adhoc - adhoc_31eb6bb3.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 261 s
total steps: 399

operator

scenes

trials

errored

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stack the bowls on the table.

Raw transcript

system

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree upright bowls are spread left-to-right across the far half of the table; the center bowl is a good common stacking location. I’m moving the right gripper above the rightmost bowl first, using the right wrist view and the known base spacing to estimate its position.

move_to

right_x0.3900right_y0.1000right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0223, -0.0257, 0.9996, -0.0216, 0.7925, 0.6014, -0.3801, -0.017, -0.0345, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0002 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6906, -1.4838, 10.1265, 1.8144, -0.0415, 0.105, -0.0611, -0.4718, -1.2513, 10.359, 1.9023, -0.0855, 0.1441, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.1,"right_z":0.15,"right_gripper":1.0},"note":"Three upright bowls are spread left-to-right across the far half of the table; the center bowl is a good common stacking location. I’m moving the right gripper above the rightmost bowl first, using the right wrist view and the known base spacing to estimate its position."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe rightmost bowl is now centered on the right wrist camera’s jaw column and fills the lower center of the image, while the overhead view shows the gripper directly over it. I’m descending with the jaws open to about mid-bowl height so they can close around the outside of the rim.

move_to

right_x0.3900right_y0.1000right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.3721, 1.3529, 0.7387, -0.0856, 0.2745, 0.1528, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0009 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9995 right_x=0.3715 right_y=0.0975 right_z=0.1231 right_yaw=0.0469 right_pitch=-0.0981 right_roll=-0.0377 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.746, -0.0659, -0.0513, -0.0171, 0.0889, -6.2564, 9.306, 1.8339, 0.2271, 0.1734, -0.0952] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.1,"right_z":0.03,"right_gripper":1.0},"note":"The rightmost bowl is now centered on the right wrist camera’s jaw column and fills the lower center of the image, while the overhead view shows the gripper directly over it. I’m descending with the jaws open to about mid-bowl height so they can close around the outside of the rim."})

tool

executing move_to over 7 steps (0.7s)

step 16

assistant

agent noteAt low height the pink bowl’s rim surrounds the fingertips symmetrically, and the gripper is centered with no visible sideways offset. I’m closing once to test whether the jaws capture the bowl’s outside; the settled opening will distinguish a real bowl grasp from an empty close.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3874, -0.0223, -0.0261, 0.9995, 0.3595, 1.6524, 0.6029, 0.3218, 0.271, 0.149, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0981 right_z=0.0329 right_yaw=0.0382 right_pitch=-0.1253 right_roll=-0.0474 right_gripper=0.9992 state[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.7363, -0.022, -0.0659, -0.0122, -0.4308, -5.3538, 4.3419, 1.0574, -0.0366, -0.0757, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At low height the pink bowl’s rim surrounds the fingertips symmetrically, and the gripper is centered with no visible sideways offset. I’m closing once to test whether the jaws capture the bowl’s outside; the settled opening will distinguish a real bowl grasp from an empty close."})

tool

executing move_to over 10 steps (1.0s)

step 26

assistant

agent noteThe gripper closed to 0.009, confirming the centered close was empty because the bowl is wider than the jaw span at the rim. I’m reopening, lifting slightly, and offsetting about 4 cm so one jaw will sit inside the bowl and the other outside, allowing a rim pinch.

move_to

right_y0.1400right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.358, 1.6699, 0.5949, 0.313, 0.2611, 0.1383, 0.009] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9995 right_x=0.3797 right_y=0.0972 right_z=0.0217 right_yaw=0.0492 right_pitch=-0.1603 right_roll=-0.0599 right_gripper=0.009 state[joint_eff]: [-0.0889, -1.2923, 7.0222, 1.7216, -0.0269, -0.0562, -0.0122, 0.0205, -7.8701, 5.8188, 1.6484, 0.2271, 0.0708, 0.7106] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.14,"right_z":0.05,"right_gripper":1.0},"note":"The gripper closed to 0.009, confirming the centered close was empty because the bowl is wider than the jaw span at the rim. I’m reopening, lifting slightly, and offsetting about 4 cm so one jaw will sit inside the bowl and the other outside, allowing a rim pinch."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteWith the first offset, both fingertips still appear inside the bowl opening, so the rim is not yet between them; the neighboring center bowl has only begun to enter the far-left edge of the wrist view. I’m shifting another 4 cm left while staying low and open to place the rightmost bowl’s near rim between the jaws.

move_to

right_y0.1800right_z0.0400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.4946, 1.6608, 0.6952, 0.1345, 0.3359, 0.2176, 0.9948] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.3711 right_y=0.1381 right_z=0.0328 right_yaw=0.0762 right_pitch=-0.2028 right_roll=-0.0767 right_gripper=0.9948 state[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7021, -0.0806, -0.0073, -0.0122, 0.1846, -8.6222, 7.8017, 1.4969, 0.3053, 0.1538, -0.0513] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.18,"right_z":0.04,"right_gripper":1.0},"note":"With the first offset, both fingertips still appear inside the bowl opening, so the rim is not yet between them; the neighboring center bowl has only begun to enter the far-left edge of the wrist view. I’m shifting another 4 cm left while staying low and open to place the rightmost bowl’s near rim between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 40

assistant

agent noteThe overhead view now shows the gripper center displaced to the left edge of the rightmost bowl by roughly one bowl radius, which is the intended rim-pinching geometry even though perspective keeps the bowl visually central in the wrist camera. I’m closing to pinch that rim and will judge success from the nonzero settled opening.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6079, 1.7092, 0.7769, 0.0589, 0.3824, 0.2798, 0.9986] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3647 right_y=0.1778 right_z=0.0333 right_yaw=0.1137 right_pitch=-0.2227 right_roll=-0.0829 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.0872, 7.0222, 1.7167, -0.0659, -0.0513, -0.0122, -0.0068, -6.8171, 7.5145, 1.4774, 0.398, 0.149, -0.1587] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The overhead view now shows the gripper center displaced to the left edge of the rightmost bowl by roughly one bowl radius, which is the intended rim-pinching geometry even though perspective keeps the bowl visually central in the wrist camera. I’m closing to pinch that rim and will judge success from the nonzero settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe second close was also empty; the readback reveals that the lateral reach caused the grasp point to retreat radially from x=0.385 to x=0.360, putting the fingertips short of the visible rim. I’m reopening, restoring about 4 cm of forward reach, and returning to a one-radius lateral offset at the bowl’s rim height.

move_to

right_x0.4200right_y0.1400right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6106, 1.7149, 0.7757, 0.0376, 0.3775, 0.2718, 0.0083] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.36 right_y=0.1768 right_z=0.0273 right_yaw=0.1216 right_pitch=-0.2498 right_roll=-0.0988 right_gripper=0.0083 state[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.2393, -8.0068, 5.8051, 1.6044, 0.2515, 0.0855, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.14,"right_z":0.06,"right_gripper":1.0},"note":"The second close was also empty; the readback reveals that the lateral reach caused the grasp point to retreat radially from x=0.385 to x=0.360, putting the fingertips short of the visible rim. I’m reopening, restoring about 4 cm of forward reach, and returning to a one-radius lateral offset at the bowl’s rim height."})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteAfter restoring forward reach, the bowl has shifted to the bottom of the wrist image—consistent with the fingertips now reaching its near rim—and its center is offset from the jaw center. I’m closing at this rim-height pose to pinch the wall between one inner and one outer finger.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4011, -0.0227, -0.0261, 0.9995, 0.4221, 1.7412, 0.923, -0.0753, 0.2569, 0.1181, 0.9954] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1729 left_yaw=0.0009 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9995 right_x=0.4065 right_y=0.1373 right_z=0.0467 right_yaw=0.1189 right_pitch=-0.2877 right_roll=-0.112 right_gripper=0.9954 state[joint_eff]: [-0.1026, -1.7162, 7.0222, 1.7998, -0.0904, -0.0757, -0.0122, -0.4991, -7.3641, 8.7316, 1.5556, 0.1783, -0.0366, -0.1832] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"After restoring forward reach, the bowl has shifted to the bottom of the wrist image—consistent with the fingertips now reaching its near rim—and its center is offset from the jaw center. I’m closing at this rim-height pose to pinch the wall between one inner and one outer finger."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThis close was empty, and the overhead view clarifies the remaining error: the gripper is still about 10–12 pixels to the physical right of the bowl, while its forward alignment is now correct. I’m reopening and moving left to y≈0.18 without sacrificing x reach, which should put the right rim at the pinch point.

move_to

right_x0.4200right_y0.1800right_z0.0550right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0261, 0.9995, 0.4187, 1.7416, 0.9215, -0.0792, 0.2489, 0.1108, 0.0082] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.0009 left_pitch=-0.0378 left_roll=0.0007 left_gripper=0.9995 right_x=0.4055 right_y=0.1367 right_z=0.0452 right_yaw=0.1258 right_pitch=-0.2955 right_roll=-0.1124 right_gripper=0.0082 state[joint_eff]: [-0.0205, -1.3607, 7.241, 1.7411, -0.0757, -0.0708, -0.0122, 0.1709, -8.2393, 6.0513, 1.3993, 0.1978, 0.1197, 0.6716] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.18,"right_z":0.055,"right_gripper":1.0},"note":"This close was empty, and the overhead view clarifies the remaining error: the gripper is still about 10–12 pixels to the physical right of the bowl, while its forward alignment is now correct. I’m reopening and moving left to y≈0.18 without sacrificing x reach, which should put the right rim at the pinch point."})

tool

executing move_to over 10 steps (1.0s)

step 80

assistant

agent noteThe wrist view now shows the desired asymmetric geometry: the right fingertip is outside the bowl’s right rim while the left fingertip is inside, and the forward depth remains correct. I’m closing to pinch the rim between those two fingers.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5106, 1.8244, 1.0496, -0.1829, 0.284, 0.1642, 0.9952] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0009 left_pitch=-0.0381 left_roll=0.0007 left_gripper=0.9995 right_x=0.4074 right_y=0.1756 right_z=0.0432 right_yaw=0.1517 right_pitch=-0.3383 right_roll=-0.1246 right_gripper=0.9952 state[joint_eff]: [-0.0615, -0.9915, 7.0496, 1.6777, -0.0708, -0.0611, -0.0122, 0.4308, -7.8154, 9.2376, 1.4335, 0.2857, 0.1001, -0.1734] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The wrist view now shows the desired asymmetric geometry: the right fingertip is outside the bowl’s right rim while the left fingertip is inside, and the forward depth remains correct. I’m closing to pinch the rim between those two fingers."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteDespite correct lateral straddling, the close still reached 0.009; the wrist-camera geometry means the visible rim is still just beyond the actual fingertip convergence point. I’m reopening and advancing 3–4 cm radially while preserving the one-inside/one-outside alignment.

move_to

right_x0.4500right_y0.1800right_z0.0550right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5148, 1.8256, 1.0489, -0.1875, 0.279, 0.1581, 0.0089] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4053 right_y=0.1775 right_z=0.0416 right_yaw=0.1628 right_pitch=-0.3462 right_roll=-0.1269 right_gripper=0.0089 state[joint_eff]: [-0.2803, -1.347, 7.0085, 1.6825, -0.0708, -0.022, -0.0122, -0.3624, -9.0735, 6.0103, 1.4237, 0.2076, 0.022, 0.6471] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.18,"right_z":0.055,"right_gripper":1.0},"note":"Despite correct lateral straddling, the close still reached 0.009; the wrist-camera geometry means the visible rim is still just beyond the actual fingertip convergence point. I’m reopening and advancing 3–4 cm radially while preserving the one-inside/one-outside alignment."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteThe radial advance produced a clear change: both open fingertips now flank the bowl’s outer rim at the bottom of the wrist image instead of converging inside it. I’m closing from this external-grasp geometry; a substantial nonzero opening should confirm capture.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4709, 1.9194, 1.2251, -0.2886, 0.2451, 0.104, 0.9955] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4373 right_y=0.1786 right_z=0.0487 right_yaw=0.1768 right_pitch=-0.3768 right_roll=-0.1394 right_gripper=0.9955 state[joint_eff]: [-0.335, -1.347, 7.0085, 1.6728, -0.0855, -0.0806, -0.0122, -0.7453, -9.1009, 8.6906, 1.4481, 0.1441, 0.1441, -0.1245] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The radial advance produced a clear change: both open fingertips now flank the bowl’s outer rim at the bottom of the wrist image instead of converging inside it. I’m closing from this external-grasp geometry; a substantial nonzero opening should confirm capture."})

tool

executing move_to over 10 steps (1.0s)

step 110

assistant

agent noteThe jaws again closed empty while visibly passing into the bowl, indicating their tips were above the actual rim rather than intersecting it; the bowl is shallower than the 4–5 cm grasp height. I’m reopening in the same externally flanking pose and descending nearly to table level so the fingers surround the bowl’s narrower lower wall.

move_to

right_x0.4500right_y0.1800right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.4702, 1.9324, 1.2285, -0.2966, 0.2451, 0.0994, 0.0087] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.048 left_roll=0.0009 left_gripper=0.9995 right_x=0.4362 right_y=0.1776 right_z=0.043 right_yaw=0.1767 right_pitch=-0.394 right_roll=-0.1477 right_gripper=0.0087 state[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7802, -0.0659, -0.0269, -0.0122, -0.0342, -11.1248, 5.8598, 1.3553, 0.1148, 0.0708, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.18,"right_z":0.005,"right_gripper":1.0},"note":"The jaws again closed empty while visibly passing into the bowl, indicating their tips were above the actual rim rather than intersecting it; the bowl is shallower than the 4–5 cm grasp height. I’m reopening in the same externally flanking pose and descending nearly to table level so the fingers surround the bowl’s narrower lower wall."})

tool

executing move_to over 10 steps (1.0s)

step 120

assistant

agent noteAt the lower pose, the open jaws are clearly still inside the bowl because its rim exceeds the 9.5 cm stroke; a centered external grasp is impossible. I’m lifting and shifting about one bowl radius left from the now-calibrated center (y≈0.19) to set up a true one-jaw-inside, one-jaw-outside rim pinch before descending again.

move_to

right_x0.4500right_y0.2400right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.416, -0.0223, -0.0261, 0.9995, 0.4664, 2.0068, 1.2297, -0.1772, 0.2306, 0.0814, 0.9934] state[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1676 left_yaw=0.0006 left_pitch=-0.0522 left_roll=0.0007 left_gripper=0.9995 right_x=0.4526 right_y=0.1866 right_z=0.0249 right_yaw=0.2008 right_pitch=-0.3543 right_roll=-0.133 right_gripper=0.9934 state[joint_eff]: [-0.1026, -0.7726, 7.2547, 1.7021, -0.0611, -0.022, -0.0122, -0.5812, -7.1043, 5.7641, 0.9646, 0.1636, 0.0464, -0.1832] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.24,"right_z":0.06,"right_gripper":1.0},"note":"At the lower pose, the open jaws are clearly still inside the bowl because its rim exceeds the 9.5 cm stroke; a centered external grasp is impossible. I’m lifting and shifting about one bowl radius left from the now-calibrated center (y≈0.19) to set up a true one-jaw-inside, one-jaw-outside rim pinch before descending again."})

tool

executing move_to over 5 steps (0.5s)

step 125

assistant

agent noteThe overhead view now places the grasp point at the rightmost bowl’s left rim while the neighboring bowl appears at the wrist image’s left edge, confirming the intended one-radius offset despite camera perspective. I’m descending in this offset pose to table-level wall height before closing.

move_to

right_x0.4500right_y0.2400right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.5823, 2.0216, 1.393, -0.345, 0.2672, 0.1425, 0.9985] state[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0519 left_roll=0.001 left_gripper=0.9995 right_x=0.4443 right_y=0.241 right_z=0.0554 right_yaw=0.2481 right_pitch=-0.3596 right_roll=-0.1306 right_gripper=0.9985 state[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7021, -0.0757, -0.0708, -0.0122, -0.4718, -9.5521, 8.6085, 1.3211, 0.3004, 0.2906, -0.1685] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.24,"right_z":0.005,"right_gripper":1.0},"note":"The overhead view now places the grasp point at the rightmost bowl’s left rim while the neighboring bowl appears at the wrist image’s left edge, confirming the intended one-radius offset despite camera perspective. I’m descending in this offset pose to table-level wall height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 129

assistant

agent noteAt table-level readback the bowl’s wall now crosses the lower wrist view between the two fingers, unlike the earlier high closes that passed above it. I’m closing in this offset, low pose to pinch the wall/rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.08, 1.3453, -0.2123, 0.2707, 0.1375, 0.9985] state[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1667 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9995 right_x=0.4529 right_y=0.2408 right_z=0.0279 right_yaw=0.2428 right_pitch=-0.3338 right_roll=-0.1274 right_gripper=0.9985 state[joint_eff]: [-0.1573, -1.3197, 7.1863, 1.7118, -0.0708, -0.0317, -0.0122, -0.3487, -7.3641, 4.4923, 0.9158, 0.0024, 0.0611, -0.1734] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At table-level readback the bowl’s wall now crosses the lower wrist view between the two fingers, unlike the earlier high closes that passed above it. I’m closing in this offset, low pose to pinch the wall/rim."})

tool

executing move_to over 10 steps (1.0s)

step 139

assistant

agent noteThe closed fingertip is visibly centered on the bowl floor, proving that this pose—about x=0.451, y=0.242—is the bowl center, not its rim. I’m reopening, lifting, and shifting one 5.5 cm bowl radius along the gripper’s actual jaw axis (accounting for its ~0.25 rad yaw) to reach the rim.

move_to

right_x0.4400right_y0.2950right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8158, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.0876, 1.3422, -0.2127, 0.2607, 0.1299, 0.0088] state[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1665 left_yaw=0.0009 left_pitch=-0.0561 left_roll=0.001 left_gripper=0.9995 right_x=0.4508 right_y=0.2415 right_z=0.0226 right_yaw=0.2543 right_pitch=-0.3474 right_roll=-0.128 right_gripper=0.0088 state[joint_eff]: [-0.1983, -1.388, 7.2137, 1.707, -0.0611, -0.0513, -0.0122, -0.3624, -11.6171, 6.2701, 1.3407, 0.2271, 0.0611, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.295,"right_z":0.06,"right_gripper":1.0},"note":"The closed fingertip is visibly centered on the bowl floor, proving that this pose—about x=0.451, y=0.242—is the bowl center, not its rim. I’m reopening, lifting, and shifting one 5.5 cm bowl radius along the gripper’s actual jaw axis (accounting for its ~0.25 rad yaw) to reach the rim."})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent noteThe 5 cm jaw-axis shift moved the overhead grasp point to the bowl’s left rim, and the wrist view is now visibly asymmetric instead of centered on the floor. I’m descending at this calibrated rim position so the fingers straddle the bowl wall at table level.

move_to

right_x0.4400right_y0.2950right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6868, 2.1048, 1.5135, -0.4187, 0.3065, 0.1997, 0.9948] state[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4321 right_y=0.2901 right_z=0.0507 right_yaw=0.2814 right_pitch=-0.3773 right_roll=-0.1412 right_gripper=0.9948 state[joint_eff]: [-0.1162, -1.4154, 6.9812, 1.6825, -0.0855, -0.0513, -0.0122, 0.253, -10.7966, 9.0462, 1.2479, 0.2418, 0.1587, -0.1197] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.295,"right_z":0.005,"right_gripper":1.0},"note":"The 5 cm jaw-axis shift moved the overhead grasp point to the bowl’s left rim, and the wrist view is now visibly asymmetric instead of centered on the floor. I’m descending at this calibrated rim position so the fingers straddle the bowl wall at table level."})

tool

executing move_to over 3 steps (0.3s)

step 152

assistant

agent noteThe low readback is stable and the overhead grasp point remains on the calibrated rim rather than the bowl center. I’m closing now; this is the first attempt combining the corrected bowl-center coordinate, a full-radius jaw-axis offset, and table-level height.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6872, 2.1696, 1.4986, -0.3328, 0.3061, 0.202, 0.9978] state[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4382 right_y=0.2954 right_z=0.0237 right_yaw=0.2817 right_pitch=-0.3716 right_roll=-0.1369 right_gripper=0.9978 state[joint_eff]: [-0.0889, -1.347, 7.1453, 1.6972, -0.0855, -0.0513, -0.0122, -0.2667, -9.8667, 5.094, 0.7497, 0.0464, -0.0757, -0.2808] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The low readback is stable and the overhead grasp point remains on the calibrated rim rather than the bowl center. I’m closing now; this is the first attempt combining the corrected bowl-center coordinate, a full-radius jaw-axis offset, and table-level height."})

tool

executing move_to over 10 steps (1.0s)

step 162

assistant

agent noteThe jaw-axis offset still closes empty because the gripper’s lateral view is misleading and the bowl exceeds the jaw span. I’m switching strategy: lifting, returning to the bowl’s lateral center, and beginning a 90° yaw so the jaws close radially across the near rim—one finger inside and one outside.

move_to

right_x0.4400right_y0.2400right_z0.0800right_yaw0.8000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0257, 0.9995, 0.6872, 2.1719, 1.4952, -0.3401, 0.3016, 0.1902, 0.0083] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0572 left_roll=0.0014 left_gripper=0.9995 right_x=0.4357 right_y=0.2943 right_z=0.0202 right_yaw=0.2904 right_pitch=-0.386 right_roll=-0.1459 right_gripper=0.0083 state[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.707, -0.0855, -0.0464, -0.0122, -0.0342, -12.2872, 6.4342, 1.2625, 0.1538, 0.1245, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.24,"right_z":0.08,"right_yaw":0.8,"right_gripper":1.0},"note":"The jaw-axis offset still closes empty because the gripper’s lateral view is misleading and the bowl exceeds the jaw span. I’m switching strategy: lifting, returning to the bowl’s lateral center, and beginning a 90° yaw so the jaws close radially across the near rim—one finger inside and one outside."})

tool

executing move_to over 10 steps (1.0s)

step 172

assistant

agent noteAt roughly 40° yaw the two fingertips now appear on opposite sides of the bowl in the wrist view, and the arm is clear of the other bowls. I’m completing the rotation to about 90° while staying raised and open, orienting the closing direction along the bowl’s radial rim.

move_to

right_x0.4400right_y0.2400right_z0.0800right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.4583, 1.9968, 1.3922, -0.387, -0.0662, -0.3626, 0.9953] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0009 left_pitch=-0.0572 left_roll=0.0011 left_gripper=0.9995 right_x=0.4413 right_y=0.2347 right_z=0.0565 right_yaw=0.7209 right_pitch=-0.4265 right_roll=-0.1424 right_gripper=0.9953 state[joint_eff]: [-0.253, -1.347, 7.0769, 1.7411, -0.0317, -0.0415, -0.0122, -0.1846, -14.0239, 7.788, 1.2821, -0.2271, -0.0415, -0.1832] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.24,"right_z":0.08,"right_yaw":1.5,"right_gripper":1.0},"note":"At roughly 40° yaw the two fingertips now appear on opposite sides of the bowl in the wrist view, and the arm is clear of the other bowls. I’m completing the rotation to about 90° while staying raised and open, orienting the closing direction along the bowl’s radial rim."})

tool

executing move_to over 5 steps (0.5s)

step 177

assistant

agent noteWith yaw near 90°, the wrist view finally shows a true rim pinch setup: the left jaw projects inside the bowl while the right jaw is over bare table outside it. I’m descending in this orientation to bring both fingers down to the bowl wall before closing.

move_to

right_x0.4400right_y0.2400right_z0.0050right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4164, -0.0227, -0.0261, 0.9995, 0.326, 2.1517, 1.7458, -0.7303, -0.392, -1.0126, 0.9985] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9995 right_x=0.4621 right_y=0.2312 right_z=0.0796 right_yaw=1.2812 right_pitch=-0.4377 right_roll=-0.1784 right_gripper=0.9985 state[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.6679, -0.0806, -0.0464, -0.0122, 0.294, -11.4667, 7.0085, 0.6081, -0.5788, -0.1099, -0.1636] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.24,"right_z":0.005,"right_yaw":1.5,"right_gripper":1.0},"note":"With yaw near 90°, the wrist view finally shows a true rim pinch setup: the left jaw projects inside the bowl while the right jaw is over bare table outside it. I’m descending in this orientation to bring both fingers down to the bowl wall before closing."})

tool

executing move_to over 5 steps (0.5s)

step 182

assistant

agent noteAt z≈0.011 the rotated jaws visibly straddle the right side of the bowl wall: one fingertip is inside the basin and the other is outside the rim. I’m closing to pinch the rim in this confirmed geometry.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.326, 2.2326, 1.6176, -0.6323, -0.4549, -1.1919, 0.9985] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1652 left_yaw=0.0009 left_pitch=-0.061 left_roll=0.0011 left_gripper=0.9995 right_x=0.4378 right_y=0.2337 right_z=0.0112 right_yaw=1.4712 right_pitch=-0.458 right_roll=-0.144 right_gripper=0.9985 state[joint_eff]: [-0.1162, -1.5248, 6.9949, 1.7314, -0.0659, -0.0659, -0.0122, 0.1573, -11.5077, 5.5726, 0.9499, -0.4225, -0.1929, -0.1636] 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":{"right_gripper":0.0},"note":"At z≈0.011 the rotated jaws visibly straddle the right side of the bowl wall: one fingertip is inside the basin and the other is outside the rim. I’m closing to pinch the rim in this confirmed geometry."})

tool

executing move_to over 10 steps (1.0s)

step 192

assistant

agent noteThe gripper settled at 0.108—well above the empty threshold—showing it has pinched the bowl’s rim, and the rim is visibly held between the jaws. I’m lifting straight up to carrying height to confirm the rightmost bowl moves with the gripper.

move_to

right_x0.4400right_y0.2400right_z0.1600right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8223, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.3271, 2.233, 1.6146, -0.5903, -0.5259, -1.2045, 0.1078] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1649 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9995 right_x=0.4397 right_y=0.2466 right_z=0.0188 right_yaw=1.4998 right_pitch=-0.3824 right_roll=-0.161 right_gripper=0.1078 state[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.6825, -0.022, -0.0562, -0.0122, 0.1162, -11.0838, 5.9282, 0.9402, 0.1978, -0.3346, 0.6618] 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":{"right_x":0.44,"right_y":0.24,"right_z":0.16,"right_yaw":1.5,"right_gripper":0.0},"note":"The gripper settled at 0.108—well above the empty threshold—showing it has pinched the bowl’s rim, and the rim is visibly held between the jaws. I’m lifting straight up to carrying height to confirm the rightmost bowl moves with the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 202

assistant

agent noteThe rightmost bowl lifted with the gripper and is clearly suspended above its former spot, confirming the rim pinch. I’m carrying it above the middle purple bowl, which lies closer to the base and near the right arm’s leftward y limit, keeping extra height for clearance.

move_to

right_x0.3400right_y0.3900right_z0.1800right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.3164, 2.1864, 2.0102, -1.0519, -0.522, -1.2243, 0.0434] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0625 left_roll=0.0012 left_gripper=0.9995 right_x=0.4458 right_y=0.2424 right_z=0.1336 right_yaw=1.506 right_pitch=-0.3948 right_roll=-0.1554 right_gripper=0.0434 state[joint_eff]: [-0.2393, -1.265, 6.9812, 1.7021, -0.0855, -0.0513, -0.0122, -0.5675, -14.4068, 8.4444, 0.7399, -0.3541, -0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.34,"right_y":0.39,"right_z":0.18,"right_yaw":1.5,"right_gripper":0.0},"note":"The rightmost bowl lifted with the gripper and is clearly suspended above its former spot, confirming the rim pinch. I’m carrying it above the middle purple bowl, which lies closer to the base and near the right arm’s leftward y limit, keeping extra height for clearance."})

tool

executing move_to over 13 steps (1.3s)

step 215

assistant

agent noteAbove the middle bowl it is clear the held salmon bowl is the largest, so it should be the base rather than be nested into the smaller purple bowl. I’m moving it forward to a clear central spot that remains reachable by both arms, where I’ll set it down as the stack base.

move_to

right_x0.4200right_y0.3900right_z0.1600right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.7181, 2.0983, 1.9465, -0.9844, -0.3531, -0.8536, 0.0391] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0629 left_roll=0.0012 left_gripper=0.9995 right_x=0.3365 right_y=0.3799 right_z=0.1486 right_yaw=1.5522 right_pitch=-0.4527 right_roll=-0.1096 right_gripper=0.0391 state[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6972, -0.0855, -0.0415, -0.0122, 0.1709, -13.6821, 10.0991, 1.116, -0.2466, 0.2515, 1.033] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.39,"right_z":0.16,"right_yaw":1.5,"right_gripper":0.0},"note":"Above the middle bowl it is clear the held salmon bowl is the largest, so it should be the base rather than be nested into the smaller purple bowl. I’m moving it forward to a clear central spot that remains reachable by both arms, where I’ll set it down as the stack base."})

tool

executing move_to over 7 steps (0.7s)

step 222

assistant

agent noteThe large salmon bowl is now over a clear patch forward of both smaller bowls, with no overlap in the overhead view. I’m lowering it until its base reaches the table while maintaining the rim pinch.

move_to

right_x0.4200right_y0.3900right_z0.0200right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8276, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.6392, 2.6118, 2.8014, -1.3514, -0.3519, -0.8932, 0.0385] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0013 left_gripper=0.9995 right_x=0.4197 right_y=0.3923 right_z=0.1342 right_yaw=1.5058 right_pitch=-0.4728 right_roll=-0.1117 right_gripper=0.0385 state[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.6532, -0.0562, -0.0659, -0.0122, -0.8957, -13.2718, 6.1333, 0.315, -0.4078, -0.0073, 1.033] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.39,"right_z":0.02,"right_yaw":1.5,"right_gripper":0.0},"note":"The large salmon bowl is now over a clear patch forward of both smaller bowls, with no overlap in the overhead view. I’m lowering it until its base reaches the table while maintaining the rim pinch."})

tool

executing move_to over 8 steps (0.8s)

step 230

assistant

agent noteThe descent stopped at z≈0.045, more than 2 cm above target, while the bowl stayed upright—consistent with its base contacting the table. I’m opening the gripper to release the large bowl as the stack base.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6334, 2.9498, 3.1222, -1.3708, -0.3622, -0.9005, 0.0377] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1631 left_yaw=0.001 left_pitch=-0.0686 left_roll=0.0013 left_gripper=0.9995 right_x=0.441 right_y=0.406 right_z=0.0445 right_yaw=1.5263 right_pitch=-0.4892 right_roll=-0.0771 right_gripper=0.0377 state[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.6923, -0.0415, -0.0415, -0.0122, -0.1846, -11.7812, 7.747, 1.4042, -0.022, 0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The descent stopped at z≈0.045, more than 2 cm above target, while the bowl stayed upright—consistent with its base contacting the table. I’m opening the gripper to release the large bowl as the stack base."})

tool

executing move_to over 10 steps (1.0s)

step 240

assistant

agent noteThe large bowl has been released upright at the central spot; the overhead view now shows the two smaller bowls still separate, though the right arm occludes their exact spacing. I’m retracting and unrotating the right arm to clear the view before selecting the next, smaller bowl.

move_to

right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.6273, 2.9517, 3.1229, -1.3903, -0.3626, -0.9165, 0.9949] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1632 left_yaw=0.001 left_pitch=-0.0683 left_roll=0.0013 left_gripper=0.9995 right_x=0.4399 right_y=0.4008 right_z=0.042 right_yaw=1.539 right_pitch=-0.5023 right_roll=-0.0672 right_gripper=0.9949 state[joint_eff]: [-0.0752, -1.4154, 7.0085, 1.746, -0.0513, -0.0366, -0.0122, -0.4034, -15.0906, 7.4188, 0.9158, -0.2711, 0.0171, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The large bowl has been released upright at the central spot; the overhead view now shows the two smaller bowls still separate, though the right arm occludes their exact spacing. I’m retracting and unrotating the right arm to clear the view before selecting the next, smaller bowl."})

tool

executing move_to over 34 steps (3.4s)

step 274

assistant

agent noteWith the arm retracted, the layout is clear: the large salmon bowl is the far central stack base, the small purple bowl is closest to the bases, and the white bowl is left. I’m positioning the right gripper above the purple bowl with the proven 90° radial pinch orientation.

move_to

right_x0.3200right_y0.3950right_z0.0900right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8341, 0.6037, -0.4305, -0.0227, -0.0261, 0.9995, 0.0277, 1.2568, 1.0946, -0.9615, 0.025, -0.0952, 0.9985] state[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0889 left_roll=0.0017 left_gripper=0.9995 right_x=0.2964 right_y=0.0074 right_z=0.1605 right_yaw=0.05 right_pitch=-0.554 right_roll=-0.062 right_gripper=0.9985 state[joint_eff]: [-0.0889, -1.8667, 7.1726, 1.7802, -0.0855, -0.0806, -0.0122, -0.1983, -5.7641, 9.7573, 1.2576, 0.105, 0.2369, -0.1685] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.395,"right_z":0.09,"right_yaw":1.5,"right_gripper":1.0},"note":"With the arm retracted, the layout is clear: the large salmon bowl is the far central stack base, the small purple bowl is closest to the bases, and the white bowl is left. I’m positioning the right gripper above the purple bowl with the proven 90° radial pinch orientation."})

tool

executing move_to over 33 steps (3.3s)

step 307

assistant

agent noteThe purple bowl fills the lower-left wrist view while the salmon base is lower-right; with the rotated jaws, one finger is over the purple basin and the other is outside its rim. I’m descending open to table-level pinch height.

move_to

right_x0.3200right_y0.3950right_z0.0050right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8375, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7883, 2.141, 1.8069, -0.8673, -0.2279, -0.691, 0.9985] state[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.1571 left_yaw=0.001 left_pitch=-0.0961 left_roll=0.0019 left_gripper=0.9995 right_x=0.3224 right_y=0.386 right_z=0.0849 right_yaw=1.4503 right_pitch=-0.5711 right_roll=-0.068 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.7709, 7.0906, 1.7265, -0.0708, -0.0513, -0.0122, 0.2803, -11.6308, 8.1026, 0.7302, -0.442, -0.0562, -0.1685] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.395,"right_z":0.005,"right_yaw":1.5,"right_gripper":1.0},"note":"The purple bowl fills the lower-left wrist view while the salmon base is lower-right; with the rotated jaws, one finger is over the purple basin and the other is outside its rim. I’m descending open to table-level pinch height."})

tool

executing move_to over 6 steps (0.6s)

step 313

assistant

agent noteAt z≈0.013 the left fingertip is visibly inside the purple bowl and the right fingertip is on bare table outside its rim, matching the successful pinch geometry. I’m closing on the purple rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8379, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7971, 2.2234, 1.6569, -0.6704, -0.2417, -0.7193, 0.9985] state[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.157 left_yaw=0.001 left_pitch=-0.0965 left_roll=0.0019 left_gripper=0.9995 right_x=0.3154 right_y=0.3885 right_z=0.0128 right_yaw=1.5033 right_pitch=-0.5913 right_roll=-0.043 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.1966, 6.9675, 1.6239, -0.0611, -0.0415, -0.0122, 0.253, -11.0838, 6.065, 0.9792, -0.1734, -0.1392, -0.1636] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At z≈0.013 the left fingertip is visibly inside the purple bowl and the right fingertip is on bare table outside its rim, matching the successful pinch geometry. I’m closing on the purple rim."})

tool

executing move_to over 10 steps (1.0s)

step 323

assistant

agent noteThe closed jaws visibly trap the purple rim even though the thin wall yields a near-threshold opening. I’m lifting and carrying it directly above the large salmon bowl at the shared central location.

move_to

right_x0.4200right_y0.3900right_z0.1600right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8433, 0.6029, -0.4416, -0.0227, -0.0261, 0.9995, 0.7979, 2.2158, 1.6569, -0.6754, -0.2855, -0.7078, 0.0384] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1538 left_yaw=0.001 left_pitch=-0.1098 left_roll=0.0022 left_gripper=0.9995 right_x=0.309 right_y=0.3932 right_z=0.0179 right_yaw=1.5302 right_pitch=-0.5618 right_roll=-0.0023 right_gripper=0.0384 state[joint_eff]: [-0.0479, -1.5932, 7.1179, 1.7021, -0.0464, -0.0562, -0.0122, 0.0342, -11.5761, 6.612, 0.8962, 0.2515, -0.0904, 1.1062] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.39,"right_z":0.16,"right_yaw":1.5,"right_gripper":0.0},"note":"The closed jaws visibly trap the purple rim even though the thin wall yields a near-threshold opening. I’m lifting and carrying it directly above the large salmon bowl at the shared central location."})

tool

executing move_to over 10 steps (1.0s)

step 333

assistant

agent noteThe purple bowl lifted successfully, but the overhead and wrist views show it still about 8–10 cm closer to the bases than the salmon bowl. I’m advancing forward while maintaining carrying height to center the purple bowl over the salmon base.

move_to

right_x0.5000right_y0.3900right_z0.1800right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0257, 0.9995, 0.654, 2.6953, 2.8368, -1.4864, -0.3008, -0.8188, 0.0392] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.0008 left_pitch=-0.1125 left_roll=0.0025 left_gripper=0.9995 right_x=0.399 right_y=0.3763 right_z=0.0873 right_yaw=1.5239 right_pitch=-0.6271 right_roll=0.0532 right_gripper=0.0392 state[joint_eff]: [-0.0068, -1.7026, 7.1043, 1.6484, -0.0855, -0.0317, -0.0122, -0.1983, -20.9709, 6.2701, 0.906, -0.4078, -0.0171, 1.033] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.39,"right_z":0.18,"right_yaw":1.5,"right_gripper":0.0},"note":"The purple bowl lifted successfully, but the overhead and wrist views show it still about 8–10 cm closer to the bases than the salmon bowl. I’m advancing forward while maintaining carrying height to center the purple bowl over the salmon base."})

tool

executing move_to over 8 steps (0.8s)

step 341

assistant

agent noteThe forward command stalled at x≈0.406 because the loaded arm is sagging in a low, awkward cross-table pose; the bowls remain side-by-side rather than centered. I’m raising substantially and slightly easing the cross-table y reach so the arm can unfold before advancing again.

move_to

right_x0.4000right_y0.3600right_z0.2800right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6254, 2.7552, 2.9585, -1.5673, -0.305, -0.8383, 0.0392] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.4056 right_y=0.3628 right_z=0.0864 right_yaw=1.5219 right_pitch=-0.6354 right_roll=0.066 right_gripper=0.0392 state[joint_eff]: [-0.1026, -1.5385, 6.9538, 1.619, -0.0562, -0.0366, -0.0122, -0.1162, -15.4872, 7.3368, 0.652, -0.4322, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.36,"right_z":0.28,"right_yaw":1.5,"right_gripper":0.0},"note":"The forward command stalled at x≈0.406 because the loaded arm is sagging in a low, awkward cross-table pose; the bowls remain side-by-side rather than centered. I’m raising substantially and slightly easing the cross-table y reach so the arm can unfold before advancing again."})

tool

executing move_to over 13 steps (1.3s)

step 354

assistant

agent noteThe higher pose unfolded successfully and cleared the purple bowl well above the table; the salmon base remains forward-right in the wrist view. I’m now advancing at this height, where the arm has enough leverage to move the held bowl over the base.

move_to

right_x0.5000right_y0.3600right_z0.2800right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6331, 2.3501, 2.5488, -1.5723, -0.3046, -0.804, 0.0391] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3539 right_y=0.3299 right_z=0.1732 right_yaw=1.5117 right_pitch=-0.6431 right_roll=0.09 right_gripper=0.0391 state[joint_eff]: [-0.1026, -1.306, 6.9538, 1.6337, -0.0562, -0.0562, -0.0122, 0.5402, -18.3043, 6.2291, 0.7448, -0.3785, 0.1538, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.36,"right_z":0.28,"right_yaw":1.5,"right_gripper":0.0},"note":"The higher pose unfolded successfully and cleared the purple bowl well above the table; the salmon base remains forward-right in the wrist view. I’m now advancing at this height, where the arm has enough leverage to move the held bowl over the base."})

tool

executing move_to over 12 steps (1.2s)

step 366

assistant

agent noteThe raised arm advanced somewhat but remains short; the salmon bowl is now upper-right of the held purple bowl and their rims overlap in the overhead view. I’m lowering to a moderate transport height while requesting a smaller forward target, aiming to bring the centers together without the extreme high-pose reach penalty.

move_to

right_x0.4800right_y0.3400right_z0.1400right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.5476, 2.4077, 2.6255, -1.5848, -0.3233, -0.8684, 0.0387] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3875 right_y=0.3062 right_z=0.1678 right_yaw=1.4776 right_pitch=-0.622 right_roll=0.069 right_gripper=0.0387 state[joint_eff]: [-0.1573, -1.5248, 6.9538, 1.6825, -0.0708, -0.0708, -0.0122, -0.6496, -11.8769, 8.3487, 0.7888, -0.525, 0.0073, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.34,"right_z":0.14,"right_yaw":1.5,"right_gripper":0.0},"note":"The raised arm advanced somewhat but remains short; the salmon bowl is now upper-right of the held purple bowl and their rims overlap in the overhead view. I’m lowering to a moderate transport height while requesting a smaller forward target, aiming to bring the centers together without the extreme high-pose reach penalty."})

tool

executing move_to over 8 steps (0.8s)

step 374

assistant

agent noteAt moderate height the held purple bowl now overlaps the salmon bowl, but the overhead view shows its center still about 1–2 cm to the right. I’m shifting to the arm’s leftward y limit while maintaining forward reach to center the smaller bowl over the larger one.

move_to

right_x0.4800right_y0.4000right_z0.1400right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4526, -0.0227, -0.0261, 0.9995, 0.5152, 2.6606, 2.8357, -1.578, -0.3305, -0.9173, 0.0386] state[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.1499 left_yaw=0.0011 left_pitch=-0.1278 left_roll=0.0025 left_gripper=0.9995 right_x=0.4263 right_y=0.3113 right_z=0.1022 right_yaw=1.5034 right_pitch=-0.6348 right_roll=0.0884 right_gripper=0.0386 state[joint_eff]: [-0.212, -1.6752, 7.1453, 1.7021, -0.0611, -0.0513, -0.0122, -0.6222, -13.5453, 8.294, 0.6764, -0.4078, 0.0122, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.4,"right_z":0.14,"right_yaw":1.5,"right_gripper":0.0},"note":"At moderate height the held purple bowl now overlaps the salmon bowl, but the overhead view shows its center still about 1–2 cm to the right. I’m shifting to the arm’s leftward y limit while maintaining forward reach to center the smaller bowl over the larger one."})

tool

executing move_to over 8 steps (0.8s)

step 382

assistant

agent noteThe small purple bowl now overlaps most of the salmon bowl; its remaining lateral offset is near the right arm’s reach limit. I’m lowering it onto the larger bowl so the sloped rims can guide it inward during release.

move_to

right_x0.4800right_y0.4000right_z0.0300right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4538, -0.0227, -0.0261, 0.9995, 0.5957, 2.6896, 2.8727, -1.5429, -0.3302, -0.8371, 0.0386] state[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1496 left_yaw=0.0011 left_pitch=-0.1289 left_roll=0.0026 left_gripper=0.9995 right_x=0.4104 right_y=0.3517 right_z=0.0991 right_yaw=1.5052 right_pitch=-0.6135 right_roll=0.0812 right_gripper=0.0386 state[joint_eff]: [-0.0615, -1.1829, 6.9538, 1.6337, -0.0659, -0.0513, -0.0122, 0.4171, -13.6274, 8.1026, 0.7937, -0.3199, 0.1197, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.4,"right_z":0.03,"right_yaw":1.5,"right_gripper":0.0},"note":"The small purple bowl now overlaps most of the salmon bowl; its remaining lateral offset is near the right arm’s reach limit. I’m lowering it onto the larger bowl so the sloped rims can guide it inward during release."})

tool

executing move_to over 6 steps (0.6s)

step 388

assistant

agent noteThe descent reached z≈0.031 with the purple and salmon rims in contact; the smaller bowl is supported against the larger bowl’s sloped interior edge. I’m releasing it so gravity and the curved surfaces can settle it into the base bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8513, 0.6029, -0.4599, -0.0227, -0.0261, 0.9995, 0.5983, 2.8613, 2.9284, -1.4261, -0.3565, -0.8345, 0.0385] state[eef_state]: left_x=0.2858 left_y=0.002 left_z=0.1482 left_yaw=0.0011 left_pitch=-0.1362 left_roll=0.0027 left_gripper=0.9995 right_x=0.4289 right_y=0.3713 right_z=0.0311 right_yaw=1.522 right_pitch=-0.5928 right_roll=0.1008 right_gripper=0.0385 state[joint_eff]: [0.0068, -1.6342, 6.9402, 1.6581, -0.0855, -0.0659, -0.0122, -0.0205, -14.065, 3.959, 0.823, 0.022, 0.0562, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The descent reached z≈0.031 with the purple and salmon rims in contact; the smaller bowl is supported against the larger bowl’s sloped interior edge. I’m releasing it so gravity and the curved surfaces can settle it into the base bowl."})

tool

executing move_to over 10 steps (1.0s)

step 398

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8513, 0.6029, -0.4603, -0.0227, -0.0261, 0.9995, 0.6003, 2.8628, 2.9032, -1.3785, -0.3408, -0.8337, 0.9947] state[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1481 left_yaw=0.0011 left_pitch=-0.1365 left_roll=0.0027 left_gripper=0.9995 right_x=0.4355 right_y=0.374 right_z=0.0245 right_yaw=1.5025 right_pitch=-0.592 right_roll=0.0699 right_gripper=0.9947 state[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6239, -0.0806, -0.0513, -0.0122, -0.5265, -14.2701, 5.6547, 0.8962, -0.1538, 0.0855, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [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 · 10.29 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, 0.7944, 0.6037, -0.3813, -0.0223, -0.0257, 0.9996, -0.0216, 0.7925, 0.6014, -0.3801, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0002 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.4838, 10.1265, 1.8144, -0.0415, 0.105, -0.0611, -0.4718, -1.2513, 10.359, 1.9023, -0.0855, 0.1441, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc438c66571bdcca938a08bdd4952426096f3f7d2b79577749cb7e7ab5dd874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb81db4ab23d55e048abc787c108de060bb833c2f9bc4c7a99c44fbe53d79f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8fea3800bd7653ee8724d6659604b94586a560a7348d7233e7b4509cb5db194",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.609 s

