adhoc

completed
2026-09-23T21:36:00.797520+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
253.2 s
total steps
314
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 right wrist view shows a green fruit very close to the fingertips and slightly to the gripper's right, with a yellow fruit just left of it; the blue bowl is farther ahead. I’ll lower above the green fruit and shift slightly right to center it before grasping.
move_to
right_x0.3000right_y-0.0250right_z0.1000right_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]: [-0.0212, 0.8001, 0.6136, -0.3874, -0.0143, -0.0261, 0.9923, -0.0227, 0.8005, 0.6186, -0.3878, -0.0174, -0.0124, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0001 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9923 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.7299, 9.5658, 1.8681, -0.1148, 0.0806, -0.6325, -0.3077, -1.7162, 9.1556, 1.8388, -0.1148, -0.0366, -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":0.3,"right_y":-0.025,"right_z":0.1,"right_gripper":1.0},"note":"The right wrist view shows a green fruit very close to the fingertips and slightly to the gripper's right, with a yellow fruit just left of it; the blue bowl is farther ahead. I’ll lower above the green fruit and shift slightly right to center it before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green fruit is now centered between the right gripper jaws and fills the lower wrist view, indicating the fingertips are directly over it. I’ll descend to about its mid-height while keeping the horizontal alignment fixed.
move_to
right_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]: [-0.0219, 0.8005, 0.6132, -0.4011, -0.0139, -0.0261, 0.9917, -0.1856, 0.9134, 0.3145, -0.0158, -0.1516, -0.0917, 0.9994] state[eef_state]: left_x=0.2935 left_y=-0.0004 left_z=0.178 left_yaw=-0.0011 left_pitch=-0.0145 left_roll=0.0001 left_gripper=0.9917 right_x=0.2954 right_y=-0.0247 right_z=0.0915 right_yaw=-0.0071 right_pitch=-0.0371 right_roll=0.0131 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.8632, -0.0757, -0.0073, -0.0708, -0.0068, -2.2222, 6.8855, 1.9658, -0.0415, -0.1245, -0.0757] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The green fruit is now centered between the right gripper jaws and fills the lower wrist view, indicating the fingertips are directly over it. I’ll descend to about its mid-height while keeping the horizontal alignment fixed."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe green pear-shaped fruit remains centered between the jaws at table level, with both fingers straddling it. I’ll close the gripper fully to secure 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]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0135, -0.0261, 0.9915, -0.1856, 1.2137, 0.1257, 0.4305, -0.1551, -0.0978, 0.9993] state[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0014 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9915 right_x=0.2891 right_y=-0.0229 right_z=0.0209 right_yaw=-0.0005 right_pitch=-0.0787 right_roll=0.0178 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.4154, 7.0359, 1.8046, -0.022, -0.0366, -0.0317, -0.253, -2.8513, 5.6274, 2.0195, -0.0659, 0.0122, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The green pear-shaped fruit remains centered between the jaws at table level, with both fingers straddling it. I’ll close the gripper fully to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gripper settled at 0.54 rather than nearly closed, confirming a firm grasp around the pear. I’ll lift it well clear of the table before moving it over the blue bowl.
move_to
right_z0.1400
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, 0.8021, 0.6132, -0.4168, -0.0139, -0.0265, 0.9915, -0.1852, 1.214, 0.1253, 0.4263, -0.1551, -0.102, 0.5424] state[eef_state]: left_x=0.2914 left_y=-0.0003 left_z=0.1744 left_yaw=-0.0009 left_pitch=-0.0317 left_roll=0.0001 left_gripper=0.9915 right_x=0.2883 right_y=-0.0226 right_z=0.0198 right_yaw=0.0023 right_pitch=-0.0835 right_roll=0.0154 right_gripper=0.5424 state[joint_eff]: [-0.1436, -1.2376, 7.1726, 1.8046, -0.0806, -0.0757, -0.0122, -0.0752, -2.5915, 5.3402, 1.6825, -0.1392, 0.1587, 3.0452] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper settled at 0.54 rather than nearly closed, confirming a firm grasp around the pear. I’ll lift it well clear of the table before moving it over the blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe lifted pear has moved with the gripper, confirming the grasp; the blue bowl is about 8 cm to the arm's left and several centimetres farther forward. I’ll carry the fruit to a high pose above the bowl.
move_to
right_x0.3500right_y0.0550right_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, 0.8051, 0.6132, -0.424, -0.0139, -0.0265, 0.9914, -0.1852, 0.844, 0.4969, -0.3279, -0.1551, -0.1101, 0.5406] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1721 left_yaw=-0.0009 left_pitch=-0.042 left_roll=0.0004 left_gripper=0.9914 right_x=0.2872 right_y=-0.0224 right_z=0.1297 right_yaw=0.0068 right_pitch=-0.0958 right_roll=0.0114 right_gripper=0.5406 state[joint_eff]: [-0.335, -1.4701, 6.9949, 1.7411, -0.0317, -0.0708, -0.0171, 0.0889, -1.9487, 8.8137, 1.5165, -0.0904, 0.022, -0.2027] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.055,"right_z":0.16},"note":"The lifted pear has moved with the gripper, confirming the grasp; the blue bowl is about 8 cm to the arm's left and several centimetres farther forward. I’ll carry the fruit to a high pose above the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe blue bowl is horizontally centered between the jaws in the wrist view, but there is still visible space between its center and the fingertip convergence point. I’ll advance about 3 cm so the held fruit is directly over the bowl while maintaining clearance.
move_to
right_x0.3750right_y0.0600right_z0.1400
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, -0.4278, -0.0139, -0.0265, 0.9915, 0.2329, 1.1622, 0.7261, -0.2962, 0.1429, 0.1192, 0.5405] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0009 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9915 right_x=0.3404 right_y=0.0586 right_z=0.1416 right_yaw=0.0477 right_pitch=-0.1535 right_roll=-0.0048 right_gripper=0.5405 state[joint_eff]: [-0.2256, -1.4974, 6.9949, 1.707, -0.0806, -0.0659, -0.0073, -0.7043, -3.7675, 9.5658, 1.79, 0.3248, 0.2173, -0.0317] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.06,"right_z":0.14},"note":"The blue bowl is horizontally centered between the jaws in the wrist view, but there is still visible space between its center and the fingertip convergence point. I’ll advance about 3 cm so the held fruit is directly over the bowl while maintaining clearance."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe bowl now fills the lower wrist view and remains centered, so the pear is over its interior. I’ll lower into the bowl to minimize the drop before releasing.
move_to
right_z0.0800
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, 0.8108, 0.6132, -0.4316, -0.0139, -0.0265, 0.9915, 0.2111, 1.3148, 0.7883, -0.2657, 0.1184, 0.094, 0.5404] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9915 right_x=0.3631 right_y=0.0601 right_z=0.1216 right_yaw=0.0586 right_pitch=-0.2156 right_roll=-0.0168 right_gripper=0.5404 state[joint_eff]: [-0.1846, -1.3744, 6.9949, 1.7021, -0.0464, -0.0562, -0.0171, -0.5812, -5.135, 8.9094, 1.7998, 0.0269, 0.0513, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The bowl now fills the lower wrist view and remains centered, so the pear is over its interior. I’ll lower into the bowl to minimize the drop before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe fingertips are now inside the bowl opening, with the held green fruit visible at the right jaw and the bowl directly beneath. I’ll open the gripper to deposit the pear.
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, 0.8127, 0.6132, -0.4347, -0.0139, -0.0261, 0.9914, 0.2131, 1.3861, 0.6659, -0.1013, 0.1154, 0.0933, 0.5404] state[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1679 left_yaw=-0.001 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9914 right_x=0.3579 right_y=0.0603 right_z=0.0754 right_yaw=0.0625 right_pitch=-0.2449 right_roll=-0.0197 right_gripper=0.5404 state[joint_eff]: [-0.1709, -1.2786, 7.1863, 1.7558, -0.0366, -0.0122, -0.0171, -0.4718, -5.1624, 6.1197, 1.7802, 0.0659, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The fingertips are now inside the bowl opening, with the held green fruit visible at the right jaw and the bowl directly beneath. I’ll open the gripper to deposit the pear."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteAfter opening, the green fruit appears beside the bowl's right rim rather than clearly inside, so it may have rolled out. I’ll lift the arm away to expose the overhead view and verify before continuing.
move_to
right_z0.1700
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, -0.4393, -0.0135, -0.0265, 0.9914, 0.2131, 1.3861, 0.6659, -0.104, 0.115, 0.0864, 0.9959] state[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0012 left_pitch=-0.0645 left_roll=0.0006 left_gripper=0.9914 right_x=0.3574 right_y=0.0603 right_z=0.0749 right_yaw=0.0666 right_pitch=-0.2477 right_roll=-0.0247 right_gripper=0.9959 state[joint_eff]: [-0.3487, -1.265, 6.9812, 1.7021, -0.0415, -0.0366, -0.0122, -0.0752, -5.2991, 6.2974, 1.4969, 0.0024, 0.0269, -0.1001] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"After opening, the green fruit appears beside the bowl's right rim rather than clearly inside, so it may have rolled out. I’ll lift the arm away to expose the overhead view and verify before continuing."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe overhead and wrist views confirm the pear rolled to the bowl's right side, while the yellow fruit remains on the left. I’ll move above the pear at the same forward distance as the bowl but about 8 cm to the arm's right for a second, better-centered grasp.
move_to
right_x0.3500right_y-0.0200right_z0.1000right_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, 0.8127, 0.6132, -0.4427, -0.0139, -0.0265, 0.9914, 0.2131, 1.2968, 0.9497, -0.5114, 0.1143, 0.0784, 0.9965] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1663 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0009 left_gripper=0.9914 right_x=0.3553 right_y=0.0599 right_z=0.1535 right_yaw=0.0704 right_pitch=-0.2819 right_roll=-0.0348 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0464, -0.0806, -0.0122, -0.1299, -6.2974, 9.0735, 1.409, 0.0269, 0.0122, 0.0464] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":-0.02,"right_z":0.1,"right_gripper":1.0},"note":"The overhead and wrist views confirm the pear rolled to the bowl's right side, while the yellow fruit remains on the left. I’ll move above the pear at the same forward distance as the bowl but about 8 cm to the arm's right for a second, better-centered grasp."})
tool
executing move_to over 7 steps (0.7s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe pear is now centered between the open jaws, with the blue bowl safely to the left. I’ll descend straight down to grasp the fruit near its middle.
move_to
right_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]: [-0.0219, 0.8127, 0.6132, -0.4465, -0.0135, -0.0265, 0.9914, -0.1215, 1.3037, 0.7399, -0.3199, -0.0925, -0.168, 0.9986] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0011 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.9914 right_x=0.3454 right_y=-0.0221 right_z=0.0964 right_yaw=0.0568 right_pitch=-0.3095 right_roll=-0.0359 right_gripper=0.9986 state[joint_eff]: [-0.3077, -1.306, 7.0496, 1.6874, -0.0122, -0.0513, -0.0073, -0.0068, -4.8342, 6.3385, 1.5995, -0.2076, -0.0757, -0.1538] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The pear is now centered between the open jaws, with the blue bowl safely to the left. I’ll descend straight down to grasp the fruit near its middle."})
tool
executing move_to over 5 steps (0.5s)
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 noteAt the lower pose the pear remains centered and both jaws are alongside it, so the alignment is good. I’ll close around it again.
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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.12, 1.4559, 0.5617, -0.0154, -0.1024, -0.1692, 0.9986] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.341 right_y=-0.0193 right_z=0.0269 right_yaw=0.0693 right_pitch=-0.3336 right_roll=-0.0237 right_gripper=0.9986 state[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6874, -0.0269, -0.0708, -0.0122, -0.2667, -5.2855, 5.6137, 1.5946, 0.0415, -0.0122, -0.0171] 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":"At the lower pose the pear remains centered and both jaws are alongside it, so the alignment is good. I’ll close around it again."})
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 second grasp settled at 0.68, confirming the pear is secure. The prior release was too far right of the bowl, so I’ll carry higher and shift farther left—to y about 0.11—using the overhead separation rather than the partially occluded wrist estimate.
move_to
right_x0.3600right_y0.1100right_z0.1700
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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.1192, 1.4532, 0.5644, 0.0071, -0.1257, -0.1661, 0.6837] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.3467 right_y=-0.0156 right_z=0.0326 right_yaw=0.087 right_pitch=-0.3027 right_roll=-0.0087 right_gripper=0.6837 state[joint_eff]: [-0.1436, -1.2786, 6.9812, 1.7167, -0.0806, -0.0611, -0.0122, -0.2803, -4.9162, 5.5043, 1.2137, 0.149, -0.0513, 0.9109] 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_x":0.36,"right_y":0.11,"right_z":0.17},"note":"The second grasp settled at 0.68, confirming the pear is secure. The prior release was too far right of the bowl, so I’ll carry higher and shift farther left—to y about 0.11—using the overhead separation rather than the partially occluded wrist estimate."})
tool
executing move_to over 11 steps (1.1s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe wrist view reveals why the first release missed: the pear is held off-center near the right jaw, while the bowl is currently under the left jaw. I’ll shift the arm farther left so the bowl center sits beneath the fruit itself, not merely beneath the gripper center.
move_to
right_y0.1900right_x0.3650right_z0.1700
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, 0.8143, 0.6132, -0.4614, -0.0135, -0.0265, 0.9914, 0.3775, 1.383, 1.0763, -0.6193, 0.1719, 0.1883, 0.683] state[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0011 left_pitch=-0.0885 left_roll=0.0011 left_gripper=0.9914 right_x=0.353 right_y=0.1113 right_z=0.1596 right_yaw=0.118 right_pitch=-0.3373 right_roll=-0.0215 right_gripper=0.683 state[joint_eff]: [-0.2393, -1.4564, 6.9675, 1.8095, -0.0269, -0.0464, -0.0122, -0.335, -5.6821, 8.5675, 1.5018, 0.2515, 0.1685, -0.0855] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.19,"right_x":0.365,"right_z":0.17},"note":"The wrist view reveals why the first release missed: the pear is held off-center near the right jaw, while the bowl is currently under the left jaw. I’ll shift the arm farther left so the bowl center sits beneath the fruit itself, not merely beneath the gripper center."})
tool
executing move_to over 7 steps (0.7s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteAfter the 8 cm lateral shift, the bowl moved toward the pear in the wrist view but is still roughly one bowl radius left of the fruit. I’ll shift another 8 cm left to put the bowl opening directly under the off-center-held pear.
move_to
right_y0.2700
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, -0.469, -0.0139, -0.0265, 0.9914, 0.5949, 1.5753, 1.272, -0.7044, 0.281, 0.3439, 0.6829] state[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0008 left_pitch=-0.0973 left_roll=0.0015 left_gripper=0.9914 right_x=0.3575 right_y=0.1871 right_z=0.1575 right_yaw=0.1414 right_pitch=-0.3796 right_roll=-0.0422 right_gripper=0.6829 state[joint_eff]: [-0.1436, -1.4291, 7.159, 1.7216, -0.0562, -0.0415, -0.0073, 0.4855, -6.9675, 9.0325, 1.3407, 0.2222, 0.2418, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.27},"note":"After the 8 cm lateral shift, the bowl moved toward the pear in the wrist view but is still roughly one bowl radius left of the fruit. I’ll shift another 8 cm left to put the bowl opening directly under the off-center-held pear."})
tool
executing move_to over 7 steps (0.7s)
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 blue bowl has now moved directly under the pear's off-center position at the far right jaw; the yellow fruit remains safely outside on the left. I’ll lower the pear into the bowl before opening to prevent another roll-out.
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, 0.8173, 0.6132, -0.4759, -0.0139, -0.0265, 0.9914, 0.7822, 1.7882, 1.4948, -0.7979, 0.3534, 0.4881, 0.6829] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0008 left_pitch=-0.106 left_roll=0.0017 left_gripper=0.9914 right_x=0.351 right_y=0.2676 right_z=0.1473 right_yaw=0.1676 right_pitch=-0.4154 right_roll=-0.0583 right_gripper=0.6829 state[joint_eff]: [-0.0615, -1.4701, 6.9538, 1.6825, -0.0317, -0.0317, -0.0073, 0.1436, -8.6496, 8.9231, 1.1062, 0.3736, 0.1587, -0.0122] 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_z":0.09},"note":"The blue bowl has now moved directly under the pear's off-center position at the far right jaw; the yellow fruit remains safely outside on the left. I’ll lower the pear into the bowl before opening to prevent another roll-out."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteAt the lower pose the bowl rim is immediately beneath the right jaw, where the pear is being held, and the approach remained clear. I’ll release the pear into the bowl now.
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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8214, 1.3132, -0.6056, 0.3435, 0.4866, 0.6829] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3462 right_y=0.2659 right_z=0.089 right_yaw=0.1715 right_pitch=-0.4389 right_roll=-0.0655 right_gripper=0.6829 state[joint_eff]: [-0.1573, -1.3333, 6.9538, 1.6923, -0.0415, -0.0708, -0.0122, -0.1983, -8.7863, 5.9145, 1.326, 0.2271, -0.0464, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"At the lower pose the bowl rim is immediately beneath the right jaw, where the pear is being held, and the approach remained clear. I’ll release the pear into the bowl now."})
tool
executing move_to over 4 steps (0.4s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe gripper opened fully and no fruit is visible between the jaws; the bowl is immediately below the release point. I’ll lift away to verify the pear is in the bowl and then address the remaining fruits.
move_to
right_z0.1800
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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8217, 1.3132, -0.6106, 0.3393, 0.4816, 0.9959] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3451 right_y=0.2657 right_z=0.0881 right_yaw=0.1763 right_pitch=-0.4457 right_roll=-0.0683 right_gripper=0.9959 state[joint_eff]: [-0.3624, -1.265, 6.9538, 1.6239, -0.0269, -0.0562, -0.0122, -0.1026, -9.3607, 6.2701, 1.0769, 0.1636, 0.0415, -0.1685] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The gripper opened fully and no fruit is visible between the jaws; the bowl is immediately below the release point. I’ll lift away to verify the pear is in the bowl and then address the remaining fruits."})
tool
executing move_to over 6 steps (0.6s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteWith the arm lifted, the green pear is no longer on the table and is visible within the blue bowl; two fruits remain: the yellow fruit beside the bowl and a black plum near the white bowl. The yellow fruit is already centered in the right wrist view, so I’ll lower above it for pickup.
move_to
right_x0.3400right_y0.2600right_z0.1000right_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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0265, 0.9914, 0.7834, 1.8076, 1.6146, -0.9493, 0.3359, 0.4786, 0.9965] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0008 left_pitch=-0.1064 left_roll=0.0017 left_gripper=0.9914 right_x=0.3448 right_y=0.2663 right_z=0.1652 right_yaw=0.1744 right_pitch=-0.4667 right_roll=-0.0821 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6337, -0.0269, -0.0513, -0.0122, -0.2667, -10.3316, 7.8291, 0.9744, 0.188, 0.0024, 0.0464] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.26,"right_z":0.1,"right_gripper":1.0},"note":"With the arm lifted, the green pear is no longer on the table and is visible within the blue bowl; two fruits remain: the yellow fruit beside the bowl and a black plum near the white bowl. The yellow fruit is already centered in the right wrist view, so I’ll lower above it for pickup."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe yellow fruit is centered on the gripper column and lies just below the fingertips, with the bowl safely to its right. I’ll descend to the fruit’s mid-height while holding the horizontal pose.
move_to
right_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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0261, 0.9914, 0.7815, 1.7992, 1.343, -0.7151, 0.3355, 0.4713, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.001 left_pitch=-0.1083 left_roll=0.0021 left_gripper=0.9914 right_x=0.3353 right_y=0.2558 right_z=0.097 right_yaw=0.1685 right_pitch=-0.491 right_roll=-0.1046 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6679, -0.0806, -0.0122, -0.0073, -0.1162, -9.1692, 6.2701, 1.2723, 0.0855, 0.0122, -0.1587] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The yellow fruit is centered on the gripper column and lies just below the fingertips, with the bowl safely to its right. I’ll descend to the fruit’s mid-height while holding the horizontal pose."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteBoth jaws now straddle the yellow fruit at table level and it remains centered. I’ll close the gripper to secure 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]: [-0.0219, 0.8211, 0.6132, -0.4877, -0.0139, -0.0265, 0.9914, 0.7826, 1.8931, 1.1664, -0.4686, 0.3359, 0.4713, 0.9986] state[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1554 left_yaw=-0.0007 left_pitch=-0.1217 left_roll=0.002 left_gripper=0.9914 right_x=0.3316 right_y=0.2527 right_z=0.0243 right_yaw=0.1617 right_pitch=-0.5104 right_roll=-0.1207 right_gripper=0.9986 state[joint_eff]: [-0.253, -1.4838, 6.9538, 1.746, -0.0562, -0.0269, -0.0122, -0.1983, -8.9231, 5.4222, 1.2088, 0.1587, -0.0513, -0.022] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"Both jaws now straddle the yellow fruit at table level and it remains centered. I’ll close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow fruit is firmly grasped at a 0.42 gripper reading. It is centered between the jaws, and the bowl lies to the wrist-view right, so I’ll lift and shift about 8 cm in that direction to carry the centered fruit over the bowl.
move_to
right_x0.3600right_y0.1700right_z0.1700
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, 0.8211, 0.6132, -0.4915, -0.0135, -0.0265, 0.9914, 0.7826, 1.8927, 1.1664, -0.4706, 0.337, 0.4637, 0.4246] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1547 left_yaw=-0.001 left_pitch=-0.1255 left_roll=0.0019 left_gripper=0.9914 right_x=0.3315 right_y=0.2523 right_z=0.0243 right_yaw=0.165 right_pitch=-0.5115 right_roll=-0.1269 right_gripper=0.4246 state[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6288, -0.0464, -0.0415, -0.0122, -0.212, -9.4017, 5.7368, 0.9206, 0.149, 0.0317, 1.0232] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.17,"right_z":0.17},"note":"The yellow fruit is firmly grasped at a 0.42 gripper reading. It is centered between the jaws, and the bowl lies to the wrist-view right, so I’ll lift and shift about 8 cm in that direction to carry the centered fruit over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteAt the carry pose the blue bowl is centered directly beneath the gripper, and the grasped fruit is hidden by the wrist as expected; the overhead view shows it being carried over the bowl. I’ll lower into the bowl 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5392, 1.6836, 1.4429, -0.944, 0.2451, 0.2264, 0.4242] state[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3573 right_y=0.168 right_z=0.1507 right_yaw=0.1511 right_pitch=-0.5608 right_roll=-0.1575 right_gripper=0.4242 state[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6484, -0.0415, -0.0073, -0.0122, -0.2256, -10.6872, 8.1983, 0.9451, 0.0366, -0.0171, -0.0513] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"At the carry pose the blue bowl is centered directly beneath the gripper, and the grasped fruit is hidden by the wrist as expected; the overhead view shows it being carried over the bowl. I’ll lower into the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
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 bowl opening fills the center of the wrist view at the lowered pose, while the other visible yellow and green fruits remain outside on either side; this confirms a separate grasped fruit is positioned over the bowl. I’ll open the gripper to deposit 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5404, 1.7096, 1.2327, -0.7341, 0.2455, 0.2234, 0.4242] state[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3518 right_y=0.1652 right_z=0.0885 right_yaw=0.1474 right_pitch=-0.5852 right_roll=-0.1714 right_gripper=0.4242 state[joint_eff]: [-0.0342, -1.2239, 7.0222, 1.6044, -0.0171, -0.0171, -0.0073, -0.2667, -7.4598, 6.0923, 1.1453, 0.1392, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1.0},"note":"The bowl opening fills the center of the wrist view at the lowered pose, while the other visible yellow and green fruits remain outside on either side; this confirms a separate grasped fruit is positioned over the bowl. I’ll open the gripper to deposit it."})
tool
executing move_to over 6 steps (0.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe gripper opened fully over the bowl; the deposited item is not visible from the low wrist angle because the bowl wall blocks its bottom. I’ll lift clear to inspect the bowl and count what remains.
move_to
right_z0.1800
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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5404, 1.7096, 1.2327, -0.7383, 0.2455, 0.2165, 0.9955] state[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.351 right_y=0.1647 right_z=0.0881 right_yaw=0.1507 right_pitch=-0.5898 right_roll=-0.1767 right_gripper=0.9955 state[joint_eff]: [-0.1709, -1.347, 7.0496, 1.6239, -0.0513, -0.0757, -0.0122, -0.2393, -8.1983, 6.4205, 0.8913, 0.105, 0.0171, -0.0904] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The gripper opened fully over the bowl; the deposited item is not visible from the low wrist angle because the bowl wall blocks its bottom. I’ll lift clear to inspect the bowl and count what remains."})
tool
executing move_to over 6 steps (0.6s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe blue bowl is empty and has been shifted to the center; the remaining fruits are the black plum by the white bowl, the yellow fruit left of the blue bowl, and the green pear right of it. I’ll use both arms in parallel, lowering the left over the plum and the right over the pear.
move_to
left_x0.2900left_y-0.2300left_z0.0400left_gripper1.0000right_x0.3500right_y0.0900right_z0.0400right_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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5411, 1.7035, 1.552, -1.079, 0.2375, 0.2157, 0.9964] state[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.3511 right_y=0.1667 right_z=0.1683 right_yaw=0.1555 right_pitch=-0.6068 right_roll=-0.1756 right_gripper=0.9964 state[joint_eff]: [-0.1709, -1.3333, 7.1316, 1.5995, -0.0513, -0.0415, -0.0122, -0.335, -9.1419, 7.6103, 0.9206, 0.1832, -0.0122, 0.0855] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.23,"left_z":0.04,"left_gripper":1.0,"right_x":0.35,"right_y":0.09,"right_z":0.04,"right_gripper":1.0},"note":"The blue bowl is empty and has been shifted to the center; the remaining fruits are the black plum by the white bowl, the yellow fruit left of the blue bowl, and the green pear right of it. I’ll use both arms in parallel, lowering the left over the plum and the right over the pear."})
tool
executing move_to over 21 steps (2.1s)
step 181
assistant
agent noteBoth fruits are well aligned at table level: the plum is centered between the left jaws and the pear is straddled by the right jaws beside the bowl. I’ll close both grippers simultaneously.
move_to
left_gripper0.0000right_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]: [-0.9787, 1.6592, 0.7021, -0.0792, -0.6624, -0.7696, 0.9921, 0.3248, 1.6463, 0.9741, -0.5224, 0.1684, 0.0139, 0.9986] state[eef_state]: left_x=0.2829 left_y=-0.2196 left_z=0.0292 left_yaw=-0.0107 left_pitch=-0.1723 left_roll=0.0393 left_gripper=0.9921 right_x=0.3482 right_y=0.0898 right_z=0.0426 right_yaw=0.1442 right_pitch=-0.6102 right_roll=-0.183 right_gripper=0.9986 state[joint_eff]: [-0.4855, -7.1179, 6.9949, 1.3065, -0.5934, -0.1294, -0.4518, -0.4855, -7.1043, 5.5726, 1.0818, 0.0073, -0.149, -0.1587] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"Both fruits are well aligned at table level: the plum is centered between the left jaws and the pear is straddled by the right jaws beside the bowl. I’ll close both grippers simultaneously."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteBoth grippers closed nearly empty and the fruits remain visible, so the fingertips were a little short of them rather than around them. I’ll reopen and advance each arm about 2.5 cm radially, keeping the low grasp height for one corrected attempt.
move_to
left_gripper1.0000left_x0.3100right_gripper1.0000right_x0.3750
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]: [-0.9821, 1.6699, 0.7048, -0.0822, -0.6575, -0.7784, 0.0094, 0.3248, 1.647, 0.9691, -0.5102, 0.1612, 0.0078, 0.0118] state[eef_state]: left_x=0.2815 left_y=-0.2207 left_z=0.0258 left_yaw=-0.0106 left_pitch=-0.1819 left_roll=0.0396 left_gripper=0.0094 right_x=0.3489 right_y=0.0914 right_z=0.0417 right_yaw=0.1563 right_pitch=-0.6056 right_roll=-0.1764 right_gripper=0.0118 state[joint_eff]: [0.1573, -7.6786, 5.0393, 1.1502, -0.3492, 0.0904, 0.696, -0.294, -7.9111, 5.7641, 1.0818, 0.0952, 0.0415, 0.3394] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.31,"right_gripper":1.0,"right_x":0.375},"note":"Both grippers closed nearly empty and the fruits remain visible, so the fingertips were a little short of them rather than around them. I’ll reopen and advance each arm about 2.5 cm radially, keeping the low grasp height for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteAfter advancing, both fruits now sit squarely between the open fingertips, with the plum centered in the left jaws and the pear centered in the right. I’ll close both grippers again.
move_to
left_gripper0.0000right_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]: [-0.9031, 1.7119, 0.7326, -0.0509, -0.6201, -0.7128, 0.9922, 0.3027, 1.7267, 1.0336, -0.5209, 0.1543, -0.02, 0.9984] state[eef_state]: left_x=0.3024 left_y=-0.2119 left_z=0.0203 left_yaw=0.0068 left_pitch=-0.1993 left_roll=0.0544 left_gripper=0.9922 right_x=0.3632 right_y=0.0887 right_z=0.0333 right_yaw=0.1564 right_pitch=-0.635 right_roll=-0.1865 right_gripper=0.9984 state[joint_eff]: [0.2256, -5.9282, 7.747, 1.37, -0.3101, 0.1734, -0.8132, -0.4855, -7.0359, 8.5128, 1.0134, 0.0317, -0.0073, -0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"After advancing, both fruits now sit squarely between the open fingertips, with the plum centered in the left jaws and the pear centered in the right. I’ll close both grippers again."})
tool
executing move_to over 10 steps (1.0s)
step 211
assistant
agent noteThe rounded fruits slipped forward and both full closes again settled essentially empty; they need a gentler partial closure rather than being squeezed through the jaws. I’ll reopen and advance another 1–2 cm so they sit deeper between the fingers.
move_to
left_gripper1.0000left_x0.3250right_gripper1.0000right_x0.3900
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]: [-0.9035, 1.7153, 0.7322, -0.0483, -0.6125, -0.7147, 0.0094, 0.3046, 1.7058, 1.0, -0.4789, 0.131, -0.0235, 0.0388] state[eef_state]: left_x=0.3017 left_y=-0.213 left_z=0.0186 left_yaw=0.0029 left_pitch=-0.2051 left_roll=0.0498 left_gripper=0.0094 right_x=0.3619 right_y=0.0933 right_z=0.0333 right_yaw=0.1872 right_pitch=-0.609 right_roll=-0.1569 right_gripper=0.0388 state[joint_eff]: [-0.0615, -7.3231, 5.1761, 1.116, -0.3639, -0.0269, 0.6813, -0.1573, -6.4479, 5.4632, 0.9255, 0.5006, 0.0073, 1.1453] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.325,"right_gripper":1.0,"right_x":0.39},"note":"The rounded fruits slipped forward and both full closes again settled essentially empty; they need a gentler partial closure rather than being squeezed through the jaws. I’ll reopen and advance another 1–2 cm so they sit deeper between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe extra advance places the plum deep and centered between the left fingers and the pear between the right fingertips. I’ll use partial closures matched to their widths to hold them without ejecting the rounded fruit.
move_to
left_gripper0.5000right_gripper0.6000
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]: [-0.8474, 1.7508, 0.7578, -0.0399, -0.5835, -0.6724, 0.9917, 0.2874, 1.7832, 1.0782, -0.4934, 0.1184, -0.054, 0.9954] state[eef_state]: left_x=0.3158 left_y=-0.2051 left_z=0.0126 left_yaw=0.0174 left_pitch=-0.2265 left_roll=0.0654 left_gripper=0.9917 right_x=0.3793 right_y=0.0941 right_z=0.0285 right_yaw=0.2019 right_pitch=-0.6265 right_roll=-0.1585 right_gripper=0.9954 state[joint_eff]: [0.4444, -5.9966, 7.4462, 1.4286, -0.2613, 0.0952, -0.6764, -0.9231, -7.241, 7.9521, 1.0476, 0.1197, 0.0171, -0.0904] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.5,"right_gripper":0.6},"note":"The extra advance places the plum deep and centered between the left fingers and the pear between the right fingertips. I’ll use partial closures matched to their widths to hold them without ejecting the rounded fruit."})
tool
executing move_to over 5 steps (0.5s)
step 226
assistant
agent noteThe partial closures have contacted the fruits but they are still visible low between the fingers, so the grip is not yet firm. I’ll tighten modestly—without full closure—to secure both rounded fruits.
move_to
left_gripper0.3500right_gripper0.4500
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]: [-0.8455, 1.7512, 0.7628, -0.0444, -0.5831, -0.6777, 0.5053, 0.2859, 1.7878, 1.0496, -0.4713, 0.1173, -0.0566, 0.6038] state[eef_state]: left_x=0.3167 left_y=-0.2053 left_z=0.0134 left_yaw=0.022 left_pitch=-0.2266 left_roll=0.0614 left_gripper=0.5053 right_x=0.3743 right_y=0.0922 right_z=0.0198 right_yaw=0.2026 right_pitch=-0.6379 right_roll=-0.1595 right_gripper=0.6038 state[joint_eff]: [-0.1709, -7.3504, 4.7111, 1.2186, -0.2759, 0.0611, 0.1978, -0.0615, -10.1265, 5.559, 1.1258, 0.1245, 0.0073, 0.1441] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35,"right_gripper":0.45},"note":"The partial closures have contacted the fruits but they are still visible low between the fingers, so the grip is not yet firm. I’ll tighten modestly—without full closure—to secure both rounded fruits."})
tool
executing move_to over 2 steps (0.2s)
step 228
assistant
agent noteThe jaws are now snug around both fruits at moderate widths, with no evidence of sideways ejection. I’ll lift both arms to test the grasps and clear the table for transport.
move_to
left_z0.1400right_z0.1400
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]: [-0.8482, 1.7512, 0.7628, -0.0479, -0.5686, -0.68, 0.3548, 0.2859, 1.7855, 1.0092, -0.4404, 0.1181, -0.0608, 0.4537] state[eef_state]: left_x=0.3146 left_y=-0.2076 left_z=0.0118 left_yaw=0.0119 left_pitch=-0.2382 left_roll=0.0541 left_gripper=0.3548 right_x=0.3676 right_y=0.0901 right_z=0.011 right_yaw=0.2042 right_pitch=-0.6454 right_roll=-0.163 right_gripper=0.4537 state[joint_eff]: [-0.0342, -7.5419, 5.1077, 1.1502, -0.4567, -0.0024, -0.0073, -0.0615, -9.9487, 5.4359, 1.2625, 0.0708, 0.0073, -0.1343] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14,"right_z":0.14},"note":"The jaws are now snug around both fruits at moderate widths, with no evidence of sideways ejection. I’ll lift both arms to test the grasps and clear the table for transport."})
tool
executing move_to over 9 steps (0.9s)
step 237
assistant
agent noteThe lift exposed both fruits still on the table, confirming they were short of the actual grasp points despite appearing between the jaw images. I’ll reopen, advance roughly 4 cm farther, and descend so the fingertips—not just the camera view—reach them.
move_to
left_x0.3550left_z0.0200left_gripper1.0000right_x0.4150right_z0.0300right_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]: [-0.8482, 1.5318, 1.055, -0.5781, -0.561, -0.6815, 0.3532, 0.2859, 1.636, 1.3098, -0.8703, 0.1177, -0.0647, 0.4537] state[eef_state]: left_x=0.3134 left_y=-0.2079 left_z=0.1257 left_yaw=0.0114 left_pitch=-0.2554 left_roll=0.0632 left_gripper=0.3532 right_x=0.3677 right_y=0.0902 right_z=0.1254 right_yaw=0.2083 right_pitch=-0.6256 right_roll=-0.1623 right_gripper=0.4537 state[joint_eff]: [0.0068, -7.8838, 8.5265, 1.0623, -0.3639, -0.0269, -0.1783, 0.1299, -9.4838, 7.9658, 0.8474, 0.0415, -0.0317, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_z":0.02,"left_gripper":1.0,"right_x":0.415,"right_z":0.03,"right_gripper":1.0},"note":"The lift exposed both fruits still on the table, confirming they were short of the actual grasp points despite appearing between the jaw images. I’ll reopen, advance roughly 4 cm farther, and descend so the fingertips—not just the camera view—reach them."})
tool
executing move_to over 7 steps (0.7s)
step 244
assistant
agent noteThe plum now fills the space deep between the left fingertips, and the pear has disappeared below the right wrist camera at the grasp point, indicating both are finally reached. I’ll close only to their approximate widths to avoid squeezing them out.
move_to
left_gripper0.3500right_gripper0.5000
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]: [-0.7551, 1.8217, 0.8993, -0.1101, -0.5068, -0.6018, 0.9921, 0.2523, 1.8828, 1.1988, -0.5198, 0.102, -0.1066, 0.9986] state[eef_state]: left_x=0.3499 left_y=-0.2067 left_z=0.0161 left_yaw=0.0193 left_pitch=-0.2767 left_roll=0.0682 left_gripper=0.9921 right_x=0.4074 right_y=0.0902 right_z=0.0257 right_yaw=0.2184 right_pitch=-0.6374 right_roll=-0.1638 right_gripper=0.9986 state[joint_eff]: [0.1299, -8.4991, 5.4632, 1.4335, -0.3101, 0.1148, -0.5055, -0.5949, -9.7436, 6.0376, 1.3065, 0.0464, -0.0024, -0.1587] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35,"right_gripper":0.5},"note":"The plum now fills the space deep between the left fingertips, and the pear has disappeared below the right wrist camera at the grasp point, indicating both are finally reached. I’ll close only to their approximate widths to avoid squeezing them out."})
tool
executing move_to over 7 steps (0.7s)
step 251
assistant
agent noteThe left gripper stopped at 0.54 above its tighter command, confirming a solid plum grasp; the right jaws are closed around the pear at its expected width. I’ll lift both fruits and verify they move.
move_to
left_z0.1400right_z0.1400
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]: [-0.7559, 1.8217, 0.8989, -0.115, -0.5068, -0.6022, 0.5399, 0.2523, 1.8801, 1.1542, -0.4805, 0.1013, -0.1139, 0.5033] state[eef_state]: left_x=0.3489 left_y=-0.2062 left_z=0.0154 left_yaw=0.0198 left_pitch=-0.2805 left_roll=0.0718 left_gripper=0.5399 right_x=0.4015 right_y=0.0888 right_z=0.0162 right_yaw=0.2239 right_pitch=-0.6407 right_roll=-0.1663 right_gripper=0.5033 state[joint_eff]: [-0.1436, -8.294, 5.3812, 1.1941, -0.2808, -0.0366, 0.8962, 0.1162, -10.9744, 5.5453, 1.1697, 0.0757, 0.0415, 0.0757] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14,"right_z":0.14},"note":"The left gripper stopped at 0.54 above its tighter command, confirming a solid plum grasp; the right jaws are closed around the pear at its expected width. I’ll lift both fruits and verify they move."})
tool
executing move_to over 9 steps (0.9s)
step 260
assistant
agent noteBoth fruits lifted with the grippers—the plum and pear moved off the table. I’ll bring the left-held plum low over the blue bowl while keeping the right-held pear higher on the opposite side to maintain arm separation.
move_to
left_x0.3600left_y-0.3800left_z0.1100right_x0.4000right_y0.1700right_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]: [-0.7567, 1.6539, 1.161, -0.5732, -0.4995, -0.6102, 0.543, 0.2531, 1.7676, 1.417, -0.8528, 0.0994, -0.1211, 0.5028] state[eef_state]: left_x=0.3478 left_y=-0.207 left_z=0.1151 left_yaw=0.0246 left_pitch=-0.3047 left_roll=0.0824 left_gripper=0.543 right_x=0.401 right_y=0.0893 right_z=0.1138 right_yaw=0.2315 right_pitch=-0.6384 right_roll=-0.1672 right_gripper=0.5028 state[joint_eff]: [-0.0479, -10.2222, 8.9915, 1.1551, -0.4127, 0.0513, 0.3053, -0.335, -11.7265, 8.7863, 1.0525, 0.0757, 0.0708, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.38,"left_z":0.11,"right_x":0.4,"right_y":0.17,"right_z":0.2},"note":"Both fruits lifted with the grippers—the plum and pear moved off the table. I’ll bring the left-held plum low over the blue bowl while keeping the right-held pear higher on the opposite side to maintain arm separation."})
tool
executing move_to over 16 steps (1.6s)
step 276
assistant
agent noteThe left arm is at its cross-table limit with the plum beside the bowl, so it cannot center farther; I’ll hold it there. The pear is above the bowl’s right side, so I’ll shift the right arm left and lower the pear into the opening.
move_to
right_y0.2300right_z0.1000left_y-0.4000
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]: [-0.9962, 2.2253, 1.9255, -0.9222, -0.5884, -0.8806, 0.5458, 0.4557, 1.8668, 1.8439, -1.2064, 0.1802, 0.0372, 0.5027] state[eef_state]: left_x=0.3606 left_y=-0.37 left_z=0.1026 left_yaw=0.0329 left_pitch=-0.3261 left_roll=0.085 left_gripper=0.5458 right_x=0.3939 right_y=0.1618 right_z=0.1893 right_yaw=0.243 right_pitch=-0.6397 right_roll=-0.194 right_gripper=0.5027 state[joint_eff]: [-1.3607, -12.0547, 8.5265, 0.7204, -0.5299, 0.0757, 0.2759, 0.7043, -8.5812, 9.0325, 1.1844, 0.0806, 0.315, -0.022] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.23,"right_z":0.1,"left_y":-0.4},"note":"The left arm is at its cross-table limit with the plum beside the bowl, so it cannot center farther; I’ll hold it there. The pear is above the bowl’s right side, so I’ll shift the right arm left and lower the pear into the opening."})
tool
executing move_to over 6 steps (0.6s)
step 282
assistant
agent noteThe right gripper is now centered over the blue bowl opening, with the pear hidden directly below the fingertips; the arms’ close proximity limited the final descent but the bowl is beneath it. I’ll release the pear into the bowl.
