adhoc

completed
2026-09-23T21:31:23.747534+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
215.5 s
total steps
445
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe green pear is directly ahead of the right gripper, while the blue bowl is just to its left. I’ll move the open right gripper modestly forward and lower above the pear to refine alignment in the wrist view.
move_to
right_x0.3400right_y0.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0231, -0.0334, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4034, -1.7846, 9.7573, 1.7998, -0.105, 0.1245, -0.0904, -0.1162, -1.7709, 9.1692, 1.8535, -0.0366, 0.1929, -0.0708] 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":{"right_x":0.34,"right_y":0.0,"right_z":0.13},"note":"The green pear is directly ahead of the right gripper, while the blue bowl is just to its left. I’ll move the open right gripper modestly forward and lower above the pear to refine alignment in the wrist view."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe pear is centered on the jaw column and now fills the bottom of the right wrist view, indicating the fingertips are over it. I’ll descend to about mid-height on the upright pear while keeping the gripper fully open.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3897, -0.0139, -0.0303, 0.9992, -0.0219, 1.0805, 0.5045, -0.0444, -0.0231, -0.0372, 0.9994] state[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3348 right_y=0.0003 right_z=0.1185 right_yaw=0.0029 right_pitch=-0.0511 right_roll=-0.0019 right_gripper=0.9994 state[joint_eff]: [0.1026, -1.2923, 7.0906, 1.8437, -0.0415, -0.0269, -0.0171, -0.1573, -4.0547, 6.7077, 2.1026, -0.0171, 0.0171, -0.0171] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The pear is centered on the jaw column and now fills the bottom of the right wrist view, indicating the fingertips are over it. I’ll descend to about mid-height on the upright pear while keeping the gripper fully open."})
tool
executing move_to over 5 steps (0.5s)
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 pear’s broad body is centered between the jaws at mid-height, with both fingers flanking it. I’ll close the right gripper to secure it, then verify the settled jaw width before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2947, 0.3855, -0.0231, -0.0376, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1762 left_yaw=-0.0001 left_pitch=-0.0263 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3299 right_y=0.0002 right_z=0.0375 right_yaw=0.0024 right_pitch=-0.0858 right_roll=-0.0014 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.4701, 7.0222, 1.8584, -0.0611, -0.0464, -0.0122, -0.2803, -4.2598, 5.7094, 2.0342, -0.0513, -0.0806, -0.0122] 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":{"right_gripper":0.0},"note":"The pear’s broad body is centered between the jaws at mid-height, with both fingers flanking it. I’ll close the right gripper to secure it, then verify the settled jaw width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe right gripper settled at 0.63, consistent with a firm grasp around the pear rather than an empty close. I’ll lift it well clear of the table so the overhead view can confirm it moves with the gripper.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2951, 0.3935, -0.0265, -0.0444, 0.6307] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0001 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3312 right_y=0.0008 right_z=0.0393 right_yaw=0.0089 right_pitch=-0.0773 right_roll=-0.005 right_gripper=0.6307 state[joint_eff]: [-0.2803, -1.0188, 7.0085, 1.8095, -0.0317, -0.0562, -0.0073, -0.1709, -3.6444, 5.4359, 1.6239, 0.0171, 0.0464, 1.0281] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper settled at 0.63, consistent with a firm grasp around the pear rather than an empty close. I’ll lift it well clear of the table so the overhead view can confirm it moves with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pear rose with the right gripper and is visible beside it in the overhead view, confirming the grasp. I’ll carry it high to an estimated point above the blue bowl, moving inward and slightly farther forward.
move_to
right_x0.4100right_y0.1100right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4171, -0.0135, -0.0307, 0.9992, -0.0227, 1.0489, 0.6044, -0.2577, -0.0303, -0.046, 0.6342] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3239 right_y=0.0016 right_z=0.1305 right_yaw=0.0132 right_pitch=-0.1325 right_roll=-0.0019 right_gripper=0.6342 state[joint_eff]: [-0.1709, -1.2376, 7.0359, 1.7656, -0.0317, -0.0269, -0.0122, -0.3761, -4.0821, 9.3744, 1.9023, 0.0171, -0.0513, 0.8669] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.11,"right_z":0.2},"note":"The pear rose with the right gripper and is visible beside it in the overhead view, confirming the grasp. I’ll carry it high to an estimated point above the blue bowl, moving inward and slightly farther forward."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe pear is over the blue bowl; in the wrist view the bowl center is only slightly left of the jaws. I’ll make a small inward correction and lower the pear into the bowl while keeping the grasp closed.
move_to
right_y0.1250right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.363, 1.4681, 1.1351, -0.4728, 0.2394, 0.1768, 0.6347] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9992 right_x=0.3983 right_y=0.1103 right_z=0.177 right_yaw=0.0451 right_pitch=-0.2077 right_roll=-0.0351 right_gripper=0.6347 state[joint_eff]: [-0.3761, -1.7026, 6.9949, 1.7656, -0.0269, -0.0513, -0.0122, -0.253, -6.8991, 9.4291, 1.8877, 0.3004, 0.2466, 0.8376] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.125,"right_z":0.09},"note":"The pear is over the blue bowl; in the wrist view the bowl center is only slightly left of the jaws. I’ll make a small inward correction and lower the pear into the bowl while keeping the grasp closed."})
tool
executing move_to over 6 steps (0.6s)
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 pear is visibly lowered inside the blue bowl with the bowl surrounding it on all sides. I’ll open the right gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, 0.4046, 1.5761, 0.9012, -0.2031, 0.2512, 0.1883, 0.6348] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0549 left_roll=0.0002 left_gripper=0.9992 right_x=0.3875 right_y=0.1221 right_z=0.0843 right_yaw=0.0647 right_pitch=-0.2728 right_roll=-0.0595 right_gripper=0.6348 state[joint_eff]: [-0.1026, -1.347, 6.9949, 1.6728, -0.0757, -0.0317, -0.0122, 0.3487, -7.4735, 6.6803, 1.7949, 0.2808, 0.1197, 0.442] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1.0},"note":"The pear is visibly lowered inside the blue bowl with the bowl surrounding it on all sides. I’ll open the right gripper to release it."})
tool
executing move_to over 4 steps (0.4s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe pear has been released and remains in the blue bowl. I’ll lift out and move the open right gripper above the yellow fruit near the table center, which is at about the same forward distance as the pear but farther inward.
move_to
right_x0.3300right_y0.2250right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0139, -0.0307, 0.9992, 0.4076, 1.6005, 0.8795, -0.2024, 0.2504, 0.1833, 0.9961] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0001 left_pitch=-0.0618 left_roll=0.0004 left_gripper=0.9992 right_x=0.3804 right_y=0.1205 right_z=0.067 right_yaw=0.0665 right_pitch=-0.316 right_roll=-0.0781 right_gripper=0.9961 state[joint_eff]: [-0.1709, -1.265, 6.9949, 1.7705, -0.022, -0.0464, -0.0073, -0.3214, -9.1009, 7.8974, 1.4139, 0.0513, -0.0073, -0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.225,"right_z":0.16},"note":"The pear has been released and remains in the blue bowl. I’ll lift out and move the open right gripper above the yellow fruit near the table center, which is at about the same forward distance as the pear but farther inward."})
tool
executing move_to over 9 steps (0.9s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe yellow fruit is just left of the jaw column and close to the fingertips in the right wrist view. I’ll correct inward by about a centimeter and descend to its mid-height for a centered grasp.
move_to
right_y0.2400right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4339, -0.0135, -0.0307, 0.9992, 0.7757, 1.586, 1.2411, -0.667, 0.4252, 0.4603, 0.997] state[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0004 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9992 right_x=0.3322 right_y=0.2288 right_z=0.1539 right_yaw=0.123 right_pitch=-0.315 right_roll=-0.071 right_gripper=0.997 state[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.7265, -0.0611, -0.0513, -0.0122, 0.1026, -6.2838, 7.9111, 1.0281, 0.3932, 0.1978, 0.0904] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.24,"right_z":0.025},"note":"The yellow fruit is just left of the jaw column and close to the fingertips in the right wrist view. I’ll correct inward by about a centimeter and descend to its mid-height for a centered grasp."})
tool
executing move_to over 9 steps (0.9s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe yellow fruit is now centered between the jaws at table level, with both fingers clearly flanking its sides. I’ll close the gripper and use the settled width to verify the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.9992, 0.7925, 1.7828, 0.9421, -0.234, 0.4259, 0.4789, 0.9971] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0755 left_roll=0.0007 left_gripper=0.9992 right_x=0.3257 right_y=0.2315 right_z=0.0246 right_yaw=0.1149 right_pitch=-0.3633 right_roll=-0.1006 right_gripper=0.9971 state[joint_eff]: [-0.2393, -1.4838, 7.159, 1.7363, -0.0562, -0.0513, -0.0122, 0.759, -8.0342, 5.4906, 1.2674, 0.2711, -0.0122, 0.0024] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is now centered between the jaws at table level, with both fingers clearly flanking its sides. I’ll close the gripper and use the settled width to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe gripper settled at 0.48 around the yellow fruit, a clear non-empty grasp. I’ll lift it above the table before carrying it back to the blue bowl.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4461, -0.0139, -0.0307, 0.9992, 0.7948, 1.8042, 0.9302, -0.2298, 0.4217, 0.4717, 0.4843] state[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0008 left_gripper=0.9992 right_x=0.3211 right_y=0.2291 right_z=0.0131 right_yaw=0.1173 right_pitch=-0.3886 right_roll=-0.1216 right_gripper=0.4843 state[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.7265, -0.0806, -0.0317, -0.0073, -0.4034, -10.0581, 6.3795, 1.0281, 0.188, 0.0513, 0.8864] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The gripper settled at 0.48 around the yellow fruit, a clear non-empty grasp. I’ll lift it above the table before carrying it back to the blue bowl."})
tool
executing move_to over 9 steps (0.9s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe yellow fruit lifted with the gripper, and the blue bowl with the pear is visible ahead in the wrist view. I’ll carry the fruit high to the bowl center using the previously established bowl coordinates.
move_to
right_x0.3900right_y0.1200right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.7948, 1.652, 1.2633, -0.7277, 0.4145, 0.4706, 0.4872] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1643 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=0.0008 left_gripper=0.9992 right_x=0.3232 right_y=0.2329 right_z=0.1297 right_yaw=0.12 right_pitch=-0.4026 right_roll=-0.1253 right_gripper=0.4872 state[joint_eff]: [-0.3214, -1.1009, 7.0085, 1.7118, -0.0415, -0.0562, -0.0122, -0.3761, -9.9624, 7.9521, 0.9744, 0.2027, -0.022, 0.6276] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.12,"right_z":0.2},"note":"The yellow fruit lifted with the gripper, and the blue bowl with the pear is visible ahead in the wrist view. I’ll carry the fruit high to the bowl center using the previously established bowl coordinates."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe yellow fruit is centered over the blue bowl, with the pear already resting inside. I’ll lower it carefully into the remaining space before releasing.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4511, -0.0139, -0.0307, 0.9992, 0.3962, 1.6115, 1.417, -0.8669, 0.2298, 0.1242, 0.4896] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9992 right_x=0.3839 right_y=0.1208 right_z=0.1761 right_yaw=0.0895 right_pitch=-0.4557 right_roll=-0.1448 right_gripper=0.4896 state[joint_eff]: [-0.3487, -1.3333, 7.1863, 1.6679, -0.022, -0.0513, -0.0122, -0.2393, -9.4974, 9.347, 1.1453, -0.0952, -0.0122, 0.5299] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The yellow fruit is centered over the blue bowl, with the pear already resting inside. I’ll lower it carefully into the remaining space before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe yellow fruit is now down inside the blue bowl beside the pear. I’ll open the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4599, -0.0135, -0.0307, 0.9992, 0.3965, 1.6295, 1.1519, -0.5865, 0.2276, 0.1043, 0.4925] state[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0931 left_roll=0.0008 left_gripper=0.9992 right_x=0.3812 right_y=0.1203 right_z=0.1046 right_yaw=0.1033 right_pitch=-0.4604 right_roll=-0.155 right_gripper=0.4925 state[joint_eff]: [-0.1162, -1.1419, 6.9675, 1.7705, -0.0464, -0.0415, -0.0122, -0.2393, -5.6274, 4.4376, 0.7741, 0.0464, 0.1538, 0.3004] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The yellow fruit is now down inside the blue bowl beside the pear. I’ll open the gripper to release it."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe pear and yellow fruit are both resting in the blue bowl; the only fruit left on the table is the dark plum near the left side. I’ll first lift the right gripper away and park it at home so it does not obstruct the left arm.
move_to
right_x0.2960right_y0.0000right_z0.1830right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4686, -0.0135, -0.0307, 0.9992, 0.3973, 1.6325, 1.1374, -0.5888, 0.2298, 0.0959, 0.9958] state[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1597 left_yaw=-0.0003 left_pitch=-0.1053 left_roll=0.0011 left_gripper=0.9992 right_x=0.3771 right_y=0.1185 right_z=0.0981 right_yaw=0.1041 right_pitch=-0.4795 right_roll=-0.1684 right_gripper=0.9958 state[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.7167, -0.0366, -0.0366, -0.0122, -0.1573, -7.8974, 7.5009, 1.1502, 0.0464, 0.022, -0.1783] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.0,"right_z":0.183,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The pear and yellow fruit are both resting in the blue bowl; the only fruit left on the table is the dark plum near the left side. I’ll first lift the right gripper away and park it at home so it does not obstruct the left arm."})
tool
executing move_to over 16 steps (1.6s)
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 right arm is parked and the dark plum remains alone on the table, just right of the white bowl. I’ll move the open left gripper laterally above it at a safe height for wrist-camera alignment.
move_to
left_x0.2800left_y-0.2200left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4747, -0.0139, -0.0307, 0.9992, -0.0097, 0.8249, 0.627, -0.4122, 0.0154, -0.0227, 0.9965] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1569 left_yaw=0.0 left_pitch=-0.1175 left_roll=0.0016 left_gripper=0.9992 right_x=0.2952 right_y=-0.002 right_z=0.1753 right_yaw=-0.0253 right_pitch=-0.0409 right_roll=-0.0124 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.3744, 6.9538, 1.7558, -0.0269, -0.0708, -0.0122, -0.2256, -1.4017, 6.8855, 2.1026, -0.1392, -0.0366, 0.0611] 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":0.28,"left_y":-0.22,"left_z":0.13},"note":"The right arm is parked and the dark plum remains alone on the table, just right of the white bowl. I’ll move the open left gripper laterally above it at a safe height for wrist-camera alignment."})
tool
executing move_to over 20 steps (2.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe plum is close to the fingertips and slightly left of the jaw column in the left wrist view. I’ll shift the gripper about a centimeter left and descend to the plum’s mid-height.
move_to
left_y-0.2000left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.992, 1.4143, 0.8539, -0.4603, -0.6739, -0.7742, 0.9992, -0.0097, 0.8295, 0.6224, -0.4202, 0.004, -0.0345, 0.9965] state[eef_state]: left_x=0.2742 left_y=-0.2115 left_z=0.1161 left_yaw=-0.0183 left_pitch=-0.1603 left_roll=0.0313 left_gripper=0.9992 right_x=0.2937 right_y=0.0 right_z=0.1704 right_yaw=-0.0092 right_pitch=-0.0582 right_roll=-0.0155 right_gripper=0.9965 state[joint_eff]: [-0.4991, -5.8598, 8.6496, 1.1697, -0.5836, -0.0415, -0.0122, -0.253, -1.812, 7.3641, 1.7998, 0.1148, 0.0708, -0.0073] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.2,"left_z":0.025},"note":"The plum is close to the fingertips and slightly left of the jaw column in the left wrist view. I’ll shift the gripper about a centimeter left and descend to the plum’s mid-height."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe plum is now centered between the left jaws at table level, with the fingers on either side of its widest section. I’ll close the gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9718, 1.5761, 0.6052, -0.107, -0.6605, -0.7597, 0.9992, -0.0097, 0.8295, 0.6224, -0.4244, 0.0029, -0.0349, 0.9966] state[eef_state]: left_x=0.2663 left_y=-0.1916 left_z=0.0232 left_yaw=-0.0052 left_pitch=-0.2025 left_roll=0.0835 left_gripper=0.9992 right_x=0.2931 right_y=0.0002 right_z=0.1696 right_yaw=-0.0081 right_pitch=-0.0624 right_roll=-0.0152 right_gripper=0.9966 state[joint_eff]: [0.4034, -5.9145, 5.094, 1.2381, -0.3199, 0.0415, -0.0122, -0.1162, -1.4154, 7.241, 1.7021, -0.0269, -0.0122, -0.0073] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The plum is now centered between the left jaws at table level, with the fingers on either side of its widest section. I’ll close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe close settled at 0.01, so the rounded plum slipped outward and the grasp is empty; it remains directly ahead of the fingertips. I’ll reopen, advance about 2.5 cm, and stay at grasp height for a second centered attempt.
move_to
left_gripper1.0000left_x0.2900left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.971, 1.5951, 0.59, -0.1085, -0.6575, -0.7593, 0.0087, -0.0097, 0.8295, 0.6224, -0.4309, 0.0021, -0.0353, 0.9965] state[eef_state]: left_x=0.262 left_y=-0.1855 left_z=0.013 left_yaw=0.0 left_pitch=-0.2251 left_roll=0.1124 left_gripper=0.0087 right_x=0.2922 right_y=0.0004 right_z=0.1683 right_yaw=-0.0072 right_pitch=-0.0688 right_roll=-0.015 right_gripper=0.9965 state[joint_eff]: [-0.1709, -7.3641, 6.1607, 1.0769, -0.359, -0.0122, 0.6667, -0.1846, -1.4564, 7.1043, 1.7998, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.29,"left_z":0.03},"note":"The close settled at 0.01, so the rounded plum slipped outward and the grasp is empty; it remains directly ahead of the fingertips. I’ll reopen, advance about 2.5 cm, and stay at grasp height for a second centered attempt."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteAfter advancing, the plum is now symmetrically centered between both jaws rather than beyond their tips. I’ll close again from this improved alignment.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8864, 1.5951, 0.6449, -0.131, -0.6235, -0.6857, 0.9948, -0.0097, 0.8295, 0.6224, -0.4381, 0.0029, -0.0357, 0.9965] state[eef_state]: left_x=0.2838 left_y=-0.1789 left_z=0.0232 left_yaw=0.0185 left_pitch=-0.2346 left_roll=0.12 left_gripper=0.9948 right_x=0.2911 right_y=0.0003 right_z=0.1668 right_yaw=-0.0076 right_pitch=-0.0761 right_roll=-0.0158 right_gripper=0.9965 state[joint_eff]: [0.253, -6.0923, 7.4598, 1.1062, -0.2662, 0.1587, 0.0073, -0.1026, -1.2376, 6.9812, 1.7509, -0.0415, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the plum is now symmetrically centered between both jaws rather than beyond their tips. I’ll close again from this improved alignment."})
tool
executing move_to over 10 steps (1.0s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe second close again slipped the plum straight outward, so repeating the same jaw orientation will not work. I’ll reopen, lift above it, and rotate the gripper 90° so the jaws close front-to-back and block that escape direction.
move_to
left_gripper1.0000left_x0.3100left_y-0.1800left_z0.1100left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8856, 1.5951, 0.6472, -0.1318, -0.6132, -0.6884, 0.008, -0.0097, 0.8295, 0.6224, -0.4385, 0.0025, -0.0376, 0.9965] state[eef_state]: left_x=0.2835 left_y=-0.1806 left_z=0.0229 left_yaw=0.0142 left_pitch=-0.2406 left_roll=0.1111 left_gripper=0.008 right_x=0.291 right_y=0.0003 right_z=0.1668 right_yaw=-0.0063 right_pitch=-0.0765 right_roll=-0.017 right_gripper=0.9965 state[joint_eff]: [0.0479, -6.1744, 5.1214, 1.1111, -0.3736, 0.0122, 0.5983, -0.1026, -1.306, 7.1043, 1.6728, -0.0269, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.31,"left_y":-0.18,"left_z":0.11,"left_yaw":1.57},"note":"The second close again slipped the plum straight outward, so repeating the same jaw orientation will not work. I’ll reopen, lift above it, and rotate the gripper 90° so the jaws close front-to-back and block that escape direction."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe large yaw rotation drove the left arm into an awkward configuration and it stopped well off the plum, so I won’t descend from this pose. I’ll reset the tool orientation and return above the plum at a safe height.
move_to
left_x0.3100left_y-0.1800left_z0.1300left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5808, 2.2227, 1.7763, -1.4582, -0.5858, -2.0254, 0.9951, -0.0097, 0.8337, 0.6224, -0.4477, 0.0029, -0.0383, 0.9966] state[eef_state]: left_x=0.3528 left_y=-0.1105 left_z=0.0652 left_yaw=1.3816 left_pitch=-0.34 left_roll=0.084 left_gripper=0.9951 right_x=0.2899 right_y=0.0003 right_z=0.1638 right_yaw=-0.0062 right_pitch=-0.0898 right_roll=-0.0178 right_gripper=0.9966 state[joint_eff]: [1.2103, -11.959, 5.7778, -1.072, -0.5397, -0.4225, -0.0757, -0.253, -1.7436, 7.1316, 1.7509, -0.022, -0.0073, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.18,"left_z":0.13,"left_yaw":0.0},"note":"The large yaw rotation drove the left arm into an awkward configuration and it stopped well off the plum, so I won’t descend from this pose. I’ll reset the tool orientation and return above the plum at a safe height."})
tool
executing move_to over 9 steps (0.9s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe left arm is still stalled in the rotated configuration and has not returned to the requested pose. I’ll first raise and fold it slightly toward the base while reducing yaw partway, which should let the IK escape this awkward posture safely.
move_to
left_x0.2200left_y-0.1000left_z0.2500left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6838, 2.2349, 1.8313, -1.5269, -0.5976, -2.0689, 0.9962, -0.0097, 0.836, 0.6224, -0.453, 0.0025, -0.038, 0.9966] state[eef_state]: left_x=0.3404 left_y=-0.1446 left_z=0.0769 left_yaw=1.3059 left_pitch=-0.3178 left_roll=0.0759 left_gripper=0.9962 right_x=0.2892 right_y=0.0003 right_z=0.1622 right_yaw=-0.0061 right_pitch=-0.0975 right_roll=-0.0173 right_gripper=0.9966 state[joint_eff]: [-0.253, -10.7692, 6.2564, -0.5788, -0.5348, 0.0366, 0.105, -0.2393, -1.6479, 7.1179, 1.707, -0.0269, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.1,"left_z":0.25,"left_yaw":0.7},"note":"The left arm is still stalled in the rotated configuration and has not returned to the requested pose. I’ll first raise and fold it slightly toward the base while reducing yaw partway, which should let the IK escape this awkward posture safely."})
tool
executing move_to over 12 steps (1.2s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteRaising and folding freed the left arm; it is now tracking normally, and the plum is visible below and to the right in the wrist view. I’ll return to the standard orientation and move above the plum again.
move_to
left_x0.3100left_y-0.1800left_z0.1400left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8249, 1.4563, 1.4307, -1.552, -0.6518, -1.5875, 0.9963, -0.0093, 0.8413, 0.6224, -0.461, 0.0025, -0.0383, 0.9966] state[eef_state]: left_x=0.2406 left_y=-0.0972 left_z=0.2177 left_yaw=0.751 left_pitch=-0.3501 left_roll=0.0115 left_gripper=0.9963 right_x=0.2882 right_y=0.0005 right_z=0.1592 right_yaw=-0.0055 right_pitch=-0.1108 right_roll=-0.0175 right_gripper=0.9966 state[joint_eff]: [-0.1436, -5.2991, 4.8889, 0.1441, -0.6813, 0.232, -0.0024, -0.2393, -1.7983, 7.1179, 1.7705, -0.0171, -0.0562, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.18,"left_z":0.14,"left_yaw":0.0},"note":"Raising and folding freed the left arm; it is now tracking normally, and the plum is visible below and to the right in the wrist view. I’ll return to the standard orientation and move above the plum again."})
tool
executing move_to over 8 steps (0.8s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe plum is now centered in the left wrist image, and I’m approaching from a clean unrotated pose. I’ll advance about a centimeter and descend only to 5 cm, targeting its wider upper-middle rather than the tapered base that caused the earlier slips.
move_to
left_x0.3050left_y-0.1600left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7506, 1.4345, 1.0912, -0.8249, -0.4713, -0.7906, 0.9963, -0.0097, 0.8425, 0.6224, -0.469, 0.0025, -0.038, 0.9966] state[eef_state]: left_x=0.2942 left_y=-0.1598 left_z=0.1384 left_yaw=0.1422 left_pitch=-0.3923 left_roll=0.0314 left_gripper=0.9963 right_x=0.287 right_y=0.0004 right_z=0.1573 right_yaw=-0.0061 right_pitch=-0.12 right_roll=-0.0172 right_gripper=0.9966 state[joint_eff]: [0.3214, -5.1214, 6.3385, 1.1551, -0.188, 0.1978, -0.0122, -0.0615, -1.1692, 6.9538, 1.7314, -0.0317, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.16,"left_z":0.05},"note":"The plum is now centered in the left wrist image, and I’m approaching from a clean unrotated pose. I’ll advance about a centimeter and descend only to 5 cm, targeting its wider upper-middle rather than the tapered base that caused the earlier slips."})
tool
executing move_to over 6 steps (0.6s)
step 223
assistant
agent noteAt the higher grasp height, the plum’s broad body is large and centered between the jaws, with both fingertips aligned around its sides. I’ll close from this improved height.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7284, 1.5574, 0.8604, -0.5163, -0.4519, -0.7601, 0.9963, -0.0097, 0.8436, 0.6224, -0.4728, 0.0029, -0.0383, 0.9966] state[eef_state]: left_x=0.2947 left_y=-0.1547 left_z=0.0503 left_yaw=0.1494 left_pitch=-0.4356 left_roll=0.0755 left_gripper=0.9963 right_x=0.2865 right_y=0.0003 right_z=0.1563 right_yaw=-0.0062 right_pitch=-0.1249 right_roll=-0.0177 right_gripper=0.9966 state[joint_eff]: [0.4855, -6.4615, 5.7641, 1.0672, -0.3004, -0.0464, -0.0122, -0.0205, -1.4564, 6.9675, 1.7118, -0.0171, -0.0366, -0.0171] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the higher grasp height, the plum’s broad body is large and centered between the jaws, with both fingertips aligned around its sides. I’ll close from this improved height."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteEven at the higher contact point, the plum again rolled outward before the jaws could close, confirming that the left-right pinch direction is the problem. I’ll reopen and retreat to a high folded pose while rotating the opposite way, preparing a front-to-back pinch without entering the earlier awkward configuration.
move_to
left_gripper1.0000left_x0.2200left_y-0.1000left_z0.2200left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7288, 1.5719, 0.8448, -0.5167, -0.4511, -0.7639, 0.0089, -0.0097, 0.8436, 0.6224, -0.4759, 0.0025, -0.0383, 0.9966] state[eef_state]: left_x=0.2899 left_y=-0.1508 left_z=0.0412 left_yaw=0.1621 left_pitch=-0.4553 left_roll=0.0989 left_gripper=0.0089 right_x=0.286 right_y=0.0004 right_z=0.1557 right_yaw=-0.0059 right_pitch=-0.128 right_roll=-0.0175 right_gripper=0.9966 state[joint_eff]: [-0.0205, -7.2137, 6.9402, 0.823, -0.2857, 0.0317, 0.6129, -0.0615, -1.4838, 6.9675, 1.6777, -0.022, -0.0806, -0.0171] 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":1.0,"left_x":0.22,"left_y":-0.1,"left_z":0.22,"left_yaw":-0.8},"note":"Even at the higher contact point, the plum again rolled outward before the jaws could close, confirming that the left-right pinch direction is the problem. I’ll reopen and retreat to a high folded pose while rotating the opposite way, preparing a front-to-back pinch without entering the earlier awkward configuration."})
tool
executing move_to over 12 steps (1.2s)
step 245
assistant
agent noteThe negative-yaw retreat tracked cleanly, and the plum is visible ahead at its new position after rolling forward. I’ll move above it while completing the 90° rotation in this feasible direction.
move_to
left_x0.3400left_y-0.2000left_z0.1400left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3077, 1.0405, 1.1229, -1.1187, 0.1265, 0.3527, 0.9959, -0.0097, 0.8463, 0.6224, -0.4778, 0.0025, -0.038, 0.9966] state[eef_state]: left_x=0.2332 left_y=-0.0937 left_z=0.2087 left_yaw=-0.645 left_pitch=-0.4578 left_roll=0.0969 left_gripper=0.9959 right_x=0.2858 right_y=0.0004 right_z=0.1547 right_yaw=-0.0061 right_pitch=-0.1326 right_roll=-0.0171 right_gripper=0.9966 state[joint_eff]: [0.1299, -2.1538, 8.2256, 1.2381, 0.2222, 0.1392, -0.1343, -0.0752, -1.3197, 7.0906, 1.6435, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.2,"left_z":0.14,"left_yaw":-1.57},"note":"The negative-yaw retreat tracked cleanly, and the plum is visible ahead at its new position after rolling forward. I’ll move above it while completing the 90° rotation in this feasible direction."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteThe 90° negative-yaw pose tracked successfully and the plum is centered between the jaw columns in the rotated wrist view. I’ll advance slightly and descend to its broad middle for the front-to-back pinch.
move_to
left_x0.3500left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3191, 1.7741, 1.4635, -1.0386, 0.4412, 1.1049, 0.9968, -0.0097, 0.849, 0.6224, -0.4858, 0.0025, -0.038, 0.9965] state[eef_state]: left_x=0.3338 left_y=-0.186 left_z=0.1288 left_yaw=-1.4738 left_pitch=-0.5116 left_roll=0.0245 left_gripper=0.9968 right_x=0.2846 right_y=0.0004 right_z=0.1525 right_yaw=-0.0061 right_pitch=-0.1432 right_roll=-0.0171 right_gripper=0.9965 state[joint_eff]: [-0.5538, -9.7846, 7.6239, 0.5299, 0.5592, 0.188, 0.0806, -0.2803, -1.7026, 6.9265, 1.6923, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_z":0.045},"note":"The 90° negative-yaw pose tracked successfully and the plum is centered between the jaw columns in the rotated wrist view. I’ll advance slightly and descend to its broad middle for the front-to-back pinch."})
tool
executing move_to over 6 steps (0.6s)
step 261
assistant
agent noteThe plum now fills the gap symmetrically between the rotated jaws, so the front and rear fingers should prevent it from rolling away. I’ll close and verify the settled width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3119, 1.8832, 1.3025, -0.8043, 0.4351, 1.1248, 0.997, -0.0093, 0.849, 0.6224, -0.4919, 0.0025, -0.0383, 0.9965] state[eef_state]: left_x=0.3412 left_y=-0.1844 left_z=0.0529 left_yaw=-1.4953 left_pitch=-0.5311 left_roll=-0.0003 left_gripper=0.997 right_x=0.2836 right_y=0.0005 right_z=0.1513 right_yaw=-0.0055 right_pitch=-0.1493 right_roll=-0.0174 right_gripper=0.9965 state[joint_eff]: [0.7043, -8.2393, 5.3812, 0.696, 0.3101, -0.0659, -0.0024, -0.0205, -1.4701, 7.1316, 1.7021, -0.022, -0.0464, -0.0073] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The plum now fills the gap symmetrically between the rotated jaws, so the front and rear fingers should prevent it from rolling away. I’ll close and verify the settled width."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteThe plum still rolled away from the closing jaws, so pinching it is not reliable. With the closed rotated gripper already touching it, I’ll push it laterally toward the table center, where the right arm can approach it from the opposite side and grasp it within reach.
move_to
left_y-0.3600left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3145, 1.8885, 1.3033, -0.7895, 0.445, 1.1202, 0.0083, -0.0093, 0.849, 0.6224, -0.4984, 0.0025, -0.038, 0.9966] state[eef_state]: left_x=0.3432 left_y=-0.1878 left_z=0.0525 left_yaw=-1.4936 left_pitch=-0.5182 left_roll=0.004 left_gripper=0.0083 right_x=0.2826 right_y=0.0005 right_z=0.1501 right_yaw=-0.0057 right_pitch=-0.1558 right_roll=-0.0171 right_gripper=0.9966 state[joint_eff]: [-0.0615, -9.5932, 5.7915, 0.4811, 0.3053, 0.0464, 0.6227, -0.0889, -1.1282, 6.9265, 1.6923, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.36,"left_z":0.035},"note":"The plum still rolled away from the closing jaws, so pinching it is not reliable. With the closed rotated gripper already touching it, I’ll push it laterally toward the table center, where the right arm can approach it from the opposite side and grasp it within reach."})
tool
executing move_to over 16 steps (1.6s)
step 287
assistant
agent noteThe left gripper completed the lateral push to y≈−0.35, which places the plum within the right arm’s workspace. I’ll now lift and retract the left arm before bringing the right arm in.
move_to
left_x0.2200left_y-0.1000left_z0.2200left_yaw-0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6849, 2.1693, 1.6115, -0.7208, 0.3428, 0.7334, 0.0101, -0.0093, 0.849, 0.6224, -0.4988, 0.0025, -0.038, 0.9965] state[eef_state]: left_x=0.3337 left_y=-0.3446 left_z=0.0251 left_yaw=-1.5161 left_pitch=-0.5564 left_roll=-0.0411 left_gripper=0.0101 right_x=0.2825 right_y=0.0005 right_z=0.15 right_yaw=-0.0057 right_pitch=-0.1562 right_roll=-0.0171 right_gripper=0.9965 state[joint_eff]: [-0.6359, -11.5077, 8.3624, 1.1111, 0.149, 0.0757, 0.1783, -0.0205, -1.5248, 7.1179, 1.5946, -0.0464, -0.0122, -0.0171] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.1,"left_z":0.22,"left_yaw":-0.7,"left_gripper":1.0},"note":"The left gripper completed the lateral push to y≈−0.35, which places the plum within the right arm’s workspace. I’ll now lift and retract the left arm before bringing the right arm in."})
tool
executing move_to over 22 steps (2.2s)
step 309
assistant
agent noteWith the arm retracted, the plum is clearly visible and the previous push moved it mostly forward rather than sideways. I’ll place the closed left gripper immediately on the plum’s left side in the normal orientation, then use a straight lateral sweep toward the center.
move_to
left_x0.3400left_y-0.1300left_z0.0400left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3172, 1.1599, 1.2377, -1.2434, 0.194, 0.3134, 0.9971, -0.0093, 0.8501, 0.6224, -0.4992, 0.0025, -0.038, 0.9965] state[eef_state]: left_x=0.2281 left_y=-0.1069 left_z=0.2093 left_yaw=-0.7181 left_pitch=-0.5562 left_roll=-0.042 left_gripper=0.9971 right_x=0.2825 right_y=0.0005 right_z=0.1497 right_yaw=-0.0057 right_pitch=-0.1577 right_roll=-0.0171 right_gripper=0.9965 state[joint_eff]: [0.2393, -3.7265, 8.212, 0.906, 0.0513, -0.022, -0.1245, -0.0479, -1.5658, 6.9538, 1.58, -0.0171, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.13,"left_z":0.04,"left_yaw":0.0,"left_gripper":0.0},"note":"With the arm retracted, the plum is clearly visible and the previous push moved it mostly forward rather than sideways. I’ll place the closed left gripper immediately on the plum’s left side in the normal orientation, then use a straight lateral sweep toward the center."})
tool
executing move_to over 11 steps (1.1s)
step 320
assistant
agent noteThe closed gripper is now immediately to the plum’s left, with the plum clearly beside the fingertip in the wrist view. I’ll sweep straight right across the table to push it into the shared central workspace.
move_to
left_y-0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.45, 1.6199, 0.9318, -0.5316, -0.1226, -0.3889, 0.008, -0.0097, 0.8528, 0.6224, -0.4988, 0.0029, -0.0383, 0.9966] state[eef_state]: left_x=0.3213 left_y=-0.1272 left_z=0.0361 left_yaw=-0.0694 left_pitch=-0.6312 left_roll=-0.0172 left_gripper=0.008 right_x=0.2826 right_y=0.0003 right_z=0.149 right_yaw=-0.0062 right_pitch=-0.16 right_roll=-0.0176 right_gripper=0.9966 state[joint_eff]: [-0.5128, -7.8974, 6.4615, 0.9158, -0.2662, 0.0366, 0.6227, -0.335, -1.7299, 7.0906, 1.6093, -0.0366, -0.0366, -0.0073] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.35},"note":"The closed gripper is now immediately to the plum’s left, with the plum clearly beside the fingertip in the wrist view. I’ll sweep straight right across the table to push it into the shared central workspace."})
tool
executing move_to over 20 steps (2.0s)
step 340
assistant
agent noteThe lateral sweep carried the plum into the center region; it now sits just behind the moved fingertip at approximately left y≈−0.30, reachable by the right arm. I’ll lift and retract the left arm to clear the area.
move_to
left_x0.2200left_y-0.1000left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9321, 2.1342, 1.5932, -0.767, -0.2771, -0.8539, 0.0101, -0.0097, 0.8547, 0.6224, -0.5022, 0.0025, -0.0383, 0.9966] state[eef_state]: left_x=0.3184 left_y=-0.3417 left_z=0.0289 left_yaw=-0.0696 left_pitch=-0.6225 left_roll=-0.0147 left_gripper=0.0101 right_x=0.2821 right_y=0.0004 right_z=0.1479 right_yaw=-0.0058 right_pitch=-0.1654 right_roll=-0.0173 right_gripper=0.9966 state[joint_eff]: [-0.7726, -11.6991, 7.9248, 0.6178, -0.3736, 0.022, 0.2076, -0.1983, -1.7026, 6.9265, 1.619, -0.0171, -0.0659, -0.0171] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.1,"left_z":0.22},"note":"The lateral sweep carried the plum into the center region; it now sits just behind the moved fingertip at approximately left y≈−0.30, reachable by the right arm. I’ll lift and retract the left arm to clear the area."})
tool
executing move_to over 22 steps (2.2s)
step 362
assistant
agent noteThe plum is now clearly isolated near the table center after the push, while the left arm is clear. I’ll move the open right gripper above it at right-arm y≈0.33 for a fresh approach.
move_to
right_x0.3400right_y0.3300right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.588, 1.1984, 1.2736, -1.2892, -0.1917, -0.5468, 0.0115, -0.0097, 0.8555, 0.6224, -0.5026, 0.0025, -0.038, 0.9966] state[eef_state]: left_x=0.2276 left_y=-0.107 left_z=0.2081 left_yaw=-0.0402 left_pitch=-0.5993 left_roll=-0.0223 left_gripper=0.0115 right_x=0.2821 right_y=0.0004 right_z=0.1476 right_yaw=-0.006 right_pitch=-0.1665 right_roll=-0.017 right_gripper=0.9966 state[joint_eff]: [0.1983, -3.9179, 8.4855, 0.8327, -0.1099, 0.0952, 0.1343, -0.1026, -1.6068, 6.9128, 1.5653, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.33,"right_z":0.12},"note":"The plum is now clearly isolated near the table center after the push, while the left arm is clear. I’ll move the open right gripper above it at right-arm y≈0.33 for a fresh approach."})
tool
executing move_to over 28 steps (2.8s)
step 390
assistant
agent noteThe plum is centered between the right jaws and close to the fingertips in the wrist view. I’ll descend to its broad middle while keeping the gripper fully open.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5877, 1.2053, 1.2732, -1.2953, -0.1867, -0.5472, 0.0124, 0.9936, 1.9141, 1.4044, -0.5442, 0.6502, 0.7456, 0.9966] state[eef_state]: left_x=0.2265 left_y=-0.1072 left_z=0.2058 left_yaw=-0.0392 left_pitch=-0.6132 left_roll=-0.0188 left_gripper=0.0124 right_x=0.3355 right_y=0.3258 right_z=0.1104 right_yaw=0.0231 right_pitch=-0.1953 right_roll=-0.0396 right_gripper=0.9966 state[joint_eff]: [-0.0068, -3.3162, 5.9556, 0.989, -0.2027, -0.0562, 0.0806, 0.5538, -10.1675, 8.4855, 1.0525, 0.442, 0.3199, -0.0122] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The plum is centered between the right jaws and close to the fingertips in the wrist view. I’ll descend to its broad middle while keeping the gripper fully open."})
tool
executing move_to over 5 steps (0.5s)
step 395
assistant
agent noteThe right gripper is now aligned around the plum’s widest section, with both jaws symmetric and no radial offset. I’ll close and check whether this opposite-side approach secures it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5915, 1.2041, 1.2694, -1.2942, -0.1867, -0.5472, 0.0137, 0.9977, 1.9968, 1.2675, -0.3717, 0.646, 0.7483, 0.9966] state[eef_state]: left_x=0.2258 left_y=-0.1078 left_z=0.2049 left_yaw=-0.0425 left_pitch=-0.6145 left_roll=-0.0179 left_gripper=0.0137 right_x=0.3289 right_y=0.3201 right_z=0.0457 right_yaw=0.0199 right_pitch=-0.2249 right_roll=-0.0755 right_gripper=0.9966 state[joint_eff]: [-0.2393, -4.0137, 5.3538, 1.0085, -0.1783, -0.0708, 0.1245, -0.3624, -9.9487, 6.0376, 1.2479, 0.3199, -0.0513, -0.0171] camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right gripper is now aligned around the plum’s widest section, with both jaws symmetric and no radial offset. I’ll close and check whether this opposite-side approach secures it."})
tool
executing move_to over 10 steps (1.0s)
step 405
assistant
agent noteThe plum again rolled out of the pinch, but the closed right fingertip is directly behind it and the blue bowl is diagonally ahead. I’ll use a continuous low sweep to roll the plum into the blue bowl instead of attempting another grasp.
move_to
right_x0.4000right_y0.1200right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5941, 1.2041, 1.261, -1.2942, -0.1867, -0.5476, 0.0144, 0.9977, 2.0109, 1.2617, -0.371, 0.6342, 0.7418, 0.0112] state[eef_state]: left_x=0.2244 left_y=-0.1077 left_z=0.2022 left_yaw=-0.0418 left_pitch=-0.6216 left_roll=-0.0126 left_gripper=0.0144 right_x=0.3263 right_y=0.3193 right_z=0.0369 right_yaw=0.0264 right_pitch=-0.2447 right_roll=-0.0903 right_gripper=0.0112 state[joint_eff]: [-0.335, -4.2735, 5.7915, 0.9597, -0.2222, -0.0904, 0.0562, -0.0889, -11.3983, 6.3932, 1.0574, 0.3687, 0.0415, 0.9402] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.12,"right_z":0.035},"note":"The plum again rolled out of the pinch, but the closed right fingertip is directly behind it and the blue bowl is diagonally ahead. I’ll use a continuous low sweep to roll the plum into the blue bowl instead of attempting another grasp."})
tool
executing move_to over 17 steps (1.7s)
step 422
assistant
agent noteThe diagonal sweep slipped past the plum, which remains centered on the table; the bowl is to its right. I’ll lift and reposition the closed gripper on the plum’s left side so the next motion is a pure lateral push toward the bowl.
