adhoc

completed
2026-09-23T22:05:16.292607+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
231.2 s
total steps
235
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 spaced across the table; I will first pick up the left bowl and nest it into the center bowl. I’m moving the left gripper above the estimated center of the left bowl while keeping the right arm parked.
move_to
left_x0.4200left_y-0.1900left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0196, 0.7933, 0.6022, -0.3794, -0.0166, -0.02, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0007 right_z=0.1794 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9992 state[joint_eff]: [-0.5538, -1.5658, 10.1265, 1.7753, -0.0317, 0.2125, -0.0611, -0.3897, -1.4291, 10.3043, 1.8779, -0.0806, 0.0464, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.19,"left_z":0.15,"left_gripper":1.0},"note":"Three upright bowls are spaced across the table; I will first pick up the left bowl and nest it into the center bowl. I’m moving the left gripper above the estimated center of the left bowl while keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe wrist view shows the left and center bowls on opposite sides, so the gripper is hovering in the gap rather than over the left bowl. I’m shifting the left gripper about 6 cm toward the outer-left side to center it on the left bowl.
move_to
left_x0.4100left_y-0.1200left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6159, 1.6314, 1.0172, -0.1066, -0.4973, -0.3946, 0.9996, -0.0216, 0.7971, 0.5999, -0.392, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.41 left_y=-0.1826 left_z=0.1348 left_yaw=-0.0131 left_pitch=-0.0469 left_roll=0.023 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1748 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=-0.0005 right_gripper=0.9991 state[joint_eff]: [-0.5675, -7.5829, 8.8821, 1.6923, -0.4371, -0.1245, -0.0611, 0.0752, -1.4291, 7.4325, 1.9316, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.12,"left_z":0.15},"note":"The wrist view shows the left and center bowls on opposite sides, so the gripper is hovering in the gap rather than over the left bowl. I’m shifting the left gripper about 6 cm toward the outer-left side to center it on the left bowl."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe left bowl is now close under the gripper but its center is still slightly left of the jaw column in the wrist view. I’m making a small lateral correction before descending, to avoid squeezing the rounded bowl off-center.
move_to
left_y-0.0950left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4557, 1.5181, 0.9348, -0.115, -0.3901, -0.3058, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9992] state[eef_state]: left_x=0.4106 left_y=-0.1224 left_z=0.1408 left_yaw=0.0135 left_pitch=-0.0649 left_roll=0.0234 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.021 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [0.335, -8.4034, 6.5162, 1.6484, -0.1148, 0.1099, -0.0171, -0.0068, -0.9778, 7.3231, 1.7851, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.095,"left_z":0.15},"note":"The left bowl is now close under the gripper but its center is still slightly left of the jaw column in the wrist view. I’m making a small lateral correction before descending, to avoid squeezing the rounded bowl off-center."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe left bowl is centered on the jaw column, and the gripper is directly above it. I’m descending to about mid-body height with the jaws fully open so they can surround the bowl before closing.
move_to
left_x0.4130left_y-0.1000left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3851, 1.499, 0.9268, -0.1303, -0.3389, -0.2726, 0.9995, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4129 left_y=-0.1001 left_z=0.1403 left_yaw=0.0249 left_pitch=-0.0833 left_roll=0.0218 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [0.294, -9.2376, 5.9829, 1.7021, -0.0952, 0.1929, -0.0122, -0.0615, -1.265, 7.2137, 1.7802, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.413,"left_y":-0.10,"left_z":0.025},"note":"The left bowl is centered on the jaw column, and the gripper is directly above it. I’m descending to about mid-body height with the jaws fully open so they can surround the bowl before closing."})
tool
executing move_to over 8 steps (0.8s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe previous descent did not track—the readback stayed near 14 cm and the effort did not indicate hard contact. I’m retrying with a smaller intermediate descent to 8 cm rather than repeating the unreachable jump.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.4872, 0.9234, -0.1379, -0.3317, -0.2653, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4124 left_y=-0.0928 left_z=0.142 left_yaw=0.0338 left_pitch=-0.0846 left_roll=0.023 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=-0.0015 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4171, -8.6359, 6.4205, 1.6581, -0.0757, 0.1441, -0.0122, -0.0615, -1.265, 7.0632, 1.7363, -0.0806, -0.0171, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The previous descent did not track—the readback stayed near 14 cm and the effort did not indicate hard contact. I’m retrying with a smaller intermediate descent to 8 cm rather than repeating the unreachable jump."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe intermediate command produced a safe 2 cm descent and the bowl remains centered between the open fingers. I’ll continue downward in another small step toward the bowl’s grasping height.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.5219, 0.8497, -0.0078, -0.3367, -0.2665, 0.9995, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4147 left_y=-0.0928 left_z=0.1213 left_yaw=0.0378 left_pitch=-0.0634 left_roll=0.0164 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=-0.0015 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.9077, 3.6855, 1.0916, -0.0708, -0.0024, -0.0073, -0.0479, -1.2376, 7.0496, 1.7411, -0.0611, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07},"note":"The intermediate command produced a safe 2 cm descent and the bowl remains centered between the open fingers. I’ll continue downward in another small step toward the bowl’s grasping height."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe fingertips are now just above the bowl’s rim at 6.8 cm, with the bowl still centered. I’m lowering to roughly 2.5 cm so the jaws surround the lower outside wall rather than pinching only the rim.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.6211, 0.7425, 0.1524, -0.3367, -0.2741, 0.9995, -0.0219, 0.8032, 0.5991, -0.3939, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4078 left_y=-0.0901 left_z=0.0683 left_yaw=0.0435 left_pitch=-0.1056 left_roll=0.0287 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1723 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.335, -5.9692, 5.3128, 1.7949, -0.149, 0.0415, -0.0122, -0.0889, -1.5932, 7.2547, 1.6874, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The fingertips are now just above the bowl’s rim at 6.8 cm, with the bowl still centered. I’m lowering to roughly 2.5 cm so the jaws surround the lower outside wall rather than pinching only the rim."})
tool
executing move_to over 3 steps (0.3s)
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 descent stopped at 6.7 cm with the bowl rim filling the space between the open jaws, indicating the rim is contacting the fingers before they can go lower. I’ll close around the rim at this centered pose and check the settled opening for a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.6356, 0.7319, 0.2005, -0.3367, -0.2768, 0.9995, -0.0216, 0.8032, 0.5961, -0.3965, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.4111 left_y=-0.0914 left_z=0.0671 left_yaw=0.0441 left_pitch=-0.0846 left_roll=0.0174 left_gripper=0.9995 right_x=0.2921 right_y=0.0002 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.2256, -6.6393, 5.7368, 1.8974, -0.1929, 0.0513, -0.0122, -0.0479, -1.306, 7.2821, 1.7265, -0.0073, -0.0464, -0.0073] 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_gripper":0.0},"note":"The descent stopped at 6.7 cm with the bowl rim filling the space between the open jaws, indicating the rim is contacting the fingers before they can go lower. I’ll close around the rim at this centered pose and check the settled opening for a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper closed to 0.009, confirming it was empty—the fingers closed inside the bowl rather than around it. I’m lifting and reopening so I can use a rim-pinch grasp with one finger inside and one outside.
move_to
left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.6356, 0.7319, 0.1986, -0.3367, -0.2775, 0.0088, -0.0219, 0.8036, 0.5953, -0.3969, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.4108 left_y=-0.0913 left_z=0.0667 left_yaw=0.0445 left_pitch=-0.0863 left_roll=0.0176 left_gripper=0.0088 right_x=0.292 right_y=0.0 right_z=0.1699 right_yaw=-0.0022 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.335, -7.1316, 6.0239, 1.5946, -0.0952, -0.0269, 0.6667, -0.0889, -1.306, 7.2547, 1.7167, -0.0269, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_gripper":1.0},"note":"The gripper closed to 0.009, confirming it was empty—the fingers closed inside the bowl rather than around it. I’m lifting and reopening so I can use a rim-pinch grasp with one finger inside and one outside."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe gripper is clear and open above the left bowl. I’m offsetting about 4 cm toward the bowl’s outer-left rim so the jaws will straddle a single rim wall instead of closing through the empty center.
move_to
left_y-0.0500left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.5459, 0.8192, -0.0315, -0.3363, -0.2855, 0.9948, -0.0219, 0.8036, 0.5953, -0.4114, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.4035 left_y=-0.0886 left_z=0.0953 left_yaw=0.051 left_pitch=-0.1348 left_roll=0.0326 left_gripper=0.9948 right_x=0.2899 right_y=0.0001 right_z=0.167 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [-0.1846, -8.7179, 9.1145, 1.6142, -0.1734, 0.105, -0.0366, -0.2393, -1.0598, 7.2, 1.8144, -0.0415, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.05,"left_z":0.11},"note":"The gripper is clear and open above the left bowl. I’m offsetting about 4 cm toward the bowl’s outer-left rim so the jaws will straddle a single rim wall instead of closing through the empty center."})
tool
executing move_to over 4 steps (0.4s)
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 bowl center now appears to the right of the jaw column, placing the gripper over its left rim as intended. I’m descending to rim height with the jaws open, aiming to put one finger inside and one outside the wall.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2447, 1.5059, 0.8124, -0.0669, -0.2718, -0.2295, 0.9957, -0.0216, 0.8043, 0.5949, -0.4152, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4041 left_y=-0.0483 left_z=0.0995 left_yaw=0.0893 left_pitch=-0.1546 left_roll=0.0344 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1658 right_yaw=-0.0015 right_pitch=-0.0545 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.3214, -8.4171, 6.2154, 1.6142, 0.0366, 0.1978, 0.0806, -0.0342, -1.3197, 7.159, 1.7363, -0.0611, -0.0464, -0.0073] 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_z":0.05},"note":"The bowl center now appears to the right of the jaw column, placing the gripper over its left rim as intended. I’m descending to rim height with the jaws open, aiming to put one finger inside and one outside the wall."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe descent stopped at 10.1 cm with the left rim positioned between the jaws, so the bowl is taller than it first appeared and this is genuine rim contact. I’m closing now to pinch that single wall and will verify from the nonzero settled opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.494, 0.8124, -0.0792, -0.2543, -0.2058, 0.9957, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.4026 left_y=-0.0472 left_z=0.1014 left_yaw=0.071 left_pitch=-0.1594 left_roll=0.0408 left_gripper=0.9957 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0018 right_pitch=-0.0549 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.212, -8.1299, 6.5162, 1.6825, -0.0073, 0.0464, -0.0024, -0.0342, -1.2923, 7.0906, 1.707, -0.0562, -0.0708, -0.0073] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at 10.1 cm with the left rim positioned between the jaws, so the bowl is taller than it first appeared and this is genuine rim contact. I’m closing now to pinch that single wall and will verify from the nonzero settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe settled opening is again near empty, but the closed jaws are still adjacent to the rim; I’ll make a short lift test to conclusively check whether the thin rim was caught despite the small reading.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.494, 0.8124, -0.0868, -0.255, -0.2062, 0.0088, -0.0216, 0.8043, 0.5945, -0.4156, -0.0166, -0.02, 0.9991] state[eef_state]: left_x=0.4013 left_y=-0.0468 left_z=0.1001 left_yaw=0.0722 left_pitch=-0.1665 left_roll=0.0433 left_gripper=0.0088 right_x=0.2892 right_y=0.0003 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [-0.1436, -6.4342, 6.4068, 1.58, -0.0659, -0.022, 0.6569, -0.0342, -1.1145, 7.0222, 1.6972, -0.0708, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The settled opening is again near empty, but the closed jaws are still adjacent to the rim; I’ll make a short lift test to conclusively check whether the thin rim was caught despite the small reading."})
tool
executing move_to over 4 steps (0.4s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe lift test confirms the bowl stayed on the table. To prevent a wide-moving finger from pushing the light bowl away before the opposite finger arrives, I’m reopening only to about 2.4 cm while staying above the rim; this should leave one jaw just inside and one just outside.
move_to
left_gripper0.2500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.4479, 0.9466, -0.2897, -0.2554, -0.2089, 0.011, -0.0216, 0.8097, 0.5945, -0.4221, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.401 left_y=-0.0467 left_z=0.1377 left_yaw=0.0752 left_pitch=-0.1877 left_roll=0.0486 left_gripper=0.011 right_x=0.2886 right_y=0.0002 right_z=0.1628 right_yaw=-0.0018 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.1983, -7.6376, 8.9915, 1.4481, -0.1294, -0.022, 0.2125, -0.0342, -1.7436, 7.1043, 1.7802, -0.0366, -0.0708, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25,"left_z":0.15},"note":"The lift test confirms the bowl stayed on the table. To prevent a wide-moving finger from pushing the light bowl away before the opposite finger arrives, I’m reopening only to about 2.4 cm while staying above the rim; this should leave one jaw just inside and one just outside."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteWith the narrowed opening, the wrist view clearly shows one jaw outside the left wall and the other inside the bowl. I’m lowering this straddling pair to below the lip so the closing motion can pinch the wall securely.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.3527, -0.255, -0.2085, 0.2455, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.3972 left_y=-0.0458 left_z=0.1448 left_yaw=0.0759 left_pitch=-0.206 left_roll=0.0545 left_gripper=0.2455 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.1709, -5.9282, 7.6239, 1.6288, -0.1392, -0.022, -0.1783, -0.0752, -1.1829, 7.2137, 1.663, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"With the narrowed opening, the wrist view clearly shows one jaw outside the left wall and the other inside the bowl. I’m lowering this straddling pair to below the lip so the closing motion can pinch the wall securely."})
tool
executing move_to over 5 steps (0.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe straddling jaws are already stopped by the lip at the current height, with one on each side of the wall. Because the opening is now narrow, I’m closing from this balanced position to avoid ejecting the bowl sideways.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.255, -0.2089, 0.2465, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0762 left_pitch=-0.2082 left_roll=0.055 left_gripper=0.2465 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.3214, -6.106, 7.5145, 1.6288, -0.1685, -0.0513, 0.0952, -0.0342, -1.306, 7.0906, 1.6532, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The straddling jaws are already stopped by the lip at the current height, with one on each side of the wall. Because the opening is now narrow, I’m closing from this balanced position to avoid ejecting the bowl sideways."})
tool
executing move_to over 3 steps (0.3s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe thin plastic rim still yields an almost-closed reading, but the closed fingers visibly meet the left lip in the wrist view. I’m performing another short lift test; this visual check is more reliable than the opening for such a thin wall.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.2554, -0.2085, 0.0079, -0.0219, 0.8101, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0763 left_pitch=-0.2081 left_roll=0.0555 left_gripper=0.0079 right_x=0.2885 right_y=0.0002 right_z=0.1626 right_yaw=-0.0018 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.1299, -5.7504, 7.5692, 1.6532, -0.1245, -0.022, 0.652, -0.1573, -1.306, 7.1043, 1.6532, -0.0366, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The thin plastic rim still yields an almost-closed reading, but the closed fingers visibly meet the left lip in the wrist view. I’m performing another short lift test; this visual check is more reliable than the opening for such a thin wall."})
tool
executing move_to over 4 steps (0.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe rim did not rise with the fingers, so a friction pinch is not reliable on this smooth thin lip. I’m switching to an internal-expansion grasp: moving the closed jaws back over the bowl center so I can insert them and open against the inner walls.
move_to
left_y-0.0950left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.4418, 1.0687, -0.4736, -0.2546, -0.2092, 0.0103, -0.0219, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.3961 left_y=-0.0456 left_z=0.16 left_yaw=0.0785 left_pitch=-0.2409 left_roll=0.0653 left_gripper=0.0103 right_x=0.2885 right_y=0.0002 right_z=0.1627 right_yaw=-0.0018 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.2393, -8.0342, 10.947, 1.9365, -0.1441, -0.0269, 0.2418, -0.212, -1.2786, 6.9949, 1.6532, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.095,"left_z":0.2},"note":"The rim did not rise with the fingers, so a friction pinch is not reliable on this smooth thin lip. I’m switching to an internal-expansion grasp: moving the closed jaws back over the bowl center so I can insert them and open against the inner walls."})
tool
executing move_to over 5 steps (0.5s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe closed jaws are centered over the bowl opening. I’m lowering them into the interior while narrow, stopping first at 10 cm to avoid striking the bottom.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.387, 1.4956, 1.2293, -0.6498, -0.3241, -0.3138, 0.0118, -0.0216, 0.812, 0.5945, -0.4232, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.3902 left_y=-0.0944 left_z=0.1804 left_yaw=0.0499 left_pitch=-0.2814 left_roll=0.0704 left_gripper=0.0118 right_x=0.2885 right_y=0.0002 right_z=0.162 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.4991, -6.2974, 9.4291, 1.326, -0.2955, 0.1001, 0.149, -0.1573, -1.2376, 7.159, 1.6484, -0.0562, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The closed jaws are centered over the bowl opening. I’m lowering them into the interior while narrow, stopping first at 10 cm to avoid striking the bottom."})
tool
executing move_to over 6 steps (0.6s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe narrow fingers are visibly inserted down the center of the bowl; further downward tracking is being resisted. I’m opening them inside the bowl to press against opposite inner walls and create an expansion grasp.
move_to
left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3992, 1.4982, 1.2613, -0.6697, -0.3454, -0.3382, 0.0131, -0.0216, 0.812, 0.5945, -0.4229, -0.0162, -0.0204, 0.9991] state[eef_state]: left_x=0.3921 left_y=-0.0966 left_z=0.1902 left_yaw=0.0675 left_pitch=-0.2644 left_roll=0.065 left_gripper=0.0131 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [0.0479, -6.7761, 8.7316, 1.326, -0.3297, -0.0415, 0.1294, -0.0342, -1.3197, 7.3504, 1.6484, -0.0464, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.8},"note":"The narrow fingers are visibly inserted down the center of the bowl; further downward tracking is being resisted. I’m opening them inside the bowl to press against opposite inner walls and create an expansion grasp."})
tool
executing move_to over 8 steps (0.8s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe jaws are spread to about 7.6 cm against the bowl’s inner sides, symmetrically centered. I’m lifting while holding that opening to test the internal friction grasp and, if successful, clear the table for transport.
move_to
left_z0.2600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3992, 1.4994, 1.2602, -0.6765, -0.3443, -0.3412, 0.7951, -0.0219, 0.8162, 0.5945, -0.4229, -0.0166, -0.02, 0.9991] state[eef_state]: left_x=0.3907 left_y=-0.0962 left_z=0.1883 left_yaw=0.0695 left_pitch=-0.2728 left_roll=0.0664 left_gripper=0.7951 right_x=0.2888 right_y=0.0002 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.1846, -6.7214, 7.159, 1.3846, -0.2222, 0.0024, -0.1636, -0.1299, -1.6615, 7.1453, 1.6386, -0.0171, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.26},"note":"The jaws are spread to about 7.6 cm against the bowl’s inner sides, symmetrically centered. I’m lifting while holding that opening to test the internal friction grasp and, if successful, clear the table for transport."})
tool
executing move_to over 5 steps (0.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe internal expansion did not lift the left bowl, so I’m parking that arm and switching to the right bowl with the right arm. This gives a fresh, unobstructed approach for a conventional outside grasp while explicitly holding the tool’s neutral pitch.
move_to
left_x0.2950left_y0.0000left_z0.1800left_pitch0.0000left_gripper1.0000right_x0.4200right_y0.1000right_z0.1500right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3992, 1.5284, 1.5383, -0.9058, -0.3405, -0.3416, 0.7962, -0.0216, 0.8165, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991] state[eef_state]: left_x=0.3938 left_y=-0.0982 left_z=0.2536 left_yaw=0.0642 left_pitch=-0.2565 left_roll=0.0541 left_gripper=0.7962 right_x=0.2888 right_y=0.0003 right_z=0.1608 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.0068, -5.6684, 8.1846, 1.1795, -0.2125, -0.0171, 0.0952, -0.0479, -1.347, 7.2, 1.6777, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_pitch":0.0,"left_gripper":1.0,"right_x":0.42,"right_y":0.1,"right_z":0.15,"right_pitch":0.0,"right_gripper":1.0},"note":"The internal expansion did not lift the left bowl, so I’m parking that arm and switching to the right bowl with the right arm. This gives a fresh, unobstructed approach for a conventional outside grasp while explicitly holding the tool’s neutral pitch."})
tool
executing move_to over 11 steps (1.1s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe right bowl is centered between the fully open jaws, whose tips are visibly outside both sides of the rim. I’m descending toward the bowl body for an external grasp, keeping the neutral pitch commanded.
move_to
right_x0.4050right_y0.0970right_z0.0700right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1478, 0.8356, 0.6308, -0.448, -0.234, -0.1368, 0.9986, 0.3351, 1.4635, 0.8257, -0.0563, 0.2497, 0.1516, 0.9992] state[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=0.1011 left_pitch=-0.0613 left_roll=0.0522 left_gripper=0.9986 right_x=0.4002 right_y=0.097 right_z=0.1226 right_yaw=0.0376 right_pitch=-0.0989 right_roll=-0.0333 right_gripper=0.9992 state[joint_eff]: [0.2393, -0.8957, 7.9385, 2.2393, 0.0073, 0.1392, -0.0464, 0.3487, -6.9265, 9.2786, 1.9316, 0.1929, 0.2515, -0.0952] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.097,"right_z":0.07,"right_pitch":0.0},"note":"The right bowl is centered between the fully open jaws, whose tips are visibly outside both sides of the rim. I’m descending toward the bowl body for an external grasp, keeping the neutral pitch commanded."})
tool
executing move_to over 4 steps (0.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe right gripper reached 4.7 cm and the open fingers remain outside the bowl on both sides, so they now surround the lower outer wall. I’m closing for the external grasp and will check for a substantial nonzero opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8425, 0.6098, -0.445, -0.2222, -0.131, 0.9988, 0.3386, 1.5997, 0.6292, 0.2398, 0.255, 0.1371, 0.9991] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1591 left_yaw=0.0893 left_pitch=-0.0873 left_roll=0.0556 left_gripper=0.9988 right_x=0.3863 right_y=0.0926 right_z=0.0469 right_yaw=0.0432 right_pitch=-0.1333 right_roll=-0.0587 right_gripper=0.9991 state[joint_eff]: [-0.3077, -2.0171, 8.8137, 1.5897, -0.2027, -0.0855, 0.0024, -0.0615, -7.6239, 6.9812, 2.2491, 0.2759, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right gripper reached 4.7 cm and the open fingers remain outside the bowl on both sides, so they now surround the lower outer wall. I’m closing for the external grasp and will check for a substantial nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
assistant
agent noteThe gripper closed nearly empty and the bowl slid about 6–7 cm to the right, visible beside the jaws. I’m reopening, lifting, and following it laterally for one carefully re-centered retry.
move_to
right_y0.0200right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8436, 0.6094, -0.4515, -0.2321, -0.131, 0.9988, 0.3382, 1.6165, 0.6094, 0.239, 0.255, 0.1265, 0.022] state[eef_state]: left_x=0.2876 left_y=0.0021 left_z=0.1576 left_yaw=0.0978 left_pitch=-0.0936 left_roll=0.0637 left_gripper=0.9988 right_x=0.3788 right_y=0.0898 right_z=0.0334 right_yaw=0.047 right_pitch=-0.1695 right_roll=-0.0777 right_gripper=0.022 state[joint_eff]: [-0.0889, -1.1829, 7.0085, 1.6581, -0.0464, -0.0757, -0.0122, -0.3214, -7.3231, 7.3915, 1.5995, 0.0904, 0.1197, 1.0769] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.02,"right_z":0.13,"right_gripper":1.0},"note":"The gripper closed nearly empty and the bowl slid about 6–7 cm to the right, visible beside the jaws. I’m reopening, lifting, and following it laterally for one carefully re-centered retry."})
tool
executing move_to over 10 steps (1.0s)
step 162
assistant
agent noteThe displaced right bowl is centered again between the open fingers in the wrist view. I’m descending straight down at this corrected lateral position so both sides contact simultaneously.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0822, 1.3441, 0.7494, -0.1753, 0.0841, -0.046, 0.9951] state[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3736 right_y=0.0195 right_z=0.1105 right_yaw=0.0302 right_pitch=-0.1993 right_roll=-0.0868 right_gripper=0.9951 state[joint_eff]: [-0.0342, -1.5658, 6.9402, 1.5946, -0.1099, -0.0464, -0.0122, -0.2667, -6.2427, 9.5248, 1.7802, -0.1441, 0.1148, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The displaced right bowl is centered again between the open fingers in the wrist view. I’m descending straight down at this corrected lateral position so both sides contact simultaneously."})
tool
executing move_to over 5 steps (0.5s)
step 167
assistant
agent noteAt 3.4 cm the bowl remains symmetrically centered between the fingers, unlike the first attempt. I’m closing now from this balanced pose to grip the lower outside wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0784, 1.4891, 0.5854, 0.046, 0.07, -0.054, 0.9963] state[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3579 right_y=0.0193 right_z=0.0336 right_yaw=0.0421 right_pitch=-0.2878 right_roll=-0.0859 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.5248, 7.1179, 1.5897, -0.1587, -0.0659, -0.0122, 0.1026, -5.5453, 5.6821, 1.7656, 0.1636, 0.0513, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At 3.4 cm the bowl remains symmetrically centered between the fingers, unlike the first attempt. I’m closing now from this balanced pose to grip the lower outside wall."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteThe centered close again passed inside the bowl, confirming its outside diameter exceeds the gripper stroke. Since this arm can reach low, I’m switching to a narrow rim pinch: lifting, opening only 2.4 cm, and offsetting about 4.5 cm toward the bowl’s left rim.
move_to
right_y0.0650right_z0.1300right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8448, 0.6094, -0.4526, -0.2325, -0.131, 0.9988, 0.0784, 1.5002, 0.5766, 0.0483, 0.0654, -0.0566, 0.0099] state[eef_state]: left_x=0.2874 left_y=0.0022 left_z=0.1571 left_yaw=0.0981 left_pitch=-0.0958 left_roll=0.0645 left_gripper=0.9988 right_x=0.3544 right_y=0.0199 right_z=0.0271 right_yaw=0.0475 right_pitch=-0.3056 right_roll=-0.0847 right_gripper=0.0099 state[joint_eff]: [-0.0205, -1.5248, 6.9538, 1.5897, -0.1636, -0.0464, -0.0122, -0.0615, -6.3795, 6.2974, 1.3993, 0.022, -0.0122, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.065,"right_z":0.13,"right_gripper":0.25},"note":"The centered close again passed inside the bowl, confirming its outside diameter exceeds the gripper stroke. Since this arm can reach low, I’m switching to a narrow rim pinch: lifting, opening only 2.4 cm, and offsetting about 4.5 cm toward the bowl’s left rim."})
tool
executing move_to over 7 steps (0.7s)
step 184
assistant
agent noteWith the narrowed jaws, the wrist view shows the gripper center still about 2 cm inside the bowl’s left edge. I’m shifting slightly farther toward the table center so the two jaws straddle the rim rather than both remaining inside.
move_to
right_y0.0850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2504, 1.3575, 0.8505, -0.3935, 0.1505, 0.0467, 0.2478] state[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.354 right_y=0.0669 right_z=0.1119 right_yaw=0.0854 right_pitch=-0.3194 right_roll=-0.0872 right_gripper=0.2478 state[joint_eff]: [-0.0752, -1.5658, 6.9538, 1.6337, -0.1245, -0.0317, -0.0122, 0.294, -6.8991, 9.0325, 1.5067, 0.2662, 0.1832, -0.0855] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.085,"right_z":0.12},"note":"With the narrowed jaws, the wrist view shows the gripper center still about 2 cm inside the bowl’s left edge. I’m shifting slightly farther toward the table center so the two jaws straddle the rim rather than both remaining inside."})
tool
executing move_to over 2 steps (0.2s)
step 186
assistant
agent noteThe actual lateral move was only about 8 mm, and both jaws still project just inside the rim. I’m continuing another 2 cm toward the left edge to put the jaw midpoint directly on the lip.
move_to
right_y0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2924, 1.3602, 0.8764, -0.4583, 0.1787, 0.0795, 0.2483] state[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.3461 right_y=0.0751 right_z=0.1122 right_yaw=0.0811 right_pitch=-0.3544 right_roll=-0.0974 right_gripper=0.2483 state[joint_eff]: [-0.0752, -1.306, 7.1043, 1.58, -0.0952, -0.0659, -0.0122, 0.5402, -4.588, 8.3214, 1.4823, 0.2125, 0.2027, 0.0171] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.105},"note":"The actual lateral move was only about 8 mm, and both jaws still project just inside the rim. I’m continuing another 2 cm toward the left edge to put the jaw midpoint directly on the lip."})
tool
executing move_to over 3 steps (0.3s)
step 189
assistant
agent noteThe jaw midpoint is now aligned with the left lip: the left finger is outside and the right finger is inside. I’m lowering this straddling pair down the wall before closing, which should prevent the rim from slipping out vertically.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4561, 0.1783, 0.0864, 0.2484] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3442 right_y=0.0851 right_z=0.1083 right_yaw=0.1049 right_pitch=-0.3642 right_roll=-0.095 right_gripper=0.2484 state[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.5849, -0.1441, -0.0464, -0.0122, -0.2667, -5.4085, 8.3624, 1.5556, 0.2076, 0.1001, 0.0024] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The jaw midpoint is now aligned with the left lip: the left finger is outside and the right finger is inside. I’m lowering this straddling pair down the wall before closing, which should prevent the rim from slipping out vertically."})
tool
executing move_to over 6 steps (0.6s)
step 195
assistant
agent noteThe descent stopped immediately at the lip while the two narrowed fingers remain on opposite sides of it, indicating contact at the correct rim location. I’m closing from this precise straddling pose to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4557, 0.1787, 0.0864, 0.2484] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3443 right_y=0.085 right_z=0.1084 right_yaw=0.1046 right_pitch=-0.3637 right_roll=-0.0953 right_gripper=0.2484 state[joint_eff]: [-0.0889, -1.2923, 6.9128, 1.5849, -0.1001, -0.0611, -0.0122, -0.4034, -5.4222, 8.7043, 1.5751, 0.2173, 0.0806, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped immediately at the lip while the two narrowed fingers remain on opposite sides of it, indicating contact at the correct rim location. I’m closing from this precise straddling pose to pinch the wall."})
tool
executing move_to over 3 steps (0.3s)
step 198
assistant
agent noteThe thin rim again gives an almost-empty opening, but the closed fingertips are visibly seated exactly on the lip. I’m lifting straight up to test whether this precise pinch has captured it.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8761, -0.4603, 0.1757, 0.0849, 0.0089] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3432 right_y=0.0852 right_z=0.1075 right_yaw=0.1078 right_pitch=-0.3692 right_roll=-0.0948 right_gripper=0.0089 state[joint_eff]: [-0.0752, -1.4017, 7.1043, 1.6239, -0.1636, -0.0659, -0.0122, -0.1983, -5.2855, 6.6256, 1.409, 0.0904, -0.0122, 0.735] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The thin rim again gives an almost-empty opening, but the closed fingertips are visibly seated exactly on the lip. I’m lifting straight up to test whether this precise pinch has captured it."})
tool
executing move_to over 5 steps (0.5s)
step 203
assistant
agent noteThe rim pinch did not lift. The prior internal test only opened to 7.6 cm, leaving clearance; I’m now centering the closed jaws inside this bowl and lowering them so I can expand fully to the 9.5 cm stroke against the inner walls.
move_to
right_y0.0450right_z0.0400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3594, 1.0908, -0.7017, 0.1749, 0.0784, 0.0107] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3451 right_y=0.086 right_z=0.1618 right_yaw=0.1111 right_pitch=-0.3827 right_roll=-0.1012 right_gripper=0.0107 state[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.6239, -0.1148, -0.0611, -0.0122, -0.3624, -6.4205, 8.8547, 1.3309, 0.0757, 0.0611, 0.525] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.045,"right_z":0.04,"right_gripper":0.0},"note":"The rim pinch did not lift. The prior internal test only opened to 7.6 cm, leaving clearance; I’m now centering the closed jaws inside this bowl and lowering them so I can expand fully to the 9.5 cm stroke against the inner walls."})
tool
executing move_to over 8 steps (0.8s)
step 211
assistant
agent noteThe closed fingertips are now deep and centered inside the bowl at 3.5 cm. I’m expanding all the way to the 9.5 cm maximum so the jaws press firmly against opposite inner walls; a stopped-short opening will confirm contact.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1692, 1.4506, 0.6762, -0.255, 0.099, -0.0319, 0.007] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3297 right_y=0.0422 right_z=0.0351 right_yaw=0.09 right_pitch=-0.4567 right_roll=-0.1077 right_gripper=0.007 state[joint_eff]: [-0.0752, -1.5111, 7.1179, 1.6044, -0.149, -0.0806, -0.0122, -0.1709, -5.2581, 6.7761, 1.4335, -0.0269, -0.1636, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The closed fingertips are now deep and centered inside the bowl at 3.5 cm. I’m expanding all the way to the 9.5 cm maximum so the jaws press firmly against opposite inner walls; a stopped-short opening will confirm contact."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe full stroke still has slight clearance at the current interior height, so the bowl is wider than 9.5 cm there. I’m lowering the fully spread jaws toward the narrower lower interior, where the sloped walls should contact both sides and generate outward holding force.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1642, 1.4662, 0.6582, -0.2565, 0.0921, -0.0425, 0.9947] state[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3221 right_y=0.0405 right_z=0.0239 right_yaw=0.0966 right_pitch=-0.4927 right_roll=-0.11 right_gripper=0.9947 state[joint_eff]: [-0.0342, -1.5111, 6.9265, 1.6044, -0.1148, -0.0366, -0.0122, 0.253, -6.7487, 7.2274, 1.2137, 0.1001, 0.105, -0.0757] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.01},"note":"The full stroke still has slight clearance at the current interior height, so the bowl is wider than 9.5 cm there. I’m lowering the fully spread jaws toward the narrower lower interior, where the sloped walls should contact both sides and generate outward holding force."})
tool
executing move_to over 3 steps (0.3s)
step 224
assistant
agent noteThe descent stopped at 1.6 cm and the widely spread fingertips now sit against the bowl’s narrower lower walls. I’m lifting while maintaining full expansion to see whether this lower internal contact carries the bowl.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8478, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1635, 1.5169, 0.6262, -0.1104, 0.0795, -0.0418, 0.9935] state[eef_state]: left_x=0.2865 left_y=0.0023 left_z=0.1549 left_yaw=0.0984 left_pitch=-0.1058 left_roll=0.067 left_gripper=0.9988 right_x=0.3364 right_y=0.0449 right_z=0.0157 right_yaw=0.1092 right_pitch=-0.4302 right_roll=-0.0932 right_gripper=0.9935 state[joint_eff]: [-0.0889, -1.5932, 6.9128, 1.5995, -0.1392, -0.0415, -0.0122, -0.0752, -1.8803, 2.3316, 0.5641, 0.1978, -0.0366, -0.1441] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The descent stopped at 1.6 cm and the widely spread fingertips now sit against the bowl’s narrower lower walls. I’m lifting while maintaining full expansion to see whether this lower internal contact carries the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteI could not obtain a stable grasp on any bowl. Their outside diameter exceeds the 9.5 cm gripper stroke; centered closes pass inside them, the smooth thin rim repeatedly slips from a one-inside/one-outside pinch, and even full internal expansion leaves clearance or fails to lift. Continuing would only push the bowls toward the table edge without a reliable way to transport and stack them.
