adhoc

completed
2026-09-23T21:24:15.916612+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
224.9 s
total steps
254
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree upright bowls are spread left-to-right; the left wrist camera shows the left bowl offset to the right of the jaw center and slightly beyond the fingertips. I’ll shift the left gripper rightward and a little forward while staying safely above it.
move_to
left_x0.3300left_y-0.0400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6052, -0.3786, -0.0223, -0.041, 0.9996, -0.0174, 0.7925, 0.5987, -0.3862, -0.017, -0.0418, 0.9975] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2932 right_y=0.0015 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9975 state[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.7607, -0.0366, 0.2711, -0.0611, -0.7863, -1.3744, 10.4274, 2.0635, -0.0952, 0.2564, -0.2759] 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":0.33,"left_y":-0.04,"left_z":0.15,"left_gripper":1.0},"note":"Three upright bowls are spread left-to-right; the left wrist camera shows the left bowl offset to the right of the jaw center and slightly beyond the fingertips. I’ll shift the left gripper rightward and a little forward while staying safely above it."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe left bowl remains about 4 cm to the gripper’s right and its near rim still has clear space before the fingertips. I’ll make one more diagonal alignment move, farther right and forward, while keeping clearance.
move_to
left_x0.3600left_y-0.0800left_z0.1700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2253, 1.0054, 0.5655, -0.2291, -0.1535, -0.1295, 0.9996, -0.0177, 0.7975, 0.5972, -0.3927, -0.0166, -0.046, 0.9974] state[eef_state]: left_x=0.3166 left_y=-0.0412 left_z=0.1333 left_yaw=-0.0465 left_pitch=-0.0914 left_roll=0.0133 left_gripper=0.9996 right_x=0.2924 right_y=0.0013 right_z=0.1733 right_yaw=0.0016 right_pitch=-0.013 right_roll=-0.0035 right_gripper=0.9974 state[joint_eff]: [-0.294, -4.0137, 6.9812, 2.0, -0.1245, -0.0171, -0.0611, -0.2803, -1.5521, 7.2, 1.8388, -0.0611, -0.0122, -0.0317] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.08,"left_z":0.17,"left_gripper":1.0},"note":"The left bowl remains about 4 cm to the gripper’s right and its near rim still has clear space before the fingertips. I’ll make one more diagonal alignment move, farther right and forward, while keeping clearance."})
tool
executing move_to over 4 steps (0.4s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe bowl is now at the fingertip depth, but its center is still roughly 2–3 cm right of the jaw column. I’ll correct only that lateral offset before descending.
move_to
left_x0.3600left_y-0.1050left_z0.1700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.337, 1.2064, 0.7757, -0.2817, -0.226, -0.1936, 0.9996, -0.0177, 0.8005, 0.5957, -0.3958, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.3512 left_y=-0.0773 left_z=0.1527 left_yaw=-0.0618 left_pitch=-0.1225 left_roll=0.0181 left_gripper=0.9996 right_x=0.292 right_y=0.0013 right_z=0.1711 right_yaw=0.0035 right_pitch=-0.0206 right_roll=-0.0062 right_gripper=0.9973 state[joint_eff]: [-0.3897, -4.2598, 8.8, 1.4969, -0.1685, -0.105, -0.0562, -0.1846, -1.4974, 7.3094, 1.7753, -0.0171, -0.022, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.105,"left_z":0.17,"left_gripper":1.0},"note":"The bowl is now at the fingertip depth, but its center is still roughly 2–3 cm right of the jaw column. I’ll correct only that lateral offset before descending."})
tool
executing move_to over 3 steps (0.3s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bowl is centered between the open jaws, with its near rim at the fingertip line. I’ll descend vertically to about rim-side height so the jaws can close around the bowl’s exterior.
move_to
left_x0.3600left_y-0.1050left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4213, 1.2686, 0.8452, -0.3397, -0.2707, -0.2386, 0.9996, -0.0181, 0.8024, 0.5957, -0.3977, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.3522 left_y=-0.1022 left_z=0.1521 left_yaw=-0.0823 left_pitch=-0.1609 left_roll=0.028 left_gripper=0.9996 right_x=0.2918 right_y=0.0012 right_z=0.1702 right_yaw=0.0031 right_pitch=-0.0244 right_roll=-0.0061 right_gripper=0.9973 state[joint_eff]: [0.253, -5.012, 10.2222, 1.5556, -0.315, -0.1343, -0.0611, -0.1709, -1.4154, 7.0632, 1.7363, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.105,"left_z":0.055,"left_gripper":1.0},"note":"The left bowl is centered between the open jaws, with its near rim at the fingertip line. I’ll descend vertically to about rim-side height so the jaws can close around the bowl’s exterior."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe descent did not track, indicating the fingers met the bowl’s near rim; the wrist view confirms the bowl is centered laterally but still mostly beyond the grasp point. I’ll lift slightly and advance about 4 cm so the open jaws straddle the bowl rather than landing on its rim.
move_to
left_x0.4000left_y-0.1050left_z0.1700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3565, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4145, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3523 left_y=-0.1041 left_z=0.1526 left_yaw=-0.0704 left_pitch=-0.1676 left_roll=0.0315 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1658 right_yaw=0.0037 right_pitch=-0.0442 right_roll=-0.006 right_gripper=0.9973 state[joint_eff]: [0.1299, -5.2718, 9.4564, 1.6386, -0.232, -0.0366, -0.0611, -0.0479, -1.4017, 7.0769, 1.917, -0.0562, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.105,"left_z":0.17,"left_gripper":1.0},"note":"The descent did not track, indicating the fingers met the bowl’s near rim; the wrist view confirms the bowl is centered laterally but still mostly beyond the grasp point. I’ll lift slightly and advance about 4 cm so the open jaws straddle the bowl rather than landing on its rim."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteForward motion was also blocked, so the open fingers are already contacting the tall bowl rim at this height. I’ll retreat upward first to clear the bowl completely before repositioning over its center.
move_to
left_x0.3500left_y-0.1050left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3561, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4152, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3524 left_y=-0.1042 left_z=0.1527 left_yaw=-0.0705 left_pitch=-0.1673 left_roll=0.0313 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.045 right_roll=-0.0059 right_gripper=0.9973 state[joint_eff]: [0.0479, -5.2034, 9.6479, 1.6435, -0.2125, -0.0611, -0.0611, -0.0615, -1.2923, 6.9949, 1.6679, -0.0708, -0.0806, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.105,"left_z":0.25,"left_gripper":1.0},"note":"Forward motion was also blocked, so the open fingers are already contacting the tall bowl rim at this height. I’ll retreat upward first to clear the bowl completely before repositioning over its center."})
tool
executing move_to over 7 steps (0.7s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left gripper is now clearly above the gray bowl, which is centered laterally in the wrist view. I’ll advance over the bowl’s center while maintaining high clearance.
move_to
left_x0.3950left_y-0.1050left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4381, 1.2789, 1.1969, -0.6926, -0.2867, -0.26, 0.9996, -0.0177, 0.8043, 0.5945, -0.4156, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3527 left_y=-0.1061 left_z=0.2372 left_yaw=-0.0735 left_pitch=-0.1674 left_roll=0.0265 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.0454 right_roll=-0.0059 right_gripper=0.9973 state[joint_eff]: [-0.3487, -4.3145, 8.8957, 1.5067, -0.2027, -0.0659, -0.0562, -0.212, -1.2786, 6.9812, 1.6728, -0.0806, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.395,"left_y":-0.105,"left_z":0.25,"left_gripper":1.0},"note":"The left gripper is now clearly above the gray bowl, which is centered laterally in the wrist view. I’ll advance over the bowl’s center while maintaining high clearance."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteFrom above, the gripper now overlaps the gray bowl’s center and the bowl remains centered between the jaw columns. I’ll descend in a smaller step to test that the open fingers clear both sides of the rim.
move_to
left_x0.3950left_y-0.1050left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3763, 1.4288, 1.3075, -0.7242, -0.255, -0.2436, 0.9996, -0.0177, 0.807, 0.5945, -0.416, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3832 left_y=-0.0997 left_z=0.223 left_yaw=-0.042 left_pitch=-0.2423 left_roll=0.0413 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1648 right_yaw=0.0037 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9973 state[joint_eff]: [0.1436, -7.159, 10.2359, 1.7509, 0.0122, 0.1636, -0.0562, -0.0479, -1.4017, 6.9675, 1.6728, -0.0757, -0.0611, -0.0122] 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_x":0.395,"left_y":-0.105,"left_z":0.15,"left_gripper":1.0},"note":"From above, the gripper now overlaps the gray bowl’s center and the bowl remains centered between the jaw columns. I’ll descend in a smaller step to test that the open fingers clear both sides of the rim."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe open gripper cannot descend while centered, so this bowl is wider than the jaw opening. I’ll switch to a rim pinch: at high clearance, move the jaw center onto the bowl’s right-hand rim so one finger can descend inside and the other outside.
move_to
left_x0.3950left_y-0.1550left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.371, 1.4399, 1.3277, -0.7185, -0.2363, -0.2321, 0.9996, -0.0177, 0.8089, 0.5945, -0.416, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.388 left_y=-0.1027 left_z=0.2275 left_yaw=-0.0598 left_pitch=-0.2329 left_roll=0.0311 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1643 right_yaw=0.0037 right_pitch=-0.0503 right_roll=-0.0058 right_gripper=0.9973 state[joint_eff]: [-0.0479, -7.0906, 9.4427, 1.7411, -0.1392, 0.1783, -0.0562, -0.1573, -1.4701, 7.1863, 1.6581, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.155,"left_z":0.25,"left_gripper":1.0},"note":"The open gripper cannot descend while centered, so this bowl is wider than the jaw opening. I’ll switch to a rim pinch: at high clearance, move the jaw center onto the bowl’s right-hand rim so one finger can descend inside and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe sideways move was safety-clamped, which suggests the gripper body still lacks clearance despite the fingertip height. I’ll raise substantially higher before making the rim-offset move.
move_to
left_x0.3800left_y-0.1050left_z0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 1.4399, 1.3277, -0.7185, -0.2367, -0.2325, 0.9996, -0.0177, 0.8101, 0.5945, -0.4179, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.388 left_y=-0.1028 left_z=0.2275 left_yaw=-0.0597 left_pitch=-0.2328 left_roll=0.0311 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1636 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0055 right_gripper=0.9973 state[joint_eff]: [-0.0615, -7.0632, 9.4564, 1.663, -0.1832, 0.1783, -0.0611, 0.0068, -1.2923, 7.0085, 1.6874, -0.0806, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.105,"left_z":0.35,"left_gripper":1.0},"note":"The sideways move was safety-clamped, which suggests the gripper body still lacks clearance despite the fingertip height. I’ll raise substantially higher before making the rim-offset move."})
tool
executing move_to over 8 steps (0.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe left gripper is now well clear above all three bowls. I’ll translate laterally at this safe height to place the jaw center over the gray bowl’s right rim.
move_to
left_x0.3800left_y-0.1550left_z0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3862, 1.5929, 1.9495, -1.1713, -0.2367, -0.2523, 0.9996, -0.0177, 0.8116, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3879 left_y=-0.1091 left_z=0.3419 left_yaw=-0.0648 left_pitch=-0.2172 left_roll=0.0117 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1622 right_yaw=0.0037 right_pitch=-0.0595 right_roll=-0.0056 right_gripper=0.9973 state[joint_eff]: [-0.4444, -6.5983, 7.2547, 1.2674, -0.2369, 0.0269, -0.0611, -0.0342, -1.388, 6.9812, 1.6874, -0.0464, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.155,"left_z":0.35,"left_gripper":1.0},"note":"The left gripper is now well clear above all three bowls. I’ll translate laterally at this safe height to place the jaw center over the gray bowl’s right rim."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteAt the high pose, the gray bowl’s right rim is nearly on the jaw centerline; a slight extra rightward correction will center that rim precisely. I’ll descend toward the rim with the gripper fully open, stopping above table level.
move_to
left_x0.3800left_y-0.1700left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5304, 1.6794, 2.0445, -1.2594, -0.305, -0.3489, 0.9996, -0.0177, 0.812, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3784 left_y=-0.1563 left_z=0.332 left_yaw=-0.0912 left_pitch=-0.2707 left_roll=0.0231 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0599 right_roll=-0.0056 right_gripper=0.9973 state[joint_eff]: [-0.3624, -7.4462, 8.6906, 1.3407, -0.2515, 0.0611, -0.0562, -0.0205, -1.3197, 6.9812, 1.6581, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.16,"left_gripper":1.0},"note":"At the high pose, the gray bowl’s right rim is nearly on the jaw centerline; a slight extra rightward correction will center that rim precisely. I’ll descend toward the rim with the gripper fully open, stopping above table level."})
tool
executing move_to over 12 steps (1.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe long descent was clamped at the high folded configuration rather than tracking. I’ll use a short intermediate descent to unfold the arm gradually while maintaining the same rim alignment.
move_to
left_x0.3800left_y-0.1700left_z0.2700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5514, 1.6222, 1.9385, -1.1725, -0.3233, -0.3729, 0.9996, -0.0181, 0.8131, 0.5945, -0.4225, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.375 left_y=-0.1605 left_z=0.3295 left_yaw=-0.0881 left_pitch=-0.23 left_roll=0.002 left_gripper=0.9996 right_x=0.2887 right_y=0.0013 right_z=0.1618 right_yaw=0.0031 right_pitch=-0.061 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [-0.9778, -9.4427, 7.5966, 2.1661, -0.2173, -0.0317, -0.0562, -0.0752, -1.0598, 6.9949, 1.6532, -0.0806, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.27,"left_gripper":1.0},"note":"The long descent was clamped at the high folded configuration rather than tracking. I’ll use a short intermediate descent to unfold the arm gradually while maintaining the same rim alignment."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe intermediate move unfolded successfully; the gray bowl’s right rim remains aligned between one inside and one outside finger. I’ll continue down in another short step to rim-grasp height.
move_to
left_x0.3800left_y-0.1700left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5632, 1.5837, 1.528, -0.9195, -0.3229, -0.3874, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.374 left_y=-0.1656 left_z=0.2257 left_yaw=-0.0763 left_pitch=-0.3357 left_roll=0.0485 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973 state[joint_eff]: [-0.6906, -10.6325, 12.3145, 1.4969, -0.2271, -0.0562, -0.0611, -0.1846, -1.6889, 6.9812, 1.6874, -0.0464, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.16,"left_gripper":1.0},"note":"The intermediate move unfolded successfully; the gray bowl’s right rim remains aligned between one inside and one outside finger. I’ll continue down in another short step to rim-grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe fingers have descended cleanly with the target rim still centered between them, so the rim-pinch approach is clear. I’ll lower another 5 cm to bring the jaw pads alongside the upper wall.
move_to
left_x0.3800left_y-0.1700left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5652, 1.6035, 1.2861, -0.7422, -0.3229, -0.3904, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3667 left_y=-0.1619 left_z=0.1493 left_yaw=-0.0607 left_pitch=-0.4098 left_roll=0.0896 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973 state[joint_eff]: [-0.2256, -7.6239, 7.4598, 1.5116, -0.1978, -0.0513, -0.0562, -0.253, -1.347, 7.0085, 1.6435, -0.0464, -0.0855, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.1,"left_gripper":1.0},"note":"The fingers have descended cleanly with the target rim still centered between them, so the rim-pinch approach is clear. I’ll lower another 5 cm to bring the jaw pads alongside the upper wall."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe gray bowl now fills the lower wrist view and its right wall sits between the open fingertips; the grasp point is still slightly above the rim. I’ll lower about 4 cm to put the pads alongside the wall before closing.
move_to
left_x0.3800left_y-0.1700left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.6882, 1.1923, -0.601, -0.3229, -0.3904, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3726 left_y=-0.1655 left_z=0.0991 left_yaw=-0.0521 left_pitch=-0.4424 left_roll=0.1096 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.1436, -8.6085, 6.9812, 1.3114, -0.2173, -0.0464, -0.0611, -0.3624, -1.4427, 7.1179, 1.663, -0.0562, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x":0.38,"left_y":-0.17,"left_z":0.06,"left_gripper":1.0},"note":"The gray bowl now fills the lower wrist view and its right wall sits between the open fingertips; the grasp point is still slightly above the rim. I’ll lower about 4 cm to put the pads alongside the wall before closing."})
tool
executing move_to over 3 steps (0.3s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe grasp point is now at the gray bowl’s rim height, with one finger inside and one outside its right wall. I’ll close the jaws to pinch that rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.7451, 1.1397, -0.4992, -0.3229, -0.3901, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3767 left_y=-0.1681 left_z=0.0698 left_yaw=-0.0505 left_pitch=-0.4491 left_roll=0.1139 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.0068, -7.5556, 5.6274, 1.2088, -0.1685, -0.0122, -0.0562, -0.0752, -1.3607, 7.0222, 1.6386, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The grasp point is now at the gray bowl’s rim height, with one finger inside and one outside its right wall. I’ll close the jaws to pinch that rim."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe closed reading is 0.009, confirming the first rim pinch was empty; the gray bowl shifted slightly and its right wall is now almost exactly at the closed jaw centerline. I’ll reopen in place to re-establish one finger on each side of that wall.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.7729, 1.1164, -0.4931, -0.3233, -0.3904, 0.0089, -0.0177, 0.8211, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3705 left_y=-0.1641 left_z=0.0519 left_yaw=-0.0387 left_pitch=-0.488 left_roll=0.1391 left_gripper=0.0089 right_x=0.289 right_y=0.0014 right_z=0.1596 right_yaw=0.0037 right_pitch=-0.0694 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.0068, -10.8103, 7.8838, 0.9548, -0.1929, -0.0171, 0.6618, -0.2393, -1.4291, 7.0085, 1.6288, -0.0708, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The closed reading is 0.009, confirming the first rim pinch was empty; the gray bowl shifted slightly and its right wall is now almost exactly at the closed jaw centerline. I’ll reopen in place to re-establish one finger on each side of that wall."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteWith the jaws open, the left finger is visibly inside the gray bowl and the right finger outside, straddling the rim correctly. I’ll close only to a modest 1.4 cm gap first to pinch the thin smooth wall without forcing it to eject sideways.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.771, 1.1141, -0.4927, -0.3229, -0.3931, 0.9947, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0519 left_yaw=-0.0374 left_pitch=-0.4879 left_roll=0.1373 left_gripper=0.9947 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.0479, -8.335, 6.188, 0.9988, -0.2076, 0.0171, -0.0122, -0.0889, -1.1829, 7.0085, 1.6288, -0.0464, -0.0806, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"With the jaws open, the left finger is visibly inside the gray bowl and the right finger outside, straddling the rim correctly. I’ll close only to a modest 1.4 cm gap first to pinch the thin smooth wall without forcing it to eject sideways."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteAt a 1.5 cm opening the two pads visibly bracket the gray rim, but the reading still matches the command so they have not yet made contact. I’ll narrow to about 5 mm to secure the rim.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.1548, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.1548 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.0615, -8.5538, 6.0103, 0.9841, -0.1685, -0.0269, 0.0952, -0.0342, -1.3333, 6.9675, 1.6435, -0.0806, -0.0659, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.05},"note":"At a 1.5 cm opening the two pads visibly bracket the gray rim, but the reading still matches the command so they have not yet made contact. I’ll narrow to about 5 mm to secure the rim."})
tool
executing move_to over 2 steps (0.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe rim remains visibly trapped between the pads at a 5 mm command, with no sideways ejection. I’ll finish the close to make firm contact and then judge the grasp from the settled opening and lift test.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0547, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0547 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0035 right_pitch=-0.0698 right_roll=-0.0051 right_gripper=0.9973 state[joint_eff]: [-0.1846, -8.5538, 5.9829, 0.989, -0.2222, -0.0269, 0.1343, -0.0068, -1.388, 6.9812, 1.6825, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The rim remains visibly trapped between the pads at a 5 mm command, with no sideways ejection. I’ll finish the close to make firm contact and then judge the grasp from the settled opening and lift test."})
tool
executing move_to over 1 steps (0.1s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe full-close command settled at 0.051, above the empty threshold, indicating the gray rim is securely pinched. I’ll lift about 10 cm and verify that the bowl moves with the gripper.
move_to
left_x0.3800left_y-0.1700left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0512, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0512 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973 state[joint_eff]: [-0.3077, -8.294, 5.9829, 1.0769, -0.2418, -0.0415, 0.105, -0.1162, -1.306, 7.3368, 1.7216, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.16},"note":"The full-close command settled at 0.051, above the empty threshold, indicating the gray rim is securely pinched. I’ll lift about 10 cm and verify that the bowl moves with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe gripper opening remains at 0.051 after lifting and the gray bowl now rises/tilts with the pinched rim, confirming the lift. I’ll carry it laterally over the purple center bowl, preserving the same rim-offset geometry and ample height.
move_to
left_x0.3800left_y-0.2700left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.75, 1.4616, -0.8623, -0.3229, -0.3939, 0.0508, -0.0177, 0.8242, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.3832 left_y=-0.1722 left_z=0.1428 left_yaw=-0.0366 left_pitch=-0.4888 left_roll=0.1375 left_gripper=0.0508 right_x=0.2891 right_y=0.0014 right_z=0.1588 right_yaw=0.0035 right_pitch=-0.0725 right_roll=-0.0051 right_gripper=0.9973 state[joint_eff]: [-0.1162, -9.894, 8.4034, 0.9597, -0.2222, -0.022, -0.0513, -0.1709, -1.3197, 6.9675, 1.6728, -0.0415, -0.0073, -0.0122] 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_x":0.38,"left_y":-0.27,"left_z":0.2},"note":"The gripper opening remains at 0.051 after lifting and the gray bowl now rises/tilts with the pinched rim, confirming the lift. I’ll carry it laterally over the purple center bowl, preserving the same rim-offset geometry and ample height."})
tool
executing move_to over 9 steps (0.9s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe overhead view shows the gray bowl remained on the table, so its smooth side rim slipped during transport. I’ll retry on the purple bowl using a near-rim pinch with the jaws rotated toward the radial direction, which should support the load more symmetrically; first I’ll open, raise, and rotate partway.
move_to
left_x0.3300left_y-0.2200left_z0.3000left_yaw0.8000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7643, 2.0224, 2.0327, -1.2213, -0.3733, -0.5877, 0.0508, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.3806 left_y=-0.2707 left_z=0.1927 left_yaw=-0.0604 left_pitch=-0.4971 left_roll=0.1125 left_gripper=0.0508 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973 state[joint_eff]: [-0.2667, -10.1538, 7.8427, 0.696, -0.4274, 0.0269, -0.0122, -0.1436, -1.4154, 6.9949, 1.6581, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.22,"left_z":0.3,"left_yaw":0.8,"left_gripper":1.0},"note":"The overhead view shows the gray bowl remained on the table, so its smooth side rim slipped during transport. I’ll retry on the purple bowl using a near-rim pinch with the jaws rotated toward the radial direction, which should support the load more symmetrically; first I’ll open, raise, and rotate partway."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
assistant
agent noteThe arm has opened and rotated partway; the purple bowl is visible at the lower-right of the rotated wrist view. I’ll complete the 90° jaw rotation and center over its near rim at a safe height.
move_to
left_x0.3300left_y-0.2200left_z0.2500left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7231, 1.9556, 1.9408, -1.5589, -0.4992, -1.359, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3313 left_y=-0.1748 left_z=0.1881 left_yaw=0.6956 left_pitch=-0.5128 left_roll=0.1299 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [0.335, -11.6444, 5.6821, 0.3932, -0.442, 0.022, 0.0611, -0.0068, -1.4017, 6.9812, 1.6581, -0.0659, -0.0513, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.22,"left_z":0.25,"left_yaw":1.57,"left_gripper":1.0},"note":"The arm has opened and rotated partway; the purple bowl is visible at the lower-right of the rotated wrist view. I’ll complete the 90° jaw rotation and center over its near rim at a safe height."})
tool
executing move_to over 6 steps (0.6s)
step 148
assistant
agent noteThe rotated arm settled over the gray bowl rather than the purple one, but this places the jaw axis across the gray bowl’s near rim: one finger is outside and the other inside. I’ll make a small forward/left correction and lower to the rolled rim height for a stronger pinch than the earlier low side-wall grasp.
move_to
left_x0.3300left_y-0.1150left_z0.0800left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6277, 2.0445, 1.7565, -1.5562, -0.3904, -1.9808, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3079 left_y=-0.1359 left_z=0.1104 left_yaw=1.3594 left_pitch=-0.5396 left_roll=0.1287 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [2.988, -9.8256, 5.2718, -0.398, -0.2418, -0.1001, -0.1343, -0.1846, -1.2923, 6.9675, 1.6386, -0.0464, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.33,"left_y":-0.115,"left_z":0.08,"left_yaw":1.57,"left_gripper":1.0},"note":"The rotated arm settled over the gray bowl rather than the purple one, but this places the jaw axis across the gray bowl’s near rim: one finger is outside and the other inside. I’ll make a small forward/left correction and lower to the rolled rim height for a stronger pinch than the earlier low side-wall grasp."})
tool
executing move_to over 2 steps (0.2s)
step 150
assistant
agent noteThe rotated view clearly shows the gray bowl’s near-left rolled rim between the outside left finger and inside right finger; the descent stopped at contact around z=0.11. I’ll close gradually to a 1.4 cm gap around the thicker top rim.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3737, -2.0621, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3146 left_y=-0.117 left_z=0.1093 left_yaw=1.4866 left_pitch=-0.5487 left_roll=0.095 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [0.1436, -10.3726, 5.1761, -0.3785, -0.1929, -0.4029, -0.1343, -0.1436, -1.4017, 6.9949, 1.6337, -0.0757, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"The rotated view clearly shows the gray bowl’s near-left rolled rim between the outside left finger and inside right finger; the descent stopped at contact around z=0.11. I’ll close gradually to a 1.4 cm gap around the thicker top rim."})
tool
executing move_to over 9 steps (0.9s)
step 159
assistant
agent noteAt the partial close, both pads ended just outside the rolled rim, so the jaw center is about 2 cm too baseward. I’ll reopen, raise slightly, and advance the center onto the rim before the next close.
move_to
left_x0.3300left_y-0.1100left_z0.1400left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3668, -2.0621, 0.1549, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3139 left_y=-0.1179 left_z=0.1089 left_yaw=1.4903 left_pitch=-0.5545 left_roll=0.0986 left_gripper=0.1549 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [0.1709, -10.2496, 5.2444, -0.4322, -0.2271, -0.3443, 0.0513, -0.0615, -1.4154, 6.9675, 1.707, -0.0513, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.11,"left_z":0.14,"left_yaw":1.57,"left_gripper":1.0},"note":"At the partial close, both pads ended just outside the rolled rim, so the jaw center is about 2 cm too baseward. I’ll reopen, raise slightly, and advance the center onto the rim before the next close."})
tool
executing move_to over 9 steps (0.9s)
step 168
assistant
agent noteReopened, the right finger is now clearly inside the gray bowl and the left finger outside, but the rolled rim remains about 1 cm right of the jaw center. I’ll advance a final small amount so the rim lies on the closing centerline.
move_to
left_x0.3450left_y-0.1000left_z0.1400left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5022, 2.0445, 1.7565, -1.5562, -0.3664, -2.0617, 0.9947, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.3203 left_y=-0.0996 left_z=0.1089 left_yaw=1.5481 left_pitch=-0.5551 left_roll=0.0986 left_gripper=0.9947 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973 state[joint_eff]: [0.5402, -10.2359, 6.5573, -0.3834, -0.149, -0.1587, -0.0366, 0.0205, -1.4017, 7.0906, 1.6679, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.1,"left_z":0.14,"left_yaw":1.57,"left_gripper":1.0},"note":"Reopened, the right finger is now clearly inside the gray bowl and the left finger outside, but the rolled rim remains about 1 cm right of the jaw center. I’ll advance a final small amount so the rim lies on the closing centerline."})
tool
executing move_to over 3 steps (0.3s)
step 171
assistant
agent noteThe rolled rim is now within about a centimeter of the jaw center while one finger remains inside and the other outside. I’ll close to roughly a 1 cm gap and check whether the pads capture the rim rather than pushing it aside.
move_to
left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4671, 2.0579, 1.7882, -1.5574, -0.3668, -2.0491, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973] state[eef_state]: left_x=0.33 left_y=-0.0915 left_z=0.1108 left_yaw=1.5655 left_pitch=-0.5632 left_roll=0.0868 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973 state[joint_eff]: [0.4444, -8.9094, 7.5145, -0.315, -0.3297, 0.0904, -0.1343, -0.0205, -1.4154, 6.9675, 1.6337, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.1},"note":"The rolled rim is now within about a centimeter of the jaw center while one finger remains inside and the other outside. I’ll close to roughly a 1 cm gap and check whether the pads capture the rim rather than pushing it aside."})
tool
executing move_to over 9 steps (0.9s)
step 180
assistant
agent noteAt the 1 cm opening, the two pads visibly sit on opposite sides of the gray bowl’s rolled rim without shifting it. I’ll close fully to clamp the rim and then lift vertically before any lateral transport.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4679, 2.0621, 1.7931, -1.549, -0.3656, -2.043, 0.1049, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3326 left_y=-0.0933 left_z=0.1099 left_yaw=1.5562 left_pitch=-0.5686 left_roll=0.0807 left_gripper=0.1049 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [-0.3214, -10.7282, 5.0803, -0.2955, -0.2759, -0.0806, 0.105, -0.212, -1.1692, 7.2, 1.6825, -0.0513, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the 1 cm opening, the two pads visibly sit on opposite sides of the gray bowl’s rolled rim without shifting it. I’ll close fully to clamp the rim and then lift vertically before any lateral transport."})
tool
executing move_to over 2 steps (0.2s)
step 182
assistant
agent noteThe full close again let the smooth curved rim escape and the reading fell to the empty value. I’ll reopen and bias the jaw center a few millimeters farther inside so a partial close can hold the rolled lip without squeezing it outward.
move_to
left_x0.3450left_y-0.0900left_z0.1200left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4679, 2.0621, 1.7931, -1.5482, -0.366, -2.0415, 0.0082, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3328 left_y=-0.0933 left_z=0.1098 left_yaw=1.5546 left_pitch=-0.5686 left_roll=0.0804 left_gripper=0.0082 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [-0.1573, -10.4137, 5.2855, -0.1832, -0.2711, -0.0708, 0.6325, -0.1846, -1.3744, 7.2, 1.6679, -0.0366, -0.0513, -0.0122] 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_x":0.345,"left_y":-0.09,"left_z":0.12,"left_yaw":1.57,"left_gripper":1.0},"note":"The full close again let the smooth curved rim escape and the reading fell to the empty value. I’ll reopen and bias the jaw center a few millimeters farther inside so a partial close can hold the rolled lip without squeezing it outward."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteThe reopened jaws now straddle the gray rim with the lip essentially on the jaw centerline, slightly biased inward as intended. I’ll close only to about 7.5 mm, avoiding the final squeeze that previously expelled it.
move_to
left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4442, 2.0735, 1.8225, -1.5558, -0.3668, -2.0315, 0.9949, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3396 left_y=-0.0875 left_z=0.1124 left_yaw=1.5656 left_pitch=-0.5729 left_roll=0.0739 left_gripper=0.9949 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [0.2256, -8.7043, 7.8701, -0.2515, -0.2711, -0.022, -0.1245, -0.1162, -1.388, 6.9812, 1.6484, -0.0806, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0.08},"note":"The reopened jaws now straddle the gray rim with the lip essentially on the jaw centerline, slightly biased inward as intended. I’ll close only to about 7.5 mm, avoiding the final squeeze that previously expelled it."})
tool
executing move_to over 10 steps (1.0s)
step 202
assistant
agent noteAt the partial close the outside pad remains against the gray lip while the inside pad is hidden just inside the bowl, and the bowl has not been expelled. I’ll test this hooked partial grasp with a straight 8 cm lift.
move_to
left_x0.3450left_y-0.0900left_z0.2000left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4442, 2.0735, 1.8229, -1.5486, -0.3656, -2.0315, 0.0849, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.341 left_y=-0.0884 left_z=0.112 left_yaw=1.5617 left_pitch=-0.5771 left_roll=0.0663 left_gripper=0.0849 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [-0.0205, -10.4821, 5.3675, -0.2515, -0.2515, 0.0122, 0.1343, -0.212, -1.388, 6.9949, 1.6386, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.09,"left_z":0.2,"left_gripper":0.08},"note":"At the partial close the outside pad remains against the gray lip while the inside pad is hidden just inside the bowl, and the bowl has not been expelled. I’ll test this hooked partial grasp with a straight 8 cm lift."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteThe partial rim hook did not lift the gray bowl, so I’ll leave that approach and park the left arm. The right wrist has a clear view of the pink bowl; I’ll align the open right gripper leftward and forward above it to test a conventional whole-bowl grasp with the other arm.
move_to
left_x0.2500left_y0.0000left_z0.3000left_gripper1.0000right_x0.3400right_y0.0500right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4046, 1.9999, 1.7786, -1.5539, -0.3668, -1.9965, 0.0813, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973] state[eef_state]: left_x=0.3335 left_y=-0.07 left_z=0.127 left_yaw=1.5638 left_pitch=-0.5872 left_roll=0.0566 left_gripper=0.0813 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973 state[joint_eff]: [0.2667, -12.465, 4.9299, -0.2369, -0.3541, 0.1245, 0.1197, -0.1846, -1.388, 6.9949, 1.6386, -0.0611, -0.0708, -0.0122] 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_x":0.25,"left_y":0.0,"left_z":0.3,"left_gripper":1.0,"right_x":0.34,"right_y":0.05,"right_z":0.18,"right_gripper":1.0},"note":"The partial rim hook did not lift the gray bowl, so I’ll leave that approach and park the left arm. The right wrist has a clear view of the pink bowl; I’ll align the open right gripper leftward and forward above it to test a conventional whole-bowl grasp with the other arm."})
tool
executing move_to over 12 steps (1.2s)
step 220
assistant
agent noteThe rightward alignment move brought the pink bowl closer to center but it remains about 5 cm left of the jaw column; the near rim is now at fingertip depth. I’ll shift the right gripper farther toward the table center while holding height.
move_to
right_x0.3500right_y0.1800right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1352, 1.5833, 1.504, -1.5566, -0.3912, -1.7325, 0.9952, 0.2211, 1.0882, 0.7395, -0.408, 0.1471, 0.0654, 0.9974] state[eef_state]: left_x=0.2641 left_y=0.0357 left_z=0.1837 left_yaw=1.5616 left_pitch=-0.6063 left_roll=0.0118 left_gripper=0.9952 right_x=0.3233 right_y=0.0498 right_z=0.1506 right_yaw=0.0401 right_pitch=-0.1668 right_roll=-0.0313 right_gripper=0.9974 state[joint_eff]: [0.294, -7.5009, 5.1897, 0.0171, -0.486, 0.0659, 0.0855, 0.1162, -3.2068, 10.7966, 2.0391, 0.1978, 0.2662, -0.2759] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.18,"right_z":0.18,"right_gripper":1.0},"note":"The rightward alignment move brought the pink bowl closer to center but it remains about 5 cm left of the jaw column; the near rim is now at fingertip depth. I’ll shift the right gripper farther toward the table center while holding height."})
tool
executing move_to over 11 steps (1.1s)
step 231
assistant
agent noteThe larger lateral move overshot; the pink bowl center is now about 3 cm right of the jaw column, while its near rim is at the fingertip line. Using that measured shift, I’ll correct back to y≈0.13 without changing depth.
move_to
right_x0.3500right_y0.1300right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1425, 1.581, 1.5059, -1.552, -0.3901, -1.7287, 0.9957, 0.6559, 1.4311, 1.066, -0.543, 0.4133, 0.35, 0.9975] state[eef_state]: left_x=0.2656 left_y=0.0334 left_z=0.1845 left_yaw=1.546 left_pitch=-0.6085 left_roll=0.0031 left_gripper=0.9957 right_x=0.3392 right_y=0.1761 right_z=0.1594 right_yaw=0.0868 right_pitch=-0.2282 right_roll=-0.0679 right_gripper=0.9975 state[joint_eff]: [0.0752, -6.0239, 5.2991, 0.1099, -0.3639, -0.1148, 0.0415, 0.2393, -6.3795, 9.6479, 1.4969, 0.3834, 0.2906, -0.2759] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.13,"right_z":0.18,"right_gripper":1.0},"note":"The larger lateral move overshot; the pink bowl center is now about 3 cm right of the jaw column, while its near rim is at the fingertip line. Using that measured shift, I’ll correct back to y≈0.13 without changing depth."})
tool
executing move_to over 4 steps (0.4s)
step 235
assistant
agent noteThe pink bowl is now centered precisely between the open right jaws; its near rim is only at the fingertip line, so the grasp point is not yet over the bowl center. I’ll raise and advance about 4 cm so both fingers can descend outside the full bowl.
move_to
right_x0.3900right_y0.1300right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.144, 1.581, 1.5059, -1.5486, -0.3901, -1.7287, 0.9958, 0.5014, 1.38, 1.0641, -0.5987, 0.3367, 0.2455, 0.9975] state[eef_state]: left_x=0.2664 left_y=0.0329 left_z=0.1845 left_yaw=1.5421 left_pitch=-0.6089 left_roll=-0.001 left_gripper=0.9958 right_x=0.3472 right_y=0.1279 right_z=0.1646 right_yaw=0.0508 right_pitch=-0.2677 right_roll=-0.0896 right_gripper=0.9975 state[joint_eff]: [-0.3214, -6.1607, 5.5179, 0.1294, -0.3785, -0.105, -0.0073, -0.1573, -7.2547, 7.4735, 1.6777, 0.2076, 0.022, -0.2759] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.13,"right_z":0.25,"right_gripper":1.0},"note":"The pink bowl is now centered precisely between the open right jaws; its near rim is only at the fingertip line, so the grasp point is not yet over the bowl center. I’ll raise and advance about 4 cm so both fingers can descend outside the full bowl."})
tool
executing move_to over 6 steps (0.6s)
step 241
assistant
agent noteThe combined move was blocked because the low open fingers are already touching the near rim. I’ll raise straight up first to clear the bowl before advancing over its center.
move_to
right_x0.3450right_y0.1300right_z0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1444, 1.581, 1.5059, -1.5482, -0.3901, -1.729, 0.9958, 0.4904, 1.401, 1.0988, -0.6544, 0.3096, 0.2173, 0.9975] state[eef_state]: left_x=0.2665 left_y=0.0327 left_z=0.1845 left_yaw=1.5417 left_pitch=-0.609 left_roll=-0.0017 left_gripper=0.9958 right_x=0.3452 right_y=0.1274 right_z=0.162 right_yaw=0.0726 right_pitch=-0.3164 right_roll=-0.1063 right_gripper=0.9975 state[joint_eff]: [-0.4444, -6.0513, 5.6137, 0.1734, -0.3834, -0.1343, -0.0171, -0.1299, -5.6274, 9.8803, 1.3797, 0.3101, 0.1538, -0.2711] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.13,"right_z":0.3,"right_gripper":1.0},"note":"The combined move was blocked because the low open fingers are already touching the near rim. I’ll raise straight up first to clear the bowl before advancing over its center."})
tool
executing move_to over 9 steps (0.9s)
step 250
assistant
agent noteThe right gripper is now high and clear, with the pink bowl still centered laterally. I’ll advance over the bowl’s center at this clearance, then descend vertically.
