1785 right_pitch=0.0846 right_roll=-0.2402 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -1.5385, 6.9949, 1.6728, -0.0317, -0.0171, -0.0122, -0.253, -7.7197, 4.7521, 2.1221, -0.0855, 0.0269, -0.105]\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 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2802, 1.6272, 0.4229, 0.7113, 0.2184, -0.1837, 0.0086]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0511 left_roll=0.001 left_gripper=0.9995 right_x=0.3868 right_y=0.0752 right_z=0.0537 right_yaw=0.183 right_pitch=0.0707 right_roll=-0.2449 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -1.388, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0068, -5.9419, 4.9162, 1.9267, 0.1148, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f061512fe50435e3b319182e543c86ed1dd065b38866950f9ee2eb5f0d9c7ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2188bbc461eff6080dee9ca4b05ae06e42e3e7b979084aeaeb6db06b81fbb9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567ab615fb1a1de0fe121dee7b3b94347034acaa6df508b9111bface1bd34c69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_00603d911051d89b016ab42e06143887d0ae0baac24c182d1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.363,\"right_y\":0.083,\"right_z\":0.075},\"note\":\"Even with the rim at the jaws’ closing column, the gripper closed empty; in the wrist view the rim remains slightly below the closed fingertip. I’ll reopen and back away 2–3 cm to bring that rim up to fingertip depth.\"}",
  "call_id": "call_5sgSIaDguEUTBGmdWl62DOfS",
  "id": "fc_00603d911051d89b016ab42e09970887d0afdb8845b4303e05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5sgSIaDguEUTBGmdWl62DOfS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3405, 1.4643, 0.3878, 0.5713, 0.2546, -0.1684, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0002 left_pitch=-0.0545 left_roll=0.0008 left_gripper=0.9995 right_x=0.3644 right_y=0.0857 right_z=0.0708 right_yaw=0.2047 right_pitch=0.0627 right_roll=-0.2502 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.6752, 7.3641, 1.7167, -0.0122, -0.0464, -0.0122, 0.294, -6.3111, 5.3128, 1.6142, 0.2222, 0.1099, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5adac1295c794889f4f40e96434a859bd259cf9e32e88efe937538247d8752c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129f747c0a935a6e85866840afbf5d9640f4c34809265b948ad8f84bb3090dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bc1f1a28d4189ef0c89cd79ebcc6a9824c4dfa3203b92115dcbe74cc304366",
      "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 · 6.764 s

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

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4442, 1.6421, 0.4828, 0.7074, 0.3573, -0.1062, 0.0081]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9995 right_x=0.3897 right_y=0.121 right_z=0.0721 right_yaw=0.1881 right_pitch=0.1323 right_roll=-0.2308 right_gripper=0.0081\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7363, -0.0659, -0.0757, -0.0122, -0.1299, -5.9692, 5.6821, 1.8877, 0.1441, -0.022, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2802, 1.6272, 0.4229, 0.7113, 0.2184, -0.1837, 0.0086]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0511 left_roll=0.001 left_gripper=0.9995 right_x=0.3868 right_y=0.0752 right_z=0.0537 right_yaw=0.183 right_pitch=0.0707 right_roll=-0.2449 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -1.388, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0068, -5.9419, 4.9162, 1.9267, 0.1148, 0.0317, 0.6227]\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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3405, 1.4643, 0.3878, 0.5713, 0.2546, -0.1684, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0002 left_pitch=-0.0545 left_roll=0.0008 left_gripper=0.9995 right_x=0.3644 right_y=0.0857 right_z=0.0708 right_yaw=0.2047 right_pitch=0.0627 right_roll=-0.2502 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.6752, 7.3641, 1.7167, -0.0122, -0.0464, -0.0122, 0.294, -6.3111, 5.3128, 1.6142, 0.2222, 0.1099, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5adac1295c794889f4f40e96434a859bd259cf9e32e88efe937538247d8752c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129f747c0a935a6e85866840afbf5d9640f4c34809265b948ad8f84bb3090dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bc1f1a28d4189ef0c89cd79ebcc6a9824c4dfa3203b92115dcbe74cc304366",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4OHWwgo-U0jcW8JKX7zq0tqMD1Q5Iz0zcKXaVur7eocvGBpP_jCq6HfzbgAU-BnRm14h4afUTbQsxruDZ8IQxwIhN7t1vGp7hKZENysOMbdISHxhw3JdrcfcjuePf6VKtTo3kk4V9rkgnV9NUnyAsIbXqMfEQEuJqGOQqHGEpOWPguoep5pmS5CBoKBA_ZIR-S0A7iWct6A6KK9kJo_EEIwc5NBrG6xf5uQGeybX3mhuwyH2mMkrsXVNDB1hTHWEKIfvrJPBz5kwP-BwoyDiZmbH_zEOdZ8EnTaWUN32CirWc9sQEeuyHZZfTUgQhvKYd6NibzFSP8AIZj4OKGTS04PP0I9IpUlQitw7QTWZp9vYg-nWCp4acnXCKMen57ddrLdHqm49I798SlChL-q5B3YFYsdqG4rliIhrqP765Urq_BW5LsP3Zz0j2Ojkh8Tptjg9UD-xCafHiL5R06Wi9j2CyehGtEzxeiolEiKM_alQ4MTTLZAnISVfg5tA9yjhcJ0rHao8L10ZFyXSHLo94gtB_NcY1oGkF3SktiEeZb3spxKelMFa7rlALhFt79-PYckwqlPCOGDGwumYOLS5ppfD0ccLh6hHnYhFukSnnPK7W4uEVXt4oB0b07T2JB0RBEqvApkqidmvgqZA9awAqZzHEm1gOuu-otJ98wcLugncuOZetbBNA3wH2anPF4b0nL-bPL6dyfWo0dYA6kgi8zf1otnr1Gup0yb_43emToRUuDFV2xsyh1MW27Oxt3rezLbx3UUiJlkw97vKR0hvREBaIjovfSYRWR__gnVmVujD_EkRYZ27HKOTQmkbsCDzoTsLsacX7chErvzYeXKSzYoo-rG0_hFyrO27f2CJTZZWtnYpUxXh1p8qakjWF3x7UU1u7IoLOfCy8dc-jb4JMJ8rJ0Gj87DsvIRXV1pdIgdHSAXoMHU_Ddipppk8o--utW6vdFs7oOqz3Ns7aEc_rnupgagsZCtsjILULSJMkc6VZPSpIa2wPdeO88l5dNkiDhIb1yJgK4GaHg5Sl9c-ZfOAljKM28aNeSNbQ1yp1HQGmPvptoWMXLHEQl5OXu0teo2qIBnZTkjo7i3cad9m6yw5nLqYPvsVguTm8BTvlIOEm7DUpywTN1X5eWqfHX_1jJQKXqbBbLEBXaK_S70yFd7QoATYi0UOROVuDl2UitSUE8WDd7hE10hZK8iqiPum-vWsF8Iwrz7WW1l0kaALHQBNvgcR5FpMaR9-LabDudhkpwVChOax2ul_gTiejfnRec8mmXYODRleyaM8zvrHvDhES7TKwBdZOwRltY2nwbdoPyTkC6sIH-nG660H4ZQ0TUekFTeho7hnAG4UvhLV3oUTwsjEd6ChFd_5hhphZ_7wQ=",
  "id": "rs_00603d911051d89b016ab42e0ce83487d0a139375082418d75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Backing up brought the pale bowl’s right wall level with the visible open fingertip tips at this height. I’ll close on that edge; a retained gap will tell us if the rim is finally caught.\"}",
  "call_id": "call_9v51C3r2ee02Rs57PzG2HB9k",
  "id": "fc_00603d911051d89b016ab42e0d48f887d09db9422e7bf3ff9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9v51C3r2ee02Rs57PzG2HB9k",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.3405, 1.459, 0.384, 0.5533, 0.2523, -0.1764, 0.0085]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1678 left_yaw=0.0002 left_pitch=-0.0549 left_roll=0.0008 left_gripper=0.9995 right_x=0.3614 right_y=0.0851 right_z=0.0674 right_yaw=0.2109 right_pitch=0.0452 right_roll=-0.2583 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.2513, 7.2274, 1.663, -0.0855, -0.0562, -0.0122, -0.1162, -4.6017, 5.6684, 1.9707, 0.0464, 0.0269, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bfb3c8baa15b1a98ae70f1989438a29a1cd23a606a3e583c0f830aa5d71c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f8f3f5c8d5a80cec85f6aa61d8976c46d623db88a1f723a85f9483afbea545",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b95937326fe932643ae21e7a5ba91beae4dedf5a201fcabdbc46578a16ff40a",
      "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 · 2.292 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4084, -0.0227, -0.0257, 0.9995, 0.2817, 1.6283, 0.4248, 0.7235, 0.2218, -0.178, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0515 left_roll=0.001 left_gripper=0.9995 right_x=0.3886 right_y=0.0757 right_z=0.0567 right_yaw=0.1785 right_pitch=0.0846 right_roll=-0.2402 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -1.5385, 6.9949, 1.6728, -0.0317, -0.0171, -0.0122, -0.253, -7.7197, 4.7521, 2.1221, -0.0855, 0.0269, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3405, 1.4643, 0.3878, 0.5713, 0.2546, -0.1684, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0002 left_pitch=-0.0545 left_roll=0.0008 left_gripper=0.9995 right_x=0.3644 right_y=0.0857 right_z=0.0708 right_yaw=0.2047 right_pitch=0.0627 right_roll=-0.2502 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.6752, 7.3641, 1.7167, -0.0122, -0.0464, -0.0122, 0.294, -6.3111, 5.3128, 1.6142, 0.2222, 0.1099, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.3405, 1.459, 0.384, 0.5533, 0.2523, -0.1764, 0.0085]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1678 left_yaw=0.0002 left_pitch=-0.0549 left_roll=0.0008 left_gripper=0.9995 right_x=0.3614 right_y=0.0851 right_z=0.0674 right_yaw=0.2109 right_pitch=0.0452 right_roll=-0.2583 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.2513, 7.2274, 1.663, -0.0855, -0.0562, -0.0122, -0.1162, -4.6017, 5.6684, 1.9707, 0.0464, 0.0269, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bfb3c8baa15b1a98ae70f1989438a29a1cd23a606a3e583c0f830aa5d71c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f8f3f5c8d5a80cec85f6aa61d8976c46d623db88a1f723a85f9483afbea545",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b95937326fe932643ae21e7a5ba91beae4dedf5a201fcabdbc46578a16ff40a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_00603d911051d89b016ab42e10737887d08a5bd99393ea5429",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.073,\"right_x\":0.363,\"right_z\":0.08},\"note\":\"The jaws again shut empty, but the wrist image shows the bowl’s edge only about a centimeter to the right of the closing tip. I’ll reopen and nudge laterally by that amount rather than changing height or approach.\"}",
  "call_id": "call_gbvH5H8ncvPfiRZRto4fCOAJ",
  "id": "fc_00603d911051d89b016ab42e15061887d0aa98241e9e03cbd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gbvH5H8ncvPfiRZRto4fCOAJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2905, 1.4097, 0.384, 0.4736, 0.2146, -0.2073, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3573 right_y=0.0713 right_z=0.0671 right_yaw=0.209 right_pitch=0.0084 right_roll=-0.2687 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7118, -0.0513, -0.0464, -0.0122, -0.4718, -6.1744, 6.7897, 1.7949, -0.0855, 0.0513, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cb83a7284c6b641ce5cfaf02f3f285ea8be052379f9e1239ae0f3a97e983ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4431568d791c332c8f54e6821eac9f85bc090cf975d5046c392b838f6217a690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a01aaa27c21eae0aca5b6f636652ecba774bbe9ba0cfac16030f3f03545b9a",
      "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 · 6.087 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2802, 1.6272, 0.4229, 0.7113, 0.2184, -0.1837, 0.0086]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1688 left_yaw=0.0 left_pitch=-0.0511 left_roll=0.001 left_gripper=0.9995 right_x=0.3868 right_y=0.0752 right_z=0.0537 right_yaw=0.183 right_pitch=0.0707 right_roll=-0.2449 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -1.388, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0068, -5.9419, 4.9162, 1.9267, 0.1148, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.3405, 1.459, 0.384, 0.5533, 0.2523, -0.1764, 0.0085]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1678 left_yaw=0.0002 left_pitch=-0.0549 left_roll=0.0008 left_gripper=0.9995 right_x=0.3614 right_y=0.0851 right_z=0.0674 right_yaw=0.2109 right_pitch=0.0452 right_roll=-0.2583 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.2513, 7.2274, 1.663, -0.0855, -0.0562, -0.0122, -0.1162, -4.6017, 5.6684, 1.9707, 0.0464, 0.0269, 0.5934]\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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2905, 1.4097, 0.384, 0.4736, 0.2146, -0.2073, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3573 right_y=0.0713 right_z=0.0671 right_yaw=0.209 right_pitch=0.0084 right_roll=-0.2687 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7118, -0.0513, -0.0464, -0.0122, -0.4718, -6.1744, 6.7897, 1.7949, -0.0855, 0.0513, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cb83a7284c6b641ce5cfaf02f3f285ea8be052379f9e1239ae0f3a97e983ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4431568d791c332c8f54e6821eac9f85bc090cf975d5046c392b838f6217a690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a01aaa27c21eae0aca5b6f636652ecba774bbe9ba0cfac16030f3f03545b9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4Z58kDyNDQDzbDdRzsZC81bTkbM4JUgY9wgjEvx8BbPinAu9ns-Pu4T_ptnw2kgHerm03h5WO9zdEFx6ybQeYP96TZkHFU9aibNyBRqvY7DJvnugibJ1_ELARr1D4eEeB4_0WncsfigcdsbDE0urOiucIHKqpxXMsfJiEZFAo9ynMR6gnJeZ1AXpKNXBoeRI0p8P87EKaFthQhoD5hj7p7yzS8w07iSIYV6vTk3MYNIAVHZHkifYRJvZcXn5ILF_Brjrsmg9-Zsy8HDEbBhVhi4FFkVBdMsXwYhSXt6at8qgGg8h3l6_351UcernL3GmYpNF89xBAoXtqvXNV2esgomcPGD4WIBhwB6pW0dxtpldyngpRTokHnDFy0O68vRcKPzVPZ1JgCoIdXvkEGuIUcxugdsWHL6XEXz9HmnyGQIWUHcV_LJr4EUM1YEEz96cVBVcuqqMVnyPPqXkCdt8DN9pUcm-392V3CrqCuPXYSRwGSUevrr7v4CrV8erNeK1fpAsOawwPAqlCwu4PQOlGBJjLiPaluvia9GmmvOatGj9Pvj2VZGif0gmhKuA7onvLN-GLnkPSyHE5F0HFg1DI3OU4Cjn-dkkgy5qbS2LLwWUvfACd1NmkwQDjdsXmuyukTUxOob0gC2oVW13VokYDofmg07ai5zNAikUvDxnZL3nVWV0oCVuCEEMb4UTVtHC3pSOsovlK5nWjm3JGD6tGm3fa2tYdtlyuvjqebXzfz_psq_HDO4z_VQuBxV317zz-_79due50155WKbXMH6TzfgyhP8d5GqVM1Rp_UGWqaBnGrD4X3-h0co7M_gOVN6xaevnr0f8iZa82Xi8-paHrfywFvydLqsum-liVpyMLnQaW0UxUHbKzSHTbvu-NM3_BAs3yJVvMx7xarNPZcu9jyd_1NwWRBVt4vOLvIpCO62EyEfDgIpsjOfPje1H54fcEw7yLbFGsJgoYlKDezWpnu6cuRJxrcCIqiOIwy76QD-Y-pFalOZxPRJ6DUzRjJqPF8MyVxBVfF-hwQSRmDTeFjoSu_IYBta5HMoKWn77y2i37r3bfAqVnziDvyJ8QOMdEY3PQdjEZMpGCekyGekWfdKg0oRj4qkevvLS87aKtJm9fw9etqXHOrLtvFUYbL91y26S0HhH7mOlCTZn2m4Zufjrprlou26Xk_k09OaSpZla2ebAzhm14LabK_OoRWvP13LVcnqVpw6qRoeQJk6WuHTCQ-vfy8m0VTEQ1nrwXK43H3IAm7fmQhyoMaaMnU8r5K0l4XfIjV87EnqnbnSARszcXuMvuN_ycIeUt56Rw-SFQkidkDDDS43WaQXg98zNajHxk1m87cochz1g82mLEvu5Z5awTAihFqqkzJn_iJ7v813_wJOEH-fZL_qZLFrMhl",
