adhoc

completed
2026-09-23T21:19:51.457970+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
201.7 s
total steps
244
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 left-to-right; the left wrist camera shows the left bowl slightly forward and to the gripper's right. I am moving the left gripper a few centimetres outward and rightward to center it over that bowl while staying safely above the rim.
move_to
left_x0.3250left_y-0.0200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3824, -0.0227, -0.041, 0.9993, -0.0177, 0.7925, 0.5987, -0.3874, -0.0174, -0.0414, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9993 right_x=0.293 right_y=0.0015 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6906, -1.5932, 10.1128, 1.8632, -0.022, 0.2857, -0.0855, -0.5812, -1.306, 10.5094, 2.0342, -0.0904, 0.2808, -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":0.325,"left_y":-0.02,"left_z":0.15,"left_gripper":1.0},"note":"Three upright bowls are spaced left-to-right; the left wrist camera shows the left bowl slightly forward and to the gripper's right. I am moving the left gripper a few centimetres outward and rightward to center it over that bowl while staying safely above the rim."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteThe left bowl is now nearly centered in the wrist view but remains visibly short of the fingertips, with its center a little right of the jaw column. I am advancing another few centimetres and making a small rightward correction before descending.
move_to
left_x0.3450left_y-0.0320left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.128, 0.9569, 0.5617, -0.2493, -0.0822, -0.0792, 0.9993, -0.02, 0.7975, 0.5987, -0.3939, -0.017, -0.0429, 0.9992] state[eef_state]: left_x=0.3138 left_y=-0.0221 left_z=0.1411 left_yaw=-0.0368 left_pitch=-0.0694 left_roll=0.0069 left_gripper=0.9993 right_x=0.2925 right_y=0.0007 right_z=0.1737 right_yaw=-0.0018 right_pitch=-0.0114 right_roll=-0.0013 right_gripper=0.9992 state[joint_eff]: [0.4034, -4.506, 7.1453, 2.0342, -0.2711, -0.1148, -0.0855, -0.0205, -1.6205, 7.2274, 1.7558, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.032,"left_z":0.15},"note":"The left bowl is now nearly centered in the wrist view but remains visibly short of the fingertips, with its center a little right of the jaw column. I am advancing another few centimetres and making a small rightward correction before descending."})
tool
executing move_to over 3 steps (0.3s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe bowl has moved lower in the wrist image and is close to the fingertips, but there is still a narrow clear gap and its center remains slightly right of the jaw axis. I am making one final small outward-right adjustment to put the grasp point over the bowl center.
move_to
left_x0.3600left_y-0.0400left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 1.1007, 0.6197, -0.2199, -0.1085, -0.1051, 0.9992, -0.02, 0.8005, 0.5957, -0.3939, -0.017, -0.0463, 0.9992] state[eef_state]: left_x=0.3329 left_y=-0.0276 left_z=0.1289 left_yaw=-0.0228 left_pitch=-0.1235 left_roll=0.009 left_gripper=0.9992 right_x=0.2923 right_y=0.0007 right_z=0.1715 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.004 right_gripper=0.9992 state[joint_eff]: [-0.4718, -4.547, 9.5521, 1.7265, -0.0611, 0.0464, -0.0171, -0.1709, -0.9504, 7.2547, 1.7509, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.04,"left_z":0.15},"note":"The bowl has moved lower in the wrist image and is close to the fingertips, but there is still a narrow clear gap and its center remains slightly right of the jaw axis. I am making one final small outward-right adjustment to put the grasp point over the bowl center."})
tool
executing move_to over 3 steps (0.3s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe left bowl is now directly at the fingertip line and centered between the open jaws. I am descending to mid-bowl height so the jaws can close around its tapered outer walls rather than only touching the wide rim.
move_to
left_x0.3480left_y-0.0380left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1814, 1.2057, 0.7181, -0.2642, -0.1219, -0.1242, 0.9992, -0.02, 0.8036, 0.5957, -0.3973, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3484 left_y=-0.0384 left_z=0.1294 left_yaw=-0.0305 left_pitch=-0.1723 left_roll=0.0105 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.17 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0066 right_gripper=0.9992 state[joint_eff]: [-0.212, -4.6701, 9.4838, 1.5995, -0.0659, -0.0659, -0.0122, -0.3077, -1.2786, 7.0496, 1.746, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.348,"left_y":-0.038,"left_z":0.045},"note":"The left bowl is now directly at the fingertip line and centered between the open jaws. I am descending to mid-bowl height so the jaws can close around its tapered outer walls rather than only touching the wide rim."})
tool
executing move_to over 6 steps (0.6s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteAt mid-height the bowl fills the space symmetrically between the jaws, indicating a centered approach. I am closing the gripper fully around the tapered sides and will use the settled opening and a lift to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1852, 1.3773, 0.4885, 0.0628, -0.1287, -0.131, 0.9992, -0.02, 0.804, 0.5953, -0.4122, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3356 left_y=-0.0362 left_z=0.0385 left_yaw=-0.0222 left_pitch=-0.2449 left_roll=0.0223 left_gripper=0.9992 right_x=0.2898 right_y=0.0007 right_z=0.1667 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0066 right_gripper=0.9992 state[joint_eff]: [0.4171, -4.5744, 5.6274, 1.5995, -0.0464, 0.0659, -0.0122, -0.335, -1.1282, 7.0222, 1.8095, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At mid-height the bowl fills the space symmetrically between the jaws, indicating a centered approach. I am closing the gripper fully around the tapered sides and will use the settled opening and a lift to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper settled nearly fully closed, so both fingers entered the bowl and this was an empty center grasp. I am reopening and raising above the rim to reposition for a single-wall pinch with one finger inside and one outside.
move_to
left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 1.3914, 0.4709, 0.0635, -0.1291, -0.1394, 0.0089, -0.02, 0.8043, 0.5953, -0.4152, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3288 left_y=-0.0349 left_z=0.0278 left_yaw=-0.0162 left_pitch=-0.2752 left_roll=0.0221 left_gripper=0.0089 right_x=0.2894 right_y=0.0007 right_z=0.166 right_yaw=0.0017 right_pitch=-0.0431 right_roll=-0.0065 right_gripper=0.9992 state[joint_eff]: [-0.0615, -5.8598, 7.2274, 1.409, -0.0611, 0.0562, 0.6276, -0.2256, -1.3197, 6.9949, 1.746, -0.0757, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11,"left_gripper":1.0},"note":"The gripper settled nearly fully closed, so both fingers entered the bowl and this was an empty center grasp. I am reopening and raising above the rim to reposition for a single-wall pinch with one finger inside and one outside."})
tool
executing move_to over 10 steps (1.0s)
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 noteWith the gripper raised, the bowl is clear and its right-hand rim is several centimetres to the gripper's right. I am shifting the gripper toward that rim and slightly outward so the right wall, rather than the bowl center, lies between the jaws.
move_to
left_x0.3500left_y-0.0800left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1856, 1.2209, 0.6685, -0.3332, -0.1291, -0.1474, 0.9947, -0.02, 0.8043, 0.5953, -0.4156, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3241 left_y=-0.0341 left_z=0.0928 left_yaw=-0.0102 left_pitch=-0.3032 left_roll=0.0218 left_gripper=0.9947 right_x=0.2893 right_y=0.0007 right_z=0.1659 right_yaw=0.0015 right_pitch=-0.0435 right_roll=-0.0062 right_gripper=0.9992 state[joint_eff]: [-0.212, -5.1761, 9.1966, 1.4579, -0.1392, 0.0611, -0.0366, -0.1709, -1.265, 6.9949, 1.7118, -0.0415, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.35,"left_y":-0.08,"left_z":0.11},"note":"With the gripper raised, the bowl is clear and its right-hand rim is several centimetres to the gripper's right. I am shifting the gripper toward that rim and slightly outward so the right wall, rather than the bowl center, lies between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe lateral shift worked: the bowl's right rim is now close to the jaw column, though still about two centimetres left of the desired pinch line, and the rim remains just short of the fingertips. I am making a small final rightward and outward correction.
move_to
left_x0.3650left_y-0.0920left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3325, 1.3479, 0.799, -0.3962, -0.2035, -0.2531, 0.9954, -0.02, 0.8051, 0.5953, -0.4164, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3383 left_y=-0.0752 left_z=0.0959 left_yaw=-0.0272 left_pitch=-0.345 left_roll=0.0276 left_gripper=0.9954 right_x=0.2893 right_y=0.0007 right_z=0.1656 right_yaw=0.0017 right_pitch=-0.045 right_roll=-0.0065 right_gripper=0.9992 state[joint_eff]: [-0.3624, -4.5333, 8.6906, 1.37, -0.2125, -0.1001, 0.0611, -0.253, -1.265, 7.1043, 1.6728, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.092,"left_z":0.11},"note":"The lateral shift worked: the bowl's right rim is now close to the jaw column, though still about two centimetres left of the desired pinch line, and the rim remains just short of the fingertips. I am making a small final rightward and outward correction."})
tool
executing move_to over 3 steps (0.3s)
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 arm only achieved part of the previous lateral correction; the rim is still just right of the jaw center, while the radial gap is now small. I am continuing the same modest rightward shift and a one-centimetre outward advance to center the wall pinch.
move_to
left_x0.3750left_y-0.1080left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3519, 1.4483, 0.8978, -0.4393, -0.2184, -0.2783, 0.9954, -0.02, 0.8097, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3534 left_y=-0.0852 left_z=0.0944 left_yaw=-0.0138 left_pitch=-0.3829 left_roll=0.0391 left_gripper=0.9954 right_x=0.2885 right_y=0.0007 right_z=0.1628 right_yaw=0.0017 right_pitch=-0.0564 right_roll=-0.0062 right_gripper=0.9992 state[joint_eff]: [-0.7863, -6.8034, 8.9231, 1.2527, -0.0757, -0.0024, -0.0073, -0.335, -1.6205, 7.0359, 1.7118, -0.0464, -0.0708, -0.0171] 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_x":0.375,"left_y":-0.108,"left_z":0.11},"note":"The arm only achieved part of the previous lateral correction; the rim is still just right of the jaw center, while the radial gap is now small. I am continuing the same modest rightward shift and a one-centimetre outward advance to center the wall pinch."})
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 right rim now lies essentially on the jaw column and is immediately in front of the fingertips. I am descending to the rim-wall height while holding this lateral alignment, so one finger enters the bowl and the other stays outside.
move_to
left_x0.3650left_y-0.1030left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3912, 1.5326, 1.0012, -0.4953, -0.231, -0.3084, 0.9955, -0.02, 0.8108, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3651 left_y=-0.103 left_z=0.0964 left_yaw=-0.0191 left_pitch=-0.413 left_roll=0.0454 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0576 right_roll=-0.0062 right_gripper=0.9992 state[joint_eff]: [-0.3077, -6.9128, 8.7179, 1.0574, -0.2369, 0.0366, -0.0073, -0.0068, -1.3607, 7.0085, 1.6484, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.103,"left_z":0.055},"note":"The right rim now lies essentially on the jaw column and is immediately in front of the fingertips. I am descending to the rim-wall height while holding this lateral alignment, so one finger enters the bowl and the other stays outside."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteAt the lowered pose the near-right wall is centered cleanly between the open fingertips, with the bowl body entirely to the left. I am closing now to pinch that single rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3965, 1.5784, 0.9043, -0.3912, -0.2337, -0.3187, 0.9955, -0.02, 0.8112, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3566 left_y=-0.1011 left_z=0.0584 left_yaw=-0.0095 left_pitch=-0.4476 left_roll=0.0574 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1624 right_yaw=0.0017 right_pitch=-0.058 right_roll=-0.0062 right_gripper=0.9992 state[joint_eff]: [0.1983, -6.694, 6.8718, 1.5556, -0.1001, 0.0659, -0.0171, -0.253, -0.9641, 6.9675, 1.6484, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lowered pose the near-right wall is centered cleanly between the open fingertips, with the bowl body entirely to the left. I am closing now to pinch that single rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe wall pinch also closed empty; the tapered side was pushed away, and the readback shows the wrist had pitched forward by nearly half a radian during the low reach. I am reopening, raising, and commanding a compensating positive pitch so the fingers approach the rim more vertically for a secure lip pinch.
move_to
left_z0.1200left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3965, 1.6009, 0.8791, -0.3885, -0.234, -0.3229, 0.0084, -0.02, 0.812, 0.5945, -0.4229, -0.0166, -0.0498, 0.9991] state[eef_state]: left_x=0.3483 left_y=-0.0975 left_z=0.0425 left_yaw=0.0021 left_pitch=-0.4889 left_roll=0.0747 left_gripper=0.0084 right_x=0.2886 right_y=0.0007 right_z=0.1621 right_yaw=0.0017 right_pitch=-0.0591 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.335, -8.7179, 7.8974, 1.0867, -0.1001, 0.0366, 0.6129, -0.0479, -1.3744, 6.9812, 1.6484, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_pitch":0.3,"left_gripper":1.0},"note":"The wall pinch also closed empty; the tapered side was pushed away, and the readback shows the wrist had pitched forward by nearly half a radian during the low reach. I am reopening, raising, and commanding a compensating positive pitch so the fingers approach the rim more vertically for a secure lip pinch."})
tool
executing move_to over 27 steps (2.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteWith positive pitch commanded, the fingers are much closer to vertical and the displaced left bowl's right lip is still aligned on the jaw center. I am descending only to lip height, avoiding the lower tapered wall that caused the previous slips.
move_to
left_x0.3450left_y-0.0970left_z0.0650left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5503, 1.3529, 0.3302, 0.6235, -0.5594, -0.1661, 0.9979, -0.02, 0.8162, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3446 left_y=-0.0972 left_z=0.1067 left_yaw=-0.005 left_pitch=0.2347 left_roll=0.0799 left_gripper=0.9979 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=0.0015 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9992 state[joint_eff]: [-0.5265, -3.3573, 5.3949, 2.0586, -0.3443, 0.1441, -0.0855, -0.3214, -1.7026, 6.9812, 1.6532, -0.0855, -0.0269, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.097,"left_z":0.065,"left_pitch":0.3},"note":"With positive pitch commanded, the fingers are much closer to vertical and the displaced left bowl's right lip is still aligned on the jaw center. I am descending only to lip height, avoiding the lower tapered wall that caused the previous slips."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe descent sagged to about 4.5 cm, but the wrist remains substantially more upright and the bowl lip is still centered between the fingers. I am closing on the lip now and will immediately verify by lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5541, 1.6688, 0.244, 0.968, -0.5739, -0.1471, 0.9985, -0.02, 0.82, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.339 left_y=-0.0927 left_z=0.0449 left_yaw=-0.0136 left_pitch=0.1873 left_roll=0.1339 left_gripper=0.9985 right_x=0.2889 right_y=0.0007 right_z=0.1599 right_yaw=0.0015 right_pitch=-0.0671 right_roll=-0.0057 right_gripper=0.9992 state[joint_eff]: [-0.3214, -7.9521, 4.3692, 2.8107, -0.1978, 0.0757, 0.0464, -0.2393, -1.4701, 7.1453, 1.6484, -0.0806, -0.0415, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent sagged to about 4.5 cm, but the wrist remains substantially more upright and the bowl lip is still centered between the fingers. I am closing on the lip now and will immediately verify by lifting."})
tool
executing move_to over 10 steps (1.0s)
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 noteThis close was empty again, and the new wrist view reveals the real issue: there is still clear floor between the bowl and the fingertip point, so the low pose falls several centimetres short radially; the right rim is also right of the jaw axis. I am reopening and moving farther outward and right while raised, keeping the more vertical wrist.
move_to
left_x0.3900left_y-0.1200left_z0.1200left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5606, 1.7527, 0.2119, 1.1313, -0.585, -0.1265, 0.0086, -0.02, 0.8204, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3372 left_y=-0.0923 left_z=0.0422 left_yaw=-0.017 left_pitch=0.2286 left_roll=0.1326 left_gripper=0.0086 right_x=0.289 right_y=0.0007 right_z=0.1599 right_yaw=0.0017 right_pitch=-0.0671 right_roll=-0.006 right_gripper=0.9992 state[joint_eff]: [-0.253, -5.012, 3.5897, 1.8242, -0.1685, 0.0513, 0.5299, -0.3624, -1.388, 7.1863, 1.663, -0.0513, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.39,"left_y":-0.12,"left_z":0.12,"left_pitch":0.3,"left_gripper":1.0},"note":"This close was empty again, and the new wrist view reveals the real issue: there is still clear floor between the bowl and the fingertip point, so the low pose falls several centimetres short radially; the right rim is also right of the jaw axis. I am reopening and moving farther outward and right while raised, keeping the more vertical wrist."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe outward correction brought the bowl lip to the fingertip zone: its right rim now meets the jaw column and the near side is partly below the wrist camera, as expected at the grasp point. I am descending to lip height while slightly biasing outward to counter the arm's inward drift at low z.
move_to
left_x0.4000left_y-0.1200left_z0.0700left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5556, 1.5929, 0.4637, 0.7815, -0.585, -0.0963, 0.9949, -0.02, 0.8238, 0.5945, -0.4305, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3841 left_y=-0.1195 left_z=0.1062 left_yaw=-0.0206 left_pitch=0.2793 left_roll=0.1294 left_gripper=0.9949 right_x=0.288 right_y=0.0008 right_z=0.1574 right_yaw=0.0017 right_pitch=-0.0786 right_roll=-0.0057 right_gripper=0.9992 state[joint_eff]: [0.335, -7.6103, 6.8991, 1.7216, -0.1978, 0.1148, -0.0952, -0.294, -1.5795, 6.9949, 1.7021, -0.0708, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.07,"left_pitch":0.3},"note":"The outward correction brought the bowl lip to the fingertip zone: its right rim now meets the jaw column and the near side is partly below the wrist camera, as expected at the grasp point. I am descending to lip height while slightly biasing outward to counter the arm's inward drift at low z."})
tool
executing move_to over 3 steps (0.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteAt low height the near side of the bowl is now below the camera and its right lip sits between the jaw faces, which is the correct one-inside/one-outside geometry. I am closing on this lip and will test it with a vertical lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5339, 1.8141, 0.4709, 0.9348, -0.5701, -0.0925, 0.9954, -0.02, 0.8249, 0.5945, -0.4347, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3932 left_y=-0.1175 left_z=0.0564 left_yaw=-0.0213 left_pitch=0.2237 left_roll=0.1595 left_gripper=0.9954 right_x=0.2874 right_y=0.0008 right_z=0.1563 right_yaw=0.0015 right_pitch=-0.0839 right_roll=-0.0053 right_gripper=0.9992 state[joint_eff]: [0.4034, -9.0462, 4.0684, 2.5031, -0.0952, 0.1538, 0.0415, 0.0068, -1.4701, 6.9675, 1.7411, -0.0611, -0.0122, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At low height the near side of the bowl is now below the camera and its right lip sits between the jaw faces, which is the correct one-inside/one-outside geometry. I am closing on this lip and will test it with a vertical lift."})
tool
executing move_to over 10 steps (1.0s)
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 lip remained just left of the closed jaw center, so the symmetric close pushed past it instead of trapping it; for a thin wall, the lip itself must coincide with the gripper centerline. I am reopening, raising, and shifting about one centimetre left while preserving the now-correct radial position.
move_to
left_x0.4000left_y-0.1020left_z0.1100left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5301, 1.8309, 0.4618, 0.9302, -0.5743, -0.0937, 0.0082, -0.02, 0.8249, 0.5945, -0.4446, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.39 left_y=-0.1131 left_z=0.0465 left_yaw=-0.0166 left_pitch=0.1981 left_roll=0.1753 left_gripper=0.0082 right_x=0.2859 right_y=0.0008 right_z=0.1544 right_yaw=0.0018 right_pitch=-0.0938 right_roll=-0.0054 right_gripper=0.9992 state[joint_eff]: [-0.4991, -8.1709, 4.6564, 1.8193, -0.0708, -0.0269, 0.6032, -0.2667, -1.3744, 6.9402, 1.7656, -0.0513, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.4,"left_y":-0.102,"left_z":0.11,"left_pitch":0.3,"left_gripper":1.0},"note":"The lip remained just left of the closed jaw center, so the symmetric close pushed past it instead of trapping it; for a thin wall, the lip itself must coincide with the gripper centerline. I am reopening, raising, and shifting about one centimetre left while preserving the now-correct radial position."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe raised wrist view now shows the bowl's right lip centered almost exactly at the jaw convergence line, with the near side already at the fingertip zone. I am descending while holding that centerline and adding only a slight outward bias against low-height drift.
move_to
left_x0.4050left_y-0.0980left_z0.0650left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4889, 1.6543, 0.4618, 0.841, -0.5659, -0.0414, 0.9945, -0.02, 0.8249, 0.5945, -0.445, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3942 left_y=-0.0984 left_z=0.0943 left_yaw=-0.0011 left_pitch=0.2679 left_roll=0.1798 left_gripper=0.9945 right_x=0.2858 right_y=0.0008 right_z=0.1543 right_yaw=0.0018 right_pitch=-0.0942 right_roll=-0.0054 right_gripper=0.9992 state[joint_eff]: [0.5812, -7.6103, 6.5573, 1.6923, 0.0317, 0.188, 0.0562, -0.294, -1.2786, 7.0222, 1.6337, -0.0415, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.098,"left_z":0.065,"left_pitch":0.3},"note":"The raised wrist view now shows the bowl's right lip centered almost exactly at the jaw convergence line, with the near side already at the fingertip zone. I am descending while holding that centerline and adding only a slight outward bias against low-height drift."})
tool
executing move_to over 2 steps (0.2s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteAt 8 cm height the lip remains centered between the open jaws and is at the fingertip row; this is a better lip-level geometry than the earlier lower attempts. I am closing here so the fingers clamp the thin rim rather than the tapered body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4801, 1.7737, 0.4698, 0.9783, -0.5629, -0.0406, 0.9954, -0.02, 0.823, 0.5945, -0.4458, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.4034 left_y=-0.0997 left_z=0.0801 left_yaw=0.0081 left_pitch=0.2903 left_roll=0.167 left_gripper=0.9954 right_x=0.2856 right_y=0.0008 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.0931 right_roll=-0.0051 right_gripper=0.9992 state[joint_eff]: [0.6085, -6.1333, 3.2068, 1.5604, -0.1783, 0.188, 0.0806, -0.1162, -1.0188, 6.9538, 1.6581, -0.0708, -0.0464, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 8 cm height the lip remains centered between the open jaws and is at the fingertip row; this is a better lip-level geometry than the earlier lower attempts. I am closing here so the fingers clamp the thin rim rather than the tapered body."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe lip was pushed left again, indicating the single-wall pinch is not trapping both sides of the rim reliably. I am switching to a centered outer-rim grasp: reopening, raising, and moving about one bowl radius left so the two fingers can contact opposite outer edges at rim height.
move_to
left_x0.4000left_y-0.0500left_z0.1200left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4747, 1.8851, 0.4477, 1.0817, -0.5545, -0.0223, 0.0077, -0.02, 0.8295, 0.5945, -0.4454, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.4002 left_y=-0.0971 left_z=0.0517 left_yaw=-0.0078 left_pitch=0.2603 left_roll=0.1969 left_gripper=0.0077 right_x=0.2859 right_y=0.0008 right_z=0.153 right_yaw=0.0016 right_pitch=-0.0992 right_roll=-0.005 right_gripper=0.9992 state[joint_eff]: [0.1026, -8.6496, 4.3009, 1.9267, -0.1538, 0.0317, 0.5934, -0.3761, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.05,"left_z":0.12,"left_pitch":0.3,"left_gripper":1.0},"note":"The lip was pushed left again, indicating the single-wall pinch is not trapping both sides of the rim reliably. I am switching to a centered outer-rim grasp: reopening, raising, and moving about one bowl radius left so the two fingers can contact opposite outer edges at rim height."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe bowl is now centered symmetrically between the fully open fingers, with each jaw just outside an opposite rim edge. I am descending toward rim height while holding this centered outer-grasp geometry.
move_to
left_x0.4050left_y-0.0480left_z0.0750left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3111, 1.5513, 0.4206, 0.841, -0.4267, 0.0345, 0.9949, -0.02, 0.831, 0.5945, -0.4488, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3995 left_y=-0.0479 left_z=0.1141 left_yaw=0.0212 left_pitch=0.2991 left_roll=0.1879 left_gripper=0.9949 right_x=0.2855 right_y=0.0008 right_z=0.1519 right_yaw=0.0018 right_pitch=-0.1041 right_roll=-0.0052 right_gripper=0.9992 state[joint_eff]: [0.4034, -6.694, 5.7368, 1.7949, 0.0659, 0.1441, -0.0708, -0.3077, -1.0462, 6.9538, 1.7021, -0.0513, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.048,"left_z":0.075,"left_pitch":0.3},"note":"The bowl is now centered symmetrically between the fully open fingers, with each jaw just outside an opposite rim edge. I am descending toward rim height while holding this centered outer-grasp geometry."})
tool
executing move_to over 3 steps (0.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteAt 6.4 cm height the inner jaw faces are visibly just outside the two opposite rim edges, giving the intended outer-rim grasp. I am closing only partway first to engage the rim gently and avoid ejecting the rounded bowl.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.305, 1.7535, 0.4049, 0.9855, -0.4191, 0.0372, 0.9954, -0.02, 0.8337, 0.5945, -0.4519, -0.0166, -0.0494, 0.9991] state[eef_state]: left_x=0.4014 left_y=-0.0473 left_z=0.0639 left_yaw=0.0129 left_pitch=0.2286 left_roll=0.2123 left_gripper=0.9954 right_x=0.2851 right_y=0.0008 right_z=0.1506 right_yaw=0.0016 right_pitch=-0.1098 right_roll=-0.0047 right_gripper=0.9991 state[joint_eff]: [-0.2803, -8.4718, 4.041, 2.4933, -0.0562, -0.0415, 0.0464, -0.2256, -1.0462, 7.1316, 1.7118, -0.0415, -0.0122, -0.0171] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.6},"note":"At 6.4 cm height the inner jaw faces are visibly just outside the two opposite rim edges, giving the intended outer-rim grasp. I am closing only partway first to engage the rim gently and avoid ejecting the rounded bowl."})
tool
executing move_to over 4 steps (0.4s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe partial close shows the right jaw contacting first and shifting the bowl left, while the left jaw entered the interior; the gripper center is about one centimetre right of the bowl center at jaw depth. I am reopening partway and shifting left to equalize the two rim contacts before reclosing.
move_to
left_x0.4050left_y-0.0330left_z0.0750left_pitch0.3000left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3058, 1.7729, 0.3878, 0.9974, -0.4198, 0.0345, 0.6051, -0.02, 0.8337, 0.5945, -0.4603, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3962 left_y=-0.0458 left_z=0.0536 left_yaw=0.0126 left_pitch=0.2054 left_roll=0.218 left_gripper=0.6051 right_x=0.2838 right_y=0.0008 right_z=0.149 right_yaw=0.0016 right_pitch=-0.1182 right_roll=-0.0046 right_gripper=0.9992 state[joint_eff]: [-0.1162, -8.0068, 5.4769, 1.8388, -0.0757, -0.022, 0.0415, -0.3624, -1.1692, 6.9675, 1.746, -0.0611, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.033,"left_z":0.075,"left_pitch":0.3,"left_gripper":0.85},"note":"The partial close shows the right jaw contacting first and shifting the bowl left, while the left jaw entered the interior; the gripper center is about one centimetre right of the bowl center at jaw depth. I am reopening partway and shifting left to equalize the two rim contacts before reclosing."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
assistant
agent noteAfter the centering shift, both partially open jaws are now inside the bowl and symmetrically near its inner walls. I am deliberately opening fully to use an internal expansion grasp against the opposite inner sides, which avoids the rim slipping outward during a close.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2554, 1.7699, 0.3798, 1.063, -0.3996, 0.057, 0.8468, -0.02, 0.8364, 0.5945, -0.4683, -0.0166, -0.0498, 0.9991] state[eef_state]: left_x=0.4014 left_y=-0.0301 left_z=0.066 left_yaw=0.0377 left_pitch=0.2584 left_roll=0.214 left_gripper=0.8468 right_x=0.2826 right_y=0.0009 right_z=0.1468 right_yaw=0.0019 right_pitch=-0.1289 right_roll=-0.0046 right_gripper=0.9991 state[joint_eff]: [0.0342, -5.7778, 3.8222, 2.0635, 0.0708, 0.1783, -0.0659, -0.0889, -1.6479, 6.9265, 1.6825, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"After the centering shift, both partially open jaws are now inside the bowl and symmetrically near its inner walls. I am deliberately opening fully to use an internal expansion grasp against the opposite inner sides, which avoids the rim slipping outward during a close."})
tool
executing move_to over 2 steps (0.2s)
step 167
assistant
agent noteAt full opening the jaw tips visibly meet the two inner walls nearly symmetrically, though the normalized reading reaches its limit. I am lifting straight up to test whether the maximum-width internal expansion has enough contact to carry the bowl.
move_to
left_z0.1600left_x0.4020left_y-0.0310left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.7702, 0.3782, 1.0775, -0.3931, 0.0589, 0.9929, -0.02, 0.8364, 0.5945, -0.4702, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.4021 left_y=-0.0309 left_z=0.0684 left_yaw=0.0331 left_pitch=0.2697 left_roll=0.2102 left_gripper=0.9929 right_x=0.2823 right_y=0.0009 right_z=0.1465 right_yaw=0.0019 right_pitch=-0.1308 right_roll=-0.0046 right_gripper=0.9992 state[joint_eff]: [-0.3077, -6.5026, 4.041, 1.7705, -0.2271, -0.0269, 0.0269, -0.0752, -1.0872, 6.9675, 1.6288, -0.0562, -0.0317, -0.0073] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_x":0.402,"left_y":-0.031,"left_pitch":0.3,"left_gripper":1.0},"note":"At full opening the jaw tips visibly meet the two inner walls nearly symmetrically, though the normalized reading reaches its limit. I am lifting straight up to test whether the maximum-width internal expansion has enough contact to carry the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 173
assistant
agent noteThe lift removed the left bowl from its table position; it is being carried by the full-width internal expansion between its inner walls. I am transporting it high and laterally right to place it into the middle bowl, while keeping the gripper fully expanded.
move_to
left_x0.4000left_y-0.2000left_z0.1800left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.4014, 0.474, 0.6613, -0.3969, 0.0597, 0.9985, -0.02, 0.8398, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.4009 left_y=-0.0299 left_z=0.1512 left_yaw=0.0402 left_pitch=0.3163 left_roll=0.1975 left_gripper=0.9985 right_x=0.2816 right_y=0.0009 right_z=0.1447 right_yaw=0.0019 right_pitch=-0.1388 right_roll=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.4444, -5.6821, 8.4171, 1.7851, -0.1392, 0.0562, -0.1636, -0.1846, -1.4564, 6.9265, 1.663, -0.0024, -0.0708, -0.0171] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.18,"left_pitch":0.3,"left_gripper":1.0},"note":"The lift removed the left bowl from its table position; it is being carried by the full-width internal expansion between its inner walls. I am transporting it high and laterally right to place it into the middle bowl, while keeping the gripper fully expanded."})
tool
executing move_to over 16 steps (1.6s)
step 189
assistant
agent noteThe overhead view confirms the gray bowl never lifted; the wrist is now centered over the middle purple bowl. I am making one corrected outer-rim attempt here, explicitly zeroing both pitch and roll while descending so the two jaws contact opposite rim edges at the same height.
move_to
left_x0.4000left_y-0.1950left_z0.0700left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7746, 1.631, 0.8585, 0.3328, -0.8665, -0.1631, 0.9985, -0.02, 0.8425, 0.5945, -0.4747, -0.0166, -0.0494, 0.9991] state[eef_state]: left_x=0.3971 left_y=-0.1952 left_z=0.1692 left_yaw=0.0175 left_pitch=0.2804 left_roll=0.2097 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.144 right_yaw=0.0017 right_pitch=-0.1415 right_roll=-0.0041 right_gripper=0.9991 state[joint_eff]: [-0.4308, -6.8581, 8.8, 1.79, -0.3541, -0.0611, -0.1636, -0.0889, -1.6889, 7.0359, 1.58, -0.0757, -0.0513, -0.0171] 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":{"left_x":0.4,"left_y":-0.195,"left_z":0.07,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The overhead view confirms the gray bowl never lifted; the wrist is now centered over the middle purple bowl. I am making one corrected outer-rim attempt here, explicitly zeroing both pitch and roll while descending so the two jaws contact opposite rim edges at the same height."})
tool
executing move_to over 10 steps (1.0s)
step 199
assistant
agent noteWith the wrist truly vertical, the purple bowl is clearly several centimetres to the gripper's right rather than centered as the occluded overhead view suggested. I am shifting right at the same rim height to center the bowl between the two open jaws.
move_to
left_x0.4030left_y-0.2400left_z0.0800left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6849, 1.758, 0.8486, 0.2325, -0.6117, -0.4252, 0.9985, -0.02, 0.8436, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.4029 left_y=-0.1935 left_z=0.0806 left_yaw=0.0229 left_pitch=0.0337 left_roll=0.0293 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1437 right_yaw=0.0017 right_pitch=-0.1426 right_roll=-0.004 right_gripper=0.9992 state[joint_eff]: [0.4718, -7.6239, 5.2308, 1.6044, -0.1685, -0.1001, -0.1587, -0.253, -1.5521, 6.9265, 1.5946, -0.0562, -0.0024, -0.0073] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.403,"left_y":-0.24,"left_z":0.08,"left_pitch":0.0,"left_roll":0.0},"note":"With the wrist truly vertical, the purple bowl is clearly several centimetres to the gripper's right rather than centered as the occluded overhead view suggested. I am shifting right at the same rim height to center the bowl between the two open jaws."})
tool
executing move_to over 5 steps (0.5s)
step 204
assistant
agent noteThe bowl is much closer to center but its rim midpoint remains about two centimetres right of the jaw centerline. I am making the final small rightward correction while keeping the vertical rim-height pose.
move_to
left_y-0.2600left_z0.0750left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7689, 1.84, 0.9741, 0.1154, -0.6342, -0.522, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3987 left_y=-0.2351 left_z=0.074 left_yaw=0.0078 left_pitch=-0.0091 left_roll=0.0078 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992 state[joint_eff]: [-0.3761, -8.3487, 8.0068, 1.5653, -0.3736, 0.0171, -0.0171, -0.2667, -1.4701, 6.9265, 1.5995, -0.0562, -0.0269, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.26,"left_z":0.075,"left_pitch":0.0,"left_roll":0.0},"note":"The bowl is much closer to center but its rim midpoint remains about two centimetres right of the jaw centerline. I am making the final small rightward correction while keeping the vertical rim-height pose."})
tool
executing move_to over 3 steps (0.3s)
step 207
assistant
agent noteThe vertical view also confirms the bowl is wider than the gripper, so an outer-diameter grasp is impossible. I am returning to the pose where the bowl's left rim—not its center—lay exactly on the jaw centerline, now with the wrist truly vertical, and lowering to pinch that single wall.
move_to
left_y-0.1930left_z0.0550left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8066, 1.8782, 1.013, 0.0826, -0.6556, -0.5556, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3941 left_y=-0.2504 left_z=0.068 left_yaw=0.0041 left_pitch=-0.0206 left_roll=0.0131 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992 state[joint_eff]: [-0.4581, -8.5812, 8.4991, 1.37, -0.4274, 0.0269, -0.0171, -0.3487, -1.4564, 6.9265, 1.5849, -0.0562, -0.0171, -0.0171] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.193,"left_z":0.055,"left_pitch":0.0,"left_roll":0.0},"note":"The vertical view also confirms the bowl is wider than the gripper, so an outer-diameter grasp is impossible. I am returning to the pose where the bowl's left rim—not its center—lay exactly on the jaw centerline, now with the wrist truly vertical, and lowering to pinch that single wall."})
tool
executing move_to over 6 steps (0.6s)
step 213
assistant
agent noteThe low arm could not make the lateral return and stayed at the bowl center, likely due its folded low-height configuration. I am raising first and shifting to the left-wall alignment in free space, while retaining the vertical wrist.
move_to
left_y-0.1930left_z0.1200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8204, 1.8927, 1.0229, 0.0818, -0.6594, -0.5663, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3923 left_y=-0.2568 left_z=0.0654 left_yaw=-0.001 left_pitch=-0.0222 left_roll=0.01 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992 state[joint_eff]: [0.0068, -9.1692, 8.2667, 1.3993, -0.4371, -0.0073, -0.0122, -0.0752, -1.4974, 6.9265, 1.5946, -0.0806, -0.0562, -0.0171] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.193,"left_z":0.12,"left_pitch":0.0,"left_roll":0.0},"note":"The low arm could not make the lateral return and stayed at the bowl center, likely due its folded low-height configuration. I am raising first and shifting to the left-wall alignment in free space, while retaining the vertical wrist."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteThe arm remained stalled low with elevated shoulder effort instead of raising, consistent with the reach/fold limit at this extended pose. I am retracting inward while lifting, the recommended escape motion, before attempting any further alignment.
move_to
left_x0.3200left_y-0.1930left_z0.1600left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7643, 1.8076, 0.9436, 0.062, -0.6003, -0.519, 0.9985, -0.02, 0.8455, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3868 left_y=-0.2277 left_z=0.0663 left_yaw=-0.0128 left_pitch=-0.0628 left_roll=0.0288 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1432 right_yaw=0.0019 right_pitch=-0.1445 right_roll=-0.0043 right_gripper=0.9992 state[joint_eff]: [2.6462, -12.1231, 7.4735, 1.8535, -0.4322, 0.1343, -0.0171, -0.1573, -1.3607, 6.9265, 1.663, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.193,"left_z":0.16,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The arm remained stalled low with elevated shoulder effort instead of raising, consistent with the reach/fold limit at this extended pose. I am retracting inward while lifting, the recommended escape motion, before attempting any further alignment."})
tool
executing move_to over 7 steps (0.7s)
step 226
assistant
agent noteThe retract freed the arm, and the high wrist view now shows the purple bowl's left rim almost exactly on the jaw column with the bowl just short of the fingertips. I am advancing only about two centimetres and making a tiny left correction while staying above the rim.
move_to
left_x0.3500left_y-0.1940left_z0.1200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8478, 1.3884, 0.8597, -0.2031, -0.6563, -0.564, 0.9986, -0.02, 0.8494, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3285 left_y=-0.2039 left_z=0.1596 left_yaw=-0.0321 left_pitch=0.0146 left_roll=-0.0304 left_gripper=0.9986 right_x=0.2819 right_y=0.0009 right_z=0.1422 right_yaw=0.0017 right_pitch=-0.1484 right_roll=-0.0039 right_gripper=0.9992 state[joint_eff]: [-0.3624, -5.9692, 6.1333, 1.4579, -0.4567, 0.0269, -0.1587, -0.0479, -1.5521, 6.9128, 1.6337, -0.0415, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.194,"left_z":0.12,"left_pitch":0.0,"left_roll":0.0},"note":"The retract freed the arm, and the high wrist view now shows the purple bowl's left rim almost exactly on the jaw column with the bowl just short of the fingertips. I am advancing only about two centimetres and making a tiny left correction while staying above the rim."})
tool
executing move_to over 3 steps (0.3s)
step 229
assistant
agent noteThe purple bowl's left rim is now precisely centered on the jaw convergence line, and the near side has reached the fingertip zone. I am descending vertically to rim-wall height without changing that alignment.
move_to
left_x0.3500left_y-0.1880left_z0.0650left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7811, 1.4796, 0.7982, -0.0982, -0.6277, -0.5274, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992] state[eef_state]: left_x=0.3423 left_y=-0.1882 left_z=0.1176 left_yaw=-0.0058 left_pitch=-0.0329 left_roll=0.0205 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0019 right_pitch=-0.1499 right_roll=-0.0042 right_gripper=0.9992 state[joint_eff]: [-0.0889, -7.2957, 6.9402, 1.7216, -0.3101, 0.0757, -0.022, -0.3761, -1.5932, 6.9265, 1.5507, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.188,"left_z":0.065,"left_pitch":0.0,"left_roll":0.0},"note":"The purple bowl's left rim is now precisely centered on the jaw convergence line, and the near side has reached the fingertip zone. I am descending vertically to rim-wall height without changing that alignment."})
tool
executing move_to over 4 steps (0.4s)
step 233
assistant
agent noteThe descent stopped about four centimetres above its target with the bowl's left rim visibly between the vertical, level jaw faces, indicating the fingers have reached the rim geometry. I am closing from this aligned contact pose to pinch the single wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7723, 1.5059, 0.7643, -0.0357, -0.6147, -0.5209, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3436 left_y=-0.1875 left_z=0.104 left_yaw=-0.0101 left_pitch=-0.0377 left_roll=0.0177 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0017 right_pitch=-0.1499 right_roll=-0.0039 right_gripper=0.9992 state[joint_eff]: [-0.4308, -6.0376, 5.7368, 1.6239, -0.3932, -0.0366, -0.0171, -0.1846, -1.4974, 6.9128, 1.5556, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped about four centimetres above its target with the bowl's left rim visibly between the vertical, level jaw faces, indicating the fingers have reached the rim geometry. I am closing from this aligned contact pose to pinch the single wall."})
tool
executing move_to over 10 steps (1.0s)
step 243
assistant
agent noteI could not obtain a secure grasp on any bowl. Each bowl is wider than the 9.5 cm gripper opening, centered grasps put both fingers inside, and repeated single-rim pinches closed empty or pushed the tapered wall away; full-width internal expansion also lifted without the bowl. Continuing would only risk knocking bowls off the table or colliding the arms.
give_up
hindsightThese bowls are wider than one gripper's maximum stroke and have smooth, strongly tapered walls with no reliably capturable lip. A single-jaw-pair rim pinch is not viable unless the wrist is vertical and the thin rim is exactly centered, and even then the bowl ejects; internal expansion at full opening provides no holding force. Future attempts should plan a coordinated two-arm external squeeze from opposite sides (or use a wider/suction tool) rather than repeated one-arm grasps.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7723, 1.5055, 0.7643, -0.0402, -0.6209, -0.5213, 0.0084, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0494, 0.9992] state[eef_state]: left_x=0.3434 left_y=-0.1861 left_z=0.1039 left_yaw=-0.0053 left_pitch=-0.0377 left_roll=0.0234 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0017 right_pitch=-0.1499 right_roll=-0.0039 right_gripper=0.9992 state[joint_eff]: [-0.1299, -6.3111, 6.3658, 1.4676, -0.2173, -0.0171, 0.5983, -0.3214, -1.4427, 7.1726, 1.5946, -0.0659, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a secure grasp on any bowl. Each bowl is wider than the 9.5 cm gripper opening, centered grasps put both fingers inside, and repeated single-rim pinches closed empty or pushed the tapered wall away; full-width internal expansion also lifted without the bowl. Continuing would only risk knocking bowls off the table or colliding the arms.","hindsight":"These bowls are wider than one gripper's maximum stroke and have smooth, strongly tapered walls with no reliably capturable lip. A single-jaw-pair rim pinch is not viable unless the wrist is vertical and the thin rim is exactly centered, and even then the bowl ejects; internal expansion at full opening provides no holding force. Future attempts should plan a coordinated two-arm external squeeze from opposite sides (or use a wider/suction tool) rather than repeated one-arm grasps."})
tool
give_up: I could not obtain a secure grasp on any bowl. Each bowl is wider than the 9.5 cm gripper opening, centered grasps put both fingers inside, and repeated single-rim pinches closed empty or pushed the tapered wall away; full-width internal expansion also lifted without the bowl. Continuing would only risk knocking bowls off the table or colliding the arms.