move_to
right_x0.4000right_y0.1400right_z0.2800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1444, 1.581, 1.5051, -1.5391, -0.3901, -1.7287, 0.9958, 0.5018, 1.5318, 1.6421, -1.0584, 0.3019, 0.2077, 0.9975] state[eef_state]: left_x=0.2685 left_y=0.0325 left_z=0.1842 left_yaw=1.5356 left_pitch=-0.6099 left_roll=-0.0117 left_gripper=0.9958 right_x=0.3618 right_y=0.1427 right_z=0.2686 right_yaw=0.0969 right_pitch=-0.3117 right_roll=-0.1031 right_gripper=0.9975 state[joint_eff]: [-0.5675, -6.0513, 5.4906, 0.1197, -0.3346, -0.1197, -0.0122, -0.294, -7.1453, 6.7897, 0.8718, 0.2515, 0.1685, -0.2711] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.14,"right_z":0.28,"right_gripper":1.0},"note":"The right gripper is now high and clear, with the pink bowl still centered laterally. I’ll advance over the bowl’s center at this clearance, then descend vertically."})
tool
executing move_to over 3 steps (0.3s)
step 253
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1444, 1.581, 1.5047, -1.5333, -0.3901, -1.729, 0.9958, 0.4484, 1.6535, 1.7832, -1.1576, 0.2749, 0.1616, 0.9975] state[eef_state]: left_x=0.2697 left_y=0.0323 left_z=0.1841 left_yaw=1.5322 left_pitch=-0.6105 left_roll=-0.0183 left_gripper=0.9958 right_x=0.3806 right_y=0.1339 right_z=0.2608 right_yaw=0.0818 right_pitch=-0.3971 right_roll=-0.142 right_gripper=0.9975 state[joint_eff]: [-0.5128, -5.9419, 5.4085, 0.1197, -0.3443, -0.1001, -0.0122, -0.3077, -9.2786, 9.4154, 1.3748, -0.0024, 0.105, -0.2711] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
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 · 8.231 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, 0.7952, 0.6052, -0.3786, -0.0223, -0.041, 0.9996, -0.0174, 0.7925, 0.5987, -0.3862, -0.017, -0.0418, 0.9975]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2932 right_y=0.0015 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9975\nstate[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.7607, -0.0366, 0.2711, -0.0611, -0.7863, -1.3744, 10.4274, 2.0635, -0.0952, 0.2564, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04cfc97ed7604ce74e3f0d0bcbe570e5bfd6beebb1217872f70882f8cb18f7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dcd3d036bc7fbd24260947a9385300a02e6da69f93ceea82c9b2e7b8b3cc0d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c03125f705ebfdc40f9f5082854710d028e2f4cb986cb555e5653aef1ebb39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 2.755 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOUALjEn1MQTqrGpJ67mky0DeTEpgiVGQtOU7GMGAX329fwBxLAqyAnxSBKrfYQ70SJbWxerdeUuynggpFusbKuWl6p1xqh4XR_8AAtQ5mOiw-RerF1_8aAGdZEEGlGbj8-Anrft9-kHN-TKX6juxhaPQqzVeIUIrb4az9mMW3sy4CrAozAZ567SBZDuZmz5S6-x5YJiV3pD5GHKIhRxUJlnyyKECfz6Ruhz0dZD9gi-_O7OWn1xBXM99v8cZ0dX1gt8ifr2KvtgYLdCF_SK3cWl-rJymF_FjoBA9Hc8FxRUKVI0J3EW_1Hc5WPlLzsJKv8vQGGYVBMy3p0kVdTQwQdMQV6d4XC-YCtsvid7vLjXH9SxSvt0cVXqOLcrARm-1OMMsrS-nnCVz_jjaumR8ZxVTQlOitk1kawLhIvZUBfFEXPsUdtde_bIyU7GLSKHgSpqZCRdZtIm9_7tNbG6wDrrK3qFW0AAWStSQ-_pgFCVZ4AKVVsHBB_2ym2VZWICNEGFE0q-hwHFURjQSlVjliRmQyciEI2RfKz2pPrjuM1msT-Xhk7JqW6eiKS9PDH9NToJ0-msmgs1uCgMEmfDC5GFyVTMeFXGeu7Jhg374pMG9C8HBE62rm_m9aWU-a-aP-IJ1aSQu4bQdxDK6TUpkpWgp_Rfgc0iMuaL96V2JqXNdVYyNjUrcqWeHhg0Hj2eUPTkslnSF-wkHxk_Lp0Fi1ocABYdu7RDOGXLLvwShMCrubb88KOEe6VmfGdlKymlBudEaLzcru5HlNQ8EDi5aEwhYuzmALZr5jM7fjLrgTYvMc1RMM6J-DddrVydFU1MJm2G5lxpVOYe5U5RWQ31YBJijOnRnbkDWYDCwkAnIBV1jt39F-0TlDpv3VaFVm5urkPCdjmNcUdH6SRWmJjBY7LZXqltt7r3o6N4baLoJ0zTzCS4--KyPvXExpY23uiT-gmEdK3ybQavZrSGo0s0Qc9jLjPf7lZk90sLE5Oo6wG5GUVepQ8YiyuqH9DKjRKMjV9VaA-SOSfA0Igt6hOU9F4nNqqZH0eAEVnwF3b8GkYaz1eCD6Hw-sbSFWvJ-MFuRweND9jcGM2F89mr6Llp-1DNPKzsDJAEncArXF4kLaAts5Br_aibMkeABOtoNmwIyM2SFTEbHSb7KMhWKts499QwSQCWWnaKN_aMyFvNPd8lMeOrneT4rSps-GmgpsBEN4t9_IC_UrjzP2JT9mOPehjgRV8yefkRHWVgvnob-sOPf4llWMJ2_4VBinRUc88jIKCplkM8Z_rlC-0JEr4e2Hwt5jRdMiGQVlW12e5tLFj_C7WwulxYncY5O1ydFct1crAqKS_AvXqJDog594oCFKdmGTT2bY6oNsdbo7QYtEMR-ym97jc3pM5DfGIT98S8-Y6Jsodw9uU8ZqyR21pSMfgzBlmh8zFhDltgcU0LYMXQaX6WN4fkceyEa05LFt0B-5loYSWCz6EaPGHqYP2mop0AooJ8bMbsJ_VUWkNtFzlALKHbFuFcuSe1hiW0txHwmXL4O5KdczQErOj3YF48IUqiUGKWRYJuzgWpkh3eBorWFtwWzbkW38D5izPGfoXoGhxxheUeIoBTuWxYADAXJCNxETfmsEClkkRSJUpPyJOpgxbfOjnZPo1FS--0ctlaXdw68JdMQvwm7Jk7PYNrmCLYn2ZHizQhCC7Ufs9szrUUTK7P8sepsDENlcosPIHRTjcG879dkiExlsxeIW9LLteP68XhILov2gQe-hVkmm8mHbv3trF0tmGd8AHBxOAW24S4zhJHPmAXiAEFn2sb-v0urTqGxiYN0zIhBzPhv1YfCv1I9jo6xhuUtxWFiX_Fu_z-AEa59sWsJIhPT8CguQYAIf0uABZDGN_fTfO5278fESv-EYB35z5wUXzLfkl4WSw-Izy7Tx0NRX6imKzHRbUgD-8hFt5wRc5Kn9k7FfCCH9eG1Ph2hriSaE7qYukJVJQle5n66t7r4i_F56mw-wGS9uiVHSy2VLO1jEFUnOHf0g46Le2gAUkMpcLwj_x84BtsMVxFR8-G5sXFiWp_t4i_LDliwAiISBQC8DelFEwfCsTO3Zv5fcA8mx8Hfp44rTiIQnns2F95rC6puuwC2KG8WYK0BDExFIJJ7nLJycCSYlcD0VyQBFbFi1-yz15zmPqxxjzvHTZeOI4S0cozcR1A4UNo6LxJe-pJTr-9n8RgVFA1tk8f0n-ya5E5rCWtyWmTWHLhKdIH2f_wB-7ZjmgF4pEPk22_4WxNhgzsU1YW-JgfeLC3QbAuWyRnt95MrW3pVaBUSUub6WzXzdLnlqz0WRsNusPWZF-LXzJIVNayAypWjfldD79GAbPUCJ17Ui50DVDq6kvwE7ewkTWZuYMtCWOPJGJewIT6br4RznM9n3E9NOTuSTSIRKyAYYqGriMqfoEzwnXqiZZmhlLwXDkHH47_XJevFp99XJjimWMDfaWf1jR1Fm8c6LsGCTC9yJXINhtLN1al-DUIh3KlUujWcUkudpgwQh1fSbBVRiuMxmrvbuT1S92Tengab9W6aT6BqYRk93bdWOj77E0JbxuXGAbr8Xfbbw0TEm_v2KAMr8bLyb2GkcO21r7yX9Pn1Ysj-E5l_sXgy3Vnj5j6E6yNE-aJav-_8waF90B3o0NSu1-X1e0JE-bxX08wnv2UGDIvTfbfxGdC2dbZtlidBU7n-xdmJrYsgE9lIZCTK7QlV-N_zQuwkABoJxXEMoVn6I8_LIK-7SKhLyvvV-FDt9TWHRwOSOq0p2yA-dmVAF0YrPo4SncPMYmdGi7A6qBilyEhBQ9P9opysoHvAwZhtlYcPdpZF_LvsAF7_wG5LfA6RZfJMunBVFKoesi02NUIRV_eCD2oO7KBCCyY9EBNZfKUJpne2RhES3QP8geTwimwbHO8GnY7H-7kUcEKo5J3OVxPsjQjr0XZOwdNiOjqXkrVjFgw8FIaOaFIyh7NBjLC_lJg-nOI7MSI4eNlLzHqGSfXekvJCjkk_pf-p17byKzbjormZXMwwq-iqWFGsU94dHPcL-hYKG0gO9T2si_xm0BZEVxNlrV9j3bXKLgDlbFV8xTLgyZdbXQdCUiZfa0QcB-WnTaK12nWpMekh8s8w0ZuSSMIi8-YVtWLwIjw4v0wUGUASaMTDc4s4oNb9TdUqoVg491q5KifZUDhxp8uj5YvrJ8Dc3SRFyygtMk-rSNWXYU_MFs8MXon0GvTb6SMieepy5XfRSxjr5WECXs6UkODVfHbUzq_qnIKFFebm3p1jvzy8ILJ5nydmPX04ZonxiJuIW3G2BdxL7xxsdd-al-9rs7elq4f8EgCfGp8nnebP6RzCYxWUeUp6whg4WUZF7DO9gOp27eaf0EVjbxVhzgzVmxZaGYs01cP9-0vAJ4VvpKhcHdlWZCe6NHGknPG7W9w2FZYdb4jnQdqS6Yn52z-0XMmdC5O7buLhNoXfvsrwWU11I4MPzwt7o4W3uFfbZDdZpPNYWwRGznkc-aHxyonfd05C8cJS2EO_XGo2oXpS0jaydTadx0xaE5bDrhrtkLF8QVP2Nlsm4iN3JCQWe9Lij1VfLYT95aDtirIrH-4cW5APKWO3RZBAw8bqRfhUFX-LWt1Kxg0x-7BpF8k90eVha43fGEiewp7wTuqFviIl2JjMQyyMQKRvEG9rm-SHJyLX9wI4qPcGF6BaJiWj7wH-d7Ke6Byx00lksDwzacKVuLh42WVe4iEFD62TopTmSDHH6LoKGyKepeZf31iSFTqwJw0Jc9tItIDnrJQH16HtOCbToZ1M3E2wWua1J-hFE-rMt20WRwW206td5YX8akHLB7gfkcjmkshOJvkEeFgswgrcN_kEycjg1aM8mwMJcKDzasDxVnObzybVdLJL9pFmGO3cqxdd_atxoUMHc2xED_EEOFyJzV3kQ-b6oOs2OvSXobdhArxAgkITx4NyM2aMBDHKau25tx9FRZXCIDVo-1iZ1mSMIEI2r8RTlQuFHESBQa3CbH6RBSO5FuXSFamNJUdCWfkdmg9_FRRz0khO0QsNH9LrFbRnekHqPeVV2h43UX8fK9-6nrqKfqVqy46gQ4HHs8ODMFeXjdOQ6hRQ==",
  "id": "rs_0b3cc92e2b8f5792016ab4438d80ac87d088fbbfd1cf2debf8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOUZIlPNRwAcmz8CtiBC87QjOwtt7O5hW6GIKJLLuSkXOwZCSsCpEzSeRPQI_vT8zzAH5kZKmveaMjdwBDbVa5h4wwXPj_30WxOm6iBucZYdfDHAPB7JfIz_bj3kM786RAzQe-YvbROSWnj7dt337WWzAxdBns7hFrOeU-p7-F88yiuSssJ8us2oyKQbc6BYN-RsGuu4T_HGz0VyEBa7UtdVF1IIjushlwlAz-t9xdZsI5vJnP9_UOcLhj33iMQIb0tuWU1HF1NSdBWKz5LYCtXIvf3sdYhPLN36OPBROXeDv5Wfg-NhVb-8EiIu8aITluVxGAV6oEhP-pwxA690FdHPIV3qn8_lIe7np9In84pzoiBcusVhbr0lKiPs4o02MeGSWN0CyZ50HCugsN6fp0kFm-9SxlgQVT-AZwzhYIOAVX8gyDWcCumjx_-IZaIpwWsormQ-QJ6olLLyG6RxbWs1cvUTWa9sapBeCBzuLaUJ2uX3kwniiRb9ugF76qPhvxpJepe8qp3tNroZgKIKYn8UmjEg88hN6B3hSK90l_A4Sifqht429LhBpWR2JoTOZLjZqMdvqVkp4zf54W4pHeOieUFSIe-o-LsdMGpfjl5PVqkVyE_RVY2a02qyrzc5t133VOl-9e2JY0z-S9m8oMRAe0Rg0BOyt5bdB07KHb_WL0Gax9V7VaUXixaQBp8EbGzYtSjaDuaO-GiY1dkasIO-y3F_db9RSRGgyIBtYl68-H08StltKrMf7jx7Td1RV26F61D4RaJGMXKVha5vGJPTK0f6KBirzgHTgwzs1Yj-14G3_PhEvWIaCqc-Azr2GBDmwdYFmfi0Jc1qVsblXHiOqqX72TYQh5xKtrUyE5YRP1DaaQl-RkKhsuYh0CAjd57bBbRJmo39wVmjGhW2kPKiEzEsP4LPTA1OFi7V7_9pR-M4nhZSIXsydwUUrkBSBodb4N1_W6mdOkZCxzu-w6wXXx8IMEZ5vo1XsuW5EsVATOEc4W12hSlrtgo5xLty63rusnuX9ovk-W9VZdEKic9Us9b4y0Hhh9S8aMQrbbJSLF9-NLQcyME0NI55dXYRtalIkSFrN5iAuoLZKGs77eLzUP5lsohAawH21D5iUf6Zb4KHABYPBEN_wb1phzwP0wB7vS8a_IiWK5gF93q5KHwQCYfCrdsfNWX7Tl9mtigI78F87B3DkiI_7jrCQKXB6H3dhTcckjMVI_UIlPjXA2gQwi7Bqp1oS-nUXmLCAqUnJGU7oGKjtWQaP2QFgjw2UFkB66gwrY12Rbc8GvTamDQ7Ig19oYklCTdigIJW_buvEUEWV-qWzIhatwCQUW4QTyRqfsDWCZryiqFiz2svcrrFS3BeA0DuGOPQB0urnQ8W-o551iBjXGFrQMBQ-GhWOcFNULNsSH2zvPLrtGI-mT5MAGQSxoUrDeoSK91fN6tTJjGLUeHMfVT-qadVx-8uP4heicNugOw5LCLIFiM9iK10mVjT6XhKxrLbnbleFXsxRgt3xKXbvF_CILaNlQkgQ7-wlq5IIDy3OwACm7gg3fY5rumdGP5hdchP-rNl5GmHyAGlA_wp3bc7qXqONdtt5-f2EMm6jxRuDWxM_Batk1tUTS1CKgJzIXtMYFVdBTfpv1bhyNL8uhNBL6V19BIHVqu",
  "id": "rs_0b3cc92e2b8f5792016ab44392dc7887d0aeee9dcb90b3a0a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.04,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three upright bowls are spread left-to-right; the left wrist camera shows the left bowl offset to the right of the jaw center and slightly beyond the fingertips. I’ll shift the left gripper rightward and a little forward while staying safely above it.\"}",
  "call_id": "call_AI8UrCBLzJeOh7PhsNDFYpHn",
  "id": "fc_0b3cc92e2b8f5792016ab44393bc7887d099e49e03ad4c0e4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AI8UrCBLzJeOh7PhsNDFYpHn",
  "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]: [-0.2253, 1.0054, 0.5655, -0.2291, -0.1535, -0.1295, 0.9996, -0.0177, 0.7975, 0.5972, -0.3927, -0.0166, -0.046, 0.9974]\nstate[eef_state]: left_x=0.3166 left_y=-0.0412 left_z=0.1333 left_yaw=-0.0465 left_pitch=-0.0914 left_roll=0.0133 left_gripper=0.9996 right_x=0.2924 right_y=0.0013 right_z=0.1733 right_yaw=0.0016 right_pitch=-0.013 right_roll=-0.0035 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -4.0137, 6.9812, 2.0, -0.1245, -0.0171, -0.0611, -0.2803, -1.5521, 7.2, 1.8388, -0.0611, -0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de520ad688369a26df6913cc08bcca7ae19ddfcbe72f4ab82419efe563189d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce36e392d0a4503d8ef015847644aa5bc8cef226cc1eb96041843fcad8bf6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9c12c2ae31a9f5526b27a582e175afd5d10bdeb5390ee81a0371e62e49446f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 2.748 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6052, -0.3786, -0.0223, -0.041, 0.9996, -0.0174, 0.7925, 0.5987, -0.3862, -0.017, -0.0418, 0.9975]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2932 right_y=0.0015 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9975\nstate[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.7607, -0.0366, 0.2711, -0.0611, -0.7863, -1.3744, 10.4274, 2.0635, -0.0952, 0.2564, -0.2759]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.0054, 0.5655, -0.2291, -0.1535, -0.1295, 0.9996, -0.0177, 0.7975, 0.5972, -0.3927, -0.0166, -0.046, 0.9974]\nstate[eef_state]: left_x=0.3166 left_y=-0.0412 left_z=0.1333 left_yaw=-0.0465 left_pitch=-0.0914 left_roll=0.0133 left_gripper=0.9996 right_x=0.2924 right_y=0.0013 right_z=0.1733 right_yaw=0.0016 right_pitch=-0.013 right_roll=-0.0035 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -4.0137, 6.9812, 2.0, -0.1245, -0.0171, -0.0611, -0.2803, -1.5521, 7.2, 1.8388, -0.0611, -0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de520ad688369a26df6913cc08bcca7ae19ddfcbe72f4ab82419efe563189d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce36e392d0a4503d8ef015847644aa5bc8cef226cc1eb96041843fcad8bf6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9c12c2ae31a9f5526b27a582e175afd5d10bdeb5390ee81a0371e62e49446f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOXdX5sk9HYL9PRv-vJGcMVoXuaVk3rY2RG8OxTZRsFcbPK9Pzt7NDI5WrH94HQ2vWjFGNzrTiT-PmgNxwTN0VtDW6Cg-LaJyMC6tGE7Ft330qei2FZvxrPHZNv6KJZzo3edfpCyAfQDUGVAGQjnU6oCN3YLDiJd8XKdhWQfJhc6oFWGSsMs8asrbKpPddXVUXHO-0zSgHXBHmCdB3liDgOjClRGVKi_hy3j6Jgg6UBT4M9ZzQK9PC13jVzjaaxO0u3u3d8owDY3vrzfVVqB40UbWl3_HK56cKx4rrRgnIm_90EyDQdFsDGfCY8ojIV-DmpXndo90_5QVt_1xtdId8fXxIb_8IwW9vMqAetJZKSKpIxrkgJk-pUqlhqujI3k6Tr0GxSg4ffdv8Kh27zommk7pddPdRl25ARjBLi1hEUI7YH3vaaIjoYrfw3IlxbWONeMjgKn9Hd14KXbo5IKMYsFXSfJr5czs2znWBmSBH8hBptvW93HfLY7iD5c-m6W0CifwUuUD5Ym5F9OeppmM19LFfmTGgneKe_GiDx3vxR26b8-3PZjGaQMfgyRxKltah5ZQXZ5yC4NPPINKQtdeDKSD1TniN1KeLBkoi3XWspTJtOEq0Zn1GW1lZ8YH9iaqji2fD5lKyl-rrtNExjmTmaCbgKcXyqe6Zt0BuVQNmnApbY08WRvH8Gq5UfUd_VbgEyAF7DoZz4QX9Vg3nwRlwU285p8a8axiF9P3DeauJv0PuiMGMDSSOeEdkPFIs_eXANJIP7vT65invLEVbVvkAuyZ4YYGao5WZjEssLC97yMVwnbdr6yWsJrtKY4Fo83I8Yh6uG5CthIEl0N1oQxP6ZsmSMXsjcZn41aRhcMdcFFma8pjvlJjG6FIgSNvvnFXxrzrhTM6KTDIn_KfPussXhWHPp_tkd6gGm55S8sFTKTXpl0677aN6F0c0RJQJ8dFyNegB13C7v154Uub8-HVHqfbJGDeeW4OaCDUbIz9IASEj6_wdUOoV4zfCEls7EVPEq5Ppg6a90LrCCmyvpzOF7oGsiskJrHK_KIsrwviODO7D74l1p3cmvSJQmRDceMkNDLpWbzKFldN0B3QvA0u2ThqnczqbH7AsH48tVKQKxnHeXn3bRzviIA2VA5EZX5g0a8TJ8ZtmyfpJ5mSJYdpBn137k3_-_MBWoPS6H46fhOiUGUPEEIvUBs74ymHDfur00abHxAGQXbV6KJ-VePdD5Fi_MDspL5Iwln7AnxzRbx8417t5H5MXfccZ8ZA8NmAk12HxMjT_SoC7KynuFG7abeyOjrdnP5mCysT3vSU55bxKULFEnT7eXQp8bz1HXZYtIW3Pf3uEtTuYMYdLWhwEaxpoMoovipPwY50o-Q9HtBO-HJWOGXUhstbhZtJvAJw_ZOImRCk4OSuK7ybnkFZNko5k6BfmvTRoYtB4aczNFyT8Tp00kuGdwviWqZY0LO4HdThgAKVUU612DUMmhek82x-DhCNqCP4uIHKurpN2vjsJ9Sc3VDndERSUF0FifXbKDEDlyBHq9ph-C1nA6rr1HfWE4HMkCxDN_9HTpGHtq-w4=",
  "id": "rs_0b3cc92e2b8f5792016ab44396268087d088c6ea42a50c8f84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.08,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The left bowl remains about 4 cm to the gripper’s right and its near rim still has clear space before the fingertips. I’ll make one more diagonal alignment move, farther right and forward, while keeping clearance.\"}",
  "call_id": "call_UBWp7JvFstuNVt7SBjePO7lQ",
  "id": "fc_0b3cc92e2b8f5792016ab44396f68087d09090c1dc9efd9590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UBWp7JvFstuNVt7SBjePO7lQ",
  "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]: [-0.337, 1.2064, 0.7757, -0.2817, -0.226, -0.1936, 0.9996, -0.0177, 0.8005, 0.5957, -0.3958, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3512 left_y=-0.0773 left_z=0.1527 left_yaw=-0.0618 left_pitch=-0.1225 left_roll=0.0181 left_gripper=0.9996 right_x=0.292 right_y=0.0013 right_z=0.1711 right_yaw=0.0035 right_pitch=-0.0206 right_roll=-0.0062 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -4.2598, 8.8, 1.4969, -0.1685, -0.105, -0.0562, -0.1846, -1.4974, 7.3094, 1.7753, -0.0171, -0.022, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdce06cd080dc4474a06574f7937a339c338d37bbf4647a4b0f621a2344b3f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a39f219b48027e7f00e549f60c7a18b51367c59d3db829254f052b3bdbb5fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771cabe7f453ca661d3eb985e05f81969b7930db0e470df442077e537671c3bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.65 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.0054, 0.5655, -0.2291, -0.1535, -0.1295, 0.9996, -0.0177, 0.7975, 0.5972, -0.3927, -0.0166, -0.046, 0.9974]\nstate[eef_state]: left_x=0.3166 left_y=-0.0412 left_z=0.1333 left_yaw=-0.0465 left_pitch=-0.0914 left_roll=0.0133 left_gripper=0.9996 right_x=0.2924 right_y=0.0013 right_z=0.1733 right_yaw=0.0016 right_pitch=-0.013 right_roll=-0.0035 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -4.0137, 6.9812, 2.0, -0.1245, -0.0171, -0.0611, -0.2803, -1.5521, 7.2, 1.8388, -0.0611, -0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.2064, 0.7757, -0.2817, -0.226, -0.1936, 0.9996, -0.0177, 0.8005, 0.5957, -0.3958, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3512 left_y=-0.0773 left_z=0.1527 left_yaw=-0.0618 left_pitch=-0.1225 left_roll=0.0181 left_gripper=0.9996 right_x=0.292 right_y=0.0013 right_z=0.1711 right_yaw=0.0035 right_pitch=-0.0206 right_roll=-0.0062 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -4.2598, 8.8, 1.4969, -0.1685, -0.105, -0.0562, -0.1846, -1.4974, 7.3094, 1.7753, -0.0171, -0.022, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdce06cd080dc4474a06574f7937a339c338d37bbf4647a4b0f621a2344b3f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a39f219b48027e7f00e549f60c7a18b51367c59d3db829254f052b3bdbb5fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771cabe7f453ca661d3eb985e05f81969b7930db0e470df442077e537671c3bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOb7i8LXwvsii0BcBJ_8msm5rBfvGVZ1QIqGXzS4xwhuPYrFV9WE6tNB47hkyrCKCDIHEYrZSCrJW2lP6trBbQu1N91_PS9ajvCmTEa6APqSn46I6gsI6UeF-3z30NEGmn2UL5KZkKoSFjAAByWUcBgKvltwRe_gQcB77tprj1oiqwBpdm5xftD5dCiiiberwlXsmNI0FdKVktmIrR84amoW37_VPC2QtRsVUl999GfS5-1U5GuwYIz6XrpYtJDvwa0bTHy0c7ofHe-WzGVs_ZMOkohgRyIIIaW6HBMnkRsZVYxpmdlxI6GNpLyC5HmplYrLSHvDgZoZl1dehy2ZhLTCY-S9TLg_UxKa5vT_suc2RBZka1vygPIoMGDXyss7zHjEejQU8z9Cwxlww_a4bAS7zJlHtaakBiqgPRC-XAsvfXzyVHLmpuwj0PTcxFRfWFpN1-Md1P6kjSIkkBP6jgFHT3LQZuyzhhqWgaNLcqsSQxF80u1XNkPd6yWIhr34NQ8M7pRFSyOhr5WS7OrSw7GBwneRnPtFrsCEyGU6ovkPzrOnGvyudxmuD0a7AbZ5s2aGl3uVCnUI7adH-sWQBREUO7gwh1d3uimnUUabiZz0-yxUsmKAslfKJXmlXRmAXjRRCmLu_P4uyfPFT6WKB64mfkVz_uxO96_Lc7DtEbZ3C6CKnAm_Sw198RywDdx4zPrYoAf5br07Rl_ksP7iEerrMAhSFZ-u4u_ri39iL0BmFZ64e3L2-XaATANaf2k3rCBMQagSKt2y6WrdW9r3zEs3dFTSp8fZVLv1AMxurt3_lFvIrMOmdcFZeOD_vq93ZSECq7hOCt7QC7Bfg4t8KCTUR9kniMdcK3ILE7GW4icqB1GvBLurwXbvZ4I_34JrWB-bQAmndpHmf-jlUIjnHWNoLdITSu6ggbxmhIZVFhX6IWZgdzMSwQtm82vS9dnsWzyJ6baNT4VFgLNQ-N6GEQK5dsrLqwU9Y6jlp8roI_Z2RgmeYNxHB1d62FZw9R48F3PCKzTgvVlIt2Hxav8N60SYUkfBEuJz86I92kkUD3eRdnhPBkqU80W0NdvyeonBLnlStG49luZck7fHBBpF6wzyXXCppcSrEWg7YZU80ug2sQP2i-HomY1U7h6-9JzJlPCQ9bVtQHO5zbskn9CViAKj1jBPST0CZs-yfza637uBzYoRFznmbDKEtoWfoD3j2ewbUfQUCTEuc1zquP4UYyd3zC7et4n2l3u0rDjL2WnY0rqEgPTLejcI9p3_yp4-DVvmGIeIrh6rki5I8qQKhf70l1ShhV2ThUcdj1Px8zchCJKqqe50YwnZks-7lcfCzbNpFN-ISflYcXHeSDW5PCsmH-_dtXQksJ2LiBwgN5pZKV197Thrvl3Fpl_DlMUYHzfa0VwVA9OzkTJwsIR1ALR_W7Z3smbPnMATG--uNp0654bQZ3WsasdB0yFW6VOSkoFj5WDq6gfk6aGL1BT94AAuAJy66UrJvLc4db7HsZnWq0=",
  "id": "rs_0b3cc92e2b8f5792016ab4439946e487d0b485e74136c5a2cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The bowl is now at the fingertip depth, but its center is still roughly 2–3 cm right of the jaw column. I’ll correct only that lateral offset before descending.\"}",
  "call_id": "call_5pg49SGcXDFiKxVy4MeXmK1S",
  "id": "fc_0b3cc92e2b8f5792016ab4439a21ac87d0b0196cd7a4d4c791",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5pg49SGcXDFiKxVy4MeXmK1S",
  "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]: [-0.4213, 1.2686, 0.8452, -0.3397, -0.2707, -0.2386, 0.9996, -0.0181, 0.8024, 0.5957, -0.3977, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3522 left_y=-0.1022 left_z=0.1521 left_yaw=-0.0823 left_pitch=-0.1609 left_roll=0.028 left_gripper=0.9996 right_x=0.2918 right_y=0.0012 right_z=0.1702 right_yaw=0.0031 right_pitch=-0.0244 right_roll=-0.0061 right_gripper=0.9973\nstate[joint_eff]: [0.253, -5.012, 10.2222, 1.5556, -0.315, -0.1343, -0.0611, -0.1709, -1.4154, 7.0632, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4caeee9bbaa270e8d2797fad5ac87456a545ebe3fdef986485911c33439380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ab8c890db82ab4861e4a94fa5344bbfd6d6818b3c5f7006d35839e08956885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5088089459b3b9fb242528a1359137876094773164096cf7bf967aa44511f619",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.122 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6052, -0.3786, -0.0223, -0.041, 0.9996, -0.0174, 0.7925, 0.5987, -0.3862, -0.017, -0.0418, 0.9975]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2932 right_y=0.0015 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9975\nstate[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.7607, -0.0366, 0.2711, -0.0611, -0.7863, -1.3744, 10.4274, 2.0635, -0.0952, 0.2564, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.2064, 0.7757, -0.2817, -0.226, -0.1936, 0.9996, -0.0177, 0.8005, 0.5957, -0.3958, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3512 left_y=-0.0773 left_z=0.1527 left_yaw=-0.0618 left_pitch=-0.1225 left_roll=0.0181 left_gripper=0.9996 right_x=0.292 right_y=0.0013 right_z=0.1711 right_yaw=0.0035 right_pitch=-0.0206 right_roll=-0.0062 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -4.2598, 8.8, 1.4969, -0.1685, -0.105, -0.0562, -0.1846, -1.4974, 7.3094, 1.7753, -0.0171, -0.022, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4213, 1.2686, 0.8452, -0.3397, -0.2707, -0.2386, 0.9996, -0.0181, 0.8024, 0.5957, -0.3977, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3522 left_y=-0.1022 left_z=0.1521 left_yaw=-0.0823 left_pitch=-0.1609 left_roll=0.028 left_gripper=0.9996 right_x=0.2918 right_y=0.0012 right_z=0.1702 right_yaw=0.0031 right_pitch=-0.0244 right_roll=-0.0061 right_gripper=0.9973\nstate[joint_eff]: [0.253, -5.012, 10.2222, 1.5556, -0.315, -0.1343, -0.0611, -0.1709, -1.4154, 7.0632, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4caeee9bbaa270e8d2797fad5ac87456a545ebe3fdef986485911c33439380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ab8c890db82ab4861e4a94fa5344bbfd6d6818b3c5f7006d35839e08956885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5088089459b3b9fb242528a1359137876094773164096cf7bf967aa44511f619",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOdAh_AWnzoHl6m8t_5adKN3Gned88D0Llwv7tENomeB5-Pew8AOhNhukxhJYDoSs7IErA5kCAte1Q-BEMncP0dpAHstV-esgdOErwyob96NcDTBK_5LhxiuV60G0mCn99pmXieD53gt6BdmTwQF65UtkIX-h-KwHb69YuoaVaeCMFK9E3GHjOFC1JhVcjIAM6SXXukqAJRZ98IMCpFAEeti0F9sLBYWyM0D5sT9i3PBck9R08PGpJJxzxuQqHVlSPa4SVUnpNdCx0OxLjBIypEO67bNJPdwWTkpE-nnAAgDbFWfG-d5QuetVBW5qv6N5lvcB4nwRZVV9IYGcN6-v5Ps0UNHTTlVfWBjZAcqdVaopFD3Mbl8qvpzUzxK8buugNM-58yz0EMmRuVmcxQMRc29h9m7aAjqSNe2g2A5gstme1iTYasHKQnhoQkeGxG260IhOZ657nPCYCIy-IpxZdzpmHEsDH4moyYL9ezp7awjxhISmXL0mGldJfNIjc7RwLo88Z6e4l70l_x0wIBGeCzLwqS08NJnUrwIYUlUNcA6Oq1PrkUFMfh0RncbT0tORqXvnEyXZHeHxm-tHWr9Mpdwc4xbB5FTIHCEhhjVuQMuUHAMqfxgb9IpywfZip4Loj6WkocdlBi-XN3TLTpeJK0Qz5MobTdp4dJuQa5ObMap3NuaRRBC9fSgnFMkvFBIJwIJWkCSLj6_YBVf1AigdLy_7aRdzyCY7sZjKS-Ns2SefvSxdX-cGjyfhi6X-wOtJAfBrbsTVNL9dDWcqjV8k5rsu76mqv9yy8ApsvE9PGifnpMBHCk1gcp-Hsz4zVXtwpDxGvREIXA1hsn3nVurQI7oOLTRYAAzUaOqkCurSejaMTBaKogTaoe5SUgd5gBcQfgak1ZrFVHcF3HbPe_D-GZZMJzH5_7838TxW9E7PgKkq3O-Qn8rXtDOim5ZscL1GptPFxIIMeXpTvCmk_OjQnJkXTuCBFDpTTA_2mkDFH7jaOYUXYnxJPDsEue8ZrIP_XX_MVQ5P_5r_K7JQVXPXP_SmzCEdJ_OQqOlgjosKzlVu8ArKBbbcZFS2y3YdThWsWBJANilSSP4nu8jNNjl5TGwSzg-iZ0a2xbN_uRvUeKNp_befvDWPOlZ1CvnW4amDmW2PBRtxq0JW2t70suWUI41T5tEgCE5m_X5p3e1B28sQ7p-Kl4axPaup7lV30nd3pY4Zw12JKeze1Fmek28dQp_W74LZzfCuwMpHoxRK35LxnT-yHaSmG8s1mk-ooPUREdsPZUOCj7uRfR2T03xUtuxnqYOLLRuExY6Y4vPOwVzMwy3VS6mFcJ1nQ4qxgK5LCC6TQYHy1Us5A5Gns4qcLXmfoBvkXS9NQrXm6hznDzWv7oMhO8e9nV8VLBO9zDsVwR6x0mBBIaGbMUBGShiZk3dP4q9AYKATW3t7GzogSMpg2yaWCzIo07FQQ6Fws59wddYGL8uVY1EKtFXIibETwYig-zrDFwK56eGZFUzdxUbxtiQXWs0oqnig4wbGArVQNtahhXhpTNxZb-qTXgJGI5xj5rcNDahrEcuwp787siWlCFszQEARZmU7slQIpT0m39-VyXFO8G7x3EAzmBFWqFsTXoDwFCljutmBcvFTTpJ14=",
  "id": "rs_0b3cc92e2b8f5792016ab4439c28a887d0a70437e344079cee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The left bowl is centered between the open jaws, with its near rim at the fingertip line. I’ll descend vertically to about rim-side height so the jaws can close around the bowl’s exterior.\"}",
  "call_id": "call_n2Nmb4jEhaVyJLvi7kMY3p6W",
  "id": "fc_0b3cc92e2b8f5792016ab4439d0ec887d09f43349e12616bf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n2Nmb4jEhaVyJLvi7kMY3p6W",
  "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]: [-0.4347, 1.2793, 0.8604, -0.3565, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4145, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3523 left_y=-0.1041 left_z=0.1526 left_yaw=-0.0704 left_pitch=-0.1676 left_roll=0.0315 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1658 right_yaw=0.0037 right_pitch=-0.0442 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -5.2718, 9.4564, 1.6386, -0.232, -0.0366, -0.0611, -0.0479, -1.4017, 7.0769, 1.917, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95b0511c3c316b8b31e84d8b832fdd9ce88b0b89f056dfeafb5911661396051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71855b30e6488b2eb671af4b569c54dad58342de42a806506cab232843eddbeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446555817f1ec82faf694a43034051b4f9bc1755c00a800e028bf3f3691d8bfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.499 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.0054, 0.5655, -0.2291, -0.1535, -0.1295, 0.9996, -0.0177, 0.7975, 0.5972, -0.3927, -0.0166, -0.046, 0.9974]\nstate[eef_state]: left_x=0.3166 left_y=-0.0412 left_z=0.1333 left_yaw=-0.0465 left_pitch=-0.0914 left_roll=0.0133 left_gripper=0.9996 right_x=0.2924 right_y=0.0013 right_z=0.1733 right_yaw=0.0016 right_pitch=-0.013 right_roll=-0.0035 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -4.0137, 6.9812, 2.0, -0.1245, -0.0171, -0.0611, -0.2803, -1.5521, 7.2, 1.8388, -0.0611, -0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4213, 1.2686, 0.8452, -0.3397, -0.2707, -0.2386, 0.9996, -0.0181, 0.8024, 0.5957, -0.3977, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3522 left_y=-0.1022 left_z=0.1521 left_yaw=-0.0823 left_pitch=-0.1609 left_roll=0.028 left_gripper=0.9996 right_x=0.2918 right_y=0.0012 right_z=0.1702 right_yaw=0.0031 right_pitch=-0.0244 right_roll=-0.0061 right_gripper=0.9973\nstate[joint_eff]: [0.253, -5.012, 10.2222, 1.5556, -0.315, -0.1343, -0.0611, -0.1709, -1.4154, 7.0632, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3565, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4145, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3523 left_y=-0.1041 left_z=0.1526 left_yaw=-0.0704 left_pitch=-0.1676 left_roll=0.0315 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1658 right_yaw=0.0037 right_pitch=-0.0442 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -5.2718, 9.4564, 1.6386, -0.232, -0.0366, -0.0611, -0.0479, -1.4017, 7.0769, 1.917, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95b0511c3c316b8b31e84d8b832fdd9ce88b0b89f056dfeafb5911661396051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71855b30e6488b2eb671af4b569c54dad58342de42a806506cab232843eddbeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446555817f1ec82faf694a43034051b4f9bc1755c00a800e028bf3f3691d8bfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOkk7YQ1RSq5LOrXaSsJfrJPOsaMgD575ZtiJJ_7O5HKQcO3xMkOalCoIYr2k6FFPUqov2uVpf5OaJF_b4cLBHCVHpOfXhIomLkCNG6tsrp7vjZlnby8tcsFLaEr2tiFyMsi5uhcNabg_G16OZQb9lHOVCwBlAViAJIZiFz2RtnTZzyYenMy8ro6PF4Zx3WoQ57dWjsa1iI9HShAsdRsC_YEunU1zJ6YKbgNncHxjQmybXDnm_JgI-qv3vCiRLa_YL1Bze0iPxyNeX_iJ0oYg6rqw8fW2BvbIh5IzOVvcLoh474i4miK8_dC1bkpqn-_ZNPROOBiXG842yADX_iMPe-fehy4J6n6MG8ML_GtwTHwrZwf5xPeJxo4JDkUcQz0WF6QL4_gZPT106A6iQHqO1fD-63_ceoUgydUxyZ_Nna9_Fcy1eD4NK83YrRrBU-1SCtpWNjxMxPnum1LdPUjq0-wUxMwpOP84PV8qmbejxrXKucCk-d2Wh_jvHxRNw5BUiTXk09woCi2B7YQgAarnwDEpz1FXprtWs47R2ndbY8Ix-cFBnSg0Q2BzyElzcAsYsspItmHeR6SmXG-O6IUjUmgEPuvj9hAoJXY8oaLH9XxKtpmVp8PVvg2c3xI9egs0E3d874Gg8RwiEBhdPimSUbAVmc5L8ILZtwuxNLXveS2kZxEgmorYAGodDh_IjfaCbhen4jEYnCfpMTxdUvqn7orqTsyNbK-myJeWpfx0KoQs8ms5e31mNIRijmZeS2g9zO5Eyvokm1djs3SGd5usdJJoDbos5pJx1AW-oNsYjUsmACYLOavsvNHkVk5ztZGppy_r8nN6yON4_qXrkWXMeIiDlBqxrgaaJvqrynpAUvV_SB1m4QqdT3F2saJWjriFWWnaOQVzVvJCr5kjWMP9N8YORyzORJV-nwi45bO0YA2bZ8LeTmE1ZxACooHvUScovmYK2IGOounCGAw6TW-QLQfqfK7GGRpJxbDVnfvkiWgDuBDiES03q7gFlQUgZyS1ofcVT5mrLTPJWLGcvYNmc9IxtxFcBjQwE9SNcDxPILVjOwVaXorRkNIdFLld3q_r215EzZdf6moq53XZBnOL5RdP1AzgRihmPok0lovkXdEZmv8yf0LYRu6TEkY7f-X5BQiKYHRf3qz02GKikeLxo3BN7zabClYtOrKzpwVa3Vq7DkbmDKcPQzFYeNUzDkLIPvMcjqjAnUDMsa0jFu0VAOeEETBnVfpmHy5lpkzgUQx6Z04bIw6fIFOhKqihWgd631lzhORWdUfF7MayEdZE5vOSlWv3ovAPign8PonyYn67ZAgNfIijTrh9d0gi0UUM_fK07s4UUs9jdzKCqv0fKpq2bg4zQI-TL_ky56jOKJ20XcRle5KGKxEgE7n3Lngf0ZJAZo9O2gomlyST65SzjOljLOG-wle5jAs8sIe9feGvPH8ebo-72oviVPAsZwD3dgpdP1X7jdkiW6R2V4PY9xhDcz-HWHipgPArt6g778IWtECUV8g8eFCZLZienkJ35Zd6baDdLJC7_Bjob0U79CLPKyypqBzit_LCrE2V0oir3TyFBbz5fpLXRhtuV2pxvFj_1SnmUjm-7AhBBjC_GiKVpa8xWQjr9JRxvAg6ctGPX8DtWFlU8AyA4rXj237xKcTLggGo3m9-FMB83RFD3UqLscaIQ4Px8tj1PYp6R7AJyTxCdFmxbURn0s9vVJ_T4jETYidXv6s-BblIxXY_zcvFffDPx8Km1oJnimqJZyOHnv2NHuxVbO94vqUNKgabpquiYZ4P5PCxhMAhYbRE7gJ3e-76lZRMISfga5HLqoPAJMPBWM1ZtDEnd5A_jHjenrJiKOd1RWWmH2CWg0j_chsZS2SsEEnQxC8pFti5KpdZK_vse_gD8xJ2M8Qg7_wcxPN1fecQ2k_CX-esb3_NsmQvg3eF_7V_goPz1rRRjzS6mC0LSQhIw7K5qwl15ZF3KLORYHgzpPt-n5o0bK2lrJ7AG-N6iSaSiClB95PxypjU4aTpG08Ksa-2augsSl7IWdI9TVKMBNkD9KAsDOmdrgP3sI1ZBll9CJh9141rdXRjN27wi2aWbM0bf0HOWVvELDNi1XVng94vpbLFBpJLIAIV090UG_euy8u0l2suEAgKS302G8zN-lPilU9nJOyA_9StiPCEStzTCdO9DBO-ZaQGCpoqt_FMLG94Gk0Jwlo0H-iKLrSc_SIyyoTL5sd6zp0nNjGm167PpXJsWL6B1siOhOcwgrIKzk1-7n2Dtu2gcIbWHBjVw7k4F46UxmxMplKNVPnAj4aqFDLpMenRE_G905hhcp8ONn6-3EuLckFVJjWxH7H159H4N_kZaIk1xtsys2CqxHtl_pdm7yS9zboa_74wmPgH1DocO8eKuUis2TQLSz_8WdxGHTL1YBNNJRBrpmzDy0-kvRLoC5vmYySz4c-3aRjagT_WwNn3xiCwjLihAYhvPr6HZf5IGai0_IWNQf0djTl0QroyyVzfxIMKnby3rmrpqJK3v6itFYniS3GuvjZhcF9fM_BE468nN9qpzh5LM8y9xG3l4DomS2QFX4aEfsmQZPKXAoZwxU0kz1d1VBgpaHc3ljUcXJM1Ye_h643gSilw9YZl08ZeXsTwpaPcb9FjNvBKJpMugOtzPH1iu0xVGQplCke368ApzKORDMRwblncLQB9daR1w1emKKvrbVIsdBdqNtplZg8W1EkAy38onytIpu_Krp46r8nTvs7ztmEGvNDPhQkaX9KioiUfJHfKnnynbb6YACsntAX0WQoytQgWz2aEbWl9fK0xlJ6-MOzRsyRhG4QAfVkJ4HJta-_8YGuSfdnf-UYvsKgrv4d4DtVCqdf62WvnUP4OCik3XPEGY7-17_f6a6xDKqLIgEwY5a16w64nDjLjeCYskqsmkza-s5BX5Jf71bkiEbK26sRyfnS6zUR-XNwqbU_LjbXAyJmi3hfQONRn2IvxmfG16c57Mtd8jBUhEyDzNvF5sgssKcnDeTlhkH-0tXG9XAklVxHkjJy1ilbgz8b1XFtqbFNIZn0VRPVgkYM43SvR4Rhoa9ODyAXyhH1E4X_Vm8krlW_Plw-HEp5pCVcEm28YCgFYDyrd0OGer_FuqdDnL3tf8iqotQeSW3alLExxlXAtfCJd_DY0MqVYucwes7_-3ne1W6uLDHyTCg2zmv0SPKt-Rhow21XoNv89dj3uUOGmmhJXWB2AVXRRuVR-NWhSorRJmQcxCWRlX0k4HxcJzzmh_liXPYvKQUdoiOVYPRfE7dCZ0w1jQJ69n0UTS44gmmJ6hUczrTgl_EKSe3R6Hy5Tlr_Go6EENZOVQcbgX8c8lWuaWOE2cgZ9z60zhP3FAobqNZI5uSmT2N67d6H-aBusISpHfw1vcV6s7hGfl4gETi872ufEMh248nQ6yxckxW3O7l-c2rM0TVFpiuSyb_nSmxMLnAjw7iDaopdVtMTOV-m2j9bvSpYbJOTxNtgOMwlaOJBcFo-piIURJ4Ro2AzT6oIgYFShS9bSGEPaPUdss-hD65iw577-fKICZdv1nkEPawghJa_kSpHFk62qUcMx28PwomL_VZWQ==",
  "id": "rs_0b3cc92e2b8f5792016ab4439f907487d0a36279a254c807b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.105,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The descent did not track, indicating the fingers met the bowl’s near rim; the wrist view confirms the bowl is centered laterally but still mostly beyond the grasp point. I’ll lift slightly and advance about 4 cm so the open jaws straddle the bowl rather than landing on its rim.\"}",
  "call_id": "call_owWiUtdcIx7JJHImiYXesGW4",
  "id": "fc_0b3cc92e2b8f5792016ab443a3b45887d0b005f760baf3e6f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_owWiUtdcIx7JJHImiYXesGW4",
