adhoc

completed
2026-09-23T21:12:58.163690+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
195.6 s
total steps
298
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 noteI see three fruits: a dark fruit near the lower middle-left, a yellow fruit below the blue bowl, and a green pear to the bowl's right; the large white bowl is on the left. I am moving the right gripper above the green pear first while keeping the left arm parked.
move_to
right_x0.2800right_y0.1450right_z0.1500right_gripper1.0000left_x0.2960left_y0.0000left_z0.1820
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, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9989, -0.0227, 0.8005, 0.6186, -0.3908, -0.0231, -0.0402, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2955 right_y=0.001 right_z=0.1826 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.5932, 9.7846, 1.8486, -0.0904, 0.1587, -0.1245, -0.3077, -1.7983, 9.1556, 1.8974, -0.0611, 0.2271, -0.0757] 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":0.28,"right_y":0.145,"right_z":0.15,"right_gripper":1.0,"left_x":0.296,"left_y":0.0,"left_z":0.182},"note":"I see three fruits: a dark fruit near the lower middle-left, a yellow fruit below the blue bowl, and a green pear to the bowl's right; the large white bowl is on the left. I am moving the right gripper above the green pear first while keeping the left arm parked."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe right wrist view now shows the pear close to the jaws but about 3 cm to the gripper's right and slightly back toward the base. I am correcting that offset and descending to grip around the pear's lower body.
move_to
right_x0.2600right_y0.1150right_z0.0500right_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, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.9988, 0.8101, 1.0901, 0.6121, -0.3225, 0.6247, 0.461, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0003 left_pitch=-0.005 left_roll=-0.0011 left_gripper=0.9988 right_x=0.2733 right_y=0.1425 right_z=0.1337 right_yaw=0.033 right_pitch=-0.0493 right_roll=-0.0454 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.0598, 7.0632, 1.7705, 0.0024, -0.0366, -0.0269, -0.2803, -3.3299, 8.9778, 1.5263, 0.4518, 0.149, -0.0757] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.115,"right_z":0.05,"right_gripper":1.0},"note":"The right wrist view now shows the pear close to the jaws but about 3 cm to the gripper's right and slightly back toward the base. I am correcting that offset and descending to grip around the pear's lower body."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe pear is now centered between the jaws at a low grasp height, with its broad body spanning the gripper evenly. I am closing the right 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]: [-0.0212, 0.8005, 0.6132, -0.3985, -0.0139, -0.0307, 0.9987, 0.7551, 1.1431, 0.2623, 0.0776, 0.5785, 0.4179, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1786 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9987 right_x=0.2561 right_y=0.1133 right_z=0.0447 right_yaw=0.035 right_pitch=-0.0749 right_roll=-0.0576 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.1009, 7.0222, 1.8632, -0.0806, -0.0611, -0.0171, -0.253, -2.7009, 5.8598, 1.6044, 0.2271, -0.1001, -0.0757] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pear is now centered between the jaws at a low grasp height, with its broad body spanning the gripper evenly. I am closing the right gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper settled nearly fully closed (0.012), so the first pear grasp was empty and appears to have nudged the pear slightly forward. I am reopening before the recommended single retry with a small outward correction.
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]: [-0.0212, 0.807, 0.6128, -0.4156, -0.0139, -0.0311, 0.9987, 0.7551, 1.1481, 0.2623, 0.0772, 0.5686, 0.4107, 0.0115] state[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1731 left_yaw=0.0013 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9987 right_x=0.2553 right_y=0.1146 right_z=0.0428 right_yaw=0.0459 right_pitch=-0.0838 right_roll=-0.0615 right_gripper=0.0115 state[joint_eff]: [-0.2393, -1.3607, 7.0222, 1.9951, -0.0806, -0.0513, -0.0122, -0.3624, -2.4684, 5.9829, 1.5067, 0.3297, 0.0464, 1.0183] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The gripper settled nearly fully closed (0.012), so the first pear grasp was empty and appears to have nudged the pear slightly forward. I am reopening before the recommended single retry with a small outward correction."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteWith the jaws open, the pear is centered laterally but there is clear space between its base and the fingertip line, indicating it is still a few centimetres forward of the grasp point. I am advancing 2.8 cm outward with a tiny lateral correction while staying at grasp height.
move_to
right_x0.2820right_y0.1080right_z0.0430right_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, 0.8062, 0.6083, -0.4236, -0.0139, -0.0311, 0.9987, 0.7551, 1.1465, 0.2623, 0.07, 0.5636, 0.4072, 0.9955] state[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1697 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2542 right_y=0.1146 right_z=0.0417 right_yaw=0.0511 right_pitch=-0.0906 right_roll=-0.0652 right_gripper=0.9955 state[joint_eff]: [-0.0889, -1.2376, 7.3368, 1.7656, -0.0513, -0.0415, -0.0122, -0.1983, -2.4684, 5.7641, 1.4774, 0.2857, 0.0464, 0.0464] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.282,"right_y":0.108,"right_z":0.043,"right_gripper":1.0},"note":"With the jaws open, the pear is centered laterally but there is clear space between its base and the fingertip line, indicating it is still a few centimetres forward of the grasp point. I am advancing 2.8 cm outward with a tiny lateral correction while staying at grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe outward correction brought the pear deep between both fingers, with its body now overlapping the jaw tips symmetrically. I am closing for the second grasp attempt.
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]: [-0.0212, 0.8078, 0.6083, -0.4252, -0.0135, -0.0311, 0.9987, 0.6212, 1.2381, 0.2775, 0.1463, 0.4728, 0.3088, 0.9986] state[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1689 left_yaw=0.001 left_pitch=-0.0557 left_roll=-0.0005 left_gripper=0.9987 right_x=0.272 right_y=0.1002 right_z=0.0299 right_yaw=0.0391 right_pitch=-0.1339 right_roll=-0.0887 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.4017, 7.1863, 1.7167, -0.0513, -0.0806, -0.0122, -0.335, -3.2615, 7.4188, 1.6777, 0.105, -0.1148, -0.1538] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The outward correction brought the pear deep between both fingers, with its body now overlapping the jaw tips symmetrically. I am closing for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe gripper settled at 0.498, confirming a firm grasp on the pear. I am lifting it well clear of the table before transporting it to the blue bowl.
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]: [-0.0212, 0.8078, 0.6079, -0.4252, -0.0139, -0.0307, 0.9987, 0.6205, 1.2381, 0.2771, 0.1417, 0.466, 0.305, 0.4977] state[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1688 left_yaw=0.0011 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9987 right_x=0.271 right_y=0.1005 right_z=0.0287 right_yaw=0.0453 right_pitch=-0.141 right_roll=-0.0902 right_gripper=0.4977 state[joint_eff]: [-0.212, -1.2376, 7.1453, 1.7363, -0.0562, -0.0269, -0.0122, -0.1299, -3.0974, 5.6, 1.4969, 0.1734, -0.0073, 1.0037] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The gripper settled at 0.498, confirming a firm grasp on the pear. I am lifting it well clear of the table before transporting it to the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe overhead view confirms the pear lifted with the right gripper. The blue bowl is roughly 16 cm farther forward and 8 cm to the arm's left, so I am carrying the pear above its center with extra height for clearance.
move_to
right_x0.4250right_y0.1800right_z0.1900
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, 0.8078, 0.6075, -0.4274, -0.0135, -0.0307, 0.9987, 0.6205, 0.9829, 0.7269, -0.6075, 0.448, 0.3023, 0.5] state[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9987 right_x=0.266 right_y=0.1004 right_z=0.1535 right_yaw=0.0567 right_pitch=-0.1856 right_roll=-0.105 right_gripper=0.5 state[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6874, -0.0122, -0.0659, -0.0122, -0.1162, -3.1248, 9.1556, 1.4823, 0.3492, 0.0122, 0.7302] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.18,"right_z":0.19},"note":"The overhead view confirms the pear lifted with the right gripper. The blue bowl is roughly 16 cm farther forward and 8 cm to the arm's left, so I am carrying the pear above its center with extra height for clearance."})
tool
executing move_to over 13 steps (1.3s)
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 overhead view places the held pear directly over the blue bowl's opening, and its lower end is already below the rim height while clear of the bowl walls. I am opening the gripper to drop 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]: [-0.0212, 0.8124, 0.6075, -0.4343, -0.0135, -0.0311, 0.9987, 0.5457, 1.6871, 1.3613, -0.5964, 0.384, 0.2237, 0.5003] state[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1655 left_yaw=0.001 left_pitch=-0.0702 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4113 right_y=0.1766 right_z=0.1664 right_yaw=0.0688 right_pitch=-0.2665 right_roll=-0.1468 right_gripper=0.5003 state[joint_eff]: [-0.253, -1.6615, 6.9949, 1.7216, -0.022, -0.0513, -0.0073, -0.6769, -8.8684, 9.3333, 1.7607, 0.2418, 0.0757, 0.7546] 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_gripper":1.0},"note":"The overhead view places the held pear directly over the blue bowl's opening, and its lower end is already below the rim height while clear of the bowl walls. I am opening the gripper to drop the pear into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe pear bounced over the far rim and is now lying on the table directly ahead of the right gripper, centered in the wrist view; the blue bowl remains below it in the image. I am advancing about 4.5 cm and descending to re-grasp the pear at the reachable far side.
move_to
right_x0.4520right_y0.1750right_z0.0500right_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, 0.8124, 0.6075, -0.4423, -0.0139, -0.0311, 0.9987, 0.5476, 1.6878, 1.3506, -0.6094, 0.3832, 0.2165, 0.9954] state[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0782 left_roll=0.0003 left_gripper=0.9987 right_x=0.407 right_y=0.175 right_z=0.1601 right_yaw=0.0721 right_pitch=-0.289 right_roll=-0.1629 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.3333, 7.1863, 1.7216, -0.0806, -0.0806, -0.0122, -0.2256, -8.2393, 7.6786, 1.4237, 0.1245, 0.0122, -0.0464] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.452,"right_y":0.175,"right_z":0.05,"right_gripper":1.0},"note":"The pear bounced over the far rim and is now lying on the table directly ahead of the right gripper, centered in the wrist view; the blue bowl remains below it in the image. I am advancing about 4.5 cm and descending to re-grasp the pear at the reachable far side."})
tool
executing move_to over 8 steps (0.8s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe overhead view reveals the pear rolled much farther forward and left than the wrist perspective suggested; it is near the far edge but still inside the Cartesian box. I am raising and approaching it at a high pose first, which is more reachable than dragging the arm outward at table height.
move_to
right_x0.5600right_y0.2700right_z0.1500right_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, 0.8127, 0.6075, -0.4492, -0.0139, -0.0311, 0.9987, 0.4877, 1.9472, 1.2179, -0.2283, 0.3386, 0.1558, 0.9986] state[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0854 left_roll=0.0004 left_gripper=0.9987 right_x=0.4462 right_y=0.1744 right_z=0.0455 right_yaw=0.081 right_pitch=-0.3199 right_roll=-0.1741 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.2923, 7.0496, 1.7558, -0.0415, -0.0464, -0.0122, -0.5128, -10.1812, 6.0923, 1.5604, 0.1978, 0.0024, -0.1587] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.27,"right_z":0.15,"right_gripper":1.0},"note":"The overhead view reveals the pear rolled much farther forward and left than the wrist perspective suggested; it is near the far edge but still inside the Cartesian box. I am raising and approaching it at a high pose first, which is more reachable than dragging the arm outward at table height."})
tool
executing move_to over 9 steps (0.9s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe arm reached a low extended pose at the pear, and the wrist view shows the pear very close but about 6 cm to the gripper's left and slightly farther forward. I am making that lateral and radial correction while preserving the reachable low pose.
move_to
right_x0.5500right_y0.3100right_z0.0500right_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, 0.8154, 0.6075, -0.4671, -0.0139, -0.0311, 0.9987, 0.5484, 2.6495, 2.542, -1.1137, 0.3538, 0.1833, 0.9986] state[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1583 left_yaw=0.0014 left_pitch=-0.106 left_roll=0.0009 left_gripper=0.9987 right_x=0.5279 right_y=0.2549 right_z=0.0487 right_yaw=0.0594 right_pitch=-0.5487 right_roll=-0.2968 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.1419, 7.1453, 1.8437, -0.0464, -0.0562, -0.0073, -0.3214, -16.8821, 8.2803, 1.1013, 0.3883, 0.2125, -0.1538] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.31,"right_z":0.05,"right_gripper":1.0},"note":"The arm reached a low extended pose at the pear, and the wrist view shows the pear very close but about 6 cm to the gripper's left and slightly farther forward. I am making that lateral and radial correction while preserving the reachable low pose."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe pear is beyond the arm's reliable low-contact reach: both outward and lateral commands are stopping short. I am retracting to a compact raised pose rather than forcing the arm, then I will load the two reachable fruits and return to the pear with the bowl if needed.
move_to
right_x0.3500right_y0.2000right_z0.2000right_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, 0.8192, 0.6075, -0.4759, -0.0135, -0.0311, 0.9987, 0.593, 2.8937, 2.9242, -1.3293, 0.3878, 0.2016, 0.9986] state[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.1556 left_yaw=0.0011 left_pitch=-0.1186 left_roll=0.0009 left_gripper=0.9987 right_x=0.5177 right_y=0.2726 right_z=0.0194 right_yaw=0.0395 right_pitch=-0.5966 right_roll=-0.3667 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122, -0.335, -14.2838, 6.3932, 0.6276, 0.188, 0.1343, -0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.2,"right_gripper":1.0},"note":"The pear is beyond the arm's reliable low-contact reach: both outward and lateral commands are stopping short. I am retracting to a compact raised pose rather than forcing the arm, then I will load the two reachable fruits and return to the pear with the bowl if needed."})
tool
executing move_to over 13 steps (1.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe arm is retracting successfully, and the wrist view now shows the yellow fruit below-left with the blue bowl below-center. I am moving inward and left to hover over the yellow fruit, which should also restore a normal vertical tool pose.
move_to
right_x0.2300right_y0.3100right_z0.1500right_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, 0.8249, 0.6075, -0.477, -0.0139, -0.0311, 0.9987, 0.6739, 2.2539, 2.1754, -1.2964, 0.3943, 0.2737, 0.9986] state[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.1539 left_yaw=0.0014 left_pitch=-0.1255 left_roll=0.0013 left_gripper=0.9987 right_x=0.4158 right_y=0.2498 right_z=0.1288 right_yaw=0.0399 right_pitch=-0.6421 right_roll=-0.3909 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.6205, 6.9538, 1.6484, -0.0464, -0.0757, -0.0122, 0.9368, -14.7214, 8.0889, 1.4237, 0.4225, 0.1929, -0.1587] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.23,"right_y":0.31,"right_z":0.15,"right_gripper":1.0},"note":"The arm is retracting successfully, and the wrist view now shows the yellow fruit below-left with the blue bowl below-center. I am moving inward and left to hover over the yellow fruit, which should also restore a normal vertical tool pose."})
tool
executing move_to over 15 steps (1.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe right tool remained strongly pitched from the failed far reach because uncommanded orientation was held, so the wrist depth view is distorted even though the yellow fruit is centered. I am raising slightly and explicitly restoring the start orientation before descending.
move_to
right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.0212, 0.8257, 0.6075, -0.4873, -0.0135, -0.0307, 0.9987, 1.1172, 2.0163, 1.8347, -1.3804, 0.4595, 0.7181, 0.9986] state[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1518 left_yaw=0.0009 left_pitch=-0.1365 left_roll=0.0016 left_gripper=0.9987 right_x=0.237 right_y=0.3154 right_z=0.1368 right_yaw=0.0637 right_pitch=-0.6256 right_roll=-0.4096 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.2513, 6.9402, 1.7216, -0.0269, -0.0464, -0.0122, 0.2803, -13.2308, 5.5863, 0.2076, 0.359, 0.1441, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_z":0.18},"note":"The right tool remained strongly pitched from the failed far reach because uncommanded orientation was held, so the wrist depth view is distorted even though the yellow fruit is centered. I am raising slightly and explicitly restoring the start orientation before descending."})
tool
executing move_to over 21 steps (2.1s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteWith the tool vertical again, the yellow fruit is centered on the jaw column and sits about 2–3 cm beyond the fingertip line. I am advancing that amount and descending to a low, centered grasp.
move_to
right_x0.2580right_y0.3130right_z0.0350right_yaw0.0000right_pitch0.0000right_roll0.0000right_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, 0.8257, 0.6075, -0.4919, -0.0135, -0.0307, 0.9987, 1.28, 1.7088, 1.3132, -0.8349, 0.8856, 1.0149, 0.9986] state[eef_state]: left_x=0.2804 left_y=0.0 left_z=0.1509 left_yaw=0.001 left_pitch=-0.1411 left_roll=0.0017 left_gripper=0.9987 right_x=0.2326 right_y=0.3126 right_z=0.1632 right_yaw=0.026 right_pitch=-0.0684 right_roll=-0.0814 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.3744, 6.9265, 1.6386, -0.0513, -0.0171, -0.0073, 0.4581, -10.1675, 6.1197, 1.0574, 0.696, 0.2369, -0.0171] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.258,"right_y":0.313,"right_z":0.035,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"With the tool vertical again, the yellow fruit is centered on the jaw column and sits about 2–3 cm beyond the fingertip line. I am advancing that amount and descending to a low, centered grasp."})
tool
executing move_to over 9 steps (0.9s)
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 noteAt grasp height the yellow fruit is laterally centered but still leaves several centimetres of clear floor before the fingertip line, just as the first pear attempt did. I am advancing another 3 cm before closing so the fruit is actually between the jaw tips.
move_to
right_x0.2820right_y0.3070right_z0.0350right_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, 0.8257, 0.6075, -0.4938, -0.0135, -0.0311, 0.9987, 1.2263, 1.8969, 0.9649, -0.2123, 0.8875, 0.96, 0.9986] state[eef_state]: left_x=0.2801 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.143 left_roll=0.0015 left_gripper=0.9987 right_x=0.2519 right_y=0.3069 right_z=0.036 right_yaw=0.0057 right_pitch=-0.0402 right_roll=-0.045 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.3744, 6.9538, 1.5946, -0.0269, -0.0708, -0.0122, -0.5265, -8.294, 4.8479, 1.072, 0.6178, -0.0806, -0.1538] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.282,"right_y":0.307,"right_z":0.035,"right_gripper":1.0},"note":"At grasp height the yellow fruit is laterally centered but still leaves several centimetres of clear floor before the fingertip line, just as the first pear attempt did. I am advancing another 3 cm before closing so the fruit is actually between the jaw tips."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe second advance brought the yellow fruit visibly deeper and larger between the fingertip edges, with its center still aligned. I am closing the gripper now.
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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0139, -0.0307, 0.9987, 1.1584, 1.919, 0.9508, -0.1337, 0.852, 0.8818, 0.9986] state[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1505 left_yaw=0.0013 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9987 right_x=0.2719 right_y=0.2986 right_z=0.0262 right_yaw=-0.002 right_pitch=-0.0561 right_roll=-0.0574 right_gripper=0.9986 state[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.58, -0.0366, 0.0024, -0.0122, -0.253, -8.294, 8.1846, 1.2039, 0.4127, -0.0562, -0.1538] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The second advance brought the yellow fruit visibly deeper and larger between the fingertip edges, with its center still aligned. I am closing the gripper now."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe yellow-fruit grasp also closed empty at 0.012; the rounded fruit shifted slightly forward instead of entering the jaws. I am reopening for one controlled retry, using the new position rather than repeating the same close.
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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9657, -0.1272, 0.836, 0.8444, 0.0117] state[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2781 right_y=0.3012 right_z=0.029 right_yaw=0.0104 right_pitch=-0.0613 right_roll=-0.0623 right_gripper=0.0117 state[joint_eff]: [-0.0205, -1.3607, 6.9265, 1.6044, -0.0415, -0.0415, -0.0122, -0.0205, -8.6085, 7.0496, 1.1258, 0.486, -0.0317, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The yellow-fruit grasp also closed empty at 0.012; the rounded fruit shifted slightly forward instead of entering the jaws. I am reopening for one controlled retry, using the new position rather than repeating the same close."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteWith the jaws open, the fruit remains centered but its rear edge is still just ahead of the tip line, so the previous close pushed it outward. I am following it by 2.5 cm with a tiny rightward correction for the final retry.
move_to
right_x0.3020right_y0.2950right_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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9653, -0.1318, 0.8291, 0.8368, 0.9954] state[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2771 right_y=0.3011 right_z=0.0277 right_yaw=0.0176 right_pitch=-0.0691 right_roll=-0.0703 right_gripper=0.9954 state[joint_eff]: [-0.253, -1.2923, 6.9538, 1.5995, -0.0317, -0.0366, -0.0073, -0.1573, -9.0051, 5.2171, 1.0672, 0.4274, 0.1099, 0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.302,"right_y":0.295,"right_z":0.03,"right_gripper":1.0},"note":"With the jaws open, the fruit remains centered but its rear edge is still just ahead of the tip line, so the previous close pushed it outward. I am following it by 2.5 cm with a tiny rightward correction for the final retry."})
tool
executing move_to over 2 steps (0.2s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe fruit now fills the gap much more deeply, with its body extending to the jaw tips rather than sitting ahead of them. I am closing for the final yellow-fruit grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8303, 0.6075, -0.495, -0.0135, -0.0307, 0.9987, 1.108, 1.919, 0.9653, -0.1116, 0.8036, 0.7933, 0.9986] state[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1491 left_yaw=0.001 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9987 right_x=0.2865 right_y=0.2975 right_z=0.0266 right_yaw=0.0219 right_pitch=-0.0817 right_roll=-0.0769 right_gripper=0.9986 state[joint_eff]: [-0.1573, -1.7299, 6.9538, 1.6044, -0.0317, -0.0269, -0.0122, -1.5248, -8.7316, 5.8462, 1.4042, 0.3834, -0.0562, -0.1587] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The fruit now fills the gap much more deeply, with its body extending to the jaw tips rather than sitting ahead of them. I am closing for the final yellow-fruit grasp."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe second yellow-fruit close was also empty, so I will not repeat with this arm; the overhead view shows it escaped sideways despite appearing centered in the wrist perspective. I am parking and opening the right arm so the left arm can approach from the opposite side.
move_to
right_x0.2960right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_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, 0.8322, 0.6075, -0.4946, -0.0135, -0.0311, 0.9987, 1.1091, 1.919, 0.9646, -0.1101, 0.7876, 0.7849, 0.0117] state[eef_state]: left_x=0.2802 left_y=0.0 left_z=0.1487 left_yaw=0.0012 left_pitch=-0.1503 left_roll=0.0017 left_gripper=0.9987 right_x=0.2848 right_y=0.2995 right_z=0.0248 right_yaw=0.036 right_pitch=-0.094 right_roll=-0.0762 right_gripper=0.0117 state[joint_eff]: [-0.1573, -1.5521, 6.9402, 1.6239, -0.022, -0.0269, -0.0122, -0.1709, -8.8957, 5.2171, 1.0574, 0.5006, 0.0952, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.0,"right_z":0.2,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The second yellow-fruit close was also empty, so I will not repeat with this arm; the overhead view shows it escaped sideways despite appearing centered in the wrist perspective. I am parking and opening the right arm so the left arm can approach from the opposite side."})
tool
executing move_to over 25 steps (2.5s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteWith the right arm parked, the yellow fruit is clearly exposed between the bowls. I am moving the left gripper above it from the opposite side; this target is near but inside the left arm's crossover bound.
move_to
left_x0.2800left_y-0.3600left_z0.1600left_yaw0.0000left_pitch0.0000left_roll0.0000left_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, 0.8341, 0.6075, -0.4984, -0.0135, -0.0311, 0.9987, 0.0006, 0.8192, 0.6552, -0.4461, 0.049, -0.0017, 0.9979] state[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1475 left_yaw=0.0012 left_pitch=-0.156 left_roll=0.0018 left_gripper=0.9987 right_x=0.2934 right_y=-0.0049 right_z=0.183 right_yaw=-0.0581 right_pitch=-0.0367 right_roll=-0.0083 right_gripper=0.9979 state[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.6239, -0.0464, -0.0317, -0.0122, -0.1573, -1.9624, 9.3197, 1.79, -0.0171, 0.0904, -0.0317] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.36,"left_z":0.16,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"With the right arm parked, the yellow fruit is clearly exposed between the bowls. I am moving the left gripper above it from the opposite side; this target is near but inside the left arm's crossover bound."})
tool
executing move_to over 33 steps (3.3s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe left wrist view shows the yellow fruit a few centimetres to the gripper's left and back toward the base, with the blue bowl safely to its right. I am correcting those offsets and descending to grasp height.
move_to
left_x0.2500left_y-0.3300left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_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]: [-1.2198, 1.8683, 1.4151, -0.6411, -0.8829, -0.9936, 0.9988, -0.0002, 0.8227, 0.6609, -0.4549, 0.0326, -0.0189, 0.9985] state[eef_state]: left_x=0.2785 left_y=-0.3532 left_z=0.1493 left_yaw=-0.0091 left_pitch=-0.0305 left_roll=0.0073 left_gripper=0.9988 right_x=0.2932 right_y=-0.0022 right_z=0.1828 right_yaw=-0.0358 right_pitch=-0.0437 right_roll=-0.0133 right_gripper=0.9985 state[joint_eff]: [-0.7316, -9.1692, 8.8, 0.862, -0.7888, -0.0611, -0.1294, -0.1436, -1.6479, 6.694, 1.7656, 0.1294, 0.1343, 0.0464] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.33,"left_z":0.035,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The left wrist view shows the yellow fruit a few centimetres to the gripper's left and back toward the base, with the blue bowl safely to its right. I am correcting those offsets and descending to grasp height."})
tool
executing move_to over 8 steps (0.8s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteAt table height the fruit is perfectly centered laterally but now clearly lies ahead of the fingertip line, confirming the radial estimate was too far back. I am advancing 3.5 cm while staying low so the fruit enters between the jaws.
move_to
left_x0.2850left_y-0.3260left_z0.0350left_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]: [-1.2747, 1.9511, 1.0492, -0.2825, -0.9089, -1.0569, 0.9988, -0.0002, 0.8272, 0.6609, -0.4622, 0.0292, -0.0196, 0.9985] state[eef_state]: left_x=0.2488 left_y=-0.3258 left_z=0.0368 left_yaw=-0.0159 left_pitch=-0.0373 left_roll=0.0479 left_gripper=0.9988 right_x=0.2925 right_y=-0.0016 right_z=0.1801 right_yaw=-0.0325 right_pitch=-0.0555 right_roll=-0.0123 right_gripper=0.9985 state[joint_eff]: [-0.6496, -8.7043, 5.3265, 1.1209, -0.6911, -0.2222, -0.1294, -0.0342, -1.7436, 7.0496, 1.7949, 0.0171, -0.0464, -0.0073] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.326,"left_z":0.035,"left_gripper":1.0},"note":"At table height the fruit is perfectly centered laterally but now clearly lies ahead of the fingertip line, confirming the radial estimate was too far back. I am advancing 3.5 cm while staying low so the fruit enters between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
assistant
agent noteThe advance made the fruit much larger and brought its rear edge close to the jaw tips, but a small gap remains. I am advancing the final 2–3 cm before closing, keeping the centered lateral alignment.
move_to
left_x0.3050left_y-0.3150left_z0.0300left_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]: [-1.1942, 1.9732, 1.0397, -0.2028, -0.8791, -0.989, 0.9988, -0.0002, 0.8284, 0.6609, -0.4641, 0.0288, -0.0193, 0.9985] state[eef_state]: left_x=0.2748 left_y=-0.3153 left_z=0.0281 left_yaw=0.0138 left_pitch=-0.0486 left_roll=0.0491 left_gripper=0.9988 right_x=0.2923 right_y=-0.0016 right_z=0.1794 right_yaw=-0.0324 right_pitch=-0.0586 right_roll=-0.0118 right_gripper=0.9985 state[joint_eff]: [-0.5949, -8.3214, 7.7744, 1.1404, -0.4078, 0.3101, -0.1343, -0.0752, -1.4564, 7.1453, 1.7265, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.315,"left_z":0.03,"left_gripper":1.0},"note":"The advance made the fruit much larger and brought its rear edge close to the jaw tips, but a small gap remains. I am advancing the final 2–3 cm before closing, keeping the centered lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
step 267
assistant
agent noteThe last outward command stopped about 2.3 cm short while the fruit stayed centered and now fills the jaw opening, suggesting the fingers are contacting its near side. I am closing the left gripper to capture it from this opposing approach.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1748, 1.9732, 1.0435, -0.1772, -0.8707, -0.9386, 0.9988, -0.0002, 0.8284, 0.6609, -0.4698, 0.0288, -0.0193, 0.9985] state[eef_state]: left_x=0.2824 left_y=-0.3158 left_z=0.0301 left_yaw=0.001 left_pitch=-0.046 left_roll=0.0601 left_gripper=0.9988 right_x=0.2915 right_y=-0.0016 right_z=0.1782 right_yaw=-0.0324 right_pitch=-0.0643 right_roll=-0.012 right_gripper=0.9985 state[joint_eff]: [-0.5949, -8.841, 7.2821, 1.1453, -0.4225, 0.2125, -0.1343, -0.1709, -1.2923, 6.9538, 1.7411, -0.022, -0.0317, -0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The last outward command stopped about 2.3 cm short while the fruit stayed centered and now fills the jaw opening, suggesting the fingers are contacting its near side. I am closing the left gripper to capture it from this opposing approach."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteThe left gripper again closed empty because at z≈3 cm the fingertips were dragging on the table and could not advance around the fruit. I am reopening, raising to the fruit's mid-height, and moving forward so the jaws can surround its body without floor contact.
move_to
left_x0.3200left_y-0.3160left_z0.0600left_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]: [-1.1744, 1.9751, 1.0451, -0.1772, -0.8665, -0.9394, 0.0087, -0.0002, 0.8322, 0.6609, -0.477, 0.0288, -0.0196, 0.9985] state[eef_state]: left_x=0.2823 left_y=-0.3164 left_z=0.0293 left_yaw=-0.0001 left_pitch=-0.0496 left_roll=0.0584 left_gripper=0.0087 right_x=0.2906 right_y=-0.0016 right_z=0.1758 right_yaw=-0.0322 right_pitch=-0.0754 right_roll=-0.0127 right_gripper=0.9985 state[joint_eff]: [-0.1162, -9.7026, 5.053, 0.9841, -0.442, 0.0122, 0.6227, 0.0068, -1.7436, 7.1453, 1.7265, -0.0611, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.316,"left_z":0.06,"left_gripper":1.0},"note":"The left gripper again closed empty because at z≈3 cm the fingertips were dragging on the table and could not advance around the fruit. I am reopening, raising to the fruit's mid-height, and moving forward so the jaws can surround its body without floor contact."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteRaising before advancing worked: the yellow fruit is now visibly between both open jaws rather than ahead of their tips. I am closing the left gripper around its midsection.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.084, 1.9747, 1.1038, -0.2016, -0.8219, -0.8429, 0.9947, -0.0002, 0.833, 0.6609, -0.4767, 0.0288, -0.0193, 0.9985] state[eef_state]: left_x=0.3133 left_y=-0.3076 left_z=0.0389 left_yaw=0.0147 left_pitch=-0.0743 left_roll=0.0883 left_gripper=0.9947 right_x=0.2907 right_y=-0.0016 right_z=0.1756 right_yaw=-0.0324 right_pitch=-0.0758 right_roll=-0.0124 right_gripper=0.9985 state[joint_eff]: [0.2803, -12.2051, 8.0479, 1.0574, -0.4078, 0.1978, -0.0171, -0.0205, -1.4154, 6.9538, 1.707, -0.0171, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0.0},"note":"Raising before advancing worked: the yellow fruit is now visibly between both open jaws rather than ahead of their tips. I am closing the left gripper around its midsection."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteI cannot complete the task safely in this trial. Repeated verified closes on the rounded fruits settled below 0.04 (empty), and the pear was accidentally rolled beyond the arms' reliable table-contact reach; no fruit is securely loaded in the blue bowl, so proceeding to pour would not satisfy the required sequence.
give_up
hindsightFor these large rounded fruits, table-level grasps at z≈0.03 make the fingertips drag and push the fruit; approach at roughly fruit mid-height (about z=0.05–0.06) and ensure the body overlaps the actual fingertip tips, not merely the wrist-camera jaw column. The blue bowl center is much nearer than first estimated, approximately right-arm x≈0.30–0.33, y≈0.18–0.20; carrying to x≈0.41 overshoots its far rim and can launch a dropped fruit toward the far edge. Explicitly restore yaw/pitch/roll to zero after a failed long reach, because uncommanded orientation can retain the distorted pose.
