adhoc

completed
2026-09-23T21:04:12.428258+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
213.5 s
total steps
353
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 green pear near the right gripper, a yellow fruit beside the blue bowl, and a dark fruit left of center. I’ll first position the right gripper above the green pear, which is already close to its current radial distance.
move_to
right_x0.3000right_y0.0800right_z0.1600right_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, 0.8005, 0.6136, -0.3859, -0.0143, -0.0299, 0.994, -0.0227, 0.8005, 0.6186, -0.3912, -0.0227, -0.0334, 0.9992] state[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.994 right_x=0.2955 right_y=0.0009 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5675, -1.2786, 9.5658, 1.873, -0.1001, 0.1245, -0.4225, 0.0342, -1.2786, 9.1419, 1.9072, -0.0659, 0.188, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.08,"right_z":0.16,"right_gripper":1.0},"note":"I see three fruits: a green pear near the right gripper, a yellow fruit beside the blue bowl, and a dark fruit left of center. I’ll first position the right gripper above the green pear, which is already close to its current radial distance."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe green pear is now close, but it appears about 3 cm to the image-right of the jaw centerline after my lateral move. I’ll correct back toward the pear’s center while staying safely above it.
move_to
right_y0.0350right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9934, 0.4618, 0.9405, 0.5896, -0.3031, 0.363, 0.2211, 0.9992] state[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9934 right_x=0.2966 right_y=0.0816 right_z=0.1544 right_yaw=0.0252 right_pitch=-0.0324 right_roll=-0.0215 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.2376, 7.2274, 1.8388, -0.0659, -0.0562, -0.0757, -0.1299, -2.4274, 6.5026, 1.9609, 0.232, 0.1245, -0.0952] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.035,"right_z":0.15},"note":"The green pear is now close, but it appears about 3 cm to the image-right of the jaw centerline after my lateral move. I’ll correct back toward the pear’s center while staying safely above it."})
tool
executing move_to over 4 steps (0.4s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pear is nearly centered between the jaws, with only a small left offset, and its low position in the wrist view suggests the fingertips are close radially. I’ll make a small outward/lateral correction and descend to grasp near the pear’s lower-middle.
move_to
right_x0.3150right_y0.0400right_z0.0450right_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, -0.4084, -0.0135, -0.0311, 0.9933, 0.1894, 0.8608, 0.5369, -0.3187, 0.1711, 0.0696, 0.9991] state[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0233 left_roll=-0.0009 left_gripper=0.9933 right_x=0.2946 right_y=0.0295 right_z=0.145 right_yaw=-0.0066 right_pitch=-0.0593 right_roll=-0.0313 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.0735, 7.1043, 1.8242, -0.0269, -0.0513, -0.022, 0.1299, -2.441, 6.5709, 1.917, -0.1197, -0.0464, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.04,"right_z":0.045,"right_gripper":1.0},"note":"The pear is nearly centered between the jaws, with only a small left offset, and its low position in the wrist view suggests the fingertips are close radially. I’ll make a small outward/lateral correction and descend to grasp near the pear’s lower-middle."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe pear’s stem and body are centered precisely between the jaws at grasp height. I’ll close the gripper now while holding the aligned pose.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4194, -0.0135, -0.0311, 0.9932, 0.2207, 1.2549, 0.2642, 0.3042, 0.1825, 0.0708, 0.9991] state[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0008 left_pitch=-0.0378 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3098 right_y=0.0403 right_z=0.0365 right_yaw=0.0137 right_pitch=-0.1008 right_roll=-0.0461 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.4427, 7.0222, 1.7851, -0.0415, -0.0513, -0.0171, 0.1983, -3.7128, 5.4906, 1.9414, 0.1978, 0.1685, -0.1001] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pear’s stem and body are centered precisely between the jaws at grasp height. I’ll close the gripper now while holding the aligned pose."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper settled at 0.61, consistent with holding the pear’s roughly 5.8 cm body rather than closing empty. I’ll lift it well clear of the table and verify that it moves with the right arm.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.424, -0.0135, -0.0315, 0.9932, 0.2207, 1.2549, 0.2642, 0.3111, 0.178, 0.0673, 0.6098] state[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1723 left_yaw=-0.0006 left_pitch=-0.0427 left_roll=-0.0008 left_gripper=0.9932 right_x=0.3108 right_y=0.0413 right_z=0.0377 right_yaw=0.0196 right_pitch=-0.0948 right_roll=-0.0446 right_gripper=0.6098 state[joint_eff]: [-0.253, -1.306, 7.0085, 1.7167, -0.0269, -0.0611, -0.0122, 0.0342, -3.3299, 5.5453, 1.5604, 0.0415, 0.0073, 0.9548] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The gripper settled at 0.61, consistent with holding the pear’s roughly 5.8 cm body rather than closing empty. I’ll lift it well clear of the table and verify that it moves with the right arm."})
tool
executing move_to over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe pear lifted with the gripper and is no longer on the tabletop, confirming the grasp. The blue bowl is forward and to the arm’s left, so I’ll carry the pear above its center with generous rim clearance.
move_to
right_x0.4300right_y0.1500right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4255, -0.0139, -0.0315, 0.9932, 0.2207, 0.9871, 0.6353, -0.3759, 0.1776, 0.0662, 0.6121] state[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0005 left_gripper=0.9932 right_x=0.306 right_y=0.0403 right_z=0.1421 right_yaw=0.0194 right_pitch=-0.1419 right_roll=-0.0549 right_gripper=0.6121 state[joint_eff]: [-0.0752, -1.2513, 6.9949, 1.6874, -0.0317, -0.0611, -0.0122, -0.335, -3.5761, 9.0598, 1.746, 0.0171, -0.0024, 0.8474] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.22},"note":"The pear lifted with the gripper and is no longer on the tabletop, confirming the grasp. The blue bowl is forward and to the arm’s left, so I’ll carry the pear above its center with generous rim clearance."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe right gripper is now directly over the blue bowl, whose rim is visible beneath the wrist in the overhead view. I’ll lower the pear into the bowl while keeping the grasp closed.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0338, 0.9932, 0.4644, 1.6199, 1.3754, -0.6094, 0.3363, 0.2104, 0.6151] state[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9932 right_x=0.4187 right_y=0.1486 right_z=0.1962 right_yaw=0.0447 right_pitch=-0.2222 right_roll=-0.0965 right_gripper=0.6151 state[joint_eff]: [-0.0752, -1.5385, 7.241, 1.7314, -0.0269, -0.0562, -0.0122, -0.4444, -8.5812, 9.2239, 1.8828, 0.2418, 0.2662, 0.6471] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The right gripper is now directly over the blue bowl, whose rim is visible beneath the wrist in the overhead view. I’ll lower the pear into the bowl while keeping the grasp closed."})
tool
executing move_to over 5 steps (0.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe blue bowl rim is centered behind the pear in the wrist view, and the pear is lowered inside the rim. I’ll open the jaws to release it 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]: [-0.0219, 0.8089, 0.6132, -0.4332, -0.0135, -0.0338, 0.9932, 0.4656, 1.6459, 1.1603, -0.4316, 0.3359, 0.202, 0.616] state[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1693 left_yaw=0.0007 left_pitch=-0.0565 left_roll=-0.0023 left_gripper=0.9932 right_x=0.4074 right_y=0.1436 right_z=0.1261 right_yaw=0.0442 right_pitch=-0.2807 right_roll=-0.1288 right_gripper=0.616 state[joint_eff]: [-0.253, -1.3333, 7.1316, 1.7021, -0.0171, -0.0659, -0.0122, 0.0205, -7.7333, 6.9675, 1.8681, 0.0806, 0.022, 0.7253] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The blue bowl rim is centered behind the pear in the wrist view, and the pear is lowered inside the rim. I’ll open the jaws to release it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear is visibly resting inside the blue bowl after release. I’ll lift out and move the right gripper above the yellow fruit beside the bowl, keeping enough height to clear the rim and pear.
move_to
right_x0.3500right_y0.2000right_z0.1800right_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, 0.8089, 0.6132, -0.4347, -0.0139, -0.0338, 0.9932, 0.4656, 1.6665, 1.1397, -0.4316, 0.3328, 0.1967, 0.9955] state[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.001 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9932 right_x=0.4027 right_y=0.1417 right_z=0.1096 right_yaw=0.0445 right_pitch=-0.3196 right_roll=-0.1477 right_gripper=0.9955 state[joint_eff]: [-0.1162, -1.2923, 7.1179, 1.6825, -0.022, -0.0708, -0.0122, -0.0479, -9.7299, 8.1846, 1.3358, 0.1441, 0.0806, 0.0269] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.18,"right_gripper":1.0},"note":"The pear is visibly resting inside the blue bowl after release. I’ll lift out and move the right gripper above the yellow fruit beside the bowl, keeping enough height to clear the rim and pear."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe yellow fruit is just left of the jaw centerline and slightly short of the fingertips; the blue bowl is close beside it. I’ll make the small alignment correction and partially narrow the empty jaws before descending, reducing the chance of touching the bowl rim.
move_to
right_x0.3820right_y0.2250right_z0.1500right_gripper0.6500
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, 0.8089, 0.6132, -0.4423, -0.0139, -0.0338, 0.9932, 0.6937, 1.636, 1.3334, -0.7231, 0.421, 0.3489, 0.9985] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0019 left_gripper=0.9932 right_x=0.3582 right_y=0.2087 right_z=0.1621 right_yaw=0.1054 right_pitch=-0.3311 right_roll=-0.1497 right_gripper=0.9985 state[joint_eff]: [-0.1846, -1.2513, 6.9949, 1.7802, -0.0415, -0.0806, -0.0122, 0.1983, -10.0444, 8.0068, 1.0574, 0.3834, 0.1832, -0.1734] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.382,"right_y":0.225,"right_z":0.15,"right_gripper":0.65},"note":"The yellow fruit is just left of the jaw centerline and slightly short of the fingertips; the blue bowl is close beside it. I’ll make the small alignment correction and partially narrow the empty jaws before descending, reducing the chance of touching the bowl rim."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe narrowed jaws frame the yellow fruit cleanly, and its body is close to the grasp line while the bowl remains outside the reduced jaw opening. I’ll descend to the fruit’s mid-height without changing the lateral alignment.
move_to
right_x0.3700right_y0.2150right_z0.0250right_gripper0.6500
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, 0.8101, 0.6132, -0.4461, -0.0135, -0.0338, 0.9932, 0.6895, 1.7363, 1.3685, -0.7307, 0.4145, 0.3485, 0.6599] state[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1664 left_yaw=0.0007 left_pitch=-0.0706 left_roll=-0.002 left_gripper=0.9932 right_x=0.3663 right_y=0.2145 right_z=0.134 right_yaw=0.0909 right_pitch=-0.3947 right_roll=-0.1885 right_gripper=0.6599 state[joint_eff]: [-0.335, -0.8547, 6.9812, 1.7118, -0.0562, -0.0708, -0.0122, -0.4581, -8.8547, 9.5248, 1.3846, 0.3004, 0.0806, 0.0952] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.215,"right_z":0.025,"right_gripper":0.65},"note":"The narrowed jaws frame the yellow fruit cleanly, and its body is close to the grasp line while the bowl remains outside the reduced jaw opening. I’ll descend to the fruit’s mid-height without changing the lateral alignment."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe attempted descent stalled at 13 cm while the wrist pitch had drifted to about -0.39 rad, indicating an awkward pose rather than table contact. I’ll straighten the tool and retry a smaller descent, preserving the fruit alignment.
move_to
right_z0.0800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4496, -0.0139, -0.0338, 0.9932, 0.6899, 1.7565, 1.3773, -0.7078, 0.4107, 0.3397, 0.6511] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0755 left_roll=-0.0017 left_gripper=0.9932 right_x=0.3715 right_y=0.2198 right_z=0.1312 right_yaw=0.1019 right_pitch=-0.3879 right_roll=-0.184 right_gripper=0.6511 state[joint_eff]: [-0.335, -1.4427, 7.0222, 1.707, -0.0317, -0.0562, -0.0122, -0.3214, -9.5795, 9.1282, 1.2772, 0.2369, -0.0317, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The attempted descent stalled at 13 cm while the wrist pitch had drifted to about -0.39 rad, indicating an awkward pose rather than table contact. I’ll straighten the tool and retry a smaller descent, preserving the fruit alignment."})
tool
executing move_to over 13 steps (1.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteStraightening the tool allowed the gripper to descend to 6.7 cm, and the yellow fruit remains centered between the narrowed jaws. I’ll complete the short vertical descent to grasp height with the wrist kept straight.
move_to
right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4545, -0.0135, -0.0338, 0.9932, 0.7601, 1.713, 0.8474, 0.0475, 0.5831, 0.4385, 0.6512] state[eef_state]: left_x=0.2865 left_y=-0.0003 left_z=0.1638 left_yaw=0.0007 left_pitch=-0.0824 left_roll=-0.0018 left_gripper=0.9932 right_x=0.3622 right_y=0.2151 right_z=0.067 right_yaw=0.0286 right_pitch=-0.0834 right_roll=-0.0594 right_gripper=0.6512 state[joint_eff]: [0.1162, -0.9915, 7.0496, 1.7216, -0.0317, -0.0513, -0.0122, 0.3761, -7.5829, 6.0513, 1.7363, 0.3932, 0.1685, 0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"Straightening the tool allowed the gripper to descend to 6.7 cm, and the yellow fruit remains centered between the narrowed jaws. I’ll complete the short vertical descent to grasp height with the wrist kept straight."})
tool
executing move_to over 3 steps (0.3s)
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 yellow fruit now sits squarely between the fingertips at table-level grasp height, with the blue bowl outside the jaw path. I’ll close the gripper fully to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4633, -0.0135, -0.0338, 0.9932, 0.7704, 1.8202, 0.7395, 0.2993, 0.6106, 0.4393, 0.6513] state[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1621 left_yaw=0.0008 left_pitch=-0.0912 left_roll=-0.0016 left_gripper=0.9932 right_x=0.3594 right_y=0.2126 right_z=0.0288 right_yaw=0.02 right_pitch=-0.0431 right_roll=-0.0485 right_gripper=0.6513 state[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7656, -0.0317, -0.0366, -0.0122, 0.4581, -7.7744, 4.8068, 1.5214, 0.4469, 0.2125, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit now sits squarely between the fingertips at table-level grasp height, with the blue bowl outside the jaw path. I’ll close the gripper fully to secure it."})
tool
executing move_to over 7 steps (0.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe gripper settled at 0.285, a plausible 2.7 cm grasp on the yellow fruit. I’ll lift it clear and verify that it leaves the tabletop.
move_to
right_z0.1600right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4686, -0.0139, -0.0338, 0.9932, 0.7723, 1.8473, 0.7212, 0.4458, 0.6392, 0.4492, 0.2853] state[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1611 left_yaw=0.0011 left_pitch=-0.0965 left_roll=-0.0012 left_gripper=0.9932 right_x=0.3693 right_y=0.2177 right_z=0.0375 right_yaw=-0.0049 right_pitch=0.0432 right_roll=0.0159 right_gripper=0.2853 state[joint_eff]: [-0.0889, -1.3197, 7.0359, 1.7363, -0.0513, -0.0806, -0.0122, 0.1299, -7.5145, 4.2462, 1.1893, 0.0708, 0.105, 0.9841] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The gripper settled at 0.285, a plausible 2.7 cm grasp on the yellow fruit. I’ll lift it clear and verify that it leaves the tabletop."})
tool
executing move_to over 8 steps (0.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe yellow fruit lifted securely and is visible between the jaws; only the dark fruit remains on the table. I’ll carry the yellow fruit above the blue bowl, where the pear is already resting.
move_to
right_x0.4200right_y0.1450right_z0.2100right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4728, -0.0139, -0.0338, 0.9932, 0.7692, 1.5539, 1.005, -0.0437, 0.6193, 0.4458, 0.2866] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1603 left_yaw=0.0011 left_pitch=-0.1007 left_roll=-0.0011 left_gripper=0.9932 right_x=0.3802 right_y=0.2304 right_z=0.18 right_yaw=0.005 right_pitch=0.0981 right_roll=0.0826 right_gripper=0.2866 state[joint_eff]: [-0.0752, -1.1829, 6.9675, 1.7167, -0.0415, -0.0659, -0.0122, -0.6085, -7.1043, 7.3504, 1.3797, 0.1294, 0.1001, 0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.145,"right_z":0.21,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The yellow fruit lifted securely and is visible between the jaws; only the dark fruit remains on the table. I’ll carry the yellow fruit above the blue bowl, where the pear is already resting."})
tool
executing move_to over 8 steps (0.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe yellow fruit is above the blue bowl opening, with the rim surrounding its projected drop point. I’ll lower it close to the contents before releasing so it does not bounce out.
move_to
right_z0.1300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0135, -0.0338, 0.9932, 0.4927, 1.52, 1.1053, -0.2626, 0.4137, 0.2726, 0.2871] state[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0008 left_pitch=-0.1041 left_roll=-0.0013 left_gripper=0.9932 right_x=0.4158 right_y=0.1467 right_z=0.1867 right_yaw=-0.0131 right_pitch=-0.0386 right_roll=-0.0177 right_gripper=0.2871 state[joint_eff]: [-0.3214, -1.2923, 7.1316, 1.663, -0.0122, -0.0366, -0.0122, -0.212, -9.0598, 9.6205, 1.6532, 0.1734, -0.0611, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The yellow fruit is above the blue bowl opening, with the rim surrounding its projected drop point. I’ll lower it close to the contents before releasing so it does not bounce out."})
tool
executing move_to over 4 steps (0.4s)
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 yellow fruit is now inside the blue rim and directly above the pear, with little drop distance. I’ll open the jaws to leave it in 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]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4889, 1.5665, 0.8978, -0.065, 0.3912, 0.2531, 0.2873] state[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.4023 right_y=0.1417 right_z=0.115 right_yaw=0.0098 right_pitch=-0.0955 right_roll=-0.0472 right_gripper=0.2873 state[joint_eff]: [-0.3624, -1.2376, 6.9538, 1.6484, -0.0513, -0.0464, -0.0122, 0.1573, -7.2, 7.6239, 2.1905, 0.2271, 0.0513, 0.0073] approver: 1 step(s) modified (delta_clamped). 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_gripper":1.0},"note":"The yellow fruit is now inside the blue rim and directly above the pear, with little drop distance. I’ll open the jaws to leave it in the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteBoth the pear and yellow fruit are visibly settled in the blue bowl; the dark fruit remains left of center. I’ll park the right arm at home to clear the workspace and overhead view before using the left arm.
move_to
right_x0.2950right_y0.0000right_z0.1900right_pitch0.0000right_roll0.0000right_yaw0.0000right_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]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4881, 1.5822, 0.8783, -0.0727, 0.387, 0.2462, 0.9957] state[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.3965 right_y=0.1391 right_z=0.0996 right_yaw=0.0139 right_pitch=-0.135 right_roll=-0.0697 right_gripper=0.9957 state[joint_eff]: [-0.0342, -1.265, 6.9538, 1.6288, -0.0611, -0.0659, -0.0122, -0.1436, -8.212, 7.8701, 1.5849, 0.1099, 0.1245, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.19,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0,"right_gripper":1.0},"note":"Both the pear and yellow fruit are visibly settled in the blue bowl; the dark fruit remains left of center. I’ll park the right arm at home to clear the workspace and overhead view before using the left arm."})
tool
executing move_to over 12 steps (1.2s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe right arm is parked, and the dark oval fruit is unobstructed left of center. I’ll position the left gripper above it using its table location, with the jaws open and the wrist straight.
move_to
left_x0.3000left_y-0.2000left_z0.1500left_pitch0.0000left_roll0.0000left_yaw0.0000left_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]: [-0.0219, 0.8188, 0.6132, -0.4873, -0.0135, -0.0338, 0.9932, -0.0029, 0.823, 0.6453, -0.3813, 0.0387, -0.0017, 0.9984] state[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1561 left_yaw=0.0008 left_pitch=-0.1205 left_roll=-0.0009 left_gripper=0.9932 right_x=0.3014 right_y=-0.0041 right_z=0.1907 right_yaw=-0.0489 right_pitch=0.0141 right_roll=-0.006 right_gripper=0.9984 state[joint_eff]: [-0.1162, -1.6342, 6.9402, 1.8144, -0.0366, -0.0708, -0.0122, -0.0205, -1.1556, 7.2274, 1.8926, -0.1197, 0.0171, -0.1783] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.2,"left_z":0.15,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0,"left_gripper":1.0},"note":"The right arm is parked, and the dark oval fruit is unobstructed left of center. I’ll position the left gripper above it using its table location, with the jaws open and the wrist straight."})
tool
executing move_to over 18 steps (1.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe dark fruit is at the correct radial depth but appears about 3 cm to the left of the jaw centerline in the wrist view. I’ll shift the left gripper toward the arm’s left to center it while remaining above the fruit.
move_to
left_y-0.1350left_z0.1500left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9226, 1.3361, 0.7792, -0.3229, -0.6964, -0.6308, 0.9939, -0.0021, 0.8272, 0.6445, -0.4118, 0.0257, -0.0189, 0.9984] state[eef_state]: left_x=0.292 left_y=-0.192 left_z=0.1319 left_yaw=-0.0258 left_pitch=-0.0606 left_roll=0.0404 left_gripper=0.9939 right_x=0.2976 right_y=-0.0016 right_z=0.1828 right_yaw=-0.028 right_pitch=-0.0217 right_roll=-0.0146 right_gripper=0.9984 state[joint_eff]: [-0.4034, -5.4085, 8.8, 1.58, -0.5739, -0.1001, -0.398, -0.1983, -1.812, 7.1179, 1.9853, 0.1001, 0.0855, -0.0171] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.135,"left_z":0.15,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0},"note":"The dark fruit is at the correct radial depth but appears about 3 cm to the left of the jaw centerline in the wrist view. I’ll shift the left gripper toward the arm’s left to center it while remaining above the fruit."})
tool
executing move_to over 6 steps (0.6s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe dark fruit is now precisely centered between the left jaws and is very near the fingertip depth. I’ll descend straight to grasp its mid-body, keeping the wrist vertical.
move_to
left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7856, 1.1179, 0.6468, -0.2932, -0.6403, -0.5396, 0.9934, -0.0021, 0.8284, 0.6445, -0.4179, 0.025, -0.0193, 0.9984] state[eef_state]: left_x=0.2914 left_y=-0.1371 left_z=0.1453 left_yaw=0.019 left_pitch=-0.016 left_roll=0.0011 left_gripper=0.9934 right_x=0.2968 right_y=-0.0014 right_z=0.1812 right_yaw=-0.0271 right_pitch=-0.029 right_roll=-0.0147 right_gripper=0.9984 state[joint_eff]: [0.1983, -3.7812, 6.5573, 1.6484, -0.2222, 0.1392, -0.0659, -0.1436, -1.5521, 7.0085, 1.79, -0.022, -0.022, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0},"note":"The dark fruit is now precisely centered between the left jaws and is very near the fingertip depth. I’ll descend straight to grasp its mid-body, keeping the wrist vertical."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe dark fruit remains centered at the correct low grasp height, with both fingertips straddling its widest section. I’ll close the left gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7811, 1.3922, 0.3454, 0.2176, -0.6346, -0.5205, 0.9933, -0.0021, 0.8303, 0.6445, -0.4217, 0.0254, -0.0193, 0.9984] state[eef_state]: left_x=0.283 left_y=-0.1281 left_z=0.0333 left_yaw=0.011 left_pitch=-0.0644 left_roll=0.0604 left_gripper=0.9933 right_x=0.2964 right_y=-0.0015 right_z=0.1799 right_yaw=-0.0275 right_pitch=-0.0347 right_roll=-0.0151 right_gripper=0.9984 state[joint_eff]: [-0.0205, -4.6154, 4.7521, 1.7363, -0.2027, 0.0855, -0.022, -0.0615, -1.3744, 7.3778, 1.8193, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The dark fruit remains centered at the correct low grasp height, with both fingertips straddling its widest section. I’ll close the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe left gripper settled at 0.315 around the dark fruit, clearly holding it between the jaws. I’ll lift it well clear of the table to confirm and prepare for transport.
move_to
left_z0.1600left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7811, 1.4078, 0.329, 0.2207, -0.6327, -0.524, 0.3155, -0.0021, 0.8303, 0.6445, -0.4259, 0.0254, -0.0193, 0.9984] state[eef_state]: left_x=0.2783 left_y=-0.1238 left_z=0.0242 left_yaw=0.0131 left_pitch=-0.0856 left_roll=0.0773 left_gripper=0.3155 right_x=0.2958 right_y=-0.0015 right_z=0.1791 right_yaw=-0.0275 right_pitch=-0.0389 right_roll=-0.0152 right_gripper=0.9984 state[joint_eff]: [-0.253, -5.2444, 6.2564, 1.3797, -0.2906, -0.0317, 0.9548, -0.1026, -1.4838, 7.2, 1.7656, -0.0073, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0},"note":"The left gripper settled at 0.315 around the dark fruit, clearly holding it between the jaws. I’ll lift it well clear of the table to confirm and prepare for transport."})
tool
executing move_to over 9 steps (0.9s)
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 dark fruit lifted securely. The blue bowl center lies beyond the left arm’s safe lateral bound, so I’ll move the fruit to a clear central handoff spot that the right arm can reach.
move_to
left_x0.3000left_y-0.3000left_z0.1700left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7811, 1.0176, 0.5854, -0.3126, -0.6292, -0.5228, 0.3176, -0.0021, 0.8341, 0.6445, -0.4389, 0.025, -0.0193, 0.9984] state[eef_state]: left_x=0.2785 left_y=-0.1246 left_z=0.1443 left_yaw=0.0062 left_pitch=-0.0077 left_roll=-0.0041 left_gripper=0.3176 right_x=0.2942 right_y=-0.0014 right_z=0.1754 right_yaw=-0.0272 right_pitch=-0.0556 right_roll=-0.0154 right_gripper=0.9984 state[joint_eff]: [-0.0889, -3.4667, 9.5932, 1.4042, -0.2515, 0.1148, 0.5592, -0.0342, -1.5932, 6.9949, 1.8291, -0.0073, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.3,"left_y":-0.3,"left_z":0.17,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0},"note":"The dark fruit lifted securely. The blue bowl center lies beyond the left arm’s safe lateral bound, so I’ll move the fruit to a clear central handoff spot that the right arm can reach."})
tool
executing move_to over 16 steps (1.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
assistant
agent noteThe held dark fruit is now over a clear central patch between the bowls, well within both arms’ workspaces. I’ll lower it gently to the tabletop for the right arm to pick up.
move_to
left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1034, 1.6714, 1.1896, -0.5022, -0.8227, -0.8398, 0.3197, -0.0021, 0.836, 0.6445, -0.4469, 0.025, -0.0193, 0.9984] state[eef_state]: left_x=0.2976 left_y=-0.2943 left_z=0.156 left_yaw=-0.0113 left_pitch=-0.0299 left_roll=0.0125 left_gripper=0.3197 right_x=0.2932 right_y=-0.0014 right_z=0.1733 right_yaw=-0.0272 right_pitch=-0.0656 right_roll=-0.0156 right_gripper=0.9984 state[joint_eff]: [-0.6632, -8.3624, 8.8274, 0.9646, -0.6764, -0.105, 0.6276, -0.0342, -1.6479, 6.9812, 1.7411, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0},"note":"The held dark fruit is now over a clear central patch between the bowls, well within both arms’ workspaces. I’ll lower it gently to the tabletop for the right arm to pick up."})
tool
executing move_to over 8 steps (0.8s)
step 209
assistant
agent noteThe dark fruit is touching down at the central handoff point while still centered between the jaws. I’ll open the left gripper to set it down upright.
move_to
left_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]: [-1.1095, 1.8675, 0.9257, -0.078, -0.8265, -0.8455, 0.3207, -0.0021, 0.836, 0.6445, -0.4477, 0.025, -0.0193, 0.9984] state[eef_state]: left_x=0.2928 left_y=-0.2891 left_z=0.0401 left_yaw=-0.011 left_pitch=-0.0434 left_roll=0.0411 left_gripper=0.3207 right_x=0.293 right_y=-0.0014 right_z=0.1732 right_yaw=-0.0272 right_pitch=-0.0663 right_roll=-0.0156 right_gripper=0.9984 state[joint_eff]: [-0.1709, -8.1846, 5.2581, 1.3602, -0.5934, -0.0513, 0.5983, -0.1026, -1.1966, 7.0769, 1.6825, -0.022, -0.022, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The dark fruit is touching down at the central handoff point while still centered between the jaws. I’ll open the left gripper to set it down upright."})
tool
executing move_to over 7 steps (0.7s)
step 216
assistant
agent noteThe dark fruit is standing free at the handoff point after release. I’ll park the left arm completely before bringing the right arm across, avoiding an arm-to-arm collision.
move_to
left_x0.2950left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000left_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]: [-1.1095, 1.8942, 0.91, -0.0746, -0.8223, -0.8463, 0.9921, -0.0021, 0.8379, 0.6441, -0.4549, 0.025, -0.0196, 0.9984] state[eef_state]: left_x=0.2894 left_y=-0.2835 left_z=0.0257 left_yaw=-0.0109 left_pitch=-0.0643 left_roll=0.0736 left_gripper=0.9921 right_x=0.292 right_y=-0.0014 right_z=0.171 right_yaw=-0.027 right_pitch=-0.0759 right_roll=-0.0162 right_gripper=0.9984 state[joint_eff]: [-0.1846, -10.8376, 6.4068, 1.0183, -0.4127, 0.0122, -0.4274, -0.212, -1.6479, 7.0222, 1.7509, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.19,"left_pitch":0.0,"left_roll":0.0,"left_yaw":0.0,"left_gripper":1.0},"note":"The dark fruit is standing free at the handoff point after release. I’ll park the left arm completely before bringing the right arm across, avoiding an arm-to-arm collision."})
tool
executing move_to over 26 steps (2.6s)
step 242
assistant
agent noteWith the left arm parked, the dark fruit is clearly visible upright at the center handoff spot. I’ll bring the right gripper above it near the right arm’s cross-over side.
move_to
right_x0.3000right_y0.3600right_z0.1500right_pitch0.0000right_roll0.0000right_yaw0.0000right_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]: [-0.0517, 0.8112, 0.6056, -0.4053, -0.0952, -0.091, 0.994, -0.0021, 0.8417, 0.6437, -0.4667, 0.025, -0.0193, 0.9984] state[eef_state]: left_x=0.2925 left_y=0.0053 left_z=0.1712 left_yaw=0.0706 left_pitch=-0.0354 left_roll=-0.003 left_gripper=0.994 right_x=0.2904 right_y=-0.0014 right_z=0.1675 right_yaw=-0.0272 right_pitch=-0.0919 right_roll=-0.0163 right_gripper=0.9984 state[joint_eff]: [0.253, -1.853, 10.1538, 1.79, 0.1001, 0.2271, -0.6374, -0.1573, -1.7983, 6.9812, 1.7949, 0.0073, -0.0317, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.36,"right_z":0.15,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0,"right_gripper":1.0},"note":"With the left arm parked, the dark fruit is clearly visible upright at the center handoff spot. I’ll bring the right gripper above it near the right arm’s cross-over side."})
tool
executing move_to over 31 steps (3.1s)
step 273
assistant
agent noteThe right wrist view shows the dark fruit centered exactly between the jaws and at the fingertip depth. I’ll descend straight to its mid-body grasp height.
move_to
right_z0.0400right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0494, 0.8139, 0.6056, -0.4236, -0.0898, -0.0864, 0.9933, 1.1564, 1.8938, 1.4044, -0.5407, 0.8421, 0.8387, 0.9984] state[eef_state]: left_x=0.2901 left_y=0.0051 left_z=0.1668 left_yaw=0.066 left_pitch=-0.0566 left_roll=0.0002 left_gripper=0.9933 right_x=0.2964 right_y=0.3556 right_z=0.1393 right_yaw=0.0314 right_pitch=-0.0352 right_roll=-0.0296 right_gripper=0.9984 state[joint_eff]: [-0.253, -1.5521, 7.1726, 1.8584, -0.149, -0.0611, -0.0806, 0.3487, -9.8803, 8.0889, 0.9792, 0.696, 0.1343, -0.1783] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The right wrist view shows the dark fruit centered exactly between the jaws and at the fingertip depth. I’ll descend straight to its mid-body grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 280
assistant
agent noteAt low height the dark fruit remains well centered between both right fingertips. I’ll close the right gripper to secure it for the final transfer into the blue bowl.
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]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0434, 1.2022, -0.2188, 0.8604, 0.8574, 0.9984] state[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2942 right_y=0.3506 right_z=0.043 right_yaw=0.0159 right_pitch=-0.033 right_roll=-0.0479 right_gripper=0.9984 state[joint_eff]: [-0.212, -1.1829, 7.1179, 1.6581, -0.0806, -0.0562, -0.022, 0.2393, -9.6889, 5.1624, 1.2137, 0.5348, 0.1636, -0.0171] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At low height the dark fruit remains well centered between both right fingertips. I’ll close the right gripper to secure it for the final transfer into the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe gripper closed nearly empty at 0.011, and the rounded dark fruit was squeezed a few centimeters outward rather than captured. I’ll reopen, lift, and shift outward to re-center over its new location for one careful retry.
move_to
right_x0.3300right_z0.1400right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0609, 1.1881, -0.2146, 0.8555, 0.8532, 0.0112] state[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2918 right_y=0.3466 right_z=0.0313 right_yaw=0.0196 right_pitch=-0.0485 right_roll=-0.0745 right_gripper=0.0112 state[joint_eff]: [-0.0479, -1.0598, 6.9812, 1.6874, -0.0904, -0.0708, -0.0122, -0.0752, -11.8769, 6.5436, 0.9841, 0.4176, 0.0269, 1.0281] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_z":0.14,"right_gripper":1.0,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The gripper closed nearly empty at 0.011, and the rounded dark fruit was squeezed a few centimeters outward rather than captured. I’ll reopen, lift, and shift outward to re-center over its new location for one careful retry."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteThe outward correction places the dark fruit back on the jaw centerline and very near the fingertip depth. I’ll narrow the empty jaws to about 5.2 cm before descending, so they contact the rounded fruit more symmetrically and cannot build as much sideways momentum.
move_to
right_gripper0.5500right_z0.1100
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]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0855, 1.9442, 1.3479, -0.403, 0.8249, 0.7666, 0.9954] state[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3241 right_y=0.344 right_z=0.1102 right_yaw=0.0098 right_pitch=-0.0356 right_roll=-0.0546 right_gripper=0.9954 state[joint_eff]: [-0.0889, -1.3744, 7.0496, 1.7509, -0.0708, -0.0562, -0.0122, -0.6359, -13.3402, 8.7043, 1.116, 0.3639, 0.0171, 0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.55,"right_z":0.11},"note":"The outward correction places the dark fruit back on the jaw centerline and very near the fingertip depth. I’ll narrow the empty jaws to about 5.2 cm before descending, so they contact the rounded fruit more symmetrically and cannot build as much sideways momentum."})
tool
executing move_to over 5 steps (0.5s)
step 305
assistant
agent noteWith the jaws narrowed, the dark fruit is still centered with even clearance on both sides. I’ll descend vertically to its mid-body for the retry grasp.
move_to
right_z0.0350right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0832, 1.94, 1.3533, -0.4164, 0.8143, 0.7658, 0.5541] state[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3237 right_y=0.3438 right_z=0.1114 right_yaw=0.0137 right_pitch=-0.0453 right_roll=-0.0543 right_gripper=0.5541 state[joint_eff]: [-0.1983, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0122, 0.0752, -9.9624, 5.8598, 1.2283, 0.4274, -0.0415, 0.0952] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"With the jaws narrowed, the dark fruit is still centered with even clearance on both sides. I’ll descend vertically to its mid-body for the retry grasp."})
tool
executing move_to over 5 steps (0.5s)
step 310
assistant
agent noteOn descent the fruit remains centered laterally but shows clear wrist-image space below it, indicating the fingertip grasp point is still about 2 cm short radially. I’ll advance outward by that small amount at the same low height so the narrowed jaws surround its body.
move_to
right_x0.3400right_z0.0400
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]: [-0.0502, 0.815, 0.6056, -0.4343, -0.0895, -0.086, 0.9932, 1.0843, 2.0567, 1.1725, -0.1379, 0.8146, 0.767, 0.5529] state[eef_state]: left_x=0.2886 left_y=0.0049 left_z=0.1644 left_yaw=0.0648 left_pitch=-0.0684 left_roll=0.0016 left_gripper=0.9932 right_x=0.3183 right_y=0.3348 right_z=0.0309 right_yaw=0.0132 right_pitch=-0.0541 right_roll=-0.0703 right_gripper=0.5529 state[joint_eff]: [-0.1846, -1.306, 6.9812, 1.6728, -0.0611, -0.0269, -0.0122, 0.253, -10.1949, 5.5043, 1.3016, 0.5299, 0.0904, -0.1343] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_z":0.04},"note":"On descent the fruit remains centered laterally but shows clear wrist-image space below it, indicating the fingertip grasp point is still about 2 cm short radially. I’ll advance outward by that small amount at the same low height so the narrowed jaws surround its body."})
tool
executing move_to over 2 steps (0.2s)
step 312
assistant
agent noteThe small advance placed both narrowed fingertips evenly around the dark fruit’s sides at table height. I’ll close now, with symmetric contact intended to prevent another sideways ejection.
