adhoc

completed
2026-09-23T21:29:21.514542+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
199.1 s
total steps
236
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree upright bowls are spread left-to-right across the table; I will use the left arm first on the left bowl and keep the right arm parked. The left wrist view puts that bowl to the right and slightly beyond the fingertips, so I am shifting inward and forward to hover above it.
move_to
left_x0.3300left_y-0.1000left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0132, -0.0196, 0.999] state[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.5402, -1.6479, 10.0991, 1.8632, -0.0269, 0.2515, -0.0611, -0.5265, -1.3744, 10.3043, 1.9267, -0.0952, 0.0659, -0.1197] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.1,"left_z":0.15,"left_gripper":1.0,"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_gripper":1.0},"note":"Three upright bowls are spread left-to-right across the table; I will use the left arm first on the left bowl and keep the right arm parked. The left wrist view puts that bowl to the right and slightly beyond the fingertips, so I am shifting inward and forward to hover above it."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe left bowl is now centered on the jaw column, but it remains fully visible ahead of the fingertips in the wrist view. I am advancing a few centimetres while staying high so the grasp point, rather than just the camera, reaches the bowl center.
move_to
left_x0.3500left_y-0.1000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5091, 1.1198, 0.5983, -0.2001, -0.3901, -0.305, 0.9996, -0.0216, 0.8005, 0.6018, -0.3893, -0.0162, -0.02, 0.999] state[eef_state]: left_x=0.3162 left_y=-0.0955 left_z=0.1255 left_yaw=-0.0365 left_pitch=-0.0859 left_roll=0.0364 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1752 right_yaw=0.0032 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.999 state[joint_eff]: [-0.294, -4.1231, 10.0444, 1.8681, -0.2027, -0.0464, -0.0562, 0.0889, -1.6615, 7.4462, 1.8242, 0.022, -0.0171, -0.1197] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.15,"left_gripper":1.0},"note":"The left bowl is now centered on the jaw column, but it remains fully visible ahead of the fingertips in the wrist view. I am advancing a few centimetres while staying high so the grasp point, rather than just the camera, reaches the bowl center."})
tool
executing move_to over 3 steps (0.3s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteAfter the small advance, the bowl has moved down into the fingertip region and remains laterally centered. I will descend with the jaws fully open so they straddle the tapered bowl near its lower half.
move_to
left_x0.3500left_y-0.1000left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4599, 1.2301, 0.7116, -0.2245, -0.3752, -0.3031, 0.9996, -0.0216, 0.804, 0.6018, -0.3931, -0.0166, -0.02, 0.9989] state[eef_state]: left_x=0.3413 left_y=-0.0928 left_z=0.1331 left_yaw=0.0007 left_pitch=-0.1095 left_roll=0.0387 left_gripper=0.9996 right_x=0.2934 right_y=0.0002 right_z=0.1735 right_yaw=0.0035 right_pitch=-0.0251 right_roll=0.0022 right_gripper=0.9989 state[joint_eff]: [-0.3624, -5.012, 8.9368, 1.3993, -0.1294, 0.2759, -0.0611, 0.0205, -0.9778, 7.0222, 1.7363, -0.0806, -0.0464, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.015,"left_gripper":1.0},"note":"After the small advance, the bowl has moved down into the fingertip region and remains laterally centered. I will descend with the jaws fully open so they straddle the tapered bowl near its lower half."})
tool
executing move_to over 8 steps (0.8s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe attempted full descent did not track—the readback stayed near 14 cm—so this is an IK hold rather than table contact. I am using a smaller intermediate descent with a slightly shorter reach and neutral tool orientation to obtain a stable path.
move_to
left_x0.3400left_y-0.1000left_z0.0800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.2419, 0.7437, -0.2325, -0.3588, -0.2848, 0.9996, -0.0219, 0.8043, 0.6003, -0.3927, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3469 left_y=-0.0965 left_z=0.1405 left_yaw=-0.0177 left_pitch=-0.1037 left_roll=0.0377 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.1728 right_yaw=0.0028 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [-0.0889, -4.9026, 8.4581, 1.5507, -0.0562, 0.1587, -0.0611, -0.1983, -1.1009, 7.159, 1.7167, -0.0464, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.1,"left_z":0.08,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The attempted full descent did not track—the readback stayed near 14 cm—so this is an IK hold rather than table contact. I am using a smaller intermediate descent with a slightly shorter reach and neutral tool orientation to obtain a stable path."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe intermediate command produced a partial descent to about 12 cm without disturbing the centered bowl. I will continue in another small step, shortening the reach slightly to avoid the low-reach IK stall.
move_to
left_x0.3350left_y-0.1000left_z0.0700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4789, 1.2694, 0.6559, -0.1043, -0.3874, -0.2989, 0.9996, -0.0216, 0.8043, 0.6003, -0.3927, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3453 left_y=-0.1001 left_z=0.1186 left_yaw=-0.012 left_pitch=-0.0835 left_roll=0.038 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1728 right_yaw=0.0034 right_pitch=-0.0267 right_roll=0.0017 right_gripper=0.9989 state[joint_eff]: [-0.4718, -0.1026, 4.0, 1.2186, -0.1197, -0.0415, -0.0611, -0.1026, -1.2786, 7.0632, 1.7363, -0.0415, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.1,"left_z":0.07,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The intermediate command produced a partial descent to about 12 cm without disturbing the centered bowl. I will continue in another small step, shortening the reach slightly to avoid the low-reach IK stall."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe arm now tracks well at 6.4 cm and the bowl remains centered between the open jaws. I will lower to about 2 cm so the fingertips can close around the narrower lower body rather than the wide rim.
move_to
left_x0.3300left_y-0.1000left_z0.0200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5064, 1.3327, 0.437, 0.1879, -0.4149, -0.3191, 0.9996, -0.0216, 0.8082, 0.5999, -0.3923, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3282 left_y=-0.0965 left_z=0.0643 left_yaw=-0.0069 left_pitch=-0.0659 left_roll=0.0331 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1717 right_yaw=0.0034 right_pitch=-0.0305 right_roll=0.0018 right_gripper=0.9989 state[joint_eff]: [-0.3897, -3.7538, 6.2701, 1.7998, -0.1978, -0.0171, -0.0562, -0.1573, -1.5521, 7.0496, 1.7509, -0.0171, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.1,"left_z":0.02,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The arm now tracks well at 6.4 cm and the bowl remains centered between the open jaws. I will lower to about 2 cm so the fingertips can close around the narrower lower body rather than the wide rim."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe grasp point reached table level and the bowl is still centered between the jaws, with the fingers outside its lower walls. I will close fully and use the settled opening to determine whether the tapered bowl was captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5186, 1.5646, 0.3244, 0.5049, -0.421, -0.3309, 0.9996, -0.0219, 0.8116, 0.5999, -0.3969, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3209 left_y=-0.0959 left_z=0.0087 left_yaw=-0.0068 left_pitch=-0.0877 left_roll=0.0406 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1698 right_yaw=0.0033 right_pitch=-0.0385 right_roll=0.0022 right_gripper=0.9989 state[joint_eff]: [-0.5265, -7.241, 4.9436, 2.1856, -0.2906, -0.0562, -0.0611, -0.1026, -1.5932, 7.1316, 1.7167, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The grasp point reached table level and the bowl is still centered between the jaws, with the fingers outside its lower walls. I will close fully and use the settled opening to determine whether the tapered bowl was captured."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe gripper settled essentially fully closed at 0.009, so the first close was empty; the wrist view shows the bowl still outward from the closed fingertips. I will reopen and lift slightly before correcting the radial position for one deliberate retry.
move_to
left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5228, 1.5799, 0.3065, 0.5095, -0.421, -0.3374, 0.009, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3139 left_y=-0.0935 left_z=-0.0005 left_yaw=-0.006 left_pitch=-0.1124 left_roll=0.0496 left_gripper=0.009 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989 state[joint_eff]: [0.3214, -6.2427, 5.641, 1.5507, -0.149, 0.0611, 0.6813, -0.1846, -1.0598, 7.0085, 1.7167, -0.0366, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_gripper":1.0},"note":"The gripper settled essentially fully closed at 0.009, so the first close was empty; the wrist view shows the bowl still outward from the closed fingertips. I will reopen and lift slightly before correcting the radial position for one deliberate retry."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteWith the jaws open again, the bowl appears several centimetres beyond the fingertip convergence point and slightly to the tool's right. I will rise clear while shifting about 5 cm outward and 2 cm inward laterally, then re-check alignment before the second descent.
move_to
left_x0.3600left_y-0.1150left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5228, 1.3041, 0.3988, 0.1307, -0.4206, -0.3412, 0.9947, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3101 left_y=-0.0913 left_z=0.0493 left_yaw=-0.0036 left_pitch=-0.1217 left_roll=0.0517 left_gripper=0.9947 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989 state[joint_eff]: [-0.212, -4.465, 8.4308, 1.4188, -0.1685, 0.0171, -0.0855, -0.212, -1.347, 7.0359, 1.7167, -0.0562, -0.0464, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.115,"left_z":0.12,"left_gripper":1.0},"note":"With the jaws open again, the bowl appears several centimetres beyond the fingertip convergence point and slightly to the tool's right. I will rise clear while shifting about 5 cm outward and 2 cm inward laterally, then re-check alignment before the second descent."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe corrected hover centers the bowl on the jaw column, and its lower wall now reaches the fingertip convergence row—much better than the first attempt. I will descend to 6 cm while holding this corrected forward and lateral position.
move_to
left_x0.3600left_y-0.1150left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5121, 1.3586, 0.7238, -0.1059, -0.4164, -0.3408, 0.9988, -0.0219, 0.8162, 0.5999, -0.4129, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3578 left_y=-0.1151 left_z=0.117 left_yaw=0.0017 left_pitch=-0.0936 left_roll=0.0326 left_gripper=0.9988 right_x=0.291 right_y=0.0001 right_z=0.1653 right_yaw=0.003 right_pitch=-0.0591 right_roll=0.0025 right_gripper=0.9989 state[joint_eff]: [0.5402, -4.7111, 7.7333, 1.2283, -0.0659, 0.0757, -0.1343, -0.1573, -1.6615, 7.2274, 1.8144, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.115,"left_z":0.06,"left_gripper":1.0},"note":"The corrected hover centers the bowl on the jaw column, and its lower wall now reaches the fingertip convergence row—much better than the first attempt. I will descend to 6 cm while holding this corrected forward and lateral position."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteAt 4.6 cm the open jaws remain symmetrically placed around the bowl, although the arm again shortens slightly as it descends. I will lower to table level while retaining the outward target so the jaws surround the tapered base.
move_to
left_x0.3600left_y-0.1150left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.5013, 0.59, 0.0704, -0.4164, -0.3386, 0.9988, -0.0216, 0.8165, 0.5999, -0.4152, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3452 left_y=-0.1074 left_z=0.046 left_yaw=0.0088 left_pitch=-0.181 left_roll=0.0844 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1648 right_yaw=0.0034 right_pitch=-0.0617 right_roll=0.0025 right_gripper=0.9989 state[joint_eff]: [0.1709, -6.2974, 6.5299, 1.917, -0.1197, -0.0366, -0.1392, -0.0889, -1.3744, 6.9812, 1.7118, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.115,"left_z":0.01,"left_gripper":1.0},"note":"At 4.6 cm the open jaws remain symmetrically placed around the bowl, although the arm again shortens slightly as it descends. I will lower to table level while retaining the outward target so the jaws surround the tapered base."})
tool
executing move_to over 3 steps (0.3s)
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 noteAt table level the bowl is centered and both open fingers appear evenly outside its lower sides, unlike the first close. I will close for the second grasp attempt and judge capture from the remaining jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.6711, 0.5831, 0.2138, -0.4175, -0.3408, 0.9988, -0.0216, 0.8192, 0.5999, -0.416, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3525 left_y=-0.1113 left_z=0.0081 left_yaw=0.0142 left_pitch=-0.2092 left_roll=0.1004 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1639 right_yaw=0.0032 right_pitch=-0.0652 right_roll=0.0029 right_gripper=0.9989 state[joint_eff]: [0.0889, -7.9658, 5.4632, 1.7363, -0.1636, 0.0073, -0.1343, -0.0342, -1.0051, 7.0085, 1.6581, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"At table level the bowl is centered and both open fingers appear evenly outside its lower sides, unlike the first close. I will close for the second grasp attempt and judge capture from the remaining jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe second close also settled empty, and the bowl was pushed outward despite good center alignment; its rounded body is ejecting from an outside grasp. I will lift the closed gripper clear, then switch to pinching a single rim wall with one finger inside and one outside.
move_to
left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.6886, 0.5831, 0.2142, -0.4179, -0.3408, 0.0088, -0.0219, 0.8192, 0.598, -0.4164, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.351 left_y=-0.1103 left_z=0.0022 left_yaw=0.0164 left_pitch=-0.2239 left_roll=0.1094 left_gripper=0.0088 right_x=0.2904 right_y=0.0001 right_z=0.1629 right_yaw=0.003 right_pitch=-0.0675 right_roll=0.0027 right_gripper=0.9989 state[joint_eff]: [-0.1162, -8.0889, 4.9983, 1.3797, -0.1441, -0.0366, 0.652, -0.0615, -1.3197, 7.1316, 1.6581, -0.0659, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1,"left_gripper":0.0},"note":"The second close also settled empty, and the bowl was pushed outward despite good center alignment; its rounded body is ejecting from an outside grasp. I will lift the closed gripper clear, then switch to pinching a single rim wall with one finger inside and one outside."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteClear of the bowl, the wrist view shows the pushed bowl farther outward; its center is around 4–5 cm beyond the jaw point. I am moving outward to the bowl's radial center while offsetting toward its left rim, with the jaws open so the two fingers can later straddle that single wall.
move_to
left_x0.4000left_y-0.0900left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.4479, 0.7578, -0.2066, -0.4171, -0.342, 0.0071, -0.0219, 0.8211, 0.5957, -0.4191, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3503 left_y=-0.1101 left_z=0.0835 left_yaw=0.0171 left_pitch=-0.2287 left_roll=0.1109 left_gripper=0.0071 right_x=0.2897 right_y=0.0001 right_z=0.1609 right_yaw=0.003 right_pitch=-0.0743 right_roll=0.0029 right_gripper=0.9989 state[joint_eff]: [-0.0889, -7.1043, 8.841, 1.4579, -0.232, -0.0122, 0.7155, -0.1162, -1.4974, 7.2137, 1.6728, -0.0513, -0.0708, -0.0171] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.09,"left_z":0.12,"left_gripper":1.0},"note":"Clear of the bowl, the wrist view shows the pushed bowl farther outward; its center is around 4–5 cm beyond the jaw point. I am moving outward to the bowl's radial center while offsetting toward its left rim, with the jaws open so the two fingers can later straddle that single wall."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe bowl now fills the wrist view with its left rim aligned near the jaw center while the bowl interior lies to the right, which is the desired one-wall offset. I will descend to approximately rim height without changing the tabletop position so one finger enters the bowl and the other stays outside.
move_to
left_x0.4000left_y-0.0900left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3748, 1.5246, 0.9413, -0.3084, -0.3363, -0.2516, 0.9955, -0.0219, 0.823, 0.5953, -0.4221, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3894 left_y=-0.0867 left_z=0.1067 left_yaw=0.0376 left_pitch=-0.2586 left_roll=0.1146 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1596 right_yaw=0.0034 right_pitch=-0.0797 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [0.4171, -6.0239, 9.3197, 1.5018, -0.0757, 0.105, -0.1441, -0.0205, -1.2239, 7.0496, 1.6728, -0.0708, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.09,"left_z":0.055,"left_gripper":1.0},"note":"The bowl now fills the wrist view with its left rim aligned near the jaw center while the bowl interior lies to the right, which is the desired one-wall offset. I will descend to approximately rim height without changing the tabletop position so one finger enters the bowl and the other stays outside."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteAt 5 cm height the jaw center sits directly on the bowl's left rim, with one open finger outside the bowl and the other visibly over the interior. I will close to pinch the rim wall rather than squeeze the rounded body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3721, 1.6493, 0.8585, -0.1635, -0.3367, -0.2512, 0.9988, -0.0216, 0.8242, 0.5949, -0.4225, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3883 left_y=-0.0851 left_z=0.0501 left_yaw=0.0479 left_pitch=-0.3158 left_roll=0.1415 left_gripper=0.9988 right_x=0.2893 right_y=0.0002 right_z=0.159 right_yaw=0.0032 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9989 state[joint_eff]: [-0.1436, -7.3231, 6.2154, 1.8291, -0.149, -0.0317, -0.1343, -0.0342, -1.4838, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 5 cm height the jaw center sits directly on the bowl's left rim, with one open finger outside the bowl and the other visibly over the interior. I will close to pinch the rim wall rather than squeeze the rounded body."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe rim pinch closes to 0.022, which is near the empty threshold but also consistent with a thin plastic wall, and the wrist image shows a jaw still at the rim. I will lift about 7 cm; the overhead view will decisively show whether the bowl rises with the gripper.
move_to
left_z0.1200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3721, 1.6604, 0.8509, -0.1471, -0.3325, -0.2623, 0.022, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3881 left_y=-0.0857 left_z=0.0454 left_yaw=0.051 left_pitch=-0.3184 left_roll=0.1318 left_gripper=0.022 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [-0.294, -7.6513, 6.9402, 1.0037, -0.188, 0.0855, 0.9206, -0.0889, -1.347, 7.1453, 1.6337, -0.0415, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.12,"left_gripper":0.0},"note":"The rim pinch closes to 0.022, which is near the empty threshold but also consistent with a thin plastic wall, and the wrist image shows a jaw still at the rim. I will lift about 7 cm; the overhead view will decisively show whether the bowl rises with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe bowl remained visible in its own wrist camera during the lift, confirming the thin-rim close did not hold it. I will now center the closed jaws over the bowl interior, then use an outward-expansion grasp against the inner walls.
move_to
left_x0.4100left_y-0.1300left_z0.1200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3729, 1.5719, 1.0046, -0.408, -0.3302, -0.2707, 0.0223, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3874 left_y=-0.0862 left_z=0.0987 left_yaw=0.0557 left_pitch=-0.3356 left_roll=0.1326 left_gripper=0.0223 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [-0.1846, -9.1829, 8.7043, 1.2527, -0.2515, 0.0513, 1.0281, -0.0752, -1.3744, 7.0359, 1.6777, -0.0464, -0.0464, -0.0171] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.13,"left_z":0.12,"left_gripper":0.0},"note":"The bowl remained visible in its own wrist camera during the lift, confirming the thin-rim close did not hold it. I will now center the closed jaws over the bowl interior, then use an outward-expansion grasp against the inner walls."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe overhead view now puts the closed gripper over the white bowl center; the wrist camera only sees the near portion because the fingertip point projects below its frame. I will lower the narrow closed jaws into the bowl, stopping above the bottom.
move_to
left_x0.4100left_y-0.1300left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4637, 1.6939, 1.179, -0.5289, -0.3603, -0.3386, 0.0222, -0.0219, 0.8261, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3993 left_y=-0.126 left_z=0.1022 left_yaw=0.0399 left_pitch=-0.3802 left_roll=0.1464 left_gripper=0.0222 right_x=0.2893 right_y=0.0001 right_z=0.1583 right_yaw=0.0031 right_pitch=-0.0839 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [0.1573, -8.5128, 8.8137, 1.0769, -0.4176, 0.0122, 1.0281, -0.1846, -1.5385, 7.0085, 1.6825, -0.0269, -0.0708, -0.0171] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.13,"left_z":0.04,"left_gripper":0.0},"note":"The overhead view now puts the closed gripper over the white bowl center; the wrist camera only sees the near portion because the fingertip point projects below its frame. I will lower the narrow closed jaws into the bowl, stopping above the bottom."})
tool
executing move_to over 5 steps (0.5s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe full descent stalled at the same 10.8 cm height, indicating an IK hold rather than contact. I will use a smaller intermediate step with a 2 cm shorter reach and neutral orientation, as this recovered low tracking earlier.
move_to
left_x0.3900left_y-0.1300left_z0.0700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4713, 1.7, 1.2053, -0.5461, -0.3676, -0.3573, 0.0222, -0.0219, 0.8268, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.4019 left_y=-0.1295 left_z=0.1077 left_yaw=0.0482 left_pitch=-0.373 left_roll=0.1389 left_gripper=0.0222 right_x=0.2893 right_y=0.0002 right_z=0.1581 right_yaw=0.0034 right_pitch=-0.0846 right_roll=0.0034 right_gripper=0.9989 state[joint_eff]: [0.0889, -8.5402, 8.5812, 1.243, -0.3541, -0.0562, 1.0281, -0.0889, -1.4974, 6.9675, 1.663, -0.0464, -0.0415, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.07,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The full descent stalled at the same 10.8 cm height, indicating an IK hold rather than contact. I will use a smaller intermediate step with a 2 cm shorter reach and neutral orientation, as this recovered low tracking earlier."})
tool
executing move_to over 13 steps (1.3s)
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 intermediate path reached 5.6 cm, but the overhead view shows the closed jaws near the bowl's left inner edge rather than centered. With the jaws still narrow and inside the opening, I will shift about 3 cm toward the bowl center before expanding.
move_to
left_x0.3900left_y-0.1550left_z0.0550left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5045, 1.6047, 0.6502, 0.2226, -0.4145, -0.3378, 0.0215, -0.0216, 0.8307, 0.5945, -0.4229, -0.0162, -0.02, 0.9989] state[eef_state]: left_x=0.3793 left_y=-0.1241 left_z=0.0559 left_yaw=0.0058 left_pitch=-0.0867 left_roll=0.0296 left_gripper=0.0215 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0033 right_pitch=-0.0888 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.5128, -6.2291, 6.106, 1.7851, -0.3004, 0.0757, 1.0281, -0.0889, -1.4701, 7.2137, 1.6386, -0.0317, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x":0.39,"left_y":-0.155,"left_z":0.055,"left_gripper":0.0},"note":"The intermediate path reached 5.6 cm, but the overhead view shows the closed jaws near the bowl's left inner edge rather than centered. With the jaws still narrow and inside the opening, I will shift about 3 cm toward the bowl center before expanding."})
tool
executing move_to over 3 steps (0.3s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe first lateral correction was not enough—the bowl center remains roughly one radius to the right of the gripper in the overhead view, and the wrist view still places the left rim on the jaw column. I will shift another 4 cm inward so the closed jaws sit in the middle of the bowl opening.
move_to
left_y-0.1900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5663, 1.6802, 0.7181, 0.2237, -0.4515, -0.3809, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3873 left_y=-0.1506 left_z=0.0537 left_yaw=-0.0031 left_pitch=-0.0789 left_roll=0.02 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [-0.3624, -6.5436, 7.3368, 1.3748, -0.3492, 0.0708, 1.0281, -0.1299, -1.4838, 7.241, 1.6777, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.19,"left_gripper":0.0},"note":"The first lateral correction was not enough—the bowl center remains roughly one radius to the right of the gripper in the overhead view, and the wrist view still places the left rim on the jaw column. I will shift another 4 cm inward so the closed jaws sit in the middle of the bowl opening."})
tool
executing move_to over 4 steps (0.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe commanded center shift stopped at the rim, indicating the low gripper is contacting the bowl wall rather than an IK limit. I will rise just above the rim while completing the inward shift, then descend vertically into the center.
move_to
left_x0.3900left_y-0.1900left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5896, 1.6882, 0.7349, 0.2062, -0.4664, -0.3943, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3861 left_y=-0.1584 left_z=0.0545 left_yaw=-0.0072 left_pitch=-0.0806 left_roll=0.0226 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [-0.4855, -6.5299, 6.3521, 1.5458, -0.2613, -0.1392, 1.033, -0.0615, -1.347, 7.0222, 1.6386, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.19,"left_z":0.09,"left_gripper":0.0},"note":"The commanded center shift stopped at the rim, indicating the low gripper is contacting the bowl wall rather than an IK limit. I will rise just above the rim while completing the inward shift, then descend vertically into the center."})
tool
executing move_to over 3 steps (0.3s)
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 combined rise still did not move, so the low arm is wedged against the rim and must be backed out rather than driven across it. I will retreat several centimetres toward the base while lifting, keeping the jaws closed to clear the bowl safely.
move_to
left_x0.3400left_y-0.1500left_z0.1200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3939, 0.0215, -0.0219, 0.8314, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.007 left_pitch=-0.0808 left_roll=0.0234 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1568 right_yaw=0.0031 right_pitch=-0.0896 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [-0.4718, -6.4479, 6.1607, 1.5067, -0.3101, -0.1148, 1.033, -0.1573, -1.4291, 7.0085, 1.6386, -0.0317, -0.0513, -0.0122] 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":0.34,"left_y":-0.15,"left_z":0.12,"left_gripper":0.0},"note":"The combined rise still did not move, so the low arm is wedged against the rim and must be backed out rather than driven across it. I will retreat several centimetres toward the base while lifting, keeping the jaws closed to clear the bowl safely."})
tool
executing move_to over 5 steps (0.5s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe diagonal retreat also held completely, so I will isolate the recovery to a pure vertical lift with closed jaws. This avoids asking the solver to cross the contacted rim laterally and should free the arm before any further manipulation.
move_to
left_z0.1800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.0068 left_pitch=-0.0808 left_roll=0.0231 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.6222, -6.6256, 6.1744, 1.5702, -0.2808, -0.1294, 1.033, -0.0889, -1.4564, 6.9675, 1.6386, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"left_gripper":0.0},"note":"The diagonal retreat also held completely, so I will isolate the recovery to a pure vertical lift with closed jaws. This avoids asking the solver to cross the contacted rim laterally and should free the arm before any further manipulation."})
tool
executing move_to over 9 steps (0.9s)
step 155
assistant
agent noteThe pure vertical lift freed the arm. From the high wrist view the bowl center is about 5 cm to the tool's right, so I am making that lateral correction while clear of the rim and keeping the jaws narrow for insertion.
move_to
left_x0.4000left_y-0.2050left_z0.1500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5911, 1.5009, 1.0203, -0.3008, -0.4664, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3854 left_y=-0.1587 left_z=0.1549 left_yaw=-0.0069 left_pitch=-0.1092 left_roll=0.0416 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.1162, -9.2103, 9.4701, 1.5165, -0.2515, -0.0366, 1.033, -0.0615, -1.388, 6.9949, 1.6874, -0.0757, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.205,"left_z":0.15,"left_gripper":0.0},"note":"The pure vertical lift freed the arm. From the high wrist view the bowl center is about 5 cm to the tool's right, so I am making that lateral correction while clear of the rim and keeping the jaws narrow for insertion."})
tool
executing move_to over 5 steps (0.5s)
step 160
assistant
agent noteThe previous 3.5 cm correction did not yet carry the fingertip point past the left rim in the wrist view, while the bowl itself stayed fixed in the overhead frame. I will continue another 5 cm inward at clearance height to place the closed jaws over the bowl's interior center.
move_to
left_y-0.2500left_z0.1500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.675, 1.6493, 1.1122, -0.3553, -0.5022, -0.4549, 0.0215, -0.0216, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3857 left_y=-0.1952 left_z=0.1264 left_yaw=-0.0209 left_pitch=-0.182 left_roll=0.0825 left_gripper=0.0215 right_x=0.2896 right_y=0.0003 right_z=0.1564 right_yaw=0.0038 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.5812, -7.706, 9.7709, 1.6142, -0.4713, -0.0562, 1.0379, -0.0342, -1.4838, 7.0222, 1.6484, -0.0708, -0.0806, -0.0122] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.25,"left_z":0.15,"left_gripper":0.0},"note":"The previous 3.5 cm correction did not yet carry the fingertip point past the left rim in the wrist view, while the bowl itself stayed fixed in the overhead frame. I will continue another 5 cm inward at clearance height to place the closed jaws over the bowl's interior center."})
tool
executing move_to over 5 steps (0.5s)
step 165
assistant
agent noteThe arm again stopped near y = -0.20 despite being above the bowl, so this is a pose/reach limitation rather than rim contact. I will shorten the radial reach and raise to the home height while completing the lateral move, then approach the bowl center from that better-conditioned pose.
move_to
left_x0.3500left_y-0.2500left_z0.1800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3519, -0.5186, -0.4694, 0.0214, -0.0219, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3909 left_y=-0.1985 left_z=0.1332 left_yaw=-0.0069 left_pitch=-0.1598 left_roll=0.0708 left_gripper=0.0214 right_x=0.2896 right_y=0.0002 right_z=0.1564 right_yaw=0.0034 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.4718, -8.1573, 8.9504, 1.6532, -0.3736, -0.0513, 1.033, -0.0889, -1.4154, 7.0085, 1.6386, -0.0611, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.25,"left_z":0.18,"left_gripper":0.0},"note":"The arm again stopped near y = -0.20 despite being above the bowl, so this is a pose/reach limitation rather than rim contact. I will shorten the radial reach and raise to the home height while completing the lateral move, then approach the bowl center from that better-conditioned pose."})
tool
executing move_to over 5 steps (0.5s)
step 170
assistant
agent noteThe multi-axis recovery command was ignored entirely, confirming the controller is holding this configuration. A pure vertical lift freed the same kind of hold earlier, so I will again raise only z before changing x or y.
move_to
left_z0.2500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3523, -0.5186, -0.4698, 0.0215, -0.0219, 0.8364, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989] state[eef_state]: left_x=0.3909 left_y=-0.1984 left_z=0.1331 left_yaw=-0.0067 left_pitch=-0.16 left_roll=0.0707 left_gripper=0.0215 right_x=0.2897 right_y=0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0945 right_roll=0.0034 right_gripper=0.9989 state[joint_eff]: [-0.5128, -8.1573, 8.9368, 1.6142, -0.359, -0.0464, 1.033, -0.1983, -1.4701, 6.9675, 1.6386, -0.0024, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"left_gripper":0.0},"note":"The multi-axis recovery command was ignored entirely, confirming the controller is holding this configuration. A pure vertical lift freed the same kind of hold earlier, so I will again raise only z before changing x or y."})
tool
executing move_to over 8 steps (0.8s)
step 178
assistant
agent noteThe left arm is now safely high, but its cross-table pose has become poorly conditioned, so I am switching to the right arm for the pink bowl while parking the left. The right wrist view places the pink bowl left and slightly beyond the home fingertips; I will hover over it with closed jaws ready for an interior expansion grasp.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper0.0000right_x0.3300right_y0.1000right_z0.1500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6838, 1.6516, 1.5223, -0.7662, -0.5171, -0.4805, 0.0214, -0.0219, 0.8364, 0.5945, -0.4229, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.3922 left_y=-0.2023 left_z=0.2286 left_yaw=-0.0044 left_pitch=-0.1761 left_roll=0.0746 left_gripper=0.0214 right_x=0.2897 right_y=0.0002 right_z=0.1555 right_yaw=0.0034 right_pitch=-0.0945 right_roll=0.0036 right_gripper=0.9989 state[joint_eff]: [0.0068, -9.1419, 9.5385, 1.3504, -0.2466, 0.0855, 1.033, -0.2393, -1.3333, 6.9812, 1.663, -0.0366, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_gripper":0.0,"right_x":0.33,"right_y":0.1,"right_z":0.15,"right_gripper":0.0},"note":"The left arm is now safely high, but its cross-table pose has become poorly conditioned, so I am switching to the right arm for the pink bowl while parking the left. The right wrist view places the pink bowl left and slightly beyond the home fingertips; I will hover over it with closed jaws ready for an interior expansion grasp."})
tool
executing move_to over 18 steps (1.8s)
step 196
assistant
agent noteThe right camera now centers the pink bowl exactly on the closed jaw column, with the opening fully visible ahead of the fingertips. I will advance about 3 cm at hover height so the narrow jaws are directly above the bowl interior.
move_to
right_x0.3500right_y0.1000right_z0.1400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0879, 0.9562, 0.7918, -0.617, -0.1417, -0.0654, 0.0214, 0.4595, 1.1595, 0.6884, -0.3202, 0.3305, 0.2657, 0.0084] state[eef_state]: left_x=0.2946 left_y=0.0027 left_z=0.1744 left_yaw=0.0506 left_pitch=-0.202 left_roll=0.074 left_gripper=0.0214 right_x=0.3167 right_y=0.0967 right_z=0.1277 right_yaw=0.0339 right_pitch=-0.1685 right_roll=-0.0293 right_gripper=0.0084 state[joint_eff]: [0.3214, -2.8376, 7.1043, 1.7314, 0.0904, 0.0757, 1.033, 0.3214, -3.4803, 9.853, 1.7753, 0.2906, 0.1636, 0.7741] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.1,"right_z":0.14,"right_gripper":0.0},"note":"The right camera now centers the pink bowl exactly on the closed jaw column, with the opening fully visible ahead of the fingertips. I will advance about 3 cm at hover height so the narrow jaws are directly above the bowl interior."})
tool
executing move_to over 3 steps (0.3s)
step 199
assistant
agent noteAfter the advance, the pink bowl opening is centered and reaches the fingertip region, so the closed jaws are over the interior. I will descend first to 7 cm, keeping the horizontal pose fixed to avoid touching the rim.
move_to
right_x0.3500right_y0.1000right_z0.0700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.625, -0.1287, -0.0521, 0.0214, 0.416, 1.2789, 0.7681, -0.3248, 0.3065, 0.2394, 0.007] state[eef_state]: left_x=0.2925 left_y=0.0003 left_z=0.1684 left_yaw=0.0316 left_pitch=-0.2238 left_roll=0.077 left_gripper=0.0214 right_x=0.3376 right_y=0.0948 right_z=0.1206 right_yaw=0.021 right_pitch=-0.2167 right_roll=-0.0503 right_gripper=0.007 state[joint_eff]: [0.0205, -2.1265, 7.3641, 1.619, -0.1978, -0.105, 1.0379, -0.1983, -5.8872, 9.4154, 1.6044, 0.1343, -0.0464, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.1,"right_z":0.07,"right_gripper":0.0},"note":"After the advance, the pink bowl opening is centered and reaches the fingertip region, so the closed jaws are over the interior. I will descend first to 7 cm, keeping the horizontal pose fixed to avoid touching the rim."})
tool
executing move_to over 4 steps (0.4s)
step 203
assistant
agent noteThe straight descent stalled at 12 cm, matching the left arm's low-reach IK behavior rather than contact. I will shorten by 2 cm and request neutral orientation in an intermediate descent, which previously restored tracking.
move_to
right_x0.3300right_y0.1000right_z0.0700right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6247, -0.1307, -0.0597, 0.0214, 0.4103, 1.2922, 0.7818, -0.3252, 0.2981, 0.2276, 0.0064] state[eef_state]: left_x=0.2925 left_y=0.0006 left_z=0.1685 left_yaw=0.0374 left_pitch=-0.2229 left_roll=0.0729 left_gripper=0.0214 right_x=0.341 right_y=0.0956 right_z=0.1214 right_yaw=0.0287 right_pitch=-0.2195 right_roll=-0.053 right_gripper=0.0064 state[joint_eff]: [-0.0889, -2.1128, 7.0085, 1.4676, -0.0659, 0.0269, 1.033, -0.1846, -5.5179, 9.3744, 1.6142, 0.0269, -0.0269, 0.652] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.1,"right_z":0.07,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The straight descent stalled at 12 cm, matching the left arm's low-reach IK behavior rather than contact. I will shorten by 2 cm and request neutral orientation in an intermediate descent, which previously restored tracking."})
tool
executing move_to over 8 steps (0.8s)
step 211
assistant
agent noteThe conditioned step descended partway to 10.5 cm while staying centered in the pink bowl. I will continue with another small shortening and descent to bring the closed jaws inside the opening.
move_to
right_x0.3200right_y0.1000right_z0.0600right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6392, -0.131, -0.0601, 0.0215, 0.4564, 1.2972, 0.6899, -0.2016, 0.3477, 0.244, 0.0064] state[eef_state]: left_x=0.29 left_y=0.0009 left_z=0.1661 left_yaw=0.0384 left_pitch=-0.2372 left_roll=0.0748 left_gripper=0.0215 right_x=0.3366 right_y=0.1022 right_z=0.1049 right_yaw=0.0275 right_pitch=-0.18 right_roll=-0.0643 right_gripper=0.0064 state[joint_eff]: [-0.0752, -2.2085, 6.8308, 1.6386, -0.1099, -0.0513, 1.033, 0.294, -2.4684, 5.6821, 1.3358, 0.3932, 0.1197, 0.6471] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.1,"right_z":0.06,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The conditioned step descended partway to 10.5 cm while staying centered in the pink bowl. I will continue with another small shortening and descent to bring the closed jaws inside the opening."})
tool
executing move_to over 6 steps (0.6s)
step 217
assistant
agent noteThe closed right jaws are now at 4.4 cm height and the overhead view places their tip within the pink bowl opening near its center. I will expand to about 6.7 cm jaw spacing so the fingers press against the inner walls below the rim.
move_to
right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6491, -0.131, -0.0601, 0.0241, 0.5106, 1.3201, 0.3576, 0.2192, 0.4007, 0.2737, 0.0063] state[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1644 left_yaw=0.0387 left_pitch=-0.2471 left_roll=0.0761 left_gripper=0.0241 right_x=0.3069 right_y=0.097 right_z=0.0436 right_yaw=0.027 right_pitch=-0.1037 right_roll=-0.046 right_gripper=0.0063 state[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.6288, -0.1343, -0.0415, 0.9011, 0.1983, -3.6444, 6.3248, 2.0293, 0.2613, 0.1099, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7},"note":"The closed right jaws are now at 4.4 cm height and the overhead view places their tip within the pink bowl opening near its center. I will expand to about 6.7 cm jaw spacing so the fingers press against the inner walls below the rim."})
tool
executing move_to over 7 steps (0.7s)
step 224
assistant
agent noteAt 0.70 opening the jaws are still symmetric inside the bowl and appear short of the inner walls, so there is not yet an expansion hold. I will widen to about 8.6 cm, near the bowl's inner diameter, while remaining below the rim.
move_to
right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9615, 0.7845, -0.6502, -0.131, -0.0601, 0.027, 0.5106, 1.3346, 0.3363, 0.3233, 0.4118, 0.2813, 0.6953] state[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1641 left_yaw=0.0388 left_pitch=-0.2486 left_roll=0.0763 left_gripper=0.027 right_x=0.3142 right_y=0.0991 right_z=0.0504 right_yaw=0.0163 right_pitch=-0.0399 right_roll=-0.0141 right_gripper=0.6953 state[joint_eff]: [-0.0479, -2.1949, 6.8034, 1.5116, -0.105, -0.0122, 0.8083, 0.253, -4.2872, 6.1607, 1.9121, 0.3394, 0.0464, -0.1538] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.9},"note":"At 0.70 opening the jaws are still symmetric inside the bowl and appear short of the inner walls, so there is not yet an expansion hold. I will widen to about 8.6 cm, near the bowl's inner diameter, while remaining below the rim."})
tool
executing move_to over 3 steps (0.3s)
step 227
assistant
agent noteAt 0.90 opening the fingertips reach the inner sides but the mechanism still has a little travel. I will command full opening to apply outward holding force before testing the lift.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9668, 0.7837, -0.6674, -0.131, -0.0601, 0.0291, 0.5106, 1.3346, 0.3363, 0.3267, 0.4118, 0.2806, 0.897] state[eef_state]: left_x=0.2849 left_y=0.0013 left_z=0.1595 left_yaw=0.0396 left_pitch=-0.2717 left_roll=0.0793 left_gripper=0.0291 right_x=0.3147 right_y=0.0993 right_z=0.0511 right_yaw=0.0168 right_pitch=-0.0368 right_roll=-0.0131 right_gripper=0.897 state[joint_eff]: [-0.212, -2.3726, 6.8034, 1.6337, -0.0806, -0.0415, 0.7204, 0.1436, -4.2872, 6.4068, 1.8291, 0.3004, 0.022, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"At 0.90 opening the fingertips reach the inner sides but the mechanism still has a little travel. I will command full opening to apply outward holding force before testing the lift."})
tool
executing move_to over 2 steps (0.2s)
step 229
assistant
agent noteThe gripper reached nearly full stroke, so any expansion hold will rely on the fingertips bearing against the upper inner walls during ascent. I will lift about 8 cm and verify in the overhead view whether the pink bowl follows.
move_to
right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9672, 0.7837, -0.6689, -0.131, -0.0601, 0.0315, 0.5102, 1.3346, 0.3363, 0.3237, 0.4103, 0.2775, 0.9953] state[eef_state]: left_x=0.2847 left_y=0.0013 left_z=0.1592 left_yaw=0.0396 left_pitch=-0.2736 left_roll=0.0796 left_gripper=0.0315 right_x=0.3143 right_y=0.0993 right_z=0.0504 right_yaw=0.0192 right_pitch=-0.04 right_roll=-0.0162 right_gripper=0.9953 state[joint_eff]: [-0.2667, -2.0991, 6.9949, 1.4481, -0.1245, -0.0464, 0.5348, -0.294, -3.8359, 5.4906, 1.6972, 0.1294, -0.0122, 0.0904] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_gripper":1.0},"note":"The gripper reached nearly full stroke, so any expansion hold will rely on the fingertips bearing against the upper inner walls during ascent. I will lift about 8 cm and verify in the overhead view whether the pink bowl follows."})
tool
executing move_to over 6 steps (0.6s)
step 235
assistant
agent noteThe bowls cannot be securely lifted with this gripper in the remaining trial budget. Two centered outside grasps closed empty and ejected the rounded bowl; a one-wall rim pinch also lifted empty; and an interior expansion attempt reached the full 9.5 cm stroke without contacting/holding the bowl, which remained visible in the wrist camera during the lift. Without a secure lift, stacking the three bowls is not achievable safely.
give_up
hindsightThese bowls are wider than the 9.5 cm gripper both externally and across their usable inner opening; centered body grasps eject them sideways, and their thin smooth rim does not survive a vertical pinch lift. For this object set, start with a deliberate hook-style grasp using substantial wrist roll under a rim, or use a coordinated two-arm rim lift; ordinary outside, rim-pinch, and inside-expansion grasps are ineffective. Low descents around x=0.35–0.40 often stall near z=0.12 unless x is shortened in intermediate steps and neutral orientation is requested.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0891, 0.9745, 0.783, -0.6762, -0.131, -0.0605, 0.0347, 0.5102, 1.1141, 0.5236, -0.0727, 0.4042, 0.2695, 0.9982] state[eef_state]: left_x=0.2835 left_y=0.0015 left_z=0.1558 left_yaw=0.0404 left_pitch=-0.2887 left_roll=0.0814 left_gripper=0.0347 right_x=0.3148 right_y=0.1007 right_z=0.1194 right_yaw=0.0286 right_pitch=-0.0318 right_roll=-0.0141 right_gripper=0.9982 state[joint_eff]: [-0.0068, -2.7966, 6.9949, 1.4872, -0.0806, -0.0757, 0.315, -0.3761, -3.8085, 9.2513, 1.7118, 0.1978, 0.0464, -0.1929] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The bowls cannot be securely lifted with this gripper in the remaining trial budget. Two centered outside grasps closed empty and ejected the rounded bowl; a one-wall rim pinch also lifted empty; and an interior expansion attempt reached the full 9.5 cm stroke without contacting/holding the bowl, which remained visible in the wrist camera during the lift. Without a secure lift, stacking the three bowls is not achievable safely.","hindsight":"These bowls are wider than the 9.5 cm gripper both externally and across their usable inner opening; centered body grasps eject them sideways, and their thin smooth rim does not survive a vertical pinch lift. For this object set, start with a deliberate hook-style grasp using substantial wrist roll under a rim, or use a coordinated two-arm rim lift; ordinary outside, rim-pinch, and inside-expansion grasps are ineffective. Low descents around x=0.35–0.40 often stall near z=0.12 unless x is shortened in intermediate steps and neutral orientation is requested."})
tool
give_up: The bowls cannot be securely lifted with this gripper in the remaining trial budget. Two centered outside grasps closed empty and ejected the rounded bowl; a one-wall rim pinch also lifted empty; and an interior expansion attempt reached the full 9.5 cm stroke without contacting/holding the bowl, which remained visible in the wrist camera during the lift. Without a secure lift, stacking the three bowls is not achievable safely.
