adhoc

completed
2026-09-23T21:58:57.803324+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
231.4 s
total steps
315
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree upright bowls are arranged left-to-right near the middle of the table; the left wrist view shows the left bowl forward and to the arm’s right. I’m shifting the left gripper slightly forward and right at a safe height to center it over that bowl while keeping the right arm parked.
move_to
left_x0.3200left_y-0.0600left_z0.1800left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6056, -0.3801, -0.0227, -0.041, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.017, -0.0334, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4171, -1.5385, 9.9761, 1.7705, -0.0415, 0.2808, -0.0806, -0.2256, -1.4427, 10.3179, 1.8779, -0.1148, 0.1734, -0.1001] 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":0.32,"left_y":-0.06,"left_z":0.18,"left_gripper":1.0,"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_gripper":1.0},"note":"Three upright bowls are arranged left-to-right near the middle of the table; the left wrist view shows the left bowl forward and to the arm’s right. I’m shifting the left gripper slightly forward and right at a safe height to center it over that bowl 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 bowl is now larger in the wrist view but remains to the right of the jaw column and slightly beyond the fingertips; the overhead view also shows the gripper still left of it. I’m moving farther right and a few centimetres forward, staying high and open for precise alignment.
move_to
left_x0.3500left_y-0.1350left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3443, 0.971, 0.6292, -0.3447, -0.2539, -0.2031, 0.9993, -0.0219, 0.7986, 0.606, -0.3897, -0.0162, -0.0338, 0.9991] state[eef_state]: left_x=0.3066 left_y=-0.059 left_z=0.1517 left_yaw=-0.0422 left_pitch=-0.0912 left_roll=0.0202 left_gripper=0.9993 right_x=0.294 right_y=0.0 right_z=0.1776 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9991 state[joint_eff]: [-0.2667, -3.0291, 10.3453, 2.0049, -0.1978, -0.0415, -0.0806, -0.1299, -1.4427, 7.0222, 1.7998, -0.0317, -0.0269, -0.1001] 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":0.35,"left_y":-0.135,"left_z":0.18,"left_gripper":1.0},"note":"The left bowl is now larger in the wrist view but remains to the right of the jaw column and slightly beyond the fingertips; the overhead view also shows the gripper still left of it. I’m moving farther right and a few centimetres forward, staying high and open for precise alignment."})
tool
executing move_to over 7 steps (0.7s)
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 left bowl is now centered on the jaw column, and the overhead view shows the gripper directly over it. I’m descending to a low approach height while keeping the jaws fully open, so I can re-check alignment before closing around the bowl’s sides.
move_to
left_x0.3500left_y-0.1350left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5655, 1.2762, 0.8845, -0.3851, -0.3985, -0.3435, 0.9993, -0.0219, 0.8024, 0.6056, -0.3935, -0.0162, -0.0341, 0.9991] state[eef_state]: left_x=0.3416 left_y=-0.1314 left_z=0.1634 left_yaw=-0.0654 left_pitch=-0.1337 left_roll=0.0355 left_gripper=0.9993 right_x=0.2937 right_y=0.0 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0195 right_roll=-0.0006 right_gripper=0.9991 state[joint_eff]: [-0.4034, -5.2034, 9.1145, 1.5018, -0.3053, -0.149, -0.0806, -0.0889, -1.5932, 7.0222, 1.7118, -0.0269, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.35,"left_y":-0.135,"left_z":0.07,"left_gripper":1.0},"note":"The left bowl is now centered on the jaw column, and the overhead view shows the gripper directly over it. I’m descending to a low approach height while keeping the jaws fully open, so I can re-check alignment before closing around the bowl’s sides."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteAt the low approach the bowl remains well centered and both open fingers visibly straddle its outer walls. I’m closing the left gripper to secure the bowl around its sides.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5667, 1.454, 0.6456, -0.0303, -0.3939, -0.3561, 0.9993, -0.0219, 0.8043, 0.6056, -0.3939, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.3402 left_y=-0.1318 left_z=0.0652 left_yaw=-0.0584 left_pitch=-0.189 left_roll=0.0533 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [0.4581, -5.7231, 5.8598, 1.7558, -0.1685, 0.1343, -0.0757, -0.1026, -1.4564, 7.0222, 1.6874, -0.0562, -0.0659, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low approach the bowl remains well centered and both open fingers visibly straddle its outer walls. I’m closing the left gripper to secure the bowl around its sides."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper settled essentially fully closed, so the fingers closed inside the bowl rather than capturing it; the bowl is wider than the jaw span at its center. I’m reopening and lifting slightly, then I’ll target one rim so one finger can sit inside and the other outside for a rim pinch.
move_to
left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5667, 1.4719, 0.6296, -0.0345, -0.3935, -0.3637, 0.0087, -0.0219, 0.8043, 0.6056, -0.3935, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.3344 left_y=-0.1283 left_z=0.0527 left_yaw=-0.0506 left_pitch=-0.2221 left_roll=0.0666 left_gripper=0.0087 right_x=0.2938 right_y=0.0001 right_z=0.1751 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1573, -7.0632, 7.1316, 1.4188, -0.1636, 0.0659, 0.6911, -0.1026, -1.2513, 7.0085, 1.7167, -0.0513, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_gripper":1.0},"note":"The gripper settled essentially fully closed, so the fingers closed inside the bowl rather than capturing it; the bowl is wider than the jaw span at its center. I’m reopening and lifting slightly, then I’ll target one rim so one finger can sit inside and the other outside for a rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteWith the jaws open, the bowl’s right-hand rim is clearly visible well to the right of the jaw column, and its side midpoint is also farther forward than the grasp point. I’m moving forward and to the arm’s right so the grasp point lands on that side rim for an inside/outside pinch.
move_to
left_x0.3800left_y-0.1850left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5667, 1.4101, 0.6952, -0.2054, -0.3931, -0.3676, 0.9954, -0.0219, 0.8089, 0.6056, -0.3931, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.328 left_y=-0.1242 left_z=0.0718 left_yaw=-0.0435 left_pitch=-0.2598 left_roll=0.0858 left_gripper=0.9954 right_x=0.2942 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.335, -6.9812, 8.9504, 1.3162, -0.2076, -0.0122, -0.149, -0.212, -1.4838, 7.0632, 1.7607, -0.0366, -0.0317, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.185,"left_z":0.1,"left_gripper":1.0},"note":"With the jaws open, the bowl’s right-hand rim is clearly visible well to the right of the jaw column, and its side midpoint is also farther forward than the grasp point. I’m moving forward and to the arm’s right so the grasp point lands on that side rim for an inside/outside pinch."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe gripper is now in the narrow gap between the white and purple bowls, which leaves too little clearance for an outside finger on the white bowl’s right rim. I’m switching to the white bowl’s unobstructed outer rim by moving left while advancing to the rim’s radial midpoint.
move_to
left_x0.4100left_y-0.1050left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6315, 1.6489, 1.0206, -0.3309, -0.4213, -0.4252, 0.9986, -0.0219, 0.8116, 0.6056, -0.4007, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.3732 left_y=-0.179 left_z=0.0905 left_yaw=-0.0487 left_pitch=-0.2779 left_roll=0.0871 left_gripper=0.9986 right_x=0.2932 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0359 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.6222, -7.6376, 7.8427, 1.0574, -0.3736, 0.0122, -0.1538, -0.1983, -1.5385, 7.0496, 1.8046, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.105,"left_z":0.1,"left_gripper":1.0},"note":"The gripper is now in the narrow gap between the white and purple bowls, which leaves too little clearance for an outside finger on the white bowl’s right rim. I’m switching to the white bowl’s unobstructed outer rim by moving left while advancing to the rim’s radial midpoint."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe white bowl has shifted across the wrist image, and its outer left rim is now only a few centimetres left of the jaw column; the gripper is still slightly behind that rim. I’m making a small left-and-forward correction to put the grasp point directly on the unobstructed rim.
move_to
left_x0.4300left_y-0.0700left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3832, 1.6493, 1.008, -0.3168, -0.2874, -0.2527, 0.9986, -0.0216, 0.8116, 0.6056, -0.4129, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4009 left_y=-0.1038 left_z=0.0809 left_yaw=-0.0056 left_pitch=-0.3375 left_roll=0.1004 left_gripper=0.9986 right_x=0.2915 right_y=0.0002 right_z=0.1691 right_yaw=0.0005 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [0.3214, -10.1949, 6.7761, 1.6484, -0.1392, 0.1587, -0.1538, -0.0889, -1.347, 6.9949, 1.7949, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.07,"left_z":0.09,"left_gripper":1.0},"note":"The white bowl has shifted across the wrist image, and its outer left rim is now only a few centimetres left of the jaw column; the gripper is still slightly behind that rim. I’m making a small left-and-forward correction to put the grasp point directly on the unobstructed rim."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe white bowl’s outer left rim now meets the jaw column near the fingertip convergence point, with clear space outside the bowl. I’m descending a few centimetres to rim height while holding the lateral alignment fixed.
move_to
left_x0.4300left_y-0.0700left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2653, 1.6909, 1.0542, -0.337, -0.2325, -0.1883, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4173 left_y=-0.0675 left_z=0.0767 left_yaw=0.0303 left_pitch=-0.3711 left_roll=0.102 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.5402, -7.6786, 8.9368, 1.3162, 0.0611, 0.1685, -0.1538, -0.1983, -1.306, 6.9812, 1.6874, -0.0611, -0.0659, -0.0073] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.07,"left_z":0.045,"left_gripper":1.0},"note":"The white bowl’s outer left rim now meets the jaw column near the fingertip convergence point, with clear space outside the bowl. I’m descending a few centimetres to rim height while holding the lateral alignment fixed."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe commanded descent stopped instead of tracking lower, and the rim remains aligned at the jaw column, indicating the fingers are contacting the bowl at rim height. I’m closing now to pinch that single rim between the inside and outside fingers.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.6951, 1.0679, -0.337, -0.2237, -0.1715, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4216 left_y=-0.0654 left_z=0.0798 left_yaw=0.0231 left_pitch=-0.365 left_roll=0.1023 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.4171, -8.1026, 8.4171, 1.3602, -0.0562, 0.2222, -0.1538, -0.0752, -1.3333, 6.9949, 1.746, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The commanded descent stopped instead of tracking lower, and the rim remains aligned at the jaw column, indicating the fingers are contacting the bowl at rim height. I’m closing now to pinch that single rim between the inside and outside fingers."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gripper again settled empty; after closing, the rim appears about a centimetre to the right of the closed jaw rather than between the fingers. I’m reopening, lifting slightly, and shifting the grasp point right by roughly that offset for a more exact rim pinch.
move_to
left_y-0.0800left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.6951, 1.0676, -0.3367, -0.2176, -0.1646, 0.0087, -0.0219, 0.8116, 0.6056, -0.4156, -0.0162, -0.0341, 0.9991] state[eef_state]: left_x=0.4214 left_y=-0.0664 left_z=0.0795 left_yaw=0.0138 left_pitch=-0.3668 left_roll=0.1015 left_gripper=0.0087 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0507 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.1162, -7.8291, 6.3521, 1.2674, -0.1538, -0.1001, 0.6618, -0.0752, -1.2376, 7.1179, 1.7167, -0.0464, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.08,"left_z":0.1,"left_gripper":1.0},"note":"The gripper again settled empty; after closing, the rim appears about a centimetre to the right of the closed jaw rather than between the fingers. I’m reopening, lifting slightly, and shifting the grasp point right by roughly that offset for a more exact rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteAfter the small correction, the bowl’s outer rim now runs directly through the centre of the open jaws, with one finger visibly inside and the other outside. I’m closing at this alignment to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2882, 1.6951, 1.1057, -0.429, -0.2344, -0.2054, 0.9948, -0.0219, 0.8116, 0.6056, -0.4164, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4122 left_y=-0.0757 left_z=0.0819 left_yaw=0.0246 left_pitch=-0.4121 left_roll=0.1074 left_gripper=0.9948 right_x=0.291 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.8, -8.9368, 9.3607, 1.2918, -0.1929, 0.1685, -0.0513, -0.212, -1.347, 7.0085, 1.7021, -0.0562, -0.0513, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the small correction, the bowl’s outer rim now runs directly through the centre of the open jaws, with one finger visibly inside and the other outside. I’m closing at this alignment to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe second rim attempt also closed empty, but the closed jaw ended just a few millimetres outside the rim, showing that the remaining error is very small. I’m reopening and making a 3 mm correction toward the bowl before another inspection.
move_to
left_y-0.0725left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2882, 1.6951, 1.108, -0.4339, -0.2352, -0.2066, 0.0088, -0.0219, 0.8116, 0.6056, -0.4171, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4119 left_y=-0.0754 left_z=0.0821 left_yaw=0.0263 left_pitch=-0.4144 left_roll=0.1083 left_gripper=0.0088 right_x=0.2909 right_y=0.0001 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.3077, -8.0068, 6.1333, 1.2137, -0.1294, -0.0415, 0.6325, -0.0889, -1.3333, 7.1453, 1.7363, -0.0562, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.0725,"left_gripper":1.0},"note":"The second rim attempt also closed empty, but the closed jaw ended just a few millimetres outside the rim, showing that the remaining error is very small. I’m reopening and making a 3 mm correction toward the bowl before another inspection."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe reopened view shows the rim passing exactly through the midpoint between the outside left finger and inside right finger. Because this plastic rim may be thin enough to produce an almost-closed reading even when captured, I’m closing once more and will verify by lifting rather than relying only on jaw width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4343, -0.2329, -0.2073, 0.9943, -0.0219, 0.812, 0.6056, -0.4198, -0.0162, -0.0341, 0.9991] state[eef_state]: left_x=0.4119 left_y=-0.075 left_z=0.082 left_yaw=0.0267 left_pitch=-0.4153 left_roll=0.1059 left_gripper=0.9943 right_x=0.2905 right_y=0.0001 right_z=0.1677 right_yaw=-0.0002 right_pitch=-0.0553 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [0.4855, -8.1983, 6.1333, 1.2088, -0.1294, 0.0806, 0.0171, -0.212, -1.3333, 6.9812, 1.6923, -0.0171, -0.0415, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The reopened view shows the rim passing exactly through the midpoint between the outside left finger and inside right finger. Because this plastic rim may be thin enough to produce an almost-closed reading even when captured, I’m closing once more and will verify by lifting rather than relying only on jaw width."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe closed jaw is now visually seated against the white rim, though the width reading remains tiny as expected for a thin plastic wall. I’m lifting straight up and slightly inward to test whether the bowl moves with the gripper.
move_to
left_x0.4000left_y-0.0750left_z0.1600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4408, -0.2329, -0.2066, 0.0082, -0.0219, 0.812, 0.6056, -0.4202, -0.0162, -0.0341, 0.9991] state[eef_state]: left_x=0.4106 left_y=-0.0746 left_z=0.0812 left_yaw=0.0271 left_pitch=-0.4215 left_roll=0.1086 left_gripper=0.0082 right_x=0.2905 right_y=0.0001 right_z=0.1676 right_yaw=-0.0002 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.1436, -8.1709, 6.2974, 1.2869, -0.1392, -0.0122, 0.6764, -0.0889, -1.306, 6.9812, 1.6777, -0.0513, -0.0855, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.075,"left_z":0.16,"left_gripper":0.0},"note":"The closed jaw is now visually seated against the white rim, though the width reading remains tiny as expected for a thin plastic wall. I’m lifting straight up and slightly inward to test whether the bowl moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe white bowl stayed on the table during the lift, confirming the rim slipped away during the wide-jaw close. I’m switching to a narrow pre-opened gap and aligning slightly farther forward on the side rim, which should let the thin rim enter between the fingertips before the final close instead of being pushed aside.
move_to
left_x0.4300left_y-0.0800left_z0.1300left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2901, 1.636, 1.2842, -0.7033, -0.2333, -0.2104, 0.0068, -0.0219, 0.812, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4029 left_y=-0.0739 left_z=0.137 left_yaw=0.0298 left_pitch=-0.4469 left_roll=0.116 left_gripper=0.0068 right_x=0.2902 right_y=0.0002 right_z=0.1671 right_yaw=0.0001 right_pitch=-0.058 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.6632, -10.1949, 8.8957, 1.1111, -0.2271, -0.1197, 0.6813, -0.0205, -1.1009, 7.1316, 1.6777, -0.0659, -0.0366, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.08,"left_z":0.13,"left_gripper":0.2},"note":"The white bowl stayed on the table during the lift, confirming the rim slipped away during the wide-jaw close. I’m switching to a narrow pre-opened gap and aligning slightly farther forward on the side rim, which should let the thin rim enter between the fingertips before the final close instead of being pushed aside."})
tool
executing move_to over 3 steps (0.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteWith the jaws pre-closed to a roughly 2 cm gap, the white rim is visibly centered inside that gap rather than under a finger. I’m descending at this fixed alignment so the rim seats deeper between the jaw faces before the final pinch.
move_to
left_x0.4300left_y-0.0800left_z0.0700left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2928, 1.726, 1.3392, -0.7197, -0.2321, -0.2092, 0.1963, -0.0219, 0.8162, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4136 left_y=-0.0785 left_z=0.1197 left_yaw=0.0338 left_pitch=-0.4961 left_roll=0.1339 left_gripper=0.1963 right_x=0.2904 right_y=0.0002 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [0.294, -9.2513, 9.4564, 1.116, -0.149, -0.0171, -0.0708, -0.0889, -1.4291, 6.9675, 1.6679, -0.0464, -0.0611, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.08,"left_z":0.07,"left_gripper":0.2},"note":"With the jaws pre-closed to a roughly 2 cm gap, the white rim is visibly centered inside that gap rather than under a finger. I’m descending at this fixed alignment so the rim seats deeper between the jaw faces before the final pinch."})
tool
executing move_to over 4 steps (0.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe attempted descent stopped with the rim still seated squarely in the narrow gap, so the arm has reached contact or its low-reach limit without losing alignment. I’m applying the final close now while the rim is constrained between the jaw faces.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7132, -0.2325, -0.2092, 0.1998, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.418 left_y=-0.0784 left_z=0.1112 left_yaw=0.0399 left_pitch=-0.5104 left_roll=0.1399 left_gripper=0.1998 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [0.0889, -9.9624, 8.7726, 1.326, -0.1392, 0.0024, -0.0317, -0.212, -1.347, 7.0085, 1.6777, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The attempted descent stopped with the rim still seated squarely in the narrow gap, so the arm has reached contact or its low-reach limit without losing alignment. I’m applying the final close now while the rim is constrained between the jaw faces."})
tool
executing move_to over 2 steps (0.2s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe close completed with the jaw still visibly against the rim, and the pre-closed approach reduced the chance of it being swept aside. I’m lifting higher now to verify whether this constrained pinch captured the bowl.
move_to
left_x0.4000left_y-0.0800left_z0.2000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7128, -0.2325, -0.2092, 0.0107, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4181 left_y=-0.0784 left_z=0.1113 left_yaw=0.0398 left_pitch=-0.5101 left_roll=0.1397 left_gripper=0.0107 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [0.335, -10.0718, 8.5265, 1.2869, -0.1099, 0.0073, 0.442, -0.1983, -1.3197, 7.0085, 1.6679, -0.0806, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.08,"left_z":0.2,"left_gripper":0.0},"note":"The close completed with the jaw still visibly against the rim, and the pre-closed approach reduced the chance of it being swept aside. I’m lifting higher now to verify whether this constrained pinch captured the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe bowl again stayed on the table; the repeated low approach is limited by the arm’s reach before the fingers can seat low enough on the rim. I’m moving the closed gripper to the far side of the white bowl so I can slide it several centimetres toward the base, where a lower and more reliable grasp is possible.
move_to
left_x0.4600left_y-0.1300left_z0.1400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2981, 1.7626, 1.4509, -0.8246, -0.2325, -0.2195, 0.0067, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4181 left_y=-0.0821 left_z=0.1338 left_yaw=0.0405 left_pitch=-0.5233 left_roll=0.1398 left_gripper=0.0067 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.9641, -14.0513, 11.3026, 1.4823, -0.2271, -0.0366, 0.6764, -0.1299, -1.0462, 6.9538, 1.6923, -0.0513, -0.0659, -0.0073] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.13,"left_z":0.14,"left_gripper":0.0},"note":"The bowl again stayed on the table; the repeated low approach is limited by the arm’s reach before the fingers can seat low enough on the rim. I’m moving the closed gripper to the far side of the white bowl so I can slide it several centimetres toward the base, where a lower and more reliable grasp is possible."})
tool
executing move_to over 5 steps (0.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gripper is still over the bowl interior rather than beyond its far wall, and the low extended pose is forcing a large backward tool tilt. I’m lifting, advancing beyond the bowl, and explicitly pitching the tool forward so the fingers can later reach the far wall without stalling at the extended low-reach limit.
move_to
left_x0.4800left_y-0.1300left_z0.1800left_pitch0.4000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.374, 1.9972, 1.6928, -0.939, -0.244, -0.2832, 0.0066, -0.0219, 0.8181, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4437 left_y=-0.1245 left_z=0.1076 left_yaw=0.0407 left_pitch=-0.6135 left_roll=0.1663 left_gripper=0.0066 right_x=0.2904 right_y=0.0001 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0645 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.5812, -12.2188, 10.0308, 0.8913, -0.3834, -0.0904, 0.6667, -0.253, -1.388, 7.0906, 1.6581, -0.0806, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.13,"left_z":0.18,"left_pitch":0.4,"left_gripper":0.0},"note":"The gripper is still over the bowl interior rather than beyond its far wall, and the low extended pose is forcing a large backward tool tilt. I’m lifting, advancing beyond the bowl, and explicitly pitching the tool forward so the fingers can later reach the far wall without stalling at the extended low-reach limit."})
tool
executing move_to over 34 steps (3.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe forward-pitched gripper is now high and clearly beyond the white bowl, with the bowl entirely behind the wrist-camera’s bottom edge. I’m descending there with the jaws closed to place a narrow pusher just outside the bowl’s far wall.
move_to
left_x0.4800left_y-0.1300left_z0.0600left_pitch0.4000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4702, 1.7527, 0.9009, 0.588, -0.5861, -0.0166, 0.0061, -0.0219, 0.8204, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4776 left_y=-0.1291 left_z=0.1704 left_yaw=0.0343 left_pitch=0.3424 left_roll=0.1666 left_gripper=0.0061 right_x=0.2905 right_y=0.0001 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0667 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.6222, -7.4462, 6.0923, 1.9658, -0.315, 0.1587, 0.6227, -0.1436, -1.5658, 7.1316, 1.6532, -0.0513, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.13,"left_z":0.06,"left_pitch":0.4,"left_gripper":0.0},"note":"The forward-pitched gripper is now high and clearly beyond the white bowl, with the bowl entirely behind the wrist-camera’s bottom edge. I’m descending there with the jaws closed to place a narrow pusher just outside the bowl’s far wall."})
tool
executing move_to over 8 steps (0.8s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe closed fingertips reached the low pose just beyond the far wall, with the overhead view showing the arm directly behind the white bowl. I’m retracting about 12 cm at constant height to slide that bowl toward the base into an easier grasping zone.
move_to
left_x0.3600left_y-0.1300left_z0.0600left_pitch0.4000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4717, 2.138, 0.7933, 1.087, -0.5995, 0.004, 0.0061, -0.0219, 0.823, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.4783 left_y=-0.1281 left_z=0.0546 left_yaw=0.0341 left_pitch=0.3473 left_roll=0.1879 left_gripper=0.0061 right_x=0.2907 right_y=0.0001 right_z=0.1641 right_yaw=0.0001 right_pitch=-0.0694 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.0889, -9.1556, 3.8906, 1.746, -0.0464, 0.1001, 0.6178, -0.0342, -1.5932, 7.0085, 1.6777, -0.0806, -0.0806, -0.0171] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.13,"left_z":0.06,"left_pitch":0.4,"left_gripper":0.0},"note":"The closed fingertips reached the low pose just beyond the far wall, with the overhead view showing the arm directly behind the white bowl. I’m retracting about 12 cm at constant height to slide that bowl toward the base into an easier grasping zone."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe overhead view confirms the white bowl slid substantially toward the base while staying upright. I’m lifting and returning the tool vertical with a narrow jaw gap, positioning over the bowl’s unobstructed outer rim now that it is in the arm’s comfortable low-reach zone.
move_to
left_x0.3400left_y-0.0750left_z0.1500left_pitch0.0000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6918, 2.0167, 0.387, 1.364, -0.7952, -0.0238, 0.0061, -0.0216, 0.8249, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.365 left_y=-0.1339 left_z=0.0514 left_yaw=0.0013 left_pitch=0.3724 left_roll=0.2084 left_gripper=0.0061 right_x=0.2908 right_y=0.0003 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.3077, -8.5812, 2.5368, 1.6972, -0.2125, -0.1001, 0.6178, -0.0752, -1.3744, 7.0359, 1.7216, -0.0366, -0.0513, -0.0073] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.075,"left_z":0.15,"left_pitch":0.0,"left_gripper":0.2},"note":"The overhead view confirms the white bowl slid substantially toward the base while staying upright. I’m lifting and returning the tool vertical with a narrow jaw gap, positioning over the bowl’s unobstructed outer rim now that it is in the arm’s comfortable low-reach zone."})
tool
executing move_to over 13 steps (1.3s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
assistant
agent noteThe pushed white bowl is now behind the wrist camera’s bottom edge, and the overhead view shows the gripper several centimetres too far forward but laterally near its outer rim. I’m moving straight back to bring that rim into the narrow jaw gap while keeping the safe height.
move_to
left_x0.3000left_y-0.0750left_z0.1500left_pitch0.0000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.49, 1.1873, 0.6022, -0.0292, -0.5484, -0.1467, 0.1989, -0.0216, 0.8295, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.3443 left_y=-0.0752 left_z=0.1444 left_yaw=0.0202 left_pitch=0.0412 left_roll=0.2022 left_gripper=0.1989 right_x=0.291 right_y=0.0002 right_z=0.1623 right_yaw=0.0005 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [0.2667, -5.0256, 9.0735, 1.5946, -0.1294, 0.0024, -0.0366, -0.0205, -1.7983, 7.0359, 1.6581, -0.0611, -0.0659, -0.0171] 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_x":0.3,"left_y":-0.075,"left_z":0.15,"left_pitch":0.0,"left_gripper":0.2},"note":"The pushed white bowl is now behind the wrist camera’s bottom edge, and the overhead view shows the gripper several centimetres too far forward but laterally near its outer rim. I’m moving straight back to bring that rim into the narrow jaw gap while keeping the safe height."})
tool
executing move_to over 4 steps (0.4s)
step 205
assistant
agent noteThe white bowl has entered the lower-right of the wrist view, so it is still slightly behind and to the arm’s right of the narrow gap. I’m moving a few centimetres back and right to center its outer rim between the fingertips.
move_to
left_x0.2700left_y-0.1050left_z0.1500left_pitch0.0000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5835, 1.0321, 0.5846, -0.2199, -0.5842, -0.2115, 0.1998, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.3079 left_y=-0.0822 left_z=0.1523 left_yaw=-0.0115 left_pitch=0.014 left_roll=0.1923 left_gripper=0.1998 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.5265, -2.8103, 6.5026, 1.6337, -0.3297, -0.1587, -0.0317, -0.1436, -1.347, 7.0359, 1.7118, -0.0366, -0.0269, -0.0073] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.105,"left_z":0.15,"left_pitch":0.0,"left_gripper":0.2},"note":"The white bowl has entered the lower-right of the wrist view, so it is still slightly behind and to the arm’s right of the narrow gap. I’m moving a few centimetres back and right to center its outer rim between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent noteThe white bowl’s unobstructed outer rim is now just below and slightly left of the narrow jaw gap, while the purple bowl remains safely farther forward. I’m making a small back-left correction and beginning the descent so that single rim enters the gap.
move_to
left_x0.2550left_y-0.1030left_z0.1300left_pitch0.0000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7864, 1.0016, 0.5846, -0.3496, -0.6827, -0.3408, 0.1999, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2759 left_y=-0.1136 left_z=0.1465 left_yaw=-0.0718 left_pitch=-0.0123 left_roll=0.1946 left_gripper=0.1999 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.4581, -3.3983, 7.4051, 1.4872, -0.5836, -0.0757, -0.0269, -0.1026, -1.4564, 6.9949, 1.7118, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.103,"left_z":0.13,"left_pitch":0.0,"left_gripper":0.2},"note":"The white bowl’s unobstructed outer rim is now just below and slightly left of the narrow jaw gap, while the purple bowl remains safely farther forward. I’m making a small back-left correction and beginning the descent so that single rim enters the gap."})
tool
executing move_to over 2 steps (0.2s)
step 210
assistant
agent noteThe outer rim is now at the same image row as the fingertip gap but remains about a centimetre left of its centre. I’m applying that final lateral correction while descending to the bowl’s rim height in the now-comfortable workspace.
move_to
left_x0.2550left_y-0.0950left_z0.0750left_pitch0.0000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8288, 0.9337, 0.514, -0.3714, -0.7307, -0.4049, 0.1998, -0.0219, 0.8352, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2605 left_y=-0.1044 left_z=0.136 left_yaw=-0.0458 left_pitch=-0.0003 left_roll=0.1822 left_gripper=0.1998 right_x=0.2914 right_y=0.0001 right_z=0.1608 right_yaw=0.0002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.1419, 7.4735, 1.6093, -0.2369, 0.232, -0.0317, -0.1983, -1.3607, 7.0632, 1.7216, -0.0757, -0.0806, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.095,"left_z":0.075,"left_pitch":0.0,"left_gripper":0.2},"note":"The outer rim is now at the same image row as the fingertip gap but remains about a centimetre left of its centre. I’m applying that final lateral correction while descending to the bowl’s rim height in the now-comfortable workspace."})
tool
executing move_to over 4 steps (0.4s)
step 214
assistant
agent noteThe descent stopped above its target, and the wrist view shows the rim running directly through the narrow gap with one finger outside and one inside. I’m closing now; at this closer location the fingers are low enough to seat on the rim rather than hovering above it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8379, 0.9073, 0.4721, -0.3779, -0.7303, -0.4004, 0.1999, -0.0216, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2532 left_y=-0.0998 left_z=0.1247 left_yaw=-0.0575 left_pitch=-0.0167 left_roll=0.2014 left_gripper=0.1999 right_x=0.2914 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.212, -2.3316, 6.9402, 1.5263, -0.2808, 0.1832, -0.0317, -0.0752, -1.6479, 7.1453, 1.6337, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped above its target, and the wrist view shows the rim running directly through the narrow gap with one finger outside and one inside. I’m closing now; at this closer location the fingers are low enough to seat on the rim rather than hovering above it."})
tool
executing move_to over 2 steps (0.2s)
step 216
assistant
agent noteThe closed jaw remains seated exactly on the white rim and shows a slightly larger residual gap than the prior empty closes. I’m lifting vertically in the easier workspace to verify that the bowl is captured.
move_to
left_x0.2600left_y-0.1000left_z0.2200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8379, 0.9077, 0.4721, -0.3782, -0.7303, -0.3923, 0.0112, -0.0219, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2531 left_y=-0.0997 left_z=0.1246 left_yaw=-0.0618 left_pitch=-0.0182 left_roll=0.2086 left_gripper=0.0112 right_x=0.2914 right_y=0.0001 right_z=0.1602 right_yaw=0.0002 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.3214, -2.1128, 6.9675, 1.536, -0.2564, 0.0269, 0.2173, -0.212, -1.4838, 6.9538, 1.6288, -0.0269, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.1,"left_z":0.22,"left_gripper":0.0},"note":"The closed jaw remains seated exactly on the white rim and shows a slightly larger residual gap than the prior empty closes. I’m lifting vertically in the easier workspace to verify that the bowl is captured."})
tool
executing move_to over 7 steps (0.7s)
step 223
assistant
agent noteThe bowl slipped during the lift, so a full-force close is squeezing the thin rounded rim out even when aligned. I’m returning to the same successful rim alignment with the narrow gap, and this time I’ll stop at a small nonzero jaw spacing to clamp gently instead of over-closing.
move_to
left_x0.2530left_y-0.1000left_z0.1200left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8097, 0.9367, 0.7437, -0.6113, -0.7044, -0.3824, 0.0067, -0.0219, 0.8379, 0.6056, -0.4232, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2631 left_y=-0.1051 left_z=0.1893 left_yaw=-0.0571 left_pitch=-0.0255 left_roll=0.1967 left_gripper=0.0067 right_x=0.2914 right_y=0.0001 right_z=0.16 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.2393, -2.6735, 7.2684, 0.9548, -0.2711, 0.2027, 0.6813, -0.212, -1.4427, 6.9675, 1.6435, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.253,"left_y":-0.1,"left_z":0.12,"left_gripper":0.2},"note":"The bowl slipped during the lift, so a full-force close is squeezing the thin rounded rim out even when aligned. I’m returning to the same successful rim alignment with the narrow gap, and this time I’ll stop at a small nonzero jaw spacing to clamp gently instead of over-closing."})
tool
executing move_to over 5 steps (0.5s)
step 228
assistant
agent noteAt the low approach the rim is clearly visible about a centimetre right of the narrow gap and slightly forward of it. I’m applying a small right-and-forward correction so the rim is centered before the gentle close.
move_to
left_x0.2650left_y-0.1050left_z0.1000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8284, 0.9253, 0.4767, -0.4549, -0.7082, -0.3943, 0.1979, -0.0219, 0.8413, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2458 left_y=-0.0926 left_z=0.1104 left_yaw=-0.0629 left_pitch=-0.094 left_roll=0.2576 left_gripper=0.1979 right_x=0.2916 right_y=0.0001 right_z=0.1591 right_yaw=0.0002 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.5538, -2.4547, 6.8991, 1.5507, -0.4469, -0.1685, -0.0708, -0.1162, -1.3333, 7.2, 1.6532, -0.0708, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.105,"left_z":0.1,"left_gripper":0.2},"note":"At the low approach the rim is clearly visible about a centimetre right of the narrow gap and slightly forward of it. I’m applying a small right-and-forward correction so the rim is centered before the gentle close."})
tool
executing move_to over 2 steps (0.2s)
step 230
assistant
agent noteThe rim is now visibly centered inside the narrow gap, with the two finger tips on opposite sides of the wall. I’m closing only to a 2 mm commanded gap to clamp the thin rim without squeezing it sideways out of the jaws.
move_to
left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8101, 1.0031, 0.4667, -0.3519, -0.704, -0.3882, 0.1998, -0.0216, 0.8417, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2567 left_y=-0.0987 left_z=0.1022 left_yaw=-0.0515 left_pitch=-0.086 left_roll=0.2495 left_gripper=0.1998 right_x=0.2916 right_y=0.0002 right_z=0.159 right_yaw=0.0006 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.4171, -0.8547, 7.9521, 1.1795, -0.0952, 0.1587, -0.0317, -0.0615, -1.4701, 6.9675, 1.6435, -0.0562, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.02},"note":"The rim is now visibly centered inside the narrow gap, with the two finger tips on opposite sides of the wall. I’m closing only to a 2 mm commanded gap to clamp the thin rim without squeezing it sideways out of the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 232
assistant
agent noteThe gripper settled at a 2.6 mm opening—larger than an empty close and consistent with the thin rim being clamped—while the bowl stayed centered against the jaw. I’m lifting straight up without lateral motion to verify and preserve this gentle grasp.
move_to
left_x0.2580left_y-0.1010left_z0.1800left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8051, 1.0348, 0.4671, -0.3405, -0.6895, -0.3859, 0.0275, -0.0219, 0.8436, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2576 left_y=-0.1006 left_z=0.0953 left_yaw=-0.0563 left_pitch=-0.1086 left_roll=0.2566 left_gripper=0.0275 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=0.0002 right_pitch=-0.09 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.4171, -2.8376, 6.3521, 1.2625, -0.4664, -0.0366, -0.0171, -0.0205, -1.5658, 6.9675, 1.6337, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.258,"left_y":-0.101,"left_z":0.18,"left_gripper":0.02},"note":"The gripper settled at a 2.6 mm opening—larger than an empty close and consistent with the thin rim being clamped—while the bowl stayed centered against the jaw. I’m lifting straight up without lateral motion to verify and preserve this gentle grasp."})
tool
executing move_to over 6 steps (0.6s)
step 238
assistant
agent noteThe bowl again remained visible in its wrist camera after lifting, so the thin rim slipped even under the gentle clamp. I’m switching to a hooked support: lowering the closed fingertips at the outer rim and rolling them inward beneath the flared lip so the bowl can be lifted from below rather than by friction.
move_to
left_x0.2600left_y-0.1000left_z0.0400left_roll-0.5000left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8097, 0.9871, 0.7372, -0.6514, -0.6815, -0.3866, 0.0211, -0.0219, 0.8436, 0.6056, -0.4229, -0.0162, -0.0341, 0.9991] state[eef_state]: left_x=0.2593 left_y=-0.1057 left_z=0.1675 left_yaw=-0.0664 left_pitch=-0.1077 left_roll=0.2467 left_gripper=0.0211 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=-0.0001 right_pitch=-0.09 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.294, -2.865, 8.6496, 1.2283, -0.3834, -0.0317, 0.1001, -0.1846, -1.5111, 7.0222, 1.6484, -0.0464, -0.0757, -0.0073] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.1,"left_z":0.04,"left_roll":-0.5,"left_gripper":0.02},"note":"The bowl again remained visible in its wrist camera after lifting, so the thin rim slipped even under the gentle clamp. I’m switching to a hooked support: lowering the closed fingertips at the outer rim and rolling them inward beneath the flared lip so the bowl can be lifted from below rather than by friction."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe rolled fingertips are now inserted against the inside of the white bowl’s outer wall at table level, forming a hook under the flared rim. I’m lifting vertically while preserving the inward roll to see whether the rim rides on the fingers.
move_to
left_x0.2500left_y-0.0830left_z0.1800left_roll-0.5000left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3996, 0.9653, 0.1162, 0.128, -0.0933, -0.6041, 0.0211, -0.0219, 0.8463, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2487 left_y=-0.0833 left_z=0.0225 left_yaw=-0.0179 left_pitch=-0.1948 left_roll=-0.3757 left_gripper=0.0211 right_x=0.2918 right_y=0.0001 right_z=0.1578 right_yaw=0.0002 right_pitch=-0.0927 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [0.2256, -2.1675, 6.4068, 1.917, 0.0855, -0.1294, 0.105, -0.1573, -1.7026, 7.0359, 1.6435, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.083,"left_z":0.18,"left_roll":-0.5,"left_gripper":0.02},"note":"The rolled fingertips are now inserted against the inside of the white bowl’s outer wall at table level, forming a hook under the flared rim. I’m lifting vertically while preserving the inward roll to see whether the rim rides on the fingers."})
tool
executing move_to over 11 steps (1.1s)
step 259
assistant
agent noteA single rolled finger did not retain the white bowl, so I’m switching to a cooperative lift of the central purple bowl. I’m positioning the two closed grippers high on opposite outer sides of that bowl, rolled inward symmetrically so they can support both sides of its rim without relying on a pinch.
move_to
left_x0.4200left_y-0.2700left_z0.1400left_roll-0.5000left_gripper0.0200right_x0.4200right_y0.2800right_z0.1400right_roll0.5000right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3241, 0.7338, 0.6292, -0.585, 0.0086, -0.6556, 0.0211, -0.0219, 0.8494, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991] state[eef_state]: left_x=0.2512 left_y=-0.0822 left_z=0.1661 left_yaw=-0.0086 left_pitch=-0.199 left_roll=-0.4883 left_gripper=0.0211 right_x=0.292 right_y=0.0001 right_z=0.1569 right_yaw=0.0002 right_pitch=-0.0957 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.7726, -0.3624, 9.3333, 1.5897, 0.1441, -0.0366, 0.105, -0.1026, -1.6068, 7.0359, 1.619, -0.0708, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.27,"left_z":0.14,"left_roll":-0.5,"left_gripper":0.02,"right_x":0.42,"right_y":0.28,"right_z":0.14,"right_roll":0.5,"right_gripper":0.02},"note":"A single rolled finger did not retain the white bowl, so I’m switching to a cooperative lift of the central purple bowl. I’m positioning the two closed grippers high on opposite outer sides of that bowl, rolled inward symmetrically so they can support both sides of its rim without relying on a pinch."})
tool
executing move_to over 24 steps (2.4s)
step 283
assistant
agent noteBoth wrist views now show the purple bowl centered between the inward-rolled fingertips from opposite sides, with the arms remaining separated. I’m lowering both supports together so the finger tips seat beneath the two opposing sections of rim.
move_to
left_x0.4200left_y-0.2700left_z0.0350left_roll-0.5000left_gripper0.0200right_x0.4200right_y0.2800right_z0.0350right_roll0.5000right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6567, 1.7557, 1.1919, -0.2039, -0.2478, -0.8906, 0.0211, 0.6811, 1.7596, 1.1076, -0.0479, 0.2966, 0.7609, 0.0228] state[eef_state]: left_x=0.4099 left_y=-0.2568 left_z=0.1238 left_yaw=0.0093 left_pitch=-0.2444 left_roll=-0.4688 left_gripper=0.0211 right_x=0.406 right_y=0.2672 right_z=0.1166 right_yaw=0.0167 right_pitch=-0.1536 right_roll=0.4241 right_gripper=0.0228 state[joint_eff]: [-1.0188, -8.4308, 9.5248, 1.7851, -0.0073, 0.0513, 0.105, 0.8, -8.4581, 10.6325, 1.9805, 0.0904, 0.1441, 0.105] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.27,"left_z":0.035,"left_roll":-0.5,"left_gripper":0.02,"right_x":0.42,"right_y":0.28,"right_z":0.035,"right_roll":0.5,"right_gripper":0.02},"note":"Both wrist views now show the purple bowl centered between the inward-rolled fingertips from opposite sides, with the arms remaining separated. I’m lowering both supports together so the finger tips seat beneath the two opposing sections of rim."})
tool
executing move_to over 6 steps (0.6s)
step 289
assistant
agent noteAt table level both fingertips are visibly inside the purple bowl near opposite walls; the current inward roll points them toward the centre rather than under the lip. I’m reversing both rolls so the tips sweep outward beneath the two opposing rim overhangs, creating a balanced two-sided hook.
move_to
left_roll0.5000right_roll-0.5000left_z0.0350right_z0.0350left_gripper0.0200right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6518, 1.9411, 1.0748, 0.0643, -0.2569, -0.923, 0.0211, 0.6662, 1.9663, 1.0111, 0.2077, 0.2768, 0.7933, 0.0212] state[eef_state]: left_x=0.417 left_y=-0.2572 left_z=0.0372 left_yaw=0.0441 left_pitch=-0.2747 left_roll=-0.4643 left_gripper=0.0211 right_x=0.4115 right_y=0.2666 right_z=0.0272 right_yaw=-0.003 right_pitch=-0.2064 right_roll=0.429 right_gripper=0.0212 state[joint_eff]: [-1.0735, -7.6786, 5.2991, 1.6093, 0.0122, 0.2613, 0.105, 0.4308, -8.0479, 5.7231, 1.7949, -0.0415, 0.1245, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0.5,"right_roll":-0.5,"left_z":0.035,"right_z":0.035,"left_gripper":0.02,"right_gripper":0.02},"note":"At table level both fingertips are visibly inside the purple bowl near opposite walls; the current inward roll points them toward the centre rather than under the lip. I’m reversing both rolls so the tips sweep outward beneath the two opposing rim overhangs, creating a balanced two-sided hook."})
tool
executing move_to over 13 steps (1.3s)
step 302
assistant
agent noteThe outward roll drove both tips to table level and produced strong contact, with the purple wall still visible over the right hook; the supports may now be under the rim, but the arms must immediately unload the table. I’m lifting both sides together at their current lateral positions to test the balanced hook and relieve the contact forces.