  "id": "rs_00603d911051d89b016ab42e17fa5c87d0b3cc5c0756fe2b65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl’s outer wall now falls between the two open jaws near their tips, with the near jaw over the bowl and the far jaw outside it. I’ll close to test this corrected edge position.\"}",
  "call_id": "call_GTxFRtnSswwm1U9WPrqnLlrM",
  "id": "fc_00603d911051d89b016ab42e1846d087d08aeabf215bda6ee1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GTxFRtnSswwm1U9WPrqnLlrM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2878, 1.4101, 0.3824, 0.4671, 0.215, -0.21, 0.008]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3562 right_y=0.0699 right_z=0.065 right_yaw=0.2074 right_pitch=-0.0003 right_roll=-0.2718 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.6679, -0.0317, -0.0464, -0.0122, 0.2393, -4.5607, 5.6957, 1.8046, 0.0659, -0.0171, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b4ff5dc1b890a1c0d7a7a86ec929c57c0e0c36f6d74c299c464e452c47a4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f4cc8736d35de209623e02a65ee2a9daedcaf5ee6cb35a71f0445a82300620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978051a36240254acb5b20c7f6e8a9ac9ed2977fe2137c82a5f489745682eeec",
      "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 · 2.409 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.3405, 1.4643, 0.3878, 0.5713, 0.2546, -0.1684, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0002 left_pitch=-0.0545 left_roll=0.0008 left_gripper=0.9995 right_x=0.3644 right_y=0.0857 right_z=0.0708 right_yaw=0.2047 right_pitch=0.0627 right_roll=-0.2502 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.6752, 7.3641, 1.7167, -0.0122, -0.0464, -0.0122, 0.294, -6.3111, 5.3128, 1.6142, 0.2222, 0.1099, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2905, 1.4097, 0.384, 0.4736, 0.2146, -0.2073, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3573 right_y=0.0713 right_z=0.0671 right_yaw=0.209 right_pitch=0.0084 right_roll=-0.2687 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7118, -0.0513, -0.0464, -0.0122, -0.4718, -6.1744, 6.7897, 1.7949, -0.0855, 0.0513, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2878, 1.4101, 0.3824, 0.4671, 0.215, -0.21, 0.008]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3562 right_y=0.0699 right_z=0.065 right_yaw=0.2074 right_pitch=-0.0003 right_roll=-0.2718 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.6679, -0.0317, -0.0464, -0.0122, 0.2393, -4.5607, 5.6957, 1.8046, 0.0659, -0.0171, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b4ff5dc1b890a1c0d7a7a86ec929c57c0e0c36f6d74c299c464e452c47a4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f4cc8736d35de209623e02a65ee2a9daedcaf5ee6cb35a71f0445a82300620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978051a36240254acb5b20c7f6e8a9ac9ed2977fe2137c82a5f489745682eeec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4g4640gxyL9o34B_6MD5Sp1M82z8VhBbsf6Yi-3ahrHPThNuIj9RT60g_QbhudndmTMugS8ue11EzzJz1A90vCsdMWBpL3o4PcSs_juuULja1nO8v5iC4XyuRNCO0Jya8oUFDphxb40les25V_UyDUO_ojhd3vrPNQevkJpwbog32sJe6QZf8w68WEY_DhPQil3YgYsXQV8Czdrm3gj8KKqSU9cRKtG1T1z2gAa5S4VcIKDe3VqRcusxC53dM4-XviFAyk9yrCbisHJ8UiC32DBQ1eLHvUV1rp3ppuinp4t8mJjMSZexPN9xRPlboTofHPu6Bo3sO6Pl4ZJ_cNxwOkNhOOVh1aB0vUxNp4Sn_sti-Jq11HUtWy9p5dBPQHozJDrUN8dED3aLasxMQla3MhwSaeXojhvYU58ig4VbxiKkbggtq_qHMhQSNuu9Dx2eVgLATAIFQ2RMoxYTyAO4bW2e0aRBgzjy2MmfwJWx965dJATT940mwBQQWzs4FkRDy75OVQHm9p2RE1hBU0YkCg3NEMcZcN-RNa_eTheau3AEkOAvp9G0U-nWJ38UgpozCcyHV7UUpg0-DYpuDVlgiJYJEAnVudwVJ7TDRH1-xRRzpCSqIRjlWybl2nJfykuM0ZHvhjeZc2EkyKu2WZiQoaj59IH5jf96yDjnJG9Wm6rv4CFgRJxN9o7mOieaTiUPGWMWIXNhCni0sI3iAXnmzeRKrRa8lvjUVsgYTdJmVOsPHymPFWGARF7HWl0dfy-KKFRIvo_mHkWWvxWXMv6fbRcdohhw0114IQOWVaH3jL_4QDDukMBhN6jyzME9zGbxS5Ih9ZSpKs3Jg2loalyThcm4EwidettVWh1rGDFQLKE9dothp2cscP7gzqIZnz4t0rIp3-n5-i3xQs9PALYEhnbr-nxaqQbIIK7GdO_Tr_LPMvrGnlPrfdm-G-g3Pw5h-eofc7pA-h1_DnOYX9msPSK-q6PfhC7Xc8ec3mtoNWyX5ADzSqGVifE-3pn3bm2vLNYWusXyf_v1DhejtT0tTaWdJygH8l6aVEM5BpAYRrx0Rdd2J8Tj7UcdLjav_D0OdKqaUIm3SvFfRTVa80y3YH7LQN92rpmmS_SFfXCB8IF98JSUP3FT4QeYCd8Vooz9_9SHYk93JduAJUrO3rwcxJKT1KWHtNj1Ryg0Tv1iWutxRlitGjS2qhWuQtlnI0U9ri08N1e1z5-PRcSGQmMFKrjXjxv6s8MjKmlx5OzyOa2Wv0AcMuQlCg5wZ8No8O5WDP2ahRgjv_t3VbiGG99aIWp_uq7J_XdPbZ1TkSqXnliMJkL8oAING8qm-S1Xm7tdF7YVRvjQ6oh9pngvhDjHQvlmtGkxM5ZJsfg-GYB9Bg9FcKUvaoM7rJmySqb1J5T8yaz2tkyNkOTcpS25C_QdTZoDZULJGADxNWj2NqxHhY6v80g6ISGxxAqiUMZfAjGbaPDIqoFLQkm3nYs2zi5QTVZubvFQbckLO7uC36EQbSVz3MFJHytENdZHqnCzZIQZMaK3qv7AaUgG7SD6e3A2xZZRX3owaCVBfdYF63rw4TtvV2cW0dGbgFQ3J7iXPzqX_rMnWZLsflXV5P5TW_9KeQMRDgNjXKqWa3Ro-BdtvJYpbL75lG5JnapukzJ2eaI-ZZ9jFB8qKmpAQ56BrsgFr6-EaXO2porRXkSgy72hWfU-si77Dbz2rE7CrhKGTIwx360dYfm_xNqvncKKtR9du7dYlnhmEaA4Z1Pv5TS57Pb_cIagszAsehbEXUnaa0qy5QEiam37i8picgBsry1N0Zc8XnSNSqEunB82kC5fSDkOuLV6Z6PY0y1BCcPLlW137kOYagsuuNkbrNj6gd0IQ7e6Lo0Le63Cu4WIJYRkH73mqErFTC0F7q_63cCoIfnTfBWyXpGL-33j4o6hrA9qgTX-LyeEIpe3QAzn8k6RzHN8MsiLvlsuVYB4jt7pTJ4N4AssDk52FyEW4m2-N-rMdopFc5Br48DQvc2QTxRewYNOmS6jkIlXhfq-WWf17_eX0ax9h4YJV9Q9uSkTcB42bCEJWpOnt8ODk4iDN_TyeTYj08jxyjUEoe9ISSqiKSPYPoyx2caojzkIV3vAUMuBRY3N3J1O3NsNFGezFwQnyKYVgDfD44zJ6BK5BFHed_fJVPEwptFpGMltSI_OiT4CJyQRbhhX7X1hR0jAErIAAP8AK93lMFwl-NIB3sP_AR17EOPtWi9vtsgbWYAkkXU4c7-fgxZr1o3cDyk1yYS2mFW-KqOuw3NuQSv1HyYhdlES3hK-jw7YQJKzqD0tOJsHE6coHfBoAcm8zOHhNttKaEWqxjKSUcotAbbXBhtUupysCjH1LNz5xpo9zW9HWS-71ijQuLUckX3hf_-AS8W7g47jhdRJNmkwmtr1_zC-WPdFyimjB9gzIq3Z92zF6bgTo-677VQEXM4W6LgBRyZtHCr9Ei714Xxo7wAUGkJIhx2UCUuBrcrYGGlqOWYgVYw3m75E5CqljsH1kBc2uGb3gEh9XDXEqxamh2IohOjlooNWhVu342rpNwxNBSXNTwSemu51gNzYsXThZeoSQPYjr8L5S-fT0E0flumkvObFfH1SPdl_I1qNXphyQfLdTzgrnLWXDU3EPg8XJvQwwhuW9V_QZIPAsA4K4rc2JBsi7e7BSf2S33sKBTLa2kJUnFy5aCHJ16sBXFD8Zi6xVWLi36EmEDXy93HJ_3J0ukPDl4XHn3K6sXEL0ymCPPcsPcEPImEaHoyVDnVU2IDTvf3Qy9SlKJ0o9iO2oC-iKi4nX1xUL8vb7CAZ1xE4VDLB4dA6FkjpPPeysvdOpuDNtVVjBbhY5x_aIIGBoPQFIVsmnK0Tg4B-1HsKdGBqdKXinJFafky9kkYZoxv4DdB-Cr2eLmSjRR7Ad3pvjYkS-CHiIl_EnH1oxNezgIMF8hH8sUZgusp1w9pmD9WX7rsncFZ0qud5HtgbAUm9JsFgvH1FRFNvqL4X91TNm42oTcHFPbLbo1DuT88vYmTNgnwpvbfljInqVJo-EapCiQjFdcBubetbO-EODW6FwZwG-HAOIxOzqPWDeUdtWR5DL_3N43RXjpjSySWAAqjqIO2aVvMIv72klejKR5LV1hCh9LzUmKcJvR09U9heEOkE0hwEMDuN61kImR1Wwiz9Cbk90sP1pv42RqjGhpmpWvF0CAmkZKhH7YLSXFdsBkTy1VBiGEGo_Nq9ewzFKEvhObzmu0YrS3c90n0prsI1RtPdhg5eZR_3SN0Pioz-ihiKiGjzkRLFW_fvCoz3-V8cxorlfsFGPMKz_IQFsLdpv9_APO5F10jrAH4uAzShMUT4G4AmKJgewxKZ4p8UTqrOx3kQDUdc99-bTmOoRo49bnaFIJAZbVcyGAYCwk2LFHhawBWLsrvg0s8M9TxfBUfBo0E78BHK3k-MUTUQWLq2yhkDPtAnx6-JC7xkuX2u4boL0jkbZpr-BblNXcZRsQ4ealy-hxDmShfwkSspCdOLQsFav5lzOBgWf64kxIKjXH6B0nBxjNyOPi3Dg=",
  "id": "rs_00603d911051d89b016ab42e1b0e7087d08b971b6fb285d805",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.035,\"right_x\":0.36,\"right_y\":0.074},\"note\":\"The rim-level pinch remained empty even though the edge aligns in the image, suggesting the jaw pads may be above the bowl’s sloping wall. I’ll reopen and lower about 3 cm to try the thicker part of that same wall.\"}",
  "call_id": "call_mhTHGpLHbgoGgBuWHEopIaWz",
  "id": "fc_00603d911051d89b016ab42e1f244887d09790e4019f2edefb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mhTHGpLHbgoGgBuWHEopIaWz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2943, 1.5768, 0.3523, 0.6365, 0.2195, -0.2073, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0584 left_roll=0.0011 left_gripper=0.9995 right_x=0.3576 right_y=0.0719 right_z=0.0315 right_yaw=0.2086 right_pitch=-0.0271 right_roll=-0.2744 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.6479, 7.241, 1.663, -0.0464, -0.0415, -0.0122, 0.2803, -4.7795, 4.5197, 2.1074, 0.1245, -0.0513, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4536173a0e6a25f82430448b5caaa402b83ceef3d95789404a9c5ac1dcb27b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7c8c8119b68eb4d06bf016ea97f3a3f96203e87d12f75c66f3fd2606a20f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0507bfbfa2bb998e86baceac4f8f1bef8a6a10eb265bb875417174eb9a443996",
      "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 · 4.691 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.3405, 1.459, 0.384, 0.5533, 0.2523, -0.1764, 0.0085]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1678 left_yaw=0.0002 left_pitch=-0.0549 left_roll=0.0008 left_gripper=0.9995 right_x=0.3614 right_y=0.0851 right_z=0.0674 right_yaw=0.2109 right_pitch=0.0452 right_roll=-0.2583 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.2513, 7.2274, 1.663, -0.0855, -0.0562, -0.0122, -0.1162, -4.6017, 5.6684, 1.9707, 0.0464, 0.0269, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2878, 1.4101, 0.3824, 0.4671, 0.215, -0.21, 0.008]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3562 right_y=0.0699 right_z=0.065 right_yaw=0.2074 right_pitch=-0.0003 right_roll=-0.2718 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.6679, -0.0317, -0.0464, -0.0122, 0.2393, -4.5607, 5.6957, 1.8046, 0.0659, -0.0171, 0.5934]\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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2943, 1.5768, 0.3523, 0.6365, 0.2195, -0.2073, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0584 left_roll=0.0011 left_gripper=0.9995 right_x=0.3576 right_y=0.0719 right_z=0.0315 right_yaw=0.2086 right_pitch=-0.0271 right_roll=-0.2744 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.6479, 7.241, 1.663, -0.0464, -0.0415, -0.0122, 0.2803, -4.7795, 4.5197, 2.1074, 0.1245, -0.0513, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4536173a0e6a25f82430448b5caaa402b83ceef3d95789404a9c5ac1dcb27b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7c8c8119b68eb4d06bf016ea97f3a3f96203e87d12f75c66f3fd2606a20f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0507bfbfa2bb998e86baceac4f8f1bef8a6a10eb265bb875417174eb9a443996",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4j_pRW-1V2qYnWcDDYL5GkQeopvZX0V-7XEJ_hUofoTye5zRwBHMBuwXfmaIUkr-a_BaP6kemhZU4JwwE6fMhr-fNwVnDeTilj_FFhRcgZ_vn-lvmnoWWZ45eH4hgNSMuvkik6qBOvYcfsqT0ZCKrfaEDZraY5QJXrSkORU8oE4k7ew-rFXzF_SZ0nv4NdSO9NRaGw4tMycu04U0rbJWyop-1AdpxgQB03o8x_CSOgU1INJQqE7-w0eQkC0Zaiy9KvkoHYJf1Jam6FAel4YBCtK_TaZ6m0hnpwu3rAPKTwqDHr_-ZPeFXPdCgQcaL7Nn7fJZnGbcysRF8OfUQfBRwVctpbwbUEduVq3nFkMw3OTg5ON-OrxRuSUK64c25ayJsGC_0MvWchkGbOzs76hCyMeTsUwrOGenoW4icLZpkAQ9KE487IU0uQS4nWTeK3lg2msh03cDmCDyh99pGe65e_ovs6R1v9F2Vhcmi2uTBLId7ZGVHJK0kYyUdUJ_1sYUFsUh68BWcpuG6SUrZXjvFhH2j3Sxy_isMI_bRjYnKv1SgsDxFLyXN8U9JgiC0_OGawashsJLtp9VVGs7oRBNV0TzXRuVt9jMDoDsUmf1P2UDmYhlgJuFQRgG2xm7yjAC7a0RgaU8vLLInRzwX-2wnoNni1GEXuAZUxwHYyyS5iXTfb5kr8jZ7p6eb45g1m7c2wijFnIvnugNOduLeCXgfmb4sKi4O7KtXT2XXOPBoYLpC4CSMhBzHNXw8T2sIh3okcOFjjZ4ox_nw_S8PMAWfIfer2Fpx9lfTriULs_GElZ-PG12HFiEw53Yy0xm4bCH45Qyxf8Ir8bRubKyD4QURo6MUQEDEseu46hQGQu533Z62h0SCymHN0hSZf01ih_Vz-UvFYtXg-b_W0EysngeWurZ43HzGMnlse8tr140exAFIZfYSBe0Jw6UrEb2S5VibRD0vRaVgUfKB9JEGKcupPftjpSl83URAL2RRAxpFYLyV-Z8tzLs8Gj-Q2_kqckcqLeY5fbvp_2ksD6oGUtdPuWp081cDJ89niCJOe-hTDtueny8RtNLmaQRexwxji_AOLViCc-PzjsJCO1flnLsnQxQeqZOlSpxH55A7GSPEq5yRuGlcjV5v2gIfYgOWYhOEcqau6LMyAGbQqW9hZ_dDrL9g9dpnV7W7LUTGNizfM9uJgYv1vCoICL9aEx5WUZeiLjmuBuwKsvazzI-elBXmXA2b985SqwA3C9Nq3uL72aCPAoaiBJxKKjZPXU4eBty-vU2LAA_1x4O2zTwIZguyD04u_mIEGMsTa28Ri2Orqj_hxWCWHXdQF9aXsQNmQjgSU_2OYRSXYeTrbD_v3jq9DpvzFyxphm6uQQMRUiDKuWbHH3VyX4kkz0LaRPppx8TvZT9Q11Y5763EJ4zOAYiKKiWU6LLwGIX4uH3t-Q9age7Yxn5_nYfyT7Qxr7ZmVYnFx",
  "id": "rs_00603d911051d89b016ab42e2247d087d0923dcfa5beb2c353",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the lower height, the pale bowl’s side wall fills the wrist view and now crosses between the open jaw tips. I’ll close at this thicker section and check whether the fingers remain separated.\"}",
  "call_id": "call_RRGhcFBINOJYp8ZWFYCuVclE",
  "id": "fc_00603d911051d89b016ab42e22bdec87d0a50592802f9ed50e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RRGhcFBINOJYp8ZWFYCuVclE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2943, 1.5673, 0.3553, 0.6777, 0.2043, -0.2024, 0.1035]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.0584 left_roll=0.0008 left_gripper=0.9995 right_x=0.3641 right_y=0.0767 right_z=0.0441 right_yaw=0.219 right_pitch=0.0266 right_roll=-0.2578 right_gripper=0.1035\nstate[joint_eff]: [-0.0342, -1.4291, 7.0496, 1.6581, -0.0757, -0.0806, -0.0122, -0.1026, -4.6291, 5.094, 1.3602, 0.2515, 0.022, 0.3199]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ec33d5b565623344e47f0aee7190bb255d0d2e0c1ceb5d0c5572aa942d0c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12526259459668603c560879be3cd19e0663c72daa7e9a705569ea14d73b0948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67681ae2e2f813c4eaae20aebbd23578c1f33313ff38d6b14d070e85fbb3906c",