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 · 11.59 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
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{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3824, -0.0227, -0.041, 0.9993, -0.0177, 0.7925, 0.5987, -0.3874, -0.0174, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9993 right_x=0.293 right_y=0.0015 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5932, 10.1128, 1.8632, -0.022, 0.2857, -0.0855, -0.5812, -1.306, 10.5094, 2.0342, -0.0904, 0.2808, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4824d2c542600eb77139a1b2fa889ac12457ca741d43996c63d5459f56f841c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2db2bb245ee107e05a25892948f9d085f4e87e5a7c42e23d1f591187b4849e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19db27a9d7b69bf8323450178548b8b20201f6ce3428490bd0460e8d3ff76f94",
      "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 · 4.844 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKP5DNf32qwPA0cnTLnn5rBxQQjD2i2ySBlCOo7GQLR3KQZwHQFRQScdGphhroli8sw0IaD_5NQoNfyTSMLGuPU5hbEOqWADMnvYjfgH4kX5N1F1zMkthYhhWZVTFL4kaV_GuXdsDq8zZyiuQctjiI7Iv_VDBjunr3NEsqAeDiV9VuYzEqzR9OwbKLrajVNe1iQHserOUGcTux-UtbcE5jKHkVqvJLZ1iWA_KpnOI8aZ8Nne7qoA0-MsBzgJ4TZN406ymv5ChUD50HFKdfkAxwTIzYN-LNsVzaGVatuppc1hYzqZuDr8aHO3rqwO96n_FZ-arlaA251b1b4gKl5249pp1xzNYu6ow8oav9l9xBCgbk1cU_YTaKo7DgdkGD4z194acCQF_ev6ro-9_s2GThJbZWWRl1clZvh3BrTRGeeKW43eYvVFgXod1nkTqIKJG0ldLp57tm564e8NektolV5X2PKtjgF1fkXRSugG3FPJFH3oiIFeH_YOKXjnfdSLE9v0Ej9N1d-FDzN_OTp0FkrBJv2ISA3WVjrgQEmLxaF4tnrRdP8whXjGqi68DIuYmV1iCkI7Sc460jcaqePqWqF1ksYh1oOIUdi8N2qjf1_CCfSPavrG6-mDzCxnxwsJI_pcgVBq4I4VB6fmWT6BqelseslsQ5Zf3Z-XHPhZJ3ShqTE-8CIwTS_2sLV4-wDO_TbHQfjuQ1AARe3caXWCjCwUHr-T40Y7yx3TGezOoXKWztLEs6e46ojK1KTyH25pUvTZ6Y9duwtBJRQDsOrQsEFgHa6pDMqiHwiuE7J3I3jetXTmG9U8n3BjrHTnZc2DsodZhxN9HXhbVGmvTk-Pe2W56WgSn3fKWRQsgkOKGlDhFSzl0mUl03QqRTDeF_a7WzzeZwCyLLbekJBbrqOCfpUwzjY8syP36KrQKQZIK8KWYbY2Y8Z5RtR3JZDmjMQttzqRP_Jt1Yxf7mRVlqXs33Kr9WAEA4F7mxGTcR8iyZJox5DcsVSz4o4m3gD41pzPqcVS3EFUguPf9htaXvDUZgMDuwL7JmYRAtyxFR3CS8hpW5GYZVMJIl8ikZCo21mOqppsYddhyGBxAmjJPkEkB12AnJ-GIQ7vdKM6kOKfIF6EIpxH0h41i1sUjUttjfd8H0cNKVhXPUXZooAP7yIYS37fPEvinZreDia8CzQgtweANkFncxHcf2bueozFjTKcFb1eDEjTsqQljgcE7VS7QrA2JP5m53Gv5GOP2Nd1RCBLOQPuRbI2mwCG09ciBYT6VKEbXh4IDvyCqt51JoGDDoznwX8c9oBK8GIAjzOfU1YPTq7DrdYFotBPGkhq4Im6CZDGp6CDhQQF6zr9wfpphtHwvccveXo-I-KZUnI-o2YDEWWE1ZN0YeP_TU0KfRo1vFuwfg1Gi9ErSdk8IOyA_B_x31t7DEtAC2TUebjtTBfyj6lhm0UTfus8B3TV3TylZCDAR-dc87d89w6CW1HglKqSnMKTzW0Hb-s1cJgIM-R4E6b5RoRPoyGqu9DULr4vLjdTgN0tLSF703jaA438B3yoyXJX71rM-NTBDdAWOqWSP3-gf-StLNQ_kKKyuUP85Kibw1b0RX4sZwpK9r_56dVBBDCOvhiVFnpL-o5k44UbwrDNd-XG_LH1egsPlO2V8oaXfeqNSgIJQIb88LEuDjms5FaTxhUdh9LLEFWOpI7-MMvTrjGTptjv3cYei41fOzJ6UMXycR0xqew4QJyJaMXtaOOUnzov_35u-14Ozqa0xq0ybUsLkMC5Cvg4DsWbOhoiOGoW0JcgEPTPrk_8g_kRReqbd-m8viM_wTjb4ckX1ntoYYz2YV3q8_gQcI3x7J273nQhoAHupMW0PpUD9Y3uNvikBVYd6H6-L49lCaxPMFE4obBB7uWWGdXkoWmb4RArswJGb3ng72I6U8jN0kbb6tmwBuTu7U3u7MokjxQaJJRjI55DXR1gfsL1jB0PDJKk_WCiFQT5FxDpmpXfImBSp8Pk0htrlg62Beda51iWnUFV7KBCkAHihWrADc5bPgN-fm5x4r3MZMkQoXxFYpa1O2aGwTmM5txSl_kcmPI2y_Ogs5gDmnYV01b21wOd5W2eP86GQL8VDDnGnx93IPefk_3RplDedxzl2mxGWq11UfO6XjLaY_YaWjgLXBmV8nslLAgpn8_Rwpt8at1i-ZAyRS1dS97Vp6BNfvPPiXqvfEbs0dMktZwQH6Bd6OJrdSbqExbdWb_IrtocTDRjuYKVlqL8XW7tOjnRWpa7_jblHC8irPzld6rZtRzzekUeWiaGamQku4vzgFdcDnUHr5mCZ7F2DfyYvTywx_4pPtft24YE6qdSr9o2Iafjpob0NXEP3zH4RQJtzQshaH_YsSM-J0eRQDMu_ICRhD2od98jDzjFOWLXrWukFB8rAs9FXEbNkz9J54LKY4pqy4nnrhndP9FB-c76QfdTC0VaHdzMQttYMPd5vTGmkKpIUTwKhLXYR1WljrGGtxwdKW2ysI06ezw7w7P-danAW7GJT6qnUYP8JrFrMinUUDbA_l55bWteZ6YvYU-De2r_e9o_LAw9tVx7vd6VtF5JNhsSYkNE2kpwGSApXRMMoRVR07W7MdBVqmkNc4t3rHuPFJCTBMuQLZ9ssytdF-o1dhrqhgfgcDeHdomOzI6NMBziT9671r9qkxCZ2woIg5cAxby2wLqhsdNrWRl_WTgBnuiogiPLlmzoalR_9-maCw-LSYp0qPfbG5oMrBZI5-go9kN2YVZC-wHTGO2ch88_u5mN3WVjP6jo5NDmEyoRu-JHyD3mY0MRZ7B3mkQnAsLya7TakaxWS4SNMqY6NpZDKFr7pQD-q_t6TwrCCHyVwIPZf1_ByC86motAjxDhYnTqB1KEEaacsPcmjCMOFaTyDiFUKIRriz4fEZfVGrUlpj3EBxV98RW4EmB-NAv_lFTTByczx3OeKmzNF1wEUfgK3BXESDhy6aVfAFPxsYfz4tVL6OKCVBupsb3vWtz4-sJyR3zapXFaqdcDoNujwayNNqdnppss9AJYv2dOn9addcFBh60BpHJsTel-lqmv6CYBiRa8prUYqmLTzexb8DkP7cotQ-ERuxy2pPIBj5iiSNYzrn646ZGOrPPrzjiEqJ_fcwAnMh1X6K7dJNmdMUMHp1tcF0lCp7E2Ud98-NNlXYiW0CI3mD5CgiEWLA6ieffEa6g-k3hUWwDqXjadBahVBkqu9THBwxv2lk1rJZpzkLy5Phm68hxNpc_KHLUh1X60cB_bsIbTv9btdy0yuZNQZl6rDLjQRCumlGIAGK-3j0ZA_dMDleqB7ozNfk1KyQ3ExaU37MRxBZ4Zzz9YrqACkCWszHiWqI=",
  "id": "rs_086d2cea4e577dc6016ab4428b00c087d0b50900e40dba02bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.02,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three upright bowls are spaced left-to-right; the left wrist camera shows the left bowl slightly forward and to the gripper's right. I am moving the left gripper a few centimetres outward and rightward to center it over that bowl while staying safely above the rim.\"}",
  "call_id": "call_pP75h5fDAylMmrYaxySHCGuc",
  "id": "fc_086d2cea4e577dc6016ab4428ecf9087d09686f46fdfad78e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pP75h5fDAylMmrYaxySHCGuc",
  "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]: [-0.128, 0.9569, 0.5617, -0.2493, -0.0822, -0.0792, 0.9993, -0.02, 0.7975, 0.5987, -0.3939, -0.017, -0.0429, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0221 left_z=0.1411 left_yaw=-0.0368 left_pitch=-0.0694 left_roll=0.0069 left_gripper=0.9993 right_x=0.2925 right_y=0.0007 right_z=0.1737 right_yaw=-0.0018 right_pitch=-0.0114 right_roll=-0.0013 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -4.506, 7.1453, 2.0342, -0.2711, -0.1148, -0.0855, -0.0205, -1.6205, 7.2274, 1.7558, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0ad88a9f3676b1def40f4e517d586a4db7b6d6b195522add3f29049983d54f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c035e659d90973380141c2bf43ac12b9c67b74946e58e838c5e9229902dc2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06f08e230b473a1be372d3e84d826799c7b775d6cdffbd37d8969faa1573f9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.903 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3824, -0.0227, -0.041, 0.9993, -0.0177, 0.7925, 0.5987, -0.3874, -0.0174, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9993 right_x=0.293 right_y=0.0015 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5932, 10.1128, 1.8632, -0.022, 0.2857, -0.0855, -0.5812, -1.306, 10.5094, 2.0342, -0.0904, 0.2808, -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]: [-0.128, 0.9569, 0.5617, -0.2493, -0.0822, -0.0792, 0.9993, -0.02, 0.7975, 0.5987, -0.3939, -0.017, -0.0429, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0221 left_z=0.1411 left_yaw=-0.0368 left_pitch=-0.0694 left_roll=0.0069 left_gripper=0.9993 right_x=0.2925 right_y=0.0007 right_z=0.1737 right_yaw=-0.0018 right_pitch=-0.0114 right_roll=-0.0013 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -4.506, 7.1453, 2.0342, -0.2711, -0.1148, -0.0855, -0.0205, -1.6205, 7.2274, 1.7558, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0ad88a9f3676b1def40f4e517d586a4db7b6d6b195522add3f29049983d54f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c035e659d90973380141c2bf43ac12b9c67b74946e58e838c5e9229902dc2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06f08e230b473a1be372d3e84d826799c7b775d6cdffbd37d8969faa1573f9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKU_GtrAE7ZaB-dWynKVYD2g-djY48OsW9lIkaPbuqGfA_T5EXq_gIDPGv0zQv5qkZToVt9r6Xb17XngVBrrKCZV5IS4yY5oM7sTT4Hc8FF4be1OCPfzQOaQvvvw16CJxbPTJVhd1odsvxKmR-hUD5ySwRPmu0tKO1YlSjCmOrBHioYPdMJaQzshYDQgnMB3bSZqbH8DQk2o4071nltadq8If8gJol889DAAwfS45B-mPJJopsogImzzlYB2UZ0Yk1ToARCi_Avw00heZ3EFaX0JihJ0X1ct5Tk7p2Jebw75b80R83TGg7OBi1ukKvuQ1nc6JQbQHn6rd9Jsh-COGSDyjkepGwdoPm5hKn54ZSGk0NHQlUxvk_q1euc1B5_bYNsm_VWJ5REDyEWpyR2zUD225kaGc4sg8umcubV46ETOchxvecfD-zwKIdIBNqympIHlFVMpoXB0vcmg8RhYwC2V4uI9GzW4xX-_3544kAWrJcKSZalxA5K3Aqhr43XOZr-MwLj-ifD_y7UlJbW1z5s3sm9ufnXaoLgNmRtVOYFN3U9sdMg0Qlqmtk16aQ06hFemFQupqzhwB5c9HwsMqY7XVepVlVZtoTXCO8WLF0XtlZp17EyovF2NrXdIqQBLiW87kL09rmys9Psf3Fgi1jzYrgfCQlJ6NqRBudvx-3WHOoHeJhEW5e9sraBMAMq50aI_hNLWBMg5JQBQu7--CEdXTlyKNe0Dux3Y7mVPCfhHpFTBLViICXdpuJTo_wvuvOzeBDo50xj80LvnhBsUCOG0DXOtAjtq6kMV81yfV_dCsC9jvZNy9VOrfZ--LjWLV1EkoaUjsofpg4Zo-UQhjxnogOYl0Mjr6xdV-q7ak8QvoXFQz45TNN9-shmVb-nDD_rW57YvBWm-WshnyZufbX8kgKytRmWx7EFiMxhAJAogp0bBAVcj7cs4Cnc4SliZVMPdByIWWwHsaNVrQaFItTjyfcgYy7eagVhcYpGvkCPJgSGf4OpjaA1oeYEHw4YwHpOeyXYiYMUYzDHepJnXHFmfrWXvjT6HRTXBnRvt11xN2z3K64rjVlFycbJt_YXbtwkUgd1g9_TbTR6jb0QTwhKxc02k9qcHOX2Dvh0_w5m3SdsctMmRAjWK1eXJ1uruqIwcnaL47N9xYOBbws-FbauUBfXRHz3_-by_9vy_x8AP8Z8LsaI3-oErqr7e4ExZO8HKu4A89Jfv3VsU6Jg35D66xgMhpx4t78EAKX5XQl-AWqlWB7NtjQ9Hhtbu7_jWgCVukyrwNVBFsqqKTrZoK3y1FIhtisaM99omiWxLcbuKzQvN2Mby1tM35bw_5B3Qt31O7tuyAHgRH5J5UYDWkSEjKlKL33gtvQwk0vfbM1y-ub9tgm1Q-o8WutAODNxtejz47ticoQc4FwadVFPV9NYSm4G8UI9BPDPbsIWuDALgMNr-mReW322LvmrLj2NcR1WFsuhE-ez9XkLsigqiSvfVKYSBwixp-qwctAxSvWlM39W2zwXS1xkuMBdhCdVIJQ8Nun8JS2hLGa2P8XNzDXeptfDOOmzTlfLSQZfsjjMrwpI097srI0nv_fPOaGePwzsPHf9F7GKh9yZg4I9Saz_wK7BWkLEHmouiej7qOSmmNOcScTY-7Sn7ytu5ZWLduDj2qR-dYsyuBJpfj2q5fxny5kR8-nOboziHeFcly-CWsI4uFMduYmFx3DFn67vJF6AgsEO7gnuDQBAod647NzHIE8J8Ne5h-L9s1CU1m2vuGaEwdivvsiE_wRTN37TVK-5Tt43xpnYMTxPxmB3ho-nCBgmAuh9y6Y0l2J42yuGJ_vf3XqSjtLsqfTReFgo-pjWGldLw5PawTKSKy6gjH8UU_R4amotoTRNLCkJvjdeDL-MwjJY8WIYmQHU6wAxUEfIPJunu-QTgedxpI3KaTUfg2aG1Vr69GGoSq9PjqytcELXwAUDxDaEXHcEfYFV8bLB1d_5LFKSPYAfOzihjvyP9jQ--js1sgj67NbpbcM2CIeS3iEvZJD0ZKYGwerxbYcCVKqEjrvik-qqUIkE-eSif72DkJspQoN2r7p2RDA4_KBOdD_ue-yD4vd03O6vm2mA",
  "id": "rs_086d2cea4e577dc6016ab44292630087d09e32f4cbeed4d8e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.032,\"left_z\":0.15},\"note\":\"The left bowl is now nearly centered in the wrist view but remains visibly short of the fingertips, with its center a little right of the jaw column. I am advancing another few centimetres and making a small rightward correction before descending.\"}",
  "call_id": "call_o6biErJIl9eBEHfU2U9wQvTS",
  "id": "fc_086d2cea4e577dc6016ab4429433f487d0a1273f17d2be0ec2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6biErJIl9eBEHfU2U9wQvTS",
  "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]: [-0.1509, 1.1007, 0.6197, -0.2199, -0.1085, -0.1051, 0.9992, -0.02, 0.8005, 0.5957, -0.3939, -0.017, -0.0463, 0.9992]\nstate[eef_state]: left_x=0.3329 left_y=-0.0276 left_z=0.1289 left_yaw=-0.0228 left_pitch=-0.1235 left_roll=0.009 left_gripper=0.9992 right_x=0.2923 right_y=0.0007 right_z=0.1715 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.547, 9.5521, 1.7265, -0.0611, 0.0464, -0.0171, -0.1709, -0.9504, 7.2547, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08a4b929b767642ece2a2235757d2a7505cdf88ef851b89fb0a2d84ff328360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f077a4c2b3a1d27a377aa7e508f7f78a7f2380975b0c867b16fcb5d8c0da92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05af39712c60d26e0ae9cca740057a470c9a1e43e43394f3be135381afd3f4bc",
      "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 3 attempt 0 · /responses · status 200 · 7.226 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]: [-0.128, 0.9569, 0.5617, -0.2493, -0.0822, -0.0792, 0.9993, -0.02, 0.7975, 0.5987, -0.3939, -0.017, -0.0429, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0221 left_z=0.1411 left_yaw=-0.0368 left_pitch=-0.0694 left_roll=0.0069 left_gripper=0.9993 right_x=0.2925 right_y=0.0007 right_z=0.1737 right_yaw=-0.0018 right_pitch=-0.0114 right_roll=-0.0013 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -4.506, 7.1453, 2.0342, -0.2711, -0.1148, -0.0855, -0.0205, -1.6205, 7.2274, 1.7558, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 1.1007, 0.6197, -0.2199, -0.1085, -0.1051, 0.9992, -0.02, 0.8005, 0.5957, -0.3939, -0.017, -0.0463, 0.9992]\nstate[eef_state]: left_x=0.3329 left_y=-0.0276 left_z=0.1289 left_yaw=-0.0228 left_pitch=-0.1235 left_roll=0.009 left_gripper=0.9992 right_x=0.2923 right_y=0.0007 right_z=0.1715 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.547, 9.5521, 1.7265, -0.0611, 0.0464, -0.0171, -0.1709, -0.9504, 7.2547, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08a4b929b767642ece2a2235757d2a7505cdf88ef851b89fb0a2d84ff328360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f077a4c2b3a1d27a377aa7e508f7f78a7f2380975b0c867b16fcb5d8c0da92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05af39712c60d26e0ae9cca740057a470c9a1e43e43394f3be135381afd3f4bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKXv2Fd9oIT86DihOdHFiMdIH4zi2Nb1gDCAy1ERffhaeHNtPZwpvDP6rWc7O5cbBZk12Uexwg2JfA5Gxkqy3aFvzHbYp5tp2h26oS_vNI8cypCWgRfUgGIQSCr7tGBaS2TCRyutzOTJWTT8Ul_t2zemSZvEA0x_0_wewO2nEkVxSHyFDH07-GG0vMYOUJTUFLgPrsuGFXW0Q3ctEo3UFLzLAbAwcd-2c1zLaDdg55Zi2QKxDF6uHgETnhvho-mq3cOtrCwFPm-4_RSvybT7mNpep8yzqOzGW53LBx4E0DmCtJ5DQ6Fwmi1Jxa25UA5hNKmN2OuKoNtv8dx9cNN9K8NmHXq5baS0gKkjRUFEWICzryEn-Y9X4ftPAdWFtHY7gwbywhnLWklzHWrSbGGQaOqGBcd0A53aFEAPL29VlHrATjReTGcqGt3vViEoCQ7nDQlFb9LHnvXlyb78m0_hMRiEpXZAuT79AAAOl2fklwa1LpqI2R8AyU94YPh6cZ7LE1uvPU_u77wFEx2Gp7QHViH56KZZZHOCYaXYeGzLLSUMzZ2edjgwSLlAXpAAqUQIxojPEyQUmNu8ARDjyV3SFd79UJSi5UCeWXJLhV5ROcdZr40sypgIWV2Xhp-vP_QeGpYisdfhviX6OlbWcohsUotCq4TWh6bX8_FuPAjuZJDOXJNtgW5rcBLOQ0YF2SM4fEQsM7mSSUpZgXkzNaWSr3NC2Ee7Ty7OsHyAXjTYsMlmabZfGC3S61zyVH-PrKZDSfRAmwVM0qQA821wC-iPB1YQ6P4Bu_YSgyrgvBxUDJ3MvoO1-LkbRjoWsftB-qVrqsX-W6xxcpBHfXvukNsOWM-rnQovkYJnAwqCBPnTanb9msjIJaxQVKRz9Xan3WjXVxar6U9ZevGqA-TYMItKM7ro3SdZs3NvADm9AHzg0GU4h3maYq-OXTuhC7DYFXivfNScczk70VJlhcZGrLJwaW702lCQMaXdCN548kpGzxYyfNfVftoqKQAXvvSmo1CAXgcIQ5yLSl-F84kVrcq1veTQ9blurRRUTtB5pls_73iJ1wxRxuASsDki2w4b1WJbqMuBU-8lxatoEwCZH7KZLknJINECsW94XYPtaUggiltaJ3ESIaA9NkDDM1XRjf1eLkPgll5ddtn_b3TT7pqyjZNjl1NE6E6Sr2gVf_tylGS88gGOFbn9d2oF4bgVQ7a62UucUt5rJ_fm0fDZzFOtXiVuhUDQ6uCozM4LWjpQMXzYtlbAgCdCiHxj9JLHtnlYlWTG-nWUEAfR6UjyKX_nQKBocHGR1M96ri7Kb2OLYyyVaxZk3odZSLZeas_-QbCwAbvVI5oiyqtKtd3D4wxpSuVtNhlEeh6UErrsZXJTXFo2c_EstDgwkLLDCo9wR8MCiiSuWzHEOL032vJjfNGS9l7wMZT0_i2pzhF8BID7xdvwO0AvziRJrOS1fIbE5bgJeysf3nOGDBv55WYOWQD7CEAvrZaP7aHcn-fFk_1QBrQa5Wez44zBQVFw6HyjKEKxbNG",
  "id": "rs_086d2cea4e577dc6016ab4429661e887d0a285d2ba5a330b2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.04,\"left_z\":0.15},\"note\":\"The bowl has moved lower in the wrist image and is close to the fingertips, but there is still a narrow clear gap and its center remains slightly right of the jaw axis. I am making one final small outward-right adjustment to put the grasp point over the bowl center.\"}",
  "call_id": "call_CM1jrQxY92pHTClhI9EvnXvY",
  "id": "fc_086d2cea4e577dc6016ab44296fd4487d08152a0306a1d4051",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CM1jrQxY92pHTClhI9EvnXvY",
  "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]: [-0.1814, 1.2057, 0.7181, -0.2642, -0.1219, -0.1242, 0.9992, -0.02, 0.8036, 0.5957, -0.3973, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3484 left_y=-0.0384 left_z=0.1294 left_yaw=-0.0305 left_pitch=-0.1723 left_roll=0.0105 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.17 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.6701, 9.4838, 1.5995, -0.0659, -0.0659, -0.0122, -0.3077, -1.2786, 7.0496, 1.746, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea634ba32fafcef4947b2af385916f4730525d9ce3570edf83563dd16ce6841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9491349e4e57b3d66ba55ee44b1f549c807541ce81354dee4b4d5749f26df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854fa756b6143dcac06d52d0d73f59414174f8d8fdfcdcd61fdcb4b2e47365b0",
      "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 4 attempt 0 · /responses · status 200 · 2.573 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3824, -0.0227, -0.041, 0.9993, -0.0177, 0.7925, 0.5987, -0.3874, -0.0174, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9993 right_x=0.293 right_y=0.0015 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5932, 10.1128, 1.8632, -0.022, 0.2857, -0.0855, -0.5812, -1.306, 10.5094, 2.0342, -0.0904, 0.2808, -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]: [-0.1509, 1.1007, 0.6197, -0.2199, -0.1085, -0.1051, 0.9992, -0.02, 0.8005, 0.5957, -0.3939, -0.017, -0.0463, 0.9992]\nstate[eef_state]: left_x=0.3329 left_y=-0.0276 left_z=0.1289 left_yaw=-0.0228 left_pitch=-0.1235 left_roll=0.009 left_gripper=0.9992 right_x=0.2923 right_y=0.0007 right_z=0.1715 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.547, 9.5521, 1.7265, -0.0611, 0.0464, -0.0171, -0.1709, -0.9504, 7.2547, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1814, 1.2057, 0.7181, -0.2642, -0.1219, -0.1242, 0.9992, -0.02, 0.8036, 0.5957, -0.3973, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3484 left_y=-0.0384 left_z=0.1294 left_yaw=-0.0305 left_pitch=-0.1723 left_roll=0.0105 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.17 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.6701, 9.4838, 1.5995, -0.0659, -0.0659, -0.0122, -0.3077, -1.2786, 7.0496, 1.746, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea634ba32fafcef4947b2af385916f4730525d9ce3570edf83563dd16ce6841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9491349e4e57b3d66ba55ee44b1f549c807541ce81354dee4b4d5749f26df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854fa756b6143dcac06d52d0d73f59414174f8d8fdfcdcd61fdcb4b2e47365b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKfUBQwI67gZMVn35O8ekXErPs1RTADAoJSec6M7ab8ANvlqEBgO6hLWTLFZJa9RWFihq5k7663LSysijScmGJa9qt_XChl9Hz7sCGuo0Ar3PW4MhBngtn3iODqhptI2lMMltIUprqC_3xEiONjSVphxOLH62BVRHR7QXXzKz8NZD5hWUIWfRP6L3cE_71LnG9L1RWv6u3jh_EaINbqla1M3OxnfqWz47Q22pfUB6-42A50SrsZhdZFlwlFBbCRlExzB06cDZo6yEsUtaLOXhgEEz_SMi2hCLlnU9O50yR4wz1YB4VklyHejL26cnaU53-THnW3skZ4-EQYoa4n1rjjRwH1esai1j2hH3BSCAnA7PdctXpbWv-sd4py_yiXTKEPTgeIkqgRQ0EOzXRbHM-C3dLKBE_s7gKVEXfsUJX2PhJ4K65FAzme22M9XLVI4ngMb3QntI1g9k7XU9ljcC6NdQ_7vJsMWNS3IFsmHsE5DYHN67F9y-AMtjR9oVbQnjnXU8nMQrfnIS1GjoK1lh7gsITGSMsDR_NlrbhW_iy7HjwLFhmUY4TemYhz-yQYw45gxae5IDQTQ-T51UekoKJMCJPkYF5UDlRstiZJwrJd3ywQVHK4hWKNXUfOT02XCRs6iqTdFQAI5J0vUY29KL6VEI3ejqcoOiMeBLPpokom30F4KdZvEGNCXPJCCDge1RkTH23WYt_Lezce05FcZLDcmEaaXMYzpVc-QavPswGlcivSrD1ntFI3XXDWHu9OtHtt9FO_93BwE9eCn5Gra_rmuoRdpM_i5TUe0jnVFIZH6LUoSQZxdGR4PaUZrhKWpEEGEEU-WS15tI_QXmAgBxrc1o-KdaGUUgEGbccIT_hAv-dJu4JhuO1nNGh5b_sVrm-237v5odvxzBFVvoVALQ0yzBZal8aD1AApHLvex9bHhE9_WnWZS8R-Yxk24OJMkbgRd1l7I87buKxCuSZIGqZlL45miyw2a_nQnibeHYhyl_K3BLeD0SEdhSeyPiABUbiAolSMNfLzpA8fRWVZIdg-OnSiw3GGwuaKARVFd5jXsGODnlFhxjC49OfcxddH-_i2t4eiDt3ogi6BpIkOQ7ZuaNLU-Bw209FltDqOaDwmy-d6XDGw1spVe0NvxMeKKNT8vnCrmmLrPBOMbQpqllgiFyBSHQp3Clpl994Br_TWchrWtdWBbaSsp9fyptSRU2BoVacYgmbKnaMt7JlKglJ6TH4bQPH3gps26xjTpTGSalWPm-9ajMyHri2rJJJhyfxndLswKygB0pVk3pRdveYF8QVbfAzQL9FembmJMRtT-pfMB_K6Etdf8iLeJZPHrGLsSTp66Ir7yZ_PWGwysJ5DJM4SSm16EZN3zCYpvxE-im2H2kw8T-zKt63lbaqyiRtcVSm-yBVK-kMoIzqXz06TJ-t7u9_tITAKKIn1RRitbggr38-j8X-82Zy2cXIXRIqkZarjxyP56bW4ZimZm0vH474QC2GXRC675pZ-5Pq-SQJDAARnueF3bWsTWAp11bc8OE42ymzvXBkbncEdZ2PpmNQoQavs3D1-g4E3WYMW0Y6QOBqFjdhf5YY4rcCILJFuwHar7pUXPbTd9koai5llhSmruoFWyLWs6m1dyPAKTXuxsYh_AmZ4Yc1HDWtZgw_qoPorcJvtnW90AQmjov7Pi9FgdLCAE4otwBQYocdy1F3LaArG3DVkoavAZj_BSQlW8u7VsghgoTXM1oxfTQsDLcY1QphPCBnSPjXLxl1unY175MfX2uBYILPofc-3I-FNd2ZrXaGchBALalkpgXcPU9QPE7IV5MyizvnOScUEPcKBMM5mw_4o6KTgZ6GwqkqvTmv62rc2a-BuuoAbFYmGCQTzTrSUcP7P0Drifb61VnfIEjuO5t8UKfwX6Wz3e4-Tsv3iU9PjKgx2F0rU8tL0_bO8G_Gw9ZXLBX4lcvU8QhsCoSkeZ4DmfCt7C_8u55voxz_dB7D_cnrwnYqXLvIgLNkeZCYscg6HlmJ6Gyx6C_vjVjWidclL7rjq3mMnAjzpelv_b_2EyhSyK6QSMqDc6nJLrAdCJ-QmQ1PRQ_PY2MZj4hat_z1chKGku1u4AF5AIklfAfYPQ3TywcKRRawsh30yHjVeBJJ_5tsiXiVYf6H96t85QAkC92pg4oO-Y93McrLg_HFXUKow6WqpkpP5E0kpg2_YLUN8gALDLSIS9YNK1Bum_jXILAwT26Wbz7eXFjGqDeJjWJ735nIDwIK37i1W9PDmlwegZTkbMM_ePPlT2yMuJuW0re8hCTFstFP1SN8MmXGkrD-lQrbxNrcgYc5NFv6ikirHtOwh9lUGSzH1l09GRtjkdg6uv0vqqUPCRAWTDx9EyqyZSV0tbwL2cnA9y_1v3c__KMJRV8prVG5LDXEb61nykFkmQnd2YNN2hSAv8T_KfaV-XY8v6zOEwePttQi8T3Ga2gkXZcI8cETLpgUWO55dCQUWih5RcUVQ",
  "id": "rs_086d2cea4e577dc6016ab442994e5087d0b9abbe4401ce66c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.038,\"left_z\":0.045},\"note\":\"The left bowl is now directly at the fingertip line and centered between the open jaws. I am descending to mid-bowl height so the jaws can close around its tapered outer walls rather than only touching the wide rim.\"}",
  "call_id": "call_6mVuWsIkLkTc7c23uuQGgoGG",
  "id": "fc_086d2cea4e577dc6016ab4429e45a487d09446a9d5620a6410",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6mVuWsIkLkTc7c23uuQGgoGG",
  "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]: [-0.1852, 1.3773, 0.4885, 0.0628, -0.1287, -0.131, 0.9992, -0.02, 0.804, 0.5953, -0.4122, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3356 left_y=-0.0362 left_z=0.0385 left_yaw=-0.0222 left_pitch=-0.2449 left_roll=0.0223 left_gripper=0.9992 right_x=0.2898 right_y=0.0007 right_z=0.1667 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -4.5744, 5.6274, 1.5995, -0.0464, 0.0659, -0.0122, -0.335, -1.1282, 7.0222, 1.8095, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f101fc93b35d3c78e52e2089965be4e77e65c12959de50287db2208c41ec1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07160c1f2fa4a0233f687d549343ee4330433bdc6246f2c8ce2a9642899202c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c59b40ccadb3156126b71a07d1b43f51c224ec3c88f2ec115e731daf971de91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.952 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]: [-0.128, 0.9569, 0.5617, -0.2493, -0.0822, -0.0792, 0.9993, -0.02, 0.7975, 0.5987, -0.3939, -0.017, -0.0429, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0221 left_z=0.1411 left_yaw=-0.0368 left_pitch=-0.0694 left_roll=0.0069 left_gripper=0.9993 right_x=0.2925 right_y=0.0007 right_z=0.1737 right_yaw=-0.0018 right_pitch=-0.0114 right_roll=-0.0013 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -4.506, 7.1453, 2.0342, -0.2711, -0.1148, -0.0855, -0.0205, -1.6205, 7.2274, 1.7558, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1814, 1.2057, 0.7181, -0.2642, -0.1219, -0.1242, 0.9992, -0.02, 0.8036, 0.5957, -0.3973, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3484 left_y=-0.0384 left_z=0.1294 left_yaw=-0.0305 left_pitch=-0.1723 left_roll=0.0105 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.17 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.6701, 9.4838, 1.5995, -0.0659, -0.0659, -0.0122, -0.3077, -1.2786, 7.0496, 1.746, -0.0269, -0.0366, -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]: [-0.1852, 1.3773, 0.4885, 0.0628, -0.1287, -0.131, 0.9992, -0.02, 0.804, 0.5953, -0.4122, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3356 left_y=-0.0362 left_z=0.0385 left_yaw=-0.0222 left_pitch=-0.2449 left_roll=0.0223 left_gripper=0.9992 right_x=0.2898 right_y=0.0007 right_z=0.1667 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -4.5744, 5.6274, 1.5995, -0.0464, 0.0659, -0.0122, -0.335, -1.1282, 7.0222, 1.8095, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f101fc93b35d3c78e52e2089965be4e77e65c12959de50287db2208c41ec1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07160c1f2fa4a0233f687d549343ee4330433bdc6246f2c8ce2a9642899202c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c59b40ccadb3156126b71a07d1b43f51c224ec3c88f2ec115e731daf971de91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKimsf2Zyg3VKal_t0Phv4E_Ugs5amHVSnsA5AYmRidDAw0lUDXoBNm3X2uN0xWnurEQfLeDgq4mekHed7Z3GhYlXm9eMx4vuQiWWF4hC9dkX-51MP_4EMK1vnqW8uxZMxh3xHZ5jg5LvAjVjn8gc_3mrRwnUFo7TE6s8LrxPFdt5YE7wFTB3tTuMx48NKipcHX2LmH-IWZgUakxbH0RT1QMVMGiMcG3j5mC1QRmJtq81aSfwHcCLng3XlQAGzOJVX5dGlqac1Kd_n6aglvR2hj6vsB5DQDRU9daN1poxuxAg9LShLzNB_iXtOhhyXS2qkMSV5BwrQwATbJ-TeOLILYLeVPc4THaMjxQLSHODt2oxIms2sKpwpp80-mzH38lHdwHUf6V3QIPbbghDUWNIZx6Y0Cf_M6-xQSujS4Rc4qArR3A5JPo-E1_tb43HcAr-5_XjpAdRB9AzY1eM0A42ZaoXJJ6TmQvWHwl2QvFs9OiQszIH1Aey2raHDxAqOAr4wgooUV__4uyvbbrN6ffxt-ZpVkia1qJFrfhWCYP77osxJ2XSxAfvzCfG9GNZBy2r0-0aUdjyMbdK2TmtEmpQSmUUGSyLWALhgHquTxY1ge2nB8laDoFFWY0hmrH9huMzc5wvRYYR32RU8gL2jnllFTK5tl1QFtqDn87J-PEt-RKTJ18dsLr1gymra_wI3knYngoI3L8znem-_9ymSf8Ce-vKS0XG2gGXELyPPs-yUZR-5Ost63ohboM6W71zwefKy1JkwtGmx-Pj7rjGqIttHVJ5WGXC4H0MhoA28VZPEeL3yBfRlzDzgUm74ADlVJLfQJIZyJ-q0e39M5wZg1KVITcKif10KG-P4n_n9Zz0n_SfWY-qCpfJBVrQZ09Zy88T5OG7Sr3b44QMDzjJgAKbP_tSvO8GN6mJ7v__5RBFfRKS8Hj2GsmdVvCv-3g_zH7mTh01smdTjhV2KEx_85J8BK97Mv8hN7e4GlQ3laQVg9FQm8nLr1Dvui_fATUNL9M0hILoJl_bZ9BMzrDV6yTmX90Dcq7D1Z5grhpC0NT1fnVmWV_46skghrt1p9p8lf021Vlf2IHHIBypcHtz5WZeqLbSyKhihb3-YKCX9MYP873IwGqeUABSBNYHYkpjkQCqvolus8AwNPcWnL2FLnbOMkSr_bH_ARi6fl6Um2zLqtwmztvaRuc9sdMpuGQuharCln4P-WBEgXkYBvOg9cjCYMs_O665-trXay7K3G1B9XL3MLUq-3WwpQJF7bWSLpBm8FVUUPdkmj5uIfV4axoDef-uPAF2Mu9S8g0djSfX3vw0MrHgBxEKYacS-JOvd9rV0kYdxzq0K_ERtTkEHtVjg6zgzxwYNYRZwlgFP1CPP6miFnWatYINX2hbaFBx7amhm2IZYRgyBweJK55c-HIdaDR497vPHbViz0uTi0WTIaPjqkO1Z2iHkRyZD2oS2BjwY1Uxd5GNVcjG8Pp_j0b73wN14u_H7xqDyu5FddF-8JH7NC3j0PL18NIIjyTDvmmMJp",
  "id": "rs_086d2cea4e577dc6016ab442a116ec87d0a27315c638bdf4b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At mid-height the bowl fills the space symmetrically between the jaws, indicating a centered approach. I am closing the gripper fully around the tapered sides and will use the settled opening and a lift to verify the grasp.\"}",
  "call_id": "call_RGCrJ6r0xE1HOKEkxhwC9V8a",
  "id": "fc_086d2cea4e577dc6016ab442a1b41887d08160733a4a354c2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RGCrJ6r0xE1HOKEkxhwC9V8a",
  "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]: [-0.1856, 1.3914, 0.4709, 0.0635, -0.1291, -0.1394, 0.0089, -0.02, 0.8043, 0.5953, -0.4152, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3288 left_y=-0.0349 left_z=0.0278 left_yaw=-0.0162 left_pitch=-0.2752 left_roll=0.0221 left_gripper=0.0089 right_x=0.2894 right_y=0.0007 right_z=0.166 right_yaw=0.0017 right_pitch=-0.0431 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.8598, 7.2274, 1.409, -0.0611, 0.0562, 0.6276, -0.2256, -1.3197, 6.9949, 1.746, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a7538537101852be899b2ded01c116f53a652e40d98e4f75d1bff0e932a493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c77e1a1c721b822269f7371ff3f143a2830dcc0767c42e73cef39ffb7412d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2156b5240296de7771cd8f85055166f071a4530127e6358f94cdc29e83abfe0b",
      "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 · 3.253 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]: [-0.1509, 1.1007, 0.6197, -0.2199, -0.1085, -0.1051, 0.9992, -0.02, 0.8005, 0.5957, -0.3939, -0.017, -0.0463, 0.9992]\nstate[eef_state]: left_x=0.3329 left_y=-0.0276 left_z=0.1289 left_yaw=-0.0228 left_pitch=-0.1235 left_roll=0.009 left_gripper=0.9992 right_x=0.2923 right_y=0.0007 right_z=0.1715 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.547, 9.5521, 1.7265, -0.0611, 0.0464, -0.0171, -0.1709, -0.9504, 7.2547, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1852, 1.3773, 0.4885, 0.0628, -0.1287, -0.131, 0.9992, -0.02, 0.804, 0.5953, -0.4122, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3356 left_y=-0.0362 left_z=0.0385 left_yaw=-0.0222 left_pitch=-0.2449 left_roll=0.0223 left_gripper=0.9992 right_x=0.2898 right_y=0.0007 right_z=0.1667 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -4.5744, 5.6274, 1.5995, -0.0464, 0.0659, -0.0122, -0.335, -1.1282, 7.0222, 1.8095, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 1.3914, 0.4709, 0.0635, -0.1291, -0.1394, 0.0089, -0.02, 0.8043, 0.5953, -0.4152, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3288 left_y=-0.0349 left_z=0.0278 left_yaw=-0.0162 left_pitch=-0.2752 left_roll=0.0221 left_gripper=0.0089 right_x=0.2894 right_y=0.0007 right_z=0.166 right_yaw=0.0017 right_pitch=-0.0431 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.8598, 7.2274, 1.409, -0.0611, 0.0562, 0.6276, -0.2256, -1.3197, 6.9949, 1.746, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a7538537101852be899b2ded01c116f53a652e40d98e4f75d1bff0e932a493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c77e1a1c721b822269f7371ff3f143a2830dcc0767c42e73cef39ffb7412d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2156b5240296de7771cd8f85055166f071a4530127e6358f94cdc29e83abfe0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKnU-Dkcs8LT6CFsLYBysqkpvnU3G91uEV-ZszibnKut7PDMbvzyIUSbcatKkotiVQuo3ofVZeu4vWDU_NiMhrI98OfRd9X9YPBUUGmMyHd0bYa0O9qzT-Ro21Hig4BfOOY8-6sVEkvqy5PoEEE-nng2fXRLwqiQZklO_u4oPU0FLe42V2t6KNCamSTupOrJV8lqi_ELYmntGJn3Bh3S6PE-VIohJo4A-Z-t5-_9qM55Z5qUiLroQXYXwTCQrLrjNa8Evte3kJu9lFO25nwgMsz71K6TsM5yISqcuAt22cgojBr8zmKae3Fp06jFqbCZYeq9MHHZvYvI_Rr6Lobyne0PcfnPWVvCmByo4aoxqlkmpvTMA748Vv67Jjsisw2lR8HX0ex5h3FJtnMn8zowvgODmWzgz2F8AvZYwxhnAd4FgnaCXnhGyt6iFcCs2_QcPu_ZuEtYvHoCaSSYaenLge_8-vSWtLNCv8bzkc6z4ukYNTJZCEMF4dQnqbUc3PtamkutbbJvAl9y4fKClbjMRXW872kPOyoDPQ0VBTPEmwKd8TQTs4sspJolPOl7hlOGAJ5KoHPbCM0xGcTUp3G5e38v7gTaLW0jGXS1i6DASkiNj0LRtQyzHmElTH13UdM9ZoPieTc5vj07oT5c6xlJnV7M2-lgTGme1fi0VVc0vwDqb-rvz_mqJi-mR2tDESL9hGK0ovep1u0R66p64Yfs8Kg_ewkL7g_vlIsMW732XF1ZR-6SRUMQ7uPQXOe6oYeMuBQlENj5vx_soS1WweCj0E-wlNAN9wpAIGl4t7lthIXPHydh4vjncI2oQz_yXA8YmIRt_kueQaZ7KLxvQtukvQG89FbHmIoPJ7YWfpd793n1smvwl4hsonYEJkyd49XjyBsVfUIcYqOQu-L6JfctVrLRWx71IzU2jreLZ1ur-nH9JwKRmDUx5UfB_FOMFv12Voa-CK5GqQXTSlgt4f3Drhv9hMxrn3WzjqJu-dh92Lj1iCCfmcKJJLxEnaSzoZu427K8DD2nO5NyIt86ENBIHfKLpx_ElYJIh6v0u3VE_Vmii0IQUA6mGT9ScKpgmp2D-G48sFb0Ogy1aihSSb-azIDJhCbGvJeGQWz3DKGzMBaSxzE43butt8iH-BSyz1vfL9M-G8qHQrjvbYsgrbfBXHadtGE-lBxr8zMfXRDHnhoCGEOqHLCO65OqRKFyVe6xV7DBS36Y89cLJDhCq49jUL1VhmBgnix1jkuQJy4aq5z6fJc3UcIoTaytFpyknAGNoeLyNegsjXzt3Ek8LJWYV9ff9kMHYCflLKMp3HNbjloujbbB1qQj1VSgjDsdFQ_rI_P_g-UZ1VEljx4MxVqQRVRd9lJfCZAobNb0qFMBYmkoDULQQ8CkmfXJuuq0B-f-pNwQ95a80Vz7x6WAOkcrVIOXjxScj6EHQgsZqWL87bQf4cyVkWCXP34616GsyirSuDpfCz8RZ8FJlPGn1W_sspZnWKhwoJGbdBd3XXpDBkmohGUIyNlUD1avyDBNgJPHMj3NehdvtQTMLsEfL28li-0MlOw7ImTQQtfO4lQ0U4tuoLFht7qYyHYUjsj6ENKT8oRMled5n-BNEzAS1By22rmoHA0IkFEQF_-W7T9EZEk07NIy2r7M8Xfd391Q-OjcN4_G7APKKhRuG2CRh5CiVKqWnA4lILcQGDwBdcNKmqVAI__yYpPPDUtCXXtZSCmf4CUWE7otp0VO_76O0EBxE9w_ZeBIL-n1RtXNCyg6w-uX9aH1fH2FYY8BWUGPcjbjMbZNX6znkshp4EFf4xvvX1gplGdTAFtV4_jYru0TLYtMg-HAEij2ZZWZnEWGDyVXNw62nF6H4gI3FsJqzmMMS_xA5xkAowFBOO9pOo6mR89xjIG5AyvlKKqeXAjfFUZqmix0ybFfY0huXSWHvWgos868JPEGHjZ0SCJ-8BH_-4YreHSzKqKqD6aJY6bSPPdQ-AtpowgbDRwduw3ZJLv_Fwtuz1PHoHnwQbZc21TeaX5Zz4Sqrg8krtayXgfm1eEpFXVtaQfIWvFrGMnzVg50tEnZFR7UIz0qIv34l5KHc9jED7u2OkI4O4ZgcezbQo07TssNKZ6kTh5oIEjaVidNfHhZM4UabTROp-2-WO5FaE0PLDZYCDXTLoHeqCZ35B16bxPYFj-kAqfCk6iyGjUKjBlzw==",