move_to
left_x0.4360left_y-0.1640left_z0.1800left_roll0.5000left_gripper0.0200right_x0.3990right_y0.1790right_z0.1800right_roll-0.5000right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6018, 2.1853, 1.4616, -0.5716, -0.6579, -0.4824, 0.0211, 0.6853, 2.1227, 1.3083, -0.4969, 0.7296, 0.3485, 0.0212] state[eef_state]: left_x=0.4362 left_y=-0.1642 left_z=0.0087 left_yaw=0.249 left_pitch=-0.3821 left_roll=0.4526 left_gripper=0.0211 right_x=0.3989 right_y=0.1786 right_z=0.0049 right_yaw=-0.1686 right_pitch=-0.3595 right_roll=-0.5721 right_gripper=0.0212 state[joint_eff]: [-16.9094, -10.7419, 11.5077, 1.5067, -1.0965, 0.2808, 0.1001, 10.9607, -6.9128, 16.1436, 2.3565, 0.4811, -0.022, 0.1148] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.436,"left_y":-0.164,"left_z":0.18,"left_roll":0.5,"left_gripper":0.02,"right_x":0.399,"right_y":0.179,"right_z":0.18,"right_roll":-0.5,"right_gripper":0.02},"note":"The outward roll drove both tips to table level and produced strong contact, with the purple wall still visible over the right hook; the supports may now be under the rim, but the arms must immediately unload the table. I’m lifting both sides together at their current lateral positions to test the balanced hook and relieve the contact forces."})
tool
executing move_to over 12 steps (1.2s)
step 314
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5835, 2.1002, 1.9476, -1.1576, -0.6594, -0.4904, 0.0211, 0.6674, 1.9564, 1.7088, -1.1042, 0.6868, 0.3588, 0.0213] state[eef_state]: left_x=0.4443 left_y=-0.1593 left_z=0.1595 left_yaw=0.2768 left_pitch=-0.3888 left_roll=0.4606 left_gripper=0.0211 right_x=0.3941 right_y=0.1725 right_z=0.1532 right_yaw=-0.1827 right_pitch=-0.4143 right_roll=-0.5687 right_gripper=0.0213 state[joint_eff]: [-2.4274, -12.7248, 7.4735, 0.5592, -0.6178, 0.1734, 0.1001, 0.1436, -11.5214, 9.0188, 0.9451, 0.3492, 0.1978, 0.1148] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.111 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, 0.7952, 0.6056, -0.3801, -0.0227, -0.041, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.5385, 9.9761, 1.7705, -0.0415, 0.2808, -0.0806, -0.2256, -1.4427, 10.3179, 1.8779, -0.1148, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41bf742f7545e8d044193a61ee7e4e2fd8831d1508c95ffaa08dd82fa69f297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded2ceb48ee85601e73eb5c5836dbdc1988ea60e14e9db86ac5eefcb7b5b0a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5a1d21417b16188080bb24813602687fbcc96f8ea1e1edfb2c5cda85eb857d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.355 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEu2wxjZhMElz9D-dio9B6BcLkFWJ66m8U3gyd8nNQCSIpb5cx_ofJZVpRee1NjeeCR5_hDhb4NCWkhhv_TgMFsyvm_JkrYhHUQdkKNapUw_SCufOZWJrc2asLaeqekzSCfyMFFY3dLoMWlk3GMx4w3MimjUuG9rF_r8CiWfdTLMXag6gVEJhB26t6US_xYCB3Qpn_xerJywiNYJDcJq-qL4WbYmgBPv_HQ3zY4AlMR88xVhb98sOxLzUK3qAQhp2HeO-m6ue0LjChiwaYABFhf62LYpCbF3o7hnctaNrd1_8lWi57ybItTIGnB2AFq-s13I3TkHSgPS6o88NgCgneNSQ1mHUbtBUGubILDIaZCah-FuDeYcyoZjVD7ta61VpbS2M7Hf0jNUxd4Vok3uZ9hRuYDHYQ4Q-WTJBdaU4t2JMMOSnXmV9BKbFY9iNwPdVM3SmQHER1FMU2RQYjHvr1paUPSzJek48OJrtidyNrQ4AkBgLdOJZHGvvz8fABc7DPQAGWBiG44u8vNfh-837-Fa-XvCVnjn8wTW1WE7506LXCyFPEyR5gvDEyTCqVMg4W0oxxD2urNGzKJQ8SyApAerjqRDtgfrzJANviFLv1Zl21raojIpfaQTGEYHtJzRjYaFXTnuXGbpUm27FqvduvtdMHMDWh5YOO3L60fjlzi2e5XER8BG1k5K29CjwwarrcmgFr3Q5Pn72z7O3IO3rfx1VJD6prwj0ARDOlQaaXPb5AiaRiGq8-yZrfl8Wu6xmfDWVJN5C8m7MUqwMLxEY-akjkI88sO72iebLT26z3aIFDJjPxfsPoVDZxk9TWz_EJeUC1L4vADo0LfhR8i2CUSl3yqgQCuhlkayGHPEqNA5kTOL05dkfjNxpJWJ6ZR4hj36WTKaZHc6xogaungfLz7gCHiETmqvuS6tATEp27vkrfjeOFzIoTjtSi0BRwbuBfgMVvWTaw4t0yeJqpAtZF578JuSBx8FW87MNYAAV9YiH4286boIC7n0v2XLabFMhFI6gejnGXww7EZ6GNf2z-YVPaWXi1vzgEJeHNAY7Zmb697O2lsAWt_NL-gEbGjBo5NfV5awixsKAh0lcndQ4kByr3EYBNlOQ8CwL5UTjpo6m83mHBoW22MPt4AaUbZFC279saWmzv0QwL0JvWsD3Gykz3S5w7phRnYnPYGDbWW8njI5DaBCNG_dWRRbo7bPgDQFrVBRg0J3WDeu2m1KfvehKdZL6SJxYX1juS4aQd1iIrR1Q4q3yDXXInwMaefQnCNECo0MH4pJiUjU-lr7CK1Nuh1Eko3gYh5m8E3-4O5EjEbruPW9YbjYpSXKUPoerY2Oilr7ktv3gLmK-wxUWmfS_Y0e3PbFPdw4s4d2f5B72n8guIe514gv-CL4UoNnANARvi1WiacxjFvniQqI1_5VVD0L-x1olOahcdB8SmDNOGk-XMqklbh0oWNkVLg0TZU6zMkSbRZVVEAsipb1Km4mCRyhtQknEdkjp_7RV98qsBu5MViq7OG1ZXqyIcbOY48ZIxUKVqzXBQeKwJqv_paCK42Ta5bOF8MnCAkhxzuU6CYM_R1J9F7DO2ODjAvPfQQopoT7NY5JmQZyKcQTm3YqXss2KcZSAXdZhldU9_u7-WvlLBJcSlmfwq0z_aEfU7C1T00gdbPdfF8Y62cQa8ylsTrE5fpp26jfQPlhmOKrbTP6hl_dfJd8ylUb0rptBISZpRxkON758N0pbMtDeKoH80J5SamOkuFHK2J-gjW0JR1gPSSlIekfZMzJp4qYkmacq64NxkEGtTsJERFmnc1X8SyTCppCg5dR9mN7N4B2vCDdy8vU1lWv21DwnJzAhqsdbAWneOKLJVcU18tOYAnWBZASXPbJFE6K2OJVr1j6HFhIkc7ywe5wfcLES00mZ0gEvr5eX73JxkdeCcW62Rvb6KclR89UOPFNY-h2ei1zVfeUQeD9zUFKFHcymdFTV0TWIgB6eCeo4-KdWa_wbkiG_FStAIiLSnBKgIQ5rlTJsz7Si9DTRF7NqF4Z31d8h2CDNgf4fv2gRDBbG_029uwWE34iIuZAmkhj4_5v1xR0K1E2m6T5p05zvEbP3Vd9fyPWJFz-l8TDWR260EtpXgGf-EfC45Y1Uo1eNcE_Z0uiOAyB5bOltsjWi8uq17NIpoAUb0PoyjfFQl4I4MjQMTiMyEnBMy1Z1f95bJfFP3mT_TC3xIZiqkqrT_oGHqofUz5IjaoktPSJrwdUm9ahz_PmJnWST1jqSgj6Wm1---Jc495KwEHyiOqmN-SDfaMhjLcDY2UXYCpZ1g2KaKzWzN9sn1a0ikc_FnMY6nWKZMs-LkDgEkUnAUh021XHLWziLuNEAwAllPgKGnqEXQbivwt7SUM8rex3JPyJ-2d4S8ByY9awpaXSNkpTTQThhhHlxV5K-ssW8SBembBG0xI1MEqS0jc5KbMDkq9iaRz4ZKAYYsh5o3Ihr9E64SZot5PjqnRQlAAqaTOdHzN7g3kDZ1tWIu3Y2xm6B4MhxZRPqpzuYzz-vREnad6SRjTdQZzQJQDhKCAeHYBL0QAou9M5vMZQL5pXrs6YFgvu_sZyTxEpP7i3v4nx_BpsLinKv0nzLTfXqUlpV6MYiQTlpIIJPU7tdgg4iVOR5eEgm_q60RpVg-f6Ikper735PPqWWLC1jEEaAL2Pl5024xhv7D2lHj0FevnF9HTPpbqAaDZ99vzyITNpD0D31hZMZvSvgVCS86oasqUsYfmSDFksFeb5oPjmzIV1yOhHC2sTAYP51IBxI02RGpSB-JzqhyRYnzaSlUqDxuX-DquebBxxYnDmbAkFi2iXYxGEbCfsatlDlclqs2T3tCwZ0boQLimP-WUJ_RKU9m8UEMS6OEJMyTU2qlVz7dc14TXJ2K9cglRKodl7LPs6jgEJO5WfrIe-SCyPekrUEtsiNZJ1Wu-l0wK1psM_IGOhk48fqcrb4GqRbsU0YxP7O0AbpqgVXnYaANa3IdLu82x6ilmVGqc-B1AWStKXpST6Ovvm8rJZqiLTRqei4UFX8-ukeWonUsOiOfMSnS1wttstfm3V7XLBIty9EiyfJ23cIX88pms1rYS1jFvpECTl5llymwDUnPbdNf-FL16ePc9N4l9lMHiLXnqc5jqfD5gvmdDSO4ApT23Ek1EaObAz2eydtnaDfcnnZuCtvV2fNCnBypytF3BVIQKl35YB7IhliSoAnaminck0uA09MbM0Qh4zPAgXDwKLddDPzUHeZEy9Gnf1984W5wiKSJEsbGOw9sJYdsMkQnDqCQXtpSkkSBxpfy6Ok7u2H3iQCOmpQ89kP9Yw7PfNhoDYvYPb-O7o0kZcHX0IWh3vq9sptLtPn6kC3KBNlF4SoGbUmY05QjBKPXpL5_-jTogz-UEAAvdrAAC9au4KXPBmTHFHOSQ4HieAJLvheImjiNHfRlKdrcsBpKhuCkNwHIjC1Rva13O4Xw4SqmyKcVoJ4KXKd4Mckc_XEyJMBfKnPk3_JUkXrMOKUgz7NxhXzJCkREYxsAylru7x0GEPa4o8qkzXtQ7rHBkmWeHLsRhTy68Et02YYeI8lkb3WPfzqR4BAp9wdzHvLYYQ5JJQgWSrwBFV4iDUqhIidilWqEu6ttpuZ7K6leCg4xaAhI_lqPp7fNgIFoSohVd0lw7aRJiRo0ukGnNlr-EQkAxcwAosLvfJV8uJOZoSIvAoNtUc_ei0Utm_GZmABJzhT_dxAkVfeAf9B7WOAVBYDfPVzSOGrjf-1Elk3YpMfEcA1aMroNAk3O2n4qpl6O9Q69NCt4jXugAspq5ntZGQx_UNwEv834Lbv4R0igpu2hX9v55FZ0vqRkF81WbXCtXlScpaPrclrwHxN8YZGFsKmX0UcSq21SQctmodNIEMICJsO1PfGx3HYEhmKwskDA6_t-zHWiCBD_rm2sFyl-Ph6xzlEoCIyfg77XiAwbS4aPv_vwj-A4ja09FOWGBJfidHAWzQdZKHxULJh2WNtexI5_1WwUFFJB-EnLK3Otq_KkQ5tmehhPXCYKCl8wpP8KAsY6o5hlr8gQxHYkrTmevnlgQTaV1e0t3mOHUI6zcpvBmQc_nhc1rtQeQSsL4QTHmGwIjFKqx-Rgxd9Bc=",
  "id": "rs_05181b2170449d39016ab44baf89e487d0a31dc6163e9161e9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEu2mE3bj4JAzvU_0eA_mGr2OkTT4TLtZL4KbbNuO-IcgDY55QV93X6nVxVyL5hle79RuupntFmbbObkdRepx7_ZvsZX3GHKQZEqQIZ1Bkr1vdu_sy1ijdioVTOOVt93NuJ6X108znRfiXk9LN6xZB9x1S3FJ7UZTX28Li4Z-pwt8eD0sqnj5Z0WOH8fLXwJOCb-NJHpfH6A3eY9RXG7LTsxmX4yfkPpcJ5v69JkO5t0EaAFN62e9nnBlzed4YGsFOKyF09NK1BfXGx_YMk5Nuxex_hMZst5BeNQOE9gQvOSL43PT4wLXrYfTmsviundiYYtfJsWLHHkib-XyQm6Fw6JnlvWHrPJUU-hasoC5PbNAdREe4snI38__9zWxakfmmq6fP67ijuKvfQmkoutg6Yd1_sFy1hE44w1kR8D5KyaqgST4vPOSXn7lPg36QwNpl6C45baIBl9YnwFO8AI7GVlwQgwoKsaiH776bFlV30RhACPrqRbcOZcZK4qL8IcjECMvvso3DoqjSqOueJY_KQIw3K6vHF4umT0s2Tp326LI6J9sOyo_YoofzBouAHRMHEDR7ylgP1DyMfeK8GpX1Z48_0BSiL4shAbe1eo2w4ys79Ww0LkhYUjDLpzh_DZB1sxc6vZvBu5pQqlPDov01LWHLFDqEMCww19Vzy_UbFu_w-fU16Cp-2qJIjG40MDmiLAH3j59b05gci2S8s3UuBTQG0lccHk0i4suHswmXZm36wa8t9gxuN_Xwq_Y6LaZziQZOCoUh5DhVhphxr0gjz2PLpL_vjXNyxtKuBOOTpepLLdoMfb5b9n2OcF-MHenznCeEKA0DcqHOOm4-G2zZnaMevGqYdcdTPTL5fIJyP36ebF7dUXBBQB5DHI5kC1Z-wZ23WtmzDnpLubRETofFGDeKHPpo-HufeWmDGZ8rEqsKJNL15HX__xWwS4QtL5aaG86RdDL9iieeZ7yL1xKfEXxH9nqTGG2loOJGjf3XaLbjXWqxbJQeHl4oYL7oXcKgfPa1s_4gfLS_gkcB4AXCBlIR7anKxoZ4NsYpjGiZLnK5il0-X-Ab9mr3ZoLMeyye-VdC1N9HqH2r6d22yOoVJCcSmXzH2_8Q3tzTTWRZx8pFHKBBWXwsFe9CH8RT82jlD7pb-NwjKvLGv5HWxg-itqRHfDNdoDbeJB-TDWbivEQT05zow9wkyE9KBIc3mXTwEFXTL6VFsm85H7Krt0zQF3rnBOiNCaGTUBN1leUaourgrfRvvPpkS8VMJJECBEItKEUF15RhxrgzR8-bTNe0QnVwV9MysoFuJeQ92AA20GJFube6qeFPEWPMXz016sZtoGILHXViNyCHM4ZSoxcv-LVM-FNgtphIxsVI7c0e-s-HYbl9GNPFXpeaJDTsfaNHhc",
  "id": "rs_05181b2170449d39016ab44bb50ff087d089d9f19c8a258a77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.06,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three upright bowls are arranged left-to-right near the middle of the table; the left wrist view shows the left bowl forward and to the arm’s right. I’m shifting the left gripper slightly forward and right at a safe height to center it over that bowl while keeping the right arm parked.\"}",
  "call_id": "call_rKPVHz1XuG23TiqLn5CZenuG",
  "id": "fc_05181b2170449d39016ab44bb5930887d09c01acc1299708c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rKPVHz1XuG23TiqLn5CZenuG",
  "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]: [-0.3443, 0.971, 0.6292, -0.3447, -0.2539, -0.2031, 0.9993, -0.0219, 0.7986, 0.606, -0.3897, -0.0162, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3066 left_y=-0.059 left_z=0.1517 left_yaw=-0.0422 left_pitch=-0.0912 left_roll=0.0202 left_gripper=0.9993 right_x=0.294 right_y=0.0 right_z=0.1776 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -3.0291, 10.3453, 2.0049, -0.1978, -0.0415, -0.0806, -0.1299, -1.4427, 7.0222, 1.7998, -0.0317, -0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfa15e84e6c9aa12c1ba47149b2d5cbac98a9e15aab5b5ee7c0d0edf08cf4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b93546055d47e9c0910278a9e7c942fb626a21ca4679f11fdbe4b41d852e28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921953db2fcaf6360e343ed835fa04d88c94e450c04ef7f1293e1485d69e26e2",
      "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 · 3.558 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, 0.7952, 0.6056, -0.3801, -0.0227, -0.041, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.5385, 9.9761, 1.7705, -0.0415, 0.2808, -0.0806, -0.2256, -1.4427, 10.3179, 1.8779, -0.1148, 0.1734, -0.1001]",
      "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]: [-0.3443, 0.971, 0.6292, -0.3447, -0.2539, -0.2031, 0.9993, -0.0219, 0.7986, 0.606, -0.3897, -0.0162, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3066 left_y=-0.059 left_z=0.1517 left_yaw=-0.0422 left_pitch=-0.0912 left_roll=0.0202 left_gripper=0.9993 right_x=0.294 right_y=0.0 right_z=0.1776 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -3.0291, 10.3453, 2.0049, -0.1978, -0.0415, -0.0806, -0.1299, -1.4427, 7.0222, 1.7998, -0.0317, -0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfa15e84e6c9aa12c1ba47149b2d5cbac98a9e15aab5b5ee7c0d0edf08cf4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b93546055d47e9c0910278a9e7c942fb626a21ca4679f11fdbe4b41d852e28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921953db2fcaf6360e343ed835fa04d88c94e450c04ef7f1293e1485d69e26e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEu8iFS6jSa8YILzQ4qG2tDEyatR0brEagRITGySyupg096fOAaDtYrNJPrCP14wsCW3zfdxSH0wFlLsyu1_VYRDvBUFg_Hk_l_qBWqx8y_Rc1_F3VnqQ5rzZ2TIi-eYghOfIu7NoA3jBfgs9SJYlNOnf0yf4J6s338NZJ4EhlJsxyNbsHUIv1DcIJ9wfLzpMeMqhzt6pxNgOQgQtU1makMMoo6VNSsfXCxuaQEym763JMPAl0ZyB1w_c7D5daFSkdqWZxvjY7y411JYsPMJxe46p7Xn7ssKanxgDuTq37AIzVQ32z0gaxJj75WoP0cgaPzpLZt52B6a0-S8A_EPGT6gxzt98YoYU6q6TYMDNkURXpSJ0lIOWis00Qua1w89VK07JwmdsM2jCJlZeI3KVwdtnqZcivWtdIzedLSgW_ArkZQPei7fwaFGk5tRpsXPwHmcfk_ay_4eaKJ4TxG9491Z4GlndwKoSAq0CCVIJbeXvL9nefZc1PzCVPeIBKJwVDb8gH1rXIChihN7IWIPDf0lZj9fXCvAZImrpUnn5LpfV4aYuuNgDCa3bgzaT6KzstifGn35RhMmh8qR1TDMMTyCE6zrlCV8WmD39l4ooN9fwaXKnCOo2f8kQjSO7O9Kcjlu4zzJVGRj8syZiGFXf3azmsaMb2XmCl8Qcqr3pgyMcOvXDUpn-3bH-4pgmz-2XUQyUPIItjmkQHJ6nixPFpco3LzH-4K4RWGsYRMB2K6Ez9mE-Glyq13PgTqNZQCfN78CLdqpe5JTvs_flS-dm3SQeBI9pWjaak0BhI3jnuG83VIf-JMJotptS8jM8jvh8tkSKZzvsiPgBlIQehNlS-IUSW1n6KeQeOu-OjkSTuOs_PHCGzoFSMrrFG5Z908KUeFMtAw-h63ncDEcoqeLRBChV6LEJgrpMs0L9RuT1Pz0vz8-xRuh1KaI1j0_RUBw87QjypvJ6lFUkCNGEyXaGoJWI5hR0cXP4rqHA7IlFGLlJQ26bLxI3bQpUOkNXIqgL-hhpMfGeWLyQwdZIz8YulJ8CQgZWs824-Rxz-nCuT4fIeI6e8gGs6oXIzPsbD5sG8fGU6e3u-3eMtBIY7ZVCKhtBVTyrJ4-oYH4gPnGgtyz48uajA0ivexiFjTUf8cUwgLZYQGF-u30GzPin6jxjDVb0DNGjH_4ljwrM7hG2bLxcCh_GKNEq8shi-sD-w_PcCR1CY3E7DryV27MafD_LcVcVDzA3msqLqYDAiRlcyspXTcCcqPydHFFsdD9ApN3b--r1OoP4XuutavGtnwBou-ujBd8epIeTCXs6z1N7odHpRBd0GLJ-9utNV3kPUvjWqGmp_MixBcgKAOIZt_lt7khhTvIFHZMzy2DqqmacqkY-bR4V4_Tbs4WCE2T8bekNzEX8L1E9sgEZmnc2fNgxxrPatZxAVOlz1HPnvKd10F6GPXXrn5ccpJn9piHDMhLuIve9rgp_9E0GrymyH8qufO0PKJkHN8rMzeotxhmfMZE9Nbyu5-Llly9PzlukvokjJDaqnBHJ0FRsyjcCHQ9SQ1jPvQracIv2oTcdCZwlxlV5syjSWNxzhJH5jDu1GWigx5a3ws_hVyw9z6z3aOhtHvahM-sO_b0e11rz4mDoGQILmuTlXFdn-nYJkoTm-aUbxaoXRUWPWaet0w9nKWLFRzwCr42rxySOXcDDoMeZMWWxTsJI5DVwGd2AJQwIz6vLAbAo26P4UXf_STyXwQtdofPTi8yZ0BVAwqsHTojYStJhS_lx1j8HXpB8P3AboTUqqKtt3tyqa5Wds-GbHenRgv6NrxGFyAsgrv1-6uTZ01UgNIQZMb6GqVhoWoKZIB5eESWHIdi8ffFf-FO5zUP3wv3cFZDhGzp9xCSstjRkophUSzHDzmYWVfA2-INQGXro3rlJJVMgAYTY4s9PtWliLE8Dpi2amGWtIMKGZau0Vuyts8Y6YOgP1mx2D2NR82t8OCGBphXUFbuo52rXDrRAQt_HIaLxnQxuHBBxgurj4cvZpSVGLNpAbZX-gy2ou1sJBP1GIO6AbhCLcVqPOQCG2iUGT4s33UzaSrJZNBGYsv_VLda_aDPIiDA2-BeZ948ETVDOrp3MmIypqmugiqq5w8rwBxo8X_KzQ0gcGB_d6xqIMoKedF4cprbJnK795lIeI5UGHVm7NDmiVzwn4BiS2tRpXVsk7LT7lnblZNaTFImNchT_WT0yFKksSpUBDrkJvYvXR_Du-NdhVwTXTit1aoF3guQQWle8jNiJYZwfs-iAqp7bRw1jKNGYhOD1SkyXbAWZiZeFVvHkYY6TB78DFgOqNYwEfQDvZQUvVMV6odgdocX60mxlFnk7oGzIKhjV3dkdjRIBlG8YrbAQNDy4CZFms4P74he5k_D6_Asb6cIbhEg5sUO03XXtK7xrmdkbTMxChcfUoPEPrBK7CiQqg2HqDtA94zagnMOQbTBuVXOkFRlPu-mG19O2FMJ_uKD6lk_ZNAHMPY65qhtlu-YufhTbFmZDKVXnv-YAW1Mvm74PYPwLZ_w8HlE0Nd0U7imQ4prndHnsuUKOHfIgBlwkq7TGr41LP84VxwjGqJSLDahTk7V6rVky9Y-7Q78-dyJXWQrKaYcTy4wJdBG1vx4qmHLD5LpmLjwR-RjKjSLLKCG_K9olT-v0NYOuEvKWIt0GoDH",
  "id": "rs_05181b2170449d39016ab44bb852e087d0a382aa4b7e4a1e61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.135,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The left bowl is now larger in the wrist view but remains to the right of the jaw column and slightly beyond the fingertips; the overhead view also shows the gripper still left of it. I’m moving farther right and a few centimetres forward, staying high and open for precise alignment.\"}",
  "call_id": "call_obaquAeeXWN6rQupMf6Xvc3w",
  "id": "fc_05181b2170449d39016ab44bbb808087d0892a81690e28f215",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_obaquAeeXWN6rQupMf6Xvc3w",
  "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]: [-0.5655, 1.2762, 0.8845, -0.3851, -0.3985, -0.3435, 0.9993, -0.0219, 0.8024, 0.6056, -0.3935, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1314 left_z=0.1634 left_yaw=-0.0654 left_pitch=-0.1337 left_roll=0.0355 left_gripper=0.9993 right_x=0.2937 right_y=0.0 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0195 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -5.2034, 9.1145, 1.5018, -0.3053, -0.149, -0.0806, -0.0889, -1.5932, 7.0222, 1.7118, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7b72f30f58f2408a2b4236ff494012fc10332988510900efc3ceaba548f06a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41db82b68166fb278499f96c0c0e756293c2336ee927d3e657eb224c825bda24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d950b48cb3515156f697999e89bca68b6d04d0fabb6292b1a58f6590ddab33",
      "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 3 attempt 0 · /responses · status 200 · 2.752 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]: [-0.3443, 0.971, 0.6292, -0.3447, -0.2539, -0.2031, 0.9993, -0.0219, 0.7986, 0.606, -0.3897, -0.0162, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3066 left_y=-0.059 left_z=0.1517 left_yaw=-0.0422 left_pitch=-0.0912 left_roll=0.0202 left_gripper=0.9993 right_x=0.294 right_y=0.0 right_z=0.1776 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -3.0291, 10.3453, 2.0049, -0.1978, -0.0415, -0.0806, -0.1299, -1.4427, 7.0222, 1.7998, -0.0317, -0.0269, -0.1001]",
      "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]: [-0.5655, 1.2762, 0.8845, -0.3851, -0.3985, -0.3435, 0.9993, -0.0219, 0.8024, 0.6056, -0.3935, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1314 left_z=0.1634 left_yaw=-0.0654 left_pitch=-0.1337 left_roll=0.0355 left_gripper=0.9993 right_x=0.2937 right_y=0.0 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0195 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -5.2034, 9.1145, 1.5018, -0.3053, -0.149, -0.0806, -0.0889, -1.5932, 7.0222, 1.7118, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7b72f30f58f2408a2b4236ff494012fc10332988510900efc3ceaba548f06a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41db82b68166fb278499f96c0c0e756293c2336ee927d3e657eb224c825bda24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d950b48cb3515156f697999e89bca68b6d04d0fabb6292b1a58f6590ddab33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvA3Tarpd_3e6iJSzAVup895DmbB-lho1YRF0aWeipL267cA5Qp9lA7nrzm6TwQsgvRZ_yatMHAbGt3agQzf4CAeF_25ZdsOUFTFv0vOz_c4qw8UvAH1kwpcTYI-rHU5K41WEPiCJi7I_oXueuggNJtwF29qyzHn4aP-djcVl3pYSl6jCPzF_LaDXWuCeHNpGduNI9gigL_dvib3M8ySZl0JsRHg2kyUziRR-auD8E-eOzt5bhx2rAVBuuF4yDKYXdGEB1KbYINZFz6KoQWqL1XSdUh8tAJHKzU5_DqSpLjP9ZMk4EkRSGzIk8n5BQ_fCZFu0tBBdize2G5BacbIPR5CLaHtwQ4_osifxEkDoLd9RFIoV2J6oiht0FGG8DBdNy4du5ZhqJ34_xiX5lFz-_n5OjXDHOpQ7lpvjPn1FVVjW3FLyErITRlx1PvQfs1oHmp2vsfYXjaGAEZv5TttOPY__UD8H4nZ9WBfcq0Ra75WROdLugLh5-ZgMF2vT5G3_Yebk-HwgRRNfV-DXlXU4HDkcC5jQ1O-7NOO6uXuoqYADgTkd4qhqR1f2zP36l4ekz0TyNBOMYB2wECeF6yS0UOtLdXcqPsNVQoAL_pPnnRMCmsxWESNMQsgFlASer_3NMqurmOhM9S6tB7WbSc5au577PYShfDJs1ztaECDZmXKboakpKN9DcutkIuXaPCHWn3V-PtNmKPLsohOV4LvrhlcfuGHZMIGsrFWNDOen66p-YyHf1U0T1ulMt2MET6zg-kubHdZjdarsSexb3OqQwedvYVaFeoGzIYqVwVfVlbJCgCr2fqHonXEGqqK4zzX-AO3ErIgo3UsoU06Hl9INmXSYQ-LBSgL3U_rq2rlaRR8sqNbOHjwdiVjI5tDCxvoh8GRhzjj17f8PNJT4r69RymHHh88Pap7NrJXXlU85_pfEsiVfFZv3KeauIu8tbEuxu9EqN9RDFKLbbA-qo7MDY_fCadl0xMyYv17tqBrv7XsNofB9VL6e1N0qpjWdNMPw6eE5RwSuN3ke_oN4X7-feSHg4WHDx0YtKEd1eTdHiZ7pgOwYIYIv-yfRYCf5ncYJK5TkLmYWiIJ0zVXFJyqgZ0eNhKP9FROKBvWJRBIayDYFegTPb-kCOpdUTfGnPFnC9I0okXE-okq6C2qtW55C5rW_t2_isCfu5KmlNymR0BVHXyw0IGGeYlMQH7NA7j95A3-p6Qw0HkKrnvaU4yfemhEHDXXXAngWfFo6_zCPova7SftLUb_cejbfcRMBEwTJjI_eCnZoIz2UJRF3RuTg0CqHhmUhfwqoSDmSRgNSu7jh1RV6Rr6dwxOIk9GsdSgZPU3MvL2M8AAcPqwMnxjQvP8mmjqYqBjuZfamts0kBJygC1ZvhG8AW10lUa9WhQ6xPZsExl3epkXySjC8AL8H6QFy4-ta-1mcy0ixhb7UwIFsfQxohLWU3ZU8uoKJFGmC24zfDpc-b_yxpjDtzfu_rkj7inFFe0X_OMshtndzn8XfXBuVSpHWmwziCBxfUSrosusFmFTc4JwTHFLbvPavlueps18uEGHLjcSa9SWkOAYMTuCrU4E1y-VsEfJbcqsp9yfJCn6zwyH49_jkoLdYDUtYWQ-XiYLN_oaMYHFadE99J87IkoBJ0vLwch6V99wBxkeb72ZWtL52M369TxsnqU2XvbtJwoLUsHRK5pxQ4WPgBj5aHIURlN5izq5DWD64-eDX7DHLSKfBU-UGIZYh16IqSv2oyAzh4xfUFCYeAj-E3tSkaQ4r-CPi-CZH-bj8zewgb3y-tLJOa3vsCKoMam4cUF6UUWDP9TjKTwXcU1vNctyVxui_nqQb30OxYV3yzVzqd6qHZV7w5BvXSF43vmsu0adj9GjULJfGW3t8cL44SYgSkPOjrxib-oGQmesKnt4LKp0OXE3-b6TSvSgdbeKLAH6tUWJXL4g0f_YHkIdxyCPqCH3I0AOeghWQCja8E2P1YfC2pZcF97lNg3zeF5725lw1-z1kJgwwikGO7Gidc=",
  "id": "rs_05181b2170449d39016ab44bbe2ff087d0972520d69af69e95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.135,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The left bowl is now centered on the jaw column, and the overhead view shows the gripper directly over it. I’m descending to a low approach height while keeping the jaws fully open, so I can re-check alignment before closing around the bowl’s sides.\"}",
  "call_id": "call_Kz8mlL5LOyN3VMJ3cnWKtk9l",
  "id": "fc_05181b2170449d39016ab44bbfd4e087d09eb6575d3bea8ad0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kz8mlL5LOyN3VMJ3cnWKtk9l",
  "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]: [-0.5667, 1.454, 0.6456, -0.0303, -0.3939, -0.3561, 0.9993, -0.0219, 0.8043, 0.6056, -0.3939, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3402 left_y=-0.1318 left_z=0.0652 left_yaw=-0.0584 left_pitch=-0.189 left_roll=0.0533 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -5.7231, 5.8598, 1.7558, -0.1685, 0.1343, -0.0757, -0.1026, -1.4564, 7.0222, 1.6874, -0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1a023c1d52cf577fbad1fbf4c5d27741b43c447ada5d86ec9aa00f18fbafcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0852070d46d353982a31c58ec0943971a50760c7b967dad656b57204eb5845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7288869b2977aa309487275bd80100d41a9691a29209103f5a83ada5b7e2a626",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 7.072 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, 0.7952, 0.6056, -0.3801, -0.0227, -0.041, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.5385, 9.9761, 1.7705, -0.0415, 0.2808, -0.0806, -0.2256, -1.4427, 10.3179, 1.8779, -0.1148, 0.1734, -0.1001]",
      "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]: [-0.5655, 1.2762, 0.8845, -0.3851, -0.3985, -0.3435, 0.9993, -0.0219, 0.8024, 0.6056, -0.3935, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1314 left_z=0.1634 left_yaw=-0.0654 left_pitch=-0.1337 left_roll=0.0355 left_gripper=0.9993 right_x=0.2937 right_y=0.0 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0195 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -5.2034, 9.1145, 1.5018, -0.3053, -0.149, -0.0806, -0.0889, -1.5932, 7.0222, 1.7118, -0.0269, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5667, 1.454, 0.6456, -0.0303, -0.3939, -0.3561, 0.9993, -0.0219, 0.8043, 0.6056, -0.3939, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3402 left_y=-0.1318 left_z=0.0652 left_yaw=-0.0584 left_pitch=-0.189 left_roll=0.0533 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -5.7231, 5.8598, 1.7558, -0.1685, 0.1343, -0.0757, -0.1026, -1.4564, 7.0222, 1.6874, -0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1a023c1d52cf577fbad1fbf4c5d27741b43c447ada5d86ec9aa00f18fbafcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0852070d46d353982a31c58ec0943971a50760c7b967dad656b57204eb5845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7288869b2977aa309487275bd80100d41a9691a29209103f5a83ada5b7e2a626",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEvEzStbMBu_nq57sVEnnrDrzEy_xDJ8p77zO8dEQNQQydyjEeM_GNMbhp3bqkTmj8cpGxqrbZAyEly3kSTyUmrjNkJgnBey2CTqLR74w5IkpUgF28sigYxiqORfwdeOu0KmpHVC4r49HcOtypcc2AToBZ13thmEctvulyb5aE1F-B8yeSiFbFdsaisXW0Y8HUGbdlp13uamrZSh1TakfJz4UtE74udKVloLgaCOS3-Yo4dOF0gHJDZx8BlYiyAfHciAqMJKYaXAkqNsTApeDRZZm1qlrzUcxWsx1Bkd2wXXFpa_jqKnU5ku2E1RHQD8tKw0Fww2aLvob1bfHiTfJHdP-ThaviNz6RlvYx1d8pUfnmJAb6PCr_WQaXnO_TRLSLYV90uZj1LczMaegEyYw9cccQiXqfDoWbXM2ISv5Cs-SV6zb5xGF6NIQWsrp5PYWYzOFLLI65hNyPhBwwd2CoIi1Ahi5i2wMwjYSxPNyhNLGyZc4BqGcRETI_zW5LGfZw1mVQiOA6hkQZlsFwSXim1qUGiEGR5RqxzFSrz8QWWoS5pNP9HlDS7U47g60LUj4b_jTY1QCBq204sa57LHQ0RQNsmZYf-NUzNMp9mnoL6wm2TfAsi89u6IHnilrFbP5myTEnG8EszsddFMZ_kznOhh3W-U8JpuWFy2j9u-MmhScJyE2eMThXKLckv3w9CjYfaJSL18ci8TwHdZhnBLu06hUrh6lnhwOFAl0op2LeWNOlht0nXROY62hGmAj7EY3K7roUvvEYkONCR1011eYk6QyYxGwhknx5G0m9_xJt7L6GxpK8YuJLSBrCPh5oPjGR2FAo_U330vBhfFPd-1JV71DyyOBVO313XNOwISiUrnkD2z3mRt7VeMrwPBjMlz3by7MZBYJR0EBQaJhoDlA4tAfQ41BfPJXmJPzhJvab8aby_SNC1VgVdO9Z2m5xtFVkxh1mM3EMSHnjLO0Ns2steyjzXf7vW-ZDBjLcJ_zM70M6LGS85GZvmg4mwvxnlkIbio55aTavWqFV-9x8HJraLl4Gjsmltx_SfWe-JdOvoOfuqyyFzcpKYyDOlSnEOce_ogRRIkaTiFIerPd72XegSKFKAcxaKZcNMeOXRpA-I8ub0igjqDNuzQ2L_kQwIbVxt1SXuPNe08a1sAqtaop6QLvHF80OEU8BdflS-dgWNch9fRBzlZ7jvjs0kVWBs-3bB6mP2a-_B-P0z_7vs7ONzZAdGyUv5jq7u8mzQmc-FMsS6UgNhZ_wWCf3b04iDKna6rcIvIwvVVOMxy1ahb8nCAuUVXwo1wblmjnhUbGrzkBOtx0O-VKayeuakPrlL2LSOPfHSV1SLn73zPgcMANE9EjA_cQJTLQ_BMOtja8OKT3malGjQ297JvxSwCQ6YWMC8Nz0yvvxLdH6omC70o3G3KpNQRlipFwCBTEXXuO1gDcsiMZjzbih8808XPPyR0oGmAXtDqwnU7NTpH1z3or1qS5e2PQ2GTlJavLTbRjW-ZRJEQdrRax6oTaN7cPDVSscAcH1qesGQYzCNWrgx1UoEbcynGeE6CERmL3gOWmgrveglrQ_oJ4hnWOpMnXMbKsgJZAPwmUBP_Sn3BdtbeLDwVKR4B7SJRRvLolSoXexGcOJskEVj5wI3YWmGKkQCLdJ0Oo3DVSKOzNAxTihiNFSCPCA==",
  "id": "rs_05181b2170449d39016ab44bc2677087d0ab2ea32ae2129da0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low approach the bowl remains well centered and both open fingers visibly straddle its outer walls. I’m closing the left gripper to secure the bowl around its sides.\"}",
  "call_id": "call_V96sTXIhHmsxZytMLcVSz35I",
  "id": "fc_05181b2170449d39016ab44bc341c487d08482aeb044b1ce56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V96sTXIhHmsxZytMLcVSz35I",
  "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]: [-0.5667, 1.4719, 0.6296, -0.0345, -0.3935, -0.3637, 0.0087, -0.0219, 0.8043, 0.6056, -0.3935, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3344 left_y=-0.1283 left_z=0.0527 left_yaw=-0.0506 left_pitch=-0.2221 left_roll=0.0666 left_gripper=0.0087 right_x=0.2938 right_y=0.0001 right_z=0.1751 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.0632, 7.1316, 1.4188, -0.1636, 0.0659, 0.6911, -0.1026, -1.2513, 7.0085, 1.7167, -0.0513, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4a9514384bd27c591ae657c840eb017c00b52b060ab5e43ccc9e3e515e35d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302a70f7d25ab486a08d629dc6092dfe86e2a78366a46f7c2d989a56b4191c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18df765545bebd123cbe5b54f3a16ea21758010de8e5f2d499fa3cb05ba98f95",
      "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 · 5.127 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]: [-0.3443, 0.971, 0.6292, -0.3447, -0.2539, -0.2031, 0.9993, -0.0219, 0.7986, 0.606, -0.3897, -0.0162, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3066 left_y=-0.059 left_z=0.1517 left_yaw=-0.0422 left_pitch=-0.0912 left_roll=0.0202 left_gripper=0.9993 right_x=0.294 right_y=0.0 right_z=0.1776 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -3.0291, 10.3453, 2.0049, -0.1978, -0.0415, -0.0806, -0.1299, -1.4427, 7.0222, 1.7998, -0.0317, -0.0269, -0.1001]",
      "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]: [-0.5667, 1.454, 0.6456, -0.0303, -0.3939, -0.3561, 0.9993, -0.0219, 0.8043, 0.6056, -0.3939, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3402 left_y=-0.1318 left_z=0.0652 left_yaw=-0.0584 left_pitch=-0.189 left_roll=0.0533 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -5.7231, 5.8598, 1.7558, -0.1685, 0.1343, -0.0757, -0.1026, -1.4564, 7.0222, 1.6874, -0.0562, -0.0659, -0.0171]",
      "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]: [-0.5667, 1.4719, 0.6296, -0.0345, -0.3935, -0.3637, 0.0087, -0.0219, 0.8043, 0.6056, -0.3935, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3344 left_y=-0.1283 left_z=0.0527 left_yaw=-0.0506 left_pitch=-0.2221 left_roll=0.0666 left_gripper=0.0087 right_x=0.2938 right_y=0.0001 right_z=0.1751 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.0632, 7.1316, 1.4188, -0.1636, 0.0659, 0.6911, -0.1026, -1.2513, 7.0085, 1.7167, -0.0513, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4a9514384bd27c591ae657c840eb017c00b52b060ab5e43ccc9e3e515e35d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302a70f7d25ab486a08d629dc6092dfe86e2a78366a46f7c2d989a56b4191c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18df765545bebd123cbe5b54f3a16ea21758010de8e5f2d499fa3cb05ba98f95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEvMh93yTapuszBwHsix6eDWvm2SgmrwJgEczeSp12Rq2hwGTD4vyD2tqY-eFxj1LDz1gzxWIQfpWeub3039PoEkswwzgZGqcl3sNgshUN6r0TvNcVSwq6LI9S9yVn_pHl3oKwPGULipBPkkm3Ukz3jcRZgRndmdM3rjFJWjThWEwaSNbph9hZfbLIBohquxyvzd2Hc-onT9GNVmt_n0CeToue4h_ykPR2JZ_WuCQHDhvbTZlt9jvHjt7W-a99WjXFgBmtlZ7ffyEfYCiYv31VU94f6A4YW0L6AC7nxRZVKCgVz-P-0vpBmMD1Bc15DRCOWiwzaeY6dwK6Ga_A77HQWY1o7-00SiogphE7xx2hD3aeRvWIZQcWirXQErenpuGPhNi6Y3HGF0ogJ4aP2687ISTFRYcbPkvArapXpdiu81L-5I56T6CXh8n2QYwWhPDvBnQdPh-TmBt8YkL36LvL7br1RIDj8i82beV2DxnvtL2kdMiDn2bK7YLmqOvX26713jIENzrdYTXiSLzpxHhhi9M6FUgpcNPLuXWIISdcOxp2zv3YqiYcZvDrta0pPb3z1r23pmRkNVhc80-yr6BxGDoJoBLyOmAaU8KGFytwnf8trgBdYchvnsdj4CinG89Af6stucXnM7UpmoKqOcUzHfgdqadzdvE_NbqkJLl_6Q8kDPIomx7wzz1bTAWgjgNrfnMXJ_OH0g4n8qF9OWShLjJIzjZgbFrAYU1hj1dsrhozw51gnxyiRlZuLrEYPewX90PFcf3VQbPFxt60yEXvIy1d9BwxElHnkLWibazWv3QtDERMW5iY2EH_NQ9maBtEit_MunCGEPJ4fZnOURDdGk3WJ0lEUAC4sUgS5mNjLkcZGmfVaoFLGHzIxKAw1VNHXlgEGe9yrLmHDNsboZHPlrwVZSSSnXN0wCewQws10Y4oGGnR-y5jNiIauPugHleUS0D5ETrif7ksS81QERtCwWJqdFHOsloDjXN7q4VdTjaCUeAOjjX7VmzICH1x9aAI5aOHLCQtEme7n5WKmaO98JVXsPOEA5IXET92v-UD5yC-yrAInLOKGHQQYFbisNxinuIjt3eiBsM_Bb4lYC8Yf628XzEvC67udomcRmARmum61FG73y2nTvQ1sfwG-Q6F27w8qe-LU8dq4rE47yEzPGprgWd-8c7ba6DiS5-KQqIN7Ee3h40kMfxRMjDhx3mmJJbzIzMiVGXDIg_zPCDr8PdyhR5Ru5deZoDltIsrR__SumOojIJ3_MQ4TXRPc-xrk93fnVkWCfHugE3wxh0j2Y21_shyaGw2NN8980zuBYyzZ6CVVBc4s5OUjStS5O7fWdp07A8J7GoL5WoHNhl07rYVaLX9vz3E9cs1V65s9kDb3WAtwwi1iSeCz2ZruRedrQ2vJstw2C_IRmW7zbU40u-uSsM1DQDhQkSJtF71UlSgV2KF8CdtLXWmPBF0MNco72fvnQuK4LaKGGDDBWYkN92o3Tcy2otb7n6y3-7pXq6Poss02MGxBDBq5bqNHyWvmvGeIh8pNcjn134MVRk1a2tSUl0GP6na6U2u4BNG3vMa_SOSwywkTT1dortuTrgp22zs6v-IrEPc6l7kW_koqchwE80fJvEx4-GP85i4_FqP9GCpvRKxfC1iUQWRuVu2rKstI8IelYwFOUxF_CIwqRXOTZGhEsNPEpbiR98ttho6YeVdTqCz_iBxkRwmADidVdDB_xuoN-hpq9G2eRsDQj2_BSPS2un0MkFeJ8KRD1bOX0hhg4APZb-uzgLXfyODdomDnN8Icw50BIhCp15PLNncilLgdLyJpVedhcXamQGDHuuQ4S80ug6uYvD4WBUNxDbkqYrX4uzt_gps66R9oabNw7BLWcpPgOH8aRlMHmilbKX3Bmlf_Z3emusPhiQNGlPYvhqUeCXsStwKKf8xzRcmRM5tBsXG7nk6Kn2VFG09OG3saO7Jo0yjFOdSmyqQdxc_97w9azwFOiGxef_nmp1x7zMnY5Z2KIHKAkvqBmghsQAaQGC20_7YyKGVoGjKhvynaVvqkg5WLnqNfAiT7PjtL9rUxPwnZHbDVfcIAX4DPZzVwS7lwYbbJNU5tv0OTvqRIF4GxUFlIw3PM-6K3D_bql7rg9f2RK99M5Fet6NADyH-Zll5BTTPGtXljUqqs3WiWvlb4iy6YC1R5L6kjhUsRpJukiLREH5iia3WQfF-wwT91n4an0lX5tTPUW3zIWnV8L7xfEjM0o1jyzUNHqNKq1hL1NfYNT2A9QDELvcT9NmaUFBcK8ferH7fI3xW3M9Hxvjr9aa3X7XgixmyRcQlj9qRmtb7lzhDa7AqFOf_0h5YEirPbXxoMFolFnPS22Wb5JMIE-WT9fn6xqXau5ZBESVaIJjwOkA4VL65Euu-PvOi931TNqqFNUN8FecwbZqjrxUB7v5kRrC-sDv8lrafhQwY4OE7RW0UihhMJwKcNEZqhsS7E-yzHKefc5TfZbMr0HazxBSxoxAdWlNC2mWvGAfYJk0VjVU6fKlHbsCyuOjOW6NNkaYuNK5Fs3tZl34Rqbnve2pkACAE813Pj_sHcLZ2qV9TXcgan_RMwOsMXXmHBtgqL8m8krawQ2FFQwNG91YqceFeyvZrtLnb_3mh_i7fi3x3KMj47nbdycPf3IWcUwrRq_2CI1ccOza_Gi7NiZbKbrFSZHUKgpEy9ARjaI7x6g15fWeTsi4xCj_TnkYm0ovZgMaCFmXPDza37ME42J567_AROk9yW05hegfBMiwVGVbkRgHMX6Mlx5ahkwjyM1QmcrqzH2WmiRSCWUArlxMUQqy-QXnJQ8DHVsLRyP1_uG9ALNHzuxiWTbX3e4Damy7cLQTCnh5fhrXA91jWaWYEk_hZRvwrVRzM6xpRy2iJafbDy5Pe06DxVnb0Ri4hy99vjts1FMJvzbXZu6bbMhBClskxVMfoOl0wLRJV-TXxIhLqOzKFpj-0GkakQKLtlZ40t5NlWnkYy9wbPRjxxEH3jweQArdOGmwI0Z8YIvfaO4Aw9bVUHlYp0ixD8B9U3-4iwTLvHCfRiUzLaiIGC3KtNQo6h8ylj0GS6l7GimvRc23Bc14NVJeI456s5427Y-rLlIVHxzb11pWhw5fkMGBAH7kmzcxLSZ798pKgaKDxyqdYQQSSrPw0mw7hhzLQFg6XRLmnbKFVInpAJO07EduYf-h-jfLJ7tJBnIAwZoHKwF053EOOXG_IwbKPBYD3wUsGrQPKUmWT_4AzbVBB6PqWgGT_BE-wdVfinP2bgCT_zaAzHdasduQehIw9fQvE_6ait--SD2w-NnAyQMdk5IAXOwWDzbPSwyW_9KQbrhfYTY08Ddij6DmsMPE2XXwyiYj1Vih8DY8ScggBnUrXLpvGYTa8lHbHXH8xsXOj5_cHobMVZjETptjE5yOWOZEIX5H6W82HCA7wrpIHwdTzvbwArX7-jxMFIBdIHqjx29nmqTqxYwW7QLyAFJ_PDcQpDwoWt9w1K8pp6XQf8kSRNd7EjJ1jWOzL3vmdPTBtAUgxNJ6NV8l9WPoLFfTvyJdaZ0adtZ8wbm9kv8sfquLt-LiFETIUhktCab45vCi_a8tag3gLRkoHo3DmWEx5Due3v6couQapFMv-dFtmttxWwIuGZDp54hNDY0gB__6izsrbReBGYM1gOhotOPl-a5-rcoEIQ0YN0YZBjxKkgCsaAUtQ001n4xq0uT6_TuhFzSMqWtdw3KDOvro0jcJzygsD8ClXJ46FKEal_cOQi7o-ZNOhWbZjUtna77CDBrvp2uCVPSP9gCvJQwbNz0lv0bxgztP5dkOLZ1BSWYYU03psB44s6JovntUanjj_mH8ZpsnaqJV6I4J-cFNW3ySXE24lqIWAk0Pd1RhtxWYr02dEU1wwOi2Z9Y3S94o1UE8wxBOOsEejxOrvfrgKd7TCkgzjr3D3lnPzYlnwxGkPwmiItQuvVMMzBBRpO25JdhWoU_Mht7KNTAtyhEoVEZ1OuaKkjgvuAPQ32AcNQDwM84-Hri7Way8cZTQxD62XPHdf1htBsH-nG3YwUaa_KHKSdJix04NRiYRNChpWDJCcDmIF6oFihbj_u61STl0s2AB7tIFWksRcy_-KTS4a6xlhpZxXhMkDm_VDXzvzeQpKZq",
  "id": "rs_05181b2170449d39016ab44bc60c0087d08ebb9593487c0462",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The gripper settled essentially fully closed, so the fingers closed inside the bowl rather than capturing it; the bowl is wider than the jaw span at its center. I’m reopening and lifting slightly, then I’ll target one rim so one finger can sit inside and the other outside for a rim pinch.\"}",
  "call_id": "call_j6VZqOlehaJUjLu255PNWtoc",
  "id": "fc_05181b2170449d39016ab44bcb3c9487d0948078790c172cd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j6VZqOlehaJUjLu255PNWtoc",
  "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]: [-0.5667, 1.4101, 0.6952, -0.2054, -0.3931, -0.3676, 0.9954, -0.0219, 0.8089, 0.6056, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.328 left_y=-0.1242 left_z=0.0718 left_yaw=-0.0435 left_pitch=-0.2598 left_roll=0.0858 left_gripper=0.9954 right_x=0.2942 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.9812, 8.9504, 1.3162, -0.2076, -0.0122, -0.149, -0.212, -1.4838, 7.0632, 1.7607, -0.0366, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d137bee7316903b25a1c92162ed8c0311941ff03734b83bcac5128ad2ccabe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03472b90fb5ee8a8735964bdea415981aff88b3e673befa2a5b92cac34e113e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b4b02009912e4b5d2759fd47f1b7914cbb8bd1656c2b351521f9b8808cf7c9",