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 · 13.83 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
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{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0132, -0.0196, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -1.6479, 10.0991, 1.8632, -0.0269, 0.2515, -0.0611, -0.5265, -1.3744, 10.3043, 1.9267, -0.0952, 0.0659, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bd3aa03c59193474d21de87bf8e9d816d7e2d204f12517f132a1e9fc5fc69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa99f69dd9c7af77fcb0414334c4d77ca4110ba8be1d5d13811fa49a21b84b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e14966aad427893db9e7cc08555317146c98723b6e0b6e2b6fb3bb47c53e817",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.829 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_09d7c44be31c4674016ab444c4a61c87d093abc569bfe66905",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETMhnYSfOxL44aRdvGv66qK2xitjPrVPEfxEoLhSQzhw-JZl2504v7XKaC31tQzK7nyu5kce9fbK_dKPiiWBPRYXimxKrVzEV9KR-98lP5fw1leT8Q5liGaCnPIDaVfvLp6PtXkCccY5HpmF_bNLcZ67uutWOZpOjcNM1szFQdmApHQ00MO5CFDGNfYWq5b7W79S69ixIiPz6eGqS-V-pDk6NqWT-iYUAtz2VisHoJkj0RbpyQ6l-kCw7xJjp9mC2bEPPQzT1mhYfmh2l2UTXIoIJTNZ1fSoh-B7ILsfUjnx3yKR3wyONh0MkQSScMJ8CseIKFrcSUS_DZ7MHwJfcOMiMB2tNq6wyumrjMwuKawGjiTixYz6tT55QbpcAfSbj4gGRm7rIzBBLVTg2CqPD-KCp91-tl_yQ5CvwdcUfYSYYJZsPH77RziAE5fb1GfVAeVXt3S5znJUeUOFslqCQ-MiobvR5Pl8urfNyF8LGMQHVSh1F_bR9Z8j75SOByOCwpGAXE4WL_bskXjuLgT1MXwAJbrHWZB2fF7ahfTzdM6B6adEQAGeqk190_s7qZL01hBeL7dnHdB7jl-hQhpxMkd8etlxxsrWCuvEdn_W15WgoqUqxuTx_sGKhfaIr1S9WuB_tHcs6BZJY1O31WQGR89S9lKRGnsx1TX9YtEWAu32jGz_cMSEMEJm3Zb0qyzTudjLHzTe6U8hhThiu-WYnX9tWX8uBI2hokR5zeg_OsvCrK9mvfogQYYFzx02pGltT2F90r4zuy4195jNxaq1PZKX8RoYsykBpUSSiEvNRqXs72ZMZJRCUQ47r854bR42zEppMANlNQKeqRHzMFDSu2vWErKsJR7TtGgIoudGmCfw8tE1uTdbeHA8jqk4OIyhqccUJlzg7I4Vwfp3vubGeYoQE9blsCD47F57-ay1GK4mB-bBj50xzdR4hQ2Vc9i5Mnru76IQzO2A0coNqME9tfQmvb2kuoZqolOS3esok9_V33P5IeH1Iof-N3h5hOalhIasWyHw6Tks7uMior3B8gBVjAPTO0P6dTCUmX1SKwHXn_NVPDEurnPM1aazsaa1-VP0Hy3RWyNgrXRaIjQMc0Cx_BzGbwrqAvyB_a3qw9Z0vsU_la1gsfpiYTf5Rkxq5Y1ck815RuyTjgSgbx7wVrF0F9YQ5Rdx1ZazMlsVW8po3lkufHknYZenGiKpKGPrPTBnKFxhDU9Xd6GoVxPkB2kU6FA8TCYztcIWGP0QpZQkTcF2SL5EVCwQAnih8705MUAAsH_cDhpQ5wgiIHh12tWsXSV0NopyPzP1O8HillB-hzlztTkOv5MgR4gR3cZOmSoc80oHw7bbIlxfQg7ahb58-K5EI9KHF_HtJ2tzEFlbVs8JI6PWoM7RQdHVyz92RPkoJVOro5MFbPyHuW8L96LXSA3Jur8ZPJz2cdrKNuO3lmKUiXLlUUO7PzaNklnz_cUE4Fz_b3n-It6Dif4s0i-M393Nd0IG5OZyG4I4Qa9e9sjM_BJu7G_9HBrY_IVOcK6iVJjhY_ie1Kj-0eFBc5q1A==",
  "id": "rs_09d7c44be31c4674016ab444cadfb487d0809fd469ab88c070",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.1,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three upright bowls are spread left-to-right across the table; I will use the left arm first on the left bowl and keep the right arm parked. The left wrist view puts that bowl to the right and slightly beyond the fingertips, so I am shifting inward and forward to hover above it.\"}",
  "call_id": "call_34VDTm0Vz8o0bBBfzd4Vfkio",
  "id": "fc_09d7c44be31c4674016ab444cb147c87d0bbeacb699bf63fc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_34VDTm0Vz8o0bBBfzd4Vfkio",
  "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]: [-0.5091, 1.1198, 0.5983, -0.2001, -0.3901, -0.305, 0.9996, -0.0216, 0.8005, 0.6018, -0.3893, -0.0162, -0.02, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.0955 left_z=0.1255 left_yaw=-0.0365 left_pitch=-0.0859 left_roll=0.0364 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1752 right_yaw=0.0032 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.294, -4.1231, 10.0444, 1.8681, -0.2027, -0.0464, -0.0562, 0.0889, -1.6615, 7.4462, 1.8242, 0.022, -0.0171, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cb8a9696331003732b61e92f794e47c609b94c7377ad116427af6f8fa3d854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8181d0781e9e36f90c32c27616fd25c3a8e3deccf1980c979800aaec2253b4d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b9a3e16ee9d52bfc6958de0988741c93ca4e539f15d7b95288b187fd088aff",
      "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 · 4.417 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0132, -0.0196, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -1.6479, 10.0991, 1.8632, -0.0269, 0.2515, -0.0611, -0.5265, -1.3744, 10.3043, 1.9267, -0.0952, 0.0659, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.1198, 0.5983, -0.2001, -0.3901, -0.305, 0.9996, -0.0216, 0.8005, 0.6018, -0.3893, -0.0162, -0.02, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.0955 left_z=0.1255 left_yaw=-0.0365 left_pitch=-0.0859 left_roll=0.0364 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1752 right_yaw=0.0032 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.294, -4.1231, 10.0444, 1.8681, -0.2027, -0.0464, -0.0562, 0.0889, -1.6615, 7.4462, 1.8242, 0.022, -0.0171, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cb8a9696331003732b61e92f794e47c609b94c7377ad116427af6f8fa3d854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8181d0781e9e36f90c32c27616fd25c3a8e3deccf1980c979800aaec2253b4d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b9a3e16ee9d52bfc6958de0988741c93ca4e539f15d7b95288b187fd088aff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETSlSqaxgdAAfft2kQGg-9o8Somo1LpvDr0cGK4VEwGjGJZ6kh9_0TxpyO7BjGYImpD_ru8C70itM1MNqdx1r1Nqfbe4gw6BWHmk_rawjiN02cdZYRrTXCjeBZFsxjIQXIkV7Y4LtfxcQk0PD7LRInHpLIzDnovMBTnlff6Ep10DUQmAo9AMTfhBW0XXzgNLvbRALWkjCmS7pm2TCPd736Zst7Oin921texo-mhVG1rwXa58fsK0ZQiWJT4jFsrK-vXdPPjNobLNHN_ewGhB2cHBKHH7AYwjyztvHAwvT-wpir4K2_fMlcroewyi9wv9XPyjKzmhC8rhY1Zl-C7MY7SDqNqDqaiQ6UkhDh_O9tLGRyLGH2pPlVx4hLdYR-nHhPKKYbAkhbifptF8nFaX0Yu-1g1p6s2klUqXiD3iYdhpBZhFIBdZCcyWPBPQWShQ2Rzz4LJ223tHlVWV8ud-VfpIAgfcFVjCIbhjtC_3bSKc2vf-lpsuEo85Br9DMdaatkOWlFaskHy5fTNMAvC1a7kV--dmavGQz2GcHnTs0pFjM9OGxzeukW9Tw8QDHc3GtUb26asRoJjNc1gW5EVZlbpAVDupUju2amRectlocAB73mwr6PbfnDV1Y7QBAqTAfyhY7XN0asCitaJONRhQTzr9VzcGzyd6IAXeGD_MV5IDKo-3W4N04M8F-vPpuj9WUQ91JVzkvN2fD9woSHMtg5xoNysTBMT1HsfVI7smHvJJPJlxC9ttEn8yYYRCBxfd-7O9ZLTPWwZvGC1yjxbo40WENjFAA3cwIMYDL7gVlOrz-eGJ58z-ZgOnxujeqswfEBCtvkDvNzK0s8fI9VbOGMLTyI289e4GdoqU3lh2XBh7tVpkSmziQ5vAWd0bDAqGgwOhsbSggSo393VbOR-7olOurbwAVQaPbfzntcTU_qqH50_l1tYxmbN3StOCpAQP250Necutv_CG0yGLqyjLSLmqp6rc6UwqJ9zwODqy0k946HN-1h1VWgKdqrSaSFoJUygxN9F5-KmN0NSyQMNMFZKh_HUlgPolFDwrwXmPDJp5gsvf5vBmIm_snBdgd_FVhPW0C3StemOlEpxRFw8V-wHL8emj58dDB6NSlOaHgL_RbmDFpqpRHpNiQX0GF-emJYxi4xJKnBD819-r74yvFAzdN3xLasiMBXmmSrfC9lF4Ocp-WGiK06CgiGX_dTVvFdeRPHUaK5Bj5zzN-yVbr_6S_dwD6XX7vkim5Fb0OicoHzAMghmcgzbYehLTVJRfzvnN4XHxdfhCPEZSogqY8T1cU308gqh6IP4nhFMWqdM9LO-lWLNpEZ9y4lh6WsTZqN93tHvVsI5XTs4hs2VYc_P5_PyFwAzxx7E2-Z-quIDtWdOyUMBEh-FaG_oDkD-X-xgfebRkGhDV7W0Ht0jH_IuJJ0b370wHT8vHTLyd9i8gbZxIBgbQs-UtktehQwWvkNn_PamI66DyTG67gnJVCoXBWyjaCLj0NotXjBvbfQMzk2Vh7u2Tf4wuiRs4Mx7t5b_rVx9DfYIblvCsW4eMscA74pxNWazzJIKUAaeZXDge8PJnWYhQC_xQ-NnPqNfKaoLbO-uXzv6oJVt-v3ZbpTf0zY_x-B9x6VAWpXxbJ4PjI0NdpzwcpaD9G89WC5HO2S_RNNDvLQMa8GpglEpVWXLq15_XF8zXvWTv8NRuR_UYSgjYk0xZM2VWlLqjEacpBvQXpRxdmIAyG6Thg4KHuKmDS7pc8yTmtsjjza6NLnFZxsqxJqs0fWFmqpOsxQ_zAN9c3SAOc0NMcaf0Nn2XuWZlmBOywuMQsMD1R1V4RTmcMdayLu9nj0BsjSOKbSb6ML9njwZpSjH0qhBZbFcr3QlodlocojQBd7Ral9YaPmZ2aQgaoOs2Zq-R11MbSJZHZKkwvshkA1ijqQT9WYkpf2oZaxI_ZZWiF6tyA-tF4X1C7QuwHWmcmh0pVfMzRmW8llWRokxqUlEIHXysG6uENaRdJBqtRdJYDMWsfAF-MzWS2vf7k_GcBLHCxSe5AouS_8TMQ14PZ7sPUTl6c0TDqt92kkJqYbGmXDnHa4kbsvWMPmNnCpTdbyP4OWN77rL0pKO",
  "id": "rs_09d7c44be31c4674016ab444ce82c887d0880429f8e8a24686",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The left bowl is now centered on the jaw column, but it remains fully visible ahead of the fingertips in the wrist view. I am advancing a few centimetres while staying high so the grasp point, rather than just the camera, reaches the bowl center.\"}",
  "call_id": "call_SGtDZBv9fGDWq3iIAVZPryqQ",
  "id": "fc_09d7c44be31c4674016ab444d23f1087d0b37d7d1b05c19b0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SGtDZBv9fGDWq3iIAVZPryqQ",
  "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]: [-0.4599, 1.2301, 0.7116, -0.2245, -0.3752, -0.3031, 0.9996, -0.0216, 0.804, 0.6018, -0.3931, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3413 left_y=-0.0928 left_z=0.1331 left_yaw=0.0007 left_pitch=-0.1095 left_roll=0.0387 left_gripper=0.9996 right_x=0.2934 right_y=0.0002 right_z=0.1735 right_yaw=0.0035 right_pitch=-0.0251 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -5.012, 8.9368, 1.3993, -0.1294, 0.2759, -0.0611, 0.0205, -0.9778, 7.0222, 1.7363, -0.0806, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ed6de956828639042d80b527c668fae2384232709ac0d037bf63e36c833be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6885f28cd9424ee38c7b982c203e5be25a47f9bd9e60e6a0727c203fdfb6d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050fcd949d7a2982a070dc95478d87ae83e864008a1ce13775905adbfb844e46",
      "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 · 3.897 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.1198, 0.5983, -0.2001, -0.3901, -0.305, 0.9996, -0.0216, 0.8005, 0.6018, -0.3893, -0.0162, -0.02, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.0955 left_z=0.1255 left_yaw=-0.0365 left_pitch=-0.0859 left_roll=0.0364 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1752 right_yaw=0.0032 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.294, -4.1231, 10.0444, 1.8681, -0.2027, -0.0464, -0.0562, 0.0889, -1.6615, 7.4462, 1.8242, 0.022, -0.0171, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.2301, 0.7116, -0.2245, -0.3752, -0.3031, 0.9996, -0.0216, 0.804, 0.6018, -0.3931, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3413 left_y=-0.0928 left_z=0.1331 left_yaw=0.0007 left_pitch=-0.1095 left_roll=0.0387 left_gripper=0.9996 right_x=0.2934 right_y=0.0002 right_z=0.1735 right_yaw=0.0035 right_pitch=-0.0251 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -5.012, 8.9368, 1.3993, -0.1294, 0.2759, -0.0611, 0.0205, -0.9778, 7.0222, 1.7363, -0.0806, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ed6de956828639042d80b527c668fae2384232709ac0d037bf63e36c833be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6885f28cd9424ee38c7b982c203e5be25a47f9bd9e60e6a0727c203fdfb6d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050fcd949d7a2982a070dc95478d87ae83e864008a1ce13775905adbfb844e46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETXfmLelyiiE7W0avhBm8MdK1MUSTguD3t5KnGj9S2SVfflUfnLqs6XSRbVpkMu3xUfDAeRZkDfDB5geq_vY-aVF5KNLGHHIq5R8tOWwYhYkkNOrU_uCEh80CTWwIUJQ2TbkXDrPoI_U1Z4TP1NhaoAcHAP5hooBw40WFIALR6LXW7js-J6qV1sUcGdBO7bZAzlc2igUziocUJOpN-ofR9uAyupJoJVdVnByx9DEPhK2fP4O7mv1l8zP7GKwmnwWCRNGu9HX7iNftEGj2nQrbHaVGyE7ertDOn-W5j2CFqT2UgRiEuUj7fq0LDQsVFLjW0DQTNKUMsbFkZrPFnTiMwZSc0qh7U0_GY7v6vi8YC79VztDLJAM6Z7gk6YfM6Mq91szg5u49gV3gKexDeCQRRWU86F6zJxNBKEBmXOdiVsJopxs84Mty-v09lqCZfS9MvjDL7vetJTMA3sm-BVsjG0xsl71lb-t79VBwW9kI6ga_4qrujIWqqcvHfr_q_eC7crrR_S2tCo_HQ45tPZAosIv3pZ95Le1QYcRFFm4YAsTzwFWgw9L3koUQcfPauZ7iUfaKOuQe1CKbe_4ipcsOTAzibIYN154xKPo4ypQFlVGK9JDLEl4DeSWoBxrM3KvW9vR6ujCG8A9W3Dk5aYUPppcofnXI1xmD9KS2GsTuITZ2-1b44gL_Fn6OXDTgcrqKL2odmHojms0c0iJH9SIXKI5OTdtHpwzn-HBRR6uhmZcN4m3qAJT1T5bFrlDardbz0GdaK-LUc49_-Pc3aePOd2csZHseqCJ8_HGx_uFNH7J1iMdO5dTYcts35Dp2ZxrYvOXITMRRaF_B3ioFiDQa7iM5NwyTTdb7sKIvtlS_EvcJuM52uBnq4oLtgUXluGH_itfSORhWBofxsx3QhwZbkOuYTCqRu27pzsmeJUfI8ypSF1o0Hq2tFQ3E7kKj7T_eNbkkUmUxbgIjn8jej4s-DcR5OvDov4ZVL3aULuu-f663uTV4Y4x8Q4y-fYZms4CUGJtW9KHBEUB-2mBdLRSTYXM0ruLkIWJomIeIptqqHdfeKaahw71VhzJ5Oz-7GswNP3d30Sz_Ce_WPRqc0YJVmLgVfls_Gu9BB1Do-WyAzuE6nqlxnvSoRSf9uyPCvYA8LNhKUuAdqhHq5XqfC2GVqNXbX4HshPANgsu5kyQhDg5jfOZNmmpCB4OWKWD3ZprLSY80X5Ah5Q_qnWOLk99BjvxLSTr7M10YCN9h4n_cDeHkq8Ej--0jiGtJ5QGfT2L9uKR-nudKrPYKMtwKldioDJ_zfHNRieFKxo-nL03Mqwd0BKhS2AoO1E_FAp2Zr4GJv5SUXUNLpUcpsoH7sgq8xa8Es00rknH_AEw1vIcuBdM-SmYzpQwCalsBFZX8qlfusym52IqYTjKIfP8g5HrEpU8b1AKGN3vROK7YBGqhTzHp0OyC_0bdySig-43eKPYwKfjHqO4J0WbSqNTfKvwT3rL0fMpzfjh0iMjqTzCbjKhnCHeocNoQnCmttdjQxzIE70_M8HEfzSU1jELZSXJNmA8UHt5tS6oKnsKig4k2dWaO7lq5fPSyJq9bkq1yepZbqDlT222puTMTFAu-2H0XD2Xwmgw2YLKnhCDiQGi0KuXPeR-Op92x6PdlKxXo0uW4TQhgmIIl-21oR4qMClQph4mS5qV9WpD58QqGNNJ10F5kP2Y0bTHN2jN-o4nH8j3hg_aJUkfMOHpRA2r_fn0wmzgTMRj8c3AgZZNvfBmrUxztSmQ14QxMS4OPeUHI8w89_XgfvayC8jHeJTg-Hnr-a-AHG8mNyNuDBlqMwdaIRv-jicLcFmHazrFu3NdPEytB0osjABn6JiTsrJhvUlNkrBrJEQOJOARWGJE-IcZgQ5vw2gRzYhPjAOzdcIXjN31Z-0uqqlkV9u-UQNt8HQiHtDLkYuLR_SaUTfJ8M2nyoA4X7l3KWtQ_uKRt9mHvgRJHpWZnJKAbTJgw6yvEd2eQR5gKRPFuXu_WuGlLgWoPGlzVHPsew_y912gMuu9y8em7cuAdqYHV9-I7-E57buPDgECKuh8j2jMJNnbL9ddfmS00Bv4OP0J9rIUXaDtjxWlfxTeqJfNa0AtUKddXAu9hNHT_YGG4r7OOBuH6tsXUO-uJYZtT3FUsbA0YC6pYm4-kaQ7uWRYomlvN86vu1LuPgTsfEmJGR9Utq2ELBp1cAy6aeUnh0Jc3uacbAuaUzIHOwaIqPYGPAu9Q35a04HnKBDKw==",
  "id": "rs_09d7c44be31c4674016ab444d41c6887d081d3544bdf403e83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"After the small advance, the bowl has moved down into the fingertip region and remains laterally centered. I will descend with the jaws fully open so they straddle the tapered bowl near its lower half.\"}",
  "call_id": "call_07KYhbvE0edmrfqusGnORJhP",
  "id": "fc_09d7c44be31c4674016ab444d679a887d0a0a548750f710a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_07KYhbvE0edmrfqusGnORJhP",
  "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]: [-0.4545, 1.2419, 0.7437, -0.2325, -0.3588, -0.2848, 0.9996, -0.0219, 0.8043, 0.6003, -0.3927, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3469 left_y=-0.0965 left_z=0.1405 left_yaw=-0.0177 left_pitch=-0.1037 left_roll=0.0377 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.1728 right_yaw=0.0028 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -4.9026, 8.4581, 1.5507, -0.0562, 0.1587, -0.0611, -0.1983, -1.1009, 7.159, 1.7167, -0.0464, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb4c18f7338812b2edd266558f971b6d271f9a128986cae55d40b93df18dc43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf70a24e44dbaa649ba2aa07b013d49bb2adbcf9453e5305bf910c7a951b3388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0709fb16f3ee4afc3d300e7dc165146253b512694e921de802b1cdb1158cba4b",
      "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 · 3.383 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 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, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0132, -0.0196, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -1.6479, 10.0991, 1.8632, -0.0269, 0.2515, -0.0611, -0.5265, -1.3744, 10.3043, 1.9267, -0.0952, 0.0659, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.2301, 0.7116, -0.2245, -0.3752, -0.3031, 0.9996, -0.0216, 0.804, 0.6018, -0.3931, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3413 left_y=-0.0928 left_z=0.1331 left_yaw=0.0007 left_pitch=-0.1095 left_roll=0.0387 left_gripper=0.9996 right_x=0.2934 right_y=0.0002 right_z=0.1735 right_yaw=0.0035 right_pitch=-0.0251 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -5.012, 8.9368, 1.3993, -0.1294, 0.2759, -0.0611, 0.0205, -0.9778, 7.0222, 1.7363, -0.0806, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.2419, 0.7437, -0.2325, -0.3588, -0.2848, 0.9996, -0.0219, 0.8043, 0.6003, -0.3927, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3469 left_y=-0.0965 left_z=0.1405 left_yaw=-0.0177 left_pitch=-0.1037 left_roll=0.0377 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.1728 right_yaw=0.0028 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -4.9026, 8.4581, 1.5507, -0.0562, 0.1587, -0.0611, -0.1983, -1.1009, 7.159, 1.7167, -0.0464, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb4c18f7338812b2edd266558f971b6d271f9a128986cae55d40b93df18dc43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf70a24e44dbaa649ba2aa07b013d49bb2adbcf9453e5305bf910c7a951b3388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0709fb16f3ee4afc3d300e7dc165146253b512694e921de802b1cdb1158cba4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETccpsSrtICJRz7-tbY1S3FZQNJ1fG72TYyAqTeIQQ3I9S9Nd3UT764pz1SoUx4224InmHYcFK3kfYeW2WWp9WuIIEs9w5q080nfFQ0m2BJqWG9X3YjK9GZxV8MEOyCxeYvj1nvlBAmasBU-dj5Bk6_IcsPfcWxEI3aE-bcPNqbl_vULb0VlrIIPeO-Uesr_YDcO-igqX3JNi8frMKZz0BzQbfRtTzLXqvyhS01eve62YR6KJIpOfcA1ocA6-VictK-tXSUUYzwYie9Mk8BxNRorGv3QYYHSLl3CjbpJGOmRHG0M0tY8_u9mH3EjV0gNKBnVzScZjWYetCHQo4GTrfdqbwSqssniC7ztaVyQJuQ2Ss1DzHfbS365EH2U030zohAfzvtI_kPji9DFm2oHU1A3KGcn14P4NLJq_sp6BpvnXPDV1yy63RmEEj6xnhLEIfhlsatrZAOm2Cd_6OtxgTwW7AwiuuhDDs7S9Qt0XXZ_c5lXK3ssLXsRvYoW-cx59emd22cunCi0SbFmbU2c0Z6MI7n-_uWRVC1-bWYQxZIrW1xuEHhYQ0rxYqQFyzNYseV4ZCDpQnuXUks_zifAMT39W9rxEQLp8QzQvK2aaZFuNUg6m4A-f5KcW7zsVxXn0mDs7zJIbB-7QuwEvko_YWktaZ_-wxx6cWfJu7q06_lQQkSJ1dGslFOFSl6WNHIf2fqlbLhGcjmAFzQVAeqbRvR2-jnTlqUImLAWpiSlZxInoo1Miq_RGQB5ViQsNBKrtKNzV_AG4pyNpXt8lNWMHq_jknZdeLuermMQcM0yCtDIRi8edlWj3VJf1sXPmX8su5xSyPMLPcaipf-BQSrwprVzY4si3bjw_qolHt9Y8jYUGaIA-PIM4SC2sCGu-jdcXCDEiGho9kVy0iCSKb1JprCZx3Xl-A86b07jp3qj2KycBaILRBZLJokWyjLZh6vmUmdiBqExvAzggCGcsrWmmhYEOhVnIxhQ7C6gyokQ1uA84Mq9T_hYXv-YrNQ0innt5en-m4FC1VmaL_sVM_m9-VLHXPz6aD9EJDjsc74gzk3Qzg1HPp0lZWwkl4d_UTLJFN1noK06EHmymXZcKxKmghLj4iZbHg8648fNUkEKkII7EUto891dlKioLV0ArZC_YORM_EqOvJ9-Fb7c3qUGKVSbo4iVrc5PVHXcSSkQFqBqjvY6wvO7y-w8EvQi4GIKDZhwDxFJUrpWxZawRfWIdTgyrwAu7yzq-t5JPqtGFXi5JWvuaWWLaUitZnBVC3DZg82bysK5YZV7ODKcYcxsj4Gwqab5aF0rgzsenWbBTNp7gCgN0ZbiLiPJHvM7_bA4GLtyhaudXvjPB5eYPiXUWHHXsrI1ko8KHpCYcfpMcZIydZqu9rKURbMDCCl-g_arVZY-3LBB5aCRALjKWyQADGb4HQN9X1P53K91N6o30WBqwra0w4C2qOQT21MyiONlBR6Els7ZRSee3NkCy54yvAekzm53qrI5ayyguYKKEDVlxNufFPMAjv6dnKVyPXydYgaSB6llXVG3rHgI7jfT22Hcz6hmzVFkMGCF87bZpADy4IsdoEylaQexI8viI-2dPzYFO_oahaa5HldL2jqqfuKrXYFqej6rGaDKWG1McUT4t3ht7YkMt3wT1wWqOtLINw7vBdRAYp6pSphhtagUMpZy6NeiO-zWk5aDeqEbmbQrzCpFktzu_gdgStlG4AVDWC1tF6Kd97dGEJHBPZFceqE9MqduY9tjg_qI7QWvmQxEHgoKtfsFLZBEsd90gkPPCL6kLCey7h-KwOfRQTrjM7QAJQagCwULTE-BOGqLkz1B1D9cUygvAE4Rvk48MagNafihoewKBXqhdbZv_ZhKYEjsvqJUNgjJbf8voBLTgi2HRUKKs85-kiUCla5-D4Ph3Mu",
  "id": "rs_09d7c44be31c4674016ab444d9910487d08bf293065154abe8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.1,\"left_z\":0.08,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The attempted full descent did not track—the readback stayed near 14 cm—so this is an IK hold rather than table contact. I am using a smaller intermediate descent with a slightly shorter reach and neutral tool orientation to obtain a stable path.\"}",
  "call_id": "call_bh5AgeNUP2j1BZWOFNnjm5NI",
  "id": "fc_09d7c44be31c4674016ab444db0a7c87d0b5459c34d583dc9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bh5AgeNUP2j1BZWOFNnjm5NI",
  "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]: [-0.4789, 1.2694, 0.6559, -0.1043, -0.3874, -0.2989, 0.9996, -0.0216, 0.8043, 0.6003, -0.3927, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3453 left_y=-0.1001 left_z=0.1186 left_yaw=-0.012 left_pitch=-0.0835 left_roll=0.038 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1728 right_yaw=0.0034 right_pitch=-0.0267 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -0.1026, 4.0, 1.2186, -0.1197, -0.0415, -0.0611, -0.1026, -1.2786, 7.0632, 1.7363, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ad349348b027755e305bc1e53614a4edf9ca2aebacfb1ebe47db49b846ff8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48b37fce05a8815891bcb1d640b8c1ca7cd55c85049409dd041c8e75eb19943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4d4186880700722b3245751c9751520629bcefec9ea511b13c729b653b43cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.488 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5091, 1.1198, 0.5983, -0.2001, -0.3901, -0.305, 0.9996, -0.0216, 0.8005, 0.6018, -0.3893, -0.0162, -0.02, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.0955 left_z=0.1255 left_yaw=-0.0365 left_pitch=-0.0859 left_roll=0.0364 left_gripper=0.9996 right_x=0.2937 right_y=0.0001 right_z=0.1752 right_yaw=0.0032 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.294, -4.1231, 10.0444, 1.8681, -0.2027, -0.0464, -0.0562, 0.0889, -1.6615, 7.4462, 1.8242, 0.022, -0.0171, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.2419, 0.7437, -0.2325, -0.3588, -0.2848, 0.9996, -0.0219, 0.8043, 0.6003, -0.3927, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3469 left_y=-0.0965 left_z=0.1405 left_yaw=-0.0177 left_pitch=-0.1037 left_roll=0.0377 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.1728 right_yaw=0.0028 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -4.9026, 8.4581, 1.5507, -0.0562, 0.1587, -0.0611, -0.1983, -1.1009, 7.159, 1.7167, -0.0464, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.2694, 0.6559, -0.1043, -0.3874, -0.2989, 0.9996, -0.0216, 0.8043, 0.6003, -0.3927, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3453 left_y=-0.1001 left_z=0.1186 left_yaw=-0.012 left_pitch=-0.0835 left_roll=0.038 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1728 right_yaw=0.0034 right_pitch=-0.0267 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -0.1026, 4.0, 1.2186, -0.1197, -0.0415, -0.0611, -0.1026, -1.2786, 7.0632, 1.7363, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ad349348b027755e305bc1e53614a4edf9ca2aebacfb1ebe47db49b846ff8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48b37fce05a8815891bcb1d640b8c1ca7cd55c85049409dd041c8e75eb19943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4d4186880700722b3245751c9751520629bcefec9ea511b13c729b653b43cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETfitCodYcBcpEEzuiCHl2I26Xj7aI9PH7SLRE3X8ROFV-AJtTdLOlYnJE6b202rlmb6cqh9ZLkf7FjAV_GtnulUg1TC-hWj89Socmb5QAvglOQThY3QSpUEnkSjStnvUecSuPICx3yCa6PMo1H_wToa8g7A8Eomxemwr75ZYTIcL2gpjs3B6Sa-5dW-6GCdO0X2iXbKvLm6IKDBGUz9t47jmcInNLdNBjC7SW3mLp8JqIG1g7RbJ7kL54N0mFgk7E4jRYRrMy0ODZSDb3tv8IeMY-CaKfUe6BbPOw4yxaFb2wq1Ar0QEYPqiCyYeucWscFHwnyyfqaxOPfF8DuGZNAlE50kR1z-j00MH6yKiE69ez9m_Wt3kNbPlq2AieDi1Jf6ET5inbGG10ch_XZ4ZXEGIt_sg-QAdxrgvrccUyA-FrHBD85-I2Wu_Zm284p1NqnLBhbI4yeOkEiTbSoAdkPE2BVv6ndbWj-sWux5JseQQTNJ0A1P8Wvro4xMbKfVJYNZLljVSXcD3-DMmYM3S0SroJ9JC_5GMkaOstCps2DvfGjQHbF6BnGHMCuPfruolpXtfo6yC3gIoL-XysYZUNISq_prGBhixXEl72M9UZ29ILYMZf8OPz2j1XGMdS-uUHx_PIWZj1LAlAcybtiK4mU_03gFMahYZVzghhugjLHV6ZfZXs_IYN3XE-Ry-GsAOFoZFscRjK6-mM0MlUOzqyf4C_ByaxaOYGcJbwSYo9Al-eR2hH7LdrKq16QF7vLeIGWM5Y6N8yqplX-t5vx5Z6sLqGcTSTF9WD57cyESUbshoD0wzyWMcKz6j9oFkSusCGImT4wPw_nIt-Gqa1Uh99e5lFEdCkyDpmS4pf3Ik4colBDSIQkOHrC9eahs0Ek0cBro5xuo-IxtWn36NqGsR7TFJINlVoo0hdk3LtHccJDGP2HOlfLLyin7V9AMHPii1V_OqW-EgTtnNkJgurDKL9Y_oIp-F8t4CPjm9g3RUNnvrtpBRH2uV3VxUwIsoAGHrG0HNJUxWCBwK4iB6tFFR-FbwxknUbofHEoNLcaIWDmAzhMANJZqEfXxoq_6PXSaYa76c0WMJEndF_7elSXZ2TYUDS8M-BjiJAwf7ZPnDLqB1HZwGQ-zZN3HJDodYbhgHGrasHdHq-7v2wY9tAjnPpV3xFQP9Yd_bHLi5Fs9IQLB4VSkOxP2eHgqn-fh5aL0S-jivApmPDohWAIzapF6uRY0xwsa_C45fWWZqsuvn5H61VTrhyMn3C6CQcSQYI1VTesHGZGrSrnv7i8Ah0cYFzKAT_pKeaofZJ_zQhH_0RQ1CI0w6O1X9xv7vU_797WhonJsqlUXdMBXUXyPSLZwxFhV7QwM71864ddp4RqsiCglydtFF5KM37AxZVdTiSfPewYS3yskuTu26EmFWRfRQhTAZuaaDSbwrhCB5oZuuQ_2QBNC3JxkUGnOczx4vBL_j00svNn2DNwTpctyu72HLJqfqjP2_2_Ngz5BoW4APlIW5GCLrQ49mvMRZ2_NZlPCBoVkKsh83tRp-v0bGZatrDY_EKkD7986PrCCVz6ip4q8XOz67Jy_awEDccrCQCN7aXF2LklrhriDbUaYpKuOMCeWd9qlgxEsD0CjUm2FJ0Y6XJa2HR-vAwbyB5P_z5FXMTzBOqE8w_OWMpttkheOdmjYCQfHmEk2Avlfpt_B5KX1Jq9885xfDCKJX61z7KNy_syt3mBE8V9xOIXnB4Cwht5DCe43KN2fKO7peIsGEsBaV4nZ7VocjLS5U_EAFG_DcKi",
  "id": "rs_09d7c44be31c4674016ab444dd705087d0859d81a7da625999",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.1,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The intermediate command produced a partial descent to about 12 cm without disturbing the centered bowl. I will continue in another small step, shortening the reach slightly to avoid the low-reach IK stall.\"}",
  "call_id": "call_yY9fUHnjcOlcGQVFNO87cgUe",
  "id": "fc_09d7c44be31c4674016ab444ded2f887d0981a9d98e9446210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yY9fUHnjcOlcGQVFNO87cgUe",
  "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]: [-0.5064, 1.3327, 0.437, 0.1879, -0.4149, -0.3191, 0.9996, -0.0216, 0.8082, 0.5999, -0.3923, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3282 left_y=-0.0965 left_z=0.0643 left_yaw=-0.0069 left_pitch=-0.0659 left_roll=0.0331 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1717 right_yaw=0.0034 right_pitch=-0.0305 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -3.7538, 6.2701, 1.7998, -0.1978, -0.0171, -0.0562, -0.1573, -1.5521, 7.0496, 1.7509, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a84dba2af343b6a015408b6502ae8eb83f6c3157b2cbc4e00ac684df866439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34023b0330a4a98991daef4123d5e56b6661efa19134c5a245e01bd7cda91874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ebfd208611caa3aaf08a019d8058bd66c62b2bacb1133a1b33f1e9cc97db79",
      "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 · 4.329 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.2301, 0.7116, -0.2245, -0.3752, -0.3031, 0.9996, -0.0216, 0.804, 0.6018, -0.3931, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3413 left_y=-0.0928 left_z=0.1331 left_yaw=0.0007 left_pitch=-0.1095 left_roll=0.0387 left_gripper=0.9996 right_x=0.2934 right_y=0.0002 right_z=0.1735 right_yaw=0.0035 right_pitch=-0.0251 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -5.012, 8.9368, 1.3993, -0.1294, 0.2759, -0.0611, 0.0205, -0.9778, 7.0222, 1.7363, -0.0806, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.2694, 0.6559, -0.1043, -0.3874, -0.2989, 0.9996, -0.0216, 0.8043, 0.6003, -0.3927, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3453 left_y=-0.1001 left_z=0.1186 left_yaw=-0.012 left_pitch=-0.0835 left_roll=0.038 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1728 right_yaw=0.0034 right_pitch=-0.0267 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -0.1026, 4.0, 1.2186, -0.1197, -0.0415, -0.0611, -0.1026, -1.2786, 7.0632, 1.7363, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5064, 1.3327, 0.437, 0.1879, -0.4149, -0.3191, 0.9996, -0.0216, 0.8082, 0.5999, -0.3923, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3282 left_y=-0.0965 left_z=0.0643 left_yaw=-0.0069 left_pitch=-0.0659 left_roll=0.0331 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1717 right_yaw=0.0034 right_pitch=-0.0305 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -3.7538, 6.2701, 1.7998, -0.1978, -0.0171, -0.0562, -0.1573, -1.5521, 7.0496, 1.7509, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a84dba2af343b6a015408b6502ae8eb83f6c3157b2cbc4e00ac684df866439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34023b0330a4a98991daef4123d5e56b6661efa19134c5a245e01bd7cda91874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ebfd208611caa3aaf08a019d8058bd66c62b2bacb1133a1b33f1e9cc97db79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETizagoJKkI8h16GLq4RI4ygKZMS8jjOsejPGGea-f3lCM7uPXvVigYDynJ8IcvsnfaVe4DIzPQB3LeFMuZqUe21GwmfmybQAzvWBDoyzFsHUfSXd2NDCaxGN4S9J9P73d1b8zHYOsXu8kiyC5htLel1qRMZL4_e1IYJJnfMQo6UbWzVTj-2LWumeiya7spa--yWRvXQdvATN70bmfSZBVLNPVP46m7I1kp5i0CU4Yb8c341EOiXmBnbY6rDEIzZHm03R0LPjl4m-aGkUz0vknFIL5kimgHh-izKkbgWbVCZIyfXR48PviDWOaGuoqwsvnVQvpgZ9FyTpP-WXZC1_c5zSjrfZPoYlbEotW7Qg4GC_L-foTsUdEeG3M_wG3aX8BQ2XEQaXkYM2xW-YIXf7Y2N4CL0j321NF39XLpZPeMmofWM8uJNyigToFwR82D1P4SkaGsPjmPc-Y05irrZQC7sKXY_hVhGtXba_jmfxH_voapfrugl7wkX9nYcaucVJtCGY-J_9YVtT7ErVwfAllkznaEqLyd-Q7Pq9y-N7MIMD7yYFPVDQ7BqQDLQgloY61I2X8W5Ct4umcjGwXHuDSznmDB7kVJqzS-pCXMgKwGsbCXjh3V0w_26R4jmjPCAHohE8Tkps65-am9vs654wvstgZ952MYy2f48nIo_El9sM6ML_E4QmSLQfQXzcVuSdSA22BUhtDRh6_T_beSkjvWPj0JD5V3wptRR1smAeHoEsKf2roQkcmrTmbIB5b5jET2BNdfEdN53K1-rAoY0_tWAn6T2TckGw68cI59x1F6RvMIGLNPSlZMEvuiCt1Qz61Gqt50j1Aa3QiB2bj71GYc-kavQUCZ7Syasgek3xJbSleY3HZ1flmI9cDDuKoIcw6en_b-VQpmVbIA_CwC1-dM6yOSe2x3S5QSrmv_EGSVK2L0lQk8wolGdaUuiFt0amGlKbzvBPsdWYUwAlN3ZgaV7iKCksuhYgflD8q6jR2qB5Bl-Hg-tya-zINT5a6jTfU-cwn4QcPxqmgDqGA5y44amXl6KiGEHC4nhHBeCbbFuMI20Lsisd4Z9knrvN2ou1n3gmBQVIOHS9J5jr-uW9P8EGzXPog8r55coxYN85Ltuv1qa2neM5B8aTl3eI22zLVTVXTSL8A_rP4OM5IxiCbM1xWuH6o1n0iRYHGNySuXKvAwoOpon1UqOsWaXeSzGcfRHvWwey9tv4q0BGhJISFpK67AoxRkJZmgmH5lnxX-mVLvcW3fZEOJtJf9OglkQD121_fgeNSqw_sym3GLlNuYLjeDMcK5Cmn3q-f9HTqdkY4rD-ANTwpdgBmMOllkJVhBS11vZjA9VPCBb6FMKAMxyRYUpwpxqDCqeLafoGjFMZfu3iraTRsAeofNKEqHiS9sBOQPcGJEixl-gbl7TdJxRQQJxTNHkaoMJAEVVw-K94y_OuF_WYOxXghU1dJ6-nHI7eGrsHyKvbfg5JhDxSp8Z4fMJp1nomsfma_DWwWfzIg48ZTG71Y6CPQ-6XEURNzT",
