adhoc - adhoc_19281697.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-5.6-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: 266.4 s
total steps: 284

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 noteThe three upright bowls are arranged left-to-right across the far half of the table; the left wrist view shows the left bowl slightly inward from the left gripper. I’m moving the left arm above that bowl while keeping the gripper open, using the middle bowl as the eventual stack location because both arms can reach it.

move_to

left_x0.4000left_y-0.1700left_z0.1600left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3809, -0.0227, -0.0406, 0.9993, -0.02, 0.7929, 0.601, -0.3851, -0.017, -0.0235, 0.999] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2937 right_y=0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.5385, 9.9624, 1.79, -0.0073, 0.2613, -0.0806, -0.6632, -1.4017, 10.3043, 2.0537, -0.0952, 0.0659, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.16,"left_gripper":1.0},"note":"The three upright bowls are arranged left-to-right across the far half of the table; the left wrist view shows the left bowl slightly inward from the left gripper. I’m moving the left arm above that bowl while keeping the gripper open, using the middle bowl as the eventual stack location because both arms can reach it."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteThe left bowl now fills the lower-left of the wrist image, so its radial distance is close but its center is about 4–5 cm to the arm’s left of the jaw column. I’m making only that lateral correction and holding clearance before descending.

move_to

left_y-0.1200left_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6022, 1.5146, 0.934, -0.1448, -0.4824, -0.3836, 0.9993, -0.0216, 0.7975, 0.5983, -0.3935, -0.0166, -0.0269, 0.999] state[eef_state]: left_x=0.3885 left_y=-0.1632 left_z=0.1412 left_yaw=-0.0164 left_pitch=-0.0579 left_roll=0.0264 left_gripper=0.9993 right_x=0.2925 right_y=0.0002 right_z=0.1736 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0027 right_gripper=0.999 state[joint_eff]: [-0.3077, -6.694, 9.265, 1.7167, -0.315, 0.0269, -0.0806, 0.0889, -1.5658, 7.2684, 1.7656, -0.022, 0.0073, -0.022] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.12,"left_z":0.16},"note":"The left bowl now fills the lower-left of the wrist image, so its radial distance is close but its center is about 4–5 cm to the arm’s left of the jaw column. I’m making only that lateral correction and holding clearance before descending."})

tool

executing move_to over 4 steps (0.4s)

step 20

assistant

agent noteAfter the lateral correction, the purple bowl is nearly centered between the jaw columns and is clipped at the bottom of the wrist view, indicating the fingertips are over it. I’m adding a small final centering/forward adjustment and descending to table level so the open fingers straddle the bowl’s sides.

move_to

left_x0.4050left_y-0.1030left_z0.0150left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4793, 1.4326, 0.9104, -0.1799, -0.4171, -0.3294, 0.9993, -0.0219, 0.7986, 0.5961, -0.3931, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3921 left_y=-0.1191 left_z=0.1539 left_yaw=0.0249 left_pitch=-0.0612 left_roll=0.0216 left_gripper=0.9993 right_x=0.2923 right_y=0.0001 right_z=0.1724 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=-0.003 right_gripper=0.999 state[joint_eff]: [-0.5128, -7.3094, 6.2427, 1.5507, -0.0122, 0.2271, -0.0171, 0.0342, -1.0462, 7.2137, 1.7314, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.103,"left_z":0.015,"left_gripper":1.0},"note":"After the lateral correction, the purple bowl is nearly centered between the jaw columns and is clipped at the bottom of the wrist view, indicating the fingertips are over it. I’m adding a small final centering/forward adjustment and descending to table level so the open fingers straddle the bowl’s sides."})

tool

executing move_to over 9 steps (0.9s)

step 29

assistant

agent noteThe arm stopped around z=0.13 instead of completing the descent, while the overhead view still shows the bowl under the gripper; this looks like an IK/contact shortfall rather than a completed approach. I’m keeping the measured x/y and trying a smaller downward step to distinguish smooth convergence from rim contact.

move_to

left_x0.3900left_y-0.1170left_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.4593, 0.8616, -0.1329, -0.3977, -0.3302, 0.9993, -0.0216, 0.7986, 0.5957, -0.3969, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3897 left_y=-0.1169 left_z=0.1308 left_yaw=0.0207 left_pitch=-0.0924 left_roll=0.0234 left_gripper=0.9993 right_x=0.2917 right_y=0.0002 right_z=0.1714 right_yaw=0.0002 right_pitch=-0.0229 right_roll=-0.0029 right_gripper=0.999 state[joint_eff]: [-0.212, -6.653, 6.8308, 1.7802, -0.2857, 0.0317, -0.0806, -0.0205, -1.2513, 7.0906, 1.7363, -0.022, -0.0708, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.117,"left_z":0.08},"note":"The arm stopped around z=0.13 instead of completing the descent, while the overhead view still shows the bowl under the gripper; this looks like an IK/contact shortfall rather than a completed approach. I’m keeping the measured x/y and trying a smaller downward step to distinguish smooth convergence from rim contact."})

tool

executing move_to over 4 steps (0.4s)

step 33

assistant

agent noteThe smaller command lowered the fingertips by about 1.8 cm and the bowl remains centered between the open jaws, with no sharp effort rise. I’m continuing the descent in another modest increment rather than forcing the earlier large move.

move_to

left_z0.0600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.4975, 0.7959, -0.0006, -0.4, -0.3305, 0.9993, -0.0216, 0.7986, 0.5953, -0.3973, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.1128 left_yaw=0.0217 left_pitch=-0.0665 left_roll=0.0109 left_gripper=0.9993 right_x=0.2916 right_y=0.0002 right_z=0.1712 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.999 state[joint_eff]: [-0.0342, -3.5624, 4.6974, 1.199, -0.1587, -0.022, -0.0171, -0.0889, -1.2239, 7.0359, 1.7021, -0.0855, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.06},"note":"The smaller command lowered the fingertips by about 1.8 cm and the bowl remains centered between the open jaws, with no sharp effort rise. I’m continuing the descent in another modest increment rather than forcing the earlier large move."})

tool

executing move_to over 4 steps (0.4s)

step 37

assistant

agent noteThe fingertips have reached z≈0.064 and the purple bowl’s rim is symmetrically between the jaws, so the fingers are now at a useful side-grasp height. I’m closing from this centered pose to capture the bowl around its outer wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.6047, 0.6956, 0.1772, -0.3939, -0.334, 0.9993, -0.0219, 0.8032, 0.5949, -0.4122, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3894 left_y=-0.1175 left_z=0.0637 left_yaw=0.0198 left_pitch=-0.0946 left_roll=0.0186 left_gripper=0.9993 right_x=0.2897 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=-0.0025 right_gripper=0.999 state[joint_eff]: [-0.1299, -5.6274, 4.9573, 1.6679, -0.188, -0.0464, -0.0122, -0.0342, -1.6068, 7.0359, 1.8486, -0.0513, -0.0757, -0.0171] 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":{"left_gripper":0.0},"note":"The fingertips have reached z≈0.064 and the purple bowl’s rim is symmetrically between the jaws, so the fingers are now at a useful side-grasp height. I’m closing from this centered pose to capture the bowl around its outer wall."})

tool

executing move_to over 10 steps (1.0s)

step 47

assistant

agent noteThe gripper closed to an empty reading (0.009), and the wrist view shows the closed jaw inside the bowl rather than around it; the bowl center is still about 3 cm left of the jaw column. I’m reopening, lifting slightly, shifting left, and advancing 2 cm outward for the recommended second grasp attempt.

move_to

left_x0.4100left_y-0.0850left_z0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.6302, 0.6754, 0.2298, -0.3939, -0.3374, 0.0092, -0.0216, 0.8043, 0.5945, -0.4156, -0.0162, -0.0269, 0.999] state[eef_state]: left_x=0.3898 left_y=-0.1177 left_z=0.0557 left_yaw=0.0214 left_pitch=-0.0885 left_roll=0.0127 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0003 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999 state[joint_eff]: [-0.2803, -6.7077, 5.7641, 1.8193, -0.149, 0.0562, 0.6911, -0.0342, -1.1829, 7.0222, 1.7216, -0.0269, -0.0122, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.085,"left_z":0.1,"left_gripper":1.0},"note":"The gripper closed to an empty reading (0.009), and the wrist view shows the closed jaw inside the bowl rather than around it; the bowl center is still about 3 cm left of the jaw column. I’m reopening, lifting slightly, shifting left, and advancing 2 cm outward for the recommended second grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 57

assistant

agent noteThe second approach is now well centered: the open fingertips visibly straddle the purple bowl’s left and right walls. I’m descending another 5 cm so the fingers overlap the bowl sides before closing.

move_to

left_z0.0250

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.342, 1.5669, 0.7547, 0.0666, -0.308, -0.2691, 0.9951, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.4019 left_y=-0.0824 left_z=0.0779 left_yaw=0.0432 left_pitch=-0.1326 left_roll=0.0224 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999 state[joint_eff]: [0.4991, -8.9231, 8.5265, 1.6142, -0.0073, 0.1587, -0.1294, -0.1983, -1.1556, 6.9949, 1.6923, -0.0659, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025},"note":"The second approach is now well centered: the open fingertips visibly straddle the purple bowl’s left and right walls. I’m descending another 5 cm so the fingers overlap the bowl sides before closing."})

tool

executing move_to over 4 steps (0.4s)

step 61

assistant

agent noteAt z≈0.035 the open fingers overlap the bowl’s outer walls symmetrically, unlike the first attempt where a jaw fell inside. I’m closing now from this corrected side-grasp pose.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3401, 1.6962, 0.6773, 0.271, -0.3157, -0.2665, 0.9949, -0.0216, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.4033 left_y=-0.0807 left_z=0.035 left_yaw=0.05 left_pitch=-0.1328 left_roll=0.0302 left_gripper=0.9949 right_x=0.2892 right_y=0.0003 right_z=0.1653 right_yaw=0.0003 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999 state[joint_eff]: [-0.4718, -5.1214, 3.7949, 1.2234, -0.1636, -0.0366, -0.0269, -0.1846, -1.2376, 7.1726, 1.6972, -0.0415, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0.0},"note":"At z≈0.035 the open fingers overlap the bowl’s outer walls symmetrically, unlike the first attempt where a jaw fell inside. I’m closing now from this corrected side-grasp pose."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteThe second close is also empty, and the close-up reveals why: even at maximum opening both fingertips were inside the bowl, so its outer diameter exceeds the 9.5 cm stroke. I’m switching to a rim pinch—reopening, lifting, and offsetting the gripper so one lateral rim rather than the bowl center lies on the jaw convergence line.

move_to

left_y-0.1800left_z0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3401, 1.7073, 0.667, 0.2665, -0.3138, -0.2745, 0.0092, -0.0219, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3984 left_y=-0.0793 left_z=0.0263 left_yaw=0.0542 left_pitch=-0.1571 left_roll=0.0328 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1653 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999 state[joint_eff]: [-0.2667, -8.0752, 6.0786, 1.536, -0.105, 0.0464, 0.6325, -0.1709, -1.306, 7.1726, 1.663, -0.0415, -0.0415, -0.0122] 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":{"left_y":-0.18,"left_z":0.1,"left_gripper":1.0},"note":"The second close is also empty, and the close-up reveals why: even at maximum opening both fingertips were inside the bowl, so its outer diameter exceeds the 9.5 cm stroke. I’m switching to a rim pinch—reopening, lifting, and offsetting the gripper so one lateral rim rather than the bowl center lies on the jaw convergence line."})

tool

executing move_to over 10 steps (1.0s)

step 81

assistant

agent noteThe offset worked: the purple bowl’s right rim now crosses the jaw convergence column near image x≈110, while the rest of the bowl lies to the left. I’m descending so one finger will sit inside and the other outside that rim before closing.

move_to

left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.622, 1.6955, 0.992, -0.1623, -0.4854, -0.4927, 0.9946, -0.0216, 0.8097, 0.5945, -0.4206, -0.0162, -0.0273, 0.999] state[eef_state]: left_x=0.3957 left_y=-0.1778 left_z=0.089 left_yaw=0.0348 left_pitch=-0.1688 left_roll=0.0253 left_gripper=0.9946 right_x=0.2888 right_y=0.0002 right_z=0.1631 right_yaw=-0.0 right_pitch=-0.0587 right_roll=-0.0024 right_gripper=0.999 state[joint_eff]: [-0.3897, -7.4598, 8.5265, 1.3407, -0.3541, 0.1734, -0.0073, -0.1162, -1.6479, 6.9675, 1.6923, -0.022, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.03},"note":"The offset worked: the purple bowl’s right rim now crosses the jaw convergence column near image x≈110, while the rest of the bowl lies to the left. I’m descending so one finger will sit inside and the other outside that rim before closing."})

tool

executing move_to over 4 steps (0.4s)

step 85

assistant

agent noteAt z≈0.025 the purple rim remains centered on the jaw column, with one open finger visually inside the bowl and the other on the outside gap toward the green bowl. I’m closing to pinch that single rim wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6266, 1.8198, 0.8848, 0.0013, -0.4873, -0.4984, 0.9955, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3855 left_y=-0.1725 left_z=0.0247 left_yaw=0.0431 left_pitch=-0.2212 left_roll=0.0649 left_gripper=0.9955 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=0.0003 right_pitch=-0.061 right_roll=-0.0021 right_gripper=0.999 state[joint_eff]: [0.0342, -9.1009, 6.106, 1.6484, -0.1929, 0.0366, 0.0708, -0.0342, -1.3333, 7.0906, 1.6581, -0.0464, -0.0806, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At z≈0.025 the purple rim remains centered on the jaw column, with one open finger visually inside the bowl and the other on the outside gap toward the green bowl. I’m closing to pinch that single rim wall."})

tool

executing move_to over 10 steps (1.0s)

step 95

assistant

agent noteThe gripper settled at 0.115 instead of the empty value, consistent with a roughly 1.1 cm rim pinch, and the bowl shifted with the jaws in the overhead view. I’m lifting vertically to confirm the purple bowl is securely held before transporting it.

move_to

left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.627, 1.7988, 0.8967, 0.0467, -0.5068, -0.4988, 0.1149, -0.0216, 0.8112, 0.5945, -0.4229, -0.0166, -0.0269, 0.999] state[eef_state]: left_x=0.3973 left_y=-0.1776 left_z=0.0448 left_yaw=0.0482 left_pitch=-0.1506 left_roll=0.0271 left_gripper=0.1149 right_x=0.2885 right_y=0.0003 right_z=0.1623 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0017 right_gripper=0.999 state[joint_eff]: [-0.253, -6.2838, 4.7111, 0.9451, -0.0659, -0.0269, 0.8571, 0.0205, -1.0598, 7.0085, 1.6728, -0.022, -0.0317, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.14},"note":"The gripper settled at 0.115 instead of the empty value, consistent with a roughly 1.1 cm rim pinch, and the bowl shifted with the jaws in the overhead view. I’m lifting vertically to confirm the purple bowl is securely held before transporting it."})

tool

executing move_to over 7 steps (0.7s)

step 102

assistant

agent noteThe purple bowl rose with the gripper and is clearly suspended, confirming the rim pinch. I’m carrying it at extra height to the green bowl in the middle, whose center is about 17 cm inward at nearly the same forward distance.

move_to

left_x0.4000left_y-0.3500left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.627, 1.6646, 1.0779, -0.308, -0.5022, -0.5068, 0.1139, -0.0219, 0.8116, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.3943 left_y=-0.1762 left_z=0.1139 left_yaw=0.0533 left_pitch=-0.1832 left_roll=0.0433 left_gripper=0.1139 right_x=0.2885 right_y=0.0002 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0629 right_roll=-0.002 right_gripper=0.999 state[joint_eff]: [-0.3897, -9.9624, 9.0188, 1.4774, -0.3199, 0.0415, 0.2808, -0.0068, -1.1966, 6.9812, 1.6484, -0.0366, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.35,"left_z":0.2},"note":"The purple bowl rose with the gripper and is clearly suspended, confirming the rim pinch. I’m carrying it at extra height to the green bowl in the middle, whose center is about 17 cm inward at nearly the same forward distance."})

tool

executing move_to over 16 steps (1.6s)

step 118

assistant

agent noteAt the middle, the wrist view shows the held purple bowl to the left of the green target because the gripper is pinching the purple bowl’s right rim rather than its center. I’m shifting the grasp point 5 cm farther inward—up to the left arm’s y limit—so the two bowl centers align before lowering.

move_to

left_y-0.4000left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9264, 2.17, 2.0941, -0.9901, -0.6437, -0.8104, 0.1147, -0.0219, 0.812, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.4 left_y=-0.3498 left_z=0.1864 left_yaw=0.0412 left_pitch=-0.2054 left_roll=0.0297 left_gripper=0.1147 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0001 right_pitch=-0.0633 right_roll=-0.002 right_gripper=0.999 state[joint_eff]: [-0.4855, -12.1915, 8.8, 0.8376, -0.6032, 0.149, 0.5885, -0.212, -1.2923, 7.0085, 1.6825, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.4,"left_z":0.2},"note":"At the middle, the wrist view shows the held purple bowl to the left of the green target because the gripper is pinching the purple bowl’s right rim rather than its center. I’m shifting the grasp point 5 cm farther inward—up to the left arm’s y limit—so the two bowl centers align before lowering."})

tool

executing move_to over 5 steps (0.5s)

step 123

assistant

agent noteThe y-limit only brought the adjacent rims closer; because the bowl is held off-center, translating farther enough to align centers is not available. I’m lifting slightly, returning 5 cm from the limit, and beginning a 180° wrist rotation so the held bowl’s center swings from the left side of the grasp point to the right side, over the green bowl.

move_to

left_y-0.3500left_z0.2200left_yaw1.5700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9798, 2.5332, 2.722, -1.2922, -0.6556, -0.8738, 0.1179, -0.0216, 0.8154, 0.5945, -0.4229, -0.0166, -0.0273, 0.9989] state[eef_state]: left_x=0.4048 left_y=-0.4036 left_z=0.1804 left_yaw=0.0362 left_pitch=-0.2159 left_roll=0.0216 left_gripper=0.1179 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0003 right_pitch=-0.0667 right_roll=-0.0019 right_gripper=0.9989 state[joint_eff]: [-0.3214, -12.3692, 6.0513, 0.1636, -0.525, 0.0464, 0.3248, -0.1162, -1.6205, 6.9812, 1.6679, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.35,"left_z":0.22,"left_yaw":1.57},"note":"The y-limit only brought the adjacent rims closer; because the bowl is held off-center, translating farther enough to align centers is not available. I’m lifting slightly, returning 5 cm from the limit, and beginning a 180° wrist rotation so the held bowl’s center swings from the left side of the grasp point to the right side, over the green bowl."})

tool

executing move_to over 10 steps (1.0s)

step 133

assistant

agent noteThe yaw maneuver reached about 1.35 rad but the IK posture collapsed inward and down to z≈0.06 instead of holding the carry pose; the rim pinch is still intact. I’m first moving to an easier near-base pose while preserving the achieved yaw, to regain safe height before undoing the rotation.

move_to

left_x0.3000left_y-0.1200left_z0.2000left_yaw1.3500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5728, 2.4088, 2.0396, -1.5406, -0.6624, -2.0487, 0.1209, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.394 left_y=-0.1206 left_z=0.059 left_yaw=1.3551 left_pitch=-0.269 left_roll=0.046 left_gripper=0.1209 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=-0.0019 right_gripper=0.999 state[joint_eff]: [1.0598, -16.759, 4.8889, -0.5934, -0.4127, -0.1392, 0.2955, -0.1026, -1.4974, 7.1863, 1.663, -0.0855, -0.0757, -0.0073] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.2,"left_yaw":1.35},"note":"The yaw maneuver reached about 1.35 rad but the IK posture collapsed inward and down to z≈0.06 instead of holding the carry pose; the rim pinch is still intact. I’m first moving to an easier near-base pose while preserving the achieved yaw, to regain safe height before undoing the rotation."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteThe easier pose recovered the bowl to z≈0.124 with the grasp still secure. I’m unwinding the wrist rotation in a moderate step at this compact pose, where the arm has better kinematic margin.

move_to

left_x0.3000left_y-0.1000left_z0.2000left_yaw0.6500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6323, 1.9732, 1.6127, -1.5425, -0.6285, -2.0621, 0.1231, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0269, 0.999] state[eef_state]: left_x=0.3088 left_y=-0.093 left_z=0.1236 left_yaw=1.3158 left_pitch=-0.3009 left_roll=0.0422 left_gripper=0.1231 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=0.0001 right_pitch=-0.069 right_roll=-0.0016 right_gripper=0.999 state[joint_eff]: [0.4991, -10.0991, 5.5863, -0.5055, -0.5543, -0.2906, 0.2125, -0.0479, -1.1009, 7.0085, 1.6874, -0.0562, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.2,"left_yaw":0.65},"note":"The easier pose recovered the bowl to z≈0.124 with the grasp still secure. I’m unwinding the wrist rotation in a moderate step at this compact pose, where the arm has better kinematic margin."})

tool

executing move_to over 5 steps (0.5s)

step 148

assistant

agent noteAt the compact pose the arm now holds z≈0.189 while yaw has unwound to 0.78 rad, so the recovery strategy is working. I’m completing the return to the original wrist orientation before re-approaching the stack location.

move_to

left_yaw0.0000left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6968, 1.5799, 1.4277, -1.3449, -0.6556, -1.499, 0.1245, -0.0216, 0.8196, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.293 left_y=-0.1001 left_z=0.1888 left_yaw=0.784 left_pitch=-0.341 left_roll=-0.017 left_gripper=0.1245 right_x=0.2889 right_y=0.0003 right_z=0.16 right_yaw=0.0003 right_pitch=-0.0709 right_roll=-0.0019 right_gripper=0.999 state[joint_eff]: [0.1436, -5.9829, 5.4496, 0.6081, -0.7057, 0.1538, 0.1441, 0.0479, -1.265, 7.0085, 1.6532, -0.0562, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.0,"left_z":0.2},"note":"At the compact pose the arm now holds z≈0.189 while yaw has unwound to 0.78 rad, so the recovery strategy is working. I’m completing the return to the original wrist orientation before re-approaching the stack location."})

tool

executing move_to over 5 steps (0.5s)

step 153

assistant

agent noteThe failed rotation displaced the middle bowl leftward, but both bowls are now side-by-side at the same radial depth and well within the left arm’s lateral range; the held purple center is about one bowl diameter left of the target center. I’m translating roughly 10 cm inward at safe height so the held bowl overlays the middle bowl directly.

move_to

left_x0.2850left_y-0.1800left_z0.2200left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5335, 1.2133, 1.1194, -0.9966, -0.3996, -0.7292, 0.1261, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2819 left_y=-0.0825 left_z=0.1898 left_yaw=0.2353 left_pitch=-0.3858 left_roll=-0.041 left_gripper=0.1261 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0003 right_pitch=-0.074 right_roll=-0.0018 right_gripper=0.999 state[joint_eff]: [0.1846, -3.6991, 6.8034, 1.4676, -0.3199, 0.2369, 0.149, -0.0479, -1.6752, 6.9675, 1.6435, -0.0659, -0.0659, -0.0171] 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":{"left_x":0.285,"left_y":-0.18,"left_z":0.22,"left_yaw":0.0},"note":"The failed rotation displaced the middle bowl leftward, but both bowls are now side-by-side at the same radial depth and well within the left arm’s lateral range; the held purple center is about one bowl diameter left of the target center. I’m translating roughly 10 cm inward at safe height so the held bowl overlays the middle bowl directly."})

tool

executing move_to over 9 steps (0.9s)

step 162

assistant

agent noteThe two colored rims remain fixed relative to each other through the lateral move, revealing that the gripper accidentally pinched both adjacent rims and lifted the purple and green bowls together side-by-side. I’m lowering this pair onto a clear part of the table so I can release them and regrasp only the purple bowl by its outside rim.

move_to

left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7731, 1.4021, 1.3365, -1.0775, -0.3904, -0.7494, 0.1273, -0.0219, 0.823, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2791 left_y=-0.1734 left_z=0.2038 left_yaw=0.017 left_pitch=-0.4292 left_roll=-0.0194 left_gripper=0.1273 right_x=0.2891 right_y=0.0002 right_z=0.1591 right_yaw=-0.0001 right_pitch=-0.0744 right_roll=-0.0018 right_gripper=0.999 state[joint_eff]: [-0.4171, -5.4632, 9.1829, 1.0623, -0.3443, 0.022, 0.1197, -0.0615, -1.388, 6.9949, 1.6825, -0.0513, -0.0806, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.04},"note":"The two colored rims remain fixed relative to each other through the lateral move, revealing that the gripper accidentally pinched both adjacent rims and lifted the purple and green bowls together side-by-side. I’m lowering this pair onto a clear part of the table so I can release them and regrasp only the purple bowl by its outside rim."})

tool

executing move_to over 11 steps (1.1s)

step 173

assistant

agent noteThe paired bowls are now supported at table height with no forward displacement. I’m opening the jaws and lifting clear so both settle independently before the single-rim regrasp.

move_to

left_z0.1100left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.778, 1.5002, 0.7704, -0.4858, -0.3897, -0.7494, 0.128, -0.0219, 0.8238, 0.5945, -0.4229, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2669 left_y=-0.1638 left_z=0.038 left_yaw=0.037 left_pitch=-0.4801 left_roll=0.0381 left_gripper=0.128 right_x=0.2891 right_y=0.0002 right_z=0.1589 right_yaw=-0.0001 right_pitch=-0.0751 right_roll=-0.0018 right_gripper=0.999 state[joint_eff]: [0.212, -5.5726, 5.9829, 1.2039, -0.2222, -0.0366, 0.0659, -0.0752, -1.4701, 7.1316, 1.6337, -0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_z":0.11,"left_gripper":1.0},"note":"The paired bowls are now supported at table height with no forward displacement. I’m opening the jaws and lifting clear so both settle independently before the single-rim regrasp."})

tool

executing move_to over 9 steps (0.9s)

step 182

assistant

agent noteAfter release, the purple and green bowls are clearly separate and side-by-side; the current jaw column lies at their touching inner rims. I’m moving about 10 cm toward the table’s left edge so the purple bowl’s free outer rim, not the shared gap, aligns with the jaw column.

move_to

left_y-0.0600left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7773, 1.4242, 0.9512, -0.7628, -0.3897, -0.757, 0.9952, -0.0219, 0.8288, 0.5945, -0.4305, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.266 left_y=-0.1625 left_z=0.0946 left_yaw=0.0503 left_pitch=-0.4937 left_roll=0.0506 left_gripper=0.9952 right_x=0.2882 right_y=0.0002 right_z=0.1561 right_yaw=-0.0001 right_pitch=-0.0877 right_roll=-0.0015 right_gripper=0.999 state[joint_eff]: [-0.1573, -6.9812, 8.7043, 0.7839, -0.2711, 0.0611, -0.0904, -0.1162, -1.8393, 6.9675, 1.7509, -0.0757, -0.0855, -0.0171] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.06,"left_z":0.12},"note":"After release, the purple and green bowls are clearly separate and side-by-side; the current jaw column lies at their touching inner rims. I’m moving about 10 cm toward the table’s left edge so the purple bowl’s free outer rim, not the shared gap, aligns with the jaw column."})

tool

executing move_to over 10 steps (1.0s)

step 192

assistant

agent noteThe purple bowl is isolated in the wrist view; its free left rim is about 4–5 cm left of the jaw column. I’m making that final outward correction and descending so one finger is outside the bowl and one inside at the left rim.

move_to

left_y-0.0300left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4072, 1.1679, 0.8501, -0.8082, -0.2581, -0.4427, 0.9955, -0.0219, 0.8307, 0.5945, -0.4385, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2686 left_y=-0.0629 left_z=0.118 left_yaw=0.089 left_pitch=-0.4913 left_roll=0.0379 left_gripper=0.9955 right_x=0.287 right_y=0.0002 right_z=0.154 right_yaw=-0.0 right_pitch=-0.0976 right_roll=-0.0013 right_gripper=0.999 state[joint_eff]: [0.2393, -4.3419, 6.2154, 1.0037, -0.1245, 0.105, 0.0317, -0.0205, -1.5658, 6.9538, 1.7607, -0.0562, -0.022, -0.0171] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.03,"left_z":0.04},"note":"The purple bowl is isolated in the wrist view; its free left rim is about 4–5 cm left of the jaw column. I’m making that final outward correction and descending so one finger is outside the bowl and one inside at the left rim."})

tool

executing move_to over 6 steps (0.6s)

step 198

assistant

agent noteAt table height the purple bowl’s left outer rim now crosses the convergence column, and the green bowl is well away to the right. I’m closing to pinch only this free rim.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2577, 1.195, 0.5659, -0.5243, -0.2024, -0.3336, 0.9956, -0.0216, 0.8307, 0.5945, -0.4446, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2566 left_y=-0.0272 left_z=0.0398 left_yaw=0.1283 left_pitch=-0.5412 left_roll=0.0572 left_gripper=0.9956 right_x=0.2861 right_y=0.0004 right_z=0.1528 right_yaw=0.0004 right_pitch=-0.1037 right_roll=-0.0011 right_gripper=0.999 state[joint_eff]: [0.3077, -2.865, 6.147, 1.1941, -0.0659, 0.2125, -0.0073, -0.0479, -1.4154, 6.9538, 1.7509, -0.0464, -0.0659, -0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the purple bowl’s left outer rim now crosses the convergence column, and the green bowl is well away to the right. I’m closing to pinch only this free rim."})

tool

executing move_to over 10 steps (1.0s)

step 208

assistant

agent noteThe close settled empty at 0.020; the close-up shows the converged jaw just outside the purple rim, only about 1 cm too far left. I’m reopening, lifting a centimeter, and nudging right so the rim sits between the fingers rather than beside them.

move_to

left_y-0.0400left_z0.0500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2554, 1.1957, 0.5537, -0.5095, -0.1875, -0.3408, 0.0204, -0.0219, 0.8307, 0.5945, -0.4454, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2555 left_y=-0.029 left_z=0.0366 left_yaw=0.121 left_pitch=-0.5442 left_roll=0.0379 left_gripper=0.0204 right_x=0.286 right_y=0.0002 right_z=0.1527 right_yaw=-0.0 right_pitch=-0.1045 right_roll=-0.0011 right_gripper=0.999 state[joint_eff]: [-0.4308, -2.5504, 7.0085, 0.7839, -0.4029, 0.0562, 0.9792, -0.0889, -1.1556, 6.9675, 1.6679, -0.0415, -0.0659, -0.0171] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.04,"left_z":0.05,"left_gripper":1.0},"note":"The close settled empty at 0.020; the close-up shows the converged jaw just outside the purple rim, only about 1 cm too far left. I’m reopening, lifting a centimeter, and nudging right so the rim sits between the fingers rather than beside them."})

tool

executing move_to over 10 steps (1.0s)

step 218

assistant

agent noteThe reopened view now clearly shows one finger outside the purple bowl and the other inside, with the rim between them near the jaw center. I’m closing again from this corrected 1 cm offset.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3073, 1.1904, 0.5697, -0.5732, -0.2028, -0.3927, 0.9949, -0.0219, 0.8314, 0.5945, -0.4454, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2459 left_y=-0.037 left_z=0.0376 left_yaw=0.1267 left_pitch=-0.5761 left_roll=0.0468 left_gripper=0.9949 right_x=0.286 right_y=0.0002 right_z=0.1525 right_yaw=-0.0 right_pitch=-0.1053 right_roll=-0.0011 right_gripper=0.999 state[joint_eff]: [-0.6906, -3.2889, 9.4564, 0.862, -0.2125, 0.0513, -0.0904, -0.0752, -1.4154, 6.9675, 1.6386, -0.0708, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The reopened view now clearly shows one finger outside the purple bowl and the other inside, with the rim between them near the jaw center. I’m closing again from this corrected 1 cm offset."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteThis close also ended empty, and the closed jaw is still visibly just left of the rim—the bowl likely slid slightly during the close. I’m reopening and moving another 2 cm right to put the convergence line decisively across the rim.

move_to

left_y-0.0600left_z0.0500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.308, 1.1893, 0.5743, -0.5766, -0.1986, -0.3985, 0.0164, -0.0216, 0.836, 0.5945, -0.4603, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2465 left_y=-0.0381 left_z=0.0389 left_yaw=0.1252 left_pitch=-0.5755 left_roll=0.0386 left_gripper=0.0164 right_x=0.2838 right_y=0.0004 right_z=0.1484 right_yaw=0.0004 right_pitch=-0.1247 right_roll=-0.0007 right_gripper=0.999 state[joint_eff]: [0.0068, -2.9333, 6.1197, 0.8034, -0.1783, 0.1587, 0.7302, -0.1026, -1.8256, 7.0632, 1.7607, -0.0464, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.06,"left_z":0.05,"left_gripper":1.0},"note":"This close also ended empty, and the closed jaw is still visibly just left of the rim—the bowl likely slid slightly during the close. I’m reopening and moving another 2 cm right to put the convergence line decisively across the rim."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteThe 2 cm correction overshot: the open view now puts the rim about 2 cm left of the jaw center. I’m splitting the difference, moving back roughly 1.2 cm before closing.

move_to

left_y-0.0470left_z0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4129, 1.2049, 0.6067, -0.6334, -0.2192, -0.4988, 0.9945, -0.0219, 0.8364, 0.5945, -0.4679, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2389 left_y=-0.0588 left_z=0.0416 left_yaw=0.1163 left_pitch=-0.5996 left_roll=0.033 left_gripper=0.9945 right_x=0.2826 right_y=0.0003 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1327 right_roll=-0.0005 right_gripper=0.999 state[joint_eff]: [-0.5265, -2.6462, 8.6359, 0.8571, -0.3443, 0.105, 0.022, -0.1846, -1.4564, 6.9812, 1.6923, -0.0122, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.047,"left_z":0.045},"note":"The 2 cm correction overshot: the open view now puts the rim about 2 cm left of the jaw center. I’m splitting the difference, moving back roughly 1.2 cm before closing."})

tool

executing move_to over 2 steps (0.2s)

step 240

assistant

agent noteThe small split move barely changed the close-up; the rim remains around image x≈83 while the jaws converge near x≈110. I’m shifting 2.5 cm farther left to bring that rim onto the convergence line.

move_to

left_y-0.0250

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3763, 1.1988, 0.6075, -0.6437, -0.2092, -0.4759, 0.9955, -0.0219, 0.8387, 0.5945, -0.4713, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2388 left_y=-0.051 left_z=0.042 left_yaw=0.1302 left_pitch=-0.6078 left_roll=0.036 left_gripper=0.9955 right_x=0.2822 right_y=0.0003 right_z=0.1457 right_yaw=0.0001 right_pitch=-0.1384 right_roll=-0.0004 right_gripper=0.999 state[joint_eff]: [0.2256, -4.3829, 5.7778, 0.9109, -0.022, 0.0952, 0.0855, -0.1709, -1.306, 6.9265, 1.6728, -0.0562, -0.0513, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.025},"note":"The small split move barely changed the close-up; the rim remains around image x≈83 while the jaws converge near x≈110. I’m shifting 2.5 cm farther left to bring that rim onto the convergence line."})

tool

executing move_to over 3 steps (0.3s)

step 243

assistant

agent noteThat move shifted the rim past the jaw line to image x≈125, bracketing the correct alignment between the last two poses. I’m moving back about 1 cm to center it near x≈110.

move_to

left_y-0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.26, 1.1683, 0.5819, -0.6403, -0.1806, -0.4, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2372 left_y=-0.0265 left_z=0.0399 left_yaw=0.1675 left_pitch=-0.6144 left_roll=0.0371 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.2393, -4.1915, 5.7504, 1.0525, -0.0708, 0.105, -0.0024, -0.0205, -1.7026, 7.0906, 1.6337, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.035},"note":"That move shifted the rim past the jaw line to image x≈125, bracketing the correct alignment between the last two poses. I’m moving back about 1 cm to center it near x≈110."})

tool

executing move_to over 1 steps (0.1s)

step 244

assistant

agent noteThe one-step correction did not track its target—the readback actually drifted to y=-0.023 and the rim moved farther right. I’m commanding a clearer 2 cm rightward correction and will use the readback rather than the nominal target.

move_to

left_y-0.0450

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2413, 1.161, 0.5755, -0.6399, -0.1726, -0.363, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.236 left_y=-0.0231 left_z=0.0392 left_yaw=0.1538 left_pitch=-0.6174 left_roll=0.0451 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.1162, -3.9726, 5.8598, 0.9988, -0.0708, 0.1245, -0.0024, -0.1026, -1.7162, 6.9949, 1.6679, -0.0659, -0.0806, -0.0171] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.045},"note":"The one-step correction did not track its target—the readback actually drifted to y=-0.023 and the rim moved farther right. I’m commanding a clearer 2 cm rightward correction and will use the readback rather than the nominal target."})

tool

executing move_to over 2 steps (0.2s)

step 246

assistant

agent noteThe readback reached y=-0.036 and the purple rim now lies within about 1 cm of the jaw column, with one finger inside and one outside. I’m closing from this bracketed alignment.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1694, 0.5755, -0.6403, -0.1925, -0.4351, 0.9956, -0.0216, 0.8436, 0.5945, -0.4744, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2339 left_y=-0.0363 left_z=0.038 left_yaw=0.1514 left_pitch=-0.6156 left_roll=0.0373 left_gripper=0.9956 right_x=0.2818 right_y=0.0004 right_z=0.1438 right_yaw=0.0005 right_pitch=-0.1465 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.1709, -3.5624, 5.6957, 0.9304, -0.2808, 0.0806, -0.0073, -0.1709, -1.5795, 7.1316, 1.6532, -0.0659, -0.0806, -0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The readback reached y=-0.036 and the purple rim now lies within about 1 cm of the jaw column, with one finger inside and one outside. I’m closing from this bracketed alignment."})

tool

executing move_to over 10 steps (1.0s)

step 256

assistant

agent noteThe rim keeps slipping away during a full-speed close even when geometrically centered, leaving the empty 0.017 reading. I’m reopening without changing pose, then I’ll use a staged partial close to reduce the sideways impulse on the curved rim.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1652, 0.5709, -0.6292, -0.1913, -0.4362, 0.0172, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2352 left_y=-0.037 left_z=0.0383 left_yaw=0.1477 left_pitch=-0.6064 left_roll=0.0298 left_gripper=0.0172 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.212, -2.7692, 6.4205, 0.7595, -0.2271, 0.1783, 0.6716, -0.0889, -1.4427, 6.9402, 1.58, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The rim keeps slipping away during a full-speed close even when geometrically centered, leaving the empty 0.017 reading. I’m reopening without changing pose, then I’ll use a staged partial close to reduce the sideways impulse on the curved rim."})

tool

executing move_to over 10 steps (1.0s)

step 266

assistant

agent noteWith the jaws reopened, the purple rim is now precisely between them at the convergence column. I’m closing only to 20% opening first so the fingers approach and stabilize the rim gently rather than snapping it sideways.

move_to

left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4438, 0.9946, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1511 left_pitch=-0.6015 left_roll=0.0233 left_gripper=0.9946 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.2256, -2.9744, 5.6684, 0.9353, -0.1685, 0.0708, -0.0562, -0.0615, -1.3197, 6.9402, 1.5751, -0.0024, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.2},"note":"With the jaws reopened, the purple rim is now precisely between them at the convergence column. I’m closing only to 20% opening first so the fingers approach and stabilize the rim gently rather than snapping it sideways."})

tool

executing move_to over 8 steps (0.8s)

step 274

assistant

agent noteAt 20% opening the two fingertips are visibly on opposite sides of the purple rim and the bowl has not slid. I’m completing the close from this stabilized contact.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4465, 0.2048, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989] state[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1529 left_pitch=-0.6015 left_roll=0.0221 left_gripper=0.2048 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989 state[joint_eff]: [-0.0889, -3.1521, 5.9419, 0.9695, -0.1636, -0.0024, 0.0317, 0.0068, -1.4974, 7.1179, 1.5653, -0.0513, -0.0513, -0.0171] approver: 8 step(s) modified (delta_clamped ×8). 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_gripper":0.0},"note":"At 20% opening the two fingertips are visibly on opposite sides of the purple rim and the bowl has not slid. I’m completing the close from this stabilized contact."})

tool

executing move_to over 3 steps (0.3s)

step 277

assistant

agent noteThe final reading is still thin (0.016), but the close-up shows the jaw visibly hooked around the rim rather than displaced beside it. I’m performing the definitive lift test; if the bowl rises, the thin wall explains the low reading.

move_to

left_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1629, 0.5697, -0.6209, -0.1909, -0.45, 0.016, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989] state[eef_state]: left_x=0.2369 left_y=-0.0376 left_z=0.0391 left_yaw=0.1535 left_pitch=-0.5978 left_roll=0.0178 left_gripper=0.016 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989 state[joint_eff]: [-0.0752, -3.1248, 6.0376, 0.9451, -0.1587, 0.0317, 0.7497, -0.0615, -1.4701, 6.9265, 1.5995, -0.0269, -0.0562, -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_z":0.13},"note":"The final reading is still thin (0.016), but the close-up shows the jaw visibly hooked around the rim rather than displaced beside it. I’m performing the definitive lift test; if the bowl rises, the thin wall explains the low reading."})

tool

executing move_to over 6 steps (0.6s)

step 283

assistant

agent noteI could not complete the stack. The bowls are wider than one gripper’s 9.5 cm opening; repeated single-rim pinches slipped off, while the one secure grasp accidentally clamped two adjacent bowls together side-by-side rather than lifting one bowl for nesting.

give_up

hindsightThese bowls exceed the gripper stroke, so a centered outer-diameter grasp cannot work. A gripper placed between two adjacent bowls can securely clamp both inward-facing rims together (settled opening about 0.115), but a single thin rim produced readings around 0.016–0.020 and failed the lift test even with a staged close. Separate the bowls widely first and plan a two-arm cooperative grasp, or use a fixture/technique that supports a bowl from two opposite outer rims; do not rely on a one-gripper rim pinch.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.1091, 0.8532, -0.9543, -0.1879, -0.4545, 0.0177, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999] state[eef_state]: left_x=0.2401 left_y=-0.0392 left_z=0.1166 left_yaw=0.1525 left_pitch=-0.5956 left_roll=0.0104 left_gripper=0.0177 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.1162, -3.3983, 8.4991, 1.0134, -0.1636, 0.0073, 1.0281, -0.0479, -1.306, 7.0222, 1.6142, -0.0757, -0.0171, -0.0073] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the stack. The bowls are wider than one gripper’s 9.5 cm opening; repeated single-rim pinches slipped off, while the one secure grasp accidentally clamped two adjacent bowls together side-by-side rather than lifting one bowl for nesting.","hindsight":"These bowls exceed the gripper stroke, so a centered outer-diameter grasp cannot work. A gripper placed between two adjacent bowls can securely clamp both inward-facing rims together (settled opening about 0.115), but a single thin rim produced readings around 0.016–0.020 and failed the lift test even with a staged close. Separate the bowls widely first and plan a two-arm cooperative grasp, or use a fixture/technique that supports a bowl from two opposite outer rims; do not rely on a one-gripper rim pinch."})

tool

give_up: I could not complete the stack. The bowls are wider than one gripper’s 9.5 cm opening; repeated single-rim pinches slipped off, while the one secure grasp accidentally clamped two adjacent bowls together side-by-side rather than lifting one bowl for nesting.