      "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 · 6.121 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]: [-0.5655, 1.2762, 0.8845, -0.3851, -0.3985, -0.3435, 0.9993, -0.0219, 0.8024, 0.6056, -0.3935, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1314 left_z=0.1634 left_yaw=-0.0654 left_pitch=-0.1337 left_roll=0.0355 left_gripper=0.9993 right_x=0.2937 right_y=0.0 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0195 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -5.2034, 9.1145, 1.5018, -0.3053, -0.149, -0.0806, -0.0889, -1.5932, 7.0222, 1.7118, -0.0269, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5667, 1.4719, 0.6296, -0.0345, -0.3935, -0.3637, 0.0087, -0.0219, 0.8043, 0.6056, -0.3935, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3344 left_y=-0.1283 left_z=0.0527 left_yaw=-0.0506 left_pitch=-0.2221 left_roll=0.0666 left_gripper=0.0087 right_x=0.2938 right_y=0.0001 right_z=0.1751 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.0632, 7.1316, 1.4188, -0.1636, 0.0659, 0.6911, -0.1026, -1.2513, 7.0085, 1.7167, -0.0513, -0.0708, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5667, 1.4101, 0.6952, -0.2054, -0.3931, -0.3676, 0.9954, -0.0219, 0.8089, 0.6056, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.328 left_y=-0.1242 left_z=0.0718 left_yaw=-0.0435 left_pitch=-0.2598 left_roll=0.0858 left_gripper=0.9954 right_x=0.2942 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.9812, 8.9504, 1.3162, -0.2076, -0.0122, -0.149, -0.212, -1.4838, 7.0632, 1.7607, -0.0366, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d137bee7316903b25a1c92162ed8c0311941ff03734b83bcac5128ad2ccabe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03472b90fb5ee8a8735964bdea415981aff88b3e673befa2a5b92cac34e113e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b4b02009912e4b5d2759fd47f1b7914cbb8bd1656c2b351521f9b8808cf7c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvS-_D7vv0EZ1FnpCOTEaDKH5tcsa8CTw56iZPI0ixPYjLEoazLK1YxwfZ0AELW5cESKQrEbmhRDv4qo4v9MhbI4hG5nEv3Fa3qI0fwVj39nU7scP5AmMH7OpzGO8_cD_Ch66eQfaVgxp8WVTjvBrbH24HKpaiGP7caU1Wv6nmuXxbrssFzxu3IotMPDIHFs-JYP7EsH0dClwv9NCN2aaXTAf6phrB9m4cu2vDcQOxjye_GVmlpFSU9oVdWhkAzp67zaIXNCNlCfEjyWfpwCnqIgWPU4u1PNZuDFnOoWS5QBBM98sSvyor-s8W_qlA9cJs7HkXHwzmNvUy6iK1n-ARWkKhGPG5f7eH-GWNfQxpNSVxTlg4TE3464MpmXl0Wvjm2JwsRo_S29pQHaG3cJYHFNK8emL4bJcY5wdfN-df0zFQg5gUn9YQvZ4eMijTDl0dhXj0pc3bE7t4ToRbg8OzqUzeP11FGZTGuTXZ99vjU_xINxXNYKH1QRUDS8D3EVXHM03yt3_zOQZWTqgEZpou1Koz0zWbZ1tCoSj24dhthETu6ESCru0IeKM_SbX5UDwdseCd84Zi4yxEzxTLDf4VMgVDMTnesZNlgLjsi8Tk3TplbHo1ObVlU7yKdZgovRYbyi-DVgCGuDZ4s37oZGFELSOCq-a-VO-NWbgzWoDESkYZcXc8cuuj9djXK8GvHq1pvYaBhf6dTaTpuaZzAv5IqGy_0Wjf6WXM8UJ6C4YE3DWvlGzUCAHW-EIy1DOUUum3WPJYjK0nVn0FvXLce38g6Rk6TrQ-bNl2Jc28tjfrMng5CU2oNvOz1v_TfbAIGsyH6WkDY44_tcNbVCCGJjX620WaSTqiEVGtlM4C7zFNf04U-1jDCC885QHjyYq7udeCppwHDiJoNnnFTQCdFPrz_pOZ2k4F-BGBDqFZZaCPAltsYojC74tgFG80-lh4yvCbuaUigx2Y2RNmmf_a7XSb7HQztaKQAveba7qRbb1jse8KbkWQeW8jyQnzzJtitqT80XThUqsUuhJUdTIatdJemWYZZckbK8HCdK9TlJjEmAAdO9YNj4uz8eykcfBzObFFdI9WWgdq0D8KCAMAiw1DMT_SB16D-ukC2kI3uTk_0kMt5Pmz2AcbAFmqNWfcoyXy4mUq05Fq307Rtv_6qVOlPuvav0GFV-aYdqe1iSvxUkym_Gohe-fcbUToiquDXMra0TMJz1YnQ2-GLr4nQB6rL7UE6_Af7MRTUlblKEOXR9Xdi9afl1w1KPnZF2eNj1xeFgLBvIVy3G1wodhbuu4Tr0BIqotILPEFOyrebnuWe327x82ikAIkMLOivgNTsx-AcWr-Q4lUKz965XsqdD4E7OmFpjq6CfU129ocbGiljV6EveRjTygJ9cC1NQ97gECnDRNU-zr_odc5rXAopR6OiY21dq-muDyJokX3OLf-BVeSOUQQ7erukRaTRP8FCVuT1UucKhz6fJlxoBHJ_FDoMQ-BHfPVzC9Fe8yKsuuNxIOXChEydzD1NOYX31AlKa7HdePhSAmkMc1QYLAGSNdIYopDT55IuBjdA-Tfc6qjH-TSkpOiyjkH-CbxhPQi5ArXM42V1uGXpDMOyjbZrYX5Iv9p6A6dpWVb2SOK8QaQf_2agJ_D_12j-mst4D96c7wu33QaPBPejDGvyweYlb3AkYZTq8VKqEbl_-BlQgy_JpRjoDe4WjK0ZvePXT6XNeHq25hGHcHWGr_b3kaImLAZKulMwfwhbpahfV_qXr9A7BXnsc-yYKjHLJq9ljDZXscwcR75Ogq-TQuIidF07JKZ2lr1S1jE2wcemdYbQ9ojfETWwUfs8KhWbUTvIsEVkP6n0HiWB_-hPnQEGu1I-GxBUEqehjRMijPk-v9lipnWQlLW4jCw-vidiX9itWtB_3l3gAh5SkiyGB6F4_MBEdJ0JIE55vZGo0tElITCx1g2PCSB5aCUl7JCOfHSccrV9FplChr2VNm2lQJyChpO4ZPvqKGq4UBp7CjZsPwJxCZHXP-Pd_Sqr3f8PosxW1WrCQui9STtSPe5waJZH5MQZutBSeY0rWl-usvISAuBMbdp7QDbuYHOucW7WkN9XN4uTiKengW3C5yIDp5PM2H1wsZ8BaXE9x5BVmYYxBfcXisEy5m2ZSM-ONW6gVyuWlS7uSWgLSw0oaf_ecgw5jdqt0Pg2XtOhWud5nHOnasWg51ycpvwwoeaQrn_GOVbhDFV7GxhCea_zxCFLgoi4EN4mAuNC8_ZBRAI7vhAhflIQoqhjUEiCH0oCJhKl1QXxrId86UvYqNIXyCaMiy4dxdwlP7ExcszF8KoLsxBiwPl85s3UAp6MDL0WTVSSvkcCW54KAJGYIvyropE1vGTv2_3Q5VsSo-Or0BIquWx06hV2s5xg0JObPQk58CDBxaKbZxaikaMgPHS4A4tVadXey2TEDjv-5RzsTz_YzEQkJZXzm35CxEyvxRz7p8nrIa_76HrPWmQUlBlKYj2auj9z5rRTAiqu-mSOgokfOnrcRb2r-y_uCXyodQG2v10_aGPQTvYDBp5r_wb_X6uZxARXJEfxAMB6apy0sxv4VMhCsxMKn93AFwSpmpEklCqAIR0EryoNmhw-o1ptqYohUFUKMoNQFgFNPdR6jI39KndaJEIWXMLyBSTvV0J5qi9cT0Z8YhY9TxrDwo50rBGq8VpHHQVRp2pmlVryiqa8fUuvRLhW3gPk0_dAsioh4G8btlaL4UjekhO6_YpE385ve7rfSrV7Vunpmbb5E4TgjiGUjMCfw7jHBMJazht2QOhN3uxeVmofqesqRbxmj8PfPRjYhpLe4v63yJ1GK_CTrL0WNI_mtXT1myE1N-c_uMNYa4tFDwUZvJUCRrPcUa91VrsOW9RPDwvZOq9flDNTwMa9bcW2Yi5PlRPOhO4Mvn5Fjf0pKtAFTg-cCeHl0AnEBFrkh9TiGLULrhSXo1Jk9ATAJnWaMPRJBuyhcZHfnqg5QSbSd8CHeDlVrmQAZnd9xrgg2B-VTr_IHrF6jpMCZIZqdQfw5QN6BLufxdu9XYzudi58orWmioSrXnihjkkGL7UetuIJzB4IvCo2PMbHjt5Qo9swdJLpuKdpy2iMDwEC1P4NTHL40j4diWDAMw66cY7AyBIIkosWqAweSl3Ii_hNs9SJ-nxkZoZrDL9SDVeR9IeqKLJADSnO",
  "id": "rs_05181b2170449d39016ab44bcdfe7887d08ed880d0f0a7c9c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.185,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"With the jaws open, the bowl’s right-hand rim is clearly visible well to the right of the jaw column, and its side midpoint is also farther forward than the grasp point. I’m moving forward and to the arm’s right so the grasp point lands on that side rim for an inside/outside pinch.\"}",
  "call_id": "call_4xcosUstW4ZQ0rzl4wLU2rFO",
  "id": "fc_05181b2170449d39016ab44bd14b5c87d0bc552bdf18688da4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4xcosUstW4ZQ0rzl4wLU2rFO",
  "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]: [-0.6315, 1.6489, 1.0206, -0.3309, -0.4213, -0.4252, 0.9986, -0.0219, 0.8116, 0.6056, -0.4007, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3732 left_y=-0.179 left_z=0.0905 left_yaw=-0.0487 left_pitch=-0.2779 left_roll=0.0871 left_gripper=0.9986 right_x=0.2932 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0359 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.6376, 7.8427, 1.0574, -0.3736, 0.0122, -0.1538, -0.1983, -1.5385, 7.0496, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7454a52c79d0ed28d28512d2743c37f73aaabb583c11d632f73b83ee4a6612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299dda816e512cf32b44e817c11357d3f63e05b68c69a63be7135a652d15ace6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf2324d956141c9d6604c096acc6992f01904861c59189d71ff655cc02b4bec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.078 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]: [-0.5667, 1.454, 0.6456, -0.0303, -0.3939, -0.3561, 0.9993, -0.0219, 0.8043, 0.6056, -0.3939, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3402 left_y=-0.1318 left_z=0.0652 left_yaw=-0.0584 left_pitch=-0.189 left_roll=0.0533 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -5.7231, 5.8598, 1.7558, -0.1685, 0.1343, -0.0757, -0.1026, -1.4564, 7.0222, 1.6874, -0.0562, -0.0659, -0.0171]",
      "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]: [-0.5667, 1.4101, 0.6952, -0.2054, -0.3931, -0.3676, 0.9954, -0.0219, 0.8089, 0.6056, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.328 left_y=-0.1242 left_z=0.0718 left_yaw=-0.0435 left_pitch=-0.2598 left_roll=0.0858 left_gripper=0.9954 right_x=0.2942 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.9812, 8.9504, 1.3162, -0.2076, -0.0122, -0.149, -0.212, -1.4838, 7.0632, 1.7607, -0.0366, -0.0317, -0.0073]\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]: [-0.6315, 1.6489, 1.0206, -0.3309, -0.4213, -0.4252, 0.9986, -0.0219, 0.8116, 0.6056, -0.4007, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3732 left_y=-0.179 left_z=0.0905 left_yaw=-0.0487 left_pitch=-0.2779 left_roll=0.0871 left_gripper=0.9986 right_x=0.2932 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0359 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.6376, 7.8427, 1.0574, -0.3736, 0.0122, -0.1538, -0.1983, -1.5385, 7.0496, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7454a52c79d0ed28d28512d2743c37f73aaabb583c11d632f73b83ee4a6612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299dda816e512cf32b44e817c11357d3f63e05b68c69a63be7135a652d15ace6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf2324d956141c9d6604c096acc6992f01904861c59189d71ff655cc02b4bec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEvYgZ3fsWBWFTU9j5N25KRnOh8VzHnbhEifS3AFABAhai4aExnBmqWCNkY8DcN3Pk3lnO8PzptmkNaLRIjP_D1U0loI0MQa1WL4VJKkp3nqUzXCYR6Fs9VWqJJNuWX05k6TPzhGGqTtV9iTgdHKfigi_iEiPy3IukXFSoinI6TyAxf44jkSi0XH_RBoFjm3xbFYnWlsZVsmXTq7gWG4vTKq8q9Xu7lbSvZGW3rqcUCnCcBdN3izgVoMCVTwvGSJzcbPPTr7FwiphBI18zByEtgwFtL3acmFM5pge-T-VrOgZKTT0z1e2w9pG_mIg5v_-mB50z1uOP282FOasqUGS5MXFDj97m2lwwbDiNHu1Mu8huYBLsHuHr7VJelhUzijF34ryjoT8Oz2qCWiBORgkjHS4i7HoK0IaAaX66XBs9Hjh7swWXh4yiufmUaV8G_mSJYuOfxVwCBfhrv1LH4Z21QA1Q4EyytUJQMhzVC8T3mYkkkwmqplne-qMO7TPjLIXFS5rSmgFp4gzmHka0NeqwsyUwgd2EfLA_3znuYMcTU3h5EUjw1sT5GrwqN83rJmofNyCv6cjfHod_2DyPHn9tEoX5Mm-n3LA-eID8Nn1v5LMrx0RV780LD6OUvqYvnm1AZhRjgshUWGAjV1ZKNgvRmsECSBY5VceD862beF_XMqeZsvGKloYVA2vyI1BHbJcj50N6g23ueii_Baz8yg9JeAguhpR45qn4GBD-Gcrb8mUzcgSV8hNxz3UpkXzRD9cGlOnpJfCb-_7v4unxmUlAFGnRElgLUJ-uakOzMvxfNb4GDMEzgnSg3krZw73O0oQza0pruPeGihEzEKQNwdZ715Kq6Mwk5rgoWQj2R5H6WYWvT0_1UW2ikT4NlZOQ0XnN200lkm3QM9sFo2ye4FYDeeleYKJUHRfm-vYbUVGADZ_iIp9Cfk5oWPLeuUpKRGfllqAiL3TisIH57oYhJrQFVCYuN4Zqi27M0RjdpWNg5v8c8_PKuUkFLG8IYOrBJPvGxsN_t6biLmHeoVjKM5q_Pg-SIzYBgODNiAtrJz8HDXMetBcyrtk1EYYu1ovU_5SCoiqmiJDWmyedkzBf7Dqq7vBkuD0mjjan1-Sk7N-YpC_uRkaOYIMl-YmeOu8KG3ylNjcVWr9Dt7D-9p-xNBygkuxloigZ3HnlMlHhG4dSVNdyexCwGu1D41Pr-hmt1mFDAVDARD55_rWxkQD5IiqmuY6goaFKa8zel1B-CSW59IC1pRAMT8_SqAw74rNffQtqA0LtIqSwX4-hobpS7tqZlpSrV6LZtOpn3OcKA5KpOHXqInwUSdO6e6POq8zlSB3QCgobt-4MM9IR6QzHxP46iPdR7brb2aYa6atOHQPwSLflZteKyHhO9I4YrREmjHpE_4hOnU8g2s2Bn5157-J1R1Ca5iq_emTIhtJgGUopLWORRoN-rPrn7eqi47wnExiEqaxa1HOwk90qeatw_kSgjvQhihYcJdk0_AD9vWo9np3eDhOg-dWdhz9IKPYXt8qBWesyju39zh36MEef-FpSWiG-eb2i6THq8i_FNA9ZeUAypBEPfu2p-MpMGIdeH2nOxcDSiYpdL11kGBVkSl5b404jdJ2wtfzCGg0AcmUWqDQkX9JqKia2CEycCfwlrJic5njzwMMEMWfp8CYsTfQbGk_qOLWGw7GSvCCO1dcVFEPtl0g77fH2SaDSHYE2UxEzveERevSvuKvQ3okj33dEBJpBBKOzQPJEkkhQ1WpEzzLMHYx1lgGQtj1owfKV6TIVFfL2z97Heb0M1iOLI6Dq45f4NedgWR7qmeQZvRMGTXD6XwL3ojqHslNWtLsjHjvhXTet-TdsxVp0iTyPmqEJR16HjaCwrho4mkqW6ixJJZCxj1iUhB8ltG1LOLGBGrBc_X4_6rh2MYN9HrqyyWIvwKKd4VJvMT_17vk_PypMezYI9d4gaYg58oyoSSvDRJgAEaMYswZ-baWmUuFvRPga2c8VdaUAo2z9sWHxZGUwffNAnSrKRMX6MtjfPKk0s9k5cqtoNtBKlkQWi8dw8zZE16GY2lZRLZYTqFwIZHAUMl5faVfDUYKxyaczFwH9hLuFdjIZuYo1eOsKtYGGMuphMMNJtCY1oxCOYyjgboEJat7O4IrqQe_TubJXBBqUq2cFG_OkIpN9fiQgj2BXSLTVi0N7YHL80UtpUKUdhJaQX6RUuzakvZikKd1svUnueCHPzCA-NeAiNYbWC4utAIQJguInnk2UsBcMHIsg53FXmmMlFSkJ9Qt8iCcukDwbwizgm07ugw5XSQqEXO9i_VoJWSLWUHwRRx7cgqxHL4IXDNSn0yS8YbIy6xvoi82ghHfyqQYVqlp4vzYTLVSDUaY10dDbtDdYEFi0tJ33uz5D-hZ_sJkhdff_am-TdqCx2WAnrgUe_eciborAPAKTCLvAnQpYv-ZefV_-teqge6T6G9KIvKpIgq-jM8WDbh2nAV90--L8ML7H3yGZQal-9HPDHsJxpLRN2G27NjilV3XOQ4WI4R2r9MORDARhi8nzcEnjVZlApNveVKOabD2CgVGmCCb8O_szJOjgxRKXeVZt1Y89U5Ohwv7aYzo60lGr7UT29eI4ry8wYR1dfDEYDcamIuAaIYceJOKJKbThF-jiP9a_bHFdciq7oVawWYPwcLq70n35qMgBjgWVKV1-5U-861BIl0Y_mdfKS5CYWBPpbwmbrAIkSecHpmXadrt3Z56HWY1spPXI4_Gij2o_lR3SmPOXSHVunoLKo6fpMOtsKdpeF-1nAUZnGw0bkKp23xLhzfUnWdIus5OuZPtuk12ihbsBHD90u0Qnosh95C7g6oPw9uzdC24Us21e9pX-yWKg4KEE78zh6rRBopoYxgseGVyN8N5v08LK2t7wuCeKnKTJUOt-QZBmyTMJEDurX4J1q3pVqQNfNwZXyLkwx4JJrhyA49S1TdeSFMABeYmXlzoZRtVndqasAndseVdIM-jtTlc4IL6hkgVfw-4XQ2dw_iwry0uXYccp5DiJJAkDNKfSZ-G3vmVtJQFo2J4lZXZVVnvXgtXoIULew4PbQBRHpTQsqyKuZg_HGaNpWMgE1et1pCU4LeN9nDhATz1h-Ehy5RMA6jg03HKF8SIlCS8jUA6A==",
  "id": "rs_05181b2170449d39016ab44bd3d12087d0be4c79f5a9a6c30e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.105,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper is now in the narrow gap between the white and purple bowls, which leaves too little clearance for an outside finger on the white bowl’s right rim. I’m switching to the white bowl’s unobstructed outer rim by moving left while advancing to the rim’s radial midpoint.\"}",
  "call_id": "call_3zA32y88BiCy2juqQvH0p2Cx",
  "id": "fc_05181b2170449d39016ab44bd7ed2887d0bec5373361661cc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3zA32y88BiCy2juqQvH0p2Cx",
  "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]: [-0.3832, 1.6493, 1.008, -0.3168, -0.2874, -0.2527, 0.9986, -0.0216, 0.8116, 0.6056, -0.4129, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4009 left_y=-0.1038 left_z=0.0809 left_yaw=-0.0056 left_pitch=-0.3375 left_roll=0.1004 left_gripper=0.9986 right_x=0.2915 right_y=0.0002 right_z=0.1691 right_yaw=0.0005 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -10.1949, 6.7761, 1.6484, -0.1392, 0.1587, -0.1538, -0.0889, -1.347, 6.9949, 1.7949, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ca6dc303a3156966486384c21a7a6468eeda500cbf8729dc8b915a0edd0cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b841d3e064fd89156706b864103b3ccad184543ea8757dde5b471748a7759655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef8df0de49bdcd3f6f4e7542784f1b69ab4eb9bf66f2ed20e5bb01b1a88b562",
      "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 8 attempt 0 · /responses · status 200 · 4.316 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]: [-0.5667, 1.4719, 0.6296, -0.0345, -0.3935, -0.3637, 0.0087, -0.0219, 0.8043, 0.6056, -0.3935, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3344 left_y=-0.1283 left_z=0.0527 left_yaw=-0.0506 left_pitch=-0.2221 left_roll=0.0666 left_gripper=0.0087 right_x=0.2938 right_y=0.0001 right_z=0.1751 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.0632, 7.1316, 1.4188, -0.1636, 0.0659, 0.6911, -0.1026, -1.2513, 7.0085, 1.7167, -0.0513, -0.0708, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6315, 1.6489, 1.0206, -0.3309, -0.4213, -0.4252, 0.9986, -0.0219, 0.8116, 0.6056, -0.4007, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3732 left_y=-0.179 left_z=0.0905 left_yaw=-0.0487 left_pitch=-0.2779 left_roll=0.0871 left_gripper=0.9986 right_x=0.2932 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0359 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.6376, 7.8427, 1.0574, -0.3736, 0.0122, -0.1538, -0.1983, -1.5385, 7.0496, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3832, 1.6493, 1.008, -0.3168, -0.2874, -0.2527, 0.9986, -0.0216, 0.8116, 0.6056, -0.4129, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4009 left_y=-0.1038 left_z=0.0809 left_yaw=-0.0056 left_pitch=-0.3375 left_roll=0.1004 left_gripper=0.9986 right_x=0.2915 right_y=0.0002 right_z=0.1691 right_yaw=0.0005 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -10.1949, 6.7761, 1.6484, -0.1392, 0.1587, -0.1538, -0.0889, -1.347, 6.9949, 1.7949, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ca6dc303a3156966486384c21a7a6468eeda500cbf8729dc8b915a0edd0cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b841d3e064fd89156706b864103b3ccad184543ea8757dde5b471748a7759655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef8df0de49bdcd3f6f4e7542784f1b69ab4eb9bf66f2ed20e5bb01b1a88b562",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvcQZGsaqu-xqKjPuzc5P61xeb1RuYDXl1qy87c9IGj1EYsoZCJHMK0ZbX3wY-DUprJjhpi4WDqvId1xFl5lsTruDabMHq7xzqo__GxuSZHb72lLz2xUNhe4B6tA0eeX4DwGxYtncGjIEN1uuhh4HMukgCn8-zYUZthOSKWNGnrkHhWaBIDeaN-jtekh8Eqvj-qq_WTTK-jZZld6DHQi2oGLL_vZhzJBOwCM-H4X8fvJUAP_3rUtNwB44PchSxggA4DRaalO2lsM6fttfI3koiU3HUvNbwS_qwul35bOrCYHX6rZ9jae7Vfb12NebXzUGI3MrDZHwIXd-oXGCLPM4hlOxolDzVOV0dq0PjRAjaYIaB_HnasgS7is9IuSVRlC-2OVYKOgbn-ntl3WrWLjbmOCxTp1b7_XMl4AM5QiFBG_AWGZNSBCwAeKCBCLpFpf2V38b85-BSyVf4l_ZTfkL5PKnLJrJZTs7DbugTkN6NGn6BHilAXnflPsjXznrtYxM0QVb5eOaRY1vljm5Xu3c8BJcLVB-UhUCUGcRnK1lei9X1j3hsKfbrQ5ZAeT3vrwD_QAs1fe4Aymcpy57VW6n75OTAHEKu60nsxJb6NwMlN2QGyEh9hDq845NwC0I7WUhL0YVUn8tV_aH1Nw3WNahlMmlWWnYD8ljKTasnZGKeQ5h5yE_tRZ5OZ5wEGFGVkib_nTQSb4qwHQPeOuoycVDxfs0k5xt1lbMz8XNOiHrMTpL2JUQwV9uKl2rRESdZ-gLnD_UUYzt0cOsMbkGc_0IdQNnnN2Hl_iAYDsyXVtd53LfH2HdHY4onDY5oVGa0GQGnmuA0bJ1QglxLHn2PEd4xDi3HtB7Kg-NF8luyqa7j1PVHbXT4VNlBRTyp4mJpjyatDt0gSgKPNN2cPDNWdP1IcerTR0IhFfY40hyT9cdSMOXaZK8zhnRJUxSI-ZAS66s3Gk7s3QU38BG8P7EDYNkyP9RH4rlE6lIgcBnM1_FmpH7CSsvawaMnJn5DHCsmgMGOLclXZDPbYrFwu2aK6eK5ChI_FOBMwMmFZo3kggf_KVhN2YpvofkO9c8Pb7JR65LA3YTT13yU91oolCeuWVFHFYn-673SS9saC0EyyP7LxR_FZswUJ0ihmzNeZOkwv9E1hR2ZV1saaVHFYgHRuJIH23YIOkxO6nvFbrZUKtZ5IZUP7-t6KAIyE3w3NVWZmvVPDvs1riaPE6key8QOCtHxF-hM5CtG9p3d-TIFJ8WJAGMiRz3QgwKdHNGjS1DtFIhkkeSGZPeoX286jMHPgZwFwa8WvV2l8oxyUaUAEQYUZlK2DTjqAXclk4ysP0n4hmGDW6GE8y8iaBl496MgR7ZpIlzdfbgu_AHiRvQYi8O5LKQUrgu0CltGZ4Kyo6vzS194WhQaAauL7Qa0HZonKgi4LNsDjddk-m-gxEcscyhGU5u02NSkD-QsKEMo90bGyww2Vjp4gG3wVjLZhQbcJBFB6Z0MMbzQ7Fn2rZ-o0MhNFaqMW-eo6pip44WhR1SI-h0lXJXnN-6Ku4LfX1QIqP1Ia1IAn82lIUBpQU2k1cxZXtuo5AS791XDUcNiNrXknHr9wEaKjHhbwqTq-rmTHXIUNdN8b8ig5r62ANcFFJXSmhCD6dIbZYEniX-tJA3YXh2rO",
  "id": "rs_05181b2170449d39016ab44bda6d5887d0976a758b1e8b90cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.07,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The white bowl has shifted across the wrist image, and its outer left rim is now only a few centimetres left of the jaw column; the gripper is still slightly behind that rim. I’m making a small left-and-forward correction to put the grasp point directly on the unobstructed rim.\"}",
  "call_id": "call_965TNysXDAjVLOBtvrdwl1px",
  "id": "fc_05181b2170449d39016ab44bdba60487d0b4391d7b82d0f80f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_965TNysXDAjVLOBtvrdwl1px",
  "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]: [-0.2653, 1.6909, 1.0542, -0.337, -0.2325, -0.1883, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4173 left_y=-0.0675 left_z=0.0767 left_yaw=0.0303 left_pitch=-0.3711 left_roll=0.102 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.6786, 8.9368, 1.3162, 0.0611, 0.1685, -0.1538, -0.1983, -1.306, 6.9812, 1.6874, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ce4c391b978e5c7fe614ddeb8b24d53daa04d4d5f1dd6fda9931a17ecb12f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812c9c73f8041dd5de727eebdbb381040e33189361e74a232a52acfe1d6b7f64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d86b5528b6e5f1c6bac38d3922bdba8a329f12296d5baaeb3af74905c684e1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.629 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]: [-0.5667, 1.4101, 0.6952, -0.2054, -0.3931, -0.3676, 0.9954, -0.0219, 0.8089, 0.6056, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.328 left_y=-0.1242 left_z=0.0718 left_yaw=-0.0435 left_pitch=-0.2598 left_roll=0.0858 left_gripper=0.9954 right_x=0.2942 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.9812, 8.9504, 1.3162, -0.2076, -0.0122, -0.149, -0.212, -1.4838, 7.0632, 1.7607, -0.0366, -0.0317, -0.0073]\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]: [-0.3832, 1.6493, 1.008, -0.3168, -0.2874, -0.2527, 0.9986, -0.0216, 0.8116, 0.6056, -0.4129, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4009 left_y=-0.1038 left_z=0.0809 left_yaw=-0.0056 left_pitch=-0.3375 left_roll=0.1004 left_gripper=0.9986 right_x=0.2915 right_y=0.0002 right_z=0.1691 right_yaw=0.0005 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -10.1949, 6.7761, 1.6484, -0.1392, 0.1587, -0.1538, -0.0889, -1.347, 6.9949, 1.7949, -0.0415, -0.022, -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]: [-0.2653, 1.6909, 1.0542, -0.337, -0.2325, -0.1883, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4173 left_y=-0.0675 left_z=0.0767 left_yaw=0.0303 left_pitch=-0.3711 left_roll=0.102 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.6786, 8.9368, 1.3162, 0.0611, 0.1685, -0.1538, -0.1983, -1.306, 6.9812, 1.6874, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ce4c391b978e5c7fe614ddeb8b24d53daa04d4d5f1dd6fda9931a17ecb12f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812c9c73f8041dd5de727eebdbb381040e33189361e74a232a52acfe1d6b7f64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d86b5528b6e5f1c6bac38d3922bdba8a329f12296d5baaeb3af74905c684e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvhVzzITTEKlFnYHDkfuGqw9yceDjWMkW70z2tNtAb16pauXmzuN72y5c_f8wM4gohkol1K2lkPXcVsPqzBoHiqxObXt7vhMT-T384yBmHVevLDVD4sW7EAVcgA3MLcpIOf6JlaKgD7he8A_2JhiFUUnSq1gP_ru58uLVZFdXBW3Q7xu7ZualFsdir2J3WSb4N3BGkrD6ynFc45G1mYnWMDJ_R0ATcAUbNxdngpKr7AoYoMUNKNKqp3KWqpHtJp_HmC4Ik9DADTtPPZcV5nU5UG_WABvHFtrlSDyc6xXcCu0ADGoc69lpyePGsK43-6X4ILTYrK51D2TCgD2bfHPW68TPsQ_DDaF27cESQWymXSpUyiloB-f7t4DUBr_UXN6IdyRRlUsmBIDgCmHTPbXHzs2D1bxFUJqkDLpY5S27uyHKLe1V-mzWL1M6QvRY_TgM2jv29YWGrXcRK17nnYD6A4Y4Q8Hb2ESIGevuq7BrGs8M8apRJMgxnmOL4XjiWwGzyfInDnxVYa_GwPsLgxAQ4hgIgbKCZyJ4bHGzEX1YluNrFk0xoaWmetU3BWDGz0B9LmMWt2ikfH-nX5zYZze6JhmNVsXSwnwP22DqKgc-Rb5_sMoFdQ7KxxDRYinOvik3sg2nVsW0A2WVQOUbon0S1dRL8Li4A0LgPhomD4gzkycoMO9kSKXdTLvId4B2jG4NbTGPAU-43GB90_KVhUG5OQq9J92svup5d9hz6LUYrLMgtIr5xsQpnPis_wP8C25Fe_PADTQJ0ncSVHEG_2UyX8_p5C4_2FER0iYctfjjzXB8vjI_YLOgncdsn5nY6NZmydrsCEIze8sZqAfFZofq5AziHyh5Na-3-NNhbhKSrdSV63zf50zHKSBQxDhxpW4G2FuY03c9gFBraJe87PBpwVXeEhUl7rpUKNrRBuNHhHxZSFc4T_WkSSM68tLOBGplUd_6w3mFqTT1RVGwrXL_UEHecHPGLAQdi0zNDu_Ol2weh9FwwEn0MIqoS43lbW_2HbBGnQtLrLTEdXzet4wVwf_nz_fvnbMqF4W5u0dgwRcET2QBdxOdi23JxCIHm7U880DQOdy9S6ojNJ5MW_ZqeYvYfls91i4vCOLQkj5Y1grVQ_056F3TmPYYu47C31ZyAI24VsSnY6POtR_7k1tsZajqQzfltA5UTvAD8n-iAgox6-_yx1-pBefH6Aj1NGPAc7cfu4cwvghIAJCRPR6Cu7TnXAcD9YWvHwXEV6iUnZULiGvI1lj2ILg1Xs1kI2VKtlKB52WAHygxcgKzWcF0guVEKcKYU-A05z9ry07v-UQ0nySSlwsn4V7fXCNqdkkgk0p7cqbA47DdFq2xmS3aVa_wmfgHov7tjg4Tj5JbiJf3VcTIFEel74LZ4JWmZKf-6y42uAmDrnBYUymwJg-ugzdb3XO4TngHn9p1druezbdzENv-oIJBIDMwvywYOQ6b4X4BryosViJZGyeDzt1ARomCz2DFbjmuAUPsg0pHauAY7o6JsrgX4ORN677ebxGIQQBoi8IXdxdStUl23-5SG-ARChNhkL0Tc-FuWLofrkFeI-jTD0B2i1pGKX9CJmXxpxHXD9mgel0BJLv_17uH-AVP3zmfdj0JW5c64UT50jSWQV5SyuZp2mqKP-9PkODk1UQcCvD4ZhptG47hyonOjQRxXvwiy1DITiuy55LQMbV_ilFR_amap8HZYYhTVsaPfeWde_5TEGUlrHpuYf2gU1cqEPHLbOkj4lLM-ZWetAnF0=",
  "id": "rs_05181b2170449d39016ab44bdf2ba487d0995606def2301871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.07,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The white bowl’s outer left rim now meets the jaw column near the fingertip convergence point, with clear space outside the bowl. I’m descending a few centimetres to rim height while holding the lateral alignment fixed.\"}",
  "call_id": "call_2qsCMtpnmZJ7mYtITBlOsSz9",
  "id": "fc_05181b2170449d39016ab44be0570087d0b4a68994cb4555a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2qsCMtpnmZJ7mYtITBlOsSz9",
  "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]: [-0.2543, 1.6951, 1.0679, -0.337, -0.2237, -0.1715, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4216 left_y=-0.0654 left_z=0.0798 left_yaw=0.0231 left_pitch=-0.365 left_roll=0.1023 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.1026, 8.4171, 1.3602, -0.0562, 0.2222, -0.1538, -0.0752, -1.3333, 6.9949, 1.746, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4604a67fddd96c76e11e34f41225f4f5559c2f23a8e54da5a223eef9b6abc11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047bcb461cdd30156c2ed40f3e5f60040569b762fb7c9db0858ac1070cec43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45df232a72f244d611bba3752cbde370b9e0fbdf0b796988f88762631e6c29d8",
      "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 10 attempt 0 · /responses · status 200 · 4.822 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]: [-0.6315, 1.6489, 1.0206, -0.3309, -0.4213, -0.4252, 0.9986, -0.0219, 0.8116, 0.6056, -0.4007, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3732 left_y=-0.179 left_z=0.0905 left_yaw=-0.0487 left_pitch=-0.2779 left_roll=0.0871 left_gripper=0.9986 right_x=0.2932 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0359 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.6376, 7.8427, 1.0574, -0.3736, 0.0122, -0.1538, -0.1983, -1.5385, 7.0496, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2653, 1.6909, 1.0542, -0.337, -0.2325, -0.1883, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4173 left_y=-0.0675 left_z=0.0767 left_yaw=0.0303 left_pitch=-0.3711 left_roll=0.102 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.6786, 8.9368, 1.3162, 0.0611, 0.1685, -0.1538, -0.1983, -1.306, 6.9812, 1.6874, -0.0611, -0.0659, -0.0073]",
      "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]: [-0.2543, 1.6951, 1.0679, -0.337, -0.2237, -0.1715, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4216 left_y=-0.0654 left_z=0.0798 left_yaw=0.0231 left_pitch=-0.365 left_roll=0.1023 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.1026, 8.4171, 1.3602, -0.0562, 0.2222, -0.1538, -0.0752, -1.3333, 6.9949, 1.746, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4604a67fddd96c76e11e34f41225f4f5559c2f23a8e54da5a223eef9b6abc11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047bcb461cdd30156c2ed40f3e5f60040569b762fb7c9db0858ac1070cec43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45df232a72f244d611bba3752cbde370b9e0fbdf0b796988f88762631e6c29d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvk4WM8HIZb81RlVA1jD_KA6EE5E4Iva5UYPErUFHP6_3rE0xdi7gXxDXj0U4n1v-AWxLnBtdQ9HuapByuXVkWwdVnNi6ZEDzvb-hI_J5loiPaIFK8UE-W2F2xGzd1RrBhhKokSHRhROhM7vFqtvRuPLhzhVIuqO4KW0t85ybn0df-p7Uvrs7_zACGCGWQIwAhQyhHStKBr36HnrvhCQ03XZB_lUGoW5LeEXIst4y4hQrWpFcxrcRRO16sUWVqvDEcwB_r98y2kVjFzKjhu-GD60_SPwAAGQYcbvJN4WxZWe7QqJw-K_HoUgS0Ht-FPL3_Hugp9F39jncrW6-ZN9jg6gaAvhbJUs9RHpU64YLzUJelUEG8hLQpj4cS39Y1FSz6ggldnLsrbDTuQFqLVPe8XgzA0s9p0N6GYGlIPWsaBAfoXx-12FmFSKVJJ23kfDtp363W2wllnMn4IZNPFUgrwmsFQjKfex9RyOuMeMstXYd54Xw2wZU4cX_u67NCf8XvLpprpdubMd3ahqrcqoPvcuRsN4AAfWwEg_9w5XUeZwL-cH4YLZsK893Gdy7xDz6ga5oVQ2rMbwIUwXQYuBVF6G2f9VCB4WApmi5vHCzRL4W--21T89KlcQpRFml9W7Q_FF-8tGQxrVyMG4KPlcZl4-XD42eVNoyNYRhZbbj92loahAY1a3wICpkhBcB093wt_hmUkCCp7rocLgnIJhG92Embm9l62cGiHTmjhWupKUUjDU7mXWTT9Yub9UUvQpYaMMS_xvjWgmX75ApGIeVhLcUl6ThwSusCbTm-XrrdQzZVetE6jVUOQjC9eezMv67dqY22chCvbpL_FuDmslxpM5KoynZynPjzkZOJ-A8M6HnFB_BONsJacYswZynTD27xYFC2R7-4UIEaj8f0qw2gPnktiyB78wUAy7phpKuJ4tKO9nl0xejdFYLL6OPH1szBdtf3VJ8OJrMJ5h0DwHnB1e-2-t8XV7qqdyMBMLYe-v7LN64K5GfVSuS0WqH0hKHyLXFVifTIafr3TjDlOFyPXH2EC3ZijbGnr4Zf9OquITROTqJQUpm2sU068jjrdIhPZqsEr_kQJtuqv0L7_eA1su59KO_g3_cr0eWQ1AwWlD5XbmM4crqUUONNtdgOy9_DI8wNqV9_zgOW_bRFARDx61U7EkHF0sfA7QnEIyi1IoXhS8QTDs3YF9ISX_ED4xe9WdaXI2pdoUurm2WX3-ahgMsuVxIhpsTsS5VV9e3uupGvFpwAPLraahX0ebxfGDEXFI5COvWVO6Ga-dm4PrsM-kw==",
  "id": "rs_05181b2170449d39016ab44be2ac6487d09758368b94144338",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The commanded descent stopped instead of tracking lower, and the rim remains aligned at the jaw column, indicating the fingers are contacting the bowl at rim height. I’m closing now to pinch that single rim between the inside and outside fingers.\"}",
  "call_id": "call_tWAxl7X41qB0G0EBZ8yqlepv",
  "id": "fc_05181b2170449d39016ab44be2ee3887d0a0d8f7e85e57d2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tWAxl7X41qB0G0EBZ8yqlepv",
  "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]: [-0.2543, 1.6951, 1.0676, -0.3367, -0.2176, -0.1646, 0.0087, -0.0219, 0.8116, 0.6056, -0.4156, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4214 left_y=-0.0664 left_z=0.0795 left_yaw=0.0138 left_pitch=-0.3668 left_roll=0.1015 left_gripper=0.0087 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0507 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.8291, 6.3521, 1.2674, -0.1538, -0.1001, 0.6618, -0.0752, -1.2376, 7.1179, 1.7167, -0.0464, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5d187a842bb62c0d601658ae0ca5a3a03d7fb66196f66018aeee3aaa7f789c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a678e9aa974b56a657eaeccd9fbb6ff31f3b344d05a5b0b09487ba799c23da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672e449e4a47b3923911063ed1fd8dbe4b8383148854066e905caf3d9a253cfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.708 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]: [-0.3832, 1.6493, 1.008, -0.3168, -0.2874, -0.2527, 0.9986, -0.0216, 0.8116, 0.6056, -0.4129, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4009 left_y=-0.1038 left_z=0.0809 left_yaw=-0.0056 left_pitch=-0.3375 left_roll=0.1004 left_gripper=0.9986 right_x=0.2915 right_y=0.0002 right_z=0.1691 right_yaw=0.0005 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -10.1949, 6.7761, 1.6484, -0.1392, 0.1587, -0.1538, -0.0889, -1.347, 6.9949, 1.7949, -0.0415, -0.022, -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]: [-0.2543, 1.6951, 1.0679, -0.337, -0.2237, -0.1715, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4216 left_y=-0.0654 left_z=0.0798 left_yaw=0.0231 left_pitch=-0.365 left_roll=0.1023 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.1026, 8.4171, 1.3602, -0.0562, 0.2222, -0.1538, -0.0752, -1.3333, 6.9949, 1.746, -0.0269, -0.0415, -0.0073]",
      "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]: [-0.2543, 1.6951, 1.0676, -0.3367, -0.2176, -0.1646, 0.0087, -0.0219, 0.8116, 0.6056, -0.4156, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4214 left_y=-0.0664 left_z=0.0795 left_yaw=0.0138 left_pitch=-0.3668 left_roll=0.1015 left_gripper=0.0087 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0507 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.8291, 6.3521, 1.2674, -0.1538, -0.1001, 0.6618, -0.0752, -1.2376, 7.1179, 1.7167, -0.0464, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5d187a842bb62c0d601658ae0ca5a3a03d7fb66196f66018aeee3aaa7f789c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a678e9aa974b56a657eaeccd9fbb6ff31f3b344d05a5b0b09487ba799c23da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672e449e4a47b3923911063ed1fd8dbe4b8383148854066e905caf3d9a253cfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvpw8HAdBGgCdBRPPwXbcweQAatfoUWqdvBxdKrvogDVpNJ2f3E1A54TMvRdbG2JTlAdcx7TQAIobhVjIhzmruJO5DVvPUm670dSDOxFXXTlx59vIOHnOQb0gGV8KQcHN74-qzJjJ1vudX7hZ9X5pbktIigHslO1crrm5vZuoJ4hoZJAVydmZbe-353bUxQEv-v-BSzzEGtMgmA7DfchkMFKI8K3CfS9XB82gBY6a6X9_jluVQf78zxwoW3YujUd4R7fnLa5H6Z2GiPMGd6-RuXOvWEJSpY88vBea75o_OI9JgEK6sZwpfRuwcOsQV3nI5h1EkmqxcvRRYrCZQEWl77iHeR-XSitxpTnaEBscKZaY3xbiliU48i8entLmX1wu4nQg5XU3JaUnFnZ5NjWkVmvejzqNnmOCqlfw0ljdIz_U9P1ETttYDRCgi4ThwYwkjTgEHnNyBbvk0i6ZWud18kiVkSI20uBA93JDQ_TphLXglD-FvXxGeFp66sMocFDN4pK_0khfS4NhULRZ7tn4OCOmD5BQANiGgNTdASPmrwcFl80pjNfWoxUtdqf0Qo3SHl3s1fs_MyYxrnyI3Yg77POlMX8w1PPhGmxnuJZKIo9xJgCR5ieTGhzWCRdAO-oPaZ3wb7pHFGDco1s6Lr31psvbhVEO7dFzZv5A0NnLOXuVf1vZM5leJV6cnsFy3skSslPrzzV46ydTJXKP9Z1TmzkiSJ8rAYST_vpovH7KbjB2amA2EPkUmn9YSIktuYl4rzHw7iUDTMq-AlszpI1fmyV-EB750WuR8AN6iijUnKW_1FyhCRIFGWrvMsiPJ3y0J26Czl3ctKIlknD5o6lE-hKooTkyfQoxfPeTIuxkisfNP924Z7WOZ77LHTNNb1nf5DPGkvyrt5odFY_WsV6HQfahqafiBY1QhsMGU1qJUdwcXUu4C2Hh3i6Z-2j_6xq8aGWq1VxjKXnPqxjmwzNhWQ9xYyI_Hpec0YtFhbRoh092WpTrNLDJAhFDs075BGgki5n4SSvtjcx5nU-orQQMODiB84KEs9DUh4JcwRfDgB5qfQnugPIEMK3ObQXaY7jhRvnCdDOEhEtRP-AZtBZtDBqh0GpR_zFzWbHhnMK4Mym4Jojn5FTk_WbsueOS71hHreqvC03RryaccyfjL0aKkIA-c6dzg16SJvnP1RgdynWOmvX7e360f65-VlpzGp1NWMYgYiF8hABuFKli5BAWOnSyG7pYzXnrXaAM7Bfqxehd81HQUej0iPNrvPLmRygBee2kfA8zSXldUP78Tc-jxvDkRiC7MhqIiJC1AJAsCkUqMznvIqnoVFOq4H1vJjOdU17Vj8fjhxuia26HCJR9N0jYr_DrL3Jsx-0_LmnXJS8efQFpHkfoqDbTQ6Zb8wofq2g6QXvTW3a9fHnAp_c817I_F7Gs01-CHbpCcN1hYTsqf2jTTEaGaDtpgjOWIoyG4_Ep6vw-_hmbq2ZDOghzePyEuZpop9OXw9h2VfI_v6I5aTtMHQ68lMORoPkfggPBtQ7hDI1Wvmfy2ou4WI5Ed2AXvtSl9XZHsspdbdapEjr3YIwpxTSS0Cs6Cuvlcu_3j5-C67124EkDLYrICf08VeW15dEWohpUSnEiwb_WFM6E2j56FRyxWTYXAinVZ8sSyQ2YntDQjPouJa20HdI86gkE4IU-P0yQ2PBFfI5P5ZrTJ6CJdK5VHrklfamjPc39CWKIPIplfUamBYSFkVVhuwIpRoF6fp0GlGY61E01C5a63mXYT7CahH9FwqrLQGMSx8pgc3KL-lLDkS_wtdmipj62z8ps55DcG1JofjW3xmB8Qyux_csGBCrO4VaYNB-OGotr5AyoC0cklqvi9xtiYS_CvkJM0HxlW8oPaJwIz6-Flac2Ye9Mj7ETLUlSiMyPdFdqAgeP4LZZdDrXifNBfUPaA_5eW2tAQLb8dtwD74JjBL8YQ8M04OrNSSSH6Z-s4BdpXxmP_DXkgwqEDyDJnj4dwmJjyUK_HxEvzxaq67Dek9oYR0p-E-QIZ3CtDAdyms421_QRgvRwjmLaqycNE8oPN9syBWJR9MiDs06HaFc0xHDknugd_X35SMJEdc42qKLqO2sy7Gc8Wvb6XWaJ4hc4b08VvkxYIP9AXeJ7trtXLj1Z9TaKYNHoopSoZ0zS5MgoCAlobkRGuRKpZXiD0oNbfEKflOBb_RXYQprKTclT4_VqHdaXaya7cFKDqolOa6HXklAoAGsJvhnRYT-1Eg3g==",
  "id": "rs_05181b2170449d39016ab44be6ddd487d08fe584ca76390d88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.08,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper again settled empty; after closing, the rim appears about a centimetre to the right of the closed jaw rather than between the fingers. I’m reopening, lifting slightly, and shifting the grasp point right by roughly that offset for a more exact rim pinch.\"}",
  "call_id": "call_85gLyuxrIARV23BlYCRfLzc8",
  "id": "fc_05181b2170449d39016ab44be8d66487d0897a518560e1a4eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_85gLyuxrIARV23BlYCRfLzc8",
  "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]: [-0.2882, 1.6951, 1.1057, -0.429, -0.2344, -0.2054, 0.9948, -0.0219, 0.8116, 0.6056, -0.4164, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4122 left_y=-0.0757 left_z=0.0819 left_yaw=0.0246 left_pitch=-0.4121 left_roll=0.1074 left_gripper=0.9948 right_x=0.291 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.8, -8.9368, 9.3607, 1.2918, -0.1929, 0.1685, -0.0513, -0.212, -1.347, 7.0085, 1.7021, -0.0562, -0.0513, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131ebc0cb25562cdf5d270682549b44e5f92a99d5200982474cde61920b3f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a5144bffdf36229bf0d027bbbfcdef0b3744dbdbac1eb13f85a7e1b201c962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d85887a60388cde2975188ef00b243117c2d107d5567bc6fd35cd44b42b9f92",