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

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  "id": "rs_08d034dbce856498016ab44720adf887d0a87d5e7ae5204dc9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcpYYIp5iiMc9BLWaUolXZgb8tVAbVAxdl0tYVRXFkctgwA6CwH22tbmsMPTyECEL0VanQzq6a7cHQVbinbVP_dwFzRasPBZn9JXV14WxpegD83jN7dayAuGtnMcUcPZiEoJVXAbBPYr4_2ffktnw7kOJxFOhTwNgFR4zaIgStCbtUKvvnWfC_XU2f0S47TwC-IiPGQ6-fZIGGWYPiydHFEunVTuzrDQ1aXVF7RMB9qo48m4xBaaxY3K_GaZogXAS1zylO6UnQgR-kpW6fHksK087UMx_aWI3ZWCeuhzog36OtUqSK_ljn7QBVtKqmW55oyKPzWzJgl2buLORqWWhdUAj-7yuRUW1SWdXKEQC4UQ0hZ7zfEj_szMV2_tTrSytst2RbdgcMSJ4AIzA-kbUfP7JxRa1b8KZ_MWms-jGYBHI34Qafov1xxA7ZNpMLBL50LsG2Ug_-84vA6FroKf4V3iwqPFA9fiJiqO8TCiT8e-0UrahmBqIf3MBCpz2LJ1-zjdhM2Cg6ZOEF3xfBL3UsemldZ7eSKQrmHheQLuH1ZeB6X4kUnSkXvV1FNearPIR6dTMzwI5cjY0lbkY1yrT9dxVpaTbtgUBanT3J8IOoDkvtzL242zEfe0kpPNmRTesHsTFdyByknReySfw796giA2Tjf6zwiHBQ89-QaLRvd2NNWAQ9Eh0QxRSyWka26-2osLM19a9wCG6guPY1OSB_jlqIHFLNksmh2pwG_jGOGqqsVxoym2iw5KRwvtGJPgzvgNx1RBHU03Y4psPCLHAjBQ3DHHmAj22GabuEtgSET4eINfFt34qxP202Bqy8YoicTW6SvZIYtR5uevTetfUQmHp7z1WHthQK0DMLFTi-IdXvG-SgYliYDwU5tRgGUEDbv2Zoyf2dRaY2T1ST4ffcYUOBhnWVY-2AD3Pl7f07t5k8ZTN2TjDJAh4WJcltNQ-FF-bmrryJk_exRtwHkU6-vw-refdZSJZlHhL0KFgg4Eze4bNB0IXgVlkRf-UHzWbx6dIwl6Z1jzsbvNFuvGY2IEB5NrhCXTU6MIiWrLLlaimedCwHaXjaQHxxqLv-k2nSXRV7XDizf5qu5iFuIJI8Crsrd4qqwYug-d9_7sw2Z98ohlnnIlDGc36wdVOz15jIDrk6iHNRxdsYPDt1cVl5YybtGOPeClgAB4Zc8SSkSh7EPzmVGhpYJeGmC7STQqFdhhVxGuurrI8g_KVhsolSMM7HPmvn9XddO1emlRkkpLuCC3yrAzxZr6b_gLvnO6zh4-9ewch2uEB41l8EgpIt7Im5O-muJhaMyHZQWwuLU__A-ryTDyKtRkqEtDMBYo_14R1j7YnXfLZsVPesasSGa-Tg1DYg7aKU-2t05Q5YKDQvmRWkPzgDuyvjnCmjJvscVTh7aURiAtJRZImHBXP3eHd6OjxUCDjvLNW3YX9VsXkEYonpBa1RR7EnYBCA52Kx-EQWUbFyMtDMyFEkfTM4U96wo6WSYEwURWzs_Ds9NlbJ04K2QT53JiwUXOXb3SohcJ2gKElgzkyVy7kpbQf4583H3cHSox5LQeZahv8079sMl39Cr6h_m2ayFbQF8KQkhGh6DlqMrL-E6gpkm0258KZI-L2tTp8pSLL12K1fc8dAodhVwvoin8IEFPE68L9i_cmVe2eCBn2z9cpt0OCUd8MpJj6r3Fkw1K6BDnqKNjeYU4uRawjCFGJZy_2dFWaZBxk0rzXbkBCk2-KVN0HLFUGHNmI94rbWYsRQNEXBTfeZv3pr2I2zZnztbfCSrfnKLdQnr7u-dnsvtbkPvaSSdCSOapGJl0j05y0TPSKssQCjmyDRUupBjc-ryi7XPxu4sJ1e1qiaj9s8CFktqSFs6t6ZOtGCN53MEgdMgPl_XcjXZQasBVH1n9pdejx5588r8tzg73ohVu3QkZXkSRKI9DXYVz8sreo_mf32W-MfYRbTqM1Kdb2T3dT-i-WCKZN0KHgz1YBtxT93G0Z9UcqNazkngTdxn9XPGRmoQmm1MZgHxisv_PPDh-3t-jzHQ_ijwYg1aRgOLCD1M7mWjaJD1S3B3Zt9I-lDVxKP6WnQJZobuY2_SNHNXvXUB4NDTi3N5dK3ISm436HsuUnmj4SMm9QrVahvIMOEp3j0uKiX2R-a9CbdyfrQSElstDZowH0iyJuFxNQXr-0D4czN9u2ArxhDR81ttK_6LzYp1jT8ZhLGRK4mEBDGm_-z-fOmhw2N5dkUiSeXE4ss_ylh1BuYL2PMV2XbKxZYo88xK2Frs4i0nuulhEfq9q5tiRF0wawnQFvHV0Q_HCpqL4XoNkW6ZG34lMyxXX_bQIDjLPRKPa7bClrydmQ2yKe3bLlMHbb8GVYDmKUOOv-Ub5GdTivRfrpyFBmdFqs0u9toEvBjHgX4h1IB0LhP5Mexm09GZsopSlcAu8F6vKW5Edg6ycPcb9zZsa3V8QZqV-5nMw81uv376IAWWqx1H-IliJ_13Bm43DmrICAseHbuGvP_SMZhc4gC9m0bpZkLTOfxeMSUkfCekhBkxE7RYDe-dLzuvhRm6V7Dhbt_2GlgGC2z7_MHBbdNcTtQyWE-btyqYeSjJam0uU2d8y5AMR3BMnU8aGRSc6nmAhB8a9WT_T9P3KzOS8A==",
  "id": "rs_08d034dbce856498016ab44725f45c87d0aa80a81ebe21506f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"Three upright bowls are spread left-to-right across the far half of the table; the center bowl is a good common stacking location. I’m moving the right gripper above the rightmost bowl first, using the right wrist view and the known base spacing to estimate its position.\"}",
  "call_id": "call_pWOV8R0zRgME5CtI24KDnuEE",
  "id": "fc_08d034dbce856498016ab44728bef087d0a4108833bfe8c153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pWOV8R0zRgME5CtI24KDnuEE",
  "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]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.3721, 1.3529, 0.7387, -0.0856, 0.2745, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0009 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9995 right_x=0.3715 right_y=0.0975 right_z=0.1231 right_yaw=0.0469 right_pitch=-0.0981 right_roll=-0.0377 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.746, -0.0659, -0.0513, -0.0171, 0.0889, -6.2564, 9.306, 1.8339, 0.2271, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dbf2d4fa784ede893672eb3373cf08dcfd7a5710b51288d33a322d7771fd2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb4e62f8dafff1f7d55a511df825e11de7e7388cc667d3aa2f5085384685ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c898d0a164083ef24d8bdcfbdb2820a91cec65f71206bd7d9db1e101d20115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 6.032 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, 0.7944, 0.6037, -0.3813, -0.0223, -0.0257, 0.9996, -0.0216, 0.7925, 0.6014, -0.3801, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0002 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.4838, 10.1265, 1.8144, -0.0415, 0.105, -0.0611, -0.4718, -1.2513, 10.359, 1.9023, -0.0855, 0.1441, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.3721, 1.3529, 0.7387, -0.0856, 0.2745, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0009 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9995 right_x=0.3715 right_y=0.0975 right_z=0.1231 right_yaw=0.0469 right_pitch=-0.0981 right_roll=-0.0377 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.746, -0.0659, -0.0513, -0.0171, 0.0889, -6.2564, 9.306, 1.8339, 0.2271, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dbf2d4fa784ede893672eb3373cf08dcfd7a5710b51288d33a322d7771fd2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb4e62f8dafff1f7d55a511df825e11de7e7388cc667d3aa2f5085384685ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c898d0a164083ef24d8bdcfbdb2820a91cec65f71206bd7d9db1e101d20115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcvgfefOAQz9tXhTVtP2c5COdH5O61T-VCN2RvZoUq8STyxJzzkloy6YNhDYkgBW7b2AukHN3R1ltXoesjq8xGPPBBNCzLHilJnGPVQd976iCRdLfoqZIj3UHV6gk8ufEF-g1cXmaEdvR701sKM4Pv-6WxYFHPqNblXwITwG5ArSSa_-T2XY05Q1CP5Rlq5UgQ8Em5e82VgsDR-MqJs-5vQBZ6u3boeEKffjgBCJPGP0MBm0vNV91_qhhWFoqG5TxO6gbq6EWeMRWdKODjUxHesRELU511rmA_sJXn8mcebwrjlBk5jXddWYWh_1VTpn9O_MkbEdtifVJxxYOIVVaI3OK3d9_ymxlHUzP0ij7BCr2FQaVBpszoVFV5RRj8pklBE8ka7H5wBah_r8hxZfEaS4Ng-EsshKA9SxBe31dkRONwhco4UBYzJgGkB-Vy7HF60jwy5lo7HjVoOnCvp9mrKCiAkL776HKMclp0v8UeKrkaQsqfeX7nAy8dW6RtIgxJc9AAqZneUSx7YcryglgsJxdDC-7UPpZQJ47cee6oLvqkTO2oO3ikGz5WdVvZCz05bf89QX4xw7rjbwLFmzNhtRsjq7eKtkjF2AXoIWoGsbzAAo5i2kUum1Jj0M4HoF97EwwDoX81CoCxenDqU_-XnahbvSU3Cnew74oqjf2sMwP7IBgsAaksYCPMYgxB45v38Lc5Yr59JHMge6P62ph0Q77SeGv-Q1I2XK5pphtVShHQUtjOpgV_K1aNyGVgFfRxjjPznfhPQSgkZjgs_Em3gD72inxcvEdV24B22Ws4fOKF7sTy2tZl_Rh_ptxD5Q_OvuLANIW9tIsQlOOoX0-1LWslcAa7M8J6JM4qoN4MwQLPF37CxUDQKwq72pZ2SMctr43YxXQKrY_NWQAB14DXCsldnLMTZF0c9PEmOpptn5IywP9PpwQErNmVWmXcQ-lXI_QL8AtxVLJaR1GhZxUaIIuqDk2-AvnsYCoQf83ne39ipHiGilHMENwW2DKrH_1Put6bmr2tt8N3q_jZFLIcCM6n1skz_sOymjssMOSvUAOGqwBFpDLEsICQBmm9hU-Xl9g9FkF1WP01Pu5g-XtUsQsKEotv-6YjU3t3mF84h_X2HaGTUxM9WGquROU4utI2VrK-UlhZYrzQrjpwcS5AZvq7CnKvEGEt8W7dIlIs6XOQLAR8ekIPvKNGg0YpMVkzVR3fdzMh6FIvzmnKaVExYvs0Gs9mnROqrg-SOpGxZpmKikf2QtcnBo1v_4q8P2EYnItx396uZv23nEu0nMXjmL99-GGloChh6-3G_Fezfkmrk8BcA0AkNEFEv7d31n-oubhHiHQ_-2Zhj3jemkdOP_mbEJ3oivk7NjEkrdWxXZqnNUQFBZJU_5Wd6vTpl4Ico-ymkyMQAyRv3NYPOuztw8UTWbi59Szq4yAvfZ6RMA0NTi-YhoUjeB8VS09Piiavs4VuJlsFToCB79X05n_qOhHOQ_zJEQAQnVxKbfapqT55r7JEbh4hRwjFXxx_a6kcXY8x0jm_sIuNiR11VM9n6oGBjIJWCzANm386CxVqmMiE07Vd7703iPmMF3h7pBqwCHaRRxrLsOusyIHzye2vAQKNi8guxN2KpFsvw2oF2oZcC51wgAQI9OBBUaCiDcz4V_BBsUzZT2Xssd10DJJwQBVcdEkLmMjGxWduYl9ok1mi5UTCuqrukEvrL8hUOi9mYXGSJUKjV3dSkIcX2NBWHLa2EO7cLpjRm4QVw3ACjNWyA7MrfBs7HGoWYtAurT1cREieHAF0zty7QyC8t6NXVqY4iihw4I3mncy4UdaK4esfBqib0XIBGjECsuhj6jk_S4ysQTp8y1j8LmGWKWUgAJHnjE2ncGmdhorlYhW7Q_xn1x1MNR9H1RxLCk-GjpvnYgfut3hg1bvQzz5v7SLbIClR9s_UhQs51J_aNDfO-PY2oGpzJ_CYXLkNNpAZI0j2XjdCJAG_-WRrfVndcrayYUp_Sfh81NzensaUA3iRRrU-ZxGgFX0xxZGJ_W37cnvVVuxUo2CIonV2hvJQxmHYLsnqWlmgGXmqEz2etCVoWslyDLQsGwxTsifSellrsNhDhopl2bYggzUgSvZLudDn5xqty7D_Xnfaa1Hsjno9QdMumGszCZW8qisE-3jRQCSV-yxOiTkIRqUD9rBMMzu_3HzOhcWi9ELUDl6SfciVD3yYifEm2OBtmPWsf3pXZtYLK8kDWOvf8ynSTH9DEFR8LKw==",
  "id": "rs_08d034dbce856498016ab4472c302c87d0b9598c5de59b0009",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The rightmost bowl is now centered on the right wrist camera’s jaw column and fills the lower center of the image, while the overhead view shows the gripper directly over it. I’m descending with the jaws open to about mid-bowl height so they can close around the outside of the rim.\"}",
  "call_id": "call_z1CytOBqyGaoQUqTYSIaaxIb",
  "id": "fc_08d034dbce856498016ab4472e447c87d0a89f4a2ac6efe8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z1CytOBqyGaoQUqTYSIaaxIb",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3874, -0.0223, -0.0261, 0.9995, 0.3595, 1.6524, 0.6029, 0.3218, 0.271, 0.149, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0981 right_z=0.0329 right_yaw=0.0382 right_pitch=-0.1253 right_roll=-0.0474 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.7363, -0.022, -0.0659, -0.0122, -0.4308, -5.3538, 4.3419, 1.0574, -0.0366, -0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180a39c9e24c4abb322389f1b896d967e003369ec499a45b46ac4beb9cd56baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe5607a2311512cc4f59ac387d78e2052cc8883e05c199faf0e9741e01e4718",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463738d89fe811c99cdfbf845541d2322d2488128ea75f702e4cfb0b77245a45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 5.454 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]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.3721, 1.3529, 0.7387, -0.0856, 0.2745, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0009 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9995 right_x=0.3715 right_y=0.0975 right_z=0.1231 right_yaw=0.0469 right_pitch=-0.0981 right_roll=-0.0377 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.746, -0.0659, -0.0513, -0.0171, 0.0889, -6.2564, 9.306, 1.8339, 0.2271, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3874, -0.0223, -0.0261, 0.9995, 0.3595, 1.6524, 0.6029, 0.3218, 0.271, 0.149, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0981 right_z=0.0329 right_yaw=0.0382 right_pitch=-0.1253 right_roll=-0.0474 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.7363, -0.022, -0.0659, -0.0122, -0.4308, -5.3538, 4.3419, 1.0574, -0.0366, -0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180a39c9e24c4abb322389f1b896d967e003369ec499a45b46ac4beb9cd56baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe5607a2311512cc4f59ac387d78e2052cc8883e05c199faf0e9741e01e4718",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463738d89fe811c99cdfbf845541d2322d2488128ea75f702e4cfb0b77245a45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEc12T1N4nmqYB0PGVDNqN12tgcdoJAO1OeBqdZewHWCc4O0rwqvNC7U0q41wQTHMDrRKP07o6CxcewSYW0xBj7EM4v7Yt4HNqx1iQKWWQEA2M7QgOl5XhmZV0sgyDsXFIxbk8btp1BLnE24cloamhu-mSVCZNTLDzRFCYjHnstGFIjNxl8bC2TRhYCjWY5btFjWSue1crTSog606ph7XTvxx7ss6KcfdMsNn_lesYwCH5-uRFC4A-Pdc8oH4aqAKut3f-O5yyFOEnnCwn9TnNgbVeIcVwkz_QBuQbzQu8-Peur0oum9oJbXXqkY0xLx8TX9POZPul91ZAkglHBAiwtq6xhlQE-WflUgDi3021v_yB4xS5-GKCyTz-UUJN8jFIRigi1r2WLWQeMJJ4nXggtSyKMYaNx1hcOWSVkvzT53awjyCGn0iw7lZsjmvvN5Shj20lU2CMMwD5fNrdBa98TN5_BJdmQ6PVXNBMEHcD53ee-7cVGmDtWK10UyMpsJfY1eQx3U0ms2_DWbcwtlMXfMIl5ZtHcOD8oEq3YqYEhpGwCxDdQQ9AgrlgufuJFF1NEOAqaIRbXaz9xbCOqlFJufWSIdfiOyGFxqgWz7LzFfXj9X06zkVeEhAwUmg86Ae0zkwjVpK3MPRXKSFldtC2o9qPD4iinPtyXKarGGuQAExoxo5WEiTtPMkJFNJ_pm4cF0sGy-lHwDQiPMBjEDa_b0vpvNqv-fqev3OD7m7ftuQsvTIzVsP-rc_VFfJXrQ9Sv1c5kHP9gFrvr_uO1yIj4V_95G0bNRln0u9Ds9q052-pzTTCRgyvuOG18TnI0-S3D0uPJnnCvowTCkS1h0aS2merjvCgq0cvYhHK7PYEfLUr9l2A1IPX1o7uyJ-kE3v7bXSNDX_aqA_pkRgvP12stQK9zZTIR2GVkS13W3a-4AsS5gcXOcE2O6j-LecnOVs1fHLJellntJx133q_hvrl43szwx_FT_lgJ9EuVCgAaZkqRPnPaU4UZfyIJbPsHFvSgL8YF2pXnjIvt97ciVk25-7fQ2Wwaq3deF0vmCwU334etmcuWUCHpm7vPcVzn4ZppO-whtkRAVa-qnBzAIbDLAr38UL1eAiE9Hk4LWOOQM7K0j71bmFukut2tV-47rvuNgceOPOthza0fpzfO-RkalIoFYbkP6cF-hLI9tZfE42FtYDwGLlMKshvUDbxGMhG1VcwWE-WV4OIQvBkMaSNwutmFfCcQ6Tbv_x74t6QIyX2i0hiBnjavwwLWJJAcpzuSRJUOErV_A1NJVGwgVbd39mzLSNjz7cky04ciUwNo24d1M6mV0SvoMMZDnLhkAs6NpbsgViYsJ_mkypPvLOoWqHS1BkBCV4hgLINjzCSFm40PQOeun0Fo6hvEzvtAuPUlJw5Iuf8HArbOXggCoPK_denAF_wmEyUPOPij2sRG_CJnjOWrZ4B6VV2cV_yUbGiSSD7-swvp32MuNXV4TMcWGSBjzqfhUkTPzTZvunu7JQ8RdFWyA3quSMUSzMZAneOo4UCvTv8Kj4tFes4dGHzp1_STgTSWrSwArz-CEcSYMTEOjMZp7mMYOXW2laY5YAzNpYegW3hBV6gF0RhHJ6sY_mocw-5yW2dkUFTV-ZT0CaHtinPmQNAx7Fw1C3tZBfIg6-75xCK18tbzDDNdre_srjyq50pkke6oQyJ3_y3BgmR7qOJOGe_vYDJJwodwG9r3AOfGQBFYcApv-rOxbUhbciby1xE5ABiMqkeSJ22W18awHicHLJeyEARiVQ_PjDv7weC-7WmUhQjCWwoMrD6JulfmUcdUhYNfv4evQkl2XgKfomj_PH--kfXgcXluRcZSfLXiEpYKdQidjH37EIrz_debwU6KLymh8P-ZLWzr8uBv5qTjWR3AUmeXMIqc9CvWeAGNOpDL2b2cMa87zlujeUeqTvfjsLEiQmCR2pdASBzs5wFYb0F9L58vCCmnX3IqS2ZMcyq-gEeCS15Yd_hzRIU-Osn6M-aXC0FUpKdoxDRZw9nyz_bvTWiOcobpsvfd3pKOUaCZfarG3o88HwAJP2YOyMSYimTZ6B9WgDTN3cJVo7POF1tjF1eg7peNNArwNmCJS0mB7Xnf1vOMeKq5muHVeyKwSPoDzFIdB7Q78cPuTvQ1GS5XCT7jMDfBVLpHNI_b0fXCLK_zvZhFqj3NvW3z2FKmUT4PEhWfN9Ftc1T8f_0swOD-LxDIgcFML7HsU-FtlUGniQNuNTrFp555v2M_M9A8avjFXDvA3vwe5emhZMREI5fOVMu1SEdhrtV95RMpdykNuEbcXTeJKB3TS5LU-IlZ30JZcxV-ormiolbVvhA7-9R3PDAyOJi6dTH_QICLxAhxK39pMzOhXHgtrnfol7xh_bg7YpiSPK1Db_sClcx-8LGf1p-m1nCh7FqwGTYu2ZKsqGrthMxshQmT8SdeXwMyLoSO2AJ2KOExxiwKRL8fC0UICANSRiXxD4n18CdJ3p8286cbzbwj1Uy0DTsiqW1qOnRdOjQ-tLJZHfkMY-CphmfulQf8bR6rhyuAmaEptzBwYprBPI7T9_KYMEJaut-E7qAJIRnMm8T6ePmWqVmW73szqXxXit4x1h3nuFpZ7sLJuY0SWDWcPY5W7FoFsgR3kzU5MCWK3R6DLxpsBkRLWYDr6bnZ0L_9QKJHm1p2VbYoZ_yolPolCzfQxqjHSGlcWzbZm3PG4zxnIWOIjFTAdHh2TsiOawie-_pM1MOz7cs4vR6ZuoXSoX73S_-vB0CClvHR0ei5bdi60IjVqDcuUASs4vk8AVgzVj7sjdCkMEsppZKyD9eUoE176LNRJCBVFi1eTLMHbhY5j8bJAJEOL1zinJEn8JWN7z3FJ0Hb1_BdaeAF-Eugr5Gav77fuEyXT5yeSPPYXoKbd8_dxqmu48RtzueANVbmEnidifDghrbq3DTx2xV1i3N1Hig==",
  "id": "rs_08d034dbce856498016ab447317f6c87d0a1abe79a349c76c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At low height the pink bowl’s rim surrounds the fingertips symmetrically, and the gripper is centered with no visible sideways offset. I’m closing once to test whether the jaws capture the bowl’s outside; the settled opening will distinguish a real bowl grasp from an empty close.\"}",
  "call_id": "call_OEuhiPvOJkMEyA3ML4aVYnPT",
  "id": "fc_08d034dbce856498016ab44734d61c87d095d02d1adc311301",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OEuhiPvOJkMEyA3ML4aVYnPT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.358, 1.6699, 0.5949, 0.313, 0.2611, 0.1383, 0.009]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9995 right_x=0.3797 right_y=0.0972 right_z=0.0217 right_yaw=0.0492 right_pitch=-0.1603 right_roll=-0.0599 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.2923, 7.0222, 1.7216, -0.0269, -0.0562, -0.0122, 0.0205, -7.8701, 5.8188, 1.6484, 0.2271, 0.0708, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa299d9a7c135a21688fcb9bbc937813146d2762114dc0c8ffdbfb49f270fb7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4d60cf971a2d30392ffdaab546c3b4f84adef18b7cd98dba08439bb67f4d75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c0f7dd9de3ceab87829a2e1f2fc5605667d4c1929036457f5822ca74841ea6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 4.801 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, 0.7944, 0.6037, -0.3813, -0.0223, -0.0257, 0.9996, -0.0216, 0.7925, 0.6014, -0.3801, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0002 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.4838, 10.1265, 1.8144, -0.0415, 0.105, -0.0611, -0.4718, -1.2513, 10.359, 1.9023, -0.0855, 0.1441, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3874, -0.0223, -0.0261, 0.9995, 0.3595, 1.6524, 0.6029, 0.3218, 0.271, 0.149, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0981 right_z=0.0329 right_yaw=0.0382 right_pitch=-0.1253 right_roll=-0.0474 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.7363, -0.022, -0.0659, -0.0122, -0.4308, -5.3538, 4.3419, 1.0574, -0.0366, -0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.358, 1.6699, 0.5949, 0.313, 0.2611, 0.1383, 0.009]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9995 right_x=0.3797 right_y=0.0972 right_z=0.0217 right_yaw=0.0492 right_pitch=-0.1603 right_roll=-0.0599 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.2923, 7.0222, 1.7216, -0.0269, -0.0562, -0.0122, 0.0205, -7.8701, 5.8188, 1.6484, 0.2271, 0.0708, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa299d9a7c135a21688fcb9bbc937813146d2762114dc0c8ffdbfb49f270fb7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4d60cf971a2d30392ffdaab546c3b4f84adef18b7cd98dba08439bb67f4d75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c0f7dd9de3ceab87829a2e1f2fc5605667d4c1929036457f5822ca74841ea6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_08d034dbce856498016ab44737fd3087d09ef6b00e03e149b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The gripper closed to 0.009, confirming the centered close was empty because the bowl is wider than the jaw span at the rim. I’m reopening, lifting slightly, and offsetting about 4 cm so one jaw will sit inside the bowl and the other outside, allowing a rim pinch.\"}",
  "call_id": "call_nTfLLRuYuKvdXiPllaePdJUN",
  "id": "fc_08d034dbce856498016ab4473b2a6887d093ff514ccdf7a8b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.4946, 1.6608, 0.6952, 0.1345, 0.3359, 0.2176, 0.9948]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.3711 right_y=0.1381 right_z=0.0328 right_yaw=0.0762 right_pitch=-0.2028 right_roll=-0.0767 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7021, -0.0806, -0.0073, -0.0122, 0.1846, -8.6222, 7.8017, 1.4969, 0.3053, 0.1538, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9de0ec46293b869d96a1cfeff47839336161a93a4afaf4e27782f1e602ea403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9961af4051902432db16ade4d9b73e588144d99441f368dc852d4ce5c7d5f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44590119f2755ed8e3fc1152fe4d5a4235fdaa4f9329ea5576ea3dbfd38a9421",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 5.593 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]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0261, 0.9995, 0.3721, 1.3529, 0.7387, -0.0856, 0.2745, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=0.0009 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9995 right_x=0.3715 right_y=0.0975 right_z=0.1231 right_yaw=0.0469 right_pitch=-0.0981 right_roll=-0.0377 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.746, -0.0659, -0.0513, -0.0171, 0.0889, -6.2564, 9.306, 1.8339, 0.2271, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.358, 1.6699, 0.5949, 0.313, 0.2611, 0.1383, 0.009]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9995 right_x=0.3797 right_y=0.0972 right_z=0.0217 right_yaw=0.0492 right_pitch=-0.1603 right_roll=-0.0599 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.2923, 7.0222, 1.7216, -0.0269, -0.0562, -0.0122, 0.0205, -7.8701, 5.8188, 1.6484, 0.2271, 0.0708, 0.7106]\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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.4946, 1.6608, 0.6952, 0.1345, 0.3359, 0.2176, 0.9948]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.3711 right_y=0.1381 right_z=0.0328 right_yaw=0.0762 right_pitch=-0.2028 right_roll=-0.0767 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7021, -0.0806, -0.0073, -0.0122, 0.1846, -8.6222, 7.8017, 1.4969, 0.3053, 0.1538, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9de0ec46293b869d96a1cfeff47839336161a93a4afaf4e27782f1e602ea403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9961af4051902432db16ade4d9b73e588144d99441f368dc852d4ce5c7d5f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44590119f2755ed8e3fc1152fe4d5a4235fdaa4f9329ea5576ea3dbfd38a9421",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdB5-b8K_4FZ7En4Qpnc4Sx1DeNJmS4ijPF4YA1ShJ-9TqIp-RgFr-xlHYERUhoVRu3YdZRQBeEFt04sUNqJeSGZ6d7nDrk_ZcVMtvzWNpw_pWvIf3_wpr1_hhbhbbOK1zXWfXEbmnHDxD-xutBYwCcX9eoSuYo_i9MnXRRy7SmZcK_Nt5kHGIorkLhvgSwlinMN5izrSR3b_0EckU7IjYLyOIfybb_G8uW57EATu6Badr_pFM826EWGo8EpiswavAJ2KbGLTg0FpSq8ZgGB2THpIC3lgpRJR5Lts_tzdrMF7LssQDdOOkOyL3Zcn1PbgCOB6ErjMyM-dX5fEh2JbHIMBYIoFZobtY50Kw8kjKI9W7nRPYEK3kCTB62Q0ft6pVKGWopkYI_XtnJuWRWRa9D-py_vnsITymMsgCvnRK9lD-9wHpLlIaAIn-iMPE0qo8DgT_thSUl85RkiUBiibaqDOgFTkNG49rKOwzer3nvSo1c_Ir_T-OldpL_QOwuzYLBJ2SOHNmrketj7zx57NosuvCMbRaky0XsMOg-X2E8pRQaqpryv-k5Oupe9Au0WRCLkDY0vGKbxFzpHmUeAqkY5sZ17-7VqZTPCFiYnEr0oCsmLqBFJVJycOyAAShPN5tVKaPQflSaocbdhB5B_TW1NlaOp7uJ6e6H8gNzS_XWx2mjZ4c4OjX7LT3wHjQiVcWv2dps1E-gZ8U_8GBWzA83OrbflFYv6FhHqUHSFBnYq6vgp4uySEB2GW1_JSs7GQjrf_TBqIZzyikuCgJJBRRhiVKfZZzB0pSZOcy2NcpZPerGgrIVlBFWxgi7EKS2kzRKfxwfAtJOKYXRCYsxLimT3eIhF8LBbzajGAp2brL2fCbhHxNDLLdlf2c9VtyZCJWdRNZRUB-_olO2j-RHT5GVLYVecguk9sUcLTHA5h_O1NlLfBFMlRpb-Nzmw5qrAEjEMHML8irt3QvRuL32qxKmOC9BjNQ-0OKyN4yuh21ri5yugaCpmfr9To0fW2P8lxlI7XDmpy35d-KwjeUyY-UUzmO0HzI4PM_ojL9j0diolbQFUXPDGzvkxpe-gRj5gNyEuDHesCeiKE6V_6Tx7jwWneCl619JjpLyUhZw12VSe99QrAmDt_xrkJy7G3KPSnmteWVt2pGET_M44KR8qYRLqZ3xiN6yncJcYmhBAjqRw33PeQ39rNA9Jr4D2nJE3AjWyT1l6JnTtaWhnYeNo845nkSS0iHYzgAjBzdm6aY6Ih2w2LK-G1OnzaIjRdBYrint408oweSL_FAHFCGYMyzsYySNBUBy-6_sF2BaEYJEvLDuxPnpcXvqqYc1AXc9vjvApwkRd9F-rakvk2ew6hss26GpgeKrM9n5VKovNfC5vjm2shcP5wXJcB3M2wAB0rDJlSznIAekJErIXIHywBhxk8NNcbj26M-m3ZlXxRjjmxl-DVjdqFDiglrGRlsHjZuAS1Y7MfzyL_USczklv0w2Vz-tPdCWr48YITmiBniw9VAj4adRtYj_37LXjC08h6l9axtlhElYMufh8_829zquPQIj9gtNTtY6n_NuZlmVqEAENMBDLdd1Vjzjo7vSIvJr4WYCgOa6IL36zAH8DztXFsVAvoQkUTNxYLsQ29Fq8UvoxUEeg3Sbibx-FI1kYkmaVdxz5tKqRktd6CIJ3t-Sy2MCMkE9TElxWYa7dHU-chfRPGxfFP93XcRqM9bYuQBcdRTbZYr6kxVnQrvZ8KPFsa7T8XJJ5PEVrispOQ3i8QNYpSn4tf45GX9lTVpUxHUpP0NVwtB7O9Sab2I05FWje-J_0fgEyV1HnYwPIyEb59wPcDiMnVtEh-FEcL7_QsAl10x6dYOQy35kDjtUmYYQtWymWdEvTFkTYv7BfHJMVshhFQ8BDyX2pW2BnnY8BOr-ewroYNlzaFSapa-LJvAqaySD5nl_2CgjHxoMPlzYIs95RQ_R6PCpAdFLNz_hQQArOKUKA0xtCjbTg8tNfK5bVyW7YLpySsbwwcVhhwEvelRf1W6VZU8jTGwPENxmM28uRH8oYZhb2yekZ3lwnrrozVbKaxs94XzC0mog049XYGcvGWmCiHd_EMoJIuSmJDY9jiDlDmXg3DHvc4VSKtD3Sq5U975Ic8mXJtj_vDSwc1v40JVIXIvSUkvA1sJJM5XiM7l_wzwMQ_kj-6AjoJN0cp_hcP_kbyQ4ZfBC5pj0pgS6oNrgHv7Gy1Xmp5OcdAh9CcWnEUUkfF9GWS27x9I2mW4fXlv9PjYRVqFTQr7HCCjEEJD3CyCD16asKyQdVZ7mLDOSlV-SQfilXFVfqeEeVS48cnsCKT40TGwn7U9CG0-r1WAGk-NPrtZfSOmIQsPEpKg7ADfHqHjcYCYAqwM3a0iwtrPhB-nsSMU7c_nU-b7ByV4q6wbjCPygR_TZOOAjh67x2-QVio9T8hZ0GqdhKgKSB3i5SL4YDiST6PdeF9S_4FvZaD7yLAicFFEabwn1aTchVfm-PQyb3WULTiCp65hU-RPCLwkSjlrSKQ9rG3ygDnHGcgLQ7qyVoqM9V5RAHRKkxpknrPDT3QwoDmjqXQ20ZikXclaFZ0xYOy46LvMLbpgoGfsoG4ZfPqghhSNHXgOKD0uCLGYNRbb0GBW3_HOih7Gpla-COdcJL7pE1p0eRnERqz4e8OvzI1G6iktSQUqL4Kv6H_cm5EEqylcnE2QGsL7QXKE8YHTR_N3zddg6UmzWbTbRhhlyVD_T620-4zPoWCU_bSkeJTJ3tZ8_ogos2iczc8TBjbjwsiymPtA=",
  "id": "rs_08d034dbce856498016ab4473e03ac87d094e260bf7a047e73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.18,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"With the first offset, both fingertips still appear inside the bowl opening, so the rim is not yet between them; the neighboring center bowl has only begun to enter the far-left edge of the wrist view. I’m shifting another 4 cm left while staying low and open to place the rightmost bowl’s near rim between the jaws.\"}",
  "call_id": "call_q8Ai6gn1Fh9QOXOaxR0whryG",
  "id": "fc_08d034dbce856498016ab4474102fc87d094c70ee57f61f089",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q8Ai6gn1Fh9QOXOaxR0whryG",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6079, 1.7092, 0.7769, 0.0589, 0.3824, 0.2798, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3647 right_y=0.1778 right_z=0.0333 right_yaw=0.1137 right_pitch=-0.2227 right_roll=-0.0829 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0872, 7.0222, 1.7167, -0.0659, -0.0513, -0.0122, -0.0068, -6.8171, 7.5145, 1.4774, 0.398, 0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318063c60d8082cad121ccc83b0c9b3db1665071f93a45cb7f1a9b9a386b4b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141a4f0583585e74a1159be09915858c710fd832b073c099d2e8604f6194a1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2845523d6032ca5845fbf78d02ef7ea5d4d0758eda1a89529df9376e8a79a39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 10.84 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]: [-0.0196, 0.804, 0.6075, -0.3874, -0.0223, -0.0261, 0.9995, 0.3595, 1.6524, 0.6029, 0.3218, 0.271, 0.149, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0981 right_z=0.0329 right_yaw=0.0382 right_pitch=-0.1253 right_roll=-0.0474 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.5385, 7.0222, 1.7363, -0.022, -0.0659, -0.0122, -0.4308, -5.3538, 4.3419, 1.0574, -0.0366, -0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.4946, 1.6608, 0.6952, 0.1345, 0.3359, 0.2176, 0.9948]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.3711 right_y=0.1381 right_z=0.0328 right_yaw=0.0762 right_pitch=-0.2028 right_roll=-0.0767 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7021, -0.0806, -0.0073, -0.0122, 0.1846, -8.6222, 7.8017, 1.4969, 0.3053, 0.1538, -0.0513]\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 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6079, 1.7092, 0.7769, 0.0589, 0.3824, 0.2798, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3647 right_y=0.1778 right_z=0.0333 right_yaw=0.1137 right_pitch=-0.2227 right_roll=-0.0829 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0872, 7.0222, 1.7167, -0.0659, -0.0513, -0.0122, -0.0068, -6.8171, 7.5145, 1.4774, 0.398, 0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318063c60d8082cad121ccc83b0c9b3db1665071f93a45cb7f1a9b9a386b4b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141a4f0583585e74a1159be09915858c710fd832b073c099d2e8604f6194a1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2845523d6032ca5845fbf78d02ef7ea5d4d0758eda1a89529df9376e8a79a39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdHQD5B_5wj5fo-lW9sqskMxTSZf53vMMjiDSFAUmfMMqGZ8rryXUwuW97Xqcj9w5UIBERyMjB75S3IEGyLJS0RsAfDJIrwdYj4XFPqg0P7TQAXDEraZBXUXxXOwr5MVIR6Aclg8OQ-Hiyq8d9nCdfW3sy1gj-GhuCuBLjzWn69X3sImhGHpSsUGKCr5gEQODgw-MgZEDx2W6vXIf3ky5BxpCu7grbv9UDLGUcTcHTi4iUMKAIqr5d0DHTpNdDiZ6BbHqvZCGrwT0EsLdKZ1F-qREx3r5TyDoDyIDaiWoCzwznmgfvY_GAlppM-29WeUY4gYHMGKUFv3N8oGhWwfUrrtoaYeY1E9FY1xKJa0f-TJSrhFXkBTGafHNW7MJaE-LH1b0rNm-fpDGglfnTHRR36TbPwaZNHPk_qUG2VMp2DzCodMYF8Ivng_zrTTJ_1qmGKuBenzAdNsaMNLSBUkHQFDdLQVRDsQHfq9XgdGzLldWihxuvLYAzLDSI8qlKSxpG_Sd--2PNaxIJHk4UA-Jmmh9XtS0Te6AuoXeqscbEj8VA5hH4QULKBJ4tQZaIBVDoXIWkeC3SicinbwxsZ8LK4HdsF02Ihk42ozfY8rpn6H3_UAKlKpU3PuzqjDTqki1sz1uy5uxVLR8gDliGx_V8_fg5z-MxVrzdCm2CkyP2iM-BPfg_hfBm0vcCXXtvZPK6Cx3SKh2Va6BvFmdilF42ygZZ-D3d6YghDSWB847MMHBB2-U8cQnxssbKVzkIwGW1jg5QipPgKGYZtiuQ8Gd9TM2eghdR1hFXiO-ONejTTX19EyvRdFovQ-G-bfspbkdcKRhhMmxaoam49SOdyI40rd7wYd-j5RSEENTZA4R2vSbvKjys5GvANX-saX4vx0ih-mNZlZjCuFUYvravgLEQD2wWv5fhWrrSFvh2QLNm79vla6pAo3ITxP6Xw5SM_4HHq7Q8hiLg_Ll6OR0xk7mSko2kseuF01V4wu-O3bLBgvqaqxAkG-jm08VOvieaya3DOHk0X6KcfvBsz2PzraXHM8KTMyn_OiHqjzvnwtnQMm0Wbi10sahhgufh60MgHPeGV-6JCLvhwECnGSFx3reL98oQOVYlbWWKLfCBJGjZ4NAOk6C_JGd-5tvDQeW8jJkJXizMxjYNdrboL9GDT1AuAlDJqrCz5WGPC1iQza7Utw9ZpMeVpNcPptH3Jf-IAqR1p3BqbDtMuYb399P-GKAvzRdWmopqdnvzlQj7FFiCFAoh5W6qMz1wnRHRG7O3yLs3RzVlpe26FJf8-LdqcA0hpo7ROgxGPNnm4ehMfvceYf3KwBS_6rf2jm2UTYW5GHZ_lM894ba5qQkO0-jh42dp-tta9DSSgnph5a6Z33bRjP7xZIqkvm0Jcm_BDUoQO7zKlf7f-OPEA1cHuzTPy3btcacQ2Xl2OoOzWNOGUnam4Fv1SO_FvFMJfrlrhU9EZgWEM7tRd4mENzbSeLCCAFZa6UcZ5xQyCTIat8JVkmQfV6VEaf39IfwGQ7woEAL4wwLNV_W0iBqLTRwg9FzZ8Tq5nv4a2rx-iN4M3nIqB34p-W9hTW6x3XUAc0MytQH7Hmr7yzcvi85MePQCEdz4APl-16ixCKK6_0Xemv8zX7Pm3wgTIaN33QuvNzfJ8BYGfrRbP5gtjszXW1UywEy0tE7k5EUISSUNyoUgd_hPVtun9UABeg2Bsaf8Hp0PiWHvB0TPkDnH8-wA4RMdMlCJUoq1bQCYrnB8y0C9R8gDNVeGNOFFO_k1lU0wKoNdZbblU8unzEqIQlPVTvXHyHrzlgpu1gOYYzufvt9CtixIrsgBybdvP4V7KoVZBfZc9ERuneX9g0iGUVJGTW3C453b4Sgig0XwG_h6htcUcXmf7T0XrcvurFAkXHbUdnvY3bNQrHS86eg6nXRgIamOykHWhlc5bYCuY55mR0rAdfrxlo01TcBxPSFpjJrErLk3wCDJXeuLgNWZ5l5dgahcn28XvXqDtEXtHEGzZD_-19vjv3Yo91MjjSNwpnE4COZTV4yhwhIsAcoZQWJMQy48sDfRK0_Cb1rLn6q2rjbk_mnbqo1m1YascW5aD9c7kwfsDDSZ9HIEzhyjLQ3MWzu4pdOV_7PgLoxRo15kxoyxotaha5xQUR27NUX0FeowlE-Zt9BVMis1CBKHtF85o-xrXGtSbCFWqANYYS-98LSbf8zZb_N8XDyutkDvsGT7bZ3Fv8549FtrfgC8eT-9XGxU6KZqvI2Hjj7NPDowoclikn1Cztg61F-lodBqfFcq7lfdHwRFScvwdoAIuzx3qUR6Cj08jHx99Z1mY2CnqXwhHNulkXXjJcACcWhtv9dFgRhv1aYfRQ07J6zv-9UHEfzUqPq7rWl19Kd4rFuuM5cNLhzVibbBLeomACkXjITPagz8C5-_oQewCL9zNebML9zuUkkQbkHI6ex6Dhh_USxP4RGTO7gGdpM3m8vE30l1TM2WZrySDBQdEPmVm9TUZXjaplx_8_BQpanMp9AgCUM_CLtmki3fG5TCNgTig21I1mb4A3KN2Gea9V8uslD1slBbbCgCNQ5ejJiDksdIV1wtkEE3zmdh9F61RmrqLDXjAHUvV_MSzBc92kPsEUnCXkPFuvEfmmRRoap1biLgzY1kSe-SFk8Ke1iV16Dyi7QYtCByRm8BRVzBeOGl7TicHtJL12K7edCtHgYW0DUIRO951MBC0eY4niJoIYmnWEM-hERZT2Lmy9nFsiMY9kLEmISUG0Lsizq-jiESjh8_MNbZS7FhyoUdiA5Up45p-DWY-QekZHTmNvjEYVS5MPiWyu8oLtLmLySVXT1B2qwM5_AX2d7ephiKi1atWAbIBrVApFmtSPTFHYW5pkamKYBV3naAZLk_itwTb8A==",
  "id": "rs_08d034dbce856498016ab44743474887d0843ab94069dcac20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The overhead view now shows the gripper center displaced to the left edge of the rightmost bowl by roughly one bowl radius, which is the intended rim-pinching geometry even though perspective keeps the bowl visually central in the wrist camera. I’m closing to pinch that rim and will judge success from the nonzero settled opening.\"}",
  "call_id": "call_oJAu4B0nlxwyutptTWH7UJFY",
  "id": "fc_08d034dbce856498016ab44746b9dc87d088164d8eef67cfa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oJAu4B0nlxwyutptTWH7UJFY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6106, 1.7149, 0.7757, 0.0376, 0.3775, 0.2718, 0.0083]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.36 right_y=0.1768 right_z=0.0273 right_yaw=0.1216 right_pitch=-0.2498 right_roll=-0.0988 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.2393, -8.0068, 5.8051, 1.6044, 0.2515, 0.0855, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec18815b7339ef73d3fab35723001f83c0c11e24bad1e8b0f17f0fc6d363b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c35ce91491eb7a879bddbd6f1b24d13eaa4fdbe99beec2d374a21cefcec466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095079850c2690460d06e3105dcdaa7d63de61862e933b61a9f6a70efb70bd9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 4.243 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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.358, 1.6699, 0.5949, 0.313, 0.2611, 0.1383, 0.009]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9995 right_x=0.3797 right_y=0.0972 right_z=0.0217 right_yaw=0.0492 right_pitch=-0.1603 right_roll=-0.0599 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.2923, 7.0222, 1.7216, -0.0269, -0.0562, -0.0122, 0.0205, -7.8701, 5.8188, 1.6484, 0.2271, 0.0708, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6079, 1.7092, 0.7769, 0.0589, 0.3824, 0.2798, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3647 right_y=0.1778 right_z=0.0333 right_yaw=0.1137 right_pitch=-0.2227 right_roll=-0.0829 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0872, 7.0222, 1.7167, -0.0659, -0.0513, -0.0122, -0.0068, -6.8171, 7.5145, 1.4774, 0.398, 0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6106, 1.7149, 0.7757, 0.0376, 0.3775, 0.2718, 0.0083]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.36 right_y=0.1768 right_z=0.0273 right_yaw=0.1216 right_pitch=-0.2498 right_roll=-0.0988 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.2393, -8.0068, 5.8051, 1.6044, 0.2515, 0.0855, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec18815b7339ef73d3fab35723001f83c0c11e24bad1e8b0f17f0fc6d363b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c35ce91491eb7a879bddbd6f1b24d13eaa4fdbe99beec2d374a21cefcec466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095079850c2690460d06e3105dcdaa7d63de61862e933b61a9f6a70efb70bd9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdTmag9UstAShAehsVFOhl-GUVjzOYC9nd7Rl390w8sKI_K2yAcAkfzi7zS03iQAirhVyz2wwzI9eLwQSIh87xIxHTj1QrQvEvnRWebK3W6j86I91v02It9LU_8CQ7DFaL_oFVrpbf5WDLeuinw2d19fBl3hL2B_lqyW1IiSIRp4NejEw4-cYJ24RSNLc5TsLVKfzB7ulec64GrTKB7uYQpoGmoMJztYuL4tF5xdabsCoZIoJfPYKoPs4RxfmK_nvRbT104Le-tStrBF2hjJibq1W3ohH_DWDMTpFYp8ypXEXzC7pwhBu5d87v24QGBFmtPuaakFFtNVYkuVYkHMS5C7BMcDTGE5yBHLhGcXRmkcHL_WYGaVuaBZENe-pLKU-XKXs2rHVWQWsXfQ2pcFKSiddN9N6loLP3mv76UOllFAvoqifaXVj51F9TQLpfbqi38erxO4xPs8KIouO7N2eysKTDZpygrABHwuMjJw_8dCOqshvm1vcIjfsYEcgMRcT9wGnsfOge7Hz0q3nso7NcENZN4hF5gksAvoKujkFEiXxusJZy2MZAPRW09OSEj7czqlWA56ruGAY_-uoqiVvgG1Y3AScWIi3EsmRXg_tZI69Fijb1IRAWCL0XimJMrYkxau2RllKVsjS4byASwWUFVEMpyzHpCZNX0hQraWefRVGwiLiLl-Jiyrc405WzIYaV4hhvFEe1w_m0Pa7urbL-LbFHp5mS_7pWkyKn2SfdVnXAVJdSw79bN2DIZTYpWqDYR0_Qo4vxonRpmYPF9qkzmBEDIcLbbXBZ8sdT4L_ufRlOaYgmNI-CUwBsS9uwbAbWLqLS7wYMZpH6ofciALLir2f94EHstPKVFMSOiwHAF3k_XPhgyWzVdR-JPzTRTbj45kZYIUDlofr5W_ObnBJHdMC3VIybeMLOj_GKX11v_7EcEI2NtylAgpn9iUAM36g8J0GwE68woi0LEpkMLI5TJoc494oPLAiysaXlSDCKnNO1IIDY-m08hmRMZQ_LLXe-_LO9ajL1WsqEpwNeiNrKaYp1wGG_DfA---TSpRSC6TDVC-qgH0tZfHhz5CQhw9mKW3ItJy6DqwzUU0Ivz4c7dwT0UOmpP9NkDHq3ssObcVKMn1YasXZ8rgdaCiYe4B5HoQGql9gjiaY4Z98QbbNoXoYZV84S21Zfjyqi2d3jH01xaxti5QUh5yuodIM2-SXLEnP31AmEL5pFatpOey20QCVfpDE8--B2ufJFRcD4lMWRgXFbkpZGzQ9B_ISBDxzmZAiGEUmF0l80v67HlyZ7hKzq1blZrkd3sX71k72Zk6c92o95VgDVYrPFMkCYNP2XdnCT_B84c03NB1x-UkWI1wRDFqFbZc_hyBlU1wgGCY_2uaSaPIZI0RadSAAHfcFW2lgMjZUbJJfBkSE2KvuDhvHUfqWZRTN9pmtvDjJUYA2yxH22mn5BSp4a6JXvVp06V-aKtYtd75olt2um8STtosDtqgflBT3IbCx67gvRrZC4BA3HV00KCV_3CZ5abkCZhlKSY1kSVX8AFfUPereCrrNzGuMrBUZcIH0sd1iwUiurP5IOfE2iDu6DEzZOesMo7_M2Xj8qKBr8ZRzxgW1tbZzd9XEefxEWbR9fLpT7G3gYifxhZq3wjf68wyMzdtBdvzc8sN5Pbx3mGyZHvawgu25c6bWE4HkyWQU105CniWsiaqkxnHSXXyt2WOykzXRwrpHsMmyNydLVUyZu2sZ9TxxBCIiJvokRIMLeGLlKMJ9qFG4reJEuvOyq2ZP2O2Mrm1UkhXeRtmlpMEF2fhPBGvNSi10xdH8vdC8H21--k_xu209aaA_mgVUcWRlCs61mmfCY0yLWNEU3T5tXl6yCCId968Rkn93LMw3fyV0JDATHpgT9DvvVGChQo0mCizz_QeSP8nwJ3L2WfXRFq_a77OdbnjNXYuMV8LOiSj78HPq-vAkYKFUrlhkDZ_WyvSWVDTILA3tKGoCV0vgNSgFzJyVUDuI7Wk2d1Ho3yVmOLPg_GfhRgzGW-WVT-vaxUGjSCkqvM9xKowfsqpdnzxBWFJ-74Mk-9UIZedhlhRpN4RnlTSp7NWdzsP2Kt07HylAn9MTFcyEu-DWLD8bBkBq13TpBMVOc2Wnq_jV1vF7FqMoQILAKPeYEIb6AQUvTZ0lzXkexn_ngG03Ci1c3DQ5tfFatudO9GqfROt6vy4N0RiY_VuPYDvwGpv5vHQlw24rMGXjXFBuRHAfEHAVnkIGmDMrZt0B8rKeY9sw5Ri6eeDKy36TZxStkiiXpYXU76CK_RJXBGM7x9LqNUIb6TJm3es9fnJ88iUf4c-44H92uFK5gdF2h3dRwTp1CVXYVOiyFxSx2ZLpE4Z-VgIrcv5kA1BJ6_adE53iTC64PAyGyUMWBRyOGoHWGKFdWwB6om_qfaFXPOwuIpIC1etFrO69JA4eFmSE257MVe2rFXxKbj6J6qcQ9nYCDhi_Y0Ke2EC2ImDF_tnchFlC3c2yI3xtSEHi8l-carPqbf-ajGguTwe_UB7RbG4ZXpkd2CkJz7OjiXBXyCEiSVIZlr2J-ucycKChpdPpeRz1tVXD_pgj92Jk0EqB_oC-QE10SMjai6gKmGVgWmhUm29AYsPzTltC6JDtjuYpo7K0HJ-4-mGD_pXdCYzaEBUaRxj9hEJqzl4MlBwTafYLoz4Nu20rkra0RJbE-rNdlgqosNgEZhg36uPIwBm8LuyCiwRHzy5ikpkG1XJCtPZvrMu2iKzO-Na5QKIg5JNuWsGt2nEIMyQ-PVDruh5wrLwbUsJheIuvjJbfYaVWQ3z_rM22tkQyBaKjazCWXQO8aiQZlj7LToZApRC_I9d0FLEg-QoxNDfVWNTxLnxg_I1wxSyAT_WYqSjHKWkA5OcZeOoBPmKLNHVckKRvnx6XYz7tsQWPKbNSKPyQ3Vx3XxFZ1h_uNQnsFicLDA9fD-fcBTihrW4vyycMmVGoCLpjIgWttog9tuembSviEWY2i-Eqt939Ua-HzZaulMtJQsxR1HNJzM6sniKdBnu21BsdCaRskv0UpEnaH-P76ex4TnfQ7tUd66aFfuHUzcj-tT9ypj8kcEkvHiW4ERKJ1VeSQTr7XtYjqOdwYUwxyYQuSFx0gUyptlZ5Mirv9QIw8x0LuSsUAx0o6_kZdk3cn6UIxwddSHlOQljD4SUJjhDrgnKiwJA0iQTd1Zvs5p2ixUFCfiMR7uh3TR2LLkr6F1ONdulO9V_GksZXTa5Y8yZAbKs49EFJxLo7N7TvnH1r7KLIOzlaeRxg3HgLdLs9nkJCiBfYXPt5XwYx_zg6UlQ4OH9_ycnfZRY5rz9no0xas94uGqSUqS6Mdl-Lm-LEP6vl8H3QdWLGKu-y2T5Hg_H4_TFL8pe_Oaq-xofRLItzIwzfS70rOSaVEaEG95HGx2VhaX1Zpc8nJCgfgz1_yItjdM1G2g2nhKti-eVn45JhbXpkCSYIcdAySt-J3PhjBwfv_MCeWOoHhdt-AkWzXGQVPXOGZhBghXKVJq3qf3PTKYhTqpFwPfJU83PKkfZmO9T5gPWM63Aw0kOXcWHiCQeUgtDHi9c2tJo_vvpeXZ0oJHA71aZpAMuveK_MwJO43wlBZJ3ZHIK7uZr2Esj4nRvvqYc2bSLZZKXZM3fWpDVhoZRRzVDud1wALbt1a4eE1UMPjZpQAmRyVdgWz2dwYEWMIMV3L55r5i9njJhsrSE-jsbtLZHFdV2Opv-db4YCz7eaSp4gCvvEHsSjTITM9pk4AH5mxTrAaU8yb9iXnVtI_iIaMRpnzo_gWZNgO7_UW6keCf3d4fprcjre1yVfBlEtp7eKgvFWPUcGasZ2q6Rjhvc6pVwz3w6_F-QUuBWOQjeSh9H7nipug4cha57QLxSqmnvlfCyi_LF0QPT-uEPCvTNmXS-4UfYWXGWnSOBSTcUGw6XkD6gl-n8V7dSrZ_-4U-P0iB14a7BiAL7FxImpqwVncIMYROcSFnChqrILcy0IlEL9wc8i1ey1PtRdrEoD6Lq7n5BTyrSpLzjL2FC0oJh92HaY4PS5wF-URmats4GnhD3CMh8f9xPjz4es6gje8TSUVl2AcaIkX672muDVODqjMtuXi2RHou4zZDAFu_HBqGMkL1Sp9_qOAmKl5-D-A671Vdm-IymP5RvvYBFQFZhV27sxsh-ETHl_AVN-mb1zgH0naYU0BhuxGonZ1sSw-amlGx24qx2_pKLkGmkWR46Mz7ljv01Isc8iNYzNE41JQQfGe3GQHbUXqTpS-GW7cLNM6BZU8JoyXU7i62DPelUhvU95l_OTdesvSMtHGTgaw-qaFHHpynWXO3hbUz2cSoy0e03ovJ1Z9gd1GlwA==",
  "id": "rs_08d034dbce856498016ab44749b22887d0a22050e2eb215677",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdTI9W_oxzTDk-u6Xx8kr3paiktnmnEw0QzDPXh6seMFF7p0G4sXIHGSnAQz36UnsXhyg1xhZ5QFQv8j7Ba_uH3CpqY_Zk-JoKYDTP2uHSwetM9N-yd-0XolnEaFkF5zabuGtPOVMlp3x4htNEekKMhdE4zAYQKDJD1MGTCnTr33YlDuAvZR2dOQaaJePPoY45NiVm5uy8O4fsJIwpOxo4OLEQZDZY94Yj40S5XCHPabMbkfBKIaiMmVJT9yNSv6yb1yDEXD4IgtIyVovAUBCtjAAowgBRjz37WodKsNxQyuXYT99Vyi6MnHImKNfVLNOD9gxL31AVhd39FbsicAnEvDELpGmQGnYQom2sqeg5w7vPgfB_IOfP2xikNTwPgGN3hEDUgl8eAcTYqV60VmzoHUaZ7oLtR8KWRaep68f-LRtoGpwC2nSBVhEVqjiY9jD35odfrtiXvY-BKouUs3Fksle_AuhoO1GrU3CyTIekndfCunZDERSGKrw3nmjplvjuEPRhwvQjuznvW7ZfGVTjYS9YjstEYmRZSjuf6Q3dMLF4eseuxqinIgSFMRB8yJXS84402kabtx-I2H9BH-nlTREvCOfqu6n7IZxtk7S92G5_fYlqS0KGlQnpNHDaSwylVHszW_E6WBVVDYOZG5feklR6A3orpSORqb9ftu6BmWjzil_fR5XUIfM3XvhGehF1fRv2nj6T8Ylleb2Otm4x2wiYkilAVTM_x8wuOY2652DcJwB4oNmnAlH8YXyyuTqaYVKtAAr7cJ0IHpoKG7jxGngPFS59HBZZBvY7KWo6SqsxxztpCzDz0ycWlAURu75QaDrbQO0kdAfC278tIzpKahG_HrrPxq6_cpNSET0rJsVgpr7zrVdUbtSYegk9NAJLa_OXSAXu_51-lqhws6tKn0U87luNfExLqXIMCSUbw_KScJmbPgVRI5khFX4rZ6-XkEYyvzx1OtaFxqDm9gwIe7yXPjbudF6Yb2Ur2dkQQaUWVHvt0Zll-csfyyoTSRgRlZKge8lKKXnrTMMT9fmTcU6wbJCyw4fjEj_ui8TmDwc7CyLGd2KVUpnukVNvGtbTMB-B4USCSv-Y44Zp5awDrxUX4--ECZHQM0tK9Yz0C83t1DdmfLdv-P1SPc0v-hPGw-1NRe1QLnDqqvGi4sBCQPjoVhk_CGpdSerLupOgYVtDpO3l45BUb7i-zuIpRrQqX4m6-h0f7jK_isfrhRlA_tGcCxxiFRiV1IRDQskWENvZx4lmEkf1WJA3jzr8DDHKa1vcH0pIFdVoFOmaWilzGM_S7Qqz2vqVTJ_ViKsaYE6brLO042jQm_i7codURe8arZbPq3f72YwCKGOyRSTOJZegslPY_kkypE7Tu5Lgk9JQNIT9LXraiYk-wbqAUTpLNVzeRfea4dO7Kp1kp9TkbqgiLhsvIsbi_okJCwhrhjBtV_7lmrO0xgCKlIAjzv63bVDUteXuDmwyxLOzCpOtHOAnbmHhO2r7fVOAopK5N9G2xggzaVL41T5K31rlJdndabVvWPWhM_HE0N4AIkliNvtp4R_mi3esxh_1cXALddLJYXkhg6H1VfT0ebYzeDfMjXqX-QZM4bvCdf560XNYDh4VqSOz3R4x4kn0j1Q9xRUryYOQMFSQv-kQXDI5qhvXovx_Q8wRFxpxUOndNmWu5oZ4W-YKgLbLQbSqzE-1MmvJA8fet4M10AHqlfxpNYB4gzoONDhHY8LphrBDAaT25uDA5hyGvWfOkot5g2ulmYs7F7vW9YgX7OaQhtfijyzoZFq4GHJyjI5yPWTQpifZ75VWCIvuhB52fIB8Be4EXIxB_RyCC18iTDi1Whd2qJf43sgPzMlmhvF8MmJG742UURKd3QoQ5ittqqM_b8DRYXeAR2ABDhak-QmUzQqpC5elqoRmyxsccYhZjw2RUlg4aTB1xc4FD69wK6MPW5Q-wJSs2U1N_8FvXp0POJ4sjKxaMQndzZnzzJPNHmZlVEEaevM3sqD2aplcX-VJI2BBgxxogN4sufH25iiD53IAEzB78xuQttX9CQQjGXvVUqEOkMF60YgYOdv59Sn2WiuctAl2VWKCOS4MzdC9BfGnBbeJOuCrJFDOaAIACgLnpxslld58nFcVbQq5TxVSTLbcCkfhPM9GlXTona-SInpGGNwc-GXa_WvXIx9uCRUdNoxs9K52lDuV8lp1Bz43erlmgA2Xt03A4g9qzjuhMv9kfB59OiFNh9gf9Y5F6K1LPJM_cMfOnOesNavFYlPJVP6GgsYcD45Zq2NAlStJX1trxYviF_JKYcdPhWUzfuH0q0LmqTomT04-BCgt8fBErwsbNM67eF-zeJCj7vJTpSHFASLDeX7mjqcG_WhgLGmQi7QUya0JovpuJa7EW9R-7r9VUlf45AIVn5RQFEPpiaakL1OcX_Eg-3gLTrWAh8A2R2CKDWJbMB75OkGVMpbwbroIvSJgmHXYx_0hnkMn8IjcGCInzeTbc1CKUc4LLl4lBTAdbIWEVp9E9O4xbaqxORaeXgNZGYlXawU0hcMlyV0ISNk1VqWOhvuSncfbAJ76YszlmmMGjzNRZKqXQM76ms6lkxwojym0g7PjaVyvC4EIpdFSYXwIR57fvsqn5x9zo0zens9jIfyCEfmqM-Z3uCLCsKYX8XkMdNNA7dc_B4CaRkNXKCQXlo5mZreFvPpIFnrSNAEkgP--1FmT1tpBLstaNJz1puNXtGtQdomDY5bG0TuXD4UTEkGU7yMYRH6sa24kHEDJub-ylhXi6ba9TPzqfK669imcxXT78UQlvwWjirkhp9t5KjiIcuiwJOLsQL2NdNo8kSDc1fEE0EEm3jX2VO8s3Uxl39PsPg3Yjr2AFRkHXMI6Qel-SP3Mvt3QHrD1okVP1lXW1A4Mf28RkunYWi22fj4If1d8_TZ_uKtz6Uj2sJmFKFc2NvXEg9OhqMiLhgH5tjH70yoYfG7pLe4T0OwxfwIm3GZt3TVak451uXkuaTqtN1xtA17MKG0hmjk0Z_v3jbX4zH01Kv7faH_jkP_NarWrVdKlVqqejJjdVV7fQZx79f4GNUcVpHXR4kBB87BH_cQ5-5CAwpXODzOFcIFWH0bNfR1J0Y7qiY2m_Xj4GD5sh6WYN9jD_8DvH-6vQR8K4P9NIcJHOHH4-QZWQ3q8=",
  "id": "rs_08d034dbce856498016ab4474ec9c087d0b33c595059c42986",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The second close was also empty; the readback reveals that the lateral reach caused the grasp point to retreat radially from x=0.385 to x=0.360, putting the fingertips short of the visible rim. I’m reopening, restoring about 4 cm of forward reach, and returning to a one-radius lateral offset at the bowl’s rim height.\"}",
  "call_id": "call_yUOqMHgJstehUMvfO91NCBux",
  "id": "fc_08d034dbce856498016ab44752818c87d0963150b4e8aded43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yUOqMHgJstehUMvfO91NCBux",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4011, -0.0227, -0.0261, 0.9995, 0.4221, 1.7412, 0.923, -0.0753, 0.2569, 0.1181, 0.9954]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1729 left_yaw=0.0009 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9995 right_x=0.4065 right_y=0.1373 right_z=0.0467 right_yaw=0.1189 right_pitch=-0.2877 right_roll=-0.112 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.7162, 7.0222, 1.7998, -0.0904, -0.0757, -0.0122, -0.4991, -7.3641, 8.7316, 1.5556, 0.1783, -0.0366, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfc6de98c60383ea19b36d647e29d7a0c470ec731dccc923a45ec34c90d3e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b57fc675db070daa16936fc3f38e7fe775f9fa3722bf3df993e9b669ca74487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77c324b53d79159e06b1085eaba878e67e2fc33a95cc53a77d5c1ebd946fc6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 7.901 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 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.4946, 1.6608, 0.6952, 0.1345, 0.3359, 0.2176, 0.9948]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.3711 right_y=0.1381 right_z=0.0328 right_yaw=0.0762 right_pitch=-0.2028 right_roll=-0.0767 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7021, -0.0806, -0.0073, -0.0122, 0.1846, -8.6222, 7.8017, 1.4969, 0.3053, 0.1538, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6106, 1.7149, 0.7757, 0.0376, 0.3775, 0.2718, 0.0083]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.36 right_y=0.1768 right_z=0.0273 right_yaw=0.1216 right_pitch=-0.2498 right_roll=-0.0988 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.2393, -8.0068, 5.8051, 1.6044, 0.2515, 0.0855, 0.6667]\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 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4011, -0.0227, -0.0261, 0.9995, 0.4221, 1.7412, 0.923, -0.0753, 0.2569, 0.1181, 0.9954]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1729 left_yaw=0.0009 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9995 right_x=0.4065 right_y=0.1373 right_z=0.0467 right_yaw=0.1189 right_pitch=-0.2877 right_roll=-0.112 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.7162, 7.0222, 1.7998, -0.0904, -0.0757, -0.0122, -0.4991, -7.3641, 8.7316, 1.5556, 0.1783, -0.0366, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfc6de98c60383ea19b36d647e29d7a0c470ec731dccc923a45ec34c90d3e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b57fc675db070daa16936fc3f38e7fe775f9fa3722bf3df993e9b669ca74487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77c324b53d79159e06b1085eaba878e67e2fc33a95cc53a77d5c1ebd946fc6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab4475593b087d09038a85990e9bf8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After restoring forward reach, the bowl has shifted to the bottom of the wrist image—consistent with the fingertips now reaching its near rim—and its center is offset from the jaw center. I’m closing at this rim-height pose to pinch the wall between one inner and one outer finger.\"}",
  "call_id": "call_sTNqhlcJSoL7Spml8yruLGit",
  "id": "fc_08d034dbce856498016ab44757d3d087d0b17b2d72cd23017d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sTNqhlcJSoL7Spml8yruLGit",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0261, 0.9995, 0.4187, 1.7416, 0.9215, -0.0792, 0.2489, 0.1108, 0.0082]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.0009 left_pitch=-0.0378 left_roll=0.0007 left_gripper=0.9995 right_x=0.4055 right_y=0.1367 right_z=0.0452 right_yaw=0.1258 right_pitch=-0.2955 right_roll=-0.1124 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.3607, 7.241, 1.7411, -0.0757, -0.0708, -0.0122, 0.1709, -8.2393, 6.0513, 1.3993, 0.1978, 0.1197, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c371a607b51ac3c2ff8d19bf709f7bef1fbb3ce0308a50f22cc40dc155504bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d23d219e75c2508fb5f52f31ec431baf8def7530d728083e096ca7cb46465d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5c688e7335a372a89dd792b0072110f8d36c06e22d937b4fffbbc3f7a13983",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.014 s