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]: [-0.9928, 2.3699, 2.0705, -1.1442, -0.5842, -0.9508, 0.5481, 0.5327, 1.9003, 1.6424, -0.9825, 0.3462, 0.1261, 0.5026] state[eef_state]: left_x=0.3515 left_y=-0.3539 left_z=0.0656 left_yaw=0.1533 left_pitch=-0.4271 left_roll=0.25 left_gripper=0.5481 right_x=0.4026 right_y=0.172 right_z=0.134 right_yaw=0.1011 right_pitch=-0.5875 right_roll=-0.338 right_gripper=0.5026 state[joint_eff]: [-2.988, -14.3795, 12.1231, 1.9853, -0.4469, 0.3687, 0.2271, 6.3385, -4.4786, 3.7949, 1.8388, -1.2625, 0.5006, -0.0269] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The right gripper is now centered over the blue bowl opening, with the pear hidden directly below the fingertips; the arms’ close proximity limited the final descent but the bowl is beneath it. I’ll release the pear into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 287
assistant
agent noteThe pear rolled out again and the arms are crowding each other, while the left still securely holds the plum. I’ll separate the arms, carrying the plum toward the large white bowl and parking the right arm high to clear the workspace.
move_to
left_x0.3400left_y-0.0500left_z0.1600right_x0.3000right_y0.0000right_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]: [-0.9829, 2.3783, 2.0735, -1.2079, -0.598, -0.9665, 0.5496, 0.5072, 1.9026, 1.6566, -0.9981, 0.4, 0.115, 0.9946] state[eef_state]: left_x=0.3491 left_y=-0.338 left_z=0.0627 left_yaw=0.2054 left_pitch=-0.4393 left_roll=0.3165 left_gripper=0.5496 right_x=0.41 right_y=0.1532 right_z=0.1398 right_yaw=0.0337 right_pitch=-0.5709 right_roll=-0.4004 right_gripper=0.9946 state[joint_eff]: [-0.6496, -13.9009, 5.5726, 1.0085, -0.2418, 0.1636, 0.1392, 1.7709, -10.0855, 5.1487, 1.0379, -0.3736, 0.0513, -0.1245] approver: 2 step(s) modified (delta_clamped ×2). 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":0.34,"left_y":-0.05,"left_z":0.16,"right_x":0.3,"right_y":0.0,"right_z":0.2},"note":"The pear rolled out again and the arms are crowding each other, while the left still securely holds the plum. I’ll separate the arms, carrying the plum toward the large white bowl and parking the right arm high to clear the workspace."})
tool
executing move_to over 26 steps (2.6s)
step 313
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]: [-0.4, 1.4906, 1.2068, -0.9157, -0.4656, -0.3431, 0.5509, 0.1482, 1.314, 1.2625, -1.0878, 0.2722, -0.2218, 0.995] state[eef_state]: left_x=0.3394 left_y=-0.0535 left_z=0.1519 left_yaw=0.2391 left_pitch=-0.4542 left_roll=0.319 left_gripper=0.5509 right_x=0.3043 right_y=0.001 right_z=0.1966 right_yaw=0.0156 right_pitch=-0.5777 right_roll=-0.4031 right_gripper=0.995 state[joint_eff]: [0.212, -8.0068, 6.0513, 0.9646, -0.2662, 0.0659, 0.1245, -0.212, -6.0786, 5.6547, 0.9841, 0.0562, -0.0366, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [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 · 11.98 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, -0.3874, -0.0143, -0.0261, 0.9923, -0.0227, 0.8005, 0.6186, -0.3878, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0001 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9923 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.7299, 9.5658, 1.8681, -0.1148, 0.0806, -0.6325, -0.3077, -1.7162, 9.1556, 1.8388, -0.1148, -0.0366, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784bfe249ad412a1e836f626de3fcd2019d5236475b27997d3d51895109da504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0736cdbad24918d12a3fdcf9b356c03d2f7b3d3caa41ca97586d0b7768f262c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b700c7ab6d64cbeb147a523dc854a868c53f8457c2b26e2199699fecd6a9e62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.329 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0f35c9a461941012016ab446503f9c87d08a861bea7b2cc03f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZaKB7zlUfb0jFopgDThBViPAa-ybwJ-77klz4eMHefl-RTX-dVkjK4l5jDJfL8XcfzQWEjY6JPl8ol_pfkGkP6kQfoxej8HEHcYizbCVmx_8-NaCFQuQVhDDvvb7tvdGVEXBZzFnljp2JCN_NbtoSOpaoO7NpNuLt4aZ5HdsLBohpiFzfdNwREK8EQuOvt6q5phWirED7sq5HYoTcRxazaxg4K-MyW4yiRcrMycVEcygEnWVtbFgv2ZeoN15Cpgfr3e5J473r_skyYOJkQ73iq97ZoP9MQNmo89iIABVKtJ1r5VDtM8SpMAyCLmASyx75OwlCbYMQc0bpiddNYvN_T6BAjK_tzHpZ997Z3HHwLWs0oXHWGZwysN1D2_PCuox4BDtelHNm0ifSLepjF9Vc_5dGSHrMb2QGodH0udPwoAARJvV7tmFq8Cmq8mSg78t76b2a8usB0l_JKFG3YV4UsXb_npBHIhgsPbJUpBs0JvmdPd0UFyqzn0DKmnttcghs3oa-bsqEtklXFKj8LiZ4f7QDl0Lo6w1Jg39bS70WLUFvos6sxOcMhQsoqziz_MrXwOd7nzFYOaCMPLywQCQHDqZM5SUnRz-bKRJjvATfIStoIyGYU5_Skcy3ras8iI1aZVNzcH0I87KbaNCVvJIiVcbfEHkDFPUfPyhABJ0RLBLu3MZgEssdMumy0_vEWXuq9sqggL41fTo9c10aUIje3Fv7p-DRrxME8QQRYPZ8RELcvRYmpeoueiFL3oBX1ocG1ywbMi3MHkLjDRRJao2vUjANwsmIWdt0c3hyQhL1_wHuDKfpaWj9gF83HTziNRgQ4Hsdjvi7OTtr8P3QDP5wAaEFaP7FV98U1C97oV-5EgGfDu9wG8dMStQonvRTwi6VtIJ36DHDBxN1Vz8-tC-xrhQbaVR53VIaSibZ85kQQltWQewMyo7kmAhQ8kJR0ngKpzCHcafoL8B7UHFFPBrKhh1_YBYMp3mjzCc08-BDo6ei9iCYx_EtbVaRfxtqWfWR3yWnC60GfrHkMavsAycBc1yisniM1kUo4p8UyE3RXW7120Dm4ranPy_x76w9Y4xj2sZHZ1dNwYC95ZWldfAzPDL2zHkrhMOZrK-5gXQK8Rm5zVHAbV_i_Ji76j0EsvVeJN0ljLDXYUuQk4ZQQdWwr_n6sDv1sLu2cNGEmKfDs6YUEJlT1DwMsTiU1u9ec4LcRyBw4cd_aJJTQ3kh2igExcuxqHhQ3m58yNdSNlk5iIku7IV89Em8na4Dy5gyeMH7qy9Mm0eS11QjzZ0GFXKuW0AAfXVpQ2AfvyIhcIFBtlJmTfO0XMoSiKmwyq471g-TJKxlk2syVIzbK74Ix8DP3psCnx6KNeNEi_POv9zeAlfaS0fWAzNEqMg9d5siAEWB0f3WY_yjLUdf4TlHgf0K76TAuqHMIzwbtHTAbvoFR51IoP-_CKA-qxuv8mEI9Cpa_hotF4C-LymUsaxpENnC3XScs0s3LBeGFHTcmp8kkB4So5_WskZWax0twA4j51ZWa5rNU1qDA6XFigU73Tw4jUk3uhm0NYx5dAOm6h0Sb1Gbrd7LmkAQ31PMBwHyMNpprpSD-ILxaRcqrmx9aJupHlALEtDGyXr50qGl0p-hPLnxWB3G0esTBc-iohXPcz65YwfNALa_-Y9gyau364ck1eJKkwqAJbquyr2hFXaGyvkk-MdddKJEmrvNTPez6NMKLH_cri7HfxeOIdJ5Sy-thI74MIVzcnhhLkMI_78KRipt8jU_fIYEnbhVTgrpvJ3zSg2BfDLcdnGRAUH1jIRJs4RKbIElMWMgK39jt2Afk0-k5AlhSAFVWIZe0cqNSiDzyFz68iCb2HtZlvk5aukYIsGO9UCOg2ycFcrxcQcCCxUvWIZ9oH6-nxDYyCXGutgTGP1z3vQ0lhz0DzVOFBxhx-lGjbqwuynQ4K01v0RIKku0me0h8ZzkBqXQtQbR_XeppjTq1sAbXitAifJEnhJthZp6d0R8XNK-nJ5usolqwZi4DDIG662DoF_nNGlFAx7vJC1S4QZi45HTNHykmGGZbp-WlXddPqDrQq4DPyDCbhzvFbbDwHYDR5HIs0O1Obrvr5u3-EzFy1YQ_c2Ddu0-dQmGcfeN7TwQO_MysutSAcJEngUTfsOQjcJfmQaJ3Qpxwlem0qm7qFUHYvmeNEHpJH3bSj4hlefmnHo54QDmpUGex2pSbc_KG5uBc50myl7bps7F50WfJ5dkEjINSGnBSpCNwM81lzrGKl2F3SyYN6E7_1Re_OpzK3NlQ7dNY_LupKIOms6JXIKFe30jOdVGvD9rISzg8BrPBy7ixAbcsk7OKPQ0873lMNY4T3wwDg9M-l6qbR5KiDGK1J4e2U2FIiuCPc8-xpTtFxc2VhF6eYB5-Bk_JoCD14oWZX-3RI4k9-tRbZquXmhPY2HSr93AgUcPxp01U03E-e30eq5q879eVF2MDdwYwKyfqLXw8laYg_3xYyGh07MKvSu0OEWZMdr-m8ntxEmJuu1TtF7b0Zgu1gC5DpgOeSxvS5FBZhVsTleh1rfOQPWD8SuTU8FqbYlH8ZMxonZ4X0vJd_LDKdfzQEiwMuTDejec0f_E8JM3yD6fXK3KVX7K6zZmJqdVJzU9hI7Hk7nRrxVFyc8XQrn-fDd4RlaB7yXJFG60jZy6GaKx7eNAH3IKlTxFsipgeTbaL_XX_OPR5WTY1IfjKfFJLEagsbdYxZ1TGkRIsiL5jKU6vqkeRqSxDNsmZZnkWjc1AeqHJ6qwVIlekpOcOkXYMiPigRPN4PeD8WLw89ibFMqBFZCF4Jd9v-5X2TrrHzPSdoE4i2DDLOBUA7_QG4FNe-6L1cfKeoG792pLpmSfJw7QnE9v90EhKYYWCg8BgVV26zGFWhJno2ruNc21AozOPhX-bEno-QxrpNvn5S3nIZ-2rY8rT8PyTmyC02sdlZpQY0NxSngZ7v1ohLWXCqABF_OWi4KnpLL3brnCTU_SSi516bP-2XwlO9gkhh10ocZ3TDbinNUnAFurFmXvbGbwiPf4BIoeCFm49pf7eT6yCxT72RLggvFqZcV-pbfn9f4lvJtGGTYpToc4ixlVKj_wvDGP7LCGSNc8BCCz1seqJ51P-a5ukIHetpAguEyjpzLss0PgdnwEaX4S4Luklo5CiHbl0HmKlBiwEfLDDAYeQFsMtcOSFJmD1UM1Ex5G1lY0sxhbcAt0kEMHc2tZit5YhWowvLd_Hmz4eYtN8udVN6wy9NlVtl4HlPg2ThWpB8AlkMSsdHcgB5fYZAhJ35Fc75MDQyeXEbZYf8zC-1HpuDSWz5wK6Td8bVapV9Pwv2kXRpTmsIC7boVsjHImvUgZWijwAmHnSu0gFohCzSa55bXMSk7RK9NMKqVRGJdwhmS5e-YyAsnV7mUtbs6zbgBc6nA-46FKgfaDtfneNe2mGQ3Ng2R_v4OxRixpXBscJ2vPQMMnahj1zplLxq4BNNtRjl6mLi8Aj41cDk2KIgPNIsuia0nfdMtz-FMO4gm0SgMJ_rbsKmQfjf9C87yqRoztNZ-1CPlGU8Cm6Su6iW-8LjuDIkjD55NlODoKMmHN4uu3dz3HbJjyvvJneM0m7alFuCCEKfcvj6_kyH0pbfQ_hOm87XWu7OvmHfy9c6iFil2ca7yqZTmDjC9ovoukncw92l8aA4d_MZ_l3UT1I-lzFFnrlFeTy5Smp-KAuB0I3bOJXeMirb7G8m_QVgRGG9I6iLeBbUF5mjJSusDFiAEZBFU0siiurdd8qfd06v15vt744Uyshe502tmI-lLoVE7CQBdDEODf-DEZA_huNTnd42do4M1hqo9n7bcpiuwBqpw==",
  "id": "rs_0f35c9a461941012016ab446550ad487d0b1dd48c60ab6094f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":-0.025,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The right wrist view shows a green fruit very close to the fingertips and slightly to the gripper's right, with a yellow fruit just left of it; the blue bowl is farther ahead. I’ll lower above the green fruit and shift slightly right to center it before grasping.\"}",
  "call_id": "call_Bx8WPQ4xoug38pfEoqk0ZsRY",
  "id": "fc_0f35c9a461941012016ab44659c52c87d0acbe512b90f2ff60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bx8WPQ4xoug38pfEoqk0ZsRY",
  "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, 0.8005, 0.6132, -0.4011, -0.0139, -0.0261, 0.9917, -0.1856, 0.9134, 0.3145, -0.0158, -0.1516, -0.0917, 0.9994]\nstate[eef_state]: left_x=0.2935 left_y=-0.0004 left_z=0.178 left_yaw=-0.0011 left_pitch=-0.0145 left_roll=0.0001 left_gripper=0.9917 right_x=0.2954 right_y=-0.0247 right_z=0.0915 right_yaw=-0.0071 right_pitch=-0.0371 right_roll=0.0131 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.8632, -0.0757, -0.0073, -0.0708, -0.0068, -2.2222, 6.8855, 1.9658, -0.0415, -0.1245, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a74e0367938675e50dec2c23daba07b422ae48b2502f3c07f6bc8a356e4450e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b581dba02f48ccd1efc348bf993f2c3d0e6621056524e58b1d3b3406f7cc52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2913275b198471580fcd85d6162294fb395d87eed6f5df39be6707d16d2b9e3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.345 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, -0.3874, -0.0143, -0.0261, 0.9923, -0.0227, 0.8005, 0.6186, -0.3878, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0001 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9923 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.7299, 9.5658, 1.8681, -0.1148, 0.0806, -0.6325, -0.3077, -1.7162, 9.1556, 1.8388, -0.1148, -0.0366, -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, 0.8005, 0.6132, -0.4011, -0.0139, -0.0261, 0.9917, -0.1856, 0.9134, 0.3145, -0.0158, -0.1516, -0.0917, 0.9994]\nstate[eef_state]: left_x=0.2935 left_y=-0.0004 left_z=0.178 left_yaw=-0.0011 left_pitch=-0.0145 left_roll=0.0001 left_gripper=0.9917 right_x=0.2954 right_y=-0.0247 right_z=0.0915 right_yaw=-0.0071 right_pitch=-0.0371 right_roll=0.0131 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.8632, -0.0757, -0.0073, -0.0708, -0.0068, -2.2222, 6.8855, 1.9658, -0.0415, -0.1245, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a74e0367938675e50dec2c23daba07b422ae48b2502f3c07f6bc8a356e4450e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b581dba02f48ccd1efc348bf993f2c3d0e6621056524e58b1d3b3406f7cc52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2913275b198471580fcd85d6162294fb395d87eed6f5df39be6707d16d2b9e3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZgu-D4hg0eUmIVWTtIV08GByPk7wiEhvZacKt-4wP3ZIAEUKhtd2ITnfERBsnbN9bD_432hwGWgVMuqkBfw46MuX8ztz4Lmtdd17KtN20doa2dZUv-vFxyj3iHqEzahoYrNM0jid52-Ino3E7_tyU3qnaGKrWFtX3IJfkOZxcSmt3r_GN-2cb8ijWlvncjX10vrXFV-IIqd2jJuC7LYi2-FT2u5LEwxon1l_7GZvk55nYwj9RoHcOZlo-DbpY2mj7IT-1wFGJNs2YzoCWWS9ZivVsNygvnu5GEyrty04Fdis69vdFeaPKlagAWgSmcpmHMuvZ7w3Ev0lOrT7WR1nuF1BQntUB49h4YtTHkRaTOLi_LQ48hsZk3aVZKHiVipX0OJaq03TwFiDkKBXa2iG0Ws9zzoVjSE2-enwPmdYTzZra4z7U6hrFoAwAnybGDe1pzEhQbBICxLHX--Px94BEW2xWcRwPP9YSqKle730g3ZFpDhHmGQzXaV683gGgB7xyxe4Jk_E4U9BnJRNWIPzLfGtwz6IuKSNTsIrKiTptAUrmQ2AnCc4k-bhDHdJH8zLkdv28Z8FC_YoR5SvmdRXFCfkKl8Sstk7PkP6yq3JXP1dv_cN-uaODd_4qTpcO0A-HHBtGf5d6OmmyhHjLC3VzbtVUhfgxha2CQgajoMXwg8D4DDrsBYy05OTZZXma21_WgMR7tvZlBM1B8SzoacHadKMzGtCJnDONAHNjsj3_oXvz0aCpEtJlPcQ2IySmkJGfWPGZcTpNy-05XoVbcjWyvISkXrIfdEXvlQFgrxh2iFWRmaUHbhYWo844ju1WUJeQwvPlXy2a__1w6MtSlGYTryPpAG22K6dE0nQJzZVbLQtSLMLmwNGl-FYhNx40hO4LzaSYAqkTDS9mi9OqssDzoIzCQcUDqG-DTrq2OUnClAW2yQ8VeFRVTUnCL_CjYkPE6j0-e3KLDMW4a0mWZicit1_ntwf-mh8AQPCB9ezugrPn9jPfmFRkSgIBggOAlWePvIadBgKB4857Sks7jLLfoRzO4QtZngrDb657GHuaSq99nSuZ9EexVM5bwRgnWhU1E4lVjaCxk6dLCFRS8aPazdOMIKO2eBOobRORgzvU2_E7QYkdfJhh2f96jSG4MH1pkUz1QtkNPJsOzd8-iQmNHtxtqvk1Y6VtijVzWmgxGJ0ySF0slTZiAJiqRuKN294JW4rSuglr8Uj5p9gLWQkgz0hM1C9GEeNar_2Bfi_vFA-SH6oUNqjdbK_vY9wpyqthGdGgiUEfLYdPEijciDeqANbPehuDnmCmF7cZ8ls6DhMVWkqRHdQC60eUEHASfmxMzD5C3Zo4SPRLiSXDF0DoavsDaAXolMlgsCT6v6TSiuYxJDgPl1Ei40ysssmN00WxtLUXYGG518nHWfEtlXoEhhcIisUR4J_gGc8A6xXSZs5hWsuob-qV3PoACgy_YeFjVggj8ftXR2J1JiojACCIuQBCNPuIOl12AEftB3bDpRZ4ayQfBJ8_t3qJmhQDkl9EYTwQ76vKa8epQBTUTQlvAvVCiH8mmVQ08gXO_yOF643rdoxUMw6xSmQWVyWCzAp8agyGI3LjQ6Qj3AuPZoRFAFdxUSpiUdFznzC67aS8rxFBKp9Q0q7A7bhroZnCJgQFiNp8md7HIQTqYc_ibW7oicw==",
  "id": "rs_0f35c9a461941012016ab4465f1b1087d0a9c9e61c5bfce40f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The green fruit is now centered between the right gripper jaws and fills the lower wrist view, indicating the fingertips are directly over it. I’ll descend to about its mid-height while keeping the horizontal alignment fixed.\"}",
  "call_id": "call_Yq6FX5WUmivDaHJ9iQ1RYQZI",
  "id": "fc_0f35c9a461941012016ab4466032dc87d091cff8df04f86a4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yq6FX5WUmivDaHJ9iQ1RYQZI",
  "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, 0.8021, 0.6132, -0.4084, -0.0135, -0.0261, 0.9915, -0.1856, 1.2137, 0.1257, 0.4305, -0.1551, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0014 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9915 right_x=0.2891 right_y=-0.0229 right_z=0.0209 right_yaw=-0.0005 right_pitch=-0.0787 right_roll=0.0178 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0359, 1.8046, -0.022, -0.0366, -0.0317, -0.253, -2.8513, 5.6274, 2.0195, -0.0659, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1447f4a7a23175cdbb7f6b4f910eae1e43fd627dd5bdca2419f8e4f4e0d082b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f197c19fbb58baa78c99d394215ddb4a6f56c1e0ed17564a4c7183cc5e9b27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d155d9da141204d5d2eaef54ff2fa6d31493f60ce0f0d3476924096c2f469974",
      "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 · 2.454 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, 0.8005, 0.6132, -0.4011, -0.0139, -0.0261, 0.9917, -0.1856, 0.9134, 0.3145, -0.0158, -0.1516, -0.0917, 0.9994]\nstate[eef_state]: left_x=0.2935 left_y=-0.0004 left_z=0.178 left_yaw=-0.0011 left_pitch=-0.0145 left_roll=0.0001 left_gripper=0.9917 right_x=0.2954 right_y=-0.0247 right_z=0.0915 right_yaw=-0.0071 right_pitch=-0.0371 right_roll=0.0131 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.8632, -0.0757, -0.0073, -0.0708, -0.0068, -2.2222, 6.8855, 1.9658, -0.0415, -0.1245, -0.0757]",
      "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, 0.8021, 0.6132, -0.4084, -0.0135, -0.0261, 0.9915, -0.1856, 1.2137, 0.1257, 0.4305, -0.1551, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0014 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9915 right_x=0.2891 right_y=-0.0229 right_z=0.0209 right_yaw=-0.0005 right_pitch=-0.0787 right_roll=0.0178 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0359, 1.8046, -0.022, -0.0366, -0.0317, -0.253, -2.8513, 5.6274, 2.0195, -0.0659, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1447f4a7a23175cdbb7f6b4f910eae1e43fd627dd5bdca2419f8e4f4e0d082b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f197c19fbb58baa78c99d394215ddb4a6f56c1e0ed17564a4c7183cc5e9b27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d155d9da141204d5d2eaef54ff2fa6d31493f60ce0f0d3476924096c2f469974",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZnUv45NGX-2Wms5frjgzL5CVah3zGSbQKv31U208DMVp1o_veakYlgby5QfsLA96BgAKlyhP56ACWsmoy6mUkl7BKVCH79ycqw_-vAJwKa6P_-sZA4zj6ovEudwj9NIJya0yFsiwBpYL2qktrTCF9lObPW1O85AGi9LF-lBl9BWLPSqBamyKGC_oP2cO6aM-SvQs6IUClpQ875m3YYJPBPq_2tXInmbmFIIQwmJp2YdH0dalO5sJ_wUA_E3c2S_i3Ued1u8hryBU6fac46wnDA8oXi3v_YxMRPknCLee3rERCCXScIvvvSiaPUk7rG0wv802ulWw_NJIojrwP0UWv7qOyzZS2KGeZFJlkuQvkmSDlG4eWOYjMwjLE2Zy7b-wr9WRCnDChjOStpIOtM_e2fHtMa9rAvAW4Dl6AorojUmT_W7KxpjYxSu1x4h-4fAW8Hw59tBB2XR4R1z31HUNtChVDy-ZrtBTuueP5I_eSpO-FfhgD239f_zNVyJJJ3ZKi8qAtg8Sgq_En6_73u2CUWGsXall19Gy3UQAc57SicesXSn0y6t2IZ43flFoVFJ9XIGz4g7Du_Wn67ZbL3vE2iTQ9ejjgC-uCaYKrQ31ZcOLESIgkLZg-Rm7XOq0whQVogxqrwfXAL09rtvKOFxJedsaVQdTi3noYV2uuUdeenzg-9ZUFDKhnHda12bwlzmDIfYlhvzt0IWIpzncOKI66xisaYVdhkjHFZC30n7bIQIPJFFY4DmXvaJ2Qc_cc5vKTrFLtTcDHT5QFMgBQ9NLvfQQyzuLHDtTVfyXdytkBtmrBVyz5b4ecrEXU2VqPRIOUVptCitE5szoFiXkDJ6gJ_j1U5qrtSw2MSVrCXedBskWzjPYab8ON16n-FVVKwPB71VCsXXvnA1yWWhfRIkPX_0YiWrN4as6jB-2DRWqeN5myd48KSEP1lTvMbRcYnDcoLKaLoRkRtHh4n_6_SFgioVM7DRld4SYqQPSrUU3QPRewytgSyKWB9K1WyNUzu6Y8FJ_7C1-JokUV3pzvZum1UYEJuiG2rA-ztBeinbZe9vT2InHGAUHUJAY9Nqc_xdFxxvP1nM48a2UnpHCw-v14CL9rmaGyfa1yySqbndGrzdvxKsFSweuVLFXynK369km8OBxytymBEM9v63ffK7lot24XL-GFafjyc6as84mO0odCEpDiVc0_NW7shJ2NJ-E8_K7DgDKqmTZFumO13SIdCUU5ZuoNEJATyK2FyY5sTxng=",
  "id": "rs_0f35c9a461941012016ab446661dc087d08a59564997dea4a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The green pear-shaped fruit remains centered between the jaws at table level, with both fingers straddling it. I’ll close the gripper fully to secure it.\"}",
  "call_id": "call_0vy3ZGxDeiyACDuMIJURm6US",
  "id": "fc_0f35c9a461941012016ab44666c8c487d0a789c6f16767ad94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0vy3ZGxDeiyACDuMIJURm6US",
  "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, 0.8021, 0.6132, -0.4168, -0.0139, -0.0265, 0.9915, -0.1852, 1.214, 0.1253, 0.4263, -0.1551, -0.102, 0.5424]\nstate[eef_state]: left_x=0.2914 left_y=-0.0003 left_z=0.1744 left_yaw=-0.0009 left_pitch=-0.0317 left_roll=0.0001 left_gripper=0.9915 right_x=0.2883 right_y=-0.0226 right_z=0.0198 right_yaw=0.0023 right_pitch=-0.0835 right_roll=0.0154 right_gripper=0.5424\nstate[joint_eff]: [-0.1436, -1.2376, 7.1726, 1.8046, -0.0806, -0.0757, -0.0122, -0.0752, -2.5915, 5.3402, 1.6825, -0.1392, 0.1587, 3.0452]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4293f9c1a53f7865ac034530b5aa1ca65e86367e1f54a86c56700676c62bbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a504b6b9eee74c308e9082c7182a083fdf190ec83e7881c9652f0fb78ecdbec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7deb03eae27b1963145cc151935cb363c02e33532206fa145a7f3f0467b7b4e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.898 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, -0.3874, -0.0143, -0.0261, 0.9923, -0.0227, 0.8005, 0.6186, -0.3878, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0001 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9923 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.7299, 9.5658, 1.8681, -0.1148, 0.0806, -0.6325, -0.3077, -1.7162, 9.1556, 1.8388, -0.1148, -0.0366, -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, 0.8021, 0.6132, -0.4084, -0.0135, -0.0261, 0.9915, -0.1856, 1.2137, 0.1257, 0.4305, -0.1551, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0014 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9915 right_x=0.2891 right_y=-0.0229 right_z=0.0209 right_yaw=-0.0005 right_pitch=-0.0787 right_roll=0.0178 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0359, 1.8046, -0.022, -0.0366, -0.0317, -0.253, -2.8513, 5.6274, 2.0195, -0.0659, 0.0122, -0.0171]",
      "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, 0.8021, 0.6132, -0.4168, -0.0139, -0.0265, 0.9915, -0.1852, 1.214, 0.1253, 0.4263, -0.1551, -0.102, 0.5424]\nstate[eef_state]: left_x=0.2914 left_y=-0.0003 left_z=0.1744 left_yaw=-0.0009 left_pitch=-0.0317 left_roll=0.0001 left_gripper=0.9915 right_x=0.2883 right_y=-0.0226 right_z=0.0198 right_yaw=0.0023 right_pitch=-0.0835 right_roll=0.0154 right_gripper=0.5424\nstate[joint_eff]: [-0.1436, -1.2376, 7.1726, 1.8046, -0.0806, -0.0757, -0.0122, -0.0752, -2.5915, 5.3402, 1.6825, -0.1392, 0.1587, 3.0452]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4293f9c1a53f7865ac034530b5aa1ca65e86367e1f54a86c56700676c62bbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a504b6b9eee74c308e9082c7182a083fdf190ec83e7881c9652f0fb78ecdbec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7deb03eae27b1963145cc151935cb363c02e33532206fa145a7f3f0467b7b4e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZqhXHX6eop8M_fagO00Miouqiv8uCN2ESl-5X9ZD_9zoGcnaZh1Art1uie6FFBDmf22tGBepSBgxvkIZmbgLXPONDRmtPgcTctCCYrOkAGhyai_D0kWdeALKE05qEJRmUGXvra92AQQ9BxIPwEltishXB8P6RQzwSX-rfq2OhY2mumFT6Zu2fim8y9DMyo4Xax7kxQCjoMR04GxuRNu5Y5BogO_LDkh29QR4gFBe9rHj5sSEe8qOPV1ft0kqF4PlacpFApS66DxYbuuSyGwn5gA7AQKMlHfCH-E7CUegDur2P_vMUs2QN6g4K1dzWzbYhAF52Y3F_NB5lkCBsX-aByo3QftYNyhdS10vXjhsxuh7EYd_sr-_4LRUV1DIEg4NcIj-4WJCSY5013xJFr_ZihuecRV1nESAoma5J-vx1twvxwFZU4KJOV7zIyoGICl_lzmqqNeIHb8B9oaVW4HzqYFmORc19BSPfj5rBmWFyqkQb1DeST-1Vl98AyNEg5Vq8qTdFQwDzL8Manaz6nDSPX8_C-nw7PkXI1SdbpdNbwsq718SGaEXFqPN9yIPMHr3BTGj6moZUHAuYRoB26sxOL2pblioXcp8C4nvKKqg7oAjys08RshcDy4qYGAtIYtx6Fow2TZX6VdCAGJfbOvuSQciu8n_-gjpJoWZSC2fIj5cf266bXQ9OonRl_ExsQf5no6kqZR-PuTxY0Gssj9nEQglClbD-LVRZV3j8LTb5o4S4VgZ91Dx6RFUYuXRLJnOqx9tOakZEFgtqk-oOgY9eBG6y3DDdF7U2zt4tS_vJ4hB1jBhhpLbJpXzkRCyIXEAcXxoJAQiBMDy6hMWmir7rrXD0F68qzsLKSeDdnibLKTk4vpgbjIYyzGYZnOjzPm_SnUKcEKozoqhL9e3UnKwC1fylhWHpzu1gGnR4fLNth0pta-fK6bNZ--cEWvcydD7SRmAZ-ySPJwwFNKEllVU-8E2aUq_9uwlJUxH4H55shHyEs4RvN3cBykI72lZ_wG_HawUK4fKxFea-kM2Hdww9tArlDd9NNcY06McUFgMQqxkcPDclXIBix7WviCRQXiVU_VbPrYJ9OeE4xufAw9Sxb_2kKW9jH_u0tSl30CqAsfU6h6qVWP_M6iCJQMvjVpZuVChEILuqlRncc_RqUpEvYh153FvZxxzwNx2Fy3zBjNmcsY8O7oNL312RTXEiYHSgfx7Ca5LQJuJ5tS-XoDkj5zA==",
  "id": "rs_0f35c9a461941012016ab446696a9887d089a8f0634eaba1f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper settled at 0.54 rather than nearly closed, confirming a firm grasp around the pear. I’ll lift it well clear of the table before moving it over the blue bowl.\"}",
  "call_id": "call_ssVxKtgUcYbW8eaYZuvzoc7h",
  "id": "fc_0f35c9a461941012016ab4466994b087d0accbad3265150d61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ssVxKtgUcYbW8eaYZuvzoc7h",
  "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, 0.8051, 0.6132, -0.424, -0.0139, -0.0265, 0.9914, -0.1852, 0.844, 0.4969, -0.3279, -0.1551, -0.1101, 0.5406]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1721 left_yaw=-0.0009 left_pitch=-0.042 left_roll=0.0004 left_gripper=0.9914 right_x=0.2872 right_y=-0.0224 right_z=0.1297 right_yaw=0.0068 right_pitch=-0.0958 right_roll=0.0114 right_gripper=0.5406\nstate[joint_eff]: [-0.335, -1.4701, 6.9949, 1.7411, -0.0317, -0.0708, -0.0171, 0.0889, -1.9487, 8.8137, 1.5165, -0.0904, 0.022, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d802c0eba16289f6d392fd7ce519b07f3578b8213e59a0a7e3d0a59a3570992f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb6ab1b86578d0cb24afaf57ccec185edd1f785bb7d74bbe0c8d584064557f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579a95f0bdacd1aaba414ae684c33dc1a40846e51a4d6e1d3a6fda904e799646",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.918 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, 0.8005, 0.6132, -0.4011, -0.0139, -0.0261, 0.9917, -0.1856, 0.9134, 0.3145, -0.0158, -0.1516, -0.0917, 0.9994]\nstate[eef_state]: left_x=0.2935 left_y=-0.0004 left_z=0.178 left_yaw=-0.0011 left_pitch=-0.0145 left_roll=0.0001 left_gripper=0.9917 right_x=0.2954 right_y=-0.0247 right_z=0.0915 right_yaw=-0.0071 right_pitch=-0.0371 right_roll=0.0131 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.8632, -0.0757, -0.0073, -0.0708, -0.0068, -2.2222, 6.8855, 1.9658, -0.0415, -0.1245, -0.0757]",
      "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, 0.8021, 0.6132, -0.4168, -0.0139, -0.0265, 0.9915, -0.1852, 1.214, 0.1253, 0.4263, -0.1551, -0.102, 0.5424]\nstate[eef_state]: left_x=0.2914 left_y=-0.0003 left_z=0.1744 left_yaw=-0.0009 left_pitch=-0.0317 left_roll=0.0001 left_gripper=0.9915 right_x=0.2883 right_y=-0.0226 right_z=0.0198 right_yaw=0.0023 right_pitch=-0.0835 right_roll=0.0154 right_gripper=0.5424\nstate[joint_eff]: [-0.1436, -1.2376, 7.1726, 1.8046, -0.0806, -0.0757, -0.0122, -0.0752, -2.5915, 5.3402, 1.6825, -0.1392, 0.1587, 3.0452]\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 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, 0.8051, 0.6132, -0.424, -0.0139, -0.0265, 0.9914, -0.1852, 0.844, 0.4969, -0.3279, -0.1551, -0.1101, 0.5406]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1721 left_yaw=-0.0009 left_pitch=-0.042 left_roll=0.0004 left_gripper=0.9914 right_x=0.2872 right_y=-0.0224 right_z=0.1297 right_yaw=0.0068 right_pitch=-0.0958 right_roll=0.0114 right_gripper=0.5406\nstate[joint_eff]: [-0.335, -1.4701, 6.9949, 1.7411, -0.0317, -0.0708, -0.0171, 0.0889, -1.9487, 8.8137, 1.5165, -0.0904, 0.022, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d802c0eba16289f6d392fd7ce519b07f3578b8213e59a0a7e3d0a59a3570992f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb6ab1b86578d0cb24afaf57ccec185edd1f785bb7d74bbe0c8d584064557f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579a95f0bdacd1aaba414ae684c33dc1a40846e51a4d6e1d3a6fda904e799646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZwY_5l1hc_RcX9C6G_AxpPfuI-hnTBXbBli8JYaCVLXbaqFkP3nJESjUVlRBUV2r5j9C0YD0GwAE-NiBgEik-7Z0JRx2DJbbFy7LFGKfJniTFTxC_-7GHpgQe0OYSuuobzbgeBN9VamzC9XZunm9YBbWdAw03k6yA9eD39COh_FddtU__r5gZMu7to-MRerfdFIbl3A2ZGHQTMuf8m5kcwyCScB_iGu0f1bju9-otXDWtsk9WM0he0u1Y3QEvQ2Ku1VK3HJVpkZ6KEiGULG-d9XALn7TxnzEn4GDO8_owSBQJWu6gceC6-N9nNaKdaj-1A8oHGFe3z4oc0T-VGFudtsValfFcWur6Y_PiaH_jwDbvLd8nmUOkxXtzcsOAEZq6AkwYnh1-uSaBPnZ9VZ3yF4bOEUIkL4N6nGQOkgcDeLt6P7eJ1CfFYrIVzfCHOL3WCmwCThXQSxTzYdlMkMcxUYl9vwE0rBeULjxGwiEWmN9zDhsGfgC1S4UWEWpYU5dZ6g9D6nwywVEw8uBE4NSyovFgeBpTTGplc-mXsgUEuffshWLLUtEIdDuj-HMFrcv-MspJv_MUUXukmWlvY4WV1V2TxPwoLRSZvuiDEUlmll4mb_ZuU6YxW6Yr5v97mTe9AYSdDh2DgEHI23AOL8ka3Z2kio29eRiMaVFy8AE459N_OlyCsl3h8CJis1wedbfDPOGlHt8DQiFCxjyauJc1GZf5cO0pv4FX8WUaSTC-FHbrdXPJLJsyfHEbun3ggrlWS3sC9k18yc0pmn8bGrgc5bcoLltxcCjTdXum0p4490e9-CA3bNVT8UQU2rINAqOgts5eOvwtcPmqFpQQaI_9YmYeIOptyOEmCf5KNcvUfTusl-H7AZJf4TbVBPiyPLM01Gd3Y_t0q3Xp_dIarc6lQKkuxl28ajh_ZNxDbejf5Pk2DfhxLtTJ8kdNhInJy_7Qc6NeLO8AKSm3Q-TWTeC5TZidmKQBeXbmVxu07-pFa0AupgqIOzHDCLTIb7pdoPwtMHBp0wIXOnDsDjT-8KC-LW6QXb6VYyfEsZZXid4_orJDmwCskFqXoS0cEc-wbOX2z71mr5LIWE1FyOXb0ZmFw737YiNwnfM1VhIbqlIqBawiuG-AAu6DBJiyny-qL8OaNQQLB0s-qOEjhWZDC3SdnKpo8LVCEdcK_X5AebEtC_W6Jy8RjVqujQ4i1OcRgRkhus-R28dgrXf9a7_SPPJ7NwzvZSvLF2ZtvI0gzAEsAcp_1QZ9_3iOV8q8l8jYrZ3FZ4dW9Mgaf9Y06e9OfdDzcmXfXmO4qgQdrZyLLi3ng_cHeLSB6YaGCN4YKTO3uueWCsSKdyjVy2te_eBRM4uUYEFZiqirB0xcxbjMd2dA0HAi1rsEWwFHPF-hiGahghwJzsYjDJ3s2IfE8GFgB44XJZ3XABweCCIcZFuU3ATKXuZAfmq4_47KnWLnDWnMlRyZweFQJIA0LagaqD_y8oyJp8QAVK_GPNVlzZJXCWjQs2V5d6Kc7l-uVpFsm5ZWEiLYez7tMyrUnQWmC9d1HG292Eavyk_iWCIBmbAvrLQOHD8sIsUw2AiVfwJt3DeSp5mdQ-EZFHpc1AwlVc1RcAntrTlGpWs6Ff6hl4JX-qAedBwoFPJl5CPn0l5Og6_ybuEQKf0M-k_ZF9aMXEVI2072GUrSBC605wQc8HlyE0OVHyyrz89H3cYRgbqJ5S9trIH85Ycuc-ZMqEh3Xa1OS5K2ryc6sP7oMgMNEQ950e5nNt1eal_snT-XS3mNAZJCa49Zg0unUa5g1g2WDpvR6XZTCGGydXDR7EXb_Z0CUv24qavXBT63NZDpZEik7jeVh_xjk3lXdfACyxhtBqHYu3kq1Lj87TVE59Zz86oj6d6riyi7K1-Fa7LHvoSKmi0wRaKy1IowHUoiPR0SxIx6824X94WAXxMufrDKrr4jLYbpfuzBV0ODD4ncUzoUkt28kNDVhyxXBJCJaxzoL-KTOvaJvcksJ3rN7D9nZXha2zfAaRyJEvWsP-f1pwOVGq3KteCiNkDRZuwYh04vWyqxMz6nzzXfh_g7CJ-JTEbIsoC7h7bgcFScnCm6p18VPUNwdk2mctHkkANoz7zGRH4FXj3C2SHmcgIEcJiMc1Oc_NuvoYjtLjK2H0JTXtQNeyy_dIWte2M1tZOUXvhcu_3yozGWDefqMx1_sPT7dGs4hpbZNGdSxRwgvCyG6aocX3N3tF0Nd",
  "id": "rs_0f35c9a461941012016ab4466d7ce087d0a5f0c073fe2d4d1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.16},\"note\":\"The lifted pear has moved with the gripper, confirming the grasp; the blue bowl is about 8 cm to the arm's left and several centimetres farther forward. I’ll carry the fruit to a high pose above the bowl.\"}",
  "call_id": "call_ARCLMH5hn5OFLsJvdVsQKprE",
  "id": "fc_0f35c9a461941012016ab4466f99e087d0802abb80fb8d48ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ARCLMH5hn5OFLsJvdVsQKprE",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4278, -0.0139, -0.0265, 0.9915, 0.2329, 1.1622, 0.7261, -0.2962, 0.1429, 0.1192, 0.5405]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0009 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9915 right_x=0.3404 right_y=0.0586 right_z=0.1416 right_yaw=0.0477 right_pitch=-0.1535 right_roll=-0.0048 right_gripper=0.5405\nstate[joint_eff]: [-0.2256, -1.4974, 6.9949, 1.707, -0.0806, -0.0659, -0.0073, -0.7043, -3.7675, 9.5658, 1.79, 0.3248, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c695935035b716a2f6d2d0cc73b964087dde974ca049358ce2a96af2cca003a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ffc8b6ce3fe05dcde6c055d27b35df9e5d55960f98da104c337b8e3b2e9c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dbe5284d5a80b7ec50072f3552a456a2d4d68cf448a417394fc517ed1381de4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.561 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, 0.8021, 0.6132, -0.4084, -0.0135, -0.0261, 0.9915, -0.1856, 1.2137, 0.1257, 0.4305, -0.1551, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0014 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9915 right_x=0.2891 right_y=-0.0229 right_z=0.0209 right_yaw=-0.0005 right_pitch=-0.0787 right_roll=0.0178 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0359, 1.8046, -0.022, -0.0366, -0.0317, -0.253, -2.8513, 5.6274, 2.0195, -0.0659, 0.0122, -0.0171]",
      "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, 0.8051, 0.6132, -0.424, -0.0139, -0.0265, 0.9914, -0.1852, 0.844, 0.4969, -0.3279, -0.1551, -0.1101, 0.5406]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1721 left_yaw=-0.0009 left_pitch=-0.042 left_roll=0.0004 left_gripper=0.9914 right_x=0.2872 right_y=-0.0224 right_z=0.1297 right_yaw=0.0068 right_pitch=-0.0958 right_roll=0.0114 right_gripper=0.5406\nstate[joint_eff]: [-0.335, -1.4701, 6.9949, 1.7411, -0.0317, -0.0708, -0.0171, 0.0889, -1.9487, 8.8137, 1.5165, -0.0904, 0.022, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0265, 0.9915, 0.2329, 1.1622, 0.7261, -0.2962, 0.1429, 0.1192, 0.5405]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0009 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9915 right_x=0.3404 right_y=0.0586 right_z=0.1416 right_yaw=0.0477 right_pitch=-0.1535 right_roll=-0.0048 right_gripper=0.5405\nstate[joint_eff]: [-0.2256, -1.4974, 6.9949, 1.707, -0.0806, -0.0659, -0.0073, -0.7043, -3.7675, 9.5658, 1.79, 0.3248, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c695935035b716a2f6d2d0cc73b964087dde974ca049358ce2a96af2cca003a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ffc8b6ce3fe05dcde6c055d27b35df9e5d55960f98da104c337b8e3b2e9c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dbe5284d5a80b7ec50072f3552a456a2d4d68cf448a417394fc517ed1381de4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ1TWnBFLy1v-0M1NY0GMZkDdYwGU9i5oUEpET8Bik4e7nVgS9HdmklpNBBHLBR4mVC6j9xhM7DqwBYTsuH0L1B7oY5iDR2VwAgnewdMSnczuVmUkwimg5tpu8Dv4rp2xdBCvqyDU6SRecoClQkLdO-3gA74l-Q0Vamm8PB6AqinoivbKmpq6i2z9KHlLfzwwUpcC4oIoEF9-YPn7NOokFeqH_-IFbNaQGYGZLjUDncdtS-VLEYFygnyvqrq0UVwt0RN6hJrclEQeUR9PDpA5IzwArZlZTmmJPFfhTl7RABlOnqgVCVPUoKd86C1M9vebpJivOXmdQp9ymjCl6-jRK0IQVTngaABpF_46PAWPoots7HqhpJL82B4EI0iBI6ObGwga7Y_KpsKkdow_yM2ELa34qZGEax_8DddvLMg0IlD8ioEnJUVOenLVw3RQ0rv3zcaA5TJDYWYXrFjYiW0gOSl-9hv7gldwi9F-QDqHlRZIgD__3J7obv_HJrmoFWB0rLG3p84F-U5uRu0ZiTq9hIl9UBqbnlaYK1MFdKwcc0jOIk-nweYIOdmQL3iiRMCfb5ZEQDFddiWv3M1jeaIRwugW13EoPdSAdpCRz-9LmkppBsN6SqijVGHxdRWyQkFEhqj62FcN_Tul1HbeFlQA-7F_gw4mTI4qpw2PfChmICukBTEBc7kM2oi_Y26MVZeUwJV6BrPv59C248FYXUlxkSErgsmghrF8DuQVjDcqYRkdAI4qloXpeJGLbBn_PbnRduYvz-F8F8jM_MR3mX7FyWWCmlq_ub385ZMnzXcVj38XqDnrYCO1C9NWzDBdKNJwhQbSfD6BTvcMKGrJqOgntCghBXUdaJMeouYG452bV8vFHk4lEc6S_CgH7JlMARsa9xGXNNoC5ghGBcb60AzMsRQFhy7R60IVeUT7vhk2nCcwTiVyyKjE51fCEOhBCWj_4EiKi0AfWly3gkuy0uOGol28WD07KWdfccd1rLiFkLHaTTofDB7YIiAYIDNLFtbk-2nDWGOrpu1fTUtEB2DmWyfFC1Ey3AjBcZaDPNqyWHVnCVVmECKf1vYj3KMZZnv65C0I7OvLid7oM_8qomS9ymHyrDA3cTUQlvV5_qnGwwo3Vh0Yq3IGl6AuV1hwTs5XHMoqYiE8dp8_XQQuSnPqE_YkN6pjZNNwB8K-R6hkFkCFtuQYXci0blNxE6LmAEt0khTnINbcw3l1lPctfl3u1oa4kgUSNcVXAf5XbzYt6v7Hf2maKUXMU13AhFm1Zjv0QqwCbyp569S5tQXHA8laBxM395AwYDU3AGpEMKWxxIusc9oHFM_wmJfHLZyPbp-EyWysAJrm83zKJcPovjofUmX5OaY6KFA_f5TO1wVmweQbuhPdU29rsRTIXQvtCy9aoLBHi3QMM2Uo7A5YRuBaLFhpGzNyB_rWLv993w2XLgmGVjPPdZylWVqHs9Ey3Sh0qIduL_mXoi6f8ANJd-fCgymjQv_1Bwmhmi1643gDjnGwU9prpPU07_oqnvIs1xrK-0DD-GAiES6pR0TSlxwKqDboesff7yxEZ6Q34WBLXgVBFv3MuyHOAC03R71S855nfniQWnNjZeh8sJcNf4cjXlIA==",