      "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 · 4.718 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2905, 1.4097, 0.384, 0.4736, 0.2146, -0.2073, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3573 right_y=0.0713 right_z=0.0671 right_yaw=0.209 right_pitch=0.0084 right_roll=-0.2687 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7118, -0.0513, -0.0464, -0.0122, -0.4718, -6.1744, 6.7897, 1.7949, -0.0855, 0.0513, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2943, 1.5768, 0.3523, 0.6365, 0.2195, -0.2073, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0584 left_roll=0.0011 left_gripper=0.9995 right_x=0.3576 right_y=0.0719 right_z=0.0315 right_yaw=0.2086 right_pitch=-0.0271 right_roll=-0.2744 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.6479, 7.241, 1.663, -0.0464, -0.0415, -0.0122, 0.2803, -4.7795, 4.5197, 2.1074, 0.1245, -0.0513, -0.1734]\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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2943, 1.5673, 0.3553, 0.6777, 0.2043, -0.2024, 0.1035]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.0584 left_roll=0.0008 left_gripper=0.9995 right_x=0.3641 right_y=0.0767 right_z=0.0441 right_yaw=0.219 right_pitch=0.0266 right_roll=-0.2578 right_gripper=0.1035\nstate[joint_eff]: [-0.0342, -1.4291, 7.0496, 1.6581, -0.0757, -0.0806, -0.0122, -0.1026, -4.6291, 5.094, 1.3602, 0.2515, 0.022, 0.3199]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ec33d5b565623344e47f0aee7190bb255d0d2e0c1ceb5d0c5572aa942d0c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12526259459668603c560879be3cd19e0663c72daa7e9a705569ea14d73b0948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67681ae2e2f813c4eaae20aebbd23578c1f33313ff38d6b14d070e85fbb3906c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4pbFjshwr-lA-2ZnQHqlUwbgIuc9FIR1HxHQjkvSGPuyw3EKUmtItz7n1sg1sC_w3SlA7AV3PbYTQbqvZ5tzYRbjwHezunokuJbKTamqiCPr7_PM8KLIrQx3ZOWcXWv8n_uk-kHeMHrpMOsNV9YLVhLIxLbEMEiDwisbcQRqttjWOa63JBerb7O5ti7MpPiJVGVZXBK93sNmQ23uU2G_pjHGZHs8Pk5BNDHZWAHL7uWezQEfww2v_pAxewZP1dW-MGm_QKGhEbHTIuRKP9q16OBkmMIpbDoG5nshMWmR7LrLJspzB0FUL-Ftmoao2O7rkABpT6xDAHjV2C7l6C5x0RI1w2lw1qOw1YkshXARHeQY1aubDbcwCSUA3yhGhAz3w5scSh4Zswn2xbpxJfCD5l7jdddTRk2GHw07B38d8IEErqonTczM5_5JozjOlzJ2EG14KjQS0o9SSsPw74DBgDHY7Uc-yHvenXo0VM-zix8XoyMqJRoz0dyqZUYNoscFhMXNW6uLN9X-qoA3xnM91olHUJNn6uejVcOgATCFcgyJraWExCjuXwupzocibB9W1bhfrjY1YG9KF9fllokyW3cZy-T3Ro3mxNpLZXElmy1-jk43AbVULjYCA0oWdwSNOKzWWDLw1wKJ7qo6dYUJ6gvXnm5MWExnTWiSKpO-X_sWmA-3Q0YS4Kt_jvY6d4VDcO2s9iJxcaiZmYVoawAPsLTp8kyDAMejAY8kD3WLFG0dCYTHt3gmsOqPu9Eu22Gz0ogKRk7ZLiw8RVSXxuuzpl7qMg_C4i_MNdA7kFP9v2Y68s86OiaZnT-38607ZFP0GBw5JlImdZ3_H1LsTOG7FYz7HH7sEoe7uv0pYTn6-yV-Eqb4VPHqU6PDQkhzw8LNr2Zsa1qkifdvc9o8OT1djP-zT93VFuAtknYgtUdJjHmz2RaP3j9LdCGKuQm-1iPSbkvAYcAd5sqfllggx3nJIH4cwlD3Cok1y2H1C-foEPSUlU4mYCECzLS14ncaOunibArBBqdByUZwdONhAzOxLqz5m5oGxBeJGhqZyOig0CTfXheRrlKgotkQwdmZQKdeWU1QKz6EY22qgdZ28RprrvE351FaihDJj2JDGDhcpGScWg6oxiQL3SO6RNzifGPkvRRUArUAolGUBOqj_ewfg5b63va89EqdR1YQimyGxM1gwAHozCi0ofIkkSJOyyAQgYsbgC3FeCkeVj0rFTSKEG4XXbPN9tm-kkpKRgR98OjuRnQNZqHhFvn6rO3YzqRa82CSNO6D0yQOVLweKHilCS874i6adotP9xl1bUAFrRHfso0HgPB_poilV34_mjyJcWb-gP2zLfzJYAsk5JSbrIKZe0VSr_w4mfo9dIOyPpgnnxT5uWrY8ORaE5GkB7bcU8vQlrWzAEqqqgqS4ck1xUJu6bkHlTPfRQsdRejotZ7XRwt_k-66eJ_rrhP-o8X9LhChfAC9mNkgxVjR1W_z150g==",
  "id": "rs_00603d911051d89b016ab42e27c35c87d089a265fe4efe4058",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145},\"note\":\"The right gripper settled with about a 1 cm gap instead of closing empty, consistent with a pinch on the bowl wall. I’ll lift straight up to confirm the pale bowl comes off the table before moving it toward the stack.\"}",
  "call_id": "call_1DgWqPqb17QarrVl8JxyUlqi",
  "id": "fc_00603d911051d89b016ab42e28407487d0b04840a48d572ae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1DgWqPqb17QarrVl8JxyUlqi",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2962, 1.2304, 0.5541, 0.149, 0.1993, -0.2066, 0.103]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0 left_pitch=-0.0603 left_roll=0.0012 left_gripper=0.9995 right_x=0.3639 right_y=0.0782 right_z=0.1321 right_yaw=0.2273 right_pitch=0.0326 right_roll=-0.2584 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.707, -0.0562, -0.0415, -0.0122, -0.2393, -5.135, 9.1145, 1.7265, 0.0269, 0.0024, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de9f9b8a6a0cdf5c7f989f9cbf7afbeb23068fd6a2257d9c2b8bb50a0a22f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff69b4f03d471cdf261ca7ff9ddbfe18c46895fd79007df7d875b3a901ddfd7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1cdd227e7ebb59d7f7d3f333efad50f9e040ee1cc40ba2e4d67c0b52cabb9e",
      "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 · 4.189 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2878, 1.4101, 0.3824, 0.4671, 0.215, -0.21, 0.008]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1676 left_yaw=0.0002 left_pitch=-0.0557 left_roll=0.0008 left_gripper=0.9995 right_x=0.3562 right_y=0.0699 right_z=0.065 right_yaw=0.2074 right_pitch=-0.0003 right_roll=-0.2718 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -1.388, 7.0222, 1.6679, -0.0317, -0.0464, -0.0122, 0.2393, -4.5607, 5.6957, 1.8046, 0.0659, -0.0171, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2943, 1.5673, 0.3553, 0.6777, 0.2043, -0.2024, 0.1035]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.0584 left_roll=0.0008 left_gripper=0.9995 right_x=0.3641 right_y=0.0767 right_z=0.0441 right_yaw=0.219 right_pitch=0.0266 right_roll=-0.2578 right_gripper=0.1035\nstate[joint_eff]: [-0.0342, -1.4291, 7.0496, 1.6581, -0.0757, -0.0806, -0.0122, -0.1026, -4.6291, 5.094, 1.3602, 0.2515, 0.022, 0.3199]\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 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2962, 1.2304, 0.5541, 0.149, 0.1993, -0.2066, 0.103]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0 left_pitch=-0.0603 left_roll=0.0012 left_gripper=0.9995 right_x=0.3639 right_y=0.0782 right_z=0.1321 right_yaw=0.2273 right_pitch=0.0326 right_roll=-0.2584 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.707, -0.0562, -0.0415, -0.0122, -0.2393, -5.135, 9.1145, 1.7265, 0.0269, 0.0024, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de9f9b8a6a0cdf5c7f989f9cbf7afbeb23068fd6a2257d9c2b8bb50a0a22f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff69b4f03d471cdf261ca7ff9ddbfe18c46895fd79007df7d875b3a901ddfd7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1cdd227e7ebb59d7f7d3f333efad50f9e040ee1cc40ba2e4d67c0b52cabb9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4uQeywNYBPjVe4DCL6IEezLAVmYjGIhFHK-ZLwuwnHoz3hWhGHR_hqew94L103HfY9Y_LtR4xBYsZQAtR06PCUcoELI9EA7TV-RR6VFH7utu6FW6HgacRNAnCYNPqdxOpw_BoH9Oyq8xm01XNY594i1-kYm5lKNk5gElvdCEb_56LuP1lPk2nRNNacCj0t3XsFyjH5HSsGrmCQZq2p-vtezf43oLnoHScKKhJhb01ZuqKMHCwcjemYivfXQyj8nusVT0Btd951pSLloTZYvb8VKG_toUJ-Xql6thaUeXCDG6thX2dSpvBsSTcdr9gSUu6wcatiMpfbz55oGSM0KsrBEhpkgzj3D13b4w8rI6ZsHdBNH7zXcS4gCD9ZwNnIFVN7pIt_vso5YOQVafhxfnK2jSFuMWjBD6GaRyupZl_1N-mxYfV0p1-Seg4usBaaipP8KFrbh1dbUGNaW5dHKKfVRmPuM8bqsKqULeEFlXQES6vgus_Pv8N6PxEGh6tZlZY5NCJhushpOVdB_gifrSqPLcHTQki8xJBYwKeGVfNl1p1Mu04EHHT0DzBGHm7LVVKxQZsX4AimTXxA7-WfMW__jIwW4GdD3xDjnfUySKsCg4qnTtKbcB98sLJG8E8AKUpmX33W25Sw-1pKzmj27qjBJkjihsAxziSpHnHW28dGyVeCoeyFdcagWN4JveYlCqHNHpm4k29acWNE74MJxwCmW-sO05f5XWN7YTHZyp0bpasiLt6SA0VlN5Kimxb25mi1MEFldrUKk1D5IBfdeAHc1t_cKVwrIdyLBNVrfH2tsOQFLNtd-f3dtSgwN7D2sVTwgU6wxg4S74EeiH6XvdCl535GlLOnHjSuNoTa6e4PkK73jI87E-TfvivHz2soua7jnIIqnY_9ZmIqJ2DOE189ZvXOB6OwIQcd8DKcRLS8uPoc_AfqaXkUFDGaQIhHV7SEyeLRFqSo0p4OuWEGBFy3mr0Z18Bylpeoore4W8yCrlmL_2-auDV8DLVOMVgvun53_X_ZqsJnGOGdLMcmOv60xfyj1NFnv16--7WzN97HPTbIOKXaSm5FGeKf5cYLyvmAVZnJHJqzUaqRxKI3M-mSKXNP1ebCV0HwQRYHKuFi9Nk-hEN1Hbv3TVCnR_UkYGHryiPvce-D_1aieCd09R7eR3_R7lx-v3B3DilBQ65JvBgGLvb8Mnnj0HgWzuLvBQlbV8FrGioXWAaPt5kPrURqBno14hdYNR9tmYBn8-DkbRAmfxDeUUIzVklYgYA2MpLqwtzepthlM30b4gBtIqA1mVA1w371olOIpDLBdHjYSBPR4amWO07Ker2KY6hhxRnnH-mkznK-IOhpDh2Zs6MKCLJKPAKAmK6ags8rbEz8HfXNrCRXjD7w_-b5n31i2CfghCrKxH6FKgCcOzHSlOEo_KMk7oeRtzauOT-6ae8dRRjSiQC4b4Y_iLURZCzQX3aavFBOUmvJ069e2Xzl9MBh2x8joF55Q12ddv-DXkkvEodE0ugPeMiT98zPrgxRamcpdiA6_TyIUXaIAob69OxNhMZxFgqr8TSo_G73DgnS1urPnFT69fFid7pspTnQ1TupNzCTMCWKvTSF39MBb_7bsXNxCAdav91w3_hm1g0vGtsSc2WKaUBqS-TU4RR4i5ZISQR3GZU69_0R9BF04zBuCVyPDUK3MRfQDy9PNhXy_vqk30jJwU8WlfDvJ6g7eDhhFDMnAoXKVETQgoH0QHpUrd3bq_v3bo0bJASrvARoTR_GJWVZqQvt9UZkoCce6z-7fws4mi9aAZK9tC9wj7Ooxt8LOi2ye_tgT4RaredAblff2vatViAJhTZNpptXQNiuxkaGrxihXyrZBoMb09jP5jV_QK0pkbZmYWVs1pZHayogrDBz1e53_ZSYr8IzIG5-LlI5qaXQfZAS_FMZLBTf6FlSPsXAdVsebq7B6_nq6-K-PpxU2hLxFKf5U1OZ019Qga_tbqnbvBTvLzgZ1Ekzu9a2ZrsoKyqrJl3Pip-4DUF-6TXZv6pPFo60N6W-zB1AbIgSvxCCL90czgv0OMGQDOJYGJLHDO8YVEFEEo1WaQTHrfqD38aGmQCPAROnWJbY-0vxASmiaJs6UrfwlOSdLKZcSeAas5kDGVNFzY-vJAJQLIlsxjHXtcplZbPWer_FihZgbO-4lzMWMWAIPk72TFzzIGOPc2xbAm8Im5v5kc2cZXQofrmWemsUA0ctOT0i4P9n00AjpcpVJdW17FWQFAy3J4onCWLxqqWE6plLLfd8W3at_cpQlXchUteuY4EDrnhBlsI43xP5PTvWuaPpWug7-0lqjia0FQk53Y4nzbu0wF3Ro1aY73RlwNuG3-0DO7tomnE6RWkqCbtG2SCYzr6zY5taHINrlKnFynP8IVa0YsUFQSt-33iJUszv2bVg_V7c25uwvQcv0ExS7gcTyI0mJxFLT_PBuznbUKoytQzMtrBdcikmqM-sVSg5GzlrGwKcn6ZOwrApeTMUp_W7hA==",
  "id": "rs_00603d911051d89b016ab42e2b59a887d0b37c3d7eab995965",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.18},\"note\":\"The jaw gap persists after lifting, but the overhead bowl is partly hidden by the arm and it is not yet clear that it rose. I’ll shift a short distance left while holding it to see whether the pale bowl follows.\"}",
  "call_id": "call_jrUepx28PO5KYebk40uf2G8k",
  "id": "fc_00603d911051d89b016ab42e2d9c3887d0ac7c32d37e974266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jrUepx28PO5KYebk40uf2G8k",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.5915, 1.3148, 0.7898, -0.0658, 0.4091, -0.0776, 0.1029]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9995 right_x=0.3594 right_y=0.1611 right_z=0.1674 right_yaw=0.2798 right_pitch=0.0101 right_roll=-0.2695 right_gripper=0.1029\nstate[joint_eff]: [-0.0479, -1.4154, 7.0359, 1.7021, -0.0513, -0.0562, -0.0122, 0.1436, -4.6974, 9.1692, 1.6386, 0.2418, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11890f0bc490614e71affc7da87215097db73c1ae6dfce57760f1fd59e132274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6160a4745518e9266eb1bfb91a74023a0d5e0f1a96db6fc2d76c5547106a712c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b21154c7eeaeda3dc1e0e62b20a67383bef116c434efbdb0189571cc92a862",
      "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 · 4.003 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2943, 1.5768, 0.3523, 0.6365, 0.2195, -0.2073, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0584 left_roll=0.0011 left_gripper=0.9995 right_x=0.3576 right_y=0.0719 right_z=0.0315 right_yaw=0.2086 right_pitch=-0.0271 right_roll=-0.2744 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.6479, 7.241, 1.663, -0.0464, -0.0415, -0.0122, 0.2803, -4.7795, 4.5197, 2.1074, 0.1245, -0.0513, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2962, 1.2304, 0.5541, 0.149, 0.1993, -0.2066, 0.103]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0 left_pitch=-0.0603 left_roll=0.0012 left_gripper=0.9995 right_x=0.3639 right_y=0.0782 right_z=0.1321 right_yaw=0.2273 right_pitch=0.0326 right_roll=-0.2584 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.707, -0.0562, -0.0415, -0.0122, -0.2393, -5.135, 9.1145, 1.7265, 0.0269, 0.0024, -0.0659]\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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.5915, 1.3148, 0.7898, -0.0658, 0.4091, -0.0776, 0.1029]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9995 right_x=0.3594 right_y=0.1611 right_z=0.1674 right_yaw=0.2798 right_pitch=0.0101 right_roll=-0.2695 right_gripper=0.1029\nstate[joint_eff]: [-0.0479, -1.4154, 7.0359, 1.7021, -0.0513, -0.0562, -0.0122, 0.1436, -4.6974, 9.1692, 1.6386, 0.2418, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11890f0bc490614e71affc7da87215097db73c1ae6dfce57760f1fd59e132274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6160a4745518e9266eb1bfb91a74023a0d5e0f1a96db6fc2d76c5547106a712c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b21154c7eeaeda3dc1e0e62b20a67383bef116c434efbdb0189571cc92a862",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4zLhHiOO4mflRXXhQB61s4NCiydpTxbifYheKm-NTbw24jTFMMHMdvTyrRhjrCrSN5eWa5dNQ5zZcTNpxSJZgCwI76jEzzy9wY3mDlnloKHJHri5M3Dgtg7Mi8r1wJ_p3-ciu43CUKzPrfjI-SAzyD8jIbb5ckUAS8EPnJQkWnwZTWYUPZ6jVbKoa4qmqkCmrxWXbZsM4EPiEBYRJRTT2X6PKioy5aBCS7y5UiZMvAHZYDb9eLAYYqv8bTqVbHre_mv5ceP-B85H2J6LcE-S7BLhrqjQCaEQY1deUTMqYasH5_6ledLmfAozRllxa8bqVbZLxCPnGB-8lxf4455uTklTQtJHj3Mi8suD4sChN8nLcMIEuZqDzW_uQoSDRItQSkcfn3vEWw7Hc2aI50xoKsWEKPpRgIByItmCQ5LzaZ2NNK1cYnbL8J-FlEhvo425qKg4Ax0fqILr4I-nAKD8VSeBuMh_473NRq-dc7_qQk6Pd6I1G-zOjiZxrcQJgo3C3mJ350K_hL3Ll2uQdvriq2ah-Zl89HJZh5AMpWlLRKpPj-c6Gu3dSTBY3PYMpnwd9sgClNKwn5alaZR3lUHib6uEj4xTIHDo-YssHrsnFCblcgN6Va-MBNOnbj2EVWwqSOB8Q2gdylv263eCYNOU9Y8Ra585aUqYun7D4HoJak6gfwSPoc--hah-vNu5Jkd4GqlGsS8CJ36PtGiqqH7f6Y4BZ4W6TIH8toEK0gxzshYRFyxqBTo06KrElTwIB4lo2YJ-KwHN2BPz9jGoyLdflHm-mLiXK3wBP9z34T_bxuzFaYanaLrEPNKVBRF8ln6WooXjy2NCxk5aydlQAMbw_wgW59SmIKEOEbV29BhTsZHUOq6fygi7MhgZgnr8BbhPcGZJlqtdoT3VBhWvzo5a1bzhSH-vO-hTdA5E87JQxkKniSrzSAx1kPOh2bJ6qyccsqJnyteRTOfEBhzIpjW_S86HIudpyb1pZMH1OZwZTYcFVAlF1P5IAxu8hOx4lL_jltp9ZIFkpPHZImUl7vMUXYYuBmdFY1pFrH0U5zxv5wH8Q6Tf1w1k3laSytfdTo_K2BhzBH257x8QciAwbzaLDGTarBKdAOXheeQxRdrGTF5bB2r6WDH1iwqsfnNWs-sip-2PTqz4vc7lbV3UsXzADbli1z5DYCyukS-eM9qzVDmXo3kWmE0vyhaeE3-LpsYcHtQcZ6LCdbUgZ7HDrOBHXQdWudwRobWUq16bgQCWcS2SUASPMT1s3lZwlu5darXOH-TR7Us2MXWr8xAJKFod5hvRrMZN_2mq0eU5F57sRuqnXL6AVXqBXuDXlspKCJw_Mpl5mY5t5aQcIBTgH1E_Mopxm3sopktL1nfz_YtOFo4nzz1q20X4ED8Bmff9OVQzFPrk2oMqjbK7IOjCJJwGFUXeiLlnWF31x1msgihCD8OSR7UYRxqfl-aSdgSUTc4WZ8teVFLmdaZ4iB5XL_H2YE1ILdWdl3s6lEkpbZjmXS6rnVhf1rWGi_aOKPRz1Sma5ymzqEcAp75gMsoIIc_pmurq_4wg0PxxzU_HgolGRV1iBvmcOodlyL7DIH_GBxqGf_LObKiN-YdqOaTXyDJvVpF9UCKR39cCaGzDe-3Yuz6fHlEDbUS_aQgqycGEBRlJo3h9eHElIZm2zYgAkgNT7Zy4pgXur0phURzHbdoAXG681ynZ8FoUEt99L97WhHkxD7Xj8PSa9dAxjImozI2NNR2r0Xuvh4wXInTbMh2vKW1Itpway0PwGVjBFXoeLwf8xsdmfuBg2K_sVq5GFb8ndH5Omp4YMDiW8E-YREzzJYcputXH57AUveRtbAaiJP6XfO33ZwHyb5ai4GCOC14BCYqGpbUsUaXZbSDmBVpdMAnha5wfqIYPaI3ale_2thGdOoliHbj9LenUKOgQ0eGEVWwEk3zh4L2o4EmNNiWZtwye9_NFYuYA4dAoEf41Y8X3YhaonX5JS0TLwPOkJhKE0p_Mw_Vxx8ILytb0Y9ndbftqXn8U8LUA8oVK0235WHd3p0sDkj6VCHBP31tN1328qZxQf39zeB52_HE3NK9UnzznEg1vPxIxrD-CMKi_E98aYXHtkyHmwtaSibfENDw2R4Zg2WrFwcpv8KhX4-kxmXn0296WDyZFrnZh5nru74R8ilLVowEkbmSZJVXdUN6IbIbQ==",