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

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6079, 1.7092, 0.7769, 0.0589, 0.3824, 0.2798, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3647 right_y=0.1778 right_z=0.0333 right_yaw=0.1137 right_pitch=-0.2227 right_roll=-0.0829 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0872, 7.0222, 1.7167, -0.0659, -0.0513, -0.0122, -0.0068, -6.8171, 7.5145, 1.4774, 0.398, 0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4011, -0.0227, -0.0261, 0.9995, 0.4221, 1.7412, 0.923, -0.0753, 0.2569, 0.1181, 0.9954]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1729 left_yaw=0.0009 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9995 right_x=0.4065 right_y=0.1373 right_z=0.0467 right_yaw=0.1189 right_pitch=-0.2877 right_roll=-0.112 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.7162, 7.0222, 1.7998, -0.0904, -0.0757, -0.0122, -0.4991, -7.3641, 8.7316, 1.5556, 0.1783, -0.0366, -0.1832]\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 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0261, 0.9995, 0.4187, 1.7416, 0.9215, -0.0792, 0.2489, 0.1108, 0.0082]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.0009 left_pitch=-0.0378 left_roll=0.0007 left_gripper=0.9995 right_x=0.4055 right_y=0.1367 right_z=0.0452 right_yaw=0.1258 right_pitch=-0.2955 right_roll=-0.1124 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.3607, 7.241, 1.7411, -0.0757, -0.0708, -0.0122, 0.1709, -8.2393, 6.0513, 1.3993, 0.1978, 0.1197, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c371a607b51ac3c2ff8d19bf709f7bef1fbb3ce0308a50f22cc40dc155504bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d23d219e75c2508fb5f52f31ec431baf8def7530d728083e096ca7cb46465d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5c688e7335a372a89dd792b0072110f8d36c06e22d937b4fffbbc3f7a13983",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab4475adbec87d0b29b0f975a645d5e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdhsIVeDPs0z4Lq4aopEXGnWcasP0Ve6k8zfq3tKPHmZDqiJImE4TMRpZJ3TX3T6v8yJxY8FJpgkin9PRV__UlGIwHwIG9Xa9_opeu2xzs3qzwxcmB8LDirNablSZaHPafvZRX2mCaBO3RHMzkhzeGV1QyBk1Oxey-lL6Em9Fy7Gr08K8FEt2MqioGG9PBKanqdw7_EHX_IhVAlBodWsW5JdMU5RYbn0bqT0KvCyveMQsGbCqJ6_V5KbOEC9aHIAN9FfS0dDHqy9fu0lFJ0Z2sNEfbVpwdcxxoz08rQrCeuU9u2m5ad1W80hkFJsCz9ggwIToR77ahXlnZRpKKDQvSl-lwr3wVvsc8_D-rxEnLF1TzjA-SYcNTba2efPFBEbVakvomz09gTsUJoO1SiNkBFNuZ-A9B5acUr-SHwhrL2WND1UNC9Km_NcOVwPaDolH9R5BfXyJ21XfSGG-Z5W31Z-jetyf8F6QFE-ocSx570GSwEGWU6o7AyEQgIwRfOJ-AyqbDJFz_3Uw_Sww3MKMRoTkaQ5HvjyniDqBfsOlQLcYgg8T9x5rHKC2S8I_y8zZkdzCnHm1__rnStvA0C6iSYhdKwTopW2SGTAq4ovyjqz_h9p0LZKDVqEllWEPGaISl0QrTsMdywG0WR_rgTN6DXXKyU9RSncpi7zvuKocsfv1TSl6V1VjEfu_sI-_gAe6lsG8MBVeMKIrEqS9TN711EHZSzHmuwn8PGUCAJTVJaKkUIocUQFwyo6NrhgMzEi0QEbYbGuM8PHNbGFg37GJZJhuOYFLLYs3sgOj0cPpT8G6nGyzMoc--6SUMeCQY3HPcuYGn7nKPELDIhOtM9A0Zbbd5b-_KGA_whUS_LpC-ZIlL_ZDNVybi4nYywoQAoNYHcCRS_wlCrd2g_v0DWKhSR386yZHZVy9eNQGPETEVcD0tEh-8MJvsOTMFFrHURO0LCfF6pVAXlF6g5VCXotmLY9gdFWrWNaN5K816baxe46qDACkmzAQgeRPghxswKk_r6UbF310wtQpfCq7qZVnme4vrZWkiev1hIEhTPDShm4ApwI-di9ZsU4xnCibAtTH_W0qGn9RDZKOPUoiEgXHv_K94igYUmkNlpeoXId8_76G4DoLFb_kSzREEQNEb8SaFiwwlrTznLEfqwfdqDw0rAEYayv1bBOGBwPEq2V9D4lOHg4H8_cA3MKq58BgQR5ZJ1UajSRbUnqgGyMK9PPn-g7as83KbKpm3lBkYVbrZnzpbgxfLcnHnNxeRouszV9aMSzjiGeUMuFfjiMfUYv5uoTlNmPX-VOigWOzJPA9zxJfKzNSJpWZk5SkREdwHEa0nE_xaALEc9Vmbvs14vCP5U4Q==",
  "id": "rs_08d034dbce856498016ab44760122087d08a079bd198806061",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.18,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"This close was empty, and the overhead view clarifies the remaining error: the gripper is still about 10–12 pixels to the physical right of the bowl, while its forward alignment is now correct. I’m reopening and moving left to y≈0.18 without sacrificing x reach, which should put the right rim at the pinch point.\"}",
  "call_id": "call_BODyBdimqA5qbVP0h6EB1AoN",
  "id": "fc_08d034dbce856498016ab447607a1887d0bab10623ab7da0b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BODyBdimqA5qbVP0h6EB1AoN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5106, 1.8244, 1.0496, -0.1829, 0.284, 0.1642, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0009 left_pitch=-0.0381 left_roll=0.0007 left_gripper=0.9995 right_x=0.4074 right_y=0.1756 right_z=0.0432 right_yaw=0.1517 right_pitch=-0.3383 right_roll=-0.1246 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.9915, 7.0496, 1.6777, -0.0708, -0.0611, -0.0122, 0.4308, -7.8154, 9.2376, 1.4335, 0.2857, 0.1001, -0.1734]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0018c191207699a97aa885013337f0ca7f8e4c12b2718f6566d019cb2c851e50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bbceaa082528a23e0b8118f226fe55090313c6f0b97752e0b939388b3db926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4d1fdb18def07f078b9ec687131750053ee028691a2b81fdc7f9145541e884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 5.603 s

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

message 27 changed as sent

message 36 changed as sent

message 41 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0261, 0.9995, 0.6106, 1.7149, 0.7757, 0.0376, 0.3775, 0.2718, 0.0083]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.36 right_y=0.1768 right_z=0.0273 right_yaw=0.1216 right_pitch=-0.2498 right_roll=-0.0988 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.2393, -8.0068, 5.8051, 1.6044, 0.2515, 0.0855, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0261, 0.9995, 0.4187, 1.7416, 0.9215, -0.0792, 0.2489, 0.1108, 0.0082]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.0009 left_pitch=-0.0378 left_roll=0.0007 left_gripper=0.9995 right_x=0.4055 right_y=0.1367 right_z=0.0452 right_yaw=0.1258 right_pitch=-0.2955 right_roll=-0.1124 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.3607, 7.241, 1.7411, -0.0757, -0.0708, -0.0122, 0.1709, -8.2393, 6.0513, 1.3993, 0.1978, 0.1197, 0.6716]\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 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5106, 1.8244, 1.0496, -0.1829, 0.284, 0.1642, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0009 left_pitch=-0.0381 left_roll=0.0007 left_gripper=0.9995 right_x=0.4074 right_y=0.1756 right_z=0.0432 right_yaw=0.1517 right_pitch=-0.3383 right_roll=-0.1246 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.9915, 7.0496, 1.6777, -0.0708, -0.0611, -0.0122, 0.4308, -7.8154, 9.2376, 1.4335, 0.2857, 0.1001, -0.1734]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0018c191207699a97aa885013337f0ca7f8e4c12b2718f6566d019cb2c851e50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bbceaa082528a23e0b8118f226fe55090313c6f0b97752e0b939388b3db926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4d1fdb18def07f078b9ec687131750053ee028691a2b81fdc7f9145541e884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdlN82C_FeJA2Eh7xZIvhf7eamIUjcSgLDmWBYO5tw9uxNuNsqV0Q1E-71YuTXRWsxG9ovdyXEVfdXpIawVop4PTeYOBr6qbBv8cCpZfzvLqvk3ehJ536jyaQ9nI71eS0EiJbffw4WhasP_qLimKurA-Y_xQ86zAsH5hEdzHsZFqIoRsErKEP6H2iZrf7V6a-Fdj4N_VdzxpLTlKuAycKefMC5UM83AfoDXTdv54VQJ4z35K3XVokn8o0nIorz2DSTveN6gS5V0D1ZHLvDsXV99H2bkDKRmv2vEwuHWm3kMgmJNcLg7sOTzdO_yEHNGkTgP4MB4w3yPnlXwPGCEkGFXsXpPN-WNLkggNN4QOpWPGTByV5xgouHCHme4VbT-Nimal0PzQSBhhMo2StrxjsUJ78WIBxDbc0pkM2BCMjTiaibNa8mNoWHR4pyEaV_-GN7dp4QHhgAbx-OijKPW7XeZYNPXrxTchyxNQLW7uNZCFKsOKLCzLCn5P1r3NU3Q0HvhDTMS52x3aLkSXxxghl5YDur0bpeyyQb8H37h-bn2i2i5boqtemcD3XoMsCgjrjX057HVpt7dk5Ett9BXCu22zkvyIefYz_Qk_-vjs3dRSig2LiBch-JCPuoUQISGjB63ZJ9SHWuZK5iGiBXlTrFelhm7Vvh-rLxYo0n7Wvf97BzuuAtSONy6x3ONY4aybuPxqDvFvg0ui3XlpW_FjXz5T0XX31c4DgMLONFSdCmXm3usIwgyKD34-fuwz_zSXDitMjhNHjuR1cb09Ts6_5yg7WVjX4POWuOF8K8ZimgJFGyOuPOa8ROFpix2mi0AkZKwqd6e4qDSmcjDRr12vhxjdgVu6JYnESeBRTqDSWL35E6v9vmbEdMde7kGxRgpiAk1rBSWkuWhpxd9vWSMMBlVA_hEAFb30EQtvv9tjQTtnh4dPFXzCOPP98orI-uZx7QJmQg5DFt-vrymdaK1JbCf0I1ny4X2rulhd-RHRKJkgGHd0kvcrpYM3Y5xxJSljimNFy8dwLMBob21m3TGFmtXlhPVa6FNr9m0rwxbDpmN1UQ7OsR1E8jEHXirMYOJchL8EoGuq1NmIyeYuGai0heolUP4r2viiPjDWDir28VfslfpdkInpNgSjgvHdKC2PWRm9SQEhDbu7PAJsXJolbfnGbOb7R0bA6GWld7GbQKhSnHKIjpfHQD6gL78aDZKANFJOzRhY3BfwkwrpHczmOBmWPTblMG69SDrpxUYZlE4fhGOyI9Fu4rdYnNDB2ArhA8wbQnqzkWjwCY47gNmMtd3HC7b0vf9sZaq2fS2OSGyw97eSf0vJG0NNL2U6OJi4wumaGZz_y3TCNa96lBJB_HKtpIBSn5l8_irwcRIAGdslYagY2PoEIrYd9lz5oVrw689jON9-d8HRpOU6g4_kyX59IR85uEftfRzyQHp0W_WTvkU9RY8OtfE7PyE-XzC4ucX",
  "id": "rs_08d034dbce856498016ab447642f4c87d0b38fe5ec2ded775f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The wrist view now shows the desired asymmetric geometry: the right fingertip is outside the bowl’s right rim while the left fingertip is inside, and the forward depth remains correct. I’m closing to pinch the rim between those two fingers.\"}",
  "call_id": "call_KTJrrPqZRxotWdpcy6rjiQvs",
  "id": "fc_08d034dbce856498016ab44764a53c87d0a0b854e8590c2645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KTJrrPqZRxotWdpcy6rjiQvs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5148, 1.8256, 1.0489, -0.1875, 0.279, 0.1581, 0.0089]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4053 right_y=0.1775 right_z=0.0416 right_yaw=0.1628 right_pitch=-0.3462 right_roll=-0.1269 right_gripper=0.0089\nstate[joint_eff]: [-0.2803, -1.347, 7.0085, 1.6825, -0.0708, -0.022, -0.0122, -0.3624, -9.0735, 6.0103, 1.4237, 0.2076, 0.022, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfa13f4d404b06e6f350a1fbd00d142dc907639c0029071a925ae0c9af4b618b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b878915a4fb6d827621e59795bda6cdfadc01f9eca7826c5635756df1d32bbbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d9bc6f5c1800c4d0b67d0a41c31b6c2ed0e56773172e989d4e525f995057589",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.744 s

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

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4011, -0.0227, -0.0261, 0.9995, 0.4221, 1.7412, 0.923, -0.0753, 0.2569, 0.1181, 0.9954]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1729 left_yaw=0.0009 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9995 right_x=0.4065 right_y=0.1373 right_z=0.0467 right_yaw=0.1189 right_pitch=-0.2877 right_roll=-0.112 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.7162, 7.0222, 1.7998, -0.0904, -0.0757, -0.0122, -0.4991, -7.3641, 8.7316, 1.5556, 0.1783, -0.0366, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5106, 1.8244, 1.0496, -0.1829, 0.284, 0.1642, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0009 left_pitch=-0.0381 left_roll=0.0007 left_gripper=0.9995 right_x=0.4074 right_y=0.1756 right_z=0.0432 right_yaw=0.1517 right_pitch=-0.3383 right_roll=-0.1246 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.9915, 7.0496, 1.6777, -0.0708, -0.0611, -0.0122, 0.4308, -7.8154, 9.2376, 1.4335, 0.2857, 0.1001, -0.1734]\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 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5148, 1.8256, 1.0489, -0.1875, 0.279, 0.1581, 0.0089]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4053 right_y=0.1775 right_z=0.0416 right_yaw=0.1628 right_pitch=-0.3462 right_roll=-0.1269 right_gripper=0.0089\nstate[joint_eff]: [-0.2803, -1.347, 7.0085, 1.6825, -0.0708, -0.022, -0.0122, -0.3624, -9.0735, 6.0103, 1.4237, 0.2076, 0.022, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfa13f4d404b06e6f350a1fbd00d142dc907639c0029071a925ae0c9af4b618b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b878915a4fb6d827621e59795bda6cdfadc01f9eca7826c5635756df1d32bbbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d9bc6f5c1800c4d0b67d0a41c31b6c2ed0e56773172e989d4e525f995057589",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab4476790e087d0b9f7a98a8133c33f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"Despite correct lateral straddling, the close still reached 0.009; the wrist-camera geometry means the visible rim is still just beyond the actual fingertip convergence point. I’m reopening and advancing 3–4 cm radially while preserving the one-inside/one-outside alignment.\"}",
  "call_id": "call_eKU2mDF28CKCZ2fPaum0qxRJ",
  "id": "fc_08d034dbce856498016ab4476ae26487d0b53ad3e05e80f69f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eKU2mDF28CKCZ2fPaum0qxRJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4709, 1.9194, 1.2251, -0.2886, 0.2451, 0.104, 0.9955]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4373 right_y=0.1786 right_z=0.0487 right_yaw=0.1768 right_pitch=-0.3768 right_roll=-0.1394 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -1.347, 7.0085, 1.6728, -0.0855, -0.0806, -0.0122, -0.7453, -9.1009, 8.6906, 1.4481, 0.1441, 0.1441, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e4ecc8233957effc3fb320fc812f483347bf64a7d6b06e7c4df07b341dcf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3289599f6a7cfe1440117dad28fddd7d7e43867c068ade313f0f8769e607e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ccfeeae180b64f563eda5efa2e8649e92b7ae2aef88b29d71ba0818118dc35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.846 s

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

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0261, 0.9995, 0.4187, 1.7416, 0.9215, -0.0792, 0.2489, 0.1108, 0.0082]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.0009 left_pitch=-0.0378 left_roll=0.0007 left_gripper=0.9995 right_x=0.4055 right_y=0.1367 right_z=0.0452 right_yaw=0.1258 right_pitch=-0.2955 right_roll=-0.1124 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.3607, 7.241, 1.7411, -0.0757, -0.0708, -0.0122, 0.1709, -8.2393, 6.0513, 1.3993, 0.1978, 0.1197, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5148, 1.8256, 1.0489, -0.1875, 0.279, 0.1581, 0.0089]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4053 right_y=0.1775 right_z=0.0416 right_yaw=0.1628 right_pitch=-0.3462 right_roll=-0.1269 right_gripper=0.0089\nstate[joint_eff]: [-0.2803, -1.347, 7.0085, 1.6825, -0.0708, -0.022, -0.0122, -0.3624, -9.0735, 6.0103, 1.4237, 0.2076, 0.022, 0.6471]\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 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4709, 1.9194, 1.2251, -0.2886, 0.2451, 0.104, 0.9955]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4373 right_y=0.1786 right_z=0.0487 right_yaw=0.1768 right_pitch=-0.3768 right_roll=-0.1394 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -1.347, 7.0085, 1.6728, -0.0855, -0.0806, -0.0122, -0.7453, -9.1009, 8.6906, 1.4481, 0.1441, 0.1441, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e4ecc8233957effc3fb320fc812f483347bf64a7d6b06e7c4df07b341dcf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3289599f6a7cfe1440117dad28fddd7d7e43867c068ade313f0f8769e607e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ccfeeae180b64f563eda5efa2e8649e92b7ae2aef88b29d71ba0818118dc35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdvIg266omgUpSQNW5JapYb2JQ0T4ED5S-IZ3pw63W5c3KKD4jV5r0eQETk8FoUS2uB33es-nXFVF9Cdaev-44Kg_6QsXi0ktrQlyYvwecEhc1CV-KIxRBa6SV0Ue6-bCt6KKvk_l96XplLJyEMrt5dsAhAdNFhSYMRMGPngCBTiq3MQGEhB1uDimkbw-odnC591OOer4Ysfo0PDDXrZCErci4WH98rqtaOJw7_R4euIXnSIN2lD68vXzkBSLSgdi-2VVaElPi6gYu9Hk6vtOLz41FfJrLDSKptyWEpaHgro9yKzY7_72h5aGChC9mYIUf_jedCKGvTntk5g8EgDRChHcJvlO69hRfXtWnonqhZWBjYuZ4Q5u-mAh26L2pTb3iFETkyO0r2AqH7DlHVXnewSmYROuN4HCi0Vro0Vpk7Sxxk1J7q-pfWj207M-RsXmBWLuGr_73fdtAZ1Oj59d0iqV7gKwbENmWlePEqXW0_ruvCSWpSJZLifJ4bUAg7CTADqBabrd5yPLFTVgQjgIfS9mJKwUy5DPNXOzeG6vvbCkX9GYg5SwrbFap9-1TozWjsmcTc1RHqUPlGYdDynqDIS4sVcL3CKVQGnEaIn4Glbsje5yu4ZFgfLFGoOM-CBWnYWiB-g9w-fmTIO7YQhrhfcumhaa7FNFlbzkJ6_9sKEPXDTtlKOF-KhNbcsgeVIzaU1IXgXbtTFwI_O_9p2kwDivv0oETKwt6Ps4PYRr_zk4ixci4_VIOKVrRMv2jgs7u4m3mocl1xJUYcgSzRGr9OXXB12U6Ux9JG3Z79_6Q0YR2guY408cE6vbnYI3M3Bmf_KmQVXCP7Mi65e0rpjTDz5QV3YcZxf3wwz-SsgKNUHpG8CEmZHCgr40Xqm790E4EaV6WWeUOZ2Zl2aK0CfNHltAVRkjuHSfbWLkuMqPQLW27cpUeFMbSBrV6WhTasSoJbC2j037p1gCL-bvik9uS1WXrppCVh6wSixtqCKhwNAF-3RwaWzN0ht76FC8jd7pW3t_dBMkv_DAqSiqpHfQgZPRTo8fujHAXROLpuZcKVJ1BcFmlmojHy7rjsegk2dc4dOHmwK-BavoIrJ7Lgyg3RJYiabfQEg3kL1j6jSS1qK7IS7eX1ytYUvesraCdGycdEsleoRxotjog7aQMCR0YxgM_FcyZwEPfjZL3Xy1hSCIIfAxXZNz8zFNGkbpsFgAQOM3svhS6T_1gHGKJkGzoUqM5TPLyuCmTdaEFB4pz14ED7pyEz__CTLiUsMwO1qD0vBSuMvr_lXA3R8ScmvzvolBU5pZVUzYc0QEyx983WCsAKjwKF3ELkzbLvEQy2Pk3p3rf_S6br3e7ygZA2obIj-8A7tHQepeAFrgP2Obt2iygRUWsmuHK3G7mWrHowW-gs1QPWi1Zc1FYjXEqfL_X_l1JhAV3bW4QE8LrU6usMTmoTvsNCkx-biwkKOm0-anDJqpxpRw4tpYxJebDqAUs68wMrC0E9l1mHoxOXdl2kZ3r8QHwxhDym-TzsuExYMTCFhAIPBt1GYYamt21OPnaY9YZFVGZ7Dbi4bsaND8NLsG_5y4lTQyZ-j2ZDPexr8FAdLer17ifd_yGV2nUwY8AMIQJ73R86fUwGWM9h9DxcOcS1y3XRHw7M_pNUVK1b8GA9cdBz1_-I1heJpv7KXysreg==",
  "id": "rs_08d034dbce856498016ab4476dfa4887d0826571e087f1c855",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The radial advance produced a clear change: both open fingertips now flank the bowl’s outer rim at the bottom of the wrist image instead of converging inside it. I’m closing from this external-grasp geometry; a substantial nonzero opening should confirm capture.\"}",
  "call_id": "call_uaaBirg37YewaHYXtwBOcP96",
  "id": "fc_08d034dbce856498016ab4476ef25487d094a77f2c3fce635d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uaaBirg37YewaHYXtwBOcP96",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.4702, 1.9324, 1.2285, -0.2966, 0.2451, 0.0994, 0.0087]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.048 left_roll=0.0009 left_gripper=0.9995 right_x=0.4362 right_y=0.1776 right_z=0.043 right_yaw=0.1767 right_pitch=-0.394 right_roll=-0.1477 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7802, -0.0659, -0.0269, -0.0122, -0.0342, -11.1248, 5.8598, 1.3553, 0.1148, 0.0708, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196e508b00dd696d95f5e41c49553f5e1699a625cc4cb1b67b34a79599ea7477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95ff4b01c5ab3c059372f8cedad1ae96554079d82767a06d7b944ddd18530a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808771e250ba713f2cb109ef6f45e472c92abfad3872502ac5f1f3dd16fadc76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 4.631 s