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 · 48.42 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3809, -0.0227, -0.0406, 0.9993, -0.02, 0.7929, 0.601, -0.3851, -0.017, -0.0235, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2937 right_y=0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.5385, 9.9624, 1.79, -0.0073, 0.2613, -0.0806, -0.6632, -1.4017, 10.3043, 2.0537, -0.0952, 0.0659, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040f1fc32a261fd040d38ebc10897cffcdfe18aa76a885fbfdbdc177a403c0a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8690b14d5486b727f8483a488a63890c7385a59813afa73ef6c8ff31027e732b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1867479d499f6cbcfd57bcb4e4b7fd8eaa572b6702cca1ba6eb53977efa6ada3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 8.451 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43f22bf7887d08af9adf7d12ac0a4",
  "summary": [],
  "type": "reasoning"
}

{
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  "encrypted_content": "gAAAAABqtD8pGWICCRIO5Y8C7z0rJalJIom90n9V4FlCZEelu9pNsT0Yqy_i91f7_6ED51fl05F45mZ4XAmnna5v-9p0xyiTQGryo3bYxjBwP1yrWUUMgqT5Clr-NSzsAex0BNicqDFYpZMTuMLIzOL-wnJcx_m9l1rusZn384f6Wv2ZbQHdboucMKwIQ5ypU0S3hGEk_S1MoHpUpcpfC3opvA2djPynbbV83C3VpDqPArdG7bXV5pR2HOtQNLQ5DG9uWyCou6Md0SsYTPnPXTVsCLV8fuMe3S85sZGvlYzSEvDdUc_jUrCm4BY6BM8Vc_tgJ7TCbQ7zbVE7uZJIe4WHKtvAu2UzNX5dlhud1f2-vNehEnIt4mQ0p-v6aur7pVakOgQYaT5uD3mC-KXkwQiS6V9oGagA9zCL5cecEcYogLZPFSIyxNz7m7NZt9qlUtXfcMAISFric8eGqcprHrMoZlFOyDSrcqHYtr2YUl_Q6kXO2MmI_uvMILm8VRRsCqduYLnLhbBmFArexTTAebTzjzw0wem-HqcTot2lXyE96RN_8TaOc3vYQYXx08rK-N0IOkt6RyHLK5BwU3aGzuGhhQRFkWNWhNnaLzURET0nzpDrYiidsrc7kyfe3aRZSAQBNc-3mF5hLQlp_NnxBX6hUddMXlEtKD015QTqEW7NF7QrsNMAnW__FU59hLKjbzKjrkXOV6wJD8zwlkSTBG5p-izUwQni4oczEKTnthy6Ny78e_IsnWCT_jvOLzehCiAI1uGU5jlWNGcjGiAHgXtvJz9XLdhxEoZ_uUCP7AJim5H5sqo0xP4geJTSt6w-kyDQfOAr6orEHsugwcxuHxD3n8ZBFBg-USHEzmscbjjQy83KQC7iK66i422Tp6zm43E3cuoDXnfWqykyzX-eabm_tPRXC6pBndLcH-GsI4xyCgBT0czi-TV1L8XbsUzm2BgsnUe64_aT7kIFeSpewxNbRE6FNTh2bLAHAIbuZ4P5oKQ5ituiKSsKmD-etSrLWnyT_s0CAbJVI2HnQ3X9zB7vjiH_FEimH4DoZPI54G_RQT5gQai2Xk7rdnfc-LryBAGiwOf8o7s0J9eTp6ufj0NK6DLgRW531gMgD3IKMhDEUNPCs-x-wPk_SjHBF7K9Qpy6AlUnnVYyB-Q6JtGXNKGtSXOp7lbLlor4u1phRsdooAzD7fn54eEs-GipIMn8bp-VO4o-kLMSjRrJrz1G6aImqTl98vU8JZbeh4mQ0lJApZ7rT2aUkok1clynkJj2ohwGqCm2QmEC6pSB9R1PV8HJ5T3I0_MrHYG9j5rgnWnc6xiTZ-FG-xWOu-cIY0ilL2SPVpvJhiGGGP5c7ARY_f5tnylud718GnVmYBB4gyI_1VGYr1mEu3TkN-fDSAMOTL2VYHtH1kWsUmYHILOtsehV-OgD21GCcPsuEOaOLpK40YNOC-sVwAgtb5b9vuSY7tYF24Q8InVFVTjXuPjFYTXaYErNsU2Tbw==",
  "id": "rs_0d7cc622373a1bf3016ab43f27e22887d08ca3b92c7e6f5567",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The three upright bowls are arranged left-to-right across the far half of the table; the left wrist view shows the left bowl slightly inward from the left gripper. I’m moving the left arm above that bowl while keeping the gripper open, using the middle bowl as the eventual stack location because both arms can reach it.\"}",
  "call_id": "call_ZnvJOIPhK5u36MoRz7nbiEnn",
  "id": "fc_0d7cc622373a1bf3016ab43f286e9c87d0aa2264a6e441e503",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZnvJOIPhK5u36MoRz7nbiEnn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5146, 0.934, -0.1448, -0.4824, -0.3836, 0.9993, -0.0216, 0.7975, 0.5983, -0.3935, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3885 left_y=-0.1632 left_z=0.1412 left_yaw=-0.0164 left_pitch=-0.0579 left_roll=0.0264 left_gripper=0.9993 right_x=0.2925 right_y=0.0002 right_z=0.1736 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.694, 9.265, 1.7167, -0.315, 0.0269, -0.0806, 0.0889, -1.5658, 7.2684, 1.7656, -0.022, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d89bba1426e2de2f746368f32998ea6609efb95d133b7ce6bfdb7972bbf21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac362eaa87c203efada12d2e25061f3906f2b8d4a7f51e22283267db9ec87e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4e9f269fa10d4d0b2ec1c6a99624b2e33a2ed6cb93ba234b5426cbadce00f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.877 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3809, -0.0227, -0.0406, 0.9993, -0.02, 0.7929, 0.601, -0.3851, -0.017, -0.0235, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2937 right_y=0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.5385, 9.9624, 1.79, -0.0073, 0.2613, -0.0806, -0.6632, -1.4017, 10.3043, 2.0537, -0.0952, 0.0659, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5146, 0.934, -0.1448, -0.4824, -0.3836, 0.9993, -0.0216, 0.7975, 0.5983, -0.3935, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3885 left_y=-0.1632 left_z=0.1412 left_yaw=-0.0164 left_pitch=-0.0579 left_roll=0.0264 left_gripper=0.9993 right_x=0.2925 right_y=0.0002 right_z=0.1736 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.694, 9.265, 1.7167, -0.315, 0.0269, -0.0806, 0.0889, -1.5658, 7.2684, 1.7656, -0.022, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d89bba1426e2de2f746368f32998ea6609efb95d133b7ce6bfdb7972bbf21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac362eaa87c203efada12d2e25061f3906f2b8d4a7f51e22283267db9ec87e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4e9f269fa10d4d0b2ec1c6a99624b2e33a2ed6cb93ba234b5426cbadce00f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD8zWMXy9Vf_pRV3bnCrQHapHxgzSpqT-gn0bIojW0Vo-WXQ8hDAfNCClfVFEHsIp6Zl6q6mOSeNm0Oyv7DnUOddTtfZATlfAGMlcFq2Bs1CqqHFH2rDsI_cSwCoIXsTCfnKg4PsY4qXUAZUeMCiD5hf8gIkAYfWyn1WUN6QlgM-k97e6MyYG_vnvPFWeZPfY3_9LNQWJZ1tYBwceugbT0bYoZztsCwUInNaKTdfCDStLRNxG2kTri6_miicHz3F7EofxYJubGRPB090LxRmTY1oK9auM-0p_Ty1pGS-Va3DnEwZpL_vIWptzYnZjhD8yr_6P3YUwYQ-N06KCeCq-0zfEsqoR8KFb4lGV4_e9ys_fDnz60SELT6MrCdW6ZCckb35XSXdzDheIoE2_DGUbGJb4ZgiKGiV34v0l6o6c_H7H32TtZeOKMLj4UqYSuUVmrxrnf8lx3J2C54nv5yg8VgcW8JVfAjQXhFoh9F2GwxgUBlYI2FSXY9MAXJ4Y5RhE4lur-9T4zZh89CSXQdxjd3Nf3AhXrp-92yuTJjzWr5-URvMHR1i5aGh6FmOCeuhy3zKiMfp_UPiZqyiV3o9jtm7rI3jcULx-qKy4q5N0M2laiAeRBMUI7zdSQg3PvtEFkudCUDfsnAa9__9OtkZdQt_jDHwWru60G16AiOWPsvsz9gH_ZEdHCS8ynu20ZffYfiElb5TEfDYbEheGH_bD8qJo12JJn1ZiYScdH3YpB9mIe__K7AZtTSxbW1hWtYojB_lJooA8kx74DL9JhxwRMinE2lYnyeegVz2XtqV6TD2X6O8t_tGVY0qqVs-u_oU0yodWF_ZwwN_zi5efLNwg1-XyVePQGus35QjcWcro2rlD5hHfgaiIkq-l98-UtiUjAZWKbzwImkBYHD2zWkfV33Xlgqa9nG9CWFZGJSBxDxQlKs275Jde-4yUnWutPzw3K87mPOkVDcjZZPfSRWtBAgcxXlT4n07hk0f2C49EZvpJsDVZp0SH1gLiBY-nhT47jWpzDkDuUZ0IhzgW9zKvrRh_9CeyC5-JuPHPiUabaPFUlG1HI7M6CfrMvxRzL_cB4v2uX4HpsjUnORKo5j79Fi9c4-qiwrnbzP3Kr_1jN5bZxbHGi4hodByGJsaYMPiQ1Eau1vT-ajWSjlfauZ6G1UEgBwZQTK7YnCL7Mgb49sMRhmC_h2-YJdfcAewYZM7L-vQKzToCaPrHFRR_omWqSZR-y6U77C8SgKwZIAFzUAyQXBO1Tc1GS3CVFBWr8HaXuOABx31KpI-fzQZXHoYTPWXHZ1XPt6d9UkBpxo687IkASD1CG_OeD6_Si3GqTyc2Vy9NF0JR4KqqryLO81G4fa9uuYYTpZsvPTOdqhb043p3dgfIBRB9rC2x-YaqyHwGAD5RpJ2O8A4m2EWw7MgbdKyosFDI6X7ALr4doE_-0Q-7h5eVPDvNc81QyDh2PQ5kDcDu1zBptzQ2Lt49Guj1Q0n5GND2ofTaPjHSt0xSGf4MwTOsgbNsC6iud5O6GMA_8Rk_1ET1CTjUqkcn5MKz1_dP_IQz0WcwEIwJNSdJRJEK4bIpaYjQNW46zEBS2c-KZBj86TKtGWipOyoXlwPIbqQ2KdNex57zak5awkhclleFNi0Jq-5CyZz3V4n-_TftUrwmBPmdi1s1FRBRvVAEuG9DMTsMsIZtIgavQ2ualvizb_DSOS7gELWV_RtepkHKguSg9WHZinjB12HVUn0_JWqLC3yqWQpdTZicSzwnVld2WDXirYDvbGf9YxNFTxjfm3q_HqoZyMj5BCs068dBBQAP1Pl3196W4AG_ep1Qt28TQHbEGC6O8u5RwCRQcBkgAjaHG__s9absZYak8Vlb4DQC5bp2Ey8kFOktrG22o7E0xzxyjIaMIFi4imLbXMNDGkDPMmvQ6zo1CUZZk_TJCEpUJVASgYdG8g9wKHgve1TPx8BvGD4ZH1JMSQz-ZtAqW6Mkk8sgnXumumg8ncpqJUbzAnh8YYPrJpIe38xmsb3liU7hPMkSS872Io8QXKGrU3UkzEukvSTiQyH5fDrxa0gTo32toyMQCt4qPrLaWFKrpUoyjR0exPzNJeq4pYnoOpVywR-p1bmwPqDDcEIV_JEbfWWHw42qjuWT74XAiTJIHVggyexmlM0s0QrXhXbrVNA8SqayjyxmG0UtZQExe8G22B4j6B1l8Oy92vYnhxxPQ7-n9FVdWHPtoa7csdkbNz8p8cONmsUN57wrQuzfpArbMZWai3KaYEpfoXa1JNiBSwokR0UN_rKpthkEKws-UHkVOoNmLA7jdX2NIHiNAoxKm0NolJi4KYrheOqfFGceA2r0C1JYETx9P7qDGsWtsj_5wtbGnLJvmTSui7HnOOL8ACTbKIyLXdt9GIjX7lBBEEVER0N5Ax6aUi9JCN0GCLrjE6pztRt0AsQ_51q5345hKtyu55A3p111kUMzN6bMbV0Lw9n0tTjwxNGTVqpFLv6BIPaVRSrm8k1aNBByVyzqvBTIe0TZf1OgPIkMxLYQ7vTZE_KvV8lXqlncB-k7Jt5zlshH1H3Q62xMcmHrI0iGdWeGG2lrBMOHYigpvSk4pe5EsWV06EBgsYvJ8mKdwhdSbvVKaCZ8zSJGeR2A3_PuANQBrhKz5tla6AguF3stibdGou6BUyi1EOWjwpZXqLkO6q6HnYEB231iGZn3Cw-2Usy7bb8ZGmzyW5lPlLKAGrLWc_bjKARy_JQWw2nIZ8om1-PVo8LZC-1gNUlbcizEMVNfVpj6VBgAiRDvyNPX90QFHzcBHVoXZnUAepbdnwFV5XNxT47D8wSTgTkk6DK3SuK22xLbqgBB3K7upPLTfLYWqOcbDAe1LDLP0PmRGMLDFwh_zJOChblsF9lsqlTlHFkFk7NWIawHS-Qs6C0_Fd3JMozldo8olV8ZCsp6NGuABPTxzP1St19HIbg6NLVRYMcRogob9hAWx4iDH40uxRDd18tvAsM_w5mWCVNbMh6TDzvFdMNkupkZ5UGwcoYriPJ6aVpJr9F54O-AHyZkX1QtBGXufpfKDOFBKX_PLtVtCeicWjKG2giVOcNrBoMAwoK85RW7oLstgL_IOIG9QhcsGinfCAgrIjxfkrIH7wyofDMogXLWyJ5gDffIH6E6eHwNZpBO52SyEgMFfilVLb-b1E2CT1S3O4_a0IrkxYTJ-Rw7yGkk_fFjT3byqM-YZ_ce_ay_-_OdwIPkR7sS3pfp790W111k5m0gTF50zptFysDMxHfD90FWSjEGgQy-vM2sVAxlsHemAcgCVRDPwkwDNvPAKaljn25qEUHb3-IlFqCJnlVetLUNO0yddnho55dVrpnNJ_HIW2HJx4itIB9_CurrEdzCPUQerwigu5Lahb85tMrMFOMqVS8RM4Dh4D3-AED60dE3dwM4jcr8AJy0UCu165VbzO87TPvmAs1Vw-aBhZzfZPRzZNej6aGCtvAgKsaX_dSkRJx8qqX8KO-oz2tUgJt6OvI53N_xdF7nPKmZ5nAVyWHo86Z6Yrh9XZdDrT1rIQ8OOvRwvzwbC0tMwBGodaA4hzr90h7GJ956SgrK8S-q0x1Hge7qLPg7UwBuS7FGw7oH7Crj8MrpRU0zKwuR_r8bM6M1ReUE03OsuPihDcD9tFRgdnZ03cUlxZPhRZtNlSbbm3Flq07Z1u0ODwcLruVEHyXVwyYBVsg_51bkwYgY5jMUDHJiJKAeOZ3i19_Ivz-r3hzARMQemFlUhcXQa-aRsuB6s-nS9cgiDxayNHVWO0pv8r2311PemVUMVRTp4pKKT8EUDGHd1LpjxFkcMbit3ycbC-Ks6TDL-BSq97faNFHeTVNTBmEZHIjLgyoAokLDBZxzBjzeqfiNbqvRVV52IskiQkOAinIowFO7pCYPX2PzJhSzi2Kx6-sTf3GpiWtG2GskVPMYO5k5hbws3inbnyntr_0WGNe0TNI4DHswIkE0Nnwg37NuaQtIfoq4kYM4Z-UWEbFaaawr3Y-IRBlC1DyKJviW4p_fjCFDWsr5aA_rMib2LJlBGjRq4UF6zaV_8O80Q7kaIQW6k9lLq07N3g3CMf1gZ_yvRHYmD6rqkjtXfUv_vk7lg==",
  "id": "rs_0d7cc622373a1bf3016ab43f2c84c487d0be02a0fbee1974dd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD8zD9HvKF6-VKBHDVdR5Xz-ePGze3TC66DYArQNvfmNrvSm339592HyRIXWXTZ4mXmc3QdQEg5WFtzV46WFxq3O1yBDjpmMp8JHVT3kak8b9IdXsK5AVg0RDA2uD-S9DwmSTpXDmJ5005HBQNUY7ndyTGsJZtl8AUH4AkpzC9F0_afUN6oxHHgdJsdUb-NMymoxu-_t1nYefYhPMG6Z-KNMZl7AxLiTfXVzw2p7b5zk1dj6xb2Asr6U_TzPSyoxdDXzLoQyZ65YlhbBViceQ0eyDInEAcZ48Atj6TMCeS6pIwlbOOd_smp7VR6O93A1H_YfAHuNBwL1wA14ws_W_ryFdDZGciyyNKN-xslkvvyLwvyQvKz-H8vgpw8ex6ylhc1f5M7DGdb_m2VASvtccvLNE9u62wk0xhLcgoYH2bB3Dctkvl7tdKt5vTShrAxt_Jrl4LdZh2qHmsJKx2_W7SngdW5XgfhNHRGybYg5DxfqQhuPOK1V4hYC4ta02k2jHUmZx1ztD1cD8CoDZJgKiEwjjTIQkZkPlWqgNCGY2P9zNVleAVE6P1JLZjtoXTDmUlGkfurY6WfVvkjm6UoYGkGDSqBg-fpJop7Agj22aqqGsLVFlICIz9enpHZCXUBm4RX8lVF5d3oyhDjr1UpKcyt12a3WHNK0oR_cG_GTROKt-UvrSdPQv1zDt_Av9SupfNMlNNmilONlAeNphC6OXSzgPBX6EyfWJ5Q5yWAMQlhZDqNTbYmSUeUTdpkTZJpdhRIUV5F9elknyFRoiW_RJoezhAqCl2MYOJHd6RGK_vqDdzSSClOg8HnHfU_UXKvI16miMBzUkYkLMFxac-07MpQEMwwJDzv2CVnNaggokFkJZhGD65ISfwg9Vx6DDVS9RlbfIFv38O4mm1DVh0tHdPguprCi4-sZGV8q-efKhVNeGWGaJ4AfBSXrP2uYEiF7LOhVdPdLxWqI2Hv43Jx7E-6JIdjjK_XuaqBr6Vo6jTzf9anHTwFmNRz_QFUoM2eGvcWEQrqAnCzh8HVtu036ZOGhIeuLtZE8_wjxOBoSh0C0IE3ZhHmcoNAJxASjgAi9ZLURLtZgY5DnUREoQtWe_dDhH8L3rQuA9bQRQeT-iV5Jf8rfZQRtZzXgRBgI_RY1d7oNIxSVAc2hlcl1GHkz4CMgnQmfz30cdJyijoa60rhOezCGBQfL8J7LpdrULpfUDfqzQ9ucCQ8Sn4sOWUYqnBNY6NQIq9RF6XjXwWznO1RMtxPpIj83HR0nqOpiYJeqILOoRKU6eQkTFROLbWOj7QdU0xmft-jVtxRoH1HP63R37EArOiKz8VAyL4eUJkyQE_XCYaMmjkutxn57_I1dLV8oDXYlzu6Xno5WtVtn5rm5i3znzZrH__FyhYzf_USCxzK381olK1SIN4EecF7bfI1AVvc_hfmZvnyYka5h2RriJ1bNF7FZQThkbgz08zlVMqau8sJJeg5GYtqEu3l47V6uHUHLfPZZWhO_2buc087Xm-Q=",
  "id": "rs_0d7cc622373a1bf3016ab43f3226c487d0b91db157f80ad4ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":0.16},\"note\":\"The left bowl now fills the lower-left of the wrist image, so its radial distance is close but its center is about 4–5 cm to the arm’s left of the jaw column. I’m making only that lateral correction and holding clearance before descending.\"}",
  "call_id": "call_PJE1M8quac1KtqjUAjKEpq8i",
  "id": "fc_0d7cc622373a1bf3016ab43f32990887d0a761d155da8e94a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PJE1M8quac1KtqjUAjKEpq8i",
  "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]: [-0.4793, 1.4326, 0.9104, -0.1799, -0.4171, -0.3294, 0.9993, -0.0219, 0.7986, 0.5961, -0.3931, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.1191 left_z=0.1539 left_yaw=0.0249 left_pitch=-0.0612 left_roll=0.0216 left_gripper=0.9993 right_x=0.2923 right_y=0.0001 right_z=0.1724 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.3094, 6.2427, 1.5507, -0.0122, 0.2271, -0.0171, 0.0342, -1.0462, 7.2137, 1.7314, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c12f56da78424ec967d0beb641667be3fff832bfe6864216ccc2152ce7faab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22014b98e2181f90d55e1b1037ae78b529699e517317e4132b215783eda7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5430bb9f147b5ff66fed6e2e96c6d82e8339224389192bd958827768817e26f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 4.836 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 13 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5146, 0.934, -0.1448, -0.4824, -0.3836, 0.9993, -0.0216, 0.7975, 0.5983, -0.3935, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3885 left_y=-0.1632 left_z=0.1412 left_yaw=-0.0164 left_pitch=-0.0579 left_roll=0.0264 left_gripper=0.9993 right_x=0.2925 right_y=0.0002 right_z=0.1736 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.694, 9.265, 1.7167, -0.315, 0.0269, -0.0806, 0.0889, -1.5658, 7.2684, 1.7656, -0.022, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.4326, 0.9104, -0.1799, -0.4171, -0.3294, 0.9993, -0.0219, 0.7986, 0.5961, -0.3931, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.1191 left_z=0.1539 left_yaw=0.0249 left_pitch=-0.0612 left_roll=0.0216 left_gripper=0.9993 right_x=0.2923 right_y=0.0001 right_z=0.1724 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.3094, 6.2427, 1.5507, -0.0122, 0.2271, -0.0171, 0.0342, -1.0462, 7.2137, 1.7314, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c12f56da78424ec967d0beb641667be3fff832bfe6864216ccc2152ce7faab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22014b98e2181f90d55e1b1037ae78b529699e517317e4132b215783eda7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5430bb9f147b5ff66fed6e2e96c6d82e8339224389192bd958827768817e26f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD83mWuDufxYSk1b1Fnd2Ks3w9dJrFMox6KSQCCQNLhWVLzKMWya9ozv_Fjpyds29XoaICPuf2KZnq1OPuiPAhyqEQupj0SXCJKc7R5u5ZdHtsH0_YQ6nKgTbABiTlBhFZbszxpOuLcmNlHbX6vlYwmYgIcqTkTDkPKj6_B80vEgI8IXBRNpC4YG_J53lgkNvY6HvmHNNNPjS0Q2AJC3stmna_VvdU4_E06zpBFTx3vXQBcxCXXqGAJZfjQTsXVMY9ga9rZqXMFoiYS6MgIPunUh-u5GS1JaOXfE7uGG2Ow7HDkUfUW6hygSR3lzJ3hbTOGUW8SeGfEBh9D7xFIgr-NAPL-4RQ0aklOl3TwSlN7W7MwOlJilkAM24vs-grfVnvWX0_kmr6n14PlJvu7dA8h4q6XYc-fuGDlCocUh1bTmWNG-wdRNrj-uH9URXWVQ9KUcThoKCsT5tsaG1AplTaMQZV5_yBC3Du018ukrKXu415km93tkwxabGtntkIAYfo6n9zcD-n6uB9Qh3YiUNUmceabnN1puvYXfySh4GhToaksLqBuDaj2qiet-xJZzJvMybmmMLaNnANzglNskE3kVYUSLDOLbFV8A2YRvXylRQ4hOTlB3BEMkMNBZwhIvMfaYowYlTY5n1biraZVr9sNuivZmf6Cagm7a6bdlkX9QqfFp4WvNx3Qkyyb75lP8cShdye8obqlumxMhuo23rGaA3-CtYVpygv4Uyr9F1egS2G9UZLbLXbwuaHOsazw4Is8vlgOh-rNzLPKli2HECHs_PbqNrniB9jme4bN6nrAIaE8aZWMSxesrkPIVvlEEU9OciGag7s-gE8EtYTJpxV1MPf9huToKplEryEB27KdBmjuKq86PFSqOnDeznJs6NcTCb_AgAwEG0zhXQiVDHWcZNJ7ACoAuK0IIuQZrCJmOuf8GCA7bTitoVmQ3LMu5Vbd80Ucf0humzo6NB3iLvPJ9wLyJWDl_WdT6AuT3vtPo1m8hq0sPyZgx24VfGqHyr-Z2kZllqZKtNK27OmP4vnjJb_0Rpw-UMb41ZO5IIX9OqQRmJKjlrUOBf7HF20ooPnelESyVcvBbHxv9MWv3-v4Z1p-Tgpv7UeMCzqJHvYqEQ3CUoXDsCJpcg_OeTPuYDIUTCVK3J9rpJfBB3HhMR6qCinAyrYmcNe73eF8vHyQWNgjZaeeCz8zaEnSHqYKts8f4sq9_evXmNvmrEnfUHW9TxGlucrJAubZGGuNxK_PjSd0f2NrL4q90lYthgQe_OjP4ouAcSiCyCoWSqLDpFb1t_LmiTEX1QcCoXzf0mV-x83FlRXv1Po_8j0sFJWGpk6hNghbD9lq3JHg8CSklA9iynbEKiJcXZG1oMIEiQoq1c76eaJbwb2fEVt7fHFdEW-7Qkw2E6HUN7Ghk4CpUdqTdFYjhhnHheGjUh-KhLMG0UABI_LnjTxvsXln7GbH2twUZEACbYHqSwz9S2r3_jpJPyXp33rnx21ZyFX1wuEnhR55WZ78bwPRwIfwpbT3DazHiq8foLqeTbO8Ex0UMODf6ivFHn6krTXXEJuWZ_9zBcAdlO1C7VC4_BbqwGmdD1myvWjDtMtkJLy4lD2e8OwheH1HnBh2aDahGyzYcn8TU7vfx8c4pYK7YxalHGHwzl1P4-1fyUpP0II51aAyeA-KgXZHdAFBE7EE4Tjv4BUu4brxy-Uf-NDK4svI_wpJTO5Pfpc_qJ8C5S8TqTse3OKq888j4vCG8vRYDJmhzJL32aIYNOGANLmNyqr3P8I_1S48Y",
  "id": "rs_0d7cc622373a1bf3016ab43f359b6887d0b56226541f7c157b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.103,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"After the lateral correction, the purple bowl is nearly centered between the jaw columns and is clipped at the bottom of the wrist view, indicating the fingertips are over it. I’m adding a small final centering/forward adjustment and descending to table level so the open fingers straddle the bowl’s sides.\"}",
  "call_id": "call_ETzij3kWv7ZMJ0K6BpwhnSwX",
  "id": "fc_0d7cc622373a1bf3016ab43f36c3cc87d0adbd132bb23ed1fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ETzij3kWv7ZMJ0K6BpwhnSwX",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4593, 0.8616, -0.1329, -0.3977, -0.3302, 0.9993, -0.0216, 0.7986, 0.5957, -0.3969, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3897 left_y=-0.1169 left_z=0.1308 left_yaw=0.0207 left_pitch=-0.0924 left_roll=0.0234 left_gripper=0.9993 right_x=0.2917 right_y=0.0002 right_z=0.1714 right_yaw=0.0002 right_pitch=-0.0229 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -6.653, 6.8308, 1.7802, -0.2857, 0.0317, -0.0806, -0.0205, -1.2513, 7.0906, 1.7363, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f6e6bdef4f6163251ec15b7120ffdb2eb37f477f58dc1b21e129e1cf49e17e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1ec712be199859e9e98d39251dd4bcd9ef7de7e556be097139c15211552d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8806f0d58abafa1a8809d787b9264ad5b0b4a089e30f74e8c3e5768523e6a28",
      "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 · 3.592 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3809, -0.0227, -0.0406, 0.9993, -0.02, 0.7929, 0.601, -0.3851, -0.017, -0.0235, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2937 right_y=0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.5385, 9.9624, 1.79, -0.0073, 0.2613, -0.0806, -0.6632, -1.4017, 10.3043, 2.0537, -0.0952, 0.0659, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.4326, 0.9104, -0.1799, -0.4171, -0.3294, 0.9993, -0.0219, 0.7986, 0.5961, -0.3931, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.1191 left_z=0.1539 left_yaw=0.0249 left_pitch=-0.0612 left_roll=0.0216 left_gripper=0.9993 right_x=0.2923 right_y=0.0001 right_z=0.1724 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.3094, 6.2427, 1.5507, -0.0122, 0.2271, -0.0171, 0.0342, -1.0462, 7.2137, 1.7314, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4593, 0.8616, -0.1329, -0.3977, -0.3302, 0.9993, -0.0216, 0.7986, 0.5957, -0.3969, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3897 left_y=-0.1169 left_z=0.1308 left_yaw=0.0207 left_pitch=-0.0924 left_roll=0.0234 left_gripper=0.9993 right_x=0.2917 right_y=0.0002 right_z=0.1714 right_yaw=0.0002 right_pitch=-0.0229 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -6.653, 6.8308, 1.7802, -0.2857, 0.0317, -0.0806, -0.0205, -1.2513, 7.0906, 1.7363, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f6e6bdef4f6163251ec15b7120ffdb2eb37f477f58dc1b21e129e1cf49e17e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1ec712be199859e9e98d39251dd4bcd9ef7de7e556be097139c15211552d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8806f0d58abafa1a8809d787b9264ad5b0b4a089e30f74e8c3e5768523e6a28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD89s1xWkfuhGmjBDhkEEkkt3yfOrm-y7MGjIKbtUI-XIQq1p19pUKZoziSO4JZgjNCESQYndfRDBO3GvAgH08dd3Z67qbYDLDuFDJY43QutDna_NCT5k83Zqm6kmQ9QZIQ7nxyGVtkTluU1_oBbAALVAPofYf94WNyrMoIFcw8tS140eH0suEYnsUAuExGkdJldSuydOA3Wtw-S-LR8CttKM-SwioIb0DvcEjeAHc0k53zh_NjdMhTU4eSkGMsrpP10kWTgR7Dt1LMzS-7q1nIIwnqoLX0No2WryTtG4cKY-oMy850U-cdsdKwXckNF75FuQ9MmhFJCWVS7D7nal-PDqL7xMW467ljUMavuImzSjkO9g5LU9cYRvdcNZLgJ8h9kVb4fsvHgdui73RLF4z-i0Z5PwhUWwqQD7NuAYnDMKXz9Z_e2COoSLDvOAI9_VibCJmUzOXOL3Nozl75uFmvFYrQ5jQT353cWfmax8hCQfYAk9IMXYndzgjd5eh_Sw7Ic5AJH7lN73FTtA6_iJB2QktzwwdCLh_9vU-6QfXtxQbtU1twUhpUotSFcUMnZpsHD5MAbkt-OOVUv3ISQVadFbfZc4c_FS1_B2a7xo76TTGiCGnHGTJwWw5y2ByN9PG3_WpVX8M_vv3e2LuTxrMqso3aeMYTiEypxH7cNcWvkUDZlYB5LqjEfJ2Gmqr8FiuHKnesWMLQs4rjfvpAYrXSPLXlnMWOzav9KQ4LuZc0NX3nMFvF4eEhnPoJ5oTZl36EV231-1KmUi5i1aNzgMhI0fCs4gqwElmABOAvQeDnY5AZ6PMQ54-E_qXFCsli12DddUQBPhOEe7XXzbAxsAolEO0hpvpPB3qqHTy6VtaHce0LxZF9YMAQhrmpogUPtHIqObf0AogvTHb_-kan6q2FoBsqXmldZEIy1SYKCzUZER8OSGKXnHQZyqT-tdFIYmL09wSKWqmiOkzSsWd8DI_NY94FAAoul29KI356_EpJW615SaGkVS0pw-f1_u52gglyDFOwxC1G3txyLuZSDi7QAa_XYytUC3zM2zheVb9g_pY8aC3ZYSZw5syYRnH_qBgf6sOS50vkV45WuK6jFrPfyi56UF4qEwYVPqIGHRxUZ8IXyveOyQ3GWNvY7TuPWxPOByr4_hMbeS3Sjct3JWGEFZFB_EPei-RjM6MFJCKv_-EmsgDIKI-WXvLNE5-8zaCXhD1gSJEUQMKFRpGIgc8Z4uYHcrTAVkydBlFXJ7BDHdw5N_MMvviBtmzfOpiEBHPlbF4m8SwerV4COp7pRh7_PC0-C6RHhXIdPAboAzO25uPhj7bJoQlvoIHY8PVffk5tUICoi2S570ar6b9FIYduHv-45iVR05kkgNCbGI-fiFwEHdAfbAuKkWhGX-XtBEnhGXCx4sjJdSYKPkKfeTwJwCWXUZchlRwGMa8-Q4RGnF9Ik6hRjXo5WZUU1VoEfU2TzA2_MrT5P9NVI__l5SfRljCDxbi6a3lzwOXnwu0sOxs4wD9ZXA56v5lKKdOOPJefuCztMKUMvGBlG0lv1c05KZY5Qt8eDjqBfGGWfoN4O7RWJrlLMdl3qOCEhUvFQWWihgptarz-bu2NuOqD9sD4pjBroZjo35SWe-EjELo3cSufaWKJ4RRITgu8mtKpqEBZhRoMfCdq5_K3VAd2pfBtpJLYIFnbosljZX-mBmWLibFtmkK0YfX-eI8B1R-rWAmTbWZgNGDbUwdmuqoM80bdN3lTwGou0fwM5MPWpConuWgt2mXEofmV9b5R4-CUbPsGLZnMl7IGkeb5PQsInXMgha9a0IVPwpW5KKn-NIZYqQENMiMETQU312S40J3SWhOnPrgo0wU538qc1k8jk2e7A7WyyAGJvp9F6qVI-LcnQ3slkwa-nWlLz-HLFn0U-nxsX-uiGvm4bOL1z6h-PA3QD1JqJI38l-bk792PsMh7tReO95lE9ADnLKMTnJ66wQ6HZfZmJfAv1ZyI5yZWnubtEQvqdag_hJ7sfRO5Enbliy4im22wtqmxe6g2f3O_U86jNSRXoxQ98OPpQsBBTM3evhZ5-1N6p7k2QmSQ73ouHOP4Uqp4YtRfloYT7gw47B8rwCq_i56PDj09hurfi00pHYV5dtUhe9EiW2GmfbLd3E4ON4WFsPLkB8zTJ5DCim348O-JC0tMPK23CcqLMPV4ZU6_ZMxJaiz-tIw82843xEkaOUfpx6seZlfGWnmCkBVTVYlW2iVH7-N81ejdx_5Wxlp9Omd9rIT7-WStcO4qgjvfikv38_JNcw9dzXCRxk1F58ypGi-vZmmA2HVZmzLv0xbrveGZZ3LbbvyWqXfoGCFqDuzx2r9melcbGdyvB0g8lf0VypL-M0ukNUxtnR0duUxfcsVYiSbYDuWephtXlSfYFTX4fUIpa4mtCXLT7IzVm5Ic7rfwOpcmggsMJBVSwP18UqewluaPeBI77XrXlgzHM73URiWL-krK6qvxrGVCS-HH_OFkHetlIlJJHJQE_pm5xBe1V2Bao67QAfPJWL9Vhze8NoWdVNIGEdSro_yfjQF9Kand8QByw8T55ceowISHuzJNwsMa2w0-V7ZOyWy_7LY1ZXRH5jSaGStjPJDg9GxyPRg39E0-bX56CBlSVmg==",
  "id": "rs_0d7cc622373a1bf3016ab43f39a09487d08301ece3c1f0c00c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.117,\"left_z\":0.08},\"note\":\"The arm stopped around z=0.13 instead of completing the descent, while the overhead view still shows the bowl under the gripper; this looks like an IK/contact shortfall rather than a completed approach. I’m keeping the measured x/y and trying a smaller downward step to distinguish smooth convergence from rim contact.\"}",
  "call_id": "call_bRQdBKnWQn5jIWxbs4cnBAh7",
  "id": "fc_0d7cc622373a1bf3016ab43f3c5e8087d0961c08c4e9c81d96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bRQdBKnWQn5jIWxbs4cnBAh7",
  "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]: [-0.4694, 1.4975, 0.7959, -0.0006, -0.4, -0.3305, 0.9993, -0.0216, 0.7986, 0.5953, -0.3973, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.1128 left_yaw=0.0217 left_pitch=-0.0665 left_roll=0.0109 left_gripper=0.9993 right_x=0.2916 right_y=0.0002 right_z=0.1712 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -3.5624, 4.6974, 1.199, -0.1587, -0.022, -0.0171, -0.0889, -1.2239, 7.0359, 1.7021, -0.0855, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283ca4b955cb69cf048e264078cf55c05938c64600080ef760d9e42f14d2d489",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65be8254d54bb27160eeef77627547b31c7c4f795fa43a489b9047bcea2e1b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44984bb31b1974d6b31117669aee5562ddc21436b509aca1f814807f3b24bff5",
      "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 · 6.477 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 17 changed as sent