  "id": "rs_086d2cea4e577dc6016ab442a4a49887d0961565ae01cb147e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed, so both fingers entered the bowl and this was an empty center grasp. I am reopening and raising above the rim to reposition for a single-wall pinch with one finger inside and one outside.\"}",
  "call_id": "call_juriUmEqBiD8Jz0XOElH4ibT",
  "id": "fc_086d2cea4e577dc6016ab442a678bc87d092b176f8d03bc6b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_juriUmEqBiD8Jz0XOElH4ibT",
  "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]: [-0.1856, 1.2209, 0.6685, -0.3332, -0.1291, -0.1474, 0.9947, -0.02, 0.8043, 0.5953, -0.4156, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3241 left_y=-0.0341 left_z=0.0928 left_yaw=-0.0102 left_pitch=-0.3032 left_roll=0.0218 left_gripper=0.9947 right_x=0.2893 right_y=0.0007 right_z=0.1659 right_yaw=0.0015 right_pitch=-0.0435 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.1761, 9.1966, 1.4579, -0.1392, 0.0611, -0.0366, -0.1709, -1.265, 6.9949, 1.7118, -0.0415, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9290c65bd8a66d01c8c172430d524f2e6e202705e5302c126583e73b18474489",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e35564e281ec003f43753b68c675f310a530b88630b4e4442fb40affd945a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1029394c091a41f98fac44c4ca3c77be52954420f4ea957db96d0cf7a202ed9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 2.784 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]: [-0.1814, 1.2057, 0.7181, -0.2642, -0.1219, -0.1242, 0.9992, -0.02, 0.8036, 0.5957, -0.3973, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3484 left_y=-0.0384 left_z=0.1294 left_yaw=-0.0305 left_pitch=-0.1723 left_roll=0.0105 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.17 right_yaw=0.0015 right_pitch=-0.024 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.6701, 9.4838, 1.5995, -0.0659, -0.0659, -0.0122, -0.3077, -1.2786, 7.0496, 1.746, -0.0269, -0.0366, -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]: [-0.1856, 1.3914, 0.4709, 0.0635, -0.1291, -0.1394, 0.0089, -0.02, 0.8043, 0.5953, -0.4152, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3288 left_y=-0.0349 left_z=0.0278 left_yaw=-0.0162 left_pitch=-0.2752 left_roll=0.0221 left_gripper=0.0089 right_x=0.2894 right_y=0.0007 right_z=0.166 right_yaw=0.0017 right_pitch=-0.0431 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.8598, 7.2274, 1.409, -0.0611, 0.0562, 0.6276, -0.2256, -1.3197, 6.9949, 1.746, -0.0757, -0.0708, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 1.2209, 0.6685, -0.3332, -0.1291, -0.1474, 0.9947, -0.02, 0.8043, 0.5953, -0.4156, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3241 left_y=-0.0341 left_z=0.0928 left_yaw=-0.0102 left_pitch=-0.3032 left_roll=0.0218 left_gripper=0.9947 right_x=0.2893 right_y=0.0007 right_z=0.1659 right_yaw=0.0015 right_pitch=-0.0435 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.1761, 9.1966, 1.4579, -0.1392, 0.0611, -0.0366, -0.1709, -1.265, 6.9949, 1.7118, -0.0415, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9290c65bd8a66d01c8c172430d524f2e6e202705e5302c126583e73b18474489",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e35564e281ec003f43753b68c675f310a530b88630b4e4442fb40affd945a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1029394c091a41f98fac44c4ca3c77be52954420f4ea957db96d0cf7a202ed9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKr0vCFt7G8ucLvdD_5aiGqdUZnPDHsllPHndd38zsGzFGWB1Rqh9w6647Dtjs9dlrfea1kRWf4a2a6DOdxHBjln_OdU-Tz3KWx4uz5o3AMJHxrL3X8_5ZiIsAgmLJozA7rYs9lQ3zVfudLIP5Aq2SUrS_k3rBbfHCHPhrMY4ezjvvWiOlmqKMTVuhEeBnYjJ7GgR2MU9gMHOL44-aoTQN0hpAe8ch4BL-PTaYpUnmwmq6y1M_HH9AnBbOORalRtQJ31aCckBiNtUBSTaaMg4nqWDGg8eWAd9pnyfTkqdYTTlfDyWmCVSJH8r_DDrHJ_EXzzGCYkBKPkBy9GbBi-Q71ck-c3R5ywUm42K1-JePSsuTY8G7wOxjGddE66KqVCeiBZPMtpa4YG7jWKKVXf7-gzejEsfjTlgmE-6cVL8MfTWEwNXSWJ9z6qkwE5HDq7RjioOD964KCNyfihRD3CNIaJxcviap4hrZxuSuCB0PMYXmdFJRZj44173UNxlsYge0uMkD7Xkn-1KCN94IhlAyGyP7ms-JCLPLENuT2GCsRTlcaSN6hKvQNma8bW61PE0Du_Ds1i_c9gM3rdbHMR3oz489ObWI_ArN9A_IHhJkrFi-Sqt1N_109l6mS-vWGuhSgq8AzBQzHn4zHamzCHgsVP1sZtNon615zmwWuhe1Ad9QtvEH0KqBTRLGtYFSOMiFo1KEJUISv7jMwfKw7K5JCpyOiDXYEZcFcLhtjeEVBINl7yddNZDWT3GioV96N_VxO91lMCFmVWrtdtM42P8wXES3wT3PCjBzlYWBu3R3RViDnaPDUQTAQtdW3xGg2EvQYgF5NvFP0F3kT72RMF-r4-w3vA9wl3Tm7yaR4rbKndf3lxihHq4wtl2wScKmZpLF2JL0YibghGjXbKoy5eBzaI9W1p6HXB8xvhO82uPwqxfHVgXEfdZPkCVk30Jmy7-t8GkTCrOX7DQefxz43vXIYP4G7BOXpnBtoE0ql2ygjfLPRoWWVw_q4eCnBqqp6POBAU079RrnuxKvvG5ijfKwcF0Xx_Lq4mATX_1X7jrZAVwA90c5kHr-YA26OHV5HDGPsn5dJuqjp1G1qbWkRBa0fTItcbpe3blH-6cMaKIgjXa0bNBNuFzIN5KeVi-BHVbho8eSZ-FtaViBR-PFhupw6jeP72_S57b9UkibT0Wef_fgePYRUxy3O-ZAiTHyxvNJKFvU2GaQyD-bOF22T4LjMEhYtTYlDMnRBRZCMzr0rKOuS9DJ7ArAC6SN2u_mDPWbwbjO6UOzSVfrsatA1T_iusOEeOuj9MzJk1omb9ZbTVuIZMrReCEM9wVGgyg3hodW8Ofo4jZlHcKRkWkbAhVjh2XI-ycDjaMhM-RluV60fdOFxE7N0cEE6GUXRi95QDkONlQ8OOla-9V3V4ZbvYiVDOTFxw-5lxQ-OMvWTyZZPB4EVgTYMGjLb0hLSU1-2LMpsUVrIWcn4reDzrIsQEiDnU-CtWV8hpk_6eLGZiSBqBvgkP17GerpbTfSF_3sJMFTcwUL5xu_bBEwdNudbXx0Jww5jigVOcbRGPn6Xc3DhgTu_yTGd6gd-tOOOMmavemLowhz2LoJqvSTy1MTgVmLkFtYmJWvsyJyfANIjSaYLmJwe-qZZaYMqf4NuEw0b_wXCuCysUA7yyoPMQYD0UbkCMx39ndvfpFzBuc5oWLEbrPdasj0T6j8-6KCikCIJHRf5IVcR5jc_12_UabzUn7R1B9XiwQAPGuLuKbNGbQMS-OdVqaUrmHE31j-S_T2dZNNhzPtyRCv7CmBNN0yBfqQVwHlWu_p156kwpdZgsZ0MvMIiMQnItVqje_f1yDITNF_shNlz4CsGgyk6Gw7v3ru-Epl0i1bylRtRAo1ecI7lfkLKNw34mx4zRXXKKbUDJ41D",
  "id": "rs_086d2cea4e577dc6016ab442a94f9087d094afc242e9b50648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.08,\"left_z\":0.11},\"note\":\"With the gripper raised, the bowl is clear and its right-hand rim is several centimetres to the gripper's right. I am shifting the gripper toward that rim and slightly outward so the right wall, rather than the bowl center, lies between the jaws.\"}",
  "call_id": "call_mz56OGRyIgaEL6PoFBJ3oohi",
  "id": "fc_086d2cea4e577dc6016ab442aaa85887d0bdea4e49f2e95b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mz56OGRyIgaEL6PoFBJ3oohi",
  "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]: [-0.3325, 1.3479, 0.799, -0.3962, -0.2035, -0.2531, 0.9954, -0.02, 0.8051, 0.5953, -0.4164, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3383 left_y=-0.0752 left_z=0.0959 left_yaw=-0.0272 left_pitch=-0.345 left_roll=0.0276 left_gripper=0.9954 right_x=0.2893 right_y=0.0007 right_z=0.1656 right_yaw=0.0017 right_pitch=-0.045 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.5333, 8.6906, 1.37, -0.2125, -0.1001, 0.0611, -0.253, -1.265, 7.1043, 1.6728, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5a2b5e1751d1e7ed89fc8b5e363a7a18ffd45d3aa1971e5c9c7e8e8c09050e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105fdf0b8ecb7ee83502c2cd814f59ff7f0fc8c0438b421726222075cf6167c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0778c8acddf614b79b543f26e66133f8cb5b0aca4948641bf69e13e4354764a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.748 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]: [-0.1852, 1.3773, 0.4885, 0.0628, -0.1287, -0.131, 0.9992, -0.02, 0.804, 0.5953, -0.4122, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3356 left_y=-0.0362 left_z=0.0385 left_yaw=-0.0222 left_pitch=-0.2449 left_roll=0.0223 left_gripper=0.9992 right_x=0.2898 right_y=0.0007 right_z=0.1667 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -4.5744, 5.6274, 1.5995, -0.0464, 0.0659, -0.0122, -0.335, -1.1282, 7.0222, 1.8095, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1856, 1.2209, 0.6685, -0.3332, -0.1291, -0.1474, 0.9947, -0.02, 0.8043, 0.5953, -0.4156, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3241 left_y=-0.0341 left_z=0.0928 left_yaw=-0.0102 left_pitch=-0.3032 left_roll=0.0218 left_gripper=0.9947 right_x=0.2893 right_y=0.0007 right_z=0.1659 right_yaw=0.0015 right_pitch=-0.0435 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.1761, 9.1966, 1.4579, -0.1392, 0.0611, -0.0366, -0.1709, -1.265, 6.9949, 1.7118, -0.0415, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3325, 1.3479, 0.799, -0.3962, -0.2035, -0.2531, 0.9954, -0.02, 0.8051, 0.5953, -0.4164, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3383 left_y=-0.0752 left_z=0.0959 left_yaw=-0.0272 left_pitch=-0.345 left_roll=0.0276 left_gripper=0.9954 right_x=0.2893 right_y=0.0007 right_z=0.1656 right_yaw=0.0017 right_pitch=-0.045 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.5333, 8.6906, 1.37, -0.2125, -0.1001, 0.0611, -0.253, -1.265, 7.1043, 1.6728, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5a2b5e1751d1e7ed89fc8b5e363a7a18ffd45d3aa1971e5c9c7e8e8c09050e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105fdf0b8ecb7ee83502c2cd814f59ff7f0fc8c0438b421726222075cf6167c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0778c8acddf614b79b543f26e66133f8cb5b0aca4948641bf69e13e4354764a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKuxG0ox-7H17E9mWN2Fmw8_6Z5L1XZf4_Tf4vsJFxnQXnKCi9uU7rkeNx4RquwnBJ2nT-cFBLZVEh5fU9QZX9zHfqnkyJr1yez8xydQ_6ehlvPGS2W6fNRLt4wcTB7P5oFa-Kyuqljwmzyd-AHSer6Rvxahb4ijg-S3QV9UyF7rJHV5VPZtEns0LG_I0Ic3DUf_6MyprqHoVoya8Wd8DK0HqhQC3rBVKhUSK7CyLgqfXRoU-00kYU9J6E9bYa7WZv-BeHqn9tWRhtqyurLoboS6LERqVn2GMFQujbvZLlch57WxzTeM0OTV_ISyT-GwPTejqptRO3mF2NBiRIb9cEXvcQNinsP3uRWX-uraJ_5jw4ORCsWmJC6IjQx_w7rDrruS8SOk0UBL5P3UY2JskAnn8P9WA1DXC2MAcXWFfnRE8lk-Ke1yI0_YvSudRuBuGYbBhr1OFWhxWZ_jvRnQhoO5Y2ffl-704gndW8R1MuGgEjwfoE1Nn8T9j7q8wBQRM0GVPhj3huOGtJe-vKR_tGR0GxVl24GHiXQei8x3eVALHCVYctoUozskVLNG0XzxN5AQgUcJq-jpqXIHiEfShuIf9lL0YetYjhS3sDcyjJ3XD9GBPQ61oLzJ-JkRhmWprN6hKBpyjeR49MmVNV8WBmUd4tqkQAiZIlxJVisbhHCMr-k7f1UWwigoTM9yEUZcYFTSVl_87eP0zlVY52sdee2npk6nDbJFKeAPiiXi_-uTdbZfw2ckjA0D7bdNQe3tCmgpoEydFqdmdfLzPMZMBPEaYDoBUwrwa_Mhc4Tzj8ypvFZeMRbxFL7Ww8CRd_PtphG00wEoUmEwrZq58tr3kO7xOML8aG314yFDUVLHwX9UC7xXNdEJnvGm-frkT2krfs4CLatmIIlASXapBmjFIWnVFviLy5PSqgO80RIh3xcreW0tgCfrqRCx8EhR-FmihOtvQTDIIcPpWsxeX1y27H6_CCHWSy9JE4FS6GAWAAXJWymrDqzbeQMi-YqJz_bIpRTW_MXMYj_SDL-p2HlI_wrUqqUWXzyCIMXPR0STiCpgXzR9weKp6QDHkPjVuyd8yiFTRDdPHPlc3QufjUNuDqZihJgC4DHD4Ax2OQPhujI8OGv6GdyqDu4h4wrdiYRWokgwn8SwlIjsuXtqDleIpp85SLlWVWiBEWGt2-Gz2SvXJ4gJ3BPpokPaJiJqQt6-NEXvSqpv-8NI3vXU8Bv8-7fckf9gMW1EZB99aVo3Z614f3VNC2Tzn67w3DSfHlFQ3DHUQuAd7BYHvD_n5zGKYF64WtRZ_XDcZS5-z3-Bc-N-8UAadc5Yl6ud0GThbVAO1-WgsEETcqRtJ0FMv76fpzJTcFkkSX6a0pLJ2RPSUj7kPG20RvV3g14a5Dsn_WLSF52LL4Ts7BqrRAjUVvwxBsKtSrf8nv6IGXTls6pMlXbPSMrX3jyuydrAz_MdEPQkMGirzYKuC-qGh7P4aUZ9hApsgiBCHqKJXxpp2oB3PYnV2W-KmfvvFNHTtxLl4aS2-YI",
  "id": "rs_086d2cea4e577dc6016ab442ad0e9487d0b951e46d184a78d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.092,\"left_z\":0.11},\"note\":\"The lateral shift worked: the bowl's right rim is now close to the jaw column, though still about two centimetres left of the desired pinch line, and the rim remains just short of the fingertips. I am making a small final rightward and outward correction.\"}",
  "call_id": "call_gqK3NUKrWlAgfYMWg1cqsaXS",
  "id": "fc_086d2cea4e577dc6016ab442ade27887d0b9678d18f8e875c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gqK3NUKrWlAgfYMWg1cqsaXS",
  "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]: [-0.3519, 1.4483, 0.8978, -0.4393, -0.2184, -0.2783, 0.9954, -0.02, 0.8097, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3534 left_y=-0.0852 left_z=0.0944 left_yaw=-0.0138 left_pitch=-0.3829 left_roll=0.0391 left_gripper=0.9954 right_x=0.2885 right_y=0.0007 right_z=0.1628 right_yaw=0.0017 right_pitch=-0.0564 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -6.8034, 8.9231, 1.2527, -0.0757, -0.0024, -0.0073, -0.335, -1.6205, 7.0359, 1.7118, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdc12691909d247bcc3065f34f7f615699bb631340e9edd27ca43d6bfc960ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40bb86b704a4dad3d52630ce89df9adaab6799c7350322799a44f770bcb81cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ab8cebeb0376b2a683dbec82772295c8a89f3636bc0aa62173f54a2f4c9004",
      "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 9 attempt 0 · /responses · status 200 · 3.107 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]: [-0.1856, 1.3914, 0.4709, 0.0635, -0.1291, -0.1394, 0.0089, -0.02, 0.8043, 0.5953, -0.4152, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3288 left_y=-0.0349 left_z=0.0278 left_yaw=-0.0162 left_pitch=-0.2752 left_roll=0.0221 left_gripper=0.0089 right_x=0.2894 right_y=0.0007 right_z=0.166 right_yaw=0.0017 right_pitch=-0.0431 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.8598, 7.2274, 1.409, -0.0611, 0.0562, 0.6276, -0.2256, -1.3197, 6.9949, 1.746, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3325, 1.3479, 0.799, -0.3962, -0.2035, -0.2531, 0.9954, -0.02, 0.8051, 0.5953, -0.4164, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3383 left_y=-0.0752 left_z=0.0959 left_yaw=-0.0272 left_pitch=-0.345 left_roll=0.0276 left_gripper=0.9954 right_x=0.2893 right_y=0.0007 right_z=0.1656 right_yaw=0.0017 right_pitch=-0.045 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.5333, 8.6906, 1.37, -0.2125, -0.1001, 0.0611, -0.253, -1.265, 7.1043, 1.6728, -0.0464, -0.0611, -0.0122]",
      "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]: [-0.3519, 1.4483, 0.8978, -0.4393, -0.2184, -0.2783, 0.9954, -0.02, 0.8097, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3534 left_y=-0.0852 left_z=0.0944 left_yaw=-0.0138 left_pitch=-0.3829 left_roll=0.0391 left_gripper=0.9954 right_x=0.2885 right_y=0.0007 right_z=0.1628 right_yaw=0.0017 right_pitch=-0.0564 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -6.8034, 8.9231, 1.2527, -0.0757, -0.0024, -0.0073, -0.335, -1.6205, 7.0359, 1.7118, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdc12691909d247bcc3065f34f7f615699bb631340e9edd27ca43d6bfc960ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40bb86b704a4dad3d52630ce89df9adaab6799c7350322799a44f770bcb81cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ab8cebeb0376b2a683dbec82772295c8a89f3636bc0aa62173f54a2f4c9004",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKxBNNzfve-GJLvJacVaeckpAPwg6wHFzcXSsKf4NN3ajCoxj-dSdVy1jPcXTezGsf2St3-EgKqKy5WErG0PbwW8UQ-eJk2AhrSAWVeNsHn8tYnkFlgD59s3iMl1cZuBJIbmfsL9_Czxs2_7otOLJRYnDQkW2_QiKDBdOgkU9lgp4OZWleZzjc5aqxih3UwQpL2LHsm5UrwBzwfCEal6Ojiq1znsLmLjVmYFPoytA70eGhyYIvo-PF3iuMSaU7uwjInl_YmSbootAbW112DO35BeHqrTb6LSHd7aYGbC-_IxddMvwNSK6VXWPa9rxhlOD4GUoQK14-DdACpsbZFPYzoeWN3W068Atgproird6aiB37Wr6CCFnGzHRK0pydmkRrrmImHbtFgoyqWrHVbcFQrkISMEhlgnLHGd7qr8AY3ZkIDV-C33T_jxa-YopoWo2UpAb2kxZccKk0zjwyqRWvjyUcSMfeJvFaTtXHPq_tsDGn7CQ6X1TJwuIte4uq0QEcPICgKQkU-ZDm4NVEHJLxkSwMbTUTEJObqqx5fwQzL38U4mg0XhyPZ2VPGTaJtfFSBe9E9qtve1KhWI38iZ12U9jDv74wwSxjVXKZBoMz8gc8LILs7kYFLQ4UrW8g-sOXGMzz9CCDolplKQxaxkaLl1xF1JAslkcGCRhTISPhvXMrCMK60EDBQR47BGyonS_zq4e08zIkTMJfijwYb8JakFch9ybaY6N5zZo5Df6M2jy_R0uOoWuYEB2cAoVxzoWenUWJn4qtP41b-dtpX55xY-oj-M3mUfej_U_K-l-jKg5XP-_-_YlfEjb5q5dTKQh3ssfTwQBKbPSHb3A6gl049Z8N6kuBZjFicgSDapAh1wMdLDKJWACEcTpZpHbuW9-RL8zFUn9tmWF23qCvmf36T-hRjrqTMmhggsItHddCG8pL_xPnKtAa2Wuiw9UpoKCMBS6T5w7Xveuj5e8sxN0W3SwDTtvXm6LZYEW36aZqnqM7GDOwg-cfuQ9UPNRM-jmZOSuIAkJQ9X4OHzer210NJ8RQfnu306jLV4REOZVLmjDUYkBZ7RIfdArBOtKzSxbjsVzFiENBCOFKUZ5MmjRqd9yiz1581gUFYM441N8i9B-b7D2xKVPEXQyn_F_e590S9HM45y-95mnrA6Q3dU57Y2eaIs79AkNMUQ5qjjX2QrLBby44DxhRevWMv6XXRzxMw_ESxG__bxgTGalmOkk9ItE8B4dfEjLv52s8gqMDjRmZgeWPtq0i--pI8sLkBEC8EYGveHAfWzMvY0jYWj8y4-I2-XeNxWIiJaG2yd6x5nABiIDjjjoUNuZHrbqDDQkhVwJpM8aJESQ4LFaC-STjCNYGuLvoteBNP_Bjay6Z6zzvpABCBHowd1UIZT7KfVlmG_NcxoCAjXilAqc-AMNuEyBH4hNJO8cUnnfW4p_ymCwWuAHuR98UHeh4Lu1z4d1KTnFaGxH5-Rlvlzglwy2UBICN6sK7PN2wzKv5HutETPRp2A-l0e0qzc3u1mRSnb1JIrXgJiMmYc702xLiqhMsTvQ==",
  "id": "rs_086d2cea4e577dc6016ab442b0203887d0b02afe6f97493d68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.108,\"left_z\":0.11},\"note\":\"The arm only achieved part of the previous lateral correction; the rim is still just right of the jaw center, while the radial gap is now small. I am continuing the same modest rightward shift and a one-centimetre outward advance to center the wall pinch.\"}",
  "call_id": "call_OC6Qfik4dgbar6kN3MIsVVYW",
  "id": "fc_086d2cea4e577dc6016ab442b0e05087d0b54b002adfb14620",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OC6Qfik4dgbar6kN3MIsVVYW",
  "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]: [-0.3912, 1.5326, 1.0012, -0.4953, -0.231, -0.3084, 0.9955, -0.02, 0.8108, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3651 left_y=-0.103 left_z=0.0964 left_yaw=-0.0191 left_pitch=-0.413 left_roll=0.0454 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0576 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.9128, 8.7179, 1.0574, -0.2369, 0.0366, -0.0073, -0.0068, -1.3607, 7.0085, 1.6484, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10995bbe9e7d0c6eaa801da5da5fbd437fb713da243ec22d2090f7999942689a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ba979732f22040188d993c3c5d64e2dc60e6c4eb6d1ada7f22daa16ace2114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5ac0824f44eb6e53fd5ebd78d914e8931ffac9ba5338b06687de9cdb1c94f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.27 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]: [-0.1856, 1.2209, 0.6685, -0.3332, -0.1291, -0.1474, 0.9947, -0.02, 0.8043, 0.5953, -0.4156, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3241 left_y=-0.0341 left_z=0.0928 left_yaw=-0.0102 left_pitch=-0.3032 left_roll=0.0218 left_gripper=0.9947 right_x=0.2893 right_y=0.0007 right_z=0.1659 right_yaw=0.0015 right_pitch=-0.0435 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.1761, 9.1966, 1.4579, -0.1392, 0.0611, -0.0366, -0.1709, -1.265, 6.9949, 1.7118, -0.0415, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.4483, 0.8978, -0.4393, -0.2184, -0.2783, 0.9954, -0.02, 0.8097, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3534 left_y=-0.0852 left_z=0.0944 left_yaw=-0.0138 left_pitch=-0.3829 left_roll=0.0391 left_gripper=0.9954 right_x=0.2885 right_y=0.0007 right_z=0.1628 right_yaw=0.0017 right_pitch=-0.0564 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -6.8034, 8.9231, 1.2527, -0.0757, -0.0024, -0.0073, -0.335, -1.6205, 7.0359, 1.7118, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3912, 1.5326, 1.0012, -0.4953, -0.231, -0.3084, 0.9955, -0.02, 0.8108, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3651 left_y=-0.103 left_z=0.0964 left_yaw=-0.0191 left_pitch=-0.413 left_roll=0.0454 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0576 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.9128, 8.7179, 1.0574, -0.2369, 0.0366, -0.0073, -0.0068, -1.3607, 7.0085, 1.6484, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10995bbe9e7d0c6eaa801da5da5fbd437fb713da243ec22d2090f7999942689a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ba979732f22040188d993c3c5d64e2dc60e6c4eb6d1ada7f22daa16ace2114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5ac0824f44eb6e53fd5ebd78d914e8931ffac9ba5338b06687de9cdb1c94f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEK1igoaSpZ5a70o3sRgCKf5_V64qR3JZ0ZFpbDdeAzhpUnR2o_rKWtzFHEq3Qg2HXFyoA0AO9r3mf4HpqC4W76jjxfQl540mknUCoy17A7tEnwhrh9khDO_JN2nhCV-ySz32HEi8L0zN7y0TxvKjwkDIdY3zWhGOv3nvzYegZU60F5y9cVeOrXloxs2hSwPHbuWTD_AdN9Bp6Vt6r-QJnWaxr7XGVDhBlFGWCQXKVejCmHPfQGXFhXlFoQIFsd70JiqctXDjjM6Qpni_hEdhE1KuAc3OY4owB0Tg7U4sjEuQRpQDy5_Bng0uYoEfOjI4nAjomT_TW-jnrm1c2hp4HlY9fsszoZlEBKeRbYsij-ogdeAoYEdY-AgBdSouFyCwl_szf74UqjQ9YhN97-7CSApfAL7RH8rx_ynVOjfLPmShc2h1K7G3scspgi5JsIs2Tx96r0RzRSfzbB8b-txFIE6INZhDuAj5VfRlqmjIAdQK6N-1eSkbuodFJsHpTxYoNWG75MlzC880rIbeL_pyNdYndUPa-cHQL0lQLg2u1eDmF_fhXoEdz_cFAs7RW16C-sDPFn0p-GGhswz8mkcBEk0h7r_eImZ1qxKlh51SzV9SekaCzwkXAqY9jSt0pSPX1p0GvVDcL9kF_HjKzcBVuxJdZY_gcmMS0eNa5MiLf0XItoZQ5kk8GZOlFhU70MwJyBg7dA8VNt8jUQ1Zk_jIhO-FYZ2oLxsopi57WfSQRz9dQusvPlJzPU333AwWfsLKJXIid6W7xFgelQX96fR2lV9XBT8UwvFNJij7xzOBqExaNRLEWgChlWKrF2LFRcvkBfL9-4Fsae6UJ2xzBzka1azKax2G9fn3_AxQnD653uOhnIb8VYPxBOLfKw34Ex_W8oeZLrkakO7zL7NYxAChFIMeYLSJyODJWNN19jY6W8qeJYLuq6RIer9YgAKSqCZWpGyAGrXG1zU4-K9Ui5U75JgeKSeZgQNGS9N4v1LW8aV2S0jltXZdlQHVrkxR1UFjtBYfRPal8Pf1fL2PYmVS-yLdW27nWjInG2OReRv9fN80-ZGmFOEAUYc-wT6_Q88vYRkBD26odMn1PBFJpMoeXIjWsDOsYrEzX-bs_-u21Nrj14ud4BPtSPT8z7JsstIvyfWHtk4GmsMUlqEnf30gmBXuOQbNYem70JDnQvqlwrBqT_3Oa8egkrg_jamOdiMP6X1zLqEPcI516_bcK5VTX2NPf9fwNmsKM8MxQEnz5xUDUWYzpRsiptB7PUm_TQdl5SDgjf2nGwEXFxu2Xe9N04xFWPci2zPSOb2h3_Qr9mwgeZKueCQcrrrfCwDzBwwWNOrACwXV_RCudXbyIjo7Jbp-rwdx8mOflh2AvttwXwSvIQR1n9GaXS6_XuBwUBbrhT5Xztud98yn81ZxK9tXTb09sveovD-Gf6x9yOo_jKDus0Nas5kHZHngVztL7rU-U7ZbbjuLxtTf4vsAXtrPa24nrnajD7FNCKNOHzyvVyUUgFALUqplQhUa8dgg_0araACr7KxtEFVNS6CjjA-X6nGLDOY074yEwHrkbC4m4ZujsdMaDJOwk-czKn9SI22LqTiU-OEcwX5pQQheLOFV5Smhu-Zu1rS-TP2Bl6aaiE1Rpc_e2tUqN20IWyGRiIlMbIuB-AtZCIJCr163Cq0v2If7h0IPaaxiA5tal497EbqLik=",
  "id": "rs_086d2cea4e577dc6016ab442b3221c87d0a9cc74f8c52f7943",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.103,\"left_z\":0.055},\"note\":\"The right rim now lies essentially on the jaw column and is immediately in front of the fingertips. I am descending to the rim-wall height while holding this lateral alignment, so one finger enters the bowl and the other stays outside.\"}",
  "call_id": "call_xqNlMarppN9RVYmtxB3mHLFC",
  "id": "fc_086d2cea4e577dc6016ab442b4191487d0bb9a0827f546355d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xqNlMarppN9RVYmtxB3mHLFC",
  "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]: [-0.3965, 1.5784, 0.9043, -0.3912, -0.2337, -0.3187, 0.9955, -0.02, 0.8112, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3566 left_y=-0.1011 left_z=0.0584 left_yaw=-0.0095 left_pitch=-0.4476 left_roll=0.0574 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1624 right_yaw=0.0017 right_pitch=-0.058 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -6.694, 6.8718, 1.5556, -0.1001, 0.0659, -0.0171, -0.253, -0.9641, 6.9675, 1.6484, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8e26a5de3b67f845f2b6041dbc442039b34bec1160adaa50ee23a43cda5518",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4ade2ec7991a8eaa577f68b8e72888cdeca483703b145b7c172f2fead44a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1851e4cbadc0414e899b806c908838c1bb1e26b7762d415f8cf2efdd1581fa7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.827 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]: [-0.3325, 1.3479, 0.799, -0.3962, -0.2035, -0.2531, 0.9954, -0.02, 0.8051, 0.5953, -0.4164, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3383 left_y=-0.0752 left_z=0.0959 left_yaw=-0.0272 left_pitch=-0.345 left_roll=0.0276 left_gripper=0.9954 right_x=0.2893 right_y=0.0007 right_z=0.1656 right_yaw=0.0017 right_pitch=-0.045 right_roll=-0.0065 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.5333, 8.6906, 1.37, -0.2125, -0.1001, 0.0611, -0.253, -1.265, 7.1043, 1.6728, -0.0464, -0.0611, -0.0122]",
      "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]: [-0.3912, 1.5326, 1.0012, -0.4953, -0.231, -0.3084, 0.9955, -0.02, 0.8108, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3651 left_y=-0.103 left_z=0.0964 left_yaw=-0.0191 left_pitch=-0.413 left_roll=0.0454 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0576 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.9128, 8.7179, 1.0574, -0.2369, 0.0366, -0.0073, -0.0068, -1.3607, 7.0085, 1.6484, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.5784, 0.9043, -0.3912, -0.2337, -0.3187, 0.9955, -0.02, 0.8112, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3566 left_y=-0.1011 left_z=0.0584 left_yaw=-0.0095 left_pitch=-0.4476 left_roll=0.0574 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1624 right_yaw=0.0017 right_pitch=-0.058 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -6.694, 6.8718, 1.5556, -0.1001, 0.0659, -0.0171, -0.253, -0.9641, 6.9675, 1.6484, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8e26a5de3b67f845f2b6041dbc442039b34bec1160adaa50ee23a43cda5518",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4ade2ec7991a8eaa577f68b8e72888cdeca483703b145b7c172f2fead44a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1851e4cbadc0414e899b806c908838c1bb1e26b7762d415f8cf2efdd1581fa7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEK3D8bYRtiGF9NG-VDHQuwvM10GwhciSmMBgAGzNUFoBCeVgjV9woxxymBuTdpRXluAT4-biZJ6J8gjxITpqPDc9vukK4bPfMKtGr_4qidfhp-N4-rik2aUyJlgaxQvPKLlmfqBTmNQWiXhu-tOZXEOTl-d68XhUO639D_nveBM56WdCIqu9SknDVYjf2tNGR3_3VOX0x0wmAsArju6khGeWKT_PLT8AdFxCLS2bWT7ErqS5mgxdG6t-cftGAc0QDNGTZJrKFUGt3gcgWSb8PIdIVHLxQVSdHph4-SpV5QVFy1S7YRXnTrA343UDcVrnxIoc7SrhFIiewz3hGQuSvHBgLtRRJMo_vhTJfYk7zmeX3004HOv5bd_M_r969Yq9xIAaKXn7lq-2Q1zGDkbxITAW7Kggp317UylTZsXOS4lA91Jdfq1umgYTSeG3CIOoSE27byN5y7tLlvLBJI5mCpKTSUTg45J7XFh0L2va-XKCChTYEI8foWuUmKhL-E379iLaRBWeNn_4haMIOvKTjhpynKVlvjIjgXQjiDOEkEZhqqjPKeNEcfpG3JelHtCsTRCAaLvPGqtYpX-YtEzTsZxzekerUKnzrHvuzplm1HH7JFEytrlk6iV-XwEEx0W0VoHnnD74G6cSbxkPRsYcxdNgkUrXzNqq2ZhNp-qzO-ZKfic4sBlmIdEi2Hi0CbC751vyUpsJfpmhBOiUoGc2iRGxOmfrSXNEh72PHWUzb_-duDDH5UcvqmId9yTVO_XQI1WqTPlsvbvUytJU0v9-tuHrlDhbY8nl_aKnfVdPVF721JQ9wv2EXj4BRn2ih1_Cpl4HmKPxPRJAAzDEYePSO4l348fRzPYxmPXr2Uzv5NrDztPBQuE6CD-DIMx-nGfvPJYpyJaDpT6UXxa5jvrm0DRBzs64vCB17_mMnDVX2dsZanqyx5jRGZCtB71bVvSLg6btzSOwjjZoPhs18XysysBN3pYtZOU11eRdsjyd6swJ5TBUtR1lSd6ODF9Vi89_ZCla95uwsrJ5bqHwmVUfhTgAmBfWv-7W3w6dT85UscHF7lLdwanuzLsyIk21-GmNtENcydzERF5fla1_MTefxo4ku4HHzQP6LuOeULiwpDbkqaT0dWiHdETODbFx_Z7xe75eK8ZeMBwTKisnCx618Co4tfKsTjZdXNk1uApjnyrJ4PhwHEfKEfDGFV8wGIOfS_SytLZv5vMSdPyedWG07zwr6f9NZX7wZn4wI_D1RhDBYCBqIjHmpw0H3jNucXyZlef7n7U7di7DxnEExu8_hext2BDPrGDCkD7hiwLyqNCEreOXuC6tSGeGiMwawaxvz31azbRvq30OSH8qAz3fTrnvYqKcPjhQ43IfVhl5NOvlsV8RZGVBUn40NAl8r09rOj6",
  "id": "rs_086d2cea4e577dc6016ab442b6895487d0bdbdc2966bf829a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lowered pose the near-right wall is centered cleanly between the open fingertips, with the bowl body entirely to the left. I am closing now to pinch that single rim wall.\"}",
  "call_id": "call_PhPqlLzrlZ9VHq97DXD6jFWJ",
  "id": "fc_086d2cea4e577dc6016ab442b7070c87d0b37138494ea953b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PhPqlLzrlZ9VHq97DXD6jFWJ",
  "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]: [-0.3965, 1.6009, 0.8791, -0.3885, -0.234, -0.3229, 0.0084, -0.02, 0.812, 0.5945, -0.4229, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.3483 left_y=-0.0975 left_z=0.0425 left_yaw=0.0021 left_pitch=-0.4889 left_roll=0.0747 left_gripper=0.0084 right_x=0.2886 right_y=0.0007 right_z=0.1621 right_yaw=0.0017 right_pitch=-0.0591 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.7179, 7.8974, 1.0867, -0.1001, 0.0366, 0.6129, -0.0479, -1.3744, 6.9812, 1.6484, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9207eec67c8d832387460e2cba4cd97c6e7361ed5055d1191fa37e705a2a028d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d4f2f23ca7b8227af6559934809ff1e09c19781ffda749f9e6f17f3d7e424b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea43db31d17f79e281b6ee7c27916ca06106296d1f39f1a4949a7adb8d8d84dc",