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]: [-1.0821, 1.9747, 1.1072, -0.2039, -0.8211, -0.8455, 0.008, -0.0002, 0.833, 0.6609, -0.477, 0.0288, -0.0196, 0.9985] state[eef_state]: left_x=0.3141 left_y=-0.3077 left_z=0.0397 left_yaw=0.0176 left_pitch=-0.0743 left_roll=0.0848 left_gripper=0.008 right_x=0.2907 right_y=-0.0016 right_z=0.1756 right_yaw=-0.0322 right_pitch=-0.0761 right_roll=-0.0127 right_gripper=0.9985 state[joint_eff]: [-0.1573, -9.812, 5.2444, 1.033, -0.3834, 0.0024, 0.5934, -0.1162, -1.4427, 6.9949, 1.6532, -0.0611, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I cannot complete the task safely in this trial. Repeated verified closes on the rounded fruits settled below 0.04 (empty), and the pear was accidentally rolled beyond the arms' reliable table-contact reach; no fruit is securely loaded in the blue bowl, so proceeding to pour would not satisfy the required sequence.","hindsight":"For these large rounded fruits, table-level grasps at z≈0.03 make the fingertips drag and push the fruit; approach at roughly fruit mid-height (about z=0.05–0.06) and ensure the body overlaps the actual fingertip tips, not merely the wrist-camera jaw column. The blue bowl center is much nearer than first estimated, approximately right-arm x≈0.30–0.33, y≈0.18–0.20; carrying to x≈0.41 overshoots its far rim and can launch a dropped fruit toward the far edge. Explicitly restore yaw/pitch/roll to zero after a failed long reach, because uncommanded orientation can retain the distorted pose."})
tool
give_up: I cannot complete the task safely in this trial. Repeated verified closes on the rounded fruits settled below 0.04 (empty), and the pear was accidentally rolled beyond the arms' reliable table-contact reach; no fruit is securely loaded in the blue bowl, so proceeding to pour would not satisfy the required sequence.
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 · 10.57 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]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9989, -0.0227, 0.8005, 0.6186, -0.3908, -0.0231, -0.0402, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2955 right_y=0.001 right_z=0.1826 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5932, 9.7846, 1.8486, -0.0904, 0.1587, -0.1245, -0.3077, -1.7983, 9.1556, 1.8974, -0.0611, 0.2271, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93bc9047885cf92019f0faa61283dcc9349aaaba3020525d1a4328bdd3306923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625accf3b11cf83b90de3fa479ff3158930db4c450f8144848e87758084f0c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f027cc2e4714f5283b20b9349a7c5f58a9cedadee308410760921b7deb13944",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.877 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0c7f7214d30af8dc016ab440e9a6e487d0b0b0ac47161676df",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDy5fwK7rXaGoCIWfGnqRbHQrV4_YlkGByBCMbtlNZjksrUMyu_7cGBO9gJW9BhedrO2sD_RKaWn1D1wSYJJZ6At8rvmYZ1YdTNPIb53NWXU0KbOVuaMWFLtPhxa6bE4ss8nnTiQCxevf4-feKbdLTmFDUx2AuR2JnwgYlBVjIVc2ZoahEBQPXanwtcbNeizN4uALhFCIZQteEj27ZBb3KtRcJhZwWQDUfm_e7K8wHev4wIiqauxrD-EKOCBDGYFO2yYhSFjnT-O-RId6nw--fksh8pdw3dYCJtaTzEmfkOexYKQ2Fs3mku0wKpWh6Hyvk3k8NxNPgkaZhlldkr5OZvhLRulYEncIwS564EsCVX5Ezn3ryV7xF3FcYmzKFbVmTiVi4Ze1A7ryBaYVzVDMGi-Y7SvrETCCkmew1SljgCwdm38s-lW8ChrWmy2gCDcDN89mBCsNAIYfioqkXd8v5ZqqsZmRZXABtv8CTJDKXqRs0ZxQ_O2tQ1B-xup8Y7JSZ39JwYuvB3-Evx3skYrAlUl75p8Igdallp2GMVRtQYkfGsYWp0F1z2izNafCfNP4F5ghF74804ob4x_H40ZKztPeCTsJ8dIWZ1qJ_rtgtNetKdnNWShIwTjZeoHoVT2bjnVThqAc9kX5kXuKj9EkKSjmNdq3SxXB92dhJ0hg9loe_85dwjhjTNA1BmQHVyYrQM3yCns1b3YEn6NJQSkrQmegNc5D8ugb8hk29VhT4emrt1rpOV_9g_jj46F6QZC3RbSXbJocreh8VM4-xxeHibVRnwIIb6ee1msPW4yB4jFd_CIMdZm6jE0xWeOgYoioXpyuI0-LeBBnQdyLT-t7-SoDHKodGbekqNKQNtWhgZBCSgHUVPBiTqDbDuMIiQJ3E_pDxL4u40nXyptwvn42pIzBivBfO1cdqzeL2MeYI-E_5fvfLFNmJiGPvOj26gMrRmpzqU6mX2A45iBRwBxTSGpOsL8hcSv4L8dkNMyXY6qMogRHomTEnGqDt02JCrft3SKABOdwK70N7EzZYEs7vrSi_cC2du7DedzhYb1Xgl1-SHUHYltTU861clgw8v6eY6eC1pHTRP4HKxllmlBsdd0r4O3C8IfvvnPO6N-Qmqy2sXJ_uu-3GVPa8I25fsrjrf6yCUq--Vo3isdZnU1rBKImFEj9_5RoOs8SfR5wUW7SYIe6NHv6WSa6cp3de1YpsvsVoWUmWiZZPniw-KTEx-hFCCw9pm-dnEtrlnhtnRT7G5JDQRIrak1htQjvbz_hxx8uYWe4Jyez-Usy2_s1cZl_fu-e-J8bwk-AHxDfXOrWVMimnbXvQ7vA0eyY7FJ3pRCiK65ecb4QmIpZj4K5mYNSSgQDTBJijsIEYiDSIUNDqbld0geC9y4ot0-P1ohkvcxBUk7RIJJc8B9ebDg11e73jjUd9sRj0lJ-ge6pqVx9Ghf2dRRnAPA43w30sFzS522ZMJwEAy7VjThtgWFEHS_I-nIVw-AzCaKmtnHuPKerALMMBRfpAMmxfqSQ49IyJgejLkRXsBlhZFlko0BjF_tPxO27baINwLRSpp0XUDt3y9dsncGXcAvEAv16bDpVEFP8BOe4NwMo5N0R34Cq0pq33zf0ggcI7Q6rLzxlgpyyUCBwo_mgd2AYxWuZteXIm1mpXIZxl9qQpfjAowBB3FVpyALp1fex4IKHuFEsuDTv2bCpvwJcUI7XGxKSh5-EyM1uA65sMYlHXKADIVYz41QTOewH0SUmstAmGBv-MlSSLkKBy9ms-4I-4uf6JGwQton7yGl2vrbeZow0Tbl6JJuGaw_dY1zyLwOTg4tgXtJWTH3kS9Lp_V545NfYoAe8Qegsnoe78o11dJs987vhu56jtSTOvtjciDtcZ_CZeaLEIIVvoPoUDTQSptK8ARRzq9HBLbP0wGNUVnJpyNM1xn__E1QLz4rqrPMpfPZ8yLMd4XHeOhoyjlMjjiVhlrwkZJEuOJmtdgVq0ZF2PlJmMOZTO8z5njk77WHEL04PuKWGAW8TVDe49RB5Utqbf7T1JLn4aqXisMKqujVvg7hp3LIsQnJjJK7XCU5OTb7dVyc9JmYbo5VJA1Nskr111DPtgE6z4npqgLOMl-9LjYN23KldvWCZsQA_INj4UCnTSVqHg56w8bjSC1eXRGTGDweCsPMjNCG5n3GCJLFSVycUzQzIu4_kWsUjIGcDZE4rC454HYKd04Le8kd8fMN1UwlEdWPyJaqzBCllhvgz4d517b-kRCUydqaCPKhE-vaIo0nOKMTSM6Zxl5Xz7F4yOjkRHc",
  "id": "rs_0c7f7214d30af8dc016ab440ef311487d0bfec2c4858c68b81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.145,\"right_z\":0.15,\"right_gripper\":1.0,\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.182},\"note\":\"I see three fruits: a dark fruit near the lower middle-left, a yellow fruit below the blue bowl, and a green pear to the bowl's right; the large white bowl is on the left. I am moving the right gripper above the green pear first while keeping the left arm parked.\"}",
  "call_id": "call_glZ0ziHtftURK8bveZ2nkGVg",
  "id": "fc_0c7f7214d30af8dc016ab440f1985887d09f792a6e1808b63a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_glZ0ziHtftURK8bveZ2nkGVg",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.9988, 0.8101, 1.0901, 0.6121, -0.3225, 0.6247, 0.461, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0003 left_pitch=-0.005 left_roll=-0.0011 left_gripper=0.9988 right_x=0.2733 right_y=0.1425 right_z=0.1337 right_yaw=0.033 right_pitch=-0.0493 right_roll=-0.0454 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.0598, 7.0632, 1.7705, 0.0024, -0.0366, -0.0269, -0.2803, -3.3299, 8.9778, 1.5263, 0.4518, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede93558d65e00fbfa9e3ff9eb8c97a6f82101196edc381990571ab3a0ab665e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11767884556d6a82f4c52bc6ee9615d12f9b212fc5c7b91221bf28d1a3c47c03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90a8517996365d9434b657bcd0f9af2e17320ae44df0c7b6ad5cb78f4f4a50d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.716 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]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9989, -0.0227, 0.8005, 0.6186, -0.3908, -0.0231, -0.0402, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2955 right_y=0.001 right_z=0.1826 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5932, 9.7846, 1.8486, -0.0904, 0.1587, -0.1245, -0.3077, -1.7983, 9.1556, 1.8974, -0.0611, 0.2271, -0.0757]",
      "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, -0.3866, -0.0139, -0.0307, 0.9988, 0.8101, 1.0901, 0.6121, -0.3225, 0.6247, 0.461, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0003 left_pitch=-0.005 left_roll=-0.0011 left_gripper=0.9988 right_x=0.2733 right_y=0.1425 right_z=0.1337 right_yaw=0.033 right_pitch=-0.0493 right_roll=-0.0454 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.0598, 7.0632, 1.7705, 0.0024, -0.0366, -0.0269, -0.2803, -3.3299, 8.9778, 1.5263, 0.4518, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede93558d65e00fbfa9e3ff9eb8c97a6f82101196edc381990571ab3a0ab665e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11767884556d6a82f4c52bc6ee9615d12f9b212fc5c7b91221bf28d1a3c47c03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90a8517996365d9434b657bcd0f9af2e17320ae44df0c7b6ad5cb78f4f4a50d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtED91wqsSXu4VJsx7meiCQcjCisB81BkFfAloU5CCzJ87kKd9nTMcpnNnhzityvw6gFM1O97pQwdDzclkNWLClrdxUTe9iqeOW_gaYHnqapVvEzdFyG6U_DwWzM_hwyPFu0PwcFLdOSEHrVv3LOF0d1ATSa3MVRjZd2Trdm2oa5lffM04KTIbxZg4wMWTJ8VUMjUlvygjtrHDNAnRZd_ubivp4VaE9B2aB2w7Soza3cuXd8Gkzh8alkrGEZQHP1WDDG3MaMSoBbsO7rEDRNnlPcfrkiB80DluCPZXzT51247_WLifJZHv5opkwSLrOXSeZymmq3a-NOEn0w1DvECp1AN9UtH81N90VoK5woSR1lROPEH2OPjcE2DAA5-OcE4gnX6BN8C5_IyN8Rfbi-TCJaWiXe6hbDly5-F0-0eBDLSOUw91RtWAGZGYVklzHbumtjbIjL_t1Zz2fBbnnsbGeBjOhDah4ASl6IusKP74xT8dC0YJJekUVWgUydD8j8whDX-h_SVDwzbR-sfBHAKC-4nOSt6OuerSacxHLfgGIUV9wK4b8nQ4KNLydx8m_uGnZyT5BtRRNGQT2ehgLKtbYycY_KA787U2yHEw0kl4YHYht12iSWvoGlJuXTx_9m19affXpVD7TBvPJYnaLIs6fofvqMZSO4p6buDUlJRN0ucYwbjEMKjWCUSTQxn3l9mTIh-_y5f_mdJuOUPqadauKpRZ01P5NVRV6CbmoWUEV76b4goG6FC5wMs2IQRrUd1EuqF0nlymm2KTay1uGkGIKIvunz006iS8kEjRYjo_Y71oA88vFaj-SF2qG2GtTiOvSXmEMmQvt4YG6jbIP-QhsH64h1rqHr0jOKWsH6dNq3foQsf6pXduHb_jmpKswI_POY3C4Dx6AMRouOhGkq3h7XAd3hQKwN1FNbRDyPnBrdKc39PEYlzTgljz006_GAwmnNYxeW-akkI4bmdAtldiay5UrD_BGlJqcTnIEwSiA59nmwOUJi9yvfYZzp8doOB31ckY0lxD0NWzr6eyKNUCLHqsllvcpR7mgnQUHmqhkmEeGu6iZAEVRGB4vbAKLazqz9D1VmKlRnOTxS048HcXEWOG8dj_Tz6KhCZBEAvffx7jj3Ejkb44M6haAyBo4nG4lJMElUq4n7Vn1Y9G2PFdwxIDwNghBT5-18pZyVnsvLQxU865PKUwH1uMmRSN9p7h1OzcoNnwQu6cILesSk44UaGUQszjCsTBb4-R624-l2nFKtjOJTnt7z1KRpe60hvBW2Rsiivy3YvDDo3aCWL6u4opNdBQBydrLBZ-6GMAEatt4WsyB-cYrFXaoXjNt_1tJD-c2uEi3EU-Bdxtre61_nyS1r0BcoEuCJuQonhufMjavw_jNPd4InVxbhGfQDU78Y7ubdzV-M2fvQKnAX9yFFnNWPlkLuJexgBf23vli8Vurosmv0EVk9RuBazdXWXlH8_ApNCF_ZE4hc4JqLQ_XNJn9Pzlib4178vGt_kb95WmglP_n1K7Tb1ETN3WFCavv9EvA_iTFeRQwPJQSY-ZMDeF3vIoTVAhpzP-O2PeMd_YHSesaIQvEODCH031RWFVn7_nCPKecUaAYav3UNWW12VUoN1ixNyNRtWTOSncjFFhir2OrI8gbtfgpXJDOSfXhgf-IVVSNJ69opccxtVHnWLFWHzx0pSWnduFAjf8gEc2vwzjoNaSI4VYRvrs05Naf46Dbg4Ij28JEz6wetTExVEvYim4ojYDe-46psy0-aUkQSB9NQ__Y-bB83plevpt7OInUUZe2cK3YBzkJmICI9elhL3hs4hqGS4PIbvWWNy7yA5QIxNxJ68NC7LAOxyLln4zRAZaGJGiXDwrZQoMMls2fJACAJF3WUOswp9ZC2ldandetc9-_DxX996f1P5IgRo8BExlPxJV6Imx_yA0wwlp-tO-z7i6_RG4VJgn8aP1_82BwCuoimHLLCedCArSSevYdaOg4fkCSHxQLLOxThqqWAnrw-biLX4WgKOeCS5I3mQjBeLdGtgYbykcKjcgKR8Sl4V6RWW_hi5P0mhtgB2o-fQWmJdqgZNBzKombTv5FxFSzKUV95gD7Pjd4qiXRb-NMo8-uXqlOnDAVtsj0Yf5tcfTsxGNugEGnYHBbkIltHLUCm_6xTHjFvhikLKUMrqWjyXnIURnGTy7hCTHwIJXw5m2ApDLs52cXuA3ZYzpiE9LVifY6CSAkYinPxMIb7FX3o4OPZk2MYmqFC3Jl9nnRQhuuq4scuXHjQlJnOBox5s6jTNipjH_FfRaW5BtEvNQyklSWCdyTyDwJ8pKFuZTC0HO9sMhWOdU1kSBOTSGTDE0wkX7DgkCE4yfEJN7UXwMNggt774Jq1UJ5YGH-M1G2IPiyGyqHewl1E5DEH5_jjK2zCvqF1bQfB8BL2UGYzQG5M22tBvT7igygA0LkvbDmYnkbpwSxtJTa6JjIVU_sXHsWyyn4K2RmgLxVv3Gq7iM-YAzd80wn-85E0U5Pw-UkbdEe8wZkcQCwLTztKQ6FNvymED-4oJp9guAL_F3GI-to2hPE4novWH4koykDZ7_Dgw8noHi1AXWnDRCjbRxhSlfHjjFMwlLFYwUkvqCVjQiivsrvLZLZ31Aux-qW4HBVLOVPabvAhJtpV_XUOpxhS8s7rq0Xp5hGMUUGwIE8LHtD3Xe3OW718a6B80HC0k0jpo2wIgL_0clLkOGcLRTeZdFSQkxmonXdo3Ow7z8RafgGRw1XcH_k3nIn8wUhLli2uKyoegDiad34LspTuyQxJGZPAy0XiVNAkJW6ncXUZNeJ6BcDyffbW8cmiHG5ytY-JsUUnE5xZ4soE_nkFlQA68AOEV4SWXO2B-Eb9oWeokG5vnGPKpEVhJ9UiPxiyzHJTsGL9qFHAEL09YYwGZoQP22PQ7Fl22BAEr5ppjHT7LKEfxSPb_hbnfEh1Zf9ppTsvb_KQUlBw_TBeaJdPqtftXmKsBtXYB3TPzwdTY1RT02dzOr54Xrf42x7-GInSuhGdgN8ZG2rlFbch6hZTArvrcg8kEHCLvWdr_GtFHNW9VNlLl2Nb4R1LtzcIWOyVXYqRWMwl_meKuhIvNRrfa2eu6t6D1XgnTAjoYH8sq8s13GaThW2tVqWqeSkasLLM_4pzvzJp0sBJIM5FJoYUkgoZ9cQsb7h6sGAxU51v0-oPPN64LBlFPMnslgvDaw1wFhKvexLjSzOBtWDZ8sXCO9Wo=",
  "id": "rs_0c7f7214d30af8dc016ab440f85f7887d0b04adf6670e5df00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.115,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The right wrist view now shows the pear close to the jaws but about 3 cm to the gripper's right and slightly back toward the base. I am correcting that offset and descending to grip around the pear's lower body.\"}",
  "call_id": "call_oRqNo81GxkPeeosBWilQOuo2",
  "id": "fc_0c7f7214d30af8dc016ab440fc7d6487d0b798de766d933e8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oRqNo81GxkPeeosBWilQOuo2",
  "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]: [-0.0212, 0.8005, 0.6132, -0.3985, -0.0139, -0.0307, 0.9987, 0.7551, 1.1431, 0.2623, 0.0776, 0.5785, 0.4179, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1786 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9987 right_x=0.2561 right_y=0.1133 right_z=0.0447 right_yaw=0.035 right_pitch=-0.0749 right_roll=-0.0576 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1009, 7.0222, 1.8632, -0.0806, -0.0611, -0.0171, -0.253, -2.7009, 5.8598, 1.6044, 0.2271, -0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87ae1ec05f3895a370f05cace7bc26063cb4bea103b78648c715b19196acba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa5fbe1268185713bf881cd08456d877512a6e4e8441df4e665995151f17102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fada548883ccdfbcb1650e30eaad74a7c35c287fb2432fcdc008df8247fd977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.531 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, -0.3866, -0.0139, -0.0307, 0.9988, 0.8101, 1.0901, 0.6121, -0.3225, 0.6247, 0.461, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0003 left_pitch=-0.005 left_roll=-0.0011 left_gripper=0.9988 right_x=0.2733 right_y=0.1425 right_z=0.1337 right_yaw=0.033 right_pitch=-0.0493 right_roll=-0.0454 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.0598, 7.0632, 1.7705, 0.0024, -0.0366, -0.0269, -0.2803, -3.3299, 8.9778, 1.5263, 0.4518, 0.149, -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]: [-0.0212, 0.8005, 0.6132, -0.3985, -0.0139, -0.0307, 0.9987, 0.7551, 1.1431, 0.2623, 0.0776, 0.5785, 0.4179, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1786 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9987 right_x=0.2561 right_y=0.1133 right_z=0.0447 right_yaw=0.035 right_pitch=-0.0749 right_roll=-0.0576 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1009, 7.0222, 1.8632, -0.0806, -0.0611, -0.0171, -0.253, -2.7009, 5.8598, 1.6044, 0.2271, -0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87ae1ec05f3895a370f05cace7bc26063cb4bea103b78648c715b19196acba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa5fbe1268185713bf881cd08456d877512a6e4e8441df4e665995151f17102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fada548883ccdfbcb1650e30eaad74a7c35c287fb2432fcdc008df8247fd977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEECPNybdCEmnNTWS_6EAOCP0LC6knwCil0iswqf6GdyRgXPOvKgGE37SBlfHhULon7POAPzhyC96YtHZBcwG2U4eS47u2HhO7QPIsKtfKEHDu7jmHigcO7IfgdnTUVQPcREeb8WMOmW8HT3dUdsz10sJgtlA5tAd0gkkc3HNOnQVmKA8iDcUUnEj2fMrmZP3HrQn9eUO4IhIiH_oxxkN4lPDY1cCQR6FaduSULwtjs71AsaFOnf1gRqcCtibRnWzxbEmnT7FXDx8llUxZ3v-StOvrsbubXxktjz-e-4DALNWJUFnlqvuPuiQcstY12LqJottDKwl-7r7K5EWfcrBMEuePbuXg_6jGoi8eW1SF22nTf5npXwtIEZ4UsNzQH4Y11fPsrKCNxVMREnQ56FhagO8GaDmIymF3I21HsskfmSU5IcsZUeLhQ4E_U02VLpWfuONf2xwcE27oBvg5Hi8USE2DO0JzqhFIRcET2VySuKI0E84TbF4XKds7z_akzgGt8vMTcz5DDHIFt2P26HMPDojnDymWdcNYgfhCKuVhiOZTNhzYIf4Cqwpm4X9-_QfaYLhDF-LH5F5NbP9ID4bLt78FvxwuGxLb_4cPq9LBQAQEJpssJ3LHifUyVWaQiP77OpZO-MbZi4qwWA3a7Y7dii1aFLB_oaA5JSJdDeVRsUfNEn_MfkooMIV6JC_wj3mReuZ1FJZOsZNBgrlUdWtmEQfOE0uErDVQEmrq7ldVWXfmgkGb-VsrqMfTLSmluDpzQcoRoi_We4tHkY3AiZxxn9aRvcBSezFl-MIo5KTlbrff95kHNchqE1EatLZqt88ZLUu84fMO86fLjD5rqTgUhR1nhjOY0-KCgirPqeQDMEAJ1pwncEAXigPI7yi5FgFAc92hOmF3ske09xXDMF9-oohgR3kPbiG-h0uEeq1TK4DCHjUxfOfNl-80Zka3DSTKyRObvJqDAsascSoXhXt3RmMRwUjKTQYLLEgTmn7-mlhg3JSEoLFoANokLPAKFYatb5GzMMlPo0kjtrT2a6lXSqYTX5217tz84EwuEsJOV5KkdZ_7HdMvZ4NEQ6Xt4F5VO14lc3ox0VjUS8v0i3iyQo-WEega9W56lfPiRUymHBohtABcXTR4JqZMGhIxZhBzzXgv4yM2SazpEaBJgMwExR0F1CscH2wbD2dXMWHSUmxegfGGMbPeL8Z6PSYVajLoApdOlGxSwKzHEZonGhGE3LeAw78pu8fBHhG253w207Td-fChVJ-CZpEQxgvZdtGA5utKjvk6vkdP3rTRuxFh99wMiOAXGVIhZC6N8GUDt6ggGD_uFcy6o_S-VhfRFNB5ZfU_rda6ldRK03K44N9fBQr_PCm-2lOfK0KgdOoo2nndFdMwl8Jy85U3YAH7JLO8A6WkcFb8_HnZ2iLRE88EnE9Xk25yk3q3AlzGFmAdKzmPyJbqlQNEHX_SW5SAtHZFPXcJjueVejB80U7xpQmoDIVLofqN6EES30EP0jrNJjxup_iM8zCC0mhdmCzAgClWnYQPsctXaMbXUlGpgkJd3_ZYVdW3f0bhYT5v60CV0cJrc=",
  "id": "rs_0c7f7214d30af8dc016ab44100746487d09476b144dc55f76d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear is now centered between the jaws at a low grasp height, with its broad body spanning the gripper evenly. I am closing the right gripper to secure it.\"}",
  "call_id": "call_PUSJpU3rEgFXncspqYF3bF1h",
  "id": "fc_0c7f7214d30af8dc016ab441015cd087d0b81ccd44da44d668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PUSJpU3rEgFXncspqYF3bF1h",
  "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]: [-0.0212, 0.807, 0.6128, -0.4156, -0.0139, -0.0311, 0.9987, 0.7551, 1.1481, 0.2623, 0.0772, 0.5686, 0.4107, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1731 left_yaw=0.0013 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9987 right_x=0.2553 right_y=0.1146 right_z=0.0428 right_yaw=0.0459 right_pitch=-0.0838 right_roll=-0.0615 right_gripper=0.0115\nstate[joint_eff]: [-0.2393, -1.3607, 7.0222, 1.9951, -0.0806, -0.0513, -0.0122, -0.3624, -2.4684, 5.9829, 1.5067, 0.3297, 0.0464, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed2d01a17d5ec79037b56111163ed691136c7695091f104ab88537b3a83c47a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a8a63800a313d9690aee8befcac7acf8e5151df91d0d725447a7c24334d327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28f6b3c8108533408aefb7da4a584c1acfb2ac1535a6c49ee9265927eea0b8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.492 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]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9989, -0.0227, 0.8005, 0.6186, -0.3908, -0.0231, -0.0402, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2955 right_y=0.001 right_z=0.1826 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5932, 9.7846, 1.8486, -0.0904, 0.1587, -0.1245, -0.3077, -1.7983, 9.1556, 1.8974, -0.0611, 0.2271, -0.0757]",
      "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]: [-0.0212, 0.8005, 0.6132, -0.3985, -0.0139, -0.0307, 0.9987, 0.7551, 1.1431, 0.2623, 0.0776, 0.5785, 0.4179, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1786 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9987 right_x=0.2561 right_y=0.1133 right_z=0.0447 right_yaw=0.035 right_pitch=-0.0749 right_roll=-0.0576 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1009, 7.0222, 1.8632, -0.0806, -0.0611, -0.0171, -0.253, -2.7009, 5.8598, 1.6044, 0.2271, -0.1001, -0.0757]",
      "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]: [-0.0212, 0.807, 0.6128, -0.4156, -0.0139, -0.0311, 0.9987, 0.7551, 1.1481, 0.2623, 0.0772, 0.5686, 0.4107, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1731 left_yaw=0.0013 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9987 right_x=0.2553 right_y=0.1146 right_z=0.0428 right_yaw=0.0459 right_pitch=-0.0838 right_roll=-0.0615 right_gripper=0.0115\nstate[joint_eff]: [-0.2393, -1.3607, 7.0222, 1.9951, -0.0806, -0.0513, -0.0122, -0.3624, -2.4684, 5.9829, 1.5067, 0.3297, 0.0464, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed2d01a17d5ec79037b56111163ed691136c7695091f104ab88537b3a83c47a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a8a63800a313d9690aee8befcac7acf8e5151df91d0d725447a7c24334d327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28f6b3c8108533408aefb7da4a584c1acfb2ac1535a6c49ee9265927eea0b8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEGG8cbVRxJ23mbzDxcTxhAiX7z3QgpHt5IpPrbHHE0kcuUIx_jZZ9x_y1Xw6KgiOC-pVDLI8YHD4hryILn7LmTZZAMLZGmU-W4RWVfFI2IKQBGDYenC096WkysUTxhIswH0bb5q63lYXV-PujvtHdmeKP0jfpJReMw8cqP4Rj_9tQCmTtfaXYEfkWSZfbsNdCmU2Jguk3t8nL0ICy7dLT5K8Upmk3OhwS671rZmEs--6wIH60NLlwdc28a7G0dbGdBvf-cBwelk4hd8MmKEBbSds_lWQpSVfwmfvWSnXu5L07bQ9OCbEzKUYdb2sMxS5BdjqjLIpNTD1cGgElfEmCalZf0MjMJNd5-ukIbl05bUrMPnt-SOL-1wtqr0f-V0SZo8ev8I8DdW7tmBlQnKNzzGDBmYkdZa1c4ztAoDS2HvzjE4OBt4oDHetg6MtA1uZzssF2qfnFnrR-IifpN2BSTSN0ycf8moy0Jzal8_QhYGU8NT-jH5oXgsyr4m-wsFZGqb-rRvrbdtAkVwqQNAwTvPYX7cGkTaXRkAtafvTZhU0a2Rh71Gym4qzng3MKg9MPB433z_SGLL1vMR6udN86DfXZh4BGU5s-HbrN5pmPhQXDh5qMEyZD9MBAODthAYzlVX_aDMnOjOKrFvk9y2a6JYvGcd5oDRwz5dRD_tbGe7MLeeqgaIW4Rc88yAOWGv9_ZMx_nvy2xPVXBWQuFMc96SRvB0kYh7XUXc_fECkK1Shj398tZ_r78wuRRpZ_dre3t9p2R6OuGuweE1t50fjwsHtqMVbdN4HKXbT2JGr0rLfSZWOLl9wPJZ1KiRF3N3Qwcki-pcVYFP-e9lAIdUC3q7lnHW3rxVkr1PwxqpfY7wVtawemS1NJzq17Fm91O7uERMO8yQPLvT5L1Ifm1z8nmxwhmpnZcNzno1PggwbbQVKOaGib4C9CvmMUqZON06WIjdbg7AYgaj6GfE6vnGu0Q4dZnX1M4HvDZyW9tHKcuP6d0iWrXBr6txCfHlI2H2GylydvdjLn8CdaMVqyQLiD0WRDWqy2fvrO7jxlN2hG3c3_edPnFnV4IXgd4pUJqwjQLHugZThzl9Udq-sHCIPRJFlGTojRPs1xKsFfdL3QL7ZtW6ETQvTFlfcJGg0t3Yil6madqYIFSpi0vf5vUtgF4UZ1X7q-6g8UcwRq1zoYUtRBiIJOERN7JK2ZsGkZ9fDapPmDKKib0Wydm-Eg1xKJnhEGvMe7k__Qztyae-BN8V4d0ryvrz1vUPBiu0eu5uP3bztfgSEo6V0FDPhSWtQrJ8A6tkTcJ_dYAz6JSfCLijsSxG3uLE_JhOdDFY_FSF9vYjWy34ygMlRghnNGAn8uP6uQwe4gIzTxtN_Dcd5O99x819pb28e_4PoxFCQqVxE1GRqIhFowZmd5U3Vq7OKX8QKAVouF9x4qf83B7XMzCCx0mFkdaVCklWNaQaxUddWc2RmfNBBD1taXqN-_eNTTGYb4rLdH6N6hHwzntJZCcdm2WGdUIT7vU1k2hSRzGwMjfyEYiRQmRPbG5WBTiqcrns6VCxAJIybqFgGvT5yX8pEmUKB8nTTQvnIL2W7o7PYh58Ui09MbvD8O09PYGSevlbkO3Mki22W3giIFauhiyHPVcHr8Ijhm-z5QRZf465pO3zyA7yKnw6_ImYfCtkmVbMxY9mGbC8bnwOuhVBl9zRfX3UPYlIsRDfww6jnLI-7lvCXXhR3qk0ZBjmAdM6X9sFnVBUYxmGcMki6eDN-AEvhh9WI_Blie_pwJlTzQ_38ITROIaVDpKwXNrtyTFE55W4-3OzThVCc59GQfbuWT4dmtAAefhCNds9tlLTOWiYa56i1BnmoH7zx3OMmHoyH2Lt3LEcpZRj5NiFRT9dj-GSSjJeD5SV8h-Fu_UXkixTeqjbP1jr8nDTNwqE6JJ0-YUWKfQe_EuLaNFwvQlDuEXKlBWe2EuHcGvFY31aU64EP0_Okq1wTgWGlF0pZGRZKfx3w==",
  "id": "rs_0c7f7214d30af8dc016ab441040f4487d0a69c472d89f5890a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed (0.012), so the first pear grasp was empty and appears to have nudged the pear slightly forward. I am reopening before the recommended single retry with a small outward correction.\"}",
  "call_id": "call_Tvih0msGlTQnWh5Pm262vDvO",
  "id": "fc_0c7f7214d30af8dc016ab44105b0e887d0a5b6c1c45e7fa201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tvih0msGlTQnWh5Pm262vDvO",