give_up
hindsightThese bowls are wider than the gripper's maximum stroke and have thin, smooth, strongly sloped walls. A normal external grasp is impossible; full 9.5 cm internal expansion also does not hold. A future attempt needs a dedicated rim-hook/scoop strategy, non-slip fingertip pads, or bowls under 9 cm diameter rather than repeated symmetric closes.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1471, 0.8501, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1635, 1.3384, 1.0271, -0.7063, 0.0696, -0.0498, 0.9936] state[eef_state]: left_x=0.2865 left_y=0.0023 left_z=0.1543 left_yaw=0.0984 left_pitch=-0.108 left_roll=0.0675 left_gripper=0.9988 right_x=0.3371 right_y=0.0468 right_z=0.1416 right_yaw=0.1228 right_pitch=-0.4473 right_roll=-0.0895 right_gripper=0.9936 state[joint_eff]: [-0.0479, -1.2239, 6.9812, 1.619, -0.1538, -0.0513, -0.0122, -0.2393, -6.5299, 8.9504, 1.3211, 0.1099, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a stable grasp on any bowl. Their outside diameter exceeds the 9.5 cm gripper stroke; centered closes pass inside them, the smooth thin rim repeatedly slips from a one-inside/one-outside pinch, and even full internal expansion leaves clearance or fails to lift. Continuing would only push the bowls toward the table edge without a reliable way to transport and stack them.","hindsight":"These bowls are wider than the gripper's maximum stroke and have thin, smooth, strongly sloped walls. A normal external grasp is impossible; full 9.5 cm internal expansion also does not hold. A future attempt needs a dedicated rim-hook/scoop strategy, non-slip fingertip pads, or bowls under 9 cm diameter rather than repeated symmetric closes."})
tool
give_up: I could not obtain a stable grasp on any bowl. Their outside diameter exceeds the 9.5 cm gripper stroke; centered closes pass inside them, the smooth thin rim repeatedly slips from a one-inside/one-outside pinch, and even full internal expansion leaves clearance or fails to lift. Continuing would only push the bowls toward the table edge without a reliable way to transport and stack them.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.3 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, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0196, 0.7933, 0.6022, -0.3794, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0007 right_z=0.1794 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.5658, 10.1265, 1.7753, -0.0317, 0.2125, -0.0611, -0.3897, -1.4291, 10.3043, 1.8779, -0.0806, 0.0464, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715341c9407449952aa503b1e6b2bc67a3890be31005026d448ed0d5dc010c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbaddfcda1e777fc1377a66712497fbfb7f9ecf2bdc4257586efdd7edafb1124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c7ca4d7364f76ccf82fd593dc1d6271f91312843950b0b2384da947bf9a210",
      "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 · 6.261 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_03c9b2882ec1d69f016ab44d2a047887d0b742be1e6cd9cbe5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_03c9b2882ec1d69f016ab44d2f3e0c87d0bdc4d4bad02033e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three upright bowls are spaced across the table; I will first pick up the left bowl and nest it into the center bowl. I’m moving the left gripper above the estimated center of the left bowl while keeping the right arm parked.\"}",
  "call_id": "call_U6rNLQI92uiA6hHML3sa1ulS",
  "id": "fc_03c9b2882ec1d69f016ab44d337d0887d0908fa41bf3a7576d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U6rNLQI92uiA6hHML3sa1ulS",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6159, 1.6314, 1.0172, -0.1066, -0.4973, -0.3946, 0.9996, -0.0216, 0.7971, 0.5999, -0.392, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1826 left_z=0.1348 left_yaw=-0.0131 left_pitch=-0.0469 left_roll=0.023 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1748 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -7.5829, 8.8821, 1.6923, -0.4371, -0.1245, -0.0611, 0.0752, -1.4291, 7.4325, 1.9316, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f33fa3196b5c4f6bd07ff794c8018f9d950b6d2a1768a96b2aa9bd2321520d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dce12e6e28d1495922d93ef9cd74a581a2b2f9a6aba9bad05e843f1b4b43400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a69708b3fe1a6484a5cdd09e8a1106d02ce66893f4df4bf448d6452919186e",
      "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 · 3.403 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, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0196, 0.7933, 0.6022, -0.3794, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0007 right_z=0.1794 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.5658, 10.1265, 1.7753, -0.0317, 0.2125, -0.0611, -0.3897, -1.4291, 10.3043, 1.8779, -0.0806, 0.0464, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6159, 1.6314, 1.0172, -0.1066, -0.4973, -0.3946, 0.9996, -0.0216, 0.7971, 0.5999, -0.392, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1826 left_z=0.1348 left_yaw=-0.0131 left_pitch=-0.0469 left_roll=0.023 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1748 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -7.5829, 8.8821, 1.6923, -0.4371, -0.1245, -0.0611, 0.0752, -1.4291, 7.4325, 1.9316, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f33fa3196b5c4f6bd07ff794c8018f9d950b6d2a1768a96b2aa9bd2321520d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dce12e6e28d1495922d93ef9cd74a581a2b2f9a6aba9bad05e843f1b4b43400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a69708b3fe1a6484a5cdd09e8a1106d02ce66893f4df4bf448d6452919186e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE08TyFQMMFoutLirD9xmeh40Y5PrZ5bhXnu61AF13efjLv2kF2z6CjQ78YZVlPmFsh3rw8s3A9i9_PLfods3Q8RMCP1Qn7IPQyH5p5P2woJKCXsK4pgRB7gbx-hAHTGAi8zW6qVPY4OsMqqAisCT3CkhlceE6MdgiPcc5cgI-1T3rWA2P_1x212lU9urfrJuQUel7e1jeEWj68LMAYdvQLfsHXJKWV6qVxTAMyiaIgeGFPTH1u3KdJz-gSSbwD8meqzz9r4sl8lNlTTZ69M_RIiou3nYyFRultlHJL4FrYEKPm-ruF20AzksgyAyjDKjhcgMiDQQFCVURByXK51Prxo5tb6xlIrgzAnYPk0ZgtbhxaW_oeiLdbTBstVVRQiOLeBJL0x-vCymP9F8XwKmi1OQVel1y7up2iofIYr6ThyxZHYtK94pFVZo6Gyg0utZjx_wzikuzypjzx3berGOvrvMM3LlKpOZfLnYEvsS8y-t8dVkwSWaHQlbc8Zpdtr6WdKcwtd7MOcHUs-vQ5aWo1K7nik2lGXhbGjEpIgmmwbCvLGO8gxVaUsQb7cefGw5fRplvCSFuvTwE23oTTWmicw5VIehsgIrRXmZr8AUwROfIDE3Qy8ivLpSF6tRgJYWAJ6dhShECp_6qHXchhUbT6LGk1zni40Ja3qIWKv622pePBKV2efKrcE6tyUmpFhW4PeCGmXtN6vohWCf50XHVPE9m1mCb3mZrxpf196M8sSkeg8mbkHmMLRh6PwZYb4mK0hrK8cANgd7MpZZHb5sH29BHKccDwQB2I-Y6WVPWyTTFG6LYleiF17NRlPRb7XT4v_IY8d5RZ3Q3270EgDKVkY1qhvJR-JNgnVQsKYJ3qTHr2PMIDa2qZVO9ke8JV5Aq-GGRdZpxCnXdufjkcsOn0ze4D41TAxsLEr8KoB1dnniLKZC5-gXj8YlZwftr-pQFYP0JhNewjmX02qPsS0LAWF4Rhh85bMPrgKidp8lIL9HTteJUkjG93ToPgD-BCrM9H16um0UrvpziVNpD1AQZSbOOMwV-TNlwWXgiApUbwer_QFMwB-58y6aogK_YgHLdJuu9wYLOCSs9jNzcfzrMAyreRdGH3JWK-gcrBF3MB4gnLIvLYc1LtWtrg7QLrAkvaV_M3xPXq131rld_KmGTnPXBcY1aeD3MnaBotDaVBP3jFy3a6TUW_Q3aY7-HwS-H2K8_UGBKShHR9kYFnkTHiHrePI_DKL_j-32bIwf_Ya4M-NPzk-9rYlhEaZoYv0Ust95scnhMeFMj34Z5lzkOcdvDiG632g6h_mJuKiZuNdLUtMe4hXTn-ny2KJ8XiJvhsA_QIFqTD_UMj2NyBQMzcPnNQmik1SKjmB69C6YQbZ6_vTmxLz7FYQ7FShK-rp_w2mLJewoTBkvX5ZuH5-IZfZpc3gUx-QQc6j1p5Ci_2w9orMwo2BBZFMZan3nYRq1a7JO_oylQiUE0yKFem1fyTbK5ukzLdg8YMl871uhsDRmZkeXhO2yFkGrVuOBLrmQwZTunQ-N4ARtMZBGJyE_YGcpUm6UKWmdAQ0D87n7ImS2yiMmX5pW9eeix0z2hCZd06oJj4jvaYLG669eKKq8UEHDGewRNWcGWhuE5d5vm_6WskBCsSBIm0IAMQRN1k3vWAhwCDu7_3M8YV8iPs4NnVAYRZn6-It7MiUaRGB0ISEjyEQRXCK4ipXGwn4teE5cVnZZfwEC9T6GSZ58LgsBCzHSo3pgX5MAxm927CahpsiWq2E8krkJZrncvx546XnXZAJ1W6kj3bO_eOswXhKuLqewbmyVfM4vPHbn-An5Fxf2Q-3UGYIu0YaN0zHTjc0U3wcfyBEq-tGjGtyxNXg5b5p6qGlxy_Bw-5CxOG4TSK6LhQQFinm9W7TDoyNdkpyVRfFOGge6wwA9JvIjXSRN_KXvWShS04QDWoqMudsO_yq73PjkaDjPFH98EaJnzqAXdKnpz6AAB00EDHY9Wg_WPX3kbLojTOz2cX9DdoWX15VoVLNRgGzf8UPcDKa0HUrq6_ZKQbV2JZFi_F116b7amUjMVouRNg4qm-JZS-MR-4fKRN62WwH_Sd01stYs9p4-cBi8Ik9NI4F4mdTOvApm8gkteWYM_kcCvHedu4HH-YWAFs4PLrW1euLO_hCG2YpFJxv9oDfVseDTuwwIV2gDVkaM90-2gxzue-fkIrNCjbG1cQnG1w87aJ7vM7yOZn3tMri3yFNkZC49VMededsiYrG4kn8sBG6ZBrTtH0-Ne5BTpU6DSCTHn3Qbnk_zE-iZJIWLc3GeGn3tHJnerujxRel1S7kgdnOfF-KsJeqmYZGZK4_Yb5FZUCtbKylVnKk9yEBcdjHU_mGdzftVzLQq-VNHuKIc2NuWNkcvzY3mA2nsTj3a2JnpUhmI6ehtUMj00nNaCMkQ-l5TYChfTMR524XVMmGt0EizA1NwuVonrS8IckXVF6kJIvp05byA70W0vbCqYxx2GrTZ0IOIxhlPrwN_vues0xTTsQpg_b2xNSrBZx9_0phg7aK84lZx-Ny_HNwNp51cchBi2mN41BYcfzq5j3sU6HksiYvEcErpHh50W3rTi9oLr0hiqQW8Lnh39aNHEbXTMtuPBeg_ZaBjiuHBfuzE7BwEK963G8IQJ8eHDpSfAESauS-VuUaPCMavbqvVM9dQO-q-OUVxArSKQFEmJABRu2jj3eX3wW0eIgEaa1BpFLGWYid0_HiqvsKTnSAKN38G-S4kdK5_P8uxVfuNmGvOkdwOqbmtEPO-bbJL5n11tlt7fE7Ti3_jgU19qu2FIazZGWzMirHfKHIZpk-7Aa2BvWSglIW_azGuC77L-0vTPgf45z-N2LINLi5u_7gP0OQo59D4yOHRcGriwQfdn-EH---NxAh7szlgGTmLVkvo32XaI8oYC4UuVlMpgt4yGCP326nI3zKyuzhMZeVWeBT13IPgOLtFmlTI50IqFtG1oVQZlw3Ym-TIGuQ8zZPGeobhSdnTKf6v3Y1bnWMy0AyJ_qdn4kOM5Yqwq4MVkNRx0EGjUSi0YhlIPrDcBDpQm1yGRzGws-ZAq7Iwz8DskOfO702FOVfMcgz0QuuLEozKDDAOjYiJmb3GyvntyOS0eihDHJhX5JC0RMpjGlAPVCUlwHVHQoOjEnagzrpK5wl4eEe2ICwk8HB9UfxjY1ely0R7pUR54vJ5wtg_WrZ268kp-SK9hh7YMp5BxZbf0PTzlHcp6LMIY419vw9VH27qV6O2yOa-v2S4JuySspYX_sVxlsacNHMLWNiFjuUTucAQihEsXJi5D--Mgx5umEWguVyKR0CX-T9YjVwQ_0ZrMNIOcPcch45RJRZoKcstv0=",
  "id": "rs_03c9b2882ec1d69f016ab44d3737b887d098e138c824bfbca9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.12,\"left_z\":0.15},\"note\":\"The wrist view shows the left and center bowls on opposite sides, so the gripper is hovering in the gap rather than over the left bowl. I’m shifting the left gripper about 6 cm toward the outer-left side to center it on the left bowl.\"}",
  "call_id": "call_8tEznDxKTPdUV0C9PfzAY320",
  "id": "fc_03c9b2882ec1d69f016ab44d3b49f487d092dc94ddf2b1f863",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8tEznDxKTPdUV0C9PfzAY320",
  "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]: [-0.4557, 1.5181, 0.9348, -0.115, -0.3901, -0.3058, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.1224 left_z=0.1408 left_yaw=0.0135 left_pitch=-0.0649 left_roll=0.0234 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.021 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4034, 6.5162, 1.6484, -0.1148, 0.1099, -0.0171, -0.0068, -0.9778, 7.3231, 1.7851, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2227aa8b353828d01028d5f16ae2d3f7a49599b26e30ce5fb5eaebe8a14f3d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b49ecde5aa9fa2422937ddc7ce713f676429b49c54d3e71e188a62b3b707fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff31d53879af1be56b4a79734fc6c12d9b080e26e1e66200fd3f74e2da7ccc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.83 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]: [-0.6159, 1.6314, 1.0172, -0.1066, -0.4973, -0.3946, 0.9996, -0.0216, 0.7971, 0.5999, -0.392, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1826 left_z=0.1348 left_yaw=-0.0131 left_pitch=-0.0469 left_roll=0.023 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1748 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -7.5829, 8.8821, 1.6923, -0.4371, -0.1245, -0.0611, 0.0752, -1.4291, 7.4325, 1.9316, -0.0269, -0.0562, -0.0171]",
      "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]: [-0.4557, 1.5181, 0.9348, -0.115, -0.3901, -0.3058, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.1224 left_z=0.1408 left_yaw=0.0135 left_pitch=-0.0649 left_roll=0.0234 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.021 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4034, 6.5162, 1.6484, -0.1148, 0.1099, -0.0171, -0.0068, -0.9778, 7.3231, 1.7851, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2227aa8b353828d01028d5f16ae2d3f7a49599b26e30ce5fb5eaebe8a14f3d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b49ecde5aa9fa2422937ddc7ce713f676429b49c54d3e71e188a62b3b707fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff31d53879af1be56b4a79734fc6c12d9b080e26e1e66200fd3f74e2da7ccc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1ANiwazXsb07O_sFwwklB56T4ocy-1Xy139PVMXWGMs8bN3lbGY4rHwe7UeIj2vaQYZorhB0LFAPQO1Cg34iAF0DDWkZYotGOsGKBRUFE1Hh2Ur0pBftI1rHGQdMOO9pe9p50F3CcG0KXyQ5c2F8TzBv7KtrPwvqQa_Xb68D9KVu8qYlAEW_lSpkf-LchoiT0wv8rtjphcJVa9ehYH0exbpzWKIJcIYxpG_kfwURq_ahdY1qtzGH4nC-guaAF3jmfksh2y8g0lMXAYKC5bfXZJANKKgiLuXorD24AkN6sxBOfNP6M2SZLeNs3GIr0c9tbfCftKPkCq-l52uK3x6RWNud_HZNJXmkjYJMxnIIcSZgXgx6UqOtxDYiPrYfvICxdV9T4ey3fi2E48_pIpIdT0kjJdFn0xUD7Cwqny2V-qqPXtOoAh4eXRc7VyBTLPveREVQj4o3NfPr_65R8cVTfVX62cTRISYlT2HCm_dEVZlLtF2Lx8lEpR5QocHKk5DVxTRzyotl6YV4GCu6xqDZ5ztTR7KqREWpXRXgUxdVp-32qiJQjf0evRxXQpO_PZQMxy9eDYbdrRU332xpL8hqnO1dOhBa9jKGipcKOcaDcKZS0zbeUr1v7wauIXyUVzhxDy_0MwXES4vdnr07nYtwnrZgNjObBTVU9N4O97emHHPC2CYGpw3X40ltmbD0P6CYaXUCqRkqyuIhYcV_Q4ydzzUXyDmQPazR7GH37e7zCJsQVYNJrr4xDdJ8sy65CMRHGDBjOmN3xTLjmTeJ2pcvNiRWsojY5FVr5e9Os3XwKZ7nkKAi2AV8JNvkre8JWDKqJF7-TL5OjEqLfnVGTNWQXW_ZRbNz99wc-4wBhpKEhGcwyTEdr_Nzu7TYFMAOaPPC8jZ7wNd4KuZSiPdXNqXsQjTXJxLeAMUpIstj2u2rKqCgliunUBaIAnA-mC-NXWB7fArX3825P8bje2LVx9ArYqg7WhRUWaAQN7QLTgpAh2a20GlEtZl5P7D27pPbK-O60PRNnfFTtzT-EN4HZDICkGkz4zJ8EcFtIdS1Pz8EO8V4BTODQTHWGpa_fZDbTl8rQKIQXocVkJrVAj7c0NrkY1215zjrhkQWc-rP6RHXB01P428qNC5TSlU3gZzONi8SO85hwyoNwKTZAFhmtucPmge1gl8EsZtiSaaCZQZs5lZNB2zKVgovwXD1Oh150Pw7E1WJ4WXEuiGEhtjZMhrzchErPgAGo30iYGZQZQzzQagzvN7WBap8sqCEx-GnEqYWfEKB7XFJL9t5-CUlJde2VRmBF_or5XcshVztNa8otCc3YR9lZtcb9HysFhIxhzxx8U51RP0E8PAaF2FRkGwl71K8kbylCh9AKy8mYNoBUG7xEdzfHVnCHVIAs0O7Bm1EZ4ps6KQM-3GodnaKnY8HL2CW5jg5FpZs-29ELr8CcEKn13pyZX2EpRKbcMBwM8NsSxAceShmNAg5WsKi_0FlxdRBEkwNZusD-OSEqEesTG0N72HOjm25e8PIyWwcIMcZug6OagWwumaHm8N4xaVauqv6PTtuo-4Op5w53wsEdiIdd1Rj78wMsXKUjzg4BSOxOc7TgxjE8HGIgbIqXdmZ_6a0CRMxvog-K53xhwWCgS--B5RAnB-Tj2Uhoni91ak876BkXdEFw_QhMiioJnvLbbqS9RKAwhNjsabiuuKb785KUdL_OIJaGazRI3ra0OQNompGGO9i9dLpqRkOZLQXrspx5qCim28LUm7buFU9nGvpbTLavyIw1ySXN_umO_1c7kadlE91CwDS3g-vjmJMmnqBa7UNLmtR7PNaCyFjj6irA-rNSa-3lhH9OA_tlxXqzDcKVbejRuLVxi5ixDxudh_7MgOmed219gmjzSfPHu-S1Vt9bAsriDElYFxNQcD6qBn7J79PiwWO3coVL7e7snyhXFHmnKi52hBLDSW5uTDXaxYGxeavj_XRSC4iG1Vze6iqr55U-cGNepcu80vGFMnI6IlG4hnxkkpag-yrYT7LXD77K5Ybi0qavapabOsLoL",
  "id": "rs_03c9b2882ec1d69f016ab44d3e04fc87d0a27bcf8dc4d9e396",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.095,\"left_z\":0.15},\"note\":\"The left bowl is now close under the gripper but its center is still slightly left of the jaw column in the wrist view. I’m making a small lateral correction before descending, to avoid squeezing the rounded bowl off-center.\"}",
  "call_id": "call_Ui9awmN9BKeJNmGkF52FOyZP",
  "id": "fc_03c9b2882ec1d69f016ab44d3f9aa887d087f74e5b00372816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ui9awmN9BKeJNmGkF52FOyZP",
  "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]: [-0.3851, 1.499, 0.9268, -0.1303, -0.3389, -0.2726, 0.9995, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1001 left_z=0.1403 left_yaw=0.0249 left_pitch=-0.0833 left_roll=0.0218 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2376, 5.9829, 1.7021, -0.0952, 0.1929, -0.0122, -0.0615, -1.265, 7.2137, 1.7802, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10a78eadbe9d267723f6344ba492d9e7b8177e8c8b29f7e86c0e0d90c09794e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664341b00973f38e75529fb9d340f4f794a41905b0cd55ec8b27bc51f3e875de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541edfbadf80c7094d412f937618eb7dd71360a77a7c1bf1aa20e22a7e93023e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.563 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, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0196, 0.7933, 0.6022, -0.3794, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0007 right_z=0.1794 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.5658, 10.1265, 1.7753, -0.0317, 0.2125, -0.0611, -0.3897, -1.4291, 10.3043, 1.8779, -0.0806, 0.0464, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4557, 1.5181, 0.9348, -0.115, -0.3901, -0.3058, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.1224 left_z=0.1408 left_yaw=0.0135 left_pitch=-0.0649 left_roll=0.0234 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.021 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4034, 6.5162, 1.6484, -0.1148, 0.1099, -0.0171, -0.0068, -0.9778, 7.3231, 1.7851, -0.0513, -0.0269, -0.0122]",
      "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]: [-0.3851, 1.499, 0.9268, -0.1303, -0.3389, -0.2726, 0.9995, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1001 left_z=0.1403 left_yaw=0.0249 left_pitch=-0.0833 left_roll=0.0218 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2376, 5.9829, 1.7021, -0.0952, 0.1929, -0.0122, -0.0615, -1.265, 7.2137, 1.7802, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10a78eadbe9d267723f6344ba492d9e7b8177e8c8b29f7e86c0e0d90c09794e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664341b00973f38e75529fb9d340f4f794a41905b0cd55ec8b27bc51f3e875de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541edfbadf80c7094d412f937618eb7dd71360a77a7c1bf1aa20e22a7e93023e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1DRmWB7GZzGdE6bm0hCtLz22vtLpVowpa5kAmHPSjbum_FYpZ8-tg0X6j8rgIpza6OvYiFRatpH6ZgiYzZUuwQOA1bkyJ12Cx3S5DHXmnqtxcF6hIk-1P1zXt0kLC4k5AEcjnUj7lc1e313zW4pe8w9FZYgRI2Jm-MKmeP5vjMGuuXcT1KxXQuCkPgcj9eRSXJNKz07thwYVKE8aaYVaZWmsfNTj_b1KfWJPfD0j_lvVkIBDNL7rf5a_ygjNi9SM-owIHLUXGARqdfiVZNxQ6H11zKub6feYQK_ZfF6GDTcPo5uaIhwPLRnxRZFnbfcSix3Znaf9QSiNelWCImV9nyv0OSd08rtLcxW8pHEMwN2Wuk3LoZNawO1eRrb_o2r3I59vsEvalFqwifre0QQiS4Crx4_20iML31NRp_ORduUKYjWDHcZ0fErDsqPLHfDOXbFYWsz2bdjnFYx4JVCxEa0R6Xz0yHbB08yGE-IhFHguU5YvlLdKFi-PoSQgWo1_JNYFJlWme-dN-8RwfNuuLaXbci4hdFrxcI6qmpT2bq6C3UDDr3Y6JOsMBql1EzxUizAW7hAopGNVSHA1B4dj5Fuo9giwsZpZiL4SNo6VTq0p42Foghmt99zj5awspZ0ufBbfW5Qh4Nt0TJfcTFoLFALF4yWtMKlky7IiuO-3Vy68R_bKmt9ElZOUQy4t6VhMFvA6gQeod6C3t6gigTPDGRbuDVUx-0A24ZBmC8vXvMH6Lapm75vRdSOXaOl55mfxpTUclxcnIiijkymV4psKkS-AsbC3uH0kRFmPUMu7FY_hd2zScWoDRIUKLgsKP3Y0MMKzwVvF4qkJgB9_HGkFj4vUCzCsgUjBdyba6QJ7L4e8ohh8FpRUypuujMLhzp6Miz3FLPjvniGjIHtCWyd9ynJQJGN0Lvxo49aCdF4PfIhOZqWSTrNQZmK-V_6lHZvTF3vZK6QwZWLXbrazzKI4Izfjltnlfgw2-gRtEAz8tb624-ErXgD3vJZ3zTwPfpxoiHXMT-CKtoYBrxFnsvZfQP3h4NnyWQDrEtFzSjQQD0JbrfuO4MalgSAa3ceqjjGfEjdxL8xLzOh39DCp0GIqL9CKtemmhMhudFqAWFESYM_cQl-BisO1D61gYpQatCIryDJpwyOm9fYSvFEkKEQh4MknY5SPo9rNLJDn7jPK-MlKxvvHvld-wL4n5Nt8WaI9C6oGmuXGQgNv__-Z1h2d9sNcFnSI_k2_IiPOGsG0RGlh1pxdIKeC8hszOWPY2FTCM4dhZ1C0CF0QXs6WIpo-gDRnO-BTfnDqjXoUSbhgxOaqP9DfGx1LYNVFJ7xBeiVI1qAfIQaBbWPS-Zm4NOPyfzdcKF_cVt5JLoa8bFNnd79O3xXJmrwDeHwHU7gzyXnHI8Eesu-Ewk1-KEea35TKFb7ah5s63fwN-YlnGlChp0U37Uh3_JbGt0yId7niNjllS6d6ZHuLnTKvV6zBB2TwMU-z9AmVA26zeYDJ03UU2gsCIqQ2k-Zmc0JaR6B1KUPN_0WQhRhQsuOAyW0Wa0PYJaaRYeG3KB7h4pu_PD82Ny_rMOo2HE0z0_eF933WD-jn7FYQYoQeV4B_OmAcFGQtigLy4Uvlk3l_GBsZ7H_CDnY9yyLI1-JSCa3KhlYM4o9eSSbYM-bULiONtvCw2afAB2gUwA276padWEN_I6igR7b0LJg84GvzighhzRPm2LOz24LULSGEMk35yAHHoxxM8M-9nNv4dGE003jpQS41Cfed_Tskq4RjgTW8GkF5vi-hMsHiz_sjPKQYN6YNwXpGB-V1MeVmyOFRCgttegXiTOceicpGCDZQAtTmAUD2mWPUhZmbTdZjMt9RkFmtLz8B1lkBQREe15lonWXYiCzbjiopMsWTXG6r1SbxdKdDV7YtF0",
  "id": "rs_03c9b2882ec1d69f016ab44d416f6487d094a9fca700ab2652",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_y\":-0.10,\"left_z\":0.025},\"note\":\"The left bowl is centered on the jaw column, and the gripper is directly above it. I’m descending to about mid-body height with the jaws fully open so they can surround the bowl before closing.\"}",
  "call_id": "call_zg4DThuAfIqsJ6VlnKFDcRSU",
  "id": "fc_03c9b2882ec1d69f016ab44d42a5a487d094b9dae41c411ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zg4DThuAfIqsJ6VlnKFDcRSU",
  "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]: [-0.3664, 1.4872, 0.9234, -0.1379, -0.3317, -0.2653, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.0928 left_z=0.142 left_yaw=0.0338 left_pitch=-0.0846 left_roll=0.023 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=-0.0015 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.6359, 6.4205, 1.6581, -0.0757, 0.1441, -0.0122, -0.0615, -1.265, 7.0632, 1.7363, -0.0806, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44649427608f8f72a538d1142b857c6068b3c82852d7e9d0bf39634c5772608d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a9da90c094fa992065171ca1f460d5223d22b42d55c3a4b5570339b7315abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c028c8e9f331d7728880d41d736df09fc952dd9f085eb4382186956104e4c90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.994 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]: [-0.6159, 1.6314, 1.0172, -0.1066, -0.4973, -0.3946, 0.9996, -0.0216, 0.7971, 0.5999, -0.392, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1826 left_z=0.1348 left_yaw=-0.0131 left_pitch=-0.0469 left_roll=0.023 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1748 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -7.5829, 8.8821, 1.6923, -0.4371, -0.1245, -0.0611, 0.0752, -1.4291, 7.4325, 1.9316, -0.0269, -0.0562, -0.0171]",
      "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]: [-0.3851, 1.499, 0.9268, -0.1303, -0.3389, -0.2726, 0.9995, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1001 left_z=0.1403 left_yaw=0.0249 left_pitch=-0.0833 left_roll=0.0218 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2376, 5.9829, 1.7021, -0.0952, 0.1929, -0.0122, -0.0615, -1.265, 7.2137, 1.7802, -0.0464, -0.0317, -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]: [-0.3664, 1.4872, 0.9234, -0.1379, -0.3317, -0.2653, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.0928 left_z=0.142 left_yaw=0.0338 left_pitch=-0.0846 left_roll=0.023 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=-0.0015 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.6359, 6.4205, 1.6581, -0.0757, 0.1441, -0.0122, -0.0615, -1.265, 7.0632, 1.7363, -0.0806, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44649427608f8f72a538d1142b857c6068b3c82852d7e9d0bf39634c5772608d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a9da90c094fa992065171ca1f460d5223d22b42d55c3a4b5570339b7315abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c028c8e9f331d7728880d41d736df09fc952dd9f085eb4382186956104e4c90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1J3FLIpQZraSHY8DQwkH4euVoDK8k9sf-pQlY_7AoxEw9knaA54WUkqmMQSqzZSF1_JbMuwk-Emj1aqXEgvbgAXCMLN5ehyDPCe7T0-k9-LkkYqknCd3cd8IlyQWiuUqfI_S4p8zseVldqmdiuOYEXIiBV5I2FjB5VQ6SdKEfmQ0krT0YD_HjaJCCkJhZlo-wsSr0zZ_6EsV1wA3bl_F4F3Gg3Ha9TvudO6HFLSM-pq-yV-qraDZVQk4NzqjHX5aeUSaM7B1uw-fcbWKkIYLgfuoLptLMeSy5tC_ArtbmXwpq9QNjEysysinx_AaPAJdumO6KNSQGDH4Vb7ZgKHzYYtXlMvrvCkKZvyaXlU32cn-0o9XWcYH8VfAF8V_6qmRn8rM2_aDx-UfqlzY-AevKN8AV6kBQrSN0z7tiBgnuftoW4EXSoa6PudFyAR9g1pufzSMPxeYFN3RC-z27LJeouxzHlPbQ7E49yU8eWKDPCuoYuqWKHiPKxiD3ba5ea1szyV3BIPwQqYUBfA80L5Ft_WIz3e0VUJfvSXDJwdFnKMVACgRnprzmnZ5eRNvJtuMjgwQxrmRRTqsI9PguEefzU0_IdCd2Amm1fenYzITibQEA4n_spybEKseDYT25wXjJoQsHIVWOSfTK3AQvLpVO6Y-XO16AUv62OyIzBZFq9fXw46swfrEZIdfqhDZ6iQm3SMjw9w6ERCl-hRTmBQLepDTH7IzIU0i0DW0fFPuv3raJDf7xkWPpikv-7xjM9mvfezEZwZCj_v7M-29UURzR19s1Hsv8QTbJQ60t_jXRlbDccVt_T1yozqjsOqt7ShGTVHBwN7MUHfvoDVgGGBjl2tvw9Pu9rHghgVElcZmqTcqbmwofVDIgurAhRev2wNjqsD1SX2rMvbfZRjWV4cMYSpL-frtRlLSmFV0LHACKaG3xSNC_QWSElfjYojARW5UtLQhelVLeH5WDU2PedTX2sa3yyZeNTeDrNDSJcqhyKO_ZIBYVknqcYFfATQKPPpffDFye3bFninKqDPieCCZHxiY9KLUObHMskaGrtgwzYVrGBn-OsBHLFzReacmuhvD253MYr8uFa7b19WjjLq09hdnSvXcWeyXp1CgQOGSwf7UkZyiu4YgrKOwezlm0ABGvX21B8cnA6152HND4VPZ1Na5j0j7wlS24RcjNfpkw43PMUWkdtY-pnm3GLvm3PwG-QLGV6XI55Pup8Fnah8WaAaeTuoucbXLA17RyEcZmkPY5zzqVgjCcfOvX0OpOWvdwTEnZaul4Vssc3rz2FP7KfDygWEdJuR-PGSPl4oDExL66fHPqxOHiH9Hrva9d_GKQ_TNdC60b7kaCgnW18u-nrRnhSAzGvTvLvCjKoY94p-iNEdBU5pd05e0YC9fCYPViRnpA8Rzu9RXwynqM_goWDjxQLu4iVwxYLUyJwOwy71rFmF_-LDk6pLHyFKR9doo0rIY3OjVidsRtXOXeioM5h4XDAToD-rxZ6u5eX4FhG9xNCRdvbskl5i5bgo8OqyiMpi4RhjhhACtujIjDFmuYQOti4NtWJAqdrjEo283HnnqHusxhy-khmZv6mXPTPaNn1zPwFngCJGP74Pc7DseahVpGZJ_teucG-nJs2lt1rQwfyYuj-IyTdgGPwM7d-vuk1T9i7O56GrLiimiEDZFE3KyT5cm7IYs-5sq_qoTy8noTSTJt24zjFOPD_tkJsh33_BYqRBlNqoOZnfwiUAulP004mNR2X1JMuNhKhdlq0Ag4sG-B4s04FwAqpzrIunBMm_-yVJlqbEcOOSu6v5K08RfcICKKjMpYyx_THQM-VHiMd3VRdtHDQzRX-30GDi7AxorUfZeR_ns19Jn2SDLyOqgujQw-_e0Il_vbpt6INPiFjlPmDjJc3E0nHvoD-bG2jDP7pNOIXYQ9sxZr4T1AnngSVfkzuhjzcxuCNkieb44g-jL8K9Uo5HbHVb-WbbccpynPNutBZ5yH1fZ94cQInnXsM6TqqQugYiItt2y1NI8fuuX_LOWyDcKzVgFA0e-tq4uHWHapv-6b4Daj9GUBfskfrc2B2i6kOAg6rOGAcECj3m-kqUb1TQnxlV30f2nBPBHtAUjZziKINWS2P78R61UBAYuJAcqSv_3GglGhaPPLLfunT2M6YVWBjpXUrBmz53XDJvLAmyHm2u8nURY6gGjFPgJYUR28L5Yt2YjFF3vOKBBAP62S5H6nhXJVRulJ1gA4BkwxTTJLstX79DjN3FVsF81XIeYKd50qettdASQmFdLntyvBLh7LAt7kwvL7G8HLBcY_234OHCCV9UO15JMK4BOHDuUISajP9tgYFN8TKYSW0Zuk8TGLinTKpqV9UK1meMYd9u694gEAaVm74H4IvG3b7Iw093whqgqUc6OFd8E3Xo3wJ81NiOb34EAKll4DYsIqBv_dpeMp5e2buPgXh0NOTW0pc4Xj-pFgAVREgMloC-ttpU5dV2Tud9vxSf9wEgkmNJcs8YlLs3830yKM1tJDSziIqFQrDOvPfVlMn5R8l3rHDZB1s-XPDwVEUuLD7KqWryVE_XzgH5DD0AsPGN532QzcPSl6C-r-rU2Ilq60Y3hUndsrNHcXnVSxqd35XBfqc_ujKXj_SWCAMiLqI7r-u0vYbkvsPhd1y-hSuQcHHx79_USoZ7d0cimInl6wGRIHonrPouj8mP7kBQ3MjDqJj-wIsIrsKbA4-Tzwbmtagf-dSm1Yr1Qkfio0ccgKOq_gw9nwn86D7n5mlZ1IedtV2vmXeR7pkpCtutqVUb9d0hmVZzb7xH-PGnU6InM5YpnfasDotSs4lCPcSJw==",
  "id": "rs_03c9b2882ec1d69f016ab44d45ee3487d0b57680812bb2eb60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The previous descent did not track—the readback stayed near 14 cm and the effort did not indicate hard contact. I’m retrying with a smaller intermediate descent to 8 cm rather than repeating the unreachable jump.\"}",
  "call_id": "call_NleS1FqublhLDnsrYGLBIIzZ",
  "id": "fc_03c9b2882ec1d69f016ab44d48d75487d081258fe87a679828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NleS1FqublhLDnsrYGLBIIzZ",
  "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]: [-0.3664, 1.5219, 0.8497, -0.0078, -0.3367, -0.2665, 0.9995, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4147 left_y=-0.0928 left_z=0.1213 left_yaw=0.0378 left_pitch=-0.0634 left_roll=0.0164 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=-0.0015 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.9077, 3.6855, 1.0916, -0.0708, -0.0024, -0.0073, -0.0479, -1.2376, 7.0496, 1.7411, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79de3e5e085aebcd04de770fae5892d996b9bd0531127194791fa893495226a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c8af6ab89c885165774f09949c49df1c7f89dbd1d2c368290f13986115d145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e774430730f5ab4d5546ede072e09de9d3feff5e2f14dda9ceb09ae7d1270b",
      "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 · 2.796 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]: [-0.4557, 1.5181, 0.9348, -0.115, -0.3901, -0.3058, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.1224 left_z=0.1408 left_yaw=0.0135 left_pitch=-0.0649 left_roll=0.0234 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.021 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4034, 6.5162, 1.6484, -0.1148, 0.1099, -0.0171, -0.0068, -0.9778, 7.3231, 1.7851, -0.0513, -0.0269, -0.0122]",
      "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]: [-0.3664, 1.4872, 0.9234, -0.1379, -0.3317, -0.2653, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.0928 left_z=0.142 left_yaw=0.0338 left_pitch=-0.0846 left_roll=0.023 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=-0.0015 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.6359, 6.4205, 1.6581, -0.0757, 0.1441, -0.0122, -0.0615, -1.265, 7.0632, 1.7363, -0.0806, -0.0171, -0.0122]",