  "id": "rs_09d7c44be31c4674016ab444e0fe8c87d09218f7df1e1b462c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.1,\"left_z\":0.02,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The arm now tracks well at 6.4 cm and the bowl remains centered between the open jaws. I will lower to about 2 cm so the fingertips can close around the narrower lower body rather than the wide rim.\"}",
  "call_id": "call_ylGLaFILFhO2FSzZNF8RYFlo",
  "id": "fc_09d7c44be31c4674016ab444e1cb6087d08540f224a0f3139f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ylGLaFILFhO2FSzZNF8RYFlo",
  "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]: [-0.5186, 1.5646, 0.3244, 0.5049, -0.421, -0.3309, 0.9996, -0.0219, 0.8116, 0.5999, -0.3969, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3209 left_y=-0.0959 left_z=0.0087 left_yaw=-0.0068 left_pitch=-0.0877 left_roll=0.0406 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1698 right_yaw=0.0033 right_pitch=-0.0385 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -7.241, 4.9436, 2.1856, -0.2906, -0.0562, -0.0611, -0.1026, -1.5932, 7.1316, 1.7167, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e20d4a05902b7184a569e6acc38c20eec375aef257ccca83b0ba42c3b40f07b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0c302775e2d6d7bbdab5f80a27965ae61d348f484a2825abf07ef93cdc10b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca397631fd871b8de230abfd0a6b78f4451c8b60ae3c3335fd7ffe8a910e4d88",
      "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 · 3.878 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.2419, 0.7437, -0.2325, -0.3588, -0.2848, 0.9996, -0.0219, 0.8043, 0.6003, -0.3927, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3469 left_y=-0.0965 left_z=0.1405 left_yaw=-0.0177 left_pitch=-0.1037 left_roll=0.0377 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.1728 right_yaw=0.0028 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -4.9026, 8.4581, 1.5507, -0.0562, 0.1587, -0.0611, -0.1983, -1.1009, 7.159, 1.7167, -0.0464, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5064, 1.3327, 0.437, 0.1879, -0.4149, -0.3191, 0.9996, -0.0216, 0.8082, 0.5999, -0.3923, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3282 left_y=-0.0965 left_z=0.0643 left_yaw=-0.0069 left_pitch=-0.0659 left_roll=0.0331 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1717 right_yaw=0.0034 right_pitch=-0.0305 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -3.7538, 6.2701, 1.7998, -0.1978, -0.0171, -0.0562, -0.1573, -1.5521, 7.0496, 1.7509, -0.0171, -0.0611, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5186, 1.5646, 0.3244, 0.5049, -0.421, -0.3309, 0.9996, -0.0219, 0.8116, 0.5999, -0.3969, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3209 left_y=-0.0959 left_z=0.0087 left_yaw=-0.0068 left_pitch=-0.0877 left_roll=0.0406 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1698 right_yaw=0.0033 right_pitch=-0.0385 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -7.241, 4.9436, 2.1856, -0.2906, -0.0562, -0.0611, -0.1026, -1.5932, 7.1316, 1.7167, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e20d4a05902b7184a569e6acc38c20eec375aef257ccca83b0ba42c3b40f07b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0c302775e2d6d7bbdab5f80a27965ae61d348f484a2825abf07ef93cdc10b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca397631fd871b8de230abfd0a6b78f4451c8b60ae3c3335fd7ffe8a910e4d88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETnr1GZu8FGGO1t7o6_RWo3tQ3SDflqUxkJqXjxRHLH8hGDWNlILE5tQl0ZH4Hi1QY5z5o-pkm1242Ebq9BGw7KaCm1N1yjv9RDC83-Zr8jAtvVi91JIqwOdsPLKdBZGXI0-_1y96BFzZUalxKYWtBy2sB0d2aJLgzshzDHYbrqJGtCn_x0c69HKUKyrQCSTbDew6tRy9AXQzXRPjHQEKVOPD7i0CmlI2pJx6grtwK_SpJbYgGZ-wf4HC-el_KSd9U4IRKy6q6LQWTXUbrBnjjAiiSianBL2cVfK2Obk2yAOJAASuN-ShkE0mlebWYg305gWdyr0Ay9tggkkeQGeEUvZl9LjQMgZyFFQKR0pGn2NwIyh1yUXepH3Pp8hXk7gXKFnXUXl6e7KiCLuBz9dPZVrWCtUjgirAJvJSnC3QG6kjx56pwr8JyT24_d2lud8ewhQxIBKmwuqPQVFq3qCzu3v5uhC-JPUPsxMLx644lFJ-GgI8ebmd8XgZ8QZMaNaOyttfLCoga0l4V2636NK7i54X97B-vH6LDc82bw698rYsFoMoJQIHtItSezx7GnYz6seZp6EV9Lzy3qVTTzgUKMyWsZVyMH9aAJWKRTlJUH36U_HyXL1g6IC4c4jZ09Y2EQKOEuB8jXxs5vghLC_Vhufy6yP66TqdIB3LfInFewKfZ4O6mwfJOtD215Crimudcr-p7zpgccIuhZkMef4Ma4ybmLnV8kYBkCV6yObvJ3lIQ1zFM9Se13RbSJ3cMhuMA8mSYikyVhVmaUJbA9WpHn3tPgnyZkC28JHkiyHRPV_GxOSSy5ir05aJ1LKgsQ_9ttKLsW79cRa6XkTJt9loR5KSwDkzei5jZbnk8WBTVxtRw04fPmzd60tzNgWKMcaG_gSiK3uhWYNzCtth7RR0m4cAxQBx9GCFkHhFrtt27-KLaaqGmiY_TzXlo9xblApUYX_Hbf6mDuUEpBkGAMTzJldalbBUjIiAz_tgs0MPwfe8qq6sBabDQjNCm452tppRRZJkEe-wsQ_kQolZe6FRzE0gLxgWN5FOqBQ2tka9sdUsr5hwz3aX5V1odjoaGVfvoqEqppAMnosisLRv01dmLzTIPVXjBtkk_NAybmcYf47AtQqo3DVo2sIaoKJgp62zWSic4oW3ssvq8UPxvS4uA3FfiJVJD_yAANy8DB59j-ZMOmLduz18nvT9LY5rxb3fiDQsgASyQL86MuYAGy_mXk8E6qlnuQHxeyle0m0NoLCtkR8zvlcvItOoo2QtORHl6S",
  "id": "rs_09d7c44be31c4674016ab444e5fd6c87d0b73276711339d9f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The grasp point reached table level and the bowl is still centered between the jaws, with the fingers outside its lower walls. I will close fully and use the settled opening to determine whether the tapered bowl was captured.\"}",
  "call_id": "call_pfaT01NKbKCpXM2K6E9ZlLWt",
  "id": "fc_09d7c44be31c4674016ab444e63d3c87d0949ba5200c89b750",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pfaT01NKbKCpXM2K6E9ZlLWt",
  "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]: [-0.5228, 1.5799, 0.3065, 0.5095, -0.421, -0.3374, 0.009, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3139 left_y=-0.0935 left_z=-0.0005 left_yaw=-0.006 left_pitch=-0.1124 left_roll=0.0496 left_gripper=0.009 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.2427, 5.641, 1.5507, -0.149, 0.0611, 0.6813, -0.1846, -1.0598, 7.0085, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866cc3ac6440a1081b3e7588cdee271afda0f82907ed4e5fbffb04b0e60a6de9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897bcea699f17aa212ac16776e0609c296b955a1ddac42694b9336c1d57f9249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b428e92d72cf4f1c14ff1c678ace2afc05748fec7e0e1451652eb168452a140",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.583 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4789, 1.2694, 0.6559, -0.1043, -0.3874, -0.2989, 0.9996, -0.0216, 0.8043, 0.6003, -0.3927, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3453 left_y=-0.1001 left_z=0.1186 left_yaw=-0.012 left_pitch=-0.0835 left_roll=0.038 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1728 right_yaw=0.0034 right_pitch=-0.0267 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -0.1026, 4.0, 1.2186, -0.1197, -0.0415, -0.0611, -0.1026, -1.2786, 7.0632, 1.7363, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5186, 1.5646, 0.3244, 0.5049, -0.421, -0.3309, 0.9996, -0.0219, 0.8116, 0.5999, -0.3969, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3209 left_y=-0.0959 left_z=0.0087 left_yaw=-0.0068 left_pitch=-0.0877 left_roll=0.0406 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1698 right_yaw=0.0033 right_pitch=-0.0385 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -7.241, 4.9436, 2.1856, -0.2906, -0.0562, -0.0611, -0.1026, -1.5932, 7.1316, 1.7167, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.5799, 0.3065, 0.5095, -0.421, -0.3374, 0.009, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3139 left_y=-0.0935 left_z=-0.0005 left_yaw=-0.006 left_pitch=-0.1124 left_roll=0.0496 left_gripper=0.009 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.2427, 5.641, 1.5507, -0.149, 0.0611, 0.6813, -0.1846, -1.0598, 7.0085, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866cc3ac6440a1081b3e7588cdee271afda0f82907ed4e5fbffb04b0e60a6de9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897bcea699f17aa212ac16776e0609c296b955a1ddac42694b9336c1d57f9249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b428e92d72cf4f1c14ff1c678ace2afc05748fec7e0e1451652eb168452a140",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETr-09nnhoBy71cuZNvdmExWmDmS5sNNop1rMbPRPnBtuWTdqXbazrho2NGFIPVYTp2L-qKHV0l0gSbNtlm-zZHwFgGtg7PtdK5rCVHMg2RT0ow0OHe09W-3Acrn8wVHLsYf8EIlznjv3NuV1ooiay3p10CZJpA28TKxCj5ZO4OliW3wmp71irGVRvukCuUg0A2hIgif_eCEeQb5Gn3pKv6GeaBWlOnPP-Chea3sDAzFJ6p5P9kR1xFwS6PTRSlL3XLvRzOVOY8K2s7Bk1ivRWrNS-1CDnIZwR-1tMdl2YDupOKjJE3nUX8FRiFbQLNv65RloVuxrLKDSx5KLYKf9gvZvywq_FLEsg88tzuCF73AxcTmDU-KAuoyPDUnyc222O6el_PfRWLcEnrBfK9n_H9F8u7lr8hPF_CoUO7804GbFvjvGyrVEfufQrBCuggBrd3PvlzBg0hf2MhIfci-ABLK4sfjOupKk6R4ZlrxofdKgdAcDysGBnG3m7J9xE4Ik3HgdU23TmsKuaQrPbgvBcIuPjGFpxYONJ6t2uSG7Rsz_Loczg0Tp5YK9VMNQYBb6GRKNQHU7E4OmvOV7bVQqetZVTohKU6RRz7jV_y3tOWia4Zgaqu7W0csRCeDYqyvRi1HLkr2YvuM6ncryb4ivd2Bwz9D4e0on-uoeQkqO397g4PE1aT2fhDOcNC2QhHXGaaL0sXXGPKIi2I-q7wzAVCl5DU-DyFWa5qW_TZHecCNmHDJkdVlGGAz3j7Df69yARdueLCJn1TToFEB_nDbilNDUJubdnjs02kMe0MuLUEBPvYUNMPD174BiFHKL6dbTVMlwWSecRvCjA_F_HCYExB3jDQiyXvNpshCjbQux5c30k925JVvIvdxvgtMtTMOiCDOQbr8G6LsbHi0Oa-TU56QSB0qpm5whcZOwlY5d41npp9LqjNDBotCWKdi8oZ899DJ0ZYTah2I45mbxKnl70GcmaWNSuSt2ECRu9ivG2OKKC9TsfIKjn8kDeO70o-Di26kYjyiFUdoYfIYLgr81KhhrfCVkVWxoMgLEIjBixC70gnxziuVRoH5aK-pdQyZO6ReqzefoCx_5o_bQW_yYTQYZtV3R2iy8X-POjVk7fGRSuuEj3EWHPDG6gQJiVWNLPEvxPQSmSRqh0ODBwYMVKmFx5QngN3ViRe6Jji1zHJofRCFCZEmMGTo-M-vl16aeqkCSUcOZEpSxLYR3yUfYosUJUVGTA_qYA7D3BSiIe3imI_zo-aS81tNQ747ld58a2Yg0VfxlVgdLlERbTyDR_0qrrb2LsI5f4MCi9oUNxYvLQwYt_g2tTFXmro0OagC5leikvXwM4fzRxj0W0hcd52GjZzzLDX2Ok2QRtho3_9iQjs9n4_w-y7H3lEu3eqGm36VaCig-Ld03_8oICOxTej3UFXGxx6be5IIUImkaHtbFJPRIa2jHMHiEHpOCm62B356nsWTalw_QFvjE4EUnexd66Mp-BYI59wlST62y0NcpdSQ2n6AtLEwHmmwYWs28ioA9Jsrx0yhiyl5DgeJA99S9oZbkcKuEWKCCeLuZq9QYa_ifUVfAfhq_8YRiI69H-Y3iOXnVagynjzeoj3T8DgUBF8UJARKmcRhGFOGlcUKoYnFTF5LAdXa1hc354wW-uN1VtW8n_cWorc_AM6dpjZ6lLXunM5I2-9IRtyd9P-yawAm-iaXj5gtbXmfszndhQ0RAvfikqdAZ3XeSa_LrcCrUfx-R0J6deUSpMMMmwUBNoyk4h-4ssMTR89Mpq--FdimtqTk6jzgML71i_3JzYAS6kOvbt4fVe6-bDngTtTD9qoXQUCOmH790VACVnxS4J5fCsNL6-AWVrnA69C0b4VgW5Y3X91tUR71C1Kx-UmsX2uz4Y-yAPeLm12n1jLGxNidnm6RPYRkHkpbjVCv78hlx4mwMC2ZdrzRNFP26fTSGlYz3YHBVaXA9Tw9B2M94ipe081FuSUqLogYkKagBdWcHapbCHIisYhflwQq_XfEM8Wq_7LZB4yuB32lAGy9L2mpL5GBnR8EADxU47awlo0H4ma5zX9gJsQ_ViwrHqm5nG_WeFYLHEbLMXCC0CW44xq-bET5gBoq5XRdpTjodJmU1aB5HWGg8tmUeFCyI5uKo2ApkI9k70dYaaH4O3awyeylfcnFLRroL6_bMAusHnLuQAWQj7FCKzDfpgAKwT94onsfFhPrM8F-R23GKJ7SJw8lc5IVHh3W01Vvvq2Xa1BLZ0vkvlssiEiiZtQQlz4Kqo3iwerF4SjESMH-XEejQU5DlWCHR_p4xPTRePlS2jsXg==",
  "id": "rs_09d7c44be31c4674016ab444e8f4f087d0924aaa03608b9e15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The gripper settled essentially fully closed at 0.009, so the first close was empty; the wrist view shows the bowl still outward from the closed fingertips. I will reopen and lift slightly before correcting the radial position for one deliberate retry.\"}",
  "call_id": "call_f04laZK4Ry8twIGhbpq6p1Tj",
  "id": "fc_09d7c44be31c4674016ab444eb0ac887d0865cb2685923c4d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f04laZK4Ry8twIGhbpq6p1Tj",
  "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]: [-0.5228, 1.3041, 0.3988, 0.1307, -0.4206, -0.3412, 0.9947, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3101 left_y=-0.0913 left_z=0.0493 left_yaw=-0.0036 left_pitch=-0.1217 left_roll=0.0517 left_gripper=0.9947 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.465, 8.4308, 1.4188, -0.1685, 0.0171, -0.0855, -0.212, -1.347, 7.0359, 1.7167, -0.0562, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78903a6e98d9c30ed2c31be057795f246ca1e60701fd0b2940f6fcce1143b32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbeaf748852a2109ac02f5c5222954170497d7c126b957ffeec70c715939c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b0885ba9d9500ff20226e8caf3975df38b38a0491a701acff725f43b5f6a3fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.437 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5064, 1.3327, 0.437, 0.1879, -0.4149, -0.3191, 0.9996, -0.0216, 0.8082, 0.5999, -0.3923, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3282 left_y=-0.0965 left_z=0.0643 left_yaw=-0.0069 left_pitch=-0.0659 left_roll=0.0331 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1717 right_yaw=0.0034 right_pitch=-0.0305 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -3.7538, 6.2701, 1.7998, -0.1978, -0.0171, -0.0562, -0.1573, -1.5521, 7.0496, 1.7509, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.5799, 0.3065, 0.5095, -0.421, -0.3374, 0.009, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3139 left_y=-0.0935 left_z=-0.0005 left_yaw=-0.006 left_pitch=-0.1124 left_roll=0.0496 left_gripper=0.009 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.2427, 5.641, 1.5507, -0.149, 0.0611, 0.6813, -0.1846, -1.0598, 7.0085, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.3041, 0.3988, 0.1307, -0.4206, -0.3412, 0.9947, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3101 left_y=-0.0913 left_z=0.0493 left_yaw=-0.0036 left_pitch=-0.1217 left_roll=0.0517 left_gripper=0.9947 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.465, 8.4308, 1.4188, -0.1685, 0.0171, -0.0855, -0.212, -1.347, 7.0359, 1.7167, -0.0562, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78903a6e98d9c30ed2c31be057795f246ca1e60701fd0b2940f6fcce1143b32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbeaf748852a2109ac02f5c5222954170497d7c126b957ffeec70c715939c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b0885ba9d9500ff20226e8caf3975df38b38a0491a701acff725f43b5f6a3fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETx8DP8tFiiBg120tyrUFVdKp-InA4oQHUJAuo7Eae1YEyj6iR34pmn0l7JM2SOA27EuhSH_FuCC4slZQIheX-BnkHI3eeP0VDi0eOMk9v1QQ9aABkCm5sHR8TYAaFpQb2j9chrfynErBVI7mF4hk5278xawEE09-tIMZKIUbq2fKp1BdRAMDFCEIiEbpvn37winY-WmXxoKARtWMrg7Sm0PFWKccpquHL7Kc8O-IbfxknzLMUpItDvudjr2VRFg2eMgMkLMwksDoL7dVOiGM3eJUbIZKaT-XwE3i_mqQt9pZpReZC9Jtog3_AVqNr8R4-rg9G0xLeDJxG5yZGgj-AS3cDG4p9RxpVuy-bJj0_-mTBXLJ-D8JfrRSm4D-A9NBgoyHsZ-SVllBRv28rAu8QyVeH26M8QYH_6nDdc6WK7029zHm-5VHVAuwbFMnXgn4bP7hxAWZrcNTRh3_y5zoUgzfoDkt1TA6D0sG_TKCT4V1nBaWzHBr57ToZUNH-iKzJ_0KL7taq0mEcTvdtywYi1bS5zLrJ12GPiokSZZzCuEVDR16dPvruHRnt-wXTLz64XDI3Pb0kvcyFHe-n41VXv7cAWMBkte9fqzAUOgwL2XU91MwcjYUVyhraKzhceUDWMoWPpZMlXcWKMlAr0DmjE6WylZ4P7sEi78vgHV9BhHg_JD3dfVcF59mAE6_HriXsafgeVcd8_ogTVc-lUZD06CdWFFDaS446LlEZhGxHM2dRya4u8HQoyPtQQYcyBaKAQyq8cwyTkmkTOTguIR826tcQW0li3936KFiiI_tSC2lnFtSL1biOuD4yJde0nnMa2aMbzAH-nwlB3h2wjKdQzDy5TyVAg9akhZprdVw7MPqDeCYp2pkLZGVowNux3ayl2FV1xASVFNZToKAXgOKBBnahp8PZ_mh0tZvV7dQVHqTzhhYABjlMBRsXDYIfbKhcIkqB1lukIvpjBErMqAy49znR3MLrRuiD3PjS1LiTTn5fJ-Jx2UzG1xv0juyb8dQue7_VxdzNYLImUMEiSrimAX6OVpuKy2uJtdcJ6-mC0IeplynebhzrKZNJ9TgZAE_MizYTYJpA7CkTXdfVOKftw-qWwGRINd_WNRHx84HZlvsu1YX2hsR5Q128Rf_dh5MzbCaYvPo-Uhm-AK79eULBkeopq_0jns6kB8m8dJ-YVJjVME5C1RUhfdI2HfvP-b64B2GcW3dcORXOaD38pls3WRgSKL2Fztn6EB6n9P4FJJaFMBMCtK82D3Qyp0uh6Sc-OZTNv1iFKOCV0YyyesilYOtiAyNu1uNnMWqavGnjA5nKnIemcc5-t4NSPj9STdvoaXS-YTLUvl8l7kupdoaLsDF2YOMF3ZJqQQeuFSXCg9Cm_3o4q7PhTdjWzODwv9GkI8681GsiQP4i-eAXeJcOhgOx54j-NOuxiNXedUlIYCy3jgRnP7M0NAEDQvXSXWOZvlZlfMEs4OefCmeHmV_yhrAl2HMudjRJ9SITHussF7Q1QmaWmn39aZ9Gbi7W7RVBzczSSdbXuC0WoekuXsudjyjVESixj1LlwTxM4xttM2qW8R3F31ERKP_ZqeScutjRzDdZfZp8f8A113ofOsAqdwLlpzlo13b76Yw-6BRMku5DJuFXw-Rlq8Tw5OaSNyZJDGa5SM_UHTVfpbuYYXLrlvEJNc7QAMZ2gRqDAFoa1QKPh7ai3j9iEOKWW9nzOBd44xS2LUVTb4vGTDbGs9uqKrxElHk0FeBlQm0VP02VWF5tEQsmJsFuCmmbBND32kOnZFcndXKW17boGigVPy091UnsCaECABSfkthEMCSrW_SQJ525V2e82knx_LPF__QXH34OVmYMwvypsHP8sC_vOFzpnwOCqxvueG6IF31tZWx72xg94JE-6xLec9mO35PpnKRmueTZ5S2AYM_fG5omGiZU0n8oP0QGoLJ1-aJwQGjjecacYwgkaCnKaRWEvghwPuUTrFsLgxozf4_2Cg5b4IARYgFuybHW2L_NEM3gvE2nTiqDJKVRYADPKEI_V8mKNdH4zcvUXHnFXP8jcPXmWMtMOLr11W_IcP9rZk-GPYONX0AoFQ6_VwxfETSY7mLeSaFdz6tyvI4-pidNVgSDZ8E7sh2TfssCdrYsZsdskEHKXdpD4051zDpSPBOsbj3qETzXkxvd0bBJVyeSuG_nZ--7mnv8EHLis7jY_ijlqGwvp0hMQ-tgb1lEsDRkYjaw0xKo3oWdT1P2WYgz-sC0V1MppzfmCW7APDeD5FzBeVe8=",
  "id": "rs_09d7c44be31c4674016ab444edf0b487d0a4eb2b77df29bd2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.115,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"With the jaws open again, the bowl appears several centimetres beyond the fingertip convergence point and slightly to the tool's right. I will rise clear while shifting about 5 cm outward and 2 cm inward laterally, then re-check alignment before the second descent.\"}",
  "call_id": "call_H8hJ299Wbv83N1ABEhMBtdJ8",
  "id": "fc_09d7c44be31c4674016ab444f0676487d0b96d18dcd6417adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H8hJ299Wbv83N1ABEhMBtdJ8",
  "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]: [-0.5121, 1.3586, 0.7238, -0.1059, -0.4164, -0.3408, 0.9988, -0.0219, 0.8162, 0.5999, -0.4129, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3578 left_y=-0.1151 left_z=0.117 left_yaw=0.0017 left_pitch=-0.0936 left_roll=0.0326 left_gripper=0.9988 right_x=0.291 right_y=0.0001 right_z=0.1653 right_yaw=0.003 right_pitch=-0.0591 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.5402, -4.7111, 7.7333, 1.2283, -0.0659, 0.0757, -0.1343, -0.1573, -1.6615, 7.2274, 1.8144, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54607dcd72e2a6bb25e4f8a7501d14ebc29236725b2eb70b9b859955bb4f29e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a6ba0b7e2b04ce4504d92003bbba9507abed296bd2d4a1c78b9c89035b5202",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56aaa4cdd4dbb5c124eafbf4c9b0cc603949b16e2785d07dbeb178018ecb9a24",
      "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 · 2.291 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5186, 1.5646, 0.3244, 0.5049, -0.421, -0.3309, 0.9996, -0.0219, 0.8116, 0.5999, -0.3969, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3209 left_y=-0.0959 left_z=0.0087 left_yaw=-0.0068 left_pitch=-0.0877 left_roll=0.0406 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1698 right_yaw=0.0033 right_pitch=-0.0385 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -7.241, 4.9436, 2.1856, -0.2906, -0.0562, -0.0611, -0.1026, -1.5932, 7.1316, 1.7167, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.3041, 0.3988, 0.1307, -0.4206, -0.3412, 0.9947, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3101 left_y=-0.0913 left_z=0.0493 left_yaw=-0.0036 left_pitch=-0.1217 left_roll=0.0517 left_gripper=0.9947 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.465, 8.4308, 1.4188, -0.1685, 0.0171, -0.0855, -0.212, -1.347, 7.0359, 1.7167, -0.0562, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5121, 1.3586, 0.7238, -0.1059, -0.4164, -0.3408, 0.9988, -0.0219, 0.8162, 0.5999, -0.4129, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3578 left_y=-0.1151 left_z=0.117 left_yaw=0.0017 left_pitch=-0.0936 left_roll=0.0326 left_gripper=0.9988 right_x=0.291 right_y=0.0001 right_z=0.1653 right_yaw=0.003 right_pitch=-0.0591 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.5402, -4.7111, 7.7333, 1.2283, -0.0659, 0.0757, -0.1343, -0.1573, -1.6615, 7.2274, 1.8144, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54607dcd72e2a6bb25e4f8a7501d14ebc29236725b2eb70b9b859955bb4f29e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a6ba0b7e2b04ce4504d92003bbba9507abed296bd2d4a1c78b9c89035b5202",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56aaa4cdd4dbb5c124eafbf4c9b0cc603949b16e2785d07dbeb178018ecb9a24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET2SIu7w3cD7iGsBk-UeZrviXiN9Iy8AP-Zzm74_7rYeW9LKqENnpeS-YNRAO_CwM0qwQt3VZIvqryO49uZDhQr_Lv27W2mlLyuprPyPpXQ3VfvqV_IBpANqA3mJEstUThJcP7vdssbQTtapv5Eg6lJjaK4Q5PGyIFVbry9OomfpTyI9YteuVHqRv0UIIqGbGPwZURR6vh03CTVlrrF1Olj96cQWlLj0XOzE0_hCdZhav5PSev8JGAFkPz00z5l2e5Od41TK261FsWCWwpeg0SpUTNfFULAv8qirjIcxib3uDErenDomy3T7Mu9yIlyM6Y3bcFGxF3hfhSFYH2_A1Ze_HTCl7a5BkL0ETGOZXHXWqNsaFO8lbmOWKqBe1Zs22yFVjsiRTxW7-hy6pSRxooe__LxTPOuP22ZkhD9Nloun0f0pYUtZ30cNBhsZecQWfld6e54plV1UAud6_q7p-1TEK5pep97yXd2n-tZzLeoMnAj2156uN0Uxc3OPchuDypRByzJzu2WHfJ7DLngIeY4I1mIavU0sDqMOCn-zukH9VdbJ89iLQgQYZxvgNCeL-oesssFC199uU866lMJ4AjMobhYpZ6ZpHbQcnynqi9i98SPU_xY2sxpDmUtsYe_sny5n15Pskeqgmy73N844MfsNqrAfQvxETqE8RCMvPdUQ4KaObtXj54y-P4ongR-unfG1V-DJZTX2_kRupUwRyNuM3kOBIuBRiJhHW1IiI5ze1KYqn65D7jaNqcr5vP7J-G2khnrMlTq3dXHRLKUerjapSQXZX6QAgrnI33oME-OFE1APnzlZZf9qBEkxqfV9eGo08m28gvMqOAMhSCNTWUZKyNy4NJ8AvbkHEJQoVZIHZBNUPQbt-eT9bpgrurI0PL_NlKOAnKBKyCTrYSWqlMTsKV5CHSgyswGwiLxqAuxrZrkejNAAXcHqs3LYWdt-2gchIzVlsAtBT2-1cTUT0638S0sb0ZVsN7EzF3lhgSOORq79TbzwoCdTOHv1SiTd3prmcwAYTdaw8zPIINqyj7WS1Yzv0-legtkijkYuSJze5N2OuRsrZ-kMm0KL55jKfnGxaVaH1yaPkk1Iaqxzm98Rf43dAyC48CdHX_hc9ppYGYIVfEBCDeN0vPJZYbbtcFzn-JYVgwDvvcpQ-BD-E1vEUta5F7Bil0zkvIVSXTeTbsQpjxDA2qSiEVrFWpTA9BHeoeHuJ3yjZEjXf8TjUo2w2SqlJ-_cksm6PghuwTwpIxYeVw2BPBdnHDLXp2MjDlZFW9_3_l3KoS4s-u18lidCwgcnFX0hamXXEXOdpCZboYOQSZKfUGzDLAPAAQzs9ILdvgZIxEoc-uG0U8_7NVHOZC1FgEMq6nNngRN4VB7h-r5lBhqzZHys7UldL4XD8yz1l-B9X2GBiMuNvHoxl0pnzi6rR4dEC_FwL42sNoim8gKL0Zk8N661v-VCAm41lMcMe5r66gJquqe08fCS2cO3w==",
  "id": "rs_09d7c44be31c4674016ab444f3e21c87d0908014091ded39be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.115,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The corrected hover centers the bowl on the jaw column, and its lower wall now reaches the fingertip convergence row—much better than the first attempt. I will descend to 6 cm while holding this corrected forward and lateral position.\"}",
  "call_id": "call_qQ3HAIGlLtekDFcbyLgrjO8N",
  "id": "fc_09d7c44be31c4674016ab444f4c54087d0971003f12f42c625",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qQ3HAIGlLtekDFcbyLgrjO8N",
  "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]: [-0.5106, 1.5013, 0.59, 0.0704, -0.4164, -0.3386, 0.9988, -0.0216, 0.8165, 0.5999, -0.4152, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3452 left_y=-0.1074 left_z=0.046 left_yaw=0.0088 left_pitch=-0.181 left_roll=0.0844 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1648 right_yaw=0.0034 right_pitch=-0.0617 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -6.2974, 6.5299, 1.917, -0.1197, -0.0366, -0.1392, -0.0889, -1.3744, 6.9812, 1.7118, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f9664476c9e4f17d09d6d18a5722fc6c1df4f0dec832aff2fa592aa7ca4563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc9cb6b14a82ceb1a794d6235e3fed84ba7fc156aaeff30124aa58b71502997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a5444e51be448b7c00926f1a8cd1d8282098da7038e82f7de5f0d9151fbe1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.058 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.5799, 0.3065, 0.5095, -0.421, -0.3374, 0.009, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3139 left_y=-0.0935 left_z=-0.0005 left_yaw=-0.006 left_pitch=-0.1124 left_roll=0.0496 left_gripper=0.009 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.2427, 5.641, 1.5507, -0.149, 0.0611, 0.6813, -0.1846, -1.0598, 7.0085, 1.7167, -0.0366, -0.0513, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5121, 1.3586, 0.7238, -0.1059, -0.4164, -0.3408, 0.9988, -0.0219, 0.8162, 0.5999, -0.4129, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3578 left_y=-0.1151 left_z=0.117 left_yaw=0.0017 left_pitch=-0.0936 left_roll=0.0326 left_gripper=0.9988 right_x=0.291 right_y=0.0001 right_z=0.1653 right_yaw=0.003 right_pitch=-0.0591 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.5402, -4.7111, 7.7333, 1.2283, -0.0659, 0.0757, -0.1343, -0.1573, -1.6615, 7.2274, 1.8144, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.5013, 0.59, 0.0704, -0.4164, -0.3386, 0.9988, -0.0216, 0.8165, 0.5999, -0.4152, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3452 left_y=-0.1074 left_z=0.046 left_yaw=0.0088 left_pitch=-0.181 left_roll=0.0844 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1648 right_yaw=0.0034 right_pitch=-0.0617 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -6.2974, 6.5299, 1.917, -0.1197, -0.0366, -0.1392, -0.0889, -1.3744, 6.9812, 1.7118, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f9664476c9e4f17d09d6d18a5722fc6c1df4f0dec832aff2fa592aa7ca4563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc9cb6b14a82ceb1a794d6235e3fed84ba7fc156aaeff30124aa58b71502997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a5444e51be448b7c00926f1a8cd1d8282098da7038e82f7de5f0d9151fbe1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET4lhAweZv2RyTtb1QLgzVDx6EmvVHMryrr7Mx48encTA8j71WCXqpNzh8ijbwf6HIiDofAQFfv-2cs2KYKaYhVYG1NNOMTAl0MDjyi8dZoqQxcKGztbSwEozYg3AzZzsCOlM5gfPtXMY9dDyMEqUasUr_SIS9VdL-joA5UTy7pCJ4os1gTnTBK1dTYr20XgJK4VxM6hxMwWwFS0HhGudmev_6Ij8-yGlQ3JOHWFd9KE7RHWtSdi73acdvt53qT0-R13v-KvCZn7S_q_FfrA4vPLqhf5D17rBHS8texMi_DSJvDHcrBSLYJ7Y9z_sdxgAVJxvuD8sdSkicXl1-zzaYKkegT9tFm8kSpOuyYapGR9DrtbYFezf21KwMkK2zf1cL7e9yjxydeH8JKo2EN-x5XpZ4_mWs5f34kzjp1DD8mfaYLXq9ceHSakhk_5bragiSbGnpohgkXqyDkmBEOwtpBfrl6g_8K3eiaUsYVeZ7QaHtG72E2JWFrRgYqBlz16kpr6tVKbYqtBuUEuStYAKc7_wT5Vj37jaw20lb_f27nVyvmZCeo9GziiD1KhJKpi_L6dS7O4Ae295eQB8xbUMkK7TZiVXTltrEf3uTrP0Bfw7hyYkf9Nlu3U0svgTXuy54UMtxM-D67tUtHH1XOuSPGlW6kM7dXi0fmj8865XsjAHzxYDlPmgOjMTVEDnJWPLYtaevNRMLoPm5pIY3TdllqNhZOjwlolsyJhj6IhThSh2au1CS1kQ7oj-vYmX6bn_9T1XUOErnPfONn1MPlcAI0LhtXWLWTZEwjvnFuEdcWxrTvbpgtWA3WrnwZCtQlLBq4BFkAVvG9fsXP-TeR2ivI3RAylrfCqfGRxMmq51DSmpFgLzzE0cdOQU4_YcyjLYnSdSxhR5AlDqVx6vAxBwd9KXKCwM9zbG-Rr-_7FgT0y-QMFGOQATAd7ZaAp9pd7uYmDDoY5yBWr-En_jSbOerUKTUtrCq7MaJLXWh_YWI6zxBIO7ASJ9R3z-cNLk7jgOIPPhD_mt7C1kGcagDrNE6PqTVtonbq49TGWo5FJNebLreO-rUfPcqQMYUNo5qX3dV2dTpO6Z4rC1VUCBW3i5xsNfg8LlZJaVR_ISc8ExB_9uuY_7sd7oI-TtlUUT8sRYCHXNY_YIOwZ6cWJrRGtzEUW6SqAzk9bnNpHfQS8PPBq1-V3sSrRfkOH6st-y1KZ0AUoq6c98NyfwfSmVrOjIJuZ9Jxf0dfdMOTKNLO3zdRFZLy41W2yORYwqrfVFgYBwOWl93g4m0dTvTKxzx5T5bgQLIInNBr409IhElvX7L11OxguJdLrWnosQTgoZTzU4ulOy_Qya4alcre5XTbh_CGiX07RQVxkgHj9A0PZlrg_NMBInji_NT4-pWHRPY72vcqZ4061Q1hF2EQmLvVy8MPl3k26mLeXaM93_98wieBEq8=",
  "id": "rs_09d7c44be31c4674016ab444f78d8487d0bce2fa162d2fcf5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.115,\"left_z\":0.01,\"left_gripper\":1.0},\"note\":\"At 4.6 cm the open jaws remain symmetrically placed around the bowl, although the arm again shortens slightly as it descends. I will lower to table level while retaining the outward target so the jaws surround the tapered base.\"}",
  "call_id": "call_aHSScem6oTGCzZ7A1TcH89n7",
  "id": "fc_09d7c44be31c4674016ab444f815ac87d0abbe2655e8e72004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aHSScem6oTGCzZ7A1TcH89n7",
  "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]: [-0.5106, 1.6711, 0.5831, 0.2138, -0.4175, -0.3408, 0.9988, -0.0216, 0.8192, 0.5999, -0.416, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.1113 left_z=0.0081 left_yaw=0.0142 left_pitch=-0.2092 left_roll=0.1004 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1639 right_yaw=0.0032 right_pitch=-0.0652 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -7.9658, 5.4632, 1.7363, -0.1636, 0.0073, -0.1343, -0.0342, -1.0051, 7.0085, 1.6581, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956d8ad719b936adbbaed8ee05d1c1a7872b1182300bd89a296e047b97866a86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440759c86adba49a424f85e1e78220f0b411a4e6328e644bcfc5ee7b51dd723a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060690d2528856d42561024b41f50dea2f5b6d0c28835be5f0398c50df2a9604",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 6.931 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5228, 1.3041, 0.3988, 0.1307, -0.4206, -0.3412, 0.9947, -0.0219, 0.812, 0.5999, -0.3969, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3101 left_y=-0.0913 left_z=0.0493 left_yaw=-0.0036 left_pitch=-0.1217 left_roll=0.0517 left_gripper=0.9947 right_x=0.293 right_y=0.0 right_z=0.1697 right_yaw=0.0028 right_pitch=-0.0389 right_roll=0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.465, 8.4308, 1.4188, -0.1685, 0.0171, -0.0855, -0.212, -1.347, 7.0359, 1.7167, -0.0562, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.5013, 0.59, 0.0704, -0.4164, -0.3386, 0.9988, -0.0216, 0.8165, 0.5999, -0.4152, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3452 left_y=-0.1074 left_z=0.046 left_yaw=0.0088 left_pitch=-0.181 left_roll=0.0844 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1648 right_yaw=0.0034 right_pitch=-0.0617 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -6.2974, 6.5299, 1.917, -0.1197, -0.0366, -0.1392, -0.0889, -1.3744, 6.9812, 1.7118, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6711, 0.5831, 0.2138, -0.4175, -0.3408, 0.9988, -0.0216, 0.8192, 0.5999, -0.416, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.1113 left_z=0.0081 left_yaw=0.0142 left_pitch=-0.2092 left_roll=0.1004 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1639 right_yaw=0.0032 right_pitch=-0.0652 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -7.9658, 5.4632, 1.7363, -0.1636, 0.0073, -0.1343, -0.0342, -1.0051, 7.0085, 1.6581, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956d8ad719b936adbbaed8ee05d1c1a7872b1182300bd89a296e047b97866a86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440759c86adba49a424f85e1e78220f0b411a4e6328e644bcfc5ee7b51dd723a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060690d2528856d42561024b41f50dea2f5b6d0c28835be5f0398c50df2a9604",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET8L5T9ylRf21HttcGGrxISgXkX5iUuwBDQJuttsvAdN-130ckiJoDeBiT36PO1uvFPaIlW0Mc4Hd6H9ZZ_EjbKfaYzChCdYXZAusRc49VN4LvdoTzgsDsssg-L_V-ehDxGvB7Xr-Txg3XKrLiEDsf_t3BVKMbRultBpwg3pAaq9d12C6QgMBie8FYDHCYw6MnO30BctYzye2D6n3N3YFTf7i9jBx8O3tr3RSCrR6VGD8K4Z_VSYTFg_mFyVhOHdfTgHF-wlJFG_lE_E1ihmPukF8PbgpP5iHLlsle3sxzDwAcSVK1n-TDuIVR1QcO0KS3TW5kus-JqG-6H5RsTG7gH0O7UwgJbNM4tQzYb-WH9sm7JAVtDAmdvqnwxrgepAwhaw6WTrIrLxC4YiwDIMAly7Ajb5f_jI9XIYZtW-nbd_jxIPBUTZU-au3GOeUTXWs_kAI1l4e-UolueJb2LxCq3HHTeeJQBKwLDxE6FORK5l_GNgyBWUNgz_Cfk57x5U1tau-ynYuTEgX91QZ8lwFnGqorRQ0-EmnJ86uullCjkB9fQWI2mCOXUE4quJptlGTWFjupn6VUhth48SwJtuoJp9tc_u3iN8yesGqgbpuzV_S8N1SeuUAXMsOvhtYZ-uHVdSdfNnXs67lw6dFUcXmbA58NlEcnTaSOLE2M75dJAhSlZIQ_5pqY5h0CF_z1995_YRLC-l975PDGSLBStJkIPDHq_lD-QBRTuSOd3u_j3NBvCUCQayznC7eZEm-CkInDl-kgyvxHo9UgBoKJRCXLTVkYuQFXxIc0lzhL5VkpTnE4MGoJIg_H9Qfh9BEykxohjgMrJcH3mEVlfdbpvDvoPYgNhgKE8xLkgWO4MgTS5-PS2Q3BJiBkIeHYEcW7Tt8s5nmj2oJbG9-AziOUV2o4JGeQFgR_NgH2cEwla_ctiSfd88RU9fkcee4SFzG8nTFI0wA1AM8g1qU80dTGfmmFaTW07eJiyv7h9VCLPGRszBosEdi6wTpjOt9-0zDquLeMGe8rPmlYXnF59z_4hJeZ0G0UxxS49IURmZm9hEMWUhiNWR84lhaYOkvZf3gZdjZKDFjlwh_1PQXjXPmrcPgk-gsHg1gI0xx9iCWIeEpTcX1_lGDKJWYN__3K3jxh9pUau6asuywHyvIuea9e1AqhUzNzdM2LYNTXjUVUklG24l5uVJtmUPQnYMCC14yM4HvnA6rIRUanxgG3VG7WV6umKFkA6bHIugmC-1vB7NUHbAyhsx-KpvynSkhN_S6Lk-SzIB6ezxRoBsNIRSQtc2qgSIGGy8JVwmidA3yHnlYjrwzNk22A9uOWL66v3BPoY-9TzMsH81cvPoQ4O56LTyRT0YcyWz_uVFbIeZCGkx_4ZyISOZRS_PDqiYzu-62TxStExL9AmgIV--ZANkC-khQfm8DZphtUL7lz86iJvxVJZxOj7zfx2x7A84T8CB7SvvdpHRev3Wh8CO6ECUP3gPIy_2tJM2GUow8JirAuuB4nSh-uLzpP0wkzQzUcvrkusOqRvUMkdcrCBt5eCs8GE8drljdK7kQCDI_a3AXMnSq4JqLTPfK2UYCRUMJJDwqa5aM1uVCQZYrDBwjO-zCkuqk_Jig==",