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]: [-0.0502, 0.815, 0.6056, -0.437, -0.0895, -0.0864, 0.9932, 1.0668, 2.0724, 1.1839, -0.1017, 0.7925, 0.7391, 0.5528] state[eef_state]: left_x=0.2882 left_y=0.0049 left_z=0.1638 left_yaw=0.065 left_pitch=-0.0711 left_roll=0.0016 left_gripper=0.9932 right_x=0.3265 right_y=0.3389 right_z=0.029 right_yaw=0.0246 right_pitch=-0.0555 right_roll=-0.0557 right_gripper=0.5528 state[joint_eff]: [-0.1846, -1.306, 6.9812, 1.7021, -0.105, -0.0513, -0.0171, -1.5795, -11.2752, 8.0342, 1.199, 0.442, -0.149, -0.0269] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The small advance placed both narrowed fingertips evenly around the dark fruit’s sides at table height. I’ll close now, with symmetric contact intended to prevent another sideways ejection."})
tool
executing move_to over 6 steps (0.6s)
step 318
assistant
agent noteThe second close was empty because the wrist view shows the fruit still several centimeters beyond the fingertip convergence point; the low cross-over pose could not advance far enough. I’ll raise the arm to escape that reach limit, then move farther outward over the fruit with the jaws narrowed for a final top-down attempt.
move_to
right_x0.3800right_y0.3400right_z0.1300right_gripper0.5500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4427, -0.0895, -0.0864, 0.9932, 1.0695, 2.0724, 1.1896, -0.1165, 0.7803, 0.7315, 0.0113] state[eef_state]: left_x=0.2873 left_y=0.005 left_z=0.1627 left_yaw=0.0651 left_pitch=-0.0767 left_roll=0.0023 left_gripper=0.9932 right_x=0.3243 right_y=0.3407 right_z=0.0279 right_yaw=0.0379 right_pitch=-0.0692 right_roll=-0.0645 right_gripper=0.0113 state[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7265, -0.0904, -0.0562, -0.0122, -0.2667, -10.7009, 5.053, 1.3504, 0.4371, 0.0171, 0.9792] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.34,"right_z":0.13,"right_gripper":0.55,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The second close was empty because the wrist view shows the fruit still several centimeters beyond the fingertip convergence point; the low cross-over pose could not advance far enough. I’ll raise the arm to escape that reach limit, then move farther outward over the fruit with the jaws narrowed for a final top-down attempt."})
tool
executing move_to over 7 steps (0.7s)
step 325
assistant
agent noteRaising first allowed the commanded outward motion: the dark fruit is now directly between the narrowed fingertips at the correct radial depth. I’ll descend vertically while preserving this alignment.
move_to
right_z0.0400right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4469, -0.0891, -0.086, 0.9932, 0.9752, 2.0151, 1.3876, -0.2779, 0.7521, 0.6453, 0.5464] state[eef_state]: left_x=0.2867 left_y=0.0049 left_z=0.1619 left_yaw=0.0646 left_pitch=-0.0809 left_roll=0.0028 left_gripper=0.9932 right_x=0.3718 right_y=0.3399 right_z=0.0986 right_yaw=0.0118 right_pitch=-0.0398 right_roll=-0.043 right_gripper=0.5464 state[joint_eff]: [-0.0752, -1.3197, 7.0085, 1.6777, -0.0415, -0.0366, -0.0122, -0.8, -14.0786, 8.0479, 1.2576, 0.359, 0.0024, 0.0904] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"Raising first allowed the commanded outward motion: the dark fruit is now directly between the narrowed fingertips at the correct radial depth. I’ll descend vertically while preserving this alignment."})
tool
executing move_to over 4 steps (0.4s)
step 329
assistant
agent noteAt grasp height the dark fruit fills the gap evenly between the two fingertip faces, unlike the earlier short-radial attempts. I’ll close 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]: [-0.0502, 0.815, 0.6056, -0.45, -0.0895, -0.086, 0.9932, 0.9752, 2.0995, 1.2545, -0.0826, 0.7551, 0.6395, 0.5475] state[eef_state]: left_x=0.2862 left_y=0.005 left_z=0.1613 left_yaw=0.0649 left_pitch=-0.0839 left_roll=0.0034 left_gripper=0.9932 right_x=0.3664 right_y=0.3313 right_z=0.0377 right_yaw=0.0122 right_pitch=-0.0506 right_roll=-0.0672 right_gripper=0.5475 state[joint_eff]: [-0.1299, -1.1829, 6.9538, 1.6825, -0.1001, -0.0317, -0.0171, 0.4171, -11.2752, 6.1197, 1.4872, 0.359, 0.1197, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the dark fruit fills the gap evenly between the two fingertip faces, unlike the earlier short-radial attempts. I’ll close the gripper now."})
tool
executing move_to over 6 steps (0.6s)
step 335
assistant
agent noteThe gripper settled at 0.323 around the dark fruit, confirming a solid grasp. I’ll lift and carry it directly above the blue bowl, which already contains the pear and yellow fruit.
move_to
right_x0.4100right_y0.1450right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4503, -0.0891, -0.0864, 0.9932, 0.9787, 2.0998, 1.253, -0.0231, 0.7704, 0.635, 0.3235] state[eef_state]: left_x=0.2862 left_y=0.005 left_z=0.1612 left_yaw=0.0648 left_pitch=-0.0843 left_roll=0.0029 left_gripper=0.9932 right_x=0.3712 right_y=0.3378 right_z=0.0458 right_yaw=0.0098 right_pitch=-0.0081 right_roll=-0.0304 right_gripper=0.3235 state[joint_eff]: [-0.1846, -1.3197, 7.1726, 1.6435, -0.0659, -0.0415, -0.0122, -0.5265, -11.1932, 5.9009, 0.7253, 0.0708, 0.0171, 0.2759] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.145,"right_z":0.2,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0},"note":"The gripper settled at 0.323 around the dark fruit, confirming a solid grasp. I’ll lift and carry it directly above the blue bowl, which already contains the pear and yellow fruit."})
tool
executing move_to over 17 steps (1.7s)
step 352
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]: [-0.0502, 0.815, 0.6056, -0.4606, -0.0895, -0.0864, 0.9932, 0.5083, 1.4967, 1.0386, -0.2344, 0.429, 0.2787, 0.3229] state[eef_state]: left_x=0.2846 left_y=0.0051 left_z=0.1592 left_yaw=0.0652 left_pitch=-0.0945 left_roll=0.0043 left_gripper=0.9932 right_x=0.4048 right_y=0.1455 right_z=0.1736 right_yaw=-0.0133 right_pitch=-0.0471 right_roll=-0.0286 right_gripper=0.3229 state[joint_eff]: [-0.1299, -1.3333, 7.0769, 1.79, -0.0904, -0.0611, -0.0171, -0.2393, -8.212, 10.2769, 1.8584, 0.149, 0.0122, -0.0757] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.795 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3859, -0.0143, -0.0299, 0.994, -0.0227, 0.8005, 0.6186, -0.3912, -0.0227, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.994 right_x=0.2955 right_y=0.0009 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -1.2786, 9.5658, 1.873, -0.1001, 0.1245, -0.4225, 0.0342, -1.2786, 9.1419, 1.9072, -0.0659, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3551ff33de4fa9b83935852f906eafba9914cbffcbb8c57606dd5c2a90c3005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c966505f73e4870e82eb1205725a6e997ed51e3f499c00c4bfaf983d87ba5b6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9f104e074147200b11928aa412ff36064b3ece6834eca6a030393bd80bba58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.456 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_04177dd1a3555788016ab43edb7b4087d08ff32b00c5a8201a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD7jziRQaAwdWcsXehHqn_rRysWdQQ1PbCBXGBTu6kiD2iADZL7rfSKEznA3fLbSqAOGHlSkyMVUz1KjYJI1OYRfnhyuSH3vKNMv9MmkHwOtLJ-Rd-CAJVba_7Dt_H4vSrIvmeW02Mi8P0ha7dks-Tpr9YgoHCcxs5d9sTR-1bsTFSlNCJUm05hh1hJ6T7sueIcPBKs2E_w47J2ms7E58Ae6WI8VY-JFKyjTYZBWqFv1t7jxgEiqx5O9jhcwucp0gI_5WpxantAT-ZV7DXABzUtCK-V3O7Ws595rrURe5lh3RvQB3Dl-S7r9ECua0Cmcm6SGKe5burHls172C7m0gYtMF0lx3JdP6NgYnRouT9mTcMZdYGcB7jNh4g3phxh5F9BQ5tCVdf2hvh5ZOxjrd5uuRa6dncjxaiFY_elwv6KZctoD4ZA1J1-TPFKNi2BQyCLd_vV3GZ3qsShW35_4bKKPtpUGYAxf-3BiGcXYy1ljlFHr_i1zkHGfHT_FcdyDW55jzDZtjaB_l2pO3siM1IDu0t9aigZV7Wj6Xk69K8roJzJ9bwoGESd9OAWe7p9MVc7NMXcv9RoM-wCxc96Nb6krIyvc2xz_GPUbt1-EUp2zuJSTnjoR3ozttwm5esBXlaw9_uokjJAxlFoi0Px7UlVkssjU6BI-_4l1Zniw_K3pi6hH5WDC4zp67HAcmGvV6HhqOsLmzyCvg7RY2_6nFbYXbAPkA-EVKVnDu5V0Rv2Bk8ZzOGzJkbz53PpcYabJ_xK4FMtleKDVAh0_whiaSqrpO_ZhJg-3ukpkKD7Eu4LB7Q3qxpZ1XJH3gXlmFcGYIZe6t1XJXSoMh7McI8wpV57i7J1sCieKlCIhahZM0EWETM03t4g_YXL2w3XEgRpRCv_iMK1BzvEZxISzf0K4FHBa9puieDVGN2P2SMfC6KvQYG7gOwrH5wyx6xrQrYhQVn_t9FM8Q9mjQj-nFXoBNDt6m5G70sUs6UKhnpJF49uoleBszZA5e21qGOAGv2KS2ID7E3FhIbZu40KOLHe418WGNiVYgkLalx1fXReZauxcYST_63_lgHTRQbsptsb_BlzexQbeMatxqCz4PO-rObqXLq_QtIzbPYVO7XoRN2og_xQbysZnIkxMg-7PO0xm1CbOgFT7Nuz3Z6giM246jkx1AJ0puQzs9zzTcNzHd-8XHznRbgQ6mKvbBLIClrs408Jw1S0kqBXlR-xaIq9hp5efZ6F6ltAIT6_rbzuDTICONA-wJEy4qtNgR_5Ad4g6ZaglWghu6djuEsVnXJHjAdWnqD74BlByat1BRTEyMYYh5jKBqb_7JgFpBKRFKXhfuMlDsDeWXdOimPhjepdeLFLg5oCJAM1HLEivj99DAFQYwOyulwTiN_H7nI1ZVb-xQC15GUXSeVKKINkrNpGCIAmvIhdnqsPRb3fDsU3u4kiPrjhQPC0PXkD46HJmaGqTdjJvcx9QWJUAtJcdk0yqrnLDjfmHeXDIrviEDLz1MiAMl10KeirLp59G8pPCTVP9LhD7Bhv8QiIVGyavwBXka1kHN1JWo3eY_7CI8AybmpLOabzbu533b5DvEQnvuNmT3X8aCdi14OJ0aoagZTS0QaE1a1jE1NYd2Nkfk2fUocka8V3JFU5VjL5cES8on54UPGTpXYIUC4d00OPqbTLE-ws3VQVH3vIeClAQ3UalIj0ERuTkXBz7PAJtpVqRIQy1cyZIx6KuLs5KSboPehgpA9N4guskpczik8GWPqquta27-1N6jxlHYQX4e8BXlngqQkGphIsmToOBMUVPlSBjCLa5KJNDJ61xyC5buy6tJhySUD-j5QDb2c3I_q-NpX4pxQgLK6DgcGtRJHt7nmw801WOHHSOsaq1dZT8x_QfGWP5jlI=",
  "id": "rs_04177dd1a3555788016ab43ee0b34887d0a2cc1f9c06008dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"I see three fruits: a green pear near the right gripper, a yellow fruit beside the blue bowl, and a dark fruit left of center. I’ll first position the right gripper above the green pear, which is already close to its current radial distance.\"}",
  "call_id": "call_aTEhD1lUc95O75dnTUY5SIAx",
  "id": "fc_04177dd1a3555788016ab43ee24d6487d0993400a7d72e1dd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aTEhD1lUc95O75dnTUY5SIAx",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9934, 0.4618, 0.9405, 0.5896, -0.3031, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9934 right_x=0.2966 right_y=0.0816 right_z=0.1544 right_yaw=0.0252 right_pitch=-0.0324 right_roll=-0.0215 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.2376, 7.2274, 1.8388, -0.0659, -0.0562, -0.0757, -0.1299, -2.4274, 6.5026, 1.9609, 0.232, 0.1245, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5acb40cdea9289f11499561508f666c1762577ea5ea6365d42d3e1f11896df70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcae335e5e11223176a5180b83d1ca93feb0d48454f972fd3e4e5ba2a051cf63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57dcd014b68f4bd2baef08b4dd2471f2de5e6e85f6ebc948c6a418f1ca91a94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.264 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3859, -0.0143, -0.0299, 0.994, -0.0227, 0.8005, 0.6186, -0.3912, -0.0227, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.994 right_x=0.2955 right_y=0.0009 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -1.2786, 9.5658, 1.873, -0.1001, 0.1245, -0.4225, 0.0342, -1.2786, 9.1419, 1.9072, -0.0659, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, -0.3981, -0.0139, -0.0307, 0.9934, 0.4618, 0.9405, 0.5896, -0.3031, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9934 right_x=0.2966 right_y=0.0816 right_z=0.1544 right_yaw=0.0252 right_pitch=-0.0324 right_roll=-0.0215 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.2376, 7.2274, 1.8388, -0.0659, -0.0562, -0.0757, -0.1299, -2.4274, 6.5026, 1.9609, 0.232, 0.1245, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5acb40cdea9289f11499561508f666c1762577ea5ea6365d42d3e1f11896df70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcae335e5e11223176a5180b83d1ca93feb0d48454f972fd3e4e5ba2a051cf63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57dcd014b68f4bd2baef08b4dd2471f2de5e6e85f6ebc948c6a418f1ca91a94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD7rn7ttR5xHB-Ta6qDFm-5GqwsOwPeA3f5eSGg1CCwiWDTidd8EX2TEiC6cT-hbn2NZrpDMRY9ukhjuzclYv_MXbZRo9X1XUiKPPM49XHPm-eu45O_yOjg3pfORw8j977zlGPUgmssJgeimDwmjZ47kvH8jmp4680mbPXUJEhfBlQ6ToqLpaNE_hpsa8M3F0Nby4uQ_jcChFOYoeHYt9bVlv9ECGSjeGSdwnTTmXbL2ADR-ywdrRnc2Hp51NcOy5Mjj8XUR_O2zAQfZtvCU20Y0b454oB2e4dAajlABB61xhyWOurT-_WQdztqqf7ES033_jcxqDY8XUwl0IB8tUTLQHy9TfIh2aTFe7CUXMDuSx8zFGvBXH_HL7E7wcJX8-3o0UbeXMcZLvP0pvQTUWO3InqLl3TnrvrqFmrRmvcXDUqUR8DJKIux2CjVonaSHyc_xK7jwXdeSQJTFRh0bkr3JaXkYYNQfpJd3O5guQPtVbCJrdjX2Af1WsCU8ZFxP1WHpx1fLAbyA-ISxQirwg74UFSam5C6ay-N94uLOI2yBlLv6niPrjk2RzYCLwy4DZ9U3pSbXEu4EsZlIMmK19c1Q5eMrDqEJk-ZXGm8MQL6vtNlsmbKkYDa2UCBNKtGwyvrVDDkUkEAR4x14NWArs3V2catAzk_n8ybzNA7Zc2MgS0g4mK30tHqrBf9dxniTPu69MxWYtogUx02_rU5CY_30fhz9XZm7Zb1hz7LLKtyuTvdzfqdh1WyQf9z_6nmFxGYvN1aan_8k7LaVYhZNWrNWAvdRRjOxjl7ijM0SuDnJsoU21gNHoCQ2KiIdrTjcgUWIuBaoblp5U_qRn6GOe_FYzT1mhbHNQuHZw0pnZxn2bod1dKak6P5jHNClwdmtnSEUP7WCgb3YwctLturnNq25ucm6FCfdmKnDTNIwql5GLdk1VcbLWSN9DwCh0FOJ-8R1NKmEhyXKrQZGCAuHqdUp6sEinW2gVFZEwoQJ3FeqxeviaK8jZY42C08llY3QfKredT_AkwQkwFn7NUtUUuSnK6K5Ony8JXSMCQ4NQEv3z9cwT_BxhHtcSzZcT_9ybfTFmZaMyoYtLa_f5QqZjdQ7-Ya5hCgthYdX8E_j8LyPtZDz_KLnBt80JCxYBqkcb74pSHBgWS9yHuS9ykyTJ17RstX8JgOMs1MR6wK1yIzWEVaWcrpGcOh3gQAiAJyVIFsoR33xAaGLWVwPcgy5lA5pAY9n5l1xPMtmXPEym3vpXaJVWizphmRoBqQgIpKeEZ9bT1ZQHXA5Rjrfd7cy-9vOngU4vaSSDgbOeM-yB4z_djOXys78ydjq1q-FzD-wjukXcUMMBrHWL2N7ixRMd_1Suiiz_UAUp77_GxlXiG4fZ_JjkiSdibvih1_k7RgjXQFZleVPt-44XOdB7GDxUlUGBDNWg8JhVBrAL8-2K_x1o4H8m67uku4WylK0eZRfaTcTWcTzhVKb6gII4HamVZG4F_cw7C0FqOGd-G-li3MC-lLDJKm7fW7Hsu1ZOX_seFav4QQgx2rj6Md39uiMvR5kwyO_W4r2J28qBwjnHA1z3jiqwyxTk4pCkHCXlvJMdkgdKWc6R4daCYD_Zfg2L3ksFzgdKfMpOYokC8UxJ-bvfVeXwdk1ba_QfnPNiEJA_Xh3G37rj_7_3qqR8Kq_qUfAiPkJmBldCV1UpKfMUQxn2U2qaKvhC5dyl5wVXzKs5hC9JBFJ__SZGizn8omOKeMidVUF4oXS5PfkkgIGrw2P5tSridDN8DZNO1ha-KzB1xeNNNq7JfpY0rB9EWFLez3oMBw-rGXcGzkJ5c8xJ6gVI-9BeGURZ521P74Y1OIldhNUtHIWZXLTk0Myciircz6GpTFch3Spmck1k3H_pIj2zPcJVgMBvJs-O1I8RPURSfPFtkt0zI7kW_M9mKBbn2jC6KrRHsPFUUpFq64KUZros6J8dqMJOrwO0gtpekKdyCgsjBybm_TC8Z_vbN755RNbssMTP6C6gb2y5usHUWlwRmbJYJK0HT9hSvuBuNEgYJXnp5ygDraWHhQWxDmC5CF3dmx3kpTJwLYBFKcNOw3uqb7v4mt4FRthmRn_RAS-2MOMPh99oict4IJ5tbSpQOUvnyhMyI61Fu3XUKOUbdLBaqL6qsrNOGlXTYYw5fDEdLRzhRhZcxjQ9NJTd9X7jpNcU8tBjT1791KYV12xxc69UBVCVvs5JSbw9fuZxICP-6WOvZOBh9q4ZfqiZ6fvx8Hinx0ZVzjI72Pcjbt8VIZ3Ni8L8CdVcf70W-EEWNIE4YdLgh0Gn0LRVgJ9Ev6SO1mD8kqXFKUnYrtttBaJR-GfpWaQbU5veopJDr183MOacIUYd2I8orhd825Xf72FBphkXloSlsCz4JpoSyHHaJrGozoKKZ0tZZaU2OAAewrcgyoSeZdgRYgCFdpHPoZyXEnq3gW19wVSrjqx2kOcnhqGJZ3nq6CnCrkc_tMCdRbY8uNd4e2g1aSXckqloldz9qqXz4ACBncPSZiz_jl7vatAcsSxU3sxVVDtIRbtTDy4NB9DsuQRXZlZY2hA4gB-hjRTdw==",
  "id": "rs_04177dd1a3555788016ab43ee75f2087d0949b0e68d002f4ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.035,\"right_z\":0.15},\"note\":\"The green pear is now close, but it appears about 3 cm to the image-right of the jaw centerline after my lateral move. I’ll correct back toward the pear’s center while staying safely above it.\"}",
  "call_id": "call_7KO5QNyji8i94dd0sVWcd9ge",
  "id": "fc_04177dd1a3555788016ab43eeae4f087d0b10d682cb9e8cf7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7KO5QNyji8i94dd0sVWcd9ge",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.4084, -0.0135, -0.0311, 0.9933, 0.1894, 0.8608, 0.5369, -0.3187, 0.1711, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0233 left_roll=-0.0009 left_gripper=0.9933 right_x=0.2946 right_y=0.0295 right_z=0.145 right_yaw=-0.0066 right_pitch=-0.0593 right_roll=-0.0313 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.0735, 7.1043, 1.8242, -0.0269, -0.0513, -0.022, 0.1299, -2.441, 6.5709, 1.917, -0.1197, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c90a2f1c78c0a45fb1b4523452dee30b3a5d52e9792284bf82f34ff9b44af2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a244734d450a55536139f347c129e887510508ea2838bfe36a9bc5d4f105f17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aae0e848f49ca77515ee60281b97f01f90ddda6f597b4e406f89ddf14f7fd5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.385 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, -0.3981, -0.0139, -0.0307, 0.9934, 0.4618, 0.9405, 0.5896, -0.3031, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9934 right_x=0.2966 right_y=0.0816 right_z=0.1544 right_yaw=0.0252 right_pitch=-0.0324 right_roll=-0.0215 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.2376, 7.2274, 1.8388, -0.0659, -0.0562, -0.0757, -0.1299, -2.4274, 6.5026, 1.9609, 0.232, 0.1245, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.4084, -0.0135, -0.0311, 0.9933, 0.1894, 0.8608, 0.5369, -0.3187, 0.1711, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0233 left_roll=-0.0009 left_gripper=0.9933 right_x=0.2946 right_y=0.0295 right_z=0.145 right_yaw=-0.0066 right_pitch=-0.0593 right_roll=-0.0313 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.0735, 7.1043, 1.8242, -0.0269, -0.0513, -0.022, 0.1299, -2.441, 6.5709, 1.917, -0.1197, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c90a2f1c78c0a45fb1b4523452dee30b3a5d52e9792284bf82f34ff9b44af2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a244734d450a55536139f347c129e887510508ea2838bfe36a9bc5d4f105f17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aae0e848f49ca77515ee60281b97f01f90ddda6f597b4e406f89ddf14f7fd5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD7vSzZmkBauP_XMq_cO3XWMCmlCy9VRdRGc762dkM3g8e3Y1nh_Yd1cPoiLET0Xhnuq2ObYvr9RtaBXBEexcete5eFseLVT9XEspwDxyqV2nu6MmeqhOMunIAN1B_MZxMy9ucfFpiCjxL3R4c42S-1hOOVf07N1jFN8b7ANwO6Nhs80WmPWuU7KTWnBaMVj6LtZq9CrLo_845BmXns8ht1VIncAL6Nt61zniAQRUgdH8a9tM9xgK5ErUYyL1kPmnNoOrgIU5Q_KF_08KExRbICab3U4qFcCpBiuBEpf4heLhJ3YxrO-LqmzLUhOaILNA1O6F8rTcsb2HvhV3MXgd74fDs1P_ONrXMYVKHC9ouTlQiawONqVx-xp0jYtqFJSV-zZiAOZqbKldauMKKa66jK1sy8jVN917KNVJWt0J2uHOdBUkD2ulCiK-RVCU9wW7W6PIDwrpd_TCBtK0nEVC_9rFrzdk6CJwqjmmlOexiHAOsr3TQhRmRlMzEe5kLFvadia3ljBLo6evq5yAWMMFgKDwb5UGn0Y7Uf8NZObRBIlm3nXC4WFGrcIUILpns3zOPEsPS8uoW4mJt8sT6lAsZpBMOeJE9vNHYYiuXXe4ZULOaTGkPbxvLNuRzGGx_GfUTrOXlzpr7v1VKH4lbFI8YWc4fno-xKbFb9rKgVkd8uQf68uzdRbQkCl2ixumhiADi6zTI0KhY96oXZFF70-6yD_TnGS6SV7dRvsVqUzHRQB3MH1CgjY69m-YXfFrkwKXs_xf_OBW_jwaBJZtE5PCXE4zSWp6rUQ4jAzKahsefaa1bsEBQD-CSwB-hIUZQ1yFFSJrD1vz6IaWR3SqMRc7veVbEkddnGFYg28yvE5HmCi9toDXWDQg4ELy0R2ldQFNYXgYi9lInVhllbEa6waToXKNnZHVGaZPEByt_yZhpBg31aCscm2q7-YpZeGzGJBDR2oKdyqGmHhudYB4Deobv2IMwOLRQjzMmzd8BJa7LlAd9ww2-RZl4x_bhxzPYvtWu1hSvmhT0SMaKdOpl2kwl9cZf6W8Wz7440BeXFVl4z6ddvAeM-Tbc-N-Er_GngoyKCbksQdow_8ZtcfCp_fF249GNDRnSCLdVNqOPP3ilh17sdpH3FcBzTLAeaoexhS5t8DH81G3jbvE3TSqk9cT3nuTcXeLbh0pDJAjmVhjObgFq-sKD2vaHpdrAV-LvSoMiM6Ym6B-f-phRQohD7Dd2BeFjxhGQb20RXoIp5jz3JWcea6JUJx_dbgZIOWnrUE55uY_u3WH0VOtvYrwPf9z2R8_vW3r_YoQDR4sLTjT-1ed0AU3euKcawDVn8ZMDj5Z_VuJyvBiUP5a2gEN_OMPbZs7-LbioBSLKF06g1RxNrMysvLtEvA3ZsLuqyqtmsJ_TguyT36SfhrveTdGc-E5bDrGid4OI_GfsA7arPx7xjPVKK6arjT74ic1KLz_iKMSWWjnMsNlb3rHHrfnjuQlD5PeWz5WenOXXzxfilxpifkgQK1IMGraxRSlZGoS-SnRP-knzCi1UXTQeiWBCPHYJYgwgzwtacXJoasqtB90hxw7lcuiqTMFEvmic8QRiHKrrynXtg29FdOUqkNj7hOf9-dPz4efgFY5idbumhyI9sjwROEoh0yt9U_GRgOvIut-gESXemTX2v0_pT2v4MOyxAY5DhHi3pmL9RMuVJNSBpR7UjydfldbarMNlpBut_yoe8PAEiePvnbBfkqFq-q_rfzzje9dGPP7IoMiT8JbrEZyzqIyaBqKU9qRVwoBw1TyYsg4zkSTZBNcJ79LPJczPeWg-2sBGuOzBlyYeQsfHZhjSY=",
  "id": "rs_04177dd1a3555788016ab43eed8c9887d0974971bdbacf6f04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.04,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The pear is nearly centered between the jaws, with only a small left offset, and its low position in the wrist view suggests the fingertips are close radially. I’ll make a small outward/lateral correction and descend to grasp near the pear’s lower-middle.\"}",
  "call_id": "call_Wb56LhNDxsNcrtZyMEcJWFSc",
  "id": "fc_04177dd1a3555788016ab43eeef5c487d0aec02b8f1538b081",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wb56LhNDxsNcrtZyMEcJWFSc",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4194, -0.0135, -0.0311, 0.9932, 0.2207, 1.2549, 0.2642, 0.3042, 0.1825, 0.0708, 0.9991]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0008 left_pitch=-0.0378 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3098 right_y=0.0403 right_z=0.0365 right_yaw=0.0137 right_pitch=-0.1008 right_roll=-0.0461 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.0222, 1.7851, -0.0415, -0.0513, -0.0171, 0.1983, -3.7128, 5.4906, 1.9414, 0.1978, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b40c476a6f573b0a4d231bb8d66b02f3d9ba3f358cecf6affa905cd0730a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907f8e1f3ba1ccb649bbf2a6e938bf4de99005ba46ff3e79c912658bdd234352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bbc01cb4adb1a0d88db753346526328fc9969d8b90bf0c01987c65cb9a4e4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.001 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3859, -0.0143, -0.0299, 0.994, -0.0227, 0.8005, 0.6186, -0.3912, -0.0227, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.994 right_x=0.2955 right_y=0.0009 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -1.2786, 9.5658, 1.873, -0.1001, 0.1245, -0.4225, 0.0342, -1.2786, 9.1419, 1.9072, -0.0659, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, -0.4084, -0.0135, -0.0311, 0.9933, 0.1894, 0.8608, 0.5369, -0.3187, 0.1711, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0233 left_roll=-0.0009 left_gripper=0.9933 right_x=0.2946 right_y=0.0295 right_z=0.145 right_yaw=-0.0066 right_pitch=-0.0593 right_roll=-0.0313 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.0735, 7.1043, 1.8242, -0.0269, -0.0513, -0.022, 0.1299, -2.441, 6.5709, 1.917, -0.1197, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4194, -0.0135, -0.0311, 0.9932, 0.2207, 1.2549, 0.2642, 0.3042, 0.1825, 0.0708, 0.9991]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0008 left_pitch=-0.0378 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3098 right_y=0.0403 right_z=0.0365 right_yaw=0.0137 right_pitch=-0.1008 right_roll=-0.0461 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.0222, 1.7851, -0.0415, -0.0513, -0.0171, 0.1983, -3.7128, 5.4906, 1.9414, 0.1978, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b40c476a6f573b0a4d231bb8d66b02f3d9ba3f358cecf6affa905cd0730a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907f8e1f3ba1ccb649bbf2a6e938bf4de99005ba46ff3e79c912658bdd234352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bbc01cb4adb1a0d88db753346526328fc9969d8b90bf0c01987c65cb9a4e4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD74beXvo2pOGjMMs26btmJe_2pxvQQmvDHz6yff0hVag5RidrwcH1ShbWvIIw-IE47V6j_2DLcv5loRRL9XLlT9JJd-Hkmn8SiGABaPFAQx9_E2DQGXRBHCYs0ApOgTPPHCHqeTHzfkjPwVCtSOOME7hQIZNr1pPIGO2pd-K4mt6-akKEowY3yWoyVN-JsXP59PPv5lkhjDv5Dz5i0dj-yjlwRW96Lh5tq7sIVhYIj35d5LaY2uFcwQNMSQT-dX5P1Rfu60jdjGnuCnRxFBHZ9ZCycQpUT1WzTiibIpBTXgSQufsnoBMXXP5doBevlDQxUNGOCgJD3xM_HL7_zWrmboREbvzs34Acpn52wD-rIBU1nTxLHgMWZSHC7RCFIBIljwhV9UAa36fwHMsEGkAKQWZuRAZCcgDMjRjO5EwET8BuUAC9RlyWqgjeuOuQg8WITf41yMgptSCPzltbMJjhzfkwlQ9UPD_nbqZgD-9pLINiw4CIkQ7cDhjSzNcJLUAEnrQe8XdNTUNX00FQrz4Wf53pprw-jaTAG7bZ7oCTY8CNf7gT1FqeeiH7wF2oe9Wpn89nTSADNaxT2X_8TMtD_nF4p5N2CdFsbOHZ5z5ZMHhaoXD-wHhjFDDjLh_s9JCa3suKYq0hEqNC0FPc_SHzsAXJvcLbNofaLTRTAEigTe55o5LJ_D0PDWORbVhWLIovjHUPOpf1Ici96mvNn8Sg6QzFIIf4rj8j0fYDqSmRMI9chEtCMAaNxiMci3iMDMZ4npuYnnS17lyMi9k6XCpm4VNg3G3FcPQ6X0OrZIu_SThqo1pEpyE8HVcJ_QPhCRK-iXEMnp_DsV-AecKHFQ30kHj7ug3O9Kr9QAIPBEqeXEJNbcycAYKDRLI7fN8LDK8dbzpm7tWTA5Ccli2eZZ0U1Jh_Gq1iSkKNE5jAi10GbQpA9E6O6Q7JoxWFwYfsTIWgCWktJXrTX-0Q9cdyPvMZ6zx61vDTdImzgw7nxkjyJd9bam7_aeZs5-F6w2C9hycFXc2_o_LAWYAA8VDgw3zP0lgt-a9qLOa8GUoCbLUK8PIiCvCAF2NM1wC5NPUBluDnxak648xlcaWRae924QQi2cemNJ_qrYHBZ-kZGusBw4WbgEFDGoVeFLpyxpzVb6Q_kWKN83StXrzCa4xG0IzTrQ8i1qTxzvz6prZPpGGTfhhhSuGxMHnYCWJcbGfoVooP5jO2bjzUxsYzpoU06Se6BpEGhFMAaW_id2H3EPlXEHkJjeJbJkL0kTBPLHU2OGxDRUijU7jGEOE7VkFRR4vvLyT1FSFRpiD_FtNmO9SFKPM5MSenkbpAUXWPhyfryH3RmjYRODgdF2Im3NPTbFB2rd6FAVcsJfNYXMR7iBr54iLzPoJ-hYAMIXEsc8Jns1eHNfwvpDy9lLa0hv8SfUHEjvuzmucjq9UomudOl2RAbw1aYP4-evKhAb9pfoXfbe2dD4F81V5kJW08KVbYcpEd9KdXLWMRIkfG2-PVDIYZgtSsgpUFwoOQSE9fbLqQrE1Cb_vcnuxqTzTojv-F9M1xcREA==",
  "id": "rs_04177dd1a3555788016ab43ef6b0bc87d0b8d274ee0925e600",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear’s stem and body are centered precisely between the jaws at grasp height. I’ll close the gripper now while holding the aligned pose.\"}",
  "call_id": "call_BykGGEbgCiy9bQyNLPlqNLVw",
  "id": "fc_04177dd1a3555788016ab43ef7773887d0a55577ee3b24d951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BykGGEbgCiy9bQyNLPlqNLVw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.424, -0.0135, -0.0315, 0.9932, 0.2207, 1.2549, 0.2642, 0.3111, 0.178, 0.0673, 0.6098]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1723 left_yaw=-0.0006 left_pitch=-0.0427 left_roll=-0.0008 left_gripper=0.9932 right_x=0.3108 right_y=0.0413 right_z=0.0377 right_yaw=0.0196 right_pitch=-0.0948 right_roll=-0.0446 right_gripper=0.6098\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.7167, -0.0269, -0.0611, -0.0122, 0.0342, -3.3299, 5.5453, 1.5604, 0.0415, 0.0073, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89ac4987c7412bac3271ad09667f322ec1f899c9bdee64e1b3518a8430384ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b925804b9c9b3decca8b0f5180bb16078ab8d8e15f4ea9d28ec836fcb9dadcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9dc169a7f67d0ae2f5dfc3458f3e7118d1d61d41da3921f72e0bd201375fd9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.37 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, -0.3981, -0.0139, -0.0307, 0.9934, 0.4618, 0.9405, 0.5896, -0.3031, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9934 right_x=0.2966 right_y=0.0816 right_z=0.1544 right_yaw=0.0252 right_pitch=-0.0324 right_roll=-0.0215 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.2376, 7.2274, 1.8388, -0.0659, -0.0562, -0.0757, -0.1299, -2.4274, 6.5026, 1.9609, 0.232, 0.1245, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4194, -0.0135, -0.0311, 0.9932, 0.2207, 1.2549, 0.2642, 0.3042, 0.1825, 0.0708, 0.9991]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0008 left_pitch=-0.0378 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3098 right_y=0.0403 right_z=0.0365 right_yaw=0.0137 right_pitch=-0.1008 right_roll=-0.0461 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.0222, 1.7851, -0.0415, -0.0513, -0.0171, 0.1983, -3.7128, 5.4906, 1.9414, 0.1978, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.424, -0.0135, -0.0315, 0.9932, 0.2207, 1.2549, 0.2642, 0.3111, 0.178, 0.0673, 0.6098]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1723 left_yaw=-0.0006 left_pitch=-0.0427 left_roll=-0.0008 left_gripper=0.9932 right_x=0.3108 right_y=0.0413 right_z=0.0377 right_yaw=0.0196 right_pitch=-0.0948 right_roll=-0.0446 right_gripper=0.6098\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.7167, -0.0269, -0.0611, -0.0122, 0.0342, -3.3299, 5.5453, 1.5604, 0.0415, 0.0073, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89ac4987c7412bac3271ad09667f322ec1f899c9bdee64e1b3518a8430384ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b925804b9c9b3decca8b0f5180bb16078ab8d8e15f4ea9d28ec836fcb9dadcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9dc169a7f67d0ae2f5dfc3458f3e7118d1d61d41da3921f72e0bd201375fd9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD77inhmLmMZmIodf2ryaCnqD2ZAo4vun520s6C0ZviXlLK3GeZTbHOZXI0YUNd4un5nHO04v8D66tqF8J4V-IqwhxL_wFRvK3VnJCVEdKIm7_zetBw6rlpshXi1DN4NbaH-pydgHWYak9tNwRpBzWn97uUTqqUPFiLDm2NIfXkxunf0zwVeSLsoVf6Wv2IkIWpDQogEUqF0kw4HBRM0c32z4a6zUq0xYiXQtp5JXjOnPk-3WZvUGuTRyyelwJKrJwB76Eu_ruKgokfep1JfV-Z9FllTQ9ft5R4rX0gsVLcI8CNVMCChEUQXsml5l9izDdWYlOsRy8LrI2pe-B2aF4UGInxg58mO9BWYOjOoOahCMKDjpXQXLbuZomz72hKNyM219nfYsxs6s2f-zA9BGmi54BSdYsOT_-c2TA4ZkScIh6HfQSd0PqbSFn8wAkCpHHhgvdXgOBQBy3icdqs5DWR6meWwnXUTpCF78dJEyT3mjdlBa4rOuA_TDbt2un2pOSGAyK1WejETsUoxh__IiXH1wtMrKMC3o4JvHTrBIxeItrKmllJFg1g0zbmDrswxdMaa1Bqq4mwqUslMB1m2_X6Y55TkvRbxOblYK_nMwkHIDU8AShRL7-4lbbEpP4rIJiKRHcm1uZbnqcVOxaUieqSqi-T17MZ_ac837Uh0P2TvIpq_QflYykCk3D97i_BTSwYuY-oVEfjZyd8MuV8FKR0lcHjTX1eIfX0WdLk8c328_Dm1r7MbUeNDUEHILfnwTU1BJmobsa7mlnED37AGspTUg2vWDvMoj5Xpei5QuAlzUcGbpuBvbhDf2EILzFyYJRTdtfFuiGfF_aA8jn8pe0C4bHr-ZJWfxRGdUvuDWiiOAoxuE-yLbiulvO4conqOXrzfj9MtCp6ETVWGu8pEDKavfDaSbO9ZjPDTdUXMN5eOxIImJuGz87Mxix4AfRo9QddfvCol-kZuUZPI5A25orrs1w_cCBiK2tyooEzPiixnwE_XAQnG1o4Ywj7YjDuY4vHnwyOOdoI9WxnlAQ9sTqMeug-LuWsV7npISM8wE5PDVg5jWyFCG2K6VEcrPSi66UDCo4nQgu_Blx4c-ZYiycf46FsQqtgsHY-fbQiukHGQFrCI_MSyMUSt528MpcmNtAs8zA0iyq8pCJwRDceh8w2-3CyqscJSQTgz0NrJ6txIEe_IckwreN59xSNGJVatlF7zAePfLfPCE52QAq5OXS51MBvIXeYFPDhGUblAgSiUwaQFG3Z3wGK32xe2_YKyYLAAs39UUTo46r9KD76SAdx0N9_aLW_WoxcWcvOolYamviM=",