      "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 · 3.647 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]: [-0.3519, 1.4483, 0.8978, -0.4393, -0.2184, -0.2783, 0.9954, -0.02, 0.8097, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3534 left_y=-0.0852 left_z=0.0944 left_yaw=-0.0138 left_pitch=-0.3829 left_roll=0.0391 left_gripper=0.9954 right_x=0.2885 right_y=0.0007 right_z=0.1628 right_yaw=0.0017 right_pitch=-0.0564 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -6.8034, 8.9231, 1.2527, -0.0757, -0.0024, -0.0073, -0.335, -1.6205, 7.0359, 1.7118, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.5784, 0.9043, -0.3912, -0.2337, -0.3187, 0.9955, -0.02, 0.8112, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3566 left_y=-0.1011 left_z=0.0584 left_yaw=-0.0095 left_pitch=-0.4476 left_roll=0.0574 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1624 right_yaw=0.0017 right_pitch=-0.058 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -6.694, 6.8718, 1.5556, -0.1001, 0.0659, -0.0171, -0.253, -0.9641, 6.9675, 1.6484, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.6009, 0.8791, -0.3885, -0.234, -0.3229, 0.0084, -0.02, 0.812, 0.5945, -0.4229, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.3483 left_y=-0.0975 left_z=0.0425 left_yaw=0.0021 left_pitch=-0.4889 left_roll=0.0747 left_gripper=0.0084 right_x=0.2886 right_y=0.0007 right_z=0.1621 right_yaw=0.0017 right_pitch=-0.0591 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.7179, 7.8974, 1.0867, -0.1001, 0.0366, 0.6129, -0.0479, -1.3744, 6.9812, 1.6484, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9207eec67c8d832387460e2cba4cd97c6e7361ed5055d1191fa37e705a2a028d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d4f2f23ca7b8227af6559934809ff1e09c19781ffda749f9e6f17f3d7e424b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea43db31d17f79e281b6ee7c27916ca06106296d1f39f1a4949a7adb8d8d84dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEK_cOvJa59MpbjjAaAEoa7PlTJPfRNwFBnd82iFEtoWCMh6e_ps0wIitJ5PtvjRFFbbMioifWrbhe8QldHxlSGXdUKVAri8W9O0-XmVi5WW5VpAVFFfVP82OKE70pL4iMimP6Ph2KBAqFx72s-pP9_2E1C__wwsTR6KJgukTht-ESyPmIzV4BLx4jXjX40jaMxX0Mh9oB8RbeuvqlFOEWdg6wmkZMwrpK6NULAFcdNGkR0FQHDeAGxPIwrGVmf1xm0YEI-wdBVquq4ndwlmCEIdUAapedHeIrtZziJZUxnHxa-p_wMPF-PRrkd1W3vl402otLk_tkZQfKCsLzaO0Bpcmq-AcF_ztrrAcQJ0y6BvF7zFAEy_q8dMvPI-F5Bl7MjHDaN42sJXSfUnmfUiIXj5ohMFUkq4-aKdrUD09eYcbZUE-HiZvVzIQ-DYKoCAoVCjfu-1IodfGwAav_SrWfwGb4m_re7azw8WCWuldFzILlzmIQFhfJGhU-cPhumwVUrulHh63u4SOfjBf-gy8pXXCBjOFRyclo1Az5b7CNh_9EfAor1N9Qz2aNwhcD4Mg-VR6cakIPGK_pIfMH5m7xIvc8Of60-8XIr6BGMhBJyEAOFr1pvg1ztq8X40ro8Jiml3wZlJ7uTBw-hnjtnWCjB_iy6BqjLuWMphRHAagnF2ux0NOqp23zyjXsutFGM_fWbA-Ezya8V64UtTwQG1_yoOOBw9W6OcSQnvpO1VWYC071Fs6yGB3yeKGGwgu3HTBCU8hDssxj4_4Y_k1KRvHr9Ajc1tWxIfhjFkxDSvN1sO9G6XI1M2sp2vPCtMZJa8DXkgQfIR__Rjwx-lt_Mp1wzYm6k4kAXeKSBWxGAzuPpsy58RtAgiWSwteLMFVZRd1LteRBbMarQbczI8SiEI5q9vszd423K6BRBdB_XXc8Xf5U6SLpEuk5ozlNVgjZIOkEG4UBm_Rlyb8dnCUVzgkYbW27GIj4vTQpuh7H3OCFZ75FAHY_q1AqNOWZ21FFiYAri1Zf9I53gbf5AoeiAUBv73G2gcJ33bMcWoAsz6aOdKoarGGbPigf5wHSYxj9f9uTiZMovzzzbScG3y6q4UGl1Wjyez4Inbv3dihmJtecqwCSWizj6PLZmotnzvhcT1aziRlk1owGwr0UN9LDSu-47KHsnPWUBMrEP4FskwRFm3R7n5yvERGi8Jf-Z2sDGlZljQub7hCMkuHuoSJBSeCimOylknSAlkCllCCdpzN-IAep8Y7R1JgDF7Z1Fi7DlVICTv5sMnxUfqRXvo3PU4wIjF9U-mH35rYRpGogUhbinfVFGQdCghCICs6IEsvptB9PM9y9WW9B0lXxwMo9WUOfoiFx6KdiyESY1ch2DsSVTIJV59o_SQBaes34Dp1KkDGLdurPiP1JLs0FE00s-8eSV7cigZqf7JSOZPY-TTgVk6_5y3WDFmJQ5xACFB0c8kwhAouUrzW-VjtNLSX5mk6OfDYkLP7qWgh-t_eH_tGHg2LpWfE7wrAWY0Hf00pPYE3WXAhHma7aiEKj6AuRpseMN8wXLY3pHJMzt4Lih1St_fk-YNL4g1AWiyciOnO8cEvUVrj_u3Pi2fFYHNtnsHNQsMolBA7cRJ4X9T3RVYLYoKOjt0X2cWLvbM8AzFGcKLdlEu3ffNgfOa4OT7V8ZtIMFJzEohfvG6VhjSsqvWBy11Yq1TWJFL2f-odzOe0qSbRzIDSLu7LlzBuUBSbbEeVok7Xi9Dwp_9mcP3UOE8CQKmI1UlWg_Q5AFg8adDhZBE6INapllOxCYnZ-Eoj059EjRPl7dCJWQUvxB6yL9_xXQ6RSlFzqJ_S8ya6gjw80l7vM0YQcXU9BF6EnShuTfDw0xYHAtthuumcq9pKrPSN0aoocANFhNfZk2CxrE0qch3n82_7G3LxrBBXq75taD4F0LYd84a05RC1SV2Xih7qCLtNVqBKAymYvmKlH-GfZUCTFke6gxzpA69Pg88JvhttdmoFhl3aQm6oz2YPI10q93zOxfelYvfrXILnEYvU0x-2Ul0sPc7f_PaCI5AZzRXZnsjWaNnN0hKHF80_5tJ9_YK8_C96dGi79-B94Z5MVB3bFZ5j0gsMGb_DUMHSGnMl4O07S9v7Kii_TExdAeZ5xh-LxcEgNM9Edn5b7O7E5CQvHhalNGnaWUv_8rAI3Ja3Ax7o4Z8ZGetZJhk22oilmRWKIAfoe3Tp9rJlKLW7CivwioziAFfqCZULrBnbQobJ_z-DYDsFcL_jgzHLQ4TtmZqgxKwvn3HBag0BYGXSt67cRRydd579Wt63TbdpfsfwrD7AkStm_JoFlt1tcRlH_NXj1_bgsvaVCbHnQtOrFZ-911ud_pWm0_IjYdWJGtiEh7rH4ZLPMGnA3EtQxuhkdCnffz1nAbMTAmVZLLMw5Ca5wHduXoGlme7fhppq_LSMHREwR9FuxE2mx7WbQsoT-WiwwMmOvWrYQVyCmODqTvFBhZWBWoU5qu5jcbYlQFqEg1rvHz3S0zJ-aLDqwXoyZruiQKyf2BfJ85OMu6TbGizlJEDvZksSSD0Ut8MjQUImwbTjqzXbKcYgO7YzISewI83o7Zo2GsjzLt2Dx0vkNIr3POvAeELyCZ9H6zBlEPfuc0XSvR-Ze_1ykvTqjusAn7ovGej-o2X4jcNx2EQBW7bMk8PN4hNTsds3r8tfTcIrAONZnNSp71OUYIGDXeXBozF_3wH8jibIODss7ljjB3U6Z61ufzY3ZXGrFEOuTbfS54GhRbN9ltA7aEQF7bdfdDsQNdwLyjX-CRv-u59BEhcCysd1vCZIQgsn8DhWQPZ9rXs9CeBZjf1PqIoNNtN8XRBQocln0S4FUfVErTBKcM3CedLl5BQqLIavKhbYBrR5lpVKx1U8mmh0NO2-KDpq2qCQklGvD5f93xqO7IKRxgM5DTLztPLSMF-8qe15aOyd_vccbBzqomN4wQkCfcf2thdsd_NtALmzIHCw6z0sQW5SdX6H3XDImjKJBW1FB5bfsD_6s_QQQDUwRWNELeFTK9DuFriOttt5jDc7nWMH0JBQ_8l2HHvsttoYSSWXsgRdw0pLYxKCcxoPSEX4NHqq-om3UJlrUuZDWSKguyHUbNLYrVmQ2Eo2XmrJTmi4L_jdpqk7pjrCzAMcd2Xy8QxZHmQ_vNUIdwknEH4HmqrixLiWGh7AA-Kaamji8E3GGqGWp3jd4OhIDidxzL2U5QsCZNqktLHRGlyqFGEzJJTondpcbi5PlA8SZUfdFk-QSPSkeFdMpoDxjCzSghtmHo9qeaqhfgAaCQjju_F6_KwgrcSLQ9jMvCZ8s1vBxgDxTshPPq4ipixnSvcf8wVzBeBX29i3Tgf9Z2nGHDzkQ2xbuhb_TFzb9vpdh8bMJIEaaucgydvoSnSqyYhK0DYPYMFo5h00gViq4llrWEwheXBgGcXq7DWhEyoFURU7JC6AQff4u6qfaqaWIEk9Bg8-u8YOuYS3z2PnPmaeffRWJ6MW4Y52bj2OyDFU7vVcPD22NDmeQiOaE4oSlHl45zVSfGdrtnrawx6mR0iSkQvmfQE6GpakT2tH5kFUKbJK_wRLSp340McqqGiZ5WS7rnJtDy7u48WpWA0DtMR_hHW6tSHmfr__H_7bpw4wXYCRGA3uJfRwc6ZvqYBbn2pnWqL31a6ZONno3kW2P9FTot6I1Gq_TlGZxYmWxEXqyB-chQXji9GiXJ9bkikF9VG43pSjl-aVdpoqeWCcfori_sWYaf52uSzySX1HvYiDKRhC4KbExlfV7h0J630y-XesTKD1BiHx4VSdesmcOeJGb-kJC5zo8dYR_WSXIFSD0A6rdPAWrBvwHiiTapMSb8zJ_pvwuWW-Qxy7vtw_LUrwTwPWYFgM9T2dKZ0Aqa0n50BYHLK-4vNxbLPeY-_GvnENnYuLDvQdTaFz8KwhsCB-GVlBYeD8lvWSP7QHHxhjwRoN8_WhurD_rY3AOGm8TjO4bWDJGhWqPm_p0iD4IhTPS4FAOQVW4A3XeplB7s0FSPSX3-Zs6I016C7ubb6PSieZP99Dv5UPWh5rzz5SqdoZTv-25d348FCv_ACMifhOxWaM1gboIVp_uOS8MTahM-7X76WZzG9agDaOBhX1KbOwK6FMU5wa-DWJOst",
  "id": "rs_086d2cea4e577dc6016ab442b99b9c87d0852ec537e0ad611d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The wall pinch also closed empty; the tapered side was pushed away, and the readback shows the wrist had pitched forward by nearly half a radian during the low reach. I am reopening, raising, and commanding a compensating positive pitch so the fingers approach the rim more vertically for a secure lip pinch.\"}",
  "call_id": "call_WSEPDjnq14ftJjQZo1RQcNwF",
  "id": "fc_086d2cea4e577dc6016ab442be5d1887d0a00c9a2ee18c3396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WSEPDjnq14ftJjQZo1RQcNwF",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5503, 1.3529, 0.3302, 0.6235, -0.5594, -0.1661, 0.9979, -0.02, 0.8162, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3446 left_y=-0.0972 left_z=0.1067 left_yaw=-0.005 left_pitch=0.2347 left_roll=0.0799 left_gripper=0.9979 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=0.0015 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -3.3573, 5.3949, 2.0586, -0.3443, 0.1441, -0.0855, -0.3214, -1.7026, 6.9812, 1.6532, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f03890c80cdff55077fbe1cb147aa7a027c7c2ffe70e77e172dd0a00b7be537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d710084de1ff1c5ca8c0b8499516aa4808c04ad2a47360c7d00e4313a2e223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eee7ffbe53112c245d36952354538bf50743d75fbb79eb0848e041a41eb460",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.304 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]: [-0.3912, 1.5326, 1.0012, -0.4953, -0.231, -0.3084, 0.9955, -0.02, 0.8108, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3651 left_y=-0.103 left_z=0.0964 left_yaw=-0.0191 left_pitch=-0.413 left_roll=0.0454 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0576 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.9128, 8.7179, 1.0574, -0.2369, 0.0366, -0.0073, -0.0068, -1.3607, 7.0085, 1.6484, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.6009, 0.8791, -0.3885, -0.234, -0.3229, 0.0084, -0.02, 0.812, 0.5945, -0.4229, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.3483 left_y=-0.0975 left_z=0.0425 left_yaw=0.0021 left_pitch=-0.4889 left_roll=0.0747 left_gripper=0.0084 right_x=0.2886 right_y=0.0007 right_z=0.1621 right_yaw=0.0017 right_pitch=-0.0591 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.7179, 7.8974, 1.0867, -0.1001, 0.0366, 0.6129, -0.0479, -1.3744, 6.9812, 1.6484, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5503, 1.3529, 0.3302, 0.6235, -0.5594, -0.1661, 0.9979, -0.02, 0.8162, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3446 left_y=-0.0972 left_z=0.1067 left_yaw=-0.005 left_pitch=0.2347 left_roll=0.0799 left_gripper=0.9979 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=0.0015 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -3.3573, 5.3949, 2.0586, -0.3443, 0.1441, -0.0855, -0.3214, -1.7026, 6.9812, 1.6532, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f03890c80cdff55077fbe1cb147aa7a027c7c2ffe70e77e172dd0a00b7be537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d710084de1ff1c5ca8c0b8499516aa4808c04ad2a47360c7d00e4313a2e223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eee7ffbe53112c245d36952354538bf50743d75fbb79eb0848e041a41eb460",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELFMMcAo7n97CtWENwr67EUdnpNqj3pSzIsEFnBsQqd5e_ElHc75UJiY4uLRUdEdyZsJulZbSOIZOFfJBBZhHCYwTVzMUE0SDWHLheV_8wOax3Q9GGc_JcIHQYU_iD669HBhW1McXSCVJFurBLYMPVyr3T1ZK_BxRT4ANEcSvWwWaEPpEQQOtk1hmeNWWd077gl8B2g_VgvwOyDmwB67to-j3P2BNpFYg6YM9_AiF5iBhdCmAAf4RPEYWS04tdrY3G_wHrq49l45Xf_d8bqt0Y-w7H2kuCJ58-eQFZhZQjcCRnmu8p79zrzWN9kfhx91wAePJp84abJEJoCVPnvE3zC44xvskUA2-fp20gNkRQUN6v2zrGDdvoJiORcYEjhQpRRaa_IL9yrnyD2qKUwwZVJ-_lohvXFbVpgSG4WUPVj5Kki9Gn4hMB9BvUPjwQUvo1zwuWAWcj44gbZcooCWtcPuSv8W4TU6JkzlFVu5qnPU0Z7R8VGh2Fd_b9GOcswQ29e9IIBVEAKJ-XtGM0HHmdjQ0H85DPpE2SZVNV8Pr8yoJ7OpUWJ484pqismxcLAj13JARTGi8majULeuIwQtCkLxAfek1uTNJI42TNtgUXO8Ug6LJeha7tqlhTrbhH60ItHAWwMFQgo7RBfZHaAk2bE1P2tG8aL5JNquhESWsPj8wJ99LZUN03bbQ2j9eI01mS30CdxmdJYh3sEZbTkuxSGVsF6XdLeIid4rgi-qeVpGRDVfh9KI_5fDfP17k4dSxeoVhvjEOxvtO4pMX5w4L0C0nF6T_XKjT9G43bArUzr2DX2oLQjCvHn3v6hVXjhHYNjEP2aZw9H8wplEmu92CB7Ta_lERv_vOos3ptNK3UF84uSksicNDA6LXMPD-it-5ol5_mLOxOYugK_f-NaQ10YQhf6O2n7wf5jXVThkqXz0XKZZiNa_7GMrhGyFEwZTKPZWPHtlRDZrHaB7DvSusV-Ro_2KnjbN2B7GkUgiVphYOc8SqtwBG19FSA8HJEn_UDZ2rpJ5YwHjOcCDu3Sny7WvOlONzjAHdMOQM5-hvGsaUXjIsWDQPeIj8rRRlsrwIsRrWPYrvbYi_GJRLlztNw2_rD5ZD3rtpPc789vPRpFVq3X8cPjSrNklwpI1XbVTsHeW85-lEXkkMsAk48TnVPqQU5jnCKiqgs7sE6Sg_AGywO1Fy-c3UHSQZ5Y63TgvDdR9Bnch5LttJSpDFtUwmjF12_ykJ0x7WLw4XMNkojP4dW2cpuPomoz04eFggBTtjPHHJMAXOuddQmsGpUVxa4tJKtEE4nWrIn0GNxXsy48u6W0bmU8UWWeUUHIhedVo2Nr8ShL_4av43de-B7tfsTl0F1U1raKAk8W-DO6xIpEgxh05cPmXZybNL3YqjcdaQwrkE1eAq0zkgtuWsOGZI-5Xn07NMcYrK2gJqKy_KuMASeqXEi_OXHDDESLNOK93rJMmKhxokrI8IJBx9PnILJKuzVVaKjzJ1XsDGq65TwDz1x6J8ayrxzBE6pVgd-RjzDEmF9_67m3OfUPvjkvev8OXelQcF0D8bwFh2vlixnHgthdlKVy9Yh3ShOS9Spsi9L2Gl4fpfOrL-9Lb6esDGQ_SlYGupdSQOuzCXMfY22zI2lGQLk4jkfjECQtvoARc7OHIEMxRASFxxmzTPM-Ue5-uDKz3COVVsd5Z3sZ9VFfGrIlot05I5Z_sxey3bBaDu-x6mYyIFCbUmQkXQE46mbJ2Cq0MlUnOZh6I2OFYM4gQZphoXgfPW9WXU5WGsHT3B9N",
  "id": "rs_086d2cea4e577dc6016ab442c361d487d0b6b037991426413f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.097,\"left_z\":0.065,\"left_pitch\":0.3},\"note\":\"With positive pitch commanded, the fingers are much closer to vertical and the displaced left bowl's right lip is still aligned on the jaw center. I am descending only to lip height, avoiding the lower tapered wall that caused the previous slips.\"}",
  "call_id": "call_bDz3Ed77Y5wpjAtywZwmVhO2",
  "id": "fc_086d2cea4e577dc6016ab442c4875087d0aa178172cea7f901",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bDz3Ed77Y5wpjAtywZwmVhO2",
  "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]: [-0.5541, 1.6688, 0.244, 0.968, -0.5739, -0.1471, 0.9985, -0.02, 0.82, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.339 left_y=-0.0927 left_z=0.0449 left_yaw=-0.0136 left_pitch=0.1873 left_roll=0.1339 left_gripper=0.9985 right_x=0.2889 right_y=0.0007 right_z=0.1599 right_yaw=0.0015 right_pitch=-0.0671 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.9521, 4.3692, 2.8107, -0.1978, 0.0757, 0.0464, -0.2393, -1.4701, 7.1453, 1.6484, -0.0806, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dafcb8da257625cde730e2fd56dddf100204e346f81cc4b6bd8a8bb3b632b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50a16c0a61ee7e283c471e2de2838dc35e05a5a89f629d12651b9d40368279d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7bd2ffac22bc97240cc027dd30e7ba62e261fea2133374ff198998b35892c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 5.473 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.5784, 0.9043, -0.3912, -0.2337, -0.3187, 0.9955, -0.02, 0.8112, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3566 left_y=-0.1011 left_z=0.0584 left_yaw=-0.0095 left_pitch=-0.4476 left_roll=0.0574 left_gripper=0.9955 right_x=0.2886 right_y=0.0007 right_z=0.1624 right_yaw=0.0017 right_pitch=-0.058 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -6.694, 6.8718, 1.5556, -0.1001, 0.0659, -0.0171, -0.253, -0.9641, 6.9675, 1.6484, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5503, 1.3529, 0.3302, 0.6235, -0.5594, -0.1661, 0.9979, -0.02, 0.8162, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3446 left_y=-0.0972 left_z=0.1067 left_yaw=-0.005 left_pitch=0.2347 left_roll=0.0799 left_gripper=0.9979 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=0.0015 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -3.3573, 5.3949, 2.0586, -0.3443, 0.1441, -0.0855, -0.3214, -1.7026, 6.9812, 1.6532, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5541, 1.6688, 0.244, 0.968, -0.5739, -0.1471, 0.9985, -0.02, 0.82, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.339 left_y=-0.0927 left_z=0.0449 left_yaw=-0.0136 left_pitch=0.1873 left_roll=0.1339 left_gripper=0.9985 right_x=0.2889 right_y=0.0007 right_z=0.1599 right_yaw=0.0015 right_pitch=-0.0671 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.9521, 4.3692, 2.8107, -0.1978, 0.0757, 0.0464, -0.2393, -1.4701, 7.1453, 1.6484, -0.0806, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dafcb8da257625cde730e2fd56dddf100204e346f81cc4b6bd8a8bb3b632b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50a16c0a61ee7e283c471e2de2838dc35e05a5a89f629d12651b9d40368279d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7bd2ffac22bc97240cc027dd30e7ba62e261fea2133374ff198998b35892c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELIVTS9NsqoE_HNAUreebjkSVn8M4J9bt512PgwK-Y8ZEneFqcl1VOqY9loYwSueO8gP06ka4XgeB07TNQkeqjaiuxJZhAHYV8Z26cp6n5hbN_JzlxZVPO8F4rFYxQrchIG252A5abJbSzDwyHWrRY47F6JnBSrLsy3TCxVGRGAbT1YWlFBWJEoXBrttDT8QrOvh2ytDjbWE6epKTL8_S0WrhZLms3QbzhI75Y713_TD5XkO5As9v8zb2OshXrcEv_VBsaa-UMP_mxAnKBsMd6E-aeH7Kosa4FkR6U0NXs7Y2UJMW9cE_G-fKcorrwVKXR6n0mtRswdPQfIiHVY6FzrVv6kDjux9P_mrw7XRDofUWSkT7a5vjgcCNcJycXHBu4iuh8A5MT_6G7_MkWhm-bnUiabthR6n6l2ixtq6ejYLafvPkbisZFA1KAKfVrIMPH4WwOzg7aevOrUFmUW4X4iwaSbhT7C_-mUQaMgp_0s9bZNt279JPVyVS6zObCjZ7enzDhPrL-1fnoJSnRyXO_99pjYQpPUYdo6W-TGWmyn6_URMhZasDcxx5EKV5DSsoR3MkEPhIDm_Q-iX0962yztWGzX64CoEKmsbMU3LlSb9mCTKeGhUphuHk26yZ1aD1NMji6az4JhGq5etmiOcuaPA4kaKzV4lLbmNQ336GzsTV0T_TPP0N2CJpxKwYp08-YV1ZBkNClJ4hud70sF8sYCGpHczdBKDx6ajTaEOLWlesXB86q0iwcLIC5h5abS0D1J2i050_8NflgfozECp3C9xEzEQJR2v7eIwsQ5je-P7QkH0u2ISZG0Fi7ncfD1pI5GqXcy0F4UnXnACBTgrxz3pSOTVXcWT9R9z3iQHZARaznvW2SOBtmf8CodsGqmUvV2Q3t8wzf_5udMdKP9MItNSEENLnCBpsrN_2D4Q1tjbQpZGkoYS4E5Ck9PtOjZ7jJvk8ULmJYtPlkmqBTuARCPspOYWKPa5aXqZ9u_tQNubeBQ72jpoyiw2L7Pc-FTBhfTEOVVEju4qcQvQ3PGvpcAthlUiWRb1fb_WE5AS10Yky5szounqjylKPHEymNWFc6A8Ij796rXkru5mVqYzWg_n6R-M_m-s3bdGHl-XLyi4e6ulLftXKlbhU9pbsilMnjrPLggXX-SgMB9YHMFfxFGa1ZOQUdp2Pb-Z4L5DrjBVW6WX868nk9BvKr6NBH3BO_z10Em9VmylBnIhvcMpha_NfnRd2BiQtgG-OePqHgTZcdsYldDO96m9aeUzL16elAbpubkVKxmsPK0DnMBfvP8721CXOd5NgdNF3bgDCeocMrCMuE5-tLKWpHYFj9RsqFs03-xlZgibVp1uQFy2D4GaA==",
  "id": "rs_086d2cea4e577dc6016ab442c72d9487d08030773e8285b20e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent sagged to about 4.5 cm, but the wrist remains substantially more upright and the bowl lip is still centered between the fingers. I am closing on the lip now and will immediately verify by lifting.\"}",
  "call_id": "call_Bzp30Q6nkwQo3pimcXPllW8M",
  "id": "fc_086d2cea4e577dc6016ab442c78cf487d094f2549f1032e8c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bzp30Q6nkwQo3pimcXPllW8M",
  "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]: [-0.5606, 1.7527, 0.2119, 1.1313, -0.585, -0.1265, 0.0086, -0.02, 0.8204, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3372 left_y=-0.0923 left_z=0.0422 left_yaw=-0.017 left_pitch=0.2286 left_roll=0.1326 left_gripper=0.0086 right_x=0.289 right_y=0.0007 right_z=0.1599 right_yaw=0.0017 right_pitch=-0.0671 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.012, 3.5897, 1.8242, -0.1685, 0.0513, 0.5299, -0.3624, -1.388, 7.1863, 1.663, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5729902cf59b74c47cc147dae1fe11866f16c1282a1face0718dc33dc3117845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3cfc72b682ad23aa19f58d413a667488d0dc598707bd44dc64817d184dcf07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fedb8550c673e58ca6d55864808015e21c9ade1f19a85f639f0e07bcec2868",
      "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 15 attempt 0 · /responses · status 200 · 3.485 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3965, 1.6009, 0.8791, -0.3885, -0.234, -0.3229, 0.0084, -0.02, 0.812, 0.5945, -0.4229, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.3483 left_y=-0.0975 left_z=0.0425 left_yaw=0.0021 left_pitch=-0.4889 left_roll=0.0747 left_gripper=0.0084 right_x=0.2886 right_y=0.0007 right_z=0.1621 right_yaw=0.0017 right_pitch=-0.0591 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.7179, 7.8974, 1.0867, -0.1001, 0.0366, 0.6129, -0.0479, -1.3744, 6.9812, 1.6484, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5541, 1.6688, 0.244, 0.968, -0.5739, -0.1471, 0.9985, -0.02, 0.82, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.339 left_y=-0.0927 left_z=0.0449 left_yaw=-0.0136 left_pitch=0.1873 left_roll=0.1339 left_gripper=0.9985 right_x=0.2889 right_y=0.0007 right_z=0.1599 right_yaw=0.0015 right_pitch=-0.0671 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.9521, 4.3692, 2.8107, -0.1978, 0.0757, 0.0464, -0.2393, -1.4701, 7.1453, 1.6484, -0.0806, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5606, 1.7527, 0.2119, 1.1313, -0.585, -0.1265, 0.0086, -0.02, 0.8204, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3372 left_y=-0.0923 left_z=0.0422 left_yaw=-0.017 left_pitch=0.2286 left_roll=0.1326 left_gripper=0.0086 right_x=0.289 right_y=0.0007 right_z=0.1599 right_yaw=0.0017 right_pitch=-0.0671 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.012, 3.5897, 1.8242, -0.1685, 0.0513, 0.5299, -0.3624, -1.388, 7.1863, 1.663, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5729902cf59b74c47cc147dae1fe11866f16c1282a1face0718dc33dc3117845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3cfc72b682ad23aa19f58d413a667488d0dc598707bd44dc64817d184dcf07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fedb8550c673e58ca6d55864808015e21c9ade1f19a85f639f0e07bcec2868",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELOdmbFoUAmJQ3x0d7e8-UFCA5H1GFCvgObXS-DByYykSXi9Fz6k4RVJ5TNPHYSMCCqBRxbKrdSd_sCJuHgIdxw1oL35ATk3hT5ip5Oyx2tIyr97ge-5RsqAFf2Hzn24Nefu2IdTQU3Tt3DrtPqqlIDqUmwynkwOSDoM3_L3qg1OdPPcAPMmVVxr5JZoXx7pgxmKxKNiplWtFkkf0jAn8sBUJ3x3nT-TUHSEVbuERnQDvr9VX3JY6jPz0xUNrYzaryNWoo5vnMr6szV92jjDXE4w9HTlSmovevm2T-hQptmDA-kf3SBsoeDxrq3diu77rabCOXcZPDpiYnc7LO7lOObacih_cd0U6Patlce_ZQB48mzJmxF9GjapExRbnRV0TWJpHldmlB2vrC-DmssghgWWYDi_LI_7XLeVQPeMJi3XcRwdBV9N5uzpbeIvVIkL93SwHOsx_mJ0WnOF1L6ACOiBp0FS-CaeEcGi_1pOHys6hbStduZKPuwMi3rHi43NT0lnvkttyKofa_RZk6E6ASxw9zUeaInYbwi2iSlGKCUskXvrc8U0H7l8k2Rr5xCALR7PUZgnRGAdcj7gXgi2C49afX-FPShX1aAicd3psfMTmNyMpQDDI875tPgAEDWpn7Oi-aikPMX0zw1-qyQ6IxpyfCYybaqJiOekUResex5E0yeIkuKTYdLp04imnNfhjhuGMv0yXIXX0rh9ZVVPWTDTsj0Z9hIfAxO5xq8b6h05lYT9eJ8TIOdKpSQbmnKwDqb4bzdz1RCoDnvnaFG7JjstuF3jo0bd6y6CwJK-fE4Bk95SsDCP7Lze7XzRBskqFf_iEnmAKBKMkbjvHXklcF8QX67E0nx4vcW4DJ4AYOD2vAJ-wREl0tdyKeTI1TMaazHBZgDp6_lm4eRi_Dleo4pTHbRT8YA4FXI6zptg-ZHVASLKmlyVM7lzYxCR3jedn8wTpVUNmBmUj_PeaQjpv4V8i8VcjR0KFCLfV0OaAQZx6LEIBetoiBwXq85Tnr41ZHDaMWc5jXbmOZQtBeOwRpLb3J6gILOctbmt6b-ZMNkA_ZGpABDbBg5ddzv0wKVzfdrOHS-Aj9oF0HRT8UNdvuPFrckr5BhjptwB7oIjhEHVMs_uQgg4T8fbyupy8kpVlQGsjrm_Qx67VAas_TongVCHlz12ps2I-Onomq2hCwVbp0RJPebiN-k22CvkHsPdMwWfMDeyAm05CAiSjfFETilYU38Eurvw4axIUshh5wzBEx6qdx0QXqura02YZm-0ltvKHZDzKOJ8p-thYzCJ3KsunnCHLRttGaQqbNe2fBDkx5TTHFTwPlntkhuuDr4RmU652lHCyKmiHET2mrYG9BYP9LM5nuzoYO36MMJS0kUYBcdUH2sbc9A8QiWxvU64A7oJ7BzPYQQPO3SrLF26cPLvjV_bevWTcnDi6rI16WQ1156_a5ApdFmZyF2qQJ-i9HvxQ42Qbzy5YOla1JyudVxFl7-Kgrs3jLVr2m1TN4RBpJB_HGGbeQ6kZeqn6CISfXk_-Sr5jVKBB5fCni0k9gIBOCY0v6ufm9owcc01W1KO7zKmMvdxxHPvmRyzl6moyW0NWMUEJffzSvh82JoF0319ckrsumkdrE9wmyGOh8EDRenCMakcdOEuEeKZjr19j_-ZwjrBH9Iyo241efSXGpTaMaQ20ZQCwdfSQLhmKmoJuaor0obXd6JnSSh0oCile38deml_9EYNkiZoJbxgxxnLFNOeZchyKOlqTsyL-HJDXhPNEaiB0HYhU5N4S1HqatgPqeeIlqyvWU6ggHc062HnVBIArBtRfQB4BLp7leUWhjJiRhzNlPsGjKURbs0J-KHvp9xi7SpgeO1F8qmnjoisT35JKPEUXK_TX9PXyJn919Vp76amyXSN1eMmIkzK4FlAimd5UdjuavSR5_OaNNWCtVvE8NqgsHI_6HUlWp_T9Dg3frI9ulNEC477CyY_hYrMeKxRwTaD4JVyTOjpE4CTjnVRYVqn0DTg2K0MFcvOzSWnUdrna7Qx4HVd_VrDbkB8Hn2xbHlzVHBTArdkqGREe0auqdVT9PUblLysOdk86RG3umjgZb37mobV3PHT07Sz57w2p6aLKU0uPe8Q1nlPRM32uuTCn_94GcsAWtaKNs2NaiHtP3A-lAr5RB6TsO9XiL7-HqpOgOihAnaQOyG1B5fqEkF5HlQrMsT9uu8g4-x9DRn-VhKp1O4du_FCFryhWUtNjerJwQao4w1oDB9R7qa60FMQfw23lfaTT0t1AeNFEMocHL1tZ0L9j5-khKvGN9H5d5bLDScQeUuAlAvAF7TrTi2JOAGx4ucHau1FfqHYq5JcUiHabIo_qlHjjZwyO_3Au7VcBA0i0al1w1snJS3Stt5NPNJEUX3jHQ9qqTTGDVPYoP-durlq30F8U8MUJoG1ltKozfS8RHi9vfdg9I8IuhfWkd0FSvPdnADnRow3qAiVKWVkb5---WQQlxUgsdBQpoQAoEVR4QU-mNOpoeW681ipZeypk80w2nVbeN4yxmeNVQuiX-midGwf6t5tzVqFAnEQFN2ggj4gWJjPLj1SzgTkRJFMQt8s76RCzpHA9-TACSCKcrx4eqVjmOASevipYrQZ76y72JF9HeEgeUu9GewoUldEppft_P4l6RJKTfAouKCk78wDNaUE_Bg8u_qH-kAjsfczXh_Qu1oxouwsFBN4pADe_967k7eL55uRLKAWq0KGyUD7e5kKueIKBGgbx5GGd2Jebh3mU51yLaN3WUvIYmPOzE_oHQdCOG8AG852gXlTJFbeFvUIk3WSzYt7jDibbVZ539PxqGThStx-5mMyqtpnQP07ZiWSO93GDdYR_DLPUIyWxyPabwyicocE7WfunTTXjnWPB8zPU3BNNqUjorOG82lV63DRXM=",
  "id": "rs_086d2cea4e577dc6016ab442ca87e887d08b82cb6c1d1ef1da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.12,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"This close was empty again, and the new wrist view reveals the real issue: there is still clear floor between the bowl and the fingertip point, so the low pose falls several centimetres short radially; the right rim is also right of the jaw axis. I am reopening and moving farther outward and right while raised, keeping the more vertical wrist.\"}",
  "call_id": "call_qUXyK8mv7z5f4dsvTT1g8Egu",
  "id": "fc_086d2cea4e577dc6016ab442cd85c487d08c2637a49e595808",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qUXyK8mv7z5f4dsvTT1g8Egu",
  "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]: [-0.5556, 1.5929, 0.4637, 0.7815, -0.585, -0.0963, 0.9949, -0.02, 0.8238, 0.5945, -0.4305, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.1195 left_z=0.1062 left_yaw=-0.0206 left_pitch=0.2793 left_roll=0.1294 left_gripper=0.9949 right_x=0.288 right_y=0.0008 right_z=0.1574 right_yaw=0.0017 right_pitch=-0.0786 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [0.335, -7.6103, 6.8991, 1.7216, -0.1978, 0.1148, -0.0952, -0.294, -1.5795, 6.9949, 1.7021, -0.0708, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4da982c2947ae96bf0ae4dd88d67ec41d3006e72d1bcda608ec1c32d163873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa66d33433c2da6ebeb5ceca060cb5663dcd9121ccf51b37096327f537eac3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66490ba2d5e852a4ae213036ca6c6f68d844edc46842b1ca16efb7d565dd111",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.669 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5503, 1.3529, 0.3302, 0.6235, -0.5594, -0.1661, 0.9979, -0.02, 0.8162, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3446 left_y=-0.0972 left_z=0.1067 left_yaw=-0.005 left_pitch=0.2347 left_roll=0.0799 left_gripper=0.9979 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=0.0015 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -3.3573, 5.3949, 2.0586, -0.3443, 0.1441, -0.0855, -0.3214, -1.7026, 6.9812, 1.6532, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5606, 1.7527, 0.2119, 1.1313, -0.585, -0.1265, 0.0086, -0.02, 0.8204, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3372 left_y=-0.0923 left_z=0.0422 left_yaw=-0.017 left_pitch=0.2286 left_roll=0.1326 left_gripper=0.0086 right_x=0.289 right_y=0.0007 right_z=0.1599 right_yaw=0.0017 right_pitch=-0.0671 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.012, 3.5897, 1.8242, -0.1685, 0.0513, 0.5299, -0.3624, -1.388, 7.1863, 1.663, -0.0513, -0.0317, -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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5556, 1.5929, 0.4637, 0.7815, -0.585, -0.0963, 0.9949, -0.02, 0.8238, 0.5945, -0.4305, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.1195 left_z=0.1062 left_yaw=-0.0206 left_pitch=0.2793 left_roll=0.1294 left_gripper=0.9949 right_x=0.288 right_y=0.0008 right_z=0.1574 right_yaw=0.0017 right_pitch=-0.0786 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [0.335, -7.6103, 6.8991, 1.7216, -0.1978, 0.1148, -0.0952, -0.294, -1.5795, 6.9949, 1.7021, -0.0708, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4da982c2947ae96bf0ae4dd88d67ec41d3006e72d1bcda608ec1c32d163873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa66d33433c2da6ebeb5ceca060cb5663dcd9121ccf51b37096327f537eac3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66490ba2d5e852a4ae213036ca6c6f68d844edc46842b1ca16efb7d565dd111",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELTwhCwKca3m3DuOv8AZmyFdj1rZqT4U6e2dhd3duw_lQYCMlh_XrtljuX2BjQxCRPsbPw3HGQBNoI3Q7Rc5PT3Tk87jtUCqIzF6QvnRRCjKwAJC1dvT7WUJHxGD3ANkDqOOGZePs0Kkp9cLfFFmtaBs29RDkxGER0KUSMaIKV2oKt51AvPZoqTY0ZGHWiKVNbOrCu5P39ZPHC5P_YoeXNA95zNYvl3ppu1BTv-w_T1ah2V77TTwYsSub9J0gn2-jSgskaLJObJASWY3B8FsVATAlLWNFpf0EOvXFusuL36XF4sUpbL_FwiTEZBWA123USRuJo4xpS3eoE54xbXeiAn8hVA7nuyUUO7lagHYSwTpZnL6Gq13yZzx0kKfAv-lutweujP4ADuB3AXWcXpf3C7r7qzXCo2H-uR9CNWjUWCCge7hddmSp8SyWG92Mh_w8ho1FOd5EMk-dmzw6dB_yPh2lfDNHnBpsUgtEHB0Uu-bsKeScSjj7vLCtQ2BNfmRTzod_u3qzFB9EPr4sS2kImL8cGg6zYkCq_4_2NunrUbNwOWbfYS0gUMMuedpeldmSedLyKj-sIqNqCq1Q5uYRpnu9PAJOL2dAe3tBI_8mwByFvjw9enpxYo65_5b1xTEMzXKFTxTN4KwCwgcbJvmlmLZs47_TXocKKsMD6tXkd30IZnEyspKpq_tRGyRbLgBPr-_qqTda7pPXCv8Li8R_95BT-QpGXQzoLqvOphFbTJ8pSfFqi0PYaNi83v7InakfucWoRhKOSV2q1RXaxoZGNXD13z2SNdUNsA2Yqw-poXdLq5ZSD_MC2sNYAo0e8fsSFwwHlfOiy58OEC9_LjSGBR2R8enwhey465Oi1P411tP1uG63XdxuT_eqZsDcK6OdN7RihqcIMP14qq0NxNGVUyyZYjBQdAGIazQBeyLmv9WDW2ruEKi_MFTApitzOvk2OGVamtFvWSGMDpfSFlTZlFMoUX-kqoehMl-rjAO6Rpd8FX3N-3gFDauyp8nW8C_ztLBuI7wDvylb1FHYD-P2Xs8qdiu4-BIqlNP7tKgKfVhe3hT9w9K879IhezTKB-77trPhc-frti2xm4ptYddWvGmH5VXxhboo6ypsvDX8y_YeRjXNiXLooRsxsvli6EjOuDu1iGJ4CYlr150l4u70HNgDZUVHv-BBNrgUFpyFPkL-8oRAGx1mJ47h2sgzkRn1QO8rnxRZlQTck90JWHCI0rCXCfpfeYe25DbFQ-5y2PyUSTCryisg0whShgglK57DlFR0JZKP10hnWCD5UGQGIMG2kvBwdBYxoACyJL1JPSFqK2IsZkPzv2I0m0oUEzOhhk5e76aVtpKpd4am1hk6KeePhARYRJbhSKyoGfafWBVp9UqHpTlS--JvKQdmfqxkHDZF2jSreICZ8hZK27eoSgP9uSFJtvoIgcl3w9cThM_2bQIAWmq8Bb4mk1uX_vQdeq3X7HajhpOQCfm571JaWGufAaIcJX6da4MoMama5IhKo3ihrl2A4Rw-Y8d_vBcPkSIFfXb_5r2OHV63_e64HDHQYZ2tgjNqmnEFwytvVLcaU110886Ba3GQrv_5hV7VLbzrupS8VWMpTBRysurAhs0Q8RmwQGVfge7NEmPPiM8cb4AU3lzH3SAbpjEL7BccQmChKyW-XOnQVmN9HXrT6pv29GZr2PyxiHqLvNoI3UsIZCONxiEUXIu4Ep3teHmnTcyz39qCSLwTBXFLReXuZxJziOlo01CejHpXKiro-ZEEm32nOL8oVahQv7KjMaFeHLr8s5STZjz_CgOQ8KuHTmDt_FpiNaUlXj3mFhzxC11r0BbMNgvWtEV_5jHXNYDW5Sv3tjzN58X6ZER0SEb5CkGA==",
  "id": "rs_086d2cea4e577dc6016ab442d09a1c87d0b5d89481877f5982",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.07,\"left_pitch\":0.3},\"note\":\"The outward correction brought the bowl lip to the fingertip zone: its right rim now meets the jaw column and the near side is partly below the wrist camera, as expected at the grasp point. I am descending to lip height while slightly biasing outward to counter the arm's inward drift at low z.\"}",
  "call_id": "call_3fXrmBuh2C4Fizd9Gyf9Fa4d",
  "id": "fc_086d2cea4e577dc6016ab442d2044487d0a8058c1e43137241",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3fXrmBuh2C4Fizd9Gyf9Fa4d",