  "id": "rs_0f35c9a461941012016ab446731c9c87d0a2e83610208c98b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.06,\"right_z\":0.14},\"note\":\"The blue bowl is horizontally centered between the jaws in the wrist view, but there is still visible space between its center and the fingertip convergence point. I’ll advance about 3 cm so the held fruit is directly over the bowl while maintaining clearance.\"}",
  "call_id": "call_RSJ2stSMVgEYCEsfPwH1Tyyk",
  "id": "fc_0f35c9a461941012016ab446740d1487d08a5dccf7389bf933",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RSJ2stSMVgEYCEsfPwH1Tyyk",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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, 0.8108, 0.6132, -0.4316, -0.0139, -0.0265, 0.9915, 0.2111, 1.3148, 0.7883, -0.2657, 0.1184, 0.094, 0.5404]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9915 right_x=0.3631 right_y=0.0601 right_z=0.1216 right_yaw=0.0586 right_pitch=-0.2156 right_roll=-0.0168 right_gripper=0.5404\nstate[joint_eff]: [-0.1846, -1.3744, 6.9949, 1.7021, -0.0464, -0.0562, -0.0171, -0.5812, -5.135, 8.9094, 1.7998, 0.0269, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ebac2284f45d7878394fa1a43ba095435dc4741d08cb59c7afd2fdca820056",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf579f4a193402d229cf3da8495968911061da04ed469f4cbe6ef99088e8e7ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb6fd7b2adf65f3a0d6bfaee14a952fca90929caac307a02d48d8690cbd8855",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 1.969 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, 0.8021, 0.6132, -0.4168, -0.0139, -0.0265, 0.9915, -0.1852, 1.214, 0.1253, 0.4263, -0.1551, -0.102, 0.5424]\nstate[eef_state]: left_x=0.2914 left_y=-0.0003 left_z=0.1744 left_yaw=-0.0009 left_pitch=-0.0317 left_roll=0.0001 left_gripper=0.9915 right_x=0.2883 right_y=-0.0226 right_z=0.0198 right_yaw=0.0023 right_pitch=-0.0835 right_roll=0.0154 right_gripper=0.5424\nstate[joint_eff]: [-0.1436, -1.2376, 7.1726, 1.8046, -0.0806, -0.0757, -0.0122, -0.0752, -2.5915, 5.3402, 1.6825, -0.1392, 0.1587, 3.0452]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0265, 0.9915, 0.2329, 1.1622, 0.7261, -0.2962, 0.1429, 0.1192, 0.5405]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0009 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9915 right_x=0.3404 right_y=0.0586 right_z=0.1416 right_yaw=0.0477 right_pitch=-0.1535 right_roll=-0.0048 right_gripper=0.5405\nstate[joint_eff]: [-0.2256, -1.4974, 6.9949, 1.707, -0.0806, -0.0659, -0.0073, -0.7043, -3.7675, 9.5658, 1.79, 0.3248, 0.2173, -0.0317]",
      "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, 0.8108, 0.6132, -0.4316, -0.0139, -0.0265, 0.9915, 0.2111, 1.3148, 0.7883, -0.2657, 0.1184, 0.094, 0.5404]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9915 right_x=0.3631 right_y=0.0601 right_z=0.1216 right_yaw=0.0586 right_pitch=-0.2156 right_roll=-0.0168 right_gripper=0.5404\nstate[joint_eff]: [-0.1846, -1.3744, 6.9949, 1.7021, -0.0464, -0.0562, -0.0171, -0.5812, -5.135, 8.9094, 1.7998, 0.0269, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ebac2284f45d7878394fa1a43ba095435dc4741d08cb59c7afd2fdca820056",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf579f4a193402d229cf3da8495968911061da04ed469f4cbe6ef99088e8e7ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb6fd7b2adf65f3a0d6bfaee14a952fca90929caac307a02d48d8690cbd8855",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ6YfeT-3GkNMxpHKUWrV1kA510Gl95C-9FwISKXcsjAWvvwcsAGz8F_OYzBuWzzmpGJmWFyCfP58XIx5Zj46rjokMJXrwk22UkvyRBjnUR_U70HGQKN5nlQkZGg0s8BKa6c7S6dGVpUog1iIBkSC6fyT9IXFyxWHNfRIploSgp35wYqB-7Ek3f6WKIWlEIrnTWScxOlowXpXwKSQAD0wsUHOTS0gDT9q7oukS1KUNUwJuMBAaD7kwDw_fxFOQMflIHTjmcU6IJZ9ciSjNphFTi5biklklEN8x-rBD4v25X6D07CAO4tJLMKPPcPfd9xkTrq-Awx4GmnwvJ25KBYVNjV20lFKs3wmz0A03NcN3jYaRnAt5VY4yIy0ZZ5yAm-JoaQlMz9hFJywXh4AxfDOu_xnBvg6xVT-WHz8e0u7TFzQUwPH3ZUOPwPOyeEDy7JwRJ9JMNPBc3UoaG8bzZPcz_C61Evx3bb_9TH97oZd3S0APFZLO4QB9XgLUM_MdDteNteDFmXcGsHfyZ2SaUfb7rvTyAUUlhfXVSlMQM3bPZW7MS_lPocEdK4jPVMGt_ZvzMOH7mvMeh2qrvK8mBEV_Z6Xah_wpPPLMgqdVwhKU3guCYPccbUtkdVZ81eq5mS1B_NVzSBHGD5UsUAp6wKqnNxXZE5n6FOJC4a9x1-43KtoWN0fGqcPLcJw6qgHbCh8T7crrk40HWwYUpvOms7uNcBEG1b1dk_x9x-dShZ8TfG_A3Po-WFzi04P5mKMZRSjc6tivtuRAVj3Hkpi2D4TZqmGVKPzEkmF0FS5FjDH1D73bSLnejUm4L8spNNeBrNd5qThCggqiFkqQyWXSAP3VvgvDHE7P43YES2bvHbAQLnSRuf1y_IDGV8q_NyPc-j9OIslbzErqdxZFukzlOioVKF0NTqN00HS684I06cd1QtKRTXR4rI21Qs5YzPSLt1q9BOeVz584s5WerRjHPVJOjBosBcADcL7ZpRC-O71tan_2tMfsHTJ6x5Ms9_-4sIp_jR9ImT1zEdYCUHoNE9K6S3uOw4ti88PATVkwC_0HlA16CrzNLcDpS6xT3yL7dIWAX7JAsYkAVEO20OclN_AjgRUorxP_rbi-2I2WGyPWtMFLdEEQOof3Q8l5d8gJ_V66TFrOMPU9doF6zSIYVxRlaIhCEw2wVHVzhUip6enr8MlprXGO_P5KlQ75gGqQpe63s1CAKb2W9wYVaqYWKfrigh5nvb9V-mmdFzFNQKKMjpkkanLnf_XuvtGBm59Q800qVYZSMBWAFusxN63GJkIMthsWZyoK0a0AdK0bw0SmFWCnsutx4YHmrsICc4AeQSZYkXyuGSDWRlcX6ABJE5xSw5LDCMxvwb2KuSQQhka-ZoaXzddtpoGdwihFaWaxADPbZPebhB9cILpNjHL25dg9i1sS5t31aDCl-f0RNGQtiEIMB9NBlv9iwQY7XyhbdwMt_9lSbCLNQ49KlI_O-hwbx7Y-kd-uP_fUgVf3jKeq118IBAfIXFHydVkBpVbb9p8N2Bgjte1bA0PbA_cF4SUxj-Cr6eAmB0BAPRJaNzgbJbusRkW0tqVzZ890QMzSHqmv72MeWOTjXeKu0xKL0wl_10vCfoUq6Yz7ycs-w7k-n0TWlIzoVmiOenqrWyxoum0myK9A1M80z-bEc9k59xcP86oLjmFOwpn71aAKAQWxJXBWzQ99cFeyd1v8AUOl4ncDU3h4uM7uIH_02JHwlG2qSRaSF0XbDPV6yhs0JldzQXbITMKMELA8bLagu-jvwOn40dKE1zYMQUEHhfQKxg548gnNIM8CuDpP0FJal3039cnQa0KIdzikvbF2l9gCdVuK7bNYSZbA-qmLHRYlenytOGmEBVtV2b2EqYIDDuVpvdgXVzccVODyb2WnrZH3KDAQBw2IAuTaL7i4Q9ZuFoTCQI2TpS0w-mm31bHW4Q7JOKovQ2nbJZ_LLzvGJErNwrJ0M",
  "id": "rs_0f35c9a461941012016ab446783bbc87d0a5bd514e5fefd3e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The bowl now fills the lower wrist view and remains centered, so the pear is over its interior. I’ll lower into the bowl to minimize the drop before releasing.\"}",
  "call_id": "call_e8OMreDKka5RYTgrj2PBCLvn",
  "id": "fc_0f35c9a461941012016ab44679f71c87d0b2467669f0543119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e8OMreDKka5RYTgrj2PBCLvn",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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, 0.8127, 0.6132, -0.4347, -0.0139, -0.0261, 0.9914, 0.2131, 1.3861, 0.6659, -0.1013, 0.1154, 0.0933, 0.5404]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1679 left_yaw=-0.001 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9914 right_x=0.3579 right_y=0.0603 right_z=0.0754 right_yaw=0.0625 right_pitch=-0.2449 right_roll=-0.0197 right_gripper=0.5404\nstate[joint_eff]: [-0.1709, -1.2786, 7.1863, 1.7558, -0.0366, -0.0122, -0.0171, -0.4718, -5.1624, 6.1197, 1.7802, 0.0659, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079b028ea442573134b6d656a60861ab976b6b4a1a38a52649867593f3888147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b105579342989b7d652f55669a58c5ec61325ba3b11d145353168f2a12c01e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbe9b0d10c9e0a2495563fb4ab4a97af364c2e178b207b8789c269f00c55b81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.53 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, 0.8051, 0.6132, -0.424, -0.0139, -0.0265, 0.9914, -0.1852, 0.844, 0.4969, -0.3279, -0.1551, -0.1101, 0.5406]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1721 left_yaw=-0.0009 left_pitch=-0.042 left_roll=0.0004 left_gripper=0.9914 right_x=0.2872 right_y=-0.0224 right_z=0.1297 right_yaw=0.0068 right_pitch=-0.0958 right_roll=0.0114 right_gripper=0.5406\nstate[joint_eff]: [-0.335, -1.4701, 6.9949, 1.7411, -0.0317, -0.0708, -0.0171, 0.0889, -1.9487, 8.8137, 1.5165, -0.0904, 0.022, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8108, 0.6132, -0.4316, -0.0139, -0.0265, 0.9915, 0.2111, 1.3148, 0.7883, -0.2657, 0.1184, 0.094, 0.5404]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9915 right_x=0.3631 right_y=0.0601 right_z=0.1216 right_yaw=0.0586 right_pitch=-0.2156 right_roll=-0.0168 right_gripper=0.5404\nstate[joint_eff]: [-0.1846, -1.3744, 6.9949, 1.7021, -0.0464, -0.0562, -0.0171, -0.5812, -5.135, 8.9094, 1.7998, 0.0269, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8127, 0.6132, -0.4347, -0.0139, -0.0261, 0.9914, 0.2131, 1.3861, 0.6659, -0.1013, 0.1154, 0.0933, 0.5404]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1679 left_yaw=-0.001 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9914 right_x=0.3579 right_y=0.0603 right_z=0.0754 right_yaw=0.0625 right_pitch=-0.2449 right_roll=-0.0197 right_gripper=0.5404\nstate[joint_eff]: [-0.1709, -1.2786, 7.1863, 1.7558, -0.0366, -0.0122, -0.0171, -0.4718, -5.1624, 6.1197, 1.7802, 0.0659, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079b028ea442573134b6d656a60861ab976b6b4a1a38a52649867593f3888147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b105579342989b7d652f55669a58c5ec61325ba3b11d145353168f2a12c01e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbe9b0d10c9e0a2495563fb4ab4a97af364c2e178b207b8789c269f00c55b81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ-i3pkfhjrS4ets2HrEkyt2RLtAYoYlGXUyz8yIy6krolTrTqcsOWL8gQKFASZY2tWNHylIyz1XEsz66FB1-CZG63wEA0Btj4LYkZpcOdksKj1EqlQBBR-tvSgelPM6vI0decKrBQH6urR9bSojTBWPgy_GSesijJmV7XmbFcHYlJlcHWQ6lELE3jq7R-9nnoRKahbxMBknZAeB0xJIWiy_l3gf9EPKarejSnYzb5pl7wM3T35JjIS77eNurZaF1zlRY4OzaeZHM7JJyTdtO5fBW3EXfaJstflQ6CSqOMvRFvWI446LnYrUeAJJHWz4TXGJRFj0aCfTeTbN4kMKPG6kSk4gvGevGau7Gc4wNQ9SEV_vdG1ji8QlaPAnDftv_1c3FPTU-H2bEDRACEPsPyBOhiglXqZHZQP2Gm8agE59-yDh2THlgrJm2uECxq43jUG4peLinpYJLHGIQx5UOvAjIL1zTAuVHSfvuCUp1GINxwEj_61egfMSFGOTPn-1jx7JGVhCgFBXnGgPfpjSnCXMLbnCJKnLssWeq3qa2Smu2eIJrMxmgRvqaKvGa6wJ45tIRnwY_3kQEMw-RXchPA7mFDHHy9cA8JckdhlIDxUgap0551qGXFSA2pzpjEgbwBD9kYEjtB5zY7mHeHI2M6ntiCVdYq20PVZxzQ8LqitUFG2x_sCBaBKLuUf-OXbAdKhm_Y2ChEYStEfb11a7NNjtIcwD8-7Q6qbDbbBGsoyXBrNgDMkQYDipmtZ7Z4S5LstWRHCtxNxSftIBQUwT4EXSVeH-Hq8b2uNrQVDSxw-CEjz8uJnCu8wSTW-xMviitU0g0vGFTLJl7ust19rGaMPpyV9-Wj91k8wa2J9RM9Z9anJyMkpyGkUo0mYPc4nfYBX69m1TRO1__U-MujUVBzOz0aX5LozkFyPsgK2s44sP91N9y_CyUFQqePlo_fpUNqKkXf1h8vS3iJkX5JqJj1gxGW8_Ah-OmHGufpl5ZGNmuzcwaReXBCdPoTO3cYf7bsL46FAJ4030dnhvzJg5kCbWZaQkyJUPihxxcs-8YdI9BAY5Pgv2pfoXYZBjtmXaF5ujiY5r7DbIDD7KQHpT6jT3Ks-aQF8Heo49xHezOfyMTtmJnFek4An5N9e6gX39-2xpju8FUk_x8NdRPWdp6I84WEv6zse0IX8Rq7FihCOPtTcOO34qr9rdCrnS9bM7AChlfNwkz1gEtPivrfTP9OpFs0ukG8rQt9wH9A8pnTUkMTYjVbhp6DFKCiXckNgwFSOKgyhdljWuRCqh3Iics0hs_WngoteGMUE-a4dgzOSED8AJLCEjdeab40OwnDcowWwzz-41NaVrh_h8fJyP7GaIWfwW691JSuJ-51AMr9knNM=",
  "id": "rs_0f35c9a461941012016ab4467dca4887d0a8e9c9e562b61ab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The fingertips are now inside the bowl opening, with the held green fruit visible at the right jaw and the bowl directly beneath. I’ll open the gripper to deposit the pear.\"}",
  "call_id": "call_CthC9FETonk4FjzB8WHOe2x9",
  "id": "fc_0f35c9a461941012016ab4467e2a4487d0beb0ba34929c5e43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CthC9FETonk4FjzB8WHOe2x9",
  "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, 0.8124, 0.6132, -0.4393, -0.0135, -0.0265, 0.9914, 0.2131, 1.3861, 0.6659, -0.104, 0.115, 0.0864, 0.9959]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0012 left_pitch=-0.0645 left_roll=0.0006 left_gripper=0.9914 right_x=0.3574 right_y=0.0603 right_z=0.0749 right_yaw=0.0666 right_pitch=-0.2477 right_roll=-0.0247 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.265, 6.9812, 1.7021, -0.0415, -0.0366, -0.0122, -0.0752, -5.2991, 6.2974, 1.4969, 0.0024, 0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799f26bcb302fb29555cbf4a62328dcf976ca238dff69e8f6335f342e2c00e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1d0f0b38893dfa72e4fc5062166ffb4d38fb66f5bc4a249be5d840887eb221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fd889a0583a7d0a7e2289b0ef4cdd579a84d0b56741b64502ccd9040fb58a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.688 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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0265, 0.9915, 0.2329, 1.1622, 0.7261, -0.2962, 0.1429, 0.1192, 0.5405]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0009 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9915 right_x=0.3404 right_y=0.0586 right_z=0.1416 right_yaw=0.0477 right_pitch=-0.1535 right_roll=-0.0048 right_gripper=0.5405\nstate[joint_eff]: [-0.2256, -1.4974, 6.9949, 1.707, -0.0806, -0.0659, -0.0073, -0.7043, -3.7675, 9.5658, 1.79, 0.3248, 0.2173, -0.0317]",
      "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, 0.8127, 0.6132, -0.4347, -0.0139, -0.0261, 0.9914, 0.2131, 1.3861, 0.6659, -0.1013, 0.1154, 0.0933, 0.5404]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1679 left_yaw=-0.001 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9914 right_x=0.3579 right_y=0.0603 right_z=0.0754 right_yaw=0.0625 right_pitch=-0.2449 right_roll=-0.0197 right_gripper=0.5404\nstate[joint_eff]: [-0.1709, -1.2786, 7.1863, 1.7558, -0.0366, -0.0122, -0.0171, -0.4718, -5.1624, 6.1197, 1.7802, 0.0659, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8124, 0.6132, -0.4393, -0.0135, -0.0265, 0.9914, 0.2131, 1.3861, 0.6659, -0.104, 0.115, 0.0864, 0.9959]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0012 left_pitch=-0.0645 left_roll=0.0006 left_gripper=0.9914 right_x=0.3574 right_y=0.0603 right_z=0.0749 right_yaw=0.0666 right_pitch=-0.2477 right_roll=-0.0247 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.265, 6.9812, 1.7021, -0.0415, -0.0366, -0.0122, -0.0752, -5.2991, 6.2974, 1.4969, 0.0024, 0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799f26bcb302fb29555cbf4a62328dcf976ca238dff69e8f6335f342e2c00e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1d0f0b38893dfa72e4fc5062166ffb4d38fb66f5bc4a249be5d840887eb221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fd889a0583a7d0a7e2289b0ef4cdd579a84d0b56741b64502ccd9040fb58a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaDgG7GU32UCKOSxmn-7b-2rpa8DDgOxYJogv9qqZF0jSJI30XVajiuhjc-N0AHt5WaZ4-wuca2Gr_Ky5-8owvC9tH7Z79YjOA5SCouup9OzM6R-18QjJaKh_M9RpvWq1CAx-rW96W2zSqL_fMxXZeidEfPzl-n-qk2mSFKT-DcnK6GFHhCptNI2W3SDnETD_wrhC_qg4J0SUbUzz0-Y0Rr_mFO5YKnCh6XrHKcrm89zKJ19qQeSZFOG-LP4YqcKST-X_oVrFQx2LlVL6kh7PtmUniHhVa8CUBhPyfZ3yb9CG1fAM5wnn7XZcaLWpP8KkOjuOP67D-8ECwX2GIWzdFyEE0O3bYkv2nYmy2NSPb30y1jROHCvnIjo5InwWLjvVWQoT1s7NLw78PxvvchVYpVVStHHAYpLt8rILDzWfd57AE6Kiu43Z4s9PIjOpwjoO36MndjYg2vRRuiV-rqFapC9gDjNqynCzEXeTB3RmBpS2BlxDAmT-MkDbc4xJBzkTUDsqYMLG5i3mGv4GHqRrupV77dIDz1Z85GOQH2f01qoetb5eSlok2HWyM8853U9PXBqRZmhCn3ZsQ3TY2yi10WCH6Ci994FAUZUMNa7Klzlo6ul6YAGB_UhOsyL6DNXMxApCoaERRa_ji3oa6_lMHLXqcCRbGPiigECBuktvc0iJOWhA9eLNJiwiIE9znD7C3oZKH9IhoFN222Puo1ZKza24kkCnx98nUvxxHDW4cI7jyv1bmdyVz0S7NvO338QzRhEzNsuMoMvGfBW9hqNiaNUszFtNJqlNGXwYR0UWfoYZmuWvrC5MPvaKEo_dLHu4TKB9Skxn9m1AbOi8jPuD7-UfhouWoiLLgOeW2IYELDfWFcuI7ihbHTVFLG0qyu_IiMGtv-4GtcHjY3jVjB0ufSNypu109WP3vec2cZIIIPOjO6dRTfZBZ7USq6BMYXHSL1NtiV6844xgJDNbOIyI69yc4b9PWUzcOC5uOpBVlvHLqddWhdjOmsikFyRiHwaVWB4zNIWj09xdh06RLzt90ve36jYSwIOaecyu-lXbbSsls5cejYD4jugQzuMqJ73SwW5ng9ECBhdlF7s18bl0w0KqrlRf-vsa4upwBjq8X1hFr565P28vzW0EkW1L1ZYlL8lERrBoVsDP93V_WZi8dgKwqjQ_k1WfykTUBS6VycUgLfJaQQTZnhBuET0i9TE7GH_xvBs9tglmNE7-akCpAF7gCE0tGsQOon-hxuKWeiWJil6U_zJ0nSoARhhqTLPdwqRO3WFRkqr0dDhFKUXHDtUnnGQIHdwn8CDccn63n-IF8gt7o1-dJwC9jR3R16Vv7SnYILfg-MSPFzN4AgmqeDJxKYczDjY8gtjT0deRvYTd8YQtB3tmzItmUHuvSqstBcEg-I1gaxCjIJ1lUOi-4iD6qIng9FbvcS8XIi_YLLBIPTpFcG--nESceA5BWFs5NE1Os7mt0_crkihAlsMZ25Z0Bz9JyLkWp7aNKjztvtddUwq_1Hr7R2O9vKFPvLu3XP-rDQAfkCEZmrRSAUUvve8zcANlHcTUJHeWT8n4_8GKUnTX9-VH5r85AX-giND5U_bDufHWoey4y4RafkAHP2sZMjbB9s40iPbPdvWc_1ICoR6sq0w1z-Ml2_LPMi6KegfyCI7f-pLFm6skYDrgOw6WPszbD8aetnZf6h_sOWFXxIyFaWh9qoTEiDoVlZCnkIb4t368idWX3fOzztFpEzLxuD8ONsuzpWGWpC7iQcMkSbtx2RmuQ6__e4JB0FsZgAAxiCQBh-Z2-8vW0KF8NgTi8_dI8VZRIfF0ESbLwL5aduxgKGgAZDegTTiiZuFVVDINlPs04jSk4-635cjIAHW4AJG5lfebeDjc94Ht7o9Iwy6UTp-RPKV9lc0LvtHgtdTABkL2BiOg1arbesWQR12hJ4waMT2n34iG4nz6h5P4UnTzKt4K7s74sIAM5GjiGDJ-eZ4RStMs392jQfDYjRzpC_Y_lna2dongAGyKmQ0D_oMQZuSqmt8pihLJv2d0scgiy40diY5ILroz5xEnJr-RcsuGCa5i0YHeF2q5_iQyHzd1KEDRdfHl2gMN1aLdoJ70j7EaoZZx9jm4DFzWFeJsfyexbWWDlBwLRgjLaXxajdKWPsE53DXCD-btbJ2HT7gOmYWjxxZvcs3mWaAsvPsWfOvyfHefKCuX8XgP6dtOjA_rvT0lMdmhTGN1JfvFRwbrxuCCvlP0o1eRJ33FRfMg==",
  "id": "rs_0f35c9a461941012016ab446814eb087d08fa446aa775c1020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"After opening, the green fruit appears beside the bowl's right rim rather than clearly inside, so it may have rolled out. I’ll lift the arm away to expose the overhead view and verify before continuing.\"}",
  "call_id": "call_4uLQW8kc17N50sYr0aT7IKnQ",
  "id": "fc_0f35c9a461941012016ab4468307f887d090d5c3c24317902d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4uLQW8kc17N50sYr0aT7IKnQ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.0219, 0.8127, 0.6132, -0.4427, -0.0139, -0.0265, 0.9914, 0.2131, 1.2968, 0.9497, -0.5114, 0.1143, 0.0784, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1663 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0009 left_gripper=0.9914 right_x=0.3553 right_y=0.0599 right_z=0.1535 right_yaw=0.0704 right_pitch=-0.2819 right_roll=-0.0348 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0464, -0.0806, -0.0122, -0.1299, -6.2974, 9.0735, 1.409, 0.0269, 0.0122, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109f73d0720742b09a4874dce27c7963d35c34b8d1e9cc0dae47d978dba4f5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c36172807d90a67b5c50a55cfe6cb8c47c7672df6887c62ad048b69772bef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe384e5440705ba149667fae3f30f2bd1fa78a0b537082ac9d7abd11d53f93ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.28 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, 0.8108, 0.6132, -0.4316, -0.0139, -0.0265, 0.9915, 0.2111, 1.3148, 0.7883, -0.2657, 0.1184, 0.094, 0.5404]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9915 right_x=0.3631 right_y=0.0601 right_z=0.1216 right_yaw=0.0586 right_pitch=-0.2156 right_roll=-0.0168 right_gripper=0.5404\nstate[joint_eff]: [-0.1846, -1.3744, 6.9949, 1.7021, -0.0464, -0.0562, -0.0171, -0.5812, -5.135, 8.9094, 1.7998, 0.0269, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, -0.4393, -0.0135, -0.0265, 0.9914, 0.2131, 1.3861, 0.6659, -0.104, 0.115, 0.0864, 0.9959]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0012 left_pitch=-0.0645 left_roll=0.0006 left_gripper=0.9914 right_x=0.3574 right_y=0.0603 right_z=0.0749 right_yaw=0.0666 right_pitch=-0.2477 right_roll=-0.0247 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.265, 6.9812, 1.7021, -0.0415, -0.0366, -0.0122, -0.0752, -5.2991, 6.2974, 1.4969, 0.0024, 0.0269, -0.1001]",
      "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, 0.8127, 0.6132, -0.4427, -0.0139, -0.0265, 0.9914, 0.2131, 1.2968, 0.9497, -0.5114, 0.1143, 0.0784, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1663 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0009 left_gripper=0.9914 right_x=0.3553 right_y=0.0599 right_z=0.1535 right_yaw=0.0704 right_pitch=-0.2819 right_roll=-0.0348 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0464, -0.0806, -0.0122, -0.1299, -6.2974, 9.0735, 1.409, 0.0269, 0.0122, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109f73d0720742b09a4874dce27c7963d35c34b8d1e9cc0dae47d978dba4f5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c36172807d90a67b5c50a55cfe6cb8c47c7672df6887c62ad048b69772bef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe384e5440705ba149667fae3f30f2bd1fa78a0b537082ac9d7abd11d53f93ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaJC3d_zVKkFNQuIkg2Eqw5TN9B4BxBmMaf4zSYQnOI-VixZkCgJH_wbjipWZZh2p-2QUKDkl9zWpxBW0TzYJNeNrDDvzng5QuFt3eel6TBl8ju9BZFlFNLuf6i1WJ3Q4qel4dXF39V7BD8mRwSc_f00EPXbabo6SZHck4kQdFHmoZyaEpGQRGmHi02JdxJVJ0czwXPiJ-iQkUf2Ock_eRO1VzUqTc0OYf_4y81REL03xEmkTaLyUmaO-vRgQerqHhX5MXYLWB0Bozd7yblhSSqKVn0NtRa9qfIC75lKBAD2IFbqbqaC3whDFx3Y0EThY_2XUNODGejTHcWvaJo1kk48MZ7HfDMe7FAj-PfhKe5q4Sds_OhGjciictm4xpj17CELC0xfVAOPxZOLbmgdv8pHooA_BNQqNMcTiIjAFRi1BaxS5WmTN8_lULtjznrHEj_Tvc27sQXZB8tbRN1WGnHJLqFHHVfeWduCSTQdnlzmRvyBC9LfJAwDPJbqP5S5iImq66NlGlWlYeyScXkrnaKfBATs31uKWJRHjOR9xHdsdhXBSnacmV0SbLqhvT0uzPXUGyvmYDxg1tizLdhC0ZRrKAAcCDbWW-1Z8Bc-o0nFXmjcqVAQ4qfno4_OnyS5-IE-cZOKP9tf2NKO61npZGFO5EEv-ujEwscOcn3wT8lJEKVZUnJGcfj8J_OOPNIRL7NeUwrWgUCCMwqs0BMZKLTNHXSESF9h8b43HPpaYozbrHUu2plAOCup3kQPpEzM3vFtIDdh-aBiXlquGvswtc9ibbDwtZY9kFIbbAI_OPtzWewgvGYcEx7qsyAm5SroG7xFFji1vmsvbiMShNXxgTHFwn-Iy5RMUfvKcGv8wuWOZ-Bqrz_vXoOfUGXce_plk_5GTBXj5aI2gdRxraR2I5CgVx6bUP0cdZmLV0ON-O22CnHhUdq2oWaDXTZy1C26S3nvNW2OdjIRDkxguzs3ebL2-Uw5JPW9cZZByClclWIGPPEfY8r2r8Ot4oH7-b4jRsQnsmXIPHCYq-tKSXQtdnPrZaUnrZf3ahZFwv1tGtJLH4Pk-huhA1pjJNOj9cBhWgzoLxWPINiP4HLdA2yU7sFN_2SYofS2ks1toxFe6R1aEthpVgnug31uQ2BHw5PYqxLFswbTbkz0kx4QwdM6UjHaUT25wQRikB45YdSUD5Ii-32lQkqXSEHO1tf2wYeeueCnId9Xzvj2S7CSZGVWFgKivmODJ7Gx1cDHEW8J067bWGWbXBnzmfmRUoboVcj4CBBarN0IiTyXD0unW3lbfke2W-s1w8Tj5nLWKqU46JBUG4YHby43Rgvmpru7kshoOyF3jwsys0TYsm83LHusxE19HSqRV1-LP2Mbrp3_t90NS8Qy12IvTqwx2NEXOh1OFQt2qYcxcQGHHULQHnR8lNqsozCulXrgMtLXmIvfgTnrik7PQ6Uy8Dp8bO8J_OoXwftlGY1ne8cxE3kZhHTzhHx2_Lg423TJGOxzUJS1O968_t4ZKubpPtn9j8JPjZ8BSoidj0lGZGgqjaGUn4QD0712y0t77AbV85M_MFv1oL0FOnKBcb0Cq10z0BVje7T1JAMVq1mGIk3vW3cdPnL_k3aBOGQ1zDkyOfAKI8ISBKZ1YvJ51Xjr0MobJSx5dMi33HYYzY4raoJ4iP-gddTzuu2A2a5X8UZ1t-qq0_WSnPxEFikydDx4dfVt5zmtXU3GB7MwjxI2grUQxIc7aMLCIAuXsy0-2aP7eZUGGpie1CRiyD2p43MVqKyHDKx1EhAbjLJazmVGdQy9Uy_O3QPWTm4ZfMMT51qf24ys1mIN0rJ0PgXxtO7vNIrvNc6qfC5MgOYAgtXWq5gaaZG3h5ROiyd2kuKnfElAb7FewolgSHKENvmKBN7Cz4Res4E2png58czPxJtnQIFece2voo3Fj81C50fKJzBiDvakUk6jKOFsHmEM1cwZV95vUGOUur-eZCVlirtPtLtl46Lk2EDonJLSe3MHoPeN_JFAlso-YV5jdw8BI-KztX7UY_8r3rLy175_PPuM7tdvBW_NNax0qDdFZIRr1s6oIHnbcOsxk7NL4cKIulIKSLAE0HLL3dxd-8MQlePEmDxmLoOjlp43VM5KDMvbGBa5IU4lGavqgbGzU3qDk0nO8ivTNrHR9ICDc9KYbgxU4oJOcBEiAVluO5CiLTnuSREBybvInvzxB1B56RkumMHWP95EYnCPdQkO1apHahau4XjESypZ56LeBSgquE2F6RP54KN-Zgb1DMmy7YH4fq6epV9So4AjHZga35JVuVr-jnG5lUKrYpNhuv4gTrOEbZivH_W3yH0dfhLTxBTyTCLVp-hePQIllulxL-U",
  "id": "rs_0f35c9a461941012016ab446861bc087d09478d2f91eb760c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":-0.02,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The overhead and wrist views confirm the pear rolled to the bowl's right side, while the yellow fruit remains on the left. I’ll move above the pear at the same forward distance as the bowl but about 8 cm to the arm's right for a second, better-centered grasp.\"}",
  "call_id": "call_UXuMpkl67O7gUpGUk37Zmqos",
  "id": "fc_0f35c9a461941012016ab44688b43487d0afa495f17880d124",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UXuMpkl67O7gUpGUk37Zmqos",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.0219, 0.8127, 0.6132, -0.4465, -0.0135, -0.0265, 0.9914, -0.1215, 1.3037, 0.7399, -0.3199, -0.0925, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0011 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.9914 right_x=0.3454 right_y=-0.0221 right_z=0.0964 right_yaw=0.0568 right_pitch=-0.3095 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.306, 7.0496, 1.6874, -0.0122, -0.0513, -0.0073, -0.0068, -4.8342, 6.3385, 1.5995, -0.2076, -0.0757, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3906e35760f9840867f97b9bf3227a5ae8be8edb53ba0ec75abf75c377308c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f298df9c8f89a873ab50228915aeda092bd24b853a8c32af18f83fd70e4c392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddbfcdac593d59e84dd8e5d65043691bb9d5df679ed10b7771207f00e53258",
      "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 · 1.807 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, 0.8127, 0.6132, -0.4347, -0.0139, -0.0261, 0.9914, 0.2131, 1.3861, 0.6659, -0.1013, 0.1154, 0.0933, 0.5404]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1679 left_yaw=-0.001 left_pitch=-0.0603 left_roll=0.0011 left_gripper=0.9914 right_x=0.3579 right_y=0.0603 right_z=0.0754 right_yaw=0.0625 right_pitch=-0.2449 right_roll=-0.0197 right_gripper=0.5404\nstate[joint_eff]: [-0.1709, -1.2786, 7.1863, 1.7558, -0.0366, -0.0122, -0.0171, -0.4718, -5.1624, 6.1197, 1.7802, 0.0659, -0.0171, -0.0122]\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, 0.8127, 0.6132, -0.4427, -0.0139, -0.0265, 0.9914, 0.2131, 1.2968, 0.9497, -0.5114, 0.1143, 0.0784, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1663 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0009 left_gripper=0.9914 right_x=0.3553 right_y=0.0599 right_z=0.1535 right_yaw=0.0704 right_pitch=-0.2819 right_roll=-0.0348 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0464, -0.0806, -0.0122, -0.1299, -6.2974, 9.0735, 1.409, 0.0269, 0.0122, 0.0464]",
      "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, 0.8127, 0.6132, -0.4465, -0.0135, -0.0265, 0.9914, -0.1215, 1.3037, 0.7399, -0.3199, -0.0925, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0011 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.9914 right_x=0.3454 right_y=-0.0221 right_z=0.0964 right_yaw=0.0568 right_pitch=-0.3095 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.306, 7.0496, 1.6874, -0.0122, -0.0513, -0.0073, -0.0068, -4.8342, 6.3385, 1.5995, -0.2076, -0.0757, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3906e35760f9840867f97b9bf3227a5ae8be8edb53ba0ec75abf75c377308c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f298df9c8f89a873ab50228915aeda092bd24b853a8c32af18f83fd70e4c392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddbfcdac593d59e84dd8e5d65043691bb9d5df679ed10b7771207f00e53258",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaNkltvgzB9sm8PPB3pishPJkqjp93KIHy_zWFASEF1bdsy2SU3T7lbZu2nKlh2ZwZKVuPovDumlSBi3FAmA6gp9x_CNJkfUKuwWF_47o40HdoFfHZZHZ6CQLuqIRYaY9TCM7nNK4WJuGAafAQRnhnzcM1N2W5YearvCCEbJ4IVJM2mxJss9VkP0sLlsQFso4rJN0wdFe7hpCFkXBV_sV3tJYsu54AHpmkJVvHqc4qbawdxQdIlp8avukfDYXjwBq_vx58VGXA5XfojCYUyoPbTNPs6_XvefFyjp_B1akAaFgHmelonJrl_MeVOoim0IyBz7ssXXw6lcdmFGkxV5ae0oZlbOgfYFfIxGumrLHPEC8j3VVJmnHd6wsKLYgrC11xM6ci-4QFRKyXBryRUDEFqEgBkY2I5iKHrqZr-PBLuMHCTkvZR5Uaw_HizJDFdsKn4gIF3jAJasR7zT67x0NgUVk0Z0l4VRDJ3TUlpghiifyTE0M1GegpwIahS3RQOxibeZFRNnD47odOumVnIS0lZ1KnD9Pd7T2-ny1J5JadvdF-dT_W_dutEMibSii30UiNS5yjRRKPbLw1qpTnhihsgKt6f7RpFD8XWuSh8Q36QW33RFP_W0vWwKtv9MYqnX7P8mqCUDJSNH2SnFhFb--FFK0ShCZSoZDI0WNBdqlqiFWVC25LuJqzcnX8LbEPy9LL_ETyBcOaz22gQM4WEaMSBWy0vqHmw4o-FLP_-hQ9HaNvpmkN3H4HQl-YlPaQKrm60SETmToOWECOkC64VLY8q94FeNrUk5n_9aAWXYoGbYgy_JnRN_PJthYjORk6whn45Vi82mg4PNFG57_4OLe2NJpMHzEk1QF-73pLJu6Rs4wG_oZfY7MRisu8L224inbv8yyZCE2__2gifkDrspC3HSMcVprhtW7GCeyZkcTRTTTMygnJ9D-jlJEDhHpu--KGMUaRii9D7VGQJCjPxsu3YPC33ndLnl3EJQjc0i0rgbj0BLdGuEY1mGLFXSV3Mj9eWGeq97b-CsdOTtEHJo1qDicgtCpaM-5Nk-0x2QhzRtW6ATLofnjVIyCjwQYEJ--II1LG7e336dTdkoqyRkVJG3jPOQjJCUQYlaP1ybrRHgtb94I-X1h5l1rfetYzDwxmv8MamQVyuZlBC4PmAfgeYwPHI9I6YB6RgJMTAt8aUoJtDnrClrsevemoTezqfx861lObKzZwAMgiqrbrH3HpDYfiLlvUpp3N4PZuYFkuwRyKS5m5kxP_bSejTeb80TOo5819BnUht1emmRqneLdnRVnGQBUkcVudFpEF-5QwjnHBEOxh1Wjf92qj-7hdi_H0zZTrUBVf-eYwmNiDqw-1FV7-uql5zqhIKXJ_VtJMX5cbAaEozzaBPSDKHA4XNjfCX",
  "id": "rs_0f35c9a461941012016ab4468cd49887d09196e5cb131c13e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The pear is now centered between the open jaws, with the blue bowl safely to the left. I’ll descend straight down to grasp the fruit near its middle.\"}",
  "call_id": "call_NLzL7mlPpObnmV3rTlMVAkQN",
  "id": "fc_0f35c9a461941012016ab4468d348887d0a7785019df041201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NLzL7mlPpObnmV3rTlMVAkQN",
  "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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.12, 1.4559, 0.5617, -0.0154, -0.1024, -0.1692, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.341 right_y=-0.0193 right_z=0.0269 right_yaw=0.0693 right_pitch=-0.3336 right_roll=-0.0237 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6874, -0.0269, -0.0708, -0.0122, -0.2667, -5.2855, 5.6137, 1.5946, 0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5914b2ee78b5b6b68a019ba02cbe6376d3bd3fe7e517dac617d33967ee1173c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e23c739480f0f5dc6ae24bd7f286070fb67efd87594d58252ecae93d55c231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee89e6b639c3182949268903df49e79ecec868c56ca4000ef7f76a8625288415",
      "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 · 5.13 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, 0.8124, 0.6132, -0.4393, -0.0135, -0.0265, 0.9914, 0.2131, 1.3861, 0.6659, -0.104, 0.115, 0.0864, 0.9959]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0012 left_pitch=-0.0645 left_roll=0.0006 left_gripper=0.9914 right_x=0.3574 right_y=0.0603 right_z=0.0749 right_yaw=0.0666 right_pitch=-0.2477 right_roll=-0.0247 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.265, 6.9812, 1.7021, -0.0415, -0.0366, -0.0122, -0.0752, -5.2991, 6.2974, 1.4969, 0.0024, 0.0269, -0.1001]",
      "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, 0.8127, 0.6132, -0.4465, -0.0135, -0.0265, 0.9914, -0.1215, 1.3037, 0.7399, -0.3199, -0.0925, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0011 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.9914 right_x=0.3454 right_y=-0.0221 right_z=0.0964 right_yaw=0.0568 right_pitch=-0.3095 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.306, 7.0496, 1.6874, -0.0122, -0.0513, -0.0073, -0.0068, -4.8342, 6.3385, 1.5995, -0.2076, -0.0757, -0.1538]",
      "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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.12, 1.4559, 0.5617, -0.0154, -0.1024, -0.1692, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.341 right_y=-0.0193 right_z=0.0269 right_yaw=0.0693 right_pitch=-0.3336 right_roll=-0.0237 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6874, -0.0269, -0.0708, -0.0122, -0.2667, -5.2855, 5.6137, 1.5946, 0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5914b2ee78b5b6b68a019ba02cbe6376d3bd3fe7e517dac617d33967ee1173c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e23c739480f0f5dc6ae24bd7f286070fb67efd87594d58252ecae93d55c231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee89e6b639c3182949268903df49e79ecec868c56ca4000ef7f76a8625288415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaSVLm1RcTeKqYeN734Y_NFy2kSSNh-4O1ePHFCbmvCGVZYdNCue4OXDPfYQn4IGNkeAFrGB_dK8bL05wjrDMZGrU9uhtH8pir9hmBFJETr1gdLb3pTXMNJmLz7dRAjMSGHTnIpJEzAkM-tQQOsteMW_NXQoZF1oBwMjI2yWT-_tmTJmib9C76erjp2N80IhYripc6tbpZYifeMSzEww9ac8W2nrGiYZEnhNP2GnX3brsyWuLolJJ0eC2qCERg51hT4J84B9ENRNrnD3RQTn_BFMvCy6SdgfRaPnGFOaUGkM7rt3ZK7_VIG3gkxxamT1F_wHRmwcvHOe4m6-R1nkkTh20xhBPfxsA4ukmcuTFPtqtjbwPaN7bGhJ-BjDUp84iqM3kN58-WCM4nmEbhdrUAlXXLNwbI-FKVbKoh-Qo1heY9IkoOkUwmwO5sA-QQPrasWRKYaDujndDU3euX5tT0wg2NyolelDZNvcs2uGuFOwlbeRQ4hmWVXXjIuCvm6O6o5q9clgRvxMSCgA-nwyX9WTCSkGSYFTCS3Jhf0cWCp-Z5WFlC-JVuBptwPRJC6_skwTpIXd66_l6sjkAzHsYX8Or37saU0BDwEqLH_CqgD8_mJHC3RflYo6UutVUwfXRLlbIAyP1UMr78irYL6Fz9QjczOmO0gqHyiHhdw5rM48HYuOD99OvMSqDZ2zG69rjq6Ky8Sk3fe0eM51j9ASTtJp6x_8ADikj7Hg8n848RXPR7qy8ykrjA_55paLHNvzi0iO851J0xm0yWtUMeZtGmbDugGH8QT-EOFSxTUFLrx0vaTPd9GbSqmC1DImh6_mNo_qHVijRxIJU347bMxsr2kfa6_uv22GiN_FWOvMT2bGrGzD171MdrVA2kP2cyEw4x_MET3kTv_M33Bt-2ooq6wSwAUIA9YgwGt2mHcbsT7ikQoKQTRhp4Jn-SLtxAadAox_MO4NDZgZxP84ERavyGtnxVEeww06LJigLCz4K4vnwiv5xtR2Of4X1bZOuNFmtlCoGyujC8y8FTJeqapdikccfysn9WvPKESVjT2Ml-rhzxGzolHe_mprt478OOSwsax6ULoEaeW9Q5gl9K7iH4rPiuCuDusIILGxAMW7wW21jxuDo9_97qO3oJdPEVwYqgpqyLA1fuYBSLtARI1Co-XTTkVuAh2DtoxVcNwnS7wALc=",
  "id": "rs_0f35c9a461941012016ab44691c17c87d0991bbe9acb4ba8f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose the pear remains centered and both jaws are alongside it, so the alignment is good. I’ll close around it again.\"}",
  "call_id": "call_6Qh5SgzO7ke8qIMnelqHTzfZ",
  "id": "fc_0f35c9a461941012016ab44691d7e487d098438ab5ecb4c1c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6Qh5SgzO7ke8qIMnelqHTzfZ",
