adhoc

completed
2026-09-23T20:59:53.889310+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
202.9 s
total steps
259
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 noteThe three bowls are separated across the table; I will use the middle bowl as the stack base. The left bowl appears a few centimetres forward and to the right of the left gripper, so I am moving the left arm above its estimated center while keeping the right arm parked.
move_to
left_x0.3700left_y-0.0300left_z0.1500left_gripper1.0000right_x0.2950right_y0.0010right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.794, 0.6048, -0.3794, -0.0227, -0.041, 0.9995, -0.0177, 0.7921, 0.6018, -0.3794, -0.0166, -0.02, 0.9985] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0013 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.4718, -1.5385, 10.1265, 1.7607, -0.0415, 0.2466, -0.0659, -0.5538, -1.4291, 10.3453, 1.8974, -0.1197, 0.0366, -0.1734] 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":0.37,"left_y":-0.03,"left_z":0.15,"left_gripper":1.0,"right_x":0.295,"right_y":0.001,"right_z":0.18,"right_gripper":1.0},"note":"The three bowls are separated across the table; I will use the middle bowl as the stack base. The left bowl appears a few centimetres forward and to the right of the left gripper, so I am moving the left arm above its estimated center while keeping the right arm parked."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe left wrist view now shows the blue bowl large and nearly between the fingers, but its center remains slightly to image-right and just ahead of the grasp point. I am making a small outward and rightward correction and lowering only partway before the grasp descent.
move_to
left_x0.3650left_y-0.0450left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1478, 1.1736, 0.6155, -0.1268, -0.1162, -0.1055, 0.9995, -0.02, 0.7979, 0.6041, -0.3893, -0.0166, -0.02, 0.9985] state[eef_state]: left_x=0.3475 left_y=-0.0274 left_z=0.1214 left_yaw=-0.014 left_pitch=-0.1112 left_roll=0.0113 left_gripper=0.9995 right_x=0.2938 right_y=0.0006 right_z=0.177 right_yaw=-0.0023 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9985 state[joint_eff]: [-0.335, -4.4786, 10.1949, 1.9512, -0.2027, -0.1294, -0.0659, -0.2803, -1.3744, 7.0769, 1.8779, -0.0513, -0.0659, -0.1734] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.045,"left_z":0.1,"left_gripper":1.0},"note":"The left wrist view now shows the blue bowl large and nearly between the fingers, but its center remains slightly to image-right and just ahead of the grasp point. I am making a small outward and rightward correction and lowering only partway before the grasp descent."})
tool
executing move_to over 2 steps (0.2s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe blue bowl's center is now at the jaw-depth row and only modestly to image-right; the overhead view also shows the gripper straddling it. I am descending to the bowl's upper-side height with a final small lateral correction, keeping the jaws fully open.
move_to
left_x0.3650left_y-0.0550left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1886, 1.2583, 0.6159, -0.0235, -0.1532, -0.1341, 0.9995, -0.02, 0.7982, 0.6037, -0.3912, -0.0166, -0.02, 0.9984] state[eef_state]: left_x=0.3627 left_y=-0.0382 left_z=0.1135 left_yaw=-0.0084 left_pitch=-0.0884 left_roll=0.0087 left_gripper=0.9995 right_x=0.2935 right_y=0.0006 right_z=0.1763 right_yaw=-0.0023 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.9984 state[joint_eff]: [-0.3214, -3.5214, 6.5162, 1.3797, -0.1832, -0.0708, -0.0659, -0.2256, -1.1556, 7.0496, 1.8437, -0.0269, 0.0073, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.055,"left_z":0.045,"left_gripper":1.0},"note":"The blue bowl's center is now at the jaw-depth row and only modestly to image-right; the overhead view also shows the gripper straddling it. I am descending to the bowl's upper-side height with a final small lateral correction, keeping the jaws fully open."})
tool
executing move_to over 5 steps (0.5s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe descent stopped about 4.5 cm above its target while the bowl fills the jaw opening, indicating the open fingers have reached the tall bowl/rim rather than free-space sag. I will close here to capture the bowl around its upper exterior.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2142, 1.3209, 0.6056, -0.0109, -0.1589, -0.1471, 0.9995, -0.02, 0.8024, 0.6037, -0.3927, -0.0162, -0.0208, 0.9984] state[eef_state]: left_x=0.3604 left_y=-0.0461 left_z=0.0902 left_yaw=-0.0208 left_pitch=-0.1468 left_roll=0.0134 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9984 state[joint_eff]: [-0.0068, -5.7504, 6.8034, 1.79, -0.188, -0.0366, -0.0659, -0.1573, -1.4701, 7.0222, 1.7656, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped about 4.5 cm above its target while the bowl fills the jaw opening, indicating the open fingers have reached the tall bowl/rim rather than free-space sag. I will close here to capture the bowl around its upper exterior."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe gripper settled at 0.009, so the centered exterior close was empty; the bowl is wider than the usable opening at that height. I will reopen and raise slightly, then switch to pinching a single rim wall with one finger inside and one outside.
move_to
left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2146, 1.3209, 0.6052, -0.0189, -0.1585, -0.1501, 0.009, -0.02, 0.8024, 0.6018, -0.3931, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.359 left_y=-0.046 left_z=0.0886 left_yaw=-0.0196 left_pitch=-0.155 left_roll=0.0125 left_gripper=0.009 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0021 right_pitch=-0.024 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [-0.212, -4.7385, 6.3795, 1.6581, -0.0855, 0.0317, 0.6716, -0.0889, -1.1282, 7.159, 1.7411, -0.0269, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14,"left_gripper":1.0},"note":"The gripper settled at 0.009, so the centered exterior close was empty; the bowl is wider than the usable opening at that height. I will reopen and raise slightly, then switch to pinching a single rim wall with one finger inside and one outside."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteWith the jaws open, the blue bowl is visibly just wider than the opening, confirming that an outside grasp is unsuitable. I am shifting the gripper about one bowl radius to the arm's right so the jaw center lands on the bowl's right rim for a one-wall pinch.
move_to
left_y-0.0950left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2146, 1.2587, 0.7246, -0.2512, -0.1581, -0.1574, 0.9947, -0.02, 0.8024, 0.6018, -0.3931, -0.0162, -0.0204, 0.9984] state[eef_state]: left_x=0.3519 left_y=-0.0446 left_z=0.1174 left_yaw=-0.0142 left_pitch=-0.2047 left_roll=0.017 left_gripper=0.9947 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0024 right_pitch=-0.024 right_roll=-0.0001 right_gripper=0.9984 state[joint_eff]: [-0.1846, -6.0786, 9.9214, 1.7411, -0.0757, 0.0611, -0.0171, -0.1026, -1.265, 7.2274, 1.7118, -0.0317, -0.0366, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.095,"left_z":0.12,"left_gripper":1.0},"note":"With the jaws open, the blue bowl is visibly just wider than the opening, confirming that an outside grasp is unsuitable. I am shifting the gripper about one bowl radius to the arm's right so the jaw center lands on the bowl's right rim for a one-wall pinch."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe lateral move shifted the bowl left as expected, but its right rim is still about 3 cm to the right of the jaw column. I am making one smaller rightward correction and keeping the grasp point near the rim's upper height.
move_to
left_x0.3600left_y-0.1200left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4007, 1.3186, 0.7532, -0.2874, -0.2626, -0.2752, 0.9988, -0.02, 0.8051, 0.5999, -0.3939, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.343 left_y=-0.0916 left_z=0.1059 left_yaw=-0.0426 left_pitch=-0.2464 left_roll=0.0266 left_gripper=0.9988 right_x=0.2931 right_y=0.0007 right_z=0.1722 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0002 right_gripper=0.9984 state[joint_eff]: [-0.3077, -4.547, 9.2239, 1.4872, -0.232, 0.0611, -0.1441, -0.2393, -1.5111, 7.3094, 1.7705, -0.0415, -0.0073, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.12,"left_z":0.1,"left_gripper":1.0},"note":"The lateral move shifted the bowl left as expected, but its right rim is still about 3 cm to the right of the jaw column. I am making one smaller rightward correction and keeping the grasp point near the rim's upper height."})
tool
executing move_to over 3 steps (0.3s)
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 last correction did not track—the readback stayed at y=-0.093—and the wrist has tilted noticeably, so the arm is in an awkward low-reach posture. I am raising and slightly retracting while restoring the neutral tool orientation, then I can approach the selected rim vertically.
move_to
left_x0.3300left_y-0.1200left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4171, 1.3228, 0.7612, -0.2955, -0.289, -0.3046, 0.9988, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0208, 0.9984] state[eef_state]: left_x=0.343 left_y=-0.093 left_z=0.1074 left_yaw=-0.0204 left_pitch=-0.2424 left_roll=0.0264 left_gripper=0.9988 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=-0.0003 right_gripper=0.9984 state[joint_eff]: [-0.1573, -4.7248, 8.8137, 1.5604, -0.2418, -0.0513, -0.1392, 0.0068, -1.1556, 7.0496, 1.7558, -0.0269, -0.0122, -0.0171] 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_x":0.33,"left_y":-0.12,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The last correction did not track—the readback stayed at y=-0.093—and the wrist has tilted noticeably, so the arm is in an awkward low-reach posture. I am raising and slightly retracting while restoring the neutral tool orientation, then I can approach the selected rim vertically."})
tool
executing move_to over 9 steps (0.9s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe higher posture now tracks laterally, and the chosen rim is about 2–3 cm to the right of the jaw column while the bowl remains slightly ahead. I am aligning the open jaw center with that rim at a safe height before descending.
move_to
left_x0.3600left_y-0.1400left_z0.1400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5293, 1.2526, 0.7551, -0.313, -0.3855, -0.3435, 0.9988, -0.02, 0.8066, 0.5983, -0.3954, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.1293 left_yaw=-0.037 left_pitch=-0.1687 left_roll=0.0434 left_gripper=0.9988 right_x=0.2927 right_y=0.0007 right_z=0.1708 right_yaw=-0.0019 right_pitch=-0.0339 right_roll=-0.0 right_gripper=0.9984 state[joint_eff]: [0.0068, -7.706, 8.1436, 1.8242, -0.5201, -0.022, -0.1392, -0.2803, -1.2376, 7.3641, 1.7802, -0.0464, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.14,"left_z":0.14,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The higher posture now tracks laterally, and the chosen rim is about 2–3 cm to the right of the jaw column while the bowl remains slightly ahead. I am aligning the open jaw center with that rim at a safe height before descending."})
tool
executing move_to over 6 steps (0.6s)
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 blue bowl's right rim is now almost exactly on the jaw column, with one open finger positioned to each side of that wall. I am descending vertically to mid-rim height for the pinch while preserving this lateral alignment.
move_to
left_x0.3500left_y-0.1370left_z0.0650left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5991, 1.3418, 0.7383, -0.1226, -0.4751, -0.3874, 0.9988, -0.02, 0.8101, 0.5957, -0.4114, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3497 left_y=-0.1366 left_z=0.1288 left_yaw=-0.0173 left_pitch=-0.0635 left_roll=0.0197 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1654 right_yaw=-0.0018 right_pitch=-0.0561 right_roll=0.0004 right_gripper=0.9984 state[joint_eff]: [-0.4308, -4.3009, 7.159, 1.6484, -0.4567, -0.0513, -0.1392, -0.0479, -1.5521, 7.241, 1.8144, -0.0611, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":0.35,"left_y":-0.137,"left_z":0.065,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The blue bowl's right rim is now almost exactly on the jaw column, with one open finger positioned to each side of that wall. I am descending vertically to mid-rim height for the pinch while preserving this lateral alignment."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe second descent again stopped at z≈0.112 with rising load while the selected rim remains centered between the jaws, consistent with reaching the bowl's unusually tall rim. I will close on this single rim wall and check the settled opening for a non-empty pinch.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6006, 1.364, 0.6876, -0.062, -0.4885, -0.3904, 0.9988, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3473 left_y=-0.1331 left_z=0.1118 left_yaw=-0.0063 left_pitch=-0.0686 left_roll=0.0315 left_gripper=0.9988 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0005 right_gripper=0.9984 state[joint_eff]: [-0.2667, -5.2308, 6.5162, 1.707, -0.2076, -0.0317, -0.1392, -0.0752, -1.0872, 7.0085, 1.6972, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The second descent again stopped at z≈0.112 with rising load while the selected rim remains centered between the jaws, consistent with reaching the bowl's unusually tall rim. I will close on this single rim wall and check the settled opening for a non-empty pinch."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe rim pinch also closed empty at 0.009; in the closed wrist view the rim sits about 1 cm left of the exact jaw convergence line, so the fingers passed beside it. I am reopening, raising, and shifting 1 cm left to put the wall precisely between the closing fingertips.
move_to
left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6006, 1.364, 0.6876, -0.0658, -0.4885, -0.3908, 0.0087, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3468 left_y=-0.1327 left_z=0.1112 left_yaw=-0.0059 left_pitch=-0.0718 left_roll=0.0333 left_gripper=0.0087 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0008 right_gripper=0.9984 state[joint_eff]: [-0.0479, -5.2034, 6.5709, 1.5751, -0.2369, -0.0024, 0.6618, -0.0752, -1.3197, 7.1179, 1.6923, -0.0562, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.12,"left_z":0.15,"left_gripper":1.0},"note":"The rim pinch also closed empty at 0.009; in the closed wrist view the rim sits about 1 cm left of the exact jaw convergence line, so the fingers passed beside it. I am reopening, raising, and shifting 1 cm left to put the wall precisely between the closing fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe reopened view now shows the blue bowl's right rim exactly on the jaw convergence column. I am descending without changing x or y so one fingertip remains inside and the other outside that rim wall.
move_to
left_x0.3420left_y-0.1180left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5625, 1.2938, 0.7479, -0.2237, -0.4648, -0.3752, 0.9948, -0.02, 0.8108, 0.5945, -0.4156, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.342 left_y=-0.1178 left_z=0.1315 left_yaw=0.0067 left_pitch=-0.1041 left_roll=0.0473 left_gripper=0.9948 right_x=0.2896 right_y=0.0007 right_z=0.1638 right_yaw=-0.0018 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9984 state[joint_eff]: [0.2803, -6.0923, 9.3333, 1.5165, -0.1245, 0.1001, -0.0317, -0.212, -1.388, 7.0632, 1.6581, -0.0513, -0.0708, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.342,"left_y":-0.118,"left_z":0.08,"left_gripper":1.0},"note":"The reopened view now shows the blue bowl's right rim exactly on the jaw convergence column. I am descending without changing x or y so one fingertip remains inside and the other outside that rim wall."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteAt z=0.072 the selected rim wall remains centered between the open fingertips, and this descent tracked fully rather than stopping on the rim top. I will close now for the intended inside–outside wall pinch.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5625, 1.3876, 0.6102, -0.0673, -0.4656, -0.3676, 0.9988, -0.02, 0.8116, 0.5945, -0.4164, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3318 left_y=-0.1112 left_z=0.0722 left_yaw=0.0087 left_pitch=-0.1674 left_roll=0.0946 left_gripper=0.9988 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.0018 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9984 state[joint_eff]: [-0.2393, -5.4496, 6.7624, 1.8437, -0.1832, -0.1538, -0.1441, -0.1846, -1.1829, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At z=0.072 the selected rim wall remains centered between the open fingertips, and this descent tracked fully rather than stopping on the rim top. I will close now for the intended inside–outside wall pinch."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe third close is still empty; although the rim is on the jaw column higher in the image, the eef drifted 2 cm inward during descent, so the rim curves away before reaching the actual fingertip point below the frame. I am reopening, raising, and advancing farther so the bowl's widest side rim reaches the fingertip depth.
move_to
left_x0.3800left_y-0.1100left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5625, 1.4036, 0.5964, -0.0669, -0.466, -0.379, 0.0084, -0.02, 0.8116, 0.5945, -0.4191, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3277 left_y=-0.1085 left_z=0.0622 left_yaw=0.0181 left_pitch=-0.1912 left_roll=0.1026 left_gripper=0.0084 right_x=0.2891 right_y=0.0007 right_z=0.1629 right_yaw=-0.0018 right_pitch=-0.0664 right_roll=0.0006 right_gripper=0.9984 state[joint_eff]: [-0.1573, -6.2564, 7.0906, 1.3651, -0.2125, 0.1001, 0.6618, -0.1299, -1.1966, 6.9675, 1.7167, -0.0464, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.11,"left_z":0.15,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The third close is still empty; although the rim is on the jaw column higher in the image, the eef drifted 2 cm inward during descent, so the rim curves away before reaching the actual fingertip point below the frame. I am reopening, raising, and advancing farther so the bowl's widest side rim reaches the fingertip depth."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteAfter advancing, the blue bowl's side rim now continues down toward the true fingertip region rather than curving away above it. I am descending while making a 1 cm rightward correction so that continuation meets the jaw column at the bottom edge.
move_to
left_x0.3800left_y-0.1200left_z0.0750left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4683, 1.3682, 0.7284, -0.07, -0.4061, -0.3141, 0.995, -0.02, 0.8116, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3683 left_y=-0.1041 left_z=0.1212 left_yaw=0.0188 left_pitch=-0.0739 left_roll=0.0312 left_gripper=0.995 right_x=0.289 right_y=0.0007 right_z=0.1629 right_yaw=-0.002 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9984 state[joint_eff]: [0.4308, -7.0359, 9.6068, 1.917, -0.1148, 0.0952, -0.1538, -0.1709, -1.3333, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.12,"left_z":0.075,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"After advancing, the blue bowl's side rim now continues down toward the true fingertip region rather than curving away above it. I am descending while making a 1 cm rightward correction so that continuation meets the jaw column at the bottom edge."})
tool
executing move_to over 3 steps (0.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteAt the low pose, the blue bowl's side boundary now reaches the bottom of the wrist frame at the jaw center, which is the actual fingertip depth. I will close here to pinch the rim wall at the correct radial position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4919, 1.5227, 0.6174, 0.1814, -0.4061, -0.3145, 0.9988, -0.02, 0.8139, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3696 left_y=-0.1148 left_z=0.0663 left_yaw=-0.0041 left_pitch=-0.0864 left_roll=0.0375 left_gripper=0.9988 right_x=0.2892 right_y=0.0007 right_z=0.1622 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9984 state[joint_eff]: [-0.3077, -8.1299, 6.6256, 2.0879, -0.3004, -0.0464, -0.1441, -0.1983, -0.9778, 7.159, 1.6825, -0.0171, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low pose, the blue bowl's side boundary now reaches the bottom of the wrist frame at the jaw center, which is the actual fingertip depth. I will close here to pinch the rim wall at the correct radial position."})
tool
executing move_to over 10 steps (1.0s)
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 closure reading is still near-empty, but the closed jaw apex visibly meets the rim exactly and the rim may be thinner than the usual 0.04 threshold. I will perform the required 5 cm lift test once before rejecting this pinch.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4965, 1.5387, 0.5964, 0.1757, -0.4126, -0.3145, 0.009, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0522 left_yaw=-0.0014 left_pitch=-0.122 left_roll=0.0617 left_gripper=0.009 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984 state[joint_eff]: [0.1983, -7.3504, 7.2957, 1.5849, -0.1197, -0.0611, 0.6374, -0.2667, -1.1556, 7.3231, 1.7265, -0.0464, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.13},"note":"The closure reading is still near-empty, but the closed jaw apex visibly meets the rim exactly and the rim may be thinner than the usual 0.04 threshold. I will perform the required 5 cm lift test once before rejecting this pinch."})
tool
executing move_to over 6 steps (0.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe lift test confirms the rim pinch was empty; the bowl stayed on the table. Since the rim is too thin/smooth for compression, I will use an expansion grasp instead: center the closed fingers inside the bowl, lower them, then open against the inner walls.
move_to
left_x0.3600left_y-0.0500left_z0.1400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4957, 1.3846, 0.7589, -0.144, -0.4133, -0.3199, 0.0109, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3622 left_y=-0.1111 left_z=0.1154 left_yaw=0.003 left_pitch=-0.1242 left_roll=0.0595 left_gripper=0.0109 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.002 right_pitch=-0.0755 right_roll=0.001 right_gripper=0.9984 state[joint_eff]: [-0.1709, -6.6393, 8.7863, 1.5556, -0.2076, -0.0122, 0.1832, -0.3214, -1.3744, 6.9812, 1.6825, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.05,"left_z":0.14,"left_gripper":0.0},"note":"The lift test confirms the rim pinch was empty; the bowl stayed on the table. Since the rim is too thin/smooth for compression, I will use an expansion grasp instead: center the closed fingers inside the bowl, lower them, then open against the inner walls."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe closed jaw column is now centered over the blue bowl's interior in both overhead and wrist views. I am lowering the narrow closed fingers deep into the bowl so they can expand against opposite inner walls below the rim.
move_to
left_x0.3600left_y-0.0500left_z0.0350left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2806, 1.2594, 0.7475, -0.2131, -0.2798, -0.2035, 0.0071, -0.02, 0.8173, 0.5945, -0.4225, -0.0162, -0.0204, 0.9984] state[eef_state]: left_x=0.3621 left_y=-0.0498 left_z=0.1367 left_yaw=0.0445 left_pitch=-0.1238 left_roll=0.048 left_gripper=0.0071 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0024 right_pitch=-0.0755 right_roll=0.0008 right_gripper=0.9984 state[joint_eff]: [0.2393, -5.559, 6.6803, 1.6044, -0.022, 0.3101, 0.7155, -0.212, -1.0598, 7.0359, 1.6435, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.05,"left_z":0.035,"left_gripper":0.0},"note":"The closed jaw column is now centered over the blue bowl's interior in both overhead and wrist views. I am lowering the narrow closed fingers deep into the bowl so they can expand against opposite inner walls below the rim."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe closed fingertips are now deep inside the blue bowl, near its interior center and below the rim. I will open the gripper fully; the inner walls should stop the jaws at a substantial intermediate opening and provide an expansion hold.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2832, 1.4925, 0.4854, 0.2066, -0.2699, -0.2028, 0.007, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3487 left_y=-0.0487 left_z=0.0278 left_yaw=0.0371 left_pitch=-0.1976 left_roll=0.0662 left_gripper=0.007 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984 state[joint_eff]: [-0.0342, -5.4769, 5.1214, 1.7998, -0.232, -0.0659, 0.7106, -0.1026, -1.3607, 7.2, 1.663, -0.0855, -0.0659, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The closed fingertips are now deep inside the blue bowl, near its interior center and below the rim. I will open the gripper fully; the inner walls should stop the jaws at a substantial intermediate opening and provide an expansion hold."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe centered expansion reached the full 9.5 cm opening, so the bowl interior is slightly wider than the gripper along its diameter. I will close and raise, then repeat off-center where the bowl's lateral chord is narrower and both jaws can wedge against the inner walls.
move_to
left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2832, 1.4899, 0.4782, 0.2329, -0.2806, -0.2066, 0.9942, -0.02, 0.8177, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.351 left_y=-0.0475 left_z=0.031 left_yaw=0.0467 left_pitch=-0.1745 left_roll=0.0636 left_gripper=0.9942 right_x=0.2889 right_y=0.0007 right_z=0.1606 right_yaw=-0.002 right_pitch=-0.0759 right_roll=0.001 right_gripper=0.9984 state[joint_eff]: [-0.0205, -4.7932, 6.1333, 1.2527, -0.0513, 0.0708, -0.1245, -0.0205, -1.3607, 7.0085, 1.6435, -0.022, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1,"left_gripper":0.0},"note":"The centered expansion reached the full 9.5 cm opening, so the bowl interior is slightly wider than the gripper along its diameter. I will close and raise, then repeat off-center where the bowl's lateral chord is narrower and both jaws can wedge against the inner walls."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteWith the fingers closed and raised, the bowl center is clearly aligned on the jaw column. I am advancing about 2 cm toward the far interior wall, creating a shorter off-center chord for the next expansion grasp.
move_to
left_x0.3700left_y-0.0460left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2832, 1.3117, 0.6182, -0.1131, -0.284, -0.2092, 0.0081, -0.02, 0.8177, 0.5945, -0.4229, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3461 left_y=-0.0455 left_z=0.0838 left_yaw=0.0528 left_pitch=-0.1999 left_roll=0.0733 left_gripper=0.0081 right_x=0.2888 right_y=0.0007 right_z=0.1605 right_yaw=-0.0018 right_pitch=-0.0763 right_roll=0.0007 right_gripper=0.9984 state[joint_eff]: [-0.2393, -5.7094, 8.9915, 1.4921, -0.1294, -0.0171, 0.6471, -0.212, -1.0872, 7.241, 1.6386, -0.0415, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.046,"left_z":0.1,"left_gripper":0.0},"note":"With the fingers closed and raised, the bowl center is clearly aligned on the jaw column. I am advancing about 2 cm toward the far interior wall, creating a shorter off-center chord for the next expansion grasp."})
tool
executing move_to over 2 steps (0.2s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe arm advanced only 7 mm instead of the requested 2 cm, so the bowl hardly shifted in the wrist view. I am increasing the outward target while staying above the interior to obtain the intended 2 cm offset in readback.
move_to
left_x0.3900left_y-0.0460left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2703, 1.354, 0.6785, -0.1669, -0.2783, -0.2054, 0.007, -0.02, 0.8173, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984] state[eef_state]: left_x=0.3528 left_y=-0.0437 left_z=0.0845 left_yaw=0.0615 left_pitch=-0.2353 left_roll=0.084 left_gripper=0.007 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0024 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9984 state[joint_eff]: [0.4718, -5.4222, 8.7453, 1.6093, -0.0757, 0.1636, 0.7106, -0.1026, -1.306, 6.9812, 1.663, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.046,"left_z":0.09,"left_gripper":0.0},"note":"The arm advanced only 7 mm instead of the requested 2 cm, so the bowl hardly shifted in the wrist view. I am increasing the outward target while staying above the interior to obtain the intended 2 cm offset in readback."})
tool
executing move_to over 3 steps (0.3s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe readback is now 2 cm farther out and the bowl center has shifted down accordingly, giving the desired off-center chord. I am lowering the closed fingers into this narrower part of the interior before expanding.
move_to
left_x0.3900left_y-0.0460left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2493, 1.4826, 0.7715, -0.1814, -0.2714, -0.2054, 0.007, -0.02, 0.8211, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984] state[eef_state]: left_x=0.3734 left_y=-0.0425 left_z=0.0736 left_yaw=0.081 left_pitch=-0.2843 left_roll=0.0957 left_gripper=0.007 right_x=0.289 right_y=0.0007 right_z=0.1596 right_yaw=-0.0023 right_pitch=-0.0797 right_roll=0.0009 right_gripper=0.9984 state[joint_eff]: [0.4718, -6.8581, 8.8547, 1.5556, -0.1441, 0.1636, 0.7106, -0.0889, -1.5795, 7.0085, 1.6581, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.046,"left_z":0.025,"left_gripper":0.0},"note":"The readback is now 2 cm farther out and the bowl center has shifted down accordingly, giving the desired off-center chord. I am lowering the closed fingers into this narrower part of the interior before expanding."})
tool
executing move_to over 4 steps (0.4s)
step 166
assistant
agent noteThe off-center descent stopped at z≈0.075 despite the much lower target, indicating the closed fingertips have contacted the bowl's sloped inner surface at this chord. I will expand here so the jaws wedge between the opposing inner walls.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2466, 1.4994, 0.7895, -0.1768, -0.2615, -0.2054, 0.007, -0.02, 0.823, 0.5945, -0.4271, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3788 left_y=-0.0446 left_z=0.0747 left_yaw=0.0748 left_pitch=-0.2813 left_roll=0.0862 left_gripper=0.007 right_x=0.2885 right_y=0.0007 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.0858 right_roll=0.0012 right_gripper=0.9984 state[joint_eff]: [0.1162, -6.7214, 8.4444, 1.5849, -0.1441, 0.1538, 0.7106, -0.253, -1.5385, 6.9949, 1.6728, -0.0415, -0.0171, -0.0171] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The off-center descent stopped at z≈0.075 despite the much lower target, indicating the closed fingertips have contacted the bowl's sloped inner surface at this chord. I will expand here so the jaws wedge between the opposing inner walls."})
tool
executing move_to over 10 steps (1.0s)
step 176
assistant
agent noteThe gripper again reports nearly full open, but the wrist view now shows both fingertips visually braced at the bowl's inner sidewalls at the off-center chord. I will run a 5 cm lift test to see whether this full-stroke expansion is nevertheless carrying the bowl.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2466, 1.4994, 0.7891, -0.1795, -0.2615, -0.2077, 0.9943, -0.02, 0.823, 0.5945, -0.4313, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3782 left_y=-0.0444 left_z=0.0742 left_yaw=0.0763 left_pitch=-0.2841 left_roll=0.0856 left_gripper=0.9943 right_x=0.2878 right_y=0.0008 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.09 right_roll=0.0013 right_gripper=0.9984 state[joint_eff]: [-0.1709, -6.0923, 6.4479, 1.4286, -0.1197, 0.0855, 0.0122, -0.1709, -1.388, 6.9812, 1.6679, -0.0317, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The gripper again reports nearly full open, but the wrist view now shows both fingertips visually braced at the bowl's inner sidewalls at the off-center chord. I will run a 5 cm lift test to see whether this full-stroke expansion is nevertheless carrying the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 181
assistant
agent noteThe lift test failed because the bowl remains visible in its own wrist camera; however, the current pitched wrist gives a clear convergence row near 150. I am returning to a rim pinch using that actual row, shifting right until the bowl's right rim at row 150 lies on the jaw center.
move_to
left_x0.3800left_y-0.1100left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2466, 1.4284, 0.984, -0.4446, -0.2615, -0.2092, 0.995, -0.02, 0.8261, 0.5945, -0.4377, -0.0166, -0.0204, 0.9984] state[eef_state]: left_x=0.3818 left_y=-0.0453 left_z=0.1354 left_yaw=0.0771 left_pitch=-0.2833 left_roll=0.0843 left_gripper=0.995 right_x=0.287 right_y=0.0008 right_z=0.1554 right_yaw=-0.002 right_pitch=-0.0995 right_roll=0.0015 right_gripper=0.9984 state[joint_eff]: [-0.0889, -7.241, 8.1299, 1.2332, -0.1538, -0.022, 0.0562, -0.0342, -1.6479, 6.9675, 1.7509, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.11,"left_z":0.14,"left_gripper":1.0},"note":"The lift test failed because the bowl remains visible in its own wrist camera; however, the current pitched wrist gives a clear convergence row near 150. I am returning to a rim pinch using that actual row, shifting right until the bowl's right rim at row 150 lies on the jaw center."})
tool
executing move_to over 6 steps (0.6s)
step 187
assistant
agent noteAt the pitched convergence row, the blue bowl's right rim is now only about 1.5 cm to image-right of the jaw center. I am making that final rightward correction while descending to the rim wall height.
move_to
left_x0.3800left_y-0.1300left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4484, 1.5059, 1.0519, -0.519, -0.3599, -0.3595, 0.9988, -0.02, 0.8295, 0.5945, -0.4446, -0.0166, -0.0208, 0.9984] state[eef_state]: left_x=0.3727 left_y=-0.1063 left_z=0.1275 left_yaw=0.0516 left_pitch=-0.3205 left_roll=0.0937 left_gripper=0.9988 right_x=0.2861 right_y=0.0008 right_z=0.1531 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0014 right_gripper=0.9984 state[joint_eff]: [-0.3214, -6.1333, 8.8821, 1.2723, -0.3346, 0.0415, -0.1441, -0.335, -1.6479, 6.9538, 1.6923, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.13,"left_z":0.07,"left_gripper":1.0},"note":"At the pitched convergence row, the blue bowl's right rim is now only about 1.5 cm to image-right of the jaw center. I am making that final rightward correction while descending to the rim wall height."})
tool
executing move_to over 4 steps (0.4s)
step 191
assistant
agent noteThe blue rim now crosses the jaw convergence row at x≈103–110, essentially centered between the fingertips at the correct low height. I will close on this precisely aligned rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5011, 1.6417, 0.9642, -0.3729, -0.3824, -0.3946, 0.9988, -0.02, 0.8337, 0.5938, -0.4488, -0.0162, -0.0231, 0.9984] state[eef_state]: left_x=0.3698 left_y=-0.1233 left_z=0.0656 left_yaw=0.051 left_pitch=-0.3756 left_roll=0.1299 left_gripper=0.9988 right_x=0.2854 right_y=0.0007 right_z=0.1509 right_yaw=-0.0008 right_pitch=-0.119 right_roll=-0.0005 right_gripper=0.9984 state[joint_eff]: [-0.294, -8.4581, 6.5573, 1.3797, -0.3248, -0.2222, -0.1392, -0.1162, -1.4701, 7.1863, 1.7216, -0.022, 0.0024, -0.0171] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The blue rim now crosses the jaw convergence row at x≈103–110, essentially centered between the fingertips at the correct low height. I will close on this precisely aligned rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteThe close pushed the rim left instead of trapping it, showing the rim started about one finger-width too far left at contact. I am reopening, raising slightly, and shifting 1.7 cm left so the rim begins near x≈125 and is centered after the initial jaw contact.
move_to
left_y-0.1120left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5098, 1.6608, 0.9516, -0.3241, -0.3832, -0.4171, 0.0083, -0.02, 0.8345, 0.5938, -0.4534, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3731 left_y=-0.1288 left_z=0.0601 left_yaw=0.0522 left_pitch=-0.3591 left_roll=0.1064 left_gripper=0.0083 right_x=0.2848 right_y=0.0008 right_z=0.1498 right_yaw=-0.0003 right_pitch=-0.1243 right_roll=-0.0004 right_gripper=0.9984 state[joint_eff]: [0.0479, -8.4718, 6.5709, 1.3797, -0.2906, 0.0415, 0.652, -0.0752, -1.5111, 6.9675, 1.707, -0.0415, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.112,"left_z":0.09,"left_gripper":1.0},"note":"The close pushed the rim left instead of trapping it, showing the rim started about one finger-width too far left at contact. I am reopening, raising slightly, and shifting 1.7 cm left so the rim begins near x≈125 and is centered after the initial jaw contact."})
tool
executing move_to over 10 steps (1.0s)
step 211
assistant
agent noteReopened, the rim sits at x≈110, so I need only about 1 cm more leftward offset to give the contacted bowl room to move into the opposing jaw rather than away from it. I am making that small correction at the grasp height.
move_to
left_y-0.1000left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4664, 1.6077, 0.9619, -0.4232, -0.3626, -0.3862, 0.9945, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3644 left_y=-0.1093 left_z=0.0702 left_yaw=0.0691 left_pitch=-0.4012 left_roll=0.1296 left_gripper=0.9945 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984 state[joint_eff]: [0.4034, -8.8957, 8.8547, 1.2625, -0.1783, 0.1148, 0.0562, 0.0889, -1.6615, 6.9538, 1.7314, -0.022, -0.0659, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). 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":{"left_y":-0.1,"left_z":0.07,"left_gripper":1.0},"note":"Reopened, the rim sits at x≈110, so I need only about 1 cm more leftward offset to give the contacted bowl room to move into the opposing jaw rather than away from it. I am making that small correction at the grasp height."})
tool
executing move_to over 1 steps (0.1s)
step 212
assistant
agent noteThe 1 cm command did not change the y readback, so the rim stayed on the same column. I am increasing the target modestly to obtain the needed actual 1 cm shift rather than repeating an untracked pose.
move_to
left_y-0.0850left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4625, 1.6012, 0.9703, -0.4335, -0.3595, -0.3862, 0.9988, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3653 left_y=-0.1087 left_z=0.074 left_yaw=0.0695 left_pitch=-0.3986 left_roll=0.1245 left_gripper=0.9988 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984 state[joint_eff]: [0.0752, -8.7179, 8.0752, 1.1453, -0.2125, 0.0659, -0.1441, -0.1436, -1.6752, 6.9402, 1.7265, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.085,"left_z":0.07,"left_gripper":1.0},"note":"The 1 cm command did not change the y readback, so the rim stayed on the same column. I am increasing the target modestly to obtain the needed actual 1 cm shift rather than repeating an untracked pose."})
tool
executing move_to over 3 steps (0.3s)
step 215
assistant
agent noteThe y readback moved to -0.099 and the rim now begins near x≈125–130 at the convergence row, the compensating position we wanted. I will close and see whether the first finger now guides the rim into the opposing jaw.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4374, 1.6009, 0.944, -0.4229, -0.3481, -0.382, 0.9988, -0.02, 0.8379, 0.5938, -0.4713, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3621 left_y=-0.0988 left_z=0.0657 left_yaw=0.0863 left_pitch=-0.4171 left_roll=0.126 left_gripper=0.9988 right_x=0.282 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1457 right_roll=-0.0 right_gripper=0.9984 state[joint_eff]: [-0.1026, -7.9932, 6.653, 1.1795, -0.1978, 0.1587, -0.1392, -0.335, -1.5248, 7.1863, 1.6777, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The y readback moved to -0.099 and the rim now begins near x≈125–130 at the convergence row, the compensating position we wanted. I will close and see whether the first finger now guides the rim into the opposing jaw."})
tool
executing move_to over 10 steps (1.0s)
step 225
assistant
agent noteThe close again passed just inside the bowl; at z≈0.065 the fingertips are likely below the grippable rim lip. I am reopening and raising 3 cm while centering the wall between the last two lateral trials, so the pads meet the rim's vertical section.
move_to
left_y-0.1050left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4374, 1.6009, 0.944, -0.4267, -0.3481, -0.3717, 0.0084, -0.02, 0.8379, 0.5938, -0.4717, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3614 left_y=-0.0985 left_z=0.0653 left_yaw=0.0811 left_pitch=-0.4212 left_roll=0.1343 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1461 right_roll=-0.0 right_gripper=0.9984 state[joint_eff]: [-0.0068, -7.0632, 6.065, 1.1648, -0.1636, -0.1099, 0.6667, -0.1846, -1.4701, 7.0222, 1.6337, -0.0415, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.105,"left_z":0.1,"left_gripper":1.0},"note":"The close again passed just inside the bowl; at z≈0.065 the fingertips are likely below the grippable rim lip. I am reopening and raising 3 cm while centering the wall between the last two lateral trials, so the pads meet the rim's vertical section."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent noteAt the raised pose the rim wall is clearly vertical and sits about 2 cm right of the jaw center, with the pads now level with it. I am shifting right just enough to place this upper wall on the convergence line before closing.
move_to
left_y-0.1200left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4515, 1.5948, 1.0191, -0.5667, -0.3489, -0.3927, 0.994, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3541 left_y=-0.1006 left_z=0.0783 left_yaw=0.0942 left_pitch=-0.4697 left_roll=0.1557 left_gripper=0.994 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [-0.4581, -9.347, 9.2239, 1.0037, -0.3004, 0.022, 0.1734, -0.0068, -1.4564, 6.9402, 1.6044, -0.0366, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.12,"left_z":0.09,"left_gripper":1.0},"note":"At the raised pose the rim wall is clearly vertical and sits about 2 cm right of the jaw center, with the pads now level with it. I am shifting right just enough to place this upper wall on the convergence line before closing."})
tool
executing move_to over 2 steps (0.2s)
step 237
assistant
agent noteThe first correction only moved the eef 8 mm and the upper rim remains near x≈128. I am increasing the lateral target so the readback reaches about y=-0.125 and the rim reaches the x≈110 convergence line.
move_to
left_y-0.1400left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4797, 1.6043, 1.0504, -0.6147, -0.3599, -0.4202, 0.9988, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3505 left_y=-0.1082 left_z=0.0815 left_yaw=0.0986 left_pitch=-0.4841 left_roll=0.1655 left_gripper=0.9988 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [-0.9778, -6.3932, 8.8, 0.9744, -0.359, 0.0073, -0.1392, -0.2256, -1.4291, 6.9265, 1.5849, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.14,"left_z":0.09,"left_gripper":1.0},"note":"The first correction only moved the eef 8 mm and the upper rim remains near x≈128. I am increasing the lateral target so the readback reaches about y=-0.125 and the rim reaches the x≈110 convergence line."})
tool
executing move_to over 3 steps (0.3s)
step 240
assistant
agent noteThe larger move overshot: the upper rim is now around x≈99. I am splitting the difference to place it at x≈110, keeping the raised pad height unchanged.
move_to
left_y-0.1250left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5545, 1.647, 1.1069, -0.6735, -0.3733, -0.4858, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3444 left_y=-0.1333 left_z=0.0811 left_yaw=0.0877 left_pitch=-0.5076 left_roll=0.1699 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [-0.335, -6.735, 8.7043, 0.8718, -0.3932, 0.0366, -0.1441, -0.212, -1.4701, 6.9402, 1.619, -0.0024, -0.0562, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.09,"left_gripper":1.0},"note":"The larger move overshot: the upper rim is now around x≈99. I am splitting the difference to place it at x≈110, keeping the raised pad height unchanged."})
tool
executing move_to over 1 steps (0.1s)
step 241
assistant
agent noteThe arm continued drifting right after the tiny command, reaching y=-0.141 and moving the rim too far left. I am commanding a clear leftward correction to y=-0.10 and slightly higher z to recover a stable pose before the final rim close.