message 21 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.5146, 0.934, -0.1448, -0.4824, -0.3836, 0.9993, -0.0216, 0.7975, 0.5983, -0.3935, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3885 left_y=-0.1632 left_z=0.1412 left_yaw=-0.0164 left_pitch=-0.0579 left_roll=0.0264 left_gripper=0.9993 right_x=0.2925 right_y=0.0002 right_z=0.1736 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.694, 9.265, 1.7167, -0.315, 0.0269, -0.0806, 0.0889, -1.5658, 7.2684, 1.7656, -0.022, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4593, 0.8616, -0.1329, -0.3977, -0.3302, 0.9993, -0.0216, 0.7986, 0.5957, -0.3969, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3897 left_y=-0.1169 left_z=0.1308 left_yaw=0.0207 left_pitch=-0.0924 left_roll=0.0234 left_gripper=0.9993 right_x=0.2917 right_y=0.0002 right_z=0.1714 right_yaw=0.0002 right_pitch=-0.0229 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -6.653, 6.8308, 1.7802, -0.2857, 0.0317, -0.0806, -0.0205, -1.2513, 7.0906, 1.7363, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4975, 0.7959, -0.0006, -0.4, -0.3305, 0.9993, -0.0216, 0.7986, 0.5953, -0.3973, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.1128 left_yaw=0.0217 left_pitch=-0.0665 left_roll=0.0109 left_gripper=0.9993 right_x=0.2916 right_y=0.0002 right_z=0.1712 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -3.5624, 4.6974, 1.199, -0.1587, -0.022, -0.0171, -0.0889, -1.2239, 7.0359, 1.7021, -0.0855, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283ca4b955cb69cf048e264078cf55c05938c64600080ef760d9e42f14d2d489",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65be8254d54bb27160eeef77627547b31c7c4f795fa43a489b9047bcea2e1b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44984bb31b1974d6b31117669aee5562ddc21436b509aca1f814807f3b24bff5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9BqGpPokSEnDNpZnr8yDVFdoIki0Y9hCBAUt6o_0R1c8lIGAKcWhg8AuhHk61iVz_ZrCmRcGmg-4elOLXuwj22McigyIB_3gW_GEIqObIHFY7xQ1rBmaAO3WUjS5AEGi1sxMhxPXkvjocreR172DRmoP9IChj_LpYLIHthPhRxusdcjRi_3XzEV-4Tucu_HMikV9Z7QKN1n7JeiIynz_vtBWweJfFh7DC6h0g3eeFCS9TBSFFN-h9J5OyeM7kbRoAPwYMcni4XKu57HlMGdDsT-KN9ifw2cbh0nDkeygN1h8gHA1Mn7N4SAtj0K8MTNHkxDxzq1n0PPAumCIYMTxeSD1ZlocYxGvho2sZNoJlRBAXbjOqjMtsKgPvnEwbvrDNse-mVGZfSB1ZCMF_FkH-yUXsijK1f0cQ3BflN1iSrBPhSjGIcCmK3DUnsZx-e_OHj5-6q7zeJ6qaFQPToUBCuOdSMTyT78EUj1LaMIt8kzDfGhBFOJIl9RB2c1b4tF2b18gK0AWBCda_iJIBcHefSmOOnXcZWYCZKKwWuKKenZlergvYUDIEcas1gOsCvwCDrrSZ7Lx41QywzkYGENfrXi7YMCYJFMnrHII1VnRCm1IlccXsiNpk0ryuKn_blG-LjY32Rjn0MOIbZwszbPT5HMQ9E6J8QhSEtqz5-bV4WzO3txOZ89tjLKqSc77uJ_rKj2XR8Pk2-GJ3ou0hvIsIZxOY4ZUpCmStmN3xDEF4JvkQsIVcGEt1kcfhd6H5OSXQwim_LIDP1RvN-tK9bB6kCNI994hc7hDQ0TMpvrUqAgAx0yIgniQ5zQXcxbqBOFg41oRr_iVSpx7QoHgim4hgLCdNuQGX4B9VqYdF25mDT65K-c_D_41pWRW-Pmf260sn7bRtIO6A8Afgo79eaHkGdASVxdkk5k9iEp2mn3aYrZa9LuBs5-YHFemoRuC5BgeO29-BFihOJ4Dyz1eyjT6qTBUYOwmSUlIFP-TKqIwV8UaKq3vAHNPZJeTXaordy_B0fdrWf06ZR8ryrwkDCgB4fCU0CY0KAz-89RNJpzv9caMsO6u0lZf815Z25XYNIjTmfqTmX_EI33kRUaG8FdEyw1Aer47wnUO-D1lM-mhoNB138nZ0NaOwOJxdFLyqv5WrNbFz--sd5Gza5TkDMOba-Yz_6nV802nOB9-k-F8UrFV-OaxbdMX-AU5FRicTawJa2uVLfIkCppYP-y6_TKrk_ccHiHugAbnNpj5iLw_z4szZfPTNKP0Q6wYatBmDiONdCePfKzEdnbh38tkcwxadauG9Wpz0Z-cYK7ne5y9BDfYYRvZBqf9Y1sXTHryn6dPwInm5mTbdaoJkPwE3nNnElZ8XyF2GAFmiVp2WxuAqqu9T07zItlyW2faZZULhAAdEGC_2Iaf5CPinRr-uBP6K6aFE0SeCe4OOFNJym3j7z61sodjNtxCwi0TZp_zz0orgmU-X2bEcWA-9uDR4B-RDmjeMoy_bhUsDenyTrpUrXu4vlitWY_s1b9IeSKEiv6qyAx9bu1qK9lVC5IfQyn6fqZDoUX0EbJzGMxu11x8DBfLwrHBsHtIy6FEKW9F0x9etnQfsWaw5aubCnPm53Spm4LxbJvzNph4_AD7jG7LiEk_UcxM7I_wzLeN1sdIyrJ_R8yTz81_Ev0MqfT8POZxC9zy3JF3zB3d-9S0jhhSFt9-ZW-pOCBjNc_ADvndgshCzMTypya12Hm7RPwzoK9E0JCvLBj9sOJFe7rOimXlRWBGShVK5PHFrSCFEb36OdJuVwKG2V0qQDBLgdDAmpiL-Ahifd5793h2fgRcl2PmoAg52fbhFPOfgrSspwg2Aet_hpLiTnM4Yd5qrUXp-TGkPZn_9FDCvUugVeiUFUCO-NI9sWfhHNd1K2NXQkEqTArAwhJFFZVI_I0jFGSJCHbzz-VDMrdKdGcvIGbDvMaKJxybs=",
  "id": "rs_0d7cc622373a1bf3016ab43f3f340087d0bbcad494ad033898",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The smaller command lowered the fingertips by about 1.8 cm and the bowl remains centered between the open jaws, with no sharp effort rise. I’m continuing the descent in another modest increment rather than forcing the earlier large move.\"}",
  "call_id": "call_O8EW9aPr8ir7Pq4GEEo5DxbL",
  "id": "fc_0d7cc622373a1bf3016ab43f406a2887d09b03c8e78519da5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O8EW9aPr8ir7Pq4GEEo5DxbL",
  "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]: [-0.4694, 1.6047, 0.6956, 0.1772, -0.3939, -0.334, 0.9993, -0.0219, 0.8032, 0.5949, -0.4122, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1175 left_z=0.0637 left_yaw=0.0198 left_pitch=-0.0946 left_roll=0.0186 left_gripper=0.9993 right_x=0.2897 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=-0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -5.6274, 4.9573, 1.6679, -0.188, -0.0464, -0.0122, -0.0342, -1.6068, 7.0359, 1.8486, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c4427b85cba84926e14efcba7291ce2973a52be0b90983ff7985d4d6e2321e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab05c7f5bc22c06a536c5f7c4ae3ddeb75b3350d1f65b0deeb3e6f6ecde93b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a2bf3c19491554ad5547d68915c0c7e1dc7741c50195871807791dcaa892c7",
      "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 · 5.51 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4793, 1.4326, 0.9104, -0.1799, -0.4171, -0.3294, 0.9993, -0.0219, 0.7986, 0.5961, -0.3931, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.1191 left_z=0.1539 left_yaw=0.0249 left_pitch=-0.0612 left_roll=0.0216 left_gripper=0.9993 right_x=0.2923 right_y=0.0001 right_z=0.1724 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.3094, 6.2427, 1.5507, -0.0122, 0.2271, -0.0171, 0.0342, -1.0462, 7.2137, 1.7314, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4975, 0.7959, -0.0006, -0.4, -0.3305, 0.9993, -0.0216, 0.7986, 0.5953, -0.3973, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.1128 left_yaw=0.0217 left_pitch=-0.0665 left_roll=0.0109 left_gripper=0.9993 right_x=0.2916 right_y=0.0002 right_z=0.1712 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -3.5624, 4.6974, 1.199, -0.1587, -0.022, -0.0171, -0.0889, -1.2239, 7.0359, 1.7021, -0.0855, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6047, 0.6956, 0.1772, -0.3939, -0.334, 0.9993, -0.0219, 0.8032, 0.5949, -0.4122, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1175 left_z=0.0637 left_yaw=0.0198 left_pitch=-0.0946 left_roll=0.0186 left_gripper=0.9993 right_x=0.2897 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=-0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -5.6274, 4.9573, 1.6679, -0.188, -0.0464, -0.0122, -0.0342, -1.6068, 7.0359, 1.8486, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c4427b85cba84926e14efcba7291ce2973a52be0b90983ff7985d4d6e2321e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab05c7f5bc22c06a536c5f7c4ae3ddeb75b3350d1f65b0deeb3e6f6ecde93b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a2bf3c19491554ad5547d68915c0c7e1dc7741c50195871807791dcaa892c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9It6L6ML1EWdWyFnJ9LCbnqfojCFGgTGGxoNOQAcFiMPgteZHHkvb4VJwR49T-xWmsiYblIBS4TrYa8qGOspgzMhxVIAad_BjBMYf2DVad90iHTCoP_GMrxqLUtimnP8txOVDaryrYKdoPygtTJIU-o7t7RL-ikLsxdCkqQEO9scQnOP691ljS96l3Pcxq6YbfMbjGMVUYN8p8euG4edu5Rz0_w7Y41cBtI3vWi8ldRyvMXMs8fcptTIRgAkPDcSM_Szl7BWGgQ1b4qCjI2bByaP6WuUxWFeu4IcGzbcnUXXpC6ep30eQ4aVR2e2xVWnYUmyN6UQ7P8oi69CtIfZyHqm-V9lz43tll18dLWJPPY5nFLcZkn_WcfZpLXVROkayiGjf4Z73Zhw0551UAex3IYv03AhivvVIwZQ7Nxdb2pyG5KLwKxvH2aPDSj9zVWCzcjVIsYyiQgKib6APVfjZun8dQqjJqfY1nBLb5nlQRq8ithvBYhnZiPjh7GMUvarkydwxK3T_xM8i1EUXiXaMcCDKXg9cBrqL-fF1-cfAh87KPKZMLlVCIOo-pbXEHqOTyerFFJh9STgYPz-63lwSlG_zFchqvjzV9Goj9q19LgAYCu42vtnxJ4ntbn553BHy7b_uc43Ff4Ns-HJGxSGdki3uxUXknifd_tcWladBtJHfaJ5qJeQlcycphL9rZBC9HwKlaIs2-0q7GryNR_aQ5xWP9URskseCCB7Z4S-y0h-YPPUEJdz95iANYbeuqAxRTB_SxSjPSA6eEgHEidL18z_m_b8MiJnIlcg7oAPNcUgSGhyA6G7rNAsGPxsi0av7Gg_kNKGDKbyCMsrn06Xx7a_-nKYLXAju5Psthp-itIpDjXuij17wHh1g4LxG-ROUVYLaWIZXDjMmT9QTAZCkOKuGoEw4AWMdFBleTpCV8P-YheV0RNzwTJBKw_Y5P1E7vqCXCwn0BbwmVoTsszIOyWYWu0HIRuuSk-iJkzHIU2g_9t1onhUiRs_GXV6crRHyDf4Sy1zYG5h6jV1WDPTDCrIT4QXhjzcv9Gg1loyKTKOfqWnnfifbGPE6MYjjPEo2gUFrH44sfJFN2FqY9H3ETiKt5wD0H4SojFpOjmFwdsOMDMg4R1gIT1TA_9uj47s02Gy-b6_Y-Ht6kF3QjTVotFiH8u9Be1Pd5TZbhoC3JYi5a_w1wO4ywp-7O76iVu7Ds3j1HDliW0dqn2g6fBGtWnnc3wwXfQna4oQqnSlNcUremTdH8ebUKMKW11As34FSCHGqBhPMctNCZZhW188QG_1pVSMIO_GYAQvXpPvCL329rEZcnXac47AyE3-7gmw0ThtDMoGLiS8vHDt17HLsRJKjCAiFKHuuAIDjCGrdRsymrzog8m7h3CIVeCzbaT-mrbWq9-8pSILPYk2FOhxbiuSB-Xzzwhl2vRSzR2LPjSP1dv_XbJP9C3kWbHhjaXEN8bW_7bFkpoZ0Pv9hkKrn3NBerpFngUHrnPw6E_xYEOiVWeZ7gb0fFNKQjL9VKdB16Udvh6t-o702jnlJG7g0Bba0VtPG28UpIAh__xja1WppSaDhmf7ha3VBeZYZRlFsHNxn9hVQvbWkt0p8-o7N5KEf1rQuc42xcWJwDJUmM7Hrq_vv_k28kR3czaPIuG1cW9tROmXlptGimq3hj2_YEI0hEj44FpnbpLfRMePqezbO6AHP2NwPoXyc0S4Wt5Hxdt9QT42FeErAQT4AZE8aYfHp58wJX9NY97modOKdQQ84UKIOQCsQaNtyPUindAQI570IWfSPzGRcymj8hmHapuVOqbpvBHrpGLdITPYi3xWnGeMZWfHcsvVDJltGM9qq3vadOJsKLtMLReSOJlpXhyb0QOtutVkhSiumLUVxkPNM=",
  "id": "rs_0d7cc622373a1bf3016ab43f42c76087d0a2378991b5158c1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The fingertips have reached z≈0.064 and the purple bowl’s rim is symmetrically between the jaws, so the fingers are now at a useful side-grasp height. I’m closing from this centered pose to capture the bowl around its outer wall.\"}",
  "call_id": "call_JRs8Svf4FVsIeu0FZaDiwGxK",
  "id": "fc_0d7cc622373a1bf3016ab43f4463b887d09b4fc0d22cf30c36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JRs8Svf4FVsIeu0FZaDiwGxK",
  "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]: [-0.4694, 1.6302, 0.6754, 0.2298, -0.3939, -0.3374, 0.0092, -0.0216, 0.8043, 0.5945, -0.4156, -0.0162, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3898 left_y=-0.1177 left_z=0.0557 left_yaw=0.0214 left_pitch=-0.0885 left_roll=0.0127 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0003 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.7077, 5.7641, 1.8193, -0.149, 0.0562, 0.6911, -0.0342, -1.1829, 7.0222, 1.7216, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6a4960089170eecf0b8f547ecce1c55ff62b771b5b03bb757495ace33d11eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ad13e02164672243d60fc933a243e4cdd34b715dd00f446cf81e5777bcf196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d4d3e7226cb419e0617cb551a87efd4ed537853a246b2a3e238a2ce7d59deb",
      "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 · 3.37 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4593, 0.8616, -0.1329, -0.3977, -0.3302, 0.9993, -0.0216, 0.7986, 0.5957, -0.3969, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3897 left_y=-0.1169 left_z=0.1308 left_yaw=0.0207 left_pitch=-0.0924 left_roll=0.0234 left_gripper=0.9993 right_x=0.2917 right_y=0.0002 right_z=0.1714 right_yaw=0.0002 right_pitch=-0.0229 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -6.653, 6.8308, 1.7802, -0.2857, 0.0317, -0.0806, -0.0205, -1.2513, 7.0906, 1.7363, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6047, 0.6956, 0.1772, -0.3939, -0.334, 0.9993, -0.0219, 0.8032, 0.5949, -0.4122, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1175 left_z=0.0637 left_yaw=0.0198 left_pitch=-0.0946 left_roll=0.0186 left_gripper=0.9993 right_x=0.2897 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=-0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -5.6274, 4.9573, 1.6679, -0.188, -0.0464, -0.0122, -0.0342, -1.6068, 7.0359, 1.8486, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6302, 0.6754, 0.2298, -0.3939, -0.3374, 0.0092, -0.0216, 0.8043, 0.5945, -0.4156, -0.0162, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3898 left_y=-0.1177 left_z=0.0557 left_yaw=0.0214 left_pitch=-0.0885 left_roll=0.0127 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0003 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.7077, 5.7641, 1.8193, -0.149, 0.0562, 0.6911, -0.0342, -1.1829, 7.0222, 1.7216, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6a4960089170eecf0b8f547ecce1c55ff62b771b5b03bb757495ace33d11eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ad13e02164672243d60fc933a243e4cdd34b715dd00f446cf81e5777bcf196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d4d3e7226cb419e0617cb551a87efd4ed537853a246b2a3e238a2ce7d59deb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43f4a117887d0b1cffab0f0e38c49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.085,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper closed to an empty reading (0.009), and the wrist view shows the closed jaw inside the bowl rather than around it; the bowl center is still about 3 cm left of the jaw column. I’m reopening, lifting slightly, shifting left, and advancing 2 cm outward for the recommended second grasp attempt.\"}",
  "call_id": "call_nlvT6cEZ6I2QAudxOsG8b4gj",
  "id": "fc_0d7cc622373a1bf3016ab43f4d8a0487d0afbaffa5201b10aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nlvT6cEZ6I2QAudxOsG8b4gj",
  "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]: [-0.342, 1.5669, 0.7547, 0.0666, -0.308, -0.2691, 0.9951, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.0824 left_z=0.0779 left_yaw=0.0432 left_pitch=-0.1326 left_roll=0.0224 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.9231, 8.5265, 1.6142, -0.0073, 0.1587, -0.1294, -0.1983, -1.1556, 6.9949, 1.6923, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d29ae9852580900002940731d1de18f9c9e3891bdf4478ffa3b700325ec650f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0b576d2fb216574c91d27c0ce7a8c15e06e9bb272bf386ef950e0c33a93c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa89bd5d6165e77fccccbea5a0f41ebc5654ecd2eaa77883a854a6e69e08136",
      "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 · 3.253 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4975, 0.7959, -0.0006, -0.4, -0.3305, 0.9993, -0.0216, 0.7986, 0.5953, -0.3973, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.1128 left_yaw=0.0217 left_pitch=-0.0665 left_roll=0.0109 left_gripper=0.9993 right_x=0.2916 right_y=0.0002 right_z=0.1712 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -3.5624, 4.6974, 1.199, -0.1587, -0.022, -0.0171, -0.0889, -1.2239, 7.0359, 1.7021, -0.0855, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6302, 0.6754, 0.2298, -0.3939, -0.3374, 0.0092, -0.0216, 0.8043, 0.5945, -0.4156, -0.0162, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3898 left_y=-0.1177 left_z=0.0557 left_yaw=0.0214 left_pitch=-0.0885 left_roll=0.0127 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0003 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.7077, 5.7641, 1.8193, -0.149, 0.0562, 0.6911, -0.0342, -1.1829, 7.0222, 1.7216, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.342, 1.5669, 0.7547, 0.0666, -0.308, -0.2691, 0.9951, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.0824 left_z=0.0779 left_yaw=0.0432 left_pitch=-0.1326 left_roll=0.0224 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.9231, 8.5265, 1.6142, -0.0073, 0.1587, -0.1294, -0.1983, -1.1556, 6.9949, 1.6923, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d29ae9852580900002940731d1de18f9c9e3891bdf4478ffa3b700325ec650f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0b576d2fb216574c91d27c0ce7a8c15e06e9bb272bf386ef950e0c33a93c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa89bd5d6165e77fccccbea5a0f41ebc5654ecd2eaa77883a854a6e69e08136",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d7cc622373a1bf3016ab43f50c1d087d0bcb5ffb8b85636bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The second approach is now well centered: the open fingertips visibly straddle the purple bowl’s left and right walls. I’m descending another 5 cm so the fingers overlap the bowl sides before closing.\"}",
  "call_id": "call_wzMABO1tIRrRPZ1zz7Qdpd3r",
  "id": "fc_0d7cc622373a1bf3016ab43f52071c87d088103ca5f42597e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzMABO1tIRrRPZ1zz7Qdpd3r",
  "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]: [-0.3401, 1.6962, 0.6773, 0.271, -0.3157, -0.2665, 0.9949, -0.0216, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.0807 left_z=0.035 left_yaw=0.05 left_pitch=-0.1328 left_roll=0.0302 left_gripper=0.9949 right_x=0.2892 right_y=0.0003 right_z=0.1653 right_yaw=0.0003 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.1214, 3.7949, 1.2234, -0.1636, -0.0366, -0.0269, -0.1846, -1.2376, 7.1726, 1.6972, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea76a149271f24fab580dda00f7bc414217510477dae297b60483c4468ba9058",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78def66e407a7b8b2793477cc2bbdf065bd97b58d43ad96fb373b96ae85d62a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d0af071c7ea8c185f404a6eb6a2c245921a58a4a38c96693c9aa641f143f8c",
      "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 · 11.27 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6047, 0.6956, 0.1772, -0.3939, -0.334, 0.9993, -0.0219, 0.8032, 0.5949, -0.4122, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1175 left_z=0.0637 left_yaw=0.0198 left_pitch=-0.0946 left_roll=0.0186 left_gripper=0.9993 right_x=0.2897 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=-0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -5.6274, 4.9573, 1.6679, -0.188, -0.0464, -0.0122, -0.0342, -1.6068, 7.0359, 1.8486, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.342, 1.5669, 0.7547, 0.0666, -0.308, -0.2691, 0.9951, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.0824 left_z=0.0779 left_yaw=0.0432 left_pitch=-0.1326 left_roll=0.0224 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.9231, 8.5265, 1.6142, -0.0073, 0.1587, -0.1294, -0.1983, -1.1556, 6.9949, 1.6923, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.6962, 0.6773, 0.271, -0.3157, -0.2665, 0.9949, -0.0216, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.0807 left_z=0.035 left_yaw=0.05 left_pitch=-0.1328 left_roll=0.0302 left_gripper=0.9949 right_x=0.2892 right_y=0.0003 right_z=0.1653 right_yaw=0.0003 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.1214, 3.7949, 1.2234, -0.1636, -0.0366, -0.0269, -0.1846, -1.2376, 7.1726, 1.6972, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea76a149271f24fab580dda00f7bc414217510477dae297b60483c4468ba9058",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78def66e407a7b8b2793477cc2bbdf065bd97b58d43ad96fb373b96ae85d62a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d0af071c7ea8c185f404a6eb6a2c245921a58a4a38c96693c9aa641f143f8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43f55656087d0b44e14b3a36c4c1c",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At z≈0.035 the open fingers overlap the bowl’s outer walls symmetrically, unlike the first attempt where a jaw fell inside. I’m closing now from this corrected side-grasp pose.\"}",
  "call_id": "call_dNZJ0yyYsfAp9XYMU3yuCf1r",
  "id": "fc_0d7cc622373a1bf3016ab43f557fb487d09aae40d4e08e756e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dNZJ0yyYsfAp9XYMU3yuCf1r",
  "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]: [-0.3401, 1.7073, 0.667, 0.2665, -0.3138, -0.2745, 0.0092, -0.0219, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3984 left_y=-0.0793 left_z=0.0263 left_yaw=0.0542 left_pitch=-0.1571 left_roll=0.0328 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1653 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.0752, 6.0786, 1.536, -0.105, 0.0464, 0.6325, -0.1709, -1.306, 7.1726, 1.663, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18187d9e8cd16d26e8d5fcbfac850043411348c2fad4ab5f0cea66e6b68a29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb97c72525fff097eac78c291a05f6414bcd3db84350e66bd89a9c595f4433d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc551d1d53d7ce98db709ee3d09734850dc441f8f466ea6bfb75bfa7ef7b8668",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.136 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.6302, 0.6754, 0.2298, -0.3939, -0.3374, 0.0092, -0.0216, 0.8043, 0.5945, -0.4156, -0.0162, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3898 left_y=-0.1177 left_z=0.0557 left_yaw=0.0214 left_pitch=-0.0885 left_roll=0.0127 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0003 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.7077, 5.7641, 1.8193, -0.149, 0.0562, 0.6911, -0.0342, -1.1829, 7.0222, 1.7216, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.6962, 0.6773, 0.271, -0.3157, -0.2665, 0.9949, -0.0216, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.0807 left_z=0.035 left_yaw=0.05 left_pitch=-0.1328 left_roll=0.0302 left_gripper=0.9949 right_x=0.2892 right_y=0.0003 right_z=0.1653 right_yaw=0.0003 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.1214, 3.7949, 1.2234, -0.1636, -0.0366, -0.0269, -0.1846, -1.2376, 7.1726, 1.6972, -0.0415, -0.0708, -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 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.7073, 0.667, 0.2665, -0.3138, -0.2745, 0.0092, -0.0219, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3984 left_y=-0.0793 left_z=0.0263 left_yaw=0.0542 left_pitch=-0.1571 left_roll=0.0328 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1653 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.0752, 6.0786, 1.536, -0.105, 0.0464, 0.6325, -0.1709, -1.306, 7.1726, 1.663, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18187d9e8cd16d26e8d5fcbfac850043411348c2fad4ab5f0cea66e6b68a29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb97c72525fff097eac78c291a05f6414bcd3db84350e66bd89a9c595f4433d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc551d1d53d7ce98db709ee3d09734850dc441f8f466ea6bfb75bfa7ef7b8668",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43f584f7c87d089016195884ac22f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43f5d1cc087d093cea9236be580f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The second close is also empty, and the close-up reveals why: even at maximum opening both fingertips were inside the bowl, so its outer diameter exceeds the 9.5 cm stroke. I’m switching to a rim pinch—reopening, lifting, and offsetting the gripper so one lateral rim rather than the bowl center lies on the jaw convergence line.\"}",
  "call_id": "call_YfpspPYbHsCPBUpZwohlEOkD",
  "id": "fc_0d7cc622373a1bf3016ab43f6192f887d0adee000c74a2bc2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YfpspPYbHsCPBUpZwohlEOkD",
  "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]: [-0.622, 1.6955, 0.992, -0.1623, -0.4854, -0.4927, 0.9946, -0.0216, 0.8097, 0.5945, -0.4206, -0.0162, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.1778 left_z=0.089 left_yaw=0.0348 left_pitch=-0.1688 left_roll=0.0253 left_gripper=0.9946 right_x=0.2888 right_y=0.0002 right_z=0.1631 right_yaw=-0.0 right_pitch=-0.0587 right_roll=-0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -7.4598, 8.5265, 1.3407, -0.3541, 0.1734, -0.0073, -0.1162, -1.6479, 6.9675, 1.6923, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b0653a700b2aeb67ae14f8ca991d937d4887c400ee8f6298f6ea68577e1e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c64b0b8116ccc083c95f9efbd2f5142b8ef734a28d35e21701c91b56d16d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1792e97c6a089fe48bc85daacb6d7f16cd451a122c25bf830284a42db11d1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.804 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 33 changed as sent

message 41 changed as sent

message 46 changed as sent

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.342, 1.5669, 0.7547, 0.0666, -0.308, -0.2691, 0.9951, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.0824 left_z=0.0779 left_yaw=0.0432 left_pitch=-0.1326 left_roll=0.0224 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.9231, 8.5265, 1.6142, -0.0073, 0.1587, -0.1294, -0.1983, -1.1556, 6.9949, 1.6923, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.7073, 0.667, 0.2665, -0.3138, -0.2745, 0.0092, -0.0219, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3984 left_y=-0.0793 left_z=0.0263 left_yaw=0.0542 left_pitch=-0.1571 left_roll=0.0328 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1653 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.0752, 6.0786, 1.536, -0.105, 0.0464, 0.6325, -0.1709, -1.306, 7.1726, 1.663, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.622, 1.6955, 0.992, -0.1623, -0.4854, -0.4927, 0.9946, -0.0216, 0.8097, 0.5945, -0.4206, -0.0162, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.1778 left_z=0.089 left_yaw=0.0348 left_pitch=-0.1688 left_roll=0.0253 left_gripper=0.9946 right_x=0.2888 right_y=0.0002 right_z=0.1631 right_yaw=-0.0 right_pitch=-0.0587 right_roll=-0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -7.4598, 8.5265, 1.3407, -0.3541, 0.1734, -0.0073, -0.1162, -1.6479, 6.9675, 1.6923, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b0653a700b2aeb67ae14f8ca991d937d4887c400ee8f6298f6ea68577e1e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c64b0b8116ccc083c95f9efbd2f5142b8ef734a28d35e21701c91b56d16d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1792e97c6a089fe48bc85daacb6d7f16cd451a122c25bf830284a42db11d1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9mzOolu8wGiIztD_vap9pjxg0QJaSZ4sf2awihDfdVr8ZFViXb7BjGy2bdrsjqLy0nx5gQRKM-w5DJ60vOAh5gGDLmFAJYW1V9Crwb-jKZT-RyyXbWI7dWF_8Lz9arOsJCPDHSnE0Ewhwj4yL9P8l6fCcHYS4wJVJ4GZNtE0Vv7-xz7hzkGL1vtR9gYCr6PfEA_u7A2G4ODaBi6PkQrB1-nmb4euiPiq5jA45VefeWxfI4UU9-7Kl_zysV7oYpfN0yCiXzYRgcR_hrzGhDJy15mZs-hUM96CKojSE5EvD5UiMLpw4OCGV4GEguFRmUuByInVISOrJpCW_vAfejijBEFTG_Ot-TSoH_cq3Xw6W3PQkcSxadS_1i1Ip5m-kMwO8jqu9AZKLsuqmJft616A_I7E9Pi8objzeI4neCwgNFOpFqvN1M7yilZn8v6913l1Lh4sA53rp9hOqYKtMZUFFo3jjvxauXm8vM49Z6fVxpztOS1rit9scASdvhmaIBD-hA7JhVVVcmIKGvsLazcEPwUDep1gPaSefbYuxEz89Zf6qRu_-1mUxoeD9cqNuYspcNfGEOkI-yrLXWATeyF0Z7GR1RqHj9EodiAT7_hM2Scsb6lb1ZvxieTNZS0wP54rLxXnB0rrc51BZN5b4J8NQ3KwcavuqhVVCL7ZB4FQNSl9hQ21U6u9F1hxzvGeVUbDzQwMbyosrRPg2a80zd9FE7ViI8pKN3W8p4dgqp2RmZUOEm0u1eZ3OZ76cBON015mcVbsDOvht49I6dUpMkHyWBy4ONqAaJERbnL3t6buHtq8rhKYwgIU67sURiWbrn8j_kV42ni5pj-teFDiNpLTTdS6XPSD_QaqiC4LjYEa0PDtIhxt3zfDwXnDs9_xbDd3VIe8cI0wzkCkZ9vcerfZmIbwMvhDBpAHuVV_SSYrZVKGRg7yu18Ho5dhfw6uzi8uE9Zi3GnbWcCTb6y8CpwJxN3ZaTOklMSpvRn8TVSCUlv9BHTO7wo5K_7nC9zviBRa5WLSCkrpUQEhkfd8wIUopoQS-ynLjTyH_akEC9c-8_NzW_SoLaMHbUxhSvXvCinUmK9RGBG0E8ixm4mvtzSk-Y6mfHKid96qi-EBjeB9OSiTPHE0dW6HuA4dMYr5aDKSuX7-zjKOb5L13-wIUOU-hMNYaiSkZEpBcqYrND8fpTIgksFArxHyBZGPcj7JHfP60qWTcuUuIocOGmCCmmnGbYq0JcnUzSZGmFVTwcGddMjUd42n7g2oP3aSfct952Cpzz6BJ3W7Yk9MTlEwWxS6t9dXDRcXFHh1rhPJneOTJfhhnJI9HdTI0zoRuw4YGq78H0xT3i_CZW_nR1Xpo15X5HEm0OONnGHDDX08fvjjtTScZS5Yczhsm-LEcGX03YiFMEFPfYpu4qRw1iHoPFb3ihymw5Py8kFUCy-9eT5reElMINkbUwkcWjr11op54LqyeBmvBdX_G4ke_cQ_hfL9GaQ2X6Mbw5NZS0dNOvXXWpdW9WxhlQEdIxxkxEJQJSrc9PA59OGxz1-canYBD707KMlenDupKPt24ziXxm6KilbvULf7F70npAQ19RlgMO4p8GDh9dB17scoaq3uNlMQtfakjxQ-3LfivJxN9lBEAAVWGbB-ZuglNDI1eDymlcUWF0ctWtR2V7eYByWHUTpvJs2uERmwCLW6VquWgaQmj3qLDYkHQGC3ASb1mHJ7HfkJGdHAwg4JheU65R7T2CtN-2wjuRLGDLvfZAuQj-VLe-aq1_qy-QGx3f5IPBifCZcN3v",
  "id": "rs_0d7cc622373a1bf3016ab43f64bb7487d0bcd5920dc1dcff81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The offset worked: the purple bowl’s right rim now crosses the jaw convergence column near image x≈110, while the rest of the bowl lies to the left. I’m descending so one finger will sit inside and the other outside that rim before closing.\"}",
  "call_id": "call_CJGPwKyq5OUxgZ0fwuBXNI7Y",
  "id": "fc_0d7cc622373a1bf3016ab43f65ded487d0b99cc38dd2c7b3fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CJGPwKyq5OUxgZ0fwuBXNI7Y",
  "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]: [-0.6266, 1.8198, 0.8848, 0.0013, -0.4873, -0.4984, 0.9955, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3855 left_y=-0.1725 left_z=0.0247 left_yaw=0.0431 left_pitch=-0.2212 left_roll=0.0649 left_gripper=0.9955 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=0.0003 right_pitch=-0.061 right_roll=-0.0021 right_gripper=0.999\nstate[joint_eff]: [0.0342, -9.1009, 6.106, 1.6484, -0.1929, 0.0366, 0.0708, -0.0342, -1.3333, 7.0906, 1.6581, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae589cb22fa042075e17b3c3d2432f0ade56d2be262c4e8d4bff82afc824e8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8775d4561249fe43e9acdfe7941689b64c289fee3f93ba654fddeb6cc8feac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6d408f17868ff0da9fca3995228ed9ef328de584cbcd404581018fc93cf4b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.387 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 37 changed as sent

message 46 changed as sent

message 50 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.6962, 0.6773, 0.271, -0.3157, -0.2665, 0.9949, -0.0216, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.0807 left_z=0.035 left_yaw=0.05 left_pitch=-0.1328 left_roll=0.0302 left_gripper=0.9949 right_x=0.2892 right_y=0.0003 right_z=0.1653 right_yaw=0.0003 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.1214, 3.7949, 1.2234, -0.1636, -0.0366, -0.0269, -0.1846, -1.2376, 7.1726, 1.6972, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.622, 1.6955, 0.992, -0.1623, -0.4854, -0.4927, 0.9946, -0.0216, 0.8097, 0.5945, -0.4206, -0.0162, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.1778 left_z=0.089 left_yaw=0.0348 left_pitch=-0.1688 left_roll=0.0253 left_gripper=0.9946 right_x=0.2888 right_y=0.0002 right_z=0.1631 right_yaw=-0.0 right_pitch=-0.0587 right_roll=-0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -7.4598, 8.5265, 1.3407, -0.3541, 0.1734, -0.0073, -0.1162, -1.6479, 6.9675, 1.6923, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.8198, 0.8848, 0.0013, -0.4873, -0.4984, 0.9955, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3855 left_y=-0.1725 left_z=0.0247 left_yaw=0.0431 left_pitch=-0.2212 left_roll=0.0649 left_gripper=0.9955 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=0.0003 right_pitch=-0.061 right_roll=-0.0021 right_gripper=0.999\nstate[joint_eff]: [0.0342, -9.1009, 6.106, 1.6484, -0.1929, 0.0366, 0.0708, -0.0342, -1.3333, 7.0906, 1.6581, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae589cb22fa042075e17b3c3d2432f0ade56d2be262c4e8d4bff82afc824e8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8775d4561249fe43e9acdfe7941689b64c289fee3f93ba654fddeb6cc8feac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6d408f17868ff0da9fca3995228ed9ef328de584cbcd404581018fc93cf4b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9pLsh9j2eT5gmn_a0JigOcR9oRlI1Xa93bjhRUwaWd7QYnwQAf7k1_EAC1x3z95NnDXyDSLB2tXt_fpww89Q-LD7gSAK7kPOy2fluN3CDaqEoQQJv9hieAkiKKbyzzrLZ5Hr5AQRHmBZLEUQ5pAkdtV8S8-3tZL-AOP5xE2f_ioUvjIHUaO7t6wq3umRe8KRxLQJgj2FHhfG9Gb914234IZ1fSeoBUNyM2knlp5F0dR1NbQ-6BpUkI6-6FiuFGOqrgmUlaxdehcCTe8oLZM9nZs_B5CNt-aeXCP2R8Cdlte4r1CFNVHjJl13CuOBuiGZ-rgTZpUtsla-2zVnMp7KesffScyo8KIQfdTcNy0y6a5ksNWoKEzEyODRlXI913NYloVX2CnNAcvCiw-z6-0NaEbDTtKCF9HsEMQBrqbM5H6mZ60UOaAE6caABWLveQaadEo4KUNO8r8ouubNOJHwdSsav9pLbLU8MZDYPDn4PLwuH1qtODRD33NJ6ZouPSik4mQEKT6KjACOQNDB4rSTKzrBuOf6L8jf-zy9dZedzoBV3-wa-fd94axotM9grdCAinO_F1G6Lmb3e4--StwcRsr5Wb_SS8pXVhOSiYA1Ta2BKtfaww1ZzMtU-Hzy6MmC8M00cqQw7qt8e6ghVRoZIvMcSo-gcrxw0ylFv-l0ANyVihwaAnqaRCUcYmrs4D1l6a6oUSEael86uaxwd9QFss0-33VpU-4i18b5cxZunoHLzNruOWyPSmbo1Z2eIkCcl70QT8a3jCz0DBBP3EgwE4uSB0MdRFeTBQYuHW8F3ykWL-UOvF_G0LlmhJO8xNwSPGx_WJntID-bkTAqIahjoCl1D77FslwwFL6baBv03UteksW85YHYO0IWbTwuC-_-FISjnE8k9RYgnPd7jTwwiHyxxBD3zJv3iD-Yb_SRZQtVWHfHdjoOyPUurhV-DujuUIMpTsTrddSFEiT0VXyEwu28kYWRGNmRzmkehkTRkUylWbUFJIvUjGgLrF3KKC55UcLd7DE2snPfcV61EdGUoH0JFMyYoCU4PGux1uj0fk7Bl1tqQhkykB5zI7tAA5uNVaeC5DjXz1atHllO3dG9RJGBdyHBC3A0E5NEj78Oba-HHK92qCBIMtyNDk51ejOCphpEW3N4pQMXgvLHqGaOnAmKpBlXTrHXj8xdz8kMR9XK3t6XnNZ_cR1-uYztQZk7H2j0a4GCVCjiEP33rP_Y4Dc8fepuxlG_55sqYBbz6dXGzXhItIOFZduDxlbsJjNutSE9c9Hl5Xx9fJYDpU4ykN4FTnrYmzkfSIEJLGEcQofrP8o1U6Qhq1_nr2uB4dlYkaPc3PXWIBZOVHkHjrI0EhtY5WoxEhkGp4-PkgwQKv9ac1uTHoIx9mW7YpbOyyNzu43ziRoRoKw7kY6zzArdOr8eG2dliAnBZypMX7vIl9wge0hVHYO-PSxDY018hYKnkQY5nmkdr-e4-FYrFC5oMnCQ==",
  "id": "rs_0d7cc622373a1bf3016ab43f68284487d0a2b32132ce7ac0aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At z≈0.025 the purple rim remains centered on the jaw column, with one open finger visually inside the bowl and the other on the outside gap toward the green bowl. I’m closing to pinch that single rim wall.\"}",
  "call_id": "call_3qETa3NmtrZfbhk2Bo035Lou",
  "id": "fc_0d7cc622373a1bf3016ab43f68c7ac87d0be7a91895c79f7ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3qETa3NmtrZfbhk2Bo035Lou",
  "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]: [-0.627, 1.7988, 0.8967, 0.0467, -0.5068, -0.4988, 0.1149, -0.0216, 0.8112, 0.5945, -0.4229, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3973 left_y=-0.1776 left_z=0.0448 left_yaw=0.0482 left_pitch=-0.1506 left_roll=0.0271 left_gripper=0.1149 right_x=0.2885 right_y=0.0003 right_z=0.1623 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.253, -6.2838, 4.7111, 0.9451, -0.0659, -0.0269, 0.8571, 0.0205, -1.0598, 7.0085, 1.6728, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959ed5e89bd005bcf9d44ea1130c1027ab0e1154198bd2e893b17bb430381fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ee49f275ce1aba4066225690038ff9660111ea87e912a70dbb884c7fd1a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680d593e7e324fd3b9ce02d6daafb51d6afb7c2f31420f7cc3f9ffb5c277da04",
      "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 · 5.543 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 41 changed as sent