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

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5106, 1.8244, 1.0496, -0.1829, 0.284, 0.1642, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0009 left_pitch=-0.0381 left_roll=0.0007 left_gripper=0.9995 right_x=0.4074 right_y=0.1756 right_z=0.0432 right_yaw=0.1517 right_pitch=-0.3383 right_roll=-0.1246 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.9915, 7.0496, 1.6777, -0.0708, -0.0611, -0.0122, 0.4308, -7.8154, 9.2376, 1.4335, 0.2857, 0.1001, -0.1734]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4709, 1.9194, 1.2251, -0.2886, 0.2451, 0.104, 0.9955]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4373 right_y=0.1786 right_z=0.0487 right_yaw=0.1768 right_pitch=-0.3768 right_roll=-0.1394 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -1.347, 7.0085, 1.6728, -0.0855, -0.0806, -0.0122, -0.7453, -9.1009, 8.6906, 1.4481, 0.1441, 0.1441, -0.1245]\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 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.4702, 1.9324, 1.2285, -0.2966, 0.2451, 0.0994, 0.0087]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.048 left_roll=0.0009 left_gripper=0.9995 right_x=0.4362 right_y=0.1776 right_z=0.043 right_yaw=0.1767 right_pitch=-0.394 right_roll=-0.1477 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7802, -0.0659, -0.0269, -0.0122, -0.0342, -11.1248, 5.8598, 1.3553, 0.1148, 0.0708, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196e508b00dd696d95f5e41c49553f5e1699a625cc4cb1b67b34a79599ea7477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95ff4b01c5ab3c059372f8cedad1ae96554079d82767a06d7b944ddd18530a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808771e250ba713f2cb109ef6f45e472c92abfad3872502ac5f1f3dd16fadc76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd10ln-BLZyVviOrGUt2VhSBJ66LVMPWsm3xNTBqoLJtP4w5EiCEplJp_i6r8eL9F6mdWb03Ra6fjtU2WBRf8Yylf8EU4_Z6e2lP6cHw0evPTcg9ZepAtZvM_pcMWfyo6ZnKbr4Dx9I3hTjEEWjDMezvyAZFClOExXZsgCvTO0Ici-1fd2cKHG1BUWh8w4WD4817Fx4Y7_hMFsey7-xlKBydedPQ7bs96iJWiFc-FIh00HKmPb081BGMfpE2HJ6UfADmI9Y33UzMlTAKfot-oWnbSkU1QdItJ5uEf1Ho7Txpm8GlLwTmIVjXkGLCLA8ykz4Uylbr_DLCfZuT7UFwHdRaxaCYKUA41Q5NRyIwSI0je67UXNCJc55JMYcOkL1Bvc2h7liS0hcScyHOeE5hiQChHctFwx67UQ2T4zBPO8h3b8LNX2LJF_98KO_Y8QU0uDZJ4U-YTH5k64N7TKjnVXeAS3x26PMKz5srtKfYNSvAAUHbnLYxazW-cnecqBeBHEx42D5rkkRtrWRhIzD-tqMTs3jJOKOyJev2vkPTmQasEavYFDACp3rHU75fy2NoByPx73IYOFW-SFY4iz7nfM53RZDtUpr--8M8kea9IW81n_qw6oagqzlTR3S56FEUUP9w-fVPaWFB-6-zsh1bV7PcIUfDay6baW4ScrMfaq4iyjmHoK8sSqFYySsaQhq3OVtQKs5saEQ_rS0jVMLm0TZZGnlpvhQKOFlu0kLdtRXKwsltfJVdfbTyok-MuvnZa01AZKofFmhDlG7motA6ZolpBEM7nvCistdEr0jhboL9-h6aTeX7--wBR2uVq1il2YFz88WExwBQGZVaHbcK-9MH9ycYxG0R507t0bNuF1a7nDCWLXF5j1zjf8ZsqQDgbsp9qmyR8U3Dj3WVrDUJNjIfF4NyI6i4qXJ8fiaDG-B4O6oqcazmTD-LqEYzin1nxURgzbuDLHSppiBBijrTClUqnF70A9Y8gR-XYSq-XxC463iGgleX7oD0MAi5MKLYSvjpe2-1j3q3DTHA84s7v5bkwmSiYgLMlEcL7Baw2715b4LSUjwX9cFnGmiFBRX5PzTyhnkqSNj48Qa1RlMUHuqSAnPN1kOj9ghlYWboEWt8Eb9IVGi4LQepl8Solp4e-TliHC8FcQICJHILvcZu7b_I9Gpe78v4gRZBfmQgnFj_xDt5SZwKTiD3TKkRCmjvnu7XwwHMmZddbVwGYlK4mxYmYE3SuWCbBIfUtIFZ5_djld6fzhBNOxTaxwO7BsBmCs8t4dlKMWn0FSiCahOvY_jX4wY_rL_soc_dYhWbylBwQorJQe6Fc5UOyt9dvD8mTEXLzEBqZldiDBD52UmpDLbyRYHBGcFcStB1EBSRXpXDgm3QUhQpsqq7Ava9NOsZYMXmkwcv9qarZjAlO1k70qTfgr1UwDPKFn15W7VliY1h8AgnO1h46TFfYcD285fXAz9g47yMPaeDl_rgT5mpjvyf3iRSyD4iLV-s8-ohoYYNpYIdlkNuCJiL8548HsK7bL9hS46VCr7vJpYZCJDkjViwuHopmkT5A-qkA2TXlgsF5A0VSoiNcFMw55I4aMnk5-kfZOqPe6uR1H1VbuPjP_iTcqlwXg9-sNfgXxkHUG5QtVejp52pl_OwIXTzbKOZSGkU5bQbvUPSnze9tUBX0prLQRRywEnPtaxTWOrCRaTyRWTAM4ozyTHJXi-vvhwH2oiG8wGlfuNlFubuCmNypYOGn9wjQ1P8Pn45NWMwGCSca-9yR94HYF3uJS34SYLDtUwRl77a8Ek0ySsZgfaUt3eoC4S2pbZ1hZjpO7ogGNw0g1Lb1-rDWORr857VTxGmNi0sn3_pWsMsMuuvg9ZzfeH3ZC_H8h0jzR5mg-KkQOw_iVpiXlkDS8wJgHVcdNn8QZqDS478YXJOT-lusiBJ-vhpgRyA6AD4myEVl7d5NAuMbAakT1iTx9uTw6rpEOGHjf7-Gi9p3lx2HLPgR4856MnVcu5DBmcjemDXG0FG-Jhu0iT7p4u3kohGqm3i3JPhWeevPVu_4vF0rts8AwwYFfjMKCz2IhjPEqTM7BZG0MJpYFYie5SIeKAZ5qd8NEc07sVkAJpeTP3Zxm5jYsGNdWAlJjc1NKi9nZLWC8Tged6kMjjK_ANSCRCpH2EzdP57aKuvXytAHP5KOIHZsZ1nPkW0HLUoGPKTQvj3ApR6S8IT_HBDsRJO0_enFq8HGST-HXyzCun5S53BgKadUunTT9nCbPYej2JOnNWBHRyG0KwoEEc69Ds-7TBt-iTrMYUNZnyFB-kdhj2xYyYvEQCw3WsjbaWpjUDTmBhG9KBZ6ZwxU_Dt2vnhgaI3T1yDFMXSv0exrimMqb3sh0-CZH8Cs06lPzRKDL2h1OGkpa-dJ9-hJjX_bXieXDse1klnCSwNYvOn6t-3ahy1UelT7oZQsH89zIqiddneCA9i5OeG5PcQGu0e2Gp12V5VAg6pHuHOJr3o0y5Tk2VZoJf3cW4U0VuAvOamTkye5kUn0VqMmGa5SKrDj9XaBgSwPKtHS3ABICvJpHwmdP51EzQWIDhCJgN--hKOtjXfsWMmkjNyPu3LGbCQYurEMsFUervlYVaaGd34scwErysp9dHMwlWLWmvGIqopsBCV81pedR8IRvwR9Bv_VZFpCaNX3V3fmhr0RWpNypRVYvFjcwHw-04TGPh9gjm61Q9Ul2bRekGwv851ZPMXkeNL5BckKtZMJTGJkx5ITVtS-K6UFFZgu1FXbEN20-qknNg3MjxzpzGrnChYmg=",
  "id": "rs_08d034dbce856498016ab44771a65087d08287ff0694a258fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.005,\"right_gripper\":1.0},\"note\":\"The jaws again closed empty while visibly passing into the bowl, indicating their tips were above the actual rim rather than intersecting it; the bowl is shallower than the 4–5 cm grasp height. I’m reopening in the same externally flanking pose and descending nearly to table level so the fingers surround the bowl’s narrower lower wall.\"}",
  "call_id": "call_r82g6AxSqxIPofS6ZbYsdh6X",
  "id": "fc_08d034dbce856498016ab44774651c87d0a593f64ee45ccb49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r82g6AxSqxIPofS6ZbYsdh6X",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.416, -0.0223, -0.0261, 0.9995, 0.4664, 2.0068, 1.2297, -0.1772, 0.2306, 0.0814, 0.9934]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1676 left_yaw=0.0006 left_pitch=-0.0522 left_roll=0.0007 left_gripper=0.9995 right_x=0.4526 right_y=0.1866 right_z=0.0249 right_yaw=0.2008 right_pitch=-0.3543 right_roll=-0.133 right_gripper=0.9934\nstate[joint_eff]: [-0.1026, -0.7726, 7.2547, 1.7021, -0.0611, -0.022, -0.0122, -0.5812, -7.1043, 5.7641, 0.9646, 0.1636, 0.0464, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6c1ec5fe2ca26f9b48ed713c1d4c6628698b6d9856c52e935e0d1ab1cdcfba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9e3243e22358ef49268418bd6a716b4af5a6dc9511031e984dd48ef06d0c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b446d83a2586c778b12b42c6ba29e674644b969adb6fc0d09fe826b2f89fc6bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 11.1 s

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

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5148, 1.8256, 1.0489, -0.1875, 0.279, 0.1581, 0.0089]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4053 right_y=0.1775 right_z=0.0416 right_yaw=0.1628 right_pitch=-0.3462 right_roll=-0.1269 right_gripper=0.0089\nstate[joint_eff]: [-0.2803, -1.347, 7.0085, 1.6825, -0.0708, -0.022, -0.0122, -0.3624, -9.0735, 6.0103, 1.4237, 0.2076, 0.022, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.4702, 1.9324, 1.2285, -0.2966, 0.2451, 0.0994, 0.0087]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.048 left_roll=0.0009 left_gripper=0.9995 right_x=0.4362 right_y=0.1776 right_z=0.043 right_yaw=0.1767 right_pitch=-0.394 right_roll=-0.1477 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7802, -0.0659, -0.0269, -0.0122, -0.0342, -11.1248, 5.8598, 1.3553, 0.1148, 0.0708, 0.6667]\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 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.416, -0.0223, -0.0261, 0.9995, 0.4664, 2.0068, 1.2297, -0.1772, 0.2306, 0.0814, 0.9934]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1676 left_yaw=0.0006 left_pitch=-0.0522 left_roll=0.0007 left_gripper=0.9995 right_x=0.4526 right_y=0.1866 right_z=0.0249 right_yaw=0.2008 right_pitch=-0.3543 right_roll=-0.133 right_gripper=0.9934\nstate[joint_eff]: [-0.1026, -0.7726, 7.2547, 1.7021, -0.0611, -0.022, -0.0122, -0.5812, -7.1043, 5.7641, 0.9646, 0.1636, 0.0464, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6c1ec5fe2ca26f9b48ed713c1d4c6628698b6d9856c52e935e0d1ab1cdcfba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9e3243e22358ef49268418bd6a716b4af5a6dc9511031e984dd48ef06d0c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b446d83a2586c778b12b42c6ba29e674644b969adb6fc0d09fe826b2f89fc6bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab4477774ac87d09e55bd7563cd9db6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.24,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"At the lower pose, the open jaws are clearly still inside the bowl because its rim exceeds the 9.5 cm stroke; a centered external grasp is impossible. I’m lifting and shifting about one bowl radius left from the now-calibrated center (y≈0.19) to set up a true one-jaw-inside, one-jaw-outside rim pinch before descending again.\"}",
  "call_id": "call_hPn44FiPMJhIk5mFjHTw0fwb",
  "id": "fc_08d034dbce856498016ab44779d3f087d090924d4531001067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hPn44FiPMJhIk5mFjHTw0fwb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.5823, 2.0216, 1.393, -0.345, 0.2672, 0.1425, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0519 left_roll=0.001 left_gripper=0.9995 right_x=0.4443 right_y=0.241 right_z=0.0554 right_yaw=0.2481 right_pitch=-0.3596 right_roll=-0.1306 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7021, -0.0757, -0.0708, -0.0122, -0.4718, -9.5521, 8.6085, 1.3211, 0.3004, 0.2906, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fd9edb1a2f9f7056e26eabeede70ca581732085f37757d9f95fee7250bca69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337c646ddd61304bdc61bc0fa39ac143a36976e92a416c1cf490cbdb7bb9f2a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65fc904c3988a660614337e6b9a1449621d981e35813d5974318c6d3789bed05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.712 s

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

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4709, 1.9194, 1.2251, -0.2886, 0.2451, 0.104, 0.9955]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0007 left_gripper=0.9995 right_x=0.4373 right_y=0.1786 right_z=0.0487 right_yaw=0.1768 right_pitch=-0.3768 right_roll=-0.1394 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -1.347, 7.0085, 1.6728, -0.0855, -0.0806, -0.0122, -0.7453, -9.1009, 8.6906, 1.4481, 0.1441, 0.1441, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.416, -0.0223, -0.0261, 0.9995, 0.4664, 2.0068, 1.2297, -0.1772, 0.2306, 0.0814, 0.9934]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1676 left_yaw=0.0006 left_pitch=-0.0522 left_roll=0.0007 left_gripper=0.9995 right_x=0.4526 right_y=0.1866 right_z=0.0249 right_yaw=0.2008 right_pitch=-0.3543 right_roll=-0.133 right_gripper=0.9934\nstate[joint_eff]: [-0.1026, -0.7726, 7.2547, 1.7021, -0.0611, -0.022, -0.0122, -0.5812, -7.1043, 5.7641, 0.9646, 0.1636, 0.0464, -0.1832]\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 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.5823, 2.0216, 1.393, -0.345, 0.2672, 0.1425, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0519 left_roll=0.001 left_gripper=0.9995 right_x=0.4443 right_y=0.241 right_z=0.0554 right_yaw=0.2481 right_pitch=-0.3596 right_roll=-0.1306 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7021, -0.0757, -0.0708, -0.0122, -0.4718, -9.5521, 8.6085, 1.3211, 0.3004, 0.2906, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fd9edb1a2f9f7056e26eabeede70ca581732085f37757d9f95fee7250bca69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337c646ddd61304bdc61bc0fa39ac143a36976e92a416c1cf490cbdb7bb9f2a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65fc904c3988a660614337e6b9a1449621d981e35813d5974318c6d3789bed05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab4477c9a8087d083973c8c730b6906",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeGhXsFjzPxxGTA6RLwlQg1Rg5oXIe4BVwvo9Y-xIk9De6jQarxXMrUVrQ3y4rfLtOCYQ0YTkSeBmgn-cWKYohm3auYmEdbT_5ABNWjsXGKFEcckhtETrMQcb9lH1AyQyRPjnn_BPdL0taBCKQpGi-CLsA2YnjAx-d49qSqY0Is5z59qSI_5Z_Xe_LegCbpGq6PAGCMaCtm653VmbXVBtJvDc1u5maRyIK6Nxjg4OxQwNY7nF6RO0VUx7NeVjqq0E0M_8Bq5d9QBq1b3YmsrMuUYg3x_kUpkYZZw2TVBQZFVJijPJcV7gqSPxpSF4ISNWAAbzzDg3fVvj9pWxltwltjH2nUp1oj7EOrBrystvx2MHQlhfQUvIQBfw59Q3kiLgdWA8SHqhuAJt1EVhpNFS0d9JXNT-nnD78KD_15KUG_UkLxxKDiAVFP7IYG7jUeNjVcIPJIsDTAldKNG2dUZofWGxAv11dod2BlvKbYTS9P41dr-HDedsHhTdDM6YmLvblAkmE2wop4o4YjLHNNIbdBhbup5kh3BtY1TcZzjjKAToznio9YVE09zybleoQFDkmhEaCvo8gasWVO9qQ-UOLo9dQAQJHACVsCfNXczUqWCbFDeh3NFqTeyrvUdPtjYuufwe5coav-rlqhNHpKJAjuyDJ70lPgx7YQlzTu2S7J6z3-bpJ1GYx_H_l9bHFdtfWohbTm5s-hnrPM9cwOq6Yd6MQV8pED3w4KzsiI0r4g3icWEQF14pA5Yn988GYrHQeewqosy5913DNegnrNUS7yzRM7qZWbVRFxvlDMuJ7_7qJJqmj-OL6tCLMhya9kdHQHB-AaVoLzJ-XDyTsEAj6KnDleFjhJlyvv85CtK1iKWb0YFBQggVMON1UiHGRb6jwkfK2BSkyqQl7lvbo9VpHDsdlSwZZlhpv5fBdZkRsdh3_mgLa6QtNuPCcF4LkN9vWDVeYIZVGKBsEFa0G3RF2TludeoRqa9oKwZvJbvk9hEJO1JPZJcO-9qChZw50JjvcpH0N9fiAGm8kMZFGWx4RZ6GaOQ9efdk0hXSUTlppbyqtpreyT_ycexW7SLTTYQvAKrmxz_TQnVQ66TRJL5bAWKZu-cvMgg87ckBmwsmUJvOJxuZcNYxXPrDRyLPYJpQbNbQmxnS74HvIolPXauzWhMnFOqO3_b57opntAiTGQIybmz4zT4XJajlM7qMPEUk_WvLNmuxzrfabCG8cKBcSTR4dz4bSrC59vSiFQoRS2xpbBMQ85vnMKTmYRBNDK-qr_BkS5rPzcjiXEVMIqK24Gzx-NY43O24cDpMlRpFdyuuaR22UT2yoH1Dsy_Xm67mPZ1zMcFk1C-KG0NiJwdnU-G9WSrYpDnyMshLQSLEK0dFM8XPOf_atpAQDgrCX_MBJa39FYI42tyXiACTdwUlsOdBeSP-0gEoAx80g2Lcs_ymnIBEVlBEhtb6F9WXRDC_6SXSbMdxqfyAAcn4o_hGcOvtP4CjolFfkB9GITSUy5Cpvujr5eh6GvtOxnLcVExMpflOCilQ2mlhgInxhtgFkyOLMTvmtV7iAcNpvPTcbgC3j_sRQdqw18uk7HeLtPt_Wm3B8Ge9RK0OYLev3kCcgqd52_lKxM8nGXfDxA_plEDo1tYjCALnFGw4kZzxedRcY0ZOEApq0yZH4N1CCxLYUK_TWn4ZhnC8K4v8wgWvO-G8siR2A1odfCMsGMfhLdRZWV59y4k705hw2leD_l6akSLZWOD5Jcbpktz0Nnn-nPtHEgMPWK0bsjoNzyilQgvQqkWh7yFqMhrGIaOAOtsvEgbfjfGHO8LdZ8ItqZ5jBrnp3M3BT1FpvoLaqmsWUtOhzPZo8lGc5FAA6xpil479IfWX-9WMsn54JGxKd2xJP5JFeoqb5sHbiXwhQLbnhf35IZAfc59IBo9go2hOoqp0NUgm-1j0jISZ1Wdfa6XxYDRo5ssliDlSUYDvLFbZrSz3jzjnWfaLvPArkOAendx4B0PUstnTxw7k7dAzzgGgr8rZQySgyO4rFKz_a5-cvnPVQWz13IlNGM_Q1C8esZPHaFzChz7_EprlGdKzZU90IoPNGCe0dCvEcWWDHNokGXLBZ_pbdO1zTscf3S0Mqlc1zAR6lqzphJrm7xNzhlpKMeri-yPeJ9qzLFSGxhTPT_z6R7YaCDhjMpmIcEr-BiJAmNWFnEJvmbqByeNzJ0qBBtuF7YnYY0Muf106ugpDb3VmWaY7rdGqGp3ZyYO6kXFRaK96-wOrT24HD2sDkT0CSTOwPfuM2QiNxGY9memnPmMRhIbu9CesPIXhw7maPqzkysXJPg0L3xAQhuD8h5IjDsspO_6c_gv7c7VjTX3wIgSsu_oMb5qYQKggn-m5d-TO7uRVWLJn1b_RDkh04lp_RdbxfDynaiKWk77xfKHZL8HLcnrXyTFDHoIoKl2ucFKOyGD-uma5NG5CKCj48pqC-fD87kK01ptP01z3WqZc7_tDfosV0HapNedCK5vxjokZuUM4ghUFzmse1g_DFRqsyCTJKu1-cB6-AUkfzmWi1bn94OuxbbbVZctxdNoPO38oRmCWWtnTkoMzwhjDFAKfHd8aKZVJpE8jzf6jIdPJpRmncxr4WGJqmaOvXCW2wsoU7iCw==",
  "id": "rs_08d034dbce856498016ab447826ed887d081e5e40bad01e89d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.24,\"right_z\":0.005,\"right_gripper\":1.0},\"note\":\"The overhead view now places the grasp point at the rightmost bowl’s left rim while the neighboring bowl appears at the wrist image’s left edge, confirming the intended one-radius offset despite camera perspective. I’m descending in this offset pose to table-level wall height before closing.\"}",
  "call_id": "call_iONBm88E8QKEJ7eiR3cLN9Jw",
  "id": "fc_08d034dbce856498016ab447855e4887d09f8403a22429be82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iONBm88E8QKEJ7eiR3cLN9Jw",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.08, 1.3453, -0.2123, 0.2707, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1667 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9995 right_x=0.4529 right_y=0.2408 right_z=0.0279 right_yaw=0.2428 right_pitch=-0.3338 right_roll=-0.1274 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.3197, 7.1863, 1.7118, -0.0708, -0.0317, -0.0122, -0.3487, -7.3641, 4.4923, 0.9158, 0.0024, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e7683b62eaed93714ba07916df542dc4bc868fe0b62ce8c355febb31fb90e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4642bb30529ae0da08db6c13f79036c75d75f0e9ab94db7d11f5599e24727ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eeadb0ab2af3a2337699c94ad32e93d72aca4f44148847be91908be2a75a0b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 6.12 s

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

message 53 changed as sent

message 61 changed as sent

message 66 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.4702, 1.9324, 1.2285, -0.2966, 0.2451, 0.0994, 0.0087]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.048 left_roll=0.0009 left_gripper=0.9995 right_x=0.4362 right_y=0.1776 right_z=0.043 right_yaw=0.1767 right_pitch=-0.394 right_roll=-0.1477 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7802, -0.0659, -0.0269, -0.0122, -0.0342, -11.1248, 5.8598, 1.3553, 0.1148, 0.0708, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.5823, 2.0216, 1.393, -0.345, 0.2672, 0.1425, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0519 left_roll=0.001 left_gripper=0.9995 right_x=0.4443 right_y=0.241 right_z=0.0554 right_yaw=0.2481 right_pitch=-0.3596 right_roll=-0.1306 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7021, -0.0757, -0.0708, -0.0122, -0.4718, -9.5521, 8.6085, 1.3211, 0.3004, 0.2906, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.08, 1.3453, -0.2123, 0.2707, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1667 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9995 right_x=0.4529 right_y=0.2408 right_z=0.0279 right_yaw=0.2428 right_pitch=-0.3338 right_roll=-0.1274 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.3197, 7.1863, 1.7118, -0.0708, -0.0317, -0.0122, -0.3487, -7.3641, 4.4923, 0.9158, 0.0024, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e7683b62eaed93714ba07916df542dc4bc868fe0b62ce8c355febb31fb90e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4642bb30529ae0da08db6c13f79036c75d75f0e9ab94db7d11f5599e24727ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eeadb0ab2af3a2337699c94ad32e93d72aca4f44148847be91908be2a75a0b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeJC4hDxnlFU6RQv8F6T_RcbNijFARP9KuqvKepQTXSHhME835bmvMkAt_8agimpnvGTSj8PtjtFK0U_jJOnKpztRUK7CxYNYLwk5s1nSwABU4M-PERhmgnxx50Q2yPCOCRgLhZcWA3NDglKMUCdcSS2anwUUpJAjhM622Isftj2tLNEMZABfXqu5u0_5_h9Bwma6IRvLnID4mkriyo4CErR493YlXAsmuGoCJQcQBZUCGkMpQn_6QNivOPJVFW1oKs8wZ__BFol7EL0J0LGEinBwBEIo3VO87LbIpWcjUFnTRrNAmhAEbyFc4cCPlOZQMvqO9uh7j6_XhoADS0mxj9VdIz4Z8Yi0nLti_k1gkZrnK-TgkkhghGWMk8XleC5jaEYg1mYae4OcB3gYxYoEKGToFc5-tXmKK6dDQps--KpKOUCYrghOUPh7EQ3MhlueS8U1_UNcYlJtrrbgEh0IO6WjnPwBWhThPjc5jJLqOiSslub6lfp0nqsyIuFM-z1BtGA9IZ6paia5SGO7SASDAaXtghqfYYnUT1s253-8ukAXalcJRv-t7iGZWMrlmY9K1Hf2tZaWYGaDJxAXhEtThUuTZKy0f0Fap_mks2Vj-iMCQqGvWY09pGft2j9o9rXtkM2ue7Z5h7ygfBt184u2ndFCq6u-gwlRqm6715BhejEDzkGUjQCadVpy9IX1RHAYfnZF3fHM_H3IOJEfFPmjaSg-ZNmuQ-vKkhX8Tga8uzCjyMUmaZn5DsbpjHdxKv_Ga1AHgsrGS74_9djdHtuK8hshWWq1V-ac4JuXovNnlIs2MhvLSXeNxhVwXzNQc_wdK7xK-E0H-_ifvBzVF5PQSi-TKRxfK-Nm5_zIkIbFMBhkUvKBjLl54LiPR83bjyuScQ78pjRFTyJZ-CexVNvzjX6UUvqw26DfUFQBvTED0bjYbVKMP-8qKDmq4ExE6AikUW6M5MdvQFekN85FNfmoqR1S2gr3_9DV6DO4jIWI2j7oSCdKCePU-m7Faw45owpanslxWSvx4jC5euTnUW7Q47rdpYKJw2LIMoMyd115DHQ-Avo2nKvdrM8T7Lx96y5kdGoLCqaaI77MOZZhgYWYIwzRqLzkbpp5Wrjxm4Vyg3oVbdUmJMEdWAKxeSeCWYagQrrVS22vQmy1QcpyNiLRrnZ0XUE-7CwSZLFgKOTikBTiGoVqKO2wNHbSnFakCscBfHCsxOPXzjRTw0c3r1PMJ3E08anXMt9Iu22cSTmDBHwUMOb8JEz5lYK5oG3GCHVcRl7zGl80mO0ochoRXMSROy4DPZjQr8njwAHvAo2WH3zi_yA96bRJsQN8mjqQBi_D8qLSU_8KHRck2CCvf8rgRMEtEntz6gBJABjTSn7lJObFk=",
  "id": "rs_08d034dbce856498016ab4478834d487d0b0407b48da7a3802",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table-level readback the bowl’s wall now crosses the lower wrist view between the two fingers, unlike the earlier high closes that passed above it. I’m closing in this offset, low pose to pinch the wall/rim.\"}",
  "call_id": "call_4SJjLPbjtksP6PkhB5jgsfiS",
  "id": "fc_08d034dbce856498016ab44788993087d0b1f499df61d6259f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4SJjLPbjtksP6PkhB5jgsfiS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8158, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.0876, 1.3422, -0.2127, 0.2607, 0.1299, 0.0088]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1665 left_yaw=0.0009 left_pitch=-0.0561 left_roll=0.001 left_gripper=0.9995 right_x=0.4508 right_y=0.2415 right_z=0.0226 right_yaw=0.2543 right_pitch=-0.3474 right_roll=-0.128 right_gripper=0.0088\nstate[joint_eff]: [-0.1983, -1.388, 7.2137, 1.707, -0.0611, -0.0513, -0.0122, -0.3624, -11.6171, 6.2701, 1.3407, 0.2271, 0.0611, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea521b980ce80dafa5ea75e3c132709a20ed4eeb1df85725354339502871d284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926fabb45f8987b4383c023fda9c4c48dea30bc67339b27e944688e0ecdd922c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ee04803e44c21613f82be0b09806c3947de57d78bdd6c0fc96b493d134ac34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.104 s

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

message 57 changed as sent

message 66 changed as sent

message 70 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.416, -0.0223, -0.0261, 0.9995, 0.4664, 2.0068, 1.2297, -0.1772, 0.2306, 0.0814, 0.9934]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1676 left_yaw=0.0006 left_pitch=-0.0522 left_roll=0.0007 left_gripper=0.9995 right_x=0.4526 right_y=0.1866 right_z=0.0249 right_yaw=0.2008 right_pitch=-0.3543 right_roll=-0.133 right_gripper=0.9934\nstate[joint_eff]: [-0.1026, -0.7726, 7.2547, 1.7021, -0.0611, -0.022, -0.0122, -0.5812, -7.1043, 5.7641, 0.9646, 0.1636, 0.0464, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.08, 1.3453, -0.2123, 0.2707, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1667 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9995 right_x=0.4529 right_y=0.2408 right_z=0.0279 right_yaw=0.2428 right_pitch=-0.3338 right_roll=-0.1274 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.3197, 7.1863, 1.7118, -0.0708, -0.0317, -0.0122, -0.3487, -7.3641, 4.4923, 0.9158, 0.0024, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8158, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.0876, 1.3422, -0.2127, 0.2607, 0.1299, 0.0088]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1665 left_yaw=0.0009 left_pitch=-0.0561 left_roll=0.001 left_gripper=0.9995 right_x=0.4508 right_y=0.2415 right_z=0.0226 right_yaw=0.2543 right_pitch=-0.3474 right_roll=-0.128 right_gripper=0.0088\nstate[joint_eff]: [-0.1983, -1.388, 7.2137, 1.707, -0.0611, -0.0513, -0.0122, -0.3624, -11.6171, 6.2701, 1.3407, 0.2271, 0.0611, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea521b980ce80dafa5ea75e3c132709a20ed4eeb1df85725354339502871d284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926fabb45f8987b4383c023fda9c4c48dea30bc67339b27e944688e0ecdd922c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ee04803e44c21613f82be0b09806c3947de57d78bdd6c0fc96b493d134ac34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeQ7hMoyFQauB5S7vzPt1tyUydl8nxIaZTO3dz-KThdOTWneOiLYoelDp19FHA4JoIPsX1nIojuntOMzaQ7Yafyd_4rdZIeEHylOy-UxMlh1jbHxkfsnKfQrxijdF_rv2OA_fRZHp_Pyk_JRyswXmbOxs_OgAeQUzRKwo94oO8Hy24-kX68eBoXHgJlIYwW4-XaYg9HfjMWIy2a-oVfknvkbqxuldQtm0n4_BE4bjyvbjxNAAK8bYDwm15jk7TbCtdoWVE2jeDiHU6yQj_8WQqLobBhMPasG_QZ98BZKWIGFlARjjmYbBZVEoXVRUoQObCMZC4vN6rqf4e8w6Hw0Gzqhy_12OV24-d8u5skqYGX9QqO4d7WBkF39gueLvDeRj34MSYUuErLCO08Bf6Awl_HNLqo_6zLvyMlc-Z5WlRayxUTtvXNBqGhnji6os3omCW4FHX5j8yACTmZCHSi8GRw3e-jWjldyAFeaIdZIbNzxtBPH_BRjmQYF4cxVJ21gLEceg9ODuCCptLNOOeSPpp_UJ-BEk_or7K5TRwlxlTyohqJ_gutkyPWugvwpN44ebfSZCa3KceDPUBPY9XghiVPfNhLKqhTx3ridfsClmXQMM9e-fSxwZiapFLfxAuhOpt43_3cKfWB9QUsPQzaMx2Tlz7LIreaDMJ6rszenTJ27cYqYZvKdkSpkF2ZhR1hZBxJZpc_3evitg0bWwrrDgyEYDjj1TM5pEAvmJ7m7i3NS-ZdWdwlute5hHOpSXxFOpzKR4Tj5uVludm0xmWhXLlNYjCwXYwOWvw7_zuFtIPtagQSXtPNggZGjwG-ksw1IrtuK7bHmrJIuOdOrlE8F3D_-9UMweNOVrHgwLwR0SU6tEgpDp765e2NRrb1uhUaiJzuc-cdPFYZrASpSwREJzng8CIhHwrHfavvR6Ok9TaY670gvI5-W9-KIt0XTz-lDjIERb3RVgbTHiDPUmbxyw6WVRHezHoGe31lj-tcFjyESxIqOfbJASMNTIBMfPrT4Q2jRbpo0JV8A4_iKh61igC0dWNnk66urNr9XA9mMYXmWR-JJjqpiABwfZLzaHlqHTEQrHrPQIhp4u9Zj-GUs2AxM-ATkdgr4P7FXrmZWZfw9rQkFOnX-YW3RsldIj0Zg_gdo1FgsTXERjuhzNOyveFMruLApwsxo9-WR-pYZLGK2KCUb1h276oD09_kv43e01Ob8QUoNudgFO1MCMa7Srz--Dojl4vlFH8YYxwofoh3lJP6knZwngbetNx4wiy0sEKp8my03RN-2TCxVw4OWtQjP2OkbExri1Mm2tamP4tNUtDfh4zq_ju6Kt87Ht5maXRJ-OLgi-rLwuCavh6OBiDfI104BzKgqveYBMgpK6Ff_wwFTi_lmW2xtVZEUAqHdzSLsnOWAHVPaYnita6udLmDeltn_hpdAoWagI2dzxIV_CWFY3IYbICDVBVPUATCZagxl9TMD7jRtFmmvkADLi2rTuj0NwUJ8kW6ZH48PfxTLZ53pyiIawvAInQDcSrKOPv5EJMXJdonBimze4dxt9_MukdLS3XkIoqXEjKZGr20rkvVY8B2N72mDO22F8OnAzX6mGq63lMmFmsEFuft_bZEPxWtq_vo3mddLY6A-0tBxv47za_szWtEf9tv1M3O4ykBgLreaQ5WDkNn2ud98E2FAEBN0amQkXnnUHgzeFx8ndJLGu22ruJYZtz72fZb9cmmg9BrBfwwbjRm8cDanduEUPMKeu1va6zrpJWn_1pR8QGGlav7AnE0TMSujjk4kVwisDquDf9C_oYVfjHAy99E7OQAZ4jgsXjETdY5TZdZUXTYFdZ-Emmik74dz36u2BxR7k_c0JNZyQQH1xY9vI1PzIDMR3mEnRwweUVUZitGlnXf69N3a1e0_09WzaHgCfLqtoLDeVoBc9Xqjnl5pMKXn5wNzm_koDl_XqRGMJb4EYc2A6J3mdB6dVBagrc_kGCIjJDAEBOc1fcMw87M1kOM0kV18KcpQc8Vl2PtsSSZB2YXof_lj9-_Nfif8DIyZ8umw-kW_D4QWiRJCStn0BzRIJU9BRb6FmIRKfOiMfuE1E-IzBRKdbLPjGQK3dIcGvnr7w003lJXmqr4fN_YrEHrBiXr-ODNJzb4WwIGXrMgyKC3RMGvaXmG1lXLK1VR_JZ591jhpa5I4p0VILJzJBeVDCuZzlpMGaLu3q_DuMHETzYJGWat1jSynJnqFlQhQ-geASK62ufxXJflviYA7wD-dYAwfWO92B7PU-NcuAi9yifRrrm-UHYCxfKkG3zYSeOCA-RjitYZsoZeoJPbRCKACNlX5uNR8WOdzDeWTNQm0OpBxRvgZqFFb0I4Gar_os02nSxQbHcpeLd41GVKuef1DmNdwzCU5C09knHbCa6n2GxzXevF0a3daAHLv1oTpwRdb8ngI09t6cGw4bPKeql0Y-CtKLB5hvuJC6hNwvKDdnCTpT84PsHvO14YYcL0l0hlRi44QORSj4XlMcAc1cnXMo7lhPdfKN03aA7aALw-jg9icNYsaO8Y31JYJcYyd06upLAZfbRdxwemMFiN9AuTZg==",
  "id": "rs_08d034dbce856498016ab4478bb3a887d09a951a03348422f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.295,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The closed fingertip is visibly centered on the bowl floor, proving that this pose—about x=0.451, y=0.242—is the bowl center, not its rim. I’m reopening, lifting, and shifting one 5.5 cm bowl radius along the gripper’s actual jaw axis (accounting for its ~0.25 rad yaw) to reach the rim.\"}",
  "call_id": "call_QlLL0QQEvGxqgJCTGp0wOE3N",
  "id": "fc_08d034dbce856498016ab4478e305487d0ae8355eff82faf06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QlLL0QQEvGxqgJCTGp0wOE3N",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6868, 2.1048, 1.5135, -0.4187, 0.3065, 0.1997, 0.9948]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4321 right_y=0.2901 right_z=0.0507 right_yaw=0.2814 right_pitch=-0.3773 right_roll=-0.1412 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.4154, 6.9812, 1.6825, -0.0855, -0.0513, -0.0122, 0.253, -10.7966, 9.0462, 1.2479, 0.2418, 0.1587, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd087443c44b76b3cf26b2d63edb473056318af24cdd1339f6253bda6835a0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924a8c3f3b321b1cd76dd2909ae6cb1b602cad22d093452001f9bef13102715d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f765392b44ed57e219e5e24aa3ce4d861bc85b4eeda40a5e308288e7766fc97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.545 s

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

message 61 changed as sent

message 70 changed as sent

message 74 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.5823, 2.0216, 1.393, -0.345, 0.2672, 0.1425, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0519 left_roll=0.001 left_gripper=0.9995 right_x=0.4443 right_y=0.241 right_z=0.0554 right_yaw=0.2481 right_pitch=-0.3596 right_roll=-0.1306 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7021, -0.0757, -0.0708, -0.0122, -0.4718, -9.5521, 8.6085, 1.3211, 0.3004, 0.2906, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8158, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.0876, 1.3422, -0.2127, 0.2607, 0.1299, 0.0088]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1665 left_yaw=0.0009 left_pitch=-0.0561 left_roll=0.001 left_gripper=0.9995 right_x=0.4508 right_y=0.2415 right_z=0.0226 right_yaw=0.2543 right_pitch=-0.3474 right_roll=-0.128 right_gripper=0.0088\nstate[joint_eff]: [-0.1983, -1.388, 7.2137, 1.707, -0.0611, -0.0513, -0.0122, -0.3624, -11.6171, 6.2701, 1.3407, 0.2271, 0.0611, 0.6569]\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 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6868, 2.1048, 1.5135, -0.4187, 0.3065, 0.1997, 0.9948]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4321 right_y=0.2901 right_z=0.0507 right_yaw=0.2814 right_pitch=-0.3773 right_roll=-0.1412 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.4154, 6.9812, 1.6825, -0.0855, -0.0513, -0.0122, 0.253, -10.7966, 9.0462, 1.2479, 0.2418, 0.1587, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd087443c44b76b3cf26b2d63edb473056318af24cdd1339f6253bda6835a0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924a8c3f3b321b1cd76dd2909ae6cb1b602cad22d093452001f9bef13102715d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f765392b44ed57e219e5e24aa3ce4d861bc85b4eeda40a5e308288e7766fc97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_08d034dbce856498016ab44792a27c87d0ba81c771928bead2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.295,\"right_z\":0.005,\"right_gripper\":1.0},\"note\":\"The 5 cm jaw-axis shift moved the overhead grasp point to the bowl’s left rim, and the wrist view is now visibly asymmetric instead of centered on the floor. I’m descending at this calibrated rim position so the fingers straddle the bowl wall at table level.\"}",
  "call_id": "call_XN2SYz85E1gHg4XZqPIvFo29",
  "id": "fc_08d034dbce856498016ab44794a20887d088afeadf58d9e61f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XN2SYz85E1gHg4XZqPIvFo29",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6872, 2.1696, 1.4986, -0.3328, 0.3061, 0.202, 0.9978]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4382 right_y=0.2954 right_z=0.0237 right_yaw=0.2817 right_pitch=-0.3716 right_roll=-0.1369 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.347, 7.1453, 1.6972, -0.0855, -0.0513, -0.0122, -0.2667, -9.8667, 5.094, 0.7497, 0.0464, -0.0757, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f01420096d09e3933947cc6558a0d86c2a682574feda4dba2d1ef6d2638e1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2375da60c0af681d09f73f5be5bb5c3906d37876ce0ad92ba6ad760ee9367a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebf5114e7410b2aa2d404df8dd6473c44970eb71457a545eae1ac11587c0a0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 11.42 s