  "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]: [-0.0212, 0.8062, 0.6083, -0.4236, -0.0139, -0.0311, 0.9987, 0.7551, 1.1465, 0.2623, 0.07, 0.5636, 0.4072, 0.9955]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1697 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2542 right_y=0.1146 right_z=0.0417 right_yaw=0.0511 right_pitch=-0.0906 right_roll=-0.0652 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.2376, 7.3368, 1.7656, -0.0513, -0.0415, -0.0122, -0.1983, -2.4684, 5.7641, 1.4774, 0.2857, 0.0464, 0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ef41d3656658ac4c0202f2e3202ee3b131e289a8dd2fca2a0984e9468ac790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bc08fadd6e34583edcd6239762960fb2a5c3813bd4612c3a9eccc122d99f8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3534fb0425a806c40100c246fb8fd70d9fd552b71a891b2e0872e75fd0c15eee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.358 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, -0.3866, -0.0139, -0.0307, 0.9988, 0.8101, 1.0901, 0.6121, -0.3225, 0.6247, 0.461, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0003 left_pitch=-0.005 left_roll=-0.0011 left_gripper=0.9988 right_x=0.2733 right_y=0.1425 right_z=0.1337 right_yaw=0.033 right_pitch=-0.0493 right_roll=-0.0454 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.0598, 7.0632, 1.7705, 0.0024, -0.0366, -0.0269, -0.2803, -3.3299, 8.9778, 1.5263, 0.4518, 0.149, -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]: [-0.0212, 0.807, 0.6128, -0.4156, -0.0139, -0.0311, 0.9987, 0.7551, 1.1481, 0.2623, 0.0772, 0.5686, 0.4107, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1731 left_yaw=0.0013 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9987 right_x=0.2553 right_y=0.1146 right_z=0.0428 right_yaw=0.0459 right_pitch=-0.0838 right_roll=-0.0615 right_gripper=0.0115\nstate[joint_eff]: [-0.2393, -1.3607, 7.0222, 1.9951, -0.0806, -0.0513, -0.0122, -0.3624, -2.4684, 5.9829, 1.5067, 0.3297, 0.0464, 1.0183]\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 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]: [-0.0212, 0.8062, 0.6083, -0.4236, -0.0139, -0.0311, 0.9987, 0.7551, 1.1465, 0.2623, 0.07, 0.5636, 0.4072, 0.9955]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1697 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2542 right_y=0.1146 right_z=0.0417 right_yaw=0.0511 right_pitch=-0.0906 right_roll=-0.0652 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.2376, 7.3368, 1.7656, -0.0513, -0.0415, -0.0122, -0.1983, -2.4684, 5.7641, 1.4774, 0.2857, 0.0464, 0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ef41d3656658ac4c0202f2e3202ee3b131e289a8dd2fca2a0984e9468ac790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bc08fadd6e34583edcd6239762960fb2a5c3813bd4612c3a9eccc122d99f8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3534fb0425a806c40100c246fb8fd70d9fd552b71a891b2e0872e75fd0c15eee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEKM7YfD7c0j35pkba9ViPYWLDddbaVENsg6tmt9g_V2ipcuF_Ka32el0ExJjA3XzbZFQq9IAciovQ63k0_hg8oas2Iqdt6HrovBS5lHb7hVLGPs3j7lRNgK5a6Z06vq1iZNkLY8CVKco6ZHyn_Nq02OLFvZlAqAa9HlZgAwVliF2VKMHxXR8jSStuf1xDY_ZB28oaxLYhrkZcYOQWnySo8w3uxqNYXHckY-8O7cHwekgAD5lGKY5TBvhwFAi_2pIu9eZwj5kTmMxj43a0-3ugJlAreDN8gi6dNontWbGBAw_gFZCA-ETGYn0Hr8Zs1PkZCIR0mof-_RPLltno0B1iaIoeQzLjFQkAhcVxC1G8OX6U3M8Fo02xSFr6goGd3_R79zOgyfKRPYOwYkZEDRhQ_non4-Z2mFl4NS2J6AqDwRRy5a8pNLWNYuGLDKpfY07NqaKd2DhL1Ndg8f84eZdGUWfYwPtsZFbari0wANAuq6PJPwYU_aa2HS8_pHXWyY2eEyCGUxQ046RD7CVBnc9kF5obBa55foM5jyQgmkNYtd-UN03mNlLAc5Al2Eb3wVf52ozTn213V9VfITkmyI1bUV0hCS5dbFW7ROPEjH-BwcPktehs0LxrfupnEL6VAtLnIONAeQ8Rd4G7yDJhJCqnpZcDQPZfrT5bsx8BhHPZXOKcNkkMQ2bWzb64xwVI_t5WswqZVkwoutb8B35g3d0HbrjwX27LEZu5JWxRA_Pjzt-kS0gPHy2X7DFTqgz3aGBP5Z7ALlAU8CFQWQu1vTTcpdYf-egK2eyQjEWgTY6k5pazc1FGKmBOr6sPLs7CVMeX_3yWBU2SoKJDzJBKC8obfF3oAHcAFmRa-dtd9dt1YNz4gYvGUo58n6RamrbN7LrKLd8LrdB-2xEwJmkGsTUd0oM9hfa7JfKar-JJFHdPUHU9yzuPqNEJq2szqTY_5-KyCgZSuH7fHl-NP_HAS69BZTe07qXmHkfmjMKe1msaxtvVonJd9YFz7twvhiYuwXV5QoHc23qaAwkLJ-ukfrUl-v_d98QlqR1gQi3jqapyvymJuRW3qzy7gKoI5Oo1ALfP_Sz8MTATbB7H-LzZoXNYE-uGtckiBmMlZ9zxkP6_pDfbs2ZMBXZ2_yI2jlXtVp4SEv-Weybwa5BQJi31_14iD00F_h72u0tz6xjtWXj38jVm3IrkYGBR0R2XAYGFVsYgB6gS6we7BNJeRM9SKbVsqmUcyopECPi1NR3YBUx-r08HsHZ9tcOXC6od-OAlHUO0HqycNh3uOFoKNhKoEggyAMxcXxZ43pPEIClfmovQ2ocfwdr9XcKlEQoDruu9scQd5poAli-MXQwT5AlMyO7F-8BQrFBJhHPsck3GoULOgmUwTOyTHtV9LKzhu_GPQ695BunIWtVjoiD1DKuGAnFhxssGpmUjbSl1NlXYe-Qtk_2-RwKOMqn5GB7OgmWaLf1oygP0xZQQMWvKH1uvorTQ8EP6SYAX6PpGelwqHFfgkqq_0ntvTXIf74LDYZe3WdPSDo-K4CkE4ExasNr2jqZ8qA2f-aIo1MsY5RxCqOvSEQTn5owcFCCrb5bERg-sWEzTe2RAxmzmprZr0FXrmn9cwpE2DiUDKGq39sbQVwa-D6dzF_-C4JKyQJrJFaMbajonCqSiazuTC3J1I5lFfG3e8ujU5qfurCUCQEB1Sn0gt9ITSV04K651EoMSmWHwiBvMuZhyeM6ZTtXEwtT0TxYROTKkxeoQv6o5wx76J3gCh6irAz4xVrNXPWeTclVbgHIP1ThKtb3r6gj0ciTrtFPyomho3SYQot6fPITsAQqYEJHbQvOav0sc2w2Mkuz9MWJ-KPaEvNUlnPhygxnODrN3qag==",
  "id": "rs_0c7f7214d30af8dc016ab44108a75087d084f7fcffa2af9c8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.282,\"right_y\":0.108,\"right_z\":0.043,\"right_gripper\":1.0},\"note\":\"With the jaws open, the pear is centered laterally but there is clear space between its base and the fingertip line, indicating it is still a few centimetres forward of the grasp point. I am advancing 2.8 cm outward with a tiny lateral correction while staying at grasp height.\"}",
  "call_id": "call_jnatA5LQI3douJTNK1QMqG8c",
  "id": "fc_0c7f7214d30af8dc016ab44109e77c87d0a098391de5853852",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jnatA5LQI3douJTNK1QMqG8c",
  "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]: [-0.0212, 0.8078, 0.6083, -0.4252, -0.0135, -0.0311, 0.9987, 0.6212, 1.2381, 0.2775, 0.1463, 0.4728, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1689 left_yaw=0.001 left_pitch=-0.0557 left_roll=-0.0005 left_gripper=0.9987 right_x=0.272 right_y=0.1002 right_z=0.0299 right_yaw=0.0391 right_pitch=-0.1339 right_roll=-0.0887 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1863, 1.7167, -0.0513, -0.0806, -0.0122, -0.335, -3.2615, 7.4188, 1.6777, 0.105, -0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57556826928774ac1a74fd39897a64ee7dcd74e2a249693567090d44ff08e6c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32806a97693ad13b9d599eccdf48b125767fd57d47dd97783403844d8f4bb945",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33012e6a96ffdad77ddde803c25e2ec03227adab757940139b35afabef99cc0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.645 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]: [-0.0212, 0.8005, 0.6132, -0.3985, -0.0139, -0.0307, 0.9987, 0.7551, 1.1431, 0.2623, 0.0776, 0.5785, 0.4179, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1786 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9987 right_x=0.2561 right_y=0.1133 right_z=0.0447 right_yaw=0.035 right_pitch=-0.0749 right_roll=-0.0576 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1009, 7.0222, 1.8632, -0.0806, -0.0611, -0.0171, -0.253, -2.7009, 5.8598, 1.6044, 0.2271, -0.1001, -0.0757]",
      "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]: [-0.0212, 0.8062, 0.6083, -0.4236, -0.0139, -0.0311, 0.9987, 0.7551, 1.1465, 0.2623, 0.07, 0.5636, 0.4072, 0.9955]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1697 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2542 right_y=0.1146 right_z=0.0417 right_yaw=0.0511 right_pitch=-0.0906 right_roll=-0.0652 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.2376, 7.3368, 1.7656, -0.0513, -0.0415, -0.0122, -0.1983, -2.4684, 5.7641, 1.4774, 0.2857, 0.0464, 0.0464]\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 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]: [-0.0212, 0.8078, 0.6083, -0.4252, -0.0135, -0.0311, 0.9987, 0.6212, 1.2381, 0.2775, 0.1463, 0.4728, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1689 left_yaw=0.001 left_pitch=-0.0557 left_roll=-0.0005 left_gripper=0.9987 right_x=0.272 right_y=0.1002 right_z=0.0299 right_yaw=0.0391 right_pitch=-0.1339 right_roll=-0.0887 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1863, 1.7167, -0.0513, -0.0806, -0.0122, -0.335, -3.2615, 7.4188, 1.6777, 0.105, -0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57556826928774ac1a74fd39897a64ee7dcd74e2a249693567090d44ff08e6c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32806a97693ad13b9d599eccdf48b125767fd57d47dd97783403844d8f4bb945",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33012e6a96ffdad77ddde803c25e2ec03227adab757940139b35afabef99cc0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEN07q_bgTRn1zAAyuIIXNzqZFkWHI0KORrrdiVPrbRfo3O6b4QNH_yEHnGUsvKUROvacasEBYl713obkYG3V7bP9QdzWG0kQMSM6LxtxDOBW3ZXM3IiaxRslSV1FE99BvOJca2t72aOFnsPXSw_TOAdVDFAwHpo5LOI3h4e-63mjWVzePu6Lg9jdqDOmbdbgEnzRoGEjSEKxc_m0eSvXbonVNQ5v50yXiJ34m4uzc-BynbwH4qEHFdJkSCogTVeG6_oglHzVvlFvcYpV-jtS13c23a32WK0weq41NxZDdLpw374as2Sz7StFZ8Hherd68GLvRt4X8E1HhURe3VGpVJjpr03HcMMgRq_h4rm6dFn1yl5RbiqFke2u0Ntekj6PGKifvLDcTgvhHhXFDlAFZbDjpvV5QKLa6vCT2totQTYEmLv8m1TNr_BAld6nljmi49PazfHNdQAx3aXcdA5WdqIZos4Nf63hke2f50IsK4kSvytPiktlsFR3hpJ_LFmQcMqMG-YXDu8_MLPFe30bmG2lVqHngzkltTPLEJNdFj3zhSgEfldHNC3ppU9J7rMzi73b8DPyKQ_Tl957Yewe9ZQfVKcdJHKescpdv7UhWNOy5_2aDY3u7-viIc2EAAEn0r1UOkMwPdicsTmwUa6FD2F2X2EOQHfLvVH8OTtdh0CIQF7i1atWKZ2pgNwbw-jDCkSdrNKSsJMneBnORpbRwJ-WEXwuFFMNMBeIYImEaRRp304OzzU3a6DQzr0K8H3O3EQeieA7bMAqxchqsQVQaaRkBJoi_r1Oe3YGVXvz3AcDPuW2_DhE9J6VrVhrIrbJ_ppfK9Jf1nc31SKJyNhoOipLa7nqKJf-vpQpBVSXUps5lhz3Zpm3MfWv8jAQMR9AappIGAl5v4sqkarTIfrIf2VYzAx1YY6fiMca5uXVsENgQUApCbHIIXIXKerBTp_qd7yftL9E6J2V_I3CJKDXiwHSjdiCx7pj6fWtQFcUd4HYO-7mIUeeBhUTNyGABH5dbF3lrvVbeDl2vrIoyQxfMMVYgHWTMzVmLk4wdDlVfjhtfUom9riveLUqTykJb1KFJ7nGvigd8TN6IE4vJ1ExXC2q4KgOh_38x6ktZ_3raHA8KkR1gDSizmgffRbjqL-uVOFFPh6sXGFChkvn5ewdY0F5zeCJnlcY4kPMEXO0nfUWrY9LyGvI9D9pGlCC3L72zP7C76XfVxS1mc0w7FZ2cMGYwKT9P1weDNTs9ivJfqcn_-0ZVzH5edSSzUHOFlUeQ1CbBbcjQ5KvOHGMZilp6FiQDRzBv3-uFj7znMSQTGQ7EYiLPUMJ4ErcyzcYFcrQCviD4NnJtEaUSlvW_V3nZzCPMPY74WmmEyMGgtsODNfM0=",
  "id": "rs_0c7f7214d30af8dc016ab4410c9dc087d095c408d0dd24f4e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The outward correction brought the pear deep between both fingers, with its body now overlapping the jaw tips symmetrically. I am closing for the second grasp attempt.\"}",
  "call_id": "call_s5ZKeM1FI6PioftXBZF8TAms",
  "id": "fc_0c7f7214d30af8dc016ab4410ceba487d09c291af2182c3d77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s5ZKeM1FI6PioftXBZF8TAms",
  "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]: [-0.0212, 0.8078, 0.6079, -0.4252, -0.0139, -0.0307, 0.9987, 0.6205, 1.2381, 0.2771, 0.1417, 0.466, 0.305, 0.4977]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1688 left_yaw=0.0011 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9987 right_x=0.271 right_y=0.1005 right_z=0.0287 right_yaw=0.0453 right_pitch=-0.141 right_roll=-0.0902 right_gripper=0.4977\nstate[joint_eff]: [-0.212, -1.2376, 7.1453, 1.7363, -0.0562, -0.0269, -0.0122, -0.1299, -3.0974, 5.6, 1.4969, 0.1734, -0.0073, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d18883d6b57ffd64cc94b0b6c24df6a858d140e224fc1b07e5e5ae7e9eb893b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf8a1d2ff58fc1b5d6073c619d30e43f1e248792179fe53dfbbae14c76b3fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0395e9e52cb29aebe691238ee4a7ce3d23ce832ea82e9fcb35fb48a1d20bf2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.869 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]: [-0.0212, 0.807, 0.6128, -0.4156, -0.0139, -0.0311, 0.9987, 0.7551, 1.1481, 0.2623, 0.0772, 0.5686, 0.4107, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1731 left_yaw=0.0013 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9987 right_x=0.2553 right_y=0.1146 right_z=0.0428 right_yaw=0.0459 right_pitch=-0.0838 right_roll=-0.0615 right_gripper=0.0115\nstate[joint_eff]: [-0.2393, -1.3607, 7.0222, 1.9951, -0.0806, -0.0513, -0.0122, -0.3624, -2.4684, 5.9829, 1.5067, 0.3297, 0.0464, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8078, 0.6083, -0.4252, -0.0135, -0.0311, 0.9987, 0.6212, 1.2381, 0.2775, 0.1463, 0.4728, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1689 left_yaw=0.001 left_pitch=-0.0557 left_roll=-0.0005 left_gripper=0.9987 right_x=0.272 right_y=0.1002 right_z=0.0299 right_yaw=0.0391 right_pitch=-0.1339 right_roll=-0.0887 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1863, 1.7167, -0.0513, -0.0806, -0.0122, -0.335, -3.2615, 7.4188, 1.6777, 0.105, -0.1148, -0.1538]",
      "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]: [-0.0212, 0.8078, 0.6079, -0.4252, -0.0139, -0.0307, 0.9987, 0.6205, 1.2381, 0.2771, 0.1417, 0.466, 0.305, 0.4977]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1688 left_yaw=0.0011 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9987 right_x=0.271 right_y=0.1005 right_z=0.0287 right_yaw=0.0453 right_pitch=-0.141 right_roll=-0.0902 right_gripper=0.4977\nstate[joint_eff]: [-0.212, -1.2376, 7.1453, 1.7363, -0.0562, -0.0269, -0.0122, -0.1299, -3.0974, 5.6, 1.4969, 0.1734, -0.0073, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d18883d6b57ffd64cc94b0b6c24df6a858d140e224fc1b07e5e5ae7e9eb893b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf8a1d2ff58fc1b5d6073c619d30e43f1e248792179fe53dfbbae14c76b3fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0395e9e52cb29aebe691238ee4a7ce3d23ce832ea82e9fcb35fb48a1d20bf2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEES6tOQuByrSCmi5IN-JusT2_ZbtFeOdyEx5Ds65g-a3uLe6nj-xTw14d8c_5iLC1o7Mo4GGtns3274bAn56AXn5Rkzby7KriCBUU08gy97bTzg41S8b9RjX6kAMMLOk2bn9DFNXjrB5_v8AOOOIjmbSLZTazzWliXD7MsVQs5OYAyoJ8ErzSV6TSavND__RQOit7EPdzGxWCzMbp6r6mYV7ptBDZd92IR2AQGYvio1mF6pMab-yfq4DlccRorD92g_coWF3qN-g0usDpc4hG6Qg8h7ZtaVZDaCfJyiBHIdtLFWYPcUKlL5dFoZBUyxQbdQSI0EvZJCQlDKMVZ1ZB4d6mPGG7n1gZ671MF-FNen8Yt9KxSl0YnK0IqO4QE4WW06YMAxNyLFkCHYgPuh2e5Qgj7-Bxl1hQuCHfvoj6BHZ7yynDajxUBr_MpjlDqnsiMgBreHZqiQ0jYV8TUqArVsgVb4L5aUywwJJobZx2s1bXc5kqTwsu1UN_hJrxjJnzNYiYsT7T_rdmajAA0y-mnDyPW6keWuwa19Wwhet3XIKyciAKLNMvxoZ_KKNOJ48vaofLAcydig4w7uRBBno6FsJxUEnG1M85pw89qeBLQ2x7-8sB0uZmRprtSWQvFpZXfSiYh9YFqFDppgJa1GK9-jRBh3HP6Y52B-IRs8KpqjXWAcOQbsaoMotZPmCgSFdMtfSnbfbrFJOJMUn-pVcv8dWySY0PYJk16E_jyjo9SkF1MujMY7RIWxrdBatTH4LYx1xoSgCVD6VFJVqPBf2zNJWwa5N_gqM0xSVbMSbeItD5chUwM7Hwv0wLv79MEs3JsDkBTmk3-orSOjJGvESI8QHVB46PMKGlccYhZzEgNb4s0uuqjqrUkzJFQSca0Ad8oFbF9ejwUdE7dCV7OmPup5EMZ8Hy9Izs3aQqyPqZZ1BfGMfvLqxoJsVpV5Fw0QF87eyXygvSFBEJppoNcedPwiHz_CysbKqwNafjS1e3xhMJm9p5tTbsZKrbU1HH_xn_qfMEMMOicrsTDSiaYT5assRxwiE_B5MyZD38n7CWf13mTaUdlWtUkF25qG58eK_fuaaCRf_Dvu4JSG5tMc2cnI5ZU6L1c1uMe8nHesVP2aGt9hzaNaehh2uS9Yc-cJ8yyXiAivlIFZzjlTlb-_oEiAyyeWTDXfwNf4DeI0_TFL0mp5qhLxZU6zZYf71-O-Dsvi41NkN01FqKSTMfzVwRfyqYMYomXJ0FU_u-iwO6WMRRkHbws8cOczUi3J7jXBgx2j8n31nrumDhHyAVd8QEOWT-PFPPtd7sEiXWtSB9Psu9W0l2U7nLnfeohZp6RvSxQYb-efcC5hpQx-7seLxSbLZlGIftnbdAj7BPLxGBbJVpVSl-ZLfEfEGHtSroQobAGru3llNORxZ-pQ8G6xRIYFGwyMXH099k2n0Ds0SeKjnH4YxttLavMRkFOUL6DPLjY3KOKGTE1w3Rf5GscUmfrES4qG2OZ792WOL60jqls1kUK97_eJgqazimoupZ8mA2aUaKbuMkKCwYUZHXvVlW5SDpHYaEN-OIEgywJbq2F00zTk3SwSSHiS8y0pzxRmh9gtlp1qEAr5fJiamPzwDODdJASYp6s2gQ9-GHNKgb1Eqeh7lKVKD2qmkAzYmaBBJRJxZeZfuXmaQcpmPpwFtfIRYtnrfxbCmpsKxZhCs9M5_vV6ORjxdgOBnvD40mi2gxnmc2pddixYS9Asrx9K8_2n2QMV4AL7arEQsbrL-2I3-ttamuZ4l4ccl-INGAZehtByZosdDa1MYBdCLldnFkZ03rQCrixArjW2gSDFp508IXdbXyH97PTMbsgGg9FgsrFzVjYtLibTi5Ee3OhQRG_OMMkm_NXMgewGskc357ES1Nz3RyTQ5CZOfnYgRJkWL8g9fHgVUjAXPXWmhP9FKtdpbw==",
  "id": "rs_0c7f7214d30af8dc016ab4410fc93c87d082a97c98a0dd8c18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper settled at 0.498, confirming a firm grasp on the pear. I am lifting it well clear of the table before transporting it to the blue bowl.\"}",
  "call_id": "call_pnG0b2Km0wlqTJ92ltYZHREz",
  "id": "fc_0c7f7214d30af8dc016ab44111d56087d099f20c919fcf9951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pnG0b2Km0wlqTJ92ltYZHREz",
  "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]: [-0.0212, 0.8078, 0.6075, -0.4274, -0.0135, -0.0307, 0.9987, 0.6205, 0.9829, 0.7269, -0.6075, 0.448, 0.3023, 0.5]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9987 right_x=0.266 right_y=0.1004 right_z=0.1535 right_yaw=0.0567 right_pitch=-0.1856 right_roll=-0.105 right_gripper=0.5\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6874, -0.0122, -0.0659, -0.0122, -0.1162, -3.1248, 9.1556, 1.4823, 0.3492, 0.0122, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c384d908f7c5bc546bec070d557ebb1852eb5d540ddef91eb45fa008bb5ef6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea67c6bd599842feb9350d721f8279f4ff76845d247fdf937f35920d40be9bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e53338fd72cb0d27fba13157d43c2aead80f204d9b086527a1b207525217b69c",
      "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 · 3.634 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]: [-0.0212, 0.8062, 0.6083, -0.4236, -0.0139, -0.0311, 0.9987, 0.7551, 1.1465, 0.2623, 0.07, 0.5636, 0.4072, 0.9955]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1697 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2542 right_y=0.1146 right_z=0.0417 right_yaw=0.0511 right_pitch=-0.0906 right_roll=-0.0652 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.2376, 7.3368, 1.7656, -0.0513, -0.0415, -0.0122, -0.1983, -2.4684, 5.7641, 1.4774, 0.2857, 0.0464, 0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0212, 0.8078, 0.6079, -0.4252, -0.0139, -0.0307, 0.9987, 0.6205, 1.2381, 0.2771, 0.1417, 0.466, 0.305, 0.4977]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1688 left_yaw=0.0011 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9987 right_x=0.271 right_y=0.1005 right_z=0.0287 right_yaw=0.0453 right_pitch=-0.141 right_roll=-0.0902 right_gripper=0.4977\nstate[joint_eff]: [-0.212, -1.2376, 7.1453, 1.7363, -0.0562, -0.0269, -0.0122, -0.1299, -3.0974, 5.6, 1.4969, 0.1734, -0.0073, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6075, -0.4274, -0.0135, -0.0307, 0.9987, 0.6205, 0.9829, 0.7269, -0.6075, 0.448, 0.3023, 0.5]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9987 right_x=0.266 right_y=0.1004 right_z=0.1535 right_yaw=0.0567 right_pitch=-0.1856 right_roll=-0.105 right_gripper=0.5\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6874, -0.0122, -0.0659, -0.0122, -0.1162, -3.1248, 9.1556, 1.4823, 0.3492, 0.0122, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c384d908f7c5bc546bec070d557ebb1852eb5d540ddef91eb45fa008bb5ef6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea67c6bd599842feb9350d721f8279f4ff76845d247fdf937f35920d40be9bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e53338fd72cb0d27fba13157d43c2aead80f204d9b086527a1b207525217b69c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEYOFKT2DiRC0p23QMQbVKehsJlBt46YrExD60tK7H83vpdqcxjhfIf2aZyED8rnPeaVZeUo2PD9qWa9ZRgHhBKDp6yGF15tcKoZCBdZcIqnP_J0HukXccBvDg6hINxhan97rqSeEpobgIW3-0mlgURi0XGPf4rDV05hT01pHtDF3UT0zZMvSXt7VsAtiEAzpp99ihUH2-JAw3NaBQcmVgwmjEFIoCHTF35Vv5RzuKy25pjrFR0SoprQO2tryvYr-yGZIF1xYT3K6IztnAR1O4iHdpIhdJZ1y2l7_9mKuxGmYVCuybMbFB1BHyAkBYef12V9KUtUv5RvX_E8GDIuUGlztRElRUGDRo1F-MtNgN2J40Z0h2InU-czQ5mJinHl0aqCQZsi2eTJjhWCZuf9ShBccNee2wfPEY2w7pvn5UAUj8W0WJ9yVOH4PqlY7O3FYt-ap0-Eb__TIfb3qwkGeCwdPUXdYnCcFZnq8sjzgEHE5riBmpgeepAnFMQus9gUJqcplAw9RIp_6VOVpbMzFQ6-Hb_cEDN6N0CHn7umBSf732DWlusNyCBNqjXaIxfhr5gcNyS-JP4uyM2YIG5r3PIUqEseYlRl7rn8JfGmglqk942C61dGJiT_sQyA5S4oVHMZtVwVjRRVhZo1Bl98O54G52Csyj9BwmHVAtNoCTXY2vnETscMdaWtQrg5IansR6ZRkfQqhDDU9q9k4BGEJVB1edxNrD1o2RrMt5IXjOoDEnJZMmwCGwDR8JnTsBSJVG0PxRymJIHSyPmrR-UKvvSHj7QPV51OKjDIySt7Ea_bK6pGNY-xUuAyE2go_NzuqE7-9Xt0MzVWrdhgp9fT89Mw6MxLBF6pItrcBwtJh_448x7aEJc--nYzIDk0pOjRZTDdYyvqIc_II44EhV0OWTwea80Gzngz4axc-94_xndz25lEoMSdKW3rNhd4gqalFfT1AZFJA13s8x7hp9zd1Ncou1r8FGbOXS4RkCv4q6VqooEdkvUkXgwBjX4xTvfN2kb0kB4oYU23bOInCsPsHeT8fdp8nWnhwYMlhGJkI4N2y-X3Z-InX1XjaEfPU38DNoB4QS5YyttSO8u3Z_24B7e-viZKQgRK_fPeBqTHP8g9SucC5gBydae9T1C1xrIwxo6YDH1pc2j9L6VZRR6bFiycOwjFPjc58QcEYqM-UBrvdMer4vUdUukZwHdXJ2HaQq-VvbTp9Dmu6KCf6kyRWChJgAF5pAg0EC6VkRIvEpD3Ih6nRmY3Jev56tbBVN1iI8EbSkAN1814I4VeWyVE7reir-EdCnQCVKUP98mZFCHk0zlg7JMYPrjkXvWzfz7P9aBrYI7Ak0s2wp2DrHh38Y3GcVtC4ifzDu1nkSlgiMfEeQvfWW0h87AdT6q_noYPSSbD082M_rFSVe1j2JNmvmBwCALyJQINWPNqekT70Off7f15sQOQb4WaRp1iSuWxtcgSnRkdVxtS4WmereYRZhEcLA3VePq2KfOpFj5RDCvJLsWgztduz90K0QxLquCx7MLbV5d-m7ge_3Wko2isRv1pnWxnwG5uU1WND-FlmDjmWMCFRwV3FliG22E9qkuUY1rnbe_7LhIxvOuYfwyOU6wi-riv1I48L8BL3VWfAGhFUUsuVhOWy1FEOD7NHLg126sPs-rTBG0FwZ95UVl6aPj1AKPW3XXjr402Hnld9D4WTcPTSnjmu0rCTLFYhLDbf2ApurxMa2Y1BXQhzLIqdvb_B1SYF5pS2BBCjtn53kPhUfu-UDI_axgdPO-aw5ylZgNxNw0VCPGiUZUdu9tpI5EPaC_AfMbcoHD6Kosw_patvgEZZDXP2oi4-9hRjGMQrHXlhPiHOyio7aqQy7Dg9-CrQxk7lIjvpAziBQVfUqOGHH2ZMoKEHowQeShJvpsgjJiW4_OMzcQqU7FRGJKEK4FB3I0nRW3R8lOE3kth7_wliVUpzlTIxFRa2423al2NvLMsMhJRJ3-KyJl7kXcSjrJCXZ8VWAZgMceJqvv9cfC1jLJUhT6FREGuiBbh798YfLIgirNkTtEtF_CbfEvdCme_w==",
  "id": "rs_0c7f7214d30af8dc016ab4411577ec87d090a27cc7e1169cef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.19},\"note\":\"The overhead view confirms the pear lifted with the right gripper. The blue bowl is roughly 16 cm farther forward and 8 cm to the arm's left, so I am carrying the pear above its center with extra height for clearance.\"}",
  "call_id": "call_TNoFGl5fjTFPE2uOEb5d6yuT",
  "id": "fc_0c7f7214d30af8dc016ab441174d8487d0acd4fb7b2ae0b3e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TNoFGl5fjTFPE2uOEb5d6yuT",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0212, 0.8124, 0.6075, -0.4343, -0.0135, -0.0311, 0.9987, 0.5457, 1.6871, 1.3613, -0.5964, 0.384, 0.2237, 0.5003]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1655 left_yaw=0.001 left_pitch=-0.0702 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4113 right_y=0.1766 right_z=0.1664 right_yaw=0.0688 right_pitch=-0.2665 right_roll=-0.1468 right_gripper=0.5003\nstate[joint_eff]: [-0.253, -1.6615, 6.9949, 1.7216, -0.022, -0.0513, -0.0073, -0.6769, -8.8684, 9.3333, 1.7607, 0.2418, 0.0757, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ee31a4b4e62ba5f93a82ca448698de5dbee6696f8c6f1b6c871e230d78446d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce593e3c9c6163e44e3063d1bc1d32392c8759c9f72865576cc17f2ec16e84d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061767db14daa0531cd9c8fdf382e255f4e2140b94224cbbb9130bdaa13b2ce6",
      "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 · 4.827 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]: [-0.0212, 0.8078, 0.6083, -0.4252, -0.0135, -0.0311, 0.9987, 0.6212, 1.2381, 0.2775, 0.1463, 0.4728, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1689 left_yaw=0.001 left_pitch=-0.0557 left_roll=-0.0005 left_gripper=0.9987 right_x=0.272 right_y=0.1002 right_z=0.0299 right_yaw=0.0391 right_pitch=-0.1339 right_roll=-0.0887 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1863, 1.7167, -0.0513, -0.0806, -0.0122, -0.335, -3.2615, 7.4188, 1.6777, 0.105, -0.1148, -0.1538]",