message 50 changed as sent

message 54 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.7073, 0.667, 0.2665, -0.3138, -0.2745, 0.0092, -0.0219, 0.8051, 0.5945, -0.416, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3984 left_y=-0.0793 left_z=0.0263 left_yaw=0.0542 left_pitch=-0.1571 left_roll=0.0328 left_gripper=0.0092 right_x=0.2892 right_y=0.0002 right_z=0.1653 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.0752, 6.0786, 1.536, -0.105, 0.0464, 0.6325, -0.1709, -1.306, 7.1726, 1.663, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.8198, 0.8848, 0.0013, -0.4873, -0.4984, 0.9955, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3855 left_y=-0.1725 left_z=0.0247 left_yaw=0.0431 left_pitch=-0.2212 left_roll=0.0649 left_gripper=0.9955 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=0.0003 right_pitch=-0.061 right_roll=-0.0021 right_gripper=0.999\nstate[joint_eff]: [0.0342, -9.1009, 6.106, 1.6484, -0.1929, 0.0366, 0.0708, -0.0342, -1.3333, 7.0906, 1.6581, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.7988, 0.8967, 0.0467, -0.5068, -0.4988, 0.1149, -0.0216, 0.8112, 0.5945, -0.4229, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3973 left_y=-0.1776 left_z=0.0448 left_yaw=0.0482 left_pitch=-0.1506 left_roll=0.0271 left_gripper=0.1149 right_x=0.2885 right_y=0.0003 right_z=0.1623 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.253, -6.2838, 4.7111, 0.9451, -0.0659, -0.0269, 0.8571, 0.0205, -1.0598, 7.0085, 1.6728, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959ed5e89bd005bcf9d44ea1130c1027ab0e1154198bd2e893b17bb430381fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ee49f275ce1aba4066225690038ff9660111ea87e912a70dbb884c7fd1a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680d593e7e324fd3b9ce02d6daafb51d6afb7c2f31420f7cc3f9ffb5c277da04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9uraM_kl4lMeC4KzLRPG_KRnQOtdvHTNckT17fmVdX1TTAD-H5vkoNlIw0Lz0_hLt2wTjjQpnBvQZIXFK7WR8Pi3b0z_edpe3aYwOgf8SPHWl34JnoXRjGPth9mEgWJchxdzCTXdlgxY8A8aJACbTvgqgI6bp-dBr5H2hEhZemnasoIL3nJse0YG5yp9amW6oRshNXda2FwgAh2Yr2wx9ynC4dgBOtfM9PE7mWNxFZEDdlfxbt2ktf7yM1K7OE-7kuM1Eq8ZRaxx_IBnmELPpiTbo6KvVk7j_QAy1uqoureFrDA0rVvztrSUDoXM_LPtp9iuRmMNpnwrAzHa69Gfyy3_YciXz49UvGJT1ZGIS-nyjzS6gCNfm24-8jcdj2fkd_zc2oHokNPbnU40Y4fU0MXjlcCznEaso8PuKMfE93fn5RXbYOcWPduTTJB0zcQqRVC59X55StkAei9UdlqtJpG8j5H_zR4zoEqqdTL4GOwrUTcGEp_rZIByOh8ZWjldHf9znd-hP8_pmbwpzShI9tlloz9oUVP3QNGPTA0bjM5BhhId2JVkE--vD_ngAWpE67t5iBbiWM00FNEVzwOont_11GgNuUmFlJMxKVXVu0v90dQiUkAAIahuhup1IebMhS4YT4dkchmBBJ6ruRlV7YEZJ-c5s93rpPyzIac-VJ9JtUpIQW6cAVOXqz9V93t7qNPA21c776OCxraEmZFNb4Wt0pldr6LIat1yH2G_dcmf29Y8mxra43pgk7z8auEhToc5VHWvsbltMPXJxfox4pLpWy4wSn31SQiZyf1uYDSQSo0zPYO0IbubShPtCq_wM_a72GWw3_rgZYR9MK5uVApMi6C7krYdtl2zq0g1ZPGL5PItdoYgWF6YdVJgFpV3mFFF-6rJ_yVWiCBn82PrsFQqrJar3Y_Lsfx09vmcD4JSn8Z44iCvwas1JDZWxetYyfsk3PcMhjVT8tPiigga90a0dbGLXSvZhZfb_y2fdYaVvZXICD8gXUJuoXzTEtSa-DBOicUHhz7OEPRErrbTcRcP32IPkhtrcMFM7CfO05i8CdqUkQyEDgQG_o7P0zpabjh17wIrDPNaboHJuiMZBApwOawzbou1nbodFGcLE0ELP-gJhOR7YMstyUZyA4Uy7b15YX5YzU27izMofkPqHMub-wSMq0bhlubFGMQzaalrI7ObG0PFEwhI2EF14U5f57b1e-F7shhcwb3NuTjITpj_hTvbU6Ggbe_WvaT-iWxDssKYKSUZKj9Da7kxNTIacEDWlI7RglIeD59O1eZM7-Xpdr5MVZeolUPphCG17-z2ZA3Bbl4CEsIzLi3JxeFoytPFMcFSPNYG8R49nS77RHWC3uWGu4ytG7vFYtLPfKN0tU8xoAkuDl2M3rdFUsOdEiZDwsAEWxQY-2e55ZkG-cQ84iOb3YeSGjSoZ1BqRB3qbcdcRcRc758w7DyoX4JWm8KFjoxTS-xvp53oD6veOX7mpiHPZ_G8C35zq-buK8oT_sqKvE4Y_s_C_g1BvYcKr5mPo_PvfrqeSM6bUG6GnJF-WjUm711-OXqDk_z5pQeu4Ss53AXrsGJXDJ2w76dy8r",
  "id": "rs_0d7cc622373a1bf3016ab43f6c017887d08cdaa15208f0526d",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper settled at 0.115 instead of the empty value, consistent with a roughly 1.1 cm rim pinch, and the bowl shifted with the jaws in the overhead view. I’m lifting vertically to confirm the purple bowl is securely held before transporting it.\"}",
  "call_id": "call_nzTrdrcYxyMIQbcAr5UhPEJB",
  "id": "fc_0d7cc622373a1bf3016ab43f6cd7b887d095650c4fc946de35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nzTrdrcYxyMIQbcAr5UhPEJB",
  "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]: [-0.627, 1.6646, 1.0779, -0.308, -0.5022, -0.5068, 0.1139, -0.0219, 0.8116, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3943 left_y=-0.1762 left_z=0.1139 left_yaw=0.0533 left_pitch=-0.1832 left_roll=0.0433 left_gripper=0.1139 right_x=0.2885 right_y=0.0002 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0629 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9624, 9.0188, 1.4774, -0.3199, 0.0415, 0.2808, -0.0068, -1.1966, 6.9812, 1.6484, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48eae2f6ca14de15dcf70882131f7939b0aeeea5b548452a1b07a1c1317f7339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6118a900e1aecd2dc625c1f8ef006586243a69d460af2ba7951bae70990af9d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b8124722910b0eb015e832bc00d3ed74e8a92fc961beeae1f301cb2aecabcb",
      "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 · 9.481 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.622, 1.6955, 0.992, -0.1623, -0.4854, -0.4927, 0.9946, -0.0216, 0.8097, 0.5945, -0.4206, -0.0162, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.1778 left_z=0.089 left_yaw=0.0348 left_pitch=-0.1688 left_roll=0.0253 left_gripper=0.9946 right_x=0.2888 right_y=0.0002 right_z=0.1631 right_yaw=-0.0 right_pitch=-0.0587 right_roll=-0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -7.4598, 8.5265, 1.3407, -0.3541, 0.1734, -0.0073, -0.1162, -1.6479, 6.9675, 1.6923, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.7988, 0.8967, 0.0467, -0.5068, -0.4988, 0.1149, -0.0216, 0.8112, 0.5945, -0.4229, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3973 left_y=-0.1776 left_z=0.0448 left_yaw=0.0482 left_pitch=-0.1506 left_roll=0.0271 left_gripper=0.1149 right_x=0.2885 right_y=0.0003 right_z=0.1623 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.253, -6.2838, 4.7111, 0.9451, -0.0659, -0.0269, 0.8571, 0.0205, -1.0598, 7.0085, 1.6728, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.6646, 1.0779, -0.308, -0.5022, -0.5068, 0.1139, -0.0219, 0.8116, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3943 left_y=-0.1762 left_z=0.1139 left_yaw=0.0533 left_pitch=-0.1832 left_roll=0.0433 left_gripper=0.1139 right_x=0.2885 right_y=0.0002 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0629 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9624, 9.0188, 1.4774, -0.3199, 0.0415, 0.2808, -0.0068, -1.1966, 6.9812, 1.6484, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48eae2f6ca14de15dcf70882131f7939b0aeeea5b548452a1b07a1c1317f7339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6118a900e1aecd2dc625c1f8ef006586243a69d460af2ba7951bae70990af9d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b8124722910b0eb015e832bc00d3ed74e8a92fc961beeae1f301cb2aecabcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtD90CG5XzjnWPSecFHj4K7RiCT5zLMZCF7jwzuDtJu7Lz50I2iqqVvEtC5fnLsbV_LcHPmjil3tO0sMEMj_zWK_T-NI7dQrkVso1L-WT27EF8A4FwuGYCGGME3H6bQVubDxd9sY_soC-8LLe4KE_5yXtdlgvIft-AWCQHTZnwLuln08UtuqXYuNPqk_Ft8ThV6ubMditKL0YtMYgiLn1Jnn2REZ8aRWxXIDezXSrZlz5hnim9uZiISSOKWQmXOfzpOI71ZXMVTCU47SiP3CKvHmRVyE3hqCl7bFZuPOygHOpyoHwm9Eh0L4MNC6_3Iv_RXCbxjMH-lJLimyLuZS_wzNqdR9qqJFbxeP3Et3UTZS4w9cAUv2xFyEWryVUXB64Sgr7oLRbBSHXBAqYs7Xd1eeEhn4O4qc80PU3Naf8i3osMybY0OfIpl8cBtGCSpf_GJlCTRcLvIP2PnOACGBXTRjk7mmfLuSfVvqwW62Zw1G-gcsRzJQMbrUQiF7U59XeA3BvFD_dT_BbeKun845LvrtMdWOrbLScjlzTjaMVVzHPl-VYFh1-EGZnVTLij9iw6xIplcM1jo-qxZbI7qhi28fOUvBEFc2rfWykGKPmS6vDLEAwN9IL2B0n_LlhPd1sRQ9JkjkBg7oQa_mkC1hkCKoVPr_ErOn29iQ31-_jMVxsO0vnB8K6tw97_zq-_9TREbxoC68a8dEAGbTiW2eCdRBuSE-uizN3u-XeHvRxTBA6OPoxtO4cAE01FSLeBFT-3UbExysSmxeWUb4zDwknxvAj4_UkrdedsdgWFTTlEdwqjKhYmLHe1ZrRtfhF1Pi56bKOlSc2wGrYi42_-D5HETM8BD5YEEWMF1kjU_HNB3C7HN1r9_yPpc68DBCg8MMRChQjKn9EYbA_1bS83VdOWVyFFPvPaYnF9WBhg4u9ux09_lMBGhflp3i0z47vEtUamzD80dM2VOtyjPVHAH05plzt5V3Jev3wfpD3oKTGj0S0BQiaIfSDJCyERH0b7BO29aLi8n7_0QHDTudSvZCO6FETGc8tsaEVhSTkPoTYYgZCz6pGgzKIhWzBJibPSzcjM4CQgo-HniD6dmcgRzcfBO-1HdcBWdA_ZPorv647xvb6xLBOvFw5H7luE1R9pN6ssI-LTOnCcHWpG0_c6590VXE7XgEkM9JMr6XHWapsKVfZKuK41x9wNX0xnTi7HuUEC5Oy5e2XNsQRYK7aXFv6CrDKA4YeUnsukTQ9e3T63_2e8M-c9MkcFAeGeJJrCoP3urKpiTeEWBX7k6BeFL7Ot_e1TtEXCYnM6Yjoc5VQ_9dIl83WJBeao8CKyyqNE_2Et7Iy2k3itrkZHS5iMWqwjqsTvJdOMzGYACwVY3jZ9mGdzKRLV8Ci_RthOrmY9L2AbJRbfYVpUeWq9iD0iPH2wRbq1_rNFEAjMd1j4mDIF08773pU0eYWIHDTmA5OEW54zX3S3WKp9XfC54d1uR3lFquVXmsr0av0MRv9Kucvrq4HgqW9f67J_7nAbMMGaHa-c4LVaxAds9LwnDBRkG-e2eA2IKGFS2-kt78OtAnXF1A733VNX59BkCWSgX_4ngp1NKH564MZeyOp1v6toGnxNl64-d21Sp5LYUdg0JDFgoS7P-j8ATcf2y523G4jiFH72uZMyVwVOv1cfK4mSoN6nKRbsLzRRZ5MVgXidIX-O514xHSm5mkXP9QFvLPFarWE5sz9IYHDUpGeoBStHW30479I8eSUVMQZ5y-3QOWRu-0LE0Vr1KjcY6RGrigA6kDX1HQfCRsXCwJkXBZZ52V2hFruol9hi2szduLoVNce1LWbkHCN6kXno5ZAV_hUhQGujc46iblbdnUG1MVYIOLJoNtpHC7tPy95I3b1EwEH-Ei798GXNhNm3XLrPlp9v8OoyhJ5_GTsrOQLoCwMn03rYeUF2U0r7Fw4FdXfrdCsbMxK0TKRJekaBGt1AesQuoYAhCf__QCr8hSl8BpSB5aTlRn8NFovRLsewaSi4ewR6gCyb_8=",
  "id": "rs_0d7cc622373a1bf3016ab43f70568087d0835033ed84e62a07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.35,\"left_z\":0.2},\"note\":\"The purple bowl rose with the gripper and is clearly suspended, confirming the rim pinch. I’m carrying it at extra height to the green bowl in the middle, whose center is about 17 cm inward at nearly the same forward distance.\"}",
  "call_id": "call_IFMvImLQA6VOZNci4xSZ2Lzr",
  "id": "fc_0d7cc622373a1bf3016ab43f7268b487d0b4733421a1b56f87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IFMvImLQA6VOZNci4xSZ2Lzr",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9264, 2.17, 2.0941, -0.9901, -0.6437, -0.8104, 0.1147, -0.0219, 0.812, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.3498 left_z=0.1864 left_yaw=0.0412 left_pitch=-0.2054 left_roll=0.0297 left_gripper=0.1147 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0001 right_pitch=-0.0633 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -12.1915, 8.8, 0.8376, -0.6032, 0.149, 0.5885, -0.212, -1.2923, 7.0085, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7efb63c814c871ddde1a56a0d2c5c41a32e540121b3a0fd909f4d191ee8b96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcf08d921fbd3fbea5a53ac588de0521c70a773a847f7062fda04756c07f413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07864e0d6aa5f60521f4afd00e3ead4a2af9dc7c366e4abde169a0aeaefc4a67",
      "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 · 10.42 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.8198, 0.8848, 0.0013, -0.4873, -0.4984, 0.9955, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3855 left_y=-0.1725 left_z=0.0247 left_yaw=0.0431 left_pitch=-0.2212 left_roll=0.0649 left_gripper=0.9955 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=0.0003 right_pitch=-0.061 right_roll=-0.0021 right_gripper=0.999\nstate[joint_eff]: [0.0342, -9.1009, 6.106, 1.6484, -0.1929, 0.0366, 0.0708, -0.0342, -1.3333, 7.0906, 1.6581, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.6646, 1.0779, -0.308, -0.5022, -0.5068, 0.1139, -0.0219, 0.8116, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3943 left_y=-0.1762 left_z=0.1139 left_yaw=0.0533 left_pitch=-0.1832 left_roll=0.0433 left_gripper=0.1139 right_x=0.2885 right_y=0.0002 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0629 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9624, 9.0188, 1.4774, -0.3199, 0.0415, 0.2808, -0.0068, -1.1966, 6.9812, 1.6484, -0.0366, -0.0806, -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 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9264, 2.17, 2.0941, -0.9901, -0.6437, -0.8104, 0.1147, -0.0219, 0.812, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.3498 left_z=0.1864 left_yaw=0.0412 left_pitch=-0.2054 left_roll=0.0297 left_gripper=0.1147 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0001 right_pitch=-0.0633 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -12.1915, 8.8, 0.8376, -0.6032, 0.149, 0.5885, -0.212, -1.2923, 7.0085, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7efb63c814c871ddde1a56a0d2c5c41a32e540121b3a0fd909f4d191ee8b96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcf08d921fbd3fbea5a53ac588de0521c70a773a847f7062fda04756c07f413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07864e0d6aa5f60521f4afd00e3ead4a2af9dc7c366e4abde169a0aeaefc4a67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9_sh9XQQscQZqDT1UQEQbfF4d5Z25yRceMvkdMJQOj_osT010P7rmsNM1M8AB3LtWHhyULBkoLrC4K1feQ4Z0EsMiQ0kzmRX86FaM2HQyXNh8Qpk_nWIRF0wQ-_596tUXLxWXra6rGwxsdrVRsz70K3j9aSaRe9RgI6GiCcbcPsZK1YzE7oC4ApE2p0Eu4EMkI0yygtH5FdjePKmyic-S2C4dh7JVgbh84OI4EHK8GX8pCLTDcfdp0qFuXYWUzhKP8QMlV-x9klzCnp4X322y-oALqUeTtk-u260qYqrcFfZBmxn3UOgsJswmNV_B1r28dA16r6wYfgsxaC1sHfe4-6fLHFreTJcdaQ_ClA3k6HntVsy7g_a2DFb32PFMuoPh6BM2hofbCipfXOkZ5ZfpCAD4PuljvVUfJM2uZHq3_dfjcX6M2NOJi0rn2bzIR9c-6tgiTc0t6MQu3gU2JvbjfOklGBNa-pT9J0p0fUN8HkJg4AAk2QxEFptPtXLDcAtYJ7YWExw0To1QbM4A1qPiM58IcALThxRwgQRqhQNUAJgfJXis_FU77sLMAn-Ir8sRd8Fe2elCe9CDSiEpIIV7dYiQkq_OOI-x_5N2Al3YA2vnN-Rmu5KxVyXO9pFNDPD5JucN5hzrWaY7TScQmM5ItlDFv-GcEjU-kAWWKvLs8GAeIOpKGdtfmrk1uX78vzWbYOIwCf9snRa7rVy6ffj3BRS9EjI3sZSDgjJgrs8oWHFXDRqVb6OsEikHawL90ISJxgWtnrXxld2_SRCjwPfEbeA87nijLFHy3mPO8kht2MHEWyMureZIpWDWzxH570k4F-jWHohZgANlurMGeZ8xhU_xewmnQ_wHIMRLnO0yBLqC6HGCK2VvUR7wzPUUYc8YURLvvhch1aOJYp_QVwTAMFAVimzjvaSKEVoXCSEWdAiXGUl9CwdG3q2izay84fsvsFGiIk1U_Qzz6G-HdWO2HeKhjnAqVCTxZppRfRqIljb_OUQ1_JFD0CjPKXEKIRPfxiCnd9xQHXjjLB65nDUtLRzthvAxj5mjOzFLYM8nHLOwNV8_7rlNqLk2XLRPUcMCwykysTpVAtPKiTqRx06O6548BFhEm00dkWoju5D6_qjrhJSPPDg4P7tdm9ZRrbw_M5VbafU5QZ6rjTl08SAXR8rMX7sOTNtGbRxAdUU9KH6SctjULecScPyVgdiIaS4WCFQvl_06s8mEVGYbe9XU5ImCTvrgYZ8QRevrImqh80GUGdKhiCUl-1KZdrQj1WBbMzOZj788ZVTGAadq4CaMEBrfJ1tXVvtvRaThjltTZCYvHSvolTbdXSkAAE-pG6yh4bRguaDjqZ_HCdaoeaNEmvtI5IA5_sWEI8ulvjnoOH7YK4J6PVEvhZjx4HNPRQnja4YDqBr86_hLRYZqXa23yzJ4dGi5bd_EyeeiBrvLnxscahScmg4n8Ao6RyMuErvLVxgrV35Cu9pcFq_CsqTgnmHZLoGrfEJFKDc6qR_LAqXoyMZAuhh5g_sqH1dkYfhapdhYA0Gryt28WvUlfh9HzY6tWPNXBm0Q2wEIO0JSMqevNy30HLeW1hGX8IM1km1XRiEb9BSW8RnZWvI4do7eNWhUkjV3k0t2VoCip4E0ok0Yhn1JcX2M9tmZl1uxFyFERTMDEfGj_eqRLKz_leNjbztIOBc8iWHAAxw364bIg1-XKyLHaAbHdiGSGNYWASZGA1tv6yXoKZkHvfd7Haqrk6NFHfTidSom5V0EB1RKUFKc-sIO5vq6jy79ob3s3etmTmAXk57s-bFYXfpZTepALFlfO7tcbGoldAVWNakrzTA091hhHBp-a4w4MsBnqVM2aN5vmSqYKMg60H_HyP005kxOgMe_XPmrLaWnP3ofAG4j7u9Q_HG4bCHJOgz5CfitXS7VZ1-6UbY6wyflkk6AY5bUPhe3Ls1USgbBPo8EC8ZV6jVg_H0YsqPqF2GsPjDeEmeEcp327RE85JbvM6d9HlmpI1hdRy3HSzC5KZtZfBPtjPMsJvwGTWrodcCUQDU8oTw09q94kBXNSLKRzrz6CkrnshLkmIK7e2omzuALvBno7yBkLhnIssqUE_lOuVaWW4cAWD6fcTnsG75b4Tr2sRqKtCAtz-h_q6zq9KyrPAqV0cStQqjHfZkxpY6QC0Cmlby8v7tB_qkY9hcFcpCFQT0U-BODkpUoHGl-xEQqsEu7mD9Kx7AEWMjyREKcLuG1hAtvskjUtbBjgDvFeol2bfoymjbgzpZTMJ3YATMRtkHf0z05xBnVI8c2d7b7VnXJpubBCsy0SriLkgFMmLWHXnnpWQRkK05X23R_6uCFlArnfRryGhNZnatZcps1rWaDwvtBx7e2adYQvDaE5cEJVks9_7ttkqvzS4-8mM9TB46GTf01fyT_AxOA_VGj3sYdl_5dxTJLVM1rChboqkTR-DAjOov8A5cdjcA-5IZFuFzu7wm-in8RDuglVloRVXn1RgiGOheAr5MpEUbGRwML0SUm7LTmEFR2kaGDirOcikCOaSG5HfShwQOy8uPZmNOH4msNLCgu2Ssmp9Z_Uwl-GDEJ5wnqgwdHpszqCUDQ3_KrzWTzjTJmgHx1rs0ytBbJMjRG8mJ_Gav8i3bKjLWdO5RdDeCa8zzfetqGSF7XwOXecass6uw1vK-i_VhrsS7gyt_jrpKGjLpO8ZgIcAx6xthVpxEQ4ItlSncN4rvcTVHzmM4JSkSS9u0nKyhOKgRNReVpFAh6CBM9Nkahlw-B3D25UPv0eVKy6Bv_u7fnmwxOGh0jXBxVARar7VZyvm_2dgTPKOzsaHySYOqRhqZA39WoozzuC_qBKxxjpTgB-lq1f2Nx6_WKDDvr9agy6m1yzi4xmSkDG4fksQprReekatTop9fvMzjVCHmG04fsrJWFjmD0JAKOTaXxmhuq9Eud5RriRnY1vIqndKSCkF1dIJqig1-DT7dgKU8vioJm3GHFNGYr_mbdwU0AjaPXSSGvhtMrAYiURFbyfZ5S-U5Uuo78-VOHttTTojYVC4KFfzI_Es5sdCYC-1SdVEYIjvyjbrYGQynwJvSdV8aM6qUNOmQikQ9V4U3VReXmyVfEb9-kZBgrkYdZ7pZUwhQnFUbQOv-k7yYcpvJVXaMDEr3SiHIX78Q03gJsfLzrxlUWMF09LzO9FXf6wZRBlifQPLseIPG4gSxTHUv_1u02r5KgzAgDAEKV-IksvGRXxrTohC5dQY4vS4tH_9weoWySGevoYK-qM1YQBzrKg0VqvJUgqgs-hQK3SmPNeXkFxKnKY2r093sGbk-FTlgMIuRbd2GC9-RlfaOryQ1Xe188kvvjypGQfNt9dKm3mquUBIAYN0PtCBU6X6py83mCzBaQSaQq-5Us_QzZjqXmWz1BwGSubNZHKEZFqdCBy1hA9ok2n84uhKUW6aj-DgJH_5UPnYE1XznayLIIKYWX0k-bdgz0gBa7kh3VuLnDnLizNaOQz-C2mN4mIVu6Rw0j58Gnj7_w3LrhMBxaX1IhBqSXgBGdVituY4T28T18Sn8lsBUGxtejaictbESZguWU4GSL9MyH5FU5_tybsq5u_LwsDNXVXsHZJrpOiE0pZDvBODP9-ndaf2_T9fopriLZiudiH3yIgQ40brnIOEBEyflgq4V65cWu2DYqSvWW5UiBg0I8vyA2TfvvlhB8CTuMA6100w_ArF7idjFZaUZbGVYBFzhzUIVrwHhbr0dBHUpjR_Gkhq51j8PRp9b2754tB9rL_XIBf9Q9hx8Q_4JD9bmIkXT0msSN17wmwAX4OkKFPcphZYlUtQ6VZ8aRFHeT0qIqBcSFiqwdnn2myY9b3SJLzzPwI71nxe_ie7LRklX3aHRBq8NTL0h2pj417oY-eXlHCixhiz6z1OcMLvIJdCapksit8wNFu-y6pyAR7T6eaxhji5D4bjEziEP1brVqW7vsJw0m8jeIaEDd-48zUS6lPD-zHTePEgpGLX93JBtDNC6LcmXTsW5X7bwjxN2Y2foO1W7dDCjvI-dyFgQGmxnoGutyWbvtNKbjqbXbmrz9n6D11dzqJuKK2--2Jrpph_0FsM_m6Nwwvb-w1CNXJa0riulHgbuH3b15GWcxTNQAdToDztKX7RTJDozHEzsHdv9XD6B3C0U0pZetDhQox4txVGSPZ8atUWNMtFa1GlpndSe3wxqmLI6ELFkeBwG_BZ0y0fQrp",
  "id": "rs_0d7cc622373a1bf3016ab43f78838087d0a38f114d91637d10",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD9_cpLgQ0uXS4bZ8gvQUjuhYkd-HD7_mGCjU-rY-FJIDKeh8IdYU31Wl4Jay_qQHDsQld2BC6uRW0WjjVwGyaLBma2oVBVnGSlX6fAEe0AOb8u2DqyruEGDTQtrN7PnKSuNBN82Vo-r2B5PEQ3Dvu2MGrGBBDq_rvrh6WvhmSsgT6To27lkm7pHlx1ChTRA8-FFiKzxC6z2g2DDIpmRFk7nM1f89bOJ57SNX8Uf7fBJiNy1Hhdn379oh48JZDWBzgivXu5ZUuXwfhHBYVddbbI50xonKBF3QoHAjOX8XAVJTJ1RtkdszncpafpnsH2CUperHuV_9klNcf_iYgsGZQyx90KfQtGMejWujpjQ8ot4TQl1ljtHb0oKOGlDj1rhhuavtTw-z0PxSKPxA6k3zg9KeiQcRXQod5fMihAaq6HKg0NksKZiNRBaylXkSqlc5Z06Ne9-p8J6TMpd-kfjRspiiSW-viHParZcT8vUTCvfPm9HhVGpky7lZGbJxaZeb-W4Qzg0IdOyZs8ABlp74pxVs2Me3ZJAU_LCRAk4MwcT-jug5kUlx07z5unTdofMtRh0fCUgTfUTtFMkN6pcpuhHNiZiWajUQ7VK3HLFdQguT1tlLW7WnR2eNBJ6y3Cs23iI0Nw2Yn1C05LEJovgK1fwXF6WymqRHexUN_yIZZtsmqh2vWoQlHxoB_e2-oB09BZOIFeMpaHvP6CiKwNtL67_6-pTGE1ayYm-JIoHithzhoW2JzVIMOYiYwDuZOpsHkungr_cQ0qJYcLsM1qRdW4NGXGld-V8n4fPMFcI2O85sLQvkD1Q9Xh1zJey3bA-FdvBzFkobRO_JohT3pswtKvtu90kBK64dN7bZ-K7liITBqiAyqod3BerFvrZazqFRDHq_YFEtbOKSz6W9fb6CLDRBFTDdI3o6mkpINkJMBlRNrj1cos9vuuF28r3oQaVHsCglRdRS43X2lvFC6vuxbl71GQ4enl3GxQZQd1IzrI0u-yPXV1G_4M7tpbOIiE1zDUvXmX-uv3TvUPszYRpVN125OUR3T-ZD9qaK5jCPLEYbhSG1S9Lbqb6HtN55q3-f_K6HuS8nll_3pUR0aTpFdomKQvahpV9d68g9uYFr2mnpBBGaQQsNvj8n6fkVJlXorCwMOxsNNZ3KZ9xH8gTTAvC2gFEM-Voox3xPlKfWnId9m8B0xOvE8ShQobLW9SJ1Ae9tppA43QM_jj2xDNcX3c9hc-JXaSBDGVkTRLxTxSH64Dgre06JlGJY7Yuo3cBjTLxzevwmp4sKC4lYtdtd1g6vJvyPxarBjnyAoIJ-bGY_zueEqAg7BGM54ybUQS1lJJp",
  "id": "rs_0d7cc622373a1bf3016ab43f7de25c87d0a4d325b154002ecb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.4,\"left_z\":0.2},\"note\":\"At the middle, the wrist view shows the held purple bowl to the left of the green target because the gripper is pinching the purple bowl’s right rim rather than its center. I’m shifting the grasp point 5 cm farther inward—up to the left arm’s y limit—so the two bowl centers align before lowering.\"}",
  "call_id": "call_K87h5Scn3Ljfklbg1WgcKOpE",
  "id": "fc_0d7cc622373a1bf3016ab43f7e4c3887d0960faf60f1b09c8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K87h5Scn3Ljfklbg1WgcKOpE",
  "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]: [-0.9798, 2.5332, 2.722, -1.2922, -0.6556, -0.8738, 0.1179, -0.0216, 0.8154, 0.5945, -0.4229, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.4048 left_y=-0.4036 left_z=0.1804 left_yaw=0.0362 left_pitch=-0.2159 left_roll=0.0216 left_gripper=0.1179 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0003 right_pitch=-0.0667 right_roll=-0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -12.3692, 6.0513, 0.1636, -0.525, 0.0464, 0.3248, -0.1162, -1.6205, 6.9812, 1.6679, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c928e1a58e7ede5456fc903e426c02600ca08c8ceb9a27c54ad3dc2a0a94c31b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14cf0dc3b2f04fdaf3a18f62529b3a7e9a3c2cf9da394202a6e40cfe64f4b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dff0e0eb12d0315e6cfd215efedda9b2fbb1001c77b01b2f42107d44be305ed",
      "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 · 5.586 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 54 changed as sent

message 62 changed as sent

message 67 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.7988, 0.8967, 0.0467, -0.5068, -0.4988, 0.1149, -0.0216, 0.8112, 0.5945, -0.4229, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3973 left_y=-0.1776 left_z=0.0448 left_yaw=0.0482 left_pitch=-0.1506 left_roll=0.0271 left_gripper=0.1149 right_x=0.2885 right_y=0.0003 right_z=0.1623 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.253, -6.2838, 4.7111, 0.9451, -0.0659, -0.0269, 0.8571, 0.0205, -1.0598, 7.0085, 1.6728, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9264, 2.17, 2.0941, -0.9901, -0.6437, -0.8104, 0.1147, -0.0219, 0.812, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.3498 left_z=0.1864 left_yaw=0.0412 left_pitch=-0.2054 left_roll=0.0297 left_gripper=0.1147 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0001 right_pitch=-0.0633 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -12.1915, 8.8, 0.8376, -0.6032, 0.149, 0.5885, -0.212, -1.2923, 7.0085, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9798, 2.5332, 2.722, -1.2922, -0.6556, -0.8738, 0.1179, -0.0216, 0.8154, 0.5945, -0.4229, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.4048 left_y=-0.4036 left_z=0.1804 left_yaw=0.0362 left_pitch=-0.2159 left_roll=0.0216 left_gripper=0.1179 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0003 right_pitch=-0.0667 right_roll=-0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -12.3692, 6.0513, 0.1636, -0.525, 0.0464, 0.3248, -0.1162, -1.6205, 6.9812, 1.6679, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c928e1a58e7ede5456fc903e426c02600ca08c8ceb9a27c54ad3dc2a0a94c31b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14cf0dc3b2f04fdaf3a18f62529b3a7e9a3c2cf9da394202a6e40cfe64f4b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dff0e0eb12d0315e6cfd215efedda9b2fbb1001c77b01b2f42107d44be305ed",
      "type": "input_image"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-KdT4s4Jx0J_PVXdj-cog1f1Ak8Adfg04KiGx0B62JALvCZYZbqVqA3qVr2hbeSl0-iYfXFU9kZXLhj0jLXTmAgCzCQMyf4ceuH11Ux9LDlOlAW8OFdpFctU_KAnMerLqINkeYi2ACqyy5_qQ9EFJhah7yHL6UuHBHYZ3KwO1HQNdQ8SrDC5r26dPA8vmdH8CbzuuemNTFjupYTejIY6g3SiW5PgTKN9b6_TOrZCkjJ21Lw9NQvlE70jHT1Ls7ZZoJId1Z-nU_Qcr2UMpZlNqVJTAmjKD5BgKZU99I2tIUAlkyRgdAt4I93gTARAO-D-O01rMU4CwzJgRB7YliXE33OF9eM4KiOr8CuKXXH2Ln2m3b94q3psIOzIXmWKXKCiOlW5g9_mbJA0B-TQw9NuMj_dB7W6DR6aCXisIblYHmj2I86Xc6aemBMO3W7bbAqbiTcdVbfReyqqLpGe0cPiInA9qmZcsJFk5grevl_wQjldd8rj_4nYPzIFJKYcRArtqvslD9WHtc5aScT9xNSPSvooQBbpXoRgxgPvYBm4e-58Y2B4DrSD7ap5R5Vg67rgfqkqjH3iLq6OBh8GvDt_WDWOsTVVR-F18jNZhsahsAyY9ynVbqjjRwebwZ1wIKTAUW1vJSHBZMcosNxM5jIQON9TO56cYAx1eFYAfDAsVu4gQbp08rVoQffSjXToHTf_K2K27Xcey_j4WN8xMXRG_uANylbQWYFOmy21VNddi1UIps9N0_NKP1hEv2QxLrKwRaXKFd4wZneUGD4W70EeyBfzjEN2FfoNBiD1rfNjy71SkBRDhFjvHZb2K7T5YAgYP7NJ9ZrRaeZ7Uv4QQ6TsoQj683JAOcX4krjQVDqWDAZ9vbCfpa_US4DYXqF86Dygjr_yHN_xoq6m5hRIV2nmxzUyvXl368h8qD08NpiqiNWi4KDvUcN7GxzAQXgVm1oXkwvTaq_1tvXaxnFYGreTf5luwi6lq_u58Cle9SKB-sWONjCg9B7GdBZRKswhYEA_LGZz9M3JGu_z37iwtx-UGT50UTyicyv5_J5YJ5dEUnHLv2QmbfP56aDz-xQoL_LGIEKz77yKUqbcrdWlu8TRhEF5wiRL15Wo586wVZOSGjIDAX2tImyQnO5yTRohn7kx74Lsedn0pkzawcHWkO3eSpjipTZSP27ruqXVARIfgg1ERcScwFV7jD2cob4XGqVCjOnCWx8EDmu9SocleKK9ngQnxqxAwt_SvAfEF14YnhmvllnJNL8ZVKjRoXwNzvQ1u_M2AF4bFnO8LatwT0KI1QVZtQ7kWlrOBP-HyF4Z8qU6L9mUX9n_WDrEu_1tC_dbxq0ICzPO7pTFbt3Um0w3v4MSjcrp50I-h97xcSRTpH8ixD71PvECegYPySxzn_elXVxsnvc6UlXgO4GQgY-gwm1A6mlDK0VibXAr8dds9KvzciLD-4ZPQF48lIvxigLE61K0LRi14k3GepFVXJ6twpbO_bb2EO5c5Ib1bfU2RelAYQHONAigu6aLe1hMYjz1AToA5w0ZiuH_hVLkitiBEkVgtl3ECkbG6YdaETYIC1vE0Dk2zRJINM9vRmsdllG3_7FiyQaJbjWQxJPVsnV_C_UEKzKdkPbHnp2vCRFC76uZBHgTmtMjODux8Z_6R0Zvd5DdouXW9HcpvjR6CS9LErq46famIx1lehjoq8-2UgyrBez-adISDJ-gZfN47c1DI0GVUWUqJil65OV8mhKjzC4pidwE-twpfDDJg-lDn9vYv6ZWK5blN3CEGWNgDxg9_3A_NPmHen79LHUWAnOTjrlYUDQ6ssJJ5vcwLw9iIZnyT3LaBPajb2kd11SUdca5G7UUuLzep7izGWmGtCKIOzVgTXSqCFhtsrlBqJyfKr7240KYg5o7FT_PxICjaiAVPr9x5T2s8FCgAqE-aPMRLuwV33uweYJcyTo7UfvlVuSWW79p8cfOHkmpgFO6L-b_Tx37SKHnCmgimOXNn7iujWTWsIMxyl6EPhe3r3wivYFNInGw2dYiq18lETXTUtHDDqzUQKcmKzWuQERaYe97MLj7MJr9YCV0WmKK_R6Utnk_3iJkOKhU_-w1PijfN_iPdlsMwquIVvcL9JnDely_k81kuP2IBfYeEMB7GMDvV8HVmv9zt7bcuYThBXbtyGWxkTsiOSofTfdqfVZXriIniq1hx5seNZ7GbCZRYPG48CCPUS-7v5wK2NHBIbGZGZITSjHLAVZWxxscUIOm5V0M8sZbdb4IF1bvd3cIbdLxaxp_H3cTwvmepWi0Cn3aaeC_Ga6dI_E9yHT20nXRVRccZNz6T9vn2coogr9l9acEOXjw6qK7aOA6ZVVnOSfoEAfY4ba6Ao_fz0qylXpFsjH60-yZ9NiPpFbkS18fRc3940ckcDJ4t2zeUghuPuoTCR96XukUYnpOeuCNmUhgSxsGNxidLUWyhoj4s5KJkBSP8SUvUmsfke-RZ9ibYh3b_vnYw4cfS4ZEtwQFEDnyM-7_ODHertGdEfhSDq0HpgPDeAR28gQuT6nDMXWGv8IyewoUoV9dm-xxX9izflMJWFIRpsAUyX5W1apdRsPIMf86quQ2y0i4EbTVbVLCPk2eGG48VmNrjgGYu81l5dz-h7z3gEMpE5Ve10jRFSH_8pwL4zt3589g2fNYWTbYjiO81317VBeZslQ4UNVVDpr_ngTQzFMRp_31kXNqaF7JnOTw8BgAMiP_Xj51EWfmlXg4tVPAf46fyXNyf37gLVPGaa8cfZVjsLp27EcO7m9wAmWnyG4kfOcHGp7Jfq-LEA0vM1ZpD1edmdIAlubEyzKf9JZewhrUxfQwUnImjmllecwlLuHGC2GvRupm6W6toIcraCxm_AEXsekihtOBg2rvj6dz1096ia7PsJSuBQQkAdIQgEd2eHSZuSNHc6TS0640Xb_wDeKSV8My9ISSEzBuugRBkjdLwcji7Ff1-0K6lpzjATNAqZ9SfsW_Ra_IpL0QKxBZvfiZB2wBewlvJ5v4LkdqmbHvHhIMfZ66dTpUdiR-gEUujvgEP5uqRytHHgA8bQQj3LHlyrjY9jnh4mMwt0YliEeMEdvvTOS6enc6rxhOGYNBig8CaTi-BJtPNgXaOlnRt-2zf-oApFztzSzjpxIehXamDK6qKknzbeVHf3FfxQsopyu-RCg30-LNdKWVna2rfl-43YzYDKyDDRffgJrH2UJKwF5x0ANt_InqHBPoNc01x21XFZgwDe1rCbDcaXQU5Pz2VNSsE9TNNYaDP0LoPi1s8mmaTtoEL1_fahYEtAtCLCq975ZLSoMPtNsngiU6YM7GQ9vxVTkiyiDLxw_X4HX3534E8p_qnLl7qtpPQlzatnV5brEUbDN_MiMqRN26PcF7F5J7Ek_4BaIQhUrGyJtJnkxyOlxc73JsaiURnCgOwFAT_lUkLu8wrSVyIMua0s8wXCKbDe7u8wRhW1uRdCNrGH5U5XdoBJfhR98EBazQtS3sXuOrZ7HnZxL9g6S_MgKzfAi1Fu6Esw3ZbyNlUUEvJoii6yn3hkZntscw4NW4lcgx4noBcf-G_SfKuOhxqCpAphjntU8LRUGtNXDXmgTS3ZIb7Ke93A0AjwB2lyCUHvijdhBvi62HoyV8t75AsjiAQs0E4PyrvWnhpA1gUQzn20qT4CDJ4ZTruL8KJmwKpR2IMoUh0XF2zv6EtQzWksLNsxdRaQTTokAtNsKq_VUdQQ-em_4FFjlC7gOF4R9Bpws6-hjHdMfB9ZwviaZ0Ps7kbFrm9jyj-kcTMOq2RFsbDD8DC2LzBAE3CYT-qbrQewZL3oyTmJFCewKJQlQTs01cmzOOkQs1wLFWx5GqQyG9vnMz-p2l7nplMKT72WeAUR1_YFUMsSFcolEWzDlNxRYVYpff8Pj-whwRGC3bFfygpRjjNjN1--mIC-SoigU89Izo7EEaVihB-SZlpIgrtzgLH5__mYNAe1x9-EgrKbVP18sagFGOWugzTRj_SZHhd6UGw1rNelNoN8HdflAWt4Z_kNe7voBH3wjZgRlAuRIiV3nA-07q_VsR0huomsifEVKjcXCJtf4zZ412dkSAPsmqZx5QHUEdsaatWLdJrbrzBYWa1ZMP3pgWuDms6i97Wht8rr_Sej5ba_lXbeIRrBCytmLSczRycWvZARxY6ck5RLTh-NMUp5whQsTZ2A2BsrfpFGLZsFNEQZXM2FdqqEBr5qpJPiQK_gr8kc2fuBVk761ZDrE8Jbau9pXVjQagq6MSbPRgJV-gQFRfxjT-VngNQ1DUjEhUvbfWXD0WX0DKCJay4K7EpCuvTMcbru_1xhvk_125a082FxfIqozfg1Ioo_fxU6TKr1PsVYTED4vKyQ4ztmcPwktK4_ByHMKU2Ztlxq4CKNNPnvklHq1l6i",
  "id": "rs_0d7cc622373a1bf3016ab43f80be2c87d0a45665b999c76138",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-KusNffIJ92nGzHhlmdCAE_57daHMmClzM3Kgre31bRpY-fnXc8gtweg3f0Hi7QfMp3yuv9MjgZu0hcV3s2C5VQ4cwHPFWEMFGNzLmcz0y-kOit53Us2esPHWOs2xHJh_SGxlHvowRLXy_4yrC7Gkh7ewsJY2UxHgCZW_2dJcLhMV5Gg3eA6raGliav3xeELxximubwJbXGPxi37N9Tajnmha9baz06CkOiC_KTJ_1syimPrSYd74uvtZIv5IxY2pC0hjz_TnXv-kQJoFEOPv7nOAtFmz9Kp4y5VCOtcsPwxyoZD8vDEp8-AMD4oSvJL0BZ-XRSvT1yPnTrFG8rQQJDvYvSxgQFkNrOLNExkVy9Tqn4kJUXuNm4tx_6wShHUivr5vRclbrI8jbSLS1Gs0RAIiuuzqRPZiMyvbfZqdgdjV77kBujiC4XZnw1mGsqnIlerM_5oNxsalt1PK7o76Qv22HX_X7oteSm2HeejECJjoBk5tTVj2oTgIVSs_us9uUHrJRiISDsHFFMryzU8jkwHtkPRHlO30F245SBbfM8RuP5wE5Qncl77Glz1diIQI8jlc91hOFfy8NBw0qqVRfgc621rbd1fGqrsR59Zvy2qS9K2FdvuBKoVj5joEj78RlWcoe9b9eMJ3IUve-HpJG7db4eApS7up9IXZhpPPkMZCtDTlGUiTqBAayQV7jWiLu1HJ2UlFPFHJ8dmy7vq9GjNcZb7vPlEAd_8yKjKZtjMt9HjGi7qmUiCse1CEUMnJh9SxMCjCbLQbqXM_GdWRXh9p9nVr2A9zq5AmJ_YDYW70ezc03xGTkGELOd0e7tp7V1EEFoODnO8ys2zUSaoQquc7DyX4PYrcmJir7nL32UfNb4rc6r1o-tM-vMddmSJoBPHProwZurDhKrcsLj8Km-o6neNsIzfKpJXh1-vSjqOdZP_xHhKbj0L-dyp1jQiSaZKXIQpo5u7RkiyAAQ-1pXf4tIXxDH08t8xPZo5FETTT2STQFungWNFpg090EgM6QDhoGWVPcA08hW5e_xcT7tZjVnbmh4QCPk2wMiFIVXl1ylW2-8RCj8MzoJEkz891dPP3AkWJsP92yl8A2togN16gcYlUqE7Dtxij_2fwv-IZnzQPB9qj3o3VU-IP72odWkX3KoL-CMCRfMv-o5wi6_ybLvrRWNAb7FTi5bKdbN0iOm0c7vKWw3XKg9086Xlb7vrS8kg5LO1Fs2hvPUFh_Wa_4y3uyPADKawUWzVNia1bMmZo4PAcSUAIrHyfRSCqP9c-QsMVEQu0vrlOKwAWEnsdmIsWKaH3pnIkwGBnLynA7b3EJK3in0w3amGa_j5lfv7AMtPOphZNo1dWTHUkGkLHyJaRj9dpmGJIt50l1oB_T5291JiTPqgnpBEiVGC4u9agOmz6puS6ie4WGKLPA6RovsxXEiKubkoGzIfQZwdo9aGWYMKYovJmlvFK7Oc4PTQ76Zjl6Ec2dWb-eY2kUnfCCImYQL5tp0KepzZoaCOl7iU4D4g7sVK85uTXmwsKePD2WOEA8IkbapP5xMigWmXJGM9cgDYQ-W_eOgbEdl7r-j2aVbyiVt1lJbIiUl1eLZive_9sYx_S8sY4PzGnrYVeVAU2VhLfmHr8ml60hW_R3LhDhn7AIzu7ASGOwNyHtaBqjS4QFVYLxdaJfq-c1FQTfd1w3SECtOJnCUECUpzyK8GTEP0f6A01b3uWvyAMnYBGp6_DvLEJbjSs58yT_ZwT3g1taT6ZossoE9GKq0LKsZAvULkECTKwDfYpA1ozQ4d5nRc93f1hZMrfz28DPEXBNw6q8nytVaymqfHwIjTcU_4ziWrFU5rAl-JBm0Q0mbClNl9HYBrSyWooX9X2jBv9BhgctaFIynVruC1Fj9wytvQi4-IhyXGHQ-d1eD7ImK2K5m2sFx8JquI6Hlk1SWU71havjMb5hXUpXlltAl1AMjJHB_w1tTgqh5tTdf3Em4KJc__SNSG5vwm2uXI3loodaS0PFZrTlZVGiPEifXErFjksqlnuGVYFH-DLP6Y7pgZ5BcfYPj8XNRsrz2_02peNUYzk7wAgsATTMIWaOj_xU2_xchjsPiAbGbkOVtQfh6x9V-T_smzzg6oeWGeMp44n90-JJRc8HVxrPvK52C5dKARv1q0DFtko4yUTAhekiblOX2TP6zxQs2PgsEScPHYsMnbPs2MGSBO8rjDxQPSPQ8g1rFMXZlrSLezSdzHttPASyp4fmECj3M9N1IH1PSRSWEVtSCigfvps1Ee4PuHPNVBKIa_SV0ojh8ZvLAtVhJU8bl-HXdS1fzZl8Z2SgegfRTu1yITD9Kk84qCCIC9b1LZDKCyB8vqv6QQSFf-R8nVl31eRCjPU8c77P5MGKA_KCkG7ZXlxUxWrD4WYDhin2BOq7VNe1RdG-zXG6AKPC",
  "id": "rs_0d7cc622373a1bf3016ab43f86be2487d099adc0e288e2427d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.35,\"left_z\":0.22,\"left_yaw\":1.57},\"note\":\"The y-limit only brought the adjacent rims closer; because the bowl is held off-center, translating farther enough to align centers is not available. I’m lifting slightly, returning 5 cm from the limit, and beginning a 180° wrist rotation so the held bowl’s center swings from the left side of the grasp point to the right side, over the green bowl.\"}",
  "call_id": "call_CKU06nN77Y8HssNYgt3lJyAc",
  "id": "fc_0d7cc622373a1bf3016ab43f891e7c87d08e1e89d45fe40642",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CKU06nN77Y8HssNYgt3lJyAc",
  "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]: [-0.5728, 2.4088, 2.0396, -1.5406, -0.6624, -2.0487, 0.1209, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1206 left_z=0.059 left_yaw=1.3551 left_pitch=-0.269 left_roll=0.046 left_gripper=0.1209 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [1.0598, -16.759, 4.8889, -0.5934, -0.4127, -0.1392, 0.2955, -0.1026, -1.4974, 7.1863, 1.663, -0.0855, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71eb58017b20f264c42a007f09717a1a0d80ce7f8245169a878e90de29a79bda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91f5d6dbce37fa7c54f3cadaf8d69b4fb366ef3bc99179f38b8dd73bfcf9dd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08a7d684efae77fd2146abcccdae5a7e8a0b2ede6a9b8d4c7f1f10a97d79022",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.226 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 58 changed as sent