move_to
right_x0.3500right_y0.3800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.601, 1.2041, 1.2446, -1.2858, -0.1905, -0.5499, 0.0145, 0.4294, 1.7622, 0.8242, -0.0002, 0.3187, 0.2237, 0.0134] state[eef_state]: left_x=0.2234 left_y=-0.1083 left_z=0.1977 left_yaw=-0.0406 left_pitch=-0.6265 left_roll=-0.0047 left_gripper=0.0145 right_x=0.389 right_y=0.1212 right_z=0.0174 right_yaw=0.0065 right_pitch=-0.3075 right_roll=-0.1103 right_gripper=0.0134 state[joint_eff]: [-0.4444, -4.5607, 5.8051, 0.9792, -0.1978, -0.0611, -0.0024, -0.4308, -10.3726, 5.2171, 1.8242, 0.1783, 0.0122, 0.4713] camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.38,"right_z":0.12},"note":"The diagonal sweep slipped past the plum, which remains centered on the table; the bowl is to its right. I’ll lift and reposition the closed gripper on the plum’s left side so the next motion is a pure lateral push toward the bowl."})
tool
executing move_to over 22 steps (2.2s)
step 444
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6094, 1.1934, 1.2232, -1.2869, -0.2031, -0.5659, 0.0145, 0.9974, 2.2005, 1.9133, -0.9096, 0.5758, 0.7532, 0.0146] state[eef_state]: left_x=0.2199 left_y=-0.1056 left_z=0.1936 left_yaw=-0.0225 left_pitch=-0.63 left_roll=0.0084 left_gripper=0.0145 right_x=0.3529 right_y=0.3757 right_z=0.1105 right_yaw=0.0333 right_pitch=-0.3316 right_roll=-0.1166 right_gripper=0.0146 state[joint_eff]: [-0.6769, -4.0137, 5.9282, 1.0867, -0.2076, 0.1636, -0.0024, 1.6615, -12.5744, 7.8154, 0.7399, 0.6032, 0.2808, 0.7937] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 444): [image omitted: streamed camera frame] camera 'left_cam' (step 444): [image omitted: streamed camera frame] camera 'right_cam' (step 444): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.993 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0231, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.7573, 1.7998, -0.105, 0.1245, -0.0904, -0.1162, -1.7709, 9.1692, 1.8535, -0.0366, 0.1929, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1779c89fb6ed3e08b715cb5bb19f733db04a5bf19441db441a2855610f71e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a680675563e0971e0da3b6d09c0716ddd17c15a5f194395f3acf526df9beb578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f008948c4c16dd43c929cc5f2af9f9e65f5d87982d70c90d1268d50476f5799f",
      "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 1 attempt 0 · /responses · status 200 · 2.454 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVA3R2wle4yz5eo5Y-oIIMWfhyIq-Wcxy3OBAs7ccX0FyPKOSn7lHaw3k8Dy68yOT82b-c-D_jgdFxQqAbGtYXjub-qVer0CmrZVc5ctXCg_GQiJoEJGekuJYBUgiphaC83iWpXYVcurNRGI_vNAktcsi_VfDmB12tL3MAdpfk_7-YrjNg0D2ZuLfrLEgoyLsGwbIvHjnjKUM41cfg_-BauKxm4BAq4geaDGNItBCi-lMcOJmf96lWM3lprGv5-5M0KyQh1jhoFjkn62e_FoKttcCk1wPj2K3YsNh5l4ZmDu8Qv-2q_la_L3aN_rsD3BWo_KGeN7Kf7UAm4ngCiruFkKws1B6A1Y7ZblBG6XzeMxE2apH-OIB0Ta3rqLgkS9D_jcFnnwszS3YLLNzJAJgx8sxFLqNXckcY7cSUsnqiMds2Zauieu4edGhxxpWvFt2GQ4TwYE2umIJ_YVYyw8AwzUcG_ffi4nLm4WsK4jSoWROUzegrF_LsYn3UkZZnWp3n6gkWLqXJ63yoAST2zJWZifaZuJR9M76MAU2_fkXa_YJO68IukxOOILvl0xBTAH7x1yEfWRUJq1oON1Eno_utTs8iORQ5SkjL2ZS3-q0wAq1xR_aBfW0ZK0FgqaMqhnTblYsV18rxa-JaGbOxWTdWCiYKC-p_7oEQWuhVk5ueE3xssaUnbkqEK2gXuMT_LyJjqduor90uZzz-lLQ1GFHWIfa4cC8JA4CMcx_IZPitO6HzsAgS3oACS3P6DCRA38Eh5N1q9E7oXR4Nw2ZgjveJc6JNNBo0V-jqWU06XRmeDQSpxJmdqRZ_haWqVLLP9acIf4xmOT8hAc5VvMISpwyvwKib_NXsZZmhAIuhBB61QsU5rk9S2LwXJ5r8T21PKDHzjedzGs_qUXLFse4XHBro5EnVHb1ac2Hm1JlT8C-FIEslGbh5XcFxrNQz5B6z_4RepNx-BZ6pnZcluHvGyAfje9H3qgeAxhNYsxAbQ2AckhADmLnSxfa0FJxU37tFjdqmtZllin2ppQrg43wG41rI352oDnigN-mK4FGcwcoiAIo3dG_Bj-zCwAbhkx5Jvr01WEgcr1YdTxBazXP67jY_r26UfvHejkeWhG4FlKniUU8-NPKHCvJcKL_6iNc2gGSuDhQE6VMT7Sc3zk0UO-Sv3G7LtpV1eQ13cD48D1uEsUvp7ChZOV9TJPRENr0K7yfRC1hW6x9KxaKYOHYhsYOrkibIgFZbJrthumWf17fHbEPCg1r_4ld8GBhCmb6V-ZeDXeC3a8Y9Sks1bIZd3sjA2S8zcnbe-OPelpN53yd-P62Iit1g1_pY5EmxPiyHTIDJXeh9Hb_aFlBA_8AR8fo_IMgnlOvg67A0gz5bdf0K7GkIH8jX8IZkMD3Jt2sDEshGwjxSP7DxHqB4kNXDSMSy-mt1QqufUm4SEbMDVcva2_bB9xEBNqpX-CPe0kBWfX21Qn5w77MZehFe7PYPXUt75eNYZTwPkG0iFUo2GtfyJMwABuxVxeQPkxgNvM8DU0dzmWegRkZSdR4PwDKzxeFSfBm_svtwDMzxsuATrWXM-T6hkbgcex7atfZkycO-xX7SPPSrfVJ6fHHNp8U2U279dlLFLMoCazPtyzw0IvFYP12EAZtasp_NbykBHDChZQugBTZIz23L48nB7IaPVYzye8Pg5FE3mgxhG3v2qtbaAG8R1gMPZuPXnQxLNFpiry4IUTWYDtSosQ9e84ayJH4C_u2myLsnBUfktuQx2_cTgptZ_LoHYMEGfvVlLj-iXox4aW7tuT12GB5AN3PX3jq5EDAeVjSFuBV-bomimqUpws97VxrDVnqq_w5rj3qHj7Nfsy749QH8TPh_hUlcilPghLk79hx5hG0CrvonIaVP_jchYMAKjirmsbkx4OWMADbRlxelS223Eppp_5W5dPB4MhE5cN80dN-4nOFIEvZvhXnZQdnbCJ7wOpkhiPyodql5f1PlESGm0XRQFhqLilkoiNqJ-S3vBjhYoF2OvLe2kvXgcR9vgzluxOvaQWJEMI-VQ3RxqIVlmpSOFm5hJW9L-H0agFoyY9tdPTBkU6ue0Y6TMS31yrEI1Kfh3B-pq5xHjeuMoiTLIOqexU9oSK8liw-R1jZ_E-qQDtq6l4-h6Vm-o-M3gLy2_9CnLBkliSRroxG3Dl_u3Xd14VAT0Fp1I9U4gyrh7WJgqv7FxijJ3Sod4c0ujqV1n00SLhoytHEW7ia0spyElHRd2_f3RJ__3j6HDlrod_ZRDfa3IU9GIOdT4e9m-KaKdy4lwlq7IgGGwk0GAbg6cYQxA0oQG_oUYX8K3Lwy0bZDE2P2WncPgE7164IaHMQmCNs5vt5XAqM3S4EVRmWEhpjNEzvqlpyUPB-uDvDl4OBzTksIaZyhO1SRGu4Tb0zjmEXMs5oO-OKZZ4gwJTKdf4JZii6p2-XuWMH0SF9tcUYh-sgYotL1fFkr9VX8ST489uGfPJ5jkKuOZ183mWTEb19u0hkmBpu5vC_CS4e1E45aYE59fsY7E3jYQVU7kbOkAgZd3dHEE-11lnc3BC8H_mUZOBdVahUpaO4zdgdGCncgtdFhd6Ai23bBp3N4Hbd-z_xOlW7FPTgXddz5l7Rsq9JH7WYSJPOVw21HU2FlYL37x-wRGxLJJeEqq3Y-HKhBigXIgMp5TDK9F-LERLpKPSzcEskmgL6QT8yzsZa4wSLzwZTJpk-CVOmY-yfpHZBYgR7GJZNVedy1icVBw8CcC72RIasomESngEDAFS7TpbU52dXF3ZkqBqOGD5Gkn-d8JB-Dw3UpnlAKOjO_yS9-LBT6GRhWYZN4ocdV7ybHnbT4CVPF3U7E2czBiql6payDJyetK__xPttkZIvKuePJtN38uswVoZLrR3ccEhPHdFKmWXv0qa67FtTmHVNDRZ9PCrjE8jMudZaTufPSGQvckWQM4RslaAqKwwRhwMmBHT6L7cmYo2OGpp3Ug2FCiRRFzxBUnXVCQLpVpinc1Ya1x3zlopQLMmbmPEgDDna_-DLV8sqSmbyOo4VF9WhfTowvcuDJSwqPvwjxrNMKKaUqfDpS7qyH0EgqzHanucuUmImIEfEO9yhqEbrPb0ZMip9gFyrp7s7b3_86G_vmGf1zLQwrWSJuFEOaqicVSG07d6R33wxsm8MhAEAEiO_GDq6gmDym-SJ9A7ewx_w7OhU6D6hZMJ0KJk2DdvMCphoO2mLfylx10GmjRdntaRJ7N3ufo0aM5Dt6A9gfqcrJDSGnnMBxUVSO6wj8Qq2fEQg8OvfoEZrK_wnpoaH-VPFBPfGgJbTIPiEhIpLa7qsN5-cx9AStig-HLfkTE7oyBUfm1lH_mB1Mli1mNUbJ3EDlEXdZZk1cSkuMCEivJ2v9_xfQuB3K_-ftxxgEkAirlhPQOizcu_UDjO8bucYvZUnKdZas0HlF8aPgkd_48qaCBW6OVLxHR1WdtyN77Xa2Ott8xKwoZgndwVCFI0QO_jmbUgpSmb7rW3-FjVf0s5UZPUze20vi1q7RVxOHGt8TAbYGEHHm63Io_IHrjRhoNSeNA0cjRS622n5N9F6aPF-ylBRNi6qJeYkBcJlyaNL236FLEpXYp6DGRNXIcOnhRsm0-S_jUKYy4aWwh15PkcDA2gMn5nPbl7g_HiUwKMrf__p7RnO29iZAED5yaAI4DwKsu87w6vRFkr0W6wefIOUGi6F61JYIuN-fijZJgoG2_R-Q6eXcWxFR2jW1vl-2GPA8eyw_UZmvwq5wGpvLce-OaWc-9PYa3IRuScexv2wrJHt0slt4_m_EGgRKUo-zRxNxcFz1awTZesgkAo9ulIg2KKsAE6dcvhYBAJijfsSVwUUraaM-WrXv5XgoxlApD-vMhwmtzp8rCdx1_KC_aUAj345ElIbXFfGdA8ZwvDGVAUb6dX-0y5ps0UjIvRYZHgn3Jdw8qiXl8bgkjZYnhTWXh51D16gyKxHOyk06ExKBHC8lBfY_m0njU2n5s0lvfp5df6YPXgBNnd8DoP0pw",
  "id": "rs_0b2a0c91819856af016ab4453a9c3887d0b2daf4701087a4ee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVAOFkm3SHsdwBkQ0Re_7OYXWbXRFxuDZS25aBTxEpT9CHqCcK_-zqHIPpmG4whXP6GsZeH3OlIkt3TB0LTwd0_XaJzf5M00OwjvDAi2VRbYPwcSuqio7dV9bLkPx58vr3O9coI9Qv51-Y1nAHm1GBCDdEQqLxvH_bluJTPaszkvGaSn_PA-dRTGttMM6DR2zRAb9eLxnY_WQVRn1THma_UPku0FN7ZgFvtgZGIEeE0_jjLtNRXpJRPhtMhhwW_6EDwEzgIIz3CYdnvO-9iWng82oOBjTCWyQHft2Ymtp1KEgUK6wtgWZhc3qG4yZym3iqADosFIAa9fdyWk_fL_OqMvAaKMMw4TvT2uY_LFy3ndDmkoZdeZ2jkrfVWVqhZrpXKTnAf7pJ2tdTKeLMcHiGhwXe4EPSZOKMOM23Jvbx51JspVDN0odawd9jXRL7VgY1U5LD0CoEVApmvVJsG4-4yv7Q8-FbZfGBuA18yzlQhv9WpCBKJjS_t1q1tm14DwrEMRShdyA1XxEG9S9_ciEU3xNaXdqUfEppMtNIIDvWlwhTxc-7k3MwmepaHNudlStlG6yOY7v1CS7sg3lm3pweGOLQrLzWyFQOqPg-AQ_AT2gD3qKoM0eypezs__q-bDW_8yEBLMb-El42EV5Yiqcv_32DQBdR9ffQtqCR_dcbGaTsdgrNdlUJV-yR6Qt0lTzuFY_kqX3hKaz-kthLtTm95TaETnhK74ZtTJZ7QK8Qk6GNENf9MFcFNVBS-ymWkOzOBHzFXu1oDSQSv2kpo-B7uLkwXff_qIz3jQnrZUeT0Q9hErDp3QTp8_QavS2sPoU2LZI-xPZKY5LWfUZMBya3GfMdBUX3IxO5RQ2WhjOtEGxMCaEBDdjc1R8Q-Iy2XO1HIXO-1Cvdtff6vHRDX_40WkkowkbMJ9DSgRsapi7gr0lifVr5q21jcbyN480XRHg03exKuD7OjQ3Gn56gVLtqSHzx0Mrd33U12JMomo01Hp_Q5IZ7yuU5ProPPTXDpARmBe6cfXwO9zt1bdrFhOTkJ3orY01nzH4YWKhR19hor80nozAIUi_8CLgyndKArZ-rlWKS23WKwyn2AZeHYu1UtXSmrPbx_pZjxlIC0Sh0iuZJBLkD24p_ZpEcfROTVsDdRUzWGoEPsqKr9JMbmpxIvCNWJtxJB8IZhHhTkERh6nDEZvC48Znaj93Kw9cTi9kB2k5l1YNqgMJhOMRL5JdpEise5bGi8VRgacoSguYZ3_qlWpV7MArC1sRFVlBfYMAV_",
  "id": "rs_0b2a0c91819856af016ab4453f9cc887d0add8cd623514b1c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.0,\"right_z\":0.13},\"note\":\"The green pear is directly ahead of the right gripper, while the blue bowl is just to its left. I’ll move the open right gripper modestly forward and lower above the pear to refine alignment in the wrist view.\"}",
  "call_id": "call_r2cwbOdwfYigpfOTy1Rdj61T",
  "id": "fc_0b2a0c91819856af016ab4453fd6e887d0a21c20b14237ecc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r2cwbOdwfYigpfOTy1Rdj61T",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3897, -0.0139, -0.0303, 0.9992, -0.0219, 1.0805, 0.5045, -0.0444, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3348 right_y=0.0003 right_z=0.1185 right_yaw=0.0029 right_pitch=-0.0511 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.2923, 7.0906, 1.8437, -0.0415, -0.0269, -0.0171, -0.1573, -4.0547, 6.7077, 2.1026, -0.0171, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d7d87967d4c7acb8ee833e9c52ad387dd896bc63c0779dd8ac90ae1821c94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4e410975723a9c67893d92d4cdb1dbd23ae501f186c4ecc094c93c6fbc2900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf62ae816e13e14d1d205ec3d90e41572394034232857ebeb72efabe243cf27",
      "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 2 attempt 0 · /responses · status 200 · 3.104 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0231, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.7573, 1.7998, -0.105, 0.1245, -0.0904, -0.1162, -1.7709, 9.1692, 1.8535, -0.0366, 0.1929, -0.0708]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3897, -0.0139, -0.0303, 0.9992, -0.0219, 1.0805, 0.5045, -0.0444, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3348 right_y=0.0003 right_z=0.1185 right_yaw=0.0029 right_pitch=-0.0511 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.2923, 7.0906, 1.8437, -0.0415, -0.0269, -0.0171, -0.1573, -4.0547, 6.7077, 2.1026, -0.0171, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d7d87967d4c7acb8ee833e9c52ad387dd896bc63c0779dd8ac90ae1821c94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4e410975723a9c67893d92d4cdb1dbd23ae501f186c4ecc094c93c6fbc2900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf62ae816e13e14d1d205ec3d90e41572394034232857ebeb72efabe243cf27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVGDZbgGXYuFpVTONE3Eyqudyf3cZJcGHfAjNF_LKyBSMoiC52f7zMgSYRCHfqw1SXVjJYK2r-5QFP64V67YBEVdHoqIXFZv2dZio6EG3YCeehyQepBAtmeypiEPKF94v18t-g9KCfkJEKWGLzUa67PH1hd-s3NnOP24_8IpD0IgBEriJPcGTt4B0c4fT987ppcyMW64p52uyreegiCcI_orCPuFYDzukVTpjmM-nBEb0x2a5JuPawAXXgPhX1qFQkg6ibTL12GaggLQYMsDMItQKyE4UFXEmLt4N52NDGUj7R1-I-DMNiXPan-UE4tts9j9P29clbavB6TEnXe8gV-TlF9WWcNOInfKczkpUaVEuj3dHFfGK1ys-Ky9d9anptND0XUNQCrQohthQXcf59MawBW_zBOhNsfusWlX9zMyV8NtZefOBZs0RsWbP3SYI4_xXFC_RJwAO_sMGg3ACKvI0Njg6uiTc46EQfC5LU9X_-ZM2bXDkBThmMCxuhPsP4Jwy0o0zsmcQx7cE3l8kN5LSAvUZZoEalnJC9-3LHn7SnnIEHXDVIcL2KyBdt1-jR9MzsyzT6gH-kHQCUneDXk0xYJ3lRuNs9EQhPOH27QVCQI119i0_d7pTPTB8jwrFsA0aK7fs4z6iRkO8U6t2ON6xfcvicuAXegRtkU-3s3l5UHqHq6JIBaE_FBBy-YHczu0qdpj_BbuaV4tWVQKT1n7pSSsT-IHRCH3noVmVRfHm6fCjhu94RJk90mBhT7WJolP2ue-BhT8mWXIQHUy_JudCo9t9MfL2rdfKDt36QTOHqZiVBFj5AQQ0Cci9xUOfZs_Srt8zj9QJNs_aCPjVukPQeKqXfGm7BZCWPJWu7efpLeI47emuYvUPooXG3dI9vnwTmCzhX1N8udjobETddQ332ZqM0n_pf-5XJ4LifPdMoKg4cJtpkMh7qzGQaGSffiKkmKqaLeUQCjrdvHwmU6yvAF4CoNjCVhtBNdK-ZqiBv2xSN_v22CJiH6tmFnO-QTgrcg0WvVp24ek-i_2dTdiEnrVZFqRXyXrXWaH4L6RA-JXhCc3QU0OL3hNzT3-DSs19sn_naAOIDGYCicPxSthHZj_xYFhWbnKoguVPLy2bmmAxPQWwh1OCWYhaIw2LNwlc5REh4PUzDG81r7S-zdMczv_q4lZvaVXDyHdUkNltNCiUmc9_qSy0SbUSjx4K0OZU1PDlv3-eywcPBxI9OWQtYuutZvJUacxr_iK634lNhs4D-Beqqb96LQr-7lZbcmFly_UMHpsVX7lKy3eFHJDJrXZGf5aQuoY7fdBGJ4TYfZv_FxD7RaLjHi0VldvoLnfsv-17l3bxsB8RPn-WXrSp5iRBoMIhUA3VakdvMPPpDhJQnMVy6qZU7PCkXTPJh1TEeNTBqo3c4Fcfrm_od1vQwKEJJDw1JvefUNseu9PyklujzWIrlVnT0eAQYbgShJeeon78Ds_OFYQRoTcqg6gBJaa-5yUwkmeMzYFDl0AjT9b9z7MXFTUWYuS1jeRkcfrus6YfheDYRPjM-aSKZp2MVbqYSIN633Y_IpAndbIl3d0t4MBY6WHJ0C_IoMNQckEVCuEAWZHC0EGzLq7jgQXV-mi19DDHKLRIuDlvCHyu6Tv6yuzEsM4HxK7LXrE-IfwVpag2Fcw8eq081YPoCgULb2Zl5UWheF3TkHfVWzWUXy2mwJl49qkfswJXvSzLHgt2wgS9Nh-3NaO54nn9Y16bEouIIdWrN7ESH6mTjbd6U=",
  "id": "rs_0b2a0c91819856af016ab44545378487d0ad71311b7fd93ed2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The pear is centered on the jaw column and now fills the bottom of the right wrist view, indicating the fingertips are over it. I’ll descend to about mid-height on the upright pear while keeping the gripper fully open.\"}",
  "call_id": "call_ZY431SO6UKXc5j2wW9plEqPY",
  "id": "fc_0b2a0c91819856af016ab44546315c87d0a176b4c3d1ceaa90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZY431SO6UKXc5j2wW9plEqPY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2947, 0.3855, -0.0231, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1762 left_yaw=-0.0001 left_pitch=-0.0263 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3299 right_y=0.0002 right_z=0.0375 right_yaw=0.0024 right_pitch=-0.0858 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 7.0222, 1.8584, -0.0611, -0.0464, -0.0122, -0.2803, -4.2598, 5.7094, 2.0342, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60912031684071a961638fb5244aac901bf95dfcff20f158878ba62592efaa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050aeac6fbd7d394565191a680c8a88f6383b089474f017e241902bd8e15b007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803f42c04f99495da09eea48d6c6ed3cd40590651afb4ccb1790e50bcfe6e5aa",
      "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 · 2.235 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3897, -0.0139, -0.0303, 0.9992, -0.0219, 1.0805, 0.5045, -0.0444, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3348 right_y=0.0003 right_z=0.1185 right_yaw=0.0029 right_pitch=-0.0511 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.2923, 7.0906, 1.8437, -0.0415, -0.0269, -0.0171, -0.1573, -4.0547, 6.7077, 2.1026, -0.0171, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2947, 0.3855, -0.0231, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1762 left_yaw=-0.0001 left_pitch=-0.0263 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3299 right_y=0.0002 right_z=0.0375 right_yaw=0.0024 right_pitch=-0.0858 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 7.0222, 1.8584, -0.0611, -0.0464, -0.0122, -0.2803, -4.2598, 5.7094, 2.0342, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60912031684071a961638fb5244aac901bf95dfcff20f158878ba62592efaa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050aeac6fbd7d394565191a680c8a88f6383b089474f017e241902bd8e15b007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803f42c04f99495da09eea48d6c6ed3cd40590651afb4ccb1790e50bcfe6e5aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVOW8-YRZ2Bdh9nsHH_Ob3lLshHzY1kgoeWeL7mgYL1Eo2zTPzfSQRtjWTVZHmRwpGlRYKIjfG4vQWEKqgYhMz7JJDt4vNN-sN6hI18du63AsINzExDQkJWN13ys4uPes3gEDAnfTVoCLfHwe4ZJXvyTFSn85-TWIKqI6w0HHgcUf1SkFRtdCr9sUAyyZOsain8I9PVBp-2-mwyv5KPGuxCRBXxXreJ5B7zet39a1j7aogCAAR5vi6NEt1AUocQk0uB4tahivaPm4kBE2iq7ZD1FFxCKuV8fDtggtIaX8ouxuczfNZKNFf_YdGh_jlJ9In9EM8aUcQ9ANSj-RPF58kHJJ74J9ehf8Lao5XNcZsmernLbSokz0BwF0T30x-oMvjULC4dsPOl3fyfkagvCWV_wE7IE46wLybijU6twHaDD4HFz6eyYaRC8Pu4g589-F44QMzbxQQiZpQubpzy8jeQIoMO1jkGYd2VX5tfTt-p1p8ErkFg2INd42ADK7UXxkKMaUJmOAtD2mofY0lK-kWthQIzeZDVnI2K5w9TJwmi30FDu58vSKNJjCViqjphlXXe0O9__o8z-vt_ngRNjVd7fH1AKTRO2tweYPsraP3Bo9qAMy6S04cmoq9yvVIWFNYDxbDrdLotPI8gSMWlc4iTr2VViz32OiIh4q98g7MEO2D-PpAJ7Z3nSP5BQ6EiP2VIuTw-4a0oa4IyLjh76z5FRtYHQPYDkJjddPVL4jJSwo0Wdp5EJcvmSXhJpV3RtFjtIwRuHgX5lK8sBYEqUyq4to9o4HpGTiuKvxYj6RcfVfUYDBKpyNeD9JUzF9baun2LGcrtHNYXXgai17yp2R5r_ZD7jZ6fDKG_NndseeRk5dGSWCKJ3Im8BmnmftYI8xLRsZwyKGMNxftL9NDI1pYrUkFtb0-wGLtu0DQZzZHtQaeB8-QXi0SWOyOu_B3ir0iTOAqGvRfPpJ75sDLFuQb8w3PHeTvtEEEOdd5qPJP0H7v40oLBL2wFn4W-ASM_T54GzE1-cu_duuVsLSczlRJnrc99h1XG_vywRqHeEbXBrgShx7mEtqzwSK_GoZ6c9523twFLC21OPNnxFQg-M2fh9zA-QSZ4SNnGOanKqyr9gFkJxIGuAr5UQHNN99vpIP7ldDF2N4wVfii9WqSYr3NwvCUNgs-J99GEoF3FMvrmGypXu4YpSErH4M5HCBKyGfxPRXNGMbmBJkHI1tgvBH7VYUT5rHa0Z5aDc2KVFjDv4uCrKOFDCJ1L_I8sKC6o-6_s42c3xYHbEbsJ3o-_JQkT03pEbO4A3MmfQX0jB7fuOSnzUejWnRJhvLtiVlpMfQpkOTDwKQBbaScL13a-S3Eyx2s3edTMfnEAp5NqT-j5S5uf0lePGgPUHKAGXVPpcRnEMSlNkd_z9-uo1FuhWst1WJ4ClOQ0GKg7aB6cTB-dLdMZ_QiQhchLkg_UYIuGxrfixQAprXaJZS5rz0i7QgPF4OqTV9RRaNtX__FPh7Og4mkHbZTfTBEI2yJwlDKVcm-3ButEOz1PCup0kdOn0S4CdB-CqVUyUU20ZBIma4AUR3KRq0qwEjCC3xgU535GqQbrp4U-3H4-k3Mwo0OqwRdXYrI8fiBlWCldi9Yw05m5SM_MUhYbFiyh1DAbCyp1EIUVpmpJObKGuTvKRHTEKeCGfHIr8QOauHRIkd2YQJpyuLIfoRefA7l3mu_JNxDkaxf8dVSGjtDIPVxBIlLoht-LGj9yzYuYwQcCLEA6FoQzstg1Vhyw0ah91hv4-Upyw4YPisgHiCqKd1FHK26wcXVJ6DJiyHBJAraAXAzAkkU-b0I=",
  "id": "rs_0b2a0c91819856af016ab4454c707087d08670bcfe33d02fd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear’s broad body is centered between the jaws at mid-height, with both fingers flanking it. I’ll close the right gripper to secure it, then verify the settled jaw width before lifting.\"}",
  "call_id": "call_82FoBYgcfHK35KnGBhPqfmeJ",
  "id": "fc_0b2a0c91819856af016ab4454de16087d082b634c9cb1f3061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_82FoBYgcfHK35KnGBhPqfmeJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2951, 0.3935, -0.0265, -0.0444, 0.6307]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0001 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3312 right_y=0.0008 right_z=0.0393 right_yaw=0.0089 right_pitch=-0.0773 right_roll=-0.005 right_gripper=0.6307\nstate[joint_eff]: [-0.2803, -1.0188, 7.0085, 1.8095, -0.0317, -0.0562, -0.0073, -0.1709, -3.6444, 5.4359, 1.6239, 0.0171, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44901a161d07f64ae4be461a80c8720c1e50d5f32c7d427ff642c729f6876061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f777e93bf145b349ebf299f72badd58cf7834c21d6b4768fa623a57ced7efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dc699e8a38e6d504340c24f17caeeb35c81253abda1a6ac1f18dd2e38b6076",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.347 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0231, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.7573, 1.7998, -0.105, 0.1245, -0.0904, -0.1162, -1.7709, 9.1692, 1.8535, -0.0366, 0.1929, -0.0708]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2947, 0.3855, -0.0231, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1762 left_yaw=-0.0001 left_pitch=-0.0263 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3299 right_y=0.0002 right_z=0.0375 right_yaw=0.0024 right_pitch=-0.0858 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 7.0222, 1.8584, -0.0611, -0.0464, -0.0122, -0.2803, -4.2598, 5.7094, 2.0342, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2951, 0.3935, -0.0265, -0.0444, 0.6307]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0001 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3312 right_y=0.0008 right_z=0.0393 right_yaw=0.0089 right_pitch=-0.0773 right_roll=-0.005 right_gripper=0.6307\nstate[joint_eff]: [-0.2803, -1.0188, 7.0085, 1.8095, -0.0317, -0.0562, -0.0073, -0.1709, -3.6444, 5.4359, 1.6239, 0.0171, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44901a161d07f64ae4be461a80c8720c1e50d5f32c7d427ff642c729f6876061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f777e93bf145b349ebf299f72badd58cf7834c21d6b4768fa623a57ced7efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dc699e8a38e6d504340c24f17caeeb35c81253abda1a6ac1f18dd2e38b6076",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVRDyAHAXQSecYkNoAyrl2vPx_gOEV0L1vQCRfw5msqXuXaEQENnmYAW0BgRvUYPEfcuYqtxMlXGKXvs-UZZghTZZSrzQDV_oZMINSCIPSLHNw2ObgFiZ8Ga84B-P91s0sS94-golzQ1kuO5Gyw5USarMcf0qsvJaOKP6FdLVJeGjdfakI8Z7ZVRG7W7Z2__mnGHr3es09saNfJ0_3mG0Uo2j4EQ_imJC2jYD0dTqLqvgbh3pYBg0xpjxrH1BK6CmBcazMvDIefcsL4KaYdZ7xzYYBzPuaXDXB69Kaea11oqahuJHKt12wPxt2eIqf1UONpT0YwL_v1jvQaCiTTAqXusnmIVGgxSKYdXQ_jmlXlSleWEkFWuQWWHuijXJxMC521dAnt0zPS9jn5m7-ejas8lLHwi3cLVTDbYiF0zPbWeTam-nl4yVs83f1Bdu1gcfuxO4elnooCN8is8axEOe4Jvv5wN81v-ftnKu2a4v10epTXkYJIJdOCbkrRSP9pO_l7PCqYdehJ76e8KBSyt5mAv4v0Z13eZ20fGWkjdrvW3i3llIPehYanjfS0qE3zK0C8PlWIFDBhS4SnsN-AyGDQzmEhLYtE9r00d02NY4sHazlp3_TC9LOHbrSaYvNDJeZQq8LhI83ckNQ_3Qz9RiMQ4cN1oMPkccut0H5RPIyS4hl907038RFj0nmDKJ3a-qFvmAychdvg1pbQKpq-yLVlRozB0oqqc2X2EheNhN_wYo5nlfTXpO0tPWbVe7UHrR5J1yX-7PuxCWRv1WQY7YTc1fP3AwtcDzjYI59Ujub6WMx8DDyAfJ-eJa21qHz1v3nJfXTV1LXFTAiePiTPADCLJ0tO1LIEeNnhset0-xtrZPeBz-0RHpvssEMhOQsyxvDGcZl6TYw3GY7BKxXQ4dA10q3tEVF3YMa9j7ApDL4qfn2SGYZ-V9Hab8BpAzDt6m4Zh-Dtr4lrbZ5K_4_11b7OqIClFSEGPQHSASmLT_5T54wZyywEiFyeUCrbVG0rn73YUTbMDq1T2UbSSVA6k7gdKiIU92EyANtATLQQRCAqIOl2o4P-JfmIr1lShS_QqavKwzA3q2eBS91RCO9WtQ6LjxmMa0A569J097cqmEyADFggEZ_oH1XtkmEVJRYvr1v8g22QP3JKdYmfeqy2QJdHCqZ5j6l96eDf85YkRvHglugmJrAOAm_Wj0tl7SoNmETASYEhEpSK3_TR_hf94rBzoQ==",
  "id": "rs_0b2a0c91819856af016ab44550953887d096edbfa25dc5ffec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper settled at 0.63, consistent with a firm grasp around the pear rather than an empty close. I’ll lift it well clear of the table so the overhead view can confirm it moves with the gripper.\"}",
  "call_id": "call_W0Fa4mpTGZdhUwjyb7qkRkUR",
  "id": "fc_0b2a0c91819856af016ab44550cec887d0bdaea987bf269d02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W0Fa4mpTGZdhUwjyb7qkRkUR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4171, -0.0135, -0.0307, 0.9992, -0.0227, 1.0489, 0.6044, -0.2577, -0.0303, -0.046, 0.6342]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3239 right_y=0.0016 right_z=0.1305 right_yaw=0.0132 right_pitch=-0.1325 right_roll=-0.0019 right_gripper=0.6342\nstate[joint_eff]: [-0.1709, -1.2376, 7.0359, 1.7656, -0.0317, -0.0269, -0.0122, -0.3761, -4.0821, 9.3744, 1.9023, 0.0171, -0.0513, 0.8669]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e027c2b87eab0c0445bc0b7d78d47b58c0bdfec83b8c72bdb013df6e7f87ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073a9faa40cac46699b7dc808574a244776b00b9a06dd4bc2301de36099eb5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4256948875c5552f72c2bf0c68fae65134cf3e278a9c03cbbabde8aff8ae943",
      "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 5 attempt 0 · /responses · status 200 · 4.326 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3897, -0.0139, -0.0303, 0.9992, -0.0219, 1.0805, 0.5045, -0.0444, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3348 right_y=0.0003 right_z=0.1185 right_yaw=0.0029 right_pitch=-0.0511 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.2923, 7.0906, 1.8437, -0.0415, -0.0269, -0.0171, -0.1573, -4.0547, 6.7077, 2.1026, -0.0171, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2951, 0.3935, -0.0265, -0.0444, 0.6307]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0001 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3312 right_y=0.0008 right_z=0.0393 right_yaw=0.0089 right_pitch=-0.0773 right_roll=-0.005 right_gripper=0.6307\nstate[joint_eff]: [-0.2803, -1.0188, 7.0085, 1.8095, -0.0317, -0.0562, -0.0073, -0.1709, -3.6444, 5.4359, 1.6239, 0.0171, 0.0464, 1.0281]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4171, -0.0135, -0.0307, 0.9992, -0.0227, 1.0489, 0.6044, -0.2577, -0.0303, -0.046, 0.6342]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3239 right_y=0.0016 right_z=0.1305 right_yaw=0.0132 right_pitch=-0.1325 right_roll=-0.0019 right_gripper=0.6342\nstate[joint_eff]: [-0.1709, -1.2376, 7.0359, 1.7656, -0.0317, -0.0269, -0.0122, -0.3761, -4.0821, 9.3744, 1.9023, 0.0171, -0.0513, 0.8669]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e027c2b87eab0c0445bc0b7d78d47b58c0bdfec83b8c72bdb013df6e7f87ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073a9faa40cac46699b7dc808574a244776b00b9a06dd4bc2301de36099eb5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4256948875c5552f72c2bf0c68fae65134cf3e278a9c03cbbabde8aff8ae943",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVXGozTFI-dR-gnIMYdkGDX8vHWQnThFOfvStt_48bvw_xZzRrJgNLmxull1qCn8tVtmMuVmz_2w0D_3JeioXNl9_byg2AUEVtxppyeLlJWNzVjBqBo9gC_qvrfiVpF3El572VuQ9hpKOzgwsmfqXhlJt5dvGydBjs3b2M7eROA_xB9xbaRKAX4XH38kiMBFcBoAKBBLbuWe8ZlDUNRzgbm6X5b6E9CE8yuh-VQ9yMx2KxLmdoKoUpgfFse_hztYZFF65TzKwCX4IYtQ3M071s7iP4FwOnPpYuW-fDVLe4Ada_8kWArKAgpBJrWNDP-i4AGIQANlhynRrzy6ZIsGJuz9uCXmwIRTH6rTTJEbhM8MCqNYky__yNaaKIQzTLzCUDFcqvqGTKOYeUWLDGv49byoZIXz4f5mNCYvbmSMl4lIpxxg1lD2TZgZRaFYmmjE9F0zoojmiOpS1Lw-pD-rpq2N95UGXvN1s2sgB7n3VmteSy2iJ6ufY1NMZeQ-I-EmQncQUzwQ5N7tzg4oS0OA_ezd5n3D9mhJFss4EGZ3cSB5-wUcRxGS0ALbuSM6xUTo3G4wY3onMOdy_y5gcKc5X7RldbphigApO2qGtr0SeD7-lrXEL00eq3HycrZrxFAErTmiVcZPhZv6Jzlq7Lt0GEQF_3ABpFNIBRGwftlMjR59netH5khRX4j_fH6BQDWTsdbgekFKyKamZ4gkLFH-ln4vgXQyP8yUwvT1fvA9-etBrXVNMW7xHLRHTEqMO1uuuy3EteBui446jevKnzdx5GSvtXcGtD646l_OnVI6Q3fRE8cE8rR1hc42Xae_UxAr-GHNTZ1bpaOAY_aLbzgdqGpUGty4Eg_OUDo3_QiibC1zF9-7n6sgdPfpjVeUbYDUrwwWvCUSuhUoVoHNABN7-nRTvXWQTuZz2jY7ju_yusxgaIh80YYhK04tarI70SvICeDhEoyRFFfuI6sfqGkETQU7kM5XaisfagZsZs_utzeSfl0ee9tdrmOiaCuAlyjZaPPCkGLDVPYf_HnHhAmS07BmIFltw54FPdj65ciyzgKBP2Ju21X6gPT--hgSR8_9Ox3zmExyRXxYJ5xuREjlfGOU0YXuMibj1J1g-wrcluK_ojKVLhkzacg7XCJP1NZN-rc8N5cFAcqKj6GagedgQTgXLd8pYCpWBznxwXFYfK23PQEV__FZ8wu78XY8fkwsCVAwwG5XtMEP4Dhb7mdVqMbjeJe7LpgpRwUi9wfTFgwE6sRRL47iHXWK2HEPxDjJ3xT0pqCzpOnTx2Qkz3PXuHzuPKerTWICksJyyedVAfOQoRSftn_FKDr-i7dk2FXlMWUWLhuOPjoLBZEk3dmZaUTrZt5IqAJxwZ3TSwOngN3CiTXKAGNW4ElrBYzZBvDuGl3DiyNk2zb3nQ6ThIneeKiQMh1YnkzSKnUwrZXvziJjkBDs1gaKSj6jIegi_iV7l6e-O_y4yMCzAJ0u7dyW_RCjzUU25L21LL7KCbzXpbSw48IqMbjlTGcmwy1ESJRrMXzepnbd9du1m45sRkVxyUrvxBwY12LVulZqhgAexfoZMmYsAxnsuq7Sxdt2AlqdDH03Rg5s6s7SD3vOJdf2LWNYIuNmyGFxLMVAHssfZAsHbbU9M8v4q9LjZpp_UFBsNRL4LbUfSIZ7AOKsbfcz5Q_tgE-yFIsZyqX0VTbofBqPtx4-gA73G95j-Qaf4kFN4UB5aOBwhVLD90lmRrPCqM2fcDwh9JTqHB1chkQTUa7Lx6v4v1ad2ouUFBOftktJYjfD-aSMpg93kY9V4b2aXh5SXjvAuI-0vNjnEdpCD0ZnkUopJ6WR924sds-Ch5WqJGzQvm-tz94FHT_VUl5UIXpshfsOh9gKLhlLSXvRuZWVfUU3WBO8Fv5Ea522xljYsByIVYpeUG_G6WAHWUeImrh_avYmZBGiHAdaR1ZeNVRWoaXQWbHrHOw9bkX1s3LBzv9efV_NlnfqhNBVd_UbQyRcfaFeY5i4DQg3e26jws69fM8hS24qvS1PSEoEYmrDiTtn-zcyWPBscfOqh-G05RGCNK77C9RPVXIJU-RqTwjj4sxn4EM1skn0OcV6gd9tSzfyMryd3U-nF6Rr1_HSPoq3bm2aiigaadxVx60Q4l_64xpFB6opar4az7FsA8w2qG4tJPETwPjAZjeF5TulLtFS1Vr1uFrouZDzbd0jPRlgzCiFOGBs6VckE-WwQtZQlgR8G8zsryWi-Z1rIGmuzmtbXEryS9nauEJagfoBoaRf__Iq8XFETthKKZSx18RgtGO",
  "id": "rs_0b2a0c91819856af016ab44554837487d0a08ec2d933441313",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.11,\"right_z\":0.2},\"note\":\"The pear rose with the right gripper and is visible beside it in the overhead view, confirming the grasp. I’ll carry it high to an estimated point above the blue bowl, moving inward and slightly farther forward.\"}",
  "call_id": "call_CBFFvqVVS6U1TGsQojSKtc29",
  "id": "fc_0b2a0c91819856af016ab44556f36887d0a0365aa60e9f8e03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CBFFvqVVS6U1TGsQojSKtc29",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.363, 1.4681, 1.1351, -0.4728, 0.2394, 0.1768, 0.6347]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9992 right_x=0.3983 right_y=0.1103 right_z=0.177 right_yaw=0.0451 right_pitch=-0.2077 right_roll=-0.0351 right_gripper=0.6347\nstate[joint_eff]: [-0.3761, -1.7026, 6.9949, 1.7656, -0.0269, -0.0513, -0.0122, -0.253, -6.8991, 9.4291, 1.8877, 0.3004, 0.2466, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d9a3bb3f3520eb9fabfabba0f796332b503841e6659c3f3fda7d3fd975ca9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c727668111f607dfb4f75b86d77b513820c17d9ba700244549e35afab288202a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e0d66442e6c67fde6c1399e3092197ad2c50af33a431b881c8df109c2f904c",
      "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 6 attempt 0 · /responses · status 200 · 2.224 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2947, 0.3855, -0.0231, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1762 left_yaw=-0.0001 left_pitch=-0.0263 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3299 right_y=0.0002 right_z=0.0375 right_yaw=0.0024 right_pitch=-0.0858 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 7.0222, 1.8584, -0.0611, -0.0464, -0.0122, -0.2803, -4.2598, 5.7094, 2.0342, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4171, -0.0135, -0.0307, 0.9992, -0.0227, 1.0489, 0.6044, -0.2577, -0.0303, -0.046, 0.6342]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3239 right_y=0.0016 right_z=0.1305 right_yaw=0.0132 right_pitch=-0.1325 right_roll=-0.0019 right_gripper=0.6342\nstate[joint_eff]: [-0.1709, -1.2376, 7.0359, 1.7656, -0.0317, -0.0269, -0.0122, -0.3761, -4.0821, 9.3744, 1.9023, 0.0171, -0.0513, 0.8669]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.363, 1.4681, 1.1351, -0.4728, 0.2394, 0.1768, 0.6347]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9992 right_x=0.3983 right_y=0.1103 right_z=0.177 right_yaw=0.0451 right_pitch=-0.2077 right_roll=-0.0351 right_gripper=0.6347\nstate[joint_eff]: [-0.3761, -1.7026, 6.9949, 1.7656, -0.0269, -0.0513, -0.0122, -0.253, -6.8991, 9.4291, 1.8877, 0.3004, 0.2466, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d9a3bb3f3520eb9fabfabba0f796332b503841e6659c3f3fda7d3fd975ca9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c727668111f607dfb4f75b86d77b513820c17d9ba700244549e35afab288202a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e0d66442e6c67fde6c1399e3092197ad2c50af33a431b881c8df109c2f904c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVlFFrr8lfCZMGnIbvJfnIJKkrm3hurbO6Fm_WU1TYeAGIzm-rvMriiB1rBpQ60Bgv6FmyJtiqaFvT2GBjN9BTHd_aXS91cyqusVaMQL3brnafnUwDuiIukka8ID2i53VeLRPkOUYu9blg2jQqY7hi76WMp45tRmbNhdtDYf0Jk79odeZLv7Prnkt_veZkrm5Zdkc2g8Vr2temqy8oaEIe2m86dxmyTikorABGC1IZ-0qQ9z3ryWZe634hW5xu7euxaK1eymsVHdeKapm84hPpPqnR6tz_gXGkqsqzOI6MuvmNlEcvv8B6hNiA1VmOMK1mskAVzI_V4Dtj2NjC7smh8IXOz56Q-uwQiI-Rjn7k4egYopajRMdr6yR0ZO9BqJvXhOZCIj2xvWayylTU-blfNneJIdXFjFZghAolnyBg7fL6MjBZpPpZU_TAu1-I32fsh1oerFl3OUEJlTis8GdZV8oNbBJ-WrZmqizWUoNSn6BWPlrZ8-DsBDTtCSxgiyBKFXjP9oCfD1aHbXUcXPwMCEYRuLQbYygGkQg3duW3iA4h8Ao7Ko4EcsiT_S1tpnnCii4z2YJVE_ywxyTIRVCjUZFjHhfTHNWuEVsb_1jkAcAhVMNtpyfUsASnVloiY1Vhj5nmhJzbr8n0C5zIoto-AIxEnhG8v0MwsOuxJdvhJ6DbOzLi0j0Gu0D0bAjL_UNYUk4MtpF4pPDO_pezDzalhzVdtcH3nPZKO46xRUebxIYsOYLGG6po6CPk15TpIpNUp69XyMGf7QmiTcRxbdtMhE0SrAv1mux8DuMT6sA9OCi7RA0nCpw4LZQEfXSMEUwVGpVNpzmPoHlBQqEV4mWxJtzlIL8C8wTgKXnvetRehcSLCSZqQIOiOv6_WSl4opUIyoIsuO1ixU24ZhshYSuuUTq5HcmBFmCHSZJMjkJp2AyfwUs0XFG84veIpVoIQ0wKD-vBNKcLhsQu7r331Hfv2mqewGcLWmmIyY2IgvS23FwGRNTxLbZgoibA0wKiz7fNSv0xZflQq1y5Swk3pcbiPTooxK-A2nwGPxxQryTS1GiG2NVSZzny2ekTlhIhMpFjmK2O3RvPDSAGlA2wcxAGaAYWh5ncs-JyzFPqI60FPkjSoPLV-bmcX15Z65ic8H_dqEkjKFSkzoFs27d-RbJ-NNjWFJ7cccc84fnpNW29CuC88Q9hqCInsSGOpjN50LCa-2BrEEVB-EyrT03JkrdBhAZtFUnM2NxLTZ5W8HCwDkf3sMnAwiH4W1pmP7YE_O0DonIjMg148NpOQZMkH_DDI9BAfjihJZ24KSOHntnQMat-LgPPRj9r5lSnfzGPtyHJz6wQ5vW1Qx5monBJHoVmqJFvbkTbAv9TBIig-_bLXZe6mv-Z26Mq9ZXoFAMBsHX1nr-ZZ3Z4hF2gm7ODAq9AS1UszvRSWhaHjmMZFvdPDyhqzhESuQfLWFUHTJvR9fyKouDA3KJkn_xSZhg2d1BUddrCM96x0RUg6QUbwf2EnILALxDqLVM_B2qAkUglMdnQ5SSU7GHat2XXCLL6pYpwZ1LQOVST6DZtzR2D-u54JiV1NexZ1vjTFs_zIsMQbZ6Q5_jbJUWWRJlQtql3THMsSmBfpX-2VHIooqYWAiSUCfV0sQnxEfE_7F0A3qko10ipxRa0aqWw7mIiFSzTPaViYXiOWWG_4J2N3i4WurpgLbIt7Ytbq5sUBsl1Hlv3zIyoKult52cwEG54xcXWUCURrjA70o92PQkzqa5_zRDq0h7UORcgtIrZ_nfMzyBHQMtC5u1g4KfUZ0XEBLbce2kWxVm2V-x1ZZNv7H-NKYW4DSX50G0RZQzzaT2TGAnm4lJ2pLZvFUddHZafQze5bKS3a--kZXdrxR6lBQ7KJf79_rKbdEC5G3CBqkgrE0kv8C-xd81IXOVgQO095pG9mfn26trHyzvkdQ4JtCBBHsM5-Djqy7Ij4nDK5qejTOuINynP8_zw-wrmK9mNdgAzVUbELEI2RFIATi0WKOvvCH7j-7wS5yZRKG8mHZfVOHQncO-0MFSmJqIo7F9cPpDI0MKVx9ITSurWEHZUMuhb5ZQJZ2xtSFdpbBplEcyia6iInQD4l2H2NC4rRS8yZkFMI1EiFyiUYPr2CUWr5ApMsq7ei0OWcfqX2FNH0achDhfWap9GCkx9p0Sv97t8KdRaWe5c3eEhIuzsKYxmH1kxs5xT1H85a8LalU4a4TJKJ2eYHsZNolYK6JNeQCKkgSXaggZ-HAX3qLPiS7d_MxWT3h_UzGwv0czYaBvRRAZyVQHiycae9",