  "id": "rs_00603d911051d89b016ab42e30128487d09aada3682f9c2390",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The pale bowl remained visible in its original place as the right arm moved away, so that jaw gap did not represent a successful lift. I’ll park and open the right arm, then switch to the left bowl with a fresh overhead view.\"}",
  "call_id": "call_CIuOfEGrPnNV0si6g8j7c68K",
  "id": "fc_00603d911051d89b016ab42e31b92887d0ae2567d95974ffb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIuOfEGrPnNV0si6g8j7c68K",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, -0.1097, 0.7979, 0.5785, -0.321, -0.1307, -0.4267, 0.9961]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1653 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0013 left_gripper=0.9995 right_x=0.2994 right_y=-0.0062 right_z=0.1803 right_yaw=0.2172 right_pitch=0.0096 right_roll=-0.2784 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -1.7573, 6.9949, 1.6777, -0.0611, -0.0024, -0.0122, -0.2393, -1.7162, 7.0632, 1.7607, -0.1783, 0.0904, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8057d2bff999d4a4441d00b90893cc4af79e5f3e26ece2d3ac78aa04eb9ee29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0086d2cb097022d4bd00d2a15bcd8319add6735abb7264ede7728bfe9b4fbdb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff33b90422f02a3ba73cf1393c908c84bbc8c101488e0b0f51d9ac246f56383",
      "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 · 3.289 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.2943, 1.5673, 0.3553, 0.6777, 0.2043, -0.2024, 0.1035]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.0584 left_roll=0.0008 left_gripper=0.9995 right_x=0.3641 right_y=0.0767 right_z=0.0441 right_yaw=0.219 right_pitch=0.0266 right_roll=-0.2578 right_gripper=0.1035\nstate[joint_eff]: [-0.0342, -1.4291, 7.0496, 1.6581, -0.0757, -0.0806, -0.0122, -0.1026, -4.6291, 5.094, 1.3602, 0.2515, 0.022, 0.3199]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.5915, 1.3148, 0.7898, -0.0658, 0.4091, -0.0776, 0.1029]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9995 right_x=0.3594 right_y=0.1611 right_z=0.1674 right_yaw=0.2798 right_pitch=0.0101 right_roll=-0.2695 right_gripper=0.1029\nstate[joint_eff]: [-0.0479, -1.4154, 7.0359, 1.7021, -0.0513, -0.0562, -0.0122, 0.1436, -4.6974, 9.1692, 1.6386, 0.2418, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, -0.1097, 0.7979, 0.5785, -0.321, -0.1307, -0.4267, 0.9961]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1653 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0013 left_gripper=0.9995 right_x=0.2994 right_y=-0.0062 right_z=0.1803 right_yaw=0.2172 right_pitch=0.0096 right_roll=-0.2784 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -1.7573, 6.9949, 1.6777, -0.0611, -0.0024, -0.0122, -0.2393, -1.7162, 7.0632, 1.7607, -0.1783, 0.0904, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8057d2bff999d4a4441d00b90893cc4af79e5f3e26ece2d3ac78aa04eb9ee29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0086d2cb097022d4bd00d2a15bcd8319add6735abb7264ede7728bfe9b4fbdb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff33b90422f02a3ba73cf1393c908c84bbc8c101488e0b0f51d9ac246f56383",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC44ubnf4o7XozVX5_5ZHOx8Py6E6IB45f-kXRL7hyK_aL_SydnxNg5W3tA1ICnMLXub8VsUbELUPQoaQPoA-3-DQTDMXhSmPK75ZGaJ7vgebQWeH8H_0_rQRJsYYsW6S2OqNh_Gl89ZHmiN7NuahN3tqsrWjm7YaOMP7EoCw6MnynXLSR1vmWewOdd6pX0HBjbft0Pw8v6zs6EvrmfxGf1Pm9QCwDX-CPIy2Q8OvyBD05icGqW3xFqNwRfAMyh4BxQy2k8debY1Ej-W-vPlTtDG8-m1eDFLpSwX9by2oimOMi8-1r2WaTitWh_Kk8vS_XGVg4RtgLIGtARAKpH6yXbK3JdF0k9go-5KdUtva_ay-aLwKOP9b-xhyuJgKQTAOPry78-Yz8TxygjqZdHgtpg2IjbLoG4EGMAQhJayXcttY6FKsKlXzDn2w05sX7LQKi_2m0YDN24ETa28o_oqKPdsKhi9pXjTVjWzMlc4cGOnkdtBdoUn2Dj-Ek9vGjIT6dydfh7HqftO_rjnLsKNKS_qd-00gb7myxjw2Hv7kCaAMHspI8znXxyC6XxyIMktNGBuCR7Muxw6gGGu2ySZtT2POiG8WBJ7tEwgfH_MxijfPB4yjjdUBUWhtv-713_cBfc6AFhbWF5uB_9YInTzTwVxdrHdCVJEd5fJpdNW7v_j0q1pXqDSotvkYMsuwILV8cZNnujNoLUjHNE8UPhyA_1tm9i-nyid32Pu3Li6LANq4T7YpRT_YHhTXOIPizIjvA-CEUnOIuaZR91_5uMEyAeb1Jc4-mwLvOlhzeIQai1yc1o_qMUeKn8Smpv9UYrohr4Mhabx11MyT37bTBZheEg4uC97mkvrHiMujymUSciwvhAXKJRHUHBx0TYTc1s1fmARMurbbolZMmQNqVo6qgte8540nFsx0JInA92Pp1YDSUIz0psowJSGul1DiqKHUpGh_5fh9VLqs9ihsKPLxKcg-FYPc6rZltBt8Cu6B1PGR1zY7oNpy9v_0-ZmJ2s1zQD6O5OvPllwZsVt17oK6yYA00B5Pl-mPMvyssFEkMiBbnFoKvT_hrp4NDWlkfBQgPnm-Y_m4CjNpWtILtP8jmSGPE83W9U3S4AoP4tQ660HfcrGQueGAJA51v9OP2MB4CF8DziewQuSTsbRtka0cE0_Z3kphHpWP2JHpKYJngnZRH8E_Q9PKdzgAMqMZtLYSzjYQp0LDA-kUxjLdYlgI6xfsLptLYxs5vw7S0VUdHGZ3o-RhqV23p-nacXYuB-F9idYiTf3OvXlMa77KOFujLc_uP4OcrZgXyWKCEQgP7kzJDAxXBcq2eOPfJaITjBOAgjXtkzejLdWbO8ctq71GwIPpDw9540wzMxN2odWjPSNl6iFeaSk-0D1msazNfWcsb8dGGWoNoF2Qy-1HQaYXoBLjZneSN3E2O0YFZA8GyGMp7remQlSQCAzOWNzT91ApkXxuSeJo2BoF3M1SO3DsCIfij-I7ARygMO5HkaDzA2UJpVnQLm4r_rlhrvOIGYtD4r9hVlz_7QN1soXS2nkmKtRg3i--gwJbuc4tvZI1BCwB30=",
  "id": "rs_00603d911051d89b016ab42e36bfdc87d0a2c0048b27c80caa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.19,\"left_z\":0.14},\"note\":\"With the right arm parked, all three bowls are still separately on the table. I’ll bring the open left gripper above the turquoise bowl, aiming to grasp its wall rather than assuming a centered close will work.\"}",
  "call_id": "call_DgH31TYZveXdOCgBP0U2ID8Z",
  "id": "fc_00603d911051d89b016ab42e37bc4c87d0bdd923c0637b3404",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DgH31TYZveXdOCgBP0U2ID8Z",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.6154, 1.01, -0.1879, -0.4843, -0.4206, 0.9995, -0.1116, 0.8028, 0.5774, -0.3405, -0.1387, -0.4419, 0.9963]\nstate[eef_state]: left_x=0.3946 left_y=-0.1827 left_z=0.1244 left_yaw=-0.0138 left_pitch=-0.1141 left_roll=0.0245 left_gripper=0.9995 right_x=0.2971 right_y=-0.0051 right_z=0.1744 right_yaw=0.23 right_pitch=-0.0154 right_roll=-0.2789 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -7.6103, 8.759, 1.6923, -0.4029, -0.1099, -0.0122, -0.0752, -1.6342, 7.3641, 1.8828, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f32cff56613a2d6c07a7588bb86238e07346a13df1587c5c2911dfafd6bab62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0c84df4575a6604658cfc3663f7840887a49cfc5dd6011725394c112b963b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f7f4588af0564edccd523d69887633562ff5a8e64fe7f8fdfe7de466b90ea",
      "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 · 5.456 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, 0.2962, 1.2304, 0.5541, 0.149, 0.1993, -0.2066, 0.103]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0 left_pitch=-0.0603 left_roll=0.0012 left_gripper=0.9995 right_x=0.3639 right_y=0.0782 right_z=0.1321 right_yaw=0.2273 right_pitch=0.0326 right_roll=-0.2584 right_gripper=0.103\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.707, -0.0562, -0.0415, -0.0122, -0.2393, -5.135, 9.1145, 1.7265, 0.0269, 0.0024, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, -0.1097, 0.7979, 0.5785, -0.321, -0.1307, -0.4267, 0.9961]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1653 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0013 left_gripper=0.9995 right_x=0.2994 right_y=-0.0062 right_z=0.1803 right_yaw=0.2172 right_pitch=0.0096 right_roll=-0.2784 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -1.7573, 6.9949, 1.6777, -0.0611, -0.0024, -0.0122, -0.2393, -1.7162, 7.0632, 1.7607, -0.1783, 0.0904, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.6154, 1.01, -0.1879, -0.4843, -0.4206, 0.9995, -0.1116, 0.8028, 0.5774, -0.3405, -0.1387, -0.4419, 0.9963]\nstate[eef_state]: left_x=0.3946 left_y=-0.1827 left_z=0.1244 left_yaw=-0.0138 left_pitch=-0.1141 left_roll=0.0245 left_gripper=0.9995 right_x=0.2971 right_y=-0.0051 right_z=0.1744 right_yaw=0.23 right_pitch=-0.0154 right_roll=-0.2789 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -7.6103, 8.759, 1.6923, -0.4029, -0.1099, -0.0122, -0.0752, -1.6342, 7.3641, 1.8828, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f32cff56613a2d6c07a7588bb86238e07346a13df1587c5c2911dfafd6bab62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0c84df4575a6604658cfc3663f7840887a49cfc5dd6011725394c112b963b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f7f4588af0564edccd523d69887633562ff5a8e64fe7f8fdfe7de466b90ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtC49OmOzM8j9BzEcU8mPydTPi9nT3XqmMfGyt34X7T8pzhZz6rWGYrkRPzLPNUEuSQAE-YoEO_dFQr-5T6mbhgNUyBSEF6Xeko6fjBBtM3DXyQYwjKkKwzcJXc7CbuTZHOEaQNzNXe5rhjt-wOFumyvbzvyOg0XHi5s_CjYG0AGNB9P7D00OSkAnh9xSbRq978EtG8s4WTxcEyHQV9KaYbltRPJSnQM8ooQQI_puPmnzcAQUAwACWC8LhCrJaE86qcB1kMEWXYeJ91WbglD9BzgQzKQeFcz0EzrirbUiaLMWLXLTZj4eDrP-tqZ_P1yyQiH0f357i8OrQSb25EuM9iCWkzWo-9VX29w5xb-iy31pHUcWzLQHTOJljN27ondP6EvzH4xYLdSpwNaB2NfqlkavpEFM0P_NxeH2lYc5U_tMdDPJazHrf0fMUkaNP68sERrA64F7XBKPFsEnVZ-OGN8c8AnJhANESNiM--CJIviJh5-ngJg6qjsGmkOx72Id_M8Z9ri57d89a8Hc5Bh5hBwNvsnxBmtLGMdySJHndoZdVFSJJQpH3DnCRQHZ0SaP8RBMvWBYfgWbR85I119EjTG4gKrPoPO29CR3H2Qto_byg7aKHiKd7viBu5RkeTApRdd0bdwcB9rGKZp2N8kPoMQM0wjxyAw7zWatKL2H5vEVZxyr6JgyD4dNMMnd2sr0cOeK0a5a4n1z5V8k4rq1MdhcVQIc4PknztLJxyOADpE09dYtU53iTdXrEy9-vRPQQWKEe2Y3LCO8kHunfQOTYBcMJxqTZepauvVHRlkO1vEuXGFlJkMoinO0f2bbv-JuipX2Lbqa5QDrsczTACLoEtUtxgzF-Uyxz3ahyaH8hb6Jsiyz3Da6f8ixXarZMZnTxyrsJ-ygV_OG5_VvjK1IVWILKvn1lAleCbitntuw1saHsPFnSjmXgztME3Zkbhoi9FEmimDzEoYHy5v_BM3Bm-fOY-qw1b6tAURhcMmp_HNJncHUdkwI9SL8IYccvbK4GHQPtKrBxNzYzEFFfSfwHxiuPmvej9fCsvI9fxbTpWgf0N-GL3bX1QdAVWQ3O-up-I8T-r0uBUt9rQW1_uncGuq4zoMwFya-9pXn8VwNtudNVWdPTsuIyyoIkZ5MdyRVlhWqGuCMl9F-bgb5wHl192BVyrIQB8-PK94cgYS3Gp2swcQ_dQqZnocKi_MbrdYzyi26Qphfd0C9i3sN8BwwPQFS1Zuw5t7NdHAYYgLeEIWWaudbnXb_owUcBBsB3rLWgJVNwCrD1orArRxRzBr4v7cVUBAPsbaAX6KcfsluZGPArHkY90Eoi-vYme5M2kQGZpOzJWVLL0h3yDvTFCmN1o1BXWNa5TIXnfCf9qEWjLfQFPnK5BZjubdZ-GBalOabHwS5AZThY5PD3bUZ86W80NUzbgFcF03ovOg-iWUWoO_Ror1RQFPDxWJiGJhgDpkk84F8RZQowPeE53XH07cAkOX45EBj3GLJVEQ7pAJ4XLtHl_GbiTeqixnVYZ-yYezB1FXgWQxsDbGT_wgbExDsgqrSjp9p_xh-e1Nf-bqBJ1BZWn0f_ca1hKz7zTY-rP8UMAqYjUktCsrgH6UTWt3T2yZ8AhH2ortnFGqkd9gQefIriCuFVmdhRzB7of-jsgaoEV_XBP7TdLiWcDHDo7lsqFbNKYukKcsnIK-eCHQFfX7EQuqft33a9t6jwvbdPdWuidwSKAFo6XqMY3UYT7w3Q5cZE92zBoS_dCdohKQVXfuHg6uTdfElNl7F0xeo114mFi86zEJFXWAYtVggKGM0kOGN8jvPPkYEP6I5qmMBGEzXSjOlUhqapa6ld6dLY_4Inm1q1q9nMIP0AeKEmINkby_LEmjmsxoWAkyjCzPIPizLlD8=",
  "id": "rs_00603d911051d89b016ab42e3b799887d0967e8bd4db03bff7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_x\":0.405,\"left_z\":0.10},\"note\":\"The left wrist camera shows the turquoise bowl off to the left of the jaws, while the purple bowl is to their right. I’ll shift the left arm about 5 cm toward the turquoise bowl and lower to inspect its rim.\"}",
  "call_id": "call_ZEEIbhDGnam63F4v0cRHXF8S",
  "id": "fc_00603d911051d89b016ab42e3cc2c887d09df22ca6292aa218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZEEIbhDGnam63F4v0cRHXF8S",
  "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]: [-0.4793, 1.6108, 0.8692, -0.0746, -0.3962, -0.3347, 0.9995, -0.1116, 0.8032, 0.5774, -0.3424, -0.139, -0.4458, 0.9963]\nstate[eef_state]: left_x=0.3982 left_y=-0.1261 left_z=0.0849 left_yaw=0.0255 left_pitch=-0.1695 left_roll=0.0483 left_gripper=0.9995 right_x=0.2968 right_y=-0.005 right_z=0.1739 right_yaw=0.2324 right_pitch=-0.0181 right_roll=-0.2811 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -9.388, 6.4479, 1.746, -0.1587, 0.2076, -0.0122, -0.0752, -0.9915, 7.0632, 1.7802, -0.0855, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb7715a37f07f2404be14f8004f21dfcf2330cd5ca7103a2d5f3fb06f6e004e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648ed94876dd5107d3152036657cbf3df7670565fd2e71fc23ef949ca56ab9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e170ed66322c7b8f05dbf5bfb9850d3a38ecbd76a4286589c7da2cb2e384b7c8",