      "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]: [-0.3664, 1.5219, 0.8497, -0.0078, -0.3367, -0.2665, 0.9995, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4147 left_y=-0.0928 left_z=0.1213 left_yaw=0.0378 left_pitch=-0.0634 left_roll=0.0164 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=-0.0015 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.9077, 3.6855, 1.0916, -0.0708, -0.0024, -0.0073, -0.0479, -1.2376, 7.0496, 1.7411, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79de3e5e085aebcd04de770fae5892d996b9bd0531127194791fa893495226a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c8af6ab89c885165774f09949c49df1c7f89dbd1d2c368290f13986115d145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e774430730f5ab4d5546ede072e09de9d3feff5e2f14dda9ceb09ae7d1270b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1MV2L-f8VsbRm1qbUjoIUswTjmyArseTEhhb5vsH_WB_Gq6OYK38jhUb5hffmOwkNF45nNiHr6Aaz_1k401El3YPNSjQrw3lQgV4SfyFVJTIC4bdxuIIe9vgdTE9Fe7Bzh1AMDTGzDjh1uAq-28IFuv5xA70M70P1tvSawUn6lhLIUBGrQrvFP-LZp0mTA2nOvK5xOdq6rJctmv1n3xutuAcZdk3m8OhaWifW5YPuGI5NTVZ241JMeeTZhtLEtjlBG6LU5zVzeeM-1RpAIAyvFHKJ1SO-VA-B1utBhmSP1CHrGk52snYrc8yrOJwOfctSJCulzIiVAUZ7zJYJ637B6udWfGKV5LBbWebUu2atT-E24dbUl5PN3L0so-f0pbP_OCp8vRfBnqGArEbUPXqSN-KSiU7NM2-DKJ91bwXI7tZIZCrUYaCneOm8kyy6FDG6RZkxYISXbztgOIXyeUrt6h7uNW1QJ--0ZFYWkRblcIFFJAB7ksK4HBJKE1nnPrpork9MXi1XUU2beOGCZjx55r18GHCW8RnP-NFQxtBa7sEom4zwZ0qUFiOW2xgZ-ODJ50VqgvVkepK4vgTYO-rQQMXGaHktpfVdk0NdBKLOrDnjSwTbDFnxwm29w0zEmZ3YHGJDYHIE1b3XHr2h04E461IHEo8WE0vQEmpt7XD1sjtu7P8CwwMaVo7H9E05EDuwCaW_wtjy4ISsv3MuC07nIoTaCdmmyJprN029RYMq_LBLrzU1X3rzQZFAeZkYiGRbE0eiaV_UM7qvoN0yR23Q-iaxxbsLwi3D725PhA8_39NFiOuPdW5tBw7uvDWuwiAnrbZfv3_jHwcSW8LQRASWoDSBv7SAjp7YYn7EwhHwPhTC1simJi7_cij3NC21K2LHgravw5llAp--f7DcdKdWkvuv_ULUS36NoFWrkg7Z0JKVKmJXvHarReRi85vKEakAvtVBQY9y6goeDFTshyiRps3EbM9FL8LQFwB_qkOLwzJLFL_XGnhLILtglWtkI5zDY7YJzdUwFdGFX-yE-n9ZEU7ug0iCPLvuSjNkpDK-PUoDZrR8pOQ2Xt9Kv7b76v_owzrrfFlQePKCUDJtouZhDf7y5Sn5CY71MlKb5lL8vj6psewEbJneQCvPQPJ-CheNEVZGDPuLN2Wk2s1aV-lBqfS9uN109kfLJTHq6w4pB4_uprxGUpyUd3SZJrCQO6mxptXtfeAyCGVOZ3-7iYev_r2tZ65CuvTXSnDFO_LSb9uOwn5wdUN0xX-bi7DVkhovxpE50f7MJmd654DLjLvjwSnlzlMPIMuS92Mndrqi4gYvWRc8HR3ji5llBhuiyAv-Qu9LzogMll4Auk6LTRNa4EOVxTFDFiikyAvBdDDAmbow2kU-Zt1_jc2GVM5d8lGSVAvQ5g-1fR-B2509AIKdvJTY8VkZFEOwAPcDjuDBEMWgHLanNQRmJ97oaNJqivxK1",
  "id": "rs_03c9b2882ec1d69f016ab44d4b66c087d095376927daf3cd06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The intermediate command produced a safe 2 cm descent and the bowl remains centered between the open fingers. I’ll continue downward in another small step toward the bowl’s grasping height.\"}",
  "call_id": "call_pY1tUM6KEksV744gxJ0Fr950",
  "id": "fc_03c9b2882ec1d69f016ab44d4c17c487d085b39dcbfe095b59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pY1tUM6KEksV744gxJ0Fr950",
  "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]: [-0.3664, 1.6211, 0.7425, 0.1524, -0.3367, -0.2741, 0.9995, -0.0219, 0.8032, 0.5991, -0.3939, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4078 left_y=-0.0901 left_z=0.0683 left_yaw=0.0435 left_pitch=-0.1056 left_roll=0.0287 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1723 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -5.9692, 5.3128, 1.7949, -0.149, 0.0415, -0.0122, -0.0889, -1.5932, 7.2547, 1.6874, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5879012354eee029acd4e260a0b88292d3d519aa6a3bcf5b173b86c151b6d3e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b123899c39866b8a8cb412838609b5fa889cd1a3ecd6177155ce450f34cbb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35e877ca37ab100abf493cb8d21789d6d95b804a0b742961281e9c0606b8e07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.538 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]: [-0.3851, 1.499, 0.9268, -0.1303, -0.3389, -0.2726, 0.9995, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1001 left_z=0.1403 left_yaw=0.0249 left_pitch=-0.0833 left_roll=0.0218 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.294, -9.2376, 5.9829, 1.7021, -0.0952, 0.1929, -0.0122, -0.0615, -1.265, 7.2137, 1.7802, -0.0464, -0.0317, -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]: [-0.3664, 1.5219, 0.8497, -0.0078, -0.3367, -0.2665, 0.9995, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4147 left_y=-0.0928 left_z=0.1213 left_yaw=0.0378 left_pitch=-0.0634 left_roll=0.0164 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=-0.0015 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.9077, 3.6855, 1.0916, -0.0708, -0.0024, -0.0073, -0.0479, -1.2376, 7.0496, 1.7411, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6211, 0.7425, 0.1524, -0.3367, -0.2741, 0.9995, -0.0219, 0.8032, 0.5991, -0.3939, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4078 left_y=-0.0901 left_z=0.0683 left_yaw=0.0435 left_pitch=-0.1056 left_roll=0.0287 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1723 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -5.9692, 5.3128, 1.7949, -0.149, 0.0415, -0.0122, -0.0889, -1.5932, 7.2547, 1.6874, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5879012354eee029acd4e260a0b88292d3d519aa6a3bcf5b173b86c151b6d3e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b123899c39866b8a8cb412838609b5fa889cd1a3ecd6177155ce450f34cbb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35e877ca37ab100abf493cb8d21789d6d95b804a0b742961281e9c0606b8e07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1Qr5L2VxCu0LzMBWPZ0C-PNIzHCArw6kLy7Nx8665iM0h5rvww4K3k8PqfgIx7iwWOXWYSEvvWg_MTYylCmvIPe87enq6vYmsqC34cEyyCH0X-y0DDrsXy_l8lr6RqvFzzG9RH1DVSuEa0N2pCWx_6jDyqtz7Gr5LV1up-E3n_xu4jBdustMCMUWBWw0YhUlAw1Lu3FKjSPaXptI0ooM-7a_pfyPYOMjuuNNkVQd-kEUClADmsNK9HbBKKKGfwk-PQlNKwK98ZRpvSa3253pAE4xaSYvz4WV_Zt43986CyKvbeFJvd82jWfN3sx7d_9jtDI9Jw4sIz3HBmtw55-DQS5EF6ioCmPJW1IWFkggAktdlUg3CaYr5QdIiuOFNXdBLRCIML41FDNWxgL9bKqqq5C0bhy7zjmfXt2ekTiVjxJzRCedrGLZCXIN26BgbBSFR-I9OSnv8o544Bc9Mqo_6fuwQ-SiNxaCnLxCwRinfDjOnxrjRGuXgnYkWMa3RYvwqY0ye5B-uMWWOZKqe569qBh6TwumUMD6McVWJo1hMIAoy8a9BGEG0Tv0MLq_ghG8TapmHl34xFXPIxtEAXTxni9_dHmL2nh3pvV-IUA3SbWIhk3jyY4y11-IVvzYLXF6E8Tf456NstvSBNVOQrFjm8W3-jUr7Cm13CTPtgdYIB7URNVGyDIL2cGkyrPv4XzHLuSFyzp9V8UPasWQFqJlKOX3rRBcVpDtZ7qhX9R3msGCKuRyty-QJL50cn3sDS32so4lDmf91iAEIQTXyB5EyFOVX9otY2qN3VP2UlQI1RQivxuYZpC1RKTKrNnuTieXVzRvS3dk9PFy6mdmmTIX3oYKWhhJ35gQqzMsMpKDaVj-h0A-pjtj0Js8wc-MGDO-PbQRPb3xGng6zpfKnUL-fi0GzYwnXHtbA2yOIcAdt-ohvN2FBkXZnAsMQJiUtxWlHndb1iEwoJpnhwyy6mesJd_Aq02A2oJPLGFt9CKk0DIbIP-ZgUdFmihB1T9ldkKsdYsR-zQKMtV2GTjiz7nvLS3J-v6TStqscck6KFK8JHBDC-lUI9qr17BUlipk2ADLsJOKOQQwA9i-aN2G6JSBz1GGiBNLbGjgZVm2Qh06D2s1r_8IxGzGYi6N-B5znNgh04ELnLrq4SwYSzrCRxLzKTUGhVhF6I6mO0QrqmTRSaBxeOloaNkWPokJMe0lbqUw9kovObvJCdZII_--AMqljXyuEveNVtdKzRRKGk3WktNENa5SJGsG1csYvM7rkz8K4qsBuxFyCRQqs44DkslTjAKfkeIppPNmJhoHZr5SD8cSaFspfNWQFdhWVKZetv9ou-aS3WJGXduib2QHDBpEbnuEmccENhiv0hcHzyxLDw58kowPKJM0feXAT5MvMiyS6BE0_voplxGu5yUooDI87EJFsphKtrZzeKm9Dop9N7KEo=",
  "id": "rs_03c9b2882ec1d69f016ab44d4e632487d0addc519d91ad382d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The fingertips are now just above the bowl’s rim at 6.8 cm, with the bowl still centered. I’m lowering to roughly 2.5 cm so the jaws surround the lower outside wall rather than pinching only the rim.\"}",
  "call_id": "call_oNM6btvT8eehOwk5sJ6RBCzo",
  "id": "fc_03c9b2882ec1d69f016ab44d4f107c87d0a971cfe08d4a2721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oNM6btvT8eehOwk5sJ6RBCzo",
  "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]: [-0.3664, 1.6356, 0.7319, 0.2005, -0.3367, -0.2768, 0.9995, -0.0216, 0.8032, 0.5961, -0.3965, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4111 left_y=-0.0914 left_z=0.0671 left_yaw=0.0441 left_pitch=-0.0846 left_roll=0.0174 left_gripper=0.9995 right_x=0.2921 right_y=0.0002 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.6393, 5.7368, 1.8974, -0.1929, 0.0513, -0.0122, -0.0479, -1.306, 7.2821, 1.7265, -0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88486d5c74e948e1568ff0159ae495df7df3dd9c58f3cc486457f03d96b90078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3166b3d119e2284575f7ffdacc91a8ff675012aacf7f3b83422b56dcdfd398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ad87f99879527e319c13c438ae2c154b0b689563d6ed1e22e4f31b45481914",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 6.293 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]: [-0.3664, 1.4872, 0.9234, -0.1379, -0.3317, -0.2653, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.0928 left_z=0.142 left_yaw=0.0338 left_pitch=-0.0846 left_roll=0.023 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=-0.0015 right_pitch=-0.0217 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.6359, 6.4205, 1.6581, -0.0757, 0.1441, -0.0122, -0.0615, -1.265, 7.0632, 1.7363, -0.0806, -0.0171, -0.0122]",
      "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]: [-0.3664, 1.6211, 0.7425, 0.1524, -0.3367, -0.2741, 0.9995, -0.0219, 0.8032, 0.5991, -0.3939, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4078 left_y=-0.0901 left_z=0.0683 left_yaw=0.0435 left_pitch=-0.1056 left_roll=0.0287 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1723 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -5.9692, 5.3128, 1.7949, -0.149, 0.0415, -0.0122, -0.0889, -1.5932, 7.2547, 1.6874, -0.0562, -0.0562, -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]: [-0.3664, 1.6356, 0.7319, 0.2005, -0.3367, -0.2768, 0.9995, -0.0216, 0.8032, 0.5961, -0.3965, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4111 left_y=-0.0914 left_z=0.0671 left_yaw=0.0441 left_pitch=-0.0846 left_roll=0.0174 left_gripper=0.9995 right_x=0.2921 right_y=0.0002 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.6393, 5.7368, 1.8974, -0.1929, 0.0513, -0.0122, -0.0479, -1.306, 7.2821, 1.7265, -0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88486d5c74e948e1568ff0159ae495df7df3dd9c58f3cc486457f03d96b90078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3166b3d119e2284575f7ffdacc91a8ff675012aacf7f3b83422b56dcdfd398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ad87f99879527e319c13c438ae2c154b0b689563d6ed1e22e4f31b45481914",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1SkNSqeXSBEQUYzJC56XbR7Am4DUW3RNEIA6LAW09-7AepYxd6ITrKrdF2Gerwfh3Id_OeSkKPc8gI7sldhks18v1OReRQKMfca1mJlraLzqPD8ue4gzl-FPGW6SQye7iw6AFfl6eaM733Ssq6dDHnhvSqmm3g3Sz4uGduvIkljn81wvlBpe-l3YT2qBCMWokkuoufV_yF6q_w_ZThfiN79KsrAm8OgxMukU64rqARiGEh2vqiaIRIyzf1jgG-_wxGywsx-Zm9v235gO3EdFCVRkRGIPDrq4s5iLq81tY79UKtfdmgsdRdEfxqj0YjXMdzsfLRIigLsrFONSCdT1JsvFyArgbpfq0sjJeconp0hqMguNygu9Rq_qkCEm2h040F0h-n2vv_-bFslK9ma2ht55OeoynrROnl8PXTQbCnAadVGmd85ZlJ_ix6WZ30RCKU9zu3dzevY2x8bSRtjT5SohzlOuX-VoKhnfl8hKuWqDYUgUlgWQpQJHzx5104ep_Zrjlyq5N6fY7XqDMHvsvzRYzA1Wf-B-yDkGGIspFic3pk7THBMSlFO2mv1aRGPv98yj8IjXrOrEInnVWfLqqXtG8nvOAf8jaf3FnXDD9cm0-W-1FaHHmsj0dL55_VDJQrK2YCSXvNYGwM0psjujjLEFbFVXqfBcrb1iyamINhN2-2HcE4tQwjdaAohYnun9Y00WJ3pgGw5s7o1gxGYdWbQtzIf2khpZ_i63mCQPPMIraFjWBAphS1nEWVfjqfHXMUyiVxIJxjyQtWncB2aeMXU6cgEnlmqK6M4mJwnuZXprktdEgq0wEcieqTgDKh3pnQN3wwvOydh3karCvrKHm2vTmBIfIt-x2MaqzsK1wgS017SdO04R9aJhC_SylnTADPbGBt4Au3kmTbRWLPIpeEjIQ6VNy5cxVyIyBmuDMybzUHyhL-5MzyBlanGgSG4UYszhlB07URW1PQvZRt-iSCPEzrDSUaHnKbUFdyjIA1YlmU29riC0buduSp2gNBh6J_IbZNc4LgAFmVGyYARYDHlPG5OSI08SytrKjaT3lmcxv-etfDEdWqCEYtT33PgNa6CqajWj5zfPAAr2gF6231jOSDi9FYXEaVT5cuscbEBuamAURH6GkSjUPUqnOq8g6FgNyBwtPzb7FXZUKl1z9sOSD5wWPhgRdjMdtcYuQlcZWBRe1_OBTS7fQrrgn-uqXd6xdmJ0aP3vxEfQtGK11-YSoaFOiFGJ8afwgDCc3ev9VRf8KoL0ao2wsdul3GVQUS0x396dveuytTfd57QXL8XkXpGkHNZCvZWknBVCX_3Zoc6WHzcDBH9_EXZ5sj5Qsxm8MYOs34YWzZI7xH64i_OE5uz26ic9-ZP0zMtMyjK6S6rdjnQXR5sofBZHsot3b2jukiMKL0ClMECXbRpanPtYoK9aAB-g3uO7883Ke7Ioao3RKIXVUOWUMaQFRjkNcZ8N5Xjz4W59fG9PWqSQd0j2Kv41PG5_JDfGOUNbD8RTg=",
  "id": "rs_03c9b2882ec1d69f016ab44d51554087d087dc6a27e4afede7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at 6.7 cm with the bowl rim filling the space between the open jaws, indicating the rim is contacting the fingers before they can go lower. I’ll close around the rim at this centered pose and check the settled opening for a real grasp.\"}",
  "call_id": "call_wxu0dJHDL9cf90gb3irYQYux",
  "id": "fc_03c9b2882ec1d69f016ab44d52020487d083c891d4dc883186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wxu0dJHDL9cf90gb3irYQYux",
  "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]: [-0.3664, 1.6356, 0.7319, 0.1986, -0.3367, -0.2775, 0.0088, -0.0219, 0.8036, 0.5953, -0.3969, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.0913 left_z=0.0667 left_yaw=0.0445 left_pitch=-0.0863 left_roll=0.0176 left_gripper=0.0088 right_x=0.292 right_y=0.0 right_z=0.1699 right_yaw=-0.0022 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.1316, 6.0239, 1.5946, -0.0952, -0.0269, 0.6667, -0.0889, -1.306, 7.2547, 1.7167, -0.0269, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a308dbd51cfd5ae48acafc6d542dbaa6bee2c1c40403ae999999e27666d53ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d15ce9022267bcb98b91c8735076bf09d0fabae2feadbb16d5040309651000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a971c5e828a638c02fa62aaf6818d5958f085bc05742dff036184292705ad9c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.153 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]: [-0.3664, 1.5219, 0.8497, -0.0078, -0.3367, -0.2665, 0.9995, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4147 left_y=-0.0928 left_z=0.1213 left_yaw=0.0378 left_pitch=-0.0634 left_roll=0.0164 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=-0.0015 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.9077, 3.6855, 1.0916, -0.0708, -0.0024, -0.0073, -0.0479, -1.2376, 7.0496, 1.7411, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6356, 0.7319, 0.2005, -0.3367, -0.2768, 0.9995, -0.0216, 0.8032, 0.5961, -0.3965, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4111 left_y=-0.0914 left_z=0.0671 left_yaw=0.0441 left_pitch=-0.0846 left_roll=0.0174 left_gripper=0.9995 right_x=0.2921 right_y=0.0002 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.6393, 5.7368, 1.8974, -0.1929, 0.0513, -0.0122, -0.0479, -1.306, 7.2821, 1.7265, -0.0073, -0.0464, -0.0073]",
      "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]: [-0.3664, 1.6356, 0.7319, 0.1986, -0.3367, -0.2775, 0.0088, -0.0219, 0.8036, 0.5953, -0.3969, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.0913 left_z=0.0667 left_yaw=0.0445 left_pitch=-0.0863 left_roll=0.0176 left_gripper=0.0088 right_x=0.292 right_y=0.0 right_z=0.1699 right_yaw=-0.0022 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.1316, 6.0239, 1.5946, -0.0952, -0.0269, 0.6667, -0.0889, -1.306, 7.2547, 1.7167, -0.0269, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a308dbd51cfd5ae48acafc6d542dbaa6bee2c1c40403ae999999e27666d53ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d15ce9022267bcb98b91c8735076bf09d0fabae2feadbb16d5040309651000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a971c5e828a638c02fa62aaf6818d5958f085bc05742dff036184292705ad9c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1aCT92zjhOnf1mjI-5gOkZboZAgtaimeygwi5xYh71wT497RsF1YTADM4hbBXqZUv9koiUkN3kIXlZY91F6zgh_aq4QrOBZ3DjCkhBE2eatrw6LbBsacU_ihHCqu4I9HxK-eUo8dhIpQZlJqrdPLZz05YzXhc9eJKX0DTfJKgE776Vuw8SqYc7f7ZGJUHwNutEboyXf3h4-1wcC4C-8dbnXZ7ongicqdO6y1NSe0dvswTlBgE4Xf_ZBR0VOXLkuZZ-JleyptvzsnryYURiov2jt1xnEoU9tU376D1PiCDqFpdeg9LZWqy04yvBnoM7Tss-H30erw6n7XxXbSfI-_s3b5X5T4FnZbhLupg92Dz93nIVOlHy75Ei6WFjnzxCo9irT3ckueso7N9l1IMhfaha8QcJXT-597vjSqXGHYUBOoVXZu8WL2o5PPoQ0O7o_k7iShvkxxqEDjKbDL-Rvk5M2oK9XrdWhF8dOjfjhd_D2pD-r3fhlHSUJpiKAlaxICko7Vm4kfKaYBgP6vQyFaIu7elfv0FOkSqoaJyutGW2tYlyUpTLCt1u6TH-w91b4EBnKbsCSv_q1vTW-tV96PEmx34fTo72X80kprSFDkWCgxfKnFguFMf8sRyY28ZP5E6MNRhDbWTXQPCPgd-M-14Wd_rUxxHlALxpOTlFbnccr8zJmAhw_nlNiD_RNzZYNeuI22TmrLE6H8lg7HnaFGxwZj3pXve1-Me8n9U2gx-n5wnbgKkHb1s3IkVtiwEoA70bJ6lLrPr0Bpl8jJi8KxJHnHDQlNhz9YVzC18PKcLs34wn99ZII0F8v4QTY21KHfgyQS_PnmNP0VHgQXbrG7z55J5YaAt0u3grVaWzdikvm9WLF48-QuVafb1yJ1gAiW3j7jMUh1jhMcyxo7MbFp7L7J7_rcSO4WuRt5eFtzFe2_b7Wf_DhqI5d7X8NBzQsE7uUKNfVfW9bcp5EuEQCOAoAQY0Ay_pHFun-bWhezDB8wxOraQCrFoOCYfkK8AeBGI2SZWMqFTd8DEwSdxGTFD-qFfoE8uG6SppMmLUkKd-T0tgnMCzqbhDgf6AiyDxs69xf43o72G6wmfjTDyiOLKQ0nPanEiLEkK5hKPZFodMzoGne-4bUNPAkOx2l1PTl1e_k7F94ntyUJfO1Ze8sPZAx2oiFtEo_2KCSBJDOrbTJGa_jh-DsCDr_3rAkWKWGj6vrjcjhR0Enm-WH3ZA0m1D9p_3NAnDtTAluFhkfokNf0YsbQiVHxsar5TJfQpLZIIpIgHOgjQatibg7vSoVWmGyFFEOqldTApkUU2ofhYO_hItCFH7Xsjx99ZlUH2fnwEa9tnyAYdg9hvjtoKIkdScxIgIJQh_9XWlYFuA3XTb-mJ0FQg56lhQIfOhT17srMW-pmfsJK7hvQR2PVIuknjorRJSx7UBPmwp1pTskWYfmfJdu68JG5LQCT694hqZe4sTIcqOlIVHAO_8uCzIpnCUo-ouaeTPignonDfokpPNwqNiSGkbdwSkywqKp8DQJpZvJqe9LGSpWSPT1BhkLfb7gjuZzMconm9l_j4Rx716GVw8ptPDXiPH0Ygj5HXrMKLPOMeAmVb04CoXvpENM5mWZuEtdyY5OP7GCOUrGEK7PIjcyKRVZ13WQiDosarVAesJ9cz1e2aVWxza5hv3215v8l150rX2BW6LDCD0iUhTJ-dVWwoAPzF5T6M2ROA3FlMIjMhKkAGxxHhUctzVv8i4h2ujhoeupzZUkqbXbG8JGk6VrUsqTrdv8VtDScQp1EsDJ5uqV6xop55j74B6DeDaKI_33QZ2_rU9WoWxXHaGoRga3x-N9lzCrfMmgvrKDCMZxHJ9mbSYBkvSkiNkVHG64QakwT-LNITm9MMZQqJHBs3zrftrKJWk5MlVqvoRO2n1cW4NgeTqxlUZ7phdxJ3X2Ug-TI3aaDJOH9sw-EfwsLkm9eJ7-3Vs6Cap8u8D2jGwJx6fJ7V-1oDqk0bHvhFlPG9CWNXn0uUROazjAfS9U7JeG0fvsWr02fXX391YJlP4AxK4pA5qhVAOp7nKYNfJ4TTH-02c_w9I9FUhM0tlqMXD_RSqtCwA9yArahdRXHD9LYuLAL_vscfDtBCI9hYvuMr78Au-uO5U9d2AqUYzHz1HPY11btFXp43zLw-M5DFlbjH08pvam-FFusHtc7ewvUANmLcfvXbkLiHhlmPbWleHaRqFKtgKBkPNU7THVn2IgO39vHjgcQgA76-NI8YigEJJM_1VZu7zSj1wgJIR2bFuGL3WSe5Td34mq6YaTpPx1kzW85o6WXe9vMrCGug0c1LWDcmBe968pR05yZZ5dKjoCrHI5VpJ8w9xzq2A3C5AJnBZnnxTfyjY4JzY8VLcLRYPucd0-xBwYdifD9CPQjMz5qZT0b7Uv6SzzPpsnbrEj4gaF4UcwBwfIOn9ddyV15gQZT4WON4oHRpApwjkY6rEvit950Qqv9vUzPHbjYp6JtBvZJG3pvMfI6BCbhtcMspxliHPl2R6t0KkWbhwrk7QF3-oNiSWJEy_9QtElj95Oo1Fogha2sY2CyztxAlOAAH4KME7NqjXZ_VJajoH5heyY2AFYpEAiN5lRti_dmwaodYckCR4g3oNwWpyruy-npUyLX8Ytgmosl1-aO4UjbKEgpQMNbsS4mg-Hf78iJz3_CY03EkWsXIOvTkfA7nuV0hZdnFxhPJTF85kFU_UP2tWq2US69DhfKsqSHBpTHpjR0L75gaO4J89ncsaM2qwAoS8cq2U3JSTfl2Dh5a9BFuAlqGu9WE10sR8veD3qHk2jJBm3ptbdlrKJl-V3rm4dEDdeKlpUoM1WBXaZhOEH_25Zk1Jd5V10pSXlNOZ1pRoFKCU_GE3C-vQk8R2qooQ1MBPeQLHHQR7vDg-H4FHU940n4T2FEP8-Gxt96WAfgK3Zx9BS9OtTlmLP6Rqn6H80N3p-WNzzKwvS6JsXxTAstkz3rkt4Abqbv1R5WAjKoukeTSUbwWv3OeQoI6G92ELJeMa5ST_Yvs6_o43bDAVpNMYlvRHOfaGjNrpAazZ1OmQBv26B7YU0-sRbvSO01DprkGFatMoSd5UgeYLmIVuwqr9f-B5xuGNGz1yearjb_ZeDt5LjwE-HOTOTHpDi5zE34G66lFAFkDOaJvs8CVvViwCXf_MYgU4U89uKw5AGUHlboc61l5buzMS27T5yI3unrCwU5NbNL9TB84CYa7xfJIoWIbI7-qv4Vu90dpxnTE7EWxmuzIMnfZ62QBYyD80H9_TY20BxvPBt4E1zIlaT2_DScaM6nG9-8g42pmseZREyxaXegDBIYH-794vvXjLPPrcKlpRSLuCneSVhxs9QjdxWo1AzUMEmNi2Dj6cyLcs2lEIW8q8G5BcEPNZ1rbUNIS8uzqS_1WqSug7cD82S8ju1WDt35DWYEAmfKUuPxEsjzNlDELRIZz242TL-zuRvKwLXBNDSUp9dIkaCGK7nSBj-baDR0hz9IeutRxx4TEIVHJhV-r_o7Gi1lo4ScHpl1gqH0kQbPSL6KQNPEu1VyWAfiHy9Lke_S8RieOMWI3fvluNg6PYcdvkoCFK8j8V9dQmfQookNo_-2JKDLivhPTv_AydD8xSaDxEQxzNHOrx8nlJ3Oltlz7ZgRacS_P_dXQiFKRZqWnw85id_gQu_6V4wDCbRWA9yyhWlSBLrx8l21yxR4SK9ufCa5LDis5Ni0cnA8iRpLQqMxzAnRTtfIKKUbQNfAOwEroEdr5xChJ2wt-cUPsgvM6UZnZ88nHWoUS4gUnPbkPpbPQOaAdNWKsdcO4j96WWa7uHazOUgVjMMspXFov5D1Z-DpLzgAE7_17SEx_qrF8WApwAAqXKbLI=",
  "id": "rs_03c9b2882ec1d69f016ab44d54f10887d0afff0236d5d4ea9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The gripper closed to 0.009, confirming it was empty—the fingers closed inside the bowl rather than around it. I’m lifting and reopening so I can use a rim-pinch grasp with one finger inside and one outside.\"}",
  "call_id": "call_AmiCVrBOStEgiFio4ZKyMeZN",
  "id": "fc_03c9b2882ec1d69f016ab44d5932d487d0ac88bb58f15d15f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AmiCVrBOStEgiFio4ZKyMeZN",
  "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]: [-0.3664, 1.5459, 0.8192, -0.0315, -0.3363, -0.2855, 0.9948, -0.0219, 0.8036, 0.5953, -0.4114, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4035 left_y=-0.0886 left_z=0.0953 left_yaw=0.051 left_pitch=-0.1348 left_roll=0.0326 left_gripper=0.9948 right_x=0.2899 right_y=0.0001 right_z=0.167 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.7179, 9.1145, 1.6142, -0.1734, 0.105, -0.0366, -0.2393, -1.0598, 7.2, 1.8144, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093a6fc963e51b542bb55a8843bfe82ce135d6830cfc004ded5d19504b33bc33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c215a647d5a9834d304750f736723c462f423a860cfd7a1c49c91cee42f784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4bbda04fbcae6e5a6a6f51c94a5f9fa19598302ceb2d4d7bfb3a8ed7417ddbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.364 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]: [-0.3664, 1.6211, 0.7425, 0.1524, -0.3367, -0.2741, 0.9995, -0.0219, 0.8032, 0.5991, -0.3939, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4078 left_y=-0.0901 left_z=0.0683 left_yaw=0.0435 left_pitch=-0.1056 left_roll=0.0287 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1723 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -5.9692, 5.3128, 1.7949, -0.149, 0.0415, -0.0122, -0.0889, -1.5932, 7.2547, 1.6874, -0.0562, -0.0562, -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]: [-0.3664, 1.6356, 0.7319, 0.1986, -0.3367, -0.2775, 0.0088, -0.0219, 0.8036, 0.5953, -0.3969, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.0913 left_z=0.0667 left_yaw=0.0445 left_pitch=-0.0863 left_roll=0.0176 left_gripper=0.0088 right_x=0.292 right_y=0.0 right_z=0.1699 right_yaw=-0.0022 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.1316, 6.0239, 1.5946, -0.0952, -0.0269, 0.6667, -0.0889, -1.306, 7.2547, 1.7167, -0.0269, -0.0366, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.5459, 0.8192, -0.0315, -0.3363, -0.2855, 0.9948, -0.0219, 0.8036, 0.5953, -0.4114, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4035 left_y=-0.0886 left_z=0.0953 left_yaw=0.051 left_pitch=-0.1348 left_roll=0.0326 left_gripper=0.9948 right_x=0.2899 right_y=0.0001 right_z=0.167 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.7179, 9.1145, 1.6142, -0.1734, 0.105, -0.0366, -0.2393, -1.0598, 7.2, 1.8144, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093a6fc963e51b542bb55a8843bfe82ce135d6830cfc004ded5d19504b33bc33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c215a647d5a9834d304750f736723c462f423a860cfd7a1c49c91cee42f784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4bbda04fbcae6e5a6a6f51c94a5f9fa19598302ceb2d4d7bfb3a8ed7417ddbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1ef_s2mNftJm6ZvOR_ujnccBTA1hwa_j5bp1ab6c7L3eUPGNHk_8uZLgjYTMK8ZiZYGjCoMq2NFEkUmyNzcPsKeoUKtIgPA29um1Fog5qxu3dkdEdyJv0Gq7QQPzaK_cUaTCip2sj69frYArp7MWhs44_hlRd2IDLMoF7m7vqURF15Lfu2KpfDfAJbVVdsP5aXZ7c6DXDoqU19sG_FvpKaeaTgLKJnq3wEbCvYvHZJfaHsH-ONsipz8q06J9LFvV50PehWzPJamWNFs-RO9rWsomZK3r6jbKxr2vEawOPrrY2EatLmRceDv0-OJJk3M4l9EOwYvdoXVaPsM9pGho_lo2B7ULfAEV16kTJPNYsey8p9pLH1_rbxqR2RErdSRa17Yvhy5Sd9krJn6hI-BHDL-PrGtN5mx1qI--XVncrAVykf8Oc75ZzrRx_lwguDOhN_RI9kiMl4H3tlUMVPXb8aAgthTLmFPwGoSNUFTxFtlZU5WI2dKgJm0j1EFy9GP55WPukbkmHiQ2CzI399_v0eVQi9w1Vogom-VcJsVBxps_gQIiyWA0e7_NtL3teIB-ev-gnfd7siiWpPjq1CMXKIV-fi2g_5CZKLAkibJLkmu1_behlsloMmYoo8J4ObkXewpVVxL7fXk7TVV1ZRkdntU9WpXilGDrBa2YA8TQHTfdm4s36lpTR1_O7D8s3nkoioIJLfzJwbtg6FsRJAyf-1FhQtHYZDsBdbiTWV_YmmIuAC2DGkTvmhiJAsrHrPRwGGVeqNW9gIDip9vjaGFsXmRzGfQz0yL5eyMIOgLqeRoRj066rhM65skHOfC2jMJswowWnUmgfp3ykVJJRqLeqkCCRma3rKYpSqppVMQ5uwFgEWWX9QyqpOyS-t1z75FKYvdc8UsQNcGwFPT4NrmyR4oDzKhDohFd910NGLAUHUQF5Q7NNSyPJ0kiUWrFU-DW8cnciG1vKSkpO89zaehFH4ZKrWHqZcFIcfu4Bl16vac_9mGgV_JIVhPWCPk2Kieh1m-AbwZU02-h1hBvN4aQgcfMWDVm4rcToIgz6nsldoD2Q6oS2msA2ysLROL2JvMnSIEf6YYGhPBICex3AuUuLk1XxjSbH01kpm3qUJ8ARQy40UEm1Uq7HwEK4z0tDRqTJCZJCFGDz8tTVyliMQW8wh_U6XbvNJsqr6lp35hYSZst26WRyAjNET6PKI0dXEtTbrmenysNoY5WGtQTF77aoJ5tPXc0Qal9EPv3Bm-xiYO0N0VMWnES_eGOmuWasmgZTkS9WPjYu8zeI14c8QHWNsvWK9HXyLoC4Gyg076EG89G4iOwPEg-O61dnjNN_8JN7rnSo2n5mJbkRRUy8AdKjpQBrqsZ6BYjT2LUAolnmFNeDl0XTlj4WO1BTUVIPZMLX41WLnWCp2nRpsPgvPnaLONAgSI-xZVhebWWFoTFjvSGVkHoDYkafVOQ0pciOPyqXrSY54mORXaZPCCVUyEfLDlSOmeF1X8lRfiqRSmgwxdfanfjZZ0g-IBN20TwbPUUewLmy49FtXXj2Dd847-XKeME7eaNTV4Pg2PAIpBO-ZAhz_Jwa4CCag1dJL2Hmd61QFvjmyFR-p0wB32ByihV6h2UVHiEABwA1LnoyWJNg-j3vU53sxnETIPDNwlXye-sr7q6tPJsLTzLzvBxa4DD7L12tA9ys607PiLzwYOF9ncA8=",
  "id": "rs_03c9b2882ec1d69f016ab44d5c3da487d0833db0e0842a6025",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_z\":0.11},\"note\":\"The gripper is clear and open above the left bowl. I’m offsetting about 4 cm toward the bowl’s outer-left rim so the jaws will straddle a single rim wall instead of closing through the empty center.\"}",
  "call_id": "call_rq79hwd65n8HTA3KxCxqtveQ",
  "id": "fc_03c9b2882ec1d69f016ab44d5d48ac87d0b192e2b86a4278ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rq79hwd65n8HTA3KxCxqtveQ",
  "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]: [-0.2447, 1.5059, 0.8124, -0.0669, -0.2718, -0.2295, 0.9957, -0.0216, 0.8043, 0.5949, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.0483 left_z=0.0995 left_yaw=0.0893 left_pitch=-0.1546 left_roll=0.0344 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1658 right_yaw=-0.0015 right_pitch=-0.0545 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.4171, 6.2154, 1.6142, 0.0366, 0.1978, 0.0806, -0.0342, -1.3197, 7.159, 1.7363, -0.0611, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053f12318361ba3955cb4a55e7db6f0c36b3b1824257dc86ae850164ffb91c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553a171b12e5450d74ad788bd3f06abb26ef09b02f3213521082c128ebe56b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f783c5ef54d0328f1f2dfe64f47da91e5fd7b879422344ffb22c7fc069eb9e",
      "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 11 attempt 0 · /responses · status 200 · 2.516 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]: [-0.3664, 1.6356, 0.7319, 0.2005, -0.3367, -0.2768, 0.9995, -0.0216, 0.8032, 0.5961, -0.3965, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4111 left_y=-0.0914 left_z=0.0671 left_yaw=0.0441 left_pitch=-0.0846 left_roll=0.0174 left_gripper=0.9995 right_x=0.2921 right_y=0.0002 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.6393, 5.7368, 1.8974, -0.1929, 0.0513, -0.0122, -0.0479, -1.306, 7.2821, 1.7265, -0.0073, -0.0464, -0.0073]",
      "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]: [-0.3664, 1.5459, 0.8192, -0.0315, -0.3363, -0.2855, 0.9948, -0.0219, 0.8036, 0.5953, -0.4114, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4035 left_y=-0.0886 left_z=0.0953 left_yaw=0.051 left_pitch=-0.1348 left_roll=0.0326 left_gripper=0.9948 right_x=0.2899 right_y=0.0001 right_z=0.167 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.7179, 9.1145, 1.6142, -0.1734, 0.105, -0.0366, -0.2393, -1.0598, 7.2, 1.8144, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2447, 1.5059, 0.8124, -0.0669, -0.2718, -0.2295, 0.9957, -0.0216, 0.8043, 0.5949, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.0483 left_z=0.0995 left_yaw=0.0893 left_pitch=-0.1546 left_roll=0.0344 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1658 right_yaw=-0.0015 right_pitch=-0.0545 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.4171, 6.2154, 1.6142, 0.0366, 0.1978, 0.0806, -0.0342, -1.3197, 7.159, 1.7363, -0.0611, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053f12318361ba3955cb4a55e7db6f0c36b3b1824257dc86ae850164ffb91c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553a171b12e5450d74ad788bd3f06abb26ef09b02f3213521082c128ebe56b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f783c5ef54d0328f1f2dfe64f47da91e5fd7b879422344ffb22c7fc069eb9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1g5H-q4J6BVQO6YqWyLERj3jH4Dlf7uzlUw7j-gp28x8ha3HugQYbiwq2ffDzxyUFp-Brj1-kWH9f98qbSzjTaVWTV1P6mqjqDjaBb2BhWz3MrtYqpzrdDlbMhbBQ9I9PUpjCuZ3No4LhvDaxV6JbbQLWTsQ2v8mLGn57VZfoVaCbpxFrQkVoSIcE0CkjOKorqW4v2simUf_In5taos-u7mg-x23TZGOZyq0pZmZ-UVGU9ZA6aOUg_pnVBqIGv6-q8Ny4HUvaHaOchwcfzrlTq-Av4270BZAN9ris4O5s7Q-kTg_Kq-rsRtitJR6HtBWXdkAG6eNAf9yvEoCXBJw1jgUhJXb3pZeQv46ne5DgWghMAWNxjRgJug24ndMOU4gECG3FE8HLwqf9nih9nCP3CHpRROghK86Q6rmRX2w-n5pQjzZ7rFZDkcJmXY-e9JZl_mNf160cVElhenL879OwRF-CGx0VnJO4Z38g4q73JS62q7ILmRs8SC5pj6CFJsyCusOcjrGd6KIyrMiJ2znXMsp59QwQeodzVky5exW4LLQdhM7kdVhsAdyRB9iSjWo0TnRGSeqVtFz9L_L0E9D8En-Z7Z-RcJfFgvhOeYg2WCkMYJu_Mzdcy9ks0RqIkbkOGEm-DfWncK89hGWHkz-XSgAoocw0C5gLECGcNN7bQHH_YIA3FD_8hn_o-QquXjiA2o86vOgViygCSgi-oKed7fVCAIA9DY5gKxMOECkssxpe-zCmmnD12om74DtH33ATyT7S9hkwjMC6pURJpjBnOyQa5ko4S26_sfehbmsttJBR1l_DH49ibUR24AFMUJJV53rNXu8lb7LCBNOVKCguZBuaNIZgWx5anILvXbxl0r4ngoOMCdD_4JHojzwY0fmmHCCX_kYQziyGOmkezCVb7NvzXLFOBbS2pDGcICquXbu6BhdSTtFZ6BvAb4pIaWKCOTF3UufCW-JtTRShuCDOpdqtimOl92G7meIIfk-kwq7TlYMNpVPdy6idFVektRfrJ-0ytvndAG2-tncsMKO_74KS6LGvMoNW3cPKXbmV0kOybivrmDP-b063JxlitgtRc5NicqR26McMN--9i13EesSWU7nM-qlZW5RE6yIoCo9ZmBExnJTyG6GhHq046VGKlb8TyiR8JHDXlk8MiBoz_NnCUbIo-kyhaCf2M1UPRB8g6IUwG_xq5FsB0FdI0HohzSjSPc6STYjtTN-JUD8uL1moWfepFoJ9iAyNuZwSi5xQlGj7My_0_x4DIc-p_BKDFB7vMROgD2QASbGOkoLmWAX8sGCc9WZp0RCjYvbeXYet3kTnXN6O0XJclA74_78cHWkmTtOwV8oH6DwgjCblciZQ0MBQMkE_dLmeSqdHossV9s9FVlksUrNdrHFE3wsLuoE0oSzNZr_xXA2T-h2Igye8hAgsGblLQVX7c5P0i-xw=",