  "id": "rs_04177dd1a3555788016ab43efa03e087d08c78395da2d4638e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper settled at 0.61, consistent with holding the pear’s roughly 5.8 cm body rather than closing empty. I’ll lift it well clear of the table and verify that it moves with the right arm.\"}",
  "call_id": "call_y5O3YJK5fWWiQJXGeB3YqplT",
  "id": "fc_04177dd1a3555788016ab43efa5cc087d087583ff51ff36872",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5O3YJK5fWWiQJXGeB3YqplT",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4255, -0.0139, -0.0315, 0.9932, 0.2207, 0.9871, 0.6353, -0.3759, 0.1776, 0.0662, 0.6121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0005 left_gripper=0.9932 right_x=0.306 right_y=0.0403 right_z=0.1421 right_yaw=0.0194 right_pitch=-0.1419 right_roll=-0.0549 right_gripper=0.6121\nstate[joint_eff]: [-0.0752, -1.2513, 6.9949, 1.6874, -0.0317, -0.0611, -0.0122, -0.335, -3.5761, 9.0598, 1.746, 0.0171, -0.0024, 0.8474]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e430c873607c4ce8d9f3f153add6dcba364851ebcb0c588e69484bd69d3de745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877365913a3255c0351a26c75625734447c9f5a386f1193c96bcbaa37d3d085c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9a087cf23816b994a412f38ae59c1e85c4f0652721ffbd534eafeab3362392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.4084, -0.0135, -0.0311, 0.9933, 0.1894, 0.8608, 0.5369, -0.3187, 0.1711, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0233 left_roll=-0.0009 left_gripper=0.9933 right_x=0.2946 right_y=0.0295 right_z=0.145 right_yaw=-0.0066 right_pitch=-0.0593 right_roll=-0.0313 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.0735, 7.1043, 1.8242, -0.0269, -0.0513, -0.022, 0.1299, -2.441, 6.5709, 1.917, -0.1197, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.424, -0.0135, -0.0315, 0.9932, 0.2207, 1.2549, 0.2642, 0.3111, 0.178, 0.0673, 0.6098]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1723 left_yaw=-0.0006 left_pitch=-0.0427 left_roll=-0.0008 left_gripper=0.9932 right_x=0.3108 right_y=0.0413 right_z=0.0377 right_yaw=0.0196 right_pitch=-0.0948 right_roll=-0.0446 right_gripper=0.6098\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.7167, -0.0269, -0.0611, -0.0122, 0.0342, -3.3299, 5.5453, 1.5604, 0.0415, 0.0073, 0.9548]\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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4255, -0.0139, -0.0315, 0.9932, 0.2207, 0.9871, 0.6353, -0.3759, 0.1776, 0.0662, 0.6121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0005 left_gripper=0.9932 right_x=0.306 right_y=0.0403 right_z=0.1421 right_yaw=0.0194 right_pitch=-0.1419 right_roll=-0.0549 right_gripper=0.6121\nstate[joint_eff]: [-0.0752, -1.2513, 6.9949, 1.6874, -0.0317, -0.0611, -0.0122, -0.335, -3.5761, 9.0598, 1.746, 0.0171, -0.0024, 0.8474]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e430c873607c4ce8d9f3f153add6dcba364851ebcb0c588e69484bd69d3de745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877365913a3255c0351a26c75625734447c9f5a386f1193c96bcbaa37d3d085c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9a087cf23816b994a412f38ae59c1e85c4f0652721ffbd534eafeab3362392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8A3KD8Wp5cffU7nz1bbFi3S7cWxKVIzfFVxgeERI6nlQ6tOmj-ta6ewz7wPEZlbE28yK0YOfKq9fRmCQ7PhiNkjOU40ep9uS2SQ5Tq001ttsPKBIA9RaoGwexpdEQLwSbAoAJQpzfYIKzM3pNVb6CefXM_BBqicusVcs6tzcp4AkHuYcItHgaVkKyMNoBSOpLxFvf5p64uU76Cd76sEXLUOpzFTxIMBz_96sLEvhcGkqvKwvp10gvYZtTaKLVrYWeEhXcxjTnOj9r7jMqPFCWMLBfW_ZJaYwe7MdFZVHf8u03-gTCM4w9DRxSD19UBhWr8jy_zDtNbMxrhWxL1lGvmgC3TFErf_4zIFC2xEHgF22yIVcXpHHKQZVf0NmIdB_CdP3XHPhNorBpMnajG80j1uj2jgPy9kDxPuqMqHgT425W_gCxdRqE_BjAosXcP33XBiqV8sHXlvwyw0At89dbr6IvyrZi9v4O5RlAlXx7p4VW82S0-dHGk8g3j6fO7vcA6qTRLnWrtPddG-GF00kgoJ3MVyigzDxvekNroSm5U6c6hAeAm8L4Hs5tir6XBCBgTOTLLboEgikXXyIQT0pMcWpawR2Yg-18KDZxzS0wbOFgowiEXrolzsVg6Ei-viU16bZ-kTJ34m4alTmKxtdxL5DTLnuR40GZ8QkEfTw1ZbRPTbx4rIilpW3uQ9aMrvpnXUsq6spuBu5BavKbPOFoxx-dol_mnHDxN2E5-mxcn06V78H4RKyiIvMlEd2Kb32CZc2ALef4bannthIZ7uwECiO_y1LPGxWYWG_TvAcMuqfSmwZbtiK10YFRFIWpo0Pvx0dKNMV-WyerWSjcxbmhvKTil4Ir7j04oLO-GqjIpQ1es1HJuRXlIuUBMe-GR6xnlPwNio8WreqTnQegumZ9kOJ96pUk8fRgIqXgvleo3hbCHTrZbfvnTrOrDGqYCFww4r2kNssDoT7v5A3zxrX0suiA3tkk8LNJjGOsgO2MWJn0Iidr5-oo7n26SCC_cS5I49g0mL2cI1d2OdgyyPKwuTOYodL1wNp_RPzOSwyAO_M6i8jHTrw-44kkmcm1Jmbv5MTpLK9eITkpnbtOpyCLe6v2DxSBcL0nIDU621tNif_TlaWCdd1gvUW3fuy9S6jY3-ynWGhaVYrMRN8H31AC2mMsH8Oi6KyIJzkkH1dF58UTzSe0FnI09c5sX1gyTW63YcS9b4NpL3bFsEJNNJYS_BBEQBR9BpQTPh-fvy7EHe2-DtC3DBfhpnPQYdTWOo5aYi4gf0U5T86kKu5GcF21oG_MwDKRzH49ZGLk4hw5XRSP0qn7Xp0iqZx2-PaUX8Nm61Fbm0NDzgfCwwM1I31laYjB-X9Cpsusr897HEzCEvU3IwWba2i4dhp7yon3YF4nR-uwTePBdtVlR8zR2ed8Dpa5dkNU5uE3xBOj4ADEI4I6kA6Uu19FdEnpkS2FnreaGZFUTjLsryACvyIncjme6trsTpFEm1U5iVaOlFYS5UQJCYBVociok7wHlqaEHRUz3kWGZRvYBEky2Gtx50s_-e73VdE_fCKn5ZRrrjL8B7YkFcaxVvhT99XIwdH-doeG3UuD3nF1bs83pb6-TDzX68I98xry0DtuLDiMcR7-AoAB1bYvc6owRiECtH1F-4Bi7C2nPWSIqYkuKyaLYP9An_OUN0enYxugq8Q0kC3PIcqwG_d9kD7R1aUALVIoB0TDAOPVGNaJtOgDbEH_sChh6jSA1rti2URL-BQznPWOpiAv09NLtNC0do4jhsv7yMcD5z0lU4trxwDu_Q30nvLNJNEDPXgdc3ybpeYWelMrwtlLfOzQZX4m2prPaItEB8UYTjMBTIDYcWCpXN-zzq4V1NEObTf4thHdyAsecroQDCCOku6jrZXwXIQoPZ4iY7REoWM-SF6jXNwtjt51fopgi_LVIdDWA9y4GfoCetO46ukU-IaSRDeb8YVg2eBXbomjRs1i01YIppFTCP8rZ-t-cYsf3gsqan2_48vQlV3WtNxN65qqpH0BtkCLA4Z1vqUBXlsBnXrUzo-sCXiXwX0w3Sa2IkBwi7Xt5dHI12hvPmE10-7zV47I7BkMxgUkd3fv4sc-rMIRr7Ezew0ACVxCpDAYe8kws09UdjhlNE5TxVwKFpI623pw55cLicoHv2MJY9IiMsOQxgFktkR3LNQNVwiiA1OgEjqnCO6wa1hcIQu--I9BqtRFB6WTP93MhZo8Tv7dBI1pv1FrUCPXQPYhV2g==",
  "id": "rs_04177dd1a3555788016ab43efda21c87d0ab4a354f45e2a11a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.22},\"note\":\"The pear lifted with the gripper and is no longer on the tabletop, confirming the grasp. The blue bowl is forward and to the arm’s left, so I’ll carry the pear above its center with generous rim clearance.\"}",
  "call_id": "call_9Tia4JBp2J0lfQwhBAtKi2cY",
  "id": "fc_04177dd1a3555788016ab43f001db087d08a450a5cb918a839",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Tia4JBp2J0lfQwhBAtKi2cY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0338, 0.9932, 0.4644, 1.6199, 1.3754, -0.6094, 0.3363, 0.2104, 0.6151]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9932 right_x=0.4187 right_y=0.1486 right_z=0.1962 right_yaw=0.0447 right_pitch=-0.2222 right_roll=-0.0965 right_gripper=0.6151\nstate[joint_eff]: [-0.0752, -1.5385, 7.241, 1.7314, -0.0269, -0.0562, -0.0122, -0.4444, -8.5812, 9.2239, 1.8828, 0.2418, 0.2662, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1477d88bbea71e7f4970da7f038879074e734e75fac2e4d0c1ba2cbf8edc4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a118843546287d91ecb2e9f1c7eb42356431562983004e6f446ccb51af56891b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdace03cead6c6df6f64962866849ffe8e11c4436be86d624e98186d1cc51030",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 2.387 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4194, -0.0135, -0.0311, 0.9932, 0.2207, 1.2549, 0.2642, 0.3042, 0.1825, 0.0708, 0.9991]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0008 left_pitch=-0.0378 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3098 right_y=0.0403 right_z=0.0365 right_yaw=0.0137 right_pitch=-0.1008 right_roll=-0.0461 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.0222, 1.7851, -0.0415, -0.0513, -0.0171, 0.1983, -3.7128, 5.4906, 1.9414, 0.1978, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4255, -0.0139, -0.0315, 0.9932, 0.2207, 0.9871, 0.6353, -0.3759, 0.1776, 0.0662, 0.6121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0005 left_gripper=0.9932 right_x=0.306 right_y=0.0403 right_z=0.1421 right_yaw=0.0194 right_pitch=-0.1419 right_roll=-0.0549 right_gripper=0.6121\nstate[joint_eff]: [-0.0752, -1.2513, 6.9949, 1.6874, -0.0317, -0.0611, -0.0122, -0.335, -3.5761, 9.0598, 1.746, 0.0171, -0.0024, 0.8474]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0338, 0.9932, 0.4644, 1.6199, 1.3754, -0.6094, 0.3363, 0.2104, 0.6151]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9932 right_x=0.4187 right_y=0.1486 right_z=0.1962 right_yaw=0.0447 right_pitch=-0.2222 right_roll=-0.0965 right_gripper=0.6151\nstate[joint_eff]: [-0.0752, -1.5385, 7.241, 1.7314, -0.0269, -0.0562, -0.0122, -0.4444, -8.5812, 9.2239, 1.8828, 0.2418, 0.2662, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1477d88bbea71e7f4970da7f038879074e734e75fac2e4d0c1ba2cbf8edc4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a118843546287d91ecb2e9f1c7eb42356431562983004e6f446ccb51af56891b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdace03cead6c6df6f64962866849ffe8e11c4436be86d624e98186d1cc51030",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8OlVYFMCzgSSm3LUTqqR5wLgGQ8yCo88JOgibiFpmnKilULGEBFHjOQs7u6vd2ocQorlHI10qmSqYYpaeMXEeXarkjHBmitl3dnJUkURrluvxYnW8dzSqrOiQFQ5nNN80XkK31yF-9oUkVY3ntgC1KTImkVhDPyIel4TFhpAcyr7AZ85M9Ie7kMrICVYsbZ29cpAG_D3mP5X8LCrTzl1ytN_yNS5PNzXUw7WlN452SCXq_DXgwIIW1-Cu4CHbrbPXTHutqtEhSfJpKhqKWSkGATWMq8VjDGmp_yvXT9nbrDRX_n8DzxMVwPZ0ND5JGXsrY5hT_S1eZL7z-cQFoS3REgSIVYu27jdARB-HYQ3I4JCtzmbDWGrnJ6xBlTaFVnopiXMccNdIVb8rE6kzrtjOLpKGkJsn94CJ_YuP21R5kt_QN-FfvmaFSjET60-y1GCY6XQ_Unk3nyv65wiiwOWchJfU4mflHw68ubMmRtsUeyKcdQJgaIBlbzgDpjabUEuwDZT_kE9q_hyAEkMv39mQV0aRCD19-0lIX1wg_rRffcy00p2jBI8XlHJD9iMT_xr-2ZLirRDVGK1_T8ULcufTLYf7SP4AUlHLwXNBjKKSKRU6xcvfXT9p--ydDPA3OPy1wrUjMDhpBd15YnQrB9LpH1C_DdushnPbGcJS08l6b281QhJPdxw4_yAIDtA1AlB1r0Qr9bAv_Kf1XNbkCafFRm6NOjDUP19N6npoLUcmasQWEBuZjhWOxFgb5NqeOFLM0oRPLbXcJg6ENPeLBFAUtAYyCCcuVeibJnY_vMe31Bqd3mooG5MZd7Bm---ZlmDFLjVsf0LDfPI-wUMvh1RGHG6mWiUWkHgqvmj4F-qUp2WRsdYPU4ojRPCqWbjW4pdzFuws837uOPME_6fE792DrlW8jHljWH8ocxRfbjM2iiMsD0YplxPeH2bM-gGErM0KCvyc0A7kRjL0E67id8Ca2DtphQKoTMcQ6D5I3Fk5tOWJ6QsoC3f60iAcj3ws917PANoOKLFWHJVMMGgSi3zCq194n8m_7bELc5f_E-mWJRmky6CvDaNAKZMk5rY0aq2EWAEws6xikofIk-8lcIjDZC6JAT5NtBm3J1ntIzCoH71J3OqhHkmlHhHig-_ZticCVruBIDg_cY_W3cS8ZprG1-G0Vy8lo2A0HGWrWcstxk9ZZVTN09M5BZLC-v7CV1B5u7P0T4A90KhuYRWSL_e0gszDMtX74U_SHmXz5ZVUjqCd3Efgttr_jHO13hPlsE0sdHcWYYARcANe55qWp2RN-vV4eB82iE5kN8Pp8rg9h2QQ7HO9D8WCRLx5DTq8cnPG5PBv-EnvKNXtpbjZI6oesDieRrtBZLDJRPu-3GEhx5VyGmxW72agO0jqXv0r9vdWFdZcyiyAeyAaTkT1mRLohISmkBrFboOUDAy5Vs65zscjINJWWLtWsCjgvOhrvp-jYhT3ozM0loo_btFTrVrUH-kpvrNuPF71Np1SLtO_HmqI2xJNmMR6ft3B1SR2ZbLoBuN1PiBUXnHPiqj37sqo2uV2GCb-sKUmWNYAooPimqd3gWMaJQe2EfSyQhTJzrMcBE1oP7EuBsGlkAssYbh3gQ_OHeeiMcAKCRymuWN_L4uqGKJBB5rx2XYJ9KzPUm5Zk8qHOnHfOxzFY-gys3UYQOVR4fJ9TBoSphQymoos7NKsOjzTXsDwCuqqjJ8WSkXa7o5RBrmLQtOrbqv5iC7pOMnDg6u_xx6PsPfLFHEU3xoctRTSuLkCunmYarU6EsJXJux8EqB4royYgmUhsoGXujlpi8CAGonNPOjyZLlDgp2Rzx-qKkKnuTqjYz_1OnYtXqn_CKyGnTX85HoxMTgegPiTrhAiZokGNWmCR4kRJQ3mybECtFhLotcxYqd8vPn-f5wWVa55LkzgCxCAST3t-Jh31ddrBDWIBd05mDYiVbaPjAM1BuuWKAcLle-jRL9CM3pcLLYMi5kgJ_TrWiX-KUGn4kPcXGS2SRfsQS0_mniqUmtIF52SXQF7LwXzvzudBUfOG91w36OK2TPv7fcrymZ2B6dm9e4B4dgtDKxtvQfw=",
  "id": "rs_04177dd1a3555788016ab43f0c256c87d0a479032b22759ad2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper is now directly over the blue bowl, whose rim is visible beneath the wrist in the overhead view. I’ll lower the pear into the bowl while keeping the grasp closed.\"}",
  "call_id": "call_ap3ZodQCYimC51WFySB80ZlE",
  "id": "fc_04177dd1a3555788016ab43f0df34087d0b3dd3648034eef86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ap3ZodQCYimC51WFySB80ZlE",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4332, -0.0135, -0.0338, 0.9932, 0.4656, 1.6459, 1.1603, -0.4316, 0.3359, 0.202, 0.616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1693 left_yaw=0.0007 left_pitch=-0.0565 left_roll=-0.0023 left_gripper=0.9932 right_x=0.4074 right_y=0.1436 right_z=0.1261 right_yaw=0.0442 right_pitch=-0.2807 right_roll=-0.1288 right_gripper=0.616\nstate[joint_eff]: [-0.253, -1.3333, 7.1316, 1.7021, -0.0171, -0.0659, -0.0122, 0.0205, -7.7333, 6.9675, 1.8681, 0.0806, 0.022, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c09cfa459d166973fbdd3b0ab3ed6058a62a89f9a21bb26332382739cdd2afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53b1fdab50cd4361ceb18555236b4f074dcd15bf7d8629db3e10bf7ade809e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcee264c97822431046590b261875629c5a82f8376bd204cdbe0c7245fdfb411",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.424, -0.0135, -0.0315, 0.9932, 0.2207, 1.2549, 0.2642, 0.3111, 0.178, 0.0673, 0.6098]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1723 left_yaw=-0.0006 left_pitch=-0.0427 left_roll=-0.0008 left_gripper=0.9932 right_x=0.3108 right_y=0.0413 right_z=0.0377 right_yaw=0.0196 right_pitch=-0.0948 right_roll=-0.0446 right_gripper=0.6098\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.7167, -0.0269, -0.0611, -0.0122, 0.0342, -3.3299, 5.5453, 1.5604, 0.0415, 0.0073, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0338, 0.9932, 0.4644, 1.6199, 1.3754, -0.6094, 0.3363, 0.2104, 0.6151]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9932 right_x=0.4187 right_y=0.1486 right_z=0.1962 right_yaw=0.0447 right_pitch=-0.2222 right_roll=-0.0965 right_gripper=0.6151\nstate[joint_eff]: [-0.0752, -1.5385, 7.241, 1.7314, -0.0269, -0.0562, -0.0122, -0.4444, -8.5812, 9.2239, 1.8828, 0.2418, 0.2662, 0.6471]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4332, -0.0135, -0.0338, 0.9932, 0.4656, 1.6459, 1.1603, -0.4316, 0.3359, 0.202, 0.616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1693 left_yaw=0.0007 left_pitch=-0.0565 left_roll=-0.0023 left_gripper=0.9932 right_x=0.4074 right_y=0.1436 right_z=0.1261 right_yaw=0.0442 right_pitch=-0.2807 right_roll=-0.1288 right_gripper=0.616\nstate[joint_eff]: [-0.253, -1.3333, 7.1316, 1.7021, -0.0171, -0.0659, -0.0122, 0.0205, -7.7333, 6.9675, 1.8681, 0.0806, 0.022, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c09cfa459d166973fbdd3b0ab3ed6058a62a89f9a21bb26332382739cdd2afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53b1fdab50cd4361ceb18555236b4f074dcd15bf7d8629db3e10bf7ade809e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcee264c97822431046590b261875629c5a82f8376bd204cdbe0c7245fdfb411",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8TUq4otCQAcLc53uiVME9e-17IjItez94GlaTk4iTUOLQNXHaEWirhglSNlg_LimNxAt4hYETSsmoNoLTfbvrw3yOW4cklqs4xjSySJDB0gEr7VRQPXExFWqSc1PZP8SmwQ_HWoWB5cBV0U84ifpRJIw4gBXjfvSmEImPDlZYsOMQPg8zZQA-h8mAGX1A3MNdK-O4qEKtBip0OMZwyObV149Y-JJQcZHqadEtFFWgZvY692inS5eDkv3yxalysEJ99rcUGijFjJvx9EJvPybLm2taVBHJVNZn_dq2AJHOmuJZze1gtiBvs5S0jZmz72hKws4kwYZ7P7ftQvhoHUW4HgfnrigezFYb6h7X3qQpoYXBYrdQSg1ZmGpL2n_aJpk3gGhLAWMNW2FuVSgSbm2qKmFo2VkqWIbMh8PWfMdq76K7twsivLdEZFSaAYn23v6jOyko2A13LHfufNphiD1oFjxizpAAIGKInVkt-beCsm-qxppuP8-xS62o-v5-0YmC8_SG4Y2xRMPAvNaZm562jCSHqKi0MLKV2kGUyCEERZ-S0EIrOHKGC_9W82RdIW2qow25qHb60Dh_zckPhwBfjUW_cmAs9FttlP9v-2JjnGeF_iGIsBqG-gG6QLh9MeQBG_ORJNR9qJ6X1YWmy0G1BlLupiqwZeBIwl1DYd7Y7cTVKCY9OejM98J8-q3iZO4IHKo_HHYrQ2Z1u13WSDamZXQTFEiPbRKJcl4ppUX-8u2JxJ3g5pWJ2GL1U48sRy2gpNcSfKX3kmz0VEJQpKeFcrZpBjUqBdxRp-4zlFKvnoKivjG0lQZtaaLGaMYu5OZ9Sl_aSFThV1TL-kFgvpdxNWbsiLxVP4Hq6JysucEL0SmiD3YVJRoCkV2i7YIoFHo-fMHcLLm05fIsc-Hp_X8AKvrP6Q_Mcf_cjcbzxBkebmD5F7GITxeTZjyAHIqhNFmc17O3Wlee-_np9wTUQ-TuT3JmlCVyXqJhIGfcFHeqjd2h0hhpXeAxWYWszP5ZuzcFxBOy4efgQXoQya4WWizm-AUG-_1RXwzUVKuj4G24Shah8f6Wk5JiLg88Po85Wizhz4zZ4AT_UFog-jI1yALMt5SrtMv_-WYczlowcekegS3iTki1q2uSIybX18x9cncCQ2H4mmXf_yftoULLQI9HgvIIIKImuxHbQv784d0m21WQ9tcauQtUGly3w3zvo_-2eqbPaKMt3ZQq6xD_9ETJtPyAoEOgGSoUIRNvFY5B5t6k1ysAwr_e7uJycV8skYIEWiB58pcP4LKo9Vsn5GhjAtCmhtAuBdkknIoaqQ705v1QCCO0IBIIuWKLOI79CxQ6q",
  "id": "rs_04177dd1a3555788016ab43f122c0c87d080fbb8ce7681952e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue bowl rim is centered behind the pear in the wrist view, and the pear is lowered inside the rim. I’ll open the jaws to release it into the bowl.\"}",
  "call_id": "call_0deksc2TAQjHRsSQ24ksxXs4",
  "id": "fc_04177dd1a3555788016ab43f12816887d0b8241d504c0f7b2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0deksc2TAQjHRsSQ24ksxXs4",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0338, 0.9932, 0.4656, 1.6665, 1.1397, -0.4316, 0.3328, 0.1967, 0.9955]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.001 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9932 right_x=0.4027 right_y=0.1417 right_z=0.1096 right_yaw=0.0445 right_pitch=-0.3196 right_roll=-0.1477 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.2923, 7.1179, 1.6825, -0.022, -0.0708, -0.0122, -0.0479, -9.7299, 8.1846, 1.3358, 0.1441, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8784d397e4599f92e973a46d06c969f6bd41163b3ac1c51006abecbe73ca0db3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3813f895e7bd3cac821b6d22110c43eae4145a4fe359cbe0108a80231f6f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904a807278d605fd435a8bd5339f076e845b47562923b8e81e9b2a38904ee61c",
      "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 · 5.697 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4255, -0.0139, -0.0315, 0.9932, 0.2207, 0.9871, 0.6353, -0.3759, 0.1776, 0.0662, 0.6121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0005 left_gripper=0.9932 right_x=0.306 right_y=0.0403 right_z=0.1421 right_yaw=0.0194 right_pitch=-0.1419 right_roll=-0.0549 right_gripper=0.6121\nstate[joint_eff]: [-0.0752, -1.2513, 6.9949, 1.6874, -0.0317, -0.0611, -0.0122, -0.335, -3.5761, 9.0598, 1.746, 0.0171, -0.0024, 0.8474]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4332, -0.0135, -0.0338, 0.9932, 0.4656, 1.6459, 1.1603, -0.4316, 0.3359, 0.202, 0.616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1693 left_yaw=0.0007 left_pitch=-0.0565 left_roll=-0.0023 left_gripper=0.9932 right_x=0.4074 right_y=0.1436 right_z=0.1261 right_yaw=0.0442 right_pitch=-0.2807 right_roll=-0.1288 right_gripper=0.616\nstate[joint_eff]: [-0.253, -1.3333, 7.1316, 1.7021, -0.0171, -0.0659, -0.0122, 0.0205, -7.7333, 6.9675, 1.8681, 0.0806, 0.022, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0338, 0.9932, 0.4656, 1.6665, 1.1397, -0.4316, 0.3328, 0.1967, 0.9955]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.001 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9932 right_x=0.4027 right_y=0.1417 right_z=0.1096 right_yaw=0.0445 right_pitch=-0.3196 right_roll=-0.1477 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.2923, 7.1179, 1.6825, -0.022, -0.0708, -0.0122, -0.0479, -9.7299, 8.1846, 1.3358, 0.1441, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8784d397e4599f92e973a46d06c969f6bd41163b3ac1c51006abecbe73ca0db3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3813f895e7bd3cac821b6d22110c43eae4145a4fe359cbe0108a80231f6f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904a807278d605fd435a8bd5339f076e845b47562923b8e81e9b2a38904ee61c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8YAmkxIfeII_4g3FoxAOPRtZ82-b4ifGRQZ0fibAWff36cck6Vxnpwey4nAv-iJd_rTgfEEFYaMULRvrRcEiBC-lko1pbxx8bUvuKsd3rTr1bc1v0KP9o7ZAomFeC4-FLHzjfaH3x6xicSwAcR6VHZOsJTciik_YVv1NNKQZNWvaAH2odufbV0Xbj9tYy_0FKbMH1OJO3-af2DXs33XoCo9_l61mfn9pYw2BgBUJFEXPgPfqgcgK256PwOGeJ4gB7atxrJ1dw0PKm4Oj18SJs8rtdMQz2YuRzngqUeHYc4AzW09ZY9EWSoYaC1wJILAQ6MBDCyam4gTPKmhw3XmT8ijQTFWbZbYmahX0t-ThIQgmgnKzN4MyxGO5QPy4wbu3RMduwCsGnRA3I4Wr2BqkrXwMKTurUMmkRA55UbIEWBviXAHTUMEckNvWuL-YbhB_QZQpV_8KgBYFiBWhv_vHJqM676TIFMmEzBvxbeLuJ4K8lGIf3SWStk0ExauCKes4BWyqYuRMi8qsoZpPhj5lMBvHUWLQDh3DbnahycaD2K9PKZlwkXlw7Oqcbg-ZNU4OO8ouxf_wIah1B5jz19-ojTZDVOOFYqOk-IPNA18nH2qAM385rCE8eaTQbvLzplQIX8R1Xy4N_Nq3kcyLl6baplWZUinEHc9Bihp_uoeY8sdTsDsqsPu618oFsAarpt7vWYBH7GT2YKddZ45tgvfzazuOgiqP1tSeoGd3u3ePesKGi24-jxShd2P9CeQjwkScfm803Ym_wQvVC2aUkhDoPVDuWTSsxJN0Oo9CwA9aV8ewQRi-2KLJU8VEd8Ww8WcQRnzvXBkW-UXkmP4bRbIyDpo04uFpRu3QdOYL5VgRHnwAeSTkDRw17gB2KsoA-p3BEjzDDc7hw2mpD27zhyK51suv5avXUDZSd9_ucFJ3H0lTbBKWF9hxNy1Dhoi9uWFdO06OY0gEHuYWWpJg6-Ol3vk37MVzlaPW_1eHdswX8QzpuFP3sQ5obbwmrE53FYJzq6rXoozkw9gbe9644LtcdBAeXfFRpk5wWwCbEdHzmn3rxOcfwYBmpgvfUsUH5BQwHc3nQlJz3bkvCoxbdPKlkvVNVWi2mTKO882CULNpvW7tYdeNMCt4Nq9V40JlCYlYRE-MREjv1FpxB18JyVkTcF2W4BBbXoG6MT7DDR9WCtRdwF4EY3FNfiqG62ToTiO4kyAqxQqAIU_ZeXBXMcue7Jc1lQ9JGCDid3-O4U_NZ5qRmugL3TQesJDiz4uzyxgcAEP4P6iDGYmA3ym5FEdhH7QS7N_CzYDolfpA_tG-ZEdFbUCS5w1yZB1ZXUKYg_EnxHmuWhSUbaQtRIGZSq-nbLgX1_8FcVbyLbTdt1Wk2fQYfdHR1AgwupKL8UEveRyWacwx6UnN6q-AleJjOsS8gP8q7EgK1GjAf855ocWNq0R0GPNwd1ibvfJozMNNpB38y-0BfNEMxUgQO4YB_PzYVZ9DDld-7s8NPtcc5hXp25tz5Y6SyblcDqVJCU5IkKbtxw9K7-l3uJHyo9t90ZcYBPD3-EBPHbKyjHFDBJtg1TD8hMjq0eqvRb89uumHRq3vFms3O9ugvYmG0yyvdefWWILzUASiOaYONnZ8Mub4_zJN90e4rMAzFD03YfxwGxGAppzutCc5PgjYy2eNh7P1Oq7WpbrIcdaflMCCfk5EOlQQVvD_yK5PTNuBNy8kI3sN_TaUGvR0K7mk0h82jLwOpwCAOehmcQA78Qfmsj2RrITJUS94ENtiHejYazNao7tihP89Qmm4Cg_kfE940qiZbjXx4V9bwD5PAWRsvFIEFIFeOa8Thaos6IuTvAG9jlnDwiD-M_pknsJ-tN5L_qgqcN9uaYnirQ4OW8alFs7neFImf7erVF7J-aJ73y5lMZEWq86bDpKXsUfbB1JuFik_mRy29U3Drxl_1gAEbLIZq7sZwz1MTraXBuYl166euVhiG5Gz-afvCnWujT-HAX_7TH1rusovxJroe4X9oN5fxGVRPo0tIMEA1LGNqHbTOC4CpCaMp8BupuqZWjvrluJKQo8oyASN7wugNUv3LqoHJQHf8Qby7utPUw9o0_NXapXPpNdGL_oV5xdqRGit5yShgT9PlgLIa7A4MFI5Y72Y0YrrM=",
  "id": "rs_04177dd1a3555788016ab43f14ee3887d0b3a954218767ff62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The pear is visibly resting inside the blue bowl after release. I’ll lift out and move the right gripper above the yellow fruit beside the bowl, keeping enough height to clear the rim and pear.\"}",
  "call_id": "call_PkMPf4MoULnRZMDQKGoOlhuB",
  "id": "fc_04177dd1a3555788016ab43f170b8c87d0b978d4ebf1e82893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PkMPf4MoULnRZMDQKGoOlhuB",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4423, -0.0139, -0.0338, 0.9932, 0.6937, 1.636, 1.3334, -0.7231, 0.421, 0.3489, 0.9985]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0019 left_gripper=0.9932 right_x=0.3582 right_y=0.2087 right_z=0.1621 right_yaw=0.1054 right_pitch=-0.3311 right_roll=-0.1497 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.2513, 6.9949, 1.7802, -0.0415, -0.0806, -0.0122, 0.1983, -10.0444, 8.0068, 1.0574, 0.3834, 0.1832, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bde19c03719751fddf3d289f5cdcdca1b068c7276f1c700350896a93effe3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f19b199ff4a464b35258de960f25af64ef7dd361a6a8d87f3a32ebb555f3488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9487a0f95e34f5a4fcf8f0cda735c6ed52f3afa1d771c4c1763074ec6a39672",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.715 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0338, 0.9932, 0.4644, 1.6199, 1.3754, -0.6094, 0.3363, 0.2104, 0.6151]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9932 right_x=0.4187 right_y=0.1486 right_z=0.1962 right_yaw=0.0447 right_pitch=-0.2222 right_roll=-0.0965 right_gripper=0.6151\nstate[joint_eff]: [-0.0752, -1.5385, 7.241, 1.7314, -0.0269, -0.0562, -0.0122, -0.4444, -8.5812, 9.2239, 1.8828, 0.2418, 0.2662, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0338, 0.9932, 0.4656, 1.6665, 1.1397, -0.4316, 0.3328, 0.1967, 0.9955]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.001 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9932 right_x=0.4027 right_y=0.1417 right_z=0.1096 right_yaw=0.0445 right_pitch=-0.3196 right_roll=-0.1477 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.2923, 7.1179, 1.6825, -0.022, -0.0708, -0.0122, -0.0479, -9.7299, 8.1846, 1.3358, 0.1441, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4423, -0.0139, -0.0338, 0.9932, 0.6937, 1.636, 1.3334, -0.7231, 0.421, 0.3489, 0.9985]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0019 left_gripper=0.9932 right_x=0.3582 right_y=0.2087 right_z=0.1621 right_yaw=0.1054 right_pitch=-0.3311 right_roll=-0.1497 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.2513, 6.9949, 1.7802, -0.0415, -0.0806, -0.0122, 0.1983, -10.0444, 8.0068, 1.0574, 0.3834, 0.1832, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bde19c03719751fddf3d289f5cdcdca1b068c7276f1c700350896a93effe3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f19b199ff4a464b35258de960f25af64ef7dd361a6a8d87f3a32ebb555f3488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9487a0f95e34f5a4fcf8f0cda735c6ed52f3afa1d771c4c1763074ec6a39672",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8ePL_-DHY02bYPU8GSuhVhGFgK_s869jahiS_opeOkfh7NKK9qTkUwFMpoUmTwx-J5F7IxKimsPtidvMIBTvmGR0W2TtjyjSivv8WN47yrgArAnTSPKop54dEBIGzCK1nmiBJklnE4ODRn-STTwD2cjODDjgmqHeqMEei3WBnyOZQAzty-gMTvySYjYuWKLkD5mv9xrTvwUkT61gkNwk0Zopk6h974OUQuDwr-rQpVGmLFVEpvju9iFSjFqqw-TjfDQA0nHiFlhb7xEXvSgPF5zlG9S-6JZZgGiNiPj3I-E4b4L-K0kpVtVMzEVTl14byfF4z01XO8YwdYzLp3mPFurRG5zKojhk3CREUb21J08o91y1g394Rmyk687pm-55DNlesfyxN4Ui-dPVfvguY4cxnvYM7c1HLEjzXDBPgR85Xffs0VGqfPf3AG7BvYR5L5GrD0-ji6nfpctvHRlBUHX4CjU8v2zNd2CfLqfFQaipL4C7-uIS9uXjPwCtqYqOZUCAuoGiKjmPc9CNMuDDLHQf66DCOnqdg3ffCFeDzz8W2E2_mWI-A2MlhlKmzYmk66fF1r5ZKgpkDD6eoB0INt2wmageOEjq80m51V-2FZoI2qtB0hw1OGYaYK-2rUc4k3vjz9JUwXUiyXKgpRFlrnlwmkRl3PNLTQgYAXb4FmoGegPlISb_avg6vWT9xZeiPw0goKRCmJyn-KctyvAbNYo0QNeoriOH7SDz0udcvFfgiUUY5-AOpGTdMk3T1RwC5APDUFr9mjVRqTvbB5WSdU6a2-V4U7lCD_jFTXDXotl6whYLD87h35gzy3WWun7XaJjo3-nJuhgilJ53BNcgUsgVegdJS1m77OHMmRq6-Ptyc-VOwB-FABf3rwnsZBZJJ_Ea1Uctl4grAub-vEtrD5QJApNf2eBuZw18KIWVbZiGaHcARo7RJujeahiMVSr8woPdm6rVSQVXKEp74yQUFB0ze7QjjWYa-O-7w17N6LrZa06UiD_GamObJtEAec8FAZSA-hDiFJ2GNlzNon1GqJj7J3CI1ui5WMuldU4xWXC7FD5vBBEs0zTnESOajNaEL1YUN1ih3KeVIgtlAHoZ__rmifBFRYQm9GS5CsQjTXrCjZTx2EpXvfYvhiMxip6DVa-fIxXDa1EWZnS9naIvKIa3EG8pM0Miu31sUTd6JEaM5gaUiqnZeeu3cimlk87Zgfp0TD4jMNdwUJpf4h8zOKNJ_5isuwSQ6zfhWRImKvmhVVB0A-wbmpF9KwyF_QZ4aiH6Qr7M6r4ZKXNZfutOyIkLkBK5ojBTHCwND-OyubxTbmfR6cSdPd0fbmI47pow7Mkto7UvSvCz0_JVa4gTG6y5q7hFDYwJcUlZNVN2yXyafolwkqcUo73LfDgk7Slp611KwiW8vzfciJixOcrW_5ea7wHgeAeTQHU9yEtw-bDRGuzot9KvhoRF59JH2AxsiPj_czvv8d4eFuPi4IyZd_5Um5Ek26qDbxaSMGHm4AyR3S5JvZ1XF-x7W8vSVd4oLNDVtRl0pQjmAFi8opj5syPF2XKwkiwGwnR3H-qCS4GuBvtEaWoynSvr7nSKfRkgzAmLQGE25eK6Dwbe9_MYZssLbgvSz4AhNJNNIUjtwKMniCNbLaAwfiZ2f_v1X8v99xyf--iK7QUoBevIUUaNuzLH8xz4ebEfPiTIDz2VWJKJyLkWr_B07rOKNtvIBCDOYVE_nz8__CQBCtOFRFb_ZkeerT96i38OdUsmqYU_c322eVNnMSp8y23Kwo4BUOLY2GbF5iz4fZ3JpqS0yVSUXS616F-rkjo0w95MvK34XeLdtnv9qoo9NnNJ50mjhBH3X2alvJH2CUNwX6AapGSA0Un00I1MSb8wz_SEulmYDXPcWwY0UvP7cyYT3_8RNFAz81Y8eXbg6DmzXF-22uuftKWF6tpWwzAfuA2fwz0B7Gf-9f5iS3zKKkFOiIU_8VsSYCvPYXZMaDoAF3Mt9FhY4GFBeqEzQ-anLzRPaDzQ1oApziyatkWPjOyASvQ38xiNy9a5y1ZrKWJPFwonJArCm0QgKxfsFgTMNV5q2oCeojCVLxBMQDd_-cNuw7LzgfdAezQF7PB-vLEdaxhqV3ptej37E0QnOCEc-kWPWyR9_g77WHTRr9AkK-ItTKTdzSf6phCc0Y9rYIFHqWVbxOGQKcCw92L2OhPmfe4ear52_sne7EXbTVIALdVjI02_92abGwEEHD5hJV1HVCgwyG6Fpy2Aa2PU1Tbr3NNhGqS_TQi_w1dl_xL3wT_XMOt66LJ_6bAmRE484j6m1eST_vG6thFlkD4xhWU_oIv19CyiK8TopexHI0UgJa_2lRuGdKuQNReB8MscWEoEJwXLZOwWU9aLgGNJinwWNbDgd3dPN8r8qCsg_4olsZhDDPz8ncVt3Tp1-F-DC-5dXdAvWImy7mUvMB-ExgnoMII_4KuawbDg_3LDkZer9HcAjyl5dNRBit7b1hz6ezyTY4dZD_slCartZUoLJ0adEAVFXKeapzDk0N53zp7dzoFifuOkArilx5nW6Ezd8oCr5Z_-PSRJHvkdvKE-wo2Blrn1S4bOgrdhGhJAH1Nu4OqCy1-z0vHXi_E4dtJPW4SI-_IBbCEovrGqAXeYKUvYpuZIo41UxeVACrua4L9ajDt6yXbbSlzh-IfxJW6NYBwr5FR_c5NSVfSGW5cTKvgVxNJtOUrwezQZbtJfW-0tNFDre81m8FkpBZwncgDLX52VqW1YoclXVbLQIgrOmL-CoigLbmBJ-LhTLzPprlNbKvijrjG5y6czdrf3zUoBbyKI1VZel_ewewYHNyXdz07h9aIO_M45iIUYI3FD7X8iaLUClpmKAgQhph0PJ25xc-dIRiCz7otDafYEfo93d_dHb16kem2LzeIGVYNzoCP_XMcZI4MyJmNIb8txyYIkrUG4BnHvk_DLGSMSsXclptWCaN38GlTHdpaIZCUO6iZc9YnhV5zB2DNfICHVeG4VIY0KIH8ssKC3lcpKQhr1SGwtmm5wDyd2oSBb8hJAfRJt6wbgSEZZX0EJcNTIwWDGSp4iatZvnpc9m0RG0rJoOzvh76hnhAyl9a2uoWUJM8wtroV4hQ2pkzzgsZswdMjG2nPC1CJrThLzUV2zfOmOyiEYWHf7j3JBvQMhRxdcfg3xR_gM-WyEdloKdr2FsZp9fENHsmauhFTt-uOJvpzAfIL1uROh2ejaPWCoS6-qIMFpPJko59jCSGBQUT",