  "id": "rs_0b2a0c91819856af016ab4456219f487d09767e721ccbc4339",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_z\":0.09},\"note\":\"The pear is over the blue bowl; in the wrist view the bowl center is only slightly left of the jaws. I’ll make a small inward correction and lower the pear into the bowl while keeping the grasp closed.\"}",
  "call_id": "call_N3nNYGJnCzXJh2yTV4QazM3T",
  "id": "fc_0b2a0c91819856af016ab445648a5c87d0a44cf900c2b6b9e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N3nNYGJnCzXJh2yTV4QazM3T",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, 0.4046, 1.5761, 0.9012, -0.2031, 0.2512, 0.1883, 0.6348]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0549 left_roll=0.0002 left_gripper=0.9992 right_x=0.3875 right_y=0.1221 right_z=0.0843 right_yaw=0.0647 right_pitch=-0.2728 right_roll=-0.0595 right_gripper=0.6348\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.6728, -0.0757, -0.0317, -0.0122, 0.3487, -7.4735, 6.6803, 1.7949, 0.2808, 0.1197, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16557ff367c091f58dae8fb570c2ad275571f87b7d32326ed90ea52e614e8df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beaeaa580292d9d0dce2b15692d350246263d063547408e4d6f2fa70bdf8feea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfb0555c1ac39b1b05659d66619036846040325de838327d972e0d0b7bda28f",
      "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 7 attempt 0 · /responses · status 200 · 5.106 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0139, -0.0307, 0.9992, -0.0227, 1.3354, 0.2951, 0.3935, -0.0265, -0.0444, 0.6307]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0001 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3312 right_y=0.0008 right_z=0.0393 right_yaw=0.0089 right_pitch=-0.0773 right_roll=-0.005 right_gripper=0.6307\nstate[joint_eff]: [-0.2803, -1.0188, 7.0085, 1.8095, -0.0317, -0.0562, -0.0073, -0.1709, -3.6444, 5.4359, 1.6239, 0.0171, 0.0464, 1.0281]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.363, 1.4681, 1.1351, -0.4728, 0.2394, 0.1768, 0.6347]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9992 right_x=0.3983 right_y=0.1103 right_z=0.177 right_yaw=0.0451 right_pitch=-0.2077 right_roll=-0.0351 right_gripper=0.6347\nstate[joint_eff]: [-0.3761, -1.7026, 6.9949, 1.7656, -0.0269, -0.0513, -0.0122, -0.253, -6.8991, 9.4291, 1.8877, 0.3004, 0.2466, 0.8376]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, 0.4046, 1.5761, 0.9012, -0.2031, 0.2512, 0.1883, 0.6348]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0549 left_roll=0.0002 left_gripper=0.9992 right_x=0.3875 right_y=0.1221 right_z=0.0843 right_yaw=0.0647 right_pitch=-0.2728 right_roll=-0.0595 right_gripper=0.6348\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.6728, -0.0757, -0.0317, -0.0122, 0.3487, -7.4735, 6.6803, 1.7949, 0.2808, 0.1197, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16557ff367c091f58dae8fb570c2ad275571f87b7d32326ed90ea52e614e8df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beaeaa580292d9d0dce2b15692d350246263d063547408e4d6f2fa70bdf8feea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfb0555c1ac39b1b05659d66619036846040325de838327d972e0d0b7bda28f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVqZ1dT-2axgr0eFvDZ-8bVxV4Z83T-eeW-WeTRSuqbfkjgmFkzMEC-26jmgyfCQyGCaVjKHOco5pLmTpcqcVeezTCYQ7l3DWJfhRW-jzwCwUA5UKqUlCHENTAdLWM6s7eTcy3GdkewKgKMkIFAczGtQE878fKJdDVGt7PHt6hf0GyippoMb3HTZ7Xcv1afjItDQbPdawyFvjQr6_gHLrneiKSXnkRGhVyr_vkSQH73Gr7AGYVBWWQcyuQqM-kt-UZa_W3khndo51bVY4Ha7JeKkWGyisqRgSBMUEnjkwu7KKqQKeOP4VF8opJsletm1Vls4W23NAwelKmCrswMoG36y2hVzkUx_UUOOm4byWjGrBwG7K2IT1AfSf4x3-ZL8ZaM1pDCyrsT69tAkXzkwXXEsxRxrguNoIkB2Vc0xRvWaZ1mho6agcxjXDiHvb3QyBCrMq7-rc-pNqFgJTKjO6NPNyurKLbMGa5n3nGu61No85s5D3GR-Mp14IbzxcK9PIx7hgu4OzaN9-zgjWHHbf9D97uMHDsMn-ytURpiUF86BvU8KHQy1bfwcq1Dluv3XLb6CuIG_fJltG9q4yt47yCu4cOYNhzkU1NtjAX-yRNxX0QEPA6aZ_M0camczYIQFdbiHHH9HZd9c_CNzGhJHtOBdWPhGSZecZWp6GerzmBEpoIpq0bdl7rpSqzpuPNdeh20mBt45vUdVV1KAUeJf1jdOCjcHBOwYa74_x3xUX2E5jEn8cbukW3PAC7qDX9E7QcRxBvm60WDJHix6U8nW_TwQoKRqpWnKo1q40vdayl_WleWHIM7h_gEhLFFaWt7KC35P23GkZ7rg2cr4iYddqfRMWFHhmHZy1zyJoYiYY1iZNVdgDisgZVvzDxKnRZsfMg4-BhgEhWwhL4NEud8WcYegmVa8qNCJrT2YB7wOrdjdc4Yqt95lwbl_RVDcm9lVC8Lhw0PK928jfks3O972m5pClvXXICS-BGYKhl5rK_D2x3Ee59uca462F0p53RnNvKbo2fdc7vKOur3K04u7FUa8M6d3OEhSoEskDzmLJaPDM2VrsdEkR8UMZOsD28NPCvt4pZurz2b0H961HKnp8DeCRgDCG1yidX7ZMiUMPj82dsgeT015GRUvIYeRcNFw3OwVx42lyq_-ZqBwYwnu1wGSd_JLnJjwcJLP9oXgOyYjWKJaghwUBm7fDIV40NIsCGU",
  "id": "rs_0b2a0c91819856af016ab44569f09c87d0bc7e22e55dcb56d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The pear is visibly lowered inside the blue bowl with the bowl surrounding it on all sides. I’ll open the right gripper to release it.\"}",
  "call_id": "call_v2f7Wfqo4AP4XJEMhkpGy9J9",
  "id": "fc_0b2a0c91819856af016ab4456a0b4c87d096b114f49f98af15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v2f7Wfqo4AP4XJEMhkpGy9J9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0139, -0.0307, 0.9992, 0.4076, 1.6005, 0.8795, -0.2024, 0.2504, 0.1833, 0.9961]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0001 left_pitch=-0.0618 left_roll=0.0004 left_gripper=0.9992 right_x=0.3804 right_y=0.1205 right_z=0.067 right_yaw=0.0665 right_pitch=-0.316 right_roll=-0.0781 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.265, 6.9949, 1.7705, -0.022, -0.0464, -0.0073, -0.3214, -9.1009, 7.8974, 1.4139, 0.0513, -0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5939d2a175008e86ea5419bacfe4588ca9fa498e77b4b80fa17f8da576e258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d385ae9df9a0b80a6639e74236059ebc416866f4836d67be12c7f351c2ae646b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f3079dbfead526c75205a0e582ca8fbdb0ab0f4cf87972167df3cff736c4c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.322 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4171, -0.0135, -0.0307, 0.9992, -0.0227, 1.0489, 0.6044, -0.2577, -0.0303, -0.046, 0.6342]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3239 right_y=0.0016 right_z=0.1305 right_yaw=0.0132 right_pitch=-0.1325 right_roll=-0.0019 right_gripper=0.6342\nstate[joint_eff]: [-0.1709, -1.2376, 7.0359, 1.7656, -0.0317, -0.0269, -0.0122, -0.3761, -4.0821, 9.3744, 1.9023, 0.0171, -0.0513, 0.8669]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, 0.4046, 1.5761, 0.9012, -0.2031, 0.2512, 0.1883, 0.6348]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0549 left_roll=0.0002 left_gripper=0.9992 right_x=0.3875 right_y=0.1221 right_z=0.0843 right_yaw=0.0647 right_pitch=-0.2728 right_roll=-0.0595 right_gripper=0.6348\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.6728, -0.0757, -0.0317, -0.0122, 0.3487, -7.4735, 6.6803, 1.7949, 0.2808, 0.1197, 0.442]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0139, -0.0307, 0.9992, 0.4076, 1.6005, 0.8795, -0.2024, 0.2504, 0.1833, 0.9961]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0001 left_pitch=-0.0618 left_roll=0.0004 left_gripper=0.9992 right_x=0.3804 right_y=0.1205 right_z=0.067 right_yaw=0.0665 right_pitch=-0.316 right_roll=-0.0781 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.265, 6.9949, 1.7705, -0.022, -0.0464, -0.0073, -0.3214, -9.1009, 7.8974, 1.4139, 0.0513, -0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5939d2a175008e86ea5419bacfe4588ca9fa498e77b4b80fa17f8da576e258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d385ae9df9a0b80a6639e74236059ebc416866f4836d67be12c7f351c2ae646b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f3079dbfead526c75205a0e582ca8fbdb0ab0f4cf87972167df3cff736c4c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVwSo8AHTUag8c0dmSbnUEdE_9l4DbPEefGx6YONF946CH8mDWI8kIq0TAWIvc4hFeLqq6Gyb9Ofbg_7vbz_1qUT7ksUp0FrX-wFtJRfpAXpVOV-ZNfetfTXUzHQnUG15D14RlB5SKhnwkjCQxz9Wlq_ZRQaTTfc-TBBfAcmrLDkgRvp8i-tCD1Ab7R5Ojsu84YZPqQ6fAj5K3W79TxRo5Srs-wgG8cxApnZxbykTiEHVtNujcIG74_begBN2vL4qSNA7AHr-Q4dC1AgdkbLiBGN2fwKhej2W0qIpjScBMtKdhmMrIUeQ83JDyosUAmI49AQYvIzK816tX-wLugQKMx31RR4UewYbLdyWWnD0l3KCOFH7Qnun00HjSVn4gqrDHRYJz2wozoUW2YqfQddrmdweKRUXN-vDp6qMhheGKv2dWnkR-a3RRbgeE0oR2E2ZPkqggktIOVpKnrFvs10SneF4SXjO6WTW_K5uAQPQyRiCkuVFwb0GHrEzCcV3E2-HbvoJcZqM45_YQ1Kmh0kJsO0it7T5X9CAS0YBHFVMiq5qy-u-VLykrLh-Md8AAH7Oxru6gMul3eI36a0FNl0CwidYHWqQdMZEL3ZbPjDU2iR5VDbc7PIl97OIJVCHu4uY5BLAh_v9q_MFMqf23Vn8v6srIW6YD7Go6b-_cELHprZoQ280U62TLh0XqYl2-WrDJqaXB0Vs48I21baJQTPjxLT8vzSR-plifdv3K6T7HSpuJvaivSPxnnAnHU1yAk8Vl9poNcACXyEEcq8HOLBmgLtAeXy7wiRZ2VWtlOHVyUeCtjCSwfaTqsp0n-w69K18kaxPxlYvCQmYHsY1q4lM7gE24e7Kp8F1xPfNM_y-ltreRR_ShkOxZKj8OyePPLmPCRPtp6ju-yt6n20YIB3BhL4ULSQiYGu3Xi64GfHF4g6krQRs-R7W6cVFL4x-UJcdITw4O99PeR3uklfrJLvcs8OgNjQrlVPN7BEDDj8mN1POQy8d3NZrMjLFivPhL_cv-Q4ZaTMbf1qgJ-4VwssBpZoB55F2Y7uQ_E9ZS_bKnpNIU0QvRU7_BP0a2YD3tkktl0qRUSgEiSK9oQUHyY8yDDqK2KAvoNiOhQv-WLUNhEKw9SWrM-Uz03sj9Mdi05IkWjAM9bwHSQzm5Nm61Fsmfx9spF0EnkXZ-yXD8yxDu1qa8i7vWKagffjVmmFadqWJAi2kduf8uZJ4T0dFZdyAdzTeI03Dhvh9kp3AFk8AFdl3QliaJJAOqgrYyV10zrjknAOzxNyBjTHsrn2jSs1J9izr-cSCIbzR1L3MXdeaJ1wFy7GQbCC-Qd-Jdm0KborZdcmGQQZtHn1fBssKJLO0Th8TzQ-J5HIpO8ykf-j-2cf_u-OMwR-snEC54U_Mvi2q8eKO_hzBoGulQDm0Q_NzHPJBt0OnOl1_XMipMgeMadOedAtShELZnhPh9EJ2xLI-FgdHF0INW1AMqlX-Xg2j0hQL5irr1Xn3w4T__at9_HijzkbLek9aUoD5MDV9nDOX4VFkjraLXmEEUwms3fzZx90vNY2ZefR2e7ntDcj7Gq74rJWaDSVz-CPsRokk_0zYhfYOvHAaN7byxgc1sdgcL9DyG3ltn0NVolY-MRgqgoLB8lkm4F6jMvNFh_Dk61EgY2XK9QGOWsUgetpBUt6zI5nVGNOXV0Ghy-f-UP1bl--mYS3h8aH-0u_2c3S8JCGt1ThNT1ZMNyzRKK4rsGlrn6B9q2fnliXcE3wyUWrdETjg8POweOuMtlGE_C-d49a2kJtgbMSWoy5Tmu8arHsA61THFGuHg1Hwv7w9fwMCKqLr3zSqu3LD3bTMTj7bKVSDcw0VXTOr2oTN3shTdZFPjnVuS15zhTUPe0WDEEeeoz7Eetm4ltFqMw-HHZ16ULvV44X0q0RHH1wUsj_4O8v0zjPkK-V1FVtjOJReYmby5Ecm37pUZF44P0a0O7efUI_B4ftC-wCtax1CoHABm_Bu1r_5eXUoDlgNVu1X3R372fu_aoUTDUwbmPdvJaqxaUD-EKcOMiCy9cxTodI4zP6bVlBtEd_5Nio3LoQrVyw3WGxDPCf7wFyPOucLoVxLPKrGLSJfJqZK_IJSkxdctfiLBa3cN4FFqnyRmE9SQa-iUI8sION5U6m_cwwcTFqWU7N1N0c-amRjynEQ9oau-RJ8hwfwqUPCReRIOtOdnZ0h5JKrMbzAsELK9yuDktnKjaQR_n0YVlHh_vwgJYrKsl3_SKghmRraKTBKyKuP94MuYrUjYSGJhhyNM9xvG2Wz-6s916KGF8XdkOqRxkz0iL1T7KY8cfP9uoqEioli9HQA_61kIhfmp21vdZzK1N2_xN52F7qQy28YpXEt23AT4Wo7SKVzWqVwme05G6lKB_ulkFaX2vbZvRimoA0tVrgdNqnwHjIOTRW1tjfQO44AGXelqoTxMJDjnn-9m744gmaGf7zMNLFcPz-m53er5SjFKX0IL0-2Iewg5CyuJL0ZTO4IGN2L8GLsBCQBEBe6PKJgMkbSNXpXO2PyibypoUNE9G4pED",
  "id": "rs_0b2a0c91819856af016ab4456c712087d0b9fd77ba03bdf1ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.225,\"right_z\":0.16},\"note\":\"The pear has been released and remains in the blue bowl. I’ll lift out and move the open right gripper above the yellow fruit near the table center, which is at about the same forward distance as the pear but farther inward.\"}",
  "call_id": "call_Q3CfqDXCCeGRlLN6yTH4Yi9q",
  "id": "fc_0b2a0c91819856af016ab4456f509087d08505f4fff179253e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q3CfqDXCCeGRlLN6yTH4Yi9q",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4339, -0.0135, -0.0307, 0.9992, 0.7757, 1.586, 1.2411, -0.667, 0.4252, 0.4603, 0.997]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0004 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9992 right_x=0.3322 right_y=0.2288 right_z=0.1539 right_yaw=0.123 right_pitch=-0.315 right_roll=-0.071 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.7265, -0.0611, -0.0513, -0.0122, 0.1026, -6.2838, 7.9111, 1.0281, 0.3932, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aee4a2503616658ac730d9048c2c9489ec16f99b4e0f65d7e4de944924e631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdc166d677293c5ca830876c484c16180089b617764dc71cfa49b9367d17520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7169bff9dc6aa3bd7c24f60d4f181adf73a56a24cd69245a99fffe2d56fa0e02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.168 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.363, 1.4681, 1.1351, -0.4728, 0.2394, 0.1768, 0.6347]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9992 right_x=0.3983 right_y=0.1103 right_z=0.177 right_yaw=0.0451 right_pitch=-0.2077 right_roll=-0.0351 right_gripper=0.6347\nstate[joint_eff]: [-0.3761, -1.7026, 6.9949, 1.7656, -0.0269, -0.0513, -0.0122, -0.253, -6.8991, 9.4291, 1.8877, 0.3004, 0.2466, 0.8376]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0139, -0.0307, 0.9992, 0.4076, 1.6005, 0.8795, -0.2024, 0.2504, 0.1833, 0.9961]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0001 left_pitch=-0.0618 left_roll=0.0004 left_gripper=0.9992 right_x=0.3804 right_y=0.1205 right_z=0.067 right_yaw=0.0665 right_pitch=-0.316 right_roll=-0.0781 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.265, 6.9949, 1.7705, -0.022, -0.0464, -0.0073, -0.3214, -9.1009, 7.8974, 1.4139, 0.0513, -0.0073, -0.1929]\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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4339, -0.0135, -0.0307, 0.9992, 0.7757, 1.586, 1.2411, -0.667, 0.4252, 0.4603, 0.997]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0004 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9992 right_x=0.3322 right_y=0.2288 right_z=0.1539 right_yaw=0.123 right_pitch=-0.315 right_roll=-0.071 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.7265, -0.0611, -0.0513, -0.0122, 0.1026, -6.2838, 7.9111, 1.0281, 0.3932, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aee4a2503616658ac730d9048c2c9489ec16f99b4e0f65d7e4de944924e631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdc166d677293c5ca830876c484c16180089b617764dc71cfa49b9367d17520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7169bff9dc6aa3bd7c24f60d4f181adf73a56a24cd69245a99fffe2d56fa0e02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV0gGw7X5N5tOzj60NBKRf7cT_MCzwiweJcSnxJ0oudQCe3hrbydepLZHpAo8ShwG_HarWiF_Ud5UpDA_UrDOzT53fwIo1Jnptj__Ql5q56EsgbXfkCke5zmaeVvbxjJX71KxYMSRMyAE9gM-27StmJDHdcS_Hys0Q_XUN6KRAhr2QT-qLPjTlVjx2JLUpm1dw-5OnSzO__Ro58qWLQNfKaUA30encaRzXSV43EJ9r90bAEK8CHLm1M8N-1uR3UaTtHxNx51dcncIuhHDrxjQtTxO52wKGrJA01I-adEOUFl-uUQ1xYXaEzugfZQHvjS_-nXS1LAABVc1hBJ7KwFAnzYMot_H8J8qzgG8lsvGx_3RRGo4OMd_6yKtTwbVwmVnDko7PmTvOf7PqW_5Xm8WnLpzURl8OeY9xMrwhfGvIsb4UzYyAgdrvS7aywP_Wbm7NsdBBBOb5LDnjzWlxnO-ouVoWLxWkmhgnthiQOCtodV-qEfiZSXT3gBaDAwlokQtX0OBdwyhATp4AWM-zbwqv8dc8oypv_VY_G2IiQFjKt3SuBJeeFi7QioH9JAlVwIYoN2pZR0DBryfRT5Xa8haUAtVQgH7Nj_inuQ9usL2r4uIyQVnKgjYV_FCun5_KvX5kN40xlPf5teF0ZQQJlUF2Wx9wXrFgb23IH1mczlFb3heeoVYCy-DrU6wF3AHgVN2aPB2o6ISBNXO67Lw4TfYkgB0qK2M7azpYfqDofZ-ThzboI8LClS4tj7TlbEeqz4Xy4modV6a08ED56P88gpVyEYc6btaIKhvaelaKpMI5vnDjEQ9cWh7j6ELD_OtVFSpRJ1JdTjNUjaDN6YBpliqtqlfvzhQLQA3Tbe3JYF5jje2pvhW21UBOq70S0kk5mByZchNgqTWJzxttExSZI-WSjLQ6T_qKqDU0hwHPzdjc6ZMWW_aGe1ilc8ixjWGZ6S-KJVGvYGwj97sHtd_zmEe3c5af-VL2cR217hTsN3tqANTsdwt4YrFkoVjZnxBITJEfmgBQwQZtZiZ3XbE_xpHl2cTNWuSsj1eSnv5-B32mUtOyEE6rLz0yvodWqnjAsAjgp1lIEgHKSEHzDYJ9UM8VuZfhRky4MmLcbxQubRVmK9o-DOz3_0vthuXmW4U-YPrj91EOJJ6JJPeBNcxi1EV6s1wdOWTZ_fC0tZZ82RuKH6Uk7Zi-PnJLt0_hwL2RxsZCZXuWnKGNCZ8eNKRzQzEz0ZkDa6ClEIHwTukkYRw1ZRoMu5UP7Ud6WpJM7Rmxq-O58NBN9OX9jXRR8IMlojAPRNyjmnz5zgbAmKZYbRgrkUajbEQaWvh6djAL5X_7dzv98eWYSdBMAeVvf3KSggOYW_JH3Dyc-2NKNfIU7aHp63xHy7UNRBfKXwCaYiJBTVflir3ecWvVsC6NxqbqGw2cveup0x2sDGFyu-8gO6kQ1QA4FJ_TiXG8cn6qqwruf3LrvvVTUyHteq7Vog9bypxCh3qdOSubdiu8KOdF6G8X44XCdsElJnv1fgO-4hXSS9P7elAGOhdo_Gq7Ps0Ejn3Uzg3VCQTX9mrhC_wisqQ9xbvGT4LRCi-mF2M8nj4ozzcTzwztmlYNiKgWXMsw1ck8qcsMbWJ7l95j9M5AU8GLVB0JaYzR_ipBn0jZu6bfNqZmRKdw4DCAZK7yRAHbGeqK-WD6puX4hEhxVl09Lkxv8ID028GNcYAdbYYec_Fz9_XYyC2-z3FieEqlDaGSP0ioqFpAlDTXowP3db-J9Q-2oC9E6bOsB3QV1LvVSsEFf_5ZB51twzTQkMclkAXhx3NuV4MlcvTQySwvLOIbZYE-aAYEoKWZrPJ9ypDRWB5A33JgjJxdPIjhAWAOvdTk8LCoYofKh_1HZ7MTX8MKgIyW24-BBbS4mMJx6-eeLdB3Nm3TYJlM6hmoBMx9ml24lBxn9Dhi_qtsOa4qn2JkNSYGJMHDOaAqMEFUikoibPJ37gHxXa1QwdXqfmnmsqe9sbO82GQ_XoW_oaHq6Kgpo5cHD85diEn2VyPxKeAslCXAtdE4_",
  "id": "rs_0b2a0c91819856af016ab44572355887d0b0e3ab9dea97c11c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.025},\"note\":\"The yellow fruit is just left of the jaw column and close to the fingertips in the right wrist view. I’ll correct inward by about a centimeter and descend to its mid-height for a centered grasp.\"}",
  "call_id": "call_1lqW53xGnKUcY8K9XVhVPigP",
  "id": "fc_0b2a0c91819856af016ab44573da5887d0bb231ee68e160651",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1lqW53xGnKUcY8K9XVhVPigP",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.9992, 0.7925, 1.7828, 0.9421, -0.234, 0.4259, 0.4789, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0755 left_roll=0.0007 left_gripper=0.9992 right_x=0.3257 right_y=0.2315 right_z=0.0246 right_yaw=0.1149 right_pitch=-0.3633 right_roll=-0.1006 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -1.4838, 7.159, 1.7363, -0.0562, -0.0513, -0.0122, 0.759, -8.0342, 5.4906, 1.2674, 0.2711, -0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3843c0100d1f5fb301e801349118acddd12a7f6a192019c71cffef19467f0e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c143cec39ed12eac085d3b198e03ca3ac23811f7a57d340b09cd79f2154238ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d14bae0f1af9f3717bb1a2dfa4922516376ed4e6131b15e447f6dce256bd8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 1.868 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, 0.4046, 1.5761, 0.9012, -0.2031, 0.2512, 0.1883, 0.6348]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0549 left_roll=0.0002 left_gripper=0.9992 right_x=0.3875 right_y=0.1221 right_z=0.0843 right_yaw=0.0647 right_pitch=-0.2728 right_roll=-0.0595 right_gripper=0.6348\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.6728, -0.0757, -0.0317, -0.0122, 0.3487, -7.4735, 6.6803, 1.7949, 0.2808, 0.1197, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4339, -0.0135, -0.0307, 0.9992, 0.7757, 1.586, 1.2411, -0.667, 0.4252, 0.4603, 0.997]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0004 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9992 right_x=0.3322 right_y=0.2288 right_z=0.1539 right_yaw=0.123 right_pitch=-0.315 right_roll=-0.071 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.7265, -0.0611, -0.0513, -0.0122, 0.1026, -6.2838, 7.9111, 1.0281, 0.3932, 0.1978, 0.0904]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.9992, 0.7925, 1.7828, 0.9421, -0.234, 0.4259, 0.4789, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0755 left_roll=0.0007 left_gripper=0.9992 right_x=0.3257 right_y=0.2315 right_z=0.0246 right_yaw=0.1149 right_pitch=-0.3633 right_roll=-0.1006 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -1.4838, 7.159, 1.7363, -0.0562, -0.0513, -0.0122, 0.759, -8.0342, 5.4906, 1.2674, 0.2711, -0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3843c0100d1f5fb301e801349118acddd12a7f6a192019c71cffef19467f0e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c143cec39ed12eac085d3b198e03ca3ac23811f7a57d340b09cd79f2154238ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d14bae0f1af9f3717bb1a2dfa4922516376ed4e6131b15e447f6dce256bd8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV3-LcQIiN1-BRymDy22airgJ-ZDdsxHMXHBFh-E10eRiAlZZLx5QPC_SsU1ANP3WXW_eK_X0tEUfE8H_Y8MjazSVvb0XpsXxFQO9cLplS-Yr_jfJlH_JKPWQFeGu89zQ2VnAiphu6h_7-elFf5asy09kpAGkvg_6lQJkD2fAsl4sYBJeA9rO-GW2lY7AdbFJaRz2cwbP7eA4f6D5iFyn2UWtde3L5lbM5vHLPJFwYe4nAPuOM9DUDsqYo_g2uYwf0WNd38_EDK7DlXcRYWfsWWWV0ccEGgtSpqyAN_LMhc8BONocoV4rkuKJQKcyUR4D9eiUunnU09XEZ6IVUjfMU9kI5TRc8JWHuoWzHk84KfnCv6sQTlyPfqroGzBDg29UR0tw20w9kn5TXU1bdsgeII7XIYH5NMABGfSV1Tc46MXXqomyNUDx0G-CPfvWvApgXBFxb8ROru8KhJhbOeftqzHHq-cNuEYxj4b98z_JyVRImPuxhx90917TR_7QbLq1ae-S2TzAN42euacyNZXnfMaWhpQJZRb_gQHX0vbk4ND2BEq1vqTU_ZR-RpNmHyp3eIkZmf4pOW_huc6F5Q0-nEbh35SpBoIYs-L3eS9JBBorB5eKrJe_CkYYBj-7ULgNZ4EJXYI99w7NDKkatNdOmk-UWFBXCGXNj0xK-xq_6it3k0wG-rofLgFywFPQPs00CmT5RlFYUfom-hTkDXC-stdkKXnZfmZOwQB7XjURacFQ1cPmpjOiWKvqXF0Vzv5ZBWrPNrmEOdsBFyTEXKc0oW7bXjXTmRbBYPuwRna9WkxGBkAM7VR-eWFLdqS6_coWZtaS8W06y0LZBD_uN-rB3RMcWI6tqubnFeeIPcHISFEFL5FX_oNdRVurB4tCFGc7CthqZLtTLocA62pCPZFb7C1weilob6UiQqe5va1nXxXmmChsusWCyxua3bMNTKTE74RfvHMn6xRT1S2FGkBTxUSK9lG30YExpckwr57BxwvZMURNSfeGvFCQbdC5pm8UZ9mxHcVHvURMmTWe1CPmww8sTKsEUbNTXqn-E734LCzuDfWOBEfMwpvD91EEUobdhuMVWDzrBxqYwR3uLUslJimpWYmI_ZNNL-rD1WS0-5pd_MsRs1xYTK55GX8SkoQB3W3bHfOcM_Fx2ALVapzs-n0A9lGcGJjtmVvEFgqmPhstrb-IbTbjMQww5ajLcbiPo3K2bPWa-biWPM0pab9m5vcOSGxc3uFTIqkpubi-e141M=",
  "id": "rs_0b2a0c91819856af016ab44576a18487d09c217b67790bf3c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is now centered between the jaws at table level, with both fingers clearly flanking its sides. I’ll close the gripper and use the settled width to verify the grasp.\"}",
  "call_id": "call_qlPzoR8DPjXhBAem3KF7I0Q1",
  "id": "fc_0b2a0c91819856af016ab44576f79087d09ef98f49aadd17bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qlPzoR8DPjXhBAem3KF7I0Q1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4461, -0.0139, -0.0307, 0.9992, 0.7948, 1.8042, 0.9302, -0.2298, 0.4217, 0.4717, 0.4843]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0008 left_gripper=0.9992 right_x=0.3211 right_y=0.2291 right_z=0.0131 right_yaw=0.1173 right_pitch=-0.3886 right_roll=-0.1216 right_gripper=0.4843\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.7265, -0.0806, -0.0317, -0.0073, -0.4034, -10.0581, 6.3795, 1.0281, 0.188, 0.0513, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b535e36028439a4c05e2b993d68dfeb6ae16e8877408748a7577b34706e4ef41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d1c92a8b45f83b9830b8f4496d120ae91cdb6467dadea3312a08b24a0a8b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee144ed4e901ff81600479fc0559d4ae7e663ed32d503dc7cd2cdbe09c0e1ba7",
      "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 11 attempt 0 · /responses · status 200 · 1.922 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0139, -0.0307, 0.9992, 0.4076, 1.6005, 0.8795, -0.2024, 0.2504, 0.1833, 0.9961]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0001 left_pitch=-0.0618 left_roll=0.0004 left_gripper=0.9992 right_x=0.3804 right_y=0.1205 right_z=0.067 right_yaw=0.0665 right_pitch=-0.316 right_roll=-0.0781 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.265, 6.9949, 1.7705, -0.022, -0.0464, -0.0073, -0.3214, -9.1009, 7.8974, 1.4139, 0.0513, -0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.9992, 0.7925, 1.7828, 0.9421, -0.234, 0.4259, 0.4789, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0755 left_roll=0.0007 left_gripper=0.9992 right_x=0.3257 right_y=0.2315 right_z=0.0246 right_yaw=0.1149 right_pitch=-0.3633 right_roll=-0.1006 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -1.4838, 7.159, 1.7363, -0.0562, -0.0513, -0.0122, 0.759, -8.0342, 5.4906, 1.2674, 0.2711, -0.0122, 0.0024]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4461, -0.0139, -0.0307, 0.9992, 0.7948, 1.8042, 0.9302, -0.2298, 0.4217, 0.4717, 0.4843]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0008 left_gripper=0.9992 right_x=0.3211 right_y=0.2291 right_z=0.0131 right_yaw=0.1173 right_pitch=-0.3886 right_roll=-0.1216 right_gripper=0.4843\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.7265, -0.0806, -0.0317, -0.0073, -0.4034, -10.0581, 6.3795, 1.0281, 0.188, 0.0513, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b535e36028439a4c05e2b993d68dfeb6ae16e8877408748a7577b34706e4ef41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d1c92a8b45f83b9830b8f4496d120ae91cdb6467dadea3312a08b24a0a8b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee144ed4e901ff81600479fc0559d4ae7e663ed32d503dc7cd2cdbe09c0e1ba7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV6QjcOwTf42Tkr7dbrcHJnw1Xr-6z8xcIM-BUGSgEeKBO7f5IPMsd7AIBdjfxQu-q1C7ZZzh-i0XqEGfPZaP2lCqmPYmfHNDKLl-YeLbCuYKBS4ABa9ikYYi8BGY3NBlIOmuvAOI1jkTDgprlQyavBV5up1sKHS7ab-j7iei0JhY8tyuMdMkoOkcZBgpyt8hWRpuRBozDXz1yR6D9tnLdQMKsPBBzclOFfAFFifCNepnAKDlOtFHfbt5969Sr8W1jffN03kO4G6uF5VhPlAAYbEol5_-dyQCsOM8eOCssSJE6NmojVswtXiktAto570-AWGLSS9Mr12FgoEBuktsvrH4fevXvjOxQQAITnNCn5OvQe70N41OaeGtlYOgzJ2pdCRKT6yzzg4sV61kewHUp6iRl2ssxYHgyaJYFSjdOQrvGpjANeqhZWaEDcrMlT9VYpnqejSo5-Pq6w83i4EV4trYIlWS-uqVsxKPn6C9n8de5CTYlnE3Ja7FLwbhNafuSaxtje-_PAeE65Ewf3G5LxNKcmyGDcam6OO1mgKKkc9tUHtFpK7iJRUDozSaS5OiiFX2_Udw7G2fEqxAhr8EaQUH8BJBwMbvEAEkhpI9YJeXzpkpP9nxWx5wC2ybIFqnVydXsbTcJQ-UY210ugpm_OLvXpGCLxD6hYVTNSLCR3um4_XID20slbLkihXLv0OA8zp7Bb-zX_-zOpNjC8rWZA8r8dn6FFGKWoLtsYx-Qzc4pawX3OJxAbI8yEvrKWSWLNDtIYixHS0TVDCavv6H-i1Yw56vS0UnSxTVBhK4g7gM0BJiXVuATfPWiWMZ81855VE915K5vincUWTrRPeHYdcqphLO3cj0SBRTwUgpVGSEMRn24TgHbpnRR585BQ5RH9In4mPctjDZbRI5E91G0WCfLm8R3EYecvObcXDl-U1kULJ1_XVwB4TVlsEQVWZlB8XqovF925OMJDteUReB6sie0tS___wJISzYrUb9MlPJPqnOxN7vpsr_QmW-FtRuuHTS-1MLESgZbWFFabjFGRW_sCIV_XBkpuaFveN6-4YEQDSDQBYgXs5dsaOQKqZfTVeyz6eYvG2wDNvkU5FaUb0ZUZFae_3J1lY9EXmBvAu2bdXXf3ngbocdb3_lhsMSBYEj25p-w4BCORkyF5p5vLNjJtEXZMxaHIQNS5PDFOsFV4gIo4Q-q1L5sxJWXLLtFL",
  "id": "rs_0b2a0c91819856af016ab4457991f087d08966cc2fbed3558c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The gripper settled at 0.48 around the yellow fruit, a clear non-empty grasp. I’ll lift it above the table before carrying it back to the blue bowl.\"}",
  "call_id": "call_QBsyJqgiHMieXjcPbDYoFRQm",
  "id": "fc_0b2a0c91819856af016ab44579ab4487d0a30303dab7adb415",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QBsyJqgiHMieXjcPbDYoFRQm",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.7948, 1.652, 1.2633, -0.7277, 0.4145, 0.4706, 0.4872]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1643 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=0.0008 left_gripper=0.9992 right_x=0.3232 right_y=0.2329 right_z=0.1297 right_yaw=0.12 right_pitch=-0.4026 right_roll=-0.1253 right_gripper=0.4872\nstate[joint_eff]: [-0.3214, -1.1009, 7.0085, 1.7118, -0.0415, -0.0562, -0.0122, -0.3761, -9.9624, 7.9521, 0.9744, 0.2027, -0.022, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27e378c66b259f9c2d6a02086d0c76602c6d6019e66dc3c23641de7d3848db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc043706a6a776a9dea3db1c6ee5fabef8cc5d46e2a388649a949b01d9e0c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b2e48e1e457e8ffeea887696bf5ae5563c5da80dc0c8ceb9f174356841ccc3",
      "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 12 attempt 0 · /responses · status 200 · 2.147 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4339, -0.0135, -0.0307, 0.9992, 0.7757, 1.586, 1.2411, -0.667, 0.4252, 0.4603, 0.997]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0004 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9992 right_x=0.3322 right_y=0.2288 right_z=0.1539 right_yaw=0.123 right_pitch=-0.315 right_roll=-0.071 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.7265, -0.0611, -0.0513, -0.0122, 0.1026, -6.2838, 7.9111, 1.0281, 0.3932, 0.1978, 0.0904]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4461, -0.0139, -0.0307, 0.9992, 0.7948, 1.8042, 0.9302, -0.2298, 0.4217, 0.4717, 0.4843]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0008 left_gripper=0.9992 right_x=0.3211 right_y=0.2291 right_z=0.0131 right_yaw=0.1173 right_pitch=-0.3886 right_roll=-0.1216 right_gripper=0.4843\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.7265, -0.0806, -0.0317, -0.0073, -0.4034, -10.0581, 6.3795, 1.0281, 0.188, 0.0513, 0.8864]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.7948, 1.652, 1.2633, -0.7277, 0.4145, 0.4706, 0.4872]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1643 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=0.0008 left_gripper=0.9992 right_x=0.3232 right_y=0.2329 right_z=0.1297 right_yaw=0.12 right_pitch=-0.4026 right_roll=-0.1253 right_gripper=0.4872\nstate[joint_eff]: [-0.3214, -1.1009, 7.0085, 1.7118, -0.0415, -0.0562, -0.0122, -0.3761, -9.9624, 7.9521, 0.9744, 0.2027, -0.022, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27e378c66b259f9c2d6a02086d0c76602c6d6019e66dc3c23641de7d3848db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc043706a6a776a9dea3db1c6ee5fabef8cc5d46e2a388649a949b01d9e0c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b2e48e1e457e8ffeea887696bf5ae5563c5da80dc0c8ceb9f174356841ccc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV9af52fNWrkKSPJc05pla7qaZS6NBgFqpiN5-9HhKHevNH4Dwk3cjWx7VBKdOzj8puxMlWzZ7_lXVGmS2orO1qipbNpuZR7M6DHcG746d9hqHoUsX9ZkX-oVUPQReH2DcRozAauz8Ndcocj_An_vBrvDZqMRZZpuqa-At6kaDtsJf6OFTOKt2zg-ENJloFCLCI5p9Ae2axireK2lBVYYFqF0WwTXwse2Plw-OM18v-TyGbJkGzOiGRgRKgjcH0OpHhv-zFchHNygh7I7mGrvHxXYGqzB38C6jkdzlowMXmlQpgjWF8K3Hp31tW-vZdrfBgC88is2h9qrB3OQomqTl8OHdIi08xfcX1gDe-T3D-rsGli2hZPEZ3lmRV4K_bsLH1D8-B7gwAFNXa0ZQ4Rv88tU11fNuXagbBf78F7WtdkJTobfEPmXCN1UjNX0Y4ZWsedHVvaUXwW8bxJNWYrU59JFgrWKmR5Kw8ijScdUU3WaDIlSlygCMacHdSgkpaYJfuXtuAQylkTRBVuWbl_7BSUoiQP7Xk_JVgq42DbPDvctC1V-oOY8NSI0mLULS9ZDBl8Jrx403PwlKAUcU6TW5eZa4JIQ9t4B2spvbuukmvTdTfxIh4VY_fPPTFoLlDXnm40m8hNA8LU5NE271ncjoqjug3eOSBY3tBQGUn9K7jfcCNPtNIY9nk2VZPVniVMYjz2G6qT33WQFLAhGypiHiC74R18R6wRtte6rLekhC5WKKeZd5rXlL3pfPlGukpqyG-A339QJifuLcg24jbrVOMbSGaKNUUqHbTEvxlgU84R0IKNM3v0rlIwGwmBBAhWdr6wdSqDb2ZxDrUkMRAArYuLYVZiSdZsLdLGo9d4bu-JsXamUTm07efqbHNOphUPLEg2YhVn-uXtiGUfOd2H65Kg2AH63CLcQoi5ZmMLLr-BlLkpJ4yrt4-u4nXGVAkPBYzwkWN78IwpVpKYHqD2DTYR5G3onBia6cui1XbZ-IG5n7P5LCWqxBmD0at4PEN81GJWB3u8oJKmjoX0wP08neZQzdkdQ4ZCk0Czn9MGBuX7VaFkty0zW1S4caOnn0GEu14RzJ5EJ1PMXy3Hu92fREJs7iMc_PjLEuCSW8MRpi60ZMMPFcXtoEP7WkAxim5eB4ORouKWqsQfhOMN1aukCN7Mrvkzp-TO3xYDLT3COf4RvkyLNsLmNzRZwu2s9NLnHMVI8cxJsCzKv4yT4PeFzdVQFaJd70EbnP46xeKmm0OCDeaS5TskA9fS1cdBfsfE5L8Ljpt-Zm7ACazc8wCXaP09w==",
