adhoc

completed
2026-09-23T21:10:02.998361+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
229.3 s
total steps
307
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree upright bowls are spread across the table; the leftmost purple bowl is already visible in the left wrist camera, slightly to the gripper's right and ahead. I am moving the left arm above it while keeping the gripper open so I can refine alignment from the wrist view.
move_to
left_x0.3800left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7956, 0.6044, -0.3824, -0.0223, -0.0406, 0.9993, -0.02, 0.7933, 0.6006, -0.3862, -0.017, -0.0303, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2935 right_y=0.0007 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.3761, -1.5658, 10.1128, 1.8095, -0.0317, 0.2271, -0.0806, -0.6632, -1.3744, 10.3316, 2.0488, -0.0708, 0.105, -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":{"left_x":0.38,"left_y":-0.12,"left_z":0.15,"left_gripper":1.0},"note":"Three upright bowls are spread across the table; the leftmost purple bowl is already visible in the left wrist camera, slightly to the gripper's right and ahead. I am moving the left arm above it while keeping the gripper open so I can refine alignment from the wrist view."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe purple bowl now fills the left wrist view; its center is a little left of the jaw column and its near rim is cut by the bottom edge, so the arm is close but not quite centered. I am nudging leftward and slightly farther forward while descending to just above the bowl for a controlled grasp setup.
move_to
left_x0.3850left_y-0.0950left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4847, 1.3491, 0.7494, -0.1078, -0.3851, -0.3012, 0.9993, -0.0216, 0.8001, 0.5983, -0.3927, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3652 left_y=-0.1132 left_z=0.129 left_yaw=-0.021 left_pitch=-0.0738 left_roll=0.0285 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.1731 right_yaw=-0.0014 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9992 state[joint_eff]: [-0.3624, -5.4632, 9.2103, 1.8535, -0.232, -0.022, -0.0806, 0.1026, -1.7436, 7.2821, 1.7607, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.095,"left_z":0.06},"note":"The purple bowl now fills the left wrist view; its center is a little left of the jaw column and its near rim is cut by the bottom edge, so the arm is close but not quite centered. I am nudging leftward and slightly farther forward while descending to just above the bowl for a controlled grasp setup."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe purple bowl is now centered between the two visible fingertips, with both jaws outside its rim at about rim height. I am closing the gripper straight around the bowl while holding the arm pose fixed.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4007, 1.5341, 0.6178, 0.1501, -0.3325, -0.2642, 0.9993, -0.0216, 0.7998, 0.5957, -0.3954, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3719 left_y=-0.0911 left_z=0.0537 left_yaw=0.003 left_pitch=-0.143 left_roll=0.05 left_gripper=0.9993 right_x=0.292 right_y=0.0002 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [0.4991, -5.7504, 5.3538, 1.8339, -0.1001, 0.1685, -0.0171, 0.0342, -0.6769, 7.241, 1.7216, -0.0317, -0.0562, -0.0171] 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":{"left_gripper":0.0},"note":"The purple bowl is now centered between the two visible fingertips, with both jaws outside its rim at about rim height. I am closing the gripper straight around the bowl while holding the arm pose fixed."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe gripper settled nearly fully closed at 0.009, confirming it missed; the wrist view shows the bowl still just beyond the fingertips rather than held. I am reopening before making the required lower, slightly forward retry.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4011, 1.5558, 0.6048, 0.1429, -0.3305, -0.2729, 0.009, -0.0216, 0.8032, 0.5953, -0.4099, -0.0166, -0.0311, 0.9991] state[eef_state]: left_x=0.3654 left_y=-0.0888 left_z=0.0401 left_yaw=0.0086 left_pitch=-0.1818 left_roll=0.0589 left_gripper=0.009 right_x=0.2901 right_y=0.0003 right_z=0.1674 right_yaw=-0.0014 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.0068, -7.788, 6.6393, 1.5458, -0.1978, 0.0904, 0.6032, -0.1846, -1.2376, 7.0632, 1.8388, -0.0269, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":1.0},"note":"The gripper settled nearly fully closed at 0.009, confirming it missed; the wrist view shows the bowl still just beyond the fingertips rather than held. I am reopening before making the required lower, slightly forward retry."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteWith the jaws open, the bowl remains centered but clearly lies a few centimeters beyond the fingertip tips, matching the wrist-camera offset. I am advancing about 3 cm and lowering near table level so the fingers surround the bowl's outer wall rather than closing over its interior.
move_to
left_x0.3950left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4011, 1.5558, 0.6037, 0.1425, -0.3309, -0.2775, 0.9947, -0.0216, 0.8032, 0.5949, -0.4152, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.365 left_y=-0.0886 left_z=0.0396 left_yaw=0.0115 left_pitch=-0.1829 left_roll=0.0564 left_gripper=0.9947 right_x=0.2893 right_y=0.0003 right_z=0.1661 right_yaw=-0.0016 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.0205, -5.9419, 5.6821, 1.4921, -0.188, -0.0122, -0.1099, -0.1709, -1.306, 7.2274, 1.7851, -0.0708, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.395,"left_z":0.015},"note":"With the jaws open, the bowl remains centered but clearly lies a few centimeters beyond the fingertip tips, matching the wrist-camera offset. I am advancing about 3 cm and lowering near table level so the fingers surround the bowl's outer wall rather than closing over its interior."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteAfter the forward move, the bowl's near rim has dropped to the bottom of the wrist view and both fingertips flank its outer sides; the descent also stopped above the requested height, indicating contact at this setup. I am closing now for the corrected outside-wall grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3656, 1.6951, 0.6682, 0.271, -0.3298, -0.2768, 0.9948, -0.0216, 0.8055, 0.5945, -0.416, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3986 left_y=-0.0875 left_z=0.0328 left_yaw=0.0422 left_pitch=-0.1339 left_roll=0.0345 left_gripper=0.9948 right_x=0.2892 right_y=0.0003 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [0.0479, -5.1487, 4.547, 0.7009, 0.1343, 0.2418, -0.0024, -0.0205, -1.4154, 7.0085, 1.6777, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the forward move, the bowl's near rim has dropped to the bottom of the wrist view and both fingertips flank its outer sides; the descent also stopped above the requested height, indicating contact at this setup. I am closing now for the corrected outside-wall grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe second outside grasp also closed empty; the view reveals why: even at full opening both fingertips fit inside this bowl, so its outer diameter exceeds the gripper stroke. I am reopening to switch to a rim pinch, placing one finger inside the bowl and the other outside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3626, 1.7119, 0.6701, 0.2665, -0.3229, -0.2775, 0.0087, -0.0216, 0.8097, 0.5945, -0.4191, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3973 left_y=-0.0869 left_z=0.026 left_yaw=0.0412 left_pitch=-0.1536 left_roll=0.0373 left_gripper=0.0087 right_x=0.289 right_y=0.0003 right_z=0.1634 right_yaw=-0.0014 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [-0.2393, -8.6359, 5.1624, 1.5751, -0.1636, -0.022, 0.6178, -0.0068, -1.4974, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The second outside grasp also closed empty; the view reveals why: even at full opening both fingertips fit inside this bowl, so its outer diameter exceeds the gripper stroke. I am reopening to switch to a rim pinch, placing one finger inside the bowl and the other outside."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteWith the jaws reopened, their 9.5 cm span is visibly inside the bowl's broad rim; the right fingertip is nearest the rim edge. I am shifting the gripper about 4 cm toward that edge at rim height so the right jaw sits outside and the left jaw remains inside for a secure rim pinch.
move_to
left_y-0.1300left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3626, 1.702, 0.6724, 0.2962, -0.3298, -0.2855, 0.9948, -0.0219, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.4035 left_y=-0.088 left_z=0.036 left_yaw=0.0489 left_pitch=-0.1131 left_roll=0.0187 left_gripper=0.9948 right_x=0.2886 right_y=0.0002 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.0889, -6.4068, 5.7368, 1.3358, -0.1245, 0.0171, -0.1538, -0.0342, -0.841, 7.1453, 1.6728, -0.0562, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.13,"left_z":0.045},"note":"With the jaws reopened, their 9.5 cm span is visibly inside the bowl's broad rim; the right fingertip is nearest the rim edge. I am shifting the gripper about 4 cm toward that edge at rim height so the right jaw sits outside and the left jaw remains inside for a secure rim pinch."})
tool
executing move_to over 4 steps (0.4s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe lateral shift moved the bowl left in the wrist view as intended, but the right fingertip is still just inside the outer lip rather than clearly beyond it. I am moving another 1.8 cm toward the same rim to place that jaw outside before closing.
move_to
left_y-0.1480
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4858, 1.7191, 0.7307, 0.2184, -0.3962, -0.3599, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3972 left_y=-0.1286 left_z=0.0394 left_yaw=0.0216 left_pitch=-0.1246 left_roll=0.0183 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [0.3077, -6.5709, 7.8154, 1.5263, -0.2955, -0.0171, 0.0611, -0.0479, -1.1009, 7.1316, 1.6972, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.148},"note":"The lateral shift moved the bowl left in the wrist view as intended, but the right fingertip is still just inside the outer lip rather than clearly beyond it. I am moving another 1.8 cm toward the same rim to place that jaw outside before closing."})
tool
executing move_to over 2 steps (0.2s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe commanded extra lateral move stopped after only a few millimeters while the right fingertip met the bowl's outer lip, confirming the rim is now between the jaws. I am closing to pinch that rim rather than the bowl's full diameter.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5049, 1.7264, 0.7444, 0.1982, -0.4179, -0.3756, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3961 left_y=-0.1329 left_z=0.0391 left_yaw=0.0292 left_pitch=-0.1287 left_roll=0.0264 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.7043, -6.5299, 6.065, 1.6288, -0.1636, -0.0415, -0.0073, -0.0205, -1.3333, 6.9812, 1.6777, -0.0122, -0.0464, -0.0171] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The commanded extra lateral move stopped after only a few millimeters while the right fingertip met the bowl's outer lip, confirming the rim is now between the jaws. I am closing to pinch that rim rather than the bowl's full diameter."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe rim pinch also closed empty because the low lateral approach slid the lightweight bowl along with the fingertip, keeping the gripper centered inside it. I am lifting clear first; then I can reposition over a rim from above without pushing the bowl.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5144, 1.7275, 0.7444, 0.1978, -0.4175, -0.3859, 0.0088, -0.0216, 0.8116, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3947 left_y=-0.1366 left_z=0.0386 left_yaw=0.0251 left_pitch=-0.13 left_roll=0.0191 left_gripper=0.0088 right_x=0.2886 right_y=0.0003 right_z=0.1622 right_yaw=-0.0014 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.1709, -7.0496, 6.188, 1.5263, -0.1734, 0.0171, 0.5543, -0.0889, -1.4017, 7.0085, 1.6532, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The rim pinch also closed empty because the low lateral approach slid the lightweight bowl along with the fingertip, keeping the gripper centered inside it. I am lifting clear first; then I can reposition over a rim from above without pushing the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe arm is now safely above the bowl, and the top view confirms the purple bowl was indeed slid rightward during the low approach. I am reopening at clearance height before moving the grasp point directly over one rim edge.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5144, 1.5356, 0.9707, -0.2394, -0.4175, -0.3904, 0.0109, -0.0216, 0.8158, 0.5945, -0.4374, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3943 left_y=-0.1365 left_z=0.1287 left_yaw=0.0289 left_pitch=-0.1462 left_roll=0.0255 left_gripper=0.0109 right_x=0.2866 right_y=0.0003 right_z=0.1582 right_yaw=-0.0014 right_pitch=-0.0805 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.2393, -8.8, 9.2103, 1.5409, -0.2125, 0.0171, 0.2076, -0.0205, -1.6752, 6.9675, 1.7802, -0.0757, -0.0464, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The arm is now safely above the bowl, and the top view confirms the purple bowl was indeed slid rightward during the low approach. I am reopening at clearance height before moving the grasp point directly over one rim edge."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteAt clearance height the reopened fingertips clearly span outside the centered purple bowl; the bowl is narrower than the full jaw opening. I am descending vertically without lateral contact, keeping the fingers outside its walls; on this retry I will avoid the prior full-close squeeze that likely expelled the tapered bowl.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5144, 1.5345, 0.9741, -0.2661, -0.4175, -0.3935, 0.9948, -0.0216, 0.8173, 0.5945, -0.445, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.3911 left_y=-0.1347 left_z=0.1263 left_yaw=0.0324 left_pitch=-0.1651 left_roll=0.0348 left_gripper=0.9948 right_x=0.2855 right_y=0.0004 right_z=0.1563 right_yaw=-0.0016 right_pitch=-0.0896 right_roll=0.0013 right_gripper=0.9992 state[joint_eff]: [-0.1709, -6.653, 6.2701, 1.6874, -0.2418, -0.0171, -0.0415, -0.0068, -1.3197, 6.9675, 1.7021, -0.0415, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"At clearance height the reopened fingertips clearly span outside the centered purple bowl; the bowl is narrower than the full jaw opening. I am descending vertically without lateral contact, keeping the fingers outside its walls; on this retry I will avoid the prior full-close squeeze that likely expelled the tapered bowl."})
tool
executing move_to over 7 steps (0.7s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe vertical descent reached table-level grasp height with the bowl still centered; the fingertips flank the tapered wall. I am closing only to 60% span rather than fully, so the jaws can contact the bowl near its natural width without squeezing it out.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5144, 1.729, 0.7658, 0.1154, -0.4221, -0.3946, 0.9951, -0.0216, 0.8173, 0.5945, -0.4454, -0.0162, -0.0311, 0.9992] state[eef_state]: left_x=0.3889 left_y=-0.1325 left_z=0.0326 left_yaw=0.0386 left_pitch=-0.1815 left_roll=0.0482 left_gripper=0.9951 right_x=0.2854 right_y=0.0003 right_z=0.1562 right_yaw=-0.0017 right_pitch=-0.09 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.0615, -5.7641, 4.4513, 1.0183, -0.1685, -0.0073, -0.0024, -0.1162, -1.3607, 6.9538, 1.6777, -0.0171, -0.0415, -0.0122] 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":{"left_gripper":0.6},"note":"The vertical descent reached table-level grasp height with the bowl still centered; the fingertips flank the tapered wall. I am closing only to 60% span rather than fully, so the jaws can contact the bowl near its natural width without squeezing it out."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteAt 60% closure both fingers are still visibly inside the bowl and the reading reached the command, confirming the opening is wider than the gripper. I am lifting clear again; the rim pinch must be positioned laterally at height before descending, not attempted from inside the bowl.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5137, 1.742, 0.7551, 0.1318, -0.4206, -0.3977, 0.6049, -0.0219, 0.8177, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3873 left_y=-0.1316 left_z=0.0264 left_yaw=0.0405 left_pitch=-0.1882 left_roll=0.0489 left_gripper=0.6049 right_x=0.2854 right_y=0.0003 right_z=0.1561 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.0889, -8.7179, 6.5573, 1.3211, -0.1832, -0.0171, 0.0366, -0.1709, -1.3744, 6.9675, 1.6777, -0.0464, -0.0171, -0.0171] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"At 60% closure both fingers are still visibly inside the bowl and the reading reached the command, confirming the opening is wider than the gripper. I am lifting clear again; the rim pinch must be positioned laterally at height before descending, not attempted from inside the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe arm is clear at carrying height, with the purple bowl centered below and the partially closed jaws unobstructed. I am reopening fully so the next high lateral move can place the grasp point over the bowl's right-hand rim.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5137, 1.5394, 1.0138, -0.3447, -0.4202, -0.4091, 0.6047, -0.0216, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3881 left_y=-0.1321 left_z=0.1281 left_yaw=0.0481 left_pitch=-0.2009 left_roll=0.0484 left_gripper=0.6047 right_x=0.2854 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.0889, -8.8274, 9.2786, 1.3651, -0.2564, 0.1001, -0.0415, -0.0342, -1.4017, 7.0769, 1.6581, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The arm is clear at carrying height, with the purple bowl centered below and the partially closed jaws unobstructed. I am reopening fully so the next high lateral move can place the grasp point over the bowl's right-hand rim."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe fully open jaws span the bowl at clearance height, and its right rim is roughly 5–6 cm from the current center. I am translating laterally by that radius while high above the table, preventing the bowl from sliding during alignment.
move_to
left_y-0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5137, 1.5402, 1.0149, -0.3729, -0.4175, -0.4126, 0.9952, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3838 left_y=-0.1302 left_z=0.1239 left_yaw=0.0512 left_pitch=-0.2254 left_roll=0.0594 left_gripper=0.9952 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.1846, -6.6667, 6.4479, 1.6093, -0.2662, -0.0269, -0.1587, -0.212, -1.347, 6.9949, 1.6825, -0.0708, -0.0659, -0.0171] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.19},"note":"The fully open jaws span the bowl at clearance height, and its right rim is roughly 5–6 cm from the current center. I am translating laterally by that radius while high above the table, preventing the bowl from sliding during alignment."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe high move shifted the purple bowl left in the wrist view without disturbing it, but the jaw center is still several centimeters inside the right rim. I am continuing another 3 cm laterally so the grasp point, not just the outer finger, lies directly over the rim for a pinch.
move_to
left_y-0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6594, 1.6608, 1.1259, -0.4484, -0.4831, -0.5339, 0.9955, -0.0219, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.377 left_y=-0.1839 left_z=0.1133 left_yaw=0.0347 left_pitch=-0.2581 left_roll=0.0694 left_gripper=0.9955 right_x=0.2854 right_y=0.0003 right_z=0.1559 right_yaw=-0.0017 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.4718, -7.2137, 8.7726, 1.243, -0.4615, 0.0757, 0.0317, -0.212, -1.306, 6.9949, 1.6874, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.22},"note":"The high move shifted the purple bowl left in the wrist view without disturbing it, but the jaw center is still several centimeters inside the right rim. I am continuing another 3 cm laterally so the grasp point, not just the outer finger, lies directly over the rim for a pinch."})
tool
executing move_to over 4 steps (0.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe purple bowl's right rim now lies directly under the jaw center in the wrist view, with the bowl itself entirely to the left of that center. I am descending vertically at this rim coordinate so one finger will enter the bowl and the other remain outside, avoiding any lateral shove.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7334, 1.7439, 1.1931, -0.4995, -0.5045, -0.6003, 0.9956, -0.0216, 0.8185, 0.5945, -0.4461, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3696 left_y=-0.2133 left_z=0.1001 left_yaw=0.0257 left_pitch=-0.2931 left_roll=0.0842 left_gripper=0.9956 right_x=0.2854 right_y=0.0004 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0919 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.335, -8.3761, 9.2103, 1.0965, -0.4713, 0.0904, -0.0073, 0.0752, -1.2376, 6.9538, 1.6386, -0.0757, -0.0171, -0.0171] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The purple bowl's right rim now lies directly under the jaw center in the wrist view, with the bowl itself entirely to the left of that center. I am descending vertically at this rim coordinate so one finger will enter the bowl and the other remain outside, avoiding any lateral shove."})
tool
executing move_to over 5 steps (0.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe arm did not descend from z≈0.10 despite the much lower target, indicating the fingertips have contacted the bowl's high rim exactly at the chosen edge. With one jaw on each side of that rim, I am closing fully to pinch its thickness.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5053, -0.5182, -0.6113, 0.9956, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3698 left_y=-0.2168 left_z=0.1007 left_yaw=0.031 left_pitch=-0.287 left_roll=0.0884 left_gripper=0.9956 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [0.1846, -8.8957, 8.8137, 1.1404, -0.4078, -0.0562, -0.0122, -0.0342, -1.347, 6.9538, 1.7021, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The arm did not descend from z≈0.10 despite the much lower target, indicating the fingertips have contacted the bowl's high rim exactly at the chosen edge. With one jaw on each side of that rim, I am closing fully to pinch its thickness."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe closed gripper is empty because the wrist view now shows it was in the gap between the purple and teal bowls, not over a rim. I am returning above the purple bowl's center with the jaws closed to use an internal expansion grasp, which is better suited to these wide openings.
move_to
left_x0.3900left_y-0.1320left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5121, -0.5179, -0.6182, 0.0084, -0.0219, 0.8192, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3688 left_y=-0.216 left_z=0.0999 left_yaw=0.0361 left_pitch=-0.2917 left_roll=0.0885 left_gripper=0.0084 right_x=0.285 right_y=0.0003 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.0479, -8.4855, 6.4889, 1.16, -0.2564, 0.022, 0.6178, -0.1436, -1.4017, 6.9949, 1.663, -0.0562, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.132,"left_z":0.14},"note":"The closed gripper is empty because the wrist view now shows it was in the gap between the purple and teal bowls, not over a rim. I am returning above the purple bowl's center with the jaws closed to use an internal expansion grasp, which is better suited to these wide openings."})
tool
executing move_to over 8 steps (0.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe closed fingertips are now centered precisely over the purple bowl's interior. I am lowering them into the bowl toward its narrower bottom while closed, so opening the jaws can brace against the inner walls.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.6173, 1.1698, -0.5411, -0.4042, -0.4366, 0.0104, -0.0219, 0.8204, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3907 left_y=-0.1351 left_z=0.1297 left_yaw=0.0708 left_pitch=-0.3062 left_roll=0.0841 left_gripper=0.0104 right_x=0.285 right_y=0.0003 right_z=0.1548 right_yaw=-0.0017 right_pitch=-0.0965 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [0.294, -9.7983, 6.0786, 1.3797, -0.2027, 0.2271, 0.1832, -0.212, -1.4701, 7.1863, 1.7021, -0.0415, -0.0366, -0.0171] 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":{"left_z":0.02},"note":"The closed fingertips are now centered precisely over the purple bowl's interior. I am lowering them into the bowl toward its narrower bottom while closed, so opening the jaws can brace against the inner walls."})
tool
executing move_to over 8 steps (0.8s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe closed gripper reached z≈0.022 inside the purple bowl, centered over its narrow floor. I am opening the jaws against the inner walls to create an expansion grasp.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.7809, 0.9123, -0.1642, -0.3935, -0.4347, 0.0119, -0.0219, 0.8211, 0.5945, -0.4496, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3826 left_y=-0.1326 left_z=0.0218 left_yaw=0.0697 left_pitch=-0.3483 left_roll=0.103 left_gripper=0.0119 right_x=0.2849 right_y=0.0003 right_z=0.1544 right_yaw=-0.0017 right_pitch=-0.098 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.0615, -7.6376, 5.641, 1.4139, -0.3297, -0.0464, 0.1441, -0.0479, -1.347, 6.9538, 1.6679, -0.0806, -0.0806, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The closed gripper reached z≈0.022 inside the purple bowl, centered over its narrow floor. I am opening the jaws against the inner walls to create an expansion grasp."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe jaws reached nearly full opening inside the bowl, but their tips appear to meet the inner walls in the wrist view. I am making a short test lift to see whether the expansion contact carries the bowl before committing to transport.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5114, 1.7721, 0.9115, -0.1356, -0.3931, -0.4503, 0.994, -0.0219, 0.8223, 0.5945, -0.4496, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.3879 left_y=-0.136 left_z=0.0284 left_yaw=0.0706 left_pitch=-0.317 left_roll=0.0712 left_gripper=0.994 right_x=0.285 right_y=0.0003 right_z=0.1541 right_yaw=-0.0019 right_pitch=-0.0992 right_roll=0.0015 right_gripper=0.9992 state[joint_eff]: [0.0068, -6.9949, 5.9692, 0.9402, -0.2418, 0.1294, -0.1636, -0.1846, -1.1145, 7.0359, 1.6435, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The jaws reached nearly full opening inside the bowl, but their tips appear to meet the inner walls in the wrist view. I am making a short test lift to see whether the expansion contact carries the bowl before committing to transport."})
tool
executing move_to over 4 steps (0.4s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe bowl remains aligned between the expanded jaws after the short lift, but the overhead view is still occluded by the arm. I am lifting to full carrying height to expose the table beneath and confirm whether the bowl rises with the gripper.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5114, 1.692, 1.0111, -0.3325, -0.3901, -0.4541, 0.9948, -0.0216, 0.823, 0.5945, -0.4606, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.3866 left_y=-0.1358 left_z=0.0685 left_yaw=0.0736 left_pitch=-0.3326 left_roll=0.0764 left_gripper=0.9948 right_x=0.2833 right_y=0.0004 right_z=0.1518 right_yaw=-0.0015 right_pitch=-0.111 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [-0.0205, -9.6615, 8.3077, 1.1648, -0.2759, -0.0171, 0.0757, -0.1026, -1.4291, 7.0769, 1.7607, -0.0806, -0.0122, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The bowl remains aligned between the expanded jaws after the short lift, but the overhead view is still occluded by the arm. I am lifting to full carrying height to expose the table beneath and confirm whether the bowl rises with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 177
assistant
agent noteThe full lift confirms the purple bowl stayed on the table; the internal opening is also too wide. I am switching to its near rim, rotating the jaws 90° so they close radially across that rim and moving above it from clear height, away from the neighboring bowl.
move_to
left_x0.3100left_y-0.1370left_z0.1500left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5114, 1.6367, 1.2465, -0.6426, -0.3897, -0.461, 0.9949, -0.0219, 0.823, 0.5945, -0.4683, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.389 left_y=-0.1372 left_z=0.1373 left_yaw=0.0811 left_pitch=-0.3486 left_roll=0.0832 left_gripper=0.9949 right_x=0.2821 right_y=0.0003 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9992 state[joint_eff]: [-0.1573, -9.9624, 8.6632, 1.0525, -0.2418, 0.0269, -0.0024, -0.0752, -1.3607, 6.9538, 1.707, -0.0757, -0.0659, -0.0171] 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":{"left_x":0.31,"left_y":-0.137,"left_z":0.15,"left_yaw":1.57},"note":"The full lift confirms the purple bowl stayed on the table; the internal opening is also too wide. I am switching to its near rim, rotating the jaws 90° so they close radially across that rim and moving above it from clear height, away from the neighboring bowl."})
tool
executing move_to over 10 steps (1.0s)
step 187
assistant
agent noteAfter the 90° rotation, the purple bowl lies to one side of the jaw center: the left fingertip is outside and the right fingertip is inside, so its near rim is finally straddled cleanly. I am closing at this contact height to pinch the rim along the bowl's radial direction.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5552, 2.0598, 1.7042, -1.52, -0.5491, -1.9919, 0.9949, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3293 left_y=-0.0915 left_z=0.1057 left_yaw=1.3783 left_pitch=-0.3817 left_roll=0.0898 left_gripper=0.9949 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [1.7846, -10.2085, 5.6274, -0.6178, -0.3443, -0.232, -0.0122, -0.0342, -1.5248, 6.9265, 1.6581, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the 90° rotation, the purple bowl lies to one side of the jaw center: the left fingertip is outside and the right fingertip is inside, so its near rim is finally straddled cleanly. I am closing at this contact height to pinch the rim along the bowl's radial direction."})
tool
executing move_to over 10 steps (1.0s)
step 197
assistant
agent noteThe rim slipped because the jaw center was only barely inside the edge, letting the outer finger push the bowl before the inner finger could oppose it. I am reopening at clearance height and shifting about 2 cm toward the bowl's center so the inner jaw engages first on the next close.
move_to
left_x0.3450left_y-0.1170left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5957, 2.0789, 1.7432, -1.5532, -0.5247, -2.0357, 0.009, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3244 left_y=-0.1087 left_z=0.1071 left_yaw=1.3795 left_pitch=-0.396 left_roll=0.0854 left_gripper=0.009 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [-0.0752, -9.4564, 7.0085, -0.5104, -0.4567, -0.0904, 0.5592, -0.1709, -1.3607, 6.9675, 1.5995, -0.0464, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.117,"left_z":0.14,"left_gripper":1.0},"note":"The rim slipped because the jaw center was only barely inside the edge, letting the outer finger push the bowl before the inner finger could oppose it. I am reopening at clearance height and shifting about 2 cm toward the bowl's center so the inner jaw engages first on the next close."})
tool
executing move_to over 10 steps (1.0s)
step 207
assistant
agent noteThe reopened view shows the grasp center is now inside the rim, which would make the outer jaw hit first and slide the bowl again. I am correcting to about 2 cm just outside the near rim so the inner jaw contacts first and braces the bowl before the outer jaw arrives.
move_to
left_x0.3150left_y-0.0950left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5659, 2.0789, 1.7809, -1.5566, -0.5251, -2.0048, 0.9943, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3343 left_y=-0.1032 left_z=0.1143 left_yaw=1.3774 left_pitch=-0.4101 left_roll=0.0696 left_gripper=0.9943 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [0.5949, -9.2376, 7.7333, -0.4176, -0.3932, 0.149, 0.0611, -0.1983, -1.3744, 6.9265, 1.5946, -0.0562, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.095,"left_z":0.15},"note":"The reopened view shows the grasp center is now inside the rim, which would make the outer jaw hit first and slide the bowl again. I am correcting to about 2 cm just outside the near rim so the inner jaw contacts first and braces the bowl before the outer jaw arrives."})
tool
executing move_to over 3 steps (0.3s)
step 210
assistant
agent noteThe near rim is still just left of the jaw center in the wrist view, so the grasp point remains slightly inside despite the first correction. I am moving another 3 cm outward until the rim is clearly on the bowl side of the center, giving the inner finger the shorter closing path.
move_to
left_x0.2850left_y-0.0800left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5617, 2.0102, 1.6951, -1.5501, -0.5247, -2.0029, 0.9949, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3189 left_y=-0.0919 left_z=0.1189 left_yaw=1.385 left_pitch=-0.4066 left_roll=0.0817 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [0.294, -12.588, 5.4359, -0.2955, -0.3687, 0.0415, 0.0464, -0.0752, -1.0051, 7.1316, 1.6093, -0.0513, -0.0757, -0.0171] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.08,"left_z":0.15},"note":"The near rim is still just left of the jaw center in the wrist view, so the grasp point remains slightly inside despite the first correction. I am moving another 3 cm outward until the rim is clearly on the bowl side of the center, giving the inner finger the shorter closing path."})
tool
executing move_to over 3 steps (0.3s)
step 213
assistant
agent noteNow the bowl begins clearly to the right of the jaw center: the right finger is inside while the left finger is well outside, and the inner finger has the shorter path to the rim. I am closing so that inner contact braces and draws the rim into the opposing jaw instead of pushing the bowl away.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.911, 1.5745, -1.5429, -0.5236, -2.0052, 0.9949, -0.0219, 0.8253, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.2948 left_y=-0.0793 left_z=0.1244 left_yaw=1.3856 left_pitch=-0.4023 left_roll=0.095 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0019 right_pitch=-0.1274 right_roll=0.002 right_gripper=0.9992 state[joint_eff]: [-0.5538, -11.8359, 6.188, -0.4957, -0.3101, -0.0757, -0.0073, -0.1983, -0.9368, 6.9402, 1.6239, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"Now the bowl begins clearly to the right of the jaw center: the right finger is inside while the left finger is well outside, and the inner finger has the shorter path to the rim. I am closing so that inner contact braces and draws the rim into the opposing jaw instead of pushing the bowl away."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteThe jaws again closed empty, and the readback shows the grasp point is still at z≈0.12—well above the bowl wall—so the failure is vertical rather than lateral. I am reopening while preserving the now-correct outside/inside alignment, then I will descend at this easier near-base pose.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.9095, 1.5616, -1.5318, -0.524, -2.0052, 0.0084, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.2942 left_y=-0.0789 left_z=0.1217 left_yaw=1.3855 left_pitch=-0.4018 left_roll=0.0952 left_gripper=0.0084 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0016 right_pitch=-0.1289 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [-0.1162, -8.7043, 6.4205, -0.4371, -0.3687, -0.0366, 0.6032, -0.1026, -1.4838, 7.2137, 1.6386, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The jaws again closed empty, and the readback shows the grasp point is still at z≈0.12—well above the bowl wall—so the failure is vertical rather than lateral. I am reopening while preserving the now-correct outside/inside alignment, then I will descend at this easier near-base pose."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteThe open jaws remain correctly straddled across the near rim, with one finger outside and one over the bowl interior. I am now descending straight down to actual rim height; this near-base pose should avoid the earlier low-height IK stall.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.9095, 1.5612, -1.5261, -0.5243, -2.0056, 0.9949, -0.0216, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.2952 left_y=-0.0794 left_z=0.1213 left_yaw=1.3835 left_pitch=-0.4035 left_roll=0.0895 left_gripper=0.9949 right_x=0.2812 right_y=0.0005 right_z=0.1481 right_yaw=-0.0015 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992 state[joint_eff]: [-0.1983, -8.9778, 5.2444, -0.3443, -0.2564, 0.0122, -0.0952, -0.0342, -1.2376, 6.9538, 1.619, -0.0269, -0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The open jaws remain correctly straddled across the near rim, with one finger outside and one over the bowl interior. I am now descending straight down to actual rim height; this near-base pose should avoid the earlier low-height IK stall."})
tool
executing move_to over 6 steps (0.6s)
step 239
assistant
agent noteThe arm successfully descended to z≈0.047, and the wrist view now shows the rim at fingertip level between the outside and inside jaws. I am closing at this true rim height for the pinch.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5682, 1.977, 1.3441, -1.2613, -0.5243, -2.0045, 0.9955, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992] state[eef_state]: left_x=0.2907 left_y=-0.0764 left_z=0.0468 left_yaw=1.391 left_pitch=-0.3961 left_roll=0.1101 left_gripper=0.9955 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0019 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992 state[joint_eff]: [-0.0342, -7.9658, 4.8205, -0.3639, -0.3492, -0.0708, 0.0464, 0.0615, -1.1966, 6.9675, 1.5946, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The arm successfully descended to z≈0.047, and the wrist view now shows the rim at fingertip level between the outside and inside jaws. I am closing at this true rim height for the pinch."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe gripper closed to a very small 0.017 span, consistent with either an empty close or a thin bowl rim, while the wrist image shows the bowl pulled tightly against the fingertip. I am lifting to carrying height to verify in the overhead view whether this rim pinch succeeded.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.9911, 1.3296, -1.2453, -0.5346, -2.009, 0.0171, -0.0216, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9991] state[eef_state]: left_x=0.29 left_y=-0.0743 left_z=0.0405 left_yaw=1.3932 left_pitch=-0.382 left_roll=0.1159 left_gripper=0.0171 right_x=0.2813 right_y=0.0005 right_z=0.1471 right_yaw=-0.0013 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9991 state[joint_eff]: [-0.1162, -9.9214, 6.2838, -0.5299, -0.1587, 0.0366, 0.696, -0.0752, -1.5385, 6.9675, 1.5849, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper closed to a very small 0.017 span, consistent with either an empty close or a thin bowl rim, while the wrist image shows the bowl pulled tightly against the fingertip. I am lifting to carrying height to verify in the overhead view whether this rim pinch succeeded."})
tool
executing move_to over 7 steps (0.7s)
step 256
assistant
agent noteThe purple bowl disappeared from its table spot and remains fixed against the fingertip in the wrist view, confirming a successful thin-rim grasp despite the small reading. Because the bowl center hangs about 9 cm forward and 6 cm inward from the grasp point, I am carrying the rim to an offset above the center teal bowl so the bowl bodies align.
move_to
left_x0.3000left_y-0.2500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5629, 1.9266, 1.5417, -1.5047, -0.524, -2.0125, 0.0172, -0.0219, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.2955 left_y=-0.0777 left_z=0.1116 left_yaw=1.3994 left_pitch=-0.3977 left_roll=0.1008 left_gripper=0.0172 right_x=0.2813 right_y=0.0003 right_z=0.1471 right_yaw=-0.0016 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [0.5128, -11.1658, 7.3641, -0.6081, -0.4371, 0.1685, 1.0281, -0.1846, -1.1009, 6.9402, 1.619, -0.0659, -0.0659, -0.0073] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.25,"left_z":0.2},"note":"The purple bowl disappeared from its table spot and remains fixed against the fingertip in the wrist view, confirming a successful thin-rim grasp despite the small reading. Because the bowl center hangs about 9 cm forward and 6 cm inward from the grasp point, I am carrying the rim to an offset above the center teal bowl so the bowl bodies align."})
tool
executing move_to over 16 steps (1.6s)
step 272
assistant
agent noteThe loaded arm stalled after only a small lateral shift and sagged near z≈0.10, while the bowl remains securely held. I am reducing forward reach and raising substantially to escape this awkward rotated configuration before continuing toward the center bowl.
move_to
left_x0.2200left_y-0.1800left_z0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6746, 2.0842, 1.7496, -1.5593, -0.4789, -2.0621, 0.0173, -0.0219, 0.836, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.3096 left_y=-0.1388 left_z=0.1033 left_yaw=1.3404 left_pitch=-0.4321 left_roll=0.094 left_gripper=0.0173 right_x=0.2814 right_y=0.0003 right_z=0.1457 right_yaw=-0.0016 right_pitch=-0.1385 right_roll=0.002 right_gripper=0.9992 state[joint_eff]: [-0.6632, -8.5128, 7.4325, -0.4322, -0.3248, -0.398, 1.0037, -0.212, -1.8393, 7.1043, 1.6337, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.18,"left_z":0.25},"note":"The loaded arm stalled after only a small lateral shift and sagged near z≈0.10, while the bowl remains securely held. I am reducing forward reach and raising substantially to escape this awkward rotated configuration before continuing toward the center bowl."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe arm raised only slightly and still cannot cross laterally in the near-90° wrist configuration, though the rim grasp remains intact. I am partially unwinding the wrist while keeping extra height and reduced reach; this should free the arm to move toward the table center without releasing the bowl.
move_to
left_x0.2000left_y-0.1800left_z0.2500left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7204, 1.8259, 1.4853, -1.5497, -0.4648, -2.0621, 0.0195, -0.0219, 0.8371, 0.5945, -0.4755, -0.0166, -0.0311, 0.9991] state[eef_state]: left_x=0.2543 left_y=-0.1131 left_z=0.126 left_yaw=1.3003 left_pitch=-0.4457 left_roll=0.097 left_gripper=0.0195 right_x=0.2814 right_y=0.0003 right_z=0.1453 right_yaw=-0.0016 right_pitch=-0.14 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.8821, -10.1128, 5.2171, -0.4811, -0.2369, -0.3297, 0.8816, -0.1162, -1.3333, 7.0769, 1.5995, -0.0317, -0.0415, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":-0.18,"left_z":0.25,"left_yaw":0.6},"note":"The arm raised only slightly and still cannot cross laterally in the near-90° wrist configuration, though the rim grasp remains intact. I am partially unwinding the wrist while keeping extra height and reduced reach; this should free the arm to move toward the table center without releasing the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 291
assistant
agent notePartially unwinding the wrist freed the arm and raised the held bowl; the overhead view shows its center offset forward-right from the grasp point and approaching the teal bowl. I am translating the freed arm forward and inward to align the carried purple bowl over the teal base bowl.