message 67 changed as sent

message 72 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.627, 1.6646, 1.0779, -0.308, -0.5022, -0.5068, 0.1139, -0.0219, 0.8116, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.3943 left_y=-0.1762 left_z=0.1139 left_yaw=0.0533 left_pitch=-0.1832 left_roll=0.0433 left_gripper=0.1139 right_x=0.2885 right_y=0.0002 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0629 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9624, 9.0188, 1.4774, -0.3199, 0.0415, 0.2808, -0.0068, -1.1966, 6.9812, 1.6484, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9798, 2.5332, 2.722, -1.2922, -0.6556, -0.8738, 0.1179, -0.0216, 0.8154, 0.5945, -0.4229, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.4048 left_y=-0.4036 left_z=0.1804 left_yaw=0.0362 left_pitch=-0.2159 left_roll=0.0216 left_gripper=0.1179 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0003 right_pitch=-0.0667 right_roll=-0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -12.3692, 6.0513, 0.1636, -0.525, 0.0464, 0.3248, -0.1162, -1.6205, 6.9812, 1.6679, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5728, 2.4088, 2.0396, -1.5406, -0.6624, -2.0487, 0.1209, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1206 left_z=0.059 left_yaw=1.3551 left_pitch=-0.269 left_roll=0.046 left_gripper=0.1209 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [1.0598, -16.759, 4.8889, -0.5934, -0.4127, -0.1392, 0.2955, -0.1026, -1.4974, 7.1863, 1.663, -0.0855, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71eb58017b20f264c42a007f09717a1a0d80ce7f8245169a878e90de29a79bda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91f5d6dbce37fa7c54f3cadaf8d69b4fb366ef3bc99179f38b8dd73bfcf9dd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08a7d684efae77fd2146abcccdae5a7e8a0b2ede6a9b8d4c7f1f10a97d79022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-Q8yavkCMQvURHdnodhGgKlD4QiTS1icA3-gEj67RsR7tgFOIQAaMuEiPKkdMJUagbV9p10fE8LS5d5JlwmPgWK8fJiswAoZdGhrih-NlO6qXuBKinyNVbs3dFjRrBvUKgh6SXlDoxNNB-sO-4xfROmWYtfOPMU3HwB3rjr1_QjGKOs15YMSBgH6nRgy_5mc7O7TxkIKchBqeMkR6s6xbxwV9Gd0ExJ7WfgKqNdaNpxluk5fk1tTqBk4L2YTZQZr3l2uRpWGx2n1yqA1xIa7-xKm0GOVoAUCkoj_pnaWTQUXW70TWRk0IGckScSqnMoL544NUw3nr2U8uSBTZAMvedRZDYZOl4BopBqNogFHl4Yod2IBh15HwKkFPB4dhqwOfxEHft87n-SBeWqyTlEFHukb-u6HaAxjs7fWnG1Ngu30e8xI7XXuH6AjfOeSxOCm_1qLCDYhWrGCXc4M_ScRoBWyB7o5smeJD9LFdtaKAEhu-2_h0oN_msO3lYHseCzMThLnolICoqTJ7LNoL3dTHJdFaTll6e_pcQSLXhQ0LGk5BWqyD1zMzIv-5v0XZk2-jpnb2ukX3mTSCrgu0Jq141YakAu4ppZzX-tGLvKYSDNnLzKDO5_fsieXZzdnPRcPzn7z4ikAr9kXwOi07SdEtsGnYEeElcKrYwFtDDDbrbWkpECGcdi504kaNW7pQmGnVPKxhakpX4PqbZd3R9bEpvZ5kCd86e-jZDexc28ywEogUj44y82LC0NHUAb74kSVhFDmWv8y_40MsA4tU7vbfP4M1B84XrYcO6Bkj374h-LpPdgsHz1ZaqVRfrkvaabLbUBMjyobzPb94d213_p3StIsEqGnLf6ejq5ZcBct59jFzkNoQ20SiZfZrjvHaZfVSPZYFdHISVMwcrJiZZnozum929l9PjTnVgqBn6YspPfcCe_MXtWVseRU0NgTlUX0V43_5M-WRyFCzC4OSe4XBKmIEqtrLqZACVR9xrsKrbJ93oyXFe4VrDP0VocZSatKiHaoiI_HMF80kr3EdsA5RR7wmQjXnCKm5y5yGqL3sSbdmBZCLZxwYgmm7wqTTN9yWp3XnyYJMdwMxmKIg0zWBZ-XnUKFu-xLxIKUdkE8uTs4gg8aus5R-8Cgr3MnA0l6czOVyuiW4kjaGFlKL7SuX3pCjf0GUfNm6Clt7JiUOY2LbGO50N6zLOpdWXTYyE_jFHArx46eVABMpusPxVIjRxqxyawonzjj_KDO7OkSsmnLDT6FZ1LmX0BhYWuK4ydckT-MHSDbnmZq_yyb5jmni_szR1FtErN4u3iI_uIqudTO8GaFxA6EcMCasxqjNijvHRA7hjMt18GCYXjB-ekV7iwRE3bZ70FM4Fbmj4oUM0PP1ZAbv5W0wgoZLoohZtWxK7emhNDYIaFGuvEnqdXvhI7dpNMdGEi7-AuSXiwdKbDV8WEdB7hbHhzPsoJundkZzBQd7oEXOiFcC2sEM3B8c2EIgpmcy0Z42cII9giEvCYjNjFxHxprkwwxxr7NW1s2aA3LCMWjQJQbs89_fr81rRVuLpTkU2l182eN84Ltm0mdQOFecjlmGZpnQY52XQBKQBWDd5VB0MYRc_KKYHKOOGkh3O_dczgkIv5BzU-SOOppwQ5qsDvGybQ2mOQDfcIygpCHF-KTogH5nW3c81TyJmZ51BombETp9v-b1LLtSel2lAxn0aJYcXyNbeN90OGqAC-N9nnNwXbNAof7U0QS21k4f8d1SWyfMNqCnkxZCw7iytsbps4u28WFzkyRJrt_68Gvh0u64GskNL8yUQ5e46ka3alcrO6NT_BNy9x0NafgJc224iYwY69LGnZdXY6I3IeHNuQco7FUry1dGzQKBe7AT528_E4miytPF-YbP2NdYZTqOUQusP1_GRfg--sTNz1rDgeMoO8RtaG4_S9mAbl2keaPzSUCjM5QcyXDzLnGFtUa_3GgJq-Kl6y4-T84fdDabSoyv5Nauwe-l8oQGU5wiUOrUgcfqXknReTkj1JrvNJPPofe_SiPtnNoyGoNYf7WVgngmeP8vMNjcs1zDspbEQDcoDqTGpdoe2ppT4LfOoqyTG7KeuCMYaS_VdJiF9qqrYfgjhpKlEnwdfiMDl0KybQ6mwu2ZuCa6RFmLLg-Wqw403N4oFuiOFTXRyVchA-mnXTaVy5JpCUamNfW1vH0VLqgQF8NLBF9et3bTLzZetTPbD7VO3ATWD_TZGU23rdCUpK3bp_Y_hSiTa4WH4FqLQGELR9a4cPmYJgRaGr4NLX3Z_SYwMJOK5-LYRTTt10H2hbfnymQML6Pdyv8xsDeJxqkGrZ9QpS7133RUk7nad45ipYvAe0gBIfws6kFNFjMK1VjKVHK5w2aT1mCUoF-uJ_rEwrgtF8sJXdwbklfG32SYrfDNEPms-zIZMQaBV_xp2bme7_VH-qr6O7naSPiyCl3gQhwmup0Qy1J-V9z90AZg46ha3jC215K8bi7mfdiWw2KgiWRS1sHM2DLmHVEYIYzWoBzzya7yHqgFBFUi_BJJjtVDBf-rszleWHnC5XAjvZhpJ9yheRK6Vs8qAWG4HvN-mWxls_CqspZ9gQQxvFu0J5hoYQmewdkaVQbZvDznS-MeLF878god3bj06m_km9AOELfrinxU6kDT9pzqUA9z-g1Acc1GQ7yK7bMlgxXhP8qC50UomxN9hD3LCHlsu5KFm5ZZnUEnEDNXrbBQ3iaKm_Ku4pzlynYno76xJB0lMv4E1cz34b4CmX5uvbiVPUrFnsAgt-ZREGxtrLp92RnHdUkmBJ_zykBImOhE4mEkOg3SAOvrwK_c73wRKmU0_d6aTXqYPwANGwZDKJKxmYxHMr6W6l21NkovjSRrzMx-EKtjx7FNkMlTtgY-vnX9snDHMuuFuEhUN9fzB7fcN44V7-S8S-Ugq9sP0eHU1XtzPVEHKR5pN5zyN5tYEa3Ub1PxevGtb3nM90TCrydv291DNhvim6Xr6c91Cm3L5U_APG39F0hy7dDO6Q7wjtF6NlqcM0nwYAkoeE4nDfreNFkd0XgakVWgJ3erJvjb-",
  "id": "rs_0d7cc622373a1bf3016ab43f8c1d3487d0a8f3a38e3dc30ab4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.2,\"left_yaw\":1.35},\"note\":\"The yaw maneuver reached about 1.35 rad but the IK posture collapsed inward and down to z≈0.06 instead of holding the carry pose; the rim pinch is still intact. I’m first moving to an easier near-base pose while preserving the achieved yaw, to regain safe height before undoing the rotation.\"}",
  "call_id": "call_mI7VzJcWh2VEFk5iSG4cgVKp",
  "id": "fc_0d7cc622373a1bf3016ab43f8f7aa487d089812d0378289662",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mI7VzJcWh2VEFk5iSG4cgVKp",
  "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]: [-0.6323, 1.9732, 1.6127, -1.5425, -0.6285, -2.0621, 0.1231, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3088 left_y=-0.093 left_z=0.1236 left_yaw=1.3158 left_pitch=-0.3009 left_roll=0.0422 left_gripper=0.1231 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=0.0001 right_pitch=-0.069 right_roll=-0.0016 right_gripper=0.999\nstate[joint_eff]: [0.4991, -10.0991, 5.5863, -0.5055, -0.5543, -0.2906, 0.2125, -0.0479, -1.1009, 7.0085, 1.6874, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a201b7592e71bcaf268e0301fca064bfae7334b7a13ef4f4fbede6bdcf28d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e499cc534e84e9e410bd9c7773e5def64cb7d956c8302fbce9303ce0991da9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7d29dcd28270b638cd24e4418867f8527d335f66ec8e371835a0d32f753c00",
      "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 · 3.087 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 62 changed as sent

message 72 changed as sent

message 76 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9264, 2.17, 2.0941, -0.9901, -0.6437, -0.8104, 0.1147, -0.0219, 0.812, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.3498 left_z=0.1864 left_yaw=0.0412 left_pitch=-0.2054 left_roll=0.0297 left_gripper=0.1147 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0001 right_pitch=-0.0633 right_roll=-0.002 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -12.1915, 8.8, 0.8376, -0.6032, 0.149, 0.5885, -0.212, -1.2923, 7.0085, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5728, 2.4088, 2.0396, -1.5406, -0.6624, -2.0487, 0.1209, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1206 left_z=0.059 left_yaw=1.3551 left_pitch=-0.269 left_roll=0.046 left_gripper=0.1209 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [1.0598, -16.759, 4.8889, -0.5934, -0.4127, -0.1392, 0.2955, -0.1026, -1.4974, 7.1863, 1.663, -0.0855, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.9732, 1.6127, -1.5425, -0.6285, -2.0621, 0.1231, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3088 left_y=-0.093 left_z=0.1236 left_yaw=1.3158 left_pitch=-0.3009 left_roll=0.0422 left_gripper=0.1231 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=0.0001 right_pitch=-0.069 right_roll=-0.0016 right_gripper=0.999\nstate[joint_eff]: [0.4991, -10.0991, 5.5863, -0.5055, -0.5543, -0.2906, 0.2125, -0.0479, -1.1009, 7.0085, 1.6874, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a201b7592e71bcaf268e0301fca064bfae7334b7a13ef4f4fbede6bdcf28d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e499cc534e84e9e410bd9c7773e5def64cb7d956c8302fbce9303ce0991da9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7d29dcd28270b638cd24e4418867f8527d335f66ec8e371835a0d32f753c00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-UgKu2mHIkNz8-PiBXlUZLJTP3u4IQp8s1KWJLXmUfT7afTqUNGRqQs6u9wW9qjfRl-IE1m8uDLIAnpMEp2xHjL08fsmoxwzlmINVhvO5amn3KvjGeT-mti4Rs-oD5UqKLi6SkWPPXq2MhgJzJulVcw7l-h0-7wszLRZFUEhGFwIzeHx_sZPOuspZV7uWlulZWBBz7YuA9jkXaXXFtGA72L7P6QL7uVKXost6C94R_XIkqZbiZZ9JaWwDOM7hqaP_2dFyZUX1XX1NlkFg1RuatRvEy5Jrc586gbWYePEjoOsTpswImrha2oa3m9638nKmjuisYwO7FWR-irHyHT86QLDRZUB9_vRWzvGGGV_mASXlsVEy6qg5BAcqc-Si4rPqXFplkwUO5mCso_jCmcQRh12kFeQO5koyRmev5EHtSaCzAUAvXallm9LKI5eXVW-Dkc_0DzNlTa4deJrH6L1yUEHXzuS1t3US70HhDpdmiBRh_wXc3We84QjZkslpxhlXf-uXwNRXKsvIkHG9Mda773qGNw0fBBsDPyy2aFwVCNRimd2Hmy7iHzLfkTXQWKrOTs_MK3qdwttdV5JKGFAnwlI57PtbZNOIl42ieVw1fp7zggEF2OskcTXBK5oLnGcNRfdBtzzxFp7rPqenL_LTr8e126nA7DA8Ppj89KDaX1iHh-fwAWAn5WySUjaMa4hNmB3aJQobnexAxDtrhnQ41FsBoD-AlOxLIRtcDFl4BHi5BGCV6igGZ0WP7SuZiy8ETW_sGDb-oXNPrsDFCg50ktJR3GHqZbTmwQptvCAGdLOz5tp--36AURQpgay9p0gisbpnlCgxZEUFGOD16LKMQmHPUAHZw5X-0S2e6gbk3VwbWDe--43d4Djn44hxSngtL6_HbF48gVbupX3vwU-KqSdf0G_djPVpKSvax_XFzirsCajzCIcB_LyMTlqh3-qo7sQ5k558CfGEcH_DierDa4tTL_KltpoNT5X6mdz0NF-zGP7TiLegILcq5GSfehtSfo53h49JHJfLoRVezPB0zktep9gQBk9HSKzoMMaewMMqFJFeJz0KT5M6-Kj706yruVWBXb8vyq5P-GnKwVI8THG2aWNxCT4WZJ-JrzwZTRWWspWiOi978joTfNGl4_98ZqdkaNBEEU09CuLb6oEQv4dQYbzEZZXNqsu5U6khr1Bhtn40aXbJ_o5ysUbnWnuDUD-mNY1abjqnQUc2ExNYGUC0pUMuvA1DmQfiMC80vhQbTyh3gmIEUlfosKp35IQRpFeDP5Hvwj47-hT2J3GHWDlTnG5BXVek2ZycgUDmxLmxSGfAwUXWomEWIEMS1jX9SBpYuj8pNNzYMTBYdOCrA38b7cDRrWy6gWh4ii5jr1hRnyd2aKZ2BZoxzzWiKX1DM",
  "id": "rs_0d7cc622373a1bf3016ab43f92cd4087d0badb0d23b44f3ee5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":0.65},\"note\":\"The easier pose recovered the bowl to z≈0.124 with the grasp still secure. I’m unwinding the wrist rotation in a moderate step at this compact pose, where the arm has better kinematic margin.\"}",
  "call_id": "call_IFKzX0br4HqbZxwd8Hhd6WFd",
  "id": "fc_0d7cc622373a1bf3016ab43f9312ac87d0acdd4eba231b235f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IFKzX0br4HqbZxwd8Hhd6WFd",
  "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]: [-0.6968, 1.5799, 1.4277, -1.3449, -0.6556, -1.499, 0.1245, -0.0216, 0.8196, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.293 left_y=-0.1001 left_z=0.1888 left_yaw=0.784 left_pitch=-0.341 left_roll=-0.017 left_gripper=0.1245 right_x=0.2889 right_y=0.0003 right_z=0.16 right_yaw=0.0003 right_pitch=-0.0709 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [0.1436, -5.9829, 5.4496, 0.6081, -0.7057, 0.1538, 0.1441, 0.0479, -1.265, 7.0085, 1.6532, -0.0562, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd11032031a0e0b6c7c8745c01208f6d99e3677f7fbbd5fa7ec9e4ea569b394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a66a4ce807b6ffbba47a4453dfaef23d734b92a51177111d7a9493b689b119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ea7db859dfd9190575d9c1fce8d6fecfaf152558f30e8b6a6aa52a06fb2df9",
      "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 · 7.602 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 67 changed as sent

message 76 changed as sent

message 80 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9798, 2.5332, 2.722, -1.2922, -0.6556, -0.8738, 0.1179, -0.0216, 0.8154, 0.5945, -0.4229, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.4048 left_y=-0.4036 left_z=0.1804 left_yaw=0.0362 left_pitch=-0.2159 left_roll=0.0216 left_gripper=0.1179 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0003 right_pitch=-0.0667 right_roll=-0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -12.3692, 6.0513, 0.1636, -0.525, 0.0464, 0.3248, -0.1162, -1.6205, 6.9812, 1.6679, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.9732, 1.6127, -1.5425, -0.6285, -2.0621, 0.1231, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3088 left_y=-0.093 left_z=0.1236 left_yaw=1.3158 left_pitch=-0.3009 left_roll=0.0422 left_gripper=0.1231 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=0.0001 right_pitch=-0.069 right_roll=-0.0016 right_gripper=0.999\nstate[joint_eff]: [0.4991, -10.0991, 5.5863, -0.5055, -0.5543, -0.2906, 0.2125, -0.0479, -1.1009, 7.0085, 1.6874, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6968, 1.5799, 1.4277, -1.3449, -0.6556, -1.499, 0.1245, -0.0216, 0.8196, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.293 left_y=-0.1001 left_z=0.1888 left_yaw=0.784 left_pitch=-0.341 left_roll=-0.017 left_gripper=0.1245 right_x=0.2889 right_y=0.0003 right_z=0.16 right_yaw=0.0003 right_pitch=-0.0709 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [0.1436, -5.9829, 5.4496, 0.6081, -0.7057, 0.1538, 0.1441, 0.0479, -1.265, 7.0085, 1.6532, -0.0562, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd11032031a0e0b6c7c8745c01208f6d99e3677f7fbbd5fa7ec9e4ea569b394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a66a4ce807b6ffbba47a4453dfaef23d734b92a51177111d7a9493b689b119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ea7db859dfd9190575d9c1fce8d6fecfaf152558f30e8b6a6aa52a06fb2df9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-XWThVP5EprpmIxFsiX2N61RUPDxJYSsyzmzkd1Gqshyxe1Do8z9V_zH76iZ44xv9W7zr1Q250-sGyy5-J7SJYdlW0JZJrQ3jUJTwE0nhCdnOMJ4bb2kMk-YjX8r7gp79JS4ZOQXTevtp4HR7yn8epPQE-C_a3sQSMcYPaCmks9P92KCHFOB1PHh8SaEnXcDK-epHrsSOyv_kmMsS_GJ-6wh52ia89OU7TRirg5GpDuvhKsEVLir7hfjIaTK6-0img6TSQsskaQPyxrWtLF1HwL-nALqsiLdu6Rc3g-Zvh6cDrXOBHp-s6a8LhdF50CNDo0JufGoxfzuQ9nwZgozMxiQhL0vfjzOL35Eh5nEqwthHO88oF2rvwfuMDyoa6fUmMkk1RtU_KOtZ0oCIKCFfnp0Vs2nhAQ6MxHsD8iELsc_ZDtBCT1RmaTF4cQV593WQ9HeNLe173qdMMY2F6E7Dr2ikanTTYu5YFEQJvygKJJYnpfLUjBxWn2n6DBO3NHL425SnIZBCmHsk7OWdWmvym6vODrqi1-MpZhREOGhELOclZvnN84fWjk1lIs1nLmXx4jR9VddZUdwWQ8PJusj-g6pmetL-GphUn5yDk9zhXw8zwPmCP2kAbHwnVNAZ7Fj8n7RHhLndxAjaRStBJfl6iUWPv9kdS50kG_1eFepDSBLzj9PDn0eTwttufB1AIrOBNlkrK9-qjeDrmgXjwei_YgH2X6fGap3oAg2H7fS2PwVqpV0EwMlNG37C7kMsfz3GRZ3EPsG0DHaaM6rv7MBJ7LDjdCEqMQiPc6DNgYllzOwE9P9PqwxLjUseveSA-w8QeMlZeUsENej8XCMz8dkSASoMT92hTgu36B2kNYU26Gb3JQBZcz-5B9kdsO1HV0jpSldNwJio6b05jQHkcc62P53asTAuMKyx7z-NwSRyktV7alZEnyARMIIpVhWLObw1D0_akxfKJf2y6brktc_gj9_f9WkAIWr45KAhiE7NkG_wh9azMMxzFo3qYxr5otBDtdpDlKsh44Ds6X2u0O-fB4YIq3ScPsX_QegkL6kd_hEpldxI6U_gOJDToOZ0peqLZfHhsnsUukuyu9bezCdUIKe4hI1WHDfD3Hc1uBNR-FpnEsEPWwdkFNYstWOrJYX3XiiT3OZwAFFVP2HXXML-au88TJxVvE_rDimVZYuHPABUHoq4wQhtOvzfYfxP34wLZlZ-ZnPb-znKmel69l7k_Eg==",
  "id": "rs_0d7cc622373a1bf3016ab43f96833c87d093a54dd5d40ab134",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.0,\"left_z\":0.2},\"note\":\"At the compact pose the arm now holds z≈0.189 while yaw has unwound to 0.78 rad, so the recovery strategy is working. I’m completing the return to the original wrist orientation before re-approaching the stack location.\"}",
  "call_id": "call_fhN53CCXZDZaLvszGNamuWoI",
  "id": "fc_0d7cc622373a1bf3016ab43f96ab2487d08b6dae0597cdac82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fhN53CCXZDZaLvszGNamuWoI",
  "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]: [-0.5335, 1.2133, 1.1194, -0.9966, -0.3996, -0.7292, 0.1261, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2819 left_y=-0.0825 left_z=0.1898 left_yaw=0.2353 left_pitch=-0.3858 left_roll=-0.041 left_gripper=0.1261 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0003 right_pitch=-0.074 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.1846, -3.6991, 6.8034, 1.4676, -0.3199, 0.2369, 0.149, -0.0479, -1.6752, 6.9675, 1.6435, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ae4fa6bf2a4c4918a14689c68e62808945ae5ba403348658b0111aad68b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c280b53fac2264ca4a0b2e4ed23e24fb2d2d67acefe1144b9601bf0d055ac726",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44369b747b2cb1b27e07aaf56452c329ff49376025ff69eb2f3faae9865fa82",
      "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 · 12.77 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5728, 2.4088, 2.0396, -1.5406, -0.6624, -2.0487, 0.1209, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1206 left_z=0.059 left_yaw=1.3551 left_pitch=-0.269 left_roll=0.046 left_gripper=0.1209 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [1.0598, -16.759, 4.8889, -0.5934, -0.4127, -0.1392, 0.2955, -0.1026, -1.4974, 7.1863, 1.663, -0.0855, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6968, 1.5799, 1.4277, -1.3449, -0.6556, -1.499, 0.1245, -0.0216, 0.8196, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.293 left_y=-0.1001 left_z=0.1888 left_yaw=0.784 left_pitch=-0.341 left_roll=-0.017 left_gripper=0.1245 right_x=0.2889 right_y=0.0003 right_z=0.16 right_yaw=0.0003 right_pitch=-0.0709 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [0.1436, -5.9829, 5.4496, 0.6081, -0.7057, 0.1538, 0.1441, 0.0479, -1.265, 7.0085, 1.6532, -0.0562, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5335, 1.2133, 1.1194, -0.9966, -0.3996, -0.7292, 0.1261, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2819 left_y=-0.0825 left_z=0.1898 left_yaw=0.2353 left_pitch=-0.3858 left_roll=-0.041 left_gripper=0.1261 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0003 right_pitch=-0.074 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.1846, -3.6991, 6.8034, 1.4676, -0.3199, 0.2369, 0.149, -0.0479, -1.6752, 6.9675, 1.6435, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ae4fa6bf2a4c4918a14689c68e62808945ae5ba403348658b0111aad68b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c280b53fac2264ca4a0b2e4ed23e24fb2d2d67acefe1144b9601bf0d055ac726",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44369b747b2cb1b27e07aaf56452c329ff49376025ff69eb2f3faae9865fa82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtD-gRm3EjyExZWBAKDIjqf5AfY65syvsd9DGPQNOBPrPtvkW0jGOA9TjTePoimNszDRiooQOTR-Cv33AtOuAuyk2PXM16QoC9Lr1GINRFDUv5wbDniAQzZXhhaTqm55ic9K2atuRLESmadPds98cAZMFxu4Q4Fv7iueUQNUw50jC5NmnRIneUCXvIpHtB0dVQoLQJecWE5ezip4IjRKAHz41eHw-yK6SNUiADb6nPKD2pXHUBfUqQ7Bpxp2LO-5hq_zqjTlyDUXOBbXxXYJuUFBBRigFOHz6ZsqxAJPxqQYIFgJr7gtl0doSsY76OBdmweJXScqtqFyks_dLvznCdTkUrIzQJ3uCf1Jy5LI3SAL7PnxC7h-8rNSQk2QlBo8U8WHYKBVPCLi-QrC6AKcuvgBOp0P7ZbBIWCkfa5M1Y-2SNwTJs7p7DLFfrsNI_KMbbc7oNY1qzipoP75zIX8nX0uLZDfzDl6dR7-EqK1Gi4sRiRDKihFpqiecXdZnzeZ8OoLXFXB2Njlpk2hk1DJm3QV600SLAJIcIaeSKZP4gsE5lID-SjFs2kUJxnRcQ8slyJO1DfpKlmArxDZ7lQ9gtDIn1pTjbO-kk_6RnkuSH-ebIinWG9Er1Phxp4LSACbCAdx5PKG_gdK6Nxa5Vw-KSbyEoDLmeK1X9D7a9h60TM3vKU3oenRpV0EAsHZQ_BYbQ-R7IJjy5VBWLwkEm038yLMcc_eEyekIyMrlyGL4YqjgS_AjzR8vaZTKHkIOxFQx0TWjKEO8FB7NHA-aL8OsOapIa2Y3W_Ppz4_VBm1-mTomHq4OjvtTxdR70CIxEqz5jcWPAS3K2LI6fPAE03yhbxzemFZHBYTiWT0ew9sGIKkq4uo0JcTp6I7lVhrAqBvdfDxosDofFulfaQs_2wzVjcK_-gciZH2JxVlMEdCuUSPizf8X4qE3Kol1NZ2LK7wpNz0P9dzAHW4DmO7lZS2hV7fqawuy-ejC7SIf1SX_sYpm2KLuzHhCscxPxqYzwJ0-jLNOcF0O3p3PQzAetkDSc1O1JK5Tcku6BF_DeK6l1dfKCiJ4iQA6Fhzv6fm7lgcSnA43fiUPECnyrQ0wZRFYKge8mzadG4Tp-D9NBZuopaZTvgiz5B29Rc50LHnjr6_dfamPtG2_NRAA_FpqKDtbZZNcYmTOhu8C2QPWSX-XfC4TpI0Vr7uzOdYYP_OuKH7ciaENxGrvlvyUo5hWXPwCIeKKwLq15FXWqoyJPIyzeVwCsBg_0F7XSEeVCmHUJ-yV9XQBKVyLzMvIiXsowPsWDTxC7THEMQJvRfSG-U0KQjW-qCL2RJqrpmgLIg_2VD_4LBZPgz0HMWtJBuMQY6wMpHsskNqPc97wjDHhWrIH2m3o3Ts9xgHnZ_YmDf1ULtG8m6Q3Fn4T3gmmjiZz_iYeNkKREpK5Apjx7QdkUAdfxMCCPAYPvKD07MOoaN3QJfLbcpAX5WBURu9ugdynBNnwXK2ryvqS8XWwY4svxhZSbFg4F71Dzv41JjQNDoO4oVmf8j2obpBlTRK3fjdxMP0fceQ94BxC9lGz6AQkIZXc2PilL0L9fo-UwOjbNUspixKGzUe_sX0dIFuT4Ia_oweUYs1erjyCwgGlihI6omLlH_frgr8ynZpkx9EEQr33i477XPq3MBfHXonZ_A3jlGE-CCwJYk_8Ko7W96akQOAaThtK5-pecDYDBiUwWT-CukzpnmwjvrXcENQ_0mhyDbjCquXHPjBYhM3YMWp5t3XwO8xJp7rLkfy-SKVjnVqHZd1rPB76YIOGQy-S3lVzaGfFpr04KvJkE4DYe91mWoThtEy5UcoUw247o6o_ahn-C7Req6_NVV4aHKCEWWbrEKZCL1WCYX_xzXni8QYaJK_e1txcShie5QAhs_7mc_LoeR76e-Aqs5YXffXjZGab3zKS4ZUM_z7xM7jzz5Q06ELDUDvQHx0XKeh9znKubimoScx_ZpGoOUkp7goGFMDnXkf2P3u-RGYMIgSwe_lZAN2ACdik2UmS43AGfNxCuco0aqGmWNwctovH-KiBRE4k5O0r6ZNCotz2TEa1JFkXC55PTs_FRkkqBAn0R_TYb1DQiZXicwx4B4F2ArjSE8YcB39BV2F6OGq2ZdZjRhI7fApNoca_5HJw-wmn-vRYxLV4ZvzRfR2McaTuDSMlkbBSvVgHCHFtNCzyO0i-ozUQtmZRc4M2jznfpqcJqYKIlrFSKAXhdvzGMq1VYDqZi4Exz2pGfUmpvrpRVXzK6JWYeQTOY-Aww1zOS-bfzw8jaqi870KRDjdx9F10VdfhndMiR_67BChh-_qbwEV7-jPBVwndWWBi8noumSjJIshqXZRTofXyXwLaIY6kkJV4YaLCxk8oUMHstAOd5y9W9Hh9VxTaRqg--squgn5AizuoiGXdzOY8YeyJd3LSJkrcJrTTE2NQsKXK75akeMENf4oDd3JnKRERI3ExBEglOHSs4m1EqR_b_pNUmFFLl1KfYevy2KlKekwRuWM1o1OM52Q3dmwIiPIZxoMD1aht8O8GePWSb_sF4ul-Bx2_IFkox_GB3IlPxjCJPLLxvUPldOf0FFCfMPEWAWMapU_J9zkdSZMjA7CLx_l5N0GDpf3PhX9NGSTNjUYvtd7qZKzi0q0Dv7pJpz7pce-Ldu8N9eEG9M2yGHX4lf5rcxN7WHC3BxBXvIhc6EkReS9gVdzuUfRyd2TCuQGGWRdPCyiTWZ9_3_SdZIjplMJnDdRuIu7g20AXbGzyyjftJshQ62ufOg8EYhZ_ehJeyCxrLTVK6mlgtfs_YTQGIjAsRjuwlqiyJJxleER-de-AkEGx6lIRXCh5h-kILeaxpazsMrf0kNpCdmA8BPN8mmdHjDeAtqjFFBe8eTkQCWfZitm-Uvuyy_yui1r0LbKLYuHOAhcSnElJAce1a4OniBDpwgr0FaevqnzR3rLi751LJDO7W22uyEhcNIgjuAXf7fFzGkWlIulHhdJdwOwDHM5f1jecwKntE94Ju_ZYfHySDtxWdroo0GhWMJ-Wh3ijvLtC3EBmAOJ4vnqSoFTAyn8IRvKAmzXSBL7W7oh7bd5eh63KvHQje-V2NbaTMo7VgmoPV3pDOqEqVrrfaKD4LrvXSz022Ai2JvaYtA-algo4Egk3ydcW8Dcdipx_Qk5t7dW0A6q3s9op5lmndmuQTIKsIAmnWdAgs7xbWh7qO2l4Sj7ViyBWut9IiuBHgJl3oIYkV_MQxk-xo4LQpNrCcTv1V6rNiKr2Wnwgl1PcoIM52FEvdPvb6yt798G5vbguk977zBmNXkHGNujHYJ7mF1NTMBb_PY6Xv-yWo9TWIQFdz0hFrpNyl1mSNebgJ44tEzFuJ4HcVjkTAPkx9YP-WeDyk4En588_NuprAWrvdOv3hlex_QiMq2JAUIg8Mbr-_Mbx10PkR-aPsWlAwflSrnzqYmIDf-5JBrM0kVNrla13WDDj-s5VeWGKDRfECRD0c3t561-iv-BOjpA-UBfQcPj7the9hEkC2_dDinoys3kva5djGECIFcl8VZgPYtCOpeBQ1k8qyTiMx_XbakTaHFcOaa1-5dn28dqfx3vihnthzWUYjllee67LxKANwJvZwt_C4fbclx2_3dJi5EbK_1ez7SnC4JTlLpCcbbNHlzxmt3sebiaFAmgkqLpoh4rBzyD4aHfhRf2JGeN9jNH2lh9CvyC9g_9BUi43LEe2hN4MAxdLCgrjIaUUHf7awtc80cICSmmEOe0mN3lMw-auQ3AmidRlmbhc0EEPqqxStSMfEMcwXERdQaC0OVrWRiQLE57bzAcRuFfet_V0CXYPefEiuZAAivMmQUUa24Hkm9lRoTIIihytVf3eELKRPKDqW3_LK_jTzlt00otXeASbqW2zSdbPKYDrdGhllZ3PTQePstSVIeUlMLl8CSb9tTAEKcywGNoDGED25wuCHjpKWFfAPJTUaCKmY-aY4VzqaiU2BiGf64oWlvzEcrkqibSA-8dnGBzja-jxWpgyhoc3hbWkY0pu20EtXT_mAM0CduHaJuS_fxA2i0Gz-vMxPQNyvl83Evj1w00OB8-fgO7NVYCjuHGiSMtAGrVjOCaAa6NM8l1tJsvqnLmBrDnm53jCk_P9YNKh1j2lOvLNLmOfoQRp",
  "id": "rs_0d7cc622373a1bf3016ab43f99dcf887d0bb4c7ded8beb30ae",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-gzSD4jVdnq4-gEI0EspMYP4VFVa8PsykqwfZ-dX61SzA7MbzEVVEA7EFEmZIk7rzc2z-yciTpvBNohxyijOx_1uw3dV2-EA3tiinoHQMKQkVcSMW4SKAn0AnpXs2w9vFRKLt68Yuy3doiZ0VdLArsPYBgZ-505cKkdeTcfHXH0FtuGShgZuDmZPc0dBFfZ-ZECosMWFTOODySO6o-0bKI0lIPp50g-ZVlN1oamo-sB-jvSqu2ZqW9SRTgm4dvU4qwhZWrnHaZ59CWdw76TayaL5GnRDduv5raMswvzlZ6QOZ3j0wWqzIVCY2Y0fo1zxiGYgIPdcqA1CLCTj-XVHpxDhn3XDEtgGEDhUqWWsYYZ6pi5-JG4H3pP1OLWZNTsnrNFVIWZvMtfuUvcBTrqZFG84UZiltvvSy6QlVzHjAwHc63svb_7uqYAr6ZAvK3XD0_-vT97IzwDBgB51Stn5TN_gOMenc_uf-r7um6GwTW5JXE4lLMznvwrl6kELGk7EfNaN8vGwnEz6hGMvTCW8-42hV2vGmmZYm-23_O6aVosMtj5MTHHV5LE7qVAryInMVPViBBnkPnUwMTxZigb3hxqZjoA5GqlQv4ENUfnxKWZC9D9iU4TB2d1HBfcQ58jUUiasXcgnTpLiEcs63ddqIe8aSbafWU2GRieUSMDniLgTlFC65PIdLeaEBCYCKW3uHbMnmwxZxnHyr_PUTicGWMZuukpgcJHwkqceULCzgUbhA9I7gBBYOySPRq7EvmILYu_ijM01ivdoFT80r1AHeRVyfS0mgQ9wct5-0vhikz9DxSP_qBmI-4_huofA6gCHl52wTZ-7MOoC236xMnSEupqWx8Lm46Tulp0ZPF9KZl4vnS-M4q2brPf_5qU86aLvdKcu_uKdnRfp5B9jBSaXPHgw1eVH-D_gobME--WBbhaj70nlSyfW2OJhdb9DqZoCsK2Wp8X97ju5D8VGgCXKfJPPk-Jxc3gMsOoTTXoL25PDrQUeni7EKj7K8gq2v7-Qcp5PcBo2VHB-enHetFPojgw_U1ghfbTSOCdz0w_uJY0CsSCI4n3F5aj3LN8o7kxdNgmHPsrbnYMEMymIm5Sh_yvTFQ8Aprj6TaQb7VGTAd5LpypIdb45ned8df1xcPv74moN_o2mA_-3WAr0BKdhYYKTzNtzbov7VRqs2uCfuUK2hA1M76Y0HdKnNfwAJ-VM4I8suRM22KH-EkobRkCiBfeKgfJ3Z725JEuGdpUYYcDLrCl5x1ULfWKg1dBsXmcGUzXg-F5bmiuErR8DQwU1n3B42fUx0dDdzNZiDNmqUYbL9cPvgfRmPp1UBSx4Wd_6RA2Oq3Ng7FgegkHvM-zpfNSnn66crEni_buJbfKoUGcwoeOAGxAxE-v3kOpMFeWGBftbxXDZ4M3kU2vZv2l7JuHd5BfILNUN5LtRGvDT95hQM85s_-EZtYGL_gDZvq66qK",
  "id": "rs_0d7cc622373a1bf3016ab43f9ed08487d0bcbb6e2dbc409171",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.18,\"left_z\":0.22,\"left_yaw\":0.0},\"note\":\"The failed rotation displaced the middle bowl leftward, but both bowls are now side-by-side at the same radial depth and well within the left arm’s lateral range; the held purple center is about one bowl diameter left of the target center. I’m translating roughly 10 cm inward at safe height so the held bowl overlays the middle bowl directly.\"}",
  "call_id": "call_lbppZHkLADehnEizTIxo01kW",
  "id": "fc_0d7cc622373a1bf3016ab43f9f4fc087d0ac01fd2ad2b3817f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lbppZHkLADehnEizTIxo01kW",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7731, 1.4021, 1.3365, -1.0775, -0.3904, -0.7494, 0.1273, -0.0219, 0.823, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2791 left_y=-0.1734 left_z=0.2038 left_yaw=0.017 left_pitch=-0.4292 left_roll=-0.0194 left_gripper=0.1273 right_x=0.2891 right_y=0.0002 right_z=0.1591 right_yaw=-0.0001 right_pitch=-0.0744 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.4632, 9.1829, 1.0623, -0.3443, 0.022, 0.1197, -0.0615, -1.388, 6.9949, 1.6825, -0.0513, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6972eb3745224dd0e0acb45982ef47c4eae4628e244a1bfb0c5685a9a3d9acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18724550ad357edadefa8e3486e031964e651441f3c87d084e2b90311ed4bb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410a07d07e4610f7d012bbf35758290b4ac89ae78dbfffacd2650905eda3ba86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.078 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 76 changed as sent