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

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.08, 1.3453, -0.2123, 0.2707, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1667 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9995 right_x=0.4529 right_y=0.2408 right_z=0.0279 right_yaw=0.2428 right_pitch=-0.3338 right_roll=-0.1274 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.3197, 7.1863, 1.7118, -0.0708, -0.0317, -0.0122, -0.3487, -7.3641, 4.4923, 0.9158, 0.0024, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6868, 2.1048, 1.5135, -0.4187, 0.3065, 0.1997, 0.9948]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4321 right_y=0.2901 right_z=0.0507 right_yaw=0.2814 right_pitch=-0.3773 right_roll=-0.1412 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.4154, 6.9812, 1.6825, -0.0855, -0.0513, -0.0122, 0.253, -10.7966, 9.0462, 1.2479, 0.2418, 0.1587, -0.1197]\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 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6872, 2.1696, 1.4986, -0.3328, 0.3061, 0.202, 0.9978]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4382 right_y=0.2954 right_z=0.0237 right_yaw=0.2817 right_pitch=-0.3716 right_roll=-0.1369 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.347, 7.1453, 1.6972, -0.0855, -0.0513, -0.0122, -0.2667, -9.8667, 5.094, 0.7497, 0.0464, -0.0757, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f01420096d09e3933947cc6558a0d86c2a682574feda4dba2d1ef6d2638e1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2375da60c0af681d09f73f5be5bb5c3906d37876ce0ad92ba6ad760ee9367a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebf5114e7410b2aa2d404df8dd6473c44970eb71457a545eae1ac11587c0a0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeYNlTnio9sLnCCYhSdOOgEtzxD2HjdCD8K47grPmoKMUwJwqKe0KyWapVhF6sFyTnsN8eRydAW1crA5NGcnJt18KqxPjumqz5xI2hdxgtiTtldoWr2XpE9uvdQCrmDPIMpP2MqfuXgcBWey_DC7oWzZwlSH1u820CmR2XcvUIOKv1RYqcayeB1K25XHHgiYrlYTusYGVvSwXq0s3XQC_JHz7NJtOxqjn69fDwfQSYt2EiYiH3PIP5ZKaQmSQGwx8AFk7HbhdbVjnmy1RJQdebiQiBoEoEbVg-3Cua9apY7H2L5c8IdXvBcgnd4L6vbpgIjWEzq2q1dP_GMxzPAhVIxd0LxUyf6S7-XLQ8lgTycV0WXtodZZcU55ZHTxBpHwL20Er_YLIZGbYMCwdXJGCm10N1b75Q9vvtVOzprxKsCTjqg8F_YhHKbkKAq_PHs44S-omlT0QaniMk94L_jcMsZXzG65KM6yuO-FGiuM5TJyM2VU9JT2EeXTeWpeBw5AxaIIXCsNBm14jY63_r4vyyxaD1jrHzwdwIE8XXWWXWXq2iNDT79bktnv6i8SgxRnsY2vOTJS3MiNiybS9bGQ5isREAOuwOFjH57PGEAMMzigClA7mMDQqjhaEaiNBHoknDPuJA2taQlGI-tyqFlh76dzdqB91NO7IR1FWVN1zXuW2lhQfks2C-wO1OEu5_Om4950COFKJWaSvDYWipxA345IhpjESjK-i0wi9L_mVuyuhouUfuolDY2q3g4xuzFSipldA3TiJhF6DCH7g2qjNaW5JcyUJKeuZc3VNfUyo7b2Jd4Qrt2atYzTZtQxyGzyj_Wa6wy0bbDK0h3mbT8epzW2sfCrDeeTBCSoTrhVbzHBu-clVBWLl9JAD1RFhabJOdk-bnlD0ij6E86WAibb77l2mgAJdAXNhSDN1PG877ZRCDD3236lfPmbUG57QKBEARxhuWfoFBU-vm6LWdMyz-NDK2loNpPcGtiQvP2QuX4ab7jzHgqNjg9hrPTOMTb0iixv3-nbDTaNxzXvPCp3MLDJl60eW5WOYO4270rzymR-VvEmHHLBoVtpHqnNsxFKsR9BbLkePDlQ9Tpl-l9X5XfaoY7CYWw_UoOpjqssRMVBAxJbdplj3dk1nwJ0rWPLu-w4NsQnGYJkwZMBLUjL7LCfC0e69IFB-6KUhKO06h_ZMyuPgk1yLPHdtwZRE4mCzxiIPBTPYDqIXEFvtRGt55N_KdpFPwLQZEC68-8-vS4cyBRr-Fw7czKkjTXwl8wrnOzhyBN996obfJWXZxch02Zw5amzcdHGnxCYIn1V5sePdE=",
  "id": "rs_08d034dbce856498016ab4479715fc87d0b1568b4384478b30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The low readback is stable and the overhead grasp point remains on the calibrated rim rather than the bowl center. I’m closing now; this is the first attempt combining the corrected bowl-center coordinate, a full-radius jaw-axis offset, and table-level height.\"}",
  "call_id": "call_XgCsYaGWGcCfkoVDHuBDrgsj",
  "id": "fc_08d034dbce856498016ab44797675887d0a3d0a0e6221c75ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0257, 0.9995, 0.6872, 2.1719, 1.4952, -0.3401, 0.3016, 0.1902, 0.0083]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0572 left_roll=0.0014 left_gripper=0.9995 right_x=0.4357 right_y=0.2943 right_z=0.0202 right_yaw=0.2904 right_pitch=-0.386 right_roll=-0.1459 right_gripper=0.0083\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.707, -0.0855, -0.0464, -0.0122, -0.0342, -12.2872, 6.4342, 1.2625, 0.1538, 0.1245, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb354bbdf77f117d8dd81f2cd4229c4c2a92940d248ffa4d6d1345078e9f25a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673ea2429a0311884a4a22728b0a963ef4723feac5eee500a08d39d1c6707151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30843cc0c70fd1d2f5176894d965adea78a60abdf6c1f6d95305797db7eaa97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.271 s

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

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8158, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.5739, 2.0876, 1.3422, -0.2127, 0.2607, 0.1299, 0.0088]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1665 left_yaw=0.0009 left_pitch=-0.0561 left_roll=0.001 left_gripper=0.9995 right_x=0.4508 right_y=0.2415 right_z=0.0226 right_yaw=0.2543 right_pitch=-0.3474 right_roll=-0.128 right_gripper=0.0088\nstate[joint_eff]: [-0.1983, -1.388, 7.2137, 1.707, -0.0611, -0.0513, -0.0122, -0.3624, -11.6171, 6.2701, 1.3407, 0.2271, 0.0611, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6872, 2.1696, 1.4986, -0.3328, 0.3061, 0.202, 0.9978]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4382 right_y=0.2954 right_z=0.0237 right_yaw=0.2817 right_pitch=-0.3716 right_roll=-0.1369 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.347, 7.1453, 1.6972, -0.0855, -0.0513, -0.0122, -0.2667, -9.8667, 5.094, 0.7497, 0.0464, -0.0757, -0.2808]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0257, 0.9995, 0.6872, 2.1719, 1.4952, -0.3401, 0.3016, 0.1902, 0.0083]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0572 left_roll=0.0014 left_gripper=0.9995 right_x=0.4357 right_y=0.2943 right_z=0.0202 right_yaw=0.2904 right_pitch=-0.386 right_roll=-0.1459 right_gripper=0.0083\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.707, -0.0855, -0.0464, -0.0122, -0.0342, -12.2872, 6.4342, 1.2625, 0.1538, 0.1245, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb354bbdf77f117d8dd81f2cd4229c4c2a92940d248ffa4d6d1345078e9f25a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673ea2429a0311884a4a22728b0a963ef4723feac5eee500a08d39d1c6707151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30843cc0c70fd1d2f5176894d965adea78a60abdf6c1f6d95305797db7eaa97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEekPt8FbS1glwv0S-peGXIVapJ20_m_ZO5x6WbNqD-tjUJ7TKaVD8AvwB9HLUl0geZpYifaGX8f-ZN7rE7AOreU-21lvR62enno7eP2eQowIsCdO_-fe7nfW-U8tjBHCE77yje7VgWf4adwJAENxKXglT39y3vGTnrhRzmaUOPxd1z5I1-1CZIR_ulQguLfV-8Q_UN7uaIoGC289nvaQcdEpd4vutNbjpCTLrAu6mm7CCfjeZw0y7-4tOTXu2NGT78wOcbTHRKYhBA52PmnlOEISuq0arXtHokSpSC2BzHvTaEGItQDxcvfKULT-HeIAJwYlFIic6nPI5DBNK2I7dMS4Lh0Rf48Z_LYogKQ1z_ROrspOUVx7IqnsN4lXNuDF-xT5Hu84gYC7Ec9hSr3UMuPFtJMOniYcMPFZ7k8TF6Jz0gCN0nJ_zmIN2L2OkdIDE_ayX3VNwWx6kuw2QJPh6qLx65uIIxJDTJBRqAHmGddTkyq85cBbxSFXvvcO_oCsnkFKrB7Nh3mibRV8mZsiaUEWv_qlUq2xBlmYwbgzTWzBvWQrradWRnaAn3_AN6iY5_ltLYOEbLhDvshoYwlLBComS1jA1WZphBKkKWUnELYf5Gny8NhG_YIFUWgsGDbv5hrQou8lldNNLDY9H9gzQI7AhC6VZjjSbVyESqpeoo_t5qqmY59FksF3m8GaVQgKZCw7Sivl_D39npp1o4NlBuaPTNoRdsM2EdvnoxAScrpJKNTQjwJ6x202yDTR2LmqMc3lREiuPab7JW9h2VqZrDoZpTroEf0H4cZwNXUgv_C6Nvs4F4pVy49z-gasGCuZuKpvW8GcZx5GKsCTuaBY1V39kf-sTaxyHS71T8IrJoQD5oZUjeg0h3dV8b5esp3uKHRFBhmqHa24BRJKirSyCt5XtmCAZEq6tRVHybXlgUPttz8DFDA3XsLmqub9rFRb_nRsAPRS76TD0_ca7GLqXmscb3Cq8OyzJjsTzP7wuqAdDo2vR-BnWJ1V4zP25hfPKV3UjeWBq8MLtZfJsv0xeBBw_DVaxLRwuVQL-uUYqu7yN8ls6cLkyMVkUu2eZlDWZxQH-gv9Y93PkieCcwkNQgTCBOdEy1jKrdEWVkTiLyi-zTgda82FYDCItqp4Sr9D0SuI-9nJijHmdMLJZbUtNNXT37oUhJNOJ4TMUtnmS8mGe-NCc8JUbNpnbfHOuYooEWzqNCbBSKLWxLR_FKxtJ7f_PaGPksZ7ioQ_qEI37pmdNSCqcTOwVLnN8LEQdooKQPSZHro9XzrUg4Evei8WDuvITCH6aE6uclt46ywad1fMgu579hyAS4iVcs3E_rGBpG29SfHOg6iXOFMz2GuZb8IusgWMjw0VbYj6FNuXhYyZO7SBVFppsweBEguPcug5dX8HhDFHGWktugcA7t_D72ifI1Uk65cAwK1XdqtgSxypkRJOQjmFZJo00FY1UII1H1Hg6cCIXsr4I6QHbKk6-Ag6xwFW3PwFLP-jFNVTnlBhwUbZHOdG5Q25iVgiNLPIm3BZy8hkkNvBWJozLoC63nEcB2Zue1AuK5MFNrICJNXgIljLcf7wRH1JyGeXy7Q7t5pYqiZ2IEF1aVcVURdiMAlg0oe0STAczgVwOJEXFZVvY3ZXU7KfhIEh_EsKhoP2t5v8ccqmwyMfPwmYPeiwEooE9VADX0I4MUAvGSl5w-l2XJoKZyOOEuvFNojUHWWVvQPgt2hQ5EiSI-4SvsHUpdLzBNUEloJVRJfJhSRWLjwMrRVc0nk7YvgzjlahONTzdx9V4ecflCrLTeaVtwZOZbrhmTi_vDZbTh3CJyvy--I-_zwiKB9a-QpuqAKkbhPuq-6-BYYrRq2UZ_CpJKA_1yJQYIYSqSfSAXjFAO_d8NfcNJczJd3_YjdRqaLmklGKcNfrDKFcwpYlfTfAA2x6hOme1taSrpowPtDQM9sV_wqw-pgnJZUQI8xLaTiWHeaumKdPKdghsZuV7PXstzftpp6z-ubybYdERjK5qNqs46axHEF2vuDyFD0w3579au-9zabXgWuERXTWBiB3BuSOiz61DlYcHNfQ3VS-koB8ZQWfpGyyAfEakyD7UdXF_NUiMMr8Me17glNaRjo5W-hduK1lwvqYxy_ujLXlvUGZn5Z7GrvmhsAhgs4aiXTYD0xrADsCMfRo94USRIuZEThoQuG8xXwqv6Ut07bLCsot54fxr29JaFI1MJ7hamgGA2dvfiKAdAk4uWf-jKC4NxXzwr2XYBQ4-qF868Zw2C23ddTb_loGylaTePiqLlhBVYupr-BFQXzhqdb8K49Gh_wMpeXHOmx52feGV2rgSPtRtdt07DRACIRwP3OuxIW_0sDJcJepyO_N1aoNssEqCxztdnaTmdd3Yt35MjMtrF23yEeHy2Nh_rbVpimypCEtAR7uM-nQUmkYIAjeYyzVcUhx0HW8MU1vekcWh4EYcFyV2CXuhzuXDv6Fz6KpPHoaq_cpqsS5SYJtcGFF1dfRY0vg_soqByfc69gJRchtU-dgdwaIBTa-7Dm1Sh7o9apu4SmQFvWcFBS7rI5FvYYRUr482yxEI94-8KxxNk4C6v47diM-x9BFr9iVfF0URv0gsMaRDMIUXhNqKhkeR_ukgxtaToM_dUVv-sl7AJw1xDQJSogubaSuCJTH2GdgFwX0D5wEn9GsYOtPKN3EMMoBMEWCZvLUFoQeAhtDlitjNpuQ_NEGR9CkuCyI4ezMD_h4ENaiMBY0TBd6xI3i3o5FGyziLsjGeg-jcQgsrCleLIkbOSzYDnJBOA7VPSb9jftiMY-R5vkjFEtWntOyi1kMIrjzNG4Udg4GnF6COmgapQXsp13aQXUnq6pgM9niLT_F9zEEWUi27hULTLiF0tr4IdngyVSH64xieSdsRxrZKO9_nUNxw62r7RU0WBCS40ZThr0D-tS6Tgxy_fqc26wn05fjfqSwMP0vOzt3l_VrC_B6pjqEweADy92vRldu4I8nOUxorYi-FnD-a6GDglxLFZ0rcbLjGzqeJkVnafI2sQw26PLEjnAobk7dEgrkNc4PBV76z5O1gNMHz9ojYTE5D_37BnHvw1LyRNXM_nIWm6gTDvUb4hdQrtEmBQc2F-VgdoxjTVhhGCrYCQOekjyAC-D6EicwOfTFZ4pRYZKbPBXWIZ12ybSlVD3jAY1RmyiF3ivIK0rikftJ4uSMO4-pFFt1bfr5XVotDBVuzE9edObJlNfAync6ZsNu2yjem8rTzfaJm2kcEk1J_h36mw5AmMnTc0Cnd_t0PZVou4Y4AYPw-qbdAJGJLNPZuBEGlUqUtVn3cJR3Oopuiqwa177H3b89utPB2dOxDS1abpz9jzuQEdKAuHch2khJt2MqbYNzYeMi_9Hgal0gHv1wCGv2D4_WuM9ofQcpw3rNQlo9iAxH6y9ubHFUxePqDJpel4kwPdorNpiw0h7akuHLER41wUaA5Bdd02cofokIMLaKk7woOZhQFRBhqX-ejq-UmB6zkmpezr4gheaGwScLR0eBvb1CjztKv0vD8k_HzBMxTZk9YrufuweW46Jiogq7Pz0smCDtYtWzIdpc6yTl-kzd9GCkUdc9r7_hggL0BUUi4NUOMkMT_3TUYWrUmZ9A6h9AmOnPXWOWtpPCDGq1SFcpvYamlPHY0akL6jKsdwTWnWGPniBbOm3yJfiT19MknmwjC9xKuXL-g0Kfrv2968Ldgn2rzt5esLUqvvB7gkGyvderkCmnU9a5CqdNYhWzyAnruS5aGy50IYC1TOY4Q5P4pnoPb-vNXXk-MzKob29v4BXdsf8pf7rxwW8XmJQvSvVpxKNgdBJaQYRgRHO2Zb0Y5MdGB4v7p0YSVHcgO_OC75NQdlqIZannl9TPLL_wXzQWyAhtOqIpJvV2tKrYrNIJEYCxwo1kO5wNzAf9ZwCFiIoa1UqYSaNAp8XdsWcbgWmy_PPAL-LWjGU38gJ4hLLFLm7BeZrvwD4NfPhWwO1n4HQBDXDQmsGBsWIP4NTfScKqM-GDuiB0dyuWN8aoAr0Rple_StMIFJmcca5WZGRrfkw3pu6GDZYQKlIQZaLg0cdmmvvateUvf5LeXKm1WQFY_c2N3MQXxgvcm9ZsHDZ96Awqq9qLIp5ZTRBMriWqI4F23BwSZ02l3Bz9Ty4YMg-ZEtJpUdCmYZEUtIruBOkNuDYs6ksODqME_0v6U8R4JeCQoFYyVlo_49GA7MQmWIV8nT85MqZWRrZSSYFTUng1bno0Ns88TLyj7L4P3nUmcQpbaFM1wsOQhkGR3Yp803pmvB4y46R1GUtS19N54GL2pAkio6kLaEChm_wwBP92UD0u2gj5c3O6ytW8V-03i-1SeXVRypY7LFOgjC5ATXsp0K6IB4kLY1KKdIU_PQJZDNOiIFfrQ1yoOmFjEWf79BYURRmRb1Rzw==",
  "id": "rs_08d034dbce856498016ab4479a9f5c87d084f20f1d1dd70cf7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEek1fSD3qewMc-L4Vq_0GYc_ijTY2__6_oeqDqSXZfj0wRaCv-n77fSGdM15gAKayBPHzfIb1ZuPOPzR-2L-tTPmMItRshELV7eZ0tQ8cULnXopYIuZuxFdg8Ia-b30KiLsbUuumFz7KGlldejamVIReCAezRwJChFW4irWEP7Q_FqDMFMUwhowmttQ21hE4Dft5vHUp3dpunUgCAvhd6KtC272zQZ1qTsBx22DICO72iQwjLXHg32wUg_FNr5N_dczgUU34aGz1cYcAOZxEcMc2EyqeEAl-6d6auD7LEKoKO3G5oD5--toVcRuAOAnfOD4A6C8_GKPKcYAnraqxrmHOIag-p3Mwhjr4mnIJdaWBGdJyTm3d9Zk8UntCG90LfEORMRhLOCZtdSUyr3apP3qRI3BpvAZX1WEI2DqN3jLStk1qEVE8VM6gmc3rG5nBUwiF844qgqHbIXaX44FY2U-v6WDHbw1oTUiXjJgMOwJr_cdW581-J5OJSNr8xYD9kgaagbLdXEri_K5wbCZW3RWVscksskMFD2g_k_zBpWLtK7TvNlx6iaXCrhAQ_vy343Ir9_oY97o1bR5gjnZEgTvLyADm7uykUNaQNYaE875agb39x6J361fbfph7GWleSA0S4WWreFR6l-R-6rHiPlDLxotvU3ciCTrzQe-hU-316Cfjf8cFJ9IxKjAi42-BkpwetGKkZUetlupMhcjT8HdlfgNmzUPgpT5Bsm_yJ-q83oMVRHIEkYFazdtWbyI_rMchYB7MIoL1LG59cGeRdq04peknBnF-HzCBs4EYmGJGl3M7ELPT0RcksilL-t6eJ4tJVwrcKjiSUuTwiuytFWKQ12o-a5m7_04_QkpJxzlfZKaEhfzP-hgJd5sXj997AmHRBxTFI9dNvOsem9bpMmuyuC6pFKs_hJy9_bNxlK03tbbFn5BJnoA8xqxoyy1gOkBBSi8kWEhIQywJc8LpoP1WmNhDZyzeyp8FemqhI-zwva1hY5eAMQZ59Zfi5_Mw1CLaUbxb6sVyfstYIWOJJgvZnyclzZeVU8RJZ3TcXD3_OoMZU_0viBCn3B6FtDCgu1tv2tbawZYTOvlqOQTaUHvN2TjNEmfnFB5NKSjhUAPHxXdbvrHEEiCLMCNANwQ4Z-bXOw3vwW9_ulsFNvO5f7JaK7Gc8LlSbzMcaTtrsFEiZeWy-iWvW2UHgAEEH5gpFCvZIeXiM2oRCvpST6Ty5WBOgfY92hk0IOsXSckyz0vZFj_WCo-lHZWSnQCvc55V-CyoEG7-qktT4_oaCuVtWAeGA0JIt2uBTZTNCE7X167ppVsrmHOVb1DpBqfQTl8kLJ2d86jfUn1kBwnfEjrrw-NQ5CiybeDjssQy5ofTorsVzqTyOdVVoy_Ilnsmwz5qNB4fIDgVTN_cyO8BaFvt0r_3d7NOL9SeCIeQleSn8fMZ0FU0x7nXFglihkYX2dyKqnF0seWKwuOkLfweEXTeTMn7yAp8jq_3jSMynDPXsVCVwkxW5clslwY8abkWdnmjj9zkwHN6NkFw6OdFC-ZnbJ4dv2ZIzX_R-EVx0NpFTUe2YndAlrRloPDSVeI2UxyQFsr2JTqevN3ISoJTOc5yuiyO89udh2LETFxq_DHOKHEBEVO0jfiYcB6MIWnOT82xaEaFSddyoa-siWZ6HhZlfl6OtsET3f4Jt_hBgdN_kqkymtkZoz5oND6xCnP6F3Bn3Fd3AJMaCqeiPrrTRiGdHpQGqf1N1MzxZBlUoUt7K8xcf4X5wROxrBIXlevsOJjbAs21n_8S3zPcNrxj4xDtPxaVpsIJ-Z4uEbq3hEFiBDAA2cmLDb2goHAjD4eMxrKt8nzimZU2_dngGUNn-54rhqwv9-DWZibhS9vrtBDjqZJ-Fk8pDWCMwb0LH-gqI5r_o214ua81mVyTsWU_vdL-b4u6HIWAaYKuCzxuEfbQ5HZY-4=",
  "id": "rs_08d034dbce856498016ab447a032f087d088666b177c440cd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.24,\"right_z\":0.08,\"right_yaw\":0.8,\"right_gripper\":1.0},\"note\":\"The jaw-axis offset still closes empty because the gripper’s lateral view is misleading and the bowl exceeds the jaw span. I’m switching strategy: lifting, returning to the bowl’s lateral center, and beginning a 90° yaw so the jaws close radially across the near rim—one finger inside and one outside.\"}",
  "call_id": "call_bSsEDEMpt5lqJXuUnTpgiRCv",
  "id": "fc_08d034dbce856498016ab447a2a1b487d0ba9c088f9ad63f5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bSsEDEMpt5lqJXuUnTpgiRCv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.4583, 1.9968, 1.3922, -0.387, -0.0662, -0.3626, 0.9953]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0009 left_pitch=-0.0572 left_roll=0.0011 left_gripper=0.9995 right_x=0.4413 right_y=0.2347 right_z=0.0565 right_yaw=0.7209 right_pitch=-0.4265 right_roll=-0.1424 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.347, 7.0769, 1.7411, -0.0317, -0.0415, -0.0122, -0.1846, -14.0239, 7.788, 1.2821, -0.2271, -0.0415, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d967ef112696d9cf070f8cd4ac3e0ca981d8aa41a5b93f8336a188847061b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c650f1efafd56d692faf2246d2e0cc525ae1f6aa01c005667cf8e9ce46a64d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc31f2756b2913905ac00e156e073be693b8ab494eee89c8a527657c5fb6ed4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.341 s

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

message 74 changed as sent

message 82 changed as sent

message 87 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6868, 2.1048, 1.5135, -0.4187, 0.3065, 0.1997, 0.9948]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4321 right_y=0.2901 right_z=0.0507 right_yaw=0.2814 right_pitch=-0.3773 right_roll=-0.1412 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.4154, 6.9812, 1.6825, -0.0855, -0.0513, -0.0122, 0.253, -10.7966, 9.0462, 1.2479, 0.2418, 0.1587, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0257, 0.9995, 0.6872, 2.1719, 1.4952, -0.3401, 0.3016, 0.1902, 0.0083]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0572 left_roll=0.0014 left_gripper=0.9995 right_x=0.4357 right_y=0.2943 right_z=0.0202 right_yaw=0.2904 right_pitch=-0.386 right_roll=-0.1459 right_gripper=0.0083\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.707, -0.0855, -0.0464, -0.0122, -0.0342, -12.2872, 6.4342, 1.2625, 0.1538, 0.1245, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.4583, 1.9968, 1.3922, -0.387, -0.0662, -0.3626, 0.9953]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0009 left_pitch=-0.0572 left_roll=0.0011 left_gripper=0.9995 right_x=0.4413 right_y=0.2347 right_z=0.0565 right_yaw=0.7209 right_pitch=-0.4265 right_roll=-0.1424 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.347, 7.0769, 1.7411, -0.0317, -0.0415, -0.0122, -0.1846, -14.0239, 7.788, 1.2821, -0.2271, -0.0415, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d967ef112696d9cf070f8cd4ac3e0ca981d8aa41a5b93f8336a188847061b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c650f1efafd56d692faf2246d2e0cc525ae1f6aa01c005667cf8e9ce46a64d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc31f2756b2913905ac00e156e073be693b8ab494eee89c8a527657c5fb6ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeoSzzVzIjlVgxQzRiLg3zroojbjl1xqiYzmph8qzRPF9QhqHrKTKjnAusFtvWSZb8uGs4O2VYgFtLepHb-6kI1cVEtaD6ppxuC9tylb53YuRXuNpXPAqCgSrPlfG28qfbl-E7CLKMwhoKIx4qe4Y_8AQjMD4eoftK3rPkMbPy8gifz_5Nv_Aou5QKfmVhxBBioIFOw8XdnZOh3jarDG5gMW5aOTLYkZ6Pui6M2ESq7YsfQXgBs4SxUJw1kgM7WmgZowpnzCoSaBPKzRWzffyyq4qwXaz6WRGCIeU5l-i-Mq-MccApqiKDOOTkxe7CWXNjE-oK9GYHZya7ZciQyJRWhoLT6x2vi_i94wzGaWsfekTsEniiNrxf8QCGDo9J0zGfdAi5C9Mp6HCUJKw6H-_cPNgGDyvH2zOxlJK9an1CygoT_fTIYdGrvJI3r5yPkJ3IGhfubEE9gv8NaKGYVyjEysPFHhpilIzrbdgv8i-SedncmyuwIsVCD0iWC97k1jBQ0-0JoFZrkmPomiETQPqmwO1e7dTsblI-lKvZ7f8fnrjRFfY5AJKSlOMjZpmMt4PWcBhhdYmFRQbegZAB6BOtp8WNGqGiqJcbPgf0m8tu1b2P2Zl8ST0MJimNvcuihzANXgETw4yTbnUlHBDcwHomHrAJvQmkSAQx0BNUzbZPknfovyIqnrn4EWvbsVSk7rEbji_Zh68prSRoOHOKox797s3s3tq8eDME8rLA54uN4RoZMYmnlIeRgLEpTa1HbPWcr44SEVcFj1jx1X1ZPDwTI1qnctItqt9fas5AUWpkk6YtkWxRyEE2RrWplwAC7-hHhSHYSTbEb7X-TIBvVxesMGBan7DfbW4tYXLs7rMQAKqBHOQPrqKNLQFB1vKp8kFprdc6G8fe9TPIayPmF7X2csY8Rd2dpv7ckiLWK3IyfNcdHcVBJsCAOi9QA6Nyl2H7O-cVkNu-1eTselXi1Y_LfaQARlUEApPMLvrUeI7DWevbvF_VZT92-ofPXfolkVS4VrEWUonVoarfsTGMsjrBrsLhwI5pNlDt0D-JYBlSey-ToxhfnBMQAYjxavmD_18MEITh4288ti3TrY8LtxbXjX4iIq6v5WMn8J8rFXOJrD4mxAbh-5PJFzwNOWK_2OdHYSF2H2z1qZGVvU1F4nShSSjGC3cOvz5ITn_z75yxksrYULe8k9ptrJWYTpmQSqgSjkG_ItD6DiFRTqQuxCTYM8ijECpJwXvCOrbMIb1AnJhM70sJ5gPSkPuUTh7WY0sKxOCeoUpNPxrjltEskT_hQ_g==",
  "id": "rs_08d034dbce856498016ab447a7921887d08eb638d8b991469d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.24,\"right_z\":0.08,\"right_yaw\":1.5,\"right_gripper\":1.0},\"note\":\"At roughly 40° yaw the two fingertips now appear on opposite sides of the bowl in the wrist view, and the arm is clear of the other bowls. I’m completing the rotation to about 90° while staying raised and open, orienting the closing direction along the bowl’s radial rim.\"}",
  "call_id": "call_uYh69ttRl9mK8KF8UrGdl7to",
  "id": "fc_08d034dbce856498016ab447a7eb5487d087a6212c6f88a177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uYh69ttRl9mK8KF8UrGdl7to",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4164, -0.0227, -0.0261, 0.9995, 0.326, 2.1517, 1.7458, -0.7303, -0.392, -1.0126, 0.9985]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9995 right_x=0.4621 right_y=0.2312 right_z=0.0796 right_yaw=1.2812 right_pitch=-0.4377 right_roll=-0.1784 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.6679, -0.0806, -0.0464, -0.0122, 0.294, -11.4667, 7.0085, 0.6081, -0.5788, -0.1099, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f87339ba2a0680778cbe38059f116bcd60c393bc44669c53539329d2e44b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7229f8016a1856315309fcd45750e4d61b02392a4e263b8f6fd45881425588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae6b187d1c193d910d5771730de13c08ebf4eabf1ee3eb2a4b6cf0ff86f1a3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.054 s

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

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6872, 2.1696, 1.4986, -0.3328, 0.3061, 0.202, 0.9978]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9995 right_x=0.4382 right_y=0.2954 right_z=0.0237 right_yaw=0.2817 right_pitch=-0.3716 right_roll=-0.1369 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.347, 7.1453, 1.6972, -0.0855, -0.0513, -0.0122, -0.2667, -9.8667, 5.094, 0.7497, 0.0464, -0.0757, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.4583, 1.9968, 1.3922, -0.387, -0.0662, -0.3626, 0.9953]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0009 left_pitch=-0.0572 left_roll=0.0011 left_gripper=0.9995 right_x=0.4413 right_y=0.2347 right_z=0.0565 right_yaw=0.7209 right_pitch=-0.4265 right_roll=-0.1424 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.347, 7.0769, 1.7411, -0.0317, -0.0415, -0.0122, -0.1846, -14.0239, 7.788, 1.2821, -0.2271, -0.0415, -0.1832]\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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4164, -0.0227, -0.0261, 0.9995, 0.326, 2.1517, 1.7458, -0.7303, -0.392, -1.0126, 0.9985]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9995 right_x=0.4621 right_y=0.2312 right_z=0.0796 right_yaw=1.2812 right_pitch=-0.4377 right_roll=-0.1784 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.6679, -0.0806, -0.0464, -0.0122, 0.294, -11.4667, 7.0085, 0.6081, -0.5788, -0.1099, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f87339ba2a0680778cbe38059f116bcd60c393bc44669c53539329d2e44b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7229f8016a1856315309fcd45750e4d61b02392a4e263b8f6fd45881425588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae6b187d1c193d910d5771730de13c08ebf4eabf1ee3eb2a4b6cf0ff86f1a3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEesKRVNLwor1G9kMyeO3m64HKfJ2q1Cg2abToNjkQ_hFVKKmf48j-caQhFgYd98-NBVomDEn_6bA8mc8VdMw4fAV0H5kfEp4PDP3ZQHz46ubljP4rK34xqQwFxgmcs6QngXLwalljDdl_XZO9qj8EgQwpMaPsO28qDoDPnAUwk8t9DdAkKm27VAQiCkP72pH1tkRRpu2iyiSBl5obKT2K_FnahPpnsbDMrm-fTqlYfaBHYQzDsFzcfXus_sXpF41wuSVFqYpEz1iJSgddCYImIL9mPzYzaSHGTK7H6KhaGolfvgyhmA8oKtzZVQiobwCrmygrwRAVL9xeScBI8Hi9Rj828pXWMZl19oCqsIhLTGJk67SzQlpU8wXFU_Xp1OPOSeQDUMrSKjM54TN8JHYMZZ4UayF2HGM9xbiYLTQMGT20YXYX2lGPcuX55KjCo09DbwVZHwWM0IK73T97cvsus5--ZfRp6P67hR1ot_eKxs5tHhsTyCQaMrEfw6lL0wUBauBsI1qE41tBecOopeU_9MgbLmchGyHEnNj5czHoTK4wh6Ou6fzxlqFAH4mG-BErry5MADMAGYgtNr7qHsb5kB5eM5cJ5culigV9VAlC_1Lj2GmKJE3jJmIXcQQAAOzVRMv_kFV7H7JvZ4agDCanDGVYu8W8O7y1HkbW4CHx0okGl5UzC_FxRltO8jKACYQi8g3V__ly7whn8Apa7QMl3p7ev6pfhX-LzbGd_Z2dUV75swbzfulgo_1nR5UHok_9fFhFSFH-bYKxx4nmTdOm124RdcVEem-wEtDRualkvf__EDCXEj8GEB1DM8k6mu_74Ckt2B3i_r46yu7cUJzqqpeDA1hFRSXQ6ELeQuBJC_PZVYSytgDC_PEm6ZEpJfsrcqDo8mv4uW834OGUNa2lFXMKr6VSfLaBBbbvc1jXaBjJ4wLOHFDl9nXIoWW12YrsjosnvfaPOPpq-y-XmN0PfmI5C3pVGETNq70Ysk6AAPrnoYmefhqzegneKY4fIcaWIkG0PMqtGNAt_ZLmQDhrqtt3CAlGdBo5Y2Rlp3OyRYy4G1KNvXZy3dvfkKep2Rt5LHRZI2KWDHuDOkxYGZ5bbXaHRWUxdwsD1EICc1YzTDwKm3bmw9_Yn3YA1Kg4_AE2g5DPa-y5xWPZW1etTs7kz0qDGSr8wtpng4w9jSTp2N1xx7WV5vw9jmoA37dJxu2TKwMt2oEvs9X0Mte7PvqOSREBj8Xynp2AhmK234MXTLxsxDvKgMmKj0Fdzg0Txt5aTUrebpnr0Dd6F316NMxxaR-yU8kn5ZKk5vwxavbuWQvLDbp3467aY8nbGF-gtnDm3N-ei-Dh1y7COAK2GLxV9HqIxplHVZsVBybaz335UenJW32zp6pgCJ0O2k70DQF4Bj6UOlmW7lpqhyktIFMw0dMhxmj1hKvSzeGoVzsdNiFVqgBJrwYyZ5GZgDz0YvfnAO0HYrUxmojgM2-aygaZX5ajz-8n4lArI_ywymvnpOD1F-npW6tUimVLu1Ya12J6KGNriXBfsyC-Mf7vjgkwMBMRFO5yNxQ33c1DFJ8SlzmSypygIHuJKcCkJcu0JQCuVxNeHe6tapndAYdPGp894d_-yDj9XggUTjtvdTpjbVLlFNRjG0FUmHfJqSf2TaiZSgsC7gh4CqpoOVOoRlaFYOWvY74af0uLRypZ_4i9ritNLNebH6gYJTBTY0ndao0VQ4l5yrQGHK2BzYVrkab2wGflYz3cgcAs10b-OGx9bD7u7yhF9h7iGxuYAjv9Bb4NId505CbEqmCSjrvtQl44awKUkUl7pXfGubS7LWxjzI06snUgh5Ep41wc46eQ7wxcSw",
  "id": "rs_08d034dbce856498016ab447aa81dc87d085e161c5c800a0e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.24,\"right_z\":0.005,\"right_yaw\":1.5,\"right_gripper\":1.0},\"note\":\"With yaw near 90°, the wrist view finally shows a true rim pinch setup: the left jaw projects inside the bowl while the right jaw is over bare table outside it. I’m descending in this orientation to bring both fingers down to the bowl wall before closing.\"}",
  "call_id": "call_ifUKAnS9cBumPtddUnQlO9za",
  "id": "fc_08d034dbce856498016ab447abbd9887d098d8d7c5c4767520",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ifUKAnS9cBumPtddUnQlO9za",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.326, 2.2326, 1.6176, -0.6323, -0.4549, -1.1919, 0.9985]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1652 left_yaw=0.0009 left_pitch=-0.061 left_roll=0.0011 left_gripper=0.9995 right_x=0.4378 right_y=0.2337 right_z=0.0112 right_yaw=1.4712 right_pitch=-0.458 right_roll=-0.144 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.5248, 6.9949, 1.7314, -0.0659, -0.0659, -0.0122, 0.1573, -11.5077, 5.5726, 0.9499, -0.4225, -0.1929, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4715c9f7bc50bf74a28a50cd8a057586ab55d0aaa84442bd871cb7023d995475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20735dbc5f10ddc100453068838e5069f9e30029df9e524d5fb6ae47fa2925c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0d9a8e66c913e4e8898bd0cf335825d5c1ef4c16eadbb88fe1698bc266117f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 2.497 s