move_to
left_x0.3200left_y-0.2300left_z0.2200left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9813, 1.6238, 1.4895, -1.5578, -0.5137, -1.6596, 0.0199, -0.0219, 0.8379, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.2183 left_y=-0.1638 left_z=0.1802 left_yaw=0.6834 left_pitch=-0.4769 left_roll=0.0985 left_gripper=0.0199 right_x=0.2815 right_y=0.0003 right_z=0.1452 right_yaw=-0.0016 right_pitch=-0.1404 right_roll=0.002 right_gripper=0.9992 state[joint_eff]: [-0.3077, -8.6906, 8.3214, -0.0952, -0.6178, 0.2125, 0.8913, -0.1709, -1.5111, 6.9538, 1.619, -0.0611, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.23,"left_z":0.22,"left_yaw":0.6},"note":"Partially unwinding the wrist freed the arm and raised the held bowl; the overhead view shows its center offset forward-right from the grasp point and approaching the teal bowl. I am translating the freed arm forward and inward to align the carried purple bowl over the teal base bowl."})
tool
executing move_to over 8 steps (0.8s)
step 299
assistant
agent noteThe forward command again tracked only partway, but the overhead view now shows the carried bowl directly over the center bowl, with the base largely occluded beneath it. I am lowering vertically at this alignment until the carried bowl nests into the base.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9409, 1.7302, 1.6112, -1.557, -0.5095, -1.5932, 0.0201, -0.0216, 0.8391, 0.5945, -0.4751, -0.0166, -0.0311, 0.9991] state[eef_state]: left_x=0.2425 left_y=-0.1803 left_z=0.1803 left_yaw=0.6757 left_pitch=-0.4864 left_roll=0.1179 left_gripper=0.0201 right_x=0.2815 right_y=0.0005 right_z=0.1449 right_yaw=-0.0012 right_pitch=-0.1415 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.2256, -8.4171, 7.4872, -0.0415, -0.4371, 0.0024, 0.8816, -0.1436, -1.5248, 6.9402, 1.5702, -0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The forward command again tracked only partway, but the overhead view now shows the carried bowl directly over the center bowl, with the base largely occluded beneath it. I am lowering vertically at this alignment until the carried bowl nests into the base."})
tool
executing move_to over 7 steps (0.7s)
step 306
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9409, 1.734, 1.3125, -1.3231, -0.511, -1.594, 0.0208, -0.0219, 0.8421, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992] state[eef_state]: left_x=0.2329 left_y=-0.1668 left_z=0.1064 left_yaw=0.7119 left_pitch=-0.4805 left_roll=0.1948 left_gripper=0.0208 right_x=0.2817 right_y=0.0003 right_z=0.1441 right_yaw=-0.0016 right_pitch=-0.1442 right_roll=0.0021 right_gripper=0.9992 state[joint_eff]: [-0.1162, -7.2274, 7.2, -0.0757, -0.4322, -0.0562, 0.823, -0.1709, -1.4838, 6.9265, 1.6044, -0.0562, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [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 · 11.37 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.",
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  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
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    }
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  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6044, -0.3824, -0.0223, -0.0406, 0.9993, -0.02, 0.7933, 0.6006, -0.3862, -0.017, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2935 right_y=0.0007 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5658, 10.1128, 1.8095, -0.0317, 0.2271, -0.0806, -0.6632, -1.3744, 10.3316, 2.0488, -0.0708, 0.105, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45274b691081480ede0c58fcf5fbc3169dd4639fc9e533ab71ab719baf0670fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ef3b9773b8447889b4de7dced69dfaee0b11e1969c60cac19a9a9b9b9cb4fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15db79719fab80697ff8c9dce3eda1c37d875d11386623b5a6520527840a62f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 6.536 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBDC-3VW8b2NDZVGNSijHsVJBGxA7EOCgI_7LAmkcVOwPQZ-kZXwVfmWtJg2KMebMEimSBSy3enNMPkLXG-Q9yMQV63BqmzBu12XhA8QfGviz7JUMtFSDfm5wDdCtmPNustC_qYpcdozjbBY9jLkDpj8tBmKGy0h4xgDG5jy7lcG9X9G42N03jiYpLxAXE2qBq-REXfNzxC-sOWwQEahAD5_g-R167SuNSOq5O5kMbV3xZ1H7K2IQDu3MEkC2R47OPn2IvEHs2QhABZ5XDgZRGowikNfGQpSEATUViuUItebA6kfe6G49a0sw6fV_Yls1p3mmGYPeTgng1AHlaeCXW_HCfxM3yjlExa2BtO3wpj2cErnsRTqNqo27xgo4vmQzpETsF9HZuaLt6i-tWKs3IjcMSwNhq0FLZovGdHCO539krfnN42IatQRMYnOq25DnxR3hjQMvf1qPLl75BvDqP64AxN1QqZAKaxgjBXxaif743GkqJvFdSdgYWA9UwdE4YiyAX4eU0Hbm5s4HesuCtP2LUeLKYq0piWm4ZBfyOOPdKRq4oGPZWA5PnUPyCQucbOwIq3EF8IdX0J3z1ttrpKxH6dlDXplaaaxamJcUvTNQn27nAWeyneL0BhpgHiO6c67SgpFBQ1sQD8GyubE3FxcnXAPKsHnAsQJqojWvDzDNybAwgU0t5kiqSYi6w2nJnpG2eHb5PoP7-3FQA9f4vH41PRvnjklsp8lHio2eDPgToUsGp_gJOQ_b9BVz8ZHQl4rQlEQf32izYzCc3ApcWRJOmKFs9TjcS4IsGwccyMuRgHnxkijeBa6y67buIERvBOwi6eJLrc5qUtNWmYk42bRiBVdmFpZAZuVjo8boGO_VqEGtBRWFSvZwts-idX4vLzUt6pcUapSyvxqOy5rxhvZ7moilej90vo3pFq_eJTPA-73otw4ytk9UIcQiAjQ_1ouruCn_L6_KWg4EjqHEsUtvs5EBIIjkehcidUYW3VydU3PVrNkw8KPOVoEg5Db12pUBEGQsIQcnadTPx6RoPnBalfySmQk-QqOnqbHkpArdSuBavxHY2gvwMNmd1wRlfULWCmrnjoc8PV7adc2le1h9SIY8VV9_lIuuZ24KFSzoRCvR3yByVw3oQFtw1LfnzZ4-Qwpql5ieKY4R2TDgnCq-eYbs9zO6eW7_9tEYQdKmRCizA10toxDvvogzx27TWYPe7vs0tfkFdquUpy2XCNb68qqY9ksEiAzwbwqZQmNc8gqprTHv_QmmeSIG-WdPcY4MjY1pMuBsI2vtTUP-L0gIhHYAyusHv40ZQjtY0CZhSr7DGNI76wN4Vao263nxDjUWZ7D0cZATkKL4SXwu1x5iqqvlzTl8-5fvn28-16Fp-rXd7Vn7D7oEerLdmmH8ZcKE24MgQRKM2jyq3tde6xyvSw2aCc5mSIxDpRSUut9MMD8Cs28Hsx8Wjt0sLengj1BubmIdAuK3vX3D8ZT5SmCSO7VYDBlqqMCBgYfIonFwFCRAwT4IMuCTaNdZYpwYz2etG0SVg1p6vCCE20lT86QsNdR6B0-LFIjn6DU7-fpzv8PARgGx6b5E30vo-Apn6ZEDbdKQrKTb57bsI7ke9ierEUnZcUw9DSmLjvRalTATiL5L4-XGUqWXuH6Ib9wKPSAXvZ4HhmvjBaUItPlchUptFhtWR5X_SnyrT6HwV3En0RiphQ5v7W7DPsK8dXaVrtLGU4FF14VJOTFLGOKKYjFEkACfiFUot3ad5A7ou7jZ1Q7za3-9aPpIJuCA22sedxOmrZGqbiFUEWsfGhowaS5Wm25t3huXB_-61UIIKV23yIVqvxqQGswByXHhZKvNl9YR0lgMcAd9U46lHDMUJbAIaRFrKQUu9aDxZGMivY1Dnk1kdnyTKJ-Ps99jLAjNhZE9jzTzr7X9bILVyc_ldi2RAsycQXDN0P1Tu-nwY2SQFd_lbcQv1z6EV3gD6foZELAB-pziXCBRYotukEhZpWRtQIzPYM04Y437cIMzyVRl6xnsbbBCwNoT4Zvvc-s8PBGd8ENf9oNla-2BMWTw3Hy7nNuUvGj7WEuxfpYtXUGmMW4STTECZYMXXBXyatF4ITnrAJpVE051smjIj0nFxvcVTPImRb8qFcYHJKhHtYv0hGbTcrz5TURnyohTor7LS2D6xyZqN3kXwXPjon80xNBniGHR0a1HcDOsxrV7AsA4F8Bx_dE-jGLRG4BdAGy1gfCrWl2fdul3A10lSG7_30n-iliAWEgqZiNhmKIH8JBrOwERzFYDCmvioLWMhpMz1LvNhYYCX8Bn9lF1YrsqUruXzZUu4ElP3K1RmQR1XtClHoDifX40tkLbHrLm6Ta5l4jeUql5pcN9kCwE_gLCR5HQbkfpOlAAVWtNxYcgkkMe2KL1yqWiu6Dwrjiclluppsaq-WcdcrSoXL3l6Uk7wBllHWsq4zsDcvonBID_6QVBvTcs2azrOjNWank_jJ5TPKkIdr3OLYMycVh_6QkyFxx4ToGinvz9OcruS3jdujJMKZJcPduhzoQT9nD_rFEOboWxhD-hVxcP91k2yM9vLLpoFwFXlSSn1zfR3s-RUTLM2YZ2aFwZbTRzmSGtdzS5gDMrc_w5MWmjI8Nrw6ZZiM5q4MUseZGonMw5pY-QQg7NUeu0_ckmNnw97g0gx1kvWakbCWUny6OjQtAlvl-Gw6i4XNCHjJoTZTbzNU-9FXEwJ4AGZdepm3EsseXcVd22LugmhD5EKCGt-yIaVZYaColGE7IwhKSmDbPfMucYBFweiwYCC4APUfMRT_Psupc0S24GYJZQRweCg19_XMpo06FDNBmkTA-7blCZgZiYWmM23l5yNUl4XI3UwCaWgxpF_tlosPuEpIBhxsn_SVfpV43fOZ4C6QkH15eg-ZjHIhm6R_wPhfG89nBmUJbXmSzh5bEgbbh2_u2H_Ww1MMQD2IDiMfJVWyt164e85s6UC2akzQBbamwlsB1RotLnn-ObOh9MpFMhc0n5drYRXu8LNX5NNnqpm3w9Ylwo7Hv1JOFw7t9LTEyBil-zxbZgVlRp_tOd0HY-_RR9edx_Sm7Op2ty4Hl8ySu5GROIyNsTSowm-VcuxTEvT87Q9JP--ndtSLuljxeCAzQwjEu2m7mkeHKo36EjmBnZZqV__5WFK13MM-2sa01D-puwmtLvnsiZDVBtwY8PPLj7pM4BxVgpiTrw==",
  "id": "rs_0002122b65528261016ab4403e801887d08a49ee7756e0f414",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three upright bowls are spread across the table; the leftmost purple bowl is already visible in the left wrist camera, slightly to the gripper's right and ahead. I am moving the left arm above it while keeping the gripper open so I can refine alignment from the wrist view.\"}",
  "call_id": "call_8V002tZT2BVtGfrcHspRRT6r",
  "id": "fc_0002122b65528261016ab44042206087d09ae333d57f327a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8V002tZT2BVtGfrcHspRRT6r",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.3491, 0.7494, -0.1078, -0.3851, -0.3012, 0.9993, -0.0216, 0.8001, 0.5983, -0.3927, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3652 left_y=-0.1132 left_z=0.129 left_yaw=-0.021 left_pitch=-0.0738 left_roll=0.0285 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.1731 right_yaw=-0.0014 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.4632, 9.2103, 1.8535, -0.232, -0.022, -0.0806, 0.1026, -1.7436, 7.2821, 1.7607, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd0e56d15e7277488ba77c58e2bd321c7cef04334ce46a23073767d35cfe537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a7c20ba201a32981e54c1f16bc5117a6537432e93fbe7dcda9cd633279f556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ac3cbe907f5d7a60b6a81f28ad6025cf596ca4386d004606c0e7a8b3a3e4f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.271 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, 0.7956, 0.6044, -0.3824, -0.0223, -0.0406, 0.9993, -0.02, 0.7933, 0.6006, -0.3862, -0.017, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2935 right_y=0.0007 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5658, 10.1128, 1.8095, -0.0317, 0.2271, -0.0806, -0.6632, -1.3744, 10.3316, 2.0488, -0.0708, 0.105, -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]: [-0.4847, 1.3491, 0.7494, -0.1078, -0.3851, -0.3012, 0.9993, -0.0216, 0.8001, 0.5983, -0.3927, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3652 left_y=-0.1132 left_z=0.129 left_yaw=-0.021 left_pitch=-0.0738 left_roll=0.0285 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.1731 right_yaw=-0.0014 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.4632, 9.2103, 1.8535, -0.232, -0.022, -0.0806, 0.1026, -1.7436, 7.2821, 1.7607, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd0e56d15e7277488ba77c58e2bd321c7cef04334ce46a23073767d35cfe537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a7c20ba201a32981e54c1f16bc5117a6537432e93fbe7dcda9cd633279f556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ac3cbe907f5d7a60b6a81f28ad6025cf596ca4386d004606c0e7a8b3a3e4f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBKXNxkaZ9j3pYsAL7uNe08_R3b2vOgokKZoQVMQ7zw2fe3bulaCm-yhhjOEJHINE9DN563cMMsU7aB7Gu_xcIw5TK0W5k_y_50Jun2gft3DPmnSbHpIxH4VCAH16Gp8VZLFYXi-hEPI2uEYCZ0WFrTG0v5RBqRT6ji5kbJGapBCIRGTDhYZsHqrzFQhnM_EBrywf8UqNSld6u2SrQlMpqfC89I9wAM4eVNPCIKABvRt8CHOfShHq46140B_zIBUKUK_8OoAFnfeZbMYGoiNDXK4SKBLRO56Bc333DPTqcBhzuGxPrjel32XEtWqMlRGnRx_uQHcPrcx95d0XDt74eYzWy93d4k0yp2CyxS2C1mtfX2SGmDmsWTydZzZWaCuY3nVLk9bQC5Q3-iuHGCls-c62RDLBr-4yquMM6MODO0BtiqVYvHtz59cVSSEa8s-xAPsp4SzTOSTPhi7gKCQ18kQFshzXLRkEwbfDKcQVPDRPqrAWfjGhrxnM3cc0K18rhl5Q_7CIn9w0aqOuKAePHETe2WOrToZT8xU0jf-cv5KyrqT8KBD4GgUhHjU-q5YrHbC3lwUsVk2wcSf7WkJdccj_kYBkB_Q-90st-iW9hY_Attg_8LoW5CYrQseBGzCi_K1Nn635RlqE12Vyrd9of-n7j1TQALzypRbdDHjqTa0rSmXhlLWc9r0X-i-qyRwBpi670yUIvbmVCyT1TL76_yFlSX0sic0m1fA5cmRdZ7wpuiLjm1uaezHFK60zSWNvq-9gEfhvIRgeQEjOC1yXNcJJzE84lg-CEEGNz1-dzNNYP7EeiQgR_gTBIATHDSOr0Gs2dJXEyAYARpNu2320UN5yrHn0u_6LZF5mr3Bf8hPIHfee3-EJcUmG6YdFZ-bq4IR7J6FLLb4mb9BrVayIi-tJA0KewVIlNihYqI-j-0FRjm9yZbLKaYd5B6mc4Ii4NTrx3rvtKRksgeHocSs6F81uo2K-5x52wWjR3PgNSoxlJHVIwkkmWv7Nay5qrUyCs3Ibeo_cEHYT-YXW-ibznuCeuWz-g3MbBK9mKUUCLpKLYGdWhNs34GH2VSlWy61S4IkO5LfN50f3vYxeBtAd8FklQZoNV5mD4z71DOicxp14Ng21am1qSLlmu8x_gaCjtSqU-u51_YPZUJ_c0PQV0kI3qv9KcqKmgHZVWM16rUdkOxHVPkcIwuk2s1FVGzid22BW_8TuDPMb8LNOOjGZOGAMEbmgqjboonXhoa5m7Klz5XUNmNewO0UyoL13yJowjsdpVzXauYfRnvl2KXCoMDM5C1CCU2en09fDYmwo8z9Mi76d1YinpnIePEjUTDVdJaHxsZTgV-NmI7bXMn79w67z2_qaCkAx-37kWLIEGL9dG1UBWsrJvKQ69nILT2RhPvW1Ms43bi8aqeoKQNMZHxclXt-dxcUxJEF1vgQkGVQT8Cwx0qB-BTPIOLRsNj_ImrWq8RWRgiow9T2M4UX06Y2lBj1rOVxGpgcDknm_AuQc8AEhqjA-jmhKikslYEbLwu8BHbHmei8Vkx2Cp7L8ObEVcO8EEVfZ9KIL8rrSgi6Ffe5gGK31qwxjlm96Gxs_6UNgTNlO9zSkS7sTJPDkZXHGT-jkKup-cvwevFF5G1Wss_VFwvpAabw60PazHptExWTtdFkjfDMT-o5KMY6reo8jdUkIPBG7OPUIPwk_Uf9iL6wIssjt9Qq5YE00rmRAAivAWbJse5gRtWuR--jPVXRvRFOGEOLDaG7avuJH0uIoHsbgeHdpfDxerHyVR9ozb3M8QVWj5PLeatCsMBqAvwC3Vx6rPZpRDEL6jI4pHgsfnweAJFZdXRb_zdsrwuMmWARov9jlr-PJH2SbCFG_sWYdkeaRiaCNjh6mhppDSdwHBHhZpl9y38rnJA4ISPWXZ2CC9v1bqrhINPYrZJEBzy10l6mGFMd6wwyFnSQLVOgZ6L8i1k_olQ28Lz1txH9TOgyovFdK-2w_mrtxXHqb_nJKEpYONlCNwT9cupaFMh8Ri-Tlh0rjgui6xlaToJbsgmhn_uAoCIO2pL9eZqGBYByUjoHz3v22tBQNmTjXhQQRT8OoNH5Tf5O3RRYTasO1uHdyiIQWbLO6pZcs0gHXFgyC2gDQgpjmryY_DzJfrjrHz5ieE-jT-H4J5amYAFoSBjpXku9hRv0uMjSI1zU8YxnI4nssGr1wuNRx45-2YU7rozm_kHlvZIlFmIpb1t8p2oy-dxu7FZqbUT5olPY1VEQXKP8UOlJ_lJ9svp_mCjg4t3o-wjq-VRntC-dnt-afB1sZX174hfRRzNCzZ-zNWQI3w4VCvhl1PWqa_eBEYZNhAPN_et0lcgZnlkfDFa-HS0C1mYey7O57AtLefcsdlf432L7QXgT5nFoQtmtsXyNC7b5Mi3jXWP15D5elaw0K1lKzEteNRRlMdzwXKPtbuCqRzk3BFVzFrE90LBUVs1m4S08IG4f04EZovFokHtOEZdS-BliEXgtoFmyhq7f_eYIQJVue1CHGUrx08Lm14LeWOcA0noacTC_SOPHfXvHIy1tsWBb0NQ8nP4NjOlDOYJlWuZ6qM_I1CXClKwDc1EPDurjypWEfDVhkR8Cy2_RxDfYDqhNgdw-b-bWYWje9Hy152N6DXM6AgCjHKPIeFOHX_d6KhXCSdYBg1P4WvGlm1E49i37KRdWpDjaEJ1M2stxXjwH09OSBLoS4zqMKCn81uqoSPiuOcZWj_bzxDCoqDLJGZzA_5wKyGt3r1HlEAJ2iFl4xG1ZY9tuSawDBzj_ag7daUOdOC0bKkYDxxl6tq3BhWlOJ_TV2xBqlGA1LI1DA6_Qam8lEravEYqla8VWb5YeAw8qDRGswM2HvB5jmlNUDkazK71WI9NC-G723n9RTXKoftGZFrMHrQmpEVVs80GuxGGJfDSWWtoORpAp0fJC52LJYsTLP_XBGApRuE9XE4ooABt55TfWHIRQx1DIauBXTqGtTOIHwl61fJHRZX4JpFHlLBgF7oFlfaYhSlOlqIaIirNOSy_zJ30K6isB0gqhSf4A5bA-h1KWdqrOyA6Ly_ft7oPCLdkXec_ZV0TKlPC_Kxxy0tyKibyPHSq70mZed2AQNvLy4yut_jcu5emcKc2mSxep3pJTZMmH0ZcDFFhXveJ6JZ1Od9SjWXd938NV2hh2rWOs72_bBCqeNGLTJSjMp3ebrkOL7ld89N8Q52csVk41qzAyhvJB7a40I2NF4kd5he4vgzQhbr3bs028hPPXFsONH5BkKOrdNpo554XZubDmYAbeS2V-yhWHW9JmCKePtgGWpLLmf7U7uAxBNtxEdESx6cQiqgu90L94YVBwLqTHfn0mJb4eaJrsmyCPIS4X3caHKw0d7jdtKGy941XoJnFY9IXXD4WmJUxvozhqs52dGAr8xBiDEmxclw=",
  "id": "rs_0002122b65528261016ab440451d7c87d0957cd3a750bc0c85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.095,\"left_z\":0.06},\"note\":\"The purple bowl now fills the left wrist view; its center is a little left of the jaw column and its near rim is cut by the bottom edge, so the arm is close but not quite centered. I am nudging leftward and slightly farther forward while descending to just above the bowl for a controlled grasp setup.\"}",
  "call_id": "call_1eU0SdOorcOpndNPupdmx5WM",
  "id": "fc_0002122b65528261016ab44049942887d0acce97434de46179",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1eU0SdOorcOpndNPupdmx5WM",
  "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]: [-0.4007, 1.5341, 0.6178, 0.1501, -0.3325, -0.2642, 0.9993, -0.0216, 0.7998, 0.5957, -0.3954, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3719 left_y=-0.0911 left_z=0.0537 left_yaw=0.003 left_pitch=-0.143 left_roll=0.05 left_gripper=0.9993 right_x=0.292 right_y=0.0002 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -5.7504, 5.3538, 1.8339, -0.1001, 0.1685, -0.0171, 0.0342, -0.6769, 7.241, 1.7216, -0.0317, -0.0562, -0.0171]\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:587446555e2b5e60405934a2a2c96e7a23bf49c1e5735694b891615ad5cdd0dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109edc0a7cbc82dd5e21a46bf8a31c9e9fdffbb13dc025004589810d4ac51067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae466f7388c675b90c339f17911afcfac8fe48c826752c5ed4beddaaea82e9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 6.314 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]: [-0.4847, 1.3491, 0.7494, -0.1078, -0.3851, -0.3012, 0.9993, -0.0216, 0.8001, 0.5983, -0.3927, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3652 left_y=-0.1132 left_z=0.129 left_yaw=-0.021 left_pitch=-0.0738 left_roll=0.0285 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.1731 right_yaw=-0.0014 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.4632, 9.2103, 1.8535, -0.232, -0.022, -0.0806, 0.1026, -1.7436, 7.2821, 1.7607, -0.0513, -0.0464, -0.0122]",
      "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]: [-0.4007, 1.5341, 0.6178, 0.1501, -0.3325, -0.2642, 0.9993, -0.0216, 0.7998, 0.5957, -0.3954, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3719 left_y=-0.0911 left_z=0.0537 left_yaw=0.003 left_pitch=-0.143 left_roll=0.05 left_gripper=0.9993 right_x=0.292 right_y=0.0002 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -5.7504, 5.3538, 1.8339, -0.1001, 0.1685, -0.0171, 0.0342, -0.6769, 7.241, 1.7216, -0.0317, -0.0562, -0.0171]\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,$blob:587446555e2b5e60405934a2a2c96e7a23bf49c1e5735694b891615ad5cdd0dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109edc0a7cbc82dd5e21a46bf8a31c9e9fdffbb13dc025004589810d4ac51067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae466f7388c675b90c339f17911afcfac8fe48c826752c5ed4beddaaea82e9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBOWjhXfjXcLZIpnbBoO44ayZ13X3MZ_1oVE8R6Ualk91szTjE4b3XkGJx6QcMNg3jT65uqDwHIhth0EievTo8SMA71_qngIeZIBtiQpEFH_IKS8UDJRXlWXrTKbCKPzqQ4jrX3pLrNrkumVPUMY2dz-ropRZz1JA4OxN_wSuLO2sebLiUAjOEzajHe2svLp9C2-xX_mr5LbR3j09yqKm2wgzM_fhWveuevVl2nFg1INaZkCqMifeNtNqGY3oYGVzyO57ZwK48oSqnNEVbt0crTo32N3_WrF-tifOpH0IbbzBApU34xxOXfzlH7z6IGaoDNqQhFKnGJJC8Ga9q56GMPPllCFew7hFdjaBFmdVMbfweQZwtMF8NJgPYri9q3LCXNN11RTf9cd7Rxjx0oT1p1qUrcWZJe9H9xl1nJGb3pyCV2bDeNUoAQuP4ecqLrVB4WK31xqKVtT0e9GW-YdjJZzAnO6IPbMDTaemaLk_ow0NDHzaMGn0TwbJNuo4GDmYvjtcuJj1L9HkJSdYh0OBvBlsxwPKkMpBiJdIjGDi9xHCgNTEnIVEGjN2SGRH_T6e_21N9pspNSGJbCC3_jDHjqT1JZnXE0LlmR_VtZoftlFpcqPzdjd4380G6pFYR7Xsp1Bt_Ch68JDvX_XosadAbLfH9yEDCFrXGcXcNVF_Jz0AtKDENWnY2mMDoo64Y5iW533dbrxVOwb4ZjOEEZzvcjWBeh9kTeMOhpDzkMpW8dg_FTIobfcLJnv1J-BMeRzg8QEZfTR-X6Byl07ixRb_UdG8v7b2bvEv1w5hfZXYfyxhzR0PPQ0easxxwCsUjmzqQSENrjIHDDOOtbWGUlxUTnPmvpFS-IbV-Q_oTRVybmViw_4HA-ivpmLYXnLbAnoq0sUhm7y-menifRnW5q7HYrDaE182sH2XDXLU_wLQuBNHOeIAdVdhdqTv5ReDmhiBIXA6XC2RWVG3bR2wF12ige9SPzGljJZ7XUeoYRSUrb0TAN8sBnyVb-vEKj2S_Zd6ESK_34FJn4mOamFAg3jUa_dXJRdeXsCLlM6EOGb-vRTLSFWt9F85q_leE_MdDhoFBJunJ488zYwWwMKoxUYdOZfI7t87K5_ZSQ-xbBt0SOdAi_N_Z4Oi2j-RAWnbqLSS9XCezb6ahizvkQzUmc-EVrt_To0S-WgQduNggOiXcNzQBYyJtowasnEAt7mWCnpaPWdRDTWxlGIR_YIcNdc3-NS83pRLkvJgvVcf_k-Q8xFdvdk_FSyOHrODlgbj6T8wieI8AmBQlhH8FZ6nVJmiX0lnx6oaBh3agtX1cYBe_8095iLqlirDSga7OZOz2TIR4QL5kiFh23lg7zcgvDKNB2sxWJiFBHl1YG7mhiYEToiS5TsDEzjqOmjFBp3rsMpVbr_MalNysct6blmWirP68HR5YFNt5Zxl6Y6wqg0u0chMYQXQBh1zdp8IGx0CEaG6ztoxAp62zU0J-opso3iglQKNjialPORLRBxKLQLWrvJWc2bVANnnKgLFv68TVYItxwaJGqwykeAkKX-hHjmC1aGpb90tvKfbARdv9MS5Q0q2mbV2hh_P_RKaJBWOKhJj9DUzVTNkSyY0moSIgaBcskaXuhvCNLXp4XwkvtJoHCau_KqdZVDwhAWQDKCmtwgMtnDVY-EvGsl1GgOS4jUJ3-wAmzsJaIjeavayvkFZcvqn1Jy3_uSOp5YTi-PPCnbBd9WNLxNFodrjRZFaZONSUDq3WaVWLC1S97v9Sxwa_CGTIMl_IAEzgx4OgF3ZemKQcHxBkcDD3AjZi40N_Eur3WCWXH9Z2Ob1IBwOazFdEHwu26tCnRs3ir-CdJXa2ZnpD2wgLRZACw1ct-fTDQ3vXqFDwdJTfR5c2JPd1Y-aXHM3BkNA1_7X9Od05-KRIPYo8-",
  "id": "rs_0002122b65528261016ab4404c39d887d0947c844171153558",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The purple bowl is now centered between the two visible fingertips, with both jaws outside its rim at about rim height. I am closing the gripper straight around the bowl while holding the arm pose fixed.\"}",
  "call_id": "call_ltPfwBTVm7roNuk65wTIcPDo",
  "id": "fc_0002122b65528261016ab4404d7e6087d09cfcb400b8f90916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ltPfwBTVm7roNuk65wTIcPDo",
  "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]: [-0.4011, 1.5558, 0.6048, 0.1429, -0.3305, -0.2729, 0.009, -0.0216, 0.8032, 0.5953, -0.4099, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.3654 left_y=-0.0888 left_z=0.0401 left_yaw=0.0086 left_pitch=-0.1818 left_roll=0.0589 left_gripper=0.009 right_x=0.2901 right_y=0.0003 right_z=0.1674 right_yaw=-0.0014 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.788, 6.6393, 1.5458, -0.1978, 0.0904, 0.6032, -0.1846, -1.2376, 7.0632, 1.8388, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed27002a08e525e6dd758fd1e8577c5b27c9509c57eab458cb723fba28180e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ebb5144b8e6fe182d55a69392e2e54b02db43cf12b9d6ce682d12213770d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddbba4a582957fc01b196a3b8fd7853675b9546a7ea070ba4455f1a2a23e7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.537 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, 0.7956, 0.6044, -0.3824, -0.0223, -0.0406, 0.9993, -0.02, 0.7933, 0.6006, -0.3862, -0.017, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2935 right_y=0.0007 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5658, 10.1128, 1.8095, -0.0317, 0.2271, -0.0806, -0.6632, -1.3744, 10.3316, 2.0488, -0.0708, 0.105, -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]: [-0.4007, 1.5341, 0.6178, 0.1501, -0.3325, -0.2642, 0.9993, -0.0216, 0.7998, 0.5957, -0.3954, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3719 left_y=-0.0911 left_z=0.0537 left_yaw=0.003 left_pitch=-0.143 left_roll=0.05 left_gripper=0.9993 right_x=0.292 right_y=0.0002 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -5.7504, 5.3538, 1.8339, -0.1001, 0.1685, -0.0171, 0.0342, -0.6769, 7.241, 1.7216, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4011, 1.5558, 0.6048, 0.1429, -0.3305, -0.2729, 0.009, -0.0216, 0.8032, 0.5953, -0.4099, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.3654 left_y=-0.0888 left_z=0.0401 left_yaw=0.0086 left_pitch=-0.1818 left_roll=0.0589 left_gripper=0.009 right_x=0.2901 right_y=0.0003 right_z=0.1674 right_yaw=-0.0014 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.788, 6.6393, 1.5458, -0.1978, 0.0904, 0.6032, -0.1846, -1.2376, 7.0632, 1.8388, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed27002a08e525e6dd758fd1e8577c5b27c9509c57eab458cb723fba28180e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ebb5144b8e6fe182d55a69392e2e54b02db43cf12b9d6ce682d12213770d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddbba4a582957fc01b196a3b8fd7853675b9546a7ea070ba4455f1a2a23e7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBVbjk5D3cL92UVFV_58gmFNwyFtglR7ofrqYanyHppnHfg43x1SE9ES510ev9LwFrsWAxDxKCANMaZK_denersqSQfnQa9WcFZFWseN8b4su0gJDLVeLdtWr2_nbSxLzEhkgtZIEfxx0aQ5rQYJ_xZ8VgYR9QRalv-IjeflmzyZrPNtUbA27vX0q-aQZJfEfGvreyVwDLO9Mzc1cdeucYw-t_BHudD7DODapr17LqOIGNo1aas6Yz5_G2wFoKdDClR2u-pays0k_Sh8O5ANiYUutKoo-TJcCeFUQO-YaM1f9fRgXV1Q8oaIVe68jgPfVvYxn4bbm7uwD3w-ndrGlOxCx6fFsjSku3x1RCV8GSn08HaTCOJSTtXB62bT9bF3czanNJsgMewh7aoSSpukivn8G0we0KARtHT_J9woswWK0hM1klIYgXhhfL42qAcFLKgNSukRAgGRhjr1eWfVlTFqQ0O2ku0lpHUWiRv6NaHvXEDaLxQUsK-mesH3do7GtPYo1f3j3Mw19ivUXtQHEUiEzlm_fuWJ6Gr32JmO0dx3gXmrS_tVPjAX_SrvUCn0vERdmvEuUQHES2Mt7DMP9UoJqmdtkufi6LiMKNFs5t5fm7NS4i3Ol4nwzPN8t2WZttb3QCIvoyxu8Jl5_-9jWnsU7LCkgSB37n2--GK_oUfWGtlF4n9eOX1q2OwJyepyJbinXLqfYE4X1b0W9t294yTXCsd_CkQSVgBdqXd9rr4Cmz4c1SyCxW5-qZ9o9tH1gO9Hv53AvA6dr4HUKPowzPfK1kzTCkLWvctChBdgfD7eozy6IDeyW7o06k0dY9o7HYXJA25E44wZd1sZ3cnbHv8nRgfhpGPP2-Z9EgAsO1websiJPRb1UZH4ikLG5egSFaEnZNKacAYKA4FHsDO00Z0rEHv7wTdD9GTyLfF7r1mdLfj2BQ8kmU1pmOPgqYJtcaip01TIPTdt7PEZ7JcCp0FW0IsvT_kP-hja3y2qpOzvJi2aDgog_sWwfRFFt_Y-NBwYTVEZoFiCuX83JYDG2IdGne2LSmLVQi_RRfEm60VFVmwl2HTqn4aUChY4aPF7yZuoDKmn1EA7bf0ucESmlqWaps0jXGmucPegk1Gudqv08cBG20Ad4Oth0XZi0_lFgTnLPOL5x82bVOPVIzONcn_GJbPhATeqepEEr1sNpsMDxwq8EhiqMV92Tw313HZx20E27oQ3fz_DYtfPyJRbvq0N25ZIbW4nly11KY0hXGacns6TadknlQRGlRZEuOcSqNSUuc77NHZX3v8xYQ1YfNzeTvXdheXkw5kiO8HOP2T4GLA-DYTsJ_yP6SHcA8tOAoihuyFdQ0yM3de8SSX7WA0Y2QAcie1pUbH_nV8klXlLDW1Yjt7eZWiWnbZRzUu0OltJ0xjqkJndYTUKD1aIUzc5Y3VGkSRK9mD2ZZ0AELkRI6LpL00W-hIOjbQquPhAsdBPJOet50bWnS0nDW7ELGFwNtlm1-8c0lAbffanvgafF1jm0TQ7YZuThNAvoc1U_de0maJ_ne8qsxeKzm57bK9Z40Zsi3shjXmYnoL0CGP8ZKMtMmjaJiSYQhNajgAQNOORf7UgxtGbmKT3Dw-T9oghMM5bCvZiZ2tzEnnD_aJbIao9ws4jD7Ld0qegp9GMxOAp3iXafyLpENMaiCR5VHir1D3G-r72rjsoFXW25sbpLAU9VqKXToTvrAQkupkpDLCr7fOxEeb39neo7Flw8wFcZtEBI3str2NtuvTz5bd18IsbcLmOziVWo8773Ba17qk0c6tIqbzPSsDCvHvAqJ2bFYAFLN6Cd6tCjqHqz-e2SgwUqXbqIRji_e17KcA4cTLlNgx58nSNyiWUiPij4ARifymyf1Uy3YYz0JhWtjjS4YyDV4RSa63fYGZz_cz0NBQXAf-wA-EHCkScO75KCqDH8etyKMl90OzwhV53KAre4giEfWSWz9OfXw8DWOeJ5hydI0hO8VVNbQKx6DRWBBQKwsQcp9N11ltH6Zya8DuQGgoG-35WtdEBkOSwofIEUZPhcRIKIPIYj2yR6Y3WlCqsYsjPo1rZSBxYiTPGRhbIYFr62aoE8K2NxXTbCUAC4XnRzPcc_SjsLOJazHl3y6iK4SNrPKK0u7qqvT4v6DvWdw-v5q28sWTT4Qm1yN9sHeVdfLejwg1WmKdscIEcAw6sOciEIvteQ_pPJZOPWIitrzbpuPha-pmNGdnh5mtK36qcKrw0yfR71Jkn-iI3_nr5wevMlJkKKf-WAxFa4GNt1vm9iS6IBgatw6ggZPtRx6ZlpI1p6Y5Z2Vg2vmSEXOs6SiP_4nciCeJlTLTf-ZFIhtIcx8SIu7Isb2_PHyZqG2ipueqZK-j_bp1fEwFDRwnZj348c7UqEu8kBBHljwpO7jOM9n9U7j6TRvm2-P5cksOW-WddPiGCW4z2f9ZORrUpS87ZVRcgMBQQLDvRfvCjDg-ldOgOHP7mJgPK-BYShPKg4WEnnXJ88xuu5C0tbWa8tUaHvB34M8EiAdcBiGBozd7OEL7EEKCVg5mIDSHF17ZCCvHHjqDc9xwV6e7zyyyBMqC2U4lUXsVDKaxMbzb4exrGQVknI7vTCqPfu2KodraCluYIWoG3X_5EYgpbIr-4FguIX6B299OXDEoDBhegLm4mzxKg8aXM14dHLnPJX_iRaB6L6XORYz17dXaQJAaChdaPx5CelrQmG1QBFAM--Apxi_Bg0DEBbeywsO0XfdFqzC06Rh0qi36-NMroIq1W8wNAmtImSpIjORsR8jCr8nYhkGIOcnPjtAu7wX9OLJmwqnJ28GoGGpqtGQ1bAN13kbrCuHQOF1xd4_KZUmj7JG5HTEH2bSGyLMVZe1XMtzQlqQoqq9u_mX6xNPGC8rksYEg_9VulR2Mr2hrZrD1pMlGRpxJUsAWL-YaB3qrUD6au9_74IIxtVqgFfSGZQyQI-mLx6afQauMDh6IXA470mY5FAdJpervXFSBay_f_GfU4ywo1YdPCcdazhUSmrTvCWYLOylt4J2aPJ_pQqlNm_-1a8K9ZBZbfyv_4p9qWMVus2KYJwTTOOl7Nk5TGjWRJoESrkoXJg2d3gvtFSc63QJEbBskHKiEmj7P1I9aVRg_nObMeA_7LX2s3aGqHzDuJBy0We5F0847g8ETl2JJD9Nxc83B4g5QTGiTQSAw524fYXN_bRfdmebUmN_2oB8szyv0PRMIhiGBgYMFSee2scbAXQ5H2CLhLagvr4sfg9rza6wWMjH6KN-HEi_ONbxbgQ==",
  "id": "rs_0002122b65528261016ab4405041b087d0b87412d2a11814b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed at 0.009, confirming it missed; the wrist view shows the bowl still just beyond the fingertips rather than held. I am reopening before making the required lower, slightly forward retry.\"}",
  "call_id": "call_waISEkNEJnJ13Rj5spYk7pVg",
  "id": "fc_0002122b65528261016ab44054c5f887d0a2b1c34fd25b133d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_waISEkNEJnJ13Rj5spYk7pVg",
  "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]: [-0.4011, 1.5558, 0.6037, 0.1425, -0.3309, -0.2775, 0.9947, -0.0216, 0.8032, 0.5949, -0.4152, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0886 left_z=0.0396 left_yaw=0.0115 left_pitch=-0.1829 left_roll=0.0564 left_gripper=0.9947 right_x=0.2893 right_y=0.0003 right_z=0.1661 right_yaw=-0.0016 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -5.9419, 5.6821, 1.4921, -0.188, -0.0122, -0.1099, -0.1709, -1.306, 7.2274, 1.7851, -0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e0ccb132a62848f499feb69c65537ddb757947a502da36d089cdf167d88421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bc924509b5a0069fe5dc690efef7e41cecec57adf0d48dbce7f1b6c87ae0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdb97cb3b09af5d4dcffd6cfafca32b5b2e3c160daeed45fdd458bacc1009ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.551 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]: [-0.4847, 1.3491, 0.7494, -0.1078, -0.3851, -0.3012, 0.9993, -0.0216, 0.8001, 0.5983, -0.3927, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3652 left_y=-0.1132 left_z=0.129 left_yaw=-0.021 left_pitch=-0.0738 left_roll=0.0285 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.1731 right_yaw=-0.0014 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.4632, 9.2103, 1.8535, -0.232, -0.022, -0.0806, 0.1026, -1.7436, 7.2821, 1.7607, -0.0513, -0.0464, -0.0122]",
      "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]: [-0.4011, 1.5558, 0.6048, 0.1429, -0.3305, -0.2729, 0.009, -0.0216, 0.8032, 0.5953, -0.4099, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.3654 left_y=-0.0888 left_z=0.0401 left_yaw=0.0086 left_pitch=-0.1818 left_roll=0.0589 left_gripper=0.009 right_x=0.2901 right_y=0.0003 right_z=0.1674 right_yaw=-0.0014 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.788, 6.6393, 1.5458, -0.1978, 0.0904, 0.6032, -0.1846, -1.2376, 7.0632, 1.8388, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4011, 1.5558, 0.6037, 0.1425, -0.3309, -0.2775, 0.9947, -0.0216, 0.8032, 0.5949, -0.4152, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0886 left_z=0.0396 left_yaw=0.0115 left_pitch=-0.1829 left_roll=0.0564 left_gripper=0.9947 right_x=0.2893 right_y=0.0003 right_z=0.1661 right_yaw=-0.0016 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -5.9419, 5.6821, 1.4921, -0.188, -0.0122, -0.1099, -0.1709, -1.306, 7.2274, 1.7851, -0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e0ccb132a62848f499feb69c65537ddb757947a502da36d089cdf167d88421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bc924509b5a0069fe5dc690efef7e41cecec57adf0d48dbce7f1b6c87ae0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdb97cb3b09af5d4dcffd6cfafca32b5b2e3c160daeed45fdd458bacc1009ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBZB2KYcjqdheK30xZpu_gD-86etCjBohrNLLkAI1JJX0CF4NxVwgbkToqdGVBrlnYPSQWoKvSVfUnvYGXFr21gGpRPnKVWLoAw6kdnAkFI_hD7gnYFrkmlD_v_h9dMSUvhtJdYuH8gthkDhFTq9VszVixLnm-pIeTi-XSpAtEDTmGJkIXqy_PDyemzfWqlWTcRl25T3JbiOvCHYdbsirGvGQQm4UwFj02lE52wQmjyNlNygYeow9FB5DV3gmsjbcuE5M_r6FqO6irKKiim8Wvyo7XyYJmK-muhx4K5_6DZccPIEbsxvfDthMaFFndfGA10XbaI4itQBMNyRB9fpw2TOBu0amdmIRBdfgmy9MR4J2UFU_rbrQYDhdtZvd25h-nt7oFG9g44XjW-yigwAb-x3GKRDshh47KOEbSbLaMqDkBKL4cJzwEdNxeK7XyhGZbkIOKIES8q95VaTBkIGMnaisTKTQ5XLcWGo6erGGgFKFi9dSKU0WNa3I9BlTrlciOa6EM9r9JGfp8nnDhCphe6yy7JdL7lNefjNjQ6YWgx-npXxJy7u7oh0D0fhe9rLaD7FCzmsbo0ixws98uSqquXeBz_J-rLjtAbL7mvLHqmycQppmTzXfyme734G0ifWKocji7dpFIdoK6qjGnmT7QRqGpksl8f4QOlmxxrMsRHHiLn-wAbPKkyHK4ixYp0YYq0thzLpUD876Y0i-PT3_oHl5sITRWdLfKmSX9LtIBmpK2hKb65w9jcQwODJ5Va9NounrMJb2d350kyh3xtoXKN7T9C1ysxS3FAxNgIb9BJAHEglcueJWry9qd-YwnrnlpW_8e4fxhXnaWe1osovd768P0Lqt0ESsRgLautuzQDBA51_m4h0j0mlslUPC6Sd5dIcyFnodDlukL_fC5gdC3IcsLVBTbND9NBYcxHS_7EHH6jXBzvNx5b2hMkve9DQ8tnnylnaqt_LDXBIAgy0C2nd2a55Q6PI4RVGXE2ba7M34d51Uet-ZAPfXdcfaZFngupQBfRTwMSl-rqwkACEE_CX01S7lBQMpWYZ3UNJmw5sKa3rC2GhoI-riZ7Thxz68N2eIHTbH4QflsvpyA2S9sAh7SuxP8HSxFch3vgay26ck12rok8OMM4aDpO9-K-HFrFeNR2iN38_VrnoO6-G9_WU62YlsH3zj8FIfyUkZIw9hXgHpe3i6K__Av8_K7xS_hlt7pTkt63fEUhY-yX0p3E2weeLE8a2C3B08hfIRyxyB6Ad6hJLAUjrmZwlnsqZH0Gx5J5SbjAFR63GEmeyuG-Tn8FF3ToHHunRras2JKWdToFDY_gVa0Jk-LCQ9SDVApyT230abyBgWs1RZ9wsI24vmAkn4q0naiENKgyPlnZh5yx7tbGyflRm_eWtZNh9KsV5Xufr95bP4WGnFnRMO4B7-pdLDFWhe-V2pyOBI86rK5CDRUi4MmNkqdca8uTENbR",
  "id": "rs_0002122b65528261016ab440577b0087d0afe2ac51a83a4711",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.015},\"note\":\"With the jaws open, the bowl remains centered but clearly lies a few centimeters beyond the fingertip tips, matching the wrist-camera offset. I am advancing about 3 cm and lowering near table level so the fingers surround the bowl's outer wall rather than closing over its interior.\"}",
  "call_id": "call_6IGbEETGFPrCgzDG1OHZ6Gik",
  "id": "fc_0002122b65528261016ab440581aa487d08d433324095cdc61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6IGbEETGFPrCgzDG1OHZ6Gik",