  "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]: [-0.4347, 1.2793, 0.8604, -0.3561, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4152, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3524 left_y=-0.1042 left_z=0.1527 left_yaw=-0.0705 left_pitch=-0.1673 left_roll=0.0313 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.045 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -5.2034, 9.6479, 1.6435, -0.2125, -0.0611, -0.0611, -0.0615, -1.2923, 6.9949, 1.6679, -0.0708, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b4b6a9eb83bc09b8dc3216ded59e5f6cf5f4b71305079b46ac84bf71e236bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2057cd86a8261908b980979aeb42f14dc5e0d14f81d122183d0a8cd3c92ea62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47554b36cf475279584bccd68b89b4a10ac8c30f0e34707da1501cd3e12da731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.304 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.337, 1.2064, 0.7757, -0.2817, -0.226, -0.1936, 0.9996, -0.0177, 0.8005, 0.5957, -0.3958, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3512 left_y=-0.0773 left_z=0.1527 left_yaw=-0.0618 left_pitch=-0.1225 left_roll=0.0181 left_gripper=0.9996 right_x=0.292 right_y=0.0013 right_z=0.1711 right_yaw=0.0035 right_pitch=-0.0206 right_roll=-0.0062 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -4.2598, 8.8, 1.4969, -0.1685, -0.105, -0.0562, -0.1846, -1.4974, 7.3094, 1.7753, -0.0171, -0.022, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3565, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4145, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3523 left_y=-0.1041 left_z=0.1526 left_yaw=-0.0704 left_pitch=-0.1676 left_roll=0.0315 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1658 right_yaw=0.0037 right_pitch=-0.0442 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -5.2718, 9.4564, 1.6386, -0.232, -0.0366, -0.0611, -0.0479, -1.4017, 7.0769, 1.917, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3561, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4152, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3524 left_y=-0.1042 left_z=0.1527 left_yaw=-0.0705 left_pitch=-0.1673 left_roll=0.0313 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.045 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -5.2034, 9.6479, 1.6435, -0.2125, -0.0611, -0.0611, -0.0615, -1.2923, 6.9949, 1.6679, -0.0708, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b4b6a9eb83bc09b8dc3216ded59e5f6cf5f4b71305079b46ac84bf71e236bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2057cd86a8261908b980979aeb42f14dc5e0d14f81d122183d0a8cd3c92ea62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47554b36cf475279584bccd68b89b4a10ac8c30f0e34707da1501cd3e12da731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOomGjIRtcww6KNE6xic0kFpZLpLwSuO9YXt3Q1649f2T_68mv89xJHjlceBKjLtOxJV7wurUSvYsihGyXoiXZICKd7QJqKsTjd2qGTUeDtqpgfCpRw-9VUYbU7NS0dR5PkxDNPUEtQfRuz78cLsmq2KuqczbnaP609QUqwI1mYP6mo1P1xX_AItERu_W5yJxJ5wt3B0M0HjCGwsysiy42r7bjZ8_JTOgXMYruH77rX5DW-eHwKEn4jeVOW2g4dvbkhr_im8eC1qyAsAfJolQSnjfj-iuPrAO99-C31QrqbGH18VA1EZQkxt7OtvXqlOw957_hiLdaDxKZvtVfh9YCJuJ_Vfs3R3PFEpB2VzLtFSJ3noDWDYEDJdS-9ed1s5grn0Bp6ZbAoKahg8yu1nD6B66_0QctmPh8fQD5glgufd7-XYA7p3KEsuYrVsyBUvGxw0gBpyvVY9a1txHvMKrjvq8SxXNe-4rZtOAcKjjyO-bUeFK1qCBO9UKCPFQ9jwPa9AZj8TjpZbIm-sw-kxhnQ0K0tLlXb1fW0YPAiRoy9WChzNa_kp-qEmQ-zRh13hz25Ve3pduhA_swWfp6IZ5tXxBIv9vsQKSmH7N4K60yBCex9e1EVY1yy_hzXyUff1WSA5xSqcACNnbayW4GI1TsijJ3AKS9BY2j2vQLPbEUy6vdbgeFzOiPDv3ECTeTvf7MfJicxcB4Gpk3MHPntmpphgbUfUueVda8gJkyrOsnZJ_8hg4_JZwvEX-4tO4udXlGIR9Hueq5HqKRpu4p__NLXOyfLolD1NIgqm3jQ2PGZefHDkUtQ3PB1mBSKQ7H8ETSptuKgMrpgIQtDiBiAISm9kwxj5ClT_oniiB9KqRzu2OEVixaNMh2fTprmC_FY69ins0LTDhWyFBdSB_8nZKGCOJwmyWaYdA4trqi1y4vC5J523Fgf05JQOlub7wm2mcPRVPD9azYeGDO2jNvGozMiafdIDkeSHW3Bo_SJ8pW9FdWCIO1N4JWIauK67P-vtP2RajZdtio-CpzJFOw6NHgRoZtYds_5r_jZGL3A5ao2_8LqYi6akaEfI1D-HimLCIKDmQo7t39PHW92q24HwEuxozTNH6dG1wfJR2dPQdzYK3fLFHPsR0lsTooZi6b0-VoypMLupA8V0ejqZlONjQ-WLeaj3ivzunKb4HLDfUCAL861VjheXkmnU_dDOrDi871yrwTVXyRzoC0mT6mG7LB9GMq6hgiqNKeMb4WbkYXBVFY3IAEoM4t_SaA88hkqrbL1yZFviAuzYma0VYGoSbrmtQ3JdZH4vB8MqSCTUijv0TzbxrorP7NZzbbV6GKAaq38VOQ6Ium6oynfmtZXBgHFacHGa46ButV_E0YD4QuJp_d8doisaEahenOUz5bPWuzlMOniPSsBx0QpwHqNcaeAx1LiZna8a2nKm3m16n9G877EcFyPjrFtVGmCkPARwbZ40VxUwm8KzFITSGzq6MyeU3hO5J5SJd8GQc9BXTzxB3ydGFOSlMh86uAcl8Zy5Bd0yiv-AyIMzpF1HQ9kdKE-O70RxUU1p9Mh3qRj6W92KN1-Mwq5n7H0ZXZRFnI_nMYLK0vmrsPe_m19tIbcIgIGIUVjz49OqlL3tznh93AuoD_oZNrqRvnTj8LCQwTnxZUWdr0ap-kydM3KdVfnbVnVlfFewKA_-Y0eP6J6IMYtlDdWL5To2rq8Jizn17euF8MlhLP2V6Q2LJcbiJvV2ebpsqb4DG3xPsUJ4vhyFW2dzrUGe0EflpTrdugc6A3OWH_1XFhiGAzTr-93a_TcX9Oy_lBG__wI60jy6nmJVuGDVIt8nEwC9fmvWXa3aw7DJ5gPA9IVKOIb20v4EiuEFCP1-yxj__XVAY6BxySrq3vUzLyM1fnV_mm90puOlLukB_Unc-lsI9OgaQ4G_gWUHOIeJGt5ciiwkGRUU1jOBTj7EHjS8byADRFTAiEJ1y1obF9F7NkN3M25o8ZvwtC3ct6oGA==",
  "id": "rs_0b3cc92e2b8f5792016ab443a5f8d087d09ffeb87933fd5314",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.105,\"left_z\":0.25,\"left_gripper\":1.0},\"note\":\"Forward motion was also blocked, so the open fingers are already contacting the tall bowl rim at this height. I’ll retreat upward first to clear the bowl completely before repositioning over its center.\"}",
  "call_id": "call_qWGYSL6yMUNswJFyobyQ8Dsh",
  "id": "fc_0b3cc92e2b8f5792016ab443a7900c87d094115055a3720efa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qWGYSL6yMUNswJFyobyQ8Dsh",
  "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]: [-0.4381, 1.2789, 1.1969, -0.6926, -0.2867, -0.26, 0.9996, -0.0177, 0.8043, 0.5945, -0.4156, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3527 left_y=-0.1061 left_z=0.2372 left_yaw=-0.0735 left_pitch=-0.1674 left_roll=0.0265 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.0454 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.3145, 8.8957, 1.5067, -0.2027, -0.0659, -0.0562, -0.212, -1.2786, 6.9812, 1.6728, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08000c2a5a6e635000c1ab44876150a8418a321001e35bfd6e27e6137dfeed1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f702ad771ffa666e7defd61be980dbd0709cb394a6f99bb0e027a09dc078d20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dff1c57e8bbc3e304605ce118efe8ece0e593e86f975c136dfff88f21e9b963",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 2.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4213, 1.2686, 0.8452, -0.3397, -0.2707, -0.2386, 0.9996, -0.0181, 0.8024, 0.5957, -0.3977, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3522 left_y=-0.1022 left_z=0.1521 left_yaw=-0.0823 left_pitch=-0.1609 left_roll=0.028 left_gripper=0.9996 right_x=0.2918 right_y=0.0012 right_z=0.1702 right_yaw=0.0031 right_pitch=-0.0244 right_roll=-0.0061 right_gripper=0.9973\nstate[joint_eff]: [0.253, -5.012, 10.2222, 1.5556, -0.315, -0.1343, -0.0611, -0.1709, -1.4154, 7.0632, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3561, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4152, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3524 left_y=-0.1042 left_z=0.1527 left_yaw=-0.0705 left_pitch=-0.1673 left_roll=0.0313 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.045 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -5.2034, 9.6479, 1.6435, -0.2125, -0.0611, -0.0611, -0.0615, -1.2923, 6.9949, 1.6679, -0.0708, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4381, 1.2789, 1.1969, -0.6926, -0.2867, -0.26, 0.9996, -0.0177, 0.8043, 0.5945, -0.4156, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3527 left_y=-0.1061 left_z=0.2372 left_yaw=-0.0735 left_pitch=-0.1674 left_roll=0.0265 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.0454 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.3145, 8.8957, 1.5067, -0.2027, -0.0659, -0.0562, -0.212, -1.2786, 6.9812, 1.6728, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08000c2a5a6e635000c1ab44876150a8418a321001e35bfd6e27e6137dfeed1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f702ad771ffa666e7defd61be980dbd0709cb394a6f99bb0e027a09dc078d20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dff1c57e8bbc3e304605ce118efe8ece0e593e86f975c136dfff88f21e9b963",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOruUTqXGRfVYNJpJyo1Rie32gQXPmf0YO7UsuGA6FreCKVJ7mF2KePxNjjUsBEq9DH_taqZhFQBa__jarfg4pj95vrz0FSk8VCuFXUaSOUAuER9esO5WKyBXchk0kMY8X-mCWpAtWE2jYXR1CNhVXwEUu_S9wCa3BXqvIENcyqmyT506P_6zb3UHaXO9aD7N330IMf2G0Ma6VEVD880YWN9m2o5bBHbwlhk3Wk1BXOhxMtbTL6xUrxMPtF7pmf0tINU5cpH2CGl6LD7KVN64iVrlcpCz6vquJA5EAXF2OWO6MluzZZVxPvZ3J_fsr4o-sxloS9vU0dWfOlgePzBJPaqYvY2hviVMMKurbCw1HUZ8RkCorsgtEGs2rK3E7e1cXsapUuVwDcCaic2-Fkm2Vpnp8KQOy4aNP6x6rBulD4FUyyQe0IpxP6LKM0PVywX5319kM9Y5N1wzVYrxUz7tyhCX3QrRpY9rZwlh4IFqu3Cj8jGO0HSm_OcyqrgKs0a6WK2zI3IbE84Hc8RlXTebxn6CKPg0HceTJWELtzuznSb2fwOIx9R18tdhF9xr3zOjh0wZiJDYymeD90Owt2OtOStsWGTkG5OgMvGEx8BhL0QnxHalHiMyY8iUJD4Dls8_h-quONoVVsdliQDPNvAGQ3zh66Nc3SICVfJBfoO_c25YHmnY4I2HXESJBJkGBQCy0kvYCUcNY60hxETd60CRJCWZaZhwDEYtM8JilBAEx3OUcGDbhP1zk3fvKyvwhEkCnjNYznedNGi7QAxaLPGInEJmB0C-8GCjPYOoPtMTqpf1NEpsfOlRX0nQ4k5Bwj6KaZHDOSWcbe2EI4t0zEVjxKci2JFy60fH7T3FqO1FN8n0TidGsg1UrLpje-ZFZHNrq6ACS7i7Nv8e8vkNKA7LlMQI16YNOOEiAau54Zr295tg7gePvJ8qiRAUFMufVf7HHE-1tjpRGuUlD0qb08XhqLyI0gonCbhCYzSD6YDEf80V7JYx-d5csvS4VRcq-zDBTu0t3mrXqVxd_D4D8K4ZVgIRX7Va7Za51bnTCLDHn3dL_qkY6NUabgY1tmtMJVVaXQWTfntSeb5jSODmef_UTZj_t2uoMS2sjskUmVoDM1ZD4efpm4zh9ZyYd1EVfRTWu0FH4WGZE43W2flpH3YQZ9-rLLa-HZIjVNhMtD5jYCllnOrM2pcoLEvD6vam9GyjbMQkLgspp9wXBWJbE0v9bYKzYmqedAcIx5p50cTzC6sC9UUcevwmCy13fXjQ7sQQlvSSycN50UYqtoO8h0mTSsGwGic8_XsX0cMTTVD8p9b8aUK51wToRLToiVbHfvRo395gviYi73DrhF7mb8TioJ8rY7WYf-a-4ToCRP7PHvREfspLM0m-lIf1Xrs3gH6xvaL-bq5Snm0eNMr9BIU_fN54Dv1kBZIutn0kPZAFLY-7bKt2eRxntllCiUQMdAyMQm7Gpuu0dXoTsX_jhWurCW1TpOAcckW-WaNxNEcd5f_So=",
  "id": "rs_0b3cc92e2b8f5792016ab443a9fc0087d0ae99da775263aee6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.105,\"left_z\":0.25,\"left_gripper\":1.0},\"note\":\"The left gripper is now clearly above the gray bowl, which is centered laterally in the wrist view. I’ll advance over the bowl’s center while maintaining high clearance.\"}",
  "call_id": "call_WLCMBddGWR0WMftNE8XdC6xI",
  "id": "fc_0b3cc92e2b8f5792016ab443aa8ef087d0af56154e4786f542",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WLCMBddGWR0WMftNE8XdC6xI",
  "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]: [-0.3763, 1.4288, 1.3075, -0.7242, -0.255, -0.2436, 0.9996, -0.0177, 0.807, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.0997 left_z=0.223 left_yaw=-0.042 left_pitch=-0.2423 left_roll=0.0413 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1648 right_yaw=0.0037 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -7.159, 10.2359, 1.7509, 0.0122, 0.1636, -0.0562, -0.0479, -1.4017, 6.9675, 1.6728, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8f098c521cd8c92cd647b5c6ba4bfcff142e675caffbc7038fa917930aec74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff84fab8a5521861a169b9d6f25dd76d37739649c341930fe0d53f2f9142048a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa743dd7416485e85d7b36c5c5b6178c9290185566456e0fed70111d2c82a86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.445 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3565, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4145, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3523 left_y=-0.1041 left_z=0.1526 left_yaw=-0.0704 left_pitch=-0.1676 left_roll=0.0315 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1658 right_yaw=0.0037 right_pitch=-0.0442 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -5.2718, 9.4564, 1.6386, -0.232, -0.0366, -0.0611, -0.0479, -1.4017, 7.0769, 1.917, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4381, 1.2789, 1.1969, -0.6926, -0.2867, -0.26, 0.9996, -0.0177, 0.8043, 0.5945, -0.4156, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3527 left_y=-0.1061 left_z=0.2372 left_yaw=-0.0735 left_pitch=-0.1674 left_roll=0.0265 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.0454 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.3145, 8.8957, 1.5067, -0.2027, -0.0659, -0.0562, -0.212, -1.2786, 6.9812, 1.6728, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.4288, 1.3075, -0.7242, -0.255, -0.2436, 0.9996, -0.0177, 0.807, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.0997 left_z=0.223 left_yaw=-0.042 left_pitch=-0.2423 left_roll=0.0413 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1648 right_yaw=0.0037 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -7.159, 10.2359, 1.7509, 0.0122, 0.1636, -0.0562, -0.0479, -1.4017, 6.9675, 1.6728, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8f098c521cd8c92cd647b5c6ba4bfcff142e675caffbc7038fa917930aec74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff84fab8a5521861a169b9d6f25dd76d37739649c341930fe0d53f2f9142048a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa743dd7416485e85d7b36c5c5b6178c9290185566456e0fed70111d2c82a86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOuQ-14V364ub6LTT0QCnGbLHJbNf1jOFKGvAcBZrJvfmBXghucok9GqgSHMVueJzskjkTTLK-U3a7dcBFyMcNzEtniArHNPoV-8ew8LUDJtTuznnGa7tG0c9IWtsYU5Q_t16jvJvkMcvWTtzPEhsyFQU91T8XbqPV8Ntz1P1eQ9c56pN95eULKSPXaVdmT3WKjZnwgfY2G6LT-BdMor9E46Ok0PmcWfLnu_IlJMLUvBbDI-xa4ZbyAohSRfsTQOZ9BvFCtUwf9Q3paDdI3mNl-Lzl4zs9oVVPVG1Dy9Nmv54-cJXRLniVq2pxrt_UvLQIcs5IJBskUrDOz1UhnJlFcy97pwO5jlJK9aYHVgXSy1sUtxp1ThquUHL_JH9lIrrcNkOAL_dG9JTb9mlnlfr1EF0rmw08aJaOdhpbUuP4dU5SeGO5xGaj4xZ-XZEDN9XSFzNmz-uMRvtDNSxJ8AStRrrp-mKYDumVIjDopKAz-9J1gp4CPYW5EAEp6GO1QvNmdGrJlygbEQfoTpsKulWt7_So2EvI-L_EGsmuHsGulvZn0A08CgI56VqjnTcLPUPlTZsJsacrF-yayJBJnx6oVYerqyLLWR346uNEa2IfMGlurR3kg4a7NloNlFgVVSrdl7UXexw48b5zcabcN7g7PswEPhAgGn0SycBZa2doqXYzdBXSGtZ_rwyVk5K1qP_CGq-tLizIbQg2jAiRo9y0ZvgrXAFsLzafbCEPM0c1RPfi4T3vMWuKCiz0jZJ9H9ah2gI4qkxiXdNz4IzNF2agQ-FaIuJobRHrJqZyFTyiFNk_qUfwgLAOy7iVttkBXpMw8_n_jcm4F2uLVlWFlS1TGTJNNnu5vMK4nvLb80u7fDMPjM0B2O6mwb3l0AOqwUvZBXBnJAQBM2v8fe8Hsj94Yc-CfDubzrSTJnvP2J3WpfiRMg6j-USCnYenVAXRukGBti4ukOVV9LtoevAK6nocDihSz-RaslXf6hVtSn-CbGacQBxgrl7qHxS8bFmWYFgH9xBRbpeu1i1LEFFgRjRCCPHRK1QqyPNgdRln7baBLTpQFsrxfdY98H7S_x3V5tHyJGm5n7p9_rX8CeC-aFaFY0PUnj_riW_9y0w0mH8pMdyktAxeWqdOoAgqWSLrAgA57gr-3B2DXHb4PI8c0LV7CSPe1JRyjSnMyAu3m7oj-W0XQLuUTrh7KWbW2c38ucw0q11hvrRYgv_28mjd9AsUtdsdZMexNtWg_5ZJT5A3WpJvMFRoikkWwAO16wnPUgXeSo3mdaVZ6Mq1DFOnO5fQGJuthnVI7lVVOtCfCw75i55M5UI0OVR4Kvu-NA8s6_VZyriiHo3-vAlGjSi9sgioT1bgT8dxe6nHBppEw4qyRnJ1x6e2PMIvtcg0P_16TscezvHcDss28uChzqMZlquWuKl56g81n-hwDD4Bc1idaUg_uFsu30lRps6y9NaYjULKOwZzQR-oFSkwFx4kedwA9oyQLRnWRXLcipS_rocn11wDl8Ye1jyl-IYcMkyqh9dSyV1Trsti4zuSuee4RJubbe0AaZBZhV9PxhK3AWZJzDS1BLoorrAmYAcC7zcA8bhgSJkfjw921BEzr8gOXBH0NHvKMI9CvtbX4k1laeELC3wHdpogEMCywyVN5WDuyQRb4",
  "id": "rs_0b3cc92e2b8f5792016ab443acbda887d0a2dad283b04eb692",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.105,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"From above, the gripper now overlaps the gray bowl’s center and the bowl remains centered between the jaw columns. I’ll descend in a smaller step to test that the open fingers clear both sides of the rim.\"}",
  "call_id": "call_tQEE3UOK3dZOMecDPoys0Kxc",
  "id": "fc_0b3cc92e2b8f5792016ab443adb14487d0a6516c709c710008",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tQEE3UOK3dZOMecDPoys0Kxc",
  "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]: [-0.371, 1.4399, 1.3277, -0.7185, -0.2363, -0.2321, 0.9996, -0.0177, 0.8089, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1027 left_z=0.2275 left_yaw=-0.0598 left_pitch=-0.2329 left_roll=0.0311 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1643 right_yaw=0.0037 right_pitch=-0.0503 right_roll=-0.0058 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -7.0906, 9.4427, 1.7411, -0.1392, 0.1783, -0.0562, -0.1573, -1.4701, 7.1863, 1.6581, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4f09df7ed4afa5918f26d4acb03f8abcfa15fb3919b4ecbb3c4579a04aa45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd578a2c72e6f57af0379ac1ab18f01b48470624d0fd52db9b4a8d6f9bd699b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1946579c4d15587938a9f7cdd7372fdec81eda2a9e1c79636344aa48e757e9b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.45 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4347, 1.2793, 0.8604, -0.3561, -0.289, -0.2558, 0.9996, -0.0177, 0.8043, 0.5945, -0.4152, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3524 left_y=-0.1042 left_z=0.1527 left_yaw=-0.0705 left_pitch=-0.1673 left_roll=0.0313 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.045 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -5.2034, 9.6479, 1.6435, -0.2125, -0.0611, -0.0611, -0.0615, -1.2923, 6.9949, 1.6679, -0.0708, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.4288, 1.3075, -0.7242, -0.255, -0.2436, 0.9996, -0.0177, 0.807, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.0997 left_z=0.223 left_yaw=-0.042 left_pitch=-0.2423 left_roll=0.0413 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1648 right_yaw=0.0037 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -7.159, 10.2359, 1.7509, 0.0122, 0.1636, -0.0562, -0.0479, -1.4017, 6.9675, 1.6728, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.371, 1.4399, 1.3277, -0.7185, -0.2363, -0.2321, 0.9996, -0.0177, 0.8089, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1027 left_z=0.2275 left_yaw=-0.0598 left_pitch=-0.2329 left_roll=0.0311 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1643 right_yaw=0.0037 right_pitch=-0.0503 right_roll=-0.0058 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -7.0906, 9.4427, 1.7411, -0.1392, 0.1783, -0.0562, -0.1573, -1.4701, 7.1863, 1.6581, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4f09df7ed4afa5918f26d4acb03f8abcfa15fb3919b4ecbb3c4579a04aa45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd578a2c72e6f57af0379ac1ab18f01b48470624d0fd52db9b4a8d6f9bd699b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1946579c4d15587938a9f7cdd7372fdec81eda2a9e1c79636344aa48e757e9b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO2yV8FOflCm5ru1iHWhDd5-dWNh3PlG7iyd5Agwk4OP12d2ZtC9zB-6IhQf3ea6idToIv0CEu2bcnhxPj7mEGzrt_N_XOMoHFckfJRR4wSqIvqKDDJyORnEh7SzO84UbpyEtC_28-wJ6VQUMmoHxI78m5PkNUngtJvyjpaFqu0oH4-gb2rlQd77p1UZMlPrTEQ20u2P-k08tm-5LVqDazTjHq34jaG-1kVwexmQfGhjKdJScMoUPVVQTYDteD_0hfvQdUCThxczPQxoXY884OHKwqfqy_7fbb32EP9Uqokc3Zydw5tyKaumqdGNnTNZAuhf_uq7_TWdlUUFN76jAFbJUHM_PnLNL39rhF4Lcf8qh9wwtID4bqWh6VkwO38k9oCscDypSzdoDQNnfU8c7RWjbOBnKw74tldb3lVowtwuUU7RBuX_5BOJZ4rvpXt0Ip7h7uJ6ECWh5U9IKU0e7m7f1l0oCPXKzEElZj1HeBzbitdcN1fzCaWBrVnBxE3ajlGKXwgehNWCRatrML3SpAjRQOoI3a7GXMpBJdgzFz0i8lV0DrBs1OtUuvSZiZb6Lwt-fU9ALm6lJmDl3OflMWUwhvQWKv7nPFjaqWkrxYKV48UyxGaS2ABQWpIjgZFBw71eId0s2Y3mKyGkLZ33J2svELWGoMseLg1Pu3e6LBKxsOwJHDRGH8BYAJbZmr7H3YjS2heDGjQd1M49tczaVZSyI3d5VNOtGSqF_y2JqNeA9ZqW7gvqWS-wazi-m9fSVP2cPMQ-h2hMLhgwyQ-FNyub6LNczkVxSxNjBcD4m5HzYiALPVTNmiGsLZ6rMprnugGybe9NU-BroRfALwKGP81uAAI_7Aq0rhaPmJmJ2U7b1zTb6UWgBc2cigjLlHpahPvHL-GYfgLvwdDhxy0AvcO5RRlBdDMc1ZfsPTUKjwIobBjxsOC2DZ3FzqUcV8UFdKTzOWwH1AreyyGLKf3Ebxv-B3qGuxmoyKy7gdDDa7fa7wksssmQDQpkBEdoOzRJV3ttHxIfpz7gsEXXQHebToZCoS0-jgpbLY12WdxsE3NCbb0lDabQXJUvnRQc8JMnMojNJmGdooeI6MVl6HOiv3Dmq_YCm-HpbbRYDNeYjqQ8IyfeyC2jOSU3lM3nJFwy3BwkqvdzUlv0U9sSipt4msDJpv-SZSG8O-j7zAI2uLj5pgSIlgOKEsvPtd7Ga6HdfsOv8Mupw-ulLTagrszJRRFrB91ptia6vFhy0Llld5kdw1tIgxXKSNgE_UQK7D1N8A-4RBg15TyG_MkdBEAmEypI9mQz6oSMijY4xlB8WB6pZhryjYkupl1Dis0rzBbjgb_lm2UMERejPR5M_eRqZNtLG1Ql4tFbBXv0G7WL7vx7GcZHmhM_vax5JUqvnpxeePtzdcW1DWhXEZtqBTn84KAUSeo77TQEcf7ay-RTu2bbzjFxq1r9OnJJnZ8_sFT-WzkugleXe5uZtAUjGJ-GmVWOwc6yBTV3OmcW5vsxa8n9wDiBIJIgV4oiY4eAKtORmLVSqAPgRZy2nTjuob3ayTy42O6d2iMwSXWGIKLcQ4-cawk5yQGysUBnrQd2EQcxp6MinjV_Eoy14n8kNIx2WEijwlsULycYN6fOQwnAuaotyUAJSQ_YmEr_eR29ogW6u3LIu6E6B4kpycHJTImUaUZHd3WATsF7V2ypG0PIbrGY_brKjGUivpb7s6knGjblgS73858GbK_vqWq3KdQc9oK-YBn-U-tlPnBw2d4NVR630CyR5_-6FSqOr1o90ODkuISFrITTvfFbaAsesCFf6ON-XZwNqbVhKmKbSEPO7z1YqzmozcGmytu_qGLhVuWQ1ZxHJEz0R1Mck0fgi-w5aG7nESIHY3v7Dn_PfSTbcBSFaHZNxlRyjFtz0GwOQpIQSBbiYYmX3_63zq-TgatQAkzJmBUYJ-pKKX0d22LE3-xngMaDZWQIc1Cu8AFgVBmlqVjQmnYVint00NGkeNqypV5OI2BVdzHWTABRDBUzexglz5sHT--KjMFTLkHVqk8avgz3IIdv1Uiq8a3EnevU3Gro-FIS8L2CsY6ApzSvs-u1iJl88YDYw25enWCFMA2m3kVM_tNuQaXlAd5ffll5sPaubf1aYARe3o-BT9cOL6OekgMUf3jhu6BjCx1pw0015DEJqwUJhauPwPhOuRbCJgMugMlBjKau7vANUYkPMBaAKa1904Zg7RCY7EN-PIzz0hKDm1e0uT4jWlI4dl7sCgVjMhB1T-C_rwBI4I-YUWy-MPWVogatmgjnOnGIqadwAPBou3SI8qE6yhGyDR0ExI_HOWzk1LnAynPvT4eD7Gi1witWekqvGChKvIRfmOD61SB7mnessGJzJpntlkwfnU3Yxpf1v85PxvtUHd-KxflhDxlK-tqSrcGcpcwwiq-HCxeaAj0jiKqlTpFIY0-kQDkgGueQ9Enx3slO8K34_G38YmW0COC94W2kVhf7qTPhuJLjzW8NBJJ6f3M-J0dh4VQ7e7m-9IYqH1GMuMUF3B3EEtrOJeUZsE-xKsor1Ijeho9jiRl-a_ZnFNV5-Lmk17pAwfxtckSnz1oLVEc7B3mnj7HMsrmNW8Uf-Ea7-QQYFJLWU2KoPCMSAw1MO2RmGzzOZuisfRPS3Su0imLwD9UDgoP7BJgLENjrF_ey7zlGEZ7kbEUQbwjvY3I-RuaKSJh0SY7kLYCf_cDjM6FaapbVtuFDkG_AVbwgC0XzEx-P3uJsM5YSufe3YJo3vogElVbi4w-hDXr3iP7yFEjERWfnlfcS1chNvDi_Oz4UUJUPml7GOZfrN9HqvA4xJmwvFdXw9LiWNHQHkUMbWqlDqrAT3IEs2DfcXHYeluB2wTfFyHeofUVJzGVzBBVzWaHABAFVmHMaPYfl2d52n15IuTnJIBJCYLnHJQVq5YtCZU-rTHj8A4JqpwhoBw-U7VxCOc6GNeD7EnZkTDXzDxdR1rntL13O5QnAVj08xHbl_12RDY5NRwE-0FzSn_T0CteEdTOB23CDoMgAFPJWxHFW2dz2iEzsKJQWemYYTjS0u10Zzt-ezqTvFNlBabCVipYE5pYMsf2b6Dsm-Le2t973H8YJPmDMOEmb8eRtY5DG3c5OjuK_SoyCsA8f-YWHR8yiZSIR4eurzNoFs3MzvvrEKoHMWXZHLhCIjcYlaBkPy6LRehikefYIVuU7-fkXYn3n_PXSTv1tAl15Tv-jdfWMilHYyZ5d4VWXpUyzRRTqbvHfC3bFIAwNZ1MEVKrwuvboClNOeror67iinIz8-N2yda4UGjyXWXsAudlxxnIonLhnvLSn-E8zYndjDwpXhakVe_PQdKGE0ZzpFaknSyzzja4xbv7APlNI0yJbJZNrdEcWCq0qt_k6l7mcGXhJkhWTplfzSwr_0nYCbIG-YGer-9fdY4bDdEo9cXiAkrec--7T_c8VJiHZ-1CE7bCLdlkcKhR3q0xdG4b6rxPTstzJnVfSVele9gXzunjn60g2IqqAofh0Ype9J29BS3oiSrOfdGNtA5oh18vOGbNXXprRZ90CIH60NY51uegcyvapicI2c5mmNBRy6Xcu1szc9ox69rJmReXThTHVGX15Yg3KLOXaf9e7gsqdM96azrjyAskYYmlQJQ6f-EIYhRfjK8BeL4mmoX8SdEWib7gnbbwr1MU3Rmvzy9nJNIyAve-bjHHimy9Q8vqCZ8q8qHS6znVSfwEPQ==",
  "id": "rs_0b3cc92e2b8f5792016ab443b0017487d0b4be51f625bd523b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.155,\"left_z\":0.25,\"left_gripper\":1.0},\"note\":\"The open gripper cannot descend while centered, so this bowl is wider than the jaw opening. I’ll switch to a rim pinch: at high clearance, move the jaw center onto the bowl’s right-hand rim so one finger can descend inside and the other outside.\"}",
  "call_id": "call_ulLIRW9nZyAucC4eT4R5LEwl",
  "id": "fc_0b3cc92e2b8f5792016ab443b4e01887d0b24ad1d32256aa7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ulLIRW9nZyAucC4eT4R5LEwl",
  "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]: [-0.3714, 1.4399, 1.3277, -0.7185, -0.2367, -0.2325, 0.9996, -0.0177, 0.8101, 0.5945, -0.4179, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1028 left_z=0.2275 left_yaw=-0.0597 left_pitch=-0.2328 left_roll=0.0311 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1636 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0632, 9.4564, 1.663, -0.1832, 0.1783, -0.0611, 0.0068, -1.2923, 7.0085, 1.6874, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3daa0474b3cb7580cc10c388f888e23fe8c35f0a81bc3b0698ed633a56027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d36a767b6d49bc611e615591c3876e210d6f5588a4c5904c0b6c45954974e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536850a7243b17094eda591d2f3a3f0cbb71bae54be42e7f37b5bd3e4e88e624",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.721 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4381, 1.2789, 1.1969, -0.6926, -0.2867, -0.26, 0.9996, -0.0177, 0.8043, 0.5945, -0.4156, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3527 left_y=-0.1061 left_z=0.2372 left_yaw=-0.0735 left_pitch=-0.1674 left_roll=0.0265 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1656 right_yaw=0.0037 right_pitch=-0.0454 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.3145, 8.8957, 1.5067, -0.2027, -0.0659, -0.0562, -0.212, -1.2786, 6.9812, 1.6728, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.371, 1.4399, 1.3277, -0.7185, -0.2363, -0.2321, 0.9996, -0.0177, 0.8089, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1027 left_z=0.2275 left_yaw=-0.0598 left_pitch=-0.2329 left_roll=0.0311 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1643 right_yaw=0.0037 right_pitch=-0.0503 right_roll=-0.0058 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -7.0906, 9.4427, 1.7411, -0.1392, 0.1783, -0.0562, -0.1573, -1.4701, 7.1863, 1.6581, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 1.4399, 1.3277, -0.7185, -0.2367, -0.2325, 0.9996, -0.0177, 0.8101, 0.5945, -0.4179, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1028 left_z=0.2275 left_yaw=-0.0597 left_pitch=-0.2328 left_roll=0.0311 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1636 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0632, 9.4564, 1.663, -0.1832, 0.1783, -0.0611, 0.0068, -1.2923, 7.0085, 1.6874, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3daa0474b3cb7580cc10c388f888e23fe8c35f0a81bc3b0698ed633a56027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d36a767b6d49bc611e615591c3876e210d6f5588a4c5904c0b6c45954974e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536850a7243b17094eda591d2f3a3f0cbb71bae54be42e7f37b5bd3e4e88e624",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO73u1YvHi2ugFQvcYtWfzz-0iSD5iuG-vmOZ_4dBwozXK96CK3aC-BWmZabGGmvv0pwF5mhpDReK2lvW5G2MNb32p_DLZiN0MCaagFfNTD5B5TeKtV8605nP8ZAzNJtDEamFUCt5oApofc9YO8l_OqMnphWe26swn8CAhX6f-gBs9uhpsQkfJSahy1NtNrO6O_odd3wBXjpjLKwl9WRlI2yeCg4L6fe6vnwZu7zNfriMQV-5UrntQrG_LLYds9vaGBFgzn7CEoSJAuhhiHm6W_f9-qE6TCI3qtzKYDx8QpjIp8GguAfS55gSe2883TN0HRT3w_a40qohDbmv90OZHccXbe_ig3ggACVeFuIhW6nSm5SziXyREnjJoVvaHu9nkgkhCFDd4tsfkOAqOcefz-hPT7XcoKHA0FER80Ea9VLVCo-Tsk2y_c9tZonY6KnD7ypTMaCyyu98ERAJ3Sy4C8I4n41br5B7N2gK5QNWY868OOJMpJsDrqiQh9C-2Ww2xt8PT_FjH3Y54mNwpNkhSvzzW_Zq0NHwyYFHRNi91jBv7-qlvEO-sPyKD_8fY_UfOsHNYn91kTgePrdOUZWg8_mFICzR9QMdslXZXXT2gW-6fPtn4DjTPVLV_fmBhmF-iab7koMIbmufYXn5RyFmEKCKFe12iJaIwMbwRjISjhamrpte4tGiiPGgml7EsOjJE6aniskMJMQ4jYFIoJUgiBxzdpOSMopVVubs2KNB21r2stKo6gW_uLPXjv1MBdpj53V2qska3Ivsaf9u2zCOCgCG4ex-Mh3YjQwpe2JW7vz2utVaRmrTX2JTZyQr7shCoLC15UDzVynqTSAygT1oFzIfwqPPgOlhd6FiMABngNblnFLaZk2ql5MogWZkwMCCaYa19NUnx3gVV0UqDjFvj6QE1nAEapwok6rSWWon57BELEvlnmK0578BAwMuj9_-kV8boD1mvDIzCqZErfTcaXXsc3zbwC08lUAMmeiRHaetQdGqyuOrFI_RS5Vd2sogJeyWdkYKk71ojWdKrvv26GjD077FSQiVaFqDddG83cfNCv_XWYT6mji4pfLqALHAwoJZLlci3PAoJWv5njwwZcdaqn0SKXP4wV2M-1WczsNw5Sqpe5B97S25olQnN5itrp8mxVz9272ORLNkwFEUcdvCn9oGzDJD2so7JynpaNyHwXkSVuazbH6hfsDUyr3isA4YeP7JTYEdBUPwSgkjHgGewLOwwE4zsY1haAk90xO9n4Xlm7c9WV7DuQZ8dkLIpRa6o9B8rmOvBAR2GjYCbo8quZKUobozLLVEHFcfWV9vI7NzOh2gNOAXQLMe7AmtSXBwju_uXRmbHU5PcHYRmenJHykFV2TjmxqsPJyTg_vzU9-O-tizvbWPj38RVa5yy8V0HYiQ0xmzFhaQiReXiJ7SeI5Hch3HL6MpBvm_42F_o8JDgSp4ZC_mpkIJ2NF8EDEfy6Y-ipNxjGdXqLDqa7tRYzNFTDP5W1PYUWaHJ7hyr7gUuKVjvBSZ0fT3MI7tmgIlHi42yEywk9ikSF2A1r2SAlCDlJxOCAqYArcT0BZnr-GnsMPMIimJFuFCTkqK-ZMq8PN4whTzAH3Nr8yHnnfxbLU9FwAHqva5dhefgtvaviaeanV3qW0RWJ8Nukcr_6-eSY0GM9tTT640Yjf28qn5IwuDtL2I8wz5p8aCv6hO7oGhyBfUdPykhXG24SQ7Q5AcT_cxPyZUTbscYxdlXkiQRAez48PIVdvaAd45zw-yrsdP0O5MWEi46Ka6xYJ78YoSRomDOijk3gHeOfr9bomlFZjgHYoHEYcVJS85w-L5ccsP3GB09P7emgJBpTEuZoiTMeONLHqeWhviRCUwVXrFJLucIx8um5rFhfPi72j_bo-04KFnDWtqupTZKHmy-W8C3OkbhsxXnWI-4HqhfVZC-WUUZ4xj_Jh9qit64zDFqVJOML6VH7-XULwt0nYSafhCGlhSwNWJdkdgAOlp6wvDtqEIoVgmbqmqLkVh_9dicyjcAHJn04ErCIIxhftjed3dhsDohs4QmxMBU0XXW9NJg7zlX2Z_czfnXz9qVv1I99PhX95EIqo-VxWRFOSIBPnU2wzLkPf__fXJ5STVYgXQr0ki9kj9H2NEMj_28arAxLqUUlPuUsGgfqseL9DCbcpMdjqjtIIiPQu-sAKNdrYYazknRjlS9s7Lhrjsa14X1yhkFoNLJEWPJcGfLO-1sWUrFug5MNVZnUi98qJjE-FmAH5pPcnO4wYyskrwTxSNE=",
  "id": "rs_0b3cc92e2b8f5792016ab443b8709087d0b0c917dc7e9f69ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.105,\"left_z\":0.35,\"left_gripper\":1.0},\"note\":\"The sideways move was safety-clamped, which suggests the gripper body still lacks clearance despite the fingertip height. I’ll raise substantially higher before making the rim-offset move.\"}",
  "call_id": "call_uJcNclU0yO9xbdGz6oaCjY4q",
  "id": "fc_0b3cc92e2b8f5792016ab443ba7d5c87d0b624d2455f25b9dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uJcNclU0yO9xbdGz6oaCjY4q",
  "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]: [-0.3862, 1.5929, 1.9495, -1.1713, -0.2367, -0.2523, 0.9996, -0.0177, 0.8116, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3879 left_y=-0.1091 left_z=0.3419 left_yaw=-0.0648 left_pitch=-0.2172 left_roll=0.0117 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1622 right_yaw=0.0037 right_pitch=-0.0595 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.5983, 7.2547, 1.2674, -0.2369, 0.0269, -0.0611, -0.0342, -1.388, 6.9812, 1.6874, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388e67bb0998b81f36e05a08096d0be9821bdb3f86c59b73ff025e57fd7fc045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de4e3de49630c2eedbe461e4f7a035dd3746b7b838c509235717c72d23aa47f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59d2a753e399ebdd86f90c988396a358730a244d272b092d8311f06b7e446f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.728 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3763, 1.4288, 1.3075, -0.7242, -0.255, -0.2436, 0.9996, -0.0177, 0.807, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.0997 left_z=0.223 left_yaw=-0.042 left_pitch=-0.2423 left_roll=0.0413 left_gripper=0.9996 right_x=0.2893 right_y=0.0014 right_z=0.1648 right_yaw=0.0037 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -7.159, 10.2359, 1.7509, 0.0122, 0.1636, -0.0562, -0.0479, -1.4017, 6.9675, 1.6728, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 1.4399, 1.3277, -0.7185, -0.2367, -0.2325, 0.9996, -0.0177, 0.8101, 0.5945, -0.4179, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1028 left_z=0.2275 left_yaw=-0.0597 left_pitch=-0.2328 left_roll=0.0311 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1636 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0632, 9.4564, 1.663, -0.1832, 0.1783, -0.0611, 0.0068, -1.2923, 7.0085, 1.6874, -0.0806, -0.0415, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 1.5929, 1.9495, -1.1713, -0.2367, -0.2523, 0.9996, -0.0177, 0.8116, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3879 left_y=-0.1091 left_z=0.3419 left_yaw=-0.0648 left_pitch=-0.2172 left_roll=0.0117 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1622 right_yaw=0.0037 right_pitch=-0.0595 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.5983, 7.2547, 1.2674, -0.2369, 0.0269, -0.0611, -0.0342, -1.388, 6.9812, 1.6874, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388e67bb0998b81f36e05a08096d0be9821bdb3f86c59b73ff025e57fd7fc045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de4e3de49630c2eedbe461e4f7a035dd3746b7b838c509235717c72d23aa47f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59d2a753e399ebdd86f90c988396a358730a244d272b092d8311f06b7e446f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPBetvu-WbzBDj_aDmH7hZbNplJlhdvXnc0ODOmrF-PxzDa7HL9dxvuu2ngFS9zmyF4G80F-0ufGMX1qxE5hg88zLsxWleY80E1pdXZde18_AF-rqsRIvUIB96Z8q7U0A6-BEzen5CU8rx9fssAPmrDZNvCCh03aUaF7_AUICi9-f3ma4TIW3Kd0jF2xUMLfSSgtfxGQarcGKMDbaA0tl8L0vR080q6UvxzY19hYvGSEbEZY28AduqTgI3BqDoBfgOnjtdpPWwTJYe5SOQ35EkoJSyHEi7s6maCvbZnnTmPEtxYvoU7TV6mYXRYY63Oo_iUO3QyviKYWcxXh-ccJzaDsZaTwE3JnlEZ4JcOkErXSlTldffHA68Rk26z0HMCT-2fYr06u8diMIzLZIDVWvIkrjZYDrpzEkNn-kOeNajMJb89sXeALYNpRBbib5Oi_Z2JbJfi83Z0ZCV71iSdqVceuwZasb9nbrJ7g6vTsVTWLfoU9jY_Q3w_kbEY7Bazchx2fObshSkKoVDR0IOsGkQTMM5jmkuQGPoLt842GBTn0Q-MoVk1B5tLUZnVKbKDbxUTzXfIaR-UxAQsrvf3proqBL83c2xOjztFpn3NPmaKE49gL2MnYGqthDVsiOm8vBg45lCdbEYk5v2nA4d0gL7BkmWpguu4BPTlU0GSJP493T3UtyoCEsizJZGccVvXdnBG63XPyJGt_SgoI5CMLxUtCFdI3lHhhBxb_zzIj9_Xl68gv1eyJErSk9Sow5o3tCCTkTjiOz8mseGPcRlHrLOU2DEb1bXK2sDuNs1FXGkd7U1Kwi1_xqvUdAVh4mSTrB5jZplvskCITKtx88qvqVQBxqQr9evjtQ6EXWyiivs3xRkpt2Fr9f9NJDaaQsFRaKFeKXKVZHCGVDQPLBDO22aXuqSfxhkwcpRsrZbugZjvpSF3T53b0rUJRARnAYIGRicOq-JVJHirR_o0ODBEQXmDdUEoJo3qiZNC0URGVoRfWkUFix334VsZ1-9J9I6zkVeXG_6mTTGsm2IC38Vsq7goSojY8CmLHvhW8Q_y57D1V9Rxuvy4d1p2p8WIPEVppnyCZyrMuAEGNSxVO-MRHXxIhy9MBhV2aFkl16XqTfk59pMx-ma2qIUzsn1mh5yatMMuI0G1BsQy601jwVBXR6ypQadARgvIm9ivuKgeQAWWbHtCpCenZipex-XrrM7d4AqS",
  "id": "rs_0b3cc92e2b8f5792016ab443c0ec4c87d089544fa24b57e1bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.155,\"left_z\":0.35,\"left_gripper\":1.0},\"note\":\"The left gripper is now well clear above all three bowls. I’ll translate laterally at this safe height to place the jaw center over the gray bowl’s right rim.\"}",
  "call_id": "call_gioziBMMhelc1MjKJqEDkhgb",
  "id": "fc_0b3cc92e2b8f5792016ab443c105a087d0bd46e7a866acb5da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gioziBMMhelc1MjKJqEDkhgb",