      "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 · 11.14 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]: [-0.2653, 1.6909, 1.0542, -0.337, -0.2325, -0.1883, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4173 left_y=-0.0675 left_z=0.0767 left_yaw=0.0303 left_pitch=-0.3711 left_roll=0.102 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.6786, 8.9368, 1.3162, 0.0611, 0.1685, -0.1538, -0.1983, -1.306, 6.9812, 1.6874, -0.0611, -0.0659, -0.0073]",
      "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]: [-0.2543, 1.6951, 1.0676, -0.3367, -0.2176, -0.1646, 0.0087, -0.0219, 0.8116, 0.6056, -0.4156, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4214 left_y=-0.0664 left_z=0.0795 left_yaw=0.0138 left_pitch=-0.3668 left_roll=0.1015 left_gripper=0.0087 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0507 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.8291, 6.3521, 1.2674, -0.1538, -0.1001, 0.6618, -0.0752, -1.2376, 7.1179, 1.7167, -0.0464, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2882, 1.6951, 1.1057, -0.429, -0.2344, -0.2054, 0.9948, -0.0219, 0.8116, 0.6056, -0.4164, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4122 left_y=-0.0757 left_z=0.0819 left_yaw=0.0246 left_pitch=-0.4121 left_roll=0.1074 left_gripper=0.9948 right_x=0.291 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.8, -8.9368, 9.3607, 1.2918, -0.1929, 0.1685, -0.0513, -0.212, -1.347, 7.0085, 1.7021, -0.0562, -0.0513, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131ebc0cb25562cdf5d270682549b44e5f92a99d5200982474cde61920b3f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a5144bffdf36229bf0d027bbbfcdef0b3744dbdbac1eb13f85a7e1b201c962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d85887a60388cde2975188ef00b243117c2d107d5567bc6fd35cd44b42b9f92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEvu60k1giBRaSFTeAlEU6bT4tUzwMM2KG2Tpx914sbpBvvEcn9Tad3hw6KOBWRtXHGsUkTB1C3_OPt9-sQu69AQKgYSof4ixshvns926L-XdpZFE6tDk4YjJbs2yXzO6jM3O-C6IJ917oXhILq3lwDIi4a1Dwepel2FAoPLh9geJx7KGJ7cZiqyMHBnN-GLlwH4ZVm61pIVnFXwOX3DacSP6Ux-WSL37vCoeqZog-hGjUvq6te3n5qy-7z66lR1Gy1uhnp70wFSsWk5edCZZPdRlGZcpmxFh7ENdXTyTxkPLSytBUUk-DFLfRnPilucRs2TIKtqb3Js_hga8i1B-W2hTTDhC0ecQ_T1Ll7hiqZBpbkTdtuNKZQvyoD5NyvsydleMHqWPk6jeNTa9zF1Bi5-jelf_HNJJJO8SP1HN1keWSQnFJ8UXECDEDR4m231gpyBFWLYcwWAZxyInNcJsc78jUR1D61RVzhqVXukHf3prv4rt0ocs5vGLcpkAC2bIdhShX69b2meA0ca9oUpQN8_w5Y62p5F8p1n1t2yZCSJLKjRKRYi3MYzRyZl6nQtbwY01WF9JLpdoK82hBcxn3JzQsvJNsko_dft181rDUZxnZF2Qrva8I__D1xZXz_2X8a6iniR7H9_SNRvCiQ2nKoasK7cTwGCfAT3Q48yC8RAHMTs26eF5vd8NSWapSERCGpEdL451e9hI8D4804BFMepaqPPa8q9-P85DQLj0penIOXG80Is740_kYIdBsf6uv20LPVeNxdDzkbGiW7FpeN793z0pjvlimhulrdYiTH6XXVLSycLtGHfN3gkudgUtvu-0j3yu0yzjLLuWy7xXilk2K7UsAUwbgznYpzlP7o9_3FBxehVx8EBRlEDJ012kcsh7NDttEnmjsPPCWO1hujWlFO2A_5TpXPIWfVPatK_wF_ym2fynoTEzGoZ4unRVrfgTE8BDy8_tTGkR7B5OdtZXLxQcFFzuvokQUpAAPAcnnTOBrHVH6E5M6aGyAF_eCHln9fAY2dJACP6R-aZLW009cnuhy7wvLFzT98sXNVZxERlPvr5CCLSMVNzgM5xDN0LxtZfISTKkNveakJumRBbUycLQu15afPUXC6gBfVywFIu5ducAPcTG0DbBFVcNbJnxTdTwS0IDbMMa47Mvbxb2qI_kBVZsJlSmrXt_PTEBpQQuHi_ZkUimxJfZm35hSqSyorEsckMrJfKbEt4sQz-tbxhWJDxWkWriZMrH2d58jT8Nc-jq4OxfjzyxhbxWgcHkrwLTT4BUUZ-EhxIHsJjEiBoMSQXduEGDd7h-S4Vl7KRMX_hjtOA09DxX0G8TZHySRJnkYeE5rgIKN482k0TMKQbThUY1n6J8EoEa2C_2-UHlf1K3BBJhmNeuLHlpiJgwDG8qFzbB39wbVpZn5uYAAesSLcC2Iq0cRuo5EzwgCT4XLY-eRsyuS7hERbcbvtl4AThhS6sNu6uY2fUfCMpaT6biO_m6jWTnwSbf3liis6Db1R-wX10q0q2LFEBTiYoxqvDoJR8yR3luQX0bnJ9CaoajvvHvWlrSeqV0EMyRg-0MIewoSyn1OT2rXfFrm8fbE86CZTGAfwVzgsyVscH6a09-i-dZ13_r9hBTHg1bZkgVMNJzvi_cM7DCexm7VWowlXszkrVvg_xxAhqFHFRiXTuCtOYiusmeHucrLzzCClQzIRz-oLNNH2k0zpwHY-FBo3gsgT5xOTrCKsVM4__mBLEv5sr1qO8a2Dhc5CNJXvq7gk19rn_xcnTn3htQjFkk1SnOKEzrDVkQRYGRTqIYhoL4EJ0kuGt25fVkOluTmoQ8yDuQT6eXLt--RBSOXplQsLm7kxxNDD45IP1YadTaMTky5YyDGUok2ue0WTXn5i76aY63NU7V4kaE8TI7UmUFRMt0PlODNN9f5wOLtfoYyEu6mgLBLbHAhD6gAvc1Bef0sjRetacJTKb6uGi6zC8n5XkmvO8p1SJUndYBp7Zh1ZqCHEDTg9_4OVNksCgxv5NCXmPV6sw75SjqQ7jGM_z3sZRd6BQRUdPT3GHZi0Oi-aH5qYoVRURZjH6CzoWyRd_ob02kU69l5TVP7eK3Ym50JsfUNkq70isF0yrhkXZA25xMdz4wyWXhmQgUE9x05zJHeptFoonF1usnKJMgaU9R-uROUO31uQV2baRx1YOksd4cz-9HjvnvPhVR2MftVuoIl49PzJwBhWTobqio267iEGS6932ff-RgYLNMQRFQ2piaGS52fTFaHXRi0yVTx_wvvREOlED98NkzxESTFwYoQfTEYb0WnRry2r6sNl2xL0wwm_12uECi2zNtS3FVCBHAcCIBnsm29Psr_p8WR5_v9NqnaBfp2sBMby2NqRnCxVWxgOxffbSM7POnMOYJc8ZIY80mQdhu3YsaFQoU0h52b0XUFNh1l_9iP0y3Wc2zNl5Ew3smK0C7KSq6rXcRfh-7k2C31iKT0A9_JD3AsbNwtICatiKH98DVSSBXmzuvw==",
  "id": "rs_05181b2170449d39016ab44bebab3c87d08c897d34c55bd0cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the small correction, the bowl’s outer rim now runs directly through the centre of the open jaws, with one finger visibly inside and the other outside. I’m closing at this alignment to pinch the rim.\"}",
  "call_id": "call_Sau4aildN3O20QyfwU3YnDcV",
  "id": "fc_05181b2170449d39016ab44bedbeb087d08b1d44fed3084c56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sau4aildN3O20QyfwU3YnDcV",
  "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]: [-0.2882, 1.6951, 1.108, -0.4339, -0.2352, -0.2066, 0.0088, -0.0219, 0.8116, 0.6056, -0.4171, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.0754 left_z=0.0821 left_yaw=0.0263 left_pitch=-0.4144 left_roll=0.1083 left_gripper=0.0088 right_x=0.2909 right_y=0.0001 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.0068, 6.1333, 1.2137, -0.1294, -0.0415, 0.6325, -0.0889, -1.3333, 7.1453, 1.7363, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e4af288f385f02e8aa8d5c452f9d4ad77b18f0f4ab9b9420f92939215cff42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4014ae0de81f50adef9534697134c3ab14447d55019b54cf22b65d921b36e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3917f0486fabf1c5a9caeec357ae99caf26e73feac4f0c8b43f42275ddeff1",
      "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 13 attempt 0 · /responses · status 200 · 5.602 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]: [-0.2543, 1.6951, 1.0679, -0.337, -0.2237, -0.1715, 0.9986, -0.0219, 0.8116, 0.6056, -0.4156, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4216 left_y=-0.0654 left_z=0.0798 left_yaw=0.0231 left_pitch=-0.365 left_roll=0.1023 left_gripper=0.9986 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0507 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.1026, 8.4171, 1.3602, -0.0562, 0.2222, -0.1538, -0.0752, -1.3333, 6.9949, 1.746, -0.0269, -0.0415, -0.0073]",
      "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]: [-0.2882, 1.6951, 1.1057, -0.429, -0.2344, -0.2054, 0.9948, -0.0219, 0.8116, 0.6056, -0.4164, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4122 left_y=-0.0757 left_z=0.0819 left_yaw=0.0246 left_pitch=-0.4121 left_roll=0.1074 left_gripper=0.9948 right_x=0.291 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.8, -8.9368, 9.3607, 1.2918, -0.1929, 0.1685, -0.0513, -0.212, -1.347, 7.0085, 1.7021, -0.0562, -0.0513, -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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2882, 1.6951, 1.108, -0.4339, -0.2352, -0.2066, 0.0088, -0.0219, 0.8116, 0.6056, -0.4171, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.0754 left_z=0.0821 left_yaw=0.0263 left_pitch=-0.4144 left_roll=0.1083 left_gripper=0.0088 right_x=0.2909 right_y=0.0001 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.0068, 6.1333, 1.2137, -0.1294, -0.0415, 0.6325, -0.0889, -1.3333, 7.1453, 1.7363, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e4af288f385f02e8aa8d5c452f9d4ad77b18f0f4ab9b9420f92939215cff42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4014ae0de81f50adef9534697134c3ab14447d55019b54cf22b65d921b36e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3917f0486fabf1c5a9caeec357ae99caf26e73feac4f0c8b43f42275ddeff1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEv62uocaxA0hL8CUACk8M6L-Smt2JlkcjvawizNow0ND3vmjb8slppNol-6qdxW9liR69RD1AbziHbHcCiLtI0Lfxzk5vQGZku1nTpCfmucVfrf7pRUkC2akvRsDBLz6lCxEIHUuDGYt5ZAR2tTzYtP2YGS6ApeT6clTMGWp8PBerGdfohUPYbhnZNCSNUSOyfcs2nG-hVYQY2G73-DsNWu9BDJ8ExyQnVfPUmbV2jngd8APbYkHWK96cQZV5zfsOFdrEllNMd_xkV81XFr3IHM9TNyM0QhAQ4u956CRcrhLlkKGeGejTWtfuXHtUYx8khvVO8VtDlIUkzdqSSEU5dAZrKC_tIufTbEhFuD3bsy6opft_JiBUc9wFje3twLP5mj3ZvfNohQku2VAwliIrHuwU2Z4qKX9M6qxV_24ilAVYNrI3yLMuh34rMWQE-iO7Z_AmkA6tuCEMySjl23yCsyqMlDPRf3Mj29kswJ0n0le3ZbvneTlrQUc3kHPMw5zV0wcYPGxIVkVBTD6k9sRu6xLWmCdQ7aPQ127dGd8E3OrAwsW1vedCxsajfhrjx7S8CXWEfRPHEhraJ2hP9zWMf1zMjFevIwwc4sV6IiH3PrmhJYGCALGVW_tfwU5nYA8FCC5SB7R1v3mKuhtC9SZk7VdXqwG-ChIBLVD6rGcwWVT6MG9yWZ_rfQVnIwHUG5IglZd3paAGDmWtmle9riYgPaj06gLVjaNOVqLhH7aRCVrvps1tRxulslic6PIf71PyzuYnNKATnSmmZkarc0HqR1maEXA77cmxme9THIkXd5fUrw1AyQPnl4GWqIQ5Bbgwxj9FspG74eQYW5LAQsdQIQf4XusanUjgT5j6kwbxN5FH7kBIJ2uiueHPP5y6oGJ6LTB5cWZgAMvXbSdBkKVuayVDLFO_GiC-BKlm_3c-iD3bLfVxYIEWRXxP2jtSxFbDz1_i9MLs6l---FJgN2NKfKzLm6rSuJ4hJS0207qwCcrVinruUd0IxNOuPITJyWpSqavu9ybguzAcBOeS0vEIdkVpWJPg7w1BDp0UBZvEQr4nVo-Hord90puebOCRNieNPRhTPCCfPkc6_mDBOZaBD1An06PLbkgxd5d8bfmlfEMH3hr9guKAIcXJolz5dkwQ19m8y5qSShFJWgwAPXKRMhgvyPdf68dYxKyEhCzib0jLLssNQlahuwz15wQbu1dtzUsYiv1bGK6L_JIE1jW7YGXjw5GDvfLUDULl8XafE3qozuHeg5bwoGHGrhnzR7c3lqZ_XyMecMYY-O2_pwx1ZCvKL4RG-OTti0x2wRi_VH0OU9y6q32vdxGWNZvAP70smuwTYNB-o0fSqdmXDKVaNfWajyllh4o6PcnIZOoZcRHa1LU7MRbsIfgR2wfB5IO2IqAK-Mpw7YaR_rcgKOpUtJG6Li3UiH0cercVbKqmOEoLvkPj_pYtLzg7qqFwMwZRFoAmkZFvsAT2I7DzqwJGALI05EPyj4At1QIBEK4Oh4e5Sp433s84dlJGdI63iXnBPazINRG_VO5HVcM1PdQG6QJRfcEc3NNU6GkEjq496YZTNANajX-Fl31Wqi7AzmcprLsFiGnAMavfSrW-JdQOCo7Z-gX7ibJ-sdGfoPBznx0RTO4OkCKcv7MXHYkqntz9fp_CD-ZEZtITLq15WFyqza-sYNUIXAIdtAmAp77MnvXrFp_dazQYwhMZ_DEF-wFHI3uulxdx3ZThQzqxvhsbr6ASuOiP1QHd7-Q4WD9170hOHaiH_vibqtLVhlOUaLwZkPOOoN4KGBd_hgHnpsqOAjdfOnBNSBjD84a6gKgH3kwhKIqXI_oM1OwG5TCBm9mQc4rEWZAWODauTVU-k_Fe7KLMD_2sTZ6UdGrBPYjDZWwrXWdz4N1yq0FEESP50sT7xzBn8MRTWRR5EnFREPB22Tq12dmUPrGNjKOSLwhVrNzDRe47Kbi2G1NlffjKHFLD3y6YnRmnpu_dTF2DHFRzKYJgnmvdp3N027jSU0GMSHW47zRVi12zifU3utiOIc3Dh2v0jpo4nskdk-YD0TB0WaaXnM9drSjzBDTcaqFehcrYcxBv2EA9ALgbVk4JXOfrmc5yHYIzUWbzBr_tezL9tnsKiXr0nMkeoHudmcdOcjyy53Ofda8OLDIsDGeta8tTWHz7-TbbM0aO5D0Dd7vLKv7ACfv1P2xYP8tGI5iJlrC25svJfHvcqiCcM6rF7lWA1oQHVK8itQZ5RaaJqKlqE1NsKdqQJEadQHMP3uJp8WwwoGpxEUQP8J9MkVo8Dc9bVYrUUUp1kCJWT_R0hTNVnKXDQ4M1nvngKzGwB_oJjo7gO2gaZ6NtltKBCrJwZGF1hTJRGTzgRPDP7qm9vM12Wf3zzPPOhenm3jFhreAXdJzOfl5gHuBVhINnd3dKMIGxTDvAK0nfGFiWW9ZvOvCj9weuNu6l1fTnPdahIi5wDzQQ4uW72ma9T_npu9hcvZNEmGOvq6k1CVOWzBXUir4lFP80TQlGpjLYpMuwOOSlIi4hwBJl7E6ouIWglRCh0ne_813ryeHDVe0bqgi2RewI2Po0TuQO9DITiB2vJCKWbb8SrNpm8XKmKK-XyjCkeYSv9UgAMcOfVnPOtgcKiW6ND8bWdiv0LyCor2UoV9J0uXi1jSl0Zzs3wxs72Wyh5UT57C8xocvpOK6OeD0kb1DvHAyn1G4eMIbkLap6aY1cLKbfHcG0wjp1m2DIRMB0lXlnAr75k4bT4PqG2SU6nsNJy1fCp_wLLqCFqgF7Q18-6EbxtNByIntLjes_2YrnJrdyNyuTwiA63JSuSVUM-fw6WvSfSURlY9-vJmXYiFMtYqHBykpRocfx8eSawSdoAaAWM-HDscb0rWGSNz1SEACCh4LhhFtRLdpNDX7YZj0TFm-ZguzIBJjtyUstpit9tgXHJ5S5HPG1i1_ww0WIImDlu0A3ggxYZKEJrhg4uDrPtpNVKa6Yo_ehB-VTzbVqWbpvQ2bWtGY8ThU69McvcHtPJwrlxKcDeyba-ULyJ_XakNi10CtoKLxl8pJxlSk6Txhv9nlpVWIUc05Yo9VvH0Upzk4gdvjFxlhHdvkN-decPKT6htcUHzdtSrO2rJfRGQ5SZmhoX2uiFqrSyvb4RZ-qTI_xQER-JaZFQgkiGQ0USmte-1Rp3WfCUQhz9DPPZrCU0bV7qCNuPOBHMc0LF-2CH5BGg_MrQh85hUM4hinVdaLXCCICQh1ZYjrOTFeBwVCar2OPn_FtQQG6bnTtf0Jg8s3RYrcHLYT7owCellaxLe0sZBwYlGiAkwJAosY3x5dtKx_-2uz4-okRyjy-zgR4k9HvT8UH-fqnHXar3f-WK4SeRCIN5ahP96nZVQNPp2Q5Tf8dPY8lJABCXPe_Ro6zwDcSuhJQJIJFGAc64NDRmW_7nlxh2j5mUCqA9dKTXOoGxd9kQNQySklQqQVYVoOCpS8t1mqoEAvQTUdY4iKHNWUdh2_XnLmv0nDz-KmBGWI_c_Vtz1QDh251vRxrb_MpAly8lLVW6jpK8Tx_jQIWw9SI1xV33DqZYyskCm5D9A6ymEJIIbTbik3QlR7gGZ15x0CFIHeWfc3MjxZYdp8omBJUTqCOQH-NFRMJVBPvHxSDSnIyAC3zqxO4pcj9r7sOnxgsB4VtV2fXZnSGI8BnFbyp8eiQiP6oLluYMC1uvNh1U04o4HiMzp2ADe3DquEWFUbXGqnsbKHpowkce7xlOzQFc2Hz3GahF4PlnDsUaI4oNbrmPRtK05sT8ofZ8wu_lzToVKy-7BSv16Iwwvc_kxCNfDTjhczPBRP0lgtkNuHJ1MiiR4UE_dGa9ICmOAqL3EWmt8IuSx55OdLiO-FFq03E-dGSSWj8EbMfPsuVkSRPr4nNB1h6-_F5_fok_-wUBapTUdsnJt2hkjJEEtdkVuzzRlb7Hy2kKR0ljggZzk5IpBCGKS_ylxPOVF9fDbueBhJfh9EqQMTI1tjEd5UFfLe6b3KTm7mdX16FEc1ZqPOiAEMEwPRRc47dajO5xLcBNHWP17UpjIQsrFxwGAu8q3feIEg4m7DD_I2ChPVAXc5sKgCA5mkVMMzSyRyCkKTUFj3L9zakjF91c1Ig6bXYZa-M8_XEqTVFlBZQZBweaY5bxjRTc0Fv1keh_O8r-h_6avAanyE7SnVHfEGe2wQshyJQChwyvbzy9XdCgg6hBrKKW1qJF1_WpanLLXt3_YuTIa385AhSOhwK8Fejjz6Ee5FnPGoBHPhTJl9vOcO2RtYkRDHE8k5SGND6RV4ZmeeVbK5w==",
  "id": "rs_05181b2170449d39016ab44bf2290487d0b9f505374e39206f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEv6wNo00D9dtI-afx9qWeTOdq15rKUEzH_h3JncRx1ag6IPUw6k1Zg3S86QaBAs5X8vjWtCE-qc1CLvvusP6pLGZblqGssdr027LRdEg4jjb_UwFs-GPTqKlU6isMKwSylngMW-dw7Emx3FyQ2vrMsbop3Xyxv5HL1TPIG_pfaAsOS6Qb01X-rbVKwJ02D5DpFADwRjjUf9Kbo8TvCtK4AQOEcsx4YvZlUrp4pWBYbKDV15cIwd0bsHM1Db1XX3or-pGFo55q_obRM-4JhWTjy3EKdUwvzonHO3JvswAdrpiW1NNLRyO-50OfJVzXvw6rWgV20h7HFByAx4sSrW9q3YPY6gHKivrWck2qlG3NN_0W3epRKnkObsG99ULX_tZVWL-c8p2U5deYos0W_g_gFNEIdOXZVpaPpFBiN1olcyuq2hzvWcQTOs1QAsZEYuIujqtI8GfGqBmX7OzyDHjKv_gYyZH4OF5k4ob6dMnwqksRYjy17SLWd6cmZ66SO1XeC7iQGi50vgbRz_eYTiRgNz9mVqy2T8f50yINGoeePy8lgCjmdENSZIbyRnQj03K1uzROXGKMzJpdOiIbYul5bfaBj6YgvPnyiMZiLfLPBmsumaV1ysdKlVEGq84wbOIH69-IAyVmfmbq6ZYYQ5gBE63JTsuAWFuRVHXqXMk_B-yw_O-P2-JfuJErunZG8-BV9PRWA6t9KatqeIkoJJS9CS6NDUT1HJrA6F5wLsEsppki3EoyCYgGxEG4JgdxHTummYEiMkE8I_MLbi0Tg-0W20Tcip-krvXyVTgCOmX27VZmKMUSFXAwYrnl2vUNPbP9PeyOHzZWZD4pwCdMz0_k8XB-E7sarr8Z56I0RcwYV6L_19LqnnfK50bUGpl9uFpaP0ej5DdCM0PNvoz3fymhq-CSM3ovdMWiZL4mNX9dFoLBh-b4ZBdiEQEahZ_2jMe2oMFSrp6ynao2p0gl1eC2vtIQungvI4Lz98HkQBSCLBH3ow36bAXFlI5yf1DaJAh4DHJC8I99962ZKTBIIkfaodM2tr3nE-o4Zmre-Ja7csqs6tFsLBPKQZEbTOc9vBT3_rX_-KNr4q9Baw-d7vX2NRQjEyNty6v_tioAf8ZFLlsYU53JaQa78wuk9c_UtqVaHUhYbqz5nwQiuz-OqWPqnnjhxyNc9iL5qg8RlfsCNU-DEGt4PHDFsusVxAVa0qwCwwP85ib5M_9vCaglfQ2H6LJAPg-JzDLR3NQY1zUjiI115nFtjcNIlmYOKfKQDcpDTPC4rm-1pfJfYUMdiZ8m35Toa-p613VvTZCnzpL4z83khsr7SFaOisdW-JieLPyp_Hsj8QvTAogmLtrIU1AYddr9cwmvYUW2LN6lgKsmldIP6XvM3eQXW6l7W-u75rxCLf-KklYvJS4zJJd5SVXWNo4ND_yuFd_2mV9n3u14pDaVv_z_ENaGgUG3R5hg1FGOJBPyx2nYd-PEUUjU5tN85iwOfsGrD9oAAoqlFW7LfY4i319FRV--AVyfRPXOPG_N7fW8OOKwVu3LrZ9csfI0RWbY5-zX9lMGFF9sjwvQdyVs7r-pSr5lkceaz-5dVW4n-zJqloR5V6ItEVMZQmVBTe5Y7goSF6Rjk2D5NcxqYn_gnxKOUPO4pacwyGRLl59nO81hVW_msTqNkziKOu7NReXoCc74fqwlGbLlvobrl1NaUoefFL4ttpqAqLixpVva641LN5qi1-mWIb27SMfc8SiYmFTFfnwyaX94-S2SbmuxVvP0Jn5LPLDDu94a9bP7LZOYKbiETE0P_971yJ_mgyrE3fis_hHyl6THvnpPNeYg7xNpYovvYRvWrSe7D-QXrffsk1KTBX19x_VZfETuGh1i-cpCOczk1KvoCMc4JAJPwYyJ6skFkff2aYvY7X4QvBVdXNDAPRHuMIKlMOCpb5gGfLGO8lJlUoO6AoL1OdCI-t-2U4SXHvu9ooQV2j89qhGHsfczp3QSLhrrKmsTvwaDRSsNhekJNYsNAg8glbSPI=",
  "id": "rs_05181b2170449d39016ab44bf7776c87d081d68f852ee3480c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.0725,\"left_gripper\":1.0},\"note\":\"The second rim attempt also closed empty, but the closed jaw ended just a few millimetres outside the rim, showing that the remaining error is very small. I’m reopening and making a 3 mm correction toward the bowl before another inspection.\"}",
  "call_id": "call_YHxhtopMACAj1tjgDnqJOcCp",
  "id": "fc_05181b2170449d39016ab44bf98ec887d09becad7dcccf467b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YHxhtopMACAj1tjgDnqJOcCp",
  "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]: [-0.2863, 1.6951, 1.108, -0.4343, -0.2329, -0.2073, 0.9943, -0.0219, 0.812, 0.6056, -0.4198, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.075 left_z=0.082 left_yaw=0.0267 left_pitch=-0.4153 left_roll=0.1059 left_gripper=0.9943 right_x=0.2905 right_y=0.0001 right_z=0.1677 right_yaw=-0.0002 right_pitch=-0.0553 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -8.1983, 6.1333, 1.2088, -0.1294, 0.0806, 0.0171, -0.212, -1.3333, 6.9812, 1.6923, -0.0171, -0.0415, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08baf284ac399d7f75712e1edded73914f1b4a96fb6e28e473f3507b27558f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c6b24db259a03c41e53b40c332b344dc27c1eeff19c523b53c07896e159a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c97d654dd568c4bf3c91230d696744a1b3b96ba0416600f9ca28f816ddfea85",
      "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 · 2.77 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 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.6951, 1.0676, -0.3367, -0.2176, -0.1646, 0.0087, -0.0219, 0.8116, 0.6056, -0.4156, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4214 left_y=-0.0664 left_z=0.0795 left_yaw=0.0138 left_pitch=-0.3668 left_roll=0.1015 left_gripper=0.0087 right_x=0.2911 right_y=0.0001 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0507 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.8291, 6.3521, 1.2674, -0.1538, -0.1001, 0.6618, -0.0752, -1.2376, 7.1179, 1.7167, -0.0464, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2882, 1.6951, 1.108, -0.4339, -0.2352, -0.2066, 0.0088, -0.0219, 0.8116, 0.6056, -0.4171, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.0754 left_z=0.0821 left_yaw=0.0263 left_pitch=-0.4144 left_roll=0.1083 left_gripper=0.0088 right_x=0.2909 right_y=0.0001 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.0068, 6.1333, 1.2137, -0.1294, -0.0415, 0.6325, -0.0889, -1.3333, 7.1453, 1.7363, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4343, -0.2329, -0.2073, 0.9943, -0.0219, 0.812, 0.6056, -0.4198, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.075 left_z=0.082 left_yaw=0.0267 left_pitch=-0.4153 left_roll=0.1059 left_gripper=0.9943 right_x=0.2905 right_y=0.0001 right_z=0.1677 right_yaw=-0.0002 right_pitch=-0.0553 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -8.1983, 6.1333, 1.2088, -0.1294, 0.0806, 0.0171, -0.212, -1.3333, 6.9812, 1.6923, -0.0171, -0.0415, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08baf284ac399d7f75712e1edded73914f1b4a96fb6e28e473f3507b27558f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c6b24db259a03c41e53b40c332b344dc27c1eeff19c523b53c07896e159a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c97d654dd568c4bf3c91230d696744a1b3b96ba0416600f9ca28f816ddfea85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwARDAqbFbLe3FcP-G-84TPAh_aRyYMZDcmn4fDbmtoA-A7YgYkEKPkIkGglc9_geyMolIEHeKL9YjRbRRcnZSIHtf7WhzIbdnCtne1fwnUz_vbM1Npo885m_GQL9yYBXwrsCz1Kn68Xnho8Kzeqms1Bv-kacMi_LrMNm3svD2FIk0loR4_u_dc--0n6Kc9khljBBFRSd91fDZ9caJ9g5_-XkPBRtldx4QQXE-jCnxCwcyN-XEfCjWXfLybIyJ2JdPUdCYt2iHIdP_Zt--ORaaGg1yaYjYjpNM7KYVI0NhijjgcFCqVb4zhv-vOEDPOxfsD7IV3z3E4Une8ulDuL5hJ0XpKgd1X7OACiLtioeyqo4BVOwtprVP1VYgyiWZI2FPnbEKonNOW30FzC-BRnSglP4He6trxYrsyCwQeoIgFWCbrYQyE0SWmLWyFfREWMFCkhpG3Z9XPmgo0OEfPyXNb4pWxsVhM8TJk5gFFRRSFV4YHX-jfJS27Ry-1EzuIqy4o--DcSsvDL70DBQJFG8cg0etxFHu55687oiG_-T7w_CB9ZPX-Qh1E8moAVWxQA0hkK-owGoHlvt5bx3UCGFMv88liJ8SruJcnxP9V8CdR9IkXo-2eiDs2epYI2F5AAynmT4ilrmyA8eyjS2xlHa6Mm4TZP6iChoj60HLE4IIOLlhwYyjy2PJx8HgzxJbZPI5UK_1IOJgbzZwgbXmaXP0qgGGCOOgSD3K2DDZdD1JIR4ltuom17d65NBymgWrvCWs_yv7hERxbALVrfpIWC5Y9BKMh67FlAvlkTcwTiTyjtB8H8yFh1LuaBUNHdzPOx6hOKXUj8nikwdPl5oqhwSjPTt2NkOeSZ7fdkeCjJMqawiAWPfRGt2RoHg6WXSSFS2SaXLrnr5T9enE7e7gMVWeV5HuwL5MHKj00RcVBSufZx5RHzqDpt878GyTJbabUGCgRF9ZnDZzV8Xfdefsdgfs9Su_EyZi2WjO4q-mwH4VdWZCXIbdfs3f1F9XS_gnMP3-FW2Tgzds-jthiSbQ9SvqOKifdKe0zDtZ9Qvo5TIPBFq04Iafudp8OaDKn6mQ5SAtrEZaBUV6oJhgjFSd-dHfNsTWdc-X7liL3d9lXt1bk57k8d64XBHr__sVKRvb3E0VEBpCpHJ-2f46vgR_OvEqKl3RYsAnhW955kis6jgmYC1M6IZuR2HuxgR_gDOC8XthBpR1eTyYrZLQyiwinQw1SmbLawJ0CD2SO6OwX6NCAQo4b0rPED7vWVXJSaYtH3AJWTtgmrNTM9-s7EFkljSRua8n_2zsjidnftrKAMszv6MmmohR2Msre-nGLZaRePo1Oh7cGx5FtQyhesHPiW3hWTBGisecSXpctkpn_8AzkQmgJLu0G0Cl3__DW0pqD5l9n1JgeeJNebQ6exqi_mZvUJ7zDr-4EfDS89HQuVth8CB74DQbuNga4ogb-PhXoZY6FGOR3l_r0xygyFsJl7QrmiIjwx0B3OHi6fv68nGZ8XoGOO6k0YySUm7uK0WjAlZzwJGglnjQpKcjNBakg1XH-oVUqJcZROqaA5407dHbCVuhchcXFcgJZQ0Y-Jv-_5dBOc38MoQzak3s5zxDLRdShgY9PqnIkQy9tU4ci-S6rPVLbY9LjCMBYi1GPG8FSBR1m9XK8VQsF4TQ3ccMwnAV9C_HE9zJryZ9bHLidxN1xOjOOg_Mlxsu0wu0HkuayDC2XJt1tFqBfEGk6r8XAlOTUO3H5bGSJUgUorGVgyJWkInLg0Js2obIs4CM8pQbJ7czYmPUb_jeuhLNz-azM8bQ3qMh3Cq_frbmSd-wsUTw8Hzd8DQQH-wLtJ6PSIZ08b-fhiQBDnROHdW6S4G-_rBjohPhIf8H9rfwJRBc5L36-w5cmwLu4ioEJV-k8QPvc08lJzeDhQqCXYGAruT7LOQ5CgA2dFGeHSwogdG5ld2tiv8gJiIX29scntm5nDbBJsdv4lqfhfRT-tPgttYLlDpRNuzxSwoDh65F9WzpQ1EXnCYJdIBfBm6y86HS9t2MT6lllPrHtkf7a08cJmfn-Vx1sHrUUK4ybGcfpFNeTnM7AR06oUd6-cbKur74gHHcZPgL-L4O9PlSzsd3mtqDS2czMV8DJiKaYSIP_ohmGGqbrBRLLPjedA1453oGPNwtmfHsjJ3V08QVCKJK0NwDsjz3vINadcHWj_BXxGvmic-wFEG5yJfFUv_lLt3g47eeI8Fpy9yJNnxhKQxt_A_TCZep_hCejnYUUM3PmPssal1fDuA8RAFWWrlZrcRKzLmtRRC6wjaSCXRVKlpnR64RbiAJ3mRXRU4quKEwfG0NwnA8-13akQze6WwFz28ertOlJCKJxFo06Ybkn4a6P4lWCJRHYdKYUiCJO3OHHEWAgwSvo9hLptv6QXRt28Ybcvl_axEMXKGyAU3eGk70iBhTzeS3FHIDMMqgDqNOl3hl_DOzKGm1WEi-hxFcbX6DoIuGFmjFv95RGhBkkZwEbXuNzan530BNg1HYSd0v4aN85s-3xBc31-TCW03nfiUeuxeKlWT7rDVL_azmsS8E8ie7Pb9Wp7UlAbrS4FxcK15GCfZ1Uii0bJW1g_qpvargC79UaFN4YcTvIlLBvUaLH9SOhAX35MD9HXWazbC7V5OJEeyOC9ZDX09asCwPqaTCOy7sOVCYw",
  "id": "rs_05181b2170449d39016ab44bfd65e487d0992bcb5e1f576b4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The reopened view shows the rim passing exactly through the midpoint between the outside left finger and inside right finger. Because this plastic rim may be thin enough to produce an almost-closed reading even when captured, I’m closing once more and will verify by lifting rather than relying only on jaw width.\"}",
  "call_id": "call_r9X9nxB36J8AbK3FakWTEQzM",
  "id": "fc_05181b2170449d39016ab44c00240087d0af26ba24817f54de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r9X9nxB36J8AbK3FakWTEQzM",
  "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]: [-0.2863, 1.6951, 1.108, -0.4408, -0.2329, -0.2066, 0.0082, -0.0219, 0.812, 0.6056, -0.4202, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4106 left_y=-0.0746 left_z=0.0812 left_yaw=0.0271 left_pitch=-0.4215 left_roll=0.1086 left_gripper=0.0082 right_x=0.2905 right_y=0.0001 right_z=0.1676 right_yaw=-0.0002 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.1709, 6.2974, 1.2869, -0.1392, -0.0122, 0.6764, -0.0889, -1.306, 6.9812, 1.6777, -0.0513, -0.0855, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e755e719dc4cebeaff4d35651b8ad49bd0270e59ca0ff1348ca7da998d0f805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf31558b0deeff2820787eb47a69aeaabff7c2672c5ed2e81e3cd47df736aee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40e473c36215bec31718323a0b46c8d9b4eb8b5d7b9eff1ff4e9f92e679c269",
      "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 · 10.85 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2882, 1.6951, 1.1057, -0.429, -0.2344, -0.2054, 0.9948, -0.0219, 0.8116, 0.6056, -0.4164, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4122 left_y=-0.0757 left_z=0.0819 left_yaw=0.0246 left_pitch=-0.4121 left_roll=0.1074 left_gripper=0.9948 right_x=0.291 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.8, -8.9368, 9.3607, 1.2918, -0.1929, 0.1685, -0.0513, -0.212, -1.347, 7.0085, 1.7021, -0.0562, -0.0513, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4343, -0.2329, -0.2073, 0.9943, -0.0219, 0.812, 0.6056, -0.4198, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.075 left_z=0.082 left_yaw=0.0267 left_pitch=-0.4153 left_roll=0.1059 left_gripper=0.9943 right_x=0.2905 right_y=0.0001 right_z=0.1677 right_yaw=-0.0002 right_pitch=-0.0553 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -8.1983, 6.1333, 1.2088, -0.1294, 0.0806, 0.0171, -0.212, -1.3333, 6.9812, 1.6923, -0.0171, -0.0415, -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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4408, -0.2329, -0.2066, 0.0082, -0.0219, 0.812, 0.6056, -0.4202, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4106 left_y=-0.0746 left_z=0.0812 left_yaw=0.0271 left_pitch=-0.4215 left_roll=0.1086 left_gripper=0.0082 right_x=0.2905 right_y=0.0001 right_z=0.1676 right_yaw=-0.0002 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.1709, 6.2974, 1.2869, -0.1392, -0.0122, 0.6764, -0.0889, -1.306, 6.9812, 1.6777, -0.0513, -0.0855, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e755e719dc4cebeaff4d35651b8ad49bd0270e59ca0ff1348ca7da998d0f805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf31558b0deeff2820787eb47a69aeaabff7c2672c5ed2e81e3cd47df736aee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40e473c36215bec31718323a0b46c8d9b4eb8b5d7b9eff1ff4e9f92e679c269",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwEjpTdPs20AAutZ2xUdyRaXUr6xMKkasS_BHouNKIcnEm7SM0TtKPAGBOcQyGbmaRH_2D-nvm2Yo-idaF-p2HAURnHxoVgOUAAJfSQaXkTFcVbLQApHr-GZLlcIEXHp63M5PkRAM0aAY3UPHCSH_EgMjcam_o-aNgPiTifezo-vP0JtGElBQJMNG8X1CAeh0pmDOQ-RSWgVAHxFYPlW2BYpHKWvsZhc3o2iahhXxDyrtyj_6TTlshjVSM3gNORiwZaouRMy3EntQHb2qYXdcCwCrcUjYZ_HGHNdmsY1ZYgMqi7FgH6uScjHImWc8N7Q4z6zIMTuGXTpe50e1U2LKrE38guGvnhYUO3V7YP4kN0HTaL4uH41poVwjFz33jAxzDb6_EJsmaQcE9jjkcMzevQXck_62N_JEtOhVpuAGdwps1NQ0ymELnoRwC5WqtcF6iKxOMmcOgG3eH_zSmz_2iuQ7bJc2knMV6vBZIcP-6LLwt-rJfxf3Rtp3f69Xwi-vNICPOHpWuEQFVt7x2OPs8jJLVbhC0bb04rp8DRAqvzja4P6NgjU1O-RGeTNMODqkFKCtd3FetEdEmiqMP6P-aTgPsJ57jEmAEOZsMM-vZmWv23CrpLDTIb6cVf_IXMkARyUI4TGz7mz0YJKWEMtmCWW5Ff3G4drWYTZMBhFUn5C_zOLGyq3WCCa8AQ1R1N6p6gbywOS9ybB8_n_MRRjEp1FNH4SlFUPEnwZ_RzWpno5jD5LT33nH-HdkupXDceid3rEUDO4fsVcMW5nC-Wkifd9u5yj6WK17OwdaByHHNX9VknkqidQRe-CxDA75xFX_xQoredoUDZ_rOnc4kXa-_6dFZ3E3K5mdt5oo8R_8f4l6OYNVFTfMpW7RUwhUhOv2z6GitksbnC3s1v2jax0ZLObjRjgi3qtRBcmSvBawPiBJZudKx1YTg3LeMMbhHl1tgWHqWxJf2wS5s3I3EMtaZ0wkFJKvF_z2yAJ0z1k7VZzvbIja4yz_OpMW3SV-3AvUvNh1gvok0gfhE0EeDDGgAOTzcaUcV50SHvBnzLcmE4qF5WPd-VSIqv16VSada0Ndeh3yGDc6LnVUydcyYYuq6GzwXvINLvGrxbp6ityH-Q_X-G0Zus_wqC03SZSTg4xEYGeiYJiyrj4A2ylH8-tmxRFq3VT7I3Yh6aS24As4I6TmwLuNPxLIOKOv5NjSWWLL0arTQcH8beWjMnRwSI6S-gjid14FpO_KHd-W_s_0V6oKXOOpUprWH2sNzKJoYFpJX2AQUXrxVt_zaEjWMFO89dVVjTziRhSWoAo9E-Adsck7nLSvoXhFUqLGjoydqOIx6N",
  "id": "rs_05181b2170449d39016ab44c03293487d0b387e39298b1ce98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.075,\"left_z\":0.16,\"left_gripper\":0.0},\"note\":\"The closed jaw is now visually seated against the white rim, though the width reading remains tiny as expected for a thin plastic wall. I’m lifting straight up and slightly inward to test whether the bowl moves with the gripper.\"}",
  "call_id": "call_QIzYRyxN7yqt0MIBfFLeWV60",
  "id": "fc_05181b2170449d39016ab44c03860087d0ae66838eeeaeec94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QIzYRyxN7yqt0MIBfFLeWV60",
  "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]: [-0.2901, 1.636, 1.2842, -0.7033, -0.2333, -0.2104, 0.0068, -0.0219, 0.812, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4029 left_y=-0.0739 left_z=0.137 left_yaw=0.0298 left_pitch=-0.4469 left_roll=0.116 left_gripper=0.0068 right_x=0.2902 right_y=0.0002 right_z=0.1671 right_yaw=0.0001 right_pitch=-0.058 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -10.1949, 8.8957, 1.1111, -0.2271, -0.1197, 0.6813, -0.0205, -1.1009, 7.1316, 1.6777, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0129841740bc5f30cb3d769ed67b31b72ca262780add2181d00cd9b76c65dc76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73832617f23b6670f46af7748cdec04323cd93c1986c392c99c94ac7f6e9251f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6fbef0ec7fec8f9de40630e45c93a8c3d8a1cd2c9c4c0189607eb14add4dcc",
      "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 · 2.987 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 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]: [-0.2882, 1.6951, 1.108, -0.4339, -0.2352, -0.2066, 0.0088, -0.0219, 0.8116, 0.6056, -0.4171, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.0754 left_z=0.0821 left_yaw=0.0263 left_pitch=-0.4144 left_roll=0.1083 left_gripper=0.0088 right_x=0.2909 right_y=0.0001 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.0068, 6.1333, 1.2137, -0.1294, -0.0415, 0.6325, -0.0889, -1.3333, 7.1453, 1.7363, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4408, -0.2329, -0.2066, 0.0082, -0.0219, 0.812, 0.6056, -0.4202, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4106 left_y=-0.0746 left_z=0.0812 left_yaw=0.0271 left_pitch=-0.4215 left_roll=0.1086 left_gripper=0.0082 right_x=0.2905 right_y=0.0001 right_z=0.1676 right_yaw=-0.0002 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.1709, 6.2974, 1.2869, -0.1392, -0.0122, 0.6764, -0.0889, -1.306, 6.9812, 1.6777, -0.0513, -0.0855, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.636, 1.2842, -0.7033, -0.2333, -0.2104, 0.0068, -0.0219, 0.812, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4029 left_y=-0.0739 left_z=0.137 left_yaw=0.0298 left_pitch=-0.4469 left_roll=0.116 left_gripper=0.0068 right_x=0.2902 right_y=0.0002 right_z=0.1671 right_yaw=0.0001 right_pitch=-0.058 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -10.1949, 8.8957, 1.1111, -0.2271, -0.1197, 0.6813, -0.0205, -1.1009, 7.1316, 1.6777, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0129841740bc5f30cb3d769ed67b31b72ca262780add2181d00cd9b76c65dc76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73832617f23b6670f46af7748cdec04323cd93c1986c392c99c94ac7f6e9251f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6fbef0ec7fec8f9de40630e45c93a8c3d8a1cd2c9c4c0189607eb14add4dcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwQ3SgLre7xqGBVQeTsHtvjkLoy0Wb5QeTntYoP5TnVF5uwLe8I2C5CuQ6F7HUUV7AhDYmGe4xHp_DvTjY52hZPt9zDACC6hvPuwd-ThIGCdnda34ZmfaEns8gWaRe6vIYDqHMvo4ddmHJu5QNWE3UCqn52eHxjA10fkS99WK0_bMsPDNQR9i1DHGnSeogsOJMgCwYN9-wRzFS5PInP5smQz0GHUBqH3SblsKzZ6k5koKKz2ewqORuYdxjUNr34xTHrVjiqollv9dtLzbMD91asOE_iVi9fke6hCz67eFtlHGhKrahU4nkKCvOlccLXHPPrN1w1psDqQDme5gWzI_DLLGTVn0ZSxdPaJ8vBRDYs7V4mfcKE0-7c-rVZ5n9yn3e4IQqA7OSIV5ZPB3bBnFyKJlg7DYK8HSfRjgEsutuG0aSlcIMENzN_snhBhT7OcTs1h0YlBiv0VmCfrKiJf-WSTjLRInTv78A3rVCvrKf_Co3raF62wDHIy1z8ilpz1qedGQWZ0dskRFowFqv6uPgIdQR0KdlBcXHOLWAKXtVIK5-3-etpxdX4cD92dkG92-Phi8a_W6OYQd0F0XE1UkQHqpBj7RlM17M-4uhFuxvsjFZ5nts5jBWaelvh3IZxBGHiLTyyoaraY896a2d3JtGAewYH8V7w0OI-5slrUwG4Z5-YMOS30mxMSXQtsi7Tu73UaBsNqVuh2TYe9FcsxZ7kjItl1d81BnW9Y-I98spImbwILVc9_U42PIyztNeQxEnS2yo63uHmUvhfLXXUTIGgnsj-TojNqaSMdmGIDewCo_JK1LjwVSWTPHRXTCfiW4AIKtlIBPVs0KV1Z53evJlM5mOe4lm-FUb8a9-dqdZ_fPzQgoO1dBMFQ9WTqBIYUPzHB68fu8ygYZk7qFjAIJ6oyQzgos5NR8zdcncdjlGGLZu15CPWQpGYcuKsjt7l_tOZoCmTwAlnmVkwrTqeyZcD2I9N0o4hGKEhOJNhrqNL7d0yge0Z74NHI1Swhj08XPX3s_MEuI8Ali6HL_JozBzFUjvt86qvmOMf9SQn2czCDy_VM-SihSpN_NMtyhFYXYPkTLMOoE2l3MWrd1-tFqC7Oa1R3gXfjcsSm62CvLMlXMtNJUxegzJKDtAVOoxJ020rB_ooEKVOdE_lyNYtowmIBh199HkaAacK1FSYUBDRat2WHGUYxSKxWCG6IqcRHQSfLVY-3u9Ms3En4bHenuX7-EUlRanbQ8v1SBNnfOZLHHZesTNio8OVxZgm-9prkzx3hnw2R2_S-nxN4JUVnVS6kJ7LUHqhTrfzNsyPkux5gAwjK7vExsJmoGmzJZ3ms7texAHklCTmaqS6FsQ9AfvnC2OHJBydGkEr3xZVYZM_CVFVcjK2gwtmGWkyqo52QnFIM1Jb8Yt0RhhPGwK77TnbGdXbA6VvkBaVCQusedlkQ5PyAFYyc23bOsWO7G5vav1LJ1J9MRSRfA1Jo7OnE_m3JDxi6O9SE3aCtSph2vfCygiUHEhTW7QF5uEwn6bUhGczBHM1i0jHc-3rHLJhJhZWP99qXTIy8a7qWkEjMkueMuB-EG7Ak34x4qwo6xFa_pEQpw1GGAJb-VSYc0EjCOen1BgCK63eV6OUy9Yl18mkTVQXDe9dB9PA5HknWczNxecMkazI5PFpKXsok6WUiXHfW1kYfgmXGZ8xyBOl7EZ4bvXamZx-LSWxOb0dgAWmSakL0p9MBkoprr2V9dD-_ZDVSFwdmJ9E0Qp0zAlC5C-2Pyzx8XC2ZhDM9PWMk7iEwQmXyjmFAZMx0qyGiCaO2dhlovnB8jg8kL7-mt7NdjipUV6f_EH0Xe4_E01-4_sTsOdWZcdtEaf0Owjfb7dTJgB0yCcmS5Re6ypEU8xABCz9MtVTFDJAL9HbbXbi9V8HX8_O72QO4Y4SdIvHVAK4x2QHfukDl6Wc37h0yGr2Mh__BUb6il7cr8oGRcsLMFuQ2oELzRq6IfsTv8P6V8d7XlEp-J3-6H9ND1G1YZ-urRUvivvi2LaV7mlsCZDKmE3__d5C6bfjai-HUBHBAYwP9k0Fsc4o-UNeYhjtFfGmDTOun_MBDNhuTtoMznbG3v9tw7OdmN_c50olAARkFcs3Y6Ws6HaLyojnDn8uQi1rCX1e4kmcXGPgbraO4X6QmdiGUEd6RuMn_9M9ERyDK-9PpSAumXbcfEKBrTD4OzfvQcAvO5rAydfGSZSUbbgvtKv2_qRLPHnT9pTHGPfp7QWMPu8vtTAPoYkrT_faoMQ8FmfpAYTJwZ8F9X7gt2qXYD1kNT4U1Qw1rXIOIV66dh2NuhW1R26TsC6CDxnedywLdqiss2S0Fkgp3KuSz-LvwUWAYzFO95aYOXKblx_ZlHYsCkqfzi-ncIXLF7BahDOnQKknEWvK4Lqd8X83Y51086psOgaAmiho_SyNPbqPXZsCfYsBmwLc-VGppml1koOfJBcIglVqVE_0GvHg-Y5jKUAqPx8vrEc4QZSTQS-gNIW8x81sx75c7q20noP94KsBqgNmEmCu-4hOoCKPCAOnVbqTbcR1iXFygAfSWDHCZzZ4ysX4qohEOCNrygaPlwclLiQySqgMldfcqnamTOfYjna-JJ3I3fYcXqBebWqel-3ggyVCFnwUlXzNBjk9W_AwD3jN0IoQ5s9JW0b78r2UPeIVtjXLPlGRMcDHWuGn3p3fMwmt7GDSol0NJKKQ0mrv7Io0unaBFhsF_zQ9R7VMnEPpaDIjR7XdQDSim49mTQvASXUPOKbk2tc16r27B2D5T77pOwSv5Gr6tuCZp_pSjGmOyQNNg0NafVog5DwD9vJ_nlrMaxZ9qKYwALwlO-t-ZFYOu7Tjo7d8br91y5HcFBLMUxRkgXaH_KnHJBNEi-OzKRcWga50vwclQZHFo1MSA2kj0KQ7twjSZx9cYMpk9r_G2tje3eeZyBXB37ORfwGmJhL3U1gPw6NQk8mLAmgjWykPCqAjfshvNEjMf6saK0D0Sulurqw3gXkaPZhgjKpnQiCGL1CbsiOc51C5zYKDADVKlB0iXfmdpNTheNTahX_sA7cP17g3qLs5NAmtP0oUlci9Meho8dcgKxLt078VbyMZ4xe3TW1oV4uliMH3sNb5T8RJbsIwkbmzVIywiQzKUlePL-B3heFwMNj_BYHpacZ0LTFiTPcd4GI5-gKpChW45bakZt-kTbmGrWqjiFhm5asS92kaWGfD_7iViJ9HFqPfxwXTX4Pdupavp8PspWdByIe76K8-Zm54FSrlpn1uToFoSNRpf03wSWkqW_sBySo2PxF1N08XSq1SidvfzpPe7jHjVr6j31aD5kfkjodiWLFYmSvV2csTg3JCy65HjR-9Lu1HwvqUK0thchFk499uHg7ADBDr0t6zYnnoFHD33jzKx7CNkVvjgnxWRYo2binpIA540i5uyu2b50WOSCj9tSGi0grLkIMiPL9adSH8StMUXhlVhjahKiSA-QbGIwbCExFOxxkAN7gSpj5W50aHVqeRkQ_jwO0YXUmhRER-tPSKgOtkozaV20HVuiXa-cohqkIWls2OQFvn7QNB06sE2x3Fkxbl6IHWdbP7HxLGD7-rr-Nw-Ca_C8D9oFWoTYlfAaWA-Vbedpxis_eMHOdggwFCOKZch-HzzcYwRu4rwNFw21DqA0ASUZcst3af0SfPlwIVVjf6miTE40nLEJx9N5Kau0h0FZBKiK6IUqOkgtgLYW08RTDWCRawfIaD00yBOVBYeCHn7ECOl_jSdp6LhJy4uh8mhHltheFKvI8oOP13nVUX9K_ZrhJsQzqOc443rvOsHFVodMdLjaA3Po4z9D-cpjNTt9CgIP9wh7X67M8nQsNc2JyGmsLC9VQN5KMdWdz-ndXxYvuyLuBUgcTKMEQW39U2n6xmQ5dx8pweoPM0NNV-vZZ-K3z2t-MA6t9aYvBfRw7-Ccj064-X1MVfOT5q__wh6rP4M0RKLOVSfs-VJvTXY19Fte0jVIF-RlAHUzuR121rKnvIlusDw3VPgvdfBxy_4bGbUD5nn-34Qhmrnf_9VizEpwiszKHUnMrRnUI3EKQG-khImKIFEcOXWF5VcP1jv0i6nwrPYGqMTs_LCayhtUaer27k82tY-_jxIgKnbh_c2rIYZcsnUdqBujVKTH49AOauQRkS3w9qs0zP4scYhohXfJu8EKupUmwDtRG15UIPcxWiVOCGrjxeQvMJyLwFeHpNlTn4OZYqNj3bm1R6Jm4H38IrLM1urGEtyc5Bauuy7Xfwh_jUtdoMlSVCVUrsJ5EBl4YBEncqc99uyGAgDhwSSmIVIhMa7IpGUZDYDT6vM0cu_UksxVuzm-xS",