move_to
left_y-0.1000left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5724, 1.6577, 1.1221, -0.6781, -0.3759, -0.5064, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3448 left_y=-0.1408 left_z=0.0821 left_yaw=0.0843 left_pitch=-0.5041 left_roll=0.1608 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [0.1299, -7.4188, 8.4855, 0.7497, -0.4176, -0.0708, -0.1392, 0.0342, -1.265, 6.9265, 1.6435, -0.0708, -0.0513, -0.0171] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.1,"left_z":0.1,"left_gripper":1.0},"note":"The arm continued drifting right after the tiny command, reaching y=-0.141 and moving the rim too far left. I am commanding a clear leftward correction to y=-0.10 and slightly higher z to recover a stable pose before the final rim close."})
tool
executing move_to over 4 steps (0.4s)
step 245
assistant
agent noteThe left arm is stalled in an awkward low posture, so I am parking it high and switching to the right arm. The pink bowl is smaller in the right wrist view and appears likely to fit an exterior grasp; I am moving above its center with a small leftward correction.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.3300right_y0.0300right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5724, 1.6577, 1.1221, -0.6781, -0.3756, -0.5068, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984] state[eef_state]: left_x=0.3448 left_y=-0.1408 left_z=0.0821 left_yaw=0.0842 left_pitch=-0.5043 left_roll=0.1603 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984 state[joint_eff]: [0.0889, -7.4051, 8.2667, 0.7595, -0.4176, -0.1099, -0.1441, -0.2256, -1.4291, 6.9128, 1.5653, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.33,"right_y":0.03,"right_z":0.14,"right_gripper":1.0},"note":"The left arm is stalled in an awkward low posture, so I am parking it high and switching to the right arm. The pink bowl is smaller in the right wrist view and appears likely to fit an exterior grasp; I am moving above its center with a small leftward correction."})
tool
executing move_to over 13 steps (1.3s)
step 258
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.144, 1.256, 1.0843, -0.9634, -0.2131, -0.1436, 0.9988, 0.1295, 1.0878, 0.638, -0.3553, 0.0742, 0.0525, 0.9985] state[eef_state]: left_x=0.2952 left_y=-0.0014 left_z=0.1604 left_yaw=0.1298 left_pitch=-0.5352 left_roll=0.1604 left_gripper=0.9988 right_x=0.3134 right_y=0.0312 right_z=0.1159 right_yaw=0.029 right_pitch=-0.2326 right_roll=-0.0113 right_gripper=0.9985 state[joint_eff]: [0.2667, -5.7231, 9.6752, 1.0379, -0.1832, 0.1538, -0.1441, 0.0752, -2.906, 10.2496, 1.9463, 0.2613, 0.2173, -0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
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        "hindsight"
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      "type": "object"
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    "strict": false,
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call 0 attempt 0 · /responses · status 200 · 11.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.794, 0.6048, -0.3794, -0.0227, -0.041, 0.9995, -0.0177, 0.7921, 0.6018, -0.3794, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0013 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -1.5385, 10.1265, 1.7607, -0.0415, 0.2466, -0.0659, -0.5538, -1.4291, 10.3453, 1.8974, -0.1197, 0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5217e2ae4fa218968a4065de926ee7730f0110d3cc702b89f6656cf16cc8c1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d4bf6af92b4349208e2578d67a9a950ddab6af762a218d92499c6de1567bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e254834cc8afbc8c679b9dd225e437a97fa81011eef0fc8dbfa17c05ded9bea5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.615 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_06b378f38e4b576b016ab43dd7a5b087d0997e4ab8bcf8cb65",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3ixojwBLUi_oEv0XjEL58KXVv05uc2LWjKvF1jyzsVLosPV6TsQex8ZwDUmwXTjo0fhpe0nm3qVVTF7gnGveIZGzFXwoB1NBw9BEoch-ztl4vvRsQhemdZmdrjg_cIN5KAt1-SKUwrZUL2TC_QxgNcUtUZ3m5K1lZ0kGKhJcUiHeK2AydEogI-5-y3r3aB_UL15zf4j5ud_FNt6PH01ZY3LK-iTZR8O4MZVNKE0bEaztJMgz93XqHeTmzBmBDSNMaeQeB6jr496BgYb_ceRRRz9Mg2UgbgMvj-oHnHpaRen00ouC3vy8dUSZwiADIf-eH1JmYj_UnfGHuTKWaesnc2ujoR5MMFKRWcDpn3LMU8Wq-kgNeJQe4x4hBLqpD87ySP2xFLVu27Vvl634Mxe8xC2IjVP3IXNtrXR2Vh8LXE79I8hFxg6ht3fdtPPfqNUV1H8qBpAlYDE3GSZv_BIHGCAB7857YKiQBXT1BnoegJ6RJb_nn_ooimyKGEV84nCsOSGFAB__FycfAVJ65MDO6_t49ymXV330wo8PNwouKQ3v8flJ0lYsv8Gyeq4uQ5NF2e3OrhzWOT0r_444iSRXYXzjyBTRlm772hmtXzXT9J_GmlANi5Faypl8Cro1Oz3oW25VH-I0YsGUT0EctfLxdN1xmG2n086HFdflUckoTx3sPicN3c2AFqMSlXdrqpnxqbR9n4Qw4-eXzmnaNweGCVpgY6Gp9ZfNUzZSIhKgN-1pferIJOT5UTTjvIzcCOct7N8s24RA5x4uzB2iWUwvr07X3xbqBGRQXQDxUvkMjIpF5rvtzrjzM5MsmmbLBMzsTPRSDsAS7lDbBns2B-XWX4NabJnwxfvOp7iIPEMyWDvOh49y-RjnpxEsYut-hXOjzKNrF7LQxiwMexNqLfczNKjba7l6N2c6TaJxwGDDlLYHDg_nAdcGJYI6HohsReNd_CbzLpYwM3DxJONABMN0tsjOj3JjtR6Klyq8LnrzuN8zMEhxWA4oC50FFogG5mWVuOJXaE-sW06MBqUSaKByN7twal3-dHYkXr8w5IT5avhrF-1DgFYib2poMn2MKNOLlNXCRLRBxW5YGc0r-liBIzX1o-va_68hRFwczCwMGTjCXX-3beUi20x3xKCjU9dh-rqb1bftt3KhFGk8BtqpF5ZxMgehXcMbNokg4yWuq4U17Fez3QagadqLqYvTXPo7gtxbY9JfO9ehGjBA16sSKb0dYSLOMMQbCoUxPHBvfOdPmnsej66entDogR9Sn2z9DVDybP1eJ6qvKkXbTcT-YvzSf80yS_-jcD8uV73MVJEFSCZFm-PnnIYSWVHF08IQtiyVYmGrBgWI5tPeweFywA3SR1TRuz9cYdDjcrxuvdFiOaO1aZV_PAdET7AWnaZYzr0xasuLw1vRYAdJM8FomiLW3VobhXSm1fu1aDVdbD2-VZrDxSF0_Z0x1CC07VHjtxJ43Vm_ygohl5SVL79EHQsT6WKZD-ttY3RGezsmpZIXEwJouy8z996CDNXIqrsG0fFUVnuAiwQNYsUKZghKElaNfH0cZzvkWMuLn-sFZJZw7H_fFSA9iWy1ssIW9yVJgP4yiOB1KriUSXKgPkK3htTcCCm-BS6ZBgikzDUiDPA8jqSMnyuvkBEkflFsX0qhsdhnnB0o13p_Y6q671Tzv8aBH_GoUbYTGHorF4lBt-l1fs6B4F3pE2Bp7m8DDEhxI0n-50NHakrsTSCxm-vYqErys_taosu-qQogj8cHQID9bdHEVxVKNyYXmbFDy9eTdloqQoELlVPBbX7YAEzGEE51u5KmoNpWSnu1VVlut7QHTDcA_zZk9nSFRNNMIfom6k428Kg_ib9acnDrcrWuxm2026R_AFRE_SIWxfx6ul9konMNHqLBaPpwGcOQxoNe6Xg1VsNACAMQWukgXKwFzOkJP5Oq7-BPA4tnrGN7YTwHi4pbjGW1agHP-_nm819ebrS7Q71HuKSopPUbP7zFdi39c_JO_rKLRYSNtwW274Jk4gYbFnfZQFdjM3AfgtK4NR-EhSo0CWHLDUlxZXpXqHkHM651lycbbDM4kh7_eorDLUwMM-toQHCb-M6CZIFfr8yUdCPzNpDo3ukmer-givUm1jp3Yc04kvfViSLnzqBskLbb6npPNY2svNu_IuV0nNdTovBxYywQgABPguiYEgbQH7_JKNfFospim3UhIe53g3f78LBXmwWUZVO7IUcOpHHHMYoYhykPlJ3dLsnB0miFLC47M9IFZJDG6TYDY4cMg1Qpf-8GsKEiVPKGrDGXyzsxk9l_2r9lcA_8iaDogUFINWxpF4Fq7Umn-XexSd8tIMIc84M1MG32FftyIzpF4aorKnC4xCaodJXwiknjhv9MCNDmK54WgYXo-qIi4R55DtyKaW5yjl1OkHwd0YoILy32TPBU5MkaXNHjP7mS5cVruf80Sb0Sn3E4dBDKEMcsbYXgDlUJtw1KDZpCRTB4neoS2BFwT6ycQ3D4lHw1nSz3SuYUZji0LOisV6b5PheZBZ0olJJtCCV_Bw2d23sCYYo9PIWC7oeYRixiC9JvwBIiOSKV1-6CnCGWAZjMw4p_gaULvK42kcbGmANLKHElU7O2TvDvTvghvrU4oFxXOOB33eF-T2NAKdX1ljUaB44RTfbP4LROiqKXRmQ5kPV51rdGKMaWj50zbWE4uwMd71wSMBiHK8v-VBVbtFhgW2wh1MoZj7BBdyDrV12y0t9Sm0-JuCQTUebEIjfN7GK18_cdKDsOX72ujXmLdniu9lB-0S60_fw51yZN3mb34l-tL4Dyk9BFKmzVn54N4fZrHenaZ9VQN5gwQwkI769s2QX17LMAyrY0oDSDivZlWcQquyehYtbvH9ZLeXb46DkHYaNG2bMS3KqONZbHncGHPP-Z3K1XulxGYYeUfIalSEHZsKIHpeBRfT1jtC0tNK4KqCNAqIi87BvLVBHwD9IzHluwTFNdtQyHxjZIO-tkJNb8eoCyh2ADnyDBFTMaORYcRO8hG36LKP3WYqGUTXADzorn3YmGlTx_Z39ycjVgI57xWbY83YQXviUue3shlJ-huiMAgBrLRGkviFDPdhosxWwOUVl66BQjZdltAyssJnzv1LMfhttJp_sLZLEnjI-j4fne4RhM85fdxZ8nzfYwSvE_WGr4l0WPIiRbj-WhKuOeOy6Nnl-8n2oyCbbnS6gJ9u9yqWrV6ylv60VpEvoXJb44-HA6PajKn5At_A920pB48IOjReNKwpUoWV596HCZF_DK9KW6WL_OPIpk9rqooyDD4RjbY7uufzTlx04nGov3w1yIcbyL8jCjMwcFeXABJ9gA==",
  "id": "rs_06b378f38e4b576b016ab43ddd7ec087d08e49b7700f7cc9cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.03,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.295,\"right_y\":0.001,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The three bowls are separated across the table; I will use the middle bowl as the stack base. The left bowl appears a few centimetres forward and to the right of the left gripper, so I am moving the left arm above its estimated center while keeping the right arm parked.\"}",
  "call_id": "call_tr85Dg3gVkDh5i0upmtdeTTA",
  "id": "fc_06b378f38e4b576b016ab43de13b2487d0a634eab32c123bdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tr85Dg3gVkDh5i0upmtdeTTA",
  "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]: [-0.1478, 1.1736, 0.6155, -0.1268, -0.1162, -0.1055, 0.9995, -0.02, 0.7979, 0.6041, -0.3893, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.3475 left_y=-0.0274 left_z=0.1214 left_yaw=-0.014 left_pitch=-0.1112 left_roll=0.0113 left_gripper=0.9995 right_x=0.2938 right_y=0.0006 right_z=0.177 right_yaw=-0.0023 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -4.4786, 10.1949, 1.9512, -0.2027, -0.1294, -0.0659, -0.2803, -1.3744, 7.0769, 1.8779, -0.0513, -0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97caf1e8462447b3864d4b14316a5de261a1b503f59029f413bd5d2fb63f8677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bb2375d0104d6f5521e1f2b515cf715a8116444747feb82abe75e694f0615f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81279c91242aefe20273f5f07de57c83687a3695575e6bb8654dbb0525da18ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.794, 0.6048, -0.3794, -0.0227, -0.041, 0.9995, -0.0177, 0.7921, 0.6018, -0.3794, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0013 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -1.5385, 10.1265, 1.7607, -0.0415, 0.2466, -0.0659, -0.5538, -1.4291, 10.3453, 1.8974, -0.1197, 0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 1.1736, 0.6155, -0.1268, -0.1162, -0.1055, 0.9995, -0.02, 0.7979, 0.6041, -0.3893, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.3475 left_y=-0.0274 left_z=0.1214 left_yaw=-0.014 left_pitch=-0.1112 left_roll=0.0113 left_gripper=0.9995 right_x=0.2938 right_y=0.0006 right_z=0.177 right_yaw=-0.0023 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -4.4786, 10.1949, 1.9512, -0.2027, -0.1294, -0.0659, -0.2803, -1.3744, 7.0769, 1.8779, -0.0513, -0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97caf1e8462447b3864d4b14316a5de261a1b503f59029f413bd5d2fb63f8677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bb2375d0104d6f5521e1f2b515cf715a8116444747feb82abe75e694f0615f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81279c91242aefe20273f5f07de57c83687a3695575e6bb8654dbb0525da18ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3nRihIdUbgQUWAo4hVvhFb2364GdBnQ79wUH4WrVNKHg8evKTXcfSobyiJmX9Tt-hseOHbCQtjsJXNm3EmDvwVZdM55VF5FvoCqv8bfKk9s1dTVMkkGN5UQFJZAHP7EMDnPklK-hG6hUhVmv3g0jM4VVRgNSPEQc4oiiNOIgG0SyVa-gViZpBAZ-HgQKLaJUxA2My9zm23KujBWJUrHmOB2JHsTjtwXRET2SpdWQysaBN7tHU317SvwOkxZZ-_CJIeulJGdIQTntUdHlwH7a7IObLdR2THBub6whX-5rBmEofQVrz_VKTdhscCdHStVJbshT35aj_WwOKEfQ3Cm_qqsTzRXW4yAEU4DJfXgCvVg-GzPb-QKjqn9sdsOTR4mcRyzaNiAPxdv0tfpItddJuhy0uirq0UHXvhehu1yYlmIYEadAmt01rOeyupm1RxOeNmBNNLKQPYDpa0GOk8dNuOqQG1FVEtnE030hhbEy9oH47wQRY-EopFkJFuvvJbzpXNPZQIxr5E4WBsiO9mXryoiEJrppL-dF-ejStWYZXHH67kpSD6S5hblhJts17MEHEIHG9nUD5NkZ5EQwAq_VR0nYAUTAFjX4XmAYAJvc6tUr5dOJa73uFb0UNzTUdN1Ua4diZ37VxbMuYl9j77MgsuXba5C34ZTAm-wk3TtVz4X3hE97-7HWPnQ4dXwXL2QjQw1t-Ktj7FNoPlbTeq81lpmpqYIWO0uigbq9ZmlhBQP5NwNybtgoyOqVzpiZYdvioCHQXieIImWTkovpuZNFnr7xnqqeLKC7qScWp3ysvz9g24oYCh7dO2sab4KPAao_pgKLPFjJB4irE8UC70QEVl2wfDzzdEvmvYI-xgfDwuKdHbzLV8NjcDUlLSvSM96a0Is35rEDEFfhLKZCQcelZpmntHPDUirQ4T7NMqEyimKROk0IkPf-4CORJmlSKdwbz30E4dvxwKXnr0WIswn3ujaSphVy6FepSRsudeOy-WIhvRB127NP9tmGkCDIf90Cf5XKVNWZvAouS3gVyKODRq6cMhXb3QsgCIHvPqsv-rBQNqhNpzaLfBEbPflSOZcp6Th1uhdPJJTeSTRCQBFbeYhgRgtJG59-quC6f1uR0X2dRYjTrNWrqSnPbSUzMAbsZca-bgz5gX_ZaKf_ovWv4RyacGCpspt0FWYk_1T-0Q45YNXoK1Z1mYdFNMOMR6a50fsX9JlhnAj19q_9fCgLsw6PlIjribrXRzEV668ipiuT1RhVBdjEXO19BAp8kTndzWn0Tv_RgKs4nPSCq62gtNXb8Wk7mt0ZvaJAccsPkN8cv1-EKkSxRTe-M5iuxF2lnt1SA5HIGuDIzq4kyrqE4U4r5IUNI5PgL-oLFPv6MW0FuSc-ij6jJn0kcO47_lHj46fthSwbBJcqVOw2CK4dxrlyqAlHl3a4AEwCf04JoVy3T3RBMRgQeuQFbv1VFbaFegz5sjD2w-dXRNYEcs9RL6XSn5_LG24G6gD_QJ-34-xqSIp3upG9R0WgYxlhLfep6kFt2sBc1M8E-j1TkPlEQRBRg7EtYmuqoddaJzIRQ-y2ma9FbRcN3xHKCdOuEo2Akl_rfRC7IaQqPyyfZGH1D4N_UXNAOC_yAz6_WLW9kUOKFBMsEjjEcPLy3kd7eXuE5WPy09K7JWA2QPuDCf7dW_YPYeJzPnqRZo3U_E8uFjfUFdrwoZRjcrhEXTftkxbKDlqT_lgGtieOaLkTGASQ8lgXVmYz5dNweJ-NG74qy9E4ykass9ImkHJb5NXhO-eZLVpCd2lrP-js96wD8MsJ3jhijhds1cnCqAUbpln6Q3YwMQL0sYmpgq-4D4KC1XFkqIRMiGWw_gBcf1-vFlr_8fM4fm_RSbYqvzRHQOalVziknEkscs48cUcqwTf3NDW8su_yjj3MluYpRMAeBXggJtw3OfFEeXp78HS55a4Qbmkp8ImIx0S8jfKqaUpcZ1hpTKwTEoWGbs6UBpv8OBSVw0y3COykUuTjZ_gWxJvQ1jcEoYHR5EFi5CQAsB6IJnUlPUtoCi82WNoWuxKgf0zwrbRaNQPvaLpvPqoIqlG-8CWcKxnpKs4Ya9Su9eRNByXz4f9M6EamcrGuOtSyU0JEqxr6xhu4kl1x1s8NbCQrhg4eo0IrW-x9E8jyrB2sCSdQjGi8Is5To-SiAD-W96RkFUKXb4hcpcbheRu8zs6YEXRmKtPF5SrEU5OSR7aozlrLgIMo_vUfUJRQ2mXtLpX_Xa196hFaXP0pTcb4r7FvA-bJbdRLTTy2LkORk2b7S_oJ1vLw0p0EuSJwQMPHLLQO2PKbhF2lmHwP8mjkAaG1u-iWz9K8Fm8ZmoAuzrq6mkNxvXTqYQZBND6z0xB881eJvm1eISKn1QPWErpw5lNLi0bQaMkKA822cuvRVYFsanBKWpXSxCXyH1Cie9tbo2WgyrI6kwtxWyOlVn_ATaVNId0rA2R4DzsUd0kgfjBI1Jv-mEg4P4u6a1F0gOBysIyh1tb4AGiasbSRobZr9ctW3umbML5cHbzwePkPFqoog8mTGMypEi1PRCAJ88SB2a4qqeFw==",
  "id": "rs_06b378f38e4b576b016ab43de3987c87d0a7e1e34c11c8f021",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.045,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The left wrist view now shows the blue bowl large and nearly between the fingers, but its center remains slightly to image-right and just ahead of the grasp point. I am making a small outward and rightward correction and lowering only partway before the grasp descent.\"}",
  "call_id": "call_pZYRPvOcyjTqzEIDPcVyPxQ6",
  "id": "fc_06b378f38e4b576b016ab43de6371487d096f6de1a8e545020",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pZYRPvOcyjTqzEIDPcVyPxQ6",
  "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]: [-0.1886, 1.2583, 0.6159, -0.0235, -0.1532, -0.1341, 0.9995, -0.02, 0.7982, 0.6037, -0.3912, -0.0166, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3627 left_y=-0.0382 left_z=0.1135 left_yaw=-0.0084 left_pitch=-0.0884 left_roll=0.0087 left_gripper=0.9995 right_x=0.2935 right_y=0.0006 right_z=0.1763 right_yaw=-0.0023 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -3.5214, 6.5162, 1.3797, -0.1832, -0.0708, -0.0659, -0.2256, -1.1556, 7.0496, 1.8437, -0.0269, 0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9c6832f516bda2929a295fbc8dcb2d3c682b2346af3647c52cd9a5674ffea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cacb873ba51e8a72d3319dac4990d43a2682d9b1d67686f3ced22cee487ee9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b299b0f27c6002907dd1c487b41b7864d21fde8a53b94cfac331fc33ec7a40",
      "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 · 3.632 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 1.1736, 0.6155, -0.1268, -0.1162, -0.1055, 0.9995, -0.02, 0.7979, 0.6041, -0.3893, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.3475 left_y=-0.0274 left_z=0.1214 left_yaw=-0.014 left_pitch=-0.1112 left_roll=0.0113 left_gripper=0.9995 right_x=0.2938 right_y=0.0006 right_z=0.177 right_yaw=-0.0023 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -4.4786, 10.1949, 1.9512, -0.2027, -0.1294, -0.0659, -0.2803, -1.3744, 7.0769, 1.8779, -0.0513, -0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1886, 1.2583, 0.6159, -0.0235, -0.1532, -0.1341, 0.9995, -0.02, 0.7982, 0.6037, -0.3912, -0.0166, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3627 left_y=-0.0382 left_z=0.1135 left_yaw=-0.0084 left_pitch=-0.0884 left_roll=0.0087 left_gripper=0.9995 right_x=0.2935 right_y=0.0006 right_z=0.1763 right_yaw=-0.0023 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -3.5214, 6.5162, 1.3797, -0.1832, -0.0708, -0.0659, -0.2256, -1.1556, 7.0496, 1.8437, -0.0269, 0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9c6832f516bda2929a295fbc8dcb2d3c682b2346af3647c52cd9a5674ffea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cacb873ba51e8a72d3319dac4990d43a2682d9b1d67686f3ced22cee487ee9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b299b0f27c6002907dd1c487b41b7864d21fde8a53b94cfac331fc33ec7a40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3rxRARFMdahV8An9NjGbE3zYLsE0qYlIyvMiuKBYUl_OO3x_vjuyWDr7V4W5VL-_UjbpIqrbi4yzBxZQq5LPvlKHwnlyB3I3Jemwn9EWCU0YF4Lt3oqCWax3R-epQd7Y-9amqR0iHFDJY4vgze5O4cYwH_w8Fnqq5MdAB96GhVtAAjU695tUKBcwC_XwSW-P0V7FwRSoHmmZtY9-VsBgsOJb89GQXkBmdTbXUnRsENgYpl_L4aJIJpGQu_Lvv5_SlwYHpUah2K2IUPD2bMGyhYZmgi9Swd3BYrpHaXSnZ0CLnveSIh0cKbeodEBJWrzwZXAiQSv4dZa-xt76p9h3uDcuF1jlhK5QcjJhTNxkGofg0o8BY1o3IKn2e7bdHLg7VBz22tmZRATlfKbqBIGkcQVhAwvE-FkIcV4BL5C_Ro4gdbOiMbm5bBbNvoB8to0CQTGyMjkWV7e33DiEwETH1E3wGTgSvuZcRYTptXSaHRHDwANtX4jeKo4SuKR-2kzUJGfou5saCudTEjAWtziO6JssatX4xNoyIB0Pw6nPSF5Lfd8lnxr9qYjS48VJAstwL6GOlJfafpwtDINWiEAjAt1bzrGX4OCsjBSYPtBQGyA_RpY9Q1fFiEsS7lrTfG01gKUj8I3vbId4fIAUmLRj9lamhGMjO1KrECXyB_kJZpIuT5h6-iEwe7gLSD-gs66M1sPj947EKO2ObbCQ6V6aoPaqSphbn-G2SGC4RNXQvkpIcxJID5hy5xLOkMC2frWKepeO83y4ASYy8wFLmDhQ4cB3ncxNLf05Y5RlSoyfzKvyqnRn5IokUpV4k6poqs0KGPhxd03w3vvep5AQAO0g_m-G8SyukHwacduXpP6WxSLuBuq0aH8OGVcvbWbJGpfiyQrWIKOoXRQ-pnpdCbaFRmkg7OLvpFt2vGa7Sih5giL0yDvPwowVwE7tY0AjTYd8br8CQG6Almu8gqPu3PX6KNsRLa5FimocQ4p0uPxvJ9Nhb9SAO73icBXjAMUWXFMVtgKf2f1xQ3IeUpij8mpdKxc5TzMmReefZYhomxt8dsCRO1kr9aHTGn8Fs4hn3rahF6fj37F4QkUK0aXPJcIYqwY2TS4zLmTg3VvmynM087XPSbezbDp3Vz8eh9LXPEwBkFJfImfM4h-j4zc87MUo7MCmZpobeFtEiYHKVYKxTdqC-oAUATBDSUxSr6RCnCTjesWTmuJrXABINhyDZZXuSm_Pd-dJGWR5Rxg2K5JU0iD0m1DxRH5TOd_w4GiJO0IbnsysSqhZB-3CGeGjDgYYYRRJCNewXcll4djQyZ3skfpkwaYv2Solg929nAH12dc5ZX9rd-ObKVX-geD_EGeaXQeSM_kjLtNbqrtaKYjRETm4oQyNPoaS_wp77emjZV-AZv-hYzI4ErAJXXfJXub1XNj603op8euXx2pAc6L23D_tfhTOElFT6g9CLFJECc52L0gk6m8b0XrPx8fWf3rcvkSG2OUiV438iRT18_fyiKGZ-w7Yr7iKBWKLPLfWddEhw0_actHQ3kO6Av63p3LWzuk6fzrSW11j8TUd1kht7nE6PWnFEF9IqVAufXy_x3qmhAI8wsMjtPWbm1iJ4iwXkIbBHPOfw5OJHyUqQegudcFXvA4Gp2kPuV-KkLgR9y2mb9tmsZZlymp0JYtvHhWzERO-zGciU6FGdRgurL1Uo1bGXWAbyykqh2dZxUvCxzcNeIRb3QUN0Q7L8QTJSDkKDOOx9SYRVAxNt2ZM0A80wMMMAzL5snu3DA-NokUWKmrNckLPAWbV8jfWQI7yfrhVjjV5ARPyeNcmeKkdedz07xEPH-93ZV5_1D1aE94H4I0Ate8erP9Wh67tPQJzjLBulBanPZgh4brfz_lUFRkvgK3sRQ_UnNNA-ZFU_f_IrqhhNAqHvWVEalHisnp33XvprZsn7Pj1i4S_U9IMqMYgFcCTqRON-e6L6w86eSdkdb80JcjtJuVTRrK2XuWKVyIVX847GCNidASTscvLonXpj_G8KQe-vzBG5VPH1dat3SsBaAfiBVi4YXX20nUE5p8dTVdZQ_vVgKE6KKDNJVBAApASk=",
  "id": "rs_06b378f38e4b576b016ab43de877e087d0a5adbf2115fb5ca2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.055,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The blue bowl's center is now at the jaw-depth row and only modestly to image-right; the overhead view also shows the gripper straddling it. I am descending to the bowl's upper-side height with a final small lateral correction, keeping the jaws fully open.\"}",
  "call_id": "call_IDfUuEBpiVDCJ6XZYqRKLYHu",
  "id": "fc_06b378f38e4b576b016ab43dea524887d0b345969be9beea5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IDfUuEBpiVDCJ6XZYqRKLYHu",
  "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]: [-0.2142, 1.3209, 0.6056, -0.0109, -0.1589, -0.1471, 0.9995, -0.02, 0.8024, 0.6037, -0.3927, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3604 left_y=-0.0461 left_z=0.0902 left_yaw=-0.0208 left_pitch=-0.1468 left_roll=0.0134 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7504, 6.8034, 1.79, -0.188, -0.0366, -0.0659, -0.1573, -1.4701, 7.0222, 1.7656, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c4210e5579745dc0771ebcd2144bf9705fbc3c21dbe668a1a9b95701bd6198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81750896c5f59aa6dcf30d424b6555673b0c0f8996a8ff136c051cf42b5fd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f69c1a9e77b24dd234b8005b01cadaeb9ccb4b527ab49ae4f77260ec22bd36",
      "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 · 6.9 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.794, 0.6048, -0.3794, -0.0227, -0.041, 0.9995, -0.0177, 0.7921, 0.6018, -0.3794, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0013 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -1.5385, 10.1265, 1.7607, -0.0415, 0.2466, -0.0659, -0.5538, -1.4291, 10.3453, 1.8974, -0.1197, 0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1886, 1.2583, 0.6159, -0.0235, -0.1532, -0.1341, 0.9995, -0.02, 0.7982, 0.6037, -0.3912, -0.0166, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3627 left_y=-0.0382 left_z=0.1135 left_yaw=-0.0084 left_pitch=-0.0884 left_roll=0.0087 left_gripper=0.9995 right_x=0.2935 right_y=0.0006 right_z=0.1763 right_yaw=-0.0023 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -3.5214, 6.5162, 1.3797, -0.1832, -0.0708, -0.0659, -0.2256, -1.1556, 7.0496, 1.8437, -0.0269, 0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2142, 1.3209, 0.6056, -0.0109, -0.1589, -0.1471, 0.9995, -0.02, 0.8024, 0.6037, -0.3927, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3604 left_y=-0.0461 left_z=0.0902 left_yaw=-0.0208 left_pitch=-0.1468 left_roll=0.0134 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7504, 6.8034, 1.79, -0.188, -0.0366, -0.0659, -0.1573, -1.4701, 7.0222, 1.7656, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c4210e5579745dc0771ebcd2144bf9705fbc3c21dbe668a1a9b95701bd6198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81750896c5f59aa6dcf30d424b6555673b0c0f8996a8ff136c051cf42b5fd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f69c1a9e77b24dd234b8005b01cadaeb9ccb4b527ab49ae4f77260ec22bd36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3vKkXgh2QhLWiFbhiE1OlOV90pnhloNl9Utphs9-Wxzey6MJ5CHK5XVOeW6OnnXoG7nfOLirbQPJixD1Hvy2rA_z8qSGuWNM4mk21oqtp0OiloIPLIRY1i66d8V8TMAyou9PBJHubUT9BrQelyZ4H__MzKMMnNxOI8B7IZi3Ra9Qa8fV3PTg_wRPBTxMCqMHqfGVjuadTxahoN2AMqbjZnbscrXIYMXxPfA8bwkz7OuXMVh5OktnUKoTI66wNLpKE3Iur_VKwdERP5PoUEfEy5EMEiLcJRUwnpnU6H42clB25LN0j4xSz9WP4DUsyxZh4Y_rmEgzNG128kXi9CepHEF5cvwxgEKZPTmMCRtexhJ90i8ojUH2lM7HPwklLdkwvrLHv-iXWL_bV7sJ5-BnKpo2i55CCYUsrg5c8LuLczWqVSKN6luTZbo8lQjIDStQ3pZkeprVdlMiN_C5YqGhvcrXmZ4u9BANboOWow0ezgpdgwU5lAztYNaABPvAQ8_ebxEiNkkBuOjUikQVid2ietj0QKKjWiIhNqNXTZmROMj8JFZiU4MIWCKz8G1wvDfLXQf6PpjvoLIGSA2INtLqHM9l-8cxHSw99zFcOabmj7rk0IbmmeUToSKG9Rlp9pVy_UGnkCTH_vE1M-_52DhAgA_Bihahj8FhmfzWLbLUMmJA8BvssDOFNxRq9KZ_wF1jhABNjEOnqqgsbMK_zp398WYkX0sqs_KaLYbaPZgjPOxh2vinbnMcOUoKKKAiqAz6rGwE7mbxSVsJp4uPgPhpijNbJ_0QbiIQQ0aKsAu1kzbpXJ3adcXYRACLjcMtogXXSSbzjze5RZZI_yAeMsS9uEGoKYg1aJapkNeaYa_Vc9YAvyI6ebs6PPNdieG2GkJ7nPp8vsIUEYkDgq0LXidJHX4OjndqPYNtLKjhiDu5KuH83V-6VIg2jPRrpm8KD1v0zyt_NjPa5pcEQv0vMApLGJzFuqVktjG1GvuydaCWUI4UkZCS7ZUPYUvw3oW1JGrpcbxVbyDhU4pdhrbeP33NZH3YSAKkuYyz7bO5KULoqPmOJ6CuSs4hJLWwM8pwk8IIT4cn9FmfHZqw7rdjx9MSe1WrSE0dRE7rmsp1bpRh1Aef0r2bKyYAciRzFYAkK7Wjt83SdRbKmG4WuP-u5ofeLQHtkKT0Ij1DKgbOLHCniImIUqRSbabv_MXmrtqHXSyOE83JgG9H9CzWboifxGUENG7x3uNLlOIMQXRIpDPhc7RRGjtwq9RSqcLZCrurQWc8nBVJSh4V0eHjQ7hii4D132V3P_VSAJI0s3_gUF3694HVhj-UhEs9BaVT-TkKIg0SjWL-hKtWhS2KFaHwibKXyJthLa1CoGTWidAoB6tTgiSNEzEEXkHLuvUFpoF8FeID35d1ho7dKXiEhttvhxnB58D8-UofEnCYbj4hvTonJ8FnF83Ly2euKBnpECkF8U1zqil3V6meje8ZUczMFUO95e6bwO32lCIZtxVNClfi2HPDphFUgUua_H7HsE_F6vStU6gAX_9cLYUAjOpt-5-7-kBHdWF58jQ_iRiLLDgYYpO6Q9zfgSQ7DnacFlkpmXlyQ0NLvNO7fPonpSRC1xZhQnP3xqGvHnScMQiWZI24BLiBnTG_E23zD6RCvEV-uZDlpDsuaqAO4BDAnkMNJQInhMD2ZfV6zqjP-nlXsAZZkv27s=",
  "id": "rs_06b378f38e4b576b016ab43dece6f087d08c3245702ba0ce9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about 4.5 cm above its target while the bowl fills the jaw opening, indicating the open fingers have reached the tall bowl/rim rather than free-space sag. I will close here to capture the bowl around its upper exterior.\"}",
  "call_id": "call_Bm28tjWGI8h6hwJEtEZUTOCU",
  "id": "fc_06b378f38e4b576b016ab43dedd24887d0bc729ea139a4f779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bm28tjWGI8h6hwJEtEZUTOCU",
  "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]: [-0.2146, 1.3209, 0.6052, -0.0189, -0.1585, -0.1501, 0.009, -0.02, 0.8024, 0.6018, -0.3931, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.359 left_y=-0.046 left_z=0.0886 left_yaw=-0.0196 left_pitch=-0.155 left_roll=0.0125 left_gripper=0.009 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0021 right_pitch=-0.024 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -4.7385, 6.3795, 1.6581, -0.0855, 0.0317, 0.6716, -0.0889, -1.1282, 7.159, 1.7411, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6545d22009c100185c16f5a92adb85ca123d2fbb06a5ba8f826a323cb5bdbb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7648300b4f8e078d023285d21180ef42a400fb17a5ccf7894a13db3c3d336963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c02ad07189eb44c71c3035a40cd5c8f512d4b679aae41435851073bfa3e2d8",
      "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 · 3.935 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 1.1736, 0.6155, -0.1268, -0.1162, -0.1055, 0.9995, -0.02, 0.7979, 0.6041, -0.3893, -0.0166, -0.02, 0.9985]\nstate[eef_state]: left_x=0.3475 left_y=-0.0274 left_z=0.1214 left_yaw=-0.014 left_pitch=-0.1112 left_roll=0.0113 left_gripper=0.9995 right_x=0.2938 right_y=0.0006 right_z=0.177 right_yaw=-0.0023 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -4.4786, 10.1949, 1.9512, -0.2027, -0.1294, -0.0659, -0.2803, -1.3744, 7.0769, 1.8779, -0.0513, -0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2142, 1.3209, 0.6056, -0.0109, -0.1589, -0.1471, 0.9995, -0.02, 0.8024, 0.6037, -0.3927, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3604 left_y=-0.0461 left_z=0.0902 left_yaw=-0.0208 left_pitch=-0.1468 left_roll=0.0134 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7504, 6.8034, 1.79, -0.188, -0.0366, -0.0659, -0.1573, -1.4701, 7.0222, 1.7656, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.3209, 0.6052, -0.0189, -0.1585, -0.1501, 0.009, -0.02, 0.8024, 0.6018, -0.3931, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.359 left_y=-0.046 left_z=0.0886 left_yaw=-0.0196 left_pitch=-0.155 left_roll=0.0125 left_gripper=0.009 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0021 right_pitch=-0.024 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -4.7385, 6.3795, 1.6581, -0.0855, 0.0317, 0.6716, -0.0889, -1.1282, 7.159, 1.7411, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6545d22009c100185c16f5a92adb85ca123d2fbb06a5ba8f826a323cb5bdbb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7648300b4f8e078d023285d21180ef42a400fb17a5ccf7894a13db3c3d336963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c02ad07189eb44c71c3035a40cd5c8f512d4b679aae41435851073bfa3e2d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD33KSftOHvl1v_-pjnYR-Pmp6tnO_PM0QCquMyT3aRYx1X6SmKkSQYVmXmYnx1LpW0WS6NJxr7ZaogJucj1vecJpnLZ5SU0SmEe14IU9ehxu7o3Vw4WYlzLG-fip2TaGrqQQnvvbLiLpRvrm-8pQZ-qiEKHhYPu4yENN0JnlTwYPMYw1QS2TceTuOBsWcjRAVEEka_hSS-TmVotjpKS1Ni6hygBL7x_0AeijaHTzhzxcaGn6oSP520dtRukIOM2NNWdmp-phzdBDsWC7io-Kn3M1wloTSEESTcHikfUUY54yO4YKoEPYSlddrYqmp--ArBlz-jAxZJjsUrQti94syWsICRv9uQbcG9hxp8kz_fx6oRKi09MmovWm3II1gKH1EDswzMb0_Kqj7VWkZgMyAtGRdsZmKbUWWS6TRrupDuE6104Fb3nlc3B6AxS1BQT0jp5KUqKfwb85oVNPebXX-xdJEvbbglaLrXfNuE6gC2RMdfAVdcvAwrpEfL0hgxLDmyl5q9cKhIeNCGyTn5XCggl0r5IG-Y3wqyFFwG8oX40DXbgEp8VzVx12-THIPzGtIxDS4uxfZ_aNnzZlZLQFuYFplzECTgZC0OKUPgFX6nhuMYGicRxKwaeSSi1_64mtdS5Zn961Ngv9i-Q3P8PnkfJ5vsNzJJTQTSsiwd3tDrnQ65xb3IVJatZV4mMDbXjRrMPB2SsTb5Y_7U9TH7ARv8iX1xOXy3GA9QORndfk9gP17y6JAZY_l8vMiusXuLpoxf0UwtyAz5RMDPcQn0sBt3l97_L7CtJlcQaPI-vA5jCf_rt3fiXjCWZEs8n8xQUcgRhjop1CNl86bKg-3TfbLolbyK7TN2L8WqcJ-10tspwi1uzMwUuSGxyaFOdu0YFVuxLFokDxcvo812DfGkIHv4DZKJ7V-D1VM2Hf_yQODmMM4M_1BNSz3Co-9QUsY26i6uNqt092oOl4KY_i3vg3iWZUUNyKFoh3kikEv7QWVK3VCmrQCYmUgFOKJox6_OwOF3iQVnfDM985GS4dns0CzCnaG0_rMVGWMZivVtBeCQEVtMOJMLc3LdWbVxJmEagZPLyaez6DkBd0s6GbAOwaiLBItCz0tYNRn4v-R7oGalTIspRq2aAgZpHbTqh8eSGbqTtVeMUemQe8bdQM4g5d6Siyus5FWxhjkvxspCuZ4SBCysjykmg3cdoNixEZSBLMcbhbe6bGneRUjn5vVZx7ok1_f_nt_dc2RxxgXBnrrQLT4toENYrIPMS9hGkcQ2D9atqhY7UvuDSleDpqkLd0kyW7VPmzHeCGdWTKJSHvi-gWvZq4uMgaqtIu8CDtGlWPe8sruzJkN5NKmqyRrwEzv4cMHMPm1LZ-9HBegXG0g88a_XUu5Ij8dI0L_n1hxo2udfZwhVu3xVE5T8lKx4_t6-nDXZ0t_yPPQdJDJay1wml2xpb9cgLadssFpWgVDJlORIwPtA_jJIN-ZqC46o6-Jff_lDGR0yrgGX1RWfA1bUITit9qIUVbDNzl5-OGWAnn_Lem8Kh2GD9lLndaiSmkNvZHXXpyjBvGk2ajBuRbMWHoC5eWLKwquXdDsRvLwsaz7WvPeBJIMkltTqc3rgzPSGVPlhNlGYzniNgVKbRBRcuauZv5VxqdT0P9mkze8LbR0J1WTyBYWKk7fufbIRpsZkF48vsptjfnWeeLEsOCssUn0jprsVfVZg-scK2VlRQcBdyLtpTKAgjzDAnIeA3IuN0aJ-XgO9EUjd6CjWAB7z_sR_kiiCZsUopDP7V-KtbQJskTGOfJObi5ifHA8Z2zuS-LTTlCZ0GCqM5-HegPGhyM7S6lfAHVbS0C3PAfr-Ch87ujDrApHqdvDfqDHaNHhQJ545GqHvCGiNFL4MwnIxM7d4l0Wsdgn701tw0w2gFsZ1p39yzeQpmAKoacyc4fU8wG2CjSv3-kvRVd-A9JWWcqJ2o6F_OqR3ugnsq_oK6ZiqAXOE_xXm-6G-rr5W8Y0EnfW5YvSdDDl91uvQAV5AewsIyW9ojQOlLCNQ68oBYNr2eXCFXpDnQMfiG0xz1w2t0Bet3xatdEqDW_JsICUxeVmapb0zHIB2Xqk1cNfxyz3Lgb1CggDepJgh7dPlQ_Qd2XA6OXVA9woNmP7C8Oa8Duf14uSo2xGtSKvRyHVsz8V3beBmiUgHmQS4KzMz-FjQTJAuLmi3x9cndgT_sa1N59o72kdmZyHdgv6loStX-Sa-CRxt6sA15lG2S6NsZrAdiKShNSLZC4Fo_va9jm9pSwskmufbm3esqID_sGBHfXPbEqzj2Oo4WLo8cp1VXyrIYd4IkVx5iExDkxec0_iESBe4acEIbRKdNmn0vqhHmXmDlxbsisPpFr1M6hssA51TZWJTB_7sR_yESpo3BOWNtyQGJqzRACFrX47fkL1vYKo0VcGKOg1SpbID0VSZYgmnewcNImeLnUEMGJ9WUtabQuKypESkZuXVEwpXNj5BBple8OCLzg9xO8MxN5F97SaQAK4ixF_9DzSwBkSTAZK2Tq_jvz5J65M9eIeRzPULI3TQf2CaXQZhsHfX0nCnAlJLwutcyw63gs3oyNECnJD1CN2J50Az3uDHJksO8ktUM7saPG73QB8F3UMlRIQ_QTPLxfUs5UwgMB6z18Jq41ykXcID5YjzE2DQiTPhDnioDVLCm79yBy8OiZ5eJZrK_Y7vGvsrW-0GqDmJCEX7-K7ZlZmGwIe6EhAyGwP3YCyhr3D_NRJHzms7F8kRz6cI3NmxHtHx31r0yrP_nVzK0P75gDmzlwmi_k7OH7Do1rfH-iukUyMjMLBctd_PXsi8_Omzxv58zrJkURTFmkjmqLkgAoUeyQAwF9Zu4W9IljTLe_a4DLT9su29D7LqtFFgzVlq-Om6M46PH7Cjo-3C1gBk-VnWzs0kGsWh3suTTC16WvGIsnMbo8dtvrs0X4S_iRLOwEm6Oy22NAnolgmRI7yaUyiS-RR2aU9WdHttXpyqzgv0Ynqb3ceQMYHhT3m9kHxcLUaN3sFutgvmV-HaN6YrMLaydfckgfAVZeMM68qV3PsE9tDsPCst0_9y4VLdA0sAinJSAHBFvwYoqADrvuL-powX1CVW060e2yqUfnFE18eFFUHp0qCIxAvK0E5-jjgxeY-cuEtKwp68N2O885IsL7iDDuQ8nEIgWLtHJfZO0SWRb30GX4P0DFUIa3Xe0KbTsZIFJrZH-nRXAcGhS2s3UpsCS_UnF2VGd5YcjD2IukiSmc9NmoNfjRt2yC6X-Nqg99A==",
  "id": "rs_06b378f38e4b576b016ab43df20d1887d09bebea5a269b77e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.009, so the centered exterior close was empty; the bowl is wider than the usable opening at that height. I will reopen and raise slightly, then switch to pinching a single rim wall with one finger inside and one outside.\"}",
  "call_id": "call_Bjg8hnDogcmJ9rxpSRLCYx43",
  "id": "fc_06b378f38e4b576b016ab43df6446487d09873e44f1addd599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bjg8hnDogcmJ9rxpSRLCYx43",