  "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]: [-0.3656, 1.6951, 0.6682, 0.271, -0.3298, -0.2768, 0.9948, -0.0216, 0.8055, 0.5945, -0.416, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3986 left_y=-0.0875 left_z=0.0328 left_yaw=0.0422 left_pitch=-0.1339 left_roll=0.0345 left_gripper=0.9948 right_x=0.2892 right_y=0.0003 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -5.1487, 4.547, 0.7009, 0.1343, 0.2418, -0.0024, -0.0205, -1.4154, 7.0085, 1.6777, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f7977de668ef2d54a1845e909c58f32fbf969a148bdddabd78a57bc35bddc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b5584c6a319503f196cb78297550aeea9ab55cef4088061c26f2eb5a1afb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463d8c9a35061803720c83df550936218e2769720d5f0055904a83bcc115887b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 7.752 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]: [-0.4007, 1.5341, 0.6178, 0.1501, -0.3325, -0.2642, 0.9993, -0.0216, 0.7998, 0.5957, -0.3954, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3719 left_y=-0.0911 left_z=0.0537 left_yaw=0.003 left_pitch=-0.143 left_roll=0.05 left_gripper=0.9993 right_x=0.292 right_y=0.0002 right_z=0.1714 right_yaw=-0.0014 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -5.7504, 5.3538, 1.8339, -0.1001, 0.1685, -0.0171, 0.0342, -0.6769, 7.241, 1.7216, -0.0317, -0.0562, -0.0171]\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]: [-0.4011, 1.5558, 0.6037, 0.1425, -0.3309, -0.2775, 0.9947, -0.0216, 0.8032, 0.5949, -0.4152, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0886 left_z=0.0396 left_yaw=0.0115 left_pitch=-0.1829 left_roll=0.0564 left_gripper=0.9947 right_x=0.2893 right_y=0.0003 right_z=0.1661 right_yaw=-0.0016 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -5.9419, 5.6821, 1.4921, -0.188, -0.0122, -0.1099, -0.1709, -1.306, 7.2274, 1.7851, -0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3656, 1.6951, 0.6682, 0.271, -0.3298, -0.2768, 0.9948, -0.0216, 0.8055, 0.5945, -0.416, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3986 left_y=-0.0875 left_z=0.0328 left_yaw=0.0422 left_pitch=-0.1339 left_roll=0.0345 left_gripper=0.9948 right_x=0.2892 right_y=0.0003 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -5.1487, 4.547, 0.7009, 0.1343, 0.2418, -0.0024, -0.0205, -1.4154, 7.0085, 1.6777, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f7977de668ef2d54a1845e909c58f32fbf969a148bdddabd78a57bc35bddc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b5584c6a319503f196cb78297550aeea9ab55cef4088061c26f2eb5a1afb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463d8c9a35061803720c83df550936218e2769720d5f0055904a83bcc115887b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBbaFULHZU4_8zCNvrEMh1HavAiV86LdIyaOH3ySy20Nf4TAhAK8IeBza0c4VUpBEwQlGComo8mPo83dj9aiiz0J5ny17JV_PFRr02WP2l-etI5w9qx2tehYQBA3UAMM0Y5i1PRRRaASD1bKFRq5zDH2wjkvkGCvgerj0WqMW8-FPADgEB_McfQd_x28LeLIVzYvrG0nHQLp7p-Z1u7jX2diMli2zpzT6g9kzxwdL4okAdd9RvF4r03fP7YsLj_4mxoxV5DyexhBPzD7X8LvgD5ZY0Tqku8iPoXpgqtDkjMXZNatio5o4tXqYoOyHPGVmyDHtd367amHbcX69zyhIy98RJcbd3g9QNt6Sa4dZnQvLisXQkn6ZPSOZ-fj_1pfCzMcICxogM6-DLys16cZSAeeJmKETf24pKiusvwc0L1kPCEe7Mh9KVAPiDOtbNl7Joe4bN4htrytcIKB2jmxblB9Ur9O2ZM9RYcpFvoSuBMpXwQHXJh35JZBerSi--M9oTAoIvwsHspo2Mtufhqjl0tEIDghEFmjikPace1zgCasyEJ29O0ubTkiwdiS6FPoNFrjNeFUzg2N_AFNxNCD_Kax5qBKD0ROnfj4fij1lehYEhGq2LPMplf3NyhcEdOBrKhY0j2OCwfnPN2ZD14zYHLftxc8elL7HELR-1SlN0pcE0kJA04MR360VbCQOepj7QMsxVQuZABUdMvdC4X6j3TvqEk1IGkfpG7oWWMuX0W6bpp6fiv_zYF67rwiUAuqTu8su5LWqStRX592bizCXvsN7TjKR-B-EwBj60e6rayriNqhC5MlbJOtFEnT-A0PUttl9TlYazQxg7rhQWvZsRyVJrKQCEvGRfpeYJEBxjWN6X2UvSoZ_zaczcF6WnE9zQiSqrU964tiW_0-X6S4g-sgejBJi62-JyC2KwyqsHVHSlXSnDA9L44yhUSK2BYMXEwQpmbUYn4DuY4o-0SJP_UqKchhU796jeOkPNTLlGp3lfZZTDSYFQTAG4YmmXO418XCRjGVRsTMF3UIa66SgNsG5QCh2t0zldjKz1qN419CPcme6kaZ-AtPi_jQrPUTAeWnsJoRane5WlP6HF8zOklKJ-Cbx0mQyfc32xKQEZ3CCKanorBHygXm_xgigcIoBu3luRGhaoRi-C53-ASGZhDzhP3NQgf6Huw916GYKHV3mO2_QLoKAXhP8tDLmfxHsAG3wlA9X82N_W3Y1Jo_KZom2BWnx5RMQ-0u8nWWzLCQKBkBQshz4p-pk9OekImjqRC7g3ygeNeR9scOm6Bsig-t1EfV3AEuvJJjhFPaMqLtrU0fM9vSHNRHiBoZI_Dzx-zBMarCCShqkMQgbjGWUNu59_wfFSUwTzUSavZbBlPTNtZo7pOjbAujaUwp0WDJ22JAVb6Zra8rWwjRNzXN4IoJoL_Hzku3_0kZ-vEn7lLeve0G81_kt7Rj7qxF14n__Sp",
  "id": "rs_0002122b65528261016ab4405a763c87d0869da1eb109aae0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the forward move, the bowl's near rim has dropped to the bottom of the wrist view and both fingertips flank its outer sides; the descent also stopped above the requested height, indicating contact at this setup. I am closing now for the corrected outside-wall grasp.\"}",
  "call_id": "call_y0SHXUY7e1pnNE8Hh2E3T6Te",
  "id": "fc_0002122b65528261016ab4405af73887d0ae300193a223f5d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y0SHXUY7e1pnNE8Hh2E3T6Te",
  "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]: [-0.3626, 1.7119, 0.6701, 0.2665, -0.3229, -0.2775, 0.0087, -0.0216, 0.8097, 0.5945, -0.4191, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3973 left_y=-0.0869 left_z=0.026 left_yaw=0.0412 left_pitch=-0.1536 left_roll=0.0373 left_gripper=0.0087 right_x=0.289 right_y=0.0003 right_z=0.1634 right_yaw=-0.0014 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.6359, 5.1624, 1.5751, -0.1636, -0.022, 0.6178, -0.0068, -1.4974, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc74d1a21c9485481ff2e8b83292611c9da109962488ffbba6c63be5758edda1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa841ace8955e6d50cc8f228da734b06b6b7040c99be02ff25df9b0e4577b8fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fa428f9e7adaad9a1b5382c6c3311e8cdf105c9cd68a3c7aa9d8a24d718b0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.701 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]: [-0.4011, 1.5558, 0.6048, 0.1429, -0.3305, -0.2729, 0.009, -0.0216, 0.8032, 0.5953, -0.4099, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.3654 left_y=-0.0888 left_z=0.0401 left_yaw=0.0086 left_pitch=-0.1818 left_roll=0.0589 left_gripper=0.009 right_x=0.2901 right_y=0.0003 right_z=0.1674 right_yaw=-0.0014 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.788, 6.6393, 1.5458, -0.1978, 0.0904, 0.6032, -0.1846, -1.2376, 7.0632, 1.8388, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3656, 1.6951, 0.6682, 0.271, -0.3298, -0.2768, 0.9948, -0.0216, 0.8055, 0.5945, -0.416, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3986 left_y=-0.0875 left_z=0.0328 left_yaw=0.0422 left_pitch=-0.1339 left_roll=0.0345 left_gripper=0.9948 right_x=0.2892 right_y=0.0003 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -5.1487, 4.547, 0.7009, 0.1343, 0.2418, -0.0024, -0.0205, -1.4154, 7.0085, 1.6777, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.7119, 0.6701, 0.2665, -0.3229, -0.2775, 0.0087, -0.0216, 0.8097, 0.5945, -0.4191, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3973 left_y=-0.0869 left_z=0.026 left_yaw=0.0412 left_pitch=-0.1536 left_roll=0.0373 left_gripper=0.0087 right_x=0.289 right_y=0.0003 right_z=0.1634 right_yaw=-0.0014 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.6359, 5.1624, 1.5751, -0.1636, -0.022, 0.6178, -0.0068, -1.4974, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc74d1a21c9485481ff2e8b83292611c9da109962488ffbba6c63be5758edda1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa841ace8955e6d50cc8f228da734b06b6b7040c99be02ff25df9b0e4577b8fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fa428f9e7adaad9a1b5382c6c3311e8cdf105c9cd68a3c7aa9d8a24d718b0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBkckCQ9jhAUFFwxtdTi8NjiqNmd-pHRloOlrke80ep8YO61xloZ_wc4KDXlrgFSAZlzJS0XforiUjxqNUIhC2ugJO0AaymFZGroV6U7nPL4IQHId1qgKZPZuef8nGSs-sJDvpd98Br4tAhv2Ai3wljZR0rTCCQvpOJoK_tf9397FwRWgZmf2gI14YMV06lURh-GUIzAqbyJEyy87ythNLEbvjyjQrSo7h4eqo337B61iCEUC14N3XqHEff4ozV82KGH9yZ6NuPLncgiVXWzUCfZN2reSd4vzTlPaiiU_EKHZT63x2-usH5rJziY1TJABP0B_G_l4aMyUpuXI_qXcRfv5uOzJRJ4Po2E1xXN-TZaO87l1OmSHdsX6VP33c7nkBAW3XCE6Bi0NGtqHvM7L3DtEsGz2nrP4DLOqv0m79luPORctyHe4RrFkkUjKvY4riyzU9D_DI8aSXcUUXmDL3QX4mOeVs8BZBbkanryn2gZshHw52rWpYV0lpQ9d1juBv-Od-2xfBgX13McNtltnotmT5YCYZyVkDHdCys2L4dZ2fOa_2vmxdO_-VPBtjazMLWClQG7WpNqN92nyE_k-ZT4hWKG3-Q0npZVsyz7LBZvbGzlK-jHT2PYJUFZBEtTtW0w4TJXKL6NhicmhWAa1N2xzHxiUd6OTTcIAb__3oww0yIzPcALc0W-DOfJtzsJhJ_o5yQ3l_bKoiJFxZESzcJRKRcOIsbod_4-AZFu_CHKM1GlM4Sk-xHWyTTSrx8KtZ8oDy4dSQySIi_gO7q9sgR5lqoW7necnFDvN6yjy4kkwL5wTd7ht1bXNKl8NIyldeO_GtJv-iqpaocIQZE-FIaAc7E1I57pWBRdjz0p_UMVVYjo94d3lwsp2R5YWlXhXPzUnNS3cX4qABFhNjyUFwYCJSuk1NP4F468PUk_UAQ1qHJLVL1ECg2bPhZhMx8wEUO3WonE0Vam0wuBSvoZ__1OFW-MueRy76xLPam-20-JpsYDp0jApfOoaac0iABVFeoxesU7WRiqp92PfJqWEXDhMWGb5_iWzwBkUY8k3tdIxJUmPPHJYgrJbQmr6HskKdzylv0XZasiZRUbm-pMmgcvgFO7OtI_vK_4zDuS2J26ky2XN5zM55Fcw48XWgU1HSUtbTuy85UTTdgLi4yDBDeOUn38LNs4EjK5amvE5lEYTchQYQ5GWKt_M4r-bmoTevwNKu4FdqYqOAQQP0zz5Fuwx-0_4UjkIZ81Mf-BPxBe9CYlvRyThvFovfHY7hM9Kw7SZS3J0LDnohMuPHRZtbqQj0tLWDLiboLhAJPqHJLEUA1G3Q8sHsgPFmIrHrZb_f-InHeNEZWA9ckEjIRwQpn6zdfI44Xz4ZJYypdSFLbhYiRX5lqHW1AR1aN6Zah-Y_WGoLeE21cddJ73acTtAnhs7dVN0W8P3SqPJkT1XplzvmXb2CJ_FJy6wHLGNJ-UXztiSd-bcM1MJNcIC_BVyWnTIV60UWMYnUMbHAIgljPrPdQSLVOTVooe2yl7dAVGjh38H5cuvKIhOgqc8aXWf0K3dvXbyik8ydooUJGtS1lDl3nz4-4xYc7s6cuRqQljLJK40m8O6XTOGDH4m25K_ghZrZUoNORBvC9wtVoA5OV8TCp2PpFxxa17IFImxRt1Xn-Qx3EK0CTwJTXkmUNj9QlMlwJf-8ogo1R8rmb0B5sRRReIKb_lSz3XIM3fMdm9W_DrqfGf8UbJQdy8DtlxPBsFc0Mvn-73CqVh7ZieQ03mOS0g6VHIYms3MZ-YcQ_AlDZY9JNVUDfr32VnEheOLOL3G8U1Lepb76F0TvbBehZ2FiS9rxx45m9LfYJOZR5acrHq4vwP2rEkkFa6Raohbd8lma8f97a2w-ukGKX4zE1FEaFCXFyXNQ18sLPoI8fgXuGhb9t1JUXiqGpVh18v2WgYupjduPQm9zEJHARjRbA4CakBbuHH54SLxxzMVZfWMKq0ESYC2_K7WhQ0A_fETJk_tnNf3mPOHG_spn4udYEGGnEZnfU_cyKhaxBCDQWJQghreUwadOBcTXdTdsCKrdm7yXDsylWrSN7UlPUWrNvBcfu8xw-xM-UAQkkmh1Bq-BGTzaILp6xayINKepC9JWWJwdb2l4oJKg2vbY1TKs_xfM8ZOQK9qCLY0QPH5PZ4GmgFmBRA9tDrqtMNJn8GzCaa2N2pzOPJoTwM1kh9_9rYVo4a6CsNakmWyjdQiDhPZyvQEDpC3oY6HPDWgRBTIcK0IGijYrmq1bV_s7m9ObAMm_TJ5OHYZHGLwoOfL7WqgD7L2ndTgW5arGq1LI0q12MkegeKJwc1YYfpybBwv22bA3QrrxwyLDqgr12mmRptQYJ0eH_LliOPE3pKM2zUCC5ceEEsK1OrE8b9bokx7B4ST9ZH0PY6KXHsrsBHc-L6Yc3VQbufEKOFjmdUN7OL_DT--K4NJsH34nh3Yiqv6qW-6liOACpKX_VQLKlyenil7xXhSdtpz5KYg4u4YjxBifbztko9kq2uDO0Q0T9FV_DIL-4l4QIgEpyZIkpIXm5ZVnGr8pZuPkccCDTI2xE0PDyECIIQbaKCW3bSBzign0wstcXUPzNrDxFby5N8uW8_o4TDG7qx3wAlqKUvzt27UL4jd8IXN4tg5uK1D_KNYN5aXeCm2-MH2u0NsgwWDY8kAe3F4eUqm8YPICu-LaZezj5SNstCK2tnDC4fKZ-LwNPHrsURDF0lXhE9spKrqeZUq-H-z8l6y-_7t8ObCKPRCU1YfHRyOS-LI9br3ytvFrKNt88zgReiq9MC2fs8311Ng88mm-ukWZuATMNeVST98HGmbY4ZB2qgiC-SvqZEHGFAekmZURjH2oM8zJNIImNaFKEWOZ9ptJ3qleYZjtqljKArlT1OuE54y9dg75Mz4q9N_9QRNjCm14b6jpTMDoKDPOcWySNFg2-ddveUwzMcIXTQ7xpJynj6vc2wWe6bpa8PjvNhSLOg7neKh-vKXKLV1FwWTS9lF5eQveuAFSoEcCe_737WqNKdO0myf_l7meLBXxyGbxVY_0P7Y9OHRc-fHFrycp0mHKQaUX92vBWS8vUs_M36R5Hy0pukaHTYC8NBmt3wQcccOfHpydLhEETpZBI1Dokie7COOnaFuk9dSQYhnYAwQ6MMn25Hte3gZTnRTcQj8kjYaYqusZa0m5Z6XMiB6APGRfmZPU6hjjK_zDfe647cj4kF-ge1uxsU9fdiCGgNwjjeHY7WyoWkKdWJieM5-GbcFdfOjd1Evxm75tfrZ9qhRVx-QSf4Bq5t_P7NJBw8L_zAmsFuP8zfuyYeUnMvIE-Ath2WiEI4RhH-oQaxidm-m-m96NTOVcLcBETQbA=",
  "id": "rs_0002122b65528261016ab4405e965c87d09ac0ef74b0bce177",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The second outside grasp also closed empty; the view reveals why: even at full opening both fingertips fit inside this bowl, so its outer diameter exceeds the gripper stroke. I am reopening to switch to a rim pinch, placing one finger inside the bowl and the other outside.\"}",
  "call_id": "call_rmpWReJmaS8QebjyezAUKL39",
  "id": "fc_0002122b65528261016ab44062f07c87d093e9f3c893baf1e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rmpWReJmaS8QebjyezAUKL39",
  "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]: [-0.3626, 1.702, 0.6724, 0.2962, -0.3298, -0.2855, 0.9948, -0.0219, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.4035 left_y=-0.088 left_z=0.036 left_yaw=0.0489 left_pitch=-0.1131 left_roll=0.0187 left_gripper=0.9948 right_x=0.2886 right_y=0.0002 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 5.7368, 1.3358, -0.1245, 0.0171, -0.1538, -0.0342, -0.841, 7.1453, 1.6728, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61160109fdfea1dcfd51915fdb50f316e3598cf27d1a3c36cb54f0113a39580d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6ae5d60cc381101986d9ad2fb50a33b8bf4735e1881916341a92165a4c9c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af694347a0c3cdfb9678d3e057100afc191c5096b765cc71acc1ecf8696d1e87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.024 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4011, 1.5558, 0.6037, 0.1425, -0.3309, -0.2775, 0.9947, -0.0216, 0.8032, 0.5949, -0.4152, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0886 left_z=0.0396 left_yaw=0.0115 left_pitch=-0.1829 left_roll=0.0564 left_gripper=0.9947 right_x=0.2893 right_y=0.0003 right_z=0.1661 right_yaw=-0.0016 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -5.9419, 5.6821, 1.4921, -0.188, -0.0122, -0.1099, -0.1709, -1.306, 7.2274, 1.7851, -0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.7119, 0.6701, 0.2665, -0.3229, -0.2775, 0.0087, -0.0216, 0.8097, 0.5945, -0.4191, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3973 left_y=-0.0869 left_z=0.026 left_yaw=0.0412 left_pitch=-0.1536 left_roll=0.0373 left_gripper=0.0087 right_x=0.289 right_y=0.0003 right_z=0.1634 right_yaw=-0.0014 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.6359, 5.1624, 1.5751, -0.1636, -0.022, 0.6178, -0.0068, -1.4974, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.702, 0.6724, 0.2962, -0.3298, -0.2855, 0.9948, -0.0219, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.4035 left_y=-0.088 left_z=0.036 left_yaw=0.0489 left_pitch=-0.1131 left_roll=0.0187 left_gripper=0.9948 right_x=0.2886 right_y=0.0002 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 5.7368, 1.3358, -0.1245, 0.0171, -0.1538, -0.0342, -0.841, 7.1453, 1.6728, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61160109fdfea1dcfd51915fdb50f316e3598cf27d1a3c36cb54f0113a39580d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6ae5d60cc381101986d9ad2fb50a33b8bf4735e1881916341a92165a4c9c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af694347a0c3cdfb9678d3e057100afc191c5096b765cc71acc1ecf8696d1e87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBoPc5rEkY63v67ot-PqGBFwdFYuQxiRWH4a3VPpsHbSwmtwGEaZyVNEDdcYXDbVwejdRXG-rMyrbQQhpyw3fzSv7-Ppgvs9EUhUcXqUH7_nweFrJjs0XAVErmds5PAcaHXUGOpjBK8PKk2jtD84jx9HmEDqsFWTJCehM6WklrzoTOYalghbaS4zAcAZHcRKLZoyf4sTZ17fquuXU_4aZa_HOTDtlO6pezTGGUsrLRKQA72KmQ8SmkZRU1HY664KF2DmWadcyTjjXeVfaPQAIgPWSvAtRqTGFZnbmT6QVL0USArJNMA7EC_Hojpxax13leZ5Uf8xPpWLeqzamD9f659VAY_6OwXcvxDtit2yxjQutjeqfZoq_uzbFtoujVS6kQyLMiAwqwxBO9XrMHPkEM8JJsTE883p_225w2apxdzrZvv5LBatNAMZiZuqtv7GghHI6JN7lF_fJMr0h2PWNc5l12mX9qpD7IzDAR3L2i2KilPKKIYjWjXZrD6vsj4-YoXrN-uQEPUFR9N50fG6ihBi2Q7KexEloqAj2UtqpSVSrWOiUgIkaalY7e4LRUSFBz6_gRg6BYMFtwUIJT3wxysGsOjj7m4QbGIc-mTDaBPgJYMPhaymTIyEkiMkmw1tDUWdhsZ1TPeSa7m8OH3uwJxZNkKZBQzx4mKemZboxWgZmYKZcGGbmbCkDfZzL1VmePFbXW7crwOoFxApAYGphv4lsYl0hmTbWeE2gKCIaV8YCDl9TOYhKqPWEyxgGinunafByNBwHN3aaXGFWQxChpCTml4tLCCxhNIrVbRmzkbpJ9Sywtoy8Tt1d5fB9yLM_-m2z1xLrLqt3IHRgEE_pQdHtchKHPeCWr9lkc6AeonBhR-WfhZ9E2rwZbHYJ7vmO-NoWChBomEMMADd3jC-LqaZ83bkKefGbkPj82e4Ndz9OCoKtNsrMpTj5XhAkp1t6n0ig4iJjJ2fNf6SYjW5TUWFfafkWKgq8YmflTMDHmELxeYFZF1lq8nAXgg_RqeL3DssO-PQHEBDoRZHzC6tbqnh6w5oQT0jIACsWUbsrfobI4yBesM8CSgXm36XkgHOg_dlUR3ZGgrqe3L17z9VutywziMY77y6jFjHvkVMTy-Wrbw9DhZv-X2iAAPX3KVOo8TEPeyvkHxheAqKlCrxeiBuvBA7Cv1ByPAlW-J_lCDQD-v67Ne0ZC-XdFT3srU-4jI9bu4TtJKeHkBjTDvJoIik1h8_Wn49KRjDP4dvMOw5L0ZZTqJTfukd7yEBL7UTrhcz6Lxti7Ecq302Cv9cHYseCgRkHUy-eEMtMLJXKkRRYqFCq6BDoppIgGPAefyA21yqe0VN9pVdoIDr3WM2DPdDv6hC3HRO4nKxeH27Unr9FO-A0DcGX_Zl_HMS-rgx6rT4SFdwC9xu5Y93M7qlVKTWKyZ2OSx5RL-PY66LK_mucp0qa23rzLRF3j2JG3eFWm0yCaOOAPsEBQsus0q93rncVTMfUP75CXccdwedW8d2vfa49F29gs2SqnOXnPfRuAn",
  "id": "rs_0002122b65528261016ab440667b4487d0a63f679d9e01a58c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.045},\"note\":\"With the jaws reopened, their 9.5 cm span is visibly inside the bowl's broad rim; the right fingertip is nearest the rim edge. I am shifting the gripper about 4 cm toward that edge at rim height so the right jaw sits outside and the left jaw remains inside for a secure rim pinch.\"}",
  "call_id": "call_ovcsuWLxnzaG3UWiOUFEy9yY",
  "id": "fc_0002122b65528261016ab4406736a887d0b2a744ba7b49098f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ovcsuWLxnzaG3UWiOUFEy9yY",
  "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]: [-0.4858, 1.7191, 0.7307, 0.2184, -0.3962, -0.3599, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3972 left_y=-0.1286 left_z=0.0394 left_yaw=0.0216 left_pitch=-0.1246 left_roll=0.0183 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -6.5709, 7.8154, 1.5263, -0.2955, -0.0171, 0.0611, -0.0479, -1.1009, 7.1316, 1.6972, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773114c6c3e6c03c2bba70fb4fd349d3668623e54d414aef717c4d27cba9fc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e139d1f28ed0385f333b60596978fb4672617994f1c8ebb9468aa1c0ac206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e9b468e501b24e5da6e8a51a8e389ca70f0713bd28d829e9f2a91272029330",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.955 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3656, 1.6951, 0.6682, 0.271, -0.3298, -0.2768, 0.9948, -0.0216, 0.8055, 0.5945, -0.416, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3986 left_y=-0.0875 left_z=0.0328 left_yaw=0.0422 left_pitch=-0.1339 left_roll=0.0345 left_gripper=0.9948 right_x=0.2892 right_y=0.0003 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -5.1487, 4.547, 0.7009, 0.1343, 0.2418, -0.0024, -0.0205, -1.4154, 7.0085, 1.6777, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.702, 0.6724, 0.2962, -0.3298, -0.2855, 0.9948, -0.0219, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.4035 left_y=-0.088 left_z=0.036 left_yaw=0.0489 left_pitch=-0.1131 left_roll=0.0187 left_gripper=0.9948 right_x=0.2886 right_y=0.0002 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 5.7368, 1.3358, -0.1245, 0.0171, -0.1538, -0.0342, -0.841, 7.1453, 1.6728, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.7191, 0.7307, 0.2184, -0.3962, -0.3599, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3972 left_y=-0.1286 left_z=0.0394 left_yaw=0.0216 left_pitch=-0.1246 left_roll=0.0183 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -6.5709, 7.8154, 1.5263, -0.2955, -0.0171, 0.0611, -0.0479, -1.1009, 7.1316, 1.6972, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773114c6c3e6c03c2bba70fb4fd349d3668623e54d414aef717c4d27cba9fc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e139d1f28ed0385f333b60596978fb4672617994f1c8ebb9468aa1c0ac206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e9b468e501b24e5da6e8a51a8e389ca70f0713bd28d829e9f2a91272029330",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBrvDh-Ql7AeBxHt00tX6LuzxtCYuu-_rVLOpc2yBaATsz6AOrBDdKLc0rbL74MZ8w6VH0gYEzXzynBIQtsVWOGs-hSvGxdTkoVORn2JoKt-ubjzUbX4MyHquPhDVLWOxEaevXgXZ2u3nqceYfpkmXN8o--zlJexPGYo_tOwLlN6qLqSVkTximbsnbyonpOO83WgMn6dhLk8M-YY299BluDNRR1k1ggbPPAjmwFxYqYK61HiNOKFmPKkP51qhutu5gE9WaFvuUanI6-jViwfz6T-RgbYl5mF6DB47g3HpaNZjObZdypqjloa5RNRgu3calOi28krjqqhiFUVyGYD2_rS1SNudWorZKYY4sRLXk982FFsJ-tHWGyDJo1S2nw2E3noltvkkjatVGLPO8g_KAW_f02RtZtDTAS_hfmfo3gLmDvhsMR5DnVsV2qP0NVJ7-750WhVfEoDxTRM2hWKVfm6Qbtz-0i1PgGtUXj0_6oWCXS9rEZ4fRfQPS_vRe4VlRPMbFMxVnQKfPB6Ja8gsXDT2RknvX0F5WEz8ZphR6sxUNNbeSET5kxQcBbJW3fjeB5Yet8mP-RTyFS-Oupvcc0kMLwRGxlCi0u8uRGf_-tg1sBaHOiHgBPy8A5tSw2YkWvTlsYENJni0w7bkkyz25qbLl_RxdamiupUTMNgi5zE9eIxCr9Sh19pjZ6OFT28zM6CUsN3XZYo-6S5QMYACerww2dxwThl7pjqN658okKBpZDQes0n4R3ECOkoHSRcnXf64nG3o5Cn_OCS4ZNhXTeWqCTQ8hG5HZM6LoyWupaO4PwbCBM7TL4L0vKY7BJOQosbXRYxrSY12WP4lnQxSUdYE_xnpfQNwCgHr2SlHy4Q3QvzCfftDI6mQB43M2sc_mW0-3SBbc6evnLAXwgNiUF7OnzRmVht-TBgXuSRat_rrsIqzrnVrBLrlNQUfyw06l82wbNTx4rDI2C_J7zeMG_ZTGNbwjiNkdfFZROZ-QIPO4F3e1fna6CXFBfYNY8CRYFjggUwVlEgU6-fBoVMsgTIe6zieYsnN56lvYgkRCuEYI-t4tvaiurV0czm0-J0mBeSFqx4RM17zAA9KyPjybe4fH7aj5jCNcrDrtyKvoesKU2F-Lkf1daQxy7zrKK_k1Z3bMBLUXh7725SgQgS6X4wyf6_uRI_slvgxyymdT9MaTTHmNA3fZj-bjAFzE_XOGHS3NAOdt8ivzvO4Ezls6Qtd0mXJut0VZ1OkwR_aDdE7Tlq7nkm828-cazIzSv_37DW0lIaDQWnQ1GqTUdkR0KLzwb3OEL9fioTdqjarnB6IFQj024hwZhceD7a3eo1O_W0c1zOKz7JxObiks3yc12hXjCWjWAPi2nV-2-sKlZOmJ3y2DgRIzBed33UIWR2OwsLERYPsKyL_MQ5uAmKO9APE0ptl_EPNrEondFL25TSF-G9y9xszVUOiSMkpMl0F5jm58v3bGpUi1InxiCxMj8TB4tJPlAL_mmB49jYsKaHyVmy23n9CE0kIE4ft7gG0sSxMQhQ58cTGxTPwbwj9Yi9blzi0e1kQDnsf8Y1yKPdKw7uuQ7z7JcPHuad1PzENcRxNe2dyUMQSBlt6IShl9Akp2AAMnMNnuzZqD7cZOepiNDZEv21N2aW_ci8K4kf9KGefw9JPKDM7tfBMSsXO92UcUymxsJ3P4tt8RLbCH-nW5TEwY0Z8aYChjExyOAEl01hmvL9XxIrS563-EmzsetIpLhCbVAE8tdZdS6OljPvZw=",
  "id": "rs_0002122b65528261016ab44069abc887d0899eb876bef18ef5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.148},\"note\":\"The lateral shift moved the bowl left in the wrist view as intended, but the right fingertip is still just inside the outer lip rather than clearly beyond it. I am moving another 1.8 cm toward the same rim to place that jaw outside before closing.\"}",
  "call_id": "call_rHNZjLAbHy6QPkQLMyey3fnQ",
  "id": "fc_0002122b65528261016ab4406aad5487d0ae36677fc7c74765",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rHNZjLAbHy6QPkQLMyey3fnQ",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.7264, 0.7444, 0.1982, -0.4179, -0.3756, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3961 left_y=-0.1329 left_z=0.0391 left_yaw=0.0292 left_pitch=-0.1287 left_roll=0.0264 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -6.5299, 6.065, 1.6288, -0.1636, -0.0415, -0.0073, -0.0205, -1.3333, 6.9812, 1.6777, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0a48e11d1f7da0e3633f5eba4f201fb8ad4542e36d285e0a36695c75746a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b4e468b349183e4205b1fc2f957b5c85cbda924d46c12e610fbd5c1a02bfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93be2660029d2fb49a6355bfc9ce3c72f6ca3c9f8934e5585485b4704298bbc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.173 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.7119, 0.6701, 0.2665, -0.3229, -0.2775, 0.0087, -0.0216, 0.8097, 0.5945, -0.4191, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3973 left_y=-0.0869 left_z=0.026 left_yaw=0.0412 left_pitch=-0.1536 left_roll=0.0373 left_gripper=0.0087 right_x=0.289 right_y=0.0003 right_z=0.1634 right_yaw=-0.0014 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.6359, 5.1624, 1.5751, -0.1636, -0.022, 0.6178, -0.0068, -1.4974, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.7191, 0.7307, 0.2184, -0.3962, -0.3599, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3972 left_y=-0.1286 left_z=0.0394 left_yaw=0.0216 left_pitch=-0.1246 left_roll=0.0183 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -6.5709, 7.8154, 1.5263, -0.2955, -0.0171, 0.0611, -0.0479, -1.1009, 7.1316, 1.6972, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.7264, 0.7444, 0.1982, -0.4179, -0.3756, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3961 left_y=-0.1329 left_z=0.0391 left_yaw=0.0292 left_pitch=-0.1287 left_roll=0.0264 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -6.5299, 6.065, 1.6288, -0.1636, -0.0415, -0.0073, -0.0205, -1.3333, 6.9812, 1.6777, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0a48e11d1f7da0e3633f5eba4f201fb8ad4542e36d285e0a36695c75746a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b4e468b349183e4205b1fc2f957b5c85cbda924d46c12e610fbd5c1a02bfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93be2660029d2fb49a6355bfc9ce3c72f6ca3c9f8934e5585485b4704298bbc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBukfdB3n7WOkj27-xm68DJkE21rgLg4XZvJbs3djZBcPE2UtK0Gp2iX28w7nEXfv5kt4N8UgnYIjqWkdie2Xa8LuKXA0lRBk28Mvoczn4kolAmWFLXtvFtbHI_2RTCCdOLGGNeT2a2L8DiJFOGZgwfU0vT4hBtKdFMQYNBfpTS4a_5q9KFJ3rF7q89PloYoDbEunXlD9ZuK1Tnoo0tbxWWk0hbhjc9oZJphKjSD6oHzhe8-hn2V8lPZlH47B-7KVpAPTtb8Uo9LZQykmLtKi336lwd2VfdniAYchzvcY4qqA_uMG7z8e46t5KKESGtJKZmkbHMDpD6HJcXZtArPfHyUd2I8zROVNXMRnpz2ao4ltulbLaMrCqGlKCUiq5170-ZbhIJpP-myJESAmUH0ByDr9pDPRCJ-w0HT-Pj4EHHTkRSYttghKiiwfwBavRN-wOIQcQxB9n5nDuQmBpv6VZsIKEVBrlR_7-ub9hJoCKQx3iojUp2MPVmG00y-Bxdgbrt8XG6TF-NqrIEY3F1v3Y6wjpJQsfMjipX_yrr5ZYSe2aVPsor5JdWNhu8zcaFHfNowsF0PiZAyFLsHoTGR9Og9v3kSfw0uGta6R6KBl_q9AzqAaVCG6oVnzr90T1rzSAI-cUDr-PXEhEiO6FXHwQUTTz0xzHYiDnNFd9ZZkEzEMG-BiySQ14e-UOJQqxdyyBlRPYvIptzgZD4vMpQh-i9xXrKLOWfUBK1TaE_LSt5SZ-N6YSbVS2UfOqfGKeTk1kPA2TTTKsTTlIZep2gp5nSnHcjcVe0tyAXAOXt8q2-mzWb5BhrijtUcG6fmXEGpDh5HC64cclXjSqRX0uNkn3pv4cXkl3whByguuM_Osdq6GFJZ6-oGL8d7eb1myhFBlJGho2gmUIiYFvDkynGe1K3iNVxPf9GHkp7IVI5ZVABVlTfCiEUd1FJCDcSakQPU1pjXP6EchhcE9YvIlzyzYMZK7h0qzzTBkS_55Kq6J6B616xdIFqNn3IjHvab-xBaI5paDWOSehmcby60uE5_T5QoCpe-bbbwNZ6GmlT5lJHEqfmPOxoU0GTur6lB9J1vBhg0bokqQ5nsdfXf5eAiC8jwzxlLEC7PZKIo0YX9o27ghug9GHlbW4-OeWcqKhu2r1KSbJ8afOGGKWmWMGPeI9Xy_od5aMU1e_OBeuxsZ-r9xc7TZiaOGtlCaJvKL-XAaV2ruoyqqkyyavRkCnKpzDRD1hwgXrj2GeEu8OkGL8uARsZhkfHn-o7CIIygsqxdc2s9ZP4wgTkPmLEZLy0FIIhtB8sWwM_-R1yizakj3wq5oEHg_z7yPIfHQp90Qp43bFEfXMM6A-Ej394SXK8_x2K5Mg5ikcd59FMT1vR2L-zwsv5mMCbexVyeXXSH4dsZU-XqgTt8TO3PeI-8CwbvccUD10G6H1yDC3F7eQ_iLdufbRKeai9dB6kYou06e1kEB5ApAbhym9yltlYJRSrEY62315KzO6pA4O8_3eYDjmhvtYb7KiUgZHybgeuQ4YSxKpPyvuL4iALYKSq6nxgo1BgFUnPqO0vsBoLrxENwme5NsgTzdEVFkxe41doe-JjOyoT9gLarWyGDWggf3AJLcKmIg==",
  "id": "rs_0002122b65528261016ab4406ccb3887d09cd6dde242ff70b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The commanded extra lateral move stopped after only a few millimeters while the right fingertip met the bowl's outer lip, confirming the rim is now between the jaws. I am closing to pinch that rim rather than the bowl's full diameter.\"}",
  "call_id": "call_OTGL1cZa8hylR2bBwQl5PTN8",
  "id": "fc_0002122b65528261016ab4406d9a8087d0afb454551038f485",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OTGL1cZa8hylR2bBwQl5PTN8",
  "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]: [-0.5144, 1.7275, 0.7444, 0.1978, -0.4175, -0.3859, 0.0088, -0.0216, 0.8116, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3947 left_y=-0.1366 left_z=0.0386 left_yaw=0.0251 left_pitch=-0.13 left_roll=0.0191 left_gripper=0.0088 right_x=0.2886 right_y=0.0003 right_z=0.1622 right_yaw=-0.0014 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -7.0496, 6.188, 1.5263, -0.1734, 0.0171, 0.5543, -0.0889, -1.4017, 7.0085, 1.6532, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd251535d0da57b832764d3d9d31766f5e09fa39927c870415e4b12150e4508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c95ef6405faa4c173675355578aa54d4833be2018d2835f3d46206802754ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedb9d7a66201e444b466baef5371e06b59929180466af87f7b77da9e600e6d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.779 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.702, 0.6724, 0.2962, -0.3298, -0.2855, 0.9948, -0.0219, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.4035 left_y=-0.088 left_z=0.036 left_yaw=0.0489 left_pitch=-0.1131 left_roll=0.0187 left_gripper=0.9948 right_x=0.2886 right_y=0.0002 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 5.7368, 1.3358, -0.1245, 0.0171, -0.1538, -0.0342, -0.841, 7.1453, 1.6728, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.7264, 0.7444, 0.1982, -0.4179, -0.3756, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3961 left_y=-0.1329 left_z=0.0391 left_yaw=0.0292 left_pitch=-0.1287 left_roll=0.0264 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -6.5299, 6.065, 1.6288, -0.1636, -0.0415, -0.0073, -0.0205, -1.3333, 6.9812, 1.6777, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.7275, 0.7444, 0.1978, -0.4175, -0.3859, 0.0088, -0.0216, 0.8116, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3947 left_y=-0.1366 left_z=0.0386 left_yaw=0.0251 left_pitch=-0.13 left_roll=0.0191 left_gripper=0.0088 right_x=0.2886 right_y=0.0003 right_z=0.1622 right_yaw=-0.0014 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -7.0496, 6.188, 1.5263, -0.1734, 0.0171, 0.5543, -0.0889, -1.4017, 7.0085, 1.6532, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd251535d0da57b832764d3d9d31766f5e09fa39927c870415e4b12150e4508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c95ef6405faa4c173675355578aa54d4833be2018d2835f3d46206802754ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedb9d7a66201e444b466baef5371e06b59929180466af87f7b77da9e600e6d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBzLB18CnPf5GRK1o2X4a9oNn9v5YUeUlCGZBFLUgAV8lu7xVfyDZDhK5BShJ6fkOcISk6o6VHVhoqdNoqTxrcYjjO9LFllhCrqLkbQxWw7W_mVpBl7_QLdxluqr8HYKiIAW61SKGZiVVFZ6wd_2rX8FmVtXR-I7oMYMBwpQOsU8QI81_IHxBDzKngSzUKBMq7rAIa32HwCXyU4zPMstROXm-9o-HGE_yU6x1Ic90dE7ozMmKvzmDelRX0VJmGb3xvc1JX59Eg9YmoJNCW0llgqPKTbp4lDMxJ-VX07zJn6nLNAVJBvt3dk0e74o9NfrYTZduW4SgBgf-IHtwxehbPnFKvYKZL8mfmhwfWNvNteK5vR1mvMANCENMGseHk-HQMbcQ68ySkeo_3YqDvfU5w7LXqQx9YQbdP6kse3sbAeiiMaekHXsvcd-Xi8RvQtQpiZQn9rYxq3HYtPYSBSyd4UFQ8xLPwU8Y6wautsFontUpNtUJyLJt4wvNLt5VPhcfFCFebR02VtDvxz_qEVJ-I3DHmh_fiwdXoilMCHTv6NQd5hv8zX_AXaZw0CKqXtw0LztKr1Zhx0R2FeGmHJezLGoxZyEpCzva5f9iE9p3PsmOqJEyOsKcxN-Luz8cc1WF24Yk73wrXbxumzQv9jEcqKK5eep3kCO8sS8mS3UtSu_Nb7PKtyZoRIgl22RRiMEqaYW-u_Y4drgxF-9RRjwyygaR0iiPvvk8PjsnEMKNPiszBL-BjpaTPcOMgS5KmeV9p9w52BCWYVs2zDF4uSDaqx78KXqH9D6V51Xl3KbLi6PYLzVsPz2SrWQ53XxbiUPwNf9T3O-0_vZ5dvyYaIK6jr-B86oP9neoWCRCx3-fpdVq-d8A1KjKCtZWEnM2L6lVaj1e9WFDHwmjaiXDawwgAm-0vAft9G_Le3fET3ni_NJHeZ3eDkMM4psOwbJio-_qygpED8E0aT0KzMoDb8WCsGEoyFhlvXFJFVUCp1LiNOiM6D2aos3JW8ivXGczJvTyhC7N_7CquJoq3E6YpndleRErd1ZHheHtLhYgryy9jFAmNBapFL3zCkc4EuTiZjexbCRdFRZ31YYDX8by2166C3NByaECXc3Xpte1LNTw2XEYIKjvxiBkBL-OP4oTFjXLBZ-yfQXO2aiY0lM-ziJaR-Zw2jvjJS-mgJbZYmPfgGpX6NdSJpLDl_6bOGj7caKkyQJR947sA67Gz3W0jHtXD20_rFC0k-ZgrH1PsSg6fLMFcNWYpaY9rjIFl6zgzWS1-QGOXAHllChmIfU9ZCf846IJpWYCsMrGwxvu3AV3GdrqwfWkissjIOYI8faRt83oQRk0TTf4oZBW2R_FEcFP2L-VxFlYxmDJ_rdcmGVlV6KQRG3AOc2HHR8YlMU-mQX4zUdkOWxw9j_C5fjDrzXweNz8t6znioNSgVSPAmp-k4HSJr4Ta6eZeoDCRk4ScJ9BWV6lfHsMyCovvqd4VNoKyhph2mIOtbEGXYnIEeG1wdMXol524Dpu6DEkWRe6OwxJ6ZIw_7GcgPlWvcT5JVgrrNhAODcEXK0BJpUMC3ba32DMXHqfcFbu0oi_Bm46YDGf0IxOIxPu1phljnAnd71bATMHVjxd0atOtFAQsgnzb0ZGJYerAoGheQ6W24-UTHZMYH3aEyyLaGQOb7oUqCPEXOdBGD7zJoJyyVuOqnxMxrg-4S-j3PGqudAibZmsXGo97Z86cvmyrKsWsqB_x6EJOjw0cGLX4cGMRk1qr7PIVx9Qhr0Zhs9Clt_i_Y4TNmsLISdYCuTyZUy8GpSNmKpGJPkTVSgdF8icVQj1NChn49A00PRAFAOY_iHnfkf99OKkPRRULgce6Ycp-vaBBWM5MYtOzZm9fvFXyEtu3DDVJUnnDbTJdiD63xgC9310vOdOqHt2WA7Hc21bS2YurtYfdCVR4DeWTfkffP0XslbiJQZ4UlM1G-5Acorg_4NVrLNm3Ma2Lp2uLOH9oQwze2zacIMJTPFVAPuoTHHrvtxrI7pk-8YuUY7300ocFCiYqWX65lRn0AroW2TJmeC4M5bsKAClHzxfuXcXi3431ESoKnF6p5USpS-NseCUb1z5XqGM3txkPZSKBUYUT7wwlC_yWIxNGSaT91lIg46Yq3XwTLYcm5ryr1R6Nq_dhx2JGjjEwEVGD6vu6QKiCfQb5hSfaBbQwcLltLQqy1a8Xbq8uawcpr7sSVW7SpnXLwOV__UK5UEI5XKiQaB2HuYbSV0W2A_CWMw0nmFutYmbemZrwpWpu17meADMCxRYM6xkQ-R78A2FMbsm3F3ecOwx22vRmmhJ0PEXlJPiJ00K2pbWp7_1pQeVCQKnZ003a2QoV6aSOVzeUN0JOn6a2ai_NFdZhTAVupTgKMZhGm4kFUfB9kgF_LnTomLuNWNOH-YzwMzmHt1opPS-GcZaoZX843TzcNoU0mJyBjCe9qLFO4AfiUi6UZO5-JuvMbCWlv5qYmhJhePQnOswCYfUVcWcERan-VWWWtSIJ5tYYo3nCFQW458Cg=",
  "id": "rs_0002122b65528261016ab4407087e087d0a1c96855ccc7c0bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The rim pinch also closed empty because the low lateral approach slid the lightweight bowl along with the fingertip, keeping the gripper centered inside it. I am lifting clear first; then I can reposition over a rim from above without pushing the bowl.\"}",
  "call_id": "call_ZuAPYVdtOK45oeYjAuhgaIfH",
  "id": "fc_0002122b65528261016ab44072e01c87d0aeee0cdf8dd27e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZuAPYVdtOK45oeYjAuhgaIfH",