  "id": "rs_0b2a0c91819856af016ab4457c13c087d081c64bab89b3977e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.2},\"note\":\"The yellow fruit lifted with the gripper, and the blue bowl with the pear is visible ahead in the wrist view. I’ll carry the fruit high to the bowl center using the previously established bowl coordinates.\"}",
  "call_id": "call_Y7jovERnrMusRkKwuOJcV1yS",
  "id": "fc_0b2a0c91819856af016ab4457c422487d0b9eacab44c3633f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y7jovERnrMusRkKwuOJcV1yS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4511, -0.0139, -0.0307, 0.9992, 0.3962, 1.6115, 1.417, -0.8669, 0.2298, 0.1242, 0.4896]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9992 right_x=0.3839 right_y=0.1208 right_z=0.1761 right_yaw=0.0895 right_pitch=-0.4557 right_roll=-0.1448 right_gripper=0.4896\nstate[joint_eff]: [-0.3487, -1.3333, 7.1863, 1.6679, -0.022, -0.0513, -0.0122, -0.2393, -9.4974, 9.347, 1.1453, -0.0952, -0.0122, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0836499968577c43779312878df1019fbfdb63bd749b7db4c8d0adc65d4688b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d5b7d602e235c85e1a845a3ab064d09550936f83d043e1c3424f160b7f793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305f98f775c0b3f9dc704e583af218b9d4a606f23e3c1893bdfb2fea6d2864e3",
      "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 13 attempt 0 · /responses · status 200 · 1.522 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.9992, 0.7925, 1.7828, 0.9421, -0.234, 0.4259, 0.4789, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0755 left_roll=0.0007 left_gripper=0.9992 right_x=0.3257 right_y=0.2315 right_z=0.0246 right_yaw=0.1149 right_pitch=-0.3633 right_roll=-0.1006 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -1.4838, 7.159, 1.7363, -0.0562, -0.0513, -0.0122, 0.759, -8.0342, 5.4906, 1.2674, 0.2711, -0.0122, 0.0024]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.7948, 1.652, 1.2633, -0.7277, 0.4145, 0.4706, 0.4872]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1643 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=0.0008 left_gripper=0.9992 right_x=0.3232 right_y=0.2329 right_z=0.1297 right_yaw=0.12 right_pitch=-0.4026 right_roll=-0.1253 right_gripper=0.4872\nstate[joint_eff]: [-0.3214, -1.1009, 7.0085, 1.7118, -0.0415, -0.0562, -0.0122, -0.3761, -9.9624, 7.9521, 0.9744, 0.2027, -0.022, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4511, -0.0139, -0.0307, 0.9992, 0.3962, 1.6115, 1.417, -0.8669, 0.2298, 0.1242, 0.4896]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9992 right_x=0.3839 right_y=0.1208 right_z=0.1761 right_yaw=0.0895 right_pitch=-0.4557 right_roll=-0.1448 right_gripper=0.4896\nstate[joint_eff]: [-0.3487, -1.3333, 7.1863, 1.6679, -0.022, -0.0513, -0.0122, -0.2393, -9.4974, 9.347, 1.1453, -0.0952, -0.0122, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0836499968577c43779312878df1019fbfdb63bd749b7db4c8d0adc65d4688b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d5b7d602e235c85e1a845a3ab064d09550936f83d043e1c3424f160b7f793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305f98f775c0b3f9dc704e583af218b9d4a606f23e3c1893bdfb2fea6d2864e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWAUwjxJVO3gQk1859VLyYgX2mpXhbMFnpxDyjz5pkPzWmLZA758oLaqjWiqwY13d8X-62BX6gKVpkkL_ni8cuq37cDzo9jbjmkvhTl1mumeSzrDlqU3mBTCsuV23fmYBoy-LtlJubWGry0mzVTXDWpK_iIMhWlNaRdJYUscA6JSX5qQOSfBazM9gkScrF337FOygj5MF-0Eb1iD2oo5CZNyWFc4WcPl9oBsEBg-EW6qZt_y89OwbacgmkOkKLFWzxn3YfFVjkZcmfGiwvKn_Lxl7yWJHz2lL7SYxEntTaEae8zT3JN-arpmxykiiaeuuo5hs_Gmm6wxZwM8OCGxewK8ysaAF2ZrkAxoCgBI2nX7nniKY84QbZbkFq6Jj9mBjl7cJbf9j1ELpQVKaoy4vvoVUiJWcmcqafjt-2JUq92EwEpqFo1xOhqim5ZvJiRuTAV85HfmNLRNG6VHZqQuqUnpLfvbMjtekihiwqUR2h6O7GBnD8nXzRxhWojksLInnDd_vodV-Z29HZTSJSMmAGwn-JwKp2UwcEJpHeBdLtWc691eW4a5iNVHDYuLTjekPckDber8e5nRKHzncnTA588HkUkHy4QFFBSKUPBaE0RKmpY7_28IlnwKAB9k7u1C76vEevp45rq70DSG8XJhmIalJZgjmGbBKTn9YUDbXDX6awecMa-OZ_wIGg4nk6FLIO52RvqjDjSzzYaE3-CGbS5MogqXJ7V4oWcKh72Ks5BHqmkCDb__0_3ER6m66FXSYFigd6N2QEiVuWWX7HzWhJ4BfD6_0zcy-VMUCHIVcvfM262B3O15mxSFjb0MNfrjpZI8wMkJgH7vbxaYuKI33QXlnDgca7WXJNHwGP4nFFV09-6FMYVuwtPJCS0BNW-ohM5b9a-69QpNoS9Piq6lGgvDsvYN7hVtbNyKXc2tuQl1JSkyA6kOm2KzJ3GN5qcFIKi7owiCyoibFOrErbehFME-6OcS9x8mp8YJe_0kOAbBLprsyKJ-W6ua5947u42dT0t-a1Rmo8mu6GJpV9srRA6J14YzcgoH6D0k56zJB-CSywFo6R2xGQ1dRLOflUqXgNKl6HRfcy3YeH0zS2tggcGvVTjMgcf5E4dwiHTjN36qZYlx3REa5b3XpKRX6TgbKa13pW694-1cmNnc3TojTI3ClazdsNRdWaHIHtgqCDAgz7I7rp9nug2s_58BcssAttaAsMtehX-6z1oV8mNsJryNJ1Wmk1A_RpdrgTTlfaV4iouW29bTXOhf5TfkIPH6kkYnI8t2a2NWhHdle5Vh39pJZbJi1-5l4XnCG0-Kn_TCC4ZG4IQ4L-STDylZ77fPRes9q2Bgw9xYnTGbgaPnhhTcwfKta52_2z7Uysn9CMQZBP0t-nfpAo9rQop1ojAfQIoJfSKeyHMGBckPoccM3Zrl-T-EUsd4LfHp-jSNoBGii7vetqbRxhXe1MnLNzc1j7p6VGC3xSSsZJHmFSRK-c6eg==",
  "id": "rs_0b2a0c91819856af016ab4457f07b087d09531178def968738",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The yellow fruit is centered over the blue bowl, with the pear already resting inside. I’ll lower it carefully into the remaining space before releasing.\"}",
  "call_id": "call_BuJq1ejs4PXcmbFpKrHcp5eD",
  "id": "fc_0b2a0c91819856af016ab4457fa2a487d0b86261f3df8e1c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BuJq1ejs4PXcmbFpKrHcp5eD",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4599, -0.0135, -0.0307, 0.9992, 0.3965, 1.6295, 1.1519, -0.5865, 0.2276, 0.1043, 0.4925]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0931 left_roll=0.0008 left_gripper=0.9992 right_x=0.3812 right_y=0.1203 right_z=0.1046 right_yaw=0.1033 right_pitch=-0.4604 right_roll=-0.155 right_gripper=0.4925\nstate[joint_eff]: [-0.1162, -1.1419, 6.9675, 1.7705, -0.0464, -0.0415, -0.0122, -0.2393, -5.6274, 4.4376, 0.7741, 0.0464, 0.1538, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcaa927ada0625cd6b8803a191d780a52e01c3bd307b0f4d56d891872816d2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900e05f42e4bad96b8874fca215ac25932922b3c1f50ce213df1f39950d51fbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04f04cad225779ff272d86814352d03cd10484f8cbff9861526ee1de455ffa39",
      "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 14 attempt 0 · /responses · status 200 · 5.592 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4461, -0.0139, -0.0307, 0.9992, 0.7948, 1.8042, 0.9302, -0.2298, 0.4217, 0.4717, 0.4843]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0008 left_gripper=0.9992 right_x=0.3211 right_y=0.2291 right_z=0.0131 right_yaw=0.1173 right_pitch=-0.3886 right_roll=-0.1216 right_gripper=0.4843\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.7265, -0.0806, -0.0317, -0.0073, -0.4034, -10.0581, 6.3795, 1.0281, 0.188, 0.0513, 0.8864]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4511, -0.0139, -0.0307, 0.9992, 0.3962, 1.6115, 1.417, -0.8669, 0.2298, 0.1242, 0.4896]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9992 right_x=0.3839 right_y=0.1208 right_z=0.1761 right_yaw=0.0895 right_pitch=-0.4557 right_roll=-0.1448 right_gripper=0.4896\nstate[joint_eff]: [-0.3487, -1.3333, 7.1863, 1.6679, -0.022, -0.0513, -0.0122, -0.2393, -9.4974, 9.347, 1.1453, -0.0952, -0.0122, 0.5299]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4599, -0.0135, -0.0307, 0.9992, 0.3965, 1.6295, 1.1519, -0.5865, 0.2276, 0.1043, 0.4925]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0931 left_roll=0.0008 left_gripper=0.9992 right_x=0.3812 right_y=0.1203 right_z=0.1046 right_yaw=0.1033 right_pitch=-0.4604 right_roll=-0.155 right_gripper=0.4925\nstate[joint_eff]: [-0.1162, -1.1419, 6.9675, 1.7705, -0.0464, -0.0415, -0.0122, -0.2393, -5.6274, 4.4376, 0.7741, 0.0464, 0.1538, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcaa927ada0625cd6b8803a191d780a52e01c3bd307b0f4d56d891872816d2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900e05f42e4bad96b8874fca215ac25932922b3c1f50ce213df1f39950d51fbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04f04cad225779ff272d86814352d03cd10484f8cbff9861526ee1de455ffa39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWC3S1XcHis-3N81X5zP0kb15iAo_A5LiR-6g4JxZI0LQB_kNyLrnSgelWwDTjNR7EScrRWGvPph0Z05QHNfi1TzFk-Snqc6EKLmF1GmqdPNAEfjxmDg2zzWa63uVDxlSzlhhpsmiiS97tTPlZOGcI467h_f-WKxM--T_ASz44PuYwbF273VI46F4UyxbfgMOCCkSE2Gtu1razDItPCttn7_G2XTB7TI3zABpqwkOVLX_zyq0q4ual7WCAUjArdyPTfHj5BLPwUo7qGQFmp34L7XyumwLgWXqxAcq42_7R61T3hVgyhNGPtbDbl9O5qMqcVkxWVjZWWLwGgilt9EqrFICe-oS0S44bpf4T7lORvaRXaTR7Lxvv9Sz-c4y0yzRnvYh-cWSknnZl9VvYJb7NRqxuHVb0o1nqZpvof1pM11AFtGFeJfTnfwtohkntnGzWNWd4iA0_zJ9cYan4gv3CKfw3mcVnf2ejiED3BQkvvf-jIIx2SMwpQovuVf7oc10QhfTpHPaioa7unQ_xQlLqzRjcTCXrZCDG-Oe-F09VwNNuILAzP4YfZiap6PrWGckQCtKfp6jwHWsOmF1LRMD492hCgezVIEFf9328xV50J6cFMbdifKMPmWebrjYTktre5s_CH2Xg7slWz369Ei9fQ5Q7HMIZyqojhKHl_sxMrath9ZvIlgWV6v4Eze1-29rrdqXKXjFvmKnRuC2sKoiStr8VqYzIBx1HzkbXvqxAnEyNRoLpx4C98_6OqEy2iANV89wGjfMWooMHC6Ke1CnwZhjM4G8V4KsgbQxCWHwVH9cFCO-zgnZW8pkBvnQwhpqprpGlOmvIRUvNSwBAisVXbJV0yxcRVPFkYh0PexB-mhR2mK-9CanoQBjxKVV8B2E6j16jt1HzVUO-AeayyatTvQ8MrBJ0AuUiNuU8id8Y6HNbejoaUelemh9rGFIsNXYdpLc6lodxUs_77BJNWhKdH4PO48M1mhu0IqLBWmdmQi7SAqELdIRutQuGWn0f6q5hueidcPP02BsaGo-h1LEDmTcdqQ1VudgCYb0IqHuVeqgcja8ad1wcYUOO_zq1jSqlJBBPwIsmLwB3_1BxFXqJe6igV3YTldbi1ZfvUbxEQkySD4L0mpxq1IK_sGofGQyAJ6AIS2iNgEj446lzPNzu6ZQhy14JKSCpunDtYzmZJ0iuR-2mmDK6BEW3IlxicZ9Cu",
  "id": "rs_0b2a0c91819856af016ab44581a11487d082cf8d2f41490755",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow fruit is now down inside the blue bowl beside the pear. I’ll open the gripper to release it.\"}",
  "call_id": "call_Berq502btN6DA41oHK8uZfew",
  "id": "fc_0b2a0c91819856af016ab44581b76087d080ef7e8b54437d54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Berq502btN6DA41oHK8uZfew",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4686, -0.0135, -0.0307, 0.9992, 0.3973, 1.6325, 1.1374, -0.5888, 0.2298, 0.0959, 0.9958]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1597 left_yaw=-0.0003 left_pitch=-0.1053 left_roll=0.0011 left_gripper=0.9992 right_x=0.3771 right_y=0.1185 right_z=0.0981 right_yaw=0.1041 right_pitch=-0.4795 right_roll=-0.1684 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.7167, -0.0366, -0.0366, -0.0122, -0.1573, -7.8974, 7.5009, 1.1502, 0.0464, 0.022, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8ed2c0dd0740184054c014e39714574fd43c10e4a92f75227cdcf0558993fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97cc18bd2fcb97b2ddc05948e591934748ed9cf656db3f5fc71ec6729612931c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c04d68a71391792071364cb3ef5ff7a4481026afc05071882821171758bed1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.063 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.7948, 1.652, 1.2633, -0.7277, 0.4145, 0.4706, 0.4872]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1643 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=0.0008 left_gripper=0.9992 right_x=0.3232 right_y=0.2329 right_z=0.1297 right_yaw=0.12 right_pitch=-0.4026 right_roll=-0.1253 right_gripper=0.4872\nstate[joint_eff]: [-0.3214, -1.1009, 7.0085, 1.7118, -0.0415, -0.0562, -0.0122, -0.3761, -9.9624, 7.9521, 0.9744, 0.2027, -0.022, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4599, -0.0135, -0.0307, 0.9992, 0.3965, 1.6295, 1.1519, -0.5865, 0.2276, 0.1043, 0.4925]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0931 left_roll=0.0008 left_gripper=0.9992 right_x=0.3812 right_y=0.1203 right_z=0.1046 right_yaw=0.1033 right_pitch=-0.4604 right_roll=-0.155 right_gripper=0.4925\nstate[joint_eff]: [-0.1162, -1.1419, 6.9675, 1.7705, -0.0464, -0.0415, -0.0122, -0.2393, -5.6274, 4.4376, 0.7741, 0.0464, 0.1538, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4686, -0.0135, -0.0307, 0.9992, 0.3973, 1.6325, 1.1374, -0.5888, 0.2298, 0.0959, 0.9958]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1597 left_yaw=-0.0003 left_pitch=-0.1053 left_roll=0.0011 left_gripper=0.9992 right_x=0.3771 right_y=0.1185 right_z=0.0981 right_yaw=0.1041 right_pitch=-0.4795 right_roll=-0.1684 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.7167, -0.0366, -0.0366, -0.0122, -0.1573, -7.8974, 7.5009, 1.1502, 0.0464, 0.022, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8ed2c0dd0740184054c014e39714574fd43c10e4a92f75227cdcf0558993fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97cc18bd2fcb97b2ddc05948e591934748ed9cf656db3f5fc71ec6729612931c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c04d68a71391792071364cb3ef5ff7a4481026afc05071882821171758bed1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWIH0eKQbQSP7qWNXoXWgqN8irg0V2jesaovh3wB6OoIpuSQZbczwkU7Hi64mmK21NZLAmIJs4_lAnJnjAXZ91mUsWc-L4piMiEvciXrOZ6ijwo4eNtz137eRP_QcTXpndEgiS7AGry1g0bo0buhrhN1Bg-gObwT1q6WPUe7glnalKL4JrB-P5FjGKN99IcFTUNUse5rdDERFu8vcPtp2HtXKhC7fezjxAnVWgIJp0ge2-DxiuL1fYioQhnBTJat_wOWW23-MKzzrOy5P4o0uU731E7-7ZBmQACD-OD9ebCXYyXvAgjheq7GIoUjRlIomyacZ7vrHFgui8TCUN5nA1dfe4byQUnABfJfbrMs88WFiqY-NR5X9E__Vl9Iv8qVMNCoSOjk3Hr56NveYfnjk-AdjCLnJ-woWLPAj5L1hdNEBJzyvw7DPjem69Iv8uDs7lwLGd5xcYjFGAtgwhTat0ti-WTOOYFf0XeiJ_BbXLGY7UW8cFpUy4cboc-OWXLfmfR04SIGYVWIJDgJWuQ_Xg8Qz-QHZDfzq9A6bF1OAVwarXroDnxCTDiO3jA9n1Yd-GGDMN2YMA-E0DVp-tfct18DiAl13em06rxadDZx9ADyi45OHLh3-GdYzaINAyWFAyiSoXuk5rqX4nTHi7e-d-8KSz6kbHeUSgnv6kQ6kZTCSQ9dPnOWgIh4x__I5WDz6y5V-XJFQ3N7SVnBbT9xGkM28UuSEL-fad8iaUZsAqQEkbGKYBz0y1IY_oZAqiSD7qUtCGzn-w44c2yA_quaWtbiIKMnHr95PLb5E88Twi4FD0T56aH2C3ZK9MWI_VGApCrBdlumSJEGG9asbie55NvX4BbHrXUaya5cq9pFdsd--VFhBA59od0xOmHu9ES5AAbwCmylvnf4OyV6bvEV_zCbAK9fLRlXA3a4Z1eCVGWTX54_0Coiuw66sFt0x2qDtuasAD79yEzVOlwMzbWJ5ma1IgrjEptVCKQd7lKjY8A28QP9k5BuMRy7hup8j0Ykc8xhhfDzFE0wa04ZF09rS6T9Hb0xr22EwSghVIl8KqImsjUI0jGHM6Cnls0gpzWgfmmzXgzXKu9pWSYle7CPpVh4BTNxJgetXhhx-OrDSTVi0gsDJPS7JcuQlL7SY96fnH6EVazE_nNtGOwgQhQxkPY5y8cfPhA_KuKwMw0VORGoMB5vM4wcYDFWzIeAZ0PSxnJT5pVkfzGIkV4aInEwFip1RL1PvXjmHjqXVXaEMKIZ3AccPhYWdTiZ4utFuvwqV1W5p1ZrrCuTaASqcKlCoTpUSFsRK2hoqajO0Kauir27Q3TV3QlzcXD_l4V2dAUQSdiuEgfXG6Ds2EaG9S5pCONoMr2XetGdQmIs3ER4QYsfc_WM2fp5P-pDEOkTcw6hstfm_mDex4BDK7jlj0BxxN4F_-qAl1yZoR7_sp680c2KD-FqwNCRApAe6HNZjLmXIs63t_-nSMtYbfOKOTyqevS6l0KvoG4Hun6O-lYF2ViObNLfv9sB79LuRYG18z7w1t4-UsEWv9VlSGVDbUYTz8cfnLPr7KTSg3cxldCpU7EzHluaUkNwWoxdFli_gIQfQQj7Ge9oIEBc58sSCKHD_V1XVmQlXp4c7qwUBURcNqrUApcl6p3aDDd9Q9v-2rxYLlHNoFWUP2llK3YAr4x7JDVLb7rh9e7cPp2n3B60gozKRTzkhxp1gvvEUiESn4zYuChOQNsFq5WvMhQg06ELZ2dDtuSk8g-TV2JNYFoz1Hrq0LwzKfM18ujh2kJrrAkHZiehMmHL9pAIulz56RQJVSIf1n94wZjc09oc50Qn39ucCkg22gJGwBp5RdDQa06bJouVXdRtpo5ZVv_xrxAJWQDWTlCy3QJr6i8ep-kCeeTFMRttEM2ghpvYWoMc2ONYNZiVqjynYWTIt2vJTzUzsEnxbb0HhMy5UFb4fjx48Jo2CvFcZO3H5svjELe-3maEAy4X42hvLIPLv3-k9k3GVQn-AdOh9y5ogpt-dgO5HFmKTMnihKnyB72aC6nl8cGP3qTzWveNnl9nVgYLZf2B40CR99r-f7Fg_KkYflRuJVgnVwXHglPMroHm11uNhHheFolwNX-jUb_PQEIlyRB0iFbbn0W4LhV8n7MJH6xW-t_Zx-ChdT3neonm2_nCkmZxzCbUkkrWuX7TWTncozkMa6qhyyDeZdKlG7pO1vVKKUrzYlJIxvL7MaOV_RMTT6cGxsbZWTiMyYS4l74IETe1gtLIqGFYOt1IL_jLDML6aLfgd6BvKaSN8SKBaeZL8XKgRd4F8Ev34tEOmxa9hTAMIsVSCx3FVs17ak0bJPzMAS_NpIhC3V2twvSa3ijRuEaJk6K8bMz8eE6CZztHYIPY930iKqnXDWDnO4-E1AEiOJeY33C5t4PWJVyui9qvjiKel3784DlCa0uOXJaRaeBodXVSaMCAkkzLxAfMhFnW2QDcc_P4VKOba7EZqOSC17Ca3OcX3IjhSEbT2v9vc4dUP7t-XhjPR5z5-OmjHoYlfoJLLSMvKb41aLmCZa3IDXEtdjF8RR98CrHeRR6Ez5f0W9_20FcswvVfP4LJtUsVKmbN1v7_JSz6nU8tjBZuMFZp6l_Nh4rz2uApgvtGSC9N-z7B8z1v9PWQY91izMEz4wMAPAL9oUPR07L7J82MPdqFh8-MZMXk-UdO-rA-Wp_nrX6xY4BTs3X3EoD20ub0MEUE6QUhUi_hW3jHuyMApPAlYz7ZkiThr7kRFBrPox3qGmvUqlslwPU4ERvl73GRywYuHibKd1utITSbvekiBRiRTom2oKZnxxLEufbuQsx24liRz6triCzMbX_h7CdTUMhELYLyaHfqOcG5pzuW_s7HfOqx4KEU2jBj2T351qNF2xc1l9hxQUziRxTISJ3Pnsz-dAYwlfmS_HJDTsTf7AB0v8dqess3o-1YIOk67yUeiKVePQLds-e74U9YQFSurWyiXVkSuumVLqshS8PaZVFYr60wzU_9ub49EwwTaumxMcJlGxv_W4JKendVF6nsNW4W9lV97mbmDHWI4aCsqkbbrBq5dpw6zG0puV7AK3O5pviOwtGQwQ5zWGh-F7s23l_V4cx5XOblhy7JaEelBLza7dH",
  "id": "rs_0b2a0c91819856af016ab44583b41c87d0b147412b1279f53f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.183,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The pear and yellow fruit are both resting in the blue bowl; the only fruit left on the table is the dark plum near the left side. I’ll first lift the right gripper away and park it at home so it does not obstruct the left arm.\"}",
  "call_id": "call_QjFlGVBc1f4jsHrsVHGlVLK4",
  "id": "fc_0b2a0c91819856af016ab4458745e487d0b02cc96a4dfddac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QjFlGVBc1f4jsHrsVHGlVLK4",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4747, -0.0139, -0.0307, 0.9992, -0.0097, 0.8249, 0.627, -0.4122, 0.0154, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1569 left_yaw=0.0 left_pitch=-0.1175 left_roll=0.0016 left_gripper=0.9992 right_x=0.2952 right_y=-0.002 right_z=0.1753 right_yaw=-0.0253 right_pitch=-0.0409 right_roll=-0.0124 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3744, 6.9538, 1.7558, -0.0269, -0.0708, -0.0122, -0.2256, -1.4017, 6.8855, 2.1026, -0.1392, -0.0366, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ffd17139894e6ee2c50d6ccf35ee90204bdf33a1bab3e066277748a6432fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e574d9ce2bea6a3303301dc95975ce0c04370339eab256267fc4977d006b71cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a8cca2fdaaab475c4e205f7cf3976f8dbbf793feeb9b11512a1a7e0f759472",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.039 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4511, -0.0139, -0.0307, 0.9992, 0.3962, 1.6115, 1.417, -0.8669, 0.2298, 0.1242, 0.4896]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9992 right_x=0.3839 right_y=0.1208 right_z=0.1761 right_yaw=0.0895 right_pitch=-0.4557 right_roll=-0.1448 right_gripper=0.4896\nstate[joint_eff]: [-0.3487, -1.3333, 7.1863, 1.6679, -0.022, -0.0513, -0.0122, -0.2393, -9.4974, 9.347, 1.1453, -0.0952, -0.0122, 0.5299]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4686, -0.0135, -0.0307, 0.9992, 0.3973, 1.6325, 1.1374, -0.5888, 0.2298, 0.0959, 0.9958]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1597 left_yaw=-0.0003 left_pitch=-0.1053 left_roll=0.0011 left_gripper=0.9992 right_x=0.3771 right_y=0.1185 right_z=0.0981 right_yaw=0.1041 right_pitch=-0.4795 right_roll=-0.1684 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.7167, -0.0366, -0.0366, -0.0122, -0.1573, -7.8974, 7.5009, 1.1502, 0.0464, 0.022, -0.1783]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4747, -0.0139, -0.0307, 0.9992, -0.0097, 0.8249, 0.627, -0.4122, 0.0154, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1569 left_yaw=0.0 left_pitch=-0.1175 left_roll=0.0016 left_gripper=0.9992 right_x=0.2952 right_y=-0.002 right_z=0.1753 right_yaw=-0.0253 right_pitch=-0.0409 right_roll=-0.0124 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3744, 6.9538, 1.7558, -0.0269, -0.0708, -0.0122, -0.2256, -1.4017, 6.8855, 2.1026, -0.1392, -0.0366, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ffd17139894e6ee2c50d6ccf35ee90204bdf33a1bab3e066277748a6432fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e574d9ce2bea6a3303301dc95975ce0c04370339eab256267fc4977d006b71cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a8cca2fdaaab475c4e205f7cf3976f8dbbf793feeb9b11512a1a7e0f759472",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWLzxjEBg5dJlKz-I6EgHqHNVIb-0qJ3RZ7tC6-aysFOn3fHjWjtLIPwdNemiopAf-Ndt2CfjOWpswK9NMAKTjxHfjrTwccPDQFBecXxyD6TKWVm0yCdxQfX45rV3wxHk8eu2QcFLyBG0vPLrSNVUixao5TZMM7JbbZ966u_-IKwabSXY7ctiZNbcA_PACRTagCFNmUYBJvcILQEEVoTaRMeeksxkT2quvpgKTESE7KsG25WMikBKfAvyu8ZvtOcWOtKz4yCwuszklgXrYpuJnEwE5fnbnQViQghmAg8yv5iNANfJ0KdUGn0MWLcAjsVl9f02ufexcM9z4K90Mp8KIWv78pYo9d1T-qCPc-1xqUfqyOH-_Ia6OTmxe6Ky-mCrUl1VtPXrpngvg29GpSJLIOWt-hq4VYBoqv8YeaAB9Sk6ON2Vp34e6aw_MI6f5e88zZhl1RygQksIbQYG-V4jCpBeFIn-fqUpbIJ0lctDOGAtpMl3QLiVDY1h9NOIJoN1BcLYsQIEJb8oHqwBv-5-vLQA7-MJx89h931Kd8cBDULQPK__elZfPet0U7GQjnErebVFSW_TCO08g0KS3OjYxnOfNNJr90HIdnuB-OpVQINyPhTmJZdmFZ5X1dIWsB2x3CxOtXWJcgviRDnqZEWCeZXFzEh9KsrsFT_-83LyJxeGQcQC-8ta66qxsMxQrl_hF7ersqRu5zN1hJtToOeRy9JGFWePDBlKkOFFVWmLKSP1urPszfgLpddM5E_ZkPZOHluE9eaNFL-hJoLCZ8qxy9cmUE1XE9qmH9YEKFGIP-u-wxFfsd-Kz5mWHODJDTxYkE4lA9zqQ3SBDl56-YhyNhTPZ7E538BiN22EOhpoptCR63E0vb2g7DTYngldeYxvqfYm2IdTaZe4q5eLtlu_wg5OskAcqhHbozx9ftwRGTaFhZc5f3siTBSjp4SHo9_kNeGBwj_JGnIhuPYiSqeHOikfOhTv3HE2GleSlpkdkUFJnya3kmrUxF-rh2qynCNKSzJUVzzwHhc9eBoL1ex9UgDN9JjVrZWJOB12Lgj0-gxVPv-wCmUB2Ven3WTIetDHPSom4DZ2l8DQ14zWPrG1UhxBW0aI6DOlOmWJlQbBK_-iNjNQab40tgpnpdp3J5q1jSGoby2YAYxpBKQWM9K5LnxsR0857uzyqEDNAfWb2VI-fV46ZQ2KkZLxoTQ5ZZrSk4EEVi0KbW7z7v9zdjVv4h3SWFnsbiK_gerwx-nYnT9BTjEPY_qp0yI9DnCQsMUdPW9JwCZzWQTY3kotm14Wu2rNW7MARtXnooGdLm-e0AmOUs1l8JjuqoCSGTiXc4W-heBzSSzMmU3fDH9IcDwHxx1faJR3EuzkDNhDzC2LcMWds=",
  "id": "rs_0b2a0c91819856af016ab4458ae0f487d09af6a3a6572dc3d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.22,\"left_z\":0.13},\"note\":\"The right arm is parked and the dark plum remains alone on the table, just right of the white bowl. I’ll move the open left gripper laterally above it at a safe height for wrist-camera alignment.\"}",
  "call_id": "call_bhJUFYoVxPT1XVCrOzLqo2vX",
  "id": "fc_0b2a0c91819856af016ab4458b352887d0aba9589a1b640c0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bhJUFYoVxPT1XVCrOzLqo2vX",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.4143, 0.8539, -0.4603, -0.6739, -0.7742, 0.9992, -0.0097, 0.8295, 0.6224, -0.4202, 0.004, -0.0345, 0.9965]\nstate[eef_state]: left_x=0.2742 left_y=-0.2115 left_z=0.1161 left_yaw=-0.0183 left_pitch=-0.1603 left_roll=0.0313 left_gripper=0.9992 right_x=0.2937 right_y=0.0 right_z=0.1704 right_yaw=-0.0092 right_pitch=-0.0582 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.8598, 8.6496, 1.1697, -0.5836, -0.0415, -0.0122, -0.253, -1.812, 7.3641, 1.7998, 0.1148, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884e9c3c9eed47ee5a979c8720500b162471c0e7b0c73fb7dc801e83fc0713ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f45af3f374b3e758b7fa2136419474195cf2f6fedc30d46afb3f30ee78efc234",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0165394b5ecef2654dd95d1bafbfff0d35a672163ec31bb370cf1aa39e1200d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.513 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4599, -0.0135, -0.0307, 0.9992, 0.3965, 1.6295, 1.1519, -0.5865, 0.2276, 0.1043, 0.4925]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0931 left_roll=0.0008 left_gripper=0.9992 right_x=0.3812 right_y=0.1203 right_z=0.1046 right_yaw=0.1033 right_pitch=-0.4604 right_roll=-0.155 right_gripper=0.4925\nstate[joint_eff]: [-0.1162, -1.1419, 6.9675, 1.7705, -0.0464, -0.0415, -0.0122, -0.2393, -5.6274, 4.4376, 0.7741, 0.0464, 0.1538, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4747, -0.0139, -0.0307, 0.9992, -0.0097, 0.8249, 0.627, -0.4122, 0.0154, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1569 left_yaw=0.0 left_pitch=-0.1175 left_roll=0.0016 left_gripper=0.9992 right_x=0.2952 right_y=-0.002 right_z=0.1753 right_yaw=-0.0253 right_pitch=-0.0409 right_roll=-0.0124 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3744, 6.9538, 1.7558, -0.0269, -0.0708, -0.0122, -0.2256, -1.4017, 6.8855, 2.1026, -0.1392, -0.0366, 0.0611]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.4143, 0.8539, -0.4603, -0.6739, -0.7742, 0.9992, -0.0097, 0.8295, 0.6224, -0.4202, 0.004, -0.0345, 0.9965]\nstate[eef_state]: left_x=0.2742 left_y=-0.2115 left_z=0.1161 left_yaw=-0.0183 left_pitch=-0.1603 left_roll=0.0313 left_gripper=0.9992 right_x=0.2937 right_y=0.0 right_z=0.1704 right_yaw=-0.0092 right_pitch=-0.0582 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.8598, 8.6496, 1.1697, -0.5836, -0.0415, -0.0122, -0.253, -1.812, 7.3641, 1.7998, 0.1148, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884e9c3c9eed47ee5a979c8720500b162471c0e7b0c73fb7dc801e83fc0713ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f45af3f374b3e758b7fa2136419474195cf2f6fedc30d46afb3f30ee78efc234",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0165394b5ecef2654dd95d1bafbfff0d35a672163ec31bb370cf1aa39e1200d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWQljhQsS6PKGQF92fvet1AIotc7DU2Iq4HHTZ0Btvdbgt0SgypzhKdKuw91Ek5bGjCDNOBW-Op4jdb0LnmD_tbAENwSsSG63HQvL5x-dPIdxP7aeNWG24ESeySZv0-2tRWJuqHCnwbTBZ9d4ono2Q-X_CpnQM9fqik4uR2di9ellSGhC-akDeTwwNThfua7V_HobtKIfmAcrgYquTvoEKfGx2nbyq7rHfp853MxuXqyWwwaeEHl9j10iXTuidxF7fanTl8mM_Va7eurw2qZZyG89NaVPzfOuycMz5yKy_BaX9Ymvl-T-f1T7r3h2SeX9C7HenaxrO_dCEsNp8-EvJLsTFj0hOgFQ77UNlFgjsf-88z7pUH9cMaeXIJDZVeNnQMz0W6na1PHeSsq1I95mP8ta7mONDNF4foNP_qavqZuX4L3sycDlFyRu86Oa6BifFDZ4zKz5ADz8qxqF-HK38G3zNawukj85K-8Uu-RM5fBGZd7eXbjG_vRqO5A29MIvO-51djOYw0FLt0nfvD6oy4Pwj55c1TcXFm5yMp2cUJdrN2qNjDqNJ-9gQxFQ9d3F4wsp8h0d8cjfVaaUu2jyJnvZeOsMKx5nMHlB833COaUE4wpGx0L6s6yGZubYygyqjzrrT7CJVVF3izV5PKRoruY7QuXZ7G2T9H-qZ4SM4d8Sx5l5w7mMkXu2jvnVsMYuLT2lidDJyPOKkdBMKzvbaBCUfrrEj0iT-61uiU4PWbJU1EusFg13vXMKa8Lzx9bk1Wa-oHy5924nLyx6rvq6tkWTyCm12vSo-GeYR2uBuCcKox73VkT8j9EMSuG3mKGikC0eI4LXjVYch5nvkD_oz0ET4wTM4bVPlti_CV2Xa6I7bx7VbKmBJ_GuaoKJ0njwC8QIpO4qbYdKX4FZrxm_l1Y3roTkvS9MEVZ_ukYqstmwnu0xblDTu3tg5v0S95Md97j-0-s-iUW4GNudzzELu6hAd0CRdRPccW8iVKERFnGZSwP17Plx_FnS9TTlCWb7KXKy4iLGjA9sGqIAP9IpgM4Vq7rqD7PF6qhsthlOk3qgkUYhzJJ4ynChApg-MNpRd6PGWgbQbFZ2QeByIiyRknScA_pByuE-51JIZNXzCB14A4IhuSgr33dBEDGVwsCD5KZW_SmyxvLpkkCo1CdHNMWy6Fo2cadZoqrZ3T41aVCNfxmpzggbTEwgTQOgHSr6l4CFiJd96nDsUerL9p5rjMv3Fu1H6EDYE_K3W0Quw060FYwWssDn7Jnsb1Er94SzEAyY7NkNZ1mND0cEjcvu5N6ltEExdOgimBu2GfAGN2kj4JtcWv5gZQmC6ALt3PdCbHZwPcSvGA8ijlc0qd26P0xy4CmoFRmdrnZtavxEZnhB0IfaOJ1it-IZZTQNmHQIgr44R3DaevsJx0ybVYHWie4cPEK4iu0opDpDqbLGbABDFu8NB1uIziIr4iSgrYses3IqWTRDbV3hJUE7U2hfzWy49u5vBcEvg8deSUKYe2f6EH75S3wKfDw1F-FqcElyDbaB03fEBO_2ytzyWxr9e6FyPVDKhrHT2xjGNsze9cSUasCYDU9NbvWoToAjFSIqylIt7qrQBErpjauZWAVUBoceWfB7PmRkpapdunyeyhkze_SGpP5fP7WXTEg4v2QiTwOugjcCmZj8EMn_ew_eDBMptWezZnnRbkt_7B896GLUqt7lmn0zG8pi4c7bjicEPonr6biCrjyooNiN2ZqlFpOa9NDjVBmGitGd_oz87-IuunfsxYeNAazMusHCIF8QJ7YxCuRoY8yjTB_uBw2hBofdvIyFkzH-blwF1sPt-8HZzn0ZZs4uKXXa_R74ORY7GnDj4HHzMS8ucf8i2E3XSuE12gtyNYESm7nwebgpqZ6rA=",
  "id": "rs_0b2a0c91819856af016ab4458edeb487d089b2377ab362e0c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.2,\"left_z\":0.025},\"note\":\"The plum is close to the fingertips and slightly left of the jaw column in the left wrist view. I’ll shift the gripper about a centimeter left and descend to the plum’s mid-height.\"}",
  "call_id": "call_XRS2e0G3T0PHSt8uxopGWKiL",
  "id": "fc_0b2a0c91819856af016ab445901f6087d089c0db831572eea0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XRS2e0G3T0PHSt8uxopGWKiL",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9718, 1.5761, 0.6052, -0.107, -0.6605, -0.7597, 0.9992, -0.0097, 0.8295, 0.6224, -0.4244, 0.0029, -0.0349, 0.9966]\nstate[eef_state]: left_x=0.2663 left_y=-0.1916 left_z=0.0232 left_yaw=-0.0052 left_pitch=-0.2025 left_roll=0.0835 left_gripper=0.9992 right_x=0.2931 right_y=0.0002 right_z=0.1696 right_yaw=-0.0081 right_pitch=-0.0624 right_roll=-0.0152 right_gripper=0.9966\nstate[joint_eff]: [0.4034, -5.9145, 5.094, 1.2381, -0.3199, 0.0415, -0.0122, -0.1162, -1.4154, 7.241, 1.7021, -0.0269, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554616565507d48a37c456103e9cb42cecf7a06bb1e60a6291c89ce95a98d026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38b7586651c666cfb7edc063b254ea969ab9b06874c659bacc1e39286835c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0f5ebf6199d447389ac8983b235f1d695466836123e5effa34d7eaab1aeea7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.074 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4686, -0.0135, -0.0307, 0.9992, 0.3973, 1.6325, 1.1374, -0.5888, 0.2298, 0.0959, 0.9958]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1597 left_yaw=-0.0003 left_pitch=-0.1053 left_roll=0.0011 left_gripper=0.9992 right_x=0.3771 right_y=0.1185 right_z=0.0981 right_yaw=0.1041 right_pitch=-0.4795 right_roll=-0.1684 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.7167, -0.0366, -0.0366, -0.0122, -0.1573, -7.8974, 7.5009, 1.1502, 0.0464, 0.022, -0.1783]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.4143, 0.8539, -0.4603, -0.6739, -0.7742, 0.9992, -0.0097, 0.8295, 0.6224, -0.4202, 0.004, -0.0345, 0.9965]\nstate[eef_state]: left_x=0.2742 left_y=-0.2115 left_z=0.1161 left_yaw=-0.0183 left_pitch=-0.1603 left_roll=0.0313 left_gripper=0.9992 right_x=0.2937 right_y=0.0 right_z=0.1704 right_yaw=-0.0092 right_pitch=-0.0582 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.8598, 8.6496, 1.1697, -0.5836, -0.0415, -0.0122, -0.253, -1.812, 7.3641, 1.7998, 0.1148, 0.0708, -0.0073]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9718, 1.5761, 0.6052, -0.107, -0.6605, -0.7597, 0.9992, -0.0097, 0.8295, 0.6224, -0.4244, 0.0029, -0.0349, 0.9966]\nstate[eef_state]: left_x=0.2663 left_y=-0.1916 left_z=0.0232 left_yaw=-0.0052 left_pitch=-0.2025 left_roll=0.0835 left_gripper=0.9992 right_x=0.2931 right_y=0.0002 right_z=0.1696 right_yaw=-0.0081 right_pitch=-0.0624 right_roll=-0.0152 right_gripper=0.9966\nstate[joint_eff]: [0.4034, -5.9145, 5.094, 1.2381, -0.3199, 0.0415, -0.0122, -0.1162, -1.4154, 7.241, 1.7021, -0.0269, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554616565507d48a37c456103e9cb42cecf7a06bb1e60a6291c89ce95a98d026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38b7586651c666cfb7edc063b254ea969ab9b06874c659bacc1e39286835c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0f5ebf6199d447389ac8983b235f1d695466836123e5effa34d7eaab1aeea7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWTAEfqXIVbrE4U99CLzR7MSLMx4dbxkeEJpZawb8VXUCVJ8C9aSrv78YoeutpKnJ6lVSPmTsFNZLrmntBKxKgLLnym6HnJ2Wui_dxB-Zrl3Y-ysF-BhBJ21ZW1lMjJurMt7v5LLk8EC639Sueeswt_O_tyz-HpgUSjyja-BTXuwKakJQjqe7p2HGSWegNSFpGpAK0aWbfSPy7_URocl1lu-mHXwE8n43VJJYGg-za6Ib54oaFgmzt0__nToojUE5QysQvpxDYEXEmL2tLs16J5KQGqdxruriQg0I7wtzs3W5SeMPsJF_K9jz2TS56VPkCAAo1mi58ft0gDPUdasAIjaeaul1veuU86tEQuaPpuDeyCnEbEseJGEIrM1Q7cJ4JYupyJ9PSdbrMQnuOZjYfCn-8QgcOHa2YHWCxn-3M--T4F4TJnhfeQdOnb3quHZx_FmayCGi_AvgYSv8DA3puzM2Uo1DP6u8PnW44oNqwtHgLiQYdHON0pz4RNtZnnlEBYb2L9ci5hw2USonFn2ZBHE99rX1PKtWMiV_9bVDAkJqLwt9Z5Vg2jSTGMuqqOzrH3R5YUBYL-L87WfWWC_I7w18l0JWVureMQwUrYcd2NNdE8MsdiQg4WTq3TWFZ9mgrootC9Kqg2Nn-QQqUWhGL-wXiHz2xvOJE343Q113IFaEmaUqffhZJraIpcct0cK6PZJZUvIAejo70tnH945RjpWSojJfolp_dnrLu2cdWe-lvvERF2vnmsg7HBE3Kgqps4zRIWtu7ZPulWIge7axm1JVpVvRfFw44I-nf3ZgI_FOGOgt4xAtaJ_IYWC9fydj6i71e6aX2XuXaa_qxwWXBkgFUe8uLicxac4BQYoWnj0ZE1TPD0brmTqw2Dj-y--Q9jKvjxA8EQT-se0qLD4O-dg741oFi6-aFTGfG9Gdqts0lBlzYk7koYav7QUYwtxAzmh-sx9bAMPjcj1YCHNqMdUf6FrgHQHdve5j7_SQs3Yd8QGA7VETue8bb6CBrvlmZeOrhpUwhJBpUwT1slbdo19A2CaIu35sxyt1af8hW7iwAUs3Ad-u_R5gPGKBL_oqv2AYQg1aQrugPcMLsR1JuqCdNJ9oEaUtq_ytCzU9Nqi7pfnCbQ-ybSvB8rj3ANOJBjjgLEOV_mKl16OYny6M3OJZ4kX_lQCB08TdtAHlC2p9Zhq2lYuVuM7ZepxPuf7qappUJMMkJMf7IefRDrsplX8wxYzdLCQZYcIkd9PeWugGEIE12VAFQFh8HHO_coRpTH",