  "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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.1192, 1.4532, 0.5644, 0.0071, -0.1257, -0.1661, 0.6837]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.3467 right_y=-0.0156 right_z=0.0326 right_yaw=0.087 right_pitch=-0.3027 right_roll=-0.0087 right_gripper=0.6837\nstate[joint_eff]: [-0.1436, -1.2786, 6.9812, 1.7167, -0.0806, -0.0611, -0.0122, -0.2803, -4.9162, 5.5043, 1.2137, 0.149, -0.0513, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f598dd9510a3c468cce8bc71a0cc32071f4cf63f363f99c96ef783505c03e45a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bdcdd3bea028f2254216792c1c9872339a3492f1a2aaf42b8c6b84c14bf52b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1458293762e47339e92e3826a46b5fe36ec90704a2bd93d4dba8c521d0c43b66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.387 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, 0.8127, 0.6132, -0.4427, -0.0139, -0.0265, 0.9914, 0.2131, 1.2968, 0.9497, -0.5114, 0.1143, 0.0784, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1663 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0009 left_gripper=0.9914 right_x=0.3553 right_y=0.0599 right_z=0.1535 right_yaw=0.0704 right_pitch=-0.2819 right_roll=-0.0348 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0464, -0.0806, -0.0122, -0.1299, -6.2974, 9.0735, 1.409, 0.0269, 0.0122, 0.0464]",
      "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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.12, 1.4559, 0.5617, -0.0154, -0.1024, -0.1692, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.341 right_y=-0.0193 right_z=0.0269 right_yaw=0.0693 right_pitch=-0.3336 right_roll=-0.0237 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6874, -0.0269, -0.0708, -0.0122, -0.2667, -5.2855, 5.6137, 1.5946, 0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.1192, 1.4532, 0.5644, 0.0071, -0.1257, -0.1661, 0.6837]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.3467 right_y=-0.0156 right_z=0.0326 right_yaw=0.087 right_pitch=-0.3027 right_roll=-0.0087 right_gripper=0.6837\nstate[joint_eff]: [-0.1436, -1.2786, 6.9812, 1.7167, -0.0806, -0.0611, -0.0122, -0.2803, -4.9162, 5.5043, 1.2137, 0.149, -0.0513, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f598dd9510a3c468cce8bc71a0cc32071f4cf63f363f99c96ef783505c03e45a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bdcdd3bea028f2254216792c1c9872339a3492f1a2aaf42b8c6b84c14bf52b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1458293762e47339e92e3826a46b5fe36ec90704a2bd93d4dba8c521d0c43b66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaY8OBrYTHLgqMM4aU2KzkfQULD2nPIgJ2E3BYGYcqlFH24UU4_5jhQG0SjzCJVnjeJLVX5odp3CTOmCGoHStrDTiFCn559ayqeOBKnMD8xnZfILBNwC-UhtUOcro_M7o5XcH_xHOg5UhnVJYbt-111J8LJj4pSqZQyFWFGKwIj7HuVM_4I4Ptx2u4NaFtw6RN-b0stpaigeVM6s8AHMOWkApVUMwfX5bDPOiYLZB1fWTvE4ml6oA63OperyRwcyflDTZcAYqIkhlQBkASsIuaNhlyU2yB8IUU-7QOSFVzUu1BJa1KzpVIR5-3l_ySEjUCNF4azc3j9aK13zaAlaka29X2Y4vgpYmRlc8jvMiPPnSyJzuaS_XILvvNQyn8OuVo0OC9XKxzrYVB-YRpZiHiyX9v47Df4QmsaCUQs7lcIHppYc4fFigDXe-IoiT1ZMmBkSzHKCcwcEFzpyNuWx7fxKeM2jRfYsoHNaaj1pCK_tcIeUN2cNtd5M1Low3STa9gzEgpgk6GUUtI4HR7vB2lGAQz-9tJLcJ2uusoYLZOpT5qo79YYSI7t6aI0ZTUK6xMAbPnKGMUgAQB8OcjSwiNshzVGdamTlyga56waNQwdtnJfIBXVfuvtxSyYvoAiV7_9RmRuXfm8W9asvWL8W4qJnr-e6uopfXJFLOBvoWV8xTgN1sq3V9I0DHOx8hDqitblIW9eMWewwbUnwDkpF8U-5EqyR79zRZwXsiuXirmOSoozHa8sehA2l1aP3KnmMpUFfd65YnJUsNvhn4dVPIv5CNVpXOOmrMXxBYmsvidabnwNLIe6SL7LQBoT8z1CAdJu6I6bWsEfQiXLUSsqrnvbEIzOefLMrRUNx8g5is5DRbMROSmqJ5N_ZMW_I-3tl7CsPX1lDlJV5R_iFrcI-tkiQucwFNmVwglrKubxDj2LZFUsMi7vQ_uiwWt91F9_VJfDwlMS8daebOCPuNvCjAkeKN7uU2xyN_ebJ_RV86S-vEXRvIgwves3A_G8PGfku07-jWjhvkQTIHDWP2KTZbgnCek3Cy7cO3cT__Gj5yXCGcCD4LBnxOBmJec2ee1s_4old2Rc-5evxgtMzTmW5WYup1-gMRVaS1Rwn2kFabM6JxkGhUmhEwOsYtrd1PfgWC3VhUrerkTQ5X8NotPECKVISJbT4VUZplEqHfV-JGnwmOw-RNlj11XE3vpTmOyijeABqWGPkaDWqYYaZDdR7RRtxP3kyVAkk3tMTzrMJKrUXdc9beb9wW_X3P9ovuCk68d-N_pDOaXCZ2YoWritVhJ_ZQRuliNb2LW_hQp4DSSaiuT79DSz5RHgjm1M-Ng8BQ8PcghmAl0c5LpCoOYxEePVFszc3S1AoCIHFWAYyHJpId-VazN6z2nhlJjnqMsSpwb7r7LO4uZ8s51uIdUi2zCGMbNBRF3VPu9oyqXdBQ-F6UOEIyJz8G5OuvdPt0kfca1vVQLnolN9qyLwHMGe5pniM9VsJE7i38PG8pz03Bcld13FgFDfl9zJVtuOfVcR8L1zMp3vRD2DoezYNdbtOInS0qWZU8ktkptUPgtElaeiKyI3Pbmwvea1jsxeLi9HsdtZ1T4szBfcxx9TrZ5y0aqMu8A5VPIMntMFuIPK0k-IECAukmHyp01rnbCJPZydJdxIEgfu14gvNJNHa58cCJfhDTMjlJivi-4vuW5N4EX_F_EWr7NxwF0dop4gBDoOLjHbql2WJwbD5dhdEdvneKX3wd2Pn_hlc4Su1u2IlLDdDkjNOCVXNTqxL61zOEAeaqoOnSwdH85ryAMiCPG_Ms2mwpPj_b9cOpVKE0clDpjziNK5U5qvODsua0CiSNEG_V-gfGiS7ri6g4YafEfG1E9MmM-M-OI-atsi5jzljN0HRO-O0ZTs3uexc-oUxMMiKSubwkyTf5ImBKzF6E27dJ7a7WibgRA2TWpX0NBVdhtvWni24escTMFCRKz1xosA6_HbFpDU4coFsnGshVLBIENi5E1UjC5nNEmUup7c7XD5-ieV8TULwHV9B8FNVRnVQhp_rDJ0qZ-I1hOLVcOQPftxtBMP3CD_Wrrg_QDt6FXgztapoquhL4YcHaYyBr4_OJRt23iKYfB_rgSPnf5HXgG6dAmrRDRI8RIhK2LCsTLV8I-O63mi5Z7hsPqGdAiOa-9cYFCL-ewrAkVR8xyNTaLnzAp7PrIRuaYbEJ-LspsxlwIBL60vYI8c44N2jDJOaumj6kyfV1Jh3gY-xRLJXfCPxwrQtqR0TA2LG7qjVzFGzRoBJyJdRgDhF3LehMK8A_CEsl8GD-IHogMfuOx62GcidwfWKQzCabXnYOw8dFqScrb2e31t415o6uAMxSJAglZ3M7J9FYKCv6KCP_raTKnDefZp0UT9JzHzaXzTwd6PO5F6-yHKaMbU3A5JDDwl83lkMfZ8zJsE3TsJATtUrqe0-X4OIVsprnlbxIpkzj0ehDTfbDVS789MmbvrrxZxErkF4Q2G3aApKZ8s0tpuUPvUJNhWWAwAgNQIe-l08AGkKOEoG3ktrZ0lVbYI2MB5QfhLa5WDYThXncgF4DeeIN_IfRxutvpxtc3zrcE9iAjS3QE9S9crPHDt4Il2qyK8374aOqxp3oclFPPpMbDUuCM4eA==",
  "id": "rs_0f35c9a461941012016ab446949c3487d083263c08e4a0acee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.11,\"right_z\":0.17},\"note\":\"The second grasp settled at 0.68, confirming the pear is secure. The prior release was too far right of the bowl, so I’ll carry higher and shift farther left—to y about 0.11—using the overhead separation rather than the partially occluded wrist estimate.\"}",
  "call_id": "call_64HiNszG8Yh3q6cnpfmwlYwc",
  "id": "fc_0f35c9a461941012016ab446977b6887d087fdd0fd810db8aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_64HiNszG8Yh3q6cnpfmwlYwc",
  "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]: [-0.0219, 0.8143, 0.6132, -0.4614, -0.0135, -0.0265, 0.9914, 0.3775, 1.383, 1.0763, -0.6193, 0.1719, 0.1883, 0.683]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0011 left_pitch=-0.0885 left_roll=0.0011 left_gripper=0.9914 right_x=0.353 right_y=0.1113 right_z=0.1596 right_yaw=0.118 right_pitch=-0.3373 right_roll=-0.0215 right_gripper=0.683\nstate[joint_eff]: [-0.2393, -1.4564, 6.9675, 1.8095, -0.0269, -0.0464, -0.0122, -0.335, -5.6821, 8.5675, 1.5018, 0.2515, 0.1685, -0.0855]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f583229390de303c8908057b5f2dbba3cd97f04bdb3e86de7ce95e86f495e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d166da5e7efce9d36c3d80c8328c9ac88a89728d5049d23fcc90fb1ec29703d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2af252bb924769d986f91fde71934aec83422b6b52bfa1737904855ddaa54d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.316 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, 0.8127, 0.6132, -0.4465, -0.0135, -0.0265, 0.9914, -0.1215, 1.3037, 0.7399, -0.3199, -0.0925, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0011 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.9914 right_x=0.3454 right_y=-0.0221 right_z=0.0964 right_yaw=0.0568 right_pitch=-0.3095 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.306, 7.0496, 1.6874, -0.0122, -0.0513, -0.0073, -0.0068, -4.8342, 6.3385, 1.5995, -0.2076, -0.0757, -0.1538]",
      "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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.1192, 1.4532, 0.5644, 0.0071, -0.1257, -0.1661, 0.6837]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.3467 right_y=-0.0156 right_z=0.0326 right_yaw=0.087 right_pitch=-0.3027 right_roll=-0.0087 right_gripper=0.6837\nstate[joint_eff]: [-0.1436, -1.2786, 6.9812, 1.7167, -0.0806, -0.0611, -0.0122, -0.2803, -4.9162, 5.5043, 1.2137, 0.149, -0.0513, 0.9109]",
      "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, 0.8143, 0.6132, -0.4614, -0.0135, -0.0265, 0.9914, 0.3775, 1.383, 1.0763, -0.6193, 0.1719, 0.1883, 0.683]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0011 left_pitch=-0.0885 left_roll=0.0011 left_gripper=0.9914 right_x=0.353 right_y=0.1113 right_z=0.1596 right_yaw=0.118 right_pitch=-0.3373 right_roll=-0.0215 right_gripper=0.683\nstate[joint_eff]: [-0.2393, -1.4564, 6.9675, 1.8095, -0.0269, -0.0464, -0.0122, -0.335, -5.6821, 8.5675, 1.5018, 0.2515, 0.1685, -0.0855]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f583229390de303c8908057b5f2dbba3cd97f04bdb3e86de7ce95e86f495e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d166da5e7efce9d36c3d80c8328c9ac88a89728d5049d23fcc90fb1ec29703d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2af252bb924769d986f91fde71934aec83422b6b52bfa1737904855ddaa54d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaig6NGFwSqThWnU93DE_5I1Bns3g-l5luKjmo1dOy6mrifuRdhKlLacC8x94u_mongdDomZ8awUYT4Cw9BdKv2_AwXS6ljqQZPQv_n9-TIHAmQK890LTIKqm5UvhyvMWhb4UQd1pOg-4E4nxgft5JpQiFCo7dco5uV5xmn8tYMBSeRgWKe2SCVjR7DIJ_dterA2_j7yUv_QLrQ1RCYl9JS2xvgLV6eSDfoh9vJJzVDY_LAD3IpecB7YmdcrX9DKFllTfJTfZ2B3qJYsqGa-3D5r7fh3fhI_7D8F_A5RSyGP8PosFY5kIz9-jzDQtoE1b4Xpf0aG9B-2Jca2eLmb3Y9Jd_Nz9nEfPyxHEbAUOywwcb8IKU49aPWB8NZyDLE-yBfgqzC-6x5EijyGot_geJzs9uQK7PhuLyXm7Omp3QrxjCHI1C4qfi5SQPzG4aREizMY-ZENw8IVNQOyHUJRD1P8e7NexxuRhbojlnXHvUKXd8VVUBhxUFb9DPcg_0w55dZBqAATgSjwoNzyHOfZhoLgIKPzoO9BZoEA_solmGcgZsujUuYNAP2AXDkOEfPwFmvLg8H9ur8PYLWip0__GA_-bik59H-Dy_rjEC07cf3iwLLqCn1JClkB2cuvtwqzyuG7BO-hie7rN8eX1gtfQJaECWByHXwKx_oVXjpRDcsJRtoUNfltCj12aNk-PubBRz2YTWpwDF-_wz4k7Nnsv_XTK4byjNlzhPvanPeQ_6IWgcTFiF8b5pykokxRFzb0QcI7nhrqIiLWlO1QkHIff-mbtzFA-iObN0mbZiz-7ofWB5BtwOnQ72kHFsANMTV_yVgcKLHipo6Crd4nAVX_ySNtfbKJLc02jl2PZJtTuijRjh-XTeRwNfgwM0iA6I_-32JVpvSukNgIrEbFh76XNjP3T3ac5uYmDHFsiUp8y_zW89jez8q2GBrhiwAPbdZuZfntnXhEt3l8Az6z4Bwxj_m0U66M8JScqh8Ne_6WJ8Go0jXsSSBh9UsjnmvM5BiaAnJI72HjiRbh_xYfiAv0V3PaI3hCfR4rhJn4jA0IwUFlZPr6G4VU-kWI5y21hDHI5wDMFFDCYYXwjY4dMXO8rhETM3ICtNiSnMA5tZVvMxxp7Fnn-drSLfR6p5BMZIw2NReLD63ec-f54szVRixlIvTGED6enSiXIHikYZA7LZxSuioWhBoKz7d_bcCaSTsb3OLlsAsqE8yxdU-u5xpjWoP37Q2n3yGB-ekVjo-Pcsbm7VGd_p5ph2zhMsS-NsOJfNHbaun73LgfvzDsImr9wSU1k3sRKbaAc7FIeqe1LPC1LJP7Yu-WCiAoRq5Gzt2TrM2OKP6-Z5qO4AYingyTTN7eOH9SUzGCKyQBQ0d2MiznL_gIMe4KJdDwUc4-5x_kSRaI1n65JVvZwq14Ur94c2pGYwptZDd0sCNH6MpqGUO9xS8rrVAu4y3J922JBxg0DvRzNuKINVPI_LIYvR4xj8QyORe_nL1o6tM24CcdtJnZ--qmGv8QPRdwxJsu30qX95Stgl660t75EtX41-gWrRKoRexrrURYok1rCz0XLUYan2dK1lnqcVPY5MhDqOT5jpnpwWQESe8IhNFOvS_Gk9t_mK5Fiyo4iax5Kw79Na9uvu226YzjtlK47Fqf8j5nxkAYxa4O0XpLVJu9jpv9t3vY5EakGQzeC-qXz_gyvqNhl6sLuLB86vJRqjnzlixRICXCcnUQMK8lmZykx-GSFs9Hm93hNgjJjN0tyOPKVx5BVMfYUh7z57oD3LgAyHz349GrK_mGW2w4eynBguwWquPMSmc73OcCUJU4j4v4fsVL4bwhQMDydbdUj-nLtyYbHjfE6eez6yuWSSDuR9bh4Wi1j2ZWU7lKKeP0emmrNM0zINb5aM48y8lxY3IUkLOP8DMUQFzSHshexBvVXq4kVm6kF9WNssZVe5kGY-PycL7rc2ZBFaos3QQ0tbGZQbs_DO0njfuZMsOJCpmHSxEaK4cL3PEy5b7nsp9iRLPUno3FCJkzaUCr90apTrhywmTZUiMe4I8frI_nRghDv47V5KEMb9790HIqeWNN_7Jl1KD2EkPlyd8zb906FItb6NH81814fVa9I9tA9i5VbZv09HSoI1lIxTHAxaBtLyRSZBUMwZcAZh6D15QgPddziCnxaQApQU02Ba_mMMgE8p4vhXgdDn1iscluFHi4OC-U-k9YAtFOJEUAO9YDjQIgytUY6pRADjOzXvL45GGmUXa43d8-u8Iqa6NgCLFbpjhQvaPx5Nh_trrnVUjEFZKJewy9dZdgbat-kkKGHkdpDe6Pc2ZzcaVEdWGg19Ep1yXaMNxSdZfvAmhaWdoRWbHliU2LsG4-panu0DQ3GzCerghnHj2vXwJRtlvAcAu_wGf2qk9gJxHAxUZA8eNlM_NMTz--jtaXKwGUqMA5cGwswSqyY8lw7hSGcAWYUTDPys-u-UoTei5FxfDJoULNPKvJbAXgNRvUSW1UBKR5OkDQWiaOssUSZWHvWlZI50vMCfQX1WlF9tB6r7pZMYRhBzk9pBnkMUHpxr2EEzTRbIjeu1frFOi1MMna9BZHbrPdXip4qy_2qrsUqBQsDVeYrFFjJFbD5RP-s5EIlBkLnr9NqMhCSp0Pbu5gG2SbB-WKMPwNCwwDD5E59q0JWVRt-Qr0gp5HIkoA6603MXeVGacNnTClb_Z4BHxRNylUEbJJFLK0IWwugFueftzF60Q5jhqryFd-k9swN1goJ3lUOLNzh4Vh8sNyyfxSx8YyROV8SOHcOm1W6CDdlANv-1J7q4yB0aKCcdrt1bfdddmgbU6eRX6HvZUr-Nh-wy5vYuVpgKgc9F0uH_W9xpYFf-EEKVBT2Oal6KcXmqHmqDys5u3Wjxuc9xRgwBksG2wJ_mvjUzJWe7UxxsnHFYLFlLU4HLof_E8Hoj220ghbxx4CkRCEhLUEKJWPh2oE_GVMqHZkr76C5ClsCvtzv7O4wih9UEDzyEl9ZVxe7J6T0xYb3WuyCOzy1rirT4TAfMSTWx3RyukdRcX05k3FaT5wvZ079yI626rLGPz4jg-JL5l1imx65y5b1z-dPRa2BdEWOHtxKiZDan0xMGkOq8bXxc8lxOhQA9Pl_3fFQPM41gyrmJCYbdFt_qCHF_KuKeygPPn7eIL0dq1xxHY9wshQlZvD-1_YoBTFMjmQY-WqTjJTXiVx6lNo5q16-U5ZcvsZf3QRgz6eaKquUTl378YRTSNvTyfU1LgCDDYWSIVwfL19jvDaM1t-EQbzdUNd1y_kGcmELJanPborE7QfAIAShhSBiaBrezhBV8SSTeKlSZeyUNvriMAABjU8lF-r4xITp-k7gUaR9V0FrHEfNJtAUrKwKoIo0zelH_Fnuyb1Ey4LlrOREIcDg-zk7s9QpzVos8gur3GIi_WMKLs9V7YjjTvSQRsms7E4oCMrv5ln-bpGyTqI4RKporghHghDCYEp5MwIZwqowm1XJE=",
  "id": "rs_0f35c9a461941012016ab4469d043c87d08c73f3fc576228f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.19,\"right_x\":0.365,\"right_z\":0.17},\"note\":\"The wrist view reveals why the first release missed: the pear is held off-center near the right jaw, while the bowl is currently under the left jaw. I’ll shift the arm farther left so the bowl center sits beneath the fruit itself, not merely beneath the gripper center.\"}",
  "call_id": "call_eFbsHgB1fnaKtKna3TcdYoor",
  "id": "fc_0f35c9a461941012016ab446a18ee087d0bef9a0ab9657b0d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eFbsHgB1fnaKtKna3TcdYoor",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.0219, 0.8154, 0.6132, -0.469, -0.0139, -0.0265, 0.9914, 0.5949, 1.5753, 1.272, -0.7044, 0.281, 0.3439, 0.6829]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0008 left_pitch=-0.0973 left_roll=0.0015 left_gripper=0.9914 right_x=0.3575 right_y=0.1871 right_z=0.1575 right_yaw=0.1414 right_pitch=-0.3796 right_roll=-0.0422 right_gripper=0.6829\nstate[joint_eff]: [-0.1436, -1.4291, 7.159, 1.7216, -0.0562, -0.0415, -0.0073, 0.4855, -6.9675, 9.0325, 1.3407, 0.2222, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f26b554b1f42424e2d56b5fcaa0a76788ee1f91a84342f1db50daeaac6ef21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad519f6bdb5ab913939fbe4046389d12c9738f9a9429b1a6a7c9c7db1ba49ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9c80fbff0d424142d4d66143f5b557d84b5e9c5b466f6d3b8d3fed95307160",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.267 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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.12, 1.4559, 0.5617, -0.0154, -0.1024, -0.1692, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.341 right_y=-0.0193 right_z=0.0269 right_yaw=0.0693 right_pitch=-0.3336 right_roll=-0.0237 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6874, -0.0269, -0.0708, -0.0122, -0.2667, -5.2855, 5.6137, 1.5946, 0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8143, 0.6132, -0.4614, -0.0135, -0.0265, 0.9914, 0.3775, 1.383, 1.0763, -0.6193, 0.1719, 0.1883, 0.683]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0011 left_pitch=-0.0885 left_roll=0.0011 left_gripper=0.9914 right_x=0.353 right_y=0.1113 right_z=0.1596 right_yaw=0.118 right_pitch=-0.3373 right_roll=-0.0215 right_gripper=0.683\nstate[joint_eff]: [-0.2393, -1.4564, 6.9675, 1.8095, -0.0269, -0.0464, -0.0122, -0.335, -5.6821, 8.5675, 1.5018, 0.2515, 0.1685, -0.0855]\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 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, 0.8154, 0.6132, -0.469, -0.0139, -0.0265, 0.9914, 0.5949, 1.5753, 1.272, -0.7044, 0.281, 0.3439, 0.6829]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0008 left_pitch=-0.0973 left_roll=0.0015 left_gripper=0.9914 right_x=0.3575 right_y=0.1871 right_z=0.1575 right_yaw=0.1414 right_pitch=-0.3796 right_roll=-0.0422 right_gripper=0.6829\nstate[joint_eff]: [-0.1436, -1.4291, 7.159, 1.7216, -0.0562, -0.0415, -0.0073, 0.4855, -6.9675, 9.0325, 1.3407, 0.2222, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f26b554b1f42424e2d56b5fcaa0a76788ee1f91a84342f1db50daeaac6ef21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad519f6bdb5ab913939fbe4046389d12c9738f9a9429b1a6a7c9c7db1ba49ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9c80fbff0d424142d4d66143f5b557d84b5e9c5b466f6d3b8d3fed95307160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEamy8w6eFqXVhHtcukY6F8pEQLpxuAi1xSRA_6Z-awCqKlNrKTQvxVDTnPCOERhZUQ7eZjfW79IbxRHMlMGSoCA0QI3bQRXQ0lQJ8SThMHJved4ay0Rmn3cluvy9tH0jVOV4HyPNJWLptvI3JKHF6SJxbmAYjleBdoOHEyl436kW70O1XpCY1q6VkQRZpbQKWHNnk-_7LvB4aeAmzQEPisiZf_MKfylPSmbT6qtuKx7uHA8u-LoURG8jR6JaSHECpkC0cJs3YUvXwwIIFlDT9ho_J_NEtrB-ASiDvhdV48p5DNysbs6rGBgNkSfGH23m3bx0w90_A1uuVjYtYrWALeQduV4UVSN5wDb1iKIuaKGixejtqeEpnpXgdpkVavF79HbefLvB4vj7xhJCmIpmfASBXUZDGnZ1KW6i-uC2m3jT7qZPCqmVK_o3yW81kMpGioQQlY7yegfGVrwjqLR_RR3TSBLQeKHsuh-NkM4oS4A4ykAv0_EhbW4a_KUtGMGvIy44NvR_po3Gmu9vvOxWyEJfzjlRLQwhz6sW0CbL6C7e0tcI5ByAv85keqLjkn1rTr_4gHysjx2L0h7mqw4Usq0UzKHjtYOvLvFrpKihWYRCAgN-HA5jivGXtNWF5874MrrbZWbPlWpPTfilkRZa2KHwgS3ALpuW6JrJqN3f5Jwhst7Vb5haxl0-tzBQKQTLA5ky1Nw0Xld6xG3W2XunV-B4aeVRNKLBIgjVsmvepVRXcCRC_75kM-w7Ehhn7hOCBRmDl-uFIimKm8yAs5azB-Y94ZRY5UG3LRmBrS9Oe2GF9VnlQjwIJFLxSWbCtrxSKxKqxtHadnusPOIArzArqYM7qybkqOez9vilVqa_Ax0xuld99AIGZ9cfqynUzuE8n1vDRmnKrCBrqxZLyg3d5Co0tNrPNmvl8zaO76Ovvg-hER8SOl0hFlV2xJK27jE_-hfrLT1ew0ofd7xYtCs8VGMb-hfpYOzfAgLXAIB5IFHOjvlG_aA_ZOYkUTcwfp_P2jr963Y99vwp0QoSt2iXF1h_3JsTKmF1FN1XUkC7OaUhMt6jB0JEGhFvLP7K1uzF9yIw3IMWeLSYQf5ZW8dMikNUo8H1nWQSVgfDlAjcIpCESJH-IULB-d6tIICzWYLY2KvQC9rm4ZmFCPs5bknHOCnoqaAL-6Z1qC-AvaMbx2Q86DZ9ojAV1V1K1-NWYvyvjl6KepHYp03Wyx5aLbpnExCz1LsE70FQEUeEjRsM6Y5TuPlEP8BHeZrD4jK2NF-i68j_X1ppJMbjLda-gTVD7alKh8jbLZO8YMBJY4A6KmwpPEmRLgOzHuckRyZNpcsmPD7MDqGY2krxgExXpdWSrR2Z2Ooprp78jH4-zk2cjxkkvhdOgrd6SxVBynsHbTO-7TOd5LX9xCrBvfgoM_Eb8GJOw==",
  "id": "rs_0f35c9a461941012016ab446a5402c87d09fac5dc9f0f79b24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.27},\"note\":\"After the 8 cm lateral shift, the bowl moved toward the pear in the wrist view but is still roughly one bowl radius left of the fruit. I’ll shift another 8 cm left to put the bowl opening directly under the off-center-held pear.\"}",
  "call_id": "call_DI5aYGF2okE9na3fMen1ibZK",
  "id": "fc_0f35c9a461941012016ab446a5e06c87d08a86be19c7d22828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DI5aYGF2okE9na3fMen1ibZK",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.0219, 0.8173, 0.6132, -0.4759, -0.0139, -0.0265, 0.9914, 0.7822, 1.7882, 1.4948, -0.7979, 0.3534, 0.4881, 0.6829]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0008 left_pitch=-0.106 left_roll=0.0017 left_gripper=0.9914 right_x=0.351 right_y=0.2676 right_z=0.1473 right_yaw=0.1676 right_pitch=-0.4154 right_roll=-0.0583 right_gripper=0.6829\nstate[joint_eff]: [-0.0615, -1.4701, 6.9538, 1.6825, -0.0317, -0.0317, -0.0073, 0.1436, -8.6496, 8.9231, 1.1062, 0.3736, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7cbb4b9d1887e7c3f1ae394f402c243e4c9e55f0b3f9279cc23c682613cd290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e50fc3b05d58adda01e29a5f294696603c33909c32abb87c152dd46248f750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17d273c650fa45b80baec0841564edfb883af100af9dff27136b3b5ebff69d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.124 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, 0.8127, 0.6132, -0.45, -0.0139, -0.0265, 0.9914, -0.1192, 1.4532, 0.5644, 0.0071, -0.1257, -0.1661, 0.6837]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0008 left_pitch=-0.0755 left_roll=0.0011 left_gripper=0.9914 right_x=0.3467 right_y=-0.0156 right_z=0.0326 right_yaw=0.087 right_pitch=-0.3027 right_roll=-0.0087 right_gripper=0.6837\nstate[joint_eff]: [-0.1436, -1.2786, 6.9812, 1.7167, -0.0806, -0.0611, -0.0122, -0.2803, -4.9162, 5.5043, 1.2137, 0.149, -0.0513, 0.9109]",
      "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, 0.8154, 0.6132, -0.469, -0.0139, -0.0265, 0.9914, 0.5949, 1.5753, 1.272, -0.7044, 0.281, 0.3439, 0.6829]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0008 left_pitch=-0.0973 left_roll=0.0015 left_gripper=0.9914 right_x=0.3575 right_y=0.1871 right_z=0.1575 right_yaw=0.1414 right_pitch=-0.3796 right_roll=-0.0422 right_gripper=0.6829\nstate[joint_eff]: [-0.1436, -1.4291, 7.159, 1.7216, -0.0562, -0.0415, -0.0073, 0.4855, -6.9675, 9.0325, 1.3407, 0.2222, 0.2418, -0.0171]",
      "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, 0.8173, 0.6132, -0.4759, -0.0139, -0.0265, 0.9914, 0.7822, 1.7882, 1.4948, -0.7979, 0.3534, 0.4881, 0.6829]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0008 left_pitch=-0.106 left_roll=0.0017 left_gripper=0.9914 right_x=0.351 right_y=0.2676 right_z=0.1473 right_yaw=0.1676 right_pitch=-0.4154 right_roll=-0.0583 right_gripper=0.6829\nstate[joint_eff]: [-0.0615, -1.4701, 6.9538, 1.6825, -0.0317, -0.0317, -0.0073, 0.1436, -8.6496, 8.9231, 1.1062, 0.3736, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7cbb4b9d1887e7c3f1ae394f402c243e4c9e55f0b3f9279cc23c682613cd290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e50fc3b05d58adda01e29a5f294696603c33909c32abb87c152dd46248f750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17d273c650fa45b80baec0841564edfb883af100af9dff27136b3b5ebff69d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEasIAjLqwfM8IlLuUPHIPfGEdFrPkXAr7LbsSFvBQ_F2tZotj2KoxGpRrfuZX2mmuAXXAtUnZ5Ox3OIStjJn3fUiOBJmXlH6EmpDedyqOEnH3j5f-Q-jSHyOjb7b8GXme480V1gnjwIiigJLGdqjL4af_AGneFf2vqKmEf51CmZHea_HL-YP3OebmaXAGxIWsQnyLM6h2oxv3CXvH05yZV65tshUPEBIMolTK01pEKoui86d0rF1QTFzqAR3Vq61yojNbm0-8T6Y0o-gcAUokJWCcC5mndVJJH-bulXkOl0vNMjmpb-ZsE_Zl58F38w8hPduQqzdjpzAsasPy8L0Nm5JLbIbrlfYABuZXzftsNJfx-BxdnppZQxcxUSvHHRuSXwYLbQA_O_-X93sCkyof9UPsfepO1ks9YBce7iNas9nakswot73jDxVIffLLLhHtEdUdpEv4ugyFdN1UpUFMBU-6dm71_MTkwrFZNfSU-UvFAcKe0oHaNw_uN2C26428tMXLhl3sotx-oJDibo_S7DKieQxq9bMg4MR8oQRrlJy9njSfMOqS_f7we5x8CQOHYAzt9Xh4zEGOPi2mJVAXOxAwIZHSS1zlyUsWgbIgeGCjf-kufJgCjF_a7QHvbVzh-svBe22JxcmXuR2mPzEVpgr4KbQtYPZaNqjQYboaHTwkik-9SwaPjPVyqsJcHv923usjJx3EDGexI8EL8VXOSNsTmLpVxJtI-FJg6cQLpjY4a5SKcMWw-xlwwZNajbX3Q6Jp5AZNkib90NNMEo3IVTm_lTk8k-aSkQ1YNU_XCjzh2SLk3cQ65FbC9Jc6Fni2oOnsFNYStFkbKA2L_zbWGjdaQ_XF4LMVGbKihbX-8krfbi6r0viIz_N4DAJGGPreO2Q8JX1NOev0pNZZLqMKY7U5CRp-4xqNKI5sr7qLBTtBNhek_WhZVSiSuFPodGIYmgo2vSWBG2_fVvFfaTrK4QxtDm7v6-LqZ7d2Q9E6gD1eVECmViMli428VBlvCIQ-ZYRZsCSpjFKza8xVBfNissSmxXIqUZgMt8mGDxXl3EGoCz1a5sfGqxHc8MoyYcFBuBG1BHD_bVt-WYCaBugaIF2xDdTrVe1Y1eiFhUnALCs6wlueKd4nUgVg4LoXK0fwSoMw35tRH693pNsjnXM9DnLMpR4rSDx4o76IkSNtDyfcnHlcZ-KozbpRyijRnUOLtznOU1EfU46xXrCn5bFQybZg0v6gh2MHzlorvJI08MKix7acnxgyGbBo1jzs6jeFeZdP3lIokMNE6tq3cHdnxK2AlydjYhrfFBdze-BiHS1p4oA0vHNmuVYsxhf4iMh3i-7aMNb3j5eTxN62j_wWK24CwdiqpQmpsCCKSTu8k3TOHle2l8SCrsP7qgnB7kTgh7TvAwWPyohGQvc52nE-gBNcqdMC-M5J0Tqt44TFBXLe_uJ5y4P3Wk7RvJTAyFqYjMIvalat_uoyIFnK5Zfvwm_TNZGajRduOrKRpzqi5JoCtGg_cXUfYgU7RtMMcGEGIKSQHwbp9VDQXo3Td7TixnjEz9iPLDmnQPud0eMeyvEciSzZkDjYikYL7aSwxc8NNIPhNK3wb_-AtM2-wjgWLOjyw2EDrFCg35qObJFGOhBlAr6KSEc9o1GNyGCcSCIO4GLsCn_HDvajR4jk2dP6q6LEBeREcld41VfWEjgrPdZWtmwpPyvhbgaPngJhbL-965374JE6Gff7odueNCmvO7x9tJCRFpcMSB8VsSqiAvwhBmkQ_SfZh4YQF8WgHZ1UPvUWzNyr5F2jzb9QYmMLGtGmM3C1hcwB_Zy_QpW2-ognX14NOHfNTgnQORHZb2Ufc6sYZ4sU6qUIRq1u_Ld_ZP5FSMYr4i4DA7iAmMp8CHW_bhQ4BW5tjd0mPHJNVtUxnAQDhKC5jDxj1pXHYVc0Umri1mWzPdSvUhe-KXsXI5fafUys2QBsJFCrfixaHDnsOgCriqNz3nwSgEZWp5dKb4ZtSvLP-zsP4NRRODZeOfNWESvSrgo1EwsRzyB00Hso02YEFeeiP3y_Z5AsgLYRWyWbrGfsXK4iN-pOHT-HV87pGO7eOcFjTLEOoKuh6eipXiH5gWtx7Vb2MI-MbE5fNTpEvdEdPxoK91fJcEjgQSRA3MvsaXwTXk1z1zuQhWF_W4wqa1bQ8JbWlc1Pyc5eviAPKTHbK61sudNzPh8g9zav16pQiBezn_tv3kGXDkZS-l5jT3Xr9n9mIfv3hPqUaRNcpRqu6I6jilcQKh0yCxl1qm1L3y9kySNAA1FuqfKjvaetu_griMSDkc0Aeb-o6F9A==",
  "id": "rs_0f35c9a461941012016ab446a91a0487d097365e3f5fd7d886",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The blue bowl has now moved directly under the pear's off-center position at the far right jaw; the yellow fruit remains safely outside on the left. I’ll lower the pear into the bowl before opening to prevent another roll-out.\"}",
  "call_id": "call_VWJfyNr4lG69H2Yle9XBnLyB",
  "id": "fc_0f35c9a461941012016ab446ab207887d0b892b11ef0aef9a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VWJfyNr4lG69H2Yle9XBnLyB",
  "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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8214, 1.3132, -0.6056, 0.3435, 0.4866, 0.6829]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3462 right_y=0.2659 right_z=0.089 right_yaw=0.1715 right_pitch=-0.4389 right_roll=-0.0655 right_gripper=0.6829\nstate[joint_eff]: [-0.1573, -1.3333, 6.9538, 1.6923, -0.0415, -0.0708, -0.0122, -0.1983, -8.7863, 5.9145, 1.326, 0.2271, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39938ffe8425e9f800eb1c657b84e59945d0d5bbad5421ec155e7cc56f88852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d09119f48443d802783548f3f1aa6e011e5bec680e288c3a341954dd0a1d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474994ba24ac7991660caa1a6d886e1051f62ec75fc3136ebaf967242de11edd",
      "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 · 1.886 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, 0.8143, 0.6132, -0.4614, -0.0135, -0.0265, 0.9914, 0.3775, 1.383, 1.0763, -0.6193, 0.1719, 0.1883, 0.683]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0011 left_pitch=-0.0885 left_roll=0.0011 left_gripper=0.9914 right_x=0.353 right_y=0.1113 right_z=0.1596 right_yaw=0.118 right_pitch=-0.3373 right_roll=-0.0215 right_gripper=0.683\nstate[joint_eff]: [-0.2393, -1.4564, 6.9675, 1.8095, -0.0269, -0.0464, -0.0122, -0.335, -5.6821, 8.5675, 1.5018, 0.2515, 0.1685, -0.0855]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8173, 0.6132, -0.4759, -0.0139, -0.0265, 0.9914, 0.7822, 1.7882, 1.4948, -0.7979, 0.3534, 0.4881, 0.6829]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0008 left_pitch=-0.106 left_roll=0.0017 left_gripper=0.9914 right_x=0.351 right_y=0.2676 right_z=0.1473 right_yaw=0.1676 right_pitch=-0.4154 right_roll=-0.0583 right_gripper=0.6829\nstate[joint_eff]: [-0.0615, -1.4701, 6.9538, 1.6825, -0.0317, -0.0317, -0.0073, 0.1436, -8.6496, 8.9231, 1.1062, 0.3736, 0.1587, -0.0122]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8214, 1.3132, -0.6056, 0.3435, 0.4866, 0.6829]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3462 right_y=0.2659 right_z=0.089 right_yaw=0.1715 right_pitch=-0.4389 right_roll=-0.0655 right_gripper=0.6829\nstate[joint_eff]: [-0.1573, -1.3333, 6.9538, 1.6923, -0.0415, -0.0708, -0.0122, -0.1983, -8.7863, 5.9145, 1.326, 0.2271, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39938ffe8425e9f800eb1c657b84e59945d0d5bbad5421ec155e7cc56f88852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d09119f48443d802783548f3f1aa6e011e5bec680e288c3a341954dd0a1d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474994ba24ac7991660caa1a6d886e1051f62ec75fc3136ebaf967242de11edd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEavZRkLxCLSf60T2jEJxFkEId1gt2dvxwwCkKZtqT7ifl4h2EZtmu3CooR-IdZ8Pj3HTnqGD7ch9vMgp86AfmZdP2w0lgLwmrR1kNJVEHWdYwsbqfd29Fem1LhJidRM_yeFT5lz_yFfCPy3rvT2I-wU-amqst1dBW-re7ECNIsNwZ61FftQzir8rLDmawCYOVE4mvCVf9ej221DKLmLa2aWwR4PWJ1aEIGkzjaDV0GQ70XE62QhORPwLr0zrPVyhgwqRm44IiEIxmjI4o9OQP--4hGIaYibRB4GrTU0M8hH3G1YR1uKooX7-bdT18whr8YRREG-8_NQ9GERUWDDd-wSZ2f5WulBkf105Xgi6MXoTh3qFw8yhVCrkYED-jjRuU8TVM8RoukxALY1Bkg2rdSB0Ww77nZZlmnMcLi3o2jrODrP0Icq81hTgWNazXiW_hcXbBhNxdutKVwHysOeMyJ4osIa6I2_70Ly_D55ucDp-omXlxyBAqm1LiL0a7T9CWlVgt5KwgQPILSB7N8OKKm7oHdDeKm6oabsJ4B_w-AE3LoNNwKhOrR3_aKbQytfqlQ76CS58UOMj3kZclh-r3lc_CKX0XwHW3AKN1YsnFzTPyMeE49WyHTkoFZ7C6u4eXfoUlmFfM7S6BNwC00EOwc8C7qZqfRZ7H3fXS8rwD6zJQw_ba4NDjdXImb3kykZIXcJQv0bi3moY1dWh_kTtDRahRq5wYPyJ3G5GRsqO5jcLJsr2k0oDKhbZQaIn5iB2hFU_VyYrMo8yzckVSEdvvAf3_hxoNn_IYU-BGJjfV4XyPR6Ym_M5kvbHqpIIbIop2w0ehLQW0uE3qAJ_-wRUnZFhmYzxiJNzcSiKkNwN4FQKd3st0Y-3lOx0Iviqt33BaYFa-ljAUnD13fCu_QVdreRrBGWIi7JJ2_mAZ5zO63S5BHSYMy8PO4TfxtKISiBdIojC-8sUoHG-UyMhIBgK-i3puLZhnocRxOfivqURVXOHKthXWnpyKjshzQtLll8Kgo0XZipcQsmDRsCGnTm_pUqPc1OTcur-h6zASGdt_Kfw0whHHX6x2ogWMEruGMQ3ykDg6BPMVlnmRKa3C4XgaKvZs41Cm_H0IikES4dxAbrgA0l9DZZnLpzxL9M0_eOB2ERsi_VVGsn5HCqs5ZTVPAYaGzo7BwpJaiZNd5AxtIQ0FhiAipwhxhIEiv4pY0OWKyRzmy_TgZ1gQILnT_TuJBHwPQ2vVuwZ9MxPQjs04YBvvuMuWgSfWgezAbg6NCXlv1G7zS8dshKdv9XmAIItRlXQtdftmSPDxGF9rzfYltkSrV56lTnhtSehM3zmo91CTb4",
  "id": "rs_0f35c9a461941012016ab446ae24b887d09919cfaf92ea31ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"At the lower pose the bowl rim is immediately beneath the right jaw, where the pear is being held, and the approach remained clear. I’ll release the pear into the bowl now.\"}",
  "call_id": "call_IOvvL2U2ltOFbIYTIfnQYiWZ",
  "id": "fc_0f35c9a461941012016ab446aeaa7087d0b25200dd42d0c4eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IOvvL2U2ltOFbIYTIfnQYiWZ",
  "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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8217, 1.3132, -0.6106, 0.3393, 0.4816, 0.9959]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3451 right_y=0.2657 right_z=0.0881 right_yaw=0.1763 right_pitch=-0.4457 right_roll=-0.0683 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.265, 6.9538, 1.6239, -0.0269, -0.0562, -0.0122, -0.1026, -9.3607, 6.2701, 1.0769, 0.1636, 0.0415, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c559133d3b034730b99550dd309d9a22854cc139d8d79a1defefd8aad9b15484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610999d670cfb62b705b2003e1baf50064871de58ad799c8a4838ddf99ef400c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b507a8fa7cfcf15ea7b536d8f17eebb18a9a4c18a94803f98d03dc9e0d16b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.956 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, 0.8154, 0.6132, -0.469, -0.0139, -0.0265, 0.9914, 0.5949, 1.5753, 1.272, -0.7044, 0.281, 0.3439, 0.6829]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0008 left_pitch=-0.0973 left_roll=0.0015 left_gripper=0.9914 right_x=0.3575 right_y=0.1871 right_z=0.1575 right_yaw=0.1414 right_pitch=-0.3796 right_roll=-0.0422 right_gripper=0.6829\nstate[joint_eff]: [-0.1436, -1.4291, 7.159, 1.7216, -0.0562, -0.0415, -0.0073, 0.4855, -6.9675, 9.0325, 1.3407, 0.2222, 0.2418, -0.0171]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8214, 1.3132, -0.6056, 0.3435, 0.4866, 0.6829]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3462 right_y=0.2659 right_z=0.089 right_yaw=0.1715 right_pitch=-0.4389 right_roll=-0.0655 right_gripper=0.6829\nstate[joint_eff]: [-0.1573, -1.3333, 6.9538, 1.6923, -0.0415, -0.0708, -0.0122, -0.1983, -8.7863, 5.9145, 1.326, 0.2271, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8217, 1.3132, -0.6106, 0.3393, 0.4816, 0.9959]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3451 right_y=0.2657 right_z=0.0881 right_yaw=0.1763 right_pitch=-0.4457 right_roll=-0.0683 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.265, 6.9538, 1.6239, -0.0269, -0.0562, -0.0122, -0.1026, -9.3607, 6.2701, 1.0769, 0.1636, 0.0415, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c559133d3b034730b99550dd309d9a22854cc139d8d79a1defefd8aad9b15484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610999d670cfb62b705b2003e1baf50064871de58ad799c8a4838ddf99ef400c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b507a8fa7cfcf15ea7b536d8f17eebb18a9a4c18a94803f98d03dc9e0d16b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaxaK84eCCb2P_lNF_jVEVXsAB9MfsTsvyWZDUuc_JqS0_wxJJxO4JISGXMJFoqfJAAllOYEMlDphikOjmBMlvXqeIyB341oJbwSxmYc4sjTtnRqHXQpzt2n2C77Uo6lybJwq_MQTD76UyQMvd5SxgM08eORVAK9GtW04fcerdXMAz8N0HAyWWJ56mENPYK0KlfhWxByFubO-86Yw8EMV1VzXWyQJ1gd4QLICgY6SJjJaXTt51KjoJiM99aqBe4m-79aKeSjMql42Bj4SE0a38rZsaKfuYxXUthgKe8p2sjZ7D2xAK961er4pVaT0uoILfgZULxyNH4ZgLTXRD_kRXh3OFdv5hLDiLdJkqv4amgCGNIyrijocanbcYZb0e3YMHrl5P5dZG8xcfKW8pBHsKH0s-XlubBhI1yYNRt_CDFk11v2Jea1U5M8NyQJnrMH8QPeVbYavNGeGRypLaIejXgcTber1cfO2eahFpnZifASDjsSysstgh1IUMFp-YIriox4S4F9FWYGZF70TtoEeg5xZEgWklmI74_I6peo9qtKjG8ONiF6DYkGx3mmKKFtZlrSk4Snt544FlHvJHgONXCsKTVWes276lgRmzBIlagYIq2-wWMmNoV5nu0bcNokDk9_VJLS1PrCeki5V_Odxh_4gscmno_mDxeDkDBxzfbHyAt3eZXcjCMeyMBMOqwksf7Lei1UlhGES1QEuMYa4r2ALQFcGeNAxY7dP_-JDrkNMiyUhyUOTYWXhqwLXjsdyH1ZyOBEw5o5R3zjCVqgVVaDx2sFqEH43bfel0cBGjcu1qR0M_YmP-gq3NCrIllXgeDEsZL32j-gBmEbn45B2f8EG0S0XBtl7XD3c4X6Y9qzypcXmchXoH3F7XMm7kBcSkEo5cBVmscwb-xRZPQZWurobq_h1xplZE3JTgJ-vUJ5zvZsdMtlVzFnOR185lRBNVGeKpywqxOc9RzDfkxhaeOPx6l9hIJ0UptCfq6_L1ZrIVh-q6wLQt2kSDXZ02zDZafZ8jknLUx49ETVHJcRm5wpc2QkJZVMxfZCtYqp2XA7DswGI5sDnbsOdxwXfmOYG7mCmmpky22wLiKYAGC0Ede5fejzDqQUBZ_rfJYiShOWBp91BoXs24iBK_qAAxnxTSdzvG-GopXvGoJZuPImlkM4Is1vBh8cEkNuIXj4CkRTokNpPHDIlpRsNYgf8UtumA9",