  "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]: [-0.2146, 1.2587, 0.7246, -0.2512, -0.1581, -0.1574, 0.9947, -0.02, 0.8024, 0.6018, -0.3931, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3519 left_y=-0.0446 left_z=0.1174 left_yaw=-0.0142 left_pitch=-0.2047 left_roll=0.017 left_gripper=0.9947 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0024 right_pitch=-0.024 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -6.0786, 9.9214, 1.7411, -0.0757, 0.0611, -0.0171, -0.1026, -1.265, 7.2274, 1.7118, -0.0317, -0.0366, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1760b71d2799e7fdd360f18aeba298e9a9cf36699d4eda5cb9e871315bcd3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9310d0a959dc3a1af5def9b0731aba7a788b521797d36b1d6a0e6e65debc6b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebc2529f12953869511d7e3e74797c64ae29791668643297ba2080936ad079f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.348 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1886, 1.2583, 0.6159, -0.0235, -0.1532, -0.1341, 0.9995, -0.02, 0.7982, 0.6037, -0.3912, -0.0166, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3627 left_y=-0.0382 left_z=0.1135 left_yaw=-0.0084 left_pitch=-0.0884 left_roll=0.0087 left_gripper=0.9995 right_x=0.2935 right_y=0.0006 right_z=0.1763 right_yaw=-0.0023 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -3.5214, 6.5162, 1.3797, -0.1832, -0.0708, -0.0659, -0.2256, -1.1556, 7.0496, 1.8437, -0.0269, 0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.3209, 0.6052, -0.0189, -0.1585, -0.1501, 0.009, -0.02, 0.8024, 0.6018, -0.3931, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.359 left_y=-0.046 left_z=0.0886 left_yaw=-0.0196 left_pitch=-0.155 left_roll=0.0125 left_gripper=0.009 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0021 right_pitch=-0.024 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -4.7385, 6.3795, 1.6581, -0.0855, 0.0317, 0.6716, -0.0889, -1.1282, 7.159, 1.7411, -0.0269, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.2587, 0.7246, -0.2512, -0.1581, -0.1574, 0.9947, -0.02, 0.8024, 0.6018, -0.3931, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3519 left_y=-0.0446 left_z=0.1174 left_yaw=-0.0142 left_pitch=-0.2047 left_roll=0.017 left_gripper=0.9947 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0024 right_pitch=-0.024 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -6.0786, 9.9214, 1.7411, -0.0757, 0.0611, -0.0171, -0.1026, -1.265, 7.2274, 1.7118, -0.0317, -0.0366, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1760b71d2799e7fdd360f18aeba298e9a9cf36699d4eda5cb9e871315bcd3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9310d0a959dc3a1af5def9b0731aba7a788b521797d36b1d6a0e6e65debc6b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebc2529f12953869511d7e3e74797c64ae29791668643297ba2080936ad079f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD38rHAYl9WBstZBY-ubyBvvAp2znzCSg1X94ypn2HhybWRDz9hwh4Blej78aXzZuip9BH8XEHS2OauKVMNCHD3hEW4uRw9mgtjBKpFL_EOTG48gDagskNn90uaVL5yYqsjqrK56C-AWMDEVMIhbvA6ZeLWITvhX8bra648n6OqtIoXcQF1p0V5BCA5ez5zNERxD7S91fXRZBtmiYI3g-HAizK12rWcLZLTWmZXn7rw8evh1o9Uj2hzfX3ZXdxO3_QN_YLsuSwNqgrihfUrN_dy75UkKbpKad4MDTfeX9hzjFq-mGSB5Y3IqVztvYrecTs5O26kRrrHhN3WyDwSxPRJqk2m6lRALO2J7ac5ylsHqU3hGZTvSSnuulXM_UqWsMUsEnNHBSvzcrQg48wBZVxNL2n2X_IxOh6TAyMSRKuzsgJpOfNhpTcG2zunJ8caMXANFT3lnfQ81ZofAr0oHBitnf6T9SLyD44h-IOhQDpAEkIrLdC23v6QFX3x4SWauWxVMD7xT2JcC_AIoeQe5kdnc7RJvEYXJk1vwtMBoAq-NJHp7z9dkG139x-tG6KnZ7shIYX7XhXbaSYO_mD3oFRNq3z9T8uiK_xW2QbAVCzPuKewKMOIqvmOZ0nwNvUZYQRjpC3PudyVRA_OcFrfRc8wPHE14I9TguGAzdndg26clDLkSRhwsz3ZHltHagMx64-a0NKs1h46mwoqMMuW1h9pC6Z5FdTniraQ0TRWUVtP7dqWlP79PLkWbBO9rjmzAiOGZbOBuCNfFyTEI6-gIUPRPxVbM_aH3gCmb97y6J2wImv8iOf3gO2ofdUXg-F-P12F_ZdPs3E-tMiQ0EKDhAtN_rr8preGY6oWZzEL0TKbZ6exrizRkoZ_Kz3y8jqUuFatQS1BNzfpD5IbNOrD7AcbQMrHnPAuZuMXvTVsqLmeowX33nskI5pKivj6ZUkndi68Aggd0QjjLlegHKUFKEPchIuj02ZXgXGCHaErnx8MTQRjBV2Pdxzr7SusMcTWZ3ThytW3He1cgE00x64Pk_ddIDzWzb5MyiDBI4OTIdXvVyN4MJX1EMZF27LeXE_rMF8mjA1djiw60DQloPFC_JKEGx9Y-QwKVwVLsg6TCwNSLCM1THeIHPvC0AiZLngeX6FDDUoRldSLM330Py6KngmRqdSs1vaOLob1FZi48yu9cT0lUd_BG-hV3mU1ou61bsBNlQxlrRA0OPF2f3Itsdj-6Eves7X8kxTvN9iRFrBBRmoERjp2ZfV8V1sSLsEblwXpx2ZxyupV-vTdSUmIciZdtSLdWhrWVS9ZGErlG8RafVKohbD9V43veVd_cuEcZ6Kap9s5pmgitN4cG48VRQ9ermeDtW1ICAdk9IRGZUG-4aESSJGjDHdrJJ0BIOHIITOcEq8Y6zjQX55KodKfzT_qKJoqT3WCvZPm8BcHi8NbDmdS5c_0ieHR8C61O96yKKkIa-QTlQwsTLU_FrILvbeAGgDTzuv93C3Yxg9PVv3gTa2PNsuE3QyPpc41E-TqZPGb6DMjp7j1WWmKej34TgfCz_eituw8uOsrN6N47SyXm2Z0ycx3jLpWVKrZAa5zczX_DzLBMS0Gn-KI6sqCZITRUE3--SgqgBqfvbJy4I_dFRDSxf2x17ezoiKM_It5XthWwesAcq3hEnmCxQNsPv31RuTkFB0LotN9WQHfRbtOHeGmPzO3rNIqkul5gKs69-LqOm2lX0M3W-4_HifIzLJcossPW8B2BbmoDtSb3yPJCGKxUNCuUaAhLk9-Iv6hflrci",
  "id": "rs_06b378f38e4b576b016ab43df9e64087d0ba1c36dc75d04496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.095,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"With the jaws open, the blue bowl is visibly just wider than the opening, confirming that an outside grasp is unsuitable. I am shifting the gripper about one bowl radius to the arm's right so the jaw center lands on the bowl's right rim for a one-wall pinch.\"}",
  "call_id": "call_QPU0TwoJKF9P9E7muyr3AfED",
  "id": "fc_06b378f38e4b576b016ab43dfb518887d0ba9491ca5f600a79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QPU0TwoJKF9P9E7muyr3AfED",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4007, 1.3186, 0.7532, -0.2874, -0.2626, -0.2752, 0.9988, -0.02, 0.8051, 0.5999, -0.3939, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.0916 left_z=0.1059 left_yaw=-0.0426 left_pitch=-0.2464 left_roll=0.0266 left_gripper=0.9988 right_x=0.2931 right_y=0.0007 right_z=0.1722 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -4.547, 9.2239, 1.4872, -0.232, 0.0611, -0.1441, -0.2393, -1.5111, 7.3094, 1.7705, -0.0415, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58c9d1ee35f4a3710ae2eeec2d8717b9c0587fa7ba95124fce176a81bf42c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2bc082db87e9f3f3ebf0219b82796073a97d0f2f91dfcd3f7310d8903fa8b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9432b8d20dd8f2d1673ddf540fe8f8e9c933663692b0cb98520ba2427e18c449",
      "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 7 attempt 0 · /responses · status 200 · 3.569 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2142, 1.3209, 0.6056, -0.0109, -0.1589, -0.1471, 0.9995, -0.02, 0.8024, 0.6037, -0.3927, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3604 left_y=-0.0461 left_z=0.0902 left_yaw=-0.0208 left_pitch=-0.1468 left_roll=0.0134 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7504, 6.8034, 1.79, -0.188, -0.0366, -0.0659, -0.1573, -1.4701, 7.0222, 1.7656, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.2587, 0.7246, -0.2512, -0.1581, -0.1574, 0.9947, -0.02, 0.8024, 0.6018, -0.3931, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3519 left_y=-0.0446 left_z=0.1174 left_yaw=-0.0142 left_pitch=-0.2047 left_roll=0.017 left_gripper=0.9947 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0024 right_pitch=-0.024 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -6.0786, 9.9214, 1.7411, -0.0757, 0.0611, -0.0171, -0.1026, -1.265, 7.2274, 1.7118, -0.0317, -0.0366, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4007, 1.3186, 0.7532, -0.2874, -0.2626, -0.2752, 0.9988, -0.02, 0.8051, 0.5999, -0.3939, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.0916 left_z=0.1059 left_yaw=-0.0426 left_pitch=-0.2464 left_roll=0.0266 left_gripper=0.9988 right_x=0.2931 right_y=0.0007 right_z=0.1722 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -4.547, 9.2239, 1.4872, -0.232, 0.0611, -0.1441, -0.2393, -1.5111, 7.3094, 1.7705, -0.0415, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58c9d1ee35f4a3710ae2eeec2d8717b9c0587fa7ba95124fce176a81bf42c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2bc082db87e9f3f3ebf0219b82796073a97d0f2f91dfcd3f7310d8903fa8b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9432b8d20dd8f2d1673ddf540fe8f8e9c933663692b0cb98520ba2427e18c449",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4BpN4Nh1ryyysPq_ehqemtHMeDpg0HzbmyCVQYGlZXmG_pEXgMcDn0ej6caCIlNvz3q0GiRovt4eZ164VmzXtINsj3-Cehf-e-V38wGCLGFJMVoeXrDGEB0VKCdmKFdMh8jNrbf_KT16Ys0aAORtqbOolzkwSeD830hZH_RJm9mGuHiNVP3yJepFSJBQBwZHp4aDCNPiahHN7bO87tSYRJwM0zn08zAtlU0jVYZweFFire8dRxhtg1J7EjMo5hAH9x2UUsm7fCM_76TVxzOHvZ14oDtUwYn9SWLLkv_sdYCDWExxeRUZTYum2HF36zg6XcznC5Y-5R1T-smrrWTRY9bx6KYCEgcyg2ZKKb3r55RYT0WGWrkswZGatst9yJsaxxLUGuB3n2cucRn3kMUkfwsnDaoqy6r_4vP3Hkt7hTRmbutyauDUBzazsAioufqkKIQjizCyhOqzxE3fOcewTBTk1qgtyT_Q4c99i3BdrkLDPM-rFQT4ubkMbWiMXct67fRqCYVKJdTyiSGwIG20IlYzn8_8xVBq_XJ2JrlsiYl-bGbKlNadS15Tqsjs9jSuxHlEfskEuCSPmfOd3IITV18sZrW_gc5hmeum_OB_VZx-N2sTdUkvCTLl8U7xc9JBBZX7CE1AZmVwju9n6rV1NCJ1XtTT5JrXLHG6NeeTsvK1x1RNkzpLlBAN93d4v_vVWcvUepegvDthHVXrqaEHGrTjbTm3CAdKf8fYsAHSmYoyewJ_WFhXn1Txgn5yB4BMgCjrXxuc7mg9PIIb6a6_U1OuHQ4Or8Uq3mseljGkcofX-p7rl7GYRkPsThpHXr85Vkwfh-IdmHKv2--gjgw6dSG433aY9H3I70UWquppyDfSXY9xEecEdwf8QApkaOy0SYrmJpxzJT-7SshaU9izvNFHIyBtG_dvEnmnewQai70QlUHYQmtDgkWt152a5tG0_F4g06AzZB4v4b16qXXJ7N1nRKZNA98zSdj8pG9Xq74U0Ax5An_LqGPIW8-KTs09v47T2r0tO77d5Ljxnnvc8xZemrKm5qunvIWAFoR2j9L-nuTJGa2Z6iAQbjlB1TUiH61K1PzVgsfgmmmcFViOERvPm4gYbNxK8E9ZvMQfdO_yBYQnmfe0qqjyRJKRdo7UIxsmCCALJdzbN-Uyp23K_OyUvPc-VbJo792qpktfYeFGnoie5_U2lrypy8mJfn6_3kDuzwPfczCsx-mO-nBgVMS8iq7hQBvnpSEQ4bOVoKK9zfoKxK4Etr7lclr063InTX5HEHY5KmxuTAYBdmYuyr1CGRog1b-2kNeTzfU6Sn0lCsmZUrsstZM8iIVcKBhLq4ttAFQzm_5oHSBCMh-YjGRIeDvbSHw_x5vBGTO6pXpY9bELxZa7cdndZA3TyZJZ2mek2iZW52qlIQJxm9rEQc4i0Z1Oy5phikxFz8er9kwAB2xu5qYFVeiZjLlSgaK-QNXVVOM28e0msljqE0Gf4d11J0WQiZRj-WFOk6kcX4GnCM9AbSKI_shtaOxRi7AEpd2Aus-VM3UCJnA3sCZbs1lAq9K3kOAwa9KXwgg0sldszSc9k5hwG_kIsYUAeuhEVYr47OV6VRVtTOoWLKiXDKyx7sSwLqci7cxQtnL-7ahbytS5XT48FFDjGzUb2_dSWsWTzy7T_FHG6RqThIXjuJ7gX3KMR9TIAjaGMWw0uSSUVjVWRcvoLEjptabDe8GRjQAAOggVtXzvg_WXXLa89pTTFHxDHr0aKzJX5wois-pfW5CrrqoAEM8lrjtZZazM2sTfJxD84UdE18r23n6IGCmUZQK8gpR7DrZ2SLjfcq5ImekVfSnVSw9eIsPYDooellF0mq0QSYBUoPgTekGtYhSJu4kjS9othmlB9yFMm9mAk=",
  "id": "rs_06b378f38e4b576b016ab43dfe46b887d09d001957031fed15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The lateral move shifted the bowl left as expected, but its right rim is still about 3 cm to the right of the jaw column. I am making one smaller rightward correction and keeping the grasp point near the rim's upper height.\"}",
  "call_id": "call_KbgpQPGNBOyXTbJMY77JXcTp",
  "id": "fc_06b378f38e4b576b016ab43e0012e887d08f9fc208e22b04ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KbgpQPGNBOyXTbJMY77JXcTp",
  "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]: [-0.4171, 1.3228, 0.7612, -0.2955, -0.289, -0.3046, 0.9988, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.093 left_z=0.1074 left_yaw=-0.0204 left_pitch=-0.2424 left_roll=0.0264 left_gripper=0.9988 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=-0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -4.7248, 8.8137, 1.5604, -0.2418, -0.0513, -0.1392, 0.0068, -1.1556, 7.0496, 1.7558, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad2460c6e051b15f91d9785ad78274bee63085c89b0cc538d4aa71f7c43b942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36333c5cdecaba2c3f1e4d348e5cc9de4eed198f86058c1cef196350a0b5756a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0de080c720367a13c841b5d5cb546b83ae1e7fa95561a0435ca34df98cd8bbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.701 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.3209, 0.6052, -0.0189, -0.1585, -0.1501, 0.009, -0.02, 0.8024, 0.6018, -0.3931, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.359 left_y=-0.046 left_z=0.0886 left_yaw=-0.0196 left_pitch=-0.155 left_roll=0.0125 left_gripper=0.009 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0021 right_pitch=-0.024 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -4.7385, 6.3795, 1.6581, -0.0855, 0.0317, 0.6716, -0.0889, -1.1282, 7.159, 1.7411, -0.0269, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4007, 1.3186, 0.7532, -0.2874, -0.2626, -0.2752, 0.9988, -0.02, 0.8051, 0.5999, -0.3939, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.0916 left_z=0.1059 left_yaw=-0.0426 left_pitch=-0.2464 left_roll=0.0266 left_gripper=0.9988 right_x=0.2931 right_y=0.0007 right_z=0.1722 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -4.547, 9.2239, 1.4872, -0.232, 0.0611, -0.1441, -0.2393, -1.5111, 7.3094, 1.7705, -0.0415, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4171, 1.3228, 0.7612, -0.2955, -0.289, -0.3046, 0.9988, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.093 left_z=0.1074 left_yaw=-0.0204 left_pitch=-0.2424 left_roll=0.0264 left_gripper=0.9988 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=-0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -4.7248, 8.8137, 1.5604, -0.2418, -0.0513, -0.1392, 0.0068, -1.1556, 7.0496, 1.7558, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad2460c6e051b15f91d9785ad78274bee63085c89b0cc538d4aa71f7c43b942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36333c5cdecaba2c3f1e4d348e5cc9de4eed198f86058c1cef196350a0b5756a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0de080c720367a13c841b5d5cb546b83ae1e7fa95561a0435ca34df98cd8bbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4E4SAgB02-n1TT1ZoK7OOhmOHTGaJci_RxagBOCNT1sTtyYIHgfKn55KpJpPkRX2lcS6icI2qRi-y8HIgv3kyAcC83E1eGbqevq5R9WCwMpttQBNgShS7pUkeMo09H_ysOvyxvmzQkBjDpPgBkbSe25k3fx9PmiNBtLJrz7tlqyJL-uZ_meO4kH5hwVgSbMUPCcfRA2jNi8lYZuRmigEcjkycvMTQOLG12lNHM4MnleR2vqtt6Ol6IS6gix7lqCfroCZhNvF7QbXf7fduYVlCoDM9RsaYLxqAGMhDPKEJBYtHxsTJ730KoQVo_NKIg4QoK7ryepVHpDHwuMVLNTfDovtTb9_oDUzUxEUmE_HE6KiXHf7M2dpUbhKQKWKOtmDmkEClD1439VOicogBCBRoTXrBDyv0A0bLh7iXzvpn3_AFXgQ0FBNRjCUIqgdzF9psw-MIfvhg8N1RZZbwaZr8zc6p_zjiIhov14ftl-VzPmOm6vWElbbQSKa3NSKYNyv0yR7xn42MJjmuymJmooVXDi3HGqsUnos4tZnDCLrghA39uyn1U8B1D6H_gWNEUrPsvQbc4mZP7VSqZM-TERy3vOWu3Jk4YaOXWkVPBI9dhBQSbkiXH1P1caTMe-LukjAnqYGhEXJRGnUyt-XtezTEgGyYMd7V_jiGEZs_8sdznU9BjSApxfEkZ5M734Um71zWpIyYlBBa2vLCD6qRL5uecvkGAo4H3ByheO_afySTX72QXOYRqBgdlXlkM9gFE8uGOS7lgxcxRrRaYv1EW61SWV8ASpR6PppMrNhkCX0N2TSTt_iSwJEonId3CjOqVlZL8T_uptDXG6MyB-jTd9rQR5H0L6GqYsgN8j9TCuI7B0vHbIToXqFohnHwuLWhXYdmko263l5LCPh4VS-WfsDHDYQXD5n47s_R61Ijado-2q3vUEFpJuhqWjCY4kg62K26U-9jUPi-u4aHfT7Bu2PeGcV07-okfVs4-UNoDW1OOx8O7tpVs8c2hLh5Yl5FFz0d5G0jA34rwZ9o65ZcVPkmRhJ2kIvglE0nKp8pLuyh_ws-3td5Ezt3GWb15UUY--JrgumFbUXP-qXwXsLDlHj8IOUVlTkyyftjWF_w1LnChsDcIJxyjbKduLbvkAFxLvQKI9YjiOyLKH6hcEfPifooN-V9x65V8d13mEnwypCB8XCJbJpYRqFko2gv9C4nRbbk8RxVQT3knAUjSyPfzfb9qR5KI3cKolcrfMa0OEHbN8538z9M3-AUUx91w7i2o-oCaIb9Caw1gjA1ltKZUKSKHjIhVyohoLjYW2kUhgpl6EEGyH5fSlGZW1Lvbkl2q0lTM7vM_2vAeoWe1vIg5VfJ_9DvX_Ukc3gsJKYaLJJamTV85YExYX79H0AXgqnqTed4DDXR-kQzlP7oh8vs7uvmQYoYU0HgJVCie3InS-t1Qss6oRqECTimdGBDWyID69gBuggdfqeIn-ZpAD8ubS2hpdJHRU1CDcoUUHyyjCN4BOOMllvDQqvqFP4YqFkt2uwifkmNu0FAyc5_JeNc7rIF0WSRj1RJ1rC_A3By-ub5fe_4KOsCUQYXh1kPCuhQCsPGwy4SJZccYcrKU2RqXIY554YFad24bs-cTWv8GlSXbXWUn--dtTlquFeFZitpXqSDNTyZG-MLxYPk6-Fl49JQxas6HCZpg5exdTbBiXEBUshtDgy4NMG4T1SZTRKGVzH1CuRsJzK77re6KZsCD_S2LhctFLo_1_0oicvlXq_jUtUsW1v8rafKBVaO-ekyBiJwb",
  "id": "rs_06b378f38e4b576b016ab43e02290087d0b5aec71dd05361a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.12,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The last correction did not track—the readback stayed at y=-0.093—and the wrist has tilted noticeably, so the arm is in an awkward low-reach posture. I am raising and slightly retracting while restoring the neutral tool orientation, then I can approach the selected rim vertically.\"}",
  "call_id": "call_P4EORQM2Bl2KVQUjUO6vVZl3",
  "id": "fc_06b378f38e4b576b016ab43e03a10c87d0a53fb477035c55e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P4EORQM2Bl2KVQUjUO6vVZl3",
  "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]: [-0.5293, 1.2526, 0.7551, -0.313, -0.3855, -0.3435, 0.9988, -0.02, 0.8066, 0.5983, -0.3954, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.1293 left_yaw=-0.037 left_pitch=-0.1687 left_roll=0.0434 left_gripper=0.9988 right_x=0.2927 right_y=0.0007 right_z=0.1708 right_yaw=-0.0019 right_pitch=-0.0339 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -7.706, 8.1436, 1.8242, -0.5201, -0.022, -0.1392, -0.2803, -1.2376, 7.3641, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b502ab01899bbc036fe43ce7dffae810a3e27f8648e01c7af58e3389a07b949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d7319e204bdd9022bf0e4de00c9930c994d02239ccce40a36cc4ca01dc8b5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490ef3b21d016a68d698c7ccf7051db350edaf558b148d44742a3ce5c168c75b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.071 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.2587, 0.7246, -0.2512, -0.1581, -0.1574, 0.9947, -0.02, 0.8024, 0.6018, -0.3931, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3519 left_y=-0.0446 left_z=0.1174 left_yaw=-0.0142 left_pitch=-0.2047 left_roll=0.017 left_gripper=0.9947 right_x=0.2933 right_y=0.0006 right_z=0.1739 right_yaw=-0.0024 right_pitch=-0.024 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -6.0786, 9.9214, 1.7411, -0.0757, 0.0611, -0.0171, -0.1026, -1.265, 7.2274, 1.7118, -0.0317, -0.0366, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4171, 1.3228, 0.7612, -0.2955, -0.289, -0.3046, 0.9988, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.093 left_z=0.1074 left_yaw=-0.0204 left_pitch=-0.2424 left_roll=0.0264 left_gripper=0.9988 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=-0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -4.7248, 8.8137, 1.5604, -0.2418, -0.0513, -0.1392, 0.0068, -1.1556, 7.0496, 1.7558, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 1.2526, 0.7551, -0.313, -0.3855, -0.3435, 0.9988, -0.02, 0.8066, 0.5983, -0.3954, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.1293 left_yaw=-0.037 left_pitch=-0.1687 left_roll=0.0434 left_gripper=0.9988 right_x=0.2927 right_y=0.0007 right_z=0.1708 right_yaw=-0.0019 right_pitch=-0.0339 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -7.706, 8.1436, 1.8242, -0.5201, -0.022, -0.1392, -0.2803, -1.2376, 7.3641, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b502ab01899bbc036fe43ce7dffae810a3e27f8648e01c7af58e3389a07b949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d7319e204bdd9022bf0e4de00c9930c994d02239ccce40a36cc4ca01dc8b5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490ef3b21d016a68d698c7ccf7051db350edaf558b148d44742a3ce5c168c75b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4IId5nYYqcaBvX4QwGgp9iEsf8hy-WmgkbIaHtFZ2CUfKjBXl5Sl3LpuQtBIoaykz2ymM_6wkgVVfj-eLRU3AeefZwpcQdFUrVOMI7B9-Vj_VcRsjramtAPx9iqL9_7bfQGpLhq8DnT-LctvQkrXf9fq9JyzN10qiDY04rXyHnhnnkgkcvTLpNNKg1e1kHObrhUn47eKBPHQGWeKNGWFkx52DP2xilNzlnZeUKTuNTMk4TKkgNCjYp9nbx5BDlemG9YcsKIFgHfuBdBlpVskad2iaPgEy5BFW2WJaqV1eQGOUE4SdKbjHe-hxzCzjOkqgMeP38EbtDyQPqFiLaSgMVWC5ihSrp3NA3sNWEAeI2hJSexTxABwU_o2bpZmItpvbJvdVl2lA9_yQwG27Z-aIu1BQTswnApzWVz0-3m87SxBdJGlfYSaUVKqgR6cqzpbPt0ITaK6KG9CwBMIZDjvtOA2AVmLF4eYjKzW5eddMdgsIgOURlzOyKZ2dIkh9JEndMUkFlt0whLR034JnEIXyndhxvWxaToxxjrEmVoRnS9M0UPlpWyJXc0-TxogPJ2eHo6Sb5nmk8veiknIIA0sSsEjTlXOKgejZdcnlH4QO8bwkIHG0daP_ZoKIj3k7Jr-R4SdoT2J3t7uKH9vyg5LHED98DxIf6Huc_YaU4A-XakWE2Prp8yLtZZgiabDhq4xhBNGGqfEEuarRMW-tPTLAgSxRELAp8a9OnactDKGAO2f6_r7QtUD1NITl3UN2Z05blTrOxsrYOnQo8cfjv9DEBnTnbA3oNBSs6sglLfQCVeyl7AVk9mkqUOPATHKB15q_vBuW7ptA3pD7FvCW9N8MnprJe6nSRFC3vSdYdKXaMamc2WkcncUqQxg45IRzDzC_4qY39v3O5Ih6cgykFRx1RIi3yHVZIZbk-1glu0YZlW4hOqvo-bat4WIS6mfnPWRCiclR0xQBOqnFxrL92tivIspPSZchfGnINHKfUGBfACVLwprUvVIaH6dU9Ixbk3FjbIygPEJD1Oo7zWmDF5ApeVdJcpuXdvn0KWp-pcmpGZ3nmTXl6Y9n4AxVxwAJEwE7_AW8Pt-VEdYmlbXoNTMOX1Z0M9qFMgcEB-HiZCmW_b37hgS3BkU5U4my3-fW7reskb-S88O7NP2qKqaY59FEJ_shQrbvy1TWLJ5a_4ciG19BZDtjIB1tYfKpW4JAPcZ4LKgiz6cc6xACKK_ArbKRzsSBaAXIfjMsYXjOQhd28TcgQEpfW9bVDQ8Y8kzHOVO9w3cGWMMU4XOgAO6h2ykF_RGKF64QS8FY7Skg7EvNoBayvz9YdskffFoDuqgVlB1cxz56gpmRENk3YE9xzvnRRg2WUP8r3SmDNnHfQU6bbIY4vHTI0NUKOI1Jtja7p8cqjbV7jop_yfbT7OJTpzDgPN5gk_u9astmDPrsoG_hO1AJvUMxgWjkmXcF4ePPkjARkVYurGygYtVVjkWZd134XCUcj2pwQ4UDi2pCSoReD3QepneTDG2HigI107VaTlC2nhPmwYOSzBIEwddoE_mZI-ksLg9ykzXuD72sQ8sEi3oh9e3psZNE6AP8DSjSixqVI",
  "id": "rs_06b378f38e4b576b016ab43e0685f887d0b31db0af753c178f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.14,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The higher posture now tracks laterally, and the chosen rim is about 2–3 cm to the right of the jaw column while the bowl remains slightly ahead. I am aligning the open jaw center with that rim at a safe height before descending.\"}",
  "call_id": "call_sN3u0ErTIRRJ3JATKxvfpE8G",
  "id": "fc_06b378f38e4b576b016ab43e07831887d0aaa411fef1d4e88b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sN3u0ErTIRRJ3JATKxvfpE8G",
  "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]: [-0.5991, 1.3418, 0.7383, -0.1226, -0.4751, -0.3874, 0.9988, -0.02, 0.8101, 0.5957, -0.4114, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3497 left_y=-0.1366 left_z=0.1288 left_yaw=-0.0173 left_pitch=-0.0635 left_roll=0.0197 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1654 right_yaw=-0.0018 right_pitch=-0.0561 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -4.3009, 7.159, 1.6484, -0.4567, -0.0513, -0.1392, -0.0479, -1.5521, 7.241, 1.8144, -0.0611, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bddf1ae6b04d35887a835affc51573f9d23c580aa8b52569951b56d52a76b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5815479f0aca969a9a40309b8d6bba16dbdec1f94e5256f3cfab65b59b908d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceabe0656daaa07ea3caea02ab4070def93bf4c972761da44d99d7a1c9e2108c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.693 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4007, 1.3186, 0.7532, -0.2874, -0.2626, -0.2752, 0.9988, -0.02, 0.8051, 0.5999, -0.3939, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.0916 left_z=0.1059 left_yaw=-0.0426 left_pitch=-0.2464 left_roll=0.0266 left_gripper=0.9988 right_x=0.2931 right_y=0.0007 right_z=0.1722 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -4.547, 9.2239, 1.4872, -0.232, 0.0611, -0.1441, -0.2393, -1.5111, 7.3094, 1.7705, -0.0415, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 1.2526, 0.7551, -0.313, -0.3855, -0.3435, 0.9988, -0.02, 0.8066, 0.5983, -0.3954, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.1293 left_yaw=-0.037 left_pitch=-0.1687 left_roll=0.0434 left_gripper=0.9988 right_x=0.2927 right_y=0.0007 right_z=0.1708 right_yaw=-0.0019 right_pitch=-0.0339 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -7.706, 8.1436, 1.8242, -0.5201, -0.022, -0.1392, -0.2803, -1.2376, 7.3641, 1.7802, -0.0464, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5991, 1.3418, 0.7383, -0.1226, -0.4751, -0.3874, 0.9988, -0.02, 0.8101, 0.5957, -0.4114, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3497 left_y=-0.1366 left_z=0.1288 left_yaw=-0.0173 left_pitch=-0.0635 left_roll=0.0197 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1654 right_yaw=-0.0018 right_pitch=-0.0561 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -4.3009, 7.159, 1.6484, -0.4567, -0.0513, -0.1392, -0.0479, -1.5521, 7.241, 1.8144, -0.0611, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bddf1ae6b04d35887a835affc51573f9d23c580aa8b52569951b56d52a76b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5815479f0aca969a9a40309b8d6bba16dbdec1f94e5256f3cfab65b59b908d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceabe0656daaa07ea3caea02ab4070def93bf4c972761da44d99d7a1c9e2108c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4No3bxcTDfm6IUWXOrpH7TxQjRftvle94aP5H3d7KwugLMyrFAymhfAOn0SDRoedXzgxP8UJ8tVYC_AxgqrPqdufoNe87Q-1FAxCjpNR6NZ0LjyHBFlWTJvXaBTsg--iFNzmh8rYcuc3cUqGMaiu_VcYbxlgg4enwwe3gCFGEmH7dXbMSyTANKKuhyD4xMMhv4znLs6TYF01dXvAaEEQZzZxaDh7-EJx9yJqhiE2zUhjls5EkczxnjEr-l-Z4T6hltsKPD7_mQQtzmCLLqBozHhXSaYnMatOAt8ep5C8xlPYKYNAAs0Yps6ZP7Qd7EFG_A9Vwi1psIqIs3ob5f8VhYvYu7aLVRrn0tllN43tNbQhae8xva9wTfkFGcOpM5PmFxOBP9UBU7ziwOOSBunbqa6anOl0lPbf_o7X_PhB6RipCGTcaqVRnILYtMMkBYPQZY0AYhJbpM96WTEuyMcMxtJjmQE9JaO31APA-65vMUBIcuT_DcF6c571u7rztXmK4ZHhQ1V9XpSBe2uXKFJJewduHHObiV-4xxCBqTo_mPJqcq8PtGZ2VsjhKVWZtqbSafzcxKKfyjI7wM44_CqMnPQDSM4kcZDehMK4AZhViclGkz3EQG5bAu4bkDkCRAkQR-9SSKaum7bzEhE3ceWEFPKQe-syEZtH9inDOGqowFxjn_5g1HM2xHTOWniDqjMlm03gUlG-4uqm8MQxuCYayvUOcmjrDMvvx2cXag2cz89_SnekQjHYGo5c1dVnVA4IMT7j5xy5RRJx8ByvO1sY7mGfm8fsnxdOWuFC6beBWlQ0etVo3XvJhs-1SeYMYZqXgaFO5510q6tvZdUmo-u7pMT1VHDwIan4e41hBN8p3c2RELa7M6Rq0_qtBz4O0O19KfWBCQNhVcaoOrO4xQRg6MxzcPpSvOcSDck86S1t4xi81ouIPSTdCupP8mgrcLyQB6tYUnTNUjg53dehah8FmEGqTraYmP9jnwukHxm9teaSriuSyfskfARsAC-fzEQR-hdY4x0M0o8HOUa5mC4en8IbOVYnh-ehss1_gKk4mG_3r1RUcT8SniIQ910TCvngYhtDbRbVu-VbRUGqCKfbf30e-_mp5TtJrO-GEfKIQASqimG-kaM4aN4si4TNt4kBfp6PhHKw56C-Cp2eyhPXBLfjccaA9CPHhyliJjyxEWO_UFmZECO6Bcf7ExxJcBEEwjluVv7AKLX6L6rnKT-Db3KQT3utGz7KQOGGIfFu0cuVWr16sGsgACsiFnSzUUX_Rf3kk5XUl8fs8GneXtVvJrsOTpzpevRelycvGncPt5NuveLC-5rdu9X0seRACz9qnb9b6jXyhxyyv-d0dAPcRmf_5lGFVw59V7tXwl9X3pxgJyQYYsuGeh9oyPp0AoSFHkJmyfZwOCAc4t3X9oS0sR0J7NzBVwaF6qHq14DPCz1k9D4UGZqjXFPdN84i43z1vpnR7-OOfwS1zVThp6tQSxGCPWuwSwQA8Auch15da9Oz5lw4KmUxXhpJMJOwqylTaneSt3yZspyPzeGGJsGjAnes1Zmkef6yVMw2DTAgscsVGT8u4cuzrYaRgQwaCmtatbr7z4VFyHCgxU4VPq6g6O2Q4zDVup9W2MCcZsAxtIAhoLbqKQr8g9RRf9FQ8cCvS5QWzZOi46-6kXKb9iH3YLvpmZpyG4hwScpk8RIA1Ct8ottP5gprPEEmD4kyLbhjPelUvsZPQ-5_tKW4uZLgWcZCglRejBj0xoo1e6aBdgeNyuOLSfykMD2cvBUCQtYpup_CSDOozGHVsgO_Qqv7A-MiNp0TLMUwRYxXwDaavF_ePxq9I63kB29xfR_bnbSSVq1zjlJnTnPNL-abwCfU74Oy6VOCbY3KzVy8k1qgLcZ6dpvICC7kujkvB3RIRHpaR45wzQBwxYI2WCFzeP2u-lk5rc4JyZxKGT3E10cotQOMcCwZvVnSMr9AD7fVjvL7M96uxXz3Rf4jOskoISlNMFee4Y76EaEixIwaYgf5Y54YUY7HuxJYH0IFyixxnUKeTzxwY_BF_qt52oLSeM-JWVWy4bAVlWgOzGddZ7Z_t5M2ocZ4t74u-HTqewFC-NpdXEAetDkangrfF4hcUXLQlLXUMWCI5xoAngfeVKiFqxtrgZupSHWbL8RUTCT6qMO_4HxeyhtXOTjiOAgMki5creEdwHdwIfNnZsV9SgmX0h0ojXENy2AKUHgNk4kVrpPWs6J6SWoOcYcnOesumMe7EHC7lJhM3w9xOifqQIfCiqWst2nxKnXdWzXunPB6HuBfR5JrED6M1vX66Un4yzuvHeAXhj2VVtcJz5h1XDCGnapcDNsW1WKoREErwKIo8JxALLQoWbmB_szRwmGSgJd3DaSIdVhyE47zAl3Pn57LMFxCuiPXewOPbFkPEynoGqRe_AiVqp2_zpodTmnf_mxys3N7JpoTWGWoVoZVPjp-XbqiwT7BInOoDiUT9j0RwnacNjrYzH8tiqWCa6SpTTh2KE_TeMoGa8wy4mNkQzzq7HXC221p_6cHAb79mzinGfRlGw",
  "id": "rs_06b378f38e4b576b016ab43e09f19887d085cb5bd93ac00a66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.137,\"left_z\":0.065,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The blue bowl's right rim is now almost exactly on the jaw column, with one open finger positioned to each side of that wall. I am descending vertically to mid-rim height for the pinch while preserving this lateral alignment.\"}",
  "call_id": "call_gUEdsatfQanUmnSfHE9uVK9I",
  "id": "fc_06b378f38e4b576b016ab43e0cb84487d0b986e8e8ecd180da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gUEdsatfQanUmnSfHE9uVK9I",
  "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]: [-0.6006, 1.364, 0.6876, -0.062, -0.4885, -0.3904, 0.9988, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3473 left_y=-0.1331 left_z=0.1118 left_yaw=-0.0063 left_pitch=-0.0686 left_roll=0.0315 left_gripper=0.9988 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -5.2308, 6.5162, 1.707, -0.2076, -0.0317, -0.1392, -0.0752, -1.0872, 7.0085, 1.6972, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d2f31a06e4b7634dd9a96f5f988bee2110b910733ce585e61c4781662eff259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33eff376230d60e5358e4dd97523409f92cfd917ff4863746d54da0043b839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d926aa85c6321152974d06f9322adb7fd8bac2047edabd4ed35d8ae3dbf735",
      "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 · 4.927 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4171, 1.3228, 0.7612, -0.2955, -0.289, -0.3046, 0.9988, -0.02, 0.8043, 0.5999, -0.3939, -0.0162, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.343 left_y=-0.093 left_z=0.1074 left_yaw=-0.0204 left_pitch=-0.2424 left_roll=0.0264 left_gripper=0.9988 right_x=0.293 right_y=0.0006 right_z=0.1724 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=-0.0003 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -4.7248, 8.8137, 1.5604, -0.2418, -0.0513, -0.1392, 0.0068, -1.1556, 7.0496, 1.7558, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5991, 1.3418, 0.7383, -0.1226, -0.4751, -0.3874, 0.9988, -0.02, 0.8101, 0.5957, -0.4114, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3497 left_y=-0.1366 left_z=0.1288 left_yaw=-0.0173 left_pitch=-0.0635 left_roll=0.0197 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1654 right_yaw=-0.0018 right_pitch=-0.0561 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -4.3009, 7.159, 1.6484, -0.4567, -0.0513, -0.1392, -0.0479, -1.5521, 7.241, 1.8144, -0.0611, -0.0366, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.062, -0.4885, -0.3904, 0.9988, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3473 left_y=-0.1331 left_z=0.1118 left_yaw=-0.0063 left_pitch=-0.0686 left_roll=0.0315 left_gripper=0.9988 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -5.2308, 6.5162, 1.707, -0.2076, -0.0317, -0.1392, -0.0752, -1.0872, 7.0085, 1.6972, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d2f31a06e4b7634dd9a96f5f988bee2110b910733ce585e61c4781662eff259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33eff376230d60e5358e4dd97523409f92cfd917ff4863746d54da0043b839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d926aa85c6321152974d06f9322adb7fd8bac2047edabd4ed35d8ae3dbf735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4StvcNfmDPP_kNh6mNcg1b7xMCt3_0TTtBD-k6cIOno5nLhbrucjr76iBbTAVnUOGIPFK_aivc5g-o1LRR-edP2rUpimrs5dxiu9NGGBGOB2sVb9d6WYwjGf3f6r_0DLU4SFOA-20UX1vwmC056ONeBPbHgzLgXaFNMKCTOkIWhrQdrJ1JZeFiHuLK9T7Blz9IcQoSNtEsBg1aSSEN1jl_tdYpVu183RKAomlyqqVx9OqjX_WUA045-xuTMwJY1ZMz_woriR0kWlGreO1lbvbIyx5fnJb6XtKGCtMx73Bu7ZtXyHNxlua9MrVDTll71SNqgzIPrLiMNW9gtNpYwO_eo7KZxJDL2Qizy1AE8-UHTT505ks8Q9EoBPzz_uv2NIx2bRdzYQy5aruXt4ezsWZ3Sx1nUiOZ9BWCPb2COFlF77ixNSewx8gNtYi6gOHmT6uLGqhSJUMAhsxnw58QIFVMCx9XA3SN-ehjHravl2ja0zQH9GXL_AJVdaiXvt9OTssulJkY_59mbmFvEOjqkILXWhfFGAQBL6n_HAZ1sktByGC27lOrQloXr1TW-nkrZOu6y6H8_jMBJEX8kmtfIx8LpVhVau-Auk8-OLae9LCudxnArk9roIMZIrY-NHpMPlBNCYm0zts2QMQAioB8EWoFPWdkMmVER3tvN8klUxtapQu3dogFD38d1SUXl_nYLwiScuq5UGLv-3ocQxgJ1KyWmYJgx_fcU031sQtA9ZrXle1l4CF62hH7bKyc233kCOuWnkv5M6MXu-BhSfI2GxD-Gc5Gh1k7P3wyUWULLK2RAoIT_ra0V5pDl7w1pSjfoCDrFEQPW_Z-2Mw9SpxNB99qympfiAJp8f_SftpN4ChGmEDSOQ5P4Cb4qecV-Y_Ggu6GycM3O6iF3H6bU5UNPlWiUb08dQ6FSfDSTEHJrIE472gb1B0DGbFs-6bxY8QX4RGqm8yv6bqpTpOmkzhTo72E8Ji4y0-aQBnuldGo_ZSd91fG8f734qk5tjxzI3RLNtuAg7erAcl0QAAOjCjOoohj8VXv5I0iULJCzY59fBltO8n4kwkcq_4MvXmZE0kVAuR5FED1tsdKZApjMCLWGY_UO_uSVlBnFd3X5XAESmvJ_Pu2jDy7cY8dN5I8C7diy5IegHgkMkUk3g3xE063ihqMt0C3JLdURMP2a2Th5JEDhxH5yTxONnEEkFNFMzGj_6EnMiLyCDqZWOtOt2WIhova2mulKGRmjNvTtAjbjVkP1MxFy7sDSNub1XizZb2ko-5V1teb76lJukzBThw2nmZEbyA5PewHZAPsSTUfF2odsYGWSaDRAbdDlzA8DrPBvvvq1YY58EM7VMdXoVfFMO3uJ0xi1-tYzAQkXxBWaeo1biQKlhczjzWIh8oTUG2Jbn36gHYnqi3JMM0tWSNbhPcbgmJr8mSRlRmGsIl2wiJ8siY6yzJA11_slaLF1SLSOY0qdHodqJIC9LoCAcuzESY-ux4jcuEvmooV2DjkXReo4hv0AQ2YOgeYwJ27j2N1b4-2_YdkdJz8onX4EfA74kuDeuQVsloDvvXqK26SF1Ek28Jm3ctJ8TgnCam8C4_IJcxiTH91claxxG2YgiaiPPLTt61X6d_nffLBGoK-eucs_0LXhFGINcd2LicrgjyzsiPG-I_pmE5O9oBx_-AB6_vOwfnUgV92-BKJUuYWJIiWjsSW3OW1d0u0cmDEeaoNXQ_TjX29sXHa-4Q-AulqtP65ikdk0ZFzuEV0yVuqUDY97hw=",
  "id": "rs_06b378f38e4b576b016ab43e0f9e0887d0b29578495baa5194",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The second descent again stopped at z≈0.112 with rising load while the selected rim remains centered between the jaws, consistent with reaching the bowl's unusually tall rim. I will close on this single rim wall and check the settled opening for a non-empty pinch.\"}",