  "id": "rs_0b2a0c91819856af016ab445928dbc87d09a031c4486966b87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The plum is now centered between the left jaws at table level, with the fingers on either side of its widest section. I’ll close the gripper to secure it.\"}",
  "call_id": "call_5IcWwjIfWIRx0Ap0pbZwPWYj",
  "id": "fc_0b2a0c91819856af016ab44592e19887d089d007dbe8e05b23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5IcWwjIfWIRx0Ap0pbZwPWYj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.971, 1.5951, 0.59, -0.1085, -0.6575, -0.7593, 0.0087, -0.0097, 0.8295, 0.6224, -0.4309, 0.0021, -0.0353, 0.9965]\nstate[eef_state]: left_x=0.262 left_y=-0.1855 left_z=0.013 left_yaw=0.0 left_pitch=-0.2251 left_roll=0.1124 left_gripper=0.0087 right_x=0.2922 right_y=0.0004 right_z=0.1683 right_yaw=-0.0072 right_pitch=-0.0688 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.3641, 6.1607, 1.0769, -0.359, -0.0122, 0.6667, -0.1846, -1.4564, 7.1043, 1.7998, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3606543e9d380c8dbb0bb1222efc6eebdcd28cb80abd115f075877d6126145a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2731abd01cf855741803de20d1663ecc36e54bd39dba1c69828b7a93084809b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcd053448bbd9b0e187fd517133fc13a4a04dca99a3b40dc4721554beaa2fe8",
      "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 19 attempt 0 · /responses · status 200 · 3.296 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4747, -0.0139, -0.0307, 0.9992, -0.0097, 0.8249, 0.627, -0.4122, 0.0154, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1569 left_yaw=0.0 left_pitch=-0.1175 left_roll=0.0016 left_gripper=0.9992 right_x=0.2952 right_y=-0.002 right_z=0.1753 right_yaw=-0.0253 right_pitch=-0.0409 right_roll=-0.0124 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3744, 6.9538, 1.7558, -0.0269, -0.0708, -0.0122, -0.2256, -1.4017, 6.8855, 2.1026, -0.1392, -0.0366, 0.0611]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9718, 1.5761, 0.6052, -0.107, -0.6605, -0.7597, 0.9992, -0.0097, 0.8295, 0.6224, -0.4244, 0.0029, -0.0349, 0.9966]\nstate[eef_state]: left_x=0.2663 left_y=-0.1916 left_z=0.0232 left_yaw=-0.0052 left_pitch=-0.2025 left_roll=0.0835 left_gripper=0.9992 right_x=0.2931 right_y=0.0002 right_z=0.1696 right_yaw=-0.0081 right_pitch=-0.0624 right_roll=-0.0152 right_gripper=0.9966\nstate[joint_eff]: [0.4034, -5.9145, 5.094, 1.2381, -0.3199, 0.0415, -0.0122, -0.1162, -1.4154, 7.241, 1.7021, -0.0269, -0.0122, -0.0073]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.971, 1.5951, 0.59, -0.1085, -0.6575, -0.7593, 0.0087, -0.0097, 0.8295, 0.6224, -0.4309, 0.0021, -0.0353, 0.9965]\nstate[eef_state]: left_x=0.262 left_y=-0.1855 left_z=0.013 left_yaw=0.0 left_pitch=-0.2251 left_roll=0.1124 left_gripper=0.0087 right_x=0.2922 right_y=0.0004 right_z=0.1683 right_yaw=-0.0072 right_pitch=-0.0688 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.3641, 6.1607, 1.0769, -0.359, -0.0122, 0.6667, -0.1846, -1.4564, 7.1043, 1.7998, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3606543e9d380c8dbb0bb1222efc6eebdcd28cb80abd115f075877d6126145a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2731abd01cf855741803de20d1663ecc36e54bd39dba1c69828b7a93084809b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcd053448bbd9b0e187fd517133fc13a4a04dca99a3b40dc4721554beaa2fe8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWXFQZR5LF6mrzV_82fJQ_bS_Vo-JW3PWtALJBACozXDpPW853xVQQlpkkHdnao5dnzmQ2NXKP_CZI1y8mNVpOSlugd7Mj42aZBl36jEqvw1HW6hw0PAv5mQVGibpUTvib14vGjh-jAFmhuLNL3TwH1yekLKwmUmvx0iiitiAzDcJjYKAeYd993oIhA6AFgH-PxyQrc9vevDLLD56yrJY60PFvwygbgpY2h2prSLAbTij5i2xrd6lezIMjEPcTDZrN_CdQgDnoxD1eoGvUjzZC2j8ET2isPy79qkyYMzOUPHIA32qArqaKzsnkUsyz-N2qR5axkuDRzeRfUpn7gXnX6euwHpHW7ExT1N-O2EVryNNZIk7ptplM7CCF0D439ydQ6TYVA0RQEICpTdoYoKH9puwVbr_dI4e27glpoHID2WmHt5s72PEyHMDEcipPKVmHwbBXKF6KyeUrkFa1faHliR49L8GVG0CjsBB9kKePzsFKjRYbKoJDJD2jKRM_KuJ62-BsB61v78tdxyUT_p-SthIRSw35p7sFsw-FC8getLVjPrlwKJgS8IBA1i02ispNeNUN5XNeMzsh-CFMjztBVw0VEnsTus_QvuQXjd_Z4ETdxfqYZywCCCSm56ovoEzTqAI0Ehj3uxXL20QiSloC-e-8tFYZPs-ThJKk1b1SvpdA-JqxLnpgSp4TizDhPfM2qXY-Ldq7uTmuZCeOHOFkef0P0DIqWrfCnrrUi93J4T9xUV-7up2-xDnQc_ePnKV62Hv0UmiRvrBz34Q6I74GO_nOMdAVaVRpMLBSb3Okxx1c5pc_ku0a_LCP_HNc789ZSmFTFBw3WeGBrYmG4hlEvZH43jRlu-lygMdQRGpC5sXQhx2GsgVNjDo_iYREabaJjiUlBEuT1ESHZ8qtCfqFpXMh9v3tJgkDuXyda5v9VW4XqAKLp6MU3qPtX1pVjkbB1Oi_53fChA_tvX1KHotQV5-WuMQsoS6Zz4HgX5vcW8V-UG-54bcmldeFl3uGIaONSlfKn3hCwsc1gmDKmzWIIPsuTKgUW6LrXyXssGLRObf2xo-51Bad563wDL4mO4TqxnQXfagzj9dte0VnxgZXSvufJEHrJL1qIYX-KWqjDuUPe3zUFHkfKpvkjqcns5nmhy2lOAtriJp8o6sPnVPRkTLhK2J1N50rqK9vQORaLexEqt5XRvcQl9sdXf2lx7Dgwh0vWapPKfybnoz5cq9_2UCG1R_vuBNwk4_XH0TjPEjwMXlRbaJZpgVMf6N1FYC_sAOBT2unKIH7vq17oO1mfFuMRpMBN2kXytlUV3LTcxLP32hkkc1gg87GGWG07Dc7ZL-gWvgosRfRk5awDH8cUQgLZu0YyhVGFEc-cobL3hIrpKWL24Qnus8AXGdyaslEWyK5QIOFonQl5nJQ6U7yoAubadbbLh-w2oawz1OUkvH02KBmoHCZTby6lpWb3-uYRYW1vEkpA1_4ckt8u0nb0ErbYwIemnGDxIbNnWnYbCps6AReIG5ybhy3nTnnyBgCX3DPG4I0CV9rkhErSpt1pDd6A3-HLeD14S3XLBwR8SABjrA3algPRft_MnRI1Ph-QudoBB0hUcYDihw66d5FUVe_GQGe0ourSitF1D2wfBank2F41OiC1wqs2YF3r_MCTAl0ghP3igjjpd7KucWlKmw==",
  "id": "rs_0b2a0c91819856af016ab44596161487d0a07d73b604a6a57e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.29,\"left_z\":0.03},\"note\":\"The close settled at 0.01, so the rounded plum slipped outward and the grasp is empty; it remains directly ahead of the fingertips. I’ll reopen, advance about 2.5 cm, and stay at grasp height for a second centered attempt.\"}",
  "call_id": "call_DiPhQSnMxk2LHEzAK8JEITxh",
  "id": "fc_0b2a0c91819856af016ab44596f6f087d0ae6490651ad2ac96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DiPhQSnMxk2LHEzAK8JEITxh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8864, 1.5951, 0.6449, -0.131, -0.6235, -0.6857, 0.9948, -0.0097, 0.8295, 0.6224, -0.4381, 0.0029, -0.0357, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=-0.1789 left_z=0.0232 left_yaw=0.0185 left_pitch=-0.2346 left_roll=0.12 left_gripper=0.9948 right_x=0.2911 right_y=0.0003 right_z=0.1668 right_yaw=-0.0076 right_pitch=-0.0761 right_roll=-0.0158 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.0923, 7.4598, 1.1062, -0.2662, 0.1587, 0.0073, -0.1026, -1.2376, 6.9812, 1.7509, -0.0415, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89982848029573cdd845b5d65bb32e3b495f0f06273cb89879549a951066db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3bb3cf2bc7883ce5b29a73cd263c52df2afbfd287a6706025c032aa0e7ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:befbceb333403833d350ae3d326e0466cecdeac014447a6fe0d7e793b5dadb65",
      "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 20 attempt 0 · /responses · status 200 · 7.357 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.4143, 0.8539, -0.4603, -0.6739, -0.7742, 0.9992, -0.0097, 0.8295, 0.6224, -0.4202, 0.004, -0.0345, 0.9965]\nstate[eef_state]: left_x=0.2742 left_y=-0.2115 left_z=0.1161 left_yaw=-0.0183 left_pitch=-0.1603 left_roll=0.0313 left_gripper=0.9992 right_x=0.2937 right_y=0.0 right_z=0.1704 right_yaw=-0.0092 right_pitch=-0.0582 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.8598, 8.6496, 1.1697, -0.5836, -0.0415, -0.0122, -0.253, -1.812, 7.3641, 1.7998, 0.1148, 0.0708, -0.0073]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.971, 1.5951, 0.59, -0.1085, -0.6575, -0.7593, 0.0087, -0.0097, 0.8295, 0.6224, -0.4309, 0.0021, -0.0353, 0.9965]\nstate[eef_state]: left_x=0.262 left_y=-0.1855 left_z=0.013 left_yaw=0.0 left_pitch=-0.2251 left_roll=0.1124 left_gripper=0.0087 right_x=0.2922 right_y=0.0004 right_z=0.1683 right_yaw=-0.0072 right_pitch=-0.0688 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.3641, 6.1607, 1.0769, -0.359, -0.0122, 0.6667, -0.1846, -1.4564, 7.1043, 1.7998, -0.0269, -0.0269, -0.0171]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8864, 1.5951, 0.6449, -0.131, -0.6235, -0.6857, 0.9948, -0.0097, 0.8295, 0.6224, -0.4381, 0.0029, -0.0357, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=-0.1789 left_z=0.0232 left_yaw=0.0185 left_pitch=-0.2346 left_roll=0.12 left_gripper=0.9948 right_x=0.2911 right_y=0.0003 right_z=0.1668 right_yaw=-0.0076 right_pitch=-0.0761 right_roll=-0.0158 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.0923, 7.4598, 1.1062, -0.2662, 0.1587, 0.0073, -0.1026, -1.2376, 6.9812, 1.7509, -0.0415, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89982848029573cdd845b5d65bb32e3b495f0f06273cb89879549a951066db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3bb3cf2bc7883ce5b29a73cd263c52df2afbfd287a6706025c032aa0e7ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:befbceb333403833d350ae3d326e0466cecdeac014447a6fe0d7e793b5dadb65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWc9sqdrWSuFox3xNULFwwIBo0JhR55KwOgcgm1q_ybIy6kgS50CAGkiAg_0TZ6MXesstYtkUY2WHgURoGzH55ulJzSTJUQ89ROwG_1AZYEbzK0u6MAtq6-uUK1HqjcWQ4k9cxvHofJlDkchh1OXfbCmDGnJM2lFwbw3Ghz1ZlK8KbRhB0wn6ox7BvOnB0rUM6_0yskr1-I-g9a8tXvIRUKGBRE6Q85S_I569n354Qb7Bx-osU3QbNI2RYtCXcjL7DmVYuJ0VnmdHfaICOPKnirBzxqoq-jrNXuYPkpdp-svAdDSgZLBohjM1VM2WTFZxfCRMRn2lCX-07u5eQq9pFhsCt1rvH738JbOF_n9F2-9bazIdDKhvQFgJNesKjM94y87YvTiXgUWUX8B7Shle4O8y01ibq9-0ZBWFiTxm9F9-4SfKahF5SUD2jhjJfWgy5Shlk5oMAG89tAPaR1U6qlmdia9wqKcnluK7c8HoltV_de_pXkVNq4sn4Rcau8mv8XUtRvuLy7ldOkoWAVQw5Nlh9umIYgCqHztPJl4o_4zRLSqSwDdpMqf5qEKQaeF7Fs96rCLX3aYf3bzkHMabvAvyuQX1w9tgmOP1VLApjDc6DVFP2iQYmashx2bU1cXKsMUCeGtQM-nD14YTKVTRDvr9sRQ11IMnok_Rrhda6lNskvB__oAAsXGqheBmQMZHrQ1WPiDk5Yzf95FrdwSdMOzAw9_efiPy5xa7kqKeR9JJ3t2hbqDuOX_M3GX_L5qqdgeYMmYPUVdsH-8S2B8OQpkbojUF15I2VD0uAKDVdBYP2xaxrXcIcR8W6FEUS7jmrm9eVw_qFWSFO3PDNJleBTngfdDR6_KA2nWqFLVVRliJTNDf-vscjW5rXL23hj_FvpxkRS9uJlA49Ex6BT-LTg6gilFz5ohrX1T0Bc4Z9hb67XNH8YUWorhf-o86XPxU5NKSPmOatX2VAHYF2hNOvFeqHLDQAOa_dY3Zwh59I0XmZ85kmfOc2vPLurh95WeeDfT1O6g_KvjYbGBU4iSsj9ZYmmhskMcekDYoRR2SrIF71I0_GKcC9U7LTxwT9JS5YRdqWJrkfUOysXVQ8I7eDOLSbtLxtnobaDq7bn1-RuoglMVc-i2x-j9uKTM9uUo_CoeZAZZsR0b2T6AYsCzzCB2mCmY-kZUb0XLw5IK9TRGQ1l185Sj3MDRI5Nfxm5oq2j4dlKvThbHzvVBOTnjSrEDjN8iN7ipBc8mMoamG_OVEvosHkyLwNiy0xjembQP9BDFzLKAEEcfwWzwFiIkpK7RVzfDlU2BgH4yIDAnIv3Wa_xJgyE994OY3X38R39jCA7Vv3VdOZd3GeNp4PtzRh5vQQD76jWwMU-81EdW_IrXfl-DC3-Hec8RKmsxY0XNAMfvkQITwPbarycHHLeayxUT7d-TTJYHyOlL09BtHBTqtqVYGenzV_k772tCq0faE9mFk_dIqendBneVZt6bQlIsnoACImWoP-hOUtTC_2k_T3DMA0XsnRZE-RjnhsDWv173IQiiwj8W3HakrOX_hpET71ySvP1ZwZA2uHwHqJMveoNWNCmZNCQnn_PCx1P8E-xVzwVw8ryH8-CW-ipGs_2RvBx61Iptgv00Gg7ko8yFdwdg8Syxjs47UaRaBXDdid0gJ17CciJzGKpHd3DSixJo-jjVN8EQUmOjphflki2eMTzi0EeCq6daHyHwWuYVIkrvVANcDl-yLhvZf1zf2_tiRXMWNvcvgY6SsAcnbNrMT8=",
  "id": "rs_0b2a0c91819856af016ab4459a08b887d09c36b14663880be6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the plum is now symmetrically centered between both jaws rather than beyond their tips. I’ll close again from this improved alignment.\"}",
  "call_id": "call_7R0qf4KKVANCoA0FFLbXmIVp",
  "id": "fc_0b2a0c91819856af016ab4459b92e087d0ba89c1d43bf4fefc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7R0qf4KKVANCoA0FFLbXmIVp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8856, 1.5951, 0.6472, -0.1318, -0.6132, -0.6884, 0.008, -0.0097, 0.8295, 0.6224, -0.4385, 0.0025, -0.0376, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.1806 left_z=0.0229 left_yaw=0.0142 left_pitch=-0.2406 left_roll=0.1111 left_gripper=0.008 right_x=0.291 right_y=0.0003 right_z=0.1668 right_yaw=-0.0063 right_pitch=-0.0765 right_roll=-0.017 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.1744, 5.1214, 1.1111, -0.3736, 0.0122, 0.5983, -0.1026, -1.306, 7.1043, 1.6728, -0.0269, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33725153131d6122517ca8632b3bceed1033709c67b3dbf0e546ff278e30911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f7e50dca1b1ef16fd5b3b4f473d32d07c855ba82603e69edbb6caaf1f67032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a3cf7aded5378c70d5d62107605c4dab8736ac985c326d1ca2839e539aa967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.352 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9718, 1.5761, 0.6052, -0.107, -0.6605, -0.7597, 0.9992, -0.0097, 0.8295, 0.6224, -0.4244, 0.0029, -0.0349, 0.9966]\nstate[eef_state]: left_x=0.2663 left_y=-0.1916 left_z=0.0232 left_yaw=-0.0052 left_pitch=-0.2025 left_roll=0.0835 left_gripper=0.9992 right_x=0.2931 right_y=0.0002 right_z=0.1696 right_yaw=-0.0081 right_pitch=-0.0624 right_roll=-0.0152 right_gripper=0.9966\nstate[joint_eff]: [0.4034, -5.9145, 5.094, 1.2381, -0.3199, 0.0415, -0.0122, -0.1162, -1.4154, 7.241, 1.7021, -0.0269, -0.0122, -0.0073]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8864, 1.5951, 0.6449, -0.131, -0.6235, -0.6857, 0.9948, -0.0097, 0.8295, 0.6224, -0.4381, 0.0029, -0.0357, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=-0.1789 left_z=0.0232 left_yaw=0.0185 left_pitch=-0.2346 left_roll=0.12 left_gripper=0.9948 right_x=0.2911 right_y=0.0003 right_z=0.1668 right_yaw=-0.0076 right_pitch=-0.0761 right_roll=-0.0158 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.0923, 7.4598, 1.1062, -0.2662, 0.1587, 0.0073, -0.1026, -1.2376, 6.9812, 1.7509, -0.0415, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8856, 1.5951, 0.6472, -0.1318, -0.6132, -0.6884, 0.008, -0.0097, 0.8295, 0.6224, -0.4385, 0.0025, -0.0376, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.1806 left_z=0.0229 left_yaw=0.0142 left_pitch=-0.2406 left_roll=0.1111 left_gripper=0.008 right_x=0.291 right_y=0.0003 right_z=0.1668 right_yaw=-0.0063 right_pitch=-0.0765 right_roll=-0.017 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.1744, 5.1214, 1.1111, -0.3736, 0.0122, 0.5983, -0.1026, -1.306, 7.1043, 1.6728, -0.0269, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33725153131d6122517ca8632b3bceed1033709c67b3dbf0e546ff278e30911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f7e50dca1b1ef16fd5b3b4f473d32d07c855ba82603e69edbb6caaf1f67032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a3cf7aded5378c70d5d62107605c4dab8736ac985c326d1ca2839e539aa967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWkaF2UmNIUfHfswvQyGFX8Et6FEwL-Ujca0o-kPEVqMm1lS-jm3s-NLNoYwUz__U4gTXRWz3-WkaxaTFw9hMl2xmeQo0rbmqSsgDv1eikTTiYj5a8wRRRJp_Qcmo8g6_z3fvEM3ipa1twcIasc4XYlXy55GN1vG2NV_J1I28-Lf7ao6HmaPch8oTaqRnHbMx96_1W4doKk6NYaZjaV1tM3y9MuOrqDiTkqM34cyt1Pwv8Ua3pJm8-e6e3V-so17Zmeh144S6RIFeVamScNHcmwtjq141XY_H6rkHeslCyqAyNR0UK1RSAQ1fts99Pk4AfAflbqqJQ-5sCTob7Vp0qS45F2ExKpf6gvpH9SnyPbNBOwGc8MDCJI-Cwf6DcndVoyNuNsuLVdA2G0EReiMyGRnqGWoihPpHo4gmwPevLTbbHW0dSgkts71QI152MixQHSuWjWDCLOG6OapaQJjLYNNp-w6yx_KMF6i9wTjl7WtSnDYvlSwj5aB4AIgLflcre1eRCZsiqWIAlk51WDlub17_jAqM0Opw4rwu1ttDsgwEcOtDYE6f3hq4nANTDkR71UyGgQuy7ldAxhv5wdRpC4icwqE-wkcA7CDMaC3c_99kCpvdByZBrf-kRKJoU1g25Dcrjoc3sPwpsgzPYzvONdfLWP_2aXfMD59PYg041ZVtvOhnzpf62Bgz_R4XpSfaXlYK06ZnNqQ7E1q7ng1paIqCt-nD4b7PHsM_xXyJynFR6PmghmG7jg1_zLz7VS6IomKoBcbB5V0TPrqnNgfpow78pChqqxo4DSiv9vVJU3418kFju_rKPr7eXSBIh35p5AfZiKLL1aceS4XOE-8B8r6Rs2VG6YqwySav4vgIH8NMwzddZL2ft2tRD7JFye_JAxHKYVdkaWoh76ZJA0wl0zKFPzfFDorHx7ZSKpnXEH4gmRoR2jzr7-PIOnXYiUambY-9FzP7T3_9pLqrAPxA5zzAlRBl4MNv9gQ3mNKNSAHTWa7Jk7r4UGeBQgYBpOr71dvCCmguWdRmciNM9RFwphiRzX0tm4KlVMytmjltsWyeEQY8SnNX-394YsB54Heqcp8hwcq24QYwbueRQI_9A_f72YZvBxQZx0BooG9kX0rcqU6qnMD7r-fTRRf6r-LOXANl4KaQsNql6tAAGNIOkJiLkk-Igw8f2lbiCjrGnepS2FI1TqNC4wUv2RCS8UQhzLvr9IAfJMjuWa_ymoJk2bZLIpyh80t_3rNPtAAxSg5e_vjswndVTOCMcqn3LI54lr8aSYUL0YdpPeSkwAb7h9VPrJBXYo4pJOX3sM0NHOfixnOiP5h10s_oBeyUnHsjhu0hhXtqH-9kU1XFOYi8kxyvTlc9HJaeXds2UklFORoueZrANuODF1Z7oVYsSkXNbDxMIMw1uay75EcLdFxvLOYJ1EZXLf7TDC3_YGT7lTDPGgLUPCvKNnOvDdF928bAfN6rDGFA2XVMshYLVSDptQdnpXA4oDbaWPKjdusxPTu9tZ_s0R2SNKWHhiNwtdbGAjFn-4SFr4JnJ7KuZZyn4Kn-d2zcncFx-lDirYzsdCsL3Kdupo_7m5qGtY5WJ3gwRoEqucLGTAL9kjWLeJX-0Iw6REpnbKbuyvcrXJutMRjs-9TKbTL8uS6SldN3GhmO44y39_1vm-bXeeR9kAJSUKyefQ4k_HIViZYiioy6EYhFhVGpasb7XruhURCZxZUpVT2od4ySpWXL2mELRc4sEWhkEhXEsy6IZua7SMHjyzOsq1dD3LEWqiZoguYlgz8pIt-uo9I_FUbmqEPIoAK4MFZvE-TXlvg0SkdnUkp6xXurilZ2A8i8iCT1hVetB_kT6bqcqWlBZm9jITsHaR0B1iVhFIL8rOTjqTQfn4nbDn2Y3p_CCKidHzl1hJmy5nSjguusAkE9GGHW-PIvz08zP41kohLdut_JJ8ZE1-EJI_QfmLITohBR2a22cQFZt4eFWVeweHdxi_QiVkXL5Bh1DjnhKn7ckniyVFsiMvceGQHCpCnrVhzMDIj258uP-MT-IHLSuCIgmQmEnrhl57Q5caUxJdOFucNlAy1SRJhY4MVlZaCQsJy8hv29fp40MlQzDNI2R-qOdsGPmPouMgv8ibP-teoG-aaIAl6tOYkJ_CK4h_2g6wPCRQQqvUI0ELrhauYg3HApMzOvSwPb7Q8SDD-Oo9YFmLCAowcwFkB5VNRot1SeLXN-1Oo0FDG5zWaneUEpvnCBAENiOnUalz6OXChUIYiaWhPtS7BZjzw0MM-xO_Fh0keVAbC-pvKZUGcPnsH4dd4QkcGgIv1ZI8Go7ohMDBgfRbU5HGJocdgLtgo3_QrxyPBjXbTPvH4sJdHtkWDaY134faOSgCtBy6tTOvsoLBueVwo-LzwIoBqPnvrMYech6LgLCJUiKgkaAg7gZLmerK5tFKDLK20i4cizSs6zm_0qqi8cl4FioLOqgh_n7qSY4GuXn0B0-CkchwW-YsgvPF2v83BXLNWdIvS84HaUeQKHjoS8TtiQyGFj1JHBr-ll0cG9fNiAmnKqJ9MBtNSClkxQbI3NJ4uiwbqL-5j7l3adgUW7Ip0UBG0DczNbyNW6VKZqoOwfQO1DM2VVnW43EQTiNSCJVPFMIsrKcLX2j0JGlgmRv-gg5g1AnLHwAdCGj8EH3RAIURSBMSeideEd-kJgpuP-Hjjiru2HNGHE5-FY69FJMiXwaRZa4yWLRhQeDEGu713zOLJMPm4pOmQjc2GK93dPwP88Sd1Sje2D6-1mHAC2YBlJsNFggQAyM0Z14QWSzWMjEjy2PxmnOTgRa6q2zejCFPkucHIzKwJvYxMXSVe1LIbiaY6DCBljNEpWzbhjQedp1xLjDCaOBtTt3-zVBiFjHqt0n8wtleDIBi7rSaB8VBPrtus_cB-EPyGcV4gVvE0R3ADrRxvAqwHhtVacVfdLOLPrG6KdiNBtKiHr-bOAEeCJXkACtEszCXvuSErygBaNrlZspV2Dn4zg41lIDIafurg558dSDYHLIAgg-q4FGyhcnlTBS29B9Gj4H2Q8D9WT553oDk3BMKbXuJ2oQWEK4wCt1vqMpTN_pTen2OLPPCsWf7If0qKgAN335QpBOGk6kNd4Zc2zv11dIS8Mb7AGxynxB3Bm8CXTunLC9_HTDX4JCQzQ7SMC0=",
  "id": "rs_0b2a0c91819856af016ab4459e28d487d0bae96959a8bb61dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.11,\"left_yaw\":1.57},\"note\":\"The second close again slipped the plum straight outward, so repeating the same jaw orientation will not work. I’ll reopen, lift above it, and rotate the gripper 90° so the jaws close front-to-back and block that escape direction.\"}",
  "call_id": "call_5irmzErxJ4EhGVFXGSKgMWV7",
  "id": "fc_0b2a0c91819856af016ab445a36a1087d09ce3742ae70ad9e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5irmzErxJ4EhGVFXGSKgMWV7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5808, 2.2227, 1.7763, -1.4582, -0.5858, -2.0254, 0.9951, -0.0097, 0.8337, 0.6224, -0.4477, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3528 left_y=-0.1105 left_z=0.0652 left_yaw=1.3816 left_pitch=-0.34 left_roll=0.084 left_gripper=0.9951 right_x=0.2899 right_y=0.0003 right_z=0.1638 right_yaw=-0.0062 right_pitch=-0.0898 right_roll=-0.0178 right_gripper=0.9966\nstate[joint_eff]: [1.2103, -11.959, 5.7778, -1.072, -0.5397, -0.4225, -0.0757, -0.253, -1.7436, 7.1316, 1.7509, -0.022, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9319f0b694a1690b5c52099310fcd8937e6899162b1e651819569301e5553671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cd1d1e40df65211113847363423e3cc89249353836638ad422a90346e75aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e003f1e56a378e57475ec96a7222b078faa868d32d3c1987124685b029c80b",
      "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 · 3.328 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 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.971, 1.5951, 0.59, -0.1085, -0.6575, -0.7593, 0.0087, -0.0097, 0.8295, 0.6224, -0.4309, 0.0021, -0.0353, 0.9965]\nstate[eef_state]: left_x=0.262 left_y=-0.1855 left_z=0.013 left_yaw=0.0 left_pitch=-0.2251 left_roll=0.1124 left_gripper=0.0087 right_x=0.2922 right_y=0.0004 right_z=0.1683 right_yaw=-0.0072 right_pitch=-0.0688 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.3641, 6.1607, 1.0769, -0.359, -0.0122, 0.6667, -0.1846, -1.4564, 7.1043, 1.7998, -0.0269, -0.0269, -0.0171]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8856, 1.5951, 0.6472, -0.1318, -0.6132, -0.6884, 0.008, -0.0097, 0.8295, 0.6224, -0.4385, 0.0025, -0.0376, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.1806 left_z=0.0229 left_yaw=0.0142 left_pitch=-0.2406 left_roll=0.1111 left_gripper=0.008 right_x=0.291 right_y=0.0003 right_z=0.1668 right_yaw=-0.0063 right_pitch=-0.0765 right_roll=-0.017 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.1744, 5.1214, 1.1111, -0.3736, 0.0122, 0.5983, -0.1026, -1.306, 7.1043, 1.6728, -0.0269, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5808, 2.2227, 1.7763, -1.4582, -0.5858, -2.0254, 0.9951, -0.0097, 0.8337, 0.6224, -0.4477, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3528 left_y=-0.1105 left_z=0.0652 left_yaw=1.3816 left_pitch=-0.34 left_roll=0.084 left_gripper=0.9951 right_x=0.2899 right_y=0.0003 right_z=0.1638 right_yaw=-0.0062 right_pitch=-0.0898 right_roll=-0.0178 right_gripper=0.9966\nstate[joint_eff]: [1.2103, -11.959, 5.7778, -1.072, -0.5397, -0.4225, -0.0757, -0.253, -1.7436, 7.1316, 1.7509, -0.022, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9319f0b694a1690b5c52099310fcd8937e6899162b1e651819569301e5553671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cd1d1e40df65211113847363423e3cc89249353836638ad422a90346e75aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e003f1e56a378e57475ec96a7222b078faa868d32d3c1987124685b029c80b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWq2yFFS9w7lTfTFiklb4WbOi1ByVaVUYSH1Hc7KTKhLDzc1TgK8KC2UGl13v6K2Om7GZYlHpxCUoQj4Dcu05m_Vz4VA9E4mKJ0lo-3l3wlFG0tYGd5qmeb1jydrJlNeA7zbEThYZNVeogDzUbi95L7tLEcdVLoGRbYGi8qvEuMi-Rjjbnje543qaKnnLm0q1W9QOAs768ajwFtFBbX1e91GUkIo794NHYI_VXzAhxytw-nC7zBeiXLUuL2cohfshkeXKTgBLIEtFb5UEKk-x0X4zGtTspVzF1FTtFSpTWEal9rQ9orHAOjfxWMQbIvL1rCp_8pQW-cRbI_XHsCmc0nfnFVreaNnYpYO-olxMjRuJBlWe5lpx4rqpkFAXc1gS2UPnUCRwPXYApEbLlVpNpMGddg7QlmTS_7qavJHT8GTbXYFT4d3PjKZT4tuIHWIZrkAws3rV0ObvvCNOgwG-Qc-NqQ8h_SExPHOywTeZavoKvBizGccs5kfbpS0gSIzYfjbnVhfjOy0S21bw-uy10ib1wpl-1nTTctpDHcSKwvk8uiUXLDjksCoaj1pQmAxeXvA55kOPEy1kRzkDvMhUXSJ74q2pNQcB8KSpUfwFlcE7pjBfNmavjmQG03zKNOBeGdryRhIln29LWowZcMWjYxb6w2209-3c1UPgshsyf9Y5VWUV-WzZ72x9rDSl1aUz0sCBscsD7_55WTUVtKZwj-8o3U8k4jGvP_iZdTq8Y7asaCus9IwygZ46kfu69BTZiyLbyOwY2NTEcu6fKVlje_a2SbBBJFczoQjUdN8hsvwJr6vyplOfVaEu2lbk31IBtTBPSx7wsrG9wPeh2o5A5VDqumoBGwWuN8mdZw7A-kz-HNfb-hpNM2eWy5D7uVs8hAjT97VVgS5ujViqsdSODjrJQHjpsHSISu0OtRrwuGwifu1e0d-iU4nYoS7o4fUXzcUCO1BCc6XZgx1FTCTpuZCLmGW7YrR_E9pogqLSHsyfMab3HW3pKS6HyTT1nruCxc64-aYYCqnUcadv1LnpBL2oZ857WNXDquZ-nWAiRFxOMBLryAZRCUaDVjRkWyrQo5uZbYPvmPExqSb0bJGd8RefP2uPhdeNGJRnjIaMIrwpu2UO5-as-ThcijFm_3sj8yBGpY2bnVgHMc2_tOtQaQON_DDpHhRquD3msGpNUv3818UTq6zaByWF9NDSa3J50UCacE_n6h_6IC4SQFOR9_ixX4zkhu_T5PijE7zBSxIeOR3TlHJN82oYpG5KCcjLyOr7qYaxZPJ1L47J0ak6ey3yu_aXE3XZXM1Ofu0VyHC52XthyPekyWwUtnZX-GUkbZGm2MaK5UGbl3arzfctxkfWxuqJg0lm6QO8lSyFWI75aTUcvBVxPn_Jcq29jp7PDUQ419a-4TT0RGhqUyRf7HVHUkrmilECynX1yV21txJnLcUAoRq_qNzIPgEwNUcRfQppLVmchwkylCLntN3pwMcDeH7-H9IUt1yWveyvjJYlp_eyci2TJ-sD5aYNlv7MgTlweRPmnVw7os_tsagX8XD-BprfMqnxOY_ZJzDK9Cozavuw5stILpLP2vemCXyJbcbYN9If_Xk9cblGkyQXb145vMT40ZWpOE4kyUn-Ozntk3YEtPuo_dg70ce0ot65x8J84EbjUmooE7e1k0pZtr5dd9FV_tDWbMwud0enFqojEfBOcCRZn1YFUUw0PToVCuR1UXrYsjQm05eCQiS6cPK3Ot9hXT98kLA4N6wzFqPA88PDUtz2j4riEh4q3Y5fCnr_89DY351PND6gswLmY0RhpPFMqPOQuY7Rfg3Ct62GJurKX8RdX_IwdmZ2kDFz2yOmB4Z9AX1qJlecuqFNXNjTRmNxqlR9rqhKXCV1wa3FBcd301kjXd0rmWIat_xQydoaIoklFTC-MUX174z_ceqmiHEfChSaux2x8-ZdHKyyUbtnOlroz_ua6tB-cCkpr8uOeEaY9LEDCuuy_W6JR1RVX3x4MrJaIMQZIZQicbV-8GW6jbrZ6YezOXbEuras96XPIMMGVyF-2kNCPqavaYJWDJondSDJWHYvvR3fZrh2viOoRg0EilMPa95Je-wfj-mCeBXlhKIK8l1uCCRa3_9SEksDlYmpgmem1OyU5kQ3G6z-9R2XmwvmhSEUdSrFJvuRifNThflRAFr7l30fmTdyfGQ-vnKTzaDSABPnDnJ6qMUgc4ISndJxTJOSlR5_UbRvrXgHwTXo77SDI9tS-SYMT2WS0HAAPmV4D5VMtDsNdQyeJxJuKzvygWLRFB1a5_SJnArDnmljH2zZQO17LrBjuXjwp6o4BGAL4pZHR5I1XbIJ542vMwayYi3xGcDh8qfzZKqR_4e38GeGjmVIxQUggqbmG0h5-yAMxOwOuCv8zqtkKnU_lG3ShnGsyB2ySc9qxOrxigOYvGdcg4GbaOBBqBUerpPQm_BGAMIJyFCQuP0tajahaURSLEbTP5gMP3JDCK-WhWXNggPEpf87A1iKYW6ucPgOl8Tv2XBzDGGH-MZb7qN4r9fWYuq-bRJG4QTOLEu3-O5B45dYvc3FPW7b8z9F71rpaLhVwJNThc7v2KTvuaOIzNxegaYQaAN6arIUl9Ebh7xQe_bkaUk0godzjLqgNS2e_m89ZrtkNfa34Sv7yD-QCn0qMF0Zzk-IFX8d9QMqa-2AkCFyRypXCh3oC7itF4SjMJ8ibQc5l5iWxt1qnB4hwhTe-xyhodb4yldXzN9XZI_ELfZemXscMLw-ncMOsxDV_VI5UbcWXZ8tlvQtNS0Ccu4jVagA_C3XVzWLfqmNaHaVTC7DbcjGjmiMXL9zzTQArUjxYK-zTkVa5q37KWwtCSOYZhOw6UPDO5FrqSiMGiIdzxnWBtPF536_2HsbZPhyEYIFgljJDKSCppUbds9-P2ka5ldjrrpvhMZ8lJdcg1AMEf9Dn__gxOtWrsi4if08iulthQQwtDGtCivHk6DD2AglR1Iql4QPT1NdtLxBQ0N3jp9awpPoZeEiGdd7Ear_YXSZ8MAz3GCTM=",
  "id": "rs_0b2a0c91819856af016ab445a65eac87d0ba1281f4d1e0be7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.13,\"left_yaw\":0.0},\"note\":\"The large yaw rotation drove the left arm into an awkward configuration and it stopped well off the plum, so I won’t descend from this pose. I’ll reset the tool orientation and return above the plum at a safe height.\"}",
  "call_id": "call_23PvWeSGGGP3WU6qownJbXcj",
  "id": "fc_0b2a0c91819856af016ab445a992f487d0aae42a46170882b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23PvWeSGGGP3WU6qownJbXcj",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6838, 2.2349, 1.8313, -1.5269, -0.5976, -2.0689, 0.9962, -0.0097, 0.836, 0.6224, -0.453, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3404 left_y=-0.1446 left_z=0.0769 left_yaw=1.3059 left_pitch=-0.3178 left_roll=0.0759 left_gripper=0.9962 right_x=0.2892 right_y=0.0003 right_z=0.1622 right_yaw=-0.0061 right_pitch=-0.0975 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.7692, 6.2564, -0.5788, -0.5348, 0.0366, 0.105, -0.2393, -1.6479, 7.1179, 1.707, -0.0269, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5940e9dfe0a6a5dbd26ef9d2ee7a0db10d3de389c63325f6304c8fa9b96a682f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ead931d9cc126848893280c9acbf75f9ce20f4136b249bc77047ef12689bf86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c5ea93253c86e48def155b45dca0886f17b562638ccc5dcc1b1d1dcbfb907d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.165 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8864, 1.5951, 0.6449, -0.131, -0.6235, -0.6857, 0.9948, -0.0097, 0.8295, 0.6224, -0.4381, 0.0029, -0.0357, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=-0.1789 left_z=0.0232 left_yaw=0.0185 left_pitch=-0.2346 left_roll=0.12 left_gripper=0.9948 right_x=0.2911 right_y=0.0003 right_z=0.1668 right_yaw=-0.0076 right_pitch=-0.0761 right_roll=-0.0158 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.0923, 7.4598, 1.1062, -0.2662, 0.1587, 0.0073, -0.1026, -1.2376, 6.9812, 1.7509, -0.0415, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5808, 2.2227, 1.7763, -1.4582, -0.5858, -2.0254, 0.9951, -0.0097, 0.8337, 0.6224, -0.4477, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3528 left_y=-0.1105 left_z=0.0652 left_yaw=1.3816 left_pitch=-0.34 left_roll=0.084 left_gripper=0.9951 right_x=0.2899 right_y=0.0003 right_z=0.1638 right_yaw=-0.0062 right_pitch=-0.0898 right_roll=-0.0178 right_gripper=0.9966\nstate[joint_eff]: [1.2103, -11.959, 5.7778, -1.072, -0.5397, -0.4225, -0.0757, -0.253, -1.7436, 7.1316, 1.7509, -0.022, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6838, 2.2349, 1.8313, -1.5269, -0.5976, -2.0689, 0.9962, -0.0097, 0.836, 0.6224, -0.453, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3404 left_y=-0.1446 left_z=0.0769 left_yaw=1.3059 left_pitch=-0.3178 left_roll=0.0759 left_gripper=0.9962 right_x=0.2892 right_y=0.0003 right_z=0.1622 right_yaw=-0.0061 right_pitch=-0.0975 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.7692, 6.2564, -0.5788, -0.5348, 0.0366, 0.105, -0.2393, -1.6479, 7.1179, 1.707, -0.0269, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5940e9dfe0a6a5dbd26ef9d2ee7a0db10d3de389c63325f6304c8fa9b96a682f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ead931d9cc126848893280c9acbf75f9ce20f4136b249bc77047ef12689bf86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c5ea93253c86e48def155b45dca0886f17b562638ccc5dcc1b1d1dcbfb907d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWu37HCZzHaR5R5AgoO5ZJCm5bb7VlO2YoloVFc9hsMaxd0_9BaE7kosqQrGnYXFp-Gkwp_m5GsqebbCB5INd3OSxILwnxqvCs1qdP7AF17mXvAIaLZxMAah1Yc1w5HV1_oSrDqNEVq3cjjxWAVjhr7TxgCmP2TAsT52g176v-pUGlYBTI5lEAUpNhcDOkMYQN4P0xVQ9RPpg0o5SII77_ZtMcx7grQyT11U5zQIJ34uWddssXYsiByrPAgITcqpcPmneXSJg0-2fk_d8QCOQDgwEnH-yazy1lLLdAb6WddnuM6aWHWpzjut8iacg36h-Gh5FjJvdHxpgPE5Fed6Sz8ZmKPsiZJ_dh9zhmOK5j8nvnT1-l1wmusnx3sGzXUBdGVd6JvILDcjuLWDcw2IEV-30E2p3DCHDkLca3-MoT_yxIPJuCfO0lkWXOYCtAJ9D8zV1t9ihWnQxAEccugd21zDoN6A5FOsBzUF3iACikurEeyFBQ8v1BO_jzIFwsCxpCMVdunzOGCf0vF7uj3fuKd4EpbWJVL0SdyfXcvthweYWmedbXPbb4tW-XJAx4MaE25Xn-8AflbQl5l2XT7-qTS_5L6-8oM8R_rv6ntZATR9ttO_iESqiGvRgbHnCBJZHyjw5GhjY7Ud4OPd7aX8tPTpBglRlsh20SyexjxTd6DhqaXIXSCFSRAQT8g5-V0uS-pakfNUKCxo1YHvguO4n54ZCsQmerF8e8pjHmjHbXa2baOr0XrQkKnaV6cJCmFmH6-b0_5-02wV-254txhV9BVL1u3Sc2eD__eI-hqNKWtG3X1ITJsGWLOh-34irf7QrpBmrrDrmJrDUa4DTtOSVCc7VmX-WGg9zHLLxz0xZhZ7e6XItsqSes_izMXXfseM2i4Zf6i72adqetz1pzQBGdgfELso1aTMSiJanumfiMZ9VbR_lM88r5CfYBoRH3HHaNjWX7jJ8B8iFzueNIya4_it9-XnryOjfj1s0MMg2UOpE7xUdYLanRRTx0hAfQDLwwVx26u7IIKKLbihCosSgLz3UnN0T6prS3yB4B1MgyhtnWimgnGeZEDgxR0qsOwDZw8JCroIsyo8t8__ikNgRt_JIjoUDy88qgQk7WEtU23ShYEoVlNJBqQe4Vt08_OHCGTLExu0P2M47JntwYNbrr5GJsKyo-XI-mFYG4iMLSPviZflkvDJLy89egRlxYqyb2YurHcupXeewsaJvYrUINyvziEo_2f6fDlGmFY7ppOlpU5mLc2DQO9Kundrw7RPkO30flgPfeeorw5LwrklXM3UDyu3I1VJkt7NTQJ36zsBJV6FQX3j_nqmDRhkm4hHqv0kCGdqkG8t3oKvtGwCHejmmFmlpLlo4BUrifdxEYfOfvVUXyDwCMzZsXuZsEmIHWZ9lAuu-QYthZhPFcnQZzmnQD9y3Z5GOIVegaiwsEzMtw=",