  "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]: [-0.5144, 1.5356, 0.9707, -0.2394, -0.4175, -0.3904, 0.0109, -0.0216, 0.8158, 0.5945, -0.4374, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3943 left_y=-0.1365 left_z=0.1287 left_yaw=0.0289 left_pitch=-0.1462 left_roll=0.0255 left_gripper=0.0109 right_x=0.2866 right_y=0.0003 right_z=0.1582 right_yaw=-0.0014 right_pitch=-0.0805 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.8, 9.2103, 1.5409, -0.2125, 0.0171, 0.2076, -0.0205, -1.6752, 6.9675, 1.7802, -0.0757, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8da3456d0094ea86c55533feaf4b6a71c3a5781504c3e91f5fa75f3dacb26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72040ba63a5daf2e608f7e2c867c40f062dff4d6033b1d69ff3ff797002282e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489fdfb38f31a79e047ff65e22aa3bcdb4e5a73871927f8d9ca0451ebdff1a68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.533 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.7191, 0.7307, 0.2184, -0.3962, -0.3599, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3972 left_y=-0.1286 left_z=0.0394 left_yaw=0.0216 left_pitch=-0.1246 left_roll=0.0183 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -6.5709, 7.8154, 1.5263, -0.2955, -0.0171, 0.0611, -0.0479, -1.1009, 7.1316, 1.6972, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.7275, 0.7444, 0.1978, -0.4175, -0.3859, 0.0088, -0.0216, 0.8116, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3947 left_y=-0.1366 left_z=0.0386 left_yaw=0.0251 left_pitch=-0.13 left_roll=0.0191 left_gripper=0.0088 right_x=0.2886 right_y=0.0003 right_z=0.1622 right_yaw=-0.0014 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -7.0496, 6.188, 1.5263, -0.1734, 0.0171, 0.5543, -0.0889, -1.4017, 7.0085, 1.6532, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5356, 0.9707, -0.2394, -0.4175, -0.3904, 0.0109, -0.0216, 0.8158, 0.5945, -0.4374, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3943 left_y=-0.1365 left_z=0.1287 left_yaw=0.0289 left_pitch=-0.1462 left_roll=0.0255 left_gripper=0.0109 right_x=0.2866 right_y=0.0003 right_z=0.1582 right_yaw=-0.0014 right_pitch=-0.0805 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.8, 9.2103, 1.5409, -0.2125, 0.0171, 0.2076, -0.0205, -1.6752, 6.9675, 1.7802, -0.0757, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8da3456d0094ea86c55533feaf4b6a71c3a5781504c3e91f5fa75f3dacb26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72040ba63a5daf2e608f7e2c867c40f062dff4d6033b1d69ff3ff797002282e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489fdfb38f31a79e047ff65e22aa3bcdb4e5a73871927f8d9ca0451ebdff1a68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEB5Q5MhAQy9pvz_2DrsGwd33I6eEjwtG06FljeBtXP7qEHjr62P7nXAZWEelLzfQ42w5iH8xKYgxx2FYqJycTQCVr2a-tKVLaCIltwBe6C_WcVWTl7XTyo8jSFpV_EBSY_DCQEjDwdTZ6BoWV8BorGca95ycqnS_m9WfY-eBm7JjGuAHF04QSJQZT1v8xAoVuzTv45yqisDsVK75SSYnFtXfvRsOXhD1LsjyL4sj_pj_NhebkdCNCWAqFJWkR0RBM1gMr7ejRz6s7_GYDO30VY-jrFccJARf7FxGKMOK5v5HAGOA2zYOREw6u6uPMFzI-IvoahWyidiVAsm3atbTscj2dDKr4wDROHIYUv27iVzTz8UtmqMEICU8NNT8d7NerpRt4xuUWPTzAw_ueFAPBsU6Y-0AXAFeS1ve3FWyyIzVUCA1AQNc8CpExKZC-x1DvU__GWWxhiWN6YZQbRKRMMgmFm2oqYoKGxib7c5CA_RvmiBHykFPAnvnAsJlZzpNNMPwhCgTpITi9UjHavfDsbwDnsLFulzInskMR_48L0ayyGEcPuf44ygj4OOJzkWuM1lvAmQT4nXLAZemESmtMn-dsLgSPBfP4E4g0FQod-zruKlKWMfFNfvH6KeNT143Uttbd97LpYZMkzYWiKom-gXWsRGvNUBoOfMNlamjZuePFxmzSjwCW_UdxQD2muMWDYCw-VUArf9aA2EIzfx8wmfTBQBHskLDU4s6LuZory3En5dgwaZRHGZagIijZw7nzkRcKEMLcYlfHf_OxaoYefsS5bLrMGH-KnVUDblycEf1yh8gofNKUZqThJgNHsOytontyIwz33bjp6yVroE8bmyI8gIr_T9ZnnbVVycZeJc1jZ21qrGuLcr34sdnAOY5hFwwRkIK4Ywq3OBT3S40IA4S92jkcwy6Rh0ueABqEPJIb8yX2b2Mf_ova6rPetPzHi43em6ujwJTWW4JRQLA33d43oyTIVN3JK0KSl8k-cAj1orOK0QSYDTJJDJh6QKabsVHvKUkYwaDVAHNV_ZYJQL2H2CC05INkASm4nRuVJUuKzxARjRtEcnNmbysXYL04Jr5PWj81K67ydItjMxdwYUR0IyAsqZDSK8A_TZUsb9duSzeNU92gdq_OA-KysixfdVErte2lM-ydrDHykfo7IOXzngC2yiiDBx5ryuXG5Jy2VRKam49VtjK8uHgnupWdxpl4uNu4qKCPx878I4VmIUxPyxlr_keBwZFTQSNVQ2PDuKWPeD_R6koHQ28APuQ8MA9gYMKXnxsFmUqSJyzni7Jq5Avj51GCURJPiHrParGj496atAKhol_bINHMuouzTGVbh1rc4NWCKByY-4fwRQvvFo5Ye10kiMbxydcjTJHkZi5f9B6DizKse-RbHzMfVoxuYJvjh6aiJRWJTMapx9InfaiUx_l3QS1jZaqYmaWR8z8gD6k3zpqsHKBVNNzxLtP4uxgUsHf8uKcjQ8K_r5KHs6o_P8LZDfZ39Xor5j9LCDBv7_V1aFE5QGYB3wgf3MWB_xtKWozTMuAMr26mB7GSKq5_UOp0eZw1ZqHY33yL1VtkG81l9w697CsOT3AfvDmv3AaVX2FUTKLqOxvOfz1BKgxJxcIIHfEOmZN27mhbwSEdGup0AO0SooRU6wugzcrsAKkErxrisTjZLwcvSUbE955exRC6Ro_SoChVV8W8I8gZc4TygBxc3kmpg3fBI9-TNHFgVtUfoVHfUv4N5trp4YP7Md47ivu6DwbftQ9lzpRGSJLB1X4EAcwY0qntY--1JPrxKGcdWjAGK0cZmzeI1YR9JXICmxk5VcIp26Lg2rYA4dm-QcAAvIAiPjatVyALxvRR5o1qOyYXj2A-wX01Q2AzJQH6HfTpsQ709gh5RIu4bO42mavkl1O0ces6xY6HuqLuJfx46gE_c5aIuLei11OK8j7A97_lgR9cjdPf4ZfS7iZKma4RzY9d12TQzci45-RaKWQjhEIwV-wxid-A19y0FUw8s7NZxdb8NuTeypnl2Xxdpi7M7d78r2ZE2gD4xzD6w1GSp-A9qqjJstGQCJPS5THsJQjFCGHpnIV8C9gkz3F_iBNlPf349gtpSR",
  "id": "rs_0002122b65528261016ab440769ef887d0be71338789ecc732",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The arm is now safely above the bowl, and the top view confirms the purple bowl was indeed slid rightward during the low approach. I am reopening at clearance height before moving the grasp point directly over one rim edge.\"}",
  "call_id": "call_5MS8wQYyuLHj75dWmt6ERuX3",
  "id": "fc_0002122b65528261016ab44078404887d09e6167de0e9b81ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5MS8wQYyuLHj75dWmt6ERuX3",
  "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]: [-0.5144, 1.5345, 0.9741, -0.2661, -0.4175, -0.3935, 0.9948, -0.0216, 0.8173, 0.5945, -0.445, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3911 left_y=-0.1347 left_z=0.1263 left_yaw=0.0324 left_pitch=-0.1651 left_roll=0.0348 left_gripper=0.9948 right_x=0.2855 right_y=0.0004 right_z=0.1563 right_yaw=-0.0016 right_pitch=-0.0896 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.653, 6.2701, 1.6874, -0.2418, -0.0171, -0.0415, -0.0068, -1.3197, 6.9675, 1.7021, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:670509713ccf13ee83ff402ff0524f90166d61bb07832acd0da94f941f70f219",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068d247aeab59546600005ac31d4e26bafe7196a682f9620bb91987d594123fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222e6e1e2b94d3eeed67d792933b7f7a23de98b41765545186980a6f06e27fd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.691 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.7264, 0.7444, 0.1982, -0.4179, -0.3756, 0.9955, -0.0216, 0.8108, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3961 left_y=-0.1329 left_z=0.0391 left_yaw=0.0292 left_pitch=-0.1287 left_roll=0.0264 left_gripper=0.9955 right_x=0.2886 right_y=0.0003 right_z=0.1625 right_yaw=-0.0014 right_pitch=-0.0606 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -6.5299, 6.065, 1.6288, -0.1636, -0.0415, -0.0073, -0.0205, -1.3333, 6.9812, 1.6777, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5356, 0.9707, -0.2394, -0.4175, -0.3904, 0.0109, -0.0216, 0.8158, 0.5945, -0.4374, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3943 left_y=-0.1365 left_z=0.1287 left_yaw=0.0289 left_pitch=-0.1462 left_roll=0.0255 left_gripper=0.0109 right_x=0.2866 right_y=0.0003 right_z=0.1582 right_yaw=-0.0014 right_pitch=-0.0805 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.8, 9.2103, 1.5409, -0.2125, 0.0171, 0.2076, -0.0205, -1.6752, 6.9675, 1.7802, -0.0757, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5345, 0.9741, -0.2661, -0.4175, -0.3935, 0.9948, -0.0216, 0.8173, 0.5945, -0.445, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3911 left_y=-0.1347 left_z=0.1263 left_yaw=0.0324 left_pitch=-0.1651 left_roll=0.0348 left_gripper=0.9948 right_x=0.2855 right_y=0.0004 right_z=0.1563 right_yaw=-0.0016 right_pitch=-0.0896 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.653, 6.2701, 1.6874, -0.2418, -0.0171, -0.0415, -0.0068, -1.3197, 6.9675, 1.7021, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:670509713ccf13ee83ff402ff0524f90166d61bb07832acd0da94f941f70f219",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068d247aeab59546600005ac31d4e26bafe7196a682f9620bb91987d594123fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222e6e1e2b94d3eeed67d792933b7f7a23de98b41765545186980a6f06e27fd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECAVBzaggSb7ErQDAYyi1k6wDjJ60nlE2oKuUgkj0E9sN4Ggh9DfmcfOdewhMNsUOqKSpqjfRpt6AZhh9JesuzXP2s6-no34YRK1uR7ENbjX6InO_TPN3wY7pF1gR37VQnbQe_v1dhrFcC40VfY0j2qGftUFuHlxm_so4Qp8KFx0Niw1FmESkfBfHDnTWXKiZ8Xhob10W2OGtU7JjKF8H1ixXnn7_dm70yyBvoDKCFNdQY7e5awuP7nyKjyrShPhIhxCBQaaTSzwSPF6Eh07WoIJWlih4-XTKGbTu11C-ekU1Fh_u2fPukcr9QHCDr1cUJynP0AEWWjBbrPFur27hFjMtCiqzeK-ShJaSLdzvST7FYm7ggHPaEp-71pG8-0qrAfUWUcZFSrI2IO8_zIYGmjt-67THQgk9cVI8FYlEwUHC_IosASV07oEduODySNRUyu81q2kjm1GjaReLlMVlQ5G3OJXqVv679yuPM3PvCHhMH8q74cUTqF6Qq3fNjkdCOLEbqZ3dHKgoSpFmTnLFfA-fp7pS2Ag8-k3SrpdTILrYxnyRUDrmZAmqsCvZJLa0OvQjB8dUfzzQc2uB0QRyLHbJtHVtYGdNJyQgc3MT4Cdww5Ud4dqSaSDwuwliG-DwU7MYNeGQgXIblgcPKuaMH5ErF3M_oZgpe9Tn6VswXUCvq5shtctfnE-v9NjGJRc2OkDB96Sg8LxXaS5x-o1cUElxb_pEpE7kAFkRoCXDB1VGhWjjuKU7xyLpEkF2mSNfyOu3X41jir_ahjQAI2dvqv10cwc1vxRpKmk7SPMOHwV5VINpeprQM94jgrK67ldwR0bdaSYNdccGpcK7iw-tqfiu_zJ5_v5ByTlv5VLvhNBCGgPo6oQUgzXvyk8qiwwVK-NJHk8DoCXPAFcVGJpJM8DJcLwizxWHRXR-NMN_Nc3jOiIbyWSOG_tw1pUqx66Mu7tkss9rUBAP1E52Jy1bx9RlANGc5kJ4N0VRoyUFP-bC_s5SBe42eEEdpdf6m-iW9xpupGiaPJVatJCTSkcfCWdl2BfK0ALByzxZeDgci-Wd3VWxtXH9U9E-B29rUMVCLB4OGGMDkVU18Bb4n4NvYT9-9cKu1TAyn8lGdEFLMLvNtXykOeFrebNbTkOvqoWfaMufD7IZvUNDsL9R1WUJ2E5Ncz1U9pYVLaXe7J0k7ah3AWLmex-MQj1rXm9EFJQ08pyc9OcQL5dIQgU7ZQCG6odwMkfqnSY8n-dzCBcEmRRZ1l4gwLHNw-JqvryWEY76YvIIFmlfBQeaapRRgIV9-KV4fVo2vFvH-9-Ifzk4ljXQu_fQv3YRN8qtHOkJPNgZls9Gez9XpK96d6XsP_cEOpYt208h1NoQukqg4AqvC6Q3L0cy2rFPVxnoL1AtZ1IPb-2qY8Du2ltBywjrT92CzZ4UCoLmcD-ps3EUa0cr7uvG52n_r3Uq0gPhCem60dSc0427Bsbh82zQ1ys3TxXaxUVGMxe_rXi0jNXRBgj6cKRZ4yK6M1rAKJpvQmhcX09sZehIH79oBf3z7GQGHUkoOFUqdEwMpX_sykiY6IEMFC6_LiRri09iM5AE0ILQtuYOUZKeR7vnNmHVG9KZHTas7rWvP5sWECA1gMMfYy1SRgt2eomh6C_jmabSrMYvi6AURKKO5BQHWF7QFH3roaxvb6JRocNWa6xtxPADDJ6SeaJCyrTXcCFelwtD5k5JqxQmNa5Jm1dhDqmKczNkgCfz15gD8wXsTDXrc4HiN5lWcAW-F3xJQFpTc0ybpeMMb1edyG45QrfZLAhzGYYWWoCt8AzPOvMta5J6kkiGVlgqx6esab9Qmsu9A3J7nQ2VXWOTIn5zNr97WGl9PSkFYe9NS7Of6xkszAj_Q61w9ypd4_HRTeOSCngaWPHBwUBdxzD9m0iaWJLsUHUxJsRLt_Fa4WJ8NIyUI9Y2IjIt3sf6L5_fAauzxzfcv_ZdgFr41V5BwpgXQP3vYucIymTNNmpdQQgU8OFx2nfYbn_WSRkyW2c2-VtRogwfn_yUdBqiYfpDmyrC6G_LBVsnrOOvEQhLsc0c_Ar9Y_oX26sCUsBA_Jg-ONFpNYeocBe3BVpUUyt1xvGw-MOsegx8zcQfPaZw_jj3jVlS49ygIil4--Bst1iacy1ZvOGQ043iNiRY4Qzp4SfHoSzrd9A7MJM_uAuj7gvTB_zE1GXSOYp82hVH5BcI-Lf17Zdcx3CIaE5c1CuZ83IumiwvgXwl6RiFr4XA_3ufqssS3VEhGQH07OOq9ynQNcAdbt93O7hLUJsftqbPt2sPVGgEVeMeyVNlJzIJF8oiUIMNYMFa3nhow-3TGrqWZLPogGuPZ-Cx7-KuCCcRkII-af7TYa9pXPxzmDxllpErqZSxufjWEQOhyVwSLKix2CCKWhrMlijcPatOkdH2SHapAXYu_FHlDXewak7sWgtMOiU1pOu-5zqPO1JaaOuvTRNUD5np_t88nOO837oHs1bINarMoBv4YJOJ-sOwCVuJevFvYjK98LtFd0352dbjUJrXIRkEazsWZkbOa65gLC9rMZO3PocDbbzo0EXdsHmwFwkZDSbF2_Nd6SccnfdmbBxWegswuQ-mPyyivDu1j2Rn0tdip4aaMogfNqPAld57GVw7hqZS9QRUHN1QfryrgMh2mdaDVQxlMmHrc8ijyqaMv0vdGXI2u_ui-izBXUi6TKuPolRBIy0cdIpW40U1ZfWO7VebehUcZzcF-_Spzuf1uYHryIVtdhLfmgVeEmJ-eDZg8MNszKweNR0tOZU_H5oesUpqTsuoM7Lt0eT2yqbqTQJ-wZnSRzBIptPmiJHnp9GUOQGyh9BhLUAXnjoZMf8dfAf2gwryDTtWlIi3d-N_ElstYGq93MAIM_JaytLeojehs-Uh8l7e_4-y8idbRrYFI_FAk5bKLejt6kSGaeR9I-ZeGq-XNQlRW2D7JluYzOUib-cWeS17CVaBCxN7YevBuq4K6IxlD_3gH5jZqrl8JJsTc7mbsXv4tDxx1jzu7Jz_-0i6CC1Hz86ezn5AhabDrCEHzkEwNprFGGzQtnVQYv9_Gxowhl8UdvpxGvC1UUYx1hnIy0cyeXMWqROhTWurWLLxnI3BdDQs81NUaL2IT6qxeTDjZjInn9qOI7vnlT8gu7wZvm6ibd9wKnsL9_2r2npdprOg-n5OVZHDC90r0XGLHbif0umyAU3gZCkyLWHBm_9E_hMov8gbHaduPPFBgB6qZG2FT0hsYAcXcdRG7vB5fR_8Sup0_2j-x8W7FyU4wV4_uBiux0POV6yY8e7xXlguhEv5wUg3CAFyCBelQqH4rsoHP-a6NWAfFc9s6oCauH8v1rdqpm5sSqSjlZsh2qOMCcQch4GJ0xqeBc61Duhju55LmG73rrvAsLXU-Q-VgWdvxPqWNXRb4tL7ysMW9gcXQlmzCH4vIJvQLuZ3s3NEdpwNxBZNc9k3GpOBSX4c7BbPkxtx690Oy2Rf17c92vVzT8Oog_ONWkVBHsXpcr7lHdlKxfPbriInzuaSp_OESJdHYV6bSIwbHrQfzu_ABdPyD_5oflzKtHP0KqWWDcBJYLbqpFDbP3FAnY8b2N9E5HQ768aJ1M08VDVz0jHInm1xEJaTfD_BRiodrmu7Do_GMM8WITK7LSwtpBMmOE6Ea4Hv3jxBqX8UePgI4-klWcKw96Or-4MW1vuO6x6e962Q06seezOF1_l7f8fnZIL5yDRB_6Z5Td0REPeznLdqBFF0jVvDNL-P4WZSZgN13jbqg0aCOWuMg0__POsnD1EPcPRwsqFMEikV0f839o4tuvPxZq23_rM_LShZLoaA5-DRzrI06DEw_8zlF2E_N2khX_fNbZRhtUY5YeNjSFXN_pvgmPyQiIQOQlnlX2PS_ebLDvrV6xhEayG3z5oDUS-Sp90M6tNbDyUsINJHav5Q8V2cyAINAlzwBDLb0JZzepOegJth9-Cg1F68fVig==",
  "id": "rs_0002122b65528261016ab4407b45d487d09f72331f98819cfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"At clearance height the reopened fingertips clearly span outside the centered purple bowl; the bowl is narrower than the full jaw opening. I am descending vertically without lateral contact, keeping the fingers outside its walls; on this retry I will avoid the prior full-close squeeze that likely expelled the tapered bowl.\"}",
  "call_id": "call_UmEmgQs2vLcoAJgITTA8g7vd",
  "id": "fc_0002122b65528261016ab4407fa74c87d0bd20b79348c4f428",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmEmgQs2vLcoAJgITTA8g7vd",
  "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]: [-0.5144, 1.729, 0.7658, 0.1154, -0.4221, -0.3946, 0.9951, -0.0216, 0.8173, 0.5945, -0.4454, -0.0162, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3889 left_y=-0.1325 left_z=0.0326 left_yaw=0.0386 left_pitch=-0.1815 left_roll=0.0482 left_gripper=0.9951 right_x=0.2854 right_y=0.0003 right_z=0.1562 right_yaw=-0.0017 right_pitch=-0.09 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.7641, 4.4513, 1.0183, -0.1685, -0.0073, -0.0024, -0.1162, -1.3607, 6.9538, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2c6237d61ac85c9b6cbabca0445de1bcb5b1b235a44365ecb6aab4f6136a44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e275b3a39752608e71b38ecb2aac9a3968685032ade52414789f3a4f6ff5df2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f08b48ffd6535a89ae946a6a8e64aa545088d127afa7b3e3fe7541637ce415",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.7275, 0.7444, 0.1978, -0.4175, -0.3859, 0.0088, -0.0216, 0.8116, 0.5945, -0.4225, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3947 left_y=-0.1366 left_z=0.0386 left_yaw=0.0251 left_pitch=-0.13 left_roll=0.0191 left_gripper=0.0088 right_x=0.2886 right_y=0.0003 right_z=0.1622 right_yaw=-0.0014 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -7.0496, 6.188, 1.5263, -0.1734, 0.0171, 0.5543, -0.0889, -1.4017, 7.0085, 1.6532, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5345, 0.9741, -0.2661, -0.4175, -0.3935, 0.9948, -0.0216, 0.8173, 0.5945, -0.445, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3911 left_y=-0.1347 left_z=0.1263 left_yaw=0.0324 left_pitch=-0.1651 left_roll=0.0348 left_gripper=0.9948 right_x=0.2855 right_y=0.0004 right_z=0.1563 right_yaw=-0.0016 right_pitch=-0.0896 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.653, 6.2701, 1.6874, -0.2418, -0.0171, -0.0415, -0.0068, -1.3197, 6.9675, 1.7021, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.729, 0.7658, 0.1154, -0.4221, -0.3946, 0.9951, -0.0216, 0.8173, 0.5945, -0.4454, -0.0162, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3889 left_y=-0.1325 left_z=0.0326 left_yaw=0.0386 left_pitch=-0.1815 left_roll=0.0482 left_gripper=0.9951 right_x=0.2854 right_y=0.0003 right_z=0.1562 right_yaw=-0.0017 right_pitch=-0.09 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.7641, 4.4513, 1.0183, -0.1685, -0.0073, -0.0024, -0.1162, -1.3607, 6.9538, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2c6237d61ac85c9b6cbabca0445de1bcb5b1b235a44365ecb6aab4f6136a44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e275b3a39752608e71b38ecb2aac9a3968685032ade52414789f3a4f6ff5df2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f08b48ffd6535a89ae946a6a8e64aa545088d127afa7b3e3fe7541637ce415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECExgFlmRv-PnfNpRrF30UYRGIw_cNXaDuR7vmR9EgCFm4SCAv6Kv9K2NseC5h9ijaJtnen6E8P_C3ZB0s9FAgaX0vvOsIQcaSSxvoZyGzn5ise_D3V7Pz98uEKwJpC-0rSHkWWXz6_C7feh2RMQYh9u6tZ0-BGS0Uxoi5VGKKE4LfiDPTxqZG2oibJpCKuaVp7Fn9N9jUOcxqtRvBpHb23DH7mml8FEECPz41u1ahu17YaGMjpSIIlPt4cgNEBerGCbnnXjyYc0Cl9BwTA7dTXALqXWGTyQsdFSZoLhli40ixx1tdzynx38OHjokAjaDcwlFeruZW6J_AJCy3m9di3KmrdEZf0l0nClWPZc59EQHaPQ-EztyXvRYeVwJ8mCd8jawGkw-a1scSd-xSnYTiDdDGtDQjAIg9AQzAFIZwTjG1lezlCEIqd3RtocHDv3yLAykL1j-8R4xM_2kRUcZcDaFbmNCrRERvrBDvYG9V7m3HtwH7xP0ZyLUIW-mvv50bgCd3_O2G4h9gcyGVZN2456sp7yUuD-K942VukPhnKw6-_ipm0-KIunhnizgYutpHdVytgKMxvnXCn3VG8mAAkQbo0n2XBYBerbRlqkNi5yOs_OaxwMr_sG82mNSeL_8Q7mR7OKj1uYXMQ7tnCaVDtn0mEPwd3N052I86YBb2Ak6WIoKTant59BOSL_K_ge2N3bG3RiwdmucaoCWr3Xo_ss--w30A6MoPcUmIYLw0jPp1nAP8sQOQ9XHRaGCOtTeKOOet9eamaPkvlgIeE31enlNovl23sdNSc8oa2twmRoh10qGZo2xvOcxXQU__s4h6SSJhld4gGZCsHceB6qWApl7GpC-AA-lVhH0LcHvqggQb6rR9sS96ZFNr4gb53_sPN6DHdLpBfauUhzkjanQVXmb9kah9VRlrC8sDxKEaFqTutZZdup7KPRbbZ1MbB2CxmWd_3X4Gg_kPkziqAesLYBJnHI-iR7F4S-mog7tqctTSzmK-rJXhkLI0GsHCL9mityqjSfAZVLkqNWNRJqY4Ujwp2rJna_thVOXRYFEesZiZAvCQCHHLV8bwFG4Gk1W-sNx5bCB24SWswB7MbLlXdiibYbZIQJTL4VvOU78y91vXkAAzXnx2vE2WnsxbLBSwTNdflwDqCbUqwOwXo-as03-NmwvVYPyc0LHgRP4lv8MLO5dSgl5szV_FDowc6mzXO9V5IVnLX-75O6jxY2kZ6Bq4tluc1Tbil7BRjGUnD7PSu2rOtn5b0QALc-llD3bnBvefWb1AxLb68FUnJr1VUxOxxU21ZU4IC554i8NgDxsBIzmlwSqWAVWpOvEjwcMbMeED-zSi53UZhxMd-3XEhFqPMYWi4MZGEwDNjnT6q_eUu22IwSACcMWQg09zsxn2jhkVqIvTYpW38h8a_fisOA2C0EWqYO9XLRrXSm7KX5XptCLIKM3DzZ7wbnktsmXULMpkCk_uxKvLd_gp-aeci0XZfZlPxtYKjEEPlpa8cfN0ObncYmsShJ-RbeysIEgsR9XhUTvfPxjQFi0RBmjCQ02k5OrL-05EKpxiNmtifQTYtkS-liTNFxqcUzf0M-wBveLW4Xg_cPQBSAxGiKwDkY98wJ-4v8LVE4WmzM7AWLUk2-r7ytBNnwA8JupV5BDpg4UWYZF_37ZJ9rscak5NwzHFrfq7eMEzPMgBq8o6ppl7VM6M-UbA57WDIPXs3sz0MoIlAVFFj40rLgIY4is6M2Vsb1f1sten61HUP1HQ2piQxk03l8LnqkS_d9NDLMHB1ktDjrVOGpvhC7ltdEcAVajTAt8Uw8kUr0CNlkxlc9ZKc6esSLg9oQmiTGSExm-QEGmCqAJeHnJfteWYSXKJxpI1yeo5rzl4w6ttWGLwT6qtAlXQ4n12KPfXHwEPNaEMRgFZbiFRqN8XKhEcVpXc-f_wtWQ6aMB8X1WZ2iYWDqOXg6NjDvz-HrGM2c0msmeJ4Mo5yuqj1Iv8ODZDaFnNO5Ss7UzmDZbT0FqYtoSREkLc=",
  "id": "rs_0002122b65528261016ab440824b3c87d0bdca107c75f3d7c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The vertical descent reached table-level grasp height with the bowl still centered; the fingertips flank the tapered wall. I am closing only to 60% span rather than fully, so the jaws can contact the bowl near its natural width without squeezing it out.\"}",
  "call_id": "call_uEDxg1FaaMK1d1J2iLALhKJE",
  "id": "fc_0002122b65528261016ab44083f07887d0906f3e5f712b4050",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uEDxg1FaaMK1d1J2iLALhKJE",
  "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]: [-0.5137, 1.742, 0.7551, 0.1318, -0.4206, -0.3977, 0.6049, -0.0219, 0.8177, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3873 left_y=-0.1316 left_z=0.0264 left_yaw=0.0405 left_pitch=-0.1882 left_roll=0.0489 left_gripper=0.6049 right_x=0.2854 right_y=0.0003 right_z=0.1561 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.7179, 6.5573, 1.3211, -0.1832, -0.0171, 0.0366, -0.1709, -1.3744, 6.9675, 1.6777, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ff9f38af8a2c8ef6634700744986485a312aba98bc54769413acb42555d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065515dcedec6a8e8d0bb181ba9be525e02db397a2a59d30861dc220ddcec8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33923dea1ff658576be48eb7b3e6d5168bff278714b0f257159065090c79e886",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.476 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5356, 0.9707, -0.2394, -0.4175, -0.3904, 0.0109, -0.0216, 0.8158, 0.5945, -0.4374, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3943 left_y=-0.1365 left_z=0.1287 left_yaw=0.0289 left_pitch=-0.1462 left_roll=0.0255 left_gripper=0.0109 right_x=0.2866 right_y=0.0003 right_z=0.1582 right_yaw=-0.0014 right_pitch=-0.0805 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.8, 9.2103, 1.5409, -0.2125, 0.0171, 0.2076, -0.0205, -1.6752, 6.9675, 1.7802, -0.0757, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.729, 0.7658, 0.1154, -0.4221, -0.3946, 0.9951, -0.0216, 0.8173, 0.5945, -0.4454, -0.0162, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3889 left_y=-0.1325 left_z=0.0326 left_yaw=0.0386 left_pitch=-0.1815 left_roll=0.0482 left_gripper=0.9951 right_x=0.2854 right_y=0.0003 right_z=0.1562 right_yaw=-0.0017 right_pitch=-0.09 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.7641, 4.4513, 1.0183, -0.1685, -0.0073, -0.0024, -0.1162, -1.3607, 6.9538, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.742, 0.7551, 0.1318, -0.4206, -0.3977, 0.6049, -0.0219, 0.8177, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3873 left_y=-0.1316 left_z=0.0264 left_yaw=0.0405 left_pitch=-0.1882 left_roll=0.0489 left_gripper=0.6049 right_x=0.2854 right_y=0.0003 right_z=0.1561 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.7179, 6.5573, 1.3211, -0.1832, -0.0171, 0.0366, -0.1709, -1.3744, 6.9675, 1.6777, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ff9f38af8a2c8ef6634700744986485a312aba98bc54769413acb42555d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065515dcedec6a8e8d0bb181ba9be525e02db397a2a59d30861dc220ddcec8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33923dea1ff658576be48eb7b3e6d5168bff278714b0f257159065090c79e886",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECKN3oWBbmO6BUkkrZEKPyF-90t5-hVQs7p6mln1E_iI5U2FdsqKsrzGPXeZmAiEHZS9SFS8tzIEnuHVJ3f7oAoSFwvszNOX_et8nHY4odta51SCZ3FUm27o155vHOClbApAD0cOVGHmqSws1-uQbLWXqSNG3VkjL8WfzqQYHsTQ6cGJ3y2oDi3msrnOwIFEv5AcqAvDCdNCqnpPN7F52XTvytWi8Ril4yIz9u5g3z0AvpYELlIYgxUzygmMOKdD_3mjgrxE8o297RXMzKL3Sjn2eDv_yJH73I8Dg3qgvHEr_G66NToOMl5cyBqReyHcDjYZnKdTn31ACaBHPIiZ9mrm5DsmwDWHFkranbJYHp-tJvdjk1XNkgaE1cXWhBOwp-2JgqEbQceaN-sp2T2LwgoCd-dC8-8aPQ41k2oFPx1rkeqScsIsioCQRNVP7ikK3FlmXfSIHdfTYj7EPFd24ruFLQu0LVzh_HSg6t8mLqVKlsRGw3EgGHB5ZmtUt-nGcz9lB0s1NNe44jh0PojTnGp7S0q38bRBTwO2xUFch8D0X8nc9Zjnsb8wlhYCrV24YCsKRWed7vlDAPsn96321sz0NwRbpL03bsZatKF-JiHM92BrYtqi2SSj5rFFBNKJtP_zlhJhf-Ed2pozkE9PAi4xe7-ePVL1GXqGvKUQeU0txmJvRfGlymVPHNx0Trw5bJW31r0GWiANJFlpGaTaqwoV_Pqi1-IAdzKF0TiVPx48d_rt9t04_qPxG_2l3BZJJ5nbuvBNiO2g8HKAfM7FGYTLmgEXOi7eMXy6h-nBCqHBdCh4MUQE-yag7U5izw9q4hp2xtzTMj3jEqAL5sYa1qrayRK16A159ULRv3BNAzpOoKJlmwUWX3n6N3_E7cfFhz-CRj1N4aT5TS6smErqR6EbgatcTaipzkO1WkmOjnl009Wo0pwamNZkPJQ8kJcYdaQups1JwfjHH7BrQHeAr472VZ4UH2v9h1ibgX8PuQd6h9keJeyBS5TFiSaZBOTOqRYfqXlpXBv9ay7oGs6odTk7iBeUq2dzgA4H4YXWGnkFjfXOSYaxcr9mKpbNb_Tk00bWWhMu7YqlmVHZWg-E5emRZGRyiXSKraVZ3NV1wLf6Gplz7muCnhXXFPW80gqNOnQT_zuAaL7qSCwHxqOg8Uu2pK_QSlzwgY5HBfMQ9aqSMJFzOtlsvU3w7jXIQQT1ObW4-xu8cc_eQxBSmsr_fV3z_o9u7FEq6HpWnnrcKsHcGvt9VQTYpRGpb2W-kMfFLxwcHYZlQ6nMIHbbbBMeQj_8xsGoH3SniidKC6mE8ZMXnYmjjb2bBsNzU_zGac5XwUZuEeWI85dQZS8IIh1t1aBHtnSUHcUEb7m7NYdbUYWOnkejHNE55_5IlQjfN0id1g3IssjqAuMY15PIdRCtMx47--j1gh_3IScWImEa0kf0KnV1ycnpEp_bsd_qb115doaUoihHxkd_VFGlWAnHqXLr-pe7uPX4dY3u6_XLf0OuFiNoB29iwfUuWDX47LxpLsZDBh9iebjnAgnyiDvXOgeKtjaFbikGqT9TftfJvHeoE9iE37MOjWC9J0crWkeF5jyH5qDZeXduxPovdFCK2qozWGexPyF9SwMhjMDcr4pSCeUql8pF8fU2ZiQ6CuV-Ans1f1lAy3JsLatOF1EHrGFrhBenM1QaRbsvPoe7Ao0DC0hJyxLFm1eCFPaeLJgKdimrRPVeyA10lbjPq7JOEpJOkw9lUYm3xezhYAyKZhoCkbDlHo19PvJykx366aZgo0HPNXAM9Gq_zv7udLym_-g5nU7slOpEt5tISQWIFCGzAkay3ILY2ltIGlSrx6E7uO7ocAddmTr6nkT00jKywgaCdBzZHHjvcQjFLgJhYuiZGDSzYtncwBrRkxrflYUNnhVDRvuLoLVJ1jwnE9zQVJ7ZhmDuBG33rA_vy-vLFLrj0i_dehQh6QeOEBh_k58X9ze1PZoGrctYBhm5e5keaPhmhggVHj5gOQnNt_3thqvHnLrrpiMq-0x9WdfdPSQs2iwnCgitRmDoP71eTKPICeTPvra59WqIrq-g9Po5hnXL-IF6krS1QuTaE5Stklc6d_BUvk-9_0Xgzv1VpBkaokB80hdhyfGHQ5O9dtNrb2gGdHYJvppXT1Dx4XvRTDRgH1QYW_jfjI0u4XxvModm0ai9WsTr2js0JMXUCNnwTdM7pK6vCi7jTcZeoe1a76S9HbUbU38kZhwe3xY-g2ib9aQpUEnUtVwows6Q8RNTnBhA0hLK0jqZRD8yXLrZGFb1q0IHyeTT8XVrs-n2BsVXB6UgISde5zq_lHtdVVHhFuKOQHJCv2UbPW4WzgS0nSP5yevNCX82TAF_iE-_MYKofV_xHBL54TAViQh_BSiBevV2YxW7zBDpj1bFDi_oBQ9QKxepN4TzNO3oe4YpmCNtI0_mqy-U7r0BBOJfalY8BDDkm9cgRNV1FUYOEF7DVo9GYM_yKeM6g1k5QPsDc_N4Um2oOr8UaEWjak2nxvaxu_BDucwYc3dVZAqKGwQaC7qEhSgwlILNZVZNhta5Jt85gLlGETQQBo9l6Q5LVhGkc1KurM92D0FlRmvSI4Ig5A381soR_qGmpFcQB5C3sSkMdIqveYway6L_ov_d5IJWVDeWn67EkRJFNUZ7OgEMnVfHGlIim1wMI5HuZHXCFcABInr66H9AjBzYxftKRcTnfn1DFUlrNdXZ_ZEPasiXey5nUhBDvMArDi12fqS4GULaKwJeHhIVuQEpB2nZ1huiQXO-gBVdv9snUWE9oY_PwUNvrelTWauAeOImyVUkv7c24_-38mZ3lSegkH_3IrUC-UMwlniWlVPeTrnvzIoPebgGheY2b5GbaOsBELLgjVpoVhAKhVeiRfk6yswJY_bUFccOjnPQOUfebZ0PRBGV0A9MHykyM8OT_PQq_-1r41KtkMA_qqlulkE0x6q4a-8QlQQN-KPtrS8C1lKDCKmgBxFGElK4ydAlFg-RVF2P8ru6hF0sw==",
  "id": "rs_0002122b65528261016ab440863b3c87d0a6dbf52d9d6b1dc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"At 60% closure both fingers are still visibly inside the bowl and the reading reached the command, confirming the opening is wider than the gripper. I am lifting clear again; the rim pinch must be positioned laterally at height before descending, not attempted from inside the bowl.\"}",
  "call_id": "call_FaXr2fUpsdDUBNzEGkyTvmyG",
  "id": "fc_0002122b65528261016ab44089144087d08c9c3dab57e09b19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FaXr2fUpsdDUBNzEGkyTvmyG",
  "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]: [-0.5137, 1.5394, 1.0138, -0.3447, -0.4202, -0.4091, 0.6047, -0.0216, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3881 left_y=-0.1321 left_z=0.1281 left_yaw=0.0481 left_pitch=-0.2009 left_roll=0.0484 left_gripper=0.6047 right_x=0.2854 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.8274, 9.2786, 1.3651, -0.2564, 0.1001, -0.0415, -0.0342, -1.4017, 7.0769, 1.6581, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac5ae88c7b9864732fff90ffa83c7db96a4cf294e4231a684444fce57df6919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5764731d9fe5992a48e98ffe67b0729d20f11b326129151b5ce8a63d82755c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141cbf4ab6824bd96dd3d2448d198c0fc756d4d6a9efa0f53dc59fb4552f9d54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 1.834 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.5345, 0.9741, -0.2661, -0.4175, -0.3935, 0.9948, -0.0216, 0.8173, 0.5945, -0.445, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3911 left_y=-0.1347 left_z=0.1263 left_yaw=0.0324 left_pitch=-0.1651 left_roll=0.0348 left_gripper=0.9948 right_x=0.2855 right_y=0.0004 right_z=0.1563 right_yaw=-0.0016 right_pitch=-0.0896 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.653, 6.2701, 1.6874, -0.2418, -0.0171, -0.0415, -0.0068, -1.3197, 6.9675, 1.7021, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.742, 0.7551, 0.1318, -0.4206, -0.3977, 0.6049, -0.0219, 0.8177, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3873 left_y=-0.1316 left_z=0.0264 left_yaw=0.0405 left_pitch=-0.1882 left_roll=0.0489 left_gripper=0.6049 right_x=0.2854 right_y=0.0003 right_z=0.1561 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.7179, 6.5573, 1.3211, -0.1832, -0.0171, 0.0366, -0.1709, -1.3744, 6.9675, 1.6777, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5394, 1.0138, -0.3447, -0.4202, -0.4091, 0.6047, -0.0216, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3881 left_y=-0.1321 left_z=0.1281 left_yaw=0.0481 left_pitch=-0.2009 left_roll=0.0484 left_gripper=0.6047 right_x=0.2854 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.8274, 9.2786, 1.3651, -0.2564, 0.1001, -0.0415, -0.0342, -1.4017, 7.0769, 1.6581, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac5ae88c7b9864732fff90ffa83c7db96a4cf294e4231a684444fce57df6919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5764731d9fe5992a48e98ffe67b0729d20f11b326129151b5ce8a63d82755c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141cbf4ab6824bd96dd3d2448d198c0fc756d4d6a9efa0f53dc59fb4552f9d54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECNF3SWl-oJg8eqAx9mmSbVIO8SWxmpGmbs2QgJn_AFbAkKajXuooVzGBqbvgmlKZv-HKBiI5Tic9G9-RrLGhNePcZ-Yt_G5oxKqKHZbDj0abQs9xpa3gw50jboSLmHxXjVyaoZNG_PnMfWkXGhbcqOJc6LoMRjZ8M3o6RqastUWJWW8O_whSl7CN2GpX0JTYr6Ezi97NjhKFL8R4uNXMW4tBBGklx1z_7_IXNXA5fcCbbRjKohs2M-EuKtT9DFz-YiKj7YLGn9NrNrXPfx9bvBukTOFirj6qgo5x7qHx0mOUESYVzwBrN3X4ENR696-pY3JiAs3SsH_1_2MFLerbqgW91QffbHK5le7tfVz5K-wH2VChkhHitavJTd7aOY-k1Ar8oFQQIoF-ZqdjttxaXU9YK9CKPaRk6d5DV9FsoYzqytNaW-OH3RRS8LcsDf_RDiTXlGMnOfBgLRycIa9Sxz8lepym1E-1rNZgFeRGTI4LdEJNgM5XjDbJBg-cuMHdB4OoQRPZH4SlhsrtT_1P2MYdkADZIlIgN5X1RonzFVIGOhOVllyqTUyavXtXSFIFutRkRveJx8SRc8PKuCmKegg5KaHBBptZeWRMGFzhDtK1aaECznU9pi809AyC_GT4uqN0XdR-2lhjRrUdBBHU1bU_TUgzDv3FdgOB-n77wk2y3lstMB8_s0gYCR6qK65G-k2Bfz0X6EHHqoCpFGEpmeDidNYxiKTEuHZ741VAPby6RRPysUf56J8Uop4tRTlJtRbhhy1kRrwFhq8ZCiwtiLFd19X9iQKEvVRBJZMDP1cMEckDGfScbrNl2gCnhea7BFBMIP-yUB2-hNDXoXFieQA4FUPEbjaOJDYvKYn0AR7FXGxEqLLsz8UvwCmsdrG_3QieNYLnz2AHqZPriXpqW5C-aYcqoZRMLamdFyK5kH2qx567-H8H_0YilD_ZTcGPCQU6wIYIBsgUW3rj_XjvY-VtX1-deBZ0ZeBKVjXPWTsXI6fsTp27o8hFu5tmlXAltA6aITwgMurfuyqpOmseYe--WyqsD9MZnZsI8SoSLoNWQwv-rjC_TAOg4LW8orkIjOYJb6rINdIOglvrl7dXT40k7A05VA-6VUl5HUMdox6Ou2EDmntPkil9p9nheXZrJe-jXeD5RmUkUFsOLE4X237ffq6RaM6DrYqqSx-g6s1H3ycBaRRYzskaPJlU8WhDi9ytw3L9co5vk7s3XE8zaOIOFD18JVJuWQMl-FcFkb4GN_f24pN01ZQ3TRUGHL9Mc7ufMRCePahbpnUqb3pSvA8-EaxD90eWWovKzlktPohGEm7QlspgZRO8z0qP-QnWB5bktFFln1ZIS404akyNIQ-lirk8C6SytyxITDIDRaEnMGbqEbnKKK2cW22ft3ANBxrVl18jxukKgQpJLsAynFs6AzseAI4pwFRDbTRZRG-9-mZkhpBTmh1no-HHqhAlsi29XUA1FRBfUotPsxigvhyA0ak7J7p2jBn71IO6MPpY2H3bTPoHK5au4sPgKHPjORtEh_Q25sF5cyQ-be8BA9Ac5BXWRDrCDdxGnp0OnHZPI=",
  "id": "rs_0002122b65528261016ab4408bf75887d0817de7d18d2ee376",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The arm is clear at carrying height, with the purple bowl centered below and the partially closed jaws unobstructed. I am reopening fully so the next high lateral move can place the grasp point over the bowl's right-hand rim.\"}",
  "call_id": "call_BZt5uRjSfsVauB34P9HPY0Cv",
  "id": "fc_0002122b65528261016ab4408cb4b887d08177c13b4fa40d18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BZt5uRjSfsVauB34P9HPY0Cv",
  "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]: [-0.5137, 1.5402, 1.0149, -0.3729, -0.4175, -0.4126, 0.9952, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3838 left_y=-0.1302 left_z=0.1239 left_yaw=0.0512 left_pitch=-0.2254 left_roll=0.0594 left_gripper=0.9952 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.6667, 6.4479, 1.6093, -0.2662, -0.0269, -0.1587, -0.212, -1.347, 6.9949, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0a9bdef6a6488e34236fc45b7cd46237c0cca1d1eb5adcf1b7b41312183e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ea82449f7bfe191d3a3fb76d9812ea7e80336fc6944cc5faacf90d2606e522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7043cd6b4e6a6d9acf8ed5ea3bf4f7bf29bc5e6bd4113e77c55056a2979bb9db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.768 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5144, 1.729, 0.7658, 0.1154, -0.4221, -0.3946, 0.9951, -0.0216, 0.8173, 0.5945, -0.4454, -0.0162, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3889 left_y=-0.1325 left_z=0.0326 left_yaw=0.0386 left_pitch=-0.1815 left_roll=0.0482 left_gripper=0.9951 right_x=0.2854 right_y=0.0003 right_z=0.1562 right_yaw=-0.0017 right_pitch=-0.09 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.7641, 4.4513, 1.0183, -0.1685, -0.0073, -0.0024, -0.1162, -1.3607, 6.9538, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5394, 1.0138, -0.3447, -0.4202, -0.4091, 0.6047, -0.0216, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3881 left_y=-0.1321 left_z=0.1281 left_yaw=0.0481 left_pitch=-0.2009 left_roll=0.0484 left_gripper=0.6047 right_x=0.2854 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.8274, 9.2786, 1.3651, -0.2564, 0.1001, -0.0415, -0.0342, -1.4017, 7.0769, 1.6581, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5402, 1.0149, -0.3729, -0.4175, -0.4126, 0.9952, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3838 left_y=-0.1302 left_z=0.1239 left_yaw=0.0512 left_pitch=-0.2254 left_roll=0.0594 left_gripper=0.9952 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.6667, 6.4479, 1.6093, -0.2662, -0.0269, -0.1587, -0.212, -1.347, 6.9949, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0a9bdef6a6488e34236fc45b7cd46237c0cca1d1eb5adcf1b7b41312183e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ea82449f7bfe191d3a3fb76d9812ea7e80336fc6944cc5faacf90d2606e522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7043cd6b4e6a6d9acf8ed5ea3bf4f7bf29bc5e6bd4113e77c55056a2979bb9db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECPiBVhFdVHkduDhqD18hVsP-G6Si-RBNM55IWqqDqXXy-VqMv3XSSp5geqDKDJwKfuoYAEl77OQZLxY33dQ0GPRgI_HhB-4ijXEgNBJ4fsrSusyp9K1NVG6sTVuhp47F57b2Rm4HrdXxP8nu2nONu6Iws3ikJZuPS364F26NJDlSLyfqhxe5Hl3T_LuauimldvBzbAtSSyTVku3PnSTLYKBQPFPOdfLuRISN_VcZxV4M5zu9OtPLiODpHc38hZ_kn6HgW1f7FB_r7j9T7RI8LxEj10M46jIzhKVqRH31lBEINBE7dZZ3KHiWXHZYTB_TpCnYigf6wr7r0lRhjHSvYqei3XCVSerLDTwY7H3iVT6nJCa1Jsvh_0ASrpJDoJOMMMUSIC7XIIeQlHbAgLddpbHf7phv7tRfINsqgDHyY_Dt7GWyOpDXPplTKXDAv0EYVjyPPOycznE7QLYUrxe6YGdkdOd7MgZsDWrXp6PhA8OhpkImAYFnINYw46J4yA5n55H1KvH6LBJ8B2kQwVmY6rZQPoRAV4UxGCXfpvvlJYJJOTzmvUW1pI9-NWK2vrZbVshApeWY-KQ-VciBvz6rDf8Hi825XEaZvb1reBk76cdb0mv8qCHMoQLRKlyWwK67rmxFkAV99AvUSS05vRmF8P0-2T1zDDyqAyvlUbfF_6iE62Q5LAdsr-midSLy73zKZLTiPpCFV8rm5WQuY2ulyNa5OHs1L4hX1C8VrpXEKy_Ke7LQo87_331p_cKy2Ps8fLN_wHXEmw-ChNAI2LeaO4Bb-3Crnyod-RsJ5qZIU-w8jeS_Gb6SraOXZI1c4FUaYAPOgeUstdzqVtifsI499ufBxomdQTna3gBt5zZBD1eh7al_EXtL5tayv3HLV0m8R6Jx5zW4tMXQ4y_DjGFC1Qb4Zrsb9_0Cw37fLjhsJyysoqwr0YPqVhXYDInuLfj8a52gdoCnjEGidPSerMfc9baSgzj8VYYw88Xh60vZUel7uHYcGSwAfCbK0_-AHC1bQLgrbkdjTJoSh6-kAzaO8SOYEjIhLMGi7rnmWv7s6wegMATKgPg9wKnHU8kvZ9MrGNWYMRPc7J7aAMXQMoLL1ra7G6rDKUJJTGQjslO3F9oLu2FvM7z9XRJx0SWYCNvAnmuBXzkDNoqEUJRbRikPZWB3PzsZV-WZxFoJUlCyx7qv7icUsT408vZihZvxLZLdQq",