  "id": "rs_04177dd1a3555788016ab43f1a2ac487d0a958d078c863ac1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.382,\"right_y\":0.225,\"right_z\":0.15,\"right_gripper\":0.65},\"note\":\"The yellow fruit is just left of the jaw centerline and slightly short of the fingertips; the blue bowl is close beside it. I’ll make the small alignment correction and partially narrow the empty jaws before descending, reducing the chance of touching the bowl rim.\"}",
  "call_id": "call_zGNWdi65PvfjqGOEwHGAMci8",
  "id": "fc_04177dd1a3555788016ab43f1de2ac87d0bd855a43e8f7a403",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zGNWdi65PvfjqGOEwHGAMci8",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8101, 0.6132, -0.4461, -0.0135, -0.0338, 0.9932, 0.6895, 1.7363, 1.3685, -0.7307, 0.4145, 0.3485, 0.6599]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1664 left_yaw=0.0007 left_pitch=-0.0706 left_roll=-0.002 left_gripper=0.9932 right_x=0.3663 right_y=0.2145 right_z=0.134 right_yaw=0.0909 right_pitch=-0.3947 right_roll=-0.1885 right_gripper=0.6599\nstate[joint_eff]: [-0.335, -0.8547, 6.9812, 1.7118, -0.0562, -0.0708, -0.0122, -0.4581, -8.8547, 9.5248, 1.3846, 0.3004, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18de2b8737db9884b4be5e057868b07c96d0ea5e01d0e5def07a2ca6dd49f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4251027e705e04337d1e7d8a8c28a905da4ef4a5100014777f38f00863befa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76aa6c84dcbace7340ddf875e05d9073a65d6b00066c4802143be90fb96459b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.99 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4332, -0.0135, -0.0338, 0.9932, 0.4656, 1.6459, 1.1603, -0.4316, 0.3359, 0.202, 0.616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1693 left_yaw=0.0007 left_pitch=-0.0565 left_roll=-0.0023 left_gripper=0.9932 right_x=0.4074 right_y=0.1436 right_z=0.1261 right_yaw=0.0442 right_pitch=-0.2807 right_roll=-0.1288 right_gripper=0.616\nstate[joint_eff]: [-0.253, -1.3333, 7.1316, 1.7021, -0.0171, -0.0659, -0.0122, 0.0205, -7.7333, 6.9675, 1.8681, 0.0806, 0.022, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4423, -0.0139, -0.0338, 0.9932, 0.6937, 1.636, 1.3334, -0.7231, 0.421, 0.3489, 0.9985]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0019 left_gripper=0.9932 right_x=0.3582 right_y=0.2087 right_z=0.1621 right_yaw=0.1054 right_pitch=-0.3311 right_roll=-0.1497 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.2513, 6.9949, 1.7802, -0.0415, -0.0806, -0.0122, 0.1983, -10.0444, 8.0068, 1.0574, 0.3834, 0.1832, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8101, 0.6132, -0.4461, -0.0135, -0.0338, 0.9932, 0.6895, 1.7363, 1.3685, -0.7307, 0.4145, 0.3485, 0.6599]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1664 left_yaw=0.0007 left_pitch=-0.0706 left_roll=-0.002 left_gripper=0.9932 right_x=0.3663 right_y=0.2145 right_z=0.134 right_yaw=0.0909 right_pitch=-0.3947 right_roll=-0.1885 right_gripper=0.6599\nstate[joint_eff]: [-0.335, -0.8547, 6.9812, 1.7118, -0.0562, -0.0708, -0.0122, -0.4581, -8.8547, 9.5248, 1.3846, 0.3004, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18de2b8737db9884b4be5e057868b07c96d0ea5e01d0e5def07a2ca6dd49f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4251027e705e04337d1e7d8a8c28a905da4ef4a5100014777f38f00863befa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76aa6c84dcbace7340ddf875e05d9073a65d6b00066c4802143be90fb96459b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8iq0ye4B90lcUAyeX_1fg1oYuqbp8z1r4Aro95wza4fI7lRqiW1y67UpRTaitpFOhcF92VZcG8BRUHi9R05UnCHCBWY5zC_fBflopYJGUVEylYEYANfxBkGUKxkEWrOkcZRNXpWHUtozPZxKfIxS0xloylKKdefzAjD5v7wuffXc7O0JxfWL7FAXgMIKhi_kdqWUWpuTdQ6VFIuM43769QB0CR74R5svAmrlcnhaDiNsG72i_iotlS3A4fzMoANXh7c3VYy_VoLbpD6E_L1Bnz_UpVxGl_D3xDB-jskuFEIK2LEWX_oo3x4LXZ9maWkj2qt-Z2O4rQx91wqbFmCIqGOZnAc8gPrwXJQgbEBzHR_RCt1nkwM-ExnOHIYEqGKDAU2WzBjPwCLCJFKZMUql-01YwTIEctbgjdCICUL3bV-aIlA0aLDY5Sglfqtnzycydso_0KNQ3d6B_3VNImjOoMOyHTAL_hlnnFyy388DR5_SHLqeDISmRYYquLatMkyZBqBe2GnjT2O8LYTJDCImHZZeXcvobwpF8Xwhf8EYS09lo8XdDbzMX32vUsgklpNoIGmPUF-fdvMmGlfARAoHQkE-0ffJaVmK-fJB-d0PV0RIbDHgI3YA0W0cuIHF_JetwXBDM75NGWfW7krARFKNVr-bnTgB-D37woVn00gGqEg48iFFZ0DQwkD1cfAgB6gZA1nESLi9bT1aCtMTDQfUw2yGOuHLXZAMaO-YeIdb2TT4oBk-jtl0GlnCBZdBMbsGzTkrnlCl0J2NJ1t4WE2Z0Apw9nZVlIrz-1Int-4FwvH-Di5ZmGrKqhJb91jaT2yzemXiqgGfO3Gr01WZxTX_BiBXfVgse0ygI7nXhLaYMGq3wfYHFWOrH6z7Vl82eBjlGs-B8Z-pPCREgVWlLwL6Bzr0HAogGfE7MOxGGW_i9OuGlvixjWyjQjfzihMB4qz0msUr9843Sy2TtMuaWzKDQZdBu3B-zfIQ5WiEbyeE552BfFN-GcszFMrAxEqVCc3CWA_eqfGGSd0eA5lgqOxGy4SgLIcXBlyIS3sdLXUaUCIbFlSNgw0XJgN135z1fbyMlHwWGbwKvugZ6RxN07cDGdFm-X8QEwakGIWn1t_po8gzVymtAPONsYM0eSJ6qrj_MBxznAD_DZRwaXgMBSuEStnzs37XNzG70-3u9T0RYj3GTNCTl6Hm3DbYP54-8GOKk1DFtFzLrOGPKaHBRh1Dym2B2yeK6KnUsWLYXPWEpT2MeQK06xdKv1qBOtmF38mUFTUrAPFVScWLgGa3Pz6V4_CxI_U-qekVecd4X_uBH1392fVruKDNQLgviln3eNtkxD8Ym8sjjyuhTNW1bB0JvBrKojH-vsQMNHDCw1M2U-E1rvn_PsM96Q6vp9kcB5708RgbPmn2-Ua7vqFxDpFg6i7jWAQ0siSZUP-8bBpWEvRXqCqYCRLQV8TM7G_F-HGx5heKezICo6jh18Hngctbg3C3cxVtVPYVAXOvCNAIv_BUuh1gRoQBiM_tSj8qj6t0FOZR6sBh9uiEKfTYxIHXyiGky-fTFwxfYp5VVYZiKfQxnKA2_2WOA0Ag_KL8iqiNAumW1todp9cawiAWeJPf1un10uCIfimymcNN2gCyaqMMJNomyVpGhETryimOFcDibw",
  "id": "rs_04177dd1a3555788016ab43f20b92c87d0aa84a6d5dd74e481",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.215,\"right_z\":0.025,\"right_gripper\":0.65},\"note\":\"The narrowed jaws frame the yellow fruit cleanly, and its body is close to the grasp line while the bowl remains outside the reduced jaw opening. I’ll descend to the fruit’s mid-height without changing the lateral alignment.\"}",
  "call_id": "call_antjJsboWpTxmbwSmEZfHZ7d",
  "id": "fc_04177dd1a3555788016ab43f2197dc87d0be6deb2c37651689",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_antjJsboWpTxmbwSmEZfHZ7d",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4496, -0.0139, -0.0338, 0.9932, 0.6899, 1.7565, 1.3773, -0.7078, 0.4107, 0.3397, 0.6511]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0755 left_roll=-0.0017 left_gripper=0.9932 right_x=0.3715 right_y=0.2198 right_z=0.1312 right_yaw=0.1019 right_pitch=-0.3879 right_roll=-0.184 right_gripper=0.6511\nstate[joint_eff]: [-0.335, -1.4427, 7.0222, 1.707, -0.0317, -0.0562, -0.0122, -0.3214, -9.5795, 9.1282, 1.2772, 0.2369, -0.0317, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbc4b70d0a9fdd6d4746f1bc47c1876b7d4004deaa69da1c8325970db37a61a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901da9c5c1d4ce77ff621fc4681e523e172ff2aa20fb7ebd8586a62ea2013e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541eb685fff9f3b507c6fb1250ca071ba7b65cd4ae3bd248b3a9dc006f05ae0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.872 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0338, 0.9932, 0.4656, 1.6665, 1.1397, -0.4316, 0.3328, 0.1967, 0.9955]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.001 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9932 right_x=0.4027 right_y=0.1417 right_z=0.1096 right_yaw=0.0445 right_pitch=-0.3196 right_roll=-0.1477 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.2923, 7.1179, 1.6825, -0.022, -0.0708, -0.0122, -0.0479, -9.7299, 8.1846, 1.3358, 0.1441, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8101, 0.6132, -0.4461, -0.0135, -0.0338, 0.9932, 0.6895, 1.7363, 1.3685, -0.7307, 0.4145, 0.3485, 0.6599]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1664 left_yaw=0.0007 left_pitch=-0.0706 left_roll=-0.002 left_gripper=0.9932 right_x=0.3663 right_y=0.2145 right_z=0.134 right_yaw=0.0909 right_pitch=-0.3947 right_roll=-0.1885 right_gripper=0.6599\nstate[joint_eff]: [-0.335, -0.8547, 6.9812, 1.7118, -0.0562, -0.0708, -0.0122, -0.4581, -8.8547, 9.5248, 1.3846, 0.3004, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4496, -0.0139, -0.0338, 0.9932, 0.6899, 1.7565, 1.3773, -0.7078, 0.4107, 0.3397, 0.6511]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0755 left_roll=-0.0017 left_gripper=0.9932 right_x=0.3715 right_y=0.2198 right_z=0.1312 right_yaw=0.1019 right_pitch=-0.3879 right_roll=-0.184 right_gripper=0.6511\nstate[joint_eff]: [-0.335, -1.4427, 7.0222, 1.707, -0.0317, -0.0562, -0.0122, -0.3214, -9.5795, 9.1282, 1.2772, 0.2369, -0.0317, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbc4b70d0a9fdd6d4746f1bc47c1876b7d4004deaa69da1c8325970db37a61a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901da9c5c1d4ce77ff621fc4681e523e172ff2aa20fb7ebd8586a62ea2013e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541eb685fff9f3b507c6fb1250ca071ba7b65cd4ae3bd248b3a9dc006f05ae0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8o3q1UeoYojHtikNCLCIMKVhASAL3HVIv-HJfL_Q4XOj0BydJvNg3Z4kDgOTp3ZyMlBX5mwEyaYhHA2DUWYRM1_d6Kb6AjrPHXi77shgEul7vFukyv8zHSjgq-DM5HR7_ilwePmFNg5ONlskGi1JRAysWRrYRTOAeDzm5qks0F-Os33PQpdJM97G4CT_QCcBQAeORGwjEpDr6szmHJQ1WePHscWmbkZZIe1gn1CzJKQ0uTvP269xzf1uRioJJw3AWvBa3eELAmlSStvTO7fYjlve3vRXCLTZ4WWslHK7MNfEzLDMkAHZHSVUiqTie2oPqMA3uR1eLfcZK9E8FroB7NPxKj9WE3H4qiWspevwGeAJfyFAsH-6O_8pYtf_3cdl2Q4oF9ED2zEFfQnN8APW-QaaDvXxflzKx3w9c8lPcyXsgsJyRRYTgrbg9cEI_7pnnxHnqy01gH5qxNZNAAyXHLX4UF_mzwMQz6-r5OQ0PKwSY5LyJIogbnxgEnI2pHSnIxfjOqBMlPKpI_gnLW2oLpaNMgZYJjB3oHMXmgkVh8iEwt5j0241cM8AWbDD93ifl_Kugn1bYcbW2YJBnD1FGMyW4GC7ZIlu1HlyMEUqXs1VQPeitLdt0xwDJIMj4Z35AonP-AsW9Ly4_YYIdyQfZznI6zMeJocLWa4ZmDGBoZ6zdud5hVlPNw1-zXL-A7ZYHYLohFtN3JmR9jvZdLcSB7DV2fV4mzEbT3AUBe9WEDdz6cZxbZJFP-SHZ8D2S40CXoN0mUbcGmyEF2xXpwpOB3rQLeRa3PQsrrQHefHpE3xIiGKg7LSA8ONSegOaD74wyLz-lVFsVgtdapVY-rG6wrrYrI7gDRFOsy0WO5pmqtrX6gZ24HKWIQns5SnimdCHpqwBfGItla242y0Vyhi84lxTNLDYGP8WhIYjM33mQsS5V7sjF6jQrPLYGNWAuK9dBaIFS_TDT0s335KMkZLkoVwlsmMXlGL_FPja3itRDMEpU3aDlYyMTYmWZuumEkESevuGev4fi1Yfz34egJS59zlS-4eBJfzDg38r_oESsIUD0A0hpjSyfOGqo4sb6j1aHPS-sq4f0Jk4YmRVIXkw0Gm-UBW1rN-1HVznO43Zpi4m2UFkwTEuQWZDKH6aoJb2nL21ZkDifXWCUYApzZyGKrYgC_hPJ6SRPwOh5j_ERhJXz1omg23GaszjTbfSVyecqTlGpNPFfteavtwmrXB7LILmpBdMCnDa7i3-7B0Z34RKP4LyGWE0jWGqqihZwMiOSgZJ91JdiWnZ_FirHnfwAppEwz9uIBJdlhHu3n530HyGl0ipBQXtgmB_IEAKsSgkFiMQ1WcHa6Q1YzAuT-Z2JYsiZvGlxGPAe_1lNbMIH871JUVuErJjQsM_AU10y55Qk-MgquqPBRvR3qtVigheIRHJlF3PBgzWeqnTstrrdyOd63DbQo_n0RECbKjFAzWZ2-mUkvROJ83bt51-_hMfco9KoONQrelprtiQdxegRavdbWo05z-C0uUMhG82GpY9aBHTeYjgsPRp6I-VtAJ8FmQqlBs60lGIAP61Wg14m64qPJPZ0a2h-zoYBFgiLOO-arUOm8voPBwHXXY7LQUL41Qv-NanE4TDr-veVjKak-aQoVEPLCoIZnenVhY1vT6ACiy198hGtEYhjBSpGklhmMJ2xfp3g0ajp9g2kXPWReMPcHQO3ZpFsYLFDuVxVCvewLKwFKKQmnR4dF9ZeGa-G3SfA-lGACwDVH4mk5k6ode99a2gXRM66i0HruF9x0NMcw5JK4ReEBWMzVjpibb_IvHf0vs-V8eXgFFbSEiCApRQLRBadOXxoDFRcn8a-uDIRkhBKM9nGJCmIwgbHGwxTM65uLsPT2auD2kUIasRWouNUWhIO948uzyspDzTtXTl8sDzqoO9Pllhl15kvGC3gNuYdcPYoc8Pq0_wIMmFg505UqMFT4syQ1aRBL5hzGjZaGWxM8TZQm9Gkm2f7_k5o_z33W_X0BWr2iVH761vudkLam4_gG4wG1aLZiRLFHdRqy-1GsaSK0QB9kbt3xH11_nW561a-kMsQA7net-ideWHbfv-SjxbiUgE8bqtQNmvxfdC05WRkUsbT24Fv0RC1u-tT1ILMRNe3Rh1PUZmmwbqXnlet3491IGhUUYiIieU1eR6x1k2Rnhkti6asbA5Jmd7QLKaFw1A7k4EGofg1hb_pmysRwCeadippWaSijPDozq-xpRGalOMbkZu1JU6usOTihWzZmJY6yX98b80k0iGvxRE56HvpoPDPDzVXBVH2RmtFguR9hg7CIm8hBDYNb2vpjN5QPhYWSpUOjJ4CRK0u-NU50V-s5MVfgDsv8G9uqZ5-pxx6b-FSk9848txHihJqio9ZLM8Jw-oPYdg8a8_2G8QNy0i9QGhkrN7pzo4FQrUK81kKcsmq8XfypLJBiSqTdTffXxe5MaPxFYNTk4hQqfgZoQbqiBa0NktD_u3BkZy799-S9eb_coVDz8EUc0_2aPgsDXvqYTKarWy6ntGZpxxzzZ3rWFeS2W4DKGHoSkpm-vCmzMyBSWH45m7kAiI2cbM75aBR4sz7avQBb9k4=",
  "id": "rs_04177dd1a3555788016ab43f252f1087d081fbd4d6337c2677",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The attempted descent stalled at 13 cm while the wrist pitch had drifted to about -0.39 rad, indicating an awkward pose rather than table contact. I’ll straighten the tool and retry a smaller descent, preserving the fruit alignment.\"}",
  "call_id": "call_zM4bOcvHHfmCzkOyLRTeTv6v",
  "id": "fc_04177dd1a3555788016ab43f27c00087d08bcc71cbe8b7ef29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zM4bOcvHHfmCzkOyLRTeTv6v",
  "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, 0.8135, 0.6132, -0.4545, -0.0135, -0.0338, 0.9932, 0.7601, 1.713, 0.8474, 0.0475, 0.5831, 0.4385, 0.6512]\nstate[eef_state]: left_x=0.2865 left_y=-0.0003 left_z=0.1638 left_yaw=0.0007 left_pitch=-0.0824 left_roll=-0.0018 left_gripper=0.9932 right_x=0.3622 right_y=0.2151 right_z=0.067 right_yaw=0.0286 right_pitch=-0.0834 right_roll=-0.0594 right_gripper=0.6512\nstate[joint_eff]: [0.1162, -0.9915, 7.0496, 1.7216, -0.0317, -0.0513, -0.0122, 0.3761, -7.5829, 6.0513, 1.7363, 0.3932, 0.1685, 0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6c2fbcac32928165ffe12927a48c8f07b414c752a5320982c7bc827bd6ade4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265ed6838f9e4f6265e22ed532bfbe77e3985244171810921ca26fe0f9f7d308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9218e6d79151fc654474686bbf6c2f1e36fd7211edbf4ae0554cb717eda6edc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.027 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4423, -0.0139, -0.0338, 0.9932, 0.6937, 1.636, 1.3334, -0.7231, 0.421, 0.3489, 0.9985]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0019 left_gripper=0.9932 right_x=0.3582 right_y=0.2087 right_z=0.1621 right_yaw=0.1054 right_pitch=-0.3311 right_roll=-0.1497 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.2513, 6.9949, 1.7802, -0.0415, -0.0806, -0.0122, 0.1983, -10.0444, 8.0068, 1.0574, 0.3834, 0.1832, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4496, -0.0139, -0.0338, 0.9932, 0.6899, 1.7565, 1.3773, -0.7078, 0.4107, 0.3397, 0.6511]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0755 left_roll=-0.0017 left_gripper=0.9932 right_x=0.3715 right_y=0.2198 right_z=0.1312 right_yaw=0.1019 right_pitch=-0.3879 right_roll=-0.184 right_gripper=0.6511\nstate[joint_eff]: [-0.335, -1.4427, 7.0222, 1.707, -0.0317, -0.0562, -0.0122, -0.3214, -9.5795, 9.1282, 1.2772, 0.2369, -0.0317, 0.0952]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4545, -0.0135, -0.0338, 0.9932, 0.7601, 1.713, 0.8474, 0.0475, 0.5831, 0.4385, 0.6512]\nstate[eef_state]: left_x=0.2865 left_y=-0.0003 left_z=0.1638 left_yaw=0.0007 left_pitch=-0.0824 left_roll=-0.0018 left_gripper=0.9932 right_x=0.3622 right_y=0.2151 right_z=0.067 right_yaw=0.0286 right_pitch=-0.0834 right_roll=-0.0594 right_gripper=0.6512\nstate[joint_eff]: [0.1162, -0.9915, 7.0496, 1.7216, -0.0317, -0.0513, -0.0122, 0.3761, -7.5829, 6.0513, 1.7363, 0.3932, 0.1685, 0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6c2fbcac32928165ffe12927a48c8f07b414c752a5320982c7bc827bd6ade4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265ed6838f9e4f6265e22ed532bfbe77e3985244171810921ca26fe0f9f7d308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9218e6d79151fc654474686bbf6c2f1e36fd7211edbf4ae0554cb717eda6edc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8sZNtV7KNSNOBLlQPNvzGJ3d10dvEPIQwWKkC5JuPn-rOFEE2vH1qsf4mf3g0PeoIZHhvAJty9YyinDfuVuAnULap8wvJoYVRuflW5Xd2DXdQh4mDbJ0IoCCAI79ixC4vZt809FJHbaxMy4IG6-tYUe8Zpf7_oLlVbyWhZtuc_CA6EByGa8oVvVvFvqI0ojqcDP_nCXFxLCGDWoSNFXmmA3lmRXtnwA2PMkESWaCxPOQ6TBmycOulgqXycB_xTyatlle13aMYR-LhpqzQPTA6Sb9dNTLS9dJdGyA4oI_Qmd88xSPry8yT8HkJLis5bX-cZ4oY-Bm_OSOcNgMalAuuX46Ql8eGbW3myK0vu_74YkFd8ZU9GcfJj3RI86v-NChj1EHBWUG1KGbV0mBtLRMq89KU3hsAgaNsAKAEVcWovPwXQgBahdpTCDJ6N4D1haUP3PgNs6IqqCUKM1bBFkuRh-UTFQPXBpTCUrCVegFUNmityaKRCgUMMdxZQHywL7tknHq3ybcDwyU9qAfiqb6c6pRvllgDgDCKqkpqidjbI30HBeVpabE0FRpeirXcBYymeKTQmguwE4ES4h1X2pBdTBFZjoPit2gSxQyBxPM1mJrDvlUZkmw1HdkgrRicP947Q0pV8o3sebz1JeVtAdxaFXD3fmpnUJ3m8_ORFZapZlv2dxpntim6OekyUWaV_80LmWlqW22ti4NDXNOAckEOPRlQC9tK9B8VG9yD-E49LTjsZ0KAglzGjYsRgv1cOje9aPjznEHup9ecN1CCU4-d32llXP9g6M0Ql3cEOZr0HPE6JNKs_QHI3ICU-CsyupihDMwKtSlZvteXI-u5yy4XrgiZIX5ZAe_pRiujPdPEDIbwBRxKiQpgtw7-vGsbFRefTzQ0CQCqKDFWCFAu3uJIKR5jvf9LJSAuMb1hhKWnuiBuKFjzPxtfWW9mr0cUt0H5PsLy-P_elaxAcjMNzsek8YOa9IoalFIGMs2RRLBc4187vGxXz_UWeGcgcIrbBkBziUPb8mK_NhOG2E71ljtscYV3cA1OhVARtLEwznJKGIr1ZjuJY4yCdoU7s38-UdEmoRhAKc5i4LCOEN2oajkzQyATz_9N1QBG32t44Ysx_fpgIvrURMWRXMan8-jQniYL0Z1kRxCF-3zJvSKIpLkzRdlciTQ0k9TUxPPJ24QFe7_4MJe_8378Pnn37VP20qwpWA3JXM3Az2b--GwYdYnYgxofo0AU-um1Xr3wX7eeielrXyukSzGFESf-F4Q6nccfT3Pyuj5VWsUDufdrUb9Uhq-1j5GItPZY9JfD7RnI0rHaIMleMuO5c7yF0xblze9XMrNqX5iRamGRk9AAqQplfxqEOrxjeMvmjVPN-Upwoj74=",
  "id": "rs_04177dd1a3555788016ab43f2b234087d09dbf8c2b301755a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"Straightening the tool allowed the gripper to descend to 6.7 cm, and the yellow fruit remains centered between the narrowed jaws. I’ll complete the short vertical descent to grasp height with the wrist kept straight.\"}",
  "call_id": "call_jak67V0BYpMrHHp2wOMp3onJ",
  "id": "fc_04177dd1a3555788016ab43f2b9c9087d096c11f09bea24f98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jak67V0BYpMrHHp2wOMp3onJ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4633, -0.0135, -0.0338, 0.9932, 0.7704, 1.8202, 0.7395, 0.2993, 0.6106, 0.4393, 0.6513]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1621 left_yaw=0.0008 left_pitch=-0.0912 left_roll=-0.0016 left_gripper=0.9932 right_x=0.3594 right_y=0.2126 right_z=0.0288 right_yaw=0.02 right_pitch=-0.0431 right_roll=-0.0485 right_gripper=0.6513\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7656, -0.0317, -0.0366, -0.0122, 0.4581, -7.7744, 4.8068, 1.5214, 0.4469, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bcce01fd35945e17c91f75ddad7be3117467c40d3ca4b8a237696e5257be759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231c3f05063e94a6519d8b124f96adbc27db4263beb246cec189a2f680af073d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0ce8e612c3f8c05e36447c9d23100b42da37e157d44edc9f06433e80fbb584",
      "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 14 attempt 0 · /responses · status 200 · 2.442 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8101, 0.6132, -0.4461, -0.0135, -0.0338, 0.9932, 0.6895, 1.7363, 1.3685, -0.7307, 0.4145, 0.3485, 0.6599]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1664 left_yaw=0.0007 left_pitch=-0.0706 left_roll=-0.002 left_gripper=0.9932 right_x=0.3663 right_y=0.2145 right_z=0.134 right_yaw=0.0909 right_pitch=-0.3947 right_roll=-0.1885 right_gripper=0.6599\nstate[joint_eff]: [-0.335, -0.8547, 6.9812, 1.7118, -0.0562, -0.0708, -0.0122, -0.4581, -8.8547, 9.5248, 1.3846, 0.3004, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4545, -0.0135, -0.0338, 0.9932, 0.7601, 1.713, 0.8474, 0.0475, 0.5831, 0.4385, 0.6512]\nstate[eef_state]: left_x=0.2865 left_y=-0.0003 left_z=0.1638 left_yaw=0.0007 left_pitch=-0.0824 left_roll=-0.0018 left_gripper=0.9932 right_x=0.3622 right_y=0.2151 right_z=0.067 right_yaw=0.0286 right_pitch=-0.0834 right_roll=-0.0594 right_gripper=0.6512\nstate[joint_eff]: [0.1162, -0.9915, 7.0496, 1.7216, -0.0317, -0.0513, -0.0122, 0.3761, -7.5829, 6.0513, 1.7363, 0.3932, 0.1685, 0.0073]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4633, -0.0135, -0.0338, 0.9932, 0.7704, 1.8202, 0.7395, 0.2993, 0.6106, 0.4393, 0.6513]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1621 left_yaw=0.0008 left_pitch=-0.0912 left_roll=-0.0016 left_gripper=0.9932 right_x=0.3594 right_y=0.2126 right_z=0.0288 right_yaw=0.02 right_pitch=-0.0431 right_roll=-0.0485 right_gripper=0.6513\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7656, -0.0317, -0.0366, -0.0122, 0.4581, -7.7744, 4.8068, 1.5214, 0.4469, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bcce01fd35945e17c91f75ddad7be3117467c40d3ca4b8a237696e5257be759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231c3f05063e94a6519d8b124f96adbc27db4263beb246cec189a2f680af073d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0ce8e612c3f8c05e36447c9d23100b42da37e157d44edc9f06433e80fbb584",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8ulpZazv8geY4ggw7pG4uPN_PKCeUd29EGTv-so_ekvIBHz21GlgJzeBBeaar26-TP0pl50qLpAfPHZmzwY8D5_up8j8I4IOjMxxapvwE15Ld50uaZkoiDKfcAXlYvSyoPMr-zWu2HsN-EWjCm_j-f_gwdpO6WhErM5uRBXiGHR-9yS6GvK0ZWTeA9fnOo7MmEXxSmUiDyv6wejF7BpX3jmi8ZV_c_5kh5mgEtwyRAHPsT_ELjESXfv1dpzo2Q-fvtClzswpG_2pWKtM3W7BIZb6NAgO0zXro_cRE2dBDJ-0ZkaEYMutCqLyaXpHRBnmInyimhPGx8evg-dGIFM9rEUzGyyARYV3wlcDwbnByea3kT5788xY_RyY4UtTbDz5Uq1FLLKdtjlA2r7_GqTBMTA14Fp6PbkWocCH5Q9ape6F_fN3DA7OylGdmmWKH_Esy5KuhFINMWJMsypAYyRCGHQYXmwGPNzKagTyWPgFrQWVry8SGlVD6e6svkQHr5GCTc1bL4BZb2mIsobN_KR7RXPlI1ug4Xv68sd-AVe_C5ms45TyE-F1MSPjNrHaG1-gjVwQHdbNNooA9NvFy6L4YlsmyWFZuvQm-z7mQfgetrgnYCDQtrKezPozB_1pW5BHT4iJcg-bHv_2K1bcoaW5iL0_eW-Xf_pdXD8Xu5yg7TRfFyB-fFdL-Xx-5xd_SKASVSeOcsPU0u0HTjqWD8S0X-HfZl3ZfleTV3T16QnV-u28RJ3k4g3NzI5Vfb1YWSIaJf0THSz7D7B1GgGheg3TCIIM5t18UIy671p_u-6qQY8FPhMAATs2FMRTIaPgcaZJMl8Ib_0WasYLpAAnmQqV8XaH-KQb5WmbemV-R8rtYlIfar3uHZuu2X5St1oxqGhxNoL7G97MIcmlmxtj7vz4d7NkI5OCyZZhD9qWQ7OUDPoVLKyUzV6Xts6Nqk1cZrCrEtSZXNSDCO2zJwJxkQNVhANqJ70qS9KHXQ5ALxHIH8P20Z8K4vv_VrOpwlSjf8D9QPguzSxXayd9kJR4wVFO3UTqtU2UXGyf0lfL0ufu7lhluVeaE5H-IWEXAVmUjkGd0FgbWX40daCzXz1DwRbxqb1uN2wVRsTY0IoBiWDbuUSLJk0_oIAYLpo9nYISPmyM0gaEKhHOVphbgfJ-6276nL9KMK_gACLRZP40HrMNGX5qckMej7Le4V_iXDT_cq_agK",
  "id": "rs_04177dd1a3555788016ab43f2e1d6c87d0896ee70afc65d0a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit now sits squarely between the fingertips at table-level grasp height, with the blue bowl outside the jaw path. I’ll close the gripper fully to secure it.\"}",
  "call_id": "call_XZmH8gjJgQSS2v07l5NIezcr",
  "id": "fc_04177dd1a3555788016ab43f2e2ed087d08ef31ab50acd9646",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XZmH8gjJgQSS2v07l5NIezcr",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4686, -0.0139, -0.0338, 0.9932, 0.7723, 1.8473, 0.7212, 0.4458, 0.6392, 0.4492, 0.2853]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1611 left_yaw=0.0011 left_pitch=-0.0965 left_roll=-0.0012 left_gripper=0.9932 right_x=0.3693 right_y=0.2177 right_z=0.0375 right_yaw=-0.0049 right_pitch=0.0432 right_roll=0.0159 right_gripper=0.2853\nstate[joint_eff]: [-0.0889, -1.3197, 7.0359, 1.7363, -0.0513, -0.0806, -0.0122, 0.1299, -7.5145, 4.2462, 1.1893, 0.0708, 0.105, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f877368e46bc6993439af6d7f1fab14df766048a1e8e98ef045502a2df948c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f93d146a2220f6c4c77e3330ba92285d5b3bbff0056264ac8afd4d52664522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b090b9f1a1ad3a2bd26a83e11d4cdcd172c368103729d351713b47eb793c18e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.749 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4496, -0.0139, -0.0338, 0.9932, 0.6899, 1.7565, 1.3773, -0.7078, 0.4107, 0.3397, 0.6511]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0755 left_roll=-0.0017 left_gripper=0.9932 right_x=0.3715 right_y=0.2198 right_z=0.1312 right_yaw=0.1019 right_pitch=-0.3879 right_roll=-0.184 right_gripper=0.6511\nstate[joint_eff]: [-0.335, -1.4427, 7.0222, 1.707, -0.0317, -0.0562, -0.0122, -0.3214, -9.5795, 9.1282, 1.2772, 0.2369, -0.0317, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4633, -0.0135, -0.0338, 0.9932, 0.7704, 1.8202, 0.7395, 0.2993, 0.6106, 0.4393, 0.6513]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1621 left_yaw=0.0008 left_pitch=-0.0912 left_roll=-0.0016 left_gripper=0.9932 right_x=0.3594 right_y=0.2126 right_z=0.0288 right_yaw=0.02 right_pitch=-0.0431 right_roll=-0.0485 right_gripper=0.6513\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7656, -0.0317, -0.0366, -0.0122, 0.4581, -7.7744, 4.8068, 1.5214, 0.4469, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4686, -0.0139, -0.0338, 0.9932, 0.7723, 1.8473, 0.7212, 0.4458, 0.6392, 0.4492, 0.2853]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1611 left_yaw=0.0011 left_pitch=-0.0965 left_roll=-0.0012 left_gripper=0.9932 right_x=0.3693 right_y=0.2177 right_z=0.0375 right_yaw=-0.0049 right_pitch=0.0432 right_roll=0.0159 right_gripper=0.2853\nstate[joint_eff]: [-0.0889, -1.3197, 7.0359, 1.7363, -0.0513, -0.0806, -0.0122, 0.1299, -7.5145, 4.2462, 1.1893, 0.0708, 0.105, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f877368e46bc6993439af6d7f1fab14df766048a1e8e98ef045502a2df948c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f93d146a2220f6c4c77e3330ba92285d5b3bbff0056264ac8afd4d52664522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b090b9f1a1ad3a2bd26a83e11d4cdcd172c368103729d351713b47eb793c18e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8xf7uOcQZiGN0iTka91maFxvJuBzmdQskspqlPpSzxt3B6ogmAwfLQduJji1XZN2lzDu9pV8U5dNFfPeEvIan04x3pTj12fsbwhhdfq-FKiG9yb2uLrG-v_W8ttr1PpULD04Fy2Cz614ilz0ht_VquDUol6m6b5vkVfL6fwxXRlSFDBOXW071QnYZh4GTIFbN5Tu3sO0kjcZ-wY-BvZqxlD56fUigUTIkdSQWX8-Q7Vw14eHI1K6WLb1qAPne8AZRUc-oR6VLQFFTfQSCfweTC1ILQpb7RHtVjazk41cZlHbvakEFY9aX5KN1X0NR4Z_f0Xjk6qwBPYQdyetjZwtZy4n_8bdGJDJ5vVXd9SrvdN4O-dvJmrHp9UKk7NdeLWUOWe0IeOe5bIZ5Xl2wa4hrqYvb_sheAQ5qLCTT23OBDpEUvtvfzRpJ0caOuO3x1L2p6gFAGZA9ZyUu-BzeVE8Qys9JS99cNmM2Cr6KbWCRvKu_e1AlN-AiV_WgpEc6oz5XC3-kWRPx99vb77Ufm9mOSZqAatCuUQ-k6ABcd3PoPBEt_yTSEYJ-lROtI9O0I_9fVDUswqkVWJD8EsAU4vzFdQ5En4OLYb2vqGOeeKQFo3mCJsZBmwr6-Fky2zkJZnll9ZJ1L7qyhHVdViSyo9TIf9Q4Q2HlGLjzif-Q6dZZrRtjm4AsYM0uWWTzP8UrM1YZyWEKmeOjBPL0c9GdIRSgGm6GL4sD_W4bluT756d6TEKNpUjIINOA5i8oOUzHC-0V6UCQccivCZfLm0Cg5eLmHIlTRp0IJvwYA4bdo0tFQU6wlaw2qXP_eo0bW7hyJjKZuQmQXV_Ep4FyPPu5k2pNB8sfFMl5Lbc_5c3r4x8NsyquyEfB_uhK4zsXA_tlufOx04a7sO4EAbH0uu4rEyj4SlXP8hCM_2JaCnQDn30EnDLtBDmqv1ZDxkTfEBsSjQg0yPkkg6j20MfKUNcYn_oyhPS-rRT4ybGj5hHkq5l7Hi62KrgbniVad99YUhFwnx_KgRMjq1wU58XoAawlvhj3gRE776AWzWRV5gmgJ1xfzzsEe5219h4xloXPo1vTxOhNNtwnL7WA_N01m9HtFmTZ4Waoz0ry95Gflc_Fdmbca5Y-_1_SlwAY_6z1ZQHw-nzuwMWGsi3YMY2LtWnZmWdUr1hG5mRdtbYKeiKMgzAGHx4PY-s50EjcdTYCW1fNb3PvY7CWn1wfFHItVns8KXfbuRM_t8QooeWADlHcbTHkm2YI=",
  "id": "rs_04177dd1a3555788016ab43f310a3c87d09e1e7dedd4900a95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The gripper settled at 0.285, a plausible 2.7 cm grasp on the yellow fruit. I’ll lift it clear and verify that it leaves the tabletop.\"}",
  "call_id": "call_6EjDYg1WSzch399rrIL4hJpx",