      "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 · 2.574 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.5915, 1.3148, 0.7898, -0.0658, 0.4091, -0.0776, 0.1029]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9995 right_x=0.3594 right_y=0.1611 right_z=0.1674 right_yaw=0.2798 right_pitch=0.0101 right_roll=-0.2695 right_gripper=0.1029\nstate[joint_eff]: [-0.0479, -1.4154, 7.0359, 1.7021, -0.0513, -0.0562, -0.0122, 0.1436, -4.6974, 9.1692, 1.6386, 0.2418, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.6154, 1.01, -0.1879, -0.4843, -0.4206, 0.9995, -0.1116, 0.8028, 0.5774, -0.3405, -0.1387, -0.4419, 0.9963]\nstate[eef_state]: left_x=0.3946 left_y=-0.1827 left_z=0.1244 left_yaw=-0.0138 left_pitch=-0.1141 left_roll=0.0245 left_gripper=0.9995 right_x=0.2971 right_y=-0.0051 right_z=0.1744 right_yaw=0.23 right_pitch=-0.0154 right_roll=-0.2789 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -7.6103, 8.759, 1.6923, -0.4029, -0.1099, -0.0122, -0.0752, -1.6342, 7.3641, 1.8828, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.6108, 0.8692, -0.0746, -0.3962, -0.3347, 0.9995, -0.1116, 0.8032, 0.5774, -0.3424, -0.139, -0.4458, 0.9963]\nstate[eef_state]: left_x=0.3982 left_y=-0.1261 left_z=0.0849 left_yaw=0.0255 left_pitch=-0.1695 left_roll=0.0483 left_gripper=0.9995 right_x=0.2968 right_y=-0.005 right_z=0.1739 right_yaw=0.2324 right_pitch=-0.0181 right_roll=-0.2811 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -9.388, 6.4479, 1.746, -0.1587, 0.2076, -0.0122, -0.0752, -0.9915, 7.0632, 1.7802, -0.0855, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb7715a37f07f2404be14f8004f21dfcf2330cd5ca7103a2d5f3fb06f6e004e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648ed94876dd5107d3152036657cbf3df7670565fd2e71fc23ef949ca56ab9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e170ed66322c7b8f05dbf5bfb9850d3a38ecbd76a4286589c7da2cb2e384b7c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_00603d911051d89b016ab42e408bf487d0b42ec8b928e7039d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.153,\"left_z\":0.043},\"note\":\"The turquoise bowl is now visible just left of the left jaw center, with its side wall near one fingertip. I’ll advance slightly, offset toward its outer wall, and lower to a sturdier part of the bowl before closing.\"}",
  "call_id": "call_oCFTGIfy55glICo2j94qoEmc",
  "id": "fc_00603d911051d89b016ab42e426aa087d095129f659f0166c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oCFTGIfy55glICo2j94qoEmc",
  "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]: [-0.506, 1.8069, 0.9138, 0.0257, -0.4019, -0.3458, 0.9995, -0.1116, 0.8051, 0.5774, -0.3462, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4137 left_y=-0.1461 left_z=0.0382 left_yaw=0.0142 left_pitch=-0.2115 left_roll=0.0694 left_gripper=0.9995 right_x=0.2965 right_y=-0.005 right_z=0.1726 right_yaw=0.2326 right_pitch=-0.0235 right_roll=-0.2795 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.3453, 7.9932, 1.5556, -0.3541, -0.1392, -0.0122, 0.0068, -1.265, 7.0906, 1.8242, -0.0708, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e207f23bd786d9251ca2202267e87763f36ba60797391162ac04d9de905844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae588997dac0fcd51ff8b25d33679fd7ba23ab63c9631ec96a86f683638c5839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1845a6a261a831fd99b4b478f77c85eeee3b8aba21545f6d248d70c9606948f",
      "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 · 3.042 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.408, -0.0227, -0.0257, 0.9995, -0.1097, 0.7979, 0.5785, -0.321, -0.1307, -0.4267, 0.9961]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1653 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0013 left_gripper=0.9995 right_x=0.2994 right_y=-0.0062 right_z=0.1803 right_yaw=0.2172 right_pitch=0.0096 right_roll=-0.2784 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -1.7573, 6.9949, 1.6777, -0.0611, -0.0024, -0.0122, -0.2393, -1.7162, 7.0632, 1.7607, -0.1783, 0.0904, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.6108, 0.8692, -0.0746, -0.3962, -0.3347, 0.9995, -0.1116, 0.8032, 0.5774, -0.3424, -0.139, -0.4458, 0.9963]\nstate[eef_state]: left_x=0.3982 left_y=-0.1261 left_z=0.0849 left_yaw=0.0255 left_pitch=-0.1695 left_roll=0.0483 left_gripper=0.9995 right_x=0.2968 right_y=-0.005 right_z=0.1739 right_yaw=0.2324 right_pitch=-0.0181 right_roll=-0.2811 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -9.388, 6.4479, 1.746, -0.1587, 0.2076, -0.0122, -0.0752, -0.9915, 7.0632, 1.7802, -0.0855, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.506, 1.8069, 0.9138, 0.0257, -0.4019, -0.3458, 0.9995, -0.1116, 0.8051, 0.5774, -0.3462, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4137 left_y=-0.1461 left_z=0.0382 left_yaw=0.0142 left_pitch=-0.2115 left_roll=0.0694 left_gripper=0.9995 right_x=0.2965 right_y=-0.005 right_z=0.1726 right_yaw=0.2326 right_pitch=-0.0235 right_roll=-0.2795 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.3453, 7.9932, 1.5556, -0.3541, -0.1392, -0.0122, 0.0068, -1.265, 7.0906, 1.8242, -0.0708, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e207f23bd786d9251ca2202267e87763f36ba60797391162ac04d9de905844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae588997dac0fcd51ff8b25d33679fd7ba23ab63c9631ec96a86f683638c5839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1845a6a261a831fd99b4b478f77c85eeee3b8aba21545f6d248d70c9606948f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_00603d911051d89b016ab42e44f0a887d0875f929bb5043216",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table-level bowl-wall height, the turquoise bowl’s right wall lies between the left gripper’s open fingertips. I’ll close around that wall and inspect whether the jaws retain a gap.\"}",
  "call_id": "call_chpEklm3QtYxuQXF8X6rgZ2G",
  "id": "fc_00603d911051d89b016ab42e455e2887d09082ccb780909cfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_chpEklm3QtYxuQXF8X6rgZ2G",
  "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]: [-0.5106, 1.8187, 0.9142, 0.0303, -0.4267, -0.3424, 0.0395, -0.1116, 0.8062, 0.5758, -0.3485, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.414 left_y=-0.144 left_z=0.0355 left_yaw=0.0279 left_pitch=-0.208 left_roll=0.0922 left_gripper=0.0395 right_x=0.296 right_y=-0.0049 right_z=0.1711 right_yaw=0.2326 right_pitch=-0.0282 right_roll=-0.2778 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -8.7863, 5.6684, 1.3944, 0.0806, -0.1392, 0.9451, -0.0068, -1.4154, 7.3368, 1.7558, -0.0952, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7218dd54d6541601a4bb458fefdeb978fc1bc6fece3a4b4f8f835b73ca5f740f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba22c2bb4d1070d32e09ec922d9604faee04a08c2679e0dca00d95918d27ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ef62675ede8b8dcd62d51a8843d32d1f9c73da3966a901ff9d2329e179c90",
      "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 · 4.724 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.6154, 1.01, -0.1879, -0.4843, -0.4206, 0.9995, -0.1116, 0.8028, 0.5774, -0.3405, -0.1387, -0.4419, 0.9963]\nstate[eef_state]: left_x=0.3946 left_y=-0.1827 left_z=0.1244 left_yaw=-0.0138 left_pitch=-0.1141 left_roll=0.0245 left_gripper=0.9995 right_x=0.2971 right_y=-0.0051 right_z=0.1744 right_yaw=0.23 right_pitch=-0.0154 right_roll=-0.2789 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -7.6103, 8.759, 1.6923, -0.4029, -0.1099, -0.0122, -0.0752, -1.6342, 7.3641, 1.8828, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.506, 1.8069, 0.9138, 0.0257, -0.4019, -0.3458, 0.9995, -0.1116, 0.8051, 0.5774, -0.3462, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4137 left_y=-0.1461 left_z=0.0382 left_yaw=0.0142 left_pitch=-0.2115 left_roll=0.0694 left_gripper=0.9995 right_x=0.2965 right_y=-0.005 right_z=0.1726 right_yaw=0.2326 right_pitch=-0.0235 right_roll=-0.2795 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.3453, 7.9932, 1.5556, -0.3541, -0.1392, -0.0122, 0.0068, -1.265, 7.0906, 1.8242, -0.0708, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.8187, 0.9142, 0.0303, -0.4267, -0.3424, 0.0395, -0.1116, 0.8062, 0.5758, -0.3485, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.414 left_y=-0.144 left_z=0.0355 left_yaw=0.0279 left_pitch=-0.208 left_roll=0.0922 left_gripper=0.0395 right_x=0.296 right_y=-0.0049 right_z=0.1711 right_yaw=0.2326 right_pitch=-0.0282 right_roll=-0.2778 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -8.7863, 5.6684, 1.3944, 0.0806, -0.1392, 0.9451, -0.0068, -1.4154, 7.3368, 1.7558, -0.0952, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7218dd54d6541601a4bb458fefdeb978fc1bc6fece3a4b4f8f835b73ca5f740f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba22c2bb4d1070d32e09ec922d9604faee04a08c2679e0dca00d95918d27ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ef62675ede8b8dcd62d51a8843d32d1f9c73da3966a901ff9d2329e179c90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_00603d911051d89b016ab42e48ece087d0a726da5e4e991172",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left gripper stopped just above the empty-grip threshold, and its closed finger sits against the turquoise rim in the wrist image. I’ll lift a few centimeters to see whether the bowl actually comes up with it.\"}",
  "call_id": "call_lh2c3MQ7lcr9i2sEh9phrKr4",
  "id": "fc_00603d911051d89b016ab42e496d0887d094f282d9fde7eab6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lh2c3MQ7lcr9i2sEh9phrKr4",
  "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]: [-0.5091, 1.7378, 0.9905, -0.1627, -0.4202, -0.3416, 0.0411, -0.1116, 0.8082, 0.5755, -0.3595, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4092 left_y=-0.1418 left_z=0.0673 left_yaw=0.0282 left_pitch=-0.2415 left_roll=0.1071 left_gripper=0.0411 right_x=0.2946 right_y=-0.0048 right_z=0.1681 right_yaw=0.2328 right_pitch=-0.0408 right_roll=-0.2733 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -10.3316, 8.8821, 1.4676, -0.3248, -0.022, 1.033, -0.1299, -1.4154, 7.0496, 1.7998, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701eda3db78aff6ea9ca9ed8fcfc42a2b00760dbd31cbcf6d56fd0ff0330efdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a32c5b30366ad71cb6c0e45e7850cb6dcd589ad78ab5f42e95accd0b1d47b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc898a4c70df7f672ad612c4fca26862e8e6528f992a43619cc560ea86b2cc5",
      "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 · 9.565 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.6108, 0.8692, -0.0746, -0.3962, -0.3347, 0.9995, -0.1116, 0.8032, 0.5774, -0.3424, -0.139, -0.4458, 0.9963]\nstate[eef_state]: left_x=0.3982 left_y=-0.1261 left_z=0.0849 left_yaw=0.0255 left_pitch=-0.1695 left_roll=0.0483 left_gripper=0.9995 right_x=0.2968 right_y=-0.005 right_z=0.1739 right_yaw=0.2324 right_pitch=-0.0181 right_roll=-0.2811 right_gripper=0.9963\nstate[joint_eff]: [0.3761, -9.388, 6.4479, 1.746, -0.1587, 0.2076, -0.0122, -0.0752, -0.9915, 7.0632, 1.7802, -0.0855, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.8187, 0.9142, 0.0303, -0.4267, -0.3424, 0.0395, -0.1116, 0.8062, 0.5758, -0.3485, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.414 left_y=-0.144 left_z=0.0355 left_yaw=0.0279 left_pitch=-0.208 left_roll=0.0922 left_gripper=0.0395 right_x=0.296 right_y=-0.0049 right_z=0.1711 right_yaw=0.2326 right_pitch=-0.0282 right_roll=-0.2778 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -8.7863, 5.6684, 1.3944, 0.0806, -0.1392, 0.9451, -0.0068, -1.4154, 7.3368, 1.7558, -0.0952, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.7378, 0.9905, -0.1627, -0.4202, -0.3416, 0.0411, -0.1116, 0.8082, 0.5755, -0.3595, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4092 left_y=-0.1418 left_z=0.0673 left_yaw=0.0282 left_pitch=-0.2415 left_roll=0.1071 left_gripper=0.0411 right_x=0.2946 right_y=-0.0048 right_z=0.1681 right_yaw=0.2328 right_pitch=-0.0408 right_roll=-0.2733 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -10.3316, 8.8821, 1.4676, -0.3248, -0.022, 1.033, -0.1299, -1.4154, 7.0496, 1.7998, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701eda3db78aff6ea9ca9ed8fcfc42a2b00760dbd31cbcf6d56fd0ff0330efdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a32c5b30366ad71cb6c0e45e7850cb6dcd589ad78ab5f42e95accd0b1d47b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc898a4c70df7f672ad612c4fca26862e8e6528f992a43619cc560ea86b2cc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_00603d911051d89b016ab42e4c507887d0891faa694bcf3d1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.245,\"left_z\":0.16},\"note\":\"The turquoise bowl is still visible at the wrist after the lift, so I cannot yet confirm a pickup. I’ll move a short distance toward the purple bowl while holding the pinch and check whether the turquoise bowl travels with the arm.\"}",