  "id": "rs_03c9b2882ec1d69f016ab44d5f92ac87d0a86e293954ff26f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The bowl center now appears to the right of the jaw column, placing the gripper over its left rim as intended. I’m descending to rim height with the jaws open, aiming to put one finger inside and one outside the wall.\"}",
  "call_id": "call_bDBCJwQjbEgfUIcqDx39PVXK",
  "id": "fc_03c9b2882ec1d69f016ab44d60102887d0998c708e332fde69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bDBCJwQjbEgfUIcqDx39PVXK",
  "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]: [-0.2356, 1.494, 0.8124, -0.0792, -0.2543, -0.2058, 0.9957, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0472 left_z=0.1014 left_yaw=0.071 left_pitch=-0.1594 left_roll=0.0408 left_gripper=0.9957 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0018 right_pitch=-0.0549 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -8.1299, 6.5162, 1.6825, -0.0073, 0.0464, -0.0024, -0.0342, -1.2923, 7.0906, 1.707, -0.0562, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231e123fd2c1242c353b0006112c682aec1dee406c42a781cb8eda8cec95794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21572a2b3acc34342828289b6d9360eddd97bb7509f0869454e65ab216137ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829fb3e3657c4f49ced17c3efb66a2f501d799621d279398d7ee94884c0a8a88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 17.77 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]: [-0.3664, 1.6356, 0.7319, 0.1986, -0.3367, -0.2775, 0.0088, -0.0219, 0.8036, 0.5953, -0.3969, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.0913 left_z=0.0667 left_yaw=0.0445 left_pitch=-0.0863 left_roll=0.0176 left_gripper=0.0088 right_x=0.292 right_y=0.0 right_z=0.1699 right_yaw=-0.0022 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.1316, 6.0239, 1.5946, -0.0952, -0.0269, 0.6667, -0.0889, -1.306, 7.2547, 1.7167, -0.0269, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2447, 1.5059, 0.8124, -0.0669, -0.2718, -0.2295, 0.9957, -0.0216, 0.8043, 0.5949, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.0483 left_z=0.0995 left_yaw=0.0893 left_pitch=-0.1546 left_roll=0.0344 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1658 right_yaw=-0.0015 right_pitch=-0.0545 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.4171, 6.2154, 1.6142, 0.0366, 0.1978, 0.0806, -0.0342, -1.3197, 7.159, 1.7363, -0.0611, -0.0464, -0.0073]",
      "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]: [-0.2356, 1.494, 0.8124, -0.0792, -0.2543, -0.2058, 0.9957, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0472 left_z=0.1014 left_yaw=0.071 left_pitch=-0.1594 left_roll=0.0408 left_gripper=0.9957 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0018 right_pitch=-0.0549 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -8.1299, 6.5162, 1.6825, -0.0073, 0.0464, -0.0024, -0.0342, -1.2923, 7.0906, 1.707, -0.0562, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231e123fd2c1242c353b0006112c682aec1dee406c42a781cb8eda8cec95794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21572a2b3acc34342828289b6d9360eddd97bb7509f0869454e65ab216137ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829fb3e3657c4f49ced17c3efb66a2f501d799621d279398d7ee94884c0a8a88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1jOlZWgCwfMQvCaafrWTdY4gyIe43JKVDQ-niZKFXyohclhPe8aimFXDkZFRs-lmH80ibCfOg_oFR4-jvDXUvK4v71j6nwYQrFHVDSkRwipwlmZlmjS6_lJtKj9nAsyhdAseVOJxcQZqODyD3svybj3VovGeg8GpXnLAs8yXdj5gf8oaAl2WpvpWcMHMzWLNHh-Oc1qpGWfSZEZ8jM_8BL3Hsbk9o6aMBNgxOH1LzBrHJp1uz7mCZ-oSnaymbgO_xuywqwnbblSoorYLEOQo1PidxWJaJRd9w11jf8COYj3IBeMOm0lQrfwpfWQAfaZhocveZOyeDy2BQt5tMUl6_4AV-gSJqo_EPc7cGpx9BCjKJnrhzrpaaTSMkQAZ-q7SEZE7dRt2rXaOYSbgnzfZ5kGub7zDzlqKHQamvWsn6lLnF8AeUoF_eXV2IYpJbgSnju9Np_Ov4Azhb2xexEcU0P8qx-E0tIGnAKJPfujO7geb9os2crMMhoax-rZ_BsD7j8VjOj8-T4lownyT0NhmHdb-xH0Yz5UCPDwPaeyYTDvcbp6KyYbeBsQsndY9a-aENa-USCo877f28P47LbXEiDle6MndaP6nkeLCUwLk42bJvTMtLlBGUfLRYtrqj2Qg6I2UzK96X4yBcXXIepNLVAElz106q8v2jDcHRc3tzEEzOOccZswLDrs1x24pFIwoQ3Tyvi_oxeF1U-Ws9C4yFbkBXs5T-zSrxqjGBOspMvbaY_4vFEIVDpVpEEAdrcgtJbDGEvi7JleqCWLK0YTU-0z8vHyxgwFgRQB-ouH4U4Vh_sFr9-0UYU4TJa5Gn60liOQQImyocO8xlVsv3xrrXagaEJUwH1fEpDb9F2R4I_rLUUTE1k3gMdTMnKkWOKewJuH5LPNZ-SjPGB5DwJmgMcmm_Hpz6RCaGKHLRRWp7BTnTVJUgqIiW0cfc8E0lTwgTnZgjh6DwMIdKVDbkD1zAws6dz32j85uogOWRW1I20bVjkOUJh81GvmGw2m2UN3sOkzM-CEk-878C0LDTWvGoRPleWBvI1sM04jRwZBTWihxu4kDtH0bKL62z7nFUvVIC7yjZs9KPZetU_B85gOb6TJELxN9ZEEMyc5qvq7p_Njnra-b6AHa_hcVt9CrVBttb2uQHdMZ-Ra4LvccPM-aWd7eN3PU60mYxKmDLDgoeQwtElpScNMvA2hxXkRCvN5vNBKW9vMfusm22R33NTAHL_px581txchM6FBi3VvC9x1hwHdZCIUy71Xpd-p8dwbo17gneeGwzDRTX9Y2OkrIXV9eQp114cpU_nAweWOCVhf7Fo6IXvZBLE8-lrnumTtZRtNoTc1mq9M3BEajmpFIX3PDhzA7T521J-O0EyNaZ11wTuANlDRPKuNleoXSD995ElgXoeMJHX8gjtUOHXB-NEg_xS7zMHODaj7y9WlSvmYtiHl_O-R4vmXWSlqCUo7zM9ysNK4h1l_DPF8lrENqwpackXMEdFHy2lRgAJtm2bpS3RnHFYdYMPoHHsaH5X7irAMgrexm891HG_2mPe_qAltumG6szrzc8OGqQsY5jprH8-WdqMK0M0Iv9z6pQAQsdDo4hE98V36XtfyhkXdKqkbd14uBDUDilZS0EF9rostwVT9HrOIfjpKjFfdTgxFKrV",
  "id": "rs_03c9b2882ec1d69f016ab44d6225fc87d08a368d3a57f725dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at 10.1 cm with the left rim positioned between the jaws, so the bowl is taller than it first appeared and this is genuine rim contact. I’m closing now to pinch that single wall and will verify from the nonzero settled opening.\"}",
  "call_id": "call_uBfVz4i8QWWP1yn9liKpINa9",
  "id": "fc_03c9b2882ec1d69f016ab44d62df4487d0b2e07ff8d61a34e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uBfVz4i8QWWP1yn9liKpINa9",
  "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]: [-0.2356, 1.494, 0.8124, -0.0868, -0.255, -0.2062, 0.0088, -0.0216, 0.8043, 0.5945, -0.4156, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.4013 left_y=-0.0468 left_z=0.1001 left_yaw=0.0722 left_pitch=-0.1665 left_roll=0.0433 left_gripper=0.0088 right_x=0.2892 right_y=0.0003 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.4342, 6.4068, 1.58, -0.0659, -0.022, 0.6569, -0.0342, -1.1145, 7.0222, 1.6972, -0.0708, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8554eba88a79535b759f10956d8456699bde2140b36fe326a46494f4aaf77c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd31ef07519ae6da3e2014264397937ae8ca47fb20a16478a55f5303aef8637",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fb35b68b1c74457b9df5ee151d08aacaa4610e10eb4660eeb0f21548813a05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 10.71 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]: [-0.3664, 1.5459, 0.8192, -0.0315, -0.3363, -0.2855, 0.9948, -0.0219, 0.8036, 0.5953, -0.4114, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4035 left_y=-0.0886 left_z=0.0953 left_yaw=0.051 left_pitch=-0.1348 left_roll=0.0326 left_gripper=0.9948 right_x=0.2899 right_y=0.0001 right_z=0.167 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.7179, 9.1145, 1.6142, -0.1734, 0.105, -0.0366, -0.2393, -1.0598, 7.2, 1.8144, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.494, 0.8124, -0.0792, -0.2543, -0.2058, 0.9957, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0472 left_z=0.1014 left_yaw=0.071 left_pitch=-0.1594 left_roll=0.0408 left_gripper=0.9957 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0018 right_pitch=-0.0549 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -8.1299, 6.5162, 1.6825, -0.0073, 0.0464, -0.0024, -0.0342, -1.2923, 7.0906, 1.707, -0.0562, -0.0708, -0.0073]",
      "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]: [-0.2356, 1.494, 0.8124, -0.0868, -0.255, -0.2062, 0.0088, -0.0216, 0.8043, 0.5945, -0.4156, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.4013 left_y=-0.0468 left_z=0.1001 left_yaw=0.0722 left_pitch=-0.1665 left_roll=0.0433 left_gripper=0.0088 right_x=0.2892 right_y=0.0003 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.4342, 6.4068, 1.58, -0.0659, -0.022, 0.6569, -0.0342, -1.1145, 7.0222, 1.6972, -0.0708, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8554eba88a79535b759f10956d8456699bde2140b36fe326a46494f4aaf77c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd31ef07519ae6da3e2014264397937ae8ca47fb20a16478a55f5303aef8637",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fb35b68b1c74457b9df5ee151d08aacaa4610e10eb4660eeb0f21548813a05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_03c9b2882ec1d69f016ab44d66de9887d098cb0590a77885c0",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_03c9b2882ec1d69f016ab44d6bd6d887d0a3122367395e1382",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE12zQWj8xnjqL3wV1YfRsFbEjs_6cDnY4hNuPsupq22g-a0-A6olT6CPLfuQfQZXkytBsaLGbd9BJu5nkAUwtzfyAcWIsKz3qcr0foitwN6vgA0L4RZNs_i7KINQbfXZitr26otFiEQXQ-1jqvvLVIpwhY281hy1uj1bnAbqNGZUnPOQ4jOwUxpkFstrwICooJgzUiKG_2J3ZhmIq6GhmcfwU8oa3b6k36zlO4vuS2xd5S-WCCr9QrSAh3qCsyX22qCyzZfGiLAHaF69OKtaMvVgmyB6enRmPoDqw4Mg4KIKbs0rDfkh1MKAMTBwZnJSVmbASz5taIbk745G0XHMltxFuT9xc3SXdcm4cPotmv2NurvEvOmSz2kTY_HrQ9k3ex8xYfHjm6kv_yfRdhcvxMdbTV-P9qAOGjfHg41uLJprRIsYDTkyS49kyUfECC_DNFhcRzK9LdZv3gIJEAJVCiI-Uir5Ee6jhjQz92BLPovJjAXKuHg5S0pF8wNygxDL6rbzf7v8y1a_ybBUghBUmn2KuQxdmjC3AvnpsablIN5z3z9UUfsm11LjQvtoHojt5401zxvMKHCJG4UHBno4Ie392Kpu49aXf7iB1MEgR-FlzAx8YXHLOziI3Tr7w23ABfD_me_a_b1N0v79cljHQh8LjziikiAb7GOpZDHWX9u92x7uLvkqF9RO2QlMpWhkDErlCJ2KtUykOFtzddUZd5eqxHcp0EfKpipB-zDgu_lLvzNyEciP3J3NKDcMOspux-fnx7bSlhkkqlQstOxXrXITtbd93kNneDEeAEW62CLvt71ZSHDPANc9SrSL-Sc575zFiT0hbWE9qcNrVZe0q8UvzZiZelgxGoJX8hVZ9aYRbzcGGdvw8-aOOjznMeHQUIDmaH4FO8ZEfxuLryAyLM8VNq-frRntTL2hIo-m6U2hqIQ5bOMnWuL6Rsy_iYA1j20j8UyHSY0Kmap8XuGTmtRxu80JgVuQkmOqL51CXVAiIK0oVyeY9C4kXhNnl821h8IIPlXd9bUk6xF-gWVzIRdjp5PtknzBQ5dxZ3GNNb6_YILdNjXizM90YpsMlHFvJ4dVU_GJDsmuk2Bw4lboi4-6ZLwiOOjRo0CznxU3fotPnEm3HRon-9q3s_S8vSmSa29NsOUAv4J86yKCcCKrq23DC5GsHgGAX8gVq9WRKm_X7J3MCzCl4Ir1rtj3F1ffbmeGnfbI8F6A25RYsR6t7oV993IyKL5pu-F9jh7xVCHHyyzCa_PPXRhQ65kWkxuj8oBzYzVvnWVyyFH3X6M8uQFOlF13j7b0aJC_I5IRtJGt2aGaZpGdoqmIOXZBKZMFuk3jnm9PhBIDXR6XovU16STjiSqQX3Gu-1_dYOXYqBP4HVu5khHldPIXIr7pMvAt90-Z1VlKHZ4qJS3shBL63734YGVYsUKtWb4FFWfApsR7HpTUZKxja7ca6-5eid5vO-a3Q5ZILVNWLI9ooWF_rVbq6sRoV8Aq18WkFmIZaFSKixn0w2yBAmn5XBFGVO8BqzRS1Z43OAz8w2fywUrFAqN6dSKm7ZOAXl4NV2B9FjTZ0yCIOiOnpAUGTEu-zIurUaBD5wyhFIZZZRBCiHhhXL8Px9GyqKSTs2mNNyLC9Ab1b8_gnFE3ajvKo2K5c647DxTmRYfWzmGNLrlpAf3rNu2Fg9ByJGBK062xNYjaXlR5dJ3gS_jiAVGOv2uZNk7P8V56HJJ64IHssLiBrXWKqGgecaIs4Y-EbEW36AOpkFJNtoNPkr7lU17dnR51cEHyrYcmokhcI0d8Vj7R3F9SlTiv7tS-NvP_thB-5m7u86hy7hWsAqfBpMzxxs_7Lc64t71vmTg8UzvBZUIxApEC6orHaYeIFBjv8NOCU8TGf3NtjV10XT8O-VjYae9CN14CI-dp6aVchE-EnyGbQmppXC_8_Kn6vlUFDGb7YlaVDiYK04YMYN-G-CnKrmdI94A9TGZHk7wKXj1xYmgSpyqZMSb7cXFtpwTDfb0AxqUFhudV__MBgL6zSt9zSd-po_lIzw9jmX9ad_eZ6UznVvinGcsc8jwjuMAuZ7hWnthcWVCZggL1FI-NH5qTRLLASvvrVQdnoLY_-r0-7fGVqZSLumu9LNuiYnb6-IqGs1X1lT_DIdBc6pTymfIYPGyod52vx4YHwE3xNuiDa1-Au_TQBT9dU09z1mD2UbsMKNUp5Fs0uhd9CPz0W7w8nB67kSmIjy3KevOc7mezrjNI25ayGYkRDVVwJi4ySuY2l7eCHqccmRp5GhwE_qSfBCCDq0QRpXtIDkXxUysvX3YmiuCv97HVwu1JgxU4-kIuUph48vDyVfOR6Mp3mTvzrCdy2wN3_qCPVPY2oHc8mHBQ-jK7s3MYKjJzMdGLbfXPdiDq8UUkRqRFGUxRxscmOJ5CQpFPj5ZpK6j7ML-58l7zFL09yRLLC2OwapbH1WQb6UlxDnksW9YGLnwls7hndO-zHxvHlZ6oiXkPQ8Cy4EZP6qLeHrJCJxejqExdxw4zkWEl5Q38vWnJKjRRKq8NqaDqunhciIcvSXdiQdPDIJeNmRjF80MnNwMaZdcUjPx-IoKP8qwyk7UptxfM99KQ3Weh95GG-BRzhVnaKI2kAF9p5EttegqrSQCP44zb5ygLgCWHFw4voBHXAtSDG-n_0zrPaAiufgDCJrrGVp6Q-7HyoEFqM3C39fOkWxx0ZZQK5LLksgWBzAW-q24ciQzH3hAQWIBMtMK-bPhG6soJZRCI3AMXaQrhOAza1mCfFdr70Myx39BiYGVVg9jwmf9bdzumUS94X357j4tWUT6j86uPCFjP7dzkxbCqN07m2cnJKM9Ar1tjpNgln0ZaRyq7Lluk2QlD1LmccG7QdHEZSUIinM-W0gAZVgBXrlZczX_ALk7Rs_uxSXXOTHrfda7FJ2pPIG5KFBAwcoTBuNs51X32g8RxCIZMON6kWTIUl7bY4RCCf8noJZ5IaYK7MLj4nrp5MWv_RBCpi0Y_RiByCo_qDY6U1KL0FumpUFybJTHW_zLKYVKzbcIKgGnUF5QM35957ZNdTps",
  "id": "rs_03c9b2882ec1d69f016ab44d716bd887d084252b298f6818e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The settled opening is again near empty, but the closed jaws are still adjacent to the rim; I’ll make a short lift test to conclusively check whether the thin rim was caught despite the small reading.\"}",
  "call_id": "call_KjlE9t9OmNVJwDWJ5jJxqVBJ",
  "id": "fc_03c9b2882ec1d69f016ab44d757fcc87d0b02b1badae3ff0e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KjlE9t9OmNVJwDWJ5jJxqVBJ",
  "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]: [-0.2356, 1.4479, 0.9466, -0.2897, -0.2554, -0.2089, 0.011, -0.0216, 0.8097, 0.5945, -0.4221, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.401 left_y=-0.0467 left_z=0.1377 left_yaw=0.0752 left_pitch=-0.1877 left_roll=0.0486 left_gripper=0.011 right_x=0.2886 right_y=0.0002 right_z=0.1628 right_yaw=-0.0018 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.6376, 8.9915, 1.4481, -0.1294, -0.022, 0.2125, -0.0342, -1.7436, 7.1043, 1.7802, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23225e7b195c06ee06556a4872b1da00955f7313b0cc0a431578ef24904a6dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3617518d64b7e8de344b6268639f7f85ac18b7b207710e620347ee3d170ecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da8bf3cc01aed8cf7803bc03711422687e1ee299a29ea1bd1297238fb779f4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.579 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 57 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2447, 1.5059, 0.8124, -0.0669, -0.2718, -0.2295, 0.9957, -0.0216, 0.8043, 0.5949, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.0483 left_z=0.0995 left_yaw=0.0893 left_pitch=-0.1546 left_roll=0.0344 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1658 right_yaw=-0.0015 right_pitch=-0.0545 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.4171, 6.2154, 1.6142, 0.0366, 0.1978, 0.0806, -0.0342, -1.3197, 7.159, 1.7363, -0.0611, -0.0464, -0.0073]",
      "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]: [-0.2356, 1.494, 0.8124, -0.0868, -0.255, -0.2062, 0.0088, -0.0216, 0.8043, 0.5945, -0.4156, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.4013 left_y=-0.0468 left_z=0.1001 left_yaw=0.0722 left_pitch=-0.1665 left_roll=0.0433 left_gripper=0.0088 right_x=0.2892 right_y=0.0003 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.4342, 6.4068, 1.58, -0.0659, -0.022, 0.6569, -0.0342, -1.1145, 7.0222, 1.6972, -0.0708, -0.0317, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4479, 0.9466, -0.2897, -0.2554, -0.2089, 0.011, -0.0216, 0.8097, 0.5945, -0.4221, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.401 left_y=-0.0467 left_z=0.1377 left_yaw=0.0752 left_pitch=-0.1877 left_roll=0.0486 left_gripper=0.011 right_x=0.2886 right_y=0.0002 right_z=0.1628 right_yaw=-0.0018 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.6376, 8.9915, 1.4481, -0.1294, -0.022, 0.2125, -0.0342, -1.7436, 7.1043, 1.7802, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23225e7b195c06ee06556a4872b1da00955f7313b0cc0a431578ef24904a6dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3617518d64b7e8de344b6268639f7f85ac18b7b207710e620347ee3d170ecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da8bf3cc01aed8cf7803bc03711422687e1ee299a29ea1bd1297238fb779f4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_03c9b2882ec1d69f016ab44d77b34487d09c570ade0c0d0278",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2B_8QM8VCG7YKkK2uhdO7X4LsAv82Vy0gvj6IKAjoEb0JfLmYP6KiXjqa0x5KumB4iDMBcBv4xmcfaQ5RkLUwrWc6Z5lTwxNZma5Pjs3ejg0c6Go2R2SaAyXW0rRU0LF0VPCcigh3ReC3rA3sASFvDpUtrciCt-rRkJIkbEG0Qjkgvon6_7cJjBziK-YC1cUwHT9GkPyupA-CJlu-eNMi37fdiQeYVHOZ-7ZEIqUiRZD23ft_eMX9_EQGqPF2WebM94UtLylUiYgI5Qirdfqb7hHg6hN-_U50rooD8q5jY2v0mSFGNiJ254Kzj7Y16BlIrEBgjWyoTu61XsZRSQbYB80FPdwchOLfBl1oxWow0UByxO_oOssL7yR-jZDatOOklP2zYyYvxP4c4AWgrBU9LOZMQLoZBaUHQI-zFLz1jb9O1SHV7XiMrV8cr6b-v3j00ohJOHnfzDBrpTHqr-7LFCv60dMgWc2AJcwP0-cWHZIMdWpHtusnfisruQrLExbNfq37bMJhCLN08lolwbfBHQD9bY3DSgHf-2cJG5TvOgpr87qcsv2Sgjfm2-crTFgjNAom2MTzFwzp96Dnjp2f_BlFbWAGQqXdkw2KPzBqGIw8-nCSRfpob385xgiLKR4B8YFXip8XQ1fikyk37TRuyiQzLFgDZsrxKXdR8Cu6PNldNpo1Qz57APbPdqgnbLPQGkvUFT8ImozvEQSYEh-3hrHEIlnISoEQia6wSosXiBvmFKzOYlvKPWLAr9C6e6A5TQXXDsKChQlxawNqGDGuGmPszuf-C6ESv52GUq7ErXEejGj0TqvLy2BTdHjmwPlZTRQyJWIsQ6OgBKKIv6kIV2DhN1RbKG8qNTrhJkn7K-dxvNvy3kIEmvEUHT_yVVmlyFiTvBE_47vc1anyyNm9hargjRaHCq_DqESb_6UJYE2v7Sapqw9DNk8MveuNQMpEFa60hW4CkW-gIaKRLGxTuBa81PNKPMjDsAH9G3ebLA2RYyTpfJ9lve5i7nV_Ooihc62L_1cCPJQlnEXenG8IKRPjkK6Q6enjml74bpNrHEt-3HPD7n2IP0QFbb-47K8AOl-5NmhVWzEJublcNDYm8NyMNmhlf6V5knJQ18jtcaS82AKiOopr2V5CJDIdM66FcaVemnkqDCfMHrj7ypLFWsYSMdjqRxznlnxDhwdP9sJ0R4xwI4CcFIoPm2ZmWeNHLFWt1cbveWrf_mnnIs2sEoHD-cIw1p3YDjQbC_5H8QksZKw7hw_-deU4cfWuY-sD9mMQHQ0alqP9U22Gm2A6x_8Jn5QOdgxk5r2pVef-m6TM4u4-nDza-NKaoVlhgM39w7y25ePrpc0V3DjsRfiJLH-n18NRks4YrlAQ6-oskpE2cWbbm5Wx9lTF-w5ALeXVaPcYPL1XlnjwLIpgKEAeWX6N5EV_CWJ--l5Fp_zVGFcSX8LKoOKWAvmckAlVF9rrji4Ipo9USOUGyYm-Jd0L2z-jPgf0ewT41dc2brpTz7GlEp90csRmyD9tGOXp5eCczIhHdxYE5FDMptwthepP2iTAtKHteF3PCUwQ_d8Cz2R_UIM5c9Hsm2IgZeP57WQQqI0el8z3uqFt9SADFVlsjNqZXHYN0wjun_hE62v7dsMbl4Xt78VxgstmO63g5StcUdcoQ_RBLNxesoFiNokw4uP7pnL4vJOPkNE4RQmPEW9lSr6o8FRkG2mDGo2C0LwSRNgK0dFKcmzEhFQ8yE96xSlySTMcQvN6GejI2fAxNw2CLEYaBJDR6On2BR0826YByxjAARIQSssg_tGX_MJczoMM2dNUZ_7nPHNd1PwsH6-hh1WNaknON7o38qiX50_cTr-HU3-qGnvYgwoX2YlP91cQuguBvRjwgmRuQzf6OSm2-qBCjH1EtByyRdScFQI5DYpVqfvrYFisNGak_vUPcs7M-HVN5YutF87nSFQ7rH4ZWJP9GiM-qGFQB5jO_O8R3R9f9SCZbdO32-pAjlutnpMENF59jJ22HIgBnZtFMf0LwFtsQ_P8Psl8VMzjBw1gl-tYUnDIAC65Tbv7eObxALnegzS5Hfv7VeyXCjsSN0-cJNDJmJwbetB1w5baVJZFyq6RemH17wKYJqMcYEkdRtRHBOLLLXIVi4aGnZZuEf9n3mbYZLSTHzDKRMZqPDnKz6RrBgWQ1Db373w5jPjWFvYVO_4vKWfSQ6v9vl6j5sjXvM8NzpbZxfu0r80gkn1ICwQDSL9zByJuQXa1M8T_4hZ9s3KtpLq7ZUCyeDvu4bHezcG9z5B4f_xToUrsGw0h-dotJU_pFk4gNexindZo62Qd2hwkKIRCZkJ8qFRF-si_xHP4fplSpK3B_hFhY6TcVEPQ5aQdWcvQ3qg9DOTTcANvqaz9k6mmQzPHUmWDpZDFo-sxLhdkjtrTjHm6bGSWUlPpXxDUv9n3G2zBPnHwj_HPScIWuGkjLBV1kwkCQU6S8HvQ270_P-S4QAVLbHy9d9UDOhUnOObWqGSpNhFnHajIAP3Yt-xbeQVhw6_nQ5izzQwS2Cszs1PB12zsHCvs7GtrJn8rrDiofZg3qDkXl96E7zq0qYFuh8219aK7bTLALwAkC0tfIw_tysFKgf_DEslC-WgMFxyq435npFnj2IzNAucz5LCuPQL-5abEVvkrXqGt_LXm-jRIK32JHHhrOj-oaC43cy8hKfaBc8JR0DBtWM9hRqN6sedNUfdr7Ply8d02qIu858O0_h4qCjn-AeTamyDQLtO8KWUw-f5y5OFEowkRxDrdS76rmkNGaUs9ROVtGUx6fbU66Tck4AxHLTUqMF4KF2J-k-f1os4hSSHu3wav_iMBqP8cTjUblLgg=",
  "id": "rs_03c9b2882ec1d69f016ab44d7d6e9487d0a20be17b3e691fdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25,\"left_z\":0.15},\"note\":\"The lift test confirms the bowl stayed on the table. To prevent a wide-moving finger from pushing the light bowl away before the opposite finger arrives, I’m reopening only to about 2.4 cm while staying above the rim; this should leave one jaw just inside and one just outside.\"}",
  "call_id": "call_znhHUK9q8ipK9zxKsaoi76Rc",
  "id": "fc_03c9b2882ec1d69f016ab44d80740c87d0a99a00b85406d6c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_znhHUK9q8ipK9zxKsaoi76Rc",
  "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]: [-0.2356, 1.4353, 0.9779, -0.3527, -0.255, -0.2085, 0.2455, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3972 left_y=-0.0458 left_z=0.1448 left_yaw=0.0759 left_pitch=-0.206 left_roll=0.0545 left_gripper=0.2455 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -5.9282, 7.6239, 1.6288, -0.1392, -0.022, -0.1783, -0.0752, -1.1829, 7.2137, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabaa37ecd39d1f267c13f21524f6e18233108d32d120fa42c7039bb5be9c227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c3336ba3b4436ab896151b3e43c44012150a2d3166474547585a2fa834c794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f93eba7137c4d671409b305afb2e4070f42f74ecc553fe848de20141265461b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.294 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 57 changed as sent

message 62 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.494, 0.8124, -0.0792, -0.2543, -0.2058, 0.9957, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0472 left_z=0.1014 left_yaw=0.071 left_pitch=-0.1594 left_roll=0.0408 left_gripper=0.9957 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0018 right_pitch=-0.0549 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -8.1299, 6.5162, 1.6825, -0.0073, 0.0464, -0.0024, -0.0342, -1.2923, 7.0906, 1.707, -0.0562, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4479, 0.9466, -0.2897, -0.2554, -0.2089, 0.011, -0.0216, 0.8097, 0.5945, -0.4221, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.401 left_y=-0.0467 left_z=0.1377 left_yaw=0.0752 left_pitch=-0.1877 left_roll=0.0486 left_gripper=0.011 right_x=0.2886 right_y=0.0002 right_z=0.1628 right_yaw=-0.0018 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.6376, 8.9915, 1.4481, -0.1294, -0.022, 0.2125, -0.0342, -1.7436, 7.1043, 1.7802, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.3527, -0.255, -0.2085, 0.2455, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3972 left_y=-0.0458 left_z=0.1448 left_yaw=0.0759 left_pitch=-0.206 left_roll=0.0545 left_gripper=0.2455 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -5.9282, 7.6239, 1.6288, -0.1392, -0.022, -0.1783, -0.0752, -1.1829, 7.2137, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabaa37ecd39d1f267c13f21524f6e18233108d32d120fa42c7039bb5be9c227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c3336ba3b4436ab896151b3e43c44012150a2d3166474547585a2fa834c794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f93eba7137c4d671409b305afb2e4070f42f74ecc553fe848de20141265461b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2GSTrDZoEgV6IiOFvCGYMYiU79-nsq-wjzvHk7vQ03aChE63RnhkifVnbzNSJDs2csDmaJkTLKk5EEE5pEO3DFBW6CzRh9d8dTbERwrTua29Aau28YIguhYKqk2hDWmam4O1a_JUnRZMc9fA_2PZ-oZ5AIiSzLNQH9MY5hivOgNLy3f8c7KjV-Rct2euD64nE64au6qRpObhUCa34hF6BGDzsadSc2-kHjAu7wfUfjlVta0-N-nBzrIkBv2ZPwgjllGKObiX4eGLzrwJB9g04E8isgAYiKfphuZo6mUaDP3GRh1RNNSzpUGluZbnqxqPScxznqTn_6XwJvlXuHE9bqKywBpltb9wM2jhmpYAUrZES-2kGkJeqfSR-wfT4dZBQQN68lJDsPYDOsEdo1uJ03JcBTIbUIkOnqdCK3nWx2_ITnkdW5TRfaCQoy48jQyIOTQtRzRePrBLGlT8q0qrf0eburhSSx8t4gweaIA5wEyFQTE_edLcSqAj2PNvexjvzNZN4bWmlSglq-7h9T5V4NNte2NSYSMv92NxrXKqb6UnmPPnaOsP_rMu4tCcNz_PD31KgdjFJl2-a-s9lJlFb9GWcfzXIYSx4A9MWukhR3gyn2Uq6LcIrlCpY7pkZagRCyTmGcSMjeoMtFxYYjPmTnop7PIXy_RuGm8WJniF9k2Qb-wEYqTwOSiTDUdkMmzgEajSlerF8ETwlvQ0YfV0ycEM9S6vx--Yb0ZzYEWxwBWd3RKRqv0CaBolxnXtOqLYkv0MdtOhPtEmAmbfrGlBzzcy8-5XlfqHviugS_Tjja-xFSTrF98OTDzabZaXoQ4ct1LCyEse97i0TDXN2_L8OwvIolYNXVoFUH6m8rh012jKwXPzp1Q9AaXliUPCG3dCSPvzvJJJXy3GbXaYNwDtqbtltyi7C404iFAJRihxQiPVE0fLKZ1_b8QZe20BjhCe4Xz-py3-4lYghLlhRsgHk8fmJxUmu8vMDM3UOrHZvKpJ7zXOsQuuZYGaOhxRrVUWhaPxG3HJ2MGUhYKJEXuxyRN24DbUi8vUnyIrcLu6ttx5pdfsWfsFpIYhq-OWu8VSt5vKCVig_PsaChLzMzr6BC8BmMCZb-WXe_m54KEZekW-nDmkWn568_4SOa61xMfi_cwOjzh5bLbwxBspAqtNyIl2wHqlKCYuKmE8UoPYSiF_V3d-llToIb_FNiEXBSZbgfS8CU6s9Q6t1lhbJYAm18Pau4EbMDMPio5C4Et2CFdSaq2IywlioI0yUfP1jwiIGgy6H0c_vZBrhfJ4WuqLWM5qMIaoc_3M-Mfp0QqVQnqkNPfA8g35zgl_SAY82h8CgT-Mhg7JRf2alkMzFUS7GmLvfRpTOy0Pcj2YUVxuV64J9XAEFPJmev2xmtGq8lvvPKZpohutVtEDFhPD3QEcT7DF143QznoWfotPv6jNvwRALjyUNYP8hvgAY6M3ugSNecOt-Fmr8_tdAUDdRG99CdoE38RSWUsQwj26OD0BaKPkQCgroujROLky2o22x1BjcQr2CjnKjNWGqxk6EoQ_N2kDCgoAApmV0fZV70ea1Wkz5FX2IN6yiNAE1C_R2eFEovvFZhYYnDE-XLAOVkVcMQCw==",
  "id": "rs_03c9b2882ec1d69f016ab44d83bfa887d0941cdd0ec5cae062",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"With the narrowed opening, the wrist view clearly shows one jaw outside the left wall and the other inside the bowl. I’m lowering this straddling pair to below the lip so the closing motion can pinch the wall securely.\"}",
  "call_id": "call_MceTWrHcbCAwozWZJzQAD9xA",
  "id": "fc_03c9b2882ec1d69f016ab44d85091c87d0a7eb3c83921f7cb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MceTWrHcbCAwozWZJzQAD9xA",
  "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]: [-0.2356, 1.4353, 0.9779, -0.355, -0.255, -0.2089, 0.2465, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0762 left_pitch=-0.2082 left_roll=0.055 left_gripper=0.2465 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -6.106, 7.5145, 1.6288, -0.1685, -0.0513, 0.0952, -0.0342, -1.306, 7.0906, 1.6532, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b50d211e272e840fdfb3f75aa28c8ec86b54ba254bd61e2970a8f78a9c8fab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a414158174f10c1903f40d0f398b866867009329eb45244c8b6c7ca91c01ccba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:297c8cde04ebe021b645969384586e44c8cccdb9e6cb232d577dc28dc9de7a16",
      "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 · 6.142 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 62 changed as sent

message 66 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.494, 0.8124, -0.0868, -0.255, -0.2062, 0.0088, -0.0216, 0.8043, 0.5945, -0.4156, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.4013 left_y=-0.0468 left_z=0.1001 left_yaw=0.0722 left_pitch=-0.1665 left_roll=0.0433 left_gripper=0.0088 right_x=0.2892 right_y=0.0003 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.4342, 6.4068, 1.58, -0.0659, -0.022, 0.6569, -0.0342, -1.1145, 7.0222, 1.6972, -0.0708, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.3527, -0.255, -0.2085, 0.2455, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3972 left_y=-0.0458 left_z=0.1448 left_yaw=0.0759 left_pitch=-0.206 left_roll=0.0545 left_gripper=0.2455 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -5.9282, 7.6239, 1.6288, -0.1392, -0.022, -0.1783, -0.0752, -1.1829, 7.2137, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.255, -0.2089, 0.2465, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0762 left_pitch=-0.2082 left_roll=0.055 left_gripper=0.2465 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -6.106, 7.5145, 1.6288, -0.1685, -0.0513, 0.0952, -0.0342, -1.306, 7.0906, 1.6532, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b50d211e272e840fdfb3f75aa28c8ec86b54ba254bd61e2970a8f78a9c8fab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a414158174f10c1903f40d0f398b866867009329eb45244c8b6c7ca91c01ccba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:297c8cde04ebe021b645969384586e44c8cccdb9e6cb232d577dc28dc9de7a16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2JEod6okh8COhqRzvVpnJiHFICbt1ytFRT2Iojq0JFvmigfqkBkL1zKm7CeYw9usqpH_ih_n6XvSJbNiMzq4GSJ5SCfPn2uFxMDEArRzPYvhqXBBZ9DRGLEtVWOc_RGXTIQ5JkOr1AYUCYFnRtZbNliwSBHN6nMC51Jcsb4-Y75FnJYPEUQc3VnNYkD-u9GCiSiMDSBmr-S9n383tcXjQTpRsHJ3mM4qy2VanwnvUyiF0DP_K9i52llsmJN3arT9t8cMdQzeNdlT3qOIo_NiEdHCuZ-NQMEskzTPvAFffNMu5bD2xjcVKvQpYVRloajkhsAu-CJynSyanGMfLIk2bgR4tK_MuwH3NaAwS0UQ0j1p_wQLPMWgl3yI2n241gI7CGUcNYFQux4Y5-yLYzy36GVqpoOJQnE_PeVJc310REkWwZJ4I-40LKq_v9sk-HIZ_l1-xXLKqrZ0vwLLLG9m85o4kWs-vwvcSMzlED9jgHTq-hQRtpwhB-nTtIkM5d3O2egkC85EVp4NH-EWd9VbzIpsE7D16M8ecmK05XhVsuvVre_S81gVxQRe_rCPOyodwL2jG6dcuIDlVz3GIL6vWKJ3_hftCYZRzVFE3O2uLtVudwcolnkzSXPsjW4vBWNUp8rkEDK69JeMxvmRA5J52nztvNsCAEyIHnpjVuk6psNXsy8_-7eFYhkD9SdXx-6_CL37JVTNL8J-plvF4qy9KrBo3Uw7gWJkZXNNWjmWTKGfQCk8hORMgx0jxM5TRxWmDzk6sZNBE8u-ZHM0mAiFUvo-GVBpocB6jBa-hgaxPDr24E0lHmoP1IOPap1YRUenSi6mCF1x5drwhj1pkMtovwmI3hwUXuhzlUKns1KctaKuIcR1brYrQTfOptt4fUn6vbzAinDZfHIWC6q5YTH4J3FPiQ3p7teO2cZM5MKr-aG8hbXh0cKDwBwmwnI-S9VwyVqimQQWSHnE0illw-Mpi7b0FzwTxX6oM9a5QRuPpKMnbTQcEqZYRPPxRLS1k9-n7nqs_rM7jAgknIy_OPpqENlyy1kLaFe_Cq920JOUJkVR0QqobyOhnaAH1DTwgpJGmWKWRsEcI6d8XeBfhvTEnCexeD3q8KWSKJjFzVhJubso96TJhP1gzRRBr8d8pYIea-_L5sQuq-_9dBQjU7jyGVbmWficMs_KOTe-6iYCYYr9kkRP-Zs2K4SojHcEWz_3cUq2vUIRx9DmrD3TVhFmP5DTuFPNIgYQd7Fh91Hii5FeWotHKuM8uaFX90r2AG3DPOWj93DONTmkhKPE464mRhlVr7wZUI9rKT2Hwxx-SPzezdGCjuqsPPEaJiFEKKQlwIisNPvikmUV7g_rcsNFbaDIwuL_4ZiMxgFnv7GhtgBleXqmkzj9D1NXNz4ub5nFGlvy1I7vcLnycGIh2WVI4LEpMnRIi3Hd9pfd434TuOQPEIVZsMh25jSrLHRU3IGqLCgBKeXc92HzaTa5RZtRiMCKYSaUjvoStbUG33LpXyC4-SJQLCcrAyFy5c1kkxqHKuToYGJ0PuG7t3njrSAL78Qja8OxGQqP0gJLxgqzJboYCWoEX47vAiSOSl3kfXvaA89r4hrST7DaDQKIFDkZON57Za8MlQ63lW9Et2G6lnPzq5HVe-9FT1Scytct_UVn1FTsvNv8WuVB4nv6s0R7lyLWtJCahbbPHaVHDoLvagYz7xP3JIGJ_rEXbWVxqsqzdGF63jbIP3jyt3HmZwuNXrlK6uMZ5h1IGS9aEWsBe1imzb5CVbYHJoKIAdD1ciLwkc_iiOU6hxhdOgusmJ_JmGjFSh2ZK33KWRVeLgNKJrLOvU6N2Y5bHYXKZ2ks4auItDpLB1mH19zR0vjtdQ2Z0LWw==",