  "id": "fc_04177dd1a3555788016ab43f31398087d0b2134b247e383830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6EjDYg1WSzch399rrIL4hJpx",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4728, -0.0139, -0.0338, 0.9932, 0.7692, 1.5539, 1.005, -0.0437, 0.6193, 0.4458, 0.2866]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1603 left_yaw=0.0011 left_pitch=-0.1007 left_roll=-0.0011 left_gripper=0.9932 right_x=0.3802 right_y=0.2304 right_z=0.18 right_yaw=0.005 right_pitch=0.0981 right_roll=0.0826 right_gripper=0.2866\nstate[joint_eff]: [-0.0752, -1.1829, 6.9675, 1.7167, -0.0415, -0.0659, -0.0122, -0.6085, -7.1043, 7.3504, 1.3797, 0.1294, 0.1001, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9709d4f6b1bc8a7361dcead73b5845a65082c774a08f9a0d3874daf8a1c699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660435361b1de178165334868e3cfdfc62f423a522f24018c9f5b68d3054acc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df32c000491247b1a565c04b57947c4c3eb391247538dddb8a5ba5464190f03e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.015 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4545, -0.0135, -0.0338, 0.9932, 0.7601, 1.713, 0.8474, 0.0475, 0.5831, 0.4385, 0.6512]\nstate[eef_state]: left_x=0.2865 left_y=-0.0003 left_z=0.1638 left_yaw=0.0007 left_pitch=-0.0824 left_roll=-0.0018 left_gripper=0.9932 right_x=0.3622 right_y=0.2151 right_z=0.067 right_yaw=0.0286 right_pitch=-0.0834 right_roll=-0.0594 right_gripper=0.6512\nstate[joint_eff]: [0.1162, -0.9915, 7.0496, 1.7216, -0.0317, -0.0513, -0.0122, 0.3761, -7.5829, 6.0513, 1.7363, 0.3932, 0.1685, 0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4686, -0.0139, -0.0338, 0.9932, 0.7723, 1.8473, 0.7212, 0.4458, 0.6392, 0.4492, 0.2853]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1611 left_yaw=0.0011 left_pitch=-0.0965 left_roll=-0.0012 left_gripper=0.9932 right_x=0.3693 right_y=0.2177 right_z=0.0375 right_yaw=-0.0049 right_pitch=0.0432 right_roll=0.0159 right_gripper=0.2853\nstate[joint_eff]: [-0.0889, -1.3197, 7.0359, 1.7363, -0.0513, -0.0806, -0.0122, 0.1299, -7.5145, 4.2462, 1.1893, 0.0708, 0.105, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4728, -0.0139, -0.0338, 0.9932, 0.7692, 1.5539, 1.005, -0.0437, 0.6193, 0.4458, 0.2866]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1603 left_yaw=0.0011 left_pitch=-0.1007 left_roll=-0.0011 left_gripper=0.9932 right_x=0.3802 right_y=0.2304 right_z=0.18 right_yaw=0.005 right_pitch=0.0981 right_roll=0.0826 right_gripper=0.2866\nstate[joint_eff]: [-0.0752, -1.1829, 6.9675, 1.7167, -0.0415, -0.0659, -0.0122, -0.6085, -7.1043, 7.3504, 1.3797, 0.1294, 0.1001, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9709d4f6b1bc8a7361dcead73b5845a65082c774a08f9a0d3874daf8a1c699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660435361b1de178165334868e3cfdfc62f423a522f24018c9f5b68d3054acc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df32c000491247b1a565c04b57947c4c3eb391247538dddb8a5ba5464190f03e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8241lQ4u_jK4x-Ou_t4VKgikgV_uEA8YPcvLlJFjDl_B8az97M332AD9dx3z1glj7ItQei7kjmsbWI8ZzOQVK2HSYIFJxYK9NanbP0hZdpbR8GNFVkRDM7ZC2_HaKrPGjrPr730Aq3XJQAKEKunJ_2alQrOOpgHWwjGyM9sNNPZ_msgIzJkn8JI9H2xzsPuOM4Ui8xMLI5X-fSjIIyJVIevRAWa2Gi3kjdJeT9G0H-8DYqUUwV1Kovf-oAxytOgxGJEuAdyeHbjpSVWNy4pLpMvRR6PsGGwsowl5RNczc_-QsUVWq0dHryE7gIcndXpkolgTZjOa8UP7-9bak-oRhFiR_ElWuOWIud4L0IO3nY89gJW8a7pJ5AvTxcIahDZvsFbigOS2BHpaAbjMjRaYQPKVBeTG7jvn4r22DOqllJEMzFMFVu0IN6HbktCZNjIlXXQtgtfqtb5y_CKMo-FbbsvR-qvD4me-ORGh59syutnsaiJOVb75THTXQFEbN209JLmcvEYI3LF-xObMcpXyj8XMoPKaDE_9vhkVdIGyxLcfaeFWznqVO9exc6ZS0D3PGUniXRaqH-pzrXR5mkhl4vyuNZw1Ln6YtHJNm1cphkehXEKsn-DBwoqFa3YPptsFyWt5orzJg55jKzWo5vT0KnEjGSOHJ4J0I24SvcogBNNZOTGjFMGefT4tBrXII0w9iee0Ozl1BGyRIC-mKkYq8uGSXc38AeJMgZO_n1ySE6e_vZEy-kYsYBk3B5mO0Y4M7UbaG9WHwlWG_9lKGOjmWBXTyUp3xLhpBvPM2d3rNsUOEniQ9haswMFnnoOSLOfoz1Ab5fEYsLa3D84iipb4mM9tgicDeSpf3VIjpWTGljlrmgkgcBo8TYuI1MQhD0xzrSvwsLHCyzie2igQLRr8jiDnOkf1xLUpSqWRotSSwARgQG42yByltEKEnVTKNh_4v7zTYJdyB31LunnDIgbTH11Oj86SeXvywPEjSIn3R32J8QA_XOqZ-374-ovrV3Xoakgz85h42oyj8nsmKuUdSIO1ntTDI0rKtMbwixqafXBviJheqbiUwbqT0tTG3y6VRQV9zd83vU_-Ybjh4FR63WphnGQm0Te3yJgX8iyr1FSgxWFEeOeqjhuC35iWQsr7ESZfaCuwq-praxPN_JOSV-HBasHtSw32St1jmFJ-ZBTe4gSvZvU-Wk9Ngnjsjt3v4_aU6s2ep9CM2bQuImUt4CWcBACAm-i1ELjnv_lFjDiPxmjvUsJcOyMV9A0Mgv2Oq0xZh1OA3rTlEm4I06xG3kvaPcrY9aAUCvskfd4IMBIaPnLSHUUYlPsbCKlNRZVMk8DVumGYdwzgiR389iwfwEPOVQgIQJg-mXUBfUdU54GrY=",
  "id": "rs_04177dd1a3555788016ab43f33fd2087d0856338e21a6dda92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.145,\"right_z\":0.21,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The yellow fruit lifted securely and is visible between the jaws; only the dark fruit remains on the table. I’ll carry the yellow fruit above the blue bowl, where the pear is already resting.\"}",
  "call_id": "call_w2i7pxzlYpzRx88ay1DfGHV5",
  "id": "fc_04177dd1a3555788016ab43f347af887d09f991a16f030a157",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w2i7pxzlYpzRx88ay1DfGHV5",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0135, -0.0338, 0.9932, 0.4927, 1.52, 1.1053, -0.2626, 0.4137, 0.2726, 0.2871]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0008 left_pitch=-0.1041 left_roll=-0.0013 left_gripper=0.9932 right_x=0.4158 right_y=0.1467 right_z=0.1867 right_yaw=-0.0131 right_pitch=-0.0386 right_roll=-0.0177 right_gripper=0.2871\nstate[joint_eff]: [-0.3214, -1.2923, 7.1316, 1.663, -0.0122, -0.0366, -0.0122, -0.212, -9.0598, 9.6205, 1.6532, 0.1734, -0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac7a00ce6a7cd5b852b3db4fdcbad2893dd82d9a9e4f71e662227af25aa638c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3de0a5150928d857e679c0adb21957400d4cfa49421628a2742134bba769b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50392c7952471d842b8b7d527797aa34ada5456c3890403c391e3c98b6f7f597",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.297 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4633, -0.0135, -0.0338, 0.9932, 0.7704, 1.8202, 0.7395, 0.2993, 0.6106, 0.4393, 0.6513]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1621 left_yaw=0.0008 left_pitch=-0.0912 left_roll=-0.0016 left_gripper=0.9932 right_x=0.3594 right_y=0.2126 right_z=0.0288 right_yaw=0.02 right_pitch=-0.0431 right_roll=-0.0485 right_gripper=0.6513\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7656, -0.0317, -0.0366, -0.0122, 0.4581, -7.7744, 4.8068, 1.5214, 0.4469, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4728, -0.0139, -0.0338, 0.9932, 0.7692, 1.5539, 1.005, -0.0437, 0.6193, 0.4458, 0.2866]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1603 left_yaw=0.0011 left_pitch=-0.1007 left_roll=-0.0011 left_gripper=0.9932 right_x=0.3802 right_y=0.2304 right_z=0.18 right_yaw=0.005 right_pitch=0.0981 right_roll=0.0826 right_gripper=0.2866\nstate[joint_eff]: [-0.0752, -1.1829, 6.9675, 1.7167, -0.0415, -0.0659, -0.0122, -0.6085, -7.1043, 7.3504, 1.3797, 0.1294, 0.1001, 0.1245]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0135, -0.0338, 0.9932, 0.4927, 1.52, 1.1053, -0.2626, 0.4137, 0.2726, 0.2871]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0008 left_pitch=-0.1041 left_roll=-0.0013 left_gripper=0.9932 right_x=0.4158 right_y=0.1467 right_z=0.1867 right_yaw=-0.0131 right_pitch=-0.0386 right_roll=-0.0177 right_gripper=0.2871\nstate[joint_eff]: [-0.3214, -1.2923, 7.1316, 1.663, -0.0122, -0.0366, -0.0122, -0.212, -9.0598, 9.6205, 1.6532, 0.1734, -0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac7a00ce6a7cd5b852b3db4fdcbad2893dd82d9a9e4f71e662227af25aa638c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3de0a5150928d857e679c0adb21957400d4cfa49421628a2742134bba769b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50392c7952471d842b8b7d527797aa34ada5456c3890403c391e3c98b6f7f597",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD86XiaiDShcEnjLWogDZecAdRKHkRBEj1YIs35Sv55cvd6cmSf3nulngKdB4kjYN_f7o7eqt50WZt1D36dFvyPB5BmVHyJFx3HfIrIXOo2ckQZ6yLAptqC7zKttkitDY2SBc0QJ_KrtTO4stuOSqPH4S1nDTLq_iE5AF4sGK7g4r2UV5Z_D00J7KWbabeMaQYQQ0d7QiktD4xoH9N8QJgf5HTVqRY-XeVDK6AyFnoJTYG8XOhKvj4xaLO57FHeH6g8NihOu5jLbclpY20yd0VJrlUE2KQMJ8LJ3c9a7J-80JGWlGEQExftGNiIodpdoDO_d-jmeMp_0QIddmw5_Ain7sp_7vwduq3Hgq6CBC1JulypCdMA4MF22DaPl5PlNc2Nz2K-RSco12GxhE8bUW5ZNiCqFGJ14YhI1gJXRZ0Faw0P1gL4wenqiDZS-scLJEGxz52Ck3Eg6o3gCQuis_QH_6AezmhxunDWOcNMBuf7QjDmo6tYrNWE9QUIDrGfeEfn_OxL34q4DoGji71pe1zLJ01R477uXYpgYFJ1_AQxpaUdG7W6X93ogFQVQkP7ZcESFuBJunqZegM8kp54ySvjHFk-icQvVFNTqGvvN83aSohGB8pESI_da-DotfHbMqIAjSA1I9NrKxVkmlB4GDSQamhWCqPL8wC5qh5IMvN87DmImODKnpolUiEvE7eEJZL427E9ejNonerMwj-frDdz_OgXPqDZBdTyiKhAPtKkGCt6gJnFEJsxwyCC_wLmRYGfX4Clb8Qbpdk8OZeyJCZD-MF0usSxXlvVZlsvD5cp1YZPE6M5lUvRW_PWl3fSH0-hcYS4lYyr3WgC7S2ZsbKU7GZ1yT8-4pBOfJZ2_prCV_F7UWaRMhEzcV0U25fZ2fGVJNvm3eFqmdAh7cb8AjlI16u3Wxv79dNaSeY4hyqU2kT20AIpQ-_llZfWkAISIMPoQJeIg-R_fdVSKQodp-oDzWjgLQmyETAMGVkSlR01BdnxF9bH2NL0gpwZDytY4UZ6vGVmwX2mYnnyNunqIPuRNpqkR6bprHjCoViQ1fHiuPJWIYP9BkWp8A8LZ3c8g9bxbOr6Hk4IKB0BVXHbJGsnt4ufNPY5cdQ6bBbkzgrDtSsyo4itPgMCpE3cmOGTafK6s3RTYvqFDjotjyU1rp73WXWmIHlundBotldJIJ8rV_LeWxdWv37X_zeS5i6DfvxtQsqveYQbN4eZPQj2naxeFVvTQkkbqxMVT6NCTVLz49PvVfdKXfK-H-eHK4aLMlXOxnfN0QdCTlf6XBuccT_VT_f60bFrsaYw8a8JZRjkSy4ij5EGvscWKeFgDmngIl0xRrcFd-4ExycZIw2XBBbckGx6YBA-7bRS9WqmVVJkLFXa0ebuUDcpVplO85_F9GFg4L7F_EFjpYmFxOpGzfA-oOVEryDjkQyEICJsSQeUtkHWwp6-4kwUaVts32j-IEBGvlLzDCjxuvJarO7umBwUYKwQCLtbS8NOk4Z6eebc2R5g38uZcnLQPq0yaBTBlMu5CjYwuGI7VFVowPaZ6kn3n6s1dX92dx8eovSF7gaJZ-v6YmNRVET5t6H0iGN6_gqaCXuajVdyxrv5nuEzkus0VkMNqFa2lKkF61h3FPH2uRRM=",
  "id": "rs_04177dd1a3555788016ab43f383d5487d0b4265b8d452f03cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The yellow fruit is above the blue bowl opening, with the rim surrounding its projected drop point. I’ll lower it close to the contents before releasing so it does not bounce out.\"}",
  "call_id": "call_VCprQQWkjg8yYyKndr0IYsof",
  "id": "fc_04177dd1a3555788016ab43f3952f887d0bfdf73b566094171",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VCprQQWkjg8yYyKndr0IYsof",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4889, 1.5665, 0.8978, -0.065, 0.3912, 0.2531, 0.2873]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.4023 right_y=0.1417 right_z=0.115 right_yaw=0.0098 right_pitch=-0.0955 right_roll=-0.0472 right_gripper=0.2873\nstate[joint_eff]: [-0.3624, -1.2376, 6.9538, 1.6484, -0.0513, -0.0464, -0.0122, 0.1573, -7.2, 7.6239, 2.1905, 0.2271, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17759da95770fd3b4ea84cdccbca5a3ac68829a5e10ed7c405b7c8bd56592980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95b63bf147b19759ea741e32c8228dff2c1293b1de3cbc07128e81e5f515427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1e2d33e8c1b3bbeac965f2a4906de57e46d616fdac97b7a3663e0866766eb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.238 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4686, -0.0139, -0.0338, 0.9932, 0.7723, 1.8473, 0.7212, 0.4458, 0.6392, 0.4492, 0.2853]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1611 left_yaw=0.0011 left_pitch=-0.0965 left_roll=-0.0012 left_gripper=0.9932 right_x=0.3693 right_y=0.2177 right_z=0.0375 right_yaw=-0.0049 right_pitch=0.0432 right_roll=0.0159 right_gripper=0.2853\nstate[joint_eff]: [-0.0889, -1.3197, 7.0359, 1.7363, -0.0513, -0.0806, -0.0122, 0.1299, -7.5145, 4.2462, 1.1893, 0.0708, 0.105, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0135, -0.0338, 0.9932, 0.4927, 1.52, 1.1053, -0.2626, 0.4137, 0.2726, 0.2871]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0008 left_pitch=-0.1041 left_roll=-0.0013 left_gripper=0.9932 right_x=0.4158 right_y=0.1467 right_z=0.1867 right_yaw=-0.0131 right_pitch=-0.0386 right_roll=-0.0177 right_gripper=0.2871\nstate[joint_eff]: [-0.3214, -1.2923, 7.1316, 1.663, -0.0122, -0.0366, -0.0122, -0.212, -9.0598, 9.6205, 1.6532, 0.1734, -0.0611, 0.0513]\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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4889, 1.5665, 0.8978, -0.065, 0.3912, 0.2531, 0.2873]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.4023 right_y=0.1417 right_z=0.115 right_yaw=0.0098 right_pitch=-0.0955 right_roll=-0.0472 right_gripper=0.2873\nstate[joint_eff]: [-0.3624, -1.2376, 6.9538, 1.6484, -0.0513, -0.0464, -0.0122, 0.1573, -7.2, 7.6239, 2.1905, 0.2271, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17759da95770fd3b4ea84cdccbca5a3ac68829a5e10ed7c405b7c8bd56592980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95b63bf147b19759ea741e32c8228dff2c1293b1de3cbc07128e81e5f515427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1e2d33e8c1b3bbeac965f2a4906de57e46d616fdac97b7a3663e0866766eb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD88BMzalIKtg52wRS6le26gPglXcF_kEjXxApD6rKPMEGLNSsam87_PFR3TLRQa1XyF27ZfwDR6zGhpITuJrdRnToWNBG-dVRYbVNN8dHaDtjcMhphZbCbdacGOlaK-ckNxzHPW-pJF8CzneFOHkLs-Ny16grwQOzXp5WI3Ei2j4uE0e87tS448_rNFhy15TCMbusqJ1ggxoa3ItvTsMCrXFGPOcfalaiREKt5e45ikM88yDBhl6td7faazr4zDpWf4uZDQ2lE7l7muSscsSXfxMIDR9ny1B652x48p1jx-0ne7L5wz6ItTK_FF-RU09hiDZOwNwcva2V-MylS1CCm2hD2CFzpOND82EqY2AveNIVJFvFJsKzKRcclA_or9YusqodX3D861YxYWI8xRTuJpKKiJqeFdHLAcOqmyV_cIuwjL2gzHVpX4ye7G6sAgev3loE8SV_-E_8h3JLuYIiurGuqV0FhMQOZdjVdlbVMTG32cZjybxqUi9t68XeX3c3PK9eINrqgHA2fzyCl_C0OGzsiKRowzqGjq5dGWeG_HpT1wGV2Xjc0_buHCpyHgAc2Wm4ipM5k8ZRMQ3R99N2lNTtjpFDTVY19SLRvAaghva1zCzGCpeAkBtliZkd-rGtQMqf44_Kxmu5ljVuu4eEmav--bNCXCKD_tkCL5udC8C5ffz5H2oIrcQb3S7zrxjHfSDpB3lipzAqC2r9TwrHPrl2mURbM4j_foCg3hCpoybU7qH7HGCdcmt8JsfkzMS8ZF8pESlPidxCDsNtF8430-GG2Pz-leXsXTtRVTE6-mKt3jDIMKIraBcyCzGuubk32RorUJIMz7skVAEhhJTiV8oYAwW9Dpt8xub493Up1kbW87qi_ImPfguDhiGX-AOZh9RTeaqp8QZWtVmg8oPrRbi9_McYZQgbp2Z5321uVxEg-yDd-GJd8O9durc5XgouRXxJDsDT9zTe_1vsH2XuJNLjYE3Eo8Dt30iHkcYU-PKLK0SWytjVtYoqmfrU7V7hQQw4ahrdYcZLDIw29axrRPwGeGsu1X0O6xUV4LDSuPmatSiag7J1kQ6XqDmePtyvUY-DRzVv8DEWG0_3l4YGrDIsydR4IiF1mLaFcTxaxYu2xLLnq_0dKiCoc-p2UWy75Q3DK9EuqNOJRm8gosSi5sgeCsKdBxfuIAgE81P6SjhhM8fVCInRDgsp6fWcZWYb-H",
  "id": "rs_04177dd1a3555788016ab43f3bcf6c87d09761d25abda4dcbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow fruit is now inside the blue rim and directly above the pear, with little drop distance. I’ll open the jaws to leave it in the bowl.\"}",
  "call_id": "call_wXlkENfOjRREfkf2o8ZHA4kb",
  "id": "fc_04177dd1a3555788016ab43f3bf1ec87d0b983322d12144ce0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wXlkENfOjRREfkf2o8ZHA4kb",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4881, 1.5822, 0.8783, -0.0727, 0.387, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.3965 right_y=0.1391 right_z=0.0996 right_yaw=0.0139 right_pitch=-0.135 right_roll=-0.0697 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.265, 6.9538, 1.6288, -0.0611, -0.0659, -0.0122, -0.1436, -8.212, 7.8701, 1.5849, 0.1099, 0.1245, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd135d5cdaa8101c5439688eb806a5862eeeb7eed3ae49869d156c1cc750727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63d235e031d9cb7aabf4945e7a52c4fd801569d6b3ca6e11f72ea0af5249baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117461af78bbd6ff8a55d6898a411d3a3f38ce46c6ee93d40d45e4478a846f1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.894 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4728, -0.0139, -0.0338, 0.9932, 0.7692, 1.5539, 1.005, -0.0437, 0.6193, 0.4458, 0.2866]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1603 left_yaw=0.0011 left_pitch=-0.1007 left_roll=-0.0011 left_gripper=0.9932 right_x=0.3802 right_y=0.2304 right_z=0.18 right_yaw=0.005 right_pitch=0.0981 right_roll=0.0826 right_gripper=0.2866\nstate[joint_eff]: [-0.0752, -1.1829, 6.9675, 1.7167, -0.0415, -0.0659, -0.0122, -0.6085, -7.1043, 7.3504, 1.3797, 0.1294, 0.1001, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4889, 1.5665, 0.8978, -0.065, 0.3912, 0.2531, 0.2873]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.4023 right_y=0.1417 right_z=0.115 right_yaw=0.0098 right_pitch=-0.0955 right_roll=-0.0472 right_gripper=0.2873\nstate[joint_eff]: [-0.3624, -1.2376, 6.9538, 1.6484, -0.0513, -0.0464, -0.0122, 0.1573, -7.2, 7.6239, 2.1905, 0.2271, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4881, 1.5822, 0.8783, -0.0727, 0.387, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.3965 right_y=0.1391 right_z=0.0996 right_yaw=0.0139 right_pitch=-0.135 right_roll=-0.0697 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.265, 6.9538, 1.6288, -0.0611, -0.0659, -0.0122, -0.1436, -8.212, 7.8701, 1.5849, 0.1099, 0.1245, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd135d5cdaa8101c5439688eb806a5862eeeb7eed3ae49869d156c1cc750727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63d235e031d9cb7aabf4945e7a52c4fd801569d6b3ca6e11f72ea0af5249baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117461af78bbd6ff8a55d6898a411d3a3f38ce46c6ee93d40d45e4478a846f1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9AMMevcwVp5SwdaJjK-MNZa1qVPUoC0oZ_tW_efO_z9Yg8bwYvbJyVXek4TFm5bw_j3xxaFmrA6aMvDIX8P-JvYwxLpDM1BpoyrEn27ybJYxd6jyC3qIcKShmjf5NlpulnDMTIR9vUGGxSMNO8FRBKNt7U7YOK7VS2snn8bKH38W1Wc0y9n6DOkloeiVEDIuYZOO-EfXmQyeX_ZysjpTead0xYgt9FtHFwYwR5Ri0WUwNC71Ly2PF3f3Lr1yJ9SzBaLLlkDonREVDPwo6ZYI63BwUiOQ-8KkpPV9v3ifQSvGWhORFfhnWT9KIQl8xTGasSCBYAfTJV7orN5lVZypARv_1BWECQwVXADH4Kzm-vmAxqp3uQI-LapVLy2QoDRtnhVBaa3ITvd7A25DJOk0ls7YbA-uLt9vEg1kHZJKoZpvCilWiik2GrmMncB5ui2Qxyku_WCSY5tkBiPuUZM5MNoGwyU5BvDzLT0N3QttIVgE4Hoz4J0AQqsRoTDaDFUjKKjLaqSFA2xiGRHT9Spq5RPGPizJgnFqm9XIqZW5xDFJfkN6qFNR_V8vRmCDsb86oUnF3kQEdk6PMVYQepTC6usYz3Oky3Y2Xehb3-YMfxkMKRZZ-_SOf6gvVqgo4_qoEwalHl5Sjku3gXxtFyY8MmGd2uJpNOvDbSgjFf5QJMCkO14OeBY_Ilbh8-HM8Z9SWhoXdqLD2IXg_dchj2hPBth7C_7kK2So2unevw-e8bd4ZukuQkvaNwIync-erviCU42M_kRLE0R1yPmFI-B7mIlLqZRHrpWrEBHp8tUOtdZXHKjPa6t2BjbLDR2HQHHI9V_tO9TURzEiCAPsHGpvxbyGdG3cUTlwyk9rFFcTALaPhWsGNF9BaO8Pctj8dGoNVLnfcpobSxF0CPDenwOUlU4Bn_K4affu9Cdaf0-cFtB2_FcCwArwrfMRsZo9DtRcIRV7415Dm1-HsWP-WH4M2J-QvOnNySqiZlQnR-xXr-Y8PeNiw3QUW3zV6VPYvYKwepGH1gTO2yR4A2-V7XULfGaRHo1kxusuqJKsvfMnkjdvey3VwQYAlNCk5Xtyt7WozXkt1_5LOSxK3W2zCkA3kptAJj23aUCzeEe-1pTdy0L5mDkfo-Fw84dXh-fTW9mhvcxcybo4Wjnnp56xBPBBGsfnQbG6v22X_hPxSltBf0Q49lpFvbDYFZsQ9xbV7nJuhrbFOhdFlbkWrWhK1_m334QQ5_Hh8ZOqZNNeNonO-tdAwb81OwhWsKWzrJIRxy3CU863ErVOuTEqZJpQ4MsPfrt-jF8n4Aj4-XkIK2gZosWkWRhM3nsjhsrtTeyP4UBJOuxMbZGSfoUzysvMnto-0aQht1RLgiP2BynY5h40Lq13epocmzOiBGkXOgD8lge91bU6UreNQyjU-Yh08qNcAbDSSFUla2X9ochIhMaBX8CixIRQ2qkzMnK-NKIP0l1le14tDTfIPFVFcZ7H25rJramD17pg0ayEZ5v_NxzTMmYn2Et_U8X52pPZDeP4Siqi2xh63fLorIp6vW6KjLnBPjlCtfTuitisd_D4tNK-mTpbQbnQn33x2B1iUpajF9kjMGe3Wea3CHhGMZDFfwXGkSFppadQCupNsCu7nHkSh0PlzTqMRpvMHUXVBFXgwIq1O812CW2jkc7BKvIB1XMTde-9OXLYM9Y9ux5Qu6DHejXYastKGz-VBRMLQClvQtIOrzV5_3ASc-YF7VVn8jwpL1KWCEhkckbJD_z3Kcu5YjyPM=",
  "id": "rs_04177dd1a3555788016ab43f3f1a9887d0824eb61b12792748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.19,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"Both the pear and yellow fruit are visibly settled in the blue bowl; the dark fruit remains left of center. I’ll park the right arm at home to clear the workspace and overhead view before using the left arm.\"}",
  "call_id": "call_SOdWbghjLRzr3ehoRgtPpxwW",
  "id": "fc_04177dd1a3555788016ab43f3fee0887d0ae89a68296d252e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SOdWbghjLRzr3ehoRgtPpxwW",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4873, -0.0135, -0.0338, 0.9932, -0.0029, 0.823, 0.6453, -0.3813, 0.0387, -0.0017, 0.9984]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1561 left_yaw=0.0008 left_pitch=-0.1205 left_roll=-0.0009 left_gripper=0.9932 right_x=0.3014 right_y=-0.0041 right_z=0.1907 right_yaw=-0.0489 right_pitch=0.0141 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.6342, 6.9402, 1.8144, -0.0366, -0.0708, -0.0122, -0.0205, -1.1556, 7.2274, 1.8926, -0.1197, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5af57903a950415a121b5334e5c4596edb8de596f41e167414cdda39e16073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15340cfd1cb5e450272fd2eac52a8dfdd2259de7034dc5396f4dd1e1b65400ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f8f26ddb3e0651d5d3b49607f9f5bda891b6e21376b52b027dbf90f223ecf7",
      "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 20 attempt 0 · /responses · status 200 · 7.023 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0135, -0.0338, 0.9932, 0.4927, 1.52, 1.1053, -0.2626, 0.4137, 0.2726, 0.2871]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0008 left_pitch=-0.1041 left_roll=-0.0013 left_gripper=0.9932 right_x=0.4158 right_y=0.1467 right_z=0.1867 right_yaw=-0.0131 right_pitch=-0.0386 right_roll=-0.0177 right_gripper=0.2871\nstate[joint_eff]: [-0.3214, -1.2923, 7.1316, 1.663, -0.0122, -0.0366, -0.0122, -0.212, -9.0598, 9.6205, 1.6532, 0.1734, -0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4881, 1.5822, 0.8783, -0.0727, 0.387, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.3965 right_y=0.1391 right_z=0.0996 right_yaw=0.0139 right_pitch=-0.135 right_roll=-0.0697 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.265, 6.9538, 1.6288, -0.0611, -0.0659, -0.0122, -0.1436, -8.212, 7.8701, 1.5849, 0.1099, 0.1245, -0.0855]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4873, -0.0135, -0.0338, 0.9932, -0.0029, 0.823, 0.6453, -0.3813, 0.0387, -0.0017, 0.9984]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1561 left_yaw=0.0008 left_pitch=-0.1205 left_roll=-0.0009 left_gripper=0.9932 right_x=0.3014 right_y=-0.0041 right_z=0.1907 right_yaw=-0.0489 right_pitch=0.0141 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.6342, 6.9402, 1.8144, -0.0366, -0.0708, -0.0122, -0.0205, -1.1556, 7.2274, 1.8926, -0.1197, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5af57903a950415a121b5334e5c4596edb8de596f41e167414cdda39e16073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15340cfd1cb5e450272fd2eac52a8dfdd2259de7034dc5396f4dd1e1b65400ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f8f26ddb3e0651d5d3b49607f9f5bda891b6e21376b52b027dbf90f223ecf7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9E-q-Eg7lZ4drcpPeMZyN9bk0tcWTg1Uzzmu4PDKhj1hBkVODHbUSTnFrG6mFVUoAGfUBZR73BirCPXNb9IcH1ro02uHI6xNijw4mPx-4WOzyQJkBNbixMvYllc4Y25Cgg1yiWlgcHKTSDB1wvcuP2ALhfyd3twZ9drjDopDPSBB_QPdMkgRqRukAMWKKZI10qh5M7FFQXoiYqhsu7Kp4PbPBBQ6X6wOFUPZ5lJVjog5u50U1vo-vEWygHIYMpLYpkt3sgmSwmHXV8hRh6AWmU5KoSCilaQWIh_Bo6iabhOoUek18odn_JSbTXBp9r_-1EchHh7JntWR8buIR66CrbAM-9zSsHbyHEzwFJQlClIdqmNgiBJp6ZwUGnTecI223S8HozMPqcc0GLH9GTldgRWLKdYRJBadALy-28xIx8Bn2OZNydJTAzjtbhWjvX8W2EI0OnP553eSRSQDING1GfBkP1xqpVtlRirJatQAckr7O-RQfb-mAasgnKle1ePLVhFm-1MwxDmN6l2cifp1jpWOha3hoO2FzbHD_RBYkAcE22XDVpRL8S4lhOqmX_FgHSoF_DT28ycv-ues0-rEfbAWUPiI-HMn3PcnMjTWbnJblRMxAenUkW8r9djrkytqJ0kKZCWNA6HFbiYeLwIbxDXTS2HKvmLGUvcqr8RfTRNHagmsEQJ8Qw6K5jOHYvpRwqEfEa6JkeFqNLD5-2ZqLXZmuwwpKvyAH1nI86lA0MJDVX1VsIv4eHDeBxpdvFcsNxO3w_tHLtH4WIwMvdEFTI-XYCeI7aE3nvUpaEgv4uBjn4TqTRgZSTsxs9emMWfkcWn1Fd4x0M27a-Z8VDewe1yhKATMOyjU0DKomwZBBIgE-hTliPq3Ap5Qghegzt65WHW_TXJccQ2f39WM0K7ax5jh58yINSuEuYFN6_hzpNO-zEnVotS-xtFGz_RFMHfMNCsaq9axXasrFzVXkq0Yd7GGdb5DG5VUmp0TVGEzQn0kw1MxNHPiybuWBTxR7cjycXc988WqhjFE4jqgK-reZ03bINujDnyC27wGwsiyiUGWGK1aQFR3USeiSdw_VMS2Xm9lGFns3UdNnU61nnkJ98ZXDqiBsLlJX-x3rVV3kDG9rLhIsWzfGC3JDjPXEHYJ7HghDOt_j-TjP9b29XLzXR30sPRqQeKL0TXZqMOnCikVWu3ykTWZJu-TWQ5SC-XEgcfz5vWbe1VNUi7kD9nHS07lOCg5Z3PdOYPH3tWSv_I2DwHNiT4K9qWT7SLxVmuoiy4KZPnzYRtFtzFlsYXU-4_zuXDgt7XQlmtbKkpyYMXcBBTj07VS6GaPEVj2ku7rK6vEWsSKrmnmvT7zOh37DspAtJtOR97C5cBxRRN9F7wswurEmCZa1jvRlQizIc41EBoTgFPGydnl9gVhGVfCQnE0Dya7JarCelanF_N_lcHN6p6c8fLEI6GITpfIqGtH9CBo36l4J6wrgeFaLoAdN8KYJwmHO4lWj7KWX4lcvfP26J0zSuvfg3NmONUsBtHr34",
  "id": "rs_04177dd1a3555788016ab43f430e5c87d08af53bab8b7c30a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.15,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The right arm is parked, and the dark oval fruit is unobstructed left of center. I’ll position the left gripper above it using its table location, with the jaws open and the wrist straight.\"}",
  "call_id": "call_hm7M1qOVvVrWlUo7DS8mjazU",
  "id": "fc_04177dd1a3555788016ab43f43bb3887d09fb7e075c68cc6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hm7M1qOVvVrWlUo7DS8mjazU",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.9226, 1.3361, 0.7792, -0.3229, -0.6964, -0.6308, 0.9939, -0.0021, 0.8272, 0.6445, -0.4118, 0.0257, -0.0189, 0.9984]\nstate[eef_state]: left_x=0.292 left_y=-0.192 left_z=0.1319 left_yaw=-0.0258 left_pitch=-0.0606 left_roll=0.0404 left_gripper=0.9939 right_x=0.2976 right_y=-0.0016 right_z=0.1828 right_yaw=-0.028 right_pitch=-0.0217 right_roll=-0.0146 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -5.4085, 8.8, 1.58, -0.5739, -0.1001, -0.398, -0.1983, -1.812, 7.1179, 1.9853, 0.1001, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01826c97bbc1da98f6066c89084754d47ab845bc37eb7c982648137902e0a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44fe37cd7dedc1c0a97abd276ea4070034938f69ae49e682124e569e665840d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ee635a5ae4c23752bc03296c59475a7c664b5d5ab6406a6ee6d2aa80fc51c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 2.662 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4889, 1.5665, 0.8978, -0.065, 0.3912, 0.2531, 0.2873]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.4023 right_y=0.1417 right_z=0.115 right_yaw=0.0098 right_pitch=-0.0955 right_roll=-0.0472 right_gripper=0.2873\nstate[joint_eff]: [-0.3624, -1.2376, 6.9538, 1.6484, -0.0513, -0.0464, -0.0122, 0.1573, -7.2, 7.6239, 2.1905, 0.2271, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4873, -0.0135, -0.0338, 0.9932, -0.0029, 0.823, 0.6453, -0.3813, 0.0387, -0.0017, 0.9984]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1561 left_yaw=0.0008 left_pitch=-0.1205 left_roll=-0.0009 left_gripper=0.9932 right_x=0.3014 right_y=-0.0041 right_z=0.1907 right_yaw=-0.0489 right_pitch=0.0141 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.6342, 6.9402, 1.8144, -0.0366, -0.0708, -0.0122, -0.0205, -1.1556, 7.2274, 1.8926, -0.1197, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 1.3361, 0.7792, -0.3229, -0.6964, -0.6308, 0.9939, -0.0021, 0.8272, 0.6445, -0.4118, 0.0257, -0.0189, 0.9984]\nstate[eef_state]: left_x=0.292 left_y=-0.192 left_z=0.1319 left_yaw=-0.0258 left_pitch=-0.0606 left_roll=0.0404 left_gripper=0.9939 right_x=0.2976 right_y=-0.0016 right_z=0.1828 right_yaw=-0.028 right_pitch=-0.0217 right_roll=-0.0146 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -5.4085, 8.8, 1.58, -0.5739, -0.1001, -0.398, -0.1983, -1.812, 7.1179, 1.9853, 0.1001, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01826c97bbc1da98f6066c89084754d47ab845bc37eb7c982648137902e0a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44fe37cd7dedc1c0a97abd276ea4070034938f69ae49e682124e569e665840d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ee635a5ae4c23752bc03296c59475a7c664b5d5ab6406a6ee6d2aa80fc51c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9NoSqWNNU5u1lFNht2xYy6DscaT3X5Qi1pG-z4wyN5Hrow64NTR_FJkKPcNnOy5KCDgBFT7HtRsHR_XCRY3YNIpM-mzhBPJbTeXCQpidmAJ8ZKc2-iC31bGCBrIQZoyKt3klxnn5ydTlXjkTKxWFxSq4lbHOMmqx6bizRdJzwIqcUqe7VmLA1ARp0EFi_5KWekdHMHwor8sC5uO0Va4cZcFiYTNgQJdJhJkjRU-M2ijlj4CDvfUthYy-BPaYL_0D7nDbOchP1jVENyw-gTAG_2nabcnH_RUJ6O4tC62nqJ-pnc4PWI1I2rQjvGNDa7T55OG1sPaLfbEtPfURE57_BTXV4gKQ8QKSW-43rNN0XduLgQQIDr7Yqo_FOPcMw4tmeQWA4joTkZbwZgaAAFAIdinxdEI6dSYIBuBflu38aYQ93Atnx7TldqjK-X2IVAxKVvo7v4WK5kGmmPAC3M3caPtAiPZNSlu5KYWfRX0w7f03RFm5W6C991k4z2dVKF7hI9rFojyMQBdhfdSEjZpWwklEqs6UX0RAYdEPGXlFuPGPEzO_YuFBTo9ioTHo-GfBMEeH1CHSAqd7-dkPLolH_ugcwbxEsiWmbMeS5cs6qOGwMrz9XoWmlwcf3cEAWTBGurMHED8oJcMTMdU51r2LBKlnpJKknARVr8l6OkNs5r9FrjOuk6Mo6vFNSNwUUabosjAXJiawDdIc0V2QzMIM85VLCh-iAxb3IxtNb8YnOEZcF3OzmnobLERlTOubUITZOyyKQDKuJWy9WbWAs1evjepk4qNFIu-9vDG3GlqOK3oqb_JW7kWQUcXXu-J2nDK6YiF05EMvVaXNWJ_1HXMr9q-YWP37JgBENMDFaykcaAqnStcQp6mUxQguA2nc4B2XFSK1U5kVUIfsCOBx-icDeXG6cJ8wSBoD8yuYFkbQIErh9uDyRNoR3stmV3vBPQCSFbHN56WNB5t39-N7NPZ3VbSaH_IqlHQGqg9Fo0uLZucskb2IqRgUS6ACLr5LR1YFIKuyOhLHDoRyCXcEpXtvGfIL7uvcMr3Y7pvKfen1oIN6EwXWaKbMU6WGVjFDa47fm6T0Sr0sycmarjBCaHJ_zx-AbBYa-f5Oa2ziFgdEScxU4M-r7WIhB5Cfo4Ox4L9nxaGGazeUs1ZfgEtGthA4EkbYFSn55RFyqzQgYlwFhh7GovThmdLaOWNEhfdttzIVdn5cRhSGx1yEq0Xx6gcmA7GwR9GZOGYNy3JXrTCdW13_oNUw9Ofyea267UAyZPHRz_2IDdcPEkaO3TldlL1-y8e5dKLUfQHKmiBnBIBYtZLacKK_-WZpW-RYvNg4kQp0KQ41IoXUmYwCDHl6t5VFUTkNV6za5ddAopU-P2xOyme2GgHBxvmJEzjgAjB0C43fuTBFps6_AAs2CYu7evDkbO4SgH28EmQfOe8PTKirnzexE4s08JK6oVO19YNQ7F3KkKSqv26sKDO2FkYq2mgpLDp7gbKC8W4zqUqydYlaJS8r_hWZdFeB2mDXZdWEP92w9XPbrl7uqLigdHJFB0ReQpBCHXhBq6J1_scAa1EQwfzNIMu6g_2fz7568HIcs3BVGOtKQON2JSOXBSdiODbdXuldRHkc7vEfJ1d0mVs-p5pYr4BEkYw2jAvmuHLBa_THnOkR7Hqy8AchjybDZz8xB19E2wu7y-C4IAKluI_B_u_pY9bh5FzY2XqthYF3hAariZ3WosU9gVfG5euAoAg_Pha4H3arOnO9aP0ce2KHuwcurCVarQVLuuBoIX-qk6NilXaYfibGF6wIQlz0s8qflDXj5xY_1UPtQVrqBLIJO-cZHelHb1gOAYt_SMib83qRm1ZKZxAhId79zOD6aCHZXSjSUyT2-4HvWNxB_AzpvLdIsOb519pqxt86yGKwxXAaXcLAomdSWc-LeZOiVK6gV5Q7mJJCNdKRNcu1PjezjFj_g4WewH0k-lWEuJLdbNu0WD57d25IrSYK9fP7TzbtJebY3IZe5dtX4wuTLu4yXgtRexdRxZFrqdCwp1oodramzQdOlMCMBNdDDTx5w2uTS1wQ==",