  "call_id": "call_mHK8LM3AS5w0IWru8tYuZyu2",
  "id": "fc_06b378f38e4b576b016ab43e10d46887d09469ae3154e8012f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mHK8LM3AS5w0IWru8tYuZyu2",
  "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]: [-0.6006, 1.364, 0.6876, -0.0658, -0.4885, -0.3908, 0.0087, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3468 left_y=-0.1327 left_z=0.1112 left_yaw=-0.0059 left_pitch=-0.0718 left_roll=0.0333 left_gripper=0.0087 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -5.2034, 6.5709, 1.5751, -0.2369, -0.0024, 0.6618, -0.0752, -1.3197, 7.1179, 1.6923, -0.0562, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a01ce01005b767c90e69944e048cc65aaca4da0e8df2adf9529b5d6d03c183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8f7395677d7e794b1d86e8cc0c4d12a98a85cbd5b2f5e4dc899d4d9b56454d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47382703505e4422b7951deb330b4cc78cc07a2103f3defbe8cbd3a737d06b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.485 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 1.2526, 0.7551, -0.313, -0.3855, -0.3435, 0.9988, -0.02, 0.8066, 0.5983, -0.3954, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.1293 left_yaw=-0.037 left_pitch=-0.1687 left_roll=0.0434 left_gripper=0.9988 right_x=0.2927 right_y=0.0007 right_z=0.1708 right_yaw=-0.0019 right_pitch=-0.0339 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -7.706, 8.1436, 1.8242, -0.5201, -0.022, -0.1392, -0.2803, -1.2376, 7.3641, 1.7802, -0.0464, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.062, -0.4885, -0.3904, 0.9988, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3473 left_y=-0.1331 left_z=0.1118 left_yaw=-0.0063 left_pitch=-0.0686 left_roll=0.0315 left_gripper=0.9988 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -5.2308, 6.5162, 1.707, -0.2076, -0.0317, -0.1392, -0.0752, -1.0872, 7.0085, 1.6972, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.0658, -0.4885, -0.3908, 0.0087, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3468 left_y=-0.1327 left_z=0.1112 left_yaw=-0.0059 left_pitch=-0.0718 left_roll=0.0333 left_gripper=0.0087 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -5.2034, 6.5709, 1.5751, -0.2369, -0.0024, 0.6618, -0.0752, -1.3197, 7.1179, 1.6923, -0.0562, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a01ce01005b767c90e69944e048cc65aaca4da0e8df2adf9529b5d6d03c183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8f7395677d7e794b1d86e8cc0c4d12a98a85cbd5b2f5e4dc899d4d9b56454d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47382703505e4422b7951deb330b4cc78cc07a2103f3defbe8cbd3a737d06b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4XRFMRN7jALPXI-wS4eY4_qY9q4ujL7aAck6ABghlZxv7CqsQtZEBglZXigv1D3iDkH7tqLvv6j6NJqvTJRyG8PqzQ48shvPwq5uOWKU5XoRXwLglzi-u_z_N-uhVH4O7wgSExZceETsehVgIvvscygy_wlriIXlMOR3WZOS18qAaLabch_IV6EFF038lj7LLgu_saKfUTAhxjces7-tiIvEYj7oWJMtzXtl8kxeyITqzaquAvjITwY8fiRaCDfvld3GXXGJXVrIXZPkpevpCW-YU0JRBh_FQ86dqlo6X6x5bJKugJP_J_YFv_QJ2dlrYOZmxr_SwSVpySgnjENR5bKBe26Ud2jerwrewYhF0Uop8Bi1f0_Tv-saTAgZNG-uEadR03Y-_Uo1xZz2AZ30oFdCwllbVNszGE2t1Cj6kxXPPk9VnUDwoJRPB7wJIah8lwXZy6oG7ZHa5EMwCMWD8E7upOr9YzyIU2t-6g_EY0JNp8lzzFZS8x5kARK_4Y2kYQRLAzC4Kp8Nl1zCtmpqjchBInjSy43MicgvEI1-Zo-Lpg2nXBHtdwrrvSf35eg4YyG-hWlIiIvcZatc67UHOXHTn5s9Z2FpBWbhqwkuTaacZRkPv9F8Z9rrUmh4Kw4HjRUFir0uCW_u2z9ZvcUdM_r8cCkKVKo5Pi2v1I1Gw0skod4PecENCwrx--62L6s9w_ZzEbhA6QE9Q5kGRE5rhym6vcT94nT5qfVLxH9qTKKa5yn1zTZ8kaIDb4n3NKjQQaBI6KuvRJNTzZZcmvD-1tMSAUOrSmx-r0N2C-u_hLqZEVOqe4Hst_-85hOQU1Cykxi-90lDjbW-cUkzu75ukD1cJ8dh8lOJ-DUsW0DmWM6EnxF3c6noTf9UvYzWWzkJJyTnu3Nzf95kdjTSlCV8PMtozjjCbZGiY3fcFzxZf-B2nkP6wRanek_vGSK7a3M5adn9T0YrUefky-BRc9xh_pcl4foRfCRxm_fqExzYWgiqARb1WQvi9i6hdWsOHUAdtjPvu5jNOskKK1rDZY-kmQ0qBlTLiNB71V9CyHC2tzidqmMU_DVS5pEIFxYAyd5a36NSsGyo4LV4Bb-lczdkyEMFZGBU_Mj0ExgOqFmq9x3Y0d2cU1FFLaHTCvhc6XuqProEwRGGTpTtK4FWnk53ueqnqTdXt4YESY8hupskHuWbLRBBWnRF_b-I4nW8Y9_t9gwaSKGweK8yXFFkSeirRoE2x_ZaKeJ-_vfNWPKfCVR4KUbnRg7p9c47RPPFOdAz25qB1OTKfE-h3FuUcANQLEQ1S3LYHGAYkcbJKlAIu-W3w_KfpIUFQrbCklXOE0fth03Zw1IoG1iehxfHGWT7j03_9WX7p3DDd2bhgEHlBPEt2H7YOMAO6g-LrYEIP9B2bf2n9Vj2pZXiXeqd_X3JP6op_q2D2lJV3MCz-SzCDV2jfsEO8xbeURA2R0_h2Mp3Q3vgUpHKEkB43y15kIjkQOPKO8VOsWqSxdx4xsn8Jef-UKyAe6rlcbK9I3bSB0ra67mwXWlOW1Fqv4lslrQ0u_G37m1szcmcuDl4RVaWG3db4lIvzGQWXMv2PiowDhba_5ld6vfWMJ7qB4O9-u9CNAFnclqeKU0YE4Q1tgZgsZzAudrvlDabm5TonRCPvFaMxeNFB6lOS5xdeMCpVcxVu7mSjUouvQtTtHYp-cebwucWAcWGibvTa1pzTU_WzkX8WIvu508sBzqbGYtifdFpN9IR5hYEtx-T0Yb2SDwGW5Qj1NyNLhtsz3AGzSY5uRN-jc4CV3nQWpwBkJlBXDBWoJ0LspHVRlgq1PQyWVTtzujoacpajJLVU6Sq8oaBL0ASW76OGEMEyn25Mfg6eWvuLfpXYQ1073aA5eDPjaoupvNwcZIopOvMI6_DNWue_7wtFw-Fwth3RL0JspQuPe9F7PD38Np3w-8qj93rmMN8foPNmIGi1PC7vtBq_EO9HMx6Y8kaTs9pFt3xVkobL-0rY1t0u_BiwsurKXRu6iCShaLZGCrWyzXBQwK8wgER3fVtNoKOeKQoQqeMiq_F3jm932TMzVJUKiWkKiWol6DarIyy_V0uTlGXBSUJSfxPDYQIySQGAlftCTfGhfHggZ6XlufA==",
  "id": "rs_06b378f38e4b576b016ab43e145d6087d08a671d62a1084bde",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The rim pinch also closed empty at 0.009; in the closed wrist view the rim sits about 1 cm left of the exact jaw convergence line, so the fingers passed beside it. I am reopening, raising, and shifting 1 cm left to put the wall precisely between the closing fingertips.\"}",
  "call_id": "call_spxbJ6vsm7m3ZUIlwVmeEjYE",
  "id": "fc_06b378f38e4b576b016ab43e1658ac87d0b94bc2cb4802eceb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_spxbJ6vsm7m3ZUIlwVmeEjYE",
  "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]: [-0.5625, 1.2938, 0.7479, -0.2237, -0.4648, -0.3752, 0.9948, -0.02, 0.8108, 0.5945, -0.4156, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.342 left_y=-0.1178 left_z=0.1315 left_yaw=0.0067 left_pitch=-0.1041 left_roll=0.0473 left_gripper=0.9948 right_x=0.2896 right_y=0.0007 right_z=0.1638 right_yaw=-0.0018 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.0923, 9.3333, 1.5165, -0.1245, 0.1001, -0.0317, -0.212, -1.388, 7.0632, 1.6581, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae384ea777ea02ee70c9d41f008e7e94b8abed5b8adfbfbb85528eceadf51cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a8b7d11ec57397cffe6f2f9d36bb345f160698b597c4fbbf4ee9eca5a617b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09d0a4a0b595ae26a7e3d66cf04c60401f81f8b2435c87c4f916a2259ff6ccf",
      "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 · 2.281 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5991, 1.3418, 0.7383, -0.1226, -0.4751, -0.3874, 0.9988, -0.02, 0.8101, 0.5957, -0.4114, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3497 left_y=-0.1366 left_z=0.1288 left_yaw=-0.0173 left_pitch=-0.0635 left_roll=0.0197 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1654 right_yaw=-0.0018 right_pitch=-0.0561 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -4.3009, 7.159, 1.6484, -0.4567, -0.0513, -0.1392, -0.0479, -1.5521, 7.241, 1.8144, -0.0611, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.0658, -0.4885, -0.3908, 0.0087, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3468 left_y=-0.1327 left_z=0.1112 left_yaw=-0.0059 left_pitch=-0.0718 left_roll=0.0333 left_gripper=0.0087 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -5.2034, 6.5709, 1.5751, -0.2369, -0.0024, 0.6618, -0.0752, -1.3197, 7.1179, 1.6923, -0.0562, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.2938, 0.7479, -0.2237, -0.4648, -0.3752, 0.9948, -0.02, 0.8108, 0.5945, -0.4156, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.342 left_y=-0.1178 left_z=0.1315 left_yaw=0.0067 left_pitch=-0.1041 left_roll=0.0473 left_gripper=0.9948 right_x=0.2896 right_y=0.0007 right_z=0.1638 right_yaw=-0.0018 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.0923, 9.3333, 1.5165, -0.1245, 0.1001, -0.0317, -0.212, -1.388, 7.0632, 1.6581, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae384ea777ea02ee70c9d41f008e7e94b8abed5b8adfbfbb85528eceadf51cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a8b7d11ec57397cffe6f2f9d36bb345f160698b597c4fbbf4ee9eca5a617b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09d0a4a0b595ae26a7e3d66cf04c60401f81f8b2435c87c4f916a2259ff6ccf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4bMnaEv-Z-dyHzDXwAhjTE12_iQPIkTDcMOzli3_qrQtkqfp-O1Q_dlT0Iga8l3KoKzQ5LF2YyRcjOArjgr4wYebWPYFWd0vdLb9moQEIS_xVyal83dK7JMOPIceb_-HUUaYs6DaHjEDdqjlcHTdcS8l0IQmA1XVHvaWj5eD2Opoc7570gBJnW1fagsyIn8oY7vwO2AQAOp0c9u1DTFHSTJZ2o7liOCH0HDO1SBI0mGZV7ELP_T2H8y8C9e4Onk7EyadO46YLfqGVldmBK-rnhqJKT8GRnQZ9nvJfpYOtNzi2l9ytxbv6EICduv_xeEF8RL06-e-pPA091CX-L_WrATTn47PJtuarQ38BqekPDy2qLKykuh3zEw0BtWYSMWwGp1MJ7gTnUXPw2gXjILdglU-MWUnpJxZ1QqU1r_87epOcWsEv_LKWZsW39bLR-a7fhMhrV7_728U4bUBIuNvPIMvfxJoIvaLyeFRg2Y_xLN5CK0ykuhmUsU_HSrBbNr7NhoRTdTVsAs4efv3fmHMeahkDSJj-kdC9LWLcZc_jTpsPBrHxPBBF2SBja1sx6UaZ5bG9WpCvT8lXn687d7sM3k3U-RfhYKc0iRy82SHYLah76l8UmzDp9cPOXWB6tUu7urTtDha3WGS3d7QR3GprRZW3uiaaL4hvJ3nwSYCFpL9Gqa2v-nUaL44CKPV5fhRJR89SyX7U55gm4FnL9cAlCt80LMQ0cTSM-AaFXp2Gcg1qxBNrNbKzAgipgFLKrrp0tFb3JoQLmNt8MyjP8ABo03YAn6ABi_f8coIDjtsL_cF7hlCq6dWdvoCCaS53RE8A6bkfS0KUs6jtkN01NNlwtvxiYy4RKGUtwF5TpZTD8fuQOlDTUKyQVLjFGiqpRoDYUNJ5C_LIC-qP7wu9c18xnI_zZD6chc14b6A0gnmSkSY-BUyFmWO6LFGLfiHCs2e29vzp9eHfwn1Q-prM16afuk-KM9_k31chVqQj1VHdOJ0SWmZgF9gUvFaWgnYzJX6aKL_wvtJNw-9lDI1-ZUxoUBwSwfbCKn1wdKTOu-f8IpcKi2vqJi9cAN2X5EYB_LT1NR1N7VU456XAPkoClgniKoMoMqLZJ4qrbflpCtqIwSq9cejyMC9Ovsdga43KJ6QqQbjwr9UDkVfTRR5eFCyNJ1dIpbkutruHfHbov7DPwtw5CBU2DKyZ37q6l8k4KH-4kuknvDU-ZVFxZ3GkskjztzMYpsTUnNntcOExGbT7YPQpRIgETEmQ_rNXmO4FKrp_X-smL3ucRnw9aXtLRWHKaT1wpcj9Tic7Oi00DiFj8AthoVLdpr51ydFiGax5PRFcKYN5iwaMA-QuQZtLvrn9-u7H9SOSLWun9MQLqBTL0WaaP4awxIhnItvZ4FN1opy-Q_87x0IBjcUfRIHCJmzmjiFA3th2emXIW-ybEHqviFGFBcqiF2u71a0slTvIW1U6aGktjYOXzcrv7ptSrU7R6csijUJa8KxM4rR-YMBBPdD0=",
  "id": "rs_06b378f38e4b576b016ab43e19d24487d0ad5821013c8bce02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.118,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The reopened view now shows the blue bowl's right rim exactly on the jaw convergence column. I am descending without changing x or y so one fingertip remains inside and the other outside that rim wall.\"}",
  "call_id": "call_l1ka49bVd0Xz2gnCRNgtjKsl",
  "id": "fc_06b378f38e4b576b016ab43e1a653c87d0a4226a078ad95a88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1ka49bVd0Xz2gnCRNgtjKsl",
  "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]: [-0.5625, 1.3876, 0.6102, -0.0673, -0.4656, -0.3676, 0.9988, -0.02, 0.8116, 0.5945, -0.4164, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3318 left_y=-0.1112 left_z=0.0722 left_yaw=0.0087 left_pitch=-0.1674 left_roll=0.0946 left_gripper=0.9988 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.0018 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.4496, 6.7624, 1.8437, -0.1832, -0.1538, -0.1441, -0.1846, -1.1829, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71fdcc9f3bf9165693673af4585fef4ce544eba3a38ad7d54f0876db2e49417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db167d13bb67db8fc8688f392b2abba6f4f14c549bd27e9044388950a1df12e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431c6698d1d0ac0844043ac691358d442fa7b431b5dd041c65ff8c13f1b6b87f",
      "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 · 10.6 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.062, -0.4885, -0.3904, 0.9988, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3473 left_y=-0.1331 left_z=0.1118 left_yaw=-0.0063 left_pitch=-0.0686 left_roll=0.0315 left_gripper=0.9988 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -5.2308, 6.5162, 1.707, -0.2076, -0.0317, -0.1392, -0.0752, -1.0872, 7.0085, 1.6972, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.2938, 0.7479, -0.2237, -0.4648, -0.3752, 0.9948, -0.02, 0.8108, 0.5945, -0.4156, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.342 left_y=-0.1178 left_z=0.1315 left_yaw=0.0067 left_pitch=-0.1041 left_roll=0.0473 left_gripper=0.9948 right_x=0.2896 right_y=0.0007 right_z=0.1638 right_yaw=-0.0018 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.0923, 9.3333, 1.5165, -0.1245, 0.1001, -0.0317, -0.212, -1.388, 7.0632, 1.6581, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.3876, 0.6102, -0.0673, -0.4656, -0.3676, 0.9988, -0.02, 0.8116, 0.5945, -0.4164, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3318 left_y=-0.1112 left_z=0.0722 left_yaw=0.0087 left_pitch=-0.1674 left_roll=0.0946 left_gripper=0.9988 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.0018 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.4496, 6.7624, 1.8437, -0.1832, -0.1538, -0.1441, -0.1846, -1.1829, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71fdcc9f3bf9165693673af4585fef4ce544eba3a38ad7d54f0876db2e49417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db167d13bb67db8fc8688f392b2abba6f4f14c549bd27e9044388950a1df12e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431c6698d1d0ac0844043ac691358d442fa7b431b5dd041c65ff8c13f1b6b87f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4d6aGMOH7E3d742qvL7JfGRdqPf_4zCzzG9SuA_hCrcFEGYWqDRfpkQ8qQFa-sEp_rnWZkm-1EsgWwJy8Dj2WyKIM0HZEZANedj59b1Dvo64xNyWneCxpqA_78PLoW5jvgXg8_nETwpvQPMXu-5jWJQd30m1I7nqhHaqu_CWwjJmzkZTmjh1dzJ0TuFCURjwSbtAmPFAkTbzvfXQseAV8IPHys4fvWyD9xUe4q-RPnkxmokdXdDAcjlt7VAN-p5bmBXQHXCjqq_jxyit3Pr88-ef9PzK9MRB8DAUjohcB7_UZB3Xro_Mb9vqY67_ShoVN6BiLEFrIclD3XtLsSXnvEx-VDXJk47rkJdoEmCTu3iYH718dTd_g7NNlf1hb-h5uGHd0PgfL6u3nOICf0hnB-knsL5aIKyzhlTOI6KUGkFiE2wuthTuEKU0hvQ9rhvgLlqCu1jtV5TWQlQfynT-L4Gqs_QptBd_GgpKU656zkKv8E73n8d-oBVxfW4yG9t43nPwlyksC4HQkubkaMk_qAYRMncZ5VgK4-DiBpAykaMToa2bRMEgI-gwvHC-_YIw3fbKlJC-5BZl9tUmx3eKpwLP5RH3frlMulH3LXynycOMt1KNCn6cQelOLEVm2WblRwW8q9uXumkhI08y9xTrRj1W_DA9KTHdOrX0jpX0LnrbFKCiOjx18GLKrsDQMF-u4H2lbaz0ujWXTGUWStkCmcy418O44Xr6MUy2oL5CCbHzEshH97qOnFRYkCK-zuv1Dx7vx_kcIKcLUDjDEVrPhyPguIz9H7uMWHK8qKvBxQ4XdQ44Hq04Qd6LWywhocv-Yfjp7e5Zm2xsAeoPnx3hZi96IfjMyjKNdGsp1KV_pDaKP5-T5T5GKEAaLN5qDTYdbKREn1vWExKVRL8YXpe8zyvPzgXyWm5U7NH_GVXAs6_QakfG41rBQuZwg-WEjadtOKb7B-72b8EAhpotlxUkFzAFmSAlmxBTHP3i--xFZhVcZRzFEXBIN_Uo4Eyk6tYUAhjELBdq_S4VXaVPgJpIHOIJL0LBYFtpZOWEV_atYuaLt5Biad3yIYpu8aANw5S34A9FRjWtLT9lSXUMYdITS8jM6PWdkuCtXhxO8R3EvzkgB_i_SEXdiv4PyV8TCYFRYNQZwXb85AAJwX2m2yy2cIums37Ir9Mu_-8K1iXnZooniVVaXG8w8wzvR4C9JVIIJADMyjwfxNdgAG4dI9QaxhvtAkWha1afKBC6xDXa_MquVecW3HvsGtTUSpiy871gl-_DsVPGQmL-7t_cG9ZL5GQPg1JWq9-RKOgFSxTnnRBDO0GJ4zkcsh4LjaZus4NfU-",
  "id": "rs_06b378f38e4b576b016ab43e1cb64087d089009191c82397cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At z=0.072 the selected rim wall remains centered between the open fingertips, and this descent tracked fully rather than stopping on the rim top. I will close now for the intended inside–outside wall pinch.\"}",
  "call_id": "call_4X8Tf1k73Z4OCH25IhptXjAF",
  "id": "fc_06b378f38e4b576b016ab43e1d151c87d0b436c9d6949c8e3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4X8Tf1k73Z4OCH25IhptXjAF",
  "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]: [-0.5625, 1.4036, 0.5964, -0.0669, -0.466, -0.379, 0.0084, -0.02, 0.8116, 0.5945, -0.4191, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3277 left_y=-0.1085 left_z=0.0622 left_yaw=0.0181 left_pitch=-0.1912 left_roll=0.1026 left_gripper=0.0084 right_x=0.2891 right_y=0.0007 right_z=0.1629 right_yaw=-0.0018 right_pitch=-0.0664 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -6.2564, 7.0906, 1.3651, -0.2125, 0.1001, 0.6618, -0.1299, -1.1966, 6.9675, 1.7167, -0.0464, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99d417edd6d3e74320f2e43658ce85196473b5e486212375af6bbf05c10aaaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a14e44f6e20f8efb337750fc3d0612cce5b73e2a81194bfc12e43b8ee48cc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e179599ac6579c4a53aa09f0bd07f29f9d6357992fd940abc2ad7604de018654",
      "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 · 3.021 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6006, 1.364, 0.6876, -0.0658, -0.4885, -0.3908, 0.0087, -0.02, 0.8101, 0.5953, -0.4152, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3468 left_y=-0.1327 left_z=0.1112 left_yaw=-0.0059 left_pitch=-0.0718 left_roll=0.0333 left_gripper=0.0087 right_x=0.2897 right_y=0.0007 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -5.2034, 6.5709, 1.5751, -0.2369, -0.0024, 0.6618, -0.0752, -1.3197, 7.1179, 1.6923, -0.0562, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.3876, 0.6102, -0.0673, -0.4656, -0.3676, 0.9988, -0.02, 0.8116, 0.5945, -0.4164, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3318 left_y=-0.1112 left_z=0.0722 left_yaw=0.0087 left_pitch=-0.1674 left_roll=0.0946 left_gripper=0.9988 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.0018 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.4496, 6.7624, 1.8437, -0.1832, -0.1538, -0.1441, -0.1846, -1.1829, 7.0085, 1.6532, -0.0269, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.4036, 0.5964, -0.0669, -0.466, -0.379, 0.0084, -0.02, 0.8116, 0.5945, -0.4191, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3277 left_y=-0.1085 left_z=0.0622 left_yaw=0.0181 left_pitch=-0.1912 left_roll=0.1026 left_gripper=0.0084 right_x=0.2891 right_y=0.0007 right_z=0.1629 right_yaw=-0.0018 right_pitch=-0.0664 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -6.2564, 7.0906, 1.3651, -0.2125, 0.1001, 0.6618, -0.1299, -1.1966, 6.9675, 1.7167, -0.0464, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99d417edd6d3e74320f2e43658ce85196473b5e486212375af6bbf05c10aaaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a14e44f6e20f8efb337750fc3d0612cce5b73e2a81194bfc12e43b8ee48cc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e179599ac6579c4a53aa09f0bd07f29f9d6357992fd940abc2ad7604de018654",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4pWjPpowyOJkLsKJzotp1kciT9PjDlKB8IlHme0K50iR4lpn6j6V6TYTGpnJhzBZAl6qrpijX5rrlIexHwCVsqfDf3LWzL9ZTIj0vkOniq4skC_614o4j10VlF_104Yool5BJ5ISnvhtk_fw5niLafSxv1ArFEer_0UezjYijGTD-D8fF3LjhlEB3pmpQx74dFwvUKk2dLe3MpVfTuB_HdAGaQcHjXLtr78YHXcbk3XHB9gCUwi3ObijJV7I9xAlevOmfrdzjKFC5oGpv_khdaz8IkjUn6k2jNychMRTSJVdEHT-Wvx_x7apFYTpMjRekMBuwTDtdEs5kEpiMj3vUPi8kFJrE_TMgpJhfz7UUwMhA_sV3ch1i0yE6dnjLJ4FxeRYq1HNvBxTCjH4os6N2WIdJff2qm-HQRmrL_v090zyBWyq1FHb7mOGar-L0VZGJ5xXTN2JNSPTG4TTMQPMmnty7p-v2Q9OeYR5M16cqAsAISFW1ZGhipyiBi5jcgERUkrOa7YJ3ei2Cxau7hDX2iIMTCf8fBGAdBmCuFFrq_nxyffTm1Rc93Bywh0ViyOKVTli-Ndymh6YZX59ayAeov5likYvQ2vg-0JDzHLeCeDlbJJWcjKG8gT9K2CxXH7zdLoleZjdn0ccvG_uEsQalBmvVLeEO67szKlLslBABg6zTbE7WQNvALnfRX-34_JNb7-MPbkMqEmrzoOJNF4Po_W_cxM1yTuiTnQ0-J9C50MrSVmuFF2t47gvq1W4LOTxWSKAdmlDs8PYRod5sCpUCt9Xc0Nu8tAe6h9ZrlVflW4U0rnqPeHTVQ03kIfo5_BpByWEOwgAw2t3Wh1WcwqzNsop-G0b0UWn4mqos4agdhg1AstXRyQ8251oR7s61KnxnNgO6FZDeuw_i37aknAmA5nx2VSQPYvfYLsY_u6wXltEdUFEwkrDlfdH0E5HM7_URn8_G79C1BmVADYD8hbCA8LXmTZB9B5hrhFkZWHDqnmZXsEoDuzJzIA8JHnCGaVId11kHslOGYl-tfvHAomV9pjmo-M_NeG7QSIwpqlB14M9YwlezV-4YX2kE92odDAfIPEEgENaQ_HGv7CBh1BQnMXZ-YwzsfvMGQuCEVBYytW_PJWG4lhViQ0z6pgjqlBzee0jlOU5hrsYw8pTNboa63liTzBvgHCUazwUzHDUbrdJKfDAspNvELWRi0jEY9nVGPRbqhPa_g2Y8BU8mdMGf8Foo0MS8NqM51aMe8j65ZK0eEUc7dK52_Hrr2unv2b1QPjHkY5ky8bwTmJFl9me6ATqaCNpO0g1JrhZqHo3FVptq6kk35dS8HMC1TZXjXAFaIK7CcqcTcFAbQMO9VM7Zd-xid_qlTciZthppGOwJ866btJDbXGaMQBgyBXja2UDaBeYmPJLM3ZwQ_IvOfGapSn3vnoGq_8jWpA8WI0q98zqsjI2XrqPU2xpi1leVAZk_V6jjuX7LHRj0OAZl2cnaivso51SqcdsH8k0B_Bv8bFH2gSt5B1LDG3UaA7Wylzo3EjCG0VhXFTDqo_acdyRCc8qiBPLfyFbL_kB19mCTiooDJTf2TJHKM_rQRflkJtGhGpg7ae3OopcDT28XpbKy0cSQC3djbkp6DphSYQKzfZfT1WP_OWcqmrmn5V-e4hPxU6Ya4xyyD9Sj5BnAtAVYQccVqsSro536z3x-HVnRR45AJXG89EDYEOqjCZ7KGCvrMwyfQ9GFS3EPn390ZKs69sCKpv6FthpuPl8U7gx45T2L0OyYKi18cciKKgZZa9wJFUfJqoqfLhttq92LwXCfeG92a7RR3VCWausft4Ug3unuUbQoK2E5P7W6QMGV0crVHR1gP_YYaduQSquxy6Qt7Y_4jIjkTAWp5qQGy80xmpLqLtQYD1Q88L8mJaaulSIc20ERUrLBdEuMr7FWQf365OP31ebuF-mj7t9qUxPlqbzXanmKx5eaV1v9ntvq2NwvcHxWDqtErujkZgpRUoeaXwObEFcEQO0lL9VVCvpZJGP_medTyZi0hS2Esmx96N-0EZ3adv1IjHh4ROqdP_78P35nVbfrYTn970agO_Ve9-tKhLVZe5kR58GIjnKRQ--nLtf_UMIgsNWzOqq1fHy-L_OWhb0vJrUE-vC3HejLX3bHyoC-eSRF4UK7nzE3-aZZr2U0yvj1xI36rk3HDxE8qaAJGYKkH4EWx-VLCm6kGkhEQxLcI-msn7yfAczD6g6APM0oIhqs2d-TCPR_w_Z36CZW_0WsodnIK2ZFlU0tX7w8XIskBWNR9NgKAlwnLXodPcXp4Sw8CafmYC2rSRgPI9m4h5600uM6qTerLl_a3fQqTBjpX8txjPYZpPYI99tLBgIR4pSb-jZKagqBkZ6DvOlmnm_xJ3-ZUimdnLBUujAaiwzN7HmBns_RDLU-OhBWrZHAS-0bdGOINOA7CC5DecmN4vT1FpWok2vKIoPxD0sP9sa-nLLKEmzG-kF1s6rgBNP7RZK4ehzSwxFdBUXwSw7eJLiffBep-1LJCUIawoDiGYFfYBUUwZORpKmAddeqWjqSgTSNj2nKXelC_Ocm72h6vvSYbqRdEgFkdEvxjoRqbbUZeIza_80RkRlQY864JX1gQZPHNaamWDDDd-hE8tsaWGNnO299EnrUW4kebM1b8LhrCKB5XOx6uwlEbQKsuxq1Up-3NEPqVPqHzybyQOltxFyJxzT9rNtFWTwSdhhs0sc1cBZWWGxgsJFDg1kp44FGtaHBp-cLbzKSvEQEWfFp0WjJVDs9izTmu7lNwufwoIp_BRel8wl6Exciofivt0irJUVo7-ZWbyUuAuVV0M69v1UR8aclsZr_FsYcHDZ5-xZUWybAwTulNq7vpQ503UR4c9bnaoGvw0t_nalSt3hHa3rLjmUfItsla_lP02V2X3v5tw2e51iLnPgzPan28j8xf6kEsKHhh8qy7SzC_6qVh8isvfnVpxWo-vSIWjScftmERM9zFiRCzvfQyIbE3nDCqeH1vwSuxdbwSi_qWfFDlOZ2kpyOmUcI2AmDyJ2sSKHbjx6HOMgWtdrJBJKhcyF_UY0yX9amaoyLG3QHls309seFIg9cqZr1Ep8yXea_dJO3B0S26hRdcsdorf2XMASwlWSXfUMLVY3dDj6538fyJ2-H30alA1MoXao1560fvob39HNXhXh8VaGu3jHOpUTf6Ht82gdUpu7gfbO4baW938B4gXOQPhQRWrCcdcm8X2rZmbXtwKQlOMsAAbL0MT5IfJ1TUEBj8-86QFjqGJZFDi8S01G3f9SsnYLliSfxu04p6TfaXpcR2e3Vbipq91fAsiIe2OvcQHwmcp63khT27mqMMcz5cPIAisSN0H2pbMmL7eB3hEnWKQ6Gf0W6FqMt3D0PdGS6hlc8m076sC0H_kwT4QOuObCWMiTKpFAh42HQ1rwlXo7e_10RjfOZrT-Pb9DkRloaExYOPjed3gtwF8h0ElfRda29VnaFN2sXuZPCTPVmd-jxehi4dky0n45kJthCcPASR20IXyg4tBUnuwXAgO4Eg55WPfSYckskTYuB8TbIo5mnjBuSC3GBVGW-P8mn5298T4DN95oW3jVQ8kmg24ei0TdalqjoVxYQhqURaiRN9XdhYCglu_AJgJoNgNMJriDTzaeOMkTZSC1J4jSVcY4T3XVeHHDOzTe_n0uC4wYqVS6gJyicRmrEM4lTnLaRbIzH2cFCUvA3_OZtlnGsYfMbHc5Ul0lQSde-57RrVy9rrse546vn8ww58DEjh63NqgZDo_ZZkLgHdu6jE1kmZd10aU55d0FA5TpgctMSx3_6Suh-AUN0B8MEmMOmWSJtbNjOZQaEmZhjCiJ-3-vXji9WCGDQyA2hUFAAVTINd9cfegbmkbnb7YQF_-JEbZLToXl8mmHS-psusUSCPC6LzHIHq36xEqxzEWvGVfi5EdlO3wdS86rloQkpB9iiynvG4eFMPFe9zCNBruMy_Ww6wCEcxskzdqWVE9bCdsU7RCwUuhH6U06CXhqWfSHmtJkmR7EM2Tti-c9ZXMCbAP-bBeL2WNY0pYmwxe9HJXDKJu8HLOmDcw8Yq2AeLaWMiDhdSFFto7Vw0awA3XmhS4Y5MSuWIL_-ZEBRe7lqRwziXXg0ApDrDVBgEkEYBc12nvbkGC8wfAV5wbAdIFWIw9CkkBexH-edqovTQXlyhNjfekYh7PTUzFhbgAAxviQkRZ2fBjoyj8t7dkiOqIt7gWuJg1fz1ByIUfaUnUnVfF75_U_nw9_EEkuzuzS2OR0RzeD-EP4jP-OTu5VHjJh6xjwSX-Rd8EL33Z7J8e2O3GAjX4xDuw_6UsUUme4bdeztHUolkO99UV5m4I2xjtKU0MFXp5GJP0sL69CGUpDE=",
  "id": "rs_06b378f38e4b576b016ab43e1fe1a087d0a1d010b2b553c4e8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4pgVZlGx26wtuxynwMYjR8wQ4ipyOpvXDLTN46K4tT7m1Xw_rHN0ctJ2MCuXHUG8JJR8wLR35wLbaY-HRfQzXLvLWH4kIcxNmLXiQD8wzAOB6Lz8ZpnDJikAwWo_bI96f1Iz78QoHWYdUN1Fioh6tDqGnVYqV1_EaYZVJoATDbx28ysd0iIPSxYqgJoxttxPXFDmSvL4Z36joyNjc-9E9y1adN9mVgGMv2GmE2bcI7UxboO3P9qjK0NUaybZ7-0BBECLdOd-ii2ubrgTGWwtNFYb_ooSSU20FtEGhzC0TTCaBP6ysWc12Ma_VSw0UuQi1bIfBKet2SSiBro3e_W83IXqUs-MC5y-FszAU99o2WbvrctqgMvb8H2RfqEXpdWCex1Lk-yTXl1i-dK_XVhQNhPYy6TDOxNIquwUdmysxcZrwWxf9TdT5uB_QMl9n_XGVCtwpvxjzYZ3qTpFNp7PHHY11K7FFcmfwP-oVLwFlngjlJcKUC_jGb8ZQEKvWjAAhTEbrjKMIFnL-fgUfu2L2xmyp1fg9bNKhMONmBbXFcGeAjO7oTxyXvR-LaqbBBMihq2VqAZd8ti25ljKTKtV0l4M-voLX8Vnnad-PFeKFdUlHS5pJDOtl2brqSC-xTnQ5vmx9zbVdA3jStbwLyHa9JkqA3kpy-ybVlp8TW8Z9kXCSi17qtYIztiQ0UdNlWcd7uuZU3iswdAbMzFsP2YIfjybiWkuh0V9n-g9V5nC2pc7EcSKsPhQmsYPVOgv2VbiQFzR0SOsRo-Zje3gZi3q7YXDmeIg82g0EnXpSfazkE8SNF3bbKWcfT1Qoi6SkXS1GIVog9XMRfPEYhg5QHARTFJe9RLI4H2S9RDnvkHfQo4jax9HkopoMhiZmOhmWgT6gmbwHeemrDVwWK3MAshbd-Ddp22jHb4ChebF6exTNxjRFFK1BVhSVlLB0vGntIKpidlDgQLxILBXmsGlDr69JiovULpHZKOmVnCqAqYJ-1kGkhZ6Xln_JSV9mxyhjgU2eHE26m7Zd0PAWEqWBYkmMMTtt_N9Kny3pzl8Dhxyy20Zhi44Sgji0l6KeHPNTzWvLkKYh0s6TV29xq4S8X0O4oKofcIfGzE8v7dLoieWY2-fkr60nJ_ULW0eEUOoL3i4Lm1eNkAipSkwGoSwmKjzcK2MFFSGsc2uG0R7Iz6aLs_mE_GuP_nAtBm6LzmVMHVAwbl8-JFkHCiOhVHS7HYsSLAC66ro-J6j4fXYZFr4MOewvOz7kGE3k-g9SocnTQAkErzx_7HBGAx4IAd1h0hwGnUMzGmEZd2piriGbKFri0f2Vux3LfDbnwrzXTXDlNDOJ2LC35RueX1i5zhnBYErYXQJwpvXL5GpDUnx8UM6bLUH5JVjHFJ05QfCwpvi0uJvNtr8SVoKwz73gkyYDkCsTkyhPI-R2YloxE6MuEYp4vi_kxZNlr1A4SjrPaZrG87BLYpz8CSzAxfrIxX8T0oKLduYTW4NtTvHS4wjotYAj-3sXq6XXdsl2JdfAZaUMIqZDeM_xpQmUiViXLK9OdcAF1QQf653MJisHh-ojKYbM65HD_0w4GWK3IflwLcC3wKXUKrZqvahPSD3stPuZrSGPVyrnddtKvya75M6dVomOoSelMozBIsBKHvtIWIAn-U91FKKVnHC4RARwI7ekOxfqh9QXhScDFYp9Hz6IWs25Bte8nWZQywRqIRN3_2EpCobKY0goGTKeHuHxYIHg3_VH7H7wK_G1jndK-8FRXCB6bjFNfjreR3eeVhLP3mqxnLP25vpedvyJmalMcaYz1nWb1PsEYfrzZe61t1h2PZCsYOU6f4wlVRVWKCHD8olekKv_jeNbnP4wFtO00DYWpZAhI2rB4SO7NA_nYofmxMdApX1HwXzpeSVv4XYoTfNY87Pa7g4ZxL1OgFl06HJmzUaNICxcMLC6ulOI-7uCM3QX9hKvvVfeTpfoVYwRG_45imJZCBIFJz18fOcDAJ7-R18PiyGIqybU1ovTfOlGFv4auU73o-nDObuoTBVN8IFY3TGSqeY4nE05BR3--YMwD5lFlTJDUnnrF3G1DaotiJ_YtmFYT3wF6DRDTrcm_O7dL8qlNrQ0tx5n7OAVgXMeVc5LVlCnuNXIUEwqG4i8NyiYaAnZtq_zo3qhcmpiTXDXZ8sxVdXCaqF2Qu4MInkfjk8n_-yHfRIGQGjrVpWTPNAM12qlMOt9K41BRl7w424eTzXrKS_j1ZNCm4Z5KrLlwBFSEwgU5uy4Z14I2AW9C5BrU5r5IXwt63IfGYjoAWxGJ50974i68GC0iXfhMLsXNw4EIBkC-O9_V2trUhokUtLivjrE3CG5IzN0Zl7WCCyrgoD0-5JfZcU2uH0QBQPkDXipTN3jBWXtJ5gCPRSoSWBGyCycDFi6YiqGcYQLehzFbbgrrHV0UopPKUyfBVPyHIHa68532wP6TnEp-oMjkLgWeRm9WIyOtKYi6BxFVdp5B1SWqScLA6TyXjFwGNy-3lBXsVjh0FmidnJa-pvn2ar-Zf2bEOLy_9hXbCof1FJ01jEp0aopAkpvtliZKU1_m39WQBsoUlJDgAG7EpqvQk1nTj0EfFS0JuIxRul7Ezu9nGG7J",
  "id": "rs_06b378f38e4b576b016ab43e256f7487d0acf2784a887e1bf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.15,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The third close is still empty; although the rim is on the jaw column higher in the image, the eef drifted 2 cm inward during descent, so the rim curves away before reaching the actual fingertip point below the frame. I am reopening, raising, and advancing farther so the bowl's widest side rim reaches the fingertip depth.\"}",
  "call_id": "call_rysUdHXeydMat2OpqaJVG8Nh",
  "id": "fc_06b378f38e4b576b016ab43e28054087d0b81d4f45e2bd35ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rysUdHXeydMat2OpqaJVG8Nh",
  "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]: [-0.4683, 1.3682, 0.7284, -0.07, -0.4061, -0.3141, 0.995, -0.02, 0.8116, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3683 left_y=-0.1041 left_z=0.1212 left_yaw=0.0188 left_pitch=-0.0739 left_roll=0.0312 left_gripper=0.995 right_x=0.289 right_y=0.0007 right_z=0.1629 right_yaw=-0.002 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -7.0359, 9.6068, 1.917, -0.1148, 0.0952, -0.1538, -0.1709, -1.3333, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f009d04394d108e505c8f81f1aefb1b0061289669d017c81a08f2b6653c3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36083e32cc5a0d24a01bacc253c990aa0e29c3c890b7c12837fa025197d8a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d69659783f539b8975635ca94eff3935ac7c0a9d71a68409efd2a3f12fbd89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.717 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.2938, 0.7479, -0.2237, -0.4648, -0.3752, 0.9948, -0.02, 0.8108, 0.5945, -0.4156, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.342 left_y=-0.1178 left_z=0.1315 left_yaw=0.0067 left_pitch=-0.1041 left_roll=0.0473 left_gripper=0.9948 right_x=0.2896 right_y=0.0007 right_z=0.1638 right_yaw=-0.0018 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.0923, 9.3333, 1.5165, -0.1245, 0.1001, -0.0317, -0.212, -1.388, 7.0632, 1.6581, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.4036, 0.5964, -0.0669, -0.466, -0.379, 0.0084, -0.02, 0.8116, 0.5945, -0.4191, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3277 left_y=-0.1085 left_z=0.0622 left_yaw=0.0181 left_pitch=-0.1912 left_roll=0.1026 left_gripper=0.0084 right_x=0.2891 right_y=0.0007 right_z=0.1629 right_yaw=-0.0018 right_pitch=-0.0664 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -6.2564, 7.0906, 1.3651, -0.2125, 0.1001, 0.6618, -0.1299, -1.1966, 6.9675, 1.7167, -0.0464, -0.0659, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4683, 1.3682, 0.7284, -0.07, -0.4061, -0.3141, 0.995, -0.02, 0.8116, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3683 left_y=-0.1041 left_z=0.1212 left_yaw=0.0188 left_pitch=-0.0739 left_roll=0.0312 left_gripper=0.995 right_x=0.289 right_y=0.0007 right_z=0.1629 right_yaw=-0.002 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -7.0359, 9.6068, 1.917, -0.1148, 0.0952, -0.1538, -0.1709, -1.3333, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f009d04394d108e505c8f81f1aefb1b0061289669d017c81a08f2b6653c3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36083e32cc5a0d24a01bacc253c990aa0e29c3c890b7c12837fa025197d8a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d69659783f539b8975635ca94eff3935ac7c0a9d71a68409efd2a3f12fbd89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4tQS04lewvMCGUQ6Wy6obnZgSaIWXwyctjabwATWEPOZK3TuJNt9tp1nxN-yB7Fxxapz-zEYjWElNCG-S6GgJqOKEJEzE_nlSXqy61t5REbcjnb6lZcgA6slAJeCJ8gFaMWssD01fOMwC4cLsatz7GthCqRVbpPrmOHG9Kuq1n7NIKh72WXrN4QEaxhZU6MWmxPKL7GNmAVuJKKNHxOh_SsT_MbH5k1DkKug2Y4FXHt5GsfLspc1imngz6svHF7sV1DTih7t_cHgp_0VMNVRsUbd3oWNTTZ4PoNy5IwynSJx0KR9hAweVywyZmld865ZRyabc5O6iQOq5DuIoYDgeooyQHHG5nWRPVwtaxZ-Ndr35OgCDhl_rNZnj4vwiJXw4Q35JikdQ_lJCfgzZ5cA6RK8RqiEgXCfrfTyP_2MA7WsMwmlx8C8jCFx0pMOh59AqkRaqbN7WnlGTCQAWJ0C-QxHJM2kQQISe5ZiS-mPVXDJBPjkM0500LLYa_SvHDmbB0wUWSikn52zBw7aEPDZpc8loPIQqJcux0dQLdnE0bzfg2dboEJz0VithaSGoQ2HYMXG2dDniZDkMrVa3jh8rSDis3hKrLLO5zBBvgEnBjrrUkHhtv-HBUOBrxx45qnxSe3c2nmd7pjkbS5c5-VHkv_B11mNukX8VZRwupn1v2H7pNROvxZx-A1T2KqVsx95IFM9fnrYMpCTqs2FugbCaR7m4W1hCjDxU7r6dTnQwoZhVK_qm5fJ8lkxsJvpD5VPJzLFHx79qjP0HVivfeRy-Sgav7jGtsiRL7wYUKThlsn4cUYZ7sdVADHv_2jKxl-kRnYMYbVnx21PiAwtDM-OU4V7S147RiVTtWZJ6hgj2EtoeafsgLp2xUugqjTZ3qVESAS4ITWy4waInSX_x9MUluBBAOUAlDB-aCONatfEp7YRGVNfAb3WWRHo7n1ftHEc6NEI8-Sl83WLWM5DTZcXWUzekpbHhoZYsHWA-PNE870TFdYam8RryAp1MaVgHKAjIZzeYE2ZJEcRKZ2zwIn58I8R3HfQKPs-Hzq5DNPHWkv1byrMj1mAYA2urYYhNQUP6rx9Wvr9-zGnGwkkmvCO9EpNosRPiSKbCqzZiSATD-4eEEr7Rx90T-NnbN6nCJZghDLQUuIxvrmF-2aI9djah1dcDbmRBiQb_9Y0lXymgIp2sB11oGrOKCWRPnRKiQdidFWTFv9z6jm3YeRmKqoTnmLE0yF-uExW2iO8WTBjpcQMyjp0hNxdN4JpDMdEsQEFhGzdbhdsh-bcS0QSNv_Vcp9LbvGPBo0hpJC-tCgIojjJkb32ZnbSkkdwrJ8I7xLxeT1WfKX9JAre9-aIHprF5A4SgqmMSh9XhYkpc3wXQ89DJC6nrz6I3js7FUjGHywDAsUUsTqtPqAoKhEoQg29MPh3Z60bXtvvq5o4mVUEdJkdunXJLaF9DvV8WdInmOP-6Eq0D0D8JW24C6WkULkgzLAg==",
  "id": "rs_06b378f38e4b576b016ab43e2b8f2487d0a80540e5752395a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.075,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"After advancing, the blue bowl's side rim now continues down toward the true fingertip region rather than curving away above it. I am descending while making a 1 cm rightward correction so that continuation meets the jaw column at the bottom edge.\"}",
  "call_id": "call_bl5jpOphnDgR3CmNG2z3Vh4B",
  "id": "fc_06b378f38e4b576b016ab43e2c42cc87d0a95d2b8bde086c23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bl5jpOphnDgR3CmNG2z3Vh4B",