  "id": "rs_0b2a0c91819856af016ab445aca84887d0b40bfda162ae1888",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0.7},\"note\":\"The left arm is still stalled in the rotated configuration and has not returned to the requested pose. I’ll first raise and fold it slightly toward the base while reducing yaw partway, which should let the IK escape this awkward posture safely.\"}",
  "call_id": "call_No3moWww86GednOiemDBwBwV",
  "id": "fc_0b2a0c91819856af016ab445ad34fc87d0a2ccb04f599b1f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_No3moWww86GednOiemDBwBwV",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8249, 1.4563, 1.4307, -1.552, -0.6518, -1.5875, 0.9963, -0.0093, 0.8413, 0.6224, -0.461, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2406 left_y=-0.0972 left_z=0.2177 left_yaw=0.751 left_pitch=-0.3501 left_roll=0.0115 left_gripper=0.9963 right_x=0.2882 right_y=0.0005 right_z=0.1592 right_yaw=-0.0055 right_pitch=-0.1108 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.2991, 4.8889, 0.1441, -0.6813, 0.232, -0.0024, -0.2393, -1.7983, 7.1179, 1.7705, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0642d6e44b3a0f6163cb5fa2be17951a17562db9e51458d1361639bb7029bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262ad91554b701f4aa0dd6752827568e47b22e2ed0efcbaec671180af107230e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb0c56c89988c8e85a683a9c51843df112820c3d884b1562a6c2aa6573b5f9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.602 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8856, 1.5951, 0.6472, -0.1318, -0.6132, -0.6884, 0.008, -0.0097, 0.8295, 0.6224, -0.4385, 0.0025, -0.0376, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.1806 left_z=0.0229 left_yaw=0.0142 left_pitch=-0.2406 left_roll=0.1111 left_gripper=0.008 right_x=0.291 right_y=0.0003 right_z=0.1668 right_yaw=-0.0063 right_pitch=-0.0765 right_roll=-0.017 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.1744, 5.1214, 1.1111, -0.3736, 0.0122, 0.5983, -0.1026, -1.306, 7.1043, 1.6728, -0.0269, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6838, 2.2349, 1.8313, -1.5269, -0.5976, -2.0689, 0.9962, -0.0097, 0.836, 0.6224, -0.453, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3404 left_y=-0.1446 left_z=0.0769 left_yaw=1.3059 left_pitch=-0.3178 left_roll=0.0759 left_gripper=0.9962 right_x=0.2892 right_y=0.0003 right_z=0.1622 right_yaw=-0.0061 right_pitch=-0.0975 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.7692, 6.2564, -0.5788, -0.5348, 0.0366, 0.105, -0.2393, -1.6479, 7.1179, 1.707, -0.0269, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8249, 1.4563, 1.4307, -1.552, -0.6518, -1.5875, 0.9963, -0.0093, 0.8413, 0.6224, -0.461, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2406 left_y=-0.0972 left_z=0.2177 left_yaw=0.751 left_pitch=-0.3501 left_roll=0.0115 left_gripper=0.9963 right_x=0.2882 right_y=0.0005 right_z=0.1592 right_yaw=-0.0055 right_pitch=-0.1108 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.2991, 4.8889, 0.1441, -0.6813, 0.232, -0.0024, -0.2393, -1.7983, 7.1179, 1.7705, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0642d6e44b3a0f6163cb5fa2be17951a17562db9e51458d1361639bb7029bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262ad91554b701f4aa0dd6752827568e47b22e2ed0efcbaec671180af107230e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb0c56c89988c8e85a683a9c51843df112820c3d884b1562a6c2aa6573b5f9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWyrOAeMMY0uswTp8UUyp2QuI_Rfn-XiKfBHmel64mYfLoOkM3JTbq_2BUQmfDk-tFrY9MGHMkpiFavUSI_pvNdkKadsJK0vdDmrpMl6rqXqsn0lodL6f4Yp9rhB239m5Td9VTViTqhOx4tTdcn2ejKbDjbEEHYhxfYEUNWEygtRALI6R6kIkwpx26C8j_Fum9FY_eXBf7M81r5JWsf1kkBkpO9J1A7I8ug4VHeNtleuNPXYMW2DsuOW66wofJz8A5FIpQ3XAZgAwcH0v-fakBErYo-DS2DdU5jX4ra6KXdzpMfUX4G7RjMEVaYu2rKat6VMCgVAKSh4nLdBBDB8co_5cGWyvVQPcdD1pZWD1Wt-Txejh9UPTZUxGPkvYtSUMuMNpcl9bZpPTa4IytKYe9SgUsIIA2_SeirX3Pc98x2TvBd6QvBma9TvE2t3DADlHZgH9rcgF0A4XfIowlEAOA0RUs5_5qF4klIYj8GPbMhtrAlH_TCUszfQmfDVYMqejAaZVJPtW3PBKwW8BrAjeDbTjUTJV6R6ZPmV0nr5cGpsLROZm8bZeWOkR_oH58QJpkJT6igi2O9qfVT1JxqtFfs8dZlRRohx1Z_NMadjRXKeBfkP4lWJH5Z9qcBC_FUyZqeLsvs0OXepz1cvSwLd7Uvgut1iQLrik5Wz72zCeHQ5WdBhewZilXN4cFGKYceEXmJmIyzsE0_rwD6HGsXcwKwSX0TUjIWHiwhkKmR_o5QOUn1XiPCKA-RvE_c5QZFw4v5vYGgjkPc8OjOENl14DY4G1xw998UISvrK3Ze5nkn1cEiJEFKtrJAlzVw4qXgkSD_XFRxq_KppOwyOWVIbPS5RhZQyXu0PkchFyf2zypdIrN14H-K4iMUAJlOfWoO_hy7LbcaCXLXgW2ZEc-TWbVtfUa4tBvYmmwrtAEDDkmNjM-IIFAuALNNzqG6vJQAoVj77mKqbhu4aRN-1dMbecyeKCDRzTGxsWXLvTkiyXRBtXxsND16kreUV96Nhu8S4Duiuij7kQnVcchaM-ty7tT5ZDusvznA7IxP6Iej6o6dIwL38VMu1x2p2P8xDB5Loi_csHGHiExGeT65Lwb2hM9t13RvWwPI4jM4WK6c8AVIkHHPIN8YLSZI4zk6JSf35gAC4VgXuAXLUpjC8BZzjtstxY8A9sqTxIw7DPal_yJNgUk4l2SubA_5W3qg64UsNAipKEwlVCtyNJcGxLS9v3sWmTmJCYs5095VgDVQ2vWoE4nuTSLzfBv62VD3YQR1vtzEIuGzYpn2mwib_yeQX4ivYhbtlW6pocTEviU8TYI5z3yYu13C-w97JW6mQVpakGZnRjHKWemRkeBZCtua2Ffw2g==",
  "id": "rs_0b2a0c91819856af016ab445b0f0ac87d0b734323549b31f48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.14,\"left_yaw\":0.0},\"note\":\"Raising and folding freed the left arm; it is now tracking normally, and the plum is visible below and to the right in the wrist view. I’ll return to the standard orientation and move above the plum again.\"}",
  "call_id": "call_b67L7RPuD5T3V4Bo72TzFRks",
  "id": "fc_0b2a0c91819856af016ab445b1597087d0a074a6519e111a73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b67L7RPuD5T3V4Bo72TzFRks",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7506, 1.4345, 1.0912, -0.8249, -0.4713, -0.7906, 0.9963, -0.0097, 0.8425, 0.6224, -0.469, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.1598 left_z=0.1384 left_yaw=0.1422 left_pitch=-0.3923 left_roll=0.0314 left_gripper=0.9963 right_x=0.287 right_y=0.0004 right_z=0.1573 right_yaw=-0.0061 right_pitch=-0.12 right_roll=-0.0172 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -5.1214, 6.3385, 1.1551, -0.188, 0.1978, -0.0122, -0.0615, -1.1692, 6.9538, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1431d9be7e5b4ff80c5e30dcffc5e33ab4e1aa5198fd0e4bba511d3b1112f7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c86f004c5a695bec11d8a70c4d4e333c083ad39f3c7182cd1382f8fde9a276a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49106e5926669829a4b80c6f9fe5afd923119bfdd3e2487fe0bbe91892d0f0dc",
      "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 25 attempt 0 · /responses · status 200 · 2.101 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5808, 2.2227, 1.7763, -1.4582, -0.5858, -2.0254, 0.9951, -0.0097, 0.8337, 0.6224, -0.4477, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3528 left_y=-0.1105 left_z=0.0652 left_yaw=1.3816 left_pitch=-0.34 left_roll=0.084 left_gripper=0.9951 right_x=0.2899 right_y=0.0003 right_z=0.1638 right_yaw=-0.0062 right_pitch=-0.0898 right_roll=-0.0178 right_gripper=0.9966\nstate[joint_eff]: [1.2103, -11.959, 5.7778, -1.072, -0.5397, -0.4225, -0.0757, -0.253, -1.7436, 7.1316, 1.7509, -0.022, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8249, 1.4563, 1.4307, -1.552, -0.6518, -1.5875, 0.9963, -0.0093, 0.8413, 0.6224, -0.461, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2406 left_y=-0.0972 left_z=0.2177 left_yaw=0.751 left_pitch=-0.3501 left_roll=0.0115 left_gripper=0.9963 right_x=0.2882 right_y=0.0005 right_z=0.1592 right_yaw=-0.0055 right_pitch=-0.1108 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.2991, 4.8889, 0.1441, -0.6813, 0.232, -0.0024, -0.2393, -1.7983, 7.1179, 1.7705, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7506, 1.4345, 1.0912, -0.8249, -0.4713, -0.7906, 0.9963, -0.0097, 0.8425, 0.6224, -0.469, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.1598 left_z=0.1384 left_yaw=0.1422 left_pitch=-0.3923 left_roll=0.0314 left_gripper=0.9963 right_x=0.287 right_y=0.0004 right_z=0.1573 right_yaw=-0.0061 right_pitch=-0.12 right_roll=-0.0172 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -5.1214, 6.3385, 1.1551, -0.188, 0.1978, -0.0122, -0.0615, -1.1692, 6.9538, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1431d9be7e5b4ff80c5e30dcffc5e33ab4e1aa5198fd0e4bba511d3b1112f7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c86f004c5a695bec11d8a70c4d4e333c083ad39f3c7182cd1382f8fde9a276a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49106e5926669829a4b80c6f9fe5afd923119bfdd3e2487fe0bbe91892d0f0dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEW2uqme328aQM8ieoV6JimMTRY1cucbr0LeEYAuDQhDuqVHJH3RqJPv5jgHcv3CumIjGhlO97qHl8MuX-LcPBmx6ymlL6y70RYXYXlMhWnD8rm8-tLjeczFVrWyy6nbLr31_YXJLsveMMW_EQhmwod6qJXKKdfydyWAF9YSDl8UYg0Ypc9KNsdvfdi1IUdwEJc3jO6N9VHa7khFk8rjQGSsjOk1xKZQolbLEtUjoflvcUonhQ0lpi2oE8RosfumTZ-8zSv2CM_Spf7bL-gX5sIcKImGFoVOH53-Ay9xsqYxSMPz8x-vZLPpQB5sBkUnEzVM0vmwyW4QLp7qZQodAyFsGIRHuIwFDDP2KDzwUw8mlK-KoQZXXgE45Cie2pisZI8bEMiILUfREY7XRKxwE5zCgOJiGxzBeDA-1ZWtfQ01KTBM1BoXKvZmG7bUNu7cpv85MikuTuYBfFUR9PI8W9gvRcK4UUBXE2hvEedvx-D4YklubViqhZwyE0cUq1o96fk6GjS2hbtTILGFxw5EBDi0udex0dqaLifqTjdmmpK2n3LIlSugrU-dnEoUt8rJhugFNZRlSIDCy957xjVc2CHqiTcH11tFOhXj3i9gyMDYSwI8gCnsK52EOBnf1r2ZKb-dgpb-0PbtHTYxbmHwPeyWGl14uI_tI9VReHXe4HkjIc-YkOppTzAvrQMQJKrycrommQBGP6Aqt1iCX6l297VpOXcRE_OcEkWiEuJtJdexeoDv3V5zsPKc37Kyw_pkaFTxh9SerwPU3K9l7R3zD6VsOEgHP0vCBtJ7Sz4RZz36YhvzGNO-Dkux7Z10aVU6tjK66KXbQ1OYMT2CnHTey53vCJx1Uprn5LP89mnOSySccwslwECqab5lExxGP-vl-_CP1LuGVgV5c8CAvDOloMgL7HCgG3VlWcKLY4VzF2xZyod-9w9U2x5KCER2penkCQ573aWY59e2k86oZt1iabbc9xYSeH-vwOzRlw_AtDGo1txBOpuLGuAZ8RpsNe3GcNlybE_cBHaphGZGNj81dJ90BS0RYcOwqc-C30qUqGhSoLOR9jUmODJOhsI1bZQaaXTrA6VCj2SBpIjFs-8_tN4gzu7XYOfziOoxb5rcqrDl2I41PUbTN1Jq0JE6G-nI2hXm70so_mr5UJnLmt5je7y63ohhcZ0mblzsvdsPIfrD9s6NTW9iAlEo0TkNybqHPQiToipobACV36o750a_GebS4PXWqGN_5my6l-vjVptq91b7w6OygVhKR0wGYpbiQgRG_pMmUc0vbcgwLsx69_VbN5RaHWlpMWoJtOaKyzPxysweaqYjurweIp7FhJbOSYN25I8N8t_nLBdmo6tup0rakZJh2Qdfq5gglIiAsnBAbqD0aOnGloRt6OEABrhovsJERG4ZuuVcjr2G6fBQ4f6k2L-2C85RdDkP26wtQJldHyyhnY8TBYy6FQ1Oul35-XRqIzX6Zt_GTIdLiED7YBOQwSSeLMTpXZfpz0FfBWKYMFuZ-uAlepo6KdbS7A8Twg2BzYbNKNQ_WbekS65z9bjlb4y-PLDWIzEFm5532ZnyvpmLH6wNZZBTbYsq-vgIA8R7JD_t0Xn1p982IZFFBcGr0xZS9PDjggUCfReps28vtDMDtVoeNYOlhdSif5RnflyJpYLoUrGJW7n22IQXp2tWC_1KLNnwEx0C4jZqvFLnaAc6lKcqeNN4Ln0xr3fEnwBHG7LNYIZogbIhdI_WlqeXBCrt5Jbex1V8HrXJQ8p8z0jHFeGAsXb_SPc0wYk46TChv4oyJTCyAvW20ixnLXav_oQ6EtAmsT48j3Z3JhMQuWM=",
  "id": "rs_0b2a0c91819856af016ab445b402a887d09ec584b47a8e1678",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.16,\"left_z\":0.05},\"note\":\"The plum is now centered in the left wrist image, and I’m approaching from a clean unrotated pose. I’ll advance about a centimeter and descend only to 5 cm, targeting its wider upper-middle rather than the tapered base that caused the earlier slips.\"}",
  "call_id": "call_VIS6ffORYewAnQX2719Ib6H3",
  "id": "fc_0b2a0c91819856af016ab445b5630487d0b316eeb703642efa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VIS6ffORYewAnQX2719Ib6H3",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7284, 1.5574, 0.8604, -0.5163, -0.4519, -0.7601, 0.9963, -0.0097, 0.8436, 0.6224, -0.4728, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=-0.1547 left_z=0.0503 left_yaw=0.1494 left_pitch=-0.4356 left_roll=0.0755 left_gripper=0.9963 right_x=0.2865 right_y=0.0003 right_z=0.1563 right_yaw=-0.0062 right_pitch=-0.1249 right_roll=-0.0177 right_gripper=0.9966\nstate[joint_eff]: [0.4855, -6.4615, 5.7641, 1.0672, -0.3004, -0.0464, -0.0122, -0.0205, -1.4564, 6.9675, 1.7118, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b6301a4fa6c598f9f8ace1d18a11fdebd3c1c4c43275e459b222544e5a1caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5beeb2e65a5d2ab806115ac18d42f45e0698e0f6bcdb8525dcfbad5700f8735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a2f5bcad9c970c7446877551b1969ff5e2e4751c71d77393b940a992948159",
      "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 26 attempt 0 · /responses · status 200 · 5.76 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6838, 2.2349, 1.8313, -1.5269, -0.5976, -2.0689, 0.9962, -0.0097, 0.836, 0.6224, -0.453, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3404 left_y=-0.1446 left_z=0.0769 left_yaw=1.3059 left_pitch=-0.3178 left_roll=0.0759 left_gripper=0.9962 right_x=0.2892 right_y=0.0003 right_z=0.1622 right_yaw=-0.0061 right_pitch=-0.0975 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.7692, 6.2564, -0.5788, -0.5348, 0.0366, 0.105, -0.2393, -1.6479, 7.1179, 1.707, -0.0269, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7506, 1.4345, 1.0912, -0.8249, -0.4713, -0.7906, 0.9963, -0.0097, 0.8425, 0.6224, -0.469, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.1598 left_z=0.1384 left_yaw=0.1422 left_pitch=-0.3923 left_roll=0.0314 left_gripper=0.9963 right_x=0.287 right_y=0.0004 right_z=0.1573 right_yaw=-0.0061 right_pitch=-0.12 right_roll=-0.0172 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -5.1214, 6.3385, 1.1551, -0.188, 0.1978, -0.0122, -0.0615, -1.1692, 6.9538, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7284, 1.5574, 0.8604, -0.5163, -0.4519, -0.7601, 0.9963, -0.0097, 0.8436, 0.6224, -0.4728, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=-0.1547 left_z=0.0503 left_yaw=0.1494 left_pitch=-0.4356 left_roll=0.0755 left_gripper=0.9963 right_x=0.2865 right_y=0.0003 right_z=0.1563 right_yaw=-0.0062 right_pitch=-0.1249 right_roll=-0.0177 right_gripper=0.9966\nstate[joint_eff]: [0.4855, -6.4615, 5.7641, 1.0672, -0.3004, -0.0464, -0.0122, -0.0205, -1.4564, 6.9675, 1.7118, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b6301a4fa6c598f9f8ace1d18a11fdebd3c1c4c43275e459b222544e5a1caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5beeb2e65a5d2ab806115ac18d42f45e0698e0f6bcdb8525dcfbad5700f8735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a2f5bcad9c970c7446877551b1969ff5e2e4751c71d77393b940a992948159",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEW53R8jDVMgyX9LybpGo3aIVnoXvD4aWMesrumM11APTrFrU-KrdjESYzvmuQEZo15yZoZ1TCDS3KBZSMUr5VgtHbKsdXFsN_HqrLkHK8ORmKK9SqkSfyNPEgnd--P8mOITh_TUXsI0vFpwCHxjzSfPSFD-b4ijQ5AbLPWpCR6phfyP-z0I78T--qPt8O5sPr1Aq944VZ5vayd5cv6xJasSlzzsuIUIsJ8jeZ_sVjlPxoqcVyfWQgRM4QPBbSmvhcLLSkO_R7gC5jUG7pgiLpMhrJn1CotLpXg7_3HcKENDuzR5OgtwBLZfLINz0ZCkCycENdQSil1jufC8ZQ7iIKCl2si2xgWFP8yRrjB3dt07keRYYEl-GKtEfi2MqQMCkc-yuHbZ6AzpFo4p1f5xkOUfIZaRQvcDUhwowyyAgG9xeC4ERYWeLErL4du6UVAlNblTtLTPwE8imJkjT6_4Ci7mPSpTiOL85_wTUBq1u9cZVsHlwU43c9j1ptSenNfijQDNcZbqEKUvVlpLyhjcX_phNkJ6qVCjZiWBqJXROhWXvlnyIvgsaE1LdRzUnlCOrcjqiFiskxynfZFOu2gWM-B-ya8VMlAFoqXtrlx84pwvTDEzaWCqftU2-dw1EJhNT6CmGpY_oZgJe4FyqsiRLH7BoixSNKLMsflBkEKU7ID6q1anImDdSaqMZZg0_LhqzlGjRgujEcW2UEZvXXoAOFxUFOwwYMMrgLkAOPrmaV6gt-KeyVAZhpdIpBk-wEEp9ECIoZHosVrFsHGqP-2JFcQfyjG25IVfB7zxQaNLPfTHKocatvo0FZSbbjYgHyjO7CvlHkoAKLhkLI-7yet5P4Ip5ao3uTBSZsFHujqs_3G_c5QPNSw6BPVi1PcYTdBIrq-8_-LT132vB8x--50ud08zqVdLjuXn7ssbG4Ickf9bb4iIL2X2mc4SFeop4DZjhvru5Dz38jro8EAJ77jPKDJpmIjCkbam6QBmDygeSFs04LptH_UjHGOz4Zodj2hGIMn8NtNM9NHSZ6GQJ2RdCx_WRlWFVfHwf9II38cE7J9XmtxL0dgjP8rErneiHGKscaAXiREf2TVKmkQ-1dN15hzl720Oe1L3wZl5zJTIiUQdUzk7z0Tqrfj2reKGOM1UnjKn2yR3K_xR4mTVXh3Wrrjsoj3EvB2mIP91WTVf67NGo9bviS5c1JQr4eqhd9rn2JCGUhSXQibFIsQE7hQ46avpPLfmhckg4-bsYiEDt5xpCHIhOPOOOjFmPb7qU0L7FAsZzs4lPTJ579TvxaDsgUWVZfnSxOqh0vOGG8c353ZBK4E=",
  "id": "rs_0b2a0c91819856af016ab445b8211087d0a3b113ba3a276ff7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the higher grasp height, the plum’s broad body is large and centered between the jaws, with both fingertips aligned around its sides. I’ll close from this improved height.\"}",
  "call_id": "call_G2NBefgqNfSotJGc6JamgOFs",
  "id": "fc_0b2a0c91819856af016ab445b871b887d09d27debfa08cb236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G2NBefgqNfSotJGc6JamgOFs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.5719, 0.8448, -0.5167, -0.4511, -0.7639, 0.0089, -0.0097, 0.8436, 0.6224, -0.4759, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.1508 left_z=0.0412 left_yaw=0.1621 left_pitch=-0.4553 left_roll=0.0989 left_gripper=0.0089 right_x=0.286 right_y=0.0004 right_z=0.1557 right_yaw=-0.0059 right_pitch=-0.128 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -7.2137, 6.9402, 0.823, -0.2857, 0.0317, 0.6129, -0.0615, -1.4838, 6.9675, 1.6777, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38102add3e7706592cb808a62f1d6fa3135d2ec4ad98e14e811718c5aa62f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c0bb475ef31c01dba184fd63236d7f01f5398931b81e515060d976f43f7089",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913f2d736f0de82c00eaec3bff1ec2bcc5386f2fa4b17e36ca5fc3e7bfd13656",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8249, 1.4563, 1.4307, -1.552, -0.6518, -1.5875, 0.9963, -0.0093, 0.8413, 0.6224, -0.461, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2406 left_y=-0.0972 left_z=0.2177 left_yaw=0.751 left_pitch=-0.3501 left_roll=0.0115 left_gripper=0.9963 right_x=0.2882 right_y=0.0005 right_z=0.1592 right_yaw=-0.0055 right_pitch=-0.1108 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.2991, 4.8889, 0.1441, -0.6813, 0.232, -0.0024, -0.2393, -1.7983, 7.1179, 1.7705, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7284, 1.5574, 0.8604, -0.5163, -0.4519, -0.7601, 0.9963, -0.0097, 0.8436, 0.6224, -0.4728, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=-0.1547 left_z=0.0503 left_yaw=0.1494 left_pitch=-0.4356 left_roll=0.0755 left_gripper=0.9963 right_x=0.2865 right_y=0.0003 right_z=0.1563 right_yaw=-0.0062 right_pitch=-0.1249 right_roll=-0.0177 right_gripper=0.9966\nstate[joint_eff]: [0.4855, -6.4615, 5.7641, 1.0672, -0.3004, -0.0464, -0.0122, -0.0205, -1.4564, 6.9675, 1.7118, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.5719, 0.8448, -0.5167, -0.4511, -0.7639, 0.0089, -0.0097, 0.8436, 0.6224, -0.4759, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.1508 left_z=0.0412 left_yaw=0.1621 left_pitch=-0.4553 left_roll=0.0989 left_gripper=0.0089 right_x=0.286 right_y=0.0004 right_z=0.1557 right_yaw=-0.0059 right_pitch=-0.128 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -7.2137, 6.9402, 0.823, -0.2857, 0.0317, 0.6129, -0.0615, -1.4838, 6.9675, 1.6777, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38102add3e7706592cb808a62f1d6fa3135d2ec4ad98e14e811718c5aa62f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c0bb475ef31c01dba184fd63236d7f01f5398931b81e515060d976f43f7089",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913f2d736f0de82c00eaec3bff1ec2bcc5386f2fa4b17e36ca5fc3e7bfd13656",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEW_TWsfnVAIVry2a_TBTRPQSEaa8z7Ac4uUBGd_TdqDnDeOm4Nu0dr-mFlVHJPdHa9LmBc0wY67gzgj7Sf-Fkdn3Ss8JZWBAPZqHIGhLPbRsWIj7kCav_xB7dFGLpFPM-qIcKs3184pcQeMmC7d4KCOR7LIxpElsrz0vC_Zu1fTDvvE7Qrm5zNLOckxRgfNaPBSH46NLyKoB7nOmf_K0LjwHgJY7Ba9pJdFN-BuITn7dLzevCpGD-zeYsWk7m8GzmIk5z6igI3EZq5c80ZLepwrJ2ShN51NSaRtTOnEXjascg9cW7NCLBqPN_2tSeVeLL9OzDEYvV5wtoljnK4c1h5JRc7rJ6otvSA1_1Tyb3Q9NTXDKiyK5ORrPJJNmEjyWK03NyUr1qU2E1XrKVqDQEiS1XPQa-6LPhNoMNJgLtN_R3LNsUbG6ovC9uRnqqR_BE35NMJWDe0LCxRfUC9D9Da7n-TWpRhNl1LNPXQ5Y7VjIbs1V9IXFjLX4y7LueG2XbcVutL69OPMoOPC1jZqa7y0WZwNkcB7ldHCcAt_Y2ZlwR3ql57VPscLcu6VVAKDSo57tn1FSE6R3Bedf_aSWX6xluWO0YCD-av9IXKtw6uYsCH6K-LafQX5d_U6w6YyMsy8FYk8fJW7QxqVAwbzMXrD-WzNIykMm4Gpxheh8auJWrM7x9pHmPq0Xn44K7uaR1BvpMhLWxkx0-YgMF2rwOa_pSyvpAPjzhRhvVrS4Eq4JA8_ATqq_HWNZwFdxew5lwnPvLkRvp_xjoIJjwkaQsivHL_3RRT0YvQzziY9NvYNcvGcXLSYzq48hvHSvuvPAmE6IbooqWAstwKpmrlt-hDd0ipkqQ68oAi9qrmcXGlzgECn5JWk6fmqLpLwTi_uDcn-qX8q2QtmAFg4V3tVBWeXGeHPwWMh3uGO1k0yqUa25VoMannjr9ndbC5QT2uewe-LT9rGHoRc882MZdMTyGbS2DnT7lQBdKdT419tuDZJ3kpESj7sFU9QfhVDk2uF8CXX5cOtrAunMUToJoPoBP7j8mccCsGloo7JBGgjP4h0tewHSFWQeZ0ncIOA54uhgzAvvX6AgF2pwdjQTs5cShg02XQibueP7x60hZQltV6hRqq__8RS8qDSuNlDYG9bUz4LMEwT5fW7mZNvJvUkW-5NsIxGyOhXUz1xh9d6vRsvBat4ufjNdClxD2bmb_cU4Fi21zFuWX4wQ0vghuvk7OAO8l1MAOAEpCbmXuA1DdhwiBWmdB5mM5Mi80Q1vJ8Pqlu76y2oU5Eaga6vzE9iHmPLBvBaQ470_JKvTjHwGLyHwNnIwLvWjTEKi91vQQ0mmd70ETOzeJAPXBD0kAKdsQbfh-bEbyUfHdI0fYky-Rzqe6JC9t-_2LDMQ797BrBdiqArtnzZWVMS5PR0BoSPczuLecU3IOkbQJ2d3UQKK3dbhPI9WMoMuN-a40Tpgb_1IaNo9WofB7P2MKO7axXm7GqvT6NconjuCSJJ8AwD2Jh1N4IGUnkWL0M0ksD8BdrQ2n3z5v0VZSFDqnfe0WDlJjtPtzWLIDF6YttK4WdcbehNqfpDw_4QamIdlsdenmP5PIZZ9Zes5DRzNw2EtbNw9VWCdyz98P3zjKGYRyRENIw6Vwq5PjOP51g-FqsluZJUZdIIQIpEFp612Q7jJeQnBVT9WAKX2FNIpDejOZD6yBv2rHhyj3hxF1aSCFE5TlKLogD3lnGlBR0fjWpSZdusF8dvO9iFG-Fx1KErJLsCjraiJ-O9rYGaNVOvillIPh9g9sk5dZ_KH0ekxfENLoGN-SfP1FamFHgaDbs8Ikm73knpSOBiWXxXSsdx9Dy-bYg3EU2hbiDqnXD1zZqg90I-MRmGLY7O6qA9xYZR5H44MFjNXJTtUqibuDh9XQ485t57LXS1ToonxpJ3qst3JGF7bc9mp24-QyT_R-9ZX3Jh16dTgq6KsHbdvy8eYQL_xmpW8BOwNJI0rAdq0BhJBUwup0D5iuhwtAEkmjor5BSsZMu34OUG77duQWRb87oUqa3pN6Imkfs2Iv1r9B9Uqg2qShUYufZizdQ_T6iKX-BUMN7hIOkwBlW0LRsy6B6ERaEh5fW2XC06L54xCZDV9tD2q-aevSz51-AUJAx-3FVnOkA-jqZf1neuKy4MvWQ1tOPVziwc9uJqC2xoWo9pmwiHDoNMNArOHR-IUjCtC9VGTuCd1nQpIm-s1dlufoeJFbBVekh8Zd4OlTYiSSV2KasyJvCFDr8XA4rD_YPG3KiaKDytN73EFXNvY4e2Gh-LrFHoBVbKJHvtJuOtEvby4idi9U1iF4Q0FlGNFwko37FOSQa-emf4Le5DxYj1pNGUY_3Z4ojfagyaGx0sKh03bMIpYaYtSm5e8Xpu1Lu0YIJaZC29roD_eSkargfxj7APJsgC66xn3CrwyfIYs3Kc0F7n8UNcTTO73OWjeB0efGb3Y3DZZ2czDpR1vvPYZ9vqJOgADvpJjF37bVxWEsvBBfRsGErIf35yfNphkTOaIKdJ4HTSHj5dnm8zP4VOyn1-qgupmAvG6f_tB7LdJWb8Za_mkQY6kwQ6-NHKYXuV1dFK-GKhpN5T0aUAR28jFYC5NEkiQ1nev56RqpX0iAjb1W-OKcEtjJq1JvLW5cqifBK_GGDqSfFzr1Zt24-ySZqGgqDt1YYIfOj6I3kEri1-5W9rC178uReQpNYY5JEs0X7tqK3WP67Mo9VApbr6QRE4vU0RdPGWAJDmk7M7t3yiGO3OJMOJsGKVgUeyfPof_FVH9VxFIPOCHCUeP6NqhFQkQc2j6I0sTX6-A8P9lu_LxUDiYG1ZNf6lZSROMKy1hBd6Hpw_YA0q7OHB1nntAWpoU4MKtGJuguh0ok4Cn2nf0GQyLfVN7r_ISjXxWyzeDUawVXgiw9wd6R79YjyiQSMszDUvmItEt47xoDgd5kAkMQ131bYI9bOlT0YEuiiZt69KEiPsslkUVpM4uRcplx6M03On1sM5f-NkjjKOcgEd77EiFPVwwaiUp0_aOpYf9cOaVEV50jo=",
  "id": "rs_0b2a0c91819856af016ab445bb1b1c87d09ccd3fa488f0064f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.22,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":-0.8},\"note\":\"Even at the higher contact point, the plum again rolled outward before the jaws could close, confirming that the left-right pinch direction is the problem. I’ll reopen and retreat to a high folded pose while rotating the opposite way, preparing a front-to-back pinch without entering the earlier awkward configuration.\"}",
  "call_id": "call_XPeixWGdo1WJ3c8F1HGguxAS",
  "id": "fc_0b2a0c91819856af016ab445be945887d0bbaa41822cf8f58f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XPeixWGdo1WJ3c8F1HGguxAS",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3077, 1.0405, 1.1229, -1.1187, 0.1265, 0.3527, 0.9959, -0.0097, 0.8463, 0.6224, -0.4778, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2332 left_y=-0.0937 left_z=0.2087 left_yaw=-0.645 left_pitch=-0.4578 left_roll=0.0969 left_gripper=0.9959 right_x=0.2858 right_y=0.0004 right_z=0.1547 right_yaw=-0.0061 right_pitch=-0.1326 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -2.1538, 8.2256, 1.2381, 0.2222, 0.1392, -0.1343, -0.0752, -1.3197, 7.0906, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1ad1471ecb4a947d17bb841a23bcaee018ef4ffbd41161d09a42fe8e30b2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa060bd755156e85e19489d4a35964219c33e89c5bcded12ca4eed3245e35e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceb0dc0f494f7894dbe519ce70a2dc7cda32614a6615f3b59190d679b398f71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.163 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7506, 1.4345, 1.0912, -0.8249, -0.4713, -0.7906, 0.9963, -0.0097, 0.8425, 0.6224, -0.469, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.1598 left_z=0.1384 left_yaw=0.1422 left_pitch=-0.3923 left_roll=0.0314 left_gripper=0.9963 right_x=0.287 right_y=0.0004 right_z=0.1573 right_yaw=-0.0061 right_pitch=-0.12 right_roll=-0.0172 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -5.1214, 6.3385, 1.1551, -0.188, 0.1978, -0.0122, -0.0615, -1.1692, 6.9538, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.5719, 0.8448, -0.5167, -0.4511, -0.7639, 0.0089, -0.0097, 0.8436, 0.6224, -0.4759, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.1508 left_z=0.0412 left_yaw=0.1621 left_pitch=-0.4553 left_roll=0.0989 left_gripper=0.0089 right_x=0.286 right_y=0.0004 right_z=0.1557 right_yaw=-0.0059 right_pitch=-0.128 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -7.2137, 6.9402, 0.823, -0.2857, 0.0317, 0.6129, -0.0615, -1.4838, 6.9675, 1.6777, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3077, 1.0405, 1.1229, -1.1187, 0.1265, 0.3527, 0.9959, -0.0097, 0.8463, 0.6224, -0.4778, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2332 left_y=-0.0937 left_z=0.2087 left_yaw=-0.645 left_pitch=-0.4578 left_roll=0.0969 left_gripper=0.9959 right_x=0.2858 right_y=0.0004 right_z=0.1547 right_yaw=-0.0061 right_pitch=-0.1326 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -2.1538, 8.2256, 1.2381, 0.2222, 0.1392, -0.1343, -0.0752, -1.3197, 7.0906, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1ad1471ecb4a947d17bb841a23bcaee018ef4ffbd41161d09a42fe8e30b2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa060bd755156e85e19489d4a35964219c33e89c5bcded12ca4eed3245e35e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceb0dc0f494f7894dbe519ce70a2dc7cda32614a6615f3b59190d679b398f71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXEckJCzqi92JQptGD1mAJFGS9sGaPZn-pcO7j3ARORovL0pArNli6zAUto31oWIHuZj2MKsLs7L2MsWdfYGpUTlX1eZ6HwGa3u8EjQsqgZTVMsHXftS5fc3ftjye75TITuDZmjtD1_Js0zskEZdVYZNkQeYZPXArgjngsYrOPcqwV35DDKKfh-uc-DPg6zLZkSORl6hrZc1_bsBUgGLF63jSJLqBI4yY_BBmGBtLLAboiY1D8KNzwKJzMCPqg3MjdVIV1RZnD_6kmBbifFtxn1hJUphY-H3B3tQbDrhq6lotxvMJcoD1QzZ3R0QGEi3mlNc90VJ_f1QDd2RIaJTixcS_sm33rLXTuAKAaDlCZBrKntU9RvclkJ6r1b91E-6o1o7UNu98RAcZ_pOlOuV_PyoKxZ7-eiqvZtJLpabqnEHSKvK-LoFpFyc7sk2e2m8WZRMWlEAUM4mH8-KyMTeGkBhLKOIeSHJqPPo2XOO7oL-IW_6vU9v9M7wLLn34mtTE5a0IzB2d3NGSZwYSFCMmBoHdS3tDY9Xt2UostIaE_CXeo6qXtG0a5FXKmxN7Xb_iPdbmr-p4OxvDpkNfKAdEKbT-l7KbuhYFj5KoVjRC41Icb3FMrZgMshPseFwzoD7mZqspTSsI-GRLsgsYUMCYW3dT7Fh6I2VK073OBNhdEt4QXGpV0EFY4-LCX8va8JcKQAhK4JB0TP7C-135VGEKlW1VuoFspuY9TivHp8HVd8HPpuVyiW6Xb6pfDgDzfPOlmLtnanGHJj5L6g0LyWZdzk9LQua7jjwlhT7VbF8MeUC2R1wAiT2rzQHsNZUAjEvEIZfWFZGOAfvOKhaiSFZLOLX-mfjzyYNC5MIq67Th5nTNwjmBFHmGkh8jhdLGACOxGHf5LdQQC-mZ1yXDOWAwF5k4yXZeGnP2NY8UeN9aazZcyKkTbm8dO-zMzY4dlevCbBgvRHg7aLoZteJwcf1BojjpDjhAtduzEF6YYLYPiKIaTBDa6XrZ-Fy1Y6zQzMJWZsHc8-CLa2hluMdh7xwWtaZtabzgGxvF1Hp4Ncp7VSKLYFi-4dGDR2DcehDFDmXrqSKltl8UkHo3xHPiq1jnYxrI_opHSamKFCK9yvXFJugsNSQkDxfputO2QD9XJiJP_kR3JJCai5F1OWGwPxK56TCQId4YwAg7rPAvlVHg01ZNGNO8jN7dh_QNtm7bRgZyW4bxbadTyqbTUT2wvl7ICrsSt5BDC8Pdh3GMPctUeG25l6_8V_NXw0_J9M24k4Bb3AGgDXvSznxckjCjMN6yOAhtEoFN6h-KBNq6BW0Fr3tfvOjCdyKpRNirq9-jBCg6ZHChtTxcfccBPayWaasD_oR7zxXLj_4BiR8QMtcKRUL6MHAMrG9zhsXCm4Jxx4_HHYxNpebVGBZj8Z7QPKVLD_ce3Cjk3y0rv68I_FyfBkGm2Tf0J9ZHruOMijm_eeAZcYiGGnPaAdm1pT9WpzBArvy8aonHDe6XhUpWfhKimy2jNksgjBHT07Gje3Vd4llW8TLWLY3cNSfk5niA1Fq02PgK6tHRFF8ZtfpmlOGnF-tZJOKv0mztEOt_0J9ojOzjwtt_l_GuaBFqEsJd4YTIkCmYeRFqe-xnCyd0u_1fHa3-9lD0LgN7QeOP2y4GIN2cZYG1gumK8ShPWKB-jyYiUSpXE-FEsJPLec9AM_lq-y_zg=",
  "id": "rs_0b2a0c91819856af016ab445c2070887d0adcba8fac9198e8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.2,\"left_z\":0.14,\"left_yaw\":-1.57},\"note\":\"The negative-yaw retreat tracked cleanly, and the plum is visible ahead at its new position after rolling forward. I’ll move above it while completing the 90° rotation in this feasible direction.\"}",
  "call_id": "call_4nmuVn0SNW9v2RbNpOYY0zPB",
  "id": "fc_0b2a0c91819856af016ab445c33c5c87d0830f77ee5b8a16c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4nmuVn0SNW9v2RbNpOYY0zPB",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3191, 1.7741, 1.4635, -1.0386, 0.4412, 1.1049, 0.9968, -0.0097, 0.849, 0.6224, -0.4858, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3338 left_y=-0.186 left_z=0.1288 left_yaw=-1.4738 left_pitch=-0.5116 left_roll=0.0245 left_gripper=0.9968 right_x=0.2846 right_y=0.0004 right_z=0.1525 right_yaw=-0.0061 right_pitch=-0.1432 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -9.7846, 7.6239, 0.5299, 0.5592, 0.188, 0.0806, -0.2803, -1.7026, 6.9265, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91f51660fa34c6ef7e96ec1ed22523db90f2bd0fd50a134e0ab20dd6ac3e3c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf2621fcd93395c1363f2c5f4a3ab03a22283bd1694f3b0211041523a4f5f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9257572c73efab0189f225a6115749cb5f55e6588dd17fc3cd183c833b4c850",