  "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]: [-0.5339, 1.8141, 0.4709, 0.9348, -0.5701, -0.0925, 0.9954, -0.02, 0.8249, 0.5945, -0.4347, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3932 left_y=-0.1175 left_z=0.0564 left_yaw=-0.0213 left_pitch=0.2237 left_roll=0.1595 left_gripper=0.9954 right_x=0.2874 right_y=0.0008 right_z=0.1563 right_yaw=0.0015 right_pitch=-0.0839 right_roll=-0.0053 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -9.0462, 4.0684, 2.5031, -0.0952, 0.1538, 0.0415, 0.0068, -1.4701, 6.9675, 1.7411, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c7b0dfc146bb7939cc719363cfa5a4a36719eb0e952573a22ebbb5343583bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79e1e993f69bcb60fdb9b26632dd70127481e00d434104ec5327472dd26c12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8690a971cd489cf2aea75be7a75378a17722ae32199da570ced67bde7efb0091",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 6.564 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5541, 1.6688, 0.244, 0.968, -0.5739, -0.1471, 0.9985, -0.02, 0.82, 0.5945, -0.4229, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.339 left_y=-0.0927 left_z=0.0449 left_yaw=-0.0136 left_pitch=0.1873 left_roll=0.1339 left_gripper=0.9985 right_x=0.2889 right_y=0.0007 right_z=0.1599 right_yaw=0.0015 right_pitch=-0.0671 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.9521, 4.3692, 2.8107, -0.1978, 0.0757, 0.0464, -0.2393, -1.4701, 7.1453, 1.6484, -0.0806, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5556, 1.5929, 0.4637, 0.7815, -0.585, -0.0963, 0.9949, -0.02, 0.8238, 0.5945, -0.4305, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.1195 left_z=0.1062 left_yaw=-0.0206 left_pitch=0.2793 left_roll=0.1294 left_gripper=0.9949 right_x=0.288 right_y=0.0008 right_z=0.1574 right_yaw=0.0017 right_pitch=-0.0786 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [0.335, -7.6103, 6.8991, 1.7216, -0.1978, 0.1148, -0.0952, -0.294, -1.5795, 6.9949, 1.7021, -0.0708, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5339, 1.8141, 0.4709, 0.9348, -0.5701, -0.0925, 0.9954, -0.02, 0.8249, 0.5945, -0.4347, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3932 left_y=-0.1175 left_z=0.0564 left_yaw=-0.0213 left_pitch=0.2237 left_roll=0.1595 left_gripper=0.9954 right_x=0.2874 right_y=0.0008 right_z=0.1563 right_yaw=0.0015 right_pitch=-0.0839 right_roll=-0.0053 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -9.0462, 4.0684, 2.5031, -0.0952, 0.1538, 0.0415, 0.0068, -1.4701, 6.9675, 1.7411, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c7b0dfc146bb7939cc719363cfa5a4a36719eb0e952573a22ebbb5343583bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79e1e993f69bcb60fdb9b26632dd70127481e00d434104ec5327472dd26c12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8690a971cd489cf2aea75be7a75378a17722ae32199da570ced67bde7efb0091",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELV0-XVCBkAme2T-u2ALT4n6rWEO3-Fli6O2pZqFeT_RecWSN9RD-EYDHFzULan19B9hITZBJDpn9WPtWvbAZJvxsJRWkfnpcoU6CsN7BJr8atfD448ktKlCxNKtll9UDPnnva4EVKGDYDNbQSBMiH_ZEFTeRhSgPuWqE2oWIFlw9fZ90hJFGX05FRdfTHvTabpiHRHjKzqAbIqqXcFmlU4-8TygbRaFVA2LVG673IIlmGJymzRJOZm4CbeKP3A78P3_brz27So0LP5n2QdM676_Vxg3dZQ221ZxLyvCtcWm3wA-9m3uqFr1cKi5IU7ZRw37dzmkbow5vW_A5WxTYPa7i9VU1Mee684itnPtfM0iPFwPtEriLy0YAQLyjjcO0F4CPrN_GgHMjMFyjTXLd-dIkNNYSYBynploLdBDfRkQQw1XfuioYr1UpA_XyIM0GsFw7J4KnpVVYEwLbJ-7Sw2fR5mF_YpE5VzHX7MmXjzJtCF2_HXHHQwF7x-JY1s_cKamf2s7IjGDo_CgCYTP6jvCdHl24SfrnfekB6evDVOpB2aESe_r_xOkI50KY_-eFFO35MPBvAOtdBIirffyi3H1vU7YlRr0jhn5F6CqANJtGDs5GYzt0iSN3m9rjAC1UwtMm3eXH8XfdPXPmncS7pFtGi-03geAOq9cilbcK5HWAaIFYMmSHjV-Ev-UtaavCFHKl-DlVHosCUj1NfhSoAy3cc_6lmT4uO8xntPJ0-VeSvA6glyJ5i0SfovaYHgcTVT39j3NwLRmW5Q5x1V14DTXkr9QwJwMtva0UdGN2bx0bQJ_ktFtSvAfDISP3QFdL_wqNYMjyIlWq8do-SZrObbZNN__J08zOhLgOxLTVZDpNn0LtVLqm1Kzq4kKfUCpihrv4y_04IDtypJTp0ea4oHbISZplpsheWhlHhzpj4-l3etJYvNsQrC1NonaP5edtebTaaXIDqiC87xyneCSl1wH6geEb6rZ3oAuK5yE2iTmbsP-mtLZOTPDcgoo-3fN4Fko8Hs8KkdwjOaS7d8UQiqscFDwcSCnJhzzErHS9e26uGlfNfJyvIp_TzDZmDN9IqeutnzPD0SpCMkJhjQdCNjCBKcMX0AA9zFLTi6uFQvWpDdj2ZilZ9ax3xn5_eYhFiPcIBOHvdO6F4Dxwy5H0nxhADxUN3Zb9b6lLQVQqBIXlqwrIcSmYwQEIxbNdMO9F6MPGjVIxvJN81FJBKJsPhAg21uxdsnRbX59YcPqbKcWAh77ghNjejwHruQyCuEFPF98CksJiWIK0vJ4m1xZtdZigvxM43Zh75OA2S-x04m5E8Y-ukq4Y_hM9xyP7egWvLkDmpHjNNTTrsJFvg7U90SAmA2fIo0mOFkYtJRRfCbMmCe48ns7Wj96ED9CgYvwG-lGyWaILi0hAStR2xxHAksb0V2HzQHbPEZKsqcrFEpMnw=",
  "id": "rs_086d2cea4e577dc6016ab442d43f0487d0a4adaeaf4ee2bad5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At low height the near side of the bowl is now below the camera and its right lip sits between the jaw faces, which is the correct one-inside/one-outside geometry. I am closing on this lip and will test it with a vertical lift.\"}",
  "call_id": "call_23VSWy0LmpAc4odk0OaHlrt4",
  "id": "fc_086d2cea4e577dc6016ab442d4de8487d09a7a1fa9b2b920e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23VSWy0LmpAc4odk0OaHlrt4",
  "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]: [-0.5301, 1.8309, 0.4618, 0.9302, -0.5743, -0.0937, 0.0082, -0.02, 0.8249, 0.5945, -0.4446, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.1131 left_z=0.0465 left_yaw=-0.0166 left_pitch=0.1981 left_roll=0.1753 left_gripper=0.0082 right_x=0.2859 right_y=0.0008 right_z=0.1544 right_yaw=0.0018 right_pitch=-0.0938 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -8.1709, 4.6564, 1.8193, -0.0708, -0.0269, 0.6032, -0.2667, -1.3744, 6.9402, 1.7656, -0.0513, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4406b71a58b9d541b80421afd40fc95985644be3752955698528e82b328a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbe0d05c2dc6bbd01ee045c33f61ae17cd6fec61a88ba1c6dd6e94302e28a66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a37bfffb40dfcdaaece32c848e1c9107fbe48428b59141c086f68a8b5b52a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.471 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5606, 1.7527, 0.2119, 1.1313, -0.585, -0.1265, 0.0086, -0.02, 0.8204, 0.5945, -0.4225, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3372 left_y=-0.0923 left_z=0.0422 left_yaw=-0.017 left_pitch=0.2286 left_roll=0.1326 left_gripper=0.0086 right_x=0.289 right_y=0.0007 right_z=0.1599 right_yaw=0.0017 right_pitch=-0.0671 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.012, 3.5897, 1.8242, -0.1685, 0.0513, 0.5299, -0.3624, -1.388, 7.1863, 1.663, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5339, 1.8141, 0.4709, 0.9348, -0.5701, -0.0925, 0.9954, -0.02, 0.8249, 0.5945, -0.4347, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3932 left_y=-0.1175 left_z=0.0564 left_yaw=-0.0213 left_pitch=0.2237 left_roll=0.1595 left_gripper=0.9954 right_x=0.2874 right_y=0.0008 right_z=0.1563 right_yaw=0.0015 right_pitch=-0.0839 right_roll=-0.0053 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -9.0462, 4.0684, 2.5031, -0.0952, 0.1538, 0.0415, 0.0068, -1.4701, 6.9675, 1.7411, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.8309, 0.4618, 0.9302, -0.5743, -0.0937, 0.0082, -0.02, 0.8249, 0.5945, -0.4446, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.1131 left_z=0.0465 left_yaw=-0.0166 left_pitch=0.1981 left_roll=0.1753 left_gripper=0.0082 right_x=0.2859 right_y=0.0008 right_z=0.1544 right_yaw=0.0018 right_pitch=-0.0938 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -8.1709, 4.6564, 1.8193, -0.0708, -0.0269, 0.6032, -0.2667, -1.3744, 6.9402, 1.7656, -0.0513, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4406b71a58b9d541b80421afd40fc95985644be3752955698528e82b328a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbe0d05c2dc6bbd01ee045c33f61ae17cd6fec61a88ba1c6dd6e94302e28a66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a37bfffb40dfcdaaece32c848e1c9107fbe48428b59141c086f68a8b5b52a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELdWk-uZo5TsFW0nkaZxGsG_tem7eGJRC9_IhUQPnblQQW36dUcWPUoxsTnW7kHEhJ3lmLvyBRTZ5S9TGRa_AY-uvLBcyQRlvIShEYUvLKVJBCY8nI47BN8b_AhgHTDzva8hCA70VTzp-p942EAdoEzvr2f4wHXAPE02cf6I09RYbQ-0XCuaxiF3HBSafuRyvEpOSaEY7Dl_v4EW-MKqEFacGhaus3KVS3nlYG7HgzWuIjRCwHdAMJTlsjEI9e6OJkk99bYuYnLk-eO9DcKmJZPhJ9Sa_iO-lHVdF0Dek5J6FmV9gDSVrGBPem0z0QbsQHyJX7PepSZmeGx-5jBhpPfrsooTWayqtRFgC4zWDBA6-lbE_n-kXxUTtYSGZA272sZGeWXynpY3uNs33YCaIbjBX_vujOVbuKBRwkq88777kKAOg9nKk5Hf2xyb_f0vlSdNlRwMycBeYK_sZXudkvVqI6WJn6gt4RW9W1kC61nekmQYBSE31zvQGAt34HbzcttY3SJ8FS8ZjkGwjKUDqY3WsfE-IOsPgViIW4k9KAmKZqtH-mwexpHCbHnlkBQrbQSMaFvZApC2uEPnRuoRj30Nb_oHDl3WVasZOWwuXlsCZ21OPzwnkwWLN2ui65hqnzAaMDnCYCvqJAxrVIJXDiXviScPjQKoMujVOVoxfOfUGTCkwDPKiwq6ITWiJkqiAAyoNdaN9Dg36AbbLmUW1-6jJB8HUT8I_lsqJl8s4NccABaQzdTzTWfoATKiQNVMyScDC1McTxhgdYJAyNlQkRe37MnC603Q1w1tez2vK5l9TC6Ojmy6N9CxYlyEXP8jKCwiwNo5NlQ2ykulTNzixLPCj0oUTrl81p6ImHScxElSLP7hrCmc-OT8aRD-3S-uQetGvS4RoGYL8LeiHRH6KMFnAIS9VkWHFOX2gX07pY0MbAUl5035DpIDFhyR3eUbuaCMGcLWWad2Q-ACqDV_d5wjqTedkrBdC0ykaV_LKJ1Oi-63PERxW33JW9hxox5RbHQzUbkN-r-G-GO4Ez93cIbeXRdXD4MuyxTAtw0FZw9ITate4lS6wVcVS3xPEsE0lGtd78218bqUPDV_KII_UodxN7HQWY7marvHWNcBnak6-GVrg6Fas7ghzi_hHv6NWfz3scqfy2Io4WByWvdYhjGoNrhfgMeyU_81sRxIwQuJCsm36bWVdckcvQA0Iue2h5fJUfjNPYyfbgaZ8c4ELtbrXN66H2zX-G1C6IhwqE0bEt0kPOZFzUKqdsucXV4KAn_PtBA6MaAjoorpqokvgzt8B5nIccl6tvaXbOobkxd3F4P82s8b5cuYkXazsSWM5PE858cwIPsF3ITYnGUSfeiaY5ELtXmcJFkvWAdkDTqR395Di1_CYbQr-yp0Is6mlK-Vq3KRMSS3ACmWIoUjm0EQZ755HYkOGMQP_7BXnRJw1vK-plyghyFcQRRxKSmX4p6PGWpuuqXJRbNrNo8tptrJSCl6ic9J1o9aUnQn_uU82bk6vhZWuuPipO0DLdBz6PH20K_dvn7JHK571F2NWKOnAI915mFuOiVTV6PA6Oy6xioFetZwI_7cV5N8O-M4d6o5yzUysC3048i1_mzYQ4j0yOwcEPpp-_X6Kbzo6ZYIkXPto9_K5tBCcF9yD3ZkClFpvFuyJAXGjhYKr7vGb9QSCHQYLKtzIpjawagUaB2WZ9ng-RzIRj9veqkm5vfEYM82BzC-YbEneW9_0bBWkU-S2FMwh2-UUe7cGt5SBVu4mrert69BtZdHQETRbldA-GC3VN9BlyzFL6BVqJeQeYrHdXqzF1zsHpwjMo8g-UsYgreAhpdoUlpswYPvawsFhIPxGoVC_ejFm4noI151-N2gt6eQU5HNbTisk6E9UzfIkVHIch6_HQv3MP26KV8t7TVmhZ_xZboyBW3mujZY3nyCHcfz9pRZgISiNAMb94T_XLiQqyl7-_huCRJmTvaI0Q0WzTyoDa43qcD7zP8SICK8lsQ8SKKHgFHsWN4UwYlSLaTHLnyJGoVtpGwF2Ukwi1bX_jEnKuIDnQ6ZsJOhImmpCzGm0CqmyowPj-6DURijvVWci71ss1tI-dIb2vZJDaR6DGhvLQOM9uaTJcq0BSnKuUf5Ymd-MJlNltZlPB4E-KOyMTCWfn0ztIhfTwH_tOsv7QhdbMHL8Y08JdPyWrxsq38dKufBp3pGNVk3TepTs7PzauKNw3qQQ1QKwYx6yFJ9W9teRlohp3Ac08-GEsbp0qzKQwkzW5PhpAla6KWd0GNZeT8CKZCcj84PKnE-xQvjJ0te4eIFPrrPQk3JsS10tRmqUbgNsYMfxPvcD5yBm2P7OaNTjm6WyvhUsJd5J4ajG2pBJFgtMAzQ34MPyd1PXii4JIlFU9wHL_R5jMGO3jiiMEFb3rhp9zra6Ba6ce0OPLcFssn3p5szuVBqw1ZKLcaJkuBXAndr9Gsmc7HpjGiOufq_tKfwKDNH-xt9ZLQjnX_fcJck-Qx6hqahrlEC-grR_NsXMpQXVNrrrIJ2exCx2H4jb67Re5PsMCJ2zapgm6vXFNPG_oUhF6gl3q1SGOfhUqTVA3zeRBu1WF6mCjpK3Hw0iEvO3lvDTFx-QC270RxOCFK74hrR1hqPazx2gxdvBVLvNDIOlGyiaHdGskGCt7AW2Qrwunzo-Jpi03K-Rh7-1ypmHXKi-sxtDb8avNuYd4KcMHRNTnlg63OL42f8f_phwqYv9LsUG0OzEyFMP_5O80_GmDtMSNqo_HDoCt0-FpxHZrl_Wrl0hCx4zg4eMUrZjlkknlZYRr7d7Zrc7jK5m52N6EI6TuSqgQcZXVJYF42ehFSlP4GRTG5sUBHhamTFFTdNoQMoLsWcCU2Fy2ZkQhSPpX-opYe3BFd2f8aqXctImgbi-RUxJk5K3604n4Gajv_LhlUkBR8WgEmbIW7l5UMp2xUeoD_7Zsz_7qqrHXmFRKTW6uTpQTjCZtaSxCXmE4NziHrfmwbEVxD6amTUBIhAEs-pt_Q6Xw1lQQ6nI4aBPzdQgBGOxh8izl6k3swa0XQ-ZafjKEcvEbMlSp5Be9ovc6AEpV_Mtof88jrC2RvxVx8vWBymmp60Cjsr0BE_wrtaklLNs52Zvk3B8nEJcEZpzDh1xZinSlDQv0gOjaRPq40ysa-YOiP0gOuFarbOzD7FbR82juZVVkYMHMeCGG50wZTCvnPXWmo-yCA_K9Ga1MnlfuhvaEuhQQp6i8kRRvHEWWZkvOvJllGpNaiCg_A3WCFYnie2Nm3xDVuCcQLiZHb9wuRHs09uW2pVYEabtQxbItdEsQv7giacoaJ9hJK4RawYmqsye4Db9V1Nqcrtp0KAWOwdrKFSI3HU_b-VZ612jj8bTlNeFi8msxaHHoXnKJB7U-4Xt0qpw==",
  "id": "rs_086d2cea4e577dc6016ab442d8157087d0bca06d504f87ff39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.102,\"left_z\":0.11,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The lip remained just left of the closed jaw center, so the symmetric close pushed past it instead of trapping it; for a thin wall, the lip itself must coincide with the gripper centerline. I am reopening, raising, and shifting about one centimetre left while preserving the now-correct radial position.\"}",
  "call_id": "call_SN8lMl4mnNZapwvPRFrBydFu",
  "id": "fc_086d2cea4e577dc6016ab442dc07e487d0b1523be8a2d492bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SN8lMl4mnNZapwvPRFrBydFu",
  "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]: [-0.4889, 1.6543, 0.4618, 0.841, -0.5659, -0.0414, 0.9945, -0.02, 0.8249, 0.5945, -0.445, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.0984 left_z=0.0943 left_yaw=-0.0011 left_pitch=0.2679 left_roll=0.1798 left_gripper=0.9945 right_x=0.2858 right_y=0.0008 right_z=0.1543 right_yaw=0.0018 right_pitch=-0.0942 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -7.6103, 6.5573, 1.6923, 0.0317, 0.188, 0.0562, -0.294, -1.2786, 7.0222, 1.6337, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9f04f2607333c0cdc4d5f4b5f6a8b2b0fc7fa06fc835d3f6ec26d24592ecb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa17a45d02e47862d931d0f6ede56526a39abc65aa8f64de80fb703bbaadd869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd4dfbeeecdec48aaf36f84bd72b6857379e39f206e16068113fbea13240e96c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.485 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5556, 1.5929, 0.4637, 0.7815, -0.585, -0.0963, 0.9949, -0.02, 0.8238, 0.5945, -0.4305, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.1195 left_z=0.1062 left_yaw=-0.0206 left_pitch=0.2793 left_roll=0.1294 left_gripper=0.9949 right_x=0.288 right_y=0.0008 right_z=0.1574 right_yaw=0.0017 right_pitch=-0.0786 right_roll=-0.0057 right_gripper=0.9992\nstate[joint_eff]: [0.335, -7.6103, 6.8991, 1.7216, -0.1978, 0.1148, -0.0952, -0.294, -1.5795, 6.9949, 1.7021, -0.0708, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.8309, 0.4618, 0.9302, -0.5743, -0.0937, 0.0082, -0.02, 0.8249, 0.5945, -0.4446, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.1131 left_z=0.0465 left_yaw=-0.0166 left_pitch=0.1981 left_roll=0.1753 left_gripper=0.0082 right_x=0.2859 right_y=0.0008 right_z=0.1544 right_yaw=0.0018 right_pitch=-0.0938 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -8.1709, 4.6564, 1.8193, -0.0708, -0.0269, 0.6032, -0.2667, -1.3744, 6.9402, 1.7656, -0.0513, -0.0415, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4889, 1.6543, 0.4618, 0.841, -0.5659, -0.0414, 0.9945, -0.02, 0.8249, 0.5945, -0.445, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.0984 left_z=0.0943 left_yaw=-0.0011 left_pitch=0.2679 left_roll=0.1798 left_gripper=0.9945 right_x=0.2858 right_y=0.0008 right_z=0.1543 right_yaw=0.0018 right_pitch=-0.0942 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -7.6103, 6.5573, 1.6923, 0.0317, 0.188, 0.0562, -0.294, -1.2786, 7.0222, 1.6337, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9f04f2607333c0cdc4d5f4b5f6a8b2b0fc7fa06fc835d3f6ec26d24592ecb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa17a45d02e47862d931d0f6ede56526a39abc65aa8f64de80fb703bbaadd869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd4dfbeeecdec48aaf36f84bd72b6857379e39f206e16068113fbea13240e96c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELgU8VuSicmfkTnUzztYhhI2zW5daR3rKzpo1wfMSiV3XIu6vXphCafSYk1JhIRGGY5CKKIw8rrfdGiO99CVaodcrXw0jqM0iALTB15dTHd8_NuYlzy9E3mtqLpNqRN3hrPumoPWl-6-HEYFSyZrgBYqqAjnryzBBwzLXhOp1zf8wLn8boPdOzs2pVvukttiA-uaIcOswRv0-jRiveM086rdj7TBRCrc61F05txPV4jzgH1SPuTAcb662kO02ZAcRGjAArvX9hoROMMtoLyp44BvVHimbRY94ErjrNZPBXtNN9Mh7IF-wkpCov0sKjYuVMlWBWUwBQ443cet2iTql9QAFbgL76wPeQMmcRFvJtGMrkvhOUaYSm0rk3ASUekZYf-5zgKj-jsuRa5x2x_Pgz4QwwyWVqGynf4ZzkazVOsfteeeLkjAvH4wChqoEZZA7uECjv_YCILgshAs_x25bdIr336KXuSC3_oqGNpIJx1xQpr1Zha8NgRLVG1NnHyvSLFFad6SxDNYhmQ3wzdb6j65a0BksdNAPdfDNUvn_GuayOCStMO2bWZModAti7xDR16DJKPNLKKOSQEPX2qkCfZJd-jY3LUYh_0f_-e5Pnnk4pD6OBM78_Z8kkmBd0q7xbuPeBo6ZE-Tv6mlz2PZMZdiTL2IUCmxgk-kXfheOVq19eZzSOwPmgCS5s7auiVVRqnxZQaZYVYRCR-J7Vy2bb3_BLd2vLo0RYAloV0z24Su9taG_jMh0AxW-ge9LiAxE-QnSuCRPi_FZ6ULgQ5Uxb2Hbv13kPm7xWtV8Fnt4aO59hsChnJTfXMgsp09NsgvM9kBbL7rKABlXgDeRtVBfrpKWlvxEnEVH2oC-_oAlw-Byh-YeIXKbiYrRkMNiByoTYpnOER9vQaDNapz3Ub9AawZYgyEW-jxagaX4Io6ZRmqg3LYmnz5-iGlaSOvQVJa0KlKAnu2g14YNRij4sdFTZB4Mb0Vsjnu01qI-1S1GcZiPeu85-ZkKbGp3MQPKXo282asehin_GXfOut_ephzUCrLMgyUmLA48TQe64FskLKe1qEfJvVajwJ1UyF9HXP-gMCdCotxWdRGscYGhGGR4i7XUJtqLAo4jE20fJjyTQz0mN0Er7jNCB0kYjECPCsa-WcGIvvmmDkfl-uQFHjQU73VKbQGbe72vZAzm9OCH8zoH5LKuq2E-WmLHbp19828i9GYbY-XZp3WWS9OKk3VlDJfoSKRAJPiRkEB4K2fktSnajGUsPesvgROXU5OWtuK_SbK5XgIsVWAFjk8WFOVehfMckhMU16amF_UU6jnFeDF1O4vxFpkknzCyVqBVPZCRaCf5BXtRf0ifJtqTAJ5tsdxfFv5SN7a-YK66n_tO4Q7VzHjlVv6krhPXsuzBZZCmzdbbZXpLa1htbKl2j_VQcYUQ==",
  "id": "rs_086d2cea4e577dc6016ab442df476c87d0b485162b8df283bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.098,\"left_z\":0.065,\"left_pitch\":0.3},\"note\":\"The raised wrist view now shows the bowl's right lip centered almost exactly at the jaw convergence line, with the near side already at the fingertip zone. I am descending while holding that centerline and adding only a slight outward bias against low-height drift.\"}",
  "call_id": "call_Ljz3Dwt9geqCH3AKZYQgskd1",
  "id": "fc_086d2cea4e577dc6016ab442dfc56487d0b8444825d38e1bcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ljz3Dwt9geqCH3AKZYQgskd1",
  "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]: [-0.4801, 1.7737, 0.4698, 0.9783, -0.5629, -0.0406, 0.9954, -0.02, 0.823, 0.5945, -0.4458, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4034 left_y=-0.0997 left_z=0.0801 left_yaw=0.0081 left_pitch=0.2903 left_roll=0.167 left_gripper=0.9954 right_x=0.2856 right_y=0.0008 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.0931 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.1333, 3.2068, 1.5604, -0.1783, 0.188, 0.0806, -0.1162, -1.0188, 6.9538, 1.6581, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc11ab803c458d08ee656fc9a5f51d0ff50d6c9b61d9fdf016c89ff96888074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95266f4081e95df21f32f5a61050872a210344ec75dc36387b5914079e90bedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870df811552dcb0bcee7d8d68926e6238b072798fd5050b89a34cc0b5d8f20dd",
      "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 · 17.56 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5339, 1.8141, 0.4709, 0.9348, -0.5701, -0.0925, 0.9954, -0.02, 0.8249, 0.5945, -0.4347, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3932 left_y=-0.1175 left_z=0.0564 left_yaw=-0.0213 left_pitch=0.2237 left_roll=0.1595 left_gripper=0.9954 right_x=0.2874 right_y=0.0008 right_z=0.1563 right_yaw=0.0015 right_pitch=-0.0839 right_roll=-0.0053 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -9.0462, 4.0684, 2.5031, -0.0952, 0.1538, 0.0415, 0.0068, -1.4701, 6.9675, 1.7411, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4889, 1.6543, 0.4618, 0.841, -0.5659, -0.0414, 0.9945, -0.02, 0.8249, 0.5945, -0.445, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.0984 left_z=0.0943 left_yaw=-0.0011 left_pitch=0.2679 left_roll=0.1798 left_gripper=0.9945 right_x=0.2858 right_y=0.0008 right_z=0.1543 right_yaw=0.0018 right_pitch=-0.0942 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -7.6103, 6.5573, 1.6923, 0.0317, 0.188, 0.0562, -0.294, -1.2786, 7.0222, 1.6337, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4801, 1.7737, 0.4698, 0.9783, -0.5629, -0.0406, 0.9954, -0.02, 0.823, 0.5945, -0.4458, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4034 left_y=-0.0997 left_z=0.0801 left_yaw=0.0081 left_pitch=0.2903 left_roll=0.167 left_gripper=0.9954 right_x=0.2856 right_y=0.0008 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.0931 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.1333, 3.2068, 1.5604, -0.1783, 0.188, 0.0806, -0.1162, -1.0188, 6.9538, 1.6581, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc11ab803c458d08ee656fc9a5f51d0ff50d6c9b61d9fdf016c89ff96888074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95266f4081e95df21f32f5a61050872a210344ec75dc36387b5914079e90bedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870df811552dcb0bcee7d8d68926e6238b072798fd5050b89a34cc0b5d8f20dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELjXPuJaEC2qXDmc5yOTGSVoxxPfZwoySlLx1yyY3bn8JIup4GPAQIPeTrnI3AT5BpHjfi1YvxAWVNYwrvprvYYZ2-JgadncJNB3J7rNoOm1KIooWh3dft8iUHty1oD3zPhsc5YmYBQldvVWliytvLmrLgxyrbIKDoF1osnA0r1VCXCskOHa-LCiGCzK6h2eXi4GtaRhD3nKLCa8HJTHkwUuH8NS4JlZlJuGff6tfvJ09bGLe6n3ifL5cypWOK18Burcx4RTVS7M0lySwCowOlmprPgTcAY0IQjJNyNznr_ES_9WaJXRnzeDPyj8Qk0WlOIpEDir_U5duy2iUrHf9wpVcwdSWNOgfLxxb5oLP6hvVrFRaa13R0m1X3vpvFAxZpNMXblQZK4IsDqd0Qs-A8i1Jh-gLmY-XrSQpbI7-epEtFiR_7AlPYNaVgZrxNpWl6vb5Rb9DyTX1OCIqiGSqyP4ko1UZX4bfjPR0UIUurZyPBL-mDRoWmwoubB8TyFLjOXje98cmVxKfdGA-QSFTQ2zZgfBMnWSmVa_rP7shvXSZqycYYoYIcderAuaDEoYZW-M49m0ZPhigXRnYBBMh5cW9lFG1Gm9oP3YUyK0L25OLCdW51XZwCOE5KpQH3Ipa8o3H_7NFUzmvKTkcfNuT7ZEpoSUbV4NPZtEbN2xe_IqYHVvbs0tnsefzkFLuWfaem0wh6Zh2lYnXBoWX_6Mmxp4Yr35vf3UoJOsldfxUkAtmSq4eaaLDk7nfdOiZxIWO3i674eYyr3-vqIRpjy6mlfDRQsuWOnXZfe9RK-XokfDr77JZ1d0vdxEt2yr9sn3Gxt_bVFrUIaiKoFBsu1CisGpgG33lTDyBnanhYvqFN3NHM16b8CPSFtmyDy0vzzAMuukQTYRY54Q5TrBjr_b5qxbnQl8KvXkIA0NAEu_6LvdliUQ8sm0dYm61wwGMbY5YVzhzY9hs9P1kjU1loHQQmVz4yJ9uzdeIZvwQ9U05FDa-DLo5YgBQBinjH9xN-K-CUb-QhB1dxK6LDXJCuHJlhWUpzjK76nh1tjU4tzuDKh3-5PQhmdFzBGjWDPB40jt7yxz_O27H9qy4TjiLFI1UwfumS1rcmOSXnddIhHlDPmIcJD8D3DaT0PdYFvhZkc0CaGsxVQRvzymxOLu_LFAxx-3zTzPs_y9xNVylwU2t-7Mrr3DXJkdo42EWeQ3MwkOVcnYc31efcb9QAWiW8miSRElr0TVLIV0nRmVwyYthYDyRxwZJN3uOmcVt9P_IqDWJk1XF2GPi_8PMBlq9CFzYPQBdq0MFGfnKK1bSfTdz5l7SPanvhL9Hp3vTNHSMuM2RoKYKB5NmEKwdOErJyPApcNlRYltij0W6gXJnxg07CXGl4=",
  "id": "rs_086d2cea4e577dc6016ab442e1f40087d0b0d40e3a9a660539",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 8 cm height the lip remains centered between the open jaws and is at the fingertip row; this is a better lip-level geometry than the earlier lower attempts. I am closing here so the fingers clamp the thin rim rather than the tapered body.\"}",
  "call_id": "call_J8eMGVBcH3XKqvXjNqoGroVr",
  "id": "fc_086d2cea4e577dc6016ab442e2783c87d0a5de599a5e059863",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8eMGVBcH3XKqvXjNqoGroVr",
  "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]: [-0.4747, 1.8851, 0.4477, 1.0817, -0.5545, -0.0223, 0.0077, -0.02, 0.8295, 0.5945, -0.4454, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.0971 left_z=0.0517 left_yaw=-0.0078 left_pitch=0.2603 left_roll=0.1969 left_gripper=0.0077 right_x=0.2859 right_y=0.0008 right_z=0.153 right_yaw=0.0016 right_pitch=-0.0992 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -8.6496, 4.3009, 1.9267, -0.1538, 0.0317, 0.5934, -0.3761, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c76ef8d8e0e228de7c7a4fc566753c599c238ca5ffea277a49c36b0cd241e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e191045382bc66e5a80dd0927c3157d89da2c19356a9afc58989b45d897716b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ac0ee2e24ac5ba454392f788072cc639e1e6fd08b9fbff4b6031b848017bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.003 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.8309, 0.4618, 0.9302, -0.5743, -0.0937, 0.0082, -0.02, 0.8249, 0.5945, -0.4446, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.1131 left_z=0.0465 left_yaw=-0.0166 left_pitch=0.1981 left_roll=0.1753 left_gripper=0.0082 right_x=0.2859 right_y=0.0008 right_z=0.1544 right_yaw=0.0018 right_pitch=-0.0938 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -8.1709, 4.6564, 1.8193, -0.0708, -0.0269, 0.6032, -0.2667, -1.3744, 6.9402, 1.7656, -0.0513, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4801, 1.7737, 0.4698, 0.9783, -0.5629, -0.0406, 0.9954, -0.02, 0.823, 0.5945, -0.4458, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4034 left_y=-0.0997 left_z=0.0801 left_yaw=0.0081 left_pitch=0.2903 left_roll=0.167 left_gripper=0.9954 right_x=0.2856 right_y=0.0008 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.0931 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.1333, 3.2068, 1.5604, -0.1783, 0.188, 0.0806, -0.1162, -1.0188, 6.9538, 1.6581, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4747, 1.8851, 0.4477, 1.0817, -0.5545, -0.0223, 0.0077, -0.02, 0.8295, 0.5945, -0.4454, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.0971 left_z=0.0517 left_yaw=-0.0078 left_pitch=0.2603 left_roll=0.1969 left_gripper=0.0077 right_x=0.2859 right_y=0.0008 right_z=0.153 right_yaw=0.0016 right_pitch=-0.0992 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -8.6496, 4.3009, 1.9267, -0.1538, 0.0317, 0.5934, -0.3761, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c76ef8d8e0e228de7c7a4fc566753c599c238ca5ffea277a49c36b0cd241e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e191045382bc66e5a80dd0927c3157d89da2c19356a9afc58989b45d897716b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ac0ee2e24ac5ba454392f788072cc639e1e6fd08b9fbff4b6031b848017bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL1rBYeGmxP1IZndYhDNINjWjBnko2Yf7Svl0GRfQ70NejCGpqFc9ogSqBIgm2ptliVPxf7uPfTJme581B35CFR7aiy0rki06rWq8oaCKR9O3I5vvDKKT6AfjKodjJTI2eZsIPCJkasPiMATFvnMTASWR3t4ANhjR_o6K6zSixCcyKYJjti3-VMVldIzsJmni6O3BufSP-u4xsLMMq6Y9Wr67wwj2jEI7FB_SndAPEo56nSk6MiXQU8PFrti7u24GfH2HHQhi1lnTAZPH66qtDUGy_cvbrFAMQjR0UihdeWQdI11isiHSvJoSTo5nGX-1NbJ6XtLcsvQEeYlKFexv8X1ENTS2XYKNHsqjZ5RvHkCYyJuenKpwbpJvoCcCjnhVDIF2r5b_jRaGURBRrkX91bCoh68ZEqLOFWHU46FPJuUIlNdyrh7IpwbSNvprWI-5OMi6TBtdZqcTQ0GTspJzoyPB_pN28tGLgVPfuSow2dJ7DnkDKcuKkgcg5mdLzqXTbv6xf9iNhPx40vux-NEkO5Zy6Ilv4QmJy0fAEAkwpz1xb4Tm3GgBzE97_LsHnLEDva8o7nJyhBlC0duKiVIXREovVmSIZbfpWHmERUnVptVlwPWSetQuZD5MQw-JtOUnc9_sKU7ev7ev7u8SeoGfz1V2Cw0yjgqFrXxB4HY9YQpY6Q0itB-XrMc6V0mmdgBF8TG1mn29wwyABE5lK19i5QuO1HHO6l9OANAaGxphIszKAmBTKfaNo6KQr9doz4I565i5B1F08DydmA3RxXGxxW4obuUuIAd1QwiDvv5A8LoCo2oYZJp78GR-2G2Nr9sGBAk4po4tZMQd5WoOKdRmkB7ckHV2OEzfk71hsapRDpiNpd3Why5bPk4A_TmRQJGSvyp_Qf4neiJUeyJqhmG-6bSAPL1BW5Iqz-fDkbEDnWK5BLqgkKrIt-ODilB3cFDTS5Jt3RvdfKE-F4qAIkUeN30f81-S7jb3FA1Lp4dsEOrEjb4CKxsd7Ll5mPAyPdDqoAncirMKK3EH6GqhwEKxBmUvSU5WP0eskzNVc2iJbtLI07-x7JNTDrgHVdn0gz_zg0kCfFKyyEaIZvmuwXKrzIemTg8DyNnzHn0bySrVz5HGUqc91bO4cZgRZB5GjB_zJ4cUGor38j2XUq_dzKokP0b5bhnFepUFeYCkDeMbrDyRM3p8AFejzK21hZuy-5iIsvlcQpOYe-ARkMaFZxqyZHDAmkIiU-hKtMTzNevnw89e0yFWCVeiXQvQZbpV3Xgr3sDzCNRaEb2SkaYDS-VV5aO9F19APWUWGZEZVo3b2QfokeMkHCWtcXn0we06pIFFi0GjbM4Htwwv7Qaiz5J5fGY6yBpOa4aXwyPeGevlZisnyIJBmHbYzE8JPEvxM1CF50n93Bk1XKB5O90lzgaQUzbHpDQaFePA3c2y-ZmMCCLsc5DSmyvUXtmdKXZaVeTme6yUjH58smpeO1SQkE4LC3VrNMoY2rniqy2nBkAAypyBkh0Z-X8qh6LHmZRzikmQB23ytqBl13i19aIAH40-74bBqqmg--JBtFPSl5KBb1TMMBC2NodHaiRX1t6F5ViYt8nBOF9DL-MpdwgN3gbEaxnrFHyw78JVqk2aL0-_TiHRj8Bbk4RNPYhbvD5_l4DPdQpHPZTBdCCgSWrylVSnzWlm7Cm9c920PIGQ495uRnJ6318pcuVPhId36hARr0IDh8xITfnXchvUH7P7W7kfORXwYzQ2TdqnXw4833O181ZCFMHS1nFUEkFReyxBCHgeafPVApLxB-35iLnmpjWxcl_NHrRUwc8GbqR1esJbbqs2lCNdXOfS050wELY-BmkPAytv2mJN8kQsY_DQmuDL60DwihTcakUsXIVaR4Czh5ugdXO3kDZawJ2kGu9W92wF8GZVCYCa4y6f5K0IjElX30Yo7N-CaWiNGUdesc6m4iBnCyvPcMuzztMQUTzQbkoWyFaj1xWOwYjVskTX_MKW7HbF-jtLAxNpI-L1A27G7wF3cZMF-LFsfYN6NzMXoXi7wKt5QvW0IZ_ecMMZUra5zN-TwzkVDpTDUl0s6Mmnik-lXiVm5lLGX9yvjsPsNo3eFqHgkN9BW0kGexmakFo0B98zi2kToR9azBkcXVaVKNccJvz-1UUcpAkbiXo3AIEFsguy7wTHX4AvcE0JeCeM-FiiIc-Hyax06dHG5ILZ0fro3AErPYIrI88ZkCp9XxcAH9c6UwRWakPadkP2kiKFG37770vFjR_fHrsEul3NtfD4_1XZTgXkMq3iFvMevEPbbQIbFilVZIVtPFJco5uP2NyORcxzjPM0UH7WgyLKS-Tu27SEjACBJBHRVQgQMQpxBKxT3BnW5vcf6oTWeWQFg_B38C_qhg2_znsMC1YkWoljsstAHoOACbm7LbD7ArCJXmgh1btRQ2QV9l9Z92wS8Y71G0rwpj0obfBANp1QW8d5AbORj6tmeOM-A3dSOCiDMc1dmTQVqDCAq9xrxEGvxv68mma7jje8uMZ72-182IjF1g8H7I1j-ECdn_zge1GH6gaAH0VbPpfrlyoHJXKAHYkMPJAL-GPgbgpj6nSyQsem-T-J0R5SOlMt5_O0HeyKRvyRisL-HZjbyjLWAVS_vKlP7x313rmSHO6s1EhXUzgW5eQl_iryAXlzBfYdiC2v77hoeeEpWBFMBrNS4Pmu54shMOzlEdHeC0cQH4zY54VXejn3kZ-zOB1zr04V3sGdL8w-y_FWkyy3M7SIpNFpaDf5uUZ0XfQT4tbRU5CkOS2zpQLqdrumO4Wg1hFpE0PNh0_MbV95mdBr91XrPb6oZ4jgd32vJGJaLdPCih7QMp_R0SSRM2qWXCu6sm5vdllSagnrKTyRbNRy7Kdzt-gCriYrogTIKwDgwIkgXhPm539uY7jMZhaLMTNuVjG3hdajeuvDrXy60mdVC7cDOTiCwVT4aSBuVOUumZgA47NBmmnbLPmDM0fOMSazvcTNsY2IgJE7xVunzhYE1_bt52-ekf7JK1ydqo_GzYbKv8FCw9n1WkhaiIdCAa9zDZwbAv3PXvgo665VvbshEOrnkMiLq4MOphNH6Qv334WWtTSspJlgXU0KLEB-Yab4Nqy5Q2KBVRY5M4iqPOhYivQKtaDkzGwFlGCDwfF1vu-ZrRe9-Gur5pROGCKd0Xx-MzNpLok-cBavr0PSc19BM2mmOhBmVUmIghDCfL05ZxFvLNlG-davJZgFicLm39CXWSyEWecQ4uQPGlCzrn1rvCothxPk6ID_ebFCh-F7VJ0zVr4j-VRz6K_-lmI7aMcvQP-6R49gvJxRkDe9aJfC3NWh77i6AJpSsZGeAc4EqfXm-sBaIi_udI_7UsibgzWvu3W4WDaugnwmbLjKwMB54UZ0ig5SZ8iFzoJMNtaWCFMr-wlu1L9P2JB4TTYK2CW6RjEolq17sllsYt10oZ7Vv74b9lvYkWTXJG79UWXpJA5C44xS7nawnVDiImIZHHJb9ckTYz3KYt9WsXvjeHW8PcjIovkrqD0bSvI37-gHMCvV5E7EQAQDO0QpdQpr49VcAocvijJelW-hx9y_sWm11L5vmuEgVzPa2VeYAlnRwj4DPZWUO1NZ7fMFpiqqi5GxEdWxp2m5ooovS35eacg2ZL2r3g89pMMiTLXHm6a4PaCTL6ZCt_bQF_2Ni_-xtXjmPDmg0SrWjUNC7UVukD51OSmuDaAS_01Yjm0hgP5Xi_BNC3AfxEqCoS2amFqKdtdYOe6O7iVCcE5oJJuT9soF__SOUXQ8EEE0Zl2UV2uYLVeIiMIwHQUTaLPOgT3vbeSFsilDsP7N4ZGRDXmzZqEgMxwkXsH0D5zmRudYRB0lSlLwv0lwoA3GoM5FBbsSkdjKnRTctnp2ugmhUYOcYA_K1E-o6DD9TznY47zMWrqGesbdweTKr0rDL_CFkLU4E6JVdL6GTaVAVu9RQtJanCvkq63SkyaolHBUzHj87cUuJlGSs7rYaBgv6zUw3VXsbG_VQD1Z1FoEZQvcHVtvvh_CisC-lhRiMcZxb390ODGt00C7B2vp1PFGvIvh9-w6akTNbO4_JGPteaPdG_O-jYAHS9hCfv31vuKzt5gaeEMKxtkBp00CWV3AVGMfUHREr-m4Pi961HATALMFCdMSp-sRwduNwoDvHPEn2pAWZ7GgP1-npWm5pi2tyeuc55bdVLoTGIC-ozRzTJKa_Rl9fZM2rVibandHSyxDANi-g9FNtEEzAJy79ctda6cC0fE796uEcJr-gdqIYG",