message 84 changed as sent

message 89 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.9732, 1.6127, -1.5425, -0.6285, -2.0621, 0.1231, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0269, 0.999]\nstate[eef_state]: left_x=0.3088 left_y=-0.093 left_z=0.1236 left_yaw=1.3158 left_pitch=-0.3009 left_roll=0.0422 left_gripper=0.1231 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=0.0001 right_pitch=-0.069 right_roll=-0.0016 right_gripper=0.999\nstate[joint_eff]: [0.4991, -10.0991, 5.5863, -0.5055, -0.5543, -0.2906, 0.2125, -0.0479, -1.1009, 7.0085, 1.6874, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5335, 1.2133, 1.1194, -0.9966, -0.3996, -0.7292, 0.1261, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2819 left_y=-0.0825 left_z=0.1898 left_yaw=0.2353 left_pitch=-0.3858 left_roll=-0.041 left_gripper=0.1261 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0003 right_pitch=-0.074 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.1846, -3.6991, 6.8034, 1.4676, -0.3199, 0.2369, 0.149, -0.0479, -1.6752, 6.9675, 1.6435, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7731, 1.4021, 1.3365, -1.0775, -0.3904, -0.7494, 0.1273, -0.0219, 0.823, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2791 left_y=-0.1734 left_z=0.2038 left_yaw=0.017 left_pitch=-0.4292 left_roll=-0.0194 left_gripper=0.1273 right_x=0.2891 right_y=0.0002 right_z=0.1591 right_yaw=-0.0001 right_pitch=-0.0744 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.4632, 9.1829, 1.0623, -0.3443, 0.022, 0.1197, -0.0615, -1.388, 6.9949, 1.6825, -0.0513, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6972eb3745224dd0e0acb45982ef47c4eae4628e244a1bfb0c5685a9a3d9acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18724550ad357edadefa8e3486e031964e651441f3c87d084e2b90311ed4bb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410a07d07e4610f7d012bbf35758290b4ac89ae78dbfffacd2650905eda3ba86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtD-tctKXAvWFyKHh6C3jay6fJZsgLL1K3kxDykF74p6pM6cM-FzK2REYomq8vBc-quGhTob50bqLJMHy1J1K01Ev18vlDX0xW1XO58UOgEIigNtYTSPB9nOUE5HRUcc-eiX4TmaDb0RzK1YrGZNxBJW6MO745w-f61hbR4c6SSX-s1WYP7wp7qh2t0QGUHIPvqtTIXN91pj2TCK5-FkQQENe0RzBiCy0UqksLIp5mOVT1mKejUInnj1KVhuGqIc7uc3wAzGaSv54jtsjlF1CrRMD1tU2ccjBjVcBqwLfr8G-BeW2ddb6nOPuadHNH2ARKImgaqkepiy2D4tl7TF6fizJL8cSyfqyhUZomjr2W5KZtFYUdcSu67dCr7l85GVG6QiE-m9csJiCLACdTSQwf4x4-ctWvxESzAoWTjr4JVUKLV6ihaml9P3EYItIZhn8EzFo2Jqi59VWfiL8ZvtqqHPGzcx-geZWdAfc15m0hTLiSkC1idbZ5VWMjsiGCZ5Eo5DnhfaHloQ2mhuFwg8DvpTsYtqDY9PN-CUQPSR1A_LUDIQYZ6T94_cvCtzyf2VOF7ax6M7LNaK5QLqABpDq-XwR2NcZFBx7gjL5Z6gcyC4o5ttmhcqqAtH-0sYyiC-QuEE3ptoDFMPwY0dyPzfPuMkv71gI53FeSiZkkFWgujCp8mfED9rzodpD8bZ2p-RStCuL9cYLbfEyknFYOZAXss2fot2Vtoca9Skiek-NEIM9VJh70p8lME_xawPiWoi7mhLzDdvLI8U6fAS9Jhcg0J389WZcbLIqsQ83gG12k_Pkacie0bHbPGEzdFUcvtwNz1Y0vH_JfgT_JRQcZNy9BvFYw0f9azX58MdgoXZAyqOcOn3byaSMC4eGdMwns5ADYwJvsSfm4s9yaIw2ryjiUNpXbXrDvdBjKUg7XxjyxAMu3WZWcMU3iKBO978jcumySwCecmL1_v2OzClnHuRgUihrHWgx5wG0glfA_Taauu0KF__WuG2YjZ9ZXDyGI5KdzkaDF9tUdVa1D5I3bU0PpzuywSc1gEqjTGildj1WBLg0zFcyVwQgEk5Aw4LWHu2GfgnEiiF_02d1JFlkbt7CqjBE1127bnwhPqTrCxm_UU-ypvxWY6BD4WZQkZMo_fcSpMD_Mdx5U4laYgsdBoqX_mb1hz2cTECZVDP6E02qz4SkTdA9a0iy10KOW0OztxbX2tcFTPZyECLbXWYVX4Zph_MBcseLoF6OhF6lxAemVy2bEH8Yc3mDnkvl2mWGHDKs5QSUz2hcRSdT_sTz-F6y4yrpyzmQXASjjCVyCtsjvOLWyVB4k4HFw4FFmfnnIirIsNAWo3OHVb-sSBW7iyJUbu89P7OMeQw0L2rUnosycAcgcM4rTtEfOfiN_VQHvePMgC01RTilp4JUNY3P_uDlE78t60IVAd6NU2r4hbSn5JIJ5uly9_mD5S8YiBi1j3bNNuPBhp_lNay6iqvjaGXlcvexOhODLJ81VhricdMaW3dPpkl2vnhRTb6IIqCMTsK_nH5Rn2E5ZgtJbr6iATOai1Wd9zMuc1r2RtASMtO6OTmld0oGhJYydn8VJgRqHuiKf6P0FjDFUJ0RnA7a0tbB0eE1mzk8XD-eOyy-R3iEm2N5gxnKgipqs7I7sRWXnxCKawyqWUkAS3sE-jSLpNI-huF0Y3y664GacU8YTziX0YhZOxK4WYkZ3nM9FRCjp7yka9xaM9nXcn91t9n9vC-GCsY6ac7NzZEGaXZv3znY9ZlIA6LF2Hnfz_LoNvKwH5vugYM0fbgMNrU78geBKDg2h4Wioc7G36SPbh790KaVEwp6UIiBsvpljA09HQL421-5EjV8401LhURNOA1wS2BEFODRTCIKCVXHQae6p0K_w0rVgKW58g5UU1Hw6Abx6j8Y8mGTlUIh7L6wAGUuUoYmNKHWNjK2w464buAaobg4Z-lv5nvGm953YJMncBnEgZHaHNqfyT0Yv-Jk0bGxrk6fTgdsT-gTCW6CcxbX3Hyhhrgv9_PNGolFIsua4bQaTG1tCYd2WLXQolufsLmw5PbzpofNnxh37--gDxu8DuyLhJIbsqvN8UN6GPrvHrOEPmy2t7EZAKxa28j1H33s8PMnQ4sncRQkbcPNBstSUJBwBCuBDhnTLg-ap2im_Fwp9cX47-7phZJ534hVN4me37L7y4REMFu4h-_gH6B8BPdvXXo2s0UJRnI1h4Uz5sfydVt3WfVyhtTdDMsqNmHTOSMT3Qe6F4DVH4eLY_1YvTEP1_MQZn_UUeAUHQRjXzZxevr3uyA3V9KeyZHFftVSyRSXSNGRCLxVTHouoCqKvl6ghybdsIr3irZxQCWvyFosgzyig2X2DWGLZ4d4oxj6tE4HUyZf2E02Fe-XG6MktaB1Vo8EAfnsDPUzFUXQFO8WiczvRiqGJi0duClaeNVM6R-dBfyVN34O7InDFJOCcIEMQYE_zNDBtnl92QhZ0OV9tgD9m84msQel_90QN6mV2-Z4bverqTI9NRBptgC7k9TlxJS3Wc2NjhAd103d5IhK-UVAX2h9npHSYeGPoMrBisZz2QPKJjb1vwwxdmKB1ejwXttR9iYyIySeDIRYY5yxxmUspTbo3mco0tMWGYqEsgUpwIwzsmu9z7HgJ72aSZP3Bxl0Cm83U6GeyM9vmdQW-bynQmvRh-a0ACb1i_5nZc5MkW-oUHXwnSlGJWhAYGUR86AC0SxwsPTzdkkHYLHAfmU8fEXm0Du8-nbrojLuVvg9ZsPfx-K1diXYdD9NJDAGRYOg2aAuwuMLOAtjClKTORVYaAn_XwhHod8Rj8i82eBv76EkpwkSRNexQumIZ23LN0zNAhfmYcyj_8B00L81cl7dFP-TztG-dKzgmfzGZ0oGacqxepPXSf9ZXzDbZtv2-lQti73R75_GB9Xm_ihhwRDYgr0LAvDgIGRR5ARQd4SU9Ivewgl5DlhrWFMrI_KLMarHltB98496VcLHtN0ClR7s31NVq8La4X3t6-dSRSsq2Zmaf9ytvo9euFcBwGI45nDvbB30h2BlR5tnG3CO-lpDEOh81dl8y5V7XLMqnEzUBwlXQymIymar1LwydUXv0-y9V8WQrz0V34HU6VjMXyEVE6N0vbCI3XAAODKwIyddb9hJ_RzdHHq9bCg2rtDm9fFDYwqLalPsr4xb8NGFVfE87sd8gjMFVI1Hyb2kGZG4kFeJPvWTA90rmfWDXimv3RkXyZbE6fj09sSYBuUMMlGtKcw8yuwM4vd9hW4emxBWatzAR7GGWLFikMkVJHOTO2OU7Iyjb21n_n3ZHB1FyFBZTGTyHlxUPgsnU2cUcsB8Bs7KRLFReoehDF5HB2ukIImadCIFAVOr1FZwmkPJlNci1NantnOdGTLCWIj5WAroSAjGcwADgYEBqvUoYsL2mHhVMdOXCU9PU2ovC1L5UqdmBhuuT7X6cAHKLG5HqsVM6Aw_qu5MhsBPIY_gskhKyeeG3L0eYF_tkusbXK3W90hQDK0xrbm68O_WHTfZTu-z5ViGMTnm6s4h6kZfHCXSeE8opaK-kQOPl8F-_7x58k_W2kCIfVZaMEgB7jdI7vW2fvZxIA1pj7JD3P4cHFA4YlxZ5NeIOv5Q4h1UCVQ77K_fqPyM1nwJMRMmhg2CW6tsfQma2jPFg0yS-87Oqk3ei5vvYFDvc4Hfy6f6dMMFF4Y_XYLB07qkkfRaPN3leitrZh-X0o5Rbbur-W8Gw10hfxsshZlu75Ek193ZcqB38tWO_rjANp968h2CjYbR0eA8LY55ShlApAyCIh82DaHde_Rm-eiFZeH34D15L1Zg3RsGA61Jw6R62hyWJRz7wsZBWh6RHdrQyjg4lidaB7GHNVGQG_0PkOQyWO1wF-MHf9X_jH-pG5Hkjb6dzcRQBfHfwE2GGXF-4bf6W9cWnk8KOTxSUeQZw2uIA8BGQkWYMP6L6Ei_FK-2u-p87n3iViZ531inRkpGBPKeTesNp7Xc6txk41nInERPcnz5q5yUsCmav9ERvZ15_A7xZBYyrWtIMOJtGFUCu-9YQk0cKg26fS8fa5Lj9RAEuWCpTEQoXKJ1yjGW9ZRJjpdE8ZvYwZzTHMF2Ea3y1SSCB2C_YE4dVUljw3ulcFQi4XIfhlUP9hLz1V1MWEnErNwUoy5kCclaakgvwE350di42T1L-6VQAIMfWqZCh5grJBOKU2ymOauijMq-mIobDGy8unJl_nX-OCuiOPwJZX9GdAXV4K8z9R_yudHGymqB7BUuvfQZz1PhRtx_3n888TClbRIPBQm2BUB0cwt4JyZfGIrtt4TCf7NB7GfU2bAVdUGz1LFGjsgfmfjYPnw8IvO6JYQt8UMzzTH9XLGURRKfMwvYKp1qnvUzUkT7G8n5b-lYEs_Th9QtLh3sRxb-MUqjn6fZ3V9GUdqXEaP14-Ti5daq28X-cjQ976O_Mwq288t18wjbmAFvvL2UHHb65L0WVHFJgj8P1sYK4Q==",
  "id": "rs_0d7cc622373a1bf3016ab43fa25ce087d0aba85acad068918a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-t8QOPL7LvYIAl1QqIoOVwAGhw80IW9jF9uzfesbg6OvROgH8VeW_fgwmXDbflgu5kQffDyM1id6dV6BRpOFEhArGJOYVXpOy4N8H6Y2ELN3JuOfwDQIogR0XW9Jh1R6GrgY0u8qjvy22_WRZ_aLtXi3UdAlSIEIiTKeRrwm0q9vmmEPzayl7aFNoqw8_8sJn0pT0ehfxvnU7lLtugc2PeMM-kl13EFivoV7caGE9GsPElXSCOIz5QqWn4IeV8Co75i5rIcYOyOUsy8fn6Cc04Yg-doGj97nRGUiz_sks1CCk1Urj2K-F3-wDs3FgVw0mClcGzqlnQB60H8ahpVdexgmAlVA4zOt6KpqMPnJtRmN7BeZ7NDhnU8goZQSTeySRDtweXwvV5H1lIqWdw-gkUGCsqG5cTpJeD5MB5x1wfY75L1E7XSz37bBTutUnYj2cVZPTFeUFeVE0UYCElBEBJzcNNZY8HdthtMwcSoz0HVAgMkIZqZyKHdQyQn0ZBNZk3-PNmptVuBwlGh_2Yo64wHjkt4dmRulNlVmBj8FK9hPUH4FjNU3YciivKrzs_CkJGaiKuKfUhRZ82DVFkdcSgWaPCZDUE46LFAqsEINVXGmV51vnDuoJiVpVUPtjOGt0eZa15V_uy8gm5uRmpQT-m-EUMVnsKpgwNUDNwyl0lFnGusOErD81GLTmLoVoLr6p1A7-DH4_krRvi3g-wOkrCbK4n85S_-7uRaEy9KPPGkFcB5RVBiZBNT-QkHSqR1GvsdrmoqatPlNgArzyBVEK5QrRdGemw0msKPmlww5tEiyt2cy6RETXPXspSo1L0QVI3RezIy2l4sazq4YwVBLDRoYlpD3ZxbUqKnVYpMewMH77oEMm-TlcGhOnxtzF0CiM3wW144ZpvLafRi9xNW2c2RINWikv85K8DeIR3WLOrnjTxauPTjbjqrQn5HxfdQy3iBihQ10wZqRRq5g-9m8f8DzcOWnUftu308P3QRBLGsXo4WxGLvqRogsmqTZ8CxIIoOV_czf_swDLS0gl6Y_kYwxDdbNFH1M92sttVivhDE8lD-cQ7BGU1BtH2DQaigh8_oL8hoYMUUEcQT5HAnHBkiHbKwa8zA_YMFTUh24GrQNFyYlqYI_Hi2nk3I1CxBnEq5f4B091f49qKCmIUsxbaU3ZABjRbyYIy3MrC9FpbBIUHszD92C53M73LVPw-ZongGRJaYl9b48Prz4walNCh2PM1RlQmxIWUMZzBN6SHLpCl1DTz1Ymz4K54cgOPdJ10UBe3DBEtAA9H8qrts9ueg921qkRqupyrckISK5x0RyPK-xl2i4IjdG0kBq2uAeurfsqafVwM5ojVVe9q8OI8qKTZSVdsIMKDHaGIrYOaYffOWd_zSSb3A75AGMyfSNVrcrdbQsLwMYeFr_xi6LOIUuHwloereRDg2phEQUs_JLl_6I8qdPwOvmN4FReSWXPjvyiT_AGdz_6t0SDqecTL_GsAzreNIbXkpRrM9rs23GTDEDMNwuzeDFGXj6Cw6QUQlxkFy89sBoCIyFFfDs7Bzinc5YYA5lT9JupwSOKL72FxUukVV7a7G4vDB6kYgaKanHYVwuMIMCEi-vqhbJTT5mTXvWlUox22AIXOjlpjtkY2dPh8OVLeP72JwFDuqWb5Er_AXzhikM7NL5Y9lcwD4vgFs1-4-itvlyLfEUml23su7T4GMfZV-syOkA2yhE2L0ULipUtXhZqbx_0iK1lMd7d9dg3LgtEy53MqoFnXHSK565c8STCS-4Qjbpv6iSftoLY4YHvIcNz7vasYbrLcQGrr2dHrUZ6l009KoOqw-m3R9yJ13KU1V7pJBBsDqzOWPuoA-iu0zO4Dj0IoL5603c0yi7tghCgdQpkHQEWyQNcgk4WBEMWLEYo8tVTpCXl9ZySfLZYzV4N94A03oUgNdpc-2WMSMrxf4DG34oQHHoZkRZy-LltaRYTf6AOSjBaeOb6yaobwWpD5xm3vGkTh4M2f33MKODTU3LNOnZKOyyLEC_GX2n5S9tfAnHFFFGGPrLSO3cwLCaJY6V8xZJ7y9UiMAazgcE8e-ZyZK1Gx01UROPLW36rnRlG-5KmJ7pFB2fCyIHHN213BkHMx8x0YMPMtRTHoiHRi_rOA4ZoroZZC2aRprmnE3J0-2H_Ni2l8oCgoMUCnBC2My_OSs2cJt1S1JZ4YQ1QOnCKLtnpfZZzm8NLzsR4A3DR7EANv4aaM_fCXOeDbCGDMO8b7otS3Hijb54lcZ6zY8pIcNuIQdR3UdvuDaUL46CFppKJ8KBe9mdxqrHCAEUHC5Zi6M-qwnVctPFdssrA_MCiXYUUoucwCVUlQtImKD8WfQVOQZ1TKGgoEW1QCyo2GcWVj0_ZlVtZXervH8hNeHIDveR1BBRpfEdbZwluAoL4te5Ly0Ekk_VAsYHiZxSjvz_sTDcDqXH42IrruDdx0nh2KBDwB-1C3eIIKD3hYhqndAPlrieNo-UznsvMJ35I9whPUS9q32cu4y8Tc62uGY1iTk4Lo_j5Y_V1bATmPKXWjtgU3AFyp346NfnUjDhTy5kkT08a4U0I2FSm8otVgoyZ88D2qLlCNc04P0WiT-wMn61ZcR7xTwZ0UzvzK53EpYdLVJCAePzZEv_TzEsbpRqJrUSYZ7IF-3IxHFBTTYpPdSWzmyd71rZPWMQJfnrc2GI322nQFmu9LYgeWNjxZJ9fJSAezL9f19T4ulAwOR34M_S0Hk85t3v11fjskXhFgHW5R2GynYBRvNnJwmoL9vIH3fVV1DrCXwk_qVDPPtjrGszMXp1V1Hm1y_OU2dZvPai-T9F0hrLiQejzSFD26eJQzSxF4fA1Q5QTtjcByY34QuFeGCZSR09UKrjnhP5DZ-9IIUH_TFChDNJ7eeGsyXaEsGEiMfMmy0dGbS8Xm16j4csds_kEBlEVC1CaI9WHu_dPypE4aPKVBrcXBUqNC4RGo6jwWzb61SKd_lDEcmEMiglvIyJHP7C-PZ8DG7woFh50UEF8D9qaE96dsmrSkpDJ_VdITXro5E6-RPuby0hi1PhePV9uBngbK33hcwYL_GyuGtez-8zMxDSWIvTdpyPhYoaOf0LYZ7Lju1qheyVD1Zn3Q_9tfQYdMDge8GBT4njfcZO5CMhQ0VKzk7tKQsiyJfNB_z99wTe-gdx1hg6kVOhgaOo00wqNjhj2CEsI0pkxuZPaps8F1mHMaz3dZSs8rLOEk9rd1PCHr-Y0aXhA2P73Y3yiVhm_6wKOmDVLVlONPVQGyO-xHQi1Xgwd75l-Tqfka7CjzVNzySB2Ygw4HhYoGb79VlL-whze7iavtIKuT2FJ6Jxz_DJGaD4uHmb9sjS4FmgXKDbLXl1bz61-vGYnWt_pqYAfoFqJgJtF4TloMuZHakpixKN6VPkruHVxEwYUJU3TuL7-E5gu28K7YLYvRRXsZbn8tBJo2cRu97LErUZDEnzntsFE_U-B5_yQNt4FkVXfumBSqks1SKWZ5L57EUnV4K37TaaqACT90rZaQznJbVntdIL3iVRanm-2uiepHZBHkvhhttPpm9W7vyMC3hTFFqBhGDHZ_ID11-uxko7Xzzz_nmGMZYGWJgyyKwrcTGq6ux9WzBkEwLEYCq5D_Q-2XBXfUFh8jZJJeQecA4IdvZHJNaQhrTN1zzvzZNN9goM7VUzKUsCP21b7DvrYV6Z_Dd6dqopVJbnbt2_bcYroW-vtPlior0iXgM2xHHfyS0E4YLUqGwo0rkYrAu2LLwa7JmEaU1TjwW8zX9_HS-AufgGwfBPFcw3PVF_8oPjrS98ZL6xTsp40EJ-pkfFsOA9ttEC1Ng3ETM4l2ceKl6u2Hqa-gilFhVebqgphcPMrGNSXsCLWRXT3XDn7yIkwzFM3AYLybLajIR7ZSBWgkeGzCPn5UrS_gAM8CmtGnOR4bGZ8AyG54XGEHlr7BCJo9krnD2YIa8-1kpXKp5CZt3Pyoe4dBWYzJtOBQL9DASzpYchstumD8QP1y7gNjjQ6yxB7bjR86xz50M1htqRQjLyagLSgTAc1YbFF7AqQDg78XICarGv6kNNk51DopIIpprI5l",
  "id": "rs_0d7cc622373a1bf3016ab43fa7eadc87d093cf98d4be3e8cbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The two colored rims remain fixed relative to each other through the lateral move, revealing that the gripper accidentally pinched both adjacent rims and lifted the purple and green bowls together side-by-side. I’m lowering this pair onto a clear part of the table so I can release them and regrasp only the purple bowl by its outside rim.\"}",
  "call_id": "call_AFrEZFfVQFXqyNm9OYxtBkXS",
  "id": "fc_0d7cc622373a1bf3016ab43face9e487d09de1620a4b13138a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AFrEZFfVQFXqyNm9OYxtBkXS",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.778, 1.5002, 0.7704, -0.4858, -0.3897, -0.7494, 0.128, -0.0219, 0.8238, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=-0.1638 left_z=0.038 left_yaw=0.037 left_pitch=-0.4801 left_roll=0.0381 left_gripper=0.128 right_x=0.2891 right_y=0.0002 right_z=0.1589 right_yaw=-0.0001 right_pitch=-0.0751 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.5726, 5.9829, 1.2039, -0.2222, -0.0366, 0.0659, -0.0752, -1.4701, 7.1316, 1.6337, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162e17ee26f2993c8599a4953d3fe4785bc9c410b51b88b609557cf12893b611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18312e8526d0f247f3ad3dbb420358897e3541b54fe83a3d08804f2721a81e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27edfe954ba03badf041ed2aeec7ae3df949bd02a76ab128e3e334eb30248d52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 5.832 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 80 changed as sent

message 89 changed as sent

message 94 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6968, 1.5799, 1.4277, -1.3449, -0.6556, -1.499, 0.1245, -0.0216, 0.8196, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.293 left_y=-0.1001 left_z=0.1888 left_yaw=0.784 left_pitch=-0.341 left_roll=-0.017 left_gripper=0.1245 right_x=0.2889 right_y=0.0003 right_z=0.16 right_yaw=0.0003 right_pitch=-0.0709 right_roll=-0.0019 right_gripper=0.999\nstate[joint_eff]: [0.1436, -5.9829, 5.4496, 0.6081, -0.7057, 0.1538, 0.1441, 0.0479, -1.265, 7.0085, 1.6532, -0.0562, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7731, 1.4021, 1.3365, -1.0775, -0.3904, -0.7494, 0.1273, -0.0219, 0.823, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2791 left_y=-0.1734 left_z=0.2038 left_yaw=0.017 left_pitch=-0.4292 left_roll=-0.0194 left_gripper=0.1273 right_x=0.2891 right_y=0.0002 right_z=0.1591 right_yaw=-0.0001 right_pitch=-0.0744 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.4632, 9.1829, 1.0623, -0.3443, 0.022, 0.1197, -0.0615, -1.388, 6.9949, 1.6825, -0.0513, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.778, 1.5002, 0.7704, -0.4858, -0.3897, -0.7494, 0.128, -0.0219, 0.8238, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=-0.1638 left_z=0.038 left_yaw=0.037 left_pitch=-0.4801 left_roll=0.0381 left_gripper=0.128 right_x=0.2891 right_y=0.0002 right_z=0.1589 right_yaw=-0.0001 right_pitch=-0.0751 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.5726, 5.9829, 1.2039, -0.2222, -0.0366, 0.0659, -0.0752, -1.4701, 7.1316, 1.6337, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162e17ee26f2993c8599a4953d3fe4785bc9c410b51b88b609557cf12893b611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18312e8526d0f247f3ad3dbb420358897e3541b54fe83a3d08804f2721a81e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27edfe954ba03badf041ed2aeec7ae3df949bd02a76ab128e3e334eb30248d52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-xmNJQwFz-VaC9spgYCCUKyeR90y9a-TFdmKab39yF4K2bsEYHipYmYNDz2ik-4eUMlAj3g1_BeuS7V3qiJ92lymf68PyIKuKG1bxCLUiqY5QLKI6R7u73JL7N4pm5izdFva3os_QEMJaJ-mymLjDSQXVpdfOsn_Q27ORY1bkFKFjm0N6g2Kv5H4-NWResmea8-vWBdgG52BtbTshxC2H-re8UMw72taQoBYst2BRvf20xbfhULmFbayD0k05OIqGhoFxqtvqoqmS5QpYVPd4HiBek1RuiaFoZgzKcO9CKyjWjQd3CaKjb_xlaBMDUhFNOxAr-pQ3RJDWLVYrpkYN7h8Wl9pUHszIoSgOqp4wVYk3h83PTsWy4uksvJQVKbQdEqeGTansi_ue3uAqVrM7SKsRYn5Hmnd_XRiMwuN3o6L0DMo-Y_85xAUA_hD73y7qPaIX-kWHY1ITNcObxVCX7ODWAGwJEdIh8-I_3ijqFUyc1UMt0VYtnBW102ZY7575Ywnk_vsLdzioe9ht5mMGYwlHWq36scKod7D35pKSTjBmeu4-FwPPo8l5YDQH4yvak5O-XA-smalbgSzwOmwN2H_nKBYp54CDIwECef_m0XJodyRLuUk3UnloB6CEohy3VBilbY7ddnaaedv8Fj0xRuf3XKvPIpDzPILEnHnJ4Cjo47W2jkKxClMLxdysdEt-tsTpzbzz1Zn1YyoRfF5r2m5HsgcGXKmDm-wZnKyouFEUf9VYYoCjVOWSoEy3Lw7P1VBowrw_UpfRcBty80gIkk68HsZR5rQtmBy1NzbZW5MZk9zJE-EfIhlyhsaJLsIOF--gfwfXGbFwxfDG_v5rApwaObaniMOPG8DKZuAtkXBMQCEvlme1cpOHhs5ov1YCaZORgVH8LeHNSLwKnGCP5jYmuVLMM-cHWl34wzKVZ2jIDvV1mzenEXo5vIBr7au8XJmhTeAyjMrCb51YXDeEa20mdl45jEXzsy66sGY-P_pRIS3xYkAz0iJMdpGZA3nALzsWvHyZALaoYGxevr9XOatGVHsLn7WoEXUOJIUW05MaFAYPgKh7YsUJso4Y78tdy201gODB9Kqu7eYtrCPNZIllyLqAsqLftz1hRPuS9SDsILsK3a5vDa5MJ15F1yfEabzr_OjYjYjqjYVXsl00Mm1mGQHZhLHujPdTR3OXRiv1vVstQiEFDCZGT_cYLRYCM4-ZIMNkFg1HeaseXdKALQQ==",
  "id": "rs_0d7cc622373a1bf3016ab43fafeb3887d0837fe8d8c6b420fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The paired bowls are now supported at table height with no forward displacement. I’m opening the jaws and lifting clear so both settle independently before the single-rim regrasp.\"}",
  "call_id": "call_zZHYppTVyTcL57wv997nxQMC",
  "id": "fc_0d7cc622373a1bf3016ab43fb0196c87d0b4c077be888cc332",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zZHYppTVyTcL57wv997nxQMC",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7773, 1.4242, 0.9512, -0.7628, -0.3897, -0.757, 0.9952, -0.0219, 0.8288, 0.5945, -0.4305, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.266 left_y=-0.1625 left_z=0.0946 left_yaw=0.0503 left_pitch=-0.4937 left_roll=0.0506 left_gripper=0.9952 right_x=0.2882 right_y=0.0002 right_z=0.1561 right_yaw=-0.0001 right_pitch=-0.0877 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.9812, 8.7043, 0.7839, -0.2711, 0.0611, -0.0904, -0.1162, -1.8393, 6.9675, 1.7509, -0.0757, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74a386ab74064c6eb4fd03070aaa2af97dd7a664dad4ff9aa2c885b0ccd2317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758612af42ccf2d482ed7e92e17eb8896b02aafd0b496da96dc776298a33a6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641f9d2fdf5a317882e287dcf7493958bb185d5b584f8ed42b91fd8f9c833f7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.264 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 84 changed as sent