  "id": "rs_0002122b65528261016ab4408ebe8087d09e1ed3b0b1ab1b16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.19},\"note\":\"The fully open jaws span the bowl at clearance height, and its right rim is roughly 5–6 cm from the current center. I am translating laterally by that radius while high above the table, preventing the bowl from sliding during alignment.\"}",
  "call_id": "call_GswYSmvNWRneCLV8NXHuByWh",
  "id": "fc_0002122b65528261016ab4408ed5b887d0a3588940fbd423ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GswYSmvNWRneCLV8NXHuByWh",
  "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]: [-0.6594, 1.6608, 1.1259, -0.4484, -0.4831, -0.5339, 0.9955, -0.0219, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.1839 left_z=0.1133 left_yaw=0.0347 left_pitch=-0.2581 left_roll=0.0694 left_gripper=0.9955 right_x=0.2854 right_y=0.0003 right_z=0.1559 right_yaw=-0.0017 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -7.2137, 8.7726, 1.243, -0.4615, 0.0757, 0.0317, -0.212, -1.306, 6.9949, 1.6874, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af9ee73d7c3453409e2b5b27d782843e5b3565e0d3276c4eb5b24a06e321a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf856cf5efd9248e85a28866e7a8e7c977532d8af957fd334a4c53c7bfcbeb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06142d8b160baa8df60f119ad3f763cbe58e2a8d7f1e108983bbb8b5ea423bc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.368 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.742, 0.7551, 0.1318, -0.4206, -0.3977, 0.6049, -0.0219, 0.8177, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3873 left_y=-0.1316 left_z=0.0264 left_yaw=0.0405 left_pitch=-0.1882 left_roll=0.0489 left_gripper=0.6049 right_x=0.2854 right_y=0.0003 right_z=0.1561 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.7179, 6.5573, 1.3211, -0.1832, -0.0171, 0.0366, -0.1709, -1.3744, 6.9675, 1.6777, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5402, 1.0149, -0.3729, -0.4175, -0.4126, 0.9952, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3838 left_y=-0.1302 left_z=0.1239 left_yaw=0.0512 left_pitch=-0.2254 left_roll=0.0594 left_gripper=0.9952 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.6667, 6.4479, 1.6093, -0.2662, -0.0269, -0.1587, -0.212, -1.347, 6.9949, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6594, 1.6608, 1.1259, -0.4484, -0.4831, -0.5339, 0.9955, -0.0219, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.1839 left_z=0.1133 left_yaw=0.0347 left_pitch=-0.2581 left_roll=0.0694 left_gripper=0.9955 right_x=0.2854 right_y=0.0003 right_z=0.1559 right_yaw=-0.0017 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -7.2137, 8.7726, 1.243, -0.4615, 0.0757, 0.0317, -0.212, -1.306, 6.9949, 1.6874, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af9ee73d7c3453409e2b5b27d782843e5b3565e0d3276c4eb5b24a06e321a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf856cf5efd9248e85a28866e7a8e7c977532d8af957fd334a4c53c7bfcbeb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06142d8b160baa8df60f119ad3f763cbe58e2a8d7f1e108983bbb8b5ea423bc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECT3Exem6KHFj1-xeCmE_AmeqWPmOgUUdyKczukrbeo03cU65wb8_5AZE363ZkKtZEmEoQRJ4PHkFjW7GY_zDQg7HA-N3HKd26YB-p9I06_yWsm1BjbPnIEKOiKbJMnZG9GuWxMfWIALc3N6tWHjP_3RzoR7SejTDciYU6hCezn3uciEy46oZOKhvROF0m2qp3HF8lwXBM82TEQxNvVasNxp5C3uTNJyXPqDFaFFfEL7p8w0QynwJBrAzVURHqC0WyNyEM3glmbJ4z8rRtE22hrfWoST6FHd9gphvbpE_f4O3eE2Eu_Bos-V8z4AOS8nCzEiaYtMwi5l40GKy0AZUuPzL2Bgo6LmEvL5YdVr82s9xLq8z34jd2kNnk5ob5Zipt23v3bq-oxg3zIeh2j9ilnra0dAcreiWdODhoLeNBoXXblG_KBLfNB0B7rxtiB_MkfTPN5xWfDN9DW62xwc3yipdsfsJKdJD_0696f7YAPgeTOWHCsJ2YHJTtF0YB8APHuPfEFzd0nfOr_azflLWMXv7qz-ppqiT9XbwI3vO9Ui7KZHQ6nV_R_1IpeTxSYgLj1zZUo6jQ0cutPGRBLQbCk2LCgA1GaTju76qe8ub1MsU1jZN7xeNj_RYc0gNPKWBaPBCPTItk0VkBqTA7pF9EN-jisopEUuCzwzlNi_0nREnyfUUVMAe_WhMlajAKZe-X4PwLprdBfBhmrIZtrW9mA2mxwNL5Jp5vDSd28R8vOaqnBxZnUt0UukgE5CnTxnk5kp33beRdvAeglZX_h6W0ncWzUqXueDl2rmmM_-GLQ2JrN3cBJAA5curoysb9fO6m5MTZwYG4GRWD4I-8pvxJj82S9g0Pyzh177LUzSqeS7a2ECKBK-KuUZrms4GDLAZkD4hy-pdUvRdpfiOGd9f2vJTMEhDWuxGeRkkxXTKhLLrAPoVOHptnd5PPkcNUKM5Z6e5ymiuQZ6Stn1IZf1zB3wBQx1b-GmOdW-b_s8UGwQJeCFvYAYQK9mzRuXgFpSKS4_Ye313ONp3D_8pIoG53OH5uNR_MpkgnBrgOuV583dYy_o2Lp0cPuE2pkpEdp4neM3IImhjeC8Vz8pAkmbgoJrPnHKkp5BjwT4qayxEBiK3fSX2pKly1cTZ1TlM7mEzw3ekSYZlJp06J2ME6fKEG_mqht4-sAH5spi14RwFt4_qAeeP1Dchw2pwXj1GEIGsY_lv0kjwMsJs3KaFY1j2K8zGnamL5gVy75Tyzox3-68uVHDvnl-YcQjeNWmmgPSYl8UMro0QYQUIUIntm3qNdKMOublL-3donsHgA2BJjxitcA6x4i-tJW9H5R7c-VAI-33z3OK5J7aVnvMaKMeRsXOY9ycpiXknLkZ48kJFcQ3SpQdC6ZE1ONVRfAT0ku9rc4ZpD7MQPHBuHlwcdPMksFtLVC1XmUIbRN8VVQ73OLT1ax_2YwOhRPd5iAA8uao2n3J7QkOJN6kUs1RiHfVQhaIj7mU15OivxAa_mkjYiABRKwXxNeXeqlrpNeJM4TPto9aoqbcOfswuqaMn2dzLSyaXaqUkQTNwBJrtMSvaRDbdQ8o0ObrPglgv97VYz1nX5ze3nnjf8wdkRnNKZ8MIjmrZuR5JRCQM74gN8UITqeQK-vuVz9xlRZx5eBGz1DoeWTvmxERyMKdTNBwLGVQk758zIUELi0guJoljJiEvM-3DGvkfqWxwED-Jv9w_NHhzWY5wFuZgLUlA1lttYNkxzx9eDkJ-xi15jjLXJ1iYFwYEfVWPvMAf0EFBrE9alekizDOncEsi8MusE10aA2zKrQ42Y5nlQtsALIoWKFc6HKok46AxMANhAvacp-VbHoig0T8WXu8HIE2A_kcc0kfKFYuniNt6K3GKZYtwcJTi9x_xdpN01_KdAwOYydodew_NVga_UKiIUgB6m4dS8k_1f_YFWTRJoyYX1zOo8FY7SNyDXfuQ1406llAwriH5zbtHp9-37UbCdHTP7Mgnc6fs49MJ4bFV3097bRI0gfQm1EKp6upZUBojlD7mJxRFmVOtqFQMBUmw9_hvpdUjntRvmUMKWEmJnDfgxJ-vkz0MAcYcCp6auYh56cBzL5IaKQ1Kb6muTsu1UqtKepYtPqgwllbPeCudDWOJTBu-FGOLic2TXYESYD2xcxPucW9sZpuSWB",
  "id": "rs_0002122b65528261016ab440912f0087d08dd21c6f4a655807",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.22},\"note\":\"The high move shifted the purple bowl left in the wrist view without disturbing it, but the jaw center is still several centimeters inside the right rim. I am continuing another 3 cm laterally so the grasp point, not just the outer finger, lies directly over the rim for a pinch.\"}",
  "call_id": "call_T7hqi5NNte2zQsUzS9fdolwh",
  "id": "fc_0002122b65528261016ab4409302c487d09313f3b301e4fdf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T7hqi5NNte2zQsUzS9fdolwh",
  "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]: [-0.7334, 1.7439, 1.1931, -0.4995, -0.5045, -0.6003, 0.9956, -0.0216, 0.8185, 0.5945, -0.4461, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3696 left_y=-0.2133 left_z=0.1001 left_yaw=0.0257 left_pitch=-0.2931 left_roll=0.0842 left_gripper=0.9956 right_x=0.2854 right_y=0.0004 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0919 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.3761, 9.2103, 1.0965, -0.4713, 0.0904, -0.0073, 0.0752, -1.2376, 6.9538, 1.6386, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b178c0d2a51788ec4dd33c7dfdb20f0e2b8df63e034e9d30f2f3b3f782fc7822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48589539d2904cd2183d3c313f72d9d99173a8e6bfc8af19a98b5a20919a9578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54b635c0ef858b925ae284776978ff914dfa6b4e5a1bc93a05fd73bff8afb70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 6.063 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5394, 1.0138, -0.3447, -0.4202, -0.4091, 0.6047, -0.0216, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3881 left_y=-0.1321 left_z=0.1281 left_yaw=0.0481 left_pitch=-0.2009 left_roll=0.0484 left_gripper=0.6047 right_x=0.2854 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -8.8274, 9.2786, 1.3651, -0.2564, 0.1001, -0.0415, -0.0342, -1.4017, 7.0769, 1.6581, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6594, 1.6608, 1.1259, -0.4484, -0.4831, -0.5339, 0.9955, -0.0219, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.1839 left_z=0.1133 left_yaw=0.0347 left_pitch=-0.2581 left_roll=0.0694 left_gripper=0.9955 right_x=0.2854 right_y=0.0003 right_z=0.1559 right_yaw=-0.0017 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -7.2137, 8.7726, 1.243, -0.4615, 0.0757, 0.0317, -0.212, -1.306, 6.9949, 1.6874, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7334, 1.7439, 1.1931, -0.4995, -0.5045, -0.6003, 0.9956, -0.0216, 0.8185, 0.5945, -0.4461, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3696 left_y=-0.2133 left_z=0.1001 left_yaw=0.0257 left_pitch=-0.2931 left_roll=0.0842 left_gripper=0.9956 right_x=0.2854 right_y=0.0004 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0919 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.3761, 9.2103, 1.0965, -0.4713, 0.0904, -0.0073, 0.0752, -1.2376, 6.9538, 1.6386, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b178c0d2a51788ec4dd33c7dfdb20f0e2b8df63e034e9d30f2f3b3f782fc7822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48589539d2904cd2183d3c313f72d9d99173a8e6bfc8af19a98b5a20919a9578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54b635c0ef858b925ae284776978ff914dfa6b4e5a1bc93a05fd73bff8afb70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECXHc5Zbj6uofeTglA4lHsbxLjRypYF9XsiTbZIHhmQoP4gck1RiKCpizKzujiULaIksc2-fyf13-5yG6ul8Z_EHwwya3Ux8Mh44PHAovcYcK-Tbij-QRsKqqDLICJxxp66jDa48P2_fEay5bFHiHR6BeF4amkiIDh0iDbEc54BH8BlXNtMOR5gHjQG_3zIsdUD2lMqd_1Xofh7UhNplsQmvfflgXn9HD_pQ7CL28l6nJsU4MhIb22tZVRAF6ZSslA-O72OPJI2tXRDnimJ0c7CAXZmIhRucabRbdZKtyxbMqn0rZU7yTy2eWZTu35MtR8I6kE5xhUfA9SF5Zp5AlMFGnUEi_aRhVO7OprslsXbSxqAW_Jv4lY6Q41dP0rSFQwN7pGGd3JOyAd-5p8fNbMflGKmj94nrWL7u7n62ZPu302qNO7L66zGKWQmwsYJQXTfWQZ-3VKK_4oz9ufM-WZqYSSY4AgbRNaEBg_3r9s-p31rX24ABV-sW1TNacq_R5u0uLbZ-t0bFiTpG-ZCZWa3EDGf2v2Bkwt41xk4UnEz3MRTZfq3WuzDE1qtdxaqjp44bKjetr55sJyQVZXNfNVHUZcaefwh9BFwXxqHIpJjzh4M-YZG2XcSLDPeM0iI7PjoZwtMAU0xTeHZv6RUYz3BYNw5a9sV1dFGGflT2Y0G7xy8JZJq89MMzpGuTTcOs4zQEyibb2l6B_VN1ba0-clzL2sROAHY13IhbNHeslIV1mYo3qig5AsNHosKv_xzkrLAoffYNefd6v7mS_xscj2Cx3uOD4LrMSlnY__YHesN9KT2XzfqI8HEPwyfI5tm7H3ZsZ0mksrLKWi9eJSAskwLNPfCjRCYDjEbeFnmvzdHNtpqy-zE-kjLfN2gvPELnP8p4D897UPj9rDF1_lIeam0UQ106te6eOgpW_y8VltUg0xdnxoOfjYePXbyX6SKTTpu_wdhoAd2xQvBwrXX0eAhZqtWRGhcEza_VESPIbgLrq-z8OpLFZC8cN7DFExQwh2fgCrGMOa6CBZnod9fB45FvK_bZQQJuj0KGIJhIayOaLuaV-9Kk_OMkrgaS65-0F27vpX3tEazmViGsFfzdaJGJk7ysuioPCRoPeQB2sC76kaiAOL9vGFGYXx7Swsag7x2M_TNjB7eo_wlOlQS7vKP2rcLQI74dWziX_qnf1GZXHvDjnvEpmklO66ZsGCN4_m-jZUu2GOW830INnG-Fjy3o02FS5hhelyH9fvgobSrqJAMssEHKtSaqk1BM3AATUpdbaVQ7CCbG18W-PyylohmVC4teIYU0854Ow3vqV7kqt5TvnD-Q2_-c3wztc6VLeQT8yfDkhQ6eWwizHBgYqSeNw1Nt31BPCF4O1HFTLl2-ZxaxC1zMXRFJmeoyAwUE2-uiZAmL71e_xsoiTRnRkDWOdiRsO4L00HdE03qhah93XorSzaz6fUQEEEDiESyCE1QXObCWeZD4oi2W79JbjMn8fitW876C1IqOlEtdyRCZ1ylB-KsZnjTsK3xECy8i3viunbChFtVGcLd0x-8y2NTUaZZujQqSvQSy9IjWDwZYDgGRNIJr3lhxSCW3qW109w126rhoCxb6ShGR6xxoCKodaxdt2_2pYTfcgtVos6vpcuWrAf2K_2ErN9DCgobR2O2tbftHEUkVHokfPoHNcWNvFZqdBxWYsRg-1N2vAsZH-IxVgMVlxBDPljkVP24UN7pGJIflLjOHXTrv-TTcoaSa0W1_F4L265fqa796NuvOpFmy_FgIoWoyfikxpRrFx_1TJxyrMPtSEb4ndj3oj2Ummza-h97UxorBObGnM4mrx64r0CVMUA61oWDwxjX9oJS42E3Mem1qP16OD61nz42RicOZ9BGJiRLMwpnUa5qrNmc1HXB4pSrMxZ3K6nCK52y",
  "id": "rs_0002122b65528261016ab4409552d887d0885f2bf63b61b607",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The purple bowl's right rim now lies directly under the jaw center in the wrist view, with the bowl itself entirely to the left of that center. I am descending vertically at this rim coordinate so one finger will enter the bowl and the other remain outside, avoiding any lateral shove.\"}",
  "call_id": "call_0cXPdcaiEyawAv20iJrR3Lf2",
  "id": "fc_0002122b65528261016ab44096c69487d0a859fc0ecf1570a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0cXPdcaiEyawAv20iJrR3Lf2",
  "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]: [-0.7444, 1.7542, 1.2053, -0.5053, -0.5182, -0.6113, 0.9956, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3698 left_y=-0.2168 left_z=0.1007 left_yaw=0.031 left_pitch=-0.287 left_roll=0.0884 left_gripper=0.9956 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -8.8957, 8.8137, 1.1404, -0.4078, -0.0562, -0.0122, -0.0342, -1.347, 6.9538, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0c61b241a7fb23ccdbea58516a5b128c42c677d8aeb91165ec8e53e8ea757d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce68a71a6ddc26804ced04cae3204b0ba74288ea9ec32a742ed7fb0f8653683f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cecc1323205c33ebd19a79488f5d6d290439306e05e8103e975a89ef395b00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 7.501 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.5402, 1.0149, -0.3729, -0.4175, -0.4126, 0.9952, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3838 left_y=-0.1302 left_z=0.1239 left_yaw=0.0512 left_pitch=-0.2254 left_roll=0.0594 left_gripper=0.9952 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.6667, 6.4479, 1.6093, -0.2662, -0.0269, -0.1587, -0.212, -1.347, 6.9949, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7334, 1.7439, 1.1931, -0.4995, -0.5045, -0.6003, 0.9956, -0.0216, 0.8185, 0.5945, -0.4461, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3696 left_y=-0.2133 left_z=0.1001 left_yaw=0.0257 left_pitch=-0.2931 left_roll=0.0842 left_gripper=0.9956 right_x=0.2854 right_y=0.0004 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0919 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.3761, 9.2103, 1.0965, -0.4713, 0.0904, -0.0073, 0.0752, -1.2376, 6.9538, 1.6386, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5053, -0.5182, -0.6113, 0.9956, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3698 left_y=-0.2168 left_z=0.1007 left_yaw=0.031 left_pitch=-0.287 left_roll=0.0884 left_gripper=0.9956 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -8.8957, 8.8137, 1.1404, -0.4078, -0.0562, -0.0122, -0.0342, -1.347, 6.9538, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0c61b241a7fb23ccdbea58516a5b128c42c677d8aeb91165ec8e53e8ea757d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce68a71a6ddc26804ced04cae3204b0ba74288ea9ec32a742ed7fb0f8653683f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cecc1323205c33ebd19a79488f5d6d290439306e05e8103e975a89ef395b00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0002122b65528261016ab4409925a887d0a97ab9ec99289b3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm did not descend from z≈0.10 despite the much lower target, indicating the fingertips have contacted the bowl's high rim exactly at the chosen edge. With one jaw on each side of that rim, I am closing fully to pinch its thickness.\"}",
  "call_id": "call_Nm5Vxy0vw4eVKLjjQU5SArUV",
  "id": "fc_0002122b65528261016ab4409d1ba087d08aad247e290bd696",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nm5Vxy0vw4eVKLjjQU5SArUV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5121, -0.5179, -0.6182, 0.0084, -0.0219, 0.8192, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3688 left_y=-0.216 left_z=0.0999 left_yaw=0.0361 left_pitch=-0.2917 left_roll=0.0885 left_gripper=0.0084 right_x=0.285 right_y=0.0003 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.4855, 6.4889, 1.16, -0.2564, 0.022, 0.6178, -0.1436, -1.4017, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2b379e9d8af202eb9bfa8af1b1f9ff3fd0691f9c6355d20730157fa16c6e7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7e8a318443fbbcc78909b228438552bf13296201c5fdb2b63c8f1eab4688c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcab4a5178ad72f0dec7aead8bf227972c2bdb1c399dc300928e7658d4ae10c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.44 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6594, 1.6608, 1.1259, -0.4484, -0.4831, -0.5339, 0.9955, -0.0219, 0.8185, 0.5945, -0.4458, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.1839 left_z=0.1133 left_yaw=0.0347 left_pitch=-0.2581 left_roll=0.0694 left_gripper=0.9955 right_x=0.2854 right_y=0.0003 right_z=0.1559 right_yaw=-0.0017 right_pitch=-0.0915 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -7.2137, 8.7726, 1.243, -0.4615, 0.0757, 0.0317, -0.212, -1.306, 6.9949, 1.6874, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5053, -0.5182, -0.6113, 0.9956, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3698 left_y=-0.2168 left_z=0.1007 left_yaw=0.031 left_pitch=-0.287 left_roll=0.0884 left_gripper=0.9956 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -8.8957, 8.8137, 1.1404, -0.4078, -0.0562, -0.0122, -0.0342, -1.347, 6.9538, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5121, -0.5179, -0.6182, 0.0084, -0.0219, 0.8192, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3688 left_y=-0.216 left_z=0.0999 left_yaw=0.0361 left_pitch=-0.2917 left_roll=0.0885 left_gripper=0.0084 right_x=0.285 right_y=0.0003 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.4855, 6.4889, 1.16, -0.2564, 0.022, 0.6178, -0.1436, -1.4017, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2b379e9d8af202eb9bfa8af1b1f9ff3fd0691f9c6355d20730157fa16c6e7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7e8a318443fbbcc78909b228438552bf13296201c5fdb2b63c8f1eab4688c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcab4a5178ad72f0dec7aead8bf227972c2bdb1c399dc300928e7658d4ae10c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECmj_B7Inpzg-kN3V4otUUlJQ2O6DjsMbsFQMR_ag8jrPoOVbpzSaN0Y_5efBAJj3Di9XIQ2cOoyEX8kTmtcMcBf_IWDxz3daFLWRihGYilBI_4ec2XWChkIZqWvQURVZ03eTP_myk5hCdaGvaOjc1WT6tWDD3nHFdODWiBxvYyNQNNx8WYA-aBDpaaxsDjfQFQQTjXgqpe3Tgt6hKyd5qSgX6Bn6ieGV84zJmwyAXi-j7Ygt7bxqIMuZ5etahXmn3vY5NqSZ_8x3f9Eh8b7OWfIdIRxmNPmlUb3TJ5-hc2HCt3ybEfCcGKcxPP4xz6ChhB6J4YguhGtmENJT53IhUU5WC8V1ssY11HGFsb6U9tFXq2vobwYioZGcoGJTll1a2vNfVLpxMiWD5UixcCXbqEH8ohhsUDwCKCes5Pte79GNlJzrVLZb0FpYnw6fFbTBdaF25_P6j8bYNbMGq097gPDdFjkXLTGI9FNqfQONsXxhdYgy2yum7ejPex5bQaC3XRoAm09wSh5csiHlQVjE1wlSAgAJajjAdtAiCV2yf39iDPyYo-eu_n1VqgKrPoztstUEOPypyCilJudDwFGWyFOpALPNumsIvcaaEm3mnAZS7eyFcKFQ0Gz1JjtT_rCExO1BiqCQ8A9FiDvN-SKlSnGiuobbMZ38oCatkSi4CeEY7uEjqsPpxqEWxgl2_Mx_6zvjsWbCKmMJrnJglt8Jd0gfWzVc1fXlpicvSApPS4q3e4PYYu8k8GfMPZ-BEq93jbC72s8D7vUtfeEHriaoltRfJ1JanzTKv3_GSt8Tg8piWgMZKfTMJPFAUoGap7ow8RSovW74eWnSIiUhLtaBCMSBP6sg7Nllwf9TdAws9bxo7heL_oR1yBoj_h1sTVf-UigrZcyzx2vUPEd0YN041CsRIAHUltrgMSPCh5ySONAcXsXNezrS82XF2zUWcX1annEGiBkJ9tHaph1Cf8KBnggUFCZLMIYdBLPASIBCTz4NDoQc9dvDrBsTCbJDHtatq6JHQL0CMtwBYvQP2fH0bRAF1PS_1C9f_swrf4mA1l6IsKFEMnVa-nbw2iWdIDeC9zETvGpotr1VvFxZXk7xrk1iyofHVOsqT1la6_jWBKGkt_JgjfL61eGTvXy1fgeuRLktmYUL2tBA6tFYWkXDCnUrI8IldzvFJUKuXKPgryRV-zzFJnLdy4LbGUXzW9M6crszgbRVjml62cPPvy6sqxZbqS_xw4yQm8tGhSt_3fRvS559Iq-jF01py1d5KoGH99L1twutSV7MpgxRUWN9s0AEaNC4DjVdRsfAVj0MmEKGTYUtbOLEGbJvARv20puVc_1Yp0uEj6VrIQ3bsPtxiXx5kzZGm_OG1vIF0NvAOLbsn9KpCl7_FxiuAcxZBvLNHlIMMpx6qR6bDqwDKJW9Ci98ki80EiSMlF-H1ewbGQLI4AzBaMuzi7ZdLMdnGSl9s2g6eQDNNWQRuVKX9aIgXIV_ObR8DI4-LfZhif_KQDVDQ4zi1LWQI2nl6hFs2P3NRIDlppuUao-mGlgeaJjdm737baABA1OVZ4obggCmxpGYaIyT2I5liYhf99N_6jb2Snp_Bht1HkltGGxg6qo6nS2AuyNuZGOHV8stSAttddkIK9mxp06OQeTYTEVdo-iHu52eAv5hfaioaaqElh-sXlCc7JirzmkN8GvEefzZsGY1JYXfmoWW0m2wS2rE-ZE9NijD0lYeSd1w1zcnzUz-OSG9BRzU0u_3z2Xqc259WeeNCkvo4Uto7DdmSAjCdmxjN7KEZr7U6GHmH5Vy8Ibo5Hnt_4hvNI2UbCPwWZumwxx96vwJh369I-lr4vO4JqgUOzybzmjHJUqipM29i4n6ZW_Bs3HMUdP4HD5pxzq1Y8ULw_CsmHEDGtrV4Uedh6taS4ck8zOj2wU603zEBqr90x-qGdeBSgu17HEqdPf-_XFAqdbqGgnsxy6areUCF6nFHlIQNCtCkRSfpfhWcgoBNGmZr3R8n6Mu7Ir9Du1Rj2gWGpQLi5sc60aZIzABq53h3mfygXoqMxGInL3pUJN__KNjZzQDLx7F1OW527m-xVCDacmC2cnMKp5kIi7SaL2At8ppiYW86YAkUw91ecdGqWDGCSE9coSFk7yueaQRPy6WB-PRWPP06F3p7ZDppNGL5mESben7wNiIGO604pblZmyJ9_sCeol4qphyD6x7ATxTVmJ_-UKHCMNstH0lwrrotZYrBsssMTI_owi62UcB73WWASsDRDlp593UwKc12IxLVo_pGMAyTOPBuCwW3dq22uBxfVawAKA5_df8DmyrrlelRWVhSPrqFce8ahgKJ3RMZno9uU1u8pIzkstWbdDwGR99v42zDPCJSjzZomA0LU94c6lVH1PB53UZX35r2Nu8XKrQS0fbJ7IY7qcijSd2NYVEvGjX5Kti9EyyRT8o-bmctDpYQEue0dgCtvJhXa_zkJJ44Ot38ZxOo2VbP4TdnkL1thSL5Zugo0JKWGS4E3YB1DrPIcmntyqsJ1aSXjs6qPy2wme2Uvj8OIxPnv0kjY-xXtw0T0nwKcAG0wrbyYGr7iOPbwfHG4iZFmVoUDMHw1kiPgPNfkSrGWHNSfqIyLRL3S-liE4ttqGPkYtW0ldQelnaEcXVrG8dLPcAihh4gWmrIXwxzycWTt2WOrHU6H4-YEtEOslizUKd3GU_08uuwTjaya-bKhj4R6yX7ip42vPDJVrVmij47zxR8YrVuyBvru7-KxAkPwIZKLk1UNlyoP4EKDvG7bD8iUSks-EuJzStbn-OhsE8pMywwjVrZlTw_9RrhK_cFp8MI-yUUWKCHPyKoa2C_Qz0PZddCOGu9yzzWyI-9XGicZMhAarPBeGt3cET1IgQYfEoDwHmKFBd5DhJY0Vt0bO8PurFbuCxzr9QGlNvksJ_gb70UMw9iRJbHvwQhPqCPtsDFK109a2gUZS8B5sCQY-M58Wgs0_kjhB1C1349wbjVqFyItm9NknBi-BLRzKmunHuizXYQEGpD8pIomdeZKfgwx_nQ2Mqxk_-Vgvq_NaFwMnZ1uQ0mTL08iqcIhhW40yRgFlOE2O_rjnP6xzCD3G9dS5QlCUvOZx_GeW5jep7kCmMJu98DphSqAzowlN4g6Ppo5LvRbTtRQKtVyty8GPaf9uLfh4cSGcljiGjNfAShxw7TsU8ZcodtStdSQZZ7GoQHGW_DrjymicTuWx3xUnIlZVY9XiRRm0TuYx3vHppeV0bQfjj16JYQCZ3m4xZHIa9_XXHYxlrUybDcygUquZk7HX8nJHih3MhlT9DpNH1o-bxIWO5azfdR24zDn2jFHgEST9Td-SSMMAywKB9LAnM7CtHbGMiFsxuzMcI5rcEB-r9alEGZ-ZlwdJyTmTtXbo5bRwVs4P8WR-fWrn1ZNXEBfqSIZJi3I5pXPXLpo8rhVCg33NmkU677cP7RAeRbSoFz_kSVy0zjEr7hrel0q-EeaYhH9BZKfvUfsoclKQqzGs0RSANR9Wwapo4vkRNYLxY4QHkQt4YT-48LHVWN-pNcHxlmL9U9tlgXIKUoHKK_yj1-REcGFNSWGHFxUnGNvn6GMssnM5DDEq_RLWy5SXCVJOAEUuomwSpou9JmSOe5IthEG9GOPhP3IH_26dmpcLUFsLEqooFU0QfiU3qgYfg233v8gkOG5UjSJN30JSI4I-zUu2BDjhwI1G4lH-hHToylkufcugRU0SSR129iEwBolKVGIgSymgmgUUFtw8Cd1xQaE39U_BggKLv6oSYB5o_thqOiv2hVvfqy2xUtDmHwsBrfk8sMaF2yI5EoszocHoO-RneqALCQq3OU6meAK4JCtJuebTK3HV7qPPlu_05zpt4YxYtV5hlzA5AgVv5HwxJDwTaMIqoofqhdAqrngw4USE3EKyT42yYrbMl-8NFYhwZeECfHAAa_PXsmxD5JGU-WW6KilLXUb08ivKjsceVCNKGSQS1wETK60N9ot5YsV4dghATPfTn_8Do63SB6mc0ztmodh5LvsdxE1lCGOlYqaSRp6laBbvfn6dwk87FpUUD2J1jLnk8q9yU9AU_ZPfwBvOONOxvUGX8mFv86K6ufVPePyt77kY_JIWLbQzfvz65yyvJDyla68ET3v1a2EI1WmrbT-",
  "id": "rs_0002122b65528261016ab440a0530087d0b8e09d3229e0a042",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtECmnkVw_yANPp_Jznbk6pY5GEzJCDhfpjI_ok_DH47lK41eJ5f3chluanWDdBVZBfjNHmU2aKb0O2M4LJm81egZ4lVIsY-OI_jhur7LgLckp-K9hDdgqya6Bwip9q3qlHq3Y0NTaX5rZlHytTmlvOnREjyJknoikvJSqFZ-SjQquzpi2PpvicUmyhyvMex4nbNKchErfhFTM3tRsllkgEq3EvMTjLW8EEGia-SNjgkpyvitoG1I8LCX50pW4SayyYLI0zLA-yDgomwl3wZnU7BGFicM1Yf1zVwE5sbHuRbIQ834o7CRGnbCy5dzbkDouZlYx-4k33O4I4xmjId1xcGQpq0sD8yXbjgv6xVG5F5HUwHVOrsIO_nDC8vsIATjeratA6wsP3R_uyP28mII0dB8oSJvJ40dk_kJpIMWE0t4vUhud5iZ3hBKqGcVUCxUP7f-dXGSBWNQyJzroCMmpNYLWdNwh3g0tYWq4kg8cjHVLznWDgAusq_nOY1dtImTWEhiEKnDQFC1idRLbB_0Uk6nSqyfx_F1HS1UxnvVaGCKFrmA4Xga7gzbTLbbwYiP_rppDfC_95gcSf6SKsApm5akuEzwmTXkCoJQwS02Hk4JKbX6mRMPIw9vucEun3vV2YNMU6o-NpOYkJW3NZ2GnJeGKyaOkoILIAF5QshctqgAPa4q8klbAq0yt62TwFakT12pClxFl4vgPefHVazA6jN5ij8OOUZ5lgNOXeB6Bp-ZtTdp1DF4Z4i-3g-brVGXb9NvxPbdBN-eNAfBgbZrwnuunr6FMcWIWIdW7OLGUGxSxi_XTQN3pVifG_b8NPEmjKNb89nDYxPND5FcxWf83-RZrEOzOzqJqtnbjCoA1m-62VAmSUd6C6qHYy-T9iCcxs0gKCFJJOmWpiP6Ff0fPchcyahe6pTvG0EvszbXwqC7Q0NQnW_W3Eq-8dky5zWv1PFLUWJ8tNXYGySoC8AAVZxiSZNkJ6Nz4ggvqO4WaFLC4aMUU1LDxAKvlbUp-hzOOMGzkmbzt3DMbS5hvEZCx1fmWaYQKoEL2JX_lifTCXoM9foi9Da9tScu8GYj6n6uUGcWirE717fwnJgwRm-YM5BMarUZkLRWc44hXly2XkSrtddDh6RAZ2ao455XRevEbkCyTkMpOxUVFKWoYcPsyl-JG2aKg9PZ8k7vJ8sDGVYtSsV8sSlFs3uqNGw_jYVe0XRjudLYGQNOv9rHHCCW1LWI1Q==",
  "id": "rs_0002122b65528261016ab440a585e087d08eeb6bc3b55f2c04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.132,\"left_z\":0.14},\"note\":\"The closed gripper is empty because the wrist view now shows it was in the gap between the purple and teal bowls, not over a rim. I am returning above the purple bowl's center with the jaws closed to use an internal expansion grasp, which is better suited to these wide openings.\"}",
  "call_id": "call_CsxmAXbZRmHyiVCTdezhnZgo",
  "id": "fc_0002122b65528261016ab440a5ab9c87d089a262f012f35c07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CsxmAXbZRmHyiVCTdezhnZgo",
  "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]: [-0.5106, 1.6173, 1.1698, -0.5411, -0.4042, -0.4366, 0.0104, -0.0219, 0.8204, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3907 left_y=-0.1351 left_z=0.1297 left_yaw=0.0708 left_pitch=-0.3062 left_roll=0.0841 left_gripper=0.0104 right_x=0.285 right_y=0.0003 right_z=0.1548 right_yaw=-0.0017 right_pitch=-0.0965 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [0.294, -9.7983, 6.0786, 1.3797, -0.2027, 0.2271, 0.1832, -0.212, -1.4701, 7.1863, 1.7021, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318f4a1ede846f04f8db3945a1a58379f1b8308c6e51de21a2c88462c62316b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12cecb120d9b3c80a5750294e2b2d5261605092d3b910959957989d62fed77d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57139cbbc5606facdcd472ad891fc60a8230d60002b2df628f0c504bb1d0f3f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.671 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7334, 1.7439, 1.1931, -0.4995, -0.5045, -0.6003, 0.9956, -0.0216, 0.8185, 0.5945, -0.4461, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3696 left_y=-0.2133 left_z=0.1001 left_yaw=0.0257 left_pitch=-0.2931 left_roll=0.0842 left_gripper=0.9956 right_x=0.2854 right_y=0.0004 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0919 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.3761, 9.2103, 1.0965, -0.4713, 0.0904, -0.0073, 0.0752, -1.2376, 6.9538, 1.6386, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5121, -0.5179, -0.6182, 0.0084, -0.0219, 0.8192, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3688 left_y=-0.216 left_z=0.0999 left_yaw=0.0361 left_pitch=-0.2917 left_roll=0.0885 left_gripper=0.0084 right_x=0.285 right_y=0.0003 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.4855, 6.4889, 1.16, -0.2564, 0.022, 0.6178, -0.1436, -1.4017, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6173, 1.1698, -0.5411, -0.4042, -0.4366, 0.0104, -0.0219, 0.8204, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3907 left_y=-0.1351 left_z=0.1297 left_yaw=0.0708 left_pitch=-0.3062 left_roll=0.0841 left_gripper=0.0104 right_x=0.285 right_y=0.0003 right_z=0.1548 right_yaw=-0.0017 right_pitch=-0.0965 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [0.294, -9.7983, 6.0786, 1.3797, -0.2027, 0.2271, 0.1832, -0.212, -1.4701, 7.1863, 1.7021, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318f4a1ede846f04f8db3945a1a58379f1b8308c6e51de21a2c88462c62316b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12cecb120d9b3c80a5750294e2b2d5261605092d3b910959957989d62fed77d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57139cbbc5606facdcd472ad891fc60a8230d60002b2df628f0c504bb1d0f3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECpFyyh9vBUj1VOUO5pgRQZZTIFAnRrCk_yMZmdYx3BJvhtP7g5cQxEqPCWCkbvRt05NgyaXoJ82qm1j9f1ZLSVyaJDocaLGI49cdpgoGOrnosEF61w00PJe_A_9-eh3ajg9N2kNrbD3OnlYLFulTnDfGgO1tgQziJaNx2g4PbBnSBVaCbVeTu7KEfvaKn2ueAAL2lGcrcnLJBPUu45Sg6rDjdA4GBDs2l8xfGhXgNnzLmEO-T0eDPk4Pst1l9YrXIZul5rmQzrB89QFkh60t-6eH6BwGfeCKHpu0pyMjzGNJymx-TpyQKTnNtxwjKtTEpJtVtwZMgaT-JEZttsAe8zgxM7Ez49RaIW2Y-NpbOk48lhY6rE5lS89vUF3EG_tVAXz-MTcwYlHYVPFW0cxReNwJm6fz2ggxCfmk3eTu7c0ppNbQdWKIdMwpmeLrlQ_Ju0AO2-Ik_HCpQrtLrgxZqrFL3uCGaO1fGwRXh0IFrW4nZ8NCMwJ8D0XdftZ_kVYNuqt7Aj7gJiTVf0m4oZvX8bgGoB_IuRpq_mgsyWhyGiiT67WwylrSdV8AT8pr5WdK3ylx9EBDkTMBgs0Svt2k1erDdWKpsymZVxsHN-L4Jufag4mSXgob4yQfOKoaMucr-ChiVfkGGt7HT02nWd69HJ5pJJy6fQWhyQFL-9kMnhbk3350Nq1GeV1K59zkjE2s0KwRkPFJlk4Tj4FLsbDqKra64Qk-lio8hey5ILZTsnbAuR_Vqo34n5Y2leUT_s6sDv95UbmO-rn8pNWa7LwtpkVWaGCqfvp39DljIQeAc8KXPmiHM42-Lti3FXSXtp_lsNPmgsAoH8G4HEd3agGoDbFebCr8e2ckxVG8jcoeSR8dRdKhewHr8hItelCdwHebOzbC2JvPQM1ZRKitEJS8OLJ7sboWRRZHnHi110rVfzXWZ85yib5asaQriqf3GzS9ToxmL7Yw-sgnwLxxEcyqXldKfw9xzryolc7lWGkFqGynefmHOqp8SVp1KhO6E12i8IwzRwyz8aTdxEbhhzEIDD0R9IAkYg0bMAvh7EySBXsfxtk3OVDz9ywR8WdqIioQ4uIsnSN1bhN0-KJ3qV8To_o4geylWpy6i8JgEyTu8d66wtE7I6Cddh65JWYgpsctNnBzruXlTAL8JCapGVOl9mLuxLbQ_wJgNsVDJxgMvtTgfdWbyK1B-X_9SYdRoydEgsB5DfkIf47xniBPEWHiXVSLwmF5kNQHdwW4b-8VeQNJcuXO10LYnPrCwM_wu9gAKKY9_C6SNOOJKL1saTQYl68S6hopmSN3DPKRa3vd5QPD4=",
  "id": "rs_0002122b65528261016ab440a88b6087d0a68f44185238d3ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The closed fingertips are now centered precisely over the purple bowl's interior. I am lowering them into the bowl toward its narrower bottom while closed, so opening the jaws can brace against the inner walls.\"}",
  "call_id": "call_2bBdvGK5r3JYjFsSXR5QUG3p",
  "id": "fc_0002122b65528261016ab440a8eb6c87d0b163ef48c9ddfa18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2bBdvGK5r3JYjFsSXR5QUG3p",
  "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]: [-0.5106, 1.7809, 0.9123, -0.1642, -0.3935, -0.4347, 0.0119, -0.0219, 0.8211, 0.5945, -0.4496, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1326 left_z=0.0218 left_yaw=0.0697 left_pitch=-0.3483 left_roll=0.103 left_gripper=0.0119 right_x=0.2849 right_y=0.0003 right_z=0.1544 right_yaw=-0.0017 right_pitch=-0.098 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.6376, 5.641, 1.4139, -0.3297, -0.0464, 0.1441, -0.0479, -1.347, 6.9538, 1.6679, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faba3815c463c9da526a65d4cd8c5f68cb684d9772b4ba588e7f5520beae0036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fad8df75d3da1d82b00c321415dcd501384b8bc9decf109178d869d4bd555ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07a1f3bfa0051ec0fa7e8558399673da769786a7ec120d0a84e537eb313ff78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5053, -0.5182, -0.6113, 0.9956, -0.0216, 0.8185, 0.5945, -0.4454, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3698 left_y=-0.2168 left_z=0.1007 left_yaw=0.031 left_pitch=-0.287 left_roll=0.0884 left_gripper=0.9956 right_x=0.2855 right_y=0.0004 right_z=0.1559 right_yaw=-0.0013 right_pitch=-0.0912 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -8.8957, 8.8137, 1.1404, -0.4078, -0.0562, -0.0122, -0.0342, -1.347, 6.9538, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6173, 1.1698, -0.5411, -0.4042, -0.4366, 0.0104, -0.0219, 0.8204, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3907 left_y=-0.1351 left_z=0.1297 left_yaw=0.0708 left_pitch=-0.3062 left_roll=0.0841 left_gripper=0.0104 right_x=0.285 right_y=0.0003 right_z=0.1548 right_yaw=-0.0017 right_pitch=-0.0965 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [0.294, -9.7983, 6.0786, 1.3797, -0.2027, 0.2271, 0.1832, -0.212, -1.4701, 7.1863, 1.7021, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.7809, 0.9123, -0.1642, -0.3935, -0.4347, 0.0119, -0.0219, 0.8211, 0.5945, -0.4496, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1326 left_z=0.0218 left_yaw=0.0697 left_pitch=-0.3483 left_roll=0.103 left_gripper=0.0119 right_x=0.2849 right_y=0.0003 right_z=0.1544 right_yaw=-0.0017 right_pitch=-0.098 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.6376, 5.641, 1.4139, -0.3297, -0.0464, 0.1441, -0.0479, -1.347, 6.9538, 1.6679, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faba3815c463c9da526a65d4cd8c5f68cb684d9772b4ba588e7f5520beae0036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fad8df75d3da1d82b00c321415dcd501384b8bc9decf109178d869d4bd555ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07a1f3bfa0051ec0fa7e8558399673da769786a7ec120d0a84e537eb313ff78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECtlN3HK20HwQy5BErrOm4ZQBnm5xgXS83PGiT4M8KfYirEOUvNyCLfwtyvV1cA-tH8VfxA_GhTLSMSYuluB--PqJn4NzxfFB0wUETYJZjOFFiDrG2Jkn4FCfCceIaI2DVMbHp0TdWnuznqgnCqE2LEu0ZH4y00C6KMHrvajAqk3orcHWqR1lVnFbaNFk71NWjnm5yXg4dh0azvbzEkGSKK6gqKhZPWOeWnmfK0sbx5844rXtmeuiWYU4twzBcbgHrJGk8bpxL01ODqBxVFFxYFSe-Qn40lXFN3gqOkH1htbfFEIt06jmT6yb5Pu78v3kJOw8vfn_b-A5p1TLhYrtG8Bfj2bJKgqaHQ7IYeV0clKYyHSzL6c5zVyX8nDLgx0d0QLmb0iHfsJt7hzF9ECRVfQmyfrhzS4wYqHztr1CaAt_mBaJZAR8nwdlb3l92REMXxLai3cvqeI8dv2RT9iWCVTcnQAAn4s4VYCZUdC0LTwU9wjEi6t5v-3O89fs3L_6E3wpa9-lxQ9Ihe_O7mYS-zoCl3BQ9005gXn1oXGzd8m9V18WB_k1KroAmWWgN-pfF-jZW2G7bOt8iFalvBGEFX3rpgFkdE42yaQj1ogGusZh6L-U4Mj37anrMAFwVWfbB3Oh-Cf6D8fwGBGiBW9Yb2TWMPSLvrcZn_ZCKntjMxuVZP9XKpjh818Cx6nm2fbGUobf-iFXNQcG0A7t7__rfc4pL9AfyptUL2Y3yJeiDmocfnkyytK5OtborQnlebC9qvM-O_hjkiP11utFvkKH7-MR1lYAEKGl8Xf6Mpdujxyz4IZL1xh9DfYvk3-6E2LGH3MjKCX4Uj4EJXXRGEw0zvt_IQGI6rGy7corcsvxF3QI1Fy0_Sx3U1zDu3gghYkgKF3Fz6LJ4hLvsvb_VO0QGr4D878LutRYlbPOqVzgpIfku2TRzfeevgJClyCdDGXvMONcLEu10zGD-pkmSQnf4lfF3TkoYeKbcQElntmaDR_D_2gZqKn5cAEtWzbNNvKcj-pTg2zK3VXkVleC7RHdHE8R8la-T7b28WlYk2NhiDJbB5k71i1Artydetd9SBhGZOqkTQXXqEmwVCFOGL1xqQBOkeBDvx6tHfSsDzJLxmm-gBeG-xXQoFRuA-Muuu7x_UmekT_IDDuF3m3nsy3tmeoUdy6ya6zRdvZ2iBbV7CIUmfR3P34brWkQUf_PrJ_TMaaNlKiZDQNZykgeso9OZLrnEM2G6mw-yG2J4SlEZo3TPtt-OyM4j-TgnX6dt1fIaN",