  "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]: [-0.5304, 1.6794, 2.0445, -1.2594, -0.305, -0.3489, 0.9996, -0.0177, 0.812, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3784 left_y=-0.1563 left_z=0.332 left_yaw=-0.0912 left_pitch=-0.2707 left_roll=0.0231 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0599 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.4462, 8.6906, 1.3407, -0.2515, 0.0611, -0.0562, -0.0205, -1.3197, 6.9812, 1.6581, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef2f0a491ed717fc7d177e515f86e5edb51f8c5c6cb358eedd3e3ff50ab20fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fe9c4246bfe78b1bdeba03c590cc8f6c81f6ae89eabfa91d34b1eed401b2e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc20f38cbbf54e64d82fd756476cfe7b903787ac6b722e2be318fe55fb0db8e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.938 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.371, 1.4399, 1.3277, -0.7185, -0.2363, -0.2321, 0.9996, -0.0177, 0.8089, 0.5945, -0.416, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1027 left_z=0.2275 left_yaw=-0.0598 left_pitch=-0.2329 left_roll=0.0311 left_gripper=0.9996 right_x=0.2894 right_y=0.0014 right_z=0.1643 right_yaw=0.0037 right_pitch=-0.0503 right_roll=-0.0058 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -7.0906, 9.4427, 1.7411, -0.1392, 0.1783, -0.0562, -0.1573, -1.4701, 7.1863, 1.6581, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 1.5929, 1.9495, -1.1713, -0.2367, -0.2523, 0.9996, -0.0177, 0.8116, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3879 left_y=-0.1091 left_z=0.3419 left_yaw=-0.0648 left_pitch=-0.2172 left_roll=0.0117 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1622 right_yaw=0.0037 right_pitch=-0.0595 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.5983, 7.2547, 1.2674, -0.2369, 0.0269, -0.0611, -0.0342, -1.388, 6.9812, 1.6874, -0.0464, -0.0366, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 1.6794, 2.0445, -1.2594, -0.305, -0.3489, 0.9996, -0.0177, 0.812, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3784 left_y=-0.1563 left_z=0.332 left_yaw=-0.0912 left_pitch=-0.2707 left_roll=0.0231 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0599 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.4462, 8.6906, 1.3407, -0.2515, 0.0611, -0.0562, -0.0205, -1.3197, 6.9812, 1.6581, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef2f0a491ed717fc7d177e515f86e5edb51f8c5c6cb358eedd3e3ff50ab20fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fe9c4246bfe78b1bdeba03c590cc8f6c81f6ae89eabfa91d34b1eed401b2e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc20f38cbbf54e64d82fd756476cfe7b903787ac6b722e2be318fe55fb0db8e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPFnWN_5KYP3qImolhvlRtgnnthhdyLYERUXccpUqUkMCH2ESdOKaV6iltkT1ZBVX2DIdLLD2LWhWf61RFPM6KO58ZqwsP5rs3i5jx5j6Ds9cpbF22uvrNdhHZCR4v6IC8z4xEleGV5dw6MmVzPSvHD_J_eB9Da_FAV8oTbqt2xCyb4UDRU-lLtUNwKtpkEeyhdVCeG7PrICEvdm9HOM8pl5x8iGZvQ6T18vTRr67Aarghd6CZ8YKOI90FvjZyhiQIDJuklr1TXcG32wnm3s-wV9qDceV2WrmGuj727nMjpWAKFTVDXYT1JX74T4ru_4UNCVmNeg7UpWBUR71FcU_TeZ3hSofRRV4dj9FJf_25zi1ewQMHqU3SDb4cCwMP5aK8KA_tPQT60JgxcesnmDxthpU-dg62hcgKhWGvok-2rJY_OkdDAnwcMOcUVGTDUzFHW88fvw6GdRevHGsIZWpE-USKR8HxmO8_doXcn5Rr3CNEUF8volVD_XThKE9I7YRWX50w0SuDHobXcDcTSgGBd-50k_PtGnjmCJyT5KWKKpcyhAXBcwJ85HKXMm6gxs4S5GtdAMCdHZ7cWKEfX3ieygh3pr6GA3NGWUcm7GyZ3s_qhOdOvLT7x5O6qvu3wzs7RQmqo1ntTtYAPVOIGTt77CcIqZMCE-KC8WXtG6CI_wZQxwQy1AsfYcD8eEFe2B23wWk1LnfAx5Jri17E0YyRF70uHUrFczlM3-Jr3xCi_Nm5qQ6T45ldnjNmF5fRwoQBpjP8SWlAiQRjvhx985JcMCyglg_gqJcbD1pDaIp3VNKE7M5hU8e3c-gQcsd9leEu5nOqq9d4dOPTDeSjAYd1j6Ugl7bjzNQWqRetVddE3TqmSgyMjBHyyMvkktF9W3VPcuZRxZXh3nUpF4QBQaHmAtjXrfgbguK6cWL8JN7oEvKovgoEC6YNcBBJBs4Zegxl5SvXsWICZa1nPooog4vofjnoIKKzuLgy4hZGCTUMS632GJJZlbnDJrYMmWeWzl5l0ZX0hAQSx_FzSr3ajLjHWhSBfas5ZMhj5LebUMpqxXKrikH70AqFOF2XFc_TMsX4-mYCQQUtGZ_Es8ZuE7xqXQB4AQo3-pV1W_FhiQ5TdeQfy5bJ4NKs22oHzFNsmK7N0svceOnqENXLbDV-PSNhVBuiMQryd--XQEo648lKw2Ks5RATz-tjMf7WmAr0SKFertfUzM9jO_KgGaGnPQi5fBmr1aY4R1dWyQU5bKGFEIe_WBe4oUI-OO6iVLd1zJA9XPe_Ce671-aPbZxaB58amOrE4B1JbaHY4RNYBrJS8xaX82zJg3EVl-x0_dQeY5FWcbG57CDiJpM8LalcCYljaJ2tNqw5DtUA5-mYWm5EKS4K0LEhlc-KliQe_j8b2Av2FEbOa-bSsLQ-V-xnYP91_5paZIEvWVZbet4RM2uOzQOgxZbEVEt6xV0Pyqx02tlEdxQ-EGQKvUXKpPKHZOdRA4YmDkVwHaCxKNJFUGytodfKsy--CWX3SuFT9Ah25m1MJ4KUY1Za91i-6r9EO7PqssMWxVAdoaYDAac4kauzwjeu6gDMJMcFRxjH6lpEs-K0yTA0HiNa-KQcTKPfny8B0eg978Y5BQANWeUvd_ms1WiEODFDRUB-Q_He7WrmKGh4zQZQpUh4fEHqZjxNfkAcO38CjPfD1Q2IhzXr5CZ5yoztS83B8jCs80qJgf4I2cxJPXM5QCcrWqsVH6CfJe5lCDqcHt0IRCDS4Y__eYWQWrg9YkUKU9RydhsGJ5m8HRjYv5etWXdTYN5ynkZNcR1vopt4FdOl3kl8y4OLacEDM5LzTu83uWnGIJh-Crd4OshRHIDdt9DKBGnXRXI0tfMP68Fj7oo6T6MKgVrnmgxJVbOEqipBU-lTh8JU5vFdt66nnXbhZJKNwnCgy8w4AACFfNIXYbGJcudCcv1f1abDg8s9KAWU9LeKdjg5B8YBf3dYW",
  "id": "rs_0b3cc92e2b8f5792016ab443c34ce487d0a2bf14f7ded1d1a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"At the high pose, the gray bowl’s right rim is nearly on the jaw centerline; a slight extra rightward correction will center that rim precisely. I’ll descend toward the rim with the gripper fully open, stopping above table level.\"}",
  "call_id": "call_vvMo2felFH6nnCsvGz7eKSmk",
  "id": "fc_0b3cc92e2b8f5792016ab443c4c8e487d0b2f0c81f1a4ab7cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvMo2felFH6nnCsvGz7eKSmk",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5514, 1.6222, 1.9385, -1.1725, -0.3233, -0.3729, 0.9996, -0.0181, 0.8131, 0.5945, -0.4225, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.375 left_y=-0.1605 left_z=0.3295 left_yaw=-0.0881 left_pitch=-0.23 left_roll=0.002 left_gripper=0.9996 right_x=0.2887 right_y=0.0013 right_z=0.1618 right_yaw=0.0031 right_pitch=-0.061 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.9778, -9.4427, 7.5966, 2.1661, -0.2173, -0.0317, -0.0562, -0.0752, -1.0598, 6.9949, 1.6532, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6de551db2763c6d191b8723788507eaf878b6f77c8f2ce7dbf7a68e43f6bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8f76c94f77bacd43eec772f5bf8583734d73d0d764faa863fc1a93a115c84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5c891919a3f2734721f923b7efc004db646a5b5e6b90f76a82ec3737d43f41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.686 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 1.4399, 1.3277, -0.7185, -0.2367, -0.2325, 0.9996, -0.0177, 0.8101, 0.5945, -0.4179, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.388 left_y=-0.1028 left_z=0.2275 left_yaw=-0.0597 left_pitch=-0.2328 left_roll=0.0311 left_gripper=0.9996 right_x=0.2892 right_y=0.0014 right_z=0.1636 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0632, 9.4564, 1.663, -0.1832, 0.1783, -0.0611, 0.0068, -1.2923, 7.0085, 1.6874, -0.0806, -0.0415, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 1.6794, 2.0445, -1.2594, -0.305, -0.3489, 0.9996, -0.0177, 0.812, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3784 left_y=-0.1563 left_z=0.332 left_yaw=-0.0912 left_pitch=-0.2707 left_roll=0.0231 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0599 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.4462, 8.6906, 1.3407, -0.2515, 0.0611, -0.0562, -0.0205, -1.3197, 6.9812, 1.6581, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5514, 1.6222, 1.9385, -1.1725, -0.3233, -0.3729, 0.9996, -0.0181, 0.8131, 0.5945, -0.4225, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.375 left_y=-0.1605 left_z=0.3295 left_yaw=-0.0881 left_pitch=-0.23 left_roll=0.002 left_gripper=0.9996 right_x=0.2887 right_y=0.0013 right_z=0.1618 right_yaw=0.0031 right_pitch=-0.061 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.9778, -9.4427, 7.5966, 2.1661, -0.2173, -0.0317, -0.0562, -0.0752, -1.0598, 6.9949, 1.6532, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6de551db2763c6d191b8723788507eaf878b6f77c8f2ce7dbf7a68e43f6bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8f76c94f77bacd43eec772f5bf8583734d73d0d764faa863fc1a93a115c84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5c891919a3f2734721f923b7efc004db646a5b5e6b90f76a82ec3737d43f41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPLD03YooZ84o-CvdN6N5R5zVg1eq1cUWUbNZi7heY3-Q4dhRugC6va8pzPYjAy39uf5Ifc0ucGh8lNgrbBnWzB3KnAt9tvQ_01oDA_a2C6gWQTMxXIgFZg5L2hbYQV7HQUt0Ef4cSsFehkpmFJL_yyO8cAoOfCq_wdJhH3xAEBtIBnxXsW4IgJd1bWVW1TO2VYuxtSOjzExJGSSLDQqjEDhwlxelsBEqorLsStnHoxgpyCffsI83J93EemTU_uUPLhcbxzBd1LQfi5rGW8GSzPIcFK-unjj_QJOVE6_iyrVsQ1Vf5XUJJAlzpsHPCvb1Mq9RO5Z8FDIZZOhEW3lf888sGvTo1VO9szFRG2XrO2lufNNvCIHFt7-n9RQz1Y2LbPvsZOMC4C1dNbt4geRttaNdv9G8uqjUYIu4DCWOoccdwq7-pyVoBKajsUfNuuIPg26VhkPooaUgmKstzYskOpvifoTVqW_FzxTZEz5O2WtPPxW4OBDHrHY5VV2hbngrozKdaaJl1-plcQWYJPVnRoCgu09i-Dk3ztD5s7yiCXtCWVcCfWub9NUIKR_Fy52AHEZCeAB0kFk_h398pA941nvz58LAzrKlDCDW-reTsDBPZsk36fRdPpwewDOiuoAINBGxc2ia9zxfXvL0lMEyoeV8U4F5BIJuFGEhC5dMCSpgyxroCkhHE_YmNoJYg-FWZdwBNZHg6I83HjeEBezO94__ZXwZwMU4cX_cuHaIIvcpzbxiZd9aTlnUbOkl9AN5rSGAwKrXrcMU7rKsW1GDdu3oK8RimZR8ypUBT-Kdr93AyXK4uPLEXtD_oeTJLxGf6Rtw4KPe4EV9zTNhhKR-iyu4UOF2gTeboCAqnHO_DWhyNfWrp8Pk6yYNPaWii5i7ZdAyD4q0sTTE6A31jJaoRBYvszsYyK7QRUULgFyxKc1E2VRbiQ-dae38qIJsFH6yPwm6pbkaqKFfkjfvAblDsGmatARP5nsZx2lzytJkb2OJP5R3pMn66C0pkSEn3asvgrgxHB5BCCbywx958tFPe0wuHG3LuAMuNO8lVlVCP9KfHf4j-UaHb3lre07xpeaz7rVmsCII5snXS3ajIw9WMvrogIY2x7lNtnBGraAJQAYAzdap33qPVm9nmxHuFQP5sZKZeLoqPqY3lFeKDVRgWq3p3Dzr9ZkF9_9VGGFUsbtOdLAaiWDNVtXaT3KF_yZuS2QsBrYLiju8_4ZhXO0Kr-WdzoLNarmfPeizUQL3Uoq04DR0MoaHeTDThlYWTtGLotzm2qlAsIkbXAoO4_-JArSnmIW32OUF1dVY-0j0qRGa1UzHFYvnKKDU4_kHY1Z58HP3fZqqS23F2XqCmdUBaw_PIz9-r8gp6hkCRS0DQH__1W21pPDtdsP32GVJbPEc8PqpL70heX6Lun4AxBR6t6__0NsIAWetNSZnjaqR2adWHjCw6EUoUTWFVtaEUHLH4MCzoilFRBkYACAnH8yfWGJnrpEIW6PiOJCXNJ0kFbr26eNXMYUpJtcRE5JSYMRognaJRivOU9tSKQadtEmG_QBu9D6uBpj2Oi5JDVMJKxbNEWqbJRRBaIpY28hsDAIZXk3JE-WxobwT0W4XA223wM30hd2oJ94QgY2brPvYCliU9l_f-bzt5_SYny6lE756_Tqc7bO1t34TsTmaUDjjmBlkEl4CWX3hhyN4Ynh1d_WetZibPlrASFnVzKz1yq5Ra4m1lmAUR4oUjxWf90i_dWL-aNagwELvmKvDCgF40MRXJ4E0DFQ2qxjQssym6dubZW5dKdTaTDO4WVQHYr5BmWxGQQ2ddkBcZa1KFw9EIzH4Gp1pw0-7kDtipIthyWg_MeujMoFOkWDQLBJRza36bmo1tY3sXIlWQFeG_8AsW1WC0X50v7nSHgkci3gdXhugcd_-5pWynD1bJ58lFCGZaSX9Io3eRlFlXy8JJlkPtumv3wTyubUYiOSfsFpsLwNlrIzsSKAedPmSl713ytyz-ncSaEpPI0adR1M1iGzkMa-pOXNe-Rr9fPO2K8_3Fj7vIP-mZC7paat-ArPC_MQdNEqlK0lQK73ZsD1EFINHz7GJ9n2TPKzMs14wgQQCTFJz1Nulw3ShCRqbsyitymh0S5AXVHgrzZ8lrlhwJztYstb242lEJD3pAQpSDCdKGHtM12pAGsh1acWM9nfRJKfqfVWrLvYOiBiPicXt2SMiW5J7pOw_JFOt7K9VfMHJtpj77Pk3PeZKgSmlHe6WpUNUnwIist-azWs_EfZBnk_JQ7ydaqI0QZibluqgwdt6inGPDzRfM_w7SI1szW5pudQFKi3K9hKgH6SCOVYp4C1l1qW2avaqHcdlT1ytgW3lfqfZgddq4jrvRPPODdGqUBkXot0G1-PTqFDAGhoAaL5h9QLzX5Sna3Svu3-DLG9ND077d_DupsFJh0cfiMeYnsCN21ASQ27eRAT8vhRPBra0qmwmaRfYHmq86qzhxhGswyMWrCZ_hBqTw6VSqoQE1k6LGr578FsAEo2gkXe8wL0yMI3zs5XEv70uGgt3KryBf3ptb8XMFDT5WWNoMr3kbFZm8DgMmNa2ZGh-fQrhLVmKYgvdydqvTJbxNYG3MbF0S2YJli3PqwX7oOUTvIre6KOHIWKA==",
  "id": "rs_0b3cc92e2b8f5792016ab443c8188087d0b052f758abc1f0b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.27,\"left_gripper\":1.0},\"note\":\"The long descent was clamped at the high folded configuration rather than tracking. I’ll use a short intermediate descent to unfold the arm gradually while maintaining the same rim alignment.\"}",
  "call_id": "call_VEv5Jz18mCD4rIlGK3QNV8vR",
  "id": "fc_0b3cc92e2b8f5792016ab443caaad087d0978eba16299c8d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VEv5Jz18mCD4rIlGK3QNV8vR",
  "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]: [-0.5632, 1.5837, 1.528, -0.9195, -0.3229, -0.3874, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.374 left_y=-0.1656 left_z=0.2257 left_yaw=-0.0763 left_pitch=-0.3357 left_roll=0.0485 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -10.6325, 12.3145, 1.4969, -0.2271, -0.0562, -0.0611, -0.1846, -1.6889, 6.9812, 1.6874, -0.0464, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60389a302f82bf65e5d20286ea3ba03d342ba44a0589bc967032a85e44839347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7bff1ea4f56a7c5ed121951d7ded2e0d3ba6509193d04e9a09ef1dcdd067ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f57dc5c7c0c8fe88aab7f963a2c56a88d9f65fda86400871638d4b563db031",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 1.5929, 1.9495, -1.1713, -0.2367, -0.2523, 0.9996, -0.0177, 0.8116, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3879 left_y=-0.1091 left_z=0.3419 left_yaw=-0.0648 left_pitch=-0.2172 left_roll=0.0117 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1622 right_yaw=0.0037 right_pitch=-0.0595 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.5983, 7.2547, 1.2674, -0.2369, 0.0269, -0.0611, -0.0342, -1.388, 6.9812, 1.6874, -0.0464, -0.0366, -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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5514, 1.6222, 1.9385, -1.1725, -0.3233, -0.3729, 0.9996, -0.0181, 0.8131, 0.5945, -0.4225, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.375 left_y=-0.1605 left_z=0.3295 left_yaw=-0.0881 left_pitch=-0.23 left_roll=0.002 left_gripper=0.9996 right_x=0.2887 right_y=0.0013 right_z=0.1618 right_yaw=0.0031 right_pitch=-0.061 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.9778, -9.4427, 7.5966, 2.1661, -0.2173, -0.0317, -0.0562, -0.0752, -1.0598, 6.9949, 1.6532, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5632, 1.5837, 1.528, -0.9195, -0.3229, -0.3874, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.374 left_y=-0.1656 left_z=0.2257 left_yaw=-0.0763 left_pitch=-0.3357 left_roll=0.0485 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -10.6325, 12.3145, 1.4969, -0.2271, -0.0562, -0.0611, -0.1846, -1.6889, 6.9812, 1.6874, -0.0464, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60389a302f82bf65e5d20286ea3ba03d342ba44a0589bc967032a85e44839347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7bff1ea4f56a7c5ed121951d7ded2e0d3ba6509193d04e9a09ef1dcdd067ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f57dc5c7c0c8fe88aab7f963a2c56a88d9f65fda86400871638d4b563db031",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPPbE0Jir8jr5CZz_eAvU_k6JJZ6CInEPBqiXu7QYCCM1dzMPVuOOyjhlvRBJevGS3qiH3I8II3dy8pRJVC2N4fGjzMOZ8HjYQvlYo9mHtQPN_4Ok-E6Kj5p6-8b-DLuZe-mNfymSKFcU_j1pcjXxDmbJf9WE9yEgqc8v4aoMkxvUjSTBOlVwpbmI92Rrva9mtEyU1fWoVCbMjqYzoKcAlrGKmf-EWqKaAR_l_7VGCq5UIqCp9QS2ZPLU38K4uUizUpqa7ddblwm_rL7lelTQ61KzZJotUNFUaLeCVpvBRHvRxrW9ygbOgLH2QOtjOKGkErB1cXMAv36yWSlsbh9qwRNHIkXuNxwc09b3pbiGy5CvnmG56dL00aRXHDhztGCkvY3xhzxYPlPGeD4xdnNLXSMDhAAbWDkAOZ_xTEjvZ0h0uAtE3wXfae11lxrAtL7ZXYF1raJ00_SvB-JYAdmq6CnHL4CfptZP_2Obq1b22vZjJikJlurzLuPY7BxLqNVEH_HwMXM0CiMPZ_rNxItomvjs-8Bw_kjEFIkcehAZvoULhCUQUmxrx0Z8yt4rtumblT32GfRvYrf3vp7k0gg_KRe5rVmCNLUzgoCPGPOAAsafKU_b--1bHmXSwYlsV68Xg3wUNb45j5P9upWDq33rPvIedgK5rVO1PQ68sJADMIrDjE6sh2cdcMRyUgscyKbSb1lC4gjdUTNY2iHdafwhJRb6wmvUfe7N9m-GG_9VPiNT8Om_V7rj_C6N8Payb1Tx8Kk_BnyZKCC9yZ_-wNNyDhtBnqP7RjHBgXYL8pyIGySZeu8cTlhwYwUit97hYK8FXYJeREGZ7zHLXrmGHf_ZPwUbz5bl7DU6lwc8w6w3j8OHWtul4JL9Zu8qWhcifZixi3MaC5GWLh98SrmXuCpATTLNsYFUx8OjhxjcoQ5vsYDk3xFxZ2VimA87ol0VhC-JBkhU9WEpAuCIzBg4JjhZK3QOv5AHDjOkHPtgN3SgfW0FSgaMpfM-4IiRUIm3_mjv-KlOXOBkjqLb_e1xxFOFFOP1X1W-oYVRWvwT7VjUl7OkOXq-EKjlZ1Y1f6m5i6q2W6lIMFvpL9Wt-oLdV9pVfod4URk_dyA-LTO_e7aFKrpM_OmsFcn4stAW1wsEdZaMC0XnOywT6G8tfCBFMbHpipv-k02lwvUX_r3i70vm828Hu7aTXtEFfyZQJzLl3KmEY-XoW_rTlXc_TNJqX8b39UO6xiUfIPTo6JekW-NWqzBEgUuuUmXRKHeGZ9ZybKpws07cDRfiqvuSVmGaje_Ps3cpP6lNpeMve0W54uoRgsGRSx5j8pktbi3MaG5mUUsPNrp5cYIcvLcVM_EN1g86RpAiWYBPkXCP484KchMgd5ZHHltAmYZ5MQbUk3RRNi3PWhWJ_ns-Gbm8dDTmKV03J-wpW7vlGjJhyE5xDsAG4pjDr_s3jZ764U9eSJyG0cXirmLlVePSv8g7V09n6Wbl9T4xI6qBTVmpu12D3s_Jr2xiW5JTJIwMG09DCKgkWznV_mg9o46S88iN8JnEOniE9RM3di2eVMKsqUr1eqRdqZg5E6mXKLrC60FnsOqeaLZMZ8-f5i2nkzQLSolhUZ5DnkzBRh14wBTP4whddT9eRbwSc=",
  "id": "rs_0b3cc92e2b8f5792016ab443cdf04487d0ad4a1fc40083cc58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The intermediate move unfolded successfully; the gray bowl’s right rim remains aligned between one inside and one outside finger. I’ll continue down in another short step to rim-grasp height.\"}",
  "call_id": "call_AZJ19Qhmv31dUEjKqUAiEqh2",
  "id": "fc_0b3cc92e2b8f5792016ab443ced90c87d0ae626a75f4d0c8ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AZJ19Qhmv31dUEjKqUAiEqh2",
  "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]: [-0.5652, 1.6035, 1.2861, -0.7422, -0.3229, -0.3904, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3667 left_y=-0.1619 left_z=0.1493 left_yaw=-0.0607 left_pitch=-0.4098 left_roll=0.0896 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -7.6239, 7.4598, 1.5116, -0.1978, -0.0513, -0.0562, -0.253, -1.347, 7.0085, 1.6435, -0.0464, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ec4f5e03a41bd1f1e5fd795338f28b022fb1dd2bb32db355c63f3e06e28804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cba46d6a1691e0e47105eb0583e6f5712a793426a60a83a978e1a5ed7b882c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d42ef5686df837d87a27233350347f7b43f9bd86984deb70dea95ea0c3bafed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.039 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 1.6794, 2.0445, -1.2594, -0.305, -0.3489, 0.9996, -0.0177, 0.812, 0.5945, -0.4225, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3784 left_y=-0.1563 left_z=0.332 left_yaw=-0.0912 left_pitch=-0.2707 left_roll=0.0231 left_gripper=0.9996 right_x=0.2886 right_y=0.0014 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0599 right_roll=-0.0056 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.4462, 8.6906, 1.3407, -0.2515, 0.0611, -0.0562, -0.0205, -1.3197, 6.9812, 1.6581, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5632, 1.5837, 1.528, -0.9195, -0.3229, -0.3874, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.374 left_y=-0.1656 left_z=0.2257 left_yaw=-0.0763 left_pitch=-0.3357 left_roll=0.0485 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -10.6325, 12.3145, 1.4969, -0.2271, -0.0562, -0.0611, -0.1846, -1.6889, 6.9812, 1.6874, -0.0464, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5652, 1.6035, 1.2861, -0.7422, -0.3229, -0.3904, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3667 left_y=-0.1619 left_z=0.1493 left_yaw=-0.0607 left_pitch=-0.4098 left_roll=0.0896 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -7.6239, 7.4598, 1.5116, -0.1978, -0.0513, -0.0562, -0.253, -1.347, 7.0085, 1.6435, -0.0464, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ec4f5e03a41bd1f1e5fd795338f28b022fb1dd2bb32db355c63f3e06e28804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cba46d6a1691e0e47105eb0583e6f5712a793426a60a83a978e1a5ed7b882c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d42ef5686df837d87a27233350347f7b43f9bd86984deb70dea95ea0c3bafed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPTw5EtgrD8H8fhU2-cTiEriRk1aOx-9gpzwmfzbCk_W8yJnePvHNaBW0O2Q1zErdQ-O_v5O2hjOfXmQLMnK14Yvpr_8SZDFdpiNRyHnla7LpOtPSUCPENciiTPCwK3RCyiouPuHhk3Hj9a_Lq85akPL-O_AUqJ5RSLs46rrj0orQDei3JfBppIRGwcmtMk49ugCIilyWw8yWEwBPgzMWVe3H4FNsA7Xnz-ptgNaU-tbz2mtSJooZVbbo0lJ-Xhpgg-0Oh2zMThFQq00U7XMrtlO4Gp44_XJpMGgafd24IS7OxxH-Wm5EWKS1vKIyPW4D46NafcKL0LahZra_2-LN8y8dWeccQjW6SdKagbXCi28VX14YpezWHbjMIoDhzcItQra7C-rOT9Plat8zanobF7Gu7POfjTcWlPQ8X7KwIn3kBzswMRPiNctnrdrdgxZw8C2IVwXY_6T2pZynCpvIiJdxIA_yKTBgNA0E2HwV3LBHaLe7VOhUoRjgH0nxKGlPdtSbCFhZoBg3Dqlqkgp8KkUod8pSh1ZSA_4PROSTl0HxMOBkK-GC7MoUQFA29GRvFu2QNyIY2ZjYohepWJ3Sysa89uxeGkMT2c9nQIH2nFameyMS5UavwwaOnsb_9bLw8axyRjmlerrazRki8LdB4LVfnXB994xo6iFxtPBSNsNm3F-3OMDMe8rySPVi7Hk4qDpXurGrC2pWNeETuWn71wVD2Lrt0a1e1uDVhm4_t-jJtyheSt33hDph1WcaDqXdxKNv8UvmgWzQtNN8Xr8M9pH1hOjmB6c-uOTmQq1zQIeqPpM63Sp9DM7UOKQvynLRRLHh3VpqpJGLC4jdOsQJXZpAhrLLs2dbUa0W9QUJuFsjDfyXLsjncz_0hYYinfYHdin2Gtfg6Hf7s6VGUJHAiu0trPAnwpmJnpV-GEGtWlEKPopBVN0AjPsDI5K-fTmRZLWU8ARS4EF4MUFdGFBgb6ftCLepep5-HNQdfpfWwbQjqb3QcbjIBfsxE4rnByblUuNz4tRwH3iBOlVnvAlEb_BD7-qew31ZKpuq3kwNSgODwTL84ny6ayA-odOx-acE9Bus4mU7ksKUYx3T1pZxsXYwDhIesUoWy6Il34JRI7F55ImJNvGWcCJ1qB5IOfxEb4XFtqtgpj1RJWSn2tKkjZjWkFLKjZP3kob_mpczsso0POIbs-T9IrddBFVRaEtr2xx9lZyEKj7MKubX88OYIstzLqfc5EUBAynoJsAAKwIt7jNS7ejPS8ijgH7JpykVi0McFV-o3yrbzdnkGx9IL5ycTfLsRiHf6RYmsYKan8vwAx3JVCE239DvQ9C0OtWkR_JilhP9bDpzR9ymyXJp43c4E47_Op5NmwOn4szd5uwH3OLOG8pJkRQV9P-tU79GmB7zEEnCJrPYbhcfwcyBcYLG_pD1Nwic9kI_WAzbI6sO4hVKqYZwOwVj4E98vcLrakCVBlid8zkTSiNUal4xq3rFgCncx6YyrU_EmXMOAzLKy0zaSQ2LdMfS1G0Hd7r_V2",
  "id": "rs_0b3cc92e2b8f5792016ab443d192b487d0b8e441530579cf10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The fingers have descended cleanly with the target rim still centered between them, so the rim-pinch approach is clear. I’ll lower another 5 cm to bring the jaw pads alongside the upper wall.\"}",
  "call_id": "call_PXtW32hULnqfWkfMAnzngS0g",
  "id": "fc_0b3cc92e2b8f5792016ab443d2604087d0bc7eb4f2de16cb22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PXtW32hULnqfWkfMAnzngS0g",
  "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]: [-0.5648, 1.6882, 1.1923, -0.601, -0.3229, -0.3904, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3726 left_y=-0.1655 left_z=0.0991 left_yaw=-0.0521 left_pitch=-0.4424 left_roll=0.1096 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -8.6085, 6.9812, 1.3114, -0.2173, -0.0464, -0.0611, -0.3624, -1.4427, 7.1179, 1.663, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e528a37e1d1f18f3fbe968f92475247dc8e3aa9e27173f4f0d49b1eef3116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ee64d33d560cbf5944997ca73fb53d774ad6485e9b103197dd3b828494b492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ab0f378c55a7cbb8211c5ad35785f15f167e348f9c3c1f3a41208843d9bd81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.222 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5514, 1.6222, 1.9385, -1.1725, -0.3233, -0.3729, 0.9996, -0.0181, 0.8131, 0.5945, -0.4225, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.375 left_y=-0.1605 left_z=0.3295 left_yaw=-0.0881 left_pitch=-0.23 left_roll=0.002 left_gripper=0.9996 right_x=0.2887 right_y=0.0013 right_z=0.1618 right_yaw=0.0031 right_pitch=-0.061 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.9778, -9.4427, 7.5966, 2.1661, -0.2173, -0.0317, -0.0562, -0.0752, -1.0598, 6.9949, 1.6532, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5652, 1.6035, 1.2861, -0.7422, -0.3229, -0.3904, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3667 left_y=-0.1619 left_z=0.1493 left_yaw=-0.0607 left_pitch=-0.4098 left_roll=0.0896 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -7.6239, 7.4598, 1.5116, -0.1978, -0.0513, -0.0562, -0.253, -1.347, 7.0085, 1.6435, -0.0464, -0.0855, -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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.6882, 1.1923, -0.601, -0.3229, -0.3904, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3726 left_y=-0.1655 left_z=0.0991 left_yaw=-0.0521 left_pitch=-0.4424 left_roll=0.1096 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -8.6085, 6.9812, 1.3114, -0.2173, -0.0464, -0.0611, -0.3624, -1.4427, 7.1179, 1.663, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e528a37e1d1f18f3fbe968f92475247dc8e3aa9e27173f4f0d49b1eef3116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ee64d33d560cbf5944997ca73fb53d774ad6485e9b103197dd3b828494b492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ab0f378c55a7cbb8211c5ad35785f15f167e348f9c3c1f3a41208843d9bd81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPWgbui4K4Zku0VVDKi-tSsDeJr6ulseisY9hdjhWYV2akFtUNgA60YJn2WerRY8JOfzpIyghQFXDYhD1n0CGNBAk6vwBCL5I_KwBx3d1WDcubm7m5Pe8oG0vOwVkS3SJZkjoqHy9KdeUqfuEFJNPJj11-Pd_RllYYPxw-Gx5EmkX86v6QAYZDE-lgcgXRDs9sES78ayhf5VVjMoLrvhcZy3rTBm71Q-COZUYxbdd0JCsh9LfqwPf4iLgJISyiXqUstXkKOsNrlXz-AxiJu7fwKW7fYuf2qWwnpQdqhuR26Y4JDjRv6HMVji9JivkAsnXplC1A9O1ICKwzIJe2-gTMA09q3-eaPt_YqM4La7eY6VlZ4ZkivagjwsBHb1WWCufoeqBQ8O8VLtNF04aIZa7JHmLA1RgYVs1PuLF0YLDhMv8FzN8zkY-_0idM99xaKeH1sEEVFm7kkDiTvJaQSlhTLaVtT3b6e95_zUHGqyeQUJXuq7fMqPmlQcYkSTPYCH8zuDnlo-qElw_naWQH8yrJV8vBLj1wlntoHNtCGvnZydPrau6Nml-z2uqquGIGoJGts025PoTqp6xvnekgKOYM4xsewY9ZdUiDEQVd5dPZV5z1j2MAQLXO-Ry2Qiuo9Q2L_eB0pdvvXdbPrg8QxSF8sc0EmSzwvWX5T7phYFHAtemn_tzsbH2pFNkbbbrifSkyYYQoUZ3GvcjygL7GW_X0CloV9vyIj54yp3vx9jROxSAmsDIGRgicoMLBLR3fwDDg56Ed94culHx9ny7PNOeX4iy6aT9IoRw0FwdPN3KIfuqbNb9RgZZevuDdrpHN0S8m2ZFppBZ75YUu4LHdhlCLUfGF8jhLqTbPMok6zjTgVlH2wNnawetug-OJ-3yUWnDolom8QK6-DhoR_ywUwAxgBqpk8goNdaf4axHYwLoHE96rkQ2VcQH-jTjdpzgxKVlV9UfS73tE4NklEDv4kn2wVC_L7VWLnTseG2oBkKClvVnmCTMPY6Ct35kDNCbC5tlM_Cr4JIEOBCkr5n2C4sYAXXZ-KLlGzBDT44jsAdCFKUX_UjZIdeflI8oo8tnjFQZyQozi2KWdnRle7REHX9iyu6mhp0ZvMbarNfDaY5G8amJ5q7PS2G72yi5Hg0JJTMeR2lmmvedOMyPMrHHTAifHkeE4C1Haim-Dw2sfsxOR6YhngEdPk2-zw5tGH1UK97Ikq37J4UQRnKgQiOyj-HmUZTFMgi-NxMUw4i26DQdC-QVP2EX7oF2EjWe8MCTcZIVN0GTn2Rkkfs_X46sjz-WYrjkKOSulejJ1x-FgKplzWjwIOVx3Jr9fAlLjYgpaemDozNvfnh7VFcoy-qXpcJndNmdJcM8iEOYFJP-IVHfLhs5av-gHdLMbwcNI5GhRgoohdkva6mQSoFIivS3Jqf_WuZEdR0MpuJ8Cbu7SbbcT8h7yEwKdUOsJIUMBoqHcUBFEZwA6iGrxS5kDSqRD32hVauXFwYydP-9Bu3QmgDccm6iUwazqQZ77VMrSpu9GZ8qxSu-rX7EoU1vAJb6aQ96_T4wseegGmPQET_bmwqZh8xyU=",
  "id": "rs_0b3cc92e2b8f5792016ab443d4cd1887d084309fd6f0d7ab41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The gray bowl now fills the lower wrist view and its right wall sits between the open fingertips; the grasp point is still slightly above the rim. I’ll lower about 4 cm to put the pads alongside the wall before closing.\"}",
  "call_id": "call_lJDfidDCZFKm2nMLJ8WkWL3v",
  "id": "fc_0b3cc92e2b8f5792016ab443d5901c87d0aa757f1b1a38b14e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lJDfidDCZFKm2nMLJ8WkWL3v",
  "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]: [-0.5648, 1.7451, 1.1397, -0.4992, -0.3229, -0.3901, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3767 left_y=-0.1681 left_z=0.0698 left_yaw=-0.0505 left_pitch=-0.4491 left_roll=0.1139 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -7.5556, 5.6274, 1.2088, -0.1685, -0.0122, -0.0562, -0.0752, -1.3607, 7.0222, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386c3fa2db4cac51efc6c8346415e907cb4a194b906fb679a40b966c307cee65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd2dc0d7b99fe3284ad40173cfd5dff2a6cb4d7804fcc5ee1f1de8e3d87845d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545b2e77cf748de55e267d4ac0e0defd83801f486f403fd2fa5f241da3d02812",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.982 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5632, 1.5837, 1.528, -0.9195, -0.3229, -0.3874, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.374 left_y=-0.1656 left_z=0.2257 left_yaw=-0.0763 left_pitch=-0.3357 left_roll=0.0485 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -10.6325, 12.3145, 1.4969, -0.2271, -0.0562, -0.0611, -0.1846, -1.6889, 6.9812, 1.6874, -0.0464, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.6882, 1.1923, -0.601, -0.3229, -0.3904, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3726 left_y=-0.1655 left_z=0.0991 left_yaw=-0.0521 left_pitch=-0.4424 left_roll=0.1096 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -8.6085, 6.9812, 1.3114, -0.2173, -0.0464, -0.0611, -0.3624, -1.4427, 7.1179, 1.663, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7451, 1.1397, -0.4992, -0.3229, -0.3901, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3767 left_y=-0.1681 left_z=0.0698 left_yaw=-0.0505 left_pitch=-0.4491 left_roll=0.1139 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -7.5556, 5.6274, 1.2088, -0.1685, -0.0122, -0.0562, -0.0752, -1.3607, 7.0222, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386c3fa2db4cac51efc6c8346415e907cb4a194b906fb679a40b966c307cee65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd2dc0d7b99fe3284ad40173cfd5dff2a6cb4d7804fcc5ee1f1de8e3d87845d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545b2e77cf748de55e267d4ac0e0defd83801f486f403fd2fa5f241da3d02812",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPaScck3k6_G6MxjCagDslOCC7Bai7XxwGwk4Jxn3ItuxkKCb7tQ4cWU0gmIjzL6ga42wuNklT4axaEw_ljWUTgV2SngJbY0Bgfc4v6XiUn1AZPr64fu6YXvnaIjrZUec5MqvC-HFuaMcTT4WzoA3enp4CKSJYrKOcfwXKXCaDpgcZbQ9_CE6csIN_Q3ks9zqqzCuPNprmLfXZE4zM_OyzyLIcEckQMrklGNT7RpKTkfytzmT9kRgvyedxxWoaLdmpyLcEw5IirttjEgJcbHDY7FLMG5BaK12Sy42sxTsnI5pc0ckhnzLpEPDivr9Ah7ncQOt8vRqYwoblvJhFRr8ExxxOqn0atd5seyLaBD7U7zPhCSEofTi2zaUXlt_cTUnDKWXqDhBHU6O0otc5S_oKM8ibbaMjMYlwT6RfPIZfwEOJxq9bPdicF5ayOZt_qj6HybxaeVY6ROCNvBQBAqLXzAPSbsKoAdvANW-ddTMb3fvAY_zDyqUXTH_t_71HoQpoEwrnHuJkzT03D03bQavHyw2WQTDPjP_XPxsXj27wqpGD5TnlkBzbt4P7bMB253ElHjY5pxrfYo65pqZ8ut19U-fYphRd3g_3qfXflQtUMuhej7Yk1eSX6Gu8anhkH9Ng0guNPu52chLIMRmhYw935mooXMCoaqSUP1SjiQ-QwQfpZPYJiX-URcVhKAdzo8oQxx0f6DQq1IWtPhGm-nb7_5MY4IHXj7FRAaTriH4nTORR4mhbYXlh6REizF_krMQXK-HSGm6AsrF6ABfh_L5jB4LSi8sK5bZ1DeUujyTnuwi5IRlhwlFJJTdcVGtnHvPZ5thSQqkGYDdTJP5FDQX2poUhmRMQSyxUtJ7bTqKHYjm23902gCW-_echVQuC1Ld5CYovpLYkSiNmZ_qWPEkFkl6WgyDbIb5XLlxpyt4OQwoGxt1YWrK0pUsvtSOGIReDIPpd16cbjUZ_Pp6TqZ2fG3KWhSmveRC7sWaS1kYjwBEROSYDOEQ9UlbkXslwaTE4zCYV8QV4MG_LzVQumisPUDSGoa8RpKOXKG29qpmq_CPg_2_usJWGjF-Pf0Loqs6qO-wKHPGNM5lrs-LGjC8_188bNXineMMI9qW-qXBCwtD30IHS8BEbYRAR9vnMzr7VQRD5PhYby6C1l_0UYhougsFaOel4j2qejWMPsQcVtSsl-jedc9-j38acIn0eEhqyW6DmUfZXeOIqv6CabmXMkZkhNpGhW-Z_96WRr39K-U2m229FgYmMuN1Ynk7j9aVNX0mhLu1Pgz4yyIZdxE6F-CnWZi0Ap0A9FrCDScyVQetpGlSnmBCTn1UAHNk-kCugVA1RrgmOZbmrOdtsKC-Xrkf0HgLd6gy9bl76gAxmXjTlb_LFXZhajOFshsjHEk6vQNwiJoYK0wralgT32teS9p1QY0qRF4oUzuBGHu-pgRh83OI2doILiIOjBRFnrXL1Xyz_zdiATzjvyia4EDnQzBlnjyVoXr9QOfk9bOtD4M-I_GT4_jeH8Or_Y-wv95H1gdVo7kHDQi0cvEaWft5DtqCaLpHQW5RVbvurduc_K1i0KuSyxDXLRXw3F7pGSlCly5_dEq87M2GbFLHQwmzCeUSC9mBpQRTYLvi2CmUjDSfAD8im6eI8YzftjpZbhv8xxTNpgKQmVMkCQrM2ZdzEDR_8T40Cut4u1E9QKwWLJ4yEYRcWJ9uXMQLtQWLw_SXBz4-UjkKQA4JW07AjXy7vaMQ7T74b2YqpsaDTRd_A8wCDmr8cNZ3jVv_48ovAy0LXsoRmMawhZ5iwf-7k7wqWiKA==",
  "id": "rs_0b3cc92e2b8f5792016ab443d86da487d096bf31e1611d9eab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The grasp point is now at the gray bowl’s rim height, with one finger inside and one outside its right wall. I’ll close the jaws to pinch that rim.\"}",
  "call_id": "call_n5FmifyNfAy3xRUWdnuqq09K",
  "id": "fc_0b3cc92e2b8f5792016ab443d9623087d08c4607fe6df7d4e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n5FmifyNfAy3xRUWdnuqq09K",