      "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]: [-0.0212, 0.8078, 0.6075, -0.4274, -0.0135, -0.0307, 0.9987, 0.6205, 0.9829, 0.7269, -0.6075, 0.448, 0.3023, 0.5]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9987 right_x=0.266 right_y=0.1004 right_z=0.1535 right_yaw=0.0567 right_pitch=-0.1856 right_roll=-0.105 right_gripper=0.5\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6874, -0.0122, -0.0659, -0.0122, -0.1162, -3.1248, 9.1556, 1.4823, 0.3492, 0.0122, 0.7302]\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 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]: [-0.0212, 0.8124, 0.6075, -0.4343, -0.0135, -0.0311, 0.9987, 0.5457, 1.6871, 1.3613, -0.5964, 0.384, 0.2237, 0.5003]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1655 left_yaw=0.001 left_pitch=-0.0702 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4113 right_y=0.1766 right_z=0.1664 right_yaw=0.0688 right_pitch=-0.2665 right_roll=-0.1468 right_gripper=0.5003\nstate[joint_eff]: [-0.253, -1.6615, 6.9949, 1.7216, -0.022, -0.0513, -0.0073, -0.6769, -8.8684, 9.3333, 1.7607, 0.2418, 0.0757, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ee31a4b4e62ba5f93a82ca448698de5dbee6696f8c6f1b6c871e230d78446d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce593e3c9c6163e44e3063d1bc1d32392c8759c9f72865576cc17f2ec16e84d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061767db14daa0531cd9c8fdf382e255f4e2140b94224cbbb9130bdaa13b2ce6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEppeS8ip2aR-ZR9kR-98oKMjH3r_l3KRYpaxoT2bgeda9JQchHg9okcZrX6zwU2-QLAtha_tGH9-GLzr1iNcQIhCQjoDNC9CquBtliErQsBfkztQsuOrLu2KtgFvPWvskc3A8aB6WyYaIB_MghciH35akXaL8Snz_Jqy0JYQkFPcHEGxoiYERgxLbVW7zolfkQoQM--B6W0GCtTvfabkM-5l9OwqoTUyfhebIij6Ds91qBxu_Ae1vH_599B3nLZHc3U9KxvNkp7Y4Fogg8wCYyp8jstiiLiUSiHIsSSaWQE5p4abtXglEsrbRh7Qzb2sf3vpU8Of9CMHiV3GkHXXTWhvzs_wN4hvdFh3QIteCIBLUQOqPSOUsNcBVVTVfOBaq1k-uk_Z0lvl4AcRjbHGIlqc04GVcZI9sRNbJcUTW0JtannscT50aZoOxAclZpJziFEyOdhKeIA5DH14mqc8hq-1TvL5JwfRb01aEtOaQ6bJtcwOkRXoBiiNRJGqw950m1xy3TTWZXnNuzyEIYvHLcUoIsxVX3BK66ZvCZRYB_6ySPkp682aKyMRhwZ6_9BKQZUoO4fqiRr2TJN2tzZOzmF8CYQQM78U3jVoD3ynNXXwkrbQslLTuvEedP7H5O0amU1DEiT5MTVdltkEOAMWhi0B2pp8qFxMlkZN_WGNTctLQbKxAklMhXH1nrhqd44QBgqJRXwdsLGZLlNGA2Dgch9oGM33WexNJ4nNETVFcGqNvLaAW3TUzwKdFeujKsi_t3QOhVkStznMChWhA-zU8ZZnIbFofp2Afm4Me-ROrO9jTUuLae5xicE-z8k8K38fXaLJVQU349wMWLN4CPO5kf0TmCUcfvJ44V_05z5u3Je_MnIXkT0nT_8pX3FM1Wx3k3qq3e8xHrtIzPc4wlUyHdKJL62D3niBaR9xNClSvJYTdyENJXosn8F5oUG9dqhVNkzeDDgjA70Zr0KmIOZHEoJEdtBeRYKLZbs1zPlIVR_8B93RDXr7pxZ6ztGsndLp_uXiz4E_krE4z3q3PSQq6TejagomW5M2rZ8Z9wlhFZLs1o1yn0ePLGVcvgllDkhUwv7saHiOV2m_eeSqzsXU9XDegnlla9G772nvqix_Uvje1HuVm0b5f9h5Yi9CUZHw35LbQjoa4sNse9Kgp8hMTiZVlF6xL1s59u9UeewoOoQLDFMYWHwsVR5I9RPuSEm0Vyypgw5TdTIj36aXdrHSHhw3aBuQ32B7tiiv3ytnejbGs0edgXj2OwedbcYukcMcsJjVYPDtpAl9XhovMAdVdSpU8KXMTP3S7kbh_oPmWAUPab_ea-kbtnk7b7vr4bn5BBgDcLVRL31H4xCmLPbaoh_NPaDYj6kG58ZWK96bkCAQHNOYMNL02Vx8yeIH1wMMXjPpPtOtY-2Bsa5Q1kVTHfJB7u_IZOZ1WTGzbDShx0fyUibsdACz0W83xZVoD0OSZDIMATJ7R0eBw-ttMm98tuFgbbooQ085cZOlpPYVPXKofX4eu4QbE25h9zTU5E3KcxLb6sdwlh4IpRPExVE6OQFattnaQNryPfKZGu7BPnOqu33bwlYuxByNoXC-GB4EJap3by06uFCDC6F7HdlEVNc8_ggm6fdcDRuMQS55tUN5uSn8oDIeurQCizZWU1lr_jGk7SCOYTh9Y9u5z2AQp6E2xjgSX5_qVD97Utvt2QH-ykp3lodimpixAb89YWUgA_FDeCs0ofmulCldRRg5etF_1V9G7eHO5Kr4TelgL3xwM-mVDw7DILBZWXhp6vdM1LbKp2EmuthZvu6Gftl18g_6M6xIWkE22u-0cce1hBauL0fwyQWaupVgzHqC1e1hZaSZJ8PTxhRWjTB-nMarZJwtBAXuAd8sP6QfCO7AUO4DMuZpF2k1-CfeTroFc_REgK2W_M8uTQjXYOIhXhiguuujQ-m1upmgZNk9OrivvYPvZIkdVAXE9FpUhGHhEJf-Eo482qvKniGXkHC6Ia_Epo6fkgwpZ1HKFarBq3rR6Q_BU1WS2SSxLiJsepE1M2FXbm",
  "id": "rs_0c7f7214d30af8dc016ab441269b8c87d0b3a9242930bef986",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The overhead view places the held pear directly over the blue bowl's opening, and its lower end is already below the rim height while clear of the bowl walls. I am opening the gripper to drop the pear into the bowl.\"}",
  "call_id": "call_LES7KnGKn6ViwqUy1L9SmyzY",
  "id": "fc_0c7f7214d30af8dc016ab44128468887d0aed1276413b91d9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LES7KnGKn6ViwqUy1L9SmyzY",
  "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]: [-0.0212, 0.8124, 0.6075, -0.4423, -0.0139, -0.0311, 0.9987, 0.5476, 1.6878, 1.3506, -0.6094, 0.3832, 0.2165, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0782 left_roll=0.0003 left_gripper=0.9987 right_x=0.407 right_y=0.175 right_z=0.1601 right_yaw=0.0721 right_pitch=-0.289 right_roll=-0.1629 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 7.1863, 1.7216, -0.0806, -0.0806, -0.0122, -0.2256, -8.2393, 7.6786, 1.4237, 0.1245, 0.0122, -0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1962944517686910f824a993c0a9647669b820f60c08f4ae9eb4ac3fa61f33b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b9c28ccaf8002de496611947d4b6ef5b3a4215b6d29b06df29289bcd257a83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342bc5bd191fa777f45070913a3cabbd7fc368679dda67982249c40b37cbacce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 8.615 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]: [-0.0212, 0.8078, 0.6079, -0.4252, -0.0139, -0.0307, 0.9987, 0.6205, 1.2381, 0.2771, 0.1417, 0.466, 0.305, 0.4977]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1688 left_yaw=0.0011 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9987 right_x=0.271 right_y=0.1005 right_z=0.0287 right_yaw=0.0453 right_pitch=-0.141 right_roll=-0.0902 right_gripper=0.4977\nstate[joint_eff]: [-0.212, -1.2376, 7.1453, 1.7363, -0.0562, -0.0269, -0.0122, -0.1299, -3.0974, 5.6, 1.4969, 0.1734, -0.0073, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8124, 0.6075, -0.4343, -0.0135, -0.0311, 0.9987, 0.5457, 1.6871, 1.3613, -0.5964, 0.384, 0.2237, 0.5003]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1655 left_yaw=0.001 left_pitch=-0.0702 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4113 right_y=0.1766 right_z=0.1664 right_yaw=0.0688 right_pitch=-0.2665 right_roll=-0.1468 right_gripper=0.5003\nstate[joint_eff]: [-0.253, -1.6615, 6.9949, 1.7216, -0.022, -0.0513, -0.0073, -0.6769, -8.8684, 9.3333, 1.7607, 0.2418, 0.0757, 0.7546]",
      "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]: [-0.0212, 0.8124, 0.6075, -0.4423, -0.0139, -0.0311, 0.9987, 0.5476, 1.6878, 1.3506, -0.6094, 0.3832, 0.2165, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0782 left_roll=0.0003 left_gripper=0.9987 right_x=0.407 right_y=0.175 right_z=0.1601 right_yaw=0.0721 right_pitch=-0.289 right_roll=-0.1629 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 7.1863, 1.7216, -0.0806, -0.0806, -0.0122, -0.2256, -8.2393, 7.6786, 1.4237, 0.1245, 0.0122, -0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1962944517686910f824a993c0a9647669b820f60c08f4ae9eb4ac3fa61f33b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b9c28ccaf8002de496611947d4b6ef5b3a4215b6d29b06df29289bcd257a83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342bc5bd191fa777f45070913a3cabbd7fc368679dda67982249c40b37cbacce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEufGxDxBm4R0qxv6UXkt1okTHFUO0T1KaWIQ8B2Rlui9tgzudKTNQd-pC8n3VIKTodbeaAVh1bJlYvgqL1aEZcje5f7C7SbCTTeYEbu_wGPgxmmLJxQLrrv00sHxrMyMccEcIs2CQHmzjprBiieTiVhLGRoJPRkrj-JeF1xqiJJXXWgj2rx7SMV2qbJ-rSQOamqqtx303a-UqfvCV8bJW8L0oGJJIVDR2tEp-PMmtz9FXWqxa4RGcJPGhw0Eod6yo6OpF21UbYI3TiQVE8pLo3LjGVXJafDp-q_fz3q0N7Ca5Qmj3gmdS02GC--YGXmg6_yCXcD6sKjuaEDRQYsf6hUYrMSYSq1iLllSvIioHLtlSwbu1TDCAGonr6iGwl_mam5J7mAxSl24PZRVhZCkIWvzaAxbCh45RUZCvyDeRP7OEmPPe0PZIcetL5WiRIteKj9TOBcH0-MGEzx_BLHN88vEDee0p7AphB3EDNqpWtsY0b79sy9tdWF1UdcAYYviOTV6ZPGajlVPnPv6gy8TpsY1dXj34z9ubp7TxOGYdtM8IT_bcpXstSZ56V1f-n15aWt_faHvKicqGeYj6Xjq_APjWPz6iHQjqk-RT5-VhWEUhAwn9qPB3-MPNIc24J38kAuhv5BxeiW5Hpe0KLwEdPGygl8yX1wpuU-8zuUhfKmCVGi1t24wF5GFtW8HeR3QOWE6k8PhnQLPHBeAusTOYNlRgs3ErTQPhsxf8RFAHnOFfMjF7JjaQjkjOR5BVkUms58yDr0bBuOGlzntYfcDoIjgbxgbiNYihgQpqaQKAQfzQ7cmCCRSnL8j9R6C5pMMOtPgBccLPIMk3Wh3q_V4SS8yR16uJjPY9JVyWxE1UmJKOBP1FZOfwZZ3A2DUhvpBfa6mXOCrqQx_524bzuN8j6NkmoxMdnP5INcqDBbXb2UvAj1btNZgZrWjy_-4vBpvGkDyjccuRUDMmXGAM4QZO0xZmSZIoTjzG0i4yBTdioa_hx5nGWX_ov92_YpDLVcDxxgyI_XfMR7B0yu6G0oJ4OB6EegFSSbIcwvLCbimsYRpCkW3JsBTc2dfPH8SDSJSaZN8ywaLT5-_-s-WksH0bnZgKkHxwceA6-UP4eLQE2GBRYw00sHg3sMH3a7I5XNXIQcn32WBCDWxKevowu2xMbm_JSIubigp-rc6moqqiFUnzr7hovY4NL3N1Ia8ZEGHWjcEuzNnIh55VsiejV6iHbJcG5Xv-MRJ5YdUbbVl6dEObAG9_1XpoTAe_lAK4MS_qJlgCKnMtrL8COO2s53Wk3T15HCWoNJPgRJ13XAkAMBRiYqQrBlUhzRRp5zooc7DbhwvJouDxO-So7i_cFRuGsrSFz8vb-quZfBp_IYV2d51azQQWy-IDShLZhlTyFdwHtSH0_pxoVzZytoMvVsPJjuWKfMZy8gwjkCZchau_btTMw3f7b7zw3bkXytuBWgzF1D3FfoEX1PJthmZ1Y06NyVRuSG623wJiUjV83PL5MyKcSKL_HhvSTb270_Lm5xb3WJkK6I1phajVHV2gKY_t9CoqXvM6QnG8bqwlZZu3xI_-Emg_9UzdOOWvtB4abgUpzpBeTYAMSJNti-2A74525OpDVtJT8NFw-MSCsWDV01vwahV0RgCQqEuwAemffCDkSYvsCA71K_lciqm5jZ7zP0IBamLuhWUVOtZ48jOuZdiWFREPESWeTwG7_RVYJlRMEVqp_FLq5RSC1JbvlEQpmcWHL-FcxQYvg9uuznwPlOxUKWgb_eDplcIgIR2P97oj1RDOfL4-TdSS4rpkFp8sB1Q7U4oMV1TSYmRYEf0aV1xwv7-xrBmldVx0aCicURBSN1IVm3dKxBzBgq1Aoh-PF5WjLjgfKu3-cxGlytBPv8KwIwilmZKo8D14PtJ4mfe0ha5H2u89mjiQMwWM5yxP6THyZNrACOMM7NO4p-fkiaXJmK0vrFOEyULo90ZgS1QcjqHkKkKMQcKCv5m5ohoS1FHLfzO-EJPdcTVi1OJq46eH8gLkQS6r205bYBInz_1gVpZH7JsqZ-cCGV5roS3NHdSYVFtNIkmJp0Bw64fiBY-qaB9d9Q_x36-4uyVTi7VGn8FyJ_GFnIwst8GpOhEd93j0O0Gkqj8pykbVUQGZ3NnsSglcPA6XumxB147Jx0O3UQzb6tlbe5k6ErMiIjmdoLm9Xi5tWoRp9jxaYrHxN11l52R_Bxolp3qCGkdufd6hNcDTaIHllERHf1zHnuK8_Nme8Tqrr8BqKm16wsEBDFSl9_3M-8lueaxodravMF6C3nFLw9i5QFtX-2YfxqEP-CvfZvHu3JpKJ2KKL1vVc7hKfLvQUMYc5Y3PkX_WNc-XpaRarrJa_IW_Fw5Xu-17yrkXRnYCeXYe-dStyRcUrES9ZafOdoUY0hkQXDX9Tg_xzVsGHr56JR3kSo7wRlU03zW2nS2IxwKF1DgmX1ssWuzjS9Eb_2M15vDc51SqhjH6zg3XZNXBp6Ac8B2_eh97C-1_FPoAaBPUIe5g-UNgbgHY4vMhncozuz5VH4IqU791xG4W0SLiLOPu52J56AIF5h_fwFo2erdZU6H3eP6Z75d2-W7PRGbULOyRzbXyUj5UN",
  "id": "rs_0c7f7214d30af8dc016ab4412a9c0487d0b735b4e8d6725fcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.452,\"right_y\":0.175,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The pear bounced over the far rim and is now lying on the table directly ahead of the right gripper, centered in the wrist view; the blue bowl remains below it in the image. I am advancing about 4.5 cm and descending to re-grasp the pear at the reachable far side.\"}",
  "call_id": "call_mj30M6iy8zfbkftDdd80nOJg",
  "id": "fc_0c7f7214d30af8dc016ab4412d4ea887d09488df784051e046",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mj30M6iy8zfbkftDdd80nOJg",
  "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]: [-0.0212, 0.8127, 0.6075, -0.4492, -0.0139, -0.0311, 0.9987, 0.4877, 1.9472, 1.2179, -0.2283, 0.3386, 0.1558, 0.9986]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0854 left_roll=0.0004 left_gripper=0.9987 right_x=0.4462 right_y=0.1744 right_z=0.0455 right_yaw=0.081 right_pitch=-0.3199 right_roll=-0.1741 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2923, 7.0496, 1.7558, -0.0415, -0.0464, -0.0122, -0.5128, -10.1812, 6.0923, 1.5604, 0.1978, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb2fcc1db681461d8b2e8a7d0a4bc0a9693915862a78bc934fc211e5970a29e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36cebd97d34d5f4797bfdabcd8f291de2480cec02a94a6b74257b8af08cc66e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff78825bc4277ef9572e60bc2641d0da43f92289ac0597667a38bd404a51117e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.63 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]: [-0.0212, 0.8078, 0.6075, -0.4274, -0.0135, -0.0307, 0.9987, 0.6205, 0.9829, 0.7269, -0.6075, 0.448, 0.3023, 0.5]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9987 right_x=0.266 right_y=0.1004 right_z=0.1535 right_yaw=0.0567 right_pitch=-0.1856 right_roll=-0.105 right_gripper=0.5\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6874, -0.0122, -0.0659, -0.0122, -0.1162, -3.1248, 9.1556, 1.4823, 0.3492, 0.0122, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8124, 0.6075, -0.4423, -0.0139, -0.0311, 0.9987, 0.5476, 1.6878, 1.3506, -0.6094, 0.3832, 0.2165, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0782 left_roll=0.0003 left_gripper=0.9987 right_x=0.407 right_y=0.175 right_z=0.1601 right_yaw=0.0721 right_pitch=-0.289 right_roll=-0.1629 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 7.1863, 1.7216, -0.0806, -0.0806, -0.0122, -0.2256, -8.2393, 7.6786, 1.4237, 0.1245, 0.0122, -0.0464]\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 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]: [-0.0212, 0.8127, 0.6075, -0.4492, -0.0139, -0.0311, 0.9987, 0.4877, 1.9472, 1.2179, -0.2283, 0.3386, 0.1558, 0.9986]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0854 left_roll=0.0004 left_gripper=0.9987 right_x=0.4462 right_y=0.1744 right_z=0.0455 right_yaw=0.081 right_pitch=-0.3199 right_roll=-0.1741 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2923, 7.0496, 1.7558, -0.0415, -0.0464, -0.0122, -0.5128, -10.1812, 6.0923, 1.5604, 0.1978, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb2fcc1db681461d8b2e8a7d0a4bc0a9693915862a78bc934fc211e5970a29e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36cebd97d34d5f4797bfdabcd8f291de2480cec02a94a6b74257b8af08cc66e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff78825bc4277ef9572e60bc2641d0da43f92289ac0597667a38bd404a51117e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEE7iyRCuaBl_yldZbOmp-X3kR3RoXJZvgP5FGhj62kR4fftlt8DNfl89P_ud4Q1RGxcyIdcrZD5VUWyWD-u34MV0TM_-2sKfhoUwVXYTPs06clog7L55sU1_4uDBZAcarBvfkt0GTEmbdsPaYpClah05LsgpQSm8JQUwxeYkUoUXJGCgChAsu6uEwWh5usuxppHupWb7YYEtKac9lKueXRnOoseGJPbGR7J9cMpscN2Gxzt9MT8S0ROlbakjwSS2HvSbrYJ4DvHuPedtLl2RTbv-YBAmdlOfQXgEIGZZZoXUTAIa-HcCsOYyz_68bW8w6qKZYfS_orhlnBK2bVuosE8_TgZs6j-nEnv2m6xHNMulrJ6gffa-VzQ_cnGiUJYH6LelB7GtVt25AIWmnnRm25RJcCP6KW-k1JDsZmoo3HAodMAMINzkqFektCiQvTClgm4J1mIQmd0fcYupudGsBfo-LwjtbS5Onzy8LNsPfzXv09okh_S0JC2J0UlVKeQ4HbA4Led1FvGL1J33MBMkZzRLfSWU4AFZV8IARrcEFUSYKO2ma1qNUoV90AVwHAbGBt1oPFq7cMttp8tMIQ1nfaZgadACGMIlU0_KeRPPcJilDU6bll2AC_ehbdYEhFO6Yj7OjBjMuJxXTGq28cioN9tc-8_h8eI-c0maj29zYCmKgbIb-mkqCvLVmNZJQNimg3NsVzme_dVfkA9tQ2b-tuknbho4DxSwPduCV5NOkDJX-lZ-et2ysLOzJBK0UFh2QqKSKl7xsSPRuPTOwwiWkF2e7GQIt7IZUV2ki8KS1x4izgTBjWID0vTgGhdeJbke4gvU3dP7KjtDXOUgayug7Z7Cc2W6Y4-5O-KyOP5-F1CdETj59uw2jYNqflvtJSc_8ViUhBGc9mcHh33mSnBRaO6yMmpACIwZlvAm--cnjC4UhquCmbiareX1Y0CvRWC-fgFTWKp_J2mCvtkrf01aMg76ZESk7Es2YQHKO0nOYJNl-PVKhL14-hEqWmf2vDhFrlDYKypHMpk8AJXv1TQzY0AlZpbt_rO5ql1VhVTiXRz0n9mM7xe-r2hbRoXJvQLbz4YGkZGaMwx1E4mSNjzacpj6LaotgaPqTrMFBSa43_Um0c0OJA77aOfhFXO78mSoV12CMQMN1BwUk0QOtfCimM9zgy2JRvZfhQnS-ak7C8y-Ti4adWuesxCS77Xwa60Y_NXVq7ESJx2IaysYH22FlP3ZEgy1t8PoMDZzy0mpliAgbC_e0Yqe6E23tHOTwJ8rG1Uz0orOLrA4CQ_CPKdLvh2mZy29glH0gRXCg3KeOUuNbdFrMe5KvIw7wzqPxP9OoHHNx8zD_pbkge2yBQN50-UHu_CgT_1FS9LxCoFCFDG564MXuA4P7HuK1CIgT45TI4IL4VcU0nhGYEkyjC-mxfX-bRClNOmRWYuibriNl8PaMcV38GVY6Cjkwk0Sa-WXUWAvOsvqs_pKCuYT9lqCdtpa_UH6OKFFfzk4z5iv-4UdgHXQzj7t9_LoW8XWtLXyFHoMIS5Jk0valakqpQXKmmiJfii6DCMQms47ARvt4phQWxvoRypCxG_VJp8mkHPG8Zny8axmdS64QpzL5n6MDN8ho6fAa1PZNxBWty3DkiBgLSTFisQMEvV_erCtWoynQA8-NMAdlhQVgjRp7Rs3X2Pr5YuXGBNrLuQW_W2Ip-GWoUr_skGmng7GHEBjd-Tmzgq1P51mkzeSTZ2dT_edkSS4Xh31t778TEDqlAwo0w3tcdGXQ7tZ_C9LgWpXtuSZS3YUc2P5-l9RpeiWP58pBamaFYXNLLr0p2ljKPk0avmdr-6gxIthPYHzaGs21Dy7MHWJzwJoHKBGFkN0Q1bEGmhlFi001OL4hafB23B2fnfBziO7ZQkpX0An527a9ebFLxSu50SSqMx1bDzmiRvtULyB4sj4F7GHJDRwpMIgz1LPhTDNrGAe7vEPK2dADWNZ5v1TouXPWR2PBgCHWnfWlZF3URU4OErVs7CKSqxaLvRuP_yZpAYQczoZwCNHrtRQVjaOybyrmsXIzgZi8uksqEuVtj7XR5trHNmFWkSCCoLAecMn0mo9oGYvrxM2UdzSxM437SAGhcVF1Ll1IQIk2_9KpH-m6jHSZURckZ9cENNzfCH0iz4nrOrFXIDn9d5kuZRTA1g9sXwUmfpjNHW9l_YSRp4POS9UNMpA_QhxAK6pQbxKXG7qisBb7zLWQN7_BF2x_0Vfu-6QoGp2HSqceBlONk5vmspMn438kXXSds_IfJ6dGLz7mXguXhYkwVe7dcwyKQOQFMvIBv6VWi5V433rT4c3d_1-hkffRFJnnIrx3hfvpO6j87-PweqxewzWDqWZOdmLoVn0HcTDSyy205TkPZ8wJM9PzLeyO_u4vSKyu6Dqh0GPv6gBVXIWUHI2MzJQBopoxKXOA5mRdJFobkqJkeuqRlXJ2q8JX1Jpm5bvMPDcGU3NbmZEUNOBwPMCzD6KBnv04AcbZuLxF_ZfrC2CFy1GTNTTulR3GskraZbQdGeWvcQ2Bv2EQmQB5dbD08fxfPE_p5i1JceVHMCD0CzGNS2fwGfMouzxNtYJG7ZhotTwlyJHH5BfiDVAwqSvkoR1MbZxCOJ_Y-OFnF7qivVNhDEsxEnhysAnHJ4f03q7c_tQVAEs8DA2XiYM62vnw43m5u38Bh1CyuvWD4JGhARMcvpkJKA44oUO93xeYcJ_EXjLn_39ZHSbQXnHXqkjanfewR1VurmLenF9beTdRl1WHgi0WIVB46mWxxVXDH3Z164-QNhM2K1Ea-fWii9lI_q_PQOxAJNR_8Tf4VBNHnqahG_PGJKXSzF5Itf6RprnPSqwts1_Hp9phcJt3xVGjvYUq5Qdfi5debK6B9oeeySvoH2gNOIxvKPGlyAenne7oUZyvEwn6clRyGirft5LkEqlC9s7Az0JBAReX3ZAjw2c_8uXVrOPSxXeCVSjAc9BVlSaCGKV557vbkj3Pywbmhv3IFFNbmvAITWme64ccrla8MF7LOR49tdfZH106glIOqNY0EN1UC7mNkVa9t4hFhj4x_ND_KBZcOPKf-8Z4Jrh8lNLYuIx6cFV6l6_liuNmjW-ACaFurtphwz27PivmEav30T7Ij2Svqw8lXxUlTQ2C9_erEoJhyxw7-ojPhci2TRjhsmROOlud1XhEonkCDvuEhrW4EjzZzW7VPytbMxDprj4OiaP_PDdGdXqnqIZ8_LGGRjYNkXH1W1HfrIKjidLOKysCYg_LAQ2msocdatjbIKiyfQFlZdx16fSEo1-1UDjX4V1F3MdiGBBzEyHTWxhXP7gpPzQsMG-wnaumiOyDJ2zLY6xve0OZgo4mqA62RwAnFL6zfaQx5eFvWQPMUI8G8U_HL7MPqVbGsH94Buww==",
  "id": "rs_0c7f7214d30af8dc016ab44135796887d0b2dcb4abac56ee7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.27,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The overhead view reveals the pear rolled much farther forward and left than the wrist perspective suggested; it is near the far edge but still inside the Cartesian box. I am raising and approaching it at a high pose first, which is more reachable than dragging the arm outward at table height.\"}",
  "call_id": "call_1TkEpFt1H1CD6ilirnffgUI8",
  "id": "fc_0c7f7214d30af8dc016ab44139fbac87d08c2c9da8239ad0a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1TkEpFt1H1CD6ilirnffgUI8",
  "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]: [-0.0212, 0.8154, 0.6075, -0.4671, -0.0139, -0.0311, 0.9987, 0.5484, 2.6495, 2.542, -1.1137, 0.3538, 0.1833, 0.9986]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1583 left_yaw=0.0014 left_pitch=-0.106 left_roll=0.0009 left_gripper=0.9987 right_x=0.5279 right_y=0.2549 right_z=0.0487 right_yaw=0.0594 right_pitch=-0.5487 right_roll=-0.2968 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.1419, 7.1453, 1.8437, -0.0464, -0.0562, -0.0073, -0.3214, -16.8821, 8.2803, 1.1013, 0.3883, 0.2125, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d159d6f33ff39f2baafa04ec55d81b05f70bd23b591e3d6b9b68e277a5eee2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec850a9b7f679b7ef15aa63e77d1963ce4ab82455bcc1c80711004fa25dd2af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f25718974133b9d48b7d9cd1078ba32bf2583a86a7a733fff2edbd215dabad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 11.32 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]: [-0.0212, 0.8124, 0.6075, -0.4343, -0.0135, -0.0311, 0.9987, 0.5457, 1.6871, 1.3613, -0.5964, 0.384, 0.2237, 0.5003]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1655 left_yaw=0.001 left_pitch=-0.0702 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4113 right_y=0.1766 right_z=0.1664 right_yaw=0.0688 right_pitch=-0.2665 right_roll=-0.1468 right_gripper=0.5003\nstate[joint_eff]: [-0.253, -1.6615, 6.9949, 1.7216, -0.022, -0.0513, -0.0073, -0.6769, -8.8684, 9.3333, 1.7607, 0.2418, 0.0757, 0.7546]",
      "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]: [-0.0212, 0.8127, 0.6075, -0.4492, -0.0139, -0.0311, 0.9987, 0.4877, 1.9472, 1.2179, -0.2283, 0.3386, 0.1558, 0.9986]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0854 left_roll=0.0004 left_gripper=0.9987 right_x=0.4462 right_y=0.1744 right_z=0.0455 right_yaw=0.081 right_pitch=-0.3199 right_roll=-0.1741 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2923, 7.0496, 1.7558, -0.0415, -0.0464, -0.0122, -0.5128, -10.1812, 6.0923, 1.5604, 0.1978, 0.0024, -0.1587]",
      "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]: [-0.0212, 0.8154, 0.6075, -0.4671, -0.0139, -0.0311, 0.9987, 0.5484, 2.6495, 2.542, -1.1137, 0.3538, 0.1833, 0.9986]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1583 left_yaw=0.0014 left_pitch=-0.106 left_roll=0.0009 left_gripper=0.9987 right_x=0.5279 right_y=0.2549 right_z=0.0487 right_yaw=0.0594 right_pitch=-0.5487 right_roll=-0.2968 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.1419, 7.1453, 1.8437, -0.0464, -0.0562, -0.0073, -0.3214, -16.8821, 8.2803, 1.1013, 0.3883, 0.2125, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d159d6f33ff39f2baafa04ec55d81b05f70bd23b591e3d6b9b68e277a5eee2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec850a9b7f679b7ef15aa63e77d1963ce4ab82455bcc1c80711004fa25dd2af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f25718974133b9d48b7d9cd1078ba32bf2583a86a7a733fff2edbd215dabad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFA37Anm3jbxG9H6DaQa9ccajQ0wcFj3NSmpKnx9YW1YOz-QkTS7i_-lTSbEPguuPQ8wzavyh_8Sat-1lSAmoMijP_vCHqKYBZ82TM4R3e5in_3zy8hBacLPVhI40Pc1FGe06Y2VdnwX6q-Z9Nh7cvaZ0Y-GaKW1DIUPUMvwKT6gj_z3qgurScF1ttBvd3izgaz_zEb7-62IIouk6--p-m-wIqHSeoxr-oSdtwHarOMZVOG3rXm-8SvAvAwSk9D1HtCcf94wGMqNZKHt4cpjznO_0IE5_HtDurBvZdWj4Hjxax1lWPXeupN1BbwjQzxf6JXGL0QhR1FjkDJt5a9ghpVIJCTzCA6B8R0cGAo-hTBJVvm6a2oVgHLxQmHn7kwWqpJyPiuH7Yzj7lia85P9sjMDs5_xGpYC9_4O7yWdoqSkkjDzjSh_NMeefQvd3q6PMeM_jRXUTvMO9tIHvqAQRxAacPDyNqpdXOHwzLQANOqBRBg8W-8biCmxNcJd2JqvY5nJ4fGmLyAwihLoCDfcMJhikfAFL1JQnGH0-HV0I0xl6kp8smHhC_9nf36fh2PMze1Ia4PijDOiXegVN3Au6fbUpM5zE_wabTUFoBEbz5eden9wNGy4ZNAihYk7DTdgsDEHU_dZSP6YxXZeFTCe998NV-k6QzNBYh6aP6okH3eOTwTCQecDLVXJNJg5D66Xwbi7WrlZVK1iiLJPkJgzxo1aS8PNuQDOLw4SGZpLpmXcH1hvWb_dNLz4LLxFgwUT8YvEtk-ndjG-bEXpIFsKaH-7gz5YvkOu9MnMCSJ-Pp9xEuGGlEKO--PDUT3r9-paYBe58Rb4jcdEwliG6k1WLcIcwaHytt3IPs_wWCRJYucx1YW1v6-2uQRCxyuN9wIO78raI4BU7RTMKdsHNV595zO-kOFMWea_Yb_DkBOSsaUF_SENYZb2ZRARONB2GjEDNdVdEftl7tI2aVjsMAjUMzX4EDsgLuEpT3RUxCHsKfvItILIKa-6maQRMmWigJYAzy9EeN8GV1gn8ae4fiX5Lu4K_uCbpda3cqaHEMV-k-qlj0SPv3w5WeqD6VRsyIpFp-R1d_U8H5og8k9Zgnbg5E2SMCdt7OY9Bxl6XOfbIanR7no7uIyrNuvkXdmhzsD7ZxoQWPth97ZRau3E-Q10aCMwgQZVhuEpzdGLwbvy0uWh9jCtloR0eznZ6huTUiuqinHx2CFPpgz_IbMjeceXCJxa-RB5rl6VMdVHPt7DL_w5tt_InCr4dofQTuaFTQ30oFb9-ZVS_V9iR5NQdtcHuCqQTX-srsBG_012z9FYREyAYHa8wZ-07jk52ArLHqvk1yVJrDcPNTWyVzARJwRYdzTrsOsyIr6Nd86elD23-TpdHgVQZxVPauk-kWe1s_Uds-RPb9_cjyXHI4uWWQzxVxS8aVO14VelPVL7dtKcy4bUuQ0w_z9NqYKO-Yuas2le7rWUIVKmbN6bOUmTGQwBMGh7zZ7PLYX-WLKEUAk-bwNpQwhux__7Dw-nJahWjWQaVIt0DHbwnKAVtWcv8iIuBZtvzON-A1a4Ifo4HO6sENLztRuVjL_VBUpmH6UqfoaDGulRrjt5aAloHfrP_CzkYCl-95ZerF70qqTqz2PGZU2X-IYWz5WQjL0I2q8o4syiOnZrgCo5jVHEs7Tm-cogaL-PyXRtcHEpA322imczbZJ-YX0-k_ZoFcMxj1eySkcY6aULZicZ9mC3UPrsVXSTDCLeGFhE3ze15TcSN0MYEcwmk_OKwofbDfH02ZfD3FJBK2fMJCSa4q3olAsaw_MLEJyRJqHw7r4m_wn4qCNky9v71IiyFa-WGpoSrLLSxXvn9HHmMXK_yT_2fgk0oBJ7-iWGHobHzPQyHXGnV6Awu9XPNvznmnfNmALzgZrrX7GoZ9u",
  "id": "rs_0c7f7214d30af8dc016ab4413e72d087d0ab2d445972b3a408",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.31,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The arm reached a low extended pose at the pear, and the wrist view shows the pear very close but about 6 cm to the gripper's left and slightly farther forward. I am making that lateral and radial correction while preserving the reachable low pose.\"}",
  "call_id": "call_JmdBurnFZ2sm9L6g4vkbEezw",
  "id": "fc_0c7f7214d30af8dc016ab441400ecc87d086c4fe2d01ed62e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JmdBurnFZ2sm9L6g4vkbEezw",
  "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]: [-0.0212, 0.8192, 0.6075, -0.4759, -0.0135, -0.0311, 0.9987, 0.593, 2.8937, 2.9242, -1.3293, 0.3878, 0.2016, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.1556 left_yaw=0.0011 left_pitch=-0.1186 left_roll=0.0009 left_gripper=0.9987 right_x=0.5177 right_y=0.2726 right_z=0.0194 right_yaw=0.0395 right_pitch=-0.5966 right_roll=-0.3667 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122, -0.335, -14.2838, 6.3932, 0.6276, 0.188, 0.1343, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57cf81a374a11461ab9a48f10980ca2449781c1908a5e5d89a36b003e09c9ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7990eba496e8935da984307240c7895ad5a40733aec8ec373b265c083e640dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eabfcbb8465a5776c455f2e6a6c09b8964b92227fab15a8a24655255589304de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.984 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]: [-0.0212, 0.8124, 0.6075, -0.4423, -0.0139, -0.0311, 0.9987, 0.5476, 1.6878, 1.3506, -0.6094, 0.3832, 0.2165, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0782 left_roll=0.0003 left_gripper=0.9987 right_x=0.407 right_y=0.175 right_z=0.1601 right_yaw=0.0721 right_pitch=-0.289 right_roll=-0.1629 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 7.1863, 1.7216, -0.0806, -0.0806, -0.0122, -0.2256, -8.2393, 7.6786, 1.4237, 0.1245, 0.0122, -0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8154, 0.6075, -0.4671, -0.0139, -0.0311, 0.9987, 0.5484, 2.6495, 2.542, -1.1137, 0.3538, 0.1833, 0.9986]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1583 left_yaw=0.0014 left_pitch=-0.106 left_roll=0.0009 left_gripper=0.9987 right_x=0.5279 right_y=0.2549 right_z=0.0487 right_yaw=0.0594 right_pitch=-0.5487 right_roll=-0.2968 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.1419, 7.1453, 1.8437, -0.0464, -0.0562, -0.0073, -0.3214, -16.8821, 8.2803, 1.1013, 0.3883, 0.2125, -0.1538]",