  "id": "rs_0002122b65528261016ab440ac26dc87d0aac53f64f4ac5d85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The closed gripper reached z≈0.022 inside the purple bowl, centered over its narrow floor. I am opening the jaws against the inner walls to create an expansion grasp.\"}",
  "call_id": "call_Aonc3RhBWYSAPHSjag3iBCV3",
  "id": "fc_0002122b65528261016ab440ac615887d0a6bdb7495a3447b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Aonc3RhBWYSAPHSjag3iBCV3",
  "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]: [-0.5114, 1.7721, 0.9115, -0.1356, -0.3931, -0.4503, 0.994, -0.0219, 0.8223, 0.5945, -0.4496, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3879 left_y=-0.136 left_z=0.0284 left_yaw=0.0706 left_pitch=-0.317 left_roll=0.0712 left_gripper=0.994 right_x=0.285 right_y=0.0003 right_z=0.1541 right_yaw=-0.0019 right_pitch=-0.0992 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.9949, 5.9692, 0.9402, -0.2418, 0.1294, -0.1636, -0.1846, -1.1145, 7.0359, 1.6435, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3565b81bf8d48ec1d0672d555ec24cb903b4ab70fab43f09ed270778b5faf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0fd2df26ad49a56d66cb9d0659f631d53ef6d8fe9e800c2f7171edb90661963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca6328235afdc3add564082d52fd3af2143c93d6a923053080ba511b4519800",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.096 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.7542, 1.2053, -0.5121, -0.5179, -0.6182, 0.0084, -0.0219, 0.8192, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3688 left_y=-0.216 left_z=0.0999 left_yaw=0.0361 left_pitch=-0.2917 left_roll=0.0885 left_gripper=0.0084 right_x=0.285 right_y=0.0003 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.4855, 6.4889, 1.16, -0.2564, 0.022, 0.6178, -0.1436, -1.4017, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.7809, 0.9123, -0.1642, -0.3935, -0.4347, 0.0119, -0.0219, 0.8211, 0.5945, -0.4496, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1326 left_z=0.0218 left_yaw=0.0697 left_pitch=-0.3483 left_roll=0.103 left_gripper=0.0119 right_x=0.2849 right_y=0.0003 right_z=0.1544 right_yaw=-0.0017 right_pitch=-0.098 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.6376, 5.641, 1.4139, -0.3297, -0.0464, 0.1441, -0.0479, -1.347, 6.9538, 1.6679, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.7721, 0.9115, -0.1356, -0.3931, -0.4503, 0.994, -0.0219, 0.8223, 0.5945, -0.4496, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3879 left_y=-0.136 left_z=0.0284 left_yaw=0.0706 left_pitch=-0.317 left_roll=0.0712 left_gripper=0.994 right_x=0.285 right_y=0.0003 right_z=0.1541 right_yaw=-0.0019 right_pitch=-0.0992 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.9949, 5.9692, 0.9402, -0.2418, 0.1294, -0.1636, -0.1846, -1.1145, 7.0359, 1.6435, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3565b81bf8d48ec1d0672d555ec24cb903b4ab70fab43f09ed270778b5faf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0fd2df26ad49a56d66cb9d0659f631d53ef6d8fe9e800c2f7171edb90661963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca6328235afdc3add564082d52fd3af2143c93d6a923053080ba511b4519800",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECxvZIClBbjxXg6FxJ4zaXLgZQuaGstlLBOqGomREe5vGXygAyglbnK1dWy1FwTYR7L4On19PLsth9OVHP5FxyZ4RlZbO_nZ9v4fpKuSCj0xQh_9IAGLJfwNDXAcwgUJy9bNxd5kj22FSdy5I9L4oUT4b2sQGfVrUopOod7_27ygA5f9ItmwZsWIHQueFGz8nLnbJ98KBRu4c-dphBodmGtH586sjfMWc626cmfS2NWWz_Z_NQo_AyGSC3w5mtND0mnj7EFBp6n1eJTK9hpMSl7zIGSLSsJZBgVc6cFv8nqPh1ecb3IGhevX47gT2is3FxZ5stJEV8mHoVjm_Mk6NEgb_P1lTSFzzyeapi1WmJ7gtTOCqI0cohFDRRCbc4vbbSor5mJpcGtOlVLXcssrSojeAplFrNSvDOp2OgHzTT-_vk_btBaROlkz5h_sY9FERC6qknIq6Nelodx3kbpT0yDobrKIJu_NTGsoybgLRKk6YdD5Pt0o1VPkycnuLRi0pSF_2EDvP573IdvFDe4Am8cWHG3XbSaHWt8_aZteMXHgY8Kt6IsvgoNamc7RdTvQJhim0pNl6vMFUPyP6ogkTWF5spU_psL-ymMLMBElsAYUJ35Vh3CCUhr0IUb3DSKXXQZdbr803HvJjRv1KeIYFcxOWuLKKlKaopViJ3JJaP2P4NIr2UPJ71jouGwjhfO9cveLMh4bFMBW9xHtmRiPMEQL4JNS_0EVGvmqFEt3lDzX6wjhQ1fxp9ZLZl3a8_1NoR-0GGRDFVgor5Uxvqf_s1CpQjXZBbRdor7OmIFcengv0cvtadbFtPHpxlKVDfgBAIrAYTtB5fhbbb2M7y6CLYYVp_AwlUGZ7QJV_8qzTp4V2s_9hM8XR8DAixaH7cRxbdINsPueczzrqY9q6k9jKv3lHLEIH5Mx8ZbUV0luVhfvLI908vSNJ4EL4MyGbJ71ddRaNTkbxfTYzO23Kfj2ivhqc4sRPzUBfD697W-w3t12A9vHzgyCJ0tZiORHw-29uhn6c7kSWXxVXiWVtpmA6F98QCjXIwqkoeytI1fcaU8yyHg_UztLCQv3E_QWa55f1WxjP5YpZA2tmnh3nTuJrVBCbKf-2zIPJgHJjKYIXgpMfeQmn2lxbnMSJDeDaCuakrXIm-ZuzHuypfCr0PeO2B_cvd8Mz40zqoHfFIdASGb8ZJb5xQgv4_GJV2YL1Jw2Nz1TofLF82sR3iXHKcT43M9oaWnESwnFrVFvHZcm4dObkmTsMSj7Ye-Rr3cs3xJPWaAu4L7otzz6eUlViNherHiOqc9l6UtqKOhVKgOBI7chq24UhWXdjOcP4uHoTdX-IXybAG0A0oPQ9Usc4D_eFBlHu7vAsEzI5WkHb5NAOUOUifYMQuczxhG8TIWuyCw8PD9Yr4jBy1riPYhWdSqE0ypBNAWRjiUF0hjYTpAWIPaQ_zqworKsPeNwhj12rF0ABN0ZTl_5HErMGbbk1n-yZVmRajhYuxM3DVit6YjNqIw9wMldtAkSxkjf3XwT88zcNvWcgCrmOhBaotMFrijbC_3DsYApePjwI-wnzXtweMsf0LhkPZzzoHzdO0hq6pv23ceXtiCZn6_pumgt6GxUnkePMtArXkshh1hYYxTKUjXSf8Th2DYsPJ-unAglVriAmyC4xcbUY_-KoD5pLm5Vo1CKDSTKAJKedPMBe131uzIvxs=",
  "id": "rs_0002122b65528261016ab440afb24087d0afa44593b3115640",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws reached nearly full opening inside the bowl, but their tips appear to meet the inner walls in the wrist view. I am making a short test lift to see whether the expansion contact carries the bowl before committing to transport.\"}",
  "call_id": "call_e0XVPSlt9nNnYgLd8V8USZpO",
  "id": "fc_0002122b65528261016ab440b0c7b887d08c1852b5e5b041e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e0XVPSlt9nNnYgLd8V8USZpO",
  "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]: [-0.5114, 1.692, 1.0111, -0.3325, -0.3901, -0.4541, 0.9948, -0.0216, 0.823, 0.5945, -0.4606, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3866 left_y=-0.1358 left_z=0.0685 left_yaw=0.0736 left_pitch=-0.3326 left_roll=0.0764 left_gripper=0.9948 right_x=0.2833 right_y=0.0004 right_z=0.1518 right_yaw=-0.0015 right_pitch=-0.111 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -9.6615, 8.3077, 1.1648, -0.2759, -0.0171, 0.0757, -0.1026, -1.4291, 7.0769, 1.7607, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9614ef6008387f6cd3c62866c2162e558fedefbb6f9dee853cf9aff86ba94c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795517c7e7b1ac3b168c751881919356480bf41c5ac3d8f223cc2bbf40909505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aab37293193b5a210b6028e220999f4313f19333b0e844ed48efa24b12c8135",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 9.965 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6173, 1.1698, -0.5411, -0.4042, -0.4366, 0.0104, -0.0219, 0.8204, 0.5945, -0.4488, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3907 left_y=-0.1351 left_z=0.1297 left_yaw=0.0708 left_pitch=-0.3062 left_roll=0.0841 left_gripper=0.0104 right_x=0.285 right_y=0.0003 right_z=0.1548 right_yaw=-0.0017 right_pitch=-0.0965 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [0.294, -9.7983, 6.0786, 1.3797, -0.2027, 0.2271, 0.1832, -0.212, -1.4701, 7.1863, 1.7021, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.7721, 0.9115, -0.1356, -0.3931, -0.4503, 0.994, -0.0219, 0.8223, 0.5945, -0.4496, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3879 left_y=-0.136 left_z=0.0284 left_yaw=0.0706 left_pitch=-0.317 left_roll=0.0712 left_gripper=0.994 right_x=0.285 right_y=0.0003 right_z=0.1541 right_yaw=-0.0019 right_pitch=-0.0992 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.9949, 5.9692, 0.9402, -0.2418, 0.1294, -0.1636, -0.1846, -1.1145, 7.0359, 1.6435, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.692, 1.0111, -0.3325, -0.3901, -0.4541, 0.9948, -0.0216, 0.823, 0.5945, -0.4606, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3866 left_y=-0.1358 left_z=0.0685 left_yaw=0.0736 left_pitch=-0.3326 left_roll=0.0764 left_gripper=0.9948 right_x=0.2833 right_y=0.0004 right_z=0.1518 right_yaw=-0.0015 right_pitch=-0.111 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -9.6615, 8.3077, 1.1648, -0.2759, -0.0171, 0.0757, -0.1026, -1.4291, 7.0769, 1.7607, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9614ef6008387f6cd3c62866c2162e558fedefbb6f9dee853cf9aff86ba94c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795517c7e7b1ac3b168c751881919356480bf41c5ac3d8f223cc2bbf40909505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aab37293193b5a210b6028e220999f4313f19333b0e844ed48efa24b12c8135",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEC2kS1-Z8YrLBE4V7qGZWxqJD2rEFaibZ8zC9bBc15hrjSil5BMrNdmIsGktaTUI21qBACTeX5JBwmvvcrgq4RfLBdyuywoGhFtpokUhuTu0UtvJa-cTc4ksm1owc042KThoKg1MMeuViupuFElEVcP4IdQhB_KU-W-BWsnCpp2At0NDhqBNLy3iR-kUXsFS9rPGE0ow-36JAchHKcsRuvcnSB0T7YAzfy4yo2XzRMploZu_wkQSXYCj5m-EY_Ie9qcwmGQrIeGdaKZJ3mQl9-12DTInTv0ks38_yJbsDkOibwlKCnoYviHLX6SvG5oBV9I052MM_qSaRH3Ww_orW6ZyKy1LsnbbMacmAAV9dSKK8FUFG_rirjP-OaOVpqX4Y2UOqdmBGcKtCZpECHQ6ACmv1j3vuZ1_qVkX961LhIHg3FZH_viwP914qqyiA7tpGjOq5aPbInpt0V9OI-3u_0dFkB_q5JyBHR_yGNbGHkJy1WIel0g12LNJfwI9vg8y6Kqg9p5IWGClxpPzQWqel1-wbiA0-GvSYkT2u-KMQWxC_I1LgUZUXw2VW8LAs0nPKGhAXWf3c25Dj7YauVIfFcfOYiXxD2I_SYKrvpGo71HwLjJ_5a8mHYJk8Zqdu8F8VCxTY1vnoSpAFtMRpEOM-RT8auGLE-s8U5dOLfCPVWIoho6AjEp4xefLM8IpCETBXz6t34oxMf8s0cs8Nk1C0glsGBtCY4Lp-qk1Bx1MpjAcbzFkjdJ4IVe8qOBxFh8paxsvciPWo3wXRGe44hCIVneIgYbIEBjwJFYhdXY_CQNom64P30WzJSKMybUgyTBqC0i0Ms6apEzn6qedtpInqrDRqAUV2hs8iEfp84g73NmB_xGPVryI3VA5vJw91qblm4yDDIc7Z3MQvbQiBXUZQHl2kxqUjVhK62pANM7K_IT4_GFb0tB3XcrWwE6qAiK2HL7-5IQtvTV_hmtbJxVA0vjykkYB9YsF1w4AI33UIsySSYMc2q7sct5m3CaDg3U-Y8e9WQb92KG63V5TFe0D9XlLXcG_pVRAmmWbuzrKULpRHI9I0dvq839rGZXm9SDlu18aLTiMDgDUstLV70a7pW8sERvoYuCOZq8RXrm1Z3IH_P5Zn_IGnUYjTnMlOn3zBnxsbIJrjZiCD3t5VpA_H5B4OPYr7sGr2pTwd1UmHPhzZfsnKeqydi4oKSjxrYXMWKUR5wtvsSlBjyY2EFsebgv9YgrdTxvTw-QnGl1IfdVWIskwDyD3lkM4GzGbLnWHkKjNmXt9QwLnzGs5ppLfEg3fUu2TVVQ-GYRaK2lPqLJPE5ckwN3E7YDLTZM63qjvUoEKjT0bByX5jDxEWstyRn2gBTon7XxPIoqMvn6fzUPy3ckU1PdxRa6rl_96mScU92WKyGHm2cKNtWo6GbYsH8zfiuM44P7UUV9enPVHT_v3rCCSzX4KysmhEWI80EQA_Yl7kkZ34aUfZsnAG7gPxJ3D5HHPDBAqDAny7MUiqU43n04-o9UcwZk1UTZZtdoyGbVmlXV1Cr9A3tL7TNxijhw5TpbyqQLINJSuNkMXHyTyd3tWucdqT7QeFAPMkbkDusPj09sYfpjt38vDwiiFT996gCXh-NEa19HpHXb-bbxStb8Ik6izkoJzVkCQ-LlvGg9vuRSn3y6GXUQD3YeewomB_k3wBX3NVqgHv3L8UbdK1--MgHkwaJv6ZgCkUVKO81x0CYk3AnA0g9uCwJkk21Kvz6OtH_2TQhgp82J95IV1F7-JQByRQMz0S7xHBqIrhlr_5BSmiHLsGhuiiAB34fq3Ej1dWCZkVD0flKsi4GvR6YrxdsQ4qL84u8y07_VYRme7Ys-n1tNc7UzLF7S9-8yJDlLq3pn7lgjBohhoieqbGrJZ3e0YluZQtwxntIA6S2v3-pbWu7Mpg7WYE_6T9DZUlmFMY8e3h3Ej1mp8KrvPHDpn1bP-hR2hJMFmw6dQlT4leg_O7t_unLPTP5o3T3T3tgZksU0Af2hoszDobk3OMLWrEvwaQZ7oPTFUlXIOMTTwrTje8JBeblUyr244RuEwdioRdpywQ2zFRSKgEsFgc7CzdN4Jv1jevQNZbY3p-vRnm7dBhWHuNM7vXxMRu3_ggchGAyZUSGagx55yf0k_oY62hLmtdfshYuVABv5Cjsgo_MEtEqIZH7a0x3xYS9kHXeUsb54Fohsgk8CWXgSbipum9XoEIGHOJYzFEUn7jySmpCvgESR2N76RKCn7h6bgA==",
  "id": "rs_0002122b65528261016ab440b31e1087d09f92c58b2081514e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The bowl remains aligned between the expanded jaws after the short lift, but the overhead view is still occluded by the arm. I am lifting to full carrying height to expose the table beneath and confirm whether the bowl rises with the gripper.\"}",
  "call_id": "call_FshfaOzahOsoi2EikwYFYUa8",
  "id": "fc_0002122b65528261016ab440b5383887d0a699c3f88093dd36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FshfaOzahOsoi2EikwYFYUa8",
  "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]: [-0.5114, 1.6367, 1.2465, -0.6426, -0.3897, -0.461, 0.9949, -0.0219, 0.823, 0.5945, -0.4683, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.389 left_y=-0.1372 left_z=0.1373 left_yaw=0.0811 left_pitch=-0.3486 left_roll=0.0832 left_gripper=0.9949 right_x=0.2821 right_y=0.0003 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.9624, 8.6632, 1.0525, -0.2418, 0.0269, -0.0024, -0.0752, -1.3607, 6.9538, 1.707, -0.0757, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4284dd1c1b155f1e7a19f9b262575ef44b44efe904b2f83ec9c85ef0db727719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2986184bdf39e678035c54237aec11d390406f3133f77e256830339d4ff20c13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c831f2387b1abef848e2d80da05a25df9e53ffcd5c78751471f0f53e4b7e41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.895 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.7809, 0.9123, -0.1642, -0.3935, -0.4347, 0.0119, -0.0219, 0.8211, 0.5945, -0.4496, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1326 left_z=0.0218 left_yaw=0.0697 left_pitch=-0.3483 left_roll=0.103 left_gripper=0.0119 right_x=0.2849 right_y=0.0003 right_z=0.1544 right_yaw=-0.0017 right_pitch=-0.098 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.6376, 5.641, 1.4139, -0.3297, -0.0464, 0.1441, -0.0479, -1.347, 6.9538, 1.6679, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.692, 1.0111, -0.3325, -0.3901, -0.4541, 0.9948, -0.0216, 0.823, 0.5945, -0.4606, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3866 left_y=-0.1358 left_z=0.0685 left_yaw=0.0736 left_pitch=-0.3326 left_roll=0.0764 left_gripper=0.9948 right_x=0.2833 right_y=0.0004 right_z=0.1518 right_yaw=-0.0015 right_pitch=-0.111 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -9.6615, 8.3077, 1.1648, -0.2759, -0.0171, 0.0757, -0.1026, -1.4291, 7.0769, 1.7607, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.6367, 1.2465, -0.6426, -0.3897, -0.461, 0.9949, -0.0219, 0.823, 0.5945, -0.4683, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.389 left_y=-0.1372 left_z=0.1373 left_yaw=0.0811 left_pitch=-0.3486 left_roll=0.0832 left_gripper=0.9949 right_x=0.2821 right_y=0.0003 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.9624, 8.6632, 1.0525, -0.2418, 0.0269, -0.0024, -0.0752, -1.3607, 6.9538, 1.707, -0.0757, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4284dd1c1b155f1e7a19f9b262575ef44b44efe904b2f83ec9c85ef0db727719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2986184bdf39e678035c54237aec11d390406f3133f77e256830339d4ff20c13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c831f2387b1abef848e2d80da05a25df9e53ffcd5c78751471f0f53e4b7e41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDAZK7MAxAZ729P2esb1pmtl_lIhE1leswo2W2mNtZrx-eLC6adNfTVyc0PkqKiDANCg22pbVDvDlZCGuEKog5bHz4KKzG6385bNl7cCcXcFqrBfDCYICxlpuj13yo7HwgWhAEFscBGnxN-H7pt0LEPGMfnd3CiRH8iEZdxIF_hs25hHL5xyWYZuBqvGDPuNlCKe9GLW1qj-VXkYyGsMO9ZIKQB4M4jh5fleDwcLBZG3cHfR8ZDJm_s9ChsW_KHzhkyuRhb21X_r7CYJRiBROhsB6TTKHKBp-9hTiSz07tbch_l8ykKUpajBFDTf1337TByLckc3G_gKL3Gd_S5_UHMeWdvUwGcl42xdeD1u5m4PV-SejA73ln6jWX1FegiBncpsfAZpd_9O8-5Dv-6BEvU25ZO8gR0VS57W5BCFBcAWizf4GLVj1vRcj1fRbUZ4VkxLL42kOdMGnl9BopXiQ4bx_9q4c7SrTAfunjLhy6skVuY5T3p0iHWkMPME10AZFWElaizrDHk2kEdFjHJ3EMnCAAnFarAr8dK6-80ybYhagPAB9YfDSX1yhSkunVrhgZZ1P-_el66eAlpWM4bJQhZldHZ1c1r_pxy77I33YIttGb1pDQBynZg6Zm2-ZdtpX9kj0_Hdv9FR2BWpTXUanWMhK6bYS1WbFxsc0hf_qq7KmM8dPIcNiMmaqMoFD2WJUS5AHdKfZ8a3ipGIYlOCT-yZUQKH4y_s5-KHHZ-fD6hnzHTHC_7ts4RhbXvxyatSDUAm95KgkRKp3HrkU7IqEvXfAt4FCYQx1MJBkPBm5lw3sqyX9AWLlUQQMEtUmnppYdy0FsRWG34v6ntn-y2qra2wrp8MhHm7ryO0VXf5nEUIbH1evpyqgTyvIrYIHOuNLeoOMtTk59fKyd_jFnGRbQEibpPXgTp_cMt2MPGEQ5LwQCcTXnuP4NA2JFDOEXevhe0TqBYtUCEy4-UIMYVnbbwfZ9mcAySlbjcX6GZBACbabMTUNEdq_ye--TNE_HhXNnzAIHS5W8LoVMePIYRI7uOKKnAQOGM_39-JiHreoe7ioS4cFNYcPL9MkbupdrH1wrjTNllLT4jI8erhdrCgLKMVIFyd10Rc05v57qDFMAVWObEtyx8qzShVyFjfLntYucV5jtWxqSTOlH_qG4pEAdeNkhJaSaD6UfkdV49zM4XYJ4WcoCe2E3FLVo48sqWWLC42WDWtGArZA0IITPEjXJvXM16VS-8DlPfnvefG0D0UxEB7kJszbLlj4Y_XnCWGxOSmXFzyc4P4Pd-BP0xKWdvjWcoj3_p2ulX3Up6D-E_i46cHlUjvdlho9GpVSTsanA8-r4PqZtZnMaeyy-dTUIn0jqXoxgCDFusfclLKokMWSaZJU-yV3TiWDg1jwWkJSwJQLt4cfX_MvOQi2ALFLvYWFJxqsjdbcbB8L8rfkAESS9z2vkRgjpoYD-kZc3bdLy9N8lg1YklrKrEIac0THtD__F68uYfwMCbzInAO4qCwUdarayYMxHUNKC8pSBwdK1QKHJkYbS3xesovVW_aX_KA-CHwB1eYW8gzLLs1U95K9LWGje7XIhYdztD_5u8f2Kn8I5DE7DdN2VoIl2rqQFUwHSzaihFgRPB_g0lDeV-p__KOxhlqsGaNPdEUsuwGY_CPcPoVRm8pul47bTZuxtCQjSMoon61dTfDdDO_DpOj4t7QqFD9mUY8TcoEIIAEVloHl59X-SAZS-AIJjgsFYODrSDIZvr8M3o-kS5ktZCALWhEekFkGZdTiwtfMz8NkUBgrRby6O3yR52L4pIU45vx5RKN-45pjI-G38StuMB6pQ3Cb3caNe87NONKOomujhh2h2rlptE_bu4ZXkzNq0EkQNURXFDRzLK0l4Gbl4SXgsgWP9FhtRgCkvyNrWPNT5I3z1UAo8dEN14C7SlVw9ESFUzdyGN4lmmu2JzDgifiwbZ_h85_HFfNKPEav-N2V0nkZZPszhOjkZZ3F0-JwpRZ3dBMGixQzobjwdjVxQKPX1FDSwrKHNMuDYttHjJClMU_iqEarQSn25e1elyxtSQrEdsi6_ZMHPWc1rttyrfmmavqxF4R6tifqcJykgfJwSwLF4F9QaM3r6OtQUWPwFMGxEYMLgkkNx53ur7DsI5DrpnMoNMqszEN3EH5an6IJraPkj657wv2iO4je33LyK9FhWaT9rlEji4kauzZLCEH2oFcSWJcy88bke4yn4niUYNnte8X1Rgzb38QlZE0DaQ2zL-CD6vE6dwt5hTxKYGC_7aBoGutAs03TZ2Pp3WgDq4jyKdUhTfH1Jbw4IGRPA16zihZouaxTciQX3TEFKvAdqhlN7WnsVEr0UWiku0XqXfPNPHrt_P9SvfNytCHH5_T3TkMmzc53ulJfF48U_LCezXUh4DUkj0IwKsyVAva0vjaSHmu00DkFcYrEvFlujzQ_14-dq-MoghUPoybR7EVwzd-AXbFXU2SkFNaBXIw4_wwi3qq2eFOWSSjbwDCUd5UYKkCFWvpfDaCn_9iaGA_pripvbMlgmlXs2hNJsts460iveN1e1clVCNSc4PLZHgoyF7FAZQw9lD5gH5ruCgm9gt0n2PJ8WdwpiG7BkXz8Y_QUl6cje7XNwjW9tvTUsXSWG0B7hk60PryWFrzbB-Y4RGEx8QIK7_tCon0QrP5aLUg7hy7vMOnH5HvmazZjpekE_j_uDkCBHd-U8Wym9Lzx2keR-kIkmJ9qKjc-XXsFWd55Y6Zymy5JZ6ySfnYoi39v9oE1Rdl3ZDhgNMn4ifby0bxk4vw3_iQ3oqKpTxxnRn5eLcv9H-zChHCEPVMmsiFENSAcKYCGWOoDnFI9vINd6JVMmVIEjJsjShuGzkVm_rOIp8i4rS6wtv7FCvsvq39t76w9mZ_a_FBG6SWnQsDDqvG76oQt8nU-zZhjYaMSdunJwBAugVUDgWAVmopUOYOhgGJfCMB2Y96-m4aFrokwr6G6KsSDM4mZoV1O0-amjC5Ktk9-hKfbMq9sJFcQ4MwUHbUNrLz_fq8mH-_c-BI-hAn9yanfJ6vj1v58TF3OObnN8FW6AhiSQgiF21FeszMqM5tk0LYf7b8Ql5iX_mU3q9NdPz3kTCcDrgAlzmPyTURQi7Z8LraMpfRwx3FERFkp3XSaYc7--SvByMDgdji4nk57btuBa7_Q2BtcNu_uJLTXnPXOXk5LpmMi6J9iEi4ozTP-52P-eXlwT3CzbwiDdjnHE5hs8abBtZZuKoua5L1RhprCUEO6o9Kjo763CTIwcVktiST_rUK8E_tox0dHWuRZnzpcAXGjxNU-JJBoNUH9lpI_mJW1Yx9dxdgkOrAlyFSqP10kAKfM-HwPCLfJEeYNOvjhJPVBlNwerm2L5xNDrDvnK9zfYsx4gm63g9EV2cmn4eWkRBHdFELGcc2WtgUWqWs3yf5oDnSkEy_JYSysLXU9YAWtsoX0FHSCTrz1zxak4ti5lvoxnFnFfVmyPl3cM5lXZL8vBqeW_mCV9gdRjFFPoXM3mwmMIcElp5detPeM0sUTXROzkDSbNMwybxhQHnMPuKUwy7ewWkYTuCSJha0Zx0-WxSOsR24M8lCjkBFkT-nIexozY8PPGyTreeN97H5Jqq4xdqmZ0ENRM3RKJBvm9thp0G-SCe7WExoW3zmUa3XuvSKtJPtx3_FgulBlLpavzKwlDvK1sqD7F4PyeDgR4bToHlEdt3Ad9gRVhI929cgYNyyW9B6TXZsUxJuwmL5POVDbDuQwu4eIaleCLU1rTHPtV6EZut8x6QWA_GpQpv1JRjcjJaysmRLfJqktl19SPbZWc9SoOGdou1nJi5__EqlvyZZoA_YZmOc-wXq3hvg0Ct1ToHi7IeWks9EJsclcabhxR3qbS_tkmODra11LkBHFmvqeS0PJKbYznrUcQhs2BLAHcbvxrOU90okAYjkvMp0jJF1wBM1opwHl-jQaDvMH_Rz-BvkuRG1KxclbXBi0JP7n1T1Cn98Oz7ktAFwHAd7vUVbdR28VGTBZfBiaOsIEuQGHNW8UemSiIBm2fBSVCu4SVPxFGM56M=",
  "id": "rs_0002122b65528261016ab440b7a1d487d096e8700c23c26dbb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDAyw_F_n1xuqKvk3Kn1-TC9sOIjsuH8y1n5MbLTUm2bab39mZEIMH5z_lrWCKrZqZUx_NLXWKwvxOR_MYvmSzvRCv7Jhv8iZPaHM40gG-Q6K0ZKUvnLh24S0g9egsV1hw8ZRB0E4c4VZ-GfyKlAbgOzeMPdLP0mn-PG3yqUCm3cCT4wbHWXPuMpkhQcOCBWCDR10KGUbtUK0pPA-ZJXbpFB3HuTEgfEez3EXrzlNFvmLhLOlXZeVwzAbzNFQQZYKtiL68V_1ovOZXbiGlgxso8Ol7M_JRhHG00OUnRAQYjRbA4_d0O0QHywwGWBE0cVPJu5vBVJc3MQlm5FfgxVw_yn9v2rX5qqZMBtz8lPHL-2XcZFxMLi9uWO3_Bk3zkBEqKEdk3M7mbz_86WCXi_rhQLeZxJuN6Npe-IGKwnaMZG0xIiCtCTieKPQds6cEGj2Z9ZngTZRxM6Qc60nFcyIKxZROkIZPVGWfyepviiJXAPgb2hnrSzaSEZMN4lDrAPvPhmqannARQmWsx3YnjFD_CTCrif9APrcCj4bbw9R13u1S7P-Zulf1T0V4CL5Ozy0z78bVsPaDKUaOyUWRVeVcl73uzaHMUEHlVI4wUzfmxe_zYQzU8Oxr60kxMFbjVPxhfTWVkQ7smXrOZH0g4CVp-0KPyo9Atrni0NoZSUDEkjoYwJKiOD4Odd2UgWajZDIrhzdfLIyQyLTHQe0twvsAvNDsr2uN0pQ8fgtOEIhxcn3UtE_tzEeHdHN7EbCnuyiTJTgiClTbgNKN5EwPOetUeCM38fo-eDaWVpN3gUIkBKcApukHpf4NDoJwUKsPEsFNeA3cr0iNIPQMXz9zNezghAnPMqxE9OUOPPAyZKSpOgz_XEFqVKd60MOY0gasjOa2yxHA9BwuXwsGXkf7YjBORqjSqkdSxcFW8NqJ-xoaK3E0iufmj6UO_EKVyBK9mGE0EVbTost9yNMoC6_PdsCGZnT_QFSurDVwmK7fgcyiUHFovPoOFAXxzFBP_5a3vDZiBbSfjJ2QbIsvS1s6wnSnt-1n5onmahMlBl1zGEaEBwcozKPFKYZhKFZbjeNRktygQW93bYbcexRw0EvciPk9fTpy7ZfPHg0LBmZsgQvI-Mf9-sGIKh82OE_3RazHxvHRdjV7fKijSHSmZ0PCG4F47FtUhwOXsyiuOU1mJ2VMx72u1zZyicuGW2GkrDiKe1FDdhvCzzBhdzsQRLt3jV4_fS9vcE25XJt00BmGCSAAeMNzUrSK5Qk0IHiWLanUu5D90oMNmH39IPbq079qMJhkNRsd8l-1uTNbxAYIkaeKpHsLhA1sbJ3XwbvFGq8AS4Tt058gDN-qvjthF9AB-GC9iKGKYiq5slJWW3h7K_9F3aq5sGXmnd_OZ2AAYWC8K4UhizA201x7oBr9Cnbfzd8TZ7XiOiPTrwy3f1VE6C4rYLwB9RRBw3g50awK6iFLAn9i4c1ujc3-VSu3byTer8znFHHeBbLGAgSARM81yE887J6qGtgyHtnDCsitdJvppAVL5YGf9eMxdfJzS1NYZ9mbAqdcuV4hyTq7ISEzaFsOY7T5zhhsliarRm4TkQnHsdqfjeZri2cxPRQatar95ia5DZZKAlHlIldpBxzvlkXAoVm1C95EeH37cwq5QS-0qDj80TdJMFZbWeKUmQojmqe5rfNEE019ySmw6ndigrgfvzYktSJm_64OKBAbrHPKjh_N_g8QpGKrmIUGPJxRpA1e36EA6OeCn4PKvSl4yDcbmUe8-D1MIlHSf9p7uKmgSzxHkEaA7HuXIcEWNIzWStHMlH8LhN7B-3RYoVKgFDA-92UozSuVCJH-ev4i4YRwqAVzy1yZpchMKI7eCLZ_Gn3UEa1iqo76DaJ1Mz8koQU-MEnVGXGNWtXRyQp0Jl1Ntqt9rkWslDumLQmbcicSZ7fw8ol5litraXSKiUqg3m0ZCv64mowKMxll4QAvD8R-73EHh-rzh40FyNohnvKbkav2P6ZVQ9tRLVONgYWjYzNrZGmKNzFqyr3_Lxaab7APH_C78cTIhxvP2xFUZ0JJzOcj4si8xxk7kVexQyTf3idyIZKEe_z2IFJBwKuEhqZpROBOYeKdJAXOfqK6w5ijZ2PpMVE9TnvJSzAAyiLtL1ytd6KQEN0FbAFORvQoR1nxLbIfvVSkO5DxN0QsU7wrJk5-oU8Ur9vEqxHG4MqVH3efFYumV21IzF6weBv9BQvIPBOWV",
  "id": "rs_0002122b65528261016ab440bcae3c87d0a2dd5ac304db62b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.137,\"left_z\":0.15,\"left_yaw\":1.57},\"note\":\"The full lift confirms the purple bowl stayed on the table; the internal opening is also too wide. I am switching to its near rim, rotating the jaws 90° so they close radially across that rim and moving above it from clear height, away from the neighboring bowl.\"}",
  "call_id": "call_8es67Dn2ZkI5nZOMeMFoR7oY",
  "id": "fc_0002122b65528261016ab440bee01487d099c984bb9381ed5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8es67Dn2ZkI5nZOMeMFoR7oY",
  "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]: [-0.5552, 2.0598, 1.7042, -1.52, -0.5491, -1.9919, 0.9949, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3293 left_y=-0.0915 left_z=0.1057 left_yaw=1.3783 left_pitch=-0.3817 left_roll=0.0898 left_gripper=0.9949 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [1.7846, -10.2085, 5.6274, -0.6178, -0.3443, -0.232, -0.0122, -0.0342, -1.5248, 6.9265, 1.6581, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c8e7154c6ecb7609c599a7e63b074372fc1898442621b72e2a01d26e25a6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ace2d25e62034a1284840601b6b47fee19fb35fb46b4f701bf96e2219447c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f177f8b16902f14781e5ddb9da1d44d789698bdf9d0f5bd2b7d114ed86d6fdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 9.365 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.7721, 0.9115, -0.1356, -0.3931, -0.4503, 0.994, -0.0219, 0.8223, 0.5945, -0.4496, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3879 left_y=-0.136 left_z=0.0284 left_yaw=0.0706 left_pitch=-0.317 left_roll=0.0712 left_gripper=0.994 right_x=0.285 right_y=0.0003 right_z=0.1541 right_yaw=-0.0019 right_pitch=-0.0992 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.9949, 5.9692, 0.9402, -0.2418, 0.1294, -0.1636, -0.1846, -1.1145, 7.0359, 1.6435, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.6367, 1.2465, -0.6426, -0.3897, -0.461, 0.9949, -0.0219, 0.823, 0.5945, -0.4683, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.389 left_y=-0.1372 left_z=0.1373 left_yaw=0.0811 left_pitch=-0.3486 left_roll=0.0832 left_gripper=0.9949 right_x=0.2821 right_y=0.0003 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.9624, 8.6632, 1.0525, -0.2418, 0.0269, -0.0024, -0.0752, -1.3607, 6.9538, 1.707, -0.0757, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5552, 2.0598, 1.7042, -1.52, -0.5491, -1.9919, 0.9949, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3293 left_y=-0.0915 left_z=0.1057 left_yaw=1.3783 left_pitch=-0.3817 left_roll=0.0898 left_gripper=0.9949 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [1.7846, -10.2085, 5.6274, -0.6178, -0.3443, -0.232, -0.0122, -0.0342, -1.5248, 6.9265, 1.6581, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c8e7154c6ecb7609c599a7e63b074372fc1898442621b72e2a01d26e25a6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ace2d25e62034a1284840601b6b47fee19fb35fb46b4f701bf96e2219447c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f177f8b16902f14781e5ddb9da1d44d789698bdf9d0f5bd2b7d114ed86d6fdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDGaLtLq3QO_CGBh_D1NePOShTVR9SP4PvK90JRO3KYmTh18chxn-L329MZgZ6ZFBPPcAx816Fgjh2_BmCIM7TdgT_rGRoIsT3Y9lFIgqJmJgSVk9jSQRaSn1veVi7wGZr-BpRr1PSsMYco5lazrJQzklPaJ_mE6BeEoEf2Prf6HcEY-VCE8peoB_glgOx5c4-51xYNOQr9OCljcFi07L13gJScYSWj6ql7DTB-ZFsLEBcdX32b0l8L3YKGl1yluqDc0qVJq771UB4P9K4Nc9O2Tbz0xJ6D5ELhCk6f13hqV9Itl0AFPlgl60GIo7QDL5eh1DZV-3dUzkM-Eixge140o2pD9w4klod4XiuDMg7lkhsbxgHRIyWjzRs12uyUZbtLQVJ0NfNRETtqvmadXz_EsXgbpNZFEkhEc_yqA2V643q48lIemD8d3I8oeemDW8ResSW7OUqtfbN8NEpbU7sOrxD5BcWK9BzcTan1tk-We1ZeT3-XL7oi4JMoST7B5ROtbiqkFWe6-sOSL6z0D7bhntL5rwCbsNAuDXawIu0fMeUXRC2C2cuACzt17GzYTsPCudSUbDTovOYjsIRyOMn3QtcobJPIi1omEeePP3ZHHZzuaCCR_4JRhSNwFD7YtH7eIeFa4f2JWTO_fj_mhXf353m1SUpJd3DDy7Kr8x_-7dPNFk7k-82sae1dn1H7amNwJHd_0HVeh6oE8Ctq4MTnKesSyTYTc3--MjYI0kcj4g0-RCwjgZ1Looxm8sVY4AXXH41Tq1_nhyNQSMtqnrKuB-AMjh8BZ5srM5n4SEj9MMFyNc_4e2KavO_wdtUMFwtEVzGouJbI-5QvxyAgXNfe3Wsp50Pci2ZuyIWMc50XMqcLWuPbSxTBbRLnjrH3w56RTZzkZdPYfaS0H0-PCXIXYwg8AUV90go8cV7VhdGEHAmkvePlWz7iNFhd0-pnlF3ciN1Ud72mjlvYFbxsnz9FkPgIwo4lvmZuMPEAeh-vFSTL7XXjk4KMwWN5nqSHep1yCD6sQkZdELENyFnSUH_lz_SD-OfVs05O_4NwwfGg3p7ArlgzP-LhO-Oh-IYnBs-YCuSQ9nZkLcIwo0ExfWJx9tLAZ1254VjHdJvJk3f-OfxxVGowWLor2GRfASXkcJLAM2FBethLL4IfD8OIBmaGAw8pGRYjPPEzZSnYukKpSz6blJCsIAYpMpNHz_ZV7NcxqRTeV4thNiyv5lDpYq650RlqDC7FqS83epAAehnm8MDOFRPltePQNy34d60bqVHiSKzVj8Ux_89pJzlcviEXkNJRcr4P8mK4iYT_ZvjdIvB0wBkxj3qe8Tyf84TR4LPLhkogukTV57x3nhHzkFMDSAVKiw8-x5uE5rFquWKFS3eeEWUzJxpFzuj_i0WqmJ1mqJmnkdzSBqob9q8_rhyVLr8AHMOcS9GP84cT3RmPY5QJShKJuUiU3y4fB_IjJf9lv2B_OdznlnSmqUydhZPDfIXJU9D39ZPmWEikTliE6qldssUutYUVJyqabhSt95zWecvuZqVDik7bLgpiWkcVA0sx4IajazRqkC5giHuSnH85WZCA7CbXHONIRJA244vClUd8w-c6m7ucingDsjNvy6Ci7RhxdcVDkfj_4uFL0Na8akRDmlpiO8ZhU7bbK2tCAvA5508ebo0jzeXIPa8zW3BJ9YZBc00KORUWH-CH-3aisznPPdsHbfC_pV32JEOXGmQZS_Yl_6klfnSIDFj70jqD9bvFzcDwoO-21GmG2RrW7Vy9EtZ0ZZJAu74y1NOOagzNbRihXAs92_lyRXGuBx18cWyWw9ReSnAqPMgUhvG9Q0lobctb56eqhCjFe0xoIMzsZ9wz6dufE8TPpQIN1EZGEeA2cnjpuHMEUNEah3Xyh-GpQionUhWhV8qmIULzhfFt-qAYvgZuzxaRcyooIinSbcSlk-cCsTqOC9bM7Uh10AzHDeKV7gW21114U7tJhxLswJHQM_cpPC6NC7ifopimHdQYd28wFyfeHKk5OthRvdIW0zSVdPpaPNwBa-k-DkAQPDfnlIkMRe-KzbGrNfnWo-tLIo3v8Sj-8wHXVRNyyXHR7HKr3dA4JChPvAhJxFYxm-wTdCd2L8jeilRy9Vb2SqwXTVh7788zWRt1fxMLQZs5nVbiJ1sFOhV2xgj_SObaeAU4VaASLMn0J21ctqjGbchVDS2SW3nsYlyvz6wfyIV0cFdPwc9ehEO8wv7i91ROyAXip2usyKxFiZGx-Q==",
  "id": "rs_0002122b65528261016ab440c39cf887d0ad9312f3c12e31c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the 90° rotation, the purple bowl lies to one side of the jaw center: the left fingertip is outside and the right fingertip is inside, so its near rim is finally straddled cleanly. I am closing at this contact height to pinch the rim along the bowl's radial direction.\"}",
  "call_id": "call_zqRv1BJWWvQWor7EgC5BvVD2",
  "id": "fc_0002122b65528261016ab440c59b6887d09fa702b9e67c87d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zqRv1BJWWvQWor7EgC5BvVD2",
  "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]: [-0.5957, 2.0789, 1.7432, -1.5532, -0.5247, -2.0357, 0.009, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1087 left_z=0.1071 left_yaw=1.3795 left_pitch=-0.396 left_roll=0.0854 left_gripper=0.009 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.4564, 7.0085, -0.5104, -0.4567, -0.0904, 0.5592, -0.1709, -1.3607, 6.9675, 1.5995, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4580b127313c684a319bfea383dfdac528b4c43ecb5dd551a3f94ac89d8b7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfe822eccc8a7f49a010607884fc463a3e151a2fd44f4b9b6d8be5b0ec95a38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576d0d418c5d89b628d66df55d3af6d85b8842e207553be009ce41bc9ed72c9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 7.058 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.692, 1.0111, -0.3325, -0.3901, -0.4541, 0.9948, -0.0216, 0.823, 0.5945, -0.4606, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.3866 left_y=-0.1358 left_z=0.0685 left_yaw=0.0736 left_pitch=-0.3326 left_roll=0.0764 left_gripper=0.9948 right_x=0.2833 right_y=0.0004 right_z=0.1518 right_yaw=-0.0015 right_pitch=-0.111 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -9.6615, 8.3077, 1.1648, -0.2759, -0.0171, 0.0757, -0.1026, -1.4291, 7.0769, 1.7607, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5552, 2.0598, 1.7042, -1.52, -0.5491, -1.9919, 0.9949, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3293 left_y=-0.0915 left_z=0.1057 left_yaw=1.3783 left_pitch=-0.3817 left_roll=0.0898 left_gripper=0.9949 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [1.7846, -10.2085, 5.6274, -0.6178, -0.3443, -0.232, -0.0122, -0.0342, -1.5248, 6.9265, 1.6581, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5957, 2.0789, 1.7432, -1.5532, -0.5247, -2.0357, 0.009, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1087 left_z=0.1071 left_yaw=1.3795 left_pitch=-0.396 left_roll=0.0854 left_gripper=0.009 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.4564, 7.0085, -0.5104, -0.4567, -0.0904, 0.5592, -0.1709, -1.3607, 6.9675, 1.5995, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4580b127313c684a319bfea383dfdac528b4c43ecb5dd551a3f94ac89d8b7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfe822eccc8a7f49a010607884fc463a3e151a2fd44f4b9b6d8be5b0ec95a38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576d0d418c5d89b628d66df55d3af6d85b8842e207553be009ce41bc9ed72c9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0002122b65528261016ab440c85be087d082f29876e37e9bd3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDQMex4Qe_xuRv9ko7j9LTs1kKysqSyGmZDOQsK4GzVexBYRhy0TwzKxpXLjjPqR1X7baoR6lKAGZq0vnwuRPmjbQqszSHNhdMSre5u20AuM5cUCUBW6im-awgdbK_QVDeA-V1NwoPdGrA5aBHKSLs4fheID3VUQ8Z-wjkOevKie6rGB1OmKgQq5vqzZQ21rGml25g9zHqmxF4Q6lYIziaFvUsZPKx_oYHa3EhdaEhpiWU_3_jPWKxJ8UjSUwy_m8l3elkj2TEfWtBNjwgIyxcFJn4TSnZBpI39xsW-Xi_JChr6_c4vmH5Chad7sgKfC3OPTrAv0YCxT3VMn2AwwEx3YcAziboGWN_C_AICZOKZXvW8Fs-MyWleWM_oCHboRnD7U6URcIH-sKzYvBQooPkKzAJ5GPmU8HHRrtg2VxGfc0t_hOtBBAo1RZIk8yJMfQXqU1RUCEnjkcZT5HRAAKME-FpCEomvBHcBwDJDk3OtbvZ3NV95OGE8BzzycIiC5jUMhFo83yjCLxZU_pJCNWKOgmFLZPI6pLajK9cAVxvhsAkP0ihJOMIqEdA-1NEks4MqQN7iwO5elJXmfAEf2VKwkpdMCah_K3Etby3p-NDtVKW2VD4Oe4XC9Btb324bZGiE3EFOUtwqkuGdBUViNB8NjGoZ70yMCatz11ZWthU8oEOFUl-6A8JGcjdsQorznhTUW2L5BrRqAysLE98TXlUes-USr3TTKnLoDlOEYCRrV8EDZuTX72fA-0aMeJU8ibBgx1nhQGiESexLM15Ci0yXMjDLRfsBv0ejpP0Ba9X0iRb0ovoRCW6z1kDpYcvX3E0SDxvAd7Izhu0KDR-rx6JP8WUIbF7ubAAZ9iszaQX-Orijcar7EelSsnHQQsWwAUKRtFfDHVph6E1G8f5U6EfINFNaW38cT3NLZzONwf0l93Ouopt55bgHwpW_bTO7w2IAApS0JAvkv2Udn6YJ0qQLOD3yshLkaJsiEkq-dr1IyoDgOib58IGRauJUfL91TkramneH1otB67dsawOI54Kfd8c5y662UYIFiBGHGD_AbYVcHxljF85inWkmg0blWGuOXjIy888rV4veeMpgN_kEmlAktG5qMfihTj9Jg7_JOCjZ9yu9F35WLEXtghbjcbA06txSqiQx4_PBf3bIvqiJyPKy6Y0FpVeiqKgoyPRAr2ajDvmwdcI3ATCiiI1cr3Z7lhBhKx9pRqLIJxCdyXEMZyUlx2gc9tq_eV3GyaeIVBU-Y3HCDjvnb4x6CbH0sUcw0MuinGqNE1EJeoHLSDEfmVWywyDWq9ENnKg9sV9C48ZbzktKW2CTmQQPwpvyjKJsTFdBJiOiIkWbhfdIsr9rj6OTf5Dfk5QDXmJBMRM078Ls9vvYvLJzRSpe3zLcQAjbJ7cL8svkG67JAb41G-K7pHcR2YPtBcAXVtsw0bg_dAtuHTo9DaCRazsOm9nsSb8cdAxuDgQ1PVBHCIqmPBxyV5rCcRFNlJmpYwyS6jAibz6JgNKUXETH_5ZJ40mjcW_hbvmYoH1xG1iU51bP5KO8LxD2uHkzwnbV8HqCH8vT2FWwodO86Hmz-gqqyeK9yFidhgNUVy-QYSHje3_CffF8BxUcNLz_5_nw1N4A-VTRI0cnOrEmnddKYWAiirMQWlYs7AD63qHDTYwbcYt5eXwYimxqKdlq9U-XpuNCHgFVA0pATetom2vXZ1cZ2IJJQdbE_qChioXL65W45eRbxjuk59nseUBbcxLkq_i2ye7x7Pyi7frIHTksFaepFVLG_L2kut2KRTg-NeMdgjn7MUcycJq-eNVNP5x-sT5buje8Y0hbXhiILp4WVfyhiaOfBktToxX30ur4FWJ1-A_Y6Dq24Q==",