  "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]: [-0.5648, 1.7729, 1.1164, -0.4931, -0.3233, -0.3904, 0.0089, -0.0177, 0.8211, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3705 left_y=-0.1641 left_z=0.0519 left_yaw=-0.0387 left_pitch=-0.488 left_roll=0.1391 left_gripper=0.0089 right_x=0.289 right_y=0.0014 right_z=0.1596 right_yaw=0.0037 right_pitch=-0.0694 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -10.8103, 7.8838, 0.9548, -0.1929, -0.0171, 0.6618, -0.2393, -1.4291, 7.0085, 1.6288, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdc09488744158d20109fae56cb910daa787f17f9699d5a76ae8a14b17bd79e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3672581577eda0b1edf1757164617ff31a04294bb9f6c04600b8473f9a77a066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe6f597085d9328abf8e90fff9100aa03e9039d862f7170cea6e4198d5af73a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.083 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5652, 1.6035, 1.2861, -0.7422, -0.3229, -0.3904, 0.9996, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3667 left_y=-0.1619 left_z=0.1493 left_yaw=-0.0607 left_pitch=-0.4098 left_roll=0.0896 left_gripper=0.9996 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0037 right_pitch=-0.0656 right_roll=-0.0055 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -7.6239, 7.4598, 1.5116, -0.1978, -0.0513, -0.0562, -0.253, -1.347, 7.0085, 1.6435, -0.0464, -0.0855, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7451, 1.1397, -0.4992, -0.3229, -0.3901, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3767 left_y=-0.1681 left_z=0.0698 left_yaw=-0.0505 left_pitch=-0.4491 left_roll=0.1139 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -7.5556, 5.6274, 1.2088, -0.1685, -0.0122, -0.0562, -0.0752, -1.3607, 7.0222, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7729, 1.1164, -0.4931, -0.3233, -0.3904, 0.0089, -0.0177, 0.8211, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3705 left_y=-0.1641 left_z=0.0519 left_yaw=-0.0387 left_pitch=-0.488 left_roll=0.1391 left_gripper=0.0089 right_x=0.289 right_y=0.0014 right_z=0.1596 right_yaw=0.0037 right_pitch=-0.0694 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -10.8103, 7.8838, 0.9548, -0.1929, -0.0171, 0.6618, -0.2393, -1.4291, 7.0085, 1.6288, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdc09488744158d20109fae56cb910daa787f17f9699d5a76ae8a14b17bd79e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3672581577eda0b1edf1757164617ff31a04294bb9f6c04600b8473f9a77a066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe6f597085d9328abf8e90fff9100aa03e9039d862f7170cea6e4198d5af73a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPhQItGkM2gZbkd6PT9YJgDhD2fGWLnlYGJGfXQN49xt891T27AIyhJnRgEKP_51CCZLHYQIhYM-YsF0sXlzgOth1y7YW7roZeSshBSELILRdYMc6797pJm2D1g62CmuBjJpdr0oDHy09Tt0pcM767ldVoS946etUJMw3TL6yHfXda9lR00KsiCCiLHFhRxAJ2SyWdcuk0UCWEbEa69pdTJSDtU75RrPp-iWsKzN86-X9sdNhBeymRkb5sdGv92e4t6ZqBPf2VnSw0OvOB5rfcEEPATFc7Fa9nLPnN3XomR05Tuz6yXznMOJl6SGZaVZLu_ICRipM2zYuQEhlWCqAunb2w_faXEnWw1WcLqg0v0uRx2zyavAoUDELRCBMtPUbxeEVKX5L3d1iKfhQyuowWAK_8bvsE-jrW2D9e6HlVKkovSYwnK7pV82Y6NI0uAGaDEODcRN8QF0jVDVyugIyOQnsevEtKuZWv_sacx9yfoIkopGOnRsZK-as0TwEGJM1ZlrIYDAD_2TXLsH3tzuYjCfw3q0ge393-5XnOO2pxFDw4Nr89EqkeH-POHzL1-x_B6vSbnMkW5mDx4hzQ3Py0FbHEjNxg9Ex-fWnX-yx4EGZlNWSAQ-Cazl-mPb-lc1KRMTxHeOGV-sOIBUkia36clZR7TRKnAL6DARv9anxSGDV-YeQ7Yzde3N_j0pJdoJkWMV1AjT31x-WYf_ouHJmQ1P0AmwakClYL-SHEESm4Req9oVPEGdpZjvActgbUwlL5NS_gG3z4-Kl2bUV1VSyFZ5oXuhf8DUOUFEKPe-7MN0DRLsPG458LJx47kmTdXs_Bmer0NsIu7c9VTF5iTM9TfpwcQvtB1CoHMyZWHunoW2REcDlHk9-NZ1ZX0kqT5Q0uI2sUaMCz4te7aOtS5EbsDaDZADZBrl73MZD_drY3WZAzMu1uTfu66EvBbMxsUXF6FOpwC7rOWW0gL7wZw_dxfnhEA32A0Kme3DKZL-ge0q4gDfGgp67UQRGBQGoCBJFSEI120qOaUaRbdWtpvTPbtJJK4LU3BaABrzpQAyPw-GOu0ljFVTaXdkNC_e87da7JKsw_JcwdTe5yCagGXg2jS2jsyOQhwpeDU6d7xAH_FjlAV3Y1RCT8QzsclukJ0RJ4rrLPU0qJAZuvn5NHlzBRTrbFiI_7DTy1mDLttntYQ8fV2lvmgTRrenEzJq2AlTFmldffvP8XVhUR2hagOY0yocJ4T1yzlGs9vXnPTc-TUfre4221gSKgs3wMs0tjPD3-i0-hFD2OF2BxxF5ULGELyNKW7T1vvmEDyQiJ4cI86DSjZKwjF6HPw0mqn0AbCmveVNPQBSMaU8mPy1QOJRsWQK6X3sljtzpRr22Dxt-cuRtoJZNR3kf5i8AuEVdZ6rzlsOOmDfIFB3JfoQpDAhtSiDPX_EChMGBVthLR8jYdkB5n2SKx-l4bTXDrFDD8HxP2rXqJpwFF4jOtL457spIHoBqlu6MgupEQ2-xpo02mDkvbqQyV6J0OqglXLYJHgzE97ykJYxdpHy5mb6iT1aPuRrtQe5F43YTdWN7AMhjqfvZwTus4-drtJZp9RD46yZFhL4q2u6wUWr3c_8dfmNGVS37ESoxPbs-ugEM_eEGnSC6cHI1l_DWWsAucgwyEThW85ISJF2ZMLHkhYh7rDEycapFJwvIut3xP76wkHfb4EUgl2AQ-9iuDUMgeffGzut74zqaQgTHoUeZVSeYMUjxx4URqTtHVbx-51DyxeSz6i4vDidU25KnyUPNdDv3Ntlh5wKwwLs2r_ny91PmCG3ivHYStWRmO09PMA8riVCCc5UJEqGr74IHxOHjnVVlRoDXRUiZj7KA67kB2DCoA-WndMuoiXjARMFeJ6vX4PDqacivvJz6us26wQWH6SMD-34FMjSwfUCLK35TN7QzBquiaWXyR1niqEDKNEtQsyDXGaX9lrgxdP4Pbdnkv1a5Wd-WTGiqBFU0PYh1B1QNUvd_GVESasrwS7XlsSNVUk6CwcFYvSELWjWnOII4zkkl4JhHbVpy31nmdqLOBRB9PNWIKb6uzuDeVzJTIy_a2-kgYus6uW-WfM-U_zRKatRpml9LLuAS8Ej4VzFUfcZ-5KkD7P3t1QevyjF7tJybqb24qfDAx6p8hStbYdIjJmxjNLOZbSp_yyltRYwczT8saFwyoprFevH4j532pV3y6c45G3Jsp2zeXPL1tYSKa1owgscb7qk04OyeblNJY5hHw29vfui1lqtzA9xH_oJc432RwEknXFhiaDJfKxTMvcQvxQo8EJdupZ7LToqLr6vkpgAUDh93mBm4f4pP8n2pxFfVJxh9dmAzzVipOioF8KmZcH7fX3NJbElNQ24VPYal7y472ZasLOlg5bDy7G7fJZgt1OisgOR-lAB_eGVRbJbgO8eNJ06tDI5MOKV1RQHKIIL2Xnw7_VXvAzVrECzFrmbtD8T3obn-V8f8MyIm0yFj3gfqwne2dvwXvYvNL1BA5Lrb5dB-ZhxDimCYmr8tlfF56D86eUvpgUun9Ye-QtrefLau8CoD1Ggr6081EXYP0JeYIGJc-Jl04S_WclubG3iAwYhGM1zNjrHNRWk0EL9Dsto95EzR_6asWliRIzxc7yyhoZDc9Uwlim2mIG24LFn0jdM48LDj55WQFdG9CXRjRgru5UJmqIRQ2Lqni1TEm-J7l3MsAYTsDIL5VTnNA9qQH0TVH-m8jvpT-sRJaFO2YAZCG0ptYuyMoNCH8UyWqvOCY7-zrkf-U0GMJWr-hLs2FJ1cg3GDRr3NUCE_NqzH42deCINlYpUzNMRemY01bxsLjFuKEjfoUx3UTmVjqxl6w_0FyMS1zbB-t98SAu5Ebh0NwYNwqHPGKsYmC4lK5qns-cQ3MPN1RI691K9r3GTKdDARyWGThHOIULZnyskgm_OOt6V02wEC_iK7NbfLF5ww3x5uSNFVriBj3v_24GcrnN0l0vKSl8ZB0FqRbVM5zc1ez2_fkYflpxZUlu2MeF5blAJz6Gwrs7NsZCQkmfihlTyPC9OQwDF6Y6FO3fVi3pBcXt0CR661DWK4G1cSY49dVrs5L46sTG8KL_gFJzg8Nv7YVWNZOX2glInDAStymWLq2uBihORRbzsZ58f5KW4tYexQ==",
  "id": "rs_0b3cc92e2b8f5792016ab443dca9a887d0aabb01316453be0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The closed reading is 0.009, confirming the first rim pinch was empty; the gray bowl shifted slightly and its right wall is now almost exactly at the closed jaw centerline. I’ll reopen in place to re-establish one finger on each side of that wall.\"}",
  "call_id": "call_tIvYJ3ddd5MKVgrkx0SCRhl3",
  "id": "fc_0b3cc92e2b8f5792016ab443e033f887d0b8f2f92c64072f61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tIvYJ3ddd5MKVgrkx0SCRhl3",
  "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]: [-0.5648, 1.771, 1.1141, -0.4927, -0.3229, -0.3931, 0.9947, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0519 left_yaw=-0.0374 left_pitch=-0.4879 left_roll=0.1373 left_gripper=0.9947 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -8.335, 6.188, 0.9988, -0.2076, 0.0171, -0.0122, -0.0889, -1.1829, 7.0085, 1.6288, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c4240ca47f210e3fe750fad49060104d5b9f47a9dd66867448057d9fa09105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9f93d5044fa6f4dd75fcd6970e859b3673278fdeeee653fc478f51d1755610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789aa8cc10b5e3aeb6e50b9a72eea41143e88793062fccaff710074e50ca41b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.549 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.6882, 1.1923, -0.601, -0.3229, -0.3904, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3726 left_y=-0.1655 left_z=0.0991 left_yaw=-0.0521 left_pitch=-0.4424 left_roll=0.1096 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -8.6085, 6.9812, 1.3114, -0.2173, -0.0464, -0.0611, -0.3624, -1.4427, 7.1179, 1.663, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7729, 1.1164, -0.4931, -0.3233, -0.3904, 0.0089, -0.0177, 0.8211, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3705 left_y=-0.1641 left_z=0.0519 left_yaw=-0.0387 left_pitch=-0.488 left_roll=0.1391 left_gripper=0.0089 right_x=0.289 right_y=0.0014 right_z=0.1596 right_yaw=0.0037 right_pitch=-0.0694 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -10.8103, 7.8838, 0.9548, -0.1929, -0.0171, 0.6618, -0.2393, -1.4291, 7.0085, 1.6288, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.771, 1.1141, -0.4927, -0.3229, -0.3931, 0.9947, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0519 left_yaw=-0.0374 left_pitch=-0.4879 left_roll=0.1373 left_gripper=0.9947 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -8.335, 6.188, 0.9988, -0.2076, 0.0171, -0.0122, -0.0889, -1.1829, 7.0085, 1.6288, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c4240ca47f210e3fe750fad49060104d5b9f47a9dd66867448057d9fa09105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9f93d5044fa6f4dd75fcd6970e859b3673278fdeeee653fc478f51d1755610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789aa8cc10b5e3aeb6e50b9a72eea41143e88793062fccaff710074e50ca41b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPmkVP1rQ59zU8RKmb2r8FBD0NWZtsVktC6nl6BwVaseQtb3qh4hwg5Pxyeo1pT7kz0bYITclpC44vPAy7zRe3oc9l_iPtm-0KdRYGvZR6HykFoAuwBsFnKp662c6VF3E3ZGbbjgI5maFvdKnFmCw--dgnfSZurTI1uY5ag0H2384GikHIkiv3zwgJ_4VsATf-9RJNKW1p4eND_En5ee7Z8aD33Kg6VK1x2gRypk4W3UP998GnVx9fUdqKqVehaur9r8QhlVMFMoGHtanahaggZlmhzoCjfG_NACVYePDPtz6-HYte1ZW5XgznsZzCEig3mLtK0n9U3m9_Yx0gH_1cikQm4h6uRnsBjsj3ElnMdyWxlsDlAfiyHiZIq4-Y9IHPa5KvzaRek5lAPDzTKmpqjfqFVxx7gfwvKxbPnbW5YEotjNgxbfpy6npTn1gRvr9I0Gv504jWfHid5BNj8aLohCWxvF_GKkcTioP4GR7gt4DozBfUnLBVRu7GWHaZjfiexZb5qpwBUKDNKVuGac8XNjeR6b5bU919A5Z_Ew8jefpJneYciGRlSudLrwWufzn5g5M116tzuVkt98BY8zvF1g7L74Ceo-fj-_9h2diUrAJvc4fwuz1eflcTcpU6QHMVTZvwS2jpkjLKKWIKB6AvMRR8xiLDs_qiJi0Vn6Wjn7PWgRQlv6_lmb7mBnWh87435qot9tv6C6TiZBXG_sx2Z9fMyNSs-pH3GFT2vp_G2bPlUqjdsJxbkYwPjGNgU7iJGMRGHsYawGDCu1r1-QLNl0i3DTfu4UqM8fDOefFh7DFY7sIXsnNuKFa9iAor9d2kipukWhOb8UXoBOGVcjw6Vg84SopYAJ0-L2YEX7CTvS8q1QCFEQfeY0c2CzFDFuI1RULRCqBU39FPCkeC0sMX1Qlcqpfu8J4BSnLj9k0SBio_KTrSHA1kO-AbtQe2vl1zkj4lan2c8p45SynlViwFNg1NtS8dY5yc2re4NxKMUKIreS-4ZgzgyROUB7Q_zDjzACv5w2NcRlGurXafvDPBz22SqGp1XtrZy3cb54i-rSDUe4YBNahaUyPtAcTK2xjabHfAkXZgOB7GgauWdPSVGAWuaKPKgYkXUecvWi7snCQm2HbJWZR63BSYt-dvwncGQdz7LdkcY-PsogvJl5_-qAxIJPuSTbGNiXJxp9OhVSx1dMBAETJgsax1wM7oqtZxR6Jo2xfIcWB1dFpfWn4ZV9lTPA09XqNEr2qCX4PyUptZj8xEL4jqCKJce-oY6rI5kurUIVLT7vsYAdIZSD3LxkTMDWbeHhi00fhWDwSvEXsMW2d0KP8olf3wcnODlhs4K0PdWG-XSD1RtLaVF5sKekf7VmhgpPSYl2XZRrYfZ5hZXinnXkHND45qVyjvCyB9B-IovWC7KRg1ipdFStTOvEanZJVcjqIK6REqbmEis3jp2l9tzmRYD-wm8l_8MsJCIS3qJnh50P_OGwsrKafQAiFJ_Qh2NVe57AmvViH6fex6CI52Mh3f8ZHA9ygxRfVYa6zVnmsuUiHwyIApoQ94QmLq8yQ4O52MMKAEgflSz1wiGTiFVZ_T7bPPHJBslzh-fj7RQrTFwUFkHMP8Ws5Bhq3RkNAKiPa0TxG5RcOXVieIi0XjJgwHHtiS8UPHGRmDWaXWUFJqontrn1f6d-zi8G1Wgy4jPvsXE1zF1cSkCUXyXJkOP_P049jSV3j6bjkh5v99sMlPP98Khg9l0fz1oxDM_tcZQOujF7YtEf7xmv_UG9l_Km_ulxdXcG9MzdtoTrV66qHM-4KAyu-90Uh5gm65eSI9D0wBkDAuKZ9bKsmO6OTUea3H3vLWWSRJeSCvg1F9KwtVNOvyy-fqVoDc6RLyN27dFbC4KdArTRmrzl-3j37oo6PKZowQduhGIBY4KkIRZZ0LPMdp-bDjJ7VyF5YBK3udNvSArWXmpD7pc2tqth1EfoRbJ0ZrFj1W6agLRExuCqI55Amc47fDr7tyTk5my_1EwuGptYTPolEVgMw95hLpliDJyMwsfrCg2SMgv_4BT3Q0mg-vFBhVNxSL08AvRfOvz4ercPuG95dbzPVrTJFukr7sFSD_RCSOw_8WoPRWZ149NfuUqRCsZPEDrvurwjn8-FkHrQLawN2k19-mozS6OB_oOsFSGnrCjjAtZQ1TFvRicFufOlRf9FSbfcUa0jbjzSbXNaDh_TFOBU6CzQmo9a09ej2LrVWQRkXRfUQ0VOilF6t9jkhrRZKECoENhxtDEl2DRreEICKvPmpF4XE2nfcWk2smRPgP866BoR3zxMflmNkT4AbovpWNoj7_NJqEVr2DHaHy0wxLeDAK-H0pliuDseITkfk4TUPXd0Y9XJYwOpnX0Cixfm_R1SCjXVvI3xmxBScgEro9fKLK_MEP-ujoIijL-eBO9cEIg",
  "id": "rs_0b3cc92e2b8f5792016ab443e313c087d09344b0d3abc975db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"With the jaws open, the left finger is visibly inside the gray bowl and the right finger outside, straddling the rim correctly. I’ll close only to a modest 1.4 cm gap first to pinch the thin smooth wall without forcing it to eject sideways.\"}",
  "call_id": "call_KOUnTzWf2IRLezoLG4nDeeAZ",
  "id": "fc_0b3cc92e2b8f5792016ab443e5359487d0b69c6bf2668b3154",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KOUnTzWf2IRLezoLG4nDeeAZ",
  "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]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.1548, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.1548 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -8.5538, 6.0103, 0.9841, -0.1685, -0.0269, 0.0952, -0.0342, -1.3333, 6.9675, 1.6435, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e304e6b8d3e08333bcd721b8072308fa4a1fbaf61ab1144a058c423415511f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75758a363d9130e6eceedf3180bd4465d8b6f79c8b25ca2723e41b6956b2508a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9c98b3dbd515b607bbe9675fef414ad3adbe42462128d07e800efa2f3b9615",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7451, 1.1397, -0.4992, -0.3229, -0.3901, 0.9996, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3767 left_y=-0.1681 left_z=0.0698 left_yaw=-0.0505 left_pitch=-0.4491 left_roll=0.1139 left_gripper=0.9996 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0034 right_pitch=-0.0686 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -7.5556, 5.6274, 1.2088, -0.1685, -0.0122, -0.0562, -0.0752, -1.3607, 7.0222, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.771, 1.1141, -0.4927, -0.3229, -0.3931, 0.9947, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0519 left_yaw=-0.0374 left_pitch=-0.4879 left_roll=0.1373 left_gripper=0.9947 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -8.335, 6.188, 0.9988, -0.2076, 0.0171, -0.0122, -0.0889, -1.1829, 7.0085, 1.6288, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.1548, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.1548 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -8.5538, 6.0103, 0.9841, -0.1685, -0.0269, 0.0952, -0.0342, -1.3333, 6.9675, 1.6435, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e304e6b8d3e08333bcd721b8072308fa4a1fbaf61ab1144a058c423415511f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75758a363d9130e6eceedf3180bd4465d8b6f79c8b25ca2723e41b6956b2508a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9c98b3dbd515b607bbe9675fef414ad3adbe42462128d07e800efa2f3b9615",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPpVZmXzc5RMXVZ5YV7pFweQ803nHmycrL0c2ucmyvrh0h1Mxt6p5J8Febg8p5zO82cQ5Kkp_JSwkAVsHgnJHu9dkcAMxp1RAVEggGKh6h-WbGW092Vg4kQYDprq4Gd6TkHOuTWyJdq-Y7wexrUYwUW8JNYi6snpXOvcaktI2w0bsfQalV8Ee7cAdfdXU86nmEmj-4R4li83uOmdawtVXbqWekMZ_8Ew6Lzq8fOs5NAIRAwDfyjc-QIe2wRa9SxImr6gaEhKoohkrJHdz-ckEb2cDdbc83fwR1LHwL3205IG2xu7ZET39NoWqhz5WFwZllE1NhOOWmyjG7Cm_dsvSkfAaS_IGdB2FFs1FKNRfA__fDMH6gb_sQzgMlIkzf8x5u4Cz86N-NhGOHL0OTwT1oOj4MrC_RddKXK0YQ8X7pltZSvGQ3DmjpXqPB2zyyFcnUs-MQKMbngqL5hk0rn4uHZ_zdBagCHHmbtWx-w5O7ecfvAjvsRZCb7g3B9VakRU2rzP6hMm4e9E-DicMGkFJiIAvoQlczK4p_b00Lsw66-NYtTTt8k87z53xyhgnLo2lOAYfJEs5AhtLGGgd9WofOVprmRa6SlVWDUirIy5Sb58ZzDkWmjNwUVba4RSiFxHWimAaM2Qayca3w5KIWTzWD7vjcMyQKkytAUghLR28ocmS1-nA37KT4h9Tf34hPd3UZMPxkL8QxOrl3aKm2WSuXe7GORbsHFirh8xw5BJjdvehAsAAWZJAVTJhAO3KHby-EpHkfkE4WBHdnLxicHjcgLTVszBMbLsS3a97KLVuCWuyoocgHZ69vCuTStFnhRBK3PdiS9rGaDZlUIIQip8JBgr87AbusVC_6WEcyyoCWFLWKXgBT_uoZWX4Qgd33H02t7u3MdmHWBsFNrijaBDGNUosda8JWjhJf7SSY_Rm_oJ6nZLaYcgYxYKOg-AV2dGOfPrEyrZSeoi0rwbTtkmvhp1_Rmo1wK7kgiktyxoQfq2zvA_u_6EOgzaoK_x2gkabVsEqk_dZIxWD9gDbzvhYKuGTsCeJozPvG14E8n6AJepQ-fWdtlhtAG6fg59nNgKROtEOJzcx-2AeY9qk7UbYUzNhvRmbJq5geseJu-Jgcnbn-X3y90U0N2nilR8whGyl5faFfq4QsMervg9vMEvhpQqK68Ga9M_aK_gILx8yKSk0UmYwU98yJB5a-ssx6YE07PFANhAgFt0Fpl3_GdfDG7URzGLauA7-2087wCw9SJD8t5HjvdNlymC2HnZHnKQM3VxOeKKqP_5emIfSzRt2noHYee3_vVQNyETWjTUjOJ-7TQr_RKqvSso8yFcEP28_dlrcd6d-ROIAwEmguatQVJNHI3vVW56b9pv7jvdtG9opfg3b-Z37Yzr7WAD4nLFV7sI4Y7QjzT70XpPxM1Rn7rSXk9IKu9lvj416Pu7qLOoRqB0mByREFpN5SDl8pnZ5-cwEw-KAnF4jpOdEcxuY72vH2ZAr5kOOcDiZte9_m77Vjr4yb2x1gqdDWTCS_ZDzgj0j-QJDfXyJE3azY2olPKd_FLlY33UdnzUD2FsZPFjWc=",
  "id": "rs_0b3cc92e2b8f5792016ab443e7fb3c87d08080e79f752e1422",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.05},\"note\":\"At a 1.5 cm opening the two pads visibly bracket the gray rim, but the reading still matches the command so they have not yet made contact. I’ll narrow to about 5 mm to secure the rim.\"}",
  "call_id": "call_j2yAi6ARJC7lqy4mfuTk1vr6",
  "id": "fc_0b3cc92e2b8f5792016ab443e8a4d887d0ba42f15377bfc201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j2yAi6ARJC7lqy4mfuTk1vr6",
  "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]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0547, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0547 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0035 right_pitch=-0.0698 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.5538, 5.9829, 0.989, -0.2222, -0.0269, 0.1343, -0.0068, -1.388, 6.9812, 1.6825, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ff66389ca050e6b358446646b2fa8a3cb07fca177dddca0917b2e22a4fe424",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ab589f5e38e2c3050ab844941464a945d74d04fdc25f42d41404095dcd8940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0c1a57128d3d7fe5d0656f10c123916c4c190d9eca76b579e3ec24469a80dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 2.052 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7729, 1.1164, -0.4931, -0.3233, -0.3904, 0.0089, -0.0177, 0.8211, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3705 left_y=-0.1641 left_z=0.0519 left_yaw=-0.0387 left_pitch=-0.488 left_roll=0.1391 left_gripper=0.0089 right_x=0.289 right_y=0.0014 right_z=0.1596 right_yaw=0.0037 right_pitch=-0.0694 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -10.8103, 7.8838, 0.9548, -0.1929, -0.0171, 0.6618, -0.2393, -1.4291, 7.0085, 1.6288, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.1548, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.1548 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -8.5538, 6.0103, 0.9841, -0.1685, -0.0269, 0.0952, -0.0342, -1.3333, 6.9675, 1.6435, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0547, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0547 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0035 right_pitch=-0.0698 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.5538, 5.9829, 0.989, -0.2222, -0.0269, 0.1343, -0.0068, -1.388, 6.9812, 1.6825, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ff66389ca050e6b358446646b2fa8a3cb07fca177dddca0917b2e22a4fe424",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ab589f5e38e2c3050ab844941464a945d74d04fdc25f42d41404095dcd8940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0c1a57128d3d7fe5d0656f10c123916c4c190d9eca76b579e3ec24469a80dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPsw2msxm9YBSDixHYmzYcUqL4KragWJYNaPgVb3_6fafpr5DgbmPveEF5fGwSRwhB-CnpNZ7ji5VmAyvf0QWAXU7u9eZLuOm73-LmYRvklVIarv-wiH1pvfvbUk-gabL3CN5ghiu2e18tO6uEG_gM1YTLPH7qzrv3Ka5aMZplOi4BfdB3ri051E_RX1DHhG--HZ4N03SfGEp2YdCksG6MeILVUWYu2VI8z4S4tm0EDt_OZDVM5QkEEjhAjlxanZKUVC-ZtEcZnxe6Jy36EQ4g-5zv6SatlObsO7wf0SaXfXtFWM0bgU10mCNkZldVnmcVN1SQMzcIjtEOrDAKmele06m3cJ-gceEdHgsvRQmGxH4GLkUahzPypBTf0-kXcrZe-upPRlX2DqlxMGqMkhcEsBtqGpC20lW1Io3S2J1cV5iskOr8HNEeptvqUovB1zXuhpXEJU0_FNH3Rhv4k740l-OT0Nar3uTegnSooUvl24Naw3z3BseBAn5jUXEiFQkJVaytxbKUJPExP2y5ZZEZVv6lwGaGDHFXu5BVApvdVTOHsAulaL6pLsSyq98mdCTe-XO79O536gGY1N4yPh1EakBws7TVCNINcpz4NHVPFHwl5mfnCVHdxRxJB4I1OU_v7Xn-MWMd_Ngq9fp1Ap0KMqZSTwjzMH0L0sKNNfMEBtGg5bTBNNpMSAqLoa028ryqUVX7NbVbNZfJDKVcbmIGQlZzq6QsYZ7JXWylecHoiCl5_p248mY-imkYGD7KgW9SRCKRa9lYxQKefc43HuJgHQaWqOr7w8KULFZN88b_uVIhC1ilMWba0YqfLe4HiHEPCepzaVtgin3f6rdnMa44Uis6VkV-uDDz3acW4AstfiZBJeKVW7tI4Mt2ngnucqhqSTj4Vd7O7TxsHnJczfD6nuoZN0Fi05WZdkVzlzbGJZvWn2w5JQPyv43Pd9Pr9tP6OSMCtMtzJ6KysF-THIQnAZ9-WFAFTuL8zd3bsNXtKvRuoT3HKGKhnpsmo0r0VAtvFXNXSmXzvhXWCeasNKC7CkOo5Xl33Idr9dRN36JEXziy7cpWgnzV5gs5aqeUlkTmi7WyyIeXIGfIXHj7NTYpQsaAbpq9RMtcgP3d1KoTGgEVdDtI4ZGc4_NAQkpnnEBWYw6rUblmoyA-UJKxbY9rUZ5P2BxN5vCyQHctsb8MO9sk74VyWiz8MARNi1NEuDjJi4u-16zeiaenapDwOFrniyl2wGiBqfvP8lP-ooe-_6XgP1cdHPEzftsG1xF8OP1N1CyMgPa2GL09LSmesu_F4k2kCFAGFwGor2AU63mM4vL46OVaTswZrGT3EI4sivm5EVOlI68Mr0q192BmH8CUoNnuCqhMwZDOpEKa9LRP7Hw0e9pJLuMbuMqDBgoaNR81GrQP7f70MriJQETeof25r6X051xwxt_PW6qSzoq8laziIb1uDkm0zDeoT3OetJsA_zfXkCdNHz_rGVCo326P9-juGz7MLQCjX1wlqxq9JwZg=",
  "id": "rs_0b3cc92e2b8f5792016ab443eb72a887d081ca76a5eaa53aa8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The rim remains visibly trapped between the pads at a 5 mm command, with no sideways ejection. I’ll finish the close to make firm contact and then judge the grasp from the settled opening and lift test.\"}",
  "call_id": "call_LCQ6NCmKqYdCrBp6U7elQaEM",
  "id": "fc_0b3cc92e2b8f5792016ab443ebf6cc87d09293fe4b1556f764",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LCQ6NCmKqYdCrBp6U7elQaEM",
  "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]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0512, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0512 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -8.294, 5.9829, 1.0769, -0.2418, -0.0415, 0.105, -0.1162, -1.306, 7.3368, 1.7216, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8872c9cd74c1284ea274597eaff9686ac11be9e6b3e6d1afbaf96e3e13f23a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cc99dc4121c76585dab9ab3c3569ec67af5870d270af3170b39a2ee2bb2157",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a6228285aee6119935693d00cf51ec77c4559d756ffde7ba7a699df6a53c34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 8.984 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.771, 1.1141, -0.4927, -0.3229, -0.3931, 0.9947, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0519 left_yaw=-0.0374 left_pitch=-0.4879 left_roll=0.1373 left_gripper=0.9947 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -8.335, 6.188, 0.9988, -0.2076, 0.0171, -0.0122, -0.0889, -1.1829, 7.0085, 1.6288, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0547, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0547 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0035 right_pitch=-0.0698 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.5538, 5.9829, 0.989, -0.2222, -0.0269, 0.1343, -0.0068, -1.388, 6.9812, 1.6825, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0512, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0512 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -8.294, 5.9829, 1.0769, -0.2418, -0.0415, 0.105, -0.1162, -1.306, 7.3368, 1.7216, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8872c9cd74c1284ea274597eaff9686ac11be9e6b3e6d1afbaf96e3e13f23a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cc99dc4121c76585dab9ab3c3569ec67af5870d270af3170b39a2ee2bb2157",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a6228285aee6119935693d00cf51ec77c4559d756ffde7ba7a699df6a53c34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPv834xZakhOUTg6mI5vKRKYO3R0mhixjppkwcZGIIdn140G1gky7M5Q1J3iEOXCwTRk_sK6PFv3BvlmVTHR9UE5ZDnKXp3ODb7JuIpfe4H58HAaR0BnakAQ7AzBWO2zJlfMHlSFvfcGqZRvAgUAqFHnKPx_jvZ-QCAOZmYsNbDhsEjM5aH7hwOCNVsunz2BRlR2M5iRP6MBnwGeKUvKIz33ZeKlul1-i7uKAPHEnlphGzBS69rPE0CUHhTvDskZ_yce0nRIA1QVhnZOulaOf-sjV1FQ9-g3FDCmPfFWiZfJpI4hEhQR74kVdZeYyzDdwr507XG5yFEEjLNity2LDRUVzThaGD2f3j9BV_p_Vk8fJagUc8iQ-UFAttdlZ6FgrJXzK8Dp-yix-PcDibhRfP0p9r1MghtlKdncDjUu9kGtjBCyjIqRz2VSy7br7RXjcGkF8FpUbwhBZppOwiImGA4HQcwWOn-fv7iEARBJ7w6Hv7bS6ot5sY_tBPb20h8XDznF8oVeGHdKm1jtkd65Ugfw5BsGCkL-3ScR5FXDqwmydsFP8sgtSMMq-h4QHsieVZl9wEFqXruyx45z8kjq3UYQdR1UaWFGveTvbdIdz0X3OQwXuXb5-XmwBOzEB50XAbBYbWhHO9nCa3zgo-AMuCYOuZf35h8vUcrcB2fzlSPRIiO5Xw-KsVWe2w9bvNwc6qIT21cgGQUJB22wISrSjep4sdwABNBD_k9X8fPsgYaHvDuEzQ1hcZQiHddwuurFYnzijqYp98-G0JT4-F3-7l__AIwQYccFQXzKkAM11eKjb-ghuyV65qRMOwAnDS8lWAbuu38G3BrC4SvfoZlu2JD8tO3ZaeBxi0I86hWDsn7VqYUHQonKwF3Z8ZajvQ-yT2qXaml1ZQP0T75UOcYcyMsW56sUda9-niUQ_sk5vvgtt_rKIWIcx2Uiy9fQwphSpTxT5M6DBpjFe2_olMrITqDIWKKJ1xZGMYh1LSlH-dFd9JQOokSrbhMuU2EQPiqPJth16mWmoLRmqqq83J6HF-1wK0mIGgg5g9HgLxaDIhzmTNsZ5wpNzmfO_ggnZtoUDkgZnKe_R-28nr5qXq65tXiQlhq_FgDAgPkZOes9jDqXbQWLSvHKINX7m0uC-WY4AvRlOaBqR2ZN68e3YMykQfHWhBkVFo2fF_Ru42-TJEd3XP8SrhgyfJKcwDS87scR8G7eEtCcc5JLcEr7gvKI-wP2mkJQBGrnfHG7UXKJANA0EM=",
  "id": "rs_0b3cc92e2b8f5792016ab443eded8c87d082308204acbf0e1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.16},\"note\":\"The full-close command settled at 0.051, above the empty threshold, indicating the gray rim is securely pinched. I’ll lift about 10 cm and verify that the bowl moves with the gripper.\"}",
  "call_id": "call_WFsBCGifSFuRtFXgZhDv0p4r",
  "id": "fc_0b3cc92e2b8f5792016ab443ee2e1c87d0a4cdd5b7ae6901b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WFsBCGifSFuRtFXgZhDv0p4r",
  "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]: [-0.5648, 1.75, 1.4616, -0.8623, -0.3229, -0.3939, 0.0508, -0.0177, 0.8242, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.1722 left_z=0.1428 left_yaw=-0.0366 left_pitch=-0.4888 left_roll=0.1375 left_gripper=0.0508 right_x=0.2891 right_y=0.0014 right_z=0.1588 right_yaw=0.0035 right_pitch=-0.0725 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -9.894, 8.4034, 0.9597, -0.2222, -0.022, -0.0513, -0.1709, -1.3197, 6.9675, 1.6728, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e97854e6ea268c850474599a7326e5892e5fc1a3ed4b957ad95b2ce13ebb45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1011b97a6d77639a3157248dbcb9f981c5d2ee93dbe47acfce7938297b02174b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56374674d38c2df2132580b09045ed438248d06c40f757b0471d7059e13d2a55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 17.72 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.1548, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.1548 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -8.5538, 6.0103, 0.9841, -0.1685, -0.0269, 0.0952, -0.0342, -1.3333, 6.9675, 1.6435, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0512, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0512 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -8.294, 5.9829, 1.0769, -0.2418, -0.0415, 0.105, -0.1162, -1.306, 7.3368, 1.7216, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.75, 1.4616, -0.8623, -0.3229, -0.3939, 0.0508, -0.0177, 0.8242, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.1722 left_z=0.1428 left_yaw=-0.0366 left_pitch=-0.4888 left_roll=0.1375 left_gripper=0.0508 right_x=0.2891 right_y=0.0014 right_z=0.1588 right_yaw=0.0035 right_pitch=-0.0725 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -9.894, 8.4034, 0.9597, -0.2222, -0.022, -0.0513, -0.1709, -1.3197, 6.9675, 1.6728, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e97854e6ea268c850474599a7326e5892e5fc1a3ed4b957ad95b2ce13ebb45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1011b97a6d77639a3157248dbcb9f981c5d2ee93dbe47acfce7938297b02174b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56374674d38c2df2132580b09045ed438248d06c40f757b0471d7059e13d2a55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP4ZSCQLNM9VjQHzmO7clca22lAa9srdSP571zWQKcPNPFQLNzMa0vCHeki1_oYUYe1nqqK7NHbOMfQeSTSZQ-erC3jNmoG-CYtVcXZQnRPtibjRHi9XJwvRzR172EFwp_-gUd2Y7enXL6ZDeRBdmOdgNJrnGrEb1ftYIqj3uT8vb_shMWfuZ6Mzay5c2BG-4IYAin2SSM5D2viV1eptXb9xxX9wwVrlpEE0DArP7SnNJjgyhJ50TSzdBpiQ563x50Pxz6nRPVYTOyC3drPtxhMLA2JcNwu9nwgppKq4xoF67pBt2ppANvuD4TccFQ5dqZRG1yPa0VPshH1j6IZqmYugdgaJmbjP18RCCJKfe5SpH4czyZcrSoH4RPXo1T4HvUXuzJKhOFoPGHg80r7FXrZ1lXpc3bC4jsQENRd6dtXTFx7xB0gdrnOdeWSPEP4e-gpehnT8AaTWoZW_LZgv_zXXXMNxntftmHF9wWHXrQOZMyw2rwab2wjZ8VbXgVaGFYwL__z4UAP8i-aHQdYKXo_QT6tThiGS7re10FK3pKniIbzk2BVfPJORfgFX1mYXrMdnLcdtDdHhzqQvHFEPToOa8a-sCr0RgJVRqDpkB7wFlHwoxrAEaAmCWGrXcj0a3JNL-sL3uMoyo-FbuKb_3QB8XpUHdsm9zMZgz7Lan3iF8GDk6pXQqJdttPoNAlj1RzoUtHI205KcWWcC0ZgtWIIi6XLcTr_pfx19Qbfds4YdqiDsBdpCGzRD5KtJeNZHFeOoMmlx0wHP5gqzdfJmhjUTG4COVpKJRdUXYXfDzEAXw9P7dwW6DUmlqsQjHVWDEnToUBj7NN3uSCTt22SEXNCYxpXHp868Mwo0vw6qoNPynkbvjpjHg26cDTg0z9Ncx9GhrEIMirf8WBE7WMo_VaQCiFuhTsQTgQux1AG06pKEXChdsNk-gMfqZjhEY84DInQSHJh4s6GmACAWjQ6PTzSlgUigjo41H92K9wsENwYTp7SAsrYlVvyAAVlud5Oz1IRDd9ZzyHJ0vHCoZFTJGJcqyEoNc8v2NiZmm3uzn3fZiWvbaNfRs54AyX-ZZ1QKUuXJhdSMHMdNmkczUbDFf0NKhFTShOP-BSpbuAtY6fHRpDPFYqIfhHIlc_MyHVapNiZ94x5qco3Pps7oXS_BtTPp9SaS0C2SioIddx8pnB6s3bBzPUA_jyMzYvfEVFyJpQJM8eDNs4Ani5Mg4Ec5L_r_9KhiaUHBqHU-xe2eeJNfevEaFki7b0rjutHNJfrWr0kT_kqHihGB-u4RZfKsLKfk6aXJ_hb6bxicR1w8tqx2sscwCCwra9KYyekMzU39UYugRCEcFH3Ia-YvDGq45wLGkLUYrfh6eEXlH2M97ie4_ZOnjvdruggyZPTvaa2VfC-X-ET6sxl8qEZbiklXIBTOMIOD1DNPCcnkd6yg2rWOJlu7PQatyTQoxESWjuQwRPM5n4sg8JJ6KzMorWQYrxUD-GqB9PfhpgrfgEteU-JFUhF5fAyuJtOGcZ8ko5LHDhmm-HNlucPPqMZqra_D2W1y7NF1enXBBCZlsrP0dW8FBoHRMvg7yX9NWlsBFPglhAAw0sJVVq8Ud4opf3bzREsvRDwg8WYOw67rnmuTY0YGFy8_MJPNHerU-lYdswOjOetaanui2-BisoVdl9qOS1n5zRWhArhBdg6xEVKMWmPo17WDNIydu_OdlJSUx0wpf3zW06VzEHQiPF1vDwiltxpX0bbCpbQdJBWxVWYD0Km9hYk4ENjIv1gmL33OClJ8Ea5_5YzlDMu2eTJu4ak_P42D__d1_gMXCRN5Sc0KUo9e5GhzkM7-L8Mn3WAe7s2WbaV1Dywbh9O2UCvPW1PCYR1enyD1v_y_cSbdGgp72KR5PMR_PfmHZG63awqjpjSWP5OjvoAffTzMuEzAfbvy-pr83AoF4amZojD3fsQGoNVVpn8U6uB1_7pRTMzPMCmiDaAlvFYFk8KDvuO71TkcHoSIbCZU_bI99Sl8gqZE7CWQHLRRnqW3yfszeHmKmgo3-zVRJIRGgt96EkmGbyGbnhjUhpBynw4IMRSOSEx5f8aPZEvCwHMiOW7-DG52-wwPYVZLmkxbSW0ct-52GF-KEEQ_-SW-DfiS62cxkIn4rtN_o_9cRHjtZoam7QnUR44UKa9F3u06AnesxavJdnygitq3mUxtlCISvKyNkeMxVfWRrGUJr4irP0C2hOVTLRC862c_vHEqDu2jDxXDVWMy8zOPOPjPvnw41ZFRnZ6WI6oXCkJegxi1Sq8WoZZNu2c9FN3uDIO3iLoDZBXE6QfCsh4yfvonSMC3mAz13BHyPLcMVitfWeCovY3Ojc1OnD3Rr9V8XdZJqazsHXEt2SrGW_08K37UhU1dOJBkD6g3rebCWhNT8aj-aWAjXr9mU2sm83iw8EFFAAugMonV8UZ4XI2VebYio_uY_SRJAXqupAadmYAwfmFm9_Fxuehs_XmFLe9yhRw-rvDh4gEZqOFfOjU_6hvAaMGu2TJKz_L-NoOlPQDUnsYekjkqtDq2qdsszpLn9H1sbzBZIkjb8tV_83CJi_EgtQAXu7n4TsvjEeYPNIwKzCtRtFWCb_wZPaIf6GW6lbljD0OuyURWKxTIujTYaId7ZVnYs2lnJdhSkAdgBmc0Rqx3y9lme5ti23UszSzus1oGU4SeEoixNKs8DScu-MNb7sVHYF8i3wzyhQF7H5moPYJ8IKi5L8ZJJW8wKdDViJPmH7G4CmOe2RwjiabI1GOG21Ls_d2s-UQpfS67k1beRfGuOw_WypP-qV2L1p5EzXYjHIq68mzIIPyUsa3Dx_piislOltm3s8FgiBD8SS6APjL_iV5I-3iPtC5OJgSG75GjlC1jMgv7lZmW6mifRA-trEb2-hEB_TCWWPDCuZ1HH4Qh6H1ikvCHDqVyEqZJ8uboD235qlBZG-2jnKQ5PWOzIPVyImzsUtXSklwzcQHnjjm0uG7ehaEYHHYGqrJzqb6fNithLtWyp1kPMct4Gliq4DvOIfLwIvYiZK4Wt26FxhQW-hwag8Ke2u4OFA4bLPq-oESkjZfcVcZv9hQDD49hnxehrmqLo1BSm_h_8H2QcJnHbMS9Pssmx591wkuv4iEiMPgo7M1G_1idVTxEkad8Ux_9AyFtEFFSTsp1eLoGgWG4hHM8V2V6-gLc7YvlIJwPSzXDPwIWEJzYhatYcjkNjqNVrr7U295WQm-DsNFzx13oxqKUfCBu3tPm0Dhpvr5Sk7phl6Gv-8TEWvLTqq_uY9LMv8CD8kgjeFqqXFwPCmv1p3KKPCEIu89C2sk_Y7FRHfNO__XvYVrYehZy6Mi3OBrxvHfr-eMQqfdGD4SCivYuUHr31R9Uig0kSPUtI-HH3GKt3iQm_6YP6OBlce-nwmfKLvaAufF5LZ3v_WajcsS0TB5NjLoWhxImJ4Zxb2cDGZpOcSFSDHuuZaulwksJ9iLFjTfLcggOGVPb4-ENwVdaf52XRfO_15x5Mt6B9KBtJ8UxX6kpuQfjH-hK5cjKzBtT4uWUNcTvjIHgwho4a6DWm1bh3ghi7TumK0gjmsnjQLiybUp6BHAxLM65oAyODvpgEVHkrzXvIj7byoHmL3J83q7tVrbKekPBeD3rQu9fklmemq894e7P8XAne41IgpuI1GPi9AdLvIukyvNhLz0RS5bZ5p7WJpZf9xEawDuFnhR8PVWJAo4SGp6I3Sqq9sM37jpXZk_zGxuqf_vJgqyCmRlHNqm5qPotG1tBowTq2BMUqXLuYxa5yhUu9-ZnGB5u1FvDzh4MTuf9BXPTneRy2AjsD0w_8L4cjPpz6r8RJUw-v5IAAhVcPVChwn1POVRqUXUflid1jUg7lhrKysnp-5sZVyy-UEceu-AULeptSjFZWk2t5VDskMqV_yaBjEkIjKcZ1ZpubiAqo5szsonaV1HrJQBhEDJERteGDRo_LIBDl7jj0CQOpGivDZPoSv_KQ3DSVTvr0Eb7-ReL8hT9wpKJQKdbFxK3fPtE1tN6GtwkbmmieWn1ItIqLa9fDxj-3mxcuzZ5u5FhABGNGkqBmr7g3XyGWXwy-E_YCh5fXvuh3GjYyPRoZMFcc3Qlj-c_R9JxJyqBe9kkP745n_dC6971P2vPPVkzHPSouXVyhB7NHpPhuHA_L5OPI3nIzsXKw9W0pyBFfqSxHBPuY-u_lb8_mlMkZ1r9IlzB2ZBcBM9wpYReOkZqRktpRTTG31iVguMHPzynzgYffYQB5HdCtKKsrTfU6tA9rjReXFWENaGutkXJXzpvXbkv0ZLoZvBILq8qK7ep8AJUFc=",
  "id": "rs_0b3cc92e2b8f5792016ab443f0c08887d0b1958e895690cf0c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP4tHsYuv9wtKTF5w4OlJeDgWNbDQHc5HOlQ14T1hJpo5fkTGu7BVCyzfsXF-l8-Ungg04dZG89m9QL04FRGruqj0dc2IY_TAbz3ZbiWyTYmfN_krKjNAZrm2LA5GzYGH5O7-7cRgK8mK0t1TWOrza2PgJtn4CH7sV_7eH5LIdlmIKEv0tpPhtFYT4aLaOFEKdsmV3vSBGyLrmPNlcBmF37Vb0QXiwatAR8gaoESM81V2k7vyr2ptQtBWeUUzo13zYOZrXvK9zFwjhrz_go6DVr54wkC9gX83g_4yqPN2Th9XeD80edWW5CjgzoSr5P4ggE7VaZmFAaZSv7my6htt6oC11nEEmQo-AjjhSPmF0lFMFI259P5JRIAEv3g_Rx2u1B3MRfveJhRcU2_crv3ZwuoXSAobkuqF6JpBOpL2IGvHyspSzzmaA2BB0QBpU_NnFvgFXlcGDMtgwmSrqBrfQ8vuMDvcb0WKJlTKthw_dZp6e13ofHHz5uRUNTiMnK8rjqEy6HUqQgCSmX-fs1fnHEbIm_BUw2NUbeBT029LS9TQp3rr1H19QPaCEnvMdFNur00KUGyHD2_qrNgwpP1EBShe_yBKZcKv-ZFedEZv9q8UeAWEntWUHrLrUKO1tfU04jZ9JXQmr8xJ0hTM-Iip8JsK0nlaR4kIIzFHdQ3jj92V99lcWxk_hL7HATU41xoQHvlDV6z4WwmmIQNff9qpp23mCJFa-UlYAQPo8plWulQh7-A5kN1hDLLkxJC7nZB3-B5p1_cdD-k9EmyQKFKKwWRP_1Fa9JW4-V9nxH_ZuuMsO03VJoYbnwowp9w3uIPQCm2kZYCyL813VaqfvSlNvhGbrKinApFaqdagY1M8HwNemwn3lGy9zk6bRONpl3pWHCP4EjgfP6ty7dHNK-okefryqBq0703S_XZsMwDjY1V7mVvotR-fpDHxD_XE7PGVYnRketdhb6geKQUaulTvxHikJjzgQ6p4O62bzkWPuIxMXrKizAR6D7sSM9sPVB8kq0zUAetYu3nA_kfwGcfTB3DgAiC80nLtjWCZTm8mRDFqJ7DvJIe0_N7yMRzNQ0RQkHIUbF6IQ7FLXY-Apwk_CbQid1RaNpiLlKOFchfViv2B_PrzUTSu9VBWiJGEHCp46wCBZub1NpV3XZquggOhdRp4Ub3tm0XKpV0cJ6doSndie4OAW7-TXwZ6tc77ZvVgnl95ruoDF3VKtd0we1YS-HEvUoQDt-RknQnaBwY6QAw-7YCJK75xEkJqquxb-R3grOjSdqgElh8bJ2MsrBgIRDzDGb0pVqYHZs1C0CdBLiAJ8pwUppHoPV0XOe7AfmHkBvbodbI-AVj4o8RaK_s_G-XHyMppm_erMQxZdaY1arrgsx_6fH0VhRI3nS92rPbvNccUg9fLrr83_VxGRfWJy2nOn1P78Q1QchLQZ4o2hwu4KZ4vP1WZ8gtkoFznonC7SgNTnt3RlvlOcxebVsqduV1ZSKxGAqchLAG0X97aqnG_QU9TBLlwqWcx0r6jR9FBPgqMd0aDDbm6aDxfjhCrH4p0ypfgzHE3eLOgdP4kXD4kPPNgzXFHe5Trw9lvMhxVRSikwRb4XeV4Utf3T3HuyyfnuI2KKolqrr24uNGbv3jJm8eYHKbVfWrDFeTvpZUPMxSpvvo9Ls_stMir6GIIYEWYsBLRQFLK4XPa4WeDmP428a2FRBguyKyjxoBVLALiVM67NHhUWDuIQsYe-K5Ct_1dKE4FfkwOx4OX-wxEi1QEGb4TDSfWB_LRfayLzc1qKxul-zuGKi_GLr7vnswcbTzxWJ96y99QHKSC9nz9eIWR0=",
  "id": "rs_0b3cc92e2b8f5792016ab443f655d887d0ad0d3f92acf4013f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.27,\"left_z\":0.2},\"note\":\"The gripper opening remains at 0.051 after lifting and the gray bowl now rises/tilts with the pinched rim, confirming the lift. I’ll carry it laterally over the purple center bowl, preserving the same rim-offset geometry and ample height.\"}",
  "call_id": "call_9shjvRbJ5aJbDiQvdPyEdltg",
  "id": "fc_0b3cc92e2b8f5792016ab443f7aa0887d08a6738ab3f387995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9shjvRbJ5aJbDiQvdPyEdltg",