      "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 29 attempt 0 · /responses · status 200 · 2.91 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7284, 1.5574, 0.8604, -0.5163, -0.4519, -0.7601, 0.9963, -0.0097, 0.8436, 0.6224, -0.4728, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=-0.1547 left_z=0.0503 left_yaw=0.1494 left_pitch=-0.4356 left_roll=0.0755 left_gripper=0.9963 right_x=0.2865 right_y=0.0003 right_z=0.1563 right_yaw=-0.0062 right_pitch=-0.1249 right_roll=-0.0177 right_gripper=0.9966\nstate[joint_eff]: [0.4855, -6.4615, 5.7641, 1.0672, -0.3004, -0.0464, -0.0122, -0.0205, -1.4564, 6.9675, 1.7118, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3077, 1.0405, 1.1229, -1.1187, 0.1265, 0.3527, 0.9959, -0.0097, 0.8463, 0.6224, -0.4778, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2332 left_y=-0.0937 left_z=0.2087 left_yaw=-0.645 left_pitch=-0.4578 left_roll=0.0969 left_gripper=0.9959 right_x=0.2858 right_y=0.0004 right_z=0.1547 right_yaw=-0.0061 right_pitch=-0.1326 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -2.1538, 8.2256, 1.2381, 0.2222, 0.1392, -0.1343, -0.0752, -1.3197, 7.0906, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3191, 1.7741, 1.4635, -1.0386, 0.4412, 1.1049, 0.9968, -0.0097, 0.849, 0.6224, -0.4858, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3338 left_y=-0.186 left_z=0.1288 left_yaw=-1.4738 left_pitch=-0.5116 left_roll=0.0245 left_gripper=0.9968 right_x=0.2846 right_y=0.0004 right_z=0.1525 right_yaw=-0.0061 right_pitch=-0.1432 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -9.7846, 7.6239, 0.5299, 0.5592, 0.188, 0.0806, -0.2803, -1.7026, 6.9265, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91f51660fa34c6ef7e96ec1ed22523db90f2bd0fd50a134e0ab20dd6ac3e3c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf2621fcd93395c1363f2c5f4a3ab03a22283bd1694f3b0211041523a4f5f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9257572c73efab0189f225a6115749cb5f55e6588dd17fc3cd183c833b4c850",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXIzeKy_MCPxiJJaPrb08NxMpAhG_Xrq0Wv1K2iHZhYSy2ooRA34InJwDUz-jYHVYBeURsAMEBiWNMSzDYbfD0MAUekyCdYkvkxv_QxfHWsgNyK6OcdEMHRETQFKjQPbVKU6hobSpYy4ttCNVrYaO89hItu-JY9Oqze-bHE63qGxBnfWd555TxU1sWKblH8YQ99cUpWEDjLLFhEhfas08myKrwVT_b5keicEXTtTMGW1Fp6x84D1fmvLOmR2ZdbFvls5Uwlu23ia1DOp8u5dzooIjBEI-YcIc-Ch1qI4oi-BteXUn84EN_7uKLhVUwGjq6Ql2qWBBUXVjoKXCtGfE11RSEwENzKsdihhKzNmeycsLoij7Ra_xjBXaHHM8ER6v5Vx15enEDGLwsVYQj84CNTGDy_UtxMLoToStzxf7H8CYyPeYkJgD8dtgVOCnjTZUNLxSf9L4xYinknVgLusNFN_qVKcpy14ZCIVzhzKLZJ3zdZEAx5qKtr_ZnXv8KKi_ZO8N7ixI-uAhYLdBIqoaTXr9EEDXVAIZRI2klVmrJq2bPi4-iGsUmv2jpKI4wNyyAWNmYeIg-t2bkymgHVyzM6Fh0pFJcfg0bnc6T5CaACUOgSpvtL-mf0biDyG1cLKzy9nl7HrmJnc3CLSaQyO0oUJoD0KlnHwCwJj1C-zeOsZcDHtJF8sSSGWGz_t3szgR3takiJ3tqeycyiUjm2s5tj6GdpEkaXDUeNEwMit1gBipM4TGWIgIIPwH8Z8kylXOGUI9JpAW7PZIeaF1oN1u4kZdSnSymeSm8a6XlFWTuJdmNBJGOfnaApSsl7UAZkGUM6IMKyGIKgqfyqSxepmflSxhdd6d4E66lwbjs1thB4pHfwN9zOIEFarlCPfzeJYEA8mxTnidBpd3KlFEoU8zqYNhjvnnHJGIAUwSZE7CI6z2TyDySrZ5vZpQEclCeLF0snnVfs7tg7Mn_do1hZLRivphiyrkT2K2oyxT1pI-k8BY7uI_QPkZFql4-kuC1Iz1rtuqwsllXr5xRSpgHpQcIe1AZPrBrWu-fV_lV1rnAgR6wogJjgPOSDKpvKXMzwdCSU-lhsSptCiBwFfeH5b9htHx2XArLb3c92UcDlvehF3ZMJ5gBT6p4is0_wh0DT1wdIZFTHQCgBAK20wQVwwp0W9zSAiXifT27PZLF0Wk6HDb6E4T1U_zFDep1nVK7mRkhUtutcOPCQHe2C1jZn7vGeBxKY-3mjh9u9_Aom66hDrKow4f7W6iHhU1mYWmYqoPmmMcuuQfnsGJPjLye3VFP1gfKWFmCVayVuhy1zu9XG6Q8idBSseD8EbgLVcPt3jH0geKTQvN0HNkzV-05NF4RSqRQGFnY819H14NoDBnexPPgAVYfkHQW8cRDlwOsnKSuqgmBpItaWjOoyEEMDSxXKe8ZLInGxSkaCCn9NUaxO4RM93qpYoUWe5kLcyx2ewUrDLe0ScnP2yRzu31LC_mHV7zqJRORRbxQsRfVoyYp6gNhvkMtYaUg9SKjLdfSx0tV67QUqO4Sz1bXjg63LuOo71wmWDGLdgVOj4eiXtl9aCLrUhy-GUYCk1gG_KxuZDmW4k11fwth2EEE7uN9LK4yn6ZI8OpMHP07dmECvICLw_kbKFN45TsWUFO3VezyIdnHkJpcEC33kOg-RsKbDscIjr6I4mqsHfGBYENrt15RsnAAelKIXig4Ypx4Un2uioZVlG5DSF6HIbZAgk6EaJtK_WSZOCAanqZCXGHmjk5JOZf20rNmq1Qeenslyy5S4CPPYdhIm3sXVpDXMej65vaHz9fOXHfbWz_XnG4EcsoQ1u710_vDBEiN8ZrVTC_NE-hCI",
  "id": "rs_0b2a0c91819856af016ab445c631f887d097ebaed378a26cc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.045},\"note\":\"The 90° negative-yaw pose tracked successfully and the plum is centered between the jaw columns in the rotated wrist view. I’ll advance slightly and descend to its broad middle for the front-to-back pinch.\"}",
  "call_id": "call_8ir7vxmIgXq7GM14QuL2enkG",
  "id": "fc_0b2a0c91819856af016ab445c7ad3c87d0b34eee201aa41cf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ir7vxmIgXq7GM14QuL2enkG",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3119, 1.8832, 1.3025, -0.8043, 0.4351, 1.1248, 0.997, -0.0093, 0.849, 0.6224, -0.4919, 0.0025, -0.0383, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.1844 left_z=0.0529 left_yaw=-1.4953 left_pitch=-0.5311 left_roll=-0.0003 left_gripper=0.997 right_x=0.2836 right_y=0.0005 right_z=0.1513 right_yaw=-0.0055 right_pitch=-0.1493 right_roll=-0.0174 right_gripper=0.9965\nstate[joint_eff]: [0.7043, -8.2393, 5.3812, 0.696, 0.3101, -0.0659, -0.0024, -0.0205, -1.4701, 7.1316, 1.7021, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdf3ca2833bb1837e87eeb143967b054adf33ca8da78d32c1996d8f450b670b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b125ecea582ee908c832f3c8306aa31b3350cfb6d81f2b0acd0c53034d94c13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e396d53565b3f0bd6faadfe97d7f6476737d4152e76a1d367f25acb6f801012",
      "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 30 attempt 0 · /responses · status 200 · 6.2 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.5719, 0.8448, -0.5167, -0.4511, -0.7639, 0.0089, -0.0097, 0.8436, 0.6224, -0.4759, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.1508 left_z=0.0412 left_yaw=0.1621 left_pitch=-0.4553 left_roll=0.0989 left_gripper=0.0089 right_x=0.286 right_y=0.0004 right_z=0.1557 right_yaw=-0.0059 right_pitch=-0.128 right_roll=-0.0175 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -7.2137, 6.9402, 0.823, -0.2857, 0.0317, 0.6129, -0.0615, -1.4838, 6.9675, 1.6777, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3191, 1.7741, 1.4635, -1.0386, 0.4412, 1.1049, 0.9968, -0.0097, 0.849, 0.6224, -0.4858, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3338 left_y=-0.186 left_z=0.1288 left_yaw=-1.4738 left_pitch=-0.5116 left_roll=0.0245 left_gripper=0.9968 right_x=0.2846 right_y=0.0004 right_z=0.1525 right_yaw=-0.0061 right_pitch=-0.1432 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -9.7846, 7.6239, 0.5299, 0.5592, 0.188, 0.0806, -0.2803, -1.7026, 6.9265, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3119, 1.8832, 1.3025, -0.8043, 0.4351, 1.1248, 0.997, -0.0093, 0.849, 0.6224, -0.4919, 0.0025, -0.0383, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.1844 left_z=0.0529 left_yaw=-1.4953 left_pitch=-0.5311 left_roll=-0.0003 left_gripper=0.997 right_x=0.2836 right_y=0.0005 right_z=0.1513 right_yaw=-0.0055 right_pitch=-0.1493 right_roll=-0.0174 right_gripper=0.9965\nstate[joint_eff]: [0.7043, -8.2393, 5.3812, 0.696, 0.3101, -0.0659, -0.0024, -0.0205, -1.4701, 7.1316, 1.7021, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdf3ca2833bb1837e87eeb143967b054adf33ca8da78d32c1996d8f450b670b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b125ecea582ee908c832f3c8306aa31b3350cfb6d81f2b0acd0c53034d94c13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e396d53565b3f0bd6faadfe97d7f6476737d4152e76a1d367f25acb6f801012",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXLgdcpo5H6Hvj6kgK53ZGrrBorrE4a4PGlk0E34x7AKgDTedpfTa98xfHbi_mKbnouSLhsW2eLkmN1s0NaO4q_QefRTrfkkiDL7E6j1yMfd4f4lQv5M-qqGQIbQZiH1_3ZltED20tHSK8SpYUJE8vHXXCX0m31CRVt8K2uPUsATrL5b91l2K-Gqkqg1Z8Jwl6Py9RDuxCCwFOU4NwjL00Up7btBVnSGh4yEq7kbrvzdm5JI0h5RRdLp8Ih_39pNfBStPo58dm9QG80cacu_iXPKdAI25Sfufb2HAvaJ3emNfoURbxCFr0GyH6CrNfycxoUyX-qsLDvpcuO8PzTgUxYKyCGA34eyRbpdk5UsvYyWjkCTgp4NSVdeLvnkRTUd3dWQ7NNuccciExrYrza2BQklyP9xyRUjqCwhy5YKsFwFGQQWxRdD3PmJPcoZNG5VwiuWm4QrmMPwE5N7u_mcyvfej-HWEtIQnZwqOaltuRXL6-aS763pABmJMofoNyQY6ISv9ScagCdoATg7FvI2B1AdanSEJ27yR3rB6kTtWsceYFL0VksxprV6czvpiYh2NwEEFpjhaeZsddcqhzB8uSdlZgVV6vTau3HSfMyH15oRzQ2Osp-X7tQ6ui1O2uFpnooyjRUPlWmWdcXpYo4satOHkHtcQEm5oT3K55HF8Rw1I6Ax8W6O9QjltacuXyT1sL7-sq4JgFmamMIqejLpk2EuCGomdfoUFbZRtjz1TvXVTJQ1vKumwDlxS_YVD4gYmpD6-Ctk4ktS0fOw-ezuwCVYmA7_N331S5VAlMF3cXalGU7FXg56xtSWkWe02CEAvv7VV9rCl_DUp8KdHivG4_iX7MeaKlkqADcXrj09j9Ndo7biThAB-BvehCbVANqzxofGZltQUhmDUAygWHrCHrjnU3_NfaKov_Cszs21RPSBRzWRrNhcNGaFHa99dLfa4N8odQ-JMmGn-Acr2jQJRNRQHAUYrho1cQx7nLKBTXsz28szIeFxMIYzfg1P_ozq_n3M3HH4_4EQ3OAD7MWbj6u25kgvjc-hNpRs0e4Bofaf5u7zFSS-WLY5g_x_JkWoMidnqpO8YGyVbggLzDAf40PkhCPztwl2fC8nU20rTXmE0HfFtXAq-eHEWfgODRuQzk248iyTuztNJdLwFkm8urW11-CTFllDO3ToAar1WW_ZWuEcAtF6K-5vTORfj9OFEyr_3nQ2NZ3n3vydYakkEX8Kw==",
  "id": "rs_0b2a0c91819856af016ab445cac08087d09972a3de4feeeea7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The plum now fills the gap symmetrically between the rotated jaws, so the front and rear fingers should prevent it from rolling away. I’ll close and verify the settled width.\"}",
  "call_id": "call_4jXOXmS6vwUshOULnjGLfeO0",
  "id": "fc_0b2a0c91819856af016ab445cb07fc87d0a0798c8310713a30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4jXOXmS6vwUshOULnjGLfeO0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3145, 1.8885, 1.3033, -0.7895, 0.445, 1.1202, 0.0083, -0.0093, 0.849, 0.6224, -0.4984, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3432 left_y=-0.1878 left_z=0.0525 left_yaw=-1.4936 left_pitch=-0.5182 left_roll=0.004 left_gripper=0.0083 right_x=0.2826 right_y=0.0005 right_z=0.1501 right_yaw=-0.0057 right_pitch=-0.1558 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.5932, 5.7915, 0.4811, 0.3053, 0.0464, 0.6227, -0.0889, -1.1282, 6.9265, 1.6923, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231ec7fd824b0101e39cf627fe7509bf8b368b99a6fe68b97d727d911021999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579c5a77cc47066340a2d2aa6cd964b9a8d375cba7c629ed78f1c344df888ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d460f17c2851cf2f023fa9bdb56b1e979a0af9b65ea68cc181cbb0f5cc758",
      "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 31 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3077, 1.0405, 1.1229, -1.1187, 0.1265, 0.3527, 0.9959, -0.0097, 0.8463, 0.6224, -0.4778, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2332 left_y=-0.0937 left_z=0.2087 left_yaw=-0.645 left_pitch=-0.4578 left_roll=0.0969 left_gripper=0.9959 right_x=0.2858 right_y=0.0004 right_z=0.1547 right_yaw=-0.0061 right_pitch=-0.1326 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -2.1538, 8.2256, 1.2381, 0.2222, 0.1392, -0.1343, -0.0752, -1.3197, 7.0906, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3119, 1.8832, 1.3025, -0.8043, 0.4351, 1.1248, 0.997, -0.0093, 0.849, 0.6224, -0.4919, 0.0025, -0.0383, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.1844 left_z=0.0529 left_yaw=-1.4953 left_pitch=-0.5311 left_roll=-0.0003 left_gripper=0.997 right_x=0.2836 right_y=0.0005 right_z=0.1513 right_yaw=-0.0055 right_pitch=-0.1493 right_roll=-0.0174 right_gripper=0.9965\nstate[joint_eff]: [0.7043, -8.2393, 5.3812, 0.696, 0.3101, -0.0659, -0.0024, -0.0205, -1.4701, 7.1316, 1.7021, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3145, 1.8885, 1.3033, -0.7895, 0.445, 1.1202, 0.0083, -0.0093, 0.849, 0.6224, -0.4984, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3432 left_y=-0.1878 left_z=0.0525 left_yaw=-1.4936 left_pitch=-0.5182 left_roll=0.004 left_gripper=0.0083 right_x=0.2826 right_y=0.0005 right_z=0.1501 right_yaw=-0.0057 right_pitch=-0.1558 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.5932, 5.7915, 0.4811, 0.3053, 0.0464, 0.6227, -0.0889, -1.1282, 6.9265, 1.6923, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231ec7fd824b0101e39cf627fe7509bf8b368b99a6fe68b97d727d911021999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579c5a77cc47066340a2d2aa6cd964b9a8d375cba7c629ed78f1c344df888ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d460f17c2851cf2f023fa9bdb56b1e979a0af9b65ea68cc181cbb0f5cc758",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXSAFKlERKXOgd_3gcxZ6KhMRYuYngLhMm7v-wKjwXSVGcIS31L2FWxsy2BkVvdOfqQQaD5W1NxcnBlqLFzRPmrMNC3WYNzdko5rP5NMmSmTdwnOB9lyfa7qo9OWFfEzP1BxTCNjIgn6y48PUXDrUMr5PufGQe-2B3k3vzgg4aaDmSXzyTnP9FYtLvwt49dEMrYn1Aekz-b5z0r5ValYh8ew0P-_bcUYikrnFQT74-OmEN4Jb97P8_O34fpU3u4cFIhPID_n_zie5yaT2jTZHAjkqGxpz0VhuqrKrOVwye_5KDKg3V3QsCNDAku1MTf-bStsUrVpQWl7hfC-Pv2MRoHXzWlp6r5A6nDpxbxmcZf0-bel8Os55ywjAnKICeec8RrjWi2gjpT64IKKDaSBKpPx7q_Bzf9dF2g5LrtZm5a1YKcOFgW0eKaAn3DLElJ2rfvbppiUiYCy2QmEFCL9p-D46w_UXJLJ87R2c8HBiPcQfTWGo1m_30YxA2iFubz75Wy-31HLTSp-XT9TG3t6AcbD4o-7pNorXVNM2-zEnVXxMF52W0BEcd9ttsEuvgZaiOw_mWbfYI-rW7o0LSV6_wPc6CyhpuqyH99tl43oNdUrdrtCyE5lTBPQNmksDVc3k6pokODHKRrZLxRlYKQKCJFt2_RXwmY6MSiBM9tv234evJmiFhDghXHYQZDlOI12iKI7UQGYtb6702Ab4oaQT5dZQ1__4sGJqKZdwzv5bDIriGs9onB0rD_uqnzeltCRb4mCqBj-PII15LbRfhII-QK-g3ucw4Q4Kt2I7mesGHC24qw546bQ83bMm3sAp7aTUiAqvDdCYahksp8zu9PVmyOpIQ0oWRKWcQTnzbcp-mEiPsKPcgXg6_A3INKHo4RrkEZNUPys35M3OlYiuS4uVu5S1rKG80MCXibEZK61WTSmw64cS_IgLMWSmDodNO_oHt-u4X7lJ3831es_dYyQU2UYELOXTsGG7UmwJGp3mbPBV2weCggzKF7Pdi1ImFW2XnM7dspYsGzsUULCgPYomGbYLeSBOIy-vXBPkR5JCYEKnD-ESSThiJwBuUO0w4RrC_3Z1XPcPmU5qQpk2jQPyCIIRgWOcMrSt2AJJFTvZmBPglh16mP87g8mqSEUFkj9HxgNqCfhfDWKkjn7LfIAl9Cc2xr-cVcgn9QtVWNB4v4ho1Z8nmByxk7OCIXrhTndjtCczrk34j18cw2Ds9AFP0DzrlUBQOFD3PFvtJp_13L0EceEUmAmpg_xUXTLeRl9cWu1LRc1XO6_36yg3KXXIjrkJqFrFUpJDBlNuX6j_UIkAzcOMxL2bHNxWnvGvmC2bz2YChef7wwb_BZOdDACfq1p8DAMJnwBLkOCxBjG3sM2EpgyqceqMiI9tzFExjW9VKnAvuhap7pHqunoy2vN5syuKs8RbKt7Wke_PPmg2dvLDJZuuTzqxplfAIptD8JA9CXCp1g7gWYxSc-9423XZ8jrNYvLqruSIkD1nNXAKjRvuZn9AjZRHMrKdXSs0d0pLTKA4JOffabcgBo3WMDrnXlUjo0lWiv2wmXZjAcM4FnN-mowkp1yXZunyarjAbQgJsLze7rCm5GNwHIbfFKUnP_jQ_FtaqbyrS1E-nvORslmOFImaFYu3okrZpR1EX5w4RSMmQEFsS3bAo_zZyCkSZFbdfQZ3I8hwVe5D4pkYnny16NIo1ygErFSD1xGaFz_lqFPrSgf2xXoQ7QE4uYjQDE79v7KUd-S-PKCmm90l4Bf3VX3t_BNoV4U13Nv_6ZvV__1QYFtyrBH1_PgyJ7Be1q12BIFVj1h7Wm-PMVHB-auVMEASW-NNLTDY7RlZpLyJhjgGlwU-CHR9ROyLnQ_00OtjTSnamstykvjRgKkZf39UgM0bjC7yOWFGSeYbuoaHDwDg7EWMZnJtE5VFMcNFbYhW0GydfnL6BNsdpmo1YXubMA5rry7_K31CWnxhpyLjWrvRsQ3DOUFPnr8hSPxRUs9GGbItN7vKo8vbhGnCIl5us9cYLIeMFQRJnLbq053qtfUlewKzVCyH1Lr0QVCw8KqNWlKt8WS3SCNkHskKYEFP_vItTAVQpaWhyVB_lcLWSM_q6GF2vVl_B3LqxUto0vG8bQ7RGmoCfXzVmNlbokv3pLs5GUar1MyzcssXbEdjU4vZYRp9oHUrLA9reups8fKC5u8EtBLsiIyWSj5IdXf8StH2ZR8c46pd4pGSdC_0j4OTfprBKj5gJ1uuwWGGnXc-x08-kyy41OOT6vzTuuuDzBlBfVVlugO4mvB7HwrHhrJhIlyOcZbM2KY8WeFXTp2dtSjtQ2WL2i4nSDz-mCP9DbKiAg1d0ml1IiKsM95AzgYa_a4HUY-c9sQlV9EGfTp-fPfSywJK5O1N99w4KVEkzBRweMvyRm5-IPKPoZXHWVaY_j3-8z6YFz8mel-VeIV6cLGxkknwNVinBucBMq8CU8Rv_gxzKTD_Rnx10EPf4q406TCFKrfzy-NRDfDAyfBy3Yi3mEoqPt-LgDHu8T2VZ0dTlaThUdLUt2uJohhp0H-tlarUvqB1DqP-hPnko0W0ADm4FRKW-TFg1b5oAxB95NUDPUZD1G_FfSJOig-COwavfqSAJInVGNUNHpFTVJPnewR85M5dLGhJSi4vbLjXoOQ7_2UOuy1x1PC4rdTB4rzA1g3ab-ziszGg6Gz3KTpqkmH_Yt1JfwaP8kzr0LaSYZeBV-Cd91cUSQeJ6JnzOlspT0KwzQz8dFofHl6SnBDQswZCpWplW_6pcYY5Xqso402OllgEkepNY0ObrYJsEDC0daOiG7l1EX-ejGio1xcHRVfg2IkW2sW-Fa6SvTuEnjwGFFPxf1MKKaypqKtkt7tAxQHoWRRkcE7NlFX71BENLE3xhfVbvvIALl8fJBQlyXe54EwAaFy93EFchOBudb08PvL7-mZNdrfCOYY5Zs-CeeEujHzjImA1n6_0PXyzpTC0xADEaPnBX4H2ZVtCR2UVchMHW_yJk1ac7wSaqxA6dHLsWqUze5ROhgKEX4E3eQ4_OD4ae-LdZ5toT6KrNZCCdS6ldTKciKLNCPaw9r8XdqhrZs__pHvhDFqGfr0sL1-Dcw4fRXHYabIakB_4-GmxyXVVSW3u_DcaHcCurks81mV6LvF3LXOwAr98_3aM9BxfkJPqvFfMnwI8J_-dg4dQ1oJ4Oz4iIaevsjxf-EE3tV1c-o-Y10Wq2d8jqYywXdcI1jfOkBYkpWgKrRwXae",
  "id": "rs_0b2a0c91819856af016ab445cdcfd487d0b33409a09e36f2d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.36,\"left_z\":0.035},\"note\":\"The plum still rolled away from the closing jaws, so pinching it is not reliable. With the closed rotated gripper already touching it, I’ll push it laterally toward the table center, where the right arm can approach it from the opposite side and grasp it within reach.\"}",
  "call_id": "call_l2qoypMe15es61uRavVUBUFt",
  "id": "fc_0b2a0c91819856af016ab445d1da0c87d085f0791c96de7420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l2qoypMe15es61uRavVUBUFt",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6849, 2.1693, 1.6115, -0.7208, 0.3428, 0.7334, 0.0101, -0.0093, 0.849, 0.6224, -0.4988, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3337 left_y=-0.3446 left_z=0.0251 left_yaw=-1.5161 left_pitch=-0.5564 left_roll=-0.0411 left_gripper=0.0101 right_x=0.2825 right_y=0.0005 right_z=0.15 right_yaw=-0.0057 right_pitch=-0.1562 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -11.5077, 8.3624, 1.1111, 0.149, 0.0757, 0.1783, -0.0205, -1.5248, 7.1179, 1.5946, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d576a4075c88916b32843d162941396c89fa1aae2a6555b9aef818e0377c9a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0635ffe5f12e036be75a2a3fb08dc6d599e971e6c9da49ec46bd664162e8790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61bfc25e95ea4b328b7176db18901aeec7e79f6a77565e9bbf573d9b5bd6715",
      "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 32 attempt 0 · /responses · status 200 · 7.021 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3191, 1.7741, 1.4635, -1.0386, 0.4412, 1.1049, 0.9968, -0.0097, 0.849, 0.6224, -0.4858, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3338 left_y=-0.186 left_z=0.1288 left_yaw=-1.4738 left_pitch=-0.5116 left_roll=0.0245 left_gripper=0.9968 right_x=0.2846 right_y=0.0004 right_z=0.1525 right_yaw=-0.0061 right_pitch=-0.1432 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -9.7846, 7.6239, 0.5299, 0.5592, 0.188, 0.0806, -0.2803, -1.7026, 6.9265, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3145, 1.8885, 1.3033, -0.7895, 0.445, 1.1202, 0.0083, -0.0093, 0.849, 0.6224, -0.4984, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3432 left_y=-0.1878 left_z=0.0525 left_yaw=-1.4936 left_pitch=-0.5182 left_roll=0.004 left_gripper=0.0083 right_x=0.2826 right_y=0.0005 right_z=0.1501 right_yaw=-0.0057 right_pitch=-0.1558 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.5932, 5.7915, 0.4811, 0.3053, 0.0464, 0.6227, -0.0889, -1.1282, 6.9265, 1.6923, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6849, 2.1693, 1.6115, -0.7208, 0.3428, 0.7334, 0.0101, -0.0093, 0.849, 0.6224, -0.4988, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3337 left_y=-0.3446 left_z=0.0251 left_yaw=-1.5161 left_pitch=-0.5564 left_roll=-0.0411 left_gripper=0.0101 right_x=0.2825 right_y=0.0005 right_z=0.15 right_yaw=-0.0057 right_pitch=-0.1562 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -11.5077, 8.3624, 1.1111, 0.149, 0.0757, 0.1783, -0.0205, -1.5248, 7.1179, 1.5946, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d576a4075c88916b32843d162941396c89fa1aae2a6555b9aef818e0377c9a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0635ffe5f12e036be75a2a3fb08dc6d599e971e6c9da49ec46bd664162e8790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61bfc25e95ea4b328b7176db18901aeec7e79f6a77565e9bbf573d9b5bd6715",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXXRf7d24vST9qC_g9FK_rPqUeLAjlnlAio8MEOw7x5dLqLVbQaoIBwDzE9z_XxK4AJ2A2NtSsSmi11RQDGINPLa0E5R49ZlbeW7H9KelwJJpkodDD88es01KycFw5CsG67Vy0DdwvHx4ll_V0OfYEJSL7vsCTyBDeLrVrfY-CcV23xWMbVi9T7IW64iHYaCW5sHIXL8qTzkAtwUqu59K9v-FmRGybVu7Kea0wt6yoaCvFo3HZHNc64f0e4OrnbHYAw0JEfaAuwopbA6DNcdXb5lEYTUNVofx3GSloY6l18RbqwBZZf8LuAAB4YsmH39WJ19o2IZzDcHFvqFWqI7-1mhTt04L8kPKZHZ-yWVz4izAt46vo5KnSXe29L6matWB_X9gsHZ6ySnSZL0RTu02hOolTjDCSoR10scmdexjgVNRClG3XZuVo5_2BzZwF-ekIVdOUklGgBVX7ikb0OHlRDU58SN8DH1hfjodmxj8C50E9alR8zN8k7qno368YIzAo4O5JurDjfJzdj4Y7i036Gk6FICxCeID8XphMWYVD1amndZguzPTz4b8ja_uBqVoMLx764haJZYqu9XqBr3scI4jHZvoqX-s_LEjljnTuni_baDkI3XmJhYq8m3uZTYT84qKfA73kltsJJTBsH8FdqoSUJtJGuQjTQ0wAirGRLKh2YL1nKYF8HdKkMNeE3KACzrvg-proT6Td6jz_cMUT87zFpK5J755_3S6Ikawu5mbImKAO2G9HyH8731jf2d9Srl-lp_CZ7NOSQo29lYv_3gj7iFsalwS0e1Eo676fP8zEJ6Hgve3s5eji6QTY4x-7ELrrGZfDEWrkv968RI2EunhTrIqwquTkkmApjazMfUv5vIVbolz_rkJ3bFCqEhhOz_hSMtNkuDZTzLuShDrvKn7gz4YkjRjE1Oqcp9aV2nwtl6-jNe_l0caAcqhgOSh55oA3ekOqsjuNOec8Qc7Vojk49JKBchvjnMB4m8tLSeZe-_UIgAlPmMcauTi58VMlFipClE50sr3fPHt0cpBdqisLQe0nUwXGsODejjrz9E6UypLr0O87oeEplTBb0pmZezffHa5wXCfz5zyt4cfxOgdpUFbrbE06cubOKENRI105qXW50Ph1kU0YFY2aPkNzqDBKL2jL5nAAhymEa8u4tzgWZX7YxqyY0nlwbJ-RdcuSD9cZtQ-UN3SVC9YfervNb1qw51C37ZtPEsK7qCyTUEbtCsydeMmAU4gv9AQlQj4uRoQctVt1bRKDCY1QJJDAc87aQVK9RjgZ4X3X_3OQkcxRCbgoADa4tATgpY7sPUO08SNQOtig3oPZXc3JHPtISBHbGZCbhntyRB3Qkj3VlH4aDekMPZbWrXI38FXrEKZcXIBm7D28KLPPxq2GyHb14D85U_cTZrdKmiHR0_rupXiuYviC2a05tbV3xbWh4NVJixd0i9FLVgfJGTHf8EaV9iU_99stsbxEeJLxE9D-2ArSY_42kAfaQQWy-oo6N13nkC_dH0k70fFxtq06zmo95urc0xk0JqFuX1SWiB0KDcOzkdoTO0aul84NfhTKLCgx9Jyx7bTMHCjdeYN_xm3SyuTQOsjKUCH33wNO2rCLBl9b2tJV3EjcTPAYFSCm0-t0gfEkCaNtzA53oZhxnqfYH",
  "id": "rs_0b2a0c91819856af016ab445d583a887d0be5c6cc642887ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The left gripper completed the lateral push to y≈−0.35, which places the plum within the right arm’s workspace. I’ll now lift and retract the left arm before bringing the right arm in.\"}",
  "call_id": "call_XdsvgIOSCUMzI6dpqgzIhHiU",
  "id": "fc_0b2a0c91819856af016ab445d6478c87d0af39643c295cbd0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XdsvgIOSCUMzI6dpqgzIhHiU",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3172, 1.1599, 1.2377, -1.2434, 0.194, 0.3134, 0.9971, -0.0093, 0.8501, 0.6224, -0.4992, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.2281 left_y=-0.1069 left_z=0.2093 left_yaw=-0.7181 left_pitch=-0.5562 left_roll=-0.042 left_gripper=0.9971 right_x=0.2825 right_y=0.0005 right_z=0.1497 right_yaw=-0.0057 right_pitch=-0.1577 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.7265, 8.212, 0.906, 0.0513, -0.022, -0.1245, -0.0479, -1.5658, 6.9538, 1.58, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3425ff42a4f7cc10981c901c134c9eedf6c25fb03e93c46454916e2a7f32d9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57378053061f4b037330cb492a544121d2164ea906d96455a922fa2889656b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b49cc20f68025c06afd7ac0a18df28bf486ae741b6f41f7d4301b7692936945",
      "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 33 attempt 0 · /responses · status 200 · 2.651 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3119, 1.8832, 1.3025, -0.8043, 0.4351, 1.1248, 0.997, -0.0093, 0.849, 0.6224, -0.4919, 0.0025, -0.0383, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.1844 left_z=0.0529 left_yaw=-1.4953 left_pitch=-0.5311 left_roll=-0.0003 left_gripper=0.997 right_x=0.2836 right_y=0.0005 right_z=0.1513 right_yaw=-0.0055 right_pitch=-0.1493 right_roll=-0.0174 right_gripper=0.9965\nstate[joint_eff]: [0.7043, -8.2393, 5.3812, 0.696, 0.3101, -0.0659, -0.0024, -0.0205, -1.4701, 7.1316, 1.7021, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6849, 2.1693, 1.6115, -0.7208, 0.3428, 0.7334, 0.0101, -0.0093, 0.849, 0.6224, -0.4988, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3337 left_y=-0.3446 left_z=0.0251 left_yaw=-1.5161 left_pitch=-0.5564 left_roll=-0.0411 left_gripper=0.0101 right_x=0.2825 right_y=0.0005 right_z=0.15 right_yaw=-0.0057 right_pitch=-0.1562 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -11.5077, 8.3624, 1.1111, 0.149, 0.0757, 0.1783, -0.0205, -1.5248, 7.1179, 1.5946, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3172, 1.1599, 1.2377, -1.2434, 0.194, 0.3134, 0.9971, -0.0093, 0.8501, 0.6224, -0.4992, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.2281 left_y=-0.1069 left_z=0.2093 left_yaw=-0.7181 left_pitch=-0.5562 left_roll=-0.042 left_gripper=0.9971 right_x=0.2825 right_y=0.0005 right_z=0.1497 right_yaw=-0.0057 right_pitch=-0.1577 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.7265, 8.212, 0.906, 0.0513, -0.022, -0.1245, -0.0479, -1.5658, 6.9538, 1.58, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3425ff42a4f7cc10981c901c134c9eedf6c25fb03e93c46454916e2a7f32d9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57378053061f4b037330cb492a544121d2164ea906d96455a922fa2889656b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b49cc20f68025c06afd7ac0a18df28bf486ae741b6f41f7d4301b7692936945",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXgxMLSi4CmsoYRAbgu1ZpwtI_hzoL4QHAD7u-MphbPS_P_MXuDiTgwb2P59u1gCptoODTMFFRVIJ-CayichMQuLdmMhZG0cTpZ7XC5m_ntvQBePGxdVUvdewGcWgutp8xbF0asA9dYAy5eGKPLYa4OIPuW5y7L34JAN8aJpaxUd58pVXSpY4nipkljrt9raAHRKM_ny4da5oMrw4gaILyG2J7r_bO08j221U0-lYTYfXW80NOrVqrXPNeiDbfZYPd28F0ZU26Ro6IJ8_oR7JAv54E9nA1xCWFeGn9zFA9XFbBMz4oMocJjnnvkDsgxLmS9USeI3NNi9MAc36NLDanlrTzGkCMypFSQ6NpM4ku_ripcGOTeBz8uLRrNXdMjVxcr-PuW7p798rROQMKy_huwfoMWQHE8QQADbT31_I7oRMh9nZ3e9SjsJB_20S0GCeyoHYiBjXONpz4xaMsXkjUIJA-gpTgVXGP2zyWStmygzwcJpuH1htCYrq8UPSlzyM7xq0FFJnhBb9Z4-Bettd_2r1aMz8KDv-3fh37LFNR_CAeeXpimJox2VLsA9Nb6vyUw2vwuIH9KfKCBzupVCxcSqdpKfV3nGYGiQwQ4IWnGkraD7fcn0_mtHngopewP0Ck6TnInvLiDD8Mcjz7IS2g53hjF0QMSMMKOmNUbo-Q4QNA-rvAlXUYU9qQXBWRWEvLSFNDx_xfFs89N4kVR0DFq978OTd_Re911I_5RQzEkWSQPrIVyNtDJkSbrI-IGjN5VnwQRYZ1ZzvBIHQxUEUQjEGGztzPkqhrjzeg9HWpZKXueM3Aa_WJFSJozTH_Dchv_pakRt4mWhWsr2VITrDOwQKWn4xnCw18vQLL5DNIOHI8i56rw337k4v5oMrWmg1KY7QIiFE805YDkISE1hMOs2T9F-mZKVOqhO9uBLZoaxvezuN09PaQay_PMnLyTEGY7Y-RxpXhcK-pkmAe2JN0pXBLwXGg7zsbZK-1u5gbaBI2PU79ZFhpzNsF-Uhs8YYqdtqDh27XoGicJ8jFOgBlMEBoWxi_2QJQoFW8yXrRVBa8wkxFki-Lmx8EhBBemUUfeJTvY0KHAvF79H_-73kdAByOW4bozdP_pnu951aFkKByVfjB8Xhsh8E6hB0BHXxgnxE4aHrTJxCD-EzYWS3EMkq5kK08GdMZT618Z2Ze61bfxLLLZSmYulkJ1w0flrPjjRz4z6YG31-j3C3SAoOnOj-Fjwn3EPmFnmAR9ik0CSAkzwPDBglt35bdX-reySZ_Tas20B3ErLmuuM-bDv7HvI9sOogf4dy3cHKBZUjd4qNZowl-wDBKazClXHG-jYbtQN9OlBbmWSQYdU-khU4nVvm827ELEaOvYpwcwaLUJWzgi6KnVXEMPmTVE__6wCsIGOzOSXSeYz-qI7qQJa4jVv8Ldvq280K4oYy1bhtdAzrzq3yO0bAiU1QMufBXSZh5wWyHhXH7ausAygae9JdeD-bguYJhlYHXVGnEwLFVqwmkVVb7bi6Vqnm121A3rbfxpJd4g7DE2GfM4gtpxJguXwBSLRzIsUyN5gg2-IV2pSg8USghYErJOB1Ru5ALeTHJJAMwJ0k0mcfWPWbpucWZdfd44XApBMCoyF8rdBo3jUa1gYfjQOYV40bnjpvpB3vtCbIkb4HjKloEQTo0RsWwDqZSUlWHDT7Y_opflqrmBZCiLO0YgLCqzkE7tP7j-CdqzK1HTI_tVSXHJv1svsLSZZewd6twJf8wMqUTOFdayB0wEX0kbVKMnOUYdXOmZEFS5ojwxlbNpFxozvgrLc7L-VxcezkYHZB81jCs4N16HSpXT06xcxA_-a4BmHz0HELz3SAeOdk_kcgBSixK92oZLL3idpkiJfefMDxWrJZaZhI1RRXAXNQLGkJB4sG8iKddBI7_SHJR1KC8ujdKVJ8zLs3Y1L33V1ueAzvIuD4ec6sFHJk1SqM9MhTNz6jvfItPRizcJk43xo8_i602_7wYIXNf4_ZC4yO05UQH0VNw9MzUiB8-AbJJj4nYv8H6mlGhpejYb9D_6sDDryOzoX6WZkpWtW2AMS5-3qTqQsSerjWztwzuyPvG3K2OADfdcAmN5P605of8wNKcAVqtrW_W5OXJSuoBBQVDCYpz_ahIwAwyYGPYjFqdhXfatvR0584vTd73LCBrxvHDToVxWEnSyl9C52mMUGDxqd1r8zbR5Coyhm7oE5FGhZF-LcA1xePjf9nvZttL9DYgEEFcmYU_xwDCK_Xi5QKkUQNgo_fz9R4tGqa9LqBzOq7JHbeOLo3Iiv4SIte_YE9HUEHAeODBFg39QWzxyjCieCISUfpv9_khJI8RsqeZJbk6ivt8dq3Qg0VB5aH2IGOsm__DpK0hIWMuyAJa-Vvc5iBB_LMUGe3wl-C1ZjfRNQXWs9VGlSHUGbjSi-yOorRhSfPo7LSGc8g_LaAbWZtUZclzjvMERGBziMhOdeoKdvc5b2deMUDIhZZDaEVpkbTguDMJNXVGpTLCn0m_IlVOoumPgyFK09fwGoT8N6NQTNvHLY_vRjkBYdbZ9qniZ0jj-gMt_Dinsp83UOgf9yvejNtxYaNGInNZh2BcjSFmWyOGvvpJbmgc5sB1yRin-Id3vAiEQTfCsLdcPblf-bhsLahEagQgBKBpRp8s2m1asDu7EZaBQDqu4bqvn5rOPhHOK2GgKi8ccV54tNn2_OItTdJQqFUm3pUEuW37lwpbE4hjjqxU7g6bxbYXA48FNpbqwO8pfw4ypL9lVv7NSXT8BbZPZ52OofM373wkfNnP2Hll3CSy2rRuxHSxNQGgf_pV01jiMVsy8sVzN05XAPewLZvgGd9Ah-09_sm3gxjWjJCiVRITdsnzXc08_U3YAvTriUPLLiJ5-vn42xdZzge_ZmdeOLMemi6o7D728l8IybNOUcUEWz8fHCugYXAH2B8OqFUSAUIc5dtIUkJE5xX5ClO7HnrKm7lXBmjBKTWf2YbT23ly4kYHAJSfrWAC3Pyvoa_RhXLPTHrubmq6WL_1VOPoMoiVc2_EtPofBC359fx4cWfR4EoI7ye3RfoWUWA7dew6Lkv-bXDKvm4KDzA0zsmniogD_FlmfGpMS-VXut9mtFmAxxkYb4NKMfTQuMVPkjo7Rkwivo57m5xdJSIgjXBhbwBnAkFfSaV5_nVviVeiSsNBoakVkLN1lY0B6qkGqnXlxd06QbFnbK03cAOj6pj1qomZ7zNBr2gpLOyVceMhbIdW9zCmVUpfMZwSeKTWf4iDvuBNp1DLHDwKmhKKU0m9V8A7fjS9I2XlLg-fFJ3ZGCOxU-W5O2Wflzi_IDmn18Qt9As33doWbOqVZPX4goHsKEq8plTSFfVHNA7rKRZqwGc6bZmHxXpr8YVKNZQGbNdkWZGyANxR_rbzGyqGuHYafGu_wNuIvoGA5oP_z9_LV_d5xjS6rcZturnrdUYXF4vpdERZPhc7YIiYwfY37X0uRMRIz--iC36nvKEDNRg9GTvzXx3FiWUjAc5TPtHUMkscw-XM-14thl77Jk--0oQb1yHgopCgnudbYY1a5wnxvfNGetqD2CSIdxEJaDPYgYGirlXv5c5A0QtfD8wo4cGwfUduWfcxrKVMDR5nol-QETiLGtDhYO_0fbt7WNfPhKUgl-xDFLBwQRg--_HT29TSNqu71BhtG1q7vnWoX6FoMCZDQ4i-8ek5Ni4-c1Xv6Zb5AV8645Mb_5j5AV2xAUXYyv5A3tMwfLBlm7mkCQswWZ1B_Fu6I",
  "id": "rs_0b2a0c91819856af016ab445da79d887d0b2fb9613bd46a46d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.13,\"left_z\":0.04,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"With the arm retracted, the plum is clearly visible and the previous push moved it mostly forward rather than sideways. I’ll place the closed left gripper immediately on the plum’s left side in the normal orientation, then use a straight lateral sweep toward the center.\"}",
  "call_id": "call_Q8t1EStba3kYoU5CQPIS4rcX",
  "id": "fc_0b2a0c91819856af016ab445df69d487d08b0dcf714b786bba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q8t1EStba3kYoU5CQPIS4rcX",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.45, 1.6199, 0.9318, -0.5316, -0.1226, -0.3889, 0.008, -0.0097, 0.8528, 0.6224, -0.4988, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3213 left_y=-0.1272 left_z=0.0361 left_yaw=-0.0694 left_pitch=-0.6312 left_roll=-0.0172 left_gripper=0.008 right_x=0.2826 right_y=0.0003 right_z=0.149 right_yaw=-0.0062 right_pitch=-0.16 right_roll=-0.0176 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -7.8974, 6.4615, 0.9158, -0.2662, 0.0366, 0.6227, -0.335, -1.7299, 7.0906, 1.6093, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d228e034d2f8736b13da975b0455532cd02ac52f0c0ac71287debaf4ee6c16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b296764c24cfd56bd9fd12a5027c86725f9a5beacad67d7fe18fbf213aeedc80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3fabf39dc9090b9e427ac8f987da4af2238806efb10309fd1e480177ecf28fe",
      "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 34 attempt 0 · /responses · status 200 · 3.367 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3145, 1.8885, 1.3033, -0.7895, 0.445, 1.1202, 0.0083, -0.0093, 0.849, 0.6224, -0.4984, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.3432 left_y=-0.1878 left_z=0.0525 left_yaw=-1.4936 left_pitch=-0.5182 left_roll=0.004 left_gripper=0.0083 right_x=0.2826 right_y=0.0005 right_z=0.1501 right_yaw=-0.0057 right_pitch=-0.1558 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.5932, 5.7915, 0.4811, 0.3053, 0.0464, 0.6227, -0.0889, -1.1282, 6.9265, 1.6923, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3172, 1.1599, 1.2377, -1.2434, 0.194, 0.3134, 0.9971, -0.0093, 0.8501, 0.6224, -0.4992, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.2281 left_y=-0.1069 left_z=0.2093 left_yaw=-0.7181 left_pitch=-0.5562 left_roll=-0.042 left_gripper=0.9971 right_x=0.2825 right_y=0.0005 right_z=0.1497 right_yaw=-0.0057 right_pitch=-0.1577 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.7265, 8.212, 0.906, 0.0513, -0.022, -0.1245, -0.0479, -1.5658, 6.9538, 1.58, -0.0171, -0.0171, -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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.45, 1.6199, 0.9318, -0.5316, -0.1226, -0.3889, 0.008, -0.0097, 0.8528, 0.6224, -0.4988, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3213 left_y=-0.1272 left_z=0.0361 left_yaw=-0.0694 left_pitch=-0.6312 left_roll=-0.0172 left_gripper=0.008 right_x=0.2826 right_y=0.0003 right_z=0.149 right_yaw=-0.0062 right_pitch=-0.16 right_roll=-0.0176 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -7.8974, 6.4615, 0.9158, -0.2662, 0.0366, 0.6227, -0.335, -1.7299, 7.0906, 1.6093, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d228e034d2f8736b13da975b0455532cd02ac52f0c0ac71287debaf4ee6c16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b296764c24cfd56bd9fd12a5027c86725f9a5beacad67d7fe18fbf213aeedc80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3fabf39dc9090b9e427ac8f987da4af2238806efb10309fd1e480177ecf28fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXkml7eLjqAmmpC1sd89kqjSB23khHISUez_flbQ06PXJpVPF7lQcUdo61EOk8XgKaLn0mKtGTKIEzcLRkwdCSpyc7-XdUwA0qD-r63XloqeusASDPnemBhY1Ci56PO9h9yCO8k7SYp2NGNhsySy8brz8iGgdCx2uoM4I9Sw8whrhYJ9q5TeV_ehSJZjUM7Qgt4vVzmErDwp-1ZVK2aSIjhP8KbXpm9BWEQ7aGl1Joa2a5cah6YJnOi2C3sAiawux8zXmcBRERUzUbLIV0FRtRZJ0bH0bgPzn0QI_azqGdyfKrfzVC-BIUBGgKUnt4QW4D-TNeRj3fm3f63PS01rr6jdkDtQN1ykKBA1_iMYr1KCGn-3R2N0osVflr4otRdVOxSiXsFaMRL1i2uNUQgcrbfI5Y_vD7PZCVf2d9P3464ckOJjE_KN03aaaz3DtIGIJMRECDJZ6yE4m_jArbtYTV6m-f2ZFTGqm9obBAK_MCrjnpQBIT_i1KTY0elYupQBJyQaiGcFzoD8kBj4FW4pYKfDnnl4Thhhq9mC1rp1E_TMUY2xqJIhEz7JvO-NBy24_rK_OHLFEnrxF_emuqO9skGN30yorXoz8x1ioOTx8QidJjWyNu9Z8t3iVwBgTX6eoFmiiKL3337lV2dA9YZ4Cl2dv7IsobWiIOS3JZOSzTJ2JOfODngRKbeFBYDdlcXMUjyknhyFeDOB_7qFHJBm0QnyQRpgZcky66MPDp2Ew3zKpUnJJ_Dh4nVW6I1eYtLtCCnU-I8oTAekMjEJB6koyEOZcBJEGosNp4Kj78Kw9HsZ9FFSCp4xwQehrUj4X9poMiYoZpzYVHET1KsWs_jKdhgVS3cWCnbtGjeTx66jPaLv6jlujRH5sU71Yj_p1tGYi3d1Pz1FXky2M3-HY0KqXRfMNdd7K48kd2FlVPWeC04ZR6POHrDJ-QsiG236YGTQ1s3G358kFducu9SwDXeb_ogjhchbbYw8VeyR3zMnKjDWPYzkawxKwVhDzJ642MdaKf8Fq19z4pg1KZ6PYgt5mkpoSynWD1CYecuCH8Cz5Xwje-y6h2nAHaef31O6xJR7a9pIOKRB8wJCrYhbFxhLbBCmeP3u2j2D8-n-SHQ2Q13BJnk9Cw_Z_M4CUkVCQodhFf60dAqhXD1ShrXH-c-zXW6qhyh-XFjmmQv52l_53dyBpEnAjOgdLPq6IRipNuo-W6dGNDnpso-LGisy0ZYzy7HqDiE2lUe2UiCjObizrX0i33fFO7e9GyQkeK269MRrHE-dBq9xBo4U_xbCj7a5rceFUAXhJP6Ha5WUaz1WmkQghPX3DLeEUjqxEJxD0AAPg48ylzq3Dnn8BbaroIqBk2BJq6RJ5FjKMtALYBWevddPcXPeTooje5kURubfhpNZKc1HauzM_OVRh230ZH7liiAjJei67lXGKRxNrAci4xOQZc=",