  "id": "rs_04177dd1a3555788016ab43f49c27c87d0ae6d619939ac166b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.135,\"left_z\":0.15,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"The dark fruit is at the correct radial depth but appears about 3 cm to the left of the jaw centerline in the wrist view. I’ll shift the left gripper toward the arm’s left to center it while remaining above the fruit.\"}",
  "call_id": "call_4acw0PVtuvWbWaBmJZXY2r61",
  "id": "fc_04177dd1a3555788016ab43f4ce29887d0a8335775fb9de700",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4acw0PVtuvWbWaBmJZXY2r61",
  "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]: [-0.7856, 1.1179, 0.6468, -0.2932, -0.6403, -0.5396, 0.9934, -0.0021, 0.8284, 0.6445, -0.4179, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=-0.1371 left_z=0.1453 left_yaw=0.019 left_pitch=-0.016 left_roll=0.0011 left_gripper=0.9934 right_x=0.2968 right_y=-0.0014 right_z=0.1812 right_yaw=-0.0271 right_pitch=-0.029 right_roll=-0.0147 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -3.7812, 6.5573, 1.6484, -0.2222, 0.1392, -0.0659, -0.1436, -1.5521, 7.0085, 1.79, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f3ecff6b2fa35b7783292cddf6149968010b84749096d74f92eb1a611ac088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c87c703993298490cfc89a08607d59069838a52964b12ecb7e2e00dabe7d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5114cae8a030932c3c84fcdeeb8c009a5c9f5b0af5421d4d4824228357b8e09f",
      "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 22 attempt 0 · /responses · status 200 · 1.804 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4763, -0.0139, -0.0338, 0.9932, 0.4881, 1.5822, 0.8783, -0.0727, 0.387, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1596 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9932 right_x=0.3965 right_y=0.1391 right_z=0.0996 right_yaw=0.0139 right_pitch=-0.135 right_roll=-0.0697 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.265, 6.9538, 1.6288, -0.0611, -0.0659, -0.0122, -0.1436, -8.212, 7.8701, 1.5849, 0.1099, 0.1245, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 1.3361, 0.7792, -0.3229, -0.6964, -0.6308, 0.9939, -0.0021, 0.8272, 0.6445, -0.4118, 0.0257, -0.0189, 0.9984]\nstate[eef_state]: left_x=0.292 left_y=-0.192 left_z=0.1319 left_yaw=-0.0258 left_pitch=-0.0606 left_roll=0.0404 left_gripper=0.9939 right_x=0.2976 right_y=-0.0016 right_z=0.1828 right_yaw=-0.028 right_pitch=-0.0217 right_roll=-0.0146 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -5.4085, 8.8, 1.58, -0.5739, -0.1001, -0.398, -0.1983, -1.812, 7.1179, 1.9853, 0.1001, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7856, 1.1179, 0.6468, -0.2932, -0.6403, -0.5396, 0.9934, -0.0021, 0.8284, 0.6445, -0.4179, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=-0.1371 left_z=0.1453 left_yaw=0.019 left_pitch=-0.016 left_roll=0.0011 left_gripper=0.9934 right_x=0.2968 right_y=-0.0014 right_z=0.1812 right_yaw=-0.0271 right_pitch=-0.029 right_roll=-0.0147 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -3.7812, 6.5573, 1.6484, -0.2222, 0.1392, -0.0659, -0.1436, -1.5521, 7.0085, 1.79, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f3ecff6b2fa35b7783292cddf6149968010b84749096d74f92eb1a611ac088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c87c703993298490cfc89a08607d59069838a52964b12ecb7e2e00dabe7d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5114cae8a030932c3c84fcdeeb8c009a5c9f5b0af5421d4d4824228357b8e09f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9Q_doRoJN1R-ll6gnq9tBIEo4gJNIfhsMWEjwbSnpEJdgb25ZZB1QvRMW9LLvvzSWKuFKAjJqNdwqUGqcbqFXEr4ll68EuVQ19USvBKiJRT8qcaDOPVey1erE8fLPag9wnsqsFFjLTMeKncFP90NPqbF7on4oSspR4zRTzqHkL5PH9y4IVYRHCgDnoB3J8ZgkNTDHWtGmoQzNdOo-xlBUBNYoCJqh9kBADZ7JFm3dzM2q6tMj97GzdldX1XVHO0XzzV33hSyKNlnlAp-Al03-rM6isihkvVgaF_NL653A4r31bZAFkxGdbrCUzn3lVE1dEMTsjKFdc4Yb6ZsvVZ5EL7ENWc_Y5lzRHU4qSqULtGVYfWlxnee7KhKb8u7pVWkX9y7Ujtqr73MIiA4aMrlrHehYds_ftclh1Gc8nFN6pwkcPdkXkW1dSVJXlnIuH_y1ieLCQozJVhoCsFlQZ3k_F3dGiHPsiR7UM4viyDdDFjbM2xSX4T87TVohm7OCkJNDoy5hMxtkWvd3pXudwH0FKgtXFUYwcgLIRLpbLxpEs2ZTl4ikuRsHAQz8H8W8dEuYQ3nV9ErOgvWT6C8kLThKykV4wVMHLYxUm7Ni1FDwpqFJdVQTQyxfP8d6A0FvzXXd1LiB3UXuuN7RSbXmz8PgXuFIf0dTSP-R7DMWSz784sEIRXZyqNFKOPF79iT1LkVLDvU9iPVRnSKUdVq2o3X4g8RK-MrtzFOELbkoYv2TMw5WA2lIhvzqGOE1o61f4_ps3yygf0rcvHYBLMi16gWIWXkpH-4R4PqMcaLXdKtIGbeTwnlwY19j5NNreGn2uTY3WQDxpdjCjnkPoaFUetzcbodujhbMBk89dk2XTU7d_yWX_dlHT65YxIhBcMt-wrJMCiWmfgL2wn0nqd4_wWAN4Iti_Sgn1u3XDTU0phEDwsTQw3IBZFh0ed9qetffuVSNT3aLahIjwZvesM0r1Ks5VqfcU0-m5JCK6w2BtMXNQno-W1CAFG1JFBX6CiirUuSTYeKpFIhhdwkMzVfpHib91_448I3DeGIR1MG2Irt9Pw2NJvL_iyLpJAdetO6YkZgAb9-rSLglvoV0a9NFLIxk_nS9LPJ4YfjIKv4sYvON1IEDdT4DfQVDl7XuX-Etq8aRAU4hccQTNQqZZRWxKjlrOQq82ETYMr9UM1Ldthp98rZ_F8Xcv2UzsQ1YvT4byubRvQQrDJ-htAisspDfLWq7GBOOGqoL8oesYA5b5su9U0FQsy7mkJSofHpuvBmMg-7lWPkF5F_zAM_WinK6_k8w59VeOqCYm9D90ikIffvr_R6PP8nKPzt6LLCj-VymRlY0GaRemhiKkITKevfaMdtWstOnQZxfsGSXwWmoF6YreOs7a__A9SF6nCwkEoH3O4Nwc7L6i4mMIZnqB4RkJAfjJuH1Eq-6pjbM_r7tEZ_IVjNnOXT3yKez7MW2FCQ0qMngWB2y-i3JZK-RPbyTyVWCLDVIfm7kc4jKTY7_jRqaXFpwlVnGuPwfSTj7vl_u7JYE9",
  "id": "rs_04177dd1a3555788016ab43f4f39fc87d0ae33705a5b30e735",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"The dark fruit is now precisely centered between the left jaws and is very near the fingertip depth. I’ll descend straight to grasp its mid-body, keeping the wrist vertical.\"}",
  "call_id": "call_RhkGzJKeFf9yDvVvIEZv9Tcw",
  "id": "fc_04177dd1a3555788016ab43f4fe7f887d099106ec572b8239f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RhkGzJKeFf9yDvVvIEZv9Tcw",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.3922, 0.3454, 0.2176, -0.6346, -0.5205, 0.9933, -0.0021, 0.8303, 0.6445, -0.4217, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.283 left_y=-0.1281 left_z=0.0333 left_yaw=0.011 left_pitch=-0.0644 left_roll=0.0604 left_gripper=0.9933 right_x=0.2964 right_y=-0.0015 right_z=0.1799 right_yaw=-0.0275 right_pitch=-0.0347 right_roll=-0.0151 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.6154, 4.7521, 1.7363, -0.2027, 0.0855, -0.022, -0.0615, -1.3744, 7.3778, 1.8193, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf7b6588753fc48884136f728d8c4b2c6916edfb60b2141bdd3e251b28f5ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47407e46279f9b96b1be629c6f2ceb212103f8df4dff336b9820feb02920d6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160b8dce75bffba08df3002c4d9bf88a4ef10a4de8a293c4fa170c27f1a9c5d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.646 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4873, -0.0135, -0.0338, 0.9932, -0.0029, 0.823, 0.6453, -0.3813, 0.0387, -0.0017, 0.9984]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1561 left_yaw=0.0008 left_pitch=-0.1205 left_roll=-0.0009 left_gripper=0.9932 right_x=0.3014 right_y=-0.0041 right_z=0.1907 right_yaw=-0.0489 right_pitch=0.0141 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.6342, 6.9402, 1.8144, -0.0366, -0.0708, -0.0122, -0.0205, -1.1556, 7.2274, 1.8926, -0.1197, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7856, 1.1179, 0.6468, -0.2932, -0.6403, -0.5396, 0.9934, -0.0021, 0.8284, 0.6445, -0.4179, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=-0.1371 left_z=0.1453 left_yaw=0.019 left_pitch=-0.016 left_roll=0.0011 left_gripper=0.9934 right_x=0.2968 right_y=-0.0014 right_z=0.1812 right_yaw=-0.0271 right_pitch=-0.029 right_roll=-0.0147 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -3.7812, 6.5573, 1.6484, -0.2222, 0.1392, -0.0659, -0.1436, -1.5521, 7.0085, 1.79, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.3922, 0.3454, 0.2176, -0.6346, -0.5205, 0.9933, -0.0021, 0.8303, 0.6445, -0.4217, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.283 left_y=-0.1281 left_z=0.0333 left_yaw=0.011 left_pitch=-0.0644 left_roll=0.0604 left_gripper=0.9933 right_x=0.2964 right_y=-0.0015 right_z=0.1799 right_yaw=-0.0275 right_pitch=-0.0347 right_roll=-0.0151 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.6154, 4.7521, 1.7363, -0.2027, 0.0855, -0.022, -0.0615, -1.3744, 7.3778, 1.8193, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf7b6588753fc48884136f728d8c4b2c6916edfb60b2141bdd3e251b28f5ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47407e46279f9b96b1be629c6f2ceb212103f8df4dff336b9820feb02920d6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160b8dce75bffba08df3002c4d9bf88a4ef10a4de8a293c4fa170c27f1a9c5d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9TYjB3riMbV4Kdh7QdazTXv2SyWyjJoOxGNN6adC84aDEWT1ND-d5NMF2FP4_Ec5e5mhojRZBBf1Gw3L-m81YDqxORdSdb3xkzAcMM9QZAubjRSiZHls9KqRez8Ytpu4a6_ftQvxcANzTxsBDxU9kf0oEOJtbdnzySF3RPSQKFS-lrlj0z34PDkETCYRW5fnAeuan7ueHeNKeMRRjAVLWNw2F_XLdW4OnSj_sMYk94qdZ_urcc_hPA9ysWF0fYlIApjNC9WSfHW635-Ca5GW3a46ghN9KZGcnaYM7LPeSeRuDKy0mVODOnsoGlPgIKgSJ3rx7suMRbXPUk4p9IALy_abdm1JHLO01n67megXSnPlX9zAPHTvYLpFbl0T2YkhRodxWOXHlRT-EaSPXlT6qJ7cZDUAmRisfE1hzLHlkyuOZ80iMnv5Fgi5IfO91eXW-5GW8JGUpivrqiHogsHjnf004AAZ6gZY6KtMz9nhg84mQVRQNWXJH2e43cWPzb-ZxbKDbdvl9pip3_oqmKRH2qKGC67Uyy5BRUEbmkoPtOUwu9RLBnKaNNhuLvEh6IWd8GSubP8an9gy_sXHmxZjqBWvr9QkWIrjX7tHYOp0aBXDJ4UI54DLiPjlgJ6wwo7aWVAIQ4uqG26jQrd5i4coQsxr0VWlMwYA_JtTCQEScWRXxrO_82W5Gj9HXaBwioLniDK3P3dWejjG0jh4xj-XLodaND5jZLaNBBl08RqoJhSEeojlsDRmMivhElKj14AAamz4usqRX7kXvc9RSBrXrKPeZLrf4nK0_BqwxWm8JvDGBD7SdIT3FHidcTG9EadQdwQ3FZf4wRZ_tpu61BsZKAvTus6ICRXoYDuDqm1-PfcDso36_sUJNAjN5MrOjkm7Ot-EOfIM40anrtTNBbijl2Q04tMMY2jxKwm0Npi43SOShbT7TtYNbY-wgsI0qNRkWGDniW0IkSSsc1zRxL_7IxZAC_ZkrXRs9kZghK1D3zb3vAnomjVbLQ8f3xWwQoTtR7wJXDsjEpFyanLT29ojpSB-GxeqLwBm3EmujJmPQ_YpxmXLBikYosqhkjIzKihVhAAxa-PoH6rOc2LgXQpdV7OaVLoNkIm9z4wLXd94chdXeBLWW1LQZZNLMXENpp9s1fSFKJiLpiiNqoPzo8f-kCZQrfoxChU5eu4y3wpUL9ukuB6v6jI_89rFgroOJBDmjQ",
  "id": "rs_04177dd1a3555788016ab43f5257e487d0a10406666f66d7ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The dark fruit remains centered at the correct low grasp height, with both fingertips straddling its widest section. I’ll close the left gripper to secure it.\"}",
  "call_id": "call_M1oA8KzHyGM7uPqSArSLpcC8",
  "id": "fc_04177dd1a3555788016ab43f5271d887d09d5e1c898f7342aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M1oA8KzHyGM7uPqSArSLpcC8",
  "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]: [-0.7811, 1.4078, 0.329, 0.2207, -0.6327, -0.524, 0.3155, -0.0021, 0.8303, 0.6445, -0.4259, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2783 left_y=-0.1238 left_z=0.0242 left_yaw=0.0131 left_pitch=-0.0856 left_roll=0.0773 left_gripper=0.3155 right_x=0.2958 right_y=-0.0015 right_z=0.1791 right_yaw=-0.0275 right_pitch=-0.0389 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -5.2444, 6.2564, 1.3797, -0.2906, -0.0317, 0.9548, -0.1026, -1.4838, 7.2, 1.7656, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c1f52389992a5f0912c6f9812396a3a0212e3ae5fd7b84322a6c1c09a3a03d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2385408bb7a85007b82115e49409f16285ac1a56022525c6c949b620fc9fca82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be93a0286ad6306f381835b9b05c58db6ef7b66618ee955350c3902c58ec864a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.197 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 1.3361, 0.7792, -0.3229, -0.6964, -0.6308, 0.9939, -0.0021, 0.8272, 0.6445, -0.4118, 0.0257, -0.0189, 0.9984]\nstate[eef_state]: left_x=0.292 left_y=-0.192 left_z=0.1319 left_yaw=-0.0258 left_pitch=-0.0606 left_roll=0.0404 left_gripper=0.9939 right_x=0.2976 right_y=-0.0016 right_z=0.1828 right_yaw=-0.028 right_pitch=-0.0217 right_roll=-0.0146 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -5.4085, 8.8, 1.58, -0.5739, -0.1001, -0.398, -0.1983, -1.812, 7.1179, 1.9853, 0.1001, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.3922, 0.3454, 0.2176, -0.6346, -0.5205, 0.9933, -0.0021, 0.8303, 0.6445, -0.4217, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.283 left_y=-0.1281 left_z=0.0333 left_yaw=0.011 left_pitch=-0.0644 left_roll=0.0604 left_gripper=0.9933 right_x=0.2964 right_y=-0.0015 right_z=0.1799 right_yaw=-0.0275 right_pitch=-0.0347 right_roll=-0.0151 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.6154, 4.7521, 1.7363, -0.2027, 0.0855, -0.022, -0.0615, -1.3744, 7.3778, 1.8193, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.4078, 0.329, 0.2207, -0.6327, -0.524, 0.3155, -0.0021, 0.8303, 0.6445, -0.4259, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2783 left_y=-0.1238 left_z=0.0242 left_yaw=0.0131 left_pitch=-0.0856 left_roll=0.0773 left_gripper=0.3155 right_x=0.2958 right_y=-0.0015 right_z=0.1791 right_yaw=-0.0275 right_pitch=-0.0389 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -5.2444, 6.2564, 1.3797, -0.2906, -0.0317, 0.9548, -0.1026, -1.4838, 7.2, 1.7656, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c1f52389992a5f0912c6f9812396a3a0212e3ae5fd7b84322a6c1c09a3a03d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2385408bb7a85007b82115e49409f16285ac1a56022525c6c949b620fc9fca82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be93a0286ad6306f381835b9b05c58db6ef7b66618ee955350c3902c58ec864a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9WJ0QpLcaxmWLOXEe1YCk3OMp19aaEEGzlF49Eh_Ogr8Z8C6AbQdTpqQd5KG2NUHMUQVXsTtYORu3G0lZAf76MlkT9fQ2mRs03V17hDsuzo9y2LnyIkWwjB0SX25ds6c-UUv3QxQJ967SZDdHMOKP-Zx0hZFmUFMDYm1jTXKac0o9YF6rEKYzwMiWu54u314239Ejwlh7b2O-cnOOin6aKcfTnTm3M94wZt0MAGHBC-_ThEQZLUu09ZrPva2ZCwmYTO_rocazNqg6Fhmes64y6RbeCjFA9Vl2KugmpXvBYP-CWJHoNULR0MKaFWnbCU9eCK5o2qWS2felJru-a-1LhJUwnxvsIIm0BCyH1ALWh9czp-crrUAABUE4SKYPbJif8LTbzN044OsX8ga57Av0YMapSfqHqBf6T-WM0Lo7WDIXbIaDoRiEBo3nVulxGfd-_s9SMdZuHiZOsRjdBug4fD2PzDNW-2JdahaGQsLBP7ro_efApkp19rQAhuLua4_bZ9o1PZyyu19RfedhiyGF9hfMK_lIlmGAevJ9jTD7dU6XDxFxt_PVSxUlzdHsvfKDg9Dcw4wsQ0-1uQYyrLhxA-SGJ5DIebNZJx7OAKJ0AwXi3rvyDZ5M7J9PMwNvgsVyMAe3xmc-MWJ-vrNbcnE1mUbUYENjVhLg1FMkbQQB0jZBMUtDwgg86_eNE8u3bRUYj6L0mbC4nTFf2De9b1LBHlm5_Pb15Dy3GimvzOIZzgsYebNoiCVpJ2R31xE4j7Rm3SEM7mUzA-zRI4FgIljZNrwaGoafHZbyEUXyAJMVMdfGqwN8POnhCMxpAscMhCAXeKKANtrkxNcyyK06tAI43VXTpEBJm0nRxSw4zgE6HwbgIQKgLwTjsY_re9wVEUqbOZDIBsVpu_Ara6IXNLnf6nJdS9ZuK8I-5vwn4LfUXAKnOcFgQMhJIbw3iecNMgEFOpZTNhkRkQjaUVSaK4kYESJt7ihoiHihE0aZoqXYDApQNGN0mAuWPmn88xz0PSzvvwQhB2PHd4qBPRve5jv3-w1gPhtrX9BAfyGWby7NErZgt2vM8U0foflum9pMtmr_-hXMYbyUWgnVBW5Sjievkn1mR9mN-pNzCAw56rLJgeamdEvHiqLWgoaqzzi2C4SQimCQkIlQ9U8LV8rPSKvsiYIljlrJkZ54N5W8njaZbv97d1kkvaHpZtOHJReczTpLdA_7M7BRRkwNEgSIil5P177Jo587xFp6AMTV8FYhOpM_MlcJU9ADTm_YSuKml-yGCSLCwrxOltgJ5rtnW46tFew==",
  "id": "rs_04177dd1a3555788016ab43f5574e887d08913ffa348c84789",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"The left gripper settled at 0.315 around the dark fruit, clearly holding it between the jaws. I’ll lift it well clear of the table to confirm and prepare for transport.\"}",
  "call_id": "call_TvSR6uivJXJWC9bY5Q9TFYgO",
  "id": "fc_04177dd1a3555788016ab43f55d5e087d0b3a94662fb7f6a7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TvSR6uivJXJWC9bY5Q9TFYgO",
  "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]: [-0.7811, 1.0176, 0.5854, -0.3126, -0.6292, -0.5228, 0.3176, -0.0021, 0.8341, 0.6445, -0.4389, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2785 left_y=-0.1246 left_z=0.1443 left_yaw=0.0062 left_pitch=-0.0077 left_roll=-0.0041 left_gripper=0.3176 right_x=0.2942 right_y=-0.0014 right_z=0.1754 right_yaw=-0.0272 right_pitch=-0.0556 right_roll=-0.0154 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.4667, 9.5932, 1.4042, -0.2515, 0.1148, 0.5592, -0.0342, -1.5932, 6.9949, 1.8291, -0.0073, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8013e6894dbb9c26f33c3bf921fe90b7e9b347afdefb323c7f2196ba0494574a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7820cac33ea1b831bf534a92c99ac958ec05a1c3df413b96c47d840f4f85773e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9522e7acb7e6096fccf18ac660bfd6c1b493a2d4d4236a300e12f0f1c5347a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.087 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7856, 1.1179, 0.6468, -0.2932, -0.6403, -0.5396, 0.9934, -0.0021, 0.8284, 0.6445, -0.4179, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=-0.1371 left_z=0.1453 left_yaw=0.019 left_pitch=-0.016 left_roll=0.0011 left_gripper=0.9934 right_x=0.2968 right_y=-0.0014 right_z=0.1812 right_yaw=-0.0271 right_pitch=-0.029 right_roll=-0.0147 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -3.7812, 6.5573, 1.6484, -0.2222, 0.1392, -0.0659, -0.1436, -1.5521, 7.0085, 1.79, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.4078, 0.329, 0.2207, -0.6327, -0.524, 0.3155, -0.0021, 0.8303, 0.6445, -0.4259, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2783 left_y=-0.1238 left_z=0.0242 left_yaw=0.0131 left_pitch=-0.0856 left_roll=0.0773 left_gripper=0.3155 right_x=0.2958 right_y=-0.0015 right_z=0.1791 right_yaw=-0.0275 right_pitch=-0.0389 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -5.2444, 6.2564, 1.3797, -0.2906, -0.0317, 0.9548, -0.1026, -1.4838, 7.2, 1.7656, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.0176, 0.5854, -0.3126, -0.6292, -0.5228, 0.3176, -0.0021, 0.8341, 0.6445, -0.4389, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2785 left_y=-0.1246 left_z=0.1443 left_yaw=0.0062 left_pitch=-0.0077 left_roll=-0.0041 left_gripper=0.3176 right_x=0.2942 right_y=-0.0014 right_z=0.1754 right_yaw=-0.0272 right_pitch=-0.0556 right_roll=-0.0154 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.4667, 9.5932, 1.4042, -0.2515, 0.1148, 0.5592, -0.0342, -1.5932, 6.9949, 1.8291, -0.0073, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8013e6894dbb9c26f33c3bf921fe90b7e9b347afdefb323c7f2196ba0494574a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7820cac33ea1b831bf534a92c99ac958ec05a1c3df413b96c47d840f4f85773e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9522e7acb7e6096fccf18ac660bfd6c1b493a2d4d4236a300e12f0f1c5347a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9cdHrj2rmijTcxfAO9ljIQQwolFxzON56YarEkncc_ZofPNDfQ4woeaA5ZxcVk3HuexR0PhL8u6inYeIR-S8bPMQBSN0oa3jWPNqsfsVmqefIv-hTw7WAB-Fi5WL_eg6VzpMjXSjMRioO2zPukNqd6Qa_Nve-H5V0vntnj0fn0ugG2T1YA9pgX1QaqPer1K2VhQ3ZsMXgss18slA6tJKTMM6zS19bHnMoMvPZ-0BjR9C3iWZOS0kQssRewVkJwg-WUDC3pagjZwl5K7fVKQasOI4rUnqtfeCksVhSRg_Z5UuV02QP3VhYeCvovjlmQXqJEpJUI5wk-Ac60ZaQTZ3dWgU8P5iGwZ1ag9sfWBbDkJMRS7auA3tU6btmVPA-sNnHEjBbSwIpKQrq74cpTD-nf2CnZPClx2bpCNFItNAN6ZzF7KcLoK_9apcMosI85cFidvjSyCEQ3Q4aHSHteI-y9TMEp-JSCHBgZ4N7nZanNT9lFmk6h6E3Xx5UFMxN7_qGkfPnpXfyis3shMBE72CKqY_T2fgHyE7KMfdStUsxQIuTFRNXlBVhjh1-0jQQPykj5bffS89jMMhrB15JMOYqcJRgavNOYeVNGdj2bQY0H0j9llwI4hZJ5JrJeMQDdk4WSkB1wGoMNGgZcAtX0C4qdTDAFUTxsFohrifbJ_zX9CjKF_hvdiYkaz3tESmabbIpjh0eoJAiie3qWYC-aASSWRxrg-sSQhegW3rjAXs6lLVscB9hXGr64WF8_5IVpAqzyVVYZg-1x7QPSgrvowwmH3PVMtYoXK4rZhsC0pHzPKGt9PccDa53tlrb54a7ogr7W61WG1b4n3Apt0wLBF6_YxJsZ3dN5PA20fXKMaobVN34ZC9bnRx3MHVo5CAe5f3Qq1afz28wMpiIP-C7rVh3GaYNV9DqQQeNn-1D-ndb51uPL9eCeCxrSGp1LqDyYHxunObiHf48gcxMC_Sd_1yVh1OE8TI20ej6yXOTt9I54u6DbY-ryYEnpEEfvrvT2KmSgs5G2MEr2kH9C_TC4lSoj5zgMGhsR9Ks3pDYMJ4bJuY5bLCyO5JK0qavZaasIauh1PY7gPZq8wY_yvmlaNPNP5bqgyViS5X2A1BJh4FM1VVqVYU7SdieVsWp_AJhO2cEnvnQpGZPV94HYRY--ZbdqLjp1jNOSijnmKJhJvK7dfjRbtQFMfUfEd0iewiThsWrkzCqmsRU4UIbYyWN3dFz0yIFjSfOcs88Xb9yTJwfGP0wFlI26sCEActL7Kyb7MXv5b_HFq7tbA0slOppFZSBK0Ltl99PMqhL6YzmNy_1blMfh2Gv4kls5ikXItCPUCkyFcYx8ub__8GoDlWByWc9RyR-wruEBBszFBnnmiQ50oglrox25_JxsO33NwHX-fdijjhjPGOTkEsbJ3Zu5EY-Fb7zxC5-6OKi8kxOBsB8tdcCY8AOwgvt_HF7APihFrNB2STDvE7sSsrh8VPhc8wZ_rHYIay3rzWqAwkkHYhDuCRRnrAXpNqJwrQ1IN9hAbjXPIYqWbDZzJUJEeriJTB_pWw30W1tp44Tv6H79fo5dSrqCanW3397JPHf-Xxg324fBaYfMDHbKU1KmRSeWgkppqahVgBzOpaY_G0KoFfariXRkK4QB4XzljOxmqIK9eFqvWbeMdh3Yd0_SjLS866sk7QemlIwVvKmDVUqi_w8MEiHdJPI2QAQEdsEFF-awvas9jEqJIV82J2GrCfyIbI1OaevwllHIhTYfmyTzN34sS_9HhkGQVX7e56bvFrVx5RrEirYCeDXaWz--HK7DEuYA4vwj2Fl7NMt9FMrMDYL8jxiNR6MaVbzqxtS9O9Iw7-rwjfk0p-p4v25f0Cx9wr7zihHM5C6LMDvycfMlAzvsZsI4UeGLQn0Ptw6H4Adtj8BwUftoBKc9Ww6HvLUTQe5Iq5Cpd7ZizAK6wVvr3T9HSGc5uL3X3LyhYmEG7zGMdsAHlGe344Mo0Ucb447TFaUxSJwCCnMgbhzGEYUdDBrEN_bkFyS4okUDhUUla7oMIo_c6kvYhg3HXU9YT3uyo7kpv1jDgcJfLhQPT1knWGZDlIpfrqFjMK8vT1Gw_nLdBWtZOQ48xus6DVm3xmamH2IW3YQIg1fF7jT6yBEefoyj9K6a2LusiIonzF1emCknH5L3cFSZdSQg4uyRwk2HDLp4VmdfBQG-qoZk6vdSGvnEJHyUva4F4IE8bEivPYDtGrzbMJLlifydrmsA6Pk9rjNlCpS2W0WVHdqKqKkKs4nqbZUjKovfuToTNJUpTeXgI7belsQNlv2o9VdGfo4LxR1zrorXNvhmmzSeyUaJvGFqWWoiaOmzvMWaJoxWzn7zB5pP7EjcBjpvPN-W94gQEGgrfGzD_YkYPf_F88yr87ZoyGB28XAERlqYu8LdSeLCxpScTLAcSkihvBY-5DDxiqCsTBqCwdOMo9KmgKuY00tLiFOXmAl4h64_Vyyqd9bc5D9m4DoCpjXptaW2MMknjfeLis_mcytV2N_WKY_FI_hlYLJVUfM7MGxCU-0mgVe-vSRxlDD0T2tqnAdj_QC6X6yBi3DABqJMA6ajVeRZeNtqDzrIP12sMy9_o0Ov33e0A48u7ISHwMJyzQ3f8rQbrzXpyEROGwTWOrbJoqkQbX_hBpfRKOKh5J_Q9zhfBnHkuuLRyM4Rdl1Jd4--ydiRwGTIRYsoPXK37gl6r8_hbI-oCK2Lua5_DUu0vjszYOe3oEplxkbcWXEt80nvuTsM5mIC2FtdrKgK9uvZ2VzGGzNB7qZ1uiR6RtzLhrmxYLXcf2pz3l8AsDrtQpb1Mzpls0z7fA==",
  "id": "rs_04177dd1a3555788016ab43f590c3087d09dd62773573732eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.3,\"left_z\":0.17,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"The dark fruit lifted securely. The blue bowl center lies beyond the left arm’s safe lateral bound, so I’ll move the fruit to a clear central handoff spot that the right arm can reach.\"}",
  "call_id": "call_M2XtHL0xABAZfjFrVL5Tn4cb",
  "id": "fc_04177dd1a3555788016ab43f5bc38087d0a3455ae51984c2f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2XtHL0xABAZfjFrVL5Tn4cb",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1034, 1.6714, 1.1896, -0.5022, -0.8227, -0.8398, 0.3197, -0.0021, 0.836, 0.6445, -0.4469, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2976 left_y=-0.2943 left_z=0.156 left_yaw=-0.0113 left_pitch=-0.0299 left_roll=0.0125 left_gripper=0.3197 right_x=0.2932 right_y=-0.0014 right_z=0.1733 right_yaw=-0.0272 right_pitch=-0.0656 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.6632, -8.3624, 8.8274, 0.9646, -0.6764, -0.105, 0.6276, -0.0342, -1.6479, 6.9812, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03086b5254318417bf7640a7e966a7e523ab807248bb4000f4c52c0aa728023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3206ab70076c8236cdc4df403048256fa216d4ad93abeac0cbfdcbb339d8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4860aafabfb2a00e6151be37a6e7fe01eccda39be1f39a6e676965ea6f5648",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.451 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.3922, 0.3454, 0.2176, -0.6346, -0.5205, 0.9933, -0.0021, 0.8303, 0.6445, -0.4217, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.283 left_y=-0.1281 left_z=0.0333 left_yaw=0.011 left_pitch=-0.0644 left_roll=0.0604 left_gripper=0.9933 right_x=0.2964 right_y=-0.0015 right_z=0.1799 right_yaw=-0.0275 right_pitch=-0.0347 right_roll=-0.0151 right_gripper=0.9984\nstate[joint_eff]: [-0.0205, -4.6154, 4.7521, 1.7363, -0.2027, 0.0855, -0.022, -0.0615, -1.3744, 7.3778, 1.8193, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.0176, 0.5854, -0.3126, -0.6292, -0.5228, 0.3176, -0.0021, 0.8341, 0.6445, -0.4389, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2785 left_y=-0.1246 left_z=0.1443 left_yaw=0.0062 left_pitch=-0.0077 left_roll=-0.0041 left_gripper=0.3176 right_x=0.2942 right_y=-0.0014 right_z=0.1754 right_yaw=-0.0272 right_pitch=-0.0556 right_roll=-0.0154 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.4667, 9.5932, 1.4042, -0.2515, 0.1148, 0.5592, -0.0342, -1.5932, 6.9949, 1.8291, -0.0073, -0.0269, -0.0122]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1034, 1.6714, 1.1896, -0.5022, -0.8227, -0.8398, 0.3197, -0.0021, 0.836, 0.6445, -0.4469, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2976 left_y=-0.2943 left_z=0.156 left_yaw=-0.0113 left_pitch=-0.0299 left_roll=0.0125 left_gripper=0.3197 right_x=0.2932 right_y=-0.0014 right_z=0.1733 right_yaw=-0.0272 right_pitch=-0.0656 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.6632, -8.3624, 8.8274, 0.9646, -0.6764, -0.105, 0.6276, -0.0342, -1.6479, 6.9812, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03086b5254318417bf7640a7e966a7e523ab807248bb4000f4c52c0aa728023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3206ab70076c8236cdc4df403048256fa216d4ad93abeac0cbfdcbb339d8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4860aafabfb2a00e6151be37a6e7fe01eccda39be1f39a6e676965ea6f5648",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9g1oUDg7qDFrv9ZW8kPsvmYVTco32bnVtdJyUdtQVJo4GQqjuRvqxC75ctBlLUSSg9gHVtZEOcYG4Ov0JLQkKBLxOt-ydfTdXdz141bzYLa7DMFFNsPnx391qZOB2P29NcTv-y_yS7OPY-WHeKdH8epWXxpkkcs7uCPmv65ng3bajRf5V-OBhLadL8qYjiNyErGVTu1ny6ax9SV5Trbm-RUXie1QzpRwEEY4LYh_kUuzIxeaOV4fxzBh4t28golZdm5zKqZnHDZHfVfp4ZvzfR06ImqUOHygdorkCcaFcLXlyiGMDfKd_UQC4_3NVjlevdXTv4eH1UtSU6KChkyZXj7xy9SqgBQOnBXp-nVOcQiCYHgE1pOkCP2u2KSaenoRxL3n6f2533TyWrMQC6rZcOoX_4pMdQqArbhmchGBmLm5TPRy6CJuJY_4GW0TDoxrbyVISiJb_TPWapr3EfZBbuHZ5gAXnd6cGyJ6XKCHPGfp94DEq1_OfT9dy111vtnna6EZtmpplNhy4qUrkgR-_idsB_BxIU34gId3pXC-vUZL1iTPe29-vhBkyIGojdbp2rLW1YEz8vMYderHs1k_ZSRt3x-4k-aIdGd3efem2qEkYZwwVkIrtXol_ekUm0ZryNtOaL-KVS_pQ8w93mMrks-Ijx_lIfJ0-_pDmd03Fxtcj8jIC0VbjYei5dBtmN1I74S4F3g9qKbVtLvu_4HgIN1dqa9dK5FwpY7Ff3NlDSHZFnpDnW2MnxDCwkSGT35tXZMLxm-q451QZVLQaZwlKanKBBPFghpD4j9bgYGXuMCIHPN5XeqxhyZS0IEM8UkwYlVC_VZ58Pl25QFZv6qsNhHlN3gFES7H29eCeKTuvNpHQ3zy5M2PTCbECrP9Dmexc6vAHTU_VFoTPFJCfVXy2cmMrXsJf99onz0IDspYDCZGzalFfXdMgUQel4rDFwfPQe63zqBALnzISK3coB_26rqLXpcSZxzsRnR-DdBS8jz79uTn0_h0gHrhjV0MEUO1GJk5mWHayQXRfC2fmBjb5-az4HK7DgMJ5whHvCmeKSpm0CHUQRlt4zkX8qvHnrRKKx99IH3XUzR33ma3-Hcm6Phv2oeZP2BY07c-By2fbDFJUfJ01OsO_6V33j9rsmwdvSnfFX1vNSrDU63LvgZTU_XGlEdFY-8kNs5LE7WN7qeHa2KZ2JJm8VNV1TQ8SoFH4ZlM2RY-dJj3V6L72ZgMUxGZ4vj0Z5TVpdeAZhzEYdK8U=",
  "id": "rs_04177dd1a3555788016ab43f5f647c87d0a6d1896aea110719",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"The held dark fruit is now over a clear central patch between the bowls, well within both arms’ workspaces. I’ll lower it gently to the tabletop for the right arm to pick up.\"}",
  "call_id": "call_V0HKNVxD7fdusg8ky0XMp7ep",
  "id": "fc_04177dd1a3555788016ab43f5f96a487d0bd89adf0f77bf0e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V0HKNVxD7fdusg8ky0XMp7ep",