  "call_id": "call_S3OjoQrKFGiO1yWzPi1IwI3E",
  "id": "fc_00603d911051d89b016ab42e4e666887d0a21426ebfaf3c0ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S3OjoQrKFGiO1yWzPi1IwI3E",
  "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]: [-0.7345, 1.8645, 1.5108, -0.6529, -0.5259, -0.5476, 0.0413, -0.1116, 0.8097, 0.5755, -0.3637, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4078 left_y=-0.244 left_z=0.148 left_yaw=0.0097 left_pitch=-0.2548 left_roll=0.0926 left_gripper=0.0413 right_x=0.2941 right_y=-0.0047 right_z=0.1669 right_yaw=0.2331 right_pitch=-0.0462 right_roll=-0.2717 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -9.6342, 9.0325, 1.0867, -0.5348, 0.0708, 1.0134, -0.1436, -1.4017, 7.0085, 1.7753, -0.0855, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4e40ca14e89198b50ec6c206b37a923c1b6cf2655309c8166b8ca660b969a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a244fe886db76d5b158e19597ed1a78f4a674e41b870c9fa51e95c125b54e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e675ef4e0ad5912e4d586ab05a71d011b9ac65d5b28c7887d15e0dde23d87804",
      "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 · 2.358 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.506, 1.8069, 0.9138, 0.0257, -0.4019, -0.3458, 0.9995, -0.1116, 0.8051, 0.5774, -0.3462, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4137 left_y=-0.1461 left_z=0.0382 left_yaw=0.0142 left_pitch=-0.2115 left_roll=0.0694 left_gripper=0.9995 right_x=0.2965 right_y=-0.005 right_z=0.1726 right_yaw=0.2326 right_pitch=-0.0235 right_roll=-0.2795 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.3453, 7.9932, 1.5556, -0.3541, -0.1392, -0.0122, 0.0068, -1.265, 7.0906, 1.8242, -0.0708, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.7378, 0.9905, -0.1627, -0.4202, -0.3416, 0.0411, -0.1116, 0.8082, 0.5755, -0.3595, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4092 left_y=-0.1418 left_z=0.0673 left_yaw=0.0282 left_pitch=-0.2415 left_roll=0.1071 left_gripper=0.0411 right_x=0.2946 right_y=-0.0048 right_z=0.1681 right_yaw=0.2328 right_pitch=-0.0408 right_roll=-0.2733 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -10.3316, 8.8821, 1.4676, -0.3248, -0.022, 1.033, -0.1299, -1.4154, 7.0496, 1.7998, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.8645, 1.5108, -0.6529, -0.5259, -0.5476, 0.0413, -0.1116, 0.8097, 0.5755, -0.3637, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4078 left_y=-0.244 left_z=0.148 left_yaw=0.0097 left_pitch=-0.2548 left_roll=0.0926 left_gripper=0.0413 right_x=0.2941 right_y=-0.0047 right_z=0.1669 right_yaw=0.2331 right_pitch=-0.0462 right_roll=-0.2717 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -9.6342, 9.0325, 1.0867, -0.5348, 0.0708, 1.0134, -0.1436, -1.4017, 7.0085, 1.7753, -0.0855, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4e40ca14e89198b50ec6c206b37a923c1b6cf2655309c8166b8ca660b969a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a244fe886db76d5b158e19597ed1a78f4a674e41b870c9fa51e95c125b54e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e675ef4e0ad5912e4d586ab05a71d011b9ac65d5b28c7887d15e0dde23d87804",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_00603d911051d89b016ab42e529ecc87d0a46fa2c74b8e22b6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5ZLWh-zMjLHW0T8LbFpJZpqxgYR48uWtDBrVcgKt_n-b5ymeHFdoZJNQUy8kOowomIGhPrxg6DxU2qWoySZG5bZH1c9MdSQpAGnUtC3pAcyWZDlGiN9NPBnCNquE9yTqw3AyL4UBb0h9A5rhTm_9G8AkxGHgJgxwEEVxsrPJAXubcl1I1Zvt0lKCJGaBdA_v8r1_nyJf1HReGIqHW_nC96uia7aw9qE3p_zuvKm7Iww1uerv3lrE33y2rqdjDNhHO3Qq-wCmINgCQDoIBKThTWUoddAH2JaJ8QTd8jUQSKrNWHDSxMk3WcAcPgu2KS5WKOJrETv46zpQymzIXb423Ywwp8z8yQ5nRAK_iXsFEVxyeHQrAhiVFSvh0HqhXgPa--PHUvoS9foQnTDyhU0IcQFVIPFsRZ4D8cwLShHgk-q-gO5YOEt_xCLWscwys5XyHU7o34p0r4au8Ljrt_6J-w4v5QDkjd4JzPFNaMbGzI7HeVr92HYzkwI_N8kQtoij2HFU25a4wvKv2aQJNoHAvGxqMvQOeS5Wv_IdU-JRSzNvl-1FHBmMtbOsgApzESM7Xm4zlefbYvFFzKoRZ5AP8aIWZQAVw6Bnd-RYUuzP4KvIePBo31Y01QAdAWTsEZo_MZopyBom4EK7SBvO0dgVxAOLsab5ovZZQA-i8b8wDfytAFjTIVIJjCuaK2j-3d8jHGCKf-yvrSwhFU8iXtQFyRQN2hPdgsqgmXmUDJ5RG3FNJ_TD8nm8ciAZ0dOW8IGuDWfpRn6cHIz3fD3mdmXrVpjG6TBY6aj0h8EWvxRzqSgzDDSA_w7LpdgQpXfP6_oFGi0jcmnfxyL6fDP3b3UieL7yznkP1ln3pBo9rlX2tI60ovrscl2C161Q7Z_vzSCTaxnaUvskKjAL9MKDCZjFAo8VIRCu9CccGyA4L1NVWSpTjUwubt9uwXoPja3hpnqY1PQmDwlWNpjrVBEvy1D-0zK5oydz7rkMIxEtVRCbsz-pCCudRLsxtrjbg0y3P6EvI4FK0XWywvR52JqhlmHVWTysXTT7ZnIx0EsNSHPwJoGiKZMBcL2pIM0lhDgdfmS-jYhiqeCv28LWdFtVviTkeLmMoDbZ8wSYOnxMVZBfXKhreTPryxHy-W_0f30bKLKrm0ffA5NsorgOt7nTkVsd6oSTR2kdlal0fRtHb7ug-48b5XqyodKqNhPtNaYe5GqwMY9Xj-vn5Tl0UjMzhoX_nx5KaioStnAS7DYpfH9r6AVG2yGpr3GdyuTBiQlCDW8vmwlGDUPO2m8K1ucbZBRURM881RQnakBsW8Or7USRJG4CsWRMCLx46BW0dN-9peyjFKuod1MuHtgsq4YaurRsXDSHdqihzRE7s_uI35260qdbrf-H-1BEVJVmUh204rRE_0qb1VaCxFPCaqccZzbRtG_tPqXy8tPnJjiS4_T91fTSfqAORJpmVHFsxLznz8k9-G8PE3ioE_HZdL256FWQt_9ck3Wzxx92V4WW2rYFW0iWNoBlcYusJqb2JSJ-PfZR2y6RkTT336XRQwNVBOoJsaAmQGPxffBIjsQWvR3CJ8jB3wkgkniUQBtkp25JLSv7x1SDAmym8TRUSlJ7VQTs5i951pPByx8byL1gVU2hEVg578YKIfy2x1x6LuCkclwQhkpEUgJS__S4k4KpREzvOR5LT9Wr4qmM7emZsVDTinYoErgP60aZnpXjn5eaLBo5s4HhHz1wdncY0DoxAHXrdz-Zoy_hNfSBgF-NhRccSf79eeZPV1b4zXWXJWNlOb27FDF_lI6tzI1IM395QiFSK_WWF1tiKDo3yIjPULQ4YoxabldjJyjbSVXT_wwVkjP0t-9zTLlHGk5EmlOVM6Iv5D6mlDI-eR6N64FBTA2nHB_Z_f_DBqI7UfF-ajpjxrbpdqoXb_yHkuMcPqTbC2iy_OghK6cahqmYQj6NOzDSbybtU=",
  "id": "rs_00603d911051d89b016ab42e5717f887d0867254ef99275950",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_y\":-0.305,\"left_z\":0.1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The turquoise bowl stayed on the table while the arm moved, so that pinch slipped. I’ll try the central purple bowl instead, centering the open left gripper over it before attempting a low grasp near its narrower base.\"}",
  "call_id": "call_zoUZEQtfxQYWuNZN91mAcXKR",
  "id": "fc_00603d911051d89b016ab42e58cbd487d09e8e6417160bcb77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zoUZEQtfxQYWuNZN91mAcXKR",
  "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]: [-0.9066, 1.9312, 1.2549, -0.2016, -0.7017, -0.6334, 0.9949, -0.1116, 0.8101, 0.5755, -0.3641, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.384 left_y=-0.2997 left_z=0.0949 left_yaw=-0.0111 left_pitch=-0.0599 left_roll=0.031 left_gripper=0.9949 right_x=0.2941 right_y=-0.0047 right_z=0.1667 right_yaw=0.2329 right_pitch=-0.0469 right_roll=-0.2711 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.9641, 6.3385, 1.6532, -0.442, -0.0122, -0.1294, -0.0615, -1.3607, 7.0085, 1.6972, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b3d1d3021551e3808ccde72ee0bd5e43e1df9adef59de48995c134f0133a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe540a2ae31eaafdb45cafa86c685a6f50679f1bf5767803673b31769903ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693eff3521655ee10d21d4d8050bb29e9374908f2f2270e89b9639a4c3548ebb",
      "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 · 2.702 s

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

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.8187, 0.9142, 0.0303, -0.4267, -0.3424, 0.0395, -0.1116, 0.8062, 0.5758, -0.3485, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.414 left_y=-0.144 left_z=0.0355 left_yaw=0.0279 left_pitch=-0.208 left_roll=0.0922 left_gripper=0.0395 right_x=0.296 right_y=-0.0049 right_z=0.1711 right_yaw=0.2326 right_pitch=-0.0282 right_roll=-0.2778 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -8.7863, 5.6684, 1.3944, 0.0806, -0.1392, 0.9451, -0.0068, -1.4154, 7.3368, 1.7558, -0.0952, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.8645, 1.5108, -0.6529, -0.5259, -0.5476, 0.0413, -0.1116, 0.8097, 0.5755, -0.3637, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4078 left_y=-0.244 left_z=0.148 left_yaw=0.0097 left_pitch=-0.2548 left_roll=0.0926 left_gripper=0.0413 right_x=0.2941 right_y=-0.0047 right_z=0.1669 right_yaw=0.2331 right_pitch=-0.0462 right_roll=-0.2717 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -9.6342, 9.0325, 1.0867, -0.5348, 0.0708, 1.0134, -0.1436, -1.4017, 7.0085, 1.7753, -0.0855, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9066, 1.9312, 1.2549, -0.2016, -0.7017, -0.6334, 0.9949, -0.1116, 0.8101, 0.5755, -0.3641, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.384 left_y=-0.2997 left_z=0.0949 left_yaw=-0.0111 left_pitch=-0.0599 left_roll=0.031 left_gripper=0.9949 right_x=0.2941 right_y=-0.0047 right_z=0.1667 right_yaw=0.2329 right_pitch=-0.0469 right_roll=-0.2711 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.9641, 6.3385, 1.6532, -0.442, -0.0122, -0.1294, -0.0615, -1.3607, 7.0085, 1.6972, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b3d1d3021551e3808ccde72ee0bd5e43e1df9adef59de48995c134f0133a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe540a2ae31eaafdb45cafa86c685a6f50679f1bf5767803673b31769903ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693eff3521655ee10d21d4d8050bb29e9374908f2f2270e89b9639a4c3548ebb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5dUXXSGzzDON8440Rm534CX2uHFpLgeYsXrHSBUQT71kjEwEQzJvUuMoGQlKsFbtfI78npqGEXA-pQ1ZPgqpRR_-B8fc0W2JLHMj-6JhLbG9IJVaN5aCvLzSzQIeUjt94AO7FelGy7akO8VAhTAOyO4lrqjTSaa5LnPcE0l_uRN7hjJlulr1zFFmAKeybvpQf7N8GRmYdf5bDKzjCuDy0HIP50IXxmzU4zZ8s3-DESuhCnYn51v4fLdD9lQfvHQLQlrM0WFfe8XPhBOsSHSUSYsXCseMiD1BTenb3YPC4m6nF9TQtzXNUFew4Y1cIHCP7ATylJs35nHCTQxvZTevoo-WMA1GelcUZuC9HjUxzS2fFrTxFfB6TDybIMsY-8AxPPkW2CFYjthotRQkLGAaQ9UbyFBVXhlQ6yPCnKi_YSFHrxyktgDxF9BEzwZB4bXIfQyn6IEO2fyW0AdpBPxk7cuP457UklpzIk5iytZs7X8JksjHQZ2cWs7S2vJmwwsFYF-dsDK6kKQKiKQ_JAFxRsZDOMb-WqrGTRn-hTv41xEIv8KB9Nv_CjpS9yN5LIK95sSEup20z58PlBXOS6q6V-U_Fglf6bEDZKfaLpJ1Y2UN0Rj2v4HjYybRggUamN5rJd7HAsug5xQP6-DbYuXSlem7-xg6HhWrVElzYw86l4qS4P5KsOjZe11Yq4GcnSBPhV0PPT2Nxqnt_dofUDGeuVl-0TGmt7EksLFPB-RC4jNq25m_UdxnNooK1Ejbn6nbz8nHisrI1F_5ilUQczNJNJodj4GEYmtlYtYA4SGNhTVk0l6dAaXFu0KVomEAEpZ5Dvlbzde_6kPZMnktRxBg7tvtWgOGDZmpHJRwXNjcGoo_JT0b8jlE4oJVbnDi3JBqGjY0Fnybum73_mivkwJii_mk7IqsdJM0rJBYBDkVEpRAM45687Wj-XdSEsGDxzs_zTfKZKLVIYvWDHLQvWC0_f0s7TQZAyLslV1jRoK_bqoAUk54pN6Fsg0qZV51V49CsW4uQlXdR_mdtokpNjDqwe2xxxuwgd_OzhidNKFcLvsHCk12Fhfd3bvLOKHMTOvDcl69CX95S0JygOjUVfUBCmgYaLSu7aFVjweRjfNJBfbWby6S3WeMuAIP9sJSbGXKYEVckXwOQCWwvzEWkqBGFr-R9oqRkd3tY6dRn2RIxyyN4QAusd1dqrg3t40AfApoLYvsixs4rymI5RTMBOf1ee9KWjagvNi1lZMbnVHHtlGBB2-F-GP_xuTZ11GwEuxdCTKgK7RigYWBkWOS2phZo-QTJLkU893Z8ET6Yv0CmeQRpGaTkdTPFpB-nKDHprlWnL4pits1qwtTjFh1pUmw0sQwIhntofOpu_tWLqXHUu4tiqz4pKuOQ8c4suomS6kmqgMtKAM5ejDjGxBIWjTK-dQ2j5CX6nhn-E3uz_YR6PJJGv5Q51cxRnYNt_xWiTpxZG",
  "id": "rs_00603d911051d89b016ab42e5ba99487d0810ab57df1b73278",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_x\":0.39,\"left_y\":-0.31},\"note\":\"The purple bowl is centered in the left wrist view, with the open jaws straddling it. I’ll lower the fingertips toward the bowl’s narrower base, where its diameter should fit between the jaws.\"}",
  "call_id": "call_ocLckD4aDyDoqnGe9t8qXXvd",
  "id": "fc_00603d911051d89b016ab42e5c37f887d0b221e114e3b20fad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ocLckD4aDyDoqnGe9t8qXXvd",
  "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]: [-0.91, 2.096, 1.2049, 0.0818, -0.7456, -0.6418, 0.9951, -0.1116, 0.8108, 0.5755, -0.3649, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.3119 left_z=0.0431 left_yaw=0.0183 left_pitch=0.0082 left_roll=-0.0102 left_gripper=0.9951 right_x=0.294 right_y=-0.0047 right_z=0.1663 right_yaw=0.2331 right_pitch=-0.0484 right_roll=-0.2709 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.7214, 4.0821, 0.4469, 0.2662, 0.0562, 0.0024, -0.1299, -1.3607, 7.0632, 1.6874, -0.1245, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d695bc751f25f67dcd81825022fe96faf89ca43d46a605f8270e3bbfdbd66f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219405381b025e9a2b343bd3052455592c366d363ac20048e6fb36a70ca8287b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7702f9da00435f8ee1a210bbfd13def02c8904ce0ce3df0b77669054f14df857",
      "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 · 4.196 s

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