  "id": "rs_05181b2170449d39016ab44c072b5887d09876178f74cbeece",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwQLqp8gVwZ8Oy9mB6cC4-Qd8N3LYd14GZbXRcMf89EucGn3tvqrAigfn3rsVGZSundMgZtujp82mIcvMHOKjjbe_6qB1qxvqrBtShQBYC10n31vyTNuHUCsJrIS-7lY5cbvJGEDRjuZKd_BeA1sPGEqismmKIIOCmMtl0MTDujw3rAJfjhlVmaGsnxktf0GMmZx-TzGHDBdZO0E_pQgCjADZUjLPgj6G0saOroVRNugqtVyn98dJF19gUH6kLo2-h88NN40Hzf1zV6lZYsR2iNFuYSERvRPSZA74jNOJnSs7hm8-Oxi4Bhs_Uk9QBSP3A13uDvCsplklhU10c3jHfSTSd5GedZN2XVJTq4qSej2BAY5Gf5ON3f01ZXE44bHp_YSrIKd2STB_pj9_k0nPdCTvU4BhzK9VfHiZ0ukG5bC6Sd64WX8KiaVgL1OKjz7JDLgJrPsOXWS2c3ouS695U9IBUy1u-ShhE2_lHc6oVF5gulRzljI1UBaayb7G5fmFOsx4cMKBBTAR608pHmj4R1IWrYeNig8YVy47k5qSajCFTuQTvhWU7L1yU-XiSMlw1TeaJk-QyT0JKRaeSe_jF-4GN_vSre-LRT92wMuVQMu11ajvOJUhIfJDX9YDIVr1w_MdZVGKVVJ1ObDiizyLCZPKayIOgbFJxyCGYklr7CahX8JCRnDOOGVfUgoLSNw5lNcA2ID0fDWkbc_9Y3proAoRDMsL0BSL-Vr2AG_Z7vOXLvyG00lzpM4wERWPNsJu3nmrUfOUpxS3Tm8eoyY5UNmseojhk0XduVoN35SPu1dwEVKtuQL6SMFbZFSJSXP570Xms-v-QHLCVDzwcb4GkepxllG6jU5bjmyTOzO_k7JDzvU6hz1jRUgZPIqNmJgBpKkt14d6TvzjopMLuRVPlxeVPCwTmAjx0rpBm3608WQ89RljaXLwZWXpTWprxQWc972tdqzl9v3zPekOctsN9zJD0Skkm2ObpT87Av1WMagEUyXxSyDie_nBYLk_B4sEucoEGpHVO1K8xUtwnYm2W_S2kJz3tDu0u04tBsupCP3kwyAfKPw-2KXIQXsoZ2Ox2Iirkx3kcLkDIhT-46_Q_b0oIISWTIQFDPEHqH322JjwqDK-NQsnGCuFN5ZpFu2RHgkG7_VBwVN9hdvvZMXaXgGdcyscONekoe4D9YZ-WGexjJQLCePMCoFY5bPdMg1H05rwmvDwDxq4El3G3KYjILoABPvnk4J0KDHsntAImwOI0q52mYtfp-RisD3gpm1Zdrlgr4mpRMhlQ9RQGGBK0qv4c7gKZwaVMCuqPfKrYipm991iyBts_FD-C1hGCqpC-LG8f0PjrI0KzMi_iTHEKR8Q0Vczs4rZilXE6qfAnW2ACj86ZRSkHm3B6B4pa9RygJF_K_9DMre4Fy7o21-ZM83ItNr1JnFX1xLNOcb6pKOhBHiuZRMGs8-RF4nDhcjSK3TZZV61hDeJfAs0E3EF0EiZCXNm6ykVQLXy7qJcolC7Z3uXh5ovKaD1w7_OfFogDm0uVnDGTPQUr9nBQA5uPYBduRMEeJe2lyOcDwDtgeNtzTj2YwFfaOSQxeoRQv6g7ETo8y6vwyRL1VI79IgQMuJfP1_Bha1H5OUu7TTtM-cF4X5g9ku30D1khfww-yqG6vJrL0FLfZvSDqgJnVxA2sZPB9WXXJXFnSvKpwoX--8y6L0wRMBVo-HLL9L5ss9V7j7mXGz0G0Ii3yBpJrAZlYpv7WFV_eviEeX09d2pxBZhJKunoCR9QzMvF5KMkbULaC-0zuuitUi8wWdX2pS8jbfjnzQC3ZtTmkw0rqWtCnUp8axktHSQn85bAtqz5WlF0NcrJ2uTfoHjBv9uJLBNnXM90nQlpCgW4LeezFkaUZxd9V0KnvyIpLxztVIOtXw5MWMjGX1N_YRn_nv9Yitw-ZXIUW6JnXC7LIAFmaxmQyhWjLi5N66tGahIP7XAaPvlLW0dlEIrCY225lJmlACqpHaPdP4U_ZSk1P6wZINKsYTfm1dysBjaSV8geXTlMQXM58EdUOnNY1FMary7LVYJ6_vNar9VTpkfuiiz4UfytUImNl8gYjpxOXFNdoNP5DFvgrg9wT3oqBIKRTnuawbGZa1KIGYc4QteK1wtDupSD_m10WlxYxzgduU9HNwHU0ShOIDkTfzh4ssB_92JGr8_lGdC1axGqJLot7_9Byzpd5IsplBfMjwbSeOAZxwV2hzkHNKImEkd3wy9vm4JjHCjRZymP2yuJ3tX3gEBgm8IatasTScx1SPzHTwzcxaCrqUK8oVEOxpwsPPahJM4i2a5Jx7lcWZlklYqKRDx-Hsevc06_U498pDvS0eTn-RPioD-Tl0v7dhw86hEThX6tMzVcTq2kQJ-yRrUcMBVLDnqZR2idqrmYsXcHBL50vk5Cv1RNVWqnNzLnOhH1P5HZEgmNqR-eHrGFDSUwd2IomHAUKssw=",
  "id": "rs_05181b2170449d39016ab44c0c855887d08aba5a844e1ee517",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.08,\"left_z\":0.13,\"left_gripper\":0.2},\"note\":\"The white bowl stayed on the table during the lift, confirming the rim slipped away during the wide-jaw close. I’m switching to a narrow pre-opened gap and aligning slightly farther forward on the side rim, which should let the thin rim enter between the fingertips before the final close instead of being pushed aside.\"}",
  "call_id": "call_3pYh4ymBU4jm0REv6bATuxLl",
  "id": "fc_05181b2170449d39016ab44c0ed40c87d08afe695e572941f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3pYh4ymBU4jm0REv6bATuxLl",
  "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]: [-0.2928, 1.726, 1.3392, -0.7197, -0.2321, -0.2092, 0.1963, -0.0219, 0.8162, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.0785 left_z=0.1197 left_yaw=0.0338 left_pitch=-0.4961 left_roll=0.1339 left_gripper=0.1963 right_x=0.2904 right_y=0.0002 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2513, 9.4564, 1.116, -0.149, -0.0171, -0.0708, -0.0889, -1.4291, 6.9675, 1.6679, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17443ec5826938c011199d905678d1fe8c48731a08a4c151ef6c839997d622af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfc022f2c5c79da274e51e04f2682740ba4dbad76177811ecb3c7d7c179ea43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d448d11ad486084184d001de354842986881ee20d4181fa1cc42dd97e1687f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.09 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4343, -0.2329, -0.2073, 0.9943, -0.0219, 0.812, 0.6056, -0.4198, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4119 left_y=-0.075 left_z=0.082 left_yaw=0.0267 left_pitch=-0.4153 left_roll=0.1059 left_gripper=0.9943 right_x=0.2905 right_y=0.0001 right_z=0.1677 right_yaw=-0.0002 right_pitch=-0.0553 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -8.1983, 6.1333, 1.2088, -0.1294, 0.0806, 0.0171, -0.212, -1.3333, 6.9812, 1.6923, -0.0171, -0.0415, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.636, 1.2842, -0.7033, -0.2333, -0.2104, 0.0068, -0.0219, 0.812, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4029 left_y=-0.0739 left_z=0.137 left_yaw=0.0298 left_pitch=-0.4469 left_roll=0.116 left_gripper=0.0068 right_x=0.2902 right_y=0.0002 right_z=0.1671 right_yaw=0.0001 right_pitch=-0.058 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -10.1949, 8.8957, 1.1111, -0.2271, -0.1197, 0.6813, -0.0205, -1.1009, 7.1316, 1.6777, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2928, 1.726, 1.3392, -0.7197, -0.2321, -0.2092, 0.1963, -0.0219, 0.8162, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.0785 left_z=0.1197 left_yaw=0.0338 left_pitch=-0.4961 left_roll=0.1339 left_gripper=0.1963 right_x=0.2904 right_y=0.0002 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2513, 9.4564, 1.116, -0.149, -0.0171, -0.0708, -0.0889, -1.4291, 6.9675, 1.6679, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17443ec5826938c011199d905678d1fe8c48731a08a4c151ef6c839997d622af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfc022f2c5c79da274e51e04f2682740ba4dbad76177811ecb3c7d7c179ea43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d448d11ad486084184d001de354842986881ee20d4181fa1cc42dd97e1687f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwTtEJkrsNnFlevNJaEx8LvVj_u80nKtTf2FT8TZQMQxFBPE84zdoHPYdQv5ve2SZIHM_b4QyuKRsV1BmHiXDlxdKzNCSMvpYqYP6k_yTM85-J0QlHUcsxKvbzC_sZZJ2v2BJ2PR552-KVmVpvbkXpVSTKEIZ0gTopXH1vknUTY5xM2YzQ_BZToXbBAXPD1t1MwTwruk2rMGsGuQneaAcLm3wiMcZvgBy21TWicMgsjWcqsELD1gVFkMh6M3m_5bj3YCg1NJdAehzl7APIfaILHNHD3MxgIT_W_I6DsnLO62MUVIqbOPqXTWhZP3H4diFWrByRlbRaM6nV6BJdV0tmyqXagkMXzLY3TWCzZhYFgEnXPhIZdQDDEHDaK9S5WHoAYisl6RUs0kZB659rSYf-j-gWVmQwMY6mbQQBe8OJ4AR5QQZhbCkSiBk7UPRtMCeBy2xZrMffijdX1ernpqxY3tocRp5aK2HD4Wu7UmX62-OPpvazIR1wzrX4kGwwaho1REVL_RpMvWwdqkLwoRE0r6mNyBx8lyhpoxanFifyf0LJ_AFfXj9dzUB4OuRihbo4vyhX6npW9791VFkU6zXOCkkaraw5eZ_O_aYNWaBHMVHyMnOV-EeVfSaaXWrnjowgIaikUF9KkEgaoazlYai-MWx5gYV6CmuCNnsh_TYzD8AEuN3FiugKqz1WhyjVCK27Fk3QaPiMicPTc3gJ4kPzuGBmMJeUmTaEBYxh5V9w80OZNL-z9Tq7X1LchHSLdExcn35PJGFyA8OafW5G3ij6X9HfulMBoSTwUtEJQ9VV6TftePiZhwS_mNMGe4QXmtXUDEBP2SmUDqWk6Z9vZr4jLYiFC31lQdO1_2Pnxkt6JE7ceQSbiy2hXKkSQc1LcBwDnRMz-97-amwzzS08jQHU9IdGrDpUjR3wQrGF7eyQowLcII8ADB9R8oHdXMw2YCfOMji9OkwtINTOA8V9H2suznE0OyUx0dUyTgHlUl9RfrKOWLYZQ61GR5mHXsm1L889D5Zqk497yaQcThfxUEclnZJ-qNBcIgEKEcUk5M-fqPiSiMHQ5JIm6_pZbo6BVp4kqp1HwsAKApHrbnMn_vDGJZYT-j-a-hjamIjkNWFHQrthAW9DX1hFD9aRtkd5Zx1npPrEaVu6AEGCK9S5T7yPmatSXYNjkm3h5zIPskFnsZdZu2hA08wL9OTbkej-gAEE7jo7lLmTSt61uF10jQC9zLKjKFfVXUviDCYs3pxcjlXFkPyoRS1q6m9BCSZFFJYj6WLKGZ2si4sMN2wyo8mRr1Q9tap1hTl3nbZ-fKOKou8OHq9hM5gM3irHtgKsialyMJ-aywX759FP0x3GqE3wtj645jfDyjusnpF5gZAk3eV__SrBXnE3yARGuwivf1rwlFVaULA31GKS3buE6a_LIVlTaw14GNdBMPQDZ-oqghub47BvaXrIq-KC3JOLIbdUrmAQZElBoGx7N1tyjTcQdv_4gh_H_Wyjt6gL7wGHUFSLrjfovkM8LOpA_oUupZdsJIn7svaDNoNb0jMldVfqzv9FM6ODJ9gDz5xW4pgLeDOysgVAzZiwGn-gIvQJWZ3Y9Q2yQ9ElQ64RIXC_PJnZ94EkQMYSnaln01LVtPhMit5QJ9kcEeCeVSElZIn4CUq30PL4zBp9Utj9Wo_GAzn2ZgxjhJ_yB771EL93rpnWrH0N2bCx3BlAtlVYN_m9irU2V",
  "id": "rs_05181b2170449d39016ab44c11797c87d0aed829c739c5ccf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.08,\"left_z\":0.07,\"left_gripper\":0.2},\"note\":\"With the jaws pre-closed to a roughly 2 cm gap, the white rim is visibly centered inside that gap rather than under a finger. I’m descending at this fixed alignment so the rim seats deeper between the jaw faces before the final pinch.\"}",
  "call_id": "call_S9ncTYrMILguS1VtvtNX0xDS",
  "id": "fc_05181b2170449d39016ab44c12407487d08a8e4e70ebe77261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S9ncTYrMILguS1VtvtNX0xDS",
  "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]: [-0.2897, 1.7588, 1.3502, -0.7132, -0.2325, -0.2092, 0.1998, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.418 left_y=-0.0784 left_z=0.1112 left_yaw=0.0399 left_pitch=-0.5104 left_roll=0.1399 left_gripper=0.1998 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -9.9624, 8.7726, 1.326, -0.1392, 0.0024, -0.0317, -0.212, -1.347, 7.0085, 1.6777, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9333090c14c5fef07c5ca95d6c52fc3583c016f7e752d5013e3f1bee0aaf3321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce439a34e94ee05d01910c61a7d293f8f3f8a7e94d94187cd81c8a54c3d167e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e9a7f48e8026a4507bb6750b075abba72619f8561642c1ff4219410085b4ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.605 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.6951, 1.108, -0.4408, -0.2329, -0.2066, 0.0082, -0.0219, 0.812, 0.6056, -0.4202, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4106 left_y=-0.0746 left_z=0.0812 left_yaw=0.0271 left_pitch=-0.4215 left_roll=0.1086 left_gripper=0.0082 right_x=0.2905 right_y=0.0001 right_z=0.1676 right_yaw=-0.0002 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.1709, 6.2974, 1.2869, -0.1392, -0.0122, 0.6764, -0.0889, -1.306, 6.9812, 1.6777, -0.0513, -0.0855, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2928, 1.726, 1.3392, -0.7197, -0.2321, -0.2092, 0.1963, -0.0219, 0.8162, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.0785 left_z=0.1197 left_yaw=0.0338 left_pitch=-0.4961 left_roll=0.1339 left_gripper=0.1963 right_x=0.2904 right_y=0.0002 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2513, 9.4564, 1.116, -0.149, -0.0171, -0.0708, -0.0889, -1.4291, 6.9675, 1.6679, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7132, -0.2325, -0.2092, 0.1998, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.418 left_y=-0.0784 left_z=0.1112 left_yaw=0.0399 left_pitch=-0.5104 left_roll=0.1399 left_gripper=0.1998 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -9.9624, 8.7726, 1.326, -0.1392, 0.0024, -0.0317, -0.212, -1.347, 7.0085, 1.6777, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9333090c14c5fef07c5ca95d6c52fc3583c016f7e752d5013e3f1bee0aaf3321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce439a34e94ee05d01910c61a7d293f8f3f8a7e94d94187cd81c8a54c3d167e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e9a7f48e8026a4507bb6750b075abba72619f8561642c1ff4219410085b4ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwV_sVOb7k8yjsVMMocpzFgJJphLBCUJjM7IOQQqQxKASZywoaB-DQpKnsYwa93ZaYAunA8F7i2710-cxDrLZ_PtgwOCmtLfwxWRUB7R5zu6vtJ04oUMnfJTV4SUZYM-B_CwLpOwEuo3DDta6BFgHYvHJVscWtymLmx80st4ZslW710t0CiGIACo1wMJ_hvIjK6blKRooE2AMJFhG7mDoy_ZWOzdJEXFfPo2hjT23Tx_9nS-SJYSKPte3yWemwGnW52aCsw1d8F6P5X8blkNg4LjCLByhvJ28BDnxNIvubPDDzcAXglsRu5dqgyr2gBL7cK73zwoNsSLq4QUztqHEKs3OoWpDlTjOVR6ce5ITDi29nrGlkCxvgs2vh3XBFyfoKShuiyHFa5yzUhLOOjgh7mGEHHh2BgVrNUg5JuO2wgwDAqJuMbZ7R5JXrEO7YRkoN31UXdA7W-FNJEJiV5jqGFApS_FudcQOSSz3v8QVWnrNYPo3FW6MoTxfw1kAHKfRq5KUxxiYQQtp5x5wDcUZ7qQasMyp27PHhHxNuR-UL9vrcP0y8lh3BBQ5Wg6VaWQksPptoY5dQhQaYScS2kDWFqeGpYfWEv4vzW-TdcQJlGmE3B68G1MIpJtsv_7bYLJjRfWeL8zX92nZaH--BTQFQTB5V9_81C146sYSr6DDHAT8mEUYMJ-ZRZ2RACx21IHjlot6QZWgGRtniXKA4ezeu2gF2q1G8I_K5ceA1ImJi0XzRQEF0PpzmHdeYEJdCxETbv8sKeMtq58C5RzCqr18GL-8jbQy7WC6lSSjSd1gg79huNCVqwsxiOp2FYIbHrNeIkLgtXBPjqdFnAHhjSJRmseAoQDqWv24sQ0cSFK8d9ChvF85i-jYPF_yJltaxXHNAW6zuUwEBm2Cpjbb_YTeXauZhX0bxyBhPhe9ItilHHxCJlkReaj6TWZyjoFOHLGr9Ek35ecEbc52pKkkQeN5fMw9Xla0QRu9Os6TnhGP0HLt2xjGe7lZucgimAhNcYgrPt_tWeI3VL3a7z6d0SjVQhagKgaLkfP0HFqHpRy6I4_yTu0XVThn-Eq36sIuFVaMbRxhl_Y7oag-p6ONCuKFWetQBFVwlAjYAw0Xp4LGB2aig7FRptTYli_94dksDxDr-IWaCLpDAU9YY1Ex_S4ufRBVlGvDYfXh87NZIAA3JSi1sPJjH5Eu0OvbvIR3jG_QR5SD4AndNFNJXNy1hAsWc-6KyCW_UAqaoSUNufeP_421UJoTQhzgMfZR40tA9PnyPsPiLy_9lBoT_tvfaY6c8oXg==",
  "id": "rs_05181b2170449d39016ab44c149cd487d0a595535907a60789",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The attempted descent stopped with the rim still seated squarely in the narrow gap, so the arm has reached contact or its low-reach limit without losing alignment. I’m applying the final close now while the rim is constrained between the jaw faces.\"}",
  "call_id": "call_QbkS4leHzYbPwIKSi92mGDbR",
  "id": "fc_05181b2170449d39016ab44c14e59087d0981964086b32527a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QbkS4leHzYbPwIKSi92mGDbR",
  "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]: [-0.2897, 1.7588, 1.3502, -0.7128, -0.2325, -0.2092, 0.0107, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0784 left_z=0.1113 left_yaw=0.0398 left_pitch=-0.5101 left_roll=0.1397 left_gripper=0.0107 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.335, -10.0718, 8.5265, 1.2869, -0.1099, 0.0073, 0.442, -0.1983, -1.3197, 7.0085, 1.6679, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add16d594d58e391561f2d8ea56c9d41b16a8b68fd339231663bc6503007e355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95474fc7e5edabe706db51706b256b007df44754cde8d70390e7ce731260fb51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780b26148fdce8867b27f35790bfdf77ff409ed5d223519c6f176615e45166c2",
      "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 · 6.807 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 73 changed as sent

message 77 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.636, 1.2842, -0.7033, -0.2333, -0.2104, 0.0068, -0.0219, 0.812, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4029 left_y=-0.0739 left_z=0.137 left_yaw=0.0298 left_pitch=-0.4469 left_roll=0.116 left_gripper=0.0068 right_x=0.2902 right_y=0.0002 right_z=0.1671 right_yaw=0.0001 right_pitch=-0.058 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -10.1949, 8.8957, 1.1111, -0.2271, -0.1197, 0.6813, -0.0205, -1.1009, 7.1316, 1.6777, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7132, -0.2325, -0.2092, 0.1998, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.418 left_y=-0.0784 left_z=0.1112 left_yaw=0.0399 left_pitch=-0.5104 left_roll=0.1399 left_gripper=0.1998 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -9.9624, 8.7726, 1.326, -0.1392, 0.0024, -0.0317, -0.212, -1.347, 7.0085, 1.6777, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7128, -0.2325, -0.2092, 0.0107, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0784 left_z=0.1113 left_yaw=0.0398 left_pitch=-0.5101 left_roll=0.1397 left_gripper=0.0107 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.335, -10.0718, 8.5265, 1.2869, -0.1099, 0.0073, 0.442, -0.1983, -1.3197, 7.0085, 1.6679, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add16d594d58e391561f2d8ea56c9d41b16a8b68fd339231663bc6503007e355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95474fc7e5edabe706db51706b256b007df44754cde8d70390e7ce731260fb51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780b26148fdce8867b27f35790bfdf77ff409ed5d223519c6f176615e45166c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwYsW5JXbzid98w4cGXrMadpYwKir5DBtofVvfoTzuMkt_v5xyd3isrC4QVw_ALVxaz2XeFWKR1DZ4a4N6I99lMiy3R0uC0iac0fUz8s6O81bXjJL7L-fmuSLVQgw6-lKLD7yuIYXnxb7Pi6vTFTadny2YgD-Urh26n_4iZTyNV9YlfjS_4FghUokZFGEMZtArsUAgV2-_ve9M71yi7niMgYDPxl0dGjpx6oqg_BTFdysE6xervXS-EGUmb_3AnYLfYh1xi2kdozsh_FfMCXG5Z25H9xF0yIXZJUO95Ypyjh03t1frMaiNEb1zW7148ygv3fua_CKJ9S-7PcovRWUjSiiPDBDd1ALbXqXapvNWnfutzb3dxz7iANGZb1HUt5GZkfhqD4NAyactsLn05UNAh1bdCh-7lsI2P3Y4G_wPPKd_LPYQLdUVi6Qt3MX9bDm1BcqPhmA6jzNHU9KCnaJlYm9dciRn-uxw4C7wLMxfsgtpISzMu86oPfUt7p39T8DXZF71P4bZYtzqabEs3OaCN7gjJwCoC0jmByXe2YrPbJ0o9nU2F4q5u82h3CPZADB7d19wdsnFJZNJHTwxi7VaEK4jvO5vnK9flOYmdkZZaU-eXRWGQRh_6vFkdP8SA5U0RsKtm9YF9xPZ_Crf-O4FtLX0kNC5KwzODR0TEi5-euUHP305fh1Z4rcc0tuujbKIX54zzmTDu30bpFR2vjabjdLN0DIdDo6rpmQH5lb0875I-xLehYQ2mEpHJQVGInERfEeEJVLJ-fRt39M6vjtRJG6UYzi3v4l1rd6BVc7y3zgXUXe0F2KJSmnNmxANR_XkeGyHUQbVaYuFIWtCDypS8EisHJC0XtryXMWFZ7E0DgGmLeuRpIOOmo2wVXzR3ALT091xjEso8Tk2stYjws4e9d9elonqAkpoQ4vP0sXFe_-GAN6Eiv0T9yYZZtHu3qID5u-3fZP4XLAtSSXdeZ8APZHxPFz2233OSwadugX4xA7dtrZ2pLuEs5ZcNy8nh6py7_hX-xxHUQuoPrRZCRon3vqs0RZABv_00ELAB7qKNW4dg47d07_k1kl3ztH5ka_ecijeHgCjTeEqMEsfRmw5FL_0rmHPogbMtIicGgVqm7cLCAwDcLsjh7SNCHnaDvUT1TNe-DWNEZlHcyX5kC9rsUJ3eDfGHKKyxng1ljsKdZix6dHSPOpb6ZHRyfNWVGnIQkasENEQ5kcJYGv1XHC-DJNA6v24xtozXfTh97-BFKUs=",
  "id": "rs_05181b2170449d39016ab44c174e7887d0a86b306e9dd4fdfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.08,\"left_z\":0.2,\"left_gripper\":0.0},\"note\":\"The close completed with the jaw still visibly against the rim, and the pre-closed approach reduced the chance of it being swept aside. I’m lifting higher now to verify whether this constrained pinch captured the bowl.\"}",
  "call_id": "call_uNbFSUOOWqpLdBOtat6tLgNr",
  "id": "fc_05181b2170449d39016ab44c17791087d0916c925955ba0860",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uNbFSUOOWqpLdBOtat6tLgNr",
  "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]: [-0.2981, 1.7626, 1.4509, -0.8246, -0.2325, -0.2195, 0.0067, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0821 left_z=0.1338 left_yaw=0.0405 left_pitch=-0.5233 left_roll=0.1398 left_gripper=0.0067 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.9641, -14.0513, 11.3026, 1.4823, -0.2271, -0.0366, 0.6764, -0.1299, -1.0462, 6.9538, 1.6923, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62dbe49b7ab8c730ea0a8aa364db9252bb2a3b55d2e578d1685301dcaf33e89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c1c5b000562ada9a9fb24e05596a1d152e73b91df7b6833ce7ce5dac9819cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3754a4337b124cc4819bba18a0a34bd2db51b10be298c5d6d9284b64fd486710",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.989 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2928, 1.726, 1.3392, -0.7197, -0.2321, -0.2092, 0.1963, -0.0219, 0.8162, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.0785 left_z=0.1197 left_yaw=0.0338 left_pitch=-0.4961 left_roll=0.1339 left_gripper=0.1963 right_x=0.2904 right_y=0.0002 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0622 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2513, 9.4564, 1.116, -0.149, -0.0171, -0.0708, -0.0889, -1.4291, 6.9675, 1.6679, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7128, -0.2325, -0.2092, 0.0107, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0784 left_z=0.1113 left_yaw=0.0398 left_pitch=-0.5101 left_roll=0.1397 left_gripper=0.0107 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.335, -10.0718, 8.5265, 1.2869, -0.1099, 0.0073, 0.442, -0.1983, -1.3197, 7.0085, 1.6679, -0.0806, -0.0806, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2981, 1.7626, 1.4509, -0.8246, -0.2325, -0.2195, 0.0067, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0821 left_z=0.1338 left_yaw=0.0405 left_pitch=-0.5233 left_roll=0.1398 left_gripper=0.0067 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.9641, -14.0513, 11.3026, 1.4823, -0.2271, -0.0366, 0.6764, -0.1299, -1.0462, 6.9538, 1.6923, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62dbe49b7ab8c730ea0a8aa364db9252bb2a3b55d2e578d1685301dcaf33e89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c1c5b000562ada9a9fb24e05596a1d152e73b91df7b6833ce7ce5dac9819cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3754a4337b124cc4819bba18a0a34bd2db51b10be298c5d6d9284b64fd486710",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05181b2170449d39016ab44c1ac3dc87d0a44394bc4ef870ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.14,\"left_gripper\":0.0},\"note\":\"The bowl again stayed on the table; the repeated low approach is limited by the arm’s reach before the fingers can seat low enough on the rim. I’m moving the closed gripper to the far side of the white bowl so I can slide it several centimetres toward the base, where a lower and more reliable grasp is possible.\"}",
  "call_id": "call_86WR11uD64RldVdtUjw4azdc",
  "id": "fc_05181b2170449d39016ab44c1ed61887d0bf7ffd2d514d9c69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_86WR11uD64RldVdtUjw4azdc",
  "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]: [-0.374, 1.9972, 1.6928, -0.939, -0.244, -0.2832, 0.0066, -0.0219, 0.8181, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4437 left_y=-0.1245 left_z=0.1076 left_yaw=0.0407 left_pitch=-0.6135 left_roll=0.1663 left_gripper=0.0066 right_x=0.2904 right_y=0.0001 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0645 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -12.2188, 10.0308, 0.8913, -0.3834, -0.0904, 0.6667, -0.253, -1.388, 7.0906, 1.6581, -0.0806, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464df7bc8fa430e4a13b7787ee1e6aba1f1fdb584b0b59eee670bc1212472298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b06f7cf7cbebcf51bc6886e4153a6ae8492ea827887984dd144a3b5f4418805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f07fa05cca9be404293737bacd0c2116f13fabb671434dcd244d5c4429c58b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 2.465 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7132, -0.2325, -0.2092, 0.1998, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.418 left_y=-0.0784 left_z=0.1112 left_yaw=0.0399 left_pitch=-0.5104 left_roll=0.1399 left_gripper=0.1998 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -9.9624, 8.7726, 1.326, -0.1392, 0.0024, -0.0317, -0.212, -1.347, 7.0085, 1.6777, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2981, 1.7626, 1.4509, -0.8246, -0.2325, -0.2195, 0.0067, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0821 left_z=0.1338 left_yaw=0.0405 left_pitch=-0.5233 left_roll=0.1398 left_gripper=0.0067 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.9641, -14.0513, 11.3026, 1.4823, -0.2271, -0.0366, 0.6764, -0.1299, -1.0462, 6.9538, 1.6923, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.374, 1.9972, 1.6928, -0.939, -0.244, -0.2832, 0.0066, -0.0219, 0.8181, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4437 left_y=-0.1245 left_z=0.1076 left_yaw=0.0407 left_pitch=-0.6135 left_roll=0.1663 left_gripper=0.0066 right_x=0.2904 right_y=0.0001 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0645 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -12.2188, 10.0308, 0.8913, -0.3834, -0.0904, 0.6667, -0.253, -1.388, 7.0906, 1.6581, -0.0806, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464df7bc8fa430e4a13b7787ee1e6aba1f1fdb584b0b59eee670bc1212472298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b06f7cf7cbebcf51bc6886e4153a6ae8492ea827887984dd144a3b5f4418805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f07fa05cca9be404293737bacd0c2116f13fabb671434dcd244d5c4429c58b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwnTQnj905nmvlGpxjCYU101BXRqFXY_763IOdsn4NG5dhFVXDv307d4OO15YIms5L0lbj9-gOQm6BSSjbcdv0nfFmJU-OrORoJRutHO6AVWnmkNmAv_GM6rTWSjdLJizBDtuimyR44YoSNbvITEC4myNfn-HQqTTbcJp_R-ygqKcargCowXXvI-IY-yjDXRDrrnn5wJyNKq7Vj_dopkpWRdBdNmo-TNxlEWHutrnoruwOLtFq863tcZQaEXeY6jZ8__i1C3WjAeHiHLddxjANsS2uJLj7fscBKkkualIPnkGjrbjbifiS24Gaz5MWTMQpGIHjphphCUvQx8Css7KghWDbT-694FwJT7T6UjSt3-l9_DImXmEcsChBAHta-cNBpuunZJbntTsgHPoPVtZQJ9bCaWuNTw3RDNsfBmMjpNRSIlDd6-vGMQ_AjFSvWuvraL5_o-FsdYiGHGBem1mbN08gnMWlw0XXCwIAIkDtiTfqMC_x1p3O-p8b52jVMePgSutHgby7LefezvxSIXlFoPiOYKm-VGtedUDdyPvBgI_pgZBxGlo7gNHt2h5sU_kIUZhkBR5YdZ-q9dlEgXwjQyVMCh9NoiB97H1ay2VqtRghOo4xRUH4owaLh95S9hW2-MSKV1okFAd6q9J3uoKR1MNNieLk_5x-zEWxU5_SfO83nbmiFuRXW1zZOjAowQgEzrafuPm8vV90-UwQMe04O2ZUjA1dR6l0X0M5nE1G0gbtFXm6UZ4JP4dUdQk1rK8m5OXlurej3Huwsulml7GVqcM9gubzROrm5E-vWgCcit4y-uMLIbmyaQMFHAr8k6217rMpjN38DWZj1SkmelSqvX9h8YziLko3D1I5BnaW-oS7l45_fztWpGijXZsXJhOg2lzlbVz6Fqqpw9WCKUwdp1YVrArbhVIO7E3vtxFaBsevBTz5pny1ODzFyjmoPXuGGODku7xPxrBEsk5nPAvfbbgGjmTJATnamRGZ445BP-nHq8V60voXIV1-aYIMbUb9etKzn3nz-k6YeYvRnU6smYok92MkJe3VvyOCNqxzevXRBWu2ZzFIQ6HubdIzKrGGpORqqpZd-mhPhd9qKKH4-M1NIe0qrCFQUVGeH6bHnsS6dpNs6zcgad7TwUCI4L3YSDIgvLvF0B5f3ROmfYhRFT5g8SiC8AxWPskHK15oXbiTbL3TOfoNylqzxA9Pxrbwl1VqsNg7j71JuIRV8q26Alb1ZZksIY0ZuAfEEObIlmwCuiwEja62L9gWf4asJCZ6B69m5u2p0hCFLx29SyaH4M-wvf71hkOZ4EehVl9RZZn4umqCujEKF1im3IU0fApZ-RL1R9Msy6cBGUSs0wtTgufMQP67NItUFB1TyQZqBRdldB7s623shT_UIt6Qihunw9OaoZHsS3Q8dtA3b8xtpjNdhPtd2UIn6Ps2LbryRRf_4V4yUdUrTxHYZTxAcEgd20mRNFLCw8muVXcmLqZFmVfnvKA76AO9aUUwQZ4MgOiS4QDfSX0OgVJIBCOUqZT8UEcBA8tGVYPgi9sNGBc7fIHN3MVITv4XdjP_yMV9xkx-rgD7HYxJ4dQE4AHOlgAgtWJuczWud_gCMuEaAnC1qJUeLe54jb3YtgOt_Qr1GWp06_pM3fuIUjmDkOEI6VytT_CrGp4UGrwN5fURqmq5tY5GlSWi4uSE_bWW0BAlz2xXtRZUz8JYxkDWjSzN0MwJyqnuaHAfRycmiKuDsrRwMUoZLz7bM8PI0xBdYyGGlUKaiPdTWX_nf4UN5FC01P2faXv-Pb-uJkYtk61-uF-ckTagA15w7ZMy8Jj9rrRH2XsuA8cYO749aypBxY0XsFqYK6-f-liymAV8SqxAhZe3sgsfslA9Swx_8tWBVMkcvTEpjny2MgaChmpQjxwnlDm02_UmUR3C2FUaBlT8MbrLVkUYvIn6R4GNv1jw4wxT9gx9_X6tG3pXY0sog7bO-4IhLmCQO0PtVc-nu9Xb1PmdVzK3VMvsFFAlvkpTjXIUcNXoDeLF79mScbZzE50R85NinO93zqWQnTx-yBLoz-k2tfNC4v6GJMzT2e7rR9bEVyIAlTVJ7xszMu9rU1aSSUIfig7XTTKRsqSTtptyu8EzYmUIQOPZvcQi6PIPcZH_S9FZNP2OlddJFDZPNl8AFzy9sEDlg6LfeoIHIZk9c3p0oKuJVB_mMLlt5Y6ypupr92-0O9TU-HK1ss-9pcmiM_WebCems-y69lTDKdkGYYh-AcOmXy0lNq6OtcE16vy0Cdz7r6d6vDE4RsSjLWFDlXbdO_yTIk0ERc1S4M7iQn7t6zHVDMel3PAO8qq2cK2E5O-4PZ0ZwTR5lKjlhHPAHDMvXDU2HbXMi9WGnAnM_L1H6yBD4Rg4X45HybPNzX1ysYvnzNF-dOKV8FB7UO3CW6FdjZ1Uv2ANquUAEIUew4NwK0cYUydJWNBEiM4ch-m1dpag5FFTMMztMOw99fA95k8mDhHQXqhqm2jCGpqnorX4yxP60y_M7632Onbdw4s2vux8Hf9UE2CiVlkLs6Pm2X8WK7VGP7wE2-2xr1ssBasNtt_z7eGhwgwZ00NcQC2BZDoEvj1OHIHm-f4rUkCu6UbcNVyRxt3psg1qta90XyiLuuIZcuEeWNlQ2nzhMXpBYEFL5Ne7Hv-zuombRUFLeclR_mtlkKMbD3GdCi7izf0JOKre4rlCGQVXVce7XCkEFhqzWXvGgvX0wvU6JsuElcrcEsYxMMvzfamQI5h5Tt-TU8lDlt7r3POpMz0xdD6ESHdMrYkQSQivFIoZXhsXDn2igm_64th9NWBpZkWUKlsd-JDrOPRC2OGViBW6-Ws116rZUVmzEbR-Cl4XdNKBw7hkQ9wBEbkSw9PrwOCzZxgN56sJJhQvv2qZw6_dBNeB2Z6ehuto4AZCjOYAOGDqTkw_y6zdwJBzS43FXmR1ZjDEfghqdryruEamsgUqubkeq5dMXB97-Uty8wK0er7EDwPM2ZsZajtyALATgr9A0CwdQgFV4sCKkndr0oOWZSTjY6_v-PJW06ApaO4gl6agF2Jdlqb1tWfAGLzGMxQBVKLOsRw==",
  "id": "rs_05181b2170449d39016ab44c2203bc87d0a3210c46dd560838",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.18,\"left_pitch\":0.4,\"left_gripper\":0.0},\"note\":\"The gripper is still over the bowl interior rather than beyond its far wall, and the low extended pose is forcing a large backward tool tilt. I’m lifting, advancing beyond the bowl, and explicitly pitching the tool forward so the fingers can later reach the far wall without stalling at the extended low-reach limit.\"}",
  "call_id": "call_iJU67m236CTOqw4Ae2fN6wvM",
  "id": "fc_05181b2170449d39016ab44c259c3487d0980ef4341f4ce6e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iJU67m236CTOqw4Ae2fN6wvM",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4702, 1.7527, 0.9009, 0.588, -0.5861, -0.0166, 0.0061, -0.0219, 0.8204, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4776 left_y=-0.1291 left_z=0.1704 left_yaw=0.0343 left_pitch=0.3424 left_roll=0.1666 left_gripper=0.0061 right_x=0.2905 right_y=0.0001 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0667 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.4462, 6.0923, 1.9658, -0.315, 0.1587, 0.6227, -0.1436, -1.5658, 7.1316, 1.6532, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7011b3be3fec8a96ff2794eebe39f59965d1593198b55add6cf43ccc35fe15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57d40d1659d309d9996cedcb6eb29da77e189d7857db3fc8d0c0aee27a3387d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7448fcf14c6efab522fa986ef575a3a40d3491697af78eb8c52970b05fbc8325",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2897, 1.7588, 1.3502, -0.7128, -0.2325, -0.2092, 0.0107, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0784 left_z=0.1113 left_yaw=0.0398 left_pitch=-0.5101 left_roll=0.1397 left_gripper=0.0107 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.335, -10.0718, 8.5265, 1.2869, -0.1099, 0.0073, 0.442, -0.1983, -1.3197, 7.0085, 1.6679, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.374, 1.9972, 1.6928, -0.939, -0.244, -0.2832, 0.0066, -0.0219, 0.8181, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4437 left_y=-0.1245 left_z=0.1076 left_yaw=0.0407 left_pitch=-0.6135 left_roll=0.1663 left_gripper=0.0066 right_x=0.2904 right_y=0.0001 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0645 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -12.2188, 10.0308, 0.8913, -0.3834, -0.0904, 0.6667, -0.253, -1.388, 7.0906, 1.6581, -0.0806, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4702, 1.7527, 0.9009, 0.588, -0.5861, -0.0166, 0.0061, -0.0219, 0.8204, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4776 left_y=-0.1291 left_z=0.1704 left_yaw=0.0343 left_pitch=0.3424 left_roll=0.1666 left_gripper=0.0061 right_x=0.2905 right_y=0.0001 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0667 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.4462, 6.0923, 1.9658, -0.315, 0.1587, 0.6227, -0.1436, -1.5658, 7.1316, 1.6532, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7011b3be3fec8a96ff2794eebe39f59965d1593198b55add6cf43ccc35fe15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57d40d1659d309d9996cedcb6eb29da77e189d7857db3fc8d0c0aee27a3387d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7448fcf14c6efab522fa986ef575a3a40d3491697af78eb8c52970b05fbc8325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEws8Tj6vQz6Ev1kAJg66bwhFKF0sy-5nle45DQXsFC94LBtPQLIZAy-CEaHRuQWuW4YSqIVbRGw6K6-RnZ4Z9Sd1Z730qhinVWti9acM_Ju0p4lybKLtTA8JJ9h48KCYoF3-eKZSkIq6sYO1dGcYuiV7UQRUjDVi7eGlWG-sUUOzQultLdKft5Znn-0-yz30emY4NXbTC7DshAnIWDgHDrOFfuPGZ8D_WkSHsZd5xnpFCMyGpdhnlc7wig1Kj7D_eiZswOlNvjTl2a_Xf3BMRf1uhiei5ol_6F4eVKEuQQiA11yREetDk7dy405GE1kkb6cC4i_cfhXGLnP_d14qaIv28U63NFOENksx84B9wdQtAuBKVPY3mPgOn5iov3MyC786uI0DZ50hVOQRso_0KG7-7uDrk2fc16s3fgtDsRChnjrT1zoo3ovaIXX5Ug9u1Y3w_WjoLd3WEQ3Hzuwd88znOJTtnUfnrSaFr1xx7to6KZ_fBVak5Vw3NDyBCF1NzI3ixo7Zi0ThmDoG5H8P5trIE_Qkb15dAiQhfhvjCHT3MtAOOL6m41bWjdTKmmZ0oM51jIobn2AacxU-lsJI5TXpKjKF-F1knNJCwLL-A3LFe5OjmY_WerhPZCXN6Fuqc6eIAF4ixnNxwO1H1e_hnZ77Kehha0sIVJoOPdFD_ml9EgPBQekLrb6E7mKPr5v6Eno1GyOUyyiXkNL8IBfD19NlMvyVIu-tDQI3BfVDq_kBFOpX0gumlKZG_6Kyweb7OzfRIYkuJQrIYcYdbj_rhpNB2Brt64cMUWCDNCiXK32x78jsj8385UlXvqD5gAXFhWg7h_nF3OyyOmHyttVwCa8mHgCjniVjSRhiSlzcXr8F1KFpSlX-JouOYHqoXe03kaQ7fTCQhkTnaqfpbrfQ55KrCIfWsNN0NmvV6QQRbZvhW5rPgKaujtIfe_5cxSVzRadxY7WlyPwOGlxgBE51Wl9etGt7oBoua4rbMa08XXPLLn85moXH05YUXBqXub_3GNQGQNY9TaamY_5j_4b4ENoaSZeD-AxTiiIyiio1X5yF74J4Q66wH7IDOnqxPbkWPCKQbncq5iwOBrRO33VG8sVA-_JiTRUWyA6anAf0sXJkSLO45KJmtH1t6ihV3pJkh6EAdfOjoDu7aMIAg2qPVFq9rKmo5WEoNbSKaDKfToLzX9IyehuGaS9EEolIew4x2MpFcqFfYfNW50zQQZlhvvNFw5TyWCSDAPH-Rn_7wWaMObmens_QmE_GcPQlp238VaD7dIFVwjXU3S12bk4zhYR7atP-QYW_jVDVIT6ziSmeikVlMIeDvfDC1WVAQ4zWDy0MEoqcJZo0pYEBSOB5FCRcA==",
  "id": "rs_05181b2170449d39016ab44c2b9c1887d09a173f2715d3a3a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.06,\"left_pitch\":0.4,\"left_gripper\":0.0},\"note\":\"The forward-pitched gripper is now high and clearly beyond the white bowl, with the bowl entirely behind the wrist-camera’s bottom edge. I’m descending there with the jaws closed to place a narrow pusher just outside the bowl’s far wall.\"}",
  "call_id": "call_GRWKHg6K4b7BCxsAxOJZ3LmX",