  "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]: [-1.1095, 1.8675, 0.9257, -0.078, -0.8265, -0.8455, 0.3207, -0.0021, 0.836, 0.6445, -0.4477, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2928 left_y=-0.2891 left_z=0.0401 left_yaw=-0.011 left_pitch=-0.0434 left_roll=0.0411 left_gripper=0.3207 right_x=0.293 right_y=-0.0014 right_z=0.1732 right_yaw=-0.0272 right_pitch=-0.0663 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -8.1846, 5.2581, 1.3602, -0.5934, -0.0513, 0.5983, -0.1026, -1.1966, 7.0769, 1.6825, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1600e0f48e0f35bf8171b8c7f0a7e999b67c89507a844cf9c0941898fcafb50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e6205eaddb81dde78718d810903b5fa4fb6e9db4146ffed2aa55c0391a4bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f64de552b84e44684d4e479c8fd008ff8986fd49985e3cc3fdacaecfce43d33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.579 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.4078, 0.329, 0.2207, -0.6327, -0.524, 0.3155, -0.0021, 0.8303, 0.6445, -0.4259, 0.0254, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2783 left_y=-0.1238 left_z=0.0242 left_yaw=0.0131 left_pitch=-0.0856 left_roll=0.0773 left_gripper=0.3155 right_x=0.2958 right_y=-0.0015 right_z=0.1791 right_yaw=-0.0275 right_pitch=-0.0389 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -5.2444, 6.2564, 1.3797, -0.2906, -0.0317, 0.9548, -0.1026, -1.4838, 7.2, 1.7656, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1034, 1.6714, 1.1896, -0.5022, -0.8227, -0.8398, 0.3197, -0.0021, 0.836, 0.6445, -0.4469, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2976 left_y=-0.2943 left_z=0.156 left_yaw=-0.0113 left_pitch=-0.0299 left_roll=0.0125 left_gripper=0.3197 right_x=0.2932 right_y=-0.0014 right_z=0.1733 right_yaw=-0.0272 right_pitch=-0.0656 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.6632, -8.3624, 8.8274, 0.9646, -0.6764, -0.105, 0.6276, -0.0342, -1.6479, 6.9812, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8675, 0.9257, -0.078, -0.8265, -0.8455, 0.3207, -0.0021, 0.836, 0.6445, -0.4477, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2928 left_y=-0.2891 left_z=0.0401 left_yaw=-0.011 left_pitch=-0.0434 left_roll=0.0411 left_gripper=0.3207 right_x=0.293 right_y=-0.0014 right_z=0.1732 right_yaw=-0.0272 right_pitch=-0.0663 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -8.1846, 5.2581, 1.3602, -0.5934, -0.0513, 0.5983, -0.1026, -1.1966, 7.0769, 1.6825, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1600e0f48e0f35bf8171b8c7f0a7e999b67c89507a844cf9c0941898fcafb50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e6205eaddb81dde78718d810903b5fa4fb6e9db4146ffed2aa55c0391a4bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f64de552b84e44684d4e479c8fd008ff8986fd49985e3cc3fdacaecfce43d33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9j4hIH_dhKYpAYO2j_bvHE1bymdqoUs21PxyUo8VHvlAue7nrKpRhpZh0_Ah-BWeWGLmYSQ5rX3HJ1H0_w20Y0tlnH-jDPlDyHPGJ-1Or9A1du05lfP5NpwLDAl83WQe9HudPPPQ5aotn7BtID_rnvAD0QvRGvledZ0H5EbxHlCbzXC6njeSF7lfSLCeybwxeV2X2u5fVhOI6qlWhJvFv9N8vHczvWKBWGJRYAxG2f9gFUzAGDK48juznTFhuSLhKgakeXx5zOsqtdjCoZC6bcnSuc_fBIky0C4YGwTpEC-J97CSlSGGPg3sdlUpgV6On1fqfFJopapDU4cvJR8OKrMEK9LGexQucXzIKi8YrYX2uvDaozSXsqSdoKytUUVlPK6jNtcEx17ICzx-pEvYhQcGkvH7U67Ixcv4jRLNk4ILGJkwy7ImYYvNnYqvqIzQoSp679nWBJ0Esr7EoCksli_hd6RYYFD_2GL2AcBwsCIYcQx0a2Xw7RzBJD39ZrcL26YEaLRfrxDAQipNKS4lrWFrMvM3baXumgH7tn0Wy9VJcSFIs9KF0CuFyA1ab7HmcOkSLuypveHHTU_kFkkp2m94rfh9HAZIaR3yfvTXa5vhdOj6cTlRYlPlWbQgKbuv0FEABQN5eEUZFBwxGaqiDYR3qbotdbi3QVhehnILvy6jvZwvLVVnhu0rAIcKBFUBO-Zt9r8NdNUvXJHwJ5Nrokg-3HOQWRP54Szzu4YIVuzEx54bDXEkjNGJbPzUXvFgaSvLDfRS316MCc-KEekP58K1vR7p57mHdyOYbkhLIdpHDHjc_YixMNg-d-nTFhqxR0xFE2xpqYCo7MxGOWyMmGDNaTfIaQ8dL8PazY558ww8FotDdNNQfXEhOMhWVlWqREFohTugMa0p_O2CH1uuDOd6sVWF2rWYkugXRaReyslaL-5dFQc29gyVdJHvB9Nrn7nCk5LT7c0s0s6hZJmI7mFtgJhYrg3qSzD1rBtxPTrLISp2LJIoS7Ntohw14pomg6HisiJuN7YdYFRhrsSQlLRi-9ckToaq0BLy79OvA1CHvJqzFOLZQ2QiU4FzR3fhlIV8e-8uALZZWE3BFnP07QFt-B7bdM3b9wIwyU8K_l6CHQs7feEPnyY9NHImngbfwoygkJ05OjxtGMmraYwLf3RFUorYkNTyazGx5mmbPazBnlLbSGEF-vyTKOtf03kOgICFaCzSgUbSD31shmJ07-ig==",
  "id": "rs_04177dd1a3555788016ab43f6299ec87d0a0e3ca1e4cdf3887",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The dark fruit is touching down at the central handoff point while still centered between the jaws. I’ll open the left gripper to set it down upright.\"}",
  "call_id": "call_QMeyXXJZSmtSaVeBL0xv8JVm",
  "id": "fc_04177dd1a3555788016ab43f62d6a887d0bb8daa58b2fca72d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QMeyXXJZSmtSaVeBL0xv8JVm",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8942, 0.91, -0.0746, -0.8223, -0.8463, 0.9921, -0.0021, 0.8379, 0.6441, -0.4549, 0.025, -0.0196, 0.9984]\nstate[eef_state]: left_x=0.2894 left_y=-0.2835 left_z=0.0257 left_yaw=-0.0109 left_pitch=-0.0643 left_roll=0.0736 left_gripper=0.9921 right_x=0.292 right_y=-0.0014 right_z=0.171 right_yaw=-0.027 right_pitch=-0.0759 right_roll=-0.0162 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -10.8376, 6.4068, 1.0183, -0.4127, 0.0122, -0.4274, -0.212, -1.6479, 7.0222, 1.7509, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87e3359910d81c225c1bdc2ceb47063ec40c5d833abda3ed4f038c0f486a116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9a74d141c7ff6eb41a67e1eb76b0fca0d0dbc066cb715d51cd17d359ac095d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5bdb2b860d4a4b2b151dee86c71907308ee437f725f249e84d5b9dac41f0e7",
      "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 · 2.479 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7811, 1.0176, 0.5854, -0.3126, -0.6292, -0.5228, 0.3176, -0.0021, 0.8341, 0.6445, -0.4389, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2785 left_y=-0.1246 left_z=0.1443 left_yaw=0.0062 left_pitch=-0.0077 left_roll=-0.0041 left_gripper=0.3176 right_x=0.2942 right_y=-0.0014 right_z=0.1754 right_yaw=-0.0272 right_pitch=-0.0556 right_roll=-0.0154 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.4667, 9.5932, 1.4042, -0.2515, 0.1148, 0.5592, -0.0342, -1.5932, 6.9949, 1.8291, -0.0073, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8675, 0.9257, -0.078, -0.8265, -0.8455, 0.3207, -0.0021, 0.836, 0.6445, -0.4477, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2928 left_y=-0.2891 left_z=0.0401 left_yaw=-0.011 left_pitch=-0.0434 left_roll=0.0411 left_gripper=0.3207 right_x=0.293 right_y=-0.0014 right_z=0.1732 right_yaw=-0.0272 right_pitch=-0.0663 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -8.1846, 5.2581, 1.3602, -0.5934, -0.0513, 0.5983, -0.1026, -1.1966, 7.0769, 1.6825, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8942, 0.91, -0.0746, -0.8223, -0.8463, 0.9921, -0.0021, 0.8379, 0.6441, -0.4549, 0.025, -0.0196, 0.9984]\nstate[eef_state]: left_x=0.2894 left_y=-0.2835 left_z=0.0257 left_yaw=-0.0109 left_pitch=-0.0643 left_roll=0.0736 left_gripper=0.9921 right_x=0.292 right_y=-0.0014 right_z=0.171 right_yaw=-0.027 right_pitch=-0.0759 right_roll=-0.0162 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -10.8376, 6.4068, 1.0183, -0.4127, 0.0122, -0.4274, -0.212, -1.6479, 7.0222, 1.7509, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87e3359910d81c225c1bdc2ceb47063ec40c5d833abda3ed4f038c0f486a116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9a74d141c7ff6eb41a67e1eb76b0fca0d0dbc066cb715d51cd17d359ac095d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5bdb2b860d4a4b2b151dee86c71907308ee437f725f249e84d5b9dac41f0e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9n0Wh7Tr-4VR6Oh1X5Gv1Hx2slrR4XUEWTdEocAlypAuHYuXuK_8DYZib9AZIehVEYxKIp5fldvpe0JeTskMssoXmVK-CN-uMFMCdx3tPHyUYpbRL2CLg1X0jsnLtny3D2FEIj5QeXxYvhBsjFxFQFiYez_nQy_xRwBqpY9M-YhxGbjIAHJkIsIP3qGCqHCfUXc-YIfDyyNrzn7ui5znUSvdS3dsF3yD06Ld-ECVeQ2NZ5GuQycNc61zF5CFIRc9eWqgJpR91ypb2ztFcTMU25v-M7HufIMYgTdRf1crndxQkMd2p9L5NO6B_YiqbTSIkGUiLGBDPEpQxCH7uyj4_e3x0ctWCsAGZQBqlpLUZeBVlkMTStjxzgSjtYDCskXAtrisUJTysIgzRruBmbQ36QjIx53DkUXQ4VzCDHaIUbnib9WkhB2bngJgBlGoZVVmcbAE2s89AvHlIUqmOu0xTYTH6L59DTaepXWl6ub9m7VgMQJO2xp7afumfbkzo4w0Bb0m8u_bL5vrmx3h3Cd9ZNhXojl6kBc0M5dLl3Dqw0s1ZxXH5-oakEoeL4qdOaQt1gI904ZK7ZZsg0lBSRtDZoBBgGtAa6lSJPs3DdvoLUz0_Kq_M37-R5sZlO_jmyVR58f8aJM88svZL-tlUaf0tD0IzYleuJq4aP6Z7GwUudfBjXa1FAPoRBS6E6dQ1IJB6Nh4UaJ4GAL8On6gLe2M-aP1TMJi4AHpWM1HxaDzX0cmqvpfarVaONLC53JcIYHirS2n7s9NWJuVBxj1TooUO_XPK_hsXKotdTFvgvScR7ciJQcK_V8yjn1xUrNwiWqqOI1OOBKYbOTOw_vG4rwIiT3esUre33jhK1RZz3VmXRmlPR7f1wH0pB3hmbnIHJU-qLePgH2UYIylyhptywGy_NoQujNMfLBqUY3UaI72p1LaYtTZVXbjh2-N2FHZs6p4j3ur5gzW4RB_NB55N4UVw67iaa9Drtc1w1UR4bS13KhpXLiWomvfU984owwXZ9fyueu8SxA_DFSgR4bfP3SDA52-9yiyIveDqB0sI9cn3ZvN85pnuI2-sOqAlkgxT_dlbsFmuNGfw1gGlObK07U-8Dg8KpPObsPCOUV_CIWhqG2bMUHlcmzyJTiejRjugTJIXNLTcNFQcuxqqSul1xjdBHeaDfNbn6jBOh9aQc9uH2wAXQcHYwMRe7XgN3b1vbR8bsx0yT9eX9rFLb4XqjP8l4ZW3xXxZQjEr0M6lZphT5U_XCACo8kRChkxnOZA_Y4j2jlUZmO2zcnLxdRvaH4ZiiUEHcrh897PjTI2s84Am-Gw0ejd6sZGF9OIvvy3_Eop6MdMgpsZNI0Zzv7ap8dXbOjl62YU8S7XkbMIXLVOapAn3VnNJ1LPIBu9cP4eS5v9WSWVV4rqiNh1HdAr97J2dwd4lKfVMero6ztDsCiDW4SFchXxL8UvSzeZYk8T839X6LbULlKZeNRmv79EP3-063LVxeA-c3D2QEfbrtTRJVZXHae6wASXclP9B4ZmeL1jBJIt68rLSNHTWm0V1ERw3lklaJVl4UZuIhiMNiBHnDNr6pxjcRvCM6Hmya_KFoXZPwKtX4ha_158GGj-3yjW398bS9FoZoAjXGws3JvgOgh4cLgYxsSNzZsZMGrKDflj2N15ip3Lt3VlhKvBJchSSqYJr_X8UzopVVPuWTanlSyKn07A5xFGlzyNSucOrwccl1-0FPrWEiZE1lYUmOVwsiYxYWuigAt5pMiVrZEfQfCT_kMoBBCH7cEu0wTH0fPkNWdbCkHxpf69AfAM05WkM1on0PwJqMp3j4kT0XCdp0sg46ec6iNIzYiihN5w5kvGsZ",
  "id": "rs_04177dd1a3555788016ab43f65433887d08de0a5fdbc0e27f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.19,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The dark fruit is standing free at the handoff point after release. I’ll park the left arm completely before bringing the right arm across, avoiding an arm-to-arm collision.\"}",
  "call_id": "call_Ev9izp95Ib4Z586Izb92qLVc",
  "id": "fc_04177dd1a3555788016ab43f66d97487d083a0a2f175a56d8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ev9izp95Ib4Z586Izb92qLVc",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.0517, 0.8112, 0.6056, -0.4053, -0.0952, -0.091, 0.994, -0.0021, 0.8417, 0.6437, -0.4667, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2925 left_y=0.0053 left_z=0.1712 left_yaw=0.0706 left_pitch=-0.0354 left_roll=-0.003 left_gripper=0.994 right_x=0.2904 right_y=-0.0014 right_z=0.1675 right_yaw=-0.0272 right_pitch=-0.0919 right_roll=-0.0163 right_gripper=0.9984\nstate[joint_eff]: [0.253, -1.853, 10.1538, 1.79, 0.1001, 0.2271, -0.6374, -0.1573, -1.7983, 6.9812, 1.7949, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f7d526764a7b5264f1f9da8c458d2377e71e413297df3768336277343cf010",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8658e46e0c1afcd598a4b303010b8cd5530755757f20a0a9144155d34f679e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a827d7c25f373846cff6594e155e1e7e34cd8fd1cb4c49ef604fa161ccfdd382",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.228 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1034, 1.6714, 1.1896, -0.5022, -0.8227, -0.8398, 0.3197, -0.0021, 0.836, 0.6445, -0.4469, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2976 left_y=-0.2943 left_z=0.156 left_yaw=-0.0113 left_pitch=-0.0299 left_roll=0.0125 left_gripper=0.3197 right_x=0.2932 right_y=-0.0014 right_z=0.1733 right_yaw=-0.0272 right_pitch=-0.0656 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.6632, -8.3624, 8.8274, 0.9646, -0.6764, -0.105, 0.6276, -0.0342, -1.6479, 6.9812, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8942, 0.91, -0.0746, -0.8223, -0.8463, 0.9921, -0.0021, 0.8379, 0.6441, -0.4549, 0.025, -0.0196, 0.9984]\nstate[eef_state]: left_x=0.2894 left_y=-0.2835 left_z=0.0257 left_yaw=-0.0109 left_pitch=-0.0643 left_roll=0.0736 left_gripper=0.9921 right_x=0.292 right_y=-0.0014 right_z=0.171 right_yaw=-0.027 right_pitch=-0.0759 right_roll=-0.0162 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -10.8376, 6.4068, 1.0183, -0.4127, 0.0122, -0.4274, -0.212, -1.6479, 7.0222, 1.7509, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0517, 0.8112, 0.6056, -0.4053, -0.0952, -0.091, 0.994, -0.0021, 0.8417, 0.6437, -0.4667, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2925 left_y=0.0053 left_z=0.1712 left_yaw=0.0706 left_pitch=-0.0354 left_roll=-0.003 left_gripper=0.994 right_x=0.2904 right_y=-0.0014 right_z=0.1675 right_yaw=-0.0272 right_pitch=-0.0919 right_roll=-0.0163 right_gripper=0.9984\nstate[joint_eff]: [0.253, -1.853, 10.1538, 1.79, 0.1001, 0.2271, -0.6374, -0.1573, -1.7983, 6.9812, 1.7949, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f7d526764a7b5264f1f9da8c458d2377e71e413297df3768336277343cf010",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8658e46e0c1afcd598a4b303010b8cd5530755757f20a0a9144155d34f679e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a827d7c25f373846cff6594e155e1e7e34cd8fd1cb4c49ef604fa161ccfdd382",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9snj4kNzD9ySew9JNJOQu21-0-gQ4uyANPAXWcSRSQsU91CFMKdBpyVKSTvrh2uQPbEDOAD4QEehb5V_ZbTdC_-zga4yVex00r4jYG4SYaxEe8IYe_p9_pOZh8zX2Myos2mKzGlgmj1URoRT8PCEeYCsAqUlqpkcmNVaFnkKGk7I1TTHQm1ZDGO1wVQD66NqkUuMup3q_-5VyaDYVxCAtHdqvwbdcsCpLPTqeQuBvdE3BJWCbiDBrPGbJw4voEa0Bd2lmkyFPBo7VmYcQZsTbJp72WbD0H3aVuDfbWtFyB_-hNYe47wlAUaLRE2sG8bj1__eP__OBtRDu70jRuBawHNJxEjM4kqb0Hvo2I4JVV65rXFiVWnBFxRtQtBghKNExFwkTcWnqG1smvLnBHMpiryrpPTTCgjR-Go9TWyrBU2Yilh0vQhemlfo59UkpDpsA5NDH_sKnnfvZpz93DDCAW29pViVFnMQW_ADOyqwmbNZ-Vvf6QS8Sn-oU8Jq8TI9J6U2-MvjlAUG-YOmy5HdWTECmu4kM26f9FanmYZi78SaSIhye8uDpRf95nY3uScgU_JyFlOdZ4Dqb4_z2d3UfiYnRxGK76CLKjQhTrX-J9iw45mH2hQL_2Z5MqYTrewKZKwDCus29qs98MqqKKnlYRZizhyRDeK7gT7CpktjrOp_f5Lr20Qpcym8984Z52S1RgON0hoWgcvz2t3etp-DENYUk5sP9YBD9OU9Oh5DpuQJj7mzIucGHNYzZq9xHfpL3Js0RUbadhDp9UKXiw7T3gUmStMW4WkzneBODeec4v9eerz6K1aEGT5Dr7M4qUwamr_gjrniyQa3jdN-qzX1s9gZwfOUI0RgV8KRVWtUrwJe_bJxQzu2036nB29_-8XIzfOIipmApVoGw4ZQd8ZR-K2yAkqe0rpwLj8vdDDVhtvkfEBeU1gavZ6U2WKoyNg-Dr4a7Z71OwwhA9O7eN2y1bN5SV-ndlpFYcNFphnv-KbFAo2fhAyWL7cJpgiyE68mdqtU2HNQcSITiSVYIh3-qXLpiJJ7UUia2IF6nJ6srGhL6M9NHecDy4rpytr8r8m09SPCUCfVwOJYkLUAOc_vhFLAdVTLPi9bE7EImTraqRrb9oo3nVaupnBIyCuXwn5wSmAyI6CP6chnTPiunYWmvYq_y1ZlQ4n69EkZedpdQ1eDWT9QjaUv79rMEFkIYVVlBiBZ36biP4KTz7kNYBw_K15B2salKbvVIfboqsP4cVM5PwXtOHhAV5d1qoyaGfR0c4pdOtMo6KmLf7ATp0flr4Vl5a3BGhU-R1qYYuXmx0fSfCd4eGNTt3BqMTPmtbrn0l3dzhluMyUkHCReW_fi8FkTetdvEwJtE2IstBdmatgIwNS_QKdFwDXIKEAPuna5zh",
  "id": "rs_04177dd1a3555788016ab43f6b63fc87d0a714a4ccfd2bcf7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.36,\"right_z\":0.15,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the dark fruit is clearly visible upright at the center handoff spot. I’ll bring the right gripper above it near the right arm’s cross-over side.\"}",
  "call_id": "call_y96xtngc9iZMQbaIgHllCrdB",
  "id": "fc_04177dd1a3555788016ab43f6beac887d0b94bde1ab174e028",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y96xtngc9iZMQbaIgHllCrdB",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.0494, 0.8139, 0.6056, -0.4236, -0.0898, -0.0864, 0.9933, 1.1564, 1.8938, 1.4044, -0.5407, 0.8421, 0.8387, 0.9984]\nstate[eef_state]: left_x=0.2901 left_y=0.0051 left_z=0.1668 left_yaw=0.066 left_pitch=-0.0566 left_roll=0.0002 left_gripper=0.9933 right_x=0.2964 right_y=0.3556 right_z=0.1393 right_yaw=0.0314 right_pitch=-0.0352 right_roll=-0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.5521, 7.1726, 1.8584, -0.149, -0.0611, -0.0806, 0.3487, -9.8803, 8.0889, 0.9792, 0.696, 0.1343, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607c708ff5b52b10f048fbce22bfc0313f06fe25a21f476168b1a2a0a559e8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02bb75c9ad38f504ca90f1cb881fc007680339c510687c31d5317b54f8ddff40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc6b065e3e6c9c7c07a9cc2e022856141da05574c8af3fdb5e238d0cff75d3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 1.989 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8675, 0.9257, -0.078, -0.8265, -0.8455, 0.3207, -0.0021, 0.836, 0.6445, -0.4477, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2928 left_y=-0.2891 left_z=0.0401 left_yaw=-0.011 left_pitch=-0.0434 left_roll=0.0411 left_gripper=0.3207 right_x=0.293 right_y=-0.0014 right_z=0.1732 right_yaw=-0.0272 right_pitch=-0.0663 right_roll=-0.0156 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -8.1846, 5.2581, 1.3602, -0.5934, -0.0513, 0.5983, -0.1026, -1.1966, 7.0769, 1.6825, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0517, 0.8112, 0.6056, -0.4053, -0.0952, -0.091, 0.994, -0.0021, 0.8417, 0.6437, -0.4667, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2925 left_y=0.0053 left_z=0.1712 left_yaw=0.0706 left_pitch=-0.0354 left_roll=-0.003 left_gripper=0.994 right_x=0.2904 right_y=-0.0014 right_z=0.1675 right_yaw=-0.0272 right_pitch=-0.0919 right_roll=-0.0163 right_gripper=0.9984\nstate[joint_eff]: [0.253, -1.853, 10.1538, 1.79, 0.1001, 0.2271, -0.6374, -0.1573, -1.7983, 6.9812, 1.7949, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0494, 0.8139, 0.6056, -0.4236, -0.0898, -0.0864, 0.9933, 1.1564, 1.8938, 1.4044, -0.5407, 0.8421, 0.8387, 0.9984]\nstate[eef_state]: left_x=0.2901 left_y=0.0051 left_z=0.1668 left_yaw=0.066 left_pitch=-0.0566 left_roll=0.0002 left_gripper=0.9933 right_x=0.2964 right_y=0.3556 right_z=0.1393 right_yaw=0.0314 right_pitch=-0.0352 right_roll=-0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.5521, 7.1726, 1.8584, -0.149, -0.0611, -0.0806, 0.3487, -9.8803, 8.0889, 0.9792, 0.696, 0.1343, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607c708ff5b52b10f048fbce22bfc0313f06fe25a21f476168b1a2a0a559e8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02bb75c9ad38f504ca90f1cb881fc007680339c510687c31d5317b54f8ddff40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc6b065e3e6c9c7c07a9cc2e022856141da05574c8af3fdb5e238d0cff75d3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9y84uCKfUKaljtDEuJY_odTQN2cVQQGi_rFu6KjPfHgRbiSbg88VFaY93dMpS4fQJ2jhoVusqcoYoh1yQ9f61M2OKwtRWR60BS-1V4V7J17rqwmRQp-dD_lZ0ozKRjzPu2ukqSat_7k4JoHh6o072i8sCZRZgM8h6Dk9sAqzk2eBmttaCobOpNFfwbzrPZ5Q4fU8BYYjlf0_yDfU_zJKElooZ_bXugKqkp_CByRGZUK3CjO4cXlGHA9vKesbOuKEeCE9k22Z4xr3gcs_w4nVJ_kEjpvaPDcyIGokm94x4IDg4uxk2ChSIw25RE0SjguFiDRnw11aH1TyDo6O8tfSqjXZ55Ipp_kWI1EhXqZ4H0i-5Q9iXvsuFeNJsx1HJmKSOAxKL76CxF64qzdWCOP1UyNSb6XCu26ZaZDW_sf2yPHU77vw1TlepGlsYNWv9-lMbImDKv0V5z28mwd741VKqLiSjME_zLbv_d5WxFQ1FaeiFgr5Ky8fsu-vkMaJmY1pTanddtIOX5AgyfVO_IkGkkVl9jMifyxYVOfVAxNv3iq3w-5FC2Sbalg2Tkxq8FMDJo5DqBapid_4UrZnnjadxXu5T5XaeV3VstGQbvhhrVLvYYpRWK7aMl49UytAKl5R9EGGbsbgdfa1NJ2LHFw0AainDvR8iJHCnWOm40BDU7AVGYYkagCx_tVhsy-rppRaVluAFPJib-a933ac2DjZk9VqDHHVr5g7U57n2qzo286c3BvPNNYpqOKEf5CXzqM5B9Lw5sCE8MicMeiMfc4uJ5nvx-nZqHqlHa25Ud8B9_8ELGmATLkevfJoB-lGCgcIlKBwJP2_n2_Roxv_O6eL0MxzEKeUZS9XauK2UYwrtYbStlUl2B2klLDEysISNluYOIcTfZtwUCTWS080PJuzdXAJee1zZm2_uaBgohKHeQ7A6VEKE7zGrl8V3cQNAZmR7H8rIBNmzvlcsWYhljxyCXIKFWJvcdNeR5nMfw2EDBCiBgiPmySB6EMQEPpJGFKBalNW_iouzQTKPcdWe7kRqZVF3m0HtxWWbEaJ9ggOd5-WSySrD6BnxBF9e8AicXcprIb126KoY5lEG8uXuVWE1O-SkTbIwFasBKmlX5_QYn1NAbSZKWoAJ4u_hXgVRfRG9izphrpgNXziu503QR48alLCEWOUzrDoGK4NSoCsF-CvbNjsJuPSQRe9taW4Biu3oYyADjDOHo04hYDCRr2GctzL6DYurkqSnql38ax52DlYgfmH4HoldQe_e6MX8pQdsk42XJPl5bt-SoxMpRaOOWSQ==",
  "id": "rs_04177dd1a3555788016ab43f70f29487d095ee801f31b61e9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The right wrist view shows the dark fruit centered exactly between the jaws and at the fingertip depth. I’ll descend straight to its mid-body grasp height.\"}",
  "call_id": "call_53OWCJLPfHnbd5bt9GRodO6E",
  "id": "fc_04177dd1a3555788016ab43f714ffc87d0af80aa83bb8b9169",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_53OWCJLPfHnbd5bt9GRodO6E",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0434, 1.2022, -0.2188, 0.8604, 0.8574, 0.9984]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2942 right_y=0.3506 right_z=0.043 right_yaw=0.0159 right_pitch=-0.033 right_roll=-0.0479 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.1829, 7.1179, 1.6581, -0.0806, -0.0562, -0.022, 0.2393, -9.6889, 5.1624, 1.2137, 0.5348, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33366e18ab63c709124c537e18ef52fd9c621d943721901426a638c6c9c57a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6585bbba11afb51371fc95796556ff01f59298c7511b562e52c0fc404d3efc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191d43da5ab4e59a53d4e14c05311bc916c0b4aee03ea2135e1f67ac011c1fa0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 6.292 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1095, 1.8942, 0.91, -0.0746, -0.8223, -0.8463, 0.9921, -0.0021, 0.8379, 0.6441, -0.4549, 0.025, -0.0196, 0.9984]\nstate[eef_state]: left_x=0.2894 left_y=-0.2835 left_z=0.0257 left_yaw=-0.0109 left_pitch=-0.0643 left_roll=0.0736 left_gripper=0.9921 right_x=0.292 right_y=-0.0014 right_z=0.171 right_yaw=-0.027 right_pitch=-0.0759 right_roll=-0.0162 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -10.8376, 6.4068, 1.0183, -0.4127, 0.0122, -0.4274, -0.212, -1.6479, 7.0222, 1.7509, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0494, 0.8139, 0.6056, -0.4236, -0.0898, -0.0864, 0.9933, 1.1564, 1.8938, 1.4044, -0.5407, 0.8421, 0.8387, 0.9984]\nstate[eef_state]: left_x=0.2901 left_y=0.0051 left_z=0.1668 left_yaw=0.066 left_pitch=-0.0566 left_roll=0.0002 left_gripper=0.9933 right_x=0.2964 right_y=0.3556 right_z=0.1393 right_yaw=0.0314 right_pitch=-0.0352 right_roll=-0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.5521, 7.1726, 1.8584, -0.149, -0.0611, -0.0806, 0.3487, -9.8803, 8.0889, 0.9792, 0.696, 0.1343, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0434, 1.2022, -0.2188, 0.8604, 0.8574, 0.9984]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2942 right_y=0.3506 right_z=0.043 right_yaw=0.0159 right_pitch=-0.033 right_roll=-0.0479 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.1829, 7.1179, 1.6581, -0.0806, -0.0562, -0.022, 0.2393, -9.6889, 5.1624, 1.2137, 0.5348, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33366e18ab63c709124c537e18ef52fd9c621d943721901426a638c6c9c57a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6585bbba11afb51371fc95796556ff01f59298c7511b562e52c0fc404d3efc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191d43da5ab4e59a53d4e14c05311bc916c0b4aee03ea2135e1f67ac011c1fa0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD90u3KR5Z2DY5WDT6MKTjS4CTy2UO4dheMez5gZ9O8a5OYcjKhJ6CRAAbAX4SR6i5WC-aykEdHfJsqV4CWLgszU-tON9FU1TAhpqhRRcl3BFU4Go77VqWzAJuohDKc8jbfHRNNVgiGzu1Q7-q0uizyiDg2Uqoe_p5OLYSdHqLcaWI8Vq1qzyFhkpg2Mz4QDtBbAJ112EvDRRepdAgVjusWOSjIlzdhPytnL558ww9s9KYQIuKFmH2Sw_VlPjSaInZ2259sH7aEVBU8bZraj-R_em20u6S47dJqO1_VX07pJDffpz6z_lGGh2JnxUI3DXBej74IjVDh8E4LcJRXVGnkz2fnw6s8vRFhJTx6d2z4aopvJwzYWA4oMKG8sn-9T70qABoNlqOHNDt9pKMjSUM3TcBWC9r06sj7FRAai0jwNVcHS60WtM45BKrOVe-UkWksy-7h4eQ-5_0YWj-m5AimtE9OCorjqqMjWm_A60SbSkbWEOFXe7bFn8hOPPswJK1RT28W_HAGz1lWrCZCIjWSDYxjI50MXSzpnfn3evkbqi6OS4dpxe4KKtrprmAWTLupFyV4RHBbgD5R11yPDvLu21l19p166oiDZdmjs_F8PKV4roYGYkbcOTuenMnZG1N3ykQCZCKxDMKFFM4Tp7wFmj__Iwt3D1ChVD2d-hwEprwcgxl9T8cQErhVhvyixDAf7sfso1GDLda0U2RCxtLFbt7FpDRUNRR4ST-I3jEtjIb19OoUVstxXSSshoU8oF0xkIfosgs-MtE1KFTKFky8q98SHj4L8JWUHM0ydQFQeC2xSVcdlk47XxSyztPMKacF1EpDLgiSGAEhCDJMD3UvOi0k-g-bDTJcWQTeo_ssfjpV42D9NNQ1Hkc6sASUNPg5uuVlYvYMCOTLVBKFb30S2_EZvVgyoHPIdJ3W_1fR6mbnnMzGYfJn9up3zA_MGyUQyQIA9o1vc-_20SgAGJa9R1TWMuaBP_nz85ej8OV3BUJclH05_VixnCZdE5ftCejJeEObVaOVkqxmdkC0flPlH080fov9EIM8n-ZxMisM9_03tOQENct7Gg3-FNtjR_fzQpsSn7gdD12uz3SejvLhumbKMIJ3ERdz8yFa6vIvwoey2dKcfkHHZNlkZCJh_AlR0I_BlccFnz4WlPz8JRbNYfE2CYMrqMmc36llnwhLxP11ymyqBJQKq_wRAVR5DMZqv",
  "id": "rs_04177dd1a3555788016ab43f73d9e087d083c977df360ec918",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At low height the dark fruit remains well centered between both right fingertips. I’ll close the right gripper to secure it for the final transfer into the blue bowl.\"}",
  "call_id": "call_QyNiLkDZ0d4PLoWZ9CjQeMEC",
  "id": "fc_04177dd1a3555788016ab43f74022c87d0a181af378ec7b96e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QyNiLkDZ0d4PLoWZ9CjQeMEC",
  "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]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0609, 1.1881, -0.2146, 0.8555, 0.8532, 0.0112]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2918 right_y=0.3466 right_z=0.0313 right_yaw=0.0196 right_pitch=-0.0485 right_roll=-0.0745 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.0598, 6.9812, 1.6874, -0.0904, -0.0708, -0.0122, -0.0752, -11.8769, 6.5436, 0.9841, 0.4176, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1e18dee3f6655a765d5bbfc7b17dcf9870770cd912bd103c8dc51be4847ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5204d6012c28f54261e6b452e796766cd6575efcd55797f71882a90b64e2f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5863cd4b567b904c527a9875215b1bd5bbd8e9f3bac8309c4dddbe766b5c9984",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 3.466 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0517, 0.8112, 0.6056, -0.4053, -0.0952, -0.091, 0.994, -0.0021, 0.8417, 0.6437, -0.4667, 0.025, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.2925 left_y=0.0053 left_z=0.1712 left_yaw=0.0706 left_pitch=-0.0354 left_roll=-0.003 left_gripper=0.994 right_x=0.2904 right_y=-0.0014 right_z=0.1675 right_yaw=-0.0272 right_pitch=-0.0919 right_roll=-0.0163 right_gripper=0.9984\nstate[joint_eff]: [0.253, -1.853, 10.1538, 1.79, 0.1001, 0.2271, -0.6374, -0.1573, -1.7983, 6.9812, 1.7949, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0434, 1.2022, -0.2188, 0.8604, 0.8574, 0.9984]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2942 right_y=0.3506 right_z=0.043 right_yaw=0.0159 right_pitch=-0.033 right_roll=-0.0479 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.1829, 7.1179, 1.6581, -0.0806, -0.0562, -0.022, 0.2393, -9.6889, 5.1624, 1.2137, 0.5348, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0609, 1.1881, -0.2146, 0.8555, 0.8532, 0.0112]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2918 right_y=0.3466 right_z=0.0313 right_yaw=0.0196 right_pitch=-0.0485 right_roll=-0.0745 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.0598, 6.9812, 1.6874, -0.0904, -0.0708, -0.0122, -0.0752, -11.8769, 6.5436, 0.9841, 0.4176, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1e18dee3f6655a765d5bbfc7b17dcf9870770cd912bd103c8dc51be4847ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5204d6012c28f54261e6b452e796766cd6575efcd55797f71882a90b64e2f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5863cd4b567b904c527a9875215b1bd5bbd8e9f3bac8309c4dddbe766b5c9984",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD972BD_LDffzTPGY0fJYDBzd07OUiNGlzaAU3rQvuUz2eCRnuFrliVmScQYE5iYnOVpjt9bRr9hhCofW8DcqRD1DRXxXDLjXjEDm70xvnwF3XcF74MFM8PTC9F8Gq9j62e23HZN0hO-Cmc_1-KIT4drF2ySeqvb57BB4Z5Pi_gq3-jvTMWSq4xQBoUvLFS-KaWWALfla_sxey_IMYHXn_ERyTAF0qPL-si02R9CkRcNkS-rHtaXB5TIkdIjjH7wneQXiCD2BsKCusjQBmhRdhzosuTipd4m_iwQV0K_vbq072ePW-t6lbsQj1XQz8X0p7Jhjp_XLY9qTMePVAfA5lLezixeWER_vb2b3_KLssqkeqP2jG8nf7wIwf3FRcEIns36R-saWjv_b9fQkqKkTcz9KaQxicFoWiLAfTxBUSi1G9OcBy848V0FtouBi9234SGuSnF3AUpWau8gZchxKzl23w0JdGBIP1cMLFx41oi_CXFLr4JYP9qdD2qXbbnc2-Qf2ydaAk5vDH6dU11Ctbodz5GVpPgFoyZ8xE1eegKLCU4BnzTnVLM2Od1VMu4yaAqNDR89yzENWOI-SHxYctgpemDk1X_BXeJWCm6d3v6vBMFPt6VRPNX4wWZBVXMJh0aH1oPdoEbxkWxEHpZqJCm1wnxmfIodjo9j6JDJWaFvQ6PYlLZ6ui14xbqgGkD9DQHeox24NMteZolpJRgyG8HUGFscwvG3N7kUxb_RX2xJhkmde_Kt_QFzaY5ga7f1VXI1N4po0ymFJGeM4K8gZiy6xUBSJ3jtwWqvSixX2a6QH1ZomwxZj6upk0je3ZNwTnoCgBKNISRzMFMqFZsGh5trhVpZaPwfYctG3fYtvI7ykl-FVpgfO4G3r8W9S3GclFuYQCu-humGLIXUYC6j1Vbvj1wbSzrzEDgPdmgb8EiIeMRmRdMF3GQgFstjNnrMqgAAssfLIIHUg-VajBUkqNsvUq-u-YZDMqojL93rhKucxhpq-_sbZMobvvZEudmKoeKhGmP1JngJWt0y7T-_m9w1EnOKTiBNZilrlTfX_l3YqNPXr2vgTgcp05i4el7oN2cEtm8y_BUsMBjrbsE6c0O2leAFAxyTF4wP3owYCR-gBjqVkDyxpx795iZXUvT4tDx4FQPqj4n4DU0d9VjOPbMjKagjRnGM_5eelh5ATGVrTcTDDLa4RC3L-8pRxacM1unOD5_pWo_rQbXIp8MujzK4U0yL-d2wGSJbHzgvKJ4z97_xYAee4BI9k9hGeAUY22SPigRpBnOKdvuUqZO0b77UIJzOz8IdTlXUMjUCADQtGKT3WQ0n2t90SLOZ7sMMVWRrMNRkTb9RuCEJ2_RNeXIfd_GdDgxJdbFZtAPDDvgd9KAZJYhS3Nf39fP32KjuLXcAAWvVc0pLx8flPvfjT2_QrdaLw7G1SHyM8YvK6fawF74GUzEYdh14CFAJ4SkNUEemhnbIZKoxxG16qNGcE7V2QbLrn4u_cayW72b-_rreyJk1lgvWhQo5gLZM0P0G0JyEIiVWKZME3mUlL8qHgJqgDdPlZNgHEf5naVPKZse-NNYJn0LLSP7-bDDJAg3YyUYp25JZ2w7QkwbEmFgABGPREsQM0-Xh4Q4-pWht-HfYGyzDzW-6U0Q8trWQcy7ke2aMFrg6zZYnKoPtpoPYDT8_9NJcsvpS7_Xtf21o8ashv39S1nuFMlSyMkPvQCeRHfkLTFWSHaUu3syN_ByjEKFMozUSO17MBC01bie4bzUsjAJtayrPtU9u45Qfnx_OPPwGzdcqFngtJ4jcbknsqULq0A==",