      "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]: [-0.0212, 0.8192, 0.6075, -0.4759, -0.0135, -0.0311, 0.9987, 0.593, 2.8937, 2.9242, -1.3293, 0.3878, 0.2016, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.1556 left_yaw=0.0011 left_pitch=-0.1186 left_roll=0.0009 left_gripper=0.9987 right_x=0.5177 right_y=0.2726 right_z=0.0194 right_yaw=0.0395 right_pitch=-0.5966 right_roll=-0.3667 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122, -0.335, -14.2838, 6.3932, 0.6276, 0.188, 0.1343, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57cf81a374a11461ab9a48f10980ca2449781c1908a5e5d89a36b003e09c9ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7990eba496e8935da984307240c7895ad5a40733aec8ec373b265c083e640dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eabfcbb8465a5776c455f2e6a6c09b8964b92227fab15a8a24655255589304de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFOZIWCV-ZQpwehd697SU46Y1hKPztaEyWDlFdbDMHynl3RLJvk7CNeRHMpiZ7Ic3rGgzQSqCqakArDYvi1q4C7_0lik1zHH2bxEueyNzlZpLlOUOe2oTwzum9c_8BmMgG3IYO4SQ7CFRuC8DEniWEzj2EFUsL8WHLAbdJIa-ocZU8YEqPM0X3IrmgYOPNzmQY2ttEAOXEw-njXt4hXVB3K6704Qg4wexvRGF0j4A-eSRJF-6ixRZER2rW0rUP9jKajrNGfPXYBZUW40Q5LGQXs5sxUKkmGeiuKkYBzZIH0MyCXwDK4SG1WLvslJp3OSF7DgEq5xfYWOHjhWs1BZK_oErC6QZ08KMUqMkIROfA_VGyJEh32d6cSRD1UCryT20-wPzMw36CSNH1obdCaUpPZSEQzbA54El87i0FjQLWsnLPLHa7cKD4ySSO8RPk1i_3K1nsA6K77viDATv4uBcWHaqofL1FicUuajicm2_tIEwgvrEk0OJG2y115J_t1zlKlMppEDW8F44xDGbBGeEdbnD0yPLTvBdsaQFt8nxspnZD5ajOL-T3gMsqzJgZlk3tKGnqolEC2UuIzAIWw6uZKk_yRoFI14TiwAhMyae0HKZWoWMPbYP8bzVnSw2sqQumy8uOdH8ha799nMFKZCaQ-5zMFOXZwyc_S8kvCieh6fjzsWDZSNSyc5wOnYc4KhyMQ8Ng7yELOwITjJNfK-SmqogxulqsQ81PCkhh4mS_VKktweESnDk9GN6Xof1npVN950nNf3ddfYHQKcNM5JffPLi-UgIRdidikvBfbLrBrH9b5cW9p7v-BurVuXzrRhvuJG6hrEeNLkHsiO-efIckxoKa0X3qctfhy8Nw4TQJz8JstIAPjIKbnb5yx8WKdKxgspjuVjLHKXzzPJnstAtwCyJ3bXZGQjHjNGtrTtIL6orM7OIQCMMy4KxPsWFXUy3H9fnl4XD4R_Clm1fj8jQVYbyk6WkygLY8t0SAdaDIWhP64nndic6lxyGW60LTivTRp223HD6YFezzuiYCYhBho0HZtXo8QNxofHKp9ZIud4fMEBfIUAMuaLMaPpq6NfFBCo8AdNqPTVm-1n7lNd7McqyD4g_HwXEJAX0nH6eWnx6pigl6gl3izD3emoTCLyyi2yYmjEvULX0ipfVobHn0vToKVDvVfMbtMuPOp_DXHdnUnFdS7RHlB-XqI2iVkZ8qb0aFyD3ocuXvA_MfKm22f3oRtMh6VBhgyONJegQ3q9_-kK4Zx4LP2FkbTYyb-F99YEdOzbuQfqRxdGJwe13US-mzy_c3IUuGkRN8HG4_EH8UERnEyn1h6PE5cCF2sJhu5N_sdWURNpGyoK3xfpnJLIn9sALyKNOCazUGtIUVfhNj0XdKILUFLEwCwe4HzkDVtp-ArIRjWLZVbzgIaMXqpDnP4amlZE1m25IDZQ3PxAlTGuE1oFEh4brkN8DrKimz2q4OJHuC5dVhpKNRu7n7efNSLy3htKZXwYGFB0zdN5glb0p81Kue5Esp0CHLqgVRA-1p7z2dK0pMESSRTV8UkWDZo4hD-dKuRRBRQyz0kzAdtPOY7eOPRXCwTF2DaXT4LkMN_GgR2QLrUomAmn34Ow039LqOGHIlRnotzLzrZxhsF6i_SF8xOFKTaLiOXAXKjWpASvtfssVmecknwR56G_PqmppbrGXXBgPmS9rv1rCIACd_zDKdRY6pkUSd-AgUW2ICR6y_mIvzm5X5PAkSXdig09orOb1p6VCSpwa4MVmlA7gdPO6EH0XBShEpvcdbKcmFJ-Z1WAM-HYApPTj0l2GVd8VRyXYknOkHflIp-kYw2q3CJWFa3B53Caaaq7f8lIizXm9xLHpvkEIIWu5X62YnBw4k-rMnnyDEIwnBnUNHBoTlrb9kNfLZr9O6T2Xtt4lMDg6bX-qI1t2cDpLWWnviZo4OcKY_GdBRyK-xIyLMeucUej1-EMOlWqgKB6T_AxZT1TLGdhrnchskpHdtfMCNNGs8e7nLgjk_iud4SfOMU8tyYgJTGig9A2am1iSdlxW9M2ofamdAGfVC-oJ_aMFgh4quRalkI9E4hyDT77lAONEIuMt4C6_4w1MbM-_qxNWkDpnFusMHidp6ewcIVscKzCzCMEdxfS-EdTfbn9y6ujfOk5kUZBjCofd39pHMBBYguzLEXwAK-r8GDsSaPvpNsAvF4TcZ8lR5RW45EqqpsQEl12_oC-PkHFQQhWi7KidbMIChg-NuMEHHzZllv4i5Kspgq4HXhpnfMVicirV6Af52AGrEfgDwMlBEAGmAnvVB9aintZ3OgwPh4xNLZ-KAoqhs5yuxooNjpT3M27xyFIp0svctMm9jpOevL3v6dWni5fQOtps54ujx5IiFnby-14RNoN1-UJwisrOzDteZlq3iun8z_Vup3G-SvbErqggGt6GVbSmtsB8m6X2MCNaZi9XWsj-3kVguo1BjIpgzQS4IkfuIxeEOv3sTVMZcl6po1iGM-rD9VcOiUFpJODrOGGx81gJPi9-n8-E6zQ8ozYmQEzhx9CmU1qOywP1texzsuN5NjHXOnL0qw9SclVjzqTyu87y9Y_SPVc2Xlcs6WtPcdGtDB7oDJFMsREqu-ktljSMAETQAwM9cq59_kr2qaLTc6X1AAui9eTzlA6ddE-nYunYGqWd-wc_yIS0neL5N-qbMdfrt_5aBfVb2NwFR5UOf8ZY4CyvBdzTufsO4GbRvlby5gGBSjbx5JMJi3DTdXPz7oVP52csayLR9AW5DBA25RdrYWwbqsCF88h7WoO5Jo8tktdbTA_4-Qg1gx-p7D9HN1HFdQPfRYRwvrE377EpTIN4g64LdZN1LbsrCXhlmq1Kr7FZxKjlLC5Buc8o0FbosxQq0g8oYibn9b9Jr8NcEKr5etyO-qYIiietppsTIoX9WPe-zbaFPavPV5eazIrgk1So3UK2e8xZ8sVkTfOtm0gxhFIiuBu5CzTyc9V4wzp70Xw9Otjx-Tro-NHWyxgWwkc6qqp_1GEttO8KSaKyku7KqajMLOjBbJXjfG8a9Dh5JXHHUE9NR-ZWryloY-6atN2_N2RnksjaKydEvQNjEJuvSZNbqZgoFrliCHWzgim-mCaq96jewgVQSNjBnmQoEUfaz_D_cqaMsMDsZ5BkW4e-LBazTU_JxcAziZTCYPWPwLzEn1h-JbwwXMoRiqsaTxFMsFGGIhqt4M2-EaZgKZF-fhFqdWE97-AduQW7okcWLEJ7B6OQUb3--wSI-l0do7TZ1UNOf3e4XBPMg7epxme8kD4NJZP2_yAdp47ZvkvtvL6SkaSvX6O5vE5QAG3fbyoZ-13hrW9tR9GQi2YWJsnKfs83FaaxKZ8_JghKMu3xSz9mkF-Hiy2h3MZbFgxyfqa6IZqNdIvpTlIPdq4OtShYElReNCcZ0XTasyva-KPCVzNXaIWedsm43qb4BVpPRWF3AqyQYuFu3AGdwxUJ4wby3IsgkiPSSuzObDDAuTNfBBcrWX7U4xvr-xnknmDqGZhq4Bkuxn2K9FrbrlwFDGtyN5s1uzysKph8oiYrGQzJWDnCTGraRgmTa-JskWMebw3-x2uA7ZTkp2JMbByKjV-Y9imFhtmbuSHUaghmcMDDzk2knxymsHDHqoDtLLMdOKDFItxoR3Glgo2slkBlXI2N0VZoy_zYfcpaXhBhnQA9hz0Eg_F8EL34N4BJXiR5e583gACTkfj0xMz9STnmpkjSxDaESrZy3q0MZww3x-fuRBqqBVnYDk2lo5bjYrd3872cMvR1u8g6ecRCAexIHzblOIa3_84ou8fAS48Nh8swON4SKTIFS9KB420X2b3Wls4We7_ZGc8Q_KEJ2BiWZ1xmKM7jfBC__UEMgfB2ykdqG3Xsau1LMdX_ftHdU6btl10kssd-Fy-jUEvvJQu3No61iaRtVldlB5CgVRrRsgGfm-nCRaXpQ95sWrzMPQ6VpwwHLY-Y7S1-8QQVKzD8kP1KYrHZYXK-TBdOQ=",
  "id": "rs_0c7f7214d30af8dc016ab44144608887d0927437fe5245deab",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFOeMNcvsYmRYsaXwPmU6j5phAViBp1NKr2Ho6gafOq5VxzCFxCjTL8Nc2qaC0qAzZ3FnMM4NCRoJGoCy0CqBj9j8BLE0ca4Uc0pXBt-OelxcYvsTg3XWZUxBAasIkYpKWtnYOFr9dIRTK7a-bX8q_SYfhUOvXMAPtkvFGgP4cqOs5u9itjhJYuRwt97EA4_Xkz_erSgbzbHJpwnFP84xfd4do6nrj7hRK5pa1AuJe1J2xL8Js4vO5KCmicaw9mhhxmufeiYqmF3mg1Ds6bYTwl1ZpqjXsYstbBc4YobDOTkCdGjzdVWxKvOnfhyqJNw6lZj7Cdhi3-yO__VkdqmZsRQIcOVYnSwjNfkIFifOdq1e-F1NRBjd5cmnJo2yV4ODmTub-l90VgZjIhQxI4tu7hTuTZ5EbvPv-1p5Hsy8TQ_VOzn-PfnfA6w2Tm5TLxcWYNqodlyS4loUDj1NKqts3pLrCuy2tmRBuHxPNhVNsgSUeIDcd6Lw-XNiRBhUG4BzhW6pz2vQr0SeXTfpx_NPa9PdK4DvEzd4C1-oXqtcz6JrB_hHey79rTsMJnBucWlipFQUDPUtbOzRRFsEpJ0dd947Ancph7V1XzUy0XujTugYYr_DfZqw7PM4QiJLLZpGlUk-QhI2tzyRZ6ClUGoO3qvR5u8riHp1jynnZvEGZUsdBDW85uNcE84jA8vo3zicZTW6TtiBA_T74robVJN-nbX7d7N2FP9VhVTyHj5d0pAL5RffEBM_UR-yJ5iAwBXYpTdSl33Z_AvThozqjw4Mt4mvauGlrBvGlzHU73WOB8tCThX2SVaZFGkk_1jOsHHqFqj7RKWoKjFJvKpafy26KCdsdx3XmQW2K8lFn6x65gkitGid3QGuEomv2oTPDlOS4wuRT_8_5ZrOPpL2P6QEad7bgG6uznWQ2L8Qylot3zk_r_mRVO3hoIU56ZnFz8XDkAqSSS_CwrvkqsbWucBF7rijzsyxvcBQGX8jukCAMZDKTqkGRsOXyYdlH81oOJ43X4KEuhiGgADP5rP4X_Q8EwnEHVEi6P2WN6E1tEyCL2G5pLnSdo5dtDMrxMU38-Jf7s2tUWsV5jORm-3Ntb6B7AkmvpYpI_I9Lliqt9kw82md1z-ci2afysXBaWt1JWfd_MNPRUXf9y3YVY23hfdSiZL-YoATD9j-YWEUesIIqL8aVncwXZ_Et0mJcPWJI6LuW0InBjweYuzstwoQtgs8BV687gOL4EraftYYUo_P1NHf9_f4r3qkb0lZmyADsQDZmMxEKrMoNJd0e1Sb1VE9_b8QzX-PR6M_G5DwOfK7eB1vOi0aX_sLohjyMblf12QgJe37PHoUdnHgAPVOdjpPsEXRTR8Hzgq7eYUAMZ3csZrU5JAVSFW6lMWqk_gB19wwLn-1h05R3kYy-Pz1pQA9JDscQAdzJFAtOAfM9NHn7D2-nTcL7Ap2qQTyM3SNRrJFD2l_EBHKEmXpA_qDV6iyAFMBl7vc-lUPn08MUgmR9Nt3cdUNQu2rSzzohZmZkQv2x7eFXnMi9-IGLM6AObN91ccXXzPMXDWZ5wthbFbAWZQlq3StKSU2Js70uaUPIqTEimGZnji1DWJBrqZAAedBXmTYPQhC7motW4bcMbFCfAXfNTcZEuwBIXhXbVQFhFN1nNEeccYRr8ycmrr8YOhoomIx9LYojIWK01VWDzYnQEpDAK43nYUcmj82DA_e84vhhAuDTpTe0c7enSeOEYTz72YHFS127fgI4CnUkC9b7ECtp9ov86g_7AWbzMa_q-PP-kLDRAaAU1PJrkoj1z3OhYfhHfHoPr_faDifB19YGROPoTeXyDlsAErX862uoQtuOkR6mKIeJcpvZMhuoD5AjXJDnLC3Dt_4dmLHaLgkk79t06bdjwZeVWr5FxoOFPLjMd4qsGDXmJ9SJ14fznQZ-83siG-_AFAlwWei_iumT3L9cCG8oKLyxBdONH_FLvEp331E9h85gnZYxIwVu_e9J6wfXGJHy8v9SE_MHHwR5wYqigX9ls42897zo8IRRQW9O9qBVHnxyTJr130jKu_QflZnf1yxsZ2eQIkWeVTo2zzdFr0ljYHonYgCPIVw0oYEOc7o4EnxwSQul2aYkQhKIVAjuiP3XBrevu6lje9G2CNG7V0tnEjlrhBEJynYr9Pf1cshT92f5Uub-Rfme71ID2J0lsTAJdiK1JOrtOSiM6pdU=",
  "id": "rs_0c7f7214d30af8dc016ab4414a09e087d09906a3b9664a10e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The pear is beyond the arm's reliable low-contact reach: both outward and lateral commands are stopping short. I am retracting to a compact raised pose rather than forcing the arm, then I will load the two reachable fruits and return to the pear with the bowl if needed.\"}",
  "call_id": "call_U3WPQdkQbh9Hj6zASJV3IUUT",
  "id": "fc_0c7f7214d30af8dc016ab4414c6aa887d0bd5bedec9fc92f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U3WPQdkQbh9Hj6zASJV3IUUT",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0212, 0.8249, 0.6075, -0.477, -0.0139, -0.0311, 0.9987, 0.6739, 2.2539, 2.1754, -1.2964, 0.3943, 0.2737, 0.9986]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.1539 left_yaw=0.0014 left_pitch=-0.1255 left_roll=0.0013 left_gripper=0.9987 right_x=0.4158 right_y=0.2498 right_z=0.1288 right_yaw=0.0399 right_pitch=-0.6421 right_roll=-0.3909 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.6205, 6.9538, 1.6484, -0.0464, -0.0757, -0.0122, 0.9368, -14.7214, 8.0889, 1.4237, 0.4225, 0.1929, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d109a4230f96f43715456132241176994c9db8e6db65a82a3aacc8ce35678512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce032d473916347d899c4036fcfb2da8a753a3dbd5130e43281313322d70ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9a77a9a51df4d79dfbf836bedd4281e0736d0fecba5b5a2de416a61a200112",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.166 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8127, 0.6075, -0.4492, -0.0139, -0.0311, 0.9987, 0.4877, 1.9472, 1.2179, -0.2283, 0.3386, 0.1558, 0.9986]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0854 left_roll=0.0004 left_gripper=0.9987 right_x=0.4462 right_y=0.1744 right_z=0.0455 right_yaw=0.081 right_pitch=-0.3199 right_roll=-0.1741 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2923, 7.0496, 1.7558, -0.0415, -0.0464, -0.0122, -0.5128, -10.1812, 6.0923, 1.5604, 0.1978, 0.0024, -0.1587]",
      "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]: [-0.0212, 0.8192, 0.6075, -0.4759, -0.0135, -0.0311, 0.9987, 0.593, 2.8937, 2.9242, -1.3293, 0.3878, 0.2016, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.1556 left_yaw=0.0011 left_pitch=-0.1186 left_roll=0.0009 left_gripper=0.9987 right_x=0.5177 right_y=0.2726 right_z=0.0194 right_yaw=0.0395 right_pitch=-0.5966 right_roll=-0.3667 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122, -0.335, -14.2838, 6.3932, 0.6276, 0.188, 0.1343, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 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, 0.8249, 0.6075, -0.477, -0.0139, -0.0311, 0.9987, 0.6739, 2.2539, 2.1754, -1.2964, 0.3943, 0.2737, 0.9986]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.1539 left_yaw=0.0014 left_pitch=-0.1255 left_roll=0.0013 left_gripper=0.9987 right_x=0.4158 right_y=0.2498 right_z=0.1288 right_yaw=0.0399 right_pitch=-0.6421 right_roll=-0.3909 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.6205, 6.9538, 1.6484, -0.0464, -0.0757, -0.0122, 0.9368, -14.7214, 8.0889, 1.4237, 0.4225, 0.1929, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d109a4230f96f43715456132241176994c9db8e6db65a82a3aacc8ce35678512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce032d473916347d899c4036fcfb2da8a753a3dbd5130e43281313322d70ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9a77a9a51df4d79dfbf836bedd4281e0736d0fecba5b5a2de416a61a200112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFVFfiYHEap5e2oKyx0T_M5Kl_bNpIQ9kIArCQEVk2BclI_s8U03r_5PGRyZa00oyEKKWM0uLuzYbMQXsZN4Il24KVERwmWgC28vfStL0d0yx8Aksq8ilkF_dhKkJhfnjgqwIncl-QEv3g1Lq5STQ40-FNT5m_E0F6Hn9_5A180rFlaOGA6l5zmbuRVY9EHJnN0wyZ-121_BMi0asydmDp8Ucz0hivMGcE_BCfGdaRhUJymqyQzqbt0aie1ZmiAl5U1Sz6S3OvYiE0w4vZV6JqNEY6r8A-lIiX-ew6RzgJ_Vib6ZViIvud50i6_YA7fxnRl3RQcO9xuFHf-XBcZ2Dgbr0rZF0KSFQgmW1O7B-q0Du5-8uCi5epsO9cOsc5kDS2owFkU0OS6_PxDJbHdmgHYIPJYSZN69clbbuDDNs7XHWdLMjPBXno7m1Bw3rXTm85mVYmX0kJNyUebhFOYFyRQx7-ftV5ZwcAMvQMaqMJ-Wt6jdJ0qkJw3zydOMBJYwHZjgKHCWg0nxZ3khLfptmqGI3Arp5FhcWupaqO3e_9AiR9MroH_8TeG-Xr1AxE3xhawPcnBc14MZU_JoFpZe0lysWwxSeXEjWM2NYn6ZQXqObS1d7H2gA9M-IQmzVZDxh6XVJm_mWjhwt0AJI1YZodOuP9is2NqQloDy-Acuau3Hc3HsHzojYjYllJhspKDVEJObwZWewEuWgZTAaj7uKjckPeMGsTQuItLMs_OeDp2qIF-CWmS0IqY9MpkSWIeWg8ZVeXHKJa13p_psvJnQZcCnZsETYcqLNNJSfW7BCDvu5zO7myXrMcOkDeD_j5pTpbktKmxmWIhVauPIFTS_KcaYwqWgXLJVkVwXRjotBHvI7s_DSKVJ64y7hNOYP9NmxGnmedNJ5IAJoPoWvFg1fehYvDxmk9haHovQwluGs3D5MQVjVqyjspcwbHsl0WTTA2K5cO04ve2-3fD4smRRezYHOspY8-_LeEhifgYgDhi6LSj6SbtgZJETQn3hpVaBFdPyq3Hwrjk5RfdpHO4BiRh3dmDgqwv_idd_BnLxKP1pCYYMOy4hCmy8QEhj6Qw0KlvSglDLbqiOEvItjdsbMPdHUyDhFiVFlRooxWrc0zvQoDPm5aNHoYvIaoryUdzHD2XVLfaVfZkxaN3pfK__r-479FvfIq74Wu1U7rS_2ynkAMstLxhTh9VsCa1T7Dpkqk67sjflqRkjj3qDrijYEUUDtO2RiYhY9pT_O-OdW6rWgNDzQnoRCLk8cwgUNi_uHludkKDMcxfdAJ_22AiriJQJzPqDui3dpcJrJnjbqym04i0TRRD_-FqgIOQZaNRcBNB8cj3d6hiWEFwTxaKUC2TsNjQzGrwx2gAhBWINX6GkWakHxICL1bL8yY_KWBDKEhbKVVShjfTLjytSZW-qnO2d5hvbtg3qYvUKe7Lxj9JlnpNjA6YAjyRjoBKlrhH0mfsccHlT2IoaCEXxcsqh4Nc-hTIbqLt-s_YrQAJW4lbC6pzhFgVj3OYuE_u6oXSnKI6t2JJg8_guzBzhtYVfKcXMKBrkhjHAdUGUUmEi-wZLyk18_0y5OQG_FaqpQek9hN4kZx1L2vc9q_PcO8QD1t2LuW9EK3yczL75H4Z3CKUo9zmpE61b9vBpeksG5cALW3uTPyjM51njyJjTePiF52u_SZSQlLDvzBjNKSN1WDOMHagwITXHbCQdaYATjtGJnE2Q7_dunV6EM-w45jW1eNXx_3kHZUv3UDvZv1IAYVEID4kKoAYbqpllotKBmj-VXemV97C3824tFyIwmI8dEGshnCiSpR2E3ver1uJmH76QMo7iTBy7JYfteawSfJAjuWAYCbK3EaKpWsqrhXWDQL43QPsN0cEGO7Vgrs_7wrQqR9FPQCLWrTqpIFyRcTVnQYi_66x49ysaq9LtEhG10m5iCo0oW6T7q9LhyG6YIzyzfUoHE6wkGr-58Iz_BQGWQOOWjDjmby5l1EoUA98XJTNFAf652lVWyoX58xF0rK7dq2Oj_pDdINKTlT7n919Scuq6Q1MW9iCff8KHAdkwFqwTEFJ6imcNPfB-dHqIxkMN3tN5H9y6PlHYXh9TENrNC4bAuJ0Uy4SPQqOkPUZhdopi4xJGd1nTd5eDfgFQy3kNzy3pqQ31x44f_-9hR3UwQnYSQ9lr_XRdVbo-ypWmZYpF5hLuRVhasV9hrPrMHknvZdx4pEzdsCnniyOacWFvV78a8Lt7da2fF3WodD89VrBwHyvvR3BYC8w4XJGiUZ2BcRniDNUUjgv32tb0FMUoojnyjOg0wz-m3p8nCaPqCrabJzIsi-pucCBiAmcIa5F5x0i-4h-LL8cuodFqcyVS_9l5v8jsx8aUI8fmnCbFinkKLq00_TiMwSJAtMDB0Doc-mpTJD6GE0Q4jPgwdJKyqP7XHL8C91g8Lot7wpZGiremR3IzCcu3U6_ayThQ-yJGQA=",
  "id": "rs_0c7f7214d30af8dc016ab4415130c887d0a7bd7bd45934000c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.31,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The arm is retracting successfully, and the wrist view now shows the yellow fruit below-left with the blue bowl below-center. I am moving inward and left to hover over the yellow fruit, which should also restore a normal vertical tool pose.\"}",
  "call_id": "call_7MIamE8PM2UNlljBk8hMzAy4",
  "id": "fc_0c7f7214d30af8dc016ab441544dd887d08ab21ccfc1925cba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7MIamE8PM2UNlljBk8hMzAy4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.0212, 0.8257, 0.6075, -0.4873, -0.0135, -0.0307, 0.9987, 1.1172, 2.0163, 1.8347, -1.3804, 0.4595, 0.7181, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1518 left_yaw=0.0009 left_pitch=-0.1365 left_roll=0.0016 left_gripper=0.9987 right_x=0.237 right_y=0.3154 right_z=0.1368 right_yaw=0.0637 right_pitch=-0.6256 right_roll=-0.4096 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2513, 6.9402, 1.7216, -0.0269, -0.0464, -0.0122, 0.2803, -13.2308, 5.5863, 0.2076, 0.359, 0.1441, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41578b97cac49aac4d1ae721c43a07e89314a78ab9104088011c20570ff45ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eada3daada939d0c3ac3ec0683a636c462730e7f6a68ffd96ed924b7f3cb2c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37acc946543e67b391df63816056801e5c7cffffa7112080ee1aba58d462ea66",
      "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 · 3.128 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6075, -0.4671, -0.0139, -0.0311, 0.9987, 0.5484, 2.6495, 2.542, -1.1137, 0.3538, 0.1833, 0.9986]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1583 left_yaw=0.0014 left_pitch=-0.106 left_roll=0.0009 left_gripper=0.9987 right_x=0.5279 right_y=0.2549 right_z=0.0487 right_yaw=0.0594 right_pitch=-0.5487 right_roll=-0.2968 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.1419, 7.1453, 1.8437, -0.0464, -0.0562, -0.0073, -0.3214, -16.8821, 8.2803, 1.1013, 0.3883, 0.2125, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6075, -0.477, -0.0139, -0.0311, 0.9987, 0.6739, 2.2539, 2.1754, -1.2964, 0.3943, 0.2737, 0.9986]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.1539 left_yaw=0.0014 left_pitch=-0.1255 left_roll=0.0013 left_gripper=0.9987 right_x=0.4158 right_y=0.2498 right_z=0.1288 right_yaw=0.0399 right_pitch=-0.6421 right_roll=-0.3909 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.6205, 6.9538, 1.6484, -0.0464, -0.0757, -0.0122, 0.9368, -14.7214, 8.0889, 1.4237, 0.4225, 0.1929, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 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, 0.8257, 0.6075, -0.4873, -0.0135, -0.0307, 0.9987, 1.1172, 2.0163, 1.8347, -1.3804, 0.4595, 0.7181, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1518 left_yaw=0.0009 left_pitch=-0.1365 left_roll=0.0016 left_gripper=0.9987 right_x=0.237 right_y=0.3154 right_z=0.1368 right_yaw=0.0637 right_pitch=-0.6256 right_roll=-0.4096 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2513, 6.9402, 1.7216, -0.0269, -0.0464, -0.0122, 0.2803, -13.2308, 5.5863, 0.2076, 0.359, 0.1441, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41578b97cac49aac4d1ae721c43a07e89314a78ab9104088011c20570ff45ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eada3daada939d0c3ac3ec0683a636c462730e7f6a68ffd96ed924b7f3cb2c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37acc946543e67b391df63816056801e5c7cffffa7112080ee1aba58d462ea66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFbau-eb7sIs_kQo11y6DWB_MXbrK__MBO4HCqUf4CbQVXesSey4o4ZvgqzbMLtgb3P2iZgVNV9yYPQBzZNLityrbhrF7k5gDo421OlBK_sD6latQ18YYd9NTeQ3yOxvgmjep-56nGigUFqiDzldFrOsUNtTuKGzrDbb1QBGbGcPY3GXNgrZ2z5B2C_fq6CYC4Y5FEbnmWoXeaApT1K0qv08sSUvrORD3qdD5a9LYaFiZd4dpxcG7sP58amiw5fYY-Ti3v6xnXMWGOSNha-3RpSKYtCa593xaFpYjZ2OBpdfIJhRJSZmL2-a11Px3m2KL7PkO-XisuTBT-sc7ufgIZTa26_aGUm14oKg2Lc_txsfnIZpt73jraEquLgjgNZggHvqcxVHnayywjEO28YaxxxHHJNa8hP9Xb04_jnApWCZYm5rqGysLfcATOkfJ5Oy4Bpcsmn__WrKrLvkrfAP-ONS9VZ-zbEUvxr3SlTSPy07PVbYCqn3nilK3mAH0fxsrWS8xvl764E-3yPQgLQN-WJlzhqTDVwPDom56EfUUdrRFF9QTmG1BOnOFvk0LfilFUVqYEnkhQKIXbF8Hug9BbE7z97VcZtW37RBpsVsJKTyDFUvhMW3Fdw6_ImQUDXliIRiPEodP8SkLFf-p_A2G8BcIr5f9LEe47LzyNdM17_S78EzLNUO-rEYdrSt_LwXKAl266ygoBuQCd6QeKB32Rhhq9__7WI1Djsx9kGUwY5M9ygtqzMg0XThO7VqK_XCoJcSMsxkXBXGGlZs4NvO3XC5mRGHDsP8k5blKLmNPLhXGwWu-YL2771offIS-rId-nrVg0MGYunGQwnlGFxfI4e-9mJwEv-RX6rerhkAzzNeqw-mFGRgvhJn00f5aRXDlgW9HKmmqbL0jC3WRpwmGiSKy1AshKjIHSZgSI_hhldYQMx2pQ5YpWt_ayfonmowH7V9ViwkSKYyfPKLjDNroIzBZrdhO7F6R48AWgvFk3p9kDVy5hQeuUxZjcmpUsxgB7JL9Bk7GwQi3TOyH8dqP8YJAqwh7BHDF84WzJiljs2KDifJdyiwdUT8saMs7SX8bcCMRvEFK75zLiFOSXZqqgXczH-UNfWlfNHh-GO1NfVBsu6L5a1A6UDUIMropfM5Cc9G2-S4ht1qaKf1VlfHBYon8uBgCKKALVMWYPr0SRP4q005tXElf2JXbXshalESBS7iPvmKeZsefHUTXg3rCudRk-G0t8kKU_mwxk_AQyH9DwS8nnJD0GSGllvEd99Sa4WJpIo8IY9H85RA2T4TdftrIV5pJx4sWSKlkoAky6lSISWaO6GBIPFOYSccFlc3vSqpg7sRukw7S4SVduMIQ2Cz2RrHdiQEX6kl2s23RLhd_lWI5sWN5Wmyfm_vpVy6aY1y909gYOo7nDlv0J4qkiJkdR2_Ti8wyJTKe82BmCB3XZzmDbNAVkEO4323gCBRd0Zz3JTvsJYSVRKgV8hySzEQJUJuz32Id_QStzcPV9G05LGA_0UEuscRYcp3WomXppaexmlAzcn6pbbAdkFjeOx4t72ajpBmD2KK95Ti1ct8su8XUCBtnVkZ2IdTb7k29P0mmPMI-iooRUXLa_fAB2IU61jIY8FfM7-bBR5dZIOcwKcebpsidx4Vpo9ci3o-sVA5UVU66rklbHpkXWoIgxyOP9fDLjloRGK3MxIJBEv8UcqW0MY7z28A5QhxCmN6EF57LISopP7f8gZwml2l_sVTrNIIc1r7C44q_MAn489UmjnAtVmHpFsuyn8p99MuHc9OtJKUGQ-_sgatAK90RQxaG2EGi-YjHkkKnwfpZMY-zMvGxxxvg3KqZEcFfXohxa7Hzfz0mc7VLYAaXmJyOSOj0TGT4aQuTxXRueWv3uyrYw5_8eA0WIn_gsIB72LSV2-4XEcKwqpA05lPUH-XV78zLEq4Nnp-_BvVDk5GLpUVkxHIA7SkS-ucsI_bYKdA5_3GQRxF7AIrXlLQl4mKJ6aQNrX2TFtFMvFoFdXl6daWJOto3b96dIe0HzJm8OprdCaIC5RVTpYElfR3nN2wk24WF1JNFGykc0K6So3geSBSpsCtUz7iqJ_HvtFIHmbVng6wFPfDcpGIHqoA3jmVKJ_f5BqZIJGZDkIlebKd5SY0FsNVaYBciA2Y2489syC2TeaqpQdOuQMyq8uVic0ACbN-W5pZE--0U5m_UEKqts1f2aA1cVtGUBBTn4bB5djCGzSZ1ZyXvAqlA-4ewlO6Qc_nqoFDff4k_gEt17TEEyPrW2x2uCucTPi7J_O7dyHsGW_YtR7b7Ri5Mk81GwCDxomiHP2WIf9OwC8YUey9tfpeZaW2uWcJKiUja2-RTXNRso5ZkynM_mkoIOSQsr-IehKyoJktBDhZPznAEDVi5PJMZuS7rq-N2BvQhQJ5ErcswLmqBwY0vQC5euL5FOc2gnchq5bW3n9rgJ43VMTKx4B1fS115cpS80IzAfTq1RMnbv1-K6oTuwT-LYr_cnDMRjvxcFpmMy-9fQoBOY25WFT2Mop2EnCVlB-DaBPPBiShO_IRIY-EYFx47vMUrnx32-GqNQLGzZVuXB6qASDvgLld4pYkaCcsyl2URIw3f_hB4N6e-DKHlJancm3z3fFwJis0BezOFyhGRtedR-vRLwvAko=",
  "id": "rs_0c7f7214d30af8dc016ab44157d5cc87d0a3e32730f4328bd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_z\":0.18},\"note\":\"The right tool remained strongly pitched from the failed far reach because uncommanded orientation was held, so the wrist depth view is distorted even though the yellow fruit is centered. I am raising slightly and explicitly restoring the start orientation before descending.\"}",
  "call_id": "call_NxmiCt9Rwm2TxsPksqYsVw9X",
  "id": "fc_0c7f7214d30af8dc016ab4415ab5a487d0b76cc83f746e26ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NxmiCt9Rwm2TxsPksqYsVw9X",