  "id": "rs_086d2cea4e577dc6016ab442e57ee087d08529a8b36314465c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL1m98FZYAjYCoKDZjskFBiUaoR8TaAVdu3zmuIoMTVeCg4WX7IlcvN0SIOkSVPbjvcJ5CsnZLULJGkgcOo9Y16ywWFfDeD9B5U0lD4MJxMit8DGqnKWGg77k9TsOpULWvBoedTVBbZF_1pePJNBYI9BqOSKJrOy-52ccNrF0UDpp6XFDCyZ41fosuC_WlrzKYc2463-Cw7V_aqgQYwno4-5x3RAKgTlZs6bl_IubSoIgzbpjCFsPAXR23n7dWDSF3-0UuMXjIbbZUnWXNSdnCsP82T1dzUHR-iz1KOWm8-nrMTpf9bfqXMrGMiT6HxsHf0G4vAOlQEJrOznLnFD-aYhj9kDcq2k0wZVlYjJZJjVooE4NN_0ueN1P5aV79Kf-Hej_c0-nmQuJ5Qbbjp3gU0H6hEcROH70nkxn35XpCzikZ2YwfV__p7_fqc63Ee160L3hvfMXQgz6Y3qtZTyX4_FXzda_4tv3DdCMf3b_iarcdJguPfaYBrCAu3_buipQKHRH4IrO5xgXMPetqh0wjp7jSnJD71FE-hnRc4dNaSFBBSXIAJvmN2ZCU-9n-wjLYdeokKXXcYnP6EjC2fCfqP_UCb6OS69h5hacvH11jPhy90MmP9tCu4ZBWoRBmOeM7jcI1Sn6tEX3vJCzpqnMqJ9QMBGBbY5UbozBfJAIcZYOg3RZBzwukpLvtIYJbGkxqfnaGrrifB0783KgX2-VtjNdnCQE5-qX6FXhlpNhhS-TJpzSNnpJ8GfVrJlDUIfvYzOXBLWgz3iKfETKQXAG_rFWM5ombogrFDLYzKQ7yS94nJifN1UrVX7G_6ghGqL-JBEmG6jS7zu1rDfJ-Nm36b89Ff_GZgO5gvZFVSVFAyrrGV3FzzohOjoiMSJ9RybL9oedJA1HNOk4x3Euxe4gPgQFbvBGUwlyg3qR5mV_v2Ls-4FRl3YO5Zwe99ECbxG8cN78ZfTFdhz3xE_pWuQZe96sXU6EvJ2Xxlp1Sk-lpfu4YxDzrFZECFy7iEBnzExRAfmYxCWro30rfdqayilThz4J8jYR9kpOw88d2zLw5EaF56Xd6SRVKhOXUHn-GFR4y4pr55gPLleyUUtwt__W3VY6QaItfNWNRQ5hkfuMaPcB2erdJ2htqMEpHOwygPMgSTEkXNjtGFK5rskwic-cRFoTZbfURsRAMYd-STc4pVENysMmkzoxGUNwJvHL7qhdhuEbM6sE6avT2Bpji3UnKSTo5w2vw03FnNMX9vkIm2IehC72u5CIcc6K7vqPLa8o5n--O_NUnTTWyk9jJ264IK24WaJyWoXRka6fsnLpW2RZUwRTsXHp2Ki1ieG5UU12vtzO-BRG5Xfe-tyTWoLroACXMeIEEnBg8IKB5zL3i50cRyShLJ6kvOqwH8Vt6eXd3MAIBw4TN-jNuJObJnYh3icUSd7VKV7bJuwUBehWyB7i-OkNbz1zxMD84JpcMR35lq447Shx2vIA7eEQ0c3UjzYkE8urdvstli7KbSdOKPDH8PnMzJHABSnsMQGBobGUf-2z-YXZOY-fzSfDLu_6hOGI97xMlc8VTlRnR8ebbELP6bSAVzP3yjoe7Ibg9fTzrRBwazW4qfbqJCf6Y3Xk9i92yLcNicFCBgAwqs52oXV4lS4u5ru2IiuvSMcWI9MgOgqxfGd18OCaf5DiG5aqvq3Jev6VL8UJcIjy170cMwDV78ac4to_PfxUKWoEH6vQklMAkZd2RrmvVWvRhy_fi1NoT7TiN_8j8IpFMK7Fk7GVobq7GUJGXPjno5mGWLizoIPbOhR_qed0rUAWUced6SvHsTYadmu1AJhzhfEElEzKJYGLyblfEgXtOz9Hhf5MCqJmDT5AKkI7afpo26VA311B5TJ9hpdH4Jp_V7gSKevcZAIjHiMDuSMgWiWUXP7Nt1Avch65I9GlwJ35OIhX2SvjF5cxzKeTHNjsGmCg4yKuYIjJhkebGZfxJfq8wiGibbisIVGt0Ywq2hGW2VeQbsYgfy1KfcrwbCSjZYzeYLT9GN1CEDj5KDCC5BFiirBEcArChXsWjBJT7-XLz9iD6CwQsk0mQytYNmcORV895lXaJfxSgcR4XZbzKX74YYQp7P6L2-e9r6E7bTeMTLd7LPzfsGIjWvCSPy6LUSA1kJukaCYTBE-kUPmOBFWDacQJe0yzsKT2LcRrCJ-cbnIBmu8Mvdck6o_PHsszxwLUZvQIpL8aT-dXdFQnz79U8TI2ITKhyfvZnfwFGMekN-sKKKT0XoivHr64JdlcQA5aV6BowUU-8sj5g6CbmA_h4ONWcdeHTBeQKxaIZVOejzBB4cZWE7Vy_zM7kHOQ21BMTpDkIfHYb1O9_5_CbyExiTIV3T1c0zUtJvhYyW-Y9hmvN7gmf5cZB5GmfBPN6JT7qNGsqZhyhMxHaP1r7XFjx4UXWJIYB2sMPUZEda7lB9SEJhMa_hMJB61LS_3gfM3f8RghPrckvGw674qZmNVxpXRQimc076YwLukrfSkp-HNW7p47_Ex75myzVFmLt5qkOQU-1YvreiO1uFWFiGw6iUe5Q9zshDOj1H8pJjxCHLutW5fGXMORHuCunaAplw5Lgb641q8kHi6cLn9Aht8a6rIahxBsrDwVOb_VT9bfZ--rq8fPJUilOzoJQtAgrMF5WFs6P3Bd4Qlt2ABY59iZ0D-8Kw8X3ZU31GKuNRQlowRkSZ-oLLxHyO6EcCjzCS2SAnysqFEauqaIcbsEFEfkn-QkaGYMbFof_8QCNSieRvL20cbPnS9CEzdt9wL4iY72ju7Pnw1I0wsTJjoEcFhLNp0NfT0HKZezr9xWPpK6nzcWrxqW-J1ru9KLzA4n8iYRjcEPSxm_j4Q1cRX8if7Wb3nuPOyk43gnMiqzKYxlC0wGkJGcA2klubMC4ehUE5Y7K4BfHFBo25ccwlFcpOjFyqTUjtlPwwPe6Q__jN7AEYye5fOZMjKf-YRKg9oJpN5BhqA96_M0Ws10-AMGtXGyDOtuDF3JJkYmuiQF6AS7LK4RacHWMLtw5Bux3XG8QTyz8RBRYWmdcS2P30lRzMYGCuYalc_uPnQYO1I_x6C15iImrAeNVJbx1v-5KK5ynHValm8rGYlYSKFy_BfoGVW3IhBfS20zZqkoMiXDnZIvs6qg42Vg==",
  "id": "rs_086d2cea4e577dc6016ab442eac5ec87d0a30ee6ac9d1c7eac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.05,\"left_z\":0.12,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The lip was pushed left again, indicating the single-wall pinch is not trapping both sides of the rim reliably. I am switching to a centered outer-rim grasp: reopening, raising, and moving about one bowl radius left so the two fingers can contact opposite outer edges at rim height.\"}",
  "call_id": "call_Opd3FqY0gCCuCmwvc3UdPv30",
  "id": "fc_086d2cea4e577dc6016ab442f46d6487d0884740732baa3def",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Opd3FqY0gCCuCmwvc3UdPv30",
  "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]: [-0.3111, 1.5513, 0.4206, 0.841, -0.4267, 0.0345, 0.9949, -0.02, 0.831, 0.5945, -0.4488, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3995 left_y=-0.0479 left_z=0.1141 left_yaw=0.0212 left_pitch=0.2991 left_roll=0.1879 left_gripper=0.9949 right_x=0.2855 right_y=0.0008 right_z=0.1519 right_yaw=0.0018 right_pitch=-0.1041 right_roll=-0.0052 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -6.694, 5.7368, 1.7949, 0.0659, 0.1441, -0.0708, -0.3077, -1.0462, 6.9538, 1.7021, -0.0513, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3c72742e43a77315aaabae10479bff5a2e95bb142115b0d99aba89e247907b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25e70fb67130660579c1c96e247353970f665ac0e0dd15e5161d5d332941b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c794cec1d686f5bb72b9d8f89d208448e5f196421325cee3337bce220e724d5",
      "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 22 attempt 0 · /responses · status 200 · 3.46 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4889, 1.6543, 0.4618, 0.841, -0.5659, -0.0414, 0.9945, -0.02, 0.8249, 0.5945, -0.445, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.0984 left_z=0.0943 left_yaw=-0.0011 left_pitch=0.2679 left_roll=0.1798 left_gripper=0.9945 right_x=0.2858 right_y=0.0008 right_z=0.1543 right_yaw=0.0018 right_pitch=-0.0942 right_roll=-0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -7.6103, 6.5573, 1.6923, 0.0317, 0.188, 0.0562, -0.294, -1.2786, 7.0222, 1.6337, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4747, 1.8851, 0.4477, 1.0817, -0.5545, -0.0223, 0.0077, -0.02, 0.8295, 0.5945, -0.4454, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.0971 left_z=0.0517 left_yaw=-0.0078 left_pitch=0.2603 left_roll=0.1969 left_gripper=0.0077 right_x=0.2859 right_y=0.0008 right_z=0.153 right_yaw=0.0016 right_pitch=-0.0992 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -8.6496, 4.3009, 1.9267, -0.1538, 0.0317, 0.5934, -0.3761, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3111, 1.5513, 0.4206, 0.841, -0.4267, 0.0345, 0.9949, -0.02, 0.831, 0.5945, -0.4488, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3995 left_y=-0.0479 left_z=0.1141 left_yaw=0.0212 left_pitch=0.2991 left_roll=0.1879 left_gripper=0.9949 right_x=0.2855 right_y=0.0008 right_z=0.1519 right_yaw=0.0018 right_pitch=-0.1041 right_roll=-0.0052 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -6.694, 5.7368, 1.7949, 0.0659, 0.1441, -0.0708, -0.3077, -1.0462, 6.9538, 1.7021, -0.0513, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3c72742e43a77315aaabae10479bff5a2e95bb142115b0d99aba89e247907b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25e70fb67130660579c1c96e247353970f665ac0e0dd15e5161d5d332941b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c794cec1d686f5bb72b9d8f89d208448e5f196421325cee3337bce220e724d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL5FZlwQcletXNXB4yxGoa8dpe7U9SXa-SMtTwWvN4cZoJG7tQp33WlH98PoHO3CFwCsUWHDiJzcTjjrfcaKAiMidgjHkgfzc3WaBbPLLH72nly_O2qeFK-ubZnjQg0h0-CSf5w_OUjzQPcsRmobO_qfa4TBYMGCYQtkAowxJ-jNtE-Y7ezib2YBi0xJYbW2o8yG4cksGhAy65qIfhQxpGSbDPp5aCBJ2ieK0wtNZG7xGcNWN0YaR1_mbCjS8jC6cQm2M9jp5_INmr-S8e_ToVkimKFeZX71AU14a6KbL-gn2_VncJr0bDp42mXo4LOCXrWZHrQ07HgFX38dbw__HdtWLmyFhzjRvnNl-9Qz_IBcenZQpoeawG3XatVTbq-d-a2s02iG_sLNQlyugLPGn3SCwyu8Q5zO1Cd8o_6VB12cbYc9BFYnZNung70zfYcIpJkyNOdmMe-zW0kMvMOTHmTTz2O45_qm4mtwTdY6781WaEmc2P_u5jc6WX1exTdxNHpfJSj0Yjv8JdJ2mNAGyQznTFY_vZup0R_Fn_QZwgQr16EAcIkibHa6Smy1geoeL7KHJioV4kcX0zHXNCirlHtHoqGFtCKgTa_ZyQUV3VnX69_YCbRrR-uI6qEPOvoB6vrfssJf-uW8g6opj5lmbAjc7Abr5bHbcxKqBGX1RC--pJY23OiFydOTV83Fc4zxFyVOb0APyCZgz_OYUS7mWFWXjmvBAg_LDo_gB7jLtfINIj8RDDHYaSHlUZYZge-qtHrPTMFOncbcHCKJMqt5BL2-GM2I7vGRobyR6CIuNafrT9cmb-ccFQmhKIlKjogtIlAWgff9jk1gWHNinHB1oeadEOc4pgo4RBcyCEH8zNF7gSksXaHQr9cRCc9H093YVcSjuEZSJ8S4p-3uGULw-FEQRxuzJlILuRzh9kQWYTFPPPNogwGmDzuB4vEYnLDPJL3QlE5R62XcLUN1hLRKv9Uxhix2O25ITpIVDyf1ot5LmSHfBbKOt0nQe6kacqQQwkgd2KX8Hgc6USRTpkFJsWtgoyH7TxEooDsm-6ktRd8NPhos1dfjzHG8i2rIq8KW2fKHfp9aY9UXRODkRVJy5fwEJfeEPQZQnmut-v3Vxq40X2G9FEV21IM1oYIOLWvNcB0euRAI4CnPC9kbsQVFgS39m1M60ARfo134zWwdi25Zk1HpRFE2IdI5Wv4OFNR3kCjg9T9tANmdEBwji6mcMZ3389zIS_qDJa8gaEH70gTeElSA-85QiYYLtHSQV4RoUrku2uvtk7XmU29LXCzur9wgLtQQ-dSzsycpp2IjNvmdb-IS71OlawicthOywQE5CD3b4dd7unzdmijHpBd9gmj-2cbPghisi9I4uwczuT9861KQq7AkTD5P6y4vDuBaF6zKrtr4cE68SJk_vNqo1l2ImXOViSyUtFskeJQ2DAzzjE0NTWymjToibDby3IFTmTGuZXYMYUkjl2LkyeZpx_Avm63k3TLEVOaJAdW6nMSAuVreW5Da_EU5oTj5Lkx8ROml5Jc8MJqM85wLz43T2vi-mN43SsuHhCnaADNzTbjohWurEKk2-8-tHlm4Z0YmGB-hNlTfwmMMjDpQa9NCaZda86KBEzLEd9vwO0dAxYYduggPJm_0wilTUqls9hj8Yq6hERc2-3uqIq5XxKnRPtEAv0GPA-9tMRc1LTnD5HSLdc=",
  "id": "rs_086d2cea4e577dc6016ab442f802f887d0bb880acdc53a46e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.048,\"left_z\":0.075,\"left_pitch\":0.3},\"note\":\"The bowl is now centered symmetrically between the fully open fingers, with each jaw just outside an opposite rim edge. I am descending toward rim height while holding this centered outer-grasp geometry.\"}",
  "call_id": "call_B9KeY80hQjnfHFlHxyjAngS3",
  "id": "fc_086d2cea4e577dc6016ab442f9209087d09603cc69feab45be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B9KeY80hQjnfHFlHxyjAngS3",
  "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]: [-0.305, 1.7535, 0.4049, 0.9855, -0.4191, 0.0372, 0.9954, -0.02, 0.8337, 0.5945, -0.4519, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0473 left_z=0.0639 left_yaw=0.0129 left_pitch=0.2286 left_roll=0.2123 left_gripper=0.9954 right_x=0.2851 right_y=0.0008 right_z=0.1506 right_yaw=0.0016 right_pitch=-0.1098 right_roll=-0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -8.4718, 4.041, 2.4933, -0.0562, -0.0415, 0.0464, -0.2256, -1.0462, 7.1316, 1.7118, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614b6d16b2bdab6ce0845ccab4eb14c5bf83133ad9d915d4920bb354b2d95a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5383b4de34a203d701c3ce895718d6e444380b611265e4d2cfd92caeb5235d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf701cb57371b1ef5ce741df9e0a06386065d5916f116b3b0f7ec10bc676cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.477 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4801, 1.7737, 0.4698, 0.9783, -0.5629, -0.0406, 0.9954, -0.02, 0.823, 0.5945, -0.4458, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4034 left_y=-0.0997 left_z=0.0801 left_yaw=0.0081 left_pitch=0.2903 left_roll=0.167 left_gripper=0.9954 right_x=0.2856 right_y=0.0008 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.0931 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.1333, 3.2068, 1.5604, -0.1783, 0.188, 0.0806, -0.1162, -1.0188, 6.9538, 1.6581, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3111, 1.5513, 0.4206, 0.841, -0.4267, 0.0345, 0.9949, -0.02, 0.831, 0.5945, -0.4488, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3995 left_y=-0.0479 left_z=0.1141 left_yaw=0.0212 left_pitch=0.2991 left_roll=0.1879 left_gripper=0.9949 right_x=0.2855 right_y=0.0008 right_z=0.1519 right_yaw=0.0018 right_pitch=-0.1041 right_roll=-0.0052 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -6.694, 5.7368, 1.7949, 0.0659, 0.1441, -0.0708, -0.3077, -1.0462, 6.9538, 1.7021, -0.0513, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.7535, 0.4049, 0.9855, -0.4191, 0.0372, 0.9954, -0.02, 0.8337, 0.5945, -0.4519, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0473 left_z=0.0639 left_yaw=0.0129 left_pitch=0.2286 left_roll=0.2123 left_gripper=0.9954 right_x=0.2851 right_y=0.0008 right_z=0.1506 right_yaw=0.0016 right_pitch=-0.1098 right_roll=-0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -8.4718, 4.041, 2.4933, -0.0562, -0.0415, 0.0464, -0.2256, -1.0462, 7.1316, 1.7118, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614b6d16b2bdab6ce0845ccab4eb14c5bf83133ad9d915d4920bb354b2d95a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5383b4de34a203d701c3ce895718d6e444380b611265e4d2cfd92caeb5235d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf701cb57371b1ef5ce741df9e0a06386065d5916f116b3b0f7ec10bc676cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEL9jiT_fcbnr1WSJl_X_J8Xbls27oweblO4hoA8iQCYzDi3P-pN4kgxhYqe-vxnvnFJpDEfpQpUO4f9lm0Hvm7EKHXC1QA1-39t-TY8K2bSD46qJtRfYI-HUbmIkdlwT_6qdGCOLwdcYAyYphyLhflpGn7q-3lDrWZ_rLsmilydULrlwaFcyq0FeysWI_Qn5vvmy-YDKnBEIbCQWeVxwcGzDbaJMfHmfif-0TOmMWnDnoREJZeVc-kNCQG2dxBP1JRx2Um2BERBAuaG0ttExnUh6XivcUCMYMOpRcXKeGsMZTgICqI90GcuNpgXCgdTkjzOxU_JL6aw7bTMx-kGNky0oyA6J4CtSyVDCPFYxYsxrgrt-2u5Nh9k5Mwmd1U157gxMhOsZopfHfCxoGOtp5r1HZWcnyNLFGTo02joj26tue7exi9xZUFdGsECiXozzqSuebi3DtSEXTAaTJphQ1zmOVEHPPlmDAtY5oMBdPRfgnbkEJGxSMtPfFqi0c7NtkJjfI1zAlRV-37_OX6iOI8pUwknOtBqrmKtTKibEWpGuVvTHTJB5ge6C3POIA1YhNacYIV9rZzET-g17kT6p9BkvtTOIrTM_7orHnklwNJNl8YLHwB3OmGhyiw_Sppqj66T9RlWnGPwlgFsQOONYfxSPM1iJanDtMOWaopgx_K4Ye898oHzHkTqCs-onozEbxOnZyPcyhOkbAqwC3bwXvJBNJ0rPKjxC2MXYAfBn9BQknQSRAirbkcFL1PrUhFOC39Q-bgEMTXSEXi_q6NOqHz1HQqxBp_lSUcp9eNTeQszWGVVzxA0D2ob9AYyowHuYpMD_7DFOfDR8fZSHtBGtauaDZzAfYombjU9H0HhP1AohbgCwAvXZF-ju2QZnx-D_qqF8eAvyY2XxA23qsfmz08JyvEWVvsvpzR_wTSBMCnSoGsPlutsKRgxbyUaFGVBpwEVtKwsfimDELcQVrnuMV4sgXQM3pMWycJ0gxav4Sh_ZGtwKejs28j0zMPnKAxkNASAsGbihdjQ1zdkmAKU2TSn9vhkVmdDuqEUUuJcHInQXegl1g0Wz7gzIj0CO7YkbfOrVc5qVp5juTg-uTs04l2nKPD0Y-npOgtosvzivy_FcUwI-lVZgac4SeWvt0xlFnKBxrxh3tFPP8a8Fc1Pn0I2j5UWXGIKuREoVSuFt8ohdzyYU6cdf6n1I1J8CNuqY5iboZKt_RdUJlkzmI86LID978Ign4JDjZOpb_OsghTTIUtzzamC2p5L4yoOlKI4TF4xeLNBq5YrmSd2uIJF0DX6XM7m6j6oJQD0IlimoljEmNQv4TPVTgwuCnkq8EguK1sgLToCCGUuPJx159ncDss4w0K_gCQznH1H4p6Jq3OgeAKXTtLHASGbaNQvj0tXYxmSoM430VJAS3xSIgnq7FXP1UVWCiwkpFBDUVQY9evcJKCnNbdTYqZdvjS7xov_f4OXl6IFY0Gl5Pzp3b8drVqeu9DDt7ZbIsybCZUDDH34tXaykp_xMWM5GO_fIeetY2o5krkehehHiSdPzKbT9tvr6cT6cxwOOx3kPLyAo0TXAWKDCan-huKaEjVEvLndPj3fcdStvSErMtsOHDF_8bihijQp7_SgUKjQDk_fbSh-DVmTKUrrSehqdvzU0ZBFQg5chBmpg_MfTq1zJ4Kek-7YZ_wwimVpDqAWjuTFl9FdMWkjTlUGbaz5Z7GWKEcdFtmknhjqQdPUhisPABFAgLDw4i2DHx0_hsrAsVPUV-JlQn9GxBQ-SAxXM9Nmz34by6La8KyRwdLkyYP-BhhOdPYaEiD0qA7k62Q9G3MuVb5_aL6plsuneWKB2ztnV8lKT82n4dmMsbdTKlKCs47UCj-yag==",
  "id": "rs_086d2cea4e577dc6016ab442fb333487d0a3717646000ffba1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"At 6.4 cm height the inner jaw faces are visibly just outside the two opposite rim edges, giving the intended outer-rim grasp. I am closing only partway first to engage the rim gently and avoid ejecting the rounded bowl.\"}",
  "call_id": "call_DPkOvAvm7y4W1hVfTDrF1SlQ",
  "id": "fc_086d2cea4e577dc6016ab442fca5d487d09ec516b114dd90c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DPkOvAvm7y4W1hVfTDrF1SlQ",
  "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]: [-0.3058, 1.7729, 0.3878, 0.9974, -0.4198, 0.0345, 0.6051, -0.02, 0.8337, 0.5945, -0.4603, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.0458 left_z=0.0536 left_yaw=0.0126 left_pitch=0.2054 left_roll=0.218 left_gripper=0.6051 right_x=0.2838 right_y=0.0008 right_z=0.149 right_yaw=0.0016 right_pitch=-0.1182 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.0068, 5.4769, 1.8388, -0.0757, -0.022, 0.0415, -0.3624, -1.1692, 6.9675, 1.746, -0.0611, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de308d30f12b5838a113fdeeb1dad0dfbfb8ac5e0a492a716f4b61d1eab6e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de02d14603ed2f9adf35167337bcec117dcedf3d73dc4b3b1f748e6e5793a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ece15c851ccf9244ac92d5017660306d48078436779602865d3ed93e75305ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.527 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4747, 1.8851, 0.4477, 1.0817, -0.5545, -0.0223, 0.0077, -0.02, 0.8295, 0.5945, -0.4454, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.0971 left_z=0.0517 left_yaw=-0.0078 left_pitch=0.2603 left_roll=0.1969 left_gripper=0.0077 right_x=0.2859 right_y=0.0008 right_z=0.153 right_yaw=0.0016 right_pitch=-0.0992 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -8.6496, 4.3009, 1.9267, -0.1538, 0.0317, 0.5934, -0.3761, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.7535, 0.4049, 0.9855, -0.4191, 0.0372, 0.9954, -0.02, 0.8337, 0.5945, -0.4519, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0473 left_z=0.0639 left_yaw=0.0129 left_pitch=0.2286 left_roll=0.2123 left_gripper=0.9954 right_x=0.2851 right_y=0.0008 right_z=0.1506 right_yaw=0.0016 right_pitch=-0.1098 right_roll=-0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -8.4718, 4.041, 2.4933, -0.0562, -0.0415, 0.0464, -0.2256, -1.0462, 7.1316, 1.7118, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3058, 1.7729, 0.3878, 0.9974, -0.4198, 0.0345, 0.6051, -0.02, 0.8337, 0.5945, -0.4603, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.0458 left_z=0.0536 left_yaw=0.0126 left_pitch=0.2054 left_roll=0.218 left_gripper=0.6051 right_x=0.2838 right_y=0.0008 right_z=0.149 right_yaw=0.0016 right_pitch=-0.1182 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.0068, 5.4769, 1.8388, -0.0757, -0.022, 0.0415, -0.3624, -1.1692, 6.9675, 1.746, -0.0611, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de308d30f12b5838a113fdeeb1dad0dfbfb8ac5e0a492a716f4b61d1eab6e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de02d14603ed2f9adf35167337bcec117dcedf3d73dc4b3b1f748e6e5793a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ece15c851ccf9244ac92d5017660306d48078436779602865d3ed93e75305ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_086d2cea4e577dc6016ab442ff10b087d0843d43cf81ae28c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.033,\"left_z\":0.075,\"left_pitch\":0.3,\"left_gripper\":0.85},\"note\":\"The partial close shows the right jaw contacting first and shifting the bowl left, while the left jaw entered the interior; the gripper center is about one centimetre right of the bowl center at jaw depth. I am reopening partway and shifting left to equalize the two rim contacts before reclosing.\"}",
  "call_id": "call_Cv65OY1lsYUpcUFPBZD84Xgm",
  "id": "fc_086d2cea4e577dc6016ab44302248487d09a2a89aa6ca3a2ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cv65OY1lsYUpcUFPBZD84Xgm",
  "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]: [-0.2554, 1.7699, 0.3798, 1.063, -0.3996, 0.057, 0.8468, -0.02, 0.8364, 0.5945, -0.4683, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0301 left_z=0.066 left_yaw=0.0377 left_pitch=0.2584 left_roll=0.214 left_gripper=0.8468 right_x=0.2826 right_y=0.0009 right_z=0.1468 right_yaw=0.0019 right_pitch=-0.1289 right_roll=-0.0046 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -5.7778, 3.8222, 2.0635, 0.0708, 0.1783, -0.0659, -0.0889, -1.6479, 6.9265, 1.6825, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15808ff327f90e3298005a027286ed4147204dc04d607b22de3c0184b4d04b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90d0e3421801eadb821f656221b8fc9ccce9fdfb75aadd0fdfb11f4deac3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38474130df00be53e6fb2e338f692fb45cf1ccbadd09c231405cc66fad16c06b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.845 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3111, 1.5513, 0.4206, 0.841, -0.4267, 0.0345, 0.9949, -0.02, 0.831, 0.5945, -0.4488, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3995 left_y=-0.0479 left_z=0.1141 left_yaw=0.0212 left_pitch=0.2991 left_roll=0.1879 left_gripper=0.9949 right_x=0.2855 right_y=0.0008 right_z=0.1519 right_yaw=0.0018 right_pitch=-0.1041 right_roll=-0.0052 right_gripper=0.9992\nstate[joint_eff]: [0.4034, -6.694, 5.7368, 1.7949, 0.0659, 0.1441, -0.0708, -0.3077, -1.0462, 6.9538, 1.7021, -0.0513, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3058, 1.7729, 0.3878, 0.9974, -0.4198, 0.0345, 0.6051, -0.02, 0.8337, 0.5945, -0.4603, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.0458 left_z=0.0536 left_yaw=0.0126 left_pitch=0.2054 left_roll=0.218 left_gripper=0.6051 right_x=0.2838 right_y=0.0008 right_z=0.149 right_yaw=0.0016 right_pitch=-0.1182 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.0068, 5.4769, 1.8388, -0.0757, -0.022, 0.0415, -0.3624, -1.1692, 6.9675, 1.746, -0.0611, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.7699, 0.3798, 1.063, -0.3996, 0.057, 0.8468, -0.02, 0.8364, 0.5945, -0.4683, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0301 left_z=0.066 left_yaw=0.0377 left_pitch=0.2584 left_roll=0.214 left_gripper=0.8468 right_x=0.2826 right_y=0.0009 right_z=0.1468 right_yaw=0.0019 right_pitch=-0.1289 right_roll=-0.0046 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -5.7778, 3.8222, 2.0635, 0.0708, 0.1783, -0.0659, -0.0889, -1.6479, 6.9265, 1.6825, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15808ff327f90e3298005a027286ed4147204dc04d607b22de3c0184b4d04b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90d0e3421801eadb821f656221b8fc9ccce9fdfb75aadd0fdfb11f4deac3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38474130df00be53e6fb2e338f692fb45cf1ccbadd09c231405cc66fad16c06b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMJ7TleKb_9Fb-qogU7tMBDzJKPXkuGPwqjmX3cgEh5l5Fw5YAdzBzoTtQpwGLzaQju8AnOg1BMdZFIMnapXFzvA4aEoK27pOME00TEBg069hQgXyYfRH7zMT8g8Zw3iE3Ew5OyH08lii3Bofov7b-mHgxc-2HhgLOv2Czs3W09_MelywXHmEcDVGlAM1CgE94nhGJb0sTNmFYIjRkgEakCeVTaFqDbA39sqF9JLDNBf8FhAj_9-m121YgWNBYy8piYLGAgw7hwwHve4MQILF9FRM9MkWBgSLSdmFphqAQErSMCRTB_XjSBzveh8g_A3-g43F3xkXC2rxdtY933VEOlzmrj1VWHUIpyz7bYmMffzXTQK5Ho9cMXX7gQRp_EQefs7F9EEH0lIkHFR84qt-h0w3qJvDwrAdmc7LhyE9dV6iz3zvXyTle_pAeb0ykfU1SSn9uCHEw5FRKDx_Zuhsa1ogib6KNhrjPD6Z1S7DAkX8BoQ346csncUVH12xne7R_oqUCH7RJvvNxHSQZ-GPYqEUMAcw8Ka8_HH-co9c16jAwF08QsjzB6DoHsffXjOipJeWDKEl2qPs1nZzSQ9LUDIfbTyjs27pjJ_l3dr2Q6D2JZmy-8ASe4mkq2mwpxywzcZSzHSsRQnckBqTCU6QLB0atCQBbPrjKnPWhdku9wufNEEIZW8W2u7E-Vgd9uOm-xQOTpIbvJ_8_16Bb-F-_BwzaxvsFGXymRme-f1jVbZojENrdPWTLbNFrlh96dgEy-DQDmgrMXfNAZNakNgq188wp13rHmA6ZqWq8kcfPrnf-mQDf8d7eZ5d9DV6PM_ucw8KeJPd2AVAgFJ1_b0dbU6NuHV6ugYjHF10lXKjg6p-rbLPa6bowYV5Q-PSMInPiA61NR8BgnSHboz7zF_EaDGAcGNOuFcEpBeqcwr-03t5kZOxr4vblBjsfOEocEDLn1JhInAwOiUalK2DAnn8hu1-7NLE-k3x1BIjiRDv6t_bZ2HkOCQSgTsJjgUfGUqV2hcI7fXpgJ22Zxg7gE2l6VOwRXXDCJ4xD01UpAAaDsNXbYi85yuHgxlZuPShlEMgPgu5GKQUh3KUZF1-9nDUiXcJKIPbrWaiC2WVzQvK9uWZvSfvKJITSZtsBmJKZVGc6opSucWGj6OZ8xibon2tyFn604Wz79hoGLnMbKgKNbr-zZa7wO89TcFrz9TsSkxuRNQdDnQn3rVed7HakSu9RMw9ra3ZTHNg94JRf3fGMxLop9pgY1gyPbgmWKgolwOdPYL3N35ogSkt7VlSXrJ4g_ZzVV2zJ_gO3EzAYFibz_Er8HEQ9nf2H6QAGuYnJhY97e7hBomHWfxYI_1iyi1tIrkEv3btxUVhN0KO1HFI0i6QmI17oO68ma_vBpggzeGYwufMKF_rmj9puaXmVOrAUCgKe1vo3Oi1PKJEzp787i3ckQiZ0dRv49rG8QvOyp85xw_2kgeFzJnbxmyz_4uCynZCyS3HldXgxtTNNQFHqDoPD7mvqRyWnCMHSbsxGkAa5j4BMK0DLvfF74j2egxSHWlweMC0UY-rRAbV-oGCpsWbRDmsyJslnPf3H9huS6QeibkqBbnNRd5U-pvV_-SrVCWULVzpXk3QQ2-WLPbq7Ml8k6PmwFvVu5z4Msj0MQPbOEYdWp5vfJUhB2bGa9syFitiCelDyP9dxhv6tgZqXdJmzIjys_kSbrYgfbEpniRIj_AwE5dfvQbjA23-9oW6iTKy5NYpb7WM_6blJxRh7S6K_uS-4YfBPYpv2cxcK0ntRPnRuGuIGwVURCRcJG0yTPNLpKwJYldEL9B2PiBNQnO9tXG_5GWE-KvIOaUn6oGtSAZwTBlw2ZuEnhBX0hRd9qkxE3EMJ3v_cyznjSN2ls1itVm-7CD_sX6CdY1tfdx_zHA9kcvVcGP8uPWiUqVSQjaoZHUNQJ9xF_1LzZtQAUtYma6AuEiC7ECeLs0xzzAfWcv646UD2cvFh753t_FsUx1rV9AWiTA_MBFpeJxrYGMOJHW4wZm7_qUeER-2w3SlPWrOP3T2uMr2GTmF-syOHTrqHvdVxl8V-maCqzoV0YRxadvDVy5MfrJVP_xftoaiM7KlknMjk6tj2iC1oOSs8E5bRcJbi-5WlLG6oKfe5x8lc5o4sgWLl2sdGBIsT2EJhoYyBONf3_bdGgNT9niO2o72Anzh0frgR0ukDoaZhImgOAIvuRe0h-M2IBfTVXWfooAB2kX7xCLT3GvxPRS_znKQGHsJEXVIBFeQZJPD7M9UfHZ5asgmAxcqSmW8K1amqis9mU04icXNeyuF029x5RVHv0glMJrja7xRf5VywSNKgjwqvONrifDIpXRjCfn7w0rdj8C8W1avAGzjtxtNhT60gB-h4H_ZLXimyaVYE9pYs=",
  "id": "rs_086d2cea4e577dc6016ab4430614b487d0a6cde02b88718cec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"After the centering shift, both partially open jaws are now inside the bowl and symmetrically near its inner walls. I am deliberately opening fully to use an internal expansion grasp against the opposite inner sides, which avoids the rim slipping outward during a close.\"}",
  "call_id": "call_mnVZp4d9HXqJvjWlJporDl7g",
  "id": "fc_086d2cea4e577dc6016ab443081fb487d0a3903e01363c070b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mnVZp4d9HXqJvjWlJporDl7g",
  "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]: [-0.2543, 1.7702, 0.3782, 1.0775, -0.3931, 0.0589, 0.9929, -0.02, 0.8364, 0.5945, -0.4702, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4021 left_y=-0.0309 left_z=0.0684 left_yaw=0.0331 left_pitch=0.2697 left_roll=0.2102 left_gripper=0.9929 right_x=0.2823 right_y=0.0009 right_z=0.1465 right_yaw=0.0019 right_pitch=-0.1308 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.5026, 4.041, 1.7705, -0.2271, -0.0269, 0.0269, -0.0752, -1.0872, 6.9675, 1.6288, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458340b48b4a0c60c73f7be211add9631af1c611a7448137110ffb115da25ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbd826f0abd643558c7456728eff5edaff9cf76b1d934646b0153d88b87fabd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf0a9dceeb5f068aa56a6abffb1728a42540c56057c0849afef97397a1ed05c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.432 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.7535, 0.4049, 0.9855, -0.4191, 0.0372, 0.9954, -0.02, 0.8337, 0.5945, -0.4519, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0473 left_z=0.0639 left_yaw=0.0129 left_pitch=0.2286 left_roll=0.2123 left_gripper=0.9954 right_x=0.2851 right_y=0.0008 right_z=0.1506 right_yaw=0.0016 right_pitch=-0.1098 right_roll=-0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -8.4718, 4.041, 2.4933, -0.0562, -0.0415, 0.0464, -0.2256, -1.0462, 7.1316, 1.7118, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.7699, 0.3798, 1.063, -0.3996, 0.057, 0.8468, -0.02, 0.8364, 0.5945, -0.4683, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0301 left_z=0.066 left_yaw=0.0377 left_pitch=0.2584 left_roll=0.214 left_gripper=0.8468 right_x=0.2826 right_y=0.0009 right_z=0.1468 right_yaw=0.0019 right_pitch=-0.1289 right_roll=-0.0046 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -5.7778, 3.8222, 2.0635, 0.0708, 0.1783, -0.0659, -0.0889, -1.6479, 6.9265, 1.6825, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.7702, 0.3782, 1.0775, -0.3931, 0.0589, 0.9929, -0.02, 0.8364, 0.5945, -0.4702, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4021 left_y=-0.0309 left_z=0.0684 left_yaw=0.0331 left_pitch=0.2697 left_roll=0.2102 left_gripper=0.9929 right_x=0.2823 right_y=0.0009 right_z=0.1465 right_yaw=0.0019 right_pitch=-0.1308 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.5026, 4.041, 1.7705, -0.2271, -0.0269, 0.0269, -0.0752, -1.0872, 6.9675, 1.6288, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458340b48b4a0c60c73f7be211add9631af1c611a7448137110ffb115da25ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbd826f0abd643558c7456728eff5edaff9cf76b1d934646b0153d88b87fabd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf0a9dceeb5f068aa56a6abffb1728a42540c56057c0849afef97397a1ed05c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMPYiFJ7WTAy0aM4PzlE0Qk4ks3U4_J8b8vOJtM411Gph7hXUm0sNuwLyjlSQYhgvTFb11tABeGOLEA8l9E3y-MT4ZgIlKCH8XargM_V_7qrlelKRE0f2LsVsQQs0o1A9OHTYCm0q3CEc5vBKsXx0z5UlkJiDpk0Nmc5bWSPMhlk0TkdVlKTpDXee00cGdOF34Tp7COrDwdsye5qBDdOIQeZRdq9AGkopOfdMXYmzhjWKSgE2R2NJBXvuTMXXcUB-YoJjyJsFF8gQ8OwnTc1dJ5QF4xSAwt0ywm9cpCkGUTCB5mQbNq-jy-RqjCyUvq2tJyM50Kpf23P8nyw6X0d9zTInBeZPa7P9IGpZpXbcwBzZ33oT1hKq_rqN7jvrbiV4iGa7yQAQYLV7mVlfrJKT0XWJJSFWs-IugkFy47P-W6qAKmUL6qrPSXoY0yH6Qxvy--4hx9Znu89-jqfQhyibt2EOqOZi-hH5e8gdc-BDnHT9CQNBVk14icJ8Uxg1-IZe4Z6KqMmneKk4JAsVNgBpQArsFIdaK6cAa0vO0F0F_LCgN_OYkOZzdKwBkmDXWxzVwXpK6rH1LPdLeBpLGmnkaW2Y2TJONuh1ppzrYU0cMUsbEujJguMOKoZja_W2GlnGAy2Pv4QgnTp0y2IgAcPafoe6kXIkXGZjPWqaVg6YWdFBAK74uRqYRWvasHGDofyeWdEKDv_EmnzLd2rX9JWzlJXAVYQn5Pc8qhQrDy7j5KcOXptbGjf_fVQz9jATwnT59ClEkO0k111QT0ypCEZ0XzvtiKt907CyKPaq4218cKQhHdBX7COkCjEEp6UM0FjbXBvoTwVsH4pb1mOSP2iRKoVeqGoV2j26UluNagoR3NZTZw3yMxB4nJsFmE3KpvxaaIuqNMJ03LfcZRHvLm5Hbl08TI-qPeUWHVMeuRIVzFt7B21qdfpZ_-gSsJaVN8e49SKoMVEe-YCowBz8zMn-ECoEVJDQk3vV8knkzcTMnTrWXrogBrzadUOGQuizmWcbtjYnNMG-yja_pwNZgtMmwlxqBpMhyxJOVa_AXFBdQNyX4MSD8LPWam6fHOVFdUaVYfq2ZggLesQmELstPW_9Ci7igq9QS-CNs1CguDe9n6oJk6x424J5-Sekvke7BCOb2oz65TDQ3SxOivEz_uad1w4tXsIuy3Mn0yYqlvywuhJTLGb651kOJ3YLp1W5-z3PxJaKPaE9EuCBUXvWYL1siq3dlVgnajbUwU6WIduKrh25QGKBN5I7GltBZrgxNMyzT5aEH9HX6UEA_lRXmBD4NM46tLhXmD88d8gJMeUslEAYjsdtlqDgw1m4YfFiD5sFbc-mwz6KJ1h54YPRjSpvRlofd88gQCsumPmbxgkaeec4xV0E0XJKEwftiH7xKSxri1VQpvfjYr21hwUg_fXWG-CdE0TBDd69kt56smytdQUYPpzNhQU9NmbxJebW4YkeVCV3nEUjCFccI7RMkWCzDa0T9mgYmW84aqvkHyVO13Bp8_ob6noXk9JlsnPhbrNrS91tCR6ZvgsL28mknID3L2wGNSjxTCLZkylX_tcCOqvt6XjoXVIHJqs2D_WUheGt3KUeF97N8I-RI6zhvQ-Q-7o5MWs8FUktL5DcJmANKnC20twvcn_mSTttnlifaP37TfqqxZLQOBfO-2PEmaeluZZF1a9Hq1QB1kPdo20j2ppwGaWujNjt1NN4QlFp1A3BwCkiIZ5rvB2eUJsHDeZRUdhQ==",