  "id": "rs_0f35c9a461941012016ab446b0958887d0b4418e59000e079f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The gripper opened fully and no fruit is visible between the jaws; the bowl is immediately below the release point. I’ll lift away to verify the pear is in the bowl and then address the remaining fruits.\"}",
  "call_id": "call_VwqSFblqKuV4CMgvWr03vbwQ",
  "id": "fc_0f35c9a461941012016ab446b0a68087d086650b7045dc1b64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VwqSFblqKuV4CMgvWr03vbwQ",
  "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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0265, 0.9914, 0.7834, 1.8076, 1.6146, -0.9493, 0.3359, 0.4786, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0008 left_pitch=-0.1064 left_roll=0.0017 left_gripper=0.9914 right_x=0.3448 right_y=0.2663 right_z=0.1652 right_yaw=0.1744 right_pitch=-0.4667 right_roll=-0.0821 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6337, -0.0269, -0.0513, -0.0122, -0.2667, -10.3316, 7.8291, 0.9744, 0.188, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2867f0ea3b904d50959126180e1b392f8ded641e2b3cceb119a0d61fde4191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533cfe4d6b82ee5eaebcc722a1c5060882e681767ed22804e8ce6c63e1310538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1461dc6c16858c0ffb6446f2ac52a6b84711593c64aa767f4e0d2b34af10c12",
      "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 · 2.991 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, 0.8173, 0.6132, -0.4759, -0.0139, -0.0265, 0.9914, 0.7822, 1.7882, 1.4948, -0.7979, 0.3534, 0.4881, 0.6829]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0008 left_pitch=-0.106 left_roll=0.0017 left_gripper=0.9914 right_x=0.351 right_y=0.2676 right_z=0.1473 right_yaw=0.1676 right_pitch=-0.4154 right_roll=-0.0583 right_gripper=0.6829\nstate[joint_eff]: [-0.0615, -1.4701, 6.9538, 1.6825, -0.0317, -0.0317, -0.0073, 0.1436, -8.6496, 8.9231, 1.1062, 0.3736, 0.1587, -0.0122]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8217, 1.3132, -0.6106, 0.3393, 0.4816, 0.9959]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3451 right_y=0.2657 right_z=0.0881 right_yaw=0.1763 right_pitch=-0.4457 right_roll=-0.0683 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.265, 6.9538, 1.6239, -0.0269, -0.0562, -0.0122, -0.1026, -9.3607, 6.2701, 1.0769, 0.1636, 0.0415, -0.1685]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0139, -0.0265, 0.9914, 0.7834, 1.8076, 1.6146, -0.9493, 0.3359, 0.4786, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0008 left_pitch=-0.1064 left_roll=0.0017 left_gripper=0.9914 right_x=0.3448 right_y=0.2663 right_z=0.1652 right_yaw=0.1744 right_pitch=-0.4667 right_roll=-0.0821 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6337, -0.0269, -0.0513, -0.0122, -0.2667, -10.3316, 7.8291, 0.9744, 0.188, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2867f0ea3b904d50959126180e1b392f8ded641e2b3cceb119a0d61fde4191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533cfe4d6b82ee5eaebcc722a1c5060882e681767ed22804e8ce6c63e1310538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1461dc6c16858c0ffb6446f2ac52a6b84711593c64aa767f4e0d2b34af10c12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa3Y3PNsmGvbp0GQCTSVZxi_vJhpB6aEApngD8JiVp4ctDWUiqMR6vAx3QoRpkcDyBnxTb4A1xYfx-K--SEHKISUX6KmQCT5wNLlo2s7X5YD46tQEzghgOk3eQIlHkf0Tj-19dxgomJwtLcCdqv7vtZrbfULoqVq1REpMoAPVBWMcSsKstZK40b_aMUkooBrcX1mSHXeCcSWLQiD8lZY9hvfXiveJUKPyC0QjAtoNZTwrLVkZSz7Lx10ImEEm5LMBFAHYIgQB5XgR2fJ5uYuddhkPCV76XgGoeAYDN11IePRifkF3T814DB52DgQQV3WKEBraWblI9E3ROE1N9kiZ2bi9qSX5JV9gyAlS7MsWiJZcbRAlzkmTawKzOAu5YKqTU9NPGTdwaEEB69AG_IO1YKIY1jgjdJDXtbaMJKfbdyJRqGO4YOfJ1fGC6p4vkQ5oDV7-d0k9g77hF_iQs7xSk3QiWwQSaJ8X70PMz7964VnAfsBjX8jzjLIJ_lTipnsoOUuAQk_QKUhwrgQRLBrnymfON8P6-Nk98CTgKv-qQHrdAKYvI4JRSp7aXVLh_DSI5xQuimDMDbwEQzYCrloSF2N4tkLXuJGeOiI3WHdRYkSc8UsFZ6H0wjSoDHXhIXbJ4Zy-mHYGwO3Qd3s7URTpZGR3-dK0BJiAPha7IF3PgFP2tKiQLWpkmNOpPrK3iHF4EhSDASTR484qpALbTqfAbs_uA7zigi2RlUUlJzT1twutTTpL-9RxEtTaxHA_8_MyPR7XAe2X0pTFcUfC6j63BBFpGXycIbIxWdXipH-wRl5mul1XqxA-UjuJQE6uv18DvPbVx7dan9EoswReub0YPnkZayn6RVoRuQpDA2cc-QHMMuFvFx9h6ajQ6G7ARES36rJhY_R_vVBnT1zZFs8mLSmuOIFYVx38o2nLJa1E0Q-0AGnUjq-pI8PZ7txkmiYA2m1GkvTewf0xQmIi2G6Tk5eRB1Ew-_Kms30AMxwEtfjIsHiOLi4iwBD3AIwMC9Oh8Xnt9iqVD9b__q_Hq_RL787baJtdUO4PpZZkISTZnkzMpi46g1kmbiP96m6Q64LhJZnJtquRIHlMem6InPmF0gKcSovOIiEGDEcUHMSyEzQd1muU_T0d_LiaKW48G7-uhcNTB1L8VufKHRjHyK4rYHikIrCIj1C83J4QISn5dJVwGENofhrH7DfLtTbjyuMWjxjEqhgLpRM9aTp-2m6wmS-zqlBY1ghnQgU5Kewcv8fLRpE6uuAuZm-SXJ9zzTPQTzRE6meAQCal6nsVqX8wpgZazp8MCvBUDjO6B-cC_WwZ0qyVytN9Q0zhYQGNhrHXK1ntuYKBpg4yicGBeobUIPOhoRWO41d3xNm3gKCON4xC1k7FPkIpsRoVVRxXA5Y9xN5WURSM255BoBZ5Ss2_HuAxwjZayNlntFl3QY6PBBdNLS8wds2_AgNtNjwc7XvuJZe9uHUPhKrahjjB1RKVjo2zvjdkU1IBoMiS_1o0qQxE_24L-6MQUpcpAOEHfUa2AGmEHfon0FycD5mcg8-zSwps0QBKAVdyMOs6p3rNRt_xK8EVPfyiwuQgqciWEkO1jVcouJ2ludzWMkeh0mfcgQKwegFHcPSx-V58YLdaA_uZW87uMeTaQkeU_qOlZ1tWSgu2QUCjMtna4tOeS8LoT9mZGz0x215mSVqfIfewyN6f4aKeL8P50P30jVqPLxFYWiQJwfk7v1VMnE1qVOrgXbmGbI-aXg_T991lbPIoFcOBUL0rFB6gZ4dgtASyKFH8Jw9BI_u6pXdtv7knHuytIRh5e9yxmGODaHIpbjYAmOfaRtIO0MjnvsMpYDd3mrI24BRzFSKaNgj1-7k6fBxOaO0ks83xdx6Mi5ZanwRe4CdRYmv-lvPoecNMaZTTzR6tw7rvaQLCZRzSzP9VQ8YqjIcA2hWzVmRnXLKfb0BOYZaDhxq6JhpZ9m6WLKXJ3vh6jduoeqoVA_hs5vf7McGECTHDhHPpeWmTYRXkS1bbMDNadid5MlZEdunmaINU3eeHLkfq57XVpuQYBPk99JDNJUOikt9ze2GPwTpd6pE1RlO6tY_MhUm3p4lT0H2_i8Kqlfs0bTUtwnY997xka_WVF-GLgea8KknDGszj9KkFedw0eJVvq-I_sfKU25FMNv0HpNqYLnMHf3Y69URyDseCtO1cMFeTw7JSxgA6hhSGMQVW7T7O1Is3nES4kptJZlz-nmFVLnCQt6Fj8qEjHnvKsMj6sIBaIch6mwTKkZOufQ3PFXqRoYDlMSzJEUBPXqKadEdY90IPSLYcDZuiJrJzlQiRM-nFS6AvEtycPRchNrBSrOLKW36TseakiGUg-PU372eZum90sdCyExqjHPrz4iW-a8RPADxHPt3zfjwTBNNh9efn4u-xxp1eKqJCujm-yqisER6-M_qJ59pDETP8d_9Yk1Ox6kvMT294XZYSHTL1r3lSCCmD5T1yGIsI6fM5oi1Hqn4q-oqRwXlbQOpSKcCRaye4iyByZBcGsQM-M8ZeM=",
  "id": "rs_0f35c9a461941012016ab446b3881c87d09a8ca8b9e57d4e62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.26,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"With the arm lifted, the green pear is no longer on the table and is visible within the blue bowl; two fruits remain: the yellow fruit beside the bowl and a black plum near the white bowl. The yellow fruit is already centered in the right wrist view, so I’ll lower above it for pickup.\"}",
  "call_id": "call_YlWkfKUKww88cTO6CH7dBANG",
  "id": "fc_0f35c9a461941012016ab446b5f4a087d0bbe93cbd3b91dac7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YlWkfKUKww88cTO6CH7dBANG",
  "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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0261, 0.9914, 0.7815, 1.7992, 1.343, -0.7151, 0.3355, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.001 left_pitch=-0.1083 left_roll=0.0021 left_gripper=0.9914 right_x=0.3353 right_y=0.2558 right_z=0.097 right_yaw=0.1685 right_pitch=-0.491 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6679, -0.0806, -0.0122, -0.0073, -0.1162, -9.1692, 6.2701, 1.2723, 0.0855, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baed4a3f58f6f7894fea418ffafecd9e9cfcf6016c397c3a68506c670247e7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c594fac386c651c7433abb1637a620090c3faa1015e86efa00eaff8ec572b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e4ef36a379ed825d08f0c3354dcb95f583b4ed082a17d9d27fa40f0a94d0aa",
      "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 · 2.547 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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8214, 1.3132, -0.6056, 0.3435, 0.4866, 0.6829]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3462 right_y=0.2659 right_z=0.089 right_yaw=0.1715 right_pitch=-0.4389 right_roll=-0.0655 right_gripper=0.6829\nstate[joint_eff]: [-0.1573, -1.3333, 6.9538, 1.6923, -0.0415, -0.0708, -0.0122, -0.1983, -8.7863, 5.9145, 1.326, 0.2271, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0265, 0.9914, 0.7834, 1.8076, 1.6146, -0.9493, 0.3359, 0.4786, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0008 left_pitch=-0.1064 left_roll=0.0017 left_gripper=0.9914 right_x=0.3448 right_y=0.2663 right_z=0.1652 right_yaw=0.1744 right_pitch=-0.4667 right_roll=-0.0821 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6337, -0.0269, -0.0513, -0.0122, -0.2667, -10.3316, 7.8291, 0.9744, 0.188, 0.0024, 0.0464]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0261, 0.9914, 0.7815, 1.7992, 1.343, -0.7151, 0.3355, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.001 left_pitch=-0.1083 left_roll=0.0021 left_gripper=0.9914 right_x=0.3353 right_y=0.2558 right_z=0.097 right_yaw=0.1685 right_pitch=-0.491 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6679, -0.0806, -0.0122, -0.0073, -0.1162, -9.1692, 6.2701, 1.2723, 0.0855, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baed4a3f58f6f7894fea418ffafecd9e9cfcf6016c397c3a68506c670247e7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c594fac386c651c7433abb1637a620090c3faa1015e86efa00eaff8ec572b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e4ef36a379ed825d08f0c3354dcb95f583b4ed082a17d9d27fa40f0a94d0aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa8iEQ4yE8OAy_ehpd0ElY9sU0wSg4YzGsy7MQNkKXbo2QYL0ycm2RGyKRwbUXffa3Eu0ZifGFdrQ_n_z-D9V8N5bkQAbtsy4FEaUlXtRqsmqzVM__d0FcPw5PUH3tAUCdmARjqgmsx3j4WRZ3suQQMyPDOKFIvg7KFRlQqg03USbjBwefxU36aela_eL6m3rv4ebU6Hw8Figm-IDDwB9kjZNOlsrV9NUe-xqKiGZKDw0Ls9cxBA1Kzld5OofTy4r7rkEsvWKA6jgD5t8y6zDVjWPz2lBkXDZTQg4nWNo_ll8OCMuTPeke8IhfMooq3DiuCd9liYZdrO4u9re-w67YYTQKL9hkCcrhALy7b6QnxUrvapHANhjk4rIdJJLrvrb3BVCMrNIqLdvTUYIrUoZqVwdpFzOKp6qMMsrViDL_ZVxrdUaZrhURpMyY3EGy0PtuJOedIStuwdfvO2V-CLQL4_1HWg9EW03NqZj-7grE5R6fEiERzzHXlhPRGdaWFsZP9Wy8KGkOweFhnGIQN1Nw-QrMfvo3Va7jqGo0yVFCOpmCQeagG3HugDdlfe-7cRAgKOoeg5LIOSOGuAXPf_rc-QKiUWu-Lw_dPbfofXqwwNggrmom_lzuo4pLUQHzY1x2fSGOZB2T_qA1FO800jImOAApakyxN7sgbcoUNQoS4s3rxV1GOiedJKxiEkZ8iXfCm008EeTrtHR8L8hUU-Nl1mrtsp7VEdQOHst9WqIy1AN2TuafGoP-qnwuHTY-TKETtOn-b1GM0G--2fa_itVaHpDVdTrflCrmtBwxTUaMLnFHjlf8l4775VQPc-uNt_cQwV4BSmanFPwH5nlgvhe1vfdDt23GB2uaOCDPhP1MdyL1hUNhq4joYmoWsOaFzs2gEByED61L0piBLCmKQ-IsNmV0ngLx8ltUIIfwPOzXNd_mnw09n7IWAmNEzRFRoabXGduztPV_YWBlqpcWM6hgB8wFtraTXbpQiPWiM66DaKdiksjhUHUW8hWn_L5yfHKUFyeu8q_JFo0N25jCIKMx9a7wu4mtpov3KbSMQakMykKP7ALERhLYtFekLCLvb-47LlpdYOIh7sVMkZihwK986HLSFyyzfYkkh-Oept5CK5BfiKyYAIusgSwylXmxWDCOydE8Du8C3Ohf2U1Vh2v9tIX5975sfx7i8f0tjsEZh-maAwAi-B83vxXu0FC7dMDfEevgxcvMG9JaPerAEThix_Hf7G9LuUaURbs9f_vbP2cVBGIWHU3hC-x6nHYY5leiffGek1u5u7Y5c6kPrL9iS8alyTfyLKWcmBo72k0WcXSGZiKbKtEmdv4QQZlqErXLk",
  "id": "rs_0f35c9a461941012016ab446bb006887d0ba5be47b1df1ada2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The yellow fruit is centered on the gripper column and lies just below the fingertips, with the bowl safely to its right. I’ll descend to the fruit’s mid-height while holding the horizontal pose.\"}",
  "call_id": "call_15gpWQoqw6goP0Yl80igTQNG",
  "id": "fc_0f35c9a461941012016ab446bb5ee887d0bc4c36334d5ba4de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_15gpWQoqw6goP0Yl80igTQNG",
  "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, 0.8211, 0.6132, -0.4877, -0.0139, -0.0265, 0.9914, 0.7826, 1.8931, 1.1664, -0.4686, 0.3359, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1554 left_yaw=-0.0007 left_pitch=-0.1217 left_roll=0.002 left_gripper=0.9914 right_x=0.3316 right_y=0.2527 right_z=0.0243 right_yaw=0.1617 right_pitch=-0.5104 right_roll=-0.1207 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.746, -0.0562, -0.0269, -0.0122, -0.1983, -8.9231, 5.4222, 1.2088, 0.1587, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afea9ccd5384e06f4380388ee8f14d7f9a41816c252217c0f7435713a8ad54bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7a5404b2af512ab947569088e9912e43d10955722e456b9d2de3fb36aa5ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cb7be2b14c3b772f61128fe0eb5612f76a6cf6f786002a6a945f1f901cebfb",
      "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 · 8.289 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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0135, -0.0265, 0.9914, 0.7834, 1.8217, 1.3132, -0.6106, 0.3393, 0.4816, 0.9959]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0011 left_pitch=-0.1064 left_roll=0.0015 left_gripper=0.9914 right_x=0.3451 right_y=0.2657 right_z=0.0881 right_yaw=0.1763 right_pitch=-0.4457 right_roll=-0.0683 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.265, 6.9538, 1.6239, -0.0269, -0.0562, -0.0122, -0.1026, -9.3607, 6.2701, 1.0769, 0.1636, 0.0415, -0.1685]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0261, 0.9914, 0.7815, 1.7992, 1.343, -0.7151, 0.3355, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.001 left_pitch=-0.1083 left_roll=0.0021 left_gripper=0.9914 right_x=0.3353 right_y=0.2558 right_z=0.097 right_yaw=0.1685 right_pitch=-0.491 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6679, -0.0806, -0.0122, -0.0073, -0.1162, -9.1692, 6.2701, 1.2723, 0.0855, 0.0122, -0.1587]",
      "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]: [-0.0219, 0.8211, 0.6132, -0.4877, -0.0139, -0.0265, 0.9914, 0.7826, 1.8931, 1.1664, -0.4686, 0.3359, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1554 left_yaw=-0.0007 left_pitch=-0.1217 left_roll=0.002 left_gripper=0.9914 right_x=0.3316 right_y=0.2527 right_z=0.0243 right_yaw=0.1617 right_pitch=-0.5104 right_roll=-0.1207 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.746, -0.0562, -0.0269, -0.0122, -0.1983, -8.9231, 5.4222, 1.2088, 0.1587, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afea9ccd5384e06f4380388ee8f14d7f9a41816c252217c0f7435713a8ad54bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7a5404b2af512ab947569088e9912e43d10955722e456b9d2de3fb36aa5ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cb7be2b14c3b772f61128fe0eb5612f76a6cf6f786002a6a945f1f901cebfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEa_SQj6iEruMttYn53uAsygHFmGeiPMKq3XqovzJX_eSlQ1nRJXlPaRi8KiEo7EqbedUDjwvE3y4_v5wLPJQZ7Va0q4eZ4V7_EUZqKSxZ4OehVgW2ca1EInEzpzTNMkNOaYMSVVl1Nw4ESioX62J7JO-lv-eqAZqJ5HcmJrGz1ZedA82Tbueu3kfMVm_9pAsVhhiGLYdNpo0i9TwfE6RDJv7dGmW57yz9ddc7jqypX2z_5LdQIoomfJrvST2NgywMHgU0Pbsw7DHat6lpROjMKssPhRiM6n2IXKTv6-QavcWvg9zbHCGM16b_rOG3SKymnm1Fx7bA9UPbkOPq7MXbIko1M5-m2ec2GZJVTjS0CPN3SAIvD7rKiBl8zi_vqBi0DFM0rWiFhl5nO_6ZNSn7V5cNQcHr675_4j8W8b7v0le_Y7PE3g-wgYLgbnyov_o9fdL7hj5wcJoh7wzDaNMQaYAJ3Ta5nIuqXOJX_TZpwlEPCqdNIKEefi-kO6VyJBLKYULeYVgNnJVcIOYPYiw8SYnsmzXZ4KR-lKDAj3BzZz-bkk1oQLyTTPZ6YUEn2P58tsDX95DFWfhRL9GaMwyEjtQ269eC1C9si8M-G6xF_QGeqrIZmURFtbPyQ1zqtrH5Lt48B6RyWStodZwtD8fZAvo_rpV58UIDgc_9J8feLhFc2WVfAQ_bPYlQfv4jkcsWtCqbKMwT2GB0R4C0BMSNYqlfotGJhYku7bUfCNaXMq4vA-YunRqyvsVhJrWdF7ZCJwDfywG-Vt24pyA5FTTJSP3MctkZzssxgNHvQw9_n61W_Q5bAMqneAcMnZH_Dd1WAXMibHG00Uq9VN6tSTTHqXND44rnJbDRwtvdsIcHVggLVwLOTLQlNMaPU9W2_ShqNjVQByPMMrr7UoLwxXM7Oh-6hBwMoCFDWwEB1-Je6TAIt4IW2GSY2l8E25xPLragdIUZau-GISgYsZnAJolxzK2Cz7byaTqUN9cssFsOaLfvuckht17oiDsKcCbH9LeUzVd_-kfQg5d2oy8FsPON5px9VaQWTpBzjNs9PFeO_75vBFkOP46A5-hxU5LYUI-hZX4xm8XgDAFzk3PL_ppnAmwXYjOSg-7mbSBKcXc-hLM5ZrPr1VruwVrlZamnfJwEI5INKBgFBBFNkqpBRRW_EjJ7faUAJ3gOBZm3LDH8sGzm4=",
  "id": "rs_0f35c9a461941012016ab446befef487d092f041fac6785585",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Both jaws now straddle the yellow fruit at table level and it remains centered. I’ll close the gripper to secure it.\"}",
  "call_id": "call_pjG2n8wvpx4VtGKG7DY2wSqe",
  "id": "fc_0f35c9a461941012016ab446bf229c87d0a00339824cfada64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pjG2n8wvpx4VtGKG7DY2wSqe",
  "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, 0.8211, 0.6132, -0.4915, -0.0135, -0.0265, 0.9914, 0.7826, 1.8927, 1.1664, -0.4706, 0.337, 0.4637, 0.4246]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1547 left_yaw=-0.001 left_pitch=-0.1255 left_roll=0.0019 left_gripper=0.9914 right_x=0.3315 right_y=0.2523 right_z=0.0243 right_yaw=0.165 right_pitch=-0.5115 right_roll=-0.1269 right_gripper=0.4246\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6288, -0.0464, -0.0415, -0.0122, -0.212, -9.4017, 5.7368, 0.9206, 0.149, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c8a26e94b2d3398d9f62741efdcca434a89c1e0db3c4c824032b7c5bb0d4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02882bee2a3f9251f3b3b2f41685bd7d1b6a8ecd94fd382c3f65460dab2a58f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170d2c2426be6cd9248f98e2cf8178f602410b2e384f96a5fb7a16bb8df2639",
      "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 · 11.18 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]: [-0.0219, 0.8173, 0.6132, -0.4763, -0.0139, -0.0265, 0.9914, 0.7834, 1.8076, 1.6146, -0.9493, 0.3359, 0.4786, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0008 left_pitch=-0.1064 left_roll=0.0017 left_gripper=0.9914 right_x=0.3448 right_y=0.2663 right_z=0.1652 right_yaw=0.1744 right_pitch=-0.4667 right_roll=-0.0821 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6337, -0.0269, -0.0513, -0.0122, -0.2667, -10.3316, 7.8291, 0.9744, 0.188, 0.0024, 0.0464]",
      "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]: [-0.0219, 0.8211, 0.6132, -0.4877, -0.0139, -0.0265, 0.9914, 0.7826, 1.8931, 1.1664, -0.4686, 0.3359, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1554 left_yaw=-0.0007 left_pitch=-0.1217 left_roll=0.002 left_gripper=0.9914 right_x=0.3316 right_y=0.2527 right_z=0.0243 right_yaw=0.1617 right_pitch=-0.5104 right_roll=-0.1207 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.746, -0.0562, -0.0269, -0.0122, -0.1983, -8.9231, 5.4222, 1.2088, 0.1587, -0.0513, -0.022]",
      "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]: [-0.0219, 0.8211, 0.6132, -0.4915, -0.0135, -0.0265, 0.9914, 0.7826, 1.8927, 1.1664, -0.4706, 0.337, 0.4637, 0.4246]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1547 left_yaw=-0.001 left_pitch=-0.1255 left_roll=0.0019 left_gripper=0.9914 right_x=0.3315 right_y=0.2523 right_z=0.0243 right_yaw=0.165 right_pitch=-0.5115 right_roll=-0.1269 right_gripper=0.4246\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6288, -0.0464, -0.0415, -0.0122, -0.212, -9.4017, 5.7368, 0.9206, 0.149, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c8a26e94b2d3398d9f62741efdcca434a89c1e0db3c4c824032b7c5bb0d4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02882bee2a3f9251f3b3b2f41685bd7d1b6a8ecd94fd382c3f65460dab2a58f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170d2c2426be6cd9248f98e2cf8178f602410b2e384f96a5fb7a16bb8df2639",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbJPwXQgAjE6cniOxu0ZBe-n4MAZ6tw49Li5S0oHVdZbthU08WmODNGRVV0QLpkzjS-G5rTxcoFnOFgCrNu6QGMWrxLfjKqbkl87R5Jw1Nz8BlW98jnpDRFpRxkpFy5kWEV6WdWmJSmOIDpHzlbi9EIqBy-XV7RL1CmPbhh2GIcIWF7vql-5vAMFBbcbkxU30DQv7OJ9c6pPfC6FTfDRU3e1TD0owajyBqgxX_CskzOHH4w561E_U8Jd6hwS1uRDzew248iJQZqBiTJ_nfC7jDziXAk-te3QLIFQon3KXbf0928Rh4Fz4ziGIlCal7SXXw7fPHj61qyjliD8TEl5qzD0hllYNkkma_37SwFIeKfZ9m-1Z7-_HTcJNUJNWM4hTr9GTFhYJNglmYM8E8HX8cSG-sjM2gBE5iB-0gx6-KF-CzfTzc9zX4r1Dddz6qrmJBBhrm9smhucKgSdS9jN89la32fxKxryFz-rR5HYfPksmhAdMbVQjQEc7nOr3XFXcgRczoE1V88oJzk4pXRIgzGnAuXvKO8Z1Rvpa-P1Oi62JGyPMISfXZyWpamhU-ZjNW0E4jgdKyx5bb4r6GcG-YQhoF4cARnShtqhJ1kO6GBjKc6Iq91cjQojt3ARJpk6Ee7uKbJp1Ix7JC0oLhJCTt_MEZ6B0eeoUrF0Qakj5vf_N25YNvFKSPJC7xeYtPvav1pd0NIbOV50qhYwGBh4OoiG0GLzG55UZR5290qUKd-PZi6f-dHvrYchMRuRbrFrRP7F0irM658wndx_pxBgnYQfP16lpd3XnbdoaHSzXTje6dP4yv82zLLJBckOhqL1hELZ2g55y65gLburKJL27q4fgxEyJPdCVZQlrcMKf52pzl_MbXKxvTIV1rLTxsIjWytjTWI8Up_Cq0wGCbCcVOqLJz5Mp2Zx_svejGARFYkmDTErnUsoGEjGz74ac8j49GVhipEXluu3u0lo6Ndf_2pPXQWf18V71AsJJT2w-FPKqxaft12QUZNrn5Rxozb9Z4DS_JIFTtG5Cy4iEwL371VSkS5yBF_8b_aV16MH6EW7bDFTTtqneo55uennq486Y49ssv_Ewtw4OTOhYBmY2KoHSXJ1lwwP9CYPUQ47VcKAEs2-6_7SZYUPDJvXBo_CsJ2_vJv5_qYvLkUyUInDIePhHbz2K7tQ6amdVXUOtm1F0f6XXMt8HL--GAjKoSAuksn3ufWY5FP-hnoALifGit24vzJjgY1hKZujcusZi4jYwJwthlfeaPRBH4s7MohKirC9jp5EJB8Bq6JkcZQuUmJJ1LhsKTE-VrBFMl6r9X1Uxj-NtNZcc8zWHrkRDB7sEF1z7lqy2-ybX_qyqqfk_k4Sm3hvQWFjt_vZ50j24x9BJexOoM5wcnIPrRErcYTKRE8m_mbyggNLg3b8QdcwjvjLnKGQiJCKOPFJSY3kGV6G-xdstRtSooR8zRUNIs74KQeJcUEiefomJLaW1NJQgWGNJ4egJUMlTYJpdgdD0svf7m_fU6Wey7w7tZmF-kiZoNtKt_Xx619U6O30O58dK2I3SrZBkqfSeLtAPsZ0yXMEvuQmw-XnhABXAeT-njoBcgEuPiLdZtLicXaDLjR5dq3h_JDVu1_aztvrjhKLz3r9lWlulq6kpDjyxcFmYF_ZyVUBKi47f_bZyZfjDtty3InBB6eyN8rZNV0vuQO_jnFtojp3qyiunT9a6we16QqcnugSSaxcSfNCHQ6tKAvwVmZcfNQVAakCGqMC5q243cAxFN3FtSX0WWBV585wetrhJhBzxyOs4gC-BOF-1ciUhvMmywSIUutBY1GAZjSgdIZ_NZt5V9A_nby062Mdok1sHoJF796Xz0-CmbcRbrnsUED99lPqf3ENP4JutHx0gNBo1rMrZxYp00tjsdvoR4cxsbPH3lNZrsPUvtRjv_2eJst69TPPz1egHtmYzFVKXQC971zllapoPfRB0SmuIqod0az1vurC9WFCJfFKNor1TosIRMzfm6G7gEt8wXYMUa-l9AsXMShT0zwUXugsIKef0UCbq47Pwg1yDFcr3WamMbg5UQD3rTt2LuSxi5IufYZlMeDOU8YvuIcZXnftzzi6AxkC5DCgDPeRFfiZP4zBajtm6IEwR9S3BoxL45lp6IbGVLmz6Qv6gdni2RU73Z-99RHDe_C5kMXKePsOHhEEEYQjomVV4uoYJ-H6eN1X4WF-P-ZRjwQpjPo4wRYUlyJgAEfQCKIw5aKtmjo9EZ2m3tJyBjOo855epF_JT8DJ42SPEAPoJyv3ldlOKiENel10Fe_3IlXQ6nRjLHHltjL2gHtFbgiJ-BjtGl7xo2hp8N8vzlGHgonN6wb3t_KqXwHGaW4oCIFuiTsChxsVaokQ9FxQrc6nufyTDZTr3ttYNY9wBehcBrFh8ofKiPPWj-nlGwK5q0tLZd6uhHGUM6sRIMZhlAK-azmh5dEOa4tUnMp97ivmu4A6A4JbLwOUzAd9wTzBYGx855tROVZ6IeQirsmwQP4GSpC8FtmhtObkD2uC18ToznavKQPzwh_7zJzDvE9V_RCHRiootLT15y2zsjzjYSx_jf6kU2xWij3YN_UZV8frasnQf4WuMjA9hc3nFm5igHPbIRpPiShoz17PxvUEih1FQT_3XgGYLEOOn2ORdGlGJYkzthjI6B0NBNIalE1n_J5sMRCGmeJrv4JXTIvZuBSJ3zJZ0DeMKSqeXFprx7LLoJQ8CcI8UEfzl0nxnL_7kAbZ2S9EJTidiho4yzV-9zaAg_LE5fDSKvHiZLc5iLjx5JB7QZ0OrHP9c4ov2PrioYaBbIyJ5yAEE0K5_WtV7sypzNn66QALYOjo8sgpA0MTjPerEBl0XvF8VG4s-q_v7KyjJ1nnpjz_anuMS04eSw-c0HJYmG1Ymo4V3uJNhoXgpoaz1OWrvhsxtm7p-SpYwsMfZaI2OGdLO-wKyfWmZ86t3Inpbt3N4h92NeRPv_yWtr4v6tXFQOPgzLhogN3u49H7HNGciiEyegLTUiJQHE4mwr7q5jmZP1-dBbSmrCUt8xQa5RKNo5fi1bFhPP_WC7rqey3vFPrwoUn5nF2bg9SYuXnANLeUJre-M0C37SeQAwzJwThwsDjNaroSXbqzXCHJFNGZ-9UhGu6oCH6XklfYMyAFZqV-5MZdfE6U5MSEBX3Kd4QJ39edP0tMo9mMnEztb4JpZvrg4s4Zwjnw2bUZtJGuo4dx2u2Tf90PgjSz8JlWAx3FLBnB5vyfWYMPVYRyBp0D_SNY2CUX8f42IulfDRT6KpBk-vf_6_e6uDaWiIjz7iB8MhCYXd_gtOYTnvXrLtUwsCHAUgMkhwGYLsfayau1uuvadT-Mo128wPkih9wKAwe7xAwHc6Ji3dKX-ASdyQsRIl0ihGpvfF78yOlzhSYmrmu0na6U-AWA5MElvEJZNMFRQASZGaOMYAQCg52T9rY1BWbYBEhaOK9RKtXI1JwdINFSxmKbXHhOnHfM1aT-OmpCdfgtjVGFbtvvH_17teqvCot1lq1HI5q5A8ElXfEKyQnO5WKTI9opKzYNJQrQZQU3zerkyybhiaL0kuk0ExsYYCLowmCkw9dVqK96UJZqGokP1HIicEkpKGDsqIcmuxUv3PM5p7QlBplM8amqb874HJ22QisiFe4tPtuFuslxDQ-8uKa2bGobOhS4H5UdIAN7DEW8ItvTvhi3Zy2xm-71HL72XogxXAz0ilZU7GSBJ7V0YzMOaApqnygMSDz0x1oFy833sszAJfrAjnygdw0YNxZRS1yA1tyHOs3551-OSITu4HHQGKQz2yX3CkOl7UnG8sGa9x3TqlprdUzDzDCbp0AMhYZ_yw7hIEp5GZuOwitTdlvp4RE-QO4YKOw-x5GQ-W1nJD0iybu29wLKDNo1hfKqa51wAiD6tmWBFbXioIE9u6vb0Au4VWU6PHUdTBBqMCHpkK6HvL_66_FyO_UreW1ThldTrGgYeqwI7isSNjMlsiaZi00Nyyq8GfKNLyikvhqtlW19QWiC-irghBWmBLk-U982Sx-g7-r5Q92LaUdfEzIVZwuGPzgB5CnTa04rqCRBipVENT-18tW5jM_76sogugB8g8GAAS7v48qsEVPEhqF_G1Ye8E=",
  "id": "rs_0f35c9a461941012016ab446c1df5c87d0bdd2fece1cc58b33",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbJIw-AO8YgVZaZS8RT09vnnNnNrZ2JnplbDNPPed8J87cVW4gOwiLETkU4qNq1lY1XEh-9obL7U5k8zBh5F-7izdGrIEfrOJad6lQf0HsG95WYxMdN9CUWXcPA02tYgmNVtodM39MGpoGSThFGT9jZLQuIyFMCPLpLPbL6n_VlA91t57gyd6XyRsk1OOXHhZtERoCYoEMtVq8fPZT56o7hnIAhbH8_DKXrfnr9GVXXiyJkMEt5QnAXBiwqIAbWY2AISdjxfl67mWw2wvzou5R9_f9WJOG5mHSVQ9Ka0cxFWUoURKb61gteYfYcu2FQGHDoEfcKq_9KWMBd496l-sAMONMoFXv06LyWCJw4z7h9FgjmTV-VQW9QiFI65aGkKCNpue5bJunPEFZhbev1ogpYUB7A6Fugu80mfVukRmy62r7pzkpxr_aW7fO5xoPIb8HXTZ6E3qshlLcU86t3uuglmSN51INGlgfInku21R8aAjg6rFfI28M-63HaOLzWtsI0ZQiON1sY8Atg-RUMYE4dMYVjQCGk6uhTfJAelszws7C_VdgmRp3CNaJUtLGAAd4RBEufLu0nJPRQiNoil_UUanpYOvsdb8Rj57-_8-CRHgMfzsyRWn61HRshzXWZIQUKuWXUawJzsLQUyAsifpeUKmNtOLklNR0xF4Kb2C82zTZtnZigO_pwEDtSXQLfQkmw51qvoG190E0y68e5Tef8PnTIIDbixY1mQnZrIl5vrrqKTaLM6CVIucoayibWRX088FnIxxShXfPrL0Cj5HBqrGJjyCrB5X9CM3WFVCmIsgUw-kaEDACUmYcWy1mo7uMDCUrjmdeC-bpwVpdcBOShStP1AP11w8yvE4ZlOloJbNSXRHj-f1JCdMzpJd_jFdn1HwFERnh5w2EE2BAmk8Ae40-gje4F5RZdXqzam0llJiUTXORkJh75np3-__q3Yco9bdm30kBzxHCBNDmDyacqeRJnpyKjWlzhhdaTJ0HXnYBhGo7CBLW5TXiDfMKBtNNqJvKM29_nh3rEfD7JUn9U2e_pHa86FHrmZzIQN74cIiuW3ztNplK-M2p2qbuiUh3FxEkUpnYibXY0nRTlBjMbRT90ldfUrVfiEkbps7jch7_iwpJo_MlZNTftAVsQZyYj2OYYyNXWHFTzgI3WCPJ_UhAZNHHcsbXHE4sWw_rWAjhm3A9XfUJ3mzUxbSfVS6eEh8CRkXtf2tbUx_G9CHeLTgoNWMp_pNQIARiKnOzhmnRmfaTy41MVH0FM-ZE6SJCsRsz-0a007TjQPPSI_td0nuruos-jT9JHaoJLE3X6L_MRtVfNQQWYejLcFCuOHbWzw-o579qWSCRB_SV8C7b-fLOtsON2zl-njbwqepxY26gk4eQglCUvmUJJFJb9RbJ8GGePVjUyFUJVOC7AXLTDTn6EMIVKsfNbF-vJVprvBpA=",
  "id": "rs_0f35c9a461941012016ab446c78d9087d09dbcb4e96449746e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.17,\"right_z\":0.17},\"note\":\"The yellow fruit is firmly grasped at a 0.42 gripper reading. It is centered between the jaws, and the bowl lies to the wrist-view right, so I’ll lift and shift about 8 cm in that direction to carry the centered fruit over the bowl.\"}",
  "call_id": "call_IZHirUB3bOIn0MoF2nRR9SRa",
  "id": "fc_0f35c9a461941012016ab446c810d087d0ad2befca2d7c95d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IZHirUB3bOIn0MoF2nRR9SRa",
  "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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5392, 1.6836, 1.4429, -0.944, 0.2451, 0.2264, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3573 right_y=0.168 right_z=0.1507 right_yaw=0.1511 right_pitch=-0.5608 right_roll=-0.1575 right_gripper=0.4242\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6484, -0.0415, -0.0073, -0.0122, -0.2256, -10.6872, 8.1983, 0.9451, 0.0366, -0.0171, -0.0513]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b071812f34874bdb736682f8ec74fa09ac9c51a4583ddf6cbbdde093171ee4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5473acb8c31255cdb939c424155e67ceac90d771ff940da816e62e5611b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d573d5e89306ea28cec832df252b0ce84e92c98f26c866f67b0aa871b882589",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.683 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 92 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0261, 0.9914, 0.7815, 1.7992, 1.343, -0.7151, 0.3355, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.001 left_pitch=-0.1083 left_roll=0.0021 left_gripper=0.9914 right_x=0.3353 right_y=0.2558 right_z=0.097 right_yaw=0.1685 right_pitch=-0.491 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6679, -0.0806, -0.0122, -0.0073, -0.1162, -9.1692, 6.2701, 1.2723, 0.0855, 0.0122, -0.1587]",
      "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]: [-0.0219, 0.8211, 0.6132, -0.4915, -0.0135, -0.0265, 0.9914, 0.7826, 1.8927, 1.1664, -0.4706, 0.337, 0.4637, 0.4246]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1547 left_yaw=-0.001 left_pitch=-0.1255 left_roll=0.0019 left_gripper=0.9914 right_x=0.3315 right_y=0.2523 right_z=0.0243 right_yaw=0.165 right_pitch=-0.5115 right_roll=-0.1269 right_gripper=0.4246\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6288, -0.0464, -0.0415, -0.0122, -0.212, -9.4017, 5.7368, 0.9206, 0.149, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5392, 1.6836, 1.4429, -0.944, 0.2451, 0.2264, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3573 right_y=0.168 right_z=0.1507 right_yaw=0.1511 right_pitch=-0.5608 right_roll=-0.1575 right_gripper=0.4242\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6484, -0.0415, -0.0073, -0.0122, -0.2256, -10.6872, 8.1983, 0.9451, 0.0366, -0.0171, -0.0513]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b071812f34874bdb736682f8ec74fa09ac9c51a4583ddf6cbbdde093171ee4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5473acb8c31255cdb939c424155e67ceac90d771ff940da816e62e5611b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d573d5e89306ea28cec832df252b0ce84e92c98f26c866f67b0aa871b882589",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbXbI5TImCJNYxNaEVUYPrEuLM-O0dN7d3cpfwqZx9WHIrvDNTtJNrHR4XVLZ_oizOE_bcex08aAczHpmTG_89hly70w3XMfRK0NlmQGs_cC0AjchePlQREvszP21VcXguzq5V6wAdaypHp6CZXnN5zmNGjLd3LhCh-LoK9W2VIG0iLv5EqH8KMBTf3hw8Hwl6n4BeomZkn8q60H8hpb1nQMtMQdP4uurg1eC-ZqXsHVf-hA42SW7-0G2YZB5Orz-bdDWp5xZzaYYB8EI2_YuFt_ccwUmeI5HkiIhy4dB_bw7aB7b1KoRklsQ4QsckevYdE8ebVl0HK2JucZK0MQGxMJ513qdLIOBpqBr5BTexXdE8ZHDXythfF0vho8uGFse4eXbeAslFdXK7_ubp-9a2GjFyBL5fJ79kvbQUpw8R0tFpAfS6rIAl2C4mOry5Dzr9noGnSYTbLU9DI1fLXIr4KXXmYLS4DvdTLPm-6AVU7-10JmWl5gy_thfmsbxa8tvRUHW6TPOBHr4caHiaDP6xqxy1Q465PdStQnkhr-A7nYtKJN0ctzkpc-vyt2seXJe-RQB6ub-R_NmE1ofTplTtsVWqClQWoK8IL0wPVcMeYpSrEdEHa1q-rGOwck01xUQKk2lZtGUry1vLbLNtkIF6zam8WjmZ0oc7gd19dedIfycwnd1b5li5xBuHQTqzX6K0RLljjCHvQS3gGYnlx38WISg1ca3L9cBD8C-1IgOdziI6K86vXGhF0i_MVNw74oaRIa2cjbXoI68a8wetsX2ALmWw_JrQec28Y-2QybHhWQ8lM7V3rq_b4z4GE_WKvXE-EJBzBc3FIiqO-YKagbbnaOC5fIfHPbUtYCSK_LwTv6ubTZVbulymp7fFwHC1Bn38ti_y8wNsNOq2TnREZQLJm7Vh2LfxW0DMv_XN46FZffj-UBn-gTzeBBpHAU5b2dm9vo0LHQxcTmRGAyAD0KpA79D-2WQJ0p5dBFu4qrRkvna3Uvp0ybl677pynXYJShaNf_Zz8TVPPK-ocjM1ZzAzLMeBD12ZdGW9b_smh_7OKIyvbrE8m-Lja4KTSinpn_-xP6i9w1UJwD0Q0zj2Uimx6-yCX3MOPvdOLC-MDwgGOc_C-WGeIst8hH7MO3a-2DxU439MXYFsFc4fUrdXO0RrTGf3ob6OTPc7YLUlxlC0Re5DgAa8PJ4jVadjZWt0BpAxH39y3wa5zLzo_vre9kxtBWcLAkrFPVlfPCOKpOifiyQASxOi3HMotPPwECzle0iVLBSqOat_M81zhMVAny96vwkQ26iq_XcgEn9vlxLtDW36e3am9nFvuVeTxJ5z7fDC1mC2UBba9v2-TkpmaYY6BeJvC05yIPlcigvvvJEFm3eShVsbboohdFiSzM7iCOB6Xganr4avx-v0lofILA4SFSvZJVIGKif-LJuganUP-ATeMkV-e4RXEoN1HLBdjGT97gvt5exyhn7Ke0RlNyHnZD2_miSQPrRW0iHWk0wVaBbe2AfNOer_zyhfQ0bYQvOR2KNGvSTjV5w0Gu5ONj7HeXoNPtrBdJju4QlZpihHcahXAos5yrgOJLpTYfI2EGh2b-n4BDDOqgIMGAvALHkorNQngCe44bbOnOtxS4TVtfDqG2ylFiBe8oF5zVqHA8eMPbV52lPclxF3mTAUGhxkEqwY-vBCQkKGqzjyQmS8Bs3d2u64BUox6k1bc9GwD8RLc-4znbPlGoB7Tvgwq4T7XB8MAkVA3Q1Q5E7RtWAe4LNowUyoN7Y1AiMI0NKUlV0BHcoKtINCGXjz642XhjGY3DwuC4eEZg8oES6Fg1ABTzyq3gqv5A_rpl1kulVwOJiO0A8egXwvjzg5Vw8oRw3RDPuDnG3sxRGbrH31CKRyKzrR17LN3NENOuRRC-8PeToXqGkoNCWvHo72cfkexF9yrnCtJxHeLYAuKPoab5UWdXI-Erz2kAZdoHjvAS6S-36bc9avs_yr1yCMGM4siPV2U6kBJ7G-N11T0W8JeFTnlj3frQSj4Gtwkp6hNgddFhm4cJQT568A5ASjsVlvEX7jRM5DiwjLnr9xpTXWDiBv8kBm9n6egVz5NChBbg1lVDXPq5zYVN5fP0Mp5ADd-rzPz-WQW_YtRzSXLWvT-EtIGMGbORG1mbgy8_c_gW-ECESdtQtNGaIL3y-iVY7gSEN0CrSmk9uUnacsvJ79w3cu5IvF5WKAE8yYQX2n02Bu6Thl1PJyiuvvDxlU_ENSGikaP13keaK3uBTUv_a_aCqcDRDt0vhtbUOdn5jtEPBdOYe0ZYuCrgu12YKZIcl1uV-eb2KRmHhapcLgTpqn3SyEL0mIZNQGopJo11rx5a8sieF42lPZWN8c4Yr1WCScdEwvCtR4_ETgnMpR2g0Ib7UB-03SRHsvvlaQ9BN5gmY2AfXFxXkyTmqQYNbtGoEWpafk1AoZhut0fRDw9FzTNQWFeBOdDlhPOcNJck3wrCkkHK5E_z3F27Z4IT2TyUO_Y86oO_vG6GIF3u-hZRCvUFkDT9iP7_Vl4UQIs0KtLOHK4meMJsYizbdoCOgG6JKHScdfRKMIxT4s_q6Xm-aiyeu_HP_beZp2TqyU4jbCacJ5rTmig_AjAD2ULJstW5zmVbOakuDTQWW90qX8ikyFalOGgD4XgkW1bqastzVqgmZhV5Bj89P91QfDPdXN1ALE3u9EyGfHIoxQ76DXh8A6Sr68WTPawjmWnoNcVhCFw85ud5ijf6Q5OEDWnNLfjnNGs6ouPQKWrHbRWq1HNH-qWN3ojaVGXwlvfb6byDSJb-GVWwWnkVSZiYnIZC7o4aJZ863vd85S4-r2N7bKqjoHzcO3uEmJbSnOFNsv1kPlOXj2EoWl49lrpasXB8NjiLvor9voOO9cc4L-CQGybkg03_RMhXSS5qBrAXHHw6GWj7V6ma5X7SmkN69-RtOOjRLe6iWk5esCHlx02yZtKPDSL9EO0-Goo_X-s5klNk-p0HW83Df1tQFWlsa9KRvBro8Yh0P0wbNom1xlRCNRnPkoE4WLsbOq6PFfr8-Ns_0wxsKpE0Gmg4YUCd0MSxU5G2dM27UQ8HUkQpuf84AViQ7A22mnDVGGCuVJAVMSmdk-8FpOlY0iG_8BpD0xoCrfeAdYMmROBM680fKIOxOyuCPc3qNVgnFr4CbUOIKUl0415-Hp5XSfVgvs-J51u5o86vr2Frb7tBEtUQpSvM_aHVrFpJaptqQf9LbDcRLxbCeb_oErhu4dGGadTS0WQIjpYoA1zslvT70FXAPWY9XnC5_7pW8tX2P2tcSSSceiqE72RLQrop5-9v03l4mGGQqxHJYCyEpO63IeHpCeDHteFH_zPLCqesbFnKDDDxWIHQ8mo4W3V4yePX-u-1_NUc3vWP-FJo0i1RtkeSxiS1B0AsYR3IzOkafSqzwddyJgTFREUZlMwjjYYpnbjC43CE28JD5HU-circhjgjhiUfjQKxEyNtLBPCZLmaJR13OntZA4XOJb_DIUSHzrgalmA0NTAHq4k1iHnibAsgidAPFmGx9i0VBpmrufKTM9EhhhXg4C2O-OFBBHU-f_dvU_4oHfkyrjI8iu_krtNuyLTLQIxL0rfig6sfjvYMwHsJKaHT46aTJlzbbsGgb_k8qTWvh-xqLt0sVmPAjASK4kpTNEhiUvjmLjmKk2d_kerVLku4CLyKCpLWtaHqpgGqOxeJmsEtne5MPr9WcmT11jSPXFlYDWCcyQN7r5M7iCL-3ttaSzqNXQvmJ0_-1jHfD9RoHa9dF2gzvfIBGFGHrZNYp_rejZ5F2A8_WTdY5XTE1_YQJEk7Q9pAgX10Q5bugxApLdZh_p2KFKBrTZKfTzlkazuqElTQASS_o75PniJgeWoxueEqroVGB1dzW-PUFhFyYpsGY6K-RH77qM-dPeCnB03WNRNJpcikuAkAp9NvnwoM8AvVhaNSdZHyg-8yCtXbxiXinEfni5A9fpfbflonhSz0ihTdFkx0lMGdZoq1hZWkDEK6nNFBstuOK6ILQxeSPHe4oYwfofIIYix20FUOxV4P8D8pE9Qh-A9qy0l-Pi3FpqRxPu5pqgeVMcHuCaZceYS27wpMq5oJ1yZ6youfTVFYp_t5H4_eAWqEq2EgeOQL5EGBSCOyasg7Eyetrp3oikJp8yI6PbvfshL3I-blGcfifC0uMdYlGt_9QzfJzF2X1HaIgTq_d2vVvky3NZdjxaN89clHiVAbjOXEjazbgphDMXlG8EQ-mcmfqkoE6CazmEgAKu23aMFWHsItjmnkcsT9Ls02Y7zlj2m_tUpdPu-x70BIVUz6ATsHvTCoLL4frFWjGRS_pfZyZsj2YAHTXe-otKLLwnghSxIjC5K-ZUi85kiTsWqu2_9_PScZd-OLsLJqBhbjUj9YvnsNW1BqwJ3ueW6Fnd9JA==",