  "id": "rs_03c9b2882ec1d69f016ab44d87d87487d092561d67198eca46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The straddling jaws are already stopped by the lip at the current height, with one on each side of the wall. Because the opening is now narrow, I’m closing from this balanced position to avoid ejecting the bowl sideways.\"}",
  "call_id": "call_qxG1rwjUhYakErrDiLOmKutX",
  "id": "fc_03c9b2882ec1d69f016ab44d893f3487d0a3834d52ef6a3215",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qxG1rwjUhYakErrDiLOmKutX",
  "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]: [-0.2356, 1.4353, 0.9779, -0.355, -0.2554, -0.2085, 0.0079, -0.0219, 0.8101, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0763 left_pitch=-0.2081 left_roll=0.0555 left_gripper=0.0079 right_x=0.2885 right_y=0.0002 right_z=0.1626 right_yaw=-0.0018 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -5.7504, 7.5692, 1.6532, -0.1245, -0.022, 0.652, -0.1573, -1.306, 7.1043, 1.6532, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b6712dc0c8e9d98edcbaed5352f52668074e01226f3cfa74c55d2e86640102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fad6032bb039002e02c95e4281fa532cd7205188df3073e8c6d85f05b4a03ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5b6cdda86c2e2d3b0986f1dc340ca95203a6d3f7305d282c46f818e806a8ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.982 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 66 changed as sent

message 70 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4479, 0.9466, -0.2897, -0.2554, -0.2089, 0.011, -0.0216, 0.8097, 0.5945, -0.4221, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.401 left_y=-0.0467 left_z=0.1377 left_yaw=0.0752 left_pitch=-0.1877 left_roll=0.0486 left_gripper=0.011 right_x=0.2886 right_y=0.0002 right_z=0.1628 right_yaw=-0.0018 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.6376, 8.9915, 1.4481, -0.1294, -0.022, 0.2125, -0.0342, -1.7436, 7.1043, 1.7802, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.255, -0.2089, 0.2465, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0762 left_pitch=-0.2082 left_roll=0.055 left_gripper=0.2465 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -6.106, 7.5145, 1.6288, -0.1685, -0.0513, 0.0952, -0.0342, -1.306, 7.0906, 1.6532, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.2554, -0.2085, 0.0079, -0.0219, 0.8101, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0763 left_pitch=-0.2081 left_roll=0.0555 left_gripper=0.0079 right_x=0.2885 right_y=0.0002 right_z=0.1626 right_yaw=-0.0018 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -5.7504, 7.5692, 1.6532, -0.1245, -0.022, 0.652, -0.1573, -1.306, 7.1043, 1.6532, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b6712dc0c8e9d98edcbaed5352f52668074e01226f3cfa74c55d2e86640102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fad6032bb039002e02c95e4281fa532cd7205188df3073e8c6d85f05b4a03ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5b6cdda86c2e2d3b0986f1dc340ca95203a6d3f7305d282c46f818e806a8ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2QHAdh1IxC3ApraFLlzLXyU0x3MeeetXIC7J7wEbWKdNgom9rt7WTQoXfFrfHn2NNvIIfb8TuYokXxaXQnx6c11qI2j1dbZjd_vxCAQqxyO4-AAsc96dqN4jXQvjjZc4jio2OFV6jDccMexEJt6V3p7vlBvcuccnZRnmA8AoWCRlJBgBimG0bwn89gPROlLCLlX4LyuRdRFuETRnaPQIXZWfHDnobEnVSpUf72c46DgUeItypVJwWf7EQH7k-spjnh6tQRRWc145x0PiWeaC0F6-diEctSQcrEKEg2tcHoKC-QJNBcncRhmov1Ba4beYmiLiTk4GoGzewX7cfrv_BdRhkS5KA2mgmzlj8Try2OD2qd-3MKFbqYmBHuwNQiucx97xLcJncVkn1lKGTEo7dUJppo8EUTjPw9vb_JZzdZLZJN6nBBMrRWplnvW8-iE_G9Hv0aasEOSzaLXdt6h8mYLb77rCGXmuErtcZp0fJ8h142P3gLXZXYAPJiTbmYUUAvhlECX4_GETHjJfxrmEDLJQiPtwekMd3_RkkMBKrzqKfCpPL_GKzBVxCluVwN93QNGy5-TIDAJktb8zUbHmA90w9fa4eYScQwaWyEcUNuFc5ink-IjO2EZfM9MCpOiDN8W2m_G0_V2ftwv4lxEULJa-T41yibibqioagXHzPFAiM3GuO5l8KQRMJ-tgLMoRNrZItGkA3BtWkl2D7rF2y3OSomKWsHvIZ9AVqv9GAua3e1juHP5MUckYKnS8LWCDbJ-hAfe8-M0vuMZ2Ww7kv6iLTa33f1xuiNx_YQ1M0NhXeBrKnZBeVFSC82qIq594wSyJaLEm3Lw2uw8tvG3V1q7AF1l0hLv-iJm0xzJLRhBgPqNNfmT77heoBWbRmrE8bOquLHZMf2Rb6euf8wE8dAHU8ciuCihe_Ox6fNJO8OG7GKn6wMgoXQbnkIt7jPi3vIvnmCseTpdKXWzJzNd-Hwr7aORTm0dlqfc8MgLdJjK3htSC1y04IKTORLNf5I2UILIvjFDPDdEbfmvZ1Fc-RooNizGZ_E0Nl16CAwizkcUw7HDr8MM7r-hTcG4kTIQzZeHP00uYNyDU5u0wysx5neDnov1OHr49uF__4f42MCgwpXPwlfDKxamrrogespkgvL2oBrBNPO2KmQfq6rWw-JfoJe0YNB3mjHgzo9xy0X5i8w_8RPDf3aWjLW0YThvAVnxn5pNiigGCPNDBg77Nw9EvcJ5_XG0DkSwbjBPV-27BgxNuVW-lMp7uXzDMRCVfBnALDG-pBXWPjyyZwO9WjW2UgFjqbS-HVPgk6sDrnQGW4u5dVhgGIGR4-M8u6A5Gu0kHe9njmI_ZsW1FVHwSV43xEaHlJNmFpWiB2Zz0d_0_rrgzPH6oH43yATtbEnmJbWK0btl1vpFucPiZyomNUiSkBi6pHC9BBQu3ldFDskFKd4FRwMM8jpb8TI_pnnxWfRDYsCgzWnwZ_tKUdMd3BqDR2Ma2TtTw70z1B0afDI1zsol-1jnXS7ClDTvSA-BgeB9R8-wkbjSPSn5SXDudvEGLtIMAeG3SH6DeP7-iPFubShs7pCXNMkPpEq6d3n5I8S",
  "id": "rs_03c9b2882ec1d69f016ab44d8e802487d088306085f1bb6dc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The thin plastic rim still yields an almost-closed reading, but the closed fingers visibly meet the left lip in the wrist view. I’m performing another short lift test; this visual check is more reliable than the opening for such a thin wall.\"}",
  "call_id": "call_Bgo9i5XpW18BUOllYsRM4hSV",
  "id": "fc_03c9b2882ec1d69f016ab44d8f408c87d084ffe32fc964043a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bgo9i5XpW18BUOllYsRM4hSV",
  "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]: [-0.2356, 1.4418, 1.0687, -0.4736, -0.2546, -0.2092, 0.0103, -0.0219, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3961 left_y=-0.0456 left_z=0.16 left_yaw=0.0785 left_pitch=-0.2409 left_roll=0.0653 left_gripper=0.0103 right_x=0.2885 right_y=0.0002 right_z=0.1627 right_yaw=-0.0018 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.0342, 10.947, 1.9365, -0.1441, -0.0269, 0.2418, -0.212, -1.2786, 6.9949, 1.6532, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4534d61694ba88f9ff77c708cf5aea8e2a1dc3a6ad5affe19868931cfd3833e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a9f33f3e256e941e5dad7de4d3d6dd323b9053a42158c2fe564bdb463deb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349e591f643bdcf3c5123618de3f3242686b916c3d73fc7dadfba85cb2430593",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.321 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.3527, -0.255, -0.2085, 0.2455, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3972 left_y=-0.0458 left_z=0.1448 left_yaw=0.0759 left_pitch=-0.206 left_roll=0.0545 left_gripper=0.2455 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -5.9282, 7.6239, 1.6288, -0.1392, -0.022, -0.1783, -0.0752, -1.1829, 7.2137, 1.663, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.2554, -0.2085, 0.0079, -0.0219, 0.8101, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0763 left_pitch=-0.2081 left_roll=0.0555 left_gripper=0.0079 right_x=0.2885 right_y=0.0002 right_z=0.1626 right_yaw=-0.0018 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -5.7504, 7.5692, 1.6532, -0.1245, -0.022, 0.652, -0.1573, -1.306, 7.1043, 1.6532, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4418, 1.0687, -0.4736, -0.2546, -0.2092, 0.0103, -0.0219, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3961 left_y=-0.0456 left_z=0.16 left_yaw=0.0785 left_pitch=-0.2409 left_roll=0.0653 left_gripper=0.0103 right_x=0.2885 right_y=0.0002 right_z=0.1627 right_yaw=-0.0018 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.0342, 10.947, 1.9365, -0.1441, -0.0269, 0.2418, -0.212, -1.2786, 6.9949, 1.6532, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4534d61694ba88f9ff77c708cf5aea8e2a1dc3a6ad5affe19868931cfd3833e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a9f33f3e256e941e5dad7de4d3d6dd323b9053a42158c2fe564bdb463deb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349e591f643bdcf3c5123618de3f3242686b916c3d73fc7dadfba85cb2430593",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_03c9b2882ec1d69f016ab44d9245fc87d0893a1a8b6aa3dcf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.095,\"left_z\":0.2},\"note\":\"The rim did not rise with the fingers, so a friction pinch is not reliable on this smooth thin lip. I’m switching to an internal-expansion grasp: moving the closed jaws back over the bowl center so I can insert them and open against the inner walls.\"}",
  "call_id": "call_z7WpNlSvHrRCQjquDNEW2XYD",
  "id": "fc_03c9b2882ec1d69f016ab44d969db487d09303955f492c51d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z7WpNlSvHrRCQjquDNEW2XYD",
  "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]: [-0.387, 1.4956, 1.2293, -0.6498, -0.3241, -0.3138, 0.0118, -0.0216, 0.812, 0.5945, -0.4232, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3902 left_y=-0.0944 left_z=0.1804 left_yaw=0.0499 left_pitch=-0.2814 left_roll=0.0704 left_gripper=0.0118 right_x=0.2885 right_y=0.0002 right_z=0.162 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -6.2974, 9.4291, 1.326, -0.2955, 0.1001, 0.149, -0.1573, -1.2376, 7.159, 1.6484, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdf42c91dde8ea1bd7843e1f82a6a9c9d8deeeddbc96276f2b4362eed583299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305e17e7d252036d9da5bdb7f23e8a697a436d8b42151b8da7960fbf4ccae806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209e57003d8b644c360da0c43bed32c52f4048fc285d09430186b3a54be19aab",
      "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 · 5.351 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.255, -0.2089, 0.2465, -0.0216, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0762 left_pitch=-0.2082 left_roll=0.055 left_gripper=0.2465 right_x=0.2885 right_y=0.0003 right_z=0.1627 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -6.106, 7.5145, 1.6288, -0.1685, -0.0513, 0.0952, -0.0342, -1.306, 7.0906, 1.6532, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4418, 1.0687, -0.4736, -0.2546, -0.2092, 0.0103, -0.0219, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3961 left_y=-0.0456 left_z=0.16 left_yaw=0.0785 left_pitch=-0.2409 left_roll=0.0653 left_gripper=0.0103 right_x=0.2885 right_y=0.0002 right_z=0.1627 right_yaw=-0.0018 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.0342, 10.947, 1.9365, -0.1441, -0.0269, 0.2418, -0.212, -1.2786, 6.9949, 1.6532, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.387, 1.4956, 1.2293, -0.6498, -0.3241, -0.3138, 0.0118, -0.0216, 0.812, 0.5945, -0.4232, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3902 left_y=-0.0944 left_z=0.1804 left_yaw=0.0499 left_pitch=-0.2814 left_roll=0.0704 left_gripper=0.0118 right_x=0.2885 right_y=0.0002 right_z=0.162 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -6.2974, 9.4291, 1.326, -0.2955, 0.1001, 0.149, -0.1573, -1.2376, 7.159, 1.6484, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdf42c91dde8ea1bd7843e1f82a6a9c9d8deeeddbc96276f2b4362eed583299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305e17e7d252036d9da5bdb7f23e8a697a436d8b42151b8da7960fbf4ccae806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209e57003d8b644c360da0c43bed32c52f4048fc285d09430186b3a54be19aab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2azPhuBY1iEQx9CQ512ykatGJGZ0Bj0yLyqvvuoy8lTLzVPb8SQTiW0CJDBsvLlcvHEPNChYY6Q015QUADfkGaSIusCmANxbvF51NODQEuRNS4GvhvtTeiI-oSc_nEhD9Dqf6APIntYlk4dUkJwo7rrl-5kCAY8V2EqZ7QUw1j8fjydcnou_LHCGpbgzQE8bxRjZJT4wtiQ3B39alT8bxnsWk5-peA-rF0JtoiuQ-blV5VwnIjA_1fyqNgom8TxiFmkquKWqoRYgqW5up9CLPtL1sfMChTdYdN_PE1SurUNr8tv6QfdDD7K5lX4LZ3RAg-8xfhytKc7iLx-Yyw8h_vAZ_jiL5js60oEghFBTN_2o3RxxkBlFYTHsezzjAdfoIk5GATje7q-_IXcDoFi907rjhT83aqbCBd6DZFOSmN4xr-RXEl9ElALjacRMR6EptZglz_uKeZzYIRZOQuvP48f75KQ6YxV0vrZlafeKP5nzXK0EfxR6GG4GgIfYFBri60i1zwcJLe8hUSAq9Wtf3ZRLjkzK7zkH6_S9uNK0HIDwpaS0F8OjLwcWNtkpXWfRQCP9m3ik_HJxPpfDk6lwLniExHmrOJOfpBOUjwTIVM7dESX8a7lJntH_Vnu_vCkD-K4Jqx70TcB2wRHdO-VSbGhj8KW19JQzY0xVTA9J3Lc_KBo4mOfaiKPppgSGwZ4njln0Wpb982ITIYAwUHsUkO-OaUOhn3BA7rstl2VXIjEofYNjMtorIi7hh1LhLltNO9IIeZ7I3ebdwNAgpih5GZ5sWXZ-LeYAZLRIpCCgTkOCqX1UbuHeRaFwKVmm0q5Tx0i30AgpUZMR5G9I6gzqwA_4oT8Rh8YcN7jp4w-BKLXqf_ANzSzTkzYYssZ5Q90C1b2d3xCn3P8Y7zuuLVa4LL2nXv5bKSnprKactd5REEtOKONfrTcWLGMq2ZN-QHOSFk1-zkejN5fxTEREf10-89A_2IOBi11ZXdGQ2Ydm0xmewXYpo0ZC4mmt0jegX8CWiAbCfoaovEofCrvf_22wLIs3ezci9nRNK5IgN7-vioMKTtk0wn-J5asIUAmJHt7xwoulsnA4jwKRzcsCE9tROL6UtMtbQlODClzTP3Znn8Iopm-3bc2-dh_15gnMCxDKx87d8UugUs5owEycwmWbsLWNrwd3vLSFLHFMmXTC-SE1xeuRcNnXAoalsSz2_hKtePkfOSA45uRd2dXoU3zlZSbcl6eCNYkuOSKLvH7dF-AMXZPySORgIAoi29RrLeg5LURV1RNxqO9CJUNQsnwOLhzw==",
  "id": "rs_03c9b2882ec1d69f016ab44d99395487d09374e2c4a0402509",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The closed jaws are centered over the bowl opening. I’m lowering them into the interior while narrow, stopping first at 10 cm to avoid striking the bottom.\"}",
  "call_id": "call_O0LLOWqLGlIbnpML2Ext7Egv",
  "id": "fc_03c9b2882ec1d69f016ab44d997d5487d0bf6e70bf834938a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O0LLOWqLGlIbnpML2Ext7Egv",
  "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]: [-0.3992, 1.4982, 1.2613, -0.6697, -0.3454, -0.3382, 0.0131, -0.0216, 0.812, 0.5945, -0.4229, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3921 left_y=-0.0966 left_z=0.1902 left_yaw=0.0675 left_pitch=-0.2644 left_roll=0.065 left_gripper=0.0131 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.7761, 8.7316, 1.326, -0.3297, -0.0415, 0.1294, -0.0342, -1.3197, 7.3504, 1.6484, -0.0464, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454935e4a50f29be77573cef92ad37b3980689e61551bc0ac13ab05acedfb552",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9295315412a2ed97a6877472f43ae3cbb52c267a2857e9336b58801d4c40b3b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4897fd993da5bdf8f2db7fbf6ce1df38e2ef74d8b58747c6f3f0d80752800399",
      "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 · 3.809 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4353, 0.9779, -0.355, -0.2554, -0.2085, 0.0079, -0.0219, 0.8101, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3968 left_y=-0.0457 left_z=0.1444 left_yaw=0.0763 left_pitch=-0.2081 left_roll=0.0555 left_gripper=0.0079 right_x=0.2885 right_y=0.0002 right_z=0.1626 right_yaw=-0.0018 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -5.7504, 7.5692, 1.6532, -0.1245, -0.022, 0.652, -0.1573, -1.306, 7.1043, 1.6532, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.387, 1.4956, 1.2293, -0.6498, -0.3241, -0.3138, 0.0118, -0.0216, 0.812, 0.5945, -0.4232, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3902 left_y=-0.0944 left_z=0.1804 left_yaw=0.0499 left_pitch=-0.2814 left_roll=0.0704 left_gripper=0.0118 right_x=0.2885 right_y=0.0002 right_z=0.162 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -6.2974, 9.4291, 1.326, -0.2955, 0.1001, 0.149, -0.1573, -1.2376, 7.159, 1.6484, -0.0562, -0.0611, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4982, 1.2613, -0.6697, -0.3454, -0.3382, 0.0131, -0.0216, 0.812, 0.5945, -0.4229, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3921 left_y=-0.0966 left_z=0.1902 left_yaw=0.0675 left_pitch=-0.2644 left_roll=0.065 left_gripper=0.0131 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.7761, 8.7316, 1.326, -0.3297, -0.0415, 0.1294, -0.0342, -1.3197, 7.3504, 1.6484, -0.0464, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454935e4a50f29be77573cef92ad37b3980689e61551bc0ac13ab05acedfb552",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9295315412a2ed97a6877472f43ae3cbb52c267a2857e9336b58801d4c40b3b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4897fd993da5bdf8f2db7fbf6ce1df38e2ef74d8b58747c6f3f0d80752800399",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_03c9b2882ec1d69f016ab44d9c3b4c87d0b5af066f400a7aa7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.8},\"note\":\"The narrow fingers are visibly inserted down the center of the bowl; further downward tracking is being resisted. I’m opening them inside the bowl to press against opposite inner walls and create an expansion grasp.\"}",
  "call_id": "call_LekTdTtrVHuTyOstb8K5oo3R",
  "id": "fc_03c9b2882ec1d69f016ab44d9f4de087d09cadd7f7d32c4176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LekTdTtrVHuTyOstb8K5oo3R",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4994, 1.2602, -0.6765, -0.3443, -0.3412, 0.7951, -0.0219, 0.8162, 0.5945, -0.4229, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3907 left_y=-0.0962 left_z=0.1883 left_yaw=0.0695 left_pitch=-0.2728 left_roll=0.0664 left_gripper=0.7951 right_x=0.2888 right_y=0.0002 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7214, 7.159, 1.3846, -0.2222, 0.0024, -0.1636, -0.1299, -1.6615, 7.1453, 1.6386, -0.0171, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839a51beb5c8d711d437b0efddc59cd4ffce8583b15ac480b0bc6a3ae1345464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0434f76605ebfaf94fa1c213983183dbef090b25ac3ff4ad3b51b74e3b4e4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5050c918f12008dd2eab740f0b1cf6b137d228e00c1258e37722c550a0bb65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 12.51 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.4418, 1.0687, -0.4736, -0.2546, -0.2092, 0.0103, -0.0219, 0.8101, 0.5945, -0.4225, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3961 left_y=-0.0456 left_z=0.16 left_yaw=0.0785 left_pitch=-0.2409 left_roll=0.0653 left_gripper=0.0103 right_x=0.2885 right_y=0.0002 right_z=0.1627 right_yaw=-0.0018 right_pitch=-0.0679 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.0342, 10.947, 1.9365, -0.1441, -0.0269, 0.2418, -0.212, -1.2786, 6.9949, 1.6532, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4982, 1.2613, -0.6697, -0.3454, -0.3382, 0.0131, -0.0216, 0.812, 0.5945, -0.4229, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3921 left_y=-0.0966 left_z=0.1902 left_yaw=0.0675 left_pitch=-0.2644 left_roll=0.065 left_gripper=0.0131 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.7761, 8.7316, 1.326, -0.3297, -0.0415, 0.1294, -0.0342, -1.3197, 7.3504, 1.6484, -0.0464, -0.0513, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4994, 1.2602, -0.6765, -0.3443, -0.3412, 0.7951, -0.0219, 0.8162, 0.5945, -0.4229, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3907 left_y=-0.0962 left_z=0.1883 left_yaw=0.0695 left_pitch=-0.2728 left_roll=0.0664 left_gripper=0.7951 right_x=0.2888 right_y=0.0002 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7214, 7.159, 1.3846, -0.2222, 0.0024, -0.1636, -0.1299, -1.6615, 7.1453, 1.6386, -0.0171, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839a51beb5c8d711d437b0efddc59cd4ffce8583b15ac480b0bc6a3ae1345464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0434f76605ebfaf94fa1c213983183dbef090b25ac3ff4ad3b51b74e3b4e4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5050c918f12008dd2eab740f0b1cf6b137d228e00c1258e37722c550a0bb65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2kfz8BXUeXKry6FI_axi16ZNiaw47iOtof-PoMfC1W1oYYtPX7FimIFWkHkjJMKWMfe8_06b4ypFD9b_h1XvJ_IWR3qK1HsPiXnLrpg9h2Go3kcHiuuinRtBqiy5MAJu6FXuqcxfHgnr9Co3UG8v8LePysIQiseeXc18E5ZFWamQt4QVVpiTgASOM_IViOcjg_POmxOoaDh1rfd95bmqdpslfyRw_M-rGE7FZpXXJAase4HTaHnXXIMaEPRpU4Yml1RlW2tlgPeuViUl-OcDlDmko9qbk5Oijw-roGPqwnrpZ_TDl5TJgoKd0JKhaNZ0hjW9V3fveKdaaqfNQm3MH5PnIIypAwa0eVmZ3TDVxGfw0SocTrEiMPm03V3jJHb3Xexg52ncLLDC-D18vJ2ZRE2T2LHVTx-vadwa5TcCHqd4QDugsYs6MKqnQUsA9KVlqbeTzWE_EXIYr8TezYrYz2Yv9rCXIi29Xd3kd14156clsTSAr9zpOAvZVhWWwsITzrIyXGjKRBz7MTLpgs1StW7d86VELM0gN5OyoG_F0mMsnhqeqrI1GBKmQ0NW6coFuk6g1UtBF4EO2kuptga2vCFSqQJSXXba3EjxtgYwqwhZpzRK2K-IpLJqgTs3BjzDOAUY4PLxKB9waozoi_4BhHnGPdykaO1vXAzblifwbpJR3H42_VNmgERZovbgACHy-_vZ-2byp3iYlc-70RKmslHnU7rG7qX-_aI--S7mrP5tSo70upuMWJsBJhJ-xrpkTkmaxm7h3NFwwMPgAz2O2uTJNilFet-VjUjT613GKXNDje3ZdkrzXMd8QPit5KfvMohLWV4l0mpsJyA3m9FFEr07VUKBX5_iB1ne_y5SFfySjwWe18oPrT-gsVVSAZ3qBUS4jWVEkRqxMGF9xCUoZYhQEDUeMX0sSHI5CS4mvFFwcR9TM828mRRadNM6y2gNs1G4TCrlWg5fc9LCF93XztB3rLzJQzs9mhQ-rKBzT67NHFpJUVQiC-DXO5vx9PFjZ_zGEckvRmcixgN2RXH1Tcd02rDo5iFOrBH10YCIGIaH8GFvhJ3yXei4NW8uBWJuEcz-K0U5dx5UHa-FCju5fQbTGSaTYJSVO-9NcK0neZfE-GLwbaTMfyren517vcdZhNRA5U33iotYz6EDSYiukAeA1pBNhqkKwCDH4qNL3_w-PUSOqkZO_5flLb3AM4fOpG0-1rN_Vsx27GE6y4Kyaw6rH3fzrJfNZlceHTa4Qw7lEWIoFXNpOFSY-T9XJyqe451hi0cmyDotCArOXm1A35R8qqz_BTJGpjR7MHlQrsKsuNFtA_-0xXp_2xydU91p7_S5E4x6KkvcDHCAZsYaeS6DcBCpdE0FwlkeOiIq3j6dh7Oqipa3CEL3XaRYKmFe6-enlHx2aD4rQ-vaL0sO4T2_uUKyTnbSXYuLFIW1C-AfLIjXM05aLcVCfXYeErXdbKWsopm4E2kvAE20PgddfwEzd8rvO_Y3NuvJbrDGTS452JQJCSn9UihUXLsPvL1EzEiMcAR8jo881Xz7_nSxuuH75gtR9d1rXGD-Hh4ielsPNAxKOTljw2n4cVfFmxo_uvNeKNEXuWO-AJby2_xguPO7sfOrg481mewzFAgwXR_fdgNKMxk9vVKtxr13MfMUc8rP2HQ2kreBVDWw8p0MPhXDlOmqf9W3mF7VQ4jF03JeXEH_7_C87wXubuaz05d6fXzIPBmFLcqXnIUyomk0cO6fNUwVzPAAgBnf5qhnSCffg=",
  "id": "rs_03c9b2882ec1d69f016ab44da2c06887d09b065106ba97a7c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.26},\"note\":\"The jaws are spread to about 7.6 cm against the bowl’s inner sides, symmetrically centered. I’m lifting while holding that opening to test the internal friction grasp and, if successful, clear the table for transport.\"}",
  "call_id": "call_e7NQ0d4bnnBGgI6nn0Nb6QFr",
  "id": "fc_03c9b2882ec1d69f016ab44da3bfac87d088ead717d1a44712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e7NQ0d4bnnBGgI6nn0Nb6QFr",
  "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]: [-0.3992, 1.5284, 1.5383, -0.9058, -0.3405, -0.3416, 0.7962, -0.0216, 0.8165, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3938 left_y=-0.0982 left_z=0.2536 left_yaw=0.0642 left_pitch=-0.2565 left_roll=0.0541 left_gripper=0.7962 right_x=0.2888 right_y=0.0003 right_z=0.1608 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.6684, 8.1846, 1.1795, -0.2125, -0.0171, 0.0952, -0.0479, -1.347, 7.2, 1.6777, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9f754e6daf35d8de68e550091f2f6d67b09fa176f05e78e1ac2bc9ef17ff8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4df1827c52450d206ef3f4f7980f6484b3bff7e177a21d3df5b8bec1c2b1e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9c5b3c7d6cce1296c9e1e6b5e218dabba4eb892f2271e97e43bae3eaa4713e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.891 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.387, 1.4956, 1.2293, -0.6498, -0.3241, -0.3138, 0.0118, -0.0216, 0.812, 0.5945, -0.4232, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3902 left_y=-0.0944 left_z=0.1804 left_yaw=0.0499 left_pitch=-0.2814 left_roll=0.0704 left_gripper=0.0118 right_x=0.2885 right_y=0.0002 right_z=0.162 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -6.2974, 9.4291, 1.326, -0.2955, 0.1001, 0.149, -0.1573, -1.2376, 7.159, 1.6484, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4994, 1.2602, -0.6765, -0.3443, -0.3412, 0.7951, -0.0219, 0.8162, 0.5945, -0.4229, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3907 left_y=-0.0962 left_z=0.1883 left_yaw=0.0695 left_pitch=-0.2728 left_roll=0.0664 left_gripper=0.7951 right_x=0.2888 right_y=0.0002 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7214, 7.159, 1.3846, -0.2222, 0.0024, -0.1636, -0.1299, -1.6615, 7.1453, 1.6386, -0.0171, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.5284, 1.5383, -0.9058, -0.3405, -0.3416, 0.7962, -0.0216, 0.8165, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3938 left_y=-0.0982 left_z=0.2536 left_yaw=0.0642 left_pitch=-0.2565 left_roll=0.0541 left_gripper=0.7962 right_x=0.2888 right_y=0.0003 right_z=0.1608 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.6684, 8.1846, 1.1795, -0.2125, -0.0171, 0.0952, -0.0479, -1.347, 7.2, 1.6777, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9f754e6daf35d8de68e550091f2f6d67b09fa176f05e78e1ac2bc9ef17ff8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4df1827c52450d206ef3f4f7980f6484b3bff7e177a21d3df5b8bec1c2b1e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9c5b3c7d6cce1296c9e1e6b5e218dabba4eb892f2271e97e43bae3eaa4713e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2xBeUDwo15zE0VLbZ06BF1YcqufRN93uH6Q5bT9R6oxcP-vI8--Uxg86CCaoAk_p7EOYo1GTTOlqgslkxuFjnE7_zJlLsWo1Vy8hltZzzeA6hZ86cRL0MScdn5tkXr23jNWJVnNiCaOmaMla5naXx3MlRT0M16cSe6WBvuDJXzGNMA2sFRT1CKmDwA40iA5ZevfzyOVnFgPwN_lXLp4Eij4AutAy9Bp_I9G2GGV4hOSpjpgcjXsSaXWf5f5_t8j8k-g6lmU7BKVJhgONF64XEQKm67rCk-Vye0GOTSlNcZACatgB6ftF8FLkkKJZVOniex4t1sG0OVwWddTJnRXCANWKIyk3z3K_4Tr4BV-313JUfy2TwuoeCyzvCGkbte--u67BxHv6PkxLDpwtbHoqdk4bPr6Le0gBC5lSF4sCV5Xzwzsp2ujud8j7tANmU67XehUILtxqA1jLvy3s4lNy4Fl4pV469Ld9h9f3VJufcdaCxc8Az0pK95b5CC33aiLc7J1PX7SBNlnyWOXiraonCQ8CwI6db_btBJBSU8eWPuHGfpBOFk5iGt175kNhVF9xZqVAnqgMMX92fiRf-8AfPxw3fxIbI6YqEO56h1a7iGyYGKf31FaTbtSlO6eqP0kwzZtEVH2ErvtgKCKlyZNaL1SpI9ulNkt7HU-3xqXjMrBD4G0mJ7_4kBEU7CgMqYP5KpodjZHJFDjOvVkwW7WhM5YyN5OpVd4UQADpMnO4EDzEmbbEX14L6PgpX9wMB60CqfHZhkKyRxZb03ul3Cuar9wpMrxc1Z8XWmsv3ayIshQq106LgZSJeQ_s3KzG7jOFbDZ_atONUrbrmRx-lZtlrlnu3QOg3DjnvyKm7iS4O438NItpNz0qt3yRQQbCHSe8jDtBYzglIqGRFjWxcTHHlcVU1mSmWPtAlmAoIznOgq9vu1TQt6tpskVL6dGifswiZHmfjiZoTMZoxHo7LXex5uwvG2sGvW3GUYhMvy9Ew00nKO2PIP8Xg78ya2ibCq7mvECBOvr2zHY-JhZTlMfj67QMvIm7ng1trEOCyRLa24x_XRG6m_DG79QhAVOD_1tMHUORid9lpqXFlQc8ScQYkUU3FdAdU727PsyEUGy34BDPXIGsJ6Gd61_0wZfsNoAJELNIqRjgeliE2t9WSBDBGz8JdxORZPFblkdqzMPdsef9KOcHntahGk3pqpRl1OCwNbXNeeVBaIbcu5i5gFVgh9IGp07S8wRxm36-ItpJ2DGoRqRVN0xuzA5AAZy6OFmK13_bpj_rd6Hvkl2N_hsgqig4tsCFS3gF5P4_RjMUln8KvhztrouqFGBCd5w2kNGh7cOZUhGYbJaV6qhsHLzpPhFSsJUhRLDVXmYn4m7Tj96SqK4hB52B5PUgLnHK7HDBnBfTIoKJVbnyMrlNjSzDo8ylpMk4ROmyWWKWD8_Zk0txboCtN-Y4WNvAT3VZl5zgZPBb3RJq_m4fEFCIuHoaBuVeQgNqgfSl0K7PTN4BmnH6dCoBzzsFBa7oU4HkmqzyHQrJXEQc4DB2j-ljXl2D6UDyWIba4HRvPis9aAJiKCNhi8SOaDRh8R57_FmzouGZzJgYcGXtGrQm_YN5_xJNWyi7tifAoGlBRiPYzuU7u8KrFZ4_Pr-TGlMAhRJ7Fax3ZCN9FRCK4nsFV_xYFkt9nV6nIjAngowoArlcR-oNvqIz82F4befYH8ZsD8twAm_yQvGZW1ibTblTdx5OHPJl5Dy_2hyXO1e0g_-yMwNHCYN93u2GpywbX24i3BuwxM48qsnING2jHoDZbSzs6E8dErYq84mmWt3lRtxCdAzvb9WLiq7fXDt_DIUH4v4_tiauxbUZx_Z5ZoU7at4L1OgPZEj9zTduYNSueC2f_2gDeIU81QQIMy_P_sFns3GLyNueyxh7wuT5PHEXv4pmqpaiJa43vdLmhxJlSzbj4pONRW2LiUd0uj6EA2ALjehLzGa42H02-QYaoM2VZNk2RPSJTK9qy1RkiQIASQTJlpNhlvm1WbABnZlTsbLMeqgV0v05T7fqtM9GaFc186GexkXiAkv65-8B4GM2yVh64NGEFBRpoM_A9z663mI26NiBStbqDoLKkeyeFnRL9ANl5giqlxf5GFhIzqOdmFHGBr9UpeE5T2OiQ_REcszMzVxV1a6kAp1kO1oqCcN8Mw3z-o6E8ZMTO_GW0R2TfrJcZKk8BbwA95mE_Qkgh5J4HW2MZHdNK2OLICB77L3XNfMFiY0fnO5x5LV9OcnTpi4Co1-vI3OjtA_3MHgQlA7yM7_4mQH4_DLnLwbZjTKflt01ieLM2a_AtX5dL253cNDye_61sP9dpoTLXrdXNbOoKVLwi4h28umIWomDZZ-iHrem71OBV8Y0O8HsmtKbxShlLQ4OgkTJ7HaWc5iBzRxSUr7M6L9HleUenQoIueo09hp5n2yBuzq52B1c_2oofqcfDNkpseQK8OuD5u3pMSca9sOny9P3bnO3a1m4J_WYGW43_FMLj1f0F9VBblXPzLR2v19b_6tmFozCZwC5H7i41xMzO6kD18mtdkiDnataq32VcFe6PGZzFa2Diau0_OUs8ViMsXai-HyKg3AjbDvxW7gRaH_NBZgRmkGD-BM6sy0DaV5NsMo5ATZ5xUjlja5p0gQ_7K5zLn0YZT4XDtLGokvQto24QCmlsa77B4X0uaysa2fR0TbsKG03W-ghXW1jruiex7hBdSCwvMf-S2Y7Yt_smKxA83zAJ8blvYX40l6goH2Od_CTMpoH3eMKg2cifNO9t0h9F0Gcz1quWNIAuXCzLHwmZUBeJt-F6E3mJTgBTg1vppGDk5zYWM9-PYb_SqzDU_pVHfVPgfqzG8T-BMYPFAYK-dRavPhdxPGWIdYcSNG7xfqhaUhnw0fS_7NknyajqFpy9C0ItIcH41uUJE9LjOueuRXzrF0baSlBjWAV2vPzKdBmZRSkyQT6Mbb-8tmAnK-y_pThJDvfRX6fAgf492v5he4dU6U34st68L3WYBMilGdJgmENEpT-TmkwUN6OvMO_Z9xtjJaGDpAd0u1G1EUTJKxrTLWrLIsCUm5TPeb3TVaVfNqaYgj3OZafVG07PWuenvQRT_PqDSDpsBqowe0FYe5E2wk1hJLHpAtLRr0aG6yB4CmARDTzZ0faprmfI0abm83kjJVpzC18DUzWf8IOO3k8-VWFOr8367f_wuJ-w872pah1yzlZdkTkHWag66LhguAcjZW1STjLUW4KK_Mh9D1DlSgEaXyOCyD0Dnnbe9XnXhqOiwagvDcrCzEtmkwQEVUFaDFDKAVH4PeejK3a6t2XgJVE7gpykNh1dkBBxkHLsxAErZYd9Vqw-f9bVOeqo-3ZZRbqZ45GJGHWV-qVYJAHXPchNvDoU6B68UTsEcCWWUUYIjBx5ImOmggmjcstPmGjnsa173NdicRrr1xTEeIIc79yxYZSFftW1EUoKJAkm8OtbvfqEcsRWp4u3rQ53eRZYM8hC59hQHjOukdXJYs3cVApQctuqBh0d8QxF3gaZHhI28hFLbEILr783uYUhgBrst41C79xnL8Zgbd05ri3XBXUmfg3j-R-cNOj9XsB0OP9SqpRaLAqtoA6TGbeDrypEOWqwGGVUe8pfvFvz3iHgSzDkr7H-bQQNUYVfxpxmKHtlT8NQgT1tlmJmsomdoInUDAttHDHmttJiOna3D7uhULLvVVCFUdxecZWuYWwM1VQipvGBLScNjpvFhrUxmZGViIIgAxfM82hYNFQkceIOVdtWYPfxucYut0aYB25XiAiaTiz43mpqzsJAcbHCzWAGnP7R_kdljq_dtJv-14X-t06KQrPbI2EzBwBPttavkwqceeUIpVCHIT0YTiYfRicrCANSJgU1iScn2ehmhCkAt72N8MSWptiGAoAKTjwj8G9_PganL3Qbb4hECsAVbukazILp8KRW0V9b6yZ-2_2kpdnRERTjFWZnELSvlfiZCt2se2Auh559xzAAjwi_kz41mWoxJgkgu4HDVGQJw8sPcjrjNKv-6K2-PwDGVZhTBcQaMi0PGj8eKuC0euGebrd7e5P3usaXgyGajxMX1t7o3NfeSa0vUN4kaDQZ58VhCO3wKLyIBh1QsA1yVdt8WrSKrJqEnXYA05pnKrYANWjtJ9XgnTGkCjiJ-W2o29Dh_Kmq7gyrtOx-tLoP9HGWU65XB-uV1TtiGZW5YPnvylsOXbknmuUHEJd8i0KcOr2x-9NLSpV4ayl758ldqbQ8tCuxPoLCSMQiZNuRuPqP7QFIqy4B1AwUSWkaa1-jVAKyGwdA4AWVYFzads6uHreaJFpuh6V1WnmAYYBFvncCTHk0wHy5iLM-EPXguh_-U48-0CTes2q8IvlX3vJiJpLM=",