  "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]: [-0.4919, 1.5227, 0.6174, 0.1814, -0.4061, -0.3145, 0.9988, -0.02, 0.8139, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1148 left_z=0.0663 left_yaw=-0.0041 left_pitch=-0.0864 left_roll=0.0375 left_gripper=0.9988 right_x=0.2892 right_y=0.0007 right_z=0.1622 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.1299, 6.6256, 2.0879, -0.3004, -0.0464, -0.1441, -0.1983, -0.9778, 7.159, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1422a4d8dde06032ad4a3c8498ac60238a8fa17cfaa50bf2d47f722c6933388c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5512a2df6d0f7f0a58f84ba735eb55545f921e8f8719ead324c24ab1053b1052",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402687034eebd331c2965145cc64abb42d51d19981c8666ac3ada231fb4e022c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.466 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.3876, 0.6102, -0.0673, -0.4656, -0.3676, 0.9988, -0.02, 0.8116, 0.5945, -0.4164, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3318 left_y=-0.1112 left_z=0.0722 left_yaw=0.0087 left_pitch=-0.1674 left_roll=0.0946 left_gripper=0.9988 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.0018 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.4496, 6.7624, 1.8437, -0.1832, -0.1538, -0.1441, -0.1846, -1.1829, 7.0085, 1.6532, -0.0269, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4683, 1.3682, 0.7284, -0.07, -0.4061, -0.3141, 0.995, -0.02, 0.8116, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3683 left_y=-0.1041 left_z=0.1212 left_yaw=0.0188 left_pitch=-0.0739 left_roll=0.0312 left_gripper=0.995 right_x=0.289 right_y=0.0007 right_z=0.1629 right_yaw=-0.002 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -7.0359, 9.6068, 1.917, -0.1148, 0.0952, -0.1538, -0.1709, -1.3333, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4919, 1.5227, 0.6174, 0.1814, -0.4061, -0.3145, 0.9988, -0.02, 0.8139, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1148 left_z=0.0663 left_yaw=-0.0041 left_pitch=-0.0864 left_roll=0.0375 left_gripper=0.9988 right_x=0.2892 right_y=0.0007 right_z=0.1622 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.1299, 6.6256, 2.0879, -0.3004, -0.0464, -0.1441, -0.1983, -0.9778, 7.159, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1422a4d8dde06032ad4a3c8498ac60238a8fa17cfaa50bf2d47f722c6933388c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5512a2df6d0f7f0a58f84ba735eb55545f921e8f8719ead324c24ab1053b1052",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402687034eebd331c2965145cc64abb42d51d19981c8666ac3ada231fb4e022c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4xrI5UAlSetRUvSY6CEgH2l9YQh53shessEFZOyKwbzwipYndawdXTkVKq6D5iBHxklRL9rgz0dV_XQ-Bjqpp1JIWxzPMugyVIuw2qRx1HEAKbgBIx-ONchu41ygPfVnj7nXh3pVO6GF2SJBohgb_uKYS_1ZT5Bip0CxfO6bqTvClrCwqb9RePjLsricUgB3Bgz4elt9GexuMfyjVtTaKXRGfs1hkvTKemVLZMLstf4qNFR3rJkCunoBczjJYOTJokQZuVehCo5QbU20lxxNDYytq11NKQdtY2stxE7DbukpHerYwFqqJxloEvd8ie6hfCKZ9eNfnJc6_GbljwcEVlmfvApjPhpXmiHQzIn_LBbDJMusPK8cPm8OGIBaSt8pQpOt4V9zurrkvY9xadBxWbQbdXbC3xbj07a-_-JjojBquIl3Bmtlj6uNEaedChslomV8U79ZMU7pRnX6falUVsBoz_zKQ8N5Kr1eEHcivWb7aHfMc5mX8wiZNCkRrFqMAv0sz37iQbI-AgteVlw1li--sk-yciU-q2IFLs-ev2Roz5oXH5cLwFysTUH1BHyMMaQhFKS4j0I5MBwTOTkAPq2hULIh0ndFSWhgsrrkWiyATTUgc-vnqSCY4wA7HqFJgdf8657A5OsjACHANd16Oq6_QqeodXBAX3prfTBg3dU2s73Vd024x-KOYP0AZT1X0A3G93i0SWoo0cPFRScegbbRCEmoxz8tpJ4pDuHvINK6EwLF-0LnQBZgOQAMDYsGVfH02bj93_4JXLDeqYFOYFj-e_e0qbsuBiCMRdPsbM_PT7e4Dg1zeOlshJr01rgrihdKtG99QU2MoHD3hDEoFOi6We4kqyo8y7hRuIsir4d1BAfq6-MDr4hwLdOhfm9mxUXQH1Ftm98eOCb0ZxoXEMiv8TZG17TLQiGKPpqm07MPJOYW-18pLg_C9ijE94-TwMsHUDXsCmUh_gZtOZWXT_FR0D7RY7f96TKt7mjWfU_t5Ie6XegTNutzwDN1gU4HSwvQkRccjbuDObuIQXnMvWFgxxb-1zVvc9hXRRsk3iPkBawU6Lx0zAgZHIex9rt0ZXkgkOzi97MUSNItmu6b_xwen1Otaz5SUrtibwN5YCwLEVi_78I0VrkygKUAmIr1_T_PXbaGk-EH5mjfKh4YRMQOycg-79vlVhDXBRzg_CZ-GX23vyZxP6YdihR-0YiY0gWDyp26oNpclDI82CGs6CRWSJnw97aaCaauxobR8ey6BkNSOBmGotcJN2-jA_HJ1i3Re_livhVMis1sARSCasx78IJMtFQj4f2NYT_khKZ0s=",
  "id": "rs_06b378f38e4b576b016ab43e2f65f087d0ae9b58bf92c62a03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low pose, the blue bowl's side boundary now reaches the bottom of the wrist frame at the jaw center, which is the actual fingertip depth. I will close here to pinch the rim wall at the correct radial position.\"}",
  "call_id": "call_g0dJB9xpk3RnuQoU6EjCmkdh",
  "id": "fc_06b378f38e4b576b016ab43e2fe9d887d0b178af588f20971a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g0dJB9xpk3RnuQoU6EjCmkdh",
  "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]: [-0.4965, 1.5387, 0.5964, 0.1757, -0.4126, -0.3145, 0.009, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0522 left_yaw=-0.0014 left_pitch=-0.122 left_roll=0.0617 left_gripper=0.009 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -7.3504, 7.2957, 1.5849, -0.1197, -0.0611, 0.6374, -0.2667, -1.1556, 7.3231, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da69bdcc36e963b35ca2bf856054e6bbda3120900fcf1861df4aefc7dd5fc670",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9845fdb4d50f57bbe72d152d87f9a134f89e8aaa55a6de86a152737693bfdf24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0316ad5b97d24833851434d5e8615e5516ad63377c0ad5281f493389db873cc",
      "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 · 4.623 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5625, 1.4036, 0.5964, -0.0669, -0.466, -0.379, 0.0084, -0.02, 0.8116, 0.5945, -0.4191, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3277 left_y=-0.1085 left_z=0.0622 left_yaw=0.0181 left_pitch=-0.1912 left_roll=0.1026 left_gripper=0.0084 right_x=0.2891 right_y=0.0007 right_z=0.1629 right_yaw=-0.0018 right_pitch=-0.0664 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -6.2564, 7.0906, 1.3651, -0.2125, 0.1001, 0.6618, -0.1299, -1.1966, 6.9675, 1.7167, -0.0464, -0.0659, -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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4919, 1.5227, 0.6174, 0.1814, -0.4061, -0.3145, 0.9988, -0.02, 0.8139, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1148 left_z=0.0663 left_yaw=-0.0041 left_pitch=-0.0864 left_roll=0.0375 left_gripper=0.9988 right_x=0.2892 right_y=0.0007 right_z=0.1622 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.1299, 6.6256, 2.0879, -0.3004, -0.0464, -0.1441, -0.1983, -0.9778, 7.159, 1.6825, -0.0171, -0.0464, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.5387, 0.5964, 0.1757, -0.4126, -0.3145, 0.009, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0522 left_yaw=-0.0014 left_pitch=-0.122 left_roll=0.0617 left_gripper=0.009 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -7.3504, 7.2957, 1.5849, -0.1197, -0.0611, 0.6374, -0.2667, -1.1556, 7.3231, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da69bdcc36e963b35ca2bf856054e6bbda3120900fcf1861df4aefc7dd5fc670",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9845fdb4d50f57bbe72d152d87f9a134f89e8aaa55a6de86a152737693bfdf24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0316ad5b97d24833851434d5e8615e5516ad63377c0ad5281f493389db873cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD45ojh4B-IWVnoQ4I6pwaVaWIqf06MyygWBsuUI5lR1K20jHjk-prE8qflqJkQ865T7BiMYtNMXYdRKh2Q5lCOVT3s4qcfkU9mjVBPbkzdMDkPDkZL4TtOLJM-5Wx-nGs7gB7b7hdI_NNr0liWXFvK776APqqulP_gvduhMqWC289_JhcP740wVVS8wGQPGnSzRUlGGwMBjW1bWXlrA0EJ80ZDY5i5tAmTf_3LFRFfDgD5wBHCmKuRjtjULyrLUI8TRAL1MNqKXcBoyOXzBAJome7TGxrDkMwezepPPemUHCIqYvhQUh1lm_KVoNxMuoO4kuPoPYiS5c87l6D4LMz9hxPpfLKTmcnhPauxHTqDIih3V1dYygp_B0RDkbpUIrS8X27WSSN1JfZfCrcAEcEqHMJ9l5mkSMaQC-glO6KIddWOFsVRKx6QMd1tV3sd19OuSUazyiIP4AxLY-ecWzmqrElyO_rkMffxeeljED_YRF0kQRrJsoYiKgrRJ92NGY5Ql6_s1LPw2Xz0H_suacOIA_MEJR9z7RBv5F2x5gCVRuZBUYnbD-uKv1UJ1zkyEyojbG_c64Ma38P2fqJZgjm0ggDxgtURNtPfXcH5ny_dFigj5Ddcxs2Dh1neC3PL9X5CZzN1Gg5kS9dPra0G79UGySUlJfazy5qD45lBHR4ouu9ZnnEbwnQtU3uE67fFqaAXMqwbbUoyA9KGTipaV8FMu3du1otp4VvjSUBPofMQHSdP1bOvWhJAVvffpHwrir_khTb7j8wSoGiUt0n5AiCbZ0rM81qzMTBNj4xLmUTeGp-i5pjNje_G3BMfVmv9EH7UaA-2DGxE9DKXEvVk_xDW1fDTeOVwX9m3pYECt_uOUIio7pN0w2M1uwPsDMeHiYSRKdV3lmifGOFm3DJ_SjT7y9krstQ3u4IkzNdGTiXZ3Rz04EUimVqapAGf8NgnY0or6VwmMSm0glZo8Bxbwdfk7iES8EkVer4Zg5fhtnscr1nSjbPgTa1rneW9lrKtZKkwAo3MrxIaVSL97JM0PQvGKe51iA24gE98DmXsnM3d_5BE3UEMxIHZOuE_Q9VhxV4szQf1LIW5KWOYtH1XPwyYy9CP1JqM2KvcPMeeRd1zFmxjuclpXN-hdluv95ZnkZqq9BYv1K_4s2qGN7GsSeP_DQ53J1gt-v6pzLRgj1iP-F3-QixgnE9V0vas51H-yWdBfM12s8iH_mPG-n7FioGQnki3mDgdBRoyLruAlXt1MZ5R45TNf0Y46o75wpn7zRgmG8eho3Ifz_R2_1T32cVo85nACLV8cU8xoIoDl1pYoadl2vheTM-jzxjWpQdVabKO7hGnGMb_3eq5jJcSc-zX3LBVd_Hqbz-DyyJIvYBbs8IPeaa9-sg-EG6bSfhQMzy8qsyLQeBHn1s5-Dw15nwwFLty2-leAqcb9tYrOXg9FgqfpPWZvvuW5UNgg9an630WEBTc0hfKC0HXr-_VR8qMOsBPGRX8zbU4fT9vICcDu-EEMNLJu2X7KkXBEJvRc51bQ7KMJ9MZ6GBmxAwgRcn_D-PBBs4vw4zLHWeRtAuGuYDi2nWQFaFry6l63K8llOWzRgWDyvz_YXt9lR6XmsK89iQ790tMuhh4oF-vS1eigwCjEURYcAU-ZkpxVQzfu8HKsScBA9c0YWZWrNh4KPmgHtfM3w_jyWHC7qvtAzqlBJ9ZNkzD4CVCQIPq9uZdEoQXxN1cnJX4CfpJGmZpj7SV_l9XPPhE078mWG9jsfZrPs-oiwN6_g4yu9PnAD3R--OCMG3o2aKDD3CKMZ8gUjFVFuMhcB6Oz-m7XB9YMZ7oERP70rjOPl9__tj044PM2yexsDtkAe0A7dMlm5Syai5CtqvRGkYqSEqNXuFpf99zNimv34ZuntjTmZLzS7TRHEiTawYndr3fct82hX2lqir4BrqQwltBIfjanN4StF7-_I5X4C4283RFDg9iotpzXZ0Wr4mjrSaZnTJCybkCsIFnkL4mRZXwIef_Da4yVV9lji74zN8U3O21xMkoLt0tAeNHdHmjDz_KI2RHteFxXYiBmDbbv2RECL10ybza0Of6X3viqQFF5rp7oU9mPY955sDaILb1cQpM9vg2S2H1GVhJPEJ8Iep7NDwhQZAW4hRAWdBLyiIDTl5IlkBOEzn5zwzdvcN5_y7-3UkMleA7Rf1gBiE7d_1T7IUdQ88MgArkrff2mjPC49lzmaLrfpZUjcc7WnDy6PycELvYzkrsGuG8wwGAggmL1fqUJNDUQep7HetuXfeh5IQ2z_lAbI-Abvzkk63V7twxGd5_WsLC9UbcrdfUZE2hCcvPr3tAsXmcw6WS41TqC1wDEhjVK2HmYMqgFT81TWyzSwtya9NsGOAaYudbWlBsNummzGJggVi9sLjnJGb_uNNfBhjvqVZDwM-pqPSH3UPaJ9tgJRr9Ebw-nYnTuhjS7XzKowK-RN-ImFgghUD-q8hkV0G6nGHMIagKArglWpJa7xHdx5X_tOivHxct8Pt6hDCfTjZ4QFTO1tFAKaD1vfkkYjcXnJgj0joWzoD_BJ8RuhHGuQ07KxyLgjI4G6dz5yrSKizzFaeWVrN-klv2EuiATXdfweiTAVftNsmHk0pJOxALD7rnAGCM0yHmkegWqyywRfsPz-j7NLvPrMJVNwNkugmCtsdvHbHQ63DMaNNEx2mPNaCY0MIJyjGhsS2NLEzB4x0JbWzDrQDtouZKcElpBJ509S0gelj7_5fMjLAtazZ0YFwyh7icajFEgTBqdsH0pNIsODfdslOun-e-QwDN5Vxd2gIPLWbFmiJj5iAGfFcPrRwCnqZq2rvCw49sUlT8k2VqpTySrBE10kyZoS2oGtc2-zRmI1vWqx_NNxuokSUFaTgZXZ30WVDeAJE3nayPMPBlE3-tgOimbNt8AXN_HvaXg5OkZjC66xowA3PwfO90Nnzyl12KHNTbQ-1bv8na6lnKHcQKcDKq9BogJhkhsrF7QxqdiIScJXJ1gBUhEJrPwvG4Z63DxtUak4l8XDdbyS2yuNcNAQUJhsCdJ4iiBLbE8pK1s3Z8neTtZRpURve3swAignXvsFyA0qZpd9UjX7huiYTDGciiWPhVUutUBdzJjLtBeRylejKyOvgBirMdk8YpUKSZI8_t93p7C60W6prmUJFui_8J-PggaiSRYa_VFOeTXCtdgwRdZCGSpP3qlPthxTMg0pxf2GeExx7VAJ_7bcXSvrWb8My5erxIgjMQlsXQkXxO3KPKiVEYOzfcCSjQ50M1W8BJMvF-8Jp5OGSE2kHGis3desdryLgQ0LQMYQhnmgTGZLRBGNY3k_zBU62_66LumLp5reO7_SIuqZTpKkHppWwFnUKe8PSvVJhR88iR22Hi7LPepWVfRh5mveGj23oetcEzYkGwMPIoEhgQyCfnoJy9r3CmZaz6zZmvMe9i9CMTXO94cLwZqWlEOAIYTRW159IOssT7mHlE_zerDDkmIsmbrvVEP8-7S8xWH6l5_q_6Sk6-gL8gPg90ECxPt3C7GJEd3CiUBtKcHICDFtzBEklDpfT1GdXOWXDce_EmTb5j-PTi_wXQXbA1eM0a8Iqy7Aan6mH9807-t2R9L4SF_Dxk8JhnboQZlQbSXj0AibjDwFs392sFPG_e1BmnJVvgrlwdzOhbSGTlG5qW2SVmXMANj1Bpm6xKgESGJk4Wmmf8v9Q6LDN9SkxxkQoQYdjUz_guBBPiqZ4n6zvqtm0Bo6S_CL2t_9Vt9WEVOFIgf1_TmtjXGtRi8umZpJS1r-f9l0BK26mrnKLB1bjTY_cd3YhpDbvoDWZQcNi8nibHbAD-jOlXw1NC7kUBV7djcV_iszODyc7ClWOfjLwqi55NW_KjSmpvlSs9DpqeXhssc_SoV-GZeVk0ap88kKcUYN2O6l_mhKQZZu8ffPH2VfYqF-A7mb33Fstxl7bGm0kLXX-3B4hOf3bITpjV9Geifn487W3K-Uq9UEObKjycyyt6jVleJG-Gs_4BXhjHOGr1UkuiTV3hq7AKaKy-PPuoQtsH2l56VEuE7nJP-sND9DrnUV09zw5tlgzVrRfmuKv0e7DlV4Vt4SMimon5cG-kGrqa45bf8jT_ERs7nl6_t2eaPKdFYHxGuyKU0gw33AixRRdQGm52QBWNSotA4EZQaiNJF78lRIrbOolO_zpXYJiJ0dhdd8YBDUnnfXvGnP4ojWUXp2icnd97R51ZtvKsClB5h7DnFmGz5HTJQOokLkUcb5Skrvexsv2S_0thi2irIGnshdnE02biVuYXx_mUv30HjV0nOLQ-r6vbdhIFgodhQBeBZRs-kkG8UqXKKmgZkbRXdjan6lcuI5KfvBfZNWqQxwQ==",
  "id": "rs_06b378f38e4b576b016ab43e33b4c087d0bb47cc3349c61b91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The closure reading is still near-empty, but the closed jaw apex visibly meets the rim exactly and the rim may be thinner than the usual 0.04 threshold. I will perform the required 5 cm lift test once before rejecting this pinch.\"}",
  "call_id": "call_tdf2jV9PakG3KiPutaQswGcg",
  "id": "fc_06b378f38e4b576b016ab43e38c46887d0a1b9d2d6aa11d42b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tdf2jV9PakG3KiPutaQswGcg",
  "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]: [-0.4957, 1.3846, 0.7589, -0.144, -0.4133, -0.3199, 0.0109, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3622 left_y=-0.1111 left_z=0.1154 left_yaw=0.003 left_pitch=-0.1242 left_roll=0.0595 left_gripper=0.0109 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.002 right_pitch=-0.0755 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.6393, 8.7863, 1.5556, -0.2076, -0.0122, 0.1832, -0.3214, -1.3744, 6.9812, 1.6825, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34add51c720cb8af2ce6ef123faecfec9e50f5fe2df8330651f12366230da5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ec1b234bd9b2e753f6411e9f23060c5b03c80965b465e481d0a2fb9d695ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f7d3b33572a76b5fa9f927068a36ad9c3ffa4828b3dcaf49cf25abe9c5a20a",
      "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 · 2.661 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]: [-0.4683, 1.3682, 0.7284, -0.07, -0.4061, -0.3141, 0.995, -0.02, 0.8116, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3683 left_y=-0.1041 left_z=0.1212 left_yaw=0.0188 left_pitch=-0.0739 left_roll=0.0312 left_gripper=0.995 right_x=0.289 right_y=0.0007 right_z=0.1629 right_yaw=-0.002 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -7.0359, 9.6068, 1.917, -0.1148, 0.0952, -0.1538, -0.1709, -1.3333, 7.0085, 1.6532, -0.0269, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.5387, 0.5964, 0.1757, -0.4126, -0.3145, 0.009, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0522 left_yaw=-0.0014 left_pitch=-0.122 left_roll=0.0617 left_gripper=0.009 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -7.3504, 7.2957, 1.5849, -0.1197, -0.0611, 0.6374, -0.2667, -1.1556, 7.3231, 1.7265, -0.0464, -0.0366, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.3846, 0.7589, -0.144, -0.4133, -0.3199, 0.0109, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3622 left_y=-0.1111 left_z=0.1154 left_yaw=0.003 left_pitch=-0.1242 left_roll=0.0595 left_gripper=0.0109 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.002 right_pitch=-0.0755 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.6393, 8.7863, 1.5556, -0.2076, -0.0122, 0.1832, -0.3214, -1.3744, 6.9812, 1.6825, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34add51c720cb8af2ce6ef123faecfec9e50f5fe2df8330651f12366230da5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ec1b234bd9b2e753f6411e9f23060c5b03c80965b465e481d0a2fb9d695ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f7d3b33572a76b5fa9f927068a36ad9c3ffa4828b3dcaf49cf25abe9c5a20a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4-_TTlnTI3EEDyVCQsXYeHH4WR0Z_L1i_wuq44ImtXWu4VSEdmOIXlhwWxTWalkGQ7mpqtk7a7XZmnvi0KtbwaUKqfZaG4Mnj_UVgWxHenIrBFSyNba2Y-jZGHsb0OkoahY0IlwucKqrTZp72jsJAqWsE4z27gKqYFUI6IvpbFBEpGMprgBWyiBNIjK9ildJeuP2_tQonD-rc70vPHeVaY6cYax4XVnoP2nTUXJVObrTxUO5gR2CErG7XJM8YJ6AN52z7T72DCW6u674Eoi0WME3IHyiShK6KEqU2KT7JhLsZTKQgzgD14TUSI0SN1l5XCzGd26ZqyOH8spJh1kZ2FupWSV_SUhv5ctH1mp6-bkTeKg0YiZhbnTPeMTvg-n090RSPEz-wvly6QcJf5t03s_KvvqAouwoOC995yTTnFqzMaGtxeTQRF4VpyHFZm-dSrjKA4BkAMIRm8N5c3y9ew-hP2wu1kMCGPYd0ZBIMh7GmgRE4ZG8rejei_m9O54DIjg4GQPArc_b-zL50iLJJiQSkUfWyaPb22u6l3TveDHiOLD4ZBnsvj-MhTEj5LTQjnzea-RNXrCguj_FaTZ8e1J45x9xBaKYBKF91bbLmuakWcXKnSFLhvPYr-_P4TjMXW7cR_7328FE9RNkF0vIkoMZZ7QjpxcNgBsh43V3H659-dDi_7BjTUju4WpQco1MtuQGLsdBgKVRnhso2Mji9GiAFJJIb0WMquJkLDkOZ_5S5Og-aE6tCNN5FfDP9OJn_aZi5pJvYXqmF85zB1RC8NPpfIKzBCc7zzhZkjxtZ5516Uv7FWkBK5Mrq7BExuV82q0asWPUbgT915WshuhVJNrqpXHQlo6cic2UOuEdXY2AqwtfPDNhT2kEEDnp3Fvp0kgrzodwdj2ZmRjye2Yr8yqdqyc8q-eWa20_LZD0_r7eTFsnz2sL00YgZ2LpFZNXkhMxbKdpq2TrzYdj4mPFPMx049MrPFzKFGZakutUeJS2lXbXgwdEJHoxwZuFIekubcj2ekxjaPHigg6NJQ6NGJVcVPFbAtma5eewS89-6eDQgrdANoMt9n2zzbLYdtYpz7Z6st7WKNgbevC8GTSqKg8ySrv8iXoOITihPYHiN1IeoniWysndjR2Ix-P5_rK5WU23ZIeHu_smIfVUS2mG98njoGHodD8cAmR8xPJKs9ExhqXdVMfLDdwyWtfJWcOQJOoONfdK4vpHJNwVTnSNk-er58FX_ChokjQKfuyKCeSctdYLnls-rXr_2Jhzka2s77kLPATRgKQmMoAJwETf9BmzzllnmeqZ2gexVtGQenB9vd8ae6doCE7_Uplbp7mswe3lp6c49bMe8pZcCZuN-pVxgRhRmcUT8jdbVQmAZPDXQ6Zhn5TLDC3xw_8vgk76PJZz6UkMZpDWXD12NgO_PJ-jhajcd6_2vF__k3QcHj71uEUNPeZdXor7X_oKlt5o80GxVxqFTpHjjNtGRDvcJz-ZSBUHQm20oQRMrn3AMd17FCDouf2CNLjQhNhp68uCn_ViPL92bi_xy0pnsOskcaHc3MrMLaEB0vbp6vTjbGP_NB31Cf5Ul368YNL_L2DxkaGjcs_5h-hEeIwfUEAT9DeVuNDdvQg48nHxBOYTDgG6fUbNBu5mp3GgVLLNaKEWxOFlhMsc2bzVYSG-cdTMIcWd9Tp_d08LiqgzGoh7ZHdGhlQw5qVtulWrfQjW0Ud4fERDFlsizk82kCq0pRoCr0eTy-93TQ3pm3UbICgDP1NmDRV7IM_5yVZV0XYcX6gfMzLibTzAhLactWOTRVU1VQnphPppMQ9aSn_z4i9ikc9gZbkI2cjHc9P3rhYZysafKxpYD3iYHoqKZxC3fgaOduuPTp3ivN9gQ0VAy9H-66YbKAKvayCjFCb2CEyRJ6qeESf3l7NmPqpSkjOp30ydMmccMmENuSwA5S83KUDcLyaaY68DCjUB5uLNgHkBrtMwQWGlq_Y3nGHtrudjpYSInPJWn16Qwsu5ksObZb_LZDlJVndI5fKri_ohFMkCI4tkw_ixg_jRYOTv9f36Trg7G8DE_bloeRjTEpaSvxwHPP1d-LBLBwE6tqfrQnuimQPmYXRlP_9UDSinjkvoPlu5N3uxNCkfoFbvwWobSlpxlU1VFCzQTtInAOfPRBxAjXk1oOLW3m_SOl7MZGXHhTdg2xPLv4wjHq8z4OoGPxWsrr4lDgJMujmnh00HbfHbwuY6jQ7VYk7oho7rg38O8-_YE_y-4PRXGaKImiwiT9Z4xLeHHkrGuO9ndGiEwM_ZmO1oZTHSrNz7G4yiaFGs9nd4y9eDjnPEo16-bkR3WvDelXbqnhB9Ywr4PL8fNgsndG9EwPXvYBgbGWMSVA8Eyf43cUVF9z66U3r5kxrXu54gGeUZctT6qSFCZVKU1KIbjo4xfCY75Lm4q2AlO_imldy6ZPXGOrfvfOfrqxgHvAFYTSTEguyCU7j2skdieJNZPdk1Rx",
  "id": "rs_06b378f38e4b576b016ab43e3b791087d0aad6ab120f3c233b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.05,\"left_z\":0.14,\"left_gripper\":0.0},\"note\":\"The lift test confirms the rim pinch was empty; the bowl stayed on the table. Since the rim is too thin/smooth for compression, I will use an expansion grasp instead: center the closed fingers inside the bowl, lower them, then open against the inner walls.\"}",
  "call_id": "call_sBv27OYznpMa1YKPW3DSA3tC",
  "id": "fc_06b378f38e4b576b016ab43e3dfd2087d089b3c1b4ec2a4583",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sBv27OYznpMa1YKPW3DSA3tC",
  "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]: [-0.2806, 1.2594, 0.7475, -0.2131, -0.2798, -0.2035, 0.0071, -0.02, 0.8173, 0.5945, -0.4225, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0498 left_z=0.1367 left_yaw=0.0445 left_pitch=-0.1238 left_roll=0.048 left_gripper=0.0071 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0024 right_pitch=-0.0755 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -5.559, 6.6803, 1.6044, -0.022, 0.3101, 0.7155, -0.212, -1.0598, 7.0359, 1.6435, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b083c96126d0e7015d4aa8320351e20c513f866624e19e05ba19ac30c3faedf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad33696693a15dbf08a7323dfa77d3fee35ed802394b8683e4f2b487c9438a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f1d8182abeab97971b6fd5e1319e09ad24b52bcc0b7f3c8e1a5baaa982549f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.092 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]: [-0.4919, 1.5227, 0.6174, 0.1814, -0.4061, -0.3145, 0.9988, -0.02, 0.8139, 0.5945, -0.4194, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1148 left_z=0.0663 left_yaw=-0.0041 left_pitch=-0.0864 left_roll=0.0375 left_gripper=0.9988 right_x=0.2892 right_y=0.0007 right_z=0.1622 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.1299, 6.6256, 2.0879, -0.3004, -0.0464, -0.1441, -0.1983, -0.9778, 7.159, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4957, 1.3846, 0.7589, -0.144, -0.4133, -0.3199, 0.0109, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3622 left_y=-0.1111 left_z=0.1154 left_yaw=0.003 left_pitch=-0.1242 left_roll=0.0595 left_gripper=0.0109 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.002 right_pitch=-0.0755 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.6393, 8.7863, 1.5556, -0.2076, -0.0122, 0.1832, -0.3214, -1.3744, 6.9812, 1.6825, -0.022, -0.0269, -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]: [-0.2806, 1.2594, 0.7475, -0.2131, -0.2798, -0.2035, 0.0071, -0.02, 0.8173, 0.5945, -0.4225, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0498 left_z=0.1367 left_yaw=0.0445 left_pitch=-0.1238 left_roll=0.048 left_gripper=0.0071 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0024 right_pitch=-0.0755 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -5.559, 6.6803, 1.6044, -0.022, 0.3101, 0.7155, -0.212, -1.0598, 7.0359, 1.6435, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b083c96126d0e7015d4aa8320351e20c513f866624e19e05ba19ac30c3faedf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad33696693a15dbf08a7323dfa77d3fee35ed802394b8683e4f2b487c9438a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f1d8182abeab97971b6fd5e1319e09ad24b52bcc0b7f3c8e1a5baaa982549f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5CPj5LHpbe6b3BaDpzSQOa5OttvY2dTP3Yir8zTbOxo6SkKmxEaZgaCy2Tycfgbks3QfM1bh8CIYiUuvstR8J8vSUVNundIerJtoSnifthi-3-5fIJYFen_ySk2w3ybYjEn-Rdoi5NXIYXfXZzkp0TyYWKupgBlbFRK06WP6bZZ7fLu7EkvXv5HJbNTYBeJ8HDPecfOnXSU7uJWpdMh63xVfi7_BgTz3SG-hcJjCooznceCMwcZUzK8GpzG5mDaUtPBj8w2-I25Nq7mekbuRhY5x-IzGV3PMWO1sjKCVVGA-PlpadFMRTYzTld7_2gbdLjfuuWndXh-Ej1Ms3Yl2RKR-QVIE7YsDYk3oRWlDedHNwhmpO9QfOjqyM-_bCev3Ci7VatBjuyLol0mg_4qIbTfZUenXTlqXb_RW6aJ_MlCxY1jvTqJ2CHUgSalIPu5eoaYMWY_X17BWgauxfn2IXkfe7qp8y0DAT0zVey8ecxo-uidiXKnDx1bI11m4Q61rW_q3Cm-vCkq1Gg_AD0LHYBrGRZVVa4ei8p2bkPFCXBKB81imtaNaBKyRIoZ3uSclX7uVUES2R2Rjx-MsW4OfYZY5UtU5aear12g3aL0OFDh3xx3D2YJ6ClGA7oSrOd7wsACuhSDv6JkhIYiag8xvvBtvWNAp72Po6kxIc_lfm4j9StXfZZ4UGVvwgEfWD7-7d8idGFBMYPoDSPpWjGAmh4eSYqyXtJlhTWP4atfURBXX-FmomCE5-OkYOXKsj-JjMypyKNDcSR_WvYdY7qOZeXUNRwUou-R_pekLktnogLTfBJ7JXMWWtpnSmyL66xcEcVj_tj8VOaYeAE37relqRkAJcG0g8VevQ2I7e8uRF6wh-b2OyJRbSFZjNh8cqZRDeJ9LCBf-SVoEdCjF7yDSh8gPeKOR6kAwL9SceMXfeehkJK3m8NoVUbaKJvDCfafT55VTme90HTP2tARqBTa1Hvspd-1x2pYX_TonTcBFMkDOT6yHYq3fNsZEzfY-jsSW0bU3S21Vukzw-dQ0XVHD0UzusUW8uW52eAh2iRuQ4QrHIDnwhzxuUo-1eYjZyIePmohRapCkh-xiy_v6GDyESZ73bWU5Cn3kOTEKlvzEu1O6O0xgICbsuG6NpX_aTgFyi08p1N2R85cTM5z0pdH8YFd6VAEOlw0hAOqGwxz5ribsSjTxXfbZdSUrueXMTOq8s3UhiGRjfqd_Gsxj7zQ-Pq1GbsnC7JLJe4nhmUD4efzB_OQxRbtIZHc6PNtmZGt_ayJWkQbge7vFelEfOEzRMDzHNkJLKa3TodR9bzNMWA33waHri49irr5Vnu-yZ70iDDQC86X9zc0t0auExd7sRru4SjBtAoJRj2VmC46hpz4EopDGkD31xUOIhnAYINqOv8iDvZaX5oOHdgwidC4e09aF-Fmut5THHKX76q8OKKRptW7JaHrt-p71ywqAUKnNTn",
  "id": "rs_06b378f38e4b576b016ab43e40816c87d0913bd39fd76bb7d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.05,\"left_z\":0.035,\"left_gripper\":0.0},\"note\":\"The closed jaw column is now centered over the blue bowl's interior in both overhead and wrist views. I am lowering the narrow closed fingers deep into the bowl so they can expand against opposite inner walls below the rim.\"}",
  "call_id": "call_9Xvyl9LR8PGFVZ2ZPdTuoG6a",
  "id": "fc_06b378f38e4b576b016ab43e411fd487d0b7c295a2433c38fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Xvyl9LR8PGFVZ2ZPdTuoG6a",
  "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]: [-0.2832, 1.4925, 0.4854, 0.2066, -0.2699, -0.2028, 0.007, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3487 left_y=-0.0487 left_z=0.0278 left_yaw=0.0371 left_pitch=-0.1976 left_roll=0.0662 left_gripper=0.007 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -5.4769, 5.1214, 1.7998, -0.232, -0.0659, 0.7106, -0.1026, -1.3607, 7.2, 1.663, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13d2ed55c244c5270e9f5bc3b1fab155c5f12e22728dad8283eb37a8e496c25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b27660b8cb8eab98cea6720c34762160e228dca3860a29bdcf45f0e6fe2750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f005203414788d7654e19b9c31fcd948c55b13abf6ab788f2251d449c015bef7",
      "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 · 7.147 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]: [-0.4965, 1.5387, 0.5964, 0.1757, -0.4126, -0.3145, 0.009, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0522 left_yaw=-0.0014 left_pitch=-0.122 left_roll=0.0617 left_gripper=0.009 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -7.3504, 7.2957, 1.5849, -0.1197, -0.0611, 0.6374, -0.2667, -1.1556, 7.3231, 1.7265, -0.0464, -0.0366, -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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2806, 1.2594, 0.7475, -0.2131, -0.2798, -0.2035, 0.0071, -0.02, 0.8173, 0.5945, -0.4225, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0498 left_z=0.1367 left_yaw=0.0445 left_pitch=-0.1238 left_roll=0.048 left_gripper=0.0071 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0024 right_pitch=-0.0755 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -5.559, 6.6803, 1.6044, -0.022, 0.3101, 0.7155, -0.212, -1.0598, 7.0359, 1.6435, -0.022, -0.0366, -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]: [-0.2832, 1.4925, 0.4854, 0.2066, -0.2699, -0.2028, 0.007, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3487 left_y=-0.0487 left_z=0.0278 left_yaw=0.0371 left_pitch=-0.1976 left_roll=0.0662 left_gripper=0.007 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -5.4769, 5.1214, 1.7998, -0.232, -0.0659, 0.7106, -0.1026, -1.3607, 7.2, 1.663, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13d2ed55c244c5270e9f5bc3b1fab155c5f12e22728dad8283eb37a8e496c25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b27660b8cb8eab98cea6720c34762160e228dca3860a29bdcf45f0e6fe2750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f005203414788d7654e19b9c31fcd948c55b13abf6ab788f2251d449c015bef7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5FY32KTTtpt7gNeeZHcuhxUivlYaYhSultHHePc8ikGLguedhUmu_Phhewz_84QGKAcG7HYAGbwGqwa_6ds9YkQ2yDZAPOCT9IVFtkVQVvxOq54VYIxaq9UIJI_gHr90umDLfPmyBvWytYaDwW2QHI6Vtt9BjkhX7OfXxifxbStQpmqKNVVFFmqflxJBa15RtBBUf2jJHd1ixhTmvRRHhWB5EnyiolIgwyRMDrTNkt4UEmiX08u6pRIMRd2x6y1XX2HcPUZPmwDxSThHPFuVpFkIF1Y5O-zsBXwATN4Y9xLFCYsqkrW80gyNB4DvQwjO10ARArcuG3MhmadWGJ7yhTwpyllrte7jQv3JLK3_QFOPOnNOo8TVVQuLVWfcDZCl-Eelugly0hQumDQXyHsnwz0uRd_32u31vMiGRbrDlEU2c73L9fH827g-QIcA1K3Wpks4RSOwidyt9mKy3sndjO7uFXdNzHWTomVVwMMTW5Yhc6wg5KYrvO8LaJ6w8uA_bHuoQgaq9z25bAkq9tqH_FTiseeFOsMWK9ohqbpJgBY0U6Nx1zo0vIAXrki4vaSbUxPFOwdWROJfBgrZfODfmRAI5d3H-h-KBqEyCzLh6OFW8EXnXfr8gF6zsswtwMh3Kb4Ja2vxXg8gXqeubYooTaqXzAnE_a4ZY2prtrLl9PvsJYCeRD47CAFK-EEgD76WQB-fcqIBRXAQxJRn7swh_d_KaZM6oeKL56tXc7CTf7S2IbL6W5xHy97FZtnrWEkuZGDKauLzGrY3pJc2dlYWSZi9-gJkcJQ_E3p0-mH_hX6cC37rwYs9PSfoB6ANeiWMqBYehU6pLV17gh64qGqos6snsfFbsndzJuTS_B3BYidegJ8JXRyZRy9zUR0LbC_5mrwnDkV5ng8kN8DNoWPu-KRB2AmfkNL-B6vZWYlT1Kjw3KMI1PZZZJf_mt6P4ICRi9rcTKA3irZ9srmVTRVn_rfaUUV8y02tMKgNoFeSbMaCCnVQHr0Ugax9NhIbcrNwb7zVk73kPjHiiRT0wWLpE3BBxeGvNvwQMvetlZt8A8xzUD_vOHWt1rkhvbcJiMs5nRHzOWZHPJ_kZeG8OQ3vH8LEBTEh7dYKmr79cF7DQphY9ILsAgIEA1wsfgswDXlV4Jemu7lszrK_ZQvhuEvprN0bIYmocf1NNgHS3LqhHrnIjbBjrAQAvFUMaZK3FHC80ncdrQiX-6XR-DIaKZKDVYUXe1W9FDqMPMT7xCfIul5klkVkMDXQwSttSLbizz8Fcw",
  "id": "rs_06b378f38e4b576b016ab43e441dc487d094c2b1c251dcb045",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The closed fingertips are now deep inside the blue bowl, near its interior center and below the rim. I will open the gripper fully; the inner walls should stop the jaws at a substantial intermediate opening and provide an expansion hold.\"}",
  "call_id": "call_eeaxDcrSnnpmNCqfjrqJfdBI",
  "id": "fc_06b378f38e4b576b016ab43e443c8087d0b37a3c5b8575e4ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eeaxDcrSnnpmNCqfjrqJfdBI",
  "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]: [-0.2832, 1.4899, 0.4782, 0.2329, -0.2806, -0.2066, 0.9942, -0.02, 0.8177, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.351 left_y=-0.0475 left_z=0.031 left_yaw=0.0467 left_pitch=-0.1745 left_roll=0.0636 left_gripper=0.9942 right_x=0.2889 right_y=0.0007 right_z=0.1606 right_yaw=-0.002 right_pitch=-0.0759 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.7932, 6.1333, 1.2527, -0.0513, 0.0708, -0.1245, -0.0205, -1.3607, 7.0085, 1.6435, -0.022, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f275437bf1654d0fc230081d2e3c65f2d8b49460d47740144ec4d94967e1fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159ebf65795c577df02f988011e9b090f1809c8b995283c758a0a405c2f8c302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0263770718e8977146630eae2a75f374ae6a3bfb7a50e6c362d18206a15f5d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.918 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]: [-0.4957, 1.3846, 0.7589, -0.144, -0.4133, -0.3199, 0.0109, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3622 left_y=-0.1111 left_z=0.1154 left_yaw=0.003 left_pitch=-0.1242 left_roll=0.0595 left_gripper=0.0109 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.002 right_pitch=-0.0755 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.6393, 8.7863, 1.5556, -0.2076, -0.0122, 0.1832, -0.3214, -1.3744, 6.9812, 1.6825, -0.022, -0.0269, -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]: [-0.2832, 1.4925, 0.4854, 0.2066, -0.2699, -0.2028, 0.007, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3487 left_y=-0.0487 left_z=0.0278 left_yaw=0.0371 left_pitch=-0.1976 left_roll=0.0662 left_gripper=0.007 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -5.4769, 5.1214, 1.7998, -0.232, -0.0659, 0.7106, -0.1026, -1.3607, 7.2, 1.663, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.2832, 1.4899, 0.4782, 0.2329, -0.2806, -0.2066, 0.9942, -0.02, 0.8177, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.351 left_y=-0.0475 left_z=0.031 left_yaw=0.0467 left_pitch=-0.1745 left_roll=0.0636 left_gripper=0.9942 right_x=0.2889 right_y=0.0007 right_z=0.1606 right_yaw=-0.002 right_pitch=-0.0759 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.7932, 6.1333, 1.2527, -0.0513, 0.0708, -0.1245, -0.0205, -1.3607, 7.0085, 1.6435, -0.022, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f275437bf1654d0fc230081d2e3c65f2d8b49460d47740144ec4d94967e1fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159ebf65795c577df02f988011e9b090f1809c8b995283c758a0a405c2f8c302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0263770718e8977146630eae2a75f374ae6a3bfb7a50e6c362d18206a15f5d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5NIiLORqthsQM6CEqKgl9NaHsx4YOintX9h6pEZTy0H6sQZ1Fr0DEHPScHYNf--lpZ56zNDP9V7rU0w_xc4UinHEkMlHlX7SAxEK0UtBoGy-qdgyYrQ1KI5OtWONZGz_eujdqjXGhnfwdkSw9QmLDN7R5e7pwDyb2nm-DO0MkK-9TqEg0tcPt9uEHWOtpAlkBbWvTbPbHJQlXY5ZaNrIUomM0SIHNC48ToupBD9l-ODzYKFhsTqhlWf2ZmDrWL78IWORuFR5tb9nSgQuak9WFkyxIXfpNJOzeLCI9g0mpYH4rukXdX4fuUFq9TPDlUcHqaI2FhaoZClBVMM1ryi7wi6ngiFDTPk2-LgyUtgkUHWU7LMxKWXcBAmggaM5riQsCqdDj-PnCbuZLblv9Ofr9in-qaOGkhWl12-fozPb-93Xd95VYX4Qr648fZIUOhlaUC35J5Pmoy0gpcS85nbD2e53HAv6nTVXUZ-DOf4lNWwM7T_WsGXBfTsYjsGihMGJldIxOEltuRv5MuNyWzNP8aUyC3buku74X7iPxmN-5j9XiXRSpmVw8nyuRV580MB2TJReJIVKzoSXX0Hgu42h7tCz8XxYMnaNt2eByWLOx_zQdVK3eUSRtttPxVF8_kS73ESEFhNb8VYa5Az9AdJs_AU-V0gwhKkKAoqDYLVNlRGCjzo8OoGRkB2uient0pvyulLCoUXtI8y-XEAqf15RVOyakhMdeFmhF_TlNlDaHy1CxEFrzPtphQOX9zvS0r9tp7mPU97KNCCFjsayTOhJgJxBAxA2jzw9Qgmk5EtMHbaMj3S-6PQt3Qh7Wa2ddxHHPxqJtFf50LfG59LIGCLGJQfQHFbBnB1WjGLCFzKdwvxjFScpTHxHyewbDujWpbL9R-IACPngIFW-WCA4BEzWu6KojRu_hOKNpbWvKaXcVAhQJNtZ219PWpFgD-tHmTEf1bQ4L9WiPS2H_vhm2LfU_-7QOizZVu6zj9UnGadLLzjPCW3tjflB03yxNc8e2fKyLn0I1VIsq-RFi_KkUWBk6OD8ete9fp1ZUIO8HHKmbRw3YaFs2iWfVBHymA_E0WgPWDEMMeCJPDl9zGPNrSwULnRYPPPfIZx1cVVR9t_aQFwIyivL2lrn6Lh25ZicZ_j1SgJGNzQlHNHyoVKex3XX9t1JQd9ZdadLgRRkR-W8UDLRXlLSla4noMpnrlnOvYAq4jSB-95qxvBWiQk_EjdvuY66chU4sIzC2sME-ObJQJ3XT327oT15mtSfLCYWRIB_aDHJL1IKb3CjjzwDGNQjmJYlMTYOx7BtjvgfeMMzhbO7MNAIEXxRwChIDhQcDXoVB4UjNqjmIKq3qdm8pGLvi5pfOANaQ5tXWfJTUydBiZEda-nAO4pafB0qTkQfC0WmU7wZJiGFWvGkYO_wv0A7Yoqv1z3mh9vB5Xzc7nywjI6ifbA-6HqQk64WwW6qv3oChwydOyRDbpfAL7tZL_ZN0Mmyx7NTNgWb8kGt9zXZGGqXTOvEOfks76AC4ZP34xAYlu367nYoDnk3cvLh4jU4CvY_13IXfbHBrB__5ex5yyOWOcQzfPrCIsQc-_M5aPriGMz-PzYxvjp_7fAIx0YYTPVfS-FTfJbdZITJ1-6iPkaFlRgwJ_7Iq9iBthFMVbhDh01Jvlt7IHgzYsTBi0qpbHOZDWFJR-oyKqEwtWnEOgHscIWPCq28cvvvgum4HoK9_0_LZgsdi-YAoFPvczUFp-Uwyq53zgVH4j21PlekztWY0LeFOgzEA6oXVBORIIk_ANGUrFO-fQKSMF6ostwzGRK5myEfFXU9rAA-wyKYfMjfLPOl5qX3BMx5qpX7UUOFCf2t-HPNYQ7r06rpNzzZv1FAUXMYJzG2gNfZZRWRzIpeu7R48K7anI-3BA_HpacZJnUNkK6Tuch_PijSZ_mb2ef8uorNk8ZwiPr_GFBuJHZ-XThLD-DceHVohfq4NxbbwAmwGrcxpCRFe6ICPfcn7ScxHRTl2ppC7nc94EGzSOd0VlG7bPZF9nfZf9gzgMvYxQS5CwriUMjDls9G9n3T91xcUZcp-Tl0cB7Dt0EiUbyZMCskqFm8X3ojjU1Xdt_cNep_meXLibMc8cFAR6Jc0Pxnyt7RLYaFfOjludViwxJMiLDOeTNvfLRSPfo2So4AUank1mwub-v0ejw4fwkbYmnzt7HOOlYlAiQrMEvmC1TV4dSTRAeBMorG1NkTaDnzzVS70C3JbaujYJSkUWAXgAtQRCtuRvmHUGF8z5gOvsAT8UtmZY1Xy6MoquOG-gs510VnjtaKMu-wU0RT7kztx93Z85TxpvRi7v59x6kC4VIX9htjCsrPQoUDGEzM-guAa86RVSDbGbtCJcHBheHkdQsV2_J5mYUHBCbJIAmX7XSMULTNIVlVRw4wlTBrq0Xofyx1fdVQauYVaVIURNiC_Lao8OGGkC5lrBt75dnLJXXCRLi6UjX1ZyvTWgeSIeKsIuU5USjNhHjVpCt98wGMRJJYwxza1cPqJEAXJXAxodsiAG61QPySZLkklU_WXi_iA0Ub1lE3ardcFMr2ZExIn1whTPTWrz2BCBeGknakL--2a2FPhT5Fg2exW1kEQeyv12KzFlogp3AuRp5VYlXbrQr8MUvE4-1ZiPfgNlPW37ofVRvN0T55X14WTxMF38QFPVg14KIEkndGbjPDNO7NpzxIRGNPuOYprPszc86JgTjouLW620GPSCitwWHRNA_1DX8cQmQ0rwycS7as1d0Invqi3Me77xJ3hqEu_oIO55CS-HLSUaleNYDD9vK3kQtydKGBDy0dCJTKxlLYUAuQDf4wJmKwmBFwXdYztTONWx0yb8VUiiM1jOnJllpi1B3NReH6gwum87ZjxxR8_bc7roMDr3hq5lAtvBgAeZFiXKxcfrpI3bOmlyFEwFjBL4LIRvBBZ9bTnokOCqJVj0teSiNT7hlxa14xe9hljxDYBeWBoYiLP-wW7NFWQNOlbcVYaYivtes6fp6PorI3IhuCVSS_bTpdG6fzXmEZzr2OBMm3B4Y1kPlGsw3Xyxi3_XlLI-lDsAc8UY5v18EKhuZCcDBgQ1X7mQEAkCNeBiJkcyY8ewTEvtwUI2UN02KkWQ7IDSkXGQHzuOkIf8SnZgK95h4X4JG7t15JPfCRoWcAlgJ7DGNKrqUxFM5jIS_M3GCu2QI6_jRJFRYg9usRlh6lSHdMIzXg52wez-cdM9AhsNmBWKJb8Jvxo6Lliw_qkjyqNC6RwKI3Ub0TYBuIOB2xEPRIPC0FEkhYBMWujcfF52fYeiIfbLJwFoqhw2xhBy_ddGmlrAojH6j-E9NrygmtdipRqt3amgOuENMAqd-oBBRdVqbOtIqSXcXfobAeEJ6c5MEgZSR-8jBWt8H2MGzex1U9VPKoqstW09oM7n2HfdrH5CwbeBjENUCB2NnGTjq2Zr9JlSUTID74FMATbmIZyIAhIG8D7sWZ3pxtxN2vC4I7A7eRbcvKElSgIaDG2-u6VihIZDVmqkkhOKLgxN_lxmo07S5jo2pkHEhGIJ3jy2-0MW5nmpWOrCN7jc6AujIUN8u3rUXpIxNaNEXEAwpRIn8d9XnvNg1mGr3iZURcrKYH1IA3wozcn3U8HltGyrl1wfEGeiLm0ObOgPTTJValq6JStsq4nuYeDSjsdsg3kE36meCoDHjhSD8HmNLPGwJLXL0Zve-QaUpahf7LrqHQaeBo2Y3otvAmCkEz7nDm4eeryf2dpEnxiWgJKEM0xz4fjuO3YlDmRxv99dXNitPP8EDo16mCWPbxN8Ka7DZKSNwaw=",