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

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0257, 0.9995, 0.6872, 2.1719, 1.4952, -0.3401, 0.3016, 0.1902, 0.0083]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0572 left_roll=0.0014 left_gripper=0.9995 right_x=0.4357 right_y=0.2943 right_z=0.0202 right_yaw=0.2904 right_pitch=-0.386 right_roll=-0.1459 right_gripper=0.0083\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.707, -0.0855, -0.0464, -0.0122, -0.0342, -12.2872, 6.4342, 1.2625, 0.1538, 0.1245, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4164, -0.0227, -0.0261, 0.9995, 0.326, 2.1517, 1.7458, -0.7303, -0.392, -1.0126, 0.9985]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9995 right_x=0.4621 right_y=0.2312 right_z=0.0796 right_yaw=1.2812 right_pitch=-0.4377 right_roll=-0.1784 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.6679, -0.0806, -0.0464, -0.0122, 0.294, -11.4667, 7.0085, 0.6081, -0.5788, -0.1099, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.326, 2.2326, 1.6176, -0.6323, -0.4549, -1.1919, 0.9985]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1652 left_yaw=0.0009 left_pitch=-0.061 left_roll=0.0011 left_gripper=0.9995 right_x=0.4378 right_y=0.2337 right_z=0.0112 right_yaw=1.4712 right_pitch=-0.458 right_roll=-0.144 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.5248, 6.9949, 1.7314, -0.0659, -0.0659, -0.0122, 0.1573, -11.5077, 5.5726, 0.9499, -0.4225, -0.1929, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4715c9f7bc50bf74a28a50cd8a057586ab55d0aaa84442bd871cb7023d995475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20735dbc5f10ddc100453068838e5069f9e30029df9e524d5fb6ae47fa2925c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0d9a8e66c913e4e8898bd0cf335825d5c1ef4c16eadbb88fe1698bc266117f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEev0oK_8p4ggrQ7GA3oYl0xdaCSV1tCHdRa-TFsPtY7Tp2LJaXqsh2Sz2_5CFj0qYNLVmrr1rFK4mMsaCXKJ7iGTOoMEvM6dS6B31EjURBeutAlsvBmJ0zi1xG7mAZjUKS_be-wwwIKSKKe8nx80-Omm0RaK-F-dhUvXzJw607neMge9oRH2HcxVhEBqNlDIueGQ8BteexVdriXA7id3F1Sc0v4oRPvTrkb4AFJ4lLItzTYGba1DgJ1MPFQsWAckiNdCIyIOLrwctydAaa8wtiplSLHiRsgisFAouv-RDG2DRWIq8428kk_bM70N6qMdgArczqgwwLI_Fm3CKIh3uL8pbs_KWvoj89FHU1OECvfM_EAskhtMEVmQ4OKNzwQnb6AyVF7BiJxyyrQ5AZsEx-Y4gyL0Z_JIC9mmgZhd5qssbgtB9jWarom1DpMc2esCR3msaBBsMgg7DVQoYbJ2snVwp7KT0KBvDU9naczLojh5SD9mMfNcHELbNUfZ-rXmMEMEOXV4ixUtHaT1OmVe6Exepmk2XHTFpv6Dzbqo8FLwYKc2m4oX3U4ce17twlNAZBNQFFOs5yPGBBThoLF-T-2nfb07ijD5dzEWxDCDT6cHFZwisKHMFxMAYeI5v-lxMf_f6tMpPASl2eigS1vmCG8-wkBp2stsjrLeY0vcpGXeZxBmMcHCrvowpFqPBeoJ7nOvFwmy_B9Q6_vs5YJMeYuZ27-4B9VcNTKMm4BjrEnaTjE27q97qny0A20dpH-5qj_MU8sU4oeGdzYOh0fCkip2v1B_FNK2rdPaOWvOeoP3P5Q5OUC64WylistdWXEue7sTPRM9ODsg0PHQxauoTq4iAJM26MtirNA8DhMIlBZienRS7IWIYcFMN9c3EB_Vicaee7gYEpLo3WjAQKJP_7p8eE1UplRak3Y6yDEgMfI1qStERzj2vf7k-wVSu8HQG5Ha5qxBL1eoS7cpZkA8OzVtlmUk2haWVATFiJUo3XYJC7HkPt55NG-_rLHKk-0kSEjoo6KpvCCb1fqSc89HzKbTwYYvNgRL_kkFXPjMRI6hX7kOO8mma81L-ZUBtWgfhiCfG-lymFfnrKjUpDTF-DKezbujdqpPORghKe_8Tj_XIsORIkdqlgLsJ4zz5Fixw276MvUcQesl8_9E83RGq4N6mdhMgehHyXgMR-yGC2kkMgWzXMrcQcKiLR3WsnMEReMqncG0ry_eyZ27HPS87490fU8rMRnWIi6MXFqYVo3_xYnzwyjV22E0YiDqiF2w3X87dMo16V0CymAejxiRQb8GA==",
  "id": "rs_08d034dbce856498016ab447ae35d887d09991e421e9976cf2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At z≈0.011 the rotated jaws visibly straddle the right side of the bowl wall: one fingertip is inside the basin and the other is outside the rim. I’m closing to pinch the rim in this confirmed geometry.\"}",
  "call_id": "call_irBH9spzbN1tBD5REScQtqH7",
  "id": "fc_08d034dbce856498016ab447ae7bb887d0859544edcc14ba3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_irBH9spzbN1tBD5REScQtqH7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.3271, 2.233, 1.6146, -0.5903, -0.5259, -1.2045, 0.1078]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1649 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9995 right_x=0.4397 right_y=0.2466 right_z=0.0188 right_yaw=1.4998 right_pitch=-0.3824 right_roll=-0.161 right_gripper=0.1078\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.6825, -0.022, -0.0562, -0.0122, 0.1162, -11.0838, 5.9282, 0.9402, 0.1978, -0.3346, 0.6618]\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,$blob:fa964ac09c35487c4f5ace9abbaf4693b2223a8ab371ef5671807c84d40344ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52e60cedae86693c66d10dcaf0ec51226b2dfa5b5ca096e37c36d032b648832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7d53d1c39ff4b6dcd563e3adb37115800f1cb66b720901866cfa38db895354",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 8.964 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.4583, 1.9968, 1.3922, -0.387, -0.0662, -0.3626, 0.9953]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1662 left_yaw=0.0009 left_pitch=-0.0572 left_roll=0.0011 left_gripper=0.9995 right_x=0.4413 right_y=0.2347 right_z=0.0565 right_yaw=0.7209 right_pitch=-0.4265 right_roll=-0.1424 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.347, 7.0769, 1.7411, -0.0317, -0.0415, -0.0122, -0.1846, -14.0239, 7.788, 1.2821, -0.2271, -0.0415, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.326, 2.2326, 1.6176, -0.6323, -0.4549, -1.1919, 0.9985]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1652 left_yaw=0.0009 left_pitch=-0.061 left_roll=0.0011 left_gripper=0.9995 right_x=0.4378 right_y=0.2337 right_z=0.0112 right_yaw=1.4712 right_pitch=-0.458 right_roll=-0.144 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.5248, 6.9949, 1.7314, -0.0659, -0.0659, -0.0122, 0.1573, -11.5077, 5.5726, 0.9499, -0.4225, -0.1929, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.3271, 2.233, 1.6146, -0.5903, -0.5259, -1.2045, 0.1078]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1649 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9995 right_x=0.4397 right_y=0.2466 right_z=0.0188 right_yaw=1.4998 right_pitch=-0.3824 right_roll=-0.161 right_gripper=0.1078\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.6825, -0.022, -0.0562, -0.0122, 0.1162, -11.0838, 5.9282, 0.9402, 0.1978, -0.3346, 0.6618]\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,$blob:fa964ac09c35487c4f5ace9abbaf4693b2223a8ab371ef5671807c84d40344ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52e60cedae86693c66d10dcaf0ec51226b2dfa5b5ca096e37c36d032b648832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7d53d1c39ff4b6dcd563e3adb37115800f1cb66b720901866cfa38db895354",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeyFU3UzGIqDFi3H3EIKnDElisrHRA0KZWIlyKGmkjY9rODMSM5ps4S4EiVJWkLjIJXupTowiqXQsaWE5RquPk--nlyPP4erA-KdueECMNdS_i3hToXB3ESGdjBlHY1_mXK3RBSZKk0rjGXdp-GpiEY3W_K7Dn8gsisZoIxxY2jr9oqIwbSb88YlbUYAKSPNb_D_Fstm7MTo4QPRTv5iiSPbzSfFi1fRm21H3EMy2ESozm49xTbF_uGqNxt4GZwhDRYFB0zbWfRfjtAV7o3n_TdZsPiqy-dwMtvuCPeSftaoJGBFDpYVt23gLQVKgfXqnqAxukAe-tgt8v_fIeCf1LTxl52_VNc5BXQY5t5pJW1-OddABglR_fY3D2bNhOdPhdfODxG4WeX-qrVJf4aPqMb3wKFTFFY4OPO4ESmzO19LqHAuO9MuFOu1frv49zO4KQEr_BIK-kwZBbcAlwix90HfZoyaWXaYZFkBLWu3Ggs9HgVmUFpuDGkZAmrDdqU4wqBjnjWDopOFmRnG287VjWx0Vqs1bv0brkSAEPxNSi7Byt_DqKe6xpfE8PzlixJ8D5d4xOnh2hVNoS4b-oljyhHR15-0CYmVBNarl-6UAa2BC-CkW8qT6OEubBt4Fv8IC7Er-ahUUT7z-thtrgGsdBtlrtK49PmtD93oalmFflrkTq2VtrXLfaQ9tACD3_QcXNEmlVGVFANzxeA53BGzU6AFdNv8LYCrlXHNYk_AIqTHV4Merb6hHkzUIMo3k2SkrCea2Pqx4mwIbB-gQQjKHV-EiBQlieJUdAr_PXbB7NT5LQnzSEAUZ-ckXxJHGX6OH4CqhermKvN9M9kuB5eIJ040YpIGM9hZWi1xBMqCYu7IBRo0A_FHGDjh1jVH3v6R6h3N5n4iV7-0-4GgQmPuEy-Zh2sB2ttI2yH9wRYLLuqjq2hCUhVsCTqU4FaHgQ0vO5qGAilYV8nX9see9trwqi7_w712C-xrjZAS1NAue44vBP_9brUt_MeC6YZ02WMj5cJR_BUmKslbLmsfO68Y08RlGwDLweS03g6NtN03ZVYvox7kBoRUh6z5DD_6mJ78gd-oVo5szVaNEiXwqRlc6EF5P2rVQcJRONEYvPeBsybMm0YK-Ig-XW-Tz9USRvz-R5H_9PnwkRy6inTkUzEQYVy293db-b1O1I8OEw3-iolVjBwTSF5h4rYsTIijtPTrslXux1QqsjaRcNnznRDrtr3soncNyUMZzP2GWIZn-ZFKoERyXE84PyJtrSQOzWll2klvBE_yU1HbaNlia7pjZ1v9A==",
  "id": "rs_08d034dbce856498016ab447b13ce487d0819b8275f7653f6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.24,\"right_z\":0.16,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The gripper settled at 0.108—well above the empty threshold—showing it has pinched the bowl’s rim, and the rim is visibly held between the jaws. I’m lifting straight up to carrying height to confirm the rightmost bowl moves with the gripper.\"}",
  "call_id": "call_lcSAav9BPhGSTsYrEedipl3S",
  "id": "fc_08d034dbce856498016ab447b1867c87d0bd652124868c68af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lcSAav9BPhGSTsYrEedipl3S",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.3164, 2.1864, 2.0102, -1.0519, -0.522, -1.2243, 0.0434]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0625 left_roll=0.0012 left_gripper=0.9995 right_x=0.4458 right_y=0.2424 right_z=0.1336 right_yaw=1.506 right_pitch=-0.3948 right_roll=-0.1554 right_gripper=0.0434\nstate[joint_eff]: [-0.2393, -1.265, 6.9812, 1.7021, -0.0855, -0.0513, -0.0122, -0.5675, -14.4068, 8.4444, 0.7399, -0.3541, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5b0451c3c9ecdb6c4d43afe1f4fd804feeeea310cca2f18be370e92d0b3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee362a5e5e7dd5f645cbb0b4e4fb1b58a250a42d38c4efa57edde77cb815065b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4170a0bf02f8a2e9f761f5657468c74d53066d3bacb12286193a4ab76f4a3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 9.682 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6037, -0.4164, -0.0227, -0.0261, 0.9995, 0.326, 2.1517, 1.7458, -0.7303, -0.392, -1.0126, 0.9985]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9995 right_x=0.4621 right_y=0.2312 right_z=0.0796 right_yaw=1.2812 right_pitch=-0.4377 right_roll=-0.1784 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.6679, -0.0806, -0.0464, -0.0122, 0.294, -11.4667, 7.0085, 0.6081, -0.5788, -0.1099, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.3271, 2.233, 1.6146, -0.5903, -0.5259, -1.2045, 0.1078]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1649 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9995 right_x=0.4397 right_y=0.2466 right_z=0.0188 right_yaw=1.4998 right_pitch=-0.3824 right_roll=-0.161 right_gripper=0.1078\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.6825, -0.022, -0.0562, -0.0122, 0.1162, -11.0838, 5.9282, 0.9402, 0.1978, -0.3346, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.3164, 2.1864, 2.0102, -1.0519, -0.522, -1.2243, 0.0434]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0625 left_roll=0.0012 left_gripper=0.9995 right_x=0.4458 right_y=0.2424 right_z=0.1336 right_yaw=1.506 right_pitch=-0.3948 right_roll=-0.1554 right_gripper=0.0434\nstate[joint_eff]: [-0.2393, -1.265, 6.9812, 1.7021, -0.0855, -0.0513, -0.0122, -0.5675, -14.4068, 8.4444, 0.7399, -0.3541, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5b0451c3c9ecdb6c4d43afe1f4fd804feeeea310cca2f18be370e92d0b3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee362a5e5e7dd5f645cbb0b4e4fb1b58a250a42d38c4efa57edde77cb815065b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4170a0bf02f8a2e9f761f5657468c74d53066d3bacb12286193a4ab76f4a3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe8GpGZ9yRFQfGn3nelCo_kqlQwvVys9Sv5t-wlbYwfxFu4HZ4M0RakYvqTmVE29fbeto9cE3zWj40bNKucKnErREqGPXagAJcMb3KoJDw4SeIJZSbb5LmbXy8jNBKTK99oiBYjO2NjAudoQT_faQTCjGxQLxZIwNml24i5kOgW5nqUtL6NxDZzfxDM1t_wF9uQTBDLr2x8DNhmjSrTNWIbYIG1sq8yz3Kz9lCeMpeuXORkO02uVWAPoLPyi9LbJ9dWl0ugVmZXdFp7pHJQTdDJ2YuffCdXqhR-QGJnXA0aBz0sWfp1zZrMSUcD8FXhnkoD92QFjwF5MMSGyhdHWFUhEwM_xAG-GjIFNhWfJN26PnZoRDcJXa_iF7ayu9A6F0p7KAesjStzgKIYrGhjUT8D1JzHa8cvVMtV8Ph0mRR_kRvM3m94WN1Af0qCGYi9H9dIY2kIg1zf5pDqoqC_6DphVJtP0kUUR6e8ocLt39ZVPYX9NOxGoLByI-MyF3zS2rUWoLmILdbAk3yqzCB5LaB8LfUkOYVnct3twaL_yg-oqslNw1DWvSRzpUth0IMK7_Z1C604XRRCuF4_oXjws8GZGOVOGIc9mlul3uW8V4tQ9e6CCl4BsNVNCpVEw9FLehkkyZsznUsAUrGvbyoPa8ID1uh2Ef0LKdZ3Akl2J_nblXWd1d0gDl7uya2lQh2SPVm12Wao5e6GU9BpQIX9JVDgxkXNN94vycmKW_dpI3V0VP68NQD28tZZmnNf9_N09zsAh1_0vuCiYfgzL_wgC_7prWxUlrUk3IpNSlEXaV6nYev9dEfkjsdrvxpJRaWJDLo8vuFgQ2k0lZ31KoGY9r5vO8q-ag88jGQscIYELMVPb-ssXVh_QJn1yy8J_glQIOvJ-B-LXDOCi7k-uYdaCeKydvCfD0l7gMxhVLF1XQcrwAxByy4nz7gPPQezfSI4xATUdn_hyJ8B2vu26w1-Gv5sW96a6p0AqyLgtkz5tZtdry68uk9AJECEHbEMf3S0Z1n56COAXZnGxxN8cdfBvNqC1exsNvaIGXyKzA6768joDgzXG2i_MYCsE0pAw2ivGeDpmwy6v1xSg3nVjlLrIeofh1NbW2AMG2RKaXpzclwxCshNXI8LmlZCxx5y4ash6EZGxhBG1LRnbNFg_zwSk15VO2uNYpgTXenqZYGavY7-URLaHTcO8582keudauAaff4WWlRSMZQvhtZ--f8StCXEwqy_V6G5zBNzmtqkgqqda9y3C6wxQEw7StcG1Q2WqdZiOG5j8vKZZyUEAzniIKPXXWnwrpN7gw89gdw-Wg1ynJFqbzEDQxPVusVqgmoxKa4pzcKbXx8NwXzxwc7eFOJmNCi1I7oLs2j3L7MHLYpWe47bcwFWqzYmXjewsHf7BuZ6p5oVZjc4YtEP3YhaJE8S1yxc4VWpLh6yd50RbE5lkm3pn2JH7d9EhjTKX1_NlOe3svaHHzTrTY_uFCNj6UwyQQeufseIlcxz8YjVbIv6ioMAmF6KYDgl36nKJPH5z_F99357rCTzeSyvzs83ID7oYNgliQdYIGHRxHUa5kbNKbmgL_1T2PV-a6nZAZqgIHCHB0pjqb4pgjJ8X1d4kQZjv595D714h1MWOtSTclNatiYdlF6wdwBcI4AsCCanMH5p_MPTuuG9K8lYDYqfXtIpCdbgexhAiG0gzc7ax8vUsDXKD-VifES0g-x3_PJZZkPgnD8zdw7Ke-nOWO2p3hgpgtQfxaezB-u_NlwtQP_K-LvNyxc36A3lK7WQSnZ9bydbw-mGfsJlJoEV0eMoJwa9-g7bPhiVFkGMvvsX6Ba6Macrg_MsLKwGlJPtifOf4yl6K09dfYdQEtwp0Ax_IiTp-dWIuFZcmhoxegXQLnrHgtYNlZ_SdTYekR1eiBrUPUTF_ESkSj3HKCOSP-j0NSYeYfuRJQErLc6dBxa3Dfe3tjoOZxHj7AYpujCLHIndJpBeC6C2WPctGYO5ZQjKXiz-CKhKBmYG99RmvW9RbBxKx9sjbC8_OjPezNQGxjkB0-29UYUuQE1-k1N_Y_JFckk94q9zo1F5-fxv-DcdJVgfjlNWQpbTTTACxQ6_8JL3AY85_6Iwwsa-LuGszvyaMEUDhQvGqm7t7kRbtuUNhDQC_n_GFyvoSZOCvtiuyJGKwgqwEmy-qLy3v4a_X-YFD5KL-G8_waUWp93IrugULspGFARU2WDeylSiNuPHNB9d35YydXHNfsLPmTKTImscwx3_jdIzjYZDYp5B_2JBKmBsWIcKiB0_hh8SNuHuCRPWwCusT711wZTctTWJfVdZ0meb1zNvMnxiaZt4DtQIW2vmKLdx2Nnq5DfuiujxPf_rcUN0VOhIKdAovzgoT7wzTFUQQYCoftFPseKqY8eFO5wCyJug51wRKvXUJ-P8tyA2DzPYZlgnrCtq8JVWDFBqvrEro2L0_6RmDqfuqDH6B8BUQ1UPO1xe2EUGC7Hq1I3zDijKMPPPDryeL3SrVVUYyaoH2Hg8ryAuzQv1CLVwF1mxKmE8VSs514RNddUeojUkjqYJ14QBTObNue4OlZLWP0Akprx4X6ph3P8xougmVQ2DAAF4H0-LVuPN82tIKnShS2FrY3kJ6wkLrnIPF3IgxrOm-MmvMZ4usa9CR9SY-c4W1zAzo5j814IsVz2kSe5qKKKHzM8Z-1jNK8fEEGBftdeeOJ4zHvhRm0zEM-45QoOYdhaSqkvy2mzZJNBHTDgE4mlQIkRUXjGZhLnGa0ILsTeKS0ZJMg2w1UZhD1S5kdBTJ6ElJ6fRGH-EnWQK0vNh3h1zVmxE-adkPIU3Kh_bJRo9FbUEK74sLwovzNmfla6mSF7W0dri9TMZ4Wa_r30PpCZL6XGRpuxiExAKD1AzBgird7hSYrn76vTw6oJF8u9MR-eFZXiC9fhegRBKMax-IkCFro2bdGvouwq-S11rl_r0drJjO_WAYHd5si6t73-c0VAzM1QDCmz2q9hIAUhrnwx9j7ecTdYLVNU_kK-22NqijmKQkKhuUXXou0URkwjgGRdXH3cB7Hxwo8tZa8jmvFDv08guVUoskQjFu7zA2E0p9h9WIUj1dp54fu9_kgVWZtbz_n6aO0pWlOmbv3WgafrTdmBmvmrC8loGxxdQfGNagcGU9dmPxYLj2vWW2CVrzTc3RiylzkiXxQPuo_pxOCMSr7_1YsJTfK0jThKakZB1x5dCNy04Htx5DsyS1uVPL9m219Imuvn4kW1XH4KkvF_9rcLmJeCQMP7v9I-ALpWh-ZVVH5OfNf-up_mlSqAo0D57tjc1IHoOlactu3ClOjhx6WuEG2tKZJplAND0AmvPI6jDGWrTWcnrdIRq5cs6kewb6hLAvT4AVoWSU1ZcTvjuEmxv0To2rdT-wbCE9_AcuFRUXNtbfDtQJITGT_p7I89o4_Kp41R3jKRHrlmrJ_unv_sc_xzg_yzJjGIpP0pjlnJSSIpjhVeFiPCwoLe8MXQTgiZC8LxigiAIzMbQhZTud_7U7Np9UikK28ThZi9-VywPg_LL2ROaCfk51cgV8NI66sqfyqbt6hZ7AWQrBmTf7CVFgLT0AFlkbDOQd-XjKx7Zf3BnPvJCgW-tVKATO4esVkgF7dEpfRO39CGujlyy_-SGtKOROdZkRJDZ0JnUIuj4A3VpG_VVNly8KVjaHq1zop6-HXWkMGKWRzShMmD-LF1XAYkbEhMRXmHLo1r-Hq-Ziqtzzqnk4PriR9-iwlN7g1uZ7ADeRjTWNQ4psYnj2x6cciKvcOXmPfQCjygxZhAC42HNlOZmZBhdFp1MuFFGr-r0G8oWMKJgUdRkCxSdiRRcptbQo513xARKMQYcgSB2tOWL7x5tisGi8CE_fsrWv2Dwv6LszkweVgYRL944vtuRcpf6twwa9aoODSTnvcGTFe8ADD0bPjZMABUno6CXDvuqj06uXOKU_L08Srtqd-l33VbKLlOQeQBrseZe4poBBprzjk4zwBnPT3Jt5C0zwrTiyg_JZaN8Z2Ehy3TQIeWESSOJ7rT1CcXa0hbfC9jmarAQeVIpRmxQgEfBqYviNBcXQa-v9FwUB3Uy6kvLcVBpcGNEIYnUbDvHr_64VgsoPc5BmhnltgqMfW34aSnXsAjulu0f9tXp57y5L12B",
  "id": "rs_08d034dbce856498016ab447b4a1ec87d0bf1bceaaa4f78425",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe8AssA5OwBBN1MICtSF6cwvZDWIvrN2vLAjnIuaIGnosFkfq7UBpliZU4vmDdmD5X4xkhOnsdlVLTxtEXwS_lgLpitbxBCRAr1D9hf05yAUceYb9e41MupxA0N810WFIVQJtMgbk6IZaDf4TF_eLfrSYcgyhhcqPDRhMCD90Ir38ECIuxQKj61GWuCMDUwRoreFecaAtTmpwO9h6C53xLpBpBvgZZFpoW_eICSDfqI6dmRb7o9_i7RglFPDFYRJdGwXGzT2vAsXfPcUxTQS9sYDdMmwV7sEGUw4NFruq8tjobWreYwMuUN8r_J5ujvhiGY2YNcT1tmgUsIJycDo_KGEM33mUBNVDzkMDaIqTWJ19FFUEUrqNhEe69HnTV9K2bbFxDYRdjyV-BPj57jgS9wrC0rjoC0ECUiE7AThFQzjZvReAmh20WEznUjSzkHSrosd2VGtzwz3JJeRqqvHVVs4m2852nudRejtaD1e20RO7V3YT-9Nm5e50qOk4BVthwu1hEUQhh_23LY7YZB-ypLXBXezPchbn7GGVFDJGaGEbbOh64PaF8-E7rWSyU05UaVB0ys4m62SLN8GWq8La5a03WYOAfx9Hvc99mII68KbmAmQwe-DocYGT2gbkB81nIImWF5TsxJ9lX7hcjuAep5o9gnwueWpW6j7BHDR18vvRK1joK6twkgO8yifP-MrIpgRixBFBjLjm-lxUigthYUVMtpfRDRgXOi-rpaVdOUNM5Mki6iY5U9bAPqW9uaK9STM2VsYuX37AeB0aAl_VqX7odzduJ2t_-5_mVn4b-DexeFXWlIAivQ6Cq6F6AbjLvWykSfiMX8zt_Uw0lAskEgREv4Z3DOAXfSoRQyplO0GsU-NzJxJn_iK8RY2jb3wHzIM0FxSJXhLSggIKiAtDn3eTELrva2UXGHnjpSVu2iGWovUaITEop1yfI020zfZBkMGrUxTHmVQ5Bh-ZZj1tj2iYpgPjA21dcUKTY6Hnpkp5lJB_YYgkvrC12_dxJKPEYJGmKr9BBtYCxtQV5wsxSgLJkk7i59akO_dcmAXgKyPnqGrz4ZLA7mi1qvqyuy_TM9XKzEg4PmDidnciDs8YWpe_NSB4r4O9H6L4zdOSge8HpxlHS6Cv4oXKFr74hxWlt_grfz23un6yh8TP_TjEyqt2j9rNB5riuQ9jNgDD1Xg6xcbEbqmLanp8uKC1Rn7_V3KVA4D0wxNgFEnPr3aKADmXDtVtTPFLuZR_aHoCOMqC7Z1c9904nPlC6DRSjtZpCTnYv325JL4ddfB9N7Gg96JwqUXDsw8k3O1fPCexg2l7Uu0OCxpjMxihdx1AoddXvpoBqzUjtWpbm_gELAu_NqId4CuLZECN1VU8RiW-H77Ma9tH7K85FOcKPk5DBjTIj6UuG8o-PwYZIGqstlT_bw5WzR65Dms5I1WMGeM4LDHNtTCpNvKNdtxqTJmgT_ZCuE",
  "id": "rs_08d034dbce856498016ab447baa99887d0b7e1b4502ea30372",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.39,\"right_z\":0.18,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The rightmost bowl lifted with the gripper and is clearly suspended above its former spot, confirming the rim pinch. I’m carrying it above the middle purple bowl, which lies closer to the base and near the right arm’s leftward y limit, keeping extra height for clearance.\"}",
  "call_id": "call_5wHTs8qAGkVSE5p5fkrHStCB",
  "id": "fc_08d034dbce856498016ab447bb6cfc87d09939d52f1d0c21b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5wHTs8qAGkVSE5p5fkrHStCB",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.7181, 2.0983, 1.9465, -0.9844, -0.3531, -0.8536, 0.0391]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0629 left_roll=0.0012 left_gripper=0.9995 right_x=0.3365 right_y=0.3799 right_z=0.1486 right_yaw=1.5522 right_pitch=-0.4527 right_roll=-0.1096 right_gripper=0.0391\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6972, -0.0855, -0.0415, -0.0122, 0.1709, -13.6821, 10.0991, 1.116, -0.2466, 0.2515, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf00de5d743f77f68a193660b3492df0f10d7fa90aa77aef994e2d39b4011a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091dccf56ac67f716d25e5cbd2180ea340ef779d36d605e08e5ccbd1a1b8942c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577fdb31f41ed7a1555be64fe6f462d9043ba00a7788da1e2c903c7d63b4b323",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.827 s

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

message 95 changed as sent

message 103 changed as sent

message 108 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.326, 2.2326, 1.6176, -0.6323, -0.4549, -1.1919, 0.9985]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1652 left_yaw=0.0009 left_pitch=-0.061 left_roll=0.0011 left_gripper=0.9995 right_x=0.4378 right_y=0.2337 right_z=0.0112 right_yaw=1.4712 right_pitch=-0.458 right_roll=-0.144 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.5248, 6.9949, 1.7314, -0.0659, -0.0659, -0.0122, 0.1573, -11.5077, 5.5726, 0.9499, -0.4225, -0.1929, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.3164, 2.1864, 2.0102, -1.0519, -0.522, -1.2243, 0.0434]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0625 left_roll=0.0012 left_gripper=0.9995 right_x=0.4458 right_y=0.2424 right_z=0.1336 right_yaw=1.506 right_pitch=-0.3948 right_roll=-0.1554 right_gripper=0.0434\nstate[joint_eff]: [-0.2393, -1.265, 6.9812, 1.7021, -0.0855, -0.0513, -0.0122, -0.5675, -14.4068, 8.4444, 0.7399, -0.3541, -0.0122, 1.033]\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 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.7181, 2.0983, 1.9465, -0.9844, -0.3531, -0.8536, 0.0391]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0629 left_roll=0.0012 left_gripper=0.9995 right_x=0.3365 right_y=0.3799 right_z=0.1486 right_yaw=1.5522 right_pitch=-0.4527 right_roll=-0.1096 right_gripper=0.0391\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6972, -0.0855, -0.0415, -0.0122, 0.1709, -13.6821, 10.0991, 1.116, -0.2466, 0.2515, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf00de5d743f77f68a193660b3492df0f10d7fa90aa77aef994e2d39b4011a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091dccf56ac67f716d25e5cbd2180ea340ef779d36d605e08e5ccbd1a1b8942c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577fdb31f41ed7a1555be64fe6f462d9043ba00a7788da1e2c903c7d63b4b323",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfHGM8m5H1Jhlqg1o0jwstSNbOIc_7tB8ilIxn7uUHfl-lNIuemFNR_Oil5VT32XeoLw8ii-yrD9lqgM7ixqOppdqUbqnVHuQ7n_laHWkEd5RD6ZSf0RtbiFdqshnQMPLEU505EzP8FEQ2h_ogDyrXIB1InfCeDP0iknE6YhgELSGX63xAqYe8cUyxwEbXL4jnE9_2TmNZ6_7JMGsol67kcTp89yzeXxj6TINcuUxckH5lkPddjBCTo9l7tvuT7NUUh7weYV0qGBHrE3HVWWLaGitTBtD0TXSQA4iGUAI0TKxJ074hT4c7zazyVjalKCaxtKS-vlOKAA9XD9SmXbqKpLNUEMiXBYpbuGtkcbApL6DQncNXijoLmeZewcXI5q6SMfg2FPN148m5osDEGpOuvirnSm-ToUc6NxFFipUf8zZyz5H5pTZwLmGyH2LHQHfnFzb64kXd7FBsb17eSdqMdwl6srLrGJx0NvhWb71jMcinGIJqDtgpxpxIF60ePNZMry6x5UbRpAa4KLJsiXb1ZONA2YrdM8LSpl08EQap0k8SflyU50EfUeuwUqKLr-pZKluA38-ECyxzdF2N0vK0qzEb66dD-T0P4VEpTmrXwg5btHUVa6JAVQq_neasgjac61lbPqhK5ibjBzWMnHXETclM9y2xZTT7JlSWmmuKZSXKNCpLyt5rg5eQYsShwtrXP2QnfFEFZhtTenscuomns8aOUjkcMWJyRTQNRUETmxKKSLL-5oUJG8Ss_fYcDLat8f-lAlv3KDy31X3bCxMuj0XeWtKzSjqR3HwidXkODcIEVu485QDuXZrC-kTO9pOie68OulcKCQUWApNsLsoCG4qp_6W60uWZqX3vY8elmq2bE55H-72JsBSQ5VVJyeX9uwkn8jWMyY73Fjl42j0fEZhdDuOZ4oRAvRDoZFIMdLG9kJvmKNZVPa7aswMTXKH-Qeh8NlBdOBfsJPEPl52FYjUdl2QIJn8BQHwgJBiv7RxKuf_gIbC-NUDrdd3YoyfSDgYKZDfuvAePdkk57bc__JbLGfnadKN5csaO4k_SFaF0jAJLg83LUIggWhXoGQnsAuZSRkrZOekCZQiM5Q16o15w_HUC10aZ7mKDpzX-DfexHqt_YTGEZxliGCuSs2wcQ9zTlNSyOFny1mmw3Kh4ZZUKGHPR0oINORp90wE_mVighKuG4u2b6QFlqQXsAl5FxpI8fNSfueJKwU8DDtEJYZXH1SnXIreCjc8M-62agTYqE0QRcmezc91cWVfWBTvASqXVBrigYwZ0yh0GJPVuOHoObs1vSeqsZLKn6gFZdfNI3DSObLx_0EifO5yB2Sq985JNSPSTej4Rz0FSjFJ9DjyBwSdzz3sgxfcrcfg4hB9wRzieFRZ7UmVy3xbfuj1rqa0IHUC5UgFqx-kAaxPtD-pihSa1Weo1nZw7iCFZ_RXu9UX6sp4_-feOLVmYePV-NeVjX0a1rBXMIX_WcYmuBXEAnZcAlvyOwEFuCZXFJ0qBnlruOhqaLNdVB_YfmANHqJ-LaAs1_iMnO4PjTWQ8utstBPjy2Ulg4ZlbH_u6o-prMPFMScI4i56di1WIF07I9yoDp2yvvgGc1-_7yqEdn8y68eilQgPXVIrw5qzWJ9Kv_MblSHKNWPX7a9uT2_EaG_BhkyEbAbLgrNCuliydekT38XOd3JjMeZmPWlvr086azYRUhay67q8nMyGwkc2Ce5KzRZ775HazjCS9x8uzlP39xIfAP3s6WY_Mh4VYwtlgJgHUtlVh40HO6Xrv8PD8GqHT8So-XgbDHmdszTvFmpiIppvZ_Wk1h76JchyRuH2O4QsfHE8jZwRLZ1XbygvmN_hFci6RZvfNxknKyBeEoTFEpmiYwxjvcARKfF_VTneF3mjU-mJU474nW2veHIo3RgnPoNsaFlympxhYA_QW1ol1aEVH2SivyDILGRxGj9bR1AdcO7G3z7vY4Jt1kssZlI9PkhCwD34HlxJtR9Pc4OI2dSs63Qj8bFzx86nFse_TbIXs-zQPeuTLT6ZV5FnJ1DwR9XL1rS6zQ2Wej9m1FsR73VihQRWIH0y8GDmY71vI10yVLb5iCD5PAGmCbMHqYqJRJtMVed9cmlzj9YNhcIw_yj7XbQZ93HS6rWrD5Hh33KwLLA5Wr0GjAiTb5r9wmnaAIPL8NjG7m44CO5rE_5P6vCptH1ryFmYL9JZXGaL0KHfeVN3LYmPB4hAcdSBr6dT29UgaaqDPhg-gTFstYUwgr9SD7GWmoD-e6bgAnPCHh0zEZVRGYc3gddfJ2HE0BdUd6XgVqfe5F_yY243Fwwd_DA8l83t1X-Not4fbZla2EvD-L0BzIStjCAljJvOoUgmqZQIQP9zv1FoXf6nxuvRrs89fupm-YUNC960SjKI2e0UVd4vdXbM9EDl80gYYtdylB6kiOOCQjtFBT-0zPVAyT6LenDfxjTUb99t6zmQyOnWAsuGpKfKNN8WAqCdw_UkfDV515auqF2aKJHzDh1KTMRd_whHhdSgZbZB7MW-M93e4PGmMk5WXJ8m96Ba8oql1_HlMfKQwxEBV53KNz-B0sjXG1HUO33CLofMDqgjQ4o8z0pruiUUDoayJ_5CpJ9aYQRleSXMSYQ6wzi3jjsSaVLdMfq5O1SUFSYUBmMsF4ZHFgJ7pp6h6QyQC_J7pqnxAE6WZ8MgF4Y_POlnMSWIUEskpvbMHD4Ap1hIsDiiXDhowMHrwVH8L3V_Wdbo74QgDVZSneCKmjh_S-bkJFyJEkenClfLajQoHRd-rhJfYNm0Ej-xaKciPxoQ2_-j5uYjZ99V21T9Pu7XwPzGVDIOUR7tE-qDJh81wG46pseetVgwMTEZuvPiNwaeOc0m4JtAXgOHDp6WT2z58jFYl4CKcuz2CFYvlYjpmqAv8l_0LDgBZns7QxW7Vz1Yu2OyelyiIymWC26uoOkulk0-XZ9yzVzzSDNp3FmwDr-uWkd_UJirDzSr0kgHIOw-If8rNQw3ugLyOCy-Zf6UFodc3TeShPyVdpbrx-nFjxDhX0jGrADI6Ay6STYLEzmMvOHpal7I1LcUoHdoUEXXiLJLmSn6VK_WAMaqNgDaCgEMwbgBFiZDP6p7MrZQ2h8Mub7bVuLrG6pV6ax5FyUgbouIb2-62Ogp5PNn44d7HFcxM5TD2joi3qSX1cc5hKE-waDAVpTAI3x5-ZUiXhlGZpQpG-xouu4tpjAxXfJK3lF6ecI2XbikG9oYQg4y5V53AGaNij8Svag-SDg7UtY5oWxSjSc9Y2PBRW-Qy77hKvhbLf6cbBKTA2H_VBB8T7epjXtcL39UoKWyWJGLh3tSvfgEGrwDqSAddJOkeRk5YR0E_1gAYI6ExyEFDzjc3nliIRf5Jf_4J3OtLTrxaRvsmyAYuKawmakW97KQyLNZ-ll3R6VNl_xi3kD61S3wpdyqStWEACOP45t8CbTNMH7uSZtxtE19a4yVt7EJKtPE9OHOSaMF5cSq1pkf3uqluuhDSsLcNjS2_Vayb4325cRDF2xdt_hD843xx8jG6RRyhmc7bz25_4t4OFgOyEL38dDvUMAMHtPDScoZIrPuc7UJWyJsRaCUi5dANUrO1ZUwFwjVx-YDAM7mmZkKzu4n71bs6p9nrbASDGOHEwnx_Pw-wJ_LtdxneDRXTkGLzzrRpLUk6pTPsy9PRQYwaPhkCWUGIHfefPhK-ahJnqkr1eL8KXjFC0GU49wkGs6R58lh405vrkSJSkSW9k-sgTETAhMBvzwhfHdETWH8mMBtn-lrShA7sLW7PKRtqx4ol6CyIUjJZj7CU9b505QPpM6VzEoElikhv06QXUH6xn5sA--2asTZFj1UoZd-SiujAwv9SOHIr7fSOTjdl3-Kx1AgDW0fwzvS_JU92PjgyHdq1hpkCNyHq2_AeKhZZInjbZQYpUYuJzU-VcEW9Dx-90laBsQQekH2FQPfuklSBIXAVRJ7vZNJqulfZq8ICGEDvjmuo_b2mwrclyfiFe2Mbed3tVovKuZ7QdFNg4kq2iRVMFoQvSoJ2ld5MYy00p0FiKUdMWgKRyvKwpOAKix6nY5uuw1I-2PtGAwkQyb0uK-D_MDV8L3LazW_djMSD2UcJnQDUJmZAzFEPhcCUozQmKTdeKLczQkERe",
  "id": "rs_08d034dbce856498016ab447bee71487d0b435ff1a8073c66d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfHO2zazD9TMH0pksaZ7rbHoZT3cCJmLTwhI2kLuS4iXxUcr5-HLz-8jaPDpoSPVjkbp5voSvHxpGTcdHufVIf9IAKBuj53jBX5jolJJglh-UtTq7TEi8OWcQuHpnlpfsSGmb1Gl2cPtMs-psGduNNarb07hnHncd2KO7U8OcKeGsypIkV0Cwu6ZgkrEiuXy_FDdlScE8PFhXRj_w1fybbY96wxSgNazteSLi0JHc_z0vZTnqh1wXaBPGlPKIkukIC8y2CFXx_ISUQplXm7t_cnNEuTQpRgy2_woAJ4sW5etcXbrZjVS_zVBuZDcUjsxs1DIrmZyeGJISOOKTHBGqOzgerWw13x6XJbMhtVS3f25N9ElUB-QoOEKMtYMRHJs8fDBqwmukkMIcpJnxlLIBWiTZmJnRo9qeYujMibeZhLAkge3vJEbmUTAY_MeczCZpswqc-RoKFTVl-gUGA1WH4NYYn7J4WrRs3awIT2XLjPbOzU_nNifmTHzn0d_fYHkWHE-JTEeEzf07zkUg_BjrBu5UMcBXjdYt8svV6GK6AVOZSUmt4DzCwQktB2tRxdjG2d4iUrwR5yHveRIB8mjWHnCSPoibs9z5P9gy9JbCtbj1qg5UBHaE_9RgTHgWz0B9NKu7SXkAFKsPRwXGDpw4GnBAcB_5_QeYYBcfGlGAgdaPz7dlFpyN5SmMKNSvwIs2HY3lBPFOkguM4UnLI6cmoJVQetuoNesRREHK31UaPrwfDx60gzu8KUH7yzAUgUvEPcBsR7GUMkZoWi2ogvtN1uXHFKMfzG4D1hjKhip327uHJVhplkWYQu3jqPTJWUBEx-nbJ19zlftfUvWWkPTHl5iQoBLn_HuiHsmsL1JwAY9IWARRYMg5-qqbsKqWRC1MEkRCmPoLDeV13k122B8y97NxVS3ucG6MQvgkEu8BNig9tvMr0RbbSIH4TSBFnUAH24ktCxgMdbkZd-qMRmv1_EeOSKrM8zpt82-hnYuRPbtHGvk3F2f23366ZC8amo2JWzx33ZURJwFhB4NVucj1y_qH5IGHQUY0UwSfxu1Tbu6SXjgglUWNy-BLsVRysMYiKX2W23CPrBhEkdh_HrFLV5_T8AfBYyvp2SSLynBH-pa9wgQenaHsmFKB4Fh20MWjIh5IULvjEsN17XdQT7AHCWX9fsyrz1GZu5Tl5cEbpCLE3M8KdGeHdCsfYmXc3l82irQZnDZr5qaodbpYLMUKZ5X-mcFGv-P9wT38m7VJw-jHSG_6Gzk70cv05tAkswJvzYJlL2OXZuScBKRvorA_N9C0FbZJDW4VCsMni-rS58EQ1Cd4bKmLUSOeK03EDHedLbYYXvPEeup9dTQTeNnU8okRBl557C9OfABo3YDus7PIGGa8mG3O0K3SaJEP9MwxXFoLCzcOmNUeiOYsAHldaYON1LqDmPdsmP94MKfEx6TSfvjVrMSk_NWIZue1y_p52i89T9ri3mUGCp6eJEwPHuX7MvtBJQUl9rVJ60b73DZqaOwRhqccOWhv5p7_jjVCGt57dhW35BUH8UV4Yk-7fDPOxyVUzB68lFo5MMgLDK96Z6IMWp1wS1cJ2AnbXQwuTO1uYENRIL3rhJVvRluHHvxLq0rlKveMjGccQOlaIV5ukuIHQEYbq6_yxArH3e40HTRH1si01R1oX8N5inWd2WI6T5X1ZCZtX1Q2TVNvkR5LcpUfM0ifQy57JJH_xnQQM9sXAaqM6wDv3oZRs07kw1psnal24ViM0llWKWm4dLGYgGYzqbiu9QOm76ZN-_LikeEBvEOlsTf6PeRpi7kCvUes2WwmkBuSjfCWBufles9xQZSrKRts8OSjHQPTFfaH5F3aabw381Kh9s9z2Q-h1WtfiwvXMQkeFBG-Tl5gRMIAS_q_UAO1HFqy34dYNG74FxZoN3M-FpSmf_CP1XvIec5m7W5sa8v7JttsXC05Z5a4U=",
  "id": "rs_08d034dbce856498016ab447c485f487d08716346a2c410e75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.39,\"right_z\":0.16,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"Above the middle bowl it is clear the held salmon bowl is the largest, so it should be the base rather than be nested into the smaller purple bowl. I’m moving it forward to a clear central spot that remains reachable by both arms, where I’ll set it down as the stack base.\"}",
  "call_id": "call_hPsBqVjAq6CwXXf9YmDKnFsS",
  "id": "fc_08d034dbce856498016ab447c610e087d0bda644b991e7345e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hPsBqVjAq6CwXXf9YmDKnFsS",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.6392, 2.6118, 2.8014, -1.3514, -0.3519, -0.8932, 0.0385]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0013 left_gripper=0.9995 right_x=0.4197 right_y=0.3923 right_z=0.1342 right_yaw=1.5058 right_pitch=-0.4728 right_roll=-0.1117 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.6532, -0.0562, -0.0659, -0.0122, -0.8957, -13.2718, 6.1333, 0.315, -0.4078, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78766ef1f0392441542161e4ced1a7734fc42a72647e1285ed1c6618afe374a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c007b72e358e709c2fb57382cf07a450bc38b079c8ed4af93dafb8fd1ca45842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf4d2da7a57140f3cff9613e90bcb1b2bb8d0b240463c1b46de9333dd8e618e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.048 s

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

message 99 changed as sent

message 108 changed as sent

message 113 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.3271, 2.233, 1.6146, -0.5903, -0.5259, -1.2045, 0.1078]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1649 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9995 right_x=0.4397 right_y=0.2466 right_z=0.0188 right_yaw=1.4998 right_pitch=-0.3824 right_roll=-0.161 right_gripper=0.1078\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.6825, -0.022, -0.0562, -0.0122, 0.1162, -11.0838, 5.9282, 0.9402, 0.1978, -0.3346, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.7181, 2.0983, 1.9465, -0.9844, -0.3531, -0.8536, 0.0391]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0629 left_roll=0.0012 left_gripper=0.9995 right_x=0.3365 right_y=0.3799 right_z=0.1486 right_yaw=1.5522 right_pitch=-0.4527 right_roll=-0.1096 right_gripper=0.0391\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6972, -0.0855, -0.0415, -0.0122, 0.1709, -13.6821, 10.0991, 1.116, -0.2466, 0.2515, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.6392, 2.6118, 2.8014, -1.3514, -0.3519, -0.8932, 0.0385]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0013 left_gripper=0.9995 right_x=0.4197 right_y=0.3923 right_z=0.1342 right_yaw=1.5058 right_pitch=-0.4728 right_roll=-0.1117 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.6532, -0.0562, -0.0659, -0.0122, -0.8957, -13.2718, 6.1333, 0.315, -0.4078, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78766ef1f0392441542161e4ced1a7734fc42a72647e1285ed1c6618afe374a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c007b72e358e709c2fb57382cf07a450bc38b079c8ed4af93dafb8fd1ca45842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf4d2da7a57140f3cff9613e90bcb1b2bb8d0b240463c1b46de9333dd8e618e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfLPOBMrh555o8I9WXom82Z_IABdkOU2LMQcQPBqdGxjGDt6qaHFFc8gX7VjPCq6JIYxszrWDiM7sLyHwG4rCoOdIpSvoyJM3Qe1Jm-shITD4hxOd48mBZiAF0r0AcCyjgZbCEPjCAx-ypjCinCzqMOBTWtqWCu3MSGPtdOQjLOMRBagEoFApLxoUAehv3xIW7GUUfpXqH8cqATLlYqUG0glA3jiEHU50vzVzlamAd7Y2nZqER3Y9PH3pyyL4mxuUECBhxP_sIn__UA97kcI2N9rwUqItaRxBStIe7AXWjQ24cHyxqkPt3Q4UJrLj8gAb0G0mYPK1ndoJDjO8wxhnrtNIn0aIJoCbykX1s0VGjMus0xTGOHEp3sjNntblIAzPp7lKuZpKnBd82H0EOOcNUOifBeTiIBQeRIoieV7lJ7U71vGxL5oZ2FFJj9p44-rHvrglarnBevhh6W-vtDrHMK7-LLQPfZ-tywjVdgOPqeIZO4h0DUsMOBkjP4PrxF8Y2zNJJT-OrlPK3QO-g5zM6Z_AfeFBHJyxdqbTnx7WuBdKhx1aJIHhwai2XxFUHnFJA8y_zOQzEkrAosQLyCYuK4m05VLXcZPt-SmAvdO1ztUHYi41bEU28iDQCSFpwnWfcf7P9xPOjrBr05qpyEDs_n5LrYELgtICqNINVW3spJyk0a_wi9loIL0Hl6jGnWyMtNQn2viPRtE9CPfme6zL18-z7ueQuzdoBD0BJ3VVgtjvVO64o7Luvb_DMcXX4zFo10JtTwvdvy3MIxe8zkkB42a5F8N0XnsJt0ZzlfNb3wVjK-CMNpRY-0w_m7HDlI-kX4m68K3wJPE04ITpGudMPdRnYu544n0nTLw1E1Quukhu7ZStQsUnAVdxadzm6SGrdGv7CII1ERRUESgnrrUZhJgj_yhUQ_eCVUEeBI55B2vMfxyiWjH2JUTqLYsQdq0fMzvKcyjveY_NqHoVLafypoU8S8QumatHQGNeioQ9x4syNE63jfc5MMWAsY4hGguBly_hIUGPe2YVreVJRXVkfWPawxiViHzGWTFBvRFAoQu9mFWFwUeFuSz0gVFDbRTQOKwY3tkR9ARZSiUBPIYyM1Zye6DhDU_NAAig6xbFnu1jWpebyAHwHrJI_QZtH-UMH1W4cs4HQlMHc987a_breJEv7P03SkScYSIT7dL0A23A7QrGXfuU0MAn26qHXQ7zuGZiF3NzrSDzrNTsML6HR4tq99_kRWw2WVa3jyAOWP5cya8N982uZGVurkuE5YWBPRVzHcNxfqUzqKUL4dE1yqxbAz6rTkHuORL6dG5vRvLDfiRWX6Yg1F6NsNzUp6NvmdWP9G6Hfxf86wD5h5Cvxk4dLbDA-ITtsoOJY-ZIDfRfnLPU6DwG1Ej2DbCGSy5pXyXWD3GacCdbqyZb6CeMSFt7gWYYyvZT9ylhB9J6dVFXKCTeTHm-nIa1BvdZj6rvSqb14iruMHKg5Ut_rvo7AlnkUFSvFFGD1nAxymVe-WwjhmjnSheUU43pFD_-sIxqgRP-P3kfywYXj3KeS95V0H1bpk4ULIpJk5bN5kwDUVUZKdqDza6b6ecaVgYSsQ6QYA4mpwbZyGOw5xRePf_j9TPYbSIVpI6Sq3bwcoAnltjQQ=",
  "id": "rs_08d034dbce856498016ab447c971b487d0bbdd9fa503d6f116",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.39,\"right_z\":0.02,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The large salmon bowl is now over a clear patch forward of both smaller bowls, with no overlap in the overhead view. I’m lowering it until its base reaches the table while maintaining the rim pinch.\"}",
  "call_id": "call_uyUCY0djYrsrjtQlznriTr4H",
  "id": "fc_08d034dbce856498016ab447cab11887d0a4b14e74385de31a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uyUCY0djYrsrjtQlznriTr4H",
  "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]: [-0.0196, 0.8288, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6334, 2.9498, 3.1222, -1.3708, -0.3622, -0.9005, 0.0377]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1631 left_yaw=0.001 left_pitch=-0.0686 left_roll=0.0013 left_gripper=0.9995 right_x=0.441 right_y=0.406 right_z=0.0445 right_yaw=1.5263 right_pitch=-0.4892 right_roll=-0.0771 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.6923, -0.0415, -0.0415, -0.0122, -0.1846, -11.7812, 7.747, 1.4042, -0.022, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2304581714db79cd3affad897c6d35755dcbb0c9a84f753e766ccba72ba25d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8f6d63327ad0954dcbc386759d82669f0ef7adf94a2663a85ecc0b560601a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15906bd4a5f57be48cbeba0366bf1d5359a1702153df11f4c0af9903fbb3a5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 6.469 s