  "id": "rs_0b2a0c91819856af016ab445e2c17487d0b58fd91ad574f4f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.35},\"note\":\"The closed gripper is now immediately to the plum’s left, with the plum clearly beside the fingertip in the wrist view. I’ll sweep straight right across the table to push it into the shared central workspace.\"}",
  "call_id": "call_hXPRBj7XX6FVZZhv2Uk8pHt5",
  "id": "fc_0b2a0c91819856af016ab445e34dc887d0a32488684e278757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hXPRBj7XX6FVZZhv2Uk8pHt5",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9321, 2.1342, 1.5932, -0.767, -0.2771, -0.8539, 0.0101, -0.0097, 0.8547, 0.6224, -0.5022, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3184 left_y=-0.3417 left_z=0.0289 left_yaw=-0.0696 left_pitch=-0.6225 left_roll=-0.0147 left_gripper=0.0101 right_x=0.2821 right_y=0.0004 right_z=0.1479 right_yaw=-0.0058 right_pitch=-0.1654 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.7726, -11.6991, 7.9248, 0.6178, -0.3736, 0.022, 0.2076, -0.1983, -1.7026, 6.9265, 1.619, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4da3da0521d34ea6a354428c35e4420fb3502913162eb03919b3430e95a370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb07ff019d4096805e3bd2cb95dd19132877b9d7ce397efa5665f4ab5af16b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe1d6af8d660debc16817fd4931ca420d68e9a1fcffe6c5af5401d963f4cf22",
      "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 35 attempt 0 · /responses · status 200 · 2.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6849, 2.1693, 1.6115, -0.7208, 0.3428, 0.7334, 0.0101, -0.0093, 0.849, 0.6224, -0.4988, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.3337 left_y=-0.3446 left_z=0.0251 left_yaw=-1.5161 left_pitch=-0.5564 left_roll=-0.0411 left_gripper=0.0101 right_x=0.2825 right_y=0.0005 right_z=0.15 right_yaw=-0.0057 right_pitch=-0.1562 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -11.5077, 8.3624, 1.1111, 0.149, 0.0757, 0.1783, -0.0205, -1.5248, 7.1179, 1.5946, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.45, 1.6199, 0.9318, -0.5316, -0.1226, -0.3889, 0.008, -0.0097, 0.8528, 0.6224, -0.4988, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3213 left_y=-0.1272 left_z=0.0361 left_yaw=-0.0694 left_pitch=-0.6312 left_roll=-0.0172 left_gripper=0.008 right_x=0.2826 right_y=0.0003 right_z=0.149 right_yaw=-0.0062 right_pitch=-0.16 right_roll=-0.0176 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -7.8974, 6.4615, 0.9158, -0.2662, 0.0366, 0.6227, -0.335, -1.7299, 7.0906, 1.6093, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9321, 2.1342, 1.5932, -0.767, -0.2771, -0.8539, 0.0101, -0.0097, 0.8547, 0.6224, -0.5022, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3184 left_y=-0.3417 left_z=0.0289 left_yaw=-0.0696 left_pitch=-0.6225 left_roll=-0.0147 left_gripper=0.0101 right_x=0.2821 right_y=0.0004 right_z=0.1479 right_yaw=-0.0058 right_pitch=-0.1654 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.7726, -11.6991, 7.9248, 0.6178, -0.3736, 0.022, 0.2076, -0.1983, -1.7026, 6.9265, 1.619, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4da3da0521d34ea6a354428c35e4420fb3502913162eb03919b3430e95a370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb07ff019d4096805e3bd2cb95dd19132877b9d7ce397efa5665f4ab5af16b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe1d6af8d660debc16817fd4931ca420d68e9a1fcffe6c5af5401d963f4cf22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXpNTP2Q-Bd3R6WDLc8EttiN3ZxHGzCCJPedQ7rGID05zPsbjai-sC8hyFUQeApzZ_Ji6jvcoJ4t4mkZLR1AVWgM2Vt9aXi7cBPW4M0GEdbHGlMZei4SILEbOSMLbJ-guxamWtG5HJk5wQQoBIGDJNTAcE0hW91e_QP_iqCTFvoRZYcbv0Hq6MxyOU9iSU2qRtpQLCmMpLIfJq4XdJWp0GxTSjUwjRcEQHBloPvO_kPA8VJnJIDXrf6AYg8OJ0bpUCrnvlNaACKYnBWfjr2oMsYvNxFD1si-TJGv51E_xjOGuky5bMMJ0OCyubvXUyveyku4gzgWGyys5XlLophX9wQf7yUwLe3htyTGHQPowQPohP6szzg2ADES1EGMdRYTVguaVgjTfwu0bB7uRJdY5_Cq4Oeld2TcPCVKMA3BEKgLaA9ZJ07N75jwKEn94H-bSt9nuI4b68W9Nn7MKrYB51a2IK6alt5kzetze4A67khKGEvQ3zBTJ1VVPEQPYCJUOAGwE-opMq4USb7fGm1jZ52FACHkY5BmgbppRaNxe4x_VV7EQv4HAntBOJgTJh72vAF_KC9rg6BKLIsKO7BTZ4rBam5w3YZyqCXK6YQ5tpX7EwvT1r_gi88_dXUkE3XlWFeQKeMVwjiqkKBk8wPYjSo49m3-7G4TjpOmMATQFoxuVWDSOpXxPvDmauhOT365OYnRHcpgqdw8J2-zN1GqHHSesiVQLub3EoSFBFr0ZDLE_4OlGkQHgbM1K3QWjcqwtCajO88KdKvVbZm_6OJv1J5IBw3uBuDGMATaOLzxl3IXuj6iqsQW4Zb0aoPn7gzAnRwjj8ydIkpYTxcUTCKWXQv6GOoXeqUOZTFlhUbZyYEhFIEHo7303wVTMNYmvjk8DfJViMgMhJqu0_ec7Kk_OYhrbx0-CqxoM1_D1Xz5ZUfFVpUR-uJ_U997e0tsgJSC0S2EcG4tpGjbt5In0CytgwUAy9KfDjJJUezJdYf5EdQLLT9cUl2Wy9AFqwNXaCJrlUAzNiq-AUGmsLfBbt323cs-B-rdxN3In7BT5uDkOWs6zL8Rh1dnUT9s5su91PjeSQWYF_JtGQjEO8CDgWIRBdmZXh88II772oFwNw9vT4wxbDt-mLCls_6wCiMdhJSlVuH5cdZcwGVEXycLQcz5uQnKzIAgz6d4mrajMS84TLXHPoQegG776cnfFiGId-l2-uhxUHyuMUYfGlIqyxbY4CVE0zLa2Swu1zqdPwaIQwbVlhx3ltHWajoCGGu5pomWJ6jEccAF2eYHCN1S1BpIyAGlAdozolC2ryKBTHXFGq3-lqDFMeVbWvEXjbnqDJ4NPGUoyUuVkLzwJW6lySQp9GBfUtY4_S1wi2gbm4fp5tF8F1R6ka9AS4gx3_BM0xqNCJr674yfs9u1lpNO5USQ-Xuxvtf2fxmqdhDGMIJQPY1UDGg9lHw7hrJmyKk3Y_iZpEW8CVO0zdbY1w7WsLru_qNsTW8TupohOSiFr5HanS_s7W0o6nnTLpCOYTeoB4jvFyryBCzhy5cb4sNNmcYNTLBKV7oasE14KJJRADYCL4I23ti-tbm6mz0UXg4hC42kyZMRJpAHQN_NwRKIoNJZKWcIcHp4wNlDycrOccvVarG3EJBjVw1n-4Uho6arM8hNy17jAP9CtML0xeLMM-fCZwWY2a-WzA4Lbdy2YwvYkwz91BviPlpbaCpSI2SG0shyhlT5O8j2XRutM1LEOBM0tALCBhEvd3YsXtIFKNtbUaeTMUeGxIWd_B8TWJtEMTNoD7qAEPC5TK1Liy3U8oE0w-cYKeL63Z5bWrm0t2CB716kVS0CvBhMkoCzmeBNmOPZbOYpb3rzkOcOJa8Op-WJAorR_gMf0p6e34125hbqsoQuXiOlbXGdll6leoCJM521OXpN7RQmgFz_qAcG6r4d8Es3QrdNByhHc_43NQNlVyph-DFuo6m5tWULaOnQOkAzg51IUHvZpfyQGSay7m6wWhl5OO-_GvB5Xiig1BjLbpTKHcAuPFzmNd-2Doqbv7JxG2W9yeFVJuJZ5PeTihtBJE6C8z_Ru4QgNnFWMKd0MLnEePZ7UcS1UOxu4VbCLfHHZ2njPpSIejRns0Eb9LZ-IoWerG95O8CICVBZR1XKXuRC-_DI2VR5Ac60eAs1mSsxW6h",
  "id": "rs_0b2a0c91819856af016ab445e71ad487d095ef047cf9211961",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.1,\"left_z\":0.22},\"note\":\"The lateral sweep carried the plum into the center region; it now sits just behind the moved fingertip at approximately left y≈−0.30, reachable by the right arm. I’ll lift and retract the left arm to clear the area.\"}",
  "call_id": "call_BcSMmNr1Rc2XmdoKQVjfpb2W",
  "id": "fc_0b2a0c91819856af016ab445e8781087d08823724c0a0a6b0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BcSMmNr1Rc2XmdoKQVjfpb2W",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.588, 1.1984, 1.2736, -1.2892, -0.1917, -0.5468, 0.0115, -0.0097, 0.8555, 0.6224, -0.5026, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2276 left_y=-0.107 left_z=0.2081 left_yaw=-0.0402 left_pitch=-0.5993 left_roll=-0.0223 left_gripper=0.0115 right_x=0.2821 right_y=0.0004 right_z=0.1476 right_yaw=-0.006 right_pitch=-0.1665 right_roll=-0.017 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -3.9179, 8.4855, 0.8327, -0.1099, 0.0952, 0.1343, -0.1026, -1.6068, 6.9128, 1.5653, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d12ea8fd2900ed50bcb25211c4b050bdf8a77f730b28a1121b8707e1f14e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39dd17cc1ef6f66532c72a66cf8dd0750bcbd512b3d086b2a5b512204928abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b45aad2e2fd6ba328b19c55b82962b259504279d967b5a847b2676ab725b064",
      "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 36 attempt 0 · /responses · status 200 · 2.4 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3172, 1.1599, 1.2377, -1.2434, 0.194, 0.3134, 0.9971, -0.0093, 0.8501, 0.6224, -0.4992, 0.0025, -0.038, 0.9965]\nstate[eef_state]: left_x=0.2281 left_y=-0.1069 left_z=0.2093 left_yaw=-0.7181 left_pitch=-0.5562 left_roll=-0.042 left_gripper=0.9971 right_x=0.2825 right_y=0.0005 right_z=0.1497 right_yaw=-0.0057 right_pitch=-0.1577 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -3.7265, 8.212, 0.906, 0.0513, -0.022, -0.1245, -0.0479, -1.5658, 6.9538, 1.58, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9321, 2.1342, 1.5932, -0.767, -0.2771, -0.8539, 0.0101, -0.0097, 0.8547, 0.6224, -0.5022, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3184 left_y=-0.3417 left_z=0.0289 left_yaw=-0.0696 left_pitch=-0.6225 left_roll=-0.0147 left_gripper=0.0101 right_x=0.2821 right_y=0.0004 right_z=0.1479 right_yaw=-0.0058 right_pitch=-0.1654 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.7726, -11.6991, 7.9248, 0.6178, -0.3736, 0.022, 0.2076, -0.1983, -1.7026, 6.9265, 1.619, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.588, 1.1984, 1.2736, -1.2892, -0.1917, -0.5468, 0.0115, -0.0097, 0.8555, 0.6224, -0.5026, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2276 left_y=-0.107 left_z=0.2081 left_yaw=-0.0402 left_pitch=-0.5993 left_roll=-0.0223 left_gripper=0.0115 right_x=0.2821 right_y=0.0004 right_z=0.1476 right_yaw=-0.006 right_pitch=-0.1665 right_roll=-0.017 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -3.9179, 8.4855, 0.8327, -0.1099, 0.0952, 0.1343, -0.1026, -1.6068, 6.9128, 1.5653, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d12ea8fd2900ed50bcb25211c4b050bdf8a77f730b28a1121b8707e1f14e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39dd17cc1ef6f66532c72a66cf8dd0750bcbd512b3d086b2a5b512204928abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b45aad2e2fd6ba328b19c55b82962b259504279d967b5a847b2676ab725b064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXuHSZDWJeuEujha4tNihfua8UelLe606euM5Pw3HuaetM5gwDaUVbY5ohO21Ss4VEspemY8LHaxS78QDoA6GjG29gZYDXkkwnmbZdz-NkQT_5r8aoIZWt6kBXEcezXa9hiLJTyCOFY29Scw9rf0Pm5M3UzDx_lgeC103JnBzvZrYCAtE8vZu3emC6WYeMzYixVGO8PSsJHJ-N_6029pP9QdBeC5utMads9iFJ-mirimzPWGXG5AIrnydydK5qVmcblIC-AfX--OQQr3jJf5WpsxE4I_mAeQs7pqTQVaDIc1zLJfEEeHgAcm9G_kz8H3UyAa5JPcYQNolyHCRloAfhFs9wFFopjS_AMl2JMvh3HRGOpJ728NvqaDP7F_JVdOF_vehaSiUP8hD2cTa9O8dvFmvifRBvy5xOozAnpuEOsSA7uulBcy646PqkLvJymD3x8JUIiOCHj7Noad7QPeT6UsbOHJwyUmqLkLDbSHpSr_Y_pFGW9PY-MKoZSqBSU8x3I_OQMI86dW6hfNibutia0Evxjk-_J3eKbR5VizTAOXgKaQChQ-H5mbaixpWhWw4g4jn-qTZ-QHb1P_CXeoBdlxhsKzMSbB8znPWst--DoJR37aI43p-dvSkuFnnHoW_GU8rb9AOuvzhqXfSWye1eoG_eVn4UmzVoLrt0DpZkh1uw71Y5aRq0kY2LU_mX-HNBH24c4pmZpQm9hUH68EdK8HiuwTroFivIj_k0kMTnTEAjEys4UEGjHqh_s6RXAQFaVxPK204ncnA_lX15k3VEQtMvzPlpxfBa0QhNfdh8TWR8VBtBu95dmX61d8N9JPq8sSz5Osbm9heMxFfCTJNScikMTO3nEYAAbP09lSt6teNpOhwY60GEgO5WkeHc4AtjKxMPUMfbfsCtEMmMLrf7idr_2F7F2svZvQRKVYg0m89SZuZxMYjHWbUSG0Si9ph72sADJbdiYSTFmjKoJeqvonbdMnz-4h_oQ7xO1yPAmmVQG4BqpvcLhQ0bd5Doi1gG_mf-PBTbxmUUXsxhMqghUCOquJfjqoqi3CBAOx2lGhaVrzXkD9dptK4grq403eFueFnUvYDm0A-JwEVqWBtzie97zvyaWJZusO69JZQDfQhnQ5_hgba-nbc6wSjadc5XkHgDWBd9jYYIdsj-Rc2AA-4ImJ7soo_uogekqPkFCXwSdOL7h3udpU5XlgdmiLNYVLlAKtBv_Of2GxJjzVGdHFYSfwneUPzyRWLMbcbqUy2MGX6sgYiRQrx6ZbtGhIblvgOfnJRj5YuOc3bojKpX-CjvduXHrEWBhUhDY_CZTw2QDXzF_wgJqNP_7FPyUSfHtX5lT6cRhKeqUYbxNrl0_wJfV4QGPU4JkEqazZVll2VUY8PI9VfL_CfhMJAzxcX3UUh9i2Nla2gEmQ6qsxFFGHQuRvOxq4mA8r36H3jRQ_Kc9b2T4a3ab_23g8SUvqz7X2JcmvKjGEY-VNIh49FoPqP0qGxMBhgkv7ffz3eB_xgNnl4-2f0qUem9mPd0UN4IDmnW5mAXbr8swd_OoSQDJHQ==",
  "id": "rs_0b2a0c91819856af016ab445ecdb8087d0826c9f9986666643",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.33,\"right_z\":0.12},\"note\":\"The plum is now clearly isolated near the table center after the push, while the left arm is clear. I’ll move the open right gripper above it at right-arm y≈0.33 for a fresh approach.\"}",
  "call_id": "call_MDTfU1Vrf3LU9XLQfrTxZ2FF",
  "id": "fc_0b2a0c91819856af016ab445ed777087d0bf3857c4af3287eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MDTfU1Vrf3LU9XLQfrTxZ2FF",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5877, 1.2053, 1.2732, -1.2953, -0.1867, -0.5472, 0.0124, 0.9936, 1.9141, 1.4044, -0.5442, 0.6502, 0.7456, 0.9966]\nstate[eef_state]: left_x=0.2265 left_y=-0.1072 left_z=0.2058 left_yaw=-0.0392 left_pitch=-0.6132 left_roll=-0.0188 left_gripper=0.0124 right_x=0.3355 right_y=0.3258 right_z=0.1104 right_yaw=0.0231 right_pitch=-0.1953 right_roll=-0.0396 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -3.3162, 5.9556, 0.989, -0.2027, -0.0562, 0.0806, 0.5538, -10.1675, 8.4855, 1.0525, 0.442, 0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e879b03d07aeb5d225f4b47ecc90641421d1efb561da7bf4eca10c4b41e47c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc12d8fee47514fbea2cffa117c5bc9339e7fa84d7bba424c6481a074c6a7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a09b52cf177fbe8c1c2641271cef69d13acb4746c59cb20b7bb4509cbf10672",
      "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 37 attempt 0 · /responses · status 200 · 2.236 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.45, 1.6199, 0.9318, -0.5316, -0.1226, -0.3889, 0.008, -0.0097, 0.8528, 0.6224, -0.4988, 0.0029, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3213 left_y=-0.1272 left_z=0.0361 left_yaw=-0.0694 left_pitch=-0.6312 left_roll=-0.0172 left_gripper=0.008 right_x=0.2826 right_y=0.0003 right_z=0.149 right_yaw=-0.0062 right_pitch=-0.16 right_roll=-0.0176 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -7.8974, 6.4615, 0.9158, -0.2662, 0.0366, 0.6227, -0.335, -1.7299, 7.0906, 1.6093, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.588, 1.1984, 1.2736, -1.2892, -0.1917, -0.5468, 0.0115, -0.0097, 0.8555, 0.6224, -0.5026, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2276 left_y=-0.107 left_z=0.2081 left_yaw=-0.0402 left_pitch=-0.5993 left_roll=-0.0223 left_gripper=0.0115 right_x=0.2821 right_y=0.0004 right_z=0.1476 right_yaw=-0.006 right_pitch=-0.1665 right_roll=-0.017 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -3.9179, 8.4855, 0.8327, -0.1099, 0.0952, 0.1343, -0.1026, -1.6068, 6.9128, 1.5653, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5877, 1.2053, 1.2732, -1.2953, -0.1867, -0.5472, 0.0124, 0.9936, 1.9141, 1.4044, -0.5442, 0.6502, 0.7456, 0.9966]\nstate[eef_state]: left_x=0.2265 left_y=-0.1072 left_z=0.2058 left_yaw=-0.0392 left_pitch=-0.6132 left_roll=-0.0188 left_gripper=0.0124 right_x=0.3355 right_y=0.3258 right_z=0.1104 right_yaw=0.0231 right_pitch=-0.1953 right_roll=-0.0396 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -3.3162, 5.9556, 0.989, -0.2027, -0.0562, 0.0806, 0.5538, -10.1675, 8.4855, 1.0525, 0.442, 0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e879b03d07aeb5d225f4b47ecc90641421d1efb561da7bf4eca10c4b41e47c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc12d8fee47514fbea2cffa117c5bc9339e7fa84d7bba424c6481a074c6a7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a09b52cf177fbe8c1c2641271cef69d13acb4746c59cb20b7bb4509cbf10672",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXzfKhVM1Ldh3FPAWDzlaP_38r4MyhFiyQnislzW8vO3MG2fBzTMVe3nBifcW3ypJckoc1hBq65wRSX6rRMBw2mYHew5qIiRUgDFQIg74yPOgGYy0szFGecpvcd1Ui1vcrAxHH2zStZXqffDkfPy-Z8caW6kJ_MOaTlOFALN8zHPFb6sqaM9VhJNvypGZjqbudzDH0lW6XMZgOwC9-h7s1LP8kGHLpa2_5oTCl0fF7p4vBiMNa9-b98SjW5HKnkaG2EHr13aghHuDdrjjxbCMyv0ZDGTOSREhS7-yug7eonH0v00mV62c3qCihF4W0mLlW0WgAjIKkhwEckUHEPnMNwL3UcaIrt1aLSjgEbAIkVJo4afuilViPDkGGQUt5Rws7frinJA1pqY-NQ5T7JzM1Ol8G3rfSUmIV0vgSwp5DbF_ztgpyCJro-KBSrTtC3eAArJJLh3YT4-vRbXycpRG1oE9p4RL3M4WzUsnbRQYu0aD7ruzIlOO6cRlpBZHkHRiHnPgxmr2zzZOjE_WmC9A7gnozgDWU40zuwf87r6pDWV0RLxDwURhFArYaN2S7k8aimZZqNr3O8MI_Y13f3VnwKJZ9YemvCA5FS-ulZBgkJbmG6t07PAmvg9camk4sdUNE_Nwgn65Uf4TaSogQOVfD3A_1_5806kU74T59plwXHGUGN_yxVEFSladzNoaNu3-9Kw_xxW68A_oL5QirLKwYSUYIRdg_TxhFrHWZ1UFimr0buOW_1ntkMxud5zn52DpnMIpNH5dQHR3MkWXEVEb25vo_4Us9L42IKxeYHZrrlu_DRFKEPeGmQliNvizU8yFSBZYbEQeKBR9qs-UnOj-qu1-2psEiPfMA7Gqc6uN7_eyDQkDwZKPl8k_GWm2RcOzs3OuB-f7_dneHqxYr4sgnZD4POuxu-O83XxQ1_edv_RRayeg7itrFtuEXUfVo5YNXgU07-6ZuMoRHvvam4hp70ETnP6W7E8flHnTk9GYYys__LKZoSa_1udhAHwbUWFn-SynnpmWMWzpoejbAcbdUCqzxZE-A_NWO1ZssUXE_BsQeZ-KjRSgTUPcqJz5IWjIjsTNv8CiQ1BUf5q9U1ALn9KCcyEbs6kBbd9sj2hvTYVKNBxz08reMrEX6PBzqAjVDi-3ljZFG4f4sZNUkshHxl8BDAELPY_y8gQ6ahG6xk3jXNOXCo_FVz9LkkJCsOo7fyIqAK3ul5UCI2aBIOkozI_YEKmBzrN22ZJ1NJ1iNC1q3wVRmPILM6dFpw3p5L7XU-zn8NbJ9uhIWkAXvtj-qmIxzIaQ2YM17M5xxTFmzNEYGFVvOkRj5pCMFTJrI_o6zOdAJPv9OoB-6ipzMELzSMAU46kEr7asrOI1b7gg_Lk94=",
  "id": "rs_0b2a0c91819856af016ab445f2402087d0b55f39faab29ba07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The plum is centered between the right jaws and close to the fingertips in the wrist view. I’ll descend to its broad middle while keeping the gripper fully open.\"}",
  "call_id": "call_loXbDGiphpKWYHINmQEow2le",
  "id": "fc_0b2a0c91819856af016ab445f28e4087d085025964ede44082",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_loXbDGiphpKWYHINmQEow2le",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5915, 1.2041, 1.2694, -1.2942, -0.1867, -0.5472, 0.0137, 0.9977, 1.9968, 1.2675, -0.3717, 0.646, 0.7483, 0.9966]\nstate[eef_state]: left_x=0.2258 left_y=-0.1078 left_z=0.2049 left_yaw=-0.0425 left_pitch=-0.6145 left_roll=-0.0179 left_gripper=0.0137 right_x=0.3289 right_y=0.3201 right_z=0.0457 right_yaw=0.0199 right_pitch=-0.2249 right_roll=-0.0755 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -4.0137, 5.3538, 1.0085, -0.1783, -0.0708, 0.1245, -0.3624, -9.9487, 6.0376, 1.2479, 0.3199, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6b26bd923d220ad49379e7cecff4008121e0163863b83d9165878f3f95e1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08c76d63257a8e8ad9a23f6228507b6195d612dd90f029de2663219388484ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00109451579a044a4c8d280cbe1755a8bad3cb2aa5e1aa5c02724847f962a7fd",
      "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 38 attempt 0 · /responses · status 200 · 8.519 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9321, 2.1342, 1.5932, -0.767, -0.2771, -0.8539, 0.0101, -0.0097, 0.8547, 0.6224, -0.5022, 0.0025, -0.0383, 0.9966]\nstate[eef_state]: left_x=0.3184 left_y=-0.3417 left_z=0.0289 left_yaw=-0.0696 left_pitch=-0.6225 left_roll=-0.0147 left_gripper=0.0101 right_x=0.2821 right_y=0.0004 right_z=0.1479 right_yaw=-0.0058 right_pitch=-0.1654 right_roll=-0.0173 right_gripper=0.9966\nstate[joint_eff]: [-0.7726, -11.6991, 7.9248, 0.6178, -0.3736, 0.022, 0.2076, -0.1983, -1.7026, 6.9265, 1.619, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5877, 1.2053, 1.2732, -1.2953, -0.1867, -0.5472, 0.0124, 0.9936, 1.9141, 1.4044, -0.5442, 0.6502, 0.7456, 0.9966]\nstate[eef_state]: left_x=0.2265 left_y=-0.1072 left_z=0.2058 left_yaw=-0.0392 left_pitch=-0.6132 left_roll=-0.0188 left_gripper=0.0124 right_x=0.3355 right_y=0.3258 right_z=0.1104 right_yaw=0.0231 right_pitch=-0.1953 right_roll=-0.0396 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -3.3162, 5.9556, 0.989, -0.2027, -0.0562, 0.0806, 0.5538, -10.1675, 8.4855, 1.0525, 0.442, 0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5915, 1.2041, 1.2694, -1.2942, -0.1867, -0.5472, 0.0137, 0.9977, 1.9968, 1.2675, -0.3717, 0.646, 0.7483, 0.9966]\nstate[eef_state]: left_x=0.2258 left_y=-0.1078 left_z=0.2049 left_yaw=-0.0425 left_pitch=-0.6145 left_roll=-0.0179 left_gripper=0.0137 right_x=0.3289 right_y=0.3201 right_z=0.0457 right_yaw=0.0199 right_pitch=-0.2249 right_roll=-0.0755 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -4.0137, 5.3538, 1.0085, -0.1783, -0.0708, 0.1245, -0.3624, -9.9487, 6.0376, 1.2479, 0.3199, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6b26bd923d220ad49379e7cecff4008121e0163863b83d9165878f3f95e1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08c76d63257a8e8ad9a23f6228507b6195d612dd90f029de2663219388484ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00109451579a044a4c8d280cbe1755a8bad3cb2aa5e1aa5c02724847f962a7fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX1rtE0QiHwQsPMmD1dDZSXV3bESfi47afSQne9fvRCkqL3Hx4F0r0sj15CLG6uVqEwmEJb7NxX8urSM4Y294d5N5nQjn23zQiiOPrQbQcvCBH88CHAPMjUomVGihqS2F9pcvnI5DGXDEujQZKjpqqyCAFTEBvIQlsVPGbdGHZT9hTcX3twLAz92Q-M1xjBDSXBMf0rdhz88F2yWLfEaq6EvghcMDMFqXm0SYvx_ZKosJO6oPpYKufp-1pgIxovjfpuXdlpjfzLWOqO1fQ1rgqwi-8V0Z4bxsAyCePYbZSOSKlx97yp8gMA2Mbgt8HrDXoqjkn7JhqImvUnzMrStAIUdgABmW4w2yAR5GDRDU2M744wZuEx4DF5yFzvdq2b1jWR-FyvAZbB_GHtCW5rxgKeCY2Bc9Yrkkoq2aNZknqu8SUIiHIXmiBe7_a7LDgDTgOZm1KS4caLGc2nuUgEZUUDCTl4ZoRjjJgHIlp_TmS7NuwykAoO5KxgWF8BrOghcavfYPp4Q1IK4JT_E1nS-62ubUoR0TrgRWBCcDbH8hBBbozC0ClgkRvfAe0G8Ag3mYwjzUXnPAsiIb4PPrZJbmVz2p7xJgnUapFlbl6T9c5inAMurjX0EZBFA_8xpWekeh1leVzp6bqL7DgzT3TmlRCz2Obx7b44SPN0_ae91QLbt6cbkOhcF-n1KSKU9LLv2JUIYJuj-tc6pxIq2_CFgPjXmFrexYASqavhcB6DdmkHhQa4CNog9ep6STXrSPTLkILaFU-F3oeT6K0rpAlJK2HggyHT5HX3veAh1pVeeYlK_jGhYS31t7oejAKZEXNPCCHVauz8lYcJTbBVGOWkf-PzMd_szGRvuMKfY3UgCe5D6KJDeYdlHwmExYr_eWI7LTLItQ5UVaCVTPo07_nCx8w9ZiinXwFa5kAzl9hFEhpr_L1nNI4yjUj_itpnDglYVC6CZcjxCpuYwdZLzruDHvh2pbrpu9ts1jucslAJoHKzqyj-4QnmY7Yh0qjyUylgc14VBIHLGorfWfumZcXSKkVMe1FX09x4Fj7fr2mHC7KbEicJXhvx5Cp6kTD6gO2KTJbCbEOexV6dBZci-32n7futCHI72zcJW_ug-UANrB7myt4BRv0TlILyuLbJINixjzZX0lUb3rucYNNOrXOD9NYAH48I5CQ1XwE4QrqQTUp4-oM=",
  "id": "rs_0b2a0c91819856af016ab445f518f087d0a21cf76858313bb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now aligned around the plum’s widest section, with both jaws symmetric and no radial offset. I’ll close and check whether this opposite-side approach secures it.\"}",
  "call_id": "call_yvsVXcrGj77U7IsnwSFlEXTf",
  "id": "fc_0b2a0c91819856af016ab445f5229087d0936fbe45c7d2fcc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvsVXcrGj77U7IsnwSFlEXTf",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5941, 1.2041, 1.261, -1.2942, -0.1867, -0.5476, 0.0144, 0.9977, 2.0109, 1.2617, -0.371, 0.6342, 0.7418, 0.0112]\nstate[eef_state]: left_x=0.2244 left_y=-0.1077 left_z=0.2022 left_yaw=-0.0418 left_pitch=-0.6216 left_roll=-0.0126 left_gripper=0.0144 right_x=0.3263 right_y=0.3193 right_z=0.0369 right_yaw=0.0264 right_pitch=-0.2447 right_roll=-0.0903 right_gripper=0.0112\nstate[joint_eff]: [-0.335, -4.2735, 5.7915, 0.9597, -0.2222, -0.0904, 0.0562, -0.0889, -11.3983, 6.3932, 1.0574, 0.3687, 0.0415, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260f3481dd26dfb15a7a2142946b2e78a6870a8cf573754c1d97a944b9c529b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6df4fb9ff069407cac2bd8e24f9baddd4d81e52bb5ada8e159e4ddf0a2894e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0e57d27ba53aaa79bc3cda92a0da71500391ac862569e005325f7074eb7271",
      "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 39 attempt 0 · /responses · status 200 · 4.851 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.588, 1.1984, 1.2736, -1.2892, -0.1917, -0.5468, 0.0115, -0.0097, 0.8555, 0.6224, -0.5026, 0.0025, -0.038, 0.9966]\nstate[eef_state]: left_x=0.2276 left_y=-0.107 left_z=0.2081 left_yaw=-0.0402 left_pitch=-0.5993 left_roll=-0.0223 left_gripper=0.0115 right_x=0.2821 right_y=0.0004 right_z=0.1476 right_yaw=-0.006 right_pitch=-0.1665 right_roll=-0.017 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -3.9179, 8.4855, 0.8327, -0.1099, 0.0952, 0.1343, -0.1026, -1.6068, 6.9128, 1.5653, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5915, 1.2041, 1.2694, -1.2942, -0.1867, -0.5472, 0.0137, 0.9977, 1.9968, 1.2675, -0.3717, 0.646, 0.7483, 0.9966]\nstate[eef_state]: left_x=0.2258 left_y=-0.1078 left_z=0.2049 left_yaw=-0.0425 left_pitch=-0.6145 left_roll=-0.0179 left_gripper=0.0137 right_x=0.3289 right_y=0.3201 right_z=0.0457 right_yaw=0.0199 right_pitch=-0.2249 right_roll=-0.0755 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -4.0137, 5.3538, 1.0085, -0.1783, -0.0708, 0.1245, -0.3624, -9.9487, 6.0376, 1.2479, 0.3199, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5941, 1.2041, 1.261, -1.2942, -0.1867, -0.5476, 0.0144, 0.9977, 2.0109, 1.2617, -0.371, 0.6342, 0.7418, 0.0112]\nstate[eef_state]: left_x=0.2244 left_y=-0.1077 left_z=0.2022 left_yaw=-0.0418 left_pitch=-0.6216 left_roll=-0.0126 left_gripper=0.0144 right_x=0.3263 right_y=0.3193 right_z=0.0369 right_yaw=0.0264 right_pitch=-0.2447 right_roll=-0.0903 right_gripper=0.0112\nstate[joint_eff]: [-0.335, -4.2735, 5.7915, 0.9597, -0.2222, -0.0904, 0.0562, -0.0889, -11.3983, 6.3932, 1.0574, 0.3687, 0.0415, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260f3481dd26dfb15a7a2142946b2e78a6870a8cf573754c1d97a944b9c529b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6df4fb9ff069407cac2bd8e24f9baddd4d81e52bb5ada8e159e4ddf0a2894e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0e57d27ba53aaa79bc3cda92a0da71500391ac862569e005325f7074eb7271",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX_wEHq6b1Kr5p3cPM2jjYsFuxKEquo9BH-cFI8j5fTCpBjKlpsxpwZdHnQXg2Nzw928qcYMo0JYlAEHJsLhy3jucpG15rUm_YWxH4-vDu0Vw_OzH4GRuMnTKOZLPR8uCtyUrwtgNU1hjkc_7MUjiN2Dw8Aix78T1Bls8dYW7AjSsCodVNmxwIE6GXmV_seWIAWARFUYQWMxI7Rd-LEJhEctb9aVKr-WUsLlK4hpnHQThFma3W0KjYa7rtHAWEmBN3reLujzivyiSH_2Tte7Yt1xX-8KvOxJdqd7LVTTUfWm1FV-3XHbnvxFEeKjbSpKiGXiEJ2Qya8bT0L50Tm3pP9dqa0yyBxcmzSwPGDgyvStiAA4LCMeDRqiMIqwLgAWD4nW_71-WDGeOV_DY9MZQ7hASIfkHjHugrlaQCLG4IIV7dTYlC6HdG5G5czUCQ8zzlP-JieyG7ffpdC9BFvnt2Y7HHhaIP0P7oh8ESY7Zgg26SRLexKixdOxOvLuAu2cv9GtbbbozLOHH69miUwrAvbZrmcoB-s_oB6m1WhSkg0U2sLTCCFmehpB4XAnA4ujzuRRcszwMxgLCDyDmVyo2oeAu65n_sDi-ho6VOzx199BVf5o38Pz6gAnCkDg_qy9nLNVz_n4irt0Tn3klu7lgfFGancJIyHcIqFMiB8y-ZZyLrN4jPd0BjVq125aSNSDfB_iA9UtsuIG0Y4lFz4xm8GaiYFZdFwiuTCtSjhO-Y0ZfuD9woCvNB0l-98LSnmpnR8g8RDzLuU-0euULzvcpX1SwnFDLvvJUxILmkoO1xGTgQFKcO8BLRf7g2yhMuvq0smPHpBiK1mD_Rxx3vtBpTVcRm9yj2Y0OFP6P8oLMBjAKkl8oyf77YVeTs6xBhB3SO0hKDNVZeHzqokSHWuq_3am2nnQZnrYxuj4byiX37VvAoARNtYXkIzf2LE-AUqjA-Owpnn3F23qWjZC956rkZVODcOLxQUl-rR3Vs4hOAuYd5VjYV4_RD9q5XsViMYCtjqJjXSwPTPALHbmK8m4XAJyzkDHFLofnMV_uMLaVB26ZJxEtSMojXvybMzZrdU2uzs9ReqJhBLDZO0o4uOzEEWt8qpSWM61SaSfyWOtlthjUnoK-oQdQJjfFYPtU64Gb9MRUAsPd2gAe3EepdTQBZHtVmwj3uxJFuCJqFXbIKNEExkuPglxzoGpxvSAc1fevfoLVzvlQ9Ci-gTz4zs-pPG4RCH2IgatNyoQsdWdxktzW6nUa41XEBmA0BrjjZWW5ZWHgvJlYX1rZlavbtDfFrhkLKM9QdKZivIEU_FvIS9ICw3W0hNIfWBrI71CJEUrWIbccDWrUGEJZQC18pfF1U7JgsjS5YaOTDnZC1Rm7zdoCjCdvQVeDs6pXsrCLAFbXVNjVkokyecM-z0j4DcRoYpfttr7ONLLuVwe6KdN9RCOSi-KKkgc3FZG5qBV8Ati4_2ZW2nZr_TSFoDeeNkXnHu39iJGZWE2C29I20L3jKOis6wmufSep_zt_HH6KfFZnK9warpD8sug_B50lhpVYC8EoSOODdxkdmDQowB7zjYdbiaMsxlF-asI9kyzfjo3lGDEvjEptTNozwbCk3LGqg_c6HK4Ca2WtvFWP6DY354HVHOEfNHPo_u2bHsG-1P3nN3-38aCVqMUl13a3vEIFLwsZUAoMpJj4DvwWDVpKqZBiTZXMFtmIQQw_kE3_p_9gfQpQWL1JoPoVBZT8q36bLSAEhU4tkqhrM1VIB2JjspveOho78YHayBTuiLNIXqM3xBhh_KCiGmACl2q-TkvdqrAlrA7IeigaNwvW2R9ZyLGhU9-XaInmrRjqJkDA-rU1BJky4XfcAxtUGNMMzXMq2ylkzlxhZVQScA1nHZw7bE-7T_gFpkk5pKtJZJmoa3m4HdLeKTAE7qQc3lynvgaE9owtbJoMctwFkDX5a6dN_nh3RbjXxVRkpJmxrnH0knWd3ltrx1wqtc0EsW4fGvCQ6mYtb-Z-7j7vFUrlt0R8bF_GKoX28wpGhR3cjbUdx565RTchgjpJEkQf5x0v28DffJbe0nt2bZkOMdKrnJH0fM4v2W5tstv1kHl_MKkpOk4P1ep6NTPc-91tIlIdeouvYdFCySU40_USP3BD4QumHzhqLSVJ6I88Wf90KeEepE3yWNE7aTY8kk3JHtKsrOcVnoAJ7ds-5wasXZz4X3aUX6XaGzfAr3UXfimSF2Pr9xbPCOhqea-kY7Hqb8Xj9XzdvPrtaiRigQrSpX07BQJYNzOzIFsTU-a4AGmB-o_a3Dw5dQOW9n9KOqQw4xfL0z3z8Fd2JfHgftD6OlUliDuGL-s-L1n3KtnUABusLhHtFIBz61qgz24RKsj23A-BF72n8peOf3aakC9T8wtz03RVC10l_dSMyConuoKESowEqlr8spZ2AW-JxvFQKtlp9fwnYekCDW5N6k1MDhgVym--Xhv1xiRJy3DyupKlIFgffEU2DOK1I2RCSSDSvaXqoHz_AI3r3Lr2h0j1X0dHioHKPhV07Ayg8ol1kHIHuWYjR3K03p4VkukQQIl1PSPEcjvHTGunR2IsV4xy-sjjNRjQ_ujE896b-6RNIHF5VUJOumLKprmhKIg5hISJC-5iybE6CYB_IDZbdVTyI4L14GjYnxOrmK_9b1Zn5qa4kIRabycIZd2qATcg_gvUEEjgE_mNgalqAE8vdswjEsLR2LqFaxl_oH8dOk6joJfPPEGOTYVlj8FWsL3ocJjGo1Jua5wDaRxV2tQDviFMMEkAy_BDLcwr7-nBcIjsV46S2Y7PUKAoImZHaXwXsi7ozafcCGOtO2qk40g42lnbLgYU-k7AUUkSpLVevCK8VlzHD1-VIIw5_8KAKIhwqFx7tsyKLeWfCoJylIx6ekmDw67n27c1q1Nj8740qR-W48RKCsVwa7UK-4ZvOrRc9wZTqgqKtC0e1YzVejR_1-TnV-HrIAak8ArplYNoFLFX7gz0RccG7Ts3rEIch-hMsuV0e9onMSmJMMAmZjKdvNnsOeL2WlRKDv5ptcETJ4r0VuRVsxrFEespN8FW6n33vrxqGCZSvQ9pRUqkk5936hH6D7AgsV_xPr-kMM8ZNbH6SYBYCiiYBmHbD_WpLKVuensOQJhrVSvlZZfPYl8isKrnuABTG80CMbDkiBlKzpwvQHZaalZvqUVDRENzwhu1iAVpQz9EnZwk5Mb-UX0imD0ERyDxN2Hr_B4ZJU0BOeRQZJFmN6-7ekKG49URWPd-JQngt1M8jMTDWBM_BSPmTz9nRzVyv26Xbb_ZQ=",
  "id": "rs_0b2a0c91819856af016ab445f8703087d091093a9617265de7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.035},\"note\":\"The plum again rolled out of the pinch, but the closed right fingertip is directly behind it and the blue bowl is diagonally ahead. I’ll use a continuous low sweep to roll the plum into the blue bowl instead of attempting another grasp.\"}",
  "call_id": "call_cnoCR1dcPQiDi0p9xKcxT4MN",
  "id": "fc_0b2a0c91819856af016ab445fda0a887d090ee50943dc97710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cnoCR1dcPQiDi0p9xKcxT4MN",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.601, 1.2041, 1.2446, -1.2858, -0.1905, -0.5499, 0.0145, 0.4294, 1.7622, 0.8242, -0.0002, 0.3187, 0.2237, 0.0134]\nstate[eef_state]: left_x=0.2234 left_y=-0.1083 left_z=0.1977 left_yaw=-0.0406 left_pitch=-0.6265 left_roll=-0.0047 left_gripper=0.0145 right_x=0.389 right_y=0.1212 right_z=0.0174 right_yaw=0.0065 right_pitch=-0.3075 right_roll=-0.1103 right_gripper=0.0134\nstate[joint_eff]: [-0.4444, -4.5607, 5.8051, 0.9792, -0.1978, -0.0611, -0.0024, -0.4308, -10.3726, 5.2171, 1.8242, 0.1783, 0.0122, 0.4713]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd3eb96a3e7860a27fd2b8e40c12bec128d28838779d35b3a2f59803dc214d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54f550b41257c25a1964469706a82bb5052496c05eb576c764d0ebc97dd35ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6b1a8049bc74a1d91be3fbece295ea32bab882a60e7330b91c1d14a437a479",
      "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]