  "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]: [-0.0212, 0.8257, 0.6075, -0.4919, -0.0135, -0.0307, 0.9987, 1.28, 1.7088, 1.3132, -0.8349, 0.8856, 1.0149, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=0.0 left_z=0.1509 left_yaw=0.001 left_pitch=-0.1411 left_roll=0.0017 left_gripper=0.9987 right_x=0.2326 right_y=0.3126 right_z=0.1632 right_yaw=0.026 right_pitch=-0.0684 right_roll=-0.0814 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3744, 6.9265, 1.6386, -0.0513, -0.0171, -0.0073, 0.4581, -10.1675, 6.1197, 1.0574, 0.696, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34290a04dc01981ce7def619c2c0ba179f539aa5408cb0422695a02cf0a0fb8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a130aa072765adafa17ea8804a87fff610d175156b19ef4ac82ed64ed44e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217f106bde5dda3c4a0fcb09ddec04d6e3a934e98863c3454cbf72dc36700474",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.841 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6075, -0.4759, -0.0135, -0.0311, 0.9987, 0.593, 2.8937, 2.9242, -1.3293, 0.3878, 0.2016, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.1556 left_yaw=0.0011 left_pitch=-0.1186 left_roll=0.0009 left_gripper=0.9987 right_x=0.5177 right_y=0.2726 right_z=0.0194 right_yaw=0.0395 right_pitch=-0.5966 right_roll=-0.3667 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122, -0.335, -14.2838, 6.3932, 0.6276, 0.188, 0.1343, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8257, 0.6075, -0.4873, -0.0135, -0.0307, 0.9987, 1.1172, 2.0163, 1.8347, -1.3804, 0.4595, 0.7181, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1518 left_yaw=0.0009 left_pitch=-0.1365 left_roll=0.0016 left_gripper=0.9987 right_x=0.237 right_y=0.3154 right_z=0.1368 right_yaw=0.0637 right_pitch=-0.6256 right_roll=-0.4096 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2513, 6.9402, 1.7216, -0.0269, -0.0464, -0.0122, 0.2803, -13.2308, 5.5863, 0.2076, 0.359, 0.1441, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 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, 0.8257, 0.6075, -0.4919, -0.0135, -0.0307, 0.9987, 1.28, 1.7088, 1.3132, -0.8349, 0.8856, 1.0149, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=0.0 left_z=0.1509 left_yaw=0.001 left_pitch=-0.1411 left_roll=0.0017 left_gripper=0.9987 right_x=0.2326 right_y=0.3126 right_z=0.1632 right_yaw=0.026 right_pitch=-0.0684 right_roll=-0.0814 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3744, 6.9265, 1.6386, -0.0513, -0.0171, -0.0073, 0.4581, -10.1675, 6.1197, 1.0574, 0.696, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34290a04dc01981ce7def619c2c0ba179f539aa5408cb0422695a02cf0a0fb8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a130aa072765adafa17ea8804a87fff610d175156b19ef4ac82ed64ed44e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217f106bde5dda3c4a0fcb09ddec04d6e3a934e98863c3454cbf72dc36700474",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFgYtTe9gGgYN4Y8gKvpHtl5O9199W9vl8Bu97d1h1ytpQPt8-kerDzFgcHf6xXZb15I7ovK9uIPEpwDvFdjvNGbT1H5ildLJnQmecTy9BD2DNew6oQUSlEJaY5gbhFyyjn7i47-GqCuW4490Pf-rhP50oVV7Pg0dB7_jvyx0bFlGnjldSvWS-xbbBr29Vj6AXZ3jdJ_9N4xujKP7bUWCKGI9YOGu8xjUC6cVX55G5ucrG9-cnZ99uxWtiiVHF7dh_vxnOqXGRFg6QMEsKrASiBjeDmvCXA3p2GgcwwzCcL1L3EnGKyh3phtEBlmboJnYNfNTUkvHD0YCFFFxdLi9tae9pa6xMK0s9uOkNub4B8zSO3UB2XJL02XRGaNslWOFw4ZOkm2Kru1WF1qxwMuoDNEPwuSub1pAa-YrSeuHCEsJQLBququseYckfJ1W2UUEBo4kHmDPadRwz3pKrQ_SV3IkZrs461Wj4-ywXWXYS6cE40hz_BNXBs0pf30YN9HDG5OFTACkfJEUSjbspbjgluVK7mu9abYDWw0NebfF94Q52_DxB-B2gUmhwQy3AbYNGGNoKzeboITDRIepf7Nu0kn26o3ALCd_xnSzjRWGny98hk6VbY8SDYAc0R6Y4uCEQKnyv4--gi-VTz4toZMitxNYcDmBmjSOLP0CbOrcaR0DzpOA3rLfQ6OBGT_1jqq0bFhna0jhxEHxi1HcXvyA0TzhD4JgvdF8zE6POtsHz4VPKNzIr-H_qCL0lWJQ1I4TQUNCg2KIZXhSs2CrOf8L1pt_4F31ELT_zdeDamHEdpkKDWcSQb3gsrAFRUlG_433Adr5IlBq7fkOnJsMHh0MS6bY2FK22ghsZW_Q9qj1DUbs01cVhHFn6Js1KIkDjIQH5UMe9S_TMIhPud8RMPhm4Iq9-3G6LKK-Y7YCmczBf6v_ydMnMSopblZIIN0Q0Y69rExQSfINMQt72AFzOkp1Le8tr5Evi77Tngzi85Qxsj3FpAbrzqsdhn9MM3nnu-uT6-u9eHKvVAqKVSfCSjRwZLxV8Rr3WLPPAs-bvWxJU_fMn_UPTn1gg9EuPzF8rkfLaZNBZJ_4tcm0tUo4WYvE3u5WwGiQk-bfBqSGWgouHi-TULfZmOKZbiBgVxP9LTdpHU9r0QujpeVseLD1vthrgSwbYre1_hjMEHS86jMteyxfuh3n47HE9EFZzEPmlmzQTCBFASUOOM1ZWLCjU206HbT8d3tybPmOQOyJEatVtirlekRb89-vNmuO-mHV1yV-79_L9zozglVDj995GtXWMGzlfxlPLIFd5tSw76Hz-6mTb5UbC283wuTfPr2lXsQ_bW_BFFizaRc1iLOB24NlJSWxC_TD3nu9eMPUcoVcJhPBebPLPinoPUXrqaCLxnjl6iB-J6R1AiCBb-cugQpxpZhYTACtI3Dts3VL2v1tU61QwCq9faGre0LqjAbyEb5zKv5IND-bNzQBH4SBR6CFvn466Ad8bnjEt71hN3CZMYCVE_0tWO9dZdDzsMTY7PZ_nQAKRuONCEQEH76I14FeodVmeiXhb1eWCpbbXYp1YdhGetQYVnHIhku1JMqCK6PAo-hQ1-Cxevz_0ESn0FokY2RW1S-S-g53fvpyquIXT_NPg8hFiiuxViALQUpztXWgx0rMffCs8jd3MGSDXRF6kyS1gC-4LMn_3bR1XvTaiiXIU=",
  "id": "rs_0c7f7214d30af8dc016ab4415ee8c087d0972798496f53134a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.258,\"right_y\":0.313,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"With the tool vertical again, the yellow fruit is centered on the jaw column and sits about 2–3 cm beyond the fingertip line. I am advancing that amount and descending to a low, centered grasp.\"}",
  "call_id": "call_c0aCh5dGZo5LDhIeqYTT1kqL",
  "id": "fc_0c7f7214d30af8dc016ab441600e6887d0b63e6fa81a29fb28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c0aCh5dGZo5LDhIeqYTT1kqL",
  "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]: [-0.0212, 0.8257, 0.6075, -0.4938, -0.0135, -0.0311, 0.9987, 1.2263, 1.8969, 0.9649, -0.2123, 0.8875, 0.96, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.143 left_roll=0.0015 left_gripper=0.9987 right_x=0.2519 right_y=0.3069 right_z=0.036 right_yaw=0.0057 right_pitch=-0.0402 right_roll=-0.045 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3744, 6.9538, 1.5946, -0.0269, -0.0708, -0.0122, -0.5265, -8.294, 4.8479, 1.072, 0.6178, -0.0806, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adbbe53580b72a5c60600b60972cdc1d1021f26fdde034b78f615ce81ec733a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ebea4978bb06fd591bfde8d8b0a06c28b6f8db7b9396378e7064773b101cc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a6c0031e49c7e071bdee404e637c322e41e8522c25d65e0159a4812c3199d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.479 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 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, 0.8249, 0.6075, -0.477, -0.0139, -0.0311, 0.9987, 0.6739, 2.2539, 2.1754, -1.2964, 0.3943, 0.2737, 0.9986]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.1539 left_yaw=0.0014 left_pitch=-0.1255 left_roll=0.0013 left_gripper=0.9987 right_x=0.4158 right_y=0.2498 right_z=0.1288 right_yaw=0.0399 right_pitch=-0.6421 right_roll=-0.3909 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.6205, 6.9538, 1.6484, -0.0464, -0.0757, -0.0122, 0.9368, -14.7214, 8.0889, 1.4237, 0.4225, 0.1929, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8257, 0.6075, -0.4919, -0.0135, -0.0307, 0.9987, 1.28, 1.7088, 1.3132, -0.8349, 0.8856, 1.0149, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=0.0 left_z=0.1509 left_yaw=0.001 left_pitch=-0.1411 left_roll=0.0017 left_gripper=0.9987 right_x=0.2326 right_y=0.3126 right_z=0.1632 right_yaw=0.026 right_pitch=-0.0684 right_roll=-0.0814 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3744, 6.9265, 1.6386, -0.0513, -0.0171, -0.0073, 0.4581, -10.1675, 6.1197, 1.0574, 0.696, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 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, 0.8257, 0.6075, -0.4938, -0.0135, -0.0311, 0.9987, 1.2263, 1.8969, 0.9649, -0.2123, 0.8875, 0.96, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.143 left_roll=0.0015 left_gripper=0.9987 right_x=0.2519 right_y=0.3069 right_z=0.036 right_yaw=0.0057 right_pitch=-0.0402 right_roll=-0.045 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3744, 6.9538, 1.5946, -0.0269, -0.0708, -0.0122, -0.5265, -8.294, 4.8479, 1.072, 0.6178, -0.0806, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adbbe53580b72a5c60600b60972cdc1d1021f26fdde034b78f615ce81ec733a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ebea4978bb06fd591bfde8d8b0a06c28b6f8db7b9396378e7064773b101cc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a6c0031e49c7e071bdee404e637c322e41e8522c25d65e0159a4812c3199d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFlW8-Q0SWc75evau5QmzrtAfAgY4LC6g8NL4ec1yVi_VcrYQP_Wa15avgTdsAh4AQp9f3H6TVRw0a0oZNqpwmsphsR81GeBpKUF4zBks4rLqKnYBInKJARt_zi-i_05Gu60p1DOONTNDMF5MaCpHX6bf1bDvblhqs1aOQ81edz0o65_Q61-veH1kzEC8i1mkneI0M678p4-Kz1q6gL3swOoutkNaiCDnGpyZ4fDkL5lvhZ47yBDiZWCWviA5fEpc4l4OlB9L5WfRJnajH9JwNm6sdjQKUmDFJ-0fxGy7rXHx-53A_ZdIgSfYCXDmqFIV2STH7AvTco1GGDrX0sBq-ibf-gFt-8ImQhHgI4FYzmnB7ftXdC_Ok6Pf69m98Yi7tvIl38jE-el4qb8wWJULZc_RXxZceInu58QnTOSb2zhLcB1aOVuPJhJDTAnTcJV-JQatLb1J79fbmucQlOtm5QWyS1MQtrSA0Fu4K2t4aydQrm3Oju2aUvKocN6GWl4-AM3bPVlE6CYZgTxSY9xmLyKLHMkQmlKAC5Mh3CFcqpszuOfviJf2UoQw4bnA9PDBqq2kSDYRrUZ8ixyzf_L9bZnWNJ1Wfm7KPpBcp0JvkMhiZl5ogb2nKj763XYKytYnmNkDlGTfn6eTXDze32cd1euWkBk_Ss79EATqFleaACea5LpX32iEg9f-6W0o6bB_XbW-AVfI78iNN6hsZw7ZKIa1JJwADs7bwmsEB8TFQizlN9bnGbjgiLpVH5BOeu28oh3beM6UUy4LfNmn8Rw6YFHn574kjKK_XI_th-z-UeLV35R1XizouFAkXYruYWMzGmG3eqOuylQWLed36BH3ZZ7KY-MzJKt8NamUcYXcKkjzTWFfatNyyRDMYCge1KY1lskPmFKEXdYly9zI_ozHkY5LgCHMObRNy7vtx93-OyjPP-cLY_CcVBdnE1vwUS3yCyHpfrDCns7hgVi8hiufQj9FEZixajvXZqKJcCtO6BdkCJ8Zq0_9t4mat_sOrNYz-tpJLSpN_T4dSXEkVNRrxMiMKSvWKRv4B2KTvWy72LjmFSuy2mN80tWnztvPQL-CxI91sK2E8QVQJ_zT1ZUa-AYXWH9CxkbP6PuYQfW88aEyUFpCuozIUALQAIfE7Kfr6a2LpK3susftAen1cQqBy4Kb4YvF2DKNhZn13ezTQSjXCcZLh51jpIvn7N7bigPi-PWF6mZifGIYSQlW-NPmhqF2YLvQcS53OuvVZK5EHwQkEB8edEM_bX40Cw-VibuVVYRlZRIMP5WizIF2xnNv8ixtxHFi6MdWConMlGTysmSDn7uyLBZ3yLRDAFD7GXn5uMExhcjqpwSSX56iYZub4GRRjrIhvcmOXUalIAOZC13ZOeTPy6rN2U6KmLO4i2eXDY40PC63ZtnS9SAqASDgaBo7sajBIttOzZ60UuOLXvMO4qDJ_uXHk4vg2X4v4huctEFtemPC3hjuHQRKf3JhKTG8Ol_17VxKDveJYNW6BaHEoY__F2SY31UTpRbtP04cNbtquiZGLEix8hhOi2zvL923Pwk_LGQOFXrfCUhO4mywNaFCW19GvCgy-IfKUPGfjxaEYQmHKUnm2fmsKDIBxG27z8JcHE8zIXtO2_BeSFIJTTdgwOZ4taPdqvoaJ5ZbNEuXBNIKEH0YPJKeqUVzQK0Px02w8rxmKd7L6rvQwtDl9n28bUPj9tLKJm2y8F3Huq7c9fW8mWtcoBRNfdyDnwA4alRhDYifv_yhXUqrfsaAWdU6mvWe2susdu6-CfCYn3HXEL39oIvAxlfb5arfaMmJfTRMlhFuh75fal0CxMJxs8Z6iZFpqR3Z8WOA9IRtLz8jTSp99ZoNReWLXp1jvb38XIOjydTqQLLpg-mvBpnST4RmwLK12a0ul-m1FVmZ4p3D49IXAkkZlwEdRlw-o5eUJ5kktK6MXyJELp8AiIAtx5-ty4XraIIRcK_PwaYd5x",
  "id": "rs_0c7f7214d30af8dc016ab44163191487d0a553ed60f5645aed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.282,\"right_y\":0.307,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"At grasp height the yellow fruit is laterally centered but still leaves several centimetres of clear floor before the fingertip line, just as the first pear attempt did. I am advancing another 3 cm before closing so the fruit is actually between the jaw tips.\"}",
  "call_id": "call_H5mnRguZK6wImqk0Kqujp6Fl",
  "id": "fc_0c7f7214d30af8dc016ab44164914487d084bfe2d73006d4ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H5mnRguZK6wImqk0Kqujp6Fl",
  "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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0139, -0.0307, 0.9987, 1.1584, 1.919, 0.9508, -0.1337, 0.852, 0.8818, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1505 left_yaw=0.0013 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9987 right_x=0.2719 right_y=0.2986 right_z=0.0262 right_yaw=-0.002 right_pitch=-0.0561 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.58, -0.0366, 0.0024, -0.0122, -0.253, -8.294, 8.1846, 1.2039, 0.4127, -0.0562, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb80bff10fda3906b2e6422b4231eb7f7080d0fca8bc96b4c74073930b13b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c213e777fd95f9dd1284ce25924732622e371aa2dc925ef1c10b76a15cdd629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd04801a020bea557d555096cdaf7b3ea8ed4fdde4190e921fa33bd95ba8abc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.119 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 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, 0.8257, 0.6075, -0.4873, -0.0135, -0.0307, 0.9987, 1.1172, 2.0163, 1.8347, -1.3804, 0.4595, 0.7181, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1518 left_yaw=0.0009 left_pitch=-0.1365 left_roll=0.0016 left_gripper=0.9987 right_x=0.237 right_y=0.3154 right_z=0.1368 right_yaw=0.0637 right_pitch=-0.6256 right_roll=-0.4096 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2513, 6.9402, 1.7216, -0.0269, -0.0464, -0.0122, 0.2803, -13.2308, 5.5863, 0.2076, 0.359, 0.1441, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 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, 0.8257, 0.6075, -0.4938, -0.0135, -0.0311, 0.9987, 1.2263, 1.8969, 0.9649, -0.2123, 0.8875, 0.96, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.143 left_roll=0.0015 left_gripper=0.9987 right_x=0.2519 right_y=0.3069 right_z=0.036 right_yaw=0.0057 right_pitch=-0.0402 right_roll=-0.045 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3744, 6.9538, 1.5946, -0.0269, -0.0708, -0.0122, -0.5265, -8.294, 4.8479, 1.072, 0.6178, -0.0806, -0.1538]\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 72 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, 0.8257, 0.6075, -0.4942, -0.0139, -0.0307, 0.9987, 1.1584, 1.919, 0.9508, -0.1337, 0.852, 0.8818, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1505 left_yaw=0.0013 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9987 right_x=0.2719 right_y=0.2986 right_z=0.0262 right_yaw=-0.002 right_pitch=-0.0561 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.58, -0.0366, 0.0024, -0.0122, -0.253, -8.294, 8.1846, 1.2039, 0.4127, -0.0562, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb80bff10fda3906b2e6422b4231eb7f7080d0fca8bc96b4c74073930b13b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c213e777fd95f9dd1284ce25924732622e371aa2dc925ef1c10b76a15cdd629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd04801a020bea557d555096cdaf7b3ea8ed4fdde4190e921fa33bd95ba8abc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFpCziHI6k5E7TmqgWZIF5NsmsQk-MTLb1NetTNR493U1STRXNLdTDYxnwetlg9uGrkTNRuiCsWkNBScQo9X0OdayqyuClaUVQJ2udWNn07WVQZyQIUTxE4Mjb8rKWqDD1QjJo3VUZB2XTO6DX1h_ySztmWG2dQRYf44Zl02DhzeMtz3HylH9LXp_rk73bvB4Kj6leqA-zOLjh6aQhGpRjSzpyCONMqxezMLLQXz5o3l8wJLKg7SyxQZlnCa78DtNr2rEePV58uMy3ge2pJurR5H7s9WCv3HCwY0_COrzjMdT4p_9zMh0BsF7UX88vDrfhYgyB1SfG6h2YgySabSba9rQUBIezsLgI7uIHQv8mE2ydHyuyhGDJmB-qFINPPPWAID3EtihaxvbtVz_dq150SjEjjV3XijN2wQS5bW0CHwOQzNucwm_1y65jwXvPgi5UGlrdMHcJq_KPrcB6XbqU2L7Lyfud7VVvKeKd2WcPu6JcFHK9tHA7OcYU3gqA8xBiZBMY2iNfbl4M4sVu4A4EbdD-G1RENqe0nYM2d5vrbOsAaxyksQSsXB2R8UVa2mh4qSDT3Sn67cpCyTk0SnLtXzKfRZc2l9T7b1RKCh1QSF-LymL14yvjHBUhEF_tk2sdqO5MkvNQpgI5pH4qylgkPwfsCi0zn85a_7tyDykshzmbpNf-QycwhpXz1_QDMRC0_na8C-a5mlEThJQt2YuE6QPyiyRAfiEE9_JdfyLyMXHTia8eEG4pqkfdpRsMvtycjWdqW-Dd2Ia7GNgFpy56Uc-Kzx7VJFctNYd7tkyIvOYcAlYwTKFGz3b61SzalkPwFhLrRcGVywh0BQzkYd36IfruHSJqH_moSpsYjGJfEb7Sl9lisPjBWv89dDPhpjC7msl53QLBt57osZ-K_GA4nEo1iBagOSf2zsfzoIOqo_1udQTuNyRhfp-mfbrsAPHVou6869MR---kJG-s37b9HiGkUgyJUsxfmS1u8q7YCtF48FAg8YVte_OLZYvQxPBdTPfbGHPrzimYX8aFqXaj8jmgk84tC4EovfvkmYjxwSGcfiXs85CsaUfOFYvG2agS29Vf5-LMe1d8ZDkNHJNt8U2LB5_pXvG1TNQjxqlHQ6mUXXGfdWxU2MTwAPf_4Udi2P9433yjgcV5W4u8tKMsREyEoo7Fx34bCxxdG_XKi_OosIG5K7RsBHAfM66l9t1zv2gRc1PtET2Tp6aCqPcFC2Q4eJeYQ4_vNcH3U0O-LWvyjQ7TfPB1fdYjhcemcMQ7fhV0DgmC6KtdxHgEHh0-IHigUhs9BSBx8HhHCADkQ6Ck=",
  "id": "rs_0c7f7214d30af8dc016ab441674e2887d08adba5f4d3799794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The second advance brought the yellow fruit visibly deeper and larger between the fingertip edges, with its center still aligned. I am closing the gripper now.\"}",
  "call_id": "call_JHfIbIymugneZbwEbSN0x6mO",
  "id": "fc_0c7f7214d30af8dc016ab4416810c087d0999923fed1378574",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JHfIbIymugneZbwEbSN0x6mO",
  "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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9657, -0.1272, 0.836, 0.8444, 0.0117]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2781 right_y=0.3012 right_z=0.029 right_yaw=0.0104 right_pitch=-0.0613 right_roll=-0.0623 right_gripper=0.0117\nstate[joint_eff]: [-0.0205, -1.3607, 6.9265, 1.6044, -0.0415, -0.0415, -0.0122, -0.0205, -8.6085, 7.0496, 1.1258, 0.486, -0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304e0fcbea139d82970d4bf5f41face4a5c744d948691877951c8f48bce02f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dfb0f962265f36c3232fdec4a955134ca3f23b513d5fe76e492b640578419d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf7fc62412e9f72b82925e7f70a6b4bed7e31bd7d64842ff0c349ba5c98672a",
      "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 · 2.771 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 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, 0.8257, 0.6075, -0.4919, -0.0135, -0.0307, 0.9987, 1.28, 1.7088, 1.3132, -0.8349, 0.8856, 1.0149, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=0.0 left_z=0.1509 left_yaw=0.001 left_pitch=-0.1411 left_roll=0.0017 left_gripper=0.9987 right_x=0.2326 right_y=0.3126 right_z=0.1632 right_yaw=0.026 right_pitch=-0.0684 right_roll=-0.0814 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3744, 6.9265, 1.6386, -0.0513, -0.0171, -0.0073, 0.4581, -10.1675, 6.1197, 1.0574, 0.696, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 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, 0.8257, 0.6075, -0.4942, -0.0139, -0.0307, 0.9987, 1.1584, 1.919, 0.9508, -0.1337, 0.852, 0.8818, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1505 left_yaw=0.0013 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9987 right_x=0.2719 right_y=0.2986 right_z=0.0262 right_yaw=-0.002 right_pitch=-0.0561 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.58, -0.0366, 0.0024, -0.0122, -0.253, -8.294, 8.1846, 1.2039, 0.4127, -0.0562, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9657, -0.1272, 0.836, 0.8444, 0.0117]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2781 right_y=0.3012 right_z=0.029 right_yaw=0.0104 right_pitch=-0.0613 right_roll=-0.0623 right_gripper=0.0117\nstate[joint_eff]: [-0.0205, -1.3607, 6.9265, 1.6044, -0.0415, -0.0415, -0.0122, -0.0205, -8.6085, 7.0496, 1.1258, 0.486, -0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304e0fcbea139d82970d4bf5f41face4a5c744d948691877951c8f48bce02f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dfb0f962265f36c3232fdec4a955134ca3f23b513d5fe76e492b640578419d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf7fc62412e9f72b82925e7f70a6b4bed7e31bd7d64842ff0c349ba5c98672a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFtCnBwLwsVpOoBVxT0__VO8J6VXUSLjrRIkyssC7VW0gpD00iFsuU8O8P-cZMGH0MTHhExyrvdhE38sZSzHXGVMDfmXu9Cs2b5EMU00SGNijhKVVl2Exaz32T9QFPjdXDIgDx4qRuKXOcU7U1EVVBj4uxL_ciCyaxrRS8qUSl4kZ_RL2-g5udDBkL8mqb0rSjtq7YvTISM-gK5OIYZcwfBe3rj_uqYP0vc3CwwMlYF1vmEAdhiPMN9TmV36x-FkyqBaTtoGTH4EiD598PaLr_vghuUHT7OJ275qfg6o02IaAkrqxQ64TSkiQvmm0vkKXRPKWDAWbWC34WElKPztxwGjI2Ro71P5obFQgPtG14B1HYsqD9wtYdBi1kxcXA1OhRdWtzokB42BIM9OsoIqpTapBeoSNrZjqjM5I7PZNw8ninmsUn_owZg4AyA5IyKP6hv0cAUxSbVVIu3_DyNUJPLFBChl5YkDcXibQB8HeYecrNkRAcn5ovpbtIgybj8eMyxaZ-MLixdMzs6Qsp2Uy2MuGs8Xv4uAwQovBmjpINawKNpS71hJyXuvgj8rXdff15BOltJVJZXpvo73b0VQBzJ_0Bhhik-PgE9e6_eyC8oQ4FSlEXm03hJfAl6Fs33WU-B8QA6H53E9Eea_I3SsHt7H-qhkhLPZOARF4r2nJZPjJf-r1AgTkmWCc2GRKoH0-DNb4KZIRYNrVbZeNtUrUg2zWnMyYH82SgRuiHXGtnIaMpV_mQa8KYSR6busW8yr2rozfOgTO4a6EPRuQoGc7dG5VDpOyzB-_iM5np7fy4h_wWaSCjN454VqMBCEfs0ZXOlVriPVRZFf6P-xVcU8L4UcQJZkFKMgRlxGQKlMcjWyGENVKhJD_WqnEKifgxN2XHjJ6v71TVeKJCU-U4JOHrJk6InG-dm1_AL7PI4bhd4SfU21EK4ioZCSsGlekIcMBFpkKKr2kbUBXbW4f2jJFzNyBspuwxyEQllU_WQ3BOiin8tGu2Xk85xlOYV-JhXUO8hc1p4rnVS_mbZoMaSUjWCS9PIAlBSohylDdPEpH-GXwSFV6R6CTg89-Z0ODI5aCHHrRr79CeIZsT0pkm2rmmNssgDeaHcxB-qScJRFX1IUKc0Ofe7JNbEG6tGSkKDkPBUFPceEXyzIS2GaPDMI90lr_IE4Kzqrbw6gRCxcrAJnZ8FlbJpfHXlalXIIoxmDn7qoLq7_AtfbhyNxyqDo6GxqTt5AQTBPMV_NADXtdGRDxVDo4adwS9g1ZWftA1n5Flpf6M1FkdDCcx-S-TvlSVIWdNfAW-5VBDNPBeXzjCon52Q85EkjA7p7by_JXYEeIqYexxSjo0T0JnAsYLuE8aXiHNo2BmUJkbqQqWWfNn9A4W5x5VFtJmD82yXI9lkd6vOZoFWyx82AuN1qtspg3utOaiYUQXO1eGdWuC_EQBevnlaB4iYpGmTuRFsAF-LvP34Vk4SRmr6z2V-JgiczUrUKlLTN5FtL85XKLQl8cWbQ16PattZenj3KuP5UFb8tPAW",
  "id": "rs_0c7f7214d30af8dc016ab4416baabc87d0811749cb668f209c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow-fruit grasp also closed empty at 0.012; the rounded fruit shifted slightly forward instead of entering the jaws. I am reopening for one controlled retry, using the new position rather than repeating the same close.\"}",
  "call_id": "call_pqobaI3WvQdwTOHonkoTqFSo",
  "id": "fc_0c7f7214d30af8dc016ab4416c539487d0848bde80ed9bb7f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pqobaI3WvQdwTOHonkoTqFSo",
  "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]: [-0.0212, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9653, -0.1318, 0.8291, 0.8368, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2771 right_y=0.3011 right_z=0.0277 right_yaw=0.0176 right_pitch=-0.0691 right_roll=-0.0703 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.2923, 6.9538, 1.5995, -0.0317, -0.0366, -0.0073, -0.1573, -9.0051, 5.2171, 1.0672, 0.4274, 0.1099, 0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75554f500adc51d8b2b2bf8a9bb53e07fe107b0eb4b3d56d5db5886189bab81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebdff56b8e172bea3b5f49cc549e68ca0f13485210935e6eb9c9b35d887ae2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca0d8e4677852cfcc747d7609c6aaf00dce49b5040ceea90eb6fe442beae0aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.313 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 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, 0.8257, 0.6075, -0.4938, -0.0135, -0.0311, 0.9987, 1.2263, 1.8969, 0.9649, -0.2123, 0.8875, 0.96, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.143 left_roll=0.0015 left_gripper=0.9987 right_x=0.2519 right_y=0.3069 right_z=0.036 right_yaw=0.0057 right_pitch=-0.0402 right_roll=-0.045 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3744, 6.9538, 1.5946, -0.0269, -0.0708, -0.0122, -0.5265, -8.294, 4.8479, 1.072, 0.6178, -0.0806, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9657, -0.1272, 0.836, 0.8444, 0.0117]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2781 right_y=0.3012 right_z=0.029 right_yaw=0.0104 right_pitch=-0.0613 right_roll=-0.0623 right_gripper=0.0117\nstate[joint_eff]: [-0.0205, -1.3607, 6.9265, 1.6044, -0.0415, -0.0415, -0.0122, -0.0205, -8.6085, 7.0496, 1.1258, 0.486, -0.0317, 1.0134]\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 80 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9653, -0.1318, 0.8291, 0.8368, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2771 right_y=0.3011 right_z=0.0277 right_yaw=0.0176 right_pitch=-0.0691 right_roll=-0.0703 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.2923, 6.9538, 1.5995, -0.0317, -0.0366, -0.0073, -0.1573, -9.0051, 5.2171, 1.0672, 0.4274, 0.1099, 0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75554f500adc51d8b2b2bf8a9bb53e07fe107b0eb4b3d56d5db5886189bab81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebdff56b8e172bea3b5f49cc549e68ca0f13485210935e6eb9c9b35d887ae2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca0d8e4677852cfcc747d7609c6aaf00dce49b5040ceea90eb6fe442beae0aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFx5RL-8jPTcm-KGfWHplmcZGIYlr1xvAIXZotKDAn6a4Ya60la3gEeDSF76JPAUoPRl5Eq9WagQRZ35VpxZNV51AjvPhvWUbI2mNMXICUb6fVD6GP2Cai3EjgiahuDtY7hORT-n63CRTe2Fe6HESUnvL7prkj8MSXL1gds5D9DnRWbG2txBxrPQCQCl3Mj_dTX_zCwfElCrlohlLCj0xrBggQOyl7Y-GsCJnjhZdjiFQbhv1u_HEktDOa9MuO5RDL95msdvxZ9m7pC4MzqSfa2G_jVEx7kcNJiryO7-vG4DkH0MiEt6kQghVSgoCjliES5gKtBZBT2vRA537PQA1VGh4QX6x9GNDPOn180mt2zMIgNrW9ZX_K9-dt7d_uEWTPZ9GuWHwphTrR1AKGGu8yiP7PGBDVt608Nr8r-aj0qSg9kWgW1H2GLZgqJhVZx4Rkd0cNMu5lpIWTG9joYsLTVpIlr3tXKTkHDydvrb71PvPHO0SW54XcUPwxAK-xwXjvT79Omp4Jy0levjTf8HLnMnPl4-mMb0cNH4YH03AdP2bvJiL6pDdhivBU-NZZ4ou7BJMCFOoK7OGv5dpdACZqwPi14QZK_f-OQtH3ZMDxQCmyPza19jfS1EoIRzoude0pBHjqA3xixQ7vlAyQ4ydKm7opkhCNzUvA0x5fbMRHiv-9aTCx93QyghX4pnUnhfHjgRObiylEcSMSSfjnsKKNjmT4qjF2Wqhv9NJ4klxN86ruu2IpYErH1i13JCnrWbh8sUGD0GlGEjq6AO8ntBM-yVRwENB0WGoqsGul1XJffQ3euef6wwSNcxgyf_3I_CxO6fOmqaTmzhXOjZcYMHRTvQfcMr-5rTNLZOwRVpc-3lSHZK4mgqqFaHnRMZkrrd74mV4FNt9mrwCtK2E7H5o939gStQzCgaogxYEjahh33UJkriBvs0It-h-Mdd-Z8CbWOrwpwI9qtAaf_l2oQ1Kn44U2HK0rMuzwQfFZsjw44cKJi2g8pexHNNfcuLP7bCGZVcx1ye_670gTC7s9gngtGdk8dT-jxZLFdK20ZoEV2PQq_2cqvGpNDoQ95v8NpNI7gFLz-Ph0TTDNyT7RiJbtisNdOlKGy0QnMye0-VDvPwXGItWE9oNi1UUrSrlGVpAWi2kaqXdIekMncs1ygb80xCXbtZ22AovJnxA7TEVTfwJw5fp7eLQB93OuULZVIIiLV9SfozuIDQdR-9j8GiRIxyrbQX5GMte2LwHd-DDspea6kzhaF57fM_2YlVC2PHc-QACkx5QhHI-Tuv8wwTXOMvC9imNz5opNH43gDobeHFrVhwK5Mm4IqZOKwOBpbR3Og226F7J6dSPL0-w5fsDIGrp01wfVZ9JbBy64mrKjFc2tCMzhzmYa3lDejXKU0wXGos46FRrrWwRb93vc4DG9MPWKJGXXkfX7uqM3p2Cuq_d-BVo5wxOtK4hhsO5rzRxyrw5jHXjHXnZdxheMeBQE-2tvUJFEkTi4r2GOTnCZhuCNIFte2HixWDV1ex-uN0pB43KH3-s-t0miQW2YKpmgxtg==",