message 94 changed as sent

message 98 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5335, 1.2133, 1.1194, -0.9966, -0.3996, -0.7292, 0.1261, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2819 left_y=-0.0825 left_z=0.1898 left_yaw=0.2353 left_pitch=-0.3858 left_roll=-0.041 left_gripper=0.1261 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0003 right_pitch=-0.074 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.1846, -3.6991, 6.8034, 1.4676, -0.3199, 0.2369, 0.149, -0.0479, -1.6752, 6.9675, 1.6435, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.778, 1.5002, 0.7704, -0.4858, -0.3897, -0.7494, 0.128, -0.0219, 0.8238, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=-0.1638 left_z=0.038 left_yaw=0.037 left_pitch=-0.4801 left_roll=0.0381 left_gripper=0.128 right_x=0.2891 right_y=0.0002 right_z=0.1589 right_yaw=-0.0001 right_pitch=-0.0751 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.5726, 5.9829, 1.2039, -0.2222, -0.0366, 0.0659, -0.0752, -1.4701, 7.1316, 1.6337, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7773, 1.4242, 0.9512, -0.7628, -0.3897, -0.757, 0.9952, -0.0219, 0.8288, 0.5945, -0.4305, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.266 left_y=-0.1625 left_z=0.0946 left_yaw=0.0503 left_pitch=-0.4937 left_roll=0.0506 left_gripper=0.9952 right_x=0.2882 right_y=0.0002 right_z=0.1561 right_yaw=-0.0001 right_pitch=-0.0877 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.9812, 8.7043, 0.7839, -0.2711, 0.0611, -0.0904, -0.1162, -1.8393, 6.9675, 1.7509, -0.0757, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74a386ab74064c6eb4fd03070aaa2af97dd7a664dad4ff9aa2c885b0ccd2317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758612af42ccf2d482ed7e92e17eb8896b02aafd0b496da96dc776298a33a6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641f9d2fdf5a317882e287dcf7493958bb185d5b584f8ed42b91fd8f9c833f7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-3DcsJDsG-cKD2gTCTjo6r5Etwre1xXp4kS64FQgZ56UAGs-VM4Yo9FYrXslrDkL0_zbn54UygFCdOBGQoJOa5dbVn3h2Z-YuwzIP6iloRgmJ6cRnSBDnrsAA1y5LJkUB3YMQfEB4fs-VVjt8A_1KqOmvhxW-ue4WrrFpY4jXW3gK0sKhB6fsKsdne_PBUbK9Gjw9ZDUijNZRb8BO4ie9sIG-vaQ22DysRkbmdQ5bzTuFZKfWvtUXeW5Rl1JPr46gi8SxFXOGNKY9I8rZFdEbcrWlz8GOIUl3eCA7Xf7yDfAXj6WaxRNVKmG6MNedpOpcm_J_81kxvSGxbOMYLVSFgU6eUbkXWsQObqeXtKBieAAuvsMgAQz6rlFHKM_GBQQVZJZjyYV_yyIYYZOGgDMNcO7cVLu0pSL418uJr8B1XW58FwO5l4zkbn48X_lywwIOzZ2Z-3FVC3vdxTyTO3DhjWooCakgrP8WB3XaM8tplWOvcm914bg1OWsoP_rccSFuaEu0SZXclYHvTCfW-4nWkW-TizZia2M-uA8-wxcpewJrp5jJOH93gz-w94SAmxPmUrTOKZzQ2Srojw68oCgQhskWIOVNhRoA3HVibQvn-sWZnh_FoZu37gVkjUj71JBBDNKweooP7BBkvy6plcIHdXg44ONJ72G5leCmVDbHVRYcHNptIPQ2JZA--J2ArCWqVj3nITaBbbU9aqOoySWJpvMciduOqY86I0J1dH3OLGEysUrSo8FPWAJ7Q9eYXlRh8x1PKP607ciD944QxjljoVaNNfP1V6wZyk2pVsgAQMv1AaZqNm-AhosClGlLAjQHXZ8Cvr3QNMeoidQUqjHpLM6duZS-IUMrmpfNUtFw1OaKlci9rGbtqp-VjMJw5eDwh2ujylWDld4OWuyU78VOnIZi96W2kqGhUaV9Fo5JFz1O_i0DqEFvQmwZnHLEynAy6-b5FaXjxW4OAQ1zOASonL1L3x3O30JChj0REX0NzkOFbUZPyYRlZopBeM3sDg_gNmcKrEBbtVC8G12lqR4DsocpQHXHWcE1ymOF8dxQZmTSDxo-_jyTiO8RNb3JifBJNJVgyyx48SEBW8PLhqUBC9L4kjvtRpIZL_djgy8vMtkGDs_L90MBUX-cUoAdSSPVWlxZJpaa3ytVMfWTOJxGPe5GebN7ztagSGfg4C185LtrA66wRuh4P2ooNo5N6vANUBvqwLd55WfNQuHr4UEalOSqt_zylf18bZ-GnzI7-wyUiHwcn3wHFa4gos8u2CXUiUaiHAmaqpcJcgff9zLYIQDRQp8wXjOhEIM8_S24IkVMjEBGEb3nfqKEWQaM1xTgVcolghT_NhOGYtR2UjIZc_MGTQf_hI5NMni6b6sEKZAViyGMFDnd1lSfEDPQeCgDbbZxDZUjblgRjEOAbdXxZux4pFRWQq_gX8Cl8jPmNrHA6Oa1woqfGIim3rtbydCuWDKHsKsKnF4eUxEvQy2fW6kxVWQ4Qv_fmeoUGshr6FxqretJukkItdTPQzL-GEHTQWzIZQrY3fiWFOcThrnAn2gMBV11z_CK57qKnsBo47wtOJ9KGlWeKEFnXojeBuVeqaBjvq40VzwSpLTgOG1n7cc78-NZb0d10yHnRsWvn90OirrJUYt0j6zNxEriqhRRcwnbPMYEkJvaTz4iKwKVQkd3Dju5VsZxx_bGipH4B6FhphEQS4mRmGzqbfEBX-n6tcYs-0SQycfaxsloaOiMLHS3PVPL-A3suNOufyr3fvCNDlpNhV2S1YBFvS2YzJDrlwYUptEuomL4enxYJpZokNxZ4WgmLhpLvuqhmbzDqVpAib2h71DBW18Qfm5QzLHHqvDVoacywRpPR11ZJ3psVLeyHyYSRpPttjZ_snge3YDim65ghuYXnL5hJWENe1a6MW1IGCDR0aB1c0tMHlXnLs-yDXBgrDhGqDUx_oVBPN4BQkuuaa_Bol_Og_0xfMp3rnnlrcWWDgsDGaOipomAdp608UBjeMoLc1F-kxBMSCHfiA0GXjpKLpz6ym_3R_tm01MOCjSLvQ3UdKEDOmDGZe1dnh3ebdtR-xed1RCjQ2fmZoujR0uoW6OpNKETDrSXSJ0364cEffS5glpwVG2j2id8XTBpaYhANMYeTqb0ltIgTuR1VJfQJGET-OjLCJKgbSW3cPhVc33aLD7ggJPdvTDI-66W-SABn0iUBivlFj_cwsGt3pR08-2MdAcWmjBJrxhRurAGDWjwfTgd1Zy5Sy50EKDnVZDZL2kEHlQME6wx6T3qooiyYTbuur1E2WaGdY81RNlDfSo0TLm33cCG3im909MRKd4uIDzBDMYsWL-a_u5DeJ09nlcvI_EU7kLHWer8uvp-7rQfLTkzV4QD_2g==",
  "id": "rs_0d7cc622373a1bf3016ab43fb31e1487d0aa68f697f73b2c37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.06,\"left_z\":0.12},\"note\":\"After release, the purple and green bowls are clearly separate and side-by-side; the current jaw column lies at their touching inner rims. I’m moving about 10 cm toward the table’s left edge so the purple bowl’s free outer rim, not the shared gap, aligns with the jaw column.\"}",
  "call_id": "call_nfr3upZ6ez3PgtCkvQ1TjKTi",
  "id": "fc_0d7cc622373a1bf3016ab43fb5f01087d0a4d7fe2a674190aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nfr3upZ6ez3PgtCkvQ1TjKTi",
  "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]: [-0.4072, 1.1679, 0.8501, -0.8082, -0.2581, -0.4427, 0.9955, -0.0219, 0.8307, 0.5945, -0.4385, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2686 left_y=-0.0629 left_z=0.118 left_yaw=0.089 left_pitch=-0.4913 left_roll=0.0379 left_gripper=0.9955 right_x=0.287 right_y=0.0002 right_z=0.154 right_yaw=-0.0 right_pitch=-0.0976 right_roll=-0.0013 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.3419, 6.2154, 1.0037, -0.1245, 0.105, 0.0317, -0.0205, -1.5658, 6.9538, 1.7607, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7a0c686f0a4445aed61eb735873e3b9b95bb62ec75d35ec40c94dcb5bcdda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a582b799f7eb54391df55285176e6f7453da44e56911c6b0ecf789b42e9bd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310db100cde90535d8262771f0bd567f8fe9f52a58404743197537952fe0f3a6",
      "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 · 2.388 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7731, 1.4021, 1.3365, -1.0775, -0.3904, -0.7494, 0.1273, -0.0219, 0.823, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2791 left_y=-0.1734 left_z=0.2038 left_yaw=0.017 left_pitch=-0.4292 left_roll=-0.0194 left_gripper=0.1273 right_x=0.2891 right_y=0.0002 right_z=0.1591 right_yaw=-0.0001 right_pitch=-0.0744 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.4632, 9.1829, 1.0623, -0.3443, 0.022, 0.1197, -0.0615, -1.388, 6.9949, 1.6825, -0.0513, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7773, 1.4242, 0.9512, -0.7628, -0.3897, -0.757, 0.9952, -0.0219, 0.8288, 0.5945, -0.4305, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.266 left_y=-0.1625 left_z=0.0946 left_yaw=0.0503 left_pitch=-0.4937 left_roll=0.0506 left_gripper=0.9952 right_x=0.2882 right_y=0.0002 right_z=0.1561 right_yaw=-0.0001 right_pitch=-0.0877 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.9812, 8.7043, 0.7839, -0.2711, 0.0611, -0.0904, -0.1162, -1.8393, 6.9675, 1.7509, -0.0757, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4072, 1.1679, 0.8501, -0.8082, -0.2581, -0.4427, 0.9955, -0.0219, 0.8307, 0.5945, -0.4385, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2686 left_y=-0.0629 left_z=0.118 left_yaw=0.089 left_pitch=-0.4913 left_roll=0.0379 left_gripper=0.9955 right_x=0.287 right_y=0.0002 right_z=0.154 right_yaw=-0.0 right_pitch=-0.0976 right_roll=-0.0013 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.3419, 6.2154, 1.0037, -0.1245, 0.105, 0.0317, -0.0205, -1.5658, 6.9538, 1.7607, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7a0c686f0a4445aed61eb735873e3b9b95bb62ec75d35ec40c94dcb5bcdda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a582b799f7eb54391df55285176e6f7453da44e56911c6b0ecf789b42e9bd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310db100cde90535d8262771f0bd567f8fe9f52a58404743197537952fe0f3a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-70ErjwGpRFYFlJvCmqd7p3v4EtZ43_f1iO_Fsi7xR4xlLXZwCe5injF8K0bwoot14DVacEGeTC0wf4j3hviRszmcx-wIJYoJDswoU_JG8z3iCIxijvaNY6wIfITW6yQ6sog0KpDz4bySb29LW_JE4T4xctqxmLyNS7AXrIDqbgbyp4mBNC0MYycBhRn98l-zdZv0p_sw14x0rsV_D4JA0WdQSHmAo-NYxytclKKaFy7GjRrAazck-4cNUoRjjpZycoIlDVgOCkdYGfsS8MLBVCYJi5lxHSs_r0lfAW7TCpH-hs-EdSfANXEEYcwzQ-3G5Bfsa0k2xsWksQToFc8cRuUE4T-GfH3W_eAqC83rmxPKlmT_bHtpTPQQQtDeLorp6Eb90jA8E-uMOs72_Vt2gcD0M8HrpbR9dUT5KRd3FR3otUTGc__RZyRnGRq9RS-F0eeetk3ozNl881l0HvqwxoSvnc39qQi0SgRfhkxj48rikYe-jSC7VdypYq7rX-w1MvqSFt4a0s5wwj17dly2OSRFtE-2Lje_PM8XlXKli2ceyAXtavYPN5tgHyzYN1qtWzRxSvtvcoM3MZnW-WH09J4lv9WqxhFNRt05vz-4SJOGYfoo2FvyI84G9B2HIdpslSF9Kmh-9GN8_NLgk8rkpCC8Sx0q14RSv9vb-_kDeHGuY7M9gknaCPU7SeqF1OuIX9zHQSClVoQv0nKHY00S8b-pAuEXahxg4CNhx8ubqYHPCf0mcvQipnUY1DOD90eMxNbmikLWV5kZ_NYtcPY_y-W18c8metES0FPXIRlZoyxRUkFtZQ_L1QQ_se_WZ0igQWJ0wQtOJ3Lu71f_cyrAY_umQ9O-VkieOb0Wbo476oSpYyDOqrmDfI7a5Zez6o5P62ycxXiAbgeoTagC8pva02RSeztfMEUe8SGQBlQex6iNZrsbqkxQt0UBJKAK3o1UaMLcvkj6ioHqXxiuwxWKn0hT7R7337OSEN6m5bdlIvnrfLqwaDs8zxepWwCPSc40ydFj113jumKjFevif6VObTX2fIRGX_x-mL5_GogUi66HYJl1o_XrXRQ9J24KppAljG62yr7Jd2k2QfQkMRCdm6OB4b8WzYKEVPgDE4AfS2IOdBtLM7zmHpabcxRjtb2MLW2cD3fsbu6_6q_SzvL82U2njwKwN8kt6l9LSXXVV1isCUvB55yC_4UU9u6UcDh2dQJ5daKNcUJpydqidnCQo_Hj9_OHSo61Pgaa0QA3SgF-05FAnIAe94k1D51p3TXuC_3apiH2uWiwJUNGuQmhx2P0566413JH-NQ4VOFST676XTupPLeIaq6KwTagNxuRn2Y2HTsxVBvMM1PbJaraeED5dyCYvCsOTp0NuRuMIjS6wxoQA_C9Y_swyfQa8gIHffVCdIeRNbRGu6mOQqiJWhNwxQmzBaBy5sLyJ9xiS9mZYJRr6wZp03J3da4fLFLEZXtBlRawZunfcXYFBNBK8DmXSux4PqYxa39DKijJrkIhma__0cmg08lw7y8jxlLy7HKwtih-SnHIPgEPDLzQqfUej7_WIV1QCnGqV_Io8qWMuiUZNAdpj3sM7M7b9lLGnCLW-It16KWjkOUndWStgf01Dtq76OXEssmL01AzqlSPwyVRKAJXRJlznUCgNbTHc50qRveo1e_ktrtbnEB2Ml-CqtbhLi9lnMP4DYfw76enuBQyo3Mv3eQaCImK_aabcf-jbzXJTulhotAROkZqnwoZLMsY_mMPnDD7Vi-bll70=",
  "id": "rs_0d7cc622373a1bf3016ab43fb9c10487d09ef79a74f2394121",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.03,\"left_z\":0.04},\"note\":\"The purple bowl is isolated in the wrist view; its free left rim is about 4–5 cm left of the jaw column. I’m making that final outward correction and descending so one finger is outside the bowl and one inside at the left rim.\"}",
  "call_id": "call_AEodSEh3FgsunhEGcNhWgApj",
  "id": "fc_0d7cc622373a1bf3016ab43fbaf2a487d08e9c5ddaf91c5ccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AEodSEh3FgsunhEGcNhWgApj",
  "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]: [-0.2577, 1.195, 0.5659, -0.5243, -0.2024, -0.3336, 0.9956, -0.0216, 0.8307, 0.5945, -0.4446, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2566 left_y=-0.0272 left_z=0.0398 left_yaw=0.1283 left_pitch=-0.5412 left_roll=0.0572 left_gripper=0.9956 right_x=0.2861 right_y=0.0004 right_z=0.1528 right_yaw=0.0004 right_pitch=-0.1037 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [0.3077, -2.865, 6.147, 1.1941, -0.0659, 0.2125, -0.0073, -0.0479, -1.4154, 6.9538, 1.7509, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5793afd2c6ddde434b8ba417c21c792beb7f739822fc4c37b79cb9cfb6c641",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb801e5f960875cef98d82989b34d9bc3e32267d3db9e807e3b009742a5d619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b877049a8b1dc51937160fab49ca542dfbdceac10a0894e3b6a7edb06ec452f1",
      "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 · 4.826 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.778, 1.5002, 0.7704, -0.4858, -0.3897, -0.7494, 0.128, -0.0219, 0.8238, 0.5945, -0.4229, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=-0.1638 left_z=0.038 left_yaw=0.037 left_pitch=-0.4801 left_roll=0.0381 left_gripper=0.128 right_x=0.2891 right_y=0.0002 right_z=0.1589 right_yaw=-0.0001 right_pitch=-0.0751 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.5726, 5.9829, 1.2039, -0.2222, -0.0366, 0.0659, -0.0752, -1.4701, 7.1316, 1.6337, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4072, 1.1679, 0.8501, -0.8082, -0.2581, -0.4427, 0.9955, -0.0219, 0.8307, 0.5945, -0.4385, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2686 left_y=-0.0629 left_z=0.118 left_yaw=0.089 left_pitch=-0.4913 left_roll=0.0379 left_gripper=0.9955 right_x=0.287 right_y=0.0002 right_z=0.154 right_yaw=-0.0 right_pitch=-0.0976 right_roll=-0.0013 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.3419, 6.2154, 1.0037, -0.1245, 0.105, 0.0317, -0.0205, -1.5658, 6.9538, 1.7607, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2577, 1.195, 0.5659, -0.5243, -0.2024, -0.3336, 0.9956, -0.0216, 0.8307, 0.5945, -0.4446, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2566 left_y=-0.0272 left_z=0.0398 left_yaw=0.1283 left_pitch=-0.5412 left_roll=0.0572 left_gripper=0.9956 right_x=0.2861 right_y=0.0004 right_z=0.1528 right_yaw=0.0004 right_pitch=-0.1037 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [0.3077, -2.865, 6.147, 1.1941, -0.0659, 0.2125, -0.0073, -0.0479, -1.4154, 6.9538, 1.7509, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5793afd2c6ddde434b8ba417c21c792beb7f739822fc4c37b79cb9cfb6c641",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb801e5f960875cef98d82989b34d9bc3e32267d3db9e807e3b009742a5d619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b877049a8b1dc51937160fab49ca542dfbdceac10a0894e3b6a7edb06ec452f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD--buDYt7eItjY-SbVbBeU4HuRpd8pkNyy8HGcI5w0DDN5-Fv0GzkM1wBqvRKp6UqoGA2rWg95RU8wDVp8A9sPyWp0Oz6-K3duUhVezoA9E2C9PZQD-SMsEOSBxRVBa1R1f9GGkA0KAr5h_avdsE8MYdn418ZmxTSKoGMA2KS_LJeDZHObGqsKDSKPFciMvPmYaTzMHizG6H7BbD_qUPB2Rx8iilBEY0vKM1y4mR4iD1RNzI9-O6eYezL3kfYaXdGVxQcsepMxcQ7qrKv0qJ-KA1BY3pWCA2i7J4ChTDPdCHpS0Z9v3RILp2BNc7Sb2hVBRma4nBfupIVG5TGjfaAEmDiY0z8x9S4_I5oEiQEGSYHuBTXkMvxxqoPgL-Uk52IK1A-pbidneS7HsJb2b8-1bBxNIRkr6r6J-g7OqTUhEx9v20gTc60H_n2hrpyhCPSpu6gXYU1ZAFVI8SNtaGU7CtYB5jYnuW4TQ-SrXQ7FBaYnsQSl9MvIxR7LWON0pi_JEwCUVCxN7-kKc7uhyQ6NYxthDBY_1KO216d0IIY34N6lObXhcS42vOPxQEPla8JnlwStbpDFIgCuMeem5rSlSLjtbvClXhcKyQc8EaSK09X92oLbfMq790htm6yK1gRSRJru2biJllcPWi-eOFD5WYbA2PYK3w7jg6ylx18XP87GkltZdpDylu1d8m-3V9Jl-mVu7RHJNvzyZ5u7cpnNZrw7GYfbXlVCsxy0Gu-DWMAuq0agwM1Yc2zpcbmUN30xSkgoLpkWrbFr18Z2DrpoTirZND8soraD7A7WLpF2VOKa3do_91653dl73sqZH1OQd0cwgBLT2pG39cYOh9Teo99PPnxQRLdk3ZaTvhBtPyEdv5U-g_aDzPOZQVbtkVrMzhw_8bkvXG8Yp2_vIeAwISVZcFTciz-wStzkbkG3FmBXmC0d274IraUrzf5Zasx13GQ_NbQOEmKnzFWkKWhKyCFH2EYRDK8jjZJcfXJ6Gxgftz03MTLIh44PFtCogrTbBdy6SXpKxTG-qP8zqHu89bQwtZEwZOuMpEFeQPxxDJFRM0loVLwXeyT1wCqxM6ahAdLKYj4fTphFSDX96Qf_Lku4GQqMRvfF3Q749cL5uRKcwd-fdjMQn8SRvJTKxzaLXG49KbtHiCNi4yf1Khd2low7JHIT9dAah63zdxEhOo93pCRJRrbZ-L-VLO-UFZLjp09TqsTJSjg2ZeX3Sb52O7BeFAk4TzT_aKynWEckvomIOfWQ9YoiRHrF8PTK_dDyUJ1DqZuJQIhoeHiTZXH_6NMvhLSBl5xjxtHNDwKfWCOvAbD0m5L_MMM_-_ByfVVlIaeMmbdhiquyypFtI6Ihcc3DPL4FZJUahxdyFVidYwleGRApsx4EhLcnPDxWEVHfGXa4fF7O1cpAuiKPETetHANZ11Shuw-dFZd6RG7kjpO27y2bgboUScZlUoJaGaiPTMWNWNv4b8f_o8351TRS_x4qOp3-cmhSMPL1plNaQyr9v2ynYqA1D5DlP02x9he66",
  "id": "rs_0d7cc622373a1bf3016ab43fbd6c3c87d08419302010b3a4cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the purple bowl’s left outer rim now crosses the convergence column, and the green bowl is well away to the right. I’m closing to pinch only this free rim.\"}",
  "call_id": "call_RR1B9Tgpj2LRk8zbBQqmnf4w",
  "id": "fc_0d7cc622373a1bf3016ab43fbe2b1087d0bde4ed59bf748982",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RR1B9Tgpj2LRk8zbBQqmnf4w",
  "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]: [-0.2554, 1.1957, 0.5537, -0.5095, -0.1875, -0.3408, 0.0204, -0.0219, 0.8307, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2555 left_y=-0.029 left_z=0.0366 left_yaw=0.121 left_pitch=-0.5442 left_roll=0.0379 left_gripper=0.0204 right_x=0.286 right_y=0.0002 right_z=0.1527 right_yaw=-0.0 right_pitch=-0.1045 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -2.5504, 7.0085, 0.7839, -0.4029, 0.0562, 0.9792, -0.0889, -1.1556, 6.9675, 1.6679, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda90d6e8145e85a2dcb6aab02d262909b4ae8288906d1d0af97cc294ae1782e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6508c321efd474bde6a31b3574f504fc6e12741243f53841ca9df0cc56ab5c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136758c17f7fae322572026dfc88fa34b0ae17218acefb00b42dd435aa156d96",
      "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 · 2.397 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7773, 1.4242, 0.9512, -0.7628, -0.3897, -0.757, 0.9952, -0.0219, 0.8288, 0.5945, -0.4305, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.266 left_y=-0.1625 left_z=0.0946 left_yaw=0.0503 left_pitch=-0.4937 left_roll=0.0506 left_gripper=0.9952 right_x=0.2882 right_y=0.0002 right_z=0.1561 right_yaw=-0.0001 right_pitch=-0.0877 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.9812, 8.7043, 0.7839, -0.2711, 0.0611, -0.0904, -0.1162, -1.8393, 6.9675, 1.7509, -0.0757, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2577, 1.195, 0.5659, -0.5243, -0.2024, -0.3336, 0.9956, -0.0216, 0.8307, 0.5945, -0.4446, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2566 left_y=-0.0272 left_z=0.0398 left_yaw=0.1283 left_pitch=-0.5412 left_roll=0.0572 left_gripper=0.9956 right_x=0.2861 right_y=0.0004 right_z=0.1528 right_yaw=0.0004 right_pitch=-0.1037 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [0.3077, -2.865, 6.147, 1.1941, -0.0659, 0.2125, -0.0073, -0.0479, -1.4154, 6.9538, 1.7509, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.1957, 0.5537, -0.5095, -0.1875, -0.3408, 0.0204, -0.0219, 0.8307, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2555 left_y=-0.029 left_z=0.0366 left_yaw=0.121 left_pitch=-0.5442 left_roll=0.0379 left_gripper=0.0204 right_x=0.286 right_y=0.0002 right_z=0.1527 right_yaw=-0.0 right_pitch=-0.1045 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -2.5504, 7.0085, 0.7839, -0.4029, 0.0562, 0.9792, -0.0889, -1.1556, 6.9675, 1.6679, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda90d6e8145e85a2dcb6aab02d262909b4ae8288906d1d0af97cc294ae1782e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6508c321efd474bde6a31b3574f504fc6e12741243f53841ca9df0cc56ab5c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136758c17f7fae322572026dfc88fa34b0ae17218acefb00b42dd435aa156d96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_EhGBGcrrqEs6uoo_KnFaQGWm-RLR3uMnObOLm4pwu8O9HjD68Zy-rAJrcGf6V9j3jdXD_cntq939ZI9oqxY2WagBEoM-J8BIMok-D6Qkh36u0C6cdxRo1RNWMbN7dGEKIi8FP2VDRV_XJ-Rq4L4ueJqvraywDOBuZYzJceVP_9YmUjDg_gOvMJIYHBWll_3Ia3NAvz70OzcgwMCwy9Mz6KSF8PDjauB6bhEAUc3gyTyxL-JfJsCjaxnSWQy6McFuPPsw6Cmc-zsKb5JaAQ8JjAT2Dlw2iwHBlFeGOn5sjCsVwHpKCLLNZBa_X2q7Hhd-1cTzbWux8Ql8m0PLQtaOsQKVQD4skq2Etj4S2iIc1bt2W_kCdw1vhMKeL2AJOE48P2tRWrbL_i6g5as06o8gMD2Betda4pIL1XIkqaRdEEnh6zyC9-rVJfiJifyYxcW_egcKbP24kbIh03SQ94nF5no3_jNwAwZ19bfLLbM-UHdMr4wUWP9Nuo6la_31_bn1B7gAoynFhPVA4scto-sviKHUa-vVbZY1NalCQY2Fc6ZBKr1zhM0BXjVHwup9sIzz7FPpp-Vzljq-05IYsQzta7tmq6sDkmEtEizNqaZq0FChK7T3YSjEE8nD0Npo_nBkuU7P_iti2UA0y248SGlIGIxLjIdJF1GUIqB8s3MMli5hVvAUaDG7pLwcK4OI1WQ8T-hl6ZJoEyt6YfmiwZFLCXiEbBqK4vwHUXJjC6yo2tXaolbCisvrMtKaXRAzfzsS5CgrzvbwEKaGvZ71DB50-EAYyxz-DZdE4xv-iVcllhfGMBHqpBjiMhEOfCxpm93lno1pc4AQJ4QqBzhelS0lX4BT9UxzxvmJIVvhLg4YMER3OArIUkfaXwIc_OHXaTlGlIa4OR7ISIX_xdlTAq5Hd0v9uDsDHHgBMON2eZTrEB7rUgD-0_-0Zvkg1xZvGS_7Yf4SCUoUXCNe2KGOd8NKZ8_XiV847qp13u4kDAhHJim8GSIav0v_cDxUlu28-r03KhPw1QvFxhtrO9MV9PwVEVKlXaBwdbMn1oH4S1FyHSzYCaoxUTra4c-RkBj6hTdkkFX0pI58xTC6m_o0dJFuRXmSDTYeqnEnRXUE6fozwyr8vOjPH8cb4t6R8a4c0hk2XQdRwZoTJnNtjmGvFSdP61Br0BJHSzVzwacIgnZXDEZCsVFmc5N0FniC38BkeatY3J26nT0SdqGpMtLm9TVumeiEMwl7STK6ONMqb6UAXTvHOUSZg64ujogYxxWVdXBB-xojyiYTdu780x4HODHXl9tQ2AZSA-chsYlrVzZZFWrgT_pyGwwc9eLI3tKSnjI4TIqr7cnUBYDfbltmDFAfcrZS8QxD5Rlad_aUYjQezdERVqkAZh8VlTbukV7L3YpmwvkWe5F5T6M8b6rragoEe0FJPiThgj0cERDID-SJkY58odLeVHf7Zq5PKrAcd6ORoJJTS4eP8nnS-1rYS74N_sGb3ppMOEvSI6PYO0tZiW-omoQLJrUfdmnE2qukQ41bPX356Klmh_L-be7483oEC7rF_iFKyNMTs01KFOurFtg8HuVv0kz3rw7cEygjOMNEstyw3oDYaZJkuNqH1nbymgh29QFq1gukj6yFSn2WIzJds-PMrmCPis4L_iQxLGV9jbnxOEewuouRiOCdreNfPCQ4AzprmEvhdBKvdMnTE-DI7ZXqAIVdGKMFEHKtPErChXMmmCJ92-5CINrOus1ksyTXaYVZGAyf2KfEOz9-ArzatGr7XMey9Sqb_Sl8yr-hGDag1KhetELnFhct6pM4Pchrv8fs5cNmtFCUyncjYWbDNbrA79ViRupoKdk7CqBVMHfSVbKIAmuuGjqMwFWpg2AoFJK2YV0QhwpGNrVmqn80HW8SV5zYXneed8qgONmP4lZL4EnGWWaLcAH4umQ1mz4y6hkgvpv-c9Syq_K1uBRawOUwlRqfRr1Bupy_5YKTKzvBsLS3-A_A4svw9WTjzAaeuQ5ziZpJ9tGWhnGCXWVVWohS6zhtt7I1o_ISWB5DfUONWff2ozwR1SIfds4TMW27JknfSPqDkUEw1q2l7jKkPvgID885CLvaGZfEMOkvpSpfxBJkk3zqwrHym_ajM7kZmJdmJWnIB-OIf-N1Nkporb3VWdDgS447UPZsiImEg0nRJnv8qqih_yW1uFK-6OULaNAp36TphCks0T5XibwjqoqWrM1E-FZKoGhn3WjapsrgiiRb5T9U2yWZGu6gGpHE95ykHSzbmtD4wPPYDMwIZWWEJ-1-cvmZ6nbM7i3wG-4yizlYUptBDPWwC5wL8axhpExAiLvLdfqN6qasiqU7eu2nj5ufW7WzFUjQYTWKx73MJ8xS0xI9AkIWhAl9wAsZsTwzU2K1HYEGSZrVEQi7IEl9B9vQROlkZlE4lHeaZ",
  "id": "rs_0d7cc622373a1bf3016ab43fc108cc87d0aa6d9b224b64c9b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.04,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The close settled empty at 0.020; the close-up shows the converged jaw just outside the purple rim, only about 1 cm too far left. I’m reopening, lifting a centimeter, and nudging right so the rim sits between the fingers rather than beside them.\"}",
  "call_id": "call_Gzlsn7ceDkh5wxoCqo823q9b",
  "id": "fc_0d7cc622373a1bf3016ab43fc36afc87d08997d60cba24bcd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gzlsn7ceDkh5wxoCqo823q9b",
  "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]: [-0.3073, 1.1904, 0.5697, -0.5732, -0.2028, -0.3927, 0.9949, -0.0219, 0.8314, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2459 left_y=-0.037 left_z=0.0376 left_yaw=0.1267 left_pitch=-0.5761 left_roll=0.0468 left_gripper=0.9949 right_x=0.286 right_y=0.0002 right_z=0.1525 right_yaw=-0.0 right_pitch=-0.1053 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -3.2889, 9.4564, 0.862, -0.2125, 0.0513, -0.0904, -0.0752, -1.4154, 6.9675, 1.6386, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759b10f80364d00affc1c2d5336084572585619e12fb9dea63684c1e4e6d22b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e771bbe017df603ddd89acd762f886a87a0af40a7d0fbc62ac562ff21bef3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b64ad909d4bf95b5cb86553314267ed7763cbb9fe3e33f56f2d27e0f18e2cb",
      "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 · 2.866 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4072, 1.1679, 0.8501, -0.8082, -0.2581, -0.4427, 0.9955, -0.0219, 0.8307, 0.5945, -0.4385, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2686 left_y=-0.0629 left_z=0.118 left_yaw=0.089 left_pitch=-0.4913 left_roll=0.0379 left_gripper=0.9955 right_x=0.287 right_y=0.0002 right_z=0.154 right_yaw=-0.0 right_pitch=-0.0976 right_roll=-0.0013 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.3419, 6.2154, 1.0037, -0.1245, 0.105, 0.0317, -0.0205, -1.5658, 6.9538, 1.7607, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.1957, 0.5537, -0.5095, -0.1875, -0.3408, 0.0204, -0.0219, 0.8307, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2555 left_y=-0.029 left_z=0.0366 left_yaw=0.121 left_pitch=-0.5442 left_roll=0.0379 left_gripper=0.0204 right_x=0.286 right_y=0.0002 right_z=0.1527 right_yaw=-0.0 right_pitch=-0.1045 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -2.5504, 7.0085, 0.7839, -0.4029, 0.0562, 0.9792, -0.0889, -1.1556, 6.9675, 1.6679, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3073, 1.1904, 0.5697, -0.5732, -0.2028, -0.3927, 0.9949, -0.0219, 0.8314, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2459 left_y=-0.037 left_z=0.0376 left_yaw=0.1267 left_pitch=-0.5761 left_roll=0.0468 left_gripper=0.9949 right_x=0.286 right_y=0.0002 right_z=0.1525 right_yaw=-0.0 right_pitch=-0.1053 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -3.2889, 9.4564, 0.862, -0.2125, 0.0513, -0.0904, -0.0752, -1.4154, 6.9675, 1.6386, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759b10f80364d00affc1c2d5336084572585619e12fb9dea63684c1e4e6d22b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e771bbe017df603ddd89acd762f886a87a0af40a7d0fbc62ac562ff21bef3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b64ad909d4bf95b5cb86553314267ed7763cbb9fe3e33f56f2d27e0f18e2cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_HKOyOr9L6yvHfQd9DVK6j91Q8wM4UFgfrCgBB4lAgh_9Kq6lXxovQam_8uIgO0OBGsZSa7f88ElFBuvkw_S1_bhZ79f9OHQLyiCAEne289um5x3m-JoBLvoVwK1vgwHELec51kGGtgYUCq4iWTYM9CA-8uRGbqrcXKOSZS5FCUHawEWf6w1V4uhs-2d0FZzLRCnrOk9gvsSJklBXl5JoY3sbh766tMnmyS1hwdTQ60gIs_uVv12_BFEjMeiqyZtfAVogLlkfBMVIcMWO1YEQVR683ClQvHDO1S4GQHVbJL3wyX2f1H8SU9J23gDbgy0iKQ0NIL6a5o0Nrf72K9czmnDDViokLL1gHCAcCw-M45E0qZpOV62qMZqSZkqGk_lodA1O35HLzupBhVH23g6vX1MqeGlc42cNNNDi6O9VUPUQm2gf2n_HH2_WvKRjvwdbNprVRIg0MKbl4VkEzrfPRyd-UkLopbifb9hKgVR3jatQEQOmTiDwlGtthZ4iCwtF5E9hYeZNn9OrwZlpyh06emORl9yq3DM-JlnwL_zzdUPAvYjNe_BF9NCZZegPqHrECPF1dtaEpCDjlfrizTcS2i5Jd-QO6oH2tUE9nNIkn2Q3MW9Jgi9s7TizljMDH0l7IxOAREEM8vm-mjUsq-u3-JusS6Y9WH2G1LY4UqSJkRage49_3hQVvPr1qBD6Zy7c91pPiZrP733k_HCPY_F4ks6B6oFzM_r3KoI8BxZiUgqItkF1037CtLGklzbwiKbrtmU3H7hi28l7uGuZT0fU5vrS5moRjc_JmkHPtaN20WVBHc5L-5qTQ3hqeTvuMMPIkUGXEIPU9MlfOUQa6XvPWFrh6JNXFBOFsHHcnyQTIgN34VckDfhv1sdBMvEzjauU3xX9sj6JZTJ2qeHNiXc3mxcHZXMvFH9E4CCLaFCLd2g-cZ7Pry51BeVZTqxP4VvZCHGdi6AyCh-g8_5t6M6cbrzZ8-Yr5wGUbb5cE_yj5l-9x43wzqxBLsKFftxoWDf5nf_8T8iAvwgiDor31AECVCYYzjoMIuYmFm2DRRmpHZtm6_Uel_hmr54YJlZfhIFvx9lcgRChaZDNMZBADgz-nMAAnLga4o4Ayfl4dVFPjfijUkqjp16RQ_a6gtDzjcBTR6uW-vbybY9nRHZMYiwRjbXAiGS32oBPto2afefbK4b-8zfveTHndi5TzPkmxbmQKiEZ-Z_CrYTNIaixAzV0ovJQWm_elMPWhg0TdrQsa_px1i9jBraOfcZKkIZ3wuFhuINFoMcq1lraw_46_o5v5AV8PEKSOPFRbuFJnlKPgMbYNKwYXu4TPaDB2UJ3wfdAevHF1XvDIpPg4hpCYA50CJV4AwUO9vYW7X41QjKSKuKI=",
  "id": "rs_0d7cc622373a1bf3016ab43fc6b22887d09a2d65145dc1089a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The reopened view now clearly shows one finger outside the purple bowl and the other inside, with the rim between them near the jaw center. I’m closing again from this corrected 1 cm offset.\"}",
  "call_id": "call_zSUNrR7TG9uYAZbRhhWEAG87",
  "id": "fc_0d7cc622373a1bf3016ab43fc7210487d0afc2053743c59474",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zSUNrR7TG9uYAZbRhhWEAG87",
  "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]: [-0.308, 1.1893, 0.5743, -0.5766, -0.1986, -0.3985, 0.0164, -0.0216, 0.836, 0.5945, -0.4603, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2465 left_y=-0.0381 left_z=0.0389 left_yaw=0.1252 left_pitch=-0.5755 left_roll=0.0386 left_gripper=0.0164 right_x=0.2838 right_y=0.0004 right_z=0.1484 right_yaw=0.0004 right_pitch=-0.1247 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.9333, 6.1197, 0.8034, -0.1783, 0.1587, 0.7302, -0.1026, -1.8256, 7.0632, 1.7607, -0.0464, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a658d2ab5a1f5204b78f8aceca13cc07825452416848816633cb7890d8b20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc23025c65d93df805a63c8e50611d0644be19d1efa8a5c83594b07a851aac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd729fdf2aeda996361a1cbfc5de1d1029e9f5d64f19ce29c6351b41e691499",
      "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 · 4.401 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2577, 1.195, 0.5659, -0.5243, -0.2024, -0.3336, 0.9956, -0.0216, 0.8307, 0.5945, -0.4446, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2566 left_y=-0.0272 left_z=0.0398 left_yaw=0.1283 left_pitch=-0.5412 left_roll=0.0572 left_gripper=0.9956 right_x=0.2861 right_y=0.0004 right_z=0.1528 right_yaw=0.0004 right_pitch=-0.1037 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [0.3077, -2.865, 6.147, 1.1941, -0.0659, 0.2125, -0.0073, -0.0479, -1.4154, 6.9538, 1.7509, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3073, 1.1904, 0.5697, -0.5732, -0.2028, -0.3927, 0.9949, -0.0219, 0.8314, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2459 left_y=-0.037 left_z=0.0376 left_yaw=0.1267 left_pitch=-0.5761 left_roll=0.0468 left_gripper=0.9949 right_x=0.286 right_y=0.0002 right_z=0.1525 right_yaw=-0.0 right_pitch=-0.1053 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -3.2889, 9.4564, 0.862, -0.2125, 0.0513, -0.0904, -0.0752, -1.4154, 6.9675, 1.6386, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.1893, 0.5743, -0.5766, -0.1986, -0.3985, 0.0164, -0.0216, 0.836, 0.5945, -0.4603, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2465 left_y=-0.0381 left_z=0.0389 left_yaw=0.1252 left_pitch=-0.5755 left_roll=0.0386 left_gripper=0.0164 right_x=0.2838 right_y=0.0004 right_z=0.1484 right_yaw=0.0004 right_pitch=-0.1247 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.9333, 6.1197, 0.8034, -0.1783, 0.1587, 0.7302, -0.1026, -1.8256, 7.0632, 1.7607, -0.0464, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a658d2ab5a1f5204b78f8aceca13cc07825452416848816633cb7890d8b20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc23025c65d93df805a63c8e50611d0644be19d1efa8a5c83594b07a851aac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd729fdf2aeda996361a1cbfc5de1d1029e9f5d64f19ce29c6351b41e691499",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43fca117487d08a4e1e1a6e1f0451",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.06,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"This close also ended empty, and the closed jaw is still visibly just left of the rim—the bowl likely slid slightly during the close. I’m reopening and moving another 2 cm right to put the convergence line decisively across the rim.\"}",
  "call_id": "call_WeBJc9oGc2RtR1v5Qxi95Ivd",
  "id": "fc_0d7cc622373a1bf3016ab43fcad24c87d092c6730bbb7d6b64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WeBJc9oGc2RtR1v5Qxi95Ivd",
  "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]: [-0.4129, 1.2049, 0.6067, -0.6334, -0.2192, -0.4988, 0.9945, -0.0219, 0.8364, 0.5945, -0.4679, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2389 left_y=-0.0588 left_z=0.0416 left_yaw=0.1163 left_pitch=-0.5996 left_roll=0.033 left_gripper=0.9945 right_x=0.2826 right_y=0.0003 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1327 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -2.6462, 8.6359, 0.8571, -0.3443, 0.105, 0.022, -0.1846, -1.4564, 6.9812, 1.6923, -0.0122, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ee9da34e773b3c2ca0004fd1b11f9ee17fedffa3cf8d03cb3b7848c36a71d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee79c3990ad6668fe86980408535e703e03cdd450640d53a5cf7e42141f2a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fad4180b42aab1c8b70ae431fd86408a65e66066462ffbaf9a863a2ffa99ac",
      "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 · 4.78 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.1957, 0.5537, -0.5095, -0.1875, -0.3408, 0.0204, -0.0219, 0.8307, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2555 left_y=-0.029 left_z=0.0366 left_yaw=0.121 left_pitch=-0.5442 left_roll=0.0379 left_gripper=0.0204 right_x=0.286 right_y=0.0002 right_z=0.1527 right_yaw=-0.0 right_pitch=-0.1045 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -2.5504, 7.0085, 0.7839, -0.4029, 0.0562, 0.9792, -0.0889, -1.1556, 6.9675, 1.6679, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.1893, 0.5743, -0.5766, -0.1986, -0.3985, 0.0164, -0.0216, 0.836, 0.5945, -0.4603, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2465 left_y=-0.0381 left_z=0.0389 left_yaw=0.1252 left_pitch=-0.5755 left_roll=0.0386 left_gripper=0.0164 right_x=0.2838 right_y=0.0004 right_z=0.1484 right_yaw=0.0004 right_pitch=-0.1247 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.9333, 6.1197, 0.8034, -0.1783, 0.1587, 0.7302, -0.1026, -1.8256, 7.0632, 1.7607, -0.0464, -0.0562, -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 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.2049, 0.6067, -0.6334, -0.2192, -0.4988, 0.9945, -0.0219, 0.8364, 0.5945, -0.4679, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2389 left_y=-0.0588 left_z=0.0416 left_yaw=0.1163 left_pitch=-0.5996 left_roll=0.033 left_gripper=0.9945 right_x=0.2826 right_y=0.0003 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1327 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -2.6462, 8.6359, 0.8571, -0.3443, 0.105, 0.022, -0.1846, -1.4564, 6.9812, 1.6923, -0.0122, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ee9da34e773b3c2ca0004fd1b11f9ee17fedffa3cf8d03cb3b7848c36a71d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee79c3990ad6668fe86980408535e703e03cdd450640d53a5cf7e42141f2a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fad4180b42aab1c8b70ae431fd86408a65e66066462ffbaf9a863a2ffa99ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d7cc622373a1bf3016ab43fce36ac87d0bd31d4c6bdfa26bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.047,\"left_z\":0.045},\"note\":\"The 2 cm correction overshot: the open view now puts the rim about 2 cm left of the jaw center. I’m splitting the difference, moving back roughly 1.2 cm before closing.\"}",
  "call_id": "call_yt0KOGA8isEDk8AXO0QXTiJm",
  "id": "fc_0d7cc622373a1bf3016ab43fcfabc487d085796ae113cfbc64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yt0KOGA8isEDk8AXO0QXTiJm",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.1988, 0.6075, -0.6437, -0.2092, -0.4759, 0.9955, -0.0219, 0.8387, 0.5945, -0.4713, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2388 left_y=-0.051 left_z=0.042 left_yaw=0.1302 left_pitch=-0.6078 left_roll=0.036 left_gripper=0.9955 right_x=0.2822 right_y=0.0003 right_z=0.1457 right_yaw=0.0001 right_pitch=-0.1384 right_roll=-0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2256, -4.3829, 5.7778, 0.9109, -0.022, 0.0952, 0.0855, -0.1709, -1.306, 6.9265, 1.6728, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e181fee43d56472e2cddc192a4ccd5a4fe978b94afa4f21aeb6a57b37696c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d946f7c21c7bc9b1b35601be23c9e091c1d887d814a517f29195a2322b78a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fba55cb2513769f24a368bb58e8f76c664d7cc5ab88c1310e2ac623c9aee10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 2.356 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3073, 1.1904, 0.5697, -0.5732, -0.2028, -0.3927, 0.9949, -0.0219, 0.8314, 0.5945, -0.4454, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2459 left_y=-0.037 left_z=0.0376 left_yaw=0.1267 left_pitch=-0.5761 left_roll=0.0468 left_gripper=0.9949 right_x=0.286 right_y=0.0002 right_z=0.1525 right_yaw=-0.0 right_pitch=-0.1053 right_roll=-0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -3.2889, 9.4564, 0.862, -0.2125, 0.0513, -0.0904, -0.0752, -1.4154, 6.9675, 1.6386, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.2049, 0.6067, -0.6334, -0.2192, -0.4988, 0.9945, -0.0219, 0.8364, 0.5945, -0.4679, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2389 left_y=-0.0588 left_z=0.0416 left_yaw=0.1163 left_pitch=-0.5996 left_roll=0.033 left_gripper=0.9945 right_x=0.2826 right_y=0.0003 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1327 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -2.6462, 8.6359, 0.8571, -0.3443, 0.105, 0.022, -0.1846, -1.4564, 6.9812, 1.6923, -0.0122, -0.0611, -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 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.1988, 0.6075, -0.6437, -0.2092, -0.4759, 0.9955, -0.0219, 0.8387, 0.5945, -0.4713, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2388 left_y=-0.051 left_z=0.042 left_yaw=0.1302 left_pitch=-0.6078 left_roll=0.036 left_gripper=0.9955 right_x=0.2822 right_y=0.0003 right_z=0.1457 right_yaw=0.0001 right_pitch=-0.1384 right_roll=-0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2256, -4.3829, 5.7778, 0.9109, -0.022, 0.0952, 0.0855, -0.1709, -1.306, 6.9265, 1.6728, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e181fee43d56472e2cddc192a4ccd5a4fe978b94afa4f21aeb6a57b37696c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d946f7c21c7bc9b1b35601be23c9e091c1d887d814a517f29195a2322b78a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fba55cb2513769f24a368bb58e8f76c664d7cc5ab88c1310e2ac623c9aee10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_V_G4zb_sEwPcX-KzMWZk1WLvPNA5Z4sX5p91iBvZ1RPH3dGSwM8v16ziiHckX-_X6uPzTbEeZPmX2hwdWuHT2ZT8AR2z8w24TpqL2sX725yNZ1xx5VY8raScFozARWwDJhIjFbzvazleGlhz8o_rTlT2uzJq_TM_24FMuS8wzuVRhzpqGdhSuh-ouwK2KIjbmB-yM65OhnSGoKMqfbsSnN3TONtHR74_9X1Wak25rU8Ji6DFJ1Z7w9xorN8xFO7jqSlwEyzbkN3J9IvqXq8dlzQBGU9n-eoW6NkmW8K3xNv1uQU6EbxpcUj8_WEA6_fvz2lmlreebKuJOCH1XwrdkzRQa6jpHvmUpp2nn4hpDfhxSVAXbqbqnuQDm-vYWxjDQK_sH09ZHA6vYROZXM_tJZKgtO1Znaox_Bl6aFNd98G9T8xYoA8P_BTNKTk6i2Ix9Y67VVKVQmipdyQyUoq6mKWNbeQ_rEQ1QnCDrLp87r6Z56ECBw6UprIECzIIPpGJclKl1R00sRhJNyz3fFXbFr0Qc_sI63C7y-yJJhL3GN8yCJP2xaTq0_ZFtdi5PytCyqqY5mXqgk86ZdS1mTDuobtw4_wGKPUYdM3JDo4NFTsxm2zvuoJ-4P0Lh5yYUuQCRBtpI1MvUy7yoglT9wfA2W3iJA8eM-80UxPY2JkRCADe1nNmO5n-oUQnSXAd6F8MqhxaVJr9x2rOKr2Iw0yF_g-1KCxULQFM4AGdjBeyOSbZgWGIrUADpdS-EOcb2Eks-o0r0lS54r9Jthguhk-SdeBvrIdPwpe-iXXNMMol6fXXx5Ic_2k2YvYMODT-EOr37ZEoPDe9ZyACLCwWxZt6PRj6zW7odrd9YYktB8XLzbgA8DsrYtKMvI-20P-VV1L9XPT9VTT2eOnaIdgaYTrfUw6YG4TD5meVypivz_WkjyXyn_w5eppbJsK-Mz9XhCJDCwl_SUmTNK2-3X-lFb3VgYaVO-yQjg_ZAvIVMakmH-dzbG6lGn-9v0aqDcMKmpxEuPO9uY0HTbn1-DjC5eFoGZIQw0a4cxyBMVhirg6BZlq14VFm6vtzIM5Ja-FEgaO1KhMA54HVp1-PNRRr5YL-iq6eSz0yO92wvFKSjwZUS35-Ea5dolZ4Ob4ng_v0WyFDSzZAHZ-gH-t85xmnEkpKRK-mJ2ohjqO052B8cKt0Ptn9myDlM2o_mq0mJsmL68vXlDOlXk6M9B1ID3gvoE8YoFxHg2BmMG_PyOcttbi3MMxMzApQFPyIhKN04DRuElLK56aYjG0SIxX4l6gg_SwC3R5bSW4mTyqk9cZe8yZFP7gyCuNHtrVFOopNJ74mxaoMicMQREuWkd9Rx0_mirGavGNfHXFalz4SKnfVisBbOIf866GdkcXhOiS3h8IfGQxt5HFdDCnmofD7ig_izOc7ilSoz3f0NEJGF9Hhgn2opcFK5xFdnpUout_J4JVTWb4nbt7vKPqjs-OFXT7dxHI4DhpAaZsrygESucBemtSBHgdNOXWGpM7xho9D4WesiYiMlUrGQw8_5WSVMHEwOfdfvUamKeL5ops47txK7Gtwhs8A2CkhRgFwIsafmXOkgU3sDWZOS3jykfNqM5XlCN6mA6WvIN7qTXNu61u5CD_Q72RkXYyFouGX59KUdUPU5ovwhDyy9gAX8SJYyTS5V_j_HhRV2ZamaK85cO4BmYW9TabI9N0QnFqmA8ffYhNnKjRM3OlWa6cgDTdsruzucpsteG_Xc86NXqvcSu2BVaNNSwpmR3JyyLjAAau7U16_1r_9qobIN8ITvk-2nM1t9etH15qVIZzppIbDGJonAoOW0tlbOKGw0YtuhNDFBkcx0yiLjYK7SJqTMUxxuyZRyWyJ23-83z71k0PrJYivTTOYIZcNL2QLVsvQl2rhLszewqveTPCk-Y_YNIk5s8WWibJhN_GwTMEFQ0RCzqL9y8uItWNctMt0s_qFg3VMRPcWD8oBxL5wC3qJNB_igGh4e_IhihdptMF2oiuQfTKSyxhCZ0jopLvtvZBU4wDVFcD4bQYFgaklJ3yfyjY6eBjrLMyIJMmgukLo8BkcNhEzZn2WnkbXYqxGgwzLtUwn8wpKZxnXjke8nF4tKgJyS5zKHvnNnjVU0fc1w7r9n1KXCGEWvDNZ6zjGt4phNvermT62sfl-H",
  "id": "rs_0d7cc622373a1bf3016ab43fd29bd887d09f4968bbb37f2443",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.025},\"note\":\"The small split move barely changed the close-up; the rim remains around image x≈83 while the jaws converge near x≈110. I’m shifting 2.5 cm farther left to bring that rim onto the convergence line.\"}",
  "call_id": "call_pA1pCIOb8z1oscCZjocV3Igm",
  "id": "fc_0d7cc622373a1bf3016ab43fd4e5c887d09f754e76fd1b8379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pA1pCIOb8z1oscCZjocV3Igm",
  "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]: [-0.26, 1.1683, 0.5819, -0.6403, -0.1806, -0.4, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2372 left_y=-0.0265 left_z=0.0399 left_yaw=0.1675 left_pitch=-0.6144 left_roll=0.0371 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.1915, 5.7504, 1.0525, -0.0708, 0.105, -0.0024, -0.0205, -1.7026, 7.0906, 1.6337, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae1b0213d338390d7aecc2aabc39405b5c8e697e42cf9c37dfd725a9e167ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c96a3f24676168b619cc06779c49b0db0502198c261291da9362ded2905023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c115cd17b14a7b55c19efcb3fc32e41ec3156a8ed490713a781012d849a00ba2",
      "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 · 3.687 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.1893, 0.5743, -0.5766, -0.1986, -0.3985, 0.0164, -0.0216, 0.836, 0.5945, -0.4603, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2465 left_y=-0.0381 left_z=0.0389 left_yaw=0.1252 left_pitch=-0.5755 left_roll=0.0386 left_gripper=0.0164 right_x=0.2838 right_y=0.0004 right_z=0.1484 right_yaw=0.0004 right_pitch=-0.1247 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.9333, 6.1197, 0.8034, -0.1783, 0.1587, 0.7302, -0.1026, -1.8256, 7.0632, 1.7607, -0.0464, -0.0562, -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 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.1988, 0.6075, -0.6437, -0.2092, -0.4759, 0.9955, -0.0219, 0.8387, 0.5945, -0.4713, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2388 left_y=-0.051 left_z=0.042 left_yaw=0.1302 left_pitch=-0.6078 left_roll=0.036 left_gripper=0.9955 right_x=0.2822 right_y=0.0003 right_z=0.1457 right_yaw=0.0001 right_pitch=-0.1384 right_roll=-0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2256, -4.3829, 5.7778, 0.9109, -0.022, 0.0952, 0.0855, -0.1709, -1.306, 6.9265, 1.6728, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.26, 1.1683, 0.5819, -0.6403, -0.1806, -0.4, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2372 left_y=-0.0265 left_z=0.0399 left_yaw=0.1675 left_pitch=-0.6144 left_roll=0.0371 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.1915, 5.7504, 1.0525, -0.0708, 0.105, -0.0024, -0.0205, -1.7026, 7.0906, 1.6337, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae1b0213d338390d7aecc2aabc39405b5c8e697e42cf9c37dfd725a9e167ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c96a3f24676168b619cc06779c49b0db0502198c261291da9362ded2905023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c115cd17b14a7b55c19efcb3fc32e41ec3156a8ed490713a781012d849a00ba2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_YIC6VZ7UaklRphpK76b8k1SyOv0Wb7HnEf3OU2q5rBlKcMyIYiVcCoB1l1ZxZs2oWd9zfr0h-xzEjL-DeAwcOT2efWX11H5g2hnuebvpJXiCGUBDxSWeRww9O_Jgz16SdpdUPW276AvdMma-N-LoOfQLombrG9AehwKMaVobyL9Z8_QmUNDNYC8BT4ZXl1Zakbl-mRuUGbh1xB9Lh6tb9O-xN8YDT7Ya0Tuaw4rAKnWxFeb5sIxgHWfO6BbZ5owXZeohsNjzgMwo-5gE3Q3WJoDTEhJkxl5xjUb9kckDw2xvVnriudnS6jBrD2PzHwHoWGyeVd14ZSZtgx6VmM7VfV9wJZzahBnIrkI6C1WkMXhTpng7jL6Imeb_mo8W4zHaDcJuYsbm4LyK0G2GZjdxIcWXcAKMu_0tZ3DJQ4drt7fadHIV3d1ZUYinCE8XdE0oookTSgWyBPZZ9UAmTKy67TC08ispqX9mANS0NPMrP29YkuPpLb--yyOUKv8eAV8JAmR2FjnC7-KwazPiFeslsenkIHgyrD0ABf9LD5Rep34SggvuFGIrc1yj6TIOdpQjivYrjVH_9NvYl8YtIcKrKjPJEBmveLb4R5oiY2xwCYw5p4c0aIiHCfh5-7SN1tQRrWZtXDsr0y6JsZBB3H2gqwP5_OTH3OX3IIVYrmZNFmEkc1Sa3v3UwFvgZjqB-FgsZIS-HH7dH5GihGAkU1sD_5vX_P1cFUj1Njm6ddIKyXiD7fOdqAjO1sgccny95TP7UwRW_WPAdl2rwRg7mS_AJeeBaI8g2MhLP2gDmp-mz8el-6QGNW56tsckClCgJEzKpY65STG1W2D2M6_9sxNfSpKY7CJU3nl6QH8LxgCmIfh1w_krCrq_1bI6zvNHN4D9kqzl9C1qQbuI8crR5IY3NJExHuycrV2lQOZzJNmVpcub6FHIXG4SZAyBaanF8xClKI6_sW593XRg6oXc9PNrASACTqJaOJZLHkn4AndgPiQMKogtSlqJx0yRW16HEuAV3cKSxUpX9kvjLUyiSLKdDXnIqu3xWFPhx-lZndPgPK7CBWCMBCn22103Cp1VQS_I987uSIywvhsDWM5NMC_uzoxBU7RvfvLDPFI-mBNIofdOX-rVX9DZIhi7PhFHJSOAQafaoIM91vUxj5VOqsX-r2i3Cifcq9GqrUFRl72hHjNDvZU3kJOlj4ZbqL2niHhXWFImMPHjnF6YqqvgdFlqBFbSfnqA6sIC5CzCWMPtiEGm0I-mUqpZxYtce1-D0DTAvmg2WNTkCt8xzRijIvv4UjyocZjelWicv5KHiN7496oSzXIK_Sc8XH8MofiA6DjSrQ2XDsM-HZgRAtKIC8d1frg==",
  "id": "rs_0d7cc622373a1bf3016ab43fd726e487d0a3d39b82ed96195d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.035},\"note\":\"That move shifted the rim past the jaw line to image x≈125, bracketing the correct alignment between the last two poses. I’m moving back about 1 cm to center it near x≈110.\"}",
  "call_id": "call_pbtRzfFdLZtk9nhcFFKr7ath",
  "id": "fc_0d7cc622373a1bf3016ab43fd7992487d09aa353f350b5dd1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pbtRzfFdLZtk9nhcFFKr7ath",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.161, 0.5755, -0.6399, -0.1726, -0.363, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0231 left_z=0.0392 left_yaw=0.1538 left_pitch=-0.6174 left_roll=0.0451 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -3.9726, 5.8598, 0.9988, -0.0708, 0.1245, -0.0024, -0.1026, -1.7162, 6.9949, 1.6679, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674867e953eb7ac8f48f9ec02c59c0d0039501ac9e5e8b8465807a6eee23225d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948f42d83eaf6f805e6b3f32e8948aec22adeaaf6ccf5c1f2668ce96753223e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871019aa6c3e3e150839047f8559a3de141010cb372119cef7a04f3f182ca600",
      "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 · 2.696 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4129, 1.2049, 0.6067, -0.6334, -0.2192, -0.4988, 0.9945, -0.0219, 0.8364, 0.5945, -0.4679, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2389 left_y=-0.0588 left_z=0.0416 left_yaw=0.1163 left_pitch=-0.5996 left_roll=0.033 left_gripper=0.9945 right_x=0.2826 right_y=0.0003 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1327 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -2.6462, 8.6359, 0.8571, -0.3443, 0.105, 0.022, -0.1846, -1.4564, 6.9812, 1.6923, -0.0122, -0.0611, -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 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.26, 1.1683, 0.5819, -0.6403, -0.1806, -0.4, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2372 left_y=-0.0265 left_z=0.0399 left_yaw=0.1675 left_pitch=-0.6144 left_roll=0.0371 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.1915, 5.7504, 1.0525, -0.0708, 0.105, -0.0024, -0.0205, -1.7026, 7.0906, 1.6337, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.161, 0.5755, -0.6399, -0.1726, -0.363, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0231 left_z=0.0392 left_yaw=0.1538 left_pitch=-0.6174 left_roll=0.0451 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -3.9726, 5.8598, 0.9988, -0.0708, 0.1245, -0.0024, -0.1026, -1.7162, 6.9949, 1.6679, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674867e953eb7ac8f48f9ec02c59c0d0039501ac9e5e8b8465807a6eee23225d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948f42d83eaf6f805e6b3f32e8948aec22adeaaf6ccf5c1f2668ce96753223e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871019aa6c3e3e150839047f8559a3de141010cb372119cef7a04f3f182ca600",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43fda1e4087d0abe1d47e8342eabc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.045},\"note\":\"The one-step correction did not track its target—the readback actually drifted to y=-0.023 and the rim moved farther right. I’m commanding a clearer 2 cm rightward correction and will use the readback rather than the nominal target.\"}",
  "call_id": "call_KNeTbDLnidp703OsiibqP94l",
  "id": "fc_0d7cc622373a1bf3016ab43fdb57d887d0811a6734374bee1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KNeTbDLnidp703OsiibqP94l",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1694, 0.5755, -0.6403, -0.1925, -0.4351, 0.9956, -0.0216, 0.8436, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2339 left_y=-0.0363 left_z=0.038 left_yaw=0.1514 left_pitch=-0.6156 left_roll=0.0373 left_gripper=0.9956 right_x=0.2818 right_y=0.0004 right_z=0.1438 right_yaw=0.0005 right_pitch=-0.1465 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1709, -3.5624, 5.6957, 0.9304, -0.2808, 0.0806, -0.0073, -0.1709, -1.5795, 7.1316, 1.6532, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1766fb9e41398df66596d0cb2d8b8f17528883a4bd1fef2b564e04f026ee0ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c8c2287b42ea4493e7f31ba459f8072e432fcd11d976f0c0c450ecf0da447c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9907f566e23aacde369fed92a3cc4d270ea80831344ff062b2a177396ae686",
      "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 · 10.96 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.1988, 0.6075, -0.6437, -0.2092, -0.4759, 0.9955, -0.0219, 0.8387, 0.5945, -0.4713, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2388 left_y=-0.051 left_z=0.042 left_yaw=0.1302 left_pitch=-0.6078 left_roll=0.036 left_gripper=0.9955 right_x=0.2822 right_y=0.0003 right_z=0.1457 right_yaw=0.0001 right_pitch=-0.1384 right_roll=-0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2256, -4.3829, 5.7778, 0.9109, -0.022, 0.0952, 0.0855, -0.1709, -1.306, 6.9265, 1.6728, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.161, 0.5755, -0.6399, -0.1726, -0.363, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0231 left_z=0.0392 left_yaw=0.1538 left_pitch=-0.6174 left_roll=0.0451 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -3.9726, 5.8598, 0.9988, -0.0708, 0.1245, -0.0024, -0.1026, -1.7162, 6.9949, 1.6679, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1694, 0.5755, -0.6403, -0.1925, -0.4351, 0.9956, -0.0216, 0.8436, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2339 left_y=-0.0363 left_z=0.038 left_yaw=0.1514 left_pitch=-0.6156 left_roll=0.0373 left_gripper=0.9956 right_x=0.2818 right_y=0.0004 right_z=0.1438 right_yaw=0.0005 right_pitch=-0.1465 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1709, -3.5624, 5.6957, 0.9304, -0.2808, 0.0806, -0.0073, -0.1709, -1.5795, 7.1316, 1.6532, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1766fb9e41398df66596d0cb2d8b8f17528883a4bd1fef2b564e04f026ee0ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c8c2287b42ea4493e7f31ba459f8072e432fcd11d976f0c0c450ecf0da447c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9907f566e23aacde369fed92a3cc4d270ea80831344ff062b2a177396ae686",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtD_fdtlzBVLMOZAtpaXJJG-Wey1pe6bPiCSCjZQFxFJGq7MrkMvEOx5fdtETDPKPBCXPPt0mJt8HRvr_SvhqtslTyVEhbVO4wJeNDv9yI2VZrdCPdn294V1omLXWEw82WGUr6pAiCPlzzvrQoB93KavSnUh9YaVyHHY3uAubpmL4c1WRQdz-AYQJJmqwZYdkVG02geHZSbvTLAtBpITbaTRMggqR2nTNxIeyacPBaMmD0XmHINjrecgliFn5R5U1SMUpEDf__hqp48m5eUE49R_WfTZOhx1QQWw-Z7XjZkQ_up1fAjdHgRZslxfPE973vwO30MZVTr2A1tcePQi2nW9UYIoZwKh8kcfwtCaj9XSzylRwzOwxXkhbfmEGYiPAAAz9B2UMSDN2H6fBCocfm_BuLkAWYjiZ2QuSj12gesinJHC3HcrHSjshJOMYe6mho7T9rUCl32iKQTGMSINhEexcCzMLjvBiH1KnTJnuGc7XCN3iIWS-3S6Jy-69bIA8bhpj2IL6KriWcOWVMO6TO6bUWdf3JDmlEm4WDKQy-yFNEWhKg-c_E9RphpeKQ-fi8BBDXxijN1whd7WFcbhhCas-pJnGROSiRfSCQZ34EwLJjcSvzVQFmmSB9ZP3F8IUsLGacv6GLJo1WTq4z7fpIRaXUcXlNvIRBQ6XwMNkT9FDlGVF6i60fhTjmRsmEhcxtvvKe9ej4pPV6W54tknMIlF_AYDWzxifWJcLh0mdOfLdm7VdN9WYT2lz3FgkOg2CcH3uXm2J7HzotUcE4CAydTlqjkuJBWetC9Rvbcsa6c2eP66EIqRCgpq7E5vUDUY8_r5RLNujcW1CVpiyex65RjlRbz8iZ4xPkJUHs4IGDX_ooxap3GX71pkmDo-RqC62rplVGUwUjh6F_HR3E95-xe0NEC9fbZca-_JArIJy54ELPksPtgkjYwl3Lio1V6jT1xSRVabJx8ukUrDmL6PBQwa5_SceggEzPT78lQHzhaFGNEGN7mTIclAYKa1OkulfrolcgYu60t1mA58-SANQdfz8WgMdTUc76UptBLiLhNeV4QcyvANcfvMh-e12YSc5UjgSiM1pm8u0Efpg4A4nuyVjqVe8DGj-rp9xwjfJR7mJ55-Y2JzE9oZMWeJKIl2G3oFRgVd-s8378p2iCIXcHThpImrpqo57M-5zTM4kBUoGDrAasxxIROeF0aU1ehrULqR-zijwn0z2vnykBhblGwp4P6kjb2IkyR5PQXir3BrXmbDzQT7mmf7kkYa-zu1IdPi3nxoRswLTrfs22xKzgRQOr4oFfq0RAoEBGED7HytFfw8vKUst-lqObt-QUlbcJQmIOxpip0NWWjVn98or0kR5-3yDhdZVvqi8xsDyIJSLkmxlGYoktLpgDItHlYkss6-gnPWQMUQkfSLtSALrNYw1B5XdeLe3p5570tFlPHx1sc2QsrRiSX5f-WXgRY5ONxy5LSYQWOHfviIiz31LogMt7K4UyVMkLrbjUnyqmFcuIKbRV3bSbR_IYvGETwxvpT9kwR-n4ZT5dkn9XKa9Jj5nEw==",
  "id": "rs_0d7cc622373a1bf3016ab43fdd7a6c87d0aabf4d03af4f2179",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The readback reached y=-0.036 and the purple rim now lies within about 1 cm of the jaw column, with one finger inside and one outside. I’m closing from this bracketed alignment.\"}",
  "call_id": "call_4PC5JsA50QIh1LD9eHT8Tq7R",
  "id": "fc_0d7cc622373a1bf3016ab43fde411087d08772a2be3befee9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4PC5JsA50QIh1LD9eHT8Tq7R",
  "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]: [-0.3126, 1.1652, 0.5709, -0.6292, -0.1913, -0.4362, 0.0172, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2352 left_y=-0.037 left_z=0.0383 left_yaw=0.1477 left_pitch=-0.6064 left_roll=0.0298 left_gripper=0.0172 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.212, -2.7692, 6.4205, 0.7595, -0.2271, 0.1783, 0.6716, -0.0889, -1.4427, 6.9402, 1.58, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed18635a9fcd363c6671aa548103a73f0f3192ae390ebc4d63ecc2e61de01688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e2c6e1bdd10eddb2ca181ab66b047c1104877a90e2f5bfe8768aefa3895f70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad67e6528a19a276f50b79905173cdfee209242bde8045d3a9bbb90cb9ba041",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 4.071 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.26, 1.1683, 0.5819, -0.6403, -0.1806, -0.4, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2372 left_y=-0.0265 left_z=0.0399 left_yaw=0.1675 left_pitch=-0.6144 left_roll=0.0371 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2393, -4.1915, 5.7504, 1.0525, -0.0708, 0.105, -0.0024, -0.0205, -1.7026, 7.0906, 1.6337, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1694, 0.5755, -0.6403, -0.1925, -0.4351, 0.9956, -0.0216, 0.8436, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2339 left_y=-0.0363 left_z=0.038 left_yaw=0.1514 left_pitch=-0.6156 left_roll=0.0373 left_gripper=0.9956 right_x=0.2818 right_y=0.0004 right_z=0.1438 right_yaw=0.0005 right_pitch=-0.1465 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1709, -3.5624, 5.6957, 0.9304, -0.2808, 0.0806, -0.0073, -0.1709, -1.5795, 7.1316, 1.6532, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1652, 0.5709, -0.6292, -0.1913, -0.4362, 0.0172, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2352 left_y=-0.037 left_z=0.0383 left_yaw=0.1477 left_pitch=-0.6064 left_roll=0.0298 left_gripper=0.0172 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.212, -2.7692, 6.4205, 0.7595, -0.2271, 0.1783, 0.6716, -0.0889, -1.4427, 6.9402, 1.58, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed18635a9fcd363c6671aa548103a73f0f3192ae390ebc4d63ecc2e61de01688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e2c6e1bdd10eddb2ca181ab66b047c1104877a90e2f5bfe8768aefa3895f70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad67e6528a19a276f50b79905173cdfee209242bde8045d3a9bbb90cb9ba041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_qxgvabT7Tqe5SOGqy40wzg_X4zyR4O72hUutoSgL4xaNtMOGHoYt7hl9VXuhJdiuCfJr1sIbTd4A2aXeGhAAG8gI7a9qah0sPpTxr_ec0zHeaTsLXpxqOZr-V9PvmymSxrEgj0KgF1z9TugqdLjSSN3n_h2zANZ-9-AfD-F6B-BOb5xNCg_YWVpB5HEPLMN8shehUgRwrrf_ace8Xr7NKiJ8swW-tNZGlNmwzvxuj2BiGuVhg0DNlZC89CBCXMJXPKNt1rKk24ycDFQMyuYeDILVVpTMJ6EUmyDLAN0bKeVnX6RrxRaLBxk30miZnPRzrsD-6wNgKEE713o1_-Al_2irCtoh7lraL75qhg5DJB8l6wKcdvOx-8bHjWgUon0E7GlZWq0jVuxNSQhfxNq4sS2A1wnb3alP6Se2fMcU_OS5cKqmQXBOMKQxyWW_x0Zwgouhvo348Wbm4b2i8tCbWsv__cKDSJuDnE8gztzIhnFdBoY4T69Az43u9NOWB30lzrLboZuU5bk8XrEEi8i-rQucYkiLFQUuvkMSre_nET2rLu8iGQhAIIzNOp2qIToyEuBgBnTc9VkHh-XRKk9Un6LZ5TBOnE8C8SWIHJctRIlOXk6_yFzrEtoD2Lv-MyHLJ4ijsdDcD44-_TdTBLbPhV02-EdMEbI7VbXKtA_K5zrlNnMU-O4EDei71gaqL3QX4-ChSpcNOXIdlKnvh-tfwGLxy6rJnm7UZ4K92Z1UWTA-ZIcYzLQQnMlBjqZ5mi7cljZi_h6M336eHWOOd-j9sZLhhnYcTicYP68rVtNRvRzctJwLHILXFfsZso7mTyVH-B_GACi_PjKf0z1pOc7Uis7Os7nmwB6JoR0JuWS5ho1JCB-Gl2bjCAGp-OmSwn7snqI6k_g-Sf-w-cxnbVrbdYU9wxEzxYsDKdyF43Em4gcOF9sI4RZ9VqsTdrEYxLSsWqwZkYDoe3HDzoQnCRLW2fY7oC37d8KCe4wOkZ8CHDEndJM0yUFq3uFo7RHK20h5qD8eyd7YXGRX995QTeepXIGI_qkx9nCpElGFFjeZIIUzD7AF5n12Zx1OYf10BgSmdwm3ZpPrKUbXNKPZMMUwXPDqhA8bDlukXAPpdnSKWKuey0NuIp4fQrqpkcqPbzVgNE6c39t4zY12Jkp8l56QCUG7IpL1oGQ-7V87wgjqmy-PL02Yf7AMA77GMETwLprWjwmfCCxwzkOj24VM8pIh-KlHGgS5At73nAWl8-bl1lel_FoP5D20PSIoBpHjv0EpxWFbznxNX3Mkj7kJReyi_WB4cxm40xH_DQNASIe7hng8JkqBD_ufr3KKHsLyEOBY5uw8mC7mbOPQm9bI-vnBDN-oXPvtzshO9qkAEe7xTrvCJp63Zx7JrOVx7REG_FZ8IvLl5rbL2hk7U-HTs781RDtMYI-U-gW_2arVDkAqN4bAntfELAykxPwA40QMVHUkgaEzbK9QpcdFEzaXDhzGfC5wwuJ5t6b6xvT0GTgK-YvvPWKJ5yajH1Zb6ZYSmTcFBmQZ5cEFqQb-FAb6NcIVtEokn0DI9l5S0kq3iQitHJpl3RVE-DMsZXJEtzEqhhGc8QVwntBNzlMhV9uOakRuJsSJtYHhbNi2OBveZR3yoRISgSY-hFfPGyQMqQnJqi3ItflQu2XfJLQwNc3L-FBn7173Y4tIy5WXn2LjQCTY6s95rN4g_V409m_dTHUfTsX6POdUGdpeXCXUquIOjpUZBCdrh7zn4rLhba0ZNxS5BJTpXV57p1e87U_LdmLaGDnCenZBpUWrS7pQ9uzVRLRo6HcmM0lPR-mcgApwyerEtCVZVeixkFpv0PG6U4QWPzTy3ZNQpxn3FrDR7uJPAMeJCUXewTxu74zY26mtarZ1I32aDIv-Ax8Eqrzu20KiKPs4f_LUcyC3iEm-gv6eJuoWSIGDjl2baH8uaYOxoylG4-2M4TYBTpSCHu4tneFEIrNKOoOJIUP0KI9WQaogfLvo9pp2OobmmoA5itINo7H3VQYNfybNydVeL5aPCYUBetYzUMfWaVwETYg2AQV-SvFie5_GdQZUrY74vK4rh-SnHj9P0nfDktdVsyLMMLnEgiwyzl-HztfY-GojZFeNKdiZhYH1rDYkcRYdDUDehlKRX6X0e09vFQW6pYFYoaeoMfFYY07HjzAUU68ShLuYkhDjzCjgFUl1tQrej8VdOE-OvlzrthqydmTHU--DawefTH4EWtsoDMbA8-gvh47POShbQOx68xUaSS-mxa83MEqc2a5dyPqMKHPrZ4XX5DU8u3oVkbSo6pZYy5_1lQJuSl3s3-dGHGJSYusXZKdzZLiMMDx06B9g3bGyy3jbdqvwGtcBwCqZin160fwgvMGyqfbxtCXl8MjaizGU81mNlCGfBh1-vvLa0VAvjUgv7RHPdfhLfUnv0s1Et89cfCELlgu0fNj6mrRvzASwGLn2G-ywRSdko8QrE64S2eVyjWKusYXKNkjc2IAcaOO-1N2llzxCK2sBpwk2wTw-Axnl18G_Wrf41j74Uc842xypj_D8hEZyONZBYhCHNsIiyBTdtbXtbIHSbZYn5q5qcZhrGwZnWVToxvTdC3ZwbN3ILfUgtR46gaOW-x0SpJ56Nq0g-1Y5dXyk0mGB_b3nvtWa_5d3PBZ1_XAKUncrgH24p_6Wx1-ny_bkyu6M6J-OyHcMwjUfua3KAWOXJthBGQlKS05bg35eIRBrBSPyF2dvjPvgu0uoldRUhjPmwWUqnt7O-80qsS54nKMeaDRIZWnp-7kwMGqLBTWT3yppWZKvyBbYKRATKXhc2VwIRnRnL9vqEMQv3o-wX92pwWOgSQGjkcltd8b6h-3OMqx06ggmD69DvTVh6YONBjijzijfyVM0PiyuqTskFCELjwdKOSLeQW79AZT4D-fr-BuKTDRWw0T5OOhm9HXDXdQd51s9vdeIjYrLXJC0eGeasbKgSYt35j2LOvEr7dybPUF7aXDR-lfvz2gzIZFMlbqzJuj7WFre5vRZe0xWZBy5ZKjch7HKgIsWpUfSLs13jQn47ws1cwBtI28gF1Zg30nIgPYWZqSNBAOkZ0kcWJtXiyRHPp5ufCJdlBICS3RUmYhgeRN7MV4gAsGrk7kbsIy_KjsDSjOU54xc71bOO0qwdEvjmqDxlNHYGTNhnXiKPaBdtkanFyDx70mhJSDgVC4kCccD6XDqF2eDc6bUHJlqqG862z76H-VD9ZZ55L_RtEQcShC24dChZJF2ssoJ-a5dbFU7MfsjI3AADdi4zP5J7zZSRRBtzuPXkaHDXpJCvuG5CU7YEj-aE1S1jGyjPDqrlWJyE-C-u9gU2eTKXTDT6GHIw9HRkKAF2CYxnj7si0CXv9ww_4He1jNqIAmI0svT-m1wSSHHehOh9P7zZgXQE_agpeE3KqFFOoSZQ7UiCf3B09HAAp4qVxnVJhLdH6OGS--l6hd1W2cQ3CT5VcRslPGDmrOYV38GL9MNe0niAAl4MnCJpOtqtabv9PWLRGoDOiym89PFps9HKFp2NsQFKxwNMXbFFcVst1jWgw6PO5aOCf5Wiuk0jZb0Hrpsh8eaBMdkKGAwVBUQkoH500SQS88OfJNznior5MwXf_jQtN0qXHufCRYkjOvYn0W6cRq5wsZqccF4YzW8k8NdnV2zIRsc9v-_oGyu0EHrDamb9Vn86rt7eP-XRr2wf9vpz3-xVzKBXfERsWWVytqlviSa8VGZpRFZwPTvntxp-GEEcE9uPSoolKvJ2MDWo7npGXp56gUtu2IxkNgvfD0FIJiudb9Syln2wuKd2uj5LSL61dt7VIVI6_kj_tL8gozL5mbnKAXCrkNb1W8UKJ_KcJkUvTNikIo84kKhc9LigCYPz3u71lS7pYavLFP4rvMO_syHiXtvAfEMeXoVtob9lvuE7coK4SxYgLSLlpWa-H1_K7w2PpZlEeoOn1ciQ-qaSZRoUZZqLfezqRUVT8ZP-aFZZKTHFLuCQis4L8lMBmTL9Xxo_gQ3-qi1Z2P0uMoFSCppIewtovLlSIJH1zjhQJREVoDehnYytC76X2TXLtyYMFUzCR8_femTXPFZ0oJ55QnrK7XwfyOqm-4ube62BF7PBzB_EbTUQ2OlWQUtofG0ZtAHTCLRQuZ4uhWbfUb5qmIxV5sApYllfMIR-Ts6OGNR72fsEhnZcMp6_LgNA2_xzBphfWCZnHRgTEaDkH_IL43CAlZkGrZRhrZsMOt0KFIWZxuEo4DWrLR_Trb4JOYY9Vjlz-vhp0iWb-nnCdx2OIeHni6ZXT-_kgeVBecT3mijVrLpjpzuo9uVomwT6KsTuXXUUXlkCQZ4V1woVsvKjEy42cuaVjLskfOZPYRJlert8tWY0Xfgakmud-K-0aisllS7XSW_Cz4GENppHtt3PIEiIrCDLh6Zf4XmSgQ==",
  "id": "rs_0d7cc622373a1bf3016ab43fe13e1087d09c39585e04e3aae8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_qOC5NsHGybrtIXIswD0b-76xRTAWh2IelyQOHqMW86iekOi8ZqByG3L7UiJ2YPCM5CgfaGuOgyIUfvVqxrLDrL-9DYSWegrKOnPEB5jhPtBAbCL2Kya-tdus0aLTR2VpjU_y7rvm_QcUfEwF4g8hnX1j_N-NIPz_seHWuKIw4fACJviODQX4ByuVR5ctWAphdiJxF1fM56yB401xmLppzLn82R1pFLRZV3qgiLQ8OLMnw_Sknw2WwWFEYD5DZxMw5jO7uzU_aFFNcjK10T7VETV-oRLjZylZFB5zWOY7hZ-IGMpwQfJivVCbCoAQkYMh5GgfsjBOp_XhtK0_oWCnXN94WdHJLLB81q1yLHh5SlRTHei0bXjzpl1CRrIZ0IKH8grcnudxvwWNb09fFfO82znYAmzRAHOc9Rgo0uzeg1YSvKc2UjoEJWYQP-xL21d0oBBG-6lsZxS0bZHsRnDuMms1GS4hDIBVVsruGk5I1s-aCP8YeEp7tmlBW-k2058AQCYhUGkXDH0eo3_1yhyVz4Vy6HQxsBsZrts2F8KogD6xZ3WHRV2LayRQ-PCDRtr3hFQizkOvU0az_UGy5R2RbZ8i_eEDrIvjv_MLwaKrYRmYdW_7l5V_pA_4EOkgvvRAdvlPUb2CO4c0UGSkGjt1urkjoFT4emHdK-YLC20QygOu-_W1TjA2ApbKoeowmKRQzjh8FiLs5jAQ8TlEl_ff-qCZYHZaotbE2LP3avsflxe-SX0XG-in1llqC5o6Gb19EdMAPDLETLSZGEBk4AVo8sqatUKgXbkGRChcKEhKSqDIPz174vJz6OsXve3mwaRyGzwVaJbrsv-EIC0aHFeVjvaS_MRFL9U-OOAvZeuNYvu7amyvIFRMuldM-GtMEn1BLifXEdrA1zj87lqP4wUodxdeuuQ0r8qbC122zXHz9AVjKmWbZRI_uBBy6SrE4th7EjzhggM2RjFzlZHppN17XYSe5aOD708SQmhOf7vuzA4uG321jZtc_9LvynI5Ta9P8fkKK0l0HhbxsIM0hIanvNZeym3csszDsAVqJSaNlemScmZMdGh62qX-m9vGtn_Ed7LsaBIi9BbeeoFZP3cHfRXgDoK5t_KEcJjNqbtH4EwZ8ZZTou3f_tAjYGQqnDL6iNDkuDZEGq0a92QNGvwTlPp4PuAsjsOM0nSJeoba_VvVcgjgtIGSkzg1migH9o_t4vJqyRdYue0NBKSMBI19KMNqXqT3SDDu1O0lLHPjBrhhMfYwE_84vImwzsM5KsWaO4s3EHKM8kgXSmvO2_1bjht7XcQTXmiU5rMIfHL559JM0i9uHZwI-MDtd5gfb3I9oYAhdMVwASIASYAXY1Fq_tpFbRv5oQNAzd8C-a8K0XQymrP23QjkqJeHbRrzjJvGovY-yjS3rYCWerz4Tu6R2gKssUS80B193NlEGXpWiLTTcpVNiIQqul52m_Osjv4iQw-AFOZuHA0FCIm7eAAyK3LIHfCCo505__95JWSChv7Xo3sQEB_xjp3GZjUmCVSm2Udx9yOjKxLDbuZEeR0pm6oEOAhAfr9Hez0J2hDZxMmqP23p-Ao9Cso_ExQYyi-8itWoclwtSV2WzNYPVTj_ibUZs7Un_-k609IDgpr3rzvPbRYaZL7jxmvwff-tShA7nc-SSHqgUYMZPnDS8J2UTNN2dBRAnlAng7BZgkj-rdO48dqD9vXspFhZ4VzE8sj4GWlth3y7VDAxvttWlA4S4KQCRb_fgPU9uZ4z3aeDsxd1dFMPEFn3OuRwls-D4cKzEbYoeFl804kRyXVJQy7Tw_3RUaP2UMe5Jc-mGnzLI2bgBaj9_v6VjnpL__PLxNB1d1q858w-BulyWQEBwt7Gko23DkopymiZMi5nRbnPZaBaLYAvGgvrglbuJyZpWW5n6biDK4u_zlTFvDqkxSG10cKHo9CtPgtEJ8rd8YyhGYWpjvMcR6xr3GLjfZjPzXjpcQAD-07QNZwyv2QOg6z_qv4P-MBU_My2BvhnrfVpDRvMgbZkB8iwk7jnqqGV_8PrSncGmCHrtbidueGTGvEFt5o0W4XPbo0fqG-9ijfGHFy8BgVW2DNPT6UZ87qNA2rhdjGQTHKJ2ULI-sqKeQEI0QriYIkNEu3KbQjVZ5YlAOOgFJy5jlvJhc1zK-tOH3deNl3nTRCB57jLv-4Mxir7tkqIP4D0pptYPuMigO-OFlkq721unfCG6zHUwlTut6qGAqqw5e-j5TPw6Lo0vkDOrPrM24O3u0JvcqDDIBnmpieY0uLFLekxrE0X29XPuDnZjr2NiAkCxwtdj6bcf0e2gWoThym-DeVSAchaIjU5MNqWCbz76LMQkfOCIcfRq8HhbDhYoYG9bjr-1T2noWnAzo55s2iF66S6_fyREzXX27eDi6JeRoyTsUhDImQ12y0g_Mmrqfc_MPJoCIS68-OYzKZSzrOVggV6NanwcJdLrCvE_LLx8P9i50Gi01YH9FfkdZRM2PLW06w4kSdqVltFn738y80ruqrlhpjnwo1i5UWEYkODoj1JoDM4auBD86JFd8AtINkQ7pM4MUfhoydRc6LwrKGiS6EW92AGeIZVpmDnfivpuTsbHF2cS6RzKQUK76T66ZusDPDq6Rbfpn3PATPBqC4ycaVDZpxv4XE94iTST0c-fbDCGSd0Tih_k9CKdOibv-gI2pJiR0OHOMB7ZGyjs1wcalXP6T_GdOwk9H89D8KpHQhbTLdyCMeCrxRob2hIhXDHHnCn-_umcw9v8rfsxmW_9WKtYcYlFKwgVTPk6uaqbW9Njp46TR2nN1zDJDaPk3WsWgPjN65V-EC4-6Rc24GO1cmA0O7INezu6195MwZp4OgStK8Q0dyUl47EANsZrpmRGViN34_rbYCDQPg8H7RS-RlSGLo9vAxS3QygjLHF-bx9MfUiY7gP_lxMipsVqnvCcmx_KBihdhA-_OXAd6FPWqJkReO-9xdiSMOiZ1Jcp-UvuUJHy9uKKPlJD",
  "id": "rs_0d7cc622373a1bf3016ab43fe6c26887d0b3e63bb9f3e47346",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The rim keeps slipping away during a full-speed close even when geometrically centered, leaving the empty 0.017 reading. I’m reopening without changing pose, then I’ll use a staged partial close to reduce the sideways impulse on the curved rim.\"}",
  "call_id": "call_ZcWQqCo5d7eUrejpNFMpw34H",
  "id": "fc_0d7cc622373a1bf3016ab43fea048087d0842ea2576347ccc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZcWQqCo5d7eUrejpNFMpw34H",
  "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]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4438, 0.9946, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1511 left_pitch=-0.6015 left_roll=0.0233 left_gripper=0.9946 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -2.9744, 5.6684, 0.9353, -0.1685, 0.0708, -0.0562, -0.0615, -1.3197, 6.9402, 1.5751, -0.0024, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97378324f6aedfebc4533c8b19d7da893b30f435bc30fc9435310f5216b9bceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25097049cae8b5d6bbf12ec7313b2ef9135b6f48cf0ea606a16b4111fc6303f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89c2b1455b1b64d9ac7d5a41b00dffd0098a5dca6adc5da895334ecdca02a29",
      "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 · 2.273 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 134 changed as sent