  "id": "rs_0002122b65528261016ab440ce260087d0af43c06dbdbb574a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.117,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The rim slipped because the jaw center was only barely inside the edge, letting the outer finger push the bowl before the inner finger could oppose it. I am reopening at clearance height and shifting about 2 cm toward the bowl's center so the inner jaw engages first on the next close.\"}",
  "call_id": "call_7uiJh14SgIoD7IG1vIX2JkVy",
  "id": "fc_0002122b65528261016ab440cfa91c87d0a8d02bf050ac5a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7uiJh14SgIoD7IG1vIX2JkVy",
  "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]: [-0.5659, 2.0789, 1.7809, -1.5566, -0.5251, -2.0048, 0.9943, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3343 left_y=-0.1032 left_z=0.1143 left_yaw=1.3774 left_pitch=-0.4101 left_roll=0.0696 left_gripper=0.9943 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -9.2376, 7.7333, -0.4176, -0.3932, 0.149, 0.0611, -0.1983, -1.3744, 6.9265, 1.5946, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad489467d6a6399a787e223b7b6887dba240348963ed5789d8c7b79d150b3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519ce2652e5cc59f0b299ad1d01fa9c0a8bd213183198b2cd7c13f1590c6c023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a077d52ae89a278380033fe96833a072f0178c8a9dea53f38e7e927d0b1b5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.865 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 113 changed as sent

message 118 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5114, 1.6367, 1.2465, -0.6426, -0.3897, -0.461, 0.9949, -0.0219, 0.823, 0.5945, -0.4683, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.389 left_y=-0.1372 left_z=0.1373 left_yaw=0.0811 left_pitch=-0.3486 left_roll=0.0832 left_gripper=0.9949 right_x=0.2821 right_y=0.0003 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.9624, 8.6632, 1.0525, -0.2418, 0.0269, -0.0024, -0.0752, -1.3607, 6.9538, 1.707, -0.0757, -0.0659, -0.0171]",
      "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]: [-0.5957, 2.0789, 1.7432, -1.5532, -0.5247, -2.0357, 0.009, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1087 left_z=0.1071 left_yaw=1.3795 left_pitch=-0.396 left_roll=0.0854 left_gripper=0.009 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.4564, 7.0085, -0.5104, -0.4567, -0.0904, 0.5592, -0.1709, -1.3607, 6.9675, 1.5995, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5659, 2.0789, 1.7809, -1.5566, -0.5251, -2.0048, 0.9943, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3343 left_y=-0.1032 left_z=0.1143 left_yaw=1.3774 left_pitch=-0.4101 left_roll=0.0696 left_gripper=0.9943 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -9.2376, 7.7333, -0.4176, -0.3932, 0.149, 0.0611, -0.1983, -1.3744, 6.9265, 1.5946, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad489467d6a6399a787e223b7b6887dba240348963ed5789d8c7b79d150b3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519ce2652e5cc59f0b299ad1d01fa9c0a8bd213183198b2cd7c13f1590c6c023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a077d52ae89a278380033fe96833a072f0178c8a9dea53f38e7e927d0b1b5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDYwVKeExnHEhBohawKwx248T1iV1uQ0nT9I1o8vlYz1R_41KS5Nf0VvBlF3bpFEas5raHrA4LkD_nl5cRBhPGOTk8Rqwhxg4zJRXu13Zbz307AWuI_Pgxo0-z11P8ta4UOK56dKgopsxNOMeHq-1ks5eIwEfcluTvUxWJ3COf5INtqxzM36U2kfyqqPcvOjBIGtXgHG2UkI0okohdtumCidHf-rb2WUOLy4p0Fw-sXJO9oYsml3FCpikm6r0SAPOgfMKOEVzgjSm4V_9RqKhmGj3dAWZIpBO-wFd7xPf5NF8RBpHtjBi_X9TEw_vX5rkQlT0ghAgO1ejt_qO5ZxseHOVlR1BvDnqVueTB9_4W5w2NMt4aAu4bjZMbZdtD2cDLnd5dapTtHlNKKEGVjkLOL8_F62oMPIZL5_D9cTx0oSA_yqyppAmrW6RSqTrKd2ISo5_qscGrzkhq4RdFr1Df3ZXqKs7uzpj3Mawu2AZmmJJ1CEcqTe7MU3UPMqJ_apq3ryKuniEv3Nh45VWBmizavawtWvijBTxx1mBvJ22IrLH24UnTXI17zpzQq0S_VA7NNnlyVMUcCRIFVrBUUx2m_WXs-4xhL3w4GPSVpCRHMBffI6PA_WXZ5-hRnzzIppnUQLJc1WeEIZB6UUGayxc8IAmYhACn8-fqgdzdsE-B92cOo-2rd7nUvNfM90lAIqDTAUdQ2bFOxcgRZ2BwYJ68PFhucVtq4o87Ag3QctLOqDPbvo5ZEP0Dmmjhgxn-izWlMkqwOemiagFNhqxKdltDuLFljL-YBFtrHdXECjAkL0JwHL-LySdu7c_3gu6AjCcIHTQxfkgXZlmPO4-cHXPefYJBqJlSV21dr61an1uNyiysc64f7kUiqbrODQVN_BQauC59vFuI52HsxOfASRFvKdBDIgc8XDVegPypWEZ8FfoPp9CU68niSQMSJgTflFBpaJyfFzjQIN_0_fqpniWLs9NIM_Hjw7m-13o6B6-HqSguydZQ0wd6zba8gOUBuJh_3I3rj0VgYnmI7tFS6YGT2WB1fGIyLfIjeZ0nv4raZWWd6Nfazzrj_tE48y9j3hRabOIM-8fgvSyPWXdxFoPxCTzltfhExAEXABnS1EFQD7hkf45EV6lzsjnhrpbUTOJehX2LcccRwo2sdzrza9tOoHK7a72ykjlsaSrDvhkS6sVRVr9V3FChcK_JLOo3CUZssKbdmt25a-09Rc591G6hlh88QPe5ipSgpyElIS01QjLfELF2MSALGkTFlHc5B0L2mDqOy3xGEOHp_W8f1ZVVZJyyQI--iYIlKF3BKQk_Jk5Iuknu7yCEPLibmNIUvk1Zvxc3FiT2XkSBU2ZuwPY1sZGxxrcqFuk4p4PHSxQfWnT7AGwStYseNB7sryXLl9OaMx1emRHo6xEgnU4IOD87kmFijZohOoLkC-Y8o6PgVxFcLQAYyiAe2raCtMPNFRJRMMPNfMT8CKWsMnjIri0rAATQMo4OZ9nKr5UhKsMmMD7srAj_P1BMo6u60hvQE96V4ZBt3m9p2L7cbKKQLU39IOY2ZN1elC7l6y0FHuTu4DQDPDEEyo9lCi25CP_YFsJlUUqTjZCRnnELZ_QriqmW3ZZVF55yNOAo7K2spoZaHwx7OBZbiRqtEVIoX3EEq68WJydOHeNnilTks4DSElmY7ciaGKtCXE8nF9lym0KBC2qPqlbmCPywO3HjbG5kWvbHlNzUiDBT6rByO4_OnJzWAi9nQg6oo1gJaFt9-sInvG5-z7neLX3CQqMxR79-QJxF-2Rwp3OG8qaLMMZakoF7C1u3y63hF0XaBiD5jG1lMy0f2edmwerMEWIIDUy62RJ1eiGto2rH28hgqIeLd-rxRWf5RRdPIdLacKPldIXTmjd8UJyHmATJzw--RnOkAAIY7r0IFkQqV5NkiLIL6KvnfSlMKq-1VwNA9c_6aAFQ0DAL5CWejYIPD73-w0VR6xJTPXlTC7CFt8s8nAz9pei_j1fES1B6fIQaayX1M_K4fZVUmP0vUAMO_kXrPzKYzzQ28gMkb-1-99WELPgS_YgWColuF56IFAhQYjF0C75WEhgdT7djIM1pvFP7sJr7psyHzY6FdXFyQbuQhSctxBNSm5yOhs-OhPgyS3MZgjaSxBa7PLRUqh7QI556WV_v8TEXQhw_6_sN45ggAm_0Ov2igc6D0QDKyze1f9Ia3QVTRPi1RPi3_M_96Tybu3mJwEpvav3x1c1xMWRjfPtKtEpHOJ0fGZv9yb660Yl_N0izg4Pt2QFeSW3wAtrsP8yehwjvxH4PUfdtPE4gOq0Vbt99MvsvGW6usSjs9EyVdBYdma9GtPv0jd7WiEMLV-w9IA8hAg2kzwEsyWwR9Y8vi9DcbFBRq-8u9HlauB62dDjWnUAsbS92dnMLRinYFs3wtRKIlq9lXHxAhFx9rW5TeE61JzVtCi123ZRpMfYsDKnow4w7tB_52zNTSX4sffnqfIJN9gJ4aCwAM7YehD8s-KmO7P5wE6qKr39ZtM7m_C0U1gGj25G9W68P6LKZKmfxl8YdskP8eXxRaFvm8RjlzoMqlQd2n73dYln67J830EHx5jh6FO4yWv3h7y5eTNpz4nURc-wb8mNlvVt3pbjtvMC_1Bwc115926T0kUgFpDNA86Z_4qhg9_epNSuvPZ7SLwYEWgxPf-KGg7VXRCov5VnNalGpnXu3PcH09vrUOxILTVugZ-ML3FA0XogsW2TkZZL-4UplopUBwzVCQpAUnnAxkJAvFj3MsKq15kqvWMYNUdJguM8dWE0n0Bh76C2UZgvSKGLp04npYHNdUu8-QzWClJBUUSSpL6DNbcbT2ol2sgdQ_okwZ3fGSDDlByz0E8Z3-vWNkol8bNUGTzpnjgAqdA_tkKwYz9G_CwGS5e2PiOH0lPQDlUZFOZIzVmrMwrkDjZ0RbgA5KiNYl0_vEJ1Yyh1oF54rrJPEx8G0Unzk0Z3uTw1sH-QsNymHH-x8F99sDhY8EY4f86ij07x8_bHCIteIB52Ljr654MPKVDJG8CsDofbopFA_jhYs01CF6jCSMhStjp85RNBM8pA5byfxMW2-YNVv8qmI4jFpMRkeKi_8favT5sOGUTTlxed5CHv2tcfxu5gIb-b43ORkVaNdOVLV3zQTaRuAoRKfvIGYFPWYnUDpxc0GgAmAFhqV8gY9wUdhH0DONB-YSpIDiDDa-i8eU1bmy2S58497EuWR9V0qHTkrb2xK5Jddi6F-fc1uanjL50diMzFuGFRYiu3p7WL63BcqmBJ-axfiQ_057bGSbpxuxMtsO4upQ_EC9cR7r1lEwRurrBd4bGh_0IDqFBH6ZhBnivx9mu-A1Dd2bG8OdlwtsgsP1MNF95PeXlpC_cyQuNAVR-XV81Uz95lT1fhh1KBfg8Ms0DFKifn35i5SWyGA1NI3HIg51bvvbydOOBmZk3EiDdPJMkAnERnTfk3Bvj2dArPGbLmiHg6oFWSjUXIUbd8ZzU93McA6djh0ewcxEeJ5e9tXXHFw-NeiwJz_EJOAe9V4y3oV-Yt4ArWgWTGLhQCENUMB7mkgWBVza-CKeup0phVLLprClE030I36pSh1FG7AAZSsKCnw1frqP6usGVEYTmjRK1Wq_islbTZ90MD_qMD0VJ6bfVz67fg==",
  "id": "rs_0002122b65528261016ab440d2dad887d0904d4a61295987f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.095,\"left_z\":0.15},\"note\":\"The reopened view shows the grasp center is now inside the rim, which would make the outer jaw hit first and slide the bowl again. I am correcting to about 2 cm just outside the near rim so the inner jaw contacts first and braces the bowl before the outer jaw arrives.\"}",
  "call_id": "call_W7rVcxmr1xlPNWMqgOcq7PqY",
  "id": "fc_0002122b65528261016ab440d7d91087d092ec51cb9da1bdda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7rVcxmr1xlPNWMqgOcq7PqY",
  "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]: [-0.5617, 2.0102, 1.6951, -1.5501, -0.5247, -2.0029, 0.9949, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3189 left_y=-0.0919 left_z=0.1189 left_yaw=1.385 left_pitch=-0.4066 left_roll=0.0817 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.588, 5.4359, -0.2955, -0.3687, 0.0415, 0.0464, -0.0752, -1.0051, 7.1316, 1.6093, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c8b86fdcedd866bc46780e5f240eb2ba6d0e1343afd82e1f8a43a0a2768f46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce0ae0fbfdf586005e51d5ea4adf2ce36d0e8cc31e3aaa19d1efd0071d369a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a8eb029e1d3a02d923bd9d33990e8b38d579e732a43f808d6652ccc5d7d13a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.142 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 118 changed as sent

message 122 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5552, 2.0598, 1.7042, -1.52, -0.5491, -1.9919, 0.9949, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3293 left_y=-0.0915 left_z=0.1057 left_yaw=1.3783 left_pitch=-0.3817 left_roll=0.0898 left_gripper=0.9949 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [1.7846, -10.2085, 5.6274, -0.6178, -0.3443, -0.232, -0.0122, -0.0342, -1.5248, 6.9265, 1.6581, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5659, 2.0789, 1.7809, -1.5566, -0.5251, -2.0048, 0.9943, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3343 left_y=-0.1032 left_z=0.1143 left_yaw=1.3774 left_pitch=-0.4101 left_roll=0.0696 left_gripper=0.9943 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -9.2376, 7.7333, -0.4176, -0.3932, 0.149, 0.0611, -0.1983, -1.3744, 6.9265, 1.5946, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5617, 2.0102, 1.6951, -1.5501, -0.5247, -2.0029, 0.9949, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3189 left_y=-0.0919 left_z=0.1189 left_yaw=1.385 left_pitch=-0.4066 left_roll=0.0817 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.588, 5.4359, -0.2955, -0.3687, 0.0415, 0.0464, -0.0752, -1.0051, 7.1316, 1.6093, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c8b86fdcedd866bc46780e5f240eb2ba6d0e1343afd82e1f8a43a0a2768f46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce0ae0fbfdf586005e51d5ea4adf2ce36d0e8cc31e3aaa19d1efd0071d369a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a8eb029e1d3a02d923bd9d33990e8b38d579e732a43f808d6652ccc5d7d13a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDbpMIb3sqNFMsa0hPEqaUuYAYd3LflYn1wsyPFJi0Av1Yc0wy89LMHbZFYJZzFiGRf_K-L8mpxwXYXeNi9nk3i5SqoYC2eoBrJzSIv7a8U98h-MtAMh8g-G7fnTJPowZ-MqM8U7RpzsH64DnvuIoWQQ01CM44Qxi6la4GB24D05x_wmWJ_VkEYqJ7u59sp8BDD5_WXTGpFVHc-N1Ui76vqrDJHU5TZ1qLOT4g5hgNonl_ZJNVlWU0Ky4ktzw0gC04XvHEsqaizBK_mo5fvFITAFWn3xRV53Bcq64V234Fdd5o_5N39b6518dNnEluL-AkWcL3WHmwkW1ACEgwx1YTAy4s1m6yGJ4RxA0t4pgoMdi9Cxhxu8r_Td4GTDoS4HSKXcqAaCn-hd4qaptOllkF0-gPJcAEgtdmT6xB1edDFZraaAx7VOsjyLwNydfN_e63xMNi6hSAE0wl7zJTsAKt5xvzJ2nzsAQ_WupqMM0hzAButxiSxy2LAJ2o4CyGo22C8HpNFH3D3TXaCBNqFY-oX8mRfS51Rs5XvCURNOHYouBpmlx5U1lurxhP6eC_6SYMU8meNxK_b475D25niHAJ7Kz4kGNEs2SFHRaW4pO-zmxkuiFMbKrjF3lKSyR1_reK5dooVUCBxKBO6sAk-zFOs61pQn3HRGu2gB4fghylLl9yn4PSwTp9tKDLyrTzOH-fPC_bd3Sei3C7B_HACpAa2LZtIdMJNvxFskCmJAJXK16KdhTpp2dr6zvDOZmXlL4airQsVh0pU4-_dsJEp1T42_eeJjdG1pL5dGzfJ-8qB6B9hbpuatjTXcMt2Jew1FfsFdjnrXO9VghbupXRb47KbRaJelw9EdrWoDVwLgv5yQJN48xNC_0HU1DIKan0nn88bT2pIbMOEjd5FssctxX4c1YbGFXyTtqPCd0F5dmtNi--aQ1tsvchoTghrxvfJvqZm9z-bDVTINBv1p5yuNsr30IDS6QHeCRQ5Lual3voPDp3rAsVbncTo5lFDwSxpjaOKWg8lJZTl4HRuty0E5E4aT08xRdyPhWjYLKKIRvv4mykpbzCFLx3LPw5j9HMJHAKe6nXzpPINeCfVijq3MJAzD2qLHUXw3RHG6AfhQ9aStVh-rgkRAlIsBDU5iIqc6H-rHOLJM2scp3DC_X0CZskNqYoOBOS0rSqmumP4WlbY6b-jaJ479-VEnthy35exHY5hFc_kAcMwxf20UtiA1kpVc2pEUcXWGTlyvEDN0ByKp38Ohygih1fShVy7BTzqu4947oy20H1c_J_iCmrvOq05tsQPR_EytqoIKdgg6hXEXlFTPDNMF_Un0NGiaJbfv22kTOpA5iv_K15xPsQW0DIt1eUNiZ1mcuTqb92Pte452cdVePKvJvQ_IRT3ETF_FzWZQLwTH9tlLlHuLEio7L76aOFZEwqUB8pLxWMDghEaIXbZrDqpOMJkWOWiqxDDJ5QE5te3jXlj5gfzYOOLid-3pQ==",
  "id": "rs_0002122b65528261016ab440da165c87d0a8e0685221c936af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.08,\"left_z\":0.15},\"note\":\"The near rim is still just left of the jaw center in the wrist view, so the grasp point remains slightly inside despite the first correction. I am moving another 3 cm outward until the rim is clearly on the bowl side of the center, giving the inner finger the shorter closing path.\"}",
  "call_id": "call_7VYV1mSdKqfRanbfcXrWJmNL",
  "id": "fc_0002122b65528261016ab440dac3d887d0ba4f8a9494dac4a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7VYV1mSdKqfRanbfcXrWJmNL",
  "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]: [-0.5686, 1.911, 1.5745, -1.5429, -0.5236, -2.0052, 0.9949, -0.0219, 0.8253, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=-0.0793 left_z=0.1244 left_yaw=1.3856 left_pitch=-0.4023 left_roll=0.095 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0019 right_pitch=-0.1274 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -11.8359, 6.188, -0.4957, -0.3101, -0.0757, -0.0073, -0.1983, -0.9368, 6.9402, 1.6239, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3c306e5c33dcb747e9408e07e9c5bd0a9a0270411042d290a1c249d5b42f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93b55d60bf7b5dbfce7b5bcf4eaac25490c98ca2c1925e2f12b507f8beb2d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f516a80a37e5961f1c537deb361c4d6f0bce0b46991b024ca8db64f64d958d6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 4.435 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 122 changed as sent

message 126 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5957, 2.0789, 1.7432, -1.5532, -0.5247, -2.0357, 0.009, -0.0216, 0.8249, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1087 left_z=0.1071 left_yaw=1.3795 left_pitch=-0.396 left_roll=0.0854 left_gripper=0.009 right_x=0.2811 right_y=0.0005 right_z=0.1486 right_yaw=-0.0013 right_pitch=-0.127 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.4564, 7.0085, -0.5104, -0.4567, -0.0904, 0.5592, -0.1709, -1.3607, 6.9675, 1.5995, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5617, 2.0102, 1.6951, -1.5501, -0.5247, -2.0029, 0.9949, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3189 left_y=-0.0919 left_z=0.1189 left_yaw=1.385 left_pitch=-0.4066 left_roll=0.0817 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.588, 5.4359, -0.2955, -0.3687, 0.0415, 0.0464, -0.0752, -1.0051, 7.1316, 1.6093, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.911, 1.5745, -1.5429, -0.5236, -2.0052, 0.9949, -0.0219, 0.8253, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=-0.0793 left_z=0.1244 left_yaw=1.3856 left_pitch=-0.4023 left_roll=0.095 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0019 right_pitch=-0.1274 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -11.8359, 6.188, -0.4957, -0.3101, -0.0757, -0.0073, -0.1983, -0.9368, 6.9402, 1.6239, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3c306e5c33dcb747e9408e07e9c5bd0a9a0270411042d290a1c249d5b42f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93b55d60bf7b5dbfce7b5bcf4eaac25490c98ca2c1925e2f12b507f8beb2d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f516a80a37e5961f1c537deb361c4d6f0bce0b46991b024ca8db64f64d958d6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDfIuTvsW76strorEZ3rfKcp2-Md0d-hlUDHFN1Gk3tztas7tZOMOYoqEYLRqo09EIUEFzcYBORK7IUDS5nugAZLs62mA7MNQ5nG2_QDIS7PwlKWe78PC9Y47BxpqLCtiJOGeqLlQHu5bZ-SAjg9Loa41oR1xbq50ZHB1H4oU3_LOBwsYe82pRIEI8imVgmAEEn_63QslGSKnjw7L0RSYAQB1XZdTPz16iPlYeZD7l1-CC8I_VSq1Dz1-LTN9F48WmVYcLWGVTHq1tWHxynuPCO_5ahdMXSLYEQdS7EmumdscqwqOk0r7NZj5fZrrRGObwS7DEFBXfnw_2dueD2fjyet0-og12uv_N0jf6NRoxK2NqI0Z2ELcBGxS3TV3NQTtp2kSvECBcS5qK48BS1cKvGnemC0rb3EMAcEadlcA6sBjZiAwkHFiCsxjZzO16jddagv-aUNdFrn70A0shkVSpZKLkL-fiKGz1JRjEw-XnFeOlEm4_R78Tdfi1qXZuyfO0cMQmV8AoXgp4f3z3lpLvSjPy9LVAO-yuZRE8fmDbROEaJDlRdoQGKjXiRhM4yVAW5W0IvcsSImzgvUL9EK7wWKt6QGKLDlwFIiyyImjQub8cSkV6Ndhq9LEDWab2Qn1aYlU59TIzS_w0TnP1Mboa_ybsI8TJjlM0ksQln8a3ZaF7tdCUs09_SYgNy3aOr6SUa6ojH6K1w3_rQtDoGlRjkAEufBR3ygdRxlmttENw5P8WcMEUkqtKh6bqZmLJ4B7JlXlx6H3Lk-uRTeCHNE-cDGEwcGTgjdelgKtyYJ1KhSfgCrEvcyLfOYttGD1FaCx9vYnFLdzLVKswqU0t2k9vfeXGdXnjGHMZ7kqCxlX9iipeQU7CjmmmtiyX61p4d0xXY7VvtRT4MunkCPQW5O7dZ9GFMeehrkPkhwkhxFbpxVGJBmRPq9qw5VwgaKxcKA9QNPdRB1DpgNME3LCm58Tcpi67yCDnsWmQ403osrnr61xGVNKfRIMHuEGsGYWj05C2UA9DmwdeZ39fYM__76nqxjOgJEp8d7yIZLeou81jcT1jwxOndvfaG6Ntdkdv74hlsjCgMqSwPIkWvoP_lFq8k_6hwvcjTkVzkWFXzHEpE5LhLe5-2DiKoKgDAaJxqvzwnyi0oq7UW0E_x6hrm4BOYaVuCaxysslZveDLz1NrVTa0GPHqB-ihGcjVI2HbX6uMd7KvrU4fcnK6WrCfuocNJhIdJaOIW6IvoMT6bkkkRKkOMYDKknMD2jqQzF9u2TTzjB2-tI4rwkhonTKvuCVtTbkrX1o4Ib67uo-nbyMLZudKLS4XdJDqKBMiAT7iZsmym8rFycAq5Nus9waOcZEvtYhnnTdnx75PQuOHm2QUqyiZ_rbayKFOZKyJUzjPoBg2o7ZNKWw_vE_0y223FYOqOY6o3G7Y9fw92qftOuRBY2x4GonTvU1NxGDODf3Z3qIIKXZJvDkl3MAHj86CWTHmS3bvEezzsPt4b42yksx9-2Z6IQxEra7kfFzXQRBSUhdMKqWq62Pu2NXPDkthYullEx8KI_urNdDqJQBXb5dmPaK_H8On13C3DPoaPWf_0DHx3mDYOmpzWD25N1qqVWrvv_LSYwb2kpcGepMo8KWf2ZGJgTjEXp9WNwkuaIhARlMqqMb0oJc7tsw2DVrMYkT8_gBYXp3E0YITLDtiEvXh_des=",
  "id": "rs_0002122b65528261016ab440dd15f487d0bc9c69e3ae26e52b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"Now the bowl begins clearly to the right of the jaw center: the right finger is inside while the left finger is well outside, and the inner finger has the shorter path to the rim. I am closing so that inner contact braces and draws the rim into the opposing jaw instead of pushing the bowl away.\"}",
  "call_id": "call_eo5ERMNn7kKdRh7tHZ9Y7Cbb",
  "id": "fc_0002122b65528261016ab440de2e7487d0a8a65d044ed85040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eo5ERMNn7kKdRh7tHZ9Y7Cbb",
  "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]: [-0.5686, 1.9095, 1.5616, -1.5318, -0.524, -2.0052, 0.0084, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0789 left_z=0.1217 left_yaw=1.3855 left_pitch=-0.4018 left_roll=0.0952 left_gripper=0.0084 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0016 right_pitch=-0.1289 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.7043, 6.4205, -0.4371, -0.3687, -0.0366, 0.6032, -0.1026, -1.4838, 7.2137, 1.6386, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774fd72fa4f10989a7afe1622955a541c2842a22dd32a50381a0679574f48d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c577a8642b2a55d8074ca3ea880b60aa2fb387dc3ec422f6415bf5c84c6c905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54f1fa42985cd96d2f1937ebcbfc0ca0dba621fc8039f4c1d8a1e1b12ad881",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.193 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5659, 2.0789, 1.7809, -1.5566, -0.5251, -2.0048, 0.9943, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3343 left_y=-0.1032 left_z=0.1143 left_yaw=1.3774 left_pitch=-0.4101 left_roll=0.0696 left_gripper=0.9943 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -9.2376, 7.7333, -0.4176, -0.3932, 0.149, 0.0611, -0.1983, -1.3744, 6.9265, 1.5946, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.911, 1.5745, -1.5429, -0.5236, -2.0052, 0.9949, -0.0219, 0.8253, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=-0.0793 left_z=0.1244 left_yaw=1.3856 left_pitch=-0.4023 left_roll=0.095 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0019 right_pitch=-0.1274 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -11.8359, 6.188, -0.4957, -0.3101, -0.0757, -0.0073, -0.1983, -0.9368, 6.9402, 1.6239, -0.0562, -0.0415, -0.0122]",
      "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]: [-0.5686, 1.9095, 1.5616, -1.5318, -0.524, -2.0052, 0.0084, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0789 left_z=0.1217 left_yaw=1.3855 left_pitch=-0.4018 left_roll=0.0952 left_gripper=0.0084 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0016 right_pitch=-0.1289 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.7043, 6.4205, -0.4371, -0.3687, -0.0366, 0.6032, -0.1026, -1.4838, 7.2137, 1.6386, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774fd72fa4f10989a7afe1622955a541c2842a22dd32a50381a0679574f48d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c577a8642b2a55d8074ca3ea880b60aa2fb387dc3ec422f6415bf5c84c6c905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54f1fa42985cd96d2f1937ebcbfc0ca0dba621fc8039f4c1d8a1e1b12ad881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0002122b65528261016ab440e21dac87d083eaa2a3677c61e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The jaws again closed empty, and the readback shows the grasp point is still at z≈0.12—well above the bowl wall—so the failure is vertical rather than lateral. I am reopening while preserving the now-correct outside/inside alignment, then I will descend at this easier near-base pose.\"}",
  "call_id": "call_6ojBS8Egmt4zlOkP03zh4mgL",
  "id": "fc_0002122b65528261016ab440e3d99087d0993543ec0f2a4779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6ojBS8Egmt4zlOkP03zh4mgL",
  "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]: [-0.5686, 1.9095, 1.5612, -1.5261, -0.5243, -2.0056, 0.9949, -0.0216, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0794 left_z=0.1213 left_yaw=1.3835 left_pitch=-0.4035 left_roll=0.0895 left_gripper=0.9949 right_x=0.2812 right_y=0.0005 right_z=0.1481 right_yaw=-0.0015 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.9778, 5.2444, -0.3443, -0.2564, 0.0122, -0.0952, -0.0342, -1.2376, 6.9538, 1.619, -0.0269, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfd8db05d5c6028ed8881df8fcb35311f033928da16707333885059ffe58d48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b838781db547c687469f2cb708517ca4468e413d8383b6d0a01f6131a22f768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfce9eb14cca4127ee694b9aa35bde7a8831314bb3429aec86513cf53d815735",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.411 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5617, 2.0102, 1.6951, -1.5501, -0.5247, -2.0029, 0.9949, -0.0219, 0.8249, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3189 left_y=-0.0919 left_z=0.1189 left_yaw=1.385 left_pitch=-0.4066 left_roll=0.0817 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0016 right_pitch=-0.1274 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.588, 5.4359, -0.2955, -0.3687, 0.0415, 0.0464, -0.0752, -1.0051, 7.1316, 1.6093, -0.0513, -0.0757, -0.0171]",
      "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]: [-0.5686, 1.9095, 1.5616, -1.5318, -0.524, -2.0052, 0.0084, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0789 left_z=0.1217 left_yaw=1.3855 left_pitch=-0.4018 left_roll=0.0952 left_gripper=0.0084 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0016 right_pitch=-0.1289 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.7043, 6.4205, -0.4371, -0.3687, -0.0366, 0.6032, -0.1026, -1.4838, 7.2137, 1.6386, -0.0464, -0.0611, -0.0171]",
      "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]: [-0.5686, 1.9095, 1.5612, -1.5261, -0.5243, -2.0056, 0.9949, -0.0216, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0794 left_z=0.1213 left_yaw=1.3835 left_pitch=-0.4035 left_roll=0.0895 left_gripper=0.9949 right_x=0.2812 right_y=0.0005 right_z=0.1481 right_yaw=-0.0015 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.9778, 5.2444, -0.3443, -0.2564, 0.0122, -0.0952, -0.0342, -1.2376, 6.9538, 1.619, -0.0269, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfd8db05d5c6028ed8881df8fcb35311f033928da16707333885059ffe58d48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b838781db547c687469f2cb708517ca4468e413d8383b6d0a01f6131a22f768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfce9eb14cca4127ee694b9aa35bde7a8831314bb3429aec86513cf53d815735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDn5rLi5dLDZCWt0uFg7rSfxQiXlHqypGZtObNUrK1egtXiTbDJh9cvvHzsyzktcXxWYo_fP6mOKpGUoKi5Dx87XkLCD1qox0DdSlZAGZ8uStSCLDP6TV5mbVv28XBYiI07uaZ0LezcmRVBO6f4U6AXshaspLFnWIY-53gdXPgibWndWOyXnxMeoNcLzv9_voEjDf4EVmbOq91-Cia8BXkGoJ7_qri91gQ-3-BwvYB1eGrxZmmJQf5bbTPipbfnJjWA8AbRRfgThB4zPFabnkl3d3oUIdBx7M1vag56T6LW2JMH5RZ0zSg24QVzIZio2pdblWCr4EYWTTsMhxvNGNLIVzMYejq2SjUL8e7mwhJLOunt60vcSXd-JY0DGjNiQe1bt_EweCm44jMsyHWKBrakHSOVFYNTFPHYH7ToE6GeDt0FidEXLkUFduTSLDFkW0lMD91jgEtr3kqL4K9zcmNp41SJetQxWJbUnjvE9heBuOtixhy_jnWFwcNq-52ZbJtcBWEGG6cGqyX0AzOop5v3tJlXc_QENPZodTbPanIOqLT3mkj1Xp4jU4QNyZU3eulbdAgArkErcrt8A1ax_xD5YJS55tWQ4w6BDDikhYTvGSoN_PZvWsOzzsD1GAXzQIFBJRHgfGryn0eXuTJuFmkXMsztILCI1ikuxuWW0Q9zqhiqGD5mE0W8tcsArEhzewQ3sVgLW5Rcg8NcUWVXrR5q4vCHAH4XzJx_an3qW7M-7GY4v-OF3RMYct-NUvNHW8u-m5vzEJAsi77OXbUWhUYnPK6L8ttcJcdf6LTysmStBkeRcKFba8pBkDcA0N80m0G5dUYXa3BCFoKab_TjRZpSAFeJIn4do2ypG27NqPUctivmCxxTfencXVNef8pSn7uzE-YR1gjJPEMWv_KLoSqkbfyPSNzq1V5vt9QFwi5t56evw_q172IUML1wgmWwyZK1zHFgML4hYMiTe-9qicNOOIvh57pGg57vs5WLZZh5yh2rvnj99vIr8rO0zv7s22AqhiHW2YAbPN_wx4e07OaGhHhmHGQYafAOD8RYccB-gziXBRM82Doq25RQajJ8E624oO2LcOZkJ158Iieo8Ti-JsLLRYT1rH4Vy0xHC2yshEw-ebsKmbhvjf-qBcP3PFrZgXSOFP1OdiZXOQ8Kl-OUUinN3PbKBWiWLTWFmcTuGzgfIJTgJFdu3FQTYNZixWrG9pCnMdEwx4M5LoAy7k-Apzs7w2x2lpkyy-ytXTBMedKYcaCZCHuH_xjxSINXfET6SjhpTrOpjEoUQaesHeqUeA==",
  "id": "rs_0002122b65528261016ab440e67b4887d0b9f30952e67e2ce7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The open jaws remain correctly straddled across the near rim, with one finger outside and one over the bowl interior. I am now descending straight down to actual rim height; this near-base pose should avoid the earlier low-height IK stall.\"}",
  "call_id": "call_ncUwCZxWtCHOpqRi0Kr2i7SX",
  "id": "fc_0002122b65528261016ab440e6c2c887d0b7ad05f0785a25d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncUwCZxWtCHOpqRi0Kr2i7SX",
  "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]: [-0.5682, 1.977, 1.3441, -1.2613, -0.5243, -2.0045, 0.9955, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=-0.0764 left_z=0.0468 left_yaw=1.391 left_pitch=-0.3961 left_roll=0.1101 left_gripper=0.9955 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0019 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -7.9658, 4.8205, -0.3639, -0.3492, -0.0708, 0.0464, 0.0615, -1.1966, 6.9675, 1.5946, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62239e4005079ff63c4e5e504d38b2ad78c1a58177dfb54667a95e35fd909b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c52dd43b81409d0f0323aef9f4d3f15577fa816be163221887737e09d4563b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c68b41a9093fd70ca8df01641b91083a4131b66c594f56c81b1a4dadf9251da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.911, 1.5745, -1.5429, -0.5236, -2.0052, 0.9949, -0.0219, 0.8253, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=-0.0793 left_z=0.1244 left_yaw=1.3856 left_pitch=-0.4023 left_roll=0.095 left_gripper=0.9949 right_x=0.2811 right_y=0.0004 right_z=0.1485 right_yaw=-0.0019 right_pitch=-0.1274 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -11.8359, 6.188, -0.4957, -0.3101, -0.0757, -0.0073, -0.1983, -0.9368, 6.9402, 1.6239, -0.0562, -0.0415, -0.0122]",
      "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]: [-0.5686, 1.9095, 1.5612, -1.5261, -0.5243, -2.0056, 0.9949, -0.0216, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0794 left_z=0.1213 left_yaw=1.3835 left_pitch=-0.4035 left_roll=0.0895 left_gripper=0.9949 right_x=0.2812 right_y=0.0005 right_z=0.1481 right_yaw=-0.0015 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.9778, 5.2444, -0.3443, -0.2564, 0.0122, -0.0952, -0.0342, -1.2376, 6.9538, 1.619, -0.0269, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5682, 1.977, 1.3441, -1.2613, -0.5243, -2.0045, 0.9955, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=-0.0764 left_z=0.0468 left_yaw=1.391 left_pitch=-0.3961 left_roll=0.1101 left_gripper=0.9955 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0019 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -7.9658, 4.8205, -0.3639, -0.3492, -0.0708, 0.0464, 0.0615, -1.1966, 6.9675, 1.5946, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62239e4005079ff63c4e5e504d38b2ad78c1a58177dfb54667a95e35fd909b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c52dd43b81409d0f0323aef9f4d3f15577fa816be163221887737e09d4563b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c68b41a9093fd70ca8df01641b91083a4131b66c594f56c81b1a4dadf9251da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDuUy3aPFZe7kPKDB3HpQAlde9XE7-mxISYHL4mAiKUeX0YFAL-9_b68_ozw-kd_5L8qoCnA3imWpPzPb9CFntKgoiwXbvZjAuHK_3MfxV7t1BB3prODDpIU4PTJ68sT6xAnlk6-qojpT1Rdz5Nb0C5tzZ8SCvTlxLQuu-GPxVMwFMvQZqEIhWZkLzn_wXawXPmaiH4ddZR1OsaSqAg8-cOHH-S2fCEQtvoq_0m4XGtcHMmX5j-nC1RneuHkOK2r0w534ncdmU3GY5ybTr6dh50JEv8F3-6QJ7WsdSYKIFUhye47UnfPyUr7NJlUYvrKbL7Biuq3T8ABDsYf7IR7Bs83tdf1chFoWDUMB9lGkKUBWJZBpBLsXIUaOZt8SnqqrBvZxAxtGmjGmVAteDit3VryHikVJycufOTAJsDtDqri07TQE2ejfyowMFtrjD6wGMEZS4672Crkp9reiSicYqGv232EMyotBZ8hMmgiRJ3LxXQbqojqoW5waE4ft0xhi6mdyuNBeJWQBXzfSjXG2Gyy3L_aHewDRN4B4BUJuWtk16bYfxp2lDB4O_FVUkqqnahr9UqXJzSKY0xyS5wx8wwcJfKGDb1E7QU16ARW71MNVamvXP1SxJixGPtkhQtnGAC2OHIH9KgcfZI4Ji2iKBqtYcW7dE_8brtQtVkBmlb0Dl3qBx48a7I9Q4fqBtiPMegZknBWyAtAWbWueMpAbJ8sY5xYF6sowOkfU3fjdt9_eWmhy4NBjzAq3WLqJ3Qj0eoW2sr2K4ZrVNweTKT1vLOrNATzpgq5uzjZFDfSktkcRx8_y12HUjG2Ec3D-uAidAHE56XqqfpUx3lUNyH_yeB4WxWZV30xuZ-5cOGuuMKLAK6LeQUgHI6AW944k4rgMB5E-J4rgQxo2ZmoXM3kE_6oUo8t-BTDUuTtJnrp-fhlWsWYova5fdisFCpxdNpDg54M5lQQGEp6FxOGvvZZhT_YHdP-s0oMR3wLYsAWk10Fswl-KXRqSvoaYUFkyJyslpoLosyHGr2KEpT9alWjRYs3bXqQ9nXcsuM6AAUKiVeJQ8Ng1wpyUArC-WHatKjsWZ1dyFAyPEVlmsqWFHXwog-3KO61dLTyF63CceW0bo3i66rcbbox_akEJAB7jChcdwdgnGPSxG0BvfG7nSvxjgIYQntQk1G6lXOgsXGzdAFxERcUbNPQp_k43hzqfjDN3L4GVFHIWBnKN-SqOST5HOe1UMoUA97tGhRsnfPpbPtqK3MeSZ5zdMWoR08vAtPR-x8gRylUKs_jW4iWpYi8_PP-spikE68oZcgxU2tJ_edFbsSppljYjLKRvHiU3CPECuR",
  "id": "rs_0002122b65528261016ab440ed81f887d0b5999c27fcc45dc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm successfully descended to z≈0.047, and the wrist view now shows the rim at fingertip level between the outside and inside jaws. I am closing at this true rim height for the pinch.\"}",
  "call_id": "call_tZMXDCzIZGVpBQtcGBU1rp5C",
  "id": "fc_0002122b65528261016ab440edc90887d0be81b26612bc0071",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tZMXDCzIZGVpBQtcGBU1rp5C",