  "id": "rs_0c7f7214d30af8dc016ab4416f529087d0a5fb155c1f47b887",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.302,\"right_y\":0.295,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"With the jaws open, the fruit remains centered but its rear edge is still just ahead of the tip line, so the previous close pushed it outward. I am following it by 2.5 cm with a tiny rightward correction for the final retry.\"}",
  "call_id": "call_iKLm6a6MFxjeMRzpnN7tZQ8X",
  "id": "fc_0c7f7214d30af8dc016ab441700ce487d09b74833b3d6bd77e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iKLm6a6MFxjeMRzpnN7tZQ8X",
  "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]: [-0.0212, 0.8303, 0.6075, -0.495, -0.0135, -0.0307, 0.9987, 1.108, 1.919, 0.9653, -0.1116, 0.8036, 0.7933, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1491 left_yaw=0.001 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9987 right_x=0.2865 right_y=0.2975 right_z=0.0266 right_yaw=0.0219 right_pitch=-0.0817 right_roll=-0.0769 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.7299, 6.9538, 1.6044, -0.0317, -0.0269, -0.0122, -1.5248, -8.7316, 5.8462, 1.4042, 0.3834, -0.0562, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92ae4eef87b1282a7788d80bde2d398e056dfac3aadca474c28212fd4de6f97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2618c13a2bfb7aec3a0c4977937e61a05c560f1b066aa5f2e08077cd2e86f095",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a676220af3f1d5e148ed5d24332701a7889a1bf058a203bc728cf653ea61d8e9",
      "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 21 attempt 0 · /responses · status 200 · 4.281 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 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, 0.8257, 0.6075, -0.4942, -0.0139, -0.0307, 0.9987, 1.1584, 1.919, 0.9508, -0.1337, 0.852, 0.8818, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1505 left_yaw=0.0013 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9987 right_x=0.2719 right_y=0.2986 right_z=0.0262 right_yaw=-0.002 right_pitch=-0.0561 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.58, -0.0366, 0.0024, -0.0122, -0.253, -8.294, 8.1846, 1.2039, 0.4127, -0.0562, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9653, -0.1318, 0.8291, 0.8368, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2771 right_y=0.3011 right_z=0.0277 right_yaw=0.0176 right_pitch=-0.0691 right_roll=-0.0703 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.2923, 6.9538, 1.5995, -0.0317, -0.0366, -0.0073, -0.1573, -9.0051, 5.2171, 1.0672, 0.4274, 0.1099, 0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 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, 0.8303, 0.6075, -0.495, -0.0135, -0.0307, 0.9987, 1.108, 1.919, 0.9653, -0.1116, 0.8036, 0.7933, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1491 left_yaw=0.001 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9987 right_x=0.2865 right_y=0.2975 right_z=0.0266 right_yaw=0.0219 right_pitch=-0.0817 right_roll=-0.0769 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.7299, 6.9538, 1.6044, -0.0317, -0.0269, -0.0122, -1.5248, -8.7316, 5.8462, 1.4042, 0.3834, -0.0562, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92ae4eef87b1282a7788d80bde2d398e056dfac3aadca474c28212fd4de6f97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2618c13a2bfb7aec3a0c4977937e61a05c560f1b066aa5f2e08077cd2e86f095",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a676220af3f1d5e148ed5d24332701a7889a1bf058a203bc728cf653ea61d8e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFzlEUVlY_eoQwfD1aFowYc5YgJjdP_GpxE1CKm4ibiyqMRIPbNSKijuhqvKj03iq2j3ltKOIX1giMUdUFjtIYdMn3Gg9V9igB267pq7-S8BKRm-3dQUdtujva-b_vHfpCEtx749zXAo7qb515qjPOioztWoGfWWExW3COT7gcMhml1TTBwo0hrCZywMVNRwpYAEMSMLESNCyDxvIMWyCvbBKpY8rYysKsV6aHaO3FKbaOpMDopZPlRNHDuvUIa6_xYRiqt_xcujWs57CVxO6rif6ExIzDUo9t5J2Hwx9XIA_Lh_4StPwPpQ0zAgNJDLRFeVCpNmKu3wRzrvtFStPQlvCgryJkMfvh6Ag0UJsg2Bep0GkdLjw5KT9GQgqAxjv_PTikTn5qxW46HN3KEJVAth7MdEq03tvOSEef4vLMNx9IeusRA6DKyq-8F528G5HT_-6YFb1tf_EK9euTFtPma6eY-6MjQpVE4FcDB2mNsGJDVQBlEn-3q26z5VpBmXHX_Ul-zT6F7aHOEpmM7GiwztGhxrksvbG_D0VvMjFd_UytqqiYlfXrBW1Q2tE7X7wBTOzXjdkAg8n6KLoThlzZu8OcDTT3t9SqXXAdn7eGrcOxmb-tQmO3Xr8VUpOW27iRXgJoytELggSk9Yg1dN0LOdZJ9jLiOiJW-G62RZhlYdXmxPvOWCuOKX6GC-EzqA5WfYEk-MYHy5qMWZpUhy_vVqwCwjq3qUTup8ySrsyvQxc3SOKQw3Y__LDRxWqvm32_uM-QN1biSwRSDlCTDbFntBIfVnkWWbwGTar7cxj7s8mrOUExSnx4R7wgjT0hAFuzgtemi5HUN9xwhrYkjLHIVstbYYqtVDxBm-P1myyvgk7wEnFOC4MHrnH8-ZosTn9gPtD9uEH6aclsKAdx9_eEHnT4b1Ug1PVPCVdmI7gidtqrYvCZZIKPQUilIjfiY2C6CobbRpKEUcp1WBKdf7Z5RP3siayRi9vJxcN8W_w30Fjiq5Z4I3ZI5iq9nzXY3JTV5JbuI85b4gU-W5F0Ltm6ZKz7kvKZZTFr76S8HKC0OeMFJPDBGRpyfaC9btXO_Di_G2XMGP1jMJq4bQsUeIO4QXTK4QiaHYHDAdBu19DD-ZqH81qWjVTQ5pTjSbKk1AfORtwJ2eMKyeb7v0imERI074EK_bqDSJHpWns3-X-_-l84q19oyn4LlNrvBMibEKGCGdYwz2KYZt1kXWZy12Vx1VUalzjVJo1t4BdEHytnwmdPTavurh1QE_A-28eTwFnPOyXcL8kurK8swCVv-TlwHtu5vBdc5tF_k3QKepvJPaAD2seMKFV6ltiFV3fAa3Zke90RdGwFLjrEaKe-akYy534FVRRSEci5DA6OynbLP3xo=",
  "id": "rs_0c7f7214d30af8dc016ab44172508887d08ddeeb02f2757045",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The fruit now fills the gap much more deeply, with its body extending to the jaw tips rather than sitting ahead of them. I am closing for the final yellow-fruit grasp.\"}",
  "call_id": "call_w2xrZH5byfCJtP2DOJj80GEH",
  "id": "fc_0c7f7214d30af8dc016ab44172c23487d0b50a9af8fb417d62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w2xrZH5byfCJtP2DOJj80GEH",
  "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]: [-0.0212, 0.8322, 0.6075, -0.4946, -0.0135, -0.0311, 0.9987, 1.1091, 1.919, 0.9646, -0.1101, 0.7876, 0.7849, 0.0117]\nstate[eef_state]: left_x=0.2802 left_y=0.0 left_z=0.1487 left_yaw=0.0012 left_pitch=-0.1503 left_roll=0.0017 left_gripper=0.9987 right_x=0.2848 right_y=0.2995 right_z=0.0248 right_yaw=0.036 right_pitch=-0.094 right_roll=-0.0762 right_gripper=0.0117\nstate[joint_eff]: [-0.1573, -1.5521, 6.9402, 1.6239, -0.022, -0.0269, -0.0122, -0.1709, -8.8957, 5.2171, 1.0574, 0.5006, 0.0952, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7bb5c88885ae620c5c74f1e72bddc025fe0fd49108ccf21aaff169e5c91bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c3d8a0fcffdd55dd18e8c6a08cf4c381f54c4d8e883f495b60b178b26412c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbce518d84ffb47141969f21433ca03b17bf42db63dfbeba05dd371a42f6e9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.116 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9657, -0.1272, 0.836, 0.8444, 0.0117]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2781 right_y=0.3012 right_z=0.029 right_yaw=0.0104 right_pitch=-0.0613 right_roll=-0.0623 right_gripper=0.0117\nstate[joint_eff]: [-0.0205, -1.3607, 6.9265, 1.6044, -0.0415, -0.0415, -0.0122, -0.0205, -8.6085, 7.0496, 1.1258, 0.486, -0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 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, 0.8303, 0.6075, -0.495, -0.0135, -0.0307, 0.9987, 1.108, 1.919, 0.9653, -0.1116, 0.8036, 0.7933, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1491 left_yaw=0.001 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9987 right_x=0.2865 right_y=0.2975 right_z=0.0266 right_yaw=0.0219 right_pitch=-0.0817 right_roll=-0.0769 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.7299, 6.9538, 1.6044, -0.0317, -0.0269, -0.0122, -1.5248, -8.7316, 5.8462, 1.4042, 0.3834, -0.0562, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8322, 0.6075, -0.4946, -0.0135, -0.0311, 0.9987, 1.1091, 1.919, 0.9646, -0.1101, 0.7876, 0.7849, 0.0117]\nstate[eef_state]: left_x=0.2802 left_y=0.0 left_z=0.1487 left_yaw=0.0012 left_pitch=-0.1503 left_roll=0.0017 left_gripper=0.9987 right_x=0.2848 right_y=0.2995 right_z=0.0248 right_yaw=0.036 right_pitch=-0.094 right_roll=-0.0762 right_gripper=0.0117\nstate[joint_eff]: [-0.1573, -1.5521, 6.9402, 1.6239, -0.022, -0.0269, -0.0122, -0.1709, -8.8957, 5.2171, 1.0574, 0.5006, 0.0952, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7bb5c88885ae620c5c74f1e72bddc025fe0fd49108ccf21aaff169e5c91bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c3d8a0fcffdd55dd18e8c6a08cf4c381f54c4d8e883f495b60b178b26412c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbce518d84ffb47141969f21433ca03b17bf42db63dfbeba05dd371a42f6e9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEF4HRLiylKJ5HyOafaNGDOVb7vATwceCKCWF_AfEWgoPcWZkj02ufLdI7igJ7HFVnWlegB4HA9DWn8MvfJ1M7L4ZjBXbs3PLtu2vATv2Y2qVWlnOfR2iEX2t5vxkTqyOVDsshe6mbiUwZ3ThVzefhzAajKRUAOVErvA29T_vBCmwyHR1wjGbhCGSK0hR1yazIetGTaAgZF192Ol8j8jfsok6JlPB3GluiVCsnkFWnkJAKIwg29cbxqJCO2mLUtObe3DXzwO7mwMszOZ9D3kzU3xVv9Zqs-xf-Q4RypSvRoYNnbx1ZuDEbmDdluQOaVGE3liB_afrhHA4KFBePdj2oVdrxcRYx7SDLjTCr1ezAT6_svxjX9q2zUV9x-rXq12YiU373NoSFXIs4S4ceAfnn6dYxeH1S6Si-BmPaYx5u9sravvXJNlvZnXIoRxymlqk2U9W2WGuOVQj-AU8nw4nEtztydGHsm7FhI-nx_8uC5oIo5qa4k82i9vxYyM-KqMbRnCv3yVIbMHdonUY13TN6dP0FRM-krynj8PpNdP3-hjZudG4Akjb6xYiWZ3XNGtqeWa7dN8hP6bdvumX-pHwE4aByUDa5VPxwemGovLv6Z2zMLeE_hmVTKvO-PYa4CmL_6rAOuRLIM5NEABmVkHN6KlMj795DDT3D0oHBHbtu7ZRDfs0G-A6-8NUxedKssN0Wi4x5NCgIplC2-jC-PxO5-mfDWpnW8eXY7r0pNeVXKEbletc0fqzTufarRONo8Jz7usIkXb3MD4PMkelHlS5kIz0XnI9T9mbzN4j71Xl_owzWtb8SG1gO_Lle-0OkkYpcAXCNYfmYcqFSFjfS_oT0nRKhT7jMPB3QluVSZg7WBCOGvuZUg5HWxx1K6SfLYwiNvCDzT4wpfpA6FApkZqxADWqOJQ0JAw925YNSlYTjRjVkcXKooJxiglu1yAIDPIYXlJeCIRHMwK211cwmFfvXXKLkuh1CSTdlg2-6x_uzc9jORLjOZKhj7IvDuM__wR5uAs-bMO2drkQlI7qheNuaoKSieT2614zBxU3Bl_R7TxbDDZuqFaZH7OS3f21eZSQMMk057LuaFilJOVZjHsnFLa3AVqhDN7UL6dnUKHyYg5XSjh4apg6g2BDPq0aRmq0HygmwtgM5KxrIkwY2UcjZDVt9Q-JToeS2W8qmjFWHDpNfRkQ6lW2vU_sM57uAHak6OrZb_2TQpBrs0U8YMyia62dXax-Elba--aYH6D6uSc_p__QJPeyqO_i0h4OXZVDChthJr2nXdPFpjQxw5MSxbSO3gjamaD116edoxxJc058OSgn7wJh2H0Q_ysxEoy9iPFJeSQs-yP37EYCrb3aJvtDhDdFUtS2Q8vpF7KKVQpyLGYemgLMuttDBQhc-lrHPTADkEgTG6W-qq6thbUmeiGiFV955F84p_ccNkow69B3CX0Hzwyb564yPudnIh2OeXv-UbWlG3Ct6j6l_zC1Pf5TBZdulfVYMfTHb2YxPGCtetcy7LOIWdZTkpGGZTd-PuzWMj4cTcbnCjpzEjCkegUapqkxbwvgkSLarzhYd_7h_exT9PDQZgQlcYJXsZ3zVUpQuZl0aOrilOqJBxFx_PLPQ1hhfo6Fx5Sa-6pgf2PKEpeU6VgQve47DQQgi32Sp-uAVVZJltgRNl5svZV8XXxzFytsQyzAvjmRSMjUOdiwjx7Xmysls7u2kJdrA_0cS4QARkElBmWw-AIxgK2_ep5UxW2anNb1-M-Ni66AFCh48hQFq4X6zBqRToqe3B1qpxFx2IHKSOVqx5ubHSjvXQerxVbnU5XuflHh4chUxmqDJNF85v4NDrkAQIXxtsiBqmk3WlsXXrYTo942k4F0RzUkMlCr1p1AdxZN6XPl2CvojhBgJ8sHinfNKbqHbzGhPbAGGOoIFO8Fvyc8AL7JzlAR3-xCj2E8JdwftOoraCINUEFOOPIKgf7J8FDNt-BfCSLNAtMw6LHAf9T7SZNQJomYJvGKuQrmsgOyw1eDtrbqbBpCVrfBvgW-kUFrb6BsIKXBKFTJ3JNq6QZ7yTcZnE1-ngvbRkWjHcMtNQjM-_XWApOgKuk525er4cqyDqtzdrmOcE2mhdPNAdp11iXMrYSYc7LSQkmW6m4bjbdvHVzyQE=",
  "id": "rs_0c7f7214d30af8dc016ab44175930c87d0bb978e6f25eeaf3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.2,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The second yellow-fruit close was also empty, so I will not repeat with this arm; the overhead view shows it escaped sideways despite appearing centered in the wrist perspective. I am parking and opening the right arm so the left arm can approach from the opposite side.\"}",
  "call_id": "call_goDRVU74XLrgl6xjkTqD3L8e",
  "id": "fc_0c7f7214d30af8dc016ab441774cbc87d0a8aae76e731be301",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_goDRVU74XLrgl6xjkTqD3L8e",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.0212, 0.8341, 0.6075, -0.4984, -0.0135, -0.0311, 0.9987, 0.0006, 0.8192, 0.6552, -0.4461, 0.049, -0.0017, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1475 left_yaw=0.0012 left_pitch=-0.156 left_roll=0.0018 left_gripper=0.9987 right_x=0.2934 right_y=-0.0049 right_z=0.183 right_yaw=-0.0581 right_pitch=-0.0367 right_roll=-0.0083 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.6239, -0.0464, -0.0317, -0.0122, -0.1573, -1.9624, 9.3197, 1.79, -0.0171, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae632d12c4a8e9d1a5e33f7d092862ae3269f506484493716930c6b6d4863be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf8f80dcaeefc5259634debaa4eb25512789e58bc7048746d96a10f2e0ea481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98df2f49dec3f9d47d9b9f41f226995619ef51379255f363178e80fca390a860",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.613 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 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, 0.8257, 0.6075, -0.4942, -0.0135, -0.0307, 0.9987, 1.1416, 1.919, 0.9653, -0.1318, 0.8291, 0.8368, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1505 left_yaw=0.001 left_pitch=-0.1434 left_roll=0.0018 left_gripper=0.9987 right_x=0.2771 right_y=0.3011 right_z=0.0277 right_yaw=0.0176 right_pitch=-0.0691 right_roll=-0.0703 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.2923, 6.9538, 1.5995, -0.0317, -0.0366, -0.0073, -0.1573, -9.0051, 5.2171, 1.0672, 0.4274, 0.1099, 0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 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, 0.8322, 0.6075, -0.4946, -0.0135, -0.0311, 0.9987, 1.1091, 1.919, 0.9646, -0.1101, 0.7876, 0.7849, 0.0117]\nstate[eef_state]: left_x=0.2802 left_y=0.0 left_z=0.1487 left_yaw=0.0012 left_pitch=-0.1503 left_roll=0.0017 left_gripper=0.9987 right_x=0.2848 right_y=0.2995 right_z=0.0248 right_yaw=0.036 right_pitch=-0.094 right_roll=-0.0762 right_gripper=0.0117\nstate[joint_eff]: [-0.1573, -1.5521, 6.9402, 1.6239, -0.022, -0.0269, -0.0122, -0.1709, -8.8957, 5.2171, 1.0574, 0.5006, 0.0952, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6075, -0.4984, -0.0135, -0.0311, 0.9987, 0.0006, 0.8192, 0.6552, -0.4461, 0.049, -0.0017, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1475 left_yaw=0.0012 left_pitch=-0.156 left_roll=0.0018 left_gripper=0.9987 right_x=0.2934 right_y=-0.0049 right_z=0.183 right_yaw=-0.0581 right_pitch=-0.0367 right_roll=-0.0083 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.6239, -0.0464, -0.0317, -0.0122, -0.1573, -1.9624, 9.3197, 1.79, -0.0171, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae632d12c4a8e9d1a5e33f7d092862ae3269f506484493716930c6b6d4863be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf8f80dcaeefc5259634debaa4eb25512789e58bc7048746d96a10f2e0ea481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98df2f49dec3f9d47d9b9f41f226995619ef51379255f363178e80fca390a860",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEF_ZEDhT27TXYhQh4sx9AlnSrsd6kSra74YPfKWsr7u6iiBaQAU86qwlmNJ5NIKqNm3aPszZfX9Uqkh9u4HjNi67pNNaD-Q6AzgNHNgGZ5vue-r2yjbxKW2ywMFvO8OMfhHnAiW4skCu9KCvpp8X8rKukc9Mmsx09I6Q2yUMBYBZuZRsiKk0ELZ9nzKJwna5U0OpTNupjL9b_NeTJVOhAbZxeRSyu-g7jA2Ae5K6g2G6wGo_dxgWwejtTXjpKKJUmatanmscay9fjrktCSICGMGgu_bOEgf8z2xQPdEh9motsXTG4M7vn0VTGprK-fHRBnLbsVC7MpjfgTj1r8KwWIWHZ8Bg1EsezHduwLwQfR2i-CyGhIN08Vb-pt9BUZMLy5UxDrQnz_VWzKyaLLQdrexKSrhm24V8T8C2ECwXIvpsANlNK_zr_BzbcI4lE0S5FHeM9oRrrIxiDtBV1o7ORTxqIH0Noxcz_SrzqyqgYpXLm99Kk6kekyRHqgY_nmUBDOI4W0lPGV0SeSuSO-XG6Y09rqJCqx1fs0_nv1RdoxD9GP3hMyvk0_Ifszkh772wSDHyDM87Xz7lCz-f2Z4o7YZ8peeTExKJlSLBOsxZKSGbv-4blu35a53lELWm0CEGtJeMNSYiTCvw3UWv0Xk29hBMagi0L8L5XCdXoavw5yRkOE3b0LliXu_s-CbEIUXokPxVVmk9htijfqMPEhwyHCYPFYy06yv79FdGZlWXbzLOhNFIVWyhBJSaGkPZdbNc4Zp8FI_azNN98Pl06jeenX36sAk58JUElMeJdkX_-trgYiHEQrVmoyPone0f7GgK1AOmb0LYxv4QW5F3wmW2din22UWXJ4wuw7zDOjhfE0LPyR0GaW6taxqAt1ES30FULKasUSFDHVCTmoM5wTCVZyQaDUe2clwlnuXIQOaQkL9UK18PwytFjo3NUrM5uxGkZSEBE6eIWZQwjifYUuX5GAGv6_ZGqBiUyZrNKtJdtGglhk-FOe8EvDoRvS3t79t_huZfeC8_6ZJqkkwV2IKavwUTSJ5uEsp9LUE42IsSBao3cO1tkmAGf-sHqL5u8BazuMnX8UXEtpSDcQ-Z1WRUrQat5ANvcJmlTN9DiclUrTHhZdJ2vpVci7-W78f8Re1_1HCWXshCiqpCb5P7CQ48P8RBjuDHNGheg9KIcoJlHWuz0KmGe8jxjO1vgEOPRAa3EPyufo-yinW-z3zXKdQfOKPJ_FdjyJmsbHY6UMBaUdepjgQjbM6wP8asj2ZpVvdjJSmXhqG0zAl5tNfdoqhWLZTiStPBGCdEf8vRxp93GiQS66Vikn15J58tMGwJ-140Y9ukh2HsokK8vB1f3AE2V0I-AwTyddU32SAoLXi9IIe8OAkeZyRjY3eYYv-9wUeQM-ctFNWBSIONTpe2oEkM_5kjInvR6nhhhx5wCT4Y0cGUPeJfDejulrG4DCMJMcjBMxidVEPNuCTkMIZoA9Vyfy5Hm9f2qtIlytioRu4KxwwRQ_vLPeLKz54lQS2MPVVt9KABQBwPT4_TPsV1XLJFtv3N9t3nwHvm7Grvccr9ZcgzruiTKbUHaHiGkUXZxNsnfK9f7W3aEwOiVFunvKeecaDNPLQUbTqbR5OizEtzYbBQea2mnUN81Nxv60kimSJYj8BeS8tOJbTIAK7u70zf1-hEhEsMoDp_2ncvaaETBI9ykxKWbjh6i05jsUuU1gGfBWrwjT810b-6tq-o7xpzIZ7VC_ycpN9nAuwCqgaa5N8F-BMYEanvuLlFNFYQv_BHUHs4-4aQi9-FSOlffilbD5-0g==",
  "id": "rs_0c7f7214d30af8dc016ab4417c6c2c87d0a47c1a396cf9ca2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.36,\"left_z\":0.16,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"With the right arm parked, the yellow fruit is clearly exposed between the bowls. I am moving the left gripper above it from the opposite side; this target is near but inside the left arm's crossover bound.\"}",
  "call_id": "call_u9zuoDDUGFqJgut6TVPwihel",
  "id": "fc_0c7f7214d30af8dc016ab4417dfbec87d0bfe674c6bdb0ac73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u9zuoDDUGFqJgut6TVPwihel",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-1.2198, 1.8683, 1.4151, -0.6411, -0.8829, -0.9936, 0.9988, -0.0002, 0.8227, 0.6609, -0.4549, 0.0326, -0.0189, 0.9985]\nstate[eef_state]: left_x=0.2785 left_y=-0.3532 left_z=0.1493 left_yaw=-0.0091 left_pitch=-0.0305 left_roll=0.0073 left_gripper=0.9988 right_x=0.2932 right_y=-0.0022 right_z=0.1828 right_yaw=-0.0358 right_pitch=-0.0437 right_roll=-0.0133 right_gripper=0.9985\nstate[joint_eff]: [-0.7316, -9.1692, 8.8, 0.862, -0.7888, -0.0611, -0.1294, -0.1436, -1.6479, 6.694, 1.7656, 0.1294, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bbd3727090bb915c3f46027c7510099ecfd8434b13428f4b9c48c4d54c29b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e118c736229f88598e7bae728b382d2ad90cdcab363ca696a0442f327373dbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da712c40e0537094e2a9e4b5bf62bb0e55b2b3616adc14f06d7e6fe3f531104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.575 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 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, 0.8303, 0.6075, -0.495, -0.0135, -0.0307, 0.9987, 1.108, 1.919, 0.9653, -0.1116, 0.8036, 0.7933, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=0.0001 left_z=0.1491 left_yaw=0.001 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9987 right_x=0.2865 right_y=0.2975 right_z=0.0266 right_yaw=0.0219 right_pitch=-0.0817 right_roll=-0.0769 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.7299, 6.9538, 1.6044, -0.0317, -0.0269, -0.0122, -1.5248, -8.7316, 5.8462, 1.4042, 0.3834, -0.0562, -0.1587]",
      "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]: [-0.0212, 0.8341, 0.6075, -0.4984, -0.0135, -0.0311, 0.9987, 0.0006, 0.8192, 0.6552, -0.4461, 0.049, -0.0017, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1475 left_yaw=0.0012 left_pitch=-0.156 left_roll=0.0018 left_gripper=0.9987 right_x=0.2934 right_y=-0.0049 right_z=0.183 right_yaw=-0.0581 right_pitch=-0.0367 right_roll=-0.0083 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.6239, -0.0464, -0.0317, -0.0122, -0.1573, -1.9624, 9.3197, 1.79, -0.0171, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2198, 1.8683, 1.4151, -0.6411, -0.8829, -0.9936, 0.9988, -0.0002, 0.8227, 0.6609, -0.4549, 0.0326, -0.0189, 0.9985]\nstate[eef_state]: left_x=0.2785 left_y=-0.3532 left_z=0.1493 left_yaw=-0.0091 left_pitch=-0.0305 left_roll=0.0073 left_gripper=0.9988 right_x=0.2932 right_y=-0.0022 right_z=0.1828 right_yaw=-0.0358 right_pitch=-0.0437 right_roll=-0.0133 right_gripper=0.9985\nstate[joint_eff]: [-0.7316, -9.1692, 8.8, 0.862, -0.7888, -0.0611, -0.1294, -0.1436, -1.6479, 6.694, 1.7656, 0.1294, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bbd3727090bb915c3f46027c7510099ecfd8434b13428f4b9c48c4d54c29b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e118c736229f88598e7bae728b382d2ad90cdcab363ca696a0442f327373dbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da712c40e0537094e2a9e4b5bf62bb0e55b2b3616adc14f06d7e6fe3f531104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGHR_at4M8Q2AGvKFbrlb-IFE1B3ASLsi2JzK8VVL3WkOkhJViQ35nDaWqQIP7eKCIhkjLM_T_Lr-e4qWvmmEJhOQuh9RDmgiB_bRs_FgGGO2-hz5H2HxQnesTRw6StSdI3KbevsEiIW-GeZbC2dbo5cVOGnAbmucexBrCLyolKu2FFk8o7taMrV-pwBnRGYf0gT-Wqal8cCBoV05oD1wuFqrbS-P6RpP8Y8uHon8YDXNLGBi32OOrg6M6YiN6gquRrIOdwG5sD3Rsq8mp5Q1gJZsl1ZFPpRXHIH96nMFez1uZakuLzMI6DJXf9JYpXeAVEhZkieNRpd1E8nc17CCwAgLfuVeZTJD-JKVFOmUpSBss1qO-Uo2FuAt_Ws_crnev8hqxxJIXmQ2SYjLPIoQVTe1f0zMLvUiwIjLU0hTBHQB7nrE4aIZk4PKgdA0S2EDPMbWzJOuUZ536qzAmZC20NukuPa-CPX12mns0zoVKVwJD3U6g5NOQzcIQMRD-tKF5yFHIh8g2I_ntwu3ONmjBEq5Cv57OpMjlRwE2Gy35is6d9N3zHfX6AnG0sgSwNYdOx9Efh7tnHW7JVUrgqOHUc3KscfHr1173VDAE2cv0v3lW9JwNqWMKxdW-jQJcL6yqjrmbbPwpW8_mH1OxYSx-L_vnpvZ9rYzWjeewlnFDfsFmut0TSPyS17RhR6eTglL9IBHT493ugqKFgUP3MUdYS0VjIzm_eqeEZJRYuwAUrqqwVv8qwDbh7N3sULDJS6QX-J0RQyRd8XSKIjJpMBlPUkea30KUOhDk1nxYD5-bchlpTTjTatudtOlhbwEroKLiPMsXT-wJk8LA-rIirUyilIoxyI_qSOdj742iN-g0rjjvkEj5yZQDew7HTEnO2NDrWbzlldZughB6bZE-Mk3OihHEoYOX1VBS8W5VeVbWDOT2z7GNRTDoeBcqyOPLgie4mL5be0Ewh_Idyq4e03xyUOLLo6-duvn0NvU-oYCv_8vxDeDVfTHYn4txbgwg6aC4GKq_KJtTBwaU5aMjopOkQS8qWZyaX3QPpY84CCZeu__KDfl8N0ebDTXIc8ihWSM7MqTa9LI7ysM4LFcij2FRoqg1-GF-RKh463r0vOx5kcQs0TlJFXlJwUBCRRsfxqD2iVUV1rJ6kQCJGZulmgnFIwLP7VtSjBg48C_snzyheZytsP-ihaEl9KPg6Rqw62pkvvIt9tS1UVLVEwMJeNdCNZIZvxKO5ic4toam43cUS6PaKdQr_w7zqfhw0-8JkRV7cPKrpAfnnMnNQkciBu0jCe9IpoFUJjNjrN7i8VQKd6WHfzkWhWn4QLus3ZYhQyu3TsewAS-Ay8yqC2lHz3RzSUrOvIChpzTWsARaJJE73pubft4Z5AU6PBKC6HXlHN3LoJTz0HtDFlycga0iiDDgl55m_LsiENHSOqXzYMQ8R6hBabBlYDE-ldkmaMm0l4YlPTIUwoul4rCkZgZi12zDWwnuvAoIKea7e16pfLINT0TERwLVDRP27iR6-wU9m45ceh9WSCr_5hZKR6ZDCWSdCKXQyNl90DUzNSengpsKk8PWYLOEq6-eTaviVMW3OpripQgVINg1M1FqbqXTWZDAiie_Cml5Mr4YaQp3qUHF7cQOxa2oJ3ncgCVACwIxoOPDSf1OqorfMmbqw3eRW1cvy_aox9KiV7Gv5a0WAY9r4p8--qDgUmggq5e0RH-yJYaJgEM9lgufSxcQwBrpCApKFAimAhNfvNjhB10BAuHVSaPW6XfNObDMJHQ9OgfgnjbFZrsYCg66KASaKF5ZnbKSa0N3ihRhHvAUs_gR95phalYVbLGiasilBAHaKQh_k1D2Te_Yt9pYYVHMPvB7HAEcV2xj0p7VaAhGcu0nXmaDFp8vJPsZiumyAAM5A8-4Jktb3W_h0quLJjM5-lMSj_1xprY_Vpm92uER1FnKICdznsvpInnqRWttB9xdR7Yx670gPrHMEDoQe_NoC8fABYo4O0g==",
  "id": "rs_0c7f7214d30af8dc016ab44183a81487d08c5ffe186172439a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.33,\"left_z\":0.035,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the yellow fruit a few centimetres to the gripper's left and back toward the base, with the blue bowl safely to its right. I am correcting those offsets and descending to grasp height.\"}",
  "call_id": "call_25R231F5Z76IyYttGJaL64cJ",
  "id": "fc_0c7f7214d30af8dc016ab44185a77887d0a7ab6768dfb24f98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_25R231F5Z76IyYttGJaL64cJ",