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.7378, 0.9905, -0.1627, -0.4202, -0.3416, 0.0411, -0.1116, 0.8082, 0.5755, -0.3595, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.4092 left_y=-0.1418 left_z=0.0673 left_yaw=0.0282 left_pitch=-0.2415 left_roll=0.1071 left_gripper=0.0411 right_x=0.2946 right_y=-0.0048 right_z=0.1681 right_yaw=0.2328 right_pitch=-0.0408 right_roll=-0.2733 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -10.3316, 8.8821, 1.4676, -0.3248, -0.022, 1.033, -0.1299, -1.4154, 7.0496, 1.7998, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9066, 1.9312, 1.2549, -0.2016, -0.7017, -0.6334, 0.9949, -0.1116, 0.8101, 0.5755, -0.3641, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.384 left_y=-0.2997 left_z=0.0949 left_yaw=-0.0111 left_pitch=-0.0599 left_roll=0.031 left_gripper=0.9949 right_x=0.2941 right_y=-0.0047 right_z=0.1667 right_yaw=0.2329 right_pitch=-0.0469 right_roll=-0.2711 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.9641, 6.3385, 1.6532, -0.442, -0.0122, -0.1294, -0.0615, -1.3607, 7.0085, 1.6972, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.91, 2.096, 1.2049, 0.0818, -0.7456, -0.6418, 0.9951, -0.1116, 0.8108, 0.5755, -0.3649, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.3119 left_z=0.0431 left_yaw=0.0183 left_pitch=0.0082 left_roll=-0.0102 left_gripper=0.9951 right_x=0.294 right_y=-0.0047 right_z=0.1663 right_yaw=0.2331 right_pitch=-0.0484 right_roll=-0.2709 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.7214, 4.0821, 0.4469, 0.2662, 0.0562, 0.0024, -0.1299, -1.3607, 7.0632, 1.6874, -0.1245, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d695bc751f25f67dcd81825022fe96faf89ca43d46a605f8270e3bbfdbd66f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219405381b025e9a2b343bd3052455592c366d363ac20048e6fb36a70ca8287b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7702f9da00435f8ee1a210bbfd13def02c8904ce0ce3df0b77669054f14df857",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5g6PWaUWu5uo0Atr3rOWnEOjc2vSkdlHMxutDBUAwSJUiMSEf61g2s9nu_7-bn_Jfvj5O6zyKFof9Jm_XNYCOam48LaEDdmqWBy6xkXwe5j8_UfLanJF71n4LR5qrxkz9bS9iii0eWMEUzR4PpFKtSLyVTGssqINnqcgHIzncl7RdKxMkZ28ekLjHr6-B9OrHl8rDX8HJHnYj6bO33s4YiZmI__Uu0Gt0GDG8Q_gte9OxD-zl4DDzmCK0B8Dz2z9Usa4LFPSCktRuGTva6hXP_74-1nZSo20n3Ycw0KVzfQ67V3alxb5dPFnpcV-r0UwmcKZ0DyHIcdwtMMqrySkA0aZQZ0xUSpCuPnGjd576Ba0AC8rdr7pC2LgIkEB-eIYKauLlnRllcMWaDm5NEEjZmvYGgIIhsZlnl90xuwZZML1y_CG0d-Lz_jVEMcrgqYo_s2mIZzTkRYE_6lnj5K3j3AzJqbPp7nkGmRgUHIc30xiV1HVLNJStXhFv0j-uEEFMUKPAbt4E6EZp6T30wZcZPvX0EpSqADgajdFrshESg4-PMqCYn7iiZp0MXYErqfSrR-nCXJO3ZKojUrtNSwTiNnyzBVV2GW7A7gcSgDV-S28Zw3YRiHnfEueL7MggY-UKn9uKxxULSOIXJJZ4nH-sCF1B2s1gGyZQS2FIOmoaB76jNICg1umoiAEasNME-KUpukyu-atvBn7kalO0LLZBmpgrmluMA0D3NY4SPGsPHZpG2qvTuTj7bFMvaJkuCgymflSEg8r05oL7Nw4cBh2N_Eors-Sun2lAQDVmn-K0a9r2R4ao_0MnmVUfAWH1T8H0F-RZJTiwrUO5u9N9AHtDok98QZkZR-poE2ZxfgtAeYB4j8dyjHPwok88oYl9CMPVH9QQRUKTaF-a0vShdT1TrzhaLbnqFF9SVshXU4k9oOnpGFBOLiIZivsk38O-qobY8mI76Vaz1bVtdc9fAN2gXcl_LVXMZuUIEKiPp1I9dEost5Xca3U2XsIopG5gtYghH4sPbeFQVLEGk75Y81U0abGMZoJB3o0XqTQ5so8h_V-pMysr3vr_TYRSvIFZ3st517AaJOArNHMFHQf--mOqPUG3inhIlDowBsIc2FnMaHIJlCOg4gg_Xd6O0qGS5y2VjkCZY8DkRvhcm2azijvaWfK5yOg8Nx2bQ7uqq5f7D2lXPxFcDAlRgtRcbBdQ0FYiFxV39eyLi80JUUGfGWG-Zf7KJfVQw3uD3IxZBX6tHLSMx72YM2kbERUsh9N0q_zRiqtSHYaJ47CuIKXn88m-WFlP3urj_VrhRH9HqkHipRyKNBrBGUpJvNZSFhPb6d_rVdxluzcvf4bJJ8enj3mAdhFBkz7dWRqrw4hG3VBrJuzv9adD704NgUnqyqv5byAlK51xjZ4FMl8fhnpCfSM2cLmSsw1pfrvtUTssp5CKBynFaBZeK3ViyrHNxAeESQKBFq55pl-CXYvuPA2i2ZYdpX6T1SKAuLGmPrINL9JVfUWoOd-iUpAOTA_aJ2KebexNivdNSxQhnPan2mRrzTeUSbig4Hqwm-6jxBUNgtCjlQotHeLixYTClAWKZ4HDMlNiWZ39BCgUucX6cSb40Xcw8R8B3DmZCCZjFOm-Ot1JJXk09SyxTS8N6Pc7RVobKbLgzmkOdN9FIjFJNmf74_LytG1z2rd__2an9PW5ELFnvC2ctHDG1KzUqtX7QZ8MqhxxHYrC_P3G-3v44c7opHBZoKA==",
  "id": "rs_00603d911051d89b016ab42e5e8b1c87d0869cd1068d5c5bfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped at about 4 cm with contact feedback; the wrist camera shows the purple bowl’s narrower lower interior between the open tips. I’ll close at this contact height and check whether the bowl holds the fingers apart.\"}",
  "call_id": "call_XzEuI8YxcRCNfda3buwFvl1Q",
  "id": "fc_00603d911051d89b016ab42e5f8dc887d08fda28e267817680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XzEuI8YxcRCNfda3buwFvl1Q",
  "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]: [-0.907, 2.1101, 1.2049, 0.0837, -0.7498, -0.6445, 0.0087, -0.1116, 0.8116, 0.5755, -0.3668, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3995 left_y=-0.3095 left_z=0.037 left_yaw=0.0256 left_pitch=0.0033 left_roll=-0.0008 left_gripper=0.0087 right_x=0.2938 right_y=-0.0047 right_z=0.1657 right_yaw=0.2332 right_pitch=-0.0509 right_roll=-0.27 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -12.2598, 5.6137, 1.3651, -0.232, -0.0171, 0.6129, -0.0615, -1.347, 7.0222, 1.7021, -0.1197, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd8d39ead79a5d21b5cbce4687bc8973e26d4de72caf6113020f0c38fd2e537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c299470d7105672bc1a6fcd073126a2b776810176e2c44deada05d9780937b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e62948d325c73ec1481738948bbceb412bef87378c1b5dba9cfb2b41212a02b",
      "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 · 2.766 s

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

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.8645, 1.5108, -0.6529, -0.5259, -0.5476, 0.0413, -0.1116, 0.8097, 0.5755, -0.3637, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4078 left_y=-0.244 left_z=0.148 left_yaw=0.0097 left_pitch=-0.2548 left_roll=0.0926 left_gripper=0.0413 right_x=0.2941 right_y=-0.0047 right_z=0.1669 right_yaw=0.2331 right_pitch=-0.0462 right_roll=-0.2717 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -9.6342, 9.0325, 1.0867, -0.5348, 0.0708, 1.0134, -0.1436, -1.4017, 7.0085, 1.7753, -0.0855, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.91, 2.096, 1.2049, 0.0818, -0.7456, -0.6418, 0.9951, -0.1116, 0.8108, 0.5755, -0.3649, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.3119 left_z=0.0431 left_yaw=0.0183 left_pitch=0.0082 left_roll=-0.0102 left_gripper=0.9951 right_x=0.294 right_y=-0.0047 right_z=0.1663 right_yaw=0.2331 right_pitch=-0.0484 right_roll=-0.2709 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.7214, 4.0821, 0.4469, 0.2662, 0.0562, 0.0024, -0.1299, -1.3607, 7.0632, 1.6874, -0.1245, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.907, 2.1101, 1.2049, 0.0837, -0.7498, -0.6445, 0.0087, -0.1116, 0.8116, 0.5755, -0.3668, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3995 left_y=-0.3095 left_z=0.037 left_yaw=0.0256 left_pitch=0.0033 left_roll=-0.0008 left_gripper=0.0087 right_x=0.2938 right_y=-0.0047 right_z=0.1657 right_yaw=0.2332 right_pitch=-0.0509 right_roll=-0.27 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -12.2598, 5.6137, 1.3651, -0.232, -0.0171, 0.6129, -0.0615, -1.347, 7.0222, 1.7021, -0.1197, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd8d39ead79a5d21b5cbce4687bc8973e26d4de72caf6113020f0c38fd2e537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c299470d7105672bc1a6fcd073126a2b776810176e2c44deada05d9780937b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e62948d325c73ec1481738948bbceb412bef87378c1b5dba9cfb2b41212a02b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5lkIXOxRs5aMe7B17i2qei2uwnUdf9HLo859KcuV-HssWFURHTSNc8HLM45L9oKY0qPQtC4hTWE2MgEwzsklAR1cEpZwhVTMvsGdhfYPOcnPz2zOelo0a_qXu5nbuV_4wSuvJMF5WMmeRmLY0QuK3x24uCJtM52MARMU5qEsCgiw-Ai2p9xx_fg4EWoyeDQcdPxKJUvwtQP_gkPABb5FrCtnpQWqpqEwxir3mkZD2iKitiCadw1fn3eFcW6VTsvQgzDCqaEXqMzRkVUJNg8InDIj1xWj-biM8xMcld6AuxJ-JeKM24O-xQpAcb95Awwvy82KTyZAQbMsFe1E8Q4IlrDqkC03sX6bzT4_PMUmrfrgP0H9kftc8qssQoCwSNAOpmiN8YJGMJeMswc5jReqQ6bvRzjGNmCYAPx-LXN-zNgprP4guHhdy6UZZktGdjsvCP0wprlE1x-_Q-ViQiXrrN3EedvbDRFHCK_O9EzHuIu_NQ_QCby3KzZuRZcl0oxvdnEgE9Dj_NUhOOlJBPxF7rg2TQ-G9QrAHAF-ndKtUpptvwgWNPq6lGH2311rFlASvybzk6kTwiDComNkJOB11R-AdQkuW9R6vdE-Z-9C5D44bwFFwWyU9DoFtomYtshodfIInaGCqb79z04Xa0Dj1eqsVfsf0M6bdaPqAxh-cBsb-pbO0MtS2HKKZk6VWSFxyWIJ0rlUjNH4ONEccNKyn7LRA5Zh36uZwaRhN14vTaMx-Ghkss_PG8_o-bOEijGMLJV_ppx6L8uB7sIpyrd0GtnGbH2OYTfCVeU4YJKV3-38h7Rf6adOmsRj8ihzciCoqNRd7YbYlWD8oMUa3UQU_V6fMcm9j3rG2rB7uIzU-g17E5s4m-OekWVO7FziY3HJXaSFcY6N7_QE6tDoNeB0jjzlR3vu5HwFyV2NqOxa3qDs-OyyhbhfTh5ZJOHny7LvwKY4wlBsEIVGDsQZ09YTVlOHxhxl2L3RViM6XUiYBtz2C1_81YKyX8vNy62BeYUkJlEXB8NPqd41IiZLKpOssHdg4ad2-RRRD7fccXfh_ZkJlKPylUAckJ5gGESLTb5Tu4WA0lSx83xGxujBx62vREjqQXPCI1z_trjxJ1FzLMeRhNV2pnkJNoRHmfSj7QUvjCz6K_l-iu_n2yr9CSfcZQwnIbIzoibhRuAOpAmhIg2MtVTUW32D3LK_1080-ysSUmZ4y3spnUYSSL_4lq7QFGp4S8ZvO78lvj7ho-i8m2wUv4GsUTykjQ0SuohSmxJVoHaivfMETS4U03zA3iZXOSRnCpG1ARO86lNFMhyLg0Rz948AMiL8Ba3iHqIdFB1_B32AJNmRFuXMkQOTKaHxkxrCI1TgJ6G92yRcrM4gnwQI--dACF-gB92YH30OnbLJsmDE9sLyYIZ_FhKrOhKCVBCe6CSBT0OwANwCX7ZpueoOr5Ox4ubDFSLoVD-SqhCvBhs1_H3-WbvW4D30cWb5IxGpdGJWSEKQXvkjt7_4Y1x2YQxbNca8fn0WlBTlenOHZxoPwXkJYHjW1H3BVzysWa9oF2nTpqeAvtkrOFL69G_CrBGbx7yoq95-Z4q2Bpub8D8ZL-4CWJtuQq2TMx5rI8mWE_LycsitZrCI88q29KQFWlE8VJctWgYfo2blJciWsipF8TW21-AJDS4ySvbfTF_D3dZadif0alaGPnyBxWsGAab7nLw5Wvac46YcAISLnFIZDVHd0QnjwEH4aBNOp0AUlu2r5HB7t4oo_CwfXCYeb9Q-ZT-ggJ4hc7z5zBqZgW2hzKEsuXrv6_BiFGjBlO3PJBaY-mEMqrZPM0f9SroCGApgaOZHXcP2Sw0lwso0RDBqNnibphWPZjS-XLKsd94SLj2LogxAN4eQO5i3h6-pBm6U4gz4EFcoLxBHZDKVUofaBX0-QuMVj-SmxcnufJ7z1oS9cAX-KMYvqtv_Se6napKAamHdOTu2xYBg37Nw5Jy9SVcqWIzX3cHiFhOr5Ix7W5DYw35A8hH91jnXB4i7K9RoeZ2ied0tVlGNvl7QR0HoDoNU27V9SwNN5t92Yst-je7v2aFOY8T4iZeqFHvRzZ3jPfIWmsbvz8VUQKAruMs4EW-pw3KcFHyN1-_I2vsPNXiexgfAdFqiHjfD4GVFeJGNG_FooC7W7eUy-RpaK-bHygCqnhUBTf1BFbPTKeV14Kw7_tlbP3zsOiKI1iACE84AgOWJsYuEkIdiD8oU-s1zzUqnGiSWtezfxUbr_GjrsC7IKYbJFUzF9psGpZJmSTw0xEFuO-mRotDWn74Lb7aCrVpPsfKJWFmBMV4dpkyLWfMgKNmSwovQcwKQhlfAs=",
  "id": "rs_00603d911051d89b016ab42e62220c87d0855bf25d330821aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.365,\"left_z\":0.06},\"note\":\"The centered close shut empty inside the purple bowl. I’ll reopen and offset toward its side at the same low height, so one jaw can engage the wall instead of both entering the bowl.\"}",
  "call_id": "call_MJdaviaT0VWFYD06yVX5bf3O",
  "id": "fc_00603d911051d89b016ab42e6429a087d09c99b0040b41d369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MJdaviaT0VWFYD06yVX5bf3O",
  "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]: [-0.9756, 2.1956, 1.4567, -0.1387, -0.7876, -0.7307, 0.9946, -0.1116, 0.8162, 0.5755, -0.3695, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3984 left_y=-0.3587 left_z=0.0558 left_yaw=0.0284 left_pitch=-0.0048 left_roll=-0.0112 left_gripper=0.9946 right_x=0.2936 right_y=-0.0047 right_z=0.164 right_yaw=0.2333 right_pitch=-0.0577 right_roll=-0.2676 right_gripper=0.9963\nstate[joint_eff]: [-0.8684, -11.0838, 8.6085, 1.2479, -0.5006, 0.0269, -0.1001, -0.1709, -1.7436, 7.2274, 1.6972, -0.1001, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68eedcd8c4ab280168a146fa895d6830de7af37c212970c9357dd3a2a24ada2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32ef4581f2256d5e3cc337ae5cfaf31232087ec79b51e6c748c25717e52203c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e29f8ae83d3e1f9abfb4e528ac42c0d0dd9ebbfbdf7a69282ed8f7d8834af86",
      "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 · 6.091 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9066, 1.9312, 1.2549, -0.2016, -0.7017, -0.6334, 0.9949, -0.1116, 0.8101, 0.5755, -0.3641, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.384 left_y=-0.2997 left_z=0.0949 left_yaw=-0.0111 left_pitch=-0.0599 left_roll=0.031 left_gripper=0.9949 right_x=0.2941 right_y=-0.0047 right_z=0.1667 right_yaw=0.2329 right_pitch=-0.0469 right_roll=-0.2711 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.9641, 6.3385, 1.6532, -0.442, -0.0122, -0.1294, -0.0615, -1.3607, 7.0085, 1.6972, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.907, 2.1101, 1.2049, 0.0837, -0.7498, -0.6445, 0.0087, -0.1116, 0.8116, 0.5755, -0.3668, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3995 left_y=-0.3095 left_z=0.037 left_yaw=0.0256 left_pitch=0.0033 left_roll=-0.0008 left_gripper=0.0087 right_x=0.2938 right_y=-0.0047 right_z=0.1657 right_yaw=0.2332 right_pitch=-0.0509 right_roll=-0.27 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -12.2598, 5.6137, 1.3651, -0.232, -0.0171, 0.6129, -0.0615, -1.347, 7.0222, 1.7021, -0.1197, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9756, 2.1956, 1.4567, -0.1387, -0.7876, -0.7307, 0.9946, -0.1116, 0.8162, 0.5755, -0.3695, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3984 left_y=-0.3587 left_z=0.0558 left_yaw=0.0284 left_pitch=-0.0048 left_roll=-0.0112 left_gripper=0.9946 right_x=0.2936 right_y=-0.0047 right_z=0.164 right_yaw=0.2333 right_pitch=-0.0577 right_roll=-0.2676 right_gripper=0.9963\nstate[joint_eff]: [-0.8684, -11.0838, 8.6085, 1.2479, -0.5006, 0.0269, -0.1001, -0.1709, -1.7436, 7.2274, 1.6972, -0.1001, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68eedcd8c4ab280168a146fa895d6830de7af37c212970c9357dd3a2a24ada2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32ef4581f2256d5e3cc337ae5cfaf31232087ec79b51e6c748c25717e52203c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e29f8ae83d3e1f9abfb4e528ac42c0d0dd9ebbfbdf7a69282ed8f7d8834af86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5p-Gj4YBqmhOiBbrqf857vM5j6gsvc_DAjzc1itpqEC4oDV5P7IEIUl7fx7fzBGPTAW7HSAhHn7_jrOIH2Bzd-UV5kHkbqzc9cKrN4DkEaUp7RfSMenHMkv8GIUolbVRHn8wgkPiFSiQL3ITbOuHI-4iHX4Qhxs3UUCwL47f7Q39BJIrlYVPsYBva5Stfgi0j5YxGInLpL0PLdXnArWWHoefOCf-Yks6coRx_RXRI31ykYms-Nps5Ld5dt87EEZtTSlYzor5tWYyp5bwGBTJJv1hwWk-GrykPuod8jLLvZgV_VTpolR_-_13EmE46A3lnGAcKrRD6Y93A5nseHQNnH48lnvsSgFRngoIb1Z8brG1BOgn_1n9NtOnU7fvLr4C5dOt_16RRiSC0y_cB-E2Evw6UpPNMs8ydcdoc4Qi11ORJE6Ez0K5gZ6BY9Km9R6X7ULPAxAbaWFeFnjx7qiVQkysnjENBOtL82hb85vX4RKqzy0wLfaZFeUEnav2bQMiN4Ogp8bz-hjqmENLCwTMnoaqvbf0Q0KzLcVuUkydFCMIEcR0O1TvkDHB6XNTAlgP6AXcu-bu25RsTT9WNbIxRBt-g3vDo5lN7pEvbMVSREj9oYtHg_XgpbTsQZWzv5vxROntCYrjWusvm4nyTJ-HKNWlg7Yy6q5KERDf_8QcednLrCQ6yT8-rktIeCqAk5TCn_qqw29RV4W--H8ptFtnJ0ajBAatkcJLjVZ6X4lwx0JnToDChFQCuCfpN_yBT0DRu1FkSIvDvLi0qoGRJVKiEg7iV14nindYwOkn-oyGmAjxucLrL8H3mGqFjPqn8wtIa1nhxHgjl3U_ZK4cUgjK9_AHAFiQLKXARmJWNF6pTTmLJqLIL2UREVh2kPlKJYnWfzNfsGPfKs8RXS_9vE6xwQgc2vNBZmbsgMdaY5E5Ysd3_3HpnQ0p8HVXSZC6BS5LpT8onE8r_-TK2KDoylIgzfhBMNQxb0lH2vj6oizmm8SiqAj29jTZ6BRq1Mfcb3s5MhSpA5OL06MsaR3Cz1GT3-62aAj_e92Ot9rTpCBYervz55wzZ4Cm9hDUuB6nJX-roZdtDJixGff3j0Bjm0vRi0YOkyWPRqc_CgVUgg2pzEcpvjdbyuK7ygYmDf_1mWMfQBlvZiYsFJZWOy0D_4kIJAFe2W0GGL6oPf7LcS7ftlNb0HhANHPKdZAwM8_mw3LjWpLLzRTRz0MFifAjYGdb9JKFWzwsRE2mgOctm9hVoifw3_ukDSyG0N8gl7wTgjIRbtD_uo-x7n2k1hm3a9UkvMWwAHs3ZUfMkW_cpoyOTqx8R6Mg5_6F2_AkbJBTcUxsTnOSuZmwo1u0KFAm6TTvROWkjSFr50jwZtn_s6tQaTjy0DaIVX-9OxLeRv-QIbcJeKTTbfXd8gT9IpTAi-erRaVYhdGpzwQH5xwWGBs27zJUQ=",