  "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]: [-0.5686, 1.9911, 1.3296, -1.2453, -0.5346, -2.009, 0.0171, -0.0216, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.29 left_y=-0.0743 left_z=0.0405 left_yaw=1.3932 left_pitch=-0.382 left_roll=0.1159 left_gripper=0.0171 right_x=0.2813 right_y=0.0005 right_z=0.1471 right_yaw=-0.0013 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.9214, 6.2838, -0.5299, -0.1587, 0.0366, 0.696, -0.0752, -1.5385, 6.9675, 1.5849, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2eadeedf7d0c68854f4b64402bc650cd508d61019d5e11748c62d7b53d8459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a994a16824eaa8d8af35a337b491c6eae7eb11dcd728bb0395939502a8659e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e801b13799bcce1ce999c3ddd2debfd4c2de8b005a9575b5e8d4be91ee65ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 9.791 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]: [-0.5686, 1.9095, 1.5616, -1.5318, -0.524, -2.0052, 0.0084, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0789 left_z=0.1217 left_yaw=1.3855 left_pitch=-0.4018 left_roll=0.0952 left_gripper=0.0084 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0016 right_pitch=-0.1289 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.7043, 6.4205, -0.4371, -0.3687, -0.0366, 0.6032, -0.1026, -1.4838, 7.2137, 1.6386, -0.0464, -0.0611, -0.0171]",
      "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]: [-0.5682, 1.977, 1.3441, -1.2613, -0.5243, -2.0045, 0.9955, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=-0.0764 left_z=0.0468 left_yaw=1.391 left_pitch=-0.3961 left_roll=0.1101 left_gripper=0.9955 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0019 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -7.9658, 4.8205, -0.3639, -0.3492, -0.0708, 0.0464, 0.0615, -1.1966, 6.9675, 1.5946, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.9911, 1.3296, -1.2453, -0.5346, -2.009, 0.0171, -0.0216, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.29 left_y=-0.0743 left_z=0.0405 left_yaw=1.3932 left_pitch=-0.382 left_roll=0.1159 left_gripper=0.0171 right_x=0.2813 right_y=0.0005 right_z=0.1471 right_yaw=-0.0013 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.9214, 6.2838, -0.5299, -0.1587, 0.0366, 0.696, -0.0752, -1.5385, 6.9675, 1.5849, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2eadeedf7d0c68854f4b64402bc650cd508d61019d5e11748c62d7b53d8459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a994a16824eaa8d8af35a337b491c6eae7eb11dcd728bb0395939502a8659e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e801b13799bcce1ce999c3ddd2debfd4c2de8b005a9575b5e8d4be91ee65ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDzfsIF1h5pLiZQE66RhNFLbrJTSmRqTCahV9FCleNFSQlRNK46AvbdywR5UPZv-QHqaGFIsCdfe5X9RCxGIckR0k9dI5PPFBwXqPARicgK_vZaGoarDqCvZpNygOnz_wyBzkpuQR2JRx3KlBW544QmzLdClu3F2OBJkJ_4vSnOhyng5mq94sojL5OQBa-8dD8oC-QAHzBWhwPPtL-tocjkthU7wskAC9FMpZKabkAXjCJUqen5p05V7XjiHXm7EhetXFzgljcIZVLoUCbMyjyPNIFpL1hZSs_HZ4IpArI2EpEkorn7wMCYzYo2GemqaBJJxkO3yuwtyrYNrc8mmYmy0FR_MyJuPnho-N1k0FSOqlslPGTHzh9jxYijJ9CCENg8Gy7owgBRDgSZYSZ8sDvmA4w7iTZPWJ6eyIMib8M448CCv5d7v0yK1PlITuocmcvJejZ70_ImwQxAsLBWmVLamBe1ob4L2cJEGkB-FMazoEXLbxooTLVgeZj2Qw2ueBS0gf1mp3Py50QZDlR9D7kqSs9i9j5mGlmMJk8tpWMwFpEQUXB3Ibbq54IUNIV6uj5wQM_AzG_fuaKV_5xDYanj3C7RR36wqfMOLninLXJ2uxZXHr6wJBKfCRDKQPoSyOD5gBNB1wzze4xhh5khNETHyx2ZqhpzJz3-Digqtv1CKDNrKHUn8m_TP5O2saz_xo1at6dlYXFcaS96txfEumQqAqtptJemJLtL80XiozBwFX1EqQdH9oSFu0kx2nbg6UUPINy-Ja74qXksvaJDuMxrtj1EW7XHc-7o2dSodQAxbZkKvis93JderYRKjEHBhrKwgJrV_1xextTGL6YyUNdAcP6o3mYT64yPryMj4Hj_zcGTa_eQkDmqeSPPI_EjLWfD4CheryeI20hIc75BaRpF7etZC3PR-qirDT4bmVe2GTKEr8IOm_UhIhNisaDqE7_SnkD9CJsgjngQ5rh2gHjA7bnaTOqiRg4D2RdDKWCS-M8BVTzClAuGpF57_O4neEYkhyhTKsuKHAP_S111Ki-9X-zQKTEUouDlZpT4Bo-ywbNaRHYb0g850R1HmyOlkFvhHn-9iHHM6ppMLBQft1s-dh_bnsa1js6RtHJTh_pmP1dNzl-pWSskyGGrbP9CY8yXsy-8dMeiVfaGl9TNmgfUYP3Tcx1uei6VrJxqcFuMGbbRkGzSv5YKDLJaS4BhYQ3ZBBrxRf6QBlL99vlesgrtbDQj2xwtRzxg2xoQklNfCRx-8XqBRTciireIIXnbvmXvY8Z9Qf0lr4vHtiuv4BxTWVF4zkqkP7dN350GihNdA7RWa6M3mUXmm8LspwhCCnXaNfb_y0fi1UAa1FJKNPfMWA43fT_mHvQsqXSprzpT-lY7OFGaD-zxLfi2KxnxY0z7KSg7QWlT5HymymlPbtVu4oJ-kP2QB3gB-lkJw4HVzEd1fGMUBE821EZv7nCZnuU02udiPjNhN3u6T7wDPyjbACqyVqmPhUfbnET803ILEaWKieeGRQXQN-ajlz1CDcpGS8MuQGevywf029176fH2KxkG_ezRI_Kf0uTLc0AhxStWPIRvZgGxwuj2xLCd_XQoUD7b1Dg3lrOIMpt-ruFismFy0ERekV_xxhg1HKsg5zEJibubpGbvzmbMmnChi9QZ0Cl5jFqFAUkLHXF-6GQiPywjI0N5DQX3vcNQaTocqs0CNsnop1e14WS0QTQY7cOReLseC4iAgWoASircFs3fw2I4s9DRQAwVfdPTEyJgilhggQ-yQzjPwGr1PgxSWlyynjgmPs7gZE2JYyUa07arfP7U4qHL4bcel8n9aJliGu1CjsQjgNeaTvccOk75FVq1C3BTBjafIvgPufeOQrwJ7CjFF5rRpkrdtYqkTHrSjvPfxarO62vsf0AJR2lNyoFh",
  "id": "rs_0002122b65528261016ab440f0eb3087d0ab9e2e42fc08aa28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper closed to a very small 0.017 span, consistent with either an empty close or a thin bowl rim, while the wrist image shows the bowl pulled tightly against the fingertip. I am lifting to carrying height to verify in the overhead view whether this rim pinch succeeded.\"}",
  "call_id": "call_UqKQVoc2HIEQnHWzU8XX1BfS",
  "id": "fc_0002122b65528261016ab440f2509887d0a632cf8c163460d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UqKQVoc2HIEQnHWzU8XX1BfS",
  "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]: [-0.5629, 1.9266, 1.5417, -1.5047, -0.524, -2.0125, 0.0172, -0.0219, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=-0.0777 left_z=0.1116 left_yaw=1.3994 left_pitch=-0.3977 left_roll=0.1008 left_gripper=0.0172 right_x=0.2813 right_y=0.0003 right_z=0.1471 right_yaw=-0.0016 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -11.1658, 7.3641, -0.6081, -0.4371, 0.1685, 1.0281, -0.1846, -1.1009, 6.9402, 1.619, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91f995af629f416918ae7bb97a2f6c1153fb66b1d684cb6d3a2bd1175b58b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c646f5afd868c8ed26ca6f78a07a01ddb8edc226f97002a9c7b7a52e50917a50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fadb2e58f98a3f83c16c6fa7fa5a9ab51c976aa8bb2c4cb4b6d6d95390b5486",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.44 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]: [-0.5686, 1.9095, 1.5612, -1.5261, -0.5243, -2.0056, 0.9949, -0.0216, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0794 left_z=0.1213 left_yaw=1.3835 left_pitch=-0.4035 left_roll=0.0895 left_gripper=0.9949 right_x=0.2812 right_y=0.0005 right_z=0.1481 right_yaw=-0.0015 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.9778, 5.2444, -0.3443, -0.2564, 0.0122, -0.0952, -0.0342, -1.2376, 6.9538, 1.619, -0.0269, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.9911, 1.3296, -1.2453, -0.5346, -2.009, 0.0171, -0.0216, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.29 left_y=-0.0743 left_z=0.0405 left_yaw=1.3932 left_pitch=-0.382 left_roll=0.1159 left_gripper=0.0171 right_x=0.2813 right_y=0.0005 right_z=0.1471 right_yaw=-0.0013 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.9214, 6.2838, -0.5299, -0.1587, 0.0366, 0.696, -0.0752, -1.5385, 6.9675, 1.5849, -0.0415, -0.0269, -0.0171]",
      "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]: [-0.5629, 1.9266, 1.5417, -1.5047, -0.524, -2.0125, 0.0172, -0.0219, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=-0.0777 left_z=0.1116 left_yaw=1.3994 left_pitch=-0.3977 left_roll=0.1008 left_gripper=0.0172 right_x=0.2813 right_y=0.0003 right_z=0.1471 right_yaw=-0.0016 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -11.1658, 7.3641, -0.6081, -0.4371, 0.1685, 1.0281, -0.1846, -1.1009, 6.9402, 1.619, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91f995af629f416918ae7bb97a2f6c1153fb66b1d684cb6d3a2bd1175b58b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c646f5afd868c8ed26ca6f78a07a01ddb8edc226f97002a9c7b7a52e50917a50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fadb2e58f98a3f83c16c6fa7fa5a9ab51c976aa8bb2c4cb4b6d6d95390b5486",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtED9eZQFHXDskkS7liFCzIfxO0MVa1TrQ_vPoccU_eJuMzfsG7BppBXzYfDa172mnJ3m6GW3iqmAWjpTtpuCKjGlbRAKjZvAa8qqin5aLMj7cAZ5ioqoVMPqgWfU_K6_ZXXrzc3pGacbuO9pr0LTNgoGkuoyJC1kL-OGpScM2DB8tJppYfEsm3D0i2cU1WGxL1tuXTnTYI2WaObRbD8fShpq7r0FHjPUiZAU7eLhab_Np-zjYnUbQijN1a51cyBnaEpD5nj4I7JV2fAxj2SCAUo0ij-2tXkHaBoFI6TUGsn2ooQM1RyFxpnUtmfuZND72zuVhBOUyNHC9RTkdYUsLHCV1OJBpsB3L5qKFl-RHqSytH3Ju7MoPVX83fIw3YQQWJex58JU1tXELDfd6esjlDcd2weAlI-Ns36X4LuYjo21ot2nFHzuM90m2CGV_ls1T2z0cv_Q7dBNEE-pFaSs3W6AEvWThBCQ4-FF4hxE8K1OELzv4go1y6SZiqyGnQq17nflcmBskdIO2vBqRGy12cWXCcHUXnU5734BbnGLAOkgtNIhhPcvTb-p4EqGDOGCIwCQGMXUoEQ53-Jd-Xju772LrY1W9v97mqJT6_TXDC0YbXv__ZsckSHPdSUt7x4n9YX14Glp4Csk6pCjCCI8i57uq5mRCZc9Ctdz95Uetg4ebTzFUL61CyMAQ9vo9Hl9RpJn8pMjoNN0mrN_t4fIw_Khh_tVlccoxfomyqgiKM5-y_tcHVn5xa-cZLKlHKGjppkD9LQy7eGt38pWzKzLQj7GsvFojsyYTCEpIwLiT43TUGYv7rlv39xGAscEsTNxN_pm3OF88MwVCHaSS0DsixAbZaupgIitHYnCkthwz_554yb1aNE6j_qJVvQE7_m-ZrBe40to4YWXZAGgqCXF9MrM8FnsTzp6CEeB4LAJ2gEKfOHhczsFsCC7i1wKlQzPb4nmDWQFpemBeH0A-q3MUsZNK7NJv0TkljJwqwux4Hi0O-FzJ7uONLCLnnxXOLQb8JIgnaH8AVCgO1YzMMhZrNpe8y1Q5fn7dVaCykZeruDGcZCOW2rjnFlUAni95eHfJbMwK9zjU_1yH6hBi3VDOXvxVwe9AHw6SkY4lDvHrlxN8FchipcgS4NKEgv7Qx9DROKh3Y24rucB30yCt0G7EU7NVOmcFdRqeGmsAO7fOE3Ch7jSF8Z3PJUagmOvfDLLPOBtL-iFALc0WwV0Q7nl_berlnBgdEFdFdpjENFhVZt80bCq5lEIhpwt8FuJZuK8FUAyl7bS1QWARuIs3Sr5p1s2GHzIKzdXsDXfadFyUkuyn4ucuBiR_ELCrwc7AVUBbsZGIKHbXRXU5lM42grxFeNxEJi5dyUID3Ww7csiTlfi4_LUDxuV9JbrCXNlgDNzrZ72u-LZG0xvf-8Y69HsU5Ph1oa09QvIyzeS2K26kXlthwcIp_m3FYqtKyFHxwRdBMit0PRjIodAKLGw3htVO5BLYMDiRNfQ7iQReureCJNEwXrZZs8WjjTP7W92dUWeofcJ0anqvs4Eui4RiHokH-yZ3_VTuwgF7DQaGGb8DpRjRMCrA5yyptQXMWe79xYHwf-IOD7ehNyp7ov_0FfeJ4a4U1h1stmE3oFjVWXNR2k5mYK7Es1u3R47t4TSq-BXRJZRVzhnwXyNFfcgwARsbSohbk1HZyNjpzJvxBavInlHAZphAJU0FEXUtSq4sk-TcuKKeQKHmgf9f-qqJ_OWzZBzTTIXZt3tiAiPswDoKNJfo7RzrOWXKrWmUFnz09x2dAZapqAZH3SU9uYN16xF-xsSvHv8uydATtPoOoQHFNjA0xpK6B_bxlODzFmHvl85ibuTOPVLCH3hJ-59GM9Ka40PM7fn1Jt1l9lG-FTEscq4I_bzSGP1y5whvOG308u5yx48u2CslQHXShnyANvGGd-eG45bjkvbchFpGQ2Qe_0pEF6OMKqkgQhJ2NXKafjoAEbypnoOHvIiEDrKgJajWcOl_L957bgGF7mGa6D6GrSaLrMmzWpl-9mE7FrelPza22XixX55kQsT2GDGXY2d8LuunvzkLYoRmERSMP3fvNvI3lpwsZL7yrvCCbJbX9vHQ3am7PEAs6N8UurcFEmdQIkJx84O8TEwZK9Pc-OJlxX54YKbimPSj6YA4sp6UMvNMr7vi62j_Hr6i_ygUjGhhmqonAH7iQvO_Am6Mi43uUi-xgY7s1MY9ifHf9Uq9f0R2dRkb6x-TGctMxgedNobQsaXnotzTSB3TyXZ2UbocqWl1vEDhjEv3xvtGM6Sw1jBhRbmwyaDvttd0n3Pahmvwgg_OJtdtnU15i3lJv4QsYl27amCSRporeao1H3bQEBiIgovXpJSfQUU9VGAjmQYv26pCJ15G1EPI8U9w8BlpUjBscR6xoUBOHHTpKWDsLMyxKZJ4sj7ZDhjwX99Cpe7o42cwYOsqN8u-7mz0_EqzY2QxIUVAYmmSO2PQ9xxhFoa7mjAIqrDPFmQG5bErn31vI9yd5fNrDUaAizr4tkT4hS0tRGcD1pmuedSMaSkklMo8NZ7aCdRz7s7JT5PIslJT5y5YZFTZcIK1dJ0aqtEwBaSNr1UcA3an4emoU7Zo7J_r1OMgYkjzA6pfTLQpXTY7IusErSoeGW--HbdVU_qypjedzYoY0uY_AWAL1mXE8myXe-JQPQ1evoc0DP4AMnoT8M8VzluzhGJHcc3-P_ylzjQUk_EVIJoUnFazG-cwq7Tci86_WI6GqujZt8hAJeOnaboTL8y6_0WjBpQOU5NOLSHNZhkvm7ubL2k3XWU4QlBXgJziI2n4sswmWAXuv-ZqWzcx5G8-sq0nnFiyRUQnOqi_quyXRByf4udfcfyXBKV0H__gEwKkbsGic2bx8vKoZTrpeIjV4JPNlcM5GTPluMVUZDu5WVhUJYQ5zSsRE9LND-5P869rnSMLUfaP0oxGNx3hgKMp2m1XBsRMcPziJWULKh8i4uB9cgK7EBFldluNArLz9hWhxc-g0995YcA_R87e4qGGpmnC_85xIXA40ohBT4MvnTTggqpGa1whVBE7S0zuSyATbShWzwFTCWXRrZMS8-HEnQq1V61xDeRMEGTnDENy5v7lkroDv30wAQhvzkd8lNOcBa6ZKvszL9Mh80kb03wJbjikQV7HHRl-Lio2HyO5AdqBYL_lh4MdKBarMx4XngHooAW2PxdpO-Y36jfXFpSokzRiW7bZlo6Mt_8LG5oxnbOPCb3A1X0P9JpgXYUy2NIGUgE6mQBunCELetPgzTSlKYDWrk-hjqAv-3hYdlrp-DGhLiQ4RpAHXLCHaHn5HLHi0RCav0El2JO5hTva-g63ZfyKFvLQnD491ciqWnSoWGnM0J6cDNHu8rlwDKZCPKPg0INt4ErNy5nPPFav-VAsuP_NZO7RG-7CnTbP6g=",
  "id": "rs_0002122b65528261016ab440f7646087d090dced43226ef7c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.25,\"left_z\":0.2},\"note\":\"The purple bowl disappeared from its table spot and remains fixed against the fingertip in the wrist view, confirming a successful thin-rim grasp despite the small reading. Because the bowl center hangs about 9 cm forward and 6 cm inward from the grasp point, I am carrying the rim to an offset above the center teal bowl so the bowl bodies align.\"}",
  "call_id": "call_Idi6Fy3Rfhaeag74lwERBPuH",
  "id": "fc_0002122b65528261016ab440fc81d487d0a4f5be020b04bd77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Idi6Fy3Rfhaeag74lwERBPuH",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6746, 2.0842, 1.7496, -1.5593, -0.4789, -2.0621, 0.0173, -0.0219, 0.836, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3096 left_y=-0.1388 left_z=0.1033 left_yaw=1.3404 left_pitch=-0.4321 left_roll=0.094 left_gripper=0.0173 right_x=0.2814 right_y=0.0003 right_z=0.1457 right_yaw=-0.0016 right_pitch=-0.1385 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -8.5128, 7.4325, -0.4322, -0.3248, -0.398, 1.0037, -0.212, -1.8393, 7.1043, 1.6337, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4f7845075b45694bbfd0c505a6cfd542ab1ac112bafdc96ab59172aab635c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74a242b7ee31f2e83986e6bb521251b4c1ee2a63e3ab3b924678c319087d847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f207daa1384de3d73fe9325e8b9a7ebb64fa5743aee66016da4530ccc9ce4d03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.773 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]: [-0.5682, 1.977, 1.3441, -1.2613, -0.5243, -2.0045, 0.9955, -0.0219, 0.8268, 0.5945, -0.4747, -0.0166, -0.0307, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=-0.0764 left_z=0.0468 left_yaw=1.391 left_pitch=-0.3961 left_roll=0.1101 left_gripper=0.9955 right_x=0.2812 right_y=0.0004 right_z=0.1481 right_yaw=-0.0019 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -7.9658, 4.8205, -0.3639, -0.3492, -0.0708, 0.0464, 0.0615, -1.1966, 6.9675, 1.5946, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5629, 1.9266, 1.5417, -1.5047, -0.524, -2.0125, 0.0172, -0.0219, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=-0.0777 left_z=0.1116 left_yaw=1.3994 left_pitch=-0.3977 left_roll=0.1008 left_gripper=0.0172 right_x=0.2813 right_y=0.0003 right_z=0.1471 right_yaw=-0.0016 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -11.1658, 7.3641, -0.6081, -0.4371, 0.1685, 1.0281, -0.1846, -1.1009, 6.9402, 1.619, -0.0659, -0.0659, -0.0073]",
      "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]: [-0.6746, 2.0842, 1.7496, -1.5593, -0.4789, -2.0621, 0.0173, -0.0219, 0.836, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3096 left_y=-0.1388 left_z=0.1033 left_yaw=1.3404 left_pitch=-0.4321 left_roll=0.094 left_gripper=0.0173 right_x=0.2814 right_y=0.0003 right_z=0.1457 right_yaw=-0.0016 right_pitch=-0.1385 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -8.5128, 7.4325, -0.4322, -0.3248, -0.398, 1.0037, -0.212, -1.8393, 7.1043, 1.6337, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4f7845075b45694bbfd0c505a6cfd542ab1ac112bafdc96ab59172aab635c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74a242b7ee31f2e83986e6bb521251b4c1ee2a63e3ab3b924678c319087d847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f207daa1384de3d73fe9325e8b9a7ebb64fa5743aee66016da4530ccc9ce4d03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEDOwetrR_3DWusmf7YWlK9-GJaif3d4UmKCxfJf8_GHJJhjwx6tS8lqE0rdEGqk1mLrGODpTb8TQthbkf5CciI3nMsQJck4UeBQXIBVDs0RzOGSmCwtMoNGejPsyIyC8aa9HV_MYkzBXoR_hCxLIyuOjGK_vCq3I3dKmmsZnGyih4VbIzqy8RxlUWAbQ783w8a5n2jYvYH0b4kdX7cASmpIOV0gPu1RGTkITdd6nJDrZWXuH56wVAVl8N42JZjXe6ed3tMTbfG8GA-SmXCE5lT026IPd_gCLBCXk7-m-S0956D_ZIu6YjFqUpppWGxCIBHnEiHVdpVbH92mCIgl9-z_1k_q6le1qkgXbQzx_HHek8jBfha8pafBlVnVmJ6eOrMCaS8VnQOxvv18VXouXsr4OMRXWV7qWVyAXd-3hEUlLU5XvOFFzzGBcTYLhgmReG6W85gPM7xpc6HDL1Wm0icCx2qax6SAHFGuSkfqo9Uf9H-2kRwytCxh8ivOhArXGQX8y1LlWjisAWYCd0YXyd6NR0q_zoJN1z4RDjrIjkW8vN7wCl61k6wORu3MU4voEGR92wNEDSnBcVgx2l6lpBVzQwnp_7eAHEuF8jpip51NZUOuhvjh5QsCVjHHlAcrrUvXdNUcXmFfdjsWsH3gui2wPKwPo5woEBcB9NMbGSONdmIaICZwko9NzzCtoCRjTB_nEIROXrgj7QcrF68Fb9o8oqKYkcUcmKDRcN-dLSijVZBpsvCSv4ssFi49K2IiZTHuadieiKuNy2n9Bld3KOYyKDLmCcgBOjoeBprYt5ywVnTLr0_Rbemyn0LQvaZCqiv7pTKipaZbJkQF55AGUW5_0eEAYNYlj7c4vwyAaVueS9vDfq3JrJf9T5dZp1qhgyf0H0-JWDYlI8vfbOc6VrnGVGTfjbJF7T8OyjaJVQaWijjWO9t7kEAFJj_KEHntRM6XvMzLa3Hwk9DveBetIiXB9V_-Hp9qJTJv8dBmLq5x4HV1quJWeMuyzExWf6j6xeWVDcCBkXhvX3hTfKizU-kKdn4FNrBzjV3SIlAAp-MgsVeBJSGvu6ckr7blsi5BsUdOBdASTg10nUrv0eyOGk-KsT8GtfmC79BVSkLzYFtkEtt2BAk9wF2dipxBu_DJrjj_WGwIyOAycD-WApEjZWAL0Fv1ZH1_lg3vaBamLptiUAfZohiYR-Y1EvQ2T5hma3nQCGAhlVAwyPO4HUHmlmtc0WB3uWmCFXjkRYlfZ2wK7cNT92Dq0ijsxehhQbsg4WFmr5rsE8kRlkixlrQ6sscXzzwi5QWX9ymEZ_iNSzYdyhxicB8aXaPopUf61DW8ALdRbsjXR3VsQAgzTmNf-aiv_CTgPy4-LOmyF8vhWh_sL4yVwyYocQnfoD1JYQJ4NN0NWkecIYiMiX1YAUU2ie2pWa40U5XWpLrMD9Vz38VOc4XLNmo-DpMUHxEHkFJJQERBicfqd5o-KukASLuKsW8hd5v9Rz3Je0OQyBNG_9CapJy_sE3CUsXA5Xd-nAMCcGhk1vz-HcQDF7nl8Y7tba7SaYyVlRfGGCFvIhFQQc94SFOFlnIv3r7Lr52uQ0i3DbITLNsBZP6jkKSzJktBnClB10OD8_BNyvCrTJkzDSJXezmUnJ69QzYxJOCpASVxcq8t-Yy_JpTopRzAslKnAt-f0fu_tvfIdaxTjTIPFZHv7DTEkKcw7WIo69-_8YpIl_loiBCQwKhfjbjqi8ilDKIYPWwvsgRoY-OLKofROUvJSqHiv_2aWB1MGSWqGwFIK0CsqopN6nTHXr6j54vE4Mmm--JQrqeqXUdxtx2T96R_6298pRhBSct3f-IotBo2oKxhmiV0U3_c9YoD40dOLiXO5pHS-uxBcDBlNJv64mnwrndMOQBqy2V94Rb0oFii2nDbndP5zaRNA83B3WAegIlQ9nNUvu3wMqHfxbVGSN7EDqr5-aFUqTxeDlzVWK49NN11VXQOat0oHzbboo1-hDGNy6Vn9L2U2q8hYIIKEIh4QCoAfjdTmoTyhzVlAo7PWJeKqgXxoqSBlrwesCV4t7EoPROwec6OtgOkcZhiCseuXz_YARsY3tl6JS0IudMsGKR_naHxYIU69ogAs0uPK1sHCnMHFc5wMcKFNT8Hy31ulU=",
  "id": "rs_0002122b65528261016ab44100debc87d080b05fe2f4c433bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.18,\"left_z\":0.25},\"note\":\"The loaded arm stalled after only a small lateral shift and sagged near z≈0.10, while the bowl remains securely held. I am reducing forward reach and raising substantially to escape this awkward rotated configuration before continuing toward the center bowl.\"}",
  "call_id": "call_Lhwy4Q2tQGOCkpSsA2sZYcY3",
  "id": "fc_0002122b65528261016ab44102d06887d0b27c3cba9c761599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lhwy4Q2tQGOCkpSsA2sZYcY3",
  "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]: [-0.7204, 1.8259, 1.4853, -1.5497, -0.4648, -2.0621, 0.0195, -0.0219, 0.8371, 0.5945, -0.4755, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.1131 left_z=0.126 left_yaw=1.3003 left_pitch=-0.4457 left_roll=0.097 left_gripper=0.0195 right_x=0.2814 right_y=0.0003 right_z=0.1453 right_yaw=-0.0016 right_pitch=-0.14 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.8821, -10.1128, 5.2171, -0.4811, -0.2369, -0.3297, 0.8816, -0.1162, -1.3333, 7.0769, 1.5995, -0.0317, -0.0415, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eeb2fddcd5e9492e6b166fd355eb7012a6c861d6f8f3b858d9cebb5bf8374c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fb16af3dd2915cc51b1e74120a91ac3e21cc388f1d28ea8c69d7adcf8fa59c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9187d8300a300343f2110193b7161086510b2b47534f5f2aeaa28650e217fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 6.146 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]: [-0.5686, 1.9911, 1.3296, -1.2453, -0.5346, -2.009, 0.0171, -0.0216, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.29 left_y=-0.0743 left_z=0.0405 left_yaw=1.3932 left_pitch=-0.382 left_roll=0.1159 left_gripper=0.0171 right_x=0.2813 right_y=0.0005 right_z=0.1471 right_yaw=-0.0013 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.9214, 6.2838, -0.5299, -0.1587, 0.0366, 0.696, -0.0752, -1.5385, 6.9675, 1.5849, -0.0415, -0.0269, -0.0171]",
      "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]: [-0.6746, 2.0842, 1.7496, -1.5593, -0.4789, -2.0621, 0.0173, -0.0219, 0.836, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.3096 left_y=-0.1388 left_z=0.1033 left_yaw=1.3404 left_pitch=-0.4321 left_roll=0.094 left_gripper=0.0173 right_x=0.2814 right_y=0.0003 right_z=0.1457 right_yaw=-0.0016 right_pitch=-0.1385 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -8.5128, 7.4325, -0.4322, -0.3248, -0.398, 1.0037, -0.212, -1.8393, 7.1043, 1.6337, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7204, 1.8259, 1.4853, -1.5497, -0.4648, -2.0621, 0.0195, -0.0219, 0.8371, 0.5945, -0.4755, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.1131 left_z=0.126 left_yaw=1.3003 left_pitch=-0.4457 left_roll=0.097 left_gripper=0.0195 right_x=0.2814 right_y=0.0003 right_z=0.1453 right_yaw=-0.0016 right_pitch=-0.14 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.8821, -10.1128, 5.2171, -0.4811, -0.2369, -0.3297, 0.8816, -0.1162, -1.3333, 7.0769, 1.5995, -0.0317, -0.0415, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eeb2fddcd5e9492e6b166fd355eb7012a6c861d6f8f3b858d9cebb5bf8374c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fb16af3dd2915cc51b1e74120a91ac3e21cc388f1d28ea8c69d7adcf8fa59c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9187d8300a300343f2110193b7161086510b2b47534f5f2aeaa28650e217fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEIDZjnSoEWj8wMnDRjD9BQaJpTo-mTAwmavojiNM2VaGIAR9LFbQHI5AzyFdoLAhz4ux_7tMqqSAu9Y70dUD4rjVMqXaWZ5M5XYInm8xQBJIuKatt7_Emk6vehf7Mi78TBuauMcOtQgNAtftwP3iht85gxk5C620S6HS0VJ8CPDFL9YKWxeZtzyxtQRHu8wRBYV2C_pW-oea4T91GiHtCk3n4sZuHL2wLO3qXlrFjGbSLXj9DPK51LNqe-35hR0Bdg-O6AY6hzcEa6JLw66LfVnmFlS4UwV20IWByI8QTx0o6KdaBQ2NcVVAowEoToY5Itt_-lAhMCP7eBdIGaQ3LzOCwYder5Ja1gZ-_CS3uSU5iaK0zBGDAKrKyn_RfcvjE_DAddATO6PJMENoT-Plek-Hdc3Vw7NdqRCWXHlvDvRsxWNHcqJF57RgDXNibZNaxh1me9fsF8rYMx6iBcPbOIAec9hUYWHNnpfIk7zVJD5wd_wL9G0zjcyqCwAUi6W_u0QMCTqiYgGQECECqGuW_LD7XQ8Yn_hFHlG5jiEqqiX6zIihEYWcAvtZoiLahzHcDJkxMtj-DqR9i6XRXu94WH4ju-xn3WchpUsDnvjYXuaHRvf7KOp7wLLZ0nnuEX6a24HBTHXkYYLHqBT--VQCiogx2EknfxJS1slHMaYmIso-HtrNimDXcfaX5T2gjUFqknL_ic34hVoQ-WCWTS0rlQiYjWU8mN_z4EHEsReCJvbohblCm70Cfo7hjmSgO9DEiuwFCVbqDJsLLPaCJNUypa1Fpwz-pr1RYXWg0JJUykqL5H0Ty7Q2HYstLMCUgtxJiF61Z1bja_nvtW0W-MGE7Inpwjtp1vDwFDLrm2uY11_0TezVPvSUrRmBMOeUj98ZNpGLXMrax9b3u1Lj5AgwscbHAbujvkg_x3HAI-D1Drb95bVBao6PoESQeg7gs4uzgpIPTQ3REz8u9O_zdFjcOZltvYzXu6V7buoJLTnCryEgp0dWg_lpkV7Wqk4mJf1mj6c0yVSTSdILeU0nDnUSMJFA7EqAcgUI8j1TkBfM8jKg9iK5bKKCSZWF8E6DraoxL3g51lEOdAf5tKnXnOwy17PSIrTpAq5w_fxMJt027kx-ch-_-wpLzQTb9WciKOwyR8pV0QXkpckuBupGopOHHMEFRnUvqY8iwdo8etKdIcwabpFvn0_Z8YNEsoIgVZEyv03gTBBQo_llVC27rg8FJdy68K_d3-5yTBvVtb6Yv99smg6amf8eaQZ1S3nABjjz1cTq63rj5YvueVh-yRqMlvQaeQJ5pToUppOJiMzAoiqo7IklnIfCoq5vXGJBUUJm0zYTCrroNo5RO_uoUdDQGMd3XBV7Pdkj16xlBE_hjir8enM0-Y23QNr9AU3CJHxmyUO2rsRmElgBT1O-uMjTPfGfieDOBBwwNuTvwEo1RzBKcvf_HCA6BF6uQ3ccT_srTJ3Ge-2LOcesp5M1S3k6KUTSAq3AQvJDKDPPcNBWmZtaY5r8z6iYOWptqeVCqdHuxYrNIAk4F51iyytWvDyAlBsr_t-__OfsGUR6s_BCvHvZOin8duOJd9kUgxbQuLrWBpRxmMF_KeoC0QRh4PBvc3U9ejfTovlhBuFRRGSujGVAeGMqwJN9FKHEXl-f2iy9iuP_4rNKhjW_Mp1vCqXcmHKFsCf1A8eW_9YPHiThhBPDCiCh5Y0qSBwnuioijaXKQafUFK01K2OBrYbgE2mfOyWISUkE4107QO3abUdtLzUOO31TZTZOKmlpKMv7qVLto4Rm67-9b0RNoCdPJ9H578QcfkJOL12BB9z5_bfeIPZKg=",
  "id": "rs_0002122b65528261016ab4410598e887d08e5d48f711543be5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.18,\"left_z\":0.25,\"left_yaw\":0.6},\"note\":\"The arm raised only slightly and still cannot cross laterally in the near-90° wrist configuration, though the rim grasp remains intact. I am partially unwinding the wrist while keeping extra height and reduced reach; this should free the arm to move toward the table center without releasing the bowl.\"}",
  "call_id": "call_dph13fCDNndhFACnZDRMDgB8",
  "id": "fc_0002122b65528261016ab441071f3487d0b54c6c8d7d5e9f95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dph13fCDNndhFACnZDRMDgB8",
  "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]: [-0.9813, 1.6238, 1.4895, -1.5578, -0.5137, -1.6596, 0.0199, -0.0219, 0.8379, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2183 left_y=-0.1638 left_z=0.1802 left_yaw=0.6834 left_pitch=-0.4769 left_roll=0.0985 left_gripper=0.0199 right_x=0.2815 right_y=0.0003 right_z=0.1452 right_yaw=-0.0016 right_pitch=-0.1404 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.6906, 8.3214, -0.0952, -0.6178, 0.2125, 0.8913, -0.1709, -1.5111, 6.9538, 1.619, -0.0611, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7461ae8adc2171a67b55771f2e002999faedf01e1c6de7d47a62c8931ebc8b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365e32e1468791c96310a179197c5cda3c1dd45e55baba872aeb48408753907c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366cedded0385413d5ff5cf5b8c8541e1f79425e13be8e06e98a54bd5c799eb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 4.494 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]: [-0.5629, 1.9266, 1.5417, -1.5047, -0.524, -2.0125, 0.0172, -0.0219, 0.8307, 0.5945, -0.4747, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=-0.0777 left_z=0.1116 left_yaw=1.3994 left_pitch=-0.3977 left_roll=0.1008 left_gripper=0.0172 right_x=0.2813 right_y=0.0003 right_z=0.1471 right_yaw=-0.0016 right_pitch=-0.1327 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -11.1658, 7.3641, -0.6081, -0.4371, 0.1685, 1.0281, -0.1846, -1.1009, 6.9402, 1.619, -0.0659, -0.0659, -0.0073]",
      "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]: [-0.7204, 1.8259, 1.4853, -1.5497, -0.4648, -2.0621, 0.0195, -0.0219, 0.8371, 0.5945, -0.4755, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.1131 left_z=0.126 left_yaw=1.3003 left_pitch=-0.4457 left_roll=0.097 left_gripper=0.0195 right_x=0.2814 right_y=0.0003 right_z=0.1453 right_yaw=-0.0016 right_pitch=-0.14 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.8821, -10.1128, 5.2171, -0.4811, -0.2369, -0.3297, 0.8816, -0.1162, -1.3333, 7.0769, 1.5995, -0.0317, -0.0415, -0.0171]\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 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9813, 1.6238, 1.4895, -1.5578, -0.5137, -1.6596, 0.0199, -0.0219, 0.8379, 0.5945, -0.4751, -0.0166, -0.0311, 0.9992]\nstate[eef_state]: left_x=0.2183 left_y=-0.1638 left_z=0.1802 left_yaw=0.6834 left_pitch=-0.4769 left_roll=0.0985 left_gripper=0.0199 right_x=0.2815 right_y=0.0003 right_z=0.1452 right_yaw=-0.0016 right_pitch=-0.1404 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.6906, 8.3214, -0.0952, -0.6178, 0.2125, 0.8913, -0.1709, -1.5111, 6.9538, 1.619, -0.0611, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7461ae8adc2171a67b55771f2e002999faedf01e1c6de7d47a62c8931ebc8b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365e32e1468791c96310a179197c5cda3c1dd45e55baba872aeb48408753907c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366cedded0385413d5ff5cf5b8c8541e1f79425e13be8e06e98a54bd5c799eb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEPSrs6sqD9FjOeRipYFCKz87ux-XCqhIFrneLfxiLVfeT1uaHRLGzaS3D20wjInY4QMf2wm4m3iFhxLUCBdbF7ZppxmUPu4oiyqDbu0HtNvhwGVJo5uoWvoQMRqhVFwwveq0RadnzaP5JDLkucCJZtqpwGIfszmJmv07RWSIJleJsJ4gTBu3D7to4aAgFqR3-5mk4HPn9YdjTJgfr2afJ7OADNjlicWZwBU36OWbp3GZg-nTwvOsZtjaepCk9O2DYtIA4ZJgFDATDxtEpv-3pDMs4CCLMhPbOrbZne4yPMgUoHI742pY8lUlhFcNi1GpuMKxac9QFjtwFBGRckDUBK7oy0Wtt5_Qm8Hs96JsWa6USCALlhOSyjY-CWFPb0y7TAUvN8j4ChaMPHpxrud-aZlCU7g23-o_gWMGBEWxAydPQxqe1CekaaTr0oUlPOs25zpKX0jBabK_Y7tMBLD-h14SSX0QQEeURs5NRh6DlCO0W1_t7KzvUghyS52kEU28aUlanIVchN72AXV7kfsNHH7ljsfdTZtD9hTFfFHrsuYqZClYzcEILUuC3xlV5MPJ5qnwKvA63lKNKDphX_iPvXUzI1L3f3AzZ-HYxoK7B3ztBvEZiRU_2iJ09fL5yZvLpvj9sg91AWNYaIj91BEVb30JzlQtAIJAQ9CYegR1r189HN6qTZGY4DHxCyDQjw0Ia1XWujdxWiuxWD9rvhEeGRKbcw61TRkvra1AEEzy3GXp1rh61pz0njFOPVrg092HiXec45jx0Xrbkll662WyScJLP3cfQY70VV4HOJOJ-7xE988IVMYlX8u-LX33r52oGtP4yLJyeSvn93VI9QvdAZuA98t19cJ13POpqd6mqHZluxV_Gi-pq_-z_RaGANEpzkFhF4uINvJ53SYylQgGDjAqSWfgDmiKpEOc3zx2Wcv31Ypr5MnTjOVDBStyoDwKPKFZbplEnLZV2sBUSbWkIC3-JafULkLiffObsIH4lBIAsTEZVwRpIYW6pb4eBVu3ZGSqR5expmlv0pJL7Lug6n2dPIKq2ITisMnIKX5ZdmVHjfLWZgYP3keVVJxeRR7na18749iuKb5uZF6Vy1EYFiKk5eqpf9plCjnlm-VMlrjoao7-qNFokJBkXud6UsdZfULzK-1v4hxGjhIU35wGcpkqGF9lCW0EO43SZaK65UhPiQJUgfFYtjG5tG41dRdNioE_Ss5CwKK3BNXw52PYuu-HrZn2PoQJgDK4bEWqnKFwSo-gyL58idLJK7B_IFQSMJOEJtSNC6fv8mhPixwiPlo9f314ElshkolzGPHSeVmwIpMAcLbU8OJg56lF21OuCH-9czDfXxCl9Y4hxOH7AUpJBm8GkLNtp-oSnLkMSl1wd7CKyC9BVWRHK3BkU413lSnuyQYC_HLfSIvAf8WC4ZRb4JuHbSlV3Og2QLGQMUqfB-poKQ0bsWqDLFZljaXB2GZ6bLwTdyWUq3hikNIMJmTn4NDN1sm9_By6OnyjRLqATHXKfZDB00ovAvuJ4uOQ9lzGUxTbOvCEZBd2FYdPWgDGwdQesCBjMR_gZX8b7PklWNcPl8ediw_1KrRTvFLX_a0gfHSBjbSQYct5XpV0nrNv1iUU-Xb8vBhSzl5pHGqDdZNviF5sF6d2E4bCy1fsJN2IciiX9DPW5444-74fRs6oP9chbtuwkP_cw6qUk32rxPqrO-7EERSXvc-ghZuBrOvQtdVY4nhZFi6q6lnBI3zqnvd82fbJZHAK1nzplsiphPTfXk1-MfB2OdiJ-xQhkujZ3u9e0s5ChTtRIIeq4eEBQHSNnHUktQhcQT7Fja2PtJUlpRfJMpzw_pzOvpcwjtCYHgQkp-DDO8nJltWYTul7x21gyhVsLkRd5YtV-zLr8Yqkbhe6TXT5s7KlpqZuz1bMdtrOaFDOB1OflpuQTCP7J77xxmP__BauSCq6fkdJly_xK-1Y35CIMbHfdCUropeUjaGG-CImJ2cwSUL_ilqmCA4nUmrXyxOoapMCYJyeL18cjwerIyhokDgHqw5Mz43x2fv9hmdg8pUKHRP9bw7jkIhCLKtRJ5gtUJhzx7fMLTkZo1aKgTP9obJ4eBK5LQZfsu1XxbtBoTtPp90izi_o6Pu8TWHbHeKaHArtqt_6BeZmoub9ISlSEmGbqhXWI6cvJAOnTP5q9ZBftvZ8aWTWaIjzyF-n_wHdo3ECFmqfntTf7lr4FOhGqY2X9_rExv23odckTWoJdGziEESOYiwnTIAtsETrBDZfZdk7D9UjIY9ploOXB6QmVr6bVLlidPnvixIQSD5qo19ZkGib3uCVcpQ8F9Jp9JATG8uXCBylfx-hglyr-yAiWKupQeRRWMGyXuvq6gorhgrwnFQFq1_c9jG7NqQmT0mAuFixUVdZDA-sLtixCdWmk4UfZQWasXeHkQmxMYBOKnG_rcPUSgAHteE1bW1XLpO0NllgAGq_R5MSOwYLJZ8MCo23wsneuPngZtogwd7awiTClSGfQPIWa42N43R1hvrnp7DVUAt38cqilEpWycpEPIMYevGTh-QjqvTX_Ado9sCRt0VuhhqkNS6pNGdOpLu7AYCrfZA6vhfgW2v3csp61_RwQkf-6p9tlnnZfO_qBohZ-TV-UVEi4oWEZszx5pvcmxPPn7RdtrP-V9M80tkXOneAHYLHl-rTUmB9DM8xxZ4ZmnTetukjDAB5kUX1iuSBvWT7JIkmTsyykiRVRHK5czJnCGF7FSKfYT42navp148VwuwUOCDE5x0xFUkvXMQenFlXs4N_CFB56Q6dwRlCbyFbGvAb1ph2tvGOk8uG-INEu-PtogVwC5s51xLG7hDiGBGPm0Rn5yOSYtLe8H0NeDp29GP_nNM2f36I6sA9GxB1Rxv8w3FYw2xg3Am8O5VFncd2vnbJgV5TBMz8PQdDtm-MDum0ynCkQGvevVbkCM14967bFzib7gFKFBj9wUVTW4CwvynOh2aFTprK0e_qwLGaaOxXnrXqsSEy9IFRcORgTsf3lgL-IRCBLo4ZijFFC3xXhOT4ZuJkmDNTrODBEhd8Fc61KDd9RWENG2b9YlALJmUanjXACslgRJHBvagjLH4HN2fgAoi87fZ7Z3c8hcNey4v636Q3uf4aMwRYu98F0KPv51LNiVluB7_1kczHW1d1nixZ2bb832aXrsBk3FTeW0ANYB-TKx14dIvH9jS1SCgcr4VerqdCN_LqWd4BHc7Ymj_rzBc7eByFT862QvMZ3rk5c1e_AYL45YdH4YPshT-H92hZ137nQSGcI2U6mnaZWxgo0=",
  "id": "rs_0002122b65528261016ab4410addcc87d0bb1f96a2814fc52d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.23,\"left_z\":0.22,\"left_yaw\":0.6},\"note\":\"Partially unwinding the wrist freed the arm and raised the held bowl; the overhead view shows its center offset forward-right from the grasp point and approaching the teal bowl. I am translating the freed arm forward and inward to align the carried purple bowl over the teal base bowl.\"}",
  "call_id": "call_kMg1lFkZZeYimSz0zJgCUY7k",
  "id": "fc_0002122b65528261016ab4410deeb087d09b9e5d18f0f5d1b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kMg1lFkZZeYimSz0zJgCUY7k",
  "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]: [-0.9409, 1.7302, 1.6112, -1.557, -0.5095, -1.5932, 0.0201, -0.0216, 0.8391, 0.5945, -0.4751, -0.0166, -0.0311, 0.9991]\nstate[eef_state]: left_x=0.2425 left_y=-0.1803 left_z=0.1803 left_yaw=0.6757 left_pitch=-0.4864 left_roll=0.1179 left_gripper=0.0201 right_x=0.2815 right_y=0.0005 right_z=0.1449 right_yaw=-0.0012 right_pitch=-0.1415 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -8.4171, 7.4872, -0.0415, -0.4371, 0.0024, 0.8816, -0.1436, -1.5248, 6.9402, 1.5702, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2fc1783a3eee3177e9b908e73efb9ef30cd0545466597f1a7ac29cdcb74519",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a753287c747b21422fe8d62ba13d42bd7737d573a45cf9a987b9346c5121121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ce59fa230f00f4baf5aaecfce8db3ebb18ec66f02deab99e7266ad94912859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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