  "id": "rs_06b378f38e4b576b016ab43e47eb4487d0b64591d23d40ac14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_gripper\":0.0},\"note\":\"The centered expansion reached the full 9.5 cm opening, so the bowl interior is slightly wider than the gripper along its diameter. I will close and raise, then repeat off-center where the bowl's lateral chord is narrower and both jaws can wedge against the inner walls.\"}",
  "call_id": "call_ZchLwCykE7T2Kc96HDxQ6FXf",
  "id": "fc_06b378f38e4b576b016ab43e4cf6a487d0b2583c6b77f74d5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZchLwCykE7T2Kc96HDxQ6FXf",
  "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]: [-0.2832, 1.3117, 0.6182, -0.1131, -0.284, -0.2092, 0.0081, -0.02, 0.8177, 0.5945, -0.4229, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.0455 left_z=0.0838 left_yaw=0.0528 left_pitch=-0.1999 left_roll=0.0733 left_gripper=0.0081 right_x=0.2888 right_y=0.0007 right_z=0.1605 right_yaw=-0.0018 right_pitch=-0.0763 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.7094, 8.9915, 1.4921, -0.1294, -0.0171, 0.6471, -0.212, -1.0872, 7.241, 1.6386, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b36a44abfc6e8f6f0eb7645d78b52ca8e8e4395354fcf01f52f1d29d99f319c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75edca8e48a8606561f2ed1cfa2ff19a4566d521272ab64f1e86879428f6ee2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd91154b8f53b331e30790dc5abd25fcdef235cd5a474d90f2727919174e234",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.593 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]: [-0.2806, 1.2594, 0.7475, -0.2131, -0.2798, -0.2035, 0.0071, -0.02, 0.8173, 0.5945, -0.4225, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0498 left_z=0.1367 left_yaw=0.0445 left_pitch=-0.1238 left_roll=0.048 left_gripper=0.0071 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0024 right_pitch=-0.0755 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -5.559, 6.6803, 1.6044, -0.022, 0.3101, 0.7155, -0.212, -1.0598, 7.0359, 1.6435, -0.022, -0.0366, -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]: [-0.2832, 1.4899, 0.4782, 0.2329, -0.2806, -0.2066, 0.9942, -0.02, 0.8177, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.351 left_y=-0.0475 left_z=0.031 left_yaw=0.0467 left_pitch=-0.1745 left_roll=0.0636 left_gripper=0.9942 right_x=0.2889 right_y=0.0007 right_z=0.1606 right_yaw=-0.002 right_pitch=-0.0759 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.7932, 6.1333, 1.2527, -0.0513, 0.0708, -0.1245, -0.0205, -1.3607, 7.0085, 1.6435, -0.022, -0.0366, -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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2832, 1.3117, 0.6182, -0.1131, -0.284, -0.2092, 0.0081, -0.02, 0.8177, 0.5945, -0.4229, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.0455 left_z=0.0838 left_yaw=0.0528 left_pitch=-0.1999 left_roll=0.0733 left_gripper=0.0081 right_x=0.2888 right_y=0.0007 right_z=0.1605 right_yaw=-0.0018 right_pitch=-0.0763 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.7094, 8.9915, 1.4921, -0.1294, -0.0171, 0.6471, -0.212, -1.0872, 7.241, 1.6386, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b36a44abfc6e8f6f0eb7645d78b52ca8e8e4395354fcf01f52f1d29d99f319c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75edca8e48a8606561f2ed1cfa2ff19a4566d521272ab64f1e86879428f6ee2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd91154b8f53b331e30790dc5abd25fcdef235cd5a474d90f2727919174e234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5SIA-u-K_iUwc2io_UrboJA0Ldy8FDNec_TETgouS5-bqh4dCb0oCVGGUX9Gb4AVOGtSMDJQ2MWmJ6YACVbDuoU8yKalFmJemjo82hnRuaAnhzGtibncVsp28s9W0oHq5peFByAVcrp4fe1wordzHk119hnAe_JDjd_PY3kVWaXBYEWcBZaQ5MxiG5W28UriEuZPryWYfrCdFSInfM1pD3Ov5evMrxAhjQR9OGdmAvmZa6jmVDCaETCd-oilTeT4lMX7Ru6htTGzSgTt6BTWQX_wZ9yfwKrY7JFQNzALxo-pg9FqtNHcZ81fPhGRv-K0yeC6UOxKfeEbDEvYwUFadI8pvwqg52MI8SdGeTgZeVKBElZMsSNAYNA3Yt-GQElXDhGNJ_t9Sedhiru4M4cx8vag8rvsgXGQ9V6p8jEk47BW2uReFJhaQKkyyHtxP8J1kjo3vcUB5h2JZsQlpdPqnZvpfNfjX6BP2e7YUAl8yNjm-yQbR7IY1-ZnjaR1eWhcmlLsVTLK-RRqv-TmuxQvVlAFUIreKUsmJkEcZ9hx-B8la84m1HfDJpvjDz2R9a3aloi7_t6TLUkHv16aTa7Ek8SznKbefXXucVel1WXZY1h5ASR44GXwLsa33_CAusYGEP24thsBhcqqX1quTyviRU5v4ltL2-7lNWN3wJzhSAeVQgkOR8jkDyk5xrDVXmvtRIQbl2RyKIrQQyC9sRNubkmwvF6NiU70Ids1RIWdTzA2org7h6QyWoMnhIjer-P7sag_ce9C2tfwaxu8MVKnwsN_sznx0hzdnBKa48_Bq0q2vDyiR6Q3ch7lxgLMQTmnBDKBK-pUTVze1wjm6K5-4TIWofDnfuW3rGRpY-s-rSLUIwotsTPNkO5M5VcyFccwAPEIitVlDd9Wpm8q7ls04yZgVzp-eGbMxoDl127orAFtjhyh9JkvcrsrGsj0xSShdpJFVfV9bD0vBwaEswOCfblM_8vw-hxCLIVxXGCoSuGzXFUElgP4vaqlomHzkz6yQOjjYI0dF0hqlXV1faaFn32-C32ehpKtic8H_rScixSZRIv6xfIMNgf5mGdACtC7VQsQQKo49DEKYE65YggxRyablKwB4cF1kJJ7BbmNrfckFfeaE2tm6wHFUyjeJny8bJobr86IBYdUbKjokSY7X4iFu5VwJJQUkGKbCdI6QbAl49TYYFDLXwYHMEvzGo_t9Ljm372HCn3g5sJbUeduKudYn6_7JtYsxlottFgR3gX6Uo21WoMxA4k1gQhfzBTye8BxNkLyjxZLR1iIuV04bCl6MLZKrxTkyleFxhNXhObHIzd49aY0UHbvEsojyhZCYA70c3tNYG6PKY07318bz0YGD5Syzs3wZq95lijowNCljb4uOT6f3gkX_TlulP1XNmkE2ukJ2jdbcxSoRpUDb9wcehNnyVM-Hw9hdR65rbgI4=",
  "id": "rs_06b378f38e4b576b016ab43e5167d487d0a386474c200e6068",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.046,\"left_z\":0.1,\"left_gripper\":0.0},\"note\":\"With the fingers closed and raised, the bowl center is clearly aligned on the jaw column. I am advancing about 2 cm toward the far interior wall, creating a shorter off-center chord for the next expansion grasp.\"}",
  "call_id": "call_gq9JIlUsLQ1GASplLkxuUZBZ",
  "id": "fc_06b378f38e4b576b016ab43e51f4b487d0b64a9cc3d8fb58f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gq9JIlUsLQ1GASplLkxuUZBZ",
  "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]: [-0.2703, 1.354, 0.6785, -0.1669, -0.2783, -0.2054, 0.007, -0.02, 0.8173, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3528 left_y=-0.0437 left_z=0.0845 left_yaw=0.0615 left_pitch=-0.2353 left_roll=0.084 left_gripper=0.007 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0024 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -5.4222, 8.7453, 1.6093, -0.0757, 0.1636, 0.7106, -0.1026, -1.306, 6.9812, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765ee4e61b0a8c5ff4e5a67230fc4debdf319c491591b2f0bd49253e5dd30a27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3ccc4039644a9511911ffb48b99ac60a3880506523519e8788af51763e73d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaea94996354571cdf107053adc272c73f734418f64443b543b23a5e795657ee",
      "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 · 2.31 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]: [-0.2832, 1.4925, 0.4854, 0.2066, -0.2699, -0.2028, 0.007, -0.02, 0.8173, 0.5945, -0.4225, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3487 left_y=-0.0487 left_z=0.0278 left_yaw=0.0371 left_pitch=-0.1976 left_roll=0.0662 left_gripper=0.007 right_x=0.2889 right_y=0.0007 right_z=0.1607 right_yaw=-0.0018 right_pitch=-0.0755 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -5.4769, 5.1214, 1.7998, -0.232, -0.0659, 0.7106, -0.1026, -1.3607, 7.2, 1.663, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.2832, 1.3117, 0.6182, -0.1131, -0.284, -0.2092, 0.0081, -0.02, 0.8177, 0.5945, -0.4229, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.0455 left_z=0.0838 left_yaw=0.0528 left_pitch=-0.1999 left_roll=0.0733 left_gripper=0.0081 right_x=0.2888 right_y=0.0007 right_z=0.1605 right_yaw=-0.0018 right_pitch=-0.0763 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.7094, 8.9915, 1.4921, -0.1294, -0.0171, 0.6471, -0.212, -1.0872, 7.241, 1.6386, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2703, 1.354, 0.6785, -0.1669, -0.2783, -0.2054, 0.007, -0.02, 0.8173, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3528 left_y=-0.0437 left_z=0.0845 left_yaw=0.0615 left_pitch=-0.2353 left_roll=0.084 left_gripper=0.007 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0024 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -5.4222, 8.7453, 1.6093, -0.0757, 0.1636, 0.7106, -0.1026, -1.306, 6.9812, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765ee4e61b0a8c5ff4e5a67230fc4debdf319c491591b2f0bd49253e5dd30a27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3ccc4039644a9511911ffb48b99ac60a3880506523519e8788af51763e73d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaea94996354571cdf107053adc272c73f734418f64443b543b23a5e795657ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5VT_CpW48zknJOI9IDyus4BFp2PTzagGqZIbi7TnHb8uFnNLhLNklbZHq4jq1P6yJLoUoQsRRoL6yDvzNB7IF4fGEc3oMVSp40PwJvyPGLqfQex74w3kRG_xbQ4qT5MBacsz-q595y1DplM6i7M59z3nQXFnoAtpl1TwWYdOrjLDpTY-RdlExTeFlxJ8fwdyvtWDVcf2sdZ_27VreYjJRbRdJRh3ERandd10EFyHFOzhjKWOv6YulEOK4SjJXCslXZSb-bSZkMCZJpWvGHnneTHRxf11BNEF4XqVvDyfm3pIkdv-mDHP5BqZu5g6jktxxqffJCtWuW8sHxCLs6fySdvO1MP0ZMwPyZ5HR4vGqWoid8aHZiqdKvhtijxmrSCWnL5SoC7LiUjpsYNY05cvBrDQvKu_DBrp-eeSz9qUrA6IKeSsQAcGUELfN7XZoF_nXkgwuT7w3Wjb3eF8dREoXck9n2LGPuWrY-xaAp-2qvBKvcebbCBdDbXQlLkQqxpsEOfqm4AjDvmZFpT_6d49QSEyvIHA7YRMu3ekL7Ns_QXaHlrYM5BXujpUJY6hU835yuATmciIOrJyXnzMLLktyahbo_epn1vjln1ipo7F69-s8SNnb0981BEV14ONEntpBUPEMCvFsmBUpNZlN786-zqpmQ0d0nAino1vzq_EnEsfvoJMzYcxyBj5Tc_APvKCuk_4aiXgvOTD6D8PU48T6mGaryKO7dZ7VRX1vZKGG-3cwVYUJbIE9QMARF4Yc6CFqR7setGk2_R2-mCj203TCqX3fCsXgkLGk8e0dGqh8Vz6SverwDgl6HqgaQDfez_REZlIZS9hrkb6JZGm1sdDGA2kQgFyUygDter-EOXevi_31jMM11RhcmWfs3lY27b74iyBGEbSvftPgOePoyHYjaa9TF1Rt3nscFvwACcfFJSUXiloWhSG3XOcTOkcZv-IMz3f63oaFD_B2z5PR7MIDNdzaj3icmJ8RdTP-oHJRuOd-8F_Iyn79pq3ojDT_uwucpZNz48H03dD1KxxgE5VKs-iiZ4nbR69eRYX1upT7pHZdnCv1ugp-TAFKOWUr0H710z6reO3hPOHb2hetWn_ec6mP1M-cmLWKYnX8pPO0ChLSDZxS20RvX50Va1sM4mgXGAIcg5-_cHlEuGWGVXDXb9W4Mz_fsTTXTYQ5AJdyTfYueL3nbeUhiCo_J-xB4yIq-ktnM9TC_T18AUXsipnxDKVPr9O-tjrS60L0L_dOnvTMKT3KFBaNq6swYbtzBVKP_",
  "id": "rs_06b378f38e4b576b016ab43e542ab487d08bc078a82859f2e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.046,\"left_z\":0.09,\"left_gripper\":0.0},\"note\":\"The arm advanced only 7 mm instead of the requested 2 cm, so the bowl hardly shifted in the wrist view. I am increasing the outward target while staying above the interior to obtain the intended 2 cm offset in readback.\"}",
  "call_id": "call_BmfjAWlYBitlpssyWIsCIyBp",
  "id": "fc_06b378f38e4b576b016ab43e54764887d09434647cb73c93ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BmfjAWlYBitlpssyWIsCIyBp",
  "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]: [-0.2493, 1.4826, 0.7715, -0.1814, -0.2714, -0.2054, 0.007, -0.02, 0.8211, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3734 left_y=-0.0425 left_z=0.0736 left_yaw=0.081 left_pitch=-0.2843 left_roll=0.0957 left_gripper=0.007 right_x=0.289 right_y=0.0007 right_z=0.1596 right_yaw=-0.0023 right_pitch=-0.0797 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -6.8581, 8.8547, 1.5556, -0.1441, 0.1636, 0.7106, -0.0889, -1.5795, 7.0085, 1.6581, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f721e5c6df68004b05859e538a7b48dadaca10f964b063b3e802eb673b6ecf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6676bfd3df2157a16c0f7e997dc9e6874fe5a9c8a871d5494c2f63d45f02a820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830dfcbbf4e4c27d48b402954aca3ed746910df3982e91a0ccd84483d5607ac4",
      "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 · 2.574 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]: [-0.2832, 1.4899, 0.4782, 0.2329, -0.2806, -0.2066, 0.9942, -0.02, 0.8177, 0.5945, -0.4225, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.351 left_y=-0.0475 left_z=0.031 left_yaw=0.0467 left_pitch=-0.1745 left_roll=0.0636 left_gripper=0.9942 right_x=0.2889 right_y=0.0007 right_z=0.1606 right_yaw=-0.002 right_pitch=-0.0759 right_roll=0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.7932, 6.1333, 1.2527, -0.0513, 0.0708, -0.1245, -0.0205, -1.3607, 7.0085, 1.6435, -0.022, -0.0366, -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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2703, 1.354, 0.6785, -0.1669, -0.2783, -0.2054, 0.007, -0.02, 0.8173, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3528 left_y=-0.0437 left_z=0.0845 left_yaw=0.0615 left_pitch=-0.2353 left_roll=0.084 left_gripper=0.007 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0024 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -5.4222, 8.7453, 1.6093, -0.0757, 0.1636, 0.7106, -0.1026, -1.306, 6.9812, 1.663, -0.0171, -0.0366, -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]: [-0.2493, 1.4826, 0.7715, -0.1814, -0.2714, -0.2054, 0.007, -0.02, 0.8211, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3734 left_y=-0.0425 left_z=0.0736 left_yaw=0.081 left_pitch=-0.2843 left_roll=0.0957 left_gripper=0.007 right_x=0.289 right_y=0.0007 right_z=0.1596 right_yaw=-0.0023 right_pitch=-0.0797 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -6.8581, 8.8547, 1.5556, -0.1441, 0.1636, 0.7106, -0.0889, -1.5795, 7.0085, 1.6581, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f721e5c6df68004b05859e538a7b48dadaca10f964b063b3e802eb673b6ecf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6676bfd3df2157a16c0f7e997dc9e6874fe5a9c8a871d5494c2f63d45f02a820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830dfcbbf4e4c27d48b402954aca3ed746910df3982e91a0ccd84483d5607ac4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5XdpqNKbdMnvRCndFR1sTIqf2iw9Uo9KnMlHahjmnLbl1PJuLy3SoXZEvcTNGLBHRLpq5fbiytVo8TELc8upluOzW_77JrRNL5sIvO46TKuGp5esOrmTrDZgWKpqUB8YjxCanagp62d6_4Rie6WZzxpiY3aPgee2UtcpXs6XsWcyHAzf9THInWKC6TtAkInNZJwJkBKafrCxHJZ96E1hZ5NOyTThvpru6ggktL1C8UXGW2amw3ADcpHvPgk0NkMv60gIA0KyJx2PYzBK_x93jB1DjXH_6oc5w2XxdV9RtkrALfj6d2YqQ1PiEKHso44mvkmBs_Qiqr7TZi9_yO6BGMT4jFU_qrkvWcl4c_Lh9pSZc-riuifKkPZ44WRiRFTP6rcgfTzDYt2iSDE06G2CPCcUQzlTiVbokr_bv-BCXP6gAGZCFaERFGEhBfC0KVKmvNjO9VGG_Pf7YiJkCfi1QtN4mCwVRKJb4XwjwpOLjHx7lkXeSyMTpGX_dZFJr35CxNkJra2uiIuFwtwwZOZMcJ9Sr25pEE1-9IizRCXIOpWsiWpxfd9nRjEXlDc3t6klBen6_d1FtKOsBoL_kBFpK3TB7Q5PY02KiBL8p48EZqy0UpI2du0eS5dnmxsxCUPYhjROZN6ZDaCx_5RzoMusc03ihdebL0ZT8owdLPt_KxfRmWQNC3jGShT2hiWSzcWEzN0uOoX6-zLQq1X_NjU6uw7JGJr0BUO-SgAclJSTHRoBQJZ4Sa-2yxPVGqP8oRgOhnIGoa0utmwdvZtlvsXKFC3zWZlbp5YAEeLPKJ_kgd71UFc_UnIPc0SU0Qg4GEfdJkitpwDXDasR8Qv7kKJ1rEJwqGyJF2BhxQTETxLLoZnAhJXg9SFYpFRfZZvJRJM521vmfRlAdiL_ZGEKjYJtJ7PQFf6lvgbqRx5aeCldZygMS6ONYfrFnonQvGSA3S4DBq6AM12mEkK9nBN4mow6FocUv-12IU2g8Jrt4QHhWqTReBU4N2orM5RH9VNcY32bw9x1RY3zyVwNzE11weomPbtkvghQar8a5Zjzj_2qI2OUhWHs-JzsvxnFD7EsqMtnrA_bztGUUIBnZ3me98PdwcsIbSBM7VEvFdc16cuQSmmx8ylB4HrbIuMl8qtL69mUFhx_CCtHJjYQH4RhedqyG-sa3_fpQFLZ4HkLv65jurPcmsHZQCeYxYKaeEUJm1t7suMMNAJc1uPu8iLAqQnuwcnwF72Ev2a8bYG30qd14lvGn4t_YCuYhB8ePdWtfvUHG0FRQjraYf76Gg1B8sLKt-bY3E9nHmDbGWRx-g7YVeVD0mb_xoL7ZZPNA4itqvDDoarbjHqXe-QYnt4FrXjXPhZg==",
  "id": "rs_06b378f38e4b576b016ab43e56a0e487d0b5bd083b860b879c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.046,\"left_z\":0.025,\"left_gripper\":0.0},\"note\":\"The readback is now 2 cm farther out and the bowl center has shifted down accordingly, giving the desired off-center chord. I am lowering the closed fingers into this narrower part of the interior before expanding.\"}",
  "call_id": "call_MAaBt3fBafGgMHu9LNc9GJNZ",
  "id": "fc_06b378f38e4b576b016ab43e56f5e487d0b1c0b1360e560ff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAaBt3fBafGgMHu9LNc9GJNZ",
  "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]: [-0.2466, 1.4994, 0.7895, -0.1768, -0.2615, -0.2054, 0.007, -0.02, 0.823, 0.5945, -0.4271, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3788 left_y=-0.0446 left_z=0.0747 left_yaw=0.0748 left_pitch=-0.2813 left_roll=0.0862 left_gripper=0.007 right_x=0.2885 right_y=0.0007 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.0858 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -6.7214, 8.4444, 1.5849, -0.1441, 0.1538, 0.7106, -0.253, -1.5385, 6.9949, 1.6728, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972d0db9975d680322feeb96c19fdfd9d88bda52fb87dddc83fcced7bbe22907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f75ba89873925841ab841fa6dffa5df302595d28b6e32a21efb01413dc38c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e71875abb8b20f94cb3d55fb990ae360e41804c239a2edb7bf7a1b26d5929db",
      "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 · 3.718 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]: [-0.2832, 1.3117, 0.6182, -0.1131, -0.284, -0.2092, 0.0081, -0.02, 0.8177, 0.5945, -0.4229, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.0455 left_z=0.0838 left_yaw=0.0528 left_pitch=-0.1999 left_roll=0.0733 left_gripper=0.0081 right_x=0.2888 right_y=0.0007 right_z=0.1605 right_yaw=-0.0018 right_pitch=-0.0763 right_roll=0.0007 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.7094, 8.9915, 1.4921, -0.1294, -0.0171, 0.6471, -0.212, -1.0872, 7.241, 1.6386, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2493, 1.4826, 0.7715, -0.1814, -0.2714, -0.2054, 0.007, -0.02, 0.8211, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3734 left_y=-0.0425 left_z=0.0736 left_yaw=0.081 left_pitch=-0.2843 left_roll=0.0957 left_gripper=0.007 right_x=0.289 right_y=0.0007 right_z=0.1596 right_yaw=-0.0023 right_pitch=-0.0797 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -6.8581, 8.8547, 1.5556, -0.1441, 0.1636, 0.7106, -0.0889, -1.5795, 7.0085, 1.6581, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2466, 1.4994, 0.7895, -0.1768, -0.2615, -0.2054, 0.007, -0.02, 0.823, 0.5945, -0.4271, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3788 left_y=-0.0446 left_z=0.0747 left_yaw=0.0748 left_pitch=-0.2813 left_roll=0.0862 left_gripper=0.007 right_x=0.2885 right_y=0.0007 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.0858 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -6.7214, 8.4444, 1.5849, -0.1441, 0.1538, 0.7106, -0.253, -1.5385, 6.9949, 1.6728, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972d0db9975d680322feeb96c19fdfd9d88bda52fb87dddc83fcced7bbe22907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f75ba89873925841ab841fa6dffa5df302595d28b6e32a21efb01413dc38c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e71875abb8b20f94cb3d55fb990ae360e41804c239a2edb7bf7a1b26d5929db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5aStRnL1UR5moHQBUKKf0g4S6tUajI-nF4THF0R0Oo9LchKzbT4OEK9FKw_L55B88lCVBjjFrTkyPTnvTsZ954Pw1LWtROe8ciBz3M9nDU317k6qUkJdvun_8oRoMlcgK1Pkf0-W7Q8VCaUXG4PDB9zpbaBd1w_p89oSqf2AwtXzZi0iQfG4TdGx-Za8msRBoL2JQ6N4xCTAMEPCfcFXIRi6ff7Xz9C-9vEwYLz8A7QRc56SI7m00NkSCs2V_IMbbRqK40fEUoyqhpVBkvoK7HvFYZJ3ZEHClDAGxHEA5Z4jbRuRESoZb_HQ9uswKclga-LZoQfYLOc9WNscrMuqLA4R9iSfSH2sNfGMFhX2BlfZokwWQTBFzgKeppbrA0Cth0a7IAOl8agE-wW_taw3jLTwMhFTxk1yeC4CvkgdpWnlDt7CqbzkEryb8VKkLFGplFhXw5HRdw0QT2uVOSTbz28HAz6TbsH_Omjl5dltCqw_gywwMMxVgDBeWoHGdol4O8MbkUusyhblT5hww4KOSedIcb4gGVESQID5MN-tjuV4P3URjbBMRNdoE9W_b6UVvO_bMSGxL-ETudqBM5AW0S-Vqqp5SJvC9bqB34i0y0gkQ6QfPp0kMHhR5L_7HC8ReqJs583Ss04EnqwDeILvyicdpIbV0c6wmqSwLM7XaLlO15ixLu4-Is5KSTePckYQKyDnBqZ__T5iQDahIET8LeOyrJRB6oZ3spH6rxq2sQk_qMuQyNTVDP_xAfKkK7OWiFLOFTqCw_fZ-oGa0HDcSzwsn3akqrmD7mFLdYv9MxoI1o6oVkDJkQFx182Q1Ai7XO5hzyyvGWTY7PtVRysWomqpHlZJeJrAQ4hm2gx8fEsabBRrh9UFJXSD525l1OT6m9Cfa0xqR6-xz4F0T72fECtHvr9CG4_N5GA7SQUhEN_lQDBkgPW2ru5oquv3AsqmEG1GB8xd5Y8zRHlSsan8su07bJKeqwzkasrGnHCiH4b0WBtv6JaJk-55xzH4_8o55Tci3LBB7pC55XxaT4YcihYrZ8QS17NaK8uF3ShMqApFUQ186zCSA0oIIVQPV4jIzaNVnY98LDcbm7KQvkDTCv4XdU87tinN1GC8xUdKrrLp0yQL8kj2gTIQLzjXm5etCBPMEooNLqYyeIzUXEw-SY0oOVTkTXK05IQyEnl5Ap-1y61ZOklQtSTECyZyMf0ohAMxIZJ0UzHvTkkolMBgMlLXDoeVqako1ibBTCnO8kMDco43288dY3B-C9FfTZhYSNFcgTJCvC2GaVVa-rVui1bneX7tCtewAkMIYDzLobImtxHIEHEOrfPpr_Ix5i5PtwI1hzbB_QCq3I8mGd0NqS6MGi1cZCg2gNrnMtsSsPxzJb7dcwH0KufrWCyQydj0TLlsbwCoJnOYhZl3OMLDfFvYu9NIoS9yYikJ4K8w5YGuD-AR_MNg5_3FBnX8dWePSh",
  "id": "rs_06b378f38e4b576b016ab43e59a7b887d0b57ae95f668db54e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The off-center descent stopped at z≈0.075 despite the much lower target, indicating the closed fingertips have contacted the bowl's sloped inner surface at this chord. I will expand here so the jaws wedge between the opposing inner walls.\"}",
  "call_id": "call_S9B7M3lwTfehHHAUfXEvy5UI",
  "id": "fc_06b378f38e4b576b016ab43e5a158487d0acda8b9cfc0c8eb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S9B7M3lwTfehHHAUfXEvy5UI",
  "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]: [-0.2466, 1.4994, 0.7891, -0.1795, -0.2615, -0.2077, 0.9943, -0.02, 0.823, 0.5945, -0.4313, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3782 left_y=-0.0444 left_z=0.0742 left_yaw=0.0763 left_pitch=-0.2841 left_roll=0.0856 left_gripper=0.9943 right_x=0.2878 right_y=0.0008 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.09 right_roll=0.0013 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.0923, 6.4479, 1.4286, -0.1197, 0.0855, 0.0122, -0.1709, -1.388, 6.9812, 1.6679, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e769cc23a4f983653a9bc733033e35bc2dfbccfc6f29489f5e7a5da6156bbb74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a44a6a93033145ff07a465f7f57e74ae4eff6d5225df9f8283c8e5bd8537307",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8505613d017166b4e392067daae33b20be36687a76ef166779095b1108c2e29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.823 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]: [-0.2703, 1.354, 0.6785, -0.1669, -0.2783, -0.2054, 0.007, -0.02, 0.8173, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3528 left_y=-0.0437 left_z=0.0845 left_yaw=0.0615 left_pitch=-0.2353 left_roll=0.084 left_gripper=0.007 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0024 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -5.4222, 8.7453, 1.6093, -0.0757, 0.1636, 0.7106, -0.1026, -1.306, 6.9812, 1.663, -0.0171, -0.0366, -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]: [-0.2466, 1.4994, 0.7895, -0.1768, -0.2615, -0.2054, 0.007, -0.02, 0.823, 0.5945, -0.4271, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3788 left_y=-0.0446 left_z=0.0747 left_yaw=0.0748 left_pitch=-0.2813 left_roll=0.0862 left_gripper=0.007 right_x=0.2885 right_y=0.0007 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.0858 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -6.7214, 8.4444, 1.5849, -0.1441, 0.1538, 0.7106, -0.253, -1.5385, 6.9949, 1.6728, -0.0415, -0.0171, -0.0171]",
      "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]: [-0.2466, 1.4994, 0.7891, -0.1795, -0.2615, -0.2077, 0.9943, -0.02, 0.823, 0.5945, -0.4313, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3782 left_y=-0.0444 left_z=0.0742 left_yaw=0.0763 left_pitch=-0.2841 left_roll=0.0856 left_gripper=0.9943 right_x=0.2878 right_y=0.0008 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.09 right_roll=0.0013 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.0923, 6.4479, 1.4286, -0.1197, 0.0855, 0.0122, -0.1709, -1.388, 6.9812, 1.6679, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e769cc23a4f983653a9bc733033e35bc2dfbccfc6f29489f5e7a5da6156bbb74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a44a6a93033145ff07a465f7f57e74ae4eff6d5225df9f8283c8e5bd8537307",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8505613d017166b4e392067daae33b20be36687a76ef166779095b1108c2e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5f6dN7jak-bi0vBlYWYMjSzmMHXyVk0UC_Zl5zhd5LnP-76M9CaH0yPhb0_alTBbf-q74HFYVsog2GwazHTWZdSliqaej-FzypLBZKgNBEk4PTEkSww3L2Ce44vq3bGQsTBHhQrnZIBBRzF-jF6K9nQPT0XWLWWDb1LcyZOkeEojTQ-vWhEuwR7dCKs4uLwBDGxATsjdb-pjPslU1ZdAvAa-5H8xSEgw-e4spr37CZfsgbsvU2uqJTr54d0xFhOhe6FfE_FhcUtdO-TYUmzaXtow7DhFwkQs4J9ekcHO4jerxeaGHEiAVEe5NpXmGvFVSZpq3P28s5zaf0yKUTVe_JkCe5HNx_5K7nariV-oWteBWcfVWcXplb6uHsGVdWJZ6YXR6TCnVvVv5RyACCAu5GULg4-u7wf2hoRfbYVwJkmc41g74JfhpmDRDJrRTQJkevcgYIG-LmH5oG9s79R-Y1BhCf4cOldCyCOHrJR85cMN1bj1kEeLQShtQIB3Hpt4LCeTx4HKDd53yPcW4WZt6eZc2XMYBL746CPHwL6g1noI-h2abO6atn921_PnSmHrQsZs0ljaBRm9Cd93iF7o6u0APH4EFs84sxBr2VOb9g22OKMESN6Y8h1CNvNcji9TEzjbh47ne5MQe0Zvc0-zTaYcQphc1fRGtpTos1ewhQD9eJCMSzL6Sk6Y83HgkGUAahPtZm4w2yZuHSwjZyxUx2UmMJdKWvY_37VcQUW_1dMuMJOmleh45t3p_VV4azcS9OBVBcYSo2A97laGPc5Z13R_OsaxX6AIEILv7vKtPOtJ0ahF3Sks4SZRKZLhPgybzQUNuePGVlFWN2rAHTs10qba9lc0RTxNdSkmdzjClHOr13-OCHaTl_fx2bFbkoXgooJ2mVpL-aeIgnNR7OWHgIX3knu9O1haCc9BcX-VpLvMqmnnyFFg4_nzmpFGO-QUcvJqe8NkkxSeXgfEW4bR-6Pyd1GxtMopx5f1JYKJreRQVK_zGlRG8IlniJbLmCuBAJJN-DQfICQjKY9TIbN1NQ9yrlWpXWvNtiluR463yOF76P1JmcH9nIdjlBUb4vDA5TSCkeHBR-M-bZGQH1u1jwx4amza3CbmzPrNV1ZhqcP8hyHVhZu-zUc7tgcKiWJ-7E2vDamI-0VB5fXLAfZRUXGXsHLk_vFc6o1SJBMzqG9qfkpJdLhCOKdVl0lxQIjc1FIBncMgj58u2THCmcSLNnQusPvOrQnLQSpQpMGMKFX7QXvHe-u_88_ykZgq9PnciirB17VhsyD6SnQWs0SrNdqEsA11_nlANF-88R8ZRmE9I0vU5WlDR4G-U7Ov3GJuOcVH48whGikIMgcCdhv9R1pU0hw2kAtmrzScdefcMsYYMGlWwQtqWagyMHEYe2GkJFWqJ2UvfOIIvEvhUWWlRU-CQht4Yd4j9TMJA9hFDuVptNZt6oFuXRrYJFPAeNRz9eup79S4YL0cJI1xEHUdSuibcZQmVNVaopuAYG5p5bS2Kze6svuQLhn9ac-cXp-8_a6q6ZjaADTyPI3EupsUtE6LTkXAB0gYOLTwQ2HE00_PdrDmm_bbSN3HedReQViFFLCy_rYk0sa5gc1c-9kKtP4xUa0BL9bF_T5kFTpCtSdZtr5mkLVhhArlwZ6ehpmyV-brkf7GQekEO_tkVXtA4I232PGjPC2myuPRmmEhHeRnXxNZC0SIQYmpOyba8HsI8a",
  "id": "rs_06b378f38e4b576b016ab43e5d7b9c87d0bfa7e098490df249",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The gripper again reports nearly full open, but the wrist view now shows both fingertips visually braced at the bowl's inner sidewalls at the off-center chord. I will run a 5 cm lift test to see whether this full-stroke expansion is nevertheless carrying the bowl.\"}",
  "call_id": "call_DeWcZvnySeWYoGLq7Mp79NaE",
  "id": "fc_06b378f38e4b576b016ab43e5e817487d0aee416cbf3723e35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DeWcZvnySeWYoGLq7Mp79NaE",
  "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]: [-0.2466, 1.4284, 0.984, -0.4446, -0.2615, -0.2092, 0.995, -0.02, 0.8261, 0.5945, -0.4377, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3818 left_y=-0.0453 left_z=0.1354 left_yaw=0.0771 left_pitch=-0.2833 left_roll=0.0843 left_gripper=0.995 right_x=0.287 right_y=0.0008 right_z=0.1554 right_yaw=-0.002 right_pitch=-0.0995 right_roll=0.0015 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -7.241, 8.1299, 1.2332, -0.1538, -0.022, 0.0562, -0.0342, -1.6479, 6.9675, 1.7509, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025805c53583998d58ef4e2885b31fcf99b7511e78925b5d91731ddecd98ed0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8648cc6e0d64e234185ad4ad96eb316602b541548679423041da1a2066e521d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a3aca5cb667572ff2d4ce5ced2a8fccffa5c94e4880846894e53f273a6c19c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.863 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 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2493, 1.4826, 0.7715, -0.1814, -0.2714, -0.2054, 0.007, -0.02, 0.8211, 0.5945, -0.4229, -0.0162, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3734 left_y=-0.0425 left_z=0.0736 left_yaw=0.081 left_pitch=-0.2843 left_roll=0.0957 left_gripper=0.007 right_x=0.289 right_y=0.0007 right_z=0.1596 right_yaw=-0.0023 right_pitch=-0.0797 right_roll=0.0009 right_gripper=0.9984\nstate[joint_eff]: [0.4718, -6.8581, 8.8547, 1.5556, -0.1441, 0.1636, 0.7106, -0.0889, -1.5795, 7.0085, 1.6581, -0.0366, -0.0464, -0.0171]",