  "id": "rs_03c9b2882ec1d69f016ab44da6f4c887d0911403cf96552109",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2xDX5RxhYhf6tt2PuYLHRV5KMilqsyOXgLnGLpRdWucTnHiUVyGYrL2putGrUIBLtxjfjZ-XVa-lWmR6-Ztdg2mAZw3K99Ijv4cQmHPApaBdUzpP-sQkw79KBRpBKxe1RiTPFNAttqbeWNz6lTpFgOk2a31Q3cC4MXRgqJ2PfUtUqSOwWhSYaQ41KF38nEMng4XMwP_EkunbBlD4qHbWAsSJoVFGVnatC54kn1YDrFQLgOOSVG7CdooQgD285lbR5IXRQ57EHI4X44jmyNl-DTsF_tbreQnfqWDvD1PdNc7LzSNlxEPRMR3tJeTd_4Gc__N3AgUM5HFlIbEkEc4oAPWdBx9e3xsGW--hYFoNPeceATNC-ZL-H10Eq0IN6gv3r4QAZo8otUTqAsiiUmNBf_JuqOZjTqzwnbeFxAo173XMNo-7zfkjZ9pggUOAkYoQPrTBkhU8U0dHe74u5T-HJnO--ToDNONlrp2UkfgJebVu5waWvqt2w57WCZmKXUOxCjBYLjL9qEDs_s0PTQOtecxa21xljJUMTKJqMcUrTofzxHLSrDfFyVReN0sC7a4WXXPIGMLQ-0Ki46K6S7kc0-oYmJXiM-nvAUBE65aFwAk0T866QzXQ2j9bs7PjASLHzEnT6ogpWbaAlrgnf9UpO4je2lV8KpdnvuJhk5Ii_cKNxXY6MZyLA1_Ov-w0flyX8ikVj8D-1QRL2GpoFeO8B249aw8OqVVCTCbnQk7j79NtbAPfmY47XYru4G4VSYW8TWA_S_bXp3U_RXnDRWR_SxUhQAlP6OOrGJ1iNMEMLw9B6n6pOvV-SjW6XnXaECSnPHonxreOl8bErRshlm1gdwenWKw0hjT0Q_LL2YHPLqqshlhHIO1yBY-kPDHxQJxCBY3I1sYs7FreJsie_QKRkjAGP0rGnn4yKvZzchXOGexeE5gRL1fJ3bnRoEee7QGWPGTnCIsdwxngpwBK307pGqt1ZsApSOh3N0PNIHLXEYubhbbtOb4x1AjyEJz0H5QdgRzJCnRrmqRdZJZt0-0qohsd7X40XeGUrERsFM_LGZVKG1T2xLiNlpXJzO9y0xGZe3B8qc2HC7CrSfzoz9b7EQZMUJGmcGUe4BlGwEfB2GrKXgt_l7lcbF7TucOQ9awwR3QCZUR1zlfceNyiDNBIet8DmNkOfrftZnK7H6bczrCg2NoJ_1Rt_QPxkkNjpZAN0FKHzcW8vX1BUumgg4ub2Ekjm_FKAsZ0IeY2OaRepd-ESQNJibyaqIMs_Eqc7ZK-gfGTJg0czB9NtoRLmX-_AiC6pK_t30CAYurQO0x9mfSFvgzXRQfSxcxoVwPIvnhxGeFQFcTOKA-7-7H-OTda541KfpnNeRTGMSqDOv0Uk1qN3Fi_uOvhgiGpohTbqeBjQuCYQA5dAiJeUznbTRpcQVizQt61sHRj2ZeR22c0G_7e5gWM8Phaqour0TPV-uHCI7YWDBqXdBkFG1EHfflHNOgLIVcLTsJf4d6othlDpyTLjJ9931RwZb4l2ox8yIPvxPuGWurRa7Me2_RziEvUbctiZyJ_d3Hj1K5e9-zbhfb8hn83lABxLl29ESETEANCreBjluwxJeNynmDpb5A2aknKT6k5lMZbmnwu_Aa_D7Opt-qKymcGAJ_l_QO8005hgNa1ZBLLW0JDe1k1j1Cknpdj68cbCcsqUnNH6Jbh8CzEvnuLZZLCl-YnW7T-C3n8I6Oz--r6uDsErmrnPKw3KGPC7wbx2991nuEJ42f9EhsIdwR-heT5gfq-2v7y8EHD9gKaQ4GcAyy-ovn7Cpnz8XqCswAYH2rJOAzHJop1GbRm9QOr1p4oFCudEjcnS03AbtslfZcAkd9gkOjvwFulkkWdfAyTcL5oSD8GzC1qG48pdHYek6ImtjSohcYRQ3XiufFOGrpJx4mNwn9bPJ10h0jkJS-Hm9LjosLIIArC7Uv40iidP0smmDelP0VN5a-SitGKbSUojiMOQH6PXIwO4284B3_iHYb4Qz3igpUoLFnoI8i9EIaZW36fOXrYP54y_IlWOI5Hi3cKWVtbC6OLzDc6GHWEZ1EwyEyTq5Z17LjIAgm1noXAHhDxsLhBNpVURaX14ubnm81iXaD2I-SxJcCcPRTUcGjoHcXru4GYFWOQp83TCNg5irp6y95zCOfI38nGnaz3ZejtmkBzxkASJfSfFtXXKkpTnUKiElJamzoMG2vcCioqgqk58i9AL2MmNwvNxzNkbBMYqYttrOSh8IU877jzqwfnNzOmJFRSmpEazpE0ebqxO64iuySQryeO-AZukktppjPISdTqsAhvpv5sYGlizAfqEhcbvz91o6Jf-BhAUrTecfOTWK1IMBj4AioBir8Qns1ZaWwxv9AILGR6_eaEtMlZEN5JIv6gbEyZ7-b7GAQlAbuIsuAqBkUxkUxBVh5_rtDilRtbS0ESyDxh7QxTYlX1jMD3_eVbcMM9nSH2nCnWqP3pJj9pP4dBnbY_taeAJlzjBA9Je4sxoRdfw0lrk8mqleg58wNs_wIsfPlaPuI4CMPMIKC7tt51Md84bnfL665wmBcb6fP-IfNDzQYzvXYDxDSURXELivTj3G-eeoj6K9h0FtSYAbgIkjWEBIO3OLUQdDlG7Kl-wpKQcfY9X-N1oXmbZb1Kwx9gZxSam3koF62DAvncz9vjf-GgFymDgnvVivTFoNuNAE48Z9pA5MMo3sclEG_RB7m0tqUis1BDLed84-XLs9GQcMjNK3oah_yT7INNND33iMhkOinpwyMv4IhofliT-oNcd83OfGKMkq2VJin83Ec8RFILPNItOoWksvyaZMeTQ2_KV0tRpBBrPFqeFJx2gtqjCYVR6lBB9uE7C-37hEHfPROMczoWnVSA1-JJzUWihjHcf9X3cmJx_v4hsVYEmdhe4E-HG768JTSqdOCAnf5aebq_xqMGOA0wYxbALRpbzshSNF9os-rWwvhKGKUd5K5ouoOgzO0O8o70H4Qx83noC1-t45WsVLJkP5qHzwqZ9gKWTGJsEPcquYw9KR3GMMO4xqC26F55uSfzsnAgVp51-Ve7rrTuftLjAxtKwHPqdoieRPfi7EkX4kWvy0_v9cHvj218K4ax63BHxkyTD9-BghfvzWmk3f6J8E_Um9FwA5Sz7Z-uE31A4339ep2Bxg4wzDVC-ZN2NNGFE59nM-y2DFuMkLYpUXeTfvKfFPFNfPIcfJ8947T7qvxdANiyriujU=",
  "id": "rs_03c9b2882ec1d69f016ab44dac8f1487d09261df02da7d1e48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_pitch\":0.0,\"left_gripper\":1.0,\"right_x\":0.42,\"right_y\":0.1,\"right_z\":0.15,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The internal expansion did not lift the left bowl, so I’m parking that arm and switching to the right bowl with the right arm. This gives a fresh, unobstructed approach for a conventional outside grasp while explicitly holding the tool’s neutral pitch.\"}",
  "call_id": "call_uXqEfwdFuCJXaNiXDUtLMePo",
  "id": "fc_03c9b2882ec1d69f016ab44db083b887d09870ad7f6737ba99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uXqEfwdFuCJXaNiXDUtLMePo",
  "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]: [-0.1478, 0.8356, 0.6308, -0.448, -0.234, -0.1368, 0.9986, 0.3351, 1.4635, 0.8257, -0.0563, 0.2497, 0.1516, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=0.1011 left_pitch=-0.0613 left_roll=0.0522 left_gripper=0.9986 right_x=0.4002 right_y=0.097 right_z=0.1226 right_yaw=0.0376 right_pitch=-0.0989 right_roll=-0.0333 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -0.8957, 7.9385, 2.2393, 0.0073, 0.1392, -0.0464, 0.3487, -6.9265, 9.2786, 1.9316, 0.1929, 0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058bdff3bb945904ef4612647cb36d14209855bc917cda6f5a00e3a2c72136b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aaa3887cb3e3a9ae84598f8792071089aa5f0aded5b7dc61a1de47fb174791a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8052f755a3dc3784369368e92f0274bd3322a9ab2071f275acaf344bd9fce1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.471 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 95 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4982, 1.2613, -0.6697, -0.3454, -0.3382, 0.0131, -0.0216, 0.812, 0.5945, -0.4229, -0.0162, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3921 left_y=-0.0966 left_z=0.1902 left_yaw=0.0675 left_pitch=-0.2644 left_roll=0.065 left_gripper=0.0131 right_x=0.2886 right_y=0.0002 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.7761, 8.7316, 1.326, -0.3297, -0.0415, 0.1294, -0.0342, -1.3197, 7.3504, 1.6484, -0.0464, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.5284, 1.5383, -0.9058, -0.3405, -0.3416, 0.7962, -0.0216, 0.8165, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3938 left_y=-0.0982 left_z=0.2536 left_yaw=0.0642 left_pitch=-0.2565 left_roll=0.0541 left_gripper=0.7962 right_x=0.2888 right_y=0.0003 right_z=0.1608 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.6684, 8.1846, 1.1795, -0.2125, -0.0171, 0.0952, -0.0479, -1.347, 7.2, 1.6777, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 0.8356, 0.6308, -0.448, -0.234, -0.1368, 0.9986, 0.3351, 1.4635, 0.8257, -0.0563, 0.2497, 0.1516, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=0.1011 left_pitch=-0.0613 left_roll=0.0522 left_gripper=0.9986 right_x=0.4002 right_y=0.097 right_z=0.1226 right_yaw=0.0376 right_pitch=-0.0989 right_roll=-0.0333 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -0.8957, 7.9385, 2.2393, 0.0073, 0.1392, -0.0464, 0.3487, -6.9265, 9.2786, 1.9316, 0.1929, 0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058bdff3bb945904ef4612647cb36d14209855bc917cda6f5a00e3a2c72136b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aaa3887cb3e3a9ae84598f8792071089aa5f0aded5b7dc61a1de47fb174791a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8052f755a3dc3784369368e92f0274bd3322a9ab2071f275acaf344bd9fce1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE23SxPWMkNj3s00x3u8b6t5rBT_0YXXGk0qrrhK0sLZXmW2izFkJGxD7NrbGyau8h_8i5JX5y8A2-9eLooewZSaEcCqsVm8rhHIDTBryLHZIIOnniyiL_vho_IrOWccMyD5UfQd-T3Eeanx3rveQGjP0QUT4eC8xS0aepX14KtRaHWzfMC_uYOBIwatN95bMdE09lDfIe-uyanVfzYb_dEYr5HlKOWdqC9HexbXemfu8lraqAGMkTAyn4C5_RwCUj39bSFUbOnzNLJzDfzCaqQwzFYIY3CdvXcRGeDuof69D31jycdhO8HWuqJs9U5Zc1AqHmhgk75Cx0Aw1_IV0qTx9atcfAXITwY6Imc9ckKcLw0ggoXQ5olr1pxy3kcSF_G2dhz01p_MRi3yevEWnaWb7iazB2YOscFqd7Wf5bxclzPeeYeU8PyQUAuRbxQ99Pcm3wm371aLEcOvhjRRxu15RlS0uAZswphnWFdHGQxGkEYH7ejur_rwmMINsvgJf1FfhEeFJZnIAOJZHFElpJRTt27VcKWfjOh-iYFuPa-XxabC3yuns64TcJPGiASihDh2MO6YgRmvsPHE00YdA4UBm31p4T_RqEjEkg7az-JX76A6Z-o_AinNn0_r94qIqIfpEHQFd-jIH3rIQVnRp8bzJ9rxhY8shc6Dnvhu6BklaAZBaA7IWxWFKUfRvG9bkUNKOyVUJMg2okMX8V2OP27p6NRxt-FV1f8fsnBZOluxiDJLGwsSz_ZwDPCD52gUjE3IS8pHJ-sArxHEz44fmDsROrTcy97yR09n1G6Ye7bjVNQkoCb-LZwjxlwCjJZBx7yS9ljNh2MSrkX1vvddrbSCZ6PgwOd3QasoL2M5HxqjzHLGEkFmI2uXt2sKFgE-fSUdbp9naagrBUopSi35kkDcWgfjBbaga1sc2__PB49iDwHakZzNqfQq8DaL0V99yELwXMpaTTmyR338Gy3k9IuQwRqV1F4eRUlLmpVU8J9ZNwnbWRVzM4KSelPNQ4K_eDl1J7W6HrfgaOZo56dhPQmGDW-61mxQDRDJzA8Qb0emO_SGQ-mbYYi9ofN3RvXcKRhpJLM3QYkqeRPMv5ZHh9CKspKzCJVBdpJTZk2Y8uzHgGXnUx7uqZqORP8kR371bDM6CEVqG_vEulsgwThOBHiZRMKf5aF0fL_E6jqomURP5kylriag9_NdYmyPJWJyou2Fuvffme4shFJSJZdng-4kCcZnhY_kTXW7TG7N8PuYmoUzczYmxiny4FGskx1bXhtjcLAHXtMM7enX23tgCQPewpagQh1FL4i6EXAGaWNg-hJKSdhvqh7QyU2Cqnv3fL_AGqtG4Tw9eLM68XXuHyKvuLjsECEGbMPcdg04F9Ca7VR_BwOl0fMrwXf9bXAincsdocKUSBlfI5XtWz9M9QigRbSswK-rEc2XGBCmDE4QMha9-vNxL4Zoxt5pg5hNFjvAaSTgJKfDqtq8UvxCAei2aseq_4L_hEQepvR-9JZJmw3bWxhPZcTZPm1dDOqaAiOM",
  "id": "rs_03c9b2882ec1d69f016ab44db5ce6087d0848bea9ac26a20d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.097,\"right_z\":0.07,\"right_pitch\":0.0},\"note\":\"The right bowl is centered between the fully open jaws, whose tips are visibly outside both sides of the rim. I’m descending toward the bowl body for an external grasp, keeping the neutral pitch commanded.\"}",
  "call_id": "call_s4wvxzDNZqjisiE0WmnM26p0",
  "id": "fc_03c9b2882ec1d69f016ab44db6b07487d0aa999ee849e06ff6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s4wvxzDNZqjisiE0WmnM26p0",
  "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]: [-0.1471, 0.8425, 0.6098, -0.445, -0.2222, -0.131, 0.9988, 0.3386, 1.5997, 0.6292, 0.2398, 0.255, 0.1371, 0.9991]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1591 left_yaw=0.0893 left_pitch=-0.0873 left_roll=0.0556 left_gripper=0.9988 right_x=0.3863 right_y=0.0926 right_z=0.0469 right_yaw=0.0432 right_pitch=-0.1333 right_roll=-0.0587 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -2.0171, 8.8137, 1.5897, -0.2027, -0.0855, 0.0024, -0.0615, -7.6239, 6.9812, 2.2491, 0.2759, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc1b064a22c94f3f2b7ba20fc869ada04b0fbc45315fe8af89ed5a6dc7b439b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e75042895de799106638332dad0b8f9757d35709609f658ff3e8990aa1faacc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200d2fcbb1767b6a6719bb92482cbd4349c51509295e66d8c6ef8f2ee6beb0a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.041 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.4994, 1.2602, -0.6765, -0.3443, -0.3412, 0.7951, -0.0219, 0.8162, 0.5945, -0.4229, -0.0166, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3907 left_y=-0.0962 left_z=0.1883 left_yaw=0.0695 left_pitch=-0.2728 left_roll=0.0664 left_gripper=0.7951 right_x=0.2888 right_y=0.0002 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7214, 7.159, 1.3846, -0.2222, 0.0024, -0.1636, -0.1299, -1.6615, 7.1453, 1.6386, -0.0171, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 0.8356, 0.6308, -0.448, -0.234, -0.1368, 0.9986, 0.3351, 1.4635, 0.8257, -0.0563, 0.2497, 0.1516, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=0.1011 left_pitch=-0.0613 left_roll=0.0522 left_gripper=0.9986 right_x=0.4002 right_y=0.097 right_z=0.1226 right_yaw=0.0376 right_pitch=-0.0989 right_roll=-0.0333 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -0.8957, 7.9385, 2.2393, 0.0073, 0.1392, -0.0464, 0.3487, -6.9265, 9.2786, 1.9316, 0.1929, 0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8425, 0.6098, -0.445, -0.2222, -0.131, 0.9988, 0.3386, 1.5997, 0.6292, 0.2398, 0.255, 0.1371, 0.9991]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1591 left_yaw=0.0893 left_pitch=-0.0873 left_roll=0.0556 left_gripper=0.9988 right_x=0.3863 right_y=0.0926 right_z=0.0469 right_yaw=0.0432 right_pitch=-0.1333 right_roll=-0.0587 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -2.0171, 8.8137, 1.5897, -0.2027, -0.0855, 0.0024, -0.0615, -7.6239, 6.9812, 2.2491, 0.2759, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc1b064a22c94f3f2b7ba20fc869ada04b0fbc45315fe8af89ed5a6dc7b439b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e75042895de799106638332dad0b8f9757d35709609f658ff3e8990aa1faacc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200d2fcbb1767b6a6719bb92482cbd4349c51509295e66d8c6ef8f2ee6beb0a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE26npY5whye7h5_A9TDKxAYoE7G53WUZ8ugRYNnYmtg8Trcyd-GuD3EzxOkACp6v4BRGLJtcKMd1nhLNqZFjAhFJz_7UgLb2YWun1SuokhV6LycWLUpC3OJqJ6CqbW4MIzyLem-WNjRX6LG7HmW3Tr9cfazyTcSF_vclJfZg0pow9PaUBgGvn6FwUvVBHB3y9QtA2iL7ci2HdrRrEbh4NmKk4BKklQh4SFCJvdKGBem4zYwwFqsPMMqT2s6uk2wzvJsKHNtf2X_MQbvE8wAo2dNg9MzPuG0cgMeOnBqu4drfI5U1LYLRgZqto2ghjF708s00bpXdHFXfqyBFZeGXzpwpEnJuXnMUCIgw5Lq-ZgRgIQXnBb7Ma-mhnLB_p9WfBu6Te5K3ZJqLiFlhrY1lh6H6NaFgnAAlMrmw9l3zpCB5pSDXqrUZLc-YDcSdBNgOfooR8Ud9WoRieYATYCC-kwekUnsX4TwUY692uONUTU2iIXX8ux4LvPqvRoPknc23FCfY4E8hhzgD2vWaJVMPjtUZkN5biRmPPFb3vZKWZgnki4328CCC5c3Xp-y3MdBGIP_UFHpSPo-GHzy6IePPR3c-_hegYwgNq-CiiIoCXYi0XJuo0Zh-fj8q12ZJQDLZ0biPO6pQp0GaoAykczBvnD1SmhPRV8TIcPdyu-vfFTcL5VQ9snTXduRTdWwQ84EIpJYjK6TtaF_b8FdV1ZRzmyKFGBQMAMksvg0djP1ZyT9yP_ivyAcJ02ykxg1B1Y4c1kBJ5uUXd6d9QODbmIA2pul-RhV6yK35IEJXJjBbWTphWiIuHpz2JkIy0EROt4b9dyZXhCKp79ZMVJzaCYtHgpG_6NQspY0Dof0cHP8KalNMy7WIlbAdv9SAkd9jUJd2JessNJSKjb9R-eH1HRTJwDw4cIkjT2rUVaiiCi_zfDziUfsWK3-O1zaxP8oSk2Dd1tg482_tXQ9s5AhDNbHSaLdAPcvmVHBSLEQn6rC1TB4hM-1LsksKkuFKGErbzrqKUPYXujLFSN7M24KNR3KFWjDl0wVTW3bilh2v9LJ2ex_sR-SbJQgSfMWLQg7fLWYOk2hDz_R0o_fVvGV2pgslKi_E81VHiIXjV6P56Yfuz_G7q1QtGloD62V3ZtIglqm-h5i3d9nCLulANhD700w6yFYW4VDTVxaFVHTkUJdtKzxWtbnZyeCJ_QU0FftrVgvr__RchggQfZcLuSKHRfl9ZcwOOv4UnDoyWr78II1z-goPFjCl2kJT82_7laETB1SE5kefR8QZR9fqt6l2sj5J9R-RtnUtGtN7KWSuI0802iUGh5HVRxgX4wdNHfbedGEjXpG0wFNGy2C9uDmPdToSVJX7w==",
  "id": "rs_03c9b2882ec1d69f016ab44db9649087d088da0d599b88e476",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper reached 4.7 cm and the open fingers remain outside the bowl on both sides, so they now surround the lower outer wall. I’m closing for the external grasp and will check for a substantial nonzero opening.\"}",
  "call_id": "call_kGSfVM6jYcrnTu8yf7UXohSE",
  "id": "fc_03c9b2882ec1d69f016ab44db9b4f887d0a8c2af3a239cc870",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kGSfVM6jYcrnTu8yf7UXohSE",
  "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]: [-0.1471, 0.8436, 0.6094, -0.4515, -0.2321, -0.131, 0.9988, 0.3382, 1.6165, 0.6094, 0.239, 0.255, 0.1265, 0.022]\nstate[eef_state]: left_x=0.2876 left_y=0.0021 left_z=0.1576 left_yaw=0.0978 left_pitch=-0.0936 left_roll=0.0637 left_gripper=0.9988 right_x=0.3788 right_y=0.0898 right_z=0.0334 right_yaw=0.047 right_pitch=-0.1695 right_roll=-0.0777 right_gripper=0.022\nstate[joint_eff]: [-0.0889, -1.1829, 7.0085, 1.6581, -0.0464, -0.0757, -0.0122, -0.3214, -7.3231, 7.3915, 1.5995, 0.0904, 0.1197, 1.0769]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a81bd0a3ab6aa4f9c562f4f39cb2b6a63834f1962df2d53df5c3d89432cf37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcbe09b99f73ac5b93039212ffe898d2d539a9c3c9102a915011faa376d63a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63a33e57f3b5e82492d4b9ee219126cec82ac1627b3e15ac32d38ba26ffd9ef",
      "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 · 3.602 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3992, 1.5284, 1.5383, -0.9058, -0.3405, -0.3416, 0.7962, -0.0216, 0.8165, 0.5945, -0.4229, -0.0166, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3938 left_y=-0.0982 left_z=0.2536 left_yaw=0.0642 left_pitch=-0.2565 left_roll=0.0541 left_gripper=0.7962 right_x=0.2888 right_y=0.0003 right_z=0.1608 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.6684, 8.1846, 1.1795, -0.2125, -0.0171, 0.0952, -0.0479, -1.347, 7.2, 1.6777, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8425, 0.6098, -0.445, -0.2222, -0.131, 0.9988, 0.3386, 1.5997, 0.6292, 0.2398, 0.255, 0.1371, 0.9991]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1591 left_yaw=0.0893 left_pitch=-0.0873 left_roll=0.0556 left_gripper=0.9988 right_x=0.3863 right_y=0.0926 right_z=0.0469 right_yaw=0.0432 right_pitch=-0.1333 right_roll=-0.0587 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -2.0171, 8.8137, 1.5897, -0.2027, -0.0855, 0.0024, -0.0615, -7.6239, 6.9812, 2.2491, 0.2759, -0.0952, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8436, 0.6094, -0.4515, -0.2321, -0.131, 0.9988, 0.3382, 1.6165, 0.6094, 0.239, 0.255, 0.1265, 0.022]\nstate[eef_state]: left_x=0.2876 left_y=0.0021 left_z=0.1576 left_yaw=0.0978 left_pitch=-0.0936 left_roll=0.0637 left_gripper=0.9988 right_x=0.3788 right_y=0.0898 right_z=0.0334 right_yaw=0.047 right_pitch=-0.1695 right_roll=-0.0777 right_gripper=0.022\nstate[joint_eff]: [-0.0889, -1.1829, 7.0085, 1.6581, -0.0464, -0.0757, -0.0122, -0.3214, -7.3231, 7.3915, 1.5995, 0.0904, 0.1197, 1.0769]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a81bd0a3ab6aa4f9c562f4f39cb2b6a63834f1962df2d53df5c3d89432cf37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcbe09b99f73ac5b93039212ffe898d2d539a9c3c9102a915011faa376d63a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63a33e57f3b5e82492d4b9ee219126cec82ac1627b3e15ac32d38ba26ffd9ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2_44UeAsKS6P3H3cJk_2IHoiTT7iZv3xCpUlVR0A2PfFY5SpqvncSCLCsEKQhUAD-nGk6RYCd4HoO6ZPbfjDRCxw8rct6qReKj2UysS4oxO8iSMAN7bRskcaSF38jy9xh-DiwEXahp_1-SxujaNSQZ1w3fEwflWPhyKJbusCBeRw1_1bnoLHJq3LGDBp_dmsDxWfIupDLkIhp9QLMIgPkm2Yhbw0F2Al7bO8pGbom4LjEbk-XPfoIsHvZroToWt80_nJzsKHkcfjiKPOqSN3XY2dI2hNJlyT6fK6KW-HnINCsVQ1ruolCikBjengRyOYtxSWEoJC7RZg-5MGJrRCxdbvoytEyocq5PomePJ4JcM5ke_5qPwovisUYFGkNio3rAgrT32ucJF7Y02qsMMkoM7HauHejs25cUX2cMWshFnzNKPi37BBJIWjSBK5UbWQzUjcKwPunEuehFmy9WghckU2uAZnc8k9PorLNttrQ4oV-wl-B5r4tcB7J1KIT3zHjrDa0SIFi9bdI44NmBJw3oZQdXpwjFnIXmf9vVCQucKC6knorCU5BYEeVfup8tGL7Nd9rO7rK7HFN67u_XRqyBGcXF7vnxgAcO7FNKy0_QEUu-qPuqvbihe5UHyKrbcIs3xqW3Ku6249Kftd42Pslq03VSctdgud_cXoFYZBm3eo6Vqm3SBWTgGrwUdUo6iV-1yfY4TrNscmxrBi2jgN6Ow2MGYiKKJOS9e-KiNFPGzUHyUT9rfa2U0vOxt29C0PLsZscLPSTrZXVM_EswD614oJOXus5lq_CFOODF7CCY1we3HKwFgRd90QrNVVmi4qYh3UaRbfYiLOpx6CaHFgitMk_VtDcfEFz476bUY4zQBnUySgmdj9zBFOX98WsJkqAh8F0LRg_PZQree1f-4xSFPUz0sYbg-YqjR6QfkqKLQbRmDJaQ2v60frMUkIyGSZ3uPChwXSSxRDz3p2I2osPqKPlJMcz-ADM8bb328iF0-Yi5VPm1-J7rue7hLv-zYs_6BHZGKS-U8Lg4JQFwMYVIXWzkiWl7KTS2WCyjDnm4ZWarHDiLuO3A8qHZMSAp8At6JXZHkJiRkWLYHQg3keMgRhd9ZBPXKWnlfENQqqMEkBlezkUnZ__jv9WsfbVem2QEp_yeJ1G64bp6L2ahVovOKWaRUnU84cyhwxWfsWV5MNnkxsexOS2WPj6jWhPDOBpNtNh_0eMFddkJqgTyLDM_CzEs72KcRNDx2A-IUgO5lmTPhWFhzEv-MpEWwcThQwVR6r95NhUeZZtj4ymKVhig6yBiUuGrh1fLk8-BLYasT9abZB4tC3vv5gUA_Cl3YUUGsPm1Hvby7h_MTbwT38plNlI57dSLqbdlZVdsv7EYWDcXLlfpHKQ7Bf-eTwhgpShDxRrwwXCAMqBPXtH-LP-UOKCxYb5WdzGFVAfve2Xi5MTxxTg0eyJCG2NFsTU4QLElr7BrDcV2D3XYmdGOEt_I8G8sRtf4KNogrcf4ESNbYWFveIQVeiMOJQcHNhGgC0VGfL2TS_SwXvk5gycDTI0Vs9BKCnI9jxZo3ZtxWBuexg3oWzQm2hIv8Og5vkmW0fCuvSausRPKQgi6c60emXiVKrhtPwdT8SsrRBEE-s1W0qD-Msvcq-yimb9vndd3jsB3oY8slGx3qkz6fXcITZ_zHSIogtMtMygHAbCWIJlOdy1pJDSic9mokoyCKS5Rlx9c7DgTGVPpdjraywOIkJFtQLs85VRqn5tQ11N8XRx4IENm2HzKlOAIu_zOUErnkGwfeIzL1VTvVusIRtJV40wuKTtP_0wHQ2Hi34vcJvvowtJlT31rP03Le9xjgT-VkfXYWMeXJbPmXCKSCpFKXf-jp3wlkleJYm_VAYWC_wi2Z05kbQyGc6Yyrtfpyzb7m75YDD4HTVW3AkbQWIchgOTgnUqOWRajVhD-lUGTobWoExNGLLeph34c9d0-P-ksZz4YyPKS4WX6qhvyI_CdMN_EwiSWj97b-XG73A67vUE4bnd2k210QHysDknNYW1MK0qaL31rGI2oSqOnU1veTa9x-BLuWcGhVSL2Rks0pIoft8eGOSSfgkAwug7yLp1pvdKPOXe0f9BR4uR8PrKUAFqyNSH5EW9jCFoAkJcbNLVZpHQQ7ykcESljRRSYyq0ouNAR",
  "id": "rs_03c9b2882ec1d69f016ab44dbc6c3087d0a638a8a7e7a3f758",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.02,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The gripper closed nearly empty and the bowl slid about 6–7 cm to the right, visible beside the jaws. I’m reopening, lifting, and following it laterally for one carefully re-centered retry.\"}",
  "call_id": "call_6wy4hMNdsFYnpgQiKWejJQD3",
  "id": "fc_03c9b2882ec1d69f016ab44dbe7bd487d09211ebac61f2f053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6wy4hMNdsFYnpgQiKWejJQD3",
  "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]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0822, 1.3441, 0.7494, -0.1753, 0.0841, -0.046, 0.9951]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3736 right_y=0.0195 right_z=0.1105 right_yaw=0.0302 right_pitch=-0.1993 right_roll=-0.0868 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.5658, 6.9402, 1.5946, -0.1099, -0.0464, -0.0122, -0.2667, -6.2427, 9.5248, 1.7802, -0.1441, 0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b3b649eb30963a3754149b9e7391fefcbd7eaafef136fa2363eea6aa60766f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1cfaf95fecc2f108f983ae2004ef4bd2af7f8eae9dde956153c9de5a0060e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b748de4f0dd5c9ab2bd8bbe66d246d7a7aba54e1e7215b9f3e33cd93a3bdb3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.026 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1478, 0.8356, 0.6308, -0.448, -0.234, -0.1368, 0.9986, 0.3351, 1.4635, 0.8257, -0.0563, 0.2497, 0.1516, 0.9992]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=0.1011 left_pitch=-0.0613 left_roll=0.0522 left_gripper=0.9986 right_x=0.4002 right_y=0.097 right_z=0.1226 right_yaw=0.0376 right_pitch=-0.0989 right_roll=-0.0333 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -0.8957, 7.9385, 2.2393, 0.0073, 0.1392, -0.0464, 0.3487, -6.9265, 9.2786, 1.9316, 0.1929, 0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8436, 0.6094, -0.4515, -0.2321, -0.131, 0.9988, 0.3382, 1.6165, 0.6094, 0.239, 0.255, 0.1265, 0.022]\nstate[eef_state]: left_x=0.2876 left_y=0.0021 left_z=0.1576 left_yaw=0.0978 left_pitch=-0.0936 left_roll=0.0637 left_gripper=0.9988 right_x=0.3788 right_y=0.0898 right_z=0.0334 right_yaw=0.047 right_pitch=-0.1695 right_roll=-0.0777 right_gripper=0.022\nstate[joint_eff]: [-0.0889, -1.1829, 7.0085, 1.6581, -0.0464, -0.0757, -0.0122, -0.3214, -7.3231, 7.3915, 1.5995, 0.0904, 0.1197, 1.0769]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0822, 1.3441, 0.7494, -0.1753, 0.0841, -0.046, 0.9951]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3736 right_y=0.0195 right_z=0.1105 right_yaw=0.0302 right_pitch=-0.1993 right_roll=-0.0868 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.5658, 6.9402, 1.5946, -0.1099, -0.0464, -0.0122, -0.2667, -6.2427, 9.5248, 1.7802, -0.1441, 0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b3b649eb30963a3754149b9e7391fefcbd7eaafef136fa2363eea6aa60766f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1cfaf95fecc2f108f983ae2004ef4bd2af7f8eae9dde956153c9de5a0060e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b748de4f0dd5c9ab2bd8bbe66d246d7a7aba54e1e7215b9f3e33cd93a3bdb3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3DnJQd5QJMa0EGWHA45rPvOU4LTq57CXcqtAh9ZZvc2Z4AJ4isax0s2KQiy-6rl3hoSFn27kexaq0hTbaLfLJoxDXFapf2gtVsovgw6Da6Ik8X4IT1QEa0X786Fus9lx0mp4tC5DnLm53_tr5H4Yz_okemi4PDPt_4MI0ezDz4pbvxkGrapxqUK9a9Ff5alHkN48LoIQ9eoG9LhcvgoebGXrTLb_m1rGuHujunW349z-5UDRaYLdoAiATG_0_k0FOBtr1XORcIRuzxIney6EsVXGijaeLpQAk81NlTQ7dXq8gEzC-jN6UFhILZydirBRmsZMrniFdkXin2HnepmrUqwW2phC6YXOlJGnC8MHFfx-l68ae3JAw6xZK-d7Uvdiw__aSjSCTceLosLQ42ReQQQZqxYoyhOYmpBypZum0mbv8Hf-zhfhLCNjXssuMYOQPkCI3_EboPbTIDrNJ0waAAw-2ChsOAGdOQ00g2VfmpDYUl1mptef1NiO9ddmUbG4GGT1ufM91ke39CHGnxctdqOd0urgQzzZjYVhz0D67wYkIzuvsOJhyJjHUYpuFSLewtYBuY3XrhdlEhyQVQb7sczEn589fo3mMIiNsP1st46Ao8QQ4lrqxZpQJhStBHLiynQ3sflqMzqpp1KuBU4rSnYmxAYYEf7U6zzY2huj5NyqJZs3U-aUDkaVpvAe-gEjW63XAEGp4QcMDsWbegO6M04PO_tCW2QInvQ1pVv871a82LU1jP5MmnCKA0Upu75IipA2MMc1PnmuyhJ8iuTaH5OWWFeX9AqMfG7ZiWSJflQbdSWrbNJYZDXTjYVQ1geAh722pcMvIXJCZ1Eh5aZombRC-t_bkyayJspu0pK8sGy-NKa7hxpGky9UV0-IhQUPf-zNovCS7rhV6fNG_zEr8JgWYEVC-EiU7yiPboN5rv-XHpJFMOu3Iv9mazdrEd0nsUHTPu0baoQjqFosuQB2qKskPl-iZn01yx8s3BiuihYWZuwj3yhTvVBmbFih34OpvJGXJW0KEWxNx9bTPq8X0hfSI9iDKJOJZa6DCzcflhViiZCt-WGsacIly41VY2t80dvsXBY3JbU9qUAtyCEot3pkbuPkl3_0JxqObtse8u69wT0ukTrG8qpJBSRCciMWqEB7zGOSQ_GtYSZCB4NnsAzkLEdQkdP83AVs8jLIHOAhwFEQ-bJVLaiYU1bK52RLpNLusaMQ65Dr9nSAWANy3-jweeHolq6Gkj9Jl_kdKJLIs=",
  "id": "rs_03c9b2882ec1d69f016ab44dc2a50c87d0b59f67269a11d2d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The displaced right bowl is centered again between the open fingers in the wrist view. I’m descending straight down at this corrected lateral position so both sides contact simultaneously.\"}",
  "call_id": "call_c39V60pCSrtzRRiZBwpptSUf",
  "id": "fc_03c9b2882ec1d69f016ab44dc2e8a087d082c018dfffa662cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c39V60pCSrtzRRiZBwpptSUf",