  "id": "fc_05181b2170449d39016ab44c2c020c87d0a3847c1d824cde19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GRWKHg6K4b7BCxsAxOJZ3LmX",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4717, 2.138, 0.7933, 1.087, -0.5995, 0.004, 0.0061, -0.0219, 0.823, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4783 left_y=-0.1281 left_z=0.0546 left_yaw=0.0341 left_pitch=0.3473 left_roll=0.1879 left_gripper=0.0061 right_x=0.2907 right_y=0.0001 right_z=0.1641 right_yaw=0.0001 right_pitch=-0.0694 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -9.1556, 3.8906, 1.746, -0.0464, 0.1001, 0.6178, -0.0342, -1.5932, 7.0085, 1.6777, -0.0806, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742a9e5e45ded5c49ce71760ff23d18db626e418f8242252624a586658987a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc095cc2fa17609b01109b1ca963a865793f1dce9b7427cb14b4a66c50863c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae4fdc7d7e16e3a1099b31548b39d9e801fef00c69b8e442a1bd93546f4fa82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.852 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2981, 1.7626, 1.4509, -0.8246, -0.2325, -0.2195, 0.0067, -0.0219, 0.8165, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.0821 left_z=0.1338 left_yaw=0.0405 left_pitch=-0.5233 left_roll=0.1398 left_gripper=0.0067 right_x=0.2904 right_y=0.0001 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.9641, -14.0513, 11.3026, 1.4823, -0.2271, -0.0366, 0.6764, -0.1299, -1.0462, 6.9538, 1.6923, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4702, 1.7527, 0.9009, 0.588, -0.5861, -0.0166, 0.0061, -0.0219, 0.8204, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4776 left_y=-0.1291 left_z=0.1704 left_yaw=0.0343 left_pitch=0.3424 left_roll=0.1666 left_gripper=0.0061 right_x=0.2905 right_y=0.0001 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0667 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.4462, 6.0923, 1.9658, -0.315, 0.1587, 0.6227, -0.1436, -1.5658, 7.1316, 1.6532, -0.0513, -0.0464, -0.0073]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4717, 2.138, 0.7933, 1.087, -0.5995, 0.004, 0.0061, -0.0219, 0.823, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4783 left_y=-0.1281 left_z=0.0546 left_yaw=0.0341 left_pitch=0.3473 left_roll=0.1879 left_gripper=0.0061 right_x=0.2907 right_y=0.0001 right_z=0.1641 right_yaw=0.0001 right_pitch=-0.0694 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -9.1556, 3.8906, 1.746, -0.0464, 0.1001, 0.6178, -0.0342, -1.5932, 7.0085, 1.6777, -0.0806, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742a9e5e45ded5c49ce71760ff23d18db626e418f8242252624a586658987a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc095cc2fa17609b01109b1ca963a865793f1dce9b7427cb14b4a66c50863c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae4fdc7d7e16e3a1099b31548b39d9e801fef00c69b8e442a1bd93546f4fa82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEww2Nh7YnlfUaD25w83_KDETg9XQERjNUQmOaYyqVc03Ymi2WhjD06mDFFNQ1_AhqgVl2DtNLzXHYWBvTdhLUYwDfDsduGHl6F3poBIq2MmO8gOkd_4sD7E1HKYrZ_cmNO5FAHKcRmztWwmOrKXniK7Z14gXnl6PMHIzAJN7moouPZz6Kwu2ADa6TD6HeZVB1c7UNAhEaioYFGxuJOa5LWWESliNUkglOU3qGBSlktDkDvaWyKBoqKcKRXPK-LeubuDDKsL14L4rhuMzgN6ip3WT-HxXS1A7Bd1p4T1_0VKP0ACCc1VV4o7-Q5WGLwASe-eokED_hifOuCgDCUR2CqB_EQtc3wA0pK8rH00oF8lLXv442BI70fk3QNzUqnX6Mq1978j7zBUARjK9ANpyp_qTwtjhPr2AfSKt2-bMw7-p5ZsjOWiE3eumyWaUnRb95maLq1seXCQ5Ae-9ap6IPy5X2efvJl4fQmP6iwV28IpfMP9xj387YMaxZd4txqMoUbWLG9TqaEiT97WisSkB9-yX-49Fyh4Dbo2Kxma61gEtxiJBKwaPY5xnWo57JRy1jODex7Rvo937RduiD7muKszQJT0NxAKHaIB54-0I5cLqJiuQchCukw27aWPK8N7Vi57wptapmS5t94kWgYRngrKAOgYonvxcbtxFNUa7n5Vdg-BxP4SBN_FO3CT28Ylncc1yIn99jOi7ReiJupH-OqRrWytLuDONl77fYtL-_2VodbbD_UMoCRZeonPjRmffh_N9qY0tthdF8081upkTXWbMDJCzHNFLmSm4LfUOEXpM5pGsR33sO3gIEeBqKnpcm7mrvjS9l8myIN4KCle2J2X8oK9H9j9bJkpipCvxFk0K7Xw25qSz-IVawtZg1AAmRKppQxmKuv02_sBr7U2zgLTNmvsUnog5wTgCrH8yGq5GOpKOjgY4fQDaMk28pyRJfASKMga4LPSUjPpuipuU8U0MHfE0JUY40f5CyHjMWwaO-S6wazdxpaQtN_RbM-ZV5Iqhx1yW63fuTABRI0htMr6TPNLEUjDXLn1jor4gpl1soNhCSwU3Nep9bVx6teBX5AKkfY8f2RxKI3JrrYYiaUocLssgDoFOQpATdJnktaHQsz-m3ia-fcPLwTL2aOB1Bb9VOg_o2G9YHP7MEzEi46MEfCzKigCjF_OM2cFff3WzPVr5RKjMrZTAgQq4452TmfayzbLm9VrVkUPiYxwk3MlOK83t0v8sVNwlCrpX9QUYs6B-bkGb4ME8PE71ybCoATtVpxtwV9OSSa2H8C_xo_qBMn2ZRmjxnVj4aMXSe1yxCMCcWGev6DFtNtFdKoIga97kKytAbMc6mehghXqo11mxot8g8k-6eizj6TqNy0BsvAbGFet0lpnSNeWqCaFIisj85Bc6tXrMbBBbc9fCCR7-TMG58HGzYC-1P13_mnra-FVn9D-NNbE9wVJ60at9Qmg",
  "id": "rs_05181b2170449d39016ab44c2eeb3487d09d77f34eb4fa9a2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.06,\"left_pitch\":0.4,\"left_gripper\":0.0},\"note\":\"The closed fingertips reached the low pose just beyond the far wall, with the overhead view showing the arm directly behind the white bowl. I’m retracting about 12 cm at constant height to slide that bowl toward the base into an easier grasping zone.\"}",
  "call_id": "call_Y6AzUzz312C0EQJaIPjoWoxa",
  "id": "fc_05181b2170449d39016ab44c2f63cc87d08a017e2ce0d9f278",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y6AzUzz312C0EQJaIPjoWoxa",
  "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]: [-0.6918, 2.0167, 0.387, 1.364, -0.7952, -0.0238, 0.0061, -0.0216, 0.8249, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.365 left_y=-0.1339 left_z=0.0514 left_yaw=0.0013 left_pitch=0.3724 left_roll=0.2084 left_gripper=0.0061 right_x=0.2908 right_y=0.0003 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.5812, 2.5368, 1.6972, -0.2125, -0.1001, 0.6178, -0.0752, -1.3744, 7.0359, 1.7216, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31884bc90502ede1e545a02cc172a4d9c4d6f9f848d673d5cc36f153a7c9cca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138039a401b41467fa9b9b499af6536f4a1af30f4ea63f91e1d1dab803d52bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd65913ea46cb662d9a80e2dfca40268e49e00a2b08e30f36729afa52baa422e",
      "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 · 4.521 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.374, 1.9972, 1.6928, -0.939, -0.244, -0.2832, 0.0066, -0.0219, 0.8181, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4437 left_y=-0.1245 left_z=0.1076 left_yaw=0.0407 left_pitch=-0.6135 left_roll=0.1663 left_gripper=0.0066 right_x=0.2904 right_y=0.0001 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0645 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -12.2188, 10.0308, 0.8913, -0.3834, -0.0904, 0.6667, -0.253, -1.388, 7.0906, 1.6581, -0.0806, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4717, 2.138, 0.7933, 1.087, -0.5995, 0.004, 0.0061, -0.0219, 0.823, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4783 left_y=-0.1281 left_z=0.0546 left_yaw=0.0341 left_pitch=0.3473 left_roll=0.1879 left_gripper=0.0061 right_x=0.2907 right_y=0.0001 right_z=0.1641 right_yaw=0.0001 right_pitch=-0.0694 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -9.1556, 3.8906, 1.746, -0.0464, 0.1001, 0.6178, -0.0342, -1.5932, 7.0085, 1.6777, -0.0806, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6918, 2.0167, 0.387, 1.364, -0.7952, -0.0238, 0.0061, -0.0216, 0.8249, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.365 left_y=-0.1339 left_z=0.0514 left_yaw=0.0013 left_pitch=0.3724 left_roll=0.2084 left_gripper=0.0061 right_x=0.2908 right_y=0.0003 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.5812, 2.5368, 1.6972, -0.2125, -0.1001, 0.6178, -0.0752, -1.3744, 7.0359, 1.7216, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31884bc90502ede1e545a02cc172a4d9c4d6f9f848d673d5cc36f153a7c9cca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138039a401b41467fa9b9b499af6536f4a1af30f4ea63f91e1d1dab803d52bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd65913ea46cb662d9a80e2dfca40268e49e00a2b08e30f36729afa52baa422e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw4hQqg7qYHLFIm5gDJYA6Nc8j22K_Ccs8NuxUiI1zfQJvcsXj-GIpN5DVnwCL14CasespJEweJ_r4GcxD1Cf921ixivyrNx5vWcNiJWPwOQ89-Xhc1do7uJimd8XRXk7emp9RYmkrdEhVZZwi1WHM-rtq0mRgtvtItkTQFlFr8ToMpQ6TADB_CZPqnFA98TYPwT_xhSWBrNefrDK8fWgdiS2xddXUj7fopVO0LZAMYvMjKQ_79R6NJe4zUFm-_IMCucirdmNvZ7BuJrQcLvwY0u6eJScs9gunMKN2fqgAbEbVF2dM9X0Iipeq8QbrzCnrZU_6IWUStdB1bWPodmYTk_UkB8oXi7BsT7joB_0EWMDbl-88tZ16deOtzZDKmWAHvj8YuozdVSd-NoCbUIxIdin2biLgSWWeZjMScMT9i-WfPwSFkZpi7j5BQYRLzi2hz_6Jal-ptb6OosbGmZnRhySFN3Uuf2MToAE2a8WtVt70YGJNasWNFHy3LDPVYhnuMb26Z7KMNA3s8oy9cpez7l5sVBE3UGqr6uyJf2MiT5NzHlQtL7csEZFq--0gn-3q9Tk3IRPnwUBZ6d0tge0dEbqnkexVqykeTupZVnSBYj0o_u74Cgs3BJc9xDcUOLvvn8_da-vq81ZdyRemc6P_cDS0XxUHem7MvkTbgAPfhzBiU5S0QiM-1LY80Dl357Mp7OCKhlDYEPqrQp5SobbwgkOBK63FfSUUCT8V52lvJFfjZHvJo0543kX78fRZuXKfErmbpsxJ2O3gSMmTyDl86ZPvx1AQgrsefsGkxbka5-4KThY6Z9f_2KfJhEqh1tX5GY4qHbVBRULlul_U5l_J8gv-0YwSWeiRVU8214hxA0Ovdb-1Oc5r6EPDggl1yy-OkcIZyi3lDuLPjGmuHcZOxxo4aMgLB_WkSBZx5wK7wYgtJClVgMH9m5aKdHvk3Xme8PeFWzL66_Auvo4xU1M4OU_nKmYecjq7Z4FsAvCxsdp-OGFD7TrXuzCBtSZ5SKzRKE-1wUdVfih0biewJ-zGBV2HOKBdV_8O3ICAl2T3JhqdKjPFVOjFy6vVs7eWmD-VmYTyvs2Mm3tB-nx59ueFZs3-gkpUUpYhdcNWRGGmk3DhHo5EB-7ooe8sG_VwqrGtM_9b_R8MA0fpwXxIWJywO6j4JlcXo3f28SImZfFR-wbTU0MqgzLQlxGreep0tPb5xbld21xLkxcyCzaTTkys09x7lfqeTMizuYJnm96dBIJTS_peIXz8vpf2Vv00go4Rh4BQo1pXm8KRSahPDJ42gHB2aV0dzdfMBYfANpxQzN7RP-ggVd6E1Us_1QvhXqshbZ_vcaQRsjb1WsT-8q2e95ShzQtaTNbkIb3J2bvUIDQ-3Qka4PHhvnw0rDzZ_t_fR_p9eKgNNcjL6O7y2qbJV77Ec1gUDrLfj5BEzq9tEag7hK6zzTaxd-g6h9ukyzmazUWOCNZhW3H4gH9KJnhTqX8gEzqbLGEkvy5tCkoYT9tKqirkWL-9TacgZoI-xBLc4J9EdlevjXuLBaYa1h1G5khPiIdq_Vdtcl9TsZ3h2rH0qDGJSf6jaN2arOC9gBy0FIvybtlA0EM_LlkUCMh8hOLLux6x0LhPo1qC3RU_xXzmPgtMc8fV_1rWKA8MMZvpTCZPYZB52jwHtraX_pPONpMRjLCGtKNWyCsqs5ya5IdQ6EqZG3ApAOv1B3L0YEWVng8Eowd9DTwbGGybenf6kwTCDlH6Bm8JR3mkJ4vgmzn_gLKJf1nm9QQsLaDFRbOugXXWOf-KuwPsQKjqSagHjLHA9UYc_1M6HXs4Xy0Xn518ThtnphnNeWJT8VDiB7wVmK8MFs4e8Ntl14vPaPUQyFVsHv--_r2FuA5e3sW2PEGu-kMBTZjzGS99qc3PwLIAcsgctkXGl_KkcGzsSWuRvmxMsMD_VLCmTnxJRKEPnc8eVtmW2rj1r8ne-M7y14XqcmWMwK58zLwUwk386a1UE6pa80JaCwe2d8GmACESaIdrX2-sre-MYs_PYYnLIa7VMNbX-0zfbU5wqw6xWitb9dCpNqjvC7VlcXN2x7-NkNjdrsbkBWsnEGbUQFWulgPtgR925-HqC7ZZlmOtRKoVOJK7jg0xzRPpAXswxLAuUCdnlLdASNbnKWJAP4Gg8I3CCMD-T1vaYoYWW_5RicJCVtsIQp-tghJEW0XUZYl3gMlJzw8Gak8L2a-MRlcsH3Pv-xMUhi2MWCWQeGdPLxCGeEMYvSyI4JeoRBh6qBWWr6xWK0EZbSrQ76VdrC7twft1oMRQEWo80mPvEnt6HtfOHY-uzR21ToUKKsQYW8t5g6m7VmC8jhWkMpgm8QNv5tGDiJ9AUT8v4A2U1p29x8AXkPutPSbFRsjfQxZsYkLkj01hlPd8c5w7D56o1oLuckiZeU9bKr0TwtJzcEWCS2BTFWwJCFrll0s0IjdtKQsEJgHjQHgdjTG5TVJlmFPEbfCz-C9wpQVL60kP3zLioy1j9Yc2BmH3RvjKlOffhSceij9CVhCkaTBDCIUMP4MTX7xxpKgXsuzmiSbzHpxANfI4wXeeoyEhruSfrQzheJJ9fEcEDlFs0e4DxgIP1I-4ydJau",
  "id": "rs_05181b2170449d39016ab44c343ea887d087a7f16067081dbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.075,\"left_z\":0.15,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The overhead view confirms the white bowl slid substantially toward the base while staying upright. I’m lifting and returning the tool vertical with a narrow jaw gap, positioning over the bowl’s unobstructed outer rim now that it is in the arm’s comfortable low-reach zone.\"}",
  "call_id": "call_6g0BhRY6IgF8mVSRHhXpbccI",
  "id": "fc_05181b2170449d39016ab44c374d1887d09421335e4b61275c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6g0BhRY6IgF8mVSRHhXpbccI",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.1873, 0.6022, -0.0292, -0.5484, -0.1467, 0.1989, -0.0216, 0.8295, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3443 left_y=-0.0752 left_z=0.1444 left_yaw=0.0202 left_pitch=0.0412 left_roll=0.2022 left_gripper=0.1989 right_x=0.291 right_y=0.0002 right_z=0.1623 right_yaw=0.0005 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -5.0256, 9.0735, 1.5946, -0.1294, 0.0024, -0.0366, -0.0205, -1.7983, 7.0359, 1.6581, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb651a3a9d005b52de1b577ef2491e86efe054cd6b077ce00660135fc953d7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d0f3f6a187eb6e8a5e74e47995492799f24c821348dc176def106cb1ca4318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a479f0c370804de53295ed16a5adb09ab36d4e9fffae7b7c3bbaabfc727a7324",
      "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 · 5.093 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4702, 1.7527, 0.9009, 0.588, -0.5861, -0.0166, 0.0061, -0.0219, 0.8204, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4776 left_y=-0.1291 left_z=0.1704 left_yaw=0.0343 left_pitch=0.3424 left_roll=0.1666 left_gripper=0.0061 right_x=0.2905 right_y=0.0001 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0667 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.4462, 6.0923, 1.9658, -0.315, 0.1587, 0.6227, -0.1436, -1.5658, 7.1316, 1.6532, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6918, 2.0167, 0.387, 1.364, -0.7952, -0.0238, 0.0061, -0.0216, 0.8249, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.365 left_y=-0.1339 left_z=0.0514 left_yaw=0.0013 left_pitch=0.3724 left_roll=0.2084 left_gripper=0.0061 right_x=0.2908 right_y=0.0003 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.5812, 2.5368, 1.6972, -0.2125, -0.1001, 0.6178, -0.0752, -1.3744, 7.0359, 1.7216, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.1873, 0.6022, -0.0292, -0.5484, -0.1467, 0.1989, -0.0216, 0.8295, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3443 left_y=-0.0752 left_z=0.1444 left_yaw=0.0202 left_pitch=0.0412 left_roll=0.2022 left_gripper=0.1989 right_x=0.291 right_y=0.0002 right_z=0.1623 right_yaw=0.0005 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -5.0256, 9.0735, 1.5946, -0.1294, 0.0024, -0.0366, -0.0205, -1.7983, 7.0359, 1.6581, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb651a3a9d005b52de1b577ef2491e86efe054cd6b077ce00660135fc953d7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d0f3f6a187eb6e8a5e74e47995492799f24c821348dc176def106cb1ca4318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a479f0c370804de53295ed16a5adb09ab36d4e9fffae7b7c3bbaabfc727a7324",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw9pyGLQb9bFkhokIZWPfwcnvlPgN0LOL3EdVARoHO6ySDCM_RB63oJGQuk0RHKMNYUsHsOShNdgH4n4L6DnUPtKxC24FIn5ve6vWntJOJaNeRScQrHSs8ENVVZb-RNihtdV2teVEitLL-IoYZQ7F9Pk2cF-8CENpK9VoOmykCHkzNpEFDsbfmkXSt5FFVjTGp-c8n0Lr_aucvodbTaVcuTR7DaBVJcVjgby6B1xQ3kXVs8POz-RntqQxUPipTnGT15Z_pAjSfqnBiLGmHQJBomJwMxFvuEaeb2m9KlEKjeG5vl5VOUhjdm7UjWlNPTcKfBS1holhluyvqr9lTGtV9CSTd1z_DlUVRTHA3GQmMvsVsVYxuFvrI0Q58eOz9Mj0USK9kYfQZRXn7s0a13yXtWkMvWLrXeCTmH7QLRfLuRsahnaYmWFu-Sgz6II_reK7vYZzqT-vppQjivsLobCGaTHnnTzxSmoIVzKQNir3NQuEDVL0HqQxxohWzz8T8n0hDZ633p5KCFUB29IIHZB5byegwW7b7HEccRZ3k5cYgbSdh-z5EHGBzmAfI_LCE_e16YW23UHrEyjh29M0LaEtpLGSu6jeZcY6g7QwTfwtPGyEsrG1QfK6qJriloZHSoAo-gNeTcQtCt5GZRCuGGjc1HMd1Bju-RVYcOVqyNPjg-m0GzcgNEFB7kn62qETHPuVCiJflP1VTZ7FD0f4cDpvrsrUn7bY3SeAqbTDhPG1hFHKQfjXWsmhQULu2PFehWdAxX8O_5kNsBqRid5rE0b_QgEcZIioSuLTGQUGhEs9bizV6qvjheN46IziUup4oAFcQyxu1uP-ijrvNMD-d5YnXLrVoTN6tfUvWNRGx1Wls1zm0kaDVUJh9pqAdk6G8PtVgiqSBXhDPFy5UekyDH2LpGgBrKWCse7e7xEn0lWUH_GPCY_Pws5Ob45GYpS0iIBdiYrFyo1RcffNS45ZdLOvJkmF66WqNLBV8I2n0E3qWxvoKuAewwa9VtpN7I7fa-xSnKWH7yGkTRfacyilnxhmhMeJTxNiWXFcYraMQT-jdyVQq25a6DxZtf_SLRZOSoZloHrjDfTcDIXHhR4k_cNKYnXOdgylRV1zC4SY10250leAM5b1zV_1ORoyhY0e4lEGQEpoYAsVvzHtCIYaVd0qYxfNK__IkLWU86uAzBhMLgPNr10RKTJHyEfFc2s-iIw5Waknm0_enOKPwcV-AuJyzy-uCeEfgx78yy0dB4043_VzMjY3Gu1HKQKG4kS5MqVvoz2bPiP0zgXEwk7dm7Dby1j-Dlv30s0H_Vx5tGxuuiuELn59tp2vY_WWOO0sy9_pA9wfI8T1poGI--D7fa172EQRRTb5-IwEDuC-BUOFoL-uEIk4pJ6XQQvahWs8xST3JPLuENPvFK9bQG_OKzoLZa784noV30TdDCvhCxCteUB4UifndIDjYpowTwBtOBjWOmcjyynFWHELe7ZC86CCgY2baXoceLf0rs10fVGaJjOX4qDJrXw8GaHuP-0hR_Lp6XeR-nff5PAuo_lmAEHo_hyInp2qAUgEGS5ep5AMKkLT1Gx-9BMyLCC9USupdzMDZwh9hfr703CXZOZiMLo2Bp05VIZRNYGyAyZHnnYByPpGgfG6np1iPT9pP0Jj7qkMyZWurfLJEAKLYL1jYU6GVb21E53hrHXFmSreY4gjdTlIJo-hBGiecEicbTIG7QHBf_3ecA64BfbQNJBMxRbC2WYjNaiEkNLDxQANGuUm_f7foO9Euu_NHKY3MiBQLwMfYS2B_1cdXkmglofRCv-slWP20-CpEGuWZ33YcSSicfPbSE5fQOJsfOLqV5vNjgtmk1NnMkd2r6NFvJ8ICa2uIzp3rtU8Z1eOydrF0biDpa9tcL9KzbD23AdXkHQjxE1WeiKGtvwoI7mOhvlhlyScQFbxP1U8YsIDd3BVDXu42NhIhjotNqhignm2ZWO_rMSDzUJflJDFHH8_2HnmtwgUr0fX9lfxvejOB-_9mXPRwNC8xp3hnx_zmzP4TtEmZw9OrWmU_3wXPGO2GhAQjcVlzufQN2dc_42NHc6niyOPguCUWBqXihBa7p4bAaqIkqHw5uhrNO8yCAZV5vROIdzG7MNE5woifta-pwtQin9LwaxL4=",
  "id": "rs_05181b2170449d39016ab44c3abc7487d0a85a4b0edf886409",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.075,\"left_z\":0.15,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The pushed white bowl is now behind the wrist camera’s bottom edge, and the overhead view shows the gripper several centimetres too far forward but laterally near its outer rim. I’m moving straight back to bring that rim into the narrow jaw gap while keeping the safe height.\"}",
  "call_id": "call_DAZZ5WXgIKKLKRu0PvLM5RSo",
  "id": "fc_05181b2170449d39016ab44c3cfcdc87d0a58ff72adc24bc4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DAZZ5WXgIKKLKRu0PvLM5RSo",
  "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]: [-0.5835, 1.0321, 0.5846, -0.2199, -0.5842, -0.2115, 0.1998, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3079 left_y=-0.0822 left_z=0.1523 left_yaw=-0.0115 left_pitch=0.014 left_roll=0.1923 left_gripper=0.1998 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -2.8103, 6.5026, 1.6337, -0.3297, -0.1587, -0.0317, -0.1436, -1.347, 7.0359, 1.7118, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47315bdeb18b7a8958750941212d35e1a13e12c3a2c266fbc43e0d5aa7399e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:572edc7699a468898db9ec32d2400e582b025ba22a4d3789a9b26fff08e349f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a327c1d3cce0f53b5073bf1207ffbfa7aed1bbb705a1c10b9c196cbf62bc9dc",
      "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 26 attempt 0 · /responses · status 200 · 5.392 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4717, 2.138, 0.7933, 1.087, -0.5995, 0.004, 0.0061, -0.0219, 0.823, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4783 left_y=-0.1281 left_z=0.0546 left_yaw=0.0341 left_pitch=0.3473 left_roll=0.1879 left_gripper=0.0061 right_x=0.2907 right_y=0.0001 right_z=0.1641 right_yaw=0.0001 right_pitch=-0.0694 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -9.1556, 3.8906, 1.746, -0.0464, 0.1001, 0.6178, -0.0342, -1.5932, 7.0085, 1.6777, -0.0806, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.1873, 0.6022, -0.0292, -0.5484, -0.1467, 0.1989, -0.0216, 0.8295, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3443 left_y=-0.0752 left_z=0.1444 left_yaw=0.0202 left_pitch=0.0412 left_roll=0.2022 left_gripper=0.1989 right_x=0.291 right_y=0.0002 right_z=0.1623 right_yaw=0.0005 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -5.0256, 9.0735, 1.5946, -0.1294, 0.0024, -0.0366, -0.0205, -1.7983, 7.0359, 1.6581, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5835, 1.0321, 0.5846, -0.2199, -0.5842, -0.2115, 0.1998, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3079 left_y=-0.0822 left_z=0.1523 left_yaw=-0.0115 left_pitch=0.014 left_roll=0.1923 left_gripper=0.1998 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -2.8103, 6.5026, 1.6337, -0.3297, -0.1587, -0.0317, -0.1436, -1.347, 7.0359, 1.7118, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47315bdeb18b7a8958750941212d35e1a13e12c3a2c266fbc43e0d5aa7399e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:572edc7699a468898db9ec32d2400e582b025ba22a4d3789a9b26fff08e349f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a327c1d3cce0f53b5073bf1207ffbfa7aed1bbb705a1c10b9c196cbf62bc9dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExDO1mVHh7lXaO-uayYsFnXEpoagxg_jE2XIuot_97BZicITAKcExGA0TzDWKtcLTRIe_swKf4wSCS7hkD70zWCDtA1Rr8MY1yvRREMOSiNPlVB1J4rc_E1G35OV5qCj7yUo7FDskRLBEb257pN5zHWwP_dWsgTrAs8DUhISjx_6Iuh9eN5kRCbc28cKCPZMoQUl8N7vRbIEfjaXi7gOQT_HZgQUjAUa0NkW5zpW4Vpos-efpPJwA7KFqPjWIQQEUnVjkiTU9ZtALONBGpNsdbIJdrjDFO2s-VjN13iJBQPlTw8EE6DmJcxqUdef5rU0vuKLUXRf9oFinzpRlZPo7LcxJl7z6C55DRvnG1yGifN9t4E7WWTc3GzjKE3qngxSUpN3BISCs1TGjlQhE5Ap9_wsfMAGIkoVVaK3SoCrmo0Y3qx5KXQwtkoqnMvzaPaeCioY6QvjXV4pWB9pabAfBpqfpF2h0hJ_KxNDbH-0AXNfZMvgagqN9XAynJNs24nXpGys77qMa9UOF7CgRXjG-DpCbWvssvgDW4sBZZpHppqw3ONgcusn6g1kbXtX4otOSEL-lOruMrMWPoLJrmdDw487N_Qcl2-Yew6AoLSyI5DilyTrSwYefx9sPkloHOroRu9DJgKC0ZgpRRihXCkNYL9O-p0sJjUy4mLURDgCQ3KiXtLe2Wl9mOhxI-Msi8jdRvDY4zDbmuwjYW1O-pP7oDqL-Dtir_lttV4KwhQw_MvtOMsXxcrjy03OOy_w6aZ8I4EECxYKL4KfwGI_8Rnu5wo9H_2h09U5vc_A01BwtyET7R7Ctr3i-DBIZiyHvTFzmVPoX1ntggSUWlGFvHS2xkF0wIrbqrK9h4fk2f7RHYATEYbaxAuTThBX6NJlrMgZ_lsiaTBiHOQkYzjv9R-fqT_WNlRwVdCVANQuzORGzfwL3U2AGzh78TDfKNFRUyWnn5LyKk-aTIYCcEKazvnq-LZJ_F4DCkf4OyVu0Kjre7ou1tLdBKuHWQriFk9br8qO3ZUUaMDFaSHwmY8v1I4TP1Yoe_ixAXwWSW0_fV9wx_FPrknBUfqBW0VJAoGq_NKjKolwJ2MsiE83MYtoNtswlioL6bTelWv-5wfyxrkMBsdOBYYQq93DlsOMCQ8S_ZsKpXr30cg2RhV5TILjsOepxlwNSjAs3m3S8GYoZ2ZqSwnA8Z_yrYSDHbGl2pFtYJZRKkvV4ImhWoxxjjt81FbmKfUnLLn1RvRYDPqpCx7p-beYdzWAZG2BDpw6i26RluzuuqZddBz1Yzs_Jeic4MrgAVJeCczYCDGtBBaO9ecpboLqxTVnoPbjWdI8S2h-5nGXmoBfsnITqzQf4NthwZybZqrbordw8L5Lp2MvQPnaJPi_xhj0w5K47HOwfxigzIGJqpCdTVDvlNlPv9YRJ2B6jYm6Bso7vHQmfhaJFT-2OhX3F2faR_6Yo21fl348UPGfT_5Np1c_rIBnZZ0wYmO_DryDHhGGB1T-p4bUVSAc5bkdLuQtR15ifYQo95fzky2cB13bQc9HCQ9_FCBe_VPHlw4lprjlnKqWTEHkGVtf6GhgjifUtahpggUgNaQzQmxA2q_ykkxVmThb6mk47Y746CAOAhCw587biQq4nIqPN5UZzcMalFzrqojPMj1attjM4mrxGiXwttrwQyNWbGyw02wkSb1o5ysM1HrGMBBSeadaWocFySMvVw-kw8ljVofTzi-JiFVrdqauGxJPMJv1kfo18oVgeWBjdBsVPEKJmlzklp7d3idDpC9fNEGQtbSyUAi_Es_aEqz_ujfYXTLQzdg3CJ38UmIUS838n5iI5az1dN5ZoV6LdIx0nVAhsV-S3723G8DK6Uqc7X3wIC30C6UcZuu9-jS8O_rVFN0q-OMTQKnbkMIPIGOgq86gKl3MWoQMRsfgGh14CiFNGXXQ7cp-97AxWg9Im_F9NQedi-TzTtyomObuD7DUEDr7CJxHv5Jx-8GYMIa5CpHfoJzBfQu8e-zuiDYRR6IAkcoUAkyUV0=",
  "id": "rs_05181b2170449d39016ab44c40455887d09cda7f2ca0388a75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.105,\"left_z\":0.15,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The white bowl has entered the lower-right of the wrist view, so it is still slightly behind and to the arm’s right of the narrow gap. I’m moving a few centimetres back and right to center its outer rim between the fingertips.\"}",
  "call_id": "call_7BOfKvLzotxlV0paldzrnyAb",
  "id": "fc_05181b2170449d39016ab44c41fecc87d0825bbc3d858d5145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7BOfKvLzotxlV0paldzrnyAb",
  "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]: [-0.7864, 1.0016, 0.5846, -0.3496, -0.6827, -0.3408, 0.1999, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2759 left_y=-0.1136 left_z=0.1465 left_yaw=-0.0718 left_pitch=-0.0123 left_roll=0.1946 left_gripper=0.1999 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -3.3983, 7.4051, 1.4872, -0.5836, -0.0757, -0.0269, -0.1026, -1.4564, 6.9949, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f9380bfaafce03c15cb82d688bdb71073386cd7142893d8b780eca8735f399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adc68104f92ae32849c235913d96bf3f68c196e9c51b81c61c83ec3c0b2e8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6666ae55658e8ab91fecb3be666885dc4b0af2888e4d948ebfb7adf98e7ae984",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.164 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6918, 2.0167, 0.387, 1.364, -0.7952, -0.0238, 0.0061, -0.0216, 0.8249, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.365 left_y=-0.1339 left_z=0.0514 left_yaw=0.0013 left_pitch=0.3724 left_roll=0.2084 left_gripper=0.0061 right_x=0.2908 right_y=0.0003 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.5812, 2.5368, 1.6972, -0.2125, -0.1001, 0.6178, -0.0752, -1.3744, 7.0359, 1.7216, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5835, 1.0321, 0.5846, -0.2199, -0.5842, -0.2115, 0.1998, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3079 left_y=-0.0822 left_z=0.1523 left_yaw=-0.0115 left_pitch=0.014 left_roll=0.1923 left_gripper=0.1998 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -2.8103, 6.5026, 1.6337, -0.3297, -0.1587, -0.0317, -0.1436, -1.347, 7.0359, 1.7118, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7864, 1.0016, 0.5846, -0.3496, -0.6827, -0.3408, 0.1999, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2759 left_y=-0.1136 left_z=0.1465 left_yaw=-0.0718 left_pitch=-0.0123 left_roll=0.1946 left_gripper=0.1999 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -3.3983, 7.4051, 1.4872, -0.5836, -0.0757, -0.0269, -0.1026, -1.4564, 6.9949, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f9380bfaafce03c15cb82d688bdb71073386cd7142893d8b780eca8735f399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adc68104f92ae32849c235913d96bf3f68c196e9c51b81c61c83ec3c0b2e8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6666ae55658e8ab91fecb3be666885dc4b0af2888e4d948ebfb7adf98e7ae984",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExJXtl5CL6hvtF05EK14PdfQ_ZPXzkDF8KER7oNQz6YZj3mpZlS-J5TWM-UtGwmooyQVbomrga2eNaIHPK945kgrxMxplmAchOwAJMJFptOYgA_iQjDhb9D71JIm2r8Eb7Ruzi6UN4-cKR2mq4oXE8dP6DIFWjOkhQE57G6GTo_R_-S9WbGH6ocCGhNiIXe20YbNUtFtjc00jxDXcLuiPi9qLMEmCX75Lwb5qcoXwI0li-h8LarfvC6drJrLupeBlNPLryzHa2yxwgVf15jMWitqGOwBd0y7Jz7odYZnM2ZV7ct5BHeBaHQwW85JZAtXop4lMHh_gYc4TSt0wGKt-u1AxBRdMBadZWF7YEAnNkT4NJn-XwrW969ok57R2N2UOn43ZL9vGdzBDU-ejrG3VAIhDOdJiyLxu4v8uVWthh3ZX9zy2qi3mBJtY-bD1zNpIEjD31l0Q4QVhGGvRlfsOuCtbROAjEstF_RcU7FZdloFHZbx2gQCvyZ7empgkO1AedALEJqsace7xKPp01H-K47ySsTOmX1pAMO3R4rZOmABkJEMHWEYuyQ8wHONgwVo6JUlPlVGP9cRP9sGtCwRtTQc_6kEUdCL21F89PBwdrQOpEXnpG7ZJFsKtGwwFMqIf5ps2ngXOLvWIxjf_85q65s4Aextde8GGmjA6B7uYZSeD9HYyYpI0r_Ncu0KkAiKYXB9vs_HlekUFormqZ7tyv9hGRxcvH-uqi0Ln2XKAJdy6iMzmHz8BZREi9XY2HyDdCfEeMVmgAeBsezlUL3Ah5OVmQTyQdRU9U9S7PoirXnZXtqX0Ig07Qklhew-F0iRuX3th6z2wR_s6VR81M258jGZPKgQQ2bdU_U0f-m6liyaOI3b6wbrRtBMitL6Jtt_b3fkeA9EANt26YSGaRf9jumVJcQWJJXTIGkJqltj9CdTF6tfTBgFwysnaGFlQ3b_araBcomPcHMdYd0Xf6P7zRlivcr-cj0RdJEDI5Qpx7zFYVCwVYmaX7pt3bNFxBsNcLCtfR8yNpCB9ZFdIA34915faz6EV1e8YEwDPHPAsCCd9x_Zaj64q6uTGPG5YUFKn0SeYdWIg0y4Ez42EOpJxQ2pIRFILfHbxW0J-_zm-fcXcIUypupfn11nwwGCuBfLe48GkpGRY7GVo5PBml8LSEwAqfMJOrvZ9kD9XOXBX4Ef3jXCc_y1Vnob75TiZlkodJrKaupbknnJWEnL0qSy4auRmOlbirmMp3OgmwQWoJ4iQfZf7-PS89ejIQV_VDWYk_PirQG5g8ieeSODDlCV6TXcmcC9jShz0jaO9ShSpPKiDMvdwBcA0gUXllxCGLbFlhhtlAlD01EqaCAw_gFA7CiFu1MKsE4KK_0nqGPWrBuhJjNfH1KZA6ruT6w6R8BruXe_Bgx_URsW4-dTJsBON2oacj3NXl68vkGNILyrx9lmiWn4B935-46DTSRjrZLaYWz7hFXJ537HlT4eQdf156WcBQzrVInApQCx_CEHy7GpghHUTzwNJmoltPcWVt8J8cpKrRwOt5u9lmgL9YaFeH4Nn-LS0xA_fVxV_B6dt95Jueb4oAg6IN4A4hoOPDJh0qqh1CwgIB3LbNyQoVxqAnGj6KowTJZB8-Rfo18hQJN1mj_h0dZ0p3FHgOqnBLZlNmIisc40EvSmtnJJnu_ccKaMkK1N_RG5-5mh4ORflLhrMK5cBA-6ZR6c5E6aw4Gq4EPq9Sn-D9zynCS90iDevdRDioe2Nbwz5h-bGRfoPkw0IMjRnQZHlDXxJ_h6QW_JVlB-Ngfk0WQdjHVzPWqipbqbpoYRvW-BaCSJaUkx4aePiZwVgIST_ogcGj9bYBi-0eIuFfYeQuLZybzWdTWRe1kPZoPlAOXB5TdpPFeRv-eZoqcAKsfpreRqFKPBFy1vLMn00DfqOw-NRFtoCVddarAP576d1-y5DZ5O9qYeTs9RZavLqTqNisGh6bq5asgC3g-jDTfEhR9aFmYXITwv5Pjzl4uzNDysfNm1kElGk7varCJEJkezR3rQoOsubwHNveTtiEzsbU0ywVa88pD8VZEuDE7dOn2qa2N4qFrSAsaLhQb90Grlw9L9BJ5y9bJ5RICwAuScwp8CfUlF_moMTdClXBeeyMvbVP5J2lMCb1fpJSrvWRj6I51tVMmgdc0QRWPwKwy-pRUa2WZAetY8qe_L5NloS8hhg9vhEoC6-heq2impMLDnAtP3sdslwXf1qjUmO2Dh45W675hhmMbjrTAdUFmdedLtd5Uda0f46Iqfe3xnrUdDTPub0v2xfBlFiLpCNmL9qyh20WjZBW_kzOiOtErJcQwAr12o5eZLY7DBxkDLNUv7-jzVpxv-Kwos3q4MpJxY8vA40EOUhH_HT6RCd1tYtWDHOdfwAsSn6mdiq4E6nXpFJJ-u7y3I3Aj4eiUa7lTLWF524hqn8s_I6wU5cKkrMPpMy_scihxCptfqdAe2oMH0hU1iikpXVF2qXFucXu3SZV6KCn2P_mJ6ql07Nebf1E7btgwgFPSLiAuTmpBRX9WOCyzirm0Oax2jLgQ7hrhLeyU4XIGKRqAuR_cDMlKOb_EY9OwTcBTAU-3Mx4=",
  "id": "rs_05181b2170449d39016ab44c451bc487d0929ef508a25830c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.103,\"left_z\":0.13,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The white bowl’s unobstructed outer rim is now just below and slightly left of the narrow jaw gap, while the purple bowl remains safely farther forward. I’m making a small back-left correction and beginning the descent so that single rim enters the gap.\"}",
  "call_id": "call_Ci5bNj00FnGycZFQj9Cp3lcP",
  "id": "fc_05181b2170449d39016ab44c47cbf887d08353dc22497f3d94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ci5bNj00FnGycZFQj9Cp3lcP",
  "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]: [-0.8288, 0.9337, 0.514, -0.3714, -0.7307, -0.4049, 0.1998, -0.0219, 0.8352, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2605 left_y=-0.1044 left_z=0.136 left_yaw=-0.0458 left_pitch=-0.0003 left_roll=0.1822 left_gripper=0.1998 right_x=0.2914 right_y=0.0001 right_z=0.1608 right_yaw=0.0002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.1419, 7.4735, 1.6093, -0.2369, 0.232, -0.0317, -0.1983, -1.3607, 7.0632, 1.7216, -0.0757, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184e90e8b8174554afb7a1975191b98403f00d37dfd6f3021a2cb838b4ec4419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4315147466138c29c995195c523b8745115702758f7b7c486a9187f2cc2da058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdba9e339368c885f4422beb6e230dae146f922e4ded3d2e65b60fb28ae6a1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.31 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.1873, 0.6022, -0.0292, -0.5484, -0.1467, 0.1989, -0.0216, 0.8295, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3443 left_y=-0.0752 left_z=0.1444 left_yaw=0.0202 left_pitch=0.0412 left_roll=0.2022 left_gripper=0.1989 right_x=0.291 right_y=0.0002 right_z=0.1623 right_yaw=0.0005 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -5.0256, 9.0735, 1.5946, -0.1294, 0.0024, -0.0366, -0.0205, -1.7983, 7.0359, 1.6581, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7864, 1.0016, 0.5846, -0.3496, -0.6827, -0.3408, 0.1999, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2759 left_y=-0.1136 left_z=0.1465 left_yaw=-0.0718 left_pitch=-0.0123 left_roll=0.1946 left_gripper=0.1999 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -3.3983, 7.4051, 1.4872, -0.5836, -0.0757, -0.0269, -0.1026, -1.4564, 6.9949, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8288, 0.9337, 0.514, -0.3714, -0.7307, -0.4049, 0.1998, -0.0219, 0.8352, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2605 left_y=-0.1044 left_z=0.136 left_yaw=-0.0458 left_pitch=-0.0003 left_roll=0.1822 left_gripper=0.1998 right_x=0.2914 right_y=0.0001 right_z=0.1608 right_yaw=0.0002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.1419, 7.4735, 1.6093, -0.2369, 0.232, -0.0317, -0.1983, -1.3607, 7.0632, 1.7216, -0.0757, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184e90e8b8174554afb7a1975191b98403f00d37dfd6f3021a2cb838b4ec4419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4315147466138c29c995195c523b8745115702758f7b7c486a9187f2cc2da058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdba9e339368c885f4422beb6e230dae146f922e4ded3d2e65b60fb28ae6a1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExM_s2BewmsKml7p_uVsgQ1A7_5z5r_zhfoRWWCvUi2_fYHjFIhdwgdQ9TR8k20MVDVAcWPbm2bBU7fI4BA9iexWCkExBkpUFKa_PPTh9QUXBSWWSAmWuWS5x0yJGuESQXyUA2HrRowkkQd6qMvni_T4Z_uuxNgWAyu4yyH1A6yeZd6hPud-o5b1t7CvKbChR-3lHEzG7b9LwCWgEKGrr2gv7lgQvU_D-oPCM6QwfurdtiE_7EIyQ6xmXUwlbU-n7ONFxvkIVMDXsXZZ0DIxWZLwK1Zzx5hS8giaQm0PwyujnenMi2k__OUu7wf6yWhtQodfzX14btzGfViVjmPKyPjn_gp6Tju_0b6j8RUsAMRGEXXwOkjl9IWNxi-OsvIx0NZUey-KkkOHz1uI0M6dgKtEgYyckGJOJQ940XcDGyHt7qa9ptuNqYUDWlqGuhwxm7fWXl8sqC0mUaJsZh68zI5O0pm-72c0GSSsOIxA0sKWjm68hn4_1lcJRkQJkMJTlcTrZZnorUoJYhkJteZYLRcmwxGC0KHmvtFeIJ8sPcD6SN49niAQirke89k6VsoB5pVqCerTudLcHpWcLNdqfm0FVMnxKNZpvUhVBXkC8wJvvL422A_hSDfwBlkJGAWrWy0as6LPd4kABU0cSJcVVsEto3ckCOiJqDDWe_Ga-lg-pRRcR86WIVyPaBgSfvbQpPjovUrmRRhn4YuX0kZ4VoTqlSAUe5TQDLJvulveziNxY8gMkZ-bhQ1Bt8Ekjz6mWkTi11nTlh-oNubAGJuw29lCXzY7gxnzQF5GuTIrI6eYWK8SO5JNN-zRC2Eo_5teB33GW8fNEDC3EBweq9tE__J2lAJzduoE2QNZd0GK-tvm6d3vPbFV5JcadNssHGGXG4h1hv7VsIdEb-E2VtHjwO2OydxeKcNyVYsKgLfzFSgEKvzqCi7BPyS1HkSwOD1No4lcewG6UUO1iUlLqYmtuQ8nG42w-HzC-pT6MPZThTSAOIwysZ8N9cX6C-CrUWj1ii7zjG9w8yNexHvqNtAndUBZB6W9i_btbyz_YQqgB_yG_H6EPRm0z6h6xw0IFGi6Ys-R_Rk8UFDEoKmCHkbhA-oZWXlLgpxZS68OuBaNzJkxgn9zXMTw4w55Dz8zaCw6Mz4IMI_wwIdheYBRJ114F1IDadD9AAqigRejC6POD_4Pmo70w5uOt90DfmpunY71pJynJGsWWknqionpPaHtHAisDoFwJzn5zxMAGr_-0Vt8zqVDEJ_dpw9BmiI_FV40cbnkUPhFv72f5rCpouZIke9ik_dvkI6e08trdGqW2j7i2s_nlpaKDFhxuOnOLTO-59JmVYzwLK2cyWf80AfCC4j9wRGdNQqpXwKh1Zw_qrv3N1xK4NTXsFfwK8uUvN_x7zXAqJQdXjph7ohlv907lraO7y_BTCuuoDsiHFgyBkwfbgzrbHz0RcmJu5ZmG3oxd6fVdL0jgx3kR9LMUVpXrbadw==",
  "id": "rs_05181b2170449d39016ab44c4a713887d095dda902c303c003",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.095,\"left_z\":0.075,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The outer rim is now at the same image row as the fingertip gap but remains about a centimetre left of its centre. I’m applying that final lateral correction while descending to the bowl’s rim height in the now-comfortable workspace.\"}",
  "call_id": "call_GfjC1hzNMHICGX083FbdHsta",
  "id": "fc_05181b2170449d39016ab44c4b200087d09b9321c2b9c57a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GfjC1hzNMHICGX083FbdHsta",
  "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]: [-0.8379, 0.9073, 0.4721, -0.3779, -0.7303, -0.4004, 0.1999, -0.0216, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2532 left_y=-0.0998 left_z=0.1247 left_yaw=-0.0575 left_pitch=-0.0167 left_roll=0.2014 left_gripper=0.1999 right_x=0.2914 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -2.3316, 6.9402, 1.5263, -0.2808, 0.1832, -0.0317, -0.0752, -1.6479, 7.1453, 1.6337, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a47d51d9b89b5057aa43ca85cae5b201dba5adc3f4ea5e80d8ababc13f060c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b5ea85a628feabfe172141d032157e7d5d4f23717645641865f8114633519b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04cede31f7573abbed4e738d9393c103f8dfea3e68401f1da34bac2cbaf37389",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.494 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5835, 1.0321, 0.5846, -0.2199, -0.5842, -0.2115, 0.1998, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3079 left_y=-0.0822 left_z=0.1523 left_yaw=-0.0115 left_pitch=0.014 left_roll=0.1923 left_gripper=0.1998 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -2.8103, 6.5026, 1.6337, -0.3297, -0.1587, -0.0317, -0.1436, -1.347, 7.0359, 1.7118, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8288, 0.9337, 0.514, -0.3714, -0.7307, -0.4049, 0.1998, -0.0219, 0.8352, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2605 left_y=-0.1044 left_z=0.136 left_yaw=-0.0458 left_pitch=-0.0003 left_roll=0.1822 left_gripper=0.1998 right_x=0.2914 right_y=0.0001 right_z=0.1608 right_yaw=0.0002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.1419, 7.4735, 1.6093, -0.2369, 0.232, -0.0317, -0.1983, -1.3607, 7.0632, 1.7216, -0.0757, -0.0806, -0.0073]",