      "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]: [-0.2466, 1.4994, 0.7891, -0.1795, -0.2615, -0.2077, 0.9943, -0.02, 0.823, 0.5945, -0.4313, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3782 left_y=-0.0444 left_z=0.0742 left_yaw=0.0763 left_pitch=-0.2841 left_roll=0.0856 left_gripper=0.9943 right_x=0.2878 right_y=0.0008 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.09 right_roll=0.0013 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.0923, 6.4479, 1.4286, -0.1197, 0.0855, 0.0122, -0.1709, -1.388, 6.9812, 1.6679, -0.0317, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2466, 1.4284, 0.984, -0.4446, -0.2615, -0.2092, 0.995, -0.02, 0.8261, 0.5945, -0.4377, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3818 left_y=-0.0453 left_z=0.1354 left_yaw=0.0771 left_pitch=-0.2833 left_roll=0.0843 left_gripper=0.995 right_x=0.287 right_y=0.0008 right_z=0.1554 right_yaw=-0.002 right_pitch=-0.0995 right_roll=0.0015 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -7.241, 8.1299, 1.2332, -0.1538, -0.022, 0.0562, -0.0342, -1.6479, 6.9675, 1.7509, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025805c53583998d58ef4e2885b31fcf99b7511e78925b5d91731ddecd98ed0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8648cc6e0d64e234185ad4ad96eb316602b541548679423041da1a2066e521d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a3aca5cb667572ff2d4ce5ced2a8fccffa5c94e4880846894e53f273a6c19c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5oKaEWNPi6wolc-HFebK98dqccesXOuTqq1qPLDunJ98sS569tO4h9Nqj1Z2e5cAvGf10Msgr-HLTR16HZ7CSKAR8P7o_nZT4bHFHDLJ551cqqBc0DGC815NsuUZUWtXgylKGvzlKuzL9dVRLpqDMLXSULJ1gtTyZFCV7G1GxgPbVXfBGULQK5a7rZHXkP7hn2UJyNzlFrltlfa16QIss3RiXIMrntvzz5PHYtHF7s7y_dAcs-j81WF1wjhafeEqtRJOUXRQIHRqxibBN4Vfyh-xp1dW6G68DqW4V8NDJePuacLxB6qrncvA1iangixpCBJLdbZY3gYec8U40pNIk9flrDY2UC5W_ab37PWhkLPOde6sdMoFVygEhK7SgN8u9q9xk6BZdzPuxz-LmRM_AaUrdCUy-LHPWapxRmwl4-kA2hh05wDgP9XbTs-96r7Wb5O4HbYf5emvaMtvuYYA1OIkA-s8j5s7Xtu1aho7ZROqs4hqYvwczGqkIqHRSOfiamLdfUYV8oE94fWuYqVDtCn3x_OqEWnORtx_GQd5i7G1PKd7Y-rE1PsvS4u_zH1h1c7V8TXYPhYLwqYTqHX2pTaJiwJQHFFahUF1sN3qaJO5RG-f0eZSM6_sPgama_Z6ET9Jycdusv5XRYZ55oEV0-aw8jUUjVWxXrfJz7KER24LE2rVHPiTsA6XNGpTSj6EauZVyREQGQFTI0hXX71_kQ9vFFI0vHSnxIfTON3Dq3AlPMbVC3VfMjnErRtvQ5IQbWXN1crzg8xGvAJNwzoZA1ZPiniT74FO32wepkWw5RVxy_S1Kb6t5ma7KAnUMdfhXdEB7gBTf9BFbHU6I28bF7KrTh2si98Ddg0tjbD7F6bhjQ-pZ3HZWGXGa0sSb_wWFTUD33P5VD28EIxKv2Yw1bmUXOSbbu2rra5zOM2afrFWEaFf0T5IwAWYy3QqeYY7VgT4JtEL2PfvEDPfIagz_ljwT8XN2i8WSpB5vYpt3Cmv7aUzYk-ztvANdB940UMBLJe3iGu9d7bFFyuGK19XOdv2cceVvQ5J-KZMkp2-5be71sliO7wFJXJWuG80Bgbha5It5Db5QWS088qtaOQNhBRZ-fBRVMFocU1cN2c7AS5U-gOu_JbnlM76jYmuAksxj9gu21uZ9yMMcbzJnafBPLWXITGux7q6KKFeOmSetmv26tnYQBUwCqouztfVyiccVDKjUg2mS56zjqi93NlogjoVabLVyTQWrjWUFgjNHIF9DXSHFmPEJbdUcLp2G8py--47qOO-4S3f29rmAJRO0oQFZYpGSIl4AaKW70o_ZmL2juP0cwTJ42l29CRN2OaPrUOzG1HfzDs70sQl_Y1UoKuz2h7itwhy3wTVD-pTORsfTjZZNjloF0eWmC1pGzFw61PKSZe5I2DNbDdTJY_mT6QHYme-EwUTLTnQVsnJ8ezVUEOeWWW69QQTlTHCNiXyBw55KCsl80g0Mp5ntgEyn86AWe-lMYe7K9XuV3WDDbukpcw1okCoYpD0fCYgFrLlWFioUu627QIpSvLyQaKrh6XN6T64gy7oG5HCtC0RtKKegItFHwtmKkir-r2HTDB52uPs8SNCM3EFNKut7lMAQUrSlbTe_p_PZsLJ2xlMGswlk1TCs2BTLktG6mWb4XGuNJH6kbGCZiXSc2BUIJhqYBPHsvDnyGoqBwtLnkxVpAET4f62-qcYtDm7KGF-vNhvfzDKjQMZMsOvp662xdJ8pjA97Pss14y2i8KtVNtnq7BSMkhKO_fPNwAb1qjnccVbqL2cEiFNZeXrJsTMSovYjzK53qsBNoNNtDRhvDtr0ZWr8amc6J-_9NenVbPQ5PX4HqJysRizUHlm1M4k3GRdwMLnC4I_EvYzRRyEeZckffD82rhtTqD55xb9eIXa4Zh1BvXLBP0yjJWZvTVRXEbopNv8BDF1ohHA7hC31Xb_7WXzWXyHaU_zJ0q0TrKuXMHXT3R41CmiDBpRpMur4J-xNDR-0KpTVRMRurSBCNrEbm4esu7ZvXpr7XKe4KZHEc5uL8zvIsDTWdswCLjvfQdzRbsJhYMRie8KA4A_Njf3POGqyLFd_8v7Ux2-deuPNzie-BgBANtgyzhiL0npbktXnkZLS6H6uoqL6Ro2tLk-1WPo-BoKupK4r1bm40YU5_Cz7EoiZ2cMIYkjw-NMkaRNycYJFRogx9-ObHp2KFQseeM_yKBQGTgbyXWsu1aS2gtyG6QuAzOM2J0MuvR69J1RI3gJNKBNLoyWo5JBDwEjxFWHJADUiQ0weA-FDpLclPNk6__1556KAutZNAk_nAtd_u3IzzzMReMkwtn5MVTsjsYbk-nMnZzRV3d91bZ56T96G7rlUe3PmNYS0gKnmggjVlhjoH5q7Av_QfHVh_z5SYiMANnk-bMZXEBzXuYpxFWTQVnpjVAwK6RyfKrrAn3E0F9MAUsro_acaPqwmb-70Ubw4mSA-_pyy8twjgec95MiR9TF_UKz-jOxH3xa3vbs_7vngi0SVDByhcGYbGRyjLxwmNtWWXqsIMl8WLwTpiWmi1guYfUesQcVJXMH6w6e_knsCC5sihihqo4kjRFXWbosSXXjKsi-HB77coyIpbAAn0ff53-5USADK9rkUuYiP-0gyERvsqgZtuhIrzJlroTHNgU13MlOzKc0BbjlPqtNmhg7MPN5CNuq7m3b1o4KfaClTcoWerun6cBn9yGcSSeX27HePo0m-hHIoo3r4PBOiUq1XejVzdI1ri17wyp5-GnI3kt-z8vMHCCBducWjpr0Wo-RUn0MACJ_wlZEgpOF9g-u_ADIypXDp1kRPLkI9E9F8Gj9R0idiJLtXwf6w3V8NxtwB2Po0PvkjQjIclGUSw7NgUIJ4fWMsl-1ZPlvMw5TzB_GQI2JJxqm6eDga2fbYr1ZB7ZG9w0_mHYMOPfhxgSSBCouqYnf69CTkRK1PnfEulHotWbSuEeqe_QRS6phkxVDCbUPo31XyZhqmbdHMxOcEWPqxu_l5sDCqNkRSxvYnz9kqpo3ofnCZDsf2CcKxqWIoC8-2yt0o2KYb7ekBAyK0mUOAfbDkwEgrV4w1szojzvffW03OdkvqWj6K3kST2oENLDXOeIRo4d25plBWIJnzoYOo-G41viBW_9NYepalP8VaTK1zS1crnygzmKds1Y-NZfN61Y8dUXVq-FJrkDBBRIf6OO2jt2uE7QwspfqujzmNVGTgUFw80u8VwRDzYNYH9CSW8vcvThQyASr2B8igyXavZ3HbQoALv6omRtar9c_gZo3KEMAFlEMlaYGZCXKX5GSrpFINFJZSC_df8OnSViy0SM7hDJ2WZfQhY9pq-SBX50jXoDuFV_NukVRDykx7ZGxCQrhqcepcUY1aOquOuYtGYNjio0VpSKoL0kzqK2-vSVZntWDKsoHl63ekHy53v7O6P1sFR8e5NUY0NmygO9UA4uh6PivXK11sn3rPBhv7YAYtBfgj1M-rPFKtaqdkYV-SOesMWCLsx8UcRawzLW_F7Aj_kC6x1-0eo42v6gG0QlYqsHCQODEvYfYPSReGjxD4HPD-2O7KfRRYJtfJ3x6aBubxHVj-BMDTaouCvKqHqLgmvYmlhl1rs3vQRCy-yYnBJPiCpXBGUNlPu_sWYODQbhE6QeCnrifDddxwX4KOU7-BUc2HWdjJZX1Zl_95t-3UWNzgS_Y8FkvlDlvHi6QbJeRMzzazO3kEpaJB1A1Yeq_2P0eOzF9kx_x6tsgs3Sy5gDFKvZMfwVz3ep1v3kbkUksLz_EvxPqhl4ahjraBqYYEhkIkDGjanQtabgvyEfpRdYSPiy6fzTeO-EUmY0w8S8euqtZlO8MsWCEZ1K5azpF32iRMwPiRGWes9uRnApIi1DoJIjCzUt8md_spxtZTldhMLlN79z8gqSdvoVn7e0iTnySw6Ved2vo0oqKn3Ds-e0k_VNSEXRBDRKuBLUf_ozFAALXNXbN_LLpQNzLaCyzKrAzZf2xPy8ffAJ7yPNriDCgIVwnHpn_nPGDLDDPi_ehy98vq-Dyl8sEJGpVqwI9S9sgzI59ObGIxwTMkyRHNpRMuCWy4W7QzYZimayDb3qGlUf6IGvh-tdhi5qdcYQbGBBPQj0OabjQZC6hmBEvCm6ZVah5YUsUNbXueiyNQpStzKNsMSXdQnufn-Ms9TEvVzIzW-aoej1qfyaBBlx70QzvO5Wi6C3XEApNkCpGq4pp7DGIa_q3xT9nkAohpGkfcM4lrfkB6Dhkg=",
  "id": "rs_06b378f38e4b576b016ab43e617c0087d0b31d99feaa9a1f96",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5ojebKXP53oGgpC40F77SBi68ZS6wFFz2jrqovrVfrahjLpRez1YpbMexdeH8G3IF18lLm16wr7kf6ubLslv5Xd-S04qyPpNAgilX4bzIou04WttnHUGL8kWHyp5OB-xas2HbAvE6AYDcGMu0ZWkR8h77bZSurgoh8ZjCZZArwZMj0onuNVYIIgoOne_4ZRszS6AT9n_4IOTNVT5sUSZ5X7jw5M6KOWCI9hX7Av0GErh0Pp9aQ_91tbxXvDSfHLIWyykNdtVQta38Hs8Rb0nFPbI5BvuVsUAuQdMprZYuPToVXqXMECc_I5xFoqj_fujp-hC8n8vEMExSbHetMx6rN6zO7FZ84jpb2ev0Bhbw1p4PyDqM5JpopZYYd8f6jiZr4zksFFGgUhduVfVTpdKAYzW8i5n7Pje2WpbBLSiAArJAvIZTj5J5NKYlKQNinyZ064uHLGf6u4XSrg_WiJi-ZtrI2jR3wrFO4rNmfApaN9ZiIMRTlMqWKeOV2MBk7cl-ygbmS8r_3kxieUv7Cq7yhE1nbXBTnx8_jvnQTqkz2FAb_pSAvq_mGJNMNuZ9F6FVWftMZesGhBBj1dMUUCQ3lkHga3CoDI7jRLzTUK6yllkdpONvd3vXeih6SdQe6cGnaG7i5UGItR9K2fTVWl2kZDQPyEwN7Z3hLIviM4dWI1WDvC9xvxtoEJ2hNLvKLFnJjb7-TvofAajleKdfnDR3znPgy_Rq1eLYStuUa5D4uFPCbLo9Z9mGfS2Xwf11pAXbFsyVTcx4esERXEVUpxwsHvKkIpKPfiQQF0VPDgMCokm3K5hiGf5lBlBBmGniqedJOgNLR-vaNcwqqExPLjAqGdNjPwUXjE9EF4nPn-apK0z7_7sfREr-xEkCguVQhEjyVJLVFt6V_7weY_IgbWF0DRybxOglOdep7zZXcPDPS7VPRD01GYjsMveXF-obANhRDUmUqcuTAJqirWwk1dgtktCU1-4zyu0Jn7WoNDwU0zToYRZi7M3fXnG5-K5l7MRKuhS8ZGV8yZfQ604w0I1XDLCT82K7VH-h-udfCfClwEGqKpCDj75g05zYiNpQnYuBeQb6J34w6Bu7ZYKtj0WSYbldsZzlx44QnEUDMt9emdf3rrcrzmKBsfPxNLumX3w5p9X0rsd3ifxjMjeSxuqXieY_WfOiuq_EL2iCKd9TwBXpHm9iW92CMnwwCa2tXJLkFe7zHcQiPtq6ylW0SUbUdsfCLV28EQ0oAGxnasKCHn9Fr69oxdrXeNw_ur8B3-0WtQd3CrgfAlHyJ6TeM2_aiSZfQtHnFmUV91h8GjaNlOo2fE0OjOQdTdEfPfq4LGYGURe6W0OAyaLQSQXLsCgX1dK76nQLazbpFaPNf0NISn2PYLGAvVFEyvoaRvucDvnPFAb4RSByfGKYq44Yn7p-3t5eTTlv8mM9aLfXlIfBuMXHxCA1tpKmOOM1odo17wUIqnA2ocNNMpaoyROjbSyyWyjRSlBxMOjZBrUg0K1LCB2JklQ83401NwHjy6VqlDNo_pbPxpNfhNQ0OyVHoAXbgdfxNmPY24RMi2zxAYUy2PvdS8s-5NZ3WlLaXap125TMiMUIojKuFT6sCJVLv5uRxlvyUp8vX0fkjVyzguZpYVNXOio9tLByHz_TFIpMB1DKx_NT7TCEHvs1OreO2vNrdEd-7wMQuSPWictmbiD-U-9o=",
  "id": "rs_06b378f38e4b576b016ab43e668a2c87d08f07b3e68491b138",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The lift test failed because the bowl remains visible in its own wrist camera; however, the current pitched wrist gives a clear convergence row near 150. I am returning to a rim pinch using that actual row, shifting right until the bowl's right rim at row 150 lies on the jaw center.\"}",
  "call_id": "call_ifJoPPERjpiv0b94cRHEWj4U",
  "id": "fc_06b378f38e4b576b016ab43e67a8c887d084d4c1a3a67fab01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ifJoPPERjpiv0b94cRHEWj4U",
  "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]: [-0.4484, 1.5059, 1.0519, -0.519, -0.3599, -0.3595, 0.9988, -0.02, 0.8295, 0.5945, -0.4446, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3727 left_y=-0.1063 left_z=0.1275 left_yaw=0.0516 left_pitch=-0.3205 left_roll=0.0937 left_gripper=0.9988 right_x=0.2861 right_y=0.0008 right_z=0.1531 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0014 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -6.1333, 8.8821, 1.2723, -0.3346, 0.0415, -0.1441, -0.335, -1.6479, 6.9538, 1.6923, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e0871093535191e78e545441f45f99c44d04e128f99da81f0fd2ce9a07d275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c13a8426e3d0a50274d2e142d40366deada6af2bb7222f25bcdfbf867bd395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4f20445c7015e27aa7a9c8c86129755394a21f95c061afb9544b90450dd46d",
      "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 · 2.516 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 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]: [-0.2466, 1.4994, 0.7895, -0.1768, -0.2615, -0.2054, 0.007, -0.02, 0.823, 0.5945, -0.4271, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3788 left_y=-0.0446 left_z=0.0747 left_yaw=0.0748 left_pitch=-0.2813 left_roll=0.0862 left_gripper=0.007 right_x=0.2885 right_y=0.0007 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.0858 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -6.7214, 8.4444, 1.5849, -0.1441, 0.1538, 0.7106, -0.253, -1.5385, 6.9949, 1.6728, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2466, 1.4284, 0.984, -0.4446, -0.2615, -0.2092, 0.995, -0.02, 0.8261, 0.5945, -0.4377, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3818 left_y=-0.0453 left_z=0.1354 left_yaw=0.0771 left_pitch=-0.2833 left_roll=0.0843 left_gripper=0.995 right_x=0.287 right_y=0.0008 right_z=0.1554 right_yaw=-0.002 right_pitch=-0.0995 right_roll=0.0015 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -7.241, 8.1299, 1.2332, -0.1538, -0.022, 0.0562, -0.0342, -1.6479, 6.9675, 1.7509, -0.0708, -0.022, -0.0122]",
      "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]: [-0.4484, 1.5059, 1.0519, -0.519, -0.3599, -0.3595, 0.9988, -0.02, 0.8295, 0.5945, -0.4446, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3727 left_y=-0.1063 left_z=0.1275 left_yaw=0.0516 left_pitch=-0.3205 left_roll=0.0937 left_gripper=0.9988 right_x=0.2861 right_y=0.0008 right_z=0.1531 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0014 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -6.1333, 8.8821, 1.2723, -0.3346, 0.0415, -0.1441, -0.335, -1.6479, 6.9538, 1.6923, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e0871093535191e78e545441f45f99c44d04e128f99da81f0fd2ce9a07d275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c13a8426e3d0a50274d2e142d40366deada6af2bb7222f25bcdfbf867bd395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4f20445c7015e27aa7a9c8c86129755394a21f95c061afb9544b90450dd46d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5sJNagfZKN2LEBJdOAhF2AEXoVwSEREK1yMrM23aUcm8Rh9Tu017JXutzVCddN_jaZ0FjJVCj7xBwwhlaquRibsBZK0-bHcoYDbP2Re2DH195gUAiPWydkYi5P5oXOn5NaQeY4WCoAwTVYs0UEYQa5i-45rQyCr_MH7S899U92DcV5wPuHeeL6QQV025LA-Eo4BXUSzYIOzuisuQWkqx6nXvUMEQBKERxAqk6K4B-_8V2w27c8SdzsQJL-UzYpYuiyoakSA1EZ8QnF9Se41WXeMvPoT8mjDXMVSsV0FaG3GpMw2d6FBIJVMkNHdm4HRCgFk69y0cDfDSFLlD0m1GTs5zrDBmdmoCCAo3u1uDIVcowNQyt5TkDY3ll6pID6PvwYoWcMByTUj9TXgklaYBxY7gt-stML5TVlS8S5OHLz8Nk6S704I3fItDoZHYnLTu06pmQjK-YXTwBFf2XTcVzjt72Ej3KcpfT1-VZKHbMF-JhJrHXXtSYJhy_hew3f8HhPxqw5F3giKcUNpKM5x6bFko8EZVJl0M5TMFQor0UCw8-JyYu68RpWAoA8btq3XH8MW-JEq3_gc5NYxxzt8OHLRQEqf1TQSFM9ZMwfTcoFqivEt4DCg0mDBus0UuVRx2HJS6o1i3jWn7nBKpXcWgC5BTFH2PoSpOABD74Mlr-JrqvcrWDm8s9YcZUK-ndF56fkZ3Nf9xkvcTj4PWUvl0effBve0T-_F8lgArTZZiKmIJy2SniCcRJEe8bga1U-LnoAEXmrbL804F8x0yBcPjBhpQ5CbJdxDR4zRGE-DsUAGGDUoDicYQBedYbNNvx55pmOWThQQEjsTRbZRdiHDeZ6OG7CCbxVtYAnF_Y7DX7GvqMFZNnobBaeOH7kivL1UbKAtNhD78PVJD1T64Mrfmmx-SNO6AV1S6zbGF_Bzs31sNQiP4WANRL3ebLDWA-lkrmcUKKgEPxGvoSZVRStLswIOZA-k2rudaB3DvcWXsEvwt0miprPkEjCOSFmFRVGWiy0xNyOrxGX2iMgJuE2ITjhhWOwmzd0DBpFruX1cX1ooJ0kneis3RNF3w--JdXi3Yz9RxQizYy8w7snkeu7GMoJ1ygVPRNPPrpAaJi8hQxlzgWNi1npCaKKBCIMj0td_TU3YSXoxTGWuWS29VYXdmlqVi6Fr2kd1__XsU1UrnpLswS2yN742asy0WT8SBjMsBsg8lfTqDLmWiWjb8JS53tuejEcn9t2awXiQMsgRMoyeOq9IGI4lmXd3SWpjULq6yNYH3NSqCy6TmO6CSfx2fYysdssXF5haRSGJRoFylZv08m0tz9n0HgXoCyW4fkMHdvmya3rATjJ-EvNgESGz8Xq3jjXOunbT3FEpOgPSAnSz6EYKvVfiVMB3skhvvCx1YFmp291gskwzySyM7WkMyy9g7N1vEGSAwj6XJKkQXTQtjUDefzcbGu5_c3RJTanBTKWzn5Jaf20NdEymDqiRmdFjrFR8IMtaSJPwj4YNS59cNLplkRTDBzpsdNpPIm-zbcSqfFzMO4SvlfbErr4XuoTlzqDBYqkuF97eQO0iAG-u8RNuNefMe9KhSl2bq7_ORHbcMzuAqgYR83tGu9XTyyLsA==",
  "id": "rs_06b378f38e4b576b016ab43e6a84b487d0b6277a8da4e0bac5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.13,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"At the pitched convergence row, the blue bowl's right rim is now only about 1.5 cm to image-right of the jaw center. I am making that final rightward correction while descending to the rim wall height.\"}",
  "call_id": "call_oQubAL7sBVrt9N2AlXaPbpDJ",
  "id": "fc_06b378f38e4b576b016ab43e6b48bc87d0b4328cf42abfe131",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oQubAL7sBVrt9N2AlXaPbpDJ",
  "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]: [-0.5011, 1.6417, 0.9642, -0.3729, -0.3824, -0.3946, 0.9988, -0.02, 0.8337, 0.5938, -0.4488, -0.0162, -0.0231, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.1233 left_z=0.0656 left_yaw=0.051 left_pitch=-0.3756 left_roll=0.1299 left_gripper=0.9988 right_x=0.2854 right_y=0.0007 right_z=0.1509 right_yaw=-0.0008 right_pitch=-0.119 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -8.4581, 6.5573, 1.3797, -0.3248, -0.2222, -0.1392, -0.1162, -1.4701, 7.1863, 1.7216, -0.022, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6d78f6258da8fae05a17a9f581977b05a867e41014144646494eb8f64729dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7f9e4ba0b51b5ef78a78e4ecec40a93008b68b4ec0deaad533cf899eba9942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b852b044619094be9e0022e9b1719d9f4750042c7e11f6a1bd96c10d41bbc3bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.267 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]: [-0.2466, 1.4994, 0.7891, -0.1795, -0.2615, -0.2077, 0.9943, -0.02, 0.823, 0.5945, -0.4313, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3782 left_y=-0.0444 left_z=0.0742 left_yaw=0.0763 left_pitch=-0.2841 left_roll=0.0856 left_gripper=0.9943 right_x=0.2878 right_y=0.0008 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.09 right_roll=0.0013 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -6.0923, 6.4479, 1.4286, -0.1197, 0.0855, 0.0122, -0.1709, -1.388, 6.9812, 1.6679, -0.0317, -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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4484, 1.5059, 1.0519, -0.519, -0.3599, -0.3595, 0.9988, -0.02, 0.8295, 0.5945, -0.4446, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3727 left_y=-0.1063 left_z=0.1275 left_yaw=0.0516 left_pitch=-0.3205 left_roll=0.0937 left_gripper=0.9988 right_x=0.2861 right_y=0.0008 right_z=0.1531 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0014 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -6.1333, 8.8821, 1.2723, -0.3346, 0.0415, -0.1441, -0.335, -1.6479, 6.9538, 1.6923, -0.0366, -0.0708, -0.0171]",
      "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]: [-0.5011, 1.6417, 0.9642, -0.3729, -0.3824, -0.3946, 0.9988, -0.02, 0.8337, 0.5938, -0.4488, -0.0162, -0.0231, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.1233 left_z=0.0656 left_yaw=0.051 left_pitch=-0.3756 left_roll=0.1299 left_gripper=0.9988 right_x=0.2854 right_y=0.0007 right_z=0.1509 right_yaw=-0.0008 right_pitch=-0.119 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -8.4581, 6.5573, 1.3797, -0.3248, -0.2222, -0.1392, -0.1162, -1.4701, 7.1863, 1.7216, -0.022, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6d78f6258da8fae05a17a9f581977b05a867e41014144646494eb8f64729dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7f9e4ba0b51b5ef78a78e4ecec40a93008b68b4ec0deaad533cf899eba9942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b852b044619094be9e0022e9b1719d9f4750042c7e11f6a1bd96c10d41bbc3bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5uKyXLOunuCj7UtXYcLMsXHT0T98gUPXO32YX7jiKX-siz3K_WkMuvpc6LWtv5HfKb-X4o0T-3IZObcs63oqIUCYEAiYc67_-NGHBiw_wT8JczYampoxDLEniIbm86lAj2GwAZoMnsyrYElVhCZLxO7exDlO0UWqtf9IYf4HvDJIfC1zhuSUFWv9v6tlbREhssJEuZcZoiWMKEsaeGCVf8ICv1PZv-ZGeeXrkToANzlLq81k2mAjn_59_sv7Vv6WBRoY8MV2pFRiKwWedWXdjz3Y-ho6r2xIoMrwmdC9oI6oipJ1YJMuy4Ez4FbsGo2dZhhsCv6jPsrk54K99MtLxQ00wks-ybsvyvIqkc7CPHG4itexcdyd20Dk6LmUe-XQOorVIwroVydNw19qYTq1R43I_f9d_mWDMn6adMBZ9QYzOtocwLcgP2KJ7GozZQgpm70l5xsh4n25dJ8NJRsbwSIQEH2M89Cu-qAjbFsuEruk7UAlR6MUDbhTwbZmCnPbj_KJEmJJnnniBo-96bM0XHFJdMYKiq6wNE-bxw3v__4ywHUIz4mMDqCP2rTnkXoSl5hOGuAN2C63MNP-ZymEz3Ll_vZRCID-gGAsq_EKo6mUu9tA8XrbbjlaQVi-Bn1h4-gNcGoZnC192pwTH3BWqIf1p7uigPZNb8J44jhqJoG1zo9Ives__7Evr17SrjySuZkJmIIpaTRb08gMTkFimOOcZUoBJTlvkFWKDmCZv4Fta4mOajf3jgEhua_x5JPX2M6NwB8KYpw82ZuXnBPb_LfsZSE1qNwunS585W_6eFsVCHsKHxDIHD8ewH21zr-CqymKFkGKIBARST11lBHnaRKPgHFM_0_sy4wwvKexS-RfPHznhqenPB3F56mnPbVLSDT7W9bty9AcBYQIsZTt5rahqyP94ExSZCYVaQQM6naAKeM9XKnlfkL60urxUT7Stf0TmtHMIOdYVf84zMVdqYadFhLKscDDEFKHsrNmZR17fymL62hsG5_aMv4IWfEU2HtrR4ghgDmXJE-Z_2zv2iR2I6lrQpSYsk_8QzYiNE2nhZWhfXl2BIwEXlKo0pJtzCa5NdxblckWmBv32xtUN70_0D70keIJyt4FRro-xhGaS4GZ1fgJMdfR9Fs2fH_tRXEgR9HU-jt4SS-Gb_M7UH0_XVHIVX08MRfO-OIDsxOLG2L4i7qRJYubFSz8pIR7bo1nUybN-tAr_IV2Ui0wsYaYL8y9PD5J6q9L5G4IqTyWLqmar19QfEzoexONN3Ly63",
  "id": "rs_06b378f38e4b576b016ab43e6daa0487d09c0f40144248beb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue rim now crosses the jaw convergence row at x≈103–110, essentially centered between the fingertips at the correct low height. I will close on this precisely aligned rim wall.\"}",
  "call_id": "call_blxygwLtk1rtQBPCVZxeb5Qx",
  "id": "fc_06b378f38e4b576b016ab43e6e024087d092ad87fa92951957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_blxygwLtk1rtQBPCVZxeb5Qx",
  "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]: [-0.5098, 1.6608, 0.9516, -0.3241, -0.3832, -0.4171, 0.0083, -0.02, 0.8345, 0.5938, -0.4534, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3731 left_y=-0.1288 left_z=0.0601 left_yaw=0.0522 left_pitch=-0.3591 left_roll=0.1064 left_gripper=0.0083 right_x=0.2848 right_y=0.0008 right_z=0.1498 right_yaw=-0.0003 right_pitch=-0.1243 right_roll=-0.0004 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -8.4718, 6.5709, 1.3797, -0.2906, 0.0415, 0.652, -0.0752, -1.5111, 6.9675, 1.707, -0.0415, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35080958b306f8732f4aa62350c2c5da37bbd5b7ca0abe62ff698eb6946b6e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04e92382f12db6980af3d317315de1a5df33387d46853249a16631980432703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214452ccc8656f8e028e6c154e1c2403b3455e38d7ba0fb44148c30797cd7577",
      "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 · 3.698 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2466, 1.4284, 0.984, -0.4446, -0.2615, -0.2092, 0.995, -0.02, 0.8261, 0.5945, -0.4377, -0.0166, -0.0204, 0.9984]\nstate[eef_state]: left_x=0.3818 left_y=-0.0453 left_z=0.1354 left_yaw=0.0771 left_pitch=-0.2833 left_roll=0.0843 left_gripper=0.995 right_x=0.287 right_y=0.0008 right_z=0.1554 right_yaw=-0.002 right_pitch=-0.0995 right_roll=0.0015 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -7.241, 8.1299, 1.2332, -0.1538, -0.022, 0.0562, -0.0342, -1.6479, 6.9675, 1.7509, -0.0708, -0.022, -0.0122]",
      "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]: [-0.5011, 1.6417, 0.9642, -0.3729, -0.3824, -0.3946, 0.9988, -0.02, 0.8337, 0.5938, -0.4488, -0.0162, -0.0231, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.1233 left_z=0.0656 left_yaw=0.051 left_pitch=-0.3756 left_roll=0.1299 left_gripper=0.9988 right_x=0.2854 right_y=0.0007 right_z=0.1509 right_yaw=-0.0008 right_pitch=-0.119 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -8.4581, 6.5573, 1.3797, -0.3248, -0.2222, -0.1392, -0.1162, -1.4701, 7.1863, 1.7216, -0.022, 0.0024, -0.0171]",
      "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]: [-0.5098, 1.6608, 0.9516, -0.3241, -0.3832, -0.4171, 0.0083, -0.02, 0.8345, 0.5938, -0.4534, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3731 left_y=-0.1288 left_z=0.0601 left_yaw=0.0522 left_pitch=-0.3591 left_roll=0.1064 left_gripper=0.0083 right_x=0.2848 right_y=0.0008 right_z=0.1498 right_yaw=-0.0003 right_pitch=-0.1243 right_roll=-0.0004 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -8.4718, 6.5709, 1.3797, -0.2906, 0.0415, 0.652, -0.0752, -1.5111, 6.9675, 1.707, -0.0415, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35080958b306f8732f4aa62350c2c5da37bbd5b7ca0abe62ff698eb6946b6e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04e92382f12db6980af3d317315de1a5df33387d46853249a16631980432703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214452ccc8656f8e028e6c154e1c2403b3455e38d7ba0fb44148c30797cd7577",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD501ZQiHERliJfaCo1pwz-4Icoc4LdyPcOQw-hCihTufwdSyYt2JqcZmRjE5AXwW8p7fZKSIpL4H_hE5d1X1b4eelhNMVLUKQVGZ8M3danNhhOxXDvPm-te4kJeJQ98nN3z-zcFVYTcP3vV7bYzG2cXt7XIRT4B2MHNnt-86nCnGCkU2GuS_0BwgMIe4ijsfCMqMpqLXWHrgymsBW2KHHxdCz1fxzxxlpnkrhsHy1WSU6ge1IUK6B88gMZQ9Tt43s1ELhS9P_yf70AH24tjruauJk3a8bo5_OKrpiqPAgDV-mOMvMebbMsuuxmFlyyjD_TcGPESmgIISlzWLMC5BaW64yxePcj-3juQBt8aauDpQt6YJKTaYCEXcuIt9g4Cy2CAgphPpafMOUeMyKStuLMFYHac6qLwxDgxZlQsor_6mEiHLz2NNg7Sb0F6GDSqhmmEY6fckmFlLD2IvZeQId1SCtPapvXhbkgTlJQYcn7xWNiTvvNv44lmA0QD1EzxEDiL4FWokMszNPx5R9BSc1uNEUtnLMz0g1USQn8fZW1Vu8x5PA_7JKy9CB-3Y4-2zeEKbyWjT5LtSxSRhQSHxZN1sUlWKwsFFXiRx6NCyeQC1hwmZaZ52UhJOOnQjs9Pgm3FV61CzIHFF_FRsn9p1P2e7zFrzx0cl8J6VxzmmURiNREV0IUUsR883IqpPu2-7QDXlBKM0HomPmbrYjCOV61o-nOxpFw3QKBvC8HCDYvVYEz9u7O32iAukr1dPWZ5NT03yQLWsfgi_5ix2GfQvyDibQ4Gy2YLSCRmBoLhzqDgcwJH0Mcc_uvffkigbW8Mz-JqjULFI_8649m8wsaFVTyB57u68SngWNhI6J48FGBEIH6Zw9CMtJcSz3snaCw0wk-3pcKK3ID0CUdhjbh6olmbUSQNmySBzEGstaoCQ5Xq8JO8MfvZzAQWXA7iE7gQ93pKs0UhK5xkQSSeVE6aFzYf3VJE_ldJ0nAHUKh_LcNfeBuuOJuHDUktAQs_c5eAZOZoqJaaqGa26kobQ2bZJRbnkoFdvCKVXh4VOXG0KlWYggq3-JRCbbEvPAp40pLwwH6JwBp2sSlvqiwV_5pWpOU6uanS8P1KU7-KARrvhBuNlEPdsb57L7ucoMzIj8f2YkGPkE9Iaxu8fWBaC-Wret7UpaGkd0iuKi8j7uNG34mcwkZ6Efdb9rPwtsSgYny37vIVAbQ0nldWN6s5a8oFGAVVI9jutVXYCdfltpGSXgmhzXgOeePa0m1BnL2QIGiGzJDJLUI8K9bY9OfLrnRlsgDqkY6cwvHdCX4NuEI7azAGdpwp1tTm3NKrhx6i6rYtNWIXibt6oZKQRmhR_pt9Li7ptcI2mRfqFXCo7OzfoKapG5BYimRBaLBmLTAF1cgHDO43fmJhH73ZDJlVDHDwN22HycSER6GtFHl2f9eCaQw2X5wzKECm9cN-ssz2K7ZU2Li9QyoleFhRWv-YdJOYU1XInIh02RALpTJGGW3KiHr7FNG2rpF9rzfLI2GNKS1SgYuOPDQ5QlaxLYRDj7T5Tp9JA96cy137ggT4jDeC8TTnICeZaycBcSL3x62xoJRdgqqTiDR_n2tLN6SH1HjsspBGcWmboOt7MILPLcrHJsCcLhADPnLgfT1aLCEmqGz4I-f6j2_q5oL_ZQqARXcKw64XyUFnLuTWQ6yzQT85obLvVfuPGUPxDBaaFgyobEQruXP8JgiumiiI7k9MSEB41z1xzIWKe_g3meFwLvGZ-LqZC0JbXJ40pd8_W91CP9zdF13AsmATEy-M2NJHPBcb2MpFfQxLwHOH1ghhrCHrBFb0O6BRbaS3XU8YipIrgv8rww1JkDgM-V3mKVd3-Tc6leR45XlzUwwyy84ua0qJFy27_7cbDBXkigN4rUKRLO63Sca0N42VUVrmad-MLXhOlA-aTdAgwMbFpqOJJo08hruYNGj_J_DIv8Q9jJhHCSkqby_CQ_Wzd18KY3Yyd_4C49CwPW7aNTCH8N5H_Kr6XzKcgGrgRa4q5W5xXHTKRqnUjM8n",
  "id": "rs_06b378f38e4b576b016ab43e71402887d0bd73dbd9cd705a66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.112,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The close pushed the rim left instead of trapping it, showing the rim started about one finger-width too far left at contact. I am reopening, raising slightly, and shifting 1.7 cm left so the rim begins near x≈125 and is centered after the initial jaw contact.\"}",
  "call_id": "call_R0SxdanTaJuV8xfNVc6DTbx0",
  "id": "fc_06b378f38e4b576b016ab43e7311ac87d093d7a96108bf4c2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R0SxdanTaJuV8xfNVc6DTbx0",
  "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]: [-0.4664, 1.6077, 0.9619, -0.4232, -0.3626, -0.3862, 0.9945, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3644 left_y=-0.1093 left_z=0.0702 left_yaw=0.0691 left_pitch=-0.4012 left_roll=0.1296 left_gripper=0.9945 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.8957, 8.8547, 1.2625, -0.1783, 0.1148, 0.0562, 0.0889, -1.6615, 6.9538, 1.7314, -0.022, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f836a783362f780b9e5b60639e7b44f566f11dccc1def9a48c1c0182d81775e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf7e9e3f1ff7ecaace340ad6c4691f76f87498e7cce21584016f8916c7a94980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bed85ba5a1d1b5aa584e9dcfa816f5dfc7dc88ec6e3099a93c0506ce872b2fa",
      "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 · 2.156 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]: [-0.4484, 1.5059, 1.0519, -0.519, -0.3599, -0.3595, 0.9988, -0.02, 0.8295, 0.5945, -0.4446, -0.0166, -0.0208, 0.9984]\nstate[eef_state]: left_x=0.3727 left_y=-0.1063 left_z=0.1275 left_yaw=0.0516 left_pitch=-0.3205 left_roll=0.0937 left_gripper=0.9988 right_x=0.2861 right_y=0.0008 right_z=0.1531 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0014 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -6.1333, 8.8821, 1.2723, -0.3346, 0.0415, -0.1441, -0.335, -1.6479, 6.9538, 1.6923, -0.0366, -0.0708, -0.0171]",
      "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]: [-0.5098, 1.6608, 0.9516, -0.3241, -0.3832, -0.4171, 0.0083, -0.02, 0.8345, 0.5938, -0.4534, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3731 left_y=-0.1288 left_z=0.0601 left_yaw=0.0522 left_pitch=-0.3591 left_roll=0.1064 left_gripper=0.0083 right_x=0.2848 right_y=0.0008 right_z=0.1498 right_yaw=-0.0003 right_pitch=-0.1243 right_roll=-0.0004 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -8.4718, 6.5709, 1.3797, -0.2906, 0.0415, 0.652, -0.0752, -1.5111, 6.9675, 1.707, -0.0415, -0.0317, -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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.6077, 0.9619, -0.4232, -0.3626, -0.3862, 0.9945, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3644 left_y=-0.1093 left_z=0.0702 left_yaw=0.0691 left_pitch=-0.4012 left_roll=0.1296 left_gripper=0.9945 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.8957, 8.8547, 1.2625, -0.1783, 0.1148, 0.0562, 0.0889, -1.6615, 6.9538, 1.7314, -0.022, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f836a783362f780b9e5b60639e7b44f566f11dccc1def9a48c1c0182d81775e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf7e9e3f1ff7ecaace340ad6c4691f76f87498e7cce21584016f8916c7a94980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bed85ba5a1d1b5aa584e9dcfa816f5dfc7dc88ec6e3099a93c0506ce872b2fa",
      "type": "input_image"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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{
  "content": [],
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  "id": "rs_06b378f38e4b576b016ab43e76257887d0837d413d9465a3a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.1,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"Reopened, the rim sits at x≈110, so I need only about 1 cm more leftward offset to give the contacted bowl room to move into the opposing jaw rather than away from it. I am making that small correction at the grasp height.\"}",
  "call_id": "call_GejWWkIWcCz0ctxZSqCxJRWq",
  "id": "fc_06b378f38e4b576b016ab43e77ba1087d0b3a3dbdc01f45a09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GejWWkIWcCz0ctxZSqCxJRWq",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4625, 1.6012, 0.9703, -0.4335, -0.3595, -0.3862, 0.9988, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3653 left_y=-0.1087 left_z=0.074 left_yaw=0.0695 left_pitch=-0.3986 left_roll=0.1245 left_gripper=0.9988 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.0752, -8.7179, 8.0752, 1.1453, -0.2125, 0.0659, -0.1441, -0.1436, -1.6752, 6.9402, 1.7265, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02ff7830bb4353a8e33db9c42f8aa7ca5e229d916683edcd7d5fc267a6b614e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffd7612f0341ddfe759149d64523a9c5805c9235b122ac161da4f9ed561682f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2172e58f5f2dc99ee11bcd8a371ae6dccdd5bdb1cd8a93f6f13e50cd4dbed014",
      "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 · 2.664 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]: [-0.5011, 1.6417, 0.9642, -0.3729, -0.3824, -0.3946, 0.9988, -0.02, 0.8337, 0.5938, -0.4488, -0.0162, -0.0231, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.1233 left_z=0.0656 left_yaw=0.051 left_pitch=-0.3756 left_roll=0.1299 left_gripper=0.9988 right_x=0.2854 right_y=0.0007 right_z=0.1509 right_yaw=-0.0008 right_pitch=-0.119 right_roll=-0.0005 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -8.4581, 6.5573, 1.3797, -0.3248, -0.2222, -0.1392, -0.1162, -1.4701, 7.1863, 1.7216, -0.022, 0.0024, -0.0171]",
      "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]: [-0.4664, 1.6077, 0.9619, -0.4232, -0.3626, -0.3862, 0.9945, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3644 left_y=-0.1093 left_z=0.0702 left_yaw=0.0691 left_pitch=-0.4012 left_roll=0.1296 left_gripper=0.9945 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.8957, 8.8547, 1.2625, -0.1783, 0.1148, 0.0562, 0.0889, -1.6615, 6.9538, 1.7314, -0.022, -0.0659, -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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4625, 1.6012, 0.9703, -0.4335, -0.3595, -0.3862, 0.9988, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3653 left_y=-0.1087 left_z=0.074 left_yaw=0.0695 left_pitch=-0.3986 left_roll=0.1245 left_gripper=0.9988 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.0752, -8.7179, 8.0752, 1.1453, -0.2125, 0.0659, -0.1441, -0.1436, -1.6752, 6.9402, 1.7265, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02ff7830bb4353a8e33db9c42f8aa7ca5e229d916683edcd7d5fc267a6b614e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffd7612f0341ddfe759149d64523a9c5805c9235b122ac161da4f9ed561682f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2172e58f5f2dc99ee11bcd8a371ae6dccdd5bdb1cd8a93f6f13e50cd4dbed014",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
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  "encrypted_content": "gAAAAABqtD56SEXsXxmT3qzvyRf4U-GC2LyyrL8Z7OY5yoMZrKJB-s3q43UGVZ1wQ9s_pvp0m9JMLYavz7HnB0NbRgTJWcW3W02ec9nxkDvyZ_bLI6e9haYp23S_H8cuzyLSxJOhPDzSTLifRP1r2-r0xcEedYb_5JRt8kgticlIfhlx9SCQrmE2nhi57mc1TopejqZJ7YqiOV2_DQUkiyKHzfq2Pe8Dg0em_7U2k-nAIz2SuLBLCp8rP7zAK8ElJnZVjgDqu4No7fqiYJq9hSFyvqc11XCzA-l3-vKVoPvgbLGBGEz3VwUEoBQOi0120KPB9sBlsIAXmaGhpw7PetWVCdrdsc6a-8sFeHLtRR_STeU3cqJAMXbxsZxwsuDUbLC7zBeubFsZerjYrbi_S9EOYnKn-iqHnV0xeryRGjZuI2iACTsMXKeqfwNHJlqoWOdVyL9cygDC_DKbtlVcszS0YI1dI5JE5p6xBFBuoPtqJxhoVa8XBRiQ8KS6w-K1me7gEHtzATTzRWz-WiV17MK8Ld-8C4qey_6YAP_aXz-Dj5To9f5k8b7EEN96-PipsSiVJBtP-iBfAuTrf46FNgiBzAfNRKFK6PF5-bIojOp6sA7ldGZsCou9fa5adR6QCl_Soki0YV4AR-hNiccuDPqFskq_yMkVl6zXApS3p72VKcFL9efO1VYmdVqmG0OwukRWbesqe5g4Qn0mJXRK4gRWUDldy4yl0i-nFrMBOlYsiqmPLC2Xwfk--1wMnsd6f8PT8rG8IfQM_3h2FcqIBogdmWW4lQdFQ2_7rxj3MDZQEOnzlFpTFAN_hqWnIqTBSojCSawikYLpWE_joWWsDCqyy_XFkn0MnKAle1JxfkDMHZ1Cx-nzXKNfHGrWzqUnmx2FfabMcRr6s6zNv719NHoK-txolKaBrP26OHl2UiUtXPQzv5PWuNEggbogRvmN6pOzP1ZtkCqtfpkVnTQhi58SohUlAgDVFtE-ZqPSUeIsNc4kUynRYZDAgB3mm8GkG1FjzTcR_XTTRyIt9_Utri9XP0SwMnmg_8rN_hB6i3h2at-IurF5tQMb-SpcQnTqWwKJnT9oN1SEfL6qwwJNuipQTmmCHcthrjUWUTKZLojD5Q2VU4UdQpeVH5I11QsGuZDLfe8GIYLpvLo-pjExXJr3ug_ayFnm64CNsDIBKHnyviumZTo66k78aSTfGXazVlQPhybdHJousksODwTD02XJwTmppukMxYuVKtciK5Yjyn8rWJjSrHc=",