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

message 103 changed as sent

message 113 changed as sent

message 117 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.3164, 2.1864, 2.0102, -1.0519, -0.522, -1.2243, 0.0434]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0625 left_roll=0.0012 left_gripper=0.9995 right_x=0.4458 right_y=0.2424 right_z=0.1336 right_yaw=1.506 right_pitch=-0.3948 right_roll=-0.1554 right_gripper=0.0434\nstate[joint_eff]: [-0.2393, -1.265, 6.9812, 1.7021, -0.0855, -0.0513, -0.0122, -0.5675, -14.4068, 8.4444, 0.7399, -0.3541, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.6392, 2.6118, 2.8014, -1.3514, -0.3519, -0.8932, 0.0385]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0013 left_gripper=0.9995 right_x=0.4197 right_y=0.3923 right_z=0.1342 right_yaw=1.5058 right_pitch=-0.4728 right_roll=-0.1117 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.6532, -0.0562, -0.0659, -0.0122, -0.8957, -13.2718, 6.1333, 0.315, -0.4078, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6334, 2.9498, 3.1222, -1.3708, -0.3622, -0.9005, 0.0377]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1631 left_yaw=0.001 left_pitch=-0.0686 left_roll=0.0013 left_gripper=0.9995 right_x=0.441 right_y=0.406 right_z=0.0445 right_yaw=1.5263 right_pitch=-0.4892 right_roll=-0.0771 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.6923, -0.0415, -0.0415, -0.0122, -0.1846, -11.7812, 7.747, 1.4042, -0.022, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2304581714db79cd3affad897c6d35755dcbb0c9a84f753e766ccba72ba25d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8f6d63327ad0954dcbc386759d82669f0ef7adf94a2663a85ecc0b560601a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15906bd4a5f57be48cbeba0366bf1d5359a1702153df11f4c0af9903fbb3a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfPLDCct7GRnhGAqEW_oDVp8Q1UPTehY-SClsdR0Md7rqWzsHM3Ta3eAUFCsQsLAH-KkHwW_eeWR72Vi1AII6fvtfTYZO1oFAZKT0YS1PjyrJoh9As9w7g_ecDl0PVH6UGhqSHw7NODjk9J3E5xTE-rc0QzGC-QeT7gJLO3AsHEn8YyMrJmCT9sPkSdmMiPTKM5MLIRbvLzz5-cW1z17A-su5Fo-ZtZ9KY-IqrITeouAu6nCfZqirSWpyHXwMD0T072P0uMCfcvxluhV81Ip_Y8Tw5kWMUvZ0k6VCQzrQfI-L-SsA5bPv-KPjvxhz7a0WfAn9btKkdgXYKopLLTzMJ4-xka6iwm8cX2GPwoOEUQq8c0HwFK7zW6D-HEh-0t6UfdshlN5drtw-7yKK-uiLSbTfj481T8R2gBgtfyepIRJs6vz08zKo2_I3IvGkaRnjipo_j69Obdz6hHKJ-DB0zniPkLL2PKVHaZnQ_0Gjs5bMCUcm5CNEnQ_4IKwCgf8ZTYrygU0ONJC4PXUrmMdiWN8656InzUx1xCXcCcG8Ns90NVnjDUznU4g9G8Zkd4Z7ObDvvSqbfjx33NRUav894WY3GZqjKN9FI18wgNeJRQZkDNb4ohJbqArBsj5uLmi7ol0B2lx6GloYRSfGS-GEBmKlBhVZsginCkYn9aK56F8QCy8jxJ0gfrCNfEnYgv0s_RDwuVHA2ZizmGmsFzSpnAJ8Ga00ICLtxRA1LUGFDPUVS1p4bJD3YCVOeY1eNOFOD7YrH_jWRdAkmRf2VTB8L7iKQUImpD0DHKHvorDOTwqE4576GP_Fhj8FUZj2fX0d-7V-WuEH_jBTBQWm9DN3d0iOmtmuxrUSTwyvumImI66UuWc8I8N2pj_tSCZe2dNF-acqqRN5zoPnqE8ZhbJM3iLpfqBtMT03C1RZrtNMD7M3uCxCaer2A8TYeLY9O4r1tjX7dMB7blHmqDcbw8waz_zoxn8DeBPojjgy8s08bg7RIj31eExZNzkUivoHiTEvWo-DnVtiF9dh-Bkgm4UX9CAF5ThUpRposPXavWYRM5c3DXy3KfY7r0KtPqMJi4V-S4tiMEZ2FFq3yR3s9at6fAfepfBjnYRR1R-enDRzvPCXJS2hbmaC0YLU7hDTrWS15PS_7u3VTFj0mf8x1O136ZWV9DFaTb_7p-3NF6LnAEY9KFqLYm-8BfvTOkH2k3oMhfJDFgqQQeV2oVB-POX-MYdXY10kWPuaTuwcuDlw5vVkg9wDE9zSbgJ4P9P30qTVKVVexHhLBoGaPBVRUPcNHgGLevJJYPI5Wx_OFeGevoXBKsuyaCbiX8uWyn5ocT2Fg1",
  "id": "rs_08d034dbce856498016ab447cdea7487d086dccb95e17b6849",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped at z≈0.045, more than 2 cm above target, while the bowl stayed upright—consistent with its base contacting the table. I’m opening the gripper to release the large bowl as the stack base.\"}",
  "call_id": "call_rgexb6PRyd1biy0yFECoiTcj",
  "id": "fc_08d034dbce856498016ab447cec34087d0ad0c77b34f83031d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rgexb6PRyd1biy0yFECoiTcj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.6273, 2.9517, 3.1229, -1.3903, -0.3626, -0.9165, 0.9949]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1632 left_yaw=0.001 left_pitch=-0.0683 left_roll=0.0013 left_gripper=0.9995 right_x=0.4399 right_y=0.4008 right_z=0.042 right_yaw=1.539 right_pitch=-0.5023 right_roll=-0.0672 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 7.0085, 1.746, -0.0513, -0.0366, -0.0122, -0.4034, -15.0906, 7.4188, 0.9158, -0.2711, 0.0171, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b72b47af34b6dd88c85be597d0d51a092e0104cd91da1e83d7100eeb654cce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2015fd456ba3fc9790f4edf2af9fcbb14c71d60750c537bdb32cf4da677a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554d88e9531b8c8e0d605a07b2d6745132ce2a69fe37f3427613cd8991e72a10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 9.296 s

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

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.7181, 2.0983, 1.9465, -0.9844, -0.3531, -0.8536, 0.0391]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1647 left_yaw=0.0009 left_pitch=-0.0629 left_roll=0.0012 left_gripper=0.9995 right_x=0.3365 right_y=0.3799 right_z=0.1486 right_yaw=1.5522 right_pitch=-0.4527 right_roll=-0.1096 right_gripper=0.0391\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6972, -0.0855, -0.0415, -0.0122, 0.1709, -13.6821, 10.0991, 1.116, -0.2466, 0.2515, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6334, 2.9498, 3.1222, -1.3708, -0.3622, -0.9005, 0.0377]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1631 left_yaw=0.001 left_pitch=-0.0686 left_roll=0.0013 left_gripper=0.9995 right_x=0.441 right_y=0.406 right_z=0.0445 right_yaw=1.5263 right_pitch=-0.4892 right_roll=-0.0771 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.6923, -0.0415, -0.0415, -0.0122, -0.1846, -11.7812, 7.747, 1.4042, -0.022, 0.0464, 1.033]\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 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.6273, 2.9517, 3.1229, -1.3903, -0.3626, -0.9165, 0.9949]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1632 left_yaw=0.001 left_pitch=-0.0683 left_roll=0.0013 left_gripper=0.9995 right_x=0.4399 right_y=0.4008 right_z=0.042 right_yaw=1.539 right_pitch=-0.5023 right_roll=-0.0672 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 7.0085, 1.746, -0.0513, -0.0366, -0.0122, -0.4034, -15.0906, 7.4188, 0.9158, -0.2711, 0.0171, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b72b47af34b6dd88c85be597d0d51a092e0104cd91da1e83d7100eeb654cce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2015fd456ba3fc9790f4edf2af9fcbb14c71d60750c537bdb32cf4da677a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554d88e9531b8c8e0d605a07b2d6745132ce2a69fe37f3427613cd8991e72a10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab447d1e2a887d09e522c9d1ddd0b9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The large bowl has been released upright at the central spot; the overhead view now shows the two smaller bowls still separate, though the right arm occludes their exact spacing. I’m retracting and unrotating the right arm to clear the view before selecting the next, smaller bowl.\"}",
  "call_id": "call_V27rWOiWqCFZzCqNS0vYiEdm",
  "id": "fc_08d034dbce856498016ab447d5d78087d0b425126e1f51e2a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V27rWOiWqCFZzCqNS0vYiEdm",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6037, -0.4305, -0.0227, -0.0261, 0.9995, 0.0277, 1.2568, 1.0946, -0.9615, 0.025, -0.0952, 0.9985]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0889 left_roll=0.0017 left_gripper=0.9995 right_x=0.2964 right_y=0.0074 right_z=0.1605 right_yaw=0.05 right_pitch=-0.554 right_roll=-0.062 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.8667, 7.1726, 1.7802, -0.0855, -0.0806, -0.0122, -0.1983, -5.7641, 9.7573, 1.2576, 0.105, 0.2369, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b2e55a4a4e016b75c9b50d847c61dacc1d0a024198f556d3835397f9ee594c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484eba0568db3a4f9f1295fd04fbbf809fc156a86558fcf78c1cf144c5d6308b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ce9c32f2998aaf72bf9e396d2c2ea16209b5aae9a4bc448b41e2e8d89eae53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.968 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6037, -0.416, -0.0227, -0.0261, 0.9995, 0.6392, 2.6118, 2.8014, -1.3514, -0.3519, -0.8932, 0.0385]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0013 left_gripper=0.9995 right_x=0.4197 right_y=0.3923 right_z=0.1342 right_yaw=1.5058 right_pitch=-0.4728 right_roll=-0.1117 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.6532, -0.0562, -0.0659, -0.0122, -0.8957, -13.2718, 6.1333, 0.315, -0.4078, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.6273, 2.9517, 3.1229, -1.3903, -0.3626, -0.9165, 0.9949]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1632 left_yaw=0.001 left_pitch=-0.0683 left_roll=0.0013 left_gripper=0.9995 right_x=0.4399 right_y=0.4008 right_z=0.042 right_yaw=1.539 right_pitch=-0.5023 right_roll=-0.0672 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 7.0085, 1.746, -0.0513, -0.0366, -0.0122, -0.4034, -15.0906, 7.4188, 0.9158, -0.2711, 0.0171, -0.1197]\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 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6037, -0.4305, -0.0227, -0.0261, 0.9995, 0.0277, 1.2568, 1.0946, -0.9615, 0.025, -0.0952, 0.9985]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0889 left_roll=0.0017 left_gripper=0.9995 right_x=0.2964 right_y=0.0074 right_z=0.1605 right_yaw=0.05 right_pitch=-0.554 right_roll=-0.062 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.8667, 7.1726, 1.7802, -0.0855, -0.0806, -0.0122, -0.1983, -5.7641, 9.7573, 1.2576, 0.105, 0.2369, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b2e55a4a4e016b75c9b50d847c61dacc1d0a024198f556d3835397f9ee594c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484eba0568db3a4f9f1295fd04fbbf809fc156a86558fcf78c1cf144c5d6308b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ce9c32f2998aaf72bf9e396d2c2ea16209b5aae9a4bc448b41e2e8d89eae53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfjISWheocxyQy93cIDmTPwjU_4xsbSQ9N3BcaKP7EVRWRWEvEmDtos3LQjyq_VVZjP9kCaWd2Y9PEWI9FhflBqv6m1IN180EGsOGyag5aO8LS3m5yqETp5Q26j56TRTNn5rHaCqtPIyFvqM5Ov_ZQMFh_xvi_U3zqcESHL5v693vkLkCdHnMVz2kgrW98xYU4CHNlaNEZ-Qj2QEIKxcK7JSIvH-hCOd7sSJzfvX6PIE17N5S4PDoXkxLq9vdL9b2IoLX4MvTZwPNuXx1qCEYsKQao-95EW3p7WKzaQg2Ap0AbXdjUSHRF6UrFytMyXbZZTlCMXMJxG3csh-Cifm-CpAIzW2-Jk4QwzPEnVUBn_DNpikzmj0VTrqkySWfxoVsTATRfeJSCHLb33gnouC5UvoewQRW-m3IizrCSMCjrySR38XlsL2xzC7ccaflGs0TRq7NGHubGBS4zVxuYds-IsdfIwVICqAW8dfUcoxPY065c60JO2VorE-f8iAgAyL_Z1Wr2352R4iLvj7bMkfoRPkfMcaPnL1QVKfOHU0jas2yLjRWxgai2m5yuz08GPustsA3vxvuJUpAeumvxvLLaNVn1WERuSYip5nd-wYrLy-ZOiG_U4ljxdwK_sriQRkLMKkM158pTshFCQoYQQDdMz4kBDoTRGZufdbCGsAyQ8-vy3wq1kTbrgWVzaB_lN8TVZ1hiF2HgPLJi6Q-zHEh7pDMR7nslSwGn_pbF-wiU9GSXouyVYiIY3-OCko0eKpdNQGqV2EGRXQUPxv-hN0JVdVuLnHu7FL_BcGTRKlnXnv8oof3ZjWxG3okPtNJ09I8G-UhcOec75QD5MoFsd2GYE1Kb_0OObPsOYOAfQEN5n1BxynWt7c1My1s8zlbTKBwWWsyDMv5PBhhXbTj9QeUT36PA_Gf8xFx6ITjpEqW80vzPRikIepvXZlPPnW50xQB6yx74ZIETmh-jmibn-vyhvtvK6-At7KE00k4tlo8CbpPi8CVR-aiDtck116rn_wn3EIo88LJ-aEvjaF6nPagxWlHCOBMO8HtDsYhnDLCDdr0p2YbuBZI3Gti9Dnk-iwOZa4VnG3k6omq9ZZo9degEwvT52A3ELz7BBWprl00pdpZUCY6ZsaG1P5oZ7s1kCRQx_bDeEEl8XxXSy90J5Uh4gAJrJxQifFd1wkI_vXKh7AMJCZU39uyGwvEJMU5N8srqz_Rt0fb1tqo9MmBPueU_6iEoOb-68tJrNhI5jQdWG3rWU03uJp1YjRDPV3c8gLEFY7YNpXVu0Jxgo963_NpuhxN8rvxKlBTa_Q-mekhmzPE4kWBIcCEErB10WBoFzgzHmkJoUvkXR78tUnDas9Kyg8rmjb0bluLTnD14diPNacQhXHk6GOJdjP9gyyHUPbctRDCeN58KR-toN0pvqCE0bt-lFb3ISNGUP56-WwsCsX9nXLIFg1_cwcdqpZrT67QLFvQ7lNu2yS-T8MszB2DqNtb5UgcHr8wZQnEYfkpIzHrIW8aOfSSI3sVIDkWdq4Z1Jw1M163UR0nLGttPiDtop0AIc75VLveuNl6I5C9tslj1JwjC5VOO1hbPok5jcoyhOEtmOFlGrNt1-QqrskCnSN4VLWt52HBmBbE1mbSn65Snn_X2bTF0Sdy8cPdvqVaFYedsRrVwm7BpOcA2jK9CJNe68uiNKUZ0X6maxM5EivJhro3lcimWLpKhE7J9D8EisNGA3VaQKSjPDJVrM1KywL_mHKli_2rPj3ORwV0TT24s-C-sBpe1aAproaqoWl6uZQVnZaTn1q2iC-DxyxMlKGVuEyQG8udCZEmavk8SZfKooE8SXiVfIIaL_CMWIMdpENXPfpyZylDOrCy7a3LQUHWLekvn_BDGvooFmPRxnwbRTTD3licSsa4RY5AsppDkWOkOeXzuLO5wUM9rc2YTxxgvT5tv7GXLQm17Nkmqmr6f7aZseUAc4u09i7ZnyhAIer2nCpOMQiLc-R3EFPlNFY5W8jd52SdQKZwvB3-p3JURMMb0PD-xjeKDGeHSSexhOsyZWxQX3S77f31r-z9hV-U3ZWmQdPgCXtuXTQtP4eVmGBKis8bAcwgVn0cy04fs5B5iLvQQomtZsbbWT0DdxCuYMkJ6JBexjiPLAkEMViNNFqa6fKV1vA-MMrJYVvTpXHdQpUADzGikd3Lvlxrd7wPWwmJ_MdxY6HsixaBYTMlTcVN6pa70y92SLzahzkXtzIYKaRFq5ma57bivy74SSdnltrpgStyzAqpy308reki3gglA2EILZuhWoj8sJS8tutMrhzKLFL7VG_sLCYjENxjJPkWOXi_X0lCfaov2oshICoWk1-35gph6uHEX_MFI7fpCjQ5_9UZT7vpMNdnXVyRxVUKRFVLO0XIjdM2essdgzRjBPCNFsJ-qSlDEUoWu3kAiC7BXukk7npIVo8yUDFzQpz3v7cqxK8lFj47GXjM1RlsslX-TRNq9mbeVg1MiwmY1WhigKDAz5sgkM23t5VYzSKronH6x1c1iFzN0Z8MUmZrvU5ngHQb55AW9Bvx5vtEPhfsuBlCyB0LaVLxeeo3CehLWhYVE70wJhnQB4D4wgDA2rCMzT-DaKlYyZrL2TagPFr6C_yL3LjxqXev4wmqrs06iRgYY0PTf-rwFfozqs4OW9U3A5dAN9AG_qoUpcZN_0vfOmtZk9a7cv9pTRw9mhGvBDS4fAXR_BAvdIchGYP0fxNbiYzOYlrIjVNqb1Rezi2aZbbE4cfWTEVm6dshfWxbLd0-rFXFJnaTB1usqjUmrmWyKr13OB6ZGmqm2-tu-DQxrl1su5_FUp3O41Oc9l5uLCHa1Uut8rpmgDVyVSehNqJz7vZr7_R0kcn1x5ieUR4KFNk7EqQGu-UJWHsQshjgnHkFTYGfkDNI1fy6cpQMaHHbMcO2gATZzUlguyd6e_BbAhqafObBeEs4_1VBHhna8nDIIkiauilGq-ETHmP-m_qrCDHGwz-vboPpDwNfpki09bcP_-Gvx6XzJm3fOhaxAqpsSDXN72gRKoF90haoQ1ZzfZAL0XZhKFQXiEkHEOdkbWe7k79lU9vNd_4ekAPdcE1-jTSp6eksKj-8OMJTFHwLVjwppZ5m35nl0WACoZ8QuzgR5X0lVTA6y-X7eV5dEqTsAiCFVYrZuNIKwDJt_C5DJ5W3-_qiqguKQlEqm9tzaPue5gHiCoo9kacq46zrh7LwK3dAgZlZo0nENSA3GazFVBuNzUfK7StJ7YbpKl9QipYBfG8KmDptLQRCM-r9r10qWyRfsDOnLKILP6omzAq3Ko17QieCGvRXa8AvKUNt0F46NvS-teVsbYgqV8doinW2BBvIUt4eGQjM2duAXERo2nKfYJzYIIG5fGePkFVB3x0Xm0z2Fgx_hQ7l1yWzDePJS_xvtPgMdriWGPuIGij6nFgqCm4zpB9kjlxyyXwydJDwyDURvebidQsAe_FmOk78x0cVP3sjAgXOnyL1S2omQLFfX3sUKUeS_hFF9FKB4RRBP8OZTYBGazPXNMIBm0MsJQxdVUETScs0aOaIZCgyvg4bXgfofeaPBNy8xLQ3OIo6TtayyeOsF5z3qNQfsSFdNLhxfXGRqa39IqzdrCSiL_vx8m875VCCHRSe-kCzVKWRrzdt4O9FkUfoO8xlWBGw3jFquxDBtfhu9b10Tapt9K321LjDWNpcrOSpOG1jQzgTHYxQk3PEMdpZJ-mvMHAf0XFNxkw017qmTWemAorGO9IyoRabokrt5KvcOk23wNvr2FocUb2MUn_8yX2YKYxwjC5coQcbAdJv8OYp-7mwnZDuQdTkSY896Jhg2cqNoRU-Wb0g0_KYaTPw==",
  "id": "rs_08d034dbce856498016ab447dbcbb487d0bc979ec91425a763",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfj8eGmgV8UQ0FH-yPPIwtRryC1IoA1HVRaetImO_wlqI4YUEkPXVRuXqreRL59xVuuQHrTGrnaTV74A6JbfbbuQJvZN0eGQ-GeC8lOq6Bz1wxsCLlJyV_o-UzBBqaMefu1bLqh4dPmEqGkyJJroTundsjVzS6jI9RwfSgbGt-0qHhjXPP9TfPrUldJlv-beCNU08aJdZFeKsMBadGPqf8LMDLON5JuHkBgD0C2LAnDchZ_AVnZvmKtnm9EqOhobvbFZJsdcGnRrFNujXKeyWWGKcZmLIEKG4Xxq8VUMKoMQORA5pBXVTes1K9Y4Y4M6WZ4Bvh3L-3iWfGDodZMcB-CEXUII1I-NKIy3nRiirBM31d-Se0bh7M94kL157d9YujFFpAiRjoqf6rWe4nSlGeXExsYgfWn0qCc7WWgWlpJo-_PjhgtIecQUqG1OVRv72U5nXha-qtCMDhvcMoT9j6yopuQ8e2QvIMBTivNGNbeV-XmMOpsDl7GyUsz08B7M1hS_NuaG4txrxEQdCcj1OJn--oE4UXtF_i7eNJ39D70iU1mYQE1Ace5uFCbTUbciZf0vmRPrMC76BncH_YMoUWgZeNahTNxXe7Q1ayFCj-1-2Y-hXE1RGkqk_hYW2k9xc1s8gBhzHDGN4KrX2J7yA_IuW5t2FVl0QS7c6QpFYZCU9YYjXZ0bLr1b39pg_Z2ZwyJVNt_E9DTVWmLaYeNabRjd9K4T16LnzQ6x5p41iXV0GfFivWJP_EP9OF3-HjUsHVCrjciUfOaMmT7put2yFvM1gH7uHk-eHLKagbITi9sAnDjgr2n-ExWxzxEmH3J_zMRCVX-FhuBrHtGfzE1nZosqGppUN_eP51yJkfngyvoNIk2V5AvZgR_0G3LByKYqLFuh1O20aM_Bm4-smfsLNAWHkh3iSq7_vnBMb24eXO2hqjwb6sQfnGBtvH1paDHCFUaLNNETEgEQl7WkYNb9KaG6TvdPZQcuU6pb4Qa9LYzwxQzj4r_7J2m3-AhiGrZeS2yQVjTaxQvOe7jrallL593f6tFXar18hls5upQV7n6tlCl2okr44RCF7da-m-pUVFN9vcFlXweBNhj41s8qvhzRpQhCQH9ywFsXojGdR6YDw2WMw41K-jAuIo3fD1XH8nNZVZi2BcSWs8KqWqyml_cxhy-Phmzvm1DLqopUVDXjTfquQSWVDhYkk6AzbLNyH0X4TZw1w3IIe27Rsq612w3XslWMaxP3k43apXQakG7bIdqEoX3MFx6PD6JpUEJN0AHdYMwfOUDFjboFrfCsjVnqU9s-J5XICHkHQ-CW0muOlrx6aayfgEVntOBlFkuVXaMwJbPY1YB0rAW8-4CLlo7lIAC1ENgfoII6gDOpWLYGaVOfpH5ni9Hei2H67HvrLf5t9YWZYS9QDNwocWmSnlNwwLiZN4JnBnM6DeP15CIMcpxMnFVrmjkUN3AOlQD8VCM-kgnKZNbWjhF40JoxLMiBTUxFoNDUG4RNZfRLQy8loV5mw3SI2l5FyqAvYvR5ejJwN0HGMYQ5-Ojqw3tmRhe4j0AoLllsu5FElos7nV-_lvXPz-JolLp-0QgERL3nsVxLGDrgAh7f2o9GzZsu1gmqHMQw5WDTPaFnA5GXjciKGt3X5mBndJ8W4gy06emdlbrt6XcN4uvQ0LQWRawjuOho2TWXtKtdEiereRkt3qO_P8oisujfksNSYd5mRLD3NyoINrTotwIVOEJIHNKOJ16NnpjuBkR69IjM_nzukzh5OACEdGV4FmKM7dKyGk2np3jsLi-YlFfMEVhJShVBo6MtcclYWDueJGR9jB12kDI71P-OxmxdWV7l9SJwD-CnRf8c6lv9p6voQR1asBI_ztNnD8p9K9AkOkGR-ixXgh-rD_LJe6NoAZfWQzdn9DQRC3E55LxgD2eysuGeknAP8UYM1sFZsprSyYM19-j2U2tFXqSyaxJw4lO7U2ggM02C72VaPab7dLqSjm6hG4Wbi_lyg==",
  "id": "rs_08d034dbce856498016ab447e0d83087d0965f90568d0d6dab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.395,\"right_z\":0.09,\"right_yaw\":1.5,\"right_gripper\":1.0},\"note\":\"With the arm retracted, the layout is clear: the large salmon bowl is the far central stack base, the small purple bowl is closest to the bases, and the white bowl is left. I’m positioning the right gripper above the purple bowl with the proven 90° radial pinch orientation.\"}",
  "call_id": "call_wpBcEVxLmBrca8kIYahwCxnz",
  "id": "fc_08d034dbce856498016ab447e2584c87d0aa93774ee7adfb15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpBcEVxLmBrca8kIYahwCxnz",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8375, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7883, 2.141, 1.8069, -0.8673, -0.2279, -0.691, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.1571 left_yaw=0.001 left_pitch=-0.0961 left_roll=0.0019 left_gripper=0.9995 right_x=0.3224 right_y=0.386 right_z=0.0849 right_yaw=1.4503 right_pitch=-0.5711 right_roll=-0.068 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.7709, 7.0906, 1.7265, -0.0708, -0.0513, -0.0122, 0.2803, -11.6308, 8.1026, 0.7302, -0.442, -0.0562, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5186ef527e085b9a081c3792c9edcce5a428f89770c20fce4c55333c0a01fc69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09197a286f9e1145ccbca65dd4bd6cc581a8f5eafdd21af4131c9a6e2716030a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6b4c7c1b9dbd90d8b725ce9866a2aca62fd48291f9120761f1a50ac73c5762",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 3.244 s

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

message 117 changed as sent

message 125 changed as sent

message 130 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4156, -0.0227, -0.0261, 0.9995, 0.6334, 2.9498, 3.1222, -1.3708, -0.3622, -0.9005, 0.0377]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1631 left_yaw=0.001 left_pitch=-0.0686 left_roll=0.0013 left_gripper=0.9995 right_x=0.441 right_y=0.406 right_z=0.0445 right_yaw=1.5263 right_pitch=-0.4892 right_roll=-0.0771 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.6923, -0.0415, -0.0415, -0.0122, -0.1846, -11.7812, 7.747, 1.4042, -0.022, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6037, -0.4305, -0.0227, -0.0261, 0.9995, 0.0277, 1.2568, 1.0946, -0.9615, 0.025, -0.0952, 0.9985]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0889 left_roll=0.0017 left_gripper=0.9995 right_x=0.2964 right_y=0.0074 right_z=0.1605 right_yaw=0.05 right_pitch=-0.554 right_roll=-0.062 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.8667, 7.1726, 1.7802, -0.0855, -0.0806, -0.0122, -0.1983, -5.7641, 9.7573, 1.2576, 0.105, 0.2369, -0.1685]",
      "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]: [-0.0196, 0.8375, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7883, 2.141, 1.8069, -0.8673, -0.2279, -0.691, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.1571 left_yaw=0.001 left_pitch=-0.0961 left_roll=0.0019 left_gripper=0.9995 right_x=0.3224 right_y=0.386 right_z=0.0849 right_yaw=1.4503 right_pitch=-0.5711 right_roll=-0.068 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.7709, 7.0906, 1.7265, -0.0708, -0.0513, -0.0122, 0.2803, -11.6308, 8.1026, 0.7302, -0.442, -0.0562, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5186ef527e085b9a081c3792c9edcce5a428f89770c20fce4c55333c0a01fc69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09197a286f9e1145ccbca65dd4bd6cc581a8f5eafdd21af4131c9a6e2716030a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6b4c7c1b9dbd90d8b725ce9866a2aca62fd48291f9120761f1a50ac73c5762",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfq9_P8DqRrwCdgAkLhgh8BmSEBkhaZ8obw3-MdFKyKu59W-iXPq-FF3H8KJWSLDyGvMcVhu0XTuAeqXThTxmAI9N9AmwJhf4rDrLm3k4D1OEoqfxRCKbtnDiNeCbWflAvSACbZ6TjcG-9RIV368EmfpsHhCTjtfh848P_jnGKMCT_TVhiSmk2FQbwmRsr-4FWqnA8FmiVXt37gSMonoZZtVAYdhWoRLnbaLaiY15hFz4IduvOymmwuXqBCN6zupaUWaRzj57S51wxjR0CaEzTpemAVB2Y-C90WTJXILO6GfpP4p7MP9pTZpzAM6C1iy74mzqF3oZFAu1M4xB10-E7LqXOwxTxyMKhK3wmz0XlS4zgsHcNa24PeZ385eKf8T9XTgcOyzzw3ISGjFBojckwBfP6KOBynUKd_MgoVWiic5FuWKBIYBsxs2ZuD1MeBqFFHHqWIAe0Kvycsgz2gaf0625IDGXD0MrIu7mHA8wTUi5roN8kZzmxIieFqj9P4F-WHgWxLe2GYdL-FRN9aNIqPfNNOWD_8NL2R9PC9aBC6gfHuEcOYgcc4LVo6nDUYo2rnD4JGt6G5s83F1_jtFbehsz1lmm1kMT32RU8hEg5TboLTF6LNfD64XyMquljK7WmEqox__KfZfcfus6uNK0chN3OY-tHQk_QkJ-6niJU0rLqCBlhc8vg-Fw7gnJKrHI6nBk7U4KblifYpE1ZsEm1j2gcL383-K2-E8t-U4JeQUABMHXI6W5cISqAAsS0rOO3gZ-rxmvFvH9unJqi4qeykD1j3mI30a2G-rBw3UzrNl5xDAFIk-OvrX0rwQxAQzaDMVVjVoNTD2fHEao7OkvipIZgosJkOibk1mgu8gMa9qJUbXW9Ctu7J-vMLEWpPvzaTJQ1kjEZr5lF-WzV9XL3gx4e3IKlmGJC9x6ke7MLVHQh5KLqWDtux8k6gPYBHorU4kDRWXKWQ2z5bAzIwrV3H9mXW2OtIIy-1OYQVmKGELnQp5yaPG-mIt0grULYg5Jx4rKJPmlQhTfxQZve8Emb_VYLh4mmKOOwblCeLhcbeffWLNTwd_jzA2ug4l1j6pXUJ1h8_lFZQgrOa-ILMCKfqCLlFnlDnP0Wh2ARGw3ZI40arUGqAtqfQ6ys76NUP-9G8saKXDfNrG7da6grXMTkjxrvJa0mP-6tbyEEAj0KCxZRTG8olCXFlFYH5PDB-WTKsMZmIjexOmkFy_qEguL4qtLFHu4fi_jLR1CbYRW_ComKHRM3M_SYHbuJbOff2-zhsv95zt7Px8JKdXYi9HjDWmQwOkoou73OfKGpSz5FWECCVG64KUOehXhtRjCIy9kFP-wXGWmCDCyGC8tSLctiIhw64zYZVqX-dAzy8juNZLoCukUgRGPepoyKJcZ4BLTXHbrb0MZEYfjmDywkBnaGobpXbKuYjjkFiASdarJAmbocHGmUYXaV-DPaw3yniHmEwhUbiA2QD6iEq4sEooLeldoKcllF22x1uEEv_UfW52yGzjU87Y9QVy-ACpbq0QpZNqaNARJHuuUOXuVAKesVFk5U_faf0QAZLFRHjod_O_Ol4HdQPLrjI9Zwhs_AR9zSU4aKObuwls_Wya0_J6nHWcm4gBKMLkkBF8rriouqUrCKCMWuZSOO6oJX2-PRo3I4OdmHZV-c1G2K65rFNcEdygrm-YG22BkFXRCmKT1DjJlX5UC7U5Pq5gGT4mnEYNR1MtLQlMxAgwudMkrEkg30fjMktaOFvJY7r88E0G_2iavEC3FVobgMww1YKSfv5Qn8gYcTzIlY0nd0mSVLiump4RSbziBGierWAn9bCpaxzDYVg2MYmIj6DchDcvCNTSQYZsPmOeSHHCmuNtkQc3Y09bUphdZZ0aDD67PbeQjjzQJhDmO1PA7jZQaTXjHTROom1DVWxVUGXPxnDnH5GIVRTPIUqZetJeMdcAU6z5nVnlkO1BLCbl1vkGlqkWSiRyD0KVi7MYXPtnQQoiEVcqTbsSGva0zi2eiCBJS3FeaXJJj_YfngTd7QKSlJorA3b720Q2VOszlreEFHTgwxFD-ORu3qOO6uYf30vV9YgInN1NMw6ue3EipOdVEmylhPn1KfGU_Zg_19SNK-kJ8TFSIx1qWPBHXSlARJDYIC7mLgqqmqyK0ee9x8T9jgsnGlildg11GMWBvvHwnifQXfrUeTd_g==",
  "id": "rs_08d034dbce856498016ab447e809a087d08139b01a28159212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.395,\"right_z\":0.005,\"right_yaw\":1.5,\"right_gripper\":1.0},\"note\":\"The purple bowl fills the lower-left wrist view while the salmon base is lower-right; with the rotated jaws, one finger is over the purple basin and the other is outside its rim. I’m descending open to table-level pinch height.\"}",
  "call_id": "call_cvcPNDRNFLoMXF67PLyVCGmP",
  "id": "fc_08d034dbce856498016ab447ea016887d09a4e3711e75ceceb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cvcPNDRNFLoMXF67PLyVCGmP",
  "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]: [-0.0196, 0.8379, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7971, 2.2234, 1.6569, -0.6704, -0.2417, -0.7193, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.157 left_yaw=0.001 left_pitch=-0.0965 left_roll=0.0019 left_gripper=0.9995 right_x=0.3154 right_y=0.3885 right_z=0.0128 right_yaw=1.5033 right_pitch=-0.5913 right_roll=-0.043 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.1966, 6.9675, 1.6239, -0.0611, -0.0415, -0.0122, 0.253, -11.0838, 6.065, 0.9792, -0.1734, -0.1392, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b7f5faaa08df84722a010b8bef4d600fc7795e271a8b4efcf3468a9dc7ba17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba1c0f0f814e4d8b21d751b95f99c13fbf08c19f97eb7aa99d634d480cd0da5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf6206790d6b2c6dadf76db3302e9a941f84be663028b3b24c4bc76af04c20f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.336 s

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

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4152, -0.0227, -0.0261, 0.9995, 0.6273, 2.9517, 3.1229, -1.3903, -0.3626, -0.9165, 0.9949]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1632 left_yaw=0.001 left_pitch=-0.0683 left_roll=0.0013 left_gripper=0.9995 right_x=0.4399 right_y=0.4008 right_z=0.042 right_yaw=1.539 right_pitch=-0.5023 right_roll=-0.0672 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 7.0085, 1.746, -0.0513, -0.0366, -0.0122, -0.4034, -15.0906, 7.4188, 0.9158, -0.2711, 0.0171, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8375, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7883, 2.141, 1.8069, -0.8673, -0.2279, -0.691, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.1571 left_yaw=0.001 left_pitch=-0.0961 left_roll=0.0019 left_gripper=0.9995 right_x=0.3224 right_y=0.386 right_z=0.0849 right_yaw=1.4503 right_pitch=-0.5711 right_roll=-0.068 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.7709, 7.0906, 1.7265, -0.0708, -0.0513, -0.0122, 0.2803, -11.6308, 8.1026, 0.7302, -0.442, -0.0562, -0.1685]",
      "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]: [-0.0196, 0.8379, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7971, 2.2234, 1.6569, -0.6704, -0.2417, -0.7193, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.157 left_yaw=0.001 left_pitch=-0.0965 left_roll=0.0019 left_gripper=0.9995 right_x=0.3154 right_y=0.3885 right_z=0.0128 right_yaw=1.5033 right_pitch=-0.5913 right_roll=-0.043 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.1966, 6.9675, 1.6239, -0.0611, -0.0415, -0.0122, 0.253, -11.0838, 6.065, 0.9792, -0.1734, -0.1392, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b7f5faaa08df84722a010b8bef4d600fc7795e271a8b4efcf3468a9dc7ba17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba1c0f0f814e4d8b21d751b95f99c13fbf08c19f97eb7aa99d634d480cd0da5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf6206790d6b2c6dadf76db3302e9a941f84be663028b3b24c4bc76af04c20f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfuE0zgiRCz7uIGx-v80p0QSTS2sYz26gtm5OuBwIPHyv4XJ-ldkOkdZPTnv_ZbrJgO8rFcfBXACS-i1l5QDx1cNz3UJQX6mE0Y1eI2uO0fSmRRjAx3JeB-K1KkgnPEvrcGdOHnnwp4NLnWCEOrgs2GTxPOPxB1tYQwAjVCET8h9P8p0yaXyf0cobJ1M-D7EiMt9S89vFtxZ4uhSV2gOsr18jp5g1Kbm-gSKXqadACN58YlQdeqMyELVBpI8_UfQLMG_9FQGGp_eotkGS7IaQJ51BcSi-vKYWchpzkISmSDtI8bZbtaj-KsEC5KIvF_FZze8GsPXruVMVVIAxnMytky3slrr4pIYtMlbkLYdDduVkG4n6qgFmin9QTCLvMk0mKvnpUUDjwYkWmMafl3H-b3mZ9t8ClA_fgmP3JRhyEb9cxAlpE0ukv6cWJMKkrrj6PVO1BjLQtVs0h00ydVNhiPgHHclDEqN8hCkidaxHBnND6GdiiQraAC8ZaotFLkfiO_ssHph8d6FBXQbPl8opidzocMc2ji1szADyXFjeabKXmZW8s5YceKYuXjDSpw0zBW1TFvwnFUz-DJ-wOkYvQqaJKowNie2UckXdPIIO3HrfJ56SmgcI25q7euLbjWYZsBaZ-ys6nqq5RpVvctUCckuO99YyrAqz7wfEHfILHO1Ah5Mnqh9qvuzailmD27KT72_y_8mH1oV-8WiulL09PIsdBWGyT8NmFJZ9uVpXrY8SBPzbzM1jMR5K7ANvfM3TpmEA-WiqLSfmAWmr2hJCosG32IKe9YDVBl4wVzo19O_MctWCcvYY2UyL9IOZU5Wd9vGoJrMd0nAYwdnTpycAcgkyxU_8u1xWvzGvD09BWtVJ-pL2DnnC6YK4TdFJM4p_JojI4h1lcvATZ6q818rT5OlAM8tGzVvcm6e6DGKV28Hp8mu771BeFarxB-rTBzh-jB3eYyAeQNDUzhZybHmpfB6chFjwPXGvHKurSrQB2zj1GgrdTJq7cEP27496ti0iC0_Qkb3Amktn-cTJxqCtwdw3q4FYqTsv6S1Us1_qO0tatt7BJSZvTG3pa-1i69-Fak5ckz4ZOEZzMyB9smmbc06FsKn3uDGCdChzYsaXpvq9gLJU_zK9VTiNRAJw3MG9YWd50G_RaZX4ACgTzdMutzue_8P0MKQCGp2UPC1krQtxMrwLxAfvMh3IgvwwHYW4sZgA4nIdPQkdz6-u2DMQaXZlA_02dLMlLKyF8JubBLb-E=",
  "id": "rs_08d034dbce856498016ab447ed08ec87d08699dcc4114a9f6c",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At z≈0.013 the left fingertip is visibly inside the purple bowl and the right fingertip is on bare table outside its rim, matching the successful pinch geometry. I’m closing on the purple rim.\"}",
  "call_id": "call_6suuyKyVZC5DtJew9Edtu3vl",
  "id": "fc_08d034dbce856498016ab447ed3df087d0be62c2ed0f975db6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6suuyKyVZC5DtJew9Edtu3vl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8433, 0.6029, -0.4416, -0.0227, -0.0261, 0.9995, 0.7979, 2.2158, 1.6569, -0.6754, -0.2855, -0.7078, 0.0384]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1538 left_yaw=0.001 left_pitch=-0.1098 left_roll=0.0022 left_gripper=0.9995 right_x=0.309 right_y=0.3932 right_z=0.0179 right_yaw=1.5302 right_pitch=-0.5618 right_roll=-0.0023 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.5932, 7.1179, 1.7021, -0.0464, -0.0562, -0.0122, 0.0342, -11.5761, 6.612, 0.8962, 0.2515, -0.0904, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7005ea36d9ff3b7bbd054bb6a033af6464a967355b62d757a3df02a8bc8313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e563b8b0aab8b25ec85ba220e2450504974978df8ed089f94e5678ebb11c18b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f73d3d9a77f0f7f2072a00103c8b84f574aabc22dc8c64a5b7f2b8524505ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.376 s