      "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]: [-0.8379, 0.9073, 0.4721, -0.3779, -0.7303, -0.4004, 0.1999, -0.0216, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2532 left_y=-0.0998 left_z=0.1247 left_yaw=-0.0575 left_pitch=-0.0167 left_roll=0.2014 left_gripper=0.1999 right_x=0.2914 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -2.3316, 6.9402, 1.5263, -0.2808, 0.1832, -0.0317, -0.0752, -1.6479, 7.1453, 1.6337, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a47d51d9b89b5057aa43ca85cae5b201dba5adc3f4ea5e80d8ababc13f060c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b5ea85a628feabfe172141d032157e7d5d4f23717645641865f8114633519b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04cede31f7573abbed4e738d9393c103f8dfea3e68401f1da34bac2cbaf37389",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExP2zFOKrq5P8Yuk695Sb3a0cY3zY_ukuwvEUTwoJYZPIbqf8-W87PZIQIHzkJBkaL6rfy9gSSys47K4UxTaHGDb8NSPoiNkTWIvEYU2308dv9xuw19TA2OEMCnIdD7lDHsOITcHxV_MzbRDUZ9w566btvVgCGSy0nygoKKRo9VRYBRPJTY6PRjwuvuQYUOZiI1lZMV4XSdTWRRWkjva90-sr6TSf8E65aDkX5xgdt0TTlrWP977AGvGeNW2zJ7HMxxOVdrVI_739VvYjHAdf1rs7k2xgHhnXAivJplc7XJTkugitH2OQugsx2QUM9Nu_JvO0-Gpsq0FIzSAvSTHZyITdiP6AUcGxre5KyV8jn7Bk7yjjCRBtzL7DRPsy60AMntT9Tt12-unWVgVaASM19hcdyjy9s6qtsa1yMHacJTTkBCr6bn1A35vOXkmW-ShoogyzwOjucTTTjsKU9ug9vTZvdMYemchsrdYseS2fojZrQukbvy2hpIhmBJ623SzmBLmS4QD7jtKo79ZH713P_wVr0AVnGkRr2SGP9DvEo2jNM8oKI70xVGUfqPNHnZd33pBcLv_aBsHfGuXrKigRxzWgpeuJJtwINGAFPn-SvFHmJ4TiJTR1AmvqQL70zx6MayXdCRVAOuwt6GWl4c9-jBg7mmP74Sj40J374ToL4KKGKUYc9WiSkwW8fydrc8sXSFH6T6qaHVF5GP8985jEnhnt4dTLJpoXjzQPBdy_0L9dhXupaJtRq13TjZ_Os6oUIFI8YEwKl6ROcSXuK0f7_OzUwJlk5SNZ-AVsohnLEuLWsO8uDuZ6rW4smKlT8tRX6V5-8vD4kjvhNmgYey5sIFHOD8_GhfxoxDobk6f28j2hLtm013fycTzxqkP68GnURFJtEoQ1mtlLmOytYA5_8Mlmca4gJoM4YG2hi2OfMyVqyf2rr--Folu91Kb1TNEZx16-CYx9grf32RTFFUAgOwbX11eO_LOs20VovQF9hnBHXweORhQ5xrrr9vq0zXpiwc89NVhjezM4UdDw1QSqakhmtlYHDJwEieaQQtuQlwdPFG2GdXg2us0YNUeK4LDO00Re4J6ULpTy930awq0r3itVhIxWZ9H1_YOY5yqASUqkQ1Ygkmtw9pWjSuuQerSwrwxXbnVwKCPSRiu_rgyz9F0gy1NDloNpR-2FyHp4foQ43O3nVvuNnBlVEtghKiCzr25S4mQs3Kp_YwDXdSoN_Q10IWFfo_FOCXqOAa_kQtz9Nt3M5BBUlADwJITeetWg1SqNKC50kfrlbIrsubxScRrX1CbcnE_yKSwJJ4BKLzxGxPcnQBSDZewXf8P6aCdoxOYE2Amy4S-LZnPUNlhRt4VOIXMNWTkukqRf7B63rbtKdoOsZRfpYjSEDiDz_XvseXvKA0s720XWlWP-TKnhPt_hjuV52PwcmTtWpCxezyM9qXcLxhIGAm8vNT95webwnQvGrMYp-KiUIFjBmYKWkU9kzJ6hCq_odlKyegaxhUOYJntCrQWuE3cf7_ZDxoNRDJ0KY_2RvLLsilLEr5ADVn05q0uD34C51g0Fp0nJY3bt0ywN_gVeJ7T53MYWD2plS2Fhpffqokwn0WqCERJ5zgZjX3GC4q5mT76rMeFdWeVfNa7z4VhNY5G6P0Bhahs-ptpEFLkU5dQeizYP9t-xP_5lAwnBnPIVaGq-Io6EfSh1J8n7T3LDRJW3fUG_aXJF-b0m7tW63r2rLU1GGtMvIV2AqbAwlWJp4w0nCxF6MwbXv2vX35SdeS-1bASRawIMgRWksHJ8HEwL0PfO8xNnRjdasIcqx1_13ZkKCim7mvMtU19pTkahzU8wSlLqbB693HGzrsC5FIPlhXy8kDdWHsTNrasp5YzJmHZyjRijIrcxY=",
  "id": "rs_05181b2170449d39016ab44c4ddc2487d09203e5afcf43e3e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped above its target, and the wrist view shows the rim running directly through the narrow gap with one finger outside and one inside. I’m closing now; at this closer location the fingers are low enough to seat on the rim rather than hovering above it.\"}",
  "call_id": "call_X3B6bJJJvjr3N527fDGDpOj9",
  "id": "fc_05181b2170449d39016ab44c4f2ab487d0bbdb13c81742c6d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X3B6bJJJvjr3N527fDGDpOj9",
  "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]: [-0.8379, 0.9077, 0.4721, -0.3782, -0.7303, -0.3923, 0.0112, -0.0219, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2531 left_y=-0.0997 left_z=0.1246 left_yaw=-0.0618 left_pitch=-0.0182 left_roll=0.2086 left_gripper=0.0112 right_x=0.2914 right_y=0.0001 right_z=0.1602 right_yaw=0.0002 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.1128, 6.9675, 1.536, -0.2564, 0.0269, 0.2173, -0.212, -1.4838, 6.9538, 1.6288, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef9cf3558218620aa1e3290681a3403908e899581fb1b7de8fa43485854b110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8102c465226ccf7711d51c9455cf75d26793ded7859e820eb71a034d73c4ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ce091168333934234faf041533da34fa0c015ed05c897bebe208a88b04196c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 11.36 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7864, 1.0016, 0.5846, -0.3496, -0.6827, -0.3408, 0.1999, -0.0219, 0.8314, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2759 left_y=-0.1136 left_z=0.1465 left_yaw=-0.0718 left_pitch=-0.0123 left_roll=0.1946 left_gripper=0.1999 right_x=0.2911 right_y=0.0001 right_z=0.1618 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -3.3983, 7.4051, 1.4872, -0.5836, -0.0757, -0.0269, -0.1026, -1.4564, 6.9949, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 0.9073, 0.4721, -0.3779, -0.7303, -0.4004, 0.1999, -0.0216, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2532 left_y=-0.0998 left_z=0.1247 left_yaw=-0.0575 left_pitch=-0.0167 left_roll=0.2014 left_gripper=0.1999 right_x=0.2914 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -2.3316, 6.9402, 1.5263, -0.2808, 0.1832, -0.0317, -0.0752, -1.6479, 7.1453, 1.6337, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.8379, 0.9077, 0.4721, -0.3782, -0.7303, -0.3923, 0.0112, -0.0219, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2531 left_y=-0.0997 left_z=0.1246 left_yaw=-0.0618 left_pitch=-0.0182 left_roll=0.2086 left_gripper=0.0112 right_x=0.2914 right_y=0.0001 right_z=0.1602 right_yaw=0.0002 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.1128, 6.9675, 1.536, -0.2564, 0.0269, 0.2173, -0.212, -1.4838, 6.9538, 1.6288, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef9cf3558218620aa1e3290681a3403908e899581fb1b7de8fa43485854b110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8102c465226ccf7711d51c9455cf75d26793ded7859e820eb71a034d73c4ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ce091168333934234faf041533da34fa0c015ed05c897bebe208a88b04196c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExSNgDxISHTgdM5sa_3_5QnndQYUM02LCPtatEFlg34teb9Vr02MBO7cvM-GIc3EYId66MZjqhYqXgRR_08beJj8FHIpPfsuGrtNjBNgJMCl6miOXFO9QTeChwTc-ubPDrzqnJ7siPBtJCuOfimNOpMkNb2BzysoBOGWejV19qQIIdtD1S3pArMGnaYrJWcyldFrSD2Btr3bhAZFKapEjH8oapEdGzVkp3yS_dKlmw7aWdWFPGi5RryQ6n6raVzbQhql3II5zogFzC2n2zlupKHA5L6FfRlPeuYnKOR3aOXCwqdXU7qmR3u3h24E5Gi1kTPZJeXHVN5Ohjti1OiNNgdyLtQtLvzoWkBRvKuA3pEbz5z-uTKgHDldruwxKlUrOsk-L4NndX8TKFzZJl0juVGr_UsMuGXCff3Xk9Wn5nYDEDwwz7h7cDwOMZTn_NCx7YYg9gwmBw_DkKoqwY-u8j0xrzD6QL6ZCeZuHbUuTGaXyEA1FY4mNU7-SaRgFhfcuRWyJbkhyreb4lXde9pJnNj8nKBBA3udccG8bPGMqZgkx46EyKt2YrSc1PzAcVARVfk1BD4J_zLzKXpHx3MMqvKyrUEhfoFq5UBXFYeIZbTvIgEoFKCx-RK5tFOfkaLK_0jAgPJX2yWKwoWF_pEBWtFC_UIZ5_YDXJR3mEvVLBvHw8hpbQTDcwPZy-7gV-feVntHNBc0nIEXV7rc-tJKY0SV0ISH-JcF4I8IAXZzgBNFas_QZ6xfmYhcvp7B4t_igzsQXO_oBG5JrDOUGYmbDd9Pa0UydI6E6bXzyh4zCWxD6olJqR_uT98W9Xoy1Fe_0l9DwHfe2oGcnCJQ9rUcJcFrXxpcw59n2FtdH35ITyMbt1FehQ9auyAKm4ELGP1IOoBhZkNUdmTtDw_0U-6Yott1_yIumO2qFYgsZ9V9kM2485PYHT55hPUWIy20iYwig5qdC26BhSGjgYLuZmOpaSkUUd46pQl2-9mR4PonHb2mfdbS0mrBM_nC6tgPOSKBr5XqUCpQ8Qdvsk27zTpDMeJo6N8z_skxlyA1Bhwrd2ImFkGffev81ugy7BsWVVama4zagAi9hLHXYZmO_sxOEsAZMFp0SxtwZ5-iwa85vuMPJqBAliFb0nIBPyWOfbrLn1lrWsPqzTs-8GVi7kTzaECN22c3bG3H3wlFVjwL1lxSth-PG8mleysUHVev_x1cwLmsZKaMWzG6TV3CqTup1UeGA==",
  "id": "rs_05181b2170449d39016ab44c516ba087d09f221881408e6700",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.1,\"left_z\":0.22,\"left_gripper\":0.0},\"note\":\"The closed jaw remains seated exactly on the white rim and shows a slightly larger residual gap than the prior empty closes. I’m lifting vertically in the easier workspace to verify that the bowl is captured.\"}",
  "call_id": "call_iBVnDzTt8ZaTo8OX01wy3KiI",
  "id": "fc_05181b2170449d39016ab44c518f3087d0a05db76ad418b859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iBVnDzTt8ZaTo8OX01wy3KiI",
  "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]: [-0.8097, 0.9367, 0.7437, -0.6113, -0.7044, -0.3824, 0.0067, -0.0219, 0.8379, 0.6056, -0.4232, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2631 left_y=-0.1051 left_z=0.1893 left_yaw=-0.0571 left_pitch=-0.0255 left_roll=0.1967 left_gripper=0.0067 right_x=0.2914 right_y=0.0001 right_z=0.16 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -2.6735, 7.2684, 0.9548, -0.2711, 0.2027, 0.6813, -0.212, -1.4427, 6.9675, 1.6435, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66471595cf3d7e1767d970db3514c84c09366c571f7a19189426b2d04f4c52d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b6e81be3fed7c666126f00416ea5b3b32265aaf2b34f144f41156a38c742a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937ac6e9be90bfa499da5ec4e69baf8602e20250b653d464c126ab44a24d0ddb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.928 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8288, 0.9337, 0.514, -0.3714, -0.7307, -0.4049, 0.1998, -0.0219, 0.8352, 0.6056, -0.4225, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2605 left_y=-0.1044 left_z=0.136 left_yaw=-0.0458 left_pitch=-0.0003 left_roll=0.1822 left_gripper=0.1998 right_x=0.2914 right_y=0.0001 right_z=0.1608 right_yaw=0.0002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.1419, 7.4735, 1.6093, -0.2369, 0.232, -0.0317, -0.1983, -1.3607, 7.0632, 1.7216, -0.0757, -0.0806, -0.0073]",
      "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]: [-0.8379, 0.9077, 0.4721, -0.3782, -0.7303, -0.3923, 0.0112, -0.0219, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2531 left_y=-0.0997 left_z=0.1246 left_yaw=-0.0618 left_pitch=-0.0182 left_roll=0.2086 left_gripper=0.0112 right_x=0.2914 right_y=0.0001 right_z=0.1602 right_yaw=0.0002 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.1128, 6.9675, 1.536, -0.2564, 0.0269, 0.2173, -0.212, -1.4838, 6.9538, 1.6288, -0.0269, -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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 0.9367, 0.7437, -0.6113, -0.7044, -0.3824, 0.0067, -0.0219, 0.8379, 0.6056, -0.4232, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2631 left_y=-0.1051 left_z=0.1893 left_yaw=-0.0571 left_pitch=-0.0255 left_roll=0.1967 left_gripper=0.0067 right_x=0.2914 right_y=0.0001 right_z=0.16 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -2.6735, 7.2684, 0.9548, -0.2711, 0.2027, 0.6813, -0.212, -1.4427, 6.9675, 1.6435, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66471595cf3d7e1767d970db3514c84c09366c571f7a19189426b2d04f4c52d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b6e81be3fed7c666126f00416ea5b3b32265aaf2b34f144f41156a38c742a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937ac6e9be90bfa499da5ec4e69baf8602e20250b653d464c126ab44a24d0ddb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExexrIJn9o2qW6lFWdVGOGEuBFVwNVjpLMDNDhHwo0WmsRAs8Xaai_1-6TimcUHEIwkXSsnSIr5uBletZde142y5DeMNW2syPzISQmtHMoBcl1-ntHLlm5z5fnpfk2f0zNj9BsW4OmahCzYh-xCks-ACNkFi67TAIclRNKqs35eBNvSb_jkRt3Gzy5LWS3GW_Ep__tjGFpOZvmL-RaY9u3sYSC_mybGbUSZMjD3CcRveRaMPd5MfLoW9IerYlR1b8ST7DB4whkXFlCbL9VtJfxwrj5RQ6iJCxMvrsjbJ7eiAAA6HeH3vn2o2HXQb5y9eiFCAXtd5zWaMMsjIlaqJRhNW7kyTiJrNgs_x3OlhgsL5IO_sFsZGp92OfOYNqyw4YzEXHu5pYx_Y-ikMFpmd_auD0tgquZdVmWcn2Im8yXwkURCqD6QlgIs98SBtzFcEMmPLoFYmq2fnqz6Ok7s6oUcgIjausnLZUApvN2PAjGvjY-2X-c3tJWB9UGmDPx6V9xdCFzH57Mi-ch7N8uNT74YLLqZ-ZCPjLsK9J9nkivAclP1FGgwkkyH9aCNecjgpipKUpnKntLKzuFy7Wc_n8Lho6Ht2RNX2Z-wgPYNyXv2cuGc46cHe2BUgX4v8xqHeuL00tr2d8tWED3urrg0LueLgChDOTxtN0BTGt2Rv3S45K8EYHblUZZMPY8gCrpGDHrX2Ntj5CEJffyt1yvsSSwMGT3IlKNTOMaJ-8JD1t6HhrD7kyoFOlAL6MPHrWL1vOu_6JyKK2H7PSq3QYvP6xiVMQuujWOpFKrhngo5ZTo2JglMBI1KxLZMbYVvQ2DPww4QRkw3rjScLOAcqTf-l82VAHrJrCburN2fcv_FVGYzB__uacU5Xv4XDcrt4jPslWJ3RiHKf2tsb9W2jpjnGG7u8fYBns3j6urNrFJT1oYutlYaHUI5FDk599YRcx249qKyihLwO7hd-HBsai-HaQSX_ZqOS0pnw35l6ZeGfofeTGrX2gx-JHUm3y8CNu2yZweAogqFhVL7lSRV83zm7Em7RLE4h05iJlnvu1_PW1TW6ZrJRIU-CDr3riWi4ZZ9Ox7Iewgk1MQQAlHoTuoEXE-X3mePyxDbWMgAHq784H4LaP-BcolaggMfb1i8t0zvshrvFS1Tq6fk6pHVW426lz4-0hKyejX8PkUpIDX1CrlHSM9GI8azWKgxnrH5jWS9mvZ8_faJZAGWOhy39dDLx5TNO-lJMSsuk5J295JZIHLjRKJExapITK0olcr9b4288_PnQ5X6EAw5qEWZEtgzJkEwD0hQwA5-OfmMSmAO9HCjMf_Mw64iYC9aBi9wAv81qOxrD64qgyoIsN5ezru4nC2ZauHjzfLEDhNgI7APnbjeVce6i8Gh2gxKuSiL3wYT79wM7-EQ-HvpMzr8656rAN08bDYsp_TKA0RfJKWslcclnFA8GI6BJuT97oN75cX7XQqSnzQmjhR4bcvjmvVg4oi7DKs2_aQRi4M7SG-bVllKplFmArUnOFTl2mt-uxZMvgtaaWeNtXAgM1Ls1qBOIeiSjU3cRkYMczUxCggGpnz2HRXN8JPDdT2QeShAUr3KscQ7VkvlEEvw2dYEji76eXkGIE_PLGk7EibzrNBKDBqx7A8m-fnyBNy_HcuhCJOFg7gjSZnRE3AS8y78aWQ30fsebWvfXao2B1nw9aaZUyWgRDFxqs-UcWtcO2KibGcMPmrlPSg0t2mU3Ln61LPYPhYstpfHr-nGIA7Eb2w8kKCDDp2arWefOj24YNNVSd4zhUU_H7ZmXgP_nivTADGdxQhEH6V9xZtb261hgqP0d5SSE6Nksp4w-82wLubsSCq0hR3P9TEQa-rU8Fa13E0v1vuVq2eEV9XEY9Is5EKTYB4C7Vf7DsSeEIqSBG4f1Ek8Vmihd2VMC4e5OYuG8MOo2xkoP7AJdoY1WrJrssGmDelV0hB2wNtDSkZL0qoZrcfb390U0aoZmzlmzbYi-oQVs5m7KzE1zHf4ZLjdaw8MghMht9f4Ozf4dhNsQwhtk-kJuMNOaViyGg-DWRjMNB8Goz2jWoAW6ZZEPF5tv7on4GuD5B-Kd8mHmPkx6lvMR2Qvvrz1uNyUISxe5f6nLFDtrh5g0FfmTEVB00CCvs2Z1u8iQA7Vdlirj2rh1tw4FvBzFmxFtzeJubhXD4-lQkSY0P75YashtJjuNYF-W_2SCi5EjtX0WQ2oulyZRk0fGVQWxUwsC7Oipzz5rW0odBNE1Ulkb6nX5gSOs1AmWEEXH1-YIUNS_CQc9iSH8nhqXeCFXBQSjV__dnG_oayl8yB0sMCWTuItRhxrBVYa0M6cURzCPAQ6ll8c13X0gG9pnySBdYxLg2yu9tD8sQcVlAaHrVnrTHKSmz_cC0n6aSqUuamYgF9WUhmJo6AVS7Tv-a2jqAG0h_hmHeeSQAlFSVak2ozU5O1PNewVXtibBEBhpJ2yET-5ndrNvYjO9zc9LrBYmSkD-l4usDG5p3a-ObTI7nsC8OK3glmtxrDcIPCKNLwcgPa4fAZSPRpnWGvWk0bd3Ng86Cc8sv3el5hlNMbqt80wfk5JkojSXg_sT7niq2UfljzgvqFzyOCUeBKw2VMY7INwCu_NQt2GSGj9VpGIn7PMloe8kIqe-ZoScJMIw-_Y4Tf0nvsE-2TsLhGCLaz7s0QSBf-l_Cjpa86b9bimC80fsbEv_ybTzNwDwGwspzIf3r1URcy7n3azPvWWj3y61WkYtIFZcKm1k01pRMYw0WL4IMH9R3HsHjvS8KGpS_Id4N7uSNRjXiBfR306Onv-SfdIW-Kf5jbDjqKgYxKZOqKw3gqnrEglKb7Xce32t5l0VgZQA4KWxu5sXSXDxMzS-68DXZFMb_j_JStWqVQyoQeE4EB1O51JlqtFAWJ3rOfdUPRSnQryW33d99eDHdxL-9tikwbLBQCBu7sASq2u4VRQS7hmyZWPPNzpPJjMxG5ZLr6SqVbE7SnmAz9-sRPG8R80ucBKhwnKbiAVa6L7pwb11aLmW6VfL3-sB0wG60y5_y1Kw-V9Lkmmrs_H6_UTuoU1JulT3Yg6Lx5wgCU65c2nOJ-OzECsGR8lmDTQt6nXlVwx-ttKG8lWOx_5xDV7Ksvwa061XfEf_K1NvSH5fnisPl5fzL48QR7kEw3y34l33sFAtTLsZtErkOmCUcGeOLqX_Ce8pOMf9zxeO8fNQFFCfpb7SjT_hurDkXqRAiyicVjHWD6ZX1DD6Ym-W5Avcnqvokyf4ckTicBS_Po17DorpZQtqGCwDzD3uXTVIOLBW9XWc_73v_1f7_e16SOxQ0wKjyCRUppLWfHp8eQYoTKH_C_PmO4LeYGy1g0gLX1jCNl1MmsjOdY8H9WfRqeWcXgXZ2xaBhdYkBy4acLTt7e1TmxZ_csWMfZ7FhjHoIYuflNzdarGwPRkAfDZtvRsU5z4jAay4-1eMvYVRrK07npOkSjIIrimUObnpC2ahbBYg41x8AuTS8D9BRs2prTRYczuXWVmIyDDi4fZA-m1XoJ5RoYjdvhGb-rVpl8vnK74iJKrsSjTxQH2FaCGTfrASLx6xnoFwD7_Z-fDHOcfhcjohvQGuVRmF4OYHx59EljQt-vsG499SwFoiUCbLAhq91wJeN5IFcy4lEj9nPoPOw2taByWA56fjyD5SrKjzAaq9TMtYgrxl997w2SYZxUbZEtzKCx4GLvHbzkkVNKEuu6pRJ5dgOjS2mEEVx-4rIYQEcK_Yv0ZcDQvHrsrTaShd0ycnUd1O2FfRZqOoqhXMAWVrSF_1fB6wzBbWIsTOiuNASiU8VgzWVI-8DR7PHEBF2pUIh3LrGoRasTJIPWKZjeLzMHxUM2bsczzLDgsQ6lADCtCUyC--B3z4_NvVknq0nis7wmD-U_URs7MJaFphL2S8Nll_-Ab4bgvaWEsz4YQj6nzPE-s3_s4SNUo3MTSPyMj2OlMOioD3tMFIdbc7g0NOYkGn2JYwfvTGY5UN7OsUfyIGi4E2-YkB8IW0BPaVn5EFTQDhBAGc2q1WkPBFbYZE6uLZ3vrAUhLJcWbDqBikr5AQ3tu2tvs8OgZUJ7oVCd_aLB_CbyiwstjAhdL-iAbR4AhRTEuD92iNjp0FbCxV59X24zyqMOGRuPdaFC68Ty5kmdEuxSj0gH-d40wwI2-zfn-YB_qGz5jERsSaf5yqmCwfJWpfnenBB9umyj2bBDyw_EAohbn5mbwxOQFjTd4PgcGM08SPCACaaexAqzC2rWwTnfouRNKX5sxjt0tiHM4",
  "id": "rs_05181b2170449d39016ab44c54962487d0b254332e1a325759",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtExeqi7TRpX415ygKHdpmPQuEmx2JDxKlWYfP8f6dykluHlGJLGdNF1pNQlwVhw1Nm0Z8EEY-LS45kg9OogcVy9YUQNc6LUqLN_8p_F7mVPERn8ZBjTLIskBcGSQmZRveEbJG6tP9CfNqF7N3nJwVMmzABnpQY3MocjAWd7ypMcSm4IhD6ZBlKkGqpc3AzNC_AAk7mUYbxpJcB7da17X8HXuXszBT-o_vt2X1By6gkMlLqaM_azKhSOkMch2uGCb0XrI4NU1ZOq-eP1MsZpN1qR0zU-xoV573eZyjMm1hw6N4bZmQPO7u3I5shQXJuvEP1oXg4DNUfZabVMdzv2rIdxv5Tw1-GiA1k41pjuSgyjUCArNlK7gvrUENAJUrh420JhE3u6rt6-gYp6CzwV-MA3NiZypvrtrHVRAmqdVkE76JEOAZ_vymd6aaV_INDxhUZblS4zRZwLF4vV0bIbeNJQfFxDZbYj-f8KO0rp9f8rPgf4WByzxrGfVp3Q9qiy3T2G2-PaK-j4ugZrOFLej5APkJoDC-PV3EXEDaVnEQ8Bkv0G8OwP1faI3VO2ifpOnEnL0x2q0JJAyUEz0HQfQiwdCNgC2jGm8iR6tvt4ASd3dwkFDFRnQ27_hdVfljp24f-Ui3U5X1CwQ8mmofEedXGxWiS_mkttMX6GkcuZHyfxs3SkNK2vuSKy11IP-NeN3iX_LFhM-hKIUi_2P9M5zgTEOFY4ha_NZ0SUvW2JZdbxotPr0x809P832h0yYURXEYl72E_uxd-Wb6YpEKeUuXIds9-FD9K83KvDvH9-uxxOc1m98aLav35VJ-OsJRmWZMDBcUDvosN2bbWKqrMEPA9Weig9YP0Gj6v5ocYqCkaQ4deqyRyeUsTej0AYTeEDjTkACibq0m2OYpeWIHlycM0LP1FLYbQoWEsGds17mBL7GnxVUJ1TCXJbAwibIfAvJGZcb3aGPNouxIr9Tq67MvQEbV9nzZ77-zn47vUNHUNnbrnpEyaUUcLCumvlnYv9LUp3WGhBhfdq7UYJF8lrcLWVLyP-8XN4KAdpWiO6vYMp-doArphOVLnfoRK20nAWy2gqCxavwt8s_ySWreN1vWP_F6sTCCtdRsmn5hdr_tYyUu2V6cW6xuRwpCMalJSdUfhImMKW0Ci1HJ9iTPYZmRM24R_awKmFlHT_qYYwFJgQIrJCizewrpApZwD4yvXwl8lYMPPcv4my0VW9p4_B8gRD895SLbbDpjgP9ZAQl0xBQKEr6fNhpB_lE8o9l0UtzJNv5OmwLnKBLecplexBP3E2HPQPJ8siyrVxPi01QPgdAbZ0V67ZsPghFdgs62Y9xQMMF1Si8ErrnIHY8aYZi8KqrXE79M4ad_8O-lWc0iYcQjjHE7jKMREa_gd78wqEXBeouxXLghwtr2mG5c2R4SAQEDs3hFs-pAywVV7IylfKITc-n7792ZXgxe0cQg2IOi3kaEmaTyM_8dGX_14KUsIXYMhA41bhFd-qi5OKkacOEGeVz0nPmWS4CJoYWwia7onDP6mGdk2ro_uMnPo1UetyET5JqD1hWfyi_REPCNZhHd10wcH-SXK78KIMI9LMm8czoRloM4bGqz2dWzlp-YvqDdZyFsaNrZFrqDwysOTn-cUEjFZV8JmRWBKqOLtrKg_87y7lXx2b94D2y-eyQ7oERHZ6Lv5iiqHXQWaFwizIffktEy_sV8eHUR6vlphuIpPufqVvRlREX5kn9uJDSJ79_136PhoKMW0ZCcFE05GA_nzI6sDPYvtRVYJG_gY28rcUuYZr3-cQhFHBFgxIUjb42cVn2-TAjgyX-ycTeBN7MLx05zQGjvNvi2AtREh5vZr1LF2D9BML2hr1DeDVFShlIZ6l4sKi9HFgO4KJAK98pCSPpTNcDhKdoY-0-f0cmJajfaGxO-e_xUUY8W_sg4fYSeUKK_8QBroVVPY4BZ9wSivkb_tdiKzxUMKA0AaytDSwRQO5QxTEpQIEp0p17SAevP7RZWBDxYcD3h8O2IDbzNCpJ__dY3tZXF-GpcRR1v-fDOILlyZll9mbidK__dL2sODYkM30QCSCw87_V-pB1ir62j3ABhVk8R5dm-g38ldy0rC2OQOfQnkYlUjIT2EiZLM4IylyzKYdweDb7HQ-tUYNW0go5_HH7UhY8zzhFvvZ2fIA-WsVsoChF5fqdBGvXfXyQ5QQOX28CGinT3isNC2mh9r3eHSK0ZrCymov8UpL39duqn4uSwHtUPtXKdoXtoH0_wlvOwi2AkCMn5EslkBJa2Mx-ERosYd6E9ls45dj1Inq3SRr8CLflyVL32rZEgruZ-RkaMXY92EubDXHbh2zhurQrfTBB6KgmXuJhkTLrrgIDyfIgYuSPxdTfKU0v7BcAhFCWqaCJz78ycyV0-WsTRB_xadUMuHlDkZkrEconnVI4Fs4bpE6y6IaQQgfHtgWxxt84Pqn7sUnWFZQNlnraJ6pAXIwOdB8Y-gHYwgHO8KuG_mEyANUuJyUoIMlQAueV2RSAry8vrzORiiHQbWngHopgVr0PkchcXIuNIcVsJmjAJ5K0UEopmMon74A4xbefvmPKhkjkzn6ISkzz0tHnTWOd2DmBAjD453arm1Rkc14UTCd94KGFwYNuNCOgjIHIsQ5KIdJGdTFeYVZLFg0mZyTn2HDbA9b1LwiwHDFTnR2AcTBD-WLi9zlA7zoQn6IgPnolWb0liCiNU2p-xo0OBcbO0hX5fI3K7EkeYzpp8rmWmy76_umCRGgP4oLU6edqhL7NHp4wyp32EvzNTExddAXfCLjXDR4wmv8i0itUNddIffy-j4Oq6XyZQUVv2S_-yciMYgjKtpA48UW23SRVUCyE3lsaDdZ9MYUuPHS79w5P3TYWISWg43Lua2Vda9VxTTDXsrYb8T0Er-BqMp9veD3kg9bx0cTfH5ue7n6pXS-tXPaf3kCQl7UsrOPLTE6GrZpqJVPLPzEjnmNJ4Dty8xDC1QdMHN-mWvc0IyGbhREbGjwVgy8gre7MerWYEuad73t-0oyVPgJnEb3ZDPGX7L3pvD6a7vEdGT7FbuuZR4bjd4bCR5omwxnPP7gngdSHjmOV8ctI2AoCo4p3aSvvkDNjKSqzr4CqwCW1GUhU",
  "id": "rs_05181b2170449d39016ab44c5a5f5c87d0a7f21bab5eefb906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.253,\"left_y\":-0.1,\"left_z\":0.12,\"left_gripper\":0.2},\"note\":\"The bowl slipped during the lift, so a full-force close is squeezing the thin rounded rim out even when aligned. I’m returning to the same successful rim alignment with the narrow gap, and this time I’ll stop at a small nonzero jaw spacing to clamp gently instead of over-closing.\"}",
  "call_id": "call_hfXp0SNVZHfQtwPPuA1Heii4",
  "id": "fc_05181b2170449d39016ab44c5d922487d0b862817533ce60c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hfXp0SNVZHfQtwPPuA1Heii4",
  "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]: [-0.8284, 0.9253, 0.4767, -0.4549, -0.7082, -0.3943, 0.1979, -0.0219, 0.8413, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2458 left_y=-0.0926 left_z=0.1104 left_yaw=-0.0629 left_pitch=-0.094 left_roll=0.2576 left_gripper=0.1979 right_x=0.2916 right_y=0.0001 right_z=0.1591 right_yaw=0.0002 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -2.4547, 6.8991, 1.5507, -0.4469, -0.1685, -0.0708, -0.1162, -1.3333, 7.2, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab904b0fb5af13d0bbef1657e014e89fc27145b0c9e320372784528bb80f1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a03a0b9a10d6cc4de92e00b747c2c968c88fb87111efaf53f6d606e2dcff3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8522639633ec476b5dc2f77959dbebaeb25f592bc5a8e08a1749caac065cf2",
      "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 · 2.783 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 130 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 0.9073, 0.4721, -0.3779, -0.7303, -0.4004, 0.1999, -0.0216, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2532 left_y=-0.0998 left_z=0.1247 left_yaw=-0.0575 left_pitch=-0.0167 left_roll=0.2014 left_gripper=0.1999 right_x=0.2914 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -2.3316, 6.9402, 1.5263, -0.2808, 0.1832, -0.0317, -0.0752, -1.6479, 7.1453, 1.6337, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.8097, 0.9367, 0.7437, -0.6113, -0.7044, -0.3824, 0.0067, -0.0219, 0.8379, 0.6056, -0.4232, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2631 left_y=-0.1051 left_z=0.1893 left_yaw=-0.0571 left_pitch=-0.0255 left_roll=0.1967 left_gripper=0.0067 right_x=0.2914 right_y=0.0001 right_z=0.16 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -2.6735, 7.2684, 0.9548, -0.2711, 0.2027, 0.6813, -0.212, -1.4427, 6.9675, 1.6435, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8284, 0.9253, 0.4767, -0.4549, -0.7082, -0.3943, 0.1979, -0.0219, 0.8413, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2458 left_y=-0.0926 left_z=0.1104 left_yaw=-0.0629 left_pitch=-0.094 left_roll=0.2576 left_gripper=0.1979 right_x=0.2916 right_y=0.0001 right_z=0.1591 right_yaw=0.0002 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -2.4547, 6.8991, 1.5507, -0.4469, -0.1685, -0.0708, -0.1162, -1.3333, 7.2, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab904b0fb5af13d0bbef1657e014e89fc27145b0c9e320372784528bb80f1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a03a0b9a10d6cc4de92e00b747c2c968c88fb87111efaf53f6d606e2dcff3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8522639633ec476b5dc2f77959dbebaeb25f592bc5a8e08a1749caac065cf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExhfg3NPF0dN3VcvlsiM1Yr8iCxP3PSJm_wFhl7q3EOu_xSpZPW67i3ZwkF9UMu6Fksv3XYYsI7h-98n7Ez9RB8Y8s6BFoZcrw0EeaSTPLNlgGgAIZUdhlAuBhZRQIUJ5KrBxTk2i47yQPLGSjIVPplT2ub8obEmQ0AUCLk7UqxKQnlYTTv6MzPVHKooyA6mBz1aJB6B-9xm_kOcwh-7q6faGTKaYxZwMky0i4hWCsLFgUdEYpxVabfEuwXs3ogfpMHMXHXN0e4LlznL7UJpOgsJoqcjqbRWfQwuw_do5xkaR4N2sqfReGs85Ke59lhJfMbFD4MtzHyfssjgOADnbAIGf39mdqhIGWNh-9bDl29UBpY8iPl-pwR4Ynj7SCqQYBAL1YYhMrGlaG73ibuByt3w_5K0WcO6-n5YV8DbCX9c5uZDr1icjwGkEiS8XesctKDNwCNXcoW0ZSVQav5rxMu1fVhjOiToCKAY3fxogI0efsSt5n1FpBAmVT4OADMrqzhASuRtfhGLb9Ac1XdjJfYAxTFF1YphHCuqxIdCzvbUBetHylkKZUaTU1CLgkqBQPG4hsnm7-VW0Dzdjn7T63391mTLq0zLSVHVKPIoUS76OyF3Dfl38LLkWNg7KxGMfeAyfc4cwt1K6x0bV6XetuHf7ZtrnAN6SfdM7bD5kFBqfQGhCQZ5YjsDXZ_BK09VphJdXSfNooj4KpEJIdJ-itXL8ILv0PiTx9lJW8uap4NBxGX2PJaRtyXKadj5x8h9bXcvzFHMqKh3tJ4pyq6oABN6puIRGxcUn4L3y1KAFPYw4r1Dnp9LB6kQNrtVBtse7WQTLzHMahLwzK2iHGf6REiHdykBkn603srvRjndabB_t6OJ9YhFtQHbsU1zm_R0SvS3w1qmXzQSwaNmHyAKY4_EQz0HJC5DLYYckT52Y_mFTEm7uaACXgZhyvUnNrm3E5GD3Y0GeB0D-SV7nKmnFWYCtP-__TAOsiW1o2mUUbzJMibyCldwYT9N4ctMLxWpB1vJLq_WRRL6lp07ewu3jhmKa7dc3eufuh3zgVB75_Q3rKOMmD0geTM5eOlNyGSZj7nrjOXyGg5kZpbAVG6-ItnMOCrolQa_SRCd_XunuCjuRF-Ya_8DH70KY4ZVmyfAQ-rQTDQ4L8Ii8sCIBiqjsxVbPZ6v-DJjKKKBvYmkZLoQm1ceHPj1F6yFPWy744rEmeMd4iP5kJ9YPbdhN5RuQx7WCsV1A9OD1Xm9QeVPB1ja13_U7HR7h09JuMy4K2HyxHcfxMkdwfO6p5yfQdHeaOEVK8lOTZBJheZS6zlhGlBPMS5py3NHC7hgdRAUAQWoQWyVEKBeD1hE_CcT5hjNz0ndgqwD7pTDUndr84DEI69UUxDEqznAzUD6RvaygcSRcxQ1r9yvzp76f_m5mo-V1d2M0okRKsR_PTwCO2C6mYkH0OzbVmPWB9Xanx6FBf3LlVdKRAuNoDuvkOxTEiHPdnwapXTqDei0ZqBRVu8uMHSAPxLDldWTB34wT_yhceTIDcf1uuXtAGYJrL0wx_tNaJVq9s9VnsmUZj59OI2QBJGc28=",
  "id": "rs_05181b2170449d39016ab44c60382487d083c5977c079f6ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.105,\"left_z\":0.1,\"left_gripper\":0.2},\"note\":\"At the low approach the rim is clearly visible about a centimetre right of the narrow gap and slightly forward of it. I’m applying a small right-and-forward correction so the rim is centered before the gentle close.\"}",
  "call_id": "call_sn8fn7Rcn3u28CsQIOYY7NmJ",
  "id": "fc_05181b2170449d39016ab44c61102487d08b152ef0619c3df4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sn8fn7Rcn3u28CsQIOYY7NmJ",
  "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]: [-0.8101, 1.0031, 0.4667, -0.3519, -0.704, -0.3882, 0.1998, -0.0216, 0.8417, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2567 left_y=-0.0987 left_z=0.1022 left_yaw=-0.0515 left_pitch=-0.086 left_roll=0.2495 left_gripper=0.1998 right_x=0.2916 right_y=0.0002 right_z=0.159 right_yaw=0.0006 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -0.8547, 7.9521, 1.1795, -0.0952, 0.1587, -0.0317, -0.0615, -1.4701, 6.9675, 1.6435, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a530b71c6f7e32efaf3096cb0bee50363806330fa3263c9b86cd988c13efb619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197897317c42c54681eafdcb0cf547f4b32d302c6837e0f10382e9b3d23c2ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f63321922754c55b8367161af5fb783980c505ad2babf51579cbe91740bc63",
      "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 · 3.408 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 0.9077, 0.4721, -0.3782, -0.7303, -0.3923, 0.0112, -0.0219, 0.8371, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2531 left_y=-0.0997 left_z=0.1246 left_yaw=-0.0618 left_pitch=-0.0182 left_roll=0.2086 left_gripper=0.0112 right_x=0.2914 right_y=0.0001 right_z=0.1602 right_yaw=0.0002 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.1128, 6.9675, 1.536, -0.2564, 0.0269, 0.2173, -0.212, -1.4838, 6.9538, 1.6288, -0.0269, -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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8284, 0.9253, 0.4767, -0.4549, -0.7082, -0.3943, 0.1979, -0.0219, 0.8413, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2458 left_y=-0.0926 left_z=0.1104 left_yaw=-0.0629 left_pitch=-0.094 left_roll=0.2576 left_gripper=0.1979 right_x=0.2916 right_y=0.0001 right_z=0.1591 right_yaw=0.0002 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -2.4547, 6.8991, 1.5507, -0.4469, -0.1685, -0.0708, -0.1162, -1.3333, 7.2, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8101, 1.0031, 0.4667, -0.3519, -0.704, -0.3882, 0.1998, -0.0216, 0.8417, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2567 left_y=-0.0987 left_z=0.1022 left_yaw=-0.0515 left_pitch=-0.086 left_roll=0.2495 left_gripper=0.1998 right_x=0.2916 right_y=0.0002 right_z=0.159 right_yaw=0.0006 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -0.8547, 7.9521, 1.1795, -0.0952, 0.1587, -0.0317, -0.0615, -1.4701, 6.9675, 1.6435, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a530b71c6f7e32efaf3096cb0bee50363806330fa3263c9b86cd988c13efb619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197897317c42c54681eafdcb0cf547f4b32d302c6837e0f10382e9b3d23c2ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f63321922754c55b8367161af5fb783980c505ad2babf51579cbe91740bc63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExkRnQAHqVAbyrhDtNDUh6KbiiJHH-FJ5Hc3TJ2lQ67wfxLBQqkuJfR7ztnGsVir2sdjJsBi8P-QLTLiYmwA4c2mYWwz6aMuhtf4QSe4EsvH9sQhEtileM8yFbi79LzZH9-I-pkNKwSlbLrK5OTtbZNp-d_23A6h4vijJOHI3iWoh3Yz54q8zNkjLmYUk5RLhrcQ803JYNKSu5U6lQCR9JB3Dl5luhdiz3wKJ881zYrYTBNRFesX-WmYjEY3R1dddFsjy44SosdV4hb8qWN1MJsFmvIlrExKdZj8fa-bPfsmNOUaaYs5I8MHGCG4GKeGjWbIdpXenIMnVoEGgD7yrvWZUBJeM1XxcFVhza207aUoN-DHiO2kOCjwT7u9a9yQNoXhfDxxeDMMmnq0sNGWlGOC4NpvFiTDrbFIsAMugnAjJOmY9XG40ZAlmA-44QVbfCVi-N0p60xN8Qb4WJrTsrkkApNPkM6on1SUbCPErtIBS-TgxG9oNOsrMvEvFA3CSLl5Mz3jNI9WWowOdogUc0WGBXj7iM38Z1hKnoDfcJU0QyUbKe3R67EtvPmt5POjqd1ouhBQbavfSnek7X7gnPZBFIxSRR8qAMBtxmTUWx-wm27LPW5f6RZX9vvxeaXmGAJg8fFDrFjd123VuR6J34qzC6UDoMfHyK_YoiFLLhAFt09KnGjhQTIYaZbE50TYEyHC4SLUADNuFFRtbJ0y-Yku6MQcM8Myt9Q2nBYkf-Fk3QAGcvk78z6ttD1ySyuDKOiPO3O_4gcKQ-JiB3Qx3sbCKNT_M0R6ehrXELBlJ8g3pZmqL-CpSQHz1Iqi87xYy7Hu0Tbe4b_BPc45apNH2OI1oyx2zGMHljTTltVv2xmVQYjP4HLaeOaUGAt-Lyl2rHsZOBSpNd6wUa2ggT5QvyllyG1BF4qWawM5Xu9Oo4YIVtqeUpLpUOMexHoPapgOy3jnBAhphhKJ7vO1mT7GS9swSjOHgPtjq_fq0-BAcXhOY9AqXfNBcm6JSpAOSH3za3dwUVnoYJvMGBYNiXUjCbZd5P59ty4aIRKZNko8pLtPdzikN33ExAQ9F8E8Pt0lL8LIIQSq2HX_hNmhTcK27SNVkjNcj8vLWPNU0zlrSGT07-u0Ln-bhflWIZvCsYYuntHSidYh8TZ4e3iiazgf_kkiphdEWQ9M2OSWe-d21fIywKxn-tarcVn1_OoUO-cL2tPdYmDA0kIGqdVxbYItFx9VFWR-ci6Zhgwuncyuw80XQ5eoF_VG3Xmjj9F5BnxE-Rz",
  "id": "rs_05181b2170449d39016ab44c6376c087d0b2e3247cde6356b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.02},\"note\":\"The rim is now visibly centered inside the narrow gap, with the two finger tips on opposite sides of the wall. I’m closing only to a 2 mm commanded gap to clamp the thin rim without squeezing it sideways out of the jaws.\"}",
  "call_id": "call_UTrB6T3JosTwGr4Hsyg7aXQs",
  "id": "fc_05181b2170449d39016ab44c63b56887d0bf963032cac259c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UTrB6T3JosTwGr4Hsyg7aXQs",
  "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]: [-0.8051, 1.0348, 0.4671, -0.3405, -0.6895, -0.3859, 0.0275, -0.0219, 0.8436, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2576 left_y=-0.1006 left_z=0.0953 left_yaw=-0.0563 left_pitch=-0.1086 left_roll=0.2566 left_gripper=0.0275 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=0.0002 right_pitch=-0.09 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -2.8376, 6.3521, 1.2625, -0.4664, -0.0366, -0.0171, -0.0205, -1.5658, 6.9675, 1.6337, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28e9969cb3574f23bc39ec4f7ad18f9d89dcbe90e89db27e6eb02b5ce9e8f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c0241804ec12e1cd65137e76ec2efae5c0a0d9068406300b2d8dcbe582c739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b570a005e1d4c1fc36044a61e444188b6246318b240a7b823318c2c1aa688d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 8.317 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 0.9367, 0.7437, -0.6113, -0.7044, -0.3824, 0.0067, -0.0219, 0.8379, 0.6056, -0.4232, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2631 left_y=-0.1051 left_z=0.1893 left_yaw=-0.0571 left_pitch=-0.0255 left_roll=0.1967 left_gripper=0.0067 right_x=0.2914 right_y=0.0001 right_z=0.16 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -2.6735, 7.2684, 0.9548, -0.2711, 0.2027, 0.6813, -0.212, -1.4427, 6.9675, 1.6435, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8101, 1.0031, 0.4667, -0.3519, -0.704, -0.3882, 0.1998, -0.0216, 0.8417, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2567 left_y=-0.0987 left_z=0.1022 left_yaw=-0.0515 left_pitch=-0.086 left_roll=0.2495 left_gripper=0.1998 right_x=0.2916 right_y=0.0002 right_z=0.159 right_yaw=0.0006 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -0.8547, 7.9521, 1.1795, -0.0952, 0.1587, -0.0317, -0.0615, -1.4701, 6.9675, 1.6435, -0.0562, -0.0806, -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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8051, 1.0348, 0.4671, -0.3405, -0.6895, -0.3859, 0.0275, -0.0219, 0.8436, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2576 left_y=-0.1006 left_z=0.0953 left_yaw=-0.0563 left_pitch=-0.1086 left_roll=0.2566 left_gripper=0.0275 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=0.0002 right_pitch=-0.09 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -2.8376, 6.3521, 1.2625, -0.4664, -0.0366, -0.0171, -0.0205, -1.5658, 6.9675, 1.6337, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28e9969cb3574f23bc39ec4f7ad18f9d89dcbe90e89db27e6eb02b5ce9e8f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c0241804ec12e1cd65137e76ec2efae5c0a0d9068406300b2d8dcbe582c739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b570a005e1d4c1fc36044a61e444188b6246318b240a7b823318c2c1aa688d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExoMhYuJbwrLKrTk2G9iIyuJGPCF8ZQOix_Uo_Ov0qsHrbjHtmt_6D2OQcVSSKS8ZO5cl60jM2JxbbwGuvwLQEW69hQFWEZthghFXDGflCnJyRL1zXp1tHf3eekX--4YjFujyLGmIKDvz-HZBT4H0bwHz2AhYy8h4Fc60SOcRqttw6zPyYcDAXQNiHclbBC1fGDFw4tBWQe8QvCtL3Guo3Mrk8aiqoSUnuK31vHzeZOpmjG-oR9weDH21poSCsNjDTQonStn9CNEvgbu2X6MzYlSdAWnMxYhkvd_KNqHKXDyZom3eUTe3FzGZ4JWity44to-z-nxV4SBfP0ISVWtsK65NhqbPQ9V8a2T_ZpxuCXtSgE_2p901MDj42MiiYzMxrQzZHKJD1gek0UL8izDQUdHFlT_87X2upFD6jjY6sS3_XIuo0JfvCfmkfhymDsToUoszC1HC4uCW3obddeoH_F1BiNjhpZ38gD9mcCr75J_e6yct40lQO5N4hSu3vIwoSfzWL2akZYRzRF28oezm3wdSd3J_QTIGgtHpPMnbOLwS61TmTCwzAmqLDDMATDHNcSIrI6MSsRpKIqTDDsiVumvI-UO2d5ng0D7IBuH284jBZW5tt6wHMIIZR9-2KZqmTFDa9kCUE7Y8QJ2jVahKG3ssMYb2lJ4sI_4VBtV4wkMLCx8-a9pnicv1t9nJdCq41gPXOQBzMHUTl6YFAwSOOd-B-yWFe8a7w48QPcqoeAupkZv-DqDRWwe78ZZFAMyv0GUePrpeZOkG1ntFJ6xdtW358zADGAJcQGjX4ZHY012DVB8lZL0jTOE-WKDK7keuT8tMo4qnCkPfUZlQya-QKIGMufmjKRTbEo_9HmA_KHSH53bv9YldKCyei4kSVX4pmLEbQ7R_A6wgfgFtD4puQqtX8899CDSeKbo8jniZc4YmXX32aPBM8iXJ23oxLSbI4XOXawUBaiPq67p5oxGXMauPXzsglg9pxx6Z4rulgdEJnYynrc1v3NmlUgtMSy5zInkVO_hC_-UHIKD8tja9aH-s9DzRnwzdW-fkcfAHWJIez2YRxW0g1XppLNHVLJC6Khb75jKOySyi-97YNTxb5aBQhgwnLfVeCuilN_87CB1Gqibl5kFfu--7l4jnSyVb1DNFUz4U7Q_Q58cI7CdKniKMvFNrZwoBxDTGAcf9qp18bf_aojsWLZUlfgTXp-5S-f_6jpzv0S7yW7R0-g_5NI6sH4rmUB0fLxLKd-QXG2qgXQHPkbFSBpqVvmE_GQ4fel",
  "id": "rs_05181b2170449d39016ab44c66389487d08edbdf6c7ad80c77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.258,\"left_y\":-0.101,\"left_z\":0.18,\"left_gripper\":0.02},\"note\":\"The gripper settled at a 2.6 mm opening—larger than an empty close and consistent with the thin rim being clamped—while the bowl stayed centered against the jaw. I’m lifting straight up without lateral motion to verify and preserve this gentle grasp.\"}",
  "call_id": "call_VVRFhrwQBxBhOtgNPD8zBw0M",
  "id": "fc_05181b2170449d39016ab44c666a2487d0a6f486515f534b36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VVRFhrwQBxBhOtgNPD8zBw0M",
  "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]: [-0.8097, 0.9871, 0.7372, -0.6514, -0.6815, -0.3866, 0.0211, -0.0219, 0.8436, 0.6056, -0.4229, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2593 left_y=-0.1057 left_z=0.1675 left_yaw=-0.0664 left_pitch=-0.1077 left_roll=0.2467 left_gripper=0.0211 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=-0.0001 right_pitch=-0.09 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.865, 8.6496, 1.2283, -0.3834, -0.0317, 0.1001, -0.1846, -1.5111, 7.0222, 1.6484, -0.0464, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802492033073043ee9176541515bb8693edba8de1dd3cebeed5bd17e96f499bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110279207447c34bccac596571dbf254c6b2911f6c05d34080d536662e7c60d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9c8e2ffbc5b922c49f1b2b98ce3e24341c3a323e3e2c8e4549d85dc6ae9782",