  "id": "rs_09d7c44be31c4674016ab444fa356487d0bb6cb1be9ae11b9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level the bowl is centered and both open fingers appear evenly outside its lower sides, unlike the first close. I will close for the second grasp attempt and judge capture from the remaining jaw opening.\"}",
  "call_id": "call_4c4PAVy6qM4xMTbWpHDnH8X9",
  "id": "fc_09d7c44be31c4674016ab444fb466087d09485fbf129f048f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4c4PAVy6qM4xMTbWpHDnH8X9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6886, 0.5831, 0.2142, -0.4179, -0.3408, 0.0088, -0.0219, 0.8192, 0.598, -0.4164, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.351 left_y=-0.1103 left_z=0.0022 left_yaw=0.0164 left_pitch=-0.2239 left_roll=0.1094 left_gripper=0.0088 right_x=0.2904 right_y=0.0001 right_z=0.1629 right_yaw=0.003 right_pitch=-0.0675 right_roll=0.0027 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.0889, 4.9983, 1.3797, -0.1441, -0.0366, 0.652, -0.0615, -1.3197, 7.1316, 1.6581, -0.0659, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141ab25bc9f2e1bb30564438e1a645bbcc31da196234450765c9b564352a80b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9213ef10570c09da28114600d62dfeacf7ef4d486869308bb5ba9b26fccbd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c995106eadcbdf57549d2f7a5f0686c1fa60469ac83ed6048fcf3806d61a75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 7.042 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5121, 1.3586, 0.7238, -0.1059, -0.4164, -0.3408, 0.9988, -0.0219, 0.8162, 0.5999, -0.4129, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3578 left_y=-0.1151 left_z=0.117 left_yaw=0.0017 left_pitch=-0.0936 left_roll=0.0326 left_gripper=0.9988 right_x=0.291 right_y=0.0001 right_z=0.1653 right_yaw=0.003 right_pitch=-0.0591 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.5402, -4.7111, 7.7333, 1.2283, -0.0659, 0.0757, -0.1343, -0.1573, -1.6615, 7.2274, 1.8144, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6711, 0.5831, 0.2138, -0.4175, -0.3408, 0.9988, -0.0216, 0.8192, 0.5999, -0.416, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.1113 left_z=0.0081 left_yaw=0.0142 left_pitch=-0.2092 left_roll=0.1004 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1639 right_yaw=0.0032 right_pitch=-0.0652 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -7.9658, 5.4632, 1.7363, -0.1636, 0.0073, -0.1343, -0.0342, -1.0051, 7.0085, 1.6581, -0.0464, -0.0513, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6886, 0.5831, 0.2142, -0.4179, -0.3408, 0.0088, -0.0219, 0.8192, 0.598, -0.4164, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.351 left_y=-0.1103 left_z=0.0022 left_yaw=0.0164 left_pitch=-0.2239 left_roll=0.1094 left_gripper=0.0088 right_x=0.2904 right_y=0.0001 right_z=0.1629 right_yaw=0.003 right_pitch=-0.0675 right_roll=0.0027 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.0889, 4.9983, 1.3797, -0.1441, -0.0366, 0.652, -0.0615, -1.3197, 7.1316, 1.6581, -0.0659, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141ab25bc9f2e1bb30564438e1a645bbcc31da196234450765c9b564352a80b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9213ef10570c09da28114600d62dfeacf7ef4d486869308bb5ba9b26fccbd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c995106eadcbdf57549d2f7a5f0686c1fa60469ac83ed6048fcf3806d61a75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_09d7c44be31c4674016ab444fe362087d0b56cf3c75733f71e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_gripper\":0.0},\"note\":\"The second close also settled empty, and the bowl was pushed outward despite good center alignment; its rounded body is ejecting from an outside grasp. I will lift the closed gripper clear, then switch to pinching a single rim wall with one finger inside and one outside.\"}",
  "call_id": "call_2Snl2rK6XYvzh7HYU0GsB5Ge",
  "id": "fc_09d7c44be31c4674016ab44503252c87d09b4f71b67e088ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2Snl2rK6XYvzh7HYU0GsB5Ge",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.4479, 0.7578, -0.2066, -0.4171, -0.342, 0.0071, -0.0219, 0.8211, 0.5957, -0.4191, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3503 left_y=-0.1101 left_z=0.0835 left_yaw=0.0171 left_pitch=-0.2287 left_roll=0.1109 left_gripper=0.0071 right_x=0.2897 right_y=0.0001 right_z=0.1609 right_yaw=0.003 right_pitch=-0.0743 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1043, 8.841, 1.4579, -0.232, -0.0122, 0.7155, -0.1162, -1.4974, 7.2137, 1.6728, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83db710e7fae35426a844e12695244ca35de3fe877e18d059aa243bf30114c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448237b6737d7cea6d3f07fe04d6aaaed2bf9b4462e4aecbff5976220f3e74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d81a43291a2586488e5210e362c6192af903cd5534e9d6492bf060faa1d2d",
      "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 · 4.948 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.5013, 0.59, 0.0704, -0.4164, -0.3386, 0.9988, -0.0216, 0.8165, 0.5999, -0.4152, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3452 left_y=-0.1074 left_z=0.046 left_yaw=0.0088 left_pitch=-0.181 left_roll=0.0844 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1648 right_yaw=0.0034 right_pitch=-0.0617 right_roll=0.0025 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -6.2974, 6.5299, 1.917, -0.1197, -0.0366, -0.1392, -0.0889, -1.3744, 6.9812, 1.7118, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6886, 0.5831, 0.2142, -0.4179, -0.3408, 0.0088, -0.0219, 0.8192, 0.598, -0.4164, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.351 left_y=-0.1103 left_z=0.0022 left_yaw=0.0164 left_pitch=-0.2239 left_roll=0.1094 left_gripper=0.0088 right_x=0.2904 right_y=0.0001 right_z=0.1629 right_yaw=0.003 right_pitch=-0.0675 right_roll=0.0027 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.0889, 4.9983, 1.3797, -0.1441, -0.0366, 0.652, -0.0615, -1.3197, 7.1316, 1.6581, -0.0659, -0.0269, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.4479, 0.7578, -0.2066, -0.4171, -0.342, 0.0071, -0.0219, 0.8211, 0.5957, -0.4191, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3503 left_y=-0.1101 left_z=0.0835 left_yaw=0.0171 left_pitch=-0.2287 left_roll=0.1109 left_gripper=0.0071 right_x=0.2897 right_y=0.0001 right_z=0.1609 right_yaw=0.003 right_pitch=-0.0743 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1043, 8.841, 1.4579, -0.232, -0.0122, 0.7155, -0.1162, -1.4974, 7.2137, 1.6728, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83db710e7fae35426a844e12695244ca35de3fe877e18d059aa243bf30114c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448237b6737d7cea6d3f07fe04d6aaaed2bf9b4462e4aecbff5976220f3e74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d81a43291a2586488e5210e362c6192af903cd5534e9d6492bf060faa1d2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUL8hhKcMUeiQBQxGbTuXR-CUFVSSh1P57IHx0XYlqL6aeDnCTVXV1biWs_qXlarW5HdxdsWLMXRiDssjFy9NTwOkZMuh1YAj3Fht2txJxyKlKoU3paS6QnwfHsoZ5dlBY8Zzvm_EGnw12w99ktyiopUCStjaBVv0omVqZcS3pJ92NXz17WrMvbmd40Jgd9-kyHwoMQ9x580tr6r8LUw_87JZbymbfoBRSBMmRG_136rSIF3U5b23l9B0QaT8L0c6RoSOpCkTZAhuXgt8OriANP-hJtFu7-D4mjFBKLk7fwL_QRw8FrSMIi3yDpmyQopJ5c8ImZrRjkobM9giQOAuEQglXgHw4WXDi7jO75Zk7Th78fgeD006R_YBISijtufYRA-3H34pX54c8AeKWewTea90NcByIZvcpXJ9pG73MG-4EJktwzOdOCtJKWk54PI4n7lYJQusgohC7bSieZ1_pKT5CCB1D2Tm4ym_yvPVnfFZzMZeorcGDcvrbGjavd1byWai3nv0bQeF3SadnuMcfReuyew2KxPG0N7Q9uJaGYEJVfbxg4cUPqPFx5jALj-m9CNV3nKv2zQQXAXxW9PHq_JaefqBiQVoZpa-Yp7DfvJEuEvDpf9X_A3kVARk5Ubs1tFB_fBLW9C3T98IlfqsZRHnFNvHPiuO_Y-TjuacJe-1tO7sSaTb1-naBgLl_5owYBODSMM4CeGA5o2i25hbX3EoTtoMQ3-TAp4B74Z_m7_IcBZKrpCQxm7TkIlH1eGnSMEB-AOdquW7SIcuNrpXa8krDw0yiaFsUO577e4fltnBvCdCEH-tFjRy4z78knshepokv-JwyN8d9-W8eENalUFkPHqd0L-zcN6Lao4Q1qZFF0qbpevcicwG2ANnSM-EVGZ1lM2A1Dosq0CfRI800m_HkYu3NnZO63Iy0IkGeWHuEiSOf6Rb4JkJf7Vi-7ksL5vo4nSqForjYvqY4xGCUJ4hmoJh8VAsTg_qTRLKU6uiWXqIPbq2KDPqT-lcoXFUUV-lxZHGAW0bp7M6C2UXiatiTAQbblt9MBNpNa-zMiqCuQaD9kH_iUKhFH-BVcW4o34V6zOMkPlyPBcaiWLiQZBFqLgel2Qw_xNSRLaZc9avfnrGBz5i1-zPChwyWUJfAcd6MgBVUhNO2g-kPzLA0GkVSBtNRcQF_biaTqsMlkxhFJrZdsnxcLw2NWK3I3ggxCGeuO2ElvgUM7rLaQf8uBglTcddflcpw3dsmYYzhpQVn2xsr7PusbWfTwETBZqWFYqkXBPgmgWqkmWwON70eNmgtWOSGeKcjA7zZ9pH-z9uxmFKSFSeKpgajtRaymka16j19_CUtvt_utq2NBxB_BkPuoO2vkGGr4JbOPvIrnQ70DSajri7eNoI2FHl3-FLC13VRcObq-02kEgNfe2v6-Xk9bU-FnJhs-qvtcguKMpiY3JH5tnu_GSTHivxivmbP-fXhAUbabGRZmrC7u_jWZyYgZ9ITIkruI9M_Suq87ruzSq6uSdT8FyizNQgzoBgCMruqFzvwd5EtK7Y2C0lTYnJRPsHcbRGwy0o2VNyEULuTc9n2DwsKtg8no_LwEv8Kve_oLT7WMrwFoEsHIekAXsDPboSG-hWqQ5zAUWLF-Sxkwu3L1Tnoln-zWvZOPCkpPEYF1_w-z4C7zbNGTqda7_1G-8dK_AJNllFIPmp8vHnKVLcSy03VVNzOppuk9akOW_FBI1NWic5a9z5XAuYC4AFgfVPoUBrwl2W0U9IM_AxtAAT8V1CA7d9da7O5zPY1eHV7JUyOy1DV3iY_z3E54NgMdGTbhk48SneJlsRLn9vg4rwXG2ZJcD1fmEDF_VhFo0D86FQ4ajqy4YcjPk60D4-NK3VhFwFe0EvcsNIWvdY8egYU49WTZc_EDJuXzNX8ov_1Kct6QVUQFYnEZdZbUYPBtt8esnR4S44mMThqAgWPE6JW1FIFvE3_KGb_uK6Xg5xW5Q8uhDk1OWWfpOZAHt6Gzz65V8WkG_vMJY2OkA-4Rwc6Vn4BwyB9_wrfIeiwTu-SYpKy3qXt-lYBnSxAc0CRIPYPZ6G4TcVY3ngzyTrVJpG6V714RWJ3fmQC5PnmEn-Sau2Cx7WAvGmP68LOcA9kmxhqM9CZXtqsuWKbpXZBo7WfQpkpk5gxX_k5QxqCJlpX5_TuESaQ2KV7tq1zF1C5koUpYWCteJZBJkcAMsSBUQ_kIanthtRgQrMp9AXovRycegAIGuGEKJSltGKcTTk17o4gxsI6524DEStNWmrCqd8CklaxufxwSku2cMfMakMLXBK3fnBUCNUnz0YXLvY41hQh4jMgYwCOtJk7-oGNcPDxfPCRxVsxJrDBD7osYmkNZQW30UKD0WCZC03fzf6-S-okWPM1wPiX0VTlOxOSnN5R6HbA1Q7CAWOct3dGbKQcTCw5CIRshW892zV1kA0IuS7kqQTCeVGn3w4yqOFrrurApWEmE6OF7V9fRBZJYzRwrN-KMoqRHTa-QTJs6xXnD2Xiz-Zm6fzV4MtShBYRw1HRXIwpMXbqYh94lY5X4behdtIWIiNTfVPmoTFdYtnmKfzilScniwRufeUmx8g_dN8wVov5m_9QgIByZN_-JAM7SY880F2HS6VFaX73hWU0wfmgP3rFh5UP8dpba7_exGy25FUml6Yp_IwIBhlJV3Ydo0sFIGn5lBHTegOk93EN_ZZxIAEms785pgCNwcs7nwbqDVqOYOxIOmakFTd39M7akpX8lHVx8aIezq9LiJ3zpwqtw92M1AcOv81EUksAY7qqx3abxfYFMuWsD5AOLu0i6HjCKuaBEXfZHFBjCSitwjc8D-J_C3IHr5UDeiwdv5C5B2NDfuI5oqjWt2VGb_hUG-QLP6SJZ7fKhOqADvUcA8jaw5cBJDbs_Nca_4WE9ZBPNsu05MBuPLl65RS_BEs0UyPKsHX1nLS22TVFitn1OlSnJD-Drt2tsWRE05reynCJP-sUx6ET9XW4M_I_5ez0qA9GUf3d8rDJIe8ZI_n8S3-4irHMuYIJaAZamAOG7jG7d6ZCANbuk7KqfeVGx2zWoBseDqg3JB6DO1FnDnujDdaWLinvsgxQjQ1WK4uVg0gdbw13TJoK2ykY1WnjAjkB7OKZJMQP85iLx1S7GiYMmmdK5X6UCfJEE8uPKVSywQYdeEP0B2fAe1XfkAmo-VFEKYYwlDgyaHtdBYeJlbbtpQ8nknw6pQ-AFvN2VJvrS4OgTIFkZB13ABWDYDslReXX027y_p1RpwpkYP7zalUK6Ldwv08QmFVRCiaxGVUnxrCITQZYQPRQbkJzFwJ-pEMdCWEHWAtpMXhfMnhD5IWOV5ivbYs81MIq_6dSdPvqViEQ5FfW8zbRj9h0fPurTY9XiavhOjG8piDhLd9q3ICS8hV7xngklu1gilK9uvk6y_fPIbVdChzFY7QGqJ8VhfFTnKKlG_W8dX1bRN_9k1VTxFt7L7t5v0TsmzSFjJTw_qKaFxP_HvFEmVOn3oU4n0Ih1y60PP6xyh5SV2YHY2Jp9ZigypqdTSkcbTEIU2CBK0Xkqr5pir6TBmReDUhJD",
  "id": "rs_09d7c44be31c4674016ab44505e00087d0b45a744a710043a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.09,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"Clear of the bowl, the wrist view shows the pushed bowl farther outward; its center is around 4–5 cm beyond the jaw point. I am moving outward to the bowl's radial center while offsetting toward its left rim, with the jaws open so the two fingers can later straddle that single wall.\"}",
  "call_id": "call_NDnh6z6knZVwYBwWKcABG0IQ",
  "id": "fc_09d7c44be31c4674016ab4450a96e487d087b9be9d54193b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NDnh6z6knZVwYBwWKcABG0IQ",
  "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]: [-0.3748, 1.5246, 0.9413, -0.3084, -0.3363, -0.2516, 0.9955, -0.0219, 0.823, 0.5953, -0.4221, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3894 left_y=-0.0867 left_z=0.1067 left_yaw=0.0376 left_pitch=-0.2586 left_roll=0.1146 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1596 right_yaw=0.0034 right_pitch=-0.0797 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.0239, 9.3197, 1.5018, -0.0757, 0.105, -0.1441, -0.0205, -1.2239, 7.0496, 1.6728, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae37ff76097838f9fd556171ee4d9735ad4a0643401cc773b33ade175cb7b44f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73633e5519431440a65353c2d2745e50a297de13a0e78237747b64b6924123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bab7f8ee1fbc01b5808a9df81f15661deeccd39e7cef89527dd3ee4169a77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.444 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6711, 0.5831, 0.2138, -0.4175, -0.3408, 0.9988, -0.0216, 0.8192, 0.5999, -0.416, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.1113 left_z=0.0081 left_yaw=0.0142 left_pitch=-0.2092 left_roll=0.1004 left_gripper=0.9988 right_x=0.2907 right_y=0.0002 right_z=0.1639 right_yaw=0.0032 right_pitch=-0.0652 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -7.9658, 5.4632, 1.7363, -0.1636, 0.0073, -0.1343, -0.0342, -1.0051, 7.0085, 1.6581, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.4479, 0.7578, -0.2066, -0.4171, -0.342, 0.0071, -0.0219, 0.8211, 0.5957, -0.4191, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3503 left_y=-0.1101 left_z=0.0835 left_yaw=0.0171 left_pitch=-0.2287 left_roll=0.1109 left_gripper=0.0071 right_x=0.2897 right_y=0.0001 right_z=0.1609 right_yaw=0.003 right_pitch=-0.0743 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1043, 8.841, 1.4579, -0.232, -0.0122, 0.7155, -0.1162, -1.4974, 7.2137, 1.6728, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3748, 1.5246, 0.9413, -0.3084, -0.3363, -0.2516, 0.9955, -0.0219, 0.823, 0.5953, -0.4221, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3894 left_y=-0.0867 left_z=0.1067 left_yaw=0.0376 left_pitch=-0.2586 left_roll=0.1146 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1596 right_yaw=0.0034 right_pitch=-0.0797 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.0239, 9.3197, 1.5018, -0.0757, 0.105, -0.1441, -0.0205, -1.2239, 7.0496, 1.6728, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae37ff76097838f9fd556171ee4d9735ad4a0643401cc773b33ade175cb7b44f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73633e5519431440a65353c2d2745e50a297de13a0e78237747b64b6924123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bab7f8ee1fbc01b5808a9df81f15661deeccd39e7cef89527dd3ee4169a77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUR6g0OitjsZNzeqz7AE9H5J9WU54B8nuBQUW2uG6UrGV8xt1GFnVJogfxDJC4-to1GJVBgKd13Bjei7q5LLPSEyatkFqmJG8fIPjPfp-VtIiQZtLPyIGr-1Ik7umYO8V0UVvAY6rjcPf_Gl058RmIGNV631OsaxXnim3bfqrEDiKyMUdedyKfXCjw0etvVCviuOTc0f9livHrDKBS372iQ3ejUR-aKUehUEFwEDQ_n5WTRHiNtXyVjIDglPmRtw3JEXNhrP_SdUuxQHjbmreQtLhcnOyhGgckHzP7Zmwp4HYQk3hn4F5aRtljfcdqhEHOn1jSIlmufbSXwcXImWK6Sxdg0OApiEkEA8Gx_bjqQcNuP3_RSGhQTIEyi2WlAqSeVNs1G5JUfocGiju-mVIPvk-4JW7bfREGAnoVxrFegs-GavWH7JmJpBq6dPUwMe4KOR8l7ZMIZ0u-utJCIVeKacI5_ok6yR_56uH7V4-sXW6K8i8tojdBp9YWTDjcWjltVMhpZndUbuXdQq8Kv1E52nUbdbwmgcCRjsGyExjKgDicjle60nOQ5wrJofoEzJjH6J_uDuQpgk1Pn6Ho-SaPH20WGeZb-OtZqCpe8P1Pm4Hgj6rIaAgGzwrqOWJb4GDpeiXxpenArcWbecfVV_7zKbY4fn0W967NJpFGA4N3l3wWtjscIQ4WpfjRb2NFL4dpT1wniRrbiYSp4HNuPq_FNGRhAs2ulrI5I701H80l3E-RbR7ZnqLjfX7qmnuEFyARCtvVufEliyUAXynUVkIahTpNQ-iW9MG9Is_kQpKvqph3IAtO9l8RZRoIYqbvBKEdreak-gFzsZB9PclF08cICh8PJoCn3xagwV7dfSJAhbYjQeqc0PN9LzYE13lr_oLKZi6o9g9jyoWXC1egNYf_eeYn-DZ9B0FGClj2CgMg5hV5V93HuCipbr5xMClhPRkMwP7m5923SAX-Z8AouxYoxzltzOssvV9HcT8P_vd8fOvQdqoBa3kznwyvYLqXoeJwWQMCwx8QDGhf31as4ROwT2yHlVTTQ8cFiCKUD6q7gZ2QMo6B0V1eEwxx3YDCcCjPs-5WsFTiocZnmdFcq7gTYD6CIKET_knkZTIRvI7LZjPWcgJfswRnbxTJCuTSHZ4ituSZuCNek8yEM41KsqMNnDWm5SwDl5OyWa9En7NW8LmpedJ8CZebrTxBUDWbDDGrAlOxzf5r4_Mq21IWa3Goqn7-da_urr2liP37tPcuF5-h-dPYe8Q9S96marvuRLgsfcyvIixwziWPVBNjH6yrRQ8rqmFFNDYDAR5HAolqNlju8GKNhx15jF6uWEuwOwa6nefsjgl_2IjNQlS-uoGwxvWrdTA6KU5RrDzh4mxmqdmP-LGTc0sO9EWaj3RFuio322Y0gTXjw-UQrSsrFfT0cCAx3MjdXkItbt3_LLXREguzMqp44OP8nIKRgGmEdvtFrujgLxKwG4MzveQc2ZBWGziMK1XjMHtYsRBxNnFxHPm-7zrNepbgpquiWPqJ289gYfxyGTQ8XNCWrJBuElM1mRcDC5Agm4piS_ELn7wW1d7XkGUtXPuc8gQA_7zAejYwhiBOelrCyXoRvpd2J8hg9n9HP-3qYaEpTlJMlmqjWB0WhGZv6TmvKJf9BKTKGv_w9yzAR4E8VnZA07t1Emc1VkiPT2_D3NAAk2-dsEmHjPeQbl3pNoT3lwREuBrB00QHf9HqD0GyubjeLbM1DxB-IUXCk14rhUH6Mpq4G1D4nGlivkwvw9Kpm6RUQJsmeMARrkLIoZWq5m8Sm3GY7qsWF_gUiZZ53-CCbGtOhadWiTfcVGV_EEtTw_foMBOepvuAkamYXDaOm5oLy3yPUxj0bWpV_YR55LqHG1-B-WJXyOrEGTgg8lQL3qjDoPjvbuEaIrLycZRFg0xSqnqoZAC5oJaACkoODGiPeSljm6XYUSE-4l2GBiqOBYJ5izh0V9haBfGH3vZJmYftEBpSgfrXJUHGpj_8O3XPvF5OCojTJZVfiWXqZlpVKKRbH5b342pkwE0oQ0orSyr3J3g4G-s4dKoSDcFr_9Tl_ZKN4bYHBF4Ay5VyEvJUfzXEl8vJM6pWByf-ixKfecMv61ksJfEELsykLO00ryzV1gDyRtfURzhdQuOLYhutB-nPfHQVE1vgLCZHGBZ7BTJiSSYiVdhg5a9Aulfd5uGG8ngRpeC01D4-69LKjvNjiCW4yXyDe2NLXUAihoOguwHnp08Ig9TTu2F5BxcXaNdOLrKA2O2QYC4WglHaVlxW30OoBeW6e957vwuj0m35KN1UYqsxdbl4OGxmPnBzAKKemSCnreXULfc9QKoiAwcVoSTvw5mgXmwV5xKTR1alddB9krFvwy3iwuG--vtWyhocS7tR9Hg4BjIK6fwnZzIFOFoHwbuySRcLSxz59rZ5NGBtT7JxnjTkHnKESaau-63eu8YR5kAogFGc4YBS8srK8jV6DeTNbw5nbf_J0kgywu64bbwfyGkkhpEClgZTRhL7gx5vwa9-Dap4LPoo_U57FHQpdHu_t__WEWYRGyLCgI2LiYi4PIkAmInCHQIOckEqEKcgzmhPowxZkb7xFtJCNIPwN2DkxbVWJk_I03TzxJsoFI0ywW_20YfEpnqc-qO-8h7rheKtu5dLQyuVO4ufSAfyvlBMC9vrI01am1Gl82dRy-8f8MZH-k5K12trDR569isPv20rh9Gvm7Ftt8hTLdNGgjdtXnqz7",
  "id": "rs_09d7c44be31c4674016ab4450dd6d487d0a295e5f4cc030890",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.09,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The bowl now fills the wrist view with its left rim aligned near the jaw center while the bowl interior lies to the right, which is the desired one-wall offset. I will descend to approximately rim height without changing the tabletop position so one finger enters the bowl and the other stays outside.\"}",
  "call_id": "call_huwtPjE1oR9VkZ6NGnO1uYFv",
  "id": "fc_09d7c44be31c4674016ab44510a7cc87d0810379187b0bb894",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_huwtPjE1oR9VkZ6NGnO1uYFv",
  "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]: [-0.3721, 1.6493, 0.8585, -0.1635, -0.3367, -0.2512, 0.9988, -0.0216, 0.8242, 0.5949, -0.4225, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3883 left_y=-0.0851 left_z=0.0501 left_yaw=0.0479 left_pitch=-0.3158 left_roll=0.1415 left_gripper=0.9988 right_x=0.2893 right_y=0.0002 right_z=0.159 right_yaw=0.0032 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -7.3231, 6.2154, 1.8291, -0.149, -0.0317, -0.1343, -0.0342, -1.4838, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af74b2f3ee328ddaf3d81900621be31dbabb48775f41a7e68b42b4b53cf24fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56048047c34d826cb6f2b7497f181e5b7c71612718808e58e46356df2c5c2348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fb4dc494d18ea099ee7c6514107d65e3bdcc8d02773ab5f1a7677d297a71e0",
      "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 16 attempt 0 · /responses · status 200 · 2.686 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.6886, 0.5831, 0.2142, -0.4179, -0.3408, 0.0088, -0.0219, 0.8192, 0.598, -0.4164, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.351 left_y=-0.1103 left_z=0.0022 left_yaw=0.0164 left_pitch=-0.2239 left_roll=0.1094 left_gripper=0.0088 right_x=0.2904 right_y=0.0001 right_z=0.1629 right_yaw=0.003 right_pitch=-0.0675 right_roll=0.0027 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.0889, 4.9983, 1.3797, -0.1441, -0.0366, 0.652, -0.0615, -1.3197, 7.1316, 1.6581, -0.0659, -0.0269, -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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3748, 1.5246, 0.9413, -0.3084, -0.3363, -0.2516, 0.9955, -0.0219, 0.823, 0.5953, -0.4221, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3894 left_y=-0.0867 left_z=0.1067 left_yaw=0.0376 left_pitch=-0.2586 left_roll=0.1146 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1596 right_yaw=0.0034 right_pitch=-0.0797 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.0239, 9.3197, 1.5018, -0.0757, 0.105, -0.1441, -0.0205, -1.2239, 7.0496, 1.6728, -0.0708, -0.0611, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6493, 0.8585, -0.1635, -0.3367, -0.2512, 0.9988, -0.0216, 0.8242, 0.5949, -0.4225, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3883 left_y=-0.0851 left_z=0.0501 left_yaw=0.0479 left_pitch=-0.3158 left_roll=0.1415 left_gripper=0.9988 right_x=0.2893 right_y=0.0002 right_z=0.159 right_yaw=0.0032 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -7.3231, 6.2154, 1.8291, -0.149, -0.0317, -0.1343, -0.0342, -1.4838, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af74b2f3ee328ddaf3d81900621be31dbabb48775f41a7e68b42b4b53cf24fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56048047c34d826cb6f2b7497f181e5b7c71612718808e58e46356df2c5c2348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fb4dc494d18ea099ee7c6514107d65e3bdcc8d02773ab5f1a7677d297a71e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUVRtK_BuSM9zbVmGiG0Jc2RkSg70jKaXvHEWEuysOLeBGZUtOk--Gozzhp39X5XJCnIwDx0qbFdZIlHEXQDVkxHoyoLjPUV7vybRQ6onNBE-TAiLDKG_j1b-cLFGUByL_2Kh1JIn0OZ_UtfQBye499qPJa12LJbAJUkW_uAkiqU9mjV-rIU3LiBsS5Jx_jWm22AJl4b1pp6cplvoX68iU8lSY0CPBAReWWd4q_MZsny-kHpCh-ObwlpmyKPBDkJ_pFf5OgRMF0iXGLF5DpTWwSwUWVhOrjZNd8KYDsDqFKc_bLaUk2xmXQ_i4mOa4jKI8J4_q-S49miPaBB6Jj5RJwEpi8yn8cKbrSToO_z0bwexoyy7U8XqTsFd5sG9C3uSMlvqmj8stkgS5GbzA5z2f5iHJ-yX8Y9MlRbu9eWJQNs8Zq16wgJ-27rRgAxh7xF7oS--b8_JrVgy6GnXxHqAgvY-P4U6zQUXaKB0KSHgSnVNU8-w542L0r_tQENMggXd0Y15m-CsQKwfKJZ1-BQ14O3gHbui8FKTM7W2b4IYATmQtAw-ZIeejUtoHS5QAqzi7GD5NE7Gaut_B43a8-QgVkdgFjpWKeoTCKtBdci-H-jB9ICi8QaYqYLNZyqAh3biM45tbQ2tCAa2X_pG33YiQTr31imm3aYzecMALzeONZnnhyqRbF6HEGVzvXM9ZH7xIW4Lznk8Qr7VQeVd2V-OzLT5KvniBo2jk6BmOsohEZpHW8ye8wBA-Ujbg1lPAiK9fKIK1BXslIhjLonb1qm6QSlUpPo6T-jmzZlLHkXPpAzQh_ZdZszq2oGautULlKjHRv9EYx-mJqV7qJ0VmPNPqOrFTJGnrXh0P3MoiUnOX06tpQPUexlElLPxHcO8XDEl3EGeF6kx3CIa5pBr-MMEI_BHb4cQ19d2PHNw0-QRMsxHdpqG9JqwFyyM09XOoiCKSWgMDCerjTnUt2n3IeQVTEkC_eHeXYl0Dwg5qsjsbeFcnAqcWMMUWtceRaFzJXQlzAxyYvu51B3PHh3Piz6N8MdSSGOHX1L3IVlpix4LcGahZY2cJj6cTqW9wL86GH9ZAdQQzlRSlI_exotigvM4BBuWlN2Jnjlnc16oVyRpUvyJrNvChWrhIKcxDyiR4s0AC6gxXbApvXvjOYp-1rMmnUVeXBE2DoO_ufkHfrFxgi7Bx9ZtZAv0v2V7JKu4ZWSOXwf1bn8EfcHB6DrR9xJLFo-W4zQa40oWrtRzzh9tJ2ZHiGQA0xPt_1nyOaOW-q3UD9vkCtByCV3rfh6ziUBMtPbwgEh8dafTwWWL6VpsXKyi52KIbcS0JEE5oAB9e61JofIxoZ3qKbUy4ntspod_eDYtvoGnxWNGfiJqfEVnWwFop-mBelKJdqQraUKafZactqpkKMcF2iOWlv1lsV5dyWYd0hL7uO0Hau7PG_GcUF8ruGxavDIIZhjLQVtVSEg4eU8J5q9TcNt8yD3ZekVkPXBqdskCmPN4AUGdbDYym35CctvLdC5nzCNn1fcpVJPGPsU-mKWXzBe6UV686pupZ8bkaKnXZOBzqRGjDqHm0KOG3_cd7Pq0umtFmwg93Wy4EqIiPS73A-X9tRJJs7kHHqIMhS9RgOQBtZMeV_U92BbBb7FoUVLOMflW5n5pZiv1dCrYIVzubgKxrC1WGZ39wPfOysvvhB5CGsDIT-ikAMzHHHHotne89M885j2kJaJnZe",
  "id": "rs_09d7c44be31c4674016ab44513489087d0a0c401872d4a45f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 5 cm height the jaw center sits directly on the bowl's left rim, with one open finger outside the bowl and the other visibly over the interior. I will close to pinch the rim wall rather than squeeze the rounded body.\"}",
  "call_id": "call_rCkyqdjm1UgxcfdoNCpYZcgj",
  "id": "fc_09d7c44be31c4674016ab445145cdc87d0abda93fbc917bc58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rCkyqdjm1UgxcfdoNCpYZcgj",
  "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]: [-0.3721, 1.6604, 0.8509, -0.1471, -0.3325, -0.2623, 0.022, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3881 left_y=-0.0857 left_z=0.0454 left_yaw=0.051 left_pitch=-0.3184 left_roll=0.1318 left_gripper=0.022 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.6513, 6.9402, 1.0037, -0.188, 0.0855, 0.9206, -0.0889, -1.347, 7.1453, 1.6337, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7f058f4928f841198276aef2eb7c9259ecafe5df9b8a01969ba7f785f77db5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2d68fa5734763aaf12057f4cbc36e02c69d03f7bc86e262a8b7288d5993752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98fd503b96593b1481b357e28bee97f01a3c8eaf7d2cd8de3a768f0cceb68d02",
      "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 17 attempt 0 · /responses · status 200 · 4.571 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.4479, 0.7578, -0.2066, -0.4171, -0.342, 0.0071, -0.0219, 0.8211, 0.5957, -0.4191, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3503 left_y=-0.1101 left_z=0.0835 left_yaw=0.0171 left_pitch=-0.2287 left_roll=0.1109 left_gripper=0.0071 right_x=0.2897 right_y=0.0001 right_z=0.1609 right_yaw=0.003 right_pitch=-0.0743 right_roll=0.0029 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1043, 8.841, 1.4579, -0.232, -0.0122, 0.7155, -0.1162, -1.4974, 7.2137, 1.6728, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6493, 0.8585, -0.1635, -0.3367, -0.2512, 0.9988, -0.0216, 0.8242, 0.5949, -0.4225, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3883 left_y=-0.0851 left_z=0.0501 left_yaw=0.0479 left_pitch=-0.3158 left_roll=0.1415 left_gripper=0.9988 right_x=0.2893 right_y=0.0002 right_z=0.159 right_yaw=0.0032 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -7.3231, 6.2154, 1.8291, -0.149, -0.0317, -0.1343, -0.0342, -1.4838, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6604, 0.8509, -0.1471, -0.3325, -0.2623, 0.022, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3881 left_y=-0.0857 left_z=0.0454 left_yaw=0.051 left_pitch=-0.3184 left_roll=0.1318 left_gripper=0.022 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.6513, 6.9402, 1.0037, -0.188, 0.0855, 0.9206, -0.0889, -1.347, 7.1453, 1.6337, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7f058f4928f841198276aef2eb7c9259ecafe5df9b8a01969ba7f785f77db5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2d68fa5734763aaf12057f4cbc36e02c69d03f7bc86e262a8b7288d5993752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98fd503b96593b1481b357e28bee97f01a3c8eaf7d2cd8de3a768f0cceb68d02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUYxZdSKiLlr68qWZMrFXVXBe1uOCANV8dL5g8wEiQ21_8AMOvwucdwCPRyWrtiJCBcxg4H8WD-LWgbqdxapiV4OjMEij4bv79ofI7SJuxpogv8hMG3nuEtX7c2S0-pNJfbsej7_LxzcMVhakh3KqiWNBVbYMoISs9rw_au8qNJfE4EcLw7CU8jsua-oT-0eh7DGfiYWwk3X76W3oD34jz4PtuHH4SlUlOKBYhIN72CbUTY0RuM9k_O_Xi6m4AC0UTEmOK7C5Migi-9CKj5KJV5qtqfmF_rBdtLE-SnpaZlMf8yFvoEexaYrUbjkDTk56Z_uRGUm-GBLN4fgdkZna-s1d3I4TqLLFEzUYAOGfSgEqEVl6HSpZVgVfGLKu4ZZ52oc3jFyJytalENkjdqhdLNtuFKWUR7KUNgv_j-JvAjGygrg7PlK7bzk84GPpFmL33GZBXTBmxScKwhL6acW3FO-MQU5ozDqZuIX0bRAP97-RwWIz9ld665HiEL4okOWYlHJTPuEw_Q9xeC4KOEO5uWNjPe9M_ygqD9TNh0us-2Df-F0pryALGy44xiLXDsSrMufB7Imuh6cVa_XyqAwqvoeaxwgyfcYMN55po-rNUaIHastjx0zZCsYwybZg2Q4AATIGclJH0o0rxNnds6CLJTLF2kmnI6KIlwA8O55T85ikjivRi9x7kite7ACwTj4bb4GY09eXm0A4Nf0aPHulA7DbkocJDuMTOr4N7zD0qye7rDHQQchxRWo2ZdR6sT3aIv7BA7tOIxJRFbKH81O1ED8IpBz9GrHg2TNavG3spG6OhD9ech7hyAzTL1tey6IxrTpilTEyASjRKm4ZyH18ZnEwQ5JfPXOi0yzdVpLXVg1VfoEU92pGpOxCGQ4ix4s6dh1ClKHLSApvYDY4axEv5ykiKEeXKkq_Svy-jo70PgEz4nxflMumydn0F2HyzHMrzACMJEK0Jg5IYBDlLR_kp9b89sxb5E8PLZqC5D80mBGjaWFKHgHrDJ8lDKix3HiVxg4ITfRMBkcHW0A730LuPzxFhBMTRSrtk-93AHDXeUyMD4_3PIZRwBzouoROB4rLtYdRW2WIrR2qjYv5pppWTegk9z6VWlKVhYXhd6bbpGHfH5s3QJR2R3rfLQ-zgXenUVZ9P1xCztJP_QxK5fFGzLpt9NObyoaBWogTfFCP5yRXxEoagrTQ4lPpRTQTfjwPmY0P5YW5ydIyvIlSZaPE6-LMrUMMIzJ8lr3G1cWk4Kq21UVx8gXe7Eu98Ry4FCLs8_XpMUBovR0W_I9mKpCi9GOpuG9vPKzsRKebny74UfCNRZMKG8D-46GADkA3Ij3mvnYr3yKlf70rt4vE2V86o5rLQ7m83HYYPmSDaosCQDAUemzSrNKHWpFU6IjQQkwxf_bQszw7f4XEfLNtigAxb_l7hNUZMhmmiX6j5hMLDVfAPFmnWXICdMvHSU1nxrwXvhixFBnpLFSYOxmsOXhWRA2Q==",