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

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6037, -0.4305, -0.0227, -0.0261, 0.9995, 0.0277, 1.2568, 1.0946, -0.9615, 0.025, -0.0952, 0.9985]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0889 left_roll=0.0017 left_gripper=0.9995 right_x=0.2964 right_y=0.0074 right_z=0.1605 right_yaw=0.05 right_pitch=-0.554 right_roll=-0.062 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.8667, 7.1726, 1.7802, -0.0855, -0.0806, -0.0122, -0.1983, -5.7641, 9.7573, 1.2576, 0.105, 0.2369, -0.1685]",
      "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]: [-0.0196, 0.8379, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7971, 2.2234, 1.6569, -0.6704, -0.2417, -0.7193, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.157 left_yaw=0.001 left_pitch=-0.0965 left_roll=0.0019 left_gripper=0.9995 right_x=0.3154 right_y=0.3885 right_z=0.0128 right_yaw=1.5033 right_pitch=-0.5913 right_roll=-0.043 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.1966, 6.9675, 1.6239, -0.0611, -0.0415, -0.0122, 0.253, -11.0838, 6.065, 0.9792, -0.1734, -0.1392, -0.1636]",
      "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]: [-0.0196, 0.8433, 0.6029, -0.4416, -0.0227, -0.0261, 0.9995, 0.7979, 2.2158, 1.6569, -0.6754, -0.2855, -0.7078, 0.0384]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1538 left_yaw=0.001 left_pitch=-0.1098 left_roll=0.0022 left_gripper=0.9995 right_x=0.309 right_y=0.3932 right_z=0.0179 right_yaw=1.5302 right_pitch=-0.5618 right_roll=-0.0023 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.5932, 7.1179, 1.7021, -0.0464, -0.0562, -0.0122, 0.0342, -11.5761, 6.612, 0.8962, 0.2515, -0.0904, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7005ea36d9ff3b7bbd054bb6a033af6464a967355b62d757a3df02a8bc8313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e563b8b0aab8b25ec85ba220e2450504974978df8ed089f94e5678ebb11c18b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f73d3d9a77f0f7f2072a00103c8b84f574aabc22dc8c64a5b7f2b8524505ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEfyqguZrNnKq9YYzVrKRgowSA7UK0xSi9YUUiIl_1PrP2zhw5qgZYMVXVHyUNZcPZ_gBkOKbUDqjsV1muvMlpQXM-Y5B4zeM8GeEc5ws_K8BFAFX5hhFA2aiWBR5pRwEPtMxS1cG7vYdL4osubVTvseKTm8frv-CFYrXmCQzqtQvT8bGaCj4txRcfetd8wyRVgMJnqhWRQhv5q3cgwPwqnL3IhoLEsgd6yDWudxruJkj9Tx2NUHiGW32u9raAR5oQwr0Y0JsshJ9gMX3156fr2Qx-OUDrAKIPXbcUOpUbucY8WUhvxSpdmO6_6OcPvwj5uZ7sa0F6EeZ82iy4gBypPLjGv45bBdZj3R6FJpjYUZKUlDcUA8KoJWbPT-SrfSS1WQZ0OvLV3BMA1Ra7h-vWBwEQkIYhTHKkM4iderq4L7YIMTYHW1gZUhYQ97tXtViiC3THhy5RWLJO088YVQGuvFQfLfoGn_OouppY4PJQiU6pv8H_APNFez2PHzJj1PADAAQJp_Y-wOaI0KVYfwmkwYWR6dme7LfED6fTgxR_tXtyYqNkyGdB_PhNwex0uaqnj6q73N6rtLlNkTTjMI_6MMfFY1DndSFIdw51wk5e6MOV-jg-q3mSju-_sB72kCAL-4tb8YQ_SdY2OLVAYcdzU5md2NusTH7-NAOY5HyV7R35y92jvBprI-K1xsYY5GO3b2VwJA9xy7DVUZOfT-DY8EjBLHpxEgO7bwLv8K5KVHgm-qxMIM6znc7cjNwJ_ApXlFI_BffiyZbKq6DpWLDhqfkFr09rQf8dpc0HSayH-PEX21BnZYRbNMDAWYr9y0mMIwA5nlzk3znshUOjFqOhdC1_iRPN9rDBqCRDVPA6F7fi2G2RP31_-wvEtfU19iTJKMisaABvR1nj5NJkIVvZ1667_MkD9FwmB-FVSicF7jrzO1Xc-id47F_C_S4VeHkX9Nzk5WdoWzJ-OGwcBay_fSfeclQssewlXaHyBqOFNg_GdLJjQXX2zg88kEm6fkOeXYqjoMG8DT70pWdNwsXxaEiRNyP06d147mMbT3SBycKRlVVZyqQC4b5U7c-KgiqkvD_byNiGK_97_cwVVD3jFxR65qT92de0PI3uP0ifVIP3V9PNzax_Hss507_Mr0fn7bXK7zRvJIk8J63lkkPsAvHZyR7oNuC0roZ_L00IadH2rweN4jgk9lkSmyU1TO3-YZ2aPJ33WGz02NTdwxyiX25TFdjHNgZN7gR1fiDpwk9heFR7oWDqofQzD8uNjZopNaGM3HcnuHUayPDg73SC8W4gulFF-TKylhqmMXUvlVyEi0UZ1glpVSAuUOQH5jnuGERsZzhx66MvbxrQDnMwRHD8UC6LcKbfNiqQJmYLWOKON2LI0upedMaACMJ_2a3M8E6-BOp-ZeLZC2KpZe8e3Kq44WCDARPmd8zkHRd_6lZ2s_TSsQgPolgXAaLdqkEJBNUBUEai6Ga1GfPH791u3TxyV22t9eKXFq80HT4XIJ7JRfr0riRui6eGzExOmAID89s9apa3b2hsevIBN25GLT6aHZDEuyoDrBcSqfzKqIxOCqNKGWyrjrTLLm1vS4TVzcAKanAL06ZAgscmeNfvFDVg==",
  "id": "rs_08d034dbce856498016ab447f11c8887d097f948b20b14a392",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.39,\"right_z\":0.16,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The closed jaws visibly trap the purple rim even though the thin wall yields a near-threshold opening. I’m lifting and carrying it directly above the large salmon bowl at the shared central location.\"}",
  "call_id": "call_rZEjhDXSYvdEs0LMAyrZdHgd",
  "id": "fc_08d034dbce856498016ab447f2082087d09333d9809feea05a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rZEjhDXSYvdEs0LMAyrZdHgd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0257, 0.9995, 0.654, 2.6953, 2.8368, -1.4864, -0.3008, -0.8188, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.0008 left_pitch=-0.1125 left_roll=0.0025 left_gripper=0.9995 right_x=0.399 right_y=0.3763 right_z=0.0873 right_yaw=1.5239 right_pitch=-0.6271 right_roll=0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.7026, 7.1043, 1.6484, -0.0855, -0.0317, -0.0122, -0.1983, -20.9709, 6.2701, 0.906, -0.4078, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d441377ea46db59cf5c8a308226a9fc0ada53e0d6e924e5e181f01aee80b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d12f698ec768624a112357ffaacc96f897a2a987f6fe1d94eeb01280dd9af5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e086a3d02a46a5ea67e31560c4ada0e5be90b080f61ff1bb1f504a7c295fca2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 7.464 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]: [-0.0196, 0.8375, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7883, 2.141, 1.8069, -0.8673, -0.2279, -0.691, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.1571 left_yaw=0.001 left_pitch=-0.0961 left_roll=0.0019 left_gripper=0.9995 right_x=0.3224 right_y=0.386 right_z=0.0849 right_yaw=1.4503 right_pitch=-0.5711 right_roll=-0.068 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.7709, 7.0906, 1.7265, -0.0708, -0.0513, -0.0122, 0.2803, -11.6308, 8.1026, 0.7302, -0.442, -0.0562, -0.1685]",
      "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]: [-0.0196, 0.8433, 0.6029, -0.4416, -0.0227, -0.0261, 0.9995, 0.7979, 2.2158, 1.6569, -0.6754, -0.2855, -0.7078, 0.0384]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1538 left_yaw=0.001 left_pitch=-0.1098 left_roll=0.0022 left_gripper=0.9995 right_x=0.309 right_y=0.3932 right_z=0.0179 right_yaw=1.5302 right_pitch=-0.5618 right_roll=-0.0023 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.5932, 7.1179, 1.7021, -0.0464, -0.0562, -0.0122, 0.0342, -11.5761, 6.612, 0.8962, 0.2515, -0.0904, 1.1062]\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 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0257, 0.9995, 0.654, 2.6953, 2.8368, -1.4864, -0.3008, -0.8188, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.0008 left_pitch=-0.1125 left_roll=0.0025 left_gripper=0.9995 right_x=0.399 right_y=0.3763 right_z=0.0873 right_yaw=1.5239 right_pitch=-0.6271 right_roll=0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.7026, 7.1043, 1.6484, -0.0855, -0.0317, -0.0122, -0.1983, -20.9709, 6.2701, 0.906, -0.4078, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d441377ea46db59cf5c8a308226a9fc0ada53e0d6e924e5e181f01aee80b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d12f698ec768624a112357ffaacc96f897a2a987f6fe1d94eeb01280dd9af5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e086a3d02a46a5ea67e31560c4ada0e5be90b080f61ff1bb1f504a7c295fca2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf4JX4Pe8h6fmy3905qLaBeuItyaON9Qa5y5Hu2bQAKK4D_YVUzrhFiBWy9qvttYH3HL-4X3brH4YLZeueSG5qb0oN0E4u6NHJlgjGACu_SWYNxXf1l-QwK3GGJrEr1YR26MGHRw46UA9Tvf-q44XrqSWGhVweO68lTJ4LVyD9iPoQhzNfQOkUtinVj5o-hzphw-u8b6WBdThXTQCzPBrLs2hNGEIRuLKFEvrhqlKH0bHaCpBHBMv4loaRkLJYeNVnmtNNKsQID3Pdl1QEuN6DVJrsgopcKsT97lopGRamN0zlCTUFYRHWfCivCr5VvPF43Zfy1UyUluYtw0Z94pO0GlAQ43a5DrRrS5PzQ0DAXKmwfGylmMmPjD8HOsCxHd6nOFxnUvAdiJwKG1VfM9I3etF2IK--5zMMPShKo-3X9Q0okKeIoNaEfasgVOEKnoDUyKftzLYCRjs9BWVltDnVO-WRfu63Z2MPDbQ9AFVfGvDiXRy5c5bSTRyObR6JR8A-X5wQgfETR6t4C9Xblzp1bqScxoajFCkb4cAyHQBNOgeMgKzH82zChuNZ9UFwlLtcm8-eWFhgB1ru5QN_IknzAQQ0rZViTtwK8ZPvrDyXZYWHKf0fbEaItjGksZ4VJAfhhUp7tA2mJ1yyqB8IaQZQF6A88k07rW2r2Mcm5dKo2P-MPAAc4AFIV0o6QPl5yE0xfYxfFppiW3fo6rgdPSHgGnLoxw8GIjZfXGvM9A0st7GB1OQokRrobwnC8MQ4Mzm90_lovX1orkb9p69vmNHHMvh_bUXZ69gh96Zjvv6tgKDqBSHgW9UQaoztR3qnCLqC44LGW3pPpgCo_ctRk7qvJDBySbWQDCYsgBajfJ0e_B40nkMnCRR-hC7cWK6gOZry73O-JNF7P80QLSVt067clTQocYxxiMzNd0icqMbihj8-3HcZuqAV-3aaiXQowUPUMSOLceU0QTVyfAq5KOAAl1FrrGkWLlfhZP-G1quTkjBzAjoDVgVA0K_7KjpRi94E4UfyPJY4oXVHuCv180RFTkViDdsVU9oPLtF1i37mPhM4zUfjgzEOJMB7L59IHf_6YYC-4Pk0TeCaF9C_kNcwLnOa5G03j6lMOaJMYh4GiXTrEpCFs3eza7a4qAxP0y_EYIODYBE9GlrQhbRxPcaycOJ4E1Iavec6dZphLdehuQi1At-hzdK_v6peVIQCMXQ_C654apaUvD_hk0iBAfUBFyAaJQb4yDq-AoZijMAnakSODXEECHHZOHxa3uvGwtuCkqVD-97WZXhlCJ9MnYQbUaW7lDgXuc8HMWFyZf4AqxEXwJzFzj_qcWFALry_wgCnF-vSTV1k9kY5yz1jJ8luVKfdatxgtpo2ikeGJyBfZzlm24D90oIZB1nveaIKLdcyGvsy-sYTIAyIC8wcJ0lQw2YFrSd04Fg3ePSw52-ZAIaataFUF46z55wQy87GyhEa6zCTN6nMHrwUXuZGu-52ViPPj0sNuFasGXsycsgXp1UDXoYqo0rJ9lBW8zD8lKYZWyOUHOBy8ocN2ry4iBhqKuTNPKFbzVREhoFZjF6pIAsx2WD1k4OYqdx0YNq_uyRwVzasLstgO-0b2K-t33oNqPEiCkGQnz2K3tKpT3WJT7oeBeUou7XYzfav4zW6vQpjfHf3xH_Xe1JgWxR25bSnvlg_m3nNisTUx4elz3WwqMFzAIYoqzotxCs1CBLwiRwJp8zP7mtrmrJVRh-DJFhe-xkdOTLaqqnn0Qg5yHKnN5wSrxbVcwMI-qdyO50_1DF2bFvrCLYaDUaamZ3uXlwcy-9opUUhdNrMEs61Vn_l0CE4Uz6HpbuxiS3mfRuzat4Hzg48HgP2AmOcVhUDboUEKpMsvAMcWvRCUf0S8oWAr5SibMBZLHK631UtMXJAOkXW5MzTW5N0QGyPKh-nkOC2Jj_9oSl0b7s-LLhlD7DDfDYkWp_Fi1S1RJeEL_zGExSX4Y-EbGJ1iLVy2MVmv0m9MaycKyMzs23sWqXTLfy6Vg6Y=",
  "id": "rs_08d034dbce856498016ab447f522a887d0a563dc02cfaf828b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.39,\"right_z\":0.18,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The purple bowl lifted successfully, but the overhead and wrist views show it still about 8–10 cm closer to the bases than the salmon bowl. I’m advancing forward while maintaining carrying height to center the purple bowl over the salmon base.\"}",
  "call_id": "call_cT67Bt2LWx0UMzjg6tEd1PGC",
  "id": "fc_08d034dbce856498016ab447f6df7c87d083c465565db120d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cT67Bt2LWx0UMzjg6tEd1PGC",
  "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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6254, 2.7552, 2.9585, -1.5673, -0.305, -0.8383, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.4056 right_y=0.3628 right_z=0.0864 right_yaw=1.5219 right_pitch=-0.6354 right_roll=0.066 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -1.5385, 6.9538, 1.619, -0.0562, -0.0366, -0.0122, -0.1162, -15.4872, 7.3368, 0.652, -0.4322, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252f06e700c9981187c1e32103a9ca8da102aef84b2a594131e6370c4c10c1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3176280214375ef3e2970c0e3cf88c0eb6b0d9e7291f27752833053056897c99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e6f3f738c4bf4e6382ffddf483cb1e47bc5b4540e084a5a4f96cb40420e8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.59 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]: [-0.0196, 0.8379, 0.6037, -0.4343, -0.0227, -0.0261, 0.9995, 0.7971, 2.2234, 1.6569, -0.6704, -0.2417, -0.7193, 0.9985]\nstate[eef_state]: left_x=0.2894 left_y=0.0019 left_z=0.157 left_yaw=0.001 left_pitch=-0.0965 left_roll=0.0019 left_gripper=0.9995 right_x=0.3154 right_y=0.3885 right_z=0.0128 right_yaw=1.5033 right_pitch=-0.5913 right_roll=-0.043 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.1966, 6.9675, 1.6239, -0.0611, -0.0415, -0.0122, 0.253, -11.0838, 6.065, 0.9792, -0.1734, -0.1392, -0.1636]",
      "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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0257, 0.9995, 0.654, 2.6953, 2.8368, -1.4864, -0.3008, -0.8188, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.0008 left_pitch=-0.1125 left_roll=0.0025 left_gripper=0.9995 right_x=0.399 right_y=0.3763 right_z=0.0873 right_yaw=1.5239 right_pitch=-0.6271 right_roll=0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.7026, 7.1043, 1.6484, -0.0855, -0.0317, -0.0122, -0.1983, -20.9709, 6.2701, 0.906, -0.4078, -0.0171, 1.033]",
      "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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6254, 2.7552, 2.9585, -1.5673, -0.305, -0.8383, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.4056 right_y=0.3628 right_z=0.0864 right_yaw=1.5219 right_pitch=-0.6354 right_roll=0.066 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -1.5385, 6.9538, 1.619, -0.0562, -0.0366, -0.0122, -0.1162, -15.4872, 7.3368, 0.652, -0.4322, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252f06e700c9981187c1e32103a9ca8da102aef84b2a594131e6370c4c10c1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3176280214375ef3e2970c0e3cf88c0eb6b0d9e7291f27752833053056897c99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e6f3f738c4bf4e6382ffddf483cb1e47bc5b4540e084a5a4f96cb40420e8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgA3Kyw0C2rIxz2svIklsDZVVf6fWUvOOLZnynM_YaUvYR2nfVyorT24Y7EcJCy6m0qIBkvQDFrjI-tGKbzDIBje872PNAaI8ulFKex4yEFerIEz41oF1r9JVnWTzD3XbgBJpa_BiMqNnImnzBpIqngZ6PA8T-1Cdv8Yxx0krvd7TyPKRL5337fEyQJTC58Xq9gccDkTIa-U2lIdlkeynjEsVqMioECU99h82Bqfv-va6ohDt8-i-EkOFc9S4zBCUHpp2eDTZCBHg9LG_ovwI8_QKUKcX6FfAU8euASCsfPBFNfM_WdN7_r1SMdLJ8zA_2din60HTC2XO5cItyEVtVH89XGWL4dXWoTBnpQDHb7wgO-JKEZlQmm3MrTSU_y3ffzHvHXmyTsEwcwhKDsWIGZ08BHT4LU7Us2zb31qaocE-pnLKOZ2tpSCg2rcCKGD0NJlAk4qnuk35vw4-VAH2D2rsjG2HDRSzCaBACGdeZjUoGqncXWaWOgVU5ZHflQNVI-OmTjgG1zILRiF19pShUkAVIRr4IV0AgG0qTyIoWnwjiV8T6srUAFR7xR6UOeAg1qKSrEaJXT_hkos1FGmsHWYHX9CiFqDK_UxsoA9f3MTqPLCdDvatbdkyI1m9vmvUb_AwdQdQfpz6nlZxLr1zE-4IG4YVq_mg9GSFQZa7JLt17WcLwYX6EPNI0ZW72Kwx6MnFyFnJxIRILnrJQjReAxXLPpem35Sy7YeaDQQCsnDwEtxlM7Mbh-QWswlXEieebvE5tFK58Q0Ugn-GMUUcvMagnOT03wdwha8H765hTNT5aBxKFbHuuEeGLsj0RIANKxXpSCDCImk9DSVbjZFb2S45gF71Aq0KsKLWN9szNaVjjiSIPYy-No9c8FKEvvN-j4mYMbvBgv1IsT_zB9o9gwYKwdDFxAXShrxOOcPXAn3I0vAnPyUNrbeia5I5aoa3um3D--1B2ZnejqlVH6LuukJl2t4Bf3OtGGQd0gKZdNNEZijc4XPLCktzavpiI3L3_YefKtNBpTmlrSc2lVTdInCFbhzbPeaoEeVDLhoPEfm781F_FNQfJ-Y1_q5DVdjVoA67k5DLgQY3bM4bRlR9bKBQv_eR3igA2phgxuQAh20lC3gGOT9IZG_SS2HGyHuBCGgjmfd7i3KY5atNRjvDhtyBCK0_pBmfS_rmMXtyNaHgcukutapPeZwFpNCdcnXrsfn5AJG46Kf0BObU8DgcC919o_rPyDdwPtA5SX8yxs0DE7lgxhWGjFFE3hrKPk1CoXQcFIQUqcN77qLiCqpZTOT0BT9x7qHSBKtbjdpDJbIp-6TnDVmjU2tMlJqazAzzOcBQ7PDVJafGumG8E-HLHBV_br7541g0uMV5HXMnRcNbDj4xxMd40o4l4WBV6W_4yRtOu5Dk7v4aGZWOFar-yb7C5M4iPJC2EhT36njiKUdx5JNIC-6Fdojy7VB6KIB_t8cDg1o1FacjT0xo7mb63nBVQsmyY1lv7BRFGJKqe91yxhDmv2BeJJh9_4zMPciDTClJ6HbG2x57IcltmkSVN10kXQ9ttLgh8bLabZPk1JDcyTcEHox_ShocDqAHNcc8mY5ZyrM6_1GxgSY7DAGBL8LLYlXmgLYnGhMbj6bX5rDEjavwQIWYDruy2afmAZS2ooRDNI5GW8P7ebWKq_sZ9imhOmtKamu6HuiqtjnnJ3-sazbgcOqpKk-_s5AF3hs2ySmI8u5TWp68ZKSDvIDQEfVKPlz2io6RWYxqLYI6Et9cOHUmEtWjV2LG42w2vPd92LmLi1wMeAmMEzDro5F-iXejHMLV1dJnALfOkuClEJbC6G037IQICnlQmtNPladgBag2rElYJVoC8aow4olVKnOxwF4ZZtPRyuheWzbYG45IFGrSzGXK8Mvgya_pKuHX-esFvEtxucc67IJ9QE1VAuCT4I-rebX6FsH2pfM5LCzmDAlB4tp9ws4yPPWkYEf_kjCC4_p6srsfIGWQ4jxeffEYajsEukWV3vqZ2idXOLUQSdqBTb_P03SZYIIZMNb4neyJJLwXOlNi7HT3Bt-MHop_e9gB4tSqt9K67E-32gnzlrRnUxsc7kNr9R96GqPW3S7jID2XcuTX4noK4d2yz-PcO4za1i9nsFAgkGz3aiZgmkgGp7629ktlVgG-VXpj4N9F2UrEnVmP78OhkW9g2p1NeAv0v3GMz2CrX2johXD6-xgcobYwlzLHidTZuF4D5n7sq_wh1r7A1JJP2ecDkmCcJz5ge9CosIiKD_4fJVwTfHsDmcK_i6LVRdl5gR5PPsRCSKmvBMa3kNu-f1u2xByAS7hwkACTRQYl_BqdKt_cuJtE5RwpaB9Q8qRGrdjt6qry-CXXrYwlBLhow1a0m9uaK8XlsojU0vPE-bJYYZRhUpZFJ1V3yAZemYS5V_OVmiBtw4esx8MMz4Br9yrE1aab5XfsPhvtChWwtlL4pe8wFQz-v8uX-FvDFHagR65E0VtE7mqsQcFt-liqKbiz0YqYSiznTacquE14aYSOiiR_gE_y9B10_hrouxaAQScobM1iufp9IH8mvkc4NcOUucR8Mos37tfAdL7nhzkT2HYaIBc3_Y4Rf-2M7tp2iaFn8kKZsrMXo2lJTPd1ouYoBEJEKBwD7ckaKNbVGNVwWIyimGsBp7DpEkKnzAOalP21c9Lp8zkDpwVuIh3lmZu66xxOHLxso4grzsQrzyROsjJ-RpSDleKzoNCvnRQL3mP_iS5ZnUJtL1w7ansp7gYswoAzY6ylFQ-uywNff19bWNr4N5eCkWPHTcQQhSWNVmIQBoQiGKUnLCDnYOrCWP7rFCZJoLImYpv89_Qejht5FNtN1OlG1PnnBGKdBatJEOg0yW-lu-WA-j9-1hdp8QzAO20U3fEWR7ciolmOZD-nJvQG2XRcci5xHFaaw5PwNRGojVrUV4zBcOmylOqjz5WbFAvIjC0A78i6kHsYuf1_-SUG7Hta-OvE6matUcPM04GiqI85NTp0WxbRGuitY3Qa1714bHxikf6O3whCNCEEeTINSrTyECTRBpvAiRKuRrI78kqTCM1_0PlM9Cwt7bItsjrDCrW79Svak9nguwFNF86gqrBCY7UdIlkUEFfUSpYH6OIhn3tK9-zIQT15Fvsli18c6uDkYkG9JeRqpBg5BJ62KvFDUmvsVTem6V03Q_o4JwQ785HQDXCD_RrqLj1uM6h5AKuhxgR9poj6IrOzQm83O5TPaaBFNVsnmTOh_IkbYAbpXrIAfDtq7OCqGfzYTUcE0zRiCyUQUMF1J0aQmr-71EoV53RYYjQIS7VCkfB46U3nw6JerFmiBUCmmXVDr3bYOlbWf41ruv91H89JZkGhg=",
  "id": "rs_08d034dbce856498016ab447fad6d087d0aa29fe1561748e65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.36,\"right_z\":0.28,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The forward command stalled at x≈0.406 because the loaded arm is sagging in a low, awkward cross-table pose; the bowls remain side-by-side rather than centered. I’m raising substantially and slightly easing the cross-table y reach so the arm can unfold before advancing again.\"}",
  "call_id": "call_JOG2XwZf72Sc9JnNlrKcQDoA",
  "id": "fc_08d034dbce856498016ab447ff15b887d0bb0c79da4ef5d420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JOG2XwZf72Sc9JnNlrKcQDoA",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6331, 2.3501, 2.5488, -1.5723, -0.3046, -0.804, 0.0391]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3539 right_y=0.3299 right_z=0.1732 right_yaw=1.5117 right_pitch=-0.6431 right_roll=0.09 right_gripper=0.0391\nstate[joint_eff]: [-0.1026, -1.306, 6.9538, 1.6337, -0.0562, -0.0562, -0.0122, 0.5402, -18.3043, 6.2291, 0.7448, -0.3785, 0.1538, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612c6758dac20ff527c218806a3888af814ab13e26143e73e24008c495b94e88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0e0f068644893c8c561609fd55c1aada7912ef03d1c3881e2b2c278c2bf4ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974e1e0ae58dfd8db80eaadc1d9a795d7e0d133b5c1377307551a33c2da97ff9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 6.803 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]: [-0.0196, 0.8433, 0.6029, -0.4416, -0.0227, -0.0261, 0.9995, 0.7979, 2.2158, 1.6569, -0.6754, -0.2855, -0.7078, 0.0384]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1538 left_yaw=0.001 left_pitch=-0.1098 left_roll=0.0022 left_gripper=0.9995 right_x=0.309 right_y=0.3932 right_z=0.0179 right_yaw=1.5302 right_pitch=-0.5618 right_roll=-0.0023 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.5932, 7.1179, 1.7021, -0.0464, -0.0562, -0.0122, 0.0342, -11.5761, 6.612, 0.8962, 0.2515, -0.0904, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6254, 2.7552, 2.9585, -1.5673, -0.305, -0.8383, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.4056 right_y=0.3628 right_z=0.0864 right_yaw=1.5219 right_pitch=-0.6354 right_roll=0.066 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -1.5385, 6.9538, 1.619, -0.0562, -0.0366, -0.0122, -0.1162, -15.4872, 7.3368, 0.652, -0.4322, -0.0024, 1.033]\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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6331, 2.3501, 2.5488, -1.5723, -0.3046, -0.804, 0.0391]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3539 right_y=0.3299 right_z=0.1732 right_yaw=1.5117 right_pitch=-0.6431 right_roll=0.09 right_gripper=0.0391\nstate[joint_eff]: [-0.1026, -1.306, 6.9538, 1.6337, -0.0562, -0.0562, -0.0122, 0.5402, -18.3043, 6.2291, 0.7448, -0.3785, 0.1538, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612c6758dac20ff527c218806a3888af814ab13e26143e73e24008c495b94e88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0e0f068644893c8c561609fd55c1aada7912ef03d1c3881e2b2c278c2bf4ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974e1e0ae58dfd8db80eaadc1d9a795d7e0d133b5c1377307551a33c2da97ff9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_08d034dbce856498016ab44802d7bc87d0a2991c2fc814605f",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.36,\"right_z\":0.28,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The higher pose unfolded successfully and cleared the purple bowl well above the table; the salmon base remains forward-right in the wrist view. I’m now advancing at this height, where the arm has enough leverage to move the held bowl over the base.\"}",
  "call_id": "call_MOuumln5w9fGJQk7u018TdmC",
  "id": "fc_08d034dbce856498016ab44803257487d0b0829b13c0f8d2cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MOuumln5w9fGJQk7u018TdmC",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.5476, 2.4077, 2.6255, -1.5848, -0.3233, -0.8684, 0.0387]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3875 right_y=0.3062 right_z=0.1678 right_yaw=1.4776 right_pitch=-0.622 right_roll=0.069 right_gripper=0.0387\nstate[joint_eff]: [-0.1573, -1.5248, 6.9538, 1.6825, -0.0708, -0.0708, -0.0122, -0.6496, -11.8769, 8.3487, 0.7888, -0.525, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c73a602328f168cea49e6fd2663015adf8cef3edfb54ee90fbf46ced8d62969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324bde338f508dbc21acd0aaf6ed20a677111e40baa7479b5c26ae8c5a3d8dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ab7db321b53329ee241b4e48bbd31f6a96f244d661294a9540b2bc7a68dfa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.413 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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0257, 0.9995, 0.654, 2.6953, 2.8368, -1.4864, -0.3008, -0.8188, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.0008 left_pitch=-0.1125 left_roll=0.0025 left_gripper=0.9995 right_x=0.399 right_y=0.3763 right_z=0.0873 right_yaw=1.5239 right_pitch=-0.6271 right_roll=0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.7026, 7.1043, 1.6484, -0.0855, -0.0317, -0.0122, -0.1983, -20.9709, 6.2701, 0.906, -0.4078, -0.0171, 1.033]",
      "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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6331, 2.3501, 2.5488, -1.5723, -0.3046, -0.804, 0.0391]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3539 right_y=0.3299 right_z=0.1732 right_yaw=1.5117 right_pitch=-0.6431 right_roll=0.09 right_gripper=0.0391\nstate[joint_eff]: [-0.1026, -1.306, 6.9538, 1.6337, -0.0562, -0.0562, -0.0122, 0.5402, -18.3043, 6.2291, 0.7448, -0.3785, 0.1538, 1.033]\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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.5476, 2.4077, 2.6255, -1.5848, -0.3233, -0.8684, 0.0387]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3875 right_y=0.3062 right_z=0.1678 right_yaw=1.4776 right_pitch=-0.622 right_roll=0.069 right_gripper=0.0387\nstate[joint_eff]: [-0.1573, -1.5248, 6.9538, 1.6825, -0.0708, -0.0708, -0.0122, -0.6496, -11.8769, 8.3487, 0.7888, -0.525, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c73a602328f168cea49e6fd2663015adf8cef3edfb54ee90fbf46ced8d62969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324bde338f508dbc21acd0aaf6ed20a677111e40baa7479b5c26ae8c5a3d8dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ab7db321b53329ee241b4e48bbd31f6a96f244d661294a9540b2bc7a68dfa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgMmaS9ICjdPnZatNy_iGYTwGEhqAsWk1hyrqGTBD83ExH-ZcxLx7hcZ7Dd5-rVnPf4e7UMayRkvKVq8UzKP1xwHHUpitWW8qqYK8tFxJTHtvSzuw6pmG-a9PECUvMH0610z59kFIN5rRp1oS50e-iF5N6_7mxTWD4CMdEYfC-RBSBVNE3moLu-qXgyKGohLx1Mq1xkx061_QU8eUn-yrw-nDRw1gkTJjSwfFQ29w5ibGJ9IQ1h2wcAPNaABkt3jThIV6c7w4-zddVG4tRFyXkT_p_dF82acxThpA074k8gmXp7K9fydOUp0IDPFkVUFiotuYCgKwQxs8gyQBQYAnMZTqk_muev3dbQl6ADW5rjwJ41DZqkxvoaSn9FwPSPGRfaWCRj74Cg2AXkHyLYJXw3rgU6vSuc_Dm0GWanc7Pnp6ssFgi4dbMVTORi3ZB3fl_wmFyEgACJYJYEf9JNcgETbWUGWa11GX2dPk2kH_T4VZfDSU4d3QJzI3Z28YYTr58qjSjPFvQ5hVfM6PmN7r7obunNa4KiRHV4wiJT6LDbM1j9I20x5WGEJWhtJIwQYBxQbFnxXJGUOiKorRObTzrZLxmYJZQOuXDkBP4pCOtfO-nM1HzDXI33Jw7aKh8ZaDqn6Et-Tu17Z2GI7inW0qWwHTOMUIaeFPtaxtUlW_2aAwLzetuerPi03Y88kRgu224vSh3Aw136uQO7eWZ7rj2HqgCsZ_dAsPkyCdSl9q9wom-YGx6qaBBE_1oNgd6uOXdS9Uu6WNMe3pR0VzlV649BQ5RmSmNZh926aAd70dPfuw8hRE3X7QtsTe881GxAu8GceMuXV9g6x4ELeGcvrDAh6qdi2_BsKfEOb0aC7xmxaXk4WsCKexMB6O-sIvFJSrqj0SgjaFVXo0pEuT4AohRbRWoP9a5fnQiWlNtN_C4qJIGmtR2kvrfnyaVTABITmHqYdPAcHokLMn92OD0sT92ZWu2RtIrfnPmeNCpEeatHGt7LtZiSIqandjy84JK6kwpV3bipt6qPIQJRNa_82QEFGQYuTJtTLG_CEUhVrz1R8FE06INT6YKYfeHsTWzwLBGzqUK1SAM_UqVXs3TkcP3cSZsPYQOM9GPJU5wIHJtD7XpRb3MwaRHIOpvZEPQRspedrFvpQRtLTK6hNeoa02InKokiXmsCPwUdsZDJSIl9vDKbTZoWKIxO8W9pWShIviISdwR6J-D2Bv8MYWiX2RVA4cLjEEuTuSXQcaB4ouTMIeUlMY-DdzFTuPiqRq_lmfeMhH01KpV0tbaHVsM_U7KxJaR32vk9fPVZF_wPsCC0wbskQ_bWTIp3fm9xS9wkJxX7rowcTwWzv90Lv-2hMIsif0hbCvYlq8BfJ_BY3TL5peySIyUyVjpIssOpTq3YchQSLDCTyC1LfSFVU-BT5V5BkkpDrF9ELsC6dDe2Ed_jKuiw9VTu1iO304pdRjafL0_g2BSTABqkOal6gOKwDqpcgyhMBp2MSoqPH-RxnfB0OtFcA_ieHfj9xW0Gk76EEYOmbYUsJ9EXCiUC0eK7irAMchIWa83Ysr0Ivb5e849dr2REZn1WvBgNtg2GbPIe589Tr8514kV79bbKJG1Cb59q4I7K_WfXIQ-DfvEV5PJRLlbY1r1e7mBMgbX8OeKiH44SwlKoi4zjrf8Ib7ibO5On2NCzQgzDKlgkO0zCBkUdmDm5wj7n47mC2FlLKzzDTTrIRij_cpa1kGLLsYvqmhmPO9JrqP5bJ4lks1m_TJY35uwJJoiJrKoqW6dxvKHTe6Nx-OhHBusiMRiKrzGB13fzOH97I9n3eLfFUf75sWag1nW-J8MUk08gFa5Ri28iEx1SA7YOYuaTiiLV3a8kH-1ifh4JPMdYzYbHeEHpZZ_1VPPQDnWI_MZyLjZgBTFqysDCQihbkIojNjZfX6nNjpZVULt-qD0p046Jdv5IIray4xz2W4hjHF-eG5emvW1EeniMcCfHZp7ZrIaCme4NfPRahTV8q7YIGd2JDcWODrSBKOVS_4d84CMJ1LUCCnTi9P-hjXfL9oWjFnafv4CfuyCvnRqV1apTPDUS_q4YKJ8aEGZf0mvtjXAng_dOyJvhO7Bn680RrVSugsWB3cEupxzanaMbZ65_rbYHNYWvs8TvaZWqffazYc2W--u93NUo3KOYMWv1dof8vceBIe6Ag26G2elhovcRu5vS2OZxEUE9ieiTwS7MNMcsZgPu6su0oMoZwvVzS5ejngilz1v8RZraEjQPLFhihjZ7S_BH0THuPe6j7GD7yuJc3x7X9OUK2ILXKi5_wuo4qYC8V4Cu9Q_GTpfevbOPk4k9dU4wZXwaE5pizqxevhHC8wz8si8SDc2VG8I88HlmSsYiYpmeED5DlTV-sv5VzjW7MmgxMrhbJmyOxY5bzcViVK61EwoaaI4A3UR98bYOA0WNtfBOYuaidArXCFr_euF31QkD8hSd-DtvKHXt6c1sqYSMqkwgS-jdernvNcwsiJwTRhLObmsOqDb77VXz1974Ju1HQZ7NO_n4T9mxbMXlp8nRWWcHlhh4MkLbWAzOWvt80ZHw4qmbUkN8w1KslGQrIL3Wj9Myxl8plnVmxcJJAlGsYwbtZEZ78elhbYXAe4hOdjvf49u8iFOG-7qyOgKirsLOoDHN0RTXv1hdyVUA7ldSOaE7cw-SJWhFpwqmQP24Mvnh_PgZvZcmJLNDTjEzaezEuAWobu8U6iIT4I43dgdkPUixwZRvfcdgJHory58Vep-Or3CM8D64mmmvdyCQxThztnAvx7jsKCpXwO4Hs5AIiep7fBiVSOkDeg0GFdZFx77k8fM16cq4hLipqyMq8kDj2SApb1k_imtA3Jh3J3PWSxhzhyBJxm1dDQEPPYwfUccfPK-o6Hpb6-W_146DjVL-jeb3axUoJ1WmDqomOtVwGb_AshIJohPUcbPPppWt_YQTjv_XiMFtVUinG4tx_2sFIoseZ2Fa1m9kMC2vPoEmPoAvpaGmBuKTqu1LZhRifH9xoh0XZtGrNJkRbIdwifr8oMNc0c5r4ojRilMGA2i165EJe0RBK0kabHVc3m6Z09YWiSsgVeqevY7OKKpdN5txo_tuZPwtgaQH07ywqOqWqO8UmK-pzFQ1nElni-cJe-87CIDU2_54lscKDHfdIt8KaupJok3egBDRR4Smo0jS-MgtCt4YdlC_pN3vXSuBfi13SBuiet1eNfJ22zybOR97xCKEyJnMVFDjbipM9FL1uw6QcPMScICFe1uHKriQ3wOpx9dc4w==",
  "id": "rs_08d034dbce856498016ab44806802487d0b518d97921a2c624",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.34,\"right_z\":0.14,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The raised arm advanced somewhat but remains short; the salmon bowl is now upper-right of the held purple bowl and their rims overlap in the overhead view. I’m lowering to a moderate transport height while requesting a smaller forward target, aiming to bring the centers together without the extreme high-pose reach penalty.\"}",
  "call_id": "call_OLV99pUD3nqKTFnTXXfGxSLW",
  "id": "fc_08d034dbce856498016ab4480acb0487d0be31782eec45dc43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OLV99pUD3nqKTFnTXXfGxSLW",
  "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]: [-0.0196, 0.8501, 0.6029, -0.4526, -0.0227, -0.0261, 0.9995, 0.5152, 2.6606, 2.8357, -1.578, -0.3305, -0.9173, 0.0386]\nstate[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.1499 left_yaw=0.0011 left_pitch=-0.1278 left_roll=0.0025 left_gripper=0.9995 right_x=0.4263 right_y=0.3113 right_z=0.1022 right_yaw=1.5034 right_pitch=-0.6348 right_roll=0.0884 right_gripper=0.0386\nstate[joint_eff]: [-0.212, -1.6752, 7.1453, 1.7021, -0.0611, -0.0513, -0.0122, -0.6222, -13.5453, 8.294, 0.6764, -0.4078, 0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b087f2a332fcc7d4f394b323e9e30ab03e79f92f0e6e4a69b3259183d39f0a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0d40c3208d7aa6ea63d5fc62656769420b2f3d2dc9227260f9967159121820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f26e1383ed67d42fc258e84e0cbe875a77fd273c048883a033739c4ac20033",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 6.93 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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6254, 2.7552, 2.9585, -1.5673, -0.305, -0.8383, 0.0392]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.4056 right_y=0.3628 right_z=0.0864 right_yaw=1.5219 right_pitch=-0.6354 right_roll=0.066 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -1.5385, 6.9538, 1.619, -0.0562, -0.0366, -0.0122, -0.1162, -15.4872, 7.3368, 0.652, -0.4322, -0.0024, 1.033]\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]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.5476, 2.4077, 2.6255, -1.5848, -0.3233, -0.8684, 0.0387]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3875 right_y=0.3062 right_z=0.1678 right_yaw=1.4776 right_pitch=-0.622 right_roll=0.069 right_gripper=0.0387\nstate[joint_eff]: [-0.1573, -1.5248, 6.9538, 1.6825, -0.0708, -0.0708, -0.0122, -0.6496, -11.8769, 8.3487, 0.7888, -0.525, 0.0073, 1.0281]\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 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4526, -0.0227, -0.0261, 0.9995, 0.5152, 2.6606, 2.8357, -1.578, -0.3305, -0.9173, 0.0386]\nstate[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.1499 left_yaw=0.0011 left_pitch=-0.1278 left_roll=0.0025 left_gripper=0.9995 right_x=0.4263 right_y=0.3113 right_z=0.1022 right_yaw=1.5034 right_pitch=-0.6348 right_roll=0.0884 right_gripper=0.0386\nstate[joint_eff]: [-0.212, -1.6752, 7.1453, 1.7021, -0.0611, -0.0513, -0.0122, -0.6222, -13.5453, 8.294, 0.6764, -0.4078, 0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b087f2a332fcc7d4f394b323e9e30ab03e79f92f0e6e4a69b3259183d39f0a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0d40c3208d7aa6ea63d5fc62656769420b2f3d2dc9227260f9967159121820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f26e1383ed67d42fc258e84e0cbe875a77fd273c048883a033739c4ac20033",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgQsfiP3RxCNTiSyqjRpydtAQ0jHhcQY2xLZrH0ZFIwAxbGX_6T1PYa2ORhIbt4HmkIZUWG5ICCTttM2VX0hyJRv0rNoMd1iHc-fc6Am88-lDIb8kH4iKzDI4AznASVUZeZ35zudolqMQYL-eGL7IJub7iZStfqFiXVeNfCyc9B357jvbvwEdQeOf2OzF4ZZKuh2ZAnorLg7ejY_GP5PpGqYyr6bSQrj2aqTRieO5oljB5QrEJzSDV_dPNvDxK2ki8HLyCEJLIHbuf44YcE6fqm7r4PwRxEpOn9aKyCwCyeIzO1s-n_xXwINOitsv7B4ckYZRsv7dI9WdJE35aYzPNRwna-_tWvbg3f4oXSdFKY8CLTXTPGTtLpsDA4RS1J9pZxFLG_P1rQXPn65S6nHXdl1SAEgzPSJmdppsmhzuVijslLQ1NF5gqdy_fIMSUK7IULnZtejP8YvNCxTmSu407qkZ0qyx7TPf6I6rd4OyHpqI_BcNQSnh46DwdgOpMNrwUQyNTcYm6LWFKiwgGoDf6hsLjBZsUnRgcAq76gp3m7owYwFowzKT-fdL_Ol4ec5USH-fX_JMrZhqUsCVhLN4qwCx4GtT5HZlr0L2HYBDNJ6mY8tbOjuq5fltb7x1qfl2DRJrAJd2tKpjQB0nUzXQk-68bNaVGk1rcaXJqviCmiY5BoabLn_nC3E2txQvtdRuuBhg5ODm8uWV2AUvlBuTVXVctCf9mZgNBRb0704lmeUea8SbHahiJvErOXPQPkbvzB0K0PIwYu6XqWmcFjdGYjltCanCX6AyS5xhQ_RdrjSOydA6wLLJJ8BwSrlaMgqP_rDsWrv0h-IbvDKlWTB4cCRMkWikOghk0YJ8Uc_Wvxi83nT-zg6gSd7sgs95LSs8uXk-jLk2aZxiqEgTfQnQ9qC9FTuFwH5uJgobVU0cY8cnXtWaNGgMMr8dm82c0nJWthu4X5BKhYzuRXoexygCcHob5qWygmm0Zit9fz59Mjq_FGLnaq9kcIUPfbKYYaaBeOmVmyYDNBvWtxCYONrXf-Xf8L1FUrYjhFpqHIRAjpKZ4H-buist1535x_KMjHuFaQ-9eyBnnGHXPxKSmmazay_1R3mvds61mh0Vjn78KYTDhj9qTfqsbwNf81k-o6gpyzhDyH603kx9RC1aLLPBdjblat2I0cQ4Ua4tz5q1oqpj3pqX8Ph1UymZiG_cbML_uymf5hge5un4G5Bm93onikK5Dh7e4zR07eLegXv3W_WIb8_EC57HJTw1XOBD86c_J4e-Md4cd6IWtpvn9MEaaAcJLevvLGGOpW0bKGOCub3lzxkNzqzsZgkvYIG1wbfxXXzUFeuGgfUPEnXNw5LUS6amWJ5V3F43oY0soHoT25Ubmk4asTC30lyBF_-Wdg-brRGVmmQk929EmKkYpWdiibWYXs4Y5b2NP54SUWyij0h3kurtdPvz9x95BJBFuuIGMgLhMUJe1dDSDwoNv3xGLefx-BDFwMD9HVwZIVlaU7KferVmk7hQiQV6DOoMM_Itas1LbeKE46wS-gbDMlmuTov8zs61vz8mrxvavCZ8unvmpmZg43PtMSEVuk_Y1lXpqlZu0bWwsae1eDRdlsnmeUDjCYycfECdZ7akZLJKlpSjqJzTO0f_9CmG9m9cU6brZFyRPvEra9AANRPycbO96t9SkXD_wlbmp3_zpDOU_p3SCsACuSYrNFWClPZ7UGWJsegDwzo4JMDvHvD9_AAZoZmw==",
  "id": "rs_08d034dbce856498016ab4480e019487d095790a8e746c2334",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.14,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"At moderate height the held purple bowl now overlaps the salmon bowl, but the overhead view shows its center still about 1–2 cm to the right. I’m shifting to the arm’s leftward y limit while maintaining forward reach to center the smaller bowl over the larger one.\"}",
  "call_id": "call_X2oRBJaM0zNt4OSnFSizkCXq",
  "id": "fc_08d034dbce856498016ab4480f5f1c87d0a9c2492dd7298310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X2oRBJaM0zNt4OSnFSizkCXq",
  "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]: [-0.0196, 0.8501, 0.6029, -0.4538, -0.0227, -0.0261, 0.9995, 0.5957, 2.6896, 2.8727, -1.5429, -0.3302, -0.8371, 0.0386]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1496 left_yaw=0.0011 left_pitch=-0.1289 left_roll=0.0026 left_gripper=0.9995 right_x=0.4104 right_y=0.3517 right_z=0.0991 right_yaw=1.5052 right_pitch=-0.6135 right_roll=0.0812 right_gripper=0.0386\nstate[joint_eff]: [-0.0615, -1.1829, 6.9538, 1.6337, -0.0659, -0.0513, -0.0122, 0.4171, -13.6274, 8.1026, 0.7937, -0.3199, 0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c852e28cca5b450801e1a37282449b054bdec9d12efd2945c317a651bc5a569b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bd2ece3e2fefe87731ec74344ce9e06258c271f2fd9ec65b0984ab1c865347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7379bbcd99f91a529e5f42fc0d052a8a0fd98e3e0826be18a8261a461ff7f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.955 s

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

message 150 changed as sent

message 158 changed as sent

message 162 changed as sent

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4419, -0.0227, -0.0261, 0.9995, 0.6331, 2.3501, 2.5488, -1.5723, -0.3046, -0.804, 0.0391]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1531 left_yaw=0.001 left_pitch=-0.1125 left_roll=0.0022 left_gripper=0.9995 right_x=0.3539 right_y=0.3299 right_z=0.1732 right_yaw=1.5117 right_pitch=-0.6431 right_roll=0.09 right_gripper=0.0391\nstate[joint_eff]: [-0.1026, -1.306, 6.9538, 1.6337, -0.0562, -0.0562, -0.0122, 0.5402, -18.3043, 6.2291, 0.7448, -0.3785, 0.1538, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "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]: [-0.0196, 0.8501, 0.6029, -0.4526, -0.0227, -0.0261, 0.9995, 0.5152, 2.6606, 2.8357, -1.578, -0.3305, -0.9173, 0.0386]\nstate[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.1499 left_yaw=0.0011 left_pitch=-0.1278 left_roll=0.0025 left_gripper=0.9995 right_x=0.4263 right_y=0.3113 right_z=0.1022 right_yaw=1.5034 right_pitch=-0.6348 right_roll=0.0884 right_gripper=0.0386\nstate[joint_eff]: [-0.212, -1.6752, 7.1453, 1.7021, -0.0611, -0.0513, -0.0122, -0.6222, -13.5453, 8.294, 0.6764, -0.4078, 0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 162 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4538, -0.0227, -0.0261, 0.9995, 0.5957, 2.6896, 2.8727, -1.5429, -0.3302, -0.8371, 0.0386]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1496 left_yaw=0.0011 left_pitch=-0.1289 left_roll=0.0026 left_gripper=0.9995 right_x=0.4104 right_y=0.3517 right_z=0.0991 right_yaw=1.5052 right_pitch=-0.6135 right_roll=0.0812 right_gripper=0.0386\nstate[joint_eff]: [-0.0615, -1.1829, 6.9538, 1.6337, -0.0659, -0.0513, -0.0122, 0.4171, -13.6274, 8.1026, 0.7937, -0.3199, 0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c852e28cca5b450801e1a37282449b054bdec9d12efd2945c317a651bc5a569b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bd2ece3e2fefe87731ec74344ce9e06258c271f2fd9ec65b0984ab1c865347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7379bbcd99f91a529e5f42fc0d052a8a0fd98e3e0826be18a8261a461ff7f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_08d034dbce856498016ab44812e4d887d08339b71081b2c641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.03,\"right_yaw\":1.5,\"right_gripper\":0.0},\"note\":\"The small purple bowl now overlaps most of the salmon bowl; its remaining lateral offset is near the right arm’s reach limit. I’m lowering it onto the larger bowl so the sloped rims can guide it inward during release.\"}",
  "call_id": "call_lRpJyfBBBsZQjux9ZXId9wap",
  "id": "fc_08d034dbce856498016ab44816d57c87d0b90013c0d56ccb98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lRpJyfBBBsZQjux9ZXId9wap",
  "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]: [-0.0196, 0.8513, 0.6029, -0.4599, -0.0227, -0.0261, 0.9995, 0.5983, 2.8613, 2.9284, -1.4261, -0.3565, -0.8345, 0.0385]\nstate[eef_state]: left_x=0.2858 left_y=0.002 left_z=0.1482 left_yaw=0.0011 left_pitch=-0.1362 left_roll=0.0027 left_gripper=0.9995 right_x=0.4289 right_y=0.3713 right_z=0.0311 right_yaw=1.522 right_pitch=-0.5928 right_roll=0.1008 right_gripper=0.0385\nstate[joint_eff]: [0.0068, -1.6342, 6.9402, 1.6581, -0.0855, -0.0659, -0.0122, -0.0205, -14.065, 3.959, 0.823, 0.022, 0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4198feda82c583f9ffa1432c2116d1ea3e42768137cdd74737118a716ba28a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cb96ccfd0388f6a5822a9a1210b36972a8dfd46f2d4d038601024210bc4b30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f808a8623410afd42f2001386e148db5e205b4837859cdd7935d2d45433c0ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]