message 142 changed as sent

message 147 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.161, 0.5755, -0.6399, -0.1726, -0.363, 0.9955, -0.0216, 0.8421, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0231 left_z=0.0392 left_yaw=0.1538 left_pitch=-0.6174 left_roll=0.0451 left_gripper=0.9955 right_x=0.2818 right_y=0.0004 right_z=0.1442 right_yaw=0.0005 right_pitch=-0.1449 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -3.9726, 5.8598, 0.9988, -0.0708, 0.1245, -0.0024, -0.1026, -1.7162, 6.9949, 1.6679, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1652, 0.5709, -0.6292, -0.1913, -0.4362, 0.0172, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2352 left_y=-0.037 left_z=0.0383 left_yaw=0.1477 left_pitch=-0.6064 left_roll=0.0298 left_gripper=0.0172 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.212, -2.7692, 6.4205, 0.7595, -0.2271, 0.1783, 0.6716, -0.0889, -1.4427, 6.9402, 1.58, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4438, 0.9946, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1511 left_pitch=-0.6015 left_roll=0.0233 left_gripper=0.9946 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -2.9744, 5.6684, 0.9353, -0.1685, 0.0708, -0.0562, -0.0615, -1.3197, 6.9402, 1.5751, -0.0024, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97378324f6aedfebc4533c8b19d7da893b30f435bc30fc9435310f5216b9bceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25097049cae8b5d6bbf12ec7313b2ef9135b6f48cf0ea606a16b4111fc6303f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89c2b1455b1b64d9ac7d5a41b00dffd0098a5dca6adc5da895334ecdca02a29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d7cc622373a1bf3016ab43fed915087d08583cddcfbb5dc36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.2},\"note\":\"With the jaws reopened, the purple rim is now precisely between them at the convergence column. I’m closing only to 20% opening first so the fingers approach and stabilize the rim gently rather than snapping it sideways.\"}",
  "call_id": "call_XmnixCRVWQBY5hVDVKAptmyB",
  "id": "fc_0d7cc622373a1bf3016ab43fee897887d0afa343c579fc0f5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XmnixCRVWQBY5hVDVKAptmyB",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4465, 0.2048, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1529 left_pitch=-0.6015 left_roll=0.0221 left_gripper=0.2048 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -3.1521, 5.9419, 0.9695, -0.1636, -0.0024, 0.0317, 0.0068, -1.4974, 7.1179, 1.5653, -0.0513, -0.0513, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec5335b2a0eeaf6b26cf9c4eff1f44fa0194ba18b86c331f6022692cec0f6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0115fd8c4b079f95303ec433dfe686848299735afc3d146d7254ff5a160bf039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385cbdc3e25a1754d8f160b6285cba73a3a6aafd53cb6e0b4dfb108d7b7bd6b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.054 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1694, 0.5755, -0.6403, -0.1925, -0.4351, 0.9956, -0.0216, 0.8436, 0.5945, -0.4744, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2339 left_y=-0.0363 left_z=0.038 left_yaw=0.1514 left_pitch=-0.6156 left_roll=0.0373 left_gripper=0.9956 right_x=0.2818 right_y=0.0004 right_z=0.1438 right_yaw=0.0005 right_pitch=-0.1465 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1709, -3.5624, 5.6957, 0.9304, -0.2808, 0.0806, -0.0073, -0.1709, -1.5795, 7.1316, 1.6532, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4438, 0.9946, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1511 left_pitch=-0.6015 left_roll=0.0233 left_gripper=0.9946 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -2.9744, 5.6684, 0.9353, -0.1685, 0.0708, -0.0562, -0.0615, -1.3197, 6.9402, 1.5751, -0.0024, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4465, 0.2048, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1529 left_pitch=-0.6015 left_roll=0.0221 left_gripper=0.2048 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -3.1521, 5.9419, 0.9695, -0.1636, -0.0024, 0.0317, 0.0068, -1.4974, 7.1179, 1.5653, -0.0513, -0.0513, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec5335b2a0eeaf6b26cf9c4eff1f44fa0194ba18b86c331f6022692cec0f6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0115fd8c4b079f95303ec433dfe686848299735afc3d146d7254ff5a160bf039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385cbdc3e25a1754d8f160b6285cba73a3a6aafd53cb6e0b4dfb108d7b7bd6b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_ybqghar6b2c4K8yoNMiQDkOOS4e3YxVUbpHy_QK8knSNM9kE3zfwD6_2C4cC0LS8_g100Fx-ZzyRd4JHyzO3-y-vgfbGp1tv0yCnz90RcKKvqXMljhftF4W_fvYC_kLuehyGW8M1iQIFoBRE84G18XCyv5Km9x5KGxBF_PyPfDRKT12t9E_jvVIW3ly4iFbElLl6e6c1wcMt7B9NdOA7OBAbDiHRWs9mg2tFFgozbdSO78AeZTlXJzZoYuI171EievD4vwUj8QimSzglwRg8GsKk0wMLt-aCDtz0cQecG2GITcGA-ye3zMOrsdxDjngBF4EbEgeU90C9tXYH0nF6V_wb6IOSmocLVEbjgfPF1BjHBAecnjHDdB8f_GKiBrjRAlqKo9CshUYzdZH1NlBJ1VT9tD1TYS1gHvfMm_pGPaKpQKsQkknNHSaFJzgdHUAofEsfzxIRN_vTdrZ6RSUcasl04hvv-KdxLYNAtri35wIqTIS4w3GPtygypOXOvhMkDpmGn-8fssdkQWCJ_zqsyo6B2ebGRAboMWK5JHiMpeHkDK5NxJ-MElehrZUP27byYF5vYAQVdrr_qK1AphRA7eyuJTGJkhzjodBgi_CSitG2SeCnI5fZERq2a-SGt4DJonyAl3GDWCmLk7f1y2dSeXVqploWYSqpGV314G9MnvL2Fsc2tV_Ic0o5wzKKhFwdjUPFQaQyG2vRAulOafEwW9h5Ro3bRMs0KAnmFdJxmXXBia7Eq78H2eFq5UUxop7EUmJJfmoyVDBmBdO1_BlyTU6xvm_YlME1CRh7XO7qoCTwsqPJvwrMIjxkhzMNn-0aabi_Cf7uTP9jtTOLb8FeN0moI98TXcRIqdgNnR0-k58p5090KVFzKNEO5MLGQs1iyZlaHjStNr9xw0MCbHcrx0EPhO15cUqi502_MfpVBTvKEbiK9A-Di8nvSPgPREjtwtbc7V9RpQyWTioqJYINCvUtNUxvh7B_Lxse2AbAxgv1O67WPrtTrqviG_yBBFtsooQQL5Pad9LRmvKIg_EjDYxWbeDc8v7JnunjzyZnUt1ZL3eQw0TN1Z8W5G9JBytOkb_27mLaeHSFPD6Q5fNqf7RlVlwzCsdAEtUVfqMRyMvB8VPwx59O-pINGaBf0YCiZhTKvQn-DtF6CeGc3AGpj0ae0gzRPibKh38FQSJmaGHc9aYW3KkgU6RvXek_uFByHU7_F0G6icHAQ1AiKUQg4GDCtyD8pwkQfIJAkjrxcsi7dYebDPpEh6j67sd4rmumRYFuOSR8HpJlJR_o1-wzRbz1ociiLs2ayD3gdK5SQFejdYs4YYuAPYgvVCfa_ohnRYsFFwRjbEB-bDdi46udDsg==",
  "id": "rs_0d7cc622373a1bf3016ab43ff1b9f487d08917977c315499b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 20% opening the two fingertips are visibly on opposite sides of the purple rim and the bowl has not slid. I’m completing the close from this stabilized contact.\"}",
  "call_id": "call_nsJP7m0SojKJlXdK6XMtvKg1",
  "id": "fc_0d7cc622373a1bf3016ab43ff21af887d08432cb9fa536328f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nsJP7m0SojKJlXdK6XMtvKg1",
  "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]: [-0.3126, 1.1629, 0.5697, -0.6209, -0.1909, -0.45, 0.016, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.2369 left_y=-0.0376 left_z=0.0391 left_yaw=0.1535 left_pitch=-0.5978 left_roll=0.0178 left_gripper=0.016 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -3.1248, 6.0376, 0.9451, -0.1587, 0.0317, 0.7497, -0.0615, -1.4701, 6.9265, 1.5995, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b66a160498f27165930002b952ae5845ccbda21a412423082dfc6416931de72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0d2edc4eb8326d7b4ebc27d1304f25ff5c6e75900cfeef073a5800b07dbcc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8f92206cc4a3afbe7fb751f493c7aff009cd46c8701c960075188e9229e2b0",
      "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 · 5.019 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1652, 0.5709, -0.6292, -0.1913, -0.4362, 0.0172, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2352 left_y=-0.037 left_z=0.0383 left_yaw=0.1477 left_pitch=-0.6064 left_roll=0.0298 left_gripper=0.0172 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.212, -2.7692, 6.4205, 0.7595, -0.2271, 0.1783, 0.6716, -0.0889, -1.4427, 6.9402, 1.58, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1633, 0.5697, -0.6247, -0.1913, -0.4465, 0.2048, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.236 left_y=-0.0372 left_z=0.0387 left_yaw=0.1529 left_pitch=-0.6015 left_roll=0.0221 left_gripper=0.2048 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -3.1521, 5.9419, 0.9695, -0.1636, -0.0024, 0.0317, 0.0068, -1.4974, 7.1179, 1.5653, -0.0513, -0.0513, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.1629, 0.5697, -0.6209, -0.1909, -0.45, 0.016, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.9989]\nstate[eef_state]: left_x=0.2369 left_y=-0.0376 left_z=0.0391 left_yaw=0.1535 left_pitch=-0.5978 left_roll=0.0178 left_gripper=0.016 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -3.1248, 6.0376, 0.9451, -0.1587, 0.0317, 0.7497, -0.0615, -1.4701, 6.9265, 1.5995, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b66a160498f27165930002b952ae5845ccbda21a412423082dfc6416931de72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0d2edc4eb8326d7b4ebc27d1304f25ff5c6e75900cfeef073a5800b07dbcc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8f92206cc4a3afbe7fb751f493c7aff009cd46c8701c960075188e9229e2b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_2QNUeT5gGjAYXdA1v2CU2qtzF871sZcYmh5YFg3aXrmbIexVjB3Kqqwh98NWgVdSztgnaP0PCdZ5_yVfTLQqSrLEMc2wY5ylfszq9ueFljZ79vCfui3g8D2asX_3qqBc2joPHMiNhTEr3pgGgJTOZPEKbZgfG-r3JaCg6mEa2b3SWbChIYv1cQk6Hl2mS4p9Kh6KVrGfOMg998szOfIrq_rp4vYGlcTnC5d35GI3JklqSkIweb8sTfT6kiw5BD6tQXy966ikz2g-MkPHsJPvdBzljtw2fAx4Rh7pAml_ebptX10T7cCIAYbNPJalylIKfCKyVmWkAZzekzYg0nzOh8AOVx_f3cxhyh7bZv-vCD7kA8gqzInO5KkVjzbtsODghmJzGKQwKMtnmlSV3f9sbg3StuSiarHKDpB2gygP9CykSOoZQkmo1j6pH54NqR_AymBREgVyjXwN9VG9ePuZhngo6CGuXs2-2LhZonnTic_Inwnj1UvoaVwDTstxBixeupgYJelYXQ3BBBJUmj0R-ldnOPxjfXCk1yyX1EKS8-cw2T7GS5Dg8arKwlyi_Ode-tGEXG6f26Pm1JW92YdvqYE1uXiPKyY3fUJP4X5bePzlL4tC7dD27I60b8F5rDryNaKGZMrVzCoyDG1sOt9SfHH7POew9q-JnY3lgLZnWCqkLA6h2wGOnweRCkb3ipjum2cZEeLrP5lgD9bAY-7-yaqDU1bPdzpwlYBktaP0bK_cf6Y_msq-ygWEWnkwpgOR-wAPmH5Mo0Ge7M3wESoGdY-jAlwa-ifmDqLwRe6BDGAAF5hKc1a18Udc_H1l5RMehKGxSHNkEuNhUll6VQpVi4I-yGP79zSC98-jwIhz7CkYByU5KEbSA0OiaIxTPPI6z8Tmtsy6RicE6aP-rrF5bHzC_y8CpHmIbdNWMDr7QaDxvnCoKsoXiMqsSJziyC2_AvTmnNBmAAOAg2CXivouWvDAlKRmeHBYH1qWglLiMFLGlp7F9ICd2kA6o9N7EqhW6O6rG5vtB_oJouVeyS_-7lke1l7FGTLgr3Yz_rASfoyVLg8kgXZI1AEcV2eI-aRLAB5LuUMVT3B5tVjyK8BqRX4VjNG084Ge3egujjd8WccdVKKqtJk9beeKgf8Doe8pC_pP-zrA-9Zt7E8yeqRUFuSMiy28xTndPcbk138ILy9Thw01hKt5neUxAVG7E02U3f30ardGXh5ku9yMP_nziZv-MTYPzxHT-1QYVa94hOcjDZX6AiUiJacM-kfTj0NhblZJbzqQxN1JBDgW8rqZ2cVvG_jYimnJ2cqdOrE2160XlnOMGMTlWfYgL6uhwEMazjhnDwNHoQhOhxN-Kl-441NeO25y0k4uCW7_AS9MIOEIDamfAllEUCpe05l6j4rS94YfwzeWDu6h40p2NuA6pAVANGVF2XQcCdDr2YVaFJaj8IJOrsfAhHs9yJIJ2E7podpCZw1b_xQas0vbqq6_O12-YpxZWgGJsB_HLGm4HbqwDYBN3LSJ2CoJVLxzV927iFCaxIBEB8XhZPEy_GcRYfFe_MN0b1xc-EoX0nH0VNxKUztgZCjrouX1EH4NAINvIL05FX4C7plUj7lWVwi_mTg==",
  "id": "rs_0d7cc622373a1bf3016ab43ff4abd087d0bfd24cff696349f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The final reading is still thin (0.016), but the close-up shows the jaw visibly hooked around the rim rather than displaced beside it. I’m performing the definitive lift test; if the bowl rises, the thin wall explains the low reading.\"}",
  "call_id": "call_pMZTUjPBcjwPZDLvzL69Rjeq",
  "id": "fc_0d7cc622373a1bf3016ab43ff54f1487d09f06b1729442c408",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pMZTUjPBcjwPZDLvzL69Rjeq",
  "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]: [-0.3126, 1.1091, 0.8532, -0.9543, -0.1879, -0.4545, 0.0177, -0.0216, 0.8436, 0.5945, -0.4751, -0.0166, -0.0273, 0.999]\nstate[eef_state]: left_x=0.2401 left_y=-0.0392 left_z=0.1166 left_yaw=0.1525 left_pitch=-0.5956 left_roll=0.0104 left_gripper=0.0177 right_x=0.2817 right_y=0.0004 right_z=0.1437 right_yaw=0.0005 right_pitch=-0.1472 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -3.3983, 8.4991, 1.0134, -0.1636, 0.0073, 1.0281, -0.0479, -1.306, 7.0222, 1.6142, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5c8bd65581457d9bb967b0b97dd43376475ee86d420963b5e181ce6295e225",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5755e056f2448e37aaf0461f0724b1b0f1cea15a5a8c54dd88fcc5fd7f4bd55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719b8b9d41b80b02ae40a23f19e7b714671fb2f824926da0bce45d52ac62ebd3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]