  "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]: [-0.7643, 2.0224, 2.0327, -1.2213, -0.3733, -0.5877, 0.0508, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3806 left_y=-0.2707 left_z=0.1927 left_yaw=-0.0604 left_pitch=-0.4971 left_roll=0.1125 left_gripper=0.0508 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -10.1538, 7.8427, 0.696, -0.4274, 0.0269, -0.0122, -0.1436, -1.4154, 6.9949, 1.6581, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697655bcf80c138fc960bdf9c2e9515399a4b4a973d2d1872817d948e7f90870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f89f958ce75ee608ab8dab28d84405c37adfa9e0611bfd6003c6700ad6d59b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b144a8e22ce778c04adad3bd0bd51041e1f3cba6e3204bfcc2bc6e20e9d74a9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 9.179 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0547, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0547 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0035 right_pitch=-0.0698 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.5538, 5.9829, 0.989, -0.2222, -0.0269, 0.1343, -0.0068, -1.388, 6.9812, 1.6825, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.75, 1.4616, -0.8623, -0.3229, -0.3939, 0.0508, -0.0177, 0.8242, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.1722 left_z=0.1428 left_yaw=-0.0366 left_pitch=-0.4888 left_roll=0.1375 left_gripper=0.0508 right_x=0.2891 right_y=0.0014 right_z=0.1588 right_yaw=0.0035 right_pitch=-0.0725 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -9.894, 8.4034, 0.9597, -0.2222, -0.022, -0.0513, -0.1709, -1.3197, 6.9675, 1.6728, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.0224, 2.0327, -1.2213, -0.3733, -0.5877, 0.0508, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3806 left_y=-0.2707 left_z=0.1927 left_yaw=-0.0604 left_pitch=-0.4971 left_roll=0.1125 left_gripper=0.0508 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -10.1538, 7.8427, 0.696, -0.4274, 0.0269, -0.0122, -0.1436, -1.4154, 6.9949, 1.6581, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697655bcf80c138fc960bdf9c2e9515399a4b4a973d2d1872817d948e7f90870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f89f958ce75ee608ab8dab28d84405c37adfa9e0611bfd6003c6700ad6d59b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b144a8e22ce778c04adad3bd0bd51041e1f3cba6e3204bfcc2bc6e20e9d74a9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQLQCnJrYzmf9bXw0UcpNhBC_cqmUhlrv7RQwYYvjR78hyKJL3Jn-ErVYWByJjT9jnpbBMdACCC__B81e4lVibzPYd5MhRu7m5F5ZgAISoscGLtnZYRiAN1R-4bau_P0rRVBHYxmXpZ06dTK_PxHJEdGCzRVbhEOocIZEIfAnJx6uEfU6AEHrqSq_A9e-scegpKxS2Wg5BdpdcQ4SLlsmGRsIA1b_dv2-pwoBIZP5x5GwWE4x7BKhap2TacZfBs_Y2n-ajWvvb_4pwrGjCmmNy6T3zwJu1PGXxNsXsa3fpBNfM6LvQrooNBcl9tgJZV8sYkBkkVigOOtagkVv7Hvimpq4yvU4m56EbNsS129mvJdu-FD1TqkZyCwvyG-e63ifIVGPFFrfG9B3zZyQRvefbfk_wvcpdDLVF69yz-ysyYq2wV6xlepu3EuJxSsmV_WLMAeS2YjJPtG9S_q99xIb7gB66CTMY1ozjHCDZvukOS5u7KR5z00NbJK5knVEVwOlNPxQjBSSH9RiX5LSRRXhRo5c-MvFez1cO5LKjo5Y5k5OUnQeVuN1NPEjtZ0h1kyqcY-iqR1C_8V_zcO32hlZJqghkWwIoXW0oq_rlI4lyrwBeOsBuDJYOe1fxwfvPAzvIaY5Ra2uJa9uztBUW_xpgVUWqkD5Jn21abmzyyE9j0SNze0oQGZCw-WuKrPytTPlzPIf2kxnupcLyn4crlU_xuK1TuNJ4cffMMUyYYIY5aQ6Y3DCkU94967odcleQybiqJX1D5KUeXSoNrWB26hoo49XZQA47YiOKwV0ONHzZ7uXH4H4b36Gyx3dmGbYR4FSxnTt6gGFWJwqhX8fttpYHk1B5J7yOPjv-Ii7YCcgCRfn1uLLX9Hcwhdul1QyfaFAP0cLmdx0uCeegTGUiB_t8bCwgCQsBgEkDm0fj2ic945AnSTNMJ00SBtdaQoPWJROVrGNwYTiXer2yaxyoO0LzjE2zvErOg89ayWa7WJBuTEk_EPh3CY0upxOlg2oOkgciVV7skFb-cbkNnj-ONhnIpW01bF2Q-tXCqA5vuWWrlKotpPVk86PoxyaALPuQqNI3Mb-Ebe2ArLPNuqoN3fQylg0GZQduwZYD9ZvyY-xq9MwsybFOFqVspCqYHj3daHhjoHtIX1tDxKF4X4LrGfnktN67DndXKADnezy-zN2tB8pcPvIX6fsCgO0eZVgFcDBMFk2o942gcbpvWh4nAMVXb82ZwxnLAQpLKugLRBSYQEca9fr9q9nhLdAQVYkDsbOAwrmZ94mocf0v4bbdaVamwr8_zOnpLryCS4yvknl8q0OMKZzgB-fuOMuxPe26fTBnmMXXrDR4SV2574od-9Z_oSbxQJQuy3M0GszpPYDBPBovHo5MWPvJLmUge7Npz2TEieXl0isn_cVjQRAyn2wg455OVRtb16eBRUqLlwgUaVxc1eBRB8oFcewBKbAN7YPHvCFeQsyhIKlQ8asPAdhVLy_YS_EIyzquFMFsD5fQEnovX_BZLd-y6UiBNJDQQ9JPyh76mcjlUjC4Y04wrqX984qL1t_G1Tr_6bsjl1EnGwwKbetcsJJT1mZzbtk7nB-GJq51ULVzaQJblTotXKK7ss820vhv-VM9huJHLSm2o9D4bTMjNnzkstQjIM4YkcdAPHH6UlK2Ln7sqzzMRLJjXvbBaTy4Xvp5AWhzaAOlr1HnARBuC5rZNgqwLa0dBsOoQVyviezC_8e3L4Er4HFIrwJevCA87c6BvK-5ZrdkFohTYDntMLvRQKmwDunAw9mxNfg3je9pNDTX_5izGF4eauwXuDyeF4zs94tz5EPtuuD13i0ZxqAwNmvCR4dcZtOdLbjXzSKz9WzUucRwR9I46A5SRnuaYRNnlxs0XVX93CPs-E6sIFcNDhDsuHuSTKw33Xll_2EGrm5O9_CjBO3JCaXnczLi2q9aun4K4G03P3Y6oVtKK7yhEeqrF9zyVvz2c9omrfGvdA2o7pVb-24J7cw0t32t1GnLxp_LWldsS7wtJx61A6dyq3iQHAlqptp9QxkTIPy7HuwXBx2pyaFRkPLO_B4ITEDe2s9t049zq4fPs6NWSU6M9C6BDI9YKp_jRJrUlDxcSoH4UESGvMMX-16AI71NVs0xXJg8Hmm3hekwNnOrUxYwZLZjRWUrZoTXqVG22ycJS0gAJCR-sJR1EWeppSH02YWkycCj1D0e0nrVrkODTGEmhjJTw5wG3bd52-fUZscipzR4yiDlf4MEp8lNJJnP3ooeMCEd4jmbfuP81iP5Irl-RYW5gkLzR_lsUrNkAx5AULyliVoMVQN3oC-sFieSTKmr9Bc1HJ9O91rVL84Fie4obIXyRFQKGkM-k4hjNsxskx-5BH2KSyN_yca2w3BAw2SmamWi4jpQjeb3Lvel7Cq5DwtjbE3YpL1eTtPTx7wzIkZSVBU6QJuIOcSUv5qFZ4SuMQwuFjmtUFUoo8UQE2s8hUCAtfbLXZGu3laiyG81JgDqioNFtOFqbrIOYyR7JHQ6GLJO_LUaSi_oCADhROXWdevnNIzqR1HwwO9waLiY6XtovsJta3PhjTiTEO_ueyPpNQeIacv-PpDLy9IByqnULOIb6ZL52PFybmCxvzEfw-xkteioMDij9k0T8IWyBel6bvWUTgHzKramHKUXNeYKOuCuLbMvLf-lgGt5PVvn0ScxBBoJOoVdgz0coz9dTz4NrONUD6oJ3CqkDvDIz9Ogw8lcLgKvkT8Q7PGt-tb3K0m4rMP6gcvsYbWVbUpVK1phrwwsG7FlTCYT7iKkyS40TY9OOYV7q5oELyB_xo6m3P8p8E_3-It2EPKnWp_SieelzSZ0_Rs7Pq22eqcsVgoibDZ5-bBT_aRhr4Xtygc53qihra1KTCGAU-9BFcSWkSnWEXaFAoBoGBxNUDFckHgcMZhM5xz7nvcf3dv2l_W1W6V2XUCY8BTa_CAIhR2f4fAVRT1E7CVVs0I4paz8lGoHBkfgkt2Mu9mRLcxlJ1ucdA_iTzm_8bYNctFoW-9ptYtOad0dOA_pNmT-i8RtdktIPrq1koB52t3r4CjvXVP3pGcwJibSqWUkB8UqE2jWoqz4Q1wrJT7cZgFplE7m_WOLVr7zYX5GX9A9dni54wRsBGjampehbhBGFVuvURQLBr3UJi9ys31LgosdQunVqiygZ0PgTaEesWbAK0ZlVM07KUYleOJIoK4HYfYA_7mfCXZ7SnRjGz56dGeG6MObPN4wxWAK9WvhLf3Kp6id7VBAWPfE1RyFUSbrCChleAG-Y4c6d9MWqvt5lqpcICxQKngNg5mK_EfuWxymv3IsUqWhYNINtbZh7Hw3Mfoc8ohp6K56kMmJV3-ZpGCy3mR4tPGNt2sdZS1SeYyEkydGZzFdsoLlG4Cf--Fnl9GERPhT9YSr6L4qcMoUbcPVU_ygeziMAJ1Eih1UhRhZNcEwX0Dklh6CQTUsh53QPqzwM_MLGUgpqcSdRuj04GLqwcPE5wbyxjbp9jL_bSlSTWA-njqQwfcEgzwHoeb7Jxgkj94GLSqbEYc0QyGBKKy437BH9pa9zUTVW0yc9_3jC7EUz9PTpbS9Esxj4plSpLJO-DPXofm6sZOIyxU4-c46R4oUw4_tExQ4s_MwiOCVntWLzhJsZksjyeuHMYSj_SDC8mfJtE5wnHFtkF7XOKE87Of_A7CdAWVdgz9CBKyFH9atoGQ5Ry27kvc3jH0JeJ3LO-2He9UsnaSNkBPQsN6BHyo1b8o4qrWb3hjXByJLkqpzq4lAIDAFBId45JZcepgeqOjbHo8sa8h0_wMb4VgWXjgMEmeVRgjOotOL_vV0JRYavT0tBkls9LGU7t8s2w1tvTzJzGn7uUTJ9ym_oKfi810yM0Rv9ziz5egHGlcOppbJwp4Qd5DYZh16P4DAOpjYYX6EZuQev_U5VRE1oFYs7-u54pVG6PtSLmDPhnxP8yfkaAzc5vJm02DSCBX4ZFhZX31RDBx0FEJCfBWfdaRNrY-lIv7WCAVlTw81816RSiIe5mxZfgZsknoLqlVEdw6Jmr_ZGvUpzpiJVWghd6CkKHppCVc13iQDB2sWDlP-eOBy2OK5o-b0VrgwVFC2jf7gwyfLo2YSCXxTtfJ1P8jiQnTPHwXz0EzudB1evlAO6XowVfD8MuBZkUGKVrkZwc00Pz0R5wgelxKTghq-CNxiLNXRV0f81sXtCU4-JET5aULc7ZKV5Q8tzYCW4dtZpLniqM8bl6vmycTlmhJF4S9CZ8PWP7y_VxZD8-aJXwUwJImdYh3u25X3t6sCslX9TEZ3CnwZUgxpmQDUsdlPNU-F9A9mV3L00i-WgohJm35lODnOk-LAdLU4RM25aVqUC-g==",
  "id": "rs_0b3cc92e2b8f5792016ab443fac7b087d08e9adb750d29b8d8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQLhK8TelKVNykgZ9Q4kI8BVP3oiEQgJmbCeqFzupCTUmXcRfj5asO_-CH8p4bU-S4EQbuEmyTYtuOI1Xwp0agwrswlZdwCW58Zr-Je2-0xKUzTiv1hCpPPeybOeVIK4Zk5ItDgtnS_oXIWdp-2lizMd27SD5Tm5Ac7pW1I5bclxqcU9elGh5p64-3m49vOn3HeQRUGAMnFu6t7FV_2osUOONxhS46jSAzpvLyoDhfir1uL7WpS1m_QAqKVOmav3jGtiHSDTLv09XYAkbkleoDHzLsP5uRTgWavCk99ANDnpdVXy2iRzmfjGvDYRH-GwwGsq42FbmtQSkppE9053-uIKtIC-NMggmxImhafZnBMwMrrKBCs360s-Lg1pel4z4g7XB8genpqhw4zRfAmnJ3VkN7BbIl4WsVSuxDT5OhqrvMaYhHw2k6s9IDoGwuBdEZs_dHnw9uU7DXx7h4tq7n6mfnBImF8tGmPAJ1TcpK7t5Tu1d0zdTc88c0G-TKDzp8zOX7iZBRGC50QyynOR1zavM9KVdeHf9sjQLU2-Nk3ZG0e45JdKpUjSMxryMCR-MzrknBT-Kx2UVwavIrKHPi784yQxsLDQmwLMgk1r40cqoHavKPyumcyEBoyZtDXhOgG79RSx0eo1sNUvVMlXRhl2Y-3Uc5-a9AJvEA9oaQ5eThs_AoCVCKaKo2NMCQmaJTMcK1jxpoTPfHYQZh5CejZ3Zz2ZfYSan-isx2vnXk37Ji-csnb9QStZ7ue7tjRROoqrACMSSw1mXn1be5Gs3x742OZR20ZyaMpZ4QVE-9dFI1Cns1LBK0zEkCKUl4Z7WaJF2CXXDg0ul2h9cT_HtUvltiZR4qH8RKLQ5kWy8pUWT8-oeyWO_n-jJGGzgAkLr601rzMToOjsKuqVHPCidsNtSVkbjKcDqCDjx9BZGy0jBijpdt2nTQuYLYcrlVVGCxR1AurhRHZU-AWn2TzgLZwuTqidjYS5HPifb6udNXoPXYQV2mhlEEb5sORmGjBx4GALZ_fYkjp4hELanZwUmouE_IqfHMlrJ3Pd7hOC0ILZua1YG7H-1MpfxBWQ9_zg1kqwq63B5y-qc1z0rvj0VOo7aKmbXo5d109aGNUqfe9to2T4T-gOo_OXHnKqY26zPJDUZiTGph6r87HfU0syB5e-hZRiyNEStMNPDDT9YZcQIwnVfW1o0DrtdFI5_pb2GvbAK4rTwsstqP5i4VW04Tbr8MX_zmt2jUZ9ANZD7foVe6VWi7_8y1wsPC54WhW5lGv2hu6om5hUotY8J9Q0yaCsR838z_2V9Iycih2JY10-Uh4Su4ZrjFDJCdrCFi81LZEZre7LmIqSBcpdT3YaQV9BJKRZYissqH74y5ilgT9tH3cFEDktMQxl6m41lVhR8nHXAsrFEC-IHNeqNcWIESYuFPynhqFntT4-0iyxaj2bzhkwD1NYpDiTwvICsnB8i5Qtkg2qAwnzhb1v-PRaKjV8Fcgx7-685-CqzqniVlARdEadfm5O22WwE7r2yBgYSDnJURiBLu8Sq-ueS45bT2OBPGK91WYlghRZ13c8FBtYIWKX85zuaAT_E-0uCtfTnhZES_A874w63xX7NOmGWDpfgem4rmLsVtVLDtVZaKhfAa-1YLyCHNyEU3hMZ1CbleOWdFp582tOYkSXT6cqUArNO9p14b3YDzmnPxkDGublIQQ8eZtoV1JZBE8cS1R7NAszMmfVw95AhZ418gyhGJ9ZPeiC0kLMhY3LXh0dVdvGPkOyN3p9nRDED-cM8KNkXhbyi6UgISc7zP_ToaF7mJrX3qX86pkxcM9DElp01ugnHTKdBhlN6vDXrZ34qDC1Koz0i09VzyPX6zTM896tH8ivgil46RkHeI1kLy34EJo6-wYMzI-9p4oxgR3FFh5WiCiTr_Lk-78qaK3_98P1tWu7n3SkuD19q5_lUzGDqfFbCzTn9HR4L7DKQCqjFd9OC93rlaQtefSF63Ov0IkDF03XZt1fyC4mZDWmNIdwC6Fd_X1YNVL_-lA9G769nv0bpVWovsQx1wYidCcjRrZp24HGUjtMimHhikVs1EyE9ADv-uhgRkCp8oypACqLaGJ0uDjfKQFBhtMJGWv2k2XSOKdlZnlYP_Kk37P9R_blhPmdmhNZyGmAh1IXPmkGkZ6JaVaAHmkyv4OyOVmSqyfbpR00wdQOZ1VFEiIqnDuf8vSYxWFLOetpiF0GQNhxVBNFPJCGo3Zt4WP__bQVwK3gPEtrlFVM5U5bm8r71sCbIRSPz9GYFiWB7wQWA_fH5k786mFIfLTj3JFAYIuRE4lp0BrrIFE-9_XLhbmWMbvvBPfneyHEY1508GrBcovJ4SdguJd9bAsbdgzyb4I8IjfQ-_LIq4P0gsAKYf3nT3fS8x0hman-VXBDX05mRZUe1_eSkXh8nRE939w1z3mSI2QB-U1P_RT3ULtdEYsK5lOYJADlrAN9vJ6F0vBJdM1O1V_8l53cPOK1hE8QBFj1hg0Q04FD_i7Rm1eX7wVpQ962dwpDQyJ74Om2sqRBsqKco2vDgj7Df53MJ1hhucw1jednv4Dr-KyTfCzsnfhdUbaIDMRGOvI0Q9HMUy91GjdE19lVsJ4fd-IuV45gmXqL2KsjCUIsTzqECQxXCxZHgFV95jpyzBvjEcG_CD_d6Gw1wShnxYvsjUy026OsFQBYVOzkFnBpoFPO7Ve7JZjIO-0_qWiXn5p0k2NJreKHTXv2ZCbN01GbwHWwJUW4lHVerPv1eptB44uF4brfNG8RU1DRCLyvhUDApqplyq7tMis_qgWEGT9yj4j6ZhrlfkvnE0Kcsx16YXxBYp93YS2uBMet2_rakz1PUj8JFGvq3BIZ4SrR_Bv__-8H23bJAP-Jq_n9ib8NZi6b5-D1Yl3lHJfMrGSMPe3esGD94L6OuMCjrLD73r0BAE0w6pGJyQ8iOXd3AMzUT2DC1LkhKFUCYsrPoIKkvYuDTcPsxxTc7YGNUe-6W_McF-JZHka2zl4L3Y1S4b2XPGkVo0KFhyQQ5vRIXzgfdOSCKq0oGTCfggn0IrlTua4SzU5PMevwNOckOMBc2zBOGjh5OvOTauk5bPY4o-WDOuntnigikLaW2WCcCcgVE9_1II92U2EekdTAidGTLdyUGy1mhmU4Lyx94d3NRz9zow7p4kodhe4Z4zu_PMW6PumwrH-VbrJdR7UWcn2zqGOYIafTnoydF819_Fihc1srlOC9MGpunOU6fzgEN6LdWTveVx7Ey9k3gDVvZ8hfvouY7U1B7g1KlftakEJ45q3xwVqJ3pLtxfJBsF3G4cj_b524uukP_wy-LUAYeEjljg63umYX1Md_6fACdCHX6dy8xVgW6RixVPgdFeGFhETfJXnBG_69lBb7vBw9_II4tZaQKHIzmykuQKcl_NSe8jBJnANwNngUrvzyH5Czz7DYdISBL_D8CtOfwdxNQzXSD-2TjxnOABxS95-ciP4QbWjQA7dYV--g6zVsGIUJcBwfshaD1cB9au8b787_RqfEbCf7aZei7FpCjtBaYJ-trVRI1PgXgRGbWIHqZ2mtqotD6pFTGmGl_jnT7RacB9hai2pTfoOojNrCSIyNImd7z1Su_85LobCx2UY6diZIiV3bkzlbpHTalf42G3srNr50OlSVZand8icWvfObwRR2giJKgxfJECdIap6jHFHvpSKIPEw-PcBQjIdNnFRGVY8kQd1uNtWCcowDiG9e93ReeZn-ZViadc6e2F849sxeHpOTRxVHyW2EUb44ZdUOgv4X2EHL2LreJMT6hK8Bofv3xWvzwdkmWBC0fSbG4wuXzfxOzW4ntqbvcPQPBj2X4tFyo6Etc9yb5vva9lY-mexerhGrDloO9tKJMXZwkkCCJQFdk8UZ3LObZsIHL-Cl_8GQhsrd3h7iKWSqD6hMBYyTo-PkhLfvKID3P5heKuvwxtNC-CbHWpNdWaHOAG6yQA3mLxZS3bP2WPS9nkFjbtM3_NG0hVq-M9a6o73QR6Puh-y98suNHyX3M-VVN-7Ez7cteWgzU4jjA9DpVGrIkxblnfdnLVFTCzg6wiHHzLlUBySjjvwPXA-2qeWRRz4i5d1D8ngvdnw0s8Ta7uGAGL2Pmry4sgGSO69IaWYrV5YYJuYG2as5g0RmyMr5EXqM3IR0sDgavyA_GNI1iT16Cw7twf2WxYaUxuzTLzCE7SoUoInCMwk7RXXr0ezn2YGR-SM_Cf_rwLQKKj3-U7loNYUodwVOgSpZTiCOZ4Wuhn75lviMZ2zMab2Yt1wYxhJ6xhknfQ4J9oQs93QkLgGHqGKaDrlW1QyEYAVRwABz_vBm4YQWLwgqb7fjvdJ4ylUijCuvPO953_DlRF6bapIYymg2HSgsZHw5iQ7_41AhdLjlKhRnmEx3r1-aW4t8gflZph4s8LSLbGSTBuSukCyCR3Je-V8BhMC02QWhfqH8nRGUVYXgMS_h5bAuFxXVaWwy0BXIHomCoohkNV_P_cUAPJ88suLVluMl0MCz2vz5ClzTPT4z2M8QhsVV0NQjYoohXcUUdOHkA==",
  "id": "rs_0b3cc92e2b8f5792016ab44401034087d0b42c86a22ff4f01d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQLMs8-jNHzu3sVSYc39d6K-Wb-oqFYm_5nbl2U6vGrHfzwb29duYw2FIdv0Ng_dDO8bA1Cp8fwtdJH-4sJysp2Vkb1AMewEtMNl5keMXtfMxSQpZq80FXbKb6S8pKLeNSXqcG4-cEjWWj37sNiNvfboyNdaGlib-SkOK5m5fj8agpaX_rs-Mytk1ZUWpu-d3w2_yB1pn54STIB0yZlgwtyr18VYtE6MtL7yJWL4RsCOer0J0iOk0M3IlAeHN20pet5JEBSSj_EF0OzU__5047F8egUjuuKb_6lCMhOqg3MOLpqc91EKcmvnn9g9vRlPkI2dqsjUyVLai7WBGB6pYIReISxp99JYH1RtlNYSs0ANHBpsnhjdor0AK0bvhjo6SpkUXY9l50oLBqSBz_4HLe0ETBGIFv-Q7tJr8xd6AiolhUDO1gLYaxuQiKp8GyulCu4eZZGGturjcVu2msNeOEehjD3WmYcWtn_rtirku_Y-TfVItpSR0zuSCNS2sf68I6Uj3HLWflaO8WDHO_Vv0x3mftCfibTmXmdnRrwegTp8DbJO6uIMO5kKz212Jel7H7kMxc2HJ-psQV4WxnpMSe-R5JW69_1irDP1rbynduISbUXzGLnp6gdYPVtzCpzJQKHk3zWS-fcVcVtT25WZfeWrgMEM6TU393U-Maumr_Xol20MlBh9Bw0wpsjUbmFIrzr8iy7Bqvijgkm5NQvjGe92YGwwvGC0juC9x70uPXqU_o3podTqAJxq6mTtJBdaeTom86x4Vuf6SbUdkAb2nHMcS2XptRUWAXz0IhfpvE5DoctrbPrd_MTUzfFp24j2xZisCqQ8-NoqSO6d3CcMkDrfdg_K0rbHDGH4pHt4T4l_CWqYyJpJpp_xKZDHSeiPcfx_zSsGaHStOCa3SZWzKRbkqoY7oUtKi187gmlpn80J083eJCfppvaDM5htr9rI0PfmR8CpTvvZh7Hut5Cl2onwbIR3KaVo9mUt97qM6ZOoo9WCxGcGU9hbdD0HXEHZJsEN0uXeECmLgaPcIx4yHqFRwCNmyGZjXwICXCA46hCg9wntY7RXU1b3SHNss6MPX7r7_TdALuns2TRt0o4hEfIAHmIQTbIrGX7zdvEcDRDjGwLmoOrAiYIsUww1f_A-Ph128wxFPZ9ZHJT7Hwh1AV_qGlvUbxPsWh6MmHvuy1PLgbdaPnQYrjgW7nBzPoO_J3aIoFienQDdNoP88ZDmCVcW2YhC7G-SLMNAD2Y7Jyn03xefGHuaIwKy5nAfMnilcJwdk4H_TKcUrmCh5UjuNWd-bl_F_JDxvNrzQZlR9_nmb1lpqxOrTqucNtWM3eXTOWn9tHTHJOuYp4aR0DxMF4-IGgGIYB6umDJoJD9vMQLTiWIv_CerYy_IWOuXZ7Lf0cxmdnqKtqkdIR3aK82p7eGw5omkRG9F58JwUAqxnBXVvN-g6tAdj5_TdKldsVIa-HM7gfifDK6tEyxfFUeHfHBwMTrENQhSbU8JMWiavZsY04NkjBExndNxdziB_bu7ltc33JNQ3wUnXvawLI_RqO23Jp06U16cD77Jm6zvNUE7ZKnVyGkU-GWuSpVlspjIGE1qp-aUc24CUJ1PqU6HWTcICQZw2p1aGqRrRizrmG0qPxEJICrHVg8VqfS3IBMQP-B9MrrUDrmJbbQiQHGgchYy87DMsu8WqayM65NGeLOGKA_1YsFJp32CDoSz-wk9LBYP0VuEUPTswgyGW4Lkb1zfh4D4-tDAAG9Mo6kgcfEJNBXg8y2mSCCDwEgiKGZ2DgKs6bzz7pWliP8vJym_dv11mvgdWwiEGZ28Ik4YUZq_PZCF0azyjcShF_6n92PHVD08j5D7O-N0guVNmNksAOD3j6HaQwwIGR6_28JtVUMY8XUwMTv3D2r-HA8c1qJl9iSKT9J-KrZuMRfGN64Twe2k3WYLlu7_7oXbKk7NwYAIQO4hAFle482FIDUVkYMJXWEPHN62sezVHnkj5Qx-1AmRDzp-LEdTeNXlg6RvinCTiQ3nirxM5jZjuzN0nxnRDRsfMetqy8YM_3l_5kC1NIOovzCd6qnbpIJ2kOiZwGpOxRHAQuxbmgeGmIUFZZj1qTS-wfPwrAv7URY3-T56i7sBdkokvKemJGhtM0XzwnDAIKlq5uwC4hMusywULGjEHzwgm1xPcJH2GmLx_jJJg3QROqRZysvQBFO24OUXN8GPqxxqJRhFShLERH-_yDhvXHMAKB7zRlClZWsw8vcb7-JLmCmkn1Z7KIkJkfe695Nu-4uiIUnGIqSWYQAaWkAUhp2WSk03Y2uoEjFdfufnZ9bHSPIVxPOcisYxJ_FJ39LIl15PSSnwjgT5Y0de5d_TXrQC4evTRB_x4zjyFrGgiAHo5aXFHp67kmAgf4XDW3dP7_iBWjWvf3Ch3r17EntQ6D21X0aUfa7e3w6bPuoLRki0pnkKk9lYq20idMj5D2N3IvLmkX6vlasq1cSYbljQ56AZVlqJlY8V1kJ0Nq4pnbzD1HevXyQiwsZqDTP8LEPQ3FbH1_PY7xG70Avh1pTi6IoR6UbcX4orCnuwXIiuSS1wYgb6a1STE8pq9JvsMuXvY029Vm169KXc9sR9rjEdZxITYv2-24rGUXs7TBZdmwoju_Uaz5gsgNCbatwqMOIfWKsZ6Q7c4Wa2XYz4r70pNtyEsOpu5hX3Kuyn8V_FBfUY9qTQvMi5O5th0nblf04CUl40JlgzvZ7kk-FZPtdevZvT-QMeQXl7tlDHUN2CHX0jzybwalWB7Hos1tdNBwDQjSCinUFug8mbj0A9C0XEO4g8v72ProZPfNwBBagv1r3GIQY1ZhKHpeaziCNUWSgfyAR91l7vtxjR8lN0PdRO-VDKxEvFDnwmOOxnjMHQOVS-hGIUzW_hqrXXAQnISGP7K6KFZtMpSHHnwwciGo3Skv5JJcRQZQ7_qqAGEe-6M-DPnLcELs9cKio30-vm82Ka9Azo7oNZCspNtXdASLpD5jq2cfxGipkppV4Rshfq2CHH_7e3fMA26ckwOaib8cHxyopapLf4acmi91fyULS-8_Od98KcaWdKdRIYAdMH3ABNbolMbM3UbNVQJC8gbsMHVNbshELg2DfuiM0FptZ3J5QwTc-RhH4XxEKGl6CxhDUm3Cdmm4n9E3AWgURzo5FY-Rr44CnxSTiDRZB88sW7tRL0jyAQfXXfHeRShwAq3vSb9nKCSE0nMlIJXHeF5jpGwtJrIvyaGTgwYJbEAZp6gTJ-5sScr3Z8leKw1vO6HuNOg==",
  "id": "rs_0b3cc92e2b8f5792016ab44405b99887d0ac3ce5fdfd1c8c3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.22,\"left_z\":0.3,\"left_yaw\":0.8,\"left_gripper\":1.0},\"note\":\"The overhead view shows the gray bowl remained on the table, so its smooth side rim slipped during transport. I’ll retry on the purple bowl using a near-rim pinch with the jaws rotated toward the radial direction, which should support the load more symmetrically; first I’ll open, raise, and rotate partway.\"}",
  "call_id": "call_qI9iahw9VZFrNEqv1PfDU471",
  "id": "fc_0b3cc92e2b8f5792016ab44409dd0487d08a136fb1066107db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qI9iahw9VZFrNEqv1PfDU471",
  "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]: [-0.7231, 1.9556, 1.9408, -1.5589, -0.4992, -1.359, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3313 left_y=-0.1748 left_z=0.1881 left_yaw=0.6956 left_pitch=-0.5128 left_roll=0.1299 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.335, -11.6444, 5.6821, 0.3932, -0.442, 0.022, 0.0611, -0.0068, -1.4017, 6.9812, 1.6581, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe169f16aa75b1b971bafee51414fd1623defb84b723e3babd0f4b9f69af5b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0968fe251f7e783aa8255f105aa2623bb37659ba593235431ebfa841c74235d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33c3c8e6df73eff8c3d27493a711e712dcc32084d564992cc8075e52c199805",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 5.831 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 96 changed as sent

message 102 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.7714, 1.1141, -0.4927, -0.3229, -0.3935, 0.0512, -0.0177, 0.8211, 0.5945, -0.4232, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.37 left_y=-0.1638 left_z=0.0518 left_yaw=-0.037 left_pitch=-0.4882 left_roll=0.1373 left_gripper=0.0512 right_x=0.2889 right_y=0.0014 right_z=0.1595 right_yaw=0.0037 right_pitch=-0.0698 right_roll=-0.0054 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -8.294, 5.9829, 1.0769, -0.2418, -0.0415, 0.105, -0.1162, -1.306, 7.3368, 1.7216, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.0224, 2.0327, -1.2213, -0.3733, -0.5877, 0.0508, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3806 left_y=-0.2707 left_z=0.1927 left_yaw=-0.0604 left_pitch=-0.4971 left_roll=0.1125 left_gripper=0.0508 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -10.1538, 7.8427, 0.696, -0.4274, 0.0269, -0.0122, -0.1436, -1.4154, 6.9949, 1.6581, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7231, 1.9556, 1.9408, -1.5589, -0.4992, -1.359, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3313 left_y=-0.1748 left_z=0.1881 left_yaw=0.6956 left_pitch=-0.5128 left_roll=0.1299 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.335, -11.6444, 5.6821, 0.3932, -0.442, 0.022, 0.0611, -0.0068, -1.4017, 6.9812, 1.6581, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe169f16aa75b1b971bafee51414fd1623defb84b723e3babd0f4b9f69af5b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0968fe251f7e783aa8255f105aa2623bb37659ba593235431ebfa841c74235d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33c3c8e6df73eff8c3d27493a711e712dcc32084d564992cc8075e52c199805",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQVin-ixhzQ7BtLq3G8PPaJhdumV8WF6BnD08d7SfOoi418-Y0Zc7wb8PZiGOUNsxXWacsgY6MVJSD-ANJrQxaeU-FkM1iy7N50HcQfnNzA0oTHBY19-usoEYN7mFvpOw85umJrYWY1OfgD3f19wnINrhPeHot1Bx6FIEyb5CYeVpxIl1WwXqdTiN6Yqv1PdOSGgzVBNvkCKc-aAEEJVnBdk8DL5oB2y7OW1LZrjUDmquDt8CmFg7K_Tqpqx4pIqw-T1nj8E_CCMDqh4OyyCvjLRIDok1TQzCgRYfw3eTSe5D40LkxIqs7d2Ezjh5s7LlEkwcFj6RGtAq_pielIs4BjSbkGgY-AnYMFTLExZZ4YiAN1MA-03Snerdk_Tqx-OP2UL1f7GPwAV04FJwMgqPCn-6MlIXsoboJdxa6wuoLDIyTUIV9kKmNYJsJH2cYvXEoddNPeIEvEAyoZ-jjO-I0cL5LkvdF2biJ9V04v_U8E0pEwsZUPNNi5DAsDp0FygaZism9DGBMOaEJd-zMROrsQA9tZwswWNXdI7TrSl04KmG5hVL-ZcxU2fG9r59KbU2haMMj1fZjnWE8_IjQxoHz6UN2JWNiRnKFqe-0k0Ku6x5QQxxhqsjE03QYzjxXBTtnX458vE5qvEsLRsVBsXppHPZ6eOgXDY8Eps_qN4lI7FQtl5QZTjVCubUWQqtH8S0lLuKIJDHg830MvHXyk-saKyxRhQx0XoDHwrE9UYQwjquUB0pAMHBVJY9Ld01sN9j9rclaN-9ILpl57hYxYOVJh5t3n9LqqCEHITjH8Lg79_QbxIhpHJmFiLPb_XFR8shmVPcjWA0z_jQdnisQq_mcM3dZlWtEoHJj_JefvVN_b6wiEurEbf-XF2rj2kRwirg_tN3PDIXyzxluQtRSkj1lkcSo1eZHIlwaMFntDw_J3QJgZPb2gGEAx9CQJg5kTmEuoYcwyw5ioJbLNHimEteqxobGgZHxBKFJT3lQy9KdnTQUpaj4A-LR3U-3q8v_8BJQUZmy75zxcqgFhBq8cXCwh5-5dDl5mZSe7sIez4sgS2c4mTZBRJnvfAMX1mZy_5MxgpayTSB0_OgVvIqdi2bywzEOEs4HV0MX1J-rFwM-63A81-CTqYlEPK6uwe35A4sUbPWQhpay90-udaMwbfIg_ApX8r9r2wjxtM4_73ORz4q3ZeMDgliCFUGEfRhF4I4u2uOkcuaAmmb2CtL-WIys4NvWZSkxeSegwH7ay1Oiyn7pEeDz9YkVGxlUvhw7XTgWdhryaIq0uqUY-rq8LI-wEhuel3gMQLXNIc5fx0lLWEavW4p5la8UNACPPCwuese6KK3chEX_lAFhPJ5uwgxBBNPiklccFzR_uObdS6KnZ_pkajKnSHrYFVrf5i-cYuSH11WXk8Wp5lrNihU7dqLgWPqeXezI4_DeJ67uKP2dEwQcSj7yNs5FEHgOlnzwwUU1Po2LAL4oQ7fFprm0sfnMb0nFhsPcXJel36neCPQsFDWDIqkaCd35Y4chh8kvgrsntry8FKhv8Pgh3WasqdqruqzUQYamzQHmdkYy9OffJp0GDKQrEfPEroic6OA0SJNgd5-mqcAcrEKy3MgoDrrA_oZSzzkA7nXHHEZrcMzqEZ7u-k11BLOaWQuneoMMmiMXs0O7OvkMdS5l4e9-2RT11mH8f0oBmp-UWYNtnSKD3RgVy1XNjZOyt9QOo1Kl1PCGxZ_kJeoJzHBQAsFuSvSUJ3NNEBfwfXBN-Is5sRuWgAzNDwOqq-7LC7QvFdKQ87EY1A68XYyVvbowHoaPOAsQVbYdFiIXJTG8WFCWGBicaxeuWELp9BrneNALM4ZdpWpQ4ta4igykaKbslZTYmpbaraObFyWUFe6WB4sry8XEHWSRmCH-9XW0JQmvsVgMrg9IoMumqTpxx3uCekcLOCUxCGXk6FrtFYRH-zWVaaDV42KqkCGb9bTEoDwLqQ_oDX1Cnq9eaXayn5UJ7p3dZe4R_Qlrlq8Zknde0CYuPkrVs2QvRj49XJ22KD5fpZ2yBTIkXKzbZgMcInY8kI_b4J8gmsE9xSCGXXmzts7sYjuY1Cp1AAO6Ztl8qTeWqx3a8NeoKrGvPXDREKfUdju4_NSx7xDkQ1nbjgQDRrgpT1fxye5H9MAaJEoT1PmcA2vLzRFU4UL9DLuZhd4qkKimMhFwLT89aZcGWQFHGr4uL24dtC3z1Sfwu6kigOZvUsi-qRauHqs77xZRBqLkKnlCCik5jsiMS4zNU0bcY_Lv5bTH8_kmBJvbMyrDQQ-BMCGUsHYu5mLMR0TR9yH6XyFa5MGYvKprmYFA5HUt3OUw-dwDECDJBNhK-x3o5erpVn2Nxgyw-u7p81bB3otwhkd-dUZDxgssWJ_l0PqPZnA0tnoLLCUZGJvR_s7vLNDATQDzzeAafHRj4B3FrdoUTjga8tfm3aWgsE7CnSLGzZ6ArgTNAylu2qMgYGV0SvH65pgkvScMTCkFLeryBb-UkyGTn77nnVPikpg8_MkSRKq06RXX_qruzy2FM9pA5n4z0e8gySRu5kFBuqCd7H3sE8j52EHCuV__fqvlwsckEya2jGw3YnFyaMgI8L3yATH6dOE5HRuJC50EbCJvN_IK87pCfCyNh8YHYq2RWPSuHUFPx4zpz0ESJwO-E0PUPzhemNczJBWRBcC6ibxeUk2YOmrtMZO3TxwwbVF6P-50WxxK9rppYjtENQKwi9ACP4bcfJ3JfL5YynjBTM7_z-NwvezeQ6ccjo75lBAtOG56XYwXlteUmHmFH9k9wm9LdkMXRlsfoFE7eeHb4LojYX63eyDe-bhJLF3qC3vTCasjWa_otlHjvEhKeS853QGf8S5Wvy37TLaxmDCvzv1NS3xmPQXL0dSAz6duv4x0V5W7Yn6Kh4YPl29EJMdG4HLlSF-Zp8mOonWasec87cRWE_K44AFKMQJ_VqOhla5O-UyrRFsES44OfGSt1JuxmjrvhFCqV1yONkjXMBu465cD73vkXE4zWWQB01Fy5dK6lBjmpMZY9K16Zj10kA-XCp7smvo9d50OMKOKYfdPOr6nhecLF197TpzPrXhsOz8PlIYHoaMaZBsAYtqFgKi2rQhulZvilH39nTLgJBKeOT6ig5ISc1TJf5mnJZN-sZ0V1eydb7HBLdz0DkKE3jink5b0JbxWEHXAKcn4rHorn3tX57g3QSJgRkmVFFyBtQprQ6lSUNKCgPbIyLIJYuZp3DEuNhq3sos6zQGjSMvozVTFcKvTeRKmobC3OvaCIcKFpiFXxGTF8IR9US5MuJv0YPXp2bC7QDVaCVDpoWydCU079crISglsX0Pgw1kTF8HgNyYFSZ7PwAx5R1dDM7wyPmNzD8qO5hl9340yehWUR9oO0fJfu3yh6hibcMVyEeujjAIu4nBXWaZVOUonEIKoXkAee9AbDBZAYORTdypeJCY_fiIWHK3BvKfkZxKiFsCyj9tmW9FyvfI8jlE7P04WNRUi9RZnX7gcdLrZSAcwZPY1gy_KdAImYpX5-ytAT1SblfYEHrR3uEDmQVccm42MhV2AiweE5NCOaoAjZkbAE_uXLi59exF2kLZeXqxTgTagOKn7wAssPuT-FTJbl0cvzTiRWSy7Ma2F7UXs4w0h-rySNnglo23AkELAUn0VePGxRli0fOtzMmbvtksdp26w41ID6Z8fGqVxradpaIGeCNFgnOT8_virLI4uGq4tlRoGlisFCBeX4K5ljX_geZJefjPUwA99G7S0sbGOK",
  "id": "rs_0b3cc92e2b8f5792016ab4440ef80887d0b84d0fd192e12a1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.22,\"left_z\":0.25,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The arm has opened and rotated partway; the purple bowl is visible at the lower-right of the rotated wrist view. I’ll complete the 90° jaw rotation and center over its near rim at a safe height.\"}",
  "call_id": "call_n91FsacHDbYPsHgKqJzimOFF",
  "id": "fc_0b3cc92e2b8f5792016ab44414448887d09557a1a9bb6b4521",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n91FsacHDbYPsHgKqJzimOFF",
  "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]: [-0.6277, 2.0445, 1.7565, -1.5562, -0.3904, -1.9808, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3079 left_y=-0.1359 left_z=0.1104 left_yaw=1.3594 left_pitch=-0.5396 left_roll=0.1287 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [2.988, -9.8256, 5.2718, -0.398, -0.2418, -0.1001, -0.1343, -0.1846, -1.2923, 6.9675, 1.6386, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99b56bbafd5a85d1a8c3710a992deaf4f21cad268e17fdc24147941e4f9a44e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269c86e92cdec5c8a258ea7cb34ef3489523d6d32c3e86e3b06c856bfcd5b5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162fe75ae4f6e8240188862275e87acfb69b942946620153b78485ae72717450",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 3.748 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 102 changed as sent

message 106 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.75, 1.4616, -0.8623, -0.3229, -0.3939, 0.0508, -0.0177, 0.8242, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3832 left_y=-0.1722 left_z=0.1428 left_yaw=-0.0366 left_pitch=-0.4888 left_roll=0.1375 left_gripper=0.0508 right_x=0.2891 right_y=0.0014 right_z=0.1588 right_yaw=0.0035 right_pitch=-0.0725 right_roll=-0.0051 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -9.894, 8.4034, 0.9597, -0.2222, -0.022, -0.0513, -0.1709, -1.3197, 6.9675, 1.6728, -0.0415, -0.0073, -0.0122]",
      "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]: [-0.7231, 1.9556, 1.9408, -1.5589, -0.4992, -1.359, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3313 left_y=-0.1748 left_z=0.1881 left_yaw=0.6956 left_pitch=-0.5128 left_roll=0.1299 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.335, -11.6444, 5.6821, 0.3932, -0.442, 0.022, 0.0611, -0.0068, -1.4017, 6.9812, 1.6581, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6277, 2.0445, 1.7565, -1.5562, -0.3904, -1.9808, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3079 left_y=-0.1359 left_z=0.1104 left_yaw=1.3594 left_pitch=-0.5396 left_roll=0.1287 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [2.988, -9.8256, 5.2718, -0.398, -0.2418, -0.1001, -0.1343, -0.1846, -1.2923, 6.9675, 1.6386, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99b56bbafd5a85d1a8c3710a992deaf4f21cad268e17fdc24147941e4f9a44e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269c86e92cdec5c8a258ea7cb34ef3489523d6d32c3e86e3b06c856bfcd5b5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162fe75ae4f6e8240188862275e87acfb69b942946620153b78485ae72717450",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQbd4Y7LtvnWdlmeTFCZQlyvcXBhv9EeQy6AZyEFw5VteOqnnvREcFdTPI_Vfo1ArRt9wWB8bqri8PS2N7UzhNcJsa3x0Ww5XZSQo03cb0Xi5oW2O9pVuYtxNhZeglix-OwjN1pox4__YsF4DVVcpRPTWzwU3nCga3F58kKA8zV65XkHNPyH0nSd7cyPqX0yejWWv7ZmNtHvjhJRGb_uaZ_iawC3CaUbNNuKdqL6g8L4iyWgELDjmUxcPDChF5-4Tld3NcsZfG6l6MDCfBYrSfXZ4YmLO7n_Yw6yWBJc15v0T3kB1wwIpw12YDuTJkh87i-E4HxL_p4lheNYaGB2D09gJx0BCJc9MIAKIfW1AYZLD6wzOkywjT5h0GlDtdf_umw6m5cjRhceF754c_CBEFZaGwW5pkL8E7NrObcsMoMpuC5pUA82BUINhfL5UUpssAupY8LYFDzhwJUTexFA5pw5wnaZmbuoVK2lLIU0hBkveMIT7fPabofbMUbrGc3hX8rnv6UOYeD4cdJwpaYgg7YhLvM0sl4fjW8WyG05M7OsSnqp1q7UnSiSeH5gwyJffvDzoIPp6GXvu1Fx5BS7bhzQWG5xaPet7ix_RzPY56KBDrK4HaTpqaIFHyAtC_gQMC4F_SIPE50dnOaMYPkLXjNAWrPxki_yFh3rYf7zGnMBZnVVT2ITuf02Jl0sBI8sdJZm1IP8hmr_ooBRxpRP2UFvZXFKSDOMD7rYd73B0hpiMfSQlwURbIGQP8TqbPv1vrgC4SHi67g3jHC3SQRAT8cYTSQRZtekK6Ay8dsRYaLErug5MZuAtNkq5HtZmvnmb2cw2oKWYKEDgtBFXSRR18780YcNN2Xp_x1VTUhWjm1sNuY_-57MLhFTqNdjatHht6BFMMkqhiCVyIQF9C7047M4Fk1zuHG6A6zvGO6u5r1ViH0hEBnfikKlJG4XP0-l5OI_k4kATfdiBC4G5lXbhhPIjVlgxsvao6nBVxMWJhrvbUKZV9ese6hRsnUIjZ3hSVrjdQ82x-H9IwNw1n_2HaaAPoSIoxpLwcoWr0pmhUp97tD8NFZT6k5tuXcHBVK--7bP85TSHJotIPY3XNd65hw7RuyPoPEOhGBbrD9ZGD_6NTgMC_zVN5pZCBLv25TbRXCR64fXYvedCOto_LrgGqtT3tzuhXKpjT6U4B3cTTAGA6lPjzHMkISAUnYBgOnkyHf__QCJuXeEgkBV48Nd3dr6qALWTNz2aVy6jrNQ8oUp__5IkdgSodPgIEcum0IBNKR7kYhUvLspFHquv_1FevyDarmYbTvWAXCorQLf3wwb1UXgUKoYX33ei12g2Kvi993NSUk_7Fz058xgHhxOGZ6b0c7MEoBbFxrwv2NlEi4shGYlaSQe_ufRTZ1OBfXBM29swGnQMRJeDxtD9FiyQq2M70cFZsBHohWxMW5FLI3KX329GpZHXmV5oPbFLn6uZC8BYMYkzP7CNtvv7JuYOnYQYdQFxG1G8pAFOvvwC5XaesvS0k6ISL4He-FwJ8ihwoszkEUUMzytC9Q_l8bR4JJBR4-ukBA2pNUdBdK21vLrobrOWfAYFsjmzi-28hFr8OZPErX6b3XVxpueWwVP7JlRyFWv5B-t-tjaIpm7n9nlDqXXy1hfiGQZNGlgSagPvHjBCvXuIx0hxlmFxUtQHDqxg3xtnjkEobxsEv3-7I85OKEQSFSOxo5kXy2Qwdw5H6gVUlLH8wpx-6UfLAdZCjnlASyJdFOZmPXyeREwYtUk3LBPcn6Sm-XKcNaCXX-w9H6YHRNyr27E4Lv0lijy32VFMQ1q4Hzu9VLahGtrGv2ZkOeK-tlnaOtawO_Y0B_CJBnHdpDnU5G-om4-w6A9tBilfEPBdfkf6K0xGISS89_t8WwKIYvqqeaaoPb-rRXLWSLJrmDXl_n6vqci770Alb4cvNAMzi2M1_kC4XE1EqHxHImtUWhAE43M2FOndp_dNuPyIjH_5NCt-hDk2JSGopIkyjWl5pNbBWn15y1Ze7CQavjOvsad18Q41Cc-wmZHN_LxNqd8oMITT28ZB75ckvWxXEaGPjG2vZCxmvYOnVb9cpCPpgug3gwes1R3aoHzgdUfLsMJIVWrHw2oIpnhxFvPfYskIreD4xLEsUoZ0ZtYkAwJL2O4pps_kU66I_nWcjE4uB_iDkKts6TIxg-e6ub1z83XvVzav-nJIfuOb-bLGmLHiD2Ez7KW_rs0k_OA_4AUzVTVQVpUklh5G3O8KCd0wmCMIXXs0iR-VZqgmEF0TUT9qcU9r7EMbqERoM3paYzD2OJnKa28T-Pdffg7Isbr4EQ5qD-CVTwpka7-_4j_W35LRDDKcT5AghAOQkweMF0X5Yd3E8GdhancpsMEf3wN5mdgFec9opqsCOBifuk1d8h4Z-tiTElZZUBPWR_ZhorNmsPWZLXNTewkdYnn2X-VYZPfIhKEICJ_1BhdGu_Awxah8aEVYU7_JIGwmX0nlitJ9GWBEcO4cdRPSc30OUgU7mXMU3pGJZiHpHmCFIWjJJykddkqSGLmSrnZ6_JkCg-BQBbH8cZ8Y8sAT9hOr7XtQVIzWXEe4gEULeXA5Zxsw6YHBXOKDCnpbhNsekB8oP6rsooeszjCJi5H2LyBGF5mb59vFqoLGJAGJ0DQRlWvzgYuYGo0I1_dPopvTobZHlWHY0OXm7eyWgXBaW5Hp4fXEDjPqxv-2DPq0j_YC4KDnyqfredwTiUPy6M5hIAdvELmG2kX3FaE8-8nz0moN3pOs6WqkA9oT9aFJ5j_YV3PdkJq0OI_rCn1-xozKx9dj-EgHUNehWHd_n05lFa_jXj64O3S9w35yDw_pN1APpIbKw=",
  "id": "rs_0b3cc92e2b8f5792016ab4441712a487d0ba4f92c5a6ab98d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.115,\"left_z\":0.08,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The rotated arm settled over the gray bowl rather than the purple one, but this places the jaw axis across the gray bowl’s near rim: one finger is outside and the other inside. I’ll make a small forward/left correction and lower to the rolled rim height for a stronger pinch than the earlier low side-wall grasp.\"}",
  "call_id": "call_49x1QmnBvEr8rQFkzzwac5kE",
  "id": "fc_0b3cc92e2b8f5792016ab4441a684487d0aff5c031373940e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_49x1QmnBvEr8rQFkzzwac5kE",
  "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]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3737, -2.0621, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3146 left_y=-0.117 left_z=0.1093 left_yaw=1.4866 left_pitch=-0.5487 left_roll=0.095 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -10.3726, 5.1761, -0.3785, -0.1929, -0.4029, -0.1343, -0.1436, -1.4017, 6.9949, 1.6337, -0.0757, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bab681dede4f677560340b558e8297460ac19533067392ce2aea4a1bcb885c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25cbe32f70f1057804a98cb37c56ef0cf2acdd65e49267d12e7192f807ee45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7813f4d3bfa64e0e025c34b9b6e9625e62b0e1f01b357ff860155a64998c25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.21 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 106 changed as sent

message 110 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.0224, 2.0327, -1.2213, -0.3733, -0.5877, 0.0508, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3806 left_y=-0.2707 left_z=0.1927 left_yaw=-0.0604 left_pitch=-0.4971 left_roll=0.1125 left_gripper=0.0508 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -10.1538, 7.8427, 0.696, -0.4274, 0.0269, -0.0122, -0.1436, -1.4154, 6.9949, 1.6581, -0.0611, -0.0269, -0.0122]",
      "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]: [-0.6277, 2.0445, 1.7565, -1.5562, -0.3904, -1.9808, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3079 left_y=-0.1359 left_z=0.1104 left_yaw=1.3594 left_pitch=-0.5396 left_roll=0.1287 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [2.988, -9.8256, 5.2718, -0.398, -0.2418, -0.1001, -0.1343, -0.1846, -1.2923, 6.9675, 1.6386, -0.0464, -0.0562, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3737, -2.0621, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3146 left_y=-0.117 left_z=0.1093 left_yaw=1.4866 left_pitch=-0.5487 left_roll=0.095 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -10.3726, 5.1761, -0.3785, -0.1929, -0.4029, -0.1343, -0.1436, -1.4017, 6.9949, 1.6337, -0.0757, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bab681dede4f677560340b558e8297460ac19533067392ce2aea4a1bcb885c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25cbe32f70f1057804a98cb37c56ef0cf2acdd65e49267d12e7192f807ee45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7813f4d3bfa64e0e025c34b9b6e9625e62b0e1f01b357ff860155a64998c25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQfLpPc8uooKzrUW_Lr5oQx1MABvoLO4wH85tlQuGbrnBB9jRrnrUVWNhcfaMv5ceZ8LL9ZDLzjwyxKdwTv-fGRUgVjKHZnc2ZzhCoWFMx1_AQN7iDhm4WCU8P0XCH41txf29QJGsbHPR_5FMUDJV1c_OnuJ1SWpXuvMmMtEqQdLnTXt-oCH41qIgky5LDL9UVZnQPlPSw47I4lWUSBaEYHdt4qfcXErcJygco8oy0xnpJ5Mevv7s4kuC7h-AZhdCcWCiLO-QtxWAmIiiT9FV380HOaxYXxiEQVUuTkjleUE3N32S11okHNJTaF-SAWWzDroDp6I8J6n_By5vxKdo-HCkMxG9pS3ABDoi15yfiixSGrsLPwJl7M0CjEPF9DGgKpM-ewUT7AdGRySUxm6AKqCVkyGH4PbSmBU5xstNtF8ZM8s3BeFVOh2x2wINSjJwlRu2nqGCOB7ksvslLxGKQoM4jdrHtaP-Ymw0VNtLzZh7UgeKsqr0_QZyYU8cCwWJJlKomliwZOn9jua-AHg692-z2CVItA8dcG7ijZXgiJrFgVxg0nrgIDojE1evtZt1S5pJkSixJb3qA6dyIwfoVFC9B80ZHlMqpi_L219ja4NDtb7aMl-LPl47GrUk4HCjzD0D6gYKo8UA4iKZQ2hrt9odMP5A5nZrNTfuTQg4uXhyMuQwygJdq-dpWH8CoXblpWjKgEH5pOBOIMsbv9f-E8MYIwXfULCWQcIHG3L6YZV7SdQTXvr18nBQAVya5LPhJkHHNsCPMnM2-ovEP1T_qcPQeJaexHx4AisUCDQoMWMjnY7mDkCfJXQW-AeXo1p2EnWKFp-8d2b5x0AJibeHugQNWx6GVR-VopLoHlppUxcyx3iVMfG-0fq-Nm4cOG3edcOtAa6uwqXvWp0Y3SShNsjVz5lkExVww0Ekwc-WBm-Y0mZuJLaT4tjmTqej0oWck2bRT0McMCspZakfkrCeC38Q-ivE0MhypxODbqcGcc2wZGhPsMg3BUjC-z_CRNgOraH44zghP2Z6dqx9oETTpB1zpdu9A8wDX-f5-pvU5HIRi4agcYNKm1ynPrbAbAVomXQr23gaC_RqI7hUoQCzGAtaspiMu8ve-2rBQKEZMQMIuH0EsYQiDFCmbPA2xrooMN2mjN7Lb_otlOw60rDU7fvs-U8WhfgjMVtLu0QcWRGA7C-ArgKgDEr21BxliFpgRefiC7DRP5HryoyIa0zouuHIhzXEdcFetqM9or0ZfFUNrRW6q2U7_oDNtDiVLZGV0HsdgdD3N4Vr3hbyD_uTyT9CdDnfAZHbusGKetFDBDofNoK0ZsyLcScAqjSnZtX5U182QO6ZD2VH1lFeN2gIPyprLfUn_0Ra309DEZQlNMfuGLv2fxskV8jfHVUt6ZeICV_ZmypxX8tGMFI8UrQzEyGOCC0LBlTB1KNM3qUTi4NmT9SalhKDLMmGmtEKSzk-pfx1JYr33j8UX8NuYlAKlHBv7eQX2Db1MDixuxpgFQVpeiwKmaEPkAgtqXuyzrCvOnHieXqnvkfnRjc-Vg5alJQXHKIjh2OhMeXYxnqSBpmtiffM1qbYIIk4GfE98-4Pe7Ub0pq_AXWBIE2JxPC0VGU_McPpwmpiIokUuUM3-jOx69erMEDeOZgvMTin8D6yl-UYyT6z7pkJv7NgXzhuyoCkS7JgBHffxP99H49Pa5LW780dDPhj7TbovBYPHjpYNDWHQIJIfsB1noxY2kCTtNo2XSKclduASeHU3yPnwWzVY-_wn1G8SM5DVu2uNtVUgnyzX4NVYbFy1ppS3YwGMFxk6yX0R1-trwp2B2OzUVM9-GWcKkOKS3GVSPCX2Z8yk76zoNDAQtakszv0FdsRng26gc--AGznYVU8jrkSka_YgyGBdfifIOOHDxDePtFN9dOHqYu_75fgSr7t32vuXGZZB9ymJvuSMrQpwoI6hUUHB_fcPMvhD4f1VUkAOXLDBffjPiq_iVf6gu04FaywW2S1T31vx-MZ0ICDmCApcAymbus2ZVvLBVaK-t2OnqPLWc",