  "id": "rs_0f35c9a461941012016ab446cef69087d08e0d6037ef68b133",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbX6j1lVRxNC6NBORBvtjXowHpe6AfoBxdyDIgEQqwl-Dgy1xcP8IiR5wq6-TqgQD5wnQHtbNphabq5l3IqtsgwWSyCt9pHVXPNbFDA1yBqKMQTZcvVZidt0qgXMFqDEUj_oClNd_sEatarM8EQuGraolu3uiJWDK3BXWYIHifcM0fJIeS2EngaiFLH2IkLvAPnTpw5A0D_LQ65hTtqPVCYLPBLur1pQdm5YtlLuiVLR3ZW5Pu5ly3etpeNVXrPyaQAATmIG3FLDufH9oNti6Ybjl6BEStNDQJ9orvqbXo4V5dhEfpRrs8OhbDIpN_0K1o9PIaHeQMR3kPm4xsopzbZtVKVcIli5U6fWAeyM2TvttBxUtMy_8YN2yXeIs8ydH1quvlegKVjrCVBdumqBqMM5oy4axX7VsEj0tyk_DxttcfK0J4i9u0RjDIvGot4gSzTDBQeiC_nHGdpXqMuJP-Y7DpIaXx3P7dOUY7fyf5r1kGhYXEAckSemyfiHsr8LEZ2Kwpy66lepz4dRI0hyrwamNV8TqtWaJ5_fhwcNrBeg1clJi5k-HE6MucKohrOZjxkTONDPw12S7L81L7LX-_lEmDlEaZ5fY1_5IuAcAac4mep7DLej7BK7IEFnRYHBp0zqVU2qW7cZFk2MaWEWQ9mcNXKUZiemfuuhOWaV7hoVgLkQtCA888nExKhxICeDGhKO_jdC4QlWkUZgOtoEHxPmGdrCiMIGvTm_MHIkAtY32W9M-s3CaR7HfIKklOek0v3HaIK---t6pUz3MjB4flYRfUW4cGGevvhkSMJpyRq1Qki0UfXITI18h9HLN0mfh5JU9QIlNRCYDkoCm-rkoxSb4UlZDZ5a6yQuA3HrsTqwD41HOEFINCGEFhUxnBUZogKy9hCIsv6anYv41sp_uxmwkcz-GDyD3mnc_Q0S7xKrK1W5jxlgnf3ROJ2llTHUHqKOIhjh-bBwnrSpdW0J_LYHbfIlNBSyeh7_YHlHwjNmIpDzysLwtfBRMzm6mcEj_l4Ll23w5Ret8c1SkilYQMi1VT5JBuTGCJeSecMleQMT7riXFHGa5WGodr2x_lQJ1aIHY1bm1xaFRgU-KxCM5GY2KMSMJwrLfAdM5XuCS_wjcQUAx4DMxDj8R1yNjloYkp7JbgcmubHXEHrfhgskA2tSc4NbfoNmXdJ1oab3u09b_EahuqzoZTLtD8Qd4fm9ar4pza4tQkBLhWEvyOvfJqxPfXBnCiP6RPifzMVZuC-U7ELwKdXGmlw2ekXSTOYi-1sTe62dkoqu4G38NWviT-kue0b_HMJBTuiEvSxXNo2owfJBWcyhHeHBpgGytb_vWqqcAilz3AFBsjGW-EanYQ87zMCw9zPYFxKtnx180Q-1Xo6A-ZOlXE9ZJQhAScH6--ZbycQNKi7gjNrMEelo-7fBVGPt-isDJe3VBet2JW4TkyL0RUBkd0qL6p93Z0-QRoJUBjQ1CXyhkpXkNMOF8IjLzeKbPNmoN2az4QGA5_l_9fU2SLbyoD9TlOz0hpmqqSTcIYVzT9x3IpDhlcHAZikWb-H9ZVJ5KzR-o1444mkA31yLS4HzHb6dG5i3cHATH_KuY69VfZT30zV3rsigzhL7Ps0kz3HDdaMTwbo8Kihf7qixFddtsxzDZj8-vtRPnrlrirSVRw0BGXhu1C6K2TdAyVW-43Nb3uBFcJoDZjy3TDoOwEfTurQQ-KbnOPIg23LnWpbRKQ52-UWtfbB-c-YLe2Mk6uuToMh7fK5vcoTFkEmvzL_GMSGMXa2o3IsxvWQtMVQf6cZP_3rBUKD9P5J-VR7ZV_lo0Uxgp9n6ngH063gSl6WBWaLkuRNNLrl3uwxHKo0zA8OOKgqP5rRj0-BGV8CfGT5jBF6_Bi57YQ29o7J9LpO3bMTvQ5BcDgsygt1Ivrv14ON9G9QVkuoniJnHoa42Qpr_-ruEYG0xo5N5CiFV_t5QI1DN75WgkUKAu4CuAWFzAei3J1yjxT-5WxqB7SLqwrrnIqNUFwPD4Dikl5C8MTiBjuGvaeOEML7ZU2Wq_OxH7256nVGmNwbJ3efa3VMyR8cS7gg_t8M9yivjoN08alk8EHZkKCzl-qCGjhLC50z8XiFnMDSz8qAoWNHyjWCKcwwHJe2Ul94wyFYmL9mn8eqoiKNIsFc9v6ONskST3UitrOsqHG4foq0f6Fn24835VT9-vRmkBlI6NwbZd31PcbJINaiEn1gkiqL7xZItXBnhs0pGUaIRvHWetTkR-ZHHVqcviERSSRiMalf8-JWyqiU6J5ihPoaApIeRUjk2nHSmYCSrYXSNibFFdMB92FKRviDZYFYtkeG1NchJAcslFPIGSnpkrp-PzPyeU8rp1f13krhK-MtdYuR2j8k9pyWqZDxun2Ccf3yiEhvHpeofCfINu4zIwWaU5OrXJf1HWDxh1qGkjC4qw083Y9vTnHslx_wgYagM6RM1n6K8K0pvCBSEnv9GyLbPFyzO6RjQfdk0FHfEUwC2iXa03yFrw==",
  "id": "rs_0f35c9a461941012016ab446d44c1087d0b89aedf52cdb7118",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"At the carry pose the blue bowl is centered directly beneath the gripper, and the grasped fruit is hidden by the wrist as expected; the overhead view shows it being carried over the bowl. I’ll lower into the bowl before releasing.\"}",
  "call_id": "call_PCgBsoFdJByER0ZS7gBICHSl",
  "id": "fc_0f35c9a461941012016ab446d6ce7c87d093d21ed9109533d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PCgBsoFdJByER0ZS7gBICHSl",
  "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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5404, 1.7096, 1.2327, -0.7341, 0.2455, 0.2234, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3518 right_y=0.1652 right_z=0.0885 right_yaw=0.1474 right_pitch=-0.5852 right_roll=-0.1714 right_gripper=0.4242\nstate[joint_eff]: [-0.0342, -1.2239, 7.0222, 1.6044, -0.0171, -0.0171, -0.0073, -0.2667, -7.4598, 6.0923, 1.1453, 0.1392, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b986f6d4d241bafc3c5be5fd132f894b0d3260c719aae552b642c103d6f6715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d256527cfda5de44ee92cd55c24a3543cf18bfeda94cf58fcfeafb56a2381ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d774d19f25031e30d2a9e6b0f25fb6372146a3aa5381acdba7a3f20a7d351af9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.771 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 97 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]: [-0.0219, 0.8211, 0.6132, -0.4877, -0.0139, -0.0265, 0.9914, 0.7826, 1.8931, 1.1664, -0.4686, 0.3359, 0.4713, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1554 left_yaw=-0.0007 left_pitch=-0.1217 left_roll=0.002 left_gripper=0.9914 right_x=0.3316 right_y=0.2527 right_z=0.0243 right_yaw=0.1617 right_pitch=-0.5104 right_roll=-0.1207 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.746, -0.0562, -0.0269, -0.0122, -0.1983, -8.9231, 5.4222, 1.2088, 0.1587, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5392, 1.6836, 1.4429, -0.944, 0.2451, 0.2264, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3573 right_y=0.168 right_z=0.1507 right_yaw=0.1511 right_pitch=-0.5608 right_roll=-0.1575 right_gripper=0.4242\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6484, -0.0415, -0.0073, -0.0122, -0.2256, -10.6872, 8.1983, 0.9451, 0.0366, -0.0171, -0.0513]\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 97 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5404, 1.7096, 1.2327, -0.7341, 0.2455, 0.2234, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3518 right_y=0.1652 right_z=0.0885 right_yaw=0.1474 right_pitch=-0.5852 right_roll=-0.1714 right_gripper=0.4242\nstate[joint_eff]: [-0.0342, -1.2239, 7.0222, 1.6044, -0.0171, -0.0171, -0.0073, -0.2667, -7.4598, 6.0923, 1.1453, 0.1392, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b986f6d4d241bafc3c5be5fd132f894b0d3260c719aae552b642c103d6f6715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d256527cfda5de44ee92cd55c24a3543cf18bfeda94cf58fcfeafb56a2381ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d774d19f25031e30d2a9e6b0f25fb6372146a3aa5381acdba7a3f20a7d351af9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbcdVhP-tFdK-I379f5RfkI0A6ur-31YPD-ekkWwlt-IAsl8VjQ1Ef3oTFqNQNRUB618hlFHqsLMU07sysUEC_dG7B654w87sIDfGpZtG4d49VFwgdYeRgM2l0re9CRp3YWyTLQlNzzduDR3L5HQMnah0buLhbEf1R0jU5Z2dg_FfiePk1hdvEKx7WxjbhJ0hMiWJ_-M9DKD4iDjXkQkJNPoxBDeKXTlSt7tHQgvwSlw_pYWmPQOn1csQTiSXtJPLx7gvYF1ko1Tcz1emRepx2ixmdaeTWaTyLVE3sR-tnUEx3FiPvS2VssVtDzMJFANw5zq8AqUQRpkbOWwo3GRZvxE73lbJRH0CLnyPEs2N5HLbiaqVqm5aoa4dpF0YF57Iz_2viyqVgCV15k6Y47RRmF2ZU5MOT7WP23_fDGT4cWwGJgq5kN70aPF3xJfc9-GC89g39dKjwb7TIs6R7NVtXFmnR_fmc3dZvtrkFcNAQOHimuVdAehp0HawW_XzQ_mCPau6kGOlYkeY1VIYE-zXvM4ecSDdbanekn_TAxIaUXvZMUss9Ny98b1uGwv-8_BJMO161qiIT57ZVDoIxLyEWz-7MdeDu70LepPjvi6iXN_hqAdSBGueEEFjbvejz1W9NPVxuDYasftg8c1FZFPsmjbxlfTFqTEhipD-Fn3zwNf05eSWICw37L5VTrV2cdzvqwUtmhVS38pJ9UfWmiUYVcQPPcZupp9bkCEp0aMMtkf6NU64JXmTbUOGUYH9pIoJ_I7PTeyS1LSH24aEGgSSRE1cuMN0F6iP-rtWyZQzb_qWfvKnmtEPjYw3IOPO9Y5S_5SCM6VwR4sXctqQS-rpup-vbI9YHU_dryc-4cWd1et0c9c_Z4fOsQ72Sto0rl08fBa8AaWE1NpF7UsOIQZlQdJyA0mflIq9Xk8a1rYCc1WCQWrrCmrMoJ_DrpQPt1VCPx9CyeSD5VQCMsI2XWzw6GbACbO6C7P02pAp5CCW0eDXZm8ojfG9hUQGZbMQtvEkRSFUgBzBOyNtjj34juaCmTBGfAs2JTjRCaIMxsLfTnW_tl3LnCMdkpElmae-gNgh-kruXp4GKov7wLqp2bQzVRMJh9nI93evY_7US4Du71MAC4H9-5UK_maxEmsvi4XrxZkYAwuGGtlpiQBocOvzRMPbFJdf_4tS_5yxSaFfqSV2dII-dbG3pesWACuMAMhCoyzg7pkTnUPGVB7FL8iCXENVwWVl2lvW0WbuTbAJqa1HV_8AuAd75i5_AtYfEV8wJQHOt1OFQ5w-0eVQ5IzTKkZfOZMjKhJLh8vLwW8LdRyBzL_eUyqtFI-U75InUjh2WC8h15_krURpykBvgfr2mOYViYcW8UMqvyYE1aIjXbOfDLGI-n9OmeOKMtFT4Kh94EeR88f5F2UcKcoPTVW8lhh52BQAuL1vpQiyANxw7X1m9f2cBDc5jCu4oXGBFfIhkpGNL0LzhttsHzQ87e6tX3HMpdDivnvdEn1DZdk2vQP3TZCcsWfox4Jcez-8VJU4e7-ReXyc8T8l0QWk_MPobzctmXZPiuAYiF1XI0G2KRXqOasM4esTUEXKNOQyUUY2TBrzUUgLpzNo8ypoEsGCjb1A==",
  "id": "rs_0f35c9a461941012016ab446daedb087d0bc43f0b2aa6d2140",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The bowl opening fills the center of the wrist view at the lowered pose, while the other visible yellow and green fruits remain outside on either side; this confirms a separate grasped fruit is positioned over the bowl. I’ll open the gripper to deposit it.\"}",
  "call_id": "call_5snK1IEbVowLWKcgbJa6scms",
  "id": "fc_0f35c9a461941012016ab446dbc42087d09e8e6ec5735f7aa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5snK1IEbVowLWKcgbJa6scms",
  "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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5404, 1.7096, 1.2327, -0.7383, 0.2455, 0.2165, 0.9955]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.351 right_y=0.1647 right_z=0.0881 right_yaw=0.1507 right_pitch=-0.5898 right_roll=-0.1767 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.0496, 1.6239, -0.0513, -0.0757, -0.0122, -0.2393, -8.1983, 6.4205, 0.8913, 0.105, 0.0171, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d95f151f4a712bce9d7c33e5686318c94e192b7cae5ee7184b1fea89d5a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7819993953a5298b46552e1bff3abf50939960d20bd62061b5724d673316935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9126d500c0bcb2c92d0364d7c184cdacaf9fd6e1bab34d3ac623dd2bee05d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 12.07 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 97 changed as sent

message 101 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]: [-0.0219, 0.8211, 0.6132, -0.4915, -0.0135, -0.0265, 0.9914, 0.7826, 1.8927, 1.1664, -0.4706, 0.337, 0.4637, 0.4246]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1547 left_yaw=-0.001 left_pitch=-0.1255 left_roll=0.0019 left_gripper=0.9914 right_x=0.3315 right_y=0.2523 right_z=0.0243 right_yaw=0.165 right_pitch=-0.5115 right_roll=-0.1269 right_gripper=0.4246\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6288, -0.0464, -0.0415, -0.0122, -0.212, -9.4017, 5.7368, 0.9206, 0.149, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5404, 1.7096, 1.2327, -0.7341, 0.2455, 0.2234, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3518 right_y=0.1652 right_z=0.0885 right_yaw=0.1474 right_pitch=-0.5852 right_roll=-0.1714 right_gripper=0.4242\nstate[joint_eff]: [-0.0342, -1.2239, 7.0222, 1.6044, -0.0171, -0.0171, -0.0073, -0.2667, -7.4598, 6.0923, 1.1453, 0.1392, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5404, 1.7096, 1.2327, -0.7383, 0.2455, 0.2165, 0.9955]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.351 right_y=0.1647 right_z=0.0881 right_yaw=0.1507 right_pitch=-0.5898 right_roll=-0.1767 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.0496, 1.6239, -0.0513, -0.0757, -0.0122, -0.2393, -8.1983, 6.4205, 0.8913, 0.105, 0.0171, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d95f151f4a712bce9d7c33e5686318c94e192b7cae5ee7184b1fea89d5a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7819993953a5298b46552e1bff3abf50939960d20bd62061b5724d673316935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9126d500c0bcb2c92d0364d7c184cdacaf9fd6e1bab34d3ac623dd2bee05d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbf3dAeSkDOckNLwEut1WnCpIv3Qn5EUR78V0dPOzCL2IqeQORjlPOXw0UnzRmAOfCn_S13YUmBsNv51h_UcGyhbu9tUgb-pXr0hhHIJXIdwkCEOeYAWz5qr7WjQ8fLHpLhN7B-wKXftNYdWYreAeQEEB3K6VqYHAL1gHD4U4naa3qWKfXTzf1RAB0fGVTbTAGbeHo3CaRgPW28JcAVbcE-8nm0ntL_Fh3oem8AM9uLyNXraB7ZIS_DKEirs1BJm5fELDcYhFwJU8nwHyIebrYe1OCCi8syQ-GXJOVGx7zlPJWgD7CbwzoqJYT6QvPafY6tqFsuBA6lmiFcTIqBIfNnr2nyUAD6Dxu8aJc7oAnOSGaSYDtULSDdHU-CUyLtGzdM7id4TM0SQLRnLozP3jOssNtaH9gu-0RRFZJAUMCloJ_dCE77xqbrMbVlNyCuj3qSqrW7MVDNcJFC5hqItApneq4ltDILBLStAr2N_0yhAY3gtunbebEHQQa01ul6rKnWaCqoHbzZd3nrdBWHQ8BO1Q79bF606fsQMwK1W5ZPW6QzEcShHcZo4zJJ4lYb5d6ZXaIsotf-2WgUZ9WyMobp-agd7GDtsM9eeVPR9qYelbR5RqQsovEo5SVIGzh4LTQnjOLE-aYpLDV6jzN9rcq1cSVKpxOZ0ICr6l_Z9m9VDC20g6MJQAKHVdGVx8anlMIdvwZic4bf3McwncRuZJKdr31xiSREjlnpiySGpMbcEjdJNCaA3my9Ygt4rr6ynSCXbNqJsO8AUxRyUixVa-mhpRhZ3rhP6GwtNqUEG_S2ai4lrV9Ca-iRcTMcDaugCWPYRooqJzeSlFTmug89HRDgqSOBGTSFWXeJPV0Z_6II4ERH6XySR2IA0cYiSBlGk5c63A8rckSSCwoYxh6PfhUdJbfHr1f2-z9aHg4tPWpYA8qwRlAY7_d0BkWto27KKDpGmT9zvb0Vtgt5hngmoHIPSrIvQamX4uAZwzq7PzrT0Xr8bPs4HH1EX0MJSC3QdxCE_gfUJfUt26t2QfYAmkRxNiWazk_Eg4Yd0bEa4aCkZiLb03xGR_B2UQ8lxy0o6_wvz-XcQEtqG1ZAjEBj11W1fo_l0SQgI7jXfjG27tYyL5g1WhLJC1jPzogOTfqbNQFXnGs1SiaE6sP3XVPxouicoW4DCY1qTJNCiPP63urZfSTya9BWFueDHCscVoQctWoOQMebVHXh5tAuh_1KgZHJbLYR-9DrDXBZjIT9cyAC608E1np-Tn4VO_m82y11vF78IDZavKsPd2y_0ywuS97r0pyds1o3pP4xP3jZQMv7x3o=",
  "id": "rs_0f35c9a461941012016ab446de510c87d0a9068dbb1a5ad9ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The gripper opened fully over the bowl; the deposited item is not visible from the low wrist angle because the bowl wall blocks its bottom. I’ll lift clear to inspect the bowl and count what remains.\"}",
  "call_id": "call_ciONoifmS9L12f0W8dXo4oye",
  "id": "fc_0f35c9a461941012016ab446de93d487d0a03d15026e181a9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ciONoifmS9L12f0W8dXo4oye",
  "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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5411, 1.7035, 1.552, -1.079, 0.2375, 0.2157, 0.9964]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.3511 right_y=0.1667 right_z=0.1683 right_yaw=0.1555 right_pitch=-0.6068 right_roll=-0.1756 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.3333, 7.1316, 1.5995, -0.0513, -0.0415, -0.0122, -0.335, -9.1419, 7.6103, 0.9206, 0.1832, -0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0aec324d900e4d427bd5cbe8c4c4ebbd3f821d7495d9bd2dd0e9c6ddb183215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecd6ab4c2588008ffb2fcbc8ad24ba007972b574b6f3b97cc03196d83dc1556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4f2b6e7d496cc98e0339a0152ea6f50a5caa91858b14ea8353f39801d47c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.144 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5392, 1.6836, 1.4429, -0.944, 0.2451, 0.2264, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3573 right_y=0.168 right_z=0.1507 right_yaw=0.1511 right_pitch=-0.5608 right_roll=-0.1575 right_gripper=0.4242\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6484, -0.0415, -0.0073, -0.0122, -0.2256, -10.6872, 8.1983, 0.9451, 0.0366, -0.0171, -0.0513]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5404, 1.7096, 1.2327, -0.7383, 0.2455, 0.2165, 0.9955]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.351 right_y=0.1647 right_z=0.0881 right_yaw=0.1507 right_pitch=-0.5898 right_roll=-0.1767 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.0496, 1.6239, -0.0513, -0.0757, -0.0122, -0.2393, -8.1983, 6.4205, 0.8913, 0.105, 0.0171, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5411, 1.7035, 1.552, -1.079, 0.2375, 0.2157, 0.9964]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.3511 right_y=0.1667 right_z=0.1683 right_yaw=0.1555 right_pitch=-0.6068 right_roll=-0.1756 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.3333, 7.1316, 1.5995, -0.0513, -0.0415, -0.0122, -0.335, -9.1419, 7.6103, 0.9206, 0.1832, -0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0aec324d900e4d427bd5cbe8c4c4ebbd3f821d7495d9bd2dd0e9c6ddb183215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecd6ab4c2588008ffb2fcbc8ad24ba007972b574b6f3b97cc03196d83dc1556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4f2b6e7d496cc98e0339a0152ea6f50a5caa91858b14ea8353f39801d47c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbsMXFtKrQZdXw49JRJVT40gu59ItfF6ewr23bbRtfXP5bj2BYaq_3zAui95_0hDT7Mstju5bnTx23yJtaOEzaw-d44qjIcRRDaFW28nKvpIFpsClsQ3l74E8NbSepvtt29_8CFSeJgLxdoUOL1BCcOL35q8Zu0nGApq2PegVDThkkS_s1KRoqdplilYFyhjaIzD-vgozrzIl0bQu1iBxlhtSZ-pr4y-JGAP9G0cedK47of_aOQpwEZNWI_CQwexe6sqUQ2gU111QyvD-93Br4DpD5pMlv4MSL3ZwAPrn1pGe6mJIQyZYjWkO8obEZR_RStZUvfw0DXHX8S7fkOxThsDHdUJMRLagL_VQsJSBC6H0mEZsMDcMhB90cQgqKZgcm74o8zcb17NWoRep3t8feFCepuP0PRcDbOU31dfEwaZctwTETZBp4KIClwWJeK54E2tckGTQbHfPyiRJCHsMjFKAYtLZMiFJnVxjhbE_ARS7t7m3zmZjoZ3scvoF8jmJSzxCNBN7h_9diR2--fNtHnVvWTvrpBlATaz-IQVbc7jQbhx6LcSY5iunQxaTcjHGc4E2FpVkiPfn1m-q1jiZyPBVfUr3hOmCB59-jyfIW69lGU8VUsi_9Qtw1_qXQWjX56w2YMFowVLt8F0UyXhjshcYeV7k3l4n2FLvQZzUR9srsVJStN74iieW5l1F0NlFtbgWRVrwuuUJTlvPCPnmz6sv0IJV8dshmV_vVhi-fTlpYCQdty98UOL-dSmLkW4srsBKVXmHKxjXtu1_lh4x5oM8rEDl92g0ej96bn_suyRh72WIYlqwaasVtjDNd-FFZJlxArjtbqLLWiiNO1xpiqQti_FjxBtWJwMYb42KVMfzaM79gNDTHHS3GiafbvTQBvBa2uvETbyHoULm3iRkSUOScI5a4tZDKp9p8Orh1qXK3_79V29XSZuf60YWLWx9v0ZGjL0lNaOww5m1i0pjiVMrSaM4IqiM6kXp20S34uqUBNTVjI6bcFrD3JssxWe1VssS2eNohVGISOhc0Zusoy6hjX0S6ZgWi51VjHXJSbZbQ0G7TakYzTnBgE1gkoVWfR2fZqrHD9FHmAYFHPczZ9JXzECGqky2gqBVhjT14EMvFbi6fB9TjOASH9auoFIPODkMN3_eQ3P7xMH2oCOsdFeiR8dJSUJ1qeNg7gWTcfUiUiTP9lOZ2lhU7bgDz6jK6QTDdf7rCIkRwXA-29s6zHoQPkJ-rlayttpoHcSZNSzZ2uZHgGJnirOkYmyzIF2aWTvZ4689TxGMdVvIl7pA7xBq18JIr_jfBgpqLZlzXxJjSof5xdU7IFraB8vqn_vLRpOQsKxcHVb7c47cLoKcCilzVnkJGPPQgOykhCDg_XRb4nzRa8nmXq6XBh2ThGb59Pqxb36e-ACzDe2qSFa1IZYHEnKbYRcgiPzYPICR1OaKw1Kmw9MjnYWTpVFoNxHhtsx8BWZsy2vF5WRkMdKsLk41HnTuQIL-p0Jl6nnHYH5IOG73fwdfuICzeKF3ticxwvqNl6kcqiM1GeT2Ge46c6MaJm4oqQCGiHzHcgK28SFv2piQ8rFNpEkfrJ_MLbOsgav0_He6shO6hVOzigexpbbjJF2HnHMcGhpAIPT-SSqWqZHV5PxUZP3iHlrz8u53Z0GBo-rqX1uLJQHL20DJ6iEIlMh3p4Ax3ELvIol7zbKf_7OXjFhrjSzJ2xEcASt7s2QCDXtWpEyPZKUwqjoLj2Cj4aUKOYgDdqTLvvGDEogxW09zHGEd-u-oSBAigxF6-84JuHiXqse2EZohqZdvLlhVkkRQAdXKUglymoqvOB6GcCLj4umzk9_7LIcnJ1r0VkBs2Dy0moGTvWTheUTz4E9D8fXi3zqHb3JlHMe876VmmdjboPaAGYokdF1x7JJfwz4_c9s-MoVvKTjj7PJu_mrh9beQA1mg21cJbVo-sdHEaouObDV_r9GHhkVf-vGJX_ORzkwysoQclR-lK5nbIThBjQBuLO4wY1_fuc4s5YP_VKyFI5rY0Lx5H5BZylQzwl2NfhraZObWOtSde3fruTgFmrQSBmRwKFkPzSTGTyLs_CoBA0JcwuGcsHCGA-uOH5dSSu1ttsbJ4cMRbwI1cBBG9ZUmIq0DkB_ge4pdTTY_sj1lUoL_Z-77Q4Jh9OX3RV6M-whz-R85FVGdcJ5b3hQwoutWOOK7q8uLTMPvK-82sggB4aMCzwz545hUmokHcvRxWQ5RRtqFezoG40jm6TgZMbkFNRwtq_ydPvpSgpFqVV7-1V3LhL5FdN1B2xmdwyWp_FIqWJVOSypcVgMA-qOzMwdzwvolCffRdEEaBn2QBSk0Clmzr-D96XgNf6EzPyHUuM5JKhQifrWcKEykwklEmybPEvPavLD8kK49G0bJtMBrXp8KZsPSjxapF49p2PlGcHg81ccYQKKNjpFzmHW73pgaEqi4qUTPCL3fZjjNeMGfGjVj2ZdmXFXasVHXjzpFTcSfU47HCaBXc2c5pRC1APAtxv8J2Y1D2NTsKD5GT7kHFog2zEjWVX3RAHHPZhx_yC4UQekxv1fgBHn6jLyV5sAohUYQ4wKL9GuTVePw7V7ox0c5erS63T3TtLk0EfnYaR7ddYcCgt7AO-q7GKC-0rSxEgnRjfxEhQIcFIUf5Q106FzB7qb-W8WsXz9a6CsoEnKJiYfea-vsQPvGV5AYMQ4D_VpEtdQBhxfie9JslHc-VKapk-cNKF2Bb0rM9xwlpIujxKqUBD7ww5R9bIR4j4CEzH9o1-c5mXqnap-zUouv8luqQcSDRWCaSfiJ-XIEGq9iu_1YFgvfj4wsAcvoV1WfZIGoWTU909FzeO0xcnH6GJU7iIadR3wsdgsR5xWm94IpIpytIaQCGB8FJEHTDWemaVSEjCPzRc_gLRwDbj30aGpnPlI2j3V1dVr-zqy-idRm_k26PxikViX8r0Jac_quOt0YEGi4Tl2pidTAEUipZRcMqn3Ko6U0udkS7PhPoT5xWGErtKesM8PdZp7_vMxvzH0JQGhT8niXw50UZzxk_lt3U-U6ZSKVtUEVh8oZMSjd6LyFx2N4RSp9EHrZH9UoOEOWvNm9LJeDsfvaap7Bo216xiG55czXRMw511hv4ODA4GSsB3kOx5vCDjR4V94wIjHpQQQ6Ttx6_dsMzQtzJexcgSi4bPbH6M0VoNzFM2kmfGb17dO3y6F2Lqe3_XwFKVIX9UCONsFyStLc4VtgYIupIBQnv2yz5KQn6n5IN_gxv0fwhiF0u-zsyzckb3-GGXYbyzklZNMEk63BfBPZy4Jkdy7s1Ms9lPfs-UDsEtnO10ku_q9LjmfyrIfopaMXnXib0hUPQGpPw6KPZCwje8fEbWqa4BAIhh_gBaYTGmu5LZsulEwV0wgGW2fJ_7B04t1_KKyyhEO68IFh29moWmcMdMplNj5WILRHD2UyUMLD5DGu7gqonqzEgLKTgnKdfedSpZzRhNkg34wIPf5BtKsj6NrUBApxtwMe4BwWEL1PfozTSmRNNTEKlJAr-VfvhhAypuwocQ0fAp9asPgCFMoaWI6_FgaBvy81uie_TPQd-TyeJ6SOwBKq4NtCYsm1GOvhDtF_crxEgqhWn3_Dl22-cRDWLdalmh-HJhPGptO89ZHS2-CUKRIpS9-oAjPbL36citIV1YlHVgBoAWhJE4nWPxCyRG9w13irnOWCeYovnj83mowjxvD7xz0JWgcHxBhQVgGCkM8LOm2S9hiLbjR2GaSRJK3OO7EiqXkP_vo8Z1BgweVQZ1vjT3nxp2lxJNbbWyyvOcsPrDLQIdPRXbMffntmY7_Zt05zuES1ObOM3zZNWFiAWBFVcrzdernMQpKy1kpwlqZXpTA7fWLaJnQJnMvc5ze0X8_r4DgVDSzmtWc6Xy_i41pQj5F-y5geETJssqMmQ5cNJ8u236MVmSRZ5i98Ro4wXua4jWAc-rQScTetqt51xRzIbXJakGWYyRnmyHslKH2yLrAe7iZhAzJMUOa2mdqWGKEB5yc-sDOKjsF8ZILabJFMeDiSftejTrAtLiwbhxGxshV9Dht5TmkqoLaNSS3-t8dcOxFoo3dsgyPwVwqRWmNQW8Dg==",
  "id": "rs_0f35c9a461941012016ab446e232d087d0a7ffde1cde0bb4b9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbstI49sJCWSVxB0_aNSyNF4KyVF3M81EIP8FfX0sfSbfB7bE6b1bXlUggQnNT7U47a2Z9_d7SOQxvPP8EWSUeexGn8XEi-yBHvIbTDSnhXuiCM1eWbL7bL7_FEsHHRkglgnk1WVGafam0EZyes9K70t5R_FRrotlltozuPzu64y2FVryc_h7UcZmF6n7YGJHEekiS5XBiLGDIl5VwH4gH1td1UqHFp5y-kJGgGx9AF6dDKQuCcPjn6-SV8ze6EcTGl8OcUsCufMiUos2Mt6uNV_E3fG96mLVZA-DaAlW5-3J9grK51i8YwZ2zx18Nrrpz3eLYuUp1tnlyciq_323F3HCpboMv0tiCGJZV23hlXlK21QVDvGH-BZfCSvitH0csXYPU7wcCXZ-SC0Qfvvl8S-MxhCWnajt-8oNlJNVElSAAERWXEIQV7oTFW3E3y7NBvA4QgqvFtIr4jxp64ZUE0uM4roNF-4f9_r8hv7Ti-f4I6frft0E-RDKZRKpOPASldWz93I_Ffx2rbi7iOYIHeNiwTFbo8Q_sgEeBucEUECHxhDezoXhg2BSb5hgWO4-aA4jy-CtMKlOdExOmt3Dh8nrI_GX34nHXtwgd3tpOEPCbM3WSM2EJ7ml5xHZ_4j1CRUsSV-EKQosa2vDjYsYvc_n8uO66drXTh_q3uk6S9cY4N3b8O8RFnypg5q-aA-Vsi4ZX5rDR2YDQ2EBNi0RvfSwQJtX7o-lZC0Fp5XpY92byGOpoiZ6vfPAf5818TTEJpO0hcTjVIvWScbB9Ln6-7MYHqkJnAF0YQd1AnlJxPR791xzhoYoLPF4ck61mU8pLo30MGtXtkG4wbHED3_CbbRzfkaYvBlO2M7G5l_mGMcoQGEv7_wSA971-CTIt7xq660XtK2AZkSCsXHm7pSSXHDZrzT_-4nf2_UgjtVIRStxwmxUGujjeOufcn81BSV9wthGgzqMXgF6wRu-Otsi5cbSQvUJGwsvUur3a8S9uDlk8gagSKk5vIlSwhBYLFX5372PfF9H_H6aPB42Iw9U9Gnpfg-7-GCleBVCrx2YkofuTAQjFqynOM_1GbidSrjAtqQpsWdpE-dP0x_y6lengsiVth0Anj_HSOuz6XWGwLW5lDkwu2aEilZhyxydGfyHjRBd9XwuIpg91RoGMWJDuhMh2EMdJDR4tyGIckMPg2lPhl6BS6Nf0VQjanxQB2PPAujgIp5lanMr5aNXx_q2EsiFIqgv09RfmXI0zqyKYbMCTXtmZqOu9hWVum9qDwWqKN1z7rRYUKLa3zPybV1AEWn-NEWFbZGIECP06Eby671JsqoS3knfRxnvq8Sje8k1N13ZI2dY3hWV8YJaHfG8IWZSvsbFtGdFZOrgfVRry83fpTnWW_ZMr4k2SXu4JICAii7eP1jXiVLTtUk1w9N8Ap91sYLR3yGLm6-RGyArQliP-P9bMYx7B8EfkZGmSqCCLXmnX1B7eM_tddB7PLfkM-0DEd3Kz2nVqOxNw76TCg4UY395uRuNnVJnAGWbeVXO6pwudNFgWMuCIrtTS1F8NOQ8jlm22ZjbNO7Wh55SDn25SPEFt8unNJEaP3SBAb2gL9IzFO6fWDZAEfqo6jXPT8L0O4NJBSa0mgeuIAN8_hDKySeZB6d00T0Bq5ANWqRHxgcO2Q3v1y4i_yi_NfBbv1yvYlEFeVRPTd52sqgjtbzvGbcsR1gGyUIHzVOUbby6uo-mToFTSgJlQZKPJmHgYhlNFRsMIVcAiFiyWO9LsA6lqfDtQL1ZWIP0fS3VZN8nLTORrsDq-SlEDkG2KTcNwHt8j3SbE-Y7YKA-DaIwMVqXxYmOoqLQSBnuhPfAcrPpZI5dWcTHyuVBPPxttDV5RryJQmvlYzBn4PpB2p17bh7UFHy4UdQt1_iHywblN23-vtTv_Ru1lHRc34rw-kIG95UOhEDSalfgaI2qePnUE323AZhlxevhXFMN_dn94mrfN9adReEXa_qHJhcdlLST3kBndFxNbJCY0DwhBSCJMh7WER8JU7jaIAeZaQKTfz7LarMnF91uDsqgn4W9ap4TSAdZ8IOASdfHlxBw-__0jdU3h2LnvPz2qQE0wh8AxDyRYjiWbAy9IEwuz-I01MoTuz_so7NHwIncH6-5eroTqo1GDaQ0Obzxh-Rz7LXLSvAh5D_QIO9CV_viL0ydxK_1RfPdZtrMh1x2mxzSPOqfh-jPSJAdgaqkgQ6rDkyt8XnAHLoxGOOruXg7-09dN4DdpqHGAy8uawIVyKQY_JstqcazXYaGltU5BDFQyNjDvVDPQ1v8Zz0rKS3cZXfZyvYLonTFwgk5j68KsFMms3B8f_YkVT_ud30TQR8O7CRFn0EqCwais8IbnSMVT6LMYJA63KT7iF34B9PbphiNFexUeQK9_LFHlGMtBuTUGAGLddmprArJiusHVcDp-QUPOFsJ6SXRiaBFjVS3EwmfoO6kKUW-LH2HPaDpQ7NkBK-2NW92iYkCApkKluj6m6Vg0hIwgvTeGjEVOQwPIBNAgWfQoPiItTilxjlqln7mJVa-_EjlSc6khnwOmrbPZ7KzmQlsH6XFYfErt6fDB7Yb4-xiORNqzl2cB1a6GuP8uMAallVveyF1ujz2rYHUHbrm3teT3j9BRkIf4x1fujEhKb4vPffly8nT-PrQuVXmy4fByKW_h7dyArmaME6pvx-T0pXdzOrd0hpwi0_GUJo_3zi7JXEWq98freTZ5Hbksyj--jloaKc3Ue7-_kDWEhrHAubKtWgPLRqD53q_dB7vQvvHHuyXq0PJWIxHLjdyuJQDFRG-Lg87c1lI0nkrtiWWsLrvh-nQJxMwBFTrPm5t7hZ7MHErz4jE1BEV-dds4Pp5lCPlzVv2GxpW5HgwABWoYOBFb_5hfTyX6JYsezjsH9y1mHj5s-TMuRcDGZSIX9RBmZDk3mS1AOYnSu3HhSp8sO5JgP7yvNZB-o_Ku5zxOwR4RRtT533KCKDUKTEazDXKut2EgGcpZjIIMmlk8hBMw_Um_ru6eCakeYbL_VhDRxenC8wKTrfp_0ttPrmR1aciEKCLW6zxfjU7jx6iPQpTCvtC1-bFTZeXJTa2wsvf4lNlHe3qs=",
  "id": "rs_0f35c9a461941012016ab446e77d9887d0a17fe087760d7d74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.23,\"left_z\":0.04,\"left_gripper\":1.0,\"right_x\":0.35,\"right_y\":0.09,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The blue bowl is empty and has been shifted to the center; the remaining fruits are the black plum by the white bowl, the yellow fruit left of the blue bowl, and the green pear right of it. I’ll use both arms in parallel, lowering the left over the plum and the right over the pear.\"}",
  "call_id": "call_RfaePN1omWkHEO5bCG9qnGtl",
  "id": "fc_0f35c9a461941012016ab446eb208c87d08b6765eac26f2409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RfaePN1omWkHEO5bCG9qnGtl",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.9787, 1.6592, 0.7021, -0.0792, -0.6624, -0.7696, 0.9921, 0.3248, 1.6463, 0.9741, -0.5224, 0.1684, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2829 left_y=-0.2196 left_z=0.0292 left_yaw=-0.0107 left_pitch=-0.1723 left_roll=0.0393 left_gripper=0.9921 right_x=0.3482 right_y=0.0898 right_z=0.0426 right_yaw=0.1442 right_pitch=-0.6102 right_roll=-0.183 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.1179, 6.9949, 1.3065, -0.5934, -0.1294, -0.4518, -0.4855, -7.1043, 5.5726, 1.0818, 0.0073, -0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874124613c92b0826bd907983c1508d3b846d1be55ad4cfd08a8d91231016376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba869ae1f021965bd14d46134dd453f7e337c0a85b7f68e0e6cf181bf9a6f37d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a49120c3c48157272dc86fcb9ed91b2b1bfc621bd9ca37d6ee9ace06ae0a2de6",
      "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 · 4.743 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 110 changed as sent

message 97 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, 0.8211, 0.6132, -0.4942, -0.0135, -0.0261, 0.9914, 0.5404, 1.7096, 1.2327, -0.7341, 0.2455, 0.2234, 0.4242]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0022 left_gripper=0.9914 right_x=0.3518 right_y=0.1652 right_z=0.0885 right_yaw=0.1474 right_pitch=-0.5852 right_roll=-0.1714 right_gripper=0.4242\nstate[joint_eff]: [-0.0342, -1.2239, 7.0222, 1.6044, -0.0171, -0.0171, -0.0073, -0.2667, -7.4598, 6.0923, 1.1453, 0.1392, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5411, 1.7035, 1.552, -1.079, 0.2375, 0.2157, 0.9964]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.3511 right_y=0.1667 right_z=0.1683 right_yaw=0.1555 right_pitch=-0.6068 right_roll=-0.1756 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.3333, 7.1316, 1.5995, -0.0513, -0.0415, -0.0122, -0.335, -9.1419, 7.6103, 0.9206, 0.1832, -0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 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]: [-0.9787, 1.6592, 0.7021, -0.0792, -0.6624, -0.7696, 0.9921, 0.3248, 1.6463, 0.9741, -0.5224, 0.1684, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2829 left_y=-0.2196 left_z=0.0292 left_yaw=-0.0107 left_pitch=-0.1723 left_roll=0.0393 left_gripper=0.9921 right_x=0.3482 right_y=0.0898 right_z=0.0426 right_yaw=0.1442 right_pitch=-0.6102 right_roll=-0.183 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.1179, 6.9949, 1.3065, -0.5934, -0.1294, -0.4518, -0.4855, -7.1043, 5.5726, 1.0818, 0.0073, -0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874124613c92b0826bd907983c1508d3b846d1be55ad4cfd08a8d91231016376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba869ae1f021965bd14d46134dd453f7e337c0a85b7f68e0e6cf181bf9a6f37d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a49120c3c48157272dc86fcb9ed91b2b1bfc621bd9ca37d6ee9ace06ae0a2de6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbz9LIsdO3uA7zM93QDtSxPGJkElJhm1u-ILqwdBwZS3LC3KbuKKwtJmtWaWUzX4AKtjVRjxI0wy_nmt2nYWycNXP5gAhzOTDnoEpzw0Dxpd6tc9qr926aqHhzq7RA8w36WuhIui6gOP6MFZNI3plzquFUhyIW2ttc3XSfwxSzV14_3AmiOMPUDgaXWhPuK4Le6WvD0iVWwg2-Vl1zkLwasMqJdj60Qaf8OQ91yWmSSaZfEkqDCyPZdF7fptYEHX9jR3Ah-M9Ag4W5ofe8DAe1LRRhYI-t49JMnHjQEt-pIVE99JmDphYqQaimAjMlV1Y_1u6Xv1w5HIro8WeS9ux_Zm-HXiypEZ8gYFQosGBwtu8iAfB-EakP5mDf3Xpb94QMtsdML6cLeQU_N3o3or4VYR7W4mjXaMEbT0YgyPnTYLSMP-I7d1vzIZHiIwvtWJ14VjTbGJzOe5vA7DdTu_Dm1nIyzO-lqRKoWXZwC6S_kOGi83q0essdeMgdnmH_bBgMLTa7Kv7ChZOu0IJFT3ZhuMrSsTSeciuLK7qZjLzuho3MT9PauA5LEvSPub4lxwwNArD09F_g1s87dN5NxSp0au8sEqsybf57yV9AxLq3tCLN_eg4npWSvdXWJ4wu_f4Oo9TPjbsSESysx4tGog2mly55jyqXpsRCzcjeNcxvVRDj5pV7ArIkA5zljvIJZ4xypHsfJq-39b-p3yc2LaSHR4BOgoqss6oLiPEhoAO32L_QbrF1wPsTB3Jwc18ogT2QUg7vxagYCaeonEnSW0ikfI9Yl7gLYoW04Fj3x-mrzWd6KjAygOLhShKas5NYN6M0nKHEmHvrh90av1X75Zf2DW5Sl7G02WH7ob5W3s4KRJmM2ju2eu49IFll0YVgA7qNBs0NdlH-TEst_p5gQlOOd3MqFATJn1r1AoimQlm3d_orA_pQV7-tgPqkd-6JONViJVZYg-jHK5Vtk9CI5gswdl6TV7MknGvmuIslPOFZ8l5BGJFwRL_-_je42nRZLV-GmRZkRW0xd78i9in_4tvICIJWdexXqqbHx2eQXjCv9c7xgPYYrvvn9hAR-FD9Blas9pD8DrC-d99WyzT0YDjlyywd8HuuHwunAKSMWlrVF9ApqSag9X60Wh3BipaGfA7_O6iOszT4K5P26sahoeFfdK6HtrkSU89BNllF7YcuKuhBXjugbICsuERMVJUrL1b9JwdbCYfhugia__0EtF3QjFrnvsWpdHEa52EGnso8lr6vJuONfxr7-iMHSmslejshYW7pQvW8251Swnvm7nRYUryVUJTCHLZG63CE0ZxtKGteIWgQ6bYA8t49Fyt23CKcA5hWLz_GpPL-EZyC6g6FCQ1ny8w1NfDfPDQQ9JQP2felvuevDxN1jpO1GipGbGdw5",
  "id": "rs_0f35c9a461941012016ab446f20cf887d0bc5047de336b959d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both fruits are well aligned at table level: the plum is centered between the left jaws and the pear is straddled by the right jaws beside the bowl. I’ll close both grippers simultaneously.\"}",
  "call_id": "call_xFC9UjatUXoxJUxeqxhiUkfb",
  "id": "fc_0f35c9a461941012016ab446f2896087d0a6701bd66e4e29cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xFC9UjatUXoxJUxeqxhiUkfb",
  "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]: [-0.9821, 1.6699, 0.7048, -0.0822, -0.6575, -0.7784, 0.0094, 0.3248, 1.647, 0.9691, -0.5102, 0.1612, 0.0078, 0.0118]\nstate[eef_state]: left_x=0.2815 left_y=-0.2207 left_z=0.0258 left_yaw=-0.0106 left_pitch=-0.1819 left_roll=0.0396 left_gripper=0.0094 right_x=0.3489 right_y=0.0914 right_z=0.0417 right_yaw=0.1563 right_pitch=-0.6056 right_roll=-0.1764 right_gripper=0.0118\nstate[joint_eff]: [0.1573, -7.6786, 5.0393, 1.1502, -0.3492, 0.0904, 0.696, -0.294, -7.9111, 5.7641, 1.0818, 0.0952, 0.0415, 0.3394]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce74de1c92514d175add69a1f6d175d928d1215044b39b4d32f805a0bb2b9f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9dabe96fcb46fb30b92deaba5b9aa16a8db1383df7adcc340294d8f46ed592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5639c97539b4ec17a876bf19974c5849ced7bd8c13eae5cd8f19449b7acbe63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 1.921 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 110 changed as sent

message 114 changed as sent

message 101 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5404, 1.7096, 1.2327, -0.7383, 0.2455, 0.2165, 0.9955]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.351 right_y=0.1647 right_z=0.0881 right_yaw=0.1507 right_pitch=-0.5898 right_roll=-0.1767 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.0496, 1.6239, -0.0513, -0.0757, -0.0122, -0.2393, -8.1983, 6.4205, 0.8913, 0.105, 0.0171, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 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]: [-0.9787, 1.6592, 0.7021, -0.0792, -0.6624, -0.7696, 0.9921, 0.3248, 1.6463, 0.9741, -0.5224, 0.1684, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2829 left_y=-0.2196 left_z=0.0292 left_yaw=-0.0107 left_pitch=-0.1723 left_roll=0.0393 left_gripper=0.9921 right_x=0.3482 right_y=0.0898 right_z=0.0426 right_yaw=0.1442 right_pitch=-0.6102 right_roll=-0.183 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.1179, 6.9949, 1.3065, -0.5934, -0.1294, -0.4518, -0.4855, -7.1043, 5.5726, 1.0818, 0.0073, -0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 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]: [-0.9821, 1.6699, 0.7048, -0.0822, -0.6575, -0.7784, 0.0094, 0.3248, 1.647, 0.9691, -0.5102, 0.1612, 0.0078, 0.0118]\nstate[eef_state]: left_x=0.2815 left_y=-0.2207 left_z=0.0258 left_yaw=-0.0106 left_pitch=-0.1819 left_roll=0.0396 left_gripper=0.0094 right_x=0.3489 right_y=0.0914 right_z=0.0417 right_yaw=0.1563 right_pitch=-0.6056 right_roll=-0.1764 right_gripper=0.0118\nstate[joint_eff]: [0.1573, -7.6786, 5.0393, 1.1502, -0.3492, 0.0904, 0.696, -0.294, -7.9111, 5.7641, 1.0818, 0.0952, 0.0415, 0.3394]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce74de1c92514d175add69a1f6d175d928d1215044b39b4d32f805a0bb2b9f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9dabe96fcb46fb30b92deaba5b9aa16a8db1383df7adcc340294d8f46ed592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5639c97539b4ec17a876bf19974c5849ced7bd8c13eae5cd8f19449b7acbe63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEb5Zh9QZYEpxl0Ei5L57meYPiJ1xD254LNoOqhnftKXdNYvWqv5YFlEHhhURxhmcSmFe19Ji3lE4NeE2qjYpD6lN61vTh_2F4-XYp11OwHzOx0iNIqeXckAJ3mkneSr_XNr12Mv05DFzcpgkz7RdBG4xGwMrSSPVCBdXgs2_nf0t-QORv6KGMWji6O7AI0JKQn46NOzMe1ahjIlOqSOCGO-TtsRfpt6d3Id001DHWKFsuidHNEVK9mT1JOmHlvZnYJt5mzYJ_xnwNy5I24PUa_9ZWKcrcLYs5uLJOLSFEt3TmEAJqjMxcv-_WQxD7Yzw39igfP5PoywIpasqz8ooaMEXQe2TXPZGhq3QuU_QuBEN88JMzFALyH_mlUCPrwi-PZfGNxy0XfFz1kYEIyOkI461fb_3HGJm5cLG7hCwyhD1moAxtebQ-6JeIx3s09YpZa-JBd_sdcj1oQz6g81F0YBIlxZ3qselCGcfCainxX9GCGD6yM8VB7NXP6Ll3d9rxrecv0D8peVkIY3E7Pyifl4nwVEYaBzyH2eOB9t9PiAhhedQZfC1HaD8Ct7pmSHpKXEQOweclWhHVRQhmE6x1CWrqOy7APd3C6hIz3rJIDhBpFA4iinbkazp1BZjSMrzp2KhDJTCNJOBkdnI3AYmaI0WXCIOc7QTSNtkTaqrFKYuiMiE7tD-MZBowLcVbb4lH1W8fW9MXMa3ASR7VUiofE3XVD0WQZRJzFMpKDOKOq-auLF9Hyqu41YUX9Z0JHmXPUJg4nOMLwpun_LGxDB6nXb-VWcpwmQa91ps7E-DHkUMy6yaJgnLwnjr2KYudhwRSLpa7-reXNHu38UzSXf2FvEDyzN3NZ-uv0gM6VzKGyEVUpH1iJXVqmL0xGT1lXtFuyuBaEr5RJ7RMXYaJBGiqEfYU5GnTgGcR_FHdv1jb62absNMd1enjacGnRolarc4z5HnCOWRL4IRPoO1cHvJDXp8GhARByWJSgb5gMFzjEZil9ZFV2OltK2rizPO0S_1C3PM9SUA8YSZnZOqEeY_K9_Py_eJepNY2JWNO2UiPr0_Itk1chVnDGkLt8YPKN1QKe-xwEzgwob_v0n-l9m0BYS38srPTasXvbgUjpCITdCiJx5-IChaRK4LcViuxlVhBitaCpfEEunMGhbfp5xCegR_7XG9BU5W-clQyXaJo5_fRqMbWUVViQ2gr48tP8Znfxabtl81Nj96X5KthK8sqASBu-q80hBoLp3dV8Sykuj8tFp5buKvBUZELfUgl9-6jgoVRh09pN7PL0xPYhvuQXr8JsMavTj4ZXlYOI1E_CcJMoZmZ3vVNOJ0g61sr7OOl_44c12FDmYQWl6tmxbrPPyCKzfc95W7lqgcmc9DPEfH80xQfqmFW7n2L2W3uQKT78l90bFztBbClePz3yOT0N0C8jMxRqB6qwG_EBmJ-I8pzz1oSg2_xCvjmT0eszxL2am64xH0lfBf2Oe_1cXYrC1VXQysaJqYBrIwrfdDk-atbzR0IXq5jaoucxNpDjHaiDtz37-1E-SQASzfzeePdYoZC2ytX9d8c3iJrBJltcz0YUssrkQNJUGJZNfNRKILJZjRafGkkwSPqk_6bgqvfO5suFyp_fzgcgxJp8YjOfUp_feQGvOdmonYybg2T9MsGqwV4WvSZY5uKiBCQEXc-Fnhurkoc45fhPVai31u1403Y0O9n1xVtE_y144VQraEQCuXaosVkT99rdl9hvZNGqB9htG7lA8PaEGjLr8yQUKYLwgoa3Wp29YROGCRNpTP39RJKawpXApNYjDlxZG--z3p_dO4B1mJEhTtwCA-G6subt74BfWavllM0JQM15zWoOuiqlfwMvm_djQoEjMMX4Suul67ulm4-buOAX92u0U6cas2CGnUC19dH4bZbGAxF48eGL9i-CkyjKqZXUc620bNg==",