  "id": "rs_086d2cea4e577dc6016ab4430a71f887d094194e5c335555a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_x\":0.402,\"left_y\":-0.031,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"At full opening the jaw tips visibly meet the two inner walls nearly symmetrically, though the normalized reading reaches its limit. I am lifting straight up to test whether the maximum-width internal expansion has enough contact to carry the bowl.\"}",
  "call_id": "call_ufxkZeWAKVyeCVMSEAFED2Bu",
  "id": "fc_086d2cea4e577dc6016ab4430e5dec87d08bceb2e50e9a6f6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ufxkZeWAKVyeCVMSEAFED2Bu",
  "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]: [-0.2543, 1.4014, 0.474, 0.6613, -0.3969, 0.0597, 0.9985, -0.02, 0.8398, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4009 left_y=-0.0299 left_z=0.1512 left_yaw=0.0402 left_pitch=0.3163 left_roll=0.1975 left_gripper=0.9985 right_x=0.2816 right_y=0.0009 right_z=0.1447 right_yaw=0.0019 right_pitch=-0.1388 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -5.6821, 8.4171, 1.7851, -0.1392, 0.0562, -0.1636, -0.1846, -1.4564, 6.9265, 1.663, -0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cf76a3397cee8d0b8e0c299174603bcc6a21e98d4ecdbdbcfc2bde5c84f15a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e916d1042e5db1fdef6d8596902e070947eb4c6e256bb352ea5c812916a0811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10656c6976b3c47d1c780617832951ed5e15a607b2100aaf7cc575a6079bd829",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3058, 1.7729, 0.3878, 0.9974, -0.4198, 0.0345, 0.6051, -0.02, 0.8337, 0.5945, -0.4603, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.0458 left_z=0.0536 left_yaw=0.0126 left_pitch=0.2054 left_roll=0.218 left_gripper=0.6051 right_x=0.2838 right_y=0.0008 right_z=0.149 right_yaw=0.0016 right_pitch=-0.1182 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -8.0068, 5.4769, 1.8388, -0.0757, -0.022, 0.0415, -0.3624, -1.1692, 6.9675, 1.746, -0.0611, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.7702, 0.3782, 1.0775, -0.3931, 0.0589, 0.9929, -0.02, 0.8364, 0.5945, -0.4702, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4021 left_y=-0.0309 left_z=0.0684 left_yaw=0.0331 left_pitch=0.2697 left_roll=0.2102 left_gripper=0.9929 right_x=0.2823 right_y=0.0009 right_z=0.1465 right_yaw=0.0019 right_pitch=-0.1308 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.5026, 4.041, 1.7705, -0.2271, -0.0269, 0.0269, -0.0752, -1.0872, 6.9675, 1.6288, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4014, 0.474, 0.6613, -0.3969, 0.0597, 0.9985, -0.02, 0.8398, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4009 left_y=-0.0299 left_z=0.1512 left_yaw=0.0402 left_pitch=0.3163 left_roll=0.1975 left_gripper=0.9985 right_x=0.2816 right_y=0.0009 right_z=0.1447 right_yaw=0.0019 right_pitch=-0.1388 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -5.6821, 8.4171, 1.7851, -0.1392, 0.0562, -0.1636, -0.1846, -1.4564, 6.9265, 1.663, -0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cf76a3397cee8d0b8e0c299174603bcc6a21e98d4ecdbdbcfc2bde5c84f15a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e916d1042e5db1fdef6d8596902e070947eb4c6e256bb352ea5c812916a0811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10656c6976b3c47d1c780617832951ed5e15a607b2100aaf7cc575a6079bd829",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMUIPZ-g2k7oLm0oYVtKRtz4wTparshbWpaG8mmR3Y853SaC3-ipZI0aqaoJLgdQSp65eRywQJzSaSTT7FJI1PT_zsHr7PMXDlczWuKOOkWwcEqmnuvlmAW61mMYAH1gDo-O4zvnQQnwTblvHAp8ZbDVOYwZvchp2Zo00ygaU5T4FzyhT47VEvNhlHu_ZSVytWT5TBqdchf_2neFL1rxsOBjPNi3Fn9LaNky6Zcz8Clj7b8ewIJod7j33hg9F-PjPqbMCS3Ips8j_yiWg1rqH-j-2AZS8yymG_56YQoijMltS1_Cy0yd7vt6pnThnZmCpJDmKlkYQL8a-4SIELLPqstTnFsMrhzJRA4uC41NatqB1nVvxdAOaDF4-0z6vtV9hYWCMlhrb6jcHt0WqDorVcgfFKP9pHBD_tRa5OBpM_Oblg4L26uKNdvmH6Pg62bdlJJUiJhJqmQEVRguDn-sObBh5rxZjNVdDd8vAhbkjdENu-GlaI3Bk03raNgfJDsFNneGCb17GLLV1JBDRMRT40b97k7UlZYrVFsVGrqHMBVm9sh5Be69Q15E93dRfH0QkdqN8CgYOnkPhB-oZhQYmECD15ZBQ0u8_YIFwzTMvQiN1qeBbHt7i7TRF7e_E4Mz8bCG5xky3p0L1CZe-OiDKZJcG673JnYAc-GXZw5fN0mSL4MF0d2l2LQTBVvRHa-ULGqJmn0qhqMFrfeTRMq6wZtsG4lIYI1KxppeAuY7-S1yGPsj7yEG0O87eKANZrS9MZHfkfmrE2Xfha-a5CaK9gUeLPyVhT0d697oCWSs38-Bp8ipex8sb-n_wF1YrdcGg9OUKb4vV85DhUq677W2DIYFGiSszIup05oSb_wsgNqzjJZZu9Sg-NPhTQ5L7pfoqsHsLEx-6P0HM5yIadrQawrZXOZov_-2OGS8L8b8qZtdYdjOvT23xVlCiBWa7CG0EORHczO7zDAG0thOJc66xB9aAeuqGVTFJ7oDsxB8aPNZEMrtV1D1sqLnU1cwIkSFy2XA9cvARQ1sFgys26DYKRHs_kbr3ozAKDB9s1dI4wAiuGB-bpKdWv_okKGGH7J6VbeXQS71RvcZkjFV_N4iCfOVhaD8CkqFaALocnH7EGvc3w83hQRTH55-LHgRMqwPhujlZMC1uWnyPtElYXH05o_nYaadtcaDSOe31v2bMhscqw9_H6er_RK0oEPGjFJiSpTHdnxCSGB4RAECA9VqR36lMFlF7ATHm3MgA8YNGOAuh8O4zJroMmC9kwjI3ozoSTSQEUdyks1vgpfg44Ww-m39LbmMn1T4hWkk63OZyXLqGqesYyeYSH6FFJSIUTbe-ugZX8_09xG4Hj1O-bvViIMVeXF5rYKaoSsaeBqNZNXSHXDyksbpcwPDgZ7Hm1YMl7qrNFIASZXS1AzWm7LAS17z5fX69jjlrgT1jSC9rgNvDooqb5qtckfEAvRW8mlK4BNswbPccaVVa7QOll8wwgUN6XqAb1eCPhAps8JFvFjnRsOcjyGKDa8NerBlayR1hIbwHO1rOQISrSPKKOcqSimY9mFS-9N3DR80x-dtr7UaGJO9LZ1r5UfvOdNl2_nXGWKjlyIqSsfI56arnnefbxWFpCGJJ5kCAnj8kJMMlTjpTKpNVof5C9FG0VloNicfuhpzmzQRY7Upgud37Ndu3utpJMZzNcnhAD2GZtBYPMJ1zeQYM2CgWX3AcLHKMX03VZc0BrRvXkCY7ixzv-4_Jr4X064XaOUx7wPSyqk3011tD1U6DUBx0fGg4tI2R5gDazUCETnYwVITDD1rY-GrRkR1s_rJ8ICsHtZisjQNSee-A4HoQbEZjk1ypRcx2pQtSc-EDOllioz5ztNSwqRvk6HfPiGf6DifcWaGrLalz411QFyyY49kOii3zu_1S8mYGOq5usbpFHPdEBTt7Aa0A8g3VT7-71jEjqnSNZxWPJ3exlyOCwBB62bmj5aQPUSf6pkcAOSkrex2stydVvN3IM4sKEgQ1G8-ucFGJ7AeMIYINxt8enKo8l6S9JagW44AYVAX9RCXLGYiqLcK8H1CNRtuDMAXo8b4ynbm4GE4cdgSwcHsgv-N7R2JAzvudpxNKnXptiBiEZeyYhRGYeNsqpRLS2DUeJmwHdtYpZKqV_z0I_QH1qjznBh0b81krvd46xyLp4cjNcGEhY0QhDC1OKiRM5wz6krHagtMYLT68VTVZ8DfBSstoc5-sghxMM3VExrrThrJR2aYKJ4L5UObJUmNmU_0AsSUqoevflRWzah7S_qV54npvfPfiAFRQ85onnbhFe0VxgKTbED2dstTw_WqtcQmpxVp4oM2ECczwpTm_RuENd64Nhd_7az10rKM6VikIOY8QJkEqdRKNHOhomH7chF9pQdt4-PDaQ-FTfJRzLqiQSrOB_Q5yHfrpYWmM0BUyRNf8aAlIsp5ppteAZfEFT7kJu5kBaGZWcJw_BBbADzIeIM_vdOSUv18mvNw3CKZKA71YeV71Y8uqKRT9FjsiIj77tuS54k_IQ4HEbrs_N9jNJ6CShI3YFIDEQ5CTFdaNperGvQOfM6VldMSnvJUdVqmIf9WcUWc53yLqQpKQA2OplobJUVFnWdPPoAJPDE35SDuJOtFnHhrW8d8IoP9ydmGFyLxwII_fl8omZzs0LvAFtXtzchEz0CsV-N_IXk7Qj-s3bScuq8vMt-boGvTBqL58BpHrUCTR9nVx8hYWF4q6wMFHwK0IWPYvWiPhQbS0ToQ_n73vAUPNXSWMJFk5Ofss1T8LRQUD8Rb_Pvrs1MFJhkvQsZhadXgu1Y_wJyIQZTHHT4FEFlvdx5Oatmw8_Xp_l3NRdQQfBVbsOSWXIF3tWLPJYvw0UGI4IYKKP3h4Wn-7YMswP6Y-UeCOOaVg==",
  "id": "rs_086d2cea4e577dc6016ab443112ccc87d0b0193e5cc7c3722e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.18,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The lift removed the left bowl from its table position; it is being carried by the full-width internal expansion between its inner walls. I am transporting it high and laterally right to place it into the middle bowl, while keeping the gripper fully expanded.\"}",
  "call_id": "call_jscMyollYxKoTGcCbVszEr00",
  "id": "fc_086d2cea4e577dc6016ab44313245887d08e6bb8775d5bf3c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jscMyollYxKoTGcCbVszEr00",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7746, 1.631, 0.8585, 0.3328, -0.8665, -0.1631, 0.9985, -0.02, 0.8425, 0.5945, -0.4747, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3971 left_y=-0.1952 left_z=0.1692 left_yaw=0.0175 left_pitch=0.2804 left_roll=0.2097 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.144 right_yaw=0.0017 right_pitch=-0.1415 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -6.8581, 8.8, 1.79, -0.3541, -0.0611, -0.1636, -0.0889, -1.6889, 7.0359, 1.58, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a805e64200bdae1f4af86226d4df8c3572a56a58269a96a5f67954471308a88e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039026e581b573c0b47c989f7f90d16d7fd86ced509ec8ad14a5ef21212b261f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d574ea32e86db858e95d76ae5b4e511bdb11c374b1ca8123ef6f968f2547db96",
      "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 · 4.472 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2554, 1.7699, 0.3798, 1.063, -0.3996, 0.057, 0.8468, -0.02, 0.8364, 0.5945, -0.4683, -0.0166, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0301 left_z=0.066 left_yaw=0.0377 left_pitch=0.2584 left_roll=0.214 left_gripper=0.8468 right_x=0.2826 right_y=0.0009 right_z=0.1468 right_yaw=0.0019 right_pitch=-0.1289 right_roll=-0.0046 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -5.7778, 3.8222, 2.0635, 0.0708, 0.1783, -0.0659, -0.0889, -1.6479, 6.9265, 1.6825, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4014, 0.474, 0.6613, -0.3969, 0.0597, 0.9985, -0.02, 0.8398, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4009 left_y=-0.0299 left_z=0.1512 left_yaw=0.0402 left_pitch=0.3163 left_roll=0.1975 left_gripper=0.9985 right_x=0.2816 right_y=0.0009 right_z=0.1447 right_yaw=0.0019 right_pitch=-0.1388 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -5.6821, 8.4171, 1.7851, -0.1392, 0.0562, -0.1636, -0.1846, -1.4564, 6.9265, 1.663, -0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7746, 1.631, 0.8585, 0.3328, -0.8665, -0.1631, 0.9985, -0.02, 0.8425, 0.5945, -0.4747, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3971 left_y=-0.1952 left_z=0.1692 left_yaw=0.0175 left_pitch=0.2804 left_roll=0.2097 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.144 right_yaw=0.0017 right_pitch=-0.1415 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -6.8581, 8.8, 1.79, -0.3541, -0.0611, -0.1636, -0.0889, -1.6889, 7.0359, 1.58, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a805e64200bdae1f4af86226d4df8c3572a56a58269a96a5f67954471308a88e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039026e581b573c0b47c989f7f90d16d7fd86ced509ec8ad14a5ef21212b261f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d574ea32e86db858e95d76ae5b4e511bdb11c374b1ca8123ef6f968f2547db96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMbLiXP0G_c47t6b3UR7m5JkupImFPrMqTjIEoyKvMNR6o8kbYVBrwxZn4BFQfYkTmxkvE-TsvxVgjUrUA1MNCRe7kJ-lEZezGm_8qixHXBHqlrJtAGRQNib-JO0iPhMRaxl0AjGRQlF3cpD3dICFcgCKwsOZ2hDyQ8ioLnXoUwGrtSMEfnDc0xfQeNQsgXEZFE2xrFo8J8v0eSoLjn5OiqrPCCBe24op9-l6K_dN-M_eR9YD99p4uZ_Zka1yUHuS-fhDYju645IxttSOFLRd1EgJ0pGsr8CEjCm7o0Wsu-AOYGqiRrqKZyeCTt-3ffdfowXZjTolhhGcGTDP-sb4tsBnI2H0g-z7tYVAJt-S_S2l9runY1CLDS7DLhE_KsHrxbsAO1XGHhhk0si9HP0-a4zQn2w8TcKHwugowWog9VsnxDWGHtr-433cmCcCNpFzNzbohr6s8rfg6zGQDCWrxYK84crJqM_BasYx6fhQFF0946wyq4W2qbJluGu0_18wyI4ZRHz5iqNVFc8zPnBkYkRd25vZ70tMUiui24irEAluyt_4ycZw-6-8EFm155Kp6XZq5ZtVF57weszv6efYkMkF5XVGEgbuonq6DUGgQqKKJBhEMMdNRDZ8BFi4gurh-EmkNbiCwwDHFoSH8WOZs8CGmTt0ZlZES5woBtAHMFicMUZQRukf0-xTOsPsHNI7iP332pK3J86Rvo7Uclac9habUl7Umfmt72VzVnUTol-3Pi_2B-0IZZCP33DPQnx_eTTZ2ik7a0U9v_BNjKyxb0ByW8fOVwasqgiS9vNRwcMnwPGY1H00suU94PP8dQAfuq6k4I6rvNhZjLQRCePDcff3tREEa7W4OnCNqvvxxJkY6SbYb8EWs95_hiar18VvUIgI0ktzUwJ7dezxQCpJpx3aTgIUXhgGxEvsfNSblVfNHgWfVzU5fq21LjQEG7WqGHPkRN0FPteB_D8EjGWgXMOEY6TcUWiUCTSFk5vMQu48vXV2mq-eLIcWDPabEUi4frtPHffWT2iOP82m_VIgK0iSdna6XhT8wbOhGUSKeZegsyGh--kJjS0b-1HIEb7i6gQwn7iK7KjnRAP0C7xYrh99lxWLykGuOa5y0Cq0Liibr-FAWfQ5lJEeANnqmUqKk3qD8BMj7-cBi5QGzW7pDIBmpCzylT5L3O6wslZwEsEsVHwO5tLzoOydqSY7xa27ksI3k0p69N0cMgE_m1ZwtEae16CsBIMeThQnuBElxMmLg-05dvIg8sTkE3Q-1OkA7tlDI0Cj5sdmTkI17BiCCrWW3nC-F-0IykmCAaiOJLyK8ocNo-CB7_cv6Fj9ZagJ0rS41rOL4cumRe-qt860y3lcefSMgoEgK1F1pgCSdl6YPWibP-csEmg12SSEEbMXkOHtO24qkjiu4wRqunuBKVUdqndEwWgrII2I59i3h7QJIVkIIWzn_8cTC6DfemjfGsuZM1xRA-_l3iQB6ayVfm7b6hx6DmqoqsgTOdqukqLLD--mThi38VNGWd12486JEM3XW9i-x_FG-t75W5_F8yXqUJrVUG_n0mz701RILkpXPfti1ufh6Zm6rWVUnHkFnl6XLYpN1jeWtOInaXYnkJJkvTutt3yBXAMz_ONwWfpMcrtlsoTrEyYSKXVdRFdUSB5Mi1AFK9rtFjZ9OgQa4eYKOlEu4IF4ocG_4T_xUTMIsgAl6ETOYCsnChuOYHgVdNf7EgipNgLxL7m_B9i8D8qO3EIcY-TwjE3F5-3Y7bL2VdBzKiMOmiLlk-reAum8TRxL29Wc50yt-WbA8atk7X8FlwUXnIy7Qi4hd-UW_yA28iJFlYB8SItJm52u6EXOfZELY_VQe8ckb6AEelbJKETtDTC090iXLtuNJI_BaLwXgpMaOpORQYf60hIyPP9M45v5WDL9EWw7xTL3YDQbm3HuKFWYhUwI2n36OXedvDZQ_XR5CIC8A_Qtlv5O7bpIAbWICukN5mQZ-SDFSvhscxn0NPegLOVtuLbFMU2ROEwTsDFiyqRt2TM2b2Rr8dan64EVPef1Ff6b_gpndcZHbZKOsHdswvOO39NrImotSRGshWNqKK6XSUFi8Nu1tAA0NUws36fSzu5F2n39vDEk0aUKsLRBKnrAN4yP2mZZBdw6M7kZVF_ReVRSr6BX3P-RxEDwUIIhA_9MKRxz9grZSod_cXtx4ku2saQUc5xqT8J8PlqPe6IFWXhJl9rzNnywx1rmvVJGKhjeVeuMCBCx1X3XFc4_FCtOhK2Q2uKCivBcA82oBisxzIoLk5W7kuwnrQIQb68crA6wIRfssC_3r4XGG0s__UfTH_dJ0VEMXhWbHN5_gu9n8DIHLwd2Pg2Fs2kXFBD3c0rsWsOau169ZJT5DRiaNvKBXMrrABmGz1fQ-7PnfnnysgIe8P9JLkQ91RhgS47YLx4GxRPpf49cV0wCvxiErgzR0Jqk75jWmYjanZZUJxR3lykTkDtz8D2BoPVvWIvbPYTsWHhQBmsZAgHX-_4E4t9tdBpP2G9XLypjZ9Rqb_frKcioi9drXblyXdqloocNCrmQD3bHJrZPpAGOwkJ_yn7kaBtkkZbccIuPjN4dG8hSv2eG7M4-5oJvVusRMOT-fddRPlP5llQJTsUyBvimxt-cUU3C7f3lrBffY0SnXN4NBOy54ftUcKpvqWGu2YJktVSscWB7_1qoTUV5FIwJLSuyYaRrIrGZgbNCkCsP4sbILH7NvW9qKPp3IB0k7DM6NIsrdrlzjMOMMWZ8rcFFnHCYaPKv-WhN_3wkiETHgcclugKvLG_bin3vqg9hrNqeRljlsPiqJa35glzqnDDO4_vf1-0z1RWoxRSxeZf8JMql_lheccICq4FnFXUKkP65aQ3Y-itb5aVH8zLikDRpTC1deYPIbC8IooV755xYnaal5Feg43wEt3dk0WdXIaNalB49wHZJ71_NiAiTd3nB7JDhNXSz6F9QK7Ln0drZ9sFeqAjLpfA2_TXDT-eag1C1Xg-qFbP5k6TNA_Y44H4RJSP0sdVuMwHkMBmB7g7ZX8p7XqRQkf-xPfSrkrGyayCeUpiI9O6x3JM49mcIvXSqPGXRYyGWyKydI1-GdgCHmnNolV5h_StlLx28vCtywGN3BAbFo0AgnvgEJm01tPs20MN8xXZn_SE3ZqPsvSBZntqwDoKSqE3BqKDteBKbDJcc9YyW0tb2cVgliVTPr_W-AJ4pED6JFmIjELi5c8iT97TlUuADIfsAV16CB7omLCaxpSLjDWFO7ZGB1xHdoRgMAp2L5jr87g0wNpg92uGgleFKco8iDWZafx-_G4-hMk5_LScjAPfeAvAnQvTojM3WWW56JEYBQx5LJAUvkHb3xb7kw02cMPrJJjulHuNLKzNz_CaA6T3VixT1263P9zjRU00UjBHU7di6GY-pgq9Ihqx0at8NBUTYv3emLs",
  "id": "rs_086d2cea4e577dc6016ab44316f58887d098ad37601d45c54d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.195,\"left_z\":0.07,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The overhead view confirms the gray bowl never lifted; the wrist is now centered over the middle purple bowl. I am making one corrected outer-rim attempt here, explicitly zeroing both pitch and roll while descending so the two jaws contact opposite rim edges at the same height.\"}",
  "call_id": "call_K403OpDPVqpkfVD9k93Qq0Rq",
  "id": "fc_086d2cea4e577dc6016ab4431af86087d089eada9d300015b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K403OpDPVqpkfVD9k93Qq0Rq",
  "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]: [-0.6849, 1.758, 0.8486, 0.2325, -0.6117, -0.4252, 0.9985, -0.02, 0.8436, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4029 left_y=-0.1935 left_z=0.0806 left_yaw=0.0229 left_pitch=0.0337 left_roll=0.0293 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1437 right_yaw=0.0017 right_pitch=-0.1426 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -7.6239, 5.2308, 1.6044, -0.1685, -0.1001, -0.1587, -0.253, -1.5521, 6.9265, 1.5946, -0.0562, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09ff73a3762edade9ce93479dfb1afb4d5bbee5b48d330f28ad4f607755370b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d467908bee32f298c7710a5caafe626a100d7fd90019c7119bc8a905fc3d39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577d4155cea4cbb13e730b481c451d48399cda27004854e40a69c4b83f0bec70",
      "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 · 3.077 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.7702, 0.3782, 1.0775, -0.3931, 0.0589, 0.9929, -0.02, 0.8364, 0.5945, -0.4702, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4021 left_y=-0.0309 left_z=0.0684 left_yaw=0.0331 left_pitch=0.2697 left_roll=0.2102 left_gripper=0.9929 right_x=0.2823 right_y=0.0009 right_z=0.1465 right_yaw=0.0019 right_pitch=-0.1308 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.5026, 4.041, 1.7705, -0.2271, -0.0269, 0.0269, -0.0752, -1.0872, 6.9675, 1.6288, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7746, 1.631, 0.8585, 0.3328, -0.8665, -0.1631, 0.9985, -0.02, 0.8425, 0.5945, -0.4747, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3971 left_y=-0.1952 left_z=0.1692 left_yaw=0.0175 left_pitch=0.2804 left_roll=0.2097 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.144 right_yaw=0.0017 right_pitch=-0.1415 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -6.8581, 8.8, 1.79, -0.3541, -0.0611, -0.1636, -0.0889, -1.6889, 7.0359, 1.58, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6849, 1.758, 0.8486, 0.2325, -0.6117, -0.4252, 0.9985, -0.02, 0.8436, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4029 left_y=-0.1935 left_z=0.0806 left_yaw=0.0229 left_pitch=0.0337 left_roll=0.0293 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1437 right_yaw=0.0017 right_pitch=-0.1426 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -7.6239, 5.2308, 1.6044, -0.1685, -0.1001, -0.1587, -0.253, -1.5521, 6.9265, 1.5946, -0.0562, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09ff73a3762edade9ce93479dfb1afb4d5bbee5b48d330f28ad4f607755370b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d467908bee32f298c7710a5caafe626a100d7fd90019c7119bc8a905fc3d39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577d4155cea4cbb13e730b481c451d48399cda27004854e40a69c4b83f0bec70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMhdrIQxuFqtwzt99cll7C9T-7ccBw6Y4Ap5pLLyvYjlGK8b0t3tHgqAG0FLeb-e8WEuO4QVzAH9zRe7IO8NPE0XqrGkIetNHUNRUd6j1_aNzLAdbefsPSR5vNPeG8wkgb2w2PPWJ4u7ij40_OYsA3EvJVVHljsslB5A_B1mNSbcb-YK_i-kFanvrCqxGqrS1BIh4YZYBD8M-d3aAOs8s5JYLCnNjwrKocYm5-tH_AIpEJOslHjsiIWZbLoh9Q0U-32kagfVZEDKtMiEnMmWsDMosGw-9y6qaslK5TD9bf1jf4Di8E_orj7SECcw2ewqTXtT--naCtkM5ZlP2qMbtuBWbQi2aQdNpvSI-XFA7by_xfX26oEAuGzzQmVlwQPnfcO3M_e3yZzMVzkIlrwHz7yWNtbwGeUrVabH1Vf_TsbedTWKU08tZj8YVdVUNKl_ntgwZ3gcRNXv8rJhO6g2wvXffHWMVHsFkICDMEqzPqidZm_dkQwZwY-R9N_Vekg-QVoQb643fLVoWy3gRxLXPh5S3HgrV8Wg0QvIpYP-vifyez6-HuO2YuebIL92TNNTRwVf_z8Cqh4D9z-qAurAkoPmQi7JEFShmxbtRgNLXWT4VBWeKwpY0DfkTKGlHnF6A4ooenT-xpUOpTrwANR6xVRH3J4gPj31mt_RsulEcnxIfCi6ymdSKujgeHr5WxWOdHJNCCRVuttKudvnDTbI2Nd7cwgRDT2ZNwikgXNcDQM9Dj4VfvtxiI2QpFNJHWYVoIYl5NaiCKbypBAte0C3QYk3ux_DQTmnPuH3x8xv63GRP7ROEvX6p5k7phcAxfsOGzPbyFy6uPry_0odvbor-pMtOoiZdoKjnfBFFGwAMoyxQfkKHmB2eAOYSj-qZgS28YdTUfDH3PiO76aZVQWfMn4bDNc1WrqhDP1JaRETw0NsGRt_yDQcIailfmh4GzQoeEi9dIWVrTU3XDp87sgZZXuZWRBszt-d-uCvYpuFEnZpR_YS7eeGE3RX9aRR2p2JyiF3p5y642553SyDbdcLhV7qMK0lZWvxWCvS9mydH9wSftlqyHsovsMVFxOoqRt-25Oo94anFKW4nhSAMei5EVSyY1KXU5I8Jb8DnGZAmdsZe4YH9olU39QqIaG-VjXBMFv2GNasFi5LIxs0Y04f2DfjamfbiKUyucPMz5xUr8kJS1F1aqInZ3JT8cPP0ejPGyF4ffHCK6_VLinS5nzK4bXDqJ16la3ZdjOEZjPRrWS-tKUss4LydXV7tw9XAfTl8zdpQvwFMS0OBzwJzKiAO_zZJlC-802WtXoF4X5ykj2Uf3WlnXP0-KLjgNpIurmY1eY_D1P2XQa6CcHSG7b5HioRD2BOiyDBvhtsCIYRjTP7QHdhK0W-KmobvonchvlRggSdLOS_n5hvhKejJvqFRTETxjD729Mi5DbJ-uD_eCL5YbqUPeJX2TTaDSIpRgWeJ-IvbO2CJMwC642mub1Rp5gjTX-BbwuJKS3EDE1-bPZyu2wqkogQgarsP_0LXcQOtU8HxrqJ47FlfuE6eUqcct82K2Xs5ySk-bEPInw6_uUs2WFPy6Uz5EM0N1jgD4jhe05KpltjN69bWvCLX5MrNK7O-LJbPB4lg2rkXB9kb6dtrA8LS2kO4mXArhxLv8Mulgpl2b1BlkhAIWX6n7ViqUVyfm3AET99Z2xi6mstHtBW8goj9E0AEIN8_PirQhQvB1BeFdtOceAoep9jQYTzQnYnK0sj4NeKfXrsmF0bCaXmv7gzDxHoasvkLNelxHbK5PTc_gmNij5ULcbG-7EyQXeT98abCfUCLkpZJNIKuxIwQnEClYJv4apf0GAeHLNQ3JKNIl8RCh9pUbotiX7qwLRGpCHmqafgP5qAB4dqy9TjFuJ2R5jzveFBcbl0yRoGhj5-qqphyHl9YFj4c1jNKi_AQ==",
  "id": "rs_086d2cea4e577dc6016ab4431df09087d0bba4684d06af17ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.24,\"left_z\":0.08,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"With the wrist truly vertical, the purple bowl is clearly several centimetres to the gripper's right rather than centered as the occluded overhead view suggested. I am shifting right at the same rim height to center the bowl between the two open jaws.\"}",
  "call_id": "call_0CvhZSlWIOYFXiuphvBJt0oO",
  "id": "fc_086d2cea4e577dc6016ab4431f272087d0b273b5808d09163a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0CvhZSlWIOYFXiuphvBJt0oO",
  "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]: [-0.7689, 1.84, 0.9741, 0.1154, -0.6342, -0.522, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.2351 left_z=0.074 left_yaw=0.0078 left_pitch=-0.0091 left_roll=0.0078 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.3487, 8.0068, 1.5653, -0.3736, 0.0171, -0.0171, -0.2667, -1.4701, 6.9265, 1.5995, -0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27fd8cfd6e57cbc58e18a7069ef327954c8d09ba83bcb65dd39d9cf8c3a7f3c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe2a4e96ed9269aa4d06e16b61b6c28743cc562a29837aa8e828f071ae7e8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba045c0ea5b261f9336bb7c754a47ab2cb332e38632da501cef1b405155a7f4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.553 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4014, 0.474, 0.6613, -0.3969, 0.0597, 0.9985, -0.02, 0.8398, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.4009 left_y=-0.0299 left_z=0.1512 left_yaw=0.0402 left_pitch=0.3163 left_roll=0.1975 left_gripper=0.9985 right_x=0.2816 right_y=0.0009 right_z=0.1447 right_yaw=0.0019 right_pitch=-0.1388 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -5.6821, 8.4171, 1.7851, -0.1392, 0.0562, -0.1636, -0.1846, -1.4564, 6.9265, 1.663, -0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6849, 1.758, 0.8486, 0.2325, -0.6117, -0.4252, 0.9985, -0.02, 0.8436, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4029 left_y=-0.1935 left_z=0.0806 left_yaw=0.0229 left_pitch=0.0337 left_roll=0.0293 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1437 right_yaw=0.0017 right_pitch=-0.1426 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -7.6239, 5.2308, 1.6044, -0.1685, -0.1001, -0.1587, -0.253, -1.5521, 6.9265, 1.5946, -0.0562, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7689, 1.84, 0.9741, 0.1154, -0.6342, -0.522, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.2351 left_z=0.074 left_yaw=0.0078 left_pitch=-0.0091 left_roll=0.0078 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.3487, 8.0068, 1.5653, -0.3736, 0.0171, -0.0171, -0.2667, -1.4701, 6.9265, 1.5995, -0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27fd8cfd6e57cbc58e18a7069ef327954c8d09ba83bcb65dd39d9cf8c3a7f3c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe2a4e96ed9269aa4d06e16b61b6c28743cc562a29837aa8e828f071ae7e8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba045c0ea5b261f9336bb7c754a47ab2cb332e38632da501cef1b405155a7f4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMkCkahhkQgYDKsCSYeUXcMULmh1S70FUBFlbunbl2nHXZAFLfq3mrUoi-hvyazgRqwP2FOnOzgjomx4FU1u2Jif0UIcYpsdah52GLeJYcTN7aitz__HXOFjUZbtdzRUCQbjGV4wD0MAtST-Zq7cZ9pBSeVA9OqxKS0TEWlIyu27070riw7LrFzPmn03dJCChcxpX2FrcQwKXfMdzyse-_owtr10_7GfI8e-gZZ9nGlmhMaMPC7fi796tFX5nFJs6D8ptcSlsjbHh1Mp0N-0VmPzACMSsfHUUg_uGdEabokomvt0KCyp_god_XNmJmJ29DaheOdDE8QTxIRWdLq5QnAVyNUVz7-cGTLQK3WjMVEv4P71qDRswUFvR7hVL_TbFWMReHigZ6tS9pNL5dwjjufqYUD64nSOJhYoPrXSAk8BPBgSJPJiFkV2xaKLVJ4y5y-6WQrjVLuIbo53Bfn6vTCGX35W65Sz9UU5sK74eSw2b5xtdcswlUXGADbVfHqpszcbpWVKRNP1ibKIFPEC7itUjEH02syMjB3KlJ67w08Q5Dbd3wFAper1zICTJbZUNsBNuNzGS8bJquZOjXNIR2r7lX821laXpV0ru5B7soG85o-SPfqdiufHYpt9MJfDV90BXZJlEbhpoZ1dUR2koTGKhFI9p6hJs_hPVOH34lW_2RNkZ2RSmo0F2vRkUzfahYpiUpPEo6jcOQrsZAtViZgKTm_VZMwDSKMDIJeCL3XvUiBQ-t1a-fnTOv7ZbG1NnbiWEwpIvWmIrWN3fXMSYhr4yoID6tbVhz3hH8_3a4UwL5KhHDQ-kw9IlXvHQ0JX05FUAwq8dlieU6uajReSaYg5dCvo5Y-hB8j3kU9dkkeHCtfrlWLl8e1fMvyN1J_EFdaMHjdknWDb8dd8arD5LRA518btsgRHs4HnVXTRN-vadGF4jxfvWPnBr_ctHB-eLAyNFg1a4BO7Y9h4gKeVNTxNJoR7TWvJajscSKugw6PVwc4NrxIxcTy0xd6Pv8quSSPK8a2nXlXTk5bqoIbNjXiHSBS-EOzBreQ1YoT3IbT_zq8lemTnQUBoqXmYBzxRMrrgSRDsJzu6d1B8Ljmbd2Uv3HNvoHlk3cp-M0GeUDL4BfRm4j_g1uHGlB8HdwzQutNWuRFDIwdrRsxGpJMgwC7e4gV0b4VTGkcHHrp8SOk6std9ZC9SElbbUxeE38DyTvSnyQwVbdexw3hV2o0HD-JWaRQq3am_UPxzFILHfb6srYDr21oczg3kGN-lXt4D6H3NC5moWw6S91e8ZAhHZ8AfJot0HmzR8L-ynXBUJfpC0yPKpq3oj7OaCb-YQV9GWhaEqUZ6pa3nIC1he5PyBq6loXeiwGL2iCpN1ghvUtlEx6Q2nh9c4L0AtPK4xm5652o86B-vsmcEsEFAFy9iD6vGXJqs8fiWJI1dME8mh2pYQsTVFvvXrAa1PAXWJg6UlHV3AW8NXPOfNXjihTqp8JG5ZEim6T03RaMbE2EFfzekwV-_jmi9j_8ZPpuBHY3Qtkm",
  "id": "rs_086d2cea4e577dc6016ab4432311c887d08586b6f7dae89eb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.26,\"left_z\":0.075,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The bowl is much closer to center but its rim midpoint remains about two centimetres right of the jaw centerline. I am making the final small rightward correction while keeping the vertical rim-height pose.\"}",
  "call_id": "call_uxnN0bDEy6K5rBRNRxlzaiSt",
  "id": "fc_086d2cea4e577dc6016ab44323ed4887d0a1aab63e15c58c83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uxnN0bDEy6K5rBRNRxlzaiSt",
  "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]: [-0.8066, 1.8782, 1.013, 0.0826, -0.6556, -0.5556, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.2504 left_z=0.068 left_yaw=0.0041 left_pitch=-0.0206 left_roll=0.0131 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.5812, 8.4991, 1.37, -0.4274, 0.0269, -0.0171, -0.3487, -1.4564, 6.9265, 1.5849, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f855a2b7085036478f34c8a7d1b5646e2e41cb4e05dc00d718aa49ec8020a660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:312baa18c430beab39232c780920182c1b888b7addaaae65a06658395a3518d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb305b67fb574bd19534596efb903e1676c2b6522a758b71b1d6bcf68b3ac859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7746, 1.631, 0.8585, 0.3328, -0.8665, -0.1631, 0.9985, -0.02, 0.8425, 0.5945, -0.4747, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3971 left_y=-0.1952 left_z=0.1692 left_yaw=0.0175 left_pitch=0.2804 left_roll=0.2097 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.144 right_yaw=0.0017 right_pitch=-0.1415 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -6.8581, 8.8, 1.79, -0.3541, -0.0611, -0.1636, -0.0889, -1.6889, 7.0359, 1.58, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7689, 1.84, 0.9741, 0.1154, -0.6342, -0.522, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.2351 left_z=0.074 left_yaw=0.0078 left_pitch=-0.0091 left_roll=0.0078 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.3487, 8.0068, 1.5653, -0.3736, 0.0171, -0.0171, -0.2667, -1.4701, 6.9265, 1.5995, -0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8066, 1.8782, 1.013, 0.0826, -0.6556, -0.5556, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.2504 left_z=0.068 left_yaw=0.0041 left_pitch=-0.0206 left_roll=0.0131 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.5812, 8.4991, 1.37, -0.4274, 0.0269, -0.0171, -0.3487, -1.4564, 6.9265, 1.5849, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f855a2b7085036478f34c8a7d1b5646e2e41cb4e05dc00d718aa49ec8020a660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:312baa18c430beab39232c780920182c1b888b7addaaae65a06658395a3518d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb305b67fb574bd19534596efb903e1676c2b6522a758b71b1d6bcf68b3ac859",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMqnE5-a4asNDHKI7XCAWS11NgZqhXlyrBttGy7jzMySSfVpBuKi51wnSo3dxGK_z4jSyjuLDyFPU1LyU-VtdaPamW_8pOC_2CB38WHGor5eNxoYzOsYAEVT1uSWUrxgJVCaF4BKF4oHbP3SZSJ6SF3Th9sJABunEbvOQIMMSdyT3ZNpBfUG7WQoJ6K_l1wSuMUMxLiPALpYdlBmteP8IAjKYPxy8GKaP8nEUXMbe1XhWWY0By8_aZJ7P0OuvlkPa91KrLqqwlIwM8PIXcZgX3voMaE6Oa5rEptcwaTwXtoDxus9ZSNW9xuFZi_Q988XUCIHazAhm1pfTJ5pZE8WrtBTvNAGxoC09G9Z1Ji4qbo7abKHvrPXxVrKi6jCVTB8pZvtEunOsFuR1M-Kwl5jO-LtLQW9-SGc0iceWJLUF5o9HyGTEIz5k02G_1wIq18z6JdMlzd6Zw0JM0zGuNOy0verLPGWl_iMNPLXsrgq5GugWoj-UbUTS2u98pRVxbcRyXDXeDNWhejJCYaaXTovNs_flJ1vE8lF7sIp8gxdMDucISuX2fBjxUxy53JennTBPEEnWuxLQ4brWuHXp6SiOjlba5kA2T23kK56UmlrDYAmvuuRGQ5wR__6kg8A_KG1B2_aZFL-mTcvh43KfNXHCsVc5mGX9V-bnzYDYmGQbi80vk55idnUViVuihlnPbAf_hr3y8yzKIXBEJjPwkjK_0TRfgYo2slI2lpzmVtEZm5BK5C7Ll3t3n2l4ZPm9zpJBbKkU4sMH3Wiq-J3FMOL53J_w09db8ywDBxrvt0LuNsccJmBmHDv0Iuxurt4JXmbKfaZZmM6aQM62Kj_gMD0OMK9YCXdAdoq177LHYdxjb6cY2Ap2nj02-eRFUxDlhsELvaLlVct_4GqNRRTfmUxCEINuvuppyaFggB-VJhpUF-hqzRGr5KsiX8qTEWGjpiH_CuTeZZjRObYkYCGZjgwIdPycNLhy62z0nUvL9vGOVqAtHFMpKsvBjAEz1iLJ8bsSyr06WD0chbJ2MKO0etG7p1dQe_7ooX106LVMQaynBodRLMNdVlHOB6NJWGUpWrvpUml0O0cJ6tmN7i3TsS9Ln-54fmoY0BLyqifbX0aeQTVaOxuZAU2Erz7r0deDZnLo8Giys3Ztk03b8oKwRVlNv4BoHO52NjOKH_YQnqXeEw9rtFPjV_35CJ2c4w1r-wDRaMq0HaujnAIKe2sAfa9MCSDfIFswSnve3XUTlJXICq48uvCoN0jukWo_91RF6tqkLgI_zGA9w61kQHbQMh8qWQrvKYu8IsQo7PM48rTQLBgv7X5-vVULxGO436wJNBZ-LX6olPsdUTsCFg9kAn3RlhrHG4RVPlgfGDBaXh9xuT6WUz9rQ1USDUoNvJN7n0fVbwj1dzQ4hF1SAFawjiyjsLrPyUBQ3h9uVl3L_PFTXkHJeUb9bqX6SfGoWtg0n_aTJRCrfa7tfgBgMvjk8-AB5kqubqwuphA7u7YEEMm7K6ISqrnok9Nk9qqSDnzOv8j0QHrb058HoppwRxZgUFGFWLt4egnQDZhmtrtf3WFwRUZk39n4IK6chyaKDe7T4wi6I4xCXCyIqJXGoxCWINh9ho8yfneGPT2YIcYL9Rhnl2OAnjAWtDO4bNDFlU-FLDhwCzC2pufbzENogOhMj6qeTSWyQ72vKnvOEyvjrdwtc3yB414o8DZu2LVd-y80tYz9PdVnZa5jzO2xZ8Rb-o0tWEmFQaTSjYcGhrbw_KzMeOwTsiFNDDCselHpcPz6PX6o7YN9mvSQ80F3W2i6Uetf-eWZeB9DyyYB8L4nvTuAPz5Od9ORg4X5FsBdlCNzip8QbdJ2gKipcF17oTqtdWNXt9b4nE7MiZeJk2EsRN57YN50pLQAFd6XJGrQmeFhmEhC9YBT6Dud6z7dr_0s2Uv6s1K86sh_xmNqBHCp-fCk4MhhcMSpxlY9DJaYTRazkNdI6DRLimK4zBGH-1QzmmFwl7Gm2nSRHrTsgMXlRa81UEQZ67jFDewAlNBIPsqXIZERGgtBb9FfIi2rZYRDJRxirsIAbi5Nh_KbE9JzaGqWkDzbtzL6w48Q-tV1HCNkpVWtmsIXcgkvp6UQvVet2OHxKet1Zn7a9QCIGckjmpQvSRub6HE17x3Og5mabTlUtbQqVarEjmKPCVViqr0XSOHP_pI6R5G3IdDBbNwywg9m8I7deMg8B71-v81bZKQWO4-QSLdHNU4zTltMGDtsYo0rrZDjLOyy701veFai6Q4DL6p-uGAtU-Q1h_soD5LRGJ3dUHvaFuo1OOW1AOaj3dhIVS4Uty554zurAv5V-wcJjqbW76zul5DgDw8ErSKUpSJhKs5edyO7q_C40B10Hxqpg4CI_lgr417KPTUa6XGCHiZNvUOxb3co4SaHhiRQwYBg1BWzWxOQUwAxCpb9vBmDbg2DZDF_dzJrMzjUVJIluTvV55-v92jYpH7xTzLNMt25VhgdWEzdm5hRQejHsEP434uVYR5VIaFdE1Fhhg26MVc2o-rAOGR1QDiSovwHrfxN1c38CAaYLQzXb23rJqq36sqqFHebFcQ-Kb6LZyBma7ELM4ODEEVgTTjcX4_mo_NzNlHbQKBgbQ-ptYcIir-VQ58SafdDYRJNDzB8ljOaoxsulF7ULieVDW4XMb09QCM1LE_xg-ikhui8AYk51SISTVooEQn0XQwJa6tDLdRYPJlxqcEi9hQDZfvGxX4zfADW-lKdF3V8zFp5yw4oFTT6Cdc_pgQfgL4nRl4QPhNSS0mn-WZP_m2Ws74J3lgONY4BMxtMsr50ISUbpuI2rcwGRWSLZ_-S_OGixF84XE5o_W4TxBBBq5GnOW2IILY_828N3CZVKI9g_0V05ukYfXu_4zClGOMNs872YfdaKdHI7sGKlUiZeDC9Fx55PT9pGoRjbyXFZ3T6QyvSrqgTaKwyO2MoQDpIUEOfarT86BxjTaQs-dsdv7s1hjEJoi9HW7yhQOiBwEfYoOIdGZTgkO7y1d0pcsjWsBo6oFj3T44paim9PX3uXM2NNoSg4NmxUtW5S1d1eaAdKSr7KstywTV3e0FITB5equkcC4L5MvxjqaIUE=",