  "id": "rs_0b3cc92e2b8f5792016ab4441ce1f087d0b9e6fc3fe62a308c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The rotated view clearly shows the gray bowl’s near-left rolled rim between the outside left finger and inside right finger; the descent stopped at contact around z=0.11. I’ll close gradually to a 1.4 cm gap around the thicker top rim.\"}",
  "call_id": "call_iEJ9xYpgHMinAdyUSFJRYO1V",
  "id": "fc_0b3cc92e2b8f5792016ab4441e9b4c87d0924cadb1a20654f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iEJ9xYpgHMinAdyUSFJRYO1V",
  "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]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3668, -2.0621, 0.1549, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3139 left_y=-0.1179 left_z=0.1089 left_yaw=1.4903 left_pitch=-0.5545 left_roll=0.0986 left_gripper=0.1549 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2496, 5.2444, -0.4322, -0.2271, -0.3443, 0.0513, -0.0615, -1.4154, 6.9675, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b5b53d48bbc569cc5104babe26ed6dd89ff7d380eb4ac2d5288c7e2150293e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c118d0e074f74986c8d3b1284047f6dde2c78b16b46653f8172d567df076f9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15bd984391923a824d99504f424e8a8e79d8a955f06beaaf7d6ed5cfab22caf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 9.78 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]: [-0.7231, 1.9556, 1.9408, -1.5589, -0.4992, -1.359, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3313 left_y=-0.1748 left_z=0.1881 left_yaw=0.6956 left_pitch=-0.5128 left_roll=0.1299 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.335, -11.6444, 5.6821, 0.3932, -0.442, 0.022, 0.0611, -0.0068, -1.4017, 6.9812, 1.6581, -0.0659, -0.0513, -0.0122]",
      "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]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3737, -2.0621, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3146 left_y=-0.117 left_z=0.1093 left_yaw=1.4866 left_pitch=-0.5487 left_roll=0.095 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -10.3726, 5.1761, -0.3785, -0.1929, -0.4029, -0.1343, -0.1436, -1.4017, 6.9949, 1.6337, -0.0757, -0.0757, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3668, -2.0621, 0.1549, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3139 left_y=-0.1179 left_z=0.1089 left_yaw=1.4903 left_pitch=-0.5545 left_roll=0.0986 left_gripper=0.1549 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2496, 5.2444, -0.4322, -0.2271, -0.3443, 0.0513, -0.0615, -1.4154, 6.9675, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b5b53d48bbc569cc5104babe26ed6dd89ff7d380eb4ac2d5288c7e2150293e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c118d0e074f74986c8d3b1284047f6dde2c78b16b46653f8172d567df076f9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15bd984391923a824d99504f424e8a8e79d8a955f06beaaf7d6ed5cfab22caf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQmLUTc9BM2HykanMVHg9BI-icirDPleLel9_8QZEM82ztcpZe1b1oQ2O9vXWw6i_NJDXdeHKKuBMbg5REChfspZ2g3JtV_8p4KaMHu4IPr_kFCdVPxMl2DHuOeQ6t5xwP3NE8UNhNY8tBOn_KrlFD44l3E-H1TLP1GDfpEh-8VCZn8qnjJj3tMllbXi2MHYxAvuu4ecHB-ts3WRC8jU13_2qHOzBpNf0m-CyKtZbBFl8doAnX78midQvpzOuUcKcCZ58uiTnzWM7Nq52dnnfc6AmWCsRuuuQG4TwZx3-7HHjhSAMHm34gwsSSOafKBLHDgklWk1u9R2SXOQriMb7GPex9zAgTwnXURztMbfQFJu2q-J0ii9j7r7a5d3ZM0QgmxING-KZkoP8kEKmYbeap3hlv0OtcpVrXSTwOjtmDgH6J8EDaT7L6awOE_Mt1ocqWMpIf5uNO9vjodH-kU8GnIRiQbTk_KNr8q3VxA4GP116je4J_QhdOqfOIbaOWM2EsZgcFmzZAWEa2kpHOCcUUiZJv9fBVSAGw980oNv3BbRfj_HxRVo2H2S_H9VeY9mL2juEVz6E8daEp-T6PthjGg6r9gUQkRipcHMrneYQbuniAB8JKGoiC5izPcIwabTJHDyU5i2L79-ikFZTejRt9YVCzzAYSflUaqZlwJBotUWiafnpA4DOYZndu6fInenfe9lEShnWgH3Yb__RvAbYJgLYZJrc4WvPqVsit-kV7fPhIxBrwTh3DBe_IG_UB-ueCFKE35_Ko6QSkNQGPChqjSUgKZ6KLhkKnYba_16s21P0GCATofvNiK36lwRh8kMhYXTaMV935-ZFMjojtqqwVuRiCV2EDLwxb1rysWTIcttB59wqTMhXZR9hqoWg1rjfIpOnLBmLpEfl_BEKRuQE5JdbQ85U5QcCun5dpZEIuF0vhFGPW8KLJMY112ORIMg2v0LfQGfRm8025yZm1mUW8oJ_n4-M5SxG7-ykzMxN_ee65odvtE8CvOegJY4cbldgUjZ-JKrLEYIfALYq9ZX8YyzXYAhVd0In7Iki8s_x0RYsbWQVQteZrt9l_GnZTauerPLd7D3nC1_bpNEeL2QNd2qP4BgXyK-ux1PwBoOQlXMBsdaUjK5zwlHWbW5W3WBbxx9knSFL84sbLMWfHeNI3AZlapAdGsMdkFcLsrWB7IZoGuUfzz5LVzyQxLvMSv3HDAuZlHD_FHFA4J-XL4B3rNAFHG9qnRKxUM1yIbS4oBQIezMOLC69firhXRdzNRIOej31Y877PPob3pG03uPr-EPD-72TOEnYuh4An-btJ0BjvSL31uhZufP-sIOudmJmPt__skeNs89ISIpZYU78AO9JjIB8BgKc3JTemepfHhfzH2UWmsVFWBHLdSkg4R93rfsSrv4zvge9Ze2jSPltYxmP3-9H0p23h7eb5LVTYle04xxuWm6G8amsh_jJt9nQEY30Afcio4vpPccfUxsdzawOFu3fZMUNaUYOG1Piu46yrGRyyn-o5OU2sT0wy7otMvFTT-_9Lqh5FXEj3EBVArsMd8B1JAK1loJP1rv8-WgGXScS5Z5MpQcNdtK7Rl3cm1a-V0TtNT-vSvQnPInpdsBSDb92mZpUaxNO5k7GK07-SR589MEumx5Pd7-17ttFWvbhous5s_aXRarEI5f9y-5xUXDTC3FzFSxs8OVQ32Vl11m-g1X05Nxp1jgZ1tnL_PD65rhv6ZTJU3sNwJeZLV0_Gpw2M7TdfscR18pNdDnj_zNGLTLXgHFCLyAPlM0ndiHgCRPGvlnqt5fjQpf030EPBPhr7DzfvFGTclNMx_BKDFIcDBQPY-8Eafgl5Df-xYQhgo-i_K_EoAafJuJm81uGKS48HMmj6W1gHOI32XZwd8FydG3kFPa3BC_SX1DHPbrENgqPeEetLWdEfs1PWmJg2uUS5-gM-RUCGo80JZnq-WTrziqvMEhiWToyeWHIVHOwO6x3YaoP2k_YCswTVbu23qMvtlKMr1WDcEigco4XbmhvL6J4SBpHRXkuUejC2-GkqXiyVJjy541fVbO1t2jOlKc8a-9lUEPbtJHI2E3INxkw9bx-3e6x05PvH-g2jA3sWbIEQbtnuV3OmNVg-g_hfp-Csd1ctb0SnhcE2uEWQbvLOESEvgIoCfdCy5drhcbUI5_flBYaHAYm5NQGYm9L4OmrvjO1u_da1H6u7b-sbaPT3yoCyDS7CrQMDKrnrKXcBYfRx8WHzrlSunQ4lv89brCuCyoOYxbuwR2WFeNhLmK28i5qCpN6egV9BVz0zK5-qwgHD-hsE9GnYZeOe0K3Ln_BNceTCBQ_W_lcRARQ1ViiZkM6O4Q5s2S8RsMNEOCEVWsI3n2Eld2ce_rFzvliQhGtBEC3X1QIo2FeNRZXTjhpNww0ine1FCa7t65d2YwdS10YPF7rak09xu4D2tQFpD4hqC8icaB0xx6sYALeKQjHf_1rIHiMtNR6u4H4t9UAbJIMz73W6MnkGgJZLpR6spxC5GyRoq78IgNnV_eK_IgkKKN1Pc35wSxvZhXLN1L7FiywsDreVPTYhGleCQGGYudwpJC2cFkY2kPphRfRn9gxuceuCERxnwRcjOGz3F",
  "id": "rs_0b3cc92e2b8f5792016ab44422a8f087d0a78398cfdcc551a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.11,\"left_z\":0.14,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"At the partial close, both pads ended just outside the rolled rim, so the jaw center is about 2 cm too baseward. I’ll reopen, raise slightly, and advance the center onto the rim before the next close.\"}",
  "call_id": "call_8XL6dfdSu2WVIauBxyez92zu",
  "id": "fc_0b3cc92e2b8f5792016ab44425ba3c87d0a00c08c3fe7c7111",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8XL6dfdSu2WVIauBxyez92zu",
  "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]: [-0.5022, 2.0445, 1.7565, -1.5562, -0.3664, -2.0617, 0.9947, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3203 left_y=-0.0996 left_z=0.1089 left_yaw=1.5481 left_pitch=-0.5551 left_roll=0.0986 left_gripper=0.9947 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.5402, -10.2359, 6.5573, -0.3834, -0.149, -0.1587, -0.0366, 0.0205, -1.4017, 7.0906, 1.6679, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5f632201e455c0db6634e5ad8ca308a760684c6a36c7d8dd2309fa47456863",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524feb3fdbaff430039bc00d490622a689de587951629f9179f476eb0ca5edb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5156606c554ea26065665151f36ac8a66b4d7c64a251ebc63d92c3fdf6efb2c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.846 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]: [-0.6277, 2.0445, 1.7565, -1.5562, -0.3904, -1.9808, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3079 left_y=-0.1359 left_z=0.1104 left_yaw=1.3594 left_pitch=-0.5396 left_roll=0.1287 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [2.988, -9.8256, 5.2718, -0.398, -0.2418, -0.1001, -0.1343, -0.1846, -1.2923, 6.9675, 1.6386, -0.0464, -0.0562, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3668, -2.0621, 0.1549, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3139 left_y=-0.1179 left_z=0.1089 left_yaw=1.4903 left_pitch=-0.5545 left_roll=0.0986 left_gripper=0.1549 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2496, 5.2444, -0.4322, -0.2271, -0.3443, 0.0513, -0.0615, -1.4154, 6.9675, 1.707, -0.0513, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5022, 2.0445, 1.7565, -1.5562, -0.3664, -2.0617, 0.9947, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3203 left_y=-0.0996 left_z=0.1089 left_yaw=1.5481 left_pitch=-0.5551 left_roll=0.0986 left_gripper=0.9947 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.5402, -10.2359, 6.5573, -0.3834, -0.149, -0.1587, -0.0366, 0.0205, -1.4017, 7.0906, 1.6679, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5f632201e455c0db6634e5ad8ca308a760684c6a36c7d8dd2309fa47456863",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524feb3fdbaff430039bc00d490622a689de587951629f9179f476eb0ca5edb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5156606c554ea26065665151f36ac8a66b4d7c64a251ebc63d92c3fdf6efb2c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQxZm7OtT1m3FbQ36l5glafHQ-hIqy3zYAGrSJwcQCm7G9de_6rOxxNUQ3fLeIv09j0MclnqVHADWJAzL_BSCATv0iNfw77olsolgXdZx3Xg8OmqtQ5YnlCf9qD5wVs0n_wYyUCwHnIz5YP-gqaPk25nZA-9TrBhjcXq5-3yUY_jqCZ2wG82sL4tsncbjgkX3Wf-5p1_rYFz8FRvKbwWlILZ4FhJVuRIg2c_ZA7KIJS3hPvXDELcQIgCKdbhajECGuL6DCItXybgs7y73vD6kYQw0iaz9LmF0H0lLBkKmMxJ0QJ6l37D2Ye8gEwJjtb6iZElaCD-0OzPCKe8ALIMmUi_NxUZcRL-ROHqh0MjYRqaZ5quaC5HvUgxjV9TLPKt6bQsycjTB9TIxNgYZCxLtCTalGDFvm1PZ4eNPYeiYctBnoFpl-dDpR_5rx8mB66sb0f627OxTTeFM5zf_ay8jQEpzBcySiCpGd5uzbmUBQqwsXCKitTaHlCMzy7LIXEacuAlhlb7GpgjNA4ovaN0Z-giaDKakbq7_yoFU_AJ_ZUSwgqV-3txwgKPLd6BkVIJkqRsHugrqFJbRjC-1oITmLhSaOygEvNZSJCKlKAoanNs2j9pMVcGDSUUN-XNKSXfOQeiHI8HPIq6BT6TJvoHWlbNwbsstj1wePmaoGUopwR-LoYdNJIRt6ERE-nOhrQKecKJpJQGUaR7l3T39OLCFn4dyPzCfeazZl06zqNKzSBE0eDOZ_moa1VrXeWzA3-0p7Z6bRETvA-hPPRmmKQ4XKh_PvsedFpcz5shwdqwVrbSbCLEKA5f3NRGoSLefSMmb2h_RnfPrG_Z4_Ttyp9ssP4ZwyRjzFrHvkl1DNY7NpCcKuWhF8hty_jyeiw0HhfCOxTQGwD85kXHcCpax8SAPQuhjnkrYH1sy0UleQ2rWfFzo3mSFQzwjXHgREgpG36q5uKHAumQ-LYnoWbqjd2WZfUEmQTlpHbmVXtgTmzRWXqbX_kik8lDki_ZmoI3TKFdA-_njPXMcJRKZ6PVcayUHthKso6v7RtSbAqvxswi2WNg3XRexp20op17TcwPO6ezxVVXWkDvH71yaFSVR7olZBLYGm9JbSDQUIpz0bEbF-WugwYFtxtJyzXtyCXs4mkrjA73xp8zlRT4iptQnt8YAcDh_H7fwVLgmNGR9W5a0Lw2oyQQpEbivrt87AEDcPC7TOCqE5Dn2qxPoUog6GUWaqnRqjokuh-bQ0dR8Bc9NsXm_b6jsXoi-sYXkvBKmOxrJm38aa11qdKix64L7FgrlANZfBqGdK3ebNZfHDkucDC_jnaJia80tuvZwtEiD20-e0jAAls6P0E8DkdNjfx6DC7w1Nd4ajxXEDUbZg4jbgnSr6RR9yQchbtkPgb0XmNbwom4w51tl2G3XkFgF_elFsojxEFUU9wYVC8gURVf-jGr_hJTKocXKKET0Nt2uvRq6J9ql5aXkRAJ9XZi41LREkMDoDlq7MNPeGBBof-5u0rwpM9GSGW4ZEyF9rF3U71Di3ngedZJpQtXavGKQpMZZOt3Rqiy226vvTWUqwyu_KRgywkzMBo2y3WILJl19kg-zsnl9kiAGMtUhL-iqxtNOI0OoVbZ3uJy5xvJqS87PGOu_z92mJ5f1cIM-_LdEgEiWKjSYhUmSwIbE4C5EyH14Kicu1LLKF_DaT_lVD9Sh0emGCol6c-9zVnQ1sUz832AIrFDreC5ohNXKBz6tasyZ9yHByD30ebYGq5z65SxDZguIBMBcZCVoh0ssgH_Eqsb5ul",
  "id": "rs_0b3cc92e2b8f5792016ab4442962b087d0a34d05686e469520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.1,\"left_z\":0.14,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"Reopened, the right finger is now clearly inside the gray bowl and the left finger outside, but the rolled rim remains about 1 cm right of the jaw center. I’ll advance a final small amount so the rim lies on the closing centerline.\"}",
  "call_id": "call_aXYG6BpbafWTm18JhVhvb0y8",
  "id": "fc_0b3cc92e2b8f5792016ab4442e086487d08e90b84b79cd0503",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aXYG6BpbafWTm18JhVhvb0y8",
  "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]: [-0.4671, 2.0579, 1.7882, -1.5574, -0.3668, -2.0491, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.33 left_y=-0.0915 left_z=0.1108 left_yaw=1.5655 left_pitch=-0.5632 left_roll=0.0868 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.4444, -8.9094, 7.5145, -0.315, -0.3297, 0.0904, -0.1343, -0.0205, -1.4154, 6.9675, 1.6337, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfb0133d04003cfeacb4f0ebc24f59c87cbaa582b60b9249f696ae5eb02ea24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2218a9170e71986a1e792526cd3d02162dd8a6c083b7ba9eb14ca4717c4f6ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ae1299cb6acd17aab3971192adeedd0f1efc5b6d7050e24d8cef5e930972ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.292 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]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3737, -2.0621, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3146 left_y=-0.117 left_z=0.1093 left_yaw=1.4866 left_pitch=-0.5487 left_roll=0.095 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -10.3726, 5.1761, -0.3785, -0.1929, -0.4029, -0.1343, -0.1436, -1.4017, 6.9949, 1.6337, -0.0757, -0.0757, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5022, 2.0445, 1.7565, -1.5562, -0.3664, -2.0617, 0.9947, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3203 left_y=-0.0996 left_z=0.1089 left_yaw=1.5481 left_pitch=-0.5551 left_roll=0.0986 left_gripper=0.9947 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.5402, -10.2359, 6.5573, -0.3834, -0.149, -0.1587, -0.0366, 0.0205, -1.4017, 7.0906, 1.6679, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.4671, 2.0579, 1.7882, -1.5574, -0.3668, -2.0491, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.33 left_y=-0.0915 left_z=0.1108 left_yaw=1.5655 left_pitch=-0.5632 left_roll=0.0868 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.4444, -8.9094, 7.5145, -0.315, -0.3297, 0.0904, -0.1343, -0.0205, -1.4154, 6.9675, 1.6337, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfb0133d04003cfeacb4f0ebc24f59c87cbaa582b60b9249f696ae5eb02ea24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2218a9170e71986a1e792526cd3d02162dd8a6c083b7ba9eb14ca4717c4f6ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ae1299cb6acd17aab3971192adeedd0f1efc5b6d7050e24d8cef5e930972ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ12cWzfL_tJbb35xFVRA7esCuBIwm9eArE7jZsOnsdTTDTwNUXPfL9f_kiv1oki5p04G2LJLR7NJGAT7pLylXx6-7xFK6RTPcrkICqKHEQw5tiyQNPjo7ggGEh-CN-7J0Sy33JYRtYFf66DpNIdZ4ktpPoph_JZu833UZiFmIVP-Hw_v28PdJ68bTp-9ZhK-D1Sd_iob_pNmhSku_g6a0R3kMx3iARcW1fNt4bMMoumqb22NQHhZ52DTPIAf1_TLBHC-aG1ngMbk_mB7DPa-mv6E3SjjUD4gDA4HoyqPCxYIWigG6ldqri5RniYhQfT_JxdJGuGmSc1Gj7BrjQd3GM_acRVY6dc0FlamCYe6uxKIUbxeZrk-T0_r_eLWqpePt9Yhz8ggK5_zSUxXmB0TxW6fMwWhOfbtJSFmN8nbuUTXpleGBJXz3RyyyjaeD3gN4FKM-gQQbCV-zTuxzPjzTB9sXxVUOU7YgyiqNaaogFyaTu6J6mLza6NnFND5pF-T0nueLMZZLp_ASyuTdxJfaLlYM5DNX21DAaIb967nCpo3vUu4k9TG-itibcLKkA75X7dZAmlcvzQFfDBfCWcAyrPgVp4HWLotpWJxvsaJ59Uv8C3FJ_HgLzuNpMnf040xWJYA6_E4qa17wghI9b062aYqj-dzpvJuZNcXqCVY9moak9wR7wtnwIldpnIayy_zHKejP1s9cdwzv2D06UMJVTbj3d0Ij9qAF3UfnLPoI81RH8wT1qL9pWKk-Wp5TjD6PoVz4xzAMDwZ797MamWL7bhP95CPmO3Rx6anDGl1QWnx1wTXiTnbLBADD0GWYGwIVavcPslkRC3HtlIHJQGvgujYt36rCdVzNyvICS2X-p_Efp1mPK0Tfc48Umo9KX1poxtgdAJqqzQ_0z4MBmQvljkQIOOthn9FrpEL7WJ2EHM4Rxmyf2M6F7mBmMJWenLVWsVQ6YwPwwj6vxBV84HTBjW6Y4DUg6DZfF3686RVWsBIazbSGJskCwdGXm_KZW5jKA88hdKOo-h-ZkvdJCikc07agL0eGLuxhzqWkEWnlLuvxzJs4A1TrMKZXvnlCqnE-OAc7OtXoNtptYtxItZjJ53HGKWI22oBw8h2jeN5PMH2Nrrgv0UpJFqHERnsLZYGXJIHDW4DbFF2T09rQABZ7C3a7JKSw8EgE1Qb0zapyUcvVSSW1GE0-24bO5xaHhSrvRzdHf51xKkptSy6bdjUhAI-44RlvuPYwu2PwBhCk4D6kNJN6lEU6PGywxoqOlb-o0Ti-LrkV45sc_psNH9WvrIa4rYwbTP0e8u-mbaPznVvU=",
  "id": "rs_0b3cc92e2b8f5792016ab444342f3c87d0bff1f527885c906f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.1},\"note\":\"The rolled rim is now within about a centimeter of the jaw center while one finger remains inside and the other outside. I’ll close to roughly a 1 cm gap and check whether the pads capture the rim rather than pushing it aside.\"}",
  "call_id": "call_WEmrBxG4RIfew6yyUm53VMsN",
  "id": "fc_0b3cc92e2b8f5792016ab44434893487d0a0d15e4f17da867b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WEmrBxG4RIfew6yyUm53VMsN",
  "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]: [-0.4679, 2.0621, 1.7931, -1.549, -0.3656, -2.043, 0.1049, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3326 left_y=-0.0933 left_z=0.1099 left_yaw=1.5562 left_pitch=-0.5686 left_roll=0.0807 left_gripper=0.1049 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -10.7282, 5.0803, -0.2955, -0.2759, -0.0806, 0.105, -0.212, -1.1692, 7.2, 1.6825, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04b4ec71678f6ffae3f9a19f848f1fa47149d2bddda0065b15c76f97fb0559e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7d69aaa2f3a064ef36d2bf3b315541ca66477e281adde782a88036f1ade3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e50e86388ddb793e93641974e73436cd7602db2123d685047b0144c630a32e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.383 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]: [-0.5602, 2.0445, 1.7565, -1.5566, -0.3668, -2.0621, 0.1549, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3139 left_y=-0.1179 left_z=0.1089 left_yaw=1.4903 left_pitch=-0.5545 left_roll=0.0986 left_gripper=0.1549 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2496, 5.2444, -0.4322, -0.2271, -0.3443, 0.0513, -0.0615, -1.4154, 6.9675, 1.707, -0.0513, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4671, 2.0579, 1.7882, -1.5574, -0.3668, -2.0491, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.33 left_y=-0.0915 left_z=0.1108 left_yaw=1.5655 left_pitch=-0.5632 left_roll=0.0868 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.4444, -8.9094, 7.5145, -0.315, -0.3297, 0.0904, -0.1343, -0.0205, -1.4154, 6.9675, 1.6337, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.4679, 2.0621, 1.7931, -1.549, -0.3656, -2.043, 0.1049, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3326 left_y=-0.0933 left_z=0.1099 left_yaw=1.5562 left_pitch=-0.5686 left_roll=0.0807 left_gripper=0.1049 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -10.7282, 5.0803, -0.2955, -0.2759, -0.0806, 0.105, -0.212, -1.1692, 7.2, 1.6825, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04b4ec71678f6ffae3f9a19f848f1fa47149d2bddda0065b15c76f97fb0559e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7d69aaa2f3a064ef36d2bf3b315541ca66477e281adde782a88036f1ade3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e50e86388ddb793e93641974e73436cd7602db2123d685047b0144c630a32e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ4wekSRZu-2SdmHCo3xK1BcQt1EgQXkUq1QCieH3F6UejG-OP3KgysvZKdsaWrSzfUzajYcU_IeMJINUX83Vq__TqKFxjPJN9LZ58mchZ7Ow1MEHNQ0k5Nvln8z87zFAC_-pIBgNkZrYMDHiEvvEpFKvVoUHs71_sWDngud5Mu7iM-NIepbyy1VLms4e65n50I_dqpg8lTs78w3gj9BLYCbyUpuqmjm84Dxxez2xfBehcThIYYVRUYT2kZtp9FqdqMi3asTQpXK2eZCZIUwf8V-JLLXn-o4Pf6NLkXzJmAbs8b78qvAICHKHo4p8eHD3VhKXSQDhiY07KZblhy9QN6ZRLOJ085VAWkeG56CI7nUNuixHKK5FKrXzw8t4wckRs52yhAgg_0IdP_TKYxPgnFJp0MhhWBPwPI4Et6DHih-x9NNetLA1c25KscyuaC2aidm03wVAjb4BZmQeqfjGFUmAGB7uynDta_T7WhF7q1e1SNUUWxynVIvsNX52E835-b46MfnJ8_iPIsdAhbw0DU62oHAu970J1SgjhSyd7PyuTfKOu1DsmHkIU1C3gDUCiIDWSdjqRjXVcYvnTveNOO557VpKgcwifHYePRQ53vh-a24Oc41HUdkooldNLjql5qj4aAK27rc3dxrdwK2fQ8tIoOKxwsM_45yUJ2Q4qhYIdDsDr6x7ASYj3MFf9vvOCoaRPqe8xoLIPcx0tAPJsIZBBDBNYGPq2vKYMx0-Q07T0gO8Uc1q9hkYX85U7ua3gQRP2a6lvwmzNl5z1XYRCSxFrA2PGnEZQerzVpb1ioOHqgQ851Fh42p1BOxKjUazTUa2npgkQyG9tidB4ZeaB8tc5Pjy1dvtJHAB-SkOiDMi5Uk9qyNLTB_HL-xc-PGx1nbWjQbj0MEu1LFs3B0ZaDyahXkO3gb22lQIhdUwoGYPwDEkwYhjX6Mo8FThix1Du4VbpkPADvwNVFhf5yePmmbTR1MCXmn0y8EH1k-kYl5YePsNLlVl_ZdAiXt5TkboDdf7na53FXjQVjS2blYx3wKuceHkghVlkopmSeMX8rUDAef9MC2VlqQw86tZt2-EUyAUije3rKfWYW7BO9Qg26u5rKwJAN3D4K2ZZR5mErXDDyVL4eLS-m1JmLHDfHkydlZuQXrIDKFBHdquVTfzdZh4-9EmrVTg1HFmT3-8dAMHLZXl8dZCK49OXxTrnB2ol836xzt6zsZBNRXc3J6Pxz2ipf_OzdOFuTdjzAZseTyMwZl5zpMThNjCSFWcK9t6bryvN-MCDkhliD0RIJlyR5KigQ-Ipd05wLVL-aRpdXNqavXZj_S-Wrfya84PLB2Hr0c6Acdj2GsMCYlm7IyTy3LDuVhAzkoVjNQHmWrT2C6QA=",
  "id": "rs_0b3cc92e2b8f5792016ab44437364487d0b0eafc1db5a28bbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the 1 cm opening, the two pads visibly sit on opposite sides of the gray bowl’s rolled rim without shifting it. I’ll close fully to clamp the rim and then lift vertically before any lateral transport.\"}",
  "call_id": "call_Tf81ySQjx4axU73uVt61gP8i",
  "id": "fc_0b3cc92e2b8f5792016ab4443797c487d0b769657a197c643d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tf81ySQjx4axU73uVt61gP8i",
  "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]: [-0.4679, 2.0621, 1.7931, -1.5482, -0.366, -2.0415, 0.0082, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3328 left_y=-0.0933 left_z=0.1098 left_yaw=1.5546 left_pitch=-0.5686 left_roll=0.0804 left_gripper=0.0082 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -10.4137, 5.2855, -0.1832, -0.2711, -0.0708, 0.6325, -0.1846, -1.3744, 7.2, 1.6679, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7d297dc1d0ac0b86af5475b91f78dc607685d1adaf2f20ba9911cb8f9a391d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44b38f59108206df974559803d56a6d910c26ad22a569aa3cd57f8a69e8d4af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7280c0cec7af5c956b50dd187c347b0a6fba587bf93b06f212a41f9f69d30968",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.784 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]: [-0.5022, 2.0445, 1.7565, -1.5562, -0.3664, -2.0617, 0.9947, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.3203 left_y=-0.0996 left_z=0.1089 left_yaw=1.5481 left_pitch=-0.5551 left_roll=0.0986 left_gripper=0.9947 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.5402, -10.2359, 6.5573, -0.3834, -0.149, -0.1587, -0.0366, 0.0205, -1.4017, 7.0906, 1.6679, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.4679, 2.0621, 1.7931, -1.549, -0.3656, -2.043, 0.1049, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3326 left_y=-0.0933 left_z=0.1099 left_yaw=1.5562 left_pitch=-0.5686 left_roll=0.0807 left_gripper=0.1049 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -10.7282, 5.0803, -0.2955, -0.2759, -0.0806, 0.105, -0.212, -1.1692, 7.2, 1.6825, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4679, 2.0621, 1.7931, -1.5482, -0.366, -2.0415, 0.0082, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3328 left_y=-0.0933 left_z=0.1098 left_yaw=1.5546 left_pitch=-0.5686 left_roll=0.0804 left_gripper=0.0082 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -10.4137, 5.2855, -0.1832, -0.2711, -0.0708, 0.6325, -0.1846, -1.3744, 7.2, 1.6679, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7d297dc1d0ac0b86af5475b91f78dc607685d1adaf2f20ba9911cb8f9a391d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44b38f59108206df974559803d56a6d910c26ad22a569aa3cd57f8a69e8d4af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7280c0cec7af5c956b50dd187c347b0a6fba587bf93b06f212a41f9f69d30968",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ8SSlBPjGd0qEUCw25KeoGxiDw7cy0z9pp_BE-G-fbrKKxknv_io5w7T6cFaQGPV9LPe1Rse0x5KpXS2OK6aq7fiD5_NgphIVHU6ukfC2ECvnESbg8VC4-KsJ7u4Mb0WrNnA9MU5-XkFbZapYhMyavUxOlNXVucXQCCkjua_-qm7CPvpUWtTQl9CaCEVTYgzfee3U2jwCQaQemFz8yU3nQY_MKH74mT8HeBtKAJgg6xfNtSFZ1wbAWm_nXq2RggefJCsoFhH0k6EurhkUDgZTGZHJjbrogLfluyIWXoYSWJE7qtajzRYV3BV-_7p5OmPkm8uygCHgaSjKxRUaMVrQA7dIqt2QAmyhK2QSs0Ya3y9UCyJqPXmmDsER1G-6YP0TcBD16LjWDZ_YDUUxoftYRA5UNbw3JNytNLkwXmPfCA-DCge2DhraUAr8FpidEN9XiYaOW5So9YWuJTfNfdqdX2K5vXNSpr_aQjWXXvFWnQfs3H_pGLky7hznXpjvTsv08ZsDSAdgB5K0yLse3dR58R6i-apqx6lGAW4QYKm_e6oyS3MAaXoxSjPk-Y6177WmvInwQR-DBftywikIsZfOP6y95gsxZUszeNjca1IWj2XU-kC50ZqJ67k_90_gnIFYyDYFlpgU66GciZd1sdYb_WVm4oHW_igpkU_4AnMmmwOnGAEIdougXOvrSHfKXD6HhjscaxRXeQBWlqIKIifl2K6JiDiShc-Og8nSgMD-WLiWj088SckbUPFBDCk8WXfEDZo6YBDSV8ur_CLTe97uZ9s4M_S-CaT1_yxR4TT1kFbbNINo1LspYv_cQQ6yHiDQCOIfB5vmRRvXEs7mPwnzQHrVgB-hjFMOmFF0xUAciQh__Yt8Pb0T-m_Vgci9pJBq9zT2LuRKxn0bGp3hVMDQ-u-U-s7vS5aDQ2HstiDn7DJRw-lr0ukeZDFaiVrFZbZDeJzSvS9S6cKdc2W8yA1wNY2jg4ls3ikSpKNuGfRhpiFtn3MUMwyO9PVZLpVdHYeIZ9664yT3D3dNjLrur8roqUAJGB-U0xzZ-NLzVSisJrJdx-X9zasQyk455RCXa9suWq7zrqMN884z0pz3QSbG1LuK1i63lhjJBgyCv0Opfl5ln6JBfNjxLFe-1YG4K-kEJo5-3pQLo1UbG7Gf_LYW42LTlaM0a8bdbZJfiTJpvk23sSnQYCqdB65SLwXEJAbXfBXqEFWdPHdkvv86_-5yS4mh_Y68xKjiXOqTVvWpF7VExW-j2lRfp7na7AKZ07IHeBrMk_KJJukAZzKlhtbo3PNnNijTxRjw9PJ3bU3Vjzjwrzd_sPIODK5Oimh_xFmOh7AUH7axwfU0_-ssjwqsPf0kwEYZKfEqtAA5i9mBz2Doq8GEHSTw6dWmjLbRs6P76hP25vkTGF9eAepRAZ6ZEIybNgaCwoyjOVwh68bAazyIowjiAuxlv-lob3InUUobGV9b7OaJFvoXr9avrOQ4BXyFxzrgMRO84M2qKBWB_6Zs9CIoAXDWHPaw1A4-2S1avIezioQ7Hj3wW_0k1MPS0-k8bBN0hTGDRJMBsLZNC8LWT2smYOWrlX2iPB64Knaxt8AhQHyKLuCLRC5uE--2N2fkHm-tWbM4N2sVXmHZ8M_RmhmFz9HArCmeUfawR0KucuA9v2j3gLpO2Tfuw0HwJWqASGq0UKAURS_m6i8yQkLMYsc5p5PC5peR4ROxwtEJLGL-g4aYcpSuC_O1SQGpWWfIIls_ySaA4zIhsuVhbKXSTpC4DX8_rcAVqvz6Ze_-VT4f5RPhQiW3gcXBC8N6yoivtOVUGcCGrtrJHZn4wgkTmKZXDToHdtj3vN88aBOliuY7c9PeHdLoLuMzNZsJCA19c45QI9X8xdplRZbLbupqXLRc7WM-_BD0m--7wrK8psSCVlNVBiCp6ov4zXP2fg9p_g226VsM3jewClFpN93l3r0HEcf8ytTy3sMlv6RMF4sZcWOa3hjvgg4zIoSEb7xH1uPKOi_8xsaJHLNitniGXfFZqb4G3THK3Jqh7vXVzX7Ugac8pY3CktXvCCh54n6xEUi0gw3f0bIH8tL06MtmuO6vu9OWugUlY0oRfHW_43kt1FUM3Ad02lvAOEkG_eDTsoZkmh5pahG3WuvBYAhw5ZOnHHbInlA7evPBTgiJ3X8oy4WJKVBvm9LLPXqmuQJkl1geeQEltoqAdm_8sokQ1zZBZrwdZwaeQULOiwHi_PAuJcvTjaEKrI2O9-dGcXFUKsfvfDq2QjdvWj7KlbMV3XuxM4G117oVrLAZtdJ7dNy_1dkhABf93rOVskQLsXX4kOel4OjqbGCavgu1UZD9ELRt519gshe0eCnihiFl-5GW8ME2s3B_-ImQEYcvHeY2V7waC4RDHexYFo6EeVIQyd5areeBDP5vOv-PKkKBsTCwQtMc6Lg-cg2xD-ECNl0oGRMQcK3gNCeYg6q18F0Hmk6F_gmLvGPGKhHQ0BHs3uJyb0VPA5X6UGRI5oGqOSgJQ21ppYI3dG86ZVYl2R2g=",
  "id": "rs_0b3cc92e2b8f5792016ab44439ca8087d0b041efd22474dce9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.09,\"left_z\":0.12,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The full close again let the smooth curved rim escape and the reading fell to the empty value. I’ll reopen and bias the jaw center a few millimeters farther inside so a partial close can hold the rolled lip without squeezing it outward.\"}",
  "call_id": "call_iLHZzvGvu9gqYGnyN9YWSlcd",
  "id": "fc_0b3cc92e2b8f5792016ab4443bee2887d098ce955c31357582",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iLHZzvGvu9gqYGnyN9YWSlcd",
  "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]: [-0.4442, 2.0735, 1.8225, -1.5558, -0.3668, -2.0315, 0.9949, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.0875 left_z=0.1124 left_yaw=1.5656 left_pitch=-0.5729 left_roll=0.0739 left_gripper=0.9949 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2256, -8.7043, 7.8701, -0.2515, -0.2711, -0.022, -0.1245, -0.1162, -1.388, 6.9812, 1.6484, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cef834374f6fff3d898faa0565cbdcece75bf67e641ae18cd857c1cbd1ec9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d220d72b5332aaf6f0fd5b38332a426fcdff2eb8d80441690477b886bf25bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18df1bc5bb88a32b46cb9b4656db9875f2f311da8f20c606194f034ab0310f5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.872 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]: [-0.4671, 2.0579, 1.7882, -1.5574, -0.3668, -2.0491, 0.9988, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0494, 0.9973]\nstate[eef_state]: left_x=0.33 left_y=-0.0915 left_z=0.1108 left_yaw=1.5655 left_pitch=-0.5632 left_roll=0.0868 left_gripper=0.9988 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0035 right_pitch=-0.0732 right_roll=-0.005 right_gripper=0.9973\nstate[joint_eff]: [0.4444, -8.9094, 7.5145, -0.315, -0.3297, 0.0904, -0.1343, -0.0205, -1.4154, 6.9675, 1.6337, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.4679, 2.0621, 1.7931, -1.5482, -0.366, -2.0415, 0.0082, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3328 left_y=-0.0933 left_z=0.1098 left_yaw=1.5546 left_pitch=-0.5686 left_roll=0.0804 left_gripper=0.0082 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -10.4137, 5.2855, -0.1832, -0.2711, -0.0708, 0.6325, -0.1846, -1.3744, 7.2, 1.6679, -0.0366, -0.0513, -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]: [-0.4442, 2.0735, 1.8225, -1.5558, -0.3668, -2.0315, 0.9949, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.0875 left_z=0.1124 left_yaw=1.5656 left_pitch=-0.5729 left_roll=0.0739 left_gripper=0.9949 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2256, -8.7043, 7.8701, -0.2515, -0.2711, -0.022, -0.1245, -0.1162, -1.388, 6.9812, 1.6484, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cef834374f6fff3d898faa0565cbdcece75bf67e641ae18cd857c1cbd1ec9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d220d72b5332aaf6f0fd5b38332a426fcdff2eb8d80441690477b886bf25bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18df1bc5bb88a32b46cb9b4656db9875f2f311da8f20c606194f034ab0310f5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERBpTWkhc4vFDpZKOacrfRsdXxqxI3rjB5MBrllWUVgloJez4D9-ysal1mOpLZuMLkVhgzVegF3H-aPvAxtoxq0poSdqGEa9AFQiszMtH0DVqb9nUOq5QCV03pIQMzWJ1elRlyjYDUhnWgtk4ETzSsXSDxxYk6kvUoPB-VTkPPJyFQcawA00lxqZx2xgf8YkWLLGg6LpD3iKIKW0V0quZUeTVqxsnd70aBAFedkI5zRbVle1A2RhvEVUUyZKdlNXL1cgYJgaFgaBfZ9Uax2_3PUgYgJ6CmnCxl_QKXxOuapUMXOWx1qC3nx0qt_RFhn6sH8nl82uedeWH7cJewLYSp4kTZF5UDj5IMG_VnjlAlTJ7fz19BhnFNXvsinuYtDRz6M4dxJLmCR6PeJ75-ejd3-OE1pgkxm-TrVcCFCefxeQ7ZzSnUvL56eblXwdFmw9n8qVWXJ6J6vd00GZlGojwt_DY7VnF6K20cuc4s0z_taZ7o-mmbReGNGqJa7V8ECiDPNFfyp3XK-UJG9WiBf5iwpR0BPgZLjw72cu2ROOKqA1T6vAcZSQ-3QveSnx0w9fu99coRgRy45odGI5zP8tTn82B56TdaPWLc4sOzS1-M-ij--hQq6Wqi3oBvgepKIkXVBH-hewATJDyJoFrROlgOoK0VxS57gsMHVdls8y1BLIIvt6OF2Hgzh3B5wbVNfB5OWtMlPgGuMdg5C4RJM4yreJ_m2l0UAlbdqt7XIZE8woD7BBEeK5aUFcJJSo9mGbcbyn-d56BmGoQjbymXSvPbDbn3zTIqdxqCylQgvN-sX-vfcqoVf11Ankn85Ilw67K9l9z4YPisx9uYYrjCyhdsk1YA8QmJ67uNrHVZIfYetIX69fTNoXlHfVW8jvakZQyA-cG-zWHA38V2KqHRf_Ls5SMWrmhvbQjjwSqm4jg7yAz2yjip_KztTUAyMkCBmg3NsspCPh-WRVlR2tPodM6brKYzUC7L5ZmDJWkrAM9tefMpIvqlqVL_vw7EokA89PPBO9guGEyNjPHjc7eiskOqDDo45UmuGP8hbab_Ii_ZnAZ_G4gbBbp775CX_wiGFaPkvBlOfpe7j_O-Eq-kypnuXTv5Ob9eP4jvQ7cSi2nqrp80PRzRSDZLpgQi-2bCms6Rnb9kD-gCyU7oVCzfX8vaAOkHkUAz0loP6J9IhtfYsNmVCYZ6K-1Hjmv-qoMGcsZle7sacLkDsbkbE1b1xuJmWmc4CG3yy1CEJybMsWWMi0MDpwu7gkhSOxfMCq6reyFZpYu0WyXEBEZyIX5En7C6a73byo8Qx-gZLsZda2U5fb1Dx4spvmhR3of2kmIfK2PrhaRvI8eaFQ4AH0FqKOjeoM2TuDKtFYYxVnifIIGiKRuwTGGI0imf0m-k4F0OeglRVnPC_iH4AuzXuG1UAZoBrUQ==",
  "id": "rs_0b3cc92e2b8f5792016ab444402f9087d09cff245fd2e4ad93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"The reopened jaws now straddle the gray rim with the lip essentially on the jaw centerline, slightly biased inward as intended. I’ll close only to about 7.5 mm, avoiding the final squeeze that previously expelled it.\"}",
  "call_id": "call_36CAULrGOZ8JKlWufkyteOOi",
  "id": "fc_0b3cc92e2b8f5792016ab444409c2c87d083da182009c053c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36CAULrGOZ8JKlWufkyteOOi",