  "id": "rs_0f35c9a461941012016ab446f6a6ec87d08f67834de695e8fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.31,\"right_gripper\":1.0,\"right_x\":0.375},\"note\":\"Both grippers closed nearly empty and the fruits remain visible, so the fingertips were a little short of them rather than around them. I’ll reopen and advance each arm about 2.5 cm radially, keeping the low grasp height for one corrected attempt.\"}",
  "call_id": "call_xHtOgrwO9VKnszCkLz6RaovI",
  "id": "fc_0f35c9a461941012016ab446f8585c87d0ad026b0a2006b621",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xHtOgrwO9VKnszCkLz6RaovI",
  "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]: [-0.9031, 1.7119, 0.7326, -0.0509, -0.6201, -0.7128, 0.9922, 0.3027, 1.7267, 1.0336, -0.5209, 0.1543, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3024 left_y=-0.2119 left_z=0.0203 left_yaw=0.0068 left_pitch=-0.1993 left_roll=0.0544 left_gripper=0.9922 right_x=0.3632 right_y=0.0887 right_z=0.0333 right_yaw=0.1564 right_pitch=-0.635 right_roll=-0.1865 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -5.9282, 7.747, 1.37, -0.3101, 0.1734, -0.8132, -0.4855, -7.0359, 8.5128, 1.0134, 0.0317, -0.0073, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4fe2c24a39f83fed25107788d263096c604fde077cbb339955941b5404f024",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aca59c2c3043f5ad59bff59df29b63cd51061a073b83f35723f35fcd9864b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf435501b5ab7047f248dff27ca620bd0b2273c07d27a59202c1e4732613ffaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.896 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 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, 0.8211, 0.6132, -0.4946, -0.0139, -0.0265, 0.9914, 0.5411, 1.7035, 1.552, -1.079, 0.2375, 0.2157, 0.9964]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1541 left_yaw=-0.0007 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9914 right_x=0.3511 right_y=0.1667 right_z=0.1683 right_yaw=0.1555 right_pitch=-0.6068 right_roll=-0.1756 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.3333, 7.1316, 1.5995, -0.0513, -0.0415, -0.0122, -0.335, -9.1419, 7.6103, 0.9206, 0.1832, -0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 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]: [-0.9821, 1.6699, 0.7048, -0.0822, -0.6575, -0.7784, 0.0094, 0.3248, 1.647, 0.9691, -0.5102, 0.1612, 0.0078, 0.0118]\nstate[eef_state]: left_x=0.2815 left_y=-0.2207 left_z=0.0258 left_yaw=-0.0106 left_pitch=-0.1819 left_roll=0.0396 left_gripper=0.0094 right_x=0.3489 right_y=0.0914 right_z=0.0417 right_yaw=0.1563 right_pitch=-0.6056 right_roll=-0.1764 right_gripper=0.0118\nstate[joint_eff]: [0.1573, -7.6786, 5.0393, 1.1502, -0.3492, 0.0904, 0.696, -0.294, -7.9111, 5.7641, 1.0818, 0.0952, 0.0415, 0.3394]\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 118 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]: [-0.9031, 1.7119, 0.7326, -0.0509, -0.6201, -0.7128, 0.9922, 0.3027, 1.7267, 1.0336, -0.5209, 0.1543, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3024 left_y=-0.2119 left_z=0.0203 left_yaw=0.0068 left_pitch=-0.1993 left_roll=0.0544 left_gripper=0.9922 right_x=0.3632 right_y=0.0887 right_z=0.0333 right_yaw=0.1564 right_pitch=-0.635 right_roll=-0.1865 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -5.9282, 7.747, 1.37, -0.3101, 0.1734, -0.8132, -0.4855, -7.0359, 8.5128, 1.0134, 0.0317, -0.0073, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4fe2c24a39f83fed25107788d263096c604fde077cbb339955941b5404f024",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aca59c2c3043f5ad59bff59df29b63cd51061a073b83f35723f35fcd9864b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf435501b5ab7047f248dff27ca620bd0b2273c07d27a59202c1e4732613ffaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEb8m5SIzCROnT0VN4WAToXcXsqpOkldYZ3EsiE-jOmq8dVhaDoOWXcocrkp59rU90mOseWrPRaeq6ds1HZhYymD8F-C1tLdvXiHK8bHXPOmslB2VMVZgtM2xj-nHC3U6D2Bs8RlF5Zh8DRXf-bNDQ2-C5vAzWvPHL93t252erP3knh-5oubfDCE36VhrsqFu4s86ayWlRDoxiQZ8T1GODcEKLVqbtHt6mdjzeN8RmWFyL3OHoux6SDMICR77uoqxzzwMpCkMfUId9rQoib_NBWh3CJs8jd3_uDqA5mEYm8OH4HfE2ah8o0cJb6rzzLZRjc32Sr5OuZUwRcMEEiwTkPMf1vCduREBYQOgcGAoW4ayNGqC0dzYu_PtKNl6FDJbc8kBPQ1aze1NvGsa9cBoNjkkr5RxUqQsCt6HjGgmyEKrJRwBZA9sp2ylfxLYWM15YVORLdQ-7K6-P-NL1pAjZzmZfLt1PpEYC77tmdMmpGjUmsllHMDcfgu27iR0gE0v8kSdCDy27Fw02SVXvdV_5RHSlrZES3UDnRLokDgpJbvOu32JyTcVbCzMc61nYEiwvXiZoGNUpjB7XILdvRJZqjdext6GO_YfVp8G56yb9uDYJWqVmPocqedYVky_QZy-RIjc4hIMiXWr6P5xvGVtKgHt7ypL68YTtP6coeAkqJ8VFoqsdNlTCGskZd8QfP2iTrJ4ItBRyeIP_4os8wh-x1p0ltTEF5k2OVUDn8xKDvARiYGu-A2WfodVkkwFlsg7zODJbRrlxjpn41qq34DBmf3S-mi9kwPA5YWAtLNWDmxTzu6s6rT3D2qLHJL6K8oO7CAv3gmj-Lw3TUmJ_C5Xd2m5nYtcEUpbTHYjOGd8jxL3sSUOpPhafQYqDrEDlvtn-8w95DGEmI-O_-JF12HOZdk5sLU7nN_I1ASLpEqPPEqiI44t56EdDQXxG8M8-SWJ7rwqpVtGY3fXnSXXnTrZK7lLRTIWtNpllKZhJI1Ehow62VLqkMSq-s-j7ILokBqGvFK5MhmBEnnhg-ecB-3qC17pgBMEWLhUB5wrlonXn-X1Y2GN6J-6TqO9N_2hKZBNRVQSj8qKTHPxKi-vj0spLDwyP3NNIaEJuBBFtsiNJR__f49geyS4JoVk_Jr0r4jmkk22o5szyUtZbJRxVBWaOBb6SSw0RCjci4amcj2Mzpm2geCU6BsMrlK9KOmS6DD0VQWXHi77O7NErqlWZ-0TiIQjg==",
  "id": "rs_0f35c9a461941012016ab446fb8f0887d087877be69d8cf474",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"After advancing, both fruits now sit squarely between the open fingertips, with the plum centered in the left jaws and the pear centered in the right. I’ll close both grippers again.\"}",
  "call_id": "call_oQ6P3jQNmyQ5wWhMKf3NfBSv",
  "id": "fc_0f35c9a461941012016ab446fbaf5887d098107477415b99f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oQ6P3jQNmyQ5wWhMKf3NfBSv",
  "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]: [-0.9035, 1.7153, 0.7322, -0.0483, -0.6125, -0.7147, 0.0094, 0.3046, 1.7058, 1.0, -0.4789, 0.131, -0.0235, 0.0388]\nstate[eef_state]: left_x=0.3017 left_y=-0.213 left_z=0.0186 left_yaw=0.0029 left_pitch=-0.2051 left_roll=0.0498 left_gripper=0.0094 right_x=0.3619 right_y=0.0933 right_z=0.0333 right_yaw=0.1872 right_pitch=-0.609 right_roll=-0.1569 right_gripper=0.0388\nstate[joint_eff]: [-0.0615, -7.3231, 5.1761, 1.116, -0.3639, -0.0269, 0.6813, -0.1573, -6.4479, 5.4632, 0.9255, 0.5006, 0.0073, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b7ff88f382d2ae114fb893614058de421385d6af69d289739e754d390c429e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b571ee46d45a97cff0cfab99c6f0b9bd3fa0e23b21fd9a38220a24c577b680a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de71fe78688cb92db4a91841492bbd251a39ee26735a603a3e4cb1bb7bc68070",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.412 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 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]: [-0.9787, 1.6592, 0.7021, -0.0792, -0.6624, -0.7696, 0.9921, 0.3248, 1.6463, 0.9741, -0.5224, 0.1684, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2829 left_y=-0.2196 left_z=0.0292 left_yaw=-0.0107 left_pitch=-0.1723 left_roll=0.0393 left_gripper=0.9921 right_x=0.3482 right_y=0.0898 right_z=0.0426 right_yaw=0.1442 right_pitch=-0.6102 right_roll=-0.183 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.1179, 6.9949, 1.3065, -0.5934, -0.1294, -0.4518, -0.4855, -7.1043, 5.5726, 1.0818, 0.0073, -0.149, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 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]: [-0.9031, 1.7119, 0.7326, -0.0509, -0.6201, -0.7128, 0.9922, 0.3027, 1.7267, 1.0336, -0.5209, 0.1543, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3024 left_y=-0.2119 left_z=0.0203 left_yaw=0.0068 left_pitch=-0.1993 left_roll=0.0544 left_gripper=0.9922 right_x=0.3632 right_y=0.0887 right_z=0.0333 right_yaw=0.1564 right_pitch=-0.635 right_roll=-0.1865 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -5.9282, 7.747, 1.37, -0.3101, 0.1734, -0.8132, -0.4855, -7.0359, 8.5128, 1.0134, 0.0317, -0.0073, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 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]: [-0.9035, 1.7153, 0.7322, -0.0483, -0.6125, -0.7147, 0.0094, 0.3046, 1.7058, 1.0, -0.4789, 0.131, -0.0235, 0.0388]\nstate[eef_state]: left_x=0.3017 left_y=-0.213 left_z=0.0186 left_yaw=0.0029 left_pitch=-0.2051 left_roll=0.0498 left_gripper=0.0094 right_x=0.3619 right_y=0.0933 right_z=0.0333 right_yaw=0.1872 right_pitch=-0.609 right_roll=-0.1569 right_gripper=0.0388\nstate[joint_eff]: [-0.0615, -7.3231, 5.1761, 1.116, -0.3639, -0.0269, 0.6813, -0.1573, -6.4479, 5.4632, 0.9255, 0.5006, 0.0073, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b7ff88f382d2ae114fb893614058de421385d6af69d289739e754d390c429e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b571ee46d45a97cff0cfab99c6f0b9bd3fa0e23b21fd9a38220a24c577b680a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de71fe78688cb92db4a91841492bbd251a39ee26735a603a3e4cb1bb7bc68070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcBghmYLkBjtBURHYIwiVI1ZPeHIcZavTVzp4qbwHj84i8KJ9CUFJt7p7ZVB4fhEaQTaix39LwiNxn1mjkc5jQ5Vqd7XndCV6WiKeci-Y0GltAP9AT3dGAYhqN3sMdZAkpZYGMwi3Tv-vDjWFJAu1714irbMAPl8E_fNqBv2VZhKysm4pz53kv3ybp1rK-1txUlT2_pUheDSUr9c4eszpx2MB9JjeazXI7St82BYopshmjD1Z37oRyIZiTDc_iJlZ5g22JP2CnJLZN0UvK7mF0srmrw4TgW8_j_8j9ifc5IklsylH7nVBL2zc-_huo0CFKf0pEdEyIisr969dSXl4HVzSzaWZa4pN7CBpPAUkJ_UypXmrNcYg9CRsK_KvOyoqFY-bPcKJjqDiWWQCOfYLkuOELJ3HmTKbKsPgmD-MWJxjIqtIH0B1UbRwYJ6PZrasUFC011p0hZWhdaVQMT-zGKeLHfkCFczIXUTI9_KrhJWBfcuhiVnMzTX9n5l7IZhYSIbQkI6bAIzOYSS8kzo1q0-8sB8Yqui7u6EyXcw-OHIgOcCKRWqj7hsO3Bg4zabFq9Q_yY3aFcHTr1rX1ZFD2MBD9AcQm48UiQJdnQUkw0Z141yKvvnTU9dWd41BsreSgDrvV7oxZHYSCKbOVPlb3sAklUe6why0r04GFs_Cp2FsLjTVc8GyBLXZ7HuzzL6UNC3k-p9z5f_ODlps_6dhKvXLU8XPSUC5e8igdipJQixM046nR9uXIG7kVy8ebiAsx_V6tE7q5HFi8CMpLCzXeYXKGSSmIEZqYTbwAbpwuy8KWxobHb-Q3M6LG4aQrLtARmJYjb4N83HPqxLLpjtmbzolfbfNkX3LPmmUGIH5-mVaIRXXT7LUBarx-72-CqSHbLtMV1CKAYvB0OnbFkdymyh_VGs_xyB9zugO-eYWd1-9GdIb24x8BdioKFGRnexqHvFhoqwbpkdgsUrjqU9P_OG-AmCLWipOXMSh6UWHDEvKzk1DlJ3sAnlgdMwW1KTEgc77dgfnA51WhUy-Mx1JPrb2yQCjrlMtjsP0Qvb2w_sbkk7r7ubstMQy_QjRLkfv8L9X0KLi0b5KUjk75-XRZ7vumaRJ-AcpVCknI7Be_vGJcZgY7JXGF22Xwm7wUwn-Yb_5LrDGDBGWqgs3R0YairSnvDpxk8nlg4drvF9rek0Zm9tUQbc7friOQ8mfUT7oznzhFMm9oVyLnabKkv1f0BwrgKcuVw3hd0yNjetwYSSfbnbW6X5hUcwSnehUoYHznmz-yXLcwR2pcRqZ8xk7j-IoqYnPjugFy_bXZRWkZ1U1WfC53Q9Srm5tDKOgRs9RulapCh4QHUAAL1y0CDCtfeRHt8igktstrQ3rJ8KbNg1PyCW2cbsHYuC6WrA6J0pGAFueAcQbMJSfBU8eGUTsGmlW7VNguFJQIyw4h2nVInWeR9VprRt9MUbdd12sIuV3vNQnNqcoQCXeg-p0OvDFxhBWyMfS-eBcgJ62getyFDi5TSzR_vOsVBLHY4uaMZZMAZZnVLoWjI17Zdh1CwK_8hT1hUw8NOyRyPBgeyXnAvnTjbaHpZ6oPgZ_SCrBnqLK1oKMQNCvrJheEwmgN8l5BX8ztxeiJEBV5UZkOh772yAl5mtDiHBVatPCKYX75nUZyGuji2P0N99B_hTl8YFco6pd55ZCk5Tj5g7MTS6_SWlCYfJQAWCM-oiPl-A3aYa8bUeGYAO1f79P9IgQ64hSRAoUJowOr01GzizzS2u9QbMQDBg9ZGxCB9832pR16yC1UnzzQdKnU7CLoKYJLx5hr9Wv1a9QJYpp7TOQ_WNCXjNUyEyDT2kecs-__D5z-zlErIcyL_ltAgKzxnm2Gl0E_2EXM0Cui_jPTBEUd611iGT3aGta4k-XfWxUaUXINKd0-v5wyJ0DEBszqrYNiZqlU6dnoeNsu2bdHor9a5SSkkrDiXZ6siGb5SA1y7d05XBynylttyaCGCKcN6dYr_NrNAMa7fUyRbzTEV6W08U8u3T6F-WqBO7xwO_-7vHsztWnflAAZLeQzfiZe6xPX6iD3oi7A5QI_40_8coTXBT_bIFTw=",
  "id": "rs_0f35c9a461941012016ab446fe811487d08d891d498a3345e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.325,\"right_gripper\":1.0,\"right_x\":0.39},\"note\":\"The rounded fruits slipped forward and both full closes again settled essentially empty; they need a gentler partial closure rather than being squeezed through the jaws. I’ll reopen and advance another 1–2 cm so they sit deeper between the fingers.\"}",
  "call_id": "call_tWJNOEWtkXQ8s6jJM7DPGCuS",
  "id": "fc_0f35c9a461941012016ab44700228087d0a976ef6652917899",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tWJNOEWtkXQ8s6jJM7DPGCuS",
  "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]: [-0.8474, 1.7508, 0.7578, -0.0399, -0.5835, -0.6724, 0.9917, 0.2874, 1.7832, 1.0782, -0.4934, 0.1184, -0.054, 0.9954]\nstate[eef_state]: left_x=0.3158 left_y=-0.2051 left_z=0.0126 left_yaw=0.0174 left_pitch=-0.2265 left_roll=0.0654 left_gripper=0.9917 right_x=0.3793 right_y=0.0941 right_z=0.0285 right_yaw=0.2019 right_pitch=-0.6265 right_roll=-0.1585 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9966, 7.4462, 1.4286, -0.2613, 0.0952, -0.6764, -0.9231, -7.241, 7.9521, 1.0476, 0.1197, 0.0171, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42085f35d4c0963418252c87cac9d9ccbc3af1f91c5af530577b6d751bbd442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03ab1ddc30f67346654fec44e59735dc394c6cad9bde25b30126805e91c3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2da6b5c872820632836913a291c2342f15c0a4ea78636ddfb8c5e4a527e58a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.201 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 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]: [-0.9821, 1.6699, 0.7048, -0.0822, -0.6575, -0.7784, 0.0094, 0.3248, 1.647, 0.9691, -0.5102, 0.1612, 0.0078, 0.0118]\nstate[eef_state]: left_x=0.2815 left_y=-0.2207 left_z=0.0258 left_yaw=-0.0106 left_pitch=-0.1819 left_roll=0.0396 left_gripper=0.0094 right_x=0.3489 right_y=0.0914 right_z=0.0417 right_yaw=0.1563 right_pitch=-0.6056 right_roll=-0.1764 right_gripper=0.0118\nstate[joint_eff]: [0.1573, -7.6786, 5.0393, 1.1502, -0.3492, 0.0904, 0.696, -0.294, -7.9111, 5.7641, 1.0818, 0.0952, 0.0415, 0.3394]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 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]: [-0.9035, 1.7153, 0.7322, -0.0483, -0.6125, -0.7147, 0.0094, 0.3046, 1.7058, 1.0, -0.4789, 0.131, -0.0235, 0.0388]\nstate[eef_state]: left_x=0.3017 left_y=-0.213 left_z=0.0186 left_yaw=0.0029 left_pitch=-0.2051 left_roll=0.0498 left_gripper=0.0094 right_x=0.3619 right_y=0.0933 right_z=0.0333 right_yaw=0.1872 right_pitch=-0.609 right_roll=-0.1569 right_gripper=0.0388\nstate[joint_eff]: [-0.0615, -7.3231, 5.1761, 1.116, -0.3639, -0.0269, 0.6813, -0.1573, -6.4479, 5.4632, 0.9255, 0.5006, 0.0073, 1.1453]\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 126 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]: [-0.8474, 1.7508, 0.7578, -0.0399, -0.5835, -0.6724, 0.9917, 0.2874, 1.7832, 1.0782, -0.4934, 0.1184, -0.054, 0.9954]\nstate[eef_state]: left_x=0.3158 left_y=-0.2051 left_z=0.0126 left_yaw=0.0174 left_pitch=-0.2265 left_roll=0.0654 left_gripper=0.9917 right_x=0.3793 right_y=0.0941 right_z=0.0285 right_yaw=0.2019 right_pitch=-0.6265 right_roll=-0.1585 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9966, 7.4462, 1.4286, -0.2613, 0.0952, -0.6764, -0.9231, -7.241, 7.9521, 1.0476, 0.1197, 0.0171, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42085f35d4c0963418252c87cac9d9ccbc3af1f91c5af530577b6d751bbd442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03ab1ddc30f67346654fec44e59735dc394c6cad9bde25b30126805e91c3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2da6b5c872820632836913a291c2342f15c0a4ea78636ddfb8c5e4a527e58a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcEF1895Vq12UWW1agFbB_ZlSYjr9f4Xmoj1mS9rsZiP9Dr4CL55Gdv1Clt_CwFKC0FjBgmMQpCpsc8DMkiEwo1GW5PIoBiHvim3mwnel-02V6vxnm-uML6oXjcGXyIWVMCmolpQAfzyLlTB6X34t-VsFlNoHjjCAkoEw5mlZeDYv_wI5Qa9QuCKeOSLykgzEMFDBhJn2U0XkFLMMstHRk39xBwNPcYUV6wYTOXYvSpUjcOr50I2ZuH46WSBhdH4vprMxOONTR9CFuIc6Q_yIB1ympQGXfVgzJ9OPiKEaSA7ML7tLufyugFu_WZJzQ7qLp3tjtds3pN_-ouIGMaa0DZFIwhcgCZzoccbM3yUKD1m-Dl_YXPYKCvHt1yIZeDK368FngczF0J5y7IVbVdOkCsdTZTmEaigGn68oEWZM94uKMiKnJ8t1GyeiadanpDhx4YAHvqAIogRUzIoFkSnQD_lbsCt6DmtqfXbkH60GvIpLu1EuiwmcW3fumsCoxaRwsn4OsDbiTm39zmas2rHAEbIWs-Pv7OSbA0Aa73Tohf0BTJtbv8nThak_sOTtAgXS3R52-kz5Qf3RP1--ExsiEfZyQB9MFroCAyPpQyF37kbAhzx3e9sSl4U42Cw98njUiVjluuOWWUR3KNyOciy-2XeH5jMpgTH0SO7M5O2-HMDXVtWO1zrUnKsUZBauyphm4xht8FZVX2pn5LkMka1Rwd761YsfYS7VqL8ZlKoBfv57arsGJg0xGUrZWKTgV8oZnQ0A2QjplXukVtzKHlpb-5qFrrBc__kLzfj2830h_Fzay5HFAZR-gu4uZLsPkzRCyh5-G8G_TG3Tmx7kA_Mm0PAerK4klRSCac9v9Yu4el5zL5ZkRgjuF-F6THvy3vMhLfDHlvXBzwjruJbphlp0RAjN7z7bBIJaM4SO2RbP9ueVbKvrj67NYIcjwfBssrlsxQITV8t1Cm9oDmgoOlhxhkCIEK1S4vjruRJ_1-H6bdvyEU5Fwv0PuSmCxXUD5P07PeJsHiM5tKH_ckUMtcdoTOhM5iStvC5z0bVss2y2TBb3p1p_h1W_QF6VxduV5t4QqS1Ve0inwhgtMAmDywNnWPiSLTIFJuAZfeyAtqLDDXdTIGLNuDtttKlz5MmDARxXxTkhkMA6Vnz7FIEDG-RB3rHVwt7ApzMb7HFZLdb8-L--shBY9ldchlv2ZCwYWoz7SMy6yohBn64Glni6t5pPZuYxZgucUhOmRttua-f-l45YgfiqYk3244HMm4jGTpfw7VEieYY8rwVkCqe7qdCpKayWpPybdl1oXSbSzqhc1urzsxFpPGIAItFahn3A-kVVr6B7AUS6MIEDDu7bwDx7lrOkKbg-QfA1ccuCNLViTC9gXZvHd6KM06wMsKLjMAUDcr",
  "id": "rs_0f35c9a461941012016ab44703612c87d09bac22fd1a19e509",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.5,\"right_gripper\":0.6},\"note\":\"The extra advance places the plum deep and centered between the left fingers and the pear between the right fingertips. I’ll use partial closures matched to their widths to hold them without ejecting the rounded fruit.\"}",
  "call_id": "call_W9fBsXbB8ppCt1tjdC2MlnSn",
  "id": "fc_0f35c9a461941012016ab44703e33487d09380ab8fd0705d35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W9fBsXbB8ppCt1tjdC2MlnSn",
  "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]: [-0.8455, 1.7512, 0.7628, -0.0444, -0.5831, -0.6777, 0.5053, 0.2859, 1.7878, 1.0496, -0.4713, 0.1173, -0.0566, 0.6038]\nstate[eef_state]: left_x=0.3167 left_y=-0.2053 left_z=0.0134 left_yaw=0.022 left_pitch=-0.2266 left_roll=0.0614 left_gripper=0.5053 right_x=0.3743 right_y=0.0922 right_z=0.0198 right_yaw=0.2026 right_pitch=-0.6379 right_roll=-0.1595 right_gripper=0.6038\nstate[joint_eff]: [-0.1709, -7.3504, 4.7111, 1.2186, -0.2759, 0.0611, 0.1978, -0.0615, -10.1265, 5.559, 1.1258, 0.1245, 0.0073, 0.1441]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd4d48d8f139d24cf9b8788907f6b4f6fe39301a022ea79ecbc5efa4de8e053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43d858ed8a8de6010677071202ec1fbfce858d218a9d365639468950d802c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4284b68e1b0ea4f8e618fb6850d9186cbad428fe4755fdd6442cf1b9933552",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.355 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 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]: [-0.9031, 1.7119, 0.7326, -0.0509, -0.6201, -0.7128, 0.9922, 0.3027, 1.7267, 1.0336, -0.5209, 0.1543, -0.02, 0.9984]\nstate[eef_state]: left_x=0.3024 left_y=-0.2119 left_z=0.0203 left_yaw=0.0068 left_pitch=-0.1993 left_roll=0.0544 left_gripper=0.9922 right_x=0.3632 right_y=0.0887 right_z=0.0333 right_yaw=0.1564 right_pitch=-0.635 right_roll=-0.1865 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -5.9282, 7.747, 1.37, -0.3101, 0.1734, -0.8132, -0.4855, -7.0359, 8.5128, 1.0134, 0.0317, -0.0073, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 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]: [-0.8474, 1.7508, 0.7578, -0.0399, -0.5835, -0.6724, 0.9917, 0.2874, 1.7832, 1.0782, -0.4934, 0.1184, -0.054, 0.9954]\nstate[eef_state]: left_x=0.3158 left_y=-0.2051 left_z=0.0126 left_yaw=0.0174 left_pitch=-0.2265 left_roll=0.0654 left_gripper=0.9917 right_x=0.3793 right_y=0.0941 right_z=0.0285 right_yaw=0.2019 right_pitch=-0.6265 right_roll=-0.1585 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9966, 7.4462, 1.4286, -0.2613, 0.0952, -0.6764, -0.9231, -7.241, 7.9521, 1.0476, 0.1197, 0.0171, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 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]: [-0.8455, 1.7512, 0.7628, -0.0444, -0.5831, -0.6777, 0.5053, 0.2859, 1.7878, 1.0496, -0.4713, 0.1173, -0.0566, 0.6038]\nstate[eef_state]: left_x=0.3167 left_y=-0.2053 left_z=0.0134 left_yaw=0.022 left_pitch=-0.2266 left_roll=0.0614 left_gripper=0.5053 right_x=0.3743 right_y=0.0922 right_z=0.0198 right_yaw=0.2026 right_pitch=-0.6379 right_roll=-0.1595 right_gripper=0.6038\nstate[joint_eff]: [-0.1709, -7.3504, 4.7111, 1.2186, -0.2759, 0.0611, 0.1978, -0.0615, -10.1265, 5.559, 1.1258, 0.1245, 0.0073, 0.1441]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd4d48d8f139d24cf9b8788907f6b4f6fe39301a022ea79ecbc5efa4de8e053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43d858ed8a8de6010677071202ec1fbfce858d218a9d365639468950d802c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4284b68e1b0ea4f8e618fb6850d9186cbad428fe4755fdd6442cf1b9933552",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcIOD7P9dfv385YRtoUPEDfSj05mcj3qnlWytPy7m0yji9rXx-KxjSac78T7YMTYrwn1JsD1dQEf5AqhWL15dfOsbfCDCxmRL1vzxi00y0RX3KIfSCNME0VYArzsXygwK6in9opQakR7y0ECNLi2kjeZ8Px0uFN-pajizBlTCcF90KmXuYCWxm0mmHcAZWerdlarhuxN7NnvGL4-o5e3Sb2YM70gS_UhmHRDqu38ffsO3IX3G6YHiDJkVIAkRekeFgbOCQKhyJq5JptEzDsIxVtEZJEqEyYo9guvq6G8edj3A8u6ku3vYqdF2-8kxqJt_OinYBAN1XGC5yyZJl2Dc0etvjlsUKFV3FxMSQRy6-R0mt5wopIvhXMNviMErLpjCNNx3ZOsWF4BSNNVN8hMfMiL9MdMfoyr8iS0lxl-adsbY6xdEJOVfm1oRdksDT_w52AdeTiHdy_C60SbzuMOBUvwwdp8DAJOI0Tcqv9TkWLujQdSdqet_molIduopcFCXlPRJdsorWsm7D2SzATj9zpB0i5GJ2-iYx4NjVVDukd8DCplu_UUbWRcpz2tuI6P9-Gj9s5FFBT5Kt6FpHThzc4jE2crNfNkb5fRpMEnS8Im92Hxi5u42Cr1Ql22Y6m7s6EXtcY2B741jJkJ0OKgBO1MjipykYeZGduKQunEAubojz8qaqvjLXWMzt1Ep20KYSj_KkgZrdRgkKsFGBdPO58fTNFR6OThJUmkRmujv9sfLk_57Kb6y_Rz9_7gLW93RRXqMFEKwq1u0AMoBoBrADW1a4oP0NM8SdKHjQoYovDqHBIjiR7POqfsCcuo_yLQRUD6gkXEbWYl85NFtYqJhdoZwikbLjaFS6Zll-J4oPjN1-UgxnyXUuvlcX3P1khqH91AGy4gXjgj62AmoTxh3Z-ZWVxi0cC419ZR8Yiepg4hXMEYuz5Qw-siSM1RLgDh6jV17ggziqOKwxDaHtfJsEYSDl3MfE9lN7SieWJjW0iIpmAR71RGhs9LRFcZQEq9dehLdDRryj0HFnKEeLPkfMS7fXpUe5kulBY4sjIUTmIneZ9iuiADluq3mpvIktxci4NHotUolM2gGzWEx9Ro3f7H40Y52Ebl_EUyfjD6kKA3uLF_3cdbfGJ_POLuqM9kbU0gw3wfOdMMF7CCMiuHr1TKDTwbqgM1c2gAwbJKWT3VAni78OdYa4p1DmngvoyFJdWMAGffltH-DRTl0xM84_LlE-sj7Hw39koyoKwnt8jfF-b0oUopgM-rIAZzk55L0DdStU2h0CRoPjdXxNp-wIpta1SlRC2kJL4-V-0rNjhc5rYpK1KxYYZC249Oht_kThS-VOxoZCcncvDblnhHIOXXVY1xTIvlSH1qfPL1VzbT00fmnTDWMWNd8F2RABH4JYIIfqBAanR0B-omvr1Ck902iSs82-_J7Q8CB1oNscahw-_wCQPEPuOkK2MQ_CMmH0avv1MB7ujOTIKzMvCVtxLUz6mrKguy1QzUjnaiIKb8gwyuXfRel2hfRxyILs6TNL8nKlUzMYlfcGIuR1WWCnLdg5u6r0ptmVoZyLBA_wdubzkAtX5DKI3IJE8wZ2OqR1vbj_XqiM7lpuGHPL4dQuCHJd8BfjEwdopWGkV0xVrhwePaOPJhr0uNZ6z6nL-sFrOahf3oOVrhoDbviAJPJAce4xOfrfZQ2HEI8798JZeC_flJpr32CJZMISrVyRVSE9D3UFYzvD2CL37ZftCDb01_g==",
  "id": "rs_0f35c9a461941012016ab4470698f887d0a87f2da2d1a9806b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35,\"right_gripper\":0.45},\"note\":\"The partial closures have contacted the fruits but they are still visible low between the fingers, so the grip is not yet firm. I’ll tighten modestly—without full closure—to secure both rounded fruits.\"}",
  "call_id": "call_8nMyDXyM3FCEfo3XDRsOBoCK",
  "id": "fc_0f35c9a461941012016ab447076ba487d0a38df47b2c328c02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8nMyDXyM3FCEfo3XDRsOBoCK",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.8482, 1.7512, 0.7628, -0.0479, -0.5686, -0.68, 0.3548, 0.2859, 1.7855, 1.0092, -0.4404, 0.1181, -0.0608, 0.4537]\nstate[eef_state]: left_x=0.3146 left_y=-0.2076 left_z=0.0118 left_yaw=0.0119 left_pitch=-0.2382 left_roll=0.0541 left_gripper=0.3548 right_x=0.3676 right_y=0.0901 right_z=0.011 right_yaw=0.2042 right_pitch=-0.6454 right_roll=-0.163 right_gripper=0.4537\nstate[joint_eff]: [-0.0342, -7.5419, 5.1077, 1.1502, -0.4567, -0.0024, -0.0073, -0.0615, -9.9487, 5.4359, 1.2625, 0.0708, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1742b58059f83b54a8f83c7c64f388b79e8615691049cf2207d74938c3afe494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4312f50cf62c137e916cb1ac76d5dac25a55cf8524f0a16f898d10460352c80a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8153cbc2564e35a0320a2cd8af508441eb50352ce13f42ce1f3e6c11101bd0a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 4.827 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 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]: [-0.9035, 1.7153, 0.7322, -0.0483, -0.6125, -0.7147, 0.0094, 0.3046, 1.7058, 1.0, -0.4789, 0.131, -0.0235, 0.0388]\nstate[eef_state]: left_x=0.3017 left_y=-0.213 left_z=0.0186 left_yaw=0.0029 left_pitch=-0.2051 left_roll=0.0498 left_gripper=0.0094 right_x=0.3619 right_y=0.0933 right_z=0.0333 right_yaw=0.1872 right_pitch=-0.609 right_roll=-0.1569 right_gripper=0.0388\nstate[joint_eff]: [-0.0615, -7.3231, 5.1761, 1.116, -0.3639, -0.0269, 0.6813, -0.1573, -6.4479, 5.4632, 0.9255, 0.5006, 0.0073, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8455, 1.7512, 0.7628, -0.0444, -0.5831, -0.6777, 0.5053, 0.2859, 1.7878, 1.0496, -0.4713, 0.1173, -0.0566, 0.6038]\nstate[eef_state]: left_x=0.3167 left_y=-0.2053 left_z=0.0134 left_yaw=0.022 left_pitch=-0.2266 left_roll=0.0614 left_gripper=0.5053 right_x=0.3743 right_y=0.0922 right_z=0.0198 right_yaw=0.2026 right_pitch=-0.6379 right_roll=-0.1595 right_gripper=0.6038\nstate[joint_eff]: [-0.1709, -7.3504, 4.7111, 1.2186, -0.2759, 0.0611, 0.1978, -0.0615, -10.1265, 5.559, 1.1258, 0.1245, 0.0073, 0.1441]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8482, 1.7512, 0.7628, -0.0479, -0.5686, -0.68, 0.3548, 0.2859, 1.7855, 1.0092, -0.4404, 0.1181, -0.0608, 0.4537]\nstate[eef_state]: left_x=0.3146 left_y=-0.2076 left_z=0.0118 left_yaw=0.0119 left_pitch=-0.2382 left_roll=0.0541 left_gripper=0.3548 right_x=0.3676 right_y=0.0901 right_z=0.011 right_yaw=0.2042 right_pitch=-0.6454 right_roll=-0.163 right_gripper=0.4537\nstate[joint_eff]: [-0.0342, -7.5419, 5.1077, 1.1502, -0.4567, -0.0024, -0.0073, -0.0615, -9.9487, 5.4359, 1.2625, 0.0708, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1742b58059f83b54a8f83c7c64f388b79e8615691049cf2207d74938c3afe494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4312f50cf62c137e916cb1ac76d5dac25a55cf8524f0a16f898d10460352c80a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8153cbc2564e35a0320a2cd8af508441eb50352ce13f42ce1f3e6c11101bd0a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcLzivQoF3YF_jHIAe8Fj3HTC8UvswutUVJz2bKYzvTNuQGBHblKX5vemExATGfDvjIjToS9rZBo5kBthvV-aodG9vx8l6WX_pjYpj2OaGd96WD6hS3kdzse6adkaKqIF3vk8o9OtBANiUQZ4FQYdMmKUJesCbED9YkrbfkUEeKWB08NPm9Es6QCt9-YQuwypit6F8S75K3qL6U3paUH7Umw4bwVfvpgKHb1KJnXFAqWmJHEeV1F0aItHtTX5rBKgly6tGaoOZHOwM7DmT7RegpW-wj3L1vLORBdwB8exotqyRkEwTcAlqe1DlWmfdgkFNVJgeZY1eMq5EXSZ5Ek9G3HZ_yWFJnb9DH_sf4agNhBU3e812W_m5a7zmQL74PvpOwVxs6qVmwKx7d1oDIOB9SPZxgQCgMKF2Hl0WfLyZCd54KtOEdQ9GqZMG9RRSGJzjASsG1Zfef6dIsinYtaNrqE33O95S_IidefmiCC1_SEuUIGBQK-WvkZI34AiA1YgrzWwl4muSR-FIg-2ZeKjKSVZd1eWQhtqq0u8bJRf6vsolkxazcocKTQZQMZBPC3UkD3a3aoiytB7-GbqTw8KctuloxmuWjEL7p9u5zRZ48i-O-Vu3R1fHyo31SikvaPzbt-WBlozAO_tOG6Z3-q78LnVpGOvzwjLw60i3_Z2GzRDXIAOlnI8MHpjEbR8xCsZToCvh8dal3tffCNvw7xeg_bE_oBuDSv5sC9v0NPcQ_dKfyqEwrczqJXfA2aIxKDDOZjJZrfUwuhP_pFd55sZFTg7dm3oFa3h00pnjjYGVVyrIRycSQIjK6EvHY48eg2Q3H96jRvOoyIJibotDUdnCMZ5ByPoRTZNEdfqdWRDNKoK961dU5XHt4ZqMjKkU2Xv0aYBiPiO52cvgxo3P6wfmNRQqsrTJ3s4XwIjYlinJeZ-1qjjBKtTGwS8n9ZTVLyCQ1nYR6KZHK6esWcM2Nis_YLlczeVclKLFyzC0ZtWizU9cFl3XF6GVl5lrGZ1sJGN3H8phmyWrD9MUb0UoYiw9nOESSG58FoDkQ_Ib1n9RSdRl6kKTPGVpYi6LAqTDxOrKYsMLfA0OsBLzmwxmDrZlJ9l-hPwa2-1YD3x7BnODvemcGOQa3yAx8tr7uM2EjdMipnzBvjz8ZCb6CFRjmRg0hUTJlu_z5_2tGeiSfoYp_uJiJsYwD9IyJ-_4E6FcOlpiCn9tWfXSlTCeHns9iSYlbU1ALK_aLRBNN3i53E_bcTo_BMPFVVkAN3Uw8VBlNRvGOsSYQ402GOPSZBdQsUx7eOmXhZpx2CjU-eLpH56_3YzYMbMJu_pw9mhwbxj-cVYAo3jgR_neH6uxoQj0fEee9jPwvWb4ZsEMwqKnkxDfYH3rRfbNcyIBFJLlQ82tU8kTHrd6HWEUr-lcZcnrSSJ5cOXi1Mg_WG2EmRHrToFNtn_pIE78zopphdzJSGb7BLfiR_TUaAcx0r_f_9TqSbcdpWXhYdAYEvvJOZXZk3OeOgEWeELs8W6cgAL-QwoU5fD0JfR1Gpr9efClgf-5ASDO4tUSa_b9-YicS3_a4O2qXQH8if_LwW1egR6Ybg6TRvCGjv05ssytk2cdNgTk6m114mfDlA6PauXQv5UCccA7VURroOvd9YzP7x8pQapkB9AOGPA6CkgHgCMoGDQNSpmvEKnxumlwWDyy2R0o1-Hc5HIBGpFcjCPTLSMZOEKH_UyW9nhnxazAINlsPKc4qf-sT9TQYhTgTJrD7Sk9IUhJZKDOQnxx6m8RS7e9kDyB7QiM6hwBlQNqisabIebdmz2wEzRYd6i3jfjU4igiGXrwC8lsulIRcBWif0huzYhUoLUwiRM1ZaKF02BEZnGTqbbu16-xFYv9fWhK70NqSL0V7-_cwvcXJEpnxMJX0JsnaMeeWoMh9W8-WxSprLbRA5p_K6QgKxsJgN2Akk7zvkT3-3BxgFazCxaBwoMGMGVuoZ9bu",
  "id": "rs_0f35c9a461941012016ab44709c1d887d0a3808f179da50c63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"right_z\":0.14},\"note\":\"The jaws are now snug around both fruits at moderate widths, with no evidence of sideways ejection. I’ll lift both arms to test the grasps and clear the table for transport.\"}",
  "call_id": "call_u9HRnu0TlDWk9yY3B4TcMy7X",
  "id": "fc_0f35c9a461941012016ab4470b354887d09d0538ef30e03579",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u9HRnu0TlDWk9yY3B4TcMy7X",
  "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]: [-0.8482, 1.5318, 1.055, -0.5781, -0.561, -0.6815, 0.3532, 0.2859, 1.636, 1.3098, -0.8703, 0.1177, -0.0647, 0.4537]\nstate[eef_state]: left_x=0.3134 left_y=-0.2079 left_z=0.1257 left_yaw=0.0114 left_pitch=-0.2554 left_roll=0.0632 left_gripper=0.3532 right_x=0.3677 right_y=0.0902 right_z=0.1254 right_yaw=0.2083 right_pitch=-0.6256 right_roll=-0.1623 right_gripper=0.4537\nstate[joint_eff]: [0.0068, -7.8838, 8.5265, 1.0623, -0.3639, -0.0269, -0.1783, 0.1299, -9.4838, 7.9658, 0.8474, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febcb85d995b1ceb8c889cc22f9bbfde2d68677f8f4f83e561e9c90faa231b42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5048939a82e44a6ac31e2cc899cb8b362ab7aeb22ff1f8a75f01c92198233b18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41847c692c5b4dcb216c45a4c7932467f83fd734182067d77cb9a130a629d90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.821 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 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]: [-0.8474, 1.7508, 0.7578, -0.0399, -0.5835, -0.6724, 0.9917, 0.2874, 1.7832, 1.0782, -0.4934, 0.1184, -0.054, 0.9954]\nstate[eef_state]: left_x=0.3158 left_y=-0.2051 left_z=0.0126 left_yaw=0.0174 left_pitch=-0.2265 left_roll=0.0654 left_gripper=0.9917 right_x=0.3793 right_y=0.0941 right_z=0.0285 right_yaw=0.2019 right_pitch=-0.6265 right_roll=-0.1585 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9966, 7.4462, 1.4286, -0.2613, 0.0952, -0.6764, -0.9231, -7.241, 7.9521, 1.0476, 0.1197, 0.0171, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8482, 1.7512, 0.7628, -0.0479, -0.5686, -0.68, 0.3548, 0.2859, 1.7855, 1.0092, -0.4404, 0.1181, -0.0608, 0.4537]\nstate[eef_state]: left_x=0.3146 left_y=-0.2076 left_z=0.0118 left_yaw=0.0119 left_pitch=-0.2382 left_roll=0.0541 left_gripper=0.3548 right_x=0.3676 right_y=0.0901 right_z=0.011 right_yaw=0.2042 right_pitch=-0.6454 right_roll=-0.163 right_gripper=0.4537\nstate[joint_eff]: [-0.0342, -7.5419, 5.1077, 1.1502, -0.4567, -0.0024, -0.0073, -0.0615, -9.9487, 5.4359, 1.2625, 0.0708, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8482, 1.5318, 1.055, -0.5781, -0.561, -0.6815, 0.3532, 0.2859, 1.636, 1.3098, -0.8703, 0.1177, -0.0647, 0.4537]\nstate[eef_state]: left_x=0.3134 left_y=-0.2079 left_z=0.1257 left_yaw=0.0114 left_pitch=-0.2554 left_roll=0.0632 left_gripper=0.3532 right_x=0.3677 right_y=0.0902 right_z=0.1254 right_yaw=0.2083 right_pitch=-0.6256 right_roll=-0.1623 right_gripper=0.4537\nstate[joint_eff]: [0.0068, -7.8838, 8.5265, 1.0623, -0.3639, -0.0269, -0.1783, 0.1299, -9.4838, 7.9658, 0.8474, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febcb85d995b1ceb8c889cc22f9bbfde2d68677f8f4f83e561e9c90faa231b42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5048939a82e44a6ac31e2cc899cb8b362ab7aeb22ff1f8a75f01c92198233b18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41847c692c5b4dcb216c45a4c7932467f83fd734182067d77cb9a130a629d90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0f35c9a461941012016ab4470f841087d0bf5b21372ca1b174",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_z\":0.02,\"left_gripper\":1.0,\"right_x\":0.415,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The lift exposed both fruits still on the table, confirming they were short of the actual grasp points despite appearing between the jaw images. I’ll reopen, advance roughly 4 cm farther, and descend so the fingertips—not just the camera view—reach them.\"}",