  "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]: [-1.2747, 1.9511, 1.0492, -0.2825, -0.9089, -1.0569, 0.9988, -0.0002, 0.8272, 0.6609, -0.4622, 0.0292, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2488 left_y=-0.3258 left_z=0.0368 left_yaw=-0.0159 left_pitch=-0.0373 left_roll=0.0479 left_gripper=0.9988 right_x=0.2925 right_y=-0.0016 right_z=0.1801 right_yaw=-0.0325 right_pitch=-0.0555 right_roll=-0.0123 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -8.7043, 5.3265, 1.1209, -0.6911, -0.2222, -0.1294, -0.0342, -1.7436, 7.0496, 1.7949, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f79095086ca0c41151d861489eac623d4b13560a0bc07335ddfe5a565954bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32bef5c5cacc2d68c28e2a192dd6d3b0b79360a269e68f04eb390548bbf229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034f4c6a65cc5a931f8e5d143302ede698903564c4a889f1c44f81df2229977b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.641 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8322, 0.6075, -0.4946, -0.0135, -0.0311, 0.9987, 1.1091, 1.919, 0.9646, -0.1101, 0.7876, 0.7849, 0.0117]\nstate[eef_state]: left_x=0.2802 left_y=0.0 left_z=0.1487 left_yaw=0.0012 left_pitch=-0.1503 left_roll=0.0017 left_gripper=0.9987 right_x=0.2848 right_y=0.2995 right_z=0.0248 right_yaw=0.036 right_pitch=-0.094 right_roll=-0.0762 right_gripper=0.0117\nstate[joint_eff]: [-0.1573, -1.5521, 6.9402, 1.6239, -0.022, -0.0269, -0.0122, -0.1709, -8.8957, 5.2171, 1.0574, 0.5006, 0.0952, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2198, 1.8683, 1.4151, -0.6411, -0.8829, -0.9936, 0.9988, -0.0002, 0.8227, 0.6609, -0.4549, 0.0326, -0.0189, 0.9985]\nstate[eef_state]: left_x=0.2785 left_y=-0.3532 left_z=0.1493 left_yaw=-0.0091 left_pitch=-0.0305 left_roll=0.0073 left_gripper=0.9988 right_x=0.2932 right_y=-0.0022 right_z=0.1828 right_yaw=-0.0358 right_pitch=-0.0437 right_roll=-0.0133 right_gripper=0.9985\nstate[joint_eff]: [-0.7316, -9.1692, 8.8, 0.862, -0.7888, -0.0611, -0.1294, -0.1436, -1.6479, 6.694, 1.7656, 0.1294, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2747, 1.9511, 1.0492, -0.2825, -0.9089, -1.0569, 0.9988, -0.0002, 0.8272, 0.6609, -0.4622, 0.0292, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2488 left_y=-0.3258 left_z=0.0368 left_yaw=-0.0159 left_pitch=-0.0373 left_roll=0.0479 left_gripper=0.9988 right_x=0.2925 right_y=-0.0016 right_z=0.1801 right_yaw=-0.0325 right_pitch=-0.0555 right_roll=-0.0123 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -8.7043, 5.3265, 1.1209, -0.6911, -0.2222, -0.1294, -0.0342, -1.7436, 7.0496, 1.7949, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f79095086ca0c41151d861489eac623d4b13560a0bc07335ddfe5a565954bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32bef5c5cacc2d68c28e2a192dd6d3b0b79360a269e68f04eb390548bbf229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034f4c6a65cc5a931f8e5d143302ede698903564c4a889f1c44f81df2229977b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGLUNLf2Mbv4gq7FfIygWn_YT0xNvVr_D5m2yn7k8FloHLatj5rPW9JMOjfQVYSC5qxPt8ocFmnUt-JPzAc5pUmbgW8i-e2y8bkH2ptBlKZCfbSHXjxZ5JuWNaPLxYgjX7X_O04YfUxSRL3t9qkQDQZ6daZmJVjWF0pDqPqEMPYdATiDewPXlxOCqTeal0vd8w8Nag8kn5Ix8DCvQfNYrRA8UhFem8EPz-olRJ6SQtxP-piM-4-nmnXpn3fhPi_Ig2XwmDCVBCIxwDcRQPteL316DyxxtDfFftn7sOvUYE_uzheOX8kLFS_tKd4xHUUN4nRZ-V3QbtaYIC_f5i0tPMWvDaX1eFcI4sOfN-GK7-mgjE6T6ZyrSmx8P1seSq59fF7UOhyvO8JEsE5PCNWfbqA300V7ctGOZJmd7SOT4aLO8DhtiwvbkBjt08CoEtgNATrVo16OEsS1es5wUhCSf1tsmT1HuYNOk4RriU1FkuBSRrk2ECzyGBJPzoIqJA6_V4iehYKNL4PosJ4cLEekip__HNZLFvtUrspLeR9j1naYlP51siIhd-bE8fo1-hU-J5rVIlCVmWF5hKA-Zh8K1zSDdfVJNAg-QQsaAlEUm5llBhCSV9GHnaXGJ6W_RJLfha-5zLuwhE0n0YKvSLZoWHVUtfqceFgLL1IJ69L1YD2EnImksRvIYgkF-aLua0mGVhCbUbL3cG76BjNxjViUKBMJPM5CgVyHHTGNeCRHpmUw5gud6HcKTXYw7Nogp7EW1NGMqi8U-UiRg06crZ2C8z_NL54yqsDgpDJrcmfodf9FhHMbQuRxYR2Z8zIb8mLhk29aAEEV4GwSUxu2ljST9plyFHXW7cuDfyq30TtGV-IIientWk6FUeH8Ne2aPR4Wz4iDEwfasAKqp6pArXyHEtiGK9CHjYI1gR4RnZ2u1HRYbC_MI8EcM5ARt6GTLbsz3oGXKkLvUfIo4Y2dlf74keG2Z_jYMzNgzf6IIX8flhBwxFw-VLB3ht8u-XjsRmpE31IHwdVkYV1P17A7bLW4GENF4xWP62Q69Zlyg5tKL6e0meE7srRqdBXT6DeZAgf23S3lMD7oUys5FhbL2R_NHVbpqmoClAo_jf0HoyPcTA7aBHGtZ_D01Mg_E0kNYeAwAT7NgeZKHcqDy_OkOdFW7Bc_IfgaVxCDktD_7CVf5etFx0bjAZCtaquaF-ty4QID_mOEJskWHXwM0qzOn2-NY67cwsD-XQM4tNcPEsLyHbXcNtASBe0-4bynhsSiPDjwjSj98jndCagxZ0wINLz4smgZ7QILuGqvFsXlq9fkRoaCDkc8d21UFKGGbfvl3V2eWCkawNSWOQdt4-Gr8Sd417a0ZnD5_T1pOCGoGfEJ8PEEwCxxjkGc951kRiW4R6ePTZU6vSALzDcNMfyLqm9wKDJ4RgDygUg8HoB-7y2d7z0RXq0LvtDhj-BUMnpxQICkDYJtT1L0SF4xdZWHMng4I2sz0Crr9j4k78iPUxIORibH3fRq3SFsDMC3RGNAE6adKcXgDH5JoexaYsDx_bZZxjoxIwA1ex8MgBgeWmVcl8jDXTH9WYbWg_lGFs6T0VTDb_kfeBfjazCflKAToNtHBMgvgc9zgjwt0L0OOtoMZ0KI2VDc6Y_uqsh6Dwr2Rw1LP29KdlA0_n2h7dPuLzrXg5fjI-JObsxYsxntpzrKo_vNkVjVbmlgS36-x_kApBT8_C8aJT86w4pvWJ4mUpuYZ1_UUd6iW8OVXve8l-Z49W-UJtInFnvuSHwIPyVG6wtoKMduT84g1o4p2EiP-LQOoB6t0zq0R6iwqWAhcS4aiBQJqwEUiIqoVs04jYcAxszP5cUdm269foE2yXb2CYhAaw4eu0LJn7VyTBF-S_kzcwQsCoC_CoDxE_CN3MvtAEgmGGP",
  "id": "rs_0c7f7214d30af8dc016ab441890d5087d0ae95e2c13204d70f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.326,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"At table height the fruit is perfectly centered laterally but now clearly lies ahead of the fingertip line, confirming the radial estimate was too far back. I am advancing 3.5 cm while staying low so the fruit enters between the jaws.\"}",
  "call_id": "call_sulgsUDLwwlPy56o6bCzQyeE",
  "id": "fc_0c7f7214d30af8dc016ab4418a76b087d0a4269f31faea820a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sulgsUDLwwlPy56o6bCzQyeE",
  "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]: [-1.1942, 1.9732, 1.0397, -0.2028, -0.8791, -0.989, 0.9988, -0.0002, 0.8284, 0.6609, -0.4641, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2748 left_y=-0.3153 left_z=0.0281 left_yaw=0.0138 left_pitch=-0.0486 left_roll=0.0491 left_gripper=0.9988 right_x=0.2923 right_y=-0.0016 right_z=0.1794 right_yaw=-0.0324 right_pitch=-0.0586 right_roll=-0.0118 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.3214, 7.7744, 1.1404, -0.4078, 0.3101, -0.1343, -0.0752, -1.4564, 7.1453, 1.7265, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f32505a2f4a84d47bf8e78e9d3dec7372718b58ee883e1c71b148775484530d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8404c9029e4effc5d68d4b57c77c0b27510a9995043934b715d78bd463ef588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d01917b4b94552acb27fd8548d030006c1b1895114c7cf46ef3aab93c6f9951",
      "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 · 3.294 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6075, -0.4984, -0.0135, -0.0311, 0.9987, 0.0006, 0.8192, 0.6552, -0.4461, 0.049, -0.0017, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1475 left_yaw=0.0012 left_pitch=-0.156 left_roll=0.0018 left_gripper=0.9987 right_x=0.2934 right_y=-0.0049 right_z=0.183 right_yaw=-0.0581 right_pitch=-0.0367 right_roll=-0.0083 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.6239, -0.0464, -0.0317, -0.0122, -0.1573, -1.9624, 9.3197, 1.79, -0.0171, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2747, 1.9511, 1.0492, -0.2825, -0.9089, -1.0569, 0.9988, -0.0002, 0.8272, 0.6609, -0.4622, 0.0292, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2488 left_y=-0.3258 left_z=0.0368 left_yaw=-0.0159 left_pitch=-0.0373 left_roll=0.0479 left_gripper=0.9988 right_x=0.2925 right_y=-0.0016 right_z=0.1801 right_yaw=-0.0325 right_pitch=-0.0555 right_roll=-0.0123 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -8.7043, 5.3265, 1.1209, -0.6911, -0.2222, -0.1294, -0.0342, -1.7436, 7.0496, 1.7949, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1942, 1.9732, 1.0397, -0.2028, -0.8791, -0.989, 0.9988, -0.0002, 0.8284, 0.6609, -0.4641, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2748 left_y=-0.3153 left_z=0.0281 left_yaw=0.0138 left_pitch=-0.0486 left_roll=0.0491 left_gripper=0.9988 right_x=0.2923 right_y=-0.0016 right_z=0.1794 right_yaw=-0.0324 right_pitch=-0.0586 right_roll=-0.0118 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.3214, 7.7744, 1.1404, -0.4078, 0.3101, -0.1343, -0.0752, -1.4564, 7.1453, 1.7265, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f32505a2f4a84d47bf8e78e9d3dec7372718b58ee883e1c71b148775484530d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8404c9029e4effc5d68d4b57c77c0b27510a9995043934b715d78bd463ef588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d01917b4b94552acb27fd8548d030006c1b1895114c7cf46ef3aab93c6f9951",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGOtiM1ObaRuDrBpmV0bjuTtMPWjgbszjWVwGc01ZeVTwKfbnHt2tSdavgCy8mDIOH5mCIHjk9-LSDGgq-IeUMnvUA_m-5XkGW5-1BtcHDGIAaapiyC4HoKIPlvwCPsxwn04rHequHcDX36xSvEqZxwWh2EBB_kyGvrBetUWn_sIeFYGpQzrx1pEsh03WthqtIsyeK1QzCeg4xjP4p_pHU8QBz_qBUEzofsiNWYMvGqThbnWuDrNc4Imw2M_4w6DhQkML9uQIqx3maUhbbrPNGP3TEvVeaxe11n93uGmwsBiXXG4Iz87PCq98ABLsV3zvMXrUAlNvOlXUzax-fqgYO4EHYNrkrCV0U48On0nLD8vFrFWiKcI5nLiQ3S2du_Fl21cRaN_jsMBD3FNWsQWyiIVNNpDnhr3M_0ctpNLLvxhll6h-7X9V3rfNK5rz-wOShcWJXGAwq2lt9NqvGhgF6GrpeAd6Lyc1gYBaqWOEhk5VKyZ7g_yQhsxCLo0BgckCa_q3rY6JIMz1fky59U9sjUbOsnXaSa7YLGgbRlXpyZp3AyQbAoOXUjAuBE6vzYniyeSa6tJXV_6xF43aEkSVy_LQ8krjtEX_6ZNyVeRp9oDCcCkpUYo6aznmiiMztKmeHItS-gvBoZneuXuGRwEMyVeB1hplrPODfXbHxpYxDTYIGonoUA2U1TISMtYqgSE3We3pNTcHEIwqLtZTJgvpJnSDAu6NhB0XSQCKiHQ0BOhRFAJDIZrxGvxH6yBG4HwBd1Tnnaq_7RvFTF6WeYrG4c0B3PE5v1KBFrJVg38wCUrGloBw_ioOLLCi7AYpx7YjseWOda4d3TR38vp168_rpI8q_IC_rDElSLzvCSHKsfqFgV9G3w0blyGJ1eDMXmycsQ4Oqjd29QcocWz0GikEi_Li7Lc7YEBS71cZPZsbvlB_xQEyt_h9VA4tpNUSQA7mSFaFQVAHSFCyba_IiE5V0WoUpPgtkRtraU6PT4pk-l0csFEdwqztCBryjogeE5vl52irP2X1XNX66eaC-7LBvW7eKbyEXjCRVPFoCMCOiklJcimGWpCransQiylZk_--MA66KApQ1hXKlnRolcRa1pRgzwgrIwGmtU7OCU3Zbt_YVtPXKzwAzdGDj1txFx1ledTwPlmlZvPrPiEILF4dq9unTbTXj-94YV_h5BW8_bdoQ7hcIxmQK0sfIssBNUAk_69iGVCuvPTxLR80Jye75N2J9io8tjRaxSzPhWuPZL1qKsUsCZgMI2dmcjDRFiGmeQOiHHVs2xkPFXg00QDSw6ioZb5So24n-HHjCdfWhqSAl3Ra0R2bGSQ1KMSzIg3MC0bzEkT_M9nfZjt2QhzihPf453dQmAYz9Qo3dBOEKunkPUempwRo1hhfnaLZUu6mxUfwFnbX_PZWy_iCelC7LXZtAa6dy07y4IudZ8iWEbV_0=",
  "id": "rs_0c7f7214d30af8dc016ab4418cd04487d087b568365441dd2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.315,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The advance made the fruit much larger and brought its rear edge close to the jaw tips, but a small gap remains. I am advancing the final 2–3 cm before closing, keeping the centered lateral alignment.\"}",
  "call_id": "call_QtuGiLfnczIaxrT2zk3kyzNb",
  "id": "fc_0c7f7214d30af8dc016ab4418d590c87d0b68dfd64fe4f2de6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QtuGiLfnczIaxrT2zk3kyzNb",
  "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]: [-1.1748, 1.9732, 1.0435, -0.1772, -0.8707, -0.9386, 0.9988, -0.0002, 0.8284, 0.6609, -0.4698, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2824 left_y=-0.3158 left_z=0.0301 left_yaw=0.001 left_pitch=-0.046 left_roll=0.0601 left_gripper=0.9988 right_x=0.2915 right_y=-0.0016 right_z=0.1782 right_yaw=-0.0324 right_pitch=-0.0643 right_roll=-0.012 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.841, 7.2821, 1.1453, -0.4225, 0.2125, -0.1343, -0.1709, -1.2923, 6.9538, 1.7411, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d464ca75cd28443f18e91b0516ddcf88930bc072dbf28ae5404a87eba654cb19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d82cf612b4afadecf6106f6ef13d27f8ad191af1a6ca8a3c8a89e02f8f708d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4e8582188f364ad8eea505619ca8a98d49f594e2cd7768a2496da9f230c25e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.214 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2198, 1.8683, 1.4151, -0.6411, -0.8829, -0.9936, 0.9988, -0.0002, 0.8227, 0.6609, -0.4549, 0.0326, -0.0189, 0.9985]\nstate[eef_state]: left_x=0.2785 left_y=-0.3532 left_z=0.1493 left_yaw=-0.0091 left_pitch=-0.0305 left_roll=0.0073 left_gripper=0.9988 right_x=0.2932 right_y=-0.0022 right_z=0.1828 right_yaw=-0.0358 right_pitch=-0.0437 right_roll=-0.0133 right_gripper=0.9985\nstate[joint_eff]: [-0.7316, -9.1692, 8.8, 0.862, -0.7888, -0.0611, -0.1294, -0.1436, -1.6479, 6.694, 1.7656, 0.1294, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1942, 1.9732, 1.0397, -0.2028, -0.8791, -0.989, 0.9988, -0.0002, 0.8284, 0.6609, -0.4641, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2748 left_y=-0.3153 left_z=0.0281 left_yaw=0.0138 left_pitch=-0.0486 left_roll=0.0491 left_gripper=0.9988 right_x=0.2923 right_y=-0.0016 right_z=0.1794 right_yaw=-0.0324 right_pitch=-0.0586 right_roll=-0.0118 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.3214, 7.7744, 1.1404, -0.4078, 0.3101, -0.1343, -0.0752, -1.4564, 7.1453, 1.7265, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1748, 1.9732, 1.0435, -0.1772, -0.8707, -0.9386, 0.9988, -0.0002, 0.8284, 0.6609, -0.4698, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2824 left_y=-0.3158 left_z=0.0301 left_yaw=0.001 left_pitch=-0.046 left_roll=0.0601 left_gripper=0.9988 right_x=0.2915 right_y=-0.0016 right_z=0.1782 right_yaw=-0.0324 right_pitch=-0.0643 right_roll=-0.012 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.841, 7.2821, 1.1453, -0.4225, 0.2125, -0.1343, -0.1709, -1.2923, 6.9538, 1.7411, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d464ca75cd28443f18e91b0516ddcf88930bc072dbf28ae5404a87eba654cb19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d82cf612b4afadecf6106f6ef13d27f8ad191af1a6ca8a3c8a89e02f8f708d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4e8582188f364ad8eea505619ca8a98d49f594e2cd7768a2496da9f230c25e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c7f7214d30af8dc016ab4418f9fd887d09024fc4a61d46412",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The last outward command stopped about 2.3 cm short while the fruit stayed centered and now fills the jaw opening, suggesting the fingers are contacting its near side. I am closing the left gripper to capture it from this opposing approach.\"}",
  "call_id": "call_adOCB67U6A6ecHjiLRBUAoPT",
  "id": "fc_0c7f7214d30af8dc016ab44190becc87d0b352e889e11189e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_adOCB67U6A6ecHjiLRBUAoPT",
  "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]: [-1.1744, 1.9751, 1.0451, -0.1772, -0.8665, -0.9394, 0.0087, -0.0002, 0.8322, 0.6609, -0.477, 0.0288, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2823 left_y=-0.3164 left_z=0.0293 left_yaw=-0.0001 left_pitch=-0.0496 left_roll=0.0584 left_gripper=0.0087 right_x=0.2906 right_y=-0.0016 right_z=0.1758 right_yaw=-0.0322 right_pitch=-0.0754 right_roll=-0.0127 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -9.7026, 5.053, 0.9841, -0.442, 0.0122, 0.6227, 0.0068, -1.7436, 7.1453, 1.7265, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b723a86fc6735b6c91a9e36186a201b52dceddbedba00a22f8a20425a9475e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08dc7de6dea11141ea2c647a3d8a7df6efdc726c92e83d90cc20a240dcab6466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ecbecfe761e7a01b947c79b321a838465dfdcaa7a8bfb86a0baf24a6e2b977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.625 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2747, 1.9511, 1.0492, -0.2825, -0.9089, -1.0569, 0.9988, -0.0002, 0.8272, 0.6609, -0.4622, 0.0292, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2488 left_y=-0.3258 left_z=0.0368 left_yaw=-0.0159 left_pitch=-0.0373 left_roll=0.0479 left_gripper=0.9988 right_x=0.2925 right_y=-0.0016 right_z=0.1801 right_yaw=-0.0325 right_pitch=-0.0555 right_roll=-0.0123 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -8.7043, 5.3265, 1.1209, -0.6911, -0.2222, -0.1294, -0.0342, -1.7436, 7.0496, 1.7949, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1748, 1.9732, 1.0435, -0.1772, -0.8707, -0.9386, 0.9988, -0.0002, 0.8284, 0.6609, -0.4698, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2824 left_y=-0.3158 left_z=0.0301 left_yaw=0.001 left_pitch=-0.046 left_roll=0.0601 left_gripper=0.9988 right_x=0.2915 right_y=-0.0016 right_z=0.1782 right_yaw=-0.0324 right_pitch=-0.0643 right_roll=-0.012 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.841, 7.2821, 1.1453, -0.4225, 0.2125, -0.1343, -0.1709, -1.2923, 6.9538, 1.7411, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1744, 1.9751, 1.0451, -0.1772, -0.8665, -0.9394, 0.0087, -0.0002, 0.8322, 0.6609, -0.477, 0.0288, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2823 left_y=-0.3164 left_z=0.0293 left_yaw=-0.0001 left_pitch=-0.0496 left_roll=0.0584 left_gripper=0.0087 right_x=0.2906 right_y=-0.0016 right_z=0.1758 right_yaw=-0.0322 right_pitch=-0.0754 right_roll=-0.0127 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -9.7026, 5.053, 0.9841, -0.442, 0.0122, 0.6227, 0.0068, -1.7436, 7.1453, 1.7265, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b723a86fc6735b6c91a9e36186a201b52dceddbedba00a22f8a20425a9475e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08dc7de6dea11141ea2c647a3d8a7df6efdc726c92e83d90cc20a240dcab6466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ecbecfe761e7a01b947c79b321a838465dfdcaa7a8bfb86a0baf24a6e2b977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c7f7214d30af8dc016ab44193daa487d0933f95829f5ce365",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.316,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The left gripper again closed empty because at z≈3 cm the fingertips were dragging on the table and could not advance around the fruit. I am reopening, raising to the fruit's mid-height, and moving forward so the jaws can surround its body without floor contact.\"}",
  "call_id": "call_jwmVJ9lIhYH6qd259tB817xt",
  "id": "fc_0c7f7214d30af8dc016ab44197f78887d09876d473baa465b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jwmVJ9lIhYH6qd259tB817xt",
  "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]: [-1.084, 1.9747, 1.1038, -0.2016, -0.8219, -0.8429, 0.9947, -0.0002, 0.833, 0.6609, -0.4767, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.3133 left_y=-0.3076 left_z=0.0389 left_yaw=0.0147 left_pitch=-0.0743 left_roll=0.0883 left_gripper=0.9947 right_x=0.2907 right_y=-0.0016 right_z=0.1756 right_yaw=-0.0324 right_pitch=-0.0758 right_roll=-0.0124 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -12.2051, 8.0479, 1.0574, -0.4078, 0.1978, -0.0171, -0.0205, -1.4154, 6.9538, 1.707, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d6a77f70b7ce143867c834437e175d72bef04950237b43ddf92496c03e5da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae2a060360cac655a72bd58fa4b423e3946a970fbfc3d35221e5ebb41172a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccad78dd4245d047fe35e28803f416950bd678f20c05ac3704aee8cd1d4bbcd9",
      "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 · 4.347 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1942, 1.9732, 1.0397, -0.2028, -0.8791, -0.989, 0.9988, -0.0002, 0.8284, 0.6609, -0.4641, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.2748 left_y=-0.3153 left_z=0.0281 left_yaw=0.0138 left_pitch=-0.0486 left_roll=0.0491 left_gripper=0.9988 right_x=0.2923 right_y=-0.0016 right_z=0.1794 right_yaw=-0.0324 right_pitch=-0.0586 right_roll=-0.0118 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -8.3214, 7.7744, 1.1404, -0.4078, 0.3101, -0.1343, -0.0752, -1.4564, 7.1453, 1.7265, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1744, 1.9751, 1.0451, -0.1772, -0.8665, -0.9394, 0.0087, -0.0002, 0.8322, 0.6609, -0.477, 0.0288, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.2823 left_y=-0.3164 left_z=0.0293 left_yaw=-0.0001 left_pitch=-0.0496 left_roll=0.0584 left_gripper=0.0087 right_x=0.2906 right_y=-0.0016 right_z=0.1758 right_yaw=-0.0322 right_pitch=-0.0754 right_roll=-0.0127 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -9.7026, 5.053, 0.9841, -0.442, 0.0122, 0.6227, 0.0068, -1.7436, 7.1453, 1.7265, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 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]: [-1.084, 1.9747, 1.1038, -0.2016, -0.8219, -0.8429, 0.9947, -0.0002, 0.833, 0.6609, -0.4767, 0.0288, -0.0193, 0.9985]\nstate[eef_state]: left_x=0.3133 left_y=-0.3076 left_z=0.0389 left_yaw=0.0147 left_pitch=-0.0743 left_roll=0.0883 left_gripper=0.9947 right_x=0.2907 right_y=-0.0016 right_z=0.1756 right_yaw=-0.0324 right_pitch=-0.0758 right_roll=-0.0124 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -12.2051, 8.0479, 1.0574, -0.4078, 0.1978, -0.0171, -0.0205, -1.4154, 6.9538, 1.707, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d6a77f70b7ce143867c834437e175d72bef04950237b43ddf92496c03e5da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae2a060360cac655a72bd58fa4b423e3946a970fbfc3d35221e5ebb41172a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccad78dd4245d047fe35e28803f416950bd678f20c05ac3704aee8cd1d4bbcd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGdmBW4oDdPojvRzK4ZI2SHa2gTBrsLsLgZdZhlsARZZ80l1IZl_x_k2uOnt_pEYDwnhh4O7XPDfLYJPCaFVUg6skXbLO4deJJn_VwTRjiC6DWSJ77iIjG7vECPzn0JeAJBBQMv0C0-ze3NlZl_NGYtsCYxFwXYAcuzqES9Cfc8HvJ2rodpp9Adn3BmyArLqE5N-si9_ko8KZP1gGeXwtvTI4IY_N76f00QokevzzDCBD0bbzNi6QFfzKmGzTZpw6YtanKJVLPwSKucGI0bAP1Kx5fHt-fLsf3i8gnoosSfZWWX33uE4lkXXAXh0tQlZvSDMdLQqbA4RkqdwKaE2KJH-l5LI-bmnzTgMDVmxnKi_Wcpmiz6HKYwNAGpl4YzZN20lQVVZDY0qtaLy4ZLYto6G1HuOg425w41fktqRcpoOHrAUDzDiTdyjsoxXyfdYy0drJl76ENAaFiFqNw6ImWYZcq3jbkLmTpaQzSD_Ogo32-xfAAYH1bsUpbqsf4iOuzA2KEcgGENlRnt4UHuJcs9DiD_ZuZrICcjThGEmyrQUmBtlImTQlErxiGl_rDLbsnJdx8A-JwVgOQ-GsLzltuS6r3wIpcdZ0mduaHKZ3F9D4qdBqXS3AZzLitBieowvTS6S-8AcxnCIxL43HpDt-dI24U4SiNSVsYZZ9SLLuHI0k6L2YdS6TiFBfbIkBR8oB5BsfCZJONzzkTjNXabqzDFSNTk0DnX44UAOF0V61itOJo3ZlbMlrqfeszhS78j9TIvVNh-aI4vCJAJSWc4UPuIafgQy53l6jJUORgCoM97q7ilGej3GmRS1Im3sVKEQa93yL6-e2QPZhyj3Gtlll-WYOS0fKs_3BTGYGWUonSt5vn3fAkgc6gKH6kK6Qc1yX8tvBeNsiAOmIsCDUeby0aEbg1O8BAmxES3AwqlzhVO0akCehfjzUHHnquNq3Dzzppjv7beSdbrqaISG-SFfnj_isX_F7RchYuQgVHp-dj2jc-nFv-Vs50purlNu4frsi0In7l4KoxszxBcVf_upAkSx0KZoUG_F3Wcwum3nLcmkVnLpr52kJOcECfL7y4a6dpwla71utJuLxga6KJGms6gE40YtGGfpwGNgM6nLva12phrno-aj8bUwzEqEKMOxa8aJJ5iLNgqf-69p5-nJuubeXUgbceo_GCWxPeB42FKwQbgY6DUdz432NLPurD37HDrSdXJyE_QtHM7pBrBqTIC_RR8mapSqku7j7cETVXFkJc55-USfRGxvWIXlZRqJHcZoVVHFHk7j7RLKgmgLjA5Qw==",
  "id": "rs_0c7f7214d30af8dc016ab4419bfd1087d0a5350546bbdaf849",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"Raising before advancing worked: the yellow fruit is now visibly between both open jaws rather than ahead of their tips. I am closing the left gripper around its midsection.\"}",
  "call_id": "call_Z3okE7IOHpUOPCBPNQagnaWu",
  "id": "fc_0c7f7214d30af8dc016ab4419c480887d0a61e994946102fa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z3okE7IOHpUOPCBPNQagnaWu",
  "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]: [-1.0821, 1.9747, 1.1072, -0.2039, -0.8211, -0.8455, 0.008, -0.0002, 0.833, 0.6609, -0.477, 0.0288, -0.0196, 0.9985]\nstate[eef_state]: left_x=0.3141 left_y=-0.3077 left_z=0.0397 left_yaw=0.0176 left_pitch=-0.0743 left_roll=0.0848 left_gripper=0.008 right_x=0.2907 right_y=-0.0016 right_z=0.1756 right_yaw=-0.0322 right_pitch=-0.0761 right_roll=-0.0127 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -9.812, 5.2444, 1.033, -0.3834, 0.0024, 0.5934, -0.1162, -1.4427, 6.9949, 1.6532, -0.0611, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fe4449c48f7a4a873367e7600a6a90d0a9dd7462e6d357a6f3fa2264688080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b64c7d30def43d2c3e63d02d590b175c2010a7b424391529323cda188034d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c3a761f35a4ffe910bed5e6a17b505bbbc5743ab9847e089ba77cdec4dea04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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