  "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]: [-0.4442, 2.0735, 1.8229, -1.5486, -0.3656, -2.0315, 0.0849, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.0884 left_z=0.112 left_yaw=1.5617 left_pitch=-0.5771 left_roll=0.0663 left_gripper=0.0849 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -10.4821, 5.3675, -0.2515, -0.2515, 0.0122, 0.1343, -0.212, -1.388, 6.9949, 1.6386, -0.0122, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fddb77b009d9056231e289a5c2a30a5b58b3cf887e50faf42f5e84bc6bd0658",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbcd9311e5e26f0892b8f12679ed1816cd011a5b158c202bac8814f5bd290f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf1b318fe9d02938f9021b2cc394e4967a5628df4dc433764d17dd692081e66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 7.556 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]: [-0.4679, 2.0621, 1.7931, -1.549, -0.3656, -2.043, 0.1049, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3326 left_y=-0.0933 left_z=0.1099 left_yaw=1.5562 left_pitch=-0.5686 left_roll=0.0807 left_gripper=0.1049 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -10.7282, 5.0803, -0.2955, -0.2759, -0.0806, 0.105, -0.212, -1.1692, 7.2, 1.6825, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.4442, 2.0735, 1.8225, -1.5558, -0.3668, -2.0315, 0.9949, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.0875 left_z=0.1124 left_yaw=1.5656 left_pitch=-0.5729 left_roll=0.0739 left_gripper=0.9949 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2256, -8.7043, 7.8701, -0.2515, -0.2711, -0.022, -0.1245, -0.1162, -1.388, 6.9812, 1.6484, -0.0806, -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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4442, 2.0735, 1.8229, -1.5486, -0.3656, -2.0315, 0.0849, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.0884 left_z=0.112 left_yaw=1.5617 left_pitch=-0.5771 left_roll=0.0663 left_gripper=0.0849 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -10.4821, 5.3675, -0.2515, -0.2515, 0.0122, 0.1343, -0.212, -1.388, 6.9949, 1.6386, -0.0122, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fddb77b009d9056231e289a5c2a30a5b58b3cf887e50faf42f5e84bc6bd0658",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbcd9311e5e26f0892b8f12679ed1816cd011a5b158c202bac8814f5bd290f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf1b318fe9d02938f9021b2cc394e4967a5628df4dc433764d17dd692081e66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERFiumexNDLbgEETg4LkiUltvNJl2Hgb6bdeQRs-YoWAjHO16dmrgzVNREdFSYpXFYiaiBpPhlAHaa45zeYAJnfKuxtCa69oj19LxBpGYi2J9V2yqQlZBQHBtjRFZQF1USc68tRiRpsHTdqL90ustsBbQxMwBme648qkvn79KJQA1p6yRk0V3A6KUjVl7DVtzO6NYFrp3Ei7fpsmfLJx43yvDMAoWI1AtpJH4zgvjuuozGjCgrn2vD7uYEu9UMBJTMc8YJH6WdWzpRAodziJV2H9j0aiNsRKBndmni_Bm4v7Dm8fko82njDWng4QOfDsWVMYH_d-47WWVW20xs202YW4hviQnZKXHultkh5e_qX9ksCU42IbWu77TAVPPfecz2UX8-F3hfmUz9Bw5dVRVtstTBVubCIYbAYl4VAPN0WVfAHKlMWC_EjOP29LwNCDUpQpu9-cfeuKHQ0ZTdBS4dnhZFbmKISNV8f5QPdJPMUNTVQYdqvhyscLpHlVa-LvC7OPmILYAjEn4hVCmKWWL2zFO-0FQWo84KGErNt7XBCboztBLtInegdtnmXynUYx2IW2Jk8esyYaR1cBquJ2ofp41UwlXaFdgIBUSngArdQIXy87iKhY37iiLEeyLyvzzbJ-WupANao_QkeVv5Kz2UE0MjaBfeKB2fLwXH2sqxizoajSeSzqIJUhKR9vJbOPQL4QfbFXpOtXZndA-48xpV34o5alq77d4HB-lLZyOzy7_fq2-aH2JgX39npz72kq5szLmDmJwfQnKyZLeiY4FOYnGHL24_eU_Whi5-0ydXQ9EATfQHE4T9kpiNk3BJdsXTseOkRukIJ2xOZ1h4vu7MpEE1EXjEZ0jW-jqMJCLA1qbD7ksHF7irVE35gXrCjBCT_S6MgUbek-OD4FyhQm222I7YJp04K6LkhzhT9aJnP4gYbzmYmrta76rt3tQ3IQ9h1fDGAS-1YTe2ZdfVChrJvoTNLoef0MPGAH2_N7LxO2warzOYUthD2ODTXn9HSIKxrESxmr7koxzJW2OfyADMuV1tZ8olHU6EenYmZCxT3uYDEqjEl66pgjcOlxq4BaAww18IoqM0X8tyUEodkqcZLhM478PC7mfhBkJQEjnballCxy5dMsO0juiPNdjZiMaZ85FKl-y6bK_0wngRBgH1tJeTFbZqH16ENyTcszNh9YCJzTmPX1exnq9XNoxxbyEa_2cDMFgPJ-07GXnc2GuBVUu_fO8zIC8wqVzZQwnhu0BPzibGgoyFhX97B3sNd76ipuTxOO90N6gitE28Ftm6oYNPARrabZRZ8qMAlIBatzjiB4XVjXHasTTlGszqF7clxN7gb2a34ZuEHqaU9zCes3J74t1MCZ3nV_uZGkrDArK1P28q9jq-81MOZ5QoIiUkzBvv0g8q13-0A4DPh3wQjYqME5RGQrqen1fPYBkF3dTT64VgmNBW_9hXC1gwjb3SP",
  "id": "rs_0b3cc92e2b8f5792016ab44443a36c87d08f808d2bf7c25fa3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.09,\"left_z\":0.2,\"left_gripper\":0.08},\"note\":\"At the partial close the outside pad remains against the gray lip while the inside pad is hidden just inside the bowl, and the bowl has not been expelled. I’ll test this hooked partial grasp with a straight 8 cm lift.\"}",
  "call_id": "call_Bke9whEGO7q7fa7unuJk9Gjx",
  "id": "fc_0b3cc92e2b8f5792016ab444443bac87d081752bc081b0d0d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bke9whEGO7q7fa7unuJk9Gjx",
  "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]: [-0.4046, 1.9999, 1.7786, -1.5539, -0.3668, -1.9965, 0.0813, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3335 left_y=-0.07 left_z=0.127 left_yaw=1.5638 left_pitch=-0.5872 left_roll=0.0566 left_gripper=0.0813 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2667, -12.465, 4.9299, -0.2369, -0.3541, 0.1245, 0.1197, -0.1846, -1.388, 6.9949, 1.6386, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e23b8e85eaf637f72f3e793514436aa3dd09b07014d3842304fbf3a96c6959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac58eb78c7e6067a3c76e680ae86aa4cc6ba7ec24994d796e462a2f643e8c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5167a84aa615a6e580d35189c057c70985fd3688307321bb4c449a5b59c3623b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 2.895 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]: [-0.4679, 2.0621, 1.7931, -1.5482, -0.366, -2.0415, 0.0082, -0.0181, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3328 left_y=-0.0933 left_z=0.1098 left_yaw=1.5546 left_pitch=-0.5686 left_roll=0.0804 left_gripper=0.0082 right_x=0.2892 right_y=0.0013 right_z=0.1586 right_yaw=0.0034 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -10.4137, 5.2855, -0.1832, -0.2711, -0.0708, 0.6325, -0.1846, -1.3744, 7.2, 1.6679, -0.0366, -0.0513, -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]: [-0.4442, 2.0735, 1.8229, -1.5486, -0.3656, -2.0315, 0.0849, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.0884 left_z=0.112 left_yaw=1.5617 left_pitch=-0.5771 left_roll=0.0663 left_gripper=0.0849 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -10.4821, 5.3675, -0.2515, -0.2515, 0.0122, 0.1343, -0.212, -1.388, 6.9949, 1.6386, -0.0122, -0.0611, -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]: [-0.4046, 1.9999, 1.7786, -1.5539, -0.3668, -1.9965, 0.0813, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3335 left_y=-0.07 left_z=0.127 left_yaw=1.5638 left_pitch=-0.5872 left_roll=0.0566 left_gripper=0.0813 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2667, -12.465, 4.9299, -0.2369, -0.3541, 0.1245, 0.1197, -0.1846, -1.388, 6.9949, 1.6386, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e23b8e85eaf637f72f3e793514436aa3dd09b07014d3842304fbf3a96c6959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac58eb78c7e6067a3c76e680ae86aa4cc6ba7ec24994d796e462a2f643e8c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5167a84aa615a6e580d35189c057c70985fd3688307321bb4c449a5b59c3623b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERNuTvGXEh3NkMRV6XQe7NKUZV-IqmXOjFuLvnk6KHsoaUdyapaNUg-ysBVOSv5bin9ubonaeDDSns5aLQ2xoTt8sX08aP9CJwHbmjvHmnOQmfJkV-W4ay4FNdndEzPXKJAPBMtB9RuNyp_RR0N9VZiY63Z9MJ24Jb02v4Zpabz0lnfzef55Y9ermEkqF-GkLZhGPcBcUxJ7Cj5PNorr2qM6ZAE5elLpcDlcoCQlR2V5toEuAxgEgfSeA-yZEXFJUPwWBTUrCL4fmDWlxoxwv_hmOvs18LWIbVW-4nVwiyahgGm9b6Y-vbKXdgXp6IFbeOecYQ9QMa27Qaks4Ol0B7gTQDC-lXtBj1bS0ejjhfMYsWHDNTBGjSPOFjcG8P_RfR3WMfZDCHC3ZLAiHYBFy7IfbW8y1_6DKPzo8KA5jXnLnCHXZjZ8r6I4njl7XtOp8SHyi-e53w2OowacLwvJx-3fhNA7cddGU1-G6fh2-WC6Cu5cmDiTrsEPxGsyJL6X_HvmtDAflkvUQopj0CCVR4lNinon3a1zMX5Vsw7txvto2FRX7XBm9VyOoaIbgM07yOfvrLC0qJNgwSG1mNQfCIk1QsRjBoyIdRjFdcbulUtlJrV5ZccDtgi_GkWuSEm78gzY9XqxUv5OJEat4iIIaexMZSV9DU1ppFG8rF1Z-nQpreTcwu4hNQPIThD372Uqe9pRMBwkzRIZn7qegIogk4tWOHS0hQhHVqts3vMvja2CX2gkyhVNchNZb7L8x7HeiP9JXJWC3KI6Uu38OZRhOM4SDzMz0R83ySda9uPPQh-FG4G_aooVFh6lOnsA_BFip0DMvRyhn10vfPf3EWULYudF2RZwI3lUXNr684d6_XzzI8wEU2xtkCZDEtvWSP3vK2HJi7QuWJe1HNfOfbcB2BLKaFOfYwIXoUSCp6UgqeowGQuRys8_39iHWlgEra1AZqP8hJTbROtHDfMJE71OQ0Ujqa10mw-h5RFxmoNhWnkbjySFYfpozMqEZ_f0xBfAzS_JF5tXYDAKkmZPMKTIFBSXkztzGEAiU7nhxLoIut4J1ToT-92_eGnifZ7vw8-NptAs6JL4iiJ4aCVvAglZRX5cXrrqAFFg4sYB4_MmYcROy4ruivej1IBhP0BhDu0w-NuOtYqxGRLAT4TVkpXyMNtLPdwHHWvariNVeDlgjEDOprHxPRahIuCePqE5DMSJ7QynZTFFNq-IE9pDHKw2Q1v8XWRNh4_mB8sMrP6wGCTq5vTDCQPpc-UV-F3OcuU1uDlxvavCL6gmL9com7M4nHGJfLFW8foSzddbEDp9xEMjAVoZQ61iLi6es00sxOVyv8Bz3cgdxlsh5fTUXA6wRqSyLQRdGub8MoSfrCwmFV8TEWSwibmpE6brlqjCmTy7t2H5_PyUoZZOCcAaFD93BkM0Vng3eaehAaGkPuK33oKn_NntC_HpqQ0lfWOpCzpWB6wyrhfWb4_1L7ZwvECDuCGA0uOZh7TEjbN68zbYxcAfSOMNGtkO_FbA8SWHRiyb96mkBjqKtkrNBYsjZw2qOsaTF-9xypoaNHqSrMcwU9XhWaRSMfA-WHowOy-qmnJa95w-FysFW8QSCDTFTKYfoDjpqPvQX1XynzsSSk2dxV75QxIbocFvDMhLhC1V2GWYyI5JHGskemPVneZxu337wcEUVW8pBNvq8jdqvduRuxae1iQV_ksVXS3P5hKtXkte4bclRIdENdiwcAltAcO4Lsitmy1QuPWBCa-95t35r_Q_WuExKL9FAnamv0wPOxIPUlnGkNgbrV-s9Pop-gLvuxVvBhJWJ_jEMutz9mikPyjJZUnCRfy90ovOO_ABA_2tOkKRZNgZAmVQ8YkYJfIyXxCIiI_dLZ5__Dg0dcTdqdeS_I8c2oYMFES8hMeRWb42mYr2RKhpw99dg7l8P_TAhOVlJpe0V5XkFmhYzbKIpPK0-VjFWOhlqCV-9iaSW0yiWy4sAoqhlm0HW0QH7thxC6RDr6ItHHERixqSlYtY9OHrtFxtBrbZ2zSCv6ext0l7Dg_SsphIPj0yT0vQsUXkMEM-PkMKqN7IVD5FN3WK-4uxZn4Uc1K9kStizoy7ZfRkgS95y3kKn6xb62xwS2UcwyZeYeHQ6j1Rnjns2hcr6QqZ99sLo8quT0yBneEQBkabLc25DOForreniCM-bT0E3F_eDNNBgi4ils3EbA4FPajroh6-Sp1Zuu8I_Qs8khN2f4LfQDaSaierGCgAGLThQ22Y7JcjMRG_xA692BiSGl74jAZEfUYo0UgOsHdFs2RaPdAlxGQwdT-lSDZeoeOAgMoxULp8agxAxzifJzf0rJq6N0GbKrQ1kFiiXOz1DKI-WTTWrzhKpc_ZNaLgD8HTRJkvm9Xj82z4DuQnaTXKYmWN7V0y5svynpcvLR7VjwuFWB07__UOI7zWzp_4TK8awLkhoweWlrJJkoyVwCQORzbNKZwYxK1EWS_4SzOujsPDU1OXXLF95gABEFRni0a3nxLZeuENF9PmzJ1KPy55EMM1ucAUD68lFhnBRBYs-e09-TmjwrQaWTy96DRGUbbGBnJAvc2M0MIPM_0dbK6AufgELf8M_zOotCGbd_6MrBzWpjoDRpvgpCMKtTGTT69Dhtl2bnjh7qtJdwBwK8xSG_ujAYKVy1ohdIpoBPKFbx_TIoCQ1joLHV2baMwiSGTfn2_A3XCw2AioQtY8sHGTdyPe0g9_9pr7PynT0XQCfolh68LvuVktQiFAx1esgCLAIr7Tvwqz-R3OLAMy1sIDyZUcPWGSwzXKyETaityBXbyuhPFmTanngAVe6F9p1n5fuOmfcwbC_4JAbDg5S7wsCbAFegeDh7qtSDMoL2q4MHcATj8OWe_UCs5eFL9VA21QuVSp-MokdgoItEHJ83rAy_9-ukxB9-UfTb7wFuv94o5vqutSRd-AYoUXoxj1TG4SYmbqoMYVmRYZ240PYPsl-i8U1B6JLzZ8YsJW6rlIM1siXy0-IHYUfHvEmIo0dRgu-Cf27axiWxiN4xVPdvmPnyqW3Fi_kN0-KKub1ur1d3PX8oV-GAoNoKyVHHGudZqV8nXcTJYVqE80mFdRTGlD1j6ACTTvktcI1jvmyTDgwgsw0rJ1bafE3fKjqgU4nO7T_e6wRcCQVlr41tu479YvJ7rAFjWMBL-cpQ9j0OsI1oGk-hUrQunqsASjwDFUQWg046kkedRiqiWZxALt7RA102wOS7mfAhNdZ4kdg9eNfHXQiT4KdSuUWM_64W876pwTpuP_mhwC9ikmUgz8-3kGGuVILSWSeTPZxTE_UzvJIUH02-PaWTBlg2K78ICo2VrfG1kL7og3qOKTTYnD9reNvBy71leaLp6tew2APdErgpEk0qvb6plLOB5X__6PJH_rzfGFyidAsK3HvLsOkZvZgcVZO-I8zLwfzo-unKJOV1G5EETamXklaJezytRyysCZUvEltNegfnJajTcrQjdrg4pTRiI5gAS48hV6qsW269bXcnM2GuaB6z6hec3CGqsaOMDKuEkYtb6nFcozkrNdkptgnLuFUPDbBxiLyvbMIbReVnXL5tQBw39P0PGb2WwCwJmrpMwIAEQHUqY3ApbzyLpf0bvkykA7Fd1AV-enJj8RCaJAE-mLZC8wTt7SE5PWjvf-fSsdPMemTpyfuvbnYp_J0w9Gdf-yrog_3pwGI-DARscMcxf6TJ40iXJnr9mxvOmE8PODdzcyVbOpOUrcsxOABy1iS03CMGo9Q8Ccy-9VIMYX8vz2ZCJzlppaRT60hW9X_NWkJoN8NtzgPPbQxLMBIsYIIAUFhTj96eMxBO7qWdS",
  "id": "rs_0b3cc92e2b8f5792016ab444474e1887d0af97ab5e566c911a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.3,\"left_gripper\":1.0,\"right_x\":0.34,\"right_y\":0.05,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The partial rim hook did not lift the gray bowl, so I’ll leave that approach and park the left arm. The right wrist has a clear view of the pink bowl; I’ll align the open right gripper leftward and forward above it to test a conventional whole-bowl grasp with the other arm.\"}",
  "call_id": "call_4sUPvv4ZTyjx2HmPItwMGeSU",
  "id": "fc_0b3cc92e2b8f5792016ab4444c5ec487d08a1f818822585f5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4sUPvv4ZTyjx2HmPItwMGeSU",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1352, 1.5833, 1.504, -1.5566, -0.3912, -1.7325, 0.9952, 0.2211, 1.0882, 0.7395, -0.408, 0.1471, 0.0654, 0.9974]\nstate[eef_state]: left_x=0.2641 left_y=0.0357 left_z=0.1837 left_yaw=1.5616 left_pitch=-0.6063 left_roll=0.0118 left_gripper=0.9952 right_x=0.3233 right_y=0.0498 right_z=0.1506 right_yaw=0.0401 right_pitch=-0.1668 right_roll=-0.0313 right_gripper=0.9974\nstate[joint_eff]: [0.294, -7.5009, 5.1897, 0.0171, -0.486, 0.0659, 0.0855, 0.1162, -3.2068, 10.7966, 2.0391, 0.1978, 0.2662, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e135708f1c188d2278da0cf793398959f10343250abc5f08227834d8597733d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791a53245b0360d504c90959eee09da28eaf416b42e17c7456f02eda58c9a29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433f298f92a39baba1cbacfcda2827d67fc3cfac26c10d2ab6d51d394f2785cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 3.319 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 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4442, 2.0735, 1.8225, -1.5558, -0.3668, -2.0315, 0.9949, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.0875 left_z=0.1124 left_yaw=1.5656 left_pitch=-0.5729 left_roll=0.0739 left_gripper=0.9949 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2256, -8.7043, 7.8701, -0.2515, -0.2711, -0.022, -0.1245, -0.1162, -1.388, 6.9812, 1.6484, -0.0806, -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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.9999, 1.7786, -1.5539, -0.3668, -1.9965, 0.0813, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3335 left_y=-0.07 left_z=0.127 left_yaw=1.5638 left_pitch=-0.5872 left_roll=0.0566 left_gripper=0.0813 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2667, -12.465, 4.9299, -0.2369, -0.3541, 0.1245, 0.1197, -0.1846, -1.388, 6.9949, 1.6386, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1352, 1.5833, 1.504, -1.5566, -0.3912, -1.7325, 0.9952, 0.2211, 1.0882, 0.7395, -0.408, 0.1471, 0.0654, 0.9974]\nstate[eef_state]: left_x=0.2641 left_y=0.0357 left_z=0.1837 left_yaw=1.5616 left_pitch=-0.6063 left_roll=0.0118 left_gripper=0.9952 right_x=0.3233 right_y=0.0498 right_z=0.1506 right_yaw=0.0401 right_pitch=-0.1668 right_roll=-0.0313 right_gripper=0.9974\nstate[joint_eff]: [0.294, -7.5009, 5.1897, 0.0171, -0.486, 0.0659, 0.0855, 0.1162, -3.2068, 10.7966, 2.0391, 0.1978, 0.2662, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e135708f1c188d2278da0cf793398959f10343250abc5f08227834d8597733d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791a53245b0360d504c90959eee09da28eaf416b42e17c7456f02eda58c9a29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433f298f92a39baba1cbacfcda2827d67fc3cfac26c10d2ab6d51d394f2785cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERRay5yWewsSCGgIsL8ZV6oG58RoFEBrS0Lffm3NjqKhspnFH5H3LmKM383Yjn5n61xSw2FZgLigb01Rh9qwSuvklMB_rt53O74GygTt6_HaS1x1EMCfGr-kD9X0QtMyvJsS-frkivE2QlGTz6UfxtFeps9PjG-_n1oD3C7koX_QYroKJfx7Y_pBzET6K_-WkPf-hUQOXlBwJjGg1QaKr7kHWudO3yuzpYlTxXZF7Eq_FAhjMTCfyUVyx-asY36vG0Tyi6U3DS8CT95zadbCzcKPYM9wymvIM3_WwO2XzTHBJVtWD7hkqa-HEuVTUqxfXBi0fXR6hkaqkHeKIX3ain55UmIyuhdbZy_doY1cB1xqq1yabI-qlQ1OuBe6v_wkqQxFXSuphRkmBiO4yfpngME1Upm_7fpJWi5S59Pk8Om99fxqltynrU8aKc-wvkoovTTBm-K-wzfSlwwxsegCnUPiPS7-ZPZLlza7oDxK4ZE2WdsOUrPcZY946uS6eg4-K7WoNozJQAbnSZpjwL-RqyrwSV1JblaZ7yEL8SvrcrEAyP40AdemJu5tsJ77Ykg8CD5-pDi9F_ElqTN3Yz0ZHWaBLwiEjBMpHLDCgYSfS1sr8cKT9TXNEKwzhdklfe6rk0id9zNdvRaev9sZyCHynP4Jy7M8i36_VrNP8pkP6AqMJa2gmagRbtXifZgJ_7Fc3rpJwMPZhDTHC6HhvIILkMyNjZz7b_nrvt9EaNj4_HHJL_zqpmCZP3rojLRCbNiEc2Vz-U1F6aU0RtM4w9BUBvQyfzzysO0ZJZdzMlpss2fKZoE3VQpWuvGH1Pgv6yEoFFUOVY751vnAILtIBJ6ca1yJad-vOD2Wnw1Vb6MFqRGFNufUsYVB3xIGA6loQkiA74oveko6Ar-dGilM13dtK6UWcq74eGcv4W-Ad0rCGsT942AHOmwxc9wgYMj7J5ilM1rFXWm4dHtxWQf1pGPTGk5_D2GVhwczEZoF6_f4EoXqw7pxDPG-cDfpLxdVJIdkwuR6VEeuEHWD5STPg8dQ12siUcVLQcCanm90UyeltMOlO6TDJ6f3mSe1MBi4BfPFB4KjlNTAh9x1iVDmBsH-p_Tges7ZGdw6n4rGC37XPrusZjk7VM0Nq5ZYqLsV9xvtBSWncfOALmgepT0QDYhcVmPYarOXcSw7HsHIyymBb1AlgWGZpsWTiQswMStYbIkfJ7S5ERpTmC-XYzyTDDpNaFiV3FEj8BKN7to0GuftmX0p0xQsNo0bfm3e8SUEVnx12ISmOG7fXB1DMVigAfGoTNz0OFeHKjU-Dv4GQ0j7mnhh7C1iGURGAqG-6KW_Az0SAkljIP-r5qo3eWMZm2C2KhwhfDl5runItnQtY2Nr3eo4lpGuQwuhb_qzSVwkgD07ZCWsnlUqz-T3DJJEPaTMAy4aaCUku_YjF-WJnf63JcE2Eb5NEODhxVWWQOeZsdbwQUrllYgjy-MQ9IEsbqaYiBMpf_eMeD_2_KJyajWhSoEG6k=",
  "id": "rs_0b3cc92e2b8f5792016ab4444fb8bc87d0b86f8af41120b71f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The rightward alignment move brought the pink bowl closer to center but it remains about 5 cm left of the jaw column; the near rim is now at fingertip depth. I’ll shift the right gripper farther toward the table center while holding height.\"}",
  "call_id": "call_cBR9fP5qv0w4indKR7v1WXiA",
  "id": "fc_0b3cc92e2b8f5792016ab444509a9087d0a5bdd9b3e788fedf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cBR9fP5qv0w4indKR7v1WXiA",
  "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]: [-0.1425, 1.581, 1.5059, -1.552, -0.3901, -1.7287, 0.9957, 0.6559, 1.4311, 1.066, -0.543, 0.4133, 0.35, 0.9975]\nstate[eef_state]: left_x=0.2656 left_y=0.0334 left_z=0.1845 left_yaw=1.546 left_pitch=-0.6085 left_roll=0.0031 left_gripper=0.9957 right_x=0.3392 right_y=0.1761 right_z=0.1594 right_yaw=0.0868 right_pitch=-0.2282 right_roll=-0.0679 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.0239, 5.2991, 0.1099, -0.3639, -0.1148, 0.0415, 0.2393, -6.3795, 9.6479, 1.4969, 0.3834, 0.2906, -0.2759]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfa1cc90030e33dd4ce8a0ca55a2c222f1ac433a3f227ad1b58c09a6e8f20a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0243e17b289293d0eaed12410ca823dc3a7c9233bb674f61130798ad8fa908",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7313e76233d3c953da5474140ba557967f9ecd36289aee353f1c53b7731c1c39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.745 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4442, 2.0735, 1.8229, -1.5486, -0.3656, -2.0315, 0.0849, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.0884 left_z=0.112 left_yaw=1.5617 left_pitch=-0.5771 left_roll=0.0663 left_gripper=0.0849 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -10.4821, 5.3675, -0.2515, -0.2515, 0.0122, 0.1343, -0.212, -1.388, 6.9949, 1.6386, -0.0122, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1352, 1.5833, 1.504, -1.5566, -0.3912, -1.7325, 0.9952, 0.2211, 1.0882, 0.7395, -0.408, 0.1471, 0.0654, 0.9974]\nstate[eef_state]: left_x=0.2641 left_y=0.0357 left_z=0.1837 left_yaw=1.5616 left_pitch=-0.6063 left_roll=0.0118 left_gripper=0.9952 right_x=0.3233 right_y=0.0498 right_z=0.1506 right_yaw=0.0401 right_pitch=-0.1668 right_roll=-0.0313 right_gripper=0.9974\nstate[joint_eff]: [0.294, -7.5009, 5.1897, 0.0171, -0.486, 0.0659, 0.0855, 0.1162, -3.2068, 10.7966, 2.0391, 0.1978, 0.2662, -0.2759]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1425, 1.581, 1.5059, -1.552, -0.3901, -1.7287, 0.9957, 0.6559, 1.4311, 1.066, -0.543, 0.4133, 0.35, 0.9975]\nstate[eef_state]: left_x=0.2656 left_y=0.0334 left_z=0.1845 left_yaw=1.546 left_pitch=-0.6085 left_roll=0.0031 left_gripper=0.9957 right_x=0.3392 right_y=0.1761 right_z=0.1594 right_yaw=0.0868 right_pitch=-0.2282 right_roll=-0.0679 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.0239, 5.2991, 0.1099, -0.3639, -0.1148, 0.0415, 0.2393, -6.3795, 9.6479, 1.4969, 0.3834, 0.2906, -0.2759]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfa1cc90030e33dd4ce8a0ca55a2c222f1ac433a3f227ad1b58c09a6e8f20a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0243e17b289293d0eaed12410ca823dc3a7c9233bb674f61130798ad8fa908",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7313e76233d3c953da5474140ba557967f9ecd36289aee353f1c53b7731c1c39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERVOhGsiuL-Mxpm5uM7-z2W8EI0-7fukDR7L45-zcaL8gfsYsvccYO36ze3iJhd9zI4ltXqnsEmqK6nJyFeYLqR6r-3Y3U4iqzRNXrZEpVEhmsF60nXuBf1KYnE2DemgzBtQLHIioPRt78fqhqyQaPsSIFPg81KzIKtRckqUmByaP5z2M5wT75jmnCf9ISLt8Y2leAPyECOF7G-42UKOGM16ri7wGJHtyoWn-KXaITSqh_bFV50CIe8KX5cSuLyWRrbWFS_Fcx-AF639tC7Nc5lqGglkLFkpGNvMmYikjc4eoHKUStWakW7FbWpFCnvx0XCDLaxLhVk_8qO_sBGca8ca0AJXXKcsN3i7RThWmunGmAt6Dszw8_0K-IPZ2MBsmSjo7J9iC8r6IayaFRlvy1mnhvdYcxdYjyfmBpQawe9FUOm9hQKY2Qs2hnBfCroWZrz2Eo286vSx-ShaNTtTTsROM1MkvJNnnJqrAeeZZOciXQlVtJVYjdrhvXkFY0jcf0DEspj3zk0hE-OpGjM3UspuoV34sfOUX-V24xZ6zf4zvTUuoyqC7F1YWhzVa64yFYdMBRofn7QYQcl71qdndpWyjbCG7tCFpmH4dsFu-G7RzPog04u-A6Vl3eu048QDBpX9ue7c5Cww9DmcTFUUgAp7tLVrpxIU_iIOkVe13jHXHp04jW47C-GB7VOXp_VROu3mN4qUXCmNCFJy6o0DuMX_SW6O0dTWw0kO58V1HEIBT0qBs46y45vSqCWBWZbIVJBbgonTF4lXui49rhsnYGFmJFDVi74GXF0S3-VpYgRIxG0ZrpEnQ81NewQhtgIhjGUh6UgDWTIo6xZ9mbj6yYC7G2yWT5rmnnvYwwVqQXWKJQo5yiVkCfnS5W7K7utZNgBUR1fS39M7VU9b4Cxgkz6i9GKvqf7dKPI_U20EDtp3AST_OXMm8yAdbvxBqnIdkyPpTW5Jxc7SRMWFYNo2jz13tKh8nCd_j1FMkU3fN_ss17dcdrMIntO1yK78jztHcj8RotzwjV7-eiCoIci5csQNyw6eM7yYmF8VHtJAHjuvGC3weINyKNKLwqM1PVMXq0ppGIrQkgYkx8V1ThurKWJ3AL2xFxfK2i-3KDrO8Y0MtBbHsR3JkEcc5x6fa3OaFA05KU_aEqqPVowHQzXlYPB0q_vf5h78TA-laCVD4liIRgH7UB_NxfMZLsjq7l3-FV3FPMlKuu0qwnfsaIP00buwphNjesqXrSDpUslSQNkwwDUpT8IB4xevMMYeeLOEKhvTLwpQL4-wvFHuLtA3hvt2KBLxgkEZE0qvFnrLoTs1LspZ-hvF09y2B4rb0AACx3OHkFspE7EzOTLi8ds48OTUvZPD9QLWmcQTNUohnMiULk20Qsxao2hgiS5rGL8VEfRUlAwyKWIXNssQgEPAEiUu7fv1rKdrAx8v70qznTVwP-Ya-6enXA4uNrUipJhLRJ133zr5CJvZRyr3if3BAQHeg==",
  "id": "rs_0b3cc92e2b8f5792016ab44453dd9c87d0a302045c0a39ddbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The larger lateral move overshot; the pink bowl center is now about 3 cm right of the jaw column, while its near rim is at the fingertip line. Using that measured shift, I’ll correct back to y≈0.13 without changing depth.\"}",
  "call_id": "call_pb7Dx2FtCEll6XK4rXmAKvCd",
  "id": "fc_0b3cc92e2b8f5792016ab444546edc87d0a83053ae6ff371a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pb7Dx2FtCEll6XK4rXmAKvCd",
  "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]: [-0.144, 1.581, 1.5059, -1.5486, -0.3901, -1.7287, 0.9958, 0.5014, 1.38, 1.0641, -0.5987, 0.3367, 0.2455, 0.9975]\nstate[eef_state]: left_x=0.2664 left_y=0.0329 left_z=0.1845 left_yaw=1.5421 left_pitch=-0.6089 left_roll=-0.001 left_gripper=0.9958 right_x=0.3472 right_y=0.1279 right_z=0.1646 right_yaw=0.0508 right_pitch=-0.2677 right_roll=-0.0896 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -6.1607, 5.5179, 0.1294, -0.3785, -0.105, -0.0073, -0.1573, -7.2547, 7.4735, 1.6777, 0.2076, 0.022, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4b2081448de55466a0037f17568435e39dc0c1184e96d3f8fb239bf2eca790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbda4f77ffa5be83717585efe67a05c26b961daedb71e453c2007a827aa02ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1627674ba1bf1cd5eb2938f7775b692057d69e12f595001699d5309861a6b273",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 2.952 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.9999, 1.7786, -1.5539, -0.3668, -1.9965, 0.0813, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.3335 left_y=-0.07 left_z=0.127 left_yaw=1.5638 left_pitch=-0.5872 left_roll=0.0566 left_gripper=0.0813 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0037 right_pitch=-0.0732 right_roll=-0.0053 right_gripper=0.9973\nstate[joint_eff]: [0.2667, -12.465, 4.9299, -0.2369, -0.3541, 0.1245, 0.1197, -0.1846, -1.388, 6.9949, 1.6386, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1425, 1.581, 1.5059, -1.552, -0.3901, -1.7287, 0.9957, 0.6559, 1.4311, 1.066, -0.543, 0.4133, 0.35, 0.9975]\nstate[eef_state]: left_x=0.2656 left_y=0.0334 left_z=0.1845 left_yaw=1.546 left_pitch=-0.6085 left_roll=0.0031 left_gripper=0.9957 right_x=0.3392 right_y=0.1761 right_z=0.1594 right_yaw=0.0868 right_pitch=-0.2282 right_roll=-0.0679 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.0239, 5.2991, 0.1099, -0.3639, -0.1148, 0.0415, 0.2393, -6.3795, 9.6479, 1.4969, 0.3834, 0.2906, -0.2759]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.581, 1.5059, -1.5486, -0.3901, -1.7287, 0.9958, 0.5014, 1.38, 1.0641, -0.5987, 0.3367, 0.2455, 0.9975]\nstate[eef_state]: left_x=0.2664 left_y=0.0329 left_z=0.1845 left_yaw=1.5421 left_pitch=-0.6089 left_roll=-0.001 left_gripper=0.9958 right_x=0.3472 right_y=0.1279 right_z=0.1646 right_yaw=0.0508 right_pitch=-0.2677 right_roll=-0.0896 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -6.1607, 5.5179, 0.1294, -0.3785, -0.105, -0.0073, -0.1573, -7.2547, 7.4735, 1.6777, 0.2076, 0.022, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4b2081448de55466a0037f17568435e39dc0c1184e96d3f8fb239bf2eca790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbda4f77ffa5be83717585efe67a05c26b961daedb71e453c2007a827aa02ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1627674ba1bf1cd5eb2938f7775b692057d69e12f595001699d5309861a6b273",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERab7M39lXS0smUSe1LFZ7gCIvcGzvxspK1xso7bz47XMW9MyW87FnGqmr1bPkzhLHrY1HrHKitX57nRJIdloqa5urfchmdiIiBWZwICKJOI6y0JRP3S_BPS5B3LAMZe2dEe_tDoREwFe9hhiLHnUBOG0QbMGPpWaVXJDsX_gC0mkXlwcDLAe58cxfnpaXg9eeTf10Fjn6DO8l0ShksjaupSMQG3tiOLLK26NR5JKnLj7Lrm-R6yhpwkXZFftTYEvpnnKjF6eGyfBLk9ttR7Vc13oJahw_3wvQl_ZN5OYd3Rj4392VLm7VOXLjEhgx8BP1KxUP5kYUL6SKOkhdEB_hDwTXgDa6zVLw-pq8D7TSRWWzW2GIqkeezOdgKEv85WGRNfVUTvACXLDiUkgYK7URy4x7fB95T9L2wWSqxDDGXAHZMP_2JRqIfJlheGEETMwYC4WvpO87QWM6gEpXjY_puo-h2RFKYuNPCqVy_t8l-Zdse597v3JDyUukNIYf_YfuMl6FAeEabN8D9JRquxeDX99dcFTl3L4wfustRdBmL5E1UppJ_0N0agwpkD-HTPw_h6bvC96MzO77sWrVu8D4Q-P7cEMGAMnbyiTSt0D3meMijnk_H2p8fTna5EEttwhjsPkCiuLg36FbEU0-iNOFKc7sXWPTTSf8epUFOC0hn2e7tGOZes4r2LnEKhkJd8AlJ1VS0jkoK8uoAAz4imCgSWYQy7vie-4GbrMvn9HMMv2_3WuFKgVeGLYdXQkjE-rEYC3ckaWTm6GSoV2uirObKLN5SL7adaphQOUafyI72RYfA2MrqknN9sdQZqJ5mzKUSjLabvl1PSbSqEjy88i8F2wgknS_zkF_PV2EhZpp-ZXHCyZVP485ECohF7mtUBeVpvJU5UeJlOLTq5a6YVLBuVsIVQepPX_COREKvEoxwWT236OXI-rILOUw29i2awBf51S2U3LUbgdnzAiHFVFlj3DkRAvALIeVVD5BqvfRNP9b56z_Uux2ziyZYN-_GQ_4dcv1UajxFWzmoO49aGxhmNPySCXH8onInF39tBG1_1ln2L9HKjWa3Rjp9h0CH3gLLh-8UtraRPUA-1otlC2Uaj1uXdbQ-z2D5axyTuPRW2Bz_tQpWRieBJ4uyfgE11fPObEIwJYepAiyWxH47i1IGUdGBI3FYIo_CObrwIMVsGGKWmv07exRJn5sPHL1O-O5GxCrO9fKonKCDRVO6ElgcJ195In-_utl-8zo0aMSvjI_c-ihSLyZEv3merarcLJ0CQMUDpKpvtiUm5vZrQS1HUln58_e0TXtcAh4VDoKxGDGjpWXK2deAhPZ9kZwkBCw3iM8ietp4bT48pwpO-ANTm_HSihKtaiUHn3j0tgRABo4k-ZwjSE6tFQcgDBkVFq3mkFKtXeVC2W8o2nQiDAjt6BGCQc9ua3-b2s-gQVETVtTQBGbf5kmQaQkJ50WyGqSVhV8JO98QO8KpLNtwbdBWtC3mxF15ClDC-tdXZ3LrGUOkLSYJQD-sWRK1YTAv0wHPYrejneZLUDPxytFfoaOdWA8-fMTm2JGk6r5i2lR_nGdrUfGVcTZhnW0U6dBC9OtDEKINosfGNXPV--pdPaJ0SJui5S3ove_KgB6Bo6klVrPnHplefWGtwZFZO1p8x40vAv-RZpxrVP6vAJMeLvc6xFLCyaY625Le2jkSBk-pc-e5VWuAV2Jm1JoPVq0XPQAx-mxbJoIfqU3HHA_HCw8b9A==",
  "id": "rs_0b3cc92e2b8f5792016ab444582a0c87d0af9030fc2967a547",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.13,\"right_z\":0.25,\"right_gripper\":1.0},\"note\":\"The pink bowl is now centered precisely between the open right jaws; its near rim is only at the fingertip line, so the grasp point is not yet over the bowl center. I’ll raise and advance about 4 cm so both fingers can descend outside the full bowl.\"}",
  "call_id": "call_klicxc5DlRyaaP8t0QsA8dOr",
  "id": "fc_0b3cc92e2b8f5792016ab4445978a487d09098a59a8448230a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klicxc5DlRyaaP8t0QsA8dOr",
  "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]: [-0.1444, 1.581, 1.5059, -1.5482, -0.3901, -1.729, 0.9958, 0.4904, 1.401, 1.0988, -0.6544, 0.3096, 0.2173, 0.9975]\nstate[eef_state]: left_x=0.2665 left_y=0.0327 left_z=0.1845 left_yaw=1.5417 left_pitch=-0.609 left_roll=-0.0017 left_gripper=0.9958 right_x=0.3452 right_y=0.1274 right_z=0.162 right_yaw=0.0726 right_pitch=-0.3164 right_roll=-0.1063 right_gripper=0.9975\nstate[joint_eff]: [-0.4444, -6.0513, 5.6137, 0.1734, -0.3834, -0.1343, -0.0171, -0.1299, -5.6274, 9.8803, 1.3797, 0.3101, 0.1538, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544d92b58f522af7971b5f8e25ff7faa08e7fbef5c8b4e3fb62da72e163a7cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3b0323ed034d3077e66f59d2831d68e5009880a0e27f9870a98cabcb7e12d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dea37dd3c5c8256b99c4925dbfca57b73bfc3714c6ed85cf92cb12436aa23ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 6.285 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1352, 1.5833, 1.504, -1.5566, -0.3912, -1.7325, 0.9952, 0.2211, 1.0882, 0.7395, -0.408, 0.1471, 0.0654, 0.9974]\nstate[eef_state]: left_x=0.2641 left_y=0.0357 left_z=0.1837 left_yaw=1.5616 left_pitch=-0.6063 left_roll=0.0118 left_gripper=0.9952 right_x=0.3233 right_y=0.0498 right_z=0.1506 right_yaw=0.0401 right_pitch=-0.1668 right_roll=-0.0313 right_gripper=0.9974\nstate[joint_eff]: [0.294, -7.5009, 5.1897, 0.0171, -0.486, 0.0659, 0.0855, 0.1162, -3.2068, 10.7966, 2.0391, 0.1978, 0.2662, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.581, 1.5059, -1.5486, -0.3901, -1.7287, 0.9958, 0.5014, 1.38, 1.0641, -0.5987, 0.3367, 0.2455, 0.9975]\nstate[eef_state]: left_x=0.2664 left_y=0.0329 left_z=0.1845 left_yaw=1.5421 left_pitch=-0.6089 left_roll=-0.001 left_gripper=0.9958 right_x=0.3472 right_y=0.1279 right_z=0.1646 right_yaw=0.0508 right_pitch=-0.2677 right_roll=-0.0896 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -6.1607, 5.5179, 0.1294, -0.3785, -0.105, -0.0073, -0.1573, -7.2547, 7.4735, 1.6777, 0.2076, 0.022, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1444, 1.581, 1.5059, -1.5482, -0.3901, -1.729, 0.9958, 0.4904, 1.401, 1.0988, -0.6544, 0.3096, 0.2173, 0.9975]\nstate[eef_state]: left_x=0.2665 left_y=0.0327 left_z=0.1845 left_yaw=1.5417 left_pitch=-0.609 left_roll=-0.0017 left_gripper=0.9958 right_x=0.3452 right_y=0.1274 right_z=0.162 right_yaw=0.0726 right_pitch=-0.3164 right_roll=-0.1063 right_gripper=0.9975\nstate[joint_eff]: [-0.4444, -6.0513, 5.6137, 0.1734, -0.3834, -0.1343, -0.0171, -0.1299, -5.6274, 9.8803, 1.3797, 0.3101, 0.1538, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544d92b58f522af7971b5f8e25ff7faa08e7fbef5c8b4e3fb62da72e163a7cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3b0323ed034d3077e66f59d2831d68e5009880a0e27f9870a98cabcb7e12d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dea37dd3c5c8256b99c4925dbfca57b73bfc3714c6ed85cf92cb12436aa23ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERet5HXZH55Ppyt9K3JQyU_K-ICRk0RV_518xunjcJa11EzfH9SinpI1bFsPA9R27SHrhQ4dIrAc4MsAW6uYT0SA1ZWsKB0MExGykSawez6QJ_ctRC3cBftR0NnwxGKSf6Gz7ddk-BWw7P8kOYtpTUch4ho0JkI_7aw11jC2UnQ7vMvYH1qXVUpn0slsoccvOWDWOE8TxsEm0gtGFEbhw4HY6jF2MHYRPlDsbWrLh1B781m1xi0fCXj2_ee0nWz_Qkai7-9XpDzeHY5j2KVn6YHnZhb-oJDWXNT-pL7L78S81f7ZQryqB6C3HRe7Vp9a_d---awmRwhGQlYzNbpoysqQESez7iQZLW3jXKex8-rLpIfGWRpKDEQdSsdOr71Z9-lDJrAH9rSOlyfFR4yQ8WE3Xd7ja480gA_p3M8I_2AAKrSqns2_42GpBJbhhORMUtMyqITv8TXk2B7n-TNEWWtHWVqnbcfnn5nJzfWRKHWpJ-lc32e2Llhy11PMNxkK011iQEn31enPNpF0mlCp2HkRCEpSP6aWNqyRXcZRaX3rn8POAYFrv43mrlNi91PclwPrGjI7RWR60RLKyqMcDIDwlFFY9smMqFiE0RjLtStkjH2zlzk1DBAZtRhsXVGTflV-qJUheO_Oqdi4OXe84cKfpdpWePveCkg0kH0C3L8ZvU7FVymSXL1KxVDjldv74LD7k737V7q3LouQia93sJpdyByGmI19J3KETVSVWII29n9iop5VnqilKgn8KXmcvWzSkM9yJOnkRAuNByY1c2D2mUgqUdTG7FFwrk5pQ9XA_0BUcw_kXGJAsWcif-YzJ278aOTV2HpBxNJkDFCQn2l5z07_yY7ci8d3fLA5kpYn4AREqgA2LGhwH4Djliny3xBjpJS_IrbCrhaoweCwPdnQ_akby9uIGheH0FQXoOFVrjtrCPTrJOClZlzbtSGxQnm9DF8UYIZ5jI_uQH6J19jAZV70NiRxU9lVhdFi2TeByrT2JRiQv504jP7XQkBnfja2fvuhtseq2j8onGKwdoHz_zf_MkkGRlKkLEi7Tk6a2YUS8sXB06hSOBe-BhqKkVakiloT3t1XAJPGC1-NqSX6Z30P-OsUvsaP7Hhnfm9NJB5lIejjirDu_tNtYVHbeXE2QYiAWNIrjflKmD5irmYtbfcDwmGYj0gENJtsx0axCaQ8JlUl6IeYs-S4vjrTqj3BFlpP-uRYfhOVXoOYH_DiPlJq3vto7pxvY0tv5GXc9CK_y_oKJAnxFT1j5snQ-jzqCWSJ7tGxmeZ8wDVMdzeect0OQWZEIT2s9MnpZaEYDA=",
  "id": "rs_0b3cc92e2b8f5792016ab4445d2fd087d0a5564f1ba283f3dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.13,\"right_z\":0.3,\"right_gripper\":1.0},\"note\":\"The combined move was blocked because the low open fingers are already touching the near rim. I’ll raise straight up first to clear the bowl before advancing over its center.\"}",
  "call_id": "call_Pf4Yt1IDcSjcyQy8hihfzi3J",
  "id": "fc_0b3cc92e2b8f5792016ab4445d652487d0a327b73f202f56e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pf4Yt1IDcSjcyQy8hihfzi3J",
  "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]: [-0.1444, 1.581, 1.5051, -1.5391, -0.3901, -1.7287, 0.9958, 0.5018, 1.5318, 1.6421, -1.0584, 0.3019, 0.2077, 0.9975]\nstate[eef_state]: left_x=0.2685 left_y=0.0325 left_z=0.1842 left_yaw=1.5356 left_pitch=-0.6099 left_roll=-0.0117 left_gripper=0.9958 right_x=0.3618 right_y=0.1427 right_z=0.2686 right_yaw=0.0969 right_pitch=-0.3117 right_roll=-0.1031 right_gripper=0.9975\nstate[joint_eff]: [-0.5675, -6.0513, 5.4906, 0.1197, -0.3346, -0.1197, -0.0122, -0.294, -7.1453, 6.7897, 0.8718, 0.2515, 0.1685, -0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212fe979ad00418add9ed9feef34a28d29446d375ee08e41b33d1003a5050d08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14cefce45b48db2151e7152abf825558165824b17a64d264b3d8695840c7f301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bc5d75615415b3ee4c2d8ea16950fcbc54891d8a1747054bed0d5c4642ceb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]