      "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 · 3.275 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8284, 0.9253, 0.4767, -0.4549, -0.7082, -0.3943, 0.1979, -0.0219, 0.8413, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2458 left_y=-0.0926 left_z=0.1104 left_yaw=-0.0629 left_pitch=-0.094 left_roll=0.2576 left_gripper=0.1979 right_x=0.2916 right_y=0.0001 right_z=0.1591 right_yaw=0.0002 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -2.4547, 6.8991, 1.5507, -0.4469, -0.1685, -0.0708, -0.1162, -1.3333, 7.2, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8051, 1.0348, 0.4671, -0.3405, -0.6895, -0.3859, 0.0275, -0.0219, 0.8436, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2576 left_y=-0.1006 left_z=0.0953 left_yaw=-0.0563 left_pitch=-0.1086 left_roll=0.2566 left_gripper=0.0275 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=0.0002 right_pitch=-0.09 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -2.8376, 6.3521, 1.2625, -0.4664, -0.0366, -0.0171, -0.0205, -1.5658, 6.9675, 1.6337, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 0.9871, 0.7372, -0.6514, -0.6815, -0.3866, 0.0211, -0.0219, 0.8436, 0.6056, -0.4229, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2593 left_y=-0.1057 left_z=0.1675 left_yaw=-0.0664 left_pitch=-0.1077 left_roll=0.2467 left_gripper=0.0211 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=-0.0001 right_pitch=-0.09 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.865, 8.6496, 1.2283, -0.3834, -0.0317, 0.1001, -0.1846, -1.5111, 7.0222, 1.6484, -0.0464, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802492033073043ee9176541515bb8693edba8de1dd3cebeed5bd17e96f499bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110279207447c34bccac596571dbf254c6b2911f6c05d34080d536662e7c60d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9c8e2ffbc5b922c49f1b2b98ce3e24341c3a323e3e2c8e4549d85dc6ae9782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExxXtXOwYcRRPqLZtrg1vX89CfA6MFG4u5XnkWb11iLvd82Y6ZLpcKg94R34tVHJEAXpcWIKQdZj-lCxg8_NGE3zhCE7eGsfJ-kLkIXmo3HyM5uBHmhAoMTn4KIwa9R_Kz6Xbe-eLAfrTobiQjev-qmXFmF-uWg1lLbSPs9TEdvhYzzTHrJ1fgPMsPq1U72dNWXcn6LqJ0eLDyFjf8jeupZBPAiWzLhs-PIhRvpmsbyrhI-iiIWBamZ2JGIj2VKnauDB6C19NPyL7RnTg8ygtfYKZgme19vH7WwVOlNBZ_N3iKq4_GLW_QdfpO0FiQRYuhl4yZpyZGyhDaaA8tsJogiqv2_JVP7vrd-SVIhMmN6Qe7bCeh4niSCWomPF1xuDbQBw5CnMQ_agsh0cry1lVaeHbuCN9gPLxN5ldg17zooVPAiRdYjYawWIVk9RdSfiSSG6PPkWAPc4ahiLfAIdjfHrwbdibBL0pEL1mhwLIzdz6umOmT3Z7IKDm0F_E770HFCiRAmgZIMKz-7nCoOQ1fg9SVzOuRDIQbY-cNJz_MqFvFOVw6dJcktWXJ_CvTUIkDrrDCDhm5Pze_EPKbPTt8vEBG0ntalG_j8AEUAqvnLj3IVJ_phDGXINu98AmE_k8rEdg1Xe6RSvRJIl_-GL1w73ZCXJPI9pEkz89YtklYjDWdql3DWseNduX9AM492Zsk6UGTeN4_EyhowfxbFWp_wdOn2CM7HW1EJVq_sm4Oupt5XWyg0_5oS1mjXZBp0Fhlj1kHGvnqx6emkXvSVYKLEWWve8VCyBATpH627JRGsiPShYKYmAJG6NQBlgHL3QWQ2khd_Kxp9lNpBeQOhUxmdemo8BfGH91YphJA4z-oEWItx_M7k8pIkJLdSuDM8OoDDW7c6SFikWgSWgMDuGB3k_MqOUPa33LjAjKJkzpmPCcOn8y55hP1G9_sGHPy1AH2rY9A8WeEbB2D5jXyeYB660ceRPLCMyWTyIHSjEhHFvRcAvTFYSK3VC1LH5SptD-isE943gIyGEWt3Y2Slf1l9g9yTcJrmfzb2d76RYD8Fgkf4644OyHmbmuXvd7WpcV7XMphi2_t_ghwgMApL5MDBfg2FCOxleqStSe_CLKf_c0tuMcZW3NVz5PTaVcu4qV96kdvLLvC5swFLY2kWdB7JcoETmoyhabSpBn1oDd3cB8TcnM6aHZXvcEgxYdSqszJXsJjLcwTA9Tu20iorcCbZtEqez97FSjttnaSeiFk5w9bEg6mY2psKmj-2xv9JYRv2xhAzuyCy2Qqi350cK0VhSoSdFrYydnThnGfIZuvi3O8-u9U2O39eqnpXd8WXAzjLMDBghBFlKkXaDCkSG455GAuRtrkyVY2eYEGhdoaTZXjM8lalE7Lnv8a2mBhOewsB02Je58k8DPydIQ7UaoCQVNsX12g_4u-q8GD-gGHJE6UjwrhB9MBrXsRU9glz-kcnK9c_4zflDNziciGYd4Ai6vaNMLUmcuKKdbIKYHNBbsOFlDw_lnDNYdNOgTEtWUACArNAAEX2szmrpr3bDIGisLVDj0K3VezjJs2tKeHLgM-9gGgjbxXG3RAYfMdAyNDjSjn-bKXKVhn-sOwmeemLdlJHTHQkSXkm-9yU06_XjjrLvsvClcYGGB_UkCyj2lkstBCf1F_808n_kwJDMpY2pFwHPKlLu05dFYB97DJP9sdGs5szSsfW8CKrOhpssVx4EYcWudfVEya-Qpzirj_KalrKIlzbji-fiaV1XpehI8g7RGf3lxxwz7OWPvIdV1d2Ga6OVEAmO8g1jHv81Xs6uUBy5x2i1FB38hRjPP1LR6n2uft3tGys3fC6M7u6sCU0MveQQaU3Kty-l9Iu1yDu_GI2_q1qM7JylBYHsaz6V0C5tQJ0IWgdLlbKxS-37ic-Nb4Ws5KkxvXXut0RvZMoQMVopbHp8flYL5x1oAXjBXxHU_dJOD5e5RvOy-vnLn7IZpUcYedNJW0W1cOTAttxIQesqVRG3nZZBlfpDRlf9Csg2HAPw8znavOnQTvtLEHrmYRpAZoAQyL9pIxjDZC9NDDCLq93LXgYDFrf4NIVX4BLtWnh4b3sQ8xJyARS7aZup-KJVLMa4Ji1G7E1G7A8334tJlgY8r_xGBY-U83IBR3-B4BqSdmKNVSjy4Xuw7XqUy2dD2-avyXmpekgazPqvfwgp9hF0jq2wQ1zE_rvzCed9Y6IljwKO6aR6OP8Z46Yud_oF9xgoUnSmknXuQVqCWsT8KHOkXGyFFlbERUcm6FshjSUGNVApCrHFCfMQJxhI1JRN4XQD9G53olz_yDuetsr8GCmDnxE5qLijI_m7TtAU0Ag8bw7fxYDsfG1_5zNJ1V3G7_dNTHuaxNr7BEPlXL1Vt3bnoUaJA6keH0n8R3YDQ9uvhcJ55IAJ0Kp6FmX6Z8y9Y9B-DINc2hW_uN7S07jNzyAjPS-laWLo3isuGBjhkLxgkHkh5aPEG5Vaecacmo2ubgJ1oVuNv_rszolgv41NZ0MfTb-RU9XwOkamMHTRF9jDS_lI-G_G7e5QNsfeWGfwMv6Gz-D7eE-RjfGDEHnYJjcEBHbK_PEXMO1SGH_1msgK0j6zYg7-cOxHmCGC5rel7IHOyytIxdwHPoDhehtVR0242JgJxuvOsiVoPYb6SvsdA1KWmh4wFPzkReN2QC1k7ybBrMb_hrF8IKkxnq4cqGC18Ugw8WXZBRFue41MtT1nE-b30Mij81uG8ykuvQ8wjpGmkPNydyW1uw3JTGyakMnv2f5s720aCOqe6SgvGobqycuP88v_SeFfvvh9SqdHtFGF5SvEpIYJ3hJdpCr-_bAuBXwbmizUPVgeVkGCgZYVRc3sEGb6nu6ijLQJJTnZUPigBBxZDh2QMA9mFq-lenLhHFU4F2OUW_EqDxLYLM5sl30UkVw2M0PK2Jdjpy8RA0dFrqZULXrzm1VoB-EFDHvS27Vrw_qlhaHJmibmzWy35jX68F4XR67VGNOc-Cl3-zXp97ykcc-52yTyD8QHJK6Pg5YK5WvYe9JnIZp8rStBhNRGtfZ2fQzTudbOUXpTFNEsRSd11YVMWKftDOJ3dlR9ar0wwfvRZBkPqEJxjrmXL1z-R9V4i_emrRWOfk_1i_q7pBJSn08uKx0vGRNQ3ULzUQ96yiJdhtAKzAR3GoIX6Xz_cWNP-Zs48dT25sqD0K7ZWfEo5t1pp9WVcSfv-mJn0he9ZpNTkgN6tGUNMCzn7ilABN7jkrPTLLi6YlFEJHX_GzETAuuPmm0-dNeZdBBWA7aufPFlO2kZxHTU6ecspmE7vY2qps23TJJLU7JjTc0uxop1vdXhGj__MlrwZqHxoxinJAzJwlIRXoU5FhB5eeEA4vf0Xd_trJSYv1X4M4ckUoCXax_xqVglwZqp-WWsvp6zXEa9qhPif6_pOTvUYsJ0SmyovOUdDYz4vdj1BT6b7uCv1MyOws4sDvLDdbdM51W4y7P2fU2ojaXg1XFEPDhWaB4V4_DNv-NAXaLewdnPO6gtErJWwQZfhqSMYOMoy0GFuIoaebbmPMYU98UNl7_K0FkVs121t4_-IBEnJrb7P0RfuCIjXpMfv9qL_bWj2icI62A2dAfB8I5iF2C3B56-g4XWzJahDIlxUhkz9HC6kn6upiEJSObhI5a0ZMDI_vcqRsgEjnI_uiyhs_Hxh1LstqPtYJGkerrtSHjYUQqWcxQ35HNeD3GVhdZ-Q-B0NA4P1uJXoubQ3VnXCkgD8VSw2VXynOllYUwh8-G-mApQHmWBXiTBhXpoVPrl4oFYcmVhPhVYsJZfQ67ezIFzrjE0B5a2UA6D1UKT0rnF11vwcLohQQf6K6sA0tjdxs-g_2Vh4WvIZrnnlNn0AlGGnR6dsovDlqRYsbaRpx8FFGZ2QbOWQaC6isjwGHayq3jRTiVSx_Mx-Esn6Xabb-TVQOSoviRyK23OEJudyuDS8Y09QdwQoGuMx4FrIa1A7iAWDHQx4C0AmpyiHXjG8_LD7H648jihApZAZIFMyFkN8w6MdOpU-191Qb5PlXSnkz2M3S9E9s7q6qIdw-G37H_KkVOLlLi_7svspaB",
  "id": "rs_05181b2170449d39016ab44c6a542887d09554de309abac1e4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtExxdkOj_wxEsDbzBgdaYWo1_mBqOtylIQlTHA1_VxYgrnEjlm5UyQZ8YCn9JmYA744eYlc3e2UxDcpSKO_w7-x-cDBdVoxIUZ7YwSpVnTyax-KaC54PI0iZQb-H-6G82Lwik31Gm8kozK1ed0Rl6ve4goshDYskQwcn_Hie-IaWksKv9YDO7m4CMXKYXuV7sRZZKrAeJVil12TTjP_m-gadjUjWAwR1n_hPhb4VeZV0dj2QaP7ljxzKN0KgM2cwMlC6ytZwP4lDV5IVswRuO942Nz3IRMOQ-FOJHODjjkKzQ7Njj1tfMfiAXrjvWzZN8gEdXGOKMhP3bhYa6BWhyBqqIXa_LduEhw_l8wjfYuVAFppDdhaRAVLbr6Zs8TY54nAvKEXajr4JZD-px4IfLXPM1_Ws4HuZn7wgf-dGMbow3qBO19cNgA7jHhxZwNFaD-IWJ05ojSXm5-N6HD7IxWEenGP9b9ik_6NY08ok-eWn5-j1I8yb7uVMcsu6iAAE51XBmkV_lrhUs4oUUvd5L2gdLsjL4wdfBlOIealacAFCvR4mh9Vram2j7F29qDk4O9yJbmw7YHZjvwl0GHtDGReQ3jdG4a6NTYiPeD3atTVJmDSh36asDZ2SFUbtcU5bWxIWx1CgORkygK_9y2skbzzPP_tqn9RNOKJkFGfTUJRP7KiZm3AFiBtde-NWS2LvzPM3eub390097RuW04q-zaJLLYeac0MeRmOkbLVi2oUSimpzfcJYtNGFiRB8LE_XKMkdHNobRLsuQrdG94IVYBLOjWTWxy_I4oySDhqYQVuM1W5syg1Rn4lwLbAETCZpW9VYhQVsip4saorvDomYfzyXu1_7SA4no0H9IiPf3dOVrujWtHrCQBoKcUiJ1qK9T5tS7-NjjFL1EQ_G7ETKItJjTJaSvhRFFqTmXJ_MpDlhVsYDLcDunS01la9rEx4Q_bn_cMkMtOVI89Jpw8wSyDZZ3W7K2PWnuit1dYUsA0HDF_xemEYO0HZ2h7CClk6r9nJoSqWqGGQkMb_R7qiLHI1z_jsFVM4uRqgofifjjipPca4GlcRMRQonSrTG64qGWs-n93f6FiPzYathHYJCbCn7BmO7gjt7x1rAMpJz2kKlXIY1xjJex0mgXMq220M-uUON5ZtI02Mn4NHcglJA0wE6tjpJMrH4OlSW0-w_BZbH3U3i9uCOLM_Umnn2oB2LeqMBqqZM8NnkWgHcSxXWsmBW7Y7zL3Tl1tD2lTHEos6eP42YI6sg2Dc5ViWuVRY4zx_FSj1fXjcQJc2UHRm7CpMgfA==",
  "id": "rs_05181b2170449d39016ab44c6fcc6087d0bad4fd78e75e71a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.1,\"left_z\":0.04,\"left_roll\":-0.5,\"left_gripper\":0.02},\"note\":\"The bowl again remained visible in its wrist camera after lifting, so the thin rim slipped even under the gentle clamp. I’m switching to a hooked support: lowering the closed fingertips at the outer rim and rolling them inward beneath the flared lip so the bowl can be lifted from below rather than by friction.\"}",
  "call_id": "call_UZBSPUdHXyrjea3wj9bxZbW4",
  "id": "fc_05181b2170449d39016ab44c701d1c87d08b5e0a4f7a2d64ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UZBSPUdHXyrjea3wj9bxZbW4",
  "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]: [-0.3996, 0.9653, 0.1162, 0.128, -0.0933, -0.6041, 0.0211, -0.0219, 0.8463, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2487 left_y=-0.0833 left_z=0.0225 left_yaw=-0.0179 left_pitch=-0.1948 left_roll=-0.3757 left_gripper=0.0211 right_x=0.2918 right_y=0.0001 right_z=0.1578 right_yaw=0.0002 right_pitch=-0.0927 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -2.1675, 6.4068, 1.917, 0.0855, -0.1294, 0.105, -0.1573, -1.7026, 7.0359, 1.6435, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8a0b8ceee4a44241fb8aa935eccf3c8c4a0a5e2657fc35a057bddff5a23cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a82f591e6dac49cba9f3bf4dcd50d4f5cbe2284706797284bb4648a7dc656631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3008e1e98aae2b64d7780cf3028a47f2ccc3c8e789b7c3ed3bb5566635719db1",
      "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 · 6.688 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8101, 1.0031, 0.4667, -0.3519, -0.704, -0.3882, 0.1998, -0.0216, 0.8417, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2567 left_y=-0.0987 left_z=0.1022 left_yaw=-0.0515 left_pitch=-0.086 left_roll=0.2495 left_gripper=0.1998 right_x=0.2916 right_y=0.0002 right_z=0.159 right_yaw=0.0006 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -0.8547, 7.9521, 1.1795, -0.0952, 0.1587, -0.0317, -0.0615, -1.4701, 6.9675, 1.6435, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 0.9871, 0.7372, -0.6514, -0.6815, -0.3866, 0.0211, -0.0219, 0.8436, 0.6056, -0.4229, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2593 left_y=-0.1057 left_z=0.1675 left_yaw=-0.0664 left_pitch=-0.1077 left_roll=0.2467 left_gripper=0.0211 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=-0.0001 right_pitch=-0.09 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.865, 8.6496, 1.2283, -0.3834, -0.0317, 0.1001, -0.1846, -1.5111, 7.0222, 1.6484, -0.0464, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3996, 0.9653, 0.1162, 0.128, -0.0933, -0.6041, 0.0211, -0.0219, 0.8463, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2487 left_y=-0.0833 left_z=0.0225 left_yaw=-0.0179 left_pitch=-0.1948 left_roll=-0.3757 left_gripper=0.0211 right_x=0.2918 right_y=0.0001 right_z=0.1578 right_yaw=0.0002 right_pitch=-0.0927 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -2.1675, 6.4068, 1.917, 0.0855, -0.1294, 0.105, -0.1573, -1.7026, 7.0359, 1.6435, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8a0b8ceee4a44241fb8aa935eccf3c8c4a0a5e2657fc35a057bddff5a23cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a82f591e6dac49cba9f3bf4dcd50d4f5cbe2284706797284bb4648a7dc656631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3008e1e98aae2b64d7780cf3028a47f2ccc3c8e789b7c3ed3bb5566635719db1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEx1kh2wszmKzCMKXyS5bjdFffBe-RsHdM8HC1cIds6-wHEKCqb4b6kLGuyXvPYJQxtwULBf3-S9Kz9obM3QEl4Lm6aDG62vbuKaFaqEJHS16Qi6ORyT7GW2EkbugAwS6ptEBIgAoYKHxJJjJ56IYYFl75AIxzD7dsXpk964eHRcYGXmokKPCy90_idU-mSS-A7swlrVG4wCSMBt19Ui0cbDCMXgfRauzyXvM_BKwVN3NcUus2raZCNFOe6v2dYj3ygzjgpWDjQykSDxp0-GOfFELzqZ6LSDiXlyfrpsHu7n4sZwq7tDnY-Ze1Hz3snakIxdDrAPIFmfa0WlN1cO7RpUFpWrKehaTDPuc0FEsmWGf55qeVaIs3RY5YnB6MRJCRu0YbFUUAm4oiuQRa-4NRtOBU80s-0uBMlfV6UajlIDrFUEwkOQIp5x2ESmegNlXiQ_SzyhzhanBVLUekW6KeutsTKSiFVk-Qb9B2y7RtZcaj1MsTPOX8VHRf4D2BMEQ3PIxayP7YJOLm6MNJxasogfT_XwxR9wsXiWoJPfp6RFZMLUGyePEHm8vbLHpwq-3ltpJgi0fsgiyyaLanu7GubwrmEUg8R1zUbH7P6yDKSn0L8BhOKV-MuIC7E3CT9RZJMUFj4WYWAA87GVsybmPY_WeAcypbb3c7XUGd4CWuIt0ofJoqWCbdLJxjamKfkiWERiMlyivPqXauR8hRi4e0U76DRivy7snj-FEuveeVrYDH_yrlPAmMGzit9sBeSnx72aWisQ9KR6gy50SY4vUC_poFQ4U9lqVjccDy0mIHnJm-vfxz8usOWa97GuV1TQg-wE2rNhNRDOGZ16m8lUJyputitGnBhrBJpqr2y7XOD0VQqWbj-m4Ssfe18OtgZy-dtWYr8hseCpMe1kFSVOWVEEuzylU9KSI9s1FRFFRY_hdJOGI9h-nrCJcFKhFhATaUM0mm6ZZlEqlevaxUqwfv-edt0FArg60xOAVemBsw8HGSF5pgAiDCuQt-AUt3tfqcXXzHOlhLS6vB8mY3fbqLid2lvcpyzvFYODYe7Ao-ZxG1Jbq4R6r51RE3AD4va93sX8a7goDnrtJRkRad8IjJPiqcd-ZqJl7FHRqBCfPoFP0vw6oapffTWc0KY_pv7aivb-dR9b74pug6Aa1yMrYbvENBv0iqxqAsxNztdRcH-Ha48y2G-u7DEyMa8tQU6e4AKzdzauHcMXbgK4Rr2WYhspKUAOG-JqbVh8L_s-8vqyzowIbODf4u8uvLevioKu1fvGBzu3-FWRnrUD5Odr3BF27wpO-fzSXkH7lhUedY8zij0OGsgrGwZ237gNSW6tumrZbpBK4zNIyPtXP205-xFO95xrDFBeYUYItL5dxf6SEi3WylDPqvReM_d2FU56zrQyldoE-s_5PBqnxfZxId5ddmxbXmKIoyJnq3x2zMEuJ3xkROOJmEXSCilTCpWWAV_CFQAYPxVTojHJwBbQ9W2SsWa1-v9aihcTeu4OtQUgJhZPJA35pPMUuHfILsiVR6veXhf363RrXOZRHnHsoS83Y6Th2LIFZ5rsUCER09t3R5SPjc_7IdUp3yuEynXTFTsRpAetQ39IJgdz4y3oIIWw81-3-e2ilkZPKmM7swF9snkvCauqz1NKbJ3qV0BvEFD1",
  "id": "rs_05181b2170449d39016ab44c734be487d0958b72f668909044",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.083,\"left_z\":0.18,\"left_roll\":-0.5,\"left_gripper\":0.02},\"note\":\"The rolled fingertips are now inserted against the inside of the white bowl’s outer wall at table level, forming a hook under the flared rim. I’m lifting vertically while preserving the inward roll to see whether the rim rides on the fingers.\"}",
  "call_id": "call_JTuVO0LnJfp9MIRKJDjC76eR",
  "id": "fc_05181b2170449d39016ab44c74471487d0b5797fb36e7ba30a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JTuVO0LnJfp9MIRKJDjC76eR",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3241, 0.7338, 0.6292, -0.585, 0.0086, -0.6556, 0.0211, -0.0219, 0.8494, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2512 left_y=-0.0822 left_z=0.1661 left_yaw=-0.0086 left_pitch=-0.199 left_roll=-0.4883 left_gripper=0.0211 right_x=0.292 right_y=0.0001 right_z=0.1569 right_yaw=0.0002 right_pitch=-0.0957 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.7726, -0.3624, 9.3333, 1.5897, 0.1441, -0.0366, 0.105, -0.1026, -1.6068, 7.0359, 1.619, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee27cbdfc1e8356318bbc03856b217e25a12e031339ce24dd3972a0c4f4c37c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e48acf4537f2d615cde3faf2399a0ee3701c46b5d55819c25955bd7d5baecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3381e2d55f35aac784f2d8f73ff8aa22b86767b37508f5bbc39c1b343c9acb5c",
      "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 37 attempt 0 · /responses · status 200 · 3.695 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8051, 1.0348, 0.4671, -0.3405, -0.6895, -0.3859, 0.0275, -0.0219, 0.8436, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2576 left_y=-0.1006 left_z=0.0953 left_yaw=-0.0563 left_pitch=-0.1086 left_roll=0.2566 left_gripper=0.0275 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=0.0002 right_pitch=-0.09 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -2.8376, 6.3521, 1.2625, -0.4664, -0.0366, -0.0171, -0.0205, -1.5658, 6.9675, 1.6337, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3996, 0.9653, 0.1162, 0.128, -0.0933, -0.6041, 0.0211, -0.0219, 0.8463, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2487 left_y=-0.0833 left_z=0.0225 left_yaw=-0.0179 left_pitch=-0.1948 left_roll=-0.3757 left_gripper=0.0211 right_x=0.2918 right_y=0.0001 right_z=0.1578 right_yaw=0.0002 right_pitch=-0.0927 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -2.1675, 6.4068, 1.917, 0.0855, -0.1294, 0.105, -0.1573, -1.7026, 7.0359, 1.6435, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3241, 0.7338, 0.6292, -0.585, 0.0086, -0.6556, 0.0211, -0.0219, 0.8494, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2512 left_y=-0.0822 left_z=0.1661 left_yaw=-0.0086 left_pitch=-0.199 left_roll=-0.4883 left_gripper=0.0211 right_x=0.292 right_y=0.0001 right_z=0.1569 right_yaw=0.0002 right_pitch=-0.0957 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.7726, -0.3624, 9.3333, 1.5897, 0.1441, -0.0366, 0.105, -0.1026, -1.6068, 7.0359, 1.619, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee27cbdfc1e8356318bbc03856b217e25a12e031339ce24dd3972a0c4f4c37c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e48acf4537f2d615cde3faf2399a0ee3701c46b5d55819c25955bd7d5baecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3381e2d55f35aac784f2d8f73ff8aa22b86767b37508f5bbc39c1b343c9acb5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx9yatuc-KWtDiQ6Os5h-Q_7XmkGE3JVq_kvggGFIwMMYzsZXE1bcLTQ2w2828c9kxuOCClYO-0GCCy1ZTCaDVMWgVANe4teBc1x53Brk9Fp-QY9eWLBWAWJaHTUD9XsCi66DmQ6cWRsTkilT-CprnXtgosqW2IE6M0s7mJwJ2AOzluHhbOLb8taX0sRbsIHUzwrsFzHSIKaF3kqDlBfyiJxIyzF2zCfHH6uC2k_aSHmM-S95U8nNh3uSm6NXaRon095xw_5nKbj4nwwDjDCIQeGvj30HSCR3vjr5VE0BkQ38OYsR3RzLlIRvRHQlxynt_CR01LvF1UvfWiCZ8hOy_QkJ8G95v9yeR35RxaszZKqdMui6zZ35Gh30uYwxUa1651Nex8pT5N95Z6XEwF1J7dVeelXSdCvu4lHTUf2tPcH16gToTS0NC1NKD87GsOZ0ODGcCOaBq6wWAtp5Mmchj6PyljrQPitLHrKMZuU2YrYc8258ogkeIcLbneCHvn4bArWgcREca0IKStx7IF7rQAw2RDUwJFgc7YL6iO7FtvZ3dtSbjfNM2Z6R0VMEqRLaK1Vix9OHPgm5mCGT_bdpe86ZRvIm-7fQLRHr8ZfZuT589s2G4-3kRWUuE4LigIT3DmJfQduOL-I9O3oV32N7GtdEjJANVZVEedf82hmTkVKrtMGQvuk4MpeqnK4h8ClS7nltt7HNAzr1NBPdtU0RjYViTFCEiFiR_G1pAhdMDd0b-Cc4R_OHoIdPf_DYOsVfhhN-3Z5Zw-fVHq5fcG1zN6w2jeApAzA5UEiW4mP1DivpXcTHn8gePMU8Y8d8ttkHbGj1FX1m7mfpFp7OaFkt5yG8tNrbyKTiq_6l0C9n-6XuDAdfiuesPFiJnwySkefwBbakbA5ed6G5CW8ZWEVD_itQpP_Fb7tPqxvd9m32gJVvk79xZIdkAotEtegJCkgxYjDYLv_QKoccmInUSbpbGELyK3cl0DCSipQGl3TpXxZyKUmGelDi3oDxInFklflh0_HN0_ZlqcaLPRSIlnFqLHTtsJeQPsmqIDV1pEes1TdOjvHI6YqjT1jV0KcIUjfPWvbFSwgegczH28NP2KDgQiNG1k20LU-KDWqiTZ0BUweZWT_4dYaHHSbj2B-V05KQrVwKt31UkWVjqs2xaSHcIAdkSsxMYcIUQUdH1mTzRXKljp7pmD4pNiF3BspYz_7YgXwlIhcMPoT69wlTcmlV1P9eBvHPMoY3NQOUejQpt2Lnu6A0iBpcOiu30Dno023ihhzI701S1YA5PJW1CaIC1XUepK4mfFuUpKSoB17xuTugKnJpQstfk1P2b7wkUH-hLNFFWySZp0dRxek_EqrBsGsX2ExLCzrPq0kaEEH_WAI_E2btxDGuu31jHW1s3L8s_KcNIn32soz7IpNLYSOXs9WVERhxcn2C1sHZNKZX07pg8qk-iPFlX4g7TM6RAF0FqMuL7O3b-4E8E5EdcxNqqYW-dL7sjdZWPvoVkb204Th4wbvkSPOKD17clU1YpMOpyNx09C7cEy9aaym21xIHioT-1-FTt-6PQ1z-bHhuOjr-rgOciQD45cOjCV_d0s4-7SZmfxg6TQb5cpeWIe9g71temj1tIchfRXlJTx9CE0Nf-MZe-zgVFgSh6M_A4WSIeYRPrIl7sSvf-isf4if3Xx4cY5PzTM-MTKf7wJZjvTK9dNJPEnEhw5YyNMuKVzVg_WdpxS8iE2EW1T825kqpTwidwD5iRU-ITe2VUuE8CxNfUUi6AvOrOzUWwQLN3vPu-EjhkXZK1vf8jlzifHruwfeYXPCsrZY7Vkc4FJrRnmBowGvDbFkoePLkaK7uGYRhZkFPuTJ49Gw9AJOyqvCrq2vVh8A3OYl6eLriUtXpEvJv9eNWokXGQ4zhsiOdOOPtN9otSK6nbrXTC9Qbd5NqDuNMEDKa7u7cvw9XcF9KhczZ_ec2q5AmmjCmJWQhx19ohmJqTH8xh7hTE7eeNhMJ1EKujyruodadVEApsA4e9pqIKQocaAmpUDU6Fkbj5vxGx5G6sSti4KgJs9ycxkHF8LO1yRP5npabkJzWsI8DQcEo5aVilUCD79SD34BpXjmgD5rkbT1_XH7BQiZUMtRf6V9GdkTDbdxCBKWp6v60OThyNXoQozYNw9SQbLPKb-MhvxlsDH3CxGDXHCfjU5EyK_qM_H-7erFHOmxvk6LCnFpo_i1QGvT2-_o6mnB4KWyAdEiM0E2fUpFhJbcKUeBXPPIs9NIhBI9i2nYjJakut74EWiQbrMFJFuvBuZczaLxnwu8Bd0K4kXyLw28UvaG0gYnaqccTLTHi7EBavlGfwTlpxOYX7_S8qDg-cDoP0CzrziizfwpLjdq_jUnsGDkI7AZbjq5pMiipaCnwxn7wDCzqBfgRQNrQAKN0N4E0ebNQZHp8RBC1RXKoPFklWlnIx_bNqMlxCiZD2cr_IUUxDNOA2mQya7oLOJ-XNXA4OetxIErZEQ8qv3vdYlF9h0PNDOCa9q1W9IIEv_a91adYzBE6eeU5PnANmWLIZkfQlGgMsYanPSARUWD3RC31lF9rSjiNx6oXO6MrwqtlMZhlyIy77BkifFiptywyA2nLymkodyG7Kg1NOXwloAPF7rURnmbL0cno75Z7tgJb0znj6AE5JN-B-5NFIDyzMkawVfH1L3t70d1M22pYlVBqPp-7liEiQUfZQnI23375AT3eGBC_lSCSulYD4Slx9zblTwSHEJVLesCjUJnVKsTi6PIMutm72WSJECF4Da7IHJfKwn_xXpH1zeibLHmekXuQBPhnJtQQPBF4F9UlpDKLYjVV6Tj2NTg9QKFOiN4qtwj75MIulCzgr5AA_V5OZ4Qy3E7ND6Nv2RIYHS2Rx6j63GhnJBeZ0ccpDDWAt-WLr0TZpyrXKhomKiGZNJdPxpBZMr6v7xLfk_z4bitAcvEy2922tU_Ky1zHB10FQ0NYcMcx61QOG8qYgLz2sOK-KuHIpvti3N0sIARvFqO1POW1jLjFQoAG7KjrW33k4Dl3j-Rviar96Nt3NpTWd0vbM_Zpp7yszRBhKImx7TaAxdoKn3AJDrSJ0WdEHd7hyfJPiF3VzN8GMAnZY9_JUAUhZ4HXTQxFpQ45DlrbYppyRTqharCpCPVrkJVQe45qDaRl1DM3d8bubEMSkqa2RQiF2I9tRdaXch7uPk5ZpVmR_HaLiaIy4FIlOvvhj6tkWuNAdQz8HVQnFqqrlAGvQEml0weXZaBWe-UDAUcS3wbcBMsmx9BhDNpVIvIqmNTVQeZfZLhfhYkymG0OiKPV5QMMUVBXtUxfkHGOPhhxg_L0trXgL2ZIOuR1s6lTrO-oIUkBM9ug8tWEz7jm0P-Bk2lgW8qXpMTWuEwrM2pfH7W6kif68iWwxD4JwE5yqaittEyuHMqYU2x7xoHeyru0EhRqkaRuf6gNtR9wfB3eUnyE98PRQ7XLD82GpUYJxmzS0GqSe9m4NyGA9wCEj3x2W-I76Bhpf8S7Z6DHpqNCwjtaM41qv7yQCWlSsLIk03z3fBb8_dYbbIQzVdgjd5r9ynBCD6JZITMXCi4PYhJTSDC-uBZZYvawYzgyTTqqR7KoiGwRrkIoGo0FtGFV5iDi7fU3QHWJh3bhr0PZO0B8-Ojx62SRMBDT4zeDYhj8NDLw72y0TU1jkWkDyeuqSOunEo8h0QCq6cqEyphVwVum7-5oV1Ve4sVFgDPhHZQ9oRNMTn3wruxHO_bv4ETKflbnFHD5EL3cZlwxt6ki8JmzzWV6FD5vfQjB91sM5K9FHNgiwKXmWR78K61nU=",
  "id": "rs_05181b2170449d39016ab44c77a68c87d0ab6f93ec17bedb8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.27,\"left_z\":0.14,\"left_roll\":-0.5,\"left_gripper\":0.02,\"right_x\":0.42,\"right_y\":0.28,\"right_z\":0.14,\"right_roll\":0.5,\"right_gripper\":0.02},\"note\":\"A single rolled finger did not retain the white bowl, so I’m switching to a cooperative lift of the central purple bowl. I’m positioning the two closed grippers high on opposite outer sides of that bowl, rolled inward symmetrically so they can support both sides of its rim without relying on a pinch.\"}",
  "call_id": "call_etEnMQODHgiGJkW7pc7ZpyZx",
  "id": "fc_05181b2170449d39016ab44c7bfd9087d0bf0617b9adaa3c94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_etEnMQODHgiGJkW7pc7ZpyZx",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.7557, 1.1919, -0.2039, -0.2478, -0.8906, 0.0211, 0.6811, 1.7596, 1.1076, -0.0479, 0.2966, 0.7609, 0.0228]\nstate[eef_state]: left_x=0.4099 left_y=-0.2568 left_z=0.1238 left_yaw=0.0093 left_pitch=-0.2444 left_roll=-0.4688 left_gripper=0.0211 right_x=0.406 right_y=0.2672 right_z=0.1166 right_yaw=0.0167 right_pitch=-0.1536 right_roll=0.4241 right_gripper=0.0228\nstate[joint_eff]: [-1.0188, -8.4308, 9.5248, 1.7851, -0.0073, 0.0513, 0.105, 0.8, -8.4581, 10.6325, 1.9805, 0.0904, 0.1441, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac44e72554acbe2c7932a24638a2319c0c1b7d9428babb2f027a9271a22a0f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ada7867f1498d4e7ff89d92a38877179a5a61626d5772e6f015b0104af3677b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e95aa210fcf17aef392eb2459d8e7bcdf6f4b43145a6698f93ba0009dae8509",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.775 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 0.9871, 0.7372, -0.6514, -0.6815, -0.3866, 0.0211, -0.0219, 0.8436, 0.6056, -0.4229, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2593 left_y=-0.1057 left_z=0.1675 left_yaw=-0.0664 left_pitch=-0.1077 left_roll=0.2467 left_gripper=0.0211 right_x=0.2917 right_y=0.0001 right_z=0.1585 right_yaw=-0.0001 right_pitch=-0.09 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.865, 8.6496, 1.2283, -0.3834, -0.0317, 0.1001, -0.1846, -1.5111, 7.0222, 1.6484, -0.0464, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3241, 0.7338, 0.6292, -0.585, 0.0086, -0.6556, 0.0211, -0.0219, 0.8494, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2512 left_y=-0.0822 left_z=0.1661 left_yaw=-0.0086 left_pitch=-0.199 left_roll=-0.4883 left_gripper=0.0211 right_x=0.292 right_y=0.0001 right_z=0.1569 right_yaw=0.0002 right_pitch=-0.0957 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.7726, -0.3624, 9.3333, 1.5897, 0.1441, -0.0366, 0.105, -0.1026, -1.6068, 7.0359, 1.619, -0.0708, -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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.7557, 1.1919, -0.2039, -0.2478, -0.8906, 0.0211, 0.6811, 1.7596, 1.1076, -0.0479, 0.2966, 0.7609, 0.0228]\nstate[eef_state]: left_x=0.4099 left_y=-0.2568 left_z=0.1238 left_yaw=0.0093 left_pitch=-0.2444 left_roll=-0.4688 left_gripper=0.0211 right_x=0.406 right_y=0.2672 right_z=0.1166 right_yaw=0.0167 right_pitch=-0.1536 right_roll=0.4241 right_gripper=0.0228\nstate[joint_eff]: [-1.0188, -8.4308, 9.5248, 1.7851, -0.0073, 0.0513, 0.105, 0.8, -8.4581, 10.6325, 1.9805, 0.0904, 0.1441, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac44e72554acbe2c7932a24638a2319c0c1b7d9428babb2f027a9271a22a0f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ada7867f1498d4e7ff89d92a38877179a5a61626d5772e6f015b0104af3677b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e95aa210fcf17aef392eb2459d8e7bcdf6f4b43145a6698f93ba0009dae8509",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyDoQuSIszgraWHhAvrs5Vuih0IwCo0IR9HoWIGG3RlVeEww9j4gXLbB233FJyuzTXEbpOMwU3gwWMlkE28R6QaKkFBdgw3I7fTQTghv-KvJtbEU0qOGKR81q4vNk-tF7OL31VpVvl_uv8bBP5OkwwJizlIoAwMh_BTZh88hefoRxHc-9BfnCw2Mtsrf_8vSm3wG7-p8EzaeByPl9-A2H35XCMU1mwoP1gknnrF20AtLa-iWV2K79t5dand4MTwwpY8sN_RUGu-Ws9uw1U_Daf9u572tf3qLS0vj3NWui3vpv9wcAz7jsbphNank_KyVZK5RYbknHZNiAftH4QSGr5D_HrHZ8apUuMb8JzPFNJwe4Wv8gL0zI8QsVU1wfVDnX_mndGgr6jT_Bg-6sq0_bFPdzvuYAKB8tWC2vbfxxOJkz6K5i2ymq3ChEs-9nA311tNrX25yTLaxWbL5Q4t-LwOaenAcDZ7oRqnKA1lBNBZ2l-uY6mI3Xg7b9r2Xsts5bh204t8veUDxFXArCoNjF5QeCa-RDsWJaJSwiMEH_JnzC5Gsc3MTdcEjX6ONiqXN5Kgmen4FFMdSiqEx-Yu8waeK7yiLjkFtdxFkBowFwm8VTnTY87AQI1JsMMZmMY4KVGs-2VE5226doUmf03QT4ak8OVyMFDXzA1r5vr8AWXGi5VrfrMmt89O6UmKUvi-jo-4EcPpH7m5cM9milfQAHE_Cu0geYs-qOGEWTiGjgSrHhZCWK8V8iKIzlkKz_la8zUMQ9VnYcBMbTRC7o0uSyiey_V6hIY5124pz7ZBaPnzfvoq1aOiqNkyHNiEV6yuAcBn5PX_6keT5YqrpBiBcN3uXpLAeLRCmJd64o9Ru41PN1CTupD-tioKaUe2_e8uMEJIqDFgGcg_fjXLIMEJFM66K9uXMuxkaewxTapaTp_l5XsnLOhRjbLSMlYBoAgjw-iI1ORRpPDwkuoglM9uDXk-njpN5QYMfa4LkPCNF7-8qvp3GxMcS8Iy91B00K_5P2kQ_tf_Ur8cj1guhSn1dA74wIl2zj-69yaro6JNdFGFrb8Ij7M1HDwnjuWbnzyJqdcE4maBAGk5ix2tpm1b1LNDs3Atve_-olOAOjJJ5BtWXSoe7J9kUFw4XibOxOZpuYnUNsY8jU5q7dDecPOaaNjtBq2FCmmGg_La-4wZ9PtzYxSYpMHOmGfRsN1tupQkfqqEwYOjzLQCGVztswNOCKtUF-fv_HkpwRiM9satzOJNus2Iu8p1wyWK4_v7Ae-dr2PdzdENe-xFktDo5KEEAuVayPax-AYqirAXrfGr2FXmEEvbZpx8atwV1I3BWaHqL3tM8VEx-YfkPJb8aq1peNPZ7zfH4wTWwSpDAe7t8ljPtOyC6HI99L_nPdMQG0vIKtHvym5oCHvzG2BUhs1r0ccs5VSgm8mE93i_F6NxodoF_oI=",
  "id": "rs_05181b2170449d39016ab44c8145c087d0932dd0f38c67f340",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.27,\"left_z\":0.035,\"left_roll\":-0.5,\"left_gripper\":0.02,\"right_x\":0.42,\"right_y\":0.28,\"right_z\":0.035,\"right_roll\":0.5,\"right_gripper\":0.02},\"note\":\"Both wrist views now show the purple bowl centered between the inward-rolled fingertips from opposite sides, with the arms remaining separated. I’m lowering both supports together so the finger tips seat beneath the two opposing sections of rim.\"}",
  "call_id": "call_Daqp8z5gmHfeCF5Bx8OYSFTU",
  "id": "fc_05181b2170449d39016ab44c81ebec87d0b1809a4c1469cb10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Daqp8z5gmHfeCF5Bx8OYSFTU",
  "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]: [-0.6518, 1.9411, 1.0748, 0.0643, -0.2569, -0.923, 0.0211, 0.6662, 1.9663, 1.0111, 0.2077, 0.2768, 0.7933, 0.0212]\nstate[eef_state]: left_x=0.417 left_y=-0.2572 left_z=0.0372 left_yaw=0.0441 left_pitch=-0.2747 left_roll=-0.4643 left_gripper=0.0211 right_x=0.4115 right_y=0.2666 right_z=0.0272 right_yaw=-0.003 right_pitch=-0.2064 right_roll=0.429 right_gripper=0.0212\nstate[joint_eff]: [-1.0735, -7.6786, 5.2991, 1.6093, 0.0122, 0.2613, 0.105, 0.4308, -8.0479, 5.7231, 1.7949, -0.0415, 0.1245, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6389152846cebd2dc2403909fdf11a7f0c50be171edda5490048684e1a97d2ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8de9d5092ec63f515aa5f01a5bef9452cfe6dd5233ffa77d0d07d04b31d6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aeabd5630116517b9c564e8c8de6c91a298115d20ea3a829684da480a984d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3996, 0.9653, 0.1162, 0.128, -0.0933, -0.6041, 0.0211, -0.0219, 0.8463, 0.6056, -0.4229, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2487 left_y=-0.0833 left_z=0.0225 left_yaw=-0.0179 left_pitch=-0.1948 left_roll=-0.3757 left_gripper=0.0211 right_x=0.2918 right_y=0.0001 right_z=0.1578 right_yaw=0.0002 right_pitch=-0.0927 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -2.1675, 6.4068, 1.917, 0.0855, -0.1294, 0.105, -0.1573, -1.7026, 7.0359, 1.6435, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.7557, 1.1919, -0.2039, -0.2478, -0.8906, 0.0211, 0.6811, 1.7596, 1.1076, -0.0479, 0.2966, 0.7609, 0.0228]\nstate[eef_state]: left_x=0.4099 left_y=-0.2568 left_z=0.1238 left_yaw=0.0093 left_pitch=-0.2444 left_roll=-0.4688 left_gripper=0.0211 right_x=0.406 right_y=0.2672 right_z=0.1166 right_yaw=0.0167 right_pitch=-0.1536 right_roll=0.4241 right_gripper=0.0228\nstate[joint_eff]: [-1.0188, -8.4308, 9.5248, 1.7851, -0.0073, 0.0513, 0.105, 0.8, -8.4581, 10.6325, 1.9805, 0.0904, 0.1441, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6518, 1.9411, 1.0748, 0.0643, -0.2569, -0.923, 0.0211, 0.6662, 1.9663, 1.0111, 0.2077, 0.2768, 0.7933, 0.0212]\nstate[eef_state]: left_x=0.417 left_y=-0.2572 left_z=0.0372 left_yaw=0.0441 left_pitch=-0.2747 left_roll=-0.4643 left_gripper=0.0211 right_x=0.4115 right_y=0.2666 right_z=0.0272 right_yaw=-0.003 right_pitch=-0.2064 right_roll=0.429 right_gripper=0.0212\nstate[joint_eff]: [-1.0735, -7.6786, 5.2991, 1.6093, 0.0122, 0.2613, 0.105, 0.4308, -8.0479, 5.7231, 1.7949, -0.0415, 0.1245, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6389152846cebd2dc2403909fdf11a7f0c50be171edda5490048684e1a97d2ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8de9d5092ec63f515aa5f01a5bef9452cfe6dd5233ffa77d0d07d04b31d6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aeabd5630116517b9c564e8c8de6c91a298115d20ea3a829684da480a984d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyH_NDgaVOiBvAjiQiYpN_PYZ0l93NIrd31irLyuYPjfJ51lzojSUGpck0b2bbBNcdvWNLEqyIEET1RFFHi-vOa994haxpFhpprns4hTIRxKSlesFlkbGSUnrZY9uXc1GRUe7ZzTolgvsMjCrLo5WFmJwECi-4xs_MM8R8ptMJne1KDlCNyeFMQRHKwjUF5T1kHCR97XOZ2BDYJLzvufKFYN-HhkNdwcGhvbNXK17c0wEugnehDui72UOVN69FewE9Rs9m-OF7J17rLeULome0-K3tsO_h8_Hl-Dbw6zGqe3fAR1G56QYWANUkvIokuQEVPpnFTQ9OJ8ntN6hhQLwersDP4RJS2tQ2uU9kStwi2tLw4vTmGy5pXt2LFFcQAnp-jy9ZrBP2Iq2ih5XE7vNe_40NOk_NNQ6hNhY6Mx1GZKP-2QUUZrSrNNl4J8EYw7ng35_U7Eu67TPFnSVTAwYSrS18L1y8vZLpPsXBq9a8ZW-AWuZC6vVWc786YRo2iV03ctwCUBcGf1MbQWA6mOp-7dmuaC2tujl0IFhkmL-PDQo7bXkhN829JL68jgc7dUEcV0PXtWUIzi580SA-6PIV09H8VmLoL5Tna91BSF2NdwUNdS25Zn6cyJ-x9Nsw25OoAUYedqGGLf2w_xYs02nleuPxXbz8_oDFG9aqHRtjfLOxlKK0oO_x2hU6hOLulwDDdBla6jMwvsqvbarNE-ycRuF_zALGQWp4IXrNYjuSTHRPBV05nAkGVvZ1qsCNZ68exqnmX4RGQu3bW_2dUj_kal_NKpXJMy0PVXHaezmItfQ7Bm9IuYph4Abj-Bry1b9x5BtQIguAskmOl8JvY-ZTC6zrhKrd_HkjCz2ad_x9HU1ebntqL7ytpLiCiKuWv9re0g_-pr30myHpXBTfpvLIj5ZodnjYsq183LRC-N9uHkE9LtvK3RJbwVUjioW85l6rcC6NtobjSgP79sdq3EyADVb99jte9P8PICvVNZ8d_GuItT9YpsFqxzAt4VEFM8s4YdPA4SedgfxE850KEwsI7T2PkK0zuPO7yAKSwtQtO6Ct4LVicwft-WbPpsmWx7GyHAJoj4KwZaz8Q56v6aQCyiG-OGFx_P9dAsAFFjFw7-v5-lsXIUat7YNfUAAFjRmZ82JUicOQJlr_RQVWZ10-tNeoTNY6DShgZkCyNVbApMz0ffMJux0BDGx1fBY3pvKMqlUJWufhtzzp2HA1QpzWLKnidSqfl42rrQ-oksZj7nZMS_lPukXsGTG-QoJcCts4Gzfw-qsp2HmivRWS9GddPBdv8M6-adcQdWEP_OLH0SBNHdzBfLmnTZyaCBSwWksFjNzrc0emL6YkZ1sea0oT3HHmyrNiOokdkgNTFJRP02LybOvcFNLDgvPE5Or93DT6MzOlb_jf5uiSL5WK8NT0N_Q6X1BcI8aBv1LDvudiOyQ1GV2UjRksw3sctshokwcEe34EyIQSx8t3_e80ueFIxIvPXIjh3waN57MzwtlIpoYGAV5-hp3EyE-IsCPnj1ezMfu8r0myORTFcxiRZm-2cJnAxe_NL_9LFllTeTzXTJbBMy_X01diVTc_XfxAkcbjl-oqwBUnkhbq7AYfFFsxG6oM4LKGT6pCdUKlz-ISO0CUXqSBMIK1P1Gs-8aMt7cOWDN3a_GCGbgbVOwsXQ5GyqwBajFwXqjzU9WZ8N1_1E3kRz0NmEb-IOE0Ro1DYlSqM0YOOjOTEMFAdphDSnhoSW66m0BHcZJ6CQiX3hsqrlJM53Iw024bbx-IVXtx0-a_plM7P5w2gvBQKN-5MvhvEjFnU1d5Q3LHd6TKOKM1ijbM4dRqXdZbo8BH2B7Ir_l30YjbR18rAf4F2Z5HSQHp20WGmhcIup8naAskSjOubUF0nCFM_lSQznkZat9M8pPT3e3rhUVc_J8Fp8q6Tyvr6MABC5NDVglEVN-NFSDnCYIi8tLe40QOcmKfP5LkqHMH8QOPZ08oLQjqq5RRRLTz5ENLSGsQsBS6QOerzMzVKEb5MIuPJUzuq9zniOjUUK_KlfGcrx1R4-abOfZtRtfqdAfrUE27uSXiMfxSv4yYEVdqTYdTfnONSyzje2rQ2I8_h-YSVJEWUum4EeffzJ98Hqw==",
  "id": "rs_05181b2170449d39016ab44c84c46887d0ae2732fb99aa2fff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0.5,\"right_roll\":-0.5,\"left_z\":0.035,\"right_z\":0.035,\"left_gripper\":0.02,\"right_gripper\":0.02},\"note\":\"At table level both fingertips are visibly inside the purple bowl near opposite walls; the current inward roll points them toward the centre rather than under the lip. I’m reversing both rolls so the tips sweep outward beneath the two opposing rim overhangs, creating a balanced two-sided hook.\"}",
  "call_id": "call_91KSfoNxNgILOUs6GaEaeRum",
  "id": "fc_05181b2170449d39016ab44c866cb087d084658cd49e4767aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_91KSfoNxNgILOUs6GaEaeRum",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6018, 2.1853, 1.4616, -0.5716, -0.6579, -0.4824, 0.0211, 0.6853, 2.1227, 1.3083, -0.4969, 0.7296, 0.3485, 0.0212]\nstate[eef_state]: left_x=0.4362 left_y=-0.1642 left_z=0.0087 left_yaw=0.249 left_pitch=-0.3821 left_roll=0.4526 left_gripper=0.0211 right_x=0.3989 right_y=0.1786 right_z=0.0049 right_yaw=-0.1686 right_pitch=-0.3595 right_roll=-0.5721 right_gripper=0.0212\nstate[joint_eff]: [-16.9094, -10.7419, 11.5077, 1.5067, -1.0965, 0.2808, 0.1001, 10.9607, -6.9128, 16.1436, 2.3565, 0.4811, -0.022, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64846aa6cd2ca046d0af2fde1ebd5c249499400dd8102db5e6fc662489f2b1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d97270d5a7d8cea592ddbd13fc39805e9e2637930e991fcbfebf833904b4ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e115ff8a56d3ad8a76600b9a7a69cff92c4d12ca241d3b432ea5b38c6af8be2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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