  "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]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0784, 1.4891, 0.5854, 0.046, 0.07, -0.054, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3579 right_y=0.0193 right_z=0.0336 right_yaw=0.0421 right_pitch=-0.2878 right_roll=-0.0859 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5248, 7.1179, 1.5897, -0.1587, -0.0659, -0.0122, 0.1026, -5.5453, 5.6821, 1.7656, 0.1636, 0.0513, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9ba5d5985bd052a50ab98fe866aadd70b3f55f3e13372f629be35d224bbaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723ed537efff58a7cc6e51a78b1ac3bab36c29c9bc1fb56c6353ffddc2663665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15dd451e1fa06319ae8132fddcca843c30a06071f56d9156e420bfa77595022",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 9.715 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8425, 0.6098, -0.445, -0.2222, -0.131, 0.9988, 0.3386, 1.5997, 0.6292, 0.2398, 0.255, 0.1371, 0.9991]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1591 left_yaw=0.0893 left_pitch=-0.0873 left_roll=0.0556 left_gripper=0.9988 right_x=0.3863 right_y=0.0926 right_z=0.0469 right_yaw=0.0432 right_pitch=-0.1333 right_roll=-0.0587 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -2.0171, 8.8137, 1.5897, -0.2027, -0.0855, 0.0024, -0.0615, -7.6239, 6.9812, 2.2491, 0.2759, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0822, 1.3441, 0.7494, -0.1753, 0.0841, -0.046, 0.9951]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3736 right_y=0.0195 right_z=0.1105 right_yaw=0.0302 right_pitch=-0.1993 right_roll=-0.0868 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.5658, 6.9402, 1.5946, -0.1099, -0.0464, -0.0122, -0.2667, -6.2427, 9.5248, 1.7802, -0.1441, 0.1148, -0.1832]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0784, 1.4891, 0.5854, 0.046, 0.07, -0.054, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3579 right_y=0.0193 right_z=0.0336 right_yaw=0.0421 right_pitch=-0.2878 right_roll=-0.0859 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5248, 7.1179, 1.5897, -0.1587, -0.0659, -0.0122, 0.1026, -5.5453, 5.6821, 1.7656, 0.1636, 0.0513, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9ba5d5985bd052a50ab98fe866aadd70b3f55f3e13372f629be35d224bbaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723ed537efff58a7cc6e51a78b1ac3bab36c29c9bc1fb56c6353ffddc2663665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15dd451e1fa06319ae8132fddcca843c30a06071f56d9156e420bfa77595022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3HFaRj9SUzHlQ07Owo2x5KVxa4I_Q0TQ78ftGcnwVfwZyjxQzapYN_aUrOlDuS6f0ChSJ-ccjk0u7WQEW-e-mdhRx2w0FBM_sZ9O36fyU2qZRZccdbbuJkANF0Qz72uR4fvRJtr4hQUbhxP2U3waDcB2vFsEyvlRn3cQ_WA9fkAYo1uSDYQuBU3YjKWGF51k7CfucKu76saWt_BNsjpgTBzxjaert8bBdYT4EZ6ZL5dg87ClraZL45PIGQtT4ZfT9xdDtSpXVOfYcCimqUfndr-N-AfULcYc8xsPMvy8Z8ZGUEt-Z6-xuQZDKuMKxkeAA7lXFxwc_gj4VX4XlzYhgqaBjgr2Av1s-KKWYkEiq3Ms6CMwBYjMjc6z8sy7U_VMGeWIJeTIm-yPwpdXtx2lZJV2d7PMbSoKNAyxyPmWvPQgTOl2wwrugotXJlfMiZV3CTTbzG038eCgEQR80YzijTwHVShtXWnQFg9MRTKNBXuT65yx4ldX6f6qerHduooPOYoQUcoSWD2RNLAU7dSxV0FSkQtgiBeaXa2mr5kIR2Q9cWUYkXqQyPQPgono7P8aMwmYAHqYudHE95lPMaTGxyyvsYzC36vayfj6XHDoUN7dJu0PLhv-h9RHm1xGlnpCeRwEC7OVfo23GVMZQkBm-0eeFRs_UX5b4xl982me8obOaayLFGbPGG3C6A4neWUBb3kjEQetY5D_PNzpDLmSGMiNCP6dTt0BQznZpe10WGMDXAgBmKUaZgAfqxSiIu0NV73oedm0tvAoOPC1LDiqG4eqlhDyVCAaV_G6mVlqm5FuUz4WVLpeT9nPfKrcnLXLOUO4SWJgN7jIXWYq4dvxMiwTQzDvjuHJ20K_q9B7-0csMXwIQYMHK0oxyp37h2psJ0eBbuopr5aEwvZjDr0N6jXBUOz-54EYYpp6_1JD9m6km_1pqnE-PvLIWpXIyHmztWQfHc5QNm1qxEkKbkO1Itr3auZx8-xQu3e7BbNG_IRXFJfvlHAmAwNDt4V91bFpm_bHc27DdsMMSzFhpeKdoBMZoaOm5diwpI0_TTDQLJpPmzsIixXWKcTVWCbfmsNofb8a2Aw4pNMAE5lwrdk7-MmCMzS7m_dmRsIyUWKz-yttPefUfQAxIGv8iSqOIe2DpCMcX1Sl1uj0CKgMoi66NYJf2Ad1VBJOWhZtkuQk2a2m7DCMDwYi2i7CHuLP9uT-MXNbDMa6mP261Hvful8qCN0FJx1KFzN0jsaXFlycjVZKgv-8iyVM9LVbJCjzf18gvNu6wfYyfX7nWLP89q998LmM8nY7U7yYbcRHxtHRe7Y016XubI12ziseVrvgzC2UXPnIrcVfj2jIf9RrpIDkEdCP4TrsL0QEUrDAXAAWsPCA9F9kXs5xy28eGei8h7sXBN5Z9G5-2Ttcta6TJ_omhILZmqLhvNZ3Ki-nTZME7GvZsswE3jv22pMfBMtya3j9wcXj4B7oinqhd46tK0VTQlfg==",
  "id": "rs_03c9b2882ec1d69f016ab44dc5b31087d0974680caef77754c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 3.4 cm the bowl remains symmetrically centered between the fingers, unlike the first attempt. I’m closing now from this balanced pose to grip the lower outside wall.\"}",
  "call_id": "call_qyashQtGTpLmrngzPSI5mEKI",
  "id": "fc_03c9b2882ec1d69f016ab44dc67a3c87d0bb71bf9f26d2b52f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qyashQtGTpLmrngzPSI5mEKI",
  "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]: [-0.1471, 0.8448, 0.6094, -0.4526, -0.2325, -0.131, 0.9988, 0.0784, 1.5002, 0.5766, 0.0483, 0.0654, -0.0566, 0.0099]\nstate[eef_state]: left_x=0.2874 left_y=0.0022 left_z=0.1571 left_yaw=0.0981 left_pitch=-0.0958 left_roll=0.0645 left_gripper=0.9988 right_x=0.3544 right_y=0.0199 right_z=0.0271 right_yaw=0.0475 right_pitch=-0.3056 right_roll=-0.0847 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -1.5248, 6.9538, 1.5897, -0.1636, -0.0464, -0.0122, -0.0615, -6.3795, 6.2974, 1.3993, 0.022, -0.0122, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a66fbc9460104ab62af8a2beae0eb304a797daeda5e7ceab8aba9becf132124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb183a60add10e96da6c1ab451410394e13855cf3a1179f36b26e0410c2e5412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8deea6f722ac214c2780400d9795f71635e65208b8b80f958731de46dddf70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.267 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8436, 0.6094, -0.4515, -0.2321, -0.131, 0.9988, 0.3382, 1.6165, 0.6094, 0.239, 0.255, 0.1265, 0.022]\nstate[eef_state]: left_x=0.2876 left_y=0.0021 left_z=0.1576 left_yaw=0.0978 left_pitch=-0.0936 left_roll=0.0637 left_gripper=0.9988 right_x=0.3788 right_y=0.0898 right_z=0.0334 right_yaw=0.047 right_pitch=-0.1695 right_roll=-0.0777 right_gripper=0.022\nstate[joint_eff]: [-0.0889, -1.1829, 7.0085, 1.6581, -0.0464, -0.0757, -0.0122, -0.3214, -7.3231, 7.3915, 1.5995, 0.0904, 0.1197, 1.0769]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0784, 1.4891, 0.5854, 0.046, 0.07, -0.054, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3579 right_y=0.0193 right_z=0.0336 right_yaw=0.0421 right_pitch=-0.2878 right_roll=-0.0859 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5248, 7.1179, 1.5897, -0.1587, -0.0659, -0.0122, 0.1026, -5.5453, 5.6821, 1.7656, 0.1636, 0.0513, 0.1148]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8448, 0.6094, -0.4526, -0.2325, -0.131, 0.9988, 0.0784, 1.5002, 0.5766, 0.0483, 0.0654, -0.0566, 0.0099]\nstate[eef_state]: left_x=0.2874 left_y=0.0022 left_z=0.1571 left_yaw=0.0981 left_pitch=-0.0958 left_roll=0.0645 left_gripper=0.9988 right_x=0.3544 right_y=0.0199 right_z=0.0271 right_yaw=0.0475 right_pitch=-0.3056 right_roll=-0.0847 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -1.5248, 6.9538, 1.5897, -0.1636, -0.0464, -0.0122, -0.0615, -6.3795, 6.2974, 1.3993, 0.022, -0.0122, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a66fbc9460104ab62af8a2beae0eb304a797daeda5e7ceab8aba9becf132124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb183a60add10e96da6c1ab451410394e13855cf3a1179f36b26e0410c2e5412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8deea6f722ac214c2780400d9795f71635e65208b8b80f958731de46dddf70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3RFGxTzSX6HK6e5g07RMO6Or0RLSv7RgnImA9juuGFxr6TmxsSzQL8YjQh1q-ERgFqZ_6NBILAMHtYBAhkagryb9fu0ObAZReINHASS70d1TE8tVSIAdnjR7r4fb08k-6AoQhB3p2iwiR8lHvoF24ITwM_5P_zoUzMyXB443UKC78TRSOT9PWVwzQ9h-2ha4lobFyjdJ4o6fmvEAUYeeXmGXD4yUW_gbSs_NgzlyVGOaQcLx9LINiozRBl_MIsIaGaF5Pgqxw7ynm-DjLweQU7aXJHRqYhnQwnIo6Mj3d_Ek5GGNPi_X7uX6UpEZkvoQP6CBwrLEyMI0QuczcxB6fi2aYyVM1TthibuVKq29XY-kCRj46uVuQyzkX7qsPMSh1oKfodmOWeefe7iMjnhJpboqLfldr2_CRymBuNhJ6xbXRACjdKeHh-wSaQy23sp-COHWriVVALCoR5cMRDuO8g3C_2kpMdHKIOUxa7Ty7QgDWZ5fL2ON9Om6XmfM1Go86ScJvFWQfCz14bX1oWGIKETB-qYAGTjPi9ge5IQI-3d-7HyR5E5mVRiL54OffeF6prfR9pNXXmn0-ubXfmKjdAlC-2yZBelNdk0xpCaVM4WkJWtC8vRpdqmrfxlDCfg7RE-nXzgC2zAyHEt-AC_WUF6d47YVx6CUtzQwHmwXOP0i3Z3GZykNxt7LjEUw-td_nKFW4G847kx4WXlMwD3to9N_o9z5HyMsYAb6qAI-y5I-v3VXj5k-MXe1hcFJzWJgPcfh7_u1TKKBIk_LLtxmRuv7_XbDAaWFXJz6FwLPwy_MNix4T0Amp6O10Ij7YXVRj2IDlclrx0Be4AAErSGezN9QBzhPiEmB_ZOXEROcdHbKZMXYh91WQ-ZNGL2nOEDl0-xs4ujBIrztFj-CItX8x5EV3KpJpxos4pdVU2sgPSqoEb5haPQ9pIu4O2IzCdhrod5v9pPJt4c5K-zvuccqal9VqDuSdtI2uzq6-WS8PwdTVQ8wnej6QmiTWeNj-yAniXJgYnd7P8IB5KmlAgPib0aYkjR0ug3Up1h9VcWjfqjZmZtEVmil_y0b7wTDLGLzU3GJHZdkXdh7HqKkDcIV00B45Eq2H5BhfI1hwiawCxMeHb31VzLDVo6S_-1g-X0vfRSIWQG7KHPdAkaka14iLgvBdCZgC2Odw2_KIYQE9ZkE5iB-Tm__uLKDpQx8ZD9DnnuUAizxqJjgTrUJp2iAClLjaJO7MX4kd8xIt0luGUp-PdpPX22HqX0cu3Tw7oU1R9IhdCqDOH7gXqteBH4Dkt2fk-p8ftqjs18PuD4xFHaqjlxyYgMmfB_oDxPbikHh39I4Jaqmo3QH32lGv_FQoAdX5gUy3t7P97G2hHd4CBuDGSW_hCFZG6Aw1pPyXFXujdJHLKXd_lUZg32bylWhilwAd-V0slqxuh5xMYO984wP5FP1fpH2LHVfZiQ0C3SsUgm6bDVQo6rlI33SLeW4yoXZ6WYM6kq0wqLQeLxIbeoHg5q6WJVMv2wlK0UJfiikSoCPqyfma6js5Ot1h7ZvoEM6DeoqyysaloJPwHJ7fBdgLjBAV-qAbLXfa4HChHz5IC_PQwM-KxlIqwQAfyGmf4Y-PgyPUDiab_qD7YRuRlqo9U_ysfrim11XBTj_DWHC6AKmCMR0nOScb6ZQPYyuwn00yCduIP4ZmfVvE1lERAN5eSEvA1v1houR143yzNShE87F5JGOSWD3etegoirxA2rSNUig7_YelnQNfJ-9J2BMGyxuVgm9aTPq0gOCllMUslLZlEsNWlAi3HCQGa5DaEiM66qXq-omBP4EIe4kP463G1uHK9HHOZiGwUJoX-_CrCYlPGIJ--OqK67U3WY9ulUtQVbpg6Cb7sJlCrsMk-ebLx9XGNG_H7icsPrqGYnAePwyMJBTTFnDtCsO8BjF-xM26ROC3OxcqF5SFwkOHZk8NYrBeGxUjnRieJVrQUpV-OoJQxfpjs3mu9F3URvmoOIa8BVSzlZx3Qi2U1Q3ZDidpeKCVlyjVwx9BDh5jwkIymgvwA-EW3Qcz6ZqXWFFSQD2KaBWKoKYxBRlWYuwzTrbiFWtnTC31xkgYWD15me0RUx97E5YJ-3jWI1OMP79jj6W4mBwCSg7YCtxUZ4wkp1YLIKXctyLrPaIIOJZo7JcNZ1X8l1YqqG5qZs2gmilAA9RzvdG6q1CO3nO_6AvNFKSfiwzYkb_qDceWx1AkJQtvOGUTasTuyOEXSLX-jhe2-9wdb65W0kLBSg58g08CUpF1KoFQYRfpAB6yNSkNxqdoVWksDJ-p1HMOxN4unuAF3663j5WrXz1nJoZrQD-0Lbic=",
  "id": "rs_03c9b2882ec1d69f016ab44dcd3fb087d0b340a563858d464b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.065,\"right_z\":0.13,\"right_gripper\":0.25},\"note\":\"The centered close again passed inside the bowl, confirming its outside diameter exceeds the gripper stroke. Since this arm can reach low, I’m switching to a narrow rim pinch: lifting, opening only 2.4 cm, and offsetting about 4.5 cm toward the bowl’s left rim.\"}",
  "call_id": "call_Q1SbJ22OEan7ToSyBM57nFEP",
  "id": "fc_03c9b2882ec1d69f016ab44dcfa1a487d080635a2ad7ef837e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q1SbJ22OEan7ToSyBM57nFEP",
  "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]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2504, 1.3575, 0.8505, -0.3935, 0.1505, 0.0467, 0.2478]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.354 right_y=0.0669 right_z=0.1119 right_yaw=0.0854 right_pitch=-0.3194 right_roll=-0.0872 right_gripper=0.2478\nstate[joint_eff]: [-0.0752, -1.5658, 6.9538, 1.6337, -0.1245, -0.0317, -0.0122, 0.294, -6.8991, 9.0325, 1.5067, 0.2662, 0.1832, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232c135024a86e6f11410b9c5be79df9d3fed96d8d1275d76223da8ac523e79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce114c684270844c717aa000148666d51383c1c96c1bea7e33a6b7a6d7db3dae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08e33e3b656db65da3398e2db8c8f6c9bb7ecd480fa780a4269246c0792ceef",
      "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 · 3.032 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0822, 1.3441, 0.7494, -0.1753, 0.0841, -0.046, 0.9951]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3736 right_y=0.0195 right_z=0.1105 right_yaw=0.0302 right_pitch=-0.1993 right_roll=-0.0868 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.5658, 6.9402, 1.5946, -0.1099, -0.0464, -0.0122, -0.2667, -6.2427, 9.5248, 1.7802, -0.1441, 0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8448, 0.6094, -0.4526, -0.2325, -0.131, 0.9988, 0.0784, 1.5002, 0.5766, 0.0483, 0.0654, -0.0566, 0.0099]\nstate[eef_state]: left_x=0.2874 left_y=0.0022 left_z=0.1571 left_yaw=0.0981 left_pitch=-0.0958 left_roll=0.0645 left_gripper=0.9988 right_x=0.3544 right_y=0.0199 right_z=0.0271 right_yaw=0.0475 right_pitch=-0.3056 right_roll=-0.0847 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -1.5248, 6.9538, 1.5897, -0.1636, -0.0464, -0.0122, -0.0615, -6.3795, 6.2974, 1.3993, 0.022, -0.0122, 0.6667]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2504, 1.3575, 0.8505, -0.3935, 0.1505, 0.0467, 0.2478]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.354 right_y=0.0669 right_z=0.1119 right_yaw=0.0854 right_pitch=-0.3194 right_roll=-0.0872 right_gripper=0.2478\nstate[joint_eff]: [-0.0752, -1.5658, 6.9538, 1.6337, -0.1245, -0.0317, -0.0122, 0.294, -6.8991, 9.0325, 1.5067, 0.2662, 0.1832, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232c135024a86e6f11410b9c5be79df9d3fed96d8d1275d76223da8ac523e79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce114c684270844c717aa000148666d51383c1c96c1bea7e33a6b7a6d7db3dae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08e33e3b656db65da3398e2db8c8f6c9bb7ecd480fa780a4269246c0792ceef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Vmw9EvwI9Dx5jbRh1wIdf94-GoxtlH4gBeh3rPTP8ojnIDOgbwLmjJgS4Rx96IVlUOdisoFJX3hmDCQrncrk5cbo8WCmmy93mz-1y1o0xV6YylGpgw40JsWhoaZBWATUmC_QA-w5KE19NDBsu4r2b6ww6ZZoze0mDPCJ6NyOIioWDnjL59UOvC7dl05st30l-ge3SCENX77ldEP8jQ49Zz2pwjdzpxQgLyw1WlODE-WHCctJTs5UWJDNeeJe0iv14hgpX98nTTSNPAipJcJ0uvjxspeGHMBiHNWGPsg2Gt5MCUrjGnpXrRWAUNnT86ffCk8U7jj889m0GVSTVOkPws7sf0bsz7XLgrKQ7Qix8W0xmy8BrELgHaAx7QYZRwGpQkntWyKU55_i1OiVG9ZUsOl1Fo66Ncvw7T_rPsS2szqYmdy3a2_3E1XKfwQUuBytlTtJMLM_r6ExMJUoIxIDHrhyRlA_HJ8qCMUTxmJKDUA80ydi_FP7KJeoUocM6L-_mAQLGaxE1YB2tJZSXPoR3KmBrIRT6ei_15nNIKc_H4xdIMtLz2e5R1dR8RKC5ZXhUeN194DU-RDvaZO_RFvPM9jVTgoohNs7h2LwUK9Z5ohrUkRAM-iBClNx3L9e7BG8zVOCNvorxjZ5IuB-lGinDYuCnI8NANM4gh_hcm687LXKiBAIIqBJYBzgd13UV9iokczwmsO20Exlb855isHlRhhfWxQTcVMiGRFHnkhL_eAb-SbNlyxCmYamFhpJgDoitpB2ImY_fYpJZJQD8e8xHcUpuaUareWNU26sPg9lgv3FJ308LK4SrRGsY6IMIuKqPwftTvVt0X1bxt_sIWfGH3nkJS5eVkgOSC5nPJteMagixtmG2EWKOCQ4MmWhHTL56wuwz9knQ0QGABfN7h0SS0gydILAJRrVC8UCrk2Mlfgwk7aGDk8fJYK5xXTw2ivQV-4tflCmTvvq9nNjediqm2Xlc4YxQNHJZi8i1GyxGQtrVougyFfPLgoesE8_GUNHEMJr80oSEgJgzOQPOXYP88aPHC_r9Q8zi5OA_394QqZcPQJnteVy43MlitSXBIp6_L0Z9VBNNTavHN3oXtio86o2_BnJmHEnpvaNEGp1xdC3yZJmJVijJS0017wqAFTeG_2Ipv_zjiGHgiGaH8CXUjk0P2a-WJ70BCTy8xo3CtExGZ1rqOMFz5Mqq-Cw09QIwNthvyWwtke7e5xrWRYUJ7ckKmzG_eewx2ubX893xpOkf-1VfXVX8yo3eAIyIFUtizVEXGN_HtxqxUT6h1BzRfkf7WNqExP-msWMW2KcIMHUPRw8KKvxkWMEeFlQe7WCj5RPbMjsiOPbKMjp5mkCdy4i-p_-2PvgH9eASnR8LWASDWX7JBupmISc__cWZ65lR011X_i0UexGnuz3RiCQQdUwuBgvkFjYpgW7SJ4QqaPuMOKFffB7iGN_SIg40wW-5z6EP2Q1BHEBpt9OkBCGO7kIXKHYYXjIqth78ZqoSFmzgYaUhdzieCw1CNmPcUWq4WQahXY3p6BPNzd91BPX_QMS7Q2tqlfRDfqFXn62i1sepqn571WCWHlz5PWXykkNE5HOGH3UcA34UmkSnLPbnoRpZhpHtBchp48nD9-SF--MEADCdybhiBI8IIfdoZzGjd31F09mnuIdCbBFP5oOjACfpugL3yoaJe8tt8U9u7dY5jag_V0SKzdlug23Yfouxf3drpYhbiSt4sxTkYOjHE2-6Pf3pSVagrbcxmPxa3WDdOcOG-ajYfb9tjDO9E6us",
  "id": "rs_03c9b2882ec1d69f016ab44dd4188487d0b1700ef8a0fe5aac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.085,\"right_z\":0.12},\"note\":\"With the narrowed jaws, the wrist view shows the gripper center still about 2 cm inside the bowl’s left edge. I’m shifting slightly farther toward the table center so the two jaws straddle the rim rather than both remaining inside.\"}",
  "call_id": "call_3JklUSwPrvShbDMrkU9b5175",
  "id": "fc_03c9b2882ec1d69f016ab44dd510b487d0b87a31c67505f27c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3JklUSwPrvShbDMrkU9b5175",
  "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]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2924, 1.3602, 0.8764, -0.4583, 0.1787, 0.0795, 0.2483]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.3461 right_y=0.0751 right_z=0.1122 right_yaw=0.0811 right_pitch=-0.3544 right_roll=-0.0974 right_gripper=0.2483\nstate[joint_eff]: [-0.0752, -1.306, 7.1043, 1.58, -0.0952, -0.0659, -0.0122, 0.5402, -4.588, 8.3214, 1.4823, 0.2125, 0.2027, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5393d7d6c99185e9566a21eb2e2e910151c6fda6aa081894d11104e9bb419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0365648c42f5b4c22e86413714f8884cf4b622b7684f6417502a0146c9ecac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d37c6a805b8e6ae9f683eab15823c0da61a713d90229d20f7681111ab6f162a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 30 attempt 0 · /responses · status 200 · 3.23 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8444, 0.6094, -0.4522, -0.2325, -0.131, 0.9988, 0.0784, 1.4891, 0.5854, 0.046, 0.07, -0.054, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=0.0022 left_z=0.1573 left_yaw=0.0981 left_pitch=-0.095 left_roll=0.0643 left_gripper=0.9988 right_x=0.3579 right_y=0.0193 right_z=0.0336 right_yaw=0.0421 right_pitch=-0.2878 right_roll=-0.0859 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5248, 7.1179, 1.5897, -0.1587, -0.0659, -0.0122, 0.1026, -5.5453, 5.6821, 1.7656, 0.1636, 0.0513, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2504, 1.3575, 0.8505, -0.3935, 0.1505, 0.0467, 0.2478]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.354 right_y=0.0669 right_z=0.1119 right_yaw=0.0854 right_pitch=-0.3194 right_roll=-0.0872 right_gripper=0.2478\nstate[joint_eff]: [-0.0752, -1.5658, 6.9538, 1.6337, -0.1245, -0.0317, -0.0122, 0.294, -6.8991, 9.0325, 1.5067, 0.2662, 0.1832, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2924, 1.3602, 0.8764, -0.4583, 0.1787, 0.0795, 0.2483]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.3461 right_y=0.0751 right_z=0.1122 right_yaw=0.0811 right_pitch=-0.3544 right_roll=-0.0974 right_gripper=0.2483\nstate[joint_eff]: [-0.0752, -1.306, 7.1043, 1.58, -0.0952, -0.0659, -0.0122, 0.5402, -4.588, 8.3214, 1.4823, 0.2125, 0.2027, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5393d7d6c99185e9566a21eb2e2e910151c6fda6aa081894d11104e9bb419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0365648c42f5b4c22e86413714f8884cf4b622b7684f6417502a0146c9ecac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d37c6a805b8e6ae9f683eab15823c0da61a713d90229d20f7681111ab6f162a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Z4A7P48O-MDHXEUKaOjemLFiXVgYHVPET2xAZUb5vu6FPfBq2qI4RKnGwx5ECdh0E567SPH3zEoEu2dOmEk-DFJ423dW3aTLX2a7be7-OFICNDjDANqosa0C4-ZhGJcDxia_m6kkGfUVshLHsddtxHjqLmiqzTFJSF-nc1cyRWTFrumtlGk4aRna5HHxGorcwxF0dokqKFCQMf3tkeVYPHje6mTohE2rKGjbXZuo9c2U5M8KbFu75_MnP2c0h7Ha1KbTqhd71ohLgAPHoyBB8pScUEKfuUpBCKHpgOli17Vw1DdQiONmNl-tNJ41cifkXsVydB4i-23TXYyjrYW_1SCCNwhHg6LjTf3ZktpLo4QZle4v1WF_Nsq19e8tx7_tttnD_PGap7t_OQ0qk_sMA_NlX6rIV0USVDbGn2kS2zABQ_KrO7gXd9hZAXjHaNdgfv26wbf-QkjkGkbnwHYM8HupVuk0NxXxbvZQXwB1RvLW7wjY_8ZS3sOneDztOKUvJ35HYLzpZs8w_7CgzZtMjz0EjhpC7BN-xNelRFIcvZsXHRCM7w3MrNEgI_vDAR6jvueaoskjX2VSJLcIlZIfKuBPOsaLTrV30k4O-azHv3DOMW5nSFoR_87jx1_RqXjQG-8ffn0u7Ixu_qB_iDTFVBTcBqaWgeJpD1aYfyx-Uoi0NhRUgKRBLHXhNpgLfmUbNcW9qWoVklxc88DckHTb3umYhDOYwXcw1UGef_GV5mfJC3-xJfv7cFbQrq49pfJrviE813vMK_ID7Z-9IcLLOtriyGUxEwXh7XCgpA-s3PX7-NJsjxN_P5KbTlKuwuP7cpzm4xJM54TyRUMgP0AufPU6mV07Me92VZUutE375DoVKogSXIH65Lfw8H1ePEJXrZV2Kw-d8BjgEyofvXrvTZjklMV7nqyJyEVBNZEDu4SNDG2vhFCY_QGCCmKk36_etxbqW4PejUxeeC2ycxfJ5pY0i3eCRyT3_fQTTSLz0IRIX8iuxgfG5uQeUySd2BWxTpUAlMJmHSOqUnKdSKkIKd4b0_1FABH2jVfmbzC1v9T64NNbDoNkyi9ZqkDd8kLDmX01bOIHpu2y0RN47Z7m2LCIEzpMWXD-ZNRYa1-kfwdiRBR3jJ8qKzkAewBI02ZyhmwdNlu1_7yWCVSDPy3WptYN-k-HOxRsJdyh5dYvqi4Q9niTQEnQEAS-jBC3KB2AEryaWRg8C3RAism8E6DYCLFGfzrhdb0vs9nJA9dCGlh7n8cVbcqUbgy5ReMSWZOh1aULB8ZCzIg_gVzelTzdNlcXxom3NvKXQT7PlSMmWcMVgB2SoLt9OqDPPf2aYkeASc9oKvWfNCv-oJhjJn4atEdEFjncxNVUgKvLUy4KL_4dLjuQtbdYyRMouk_j32pxmTLVq-qqf0txAyV2qLdZ1rZa4s_m-K4gUbh9VHErprgvkFBo1MdRGom4qCJsrcDtqYSndjwZ_G2ZrjD903vbzcwsMH-pxm49BlhqFymYaFJ7K-iWXcq9trGbnh4BUia-z",
  "id": "rs_03c9b2882ec1d69f016ab44dd73e4c87d0b9fee64e0b17f594",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.105},\"note\":\"The actual lateral move was only about 8 mm, and both jaws still project just inside the rim. I’m continuing another 2 cm toward the left edge to put the jaw midpoint directly on the lip.\"}",
  "call_id": "call_twnAucafJ5CieteCPGBOy2qM",
  "id": "fc_03c9b2882ec1d69f016ab44dd8252487d0a805fb041a8cd3a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twnAucafJ5CieteCPGBOy2qM",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4561, 0.1783, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3442 right_y=0.0851 right_z=0.1083 right_yaw=0.1049 right_pitch=-0.3642 right_roll=-0.095 right_gripper=0.2484\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.5849, -0.1441, -0.0464, -0.0122, -0.2667, -5.4085, 8.3624, 1.5556, 0.2076, 0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1e054cafff3d0b194c8d8432cf39e7b9c585fe2c3152838ea2f9821fe1cb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bd237808a44c81fe5eaeaf59f4765e1e1f2b52981f3ac0b2c665fc733e916f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275acc5d5a094bfd5c98666928570732db1de3365fcabb0b0086610d768cecc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8448, 0.6094, -0.4526, -0.2325, -0.131, 0.9988, 0.0784, 1.5002, 0.5766, 0.0483, 0.0654, -0.0566, 0.0099]\nstate[eef_state]: left_x=0.2874 left_y=0.0022 left_z=0.1571 left_yaw=0.0981 left_pitch=-0.0958 left_roll=0.0645 left_gripper=0.9988 right_x=0.3544 right_y=0.0199 right_z=0.0271 right_yaw=0.0475 right_pitch=-0.3056 right_roll=-0.0847 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -1.5248, 6.9538, 1.5897, -0.1636, -0.0464, -0.0122, -0.0615, -6.3795, 6.2974, 1.3993, 0.022, -0.0122, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2924, 1.3602, 0.8764, -0.4583, 0.1787, 0.0795, 0.2483]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.3461 right_y=0.0751 right_z=0.1122 right_yaw=0.0811 right_pitch=-0.3544 right_roll=-0.0974 right_gripper=0.2483\nstate[joint_eff]: [-0.0752, -1.306, 7.1043, 1.58, -0.0952, -0.0659, -0.0122, 0.5402, -4.588, 8.3214, 1.4823, 0.2125, 0.2027, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4561, 0.1783, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3442 right_y=0.0851 right_z=0.1083 right_yaw=0.1049 right_pitch=-0.3642 right_roll=-0.095 right_gripper=0.2484\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.5849, -0.1441, -0.0464, -0.0122, -0.2667, -5.4085, 8.3624, 1.5556, 0.2076, 0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1e054cafff3d0b194c8d8432cf39e7b9c585fe2c3152838ea2f9821fe1cb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bd237808a44c81fe5eaeaf59f4765e1e1f2b52981f3ac0b2c665fc733e916f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275acc5d5a094bfd5c98666928570732db1de3365fcabb0b0086610d768cecc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3ckhhSHhUHI5b4QHqIynSyctptFV7JWpX6eh7ZKwjziaTHMIxlZcw6kERhFfnJmYo2K65YV13kTVx6F6CPS0gOzedMMhTNi7pLjM7hcH7KPwiG8rVszcaXJ083-KocVObL_WNxvSipsSRTs5QSSIxsf2u4B0vlj86iYv9joOCamm_HzOkjZ-hC9zM1hCAglgG5fzM6IircAoxB19BI2GW-KQ2O01kWXGJ26Nf_VnHwtg1KO93TAWbDBQyQ54esIvrpOzpgJfC0mQ4SG0gM_VzGH4W669fCxQ9Qj0ZO46qeYFJ0PZKUHds8LlEJyrNQMguTIf6xyo1NJq1LGCaMlDIgH3z2UyK38tPG8jApSw9xjIbzdDQG03qi1PiSI6lmWjJlkbvLOBjsbDw-vjR4AawUqIAjoLrwcEHKTv699pXxpR33mS2YTMzCuuwTWaLr186ynCegbiOJ2j-V3UEW9_8gly_ctzFmNzrJ1QvFf3EBgKzw5LrozkkAYwUdL5i2Jvpm-QoXoLSFSM8CaKddMmM40AxuBHq_nl4RWyT79uVD5HCXoajb-_XdiLgj1jqW7odcRN5IxW44X8NNo4vZgOdXBL8QORQJFEzrpLQsB1Ejydqztsk9_zqfF9YVLlqftP1guBnG34A5JwlnOV4RjNAQUdWnhelAwKwoB2zEjIEX2hMr-omoQQx8ArooDii3ie2-xA036YxhF1mMGV-5alZCIUbR2YYPsxpK8TdQ18jxwhPi2EVmfdBPPw98Itb6__tpWsEMWBfp2qoq3VIY-RR1LARZOLOHtvXC2g0lplk4eJfUIvifs8MCb9QJ2BR5kKF88GmbMK_Pzbeot10FmeGrByFBo3NxqIjRHvnGEf5snACYHx3CppfBklZ_InZSDnapPIDfjJEd95-XB6zaBBfOIq973Q4bj8cvSzFip8t9ePq8lEpFmTKpSVrU3lrOTIXoCDs0KJ6x7ODCTvXNeRRakObbZLhDXQs2Y80X__IW7OyUUHpsKXoqGsSnz4zRo-Mchf-Goc7_PWisGag7nF7lmJaK_I_xBmLgjrmlIChQxEUNg-I_LkuvydeFmSR3fYvZIfC0ag6bhypt9eL8xL0yvD3KiQUKsPQAp8lqXYkn164q4iuDvo5qhIYi8pXbE8mOh53B5d_usiyg0WYSRI_cjoMJFqA_ehPidY4V-dcoNFc2nutQwqS4KaokGS5T_IZviu4261CP6PFzOI-lMtKQgjdbM98_GhrZmaXMkSra8dJ2psp3taL3mevkHueIdIaOnXg_zv8JA3woTqc6KX2kTsvH30jRMniATSPQkYbWan6sKeANQs7S2eG02puGxJhHAaeHNhl9lyBwRJdkqNg32nlf4t3YyvwICV5iXiHKlULmauZN6i476iVd10l7n88k2yKcH4k2m-GYI1H0nXiVXQ47aZjArVR07fjWJnkGouI4rC7afSezadFbv9hXabYiPByl-0omPRUJ4cdQ4vD2QQ==",
  "id": "rs_03c9b2882ec1d69f016ab44ddb0fa087d0808ce72eb778063f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The jaw midpoint is now aligned with the left lip: the left finger is outside and the right finger is inside. I’m lowering this straddling pair down the wall before closing, which should prevent the rim from slipping out vertically.\"}",
  "call_id": "call_VhU8evWS7pqQi8DPw49nXIVR",
  "id": "fc_03c9b2882ec1d69f016ab44ddbb00087d09a25ad21d07195e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VhU8evWS7pqQi8DPw49nXIVR",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4557, 0.1787, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3443 right_y=0.085 right_z=0.1084 right_yaw=0.1046 right_pitch=-0.3637 right_roll=-0.0953 right_gripper=0.2484\nstate[joint_eff]: [-0.0889, -1.2923, 6.9128, 1.5849, -0.1001, -0.0611, -0.0122, -0.4034, -5.4222, 8.7043, 1.5751, 0.2173, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab802ec1600823665379736905deb9ea0e7e0b0464253b725bd73dcec09b35f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2717406c8ba470d5b7f60a4093cc21483b71addc97ecde68906ccbe15653fa7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84792b164f2dee8e74627b7f43fc21a33564a3b6b861a070a30d23ec77e303a",
      "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 · 2.181 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2504, 1.3575, 0.8505, -0.3935, 0.1505, 0.0467, 0.2478]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.354 right_y=0.0669 right_z=0.1119 right_yaw=0.0854 right_pitch=-0.3194 right_roll=-0.0872 right_gripper=0.2478\nstate[joint_eff]: [-0.0752, -1.5658, 6.9538, 1.6337, -0.1245, -0.0317, -0.0122, 0.294, -6.8991, 9.0325, 1.5067, 0.2662, 0.1832, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4561, 0.1783, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3442 right_y=0.0851 right_z=0.1083 right_yaw=0.1049 right_pitch=-0.3642 right_roll=-0.095 right_gripper=0.2484\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.5849, -0.1441, -0.0464, -0.0122, -0.2667, -5.4085, 8.3624, 1.5556, 0.2076, 0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4557, 0.1787, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3443 right_y=0.085 right_z=0.1084 right_yaw=0.1046 right_pitch=-0.3637 right_roll=-0.0953 right_gripper=0.2484\nstate[joint_eff]: [-0.0889, -1.2923, 6.9128, 1.5849, -0.1001, -0.0611, -0.0122, -0.4034, -5.4222, 8.7043, 1.5751, 0.2173, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab802ec1600823665379736905deb9ea0e7e0b0464253b725bd73dcec09b35f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2717406c8ba470d5b7f60a4093cc21483b71addc97ecde68906ccbe15653fa7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84792b164f2dee8e74627b7f43fc21a33564a3b6b861a070a30d23ec77e303a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3gsHGgIxGNboym0IjfyOkMz4oCWjt1lqU_FTF502yJfrjSfXfiMPDVcItbPPhTz3G-X83w9_EixJFdVzNbHd4Q2P2YUCRiUsVLC2AxBWZ6QMZpC_FpgNwKfCHt-O4vtQ7TjChc_xwBmeVth35jSW8nifwPvL6npSXLDf50O5yG-7kZ_--hMLWGQx4qcB31YAB3CpOR_DKM92vdc1ITukLNB3sz89xDUhorH0pjW_GL3i52CCKTwM2rKTKkPep9vp41aepq8HnS7Fzx_XHKiptmr5cfhj_mzmIIdaQiRzSEglrNhik_llVlYeVHvLCcjmql359Vfp1NXlSnDcUhZbymYIpOk0JrIOZHeqpbiH7tq0d-97Pf2A4S7LuBcHTMFE7huYLH3Jy0_p9QN0swfPE8TY4N0xvaFVczlCgTbeAPCLwX9GLjVoShiFfrOOW3jHkTgJV7bz5YDuXPimytVE407AotLbirfCJbZYNRRXQF0Pr2G6OL-BpPcHdpQj7omOLIH-eSsY6Nf2Lg8K5QXOxxmhiwj9jVEr0Sh2sWRuA6ZjTG9IZNkEjs3Wh8ynvsUmuIEed9n2gCRQQGbnnT9HE0lKUnS-dJO6wMoEiuVf_Tgv_9w-XYSEV0svXMzRKyGdA98dopKiglhGpzoc-u1ingaXChdwuaBdVFwUSjkUiZuIQ63Kg72jcRjQXYGVYRvMJNYL8vY6yFMjDxXCsdp-roGWS25wjpCxgO2xy3jPmNQw4sceKtP9TekyXPeM5MXNRwR_K0a-keOvfjHmy7CFM42kxgk4AJXdx_bdHQ_YuuCvuu1Jv9G94lZO5hU0znz5TRUMmN0AC2BWRgS9Sr0PY3NP0k2T3aVUSJ6fLcVWRuFg4a7aYxbSsLojmd0KlTHme2s9lDg4ewwn7cMvAH1nFMTQ865RDbQhF-irMSGXWfVT1HOKmndfWZZRWiJALIhw4u9FJNyq00xXzUAPKWmMW_-jOuT8dyBe55QMX_E_EPCo_96BrsOZIot5lChcN5w7gbGlRwPDMBD4WESNzEH-AwYPNtY4pbkLr5Rr2A1hhlJPw2ktDlKLHXPMpf8QOiUPilG3yktvOvoxzoIn-ZgZxCBBEtIt60R1Ka_zB6Wqr1cEXnYKrHu4Ut4XRRzWjgAKjlNFw70Zrh1A6DWP7m1PK-o1-INIhPui5-Q0kSdIiQFH7zXOovGAXb9hsaMgBYYjjHIEg7v4g63bdp0qdVy250xYBJ7drZsKKjJqUmLf19eXvc84Ds25D9WekkQ7I14SNnrRo-HZTqIF8HZgIdf8btY1jhNdAgk8HMCpxBNiqtmeA=",
  "id": "rs_03c9b2882ec1d69f016ab44ddfa14c87d0a83763968f198308",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped immediately at the lip while the two narrowed fingers remain on opposite sides of it, indicating contact at the correct rim location. I’m closing from this precise straddling pose to pinch the wall.\"}",