  "id": "rs_086d2cea4e577dc6016ab4432671c887d08216c2c7a9b8c8e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.193,\"left_z\":0.055,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The vertical view also confirms the bowl is wider than the gripper, so an outer-diameter grasp is impossible. I am returning to the pose where the bowl's left rim—not its center—lay exactly on the jaw centerline, now with the wrist truly vertical, and lowering to pinch that single wall.\"}",
  "call_id": "call_awewfRlpPBcXFy8BYW3o4YLD",
  "id": "fc_086d2cea4e577dc6016ab44329843087d0a0f273698496d649",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_awewfRlpPBcXFy8BYW3o4YLD",
  "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]: [-0.8204, 1.8927, 1.0229, 0.0818, -0.6594, -0.5663, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3923 left_y=-0.2568 left_z=0.0654 left_yaw=-0.001 left_pitch=-0.0222 left_roll=0.01 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -9.1692, 8.2667, 1.3993, -0.4371, -0.0073, -0.0122, -0.0752, -1.4974, 6.9265, 1.5946, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599b3dc1d15d882d38236a03a99adee78d6b97cb0ffbd24dec4f0d810d4d3175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34001095fd58dd291cd6afcaf5316acbf33776479b5a2a8fae74376e6add55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b0212a19a36038f7ee5650b93a6e703ac80ea424757222bcf083aac9d46d9f",
      "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 · 3.787 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6849, 1.758, 0.8486, 0.2325, -0.6117, -0.4252, 0.9985, -0.02, 0.8436, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.4029 left_y=-0.1935 left_z=0.0806 left_yaw=0.0229 left_pitch=0.0337 left_roll=0.0293 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1437 right_yaw=0.0017 right_pitch=-0.1426 right_roll=-0.004 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -7.6239, 5.2308, 1.6044, -0.1685, -0.1001, -0.1587, -0.253, -1.5521, 6.9265, 1.5946, -0.0562, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8066, 1.8782, 1.013, 0.0826, -0.6556, -0.5556, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.2504 left_z=0.068 left_yaw=0.0041 left_pitch=-0.0206 left_roll=0.0131 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.5812, 8.4991, 1.37, -0.4274, 0.0269, -0.0171, -0.3487, -1.4564, 6.9265, 1.5849, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8204, 1.8927, 1.0229, 0.0818, -0.6594, -0.5663, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3923 left_y=-0.2568 left_z=0.0654 left_yaw=-0.001 left_pitch=-0.0222 left_roll=0.01 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -9.1692, 8.2667, 1.3993, -0.4371, -0.0073, -0.0122, -0.0752, -1.4974, 6.9265, 1.5946, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599b3dc1d15d882d38236a03a99adee78d6b97cb0ffbd24dec4f0d810d4d3175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34001095fd58dd291cd6afcaf5316acbf33776479b5a2a8fae74376e6add55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b0212a19a36038f7ee5650b93a6e703ac80ea424757222bcf083aac9d46d9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMwvzmz_NWWcNkNpSngYKuMq7ro8MH1RkwbhSSMEUk4UHWnm1RNvkGiulVbRE6R62AH8DaOcQ21LzldeLMkOc525GpKCx5wdQsKHC1jT6fM3rV7AUNdqSbGucG-PQ4v_5G_q1njUygk4yBMMyBDDVloynvIrPziPm7b0GyWrsLmPuEJ1uCJRdI3jXzzlKDoOaL_nJVc5wM5qJGq1_0Z3X_CkdWNb3sZIFVRX3xKezG_xvUnwLdwF8iKMrhdfgmeZZTUdDzxW5wCrq6kpN4f747s4RxC-5y8DtGH2kt-X3pQTZzLYFR_Fx-eb1T10IM08HPzJpZVep9IrENjoMjPQtbsZQ8r2PnBfDYJkq9iliVlmdlnVYKxLDk20Sm3et4TiYOwr_JrvH0Dmu4jnZH_cyeB7BgrRZBMfopaywcys7dfd017B7A5by6DiEu78IRf6Gs4ZSChS0PFSlWI2n0-epKrLFzzmnA4VDEShmjYC6v4feIwLc-pWcUvZWc9xKGUHWSU9Nvv8yoB6Ce_FES4dNQr9_MINcC2BmOcbiRRGkCHyAekBMNgEjbRyHEg8CB5TsHy_4-v6GltMSjS6j_ucsxXOikRYHuBNMov_NkFrCWxV2dcAHStaaHXLEVycLTyMT2X21jY2_c0xHSFsng5_d3E3XBZJjwtW6FlsOQjgeQVe8J5tInhtsq1eXIIwWXa-5HPvLjLrgqpCqbz5J1NTvStytxz_DWPwT4Y8CGSx0S36s7lq8Fdn08cdcYesr7DZ2LDJ-fYoBXIbR3PP6DbqT6UlV0WJjIpM77s6vVbeLPn_6c0FRINV_KmCaZTa1q9i0HLnXIEF9Fhxjdghc_wwikDumxlfRbgOigvMXH4xDtuQ_8n8f6Fb7Bni0LGG-pkpeQk1AhXaUA_at-Y6WCKx07ZvJRua66a1kpphkerekBLcwG3wpCXDLmpo-z--ZgHYUWV0Bo3T12P1vSCvk6XrRP3tukCChLq-s1OSiVL-fk88ziGB7-oKtKGDuWG5bxrA5mtC0y3BRqq5YIIwNBUq81NzyTvoja64vgQUa5falXxIdkKbz_gOmV-Q9u6UFoKsk25uePDbL18gPaZrA5GZOrcVWd7krv7af6wOnmHmNZ93nQIbo8SkbLDvdjHeEN_fx1lQiCH4y3Dt5NuJscQ8-SLnjL6uAFAGwCYA42ilOb0Ad0F3pGBBrityJn6IbaZlTdtohQcM3JsTD-j4R4Aq8ND-G56i2tDVzee5uZqtYLsIekDNi_7Hhn9WR0ZHO42hGNqzL30MfLZsJTW0prUhIFamsr6A-eq4yISKZn-jtuN_IZW-xPIoEpDEeSCCJiKRRquVWL0318chJukT1xBGxU13gygsT1XSR5VSPsTTsuyOhsi343tkf-Ldsh_86qWJGItMz-dMX4oMTHhe2i7RohCSc_iCl8pBEji0k-fOjrfu-neDd6PeevxMOD1RIteTY__FTYuSpRlE8X0R54seKYjuPFWxoDRGHJwPkXYJ0MUOcz_Ftb8c1_FxYFahF8SvHzCzNnDTgaN-KrkqvDFo_0-mm19yzk16pFAgfig5fUwz5vw0l2t7YsRfkAWX6hYQ6jNq75lo9gsjqlAyPbQT2QrSxoE9Yi8DdVzbmNGDEqJb2YqasJseAKEE0kNHDchkyyAzsNqI8mF842AimomGetEijBLxX4au7lO2qVB97MLp1kPMnl4uPwAwvSMDxsrbZhngFYWxBDsW-dcERFHkW_R-RzRbnJ1tVb1Q_BgKJE28tBpyrnTraxWkaLbvqEUA_g9af5ohiKnRIpguQPBTKznUEVRdAkaosRlaEr_ZITpHHJ1yDyvyauInR_et6efD4OyQI8t4aVWgBnV4L2TGC2pOFnY1pORNW6kKmS_PjjrZUaUvrkrTWVQe88HqskIgLhYyBFwavZko_sqkXWk-WfPkaPXiD6trJ29UotyQCjf8wY0k1nah-D51oRoj00lEGXSUOfShfSuh402nJbU_S5GgozrznH9rDHlApfc5_i40ghqa-r8pnoVdHo24C4Quq8MX7z4xnreHzeeFKSNB7pTNKqf_ZI3wiIIwUQbZCmpJlPIgmxaf36Z297wxlR-zANMWALDi_tWkEeMM_BeQ3eaFz9a5rCOH9rVzKWfKgJPU3du3cwOLmH1ij-Vi07f-a0LiCkNWQiy8JwXDllaB5ksw2KxNQWkbCvaNRMiP8CpNyi5BGutoXg0XeAkH7yEiUXdkDXwwyk2vZwToeHs7exxrP5k5WnH2KZzPQHrtKA4tvRPkhSmu_dv9xquWrY6gO1mVUidT1WtDs7tKW_H8z5Alb60O7WXKgZfF5v41HDDzZFRTSjNjo14rp7H3Gi0iaORrQwIwN29qRD4Gu0KLRgtyluc2stbATvzMHRU_C6_vsE40p_9v76pX7IQO6vBXfgJPua4CCZjkNetpF5crhaRonxzv7mX6v4xr01XD1wOuiLOp4APTS-79bSi0K69vxoXHeqbN8M0B0guTzsnUB_oCKlfehfPYWxGj6doiaYQZc3waPj1qILkez3g4BuuQFbh",
  "id": "rs_086d2cea4e577dc6016ab4432cb4cc87d0ad2ce4f12dd8a89c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.193,\"left_z\":0.12,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The low arm could not make the lateral return and stayed at the bowl center, likely due its folded low-height configuration. I am raising first and shifting to the left-wall alignment in free space, while retaining the vertical wrist.\"}",
  "call_id": "call_58gjzoHQ1cIPSbEP3iZ6gDMi",
  "id": "fc_086d2cea4e577dc6016ab4432f0d1887d09f402e0778835af1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_58gjzoHQ1cIPSbEP3iZ6gDMi",
  "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]: [-0.7643, 1.8076, 0.9436, 0.062, -0.6003, -0.519, 0.9985, -0.02, 0.8455, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.2277 left_z=0.0663 left_yaw=-0.0128 left_pitch=-0.0628 left_roll=0.0288 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1432 right_yaw=0.0019 right_pitch=-0.1445 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [2.6462, -12.1231, 7.4735, 1.8535, -0.4322, 0.1343, -0.0171, -0.1573, -1.3607, 6.9265, 1.663, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318d96b83442386ff06200e5edfbe3863c64ccc57fd371f7d7505c93ebe47afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed55bbaf04f3133d363eec5359690bddcb174ba1a6a18db7009aa936356fcb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571e970ccbcd7d099e35e6c3139171741d98d3ad5853719860f40e21c1d30cc0",
      "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 · 4.254 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7689, 1.84, 0.9741, 0.1154, -0.6342, -0.522, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.2351 left_z=0.074 left_yaw=0.0078 left_pitch=-0.0091 left_roll=0.0078 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.3487, 8.0068, 1.5653, -0.3736, 0.0171, -0.0171, -0.2667, -1.4701, 6.9265, 1.5995, -0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8204, 1.8927, 1.0229, 0.0818, -0.6594, -0.5663, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3923 left_y=-0.2568 left_z=0.0654 left_yaw=-0.001 left_pitch=-0.0222 left_roll=0.01 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -9.1692, 8.2667, 1.3993, -0.4371, -0.0073, -0.0122, -0.0752, -1.4974, 6.9265, 1.5946, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 1.8076, 0.9436, 0.062, -0.6003, -0.519, 0.9985, -0.02, 0.8455, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.2277 left_z=0.0663 left_yaw=-0.0128 left_pitch=-0.0628 left_roll=0.0288 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1432 right_yaw=0.0019 right_pitch=-0.1445 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [2.6462, -12.1231, 7.4735, 1.8535, -0.4322, 0.1343, -0.0171, -0.1573, -1.3607, 6.9265, 1.663, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318d96b83442386ff06200e5edfbe3863c64ccc57fd371f7d7505c93ebe47afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed55bbaf04f3133d363eec5359690bddcb174ba1a6a18db7009aa936356fcb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571e970ccbcd7d099e35e6c3139171741d98d3ad5853719860f40e21c1d30cc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEM0A_pYfcLtwMYYLkXojEJwdaUWUpO5Tli-MsgUT7OmqWlro8ZdwrHd6t2sAr24sxRrKPkQnd6XvJdGjAJy90Bfb8mJctBo5Y7ItwiGKyN8FuC_W8V0gDGa6zutah6UAhwWaFGQmYAhFgHMK-obec9hXF4pY2nZZ-A7tGtLpFZXOAqbbL_kUeXj_Ri8JQu-6skxVJWKLodOmF7BYwX4JC_EqmSgAG7iHF6t_FknsQo4AFOTnvROkizMsXPIXtsxs6AdrFi51rudHm1bAXUeMuqQfkZutfb3IRLnLAiMO4ZOH6j6-NJrNocP1bPGTWZxXRbZKSWDvJwQZ_EvuZp0Xv6LEbgh4iYCIGQs5o4Q1SmiPO4iYbD5gzWaii5sjgcnByYRtFhgghnqLaPHNwdnwANzHcXokG5uBt_s8VYx5gUofCwfrNeZ0il3VdJFVkDR5B1nEe9ICoXORLXSfqBds-3pKhPcSGN-1Z3yvMQYBcJcu0lXlWeiF6rIpVnNDyXk6qNuQ6kY3Pd01QLDMrF0YFJY8jsbcH75sjVlkeGGSzYdHltAdY35Ntq1x8kO3S6RzCsxXyYsZzmuYHpHhWObyj1CWhytwYYuZkbB5lWmUg5GN67ZAr0i6qi8qFrlQ9_wVmDH1sOUkCWNLdkW3WbW7et7xbFK_43uBKtQHV_F5yq0v5TUzArWyQ2Jm9vbtAHjfDQzgNUq43V6nPrnkfd65mZdSi3Rj2SUggrxyrsOih99X2PhUfq6bLWRwAGcaw4a1IwyJoX-Bi8jkXhf27yPi8h0h7YNQmGqEl-Ti671UzeVCQb4KNh8jY09xHTd2abnHBj7awZklS2_kdfA4FqcQVCPx6WCFzSjzeF4KX352PZwLp5i0z7qk5NJdDGvCcmamyRwsvxeZ7ko54yZvKrXgRYNvxxHqi8pAvijH04vR6q7GTBaAb5L0NCpw1pFDCnRIpx379GgrTsPyA6BG31Lsriw8nRZ5hzCem9JKPDOYcw_aRG-BrsMddIoiQa1ItVnWnHVMnReDPbnb12JmHoG1WZTazGnwQyecMNuWfAUtulXPWT-xat3cujFCwIhp_bTjmLmUCHAOkPgE04EVapzSo9nInI5LoIXjU_xYvcSuCnTimseCwf98FuXOhM1H3z2xakTEChyLO8eYTKAkZq1uRkr033HvZgy9xiOtJsBwdaiW1JNsWqoNb_VN3sKyNpVy34L3jJq-OSg50VQ9u8Zz443nS8h4Q4Gxo74W1egrk3oSRSWmwQLwLbYfy-X3YskZ6vGm6bHVyl8DcmIk_DuBlOhpQRJ6-49bQ995JLxZBLu0BQEwivbisWBts12mc7HGYv-EkFYr1AXK7ZKdoMKUS28T9n_n_aswdaQcS6vb9_pK9LJ0_vc4J49d0y7ebGY90H6zGcmTJo2EFIdUt1s3G6zIFgTFU0X_WQsGOXSoBDSekNzA0oo5679s95fS7inN069CQ8xq7pjIsC2VfJgln_RJezK1ZIhJ15_yX_zZBxcdRwXMNIq7LoUpOqRacS-ayF44Udq2nMRER8Mft_o5us4n154uloZkd9Bpluy0kNToqwaKbR1vr8NIzCjgZCBeZU1mFvefWoKD08aJLsymMGwFqse9CZ8VwimCu9vmd41w-PvxCefIL3bgiQKB5Pc-CRn5hwbCnd7NU8V674IeMjuS-FhcTiKKD2oans41lvzSVL2TLeqW7PCjjiE8iwHYQKhhd1SVnU9bO0Vb3Rmez077FL0Vyt-Xj6UmIB5ME5hylBAV_oD6O0UK2Yxc14e1dIK",
  "id": "rs_086d2cea4e577dc6016ab443321f4887d08eabf9d7caf46f06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.193,\"left_z\":0.16,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The arm remained stalled low with elevated shoulder effort instead of raising, consistent with the reach/fold limit at this extended pose. I am retracting inward while lifting, the recommended escape motion, before attempting any further alignment.\"}",
  "call_id": "call_MkwcsAJwSTO6f2wNvTloRzp2",
  "id": "fc_086d2cea4e577dc6016ab44333663487d0bae51500cf5dbdc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MkwcsAJwSTO6f2wNvTloRzp2",
  "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]: [-0.8478, 1.3884, 0.8597, -0.2031, -0.6563, -0.564, 0.9986, -0.02, 0.8494, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3285 left_y=-0.2039 left_z=0.1596 left_yaw=-0.0321 left_pitch=0.0146 left_roll=-0.0304 left_gripper=0.9986 right_x=0.2819 right_y=0.0009 right_z=0.1422 right_yaw=0.0017 right_pitch=-0.1484 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.9692, 6.1333, 1.4579, -0.4567, 0.0269, -0.1587, -0.0479, -1.5521, 6.9128, 1.6337, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781015b435aece9af07da2b0b04aaff697730a11da2542746375b2a585c006a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7345dac22beb236f406fdaa18aed4fb99fddbabf2e9837031b73ce5b47facb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765fc788b9948d8b20fe47961a8fdb4660b8e00767bea2cbdd13cab814862849",
      "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 · 2.528 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8066, 1.8782, 1.013, 0.0826, -0.6556, -0.5556, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.2504 left_z=0.068 left_yaw=0.0041 left_pitch=-0.0206 left_roll=0.0131 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.5812, 8.4991, 1.37, -0.4274, 0.0269, -0.0171, -0.3487, -1.4564, 6.9265, 1.5849, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 1.8076, 0.9436, 0.062, -0.6003, -0.519, 0.9985, -0.02, 0.8455, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.2277 left_z=0.0663 left_yaw=-0.0128 left_pitch=-0.0628 left_roll=0.0288 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1432 right_yaw=0.0019 right_pitch=-0.1445 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [2.6462, -12.1231, 7.4735, 1.8535, -0.4322, 0.1343, -0.0171, -0.1573, -1.3607, 6.9265, 1.663, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8478, 1.3884, 0.8597, -0.2031, -0.6563, -0.564, 0.9986, -0.02, 0.8494, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3285 left_y=-0.2039 left_z=0.1596 left_yaw=-0.0321 left_pitch=0.0146 left_roll=-0.0304 left_gripper=0.9986 right_x=0.2819 right_y=0.0009 right_z=0.1422 right_yaw=0.0017 right_pitch=-0.1484 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.9692, 6.1333, 1.4579, -0.4567, 0.0269, -0.1587, -0.0479, -1.5521, 6.9128, 1.6337, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781015b435aece9af07da2b0b04aaff697730a11da2542746375b2a585c006a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7345dac22beb236f406fdaa18aed4fb99fddbabf2e9837031b73ce5b47facb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765fc788b9948d8b20fe47961a8fdb4660b8e00767bea2cbdd13cab814862849",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEM5CGpxcQz9xqctAWTdUDhhF6pp0m8_JENn6QkVUFn-bdCXVkSP8W_2_f__czI24WkhmBId0UJlT3DCfmx9Oc6UZI_bPrEwsekEw0RIyPSkKmz5rblyDxvROaRTRGh8BwBuoNLGdj7FxrkkKt252315fZnSF1KHESGeA_cB_4e1baYGPf49cFEomH453za3vk1TlrQ8SWFPp87iErKhvzzcY0XMZlDKbbNg1hXHiSR64NcTWYGpN3u8vUfoBwT7Rc3OfPm3r2poLmlaNQ6McXlaz0kZWLzuvxd5Je3UyRv5KUNd_wr0ggi5y8U0tRUcQk_lmBufmKxekQIl6YZ-dn4Bo0ZU-3TZSFpsIBl83UORlf1lfsfykcVve1zubYM-KDxpqbVbFr-rE90G3aWbRrdvjM138Hxu8nJ6PZaHXD61L3nipR0ICBKlIgpd_7fpteEiljFg4up14c-0vOIeUT_B9tNo5fA6M9RuSGdgK7YICd0ZB6H9zCOqxcMO06WeQ7QQePJaa7o8UB9wvJBRJ8zlGs6eUD0-KJGzIZpxf6wYqRkzwdGEEZVBUCWhM3n-i55nTDKE4J_nc4ANeenCmmNbInXFRYAWtXNew822qIasVRFcUVRz7Lfp8MjQM7dz6GI6RN0k_n_B4eOpe_RIWg5PAd8OIzXiJM8oeYqln31HOrgI093Q_2dShSAwcf-_xKS0NqBTsWbkyCd05pWX-FTH3A3qFI3F2Xv0Zy2mEwcS2iGS54xMhMC5Tjz2GRPciOL5gmr-p8o5kwd_VaRopyb5qkOmNqPL0JQakn1PyU1cjGv3Hqy3p1Doy1uyU5El30FvF5DdrI819Hy6dWbiTs89TEL8bGAN6wZHfD53TCBxU9e0gmUMOqwNrR7WAsLoYwVkXUd1assy1LY9wV6K8jeJCeJ7sTROewJxq8BwLwkAKHzPaelsYywWm-CpH8KWGwruj1EksQjtFpExS9kPnGEdb0xQbYCWlxcn5lFMBUT5dpSSJm3RZCzwPrxizb1GKvB_SkVFVNl8JMsq8A62ZweqmFhwLJwW5-XCyY5jaLD-IBK-ssTHd9Nui-58eudm6e9DJYNoHC0X9AOUXaQCf0zzSjmYeul3jLvFL7Q-yZOfBsIcCZmCZm9LnKySgs3WC2M1VpWb_UmcyzNqI8xTxyaYT8YhNff-KLt48T0iqMomgkJxmY0bEuvYZnLFJEyESuh7ONS78Own-ZI82LPMQSU3Gtsfjt1Zq8DmQsQoqlGaG9McESwZA2rR3BJkENHJ3wGEhEy5V05rYGMoZzOFDbknob62t9IILHOXhVZ-h76BYiKejjgf2EA8sIPdJcaic48Ye1Trmq3fEjq1B2ez62pvtnw_lpnLXDr4lXsgQFYAZcdzUjutLI36EKaCMZpXYBukOFtqyWbQdQkYxo-Eaz6r0M8Ce8MXWOUOPBHjvcIUJ_W8IDODIt-15JSUCHcOMWQ1lRvn_rE_OHmKgoDD63Z7Z1ktB3RQjQB6c6HJwsWwRmXxSxBKLnLC6n8jUNC9D1807_qGZcL4Tcv_YfyxB795x07S387iyLtmoQEpLUwq5RTDEUiBMeQvPXW1Hd_TqDT6yiTVn5SzgyNMWavJcmNPWjrK9XaBhYLpI-RXdo9PVMO2dEWbytZDfi19Umhv1J4s01KrKCFsSA5qCLx9hucMNRwf9tC9ro10t4OhWp0cDW1uMel5u2TJ9_GluP2FHdrj3s8oxz5GZ4m3b3dPsf3sx8emIep1UWqTUMVt7LGWC_35JD67Gj9xdta_dIMrKKHszjAqPPoVeIKvtJ4CWV7Oh3B-fWLGjc6gLNR_7cbkk41t-HwlGhke5LJNIh-D3LvBIzHDmCyIlzpr_00uQ-P63a1n5rtxXATWfq--tWqxQ8Em7i04U7t5KwaWwcPkh4SUc3F9nXCfmAsSqvf41wBcLY082J8viPNxVEYiiKr9kFRSyj_a5hz7Q9vMDzlJTl9IpclvXauuxYy_LG4i_yoCwjfZbHfLgPYMz2Z7BIMqY4_uCZhMriE1WfCwy9ybIcMSEOd4AWiHkMGtaKML3kIsIT_rNiK68iWugDB09yNBdsHy3Mo9dsJgwn2KgrfkGJ6T9d54WSvKKENGd9DYLs9PpSGMTGcH5nJOH6HQJKxQxQGVdH_SnknSjV-Mf7XAyzGt",
  "id": "rs_086d2cea4e577dc6016ab44336680087d09ebf5fcd95fa093c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.194,\"left_z\":0.12,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The retract freed the arm, and the high wrist view now shows the purple bowl's left rim almost exactly on the jaw column with the bowl just short of the fingertips. I am advancing only about two centimetres and making a tiny left correction while staying above the rim.\"}",
  "call_id": "call_iJhwmsCk7t3xglS3BlfshIfB",
  "id": "fc_086d2cea4e577dc6016ab44338558c87d0a38027137f025201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iJhwmsCk7t3xglS3BlfshIfB",
  "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]: [-0.7811, 1.4796, 0.7982, -0.0982, -0.6277, -0.5274, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3423 left_y=-0.1882 left_z=0.1176 left_yaw=-0.0058 left_pitch=-0.0329 left_roll=0.0205 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0019 right_pitch=-0.1499 right_roll=-0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -7.2957, 6.9402, 1.7216, -0.3101, 0.0757, -0.022, -0.3761, -1.5932, 6.9265, 1.5507, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09874a753342ebd23f6918d9edb0de71af1c8f46a57723c61b3d565ad6f1b442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32afb48aa663a2785150d7c679d3751649f1263dd77970abf57b122102a866c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4471d00378513e8d65ece544325650ccd577515d9f1c0feeb10b2c27c6385d28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.878 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8204, 1.8927, 1.0229, 0.0818, -0.6594, -0.5663, 0.9985, -0.02, 0.8436, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3923 left_y=-0.2568 left_z=0.0654 left_yaw=-0.001 left_pitch=-0.0222 left_roll=0.01 left_gripper=0.9985 right_x=0.2817 right_y=0.0009 right_z=0.1437 right_yaw=0.0019 right_pitch=-0.143 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -9.1692, 8.2667, 1.3993, -0.4371, -0.0073, -0.0122, -0.0752, -1.4974, 6.9265, 1.5946, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8478, 1.3884, 0.8597, -0.2031, -0.6563, -0.564, 0.9986, -0.02, 0.8494, 0.5945, -0.4747, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3285 left_y=-0.2039 left_z=0.1596 left_yaw=-0.0321 left_pitch=0.0146 left_roll=-0.0304 left_gripper=0.9986 right_x=0.2819 right_y=0.0009 right_z=0.1422 right_yaw=0.0017 right_pitch=-0.1484 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -5.9692, 6.1333, 1.4579, -0.4567, 0.0269, -0.1587, -0.0479, -1.5521, 6.9128, 1.6337, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7811, 1.4796, 0.7982, -0.0982, -0.6277, -0.5274, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3423 left_y=-0.1882 left_z=0.1176 left_yaw=-0.0058 left_pitch=-0.0329 left_roll=0.0205 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0019 right_pitch=-0.1499 right_roll=-0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -7.2957, 6.9402, 1.7216, -0.3101, 0.0757, -0.022, -0.3761, -1.5932, 6.9265, 1.5507, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09874a753342ebd23f6918d9edb0de71af1c8f46a57723c61b3d565ad6f1b442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32afb48aa663a2785150d7c679d3751649f1263dd77970abf57b122102a866c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4471d00378513e8d65ece544325650ccd577515d9f1c0feeb10b2c27c6385d28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEM8SyjCK_gOjYl1QwuylubTprBEdWv1ThIYDC8DvuZ31vnF3gKBB3mOuY50xQVh1K_LHPwSgY1kEGEsK7tmaKacdnpFgiRb-q4_R7aj-dj7zY3iLhCyegiM-Vs4mhyCQXaZU8SL2kRHOXFck1d1iBxT-YKhA_eCS5eJsfW0HsahKkGiGRvWg_hfAYdErX_K9b1cp4wm0WdBFwG0rtFN_OA0QcUcjHrcHTzr7RWB-O3VV77MjKx7VghbVpDxOru8pVUxbyk-KRcdmIY64dC7Wr-3AoKvNuHE8g9hfPqOObsq4scnAT_LZJkKhXeYHEkTNLcpDY3vUlgYXby72ra9dlF9HTPxgbIhWO2oyyWtp4ZvDRVpQsiFX5CnukMRgRXOFYOxrqT-Ypb8oumNvIRWHnedWCWwwVac95GA7KBj95LtADJDWct6dKVZaIbG3aM8ru9vz96vrFwbK6Ps-qMA7mkWNKjlm1LRKC84DyiLqbfoBJ-v9hOXob2QhktsQKEBjsV1xSxGVED5AMwXptYZ9ZkqHVGBUN7kKdzt25TXgIPVtVWfi3b7-iNG43wKbHZT7Q8j2gOIscLUI7x_rsZ-GlyilCPZvSMeyGa5elOPYaPfol3M8TEfgGLimKoxf9H2KdmgmHYfCqjz3GWpdfgQ9uxN669t-0MuptqmhCEu7mcXt7Bp0fL45yeBi29acNg4QK_hW7le-TtnyFLFv2z-yZhMMKrhf1GKrqKpyDm9aMH4stRJuNA1IQGF7k2AH0Iws9J1wptwh-7cV_pinTTmEM5eOgZ2tx3awvcHo-5mHX1_w0OPYO8Io76ywik2d4Ix8pF14boNMbxCkkujasrwsXGEZM_K-Y6_OPliDZ0A5Jla5M4KMx0jkUu66ijahgFVhobWOMtDT59ekaqPmCawRu2iTF-5dIiQiJnHokO2lkV5soxPW9ELGPYZJ_3ZMVvh9dD043D_SRMj1JjUkjOKCBUCIOnBUVAd1ESHNmqr6kX0YygiR0-zL26QKSTEgjZD1tb98M2jyLV4kZhRlG2d_xdNX2VT0inCMjhYcWPz7I3GnOJgtOXBBQ2JFKXTX_sGKjGf2UYb08o4V0vWNNnRNell0u5gS0m6OJNZ9HyeXRf5lWk9TDgOZYFzaVLKFgQqlv2nS83bwQJbE2Yb0FcRZImUAQe_2UuT0LaKjHIBXBrMFxejOAtN1rXGKIFotsvPWX55YBCA_1UVVgckLM-szTJk5lxcxTvaO57y3eHkBNbHIT91xhOTZDC9EkMHmZ56wvSVE-jBpqmrTRxu67Yujikfq36XA7L5VOXnqH_TJvTeD7FEZ386Uh3SlQymyg4JNuLg3D8hIt0qU1mYd0hJ4y5o4Q==",
  "id": "rs_086d2cea4e577dc6016ab4433aca8887d0a3c3c0619f1ede55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.188,\"left_z\":0.065,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The purple bowl's left rim is now precisely centered on the jaw convergence line, and the near side has reached the fingertip zone. I am descending vertically to rim-wall height without changing that alignment.\"}",
  "call_id": "call_dYPNjqyI2HHHJOzN7NWbrfhA",
  "id": "fc_086d2cea4e577dc6016ab4433b466487d0994b9bb5cb76a4a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dYPNjqyI2HHHJOzN7NWbrfhA",
  "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]: [-0.7723, 1.5059, 0.7643, -0.0357, -0.6147, -0.5209, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.1875 left_z=0.104 left_yaw=-0.0101 left_pitch=-0.0377 left_roll=0.0177 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0017 right_pitch=-0.1499 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 5.7368, 1.6239, -0.3932, -0.0366, -0.0171, -0.1846, -1.4974, 6.9128, 1.5556, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:261cdd78231bb0daa28cdb889d9a0d6ae52bb5f6f7be5a811a56bc152fdd871b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a33dbf3d9eebc59889a21fb02f54c453794efff76463314359c7fc7aea24942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02864dc9c5e71e3cc30641780d2c006ddb20d26c1672f35fbda8819441e24ee9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.808 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 1.8076, 0.9436, 0.062, -0.6003, -0.519, 0.9985, -0.02, 0.8455, 0.5945, -0.4747, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.2277 left_z=0.0663 left_yaw=-0.0128 left_pitch=-0.0628 left_roll=0.0288 left_gripper=0.9985 right_x=0.2818 right_y=0.0009 right_z=0.1432 right_yaw=0.0019 right_pitch=-0.1445 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [2.6462, -12.1231, 7.4735, 1.8535, -0.4322, 0.1343, -0.0171, -0.1573, -1.3607, 6.9265, 1.663, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7811, 1.4796, 0.7982, -0.0982, -0.6277, -0.5274, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0498, 0.9992]\nstate[eef_state]: left_x=0.3423 left_y=-0.1882 left_z=0.1176 left_yaw=-0.0058 left_pitch=-0.0329 left_roll=0.0205 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0019 right_pitch=-0.1499 right_roll=-0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -7.2957, 6.9402, 1.7216, -0.3101, 0.0757, -0.022, -0.3761, -1.5932, 6.9265, 1.5507, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7723, 1.5059, 0.7643, -0.0357, -0.6147, -0.5209, 0.9985, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.1875 left_z=0.104 left_yaw=-0.0101 left_pitch=-0.0377 left_roll=0.0177 left_gripper=0.9985 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0017 right_pitch=-0.1499 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 5.7368, 1.6239, -0.3932, -0.0366, -0.0171, -0.1846, -1.4974, 6.9128, 1.5556, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:261cdd78231bb0daa28cdb889d9a0d6ae52bb5f6f7be5a811a56bc152fdd871b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a33dbf3d9eebc59889a21fb02f54c453794efff76463314359c7fc7aea24942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02864dc9c5e71e3cc30641780d2c006ddb20d26c1672f35fbda8819441e24ee9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtENA5yMwI2fXDvBqsaDwDe4oYSh8-B9sUESNSPpEd-xsVugnqfbAtFnM_PdLsrvUIHBihhBi4BgFHY9glOenkUwPr8ie7QGWYqwAwCEzXuN3XOPgj9hvSeHIrQ1_W4ydfHGeyinnkq_KJV5vMpr4eZRMKh226McGAO82i1flw30qiZ_ky2KV_2wdSk-mOdtFfnPYFoDbsr4T6M1y18IEbldVzZyPOt2fba_IQ_OucCwMaZHuPiVjmrIC95mocMx_YgHesrYKQdvVFk3dvz4TMEQKxUl71FSPClYW48I6AofYd_CKrvqKOsxixoQBl4_fLtXEnePjaY0KBVTZteQ9rt6YsGUmKx37KLodIYqraD4mfpJkefFgEKFUOft2eKs5XphRsVIgdiN6sFUyE_BpXPZYJjYprgsRFEP0nyXR4VFk0WQzE88eeNMZ2fJOmJNobhL6VCLTLr5ZD-2YaxcnRdwMZba7JXbPVMQk_q_zAcBZdMkl1pOsbdTMSoeScxj0sSQVr-5TxOa7mkmlN7cNZCmxLfGbS5KRBFb08dCln4AgOIVQvobsRURKgy22aHhviw4nsFLXZ94AKWumIIbsok_iKrgZW3-nUjEftzCpElNiHioIzftxVyLBj7LnqtnloX3Is3A8nmfhvtDQWZ1_ITFimX3I_8Q_XNwNmnew3ROITQsWjVOtxnivR1w0tJqKM5o9dabDb9X0qBuRjZlpA4DZ0p_rujJHKx94Y7Z4tLiyjdEe9IlBl8UZhtXLPPy5npC8O0Qz7NOYQ5kKMW-XoY9qbtDqWNUgtipI1BmsI_cjly2R9C1TJEr3YKjVcNoWDd13QbN22MXuxg8MEHFb0o_WycILqY5eQlErbzfSalG9JfCuS8lZBbBL_R4fkPCJqiqquXe1yD_-PqMSkSwA8s7bWHUihX-7iQW9AiiWMZMk8ydxG3zcJ78mCe0mb8CNMv9iOL3SyFpZHwZXvmwldJv8gpRwv4vEewLm-kLfGJRpBdYZmWM6RkknBRgmDdG0c_tWworTufvrTpBSXCgqjVGF7qqWZJrZWaOsqfFDgogqQyx1UqyGZLqvp9Wzomr8gVbIUQ0ZxfeZehM6fmfBxeepCrTnE4k33lv67qAhLKQ2UQLRru8ZWUyBKAZlHH-b4M_oMsC_juXVY30uFfzSjyQx9--JIlFb-9BiKoW9nhgMnZBe2ACBVtDX_yQUQsyLJzAeL0X5Smy8gq5m7myJ43k-VvPFsf02shlnSK8Fjrxbfk5oeuCm5cbXOzY1awQSu00LBN4SohjBUu6SPfl4hKQOisZoJDTu0_Eva65bpPQnFcK57FA6NDz3SzyomBzjivyAU_c0Eivs8MWMxBZX7WV8kqdl9CVSVY7RKsVN6ouZbjWrK8Dzh2TohCXrgtOLqccgpvXZuKyBvsRzhisxp34tRGuAEieGDF4wsZFoXfe-ic-5ow6BPpnPSgefKYRYnUtruQaqKM_ZVjGadv2R32YwZFNl6678HQ8tkf6FsyHkz6N9Hyv8E8mRlOZtsqfQ6m5J-oxFJtczNLtSOB13uEuoMy6RfCfEFWe3gPmMJrLJH2WT9_HSYDkce4kJXrnu9Ok9f43-CIi6BGOGxBNDTek3OrwMwxJiFq_cfKChBVHhcCme2SAElQY0RMBsbO57AZuGauvNk_sVHKo1bZ0LwX271RqrTyZsTJC_S3Xt1FszgKEuTYrHZlhD-sNfIs6uLspQEBr8Sh-pYIVMx-UQaHSd6D1ycKq-Njs1OGMbOSO2cBSIQQW26kz_y2plWTLrXJo8RvRPCbqGOzLYAXfTSU3NWbZU3tHoDlKWdehX19BQ0VnturkgNsxXB72l3rXDxdbR2gpLgYwA0yVtgUNZfPNJythQ5IfyBhQO8sUyEQM0SgM=",
  "id": "rs_086d2cea4e577dc6016ab4433d7e1487d08487794e63beba51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about four centimetres above its target with the bowl's left rim visibly between the vertical, level jaw faces, indicating the fingers have reached the rim geometry. I am closing from this aligned contact pose to pinch the single wall.\"}",
  "call_id": "call_MZLZf1nDgkvsjlHnkqFqrJDb",
  "id": "fc_086d2cea4e577dc6016ab4433fd31887d090155acda9fe3380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MZLZf1nDgkvsjlHnkqFqrJDb",
  "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]: [-0.7723, 1.5055, 0.7643, -0.0402, -0.6209, -0.5213, 0.0084, -0.02, 0.8505, 0.5945, -0.4751, -0.0166, -0.0494, 0.9992]\nstate[eef_state]: left_x=0.3434 left_y=-0.1861 left_z=0.1039 left_yaw=-0.0053 left_pitch=-0.0377 left_roll=0.0234 left_gripper=0.0084 right_x=0.2819 right_y=0.0009 right_z=0.1419 right_yaw=0.0017 right_pitch=-0.1499 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -6.3111, 6.3658, 1.4676, -0.2173, -0.0171, 0.5983, -0.3214, -1.4427, 7.1726, 1.5946, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5fb4715f39026fd64191913182392d855026a6ffee86e0ac6df7450da0afe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a78706a6a5150570b2c52c74ecdbac1e154ea98fd35cac3796494e909f2c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa568e42aa97e26e3a5622f1f7e8754596e06f8b3b9fd0269822fa822c8d8a0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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