  "id": "rs_09d7c44be31c4674016ab445175f2487d0b85978ebe57265f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":0.0},\"note\":\"The rim pinch closes to 0.022, which is near the empty threshold but also consistent with a thin plastic wall, and the wrist image shows a jaw still at the rim. I will lift about 7 cm; the overhead view will decisively show whether the bowl rises with the gripper.\"}",
  "call_id": "call_5VKqY4w9D9zuuc31fzkmsKB7",
  "id": "fc_09d7c44be31c4674016ab44517f41887d0a5b7234904f3b1de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5VKqY4w9D9zuuc31fzkmsKB7",
  "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]: [-0.3729, 1.5719, 1.0046, -0.408, -0.3302, -0.2707, 0.0223, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.0862 left_z=0.0987 left_yaw=0.0557 left_pitch=-0.3356 left_roll=0.1326 left_gripper=0.0223 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.1829, 8.7043, 1.2527, -0.2515, 0.0513, 1.0281, -0.0752, -1.3744, 7.0359, 1.6777, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288e9f50d080cc5948a9d5982ef592f772265c44fb7a6b3c34fc479aeddc38bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eed79281a525df47fd6512d85180ca8f87496cfccd70063621a7b3c1844b96e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f41ea47086422a5179e0bb91faef8ef230a158d1bd89667b696c83609f48b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.312 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3748, 1.5246, 0.9413, -0.3084, -0.3363, -0.2516, 0.9955, -0.0219, 0.823, 0.5953, -0.4221, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3894 left_y=-0.0867 left_z=0.1067 left_yaw=0.0376 left_pitch=-0.2586 left_roll=0.1146 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1596 right_yaw=0.0034 right_pitch=-0.0797 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.0239, 9.3197, 1.5018, -0.0757, 0.105, -0.1441, -0.0205, -1.2239, 7.0496, 1.6728, -0.0708, -0.0611, -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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6604, 0.8509, -0.1471, -0.3325, -0.2623, 0.022, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3881 left_y=-0.0857 left_z=0.0454 left_yaw=0.051 left_pitch=-0.3184 left_roll=0.1318 left_gripper=0.022 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.6513, 6.9402, 1.0037, -0.188, 0.0855, 0.9206, -0.0889, -1.347, 7.1453, 1.6337, -0.0415, -0.0757, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.5719, 1.0046, -0.408, -0.3302, -0.2707, 0.0223, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.0862 left_z=0.0987 left_yaw=0.0557 left_pitch=-0.3356 left_roll=0.1326 left_gripper=0.0223 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.1829, 8.7043, 1.2527, -0.2515, 0.0513, 1.0281, -0.0752, -1.3744, 7.0359, 1.6777, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288e9f50d080cc5948a9d5982ef592f772265c44fb7a6b3c34fc479aeddc38bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eed79281a525df47fd6512d85180ca8f87496cfccd70063621a7b3c1844b96e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f41ea47086422a5179e0bb91faef8ef230a158d1bd89667b696c83609f48b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_09d7c44be31c4674016ab4451a850087d0a31b01a88045c8f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.13,\"left_z\":0.12,\"left_gripper\":0.0},\"note\":\"The bowl remained visible in its own wrist camera during the lift, confirming the thin-rim close did not hold it. I will now center the closed jaws over the bowl interior, then use an outward-expansion grasp against the inner walls.\"}",
  "call_id": "call_eGIXMvAuvmAo3W5CrNdZMBce",
  "id": "fc_09d7c44be31c4674016ab4451cd99c87d0b8fbd9c09abdd69b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eGIXMvAuvmAo3W5CrNdZMBce",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4637, 1.6939, 1.179, -0.5289, -0.3603, -0.3386, 0.0222, -0.0219, 0.8261, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3993 left_y=-0.126 left_z=0.1022 left_yaw=0.0399 left_pitch=-0.3802 left_roll=0.1464 left_gripper=0.0222 right_x=0.2893 right_y=0.0001 right_z=0.1583 right_yaw=0.0031 right_pitch=-0.0839 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -8.5128, 8.8137, 1.0769, -0.4176, 0.0122, 1.0281, -0.1846, -1.5385, 7.0085, 1.6825, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87665216428cdaf10b825ce54dabfda5ec9f34a9c9df92df93d5c9b053b43d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba5245f8878ab530e9c6467933b94959c9997ae6d027ac4d1e95a8a66580b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6938b650cd7b52a7e2d197b30f14c5a1858c77cf5f47262bb39fc5aff936fe1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.269 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6493, 0.8585, -0.1635, -0.3367, -0.2512, 0.9988, -0.0216, 0.8242, 0.5949, -0.4225, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3883 left_y=-0.0851 left_z=0.0501 left_yaw=0.0479 left_pitch=-0.3158 left_roll=0.1415 left_gripper=0.9988 right_x=0.2893 right_y=0.0002 right_z=0.159 right_yaw=0.0032 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -7.3231, 6.2154, 1.8291, -0.149, -0.0317, -0.1343, -0.0342, -1.4838, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.5719, 1.0046, -0.408, -0.3302, -0.2707, 0.0223, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.0862 left_z=0.0987 left_yaw=0.0557 left_pitch=-0.3356 left_roll=0.1326 left_gripper=0.0223 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.1829, 8.7043, 1.2527, -0.2515, 0.0513, 1.0281, -0.0752, -1.3744, 7.0359, 1.6777, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4637, 1.6939, 1.179, -0.5289, -0.3603, -0.3386, 0.0222, -0.0219, 0.8261, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3993 left_y=-0.126 left_z=0.1022 left_yaw=0.0399 left_pitch=-0.3802 left_roll=0.1464 left_gripper=0.0222 right_x=0.2893 right_y=0.0001 right_z=0.1583 right_yaw=0.0031 right_pitch=-0.0839 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -8.5128, 8.8137, 1.0769, -0.4176, 0.0122, 1.0281, -0.1846, -1.5385, 7.0085, 1.6825, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87665216428cdaf10b825ce54dabfda5ec9f34a9c9df92df93d5c9b053b43d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba5245f8878ab530e9c6467933b94959c9997ae6d027ac4d1e95a8a66580b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6938b650cd7b52a7e2d197b30f14c5a1858c77cf5f47262bb39fc5aff936fe1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUiwNaC4JTlT_e6OVBjY9iTOMVSwlHzuxWlJ8COBqhxDfXCllK_lmvxJtg_PuWrtkrGFkHbXNTRSmY0TO5DqVoRUqBW_VORRtgpL_RF5RirUMfsyz8JNaOmF15eI7fRZXTx_KBPB7QNuTBsVQVvtU6HPZNhpRYs_BDXxjkOSAtrZoOf4nldLRIvWFoorGbCCLWjlxNDU77Tq8oe8j6LNATCMyAua-XwB4L9xV17sRgNrKjau-hDZWLQQiZ_TYiMe1fwcITYZfO13Z7OjLUCjKqqIsNUrAEn9n_m18YbOGT5U1JNdsE3J5uQgFnipK3TjPU3zoBchUFwJ9RVFJ9DjLnDwsxogVAX-DoHCcnL124YmOyfCB-Uow8o7hW-azbzsxcdd32xk5uRmwmRq8xyLOLKH8KVna9AHkPsPPKHyTX4gP7ewoi_vUhAYs0u4LC8ISyeIpOtHRBRGJQIt7JxZqH5wbm_Ja15VuEX7dTkcZIAV758ymJs-h16vBJcV_C1NJwWzPkSZg7TotRhRLK9B3adHMZeyhGeDm-GmkLLSQZH3y9eihKf1hgsjPUnPlYdQvKrUPk9fGf99OZwTQC1YSGuuQ3EUlAOas5OkDq3zmwV0Ai_8WNaexT77qGvXx_LBSFcrEIC9G3yZ9oJKsWdTB3n05yQAwd8qJFX_9IADROBBgJXZ5Y_BmpobPvogCCl0mXtWqjmVqhwHIwc5Swcv73GywqyrgyM2TPrDYAeTcYbLjFXw-7gHIF3-mCzcHs6PixQ5cGqzJAJYcvV0AlGz4DTwMaMV2k6kG2h9RFevzr4g6-UhME1G6BCqHV6oEwr5mQ6b1k8pl-3cIt5SKk7_aShZfBr4spN4-BOiBNhF4lBU1yti5MdJrANZszVKxGwR3LoFs0o6NepKGjWuL_BMdYGJKkQWwsdwy287Oyb3KrrI9JNls5TsmiIvI0K5BDe8UflmAWNWi-EEj3Ys3FeBJiujKqlcZSRwkdxP-ScFhYZbG5deF-zrpvkdcc-oGEyseUBD2Uiji0_NlY0vuP1giyklMfigJDmgM37zwN0xQec0L2qY7rZ8vmbPePtjZX6Tv_TAQn_KgpgDlxCHzR4_LsDnYyel5hY8FrWnQsKWqG68tbjLrgI0FF8W9wXC7vGF_QH5PGL-DdMmsrgv4HpViegtVREBdQU0Ugnm5EbOBFxS-PHDpGqA9AmVKC2GqnzxxFI1pRasDniwdwJ8cOBd8q-oUqjW2SwfyxS5EVoFml23hT22gABT7GpBB0TCmgxyA4UD1PE1u-LodEa129GRc-3RQJcgmYBzzWAyYiJzEwKCiquadoyPYAWuTGZ9FCpoeaRDKLv7U35WL1HVpBuhuNf4hoOnU6LiLYbWTJXaixVeV6yo4oA3UIszxMPwJ--5jUAYIv9zGfFmoOoe4AU7P8X3l31IcRVQpICyaZTNK4zD9h1P7JvR12kcHGtZXxPadtMzZU_GbaE6yhMEKLZl72e3LKs9pOELTATjfb8IMh-7MWVTnz5gaTkNPKKpzqSgarLlcFQY-D72Emsft9Z9GsdFYZeTmTYhi9g8TAOnf6viTzUKMp_UeIsCka_NwT6RE64ZEOnXTZse6WsfaC-WwwJ60NitWuLutScE5e9QJLl3uVewlZi4D9t7CSkhSh3AnhBqc_YtGJdnK236GknmY9So5Gs8x1zSUEGKSRhfn6Lm7LMe7ZVffyR4-ODfkNWYlb66wnicl75-tTRiVqxBjyJXoh4V-t1IlKUIY6OO7HJRCqDRhz3OP1tkf6sAZEFLlde2yNOcnVRuRcm0k1dORD96X0oSctCaUhSs9Wsvd07oDBFy324N-j0GnTAYB-pIRN46PC4xUsoFCEOyag69RlMuCq1FEzfe8A5NeaxZGLPxqHQJ4fl2gv47o4E7X9-oFHGf4TOptuhZWQ0BrFCPqJZFF-a_eGnj2HToIdIezSlsqWea7kHMPkd7qmzXc1i_spG8fHnbvieWIisiR1zpwRnZPZNj0sMSxRxACR7nZ8V7OGoP76Igqxnexo1Gw_Kpaajja3p2EAXXhFW6fPuPc9PrEaeVfH0mtAD_5ZC-oxfUJwj7sAHBxbEvYgMTl3mxA0noZIulYuSRZT6iEc7uX1FkKsjbXr78b9qFNqI80bv2pFqmrb227cbaPAe7s3RlzOIPh4jGzFvrVbUF-zce_ZrNYynwaRfNjDb-eEQHvxEkrOE5KiIcfyV-0VHobEKBRIHVn6f6VBcC6WPfWBRp1MwsjvLBKqS36thaTSx9xTqyVk=",
  "id": "rs_09d7c44be31c4674016ab4451f893487d082d06a434e36776e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.13,\"left_z\":0.04,\"left_gripper\":0.0},\"note\":\"The overhead view now puts the closed gripper over the white bowl center; the wrist camera only sees the near portion because the fingertip point projects below its frame. I will lower the narrow closed jaws into the bowl, stopping above the bottom.\"}",
  "call_id": "call_Bv3Gp3GvHMxf9yR9fje5RgOy",
  "id": "fc_09d7c44be31c4674016ab44521bbdc87d09ed7e2815ed82d55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bv3Gp3GvHMxf9yR9fje5RgOy",
  "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]: [-0.4713, 1.7, 1.2053, -0.5461, -0.3676, -0.3573, 0.0222, -0.0219, 0.8268, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.1295 left_z=0.1077 left_yaw=0.0482 left_pitch=-0.373 left_roll=0.1389 left_gripper=0.0222 right_x=0.2893 right_y=0.0002 right_z=0.1581 right_yaw=0.0034 right_pitch=-0.0846 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -8.5402, 8.5812, 1.243, -0.3541, -0.0562, 1.0281, -0.0889, -1.4974, 6.9675, 1.663, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce941fab6e50e5f980be68ac92c8103d153200833d9aa561ee9ef5cdcabd845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bed99e53173f000e646e9b82fbc09024eccfea67cd50fe6eff332386ec1f5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75576ec9c7d9adb5edc36c221b3356f26048842c8e7c33a96375d7c76d0d56a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.414 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6604, 0.8509, -0.1471, -0.3325, -0.2623, 0.022, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3881 left_y=-0.0857 left_z=0.0454 left_yaw=0.051 left_pitch=-0.3184 left_roll=0.1318 left_gripper=0.022 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.6513, 6.9402, 1.0037, -0.188, 0.0855, 0.9206, -0.0889, -1.347, 7.1453, 1.6337, -0.0415, -0.0757, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4637, 1.6939, 1.179, -0.5289, -0.3603, -0.3386, 0.0222, -0.0219, 0.8261, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3993 left_y=-0.126 left_z=0.1022 left_yaw=0.0399 left_pitch=-0.3802 left_roll=0.1464 left_gripper=0.0222 right_x=0.2893 right_y=0.0001 right_z=0.1583 right_yaw=0.0031 right_pitch=-0.0839 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -8.5128, 8.8137, 1.0769, -0.4176, 0.0122, 1.0281, -0.1846, -1.5385, 7.0085, 1.6825, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4713, 1.7, 1.2053, -0.5461, -0.3676, -0.3573, 0.0222, -0.0219, 0.8268, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.1295 left_z=0.1077 left_yaw=0.0482 left_pitch=-0.373 left_roll=0.1389 left_gripper=0.0222 right_x=0.2893 right_y=0.0002 right_z=0.1581 right_yaw=0.0034 right_pitch=-0.0846 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -8.5402, 8.5812, 1.243, -0.3541, -0.0562, 1.0281, -0.0889, -1.4974, 6.9675, 1.663, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce941fab6e50e5f980be68ac92c8103d153200833d9aa561ee9ef5cdcabd845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bed99e53173f000e646e9b82fbc09024eccfea67cd50fe6eff332386ec1f5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75576ec9c7d9adb5edc36c221b3356f26048842c8e7c33a96375d7c76d0d56a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUmbKtyQETSezDOnHOo4nGEbZd4tmud-TqXSNX6AeuhASSecdaLgJjO3E8s79x0lagG4HgEyRvK60BlUj8xYsWKrkLfgYnIyD3ppicyNhyPMAqdcxGJmFAH98qpcLyrILhcXY0ju4USaJJxsay7qn7yPjS6N7qA2IBQmYKNC_B3zeG87AU5OMn2gsfXxUBv8pdAM-b3d3hGL2qzDZclHaI1Y8_EBIRfWIuoO8xb1VcHbX8y7VdGlikzqq4t4lvcGp4tRAM8c9w9ZE7Y9FWnbHjS671avHmDEXkIAmKhYI0_kdhFRvTW6IjsbAIeBwB2cTl6b4-B3YZ_6icnb-wQ0NRo184WP-ChLtOOtVNApkDkfpqPB5HJCcKYSb7QDYA7tV3kR_dmlvHNKc8fqzi0_xApJuCeyO14VvV2-eAXcroPDUC2xhzMXvZmg0vj21DykMzLby8moHPfcZT7Y7SkGxU9WD1P2lTY8wuERSGUuTaRFJ6bvvF3-CG2ISPjEpYWHqmTfR-rCWrejldPs99IJMuJa-6IAJSSsBTcSDYwbTF0oUuDP-XMiAEgnx8G4Cbk7YsVdEXHjvG1xWdGvWjz5UX1dfTgmNXKYQSGqUbAOigwHPROYqhiUwEgwQ4hhCZdzpX4r4409YEUqmcafNJSMixaSnoLJfVbvpkt_i55AJMyRbj99S5ln9_dJkl0fsyprEtibyBiVzpNUBRhx9iL8onFSzbetxiQw0jnKSdB4fXAi0KQXHR2mv3_NapHWZm-z4LrgCOOrOcoUFxwIzf0TWu4ncyTGzncXzpfH3ZWV3vs7CQKxn_QpmI0shl9N3djYtjAsleIQYxV4wZ2dK6wieXmjiIViefKmbl7tK-vcROLIBQgOq2TT-ryp06gjHSSxu3XPhzFqYsymHPQ8PcpOpTjnrQU4tKHaltV-h374jmGS49lavQJSYHlOjQXd_WXioxr9e3gXQmkE-nciWxFJ35ZZD2_kjcXDW8hcqnXQ73FTERMA86MaEdts7hpbMhquHMyVVUabxs56a7nJFCYiU_5-GFD-djXyEqMfjpCd27zDwWB7d40Y94W8f3AleHySYKYU3LTpoDXlyd-PGDA6ilPYZ7rvBplCyGgxcmcGD7A86D7Ip9mTjRBso-9EeM6BeilW5TC5HFRAzOLrwdzW0_oRHkASyEnYowGGAu-H1Q0FmGLmEd2_O5K7x9_QQubmZ8asT5vPEanyCRsijxa4imyEKpt3QjYw1IekvbhOG_wngD81oLvGuuRKFgUpYcvV5yyD9yOiZWsa5DdB10UdxvUsJfWOu9dxZtGvUWk_yoMtfj6-zQ5Gmayt-VMi8QBpv-V1fsRU72JbOlkdnjq_fsm236FJft_rCjY3xPDKejXL0sg8KY7ZrUMzCruBKftIGQ_LANmo3HCI6Xx4ge02sJGaOO7sS_Hvk33nZNkRdcQ6p8DB7uK8UIJwbgBL7GhJlWvy6LTAyJV1uLwYoj2o_SSRQ==",
  "id": "rs_09d7c44be31c4674016ab44524865087d0bfc5138414f1e2dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The full descent stalled at the same 10.8 cm height, indicating an IK hold rather than contact. I will use a smaller intermediate step with a 2 cm shorter reach and neutral orientation, as this recovered low tracking earlier.\"}",
  "call_id": "call_Z92epwCRHG9PcwVu1BKaL082",
  "id": "fc_09d7c44be31c4674016ab445255bd887d089e9039b78c965e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z92epwCRHG9PcwVu1BKaL082",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5045, 1.6047, 0.6502, 0.2226, -0.4145, -0.3378, 0.0215, -0.0216, 0.8307, 0.5945, -0.4229, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3793 left_y=-0.1241 left_z=0.0559 left_yaw=0.0058 left_pitch=-0.0867 left_roll=0.0296 left_gripper=0.0215 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0033 right_pitch=-0.0888 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -6.2291, 6.106, 1.7851, -0.3004, 0.0757, 1.0281, -0.0889, -1.4701, 7.2137, 1.6386, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7764b5f40cb8393bf59d99afdd0e14df6c6a707807b5940a7f74c8480d964106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0a7ff11ed614b58fb4c93cf41786101e842d0385f37ca8ff96af00324a4410",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a85627ef5c8b981cd7dbdc53858530091ba8dc675a8468c93efe27c84fbe00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.285 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.5719, 1.0046, -0.408, -0.3302, -0.2707, 0.0223, -0.0219, 0.8242, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.0862 left_z=0.0987 left_yaw=0.0557 left_pitch=-0.3356 left_roll=0.1326 left_gripper=0.0223 right_x=0.2892 right_y=0.0001 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.082 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.1829, 8.7043, 1.2527, -0.2515, 0.0513, 1.0281, -0.0752, -1.3744, 7.0359, 1.6777, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4713, 1.7, 1.2053, -0.5461, -0.3676, -0.3573, 0.0222, -0.0219, 0.8268, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.1295 left_z=0.1077 left_yaw=0.0482 left_pitch=-0.373 left_roll=0.1389 left_gripper=0.0222 right_x=0.2893 right_y=0.0002 right_z=0.1581 right_yaw=0.0034 right_pitch=-0.0846 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -8.5402, 8.5812, 1.243, -0.3541, -0.0562, 1.0281, -0.0889, -1.4974, 6.9675, 1.663, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5045, 1.6047, 0.6502, 0.2226, -0.4145, -0.3378, 0.0215, -0.0216, 0.8307, 0.5945, -0.4229, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3793 left_y=-0.1241 left_z=0.0559 left_yaw=0.0058 left_pitch=-0.0867 left_roll=0.0296 left_gripper=0.0215 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0033 right_pitch=-0.0888 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -6.2291, 6.106, 1.7851, -0.3004, 0.0757, 1.0281, -0.0889, -1.4701, 7.2137, 1.6386, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7764b5f40cb8393bf59d99afdd0e14df6c6a707807b5940a7f74c8480d964106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0a7ff11ed614b58fb4c93cf41786101e842d0385f37ca8ff96af00324a4410",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a85627ef5c8b981cd7dbdc53858530091ba8dc675a8468c93efe27c84fbe00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUrduGE34pNZvBp8REtovoFbVNfFMXZ8sZ_h9IaQP-Bcp54QPLr3CgD98GuKd9WZti7Ayy0JJEQup2ynWREqWI2OYyWN8FCIkt6f3oENcmJT2PEefZQQ788ILsicHY_2DcT2mdm45tXpgn85e3Wk4Mas3KzqEbe6NSJ0c4bIA4UogIYBodse4t3TUXdArCLzYp9SGogQCnmuyaYwuiRu__IlP609f_HzJt6Qlfj9F6gX6vrpXn3dLyjvq23gtk1s47fgzzs_rDCbKVrRrD_Hk_4JtAt79UewrqpnqRrKK28ba0HR-jGzYAR_1dXM00K-jPr-o-sJ4qJa36I9qYpydqBP5C8k9Wdy7LYorsokvEpB3auHNGSEm0Xpl_d8sHYVGSxZMc6VPiGtDRyt0ScpSExmMp6-a8vP4NkJHjyzPB1exnBtFzJfKlYYolVPlELDz8CQB_eu64y_HgTHuMwJSSr-k0qU_C5HzjoJlBqSUfgUa2Q-kU2UlorDWHndKNufBU4CjxsSo3AyGQ7DW3QUiZ7wue7CZZV_reVGJ7CX7SDtnIMeHZ9N4C-WnU75AaE18U79ymd8cH-hHWneAn4unOnK3hoy8rLVfq_GvyRB8Pid1s_4GLLX2hXyK0bvpD3Z-V69SCn0cJFMXOsi7RRCMMQsv5O6JDSY6mmCMZkJCbR8-07ZIptLeJFW9XCW98FQPGWBBO4_VNMG1bCFxUP1uRWMceeFwLzeItUqe871HuKjNfrg4x1FrQ5AFy0fvCsTtgQroxq0dFq7OW9BopKRZdhu-9Te4HegnGoDUdFffCfR4TuUmUbNy93svktEIS7VMsyDiP-R6SwsWUB6ZDnmCEmr8VqsN3g-w0iZ-E6ECFeQQya-yP9CizAmc0EwbD7O-bRZhCKk33Tf64AvmxfV0R5CJYMvogGceDEFQCnQ44CU1fa0GfKgUV0q8RmEQEjDn042gDd1pPiF2ShGLdcCYe53TJeDv8fUJdmcSqSWU0fNOUcmGmVkIff9thzsjcVvZ-nXySha_G8RU-OYbYdIylynKbUkttlON2dmybt-fEEkYtq4ydH9507muuqGTL0agQRIc3snZMRfzfMO5nw39NNDridveo_JovTGU7hmEKcJPzTFtR358U56Yeh5vJlOWTFIihK8EUvsdaDOHiMaXwjkkd804PaB0p8Fw-rASEvxfqsEFrLuFBAcCNSX7u3dLdKlurEm16bNDvyLXx-l92M-sxf-ygIrXSFZoMSZ82uTRP49iBRfla1lECkyxKzws8MQqLTU-AJKlnwAZy09uZDCjeWYfyscaA6dV6nl1xn-3G-1AhB2Mg_Bc_BIYw6ywEIAlD1sItiTq5mrifj9bhSYDtGaDrOlA8CK3cYARKzkJWVm7Wj_V40eqNwEPxTdLkoi-wmv_2ssluhBHbRtMQrFkCmcunma8IUFa1jzAfNxPvlZHdzXcSXGA_wQVaMwz40onGtR5q_kYBvDAMrUwmSo6synAk1xL7ofSQoo4Igb5A6Ku4mR7LrrMeBCQ88zRTHSnsI9NwfeXi0C2nKlvRb91z6jSpqd7Z3bs9eXycA7zGKz3FXkNqSkDrxDYBANIwDEkanzIvoA3egTJpc0zzpWfCt78QdkTr26dgwDjV4Vl1X7oRVJG-c6WktqSct4JWxw8oH7yyIVsDRvuLAF5W5vZBMaR71pvREsI_lB2EDIY2X-ovyG_I8mUiOZmpATPU6RXQBqjY4yEG1JpEXI6gBTgNQRKPRE-80uZu7FkXnDkwMjsYv6Baw4F-L_1ikAjPxmOm6903KH24dkArEuyW_yQqut4rS-_zsx_no5gXQ_O5QBI_CnFMfIwjyDEumIO-gS3VxqQJMEuLtjaIUzlsdRhWb5CWf-W_kUlw-R1qs4KalwRX52l8yq6Ukvu-0LKJpBDagliHv0llpA4K1ph70v9tsebVdrNFMAuQBIqqVNAJKJv9YTSr6dyq7Pe-5sksW",
  "id": "rs_09d7c44be31c4674016ab4452986bc87d091ab45039a9de32f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.155,\"left_z\":0.055,\"left_gripper\":0.0},\"note\":\"The intermediate path reached 5.6 cm, but the overhead view shows the closed jaws near the bowl's left inner edge rather than centered. With the jaws still narrow and inside the opening, I will shift about 3 cm toward the bowl center before expanding.\"}",
  "call_id": "call_revxoyQc9nBsbrAPu2VCaLUd",
  "id": "fc_09d7c44be31c4674016ab4452b00d487d0b3963f010d702e63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_revxoyQc9nBsbrAPu2VCaLUd",
  "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]: [-0.5663, 1.6802, 0.7181, 0.2237, -0.4515, -0.3809, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1506 left_z=0.0537 left_yaw=-0.0031 left_pitch=-0.0789 left_roll=0.02 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.5436, 7.3368, 1.3748, -0.3492, 0.0708, 1.0281, -0.1299, -1.4838, 7.241, 1.6777, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10578055c8ca7ebf45c94c71cad1c5210a7ac43b7230b6bf49cc5013fc1b15b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385c613942118cde4cd473e8f2daa80c76dc46da8343fc887f3c115a402409ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60da9fbdf66a2b2384c9f4430711e156f3282b88762b48708f16f2ec509f34a6",
      "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 · 4.614 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4637, 1.6939, 1.179, -0.5289, -0.3603, -0.3386, 0.0222, -0.0219, 0.8261, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3993 left_y=-0.126 left_z=0.1022 left_yaw=0.0399 left_pitch=-0.3802 left_roll=0.1464 left_gripper=0.0222 right_x=0.2893 right_y=0.0001 right_z=0.1583 right_yaw=0.0031 right_pitch=-0.0839 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -8.5128, 8.8137, 1.0769, -0.4176, 0.0122, 1.0281, -0.1846, -1.5385, 7.0085, 1.6825, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5045, 1.6047, 0.6502, 0.2226, -0.4145, -0.3378, 0.0215, -0.0216, 0.8307, 0.5945, -0.4229, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3793 left_y=-0.1241 left_z=0.0559 left_yaw=0.0058 left_pitch=-0.0867 left_roll=0.0296 left_gripper=0.0215 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0033 right_pitch=-0.0888 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -6.2291, 6.106, 1.7851, -0.3004, 0.0757, 1.0281, -0.0889, -1.4701, 7.2137, 1.6386, -0.0317, -0.022, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5663, 1.6802, 0.7181, 0.2237, -0.4515, -0.3809, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1506 left_z=0.0537 left_yaw=-0.0031 left_pitch=-0.0789 left_roll=0.02 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.5436, 7.3368, 1.3748, -0.3492, 0.0708, 1.0281, -0.1299, -1.4838, 7.241, 1.6777, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10578055c8ca7ebf45c94c71cad1c5210a7ac43b7230b6bf49cc5013fc1b15b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385c613942118cde4cd473e8f2daa80c76dc46da8343fc887f3c115a402409ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60da9fbdf66a2b2384c9f4430711e156f3282b88762b48708f16f2ec509f34a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUvYs7cpdr_rQjokMWgvQa-8togn1xINA7NecyYEEqyumuF9MO6KetCzpt1T_hwiki0AwAeE5itQbh53iqh7OhbLw5TJ37p6f7aj0ja5B-2AhpeDHFSHz7aoG58Ky6JM1FrsLACDFHYTtBLxR37j1iZ0eyUDhpeyOoIburOM8smzbKx1FhzDYe5pbRe_11AMDJNdxFA90AgjDdLFM_PHZajSiZjSMaALqOb_xdCfV90paWiR6dXxeaE8-mdY8JhO6HrfTvgFf4DoNs_in_wb7wjQFej-fu1w4u0ipThj9llEmX16XqgAbdJQvFOgNUcYgPAFl5_lv0fr9EX0KZKghf8gRnxyAoPD977T6zDnieYQ_ZL2jkooHJuuERpMO9vLHC5OyPTqGPyQ88ZmZwi6qiUh-wASQLwAsn_HPK6QLkqYnMZS9u3K3-NKB1cJ1A97g78YQUsu5n8gkhgXSgVmsYrpupyjojQc-kD5O1Y7Dp1v18KEPtUg1y-Jve5FZ5fQTFYVNPhrRZvMM0QgHjMjnd5odULEdwe6JQo7Jac7uAhyO75pdkBSwPcAz9OoYg-n8DCUCKcKsqErgnJwHEnnwDBmlSradlZYDdQADFUh2TEuUJOeOCJF5vzid_f4IN_ZwFT72gDpd-hnqBqOHug41weEcGu2c5FsEgRDskxuIo7fgZaG3AOvJr1Q48OI12dEFOocOB1lSCWWeEY0sBCFwSPFQgCsnK0YFiX8xboK8fhsCRw1edX6A06Ykvddte90xGJC_bJ7uPDTf6kkt-ebVnmRhVECDsr8InR0m_WWF8nPgmQJqROKmnYq2CzOUCix4ZyHFWv3qV1mWJoP9O7gAGtK_8z5hm6dyzpkeZVQ-3BG0FnSRCW_HYxuZHiHDFQ7_oUff2SBbwVL_xPwU7PL2HBNBZmulDHhy32XU405I3VtAKcwr2EelHK04J6dk2K26hkjP2gtudjLsNk_4IG9A4KVG9lsvtlbJ7YZyeei3Tk2MRhIZphMiqPsuFm3y0DlBsmzST78eKSPZO8MthCODQznnFNA59vThtF41qIQqyA72Xh4FRGU8s-R3vGLu7I5s27TuR3H7C_DNaCfEjTHpam54Oi-LqLt9vcLhx4uY9FQctH_UWgxEv0BgfAxc3xBw6Sw5I-Vn9qMOV-tUgqQL2tH1xKD2FqMU9mYmisaI-j7k88LUfU-Oz3nh74Ew6kwCNEk7bhAyNUpKUi9SEtW7_Fj98UAf9dNASqdN7_sm7u7-mebp5mCUf1Xf1Ba7u-sLfl_JmaJfbKpxoAiWiJeDzKbv8o_9QV3ROMj0NmY-NRHCG-B-B75LrIEGnLxOwV-diWgmsKc9OhcTguk5jOiZhEU6Y0vU4AFgIkUSNF1Sbn2tUxkge-a1su7l6T4RWEBakj7iPK6elD9RHH_Mn10GdJ5QUaKbY0JsuIVE3uY8ff80D9uqDNhx4wq7UjFqugEmtuul3v85UXiZqEhrbKNQPzbY9DvEyaHzQPOVvu8uHQ6SN4zPl9apAzElkZQtHeewxFzqtXcPpI5as-H5ZE-BmnNOLTxReYgELRterq6I93C8WI_C8mSG7z-aiu4H3_oPg6ue8deeFZTYoz0C8beapPb-lvub5CKL_1yx3OxrfikYYW1loePDuhVckjR38gt29M6ZRO3-xHgw2o6-EWam1XcujVk6DWORA-UAKQPG_w61zhL2HNnnUO5oLCSOmy74HkQhRwSiC1f5SCmJbo7mYCPw==",
  "id": "rs_09d7c44be31c4674016ab4452d4f1c87d0a825795c47e911fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.19,\"left_gripper\":0.0},\"note\":\"The first lateral correction was not enough—the bowl center remains roughly one radius to the right of the gripper in the overhead view, and the wrist view still places the left rim on the jaw column. I will shift another 4 cm inward so the closed jaws sit in the middle of the bowl opening.\"}",
  "call_id": "call_lWBtddCfvfj0PHnE7xhlI6Yx",
  "id": "fc_09d7c44be31c4674016ab4452e913c87d0949e3e2c9c1e0722",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lWBtddCfvfj0PHnE7xhlI6Yx",
  "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]: [-0.5896, 1.6882, 0.7349, 0.2062, -0.4664, -0.3943, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1584 left_z=0.0545 left_yaw=-0.0072 left_pitch=-0.0806 left_roll=0.0226 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -6.5299, 6.3521, 1.5458, -0.2613, -0.1392, 1.033, -0.0615, -1.347, 7.0222, 1.6386, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fb2b3cc59c07ef2e3917dba80d2510d533074f0880d9ff78b6cd485d11f972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3830117e324ac066572801c459f72f661a63073962071e112df684e2c38fc92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7762893f9c832b4e57947ba13c5598638037c7103c472e7ed601916e64ab27a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.349 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4713, 1.7, 1.2053, -0.5461, -0.3676, -0.3573, 0.0222, -0.0219, 0.8268, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.1295 left_z=0.1077 left_yaw=0.0482 left_pitch=-0.373 left_roll=0.1389 left_gripper=0.0222 right_x=0.2893 right_y=0.0002 right_z=0.1581 right_yaw=0.0034 right_pitch=-0.0846 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -8.5402, 8.5812, 1.243, -0.3541, -0.0562, 1.0281, -0.0889, -1.4974, 6.9675, 1.663, -0.0464, -0.0415, -0.0171]",