  "call_id": "call_l4PLeYHY273i9rJpdbnWSPQV",
  "id": "fc_0f35c9a461941012016ab4471150d087d0a6979132c29786ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l4PLeYHY273i9rJpdbnWSPQV",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.7551, 1.8217, 0.8993, -0.1101, -0.5068, -0.6018, 0.9921, 0.2523, 1.8828, 1.1988, -0.5198, 0.102, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.3499 left_y=-0.2067 left_z=0.0161 left_yaw=0.0193 left_pitch=-0.2767 left_roll=0.0682 left_gripper=0.9921 right_x=0.4074 right_y=0.0902 right_z=0.0257 right_yaw=0.2184 right_pitch=-0.6374 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.4991, 5.4632, 1.4335, -0.3101, 0.1148, -0.5055, -0.5949, -9.7436, 6.0376, 1.3065, 0.0464, -0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55aa0a4db35fc614780eab61f6777293a87c3ea3e03c8e6860bae8e51848690",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52791cc9cb48b26dc18da05267d2ce53b1d1ba77424d39ff2f39884b81244f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0be7fd49a471562b27dc261aec8a5f24be40786c03f8d5b725aaa1695b53ff2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.963 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8455, 1.7512, 0.7628, -0.0444, -0.5831, -0.6777, 0.5053, 0.2859, 1.7878, 1.0496, -0.4713, 0.1173, -0.0566, 0.6038]\nstate[eef_state]: left_x=0.3167 left_y=-0.2053 left_z=0.0134 left_yaw=0.022 left_pitch=-0.2266 left_roll=0.0614 left_gripper=0.5053 right_x=0.3743 right_y=0.0922 right_z=0.0198 right_yaw=0.2026 right_pitch=-0.6379 right_roll=-0.1595 right_gripper=0.6038\nstate[joint_eff]: [-0.1709, -7.3504, 4.7111, 1.2186, -0.2759, 0.0611, 0.1978, -0.0615, -10.1265, 5.559, 1.1258, 0.1245, 0.0073, 0.1441]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8482, 1.5318, 1.055, -0.5781, -0.561, -0.6815, 0.3532, 0.2859, 1.636, 1.3098, -0.8703, 0.1177, -0.0647, 0.4537]\nstate[eef_state]: left_x=0.3134 left_y=-0.2079 left_z=0.1257 left_yaw=0.0114 left_pitch=-0.2554 left_roll=0.0632 left_gripper=0.3532 right_x=0.3677 right_y=0.0902 right_z=0.1254 right_yaw=0.2083 right_pitch=-0.6256 right_roll=-0.1623 right_gripper=0.4537\nstate[joint_eff]: [0.0068, -7.8838, 8.5265, 1.0623, -0.3639, -0.0269, -0.1783, 0.1299, -9.4838, 7.9658, 0.8474, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7551, 1.8217, 0.8993, -0.1101, -0.5068, -0.6018, 0.9921, 0.2523, 1.8828, 1.1988, -0.5198, 0.102, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.3499 left_y=-0.2067 left_z=0.0161 left_yaw=0.0193 left_pitch=-0.2767 left_roll=0.0682 left_gripper=0.9921 right_x=0.4074 right_y=0.0902 right_z=0.0257 right_yaw=0.2184 right_pitch=-0.6374 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.4991, 5.4632, 1.4335, -0.3101, 0.1148, -0.5055, -0.5949, -9.7436, 6.0376, 1.3065, 0.0464, -0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55aa0a4db35fc614780eab61f6777293a87c3ea3e03c8e6860bae8e51848690",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52791cc9cb48b26dc18da05267d2ce53b1d1ba77424d39ff2f39884b81244f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0be7fd49a471562b27dc261aec8a5f24be40786c03f8d5b725aaa1695b53ff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcaD_MqVjFQ-vii9Ofo6T-7QdU7VrndEMIaT5RQUkrJR52Lk01QigbTqug6B6FI_KB5CuWxFxM6aanpgS8gRo1D148zbSdNh-0luy5CB_2e6ZJC6S4vlUhGdKTV0KyMcjF70qlflN2zWM6Kv8zqMPnMXS0V1lDaLOw2KKfpqxJzefQc5ovaJH16FrEUi9y1M8P4XvspaH05-Qxh5mu3LqOe1XQ5G8LE3PQ46SFWMoLxKHMKuqd5XM7sDtdWFUHgr78hd4R5PduHyGEk1MG9mkpokB2TtbQeSuCO7I9hLlh2uTk4ccnRqeexylPS0sIu6DbmTuXIqD--rAjLZexN2BS4HKJH3HBpuPGtmqvpM2_s8tyYFD4cfd10HMEGrZB66fCbNGHw-kqfgsXgodyA8943bHvD2GlhVd9NwUHZKwBAIWG_v9c0KIrOviCwESTQcX9Lq9Zh-5zdX_bPkH-_OemYeIb0WaTZrau2SWHo5YuakrrsjbA9ei4MkSp3TEi84gMhdeLAefCc40iP3IJ3OUWo7nj4hOHmDFmMibuCwR9zZ0BlIZ55ycSO4Y_mxyy_2ro403SxL2HGx1kPHcQyXh96m73IbGCK4GIY8cB9GLxr0W-YtJEFXuQp4_4NSDpuRYucx_MDy7LDyPUlSMPDnp4VotAhlFZhxCLGIFNbp4D6tI1LHVJgfRbUIe97x2OXbN5hegjQSQRgOH5HUXG1xAcsy5a31SbodIZXXpAJ_1YqMkbqERkFTE95Q4wVYc9Kt2k5kxUlDKKqtxN4Q6VRL0FBkhMQeaWoSFN908zHd6aBBl7pCeTvNklEuGNFjjjD1zh9X0yMz9Flbj8wBO3CtRj8QnrU7vA0-nB8U3NV2kaKGy55rv1W7XQu9lI10ucY7YLS9VkThcBFX2zKs9IY5-wXWkVbPAiyiieTnymmkbtTa1qatbVQeafX6uxmyl6OpkCiZ2FE5t6Zv7OHRZQwgUdAC-chWtnAfH3v-XjwsiTvebbNdjfPk06hGNziGjEln7ShEuu-FGoyPKbQorZSdXaFCzfm3NZVCapdcAXv_gykqmcsJU_vDr0fQtmnMRAqfWfopJQlQKMMuSGeSyMCr_U51DLRrSn_mJEgNEklF-32N7h0o7ASbqaOUuNOZx6XY2WnxkfDf8XmObxEFjdZY6CNP9kLQmFdn1XU_b0uh8rI8aP-JGG6gEN9cRXBo07X_Of0aXDNa49hg_CBQT-CSdG3MHFBcEVjE0Ge6zjp8MuShvfDLVpYrSyNKd7lQVQ63RF7YpizNBxp5ijLiA_kAzyF0d8G-OfRkPZaccuqZ_LcirsY-LbJdY3GTHQD-bKAn8c6uQ10Hz-GtVmdp-Ip7hFs3TCY6TOC-_aNWNc35J1-Wys=",
  "id": "rs_0f35c9a461941012016ab44718c48887d08d1b1576b8fab3e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35,\"right_gripper\":0.5},\"note\":\"The plum now fills the space deep between the left fingertips, and the pear has disappeared below the right wrist camera at the grasp point, indicating both are finally reached. I’ll close only to their approximate widths to avoid squeezing them out.\"}",
  "call_id": "call_5uKCy2AK1iWNIxjFAep2t14o",
  "id": "fc_0f35c9a461941012016ab44719180c87d09282ff870a907960",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5uKCy2AK1iWNIxjFAep2t14o",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "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]: [-0.7559, 1.8217, 0.8989, -0.115, -0.5068, -0.6022, 0.5399, 0.2523, 1.8801, 1.1542, -0.4805, 0.1013, -0.1139, 0.5033]\nstate[eef_state]: left_x=0.3489 left_y=-0.2062 left_z=0.0154 left_yaw=0.0198 left_pitch=-0.2805 left_roll=0.0718 left_gripper=0.5399 right_x=0.4015 right_y=0.0888 right_z=0.0162 right_yaw=0.2239 right_pitch=-0.6407 right_roll=-0.1663 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -8.294, 5.3812, 1.1941, -0.2808, -0.0366, 0.8962, 0.1162, -10.9744, 5.5453, 1.1697, 0.0757, 0.0415, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29da9bc90d896576f542279ec724c89c3c7b6fb1767cc0ea9f6a1d7181df11b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd92e6e509c2bb038efe9c3de041acf8ca2ca9e7c1e6899b0e4ac25df3d3e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94a0c506a72c8926df48af425e30d0e286839da0cee490361f68f55a07c11ad5",
      "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 · 12.18 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 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]: [-0.8482, 1.7512, 0.7628, -0.0479, -0.5686, -0.68, 0.3548, 0.2859, 1.7855, 1.0092, -0.4404, 0.1181, -0.0608, 0.4537]\nstate[eef_state]: left_x=0.3146 left_y=-0.2076 left_z=0.0118 left_yaw=0.0119 left_pitch=-0.2382 left_roll=0.0541 left_gripper=0.3548 right_x=0.3676 right_y=0.0901 right_z=0.011 right_yaw=0.2042 right_pitch=-0.6454 right_roll=-0.163 right_gripper=0.4537\nstate[joint_eff]: [-0.0342, -7.5419, 5.1077, 1.1502, -0.4567, -0.0024, -0.0073, -0.0615, -9.9487, 5.4359, 1.2625, 0.0708, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7551, 1.8217, 0.8993, -0.1101, -0.5068, -0.6018, 0.9921, 0.2523, 1.8828, 1.1988, -0.5198, 0.102, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.3499 left_y=-0.2067 left_z=0.0161 left_yaw=0.0193 left_pitch=-0.2767 left_roll=0.0682 left_gripper=0.9921 right_x=0.4074 right_y=0.0902 right_z=0.0257 right_yaw=0.2184 right_pitch=-0.6374 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.4991, 5.4632, 1.4335, -0.3101, 0.1148, -0.5055, -0.5949, -9.7436, 6.0376, 1.3065, 0.0464, -0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 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]: [-0.7559, 1.8217, 0.8989, -0.115, -0.5068, -0.6022, 0.5399, 0.2523, 1.8801, 1.1542, -0.4805, 0.1013, -0.1139, 0.5033]\nstate[eef_state]: left_x=0.3489 left_y=-0.2062 left_z=0.0154 left_yaw=0.0198 left_pitch=-0.2805 left_roll=0.0718 left_gripper=0.5399 right_x=0.4015 right_y=0.0888 right_z=0.0162 right_yaw=0.2239 right_pitch=-0.6407 right_roll=-0.1663 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -8.294, 5.3812, 1.1941, -0.2808, -0.0366, 0.8962, 0.1162, -10.9744, 5.5453, 1.1697, 0.0757, 0.0415, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29da9bc90d896576f542279ec724c89c3c7b6fb1767cc0ea9f6a1d7181df11b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd92e6e509c2bb038efe9c3de041acf8ca2ca9e7c1e6899b0e4ac25df3d3e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94a0c506a72c8926df48af425e30d0e286839da0cee490361f68f55a07c11ad5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcdGmlPcpA8DdKNRS4ba_m-mYXgCby8NB8I5G_43yAEhyJ8ccUTDN20uBxLMqZVHTY7_zVxOIzTQ76Os0824EL1Qxalt1fJOa_x-_nVvZpd3U5GnRVW-qHGv88-3VxjwVZ9j_4xi69gVQhTJRCt2gh3bRg2a-FyAJkshjuLBUWnqnZPKFyXFUJv4UuOLrsf9xbL92R1kQDstI53CikiKTJlR4QCDSYaHeQE25cLnrEVgSaWATB2eSmGDVwIBrRtzifz8Yx7kJQe_Ji02yUm_ZYaPn1WX9Abfg51RbZem1AIi5cOX7f4eIWfH13I148B9xKjvGUztukukPhDTyMV11-cQGAr736QWfXreGTu5tjVONuCYACH89Ow140PoYuWHgo_JeOINb9TfAPW7gD8WPLBq7EjsKL24bER1X_WaDd6cGHmLIfniS3xrVMIPOsDEvz26vyfSO7N9cDhSdXAZfizY6hK7qfHRExqRHapa-4CRUE4vdXmn3JkS_BJP6mGv4-nLTtCNrvUOn9lGDd2eGU4CZaqnX9nv0PPsR4yy7w86phGUy656vthUPgIfl-5b9k-CL0394GgeOUAK9tkJS1uIpH7tWER2rtZQst_BO2JYnntbwj9MO4c8wCOrqsCTO5u1z69nrUU4BU9Li-nFW-bml7h0E1sMQ6OyeVTINuyOjPgMY2pICFgHFD0svXyXjqClNw3vptXG_hdg8SgSUWLax_chrSxs1cwrC5ZCX5YVTK7pQTQA1_TnzHOykmfRfFH0-rwz1MVIfdXM54c9hQ37BBT9wxF8dWRc2yglG6qi8d2ZGEsmWqvT_MH4jdJQMV8zpl1Tjxogznd90PSMyl_p9hnvCdqT1R-OQjItc-tEijpsXZ6mAqf9IVv8uSn_6jrWgtBPX2bOGHudLMu_0BCmYDJTMaoEO57yXn8TZ-pyGrwMjHPnDSUyhtAg9dqsqUeyPcsaDKO7f_4mb2ogoMmqpit-ZW6CNna1sbMhHyl50AwFxzZpIqw0FlmBw4M8MQH2vVjU3FZDP5SfAchuPuoKAdGQkVjb0PAM-PZUwrnqAEvsSHoSCopkyB2eRnS68nWA5pUP-DpUbs44Dy3Yw_L1YRuCr95HtMCqAlxNJoLUtQ0JeEwC0tkUKN_5Qa1LXxPgysf9y3PCx1sV09GXPQ7u32Vo9M9_z2DFJeBVAfDLdY91OAcj9weNgMkdoIlitGjnyL-0yBFKPJ7t70Ezvdxt7LJFT9uj0TXdKsierbKLNfqygp6qG9hMsIx1gGBGMgeBtzJY-BOhTDvofzrQK6n4F001MPuXeGeTQ_Txsv_Frr64YXNWBurPejSzakRl8ld",
  "id": "rs_0f35c9a461941012016ab4471c7e8087d0a971f40f2d00194f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"right_z\":0.14},\"note\":\"The left gripper stopped at 0.54 above its tighter command, confirming a solid plum grasp; the right jaws are closed around the pear at its expected width. I’ll lift both fruits and verify they move.\"}",
  "call_id": "call_xuzZELqEdAnvDd5Y4RR6NpuG",
  "id": "fc_0f35c9a461941012016ab4471cdf5887d0874014faaa6f2221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xuzZELqEdAnvDd5Y4RR6NpuG",
  "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]: [-0.7567, 1.6539, 1.161, -0.5732, -0.4995, -0.6102, 0.543, 0.2531, 1.7676, 1.417, -0.8528, 0.0994, -0.1211, 0.5028]\nstate[eef_state]: left_x=0.3478 left_y=-0.207 left_z=0.1151 left_yaw=0.0246 left_pitch=-0.3047 left_roll=0.0824 left_gripper=0.543 right_x=0.401 right_y=0.0893 right_z=0.1138 right_yaw=0.2315 right_pitch=-0.6384 right_roll=-0.1672 right_gripper=0.5028\nstate[joint_eff]: [-0.0479, -10.2222, 8.9915, 1.1551, -0.4127, 0.0513, 0.3053, -0.335, -11.7265, 8.7863, 1.0525, 0.0757, 0.0708, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf843be4b4ee717e7eee2a67296e128c3382d8cd64fcec9aa7f2d82b1d57bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8e6616fc630c967d2ffb10d3c92513e6e16eb9abe7727d87185ba06bb6aa18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc51938c1e1abefc887b89040a9530cd2aca8af76b1e0de10acef326b286c2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 6.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 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]: [-0.8482, 1.5318, 1.055, -0.5781, -0.561, -0.6815, 0.3532, 0.2859, 1.636, 1.3098, -0.8703, 0.1177, -0.0647, 0.4537]\nstate[eef_state]: left_x=0.3134 left_y=-0.2079 left_z=0.1257 left_yaw=0.0114 left_pitch=-0.2554 left_roll=0.0632 left_gripper=0.3532 right_x=0.3677 right_y=0.0902 right_z=0.1254 right_yaw=0.2083 right_pitch=-0.6256 right_roll=-0.1623 right_gripper=0.4537\nstate[joint_eff]: [0.0068, -7.8838, 8.5265, 1.0623, -0.3639, -0.0269, -0.1783, 0.1299, -9.4838, 7.9658, 0.8474, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 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]: [-0.7559, 1.8217, 0.8989, -0.115, -0.5068, -0.6022, 0.5399, 0.2523, 1.8801, 1.1542, -0.4805, 0.1013, -0.1139, 0.5033]\nstate[eef_state]: left_x=0.3489 left_y=-0.2062 left_z=0.0154 left_yaw=0.0198 left_pitch=-0.2805 left_roll=0.0718 left_gripper=0.5399 right_x=0.4015 right_y=0.0888 right_z=0.0162 right_yaw=0.2239 right_pitch=-0.6407 right_roll=-0.1663 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -8.294, 5.3812, 1.1941, -0.2808, -0.0366, 0.8962, 0.1162, -10.9744, 5.5453, 1.1697, 0.0757, 0.0415, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 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]: [-0.7567, 1.6539, 1.161, -0.5732, -0.4995, -0.6102, 0.543, 0.2531, 1.7676, 1.417, -0.8528, 0.0994, -0.1211, 0.5028]\nstate[eef_state]: left_x=0.3478 left_y=-0.207 left_z=0.1151 left_yaw=0.0246 left_pitch=-0.3047 left_roll=0.0824 left_gripper=0.543 right_x=0.401 right_y=0.0893 right_z=0.1138 right_yaw=0.2315 right_pitch=-0.6384 right_roll=-0.1672 right_gripper=0.5028\nstate[joint_eff]: [-0.0479, -10.2222, 8.9915, 1.1551, -0.4127, 0.0513, 0.3053, -0.335, -11.7265, 8.7863, 1.0525, 0.0757, 0.0708, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf843be4b4ee717e7eee2a67296e128c3382d8cd64fcec9aa7f2d82b1d57bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8e6616fc630c967d2ffb10d3c92513e6e16eb9abe7727d87185ba06bb6aa18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc51938c1e1abefc887b89040a9530cd2aca8af76b1e0de10acef326b286c2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcr151IpX_G64lDwozPN0K8vniYpWWLlI7F0pysPcyV2DqiEXmeFnqGzh-03uWt2N-MS-CtShbkK2u3qfHSmjEIXx5x4j7p9YzFux3V7LJhnoOCtxis-2W8EtPLXQm72czMl-MWGuURFYkPAdjseFfRXV-g1A33wGi1SRlqWlVkUhXmCo8lSl9FbolO6ObXR-mJy0J2HL5U9iARELTKdlwfVJTX2oi-MEOepJzuPPnm3seLozL9hous7XekGQC5IIndm_z7E7_QmpPrhNa9g-8hynEhUERmuMNtUdR1j3g__GwElMooRibbq-capeX239kOm8bB6WUc9mtbyMSHIe8iXWNPnhn8_Sd7rdGwdUmJ0ATzrmLw5kmjmnNFhM61QlRwylfiY0T9_mbrwVf9S96D6hIgsPY5-sbuppbcRuiBIskZMouZmc3xL4lGElXGXjWnj7ob6sG6el6aFv8-mf60YBqn9rvKcKbNJiijG5KLwUItNNpRCrTMpc3FRXi7WNN1nJSmxs5g7yWWmXGixSfjfhv8v0hoZu8KivFHqY_YWK8VMbjEbIWf3Xdphxs_Cr2e7ifCUtrJIx_0tliUjCRL2SRPyj6zmhQ0tmBNYJa1tUjKJ44IhvzdOlCMF5R5k6cIpssbSOvSogAsRIJp2fE7K7OR4uQ8E7diqiJERoffzH-A5oiab1SMnwCxm-N-aEqyweO6MRPEJQbDopLaP82yuXWMJ8jXgvrQ44f8DM-jySJrnTJz07AT3QvCBR_WxmjHZEbL9hzTJyAmwunwmiZS-Z51Q3TUQ4fNCQqEGaxHe23UpaqLgJQiaG7BDweZl8t7jhGO_3VQOtKhCt3QkKBV68kmEnSg4q1FhWJnB__en7c_uZiz9cbtz9ejWMBEjydObX2Ky_pd25BGrsTBSPcrFq2TN3V6BMyWMSUnxiqCfqT16VcBeOH1i2b8uA9sc0nZY9VwPg3UR7tzds8pxmysAbE5H8ufCsp7m5YlYp9AAiRa_c5LrzRIp8aymL6K29ZIBPQt1kE7Ar9XPyL-0geFW1-ANgIaLEap9Z--mYgXtxgL_FfiTZXLoC0GZEqxbcd1qMq_Tf_NNB9tfTfGRsMKIJcniSNm_tcuTc6N2hyqcqs_VkbQYnZs4wJwWvLMWLZscJC3-fmnnz_RScm49_v68sZ5AYFGhT8HjT7wS1DLF30p3ca8dV8abPx618lqan4c8yNnYktR6bxwunWtmwGH75xeLO5EKPy-HNtBERfjggZDatW_Ju1PPR5XVOBBxn0yR8iCKw9g9xrB5p2JE8AFVUPRnsdwn0f3xz3_TEzI8TKeZskWwXXw1bSW9tUcZPm5eL0jjHsWJiZiBPwdk-7tvyj5O-LCTHOWjdyOblzAhh4YYyfRf6_QGbidkc1k8HqD0KEjIZn7lBxZ3vrlCb0q4lDBzSzANMNHU71PYsNV87gwD2oOg5avA1dOhJb0r0amp6Vrt8xdytd-faGAW5NbdrmK7rmm8V_zi8O3GBasfJf29SqwU_yQYkCa3LCvTzQxyS5-FkyMmdv7Fn1C1awE8hhoafYzgDH_5fh3ww0R5scwUvva6eZ0i3YltAUn7yyBhfb1aQGz8OOMt3i4d1QWVpuJKnaPbuIC-xBruC6ycfgY21F97MsPMQr7wjnu7xmZksVcIODkdoWJTw-6zvXbtmzNPP9QrfrwrA0VsrTB0-ZPW3E1Yaq0UaANv0-Fo4mxUTEw_DvQ-ssDnlJ1DglkLnY5S40Ljo5yprp-mgG1c8K_FuhFgH_G17nG7GHEDiE_ZuidMe2t01f9m7O2PnX5vRHxrDrhEViWnerhDFTaZRiMEVERpxQ75WCFypGFkvtwwB4mJcpNVH4l-uW1V9MEkjepdt0PZDv8XneIQ_ez1IIcGwb_n51WEJR1uBinQbC2b6ZF0MMDALEX8p_MDiTmCOwfxR6460f37Y-envl-bgMOnqFEBXSGwLEsD9zsP3iB_ZfNSx2WNNJlZbPsd4NVqCZFfm6ptIt5mctlBhpW4FrXUXaVPe1iKpjF_2-mIlQkm3kFLAB2vyM13qGg0_nj_fXyu3mDFDanSRt7uAwscM2zQiGjzcOOAk_3J48jg4q-LX6ApyZZOm4-dOloFYH6k2K2HYQT4EUKT2lP-d9RwH5BoGG7maWzbPR3aqd-77SCkmNii_PbLy102owTapy4DgohIFnqi2CxRoqsKHRwJjUFKoJC_7j28KovJnepnuODG_qdY1VljhkkMSl7zqYCOsJh27G8Iz9F5gPwhW-GgW652QDmcR7YjzK5yOR_CDR1Yi0qSudkvi453EJAaFjMQFosKsmy9OMdz7_O7NnLE-UL-WbPttdltWNKj0JyvkBF8iB6gkqS680ykq9oCN3mD4Ak-nw_QxW03pP_gIOlaeEjvxbRK6LCqHPaRYSGrmRHweanL5yRL-frkBHCsJjaoBu2Lbb9RrnyVlw-9ujK6s4dO94qXxT20IiF2603vNYfvITPG0RYpfwHmsj6xr0ZoccpYJ57WgsHzASEfK0VBJZSzKeBqnNZ1bSJI0_k7L9zDXdrZIN4nco9yV2ldMEh3eas2Fouu8hJ-JsuHc928mSYbS5aFLhE9T7UsV0IjhU_dstRJibd7kTdU6eBhfI5As-XXpNCl2Jxg0jtlAC9SCmRPXw1aFzVNrZOTVampzViI0gx0MnCRXYpQ-bprlNnISKyM0u01T7JlvKwSY7mrNe3vW5nchszL0fAMm-MisS2wVLxN3j8Q-gxdxqoMg4v5Kcbm_GsIUCODkeT0C97L-5Mqnl182nnXs8_0ogjuAPPlVKHoD4sujV9Qprn4BBqGQ46pVsO7_zsBdFUL4-WNAH2QY48CfXW2ey0t8ki4YOSKHFGqCAuKFFx-CcjlwRwnzSLg0DcKxFE0En7JdaxJLtnmt-E9bwR3MGTIz4iPZretuoTvzKUM-_cRGwPgpsGAh7YiVhyc9C-e1ql-kX8K0kaIECrh9lUMp4SXcStGLOm2uQIbx2X8RZejKZZ-Vu404ypdITx3GVWNKtAiirLvf0zHlshGxEoi1q9cSMFtVuqLW9WNOrmPANAG15YOmTEGBYQfo8ST7spM712NdFDofmIvxdEErYOi2x1ZsM8PAeiBAUldSaQu_Mrnz7UM7TlCsEQ1b3_Zu1AFlRDwaBT_mIOQV7qD2nDc_lspCFem6cD7WA0AQMesX_1N9oZz7O_KZ38Rm5q5A2V8cjqwpX2I_TunYddcVf6TQY-Ijxl70TqJPzAvLz7XocUO-OAuVlEpZRDwlgVKyT1GBdB2j8djZq_RlpolArPZ-MZziQrQz_pRmhZHmRcb3EYpE34zCxMDEjoC1KsaK85H4SeWBDwiDo8StsGbsPVt9sZIZDPxifZlXyHaVhI-ZAWPx8leSH7wSAmZBn7TgCwSAb_3ZR8nw210n4jHrwN_TDIqF2whrYsN4WDjHaCh8kmiU8ry1qMS7Kh18oOyDAlh4XNc_hnt7h5tCqVrcczxTCMWKS10m9dRMT4MWyZHmw5Ca0OcZ60BH2_pGY7dyEdXomLlfs10_CQiS83X3vh0_M2goMwg3aC1Mf7rsEH4WKbmvZ6T5wl3y9PTJ0BSwm205Iu2XyRbY3KCZrz5flqPsWE7AVNChupJ9MuSIQ8fqPHFFGPiremSFNJQo69Cpy2cY4cal0eF_swC8oUVkYsKxN6_oCcD-IZuIcuMUhL3suU1e0rJxaf_SpTvuiNsB9BdMK11aoaK70le0oUV5yiJhXJvt3EQnxvuTVF2Jvekx3ZDExbk1g1JDjgfzKs-tHzvbYz8WikbS6OWj_zhK2Ss7Z7t082lWNz5n3efPLWkovGe4OT4hq4LJLd1psoPQVW05j3HwgnpQlSZrpeVtPOfJjh66tZOFmUZ0_5t8eaaF7ADHQg2UKWMTbRWQ3ZDQldQdn1o-tPEcLgDirlgas_dUhOwRJIzV7FCHxsYv91kCqoU1O591hTkrll1wVry0KnHhFMXF3F6HG38b7jKRPwsplycnPplsof",
  "id": "rs_0f35c9a461941012016ab44721195c87d0a166c5abd5267799",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0f35c9a461941012016ab44726304c87d0a67bbc875e92dcf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.38,\"left_z\":0.11,\"right_x\":0.4,\"right_y\":0.17,\"right_z\":0.2},\"note\":\"Both fruits lifted with the grippers—the plum and pear moved off the table. I’ll bring the left-held plum low over the blue bowl while keeping the right-held pear higher on the opposite side to maintain arm separation.\"}",
  "call_id": "call_n2ByU4Ujc4Wz8duW1Nx2qBQh",
  "id": "fc_0f35c9a461941012016ab4472ac42487d08d5d10667baa4b62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n2ByU4Ujc4Wz8duW1Nx2qBQh",
  "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]: [-0.9962, 2.2253, 1.9255, -0.9222, -0.5884, -0.8806, 0.5458, 0.4557, 1.8668, 1.8439, -1.2064, 0.1802, 0.0372, 0.5027]\nstate[eef_state]: left_x=0.3606 left_y=-0.37 left_z=0.1026 left_yaw=0.0329 left_pitch=-0.3261 left_roll=0.085 left_gripper=0.5458 right_x=0.3939 right_y=0.1618 right_z=0.1893 right_yaw=0.243 right_pitch=-0.6397 right_roll=-0.194 right_gripper=0.5027\nstate[joint_eff]: [-1.3607, -12.0547, 8.5265, 0.7204, -0.5299, 0.0757, 0.2759, 0.7043, -8.5812, 9.0325, 1.1844, 0.0806, 0.315, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b3220249aa0315419151ce0de1546c781cac4c081ca833eb9555403f2a4ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15689852e0e6ebd480b4c8f831c6cdfd77bd4b6ae3a32da7cb3cc4953b3723e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeefa1946e76b0b0aad688da794763c371230b63e65ff4e3ac9f35716c6aa641",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 2.817 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 155 changed as sent

message 142 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]: [-0.7551, 1.8217, 0.8993, -0.1101, -0.5068, -0.6018, 0.9921, 0.2523, 1.8828, 1.1988, -0.5198, 0.102, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.3499 left_y=-0.2067 left_z=0.0161 left_yaw=0.0193 left_pitch=-0.2767 left_roll=0.0682 left_gripper=0.9921 right_x=0.4074 right_y=0.0902 right_z=0.0257 right_yaw=0.2184 right_pitch=-0.6374 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.4991, 5.4632, 1.4335, -0.3101, 0.1148, -0.5055, -0.5949, -9.7436, 6.0376, 1.3065, 0.0464, -0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 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]: [-0.7567, 1.6539, 1.161, -0.5732, -0.4995, -0.6102, 0.543, 0.2531, 1.7676, 1.417, -0.8528, 0.0994, -0.1211, 0.5028]\nstate[eef_state]: left_x=0.3478 left_y=-0.207 left_z=0.1151 left_yaw=0.0246 left_pitch=-0.3047 left_roll=0.0824 left_gripper=0.543 right_x=0.401 right_y=0.0893 right_z=0.1138 right_yaw=0.2315 right_pitch=-0.6384 right_roll=-0.1672 right_gripper=0.5028\nstate[joint_eff]: [-0.0479, -10.2222, 8.9915, 1.1551, -0.4127, 0.0513, 0.3053, -0.335, -11.7265, 8.7863, 1.0525, 0.0757, 0.0708, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9962, 2.2253, 1.9255, -0.9222, -0.5884, -0.8806, 0.5458, 0.4557, 1.8668, 1.8439, -1.2064, 0.1802, 0.0372, 0.5027]\nstate[eef_state]: left_x=0.3606 left_y=-0.37 left_z=0.1026 left_yaw=0.0329 left_pitch=-0.3261 left_roll=0.085 left_gripper=0.5458 right_x=0.3939 right_y=0.1618 right_z=0.1893 right_yaw=0.243 right_pitch=-0.6397 right_roll=-0.194 right_gripper=0.5027\nstate[joint_eff]: [-1.3607, -12.0547, 8.5265, 0.7204, -0.5299, 0.0757, 0.2759, 0.7043, -8.5812, 9.0325, 1.1844, 0.0806, 0.315, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b3220249aa0315419151ce0de1546c781cac4c081ca833eb9555403f2a4ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15689852e0e6ebd480b4c8f831c6cdfd77bd4b6ae3a32da7cb3cc4953b3723e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeefa1946e76b0b0aad688da794763c371230b63e65ff4e3ac9f35716c6aa641",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcztJs6qzd72y0y_bVJGrUf610jEYc2BGufUPNxbWUXOLF7qqyz2_tP3xG0w6a9WVrW-J0MaTRbtjUcqhD2lg8H-eVP5RPpFv8HauLJ7M1HqVeq6HV6ykz-dN1viWLGWSaSe2P4OQcTAMP36Xi8lmv3ckluI9ifzUAXcE0dvlH6v04q2TNf6Z47upSM-Vvg23b1cjAFrEWFVNZt_KMyUIf8l10THcwZKza672CzGr3dOOA18NYx0Rfj3NjYgyEjvGs8ItfH03NNlon6XGUKlizrSZjR6nzcNabV9vCjf0L_0e2glFc5llB7YM0_zM85YqKtwyj2J-eNsDRe0yCW5NW8_ZLaA1HJ2ZV7KPQgyd_Mgw1fehCPgelH1Cwpw9nDyMV0w_VbSHRFu3cGsG7Ol-lPnHNsf9_myisdexQJcxPgYLUtMiDwd2uwVJhhD1153-QaOyDswC9b5OszHMYJEPo4fBcMWVcJiMDmDyhTzUyfJtzifNArog6H5n_Ih0k6mEv7zLG2OD4Khsza_HRuJFeKR64YAYrN07kQcp8c_XsCNw-ujLbC8IRbL161bJo7j3HpBsvWnUGGGf8ArHTNNtGSmgO0EHNBBrpF7nUs2cSFFcJ9IGH6gvw_FKkuQD4TDb1kLlYzNC1d1GkhCD-k7mWbfzFIj-j6MbfuHT02KmbxesMoY1_XxrtVEhQ10PbOOimmZ6m7kBT0tuw2usUNxSTJ7s6iylg-INUDlLXaet_ZQpSydn3e2237pPXvwItqHyAT6Q8laMO2zhkYk9qaFk_Z2w0QNSjanfj0cDEacwy_VmIcPCAmNyjfApiinkTwC5o551-ovkDkW4yDoUvnxpjZ26Zqs1p3rRHwFpEWn-8oU9FTxpS3Ry-DC0wIgcItor-WvWbrEFlFNDHD-ML2UbY23GjzQ92zRkirUYnanGOVpGMSEOgC2CFdgqC6CqGZL9ND7xP7ZJCQ5V7TEVC-V3qjPS9p-DyGw85x7g0LK7gfmp784a63OY_CgKejhpl6VBwP-1HH424Vw5XAZ5kzEcuqJ4v26YymOxnOb4XriAmmr0rjjc7YP5TK5vT8IGB-fD6t449rs28rIec05VMV3Hmqp03zCwGDSxM0c5DqQ3fXzclCDkYaF78S3aebw8vcM9lmaBmEESQbTnZGe7sGSZJuqtVBcb9c0J-AI03ZwVRM8D7UCGYhpWuvIsNYSvZsI4JEQRchGcoxuWO1MILUZGYW9LJumq2ByMG6CtQW3zhzZ8VStRL-Xvp7dtjPUpczf_qU5yQyuudysrh3lTBIkMlMEJEK-sB1Ze73ZsspkKM5GhL6H_bmfm0dJsmsTnHox5_RXAEec5bYTLTlv7ldbsRqjHI2MBLM3AbEU_r9suSuRKh76jIlmwGsDUSAd3RYlr2mxioETkzQOX_s-Zgkg-HgV0y-YXBBDjmZPva8CEaXfc5X4ZwxbiER46xaVutO4S28EJbt3mInlc2MpJ2XrZ5OCi8mjvBYNb7Sb0uUocaVw9vrJEHz2iw644s10t2niHvbveBPPDrD6lgeG_h3r49D9FZwqrJlPG2JXLuTxiOlfpKMomfMPcv4OoXlQWndzOXKgfPLEIfYor_HWolR4IOUarhtaG034E9TJV3dpX7f_Zpryb9k0RoAceoeXAxRPRInVRVfJ4xMfp16m97N4s5ySdOqqovYaS_KtrFqszR8Yl7kXyfj23ek8_yBJBmNTlCFj9xHSx7QSSK8z1LcjekPQno3DsG9NiLoDmY18ODCdi0lWmGkDSYEQiL1WEcBKXYJdZOXPjFwv36qlGNQhlKgw07WywflT7Qi0l-8Z8puZiFZ7URWERTP1XEpR1EWtVIrLJTXNF1HcD7sh1FCSmnMLIjFGX2jWEpuOa_Ht4OKy7QQyTNOB0Drcc0funPbE6U_WLInH5cSWCE4SlhAcA-jGFmpB8sJ3t7-i8NhNN5S9Jjh7jDYweYsyTnZ9qM1dsb7mDCvMwu3U6xIzXJqZs9_2k9AeIky3mRuY0hM6_FxX_tymahXDbC_WaWlhlPXLUhrdvKswmuGRPfpcZAFRZCzbDpVX87z1qEEc3ydhWfcTqUT50-3xPGzROicmaN-mtpx0P4fMPiWFTXTFloIcjUlzI0UhGSL5KpJHEL8TMtlJWreL_SHVGKLPlILhehKqZZN5Tn3vF03GS7KAsXEOl52VSzjqpOyKkJXP8JEtS6kJa42aGLxMeACLUTe7r4UE6Rsy9nWb1Ee8l7lZ3mqu4JAh5WyAkAlMLp2axnhUSsdMQKMqhcEtRS9qylxghiVyDbH9mRXEIuuIge2io_UlUzsTdGxUPsCrfCSjz3pbLz-IIlIqeZRbndGWzdCdrtbNXKLPQAfjju9Y8rtsr47NA78m1hzQtP-qg8nJoavpMQmkEWYP1KbFzp8x9AQV1Zrmh4cH-TcBtdTbGDsxZ6d1J1x8s_k6UH-6iuIqZRh0s1y14fzga1nwcrj9AKiOB3u-XSHTK5FHo8yZEXjb6YBHjQOGaQ3kJjiusA-pH_l0zUgOV5IiWx9Neb4mA3BJKOK0zLQ5acL2fcYsMkElGtfjPcffqNw1Jfbh0a-z_YF5maivtKw65aJh2jMVXjMNLJ7f5LOos7uNwNNA1-KCLAwxS0rEFDktq9x9tE_bUFYX18wSi21FV_br-sLv_raT_P_EUiJLpMkvsVpgwWr7F1kdQKAbDCtcpSE-hgHmbcgUN3E1ivk-m3hKSMo-5E0Z1AkIWblqBMbF1aOXDN-wCYgt2ZN3XMxzaWJ1cOpqqsZYpnZQXrf8fum-Jp_IVy8biZJfieF",
  "id": "rs_0f35c9a461941012016ab4472f63e887d09c68c8e4fc5a9276",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.23,\"right_z\":0.1,\"left_y\":-0.4},\"note\":\"The left arm is at its cross-table limit with the plum beside the bowl, so it cannot center farther; I’ll hold it there. The pear is above the bowl’s right side, so I’ll shift the right arm left and lower the pear into the opening.\"}",
  "call_id": "call_2DSfwfDLD8x2jPSoRHAF1oTb",
  "id": "fc_0f35c9a461941012016ab4473298d087d0ba07c0420a4ff68d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2DSfwfDLD8x2jPSoRHAF1oTb",
  "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]: [-0.9928, 2.3699, 2.0705, -1.1442, -0.5842, -0.9508, 0.5481, 0.5327, 1.9003, 1.6424, -0.9825, 0.3462, 0.1261, 0.5026]\nstate[eef_state]: left_x=0.3515 left_y=-0.3539 left_z=0.0656 left_yaw=0.1533 left_pitch=-0.4271 left_roll=0.25 left_gripper=0.5481 right_x=0.4026 right_y=0.172 right_z=0.134 right_yaw=0.1011 right_pitch=-0.5875 right_roll=-0.338 right_gripper=0.5026\nstate[joint_eff]: [-2.988, -14.3795, 12.1231, 1.9853, -0.4469, 0.3687, 0.2271, 6.3385, -4.4786, 3.7949, 1.8388, -1.2625, 0.5006, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdfdf19e47b1c432f6af139195f8ef7444a2ef2a2f5d28cd0613e353bb76da57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc61504af6f49356a4262730a0d03993c3ae400736f3fb2fdf8ee8b4b93210e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b90c3d2a166801e0c00da9bcf6434cafa55393c9c0032fd4fead3a0fab54e88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 8.781 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 155 changed as sent

message 159 changed as sent

message 146 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]: [-0.7559, 1.8217, 0.8989, -0.115, -0.5068, -0.6022, 0.5399, 0.2523, 1.8801, 1.1542, -0.4805, 0.1013, -0.1139, 0.5033]\nstate[eef_state]: left_x=0.3489 left_y=-0.2062 left_z=0.0154 left_yaw=0.0198 left_pitch=-0.2805 left_roll=0.0718 left_gripper=0.5399 right_x=0.4015 right_y=0.0888 right_z=0.0162 right_yaw=0.2239 right_pitch=-0.6407 right_roll=-0.1663 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -8.294, 5.3812, 1.1941, -0.2808, -0.0366, 0.8962, 0.1162, -10.9744, 5.5453, 1.1697, 0.0757, 0.0415, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9962, 2.2253, 1.9255, -0.9222, -0.5884, -0.8806, 0.5458, 0.4557, 1.8668, 1.8439, -1.2064, 0.1802, 0.0372, 0.5027]\nstate[eef_state]: left_x=0.3606 left_y=-0.37 left_z=0.1026 left_yaw=0.0329 left_pitch=-0.3261 left_roll=0.085 left_gripper=0.5458 right_x=0.3939 right_y=0.1618 right_z=0.1893 right_yaw=0.243 right_pitch=-0.6397 right_roll=-0.194 right_gripper=0.5027\nstate[joint_eff]: [-1.3607, -12.0547, 8.5265, 0.7204, -0.5299, 0.0757, 0.2759, 0.7043, -8.5812, 9.0325, 1.1844, 0.0806, 0.315, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9928, 2.3699, 2.0705, -1.1442, -0.5842, -0.9508, 0.5481, 0.5327, 1.9003, 1.6424, -0.9825, 0.3462, 0.1261, 0.5026]\nstate[eef_state]: left_x=0.3515 left_y=-0.3539 left_z=0.0656 left_yaw=0.1533 left_pitch=-0.4271 left_roll=0.25 left_gripper=0.5481 right_x=0.4026 right_y=0.172 right_z=0.134 right_yaw=0.1011 right_pitch=-0.5875 right_roll=-0.338 right_gripper=0.5026\nstate[joint_eff]: [-2.988, -14.3795, 12.1231, 1.9853, -0.4469, 0.3687, 0.2271, 6.3385, -4.4786, 3.7949, 1.8388, -1.2625, 0.5006, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdfdf19e47b1c432f6af139195f8ef7444a2ef2a2f5d28cd0613e353bb76da57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc61504af6f49356a4262730a0d03993c3ae400736f3fb2fdf8ee8b4b93210e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b90c3d2a166801e0c00da9bcf6434cafa55393c9c0032fd4fead3a0fab54e88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEc3Tiw7lJSncRN9-wi0JGuZ-jxiCZThZo987IK7lw6CWIDZPkVERtGfBDer2t-xXGM1t1K8ERo455zug3-Dkx57yZk2Wf2qIE0GY8amCSvOI2R7Rwdv0uSuH3V9cL9TN0G4FePTS3TTgFYpMlZz7kdSxi14RiC5Gg6_7LONSsm5LnqdfqwWWuns0rYRNMHnnp7Q1BoVy7YeNkhBXOidhVhdd-QifonXeVErJvhynILNxNsiLs2TOpPu9V_9JdofZ1Ca8_OudiWtYEjZsev3ecU9giMkPn967jD02EHzsk9fHDlLhpR__RJWz8YVXGDPOsHYHgRhTH5bXKGdyZZCx2ADPCzgOeL9rc8TaGIOIg2Nkfh7saLX92VjgviM4iFfD-E95PkZaRNzJXuB7UdqMo0fBJixsDf-Xj-EP22F_wtqKNxUsXxoJ0kgLwPgVUu7PyZDIHKQathxrcCi2ysKLtyn6bCXfdLo2qebZQ35oGvZom3xrIU5sONMtzAO_sLUQD-AuKQRXYZaMfOtAogVVKNIbyn1D5udWczt-Ec_UqP5xpS3mq3GPI29W65ceARUS5UvwMYjTwu1EcoiTd5QKzKTzjFbbs36N4gIOu8lUP-qKPp6RONBfe4hnA_Fk5tq7jPVZm-eOeaIJerkNy-SlRGosvyJW8yOr5mA5qXz0XtA3F7khhtN36sMNVs7gLQh_KdyZteBxIhAyfqawk-okV0PjBNG8UMHA_h98HZnZzaM8ToTZ440XJsXrlAL7AIh5N_BBVj7eHT6ioMSUvudCMuFC1M6Z33kx3qpqG9eQdfoJuaN7RVuOuyIPi5W07amWPqB1uGStWqdycFYudQiB_oHcncm1g8zuwkqVKrH2L0aWWf6lubPcgekcXC6hrjY7Y7M-uaZuwfP4uDF5-1kGk1fXftitd-bi2HlY8k5Ess_uq-mRDCAwq-NbLv5nLaTBtPqzjgNky06a7uk8OawacanjtFRa7620CIRYDX6-XwBew9Kg8uriLYq4TGYPtOxjEzNHSZUfohCduqWLcSb_wYD8PsMJpFipSPEChcTx2SiMFOThhIhmjVchgxn-5XV9PVZ41WXy5uiI3jXDh3lOkIP7M4xleAwMM6LhMPQV1VEP9HxOTk9eJNmxiIsu-Ewmuullq_MmTOmdp4R9hfxbVOU2mU2rpEM17jSHasix1rTkCLUbU2eKADArIbZvretlLoqVj8El8L8z5umuuQuS0V7JVwFZ3sIM665FFzufBNMAc66YRF0-jJzVleCji6ewMYF1I-_sicBku1khmO8FYRcAOGvkmsO4D8okScsxOFFD4JPjp90NiVqCONmhP5oqAvsXn3a-Fa2tnVlRVT_j_rvqTaPBqnBIN4Yn8mfsY8iP30JvUmgx4m_sp9XWhzcosSsTKQOV3uzF5REHHKauKJHCEmfpwB-AFUWp1Ojfkr8IIXFv4SWG8nFrTAMiCWAc5uh",
  "id": "rs_0f35c9a461941012016ab44735a6f887d0ba75b1a2ee8f99b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The right gripper is now centered over the blue bowl opening, with the pear hidden directly below the fingertips; the arms’ close proximity limited the final descent but the bowl is beneath it. I’ll release the pear into the bowl.\"}",
  "call_id": "call_hl2musJXyHg151vRFjU1zibJ",
  "id": "fc_0f35c9a461941012016ab447363f6087d0ac729112b78752c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hl2musJXyHg151vRFjU1zibJ",
  "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]: [-0.9829, 2.3783, 2.0735, -1.2079, -0.598, -0.9665, 0.5496, 0.5072, 1.9026, 1.6566, -0.9981, 0.4, 0.115, 0.9946]\nstate[eef_state]: left_x=0.3491 left_y=-0.338 left_z=0.0627 left_yaw=0.2054 left_pitch=-0.4393 left_roll=0.3165 left_gripper=0.5496 right_x=0.41 right_y=0.1532 right_z=0.1398 right_yaw=0.0337 right_pitch=-0.5709 right_roll=-0.4004 right_gripper=0.9946\nstate[joint_eff]: [-0.6496, -13.9009, 5.5726, 1.0085, -0.2418, 0.1636, 0.1392, 1.7709, -10.0855, 5.1487, 1.0379, -0.3736, 0.0513, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd88155b70938a83d1afca9b647e0a485d65c61ba08dcd0886a322cdfbc04c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dd310d6610a9ef95bdc8394a4c3efc5bf54cd793a2e9840d9c2772aefd4579",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a956c30ed01cfb50ac3a3a4014055bf6765a75dc9f0a9bc171ff56acbd973e77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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