  "call_id": "call_MKPOaqRO82zqzGlZ8PVW03Jk",
  "id": "fc_03c9b2882ec1d69f016ab44ddfe3f087d0842a336b0fc35f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MKPOaqRO82zqzGlZ8PVW03Jk",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8761, -0.4603, 0.1757, 0.0849, 0.0089]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3432 right_y=0.0852 right_z=0.1075 right_yaw=0.1078 right_pitch=-0.3692 right_roll=-0.0948 right_gripper=0.0089\nstate[joint_eff]: [-0.0752, -1.4017, 7.1043, 1.6239, -0.1636, -0.0659, -0.0122, -0.1983, -5.2855, 6.6256, 1.409, 0.0904, -0.0122, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1edaa3976ccd71d3b48d6331b99735ed5bc9a877327095358d0a94e0a46ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e318edf96cdc50870dd72b14022e461081066144c952f472d20f6834f28ea8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add7833ed854e381c6f3d5553c41872ce5d6ba3bf8adc74799342459e962057f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.611 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8455, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.2924, 1.3602, 0.8764, -0.4583, 0.1787, 0.0795, 0.2483]\nstate[eef_state]: left_x=0.2864 left_y=0.0024 left_z=0.1555 left_yaw=0.0983 left_pitch=-0.1035 left_roll=0.0664 left_gripper=0.9988 right_x=0.3461 right_y=0.0751 right_z=0.1122 right_yaw=0.0811 right_pitch=-0.3544 right_roll=-0.0974 right_gripper=0.2483\nstate[joint_eff]: [-0.0752, -1.306, 7.1043, 1.58, -0.0952, -0.0659, -0.0122, 0.5402, -4.588, 8.3214, 1.4823, 0.2125, 0.2027, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4557, 0.1787, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3443 right_y=0.085 right_z=0.1084 right_yaw=0.1046 right_pitch=-0.3637 right_roll=-0.0953 right_gripper=0.2484\nstate[joint_eff]: [-0.0889, -1.2923, 6.9128, 1.5849, -0.1001, -0.0611, -0.0122, -0.4034, -5.4222, 8.7043, 1.5751, 0.2173, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8761, -0.4603, 0.1757, 0.0849, 0.0089]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3432 right_y=0.0852 right_z=0.1075 right_yaw=0.1078 right_pitch=-0.3692 right_roll=-0.0948 right_gripper=0.0089\nstate[joint_eff]: [-0.0752, -1.4017, 7.1043, 1.6239, -0.1636, -0.0659, -0.0122, -0.1983, -5.2855, 6.6256, 1.409, 0.0904, -0.0122, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1edaa3976ccd71d3b48d6331b99735ed5bc9a877327095358d0a94e0a46ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e318edf96cdc50870dd72b14022e461081066144c952f472d20f6834f28ea8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add7833ed854e381c6f3d5553c41872ce5d6ba3bf8adc74799342459e962057f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3igz818K1a7KdYeEChcB3JUmI2Yl-FjLJEKmT_xgwIVa3qONd7QvFN7jdgmlNQnIcxcDA2OD3bfhRePp8_eJsGT9qAm1jUPtPs7N0gEW593hC7b7eQq17uuBftoEZ0WsAkKxPiPugE0NKANrrNxUXDvUnRkR1sH5tGjDSPHZf5h_5BVHue3vy0Z9VFAVvOF7KBl33wOhHLeR8EUT00SKiHP6saRO2RwiJXS1ptoE238vlRzcMVhj-mnyZklh-X4LSDFI_NKwIO8OYrAZ1AobUFrjpyamdGwwwe5WJ9a-HGx8pJDcppqXUhhXBbBn1IzgOY46cZCJMatCWlLHnq8ne6pgw-4izbuf5ewLTYvCUg2Xq4jiNL7WIlzAzBUSOFwh9PdNdmF_G8JRZl9aavByYkeKSC9t9pSTGzkCXojlbnqGVZRvvprZ6OMs_2halFnw8Bcc3g5utIbdrMzrzNZlJiiP7M8-qHdWB39htYiVf4mhaxQyiUARqYNfU2RY7P_5aZAu7FGqe65w499uV4d5Qg8w7JT58Mzpd3VkmHlz-sbxfWsewCWZW5suOZrJZSJYZpTVXLPxZK66L51Z9m1-fd6AwLcLfu3v2mpziJfh9ylkQhtYivwap52QV4xB2Qalqx2z1OdPgPOutYfH4MvYljXzHW4RhS_7LwCMTA0ZZS9qmjk5kLszVvLRIBkZn10GoCAbsucOb58VO0pSACiJSSUI3147YQwN3nslqajrjuD6hZvjTVkwOioOGKIfiBggMN3jCLivKnXaF7-6x7Fa6XBqOv8TeR1Qx3AY2C2E6xtbRgtVL-b4A9smfiJBu6qnV2wXypnlOrtvEiFY0z0gsjlP1rCYZtar_-4vfA22KhYIfo1FWtuL4yH31rAUmW6wTeM2m2I0lb6JKlXk18A_VJOFv-XCunw59zkfVsEHhTYxTqJZ4OLWKTmkA1cRI1adMBQMD_qiHWq70K5l0mUQt18XVuf9Cgmlde5yGFD7B3CQ7qHfObaTe1VRIeurzSroV5zf_C9y8DB38xBjbYI96h8FTFApK7QsZRYGumC93IxLK7CbZ8ZrbBojyFmPKYAYipxHSBArWcCu5IG1KuQ8AopcKC7WcU4ppIb0nU6E94IA38wjhvZTeW7CpNK44OXXMQXBns5RcCNBEFvQzWvHesVlf3nZffOnhPzdoSbaZDMv2D0NL0r733d555LMvwAjdvRXB_2vquCNMWXNqzDcmooXT9z8D5bSlqHE8IaBYTebl1x8sUFIcCF77yAOkc6r4LJZ_tOnfrZZjTf657XV9iJiwyuffuGoAVoq_OaN1TbOJAdjh6sbOo2uXIhXpWIOoLUF7QqPsJ7BVDUB0VbtfNjg==",
  "id": "rs_03c9b2882ec1d69f016ab44de1e83487d09b614796401e8e6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The thin rim again gives an almost-empty opening, but the closed fingertips are visibly seated exactly on the lip. I’m lifting straight up to test whether this precise pinch has captured it.\"}",
  "call_id": "call_Am51LOXClHOhd8tAU98wQhGu",
  "id": "fc_03c9b2882ec1d69f016ab44de2510087d0b1897faee3a1adca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Am51LOXClHOhd8tAU98wQhGu",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3594, 1.0908, -0.7017, 0.1749, 0.0784, 0.0107]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3451 right_y=0.086 right_z=0.1618 right_yaw=0.1111 right_pitch=-0.3827 right_roll=-0.1012 right_gripper=0.0107\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.6239, -0.1148, -0.0611, -0.0122, -0.3624, -6.4205, 8.8547, 1.3309, 0.0757, 0.0611, 0.525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8828d401e245523d250a9e2b48c48ef61735c99fd234fffdaa27df9696713f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2db3c695ae686c30b902bcc165b1f57a043eababc5340dde45592ac44a63f25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3daebc2aec4dbe443adc2559e74aac7b02041119e69b878b950f706e0379a9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.796 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4561, 0.1783, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3442 right_y=0.0851 right_z=0.1083 right_yaw=0.1049 right_pitch=-0.3642 right_roll=-0.095 right_gripper=0.2484\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.5849, -0.1441, -0.0464, -0.0122, -0.2667, -5.4085, 8.3624, 1.5556, 0.2076, 0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8761, -0.4603, 0.1757, 0.0849, 0.0089]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3432 right_y=0.0852 right_z=0.1075 right_yaw=0.1078 right_pitch=-0.3692 right_roll=-0.0948 right_gripper=0.0089\nstate[joint_eff]: [-0.0752, -1.4017, 7.1043, 1.6239, -0.1636, -0.0659, -0.0122, -0.1983, -5.2855, 6.6256, 1.409, 0.0904, -0.0122, 0.735]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3594, 1.0908, -0.7017, 0.1749, 0.0784, 0.0107]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3451 right_y=0.086 right_z=0.1618 right_yaw=0.1111 right_pitch=-0.3827 right_roll=-0.1012 right_gripper=0.0107\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.6239, -0.1148, -0.0611, -0.0122, -0.3624, -6.4205, 8.8547, 1.3309, 0.0757, 0.0611, 0.525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8828d401e245523d250a9e2b48c48ef61735c99fd234fffdaa27df9696713f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2db3c695ae686c30b902bcc165b1f57a043eababc5340dde45592ac44a63f25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3daebc2aec4dbe443adc2559e74aac7b02041119e69b878b950f706e0379a9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3qIr4MSk1WYEw75VoHvEn3GE0HZZ6A1HvMwkLFgXYj-lGKlyUKftW-aP6q5qD1JgkgEgpwRS6mOWaK13mBZrhtrvj-ptb4dJJ62sI5PI3uUmB1nWKDqVomvBwd4RYRWfJhNbhTBPD-T8NOpeyEGg6StrVGjPrfy2nqoTeGEBl626P2aIfJo-opIiGTyhoV2XZBj34HV5rZVv8RIDUN1_CzNy0g5vEhiLa2pkwxVzjq6ZjGjrrO3U-Td9SGJ_anWjlS1B59VglEfI-KGJAGfNi8zAnb7cuksDfgGhnSOt629GJOmObWHha5yaUPwLthGn4IRFHQveAoszbW2d65t7vsJJrFtR3__52eK_JDzLr1u28vN9ZB9YJRKQqbU4KtH26t_4-EsgCbxcQKcl2ssIz9b317apRn9oPIg943Pj_-odqS1Qrs-28IuaFHhNVTVtSbV146eEhxBOtyIkM4GwUpzsKX1YD-7Y6bFqDwwDDadWZ7pqEIRXxQVMgGcYH6BMUl7LidP3UU5sobnUm1DHan9iZQodDcsJaFHzAQiAwfmWfyRVxetbtc56ZepNamdgu_0NSyN3uls8_ixQ7HI1pFTvfxuDA-GZwmvgnbrloucLkxDS2nD6DFkj4t4nvo_Fr3qtPkkcqfwYwheXFGhnZISYzIAYkEK0W-4-VXc3Bse7DYRKOMZnwKAgdsA06dMqFtEGu5HYn7y06GqQIsC2y1xYDzmAt9BZTyfkKDS0wuH2bSj2-W8FcGvVWw51HJaGjoJpCrwzoqYetk69UdrvBON8sBH4_LE6yVZeB-DKq5RpfM-_fYtP0C8g-3EglNfHzlHm2dp5GYhwoN4tNO3i1WSdjnGggB-r3wRRw3zsf13HOKebDgd5i24wfpVan-viECEc3PfjlkHTmp1UCJM_t1QSpbB9Kc6eznWBkbbhi_Pp0MEcjEGMnSnYmM8LNxuLQubYSsrV93DSsmDrwsMBlKJUGjTy1dQN6MPGO8gzqiWR2Pc81Q1wDKNSdGCDg4zTOKmnnuOIoiPM1LKmrW3baxOzGNtSS_MjHY_OQ_wCsImSFUDKr--hG-jCAcgN3ZfKjl-IGn1XFZT0ZAJWuDp1QzpcFAuSAKsh2N_ukd5J5916sbljCbbiB_YlkBjzCnfFRhd6Evd9lJgl_WfuK8pli4KxonVkCb0WsfsEBpDW4OVTVnpp2CIZ67rwCIsic99tCNSw9mWftnAKhdNZv3DCg9bgwAAXDB8-scggQIWaz8W0k1eguRBdC7bmADI2Y6sx-bcBheQclzmVsITP6uniJfOoFp7Y0Hb4gIaJvNPEd8dMspvVk-LBXQJ3uVLtXpgB93Qoy5yswTHkvCcnQk3VIYiFGj_ktG7iQZDlao-ehhblV2QMI7Ynm_xE5gaamgF1r_yfZm0cRb7tb4fexfs6xkexRVQRimX43-zDI2s77vdQ9L4DAcY88SkIXHLec9Z6POa-uSDLr3kWeO6od1bDfU9Kv_WZKyzzG1umuR3yTmDtIF-KQpTqVsIIBoIBxVOmx4yH9rs7F3hWt11Yaami19mhgn4B5i42NvZLHtE4WgitVA1Je3kNSW4Ckg7e8n6GUbgP12v7pjpOEli86RMxp6edEppwVmlvdP1SN1MFU4EqpcEinliAPNLe3FScHY_McZZqM-jtR87J101o4YKgN4Xpn8F84HQ07_fx3m6Ilh1TsyWDsr5vmzLViEoXveFokIb1sWsdC5BxjgufacQ2awBd-DeIBtxZWmWl4xF9Xu0mw0chJKhcJrWpwm03f93NW_SDDMIJMyrlqSuweIEaJ67JDkTGvo50fqjzGVxdcyFVDLHn2KV3jOW612my0opxmuoS8QrIx7QtYhCjB9OEXUeILvjB_RAZrBFzZjw8VdFRYeHEbtXzOaqeOKiZTLb6BZ_uSJwyfYJdZQrnUePeWEq218bWRryaC6MaHn_r8k8xB0oinS26vZ8uASLwjm4VymoXfu_sTm5qXOSR1LsTGs5HdyPL0XdFBrPFFA5vyEO6FMsJLerZjUHXUKx74dLjVm4-OoZVTomDmSrSP88YpA14S6J-isYwDJ6ZA6uMqNcEE9YxzNATV8l2P5vToJA2JVoFVcnreoT01LAwQk83QVjXnvslO53F-m_6yHdBm0xA0b4CVgebVj_p6p_X_ZGwDOvwLu3Jqg5VCXxTQVtrjA0zkPi0xZu8emW0-jbodkE8Z29davXiVLBI-PjxRTwJAe8ug8ioppG7oCMuWYPakgN5CSsXvP7DP0XcjE15KS261_4kmwWH8wSpSvfJ2fgPE4-leSabVYV2eWtfK57-YyvW_UK-Ihz05Z3pm_8kdq0AfV5gO5MbOXxQ5wSqwtCIbhHeo4yWSXvFwr4ZXRIZQwdBEKWXA0frimZkZSGSPexomACE3F2FPgDGs_LWZ0iawqd_W__G5EHSZtY3R6odvL-o3_2dvBCTeKVF27yy2ZxFGBtFfFd7-JFEBGY7XAnOeg8GYSZRdhee58GDrBKjF_iYBgdrDlERePZbb2IcA2mCzDWezHgodLjaBtU8kuQNZXa9ActOBLcRw2dNOr6AhPT8CV1t1kKgmw5cj5IAl4mqmCzz_j1CLyaS8-6Dswo-yV08H7V_2nSuHyOrDQKyUlh8hK6hz6We0stJmXAKwCIfoB0OVHeXxsU8NgLIcCdWwG63DHxQ0WJDtliChDtmeJYz3wnEs1u3otY16S2DHUUT1Hm-8S7zSAmbHA6RVjbAuLjQ4jmUI0cSSA7lmuakKY4jxcUCi7yQrD507UmtCnoKnC308w__R59ZjmqiY1xFtVmAoFP2RuChRN-HrZkaJtzDRll8whr0_MkFb-XAdur1AEoVJgTju_ZoMeG4c3VLhG-Q_p0-juiGbZON-RqUpc5GQBWf0BGcL-beEMOtLllbt0BMol0PpQTYBL133v02G_RhgRfMA8GNQrN58hSNx54X-TuJJN34ohYrh_urM0KSwTy47ZUYvn6JAXDedZOxuDOjfeD_gR5oAK8v5rjRqENNMEXWjkZXxuCSRBl1epoDCGXE_9L_h5sRAQIcsha6FI6RajXBZmUNF53ukrZMLPI7BO2AUo92T2OFeWzhHkZK9-M5zGIUhHkMfZqb7p0085zh-VaXbHA4rvT696xV9CDqaKQ902R0ptpveBq6s6P5tlor3ZNBElGhtu9qNSoMT2WEfsiy2uCVRqyxKSM609vqvgIi3rpgeX7Nc1Ed124R1gHPhY8FbzrO1jy0jJjWAqUk2tiaA1LPJSmDRih1Y4scDgkn2qvpWzNOfoBJU3QuametoL88QQ-8zQETIAOMcdOK0Ri8AKpSyt4pgsIr7zzC8AxglBadxm6RamPEiFgAccUvB2FpYQSAVdPYRxMx28DWdm1w71pxZlFPMg9u3xFLxBEDJ6pXXULGwU2gLEtwItaR9E95B_Xr5wbMpggo2EqOpOlx1rWyy7pc9ldGMnE2F-2wYKa7kFKEUdNxJHBx5fJP-6_s1ONgT7L6qcSO7owTvgYK0cigB3Wa68l6k5_N1Tgbm7Pb2Q5WWyWtU0518F6weTzdK6unBtGLqbQYmVv41tJw2hmv6O3k5lxgDswnVbcARPVlNVPGv3T6kUnUvCctol0ghLDNNuMfmH0KX3-j35iyOROlP-X76BdEmv5bIlbISpxNfnx9PLe1Vh4EcRYflNLp9aRbH6NeVPQIfExMc4F9VYYpYNappWDONTPpsywqZh4CeEsjizLhfs3OmlY-hTMiN6UJ5o0naflobKvTy0qbqMdD5XtzptAiNU-El8DBoIKJ7f6yJwko9l_yE=",
  "id": "rs_03c9b2882ec1d69f016ab44de4adf487d0b682bbddfe4782b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.045,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The rim pinch did not lift. The prior internal test only opened to 7.6 cm, leaving clearance; I’m now centering the closed jaws inside this bowl and lowering them so I can expand fully to the 9.5 cm stroke against the inner walls.\"}",
  "call_id": "call_C1xTo9bc1VGIkTSbB1xAbpmd",
  "id": "fc_03c9b2882ec1d69f016ab44de9236487d0927b03801325cc08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C1xTo9bc1VGIkTSbB1xAbpmd",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1692, 1.4506, 0.6762, -0.255, 0.099, -0.0319, 0.007]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3297 right_y=0.0422 right_z=0.0351 right_yaw=0.09 right_pitch=-0.4567 right_roll=-0.1077 right_gripper=0.007\nstate[joint_eff]: [-0.0752, -1.5111, 7.1179, 1.6044, -0.149, -0.0806, -0.0122, -0.1709, -5.2581, 6.7761, 1.4335, -0.0269, -0.1636, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6dbf7a32088f768780fe6cf2f8b2079c601d59404bab6fbf27ad0f3e516a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fdaaeebd0b6bb3b3b33cb8048899be36978c74f61bbb1b927a542d82a2f0bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44113546cc2f58aaa5dbb93bb09cf32dce11a078c0665ce5d882a0fd5f1d4fd",
      "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 · 5.245 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8764, -0.4557, 0.1787, 0.0864, 0.2484]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3443 right_y=0.085 right_z=0.1084 right_yaw=0.1046 right_pitch=-0.3637 right_roll=-0.0953 right_gripper=0.2484\nstate[joint_eff]: [-0.0889, -1.2923, 6.9128, 1.5849, -0.1001, -0.0611, -0.0122, -0.4034, -5.4222, 8.7043, 1.5751, 0.2173, 0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3594, 1.0908, -0.7017, 0.1749, 0.0784, 0.0107]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3451 right_y=0.086 right_z=0.1618 right_yaw=0.1111 right_pitch=-0.3827 right_roll=-0.1012 right_gripper=0.0107\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.6239, -0.1148, -0.0611, -0.0122, -0.3624, -6.4205, 8.8547, 1.3309, 0.0757, 0.0611, 0.525]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1692, 1.4506, 0.6762, -0.255, 0.099, -0.0319, 0.007]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3297 right_y=0.0422 right_z=0.0351 right_yaw=0.09 right_pitch=-0.4567 right_roll=-0.1077 right_gripper=0.007\nstate[joint_eff]: [-0.0752, -1.5111, 7.1179, 1.6044, -0.149, -0.0806, -0.0122, -0.1709, -5.2581, 6.7761, 1.4335, -0.0269, -0.1636, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6dbf7a32088f768780fe6cf2f8b2079c601d59404bab6fbf27ad0f3e516a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fdaaeebd0b6bb3b3b33cb8048899be36978c74f61bbb1b927a542d82a2f0bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44113546cc2f58aaa5dbb93bb09cf32dce11a078c0665ce5d882a0fd5f1d4fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3tcb28k8lcqDTaNiLguTyOWeagm_ryWuYIj0iFC-xzm544ZtotJnipi10A2BxNrkS_u8h4otNU12QWWwVrh7ROzjUhyRL6WWrl9IR0d-IxLQKUeDecV2P8m027IgfHv8PMFwcqoQautroTGPGeGXrwdUyG9No93rue0p5WkPDWs8P90H9M3-uF63ZHx20sat7y5SOR8X36_NhmJlKHHsf9VHa0VlA5BJlsPn3H9PUwKBwgObj7A5qb44cVvGEn9oPIlK9l79528zaiPNdZtx2UnF-4JAKjZaQA6gN6jEAfjxK-S-8bBU72ggLKsgZOOcoB4G7lgnWSA8V5669O73AsRSFfJilZYEF-E6bS4-1kDqtxdiU5bXOCaGdSCBZrNQDodhD_Hp_DhyloWBc-mP9VYPkzSkEbWbAfmlA-l9_sHboTX2asDVYBQ6UjT_FsQcdtu63QHwTlASVrWg4CIbnF6Ut5JVmn0TZQrp0H6NAi4fZ9kGH2KKzj_e_VxpBmJaXj3STRhiJGkCTQ0iiZt0YBLbUW2LNKqy65FalD-7Dcoc7Pi8ofWCXuPMIBsct_QpTn3wnAHB_WQLKrChQHgfoLaF0Dr8-85JHFL14ldvOcdmSmdqmr2HgjOTe_JLyga7CoAv568n2T944xM1JBAM3oLW_zzo-ypZJKMOsrb5tLicY7oYSx6NyP2H85mS2Gd-9oIqwfAoubXt0AFqh-5b5NJMS4P5GmOWX8TJztSfyCk3sgnZsZbg5l6FoIxr0igYKcKKvOPZjcmKYKolADCjHvob74GIME7m8ybGndzNuejWfo_fXIWhNcgS5SD5L6po6jOieEE5GzYkMJUjhYQFHHaGNkGXP4qOiNeFmvHT8phq4qzoZXghbzLQiR7yz4Ea5YzA6zhqTFFM_Optn_lCfAiJUnhCYs9QJipooMTjJS_UFwtYvc-uzlaRLex3K-WQh-jbEH_z2q_i0jTZeSzRh_2cAF26nbjVmr7cbo7CEk2Vwy_iatRllSP1XLc7BaQtRqJBqkKI2-hgz8Nymm7jnw90Y9JNpusOuHXCh9IeoxIeIuFTnhu6bSYYQKFT9bug0xL6d1OkSOy36jCyhts_ElHBmzkXRUMfr5Gb4c7DGU2-ioCJtibxggidbcJzL7TYnn71jkcZlQeuYvFv0XDpUugK4Wwd5sRuobYLC3xL9hGYPmnzGP4yUCDHS595w2XObIijDY6b0S0nODgl6cUIPcgnh_q0iRv77ptTYdZ6UIeF8=",
  "id": "rs_03c9b2882ec1d69f016ab44dec2dac87d0867ad4e6655cba89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The closed fingertips are now deep and centered inside the bowl at 3.5 cm. I’m expanding all the way to the 9.5 cm maximum so the jaws press firmly against opposite inner walls; a stopped-short opening will confirm contact.\"}",
  "call_id": "call_pBp0HjY5VT7Ribanh3mmtjc5",
  "id": "fc_03c9b2882ec1d69f016ab44dec585087d080a453d19f58d2ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBp0HjY5VT7Ribanh3mmtjc5",
  "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1642, 1.4662, 0.6582, -0.2565, 0.0921, -0.0425, 0.9947]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3221 right_y=0.0405 right_z=0.0239 right_yaw=0.0966 right_pitch=-0.4927 right_roll=-0.11 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.5111, 6.9265, 1.6044, -0.1148, -0.0366, -0.0122, 0.253, -6.7487, 7.2274, 1.2137, 0.1001, 0.105, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64a0b5d3e134b263d9240a1bb6588b0d38c1887959b5e006eaf60325271ead6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a3b9e2e4d6cad52388ae28cc70a3a7a0b6df4e241f53c509559e6f169d2a03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf40567974802695711b59433e1ce722dab0cc95b67ac8bb5d367d75206aa275",
      "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 · 9.358 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3727, 0.8761, -0.4603, 0.1757, 0.0849, 0.0089]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3432 right_y=0.0852 right_z=0.1075 right_yaw=0.1078 right_pitch=-0.3692 right_roll=-0.0948 right_gripper=0.0089\nstate[joint_eff]: [-0.0752, -1.4017, 7.1043, 1.6239, -0.1636, -0.0659, -0.0122, -0.1983, -5.2855, 6.6256, 1.409, 0.0904, -0.0122, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1692, 1.4506, 0.6762, -0.255, 0.099, -0.0319, 0.007]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3297 right_y=0.0422 right_z=0.0351 right_yaw=0.09 right_pitch=-0.4567 right_roll=-0.1077 right_gripper=0.007\nstate[joint_eff]: [-0.0752, -1.5111, 7.1179, 1.6044, -0.149, -0.0806, -0.0122, -0.1709, -5.2581, 6.7761, 1.4335, -0.0269, -0.1636, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1642, 1.4662, 0.6582, -0.2565, 0.0921, -0.0425, 0.9947]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3221 right_y=0.0405 right_z=0.0239 right_yaw=0.0966 right_pitch=-0.4927 right_roll=-0.11 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.5111, 6.9265, 1.6044, -0.1148, -0.0366, -0.0122, 0.253, -6.7487, 7.2274, 1.2137, 0.1001, 0.105, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64a0b5d3e134b263d9240a1bb6588b0d38c1887959b5e006eaf60325271ead6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a3b9e2e4d6cad52388ae28cc70a3a7a0b6df4e241f53c509559e6f169d2a03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf40567974802695711b59433e1ce722dab0cc95b67ac8bb5d367d75206aa275",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3zSXXpyD3hjBJoVrjvPz1WqlkhvRkHeOtpvzTXRBEH46M4VIIQLsmhnhzIuC7PMVpjHlsOz01PZQsw0CeqRH0vLnaTospdFy9OQDefFaPm5g8iS_k5z2pwKFUw7yBO7_yj29oH23z1i6zdMw2OPW8xcO5fHfEng1OXNFblEUK5dvO-LGFv2_ZEHfJwB3Ik-gd1OizGkelaar9bYwSIu8RjtIvycotmlTtwktRBcpwoNRrhmQwvYeWJ58OBjRyEQTD6km-HCN4fmsTWqB0OzSaZGcpf-uoQawSrfPzvHe1R1a8N2rV2KYgdTShVtCO-zqheqkrwGX6EXG6o5AM2HqLkIAwkW7HjLwMpTXEivre6IxyVdYUWBinyvuhjcId_Z_Y6s9iDBc17OIhCrY-3u9U2jgl6LwYMD-51WcR3wcODngAJttZmDgYVmgr0hTsX6YOvEkYum0OA1ALl6i1Z11y8J4O6pyaZrf3EZtReJ6uLDRrunFG4S5LD_JFbHvoJzL4dx5Qn3MFWdKcQPZ12Jhbnfx8QAbYnH157YoELKN7dSVB3IhLlh7V78BwSpdj80DK6bhJK7hXxHxT_q-rLRKxqmALj1kT1HPSW5o2w-RNz1pxphP-fGzN0Cr0j8gaD6Opz3-7mH74Ax3jaTgU7T22a1A7TByiIcJ_1bne6Erlwm9RaLMJe11luBl3tlW-ZfZRqUsJN6FEEwXqQGHqewGyDNu4wS7vmVUjHKYpXrbl1zoiKsagrci75pUxky241NEbX7cTBzNXVESuppSgSQrIgbpf3dX6JxV2hq4sSTQLLIvqF14JQiWSRLKUzkH7sfgvbINjrXCugqKgPG5gXCU3aslOZ21hvvT9VtvZmyNpuEQ2V84mbheUNE43ACo1zAAJ0DrEUr-fQt7uH4x8fvy1eWpxpJe9DYnLRQlsfY4l6rurbQV3n6k01xdcFRVra5hplWj1DPtfYDpdVT3TYTapO4jQAmkybwzfBVKZplv3uSmSPfdepP8uvfalhy3u3ODNNhvqot8gf08kXeNNCcZEqU_Qir8-pn7CuQSs2bKDVoATy5ee-vN5TQkGu_0thLxVLp4rWwtHMzcTMFwQjW-SZqvqbZgmY8Xjp2tdrsDNCq_yzFcifGqF-S2QCOdxExNJ63LUtjIjnaOQeoJuqKxsbosCzjjFvmRnECZ0od59mL_heh2RXjVL32SaP_uCdqflVyFFzX7U2O0XH2d42nho9bBYkpvqV7mqmksnSB72eLK6r09QA4sxYv4P845ViFo0iVUxTJeFI1fb_lyJYvF4Ux7pkjg329tzIq5D2Ve7v90uicnkya030ty8OHGoAme7FxWZHiR0Ohvtc7IwZNPZpp3xtnfNns1HqGSD4xSQjtarNtUMLKEWznazKh-l0tzE8wZtMSQggjoO4gY0EBhnOVVmxAhajkVEO6AaVD-RUQslkLL2ZsTHxw8OeG17VfDQFCJgXSfUzKrHl3z7kaF949wED_2gLLoOjnSDvEioYDucaBTFRRXBmCi6qk3YVEWI_fFlpjHpk5qvby0JLuFJpi_uQwikIvG03mp91LevSVm7gjWhKIiiGsSC1XfpS6ZADjbnmY4P0JXFNo5eCqtF8rXDWuvf4jo9zEiZydqE0hhKGgsalLJmgDHaQ88pwc8Y7t9f8L9M2cwcJo5CnAO8WEBldV4mcxiSg8fplZeBvgTp64wuPo6iEIZFdQqCPIXoXzAVpPj8oQIdkccJMjpfpgMBuF7WDKuuse6RQqpW4GyK792g4EPblc9Q12e8BK-cQSHXX4eAcHcYq0aq3afJ1Jd2E1Lrz1YxI2GgT898vXeoH6re5WAhb-RP2GqaEoz9iUG9Cub8xwVbOeiJLVyOk5yDa5ioAStWN1k3rOtdUlMkF_VCwQck7N5wpIuVWeiQkpimL1VddJM9AhNbaJNjO-iDvI9GEm_bjI3uu-IwwfQaM4ErNTqd-RBne7wPtB43FuDxGV_ZieCd5RxwMO7fbja95pG_puaC9oAxS2NLpOaHqii7-umsw9mI1ngGUSXK9yjXTxg9kxirEPmifwhoZM5kjTUSldK_zdvvPnl528oK7bfwwIG1CYbEAprNqa4y_Qev2wXvnPZHr9BQtSNNsZZ6zGQZQWEPepgo2uc01p93WNZU6UULvX-ZglXkBvfc4Zfu7y1urXvOW8jQYdfW5xbAYYTxWfvIfuiNAaY0Gkk44mGtaUssgXq4Ah0-v9Wly1hrK23h30EZhiLe_iddv5arcexZ6Bhj3fnyqNhnPsFd0NjyL0_aQ_E2wzP_in4JbX6WrvJTDmvLnUnOzK8PdrRo4Qjf_nSy_XocctCUVzn3CX3BIL3thETeL6MtjmqdW70Ch2dCmL3SM4QXg05Uw0isHhs1eWRqBHwUaXDVUdpEKbQs7O9SPZadBaaKN_bBgsLY6kXCZKZbSysNGyQgcw_X2a8MXW6yW9FAYG7aQhXVbAacVAgh6_d0nRvyTWBJxW0nSMb72AbI8KVvFDsnJe92D17MGz_dr3uesy9NFCnsEj_8Uqfiw22DxY7O3fdk8AynWLsykHcF_d7dAwKQg84zCeeVQCD2p8CouJyiyJEZ_X3KqhrbbuBl5vsBdXBOXpN9w648rjVaN_4Uy0YPEvd8Kx14SMHTK8yyXQIcymdvjEp_IAyAEqd_gvTSv-8AT8_0nl25NUS8ON2PIGunDS7wfRrC0uw_AoYIc-5xcDkKNLEg-4LtTvmPjOWXcjaImCbyRPjEgIlJl4TtTZt51aLVL7pm8hkNZzoopd4I3Dqk=",
  "id": "rs_03c9b2882ec1d69f016ab44defef0487d0917ef69c990ed063",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"The full stroke still has slight clearance at the current interior height, so the bowl is wider than 9.5 cm there. I’m lowering the fully spread jaws toward the narrower lower interior, where the sloped walls should contact both sides and generate outward holding force.\"}",
  "call_id": "call_6jMdUeBf6Ud9Z8aMJ3OUwPbQ",
  "id": "fc_03c9b2882ec1d69f016ab44df2e26887d080767f5efdf7c844",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6jMdUeBf6Ud9Z8aMJ3OUwPbQ",
  "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]: [-0.1471, 0.8478, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1635, 1.5169, 0.6262, -0.1104, 0.0795, -0.0418, 0.9935]\nstate[eef_state]: left_x=0.2865 left_y=0.0023 left_z=0.1549 left_yaw=0.0984 left_pitch=-0.1058 left_roll=0.067 left_gripper=0.9988 right_x=0.3364 right_y=0.0449 right_z=0.0157 right_yaw=0.1092 right_pitch=-0.4302 right_roll=-0.0932 right_gripper=0.9935\nstate[joint_eff]: [-0.0889, -1.5932, 6.9128, 1.5995, -0.1392, -0.0415, -0.0122, -0.0752, -1.8803, 2.3316, 0.5641, 0.1978, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa08e9f6463eb25b4a8aae15209eb29d6e787bd7e2160b915fd62f97ff47600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0683213a1ecaf615f4a81605d8d82f90c418795e3f3c11c896c7282b6a615310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688aefe474f12e454c13ab460b6d9e5c53b63cd52f58edc8f2a6277beff774e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 10.16 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.3206, 1.3594, 1.0908, -0.7017, 0.1749, 0.0784, 0.0107]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3451 right_y=0.086 right_z=0.1618 right_yaw=0.1111 right_pitch=-0.3827 right_roll=-0.1012 right_gripper=0.0107\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.6239, -0.1148, -0.0611, -0.0122, -0.3624, -6.4205, 8.8547, 1.3309, 0.0757, 0.0611, 0.525]",
      "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]: [-0.1471, 0.8467, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1642, 1.4662, 0.6582, -0.2565, 0.0921, -0.0425, 0.9947]\nstate[eef_state]: left_x=0.2864 left_y=0.0023 left_z=0.1552 left_yaw=0.0984 left_pitch=-0.1046 left_roll=0.0667 left_gripper=0.9988 right_x=0.3221 right_y=0.0405 right_z=0.0239 right_yaw=0.0966 right_pitch=-0.4927 right_roll=-0.11 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.5111, 6.9265, 1.6044, -0.1148, -0.0366, -0.0122, 0.253, -6.7487, 7.2274, 1.2137, 0.1001, 0.105, -0.0757]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1471, 0.8478, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1635, 1.5169, 0.6262, -0.1104, 0.0795, -0.0418, 0.9935]\nstate[eef_state]: left_x=0.2865 left_y=0.0023 left_z=0.1549 left_yaw=0.0984 left_pitch=-0.1058 left_roll=0.067 left_gripper=0.9988 right_x=0.3364 right_y=0.0449 right_z=0.0157 right_yaw=0.1092 right_pitch=-0.4302 right_roll=-0.0932 right_gripper=0.9935\nstate[joint_eff]: [-0.0889, -1.5932, 6.9128, 1.5995, -0.1392, -0.0415, -0.0122, -0.0752, -1.8803, 2.3316, 0.5641, 0.1978, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa08e9f6463eb25b4a8aae15209eb29d6e787bd7e2160b915fd62f97ff47600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0683213a1ecaf615f4a81605d8d82f90c418795e3f3c11c896c7282b6a615310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688aefe474f12e454c13ab460b6d9e5c53b63cd52f58edc8f2a6277beff774e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE395lIoIhAsHeF0kH0hVw5oib0oxUvjWsZ-DrdRUe39ek3kR5UBfZsIU0YwFClWi-wfrusZUEqYayyfW9hgGS1pPXAwRwm_TBJ2vEPLxWXZWMBeAUI50MOedbuF2h7b1h2r8O2ClP0AAz-_o-BJ7R6dsrY_6_BliIXNjZbul9lulIXRyZD6gwIgzAkXYGvCdfDKGSRqf6EYBcHa4p5PiOC1NhCIerNR6mkUq1DgKvJA0yTOoMpO6FcpP0Ap4Envuo-Ba2W5SDMLuCfMvZ6SuDQza3zju1zevOmdgb1602H8mY_xnw-Wb3iE68-LrXmQkuJ1CeO-cQHrenb8LETIe9qG0LrFr_bNqXsxZ3R10f3F3ONxBBICDedooGdUwEMmz1x6fKmGSnAsrMZkbVXR7TUOFPefdN1cZSj0VibEXMohIyUN0PSIWsHtj57MXj479iA-ppajskf5WfK_l0H4dRRgFI6ikBGu-qcTMnYc2uLSAwFIhCHJo0gKnKEZ1l9sfLokmvX92tM_FCseABjKCro33GhEdUEUEU8UMA5Uo64Ds35OJFgc4XCu3Yxr3mCDIiwyDd-iQ4Cz_B6ZcskCVb9et8C8I9ShqSsAJOIka94lJq9_J4ymnhX8B6AK9640lT0Jhj012IEBkE2u3sFNhEbjuP9RST_IM9wEpoJJQ4DbpIT-v5nr5f5FOKAS39D385L4IMwg3-HeU9JXDw4JYseaa-IqmiZmfpRi6OoF2ccQ2PYYje26quPmH1-TP40Wwr9FHf7cVBcVsLG0Xz5q2Pc67jEGCd1pJizC1wTRPH8T_D0lJ8X1rWwMZA1_aABY3AiIcYl3wXhDig0i4gXUaCISkxw9BUykZX2N0ubURCY00abt5LY4xv6zx443RXT3_jJ-RYq6c2QRndnFPtdrkOqwR0B1UKa4phf5dAxWdY9d1kyyETUdbYpJ07-BNJ5zrUsiLlWT6V-uwk3WSf8T4B3GdJZYD3v04OUahHsq9lJR_OYyeke3AoU3EZ6ypDkGRcgTM6qeo7mnrNBYFmEGwC_zyPr5oqLk-_zgmF9vOg3JBc-0k8htHheLfD9TGGWmZ0GsDQw0L2yBrwbH0KVn0eOXo1XJoz6E0apaczqTasEY-JuYprP5LdpQEvUx67Zcj4g73fyoMaEho6lPu2myFu8-VxoZAmojO6dPYEtOPrTMLCuZDI2AqrT-h46BnOuAt1F5Ti9_nwsSoN-ivoUw5b992S8xyvmvS1koDUJbkWCjh3CH_4XlW4nEv6mLR78AXIrAoppizD5HGMK9CJEVIeVYqvq3XwpJ2_xsZm7K-iRkgRzExRhvPDotM9cqd5Dkl7HZ-ztsHdApJ1cvoK1Vdpr4L5hjDkCvlhc4kjlkt4ZrrerRki1xaaqviZyi075qFesRZQoe7qUxJdAyjy_A6yIciQ==",
  "id": "rs_03c9b2882ec1d69f016ab44dfc1c2887d09ea16c006eefb41d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The descent stopped at 1.6 cm and the widely spread fingertips now sit against the bowl’s narrower lower walls. I’m lifting while maintaining full expansion to see whether this lower internal contact carries the bowl.\"}",
  "call_id": "call_9QppVjjDXWLixC25mVwpz2Un",
  "id": "fc_03c9b2882ec1d69f016ab44dfc951c87d08f14ab1fd35dff5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9QppVjjDXWLixC25mVwpz2Un",
  "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]: [-0.1471, 0.8501, 0.609, -0.4595, -0.2325, -0.131, 0.9988, 0.1635, 1.3384, 1.0271, -0.7063, 0.0696, -0.0498, 0.9936]\nstate[eef_state]: left_x=0.2865 left_y=0.0023 left_z=0.1543 left_yaw=0.0984 left_pitch=-0.108 left_roll=0.0675 left_gripper=0.9988 right_x=0.3371 right_y=0.0468 right_z=0.1416 right_yaw=0.1228 right_pitch=-0.4473 right_roll=-0.0895 right_gripper=0.9936\nstate[joint_eff]: [-0.0479, -1.2239, 6.9812, 1.619, -0.1538, -0.0513, -0.0122, -0.2393, -6.5299, 8.9504, 1.3211, 0.1099, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2038675aefbf95c748757e392a81efcbc912972f4b36ba2ede3811ea5163d01b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b1960cf424243117b3ff0b668fbbec5efd684a8f4c7579d7b908313442de59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c739d41f9c0805a8c4ea4b33cb71712350378ce5212bd8cac9bdfc88d4378503",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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