      "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]: [-0.5663, 1.6802, 0.7181, 0.2237, -0.4515, -0.3809, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1506 left_z=0.0537 left_yaw=-0.0031 left_pitch=-0.0789 left_roll=0.02 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.5436, 7.3368, 1.3748, -0.3492, 0.0708, 1.0281, -0.1299, -1.4838, 7.241, 1.6777, -0.0611, -0.0513, -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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5896, 1.6882, 0.7349, 0.2062, -0.4664, -0.3943, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1584 left_z=0.0545 left_yaw=-0.0072 left_pitch=-0.0806 left_roll=0.0226 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -6.5299, 6.3521, 1.5458, -0.2613, -0.1392, 1.033, -0.0615, -1.347, 7.0222, 1.6386, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fb2b3cc59c07ef2e3917dba80d2510d533074f0880d9ff78b6cd485d11f972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3830117e324ac066572801c459f72f661a63073962071e112df684e2c38fc92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7762893f9c832b4e57947ba13c5598638037c7103c472e7ed601916e64ab27a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEU0xRIiiDoj0WFLHQma2dsl5pefbnUk4SMyuxU91U8ANUEpahsEAg5CTri86OE5oJEvnQs7LeZSW0sWwe0r74D7S4ioFcW_UHX09UJUsTbmLqkFjShVcoGo3USXfrMtf9QaDMJw85QVYiu0gEVvdcSOiO_BM3tdOt4EdUFrSJu7uMUTOWCmKpIppnF4eYtTlyTLYIWNrOsmEpobjN8QuoK1xUDjDuYtO39DWfy--l2Rvw6ZomYB5m13ml2jXzUyuROqob4Ba804dk9Nky1hBCiwOYXS2LpLvvU_59myStkqqG5ihJfjU6FcLrYuUwiZ1AK0gam28q2z5u_ywufYKl3MRXs9x9gxsWWnS81IfbZ-KUvKa8oNmsXzlctBfKpdycKECHhEZO9yUaLdC_O-x9Xcuoj7xvZre56NFOl0w0D2iPLcOJai52RgusDjDOhGP21lRWzYxrjtNLM8o-esYwMrYPY4jaWq4zNx2qP3plu_8j4bGnUG-GhUStLX7U-Ksf325LZ4CB-3kQmrLrjDich1HKov812usEFB1K21U1O0tzH0i0FTkap5hyvnqyLpb3ZsmxyLgapSF3eoKjX8C9ASgBkZqQUwldsJRjn_KADIZdIToCuwGPqct3DtETaKvwbjDq0BPVaQ69vR5rQ0oCEzpOQcALCUNPQH9AXQ1YEgkd69UEL0AqAidTzyGtu4tIogo_oMKThyQg15vFcPyKw0jBLLwFO8UuOkCa2MF3rCgDISbnnw10yJyLu60UOwQc5XMSy4KzS-tKqsyrgqem13LP5g1uB7tIyahwaJr50v8jCR0DgW13m3tVnRyxpySDVkkVfcVYXaarZI5cwPvxDmpO4N0VAYtOq4CATaO6CA2BPIngwamOKwjf2jnHpq3YyQHG9k2NVXHfhelXZm55hQ9mNiqkrvd7W2uy-Woy7gVryMpx2LZDwHDDEdSfFEuJkSIxftQlQx5pPUU_FrUC_7Vi9bg7yh7INIaG5M8AKBwc_5Q15RhLUo_lpkF2z0durYsh8ekbFBszKN57365U8ZCTKRPJy_11DmKTm1W9sOOIQHpWXQDCZs8PGyeRhzfN7KUj1RPPjg2_J-TrRCRC8fJLMc8dLGB2IEIqUaUxVS1iALiF1mBt9h7g27DHC0B8JzlnBSn-1vCNgJ4okGa1qzO4BDO9l2RTCholr_Oe6wSEOVGx5r29IbP5k-Df8KFSdizFzRgTwbopWnnhdZgpLBxTjQF55dwbNYqlll0rZBuKkMJE0YtEY5CSDoiavG7-_zYjPOqtrZfwtdHzJrsXFiPZiX54TLen2ZuvzV7n0zLRPGJKSCObLP18vQx2dxgqEd8quSsEB9qujFPf8SHEnEUn-P3Oa4NgomscS3NApjcepl_nzibrvW_MDEtfOOUB7kHlv-b8caTuQDVqjpQlKqoH22dyi2oEK2ixo6C6Tj-q-W9CCXeWBWfa1CT41lhOThus3LCJOvvid9tPv0Nfw0jZZ3naNI1PAu0rwMizy8DsJk7tU4CuyzrYMPN0P7MhFlH-mhLcsZJPwCpzejHoTjtRwGQqLu14AHDB6Is6ACWAxMsAn3mZT60AWt13f9Mjo4mPq-m55yPwgHmcBxcyC2VVDoaxBxfDav8AdAAF5lnL7QHJ7PRv0ZBH2puZWU0Cn8U-72Eyyd0W0Pe6XxuMB0swWULUEaRGuZXbQy_CPl-6sgHBrEMzKYiA8W16KtWQaLKR2_CIwRVrrWRdOWwVhzYMf-xYMHlTd0idEQJdpSlBIn2K5h9vP1fhmsV1eghBafXzTFsrWH4BGRmFrJ66NNeL1e1AcuABoJzYjOIO-QloZeJbiEiMnH6HpEIh2RRJf9fcPrXMi69RNqDVjSs7oFB3hTtHXXZrhmrS1pz6VCmgfd-AoAPEuwJMWpRPmxk7aFAUabFyuHdGdBncAX5Qcr7WZ5P6IjYC7lR2kVOUxNLig1MGES12mDXl0hLBzE8GTBQr5MCPXI4E5LA_F08EH7w2Vf5afeUtyLKd8P4n6FtTdaw21vRVpKEcxgs-mcdIGE2bJpHY0PCz0UEPXuM1VhAAwwEUlqmsYhR1Yk4JIKv4e0QUXEOkiYG5jlMxc5bC3kOj_LQ9zxwdg9O_xZPbluuO3VoOogcuwLDZQVCwrFTIPyE7YzjClod6hGILJChuChZY_vLe25Hcv4K1VFhq07MD1KIkVgHco7cfrnOcmyQ5JJnpBKIjDZvhSEHCdJnleLoJtu93oej1dy7muYhogEFsDhLd4XOocpkjfF5aSjUQ_OLh8OiHd8Mp5E6NxI7N_2YdLTz3LdooNETfph8j5ahNjd7A3v30ZT_dtq1HSIdSRlOaLLJ7MHsH-La2q3qfcjETLQHqHYKhAGJ5CNeMZFtYpc0Bn9keDVW8cuslWmU8rMKAhnzjXW5ymQEWUJMwqQl2Abwuk5fc-YGlsgwMAf3eS72k-IXd3WezZ1ji9KN9NPYzrKw55fhi2J6xdAr7HSWVsFbqP22MOwZmy5ytqgeQ==",
  "id": "rs_09d7c44be31c4674016ab44530cd9887d09aaeb9b70ba580f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.09,\"left_gripper\":0.0},\"note\":\"The commanded center shift stopped at the rim, indicating the low gripper is contacting the bowl wall rather than an IK limit. I will rise just above the rim while completing the inward shift, then descend vertically into the center.\"}",
  "call_id": "call_mNsb3ANuYvawSycDbEJRssmQ",
  "id": "fc_09d7c44be31c4674016ab44533334087d0a2c80f5d05be5fb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mNsb3ANuYvawSycDbEJRssmQ",
  "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3939, 0.0215, -0.0219, 0.8314, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.007 left_pitch=-0.0808 left_roll=0.0234 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1568 right_yaw=0.0031 right_pitch=-0.0896 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -6.4479, 6.1607, 1.5067, -0.3101, -0.1148, 1.033, -0.1573, -1.4291, 7.0085, 1.6386, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a2dfff8844b760d557f72e126351df1073dd7ea4775ea08da93a14c004271",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537c965f6c22bbf43b0f3fc0deaef5c543dae9d69907200cb58e413b40deb2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5884826b35a2b33f1f9a9572da1235733ac634f6cd4dfd7d9d732e5841d9147",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.201 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5045, 1.6047, 0.6502, 0.2226, -0.4145, -0.3378, 0.0215, -0.0216, 0.8307, 0.5945, -0.4229, -0.0162, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3793 left_y=-0.1241 left_z=0.0559 left_yaw=0.0058 left_pitch=-0.0867 left_roll=0.0296 left_gripper=0.0215 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0033 right_pitch=-0.0888 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -6.2291, 6.106, 1.7851, -0.3004, 0.0757, 1.0281, -0.0889, -1.4701, 7.2137, 1.6386, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5896, 1.6882, 0.7349, 0.2062, -0.4664, -0.3943, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1584 left_z=0.0545 left_yaw=-0.0072 left_pitch=-0.0806 left_roll=0.0226 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -6.5299, 6.3521, 1.5458, -0.2613, -0.1392, 1.033, -0.0615, -1.347, 7.0222, 1.6386, -0.0269, -0.0415, -0.0171]",
      "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3939, 0.0215, -0.0219, 0.8314, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.007 left_pitch=-0.0808 left_roll=0.0234 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1568 right_yaw=0.0031 right_pitch=-0.0896 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -6.4479, 6.1607, 1.5067, -0.3101, -0.1148, 1.033, -0.1573, -1.4291, 7.0085, 1.6386, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a2dfff8844b760d557f72e126351df1073dd7ea4775ea08da93a14c004271",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537c965f6c22bbf43b0f3fc0deaef5c543dae9d69907200cb58e413b40deb2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5884826b35a2b33f1f9a9572da1235733ac634f6cd4dfd7d9d732e5841d9147",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEU3NGuTtzX6ucIuwy0QgwyZ39U6LRfCFL5sbZB0MXQHpNryQGrNyIgXPSR2MCiVeazkCM9H38sB9o60yTlm-fdeWACM7x64oi8VKLQ_WagmtN7rbD7QOYiMLXPKnwzJTiNebvt4uRbq5N2WLkg5BC29jYhONKPuMuIdAs8B9iK7QRG8UW3CnmlwAiwWnOYFNMlqElA_JVpWoPZU-12OWdfzHGZarWV7RJtYRBBjL1R8d2n0myYIP64H53eiTH_YcMD4TaB4wdi-c9QA9Y7bAjrvNOCiZVvBXfoPt0rw2V60Oaleh6RzcGqyBg5iTsZsIdvvqIBSewtOVcADjPrrJy6_u5pQp5CWhsloOrR2yf-yhq3c4Uzo-db89yNa5sstFpyJtnQ6WERaHIzKx5aB0gDYYbCU-5y8jkKLvuKX2_nKPkhoTlwz2AXZnJE5C8x7u3WFJLcs0ZANxvxahim_zwN0s46MiMwotW_8n0JiIrIe6GbEz9EG_t2da_QmK2otYMD8xui0zafwhHX9CWdSqnskUwScF5xtSSaNVCFoqRC8-MIvzDZeO5OQUZf89CpBrhLlEHUijPKDxDNYw0DLjEz3kCjuJ74iabAkpVpx9yVxWT-wCO-RQ3qajKUTztoO06713YeZxbwGUsrrq8Xj75Y7LzxRAJ12lQq_94GxE7tUcLFjs7UfNyJ0MOBPJFes5oA-e4AN7pTCzgS01fChMpM17h6OBFKdLfrok61yUfQ_sT7ZUMJkbiEsm2cOmbqNQ9buPJBOfuj8nmtVxoSCqTFmjx905fMzA997KHzxj9gxRViWsc7SBj7IEopwVywDvmzElFOlZc_qH4O1YnJcXnxLi8L6zsEitFh-elsOOp52tj4bWONf8pTHNDBzW7z28m_-pf2A5S72W_wdTpa5Hlhu95f7WVu3WWwd5QW37yLm-RpzcLDZEg3XYz1NGw_vovYtDKiBEO-yON7McyUK9eMYdl9X62HR3Pcqx6pwljnbD9aU8pB8Z9Bzc-VvjREdSL3Ra0SByQ10jskv1s-9RPDs5YfvMQT-1ZbChJV61bRbdleacHzWABC3wmFVt2T8XXThrIAHnk4OUmdHllTM_eczcIrbMoPbgdqPY7WYLUnO_XU_XdSeLePK8GefjLDjld44tbwIqmWHZ2RqGZEkLTQECJRfsqSP04Y6RxN7EZCTXVAzP3-XGkVOovO6H2HQh__aquaN2aODi99vZC-v1Q2gYkoCNsTfcBEpXoXyppNd0vUiRGuyyDdbwEOTE1-UDqvSbcn42DSNU--m2U-JJWabw4jEiK61NEizrsr_HFVW8okjhRS8jT8vHArWoDXwnIGWSKVudf4gg2sBUCFFE5hvBt41jeK5JeJCeYOXYtuVNHjk14zMEzJzDu22MeZ2jlEvGVwc-Owk_fPumk3gAZqAL5K-I0UuIqtn0Bu4FOmuLYsVZrth_C4XJcrOT2R1LwiveOoP9djb2ntr8nwhzxYSLFd9gmomWo8NU3UCF7MMtJRejvDn874nkqOGYfyVxMmukn6JXTyzutwzh6my4GRG7f9AY0UEvqcEEfx2HoHLvGE=",
  "id": "rs_09d7c44be31c4674016ab445363ec087d0a0cd5dbc1c6ca27b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.12,\"left_gripper\":0.0},\"note\":\"The combined rise still did not move, so the low arm is wedged against the rim and must be backed out rather than driven across it. I will retreat several centimetres toward the base while lifting, keeping the jaws closed to clear the bowl safely.\"}",
  "call_id": "call_rMzn0lYl6jqeQY0ZyOkHhnpt",
  "id": "fc_09d7c44be31c4674016ab44536ef5887d0ae9aa5a9d7ed82aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rMzn0lYl6jqeQY0ZyOkHhnpt",
  "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.0068 left_pitch=-0.0808 left_roll=0.0231 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.6256, 6.1744, 1.5702, -0.2808, -0.1294, 1.033, -0.0889, -1.4564, 6.9675, 1.6386, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ad867d075a355d50d3bbd56ef3903113cce421a58e1dc91c322e7202e2edb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c5f6c9a2522ed41b0b9a0daa8a0e42f9bd895b72bf44e4c1785c3ea591e320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b4a5ed6817d70161fe11895595bfb230eae36a19bb58959ea922ec59d471ae",
      "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 · 4.65 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]: [-0.5663, 1.6802, 0.7181, 0.2237, -0.4515, -0.3809, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1506 left_z=0.0537 left_yaw=-0.0031 left_pitch=-0.0789 left_roll=0.02 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.5436, 7.3368, 1.3748, -0.3492, 0.0708, 1.0281, -0.1299, -1.4838, 7.241, 1.6777, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3939, 0.0215, -0.0219, 0.8314, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.007 left_pitch=-0.0808 left_roll=0.0234 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1568 right_yaw=0.0031 right_pitch=-0.0896 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -6.4479, 6.1607, 1.5067, -0.3101, -0.1148, 1.033, -0.1573, -1.4291, 7.0085, 1.6386, -0.0317, -0.0513, -0.0122]",
      "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.0068 left_pitch=-0.0808 left_roll=0.0231 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.6256, 6.1744, 1.5702, -0.2808, -0.1294, 1.033, -0.0889, -1.4564, 6.9675, 1.6386, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ad867d075a355d50d3bbd56ef3903113cce421a58e1dc91c322e7202e2edb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c5f6c9a2522ed41b0b9a0daa8a0e42f9bd895b72bf44e4c1785c3ea591e320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b4a5ed6817d70161fe11895595bfb230eae36a19bb58959ea922ec59d471ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEU7F6bkDGbVgaHfvEIy6o_Lma4OwyXnhJvWAb7TeUTdjAXV8E5oVIfxffWGx2JzujB_WsjgftViNk6nZIjvZ0ovqut95zr-ilGgyFeL9q0T0t9AL4MBYym20UJGHRdP0tQcg0hQSs0YPjAX6VBq--Ud9Dozhr0gUA7d3kqrn9SYb1j24mIfIX5deX4bbx8qpSbC1g9_Z8Ot1-JupjM0ppW3TAkwru03ReBQ_8uGGHxcKFyM-0IO6FpW4HkkrlUaIEw8tf2criYDLGvo9XmojDkuo6tfo6yqG-sfWpjQYBJXsIFXjplbODh8ckHup0tLGZQLGkOC8mKPNXGMmbjuwh_TvPQzwjYe19uDPVCPONehIVPPwAIeECXkfPmS7T2HniwD07Q6lF0UQggKnb_yz1hzb4AV3mRkvOG5FNLU-QkgMNfHsto_ynntpZ0qoTyfUbnT9aUdMN2pBX7s1oVoDa0dwsqsMI1T-CuWY8lih_3nAu7cgEqYuUsISmOMSbyiYQoGjCFNnA4R9JdBmzA5IlaaIIgRU5LqUaS4rSQ6qXopDMsU5ubq_A6ivl4nPolFdzTZ1RnnH6j4EfGaK3FcgsgzZ2P6mzg8_8HEj9UeSUhDmm8LWZPKbFDGlnEqu8mTqZaMByx9RR95zjTvcHRhsPqe7wkg4pkNVosn1BMiT16rcNLFDGpulJzT9XVvQxVL5dmP0thGgb5u503R_9J_uN77Cmc4x8oq1Lc7zpXFSmw-azTNIvjiyTUyj_PLN8cYGRk7Yz8W6p5b7H_48vIH3cVSBLTP3Rdeuykyz0mvzf1tFxVug06HWXLsTzxw656wvZUN3z-tdhB_KVecGy9Q5be8sPglxALUQAPMJMuBJERF8MP9JaBlBT_yUlR4JZkUYwnue7ZUNO9kKBSokLaqkbG6OLKTA0zv8o-zKFLepWL1_XN2YhAQ9H4bf_XQUTCqMlR-Kl4J__ux2PikaNqu20znQ50gceJRQw6eR7_Dp98-iwgmShMJJ_qlM3b4GktkSXVIqb1EG0uPwxgBqoRc7awwChLQOcGj7DO5Za2lYc6PfzTFwjXFZzh7V9CGBjvINpUY2pg_YsnzBAP5oiGD_WSBDGm92AI5O1R4_3yED1tmmZdFLY0GdFEQRHYtbpqdIwpY6k3B7FkYvQGQ9GMDiWAP-JVlb7j4v15ilP67Ydh7nle_nXDyLoT3TSKVmJpoL4s5Rv1Ja_qikRGG_x9hmx_i6rvpxCvZIDyh_E1z_KNso1A5F5XtS20lAK9xGx3qhmJN0QhBuikPqtwfVyn2qJ5LXz88D4kmomqhiKo40EJeAOvIJVgjq6hj6sKwlBRzUj_usSs3UvUmCAUH7SEUIGNE6jO9x4ytJ7Gnf-rr60jzZhx1BAufZBn04Rin69f3oec4KDW1c7vNFx-VvRSY1Sk67U39Lj_35auszv_22SZTV-SreBV3-JSaWkpqbfv5oZBWBA4jd0UwNKZx7OSYgc_fIYMcBbU0T3fpySyUX4UYlMkgul45WRZcxnEXmLgM9_nlbFVyC0JW8gLQgPAWV-T9q4MCMEiRYTbcMUtWM-OmkMTfZ4qLXVYr7MAK5YkdaD35dMpXi47dIj7ysnm6O1WfJpcvNXordrRbxSRZPTNV9rH-OzQu-HRERwBikqiPgXAL_PyQWRpThqqyscijblJMkZWOdOu8qpxYm4Zbok9xmSd3E645HLe6VEVGbE5tnAJwKDDRZmGZxCzLEPgkGbDrk9wKOYSQzVvtkYveSBBtvwepmQutiRTZUCuGKArLlPTtNH7o_JTIPPBjojqbCNfAUWZQnlX2j5MXeU04uRRrDpljc5DZmrojY_7N8BVPnijeaTzhyx6MQ8r0SCBdt8Dbgi7OPY3POu8SiPzg1-eSWbIew64z7E0dIil6yJIc336JSXEJ9RHLiFu5L1s2d3Y_2w==",
  "id": "rs_09d7c44be31c4674016ab445396f8c87d0977a30b5fc907a9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The diagonal retreat also held completely, so I will isolate the recovery to a pure vertical lift with closed jaws. This avoids asking the solver to cross the contacted rim laterally and should free the arm before any further manipulation.\"}",
  "call_id": "call_r5zBLOXc5EsIQthLeukOE7xG",
  "id": "fc_09d7c44be31c4674016ab4453adf6087d0a6c9e3c83b18e9d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r5zBLOXc5EsIQthLeukOE7xG",
  "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]: [-0.5911, 1.5009, 1.0203, -0.3008, -0.4664, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3854 left_y=-0.1587 left_z=0.1549 left_yaw=-0.0069 left_pitch=-0.1092 left_roll=0.0416 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.2103, 9.4701, 1.5165, -0.2515, -0.0366, 1.033, -0.0615, -1.388, 6.9949, 1.6874, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7944ce6fff8199b7401270a6a87ec7b2738468558fb8f42e3ddaa20c538bd88b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a9591b75c0cdabf0a267e9c14d13be3312a5f0cddfe2b0c2e5080990199370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b10978156520b158e46a175c7db817750001690088d4790da4057a039a218c1",
      "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 · 7.954 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]: [-0.5896, 1.6882, 0.7349, 0.2062, -0.4664, -0.3943, 0.0215, -0.0216, 0.8314, 0.5945, -0.4225, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1584 left_z=0.0545 left_yaw=-0.0072 left_pitch=-0.0806 left_roll=0.0226 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0035 right_pitch=-0.0892 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -6.5299, 6.3521, 1.5458, -0.2613, -0.1392, 1.033, -0.0615, -1.347, 7.0222, 1.6386, -0.0269, -0.0415, -0.0171]",
      "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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.0068 left_pitch=-0.0808 left_roll=0.0231 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.6256, 6.1744, 1.5702, -0.2808, -0.1294, 1.033, -0.0889, -1.4564, 6.9675, 1.6386, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5009, 1.0203, -0.3008, -0.4664, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3854 left_y=-0.1587 left_z=0.1549 left_yaw=-0.0069 left_pitch=-0.1092 left_roll=0.0416 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.2103, 9.4701, 1.5165, -0.2515, -0.0366, 1.033, -0.0615, -1.388, 6.9949, 1.6874, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7944ce6fff8199b7401270a6a87ec7b2738468558fb8f42e3ddaa20c538bd88b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a9591b75c0cdabf0a267e9c14d13be3312a5f0cddfe2b0c2e5080990199370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b10978156520b158e46a175c7db817750001690088d4790da4057a039a218c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVBhSSEm6BCzmfDEuc-bAWX3N3T1OmOq_wryTkKPU_DfoK7Lep2ib-JkDIm1_FTDpdbpVpWl_6UcZ_FGlKvbL6lhPQvdETidw063H5tqXo7gibculyhD4kTadYfoz016Y3cZUfFSGNt7tgOiPtmZb9mrlz2PiNKe5pZzXlahHCcpzLHAeP1-7b24TVrblriJmAv6C9N2Tj1p65gPGHt8XYLgzVyfcRGfzxWVWxenhNrjGoURNgcmpGcyUV5mBtEUH0dICsuvETFJRCVDokHYQanmXtphMCV5TOrtT8MJLcR9ZHKJrcaFMxBUPjlwyIU6Kny2rhQDk-yM29ErI-yo9KEIFshmPWNGWsciwtIQGaJqx28YSZtjgXtFIhG5ppePWb8UcHJlr7nXSNTzgZmHczWkIwomrlQFmj2tOiNy0zAXfIZEaJ0rUKyH9pba_Cbn71AV2kd1UGyjPW99Iamr8H5YCwD_xQy4zTWvEJqLKKy2aqOS4hEogHDnyGtnqcjNHkZq2j31xvWYpD4PEUEwbI3NUwpdQMqsYYe6f0Lln5COS3syYNCA7kmX0jzE3d95Np6x6rcVm1gDgPgFiFt2YZ9v8zPBSXILw0Aeq2IoCnXvgtZRvFRNExA18fUY4yELHv_W-C4xLeXN9KxegfY7wH08jH3Enn4hVfekX3rmWV_QAGqAtU-vzapquEqKStB3GAWul54TjcAjRB-wyKAmz6FH2PprpwMtBOQmHN79kf_QnmuAA-uhT1Prgsj6j3bBc1EZvZgrE26CzjcLv1-VJMbWOP-AZn5PTn6k2Pvx5jRp6GcYCZCG18freX6EG0Tre5SQlKPn1IdjzlKZxAAn1XoU6YuWh-Rgn-2I5JK9dpGgTe_ZYhoaAxpbtv918gjNRWQiLPeeV1q9BuVqkhUUPWS7sOSw1is-4zrfZSVrF_HK5d9BMqF3hp9JYQCf2sTPl-FlnJKusloylv3dzHdgxVIKFG375sXideC0LrOt5bKv1-ymd5XXrO1SeNevtO7au3FVKu0kOZq1rPfqo2b0vt8Bo0LXYILTmxf4Zn6X_0q1d3SmjEufinSVXMNGQTta9b7ygueqCyWNr66VlUCzp3b_pc6iu1WDSUgAH3Cku7hKb0U9o9lEbJp_RZPJKIFbv-04rug20xgXofjHS-SMniUPHEpQm33e8r3egzUoCiSFdOPPjSYe6k2IyYk_3jiAJoKvOsfoLMVrzvMQwfcVtt1oJ02ezzYUwMXCG1RwXFGQe6CZg8t19J3HnSonJhGKJuPVrFWxh_EOgD6rVEZ6Q7TYq5Rbuusq_Ymv_3DhSUEUxurl9l_0YdgkxreNjw3c6zYIW2WJC3n133UpSeWTIt3Gesw3FvrcJC1R_OGbtOHK8qHuRDmzY_XhO8RjTOuQssXsQX2fYbrBkE0vNT01QCp7pnBMzukEIzSNuK5oNm8htnTxTNt5IK6rABQjNSJ9kq4qTo0n80-Ljen6snrw_Ye3LuNd5Xd6deYddVNp8BZsCFNMnSW7_9AmAs_gK0o0M-qrB4FKmhnDLPQDAQkIXmtzEO39K4AF4Y47f-kLD9XP7_yh5-pwt33momnPldm9IWNhTrI43qqqFkqvrMQ6hl2H-KMXADqXIsdTRkKeAxBKxbcAG8r63Y9PsHuQrVJyPxpeVE7PgSCHrVaerxzAXfhPWMetMFraoL6mLNa4_8K-FwYcHKETzmcv7VnWQmPS1LZtuW2AUMyHEpKXVeiKRHhejijRYyO5aKgVlDbBLE_bgLnUdap6UzuCaM44VQbIosoB3odvqreFz3lDeBGOX-ba1UNUBN0m26Y-WZxblUgwz3KJTwEFqMjnApLZi5BoNXXendRyrwYoQ-WOaMCSmCzaJCgvkdBngUNxAC8nGS8YGDDqYrdo8iB357HhvLSquT3XrcoUzU6_qqpSv6cgRrcfMM6rlIK50g2lfnWbnprt876esv6yaL4f02XSWlKdN7w0cPX_1Q209UAz2KXegIS0S9qutitIq1Q5Gl-3Kqt5iUtL9xwp0HYB40iaH6KDjAobpLh86KHJibrZ8Q01__UzG45amRvfjP2p55vszkoTlJ7aHOHb7mqvAY5KalEA3saGNopBtISv-J_3Flmq46JMgFSSuymbTAMAQce2xZjxpLkPhpvbHrM5qVqOXtPWCbccj7-ODLoEb4yGqG1RsM_wk9zIqCuQVyllEhcpBYZW4lb9UdBk4ENYNjiNQFa8CzEBJQRlLkhbcJSt4jWXFXGO9aDEIEkm4bvlkwNJkiuQ470lCuvocV7H_bnyB4hwKeL6DGTVBM8Yz3Qi1RQIVqEKNgBojzDI_mls7RxAL-39LOzAiaw8PxLOStAIU04-2SEKrJeIXo2Qk7VkM4cyB5WEOi_BCigkbswUTlzEEtFlczdxx4lbrx4tshoSqbieBDl1qYPKTsOc_16296GjZW_Sw==",
  "id": "rs_09d7c44be31c4674016ab4453da67887d0a228c373bd7de5f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.205,\"left_z\":0.15,\"left_gripper\":0.0},\"note\":\"The pure vertical lift freed the arm. From the high wrist view the bowl center is about 5 cm to the tool's right, so I am making that lateral correction while clear of the rim and keeping the jaws narrow for insertion.\"}",
  "call_id": "call_zW4spHaSqLevhi1TDWyMdbB1",
  "id": "fc_09d7c44be31c4674016ab44540341487d080752ff9e2514a39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zW4spHaSqLevhi1TDWyMdbB1",
  "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]: [-0.675, 1.6493, 1.1122, -0.3553, -0.5022, -0.4549, 0.0215, -0.0216, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3857 left_y=-0.1952 left_z=0.1264 left_yaw=-0.0209 left_pitch=-0.182 left_roll=0.0825 left_gripper=0.0215 right_x=0.2896 right_y=0.0003 right_z=0.1564 right_yaw=0.0038 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -7.706, 9.7709, 1.6142, -0.4713, -0.0562, 1.0379, -0.0342, -1.4838, 7.0222, 1.6484, -0.0708, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5a061dca08846bfcc8e3c9fb1d9b2a7ef3281910f8650627fd9d9955933d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708e9808b5e851c14dbd0c4219c2df7b56389a9d14628c361fd6dd844374bb55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f6982b6391f1d715a573d39e18d4f67637b394084ee238d3aaad5f9a0d730b",
      "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 27 attempt 0 · /responses · status 200 · 3.928 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 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3939, 0.0215, -0.0219, 0.8314, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.007 left_pitch=-0.0808 left_roll=0.0234 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1568 right_yaw=0.0031 right_pitch=-0.0896 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -6.4479, 6.1607, 1.5067, -0.3101, -0.1148, 1.033, -0.1573, -1.4291, 7.0085, 1.6386, -0.0317, -0.0513, -0.0122]",
      "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]: [-0.5911, 1.5009, 1.0203, -0.3008, -0.4664, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3854 left_y=-0.1587 left_z=0.1549 left_yaw=-0.0069 left_pitch=-0.1092 left_roll=0.0416 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.2103, 9.4701, 1.5165, -0.2515, -0.0366, 1.033, -0.0615, -1.388, 6.9949, 1.6874, -0.0757, -0.0611, -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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.675, 1.6493, 1.1122, -0.3553, -0.5022, -0.4549, 0.0215, -0.0216, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3857 left_y=-0.1952 left_z=0.1264 left_yaw=-0.0209 left_pitch=-0.182 left_roll=0.0825 left_gripper=0.0215 right_x=0.2896 right_y=0.0003 right_z=0.1564 right_yaw=0.0038 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -7.706, 9.7709, 1.6142, -0.4713, -0.0562, 1.0379, -0.0342, -1.4838, 7.0222, 1.6484, -0.0708, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5a061dca08846bfcc8e3c9fb1d9b2a7ef3281910f8650627fd9d9955933d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708e9808b5e851c14dbd0c4219c2df7b56389a9d14628c361fd6dd844374bb55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f6982b6391f1d715a573d39e18d4f67637b394084ee238d3aaad5f9a0d730b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVJqGTHspFi7JAyvxEi-DdQ2WWYRSoW_wnKv2pshw0m5rXb7LgYV2S9ZIJohy4uqbm94WPHmpqUz-e3bIF_8KYMIlwAiNt6ZyLCowdpn-ZJCheMOmr7V0ewKgjuAenoI2FfWALjhejyniV0joIoN8zTd9P3TRnvFICa6a7iv-ywU48IBv01p-tSNHc14zBOdOQTY01w1r3_dCRQ6blc02aC7Pd4MiEa1rTqgIWmrHhHS7L-t2_KpAvNsHxR6RkwAdj-I__HpwC8rYNkEfGi3sf7sg5tYxoU-yyqf4XRJeHZ9MfeGO_Lm6-f1jbNXlxRCQGegbQ0bzzbAefRVDJ8UkRmPUZCn8bshrMjhJciXcSP1di0LqIsSvg7Q5OuSvRvVuZlGOpbdn-mPJxPdJ83yQzKk7p0LO5ozjs75zoCHes657Z2gOpwfEgnFbz29VDsZUkplUzHtR5rMno9IakvxDyRsBnhVJUyOiflzEGeeDFkMLfxTH2ZvW0GEhw0qjZg3qyOpWim5KvJwOwPiNHR4JQ_CXUM3yteCijS5YAlMcuzjjTNqWZsB8JLDjlf2Z6WQnqcH6E-e7avZEZ5hhflCw24TVqKi5gyhpCA7YuDCKM19DFx5GNQOc4EWo0KevphpKjsbVj8fY4oHhAqHOgfcVo40YBKEOGz5yrnHLEUZi50W7OtrqoscddjblMl0-49Jy9RPkxKQPGJksfWacx2POFxtGRmiUHjeiQGqcmifu0cfaoLQnLwsuXwC49aPWco55p9lHjNrsS3YbFL0thcdfZBFkLThs0RUlZUEldMSwgYHF8Rp_cJzy8ndzWHVDcKHJEZ5dO9Wzs8wNZiSdwaYHmf5Zc6fHgLoZJqvQDMavGrfJVkEkNy1Q50QoNBPbmLVqo7PzWWM55wr9SG5DBX3RqJ6yXOHBI6syQoG9QrcUtRQJ5ii3psLBvDUyFYFO9oP5fipcK649_i7RqnkBejP7CrYLX5zxbftS6nU5OOooaIRmipXWms1w4RNhFG8VteOxWPoBvpg5lQlSRXrj0iNmG-QoNr6IHUdN0UPb9dJCvq00IvWocfvoKDytAWY4LmKY-Jr_xRWptQvqSL68YfcWb1xiu6d_Di5OvQRv__GscEXOVESkRjC97mSyiFpde2By8zdYAFuXd79V6Sdp3JhvTfaAutVPVYBiZerDWkhFoDS-3y8L8pcR1yqDu0PTjYIqX7gEWWMRj_4AVNVvR928e4J9iz-NORJv-xx-FJWsyRNdz68dPTmG-sFS576ouG99OVTxVTEmKoPhtgIWXetSCWzdEH6Av7rnUlmcwTpCi9scQsVsEpxJl8d9O7fu-WeTOolrcnOD09YvxgTLhmz9yJm2rXYOqRMBnAi6xk5AarZbOaG875QvImp3ElIHb4zTz6fYjlasRav2r3GqJv5Rm8WjncuIEaZ3lzOOcvoEmv6tyyvUfWbRmPaFinfDPaWixm1jD4kV8uom59nZVfG1MxqvQxQZJjpPRzNeq48Pir2nIproWyrYsXO-k3P3q2MXbua6ffm0vgVlqoOCCsoTh-YIIZCd6ZBD2TE2j5_x8PTSaVle9pkD-QyfXuleiVe3iRziH4WyyRPV5b2Gy8Wr7uV7zo6ApnO22P6EeaQfu6yY0WwfYHZlbTaIDh8ywX-ujfbcYYKZ6LdHgESugFDnPTpqE5qvQe-kUvdR2pmHdC19Bx_PuLJ-gYsePCAgV4FA8sBaVVgwJynX4RjI_mbgNblFI98IJ-WVPyA38Jg59pzmnd8Tx97R_mxiHLce8hLXdGhlrNRdEiPhb0iAStQ67eggE79munbEZH7Ut5uUwA311sWzDu97OWQdP3VD3mV0reUNBQlC3QRyS4mhmr0xiy5x05upQRUiZWKrEBYdzkbOpSX09OMnIoOPqkiCccL8vml0i-mrGWWAr8nyT4EiF-Nm5Zc0B-fajkZ0ZOWIpXiBNPlWY0a7LFiHNBZsfJ1e9sckU0PHLb74pW6aHbgOsT-ttdHbCBu9UxZMwJFQCrVhxj_y3v1whdoEUM-cerLRYaIJTydMul77i7G65H4z-hdsTs6VJhDXnu7-C4gIPPiQy7Ju5kudy7OdIvJ3x0lmlUxqKY5HfVP_1cPd4o9pPB7RQmApAeo08kAZUQH4BZmf9VZlOycXJ8pdYAC85BcbqCHxI6JhSO77HrpgwflG28CnpMMWWEPK3Ccz0b9zqYkJqAoo4JrE1cqEMlsdCJdzoqGfJrIY83b3XO7UQn3Kt6DdBkYWzPBoSJ4sm496G73mHnnCXF561gcdnke0WXPiZ_GS_HT_oYSKCkm6K87aJOWsnSlV-hYoMY7kSS6BP0J1A6v8uILykAeVaYxHa4Var8MKUEixclYPze-agGqNcusgjlZL4YAG9-gx_ZntDf0h0YvHcmz3wnHvyeF0wJzk1aYPnaDyashEFR2LeLDkA6TbCdeZWg7ed4f3XTZ88QCi6Cg6Vh5n76swDZ1UswrH4cG3KIiFy9OzULMo370mMW_yC6FWNEiKKBkLLkWNqd9oZZgF_5V7oJ_knUdkhPkE6-iuUHDgz6JywGPWSfEy5VP6BbJOl3YlAZP987yBSsdT0hNVtAixsRbHHOLX_BOsEGzZBYq8i8Cz-DOChDYX8oHH5f2Qbmk8gVxVQVZ6YJC2PLG9vzLsGvAHGKY-__rhiZD34SbDxwZiqP1MqI_nHVPoVKjx0rtG2Ff_2O96c6OkKK4Q31AIyjXUF5sG4XfxCliQnmMGUSntt360ApVxO7f4etERgkXhDjMdwQweWmLezUEmvZrwon6wES_-d_YzaxKumEMGxRDnRqe5EDrgLRMHvbvRUPNZh7-NFyuFmhzBGcGGQWn4X2OUQJf-xO8tNplW4rtU8eEohn7oD-KVkVBYuByWGBodrHllUWfas-dOa3xN9A9kfNThgb5amxr1ZupYxJLME_CJw7rhRsCOYGndzbA5IQ9s3wLhq30KDZpvaeGXDp2O5udP2sQ7tCTBwaLHDPFdX337G0Sx44jsHhJ6IyWGrd4qcUvdGVy4SBtv4PjpHCNPDQs05NDBaPBIU-37VWnf7U10y_zg0c2em2cNFAnj-cKsG1h0_wQ1GRAXQ6BODKhVP3bnFWdIblkkTMYY22NU9n_StRbRGLHTaf--vrbH_ee07IzVK87Zs-bMcAHfCKFYiZnL13jTCL8hXCEkC0vd3U1xrV1sTsJioYRZPwpLRr77A4_SXIskRZzmuoGITsS6qrUbLXa_eolhir_d0tmnkYsf31j1CQc7HjxwfIPSpeuf-U5-s-imD1wzB8TzJjjJTi-CTEWxLTD4QzuA1XGs-qvnXnbClFRYEN4SY8mBqPBU_5BveR5QXnRvQ8m084RFfNKt7LPSF629sL54ggYilHWvp07BtHUpeesKV-4pkJ86QMLHa8inJtMz1pB5aGiKppH_eqj2rGSJSbml27gp0HEt6uUGAUvEZZk4u2JafA3w9K5aTWVTNIov1XnCZhc31uzoZlxyA060U-t3KwAJ3HdKQ2sxbfdQ_kQ0Hitf8s_Ek2tlxhHFM0uU1NWBpYXSaCres-77gdP9bKIMgSLYeqbr7YdkX--pDTP1b9xH5OChqhwNO3hzh4Stzmw7-evInK56TpezoCUQIW8A7Rt_tNSAbadzliRIY9MqOhBDJ6AHtMsOGNN_0WYhiHFRfbRi2w2-T10TVdyXr_SDXy8WpZqzhSb4E2gUkd3Rx_Rx-Of-BNZFfccozivcDRrIAm5gpfk2jy3fRmvUAIucHDCuyuzjFaZwi6_THHrY64GCM2uGci6-eg1kqLeLelPKB87u5X-ALvvXLIzewSQ8jgXXi-QFl9yLgu70qyXIktaORKhcbpkdVM4GcE_Ez3dkMH_-hLC01wuO2UzMo0j8w_3hmlmAkeP02R7zHgQGDRRC5YLmEbNvFF3eHUGygna7gFL8OtRaBqBnc8Q6pHvRkV8C_dLEjPhJAwuxdLcAwZuYZi1FKbhIjTiG58MNd1cmzjshJqz3dsWD3dU1hHhdKPbeSri-kufOF5V9b13rnJ7YB878qLe4dzU6x_NbzDZtc1yOThMhhdPbDn4IPBm60EVI6soLZXqzPt3XGlhECS-G3GADVUurhtA6R_2fE9aV1Yhw_jZfM_nya0MXRwTfKQKN9oMYKg7Ju0INuOPDWGXpAiumf7Ph5MjK-Zr2tv5GzD2ZVa3E6sJSzBNP0VQdZrqCMLSIO35MWSF-qLvWpZS3j3kRwJT3NjdSb1CflQXEB9F-WDbQyrCv1YwtUj",
  "id": "rs_09d7c44be31c4674016ab44542b90c87d0b42c8c747eaa4e7e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVJOU1qbpr0HftoDPa5KraXttqe6AelgYLNQv5IKp9W_nYen8mdc1XhvG3NMRD5tZE5d4WCHk8yrCRgWgvg5qb13-F6uMi7Hqi_41V_uSts4oPSjptQ-2MDow4s7Qfg0lrFl_L28EHatl6pdRRmcFzvoBuo2_YBKjwOcKa8XTapr34lGREy99gHW3Pm3kZ7qud5PpTSzddnBRL7BBeQw3jztRT-KnMfDKCdMMDGiK4pHoq3_gmEnq3glSIdNs27AuZ6S-imL8KFo1uGG-sAgCnI0LBHY8yXKMuOZ8FOjUNuYvOXhTPnB4bhcbW7PaKlz2WnmFH2Gp7vvDB5Vv7XPSkGZnzOR3BWJ_ZPDxNauxnB0TBQzTVPvzXcsG0Ed-TdS50GrMj8CkeqW2HETc-ddKTs_RD9YHlfPU000D796rRzODmG7uT-OIheGIVCeV4s3BtF97SMsB_AY0URWo0D1qNCLpP_JzGrLT1lGjoio4_lWB-Q7Dg8vyMcxtwaaQylV4JkX7La-O7nDLCR3BP_UyO-zw3DeGlPzYbd4uARDrhkX_ZSAojhaw1SVIR_ZZK5wNYzXh21hJE80kUwdOfdl7rwX9kdLy1SkYkKleQHzLnyHtv2yWELpQhho9fFlk_HtmSpj42yVEeB7GPge-YS-OwO0FQE5nKl-M0w7d9fkWB6-FvvFlzrvwPzHpdv-e4rUlc5l-EoYHMJmGNs-5V3UpzJH3dqr_kpU-zKNIDmd7AzxwnZ38XHDNLG0RBMDcuQw8KoBBDvD51U5GusBt3i13g0EM_-6odWi6PrzaHcxqekebH3MJ5PLadzwsR6A_qiDVUPKbOgw0UdWQWwLADAwETNn-pzhMDD_x4dTGuhUfmkM8I4-4gm_D1INcgpA1TrGSl79SM-TFonq8So8xjUYFk-kmdMbclrIlZhe5XcGHyiNJxGWCEPcy_IDfT4glEe9M7VOQwBWobpOnx2ewMF697k_RNLYngaMMloIQlGmhCw01OXB3UEUNxawm_Rk1XbU6-JKaGwPSjX73o9ktOmy2SopcOfQk4hN2KpgSEJIIhjAlH6XKsA18LySeB0MmMYjH5MHBfvVRuUrT5T19fvyDODV4ChkBBv1Tot8B0wkTeKaIfh3RglrhwIyjugbWHOjrygqbcUAgm6wsX_X5OOH3Up70ggEl4604XpyusdevIYKAThMWJNghblOWRNsau-0Hj9VBxeMM7ok5HYL4zUX1s8cufm3w1QFdsN9AWqcs-98DicF7nM_fphzuQiQXFwFd-n1COkdtWPi9sGc34FpJO0lFwAcvssTuzJGOFolO5BQ0sQatF9Ti9m90AZ4doKyGwveSVW01SYj29KHSTJCheGdP0XsmS2I5o-FBRb5FKH87fA2E1TGcn9fTIFPmESIxlob5XSbgTUj_ATaqVLdofejw==",
  "id": "rs_09d7c44be31c4674016ab445488e4487d0936a6031d301e171",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.25,\"left_z\":0.15,\"left_gripper\":0.0},\"note\":\"The previous 3.5 cm correction did not yet carry the fingertip point past the left rim in the wrist view, while the bowl itself stayed fixed in the overhead frame. I will continue another 5 cm inward at clearance height to place the closed jaws over the bowl's interior center.\"}",
  "call_id": "call_D3OK6t0ueM46O5biHjUfDMr1",
  "id": "fc_09d7c44be31c4674016ab44548d53087d094a0f4e6b2cef3d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D3OK6t0ueM46O5biHjUfDMr1",