  "id": "rs_06b378f38e4b576b016ab43e79e56887d0ae0e4faa5509d3cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.085,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The 1 cm command did not change the y readback, so the rim stayed on the same column. I am increasing the target modestly to obtain the needed actual 1 cm shift rather than repeating an untracked pose.\"}",
  "call_id": "call_9T2LzLvPv7D2gNwcH6iYz0d0",
  "id": "fc_06b378f38e4b576b016ab43e7a144887d0820ac854f8d5610e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9T2LzLvPv7D2gNwcH6iYz0d0",
  "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]: [-0.4374, 1.6009, 0.944, -0.4229, -0.3481, -0.382, 0.9988, -0.02, 0.8379, 0.5938, -0.4713, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0988 left_z=0.0657 left_yaw=0.0863 left_pitch=-0.4171 left_roll=0.126 left_gripper=0.9988 right_x=0.282 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1457 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -7.9932, 6.653, 1.1795, -0.1978, 0.1587, -0.1392, -0.335, -1.5248, 7.1863, 1.6777, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46519ad8a95ceb3e03c6cadfa87fb916c00605aaa25bb095060c583dcb343df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec6411ac18077e40b95b73ecf2ad9bca6551a69d1dc35270c11fd7e14544a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0cdd353010c54d81df0963f9bab5fc666bc32185c6d46a710511dde6cce233f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.91 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]: [-0.5098, 1.6608, 0.9516, -0.3241, -0.3832, -0.4171, 0.0083, -0.02, 0.8345, 0.5938, -0.4534, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3731 left_y=-0.1288 left_z=0.0601 left_yaw=0.0522 left_pitch=-0.3591 left_roll=0.1064 left_gripper=0.0083 right_x=0.2848 right_y=0.0008 right_z=0.1498 right_yaw=-0.0003 right_pitch=-0.1243 right_roll=-0.0004 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -8.4718, 6.5709, 1.3797, -0.2906, 0.0415, 0.652, -0.0752, -1.5111, 6.9675, 1.707, -0.0415, -0.0317, -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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4625, 1.6012, 0.9703, -0.4335, -0.3595, -0.3862, 0.9988, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3653 left_y=-0.1087 left_z=0.074 left_yaw=0.0695 left_pitch=-0.3986 left_roll=0.1245 left_gripper=0.9988 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.0752, -8.7179, 8.0752, 1.1453, -0.2125, 0.0659, -0.1441, -0.1436, -1.6752, 6.9402, 1.7265, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4374, 1.6009, 0.944, -0.4229, -0.3481, -0.382, 0.9988, -0.02, 0.8379, 0.5938, -0.4713, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0988 left_z=0.0657 left_yaw=0.0863 left_pitch=-0.4171 left_roll=0.126 left_gripper=0.9988 right_x=0.282 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1457 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -7.9932, 6.653, 1.1795, -0.1978, 0.1587, -0.1392, -0.335, -1.5248, 7.1863, 1.6777, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46519ad8a95ceb3e03c6cadfa87fb916c00605aaa25bb095060c583dcb343df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec6411ac18077e40b95b73ecf2ad9bca6551a69d1dc35270c11fd7e14544a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0cdd353010c54d81df0963f9bab5fc666bc32185c6d46a710511dde6cce233f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD59-lyMhT31voXW6gWMKLGn5Ljf1FNnWNq7u6OWqRwAb1d_HCBf-6igwu99hfCbDkKSUPeQJHpgUcoL3eyiDx6ZVvZV66q5k_orZKrJB3iXbN3sxaxyesYC7ZBJovud4vaPXE6XB_7dG39TWMvcWcECrbWxZBGY12wYUXf1i3rqFgF7-Tja2MtYLLhxAOFa7rBuVCyAgGTg_uXcKdnJufQ-P4mxRSVUOyA4Ni73KNsQhrbk3BY6g7Kkdl0RoTgZetNO_iE0femWoDusfg1IXwIcIMhhlB-d5P7S55US5mTftUJZDGfnwepcdM8uvjzLNCMBiMwRuvvenyzzY0uUrV5j262xf1WhMT3WnCrKlE1tJ9jk4wGVImQxwHCvKOdvUkvUwz4DnSOvICowYMsiwoS-hwFk6PbSod2UxyCicXNu7apNU-7HCULIqf5Mt1nkGlX4oO-eIzESomC4pSIrR9skm3ZO4giZ3XxrArpErm9gqSxBP89fkjQtMwGBM5V1PJGHOnwSMizzsmPtpcl2zuZyMhyCTyaBOpvp-10evcpzXdI80jIzqjHWO_GZa-84YtKL2EuyQ9Aw0n2bLNqOBhdhEAXFy13Lwa-ISOWte2EmTDD0Y3eIvFIW_Pv1sBkl9QxVibCN0WC5tQh5dObR8TfWOnse96ATfn5X3y0lFaltq0m4IIQnGd1QTvhAdtg5kD0ZLQJpnAC2gj4nCetbqrkF-5NO4VwTwJw_Heb1aDcvFWzmJs7lrIhXVkGl4cp63mvOCh_fGgRx26CSzwCyUr0LG5kCHwiHOTrZKZrxqXCP-fbzGG4Nsbu13KynpAl4nIQMMELhdZ2cEzUmop0ZrqU3dL1hAdjDLdt4K8MTOqxviAN868FfzJsEA2s3gv7MPlQiIclWrj6T3x07tMI5YfgXoaQ1uamGpdthacTule2IBXJ7BXk4u_ld9ym7XmixLTJddviSFFyzgw6089TVLk8bNsK9f5f2YvwRIUPN36nl3DwWdNVK7FyXhicZl1JPaZSN_xNDD-oTkb88quHFEkM0zPAyNu0IoJsX3qR2GrKgXKTBsG9C7Ub-Op1-AuvnS3mztR2BoER3GzgsQWXC79tHAo2xlE4oSZv5Crm8Dqu7ho-Ww1X2FJ654jKKnLH6LGICTvnTxm-qOU7GWvyP7rq-6j81YxKQcO3URpmkYS3z4sC19XSPj9kIbqL6c7MnFQlk",
  "id": "rs_06b378f38e4b576b016ab43e7c8ec887d09b205d5a55ee1168",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The y readback moved to -0.099 and the rim now begins near x≈125–130 at the convergence row, the compensating position we wanted. I will close and see whether the first finger now guides the rim into the opposing jaw.\"}",
  "call_id": "call_Wcpay9TiLmP3FxjEnlNozfBI",
  "id": "fc_06b378f38e4b576b016ab43e7ca48087d0a351fb61e068d896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wcpay9TiLmP3FxjEnlNozfBI",
  "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]: [-0.4374, 1.6009, 0.944, -0.4267, -0.3481, -0.3717, 0.0084, -0.02, 0.8379, 0.5938, -0.4717, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3614 left_y=-0.0985 left_z=0.0653 left_yaw=0.0811 left_pitch=-0.4212 left_roll=0.1343 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1461 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -7.0632, 6.065, 1.1648, -0.1636, -0.1099, 0.6667, -0.1846, -1.4701, 7.0222, 1.6337, -0.0415, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c63fc46dd694c27b5b1eb65c93c7a55a6fad7b6052116cb9c6b5bb3996ab7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d86933fab2300a57657c69d47ac52d29869948f270c45250775b5daa5853db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2ec8043363212ce0ff724890f7a2fe78a50a228ef9b57d4841e447e0f3dcbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.594 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]: [-0.4664, 1.6077, 0.9619, -0.4232, -0.3626, -0.3862, 0.9945, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3644 left_y=-0.1093 left_z=0.0702 left_yaw=0.0691 left_pitch=-0.4012 left_roll=0.1296 left_gripper=0.9945 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.8957, 8.8547, 1.2625, -0.1783, 0.1148, 0.0562, 0.0889, -1.6615, 6.9538, 1.7314, -0.022, -0.0659, -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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4374, 1.6009, 0.944, -0.4229, -0.3481, -0.382, 0.9988, -0.02, 0.8379, 0.5938, -0.4713, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0988 left_z=0.0657 left_yaw=0.0863 left_pitch=-0.4171 left_roll=0.126 left_gripper=0.9988 right_x=0.282 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1457 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -7.9932, 6.653, 1.1795, -0.1978, 0.1587, -0.1392, -0.335, -1.5248, 7.1863, 1.6777, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.4374, 1.6009, 0.944, -0.4267, -0.3481, -0.3717, 0.0084, -0.02, 0.8379, 0.5938, -0.4717, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3614 left_y=-0.0985 left_z=0.0653 left_yaw=0.0811 left_pitch=-0.4212 left_roll=0.1343 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1461 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -7.0632, 6.065, 1.1648, -0.1636, -0.1099, 0.6667, -0.1846, -1.4701, 7.0222, 1.6337, -0.0415, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c63fc46dd694c27b5b1eb65c93c7a55a6fad7b6052116cb9c6b5bb3996ab7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d86933fab2300a57657c69d47ac52d29869948f270c45250775b5daa5853db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2ec8043363212ce0ff724890f7a2fe78a50a228ef9b57d4841e447e0f3dcbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6DrBPXgDrcCU-1inrLLzpXlMxgLNvDN3QY5sFP8N522ShsH3BGbmxj2r_jcFQQvQIT1Uum5YCVfoSQL2eTC0ZHihIaN2UjqL9NDiiUgGW3NTM0n1KTvzVhtFn2t4JmvIiVysYXsaHgi9i5mFu1KARNYNSps2Vd-O0_hyjpzFqQnvGDV8sge3i8F1T6QL1YyHQkcp11Xl9b-RsKYjtkSmobDx3nulJZt-XKQIhJ_ZtuXiO7c3go6lJEuk5M9ONjYzEQj8ZICasVaEC4Sf0a-RVxKxFCgHD-rRMRKmEc-fL5C_BYzRROpFpo62GNLBOBdIbePIWXQLUtDuS1L3iC5G8zH8KVjiOVo-_sL4xMcYZML_YwRV9L89IovGg9cbz3qjEPz9tJFhNzhf4LadJV2Qa-TiUV7aPHiZbhnwEdWd0UbqynKKNLGIxiV50g7o89Bpez_WY-3Ottv_Aaz6fFmYXxIe812H_Cuqc12GSVaZYkrQIf6JioV3dED57beRdiq78uu94p7OOo4vCqXO3yzgByJJTu080HOh0X3hrcukqEpYpqcE8QIGgIFqS1bTTVIv-ybjf7YCzFpcufqjph1uSWf9ry5mw_nuHizQRq7Oi8CJqSaUlglRVneD_dxjHDG99ldt_WSHQUO7Fwc6lOZ69s804i9mCNkp3lQCzUCrzFn-A1UgeEm0SNHwYQ_1P4eNQAvc_XR_SJr8k5VK3ncPfiqOIVUwBcetgAE6R469KQBZhsL7GNHOLf1GDq3Geud-NJLLwUYWG0GTOIeutPaO6v-eyhPRT2hN7muEaPstphlCzvkBxrXo_g0tnTvJXnY_-7NUocNO5z2hEx8QmHWO93MVkd_IUswsSo_fFJdXbiEhQoqEocondeWsW5SybtmU5SwZkfI5vVwbDKyf1QNmyym_BlrthqU-dKOeNBj7Xy07onH3aVFqTG6DRDidXUYH-xhe-ZafpNuLKSxvkLv__nDyVmWC3bHusNZCOOMnrrtz3bjiXV7Pg733snKqBwYw0ciyu7X0PyIrWuxE78C9PbEj3vg4phRu27ux0oOZ0QCcGqryH5iVNe8mcGnUtL7M6xAx8letCoRVZ63DtMOUvUjzX-MmVgpq5XEPMo2LiTkpv3STq9C_TDI_rXs25kbdLMRZwM9mgj3GFUqrB_9Af3fAlntIDnh5XuGOd1zKKKRXGBFvOBa-kUl3ODXG64OtaUiDhe4w48QU6yH0Jllg2XNsmUwmYlFW64Yw21v9Rm6E2hql48RghfbazMu75FpP1cf7aeueyCH5qi11dMsLJ3VT0rM1izYzKqC3esBWf_X1NPqMP2YT3XZybJfFdumJe9fkFmZwBkEC1VeqCOhp7ocfmp4xyXdIaTcx00y20v0E7AGRrE9SSsONcUhmxJ95MPwrX6sdd4E5rpWSo3bU-9DIpHUqnXYIZ2MQwcjP9jaiLfz1xGT4p_20qP8lIhJ-4DIHuCEJVfkUFcARju_u4WfDo0XXGH-4xKwldiktAddaaRFRt-GWINSBaIqVCY9_L4NIbyPbIdUnru-0heqoA_C-8RuU7yXFgaK4z65gNfKwyIw9Wv0UGNEZpSQ8B5Wwr_TIQGnAvI4ZHdu7cM_RDH6W5NtWtYIt2C4OUiaMQnD3baf-uHJugAV-QqaEi408TSTZ1iBSMIshmrqwz063z_dbuYSy83ns9byC1KHixbEw9vSe7h7dMrnCEWzqy5UCYXwdWO9tyZtSz0xwBzNHRe-o3KVGhVWUTgKvZ4CkoniBpbuIifydLbeCvt71dlIO8VneMrWnxI631GvJczzI_abelHePRYDRm5nQaPF7da2cNzn8Jz7-Zn16cmH0eseG6KkHLiIWPWznqiINiJx0WopgdpRCiiS7Oh6fUzmNoyn0G2LrrCtbDbjg-wyEMzDR_A0MJy9eSriVkf-t7opJF0-M5tdYPVTo6vtWfbVO3BR8ciHNP__9IJEhIGLyfpCvinQM-5CQNID7VEqf9xtNjqh0F-tyqmuYc2-ub223AysY8N9U-EChHuw2ey7nYp85OOci5UOGD003EvblxC9uomlR5HtRDotyYZe_UAT2vEisaP9VA4kIj5RmHegdYX9PYsUkcV7lBWDPju1akSv9izt43qv0SvLHX1CaMTUfnxTaZfpNxfCRjuZyvt1X71FEcWtbOvsaMGLpR8Ba3IN4wm9h9EW-gSmFxw81kA5wI-BnD248iyXXh1TVb2trWUjuJL4QW8JapqYLEJ4tlfs4ad12d4LXGNb5dOl161Niie3cVDUC8IXVpZ_xSyRZ8iISObWiWRG1UfGWKYJdoSYj8UhPHBgK3ePmeK0YuPvc_bf0sWo-zwHXPYq5J7FmYkXI3glZlsLMalrCbO8WWj1Hdo9R44K413CFz-nQjlK5ZfPlACqXnxBPVBUmiGCUH8TTn8uaKHjMIXOSONk4tfhQqiQC86fra6DsUwqTzSM-MP8dFHT-xpvBKoi-sKfmMQZlmF19pnfzORnJ1y2xNgkkXKigmPyfo8090GAe2kKZRx2G39MJcWgJf0jTaRVit64Lci_pAVQvr3cHWYnbpJ5AK82Q==",
  "id": "rs_06b378f38e4b576b016ab43e7feba487d086ad5b754ddb0a2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.105,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The close again passed just inside the bowl; at z≈0.065 the fingertips are likely below the grippable rim lip. I am reopening and raising 3 cm while centering the wall between the last two lateral trials, so the pads meet the rim's vertical section.\"}",
  "call_id": "call_Vw4ynAAC2i10EpNrlk0r1z5u",
  "id": "fc_06b378f38e4b576b016ab43e82b9fc87d09d663cffac4d95a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vw4ynAAC2i10EpNrlk0r1z5u",
  "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]: [-0.4515, 1.5948, 1.0191, -0.5667, -0.3489, -0.3927, 0.994, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.1006 left_z=0.0783 left_yaw=0.0942 left_pitch=-0.4697 left_roll=0.1557 left_gripper=0.994 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -9.347, 9.2239, 1.0037, -0.3004, 0.022, 0.1734, -0.0068, -1.4564, 6.9402, 1.6044, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb5bd2748577ef4ed5a86931fc79a53cda90c04e06457476b7521382defb861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a2258b5157bd714da9acd2f4dbd2023c89307b0e5decc8efd70dcbbfedbead",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72eb8b6e3bebe0e0aacb019185692a29b243b4dd20a9a354fde28f05970127d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 2.354 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]: [-0.4625, 1.6012, 0.9703, -0.4335, -0.3595, -0.3862, 0.9988, -0.02, 0.8371, 0.5938, -0.4675, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3653 left_y=-0.1087 left_z=0.074 left_yaw=0.0695 left_pitch=-0.3986 left_roll=0.1245 left_gripper=0.9988 right_x=0.2826 right_y=0.0009 right_z=0.1464 right_yaw=-0.0002 right_pitch=-0.1411 right_roll=-0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.0752, -8.7179, 8.0752, 1.1453, -0.2125, 0.0659, -0.1441, -0.1436, -1.6752, 6.9402, 1.7265, -0.0659, -0.0611, -0.0122]",
      "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]: [-0.4374, 1.6009, 0.944, -0.4267, -0.3481, -0.3717, 0.0084, -0.02, 0.8379, 0.5938, -0.4717, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3614 left_y=-0.0985 left_z=0.0653 left_yaw=0.0811 left_pitch=-0.4212 left_roll=0.1343 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1461 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -7.0632, 6.065, 1.1648, -0.1636, -0.1099, 0.6667, -0.1846, -1.4701, 7.0222, 1.6337, -0.0415, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.5948, 1.0191, -0.5667, -0.3489, -0.3927, 0.994, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.1006 left_z=0.0783 left_yaw=0.0942 left_pitch=-0.4697 left_roll=0.1557 left_gripper=0.994 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -9.347, 9.2239, 1.0037, -0.3004, 0.022, 0.1734, -0.0068, -1.4564, 6.9402, 1.6044, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb5bd2748577ef4ed5a86931fc79a53cda90c04e06457476b7521382defb861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a2258b5157bd714da9acd2f4dbd2023c89307b0e5decc8efd70dcbbfedbead",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72eb8b6e3bebe0e0aacb019185692a29b243b4dd20a9a354fde28f05970127d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD6JKLBP1hgI7Wdmk5HnqAAaq9qaXSwMtMz2vTFnQqSGHXRe9P_mbT4OUg5ZR8btndxHW2Y-4HGFPypNn5d-tVhQCunnfSvrx4RgfUee3Aov95-tSFQlVOj3BDXASKepuznjSqYzMrWJeQeh0URPOn8AKE5rAi3GlGLJ6875B0xzb2-yMjEr6CO_Ye0oBnKGZTqM6onC8Yj5WOtiQwsTnVe61cgGGIPnS12vCIPbkuSCMhZ5FzQ8s2db7ThFoeHcLjFDtmaZiXW2HKS_dconCUw5Ynh53uU_jx_9_CovY53omdcfT5tJ4G1qD9mR_x6yuS58ZNA6bJZQMER27gXQJZ0Mx2S-GvdaLcLr9VTQgYS1092VuYxhdLm06ddyJZUwsjfiNCtGY_fa-XflQnMDODMCDAr6DVBjHd4TB3VlHzuze3r82jGe4VTcM6NHx0l-uJtcs8grsbQqIJ6Yg0RmdNwj_4OkplAe3Eri4lcK3xZpQ52Ae6R-9bzyECBIwdMP4DuQYmeWuVE8JaakCXGrW1QftRgh5mgyzhtsPrtgsPG4KZn6kAJlcUTaIVe64ZkSKQVWxZwGrJb3lpgdmA0ZiPuxRAiIBmej1MuM7eKlZfHw0fh6rF1B3iaCCEZz5Ul2n-eGWtKUoXIvB_LNKn75Eq2cVoGubNVYxIws7o0PbksSlMIxgoqhWMpm6_ooEcj0jJj0XFLwuS6Z1zWTBUSKAtSy6Tqngdk8TBq9zAq9O4YETLMIN6IDEdhPGS01NZp3wRNN4RINcrz3tSSYTyqoTVwxOc8PwMWyCL9i7eMu7XjCrMmnXpaT4var4MA1OxyntZU8bqq9aviQpzxQ6-ZDfIUxmtHBGZ5bXjiGEXh1MPvmMOGu1U-yxzEPsFqf_v79NXDNIqXwMlUZI90KGxRpkLRGoNnmLrUKeWLpt8s6B0EcAb87ybLTsd95YvNdfmrvr0f12Z4fLcx79HtDe1pP5mspBlE4YBy-VL50wJn2LwDkwyrK8L7MYgoJQ2RUORv9TVbOlgKX9E0vw-URDBLIU6_YbrdSe1zNHD-Zy5VhZnrzqx_M4qJuF01JGLxJbhlCjIcJTvC17gRPbg74nlqVfkCzyd1P86fA3MuSjd1tAZ-ubbEgysDrKTmuscB3ESg3ZhN_7zwcG1ttSdyzjR0Yzxsc8H7evqp7TFdotRCmo3tZTedhVZ1P0j1vb8nkelFllO6lhcvtDZPWu7oO0zrcoRD6CiJXGnCTSigmNIEEpqEzn36wNtK3QoCSlfHMvZH8ibplCso2rdKdyAR5dEKZ9MZC7zwIb3RSAiOzpWuVDaHqOPHSdYOrzXEUJp5LMUtcPYsZ77N02jqb0n8bsitSEb3SBTnkc8newfGvGtgzcRlWw9jWXS1qC8IYtGnR5Ogah-W19FBzBhKCyI1fRa-vO13NHevMcmYd3ReMBjsLi4Xptny0Vzn-Vc_kX_YKkr55kOK0Yzw5W4FRqSkIhUmdp3M2IcTD-2w39N5VCk75WVaRXno-A1Ya8xhFTQ_51YaU5BpWzoBCmb-vbYdqj0gK-cYMgUlTYsL0NhMX3uYO2o9xoZl0Jc1gJN33xVlRHaJYpxfbLDraJbgGvvzj1h2Im8wc9NyCORxgASypHILIdE3fIyJlFbTN-hEj--5j1UdS89QEburbZ7FI-C58O5eeTyJKccWRyh7YuVUqiafN4J0SEbRbZq0qjHu_GeMlkFGlMVaZFWGhmFcRB-Lsu6A3GQbluBIpU_jwgdu0mgmVHz_MqoKYABIiQGZqwv8g_kLmJRRkdRb6l0Xp9G-OhEzIisfAJZfNVM9s2r00A8LKAMVLMiHAUW8thIk1D9lTQKPt6KEpFDGsc015eVb18Wavd3eBeUHerv_fSTxxsFbmISTe_uWklZkawUhEqyznD-4rLPm1_OR5JAF0E-ZekH9CfR63FQ==",
  "id": "rs_06b378f38e4b576b016ab43e869e2087d09d8f4bdda7b9c722",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"At the raised pose the rim wall is clearly vertical and sits about 2 cm right of the jaw center, with the pads now level with it. I am shifting right just enough to place this upper wall on the convergence line before closing.\"}",
  "call_id": "call_cRXDqbsVeIonnqoxexO6Qyjn",
  "id": "fc_06b378f38e4b576b016ab43e8842d487d09f0c8774fd926813",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cRXDqbsVeIonnqoxexO6Qyjn",
  "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]: [-0.4797, 1.6043, 1.0504, -0.6147, -0.3599, -0.4202, 0.9988, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3505 left_y=-0.1082 left_z=0.0815 left_yaw=0.0986 left_pitch=-0.4841 left_roll=0.1655 left_gripper=0.9988 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.9778, -6.3932, 8.8, 0.9744, -0.359, 0.0073, -0.1392, -0.2256, -1.4291, 6.9265, 1.5849, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9158f50a544c219817c4d05448c73cb827bfccdebfdd5c12d2183c068190ec95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb1fce73f859d03826893ad79e2a6b997faeefb3a177afe888ed0823e0df188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41b8587544cf992df2c65f51fce7fc6d9bbf35b0d932613450efc13633d0f05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.948 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]: [-0.4374, 1.6009, 0.944, -0.4229, -0.3481, -0.382, 0.9988, -0.02, 0.8379, 0.5938, -0.4713, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3621 left_y=-0.0988 left_z=0.0657 left_yaw=0.0863 left_pitch=-0.4171 left_roll=0.126 left_gripper=0.9988 right_x=0.282 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1457 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -7.9932, 6.653, 1.1795, -0.1978, 0.1587, -0.1392, -0.335, -1.5248, 7.1863, 1.6777, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.4515, 1.5948, 1.0191, -0.5667, -0.3489, -0.3927, 0.994, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.1006 left_z=0.0783 left_yaw=0.0942 left_pitch=-0.4697 left_roll=0.1557 left_gripper=0.994 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -9.347, 9.2239, 1.0037, -0.3004, 0.022, 0.1734, -0.0068, -1.4564, 6.9402, 1.6044, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.6043, 1.0504, -0.6147, -0.3599, -0.4202, 0.9988, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3505 left_y=-0.1082 left_z=0.0815 left_yaw=0.0986 left_pitch=-0.4841 left_roll=0.1655 left_gripper=0.9988 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.9778, -6.3932, 8.8, 0.9744, -0.359, 0.0073, -0.1392, -0.2256, -1.4291, 6.9265, 1.5849, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9158f50a544c219817c4d05448c73cb827bfccdebfdd5c12d2183c068190ec95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb1fce73f859d03826893ad79e2a6b997faeefb3a177afe888ed0823e0df188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41b8587544cf992df2c65f51fce7fc6d9bbf35b0d932613450efc13633d0f05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6LAFowIaLt1sVWJGb2KXPgnuqtReKsQ6dYBqjb-VYHAQC8dZZu8cUiM3r2oi_zJPw4UNN9HrDzI9YcMshyOLY9P8UQ_w2rY2Zh8TDmLnVMaQeD8cbfn9Bz92dAY4CQmOBC0SflmJDIGgakyeQ-yLtW6QFoIpAkHh6ss8hBg6iu-4GG_Vj-NHJtENNcqKwAZQO75gwZK-qDL4Ih0gvp6BaAX2fXZRjq8WirVC6eEDiMs3cjAuz1S37t4teAZ0-xdbmxm3bXfjcNqpGWqVQMfsNrwtsQu-z6g_jerbBv5YGyrsSswBV6m89QqzGW-jojFmPIzifpdqfTDeA8HQV1Qqc4Db2Ubd9mnbrIRp8UuldRXLR4OMH8jownqzLAUXEqCaMi-rhqck0kEuW6sOV3f-Go3kcqcSTebwyb5BIozbDEAv90OtNLwWT6pWXuTLTWuKgL1szNWnskYiJ8fPd0w7HXKy9zBHoI5gghjWRai9zF3HoRMRGxEx4NUKGQJ5WMFZVBxD_oAqv6cekZ2ctSeCypiCXH1qRndh4E4cQkKrmgB9qWPq1RjFVG5Hn9CHeA2xdUJc_LtskzVsMTAwnmGOi8GPCZcNKVM2bc0au-YYPMx7n2b1lHV-2qmcQ58UZSXphw_BhEKCVMJPPhSSa2vHWrAr0Xaq6ptSZTB61HbMqw0AUk1MzieQPFJJjVFpvJ2Q5dr9zJCeprES7Y7UsuypIEhfXyNq6SKWM8pxRRKKxyk45aGKUKRZ_Q7FPZlEdCuKnsTW9bj-ODzfXA1nr_jO6tslkxEEw0e0T1NSzMwhsZl3n2kKfyHLTKQfwMu28Z2aHlDC2k50-naJCLlTyN9JPVd-LbWofT2As8VDYo53EDlhZW0w-fqDWAVQNe6IPWezsci7gB2ppbFWYCPNAI6veudtidaSkK4hr9g1EuCYWIm2d90ovRmF8BYwy6FjEinAecf4BmDwg8cxflfoEadpM1JvPdG7bRoRb5WC6BxDjiuWL5-shTenRWBQIQhd7sl345hTb0K6xs89WLBwTHH57aBOcl2AOOprtDl2Sd63Ph2MTmeJIz4rYqvyDBheQ3olPlyD3OYdmmw217pWRGy7CqFiZhkevYotAqBbFodqQDs7P7dLiKlknMVZoOcjRGvr1FGjwDqP-c8Z3dEfwuIAJnAVsQoX-HJL15KiAOEAO_A_JTuYn8rKh-_HzqsRaXk0GHGsxjkTycg3Vmsrhz3oYVlBOfFCsCDV76S9_pTlVUx2RxZyWNHC77hWJJeeziM4JSvWDMPfN5Qw115vFNwZRz4PSQJ67qptiLQIiBtfqI_QY=",
  "id": "rs_06b378f38e4b576b016ab43e8a790487d0bd64c790d9f499aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The first correction only moved the eef 8 mm and the upper rim remains near x≈128. I am increasing the lateral target so the readback reaches about y=-0.125 and the rim reaches the x≈110 convergence line.\"}",
  "call_id": "call_bGBSnj4ToNkGG15ccgl39ssX",
  "id": "fc_06b378f38e4b576b016ab43e8ad20887d080072fd2363f3883",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bGBSnj4ToNkGG15ccgl39ssX",
  "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]: [-0.5545, 1.647, 1.1069, -0.6735, -0.3733, -0.4858, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3444 left_y=-0.1333 left_z=0.0811 left_yaw=0.0877 left_pitch=-0.5076 left_roll=0.1699 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -6.735, 8.7043, 0.8718, -0.3932, 0.0366, -0.1441, -0.212, -1.4701, 6.9402, 1.619, -0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be268e899798555a29d4268072a0547dbcef2c9c42eb501a0c351d0e90123f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966f7716b10aca8eeba4caf7139d4f0ec839e6180d83dd7354111cd645723678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d0bfb30842340951bdf64e5ea82e2efc2e895993278013a0c0b0d6087069aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 3.228 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]: [-0.4374, 1.6009, 0.944, -0.4267, -0.3481, -0.3717, 0.0084, -0.02, 0.8379, 0.5938, -0.4717, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3614 left_y=-0.0985 left_z=0.0653 left_yaw=0.0811 left_pitch=-0.4212 left_roll=0.1343 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1455 right_yaw=-0.0002 right_pitch=-0.1461 right_roll=-0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -7.0632, 6.065, 1.1648, -0.1636, -0.1099, 0.6667, -0.1846, -1.4701, 7.0222, 1.6337, -0.0415, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.6043, 1.0504, -0.6147, -0.3599, -0.4202, 0.9988, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3505 left_y=-0.1082 left_z=0.0815 left_yaw=0.0986 left_pitch=-0.4841 left_roll=0.1655 left_gripper=0.9988 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.9778, -6.3932, 8.8, 0.9744, -0.359, 0.0073, -0.1392, -0.2256, -1.4291, 6.9265, 1.5849, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5545, 1.647, 1.1069, -0.6735, -0.3733, -0.4858, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3444 left_y=-0.1333 left_z=0.0811 left_yaw=0.0877 left_pitch=-0.5076 left_roll=0.1699 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -6.735, 8.7043, 0.8718, -0.3932, 0.0366, -0.1441, -0.212, -1.4701, 6.9402, 1.619, -0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be268e899798555a29d4268072a0547dbcef2c9c42eb501a0c351d0e90123f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966f7716b10aca8eeba4caf7139d4f0ec839e6180d83dd7354111cd645723678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d0bfb30842340951bdf64e5ea82e2efc2e895993278013a0c0b0d6087069aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6OZn3HzEGGSiTy6O_cSI4JlrL0fF78a9wu_nxL9ZNLL3hGBINh5AX1LwBBfWVK_ONWea6SJe5wzHYsi5sP0XCUizkUndSbsObCB0Uwu-Rkl6iWUrqC461Ap11aWAScVbLpmiOrgiPrx4D8tan5qy2yBJyxjiVSSsoykTrZ6HHWVF3M_k5UPLwW4FNZ9WmWRnxTcrp0hD-hRmB97oGdNuDpf6yGShrSZp33opwgfisXP1F5K3NpzOPaal3d0myK59TnP6IxYJkv3aPTF8L-1_MBxeK5jkbKFttGc2HsaeIJ5B_m1YYA2B20fF9bNJlpufdYxQ_Om_1Ds915tkoJSBU-pp9UPNrxiTzQVFXbPjXVP0qAF0_4dq9GAZMbN5eozLjU6hau1G4DjgSAIECSvGo1cEpQ-tVCHj66t5rjZz1HiXrFUgdHXiqv2yj7EeoGlsznMSKcZUxFpSVAAGrtXfFPNOe0BMr2leFeOvyZWwIonSia4OI649_RDdUV0q7G-gwFrO2jCFoz0yCY8_2-81pN0dZrRjZwQapq2xmginruUZ3sdaM2fal28Ks5X915aA-G7eRylpXqthe6j0JXvL8xfCsta8oc-iUrh3HIIcBuGfgBbfY5MY9BWia4HYSTfp2XZbONxgYBLLXYuRq5DRSZdRPmE65vadGRxJATcN41evRqc8RTf75wjvgWV1lL9rwjU8_93IIsNNRke46PV1LGAgjdajqlrequbxTkYrN-GDnGQ-UR8NrTfLcCa0EbO7kNSS2wLMmyBDw-wNqsfVaeTvDxqz3c-3wOmViw6W2W9KuIClZHPF5CuxRkoljRQ94Nqu4dmx0uVMVTPmENTNlSvpJFHpzFPaWQF8wNyjH6UzHKv57H-Su0sffPD-v0Ux53McRaROazc7foowLtCYjNLos0SwfevCDN1BDK-NUOyspmixiRIJ2qEs99Lj4wy5QB2RUPtxtSkRTkQlO32iFJaetU1r7eGmq3dciBr8Fjl-Ci8sZ-a3h0uwg9VCenyVKB3QdUtnlUEwVGIse1bwertv_PWUK0z0EkLhJVUbr7VPu38Int6dXwS1qHTiNclJZaJxOyqpC6-FIuIrDYrSFebdvNoYcIVaikgjLKQMXXTDTH9V2qn8Wj5wsgxHqAKDKBXaDsT48Mepqg20NDOvJlpnLzd9apMm9eHPHHKSJw1B24CoIgbeKMZ4ueHLHut4axjlkUBasn_G5RG13ETebUetCUlDvIVfs602fKLfzix3my-iBemhORyODz_CGUSil0Wr7ILJV0s5yx6gkuQNYEPPMbStpGpKnW8PLan0rRxkw65a9j_osfRt_q4SdPEl95nysFdwmvHhQH_FsFCEG474ETMDl2L1zc70oXb1CaF6B94MnF5RHEK8ktsY1tApN614CqQcobDQGgkOWXPMMGItH8BRaVTUa5xnTksPp5dEQfqyoGHRusPxw3Jz9i3uvjZ8Biu_8v_llQBBS5LrDhZA==",
  "id": "rs_06b378f38e4b576b016ab43e8d31e887d0b90ed8bbb54915b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The larger move overshot: the upper rim is now around x≈99. I am splitting the difference to place it at x≈110, keeping the raised pad height unchanged.\"}",
  "call_id": "call_SkmQTj58Pef3cvnuufij88Pj",
  "id": "fc_06b378f38e4b576b016ab43e8ded4487d0a07db49e2f7e05aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SkmQTj58Pef3cvnuufij88Pj",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5724, 1.6577, 1.1221, -0.6781, -0.3759, -0.5064, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3448 left_y=-0.1408 left_z=0.0821 left_yaw=0.0843 left_pitch=-0.5041 left_roll=0.1608 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -7.4188, 8.4855, 0.7497, -0.4176, -0.0708, -0.1392, 0.0342, -1.265, 6.9265, 1.6435, -0.0708, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73b0afaaa0f8f1610629ac6711f4ef1be9742e8fecf9032b85f8aefe90c4fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98093c597356b9c1f806abb53c164ac59726025fe53e87ebce436080eeda9a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202ecf33dd1dc511e2eb8eba379e91c06828df860675171ccafe21a7f2b97078",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.973 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.5948, 1.0191, -0.5667, -0.3489, -0.3927, 0.994, -0.02, 0.8379, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.1006 left_z=0.0783 left_yaw=0.0942 left_pitch=-0.4697 left_roll=0.1557 left_gripper=0.994 right_x=0.2814 right_y=0.0009 right_z=0.1449 right_yaw=-0.0002 right_pitch=-0.1491 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -9.347, 9.2239, 1.0037, -0.3004, 0.022, 0.1734, -0.0068, -1.4564, 6.9402, 1.6044, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5545, 1.647, 1.1069, -0.6735, -0.3733, -0.4858, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3444 left_y=-0.1333 left_z=0.0811 left_yaw=0.0877 left_pitch=-0.5076 left_roll=0.1699 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -6.735, 8.7043, 0.8718, -0.3932, 0.0366, -0.1441, -0.212, -1.4701, 6.9402, 1.619, -0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5724, 1.6577, 1.1221, -0.6781, -0.3759, -0.5064, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3448 left_y=-0.1408 left_z=0.0821 left_yaw=0.0843 left_pitch=-0.5041 left_roll=0.1608 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -7.4188, 8.4855, 0.7497, -0.4176, -0.0708, -0.1392, 0.0342, -1.265, 6.9265, 1.6435, -0.0708, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73b0afaaa0f8f1610629ac6711f4ef1be9742e8fecf9032b85f8aefe90c4fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98093c597356b9c1f806abb53c164ac59726025fe53e87ebce436080eeda9a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202ecf33dd1dc511e2eb8eba379e91c06828df860675171ccafe21a7f2b97078",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6SedvF9ipB9GIsADxQvWtGFBGGBwZWVtvtBGgldLU_cjWt802DRH50UWyfJw4ojcp0uFr8uI9DTw8xzBs6g9d8eTDloU5D9cgrzVct1bNgOcWDezUXbUcyEXCHAkQsemzYaPDvpdx9HkuZgA3QlrWs9Zt5YQD7RYORAMc0Fu4HvsWkGo8QfYdGTRh4Ik7IQeRReIUxdOVZJeyHT-9HoKfffauEdhhKFmkA-5aJBlxq5EY9JkA42ftEXtqjY3szzC-2-Fz6DWIVx8sCLKyaZjl_4dzmmqroDbhTZrmggNEBOw2GfAkEJahnl-41Vbzefdmmcw_4GUzwrj-AYXazrPRc1cxF9Jz8JWah6rosrRlVlp9xPD1Zgh2P9208J9J3tRvZIi1rY55yutbEyNO18drd4VO5gLjl0utfuH1zOl8USX8gQzNlPk_PcP4ct8QQanI5hh7NKwNUNnrJz3uv8dmRiMSYx6GhrAUgT7RjNk9PFx8fwl7rGoIW5aLRm7fu0HFh9UelbFylcjs8UbLra7VGhA8pyIqZnrte8_JXAmX2LKDffZjjP0dJqnPYvnhb1XnQUEGNIFbsrUEwCrQYl0GZV8ZFZXp4JurpxQL1ZD3w96jzdFS52085e3hkyiYOlkKqnUqUuDD7M60Y49UZ2PFw18uxH7woJE1pA6CU7yUqftokjgOdaOpO65CuZIvF9_kZnIlaBHJL40zCOViUR4bYYBC-4EEA5GwW6ZbV_Wy4mYNVSDCwDXmN9r4ipvvGTgJehEvAGRrgejXbsM0a6FF3no8vXdJ1q3RbNgYjjbzSg97efDCFg7OLDsaAtRKXzo8Mle9JMvFPsUzyorS-rj91W4B64H7bgIroxfLvdOwP5jLnlQrgmCUdSkMrjN7aiK1ibZTxifU0g86hUGizmGVFks7ROmDdX1Y0OlZ7otsoK5DMva-PAwMBj6mFhMQncaXReoijoyurD5CMnqwz3rUJwhzf6fVwupSfova23Izq8aQei44ms2gUrQBhe-xznOxTtofjegVUpZ0qQsEjQoEqs8y6A2GfRl_diJCDaPW36GXkKbizobDm-433oShj1udnRKHTbE_pUo3I3epPDz9hpOHIg7ssTKXuh_wsUCDQKJB_D39aczYwwuL-biOwqxhlTNYOKU38KP6doRxVBELwYrds1JAvpoGP0F3p6djpNtbUMeZtlQGbVNx4Gs44dm3-s3SZQviP9c_bWo5g2dVhQU2xTJwADJGjJA7Ktbpqs5_4xGvfpx7vc7OjBZqf8-OANsepnS2Xo2f_b1r3bC_W_0svKE086yd5TyfMvlUg8N541cQod5uhVUBbvKc9lpSiChfWGqx8gWuDuzcPCkAk1wu2BdzlPh1VikIlkyaj8GM=",
  "id": "rs_06b378f38e4b576b016ab43e9022e487d09bb8d8b256634e05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.1,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The arm continued drifting right after the tiny command, reaching y=-0.141 and moving the rim too far left. I am commanding a clear leftward correction to y=-0.10 and slightly higher z to recover a stable pose before the final rim close.\"}",
  "call_id": "call_tgE6H6SAcnOdBvmhjlSFV2w0",
  "id": "fc_06b378f38e4b576b016ab43e90930487d0a6a2c270e783ee6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tgE6H6SAcnOdBvmhjlSFV2w0",
  "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]: [-0.5724, 1.6577, 1.1221, -0.6781, -0.3756, -0.5068, 0.9988, -0.02, 0.8383, 0.5938, -0.4747, -0.0166, -0.0235, 0.9984]\nstate[eef_state]: left_x=0.3448 left_y=-0.1408 left_z=0.0821 left_yaw=0.0842 left_pitch=-0.5043 left_roll=0.1603 left_gripper=0.9988 right_x=0.2815 right_y=0.0009 right_z=0.1448 right_yaw=-0.0002 right_pitch=-0.1495 right_roll=0.0001 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.4051, 8.2667, 0.7595, -0.4176, -0.1099, -0.1441, -0.2256, -1.4291, 6.9128, 1.5653, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c787e4a1884936613f3330866397c2ce2880d8c110b740227494be718e2ad5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48945dace631188c079729b157db9ae1241aa5f438807bf010f3db8ebfd696f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4015abe7d5ca327ccbb516fd56d502ad923d5e3525b779b4884e78ac68ca15b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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