  "id": "rs_00603d911051d89b016ab42e6825b887d089bf3dbee18c7bb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the left gripper offset, the purple bowl’s outer wall now falls at the right jaw while the other jaw is inside it. I’ll close on the wall and check whether the fingers retain a meaningful gap.\"}",
  "call_id": "call_mXvB00cwVa1saCBHeayqQdOp",
  "id": "fc_00603d911051d89b016ab42e6887a887d0b821fb519b996f6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mXvB00cwVa1saCBHeayqQdOp",
  "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]: [-0.9798, 2.2024, 1.4601, -0.1432, -0.7864, -0.7307, 0.0126, -0.1116, 0.8165, 0.5755, -0.3698, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.3967 left_y=-0.3604 left_z=0.0529 left_yaw=0.0235 left_pitch=-0.0099 left_roll=-0.0049 left_gripper=0.0126 right_x=0.2936 right_y=-0.0047 right_z=0.1638 right_yaw=0.2331 right_pitch=-0.0584 right_roll=-0.267 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -12.7658, 5.9692, 1.2381, -0.3394, -0.0513, 0.7546, -0.0205, -1.2376, 7.0222, 1.6728, -0.0806, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73957f240bb8aea977765fde320b1346f10634b3812f1aadeb0a0073dd71d4d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5896d50d08b10a400ba7921e10f2e50f2c348efc88da66c2ef66fa4ef7ad4058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b379e139f57be306ee10ae192b5f540c2b6b7723086afa290bcb4eb4ec2582",
      "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 · 6.182 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.91, 2.096, 1.2049, 0.0818, -0.7456, -0.6418, 0.9951, -0.1116, 0.8108, 0.5755, -0.3649, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.3119 left_z=0.0431 left_yaw=0.0183 left_pitch=0.0082 left_roll=-0.0102 left_gripper=0.9951 right_x=0.294 right_y=-0.0047 right_z=0.1663 right_yaw=0.2331 right_pitch=-0.0484 right_roll=-0.2709 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.7214, 4.0821, 0.4469, 0.2662, 0.0562, 0.0024, -0.1299, -1.3607, 7.0632, 1.6874, -0.1245, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9756, 2.1956, 1.4567, -0.1387, -0.7876, -0.7307, 0.9946, -0.1116, 0.8162, 0.5755, -0.3695, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3984 left_y=-0.3587 left_z=0.0558 left_yaw=0.0284 left_pitch=-0.0048 left_roll=-0.0112 left_gripper=0.9946 right_x=0.2936 right_y=-0.0047 right_z=0.164 right_yaw=0.2333 right_pitch=-0.0577 right_roll=-0.2676 right_gripper=0.9963\nstate[joint_eff]: [-0.8684, -11.0838, 8.6085, 1.2479, -0.5006, 0.0269, -0.1001, -0.1709, -1.7436, 7.2274, 1.6972, -0.1001, -0.0464, -0.0171]\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 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9798, 2.2024, 1.4601, -0.1432, -0.7864, -0.7307, 0.0126, -0.1116, 0.8165, 0.5755, -0.3698, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.3967 left_y=-0.3604 left_z=0.0529 left_yaw=0.0235 left_pitch=-0.0099 left_roll=-0.0049 left_gripper=0.0126 right_x=0.2936 right_y=-0.0047 right_z=0.1638 right_yaw=0.2331 right_pitch=-0.0584 right_roll=-0.267 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -12.7658, 5.9692, 1.2381, -0.3394, -0.0513, 0.7546, -0.0205, -1.2376, 7.0222, 1.6728, -0.0806, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73957f240bb8aea977765fde320b1346f10634b3812f1aadeb0a0073dd71d4d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5896d50d08b10a400ba7921e10f2e50f2c348efc88da66c2ef66fa4ef7ad4058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b379e139f57be306ee10ae192b5f540c2b6b7723086afa290bcb4eb4ec2582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5w8dZq31FB4XULwkvpFqWEpDtnbc3CPnVdu7EfVpIj6V9Um6bsUjdFAH23qMSTE3q5_RfonnXmRoCT63k2PQAsUGHSt611KL8-96DPa1YQTTAtVGxKQFjs-seuIkEk7jKtJdVSRBFy-FAjYGkFzKlq58Xc8Ly0vn_IzM8GKbgbQSMQE7i7iuGpbq1pDFpvhc8X5HEIrH81XmuSxZw2d2AnqcEjus6nvG5jLnbEjdTzh5fudl2KGjxafq0miBAPt5aNgF-kK_GmM6ulyGlOdbIDMqpi5TYVksO1WWfiCg3ilLIobjzuDsbFjJJ0VZ3l2ItPGlYaz2yAMHms0ZCfZbRtJ8z_-qSMsksOH61jUo2dI-PVGSAZSTgpfS76kEmSCfkTsPZAEZgC9EbypU0_ALuH7C5Mw5N24lv5C11O-jdK25cnAkwsNgGkHvOQ8cyZQPLCxIWjvd7y5kCovQ6o9XiLUUq8VQMaed0njPSaG1IJ3D_SR1PU-zCjGZYHmU5MRf_-QqUyhKxlnlyNg1pVfR_p3Kc2bVQ_24u7_0WWF-CG6m7rMNwO4cQH_WWuaRM1O2pQquqoB7ywq17PZuvC7uaoyzgTxxyNFi0yp7anM9KvZRVHBJWXgTeo9uIIBAPs31sO9ckLE5KOfzXo0ubdY9mQeTEqUUXyI7mGsDDyxqBQdjCsHKQ9h4oFMVa9xDzXldHzXmBNznnEj7ghhwYyzQnyGTfWuTed6J1mywFGuHr_MFmuCFEEZPUpyhbRuOr7S-Keoo9uUNgk8basR0gTqrzRUKZ6AI9UECbpLUGlP6Ajd487Rg0mHsb-NICQi_HTFBm57d9CMRJmkmt8vTsVYb0Hv1ZUhUD23mN7ZhL2_TuO0OHGccFnSWY_EXGAgJ85s8sddKdZ1mfmrwwamX-YhAfj7h2oSzmAR5M9WgdmDf2BIiyRg2fe-LYINivoYhLyoNAnnxzL75OfE5-lDIPuft4GZiLnrKqc1NBJr-c2p95yJjIKw6OMuLLtYKw8nzRDTTVfiYtlZioBZTH2zrlMeClCQmZyaEFcT7sXAnxQoVYNQEoEdl5V1D9kiLgiOgY3LhgBda7sFeLNXdW2IGmbCL8L4m1CHWvkpIMbDj4mA_LfhXq9E_L6k-UrbFlTjrQZG01nl00anwQlftDV82qv9e7oAsajWv4YP_OOqQutzCmuY4_hCmdFlztWEDTyH3SmEMeD1tPTwgoOE3qBfZieNK4yqyMx6IQbB93DYC50u63rIlOaFFK0jkJ9Bj25hWO2LNxgoTZ4-pe3ACjeQNoD3mwfBcjo0T2bTgN2J7Ug5CWGlmrqrQM2_fAo3_Q2TnNphCCmypg0i1lZEGk3NbjROWr29YQXz5BqrT8CkkxIwFSEbH8m0Eu-rBPbUvjsjdmONBZSHeiAbAk6PGyqudTJdqinbIdHiWqNEp7hp522DyWDJ1zYQscePtwj0lqjgYeyYLthTXW1Vh0aWtu16mc2JSV0XtLvME1WD4wFDP8__rKMs3u_HnnoKz05Z0Zwoir47VzG4AkkVx_vCKLyW2xdOteXtMYNzTNQa1U-Nen5gRQt1C4nhAXMPDfeZmGAv66kjoW2qCFi4_iZHPknEXzMnnQy9CIEMqIBLcf7x88MwoozjTdXN2spEN8Vw_B1bqGr-MDUfIf6ZPT8cXDzaNW98QBeKn4RGgnoJc1uU64PoA1_I6CcJQw4lkqmR601bfhAWbSo60ve9m9ukZqXbKjo5DLSZFT-fCKQC0bqe6U0p8oTACL_hLad3dPHIYlbm1kfo9HCBpJ87TsErtIgQg1PLjO1gu_Rx_51FWowCftoDWFXMecFhP0hmeu8XELjm9onXk-JF2nPoqPJJw32_faeYqOLRlIr35somArrzCbsDyBfIXwJFx8IgRYREr25GD_Mb2M90Xo6o89GwcOFPs8xH_PUsAS265QPPQDwT48b7gmiYivpaRonmHoEuC5BWu9yxD9d-uAZlOkC4OoTdRLSObeY52KDDo0ML3jPpqm53stycpgoq6nVKIGOXZutC-V8AfKrMPwv9tjl076gSdk0I8sszKIEpPx40NJKh1VkRSVTJ3uD-p3m6PHw-SU8Ob14ee_wniASM70ZZxQeND1KJHsQYm2JQj5XTyesN9zURpmPeteVo3QlZcFRu46O9HICpkYYU9wm7F9n1fqC_4Wu8LP3n9HsECjsGnmUHCZoULqeTH-z7FHyWC2y0vLOB9ZIRvDPjAsm1YUjB2bBsq2Qn89Qlpu-QHqwN12zk1z69Yuo9LzP00sw09n6MC_XlAuF7s7llAuEFTgoTXpWVRSfEDc-2QwHBkcGVAALtLuYCsJhOmG2FL1OMPxctX-yzZfARm9su8WxgYhY5gVGziZsl9gC2uZOeI-apSzQc9tsW0Ije5ol4Rd9VZaXn0fNsYK0xM_0FxFUcx5sG93zUMUjCBlFSclAXOzxY-C8IyM_q2Epk7YlABuhbtJsTqxhS5y8L3IvQoB-LTvKp689HGG9xR9Q5yjwSyi3PXYPNtLnGa4rRuMnbY72jpbAzKrAUEScReH_4hFB3mujNCG4IV4wFEH6TXCfq_KYEPLiyoc8Z02dfFhQlpVO3--_2awWyTk3lZmkumD_kJxCq8YbGzZWsZIndbqHcvAEqKjfg4u1SgomtQFU8dRABTjRMJ521Et39jvos_uBDfUDkbLGp4hFMtmlUbCKGGNQpKTib2haMfb0gwjYFbpzzpXCS28RQv9aBCB3oWxvsgk_mQHW3AXp4xb6t3GLmI-PII0rSdLqmxWQut0LrnxVrytxfhyKU2_bFRxZcs_HYCC9bWvrqCfA71dXOvKrfNxifK0PAu8X7IUTQXr0x4PzFd3tkqJi5M66s1uGnAc2Oo75SFJcJ-ENwET6rvzfMzGHbTC7WQ-dECSLnCeomH-iDyV8sP3F1HyyrWr9zw_4-b86QCfgm_ceWFox_lVNw0JdP8trLmMom-vwbZ20-p2x4U74rMUB5EC4T7IVSYm5pS5knDKOvOYHq70qORGVowOQyN3kfD15zRC0p6EQKPOWG6Suo7HMRXn6v9zSdlCCo1qafrVn3kjztEYW7N8QgQncejU0IWJtpY7D6d-PqhcKadj741ujoKePXaGCeydPr6iLT3WEKtC9K3FJJALWELcjSyfWj6cwmAm01Ikf9DFofACozHGQUJcKg6gbWymTQgDrdYyFdWH4s-VXh0qvijnn7ZBMCC15syuWoZj5QpB75Nac9FL2ayCRbF5ZtbqvPvLvDFKCnjCd-MaxxT2NfQ8qBEskSeJiC_QKMlW8cS7XJ-LgKrHoxuj9y0RYDnCKtfVv3vrzWUDOFCCA6hnFq18BC-tHZsL6Ge37_BNzXEUMwotcjcJA7aA0LKlH",
  "id": "rs_00603d911051d89b016ab42e6b549c87d0a23f8cc1cb9a652d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_roll\":1.5,\"left_z\":0.085,\"left_x\":0.397,\"left_y\":-0.36},\"note\":\"The horizontal side pinch also closed empty despite aligning with the purple rim. I’ll try a different grip: rotate the left jaws nearly vertical so they can pinch the rim from above and below.\"}",
  "call_id": "call_TsTBELGh1Ydi5eDec4MgJrE7",
  "id": "fc_00603d911051d89b016ab42e6f32ec87d08a00e488f15c4d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TsTBELGh1Ydi5eDec4MgJrE7",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0187, 2.9013, 2.6301, -1.5501, -1.4437, -0.4362, 0.9969, -0.1116, 0.8181, 0.5755, -0.3698, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4173 left_y=-0.3365 left_z=0.0777 left_yaw=0.0228 left_pitch=-0.0189 left_roll=1.3596 left_gripper=0.9969 right_x=0.2937 right_y=-0.0047 right_z=0.1634 right_yaw=0.2333 right_pitch=-0.0599 right_roll=-0.2668 right_gripper=0.9963\nstate[joint_eff]: [0.3624, -12.6427, 7.9795, -0.232, -0.989, 0.2711, -0.0708, -0.0342, -1.4838, 7.1863, 1.7314, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f8d9a5a2580fbae546df466888f600136b6c26efd9efe91445a7554e8e6ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8393efe1d160d1b43bbfe18485456e1767d5b65560b8d71d6e673533a6a9dbd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04b408fd1c81c17361af1e39c4dc8b9d434692eef137522e1ca02b4d28f1a1f",
      "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 · 6.014 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.907, 2.1101, 1.2049, 0.0837, -0.7498, -0.6445, 0.0087, -0.1116, 0.8116, 0.5755, -0.3668, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.3995 left_y=-0.3095 left_z=0.037 left_yaw=0.0256 left_pitch=0.0033 left_roll=-0.0008 left_gripper=0.0087 right_x=0.2938 right_y=-0.0047 right_z=0.1657 right_yaw=0.2332 right_pitch=-0.0509 right_roll=-0.27 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -12.2598, 5.6137, 1.3651, -0.232, -0.0171, 0.6129, -0.0615, -1.347, 7.0222, 1.7021, -0.1197, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9798, 2.2024, 1.4601, -0.1432, -0.7864, -0.7307, 0.0126, -0.1116, 0.8165, 0.5755, -0.3698, -0.139, -0.4461, 0.9963]\nstate[eef_state]: left_x=0.3967 left_y=-0.3604 left_z=0.0529 left_yaw=0.0235 left_pitch=-0.0099 left_roll=-0.0049 left_gripper=0.0126 right_x=0.2936 right_y=-0.0047 right_z=0.1638 right_yaw=0.2331 right_pitch=-0.0584 right_roll=-0.267 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -12.7658, 5.9692, 1.2381, -0.3394, -0.0513, 0.7546, -0.0205, -1.2376, 7.0222, 1.6728, -0.0806, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0187, 2.9013, 2.6301, -1.5501, -1.4437, -0.4362, 0.9969, -0.1116, 0.8181, 0.5755, -0.3698, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4173 left_y=-0.3365 left_z=0.0777 left_yaw=0.0228 left_pitch=-0.0189 left_roll=1.3596 left_gripper=0.9969 right_x=0.2937 right_y=-0.0047 right_z=0.1634 right_yaw=0.2333 right_pitch=-0.0599 right_roll=-0.2668 right_gripper=0.9963\nstate[joint_eff]: [0.3624, -12.6427, 7.9795, -0.232, -0.989, 0.2711, -0.0708, -0.0342, -1.4838, 7.1863, 1.7314, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f8d9a5a2580fbae546df466888f600136b6c26efd9efe91445a7554e8e6ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8393efe1d160d1b43bbfe18485456e1767d5b65560b8d71d6e673533a6a9dbd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04b408fd1c81c17361af1e39c4dc8b9d434692eef137522e1ca02b4d28f1a1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_00603d911051d89b016ab42e74d4a087d0bbec2d8508099b58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are now nearly vertical, with the purple bowl’s lip between their projected tips in the rotated wrist view. I’ll close once to see whether the vertical pinch actually catches it.\"}",
  "call_id": "call_MFNBiZMsiFIuCiwqV7f3cQ8b",
  "id": "fc_00603d911051d89b016ab42e771a5487d0a89d0a31a4a841c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MFNBiZMsiFIuCiwqV7f3cQ8b",
  "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]: [-1.0138, 2.92, 2.6308, -1.5497, -1.4368, -0.4347, 0.0093, -0.1116, 0.8181, 0.5755, -0.3702, -0.139, -0.4465, 0.9963]\nstate[eef_state]: left_x=0.4183 left_y=-0.3337 left_z=0.0676 left_yaw=0.0297 left_pitch=-0.0342 left_roll=1.3726 left_gripper=0.0093 right_x=0.2936 right_y=-0.0047 right_z=0.1633 right_yaw=0.2333 right_pitch=-0.0602 right_roll=-0.2667 right_gripper=0.9963\nstate[joint_eff]: [-0.5812, -16.5812, 5.3402, -0.0855, -0.6911, -0.0757, 0.5495, -0.1436, -1.0188, 7.2684, 1.7265, -0.1099, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb92c107c60a5113d93f20d391ad08ccf54989cfd14e36daf35cae9590a0f09f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896b6dd5d8b155afb5cc2b7db981f733bd6317a7bcbdd822e079d6a91faf0e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39680b189585d69523ff82423822de237338f6f09e7ee63030efc3e3b56cd5c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]