  "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]: [-0.6792, 1.6592, 1.1362, -0.3519, -0.5186, -0.4694, 0.0214, -0.0219, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1985 left_z=0.1332 left_yaw=-0.0069 left_pitch=-0.1598 left_roll=0.0708 left_gripper=0.0214 right_x=0.2896 right_y=0.0002 right_z=0.1564 right_yaw=0.0034 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1573, 8.9504, 1.6532, -0.3736, -0.0513, 1.033, -0.0889, -1.4154, 7.0085, 1.6386, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c3578c61b38ec39a143b14d27100b89119d6f9d7334a615655c237798136ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8169f3210d2635dc996708dc223a738d577278137db0aa7a7e812d6f867128b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367b4e927d4da4acf47184f5b368caf798e01790e3f8b559f17730c343c78bc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.575 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 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]: [-0.5896, 1.689, 0.7349, 0.2066, -0.4667, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3861 left_y=-0.1583 left_z=0.0543 left_yaw=-0.0068 left_pitch=-0.0808 left_roll=0.0231 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.6256, 6.1744, 1.5702, -0.2808, -0.1294, 1.033, -0.0889, -1.4564, 6.9675, 1.6386, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.675, 1.6493, 1.1122, -0.3553, -0.5022, -0.4549, 0.0215, -0.0216, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3857 left_y=-0.1952 left_z=0.1264 left_yaw=-0.0209 left_pitch=-0.182 left_roll=0.0825 left_gripper=0.0215 right_x=0.2896 right_y=0.0003 right_z=0.1564 right_yaw=0.0038 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -7.706, 9.7709, 1.6142, -0.4713, -0.0562, 1.0379, -0.0342, -1.4838, 7.0222, 1.6484, -0.0708, -0.0806, -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]: [-0.6792, 1.6592, 1.1362, -0.3519, -0.5186, -0.4694, 0.0214, -0.0219, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1985 left_z=0.1332 left_yaw=-0.0069 left_pitch=-0.1598 left_roll=0.0708 left_gripper=0.0214 right_x=0.2896 right_y=0.0002 right_z=0.1564 right_yaw=0.0034 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1573, 8.9504, 1.6532, -0.3736, -0.0513, 1.033, -0.0889, -1.4154, 7.0085, 1.6386, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c3578c61b38ec39a143b14d27100b89119d6f9d7334a615655c237798136ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8169f3210d2635dc996708dc223a738d577278137db0aa7a7e812d6f867128b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367b4e927d4da4acf47184f5b368caf798e01790e3f8b559f17730c343c78bc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVNvrCkDNpU8UkkSeqLpZ-O2b7H1jmJyEMn-TYsgtLmzSWrd08e9GjeIPAZlE04dIcoT3fOJ_Sm2oJJF38XT_JyE0uy3Ug9kGI_2rrNmHdg-5NnaUu9r6sFQNCvTToUn9osoGg8M2oaflRvXGe3kC46Aarc57a5cUe47e1yuiYcia3adGbOHk3u_CTr31zznmsNqtOczgYGQy4hd9Q-xHgIpzaSLX1dBJKFyNm_2vTMSzSPqvaDR_uQNX44TGjfSn5zDZmrEwb1_sbtWd87EdxsZu6M4aBhqPgHFyCVCrAsT7T-yJXWt4WX7ultncW9day1hmoIzKG4kD77ZBTQHDWRHBZSVhE0JphTYvFXaMX7WnJaq121t0yUKztDoVFfHQP6fbNj8hUyCmesvce4mTXyOxZSMkSfalbCahLtcL0fey7uC3IWS6BztqhXWiC7Twjdm7b377j_RUVV1geOo8gR9lpEPeDERbTWNVn9BnMiXCyPVzpf87wwH1V_mWWRRBnFQeolsqCEnDlSp2cUKcVY3h-4YnKWXj6_8EMwpHmvku6iPWQwXs2yy6ekZhV4sFx7xFaRcrl72FMy4czbXoMD8OQ6vFMOdCYyoebScPXrx3ycB3ez9b4TE8puEq8SReZuzfEmw3Ssebiuz7ZHWaEPlhv8fkgmicrizhDg4z17tQp_dULCGKCmLSPwCoJXMdDtmoKrk-2DUKUyIBaBibfS8Mcvjys32SOZke2AWcHqE5VtPLAh8x7xKqjG_vrMm9VWIBDspf--NuW3Y6AzEs-IcWV9HVpt8LUDXgwm_ACdAsEX6DlHDB71CvHbSlKCcfnTi1chz_9N4ARZpu5WKkGxOLIR-ju-LHLHZC2hCerz7ZPJe-2uQjeSjwZvaerj0WxGRk50tww5ukdQvNLpRy4ufscxvo6SoNeg-O-jMLBnS0dg2RDQPDKJx4Kg0CzTLdfQ_KYLkppOW75CO8uZOBONo5vTGpJuUBrU8Aw41xwiy5h0aqf3qUGrYvQKV1USc785RfT2joQERa5TKVKinkvSeyOaz0fg_F4UX867VJdD8DbmTjfk4jYN_DyL5Lvw5ncEDaXonHcV5y-Kfo4xCHOLjq0ri1A4iZNEWmdzekx0TTnQOwc1QrAMPYLz4gqIO5kT1A7nSiG9c-8Z6fH9Hb8CJ5nmo97OwbBAOQEKfXnqftVyN_Z-sqWSC4ERyxvO8BJ0CMNDpRoP779dVk6zV5y3Eepmn5zTlWKIRhWmy7oWTKJcCjittlABlRaGAmoz1XsVBJWQdIRD5s8aHIwHxZlDMxUGEj2EGNzZF91wQnjqrgWFefu8vAWAq0wJRUvRffVMGMRKp0jt3LmHLL4ISRfM3JhIu1EXRqIYCPBimNuRd3MmNr516elhxDEWuqeBp9pMBp77yvUTwNKg9DuaJmtLLtn32Noqq2l35bSmUBAyXxeiKcjgZNpXMZHpL7b91z_9DbrJck0eYYgqn1aEB_LegMhxPoBGNhkxQ4vytaaNE5cHFCSW0rX434xr95HsgSPH2LnHzb42K4IO1SIb6CrlRxGrhMDzV56BG6Viw2QZhvcSOdqLxwyblzSB5wE9So0d8Uy26frdrPi0sY5SFuseNu36hi43OXecgwXSlKsDTf63blQ2zZxWh0XBhg53WU3nKDkpIckrvtGidD5zpniH5L2FhZ83k1P6EoCyVPGJvzBIq9-mSQPi9cSNWJ9H13Edb7Jmv0jBHSLACjJgv3TY-5YSXMdla2R6bkiIsjWp8R4WqWSVsd5iAcZmzWthOqmwnAQ8H7x1rFPX3l0KMrQRSKel__kByNvHIzHrnkdTBbjp1oFlyrCHyLFNly1txqd-c7EbAoEob83B3rXjfr2TsJN-vYG_EiYv8rY_QAH3XejokqkUZ6MfNWEO3spxA-MvCSuOXdyJDaJXkVY3SU6X2kjgRGLI_PPJoRrtKUOPtFR_JqJn5MJA6tvKYy0eiFUjlQPfnj80JQJ64ijl2798TR8C67wNvz485JazFlWPENARiETKRiSy4iznOMni8j7o",
  "id": "rs_09d7c44be31c4674016ab4454af28487d0ad2bc3cbc97ebca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.25,\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The arm again stopped near y = -0.20 despite being above the bowl, so this is a pose/reach limitation rather than rim contact. I will shorten the radial reach and raise to the home height while completing the lateral move, then approach the bowl center from that better-conditioned pose.\"}",
  "call_id": "call_SyJFz22hSyaXQXZsQIhclqdu",
  "id": "fc_09d7c44be31c4674016ab4454cbf9887d09f38eb72e7aa0957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SyJFz22hSyaXQXZsQIhclqdu",
  "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]: [-0.6792, 1.6592, 1.1362, -0.3523, -0.5186, -0.4698, 0.0215, -0.0219, 0.8364, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1984 left_z=0.1331 left_yaw=-0.0067 left_pitch=-0.16 left_roll=0.0707 left_gripper=0.0215 right_x=0.2897 right_y=0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0945 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -8.1573, 8.9368, 1.6142, -0.359, -0.0464, 1.033, -0.1983, -1.4701, 6.9675, 1.6386, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc772a0d5f183508660c22f3a33392b6cf42acdd3cedd494a412532039798546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a27fb95e0f11cda512bb150d1bcefb74adeb36d43e4b2e2c0fba90e0d270db3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b4febad91e560e57f99521442a93931b5f003720a676e482d4fb69ca2fe030",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.939 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 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5009, 1.0203, -0.3008, -0.4664, -0.3943, 0.0215, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3854 left_y=-0.1587 left_z=0.1549 left_yaw=-0.0069 left_pitch=-0.1092 left_roll=0.0416 left_gripper=0.0215 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0034 right_pitch=-0.0892 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.2103, 9.4701, 1.5165, -0.2515, -0.0366, 1.033, -0.0615, -1.388, 6.9949, 1.6874, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3519, -0.5186, -0.4694, 0.0214, -0.0219, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1985 left_z=0.1332 left_yaw=-0.0069 left_pitch=-0.1598 left_roll=0.0708 left_gripper=0.0214 right_x=0.2896 right_y=0.0002 right_z=0.1564 right_yaw=0.0034 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1573, 8.9504, 1.6532, -0.3736, -0.0513, 1.033, -0.0889, -1.4154, 7.0085, 1.6386, -0.0611, -0.0562, -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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3523, -0.5186, -0.4698, 0.0215, -0.0219, 0.8364, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1984 left_z=0.1331 left_yaw=-0.0067 left_pitch=-0.16 left_roll=0.0707 left_gripper=0.0215 right_x=0.2897 right_y=0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0945 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -8.1573, 8.9368, 1.6142, -0.359, -0.0464, 1.033, -0.1983, -1.4701, 6.9675, 1.6386, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc772a0d5f183508660c22f3a33392b6cf42acdd3cedd494a412532039798546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a27fb95e0f11cda512bb150d1bcefb74adeb36d43e4b2e2c0fba90e0d270db3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b4febad91e560e57f99521442a93931b5f003720a676e482d4fb69ca2fe030",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVQFVm_yRIwcoL-3CEoHBgHyORf7rRHLEYVE7mALokNJsBKilBvWFQCCofUR_nZi6G-Qs2mXt_KIMXm3igdwuKf6oRHwIWBBPGl4lvuu8PLZbsdiANXqM-wI_C4iSD8nD3e73kQzmfNfuTAfmsr49ADyTbjFIQEC96fvy39EGfKR-us1nmhU4xtfOnDWPalF9sXIscEhV_8DzFbPBfuSaEucKcGpMOcHnKGJOEaHEOjNSr-OMd6wYt1itABFZ03BqNI6jFiA566Dnqf8o5jQcf81qaE7OPYurhM3PGyhL54PaTzTH46N1_bMeam1rGiu1xl6XhydpubB0Bibe6LKtngulWHejbXqEWKCDR7pz_MNJ9CTwUAP60nBN4P0paQthu1a0Z2rgPJya-PxyZ0SGLtdZgd2y44Jqo8eaaS5dYLvpxmBvx6-ut4dFZ4DcHQA5DxBH7WifG4Q7hFcRWKZoWMxYoE7IVZ_7fkCaHxtQeDd_aB6-zhXHI7ngmLnZsOlb6j2Eh0C4h3afmxuNvluuCb4-rA8HuMLdaCWmz8zEEalUEDZX8kVbYD5PqS3yK3dLczYnA1PDUknnJ1cssHEHy2qFsv15enNzV5BwdBk1c4GCLDh6LDNYlWJJuPra5OkhnpZ722eNYOWIyXaT9NGQQwmVM7t5pwUQryu_upKBko3fnB5UxkvK214Vte9iMxOULEfvkDgqFqELCdJnQy6V9e7FDw9NrQX_StE1woVe_KHeVnQI2uPYnEPaFAw7y0cA3X2LsVt0QTML2bwSMr2FMXbc9Co03MjTgHKcaPR3F0nYNKwBoHFtAKFq3R75NFtCKOwa7OBfgWq5DrSsNBk0Vz4PpYoCpv5eul33d_gRyMc0lntp2WvWLP2T9JbTukc91s7Um87fF0NQ-Em6Pb5xcxYNBDNypFBOWccC6guvbIkrVK-0QhVjbvksC66GH7L46YsGesVe5e2NdFP_bGrpyzYQ9LR1kQamyVtSpZ094HFVw7-thvPgLMZlP3GROvwseAvFpbOYpGf1vLhsK-SDy4qti8UNBeR_6N4jGV5yZTWHU_fKTV9rygRp7SDjpk_0oOBUy79r4u940M3T4oycFI_hegJa5gU2n6mXPg9BAZituQ-uxlP2S2Z_Rq6elj6XdQBxiUYMeB5-L5JvUsQJTPcLmL733qpNcerbK6FI8sBzEc3kDW9kW8BJPLiyWOkOZEf4hXajO-f1FRd5GC4wmU-E177tOqeRnDgeMIez4SzYJ75dFsrEd3fAw844fYtCT1sueuFhAZRt8wUuEfTVtSv67VN2qe1dcri-6srHhqwaj3oNhdpIMhTc4DyESjVZ9w",
  "id": "rs_09d7c44be31c4674016ab4454f776887d0a5e54ea5c061037a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"left_gripper\":0.0},\"note\":\"The multi-axis recovery command was ignored entirely, confirming the controller is holding this configuration. A pure vertical lift freed the same kind of hold earlier, so I will again raise only z before changing x or y.\"}",
  "call_id": "call_TFIBTq64c75EfhnK6k2nJltX",
  "id": "fc_09d7c44be31c4674016ab4454fbc9887d0899e2e1021c269c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TFIBTq64c75EfhnK6k2nJltX",
  "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]: [-0.6838, 1.6516, 1.5223, -0.7662, -0.5171, -0.4805, 0.0214, -0.0219, 0.8364, 0.5945, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3922 left_y=-0.2023 left_z=0.2286 left_yaw=-0.0044 left_pitch=-0.1761 left_roll=0.0746 left_gripper=0.0214 right_x=0.2897 right_y=0.0002 right_z=0.1555 right_yaw=0.0034 right_pitch=-0.0945 right_roll=0.0036 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.1419, 9.5385, 1.3504, -0.2466, 0.0855, 1.033, -0.2393, -1.3333, 6.9812, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b8bc686b49c75c2f883e72d2a6fc98fa19471cb17352b8e049b44f53a63919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0c3e7538bb39c8ef1a189e9aab2f8af9eaff608854927a6632bf4de67cc24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583d7a2b393d5fa06718ca8749d1f5e1fa8b61cd6ea85bf0d3b357208b3db24f",
      "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 · 3.827 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.675, 1.6493, 1.1122, -0.3553, -0.5022, -0.4549, 0.0215, -0.0216, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3857 left_y=-0.1952 left_z=0.1264 left_yaw=-0.0209 left_pitch=-0.182 left_roll=0.0825 left_gripper=0.0215 right_x=0.2896 right_y=0.0003 right_z=0.1564 right_yaw=0.0038 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -7.706, 9.7709, 1.6142, -0.4713, -0.0562, 1.0379, -0.0342, -1.4838, 7.0222, 1.6484, -0.0708, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3523, -0.5186, -0.4698, 0.0215, -0.0219, 0.8364, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1984 left_z=0.1331 left_yaw=-0.0067 left_pitch=-0.16 left_roll=0.0707 left_gripper=0.0215 right_x=0.2897 right_y=0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0945 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -8.1573, 8.9368, 1.6142, -0.359, -0.0464, 1.033, -0.1983, -1.4701, 6.9675, 1.6386, -0.0024, -0.0611, -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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.6516, 1.5223, -0.7662, -0.5171, -0.4805, 0.0214, -0.0219, 0.8364, 0.5945, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3922 left_y=-0.2023 left_z=0.2286 left_yaw=-0.0044 left_pitch=-0.1761 left_roll=0.0746 left_gripper=0.0214 right_x=0.2897 right_y=0.0002 right_z=0.1555 right_yaw=0.0034 right_pitch=-0.0945 right_roll=0.0036 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.1419, 9.5385, 1.3504, -0.2466, 0.0855, 1.033, -0.2393, -1.3333, 6.9812, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b8bc686b49c75c2f883e72d2a6fc98fa19471cb17352b8e049b44f53a63919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0c3e7538bb39c8ef1a189e9aab2f8af9eaff608854927a6632bf4de67cc24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583d7a2b393d5fa06718ca8749d1f5e1fa8b61cd6ea85bf0d3b357208b3db24f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVZngsxjcwcaa1TLhPjB85t0wWeo2HrOJuMej3RqwXEtkR-uz3spJvvwIMiAu2RYhsnRN73KVv1nCI7SaGW--ZSRmUTSsL3LVggEzAGPes5j4A0CVnxvteOJdCOQ0XDaKN-ZxCNuEvVhkMwPqLhuKgzF9ySJ45YmO8L5NYIgIWjrtkRuZTThczv25IBdof48l3_9kiEPuXMBzXlp3Dj5Fe4IU9EEIBgmyllgtVsDmkZv258H62w0wo-8plFBT07kgyEyTzaGr9RQ5xdVAsWB-zAK7UK-T5zdTAhNnuVzLLpei1IjR8HctgoCvfSNNRfw44Pz5pvTCFCvZ89qvui69xht-mYRMTxV-8WR9q0nQKw45SYEks018Bgd7LkvZi5xuVouiE_Arl58QuQSEBCQm9tJYalfPjxG0LqFCFhTwX6YYf_WnXefCShwT7QW09vSVuc6jmsSa0urKPufy25yJLgUsWr0BSHa2vuGoBSVXDWW7M6nIOPwmCGRrG14vWRJD6Wl3a6IKzElN8Ker8McJ-eA1nysa892QbbN6Gq3Oo8r2KrUCZEJovaAASl3GSJChj8MxeG7B5fgLlEG0qjZZIZf_gfs3L_AiWcYQlQsI9Gajo4mV_HeIvAFQ9OcVIemPW0v-W-0-7xu4pY3mzNyB27q_jy-n5859ik3wA0SVInY3A-rvCsNrfYcd6OsouEWnc0e4yrd9EHbEQDwrKo4SmKPGnC-S2tgAKRVRnXnDF3pDV8IaSeHiVjFgOvWBt8x-x2xvhepNdwRpnc9t_Chs9IOelxUmHli7dLge6_QvQZ8u-tgMbuxt5rxRiBqziC-X4vEF2fl01i65LJHI81wUPYcBa4UxdM00k-tkWL_GcibT5SXPGCw60RamV-oKkWYwAKiQl0Ot2JkGvvA4Yya-Et_kBZ1ZYNiCJh9KGbu3x4mzwgpoBP-YOzbwxU-Z1a4ltCbkhKWaL5ohnHAhdi4xzHJmJ3sBX1Th02mpXwSecQ9GK5kD1JM3DYA1WJd8CV8cqEuT0Qbu_J4KpIirGoZYCf_NN_7cbS9SecmXqpX5PLg-7h84UabIjGTuioigbcONcBmzYmIjG5PF35piEFufpBziM0az8Kxuowvxu-hcsQYUuzLfRqsKkIwlfdQnke4awbFOjVk7DTltu8CimiwLRcP0_WaHvVyG4qHxiN6pwkucs8pdec-ai7nz0ZRRywQIRj53dD_ojWB1VGLwRo5ZO6Mbb3D5kDuIh5Ciml8SpqJT7GPAtNYRctE6yObu48ym_MBkiKjd4Soo14m_ADdUuZa6vQ1uDEmGwgdA5C0859bG2y2MH7nMPo6UZ9rhUyHfu8ZWF61gk8YG57VoxxvkYzEBYl6DqzDNFMXzv9aSVY9btkqcbLuBxEtZOmbBpmmq97YCxI444IRMWpCYLYDxCOztWP1LDPE3WHQ7dyZBTIOFpkIPzDtZKIcp4_fO2nrejfxad7yVrhkxm82zG09Lher7CFx5zYSHtVsn6dzwSZ2wuEg4kXSnEi38_D2IJ0dQQ64Yo8tGm12eSaUWh6KYRDzTYNQoz4ZT1MNoZKKrwmmh4_nAmodkPx3DHmS91o0jgivmMF_ZSbqQi0ePbG8UuUeHs0HkRZ-jZMJRJKwQU5WYTbfiZID7V3IUuqWaoDJTmDgYXTvBGxxB-iiPN59oXlqw7BhfzGx4sBJSOYk0m38CgsFdk5J7kW-mXI-g_jW8JknWUV0HyLQGposRM4uNQqEKZlU9oi6CRCvrjTVnQLe1TUbfeRPqqQ5_p_w2xNW9xwGtVjPUyu9yOnTfY1nCwVhUQ2g-hLMQ6c00eeZDk3UJBLkr6YnQWiIJYq7weW1gwoW3SzHYIzF7gvsadX117NcItlHVIGQFy7SaFRKC79wUOMsY-Pl2A-GCVnVgODUIv-hdqKb-X2AI_kJkLmanj_zAoThQAdM2Wu3w87wJxM-xs9tB2yd_mD4Fe3OmA2bByjTpn35gVxqY0EHP2reDa5mq2N1eJb_GZXin02VSigKmsDBwLC_VqxTl02fU1YPOb0s-RvSHdwEJQI4W8rglFJcjaGC-AXeLgBehNE503O46VyCelWJNKyK1dRJVJTd1odRgOICzNy2RjM4RJHzg5YwUJHK46cQ6bEcqourLEQM6vPsbX8nPE4d6dNjIYhYvLYCFhMv2rBIpbiFgmKDdal-w1TWW9FbbsZcOtCdS2haOxOI_yZ7pvWuWUYF4oF5xfkAVLU6ah5YAN54evxB_IbNZvw30HVkg4-xiHsTkr_uRlwndyCHPrxRh3shjD6PwtDQ6vlmla5z0Pw8ewqSoIw7vAN7dHFWvPeY_2OegdvpeCdOSxXGndzw_A8ClG2YI2MXhiC0sYjK-USFnDUXUXtf_AGjrToxASy7uW2M4VmNblgGt5rrIAEyrWLBv60sCLkgaedx32eAvcxbCv8GoECIORkEg96qaCi5dSet_hfpoxr_UQ7DqXkv3Md-wxWPeTTLDCKoLIcejYl38R20iY02U_Sjm8yCBE8ZWbZsf8KoZzy1HAZZh__ELC_J3lyg3yv-E_zumHIxIGw3gAC9PIwgcEPmCy5bbsGzv5BtuuHTZI0nFGId3wHGEm5MnuojX1pZHh2U1k3l7MwYu1bt-zFJc0Nz9p5bdJt824nLqVntJUMBsy5PT0fdcoCxaJgFINgAj-ETg6473O4tL6rmwuIRMxyT44OQGgW-DL7D67QbeivVFdzYJzjEOZI4Ha1LMjE6Fh-3HOa5czhIV8vFfdEuxvWHkrkxa2tsDWeBHD589u21xgouO2A0UzkbT0iwHokGsjhWTUQFeLwjzRtNi6jGg==",
  "id": "rs_09d7c44be31c4674016ab44555674887d0ac406d5d43bdf2c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":0.0,\"right_x\":0.33,\"right_y\":0.1,\"right_z\":0.15,\"right_gripper\":0.0},\"note\":\"The left arm is now safely high, but its cross-table pose has become poorly conditioned, so I am switching to the right arm for the pink bowl while parking the left. The right wrist view places the pink bowl left and slightly beyond the home fingertips; I will hover over it with closed jaws ready for an interior expansion grasp.\"}",
  "call_id": "call_7CNNUb2CwuJrZw2bDUuTgomZ",
  "id": "fc_09d7c44be31c4674016ab44557ecb087d0a847888c6e9a1b56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7CNNUb2CwuJrZw2bDUuTgomZ",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0879, 0.9562, 0.7918, -0.617, -0.1417, -0.0654, 0.0214, 0.4595, 1.1595, 0.6884, -0.3202, 0.3305, 0.2657, 0.0084]\nstate[eef_state]: left_x=0.2946 left_y=0.0027 left_z=0.1744 left_yaw=0.0506 left_pitch=-0.202 left_roll=0.074 left_gripper=0.0214 right_x=0.3167 right_y=0.0967 right_z=0.1277 right_yaw=0.0339 right_pitch=-0.1685 right_roll=-0.0293 right_gripper=0.0084\nstate[joint_eff]: [0.3214, -2.8376, 7.1043, 1.7314, 0.0904, 0.0757, 1.033, 0.3214, -3.4803, 9.853, 1.7753, 0.2906, 0.1636, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776debf1fc5a9265e5b86a8a9f7e73196ab25958b570f9dc536b1fe036bef2d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd15eba980fba52fa119c952327d00457561b4b7094a1831b057b156bc8c508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874f5dc2b9f4301650d80ec60f809bcd8856404dd4031309ac8dc9ddc6ee0f1f",
      "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 · 3.335 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3519, -0.5186, -0.4694, 0.0214, -0.0219, 0.8333, 0.5945, -0.4225, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1985 left_z=0.1332 left_yaw=-0.0069 left_pitch=-0.1598 left_roll=0.0708 left_gripper=0.0214 right_x=0.2896 right_y=0.0002 right_z=0.1564 right_yaw=0.0034 right_pitch=-0.0911 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1573, 8.9504, 1.6532, -0.3736, -0.0513, 1.033, -0.0889, -1.4154, 7.0085, 1.6386, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.6516, 1.5223, -0.7662, -0.5171, -0.4805, 0.0214, -0.0219, 0.8364, 0.5945, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3922 left_y=-0.2023 left_z=0.2286 left_yaw=-0.0044 left_pitch=-0.1761 left_roll=0.0746 left_gripper=0.0214 right_x=0.2897 right_y=0.0002 right_z=0.1555 right_yaw=0.0034 right_pitch=-0.0945 right_roll=0.0036 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.1419, 9.5385, 1.3504, -0.2466, 0.0855, 1.033, -0.2393, -1.3333, 6.9812, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0879, 0.9562, 0.7918, -0.617, -0.1417, -0.0654, 0.0214, 0.4595, 1.1595, 0.6884, -0.3202, 0.3305, 0.2657, 0.0084]\nstate[eef_state]: left_x=0.2946 left_y=0.0027 left_z=0.1744 left_yaw=0.0506 left_pitch=-0.202 left_roll=0.074 left_gripper=0.0214 right_x=0.3167 right_y=0.0967 right_z=0.1277 right_yaw=0.0339 right_pitch=-0.1685 right_roll=-0.0293 right_gripper=0.0084\nstate[joint_eff]: [0.3214, -2.8376, 7.1043, 1.7314, 0.0904, 0.0757, 1.033, 0.3214, -3.4803, 9.853, 1.7753, 0.2906, 0.1636, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776debf1fc5a9265e5b86a8a9f7e73196ab25958b570f9dc536b1fe036bef2d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd15eba980fba52fa119c952327d00457561b4b7094a1831b057b156bc8c508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874f5dc2b9f4301650d80ec60f809bcd8856404dd4031309ac8dc9ddc6ee0f1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVeCt2Jn8PYJO0VfC8vfWob1lN0nrZJHg8dD2xr-VqtE73ulJmcSQ0fVF95nFLDzRKNIKgVrZlDCt4qas8CVRR2LdPpqg0FBg1pWAYiJS4YYXoKkQ2oL0Wm7a1mTe-Yd6n72Oz3jW0aIBDZgPmInjNiuemxthp4EZHrJwLUkaHR2ogVOopSjuH86DYMQuZPNw3Vx12QKDyA6Dwyy3zyMDnwZb-PsZcyhUuAjHE-mN0luKep0F2vwNRgt_pRMjoQHRx-_16fAnUF1E1Bnqmxz_RcK2A0F-P0K_H-P49kQOcVzV27KOQ_cgIVKdQycIWOe96VoDkWLVaL5cRcSiXHok2er4a76fzcv_fVdim3wQti0DwkZ0KimxjUOsr2NvhKWu2a4iQRHsodigPOf7UgVPEmCV5dM71dUDiZeDMi41aMmacblkIsjgl-fAsfBMZreTYXEhHadkKDbqYtvJHowpMirA-Ex3e8KYnwfsZWh175IsmU3Fvvz4qpwBEnNurhWIn58kYnKX4DweHBTzIS_fcV_11YONOSSl7UDbkS_-CywDSHHzl6DzazP8tBpG-vKF2B3XOGt4KG2aewh-1kjl7J9z-jN3K6DBj81zCnNg94GCCf3XJeZmsP3r5BTLxPm9PQVl07_YubhbtgW3IKd4MDaWnk9bUQwmJ_b2N8PbGDBdVuoavO05bM7Fe2SqW_BnQKkfM-Qenx1RCq2Epeb6aw_3hIpz_dm-DK9p_-VVGBhrF262iR10GHU5sBM7pvyY1NAASalyB0rAiLEUSnNHdlayB_uC92YbLsMBebU0_v2zo3MkXyWXL2UrfjrHPM7FkX6EH395DniqTD7y3pCIGD8d6xt5Y72xO7U85MiSCkghbdZFHDDXreji7Xk7UTkSoxYXFayWQDIh--YbKWlScWkWd7MhC2JhqQLGldUEYkzxP5378dS-QSwwzsisJ_0tv9WP6M9IC-Av4U5gPb5FailC-Okmv2RF9AZJERIRru3duNdYDixnpRkZNcWEGBIJ33-7UPGHXWUqfd-MYSVOWzCprW6Bw84Fqc8brSk3waoSF9oSeartPcJCZXNh78gTpGt3QyYYIhZEZ3HLtZTbh-osbJyYS0GQZ36kCyBk9fexYHlfZ65TStSHZc6enHIWcuRO9ihIFl9UIuJW_ADiajSvdyfPcF6Uz-xLtbjcl5tyl9W8GnCUu3Fgr9WLOc-2RIrEhIY9HkEODcFzUYMVuLHp4CPPbMmU2VoJlLemhfN75D2HNBmRJAQ6uIVOWk54pvgzh9eOJ5l3XAPh6-vvPC1GvQx5P7DK59sEdanDpmSSQNVbfBu14nHMlsu5x5fzi5NUhqDKfNg8pyuXb0L_1BGzFrHBeP1CgzzUg_nJYlkKFyp5QU0Cx25hERn1WLAwyB_pBxS_11502ZVX9G94xkpr10RENylIqFC4qyrfeRFtd1SglMzhQS2oJXH89CMWbBCUFBTQ-G9Hx3FjqVCz0Fi_Wvaik_zSGn9IGe2JsLhP0HF9F9h6TSpPwc7bpzik0xgsOCmN5_s4Jt4xSePYx9WA==",
  "id": "rs_09d7c44be31c4674016ab4455cc11c87d0aca323e0d4ee2afd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.1,\"right_z\":0.14,\"right_gripper\":0.0},\"note\":\"The right camera now centers the pink bowl exactly on the closed jaw column, with the opening fully visible ahead of the fingertips. I will advance about 3 cm at hover height so the narrow jaws are directly above the bowl interior.\"}",
  "call_id": "call_Q9Bt1gdZsBmr43s6OJ0LW1gd",
  "id": "fc_09d7c44be31c4674016ab4455dc40887d08737336bb864b6aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q9Bt1gdZsBmr43s6OJ0LW1gd",
  "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]: [-0.0891, 0.9615, 0.7849, -0.625, -0.1287, -0.0521, 0.0214, 0.416, 1.2789, 0.7681, -0.3248, 0.3065, 0.2394, 0.007]\nstate[eef_state]: left_x=0.2925 left_y=0.0003 left_z=0.1684 left_yaw=0.0316 left_pitch=-0.2238 left_roll=0.077 left_gripper=0.0214 right_x=0.3376 right_y=0.0948 right_z=0.1206 right_yaw=0.021 right_pitch=-0.2167 right_roll=-0.0503 right_gripper=0.007\nstate[joint_eff]: [0.0205, -2.1265, 7.3641, 1.619, -0.1978, -0.105, 1.0379, -0.1983, -5.8872, 9.4154, 1.6044, 0.1343, -0.0464, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c07a75a0486b04579b68b346d2d94218aa1e0ba5a717d0f54e8b2fc73b96cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f16e6fc805c86ae07a55d8eff940eaf87f14fabfc8dc491368daab0c7c8bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66abf49875ae58f30d0f03371f7c7f710e35a4152220b1bfd6773bce00281400",
      "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 · 2.671 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.6592, 1.1362, -0.3523, -0.5186, -0.4698, 0.0215, -0.0219, 0.8364, 0.5945, -0.4229, -0.0162, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3909 left_y=-0.1984 left_z=0.1331 left_yaw=-0.0067 left_pitch=-0.16 left_roll=0.0707 left_gripper=0.0215 right_x=0.2897 right_y=0.0001 right_z=0.1555 right_yaw=0.0031 right_pitch=-0.0945 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -8.1573, 8.9368, 1.6142, -0.359, -0.0464, 1.033, -0.1983, -1.4701, 6.9675, 1.6386, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0879, 0.9562, 0.7918, -0.617, -0.1417, -0.0654, 0.0214, 0.4595, 1.1595, 0.6884, -0.3202, 0.3305, 0.2657, 0.0084]\nstate[eef_state]: left_x=0.2946 left_y=0.0027 left_z=0.1744 left_yaw=0.0506 left_pitch=-0.202 left_roll=0.074 left_gripper=0.0214 right_x=0.3167 right_y=0.0967 right_z=0.1277 right_yaw=0.0339 right_pitch=-0.1685 right_roll=-0.0293 right_gripper=0.0084\nstate[joint_eff]: [0.3214, -2.8376, 7.1043, 1.7314, 0.0904, 0.0757, 1.033, 0.3214, -3.4803, 9.853, 1.7753, 0.2906, 0.1636, 0.7741]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.625, -0.1287, -0.0521, 0.0214, 0.416, 1.2789, 0.7681, -0.3248, 0.3065, 0.2394, 0.007]\nstate[eef_state]: left_x=0.2925 left_y=0.0003 left_z=0.1684 left_yaw=0.0316 left_pitch=-0.2238 left_roll=0.077 left_gripper=0.0214 right_x=0.3376 right_y=0.0948 right_z=0.1206 right_yaw=0.021 right_pitch=-0.2167 right_roll=-0.0503 right_gripper=0.007\nstate[joint_eff]: [0.0205, -2.1265, 7.3641, 1.619, -0.1978, -0.105, 1.0379, -0.1983, -5.8872, 9.4154, 1.6044, 0.1343, -0.0464, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c07a75a0486b04579b68b346d2d94218aa1e0ba5a717d0f54e8b2fc73b96cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f16e6fc805c86ae07a55d8eff940eaf87f14fabfc8dc491368daab0c7c8bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66abf49875ae58f30d0f03371f7c7f710e35a4152220b1bfd6773bce00281400",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVio-D0kA2jLD6Q4K871LT8GSAnH5LP5hBJl-9caWT_yzGa9mWE065H8T1Mt4EvZZO369ceJ2T4CX5_Y2CeY8x0h17gEcjKwjkgVKXRNxpVyU1DOjytysHfSe7TPoS9Xtlqd5FHcF0FvcJqoNnDFJkwJ0ExLrCioJbDnioQvaeuc-tO_6idq-K9fSl3j9LvSSHGk24_zXNn6X2UDGW1OjFt-LNAMhnW6lNRnNTlvKoz3JZbV2_a8CRYtzLIh6pAn8Z9jD5K1V03xG6gmrtmMDd3PBDoANB-18hbZKJPr-ZJ97oex7y_kv9DVv1-4bdqiLzKYHHCWc4oCNfJcN_nb7ATascz-elBLZfU75icc7ZLe52jrLvelUVbbPKTA1e3EFNjjIhfbCJDwzdR3S33RWK8P6ahcvTeCYaiI6NM9irKISihq1jk9fU2X3vQi1wrIlEV2DLFIek6kYnx0y_ZACe3FINTfPYPeqDuCj55rTTvQKefZFbn4fnA6ZOuJo3Ie2H64wNvsimC3Nc2cB7I_z01fWsY85iULijTxLpUP2eW9GS7QfHYlUuFcCY3oj8bJTYYHoXnOuRh-FsKL1UCPVztoK2audv73NCEjIOKyyoSpjiH-TqyGeC9iBRKU0Iy8_QS9Xr5V3v9UKHFMbb3BKJuefo3de2bRscWEChucAmUyFEkjnxdzBX5RuPlKeOlkWQeMJbmR7p_Klw7kspGhflpTzF9chZ-OuebLjnryWBFtFUW8Fc4FJK2S52p8nHVFehXLuM5MfNKKqP07uNa6G3bRgni5a47zM0wR1fHRzGKqrZeLH65ydJX7dnQgfHric_z-K_2oNGgOZkA-Jv5sAHhhfJtEZqtsTQtH8FqgVOD8EdEeXgmZO2-IYvqt4e8-spPRqSffKrUsnX_4isy-47ssAGGkXcPj38woIHZSOjP1h7IS2RYBfTlHvlom1DwQI3nEZH8xg2mahKQuJIWHJDBd4QXBfibj7Q0Sx1lAXF2SoeQK7XHM7fyLoYkx-sLtjB_7bSn5S6iTL33Ld94yoBlBYd2JKJv7koyQ6fiYiPW-4uUcZu8dCcVAxmLn0SPN_ddVDt3N1A9lpYNQesI0p935zdqcQB9HS8AfLw1GxJDQsduXv9LqYZYUfDTDVeS6lZFEUVHju3s1OOfXlxYA1kqApKV0LXi3F7j5o7Os6zoGwhwOfAYW_VhNuFGG9Cbup3x7DsuoG55o73uFKcFrXYVv8iFVP3LSOoUib-oN_DBnci3WFmPN9w1TUMEq9Xkpv-CA4nVehR5eerHFiVZNVs6u-AL8Js4mu1lz59V90DDugmEVkYO_OWhPwUBY7br9S9OhnA3IB_7r1o6J4O4eu-HMYANa5taG57f4YybhCrFAWeyjMNRhx8SjRX1PdxvdJzYAmGyyiCJPOEt7TFroKBL7zSKq4T_EWnqm-c7vbjF3WvqmC_ZyNnRTDSU1cl8fCPmxmzKo8e72xNjwd1FkJDdDNC2plPAczEll2cwPkypFIDzIvsw8uidUHWQX8UjNRFd",
  "id": "rs_09d7c44be31c4674016ab44560a0cc87d0adf0911e0487c2ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.1,\"right_z\":0.07,\"right_gripper\":0.0},\"note\":\"After the advance, the pink bowl opening is centered and reaches the fingertip region, so the closed jaws are over the interior. I will descend first to 7 cm, keeping the horizontal pose fixed to avoid touching the rim.\"}",
  "call_id": "call_D444puFTLMpflKl389xaXL7Y",
  "id": "fc_09d7c44be31c4674016ab4456177a487d08c1d910ee67b3183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D444puFTLMpflKl389xaXL7Y",
  "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]: [-0.0891, 0.9615, 0.7849, -0.6247, -0.1307, -0.0597, 0.0214, 0.4103, 1.2922, 0.7818, -0.3252, 0.2981, 0.2276, 0.0064]\nstate[eef_state]: left_x=0.2925 left_y=0.0006 left_z=0.1685 left_yaw=0.0374 left_pitch=-0.2229 left_roll=0.0729 left_gripper=0.0214 right_x=0.341 right_y=0.0956 right_z=0.1214 right_yaw=0.0287 right_pitch=-0.2195 right_roll=-0.053 right_gripper=0.0064\nstate[joint_eff]: [-0.0889, -2.1128, 7.0085, 1.4676, -0.0659, 0.0269, 1.033, -0.1846, -5.5179, 9.3744, 1.6142, 0.0269, -0.0269, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7271d480cb1601c92fa3ad44a90258a9df6af583f0e86000d2693630406e9205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8812f1fd146b8f9715888b662f338b3dd1dbed5d1d5a5bfd04ac7bc3c5f479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c367fb15e179aa00669b8588a1a73252ce2d3551555f985edb00bbedf4b085a",
      "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 · 2.124 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.6516, 1.5223, -0.7662, -0.5171, -0.4805, 0.0214, -0.0219, 0.8364, 0.5945, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.3922 left_y=-0.2023 left_z=0.2286 left_yaw=-0.0044 left_pitch=-0.1761 left_roll=0.0746 left_gripper=0.0214 right_x=0.2897 right_y=0.0002 right_z=0.1555 right_yaw=0.0034 right_pitch=-0.0945 right_roll=0.0036 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.1419, 9.5385, 1.3504, -0.2466, 0.0855, 1.033, -0.2393, -1.3333, 6.9812, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.625, -0.1287, -0.0521, 0.0214, 0.416, 1.2789, 0.7681, -0.3248, 0.3065, 0.2394, 0.007]\nstate[eef_state]: left_x=0.2925 left_y=0.0003 left_z=0.1684 left_yaw=0.0316 left_pitch=-0.2238 left_roll=0.077 left_gripper=0.0214 right_x=0.3376 right_y=0.0948 right_z=0.1206 right_yaw=0.021 right_pitch=-0.2167 right_roll=-0.0503 right_gripper=0.007\nstate[joint_eff]: [0.0205, -2.1265, 7.3641, 1.619, -0.1978, -0.105, 1.0379, -0.1983, -5.8872, 9.4154, 1.6044, 0.1343, -0.0464, 0.7155]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6247, -0.1307, -0.0597, 0.0214, 0.4103, 1.2922, 0.7818, -0.3252, 0.2981, 0.2276, 0.0064]\nstate[eef_state]: left_x=0.2925 left_y=0.0006 left_z=0.1685 left_yaw=0.0374 left_pitch=-0.2229 left_roll=0.0729 left_gripper=0.0214 right_x=0.341 right_y=0.0956 right_z=0.1214 right_yaw=0.0287 right_pitch=-0.2195 right_roll=-0.053 right_gripper=0.0064\nstate[joint_eff]: [-0.0889, -2.1128, 7.0085, 1.4676, -0.0659, 0.0269, 1.033, -0.1846, -5.5179, 9.3744, 1.6142, 0.0269, -0.0269, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7271d480cb1601c92fa3ad44a90258a9df6af583f0e86000d2693630406e9205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8812f1fd146b8f9715888b662f338b3dd1dbed5d1d5a5bfd04ac7bc3c5f479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c367fb15e179aa00669b8588a1a73252ce2d3551555f985edb00bbedf4b085a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVl9HeuoAQ_UUPuuRyHCDe9yTdhT9jKJwmmcEtvzeyVOIlgIkQ0Pe86oEjCqZmckO4PCXBGYb-it-ncyTVi45BI3r68gYt6QANWtKjQIZeBlqMa9WclBU1onYFYuHyPcMKq7ihhx3cwv8eb5HTDHFqqRlBXCepd0jEp344F5KV_SMeSTVhxuHtRPedW5SHcX57_zozLALyuSxq0kFj982yBMPPz2eNNexWbCU5y7cZNIkFUIrVzPUse-UrbWV1HmWNsiYphphnTxIS6znH7sn3EtyZVTNlvVKh3qF1ZCHZSpWaYrvoxfPQsw4tPlozSh28hviBfJs-xvSYd1zkzlDu0wn_iOTdXcFN9v2MuneCbPZROSfEyY5v8sVSSnQTV8rO10_y-dMzQkwblXRFtT_u7U3C1xUMyBSORzjlPNq5bHK9Qx-LLMQThdRRD8SndWn-4BcXDaJJEXpBg4LStNP2rPiytmSAdm6OGqsj-BiFzBkefBi1KIiOSYQqyiLHlIof8YiNoeVM9GJP46le7keFXQEy_LOYHnj-7vsI06M8XxsdLQ5EJQsdlmrYT9S1xrvlkkWW2eLjMq3A1MocKHBBOdJbrKN--drbcuk8h7k5H11ru6KuUlqxRm2o1vE2NVnQmlSZTKNGePo6OjTgsdbgBHU39lA881FBhTIPISiHHL7ZjH6dXHYq1Oj_m_nxQilysuOeL9FLPPPTURhSta9YY82R5zq-6FhS8ay7be2NQvUiZTbLRXlQd3Wfp13Bv0cvKmRlY8v_Iiqr22GvCWqu_lHB-8FpSW07E4QWJsDezgnO09RFHLAuV1BAAn5pA05JlB_uuxOCXd380rnIQhUqnFK2Fc5AVGN2ZzhoAM99TU7wcZRkpOKpWq5R3nKK6tXMsvmKRBKBeQFVQyI4wSGzjCnAMxB9b1MNhjWNI4yfZEDm5ngljXq4DNX5QLP7z4YYRVXJgN34zpDp4vk6bg_i_Elf_W-jkXeejSvYCOiy2YKtcs4x0c0jZahhp5SxWDR6Z5N7rHXkDGDou9CaxALfS0UkRka7UN3Gg0nysFI00pijSoKpCcCOEttKBcgunBm6ivDWBLkDF6DjMfTUDQPpHNGWi9ZlLG7gFeFSc7N8QBe8XYH50kF3vPspNWA8qbsg0ryL_bjSnyuP9EEVJESYon3hCeN1tWvEKXC64GZ9nvcQt5B4Q5hZROOM_eHw-69pWep51i-LqSmITQZ4uwqDFbAp4sxzZybb7b_whhiekzkLI1cQ75TZnWFGofoGJEcHdJkRc38lOwD0gUuvpxLTDneg-YOGSwMitDPp3FwUef-7lLRbURzV3vWMIDk6uI1wRlKFCnX6f_adAzY8St-5Ix61Lqjc827LfxXMFk8UIwVVX3CK48Ga8--gfonYTBemKFiHFaDFyjn_VL4ptVVTlaIGmCx12G05CAWO6RxPe6QU=",
  "id": "rs_09d7c44be31c4674016ab445641f3087d0882e8cb99dd69bc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.1,\"right_z\":0.07,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The straight descent stalled at 12 cm, matching the left arm's low-reach IK behavior rather than contact. I will shorten by 2 cm and request neutral orientation in an intermediate descent, which previously restored tracking.\"}",
  "call_id": "call_lvJ6UE3PwY62IsRbEwjkc2Gf",
  "id": "fc_09d7c44be31c4674016ab44564968087d0a4d6380e576c2072",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lvJ6UE3PwY62IsRbEwjkc2Gf",
  "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]: [-0.0891, 0.9615, 0.7849, -0.6392, -0.131, -0.0601, 0.0215, 0.4564, 1.2972, 0.6899, -0.2016, 0.3477, 0.244, 0.0064]\nstate[eef_state]: left_x=0.29 left_y=0.0009 left_z=0.1661 left_yaw=0.0384 left_pitch=-0.2372 left_roll=0.0748 left_gripper=0.0215 right_x=0.3366 right_y=0.1022 right_z=0.1049 right_yaw=0.0275 right_pitch=-0.18 right_roll=-0.0643 right_gripper=0.0064\nstate[joint_eff]: [-0.0752, -2.2085, 6.8308, 1.6386, -0.1099, -0.0513, 1.033, 0.294, -2.4684, 5.6821, 1.3358, 0.3932, 0.1197, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee768a1683e9bd372639629b6862fedc612cd94ee04e952ce2ed8ef152c1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4504006f6976dbab5be91c2709fdfde69c1da8c78546e786d3db7632066a9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945806ec8c4384faa7da51c4002cd005496ab22940b4e9eb35cd2abf8b7c7992",
      "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 34 attempt 0 · /responses · status 200 · 3.77 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0879, 0.9562, 0.7918, -0.617, -0.1417, -0.0654, 0.0214, 0.4595, 1.1595, 0.6884, -0.3202, 0.3305, 0.2657, 0.0084]\nstate[eef_state]: left_x=0.2946 left_y=0.0027 left_z=0.1744 left_yaw=0.0506 left_pitch=-0.202 left_roll=0.074 left_gripper=0.0214 right_x=0.3167 right_y=0.0967 right_z=0.1277 right_yaw=0.0339 right_pitch=-0.1685 right_roll=-0.0293 right_gripper=0.0084\nstate[joint_eff]: [0.3214, -2.8376, 7.1043, 1.7314, 0.0904, 0.0757, 1.033, 0.3214, -3.4803, 9.853, 1.7753, 0.2906, 0.1636, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6247, -0.1307, -0.0597, 0.0214, 0.4103, 1.2922, 0.7818, -0.3252, 0.2981, 0.2276, 0.0064]\nstate[eef_state]: left_x=0.2925 left_y=0.0006 left_z=0.1685 left_yaw=0.0374 left_pitch=-0.2229 left_roll=0.0729 left_gripper=0.0214 right_x=0.341 right_y=0.0956 right_z=0.1214 right_yaw=0.0287 right_pitch=-0.2195 right_roll=-0.053 right_gripper=0.0064\nstate[joint_eff]: [-0.0889, -2.1128, 7.0085, 1.4676, -0.0659, 0.0269, 1.033, -0.1846, -5.5179, 9.3744, 1.6142, 0.0269, -0.0269, 0.652]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6392, -0.131, -0.0601, 0.0215, 0.4564, 1.2972, 0.6899, -0.2016, 0.3477, 0.244, 0.0064]\nstate[eef_state]: left_x=0.29 left_y=0.0009 left_z=0.1661 left_yaw=0.0384 left_pitch=-0.2372 left_roll=0.0748 left_gripper=0.0215 right_x=0.3366 right_y=0.1022 right_z=0.1049 right_yaw=0.0275 right_pitch=-0.18 right_roll=-0.0643 right_gripper=0.0064\nstate[joint_eff]: [-0.0752, -2.2085, 6.8308, 1.6386, -0.1099, -0.0513, 1.033, 0.294, -2.4684, 5.6821, 1.3358, 0.3932, 0.1197, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee768a1683e9bd372639629b6862fedc612cd94ee04e952ce2ed8ef152c1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4504006f6976dbab5be91c2709fdfde69c1da8c78546e786d3db7632066a9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945806ec8c4384faa7da51c4002cd005496ab22940b4e9eb35cd2abf8b7c7992",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVolqaAjsnQ6wTIPCo_DiiXs7DoMCcyz59v2kGUT3O3h0jnANlJSvMwJnsD5NMErlE-gtjLbDc2knv35aBMLYVuRQpd6rkyTn4qu0WgCbsO9GLX7e2OV6-D-oJS1S_kCpxZcjulwe5a6f1hCVE5BuJndw66mFmNTULRTQo2FGMn_0rrgz5pVpPS-8QLOWvgs4pjrGeHPF5tWe8HkuaihHO9UuQPwWdkYv3yIFuNFI1zJNwHn3iGsgpYjNI5Sz72W1mcMBKXE8qQ_NrfToYyQiyoThq7jU8gCcrnYkiKg5pY_nB4a5TTnLUk5jdyXsQT50dO7HlWSKCp5Y_V7qDitJrw99ftEkPNKdtKfDl0QX2FAZCr3yp4ti9oqxmzFakFIZZ4PCELkeGaLHGolmWNHLLswEHfXQjGwK5Zwcy8pKKLLC_IpUYT4DI2kQRIrcqgMQidM2aB3aCHIEZHkFD-Nu4fo7PZLeFPyBQ1Nf5tjWtqn17GEFzwJL3t8LX7EBBm9dtbvENCU9pRJCYE43uK-64Ln4EDgFC6Pn3uEuaTI1PtalHPW-KpJlg5sS74MuhUMbjktBN3mIqDUYIym9cVba5qCY7Ti7gPam4BrsaJOP-FRPvp6j_h73gEsOMQUSFToS0TeQJpONjTyAgWkrTr1dNLEkkaZA1By7ULDRkN1XYgfl_pEBK7RTyKBaiz8eJnnNYVTT9XL3jZnGldzG5Pe1zEhkO5M03-5FOD2jBZxCjf3Z4-LC58akyHW1xBi0OgzZ2ZodzREqi4knULOpMIYbnGMOZ6SUl0cVeO5YEwgAe1goSdRU-4WChqd36_W_xuLjyaFIgk7uGTgza3QL2q6wvRG7YpEQgTJSgtyCp3seJHQH6-AHj2mXq71SDiTbX8uz9Z5liDfYdBRcDV_lLO3LdKksegV1_v4fYY3BPKrXg0Ag8Vo0FhahyFi4QZ-IhNtBkFk7YfE4fld8RQa0Kl_OzdFfOxBc9VJuFODj6qKq4-knhi6wS1Brljykb8CbBiMgZ5z2XjhjnIlaezVbUk-ru3FV1S6P7d66US38-j_KnHEhZgZyLqB5CLeA28_bVE9eRbEaznmC9PbGUilbL6DLLkjDwXaKOoXCaUyWW8lCBWOkvSdlrZR_BlVC_RvCTUDvDO7jjwJtS_ntn9fRXcpOFf3yjbv7Awfn9XY-XF-tMWb6_uOAegOjSyZ7d6qU3Yofks2Ztf-c9-vkXrgMI4wB_YmA==",
  "id": "rs_09d7c44be31c4674016ab4456762b887d093ba6b5fbf4b09bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.1,\"right_z\":0.06,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The conditioned step descended partway to 10.5 cm while staying centered in the pink bowl. I will continue with another small shortening and descent to bring the closed jaws inside the opening.\"}",
  "call_id": "call_0jYGnW2qmO9vQhqG1xNYYw6L",
  "id": "fc_09d7c44be31c4674016ab44567825c87d09d504a2e51c543f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0jYGnW2qmO9vQhqG1xNYYw6L",
  "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]: [-0.0891, 0.9615, 0.7849, -0.6491, -0.131, -0.0601, 0.0241, 0.5106, 1.3201, 0.3576, 0.2192, 0.4007, 0.2737, 0.0063]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1644 left_yaw=0.0387 left_pitch=-0.2471 left_roll=0.0761 left_gripper=0.0241 right_x=0.3069 right_y=0.097 right_z=0.0436 right_yaw=0.027 right_pitch=-0.1037 right_roll=-0.046 right_gripper=0.0063\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.6288, -0.1343, -0.0415, 0.9011, 0.1983, -3.6444, 6.3248, 2.0293, 0.2613, 0.1099, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f5b15b9f738707f89f05556039799dd7356c1a7db48bfe043296129bd40704",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7876e7b358ad826d5c66b25483de4b3bef9c01dcdfcc3276b1d93e38638adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34aa9d8463af6ca206245e79f8500bf0384803b05e26d64716f4febf0c93fdb8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.625, -0.1287, -0.0521, 0.0214, 0.416, 1.2789, 0.7681, -0.3248, 0.3065, 0.2394, 0.007]\nstate[eef_state]: left_x=0.2925 left_y=0.0003 left_z=0.1684 left_yaw=0.0316 left_pitch=-0.2238 left_roll=0.077 left_gripper=0.0214 right_x=0.3376 right_y=0.0948 right_z=0.1206 right_yaw=0.021 right_pitch=-0.2167 right_roll=-0.0503 right_gripper=0.007\nstate[joint_eff]: [0.0205, -2.1265, 7.3641, 1.619, -0.1978, -0.105, 1.0379, -0.1983, -5.8872, 9.4154, 1.6044, 0.1343, -0.0464, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6392, -0.131, -0.0601, 0.0215, 0.4564, 1.2972, 0.6899, -0.2016, 0.3477, 0.244, 0.0064]\nstate[eef_state]: left_x=0.29 left_y=0.0009 left_z=0.1661 left_yaw=0.0384 left_pitch=-0.2372 left_roll=0.0748 left_gripper=0.0215 right_x=0.3366 right_y=0.1022 right_z=0.1049 right_yaw=0.0275 right_pitch=-0.18 right_roll=-0.0643 right_gripper=0.0064\nstate[joint_eff]: [-0.0752, -2.2085, 6.8308, 1.6386, -0.1099, -0.0513, 1.033, 0.294, -2.4684, 5.6821, 1.3358, 0.3932, 0.1197, 0.6471]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6491, -0.131, -0.0601, 0.0241, 0.5106, 1.3201, 0.3576, 0.2192, 0.4007, 0.2737, 0.0063]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1644 left_yaw=0.0387 left_pitch=-0.2471 left_roll=0.0761 left_gripper=0.0241 right_x=0.3069 right_y=0.097 right_z=0.0436 right_yaw=0.027 right_pitch=-0.1037 right_roll=-0.046 right_gripper=0.0063\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.6288, -0.1343, -0.0415, 0.9011, 0.1983, -3.6444, 6.3248, 2.0293, 0.2613, 0.1099, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f5b15b9f738707f89f05556039799dd7356c1a7db48bfe043296129bd40704",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7876e7b358ad826d5c66b25483de4b3bef9c01dcdfcc3276b1d93e38638adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34aa9d8463af6ca206245e79f8500bf0384803b05e26d64716f4febf0c93fdb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVs4bTzeUspQgfOF5gw_xgJx3nAplTdtjjKP4ayn2V9HGSgt3cdbqqchcwhegB6CoJH1VdY6tWMywux-qimxJFaj7gvHROIKf3RpbF7auLiF3BYzPZ3J9JGoCeDKDW5aEW4dZoOYXAFL_h5K9G9TEm1FsdtNw9sqMp4oYE53nvRhdKUZLHPg14EZ5KXIrN4Tz7tMr63uUVr4NbaRyzip1vCOqE_cWUPzoroloWOzFfF_3UUdpOs83y8sPTZw925tLsUATz8a7GLuf5Agt10S2irLSiACC6yzU3yvtT63fSAq4cLqHubS_De9CiZB1zNmcVTG4ZucGmBmIOiAGZ9gafD2TXzyoudqte9lpi-E7ehHQlR2VhTgs6CpEVmDw1hIH9qAztzO-ozeLHfHnfjqM2A63ZumhferFJuZzOEM2oXSvYqr9pDjwPbhuyoEBUcock5OD0KMI_UsfWlg3YJ0vvA_YBOEtpZ0ReLLwQkKyCcCDW2gp7HRiqk0Xu7zSwgTItIQ6sL3FidXe_Z4AvjyBnaI36_ZApXsn60PHuctdvQlIzCygh4YRnP7QJ_-02HzxGLGp1ZHy-zoBDXhMXjLA-fvkV_2BMJMeIf7YlTpjD-DDU2x-F1f6gfRf45fAuFwONYJpQNKsr7uzx-wNCmYb5W_en5GV7FcG20q-rqwgRbv_N_MXbtJiZCTb2BH3zs2RWO2vAyCKGcFsJqF126hQxx_eP1ODyetB7c91cqb8Uz_2KrTqVTnJlARzwsM_tVFxP1F7vgSM9VsSJz_AXRpMhUd2y3i73JKLPKuxfUG2ngidNpbFX8mOxUGAnQTtO5Fes3OfE5KQQotTikYwmChmt6oVPNOxNc_mETFlpj34yfm0bzMBJ5vlqbaq0Tk0XFJrX_A1E3gVH797gKd50R7WBxvkF-wOxLpSEdWT9-Kvv9CCsqXA-Mf1AM6wXbZNuSjj8TAAZ6z_UnO0Fnyjhwo8U2mdx4X3B2w0JyxqI3qZ68EBVtwqUrYDfaInzJEOkdtHiFakEwAnNmrNM0oby70xFt8bQeP2a9dL4kqbv_bpUevJryriq5y-zWuFpe3vPr-YE9nWb3YL7UTydPnj4xlotD5Cs69170oOMGwNzJ8KkUiSCkOBneSR1ba3nu35S1HuWUR5S22Hp-NbOdhzqSFpM-zn6QR8N3uwjj7MhV0DzWRe84EpY84Q_aLpYFjcf-c25z43v-Epw-WT8fPeQI_5B-nzKRCkpQEFUI5wlc-hQpHnbZ3_G4LMjM2XNqaz6unVoELJjeqiwJjYgIReP9j3ycbxHrTaT02uFWpj3W71zb4FAwMBSXOcoDwpPU-0sjS7PZOKO_gx0MqMAbh29lB_R8T1QSpLUa30R4TjdXIsXRcECDD36bgDGlNYGMsO6gvFhQGJXlu_5Nb-U3ibX8u1L1BJATpqmtneA6vy_B_aK6nZ1jBaO6CbS4a0gxk0ineq5r5e9FkWueONPWfRMRizKZhmwbsVGW9oFRR39bvCABXnY5MHjh8XFCNun29VVo_sO07e6f_b7fE896pshRSsmqoIbkddVWbzWML5ebaUyihOQoyt9cJgIYYgV-szQ5HF9Ozt7On9pf-n_1qzO1aiiu7p5mjN0tPJ0D5PRj5F31QSgNbBu7Q8okiVvDsurgYv0XnjXRZbJRMFZJFCX_66X1-V1YGSyAb9_RyhmsniVsbnp5E9DKh1UEXrZzgGPsn2apStOuPezoGrYDMjRobVdSQEY2V3yVtHAaJGZKVhI6dIEr5VmmOihqtcOGPAIQnZfp_Ld1731h8MACcUmiHqix0RIrOE8fLuC8IA_ocoYxq9OHOubUlxVDdLTNKnl4duGIo2PUoaOubfFaqyz3a0s4o2xcNgaSEVPRWV3v5GbIXvsF1RkGw4TMLHrmFO3XG_2V",
  "id": "rs_09d7c44be31c4674016ab4456a35f487d09bf631bd94c1e79f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The closed right jaws are now at 4.4 cm height and the overhead view places their tip within the pink bowl opening near its center. I will expand to about 6.7 cm jaw spacing so the fingers press against the inner walls below the rim.\"}",
  "call_id": "call_rAHcpl7z0RgWG8VLy6cK44mn",
  "id": "fc_09d7c44be31c4674016ab4456bbc0487d0a67f48d02cab7b03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rAHcpl7z0RgWG8VLy6cK44mn",
  "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]: [-0.0891, 0.9615, 0.7845, -0.6502, -0.131, -0.0601, 0.027, 0.5106, 1.3346, 0.3363, 0.3233, 0.4118, 0.2813, 0.6953]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1641 left_yaw=0.0388 left_pitch=-0.2486 left_roll=0.0763 left_gripper=0.027 right_x=0.3142 right_y=0.0991 right_z=0.0504 right_yaw=0.0163 right_pitch=-0.0399 right_roll=-0.0141 right_gripper=0.6953\nstate[joint_eff]: [-0.0479, -2.1949, 6.8034, 1.5116, -0.105, -0.0122, 0.8083, 0.253, -4.2872, 6.1607, 1.9121, 0.3394, 0.0464, -0.1538]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3033d2e87d04141bd4ba7e90f1073dfb34b6f882654de6ce583bdb914b6521d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e2df6674234b3958c24dfae0fe48a586d8a86b1f2d7e6abb3c0928c7e03c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37093f78b6317d54f6318aecb5e9ffcbfbc922950595ae62293596621a099ea8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.5 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6247, -0.1307, -0.0597, 0.0214, 0.4103, 1.2922, 0.7818, -0.3252, 0.2981, 0.2276, 0.0064]\nstate[eef_state]: left_x=0.2925 left_y=0.0006 left_z=0.1685 left_yaw=0.0374 left_pitch=-0.2229 left_roll=0.0729 left_gripper=0.0214 right_x=0.341 right_y=0.0956 right_z=0.1214 right_yaw=0.0287 right_pitch=-0.2195 right_roll=-0.053 right_gripper=0.0064\nstate[joint_eff]: [-0.0889, -2.1128, 7.0085, 1.4676, -0.0659, 0.0269, 1.033, -0.1846, -5.5179, 9.3744, 1.6142, 0.0269, -0.0269, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6491, -0.131, -0.0601, 0.0241, 0.5106, 1.3201, 0.3576, 0.2192, 0.4007, 0.2737, 0.0063]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1644 left_yaw=0.0387 left_pitch=-0.2471 left_roll=0.0761 left_gripper=0.0241 right_x=0.3069 right_y=0.097 right_z=0.0436 right_yaw=0.027 right_pitch=-0.1037 right_roll=-0.046 right_gripper=0.0063\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.6288, -0.1343, -0.0415, 0.9011, 0.1983, -3.6444, 6.3248, 2.0293, 0.2613, 0.1099, 0.6422]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7845, -0.6502, -0.131, -0.0601, 0.027, 0.5106, 1.3346, 0.3363, 0.3233, 0.4118, 0.2813, 0.6953]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1641 left_yaw=0.0388 left_pitch=-0.2486 left_roll=0.0763 left_gripper=0.027 right_x=0.3142 right_y=0.0991 right_z=0.0504 right_yaw=0.0163 right_pitch=-0.0399 right_roll=-0.0141 right_gripper=0.6953\nstate[joint_eff]: [-0.0479, -2.1949, 6.8034, 1.5116, -0.105, -0.0122, 0.8083, 0.253, -4.2872, 6.1607, 1.9121, 0.3394, 0.0464, -0.1538]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3033d2e87d04141bd4ba7e90f1073dfb34b6f882654de6ce583bdb914b6521d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e2df6674234b3958c24dfae0fe48a586d8a86b1f2d7e6abb3c0928c7e03c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37093f78b6317d54f6318aecb5e9ffcbfbc922950595ae62293596621a099ea8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVwQCKhn8YzFnsPvcy5mqLVA6I0TOgdPh3dxD5E68RTTRIiHE-c9a2Z6XB7318LDYTWADHmgsTxfjF-6HTl9_K1RBAvaU1MpVFlneekGfkXN5GoDn_XIVZRP9YudB-s2JELM0VJaAbBWVPVn65SF9NFCbKtS_txBdipZDzchart0h1tSHZqU2FaGRGgKX7vOidpG-fYalv9Mjs-rsSuBdBkPBiCtXtyWY04GufdGbKU6_vrl-e0OOgn35PYrqzjHun95ybS2OUreL2bhpNglKyL4glmKLuuvBTLS3YOTQEgKoMGtcYfG6iGDuXlfB6rnEGk2ed2DOv87ZMH5djeAJTUlXjt3BVH5Qxu9ymqeHELJjp1MSOdgqlkHX6VZDw4N8ASalivYcpvfxMMz3E6gn0cHIhCIpHXyYGhwcsBbKCPd4kgqFQ8XCsKNN4FswHgPgzADfzaXZv_R4sHvzjYAL2yGQZRn1a1oPoXD2mux0u-SjRqMf6deLTH_HOQ1SH9G6AV6Za6NM4mtLNdBrPNJLH3wC8BU6xBL3DCrT6-pLYwQDE7ZQeutcHdNYpWtTTDU4RDOd4c2R7u-Be5jvl0BW4FGP_bncWQfCJ2eC-R9HPhCUwVpiO2wqSoq2yifyyMorS6CGmRN5dVLBTBHxDkCK12xj8oAAVKlKuvqGdSvu7nMMbEvDVP8sQoFEBUBCBEw7CcmsW2_Hk-24lEaNF3TXXp2msUlMpzBDe29TaLf1rRtmG2za8tJV6MkTqKex-9UVIGL8oxJF2716ZZnUZcAcZDfzRDtVtiSHo-VuuXuC6GCwR72JxkctCEcJ8Fk_bbE7wVwtzQ_3whmllYey-ffxVFEvljWu7k_7gXMoFWwTekhF8Zcc_ksw3vt4fsF1uTcHLqYKXr_MClNZvu5unYXNgTzTJdrAPH0klB2NgyNAb0EUXQ-9usxVlz3Vwml32pQhiPfhOMlrUFa0CsuNME5G-UqDJHpiAemTJcreSmdl-8w917mO2pTNGFdPw2cDBhqzhJF3xX8fqIEYETrSOye94eOK4CkQnbU2oeyPCNEsNRS_etFeZrzCVqL7oWJAD1EKGL8Xep577HDbtR4_YmZDmZRCNs9dKmXtgvMNyfov0HA8VBH3-5q1RlgWrf-iKFNq_qhQOCXsEmMgR46FZ9H1ffek5pDfj5KtUx2HqyscCp6Sg2juw_Vy7koK9QQk5XazfPWmMrhP5K3XNeWhprfRSCALDSPBYM3Z5rnO6PUx-4tq2qBI1rMcwvD9y1Z0xqsJdspHDoP65J3kEXpNHpQCoPt7MsGtAAfn7_j7oqQBxOQNKPxM2OC3qcaFVRUc0JJiiJqR7edrbGgmXyQSGMfNie_8Wwe-CGOCvPxNGrH7R_yObcn8b1uYrewz6nxhTxn-zHgrBHlYaQREuJYaPIBhoMuQ==",
  "id": "rs_09d7c44be31c4674016ab4456e6f8887d0b66ee8ffe96e01d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.9},\"note\":\"At 0.70 opening the jaws are still symmetric inside the bowl and appear short of the inner walls, so there is not yet an expansion hold. I will widen to about 8.6 cm, near the bowl's inner diameter, while remaining below the rim.\"}",
  "call_id": "call_dSpdQYVvmA165y5llsDG7Cd0",
  "id": "fc_09d7c44be31c4674016ab4456f232c87d0bbe5a5716fea2d42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dSpdQYVvmA165y5llsDG7Cd0",
  "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]: [-0.0891, 0.9668, 0.7837, -0.6674, -0.131, -0.0601, 0.0291, 0.5106, 1.3346, 0.3363, 0.3267, 0.4118, 0.2806, 0.897]\nstate[eef_state]: left_x=0.2849 left_y=0.0013 left_z=0.1595 left_yaw=0.0396 left_pitch=-0.2717 left_roll=0.0793 left_gripper=0.0291 right_x=0.3147 right_y=0.0993 right_z=0.0511 right_yaw=0.0168 right_pitch=-0.0368 right_roll=-0.0131 right_gripper=0.897\nstate[joint_eff]: [-0.212, -2.3726, 6.8034, 1.6337, -0.0806, -0.0415, 0.7204, 0.1436, -4.2872, 6.4068, 1.8291, 0.3004, 0.022, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8714bbe01f634437462f60409fbb2a4c2fefcfe51fa8d126ae9d9d32ff834158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e359e81062ed7a7b46ecb0e68ddd06cc8e7a8c40e6bb1357b64c62cee46d79b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26eb44feef6d3c2d2dd7ff877f3f15c4ba6eb0257d1611091adbd2a44e8cb197",
      "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 · 3.174 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6392, -0.131, -0.0601, 0.0215, 0.4564, 1.2972, 0.6899, -0.2016, 0.3477, 0.244, 0.0064]\nstate[eef_state]: left_x=0.29 left_y=0.0009 left_z=0.1661 left_yaw=0.0384 left_pitch=-0.2372 left_roll=0.0748 left_gripper=0.0215 right_x=0.3366 right_y=0.1022 right_z=0.1049 right_yaw=0.0275 right_pitch=-0.18 right_roll=-0.0643 right_gripper=0.0064\nstate[joint_eff]: [-0.0752, -2.2085, 6.8308, 1.6386, -0.1099, -0.0513, 1.033, 0.294, -2.4684, 5.6821, 1.3358, 0.3932, 0.1197, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7845, -0.6502, -0.131, -0.0601, 0.027, 0.5106, 1.3346, 0.3363, 0.3233, 0.4118, 0.2813, 0.6953]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1641 left_yaw=0.0388 left_pitch=-0.2486 left_roll=0.0763 left_gripper=0.027 right_x=0.3142 right_y=0.0991 right_z=0.0504 right_yaw=0.0163 right_pitch=-0.0399 right_roll=-0.0141 right_gripper=0.6953\nstate[joint_eff]: [-0.0479, -2.1949, 6.8034, 1.5116, -0.105, -0.0122, 0.8083, 0.253, -4.2872, 6.1607, 1.9121, 0.3394, 0.0464, -0.1538]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9668, 0.7837, -0.6674, -0.131, -0.0601, 0.0291, 0.5106, 1.3346, 0.3363, 0.3267, 0.4118, 0.2806, 0.897]\nstate[eef_state]: left_x=0.2849 left_y=0.0013 left_z=0.1595 left_yaw=0.0396 left_pitch=-0.2717 left_roll=0.0793 left_gripper=0.0291 right_x=0.3147 right_y=0.0993 right_z=0.0511 right_yaw=0.0168 right_pitch=-0.0368 right_roll=-0.0131 right_gripper=0.897\nstate[joint_eff]: [-0.212, -2.3726, 6.8034, 1.6337, -0.0806, -0.0415, 0.7204, 0.1436, -4.2872, 6.4068, 1.8291, 0.3004, 0.022, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8714bbe01f634437462f60409fbb2a4c2fefcfe51fa8d126ae9d9d32ff834158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e359e81062ed7a7b46ecb0e68ddd06cc8e7a8c40e6bb1357b64c62cee46d79b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26eb44feef6d3c2d2dd7ff877f3f15c4ba6eb0257d1611091adbd2a44e8cb197",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVyKsRNRddI2wfkp285QaIbvJ1G0IPMIZLkLkz_EdbO74iktHtABJW-sW4QLzmicvxZKMnEtHN3pgaELkt0-6vtKIQXek9SZOnH1RapN0n9jwEHHD6QTvOJvyNtWR_dqIKYjqXbnXuPhl9TBKr9hfXcQNguE718CUPX92x_SiSn0-Cv7jd3Pw_F-Ln1CzhLZiyLsKNsnefcaD4F5eC499xqE_Sp2VtFbL5kX7Ls0rbhZ-0vVrSNl8SC4wkSiwLVXzWQiwIbvBImllEVq8rPMOFYdm48L2utuAWiBadh7-yXXKWtxEo-IDSsa4E7OMhJSqtfWoKW22IEOZdFEKW10jVzRryBMR4lslfVt89GJKpS6NMBT-6B6hcBch1RHIJH3RETFMD7KpROb1A-Ycwp94WSAonK4dMpYFIWwBvOiOaBWwJfDK5AGd5sLFwtMyALJYNKT1NPBHsNX1xkfCRXPSyNR7rA4nEC3pPqXp8J8QYaWRWH4RYJRj8avoLgZJ-pTFBvZD4abBwm9C0jrF0CGjiTVk4oDwE5QNyDJjpzQ9eeaFhMaw_OuNRbJ8bzGyODRR2rfjpCjGVblGOWVcWKGqSf6SH06GdEJKFEJTq1Vsrr9fCrq-KFwi98pG2Dnw3FOEFifCFRG9wT50cDZ5-6PUJWZ39w4JrHKIkt2Ak5kHht4sH6p6QRtTNXaFW6jgHltpStwhasLeNdWeFTxmrMnAKpHXqt8_DkOfWlGYsPG9XX5hAyoO0X3RA_ds4q1iij8eVsR6X8jO26fyD5eMFqgXP-TDUO6H9dOSXKJfznSODvZUiJwn5xyiDpcLmNsuTj42OL5CqHr7VLcrYZg-PEfS72j2vom8Tj2SviBi2VpjTnsMdWTY7RTzBLd9fd-tlQEQYWXTEt1m208Xmx1d2c8l_k6QoLlEcfLif83mZlKKLnTEFEHXjPzf-6KFkhDqkG7nSaSUtH57rWYEq5Trz5KI0LJSPV3Q8BKNcPkHw9VILFHmKd4ISsEdLvcZ69NrP5PsCdYWfJoTCk2v1781lrb6BFcbvObC3qVlqiU8-I-UxMxJ9SDPt-syJjFNSeI6EETfkp1aMkBEVfPjI_uapcWcwsXQhTE8RZuega3FA1pCsKSHjySLlKYungzcXrGV2n_Mwb7jzBUTus72hpFyyRWL49zAtrAjA8Gz0ys7VWGSgBqoAPHF9dir0ySY7W-cYhhjdC85eJHuBcFpOjZqrjR5z9isoSA-TPNUtSuUTmQRdviAbeRhtbhhhmjnhnNAuQwnUFKYYlxvIOT4B2S1QrgRTOwFqqacE3Ep-RO-lcX4kJxAuNvFU9VeOnQ_ieNVEnq2cJ6-2draU2h378XK53iZq4tJmIiwI3lUF0rGxp6gSkQ1SQ0IRIZOgoAyviV5ZsjnDLpXkgKbOn7d09v4Len0HeqBK57JClRsVSimfn09zO2eAyWoGyQEkv0vMGHoVUlW4b",
  "id": "rs_09d7c44be31c4674016ab44571c65087d0b4a4e61094d9f33f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"At 0.90 opening the fingertips reach the inner sides but the mechanism still has a little travel. I will command full opening to apply outward holding force before testing the lift.\"}",
  "call_id": "call_xQHE1N3kk8UaS9RBGYCIwiUe",
  "id": "fc_09d7c44be31c4674016ab445720f0087d09366c75b512dcc01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xQHE1N3kk8UaS9RBGYCIwiUe",
  "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]: [-0.0891, 0.9672, 0.7837, -0.6689, -0.131, -0.0601, 0.0315, 0.5102, 1.3346, 0.3363, 0.3237, 0.4103, 0.2775, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0013 left_z=0.1592 left_yaw=0.0396 left_pitch=-0.2736 left_roll=0.0796 left_gripper=0.0315 right_x=0.3143 right_y=0.0993 right_z=0.0504 right_yaw=0.0192 right_pitch=-0.04 right_roll=-0.0162 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -2.0991, 6.9949, 1.4481, -0.1245, -0.0464, 0.5348, -0.294, -3.8359, 5.4906, 1.6972, 0.1294, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32000972deb378eb3bf2d7a1250e9733dd2c65b2604e23d4f99584226aec8345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327e7b5b7b92804b86a6ff070a50a534e18020d1dd8e275e327148b62fc96259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:880ee355604c3fbe12378004b653070d1f50d7b9fb317b38aaef79667e0e6f9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9615, 0.7849, -0.6491, -0.131, -0.0601, 0.0241, 0.5106, 1.3201, 0.3576, 0.2192, 0.4007, 0.2737, 0.0063]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1644 left_yaw=0.0387 left_pitch=-0.2471 left_roll=0.0761 left_gripper=0.0241 right_x=0.3069 right_y=0.097 right_z=0.0436 right_yaw=0.027 right_pitch=-0.1037 right_roll=-0.046 right_gripper=0.0063\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.6288, -0.1343, -0.0415, 0.9011, 0.1983, -3.6444, 6.3248, 2.0293, 0.2613, 0.1099, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9668, 0.7837, -0.6674, -0.131, -0.0601, 0.0291, 0.5106, 1.3346, 0.3363, 0.3267, 0.4118, 0.2806, 0.897]\nstate[eef_state]: left_x=0.2849 left_y=0.0013 left_z=0.1595 left_yaw=0.0396 left_pitch=-0.2717 left_roll=0.0793 left_gripper=0.0291 right_x=0.3147 right_y=0.0993 right_z=0.0511 right_yaw=0.0168 right_pitch=-0.0368 right_roll=-0.0131 right_gripper=0.897\nstate[joint_eff]: [-0.212, -2.3726, 6.8034, 1.6337, -0.0806, -0.0415, 0.7204, 0.1436, -4.2872, 6.4068, 1.8291, 0.3004, 0.022, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0891, 0.9672, 0.7837, -0.6689, -0.131, -0.0601, 0.0315, 0.5102, 1.3346, 0.3363, 0.3237, 0.4103, 0.2775, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0013 left_z=0.1592 left_yaw=0.0396 left_pitch=-0.2736 left_roll=0.0796 left_gripper=0.0315 right_x=0.3143 right_y=0.0993 right_z=0.0504 right_yaw=0.0192 right_pitch=-0.04 right_roll=-0.0162 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -2.0991, 6.9949, 1.4481, -0.1245, -0.0464, 0.5348, -0.294, -3.8359, 5.4906, 1.6972, 0.1294, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32000972deb378eb3bf2d7a1250e9733dd2c65b2604e23d4f99584226aec8345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327e7b5b7b92804b86a6ff070a50a534e18020d1dd8e275e327148b62fc96259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:880ee355604c3fbe12378004b653070d1f50d7b9fb317b38aaef79667e0e6f9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEV2itgNOU7WxIfIli6QPDlxUU4in7R9tSXqbKhnGvlWRR1Q7ZUT33BbjeibvdzkscSENjb4JUWxpjRMooxpT896IagCpetITz3LIElKd7-X-P2Ce8Q2PvldJgCo6w4UpL01MZX6litfpaQQEg9rDp6iPmgyZIFczgVPphUKNBWGDzE4T0OBTmdd9V8rjNTcRQ-M-0c_6_ZZOwJC8QHvDbN27kp7A1jcMfkHn3BHNqE6H-F3M5rRhajXbZ4ePu4ux17bzVKSYXPKB0fDXRRufu6IFIa8RmXn8AmyXuQWnCmmUzQwtPriS18pRMUK53KeoR34O82vAH3ZJxhT2I9LoWQE-vk8jjQizN96DSTk_szv0d-3K76X_DH-Djqjxp5LA7RG793R9EkaC8PPBY2Z7kcPqfYEfvyjXPGKfPbXawoHMJR0c9fQQ3zJGTtJntP1kKX6rrYtglA2k_KVpTzkEqQEOa039vlhh91IrWv9b7IZ8JlwfKq4ZNLc14rEa0JQzOO1Sq69ujzWasC4BXUzPut6jl0o-rEe67p5YNlg-rUxzm9ABKhzrnxI7wuqi7t2f8_4WjQ9T8E-JeNUdP6torBh8dLNFtG9I0iav7Q6bLlLLm51Gh2AkFQppmjSMOlzw2R1MOUQJZVbzfKOCuH-88ZhqMX9XopKy_vo6csuZxKgoar_Plv_e0sJhnsuVj_wbRDOSbO4Sa7-fG2ZpMOEQxnQYY_DV99Yek960VXwxyd7grntRttWo7ypnmCJZpgUvnncnWcp-QU2Y5q5i3ihmTH5VqwDxoTNHTFXjiAWlLEMGdz-Zw3T244nPY33GDuZlHv5Na_CUvImwMdhouEZUEMf10PzTJVdWCvVnbFyfG0n7gro6_1FBSv_mHUOYQ7xQbgIQmqV8tIGrp95dRAsUhN9uYzlXxWdtCXv0_1SjxNbHzqorh_7-FAc5brkTkD4WUdMMlDoNG6RpJDGewdIHcnJDGbeRG5urikH4LLF4KS8_VV9jlICkowtXuoLlfWLm6dYnnYwfRiatrh5HFQqGPGaLI62uoMo-KuQ0YuxN9_dojuXoSPkBrsAZ7q9QTZX2ZoV5h2u9jz6rasQdZDrbfJA3J0vPbdXY7DXoVj4DPRDgVZSvL_ONsmUSBGn-mN9IZTpXKqAMcUXxKHOhyenxJsOfEWaTga_mlytigKBpWTNwmC7Dtb-mwgw-kN-b7SSwf2tNOUyuAb8hHvSv2DJjp5uYXcJ7Bq6YwnV2Az0YCwAxfPBOOO7_WhFOKBC1-cNC2WUKMbi13JxgodIcfSrK5TIPD98e146CatGWPdSEgG2L3WR39naKdZdruceU1clPMyvFN4kaZMyiZSX-9kxpLtr0yT-K6Uzbfyzqjl6bhjJVishN2AQoyumvbWKyVP71P7S",
  "id": "rs_09d7c44be31c4674016ab44574bafc87d0a95738fd256eb750",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The gripper reached nearly full stroke, so any expansion hold will rely on the fingertips bearing against the upper inner walls during ascent. I will lift about 8 cm and verify in the overhead view whether the pink bowl follows.\"}",
  "call_id": "call_b7SCMOcmWzCGcWvtPCcsmhIf",
  "id": "fc_09d7c44be31c4674016ab445752f3c87d08c4ed179067cd90d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b7SCMOcmWzCGcWvtPCcsmhIf",
  "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]: [-0.0891, 0.9745, 0.783, -0.6762, -0.131, -0.0605, 0.0347, 0.5102, 1.1141, 0.5236, -0.0727, 0.4042, 0.2695, 0.9982]\nstate[eef_state]: left_x=0.2835 left_y=0.0015 left_z=0.1558 left_yaw=0.0404 left_pitch=-0.2887 left_roll=0.0814 left_gripper=0.0347 right_x=0.3148 right_y=0.1007 right_z=0.1194 right_yaw=0.0286 right_pitch=-0.0318 right_roll=-0.0141 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -2.7966, 6.9949, 1.4872, -0.0806, -0.0757, 0.315, -0.3761, -3.8085, 9.2513, 1.7118, 0.1978, 0.0464, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3e994be1d477451316e71ed26498212f7fb0ac5d908227b1164848866c2294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335ba65e901a2eeca22a6371d051ae1adb061c4edeefa08dfad859f387d9c79e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ef25811fb219fdd61b9e471479670252b7fad81da4db67bd220e6efb323b6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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