  "id": "rs_04177dd1a3555788016ab43f770dfc87d0b0f3c678573437c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_z\":0.14,\"right_gripper\":1.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The gripper closed nearly empty at 0.011, and the rounded dark fruit was squeezed a few centimeters outward rather than captured. I’ll reopen, lift, and shift outward to re-center over its new location for one careful retry.\"}",
  "call_id": "call_vMMsYNzu2C3mlw0voS9vhkSJ",
  "id": "fc_04177dd1a3555788016ab43f785a4487d080eb0ed40a14d065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vMMsYNzu2C3mlw0voS9vhkSJ",
  "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]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0855, 1.9442, 1.3479, -0.403, 0.8249, 0.7666, 0.9954]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3241 right_y=0.344 right_z=0.1102 right_yaw=0.0098 right_pitch=-0.0356 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3744, 7.0496, 1.7509, -0.0708, -0.0562, -0.0122, -0.6359, -13.3402, 8.7043, 1.116, 0.3639, 0.0171, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f31a2ae0a4a3bb070f24ab2bf57290f1b7e0d06b8cee81f1a8a7c046b5681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83f7f7a619461c9560ba3056e5f11d5158e4f986e9f0a24e096623f21debcf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4985827bdb7860fcf1dfd07615202c86553a3e7034e78e8be0c55709058e478e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.196 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0494, 0.8139, 0.6056, -0.4236, -0.0898, -0.0864, 0.9933, 1.1564, 1.8938, 1.4044, -0.5407, 0.8421, 0.8387, 0.9984]\nstate[eef_state]: left_x=0.2901 left_y=0.0051 left_z=0.1668 left_yaw=0.066 left_pitch=-0.0566 left_roll=0.0002 left_gripper=0.9933 right_x=0.2964 right_y=0.3556 right_z=0.1393 right_yaw=0.0314 right_pitch=-0.0352 right_roll=-0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.5521, 7.1726, 1.8584, -0.149, -0.0611, -0.0806, 0.3487, -9.8803, 8.0889, 0.9792, 0.696, 0.1343, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0609, 1.1881, -0.2146, 0.8555, 0.8532, 0.0112]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2918 right_y=0.3466 right_z=0.0313 right_yaw=0.0196 right_pitch=-0.0485 right_roll=-0.0745 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.0598, 6.9812, 1.6874, -0.0904, -0.0708, -0.0122, -0.0752, -11.8769, 6.5436, 0.9841, 0.4176, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0855, 1.9442, 1.3479, -0.403, 0.8249, 0.7666, 0.9954]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3241 right_y=0.344 right_z=0.1102 right_yaw=0.0098 right_pitch=-0.0356 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3744, 7.0496, 1.7509, -0.0708, -0.0562, -0.0122, -0.6359, -13.3402, 8.7043, 1.116, 0.3639, 0.0171, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f31a2ae0a4a3bb070f24ab2bf57290f1b7e0d06b8cee81f1a8a7c046b5681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83f7f7a619461c9560ba3056e5f11d5158e4f986e9f0a24e096623f21debcf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4985827bdb7860fcf1dfd07615202c86553a3e7034e78e8be0c55709058e478e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-AkTRTJ1J-zC2qY39y3eochSbBimsqohMafAEGHvPIEaas5OaXj-h18jLyEG5QWDiV0ZLtfShe_cRzN1IB7cdQQQkThkbTSFRIBVnl_3kc_utVXMZA-vtmPOylmSKaCxHDMluSVOlcezWeoPJH4Hl5BCI3J0AtMnzDroR0Nm1a5z2bkVpORXbTbYGAOQWUuDY1etGMDy-SYqYXDHq2Uz9n3bOsc3Wi9htEXHlOXOVxnORu73lx3FNIgcxYx1Gq1nvXJZby4jeeK7j79FK2_sfEhClpenEqD72lL0jL_roX2uwY2XGrl2QZTC7uIo2aeTgvzDrH2o-PEPfbHRotDjkOS786FqRZeozmKyN22RqNLFXP5_rfE3WdnZDkgINKNJN7Ra0iU_t1JIltV_-3QMRJ3rpi0qxWujlYapj71I3ejQlAxkWoVkZQIlGG3qEHyUewobGbxrlFckmGyTAYeNokQ0F-4H6gYP19H0DgJTuiXDg7sqVoTqDv48WrUhqiJanvq2kUCEtviKXWlbvcmcBZldd4uQJCl5OAG5iI2RthAclMw0xExQMINlaAqZyhG1ZcHrO4L09SASPWKQwn33JIyf2qrIaBugt1XKDuZy-Rc1B48efBxMBosHQ45iZSBt_cCyhej7blZ80oaf6xGVruY42KGr-HfmTgKi2f7PqU1Nyv3Ja3XIz3M67CiffZGvNyFZyzupnySIHfRtItI4PbyPMPuIZe6OnWoskeTgRq0RbHokkFTGYWMFG9A4mXW1ofquqDLUgOxQBudG2W2ytNZ7qxuK3B2CIuz_jc6FgJqTnm68pvV-_aS8SgxOwF7KH1RUd5AmznihiKrM07Uo8_NJwIH6MB-P-k8UQlfrVLWkRHCt8de_cio_biOge_Vlwn7oow2ldT3_8EBkPlXHGRzApYoqbZ2M9XE1E-jX7qidIMu38EsdX4doTjDq6Yk7K0T0sY3J2KdNejMCzpNAnmM8-JhmLPkpCz7lmDcCrbpYxOPtIeds7SRzbMhcpeB8eFRoSG-KcgovyvcrBLSvWzhsOhwxt0AXTo7bOCfKqHoMbBTSy2qdXMUWT4ukOYrAwf1-6MAcoxkIyF8uzgdwtg7YJBBkL4hHSejPCNM8H0weeIroPP20R8N7AGF2bMhJiA_1VrFXFpPN3oghl_trJ8YGdwDjwj34rB1fcoU7QCeknKjjoPQ126nAAX7eBnErthzjpOP-g20oSZTUK4o1P_94rT6G1XZ3wgGiD7SqAMdz5qRXovq-Z-b9hhm6s1EO8koVYsEtkHbBDyCiIKnAfC7_6RKbylu_p77DDcX0gaLlu7Gn37TXLfUGzOR4PgmzeJhvFGhJpRYgAq6WZuRmlXQ7T-ETVN5lsxIzSBPv-oOrkMD93pENfXMzpqhQQ8mf7w17wQREdzggwqiDrIXwHRbm-Cm2EUHjZj0plHmlmR43etAn3Xr_VGa5yVWTOSw6vKII1VkZAmVDx54UBAftb6V52aUl_5LyhqtaSNDDr-F00URniQaFrB8lTM3nDgeJB5GrVycMVJm3iWkK0tkwrPTowr3D2mQMO0-NrF8w_PwZpAtfxZQNqzpvMKdGzNcm_aEO7j_tm5H-73ntDa3yjP2xzMfqN4hhV9Ai4VGIjLGMu4gFU_JP80WjdWQkmAjs22CUPAgUviVvPYqlEQm2j8vDY1IPUQBml88Qiu6uRHgY-CkUA-2TBCHclkipyU4epSc8qBOx4Ewk6pVYu_ebX2bBELgYOug0hbdCZ_G0kqDxiHSfx_30K2UwzW6WsyWy5g",
  "id": "rs_04177dd1a3555788016ab43f7e0a8c87d0b84ff03e227ae7be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.55,\"right_z\":0.11},\"note\":\"The outward correction places the dark fruit back on the jaw centerline and very near the fingertip depth. I’ll narrow the empty jaws to about 5.2 cm before descending, so they contact the rounded fruit more symmetrically and cannot build as much sideways momentum.\"}",
  "call_id": "call_A7T5wK8TvozNrRnyHklgbprW",
  "id": "fc_04177dd1a3555788016ab43f7f845487d0be4a49ce6bb73bb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A7T5wK8TvozNrRnyHklgbprW",
  "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]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0832, 1.94, 1.3533, -0.4164, 0.8143, 0.7658, 0.5541]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3237 right_y=0.3438 right_z=0.1114 right_yaw=0.0137 right_pitch=-0.0453 right_roll=-0.0543 right_gripper=0.5541\nstate[joint_eff]: [-0.1983, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0122, 0.0752, -9.9624, 5.8598, 1.2283, 0.4274, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c916e5e272459d6da49f0442c60e8b96918c263cddd406c30ae25fbda7e0b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207fc043372933ea008db58603aeeb82c38c4e58e4b3c2db484ef8edb8bb2f21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f540d87e21fe11fb99ba18662dc76161b205a61056beb608784faa56ab19a98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.411 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0434, 1.2022, -0.2188, 0.8604, 0.8574, 0.9984]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2942 right_y=0.3506 right_z=0.043 right_yaw=0.0159 right_pitch=-0.033 right_roll=-0.0479 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.1829, 7.1179, 1.6581, -0.0806, -0.0562, -0.022, 0.2393, -9.6889, 5.1624, 1.2137, 0.5348, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0855, 1.9442, 1.3479, -0.403, 0.8249, 0.7666, 0.9954]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3241 right_y=0.344 right_z=0.1102 right_yaw=0.0098 right_pitch=-0.0356 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3744, 7.0496, 1.7509, -0.0708, -0.0562, -0.0122, -0.6359, -13.3402, 8.7043, 1.116, 0.3639, 0.0171, 0.0024]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0832, 1.94, 1.3533, -0.4164, 0.8143, 0.7658, 0.5541]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3237 right_y=0.3438 right_z=0.1114 right_yaw=0.0137 right_pitch=-0.0453 right_roll=-0.0543 right_gripper=0.5541\nstate[joint_eff]: [-0.1983, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0122, 0.0752, -9.9624, 5.8598, 1.2283, 0.4274, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c916e5e272459d6da49f0442c60e8b96918c263cddd406c30ae25fbda7e0b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207fc043372933ea008db58603aeeb82c38c4e58e4b3c2db484ef8edb8bb2f21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f540d87e21fe11fb99ba18662dc76161b205a61056beb608784faa56ab19a98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-CqlnwgEgSgNOKIp48RLAaEszHebuHheXFSxrQx7zReRgzEDW1mLMDeW3TyKBF0ND_1X7vDvvrV3F2NnQGCHL1vS-eE-vNAXllkuVb_IMpnV1rpf82t_Eo8qoM03ofbPHp2jaHk1OSWNFMHHySXY6_tTctmqkJ_kVRT8706FKFOWci_nXp5N2ZOlvEB37uVyAN8gQCvagTKj3WUYFFoZSSJRQCJ2U2N93nuTjETpgwvAGJ6vWJOwIu3CXGBZa5H3MEIkA8zozjTCmTFrYMmTJK5A0-1Zus83RRxcSku1PKT_2TgPMpjON9Lw1C6ZXeQSZfulauqGQruGuSMajIKjsTjB6slODJMx9BJeun-oHIYNRnKblUq35qHb4GodM6-Oa8EbUj7KZhof4D8mw_FBp7NvTdKEoEjM4JA4NUEnUXYGB1AFosFgHkGyNt7raT0OjNQMgXd64goJYRMog1OpF_Mh5hQr87k88P6aozR8NP0_64lQWC9UETymkrU8Kiumgc8AOsazFwWMYzBYvTaI3v3nZZPN4VddBQyCr9G9iJetvcYoU-qvj6Y5T5fJslYOB3KRrduVUVOQEoJiah-61ZXQRxHM_WnI6yb3MGn6o_ZHwpuJ5I5LF3O4uzoNTnneJhBOP_MdsLwt-2NQWxmNLehwrLr-nVEme07_4zyZa_3ix7jAcCyCzxJFacqXQ-m_qH6Qa9UqbIHZlfppCDm9QdzdGxVHnNAPpB3SttMMN5JLIndwaBYmYBLowqceAel2xP5g4svE1-R6EgnM0vWoC6MsnVpw1fOx73IVjVPOvbkIoi9ip1GUXdo3HWGn4gd2w8mKlo8uT4JJ84cibRfH1onAiTzHCuOPBt_ppNEclzlvpPNF1dVQTG6OF79LUtZTdqyf5ZdsxoZ7CXdriS6euhi5rzNOnNUy41tdYYwTgMQ18JMvfZGBg9Yzg5Nqv8gwimNWoFw8n-zGBpRIpFtDE7YoxveJQz3zoe0LlBglcrZ4abCtxrNJqDaSbGKQpHur3iFmsRTkpZf0dNv1dhbTJpB7s8V2780GB6LpPVz-sI1RIaK2NHLx2vz9MiXt2Ug2iHte9oduOUsT8uF33h67zzzlB7z-F0asLbTWSk1-ypxQAsedSffzXT5X8RxOiD7jc8TnxgKXe0BCs4p3DkQIqLMXKqB39N5mGosNU3TNa8jb0eGWE2ts_gWd_Onak4w-38uk-9k3WCrklUWasQPTBq7-I3cSKBcCV81ViTwvt0F-xR9GIMxfyKqZaJTAchv0I_",
  "id": "rs_04177dd1a3555788016ab43f81e25887d0b215a3b1993be6a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"With the jaws narrowed, the dark fruit is still centered with even clearance on both sides. I’ll descend vertically to its mid-body for the retry grasp.\"}",
  "call_id": "call_CaXoVRJG52F7ClCUn76rgfzi",
  "id": "fc_04177dd1a3555788016ab43f821cbc87d081888c534136fc67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CaXoVRJG52F7ClCUn76rgfzi",
  "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]: [-0.0502, 0.815, 0.6056, -0.4343, -0.0895, -0.086, 0.9932, 1.0843, 2.0567, 1.1725, -0.1379, 0.8146, 0.767, 0.5529]\nstate[eef_state]: left_x=0.2886 left_y=0.0049 left_z=0.1644 left_yaw=0.0648 left_pitch=-0.0684 left_roll=0.0016 left_gripper=0.9932 right_x=0.3183 right_y=0.3348 right_z=0.0309 right_yaw=0.0132 right_pitch=-0.0541 right_roll=-0.0703 right_gripper=0.5529\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.6728, -0.0611, -0.0269, -0.0122, 0.253, -10.1949, 5.5043, 1.3016, 0.5299, 0.0904, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d574ec54faf4c0536b0d4dde55545f475791ec8784d9bd6dc2b4c733e134de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42d99a567b465c2bc3935075f6d7a92b078f9f70e0c57335403400c8f41986d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad0d9400ef0cbae35dba388196b3fd4119234aeeee53202c31b3f45abfb7bb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.713 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8143, 0.6056, -0.424, -0.0895, -0.0864, 0.9932, 1.1614, 2.0609, 1.1881, -0.2146, 0.8555, 0.8532, 0.0112]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1666 left_yaw=0.0661 left_pitch=-0.0574 left_roll=0.0 left_gripper=0.9932 right_x=0.2918 right_y=0.3466 right_z=0.0313 right_yaw=0.0196 right_pitch=-0.0485 right_roll=-0.0745 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.0598, 6.9812, 1.6874, -0.0904, -0.0708, -0.0122, -0.0752, -11.8769, 6.5436, 0.9841, 0.4176, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0832, 1.94, 1.3533, -0.4164, 0.8143, 0.7658, 0.5541]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3237 right_y=0.3438 right_z=0.1114 right_yaw=0.0137 right_pitch=-0.0453 right_roll=-0.0543 right_gripper=0.5541\nstate[joint_eff]: [-0.1983, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0122, 0.0752, -9.9624, 5.8598, 1.2283, 0.4274, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4343, -0.0895, -0.086, 0.9932, 1.0843, 2.0567, 1.1725, -0.1379, 0.8146, 0.767, 0.5529]\nstate[eef_state]: left_x=0.2886 left_y=0.0049 left_z=0.1644 left_yaw=0.0648 left_pitch=-0.0684 left_roll=0.0016 left_gripper=0.9932 right_x=0.3183 right_y=0.3348 right_z=0.0309 right_yaw=0.0132 right_pitch=-0.0541 right_roll=-0.0703 right_gripper=0.5529\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.6728, -0.0611, -0.0269, -0.0122, 0.253, -10.1949, 5.5043, 1.3016, 0.5299, 0.0904, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d574ec54faf4c0536b0d4dde55545f475791ec8784d9bd6dc2b4c733e134de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42d99a567b465c2bc3935075f6d7a92b078f9f70e0c57335403400c8f41986d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad0d9400ef0cbae35dba388196b3fd4119234aeeee53202c31b3f45abfb7bb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-Ihy5eEhAcZgdPoy_7V6YAgofb-1d5dXYKrYOf1h3KfJxum53REiZCbAV205NDzNtWu4yMMyrwyj5SVM6KUTGLHuMRoff3wwJxGoBHfpdccl0RQ4aTiAN8lRilw2g_wNT_TB2ISNVWUI818zFvqZ0zalblyZ9RGwDYuns12zrnk2ln0VyJK9xrv7jqJTul4SiCLEPyY-EGlajsXm7jED-0XBtS5YmJ5xA810F3qmVWb-SMzaPt5AEwd9bgjJflpf1x_p7IoGRI59nGEG0N6xt2Cl5Q7Et0_rPvjj6mz3I3nM8i-ZCGQmprJWgYMwK39zKLwbcAB1AUicYdwR_4TMy3YNpiuNG9Ky6mLCOulSuPMSb1OwyLRiPZpnu_b7ZMETGr6WN0zLGxehTALffS4SZZlBobjcFqXKqNvnH-u7khTWrZxL6fPlw2oHZUvqdItNcIe6eMeFOkUYOC-_5JETht6_wkQOM4HawN76sRmOdjtEwPAY_d5QsyTBBIAo5UKkh_QTLfb-99Hz1NJ9cYTDncriCGNkLUK0mvrWzvYWAjIVW-ZAjJquZPa9hOh5oFkoRwYxGi-3wEpGCf8Smbv_bELSr198cxieOYkbl3haUjwMutSnhNO-7aH-C8W8j_nRc_yEnupz8RB_YjMlkwA_hB6rMf3UfH802CdkoVQNWnHe7C5jXNIUqCRzZe0sRNny6X-yYIE7H81jDt1sl5DYDaTxJLvhBvhu4-yOeBwf4Q2vQ5VMmTbwBgg9hNhLKtSDfkKEKr4o_zsKjfpa6Zq3qi1kNYVyD0NHA1svp6V8e-hN5buVL_DGuq6SdDmzW-M3t4othnzboK7d8JCbWb9s21stUz1tfm90Fmo7bZt-EsGomCSnMLhdPV72bVWk50fqmNaefL9P3mTS4FznMCBrAINBaEy_aCsk753bv4qXJNG46d493UnBgvWqN1faCWtVTyhTQqLocEhf457kEA5JaARbn_aMZKxgpPRT4fqyncdSM9fxnK9aQZwn7zFE7tLoOJZO_nfrGcENjH2on2R30sFafU8Fq09LPVEcl7_vpyVxU2hmdVrqMvq1s-Fd2Ncsuk5w2pzh45TfuDKqtc4kVhfji8CtUOlO30xnFPUWXRszOgtVxmacTy_VeODL-ZNrn2dFd8Qr6E5EUX03q2tZHymqci1AFI_OAEiSTvkd5jUF-3Bab0Ao05woVxQMuY8qeZ8brH7mr7MsJ5H05XhQQG93RSEL8eI0rm43euyp7baJLM0wJ_bHakBHXL3swgrS_zSTwx13x9HQQvOd2RHGHJqV15bgYFGmkmxNLLBSBjlmSJFxTduCiiuxPKiz1bZrZkV2spyQ6gfwBesjAjeLoayzC8xZBFUgoKbKdpyJw3N26w3IVUAFdxkP-NT0ODiEIidgbVw0ntFZGyqMXJ2c_HP-dyjCPHKSaDvGrIXvfVUE3KfNUrX8CpFoxQ78f-38UE5RRL_Cqga8Vu_zMMwMjhfFiZp8OXfZSEtFEaEANTFnbtJkK9w6_WC5IvNFyEFotISS_b1yj1R_i59tbfBht9NP2LU9Jo7LIBGigEa71CjFxkVrXwE9mPM2ilVh7pqzUzWpeV6yGGYQuQ-O-ZVM8mi1EmfHGIXrGRJ4QfByYK6v8Uo_CZYTJ-Ze3ssMb138J_DPr5v_lAqat3jrmSpZGxbOeoUezCTj-Fj9V_hqsGckxfgBO2U5ICR8JZOWmS4Qe5UBl8vIeqty4XP3PPOxFEmn0izhXgy_jOA6YYh9lSqk2GUfmxv5ADEUfivDTM61OFUOn5xW_KJR7U0JKwELpcZoSb5wI_NHiR8sEQdcu0VPKZM2Jf7H2Ji9dR7ustifw6FGfgi6w42kmd9u5isiHp27qG30Kmiv_WqH705I70PnHBE-dXDwO99A2YKRanT2ObFy1faI2B4YpT4QBl1c1Qi2RkPy2BmBk2_90SO_NE_VTNEEytPeuWK1as4o7og917J4-1aUBOW6-q5YAHWbJDTAhK1PDVopbL6ppU4ja9t7ki8YWgXjq8IinCs5Q_Gz1ZpbpGArBAayFnlx4d-Mnk3aetb5jd715NrhFi56MjAeJFkElV7XoXiMo9Gei_cbrxcvY9PyvWbxOAzlke6MBlaF-cFSTxykpiEf7BSfzN2qVUWlth0OeZZzUmWRXSHntGoVsdHd7rFm9I2tTtbMzWSuN4XgzMLWwzCKpZZSmN0g3MKSN-kE6xPNLe5t0L1-qzNF3zKzD_ipYssynm2plOHtrFGd1hKMbWxwzNi0YdeO1oXTqksQXShqyEjg_6Y5G2No45VBuJniXPKSBkl8IO6d7nhia6tjgnnH0VK-4mOyQL9O4FoXgEWxyF-piTEf9DQgxxUgCnLRKMOFJ2db_6IJMxofVq_E3sGlSuUHH6WKbE_7hsSjEOt_V4HWhk85r2ajH8mOt6dZVNI4JYZJaP7bIolebSb8T8Eu_9ZNctiQTUNYTybQhBfkDDcnnUS1dwCOE2JQh6-d_OTFaRAHIf5C3BIcj3BJL3nW1oztZwGPgvLVHVMZF8ZcfPXp-HTz5aERxXIkC2FxocrUbh4pDkXUA1iJIkfuucXRbXLKtNfSRMr65n-YBUfsBWYrRDVP2OgWfy6brRfzTgGIIN9md54qagdmyoO5WXV-tfCXIYn21qf5qztICg8yqNzAvG7_EZQahIX1dvRlgVWJD4VFma-IWFT7VckpF5lObt6D3rZ1HTgpwISjnsBfRCp1VKpP756i1xSVDp6RNfGi4cxxtq_yo9sxplYM-zShk1tMayII5T6w6LJEWxiljJ0Oddw1WIL5r9dDd5NOLCPDmtrb_hFd5qJ057oFi-8FCJi5GGyaJxRv4AqnDxYhUIaadnaVSA_xHpeklFhmksXgMdDfS9e9DX3Z5upffxJrXsR4pp8d3fOGnVwFzcUkhzvTAGD1Vh",
  "id": "rs_04177dd1a3555788016ab43f848d7887d0b567e5399c09ed65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.04},\"note\":\"On descent the fruit remains centered laterally but shows clear wrist-image space below it, indicating the fingertip grasp point is still about 2 cm short radially. I’ll advance outward by that small amount at the same low height so the narrowed jaws surround its body.\"}",
  "call_id": "call_JFUFzbxYR3Ee7U4sbXvq8zRI",
  "id": "fc_04177dd1a3555788016ab43f87927887d0a613402a25eaca38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JFUFzbxYR3Ee7U4sbXvq8zRI",
  "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]: [-0.0502, 0.815, 0.6056, -0.437, -0.0895, -0.0864, 0.9932, 1.0668, 2.0724, 1.1839, -0.1017, 0.7925, 0.7391, 0.5528]\nstate[eef_state]: left_x=0.2882 left_y=0.0049 left_z=0.1638 left_yaw=0.065 left_pitch=-0.0711 left_roll=0.0016 left_gripper=0.9932 right_x=0.3265 right_y=0.3389 right_z=0.029 right_yaw=0.0246 right_pitch=-0.0555 right_roll=-0.0557 right_gripper=0.5528\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.7021, -0.105, -0.0513, -0.0171, -1.5795, -11.2752, 8.0342, 1.199, 0.442, -0.149, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c84822435d52cbf8f89a8033c2f2fdc98349b8a30e6ccdbcfc0f15db21c2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef6f434664241981e2b9127bf7fd7f32e5ebeddfac54196bf26cfca9d1450bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6a1e5e99f2779c23476168b26aa2817609cf623cbd53e460c90d99339f9c2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 11.6 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0855, 1.9442, 1.3479, -0.403, 0.8249, 0.7666, 0.9954]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3241 right_y=0.344 right_z=0.1102 right_yaw=0.0098 right_pitch=-0.0356 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3744, 7.0496, 1.7509, -0.0708, -0.0562, -0.0122, -0.6359, -13.3402, 8.7043, 1.116, 0.3639, 0.0171, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4343, -0.0895, -0.086, 0.9932, 1.0843, 2.0567, 1.1725, -0.1379, 0.8146, 0.767, 0.5529]\nstate[eef_state]: left_x=0.2886 left_y=0.0049 left_z=0.1644 left_yaw=0.0648 left_pitch=-0.0684 left_roll=0.0016 left_gripper=0.9932 right_x=0.3183 right_y=0.3348 right_z=0.0309 right_yaw=0.0132 right_pitch=-0.0541 right_roll=-0.0703 right_gripper=0.5529\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.6728, -0.0611, -0.0269, -0.0122, 0.253, -10.1949, 5.5043, 1.3016, 0.5299, 0.0904, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.437, -0.0895, -0.0864, 0.9932, 1.0668, 2.0724, 1.1839, -0.1017, 0.7925, 0.7391, 0.5528]\nstate[eef_state]: left_x=0.2882 left_y=0.0049 left_z=0.1638 left_yaw=0.065 left_pitch=-0.0711 left_roll=0.0016 left_gripper=0.9932 right_x=0.3265 right_y=0.3389 right_z=0.029 right_yaw=0.0246 right_pitch=-0.0555 right_roll=-0.0557 right_gripper=0.5528\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.7021, -0.105, -0.0513, -0.0171, -1.5795, -11.2752, 8.0342, 1.199, 0.442, -0.149, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c84822435d52cbf8f89a8033c2f2fdc98349b8a30e6ccdbcfc0f15db21c2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef6f434664241981e2b9127bf7fd7f32e5ebeddfac54196bf26cfca9d1450bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6a1e5e99f2779c23476168b26aa2817609cf623cbd53e460c90d99339f9c2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-M06bMUDfnwNzF8D8CZTlHQAHpH8_ao7dP1PIzIrhypwJg65YBc-JvAuv_rIIT40VLoRf2g0sAHokair6eAVHUtvooR-EW2Xe0MhwCoeieiiDi3cEE-C33O6TvSngEifOp0AhG6kOrY8Z1j8HExSBoGS7y5MyvdikyupXoh0zHgSj7bpWv0HZn57Xxcz54JzEy8p5rXIRbk-e4csCAwdQOWoGVeXm3mHoQWf9nfbqqGBW5ZMKFV7J20jtk5vc4cxqEGbvfb46E8w5vr9vjmFGF-nO2Mfr32LzoW05rCq6wk-z1U6UX2ZX8nqLvSNBFlXBRqjxQ65RNWR6D-NZkCphLEw6LxpKfv21SizPesFZ_ZfhJapTKQ5mvS_kLzFVWHON3ebNYlyLFHbHdTw5WNtc_5koCJDQ7Dfcx2pGE34_t_ObT3Shxv8tWHmYa-v7L7hX3SSZFC9XXRqnmOCmjNXC_pCg9Oyo5LGyLIqQybGWIbGl5K3GLJmNJALORAY3fcauZfZ-f83tmMERZn8v4eJ919R1n311kT5obKAK7Aj5mplvP7n8_2Yz-6Ud0uNNlv8YdbwMT6Y_pGjgpx2H6Ggv9F3IiQm3ZjCwKT4AjhW4Sm_iaD5vcU3EVA34sv0m0jZtHXXWM02IgsaWgodyzqML2c6AFv1oXTKZAA0khrE0l-cvfbElEcSQf_jRZNc5Uz_NlBt9yb_XF50iGbzLiP4kVzG2jmVC2vuxiSQgT__0I7XnGFz0hEniKhjLixP_FzETAPoIRkVmMCKpJu-uU4AfMTPekBXVvpmfTUfXIt6GFqAqpnzOoGDAHfJJnxP8bAbf485jrxifvbCLk0InmADQOrlJu5mC7CaMo5SjczgmEaVvtkD5sSMnLa5CQbEVs0WL8XuAW87j2oBYvCo4B5sSNU7pOVR2EoTZyUH5dIWscq_KbYrGL-D6Dur77Vyo1f4JoOeN2gUu-wZW-LBPTPWtXeBzxcel6ZuB76KCxosPPFzeQe9SiFA50Iiz6UF-GSqfB1Yx0oOx12FRUvMkqRlzVVpLk-srfLEU3Mvkji-P42XNMoqat5Cw0InnHRDuj8nfcMLW75nrbQ2OZoowUyuTN5o-5q1uCFSVzDPnqu_TFLeixlvw7Tyz7tvo2UEkRlhc3P2sICGIXHz3vQx8oS3O47MFMtp9p1RVk1I8dgHo0JriB6ryy_kIHS-wnHipFj6ekGkTFdX_pPo9hot6QPLuA9d2aRq71ib5YsMC__MXZvI_SAoJM9woq-prhkBLo8RoVANTYEfKsTeen-fpRcGVtug5Fheh0y0w7V80Qh4dVM1qobVzWeGYo89WEbelGznwPqj3ZoIQdAxy_6uwjVFwgrmBgtfGtWtupMk3J8pU6Wl42Ln8ymMdkeQj9yQpeMqaNOF3cOdK7QqazSGuCGmsQC5V8lo8D2lzBMrukLMIVNIAxrgLA07llRtHYyZIR6JqegRn4B42NcvV2pClYhra5J_ksUD18IiDRD2SRmGcml5014XcyCdo7bTeutrqYNIBbk8H02UIqdQpPG-e3Ax_pVkvzg0XrldIFvur9sgC-U0I=",
  "id": "rs_04177dd1a3555788016ab43f8a956c87d09ca2398cc0503403",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The small advance placed both narrowed fingertips evenly around the dark fruit’s sides at table height. I’ll close now, with symmetric contact intended to prevent another sideways ejection.\"}",
  "call_id": "call_2tuOfZJNFaqjuEsuM74PXYS0",
  "id": "fc_04177dd1a3555788016ab43f8b731887d092117e89f27925f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2tuOfZJNFaqjuEsuM74PXYS0",
  "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]: [-0.0502, 0.815, 0.6056, -0.4427, -0.0895, -0.0864, 0.9932, 1.0695, 2.0724, 1.1896, -0.1165, 0.7803, 0.7315, 0.0113]\nstate[eef_state]: left_x=0.2873 left_y=0.005 left_z=0.1627 left_yaw=0.0651 left_pitch=-0.0767 left_roll=0.0023 left_gripper=0.9932 right_x=0.3243 right_y=0.3407 right_z=0.0279 right_yaw=0.0379 right_pitch=-0.0692 right_roll=-0.0645 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7265, -0.0904, -0.0562, -0.0122, -0.2667, -10.7009, 5.053, 1.3504, 0.4371, 0.0171, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888539b7d6189da02248eb3dd9a2a354eab6555730d61205a757d29ad5a7a544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02ac6cb84e1946b1b8a221be131b0cb9cc15cd0dc82cb8ab89f07a36fe77d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b4eb072aa34eee18134de11a44761aac0a3f9254536694d11660ccd172b574",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 5.897 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4313, -0.0891, -0.0864, 0.9932, 1.0832, 1.94, 1.3533, -0.4164, 0.8143, 0.7658, 0.5541]\nstate[eef_state]: left_x=0.289 left_y=0.0048 left_z=0.165 left_yaw=0.0646 left_pitch=-0.0654 left_roll=0.0007 left_gripper=0.9932 right_x=0.3237 right_y=0.3438 right_z=0.1114 right_yaw=0.0137 right_pitch=-0.0453 right_roll=-0.0543 right_gripper=0.5541\nstate[joint_eff]: [-0.1983, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0122, 0.0752, -9.9624, 5.8598, 1.2283, 0.4274, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.437, -0.0895, -0.0864, 0.9932, 1.0668, 2.0724, 1.1839, -0.1017, 0.7925, 0.7391, 0.5528]\nstate[eef_state]: left_x=0.2882 left_y=0.0049 left_z=0.1638 left_yaw=0.065 left_pitch=-0.0711 left_roll=0.0016 left_gripper=0.9932 right_x=0.3265 right_y=0.3389 right_z=0.029 right_yaw=0.0246 right_pitch=-0.0555 right_roll=-0.0557 right_gripper=0.5528\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.7021, -0.105, -0.0513, -0.0171, -1.5795, -11.2752, 8.0342, 1.199, 0.442, -0.149, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4427, -0.0895, -0.0864, 0.9932, 1.0695, 2.0724, 1.1896, -0.1165, 0.7803, 0.7315, 0.0113]\nstate[eef_state]: left_x=0.2873 left_y=0.005 left_z=0.1627 left_yaw=0.0651 left_pitch=-0.0767 left_roll=0.0023 left_gripper=0.9932 right_x=0.3243 right_y=0.3407 right_z=0.0279 right_yaw=0.0379 right_pitch=-0.0692 right_roll=-0.0645 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7265, -0.0904, -0.0562, -0.0122, -0.2667, -10.7009, 5.053, 1.3504, 0.4371, 0.0171, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888539b7d6189da02248eb3dd9a2a354eab6555730d61205a757d29ad5a7a544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02ac6cb84e1946b1b8a221be131b0cb9cc15cd0dc82cb8ab89f07a36fe77d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b4eb072aa34eee18134de11a44761aac0a3f9254536694d11660ccd172b574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-Yfv4qzu1rQXWZhCLx8WjT7yA8JOmOrydnWeDVN7RwNCklNL42aV9Dabg1o1u6LR3xO_tXiESHAE9mm9rDyIL6hJsV-1yaPL_pd9Wvv0Uv9DckJGBIQnxz_LzmOCplWtC9YM8f_YbjiatTavElsvQUCBdyakyrVBJ9wbpSpgXCODsSdB9LvfaRakCBPnzWJXG5s-ih_aiaOLsCyjrPZlXTluSaC5EInErNhco-2u1qs-6RXw71i11QivCIOzclRB3RhyurRQJMHnhi8qcW7Sp4uaulB4nhD3gbQmZWflmPV0FEWrpu-AzfcY1AVXBTXgpfV8ybVABE32PvBntVB7R0ZhEOgtVyLaeACA1jGBA468WPGVRQoKnSmQqLa3WVtTchIdAj8u9WvGj7uKwu_flVkVykMYJNAi-ATjhemLmbj-_fG9SBwHy08rMc5H0OArEi0XRpHtRbw2OUC_3W6oKACox3Q8_idGtsS0x3Zpx3tHIUKDyyAo9z35JTqkUGoU5FrAtBp_tUQ3m7sLDsTOJCEuhYdUvnsK98l5_6dWafpl9DYo6hgTxMmUCK1yJldb8TiWipGhKUTcpboMCJ4H6EfgSo7cPmQpPasrfALP0B4jG4G8Pzl4n9YB4uuYeHG4MB3Uz1nUkDIIj765sdQ-IHaba1YC5WM4uKuuPVlPNkzI2xriIsIYU-v1I4nw0-gzHbH-idDSrlKGxH3ykn5qeBiFxUIjGhKjKyC28Z8GB5jlyK-qNu2NXABz5uppCGfeVZvODXHsSUxPVyFWgs-Br2IXY2WFliiAl3Vn0yLETboN4vAagZUdLx6EWyZy-COnNQBhaWsgC5kRPGzBdIp5bponYrJ1DOlPCxghsVYHvx9bNRPO-k86iFQLNAWsV2qpNcoICWyTwABB8XVa1dpPOPa6cDcQ8Xvh6HiQy_Z8b4cfxvIODGtvc0f5911tM5BScAy0NP-asxrTpDlkeqzB2XBsXA1Wb-woNyZ30zwxzcGesZwmHvtvg5OiYbSpptyG6dA3te0g517R1jj0LEPjUxR74OGBzKoinlCKn_tnAmYIGkvlk8VgUlaSWScipAbhWKOxkH_XGutN2yKkXsmiX5d2pU1r0xAFqq-q_rIGqYwAkqcu48tvPydvQB4VNx-D3Hkk_QbYun-RK7tlkfnIr3iLiXMvJTPswpAo5o0o1JRQIMXpYdxEziknH_K8kWvZ9sAvbvYbPrJH941vG4fUm96-8bqAbrWijl8RhInxO1uie5bYB6mnJVUZ-WfSV06eKKW4MKKb1KKCRvTaGISa8TOC-nZ2UhLiv-hs8MUWORWfdzgMP0uiZtOLwVYJrwu6Wjyd5NqVc_5Kkf0FizRvc7TX0EoB3-3i4PtUfF06YjtEMab56gwQez5HhHBXz24VnafSvMtLVvIAsu2fyM53SxGWqWqVG0_YZgwtAJx71ob_vEF5KSDmzHgJk3tiHkfVXdfu83M9TND9tJaOGofqe7NUdV2pIE6I2tIdR0jKMFGcZF69GqL1oBBywJQZZ-QUL6T9freBAIujC3amMwGXljjbBoQx8v2_wzS_KA-ufsf7ZwPTDpbshZwYCVu6Nos4esrEN52UlZsvZ09fZGwv8BlEZZWmSOD5fXIkcAuc5Irz678Ng6TIqFwfU0rhR7VFq4BqSK8tJkucHBlhvYQmzfvEFoKoqRDdFiZCtMCw9_xT_2XKuJSV3u8PVOdhVpbsMpUm7b7n6w6faNxoHaLoumTMuT0oEPhI32ErWJRZ1QntlIu61BamU-aABFoSoB2z4Da-1M6dp-K3DPVLsq_Gk8c8OUcEjp7CqQeE4hF9E3N-ivKBXJcX_j6Rj5x6ikrBXN5G4JJrszyKQMniljgh-DfKvxPgurQf1P0cRDQbs4MjzoeXAlmwJFAmf-qu2FKPlCqTsMSmdvWNBBbcDf4WfD2rT08rbqpdnScrZw_CXDkRSNMPI7GNUnRFE_2KjNeXwI_HWl-PJ4h157EYhKLIDul3BUEGgRES_UzCubvayqzDA3R2sLxQzClLh4MXl4gG1_zhm4yGoGqmxeTLg8zosGPySEFqtxNzx0IMGCvO9NhK3ze9OHDrX9v1zJbnEHoEYRDNRtCeU_jcM0flRyNAdPzatn2jjjheN_-3PcCMY-gUlACY7cLZith_x06TiBJxCWTLvdYCyG6Djs1QYZAAZzKTm1B2sqsm8x1wiB7GFJNLlcECO2AppWtOZKYDBU1zhb_AofYK8zflmQyQHr1RHzpC58s6YnSzSFHO_iWIN1kydgqamvhW7VaGvQj3dkMkHIQek1Scbbg7bkQNJTqEWW-FowRLmH5J-qHAzPq3Nyh1kLhNp-nNcbmyILUc07Rk-Cj3SroQrIevyVR2V_r78ky32M8G9RxGgcW92xhPhrDb23ix3nMcXyFim7nPnn6hpQBY-4ypTzRKoIR75uvmkt-qGyFANEyAD9Fzk42tBfBiZCEVLHRo_ANwZzYkri1Kdqbhx-HSFNiAGXcxhxbFOCmUawTH4mY0OVxxiw10yjlHKQfrDojKDS750MVhogi6zulrjtXnLF7rSfjrNQS_ZnEY1828rGk8hng0LNQtBZVk16LNjZoJFmaPrW8wSA6qsLCmhxuns7_WFIrJmtRkuiTCp0UQJpRPIqpfCWfzutvsflTHikDkZXfrUqZlFeeyd80OhthYMNib7zRQexPCXqZqmc0GyUbY2n1CLUQ_FjyipiBzRkPnTlV2yh2dRfODUl3WnSS76ixgRTsMaMLKG-3kTuGjhrODZQhUlre37OSB8eDsdLiYO7sX4Fp7H8kQp49v6AS5TEAlfy3l0LTpDwuusPXr_qeWoDzZYF0mXTn04Cwp61fcq25s48d7JSbgOiuil0JEJ23RDPFWrT51aIGtz21Y4Okdc6YuhDiS4P6IYM9f-Tj1VKha1834tXnQuGCx9ODXxIRiphwQ-ngDNotm0YiqTshD_pqwhSgTpwa7GzCtnPO3EYhI17f3HsaBQPN5rmfqJNZinInU-c20FEua1dSxoTaRSPKRhovv9dxAllBrIpRrLAM9ZRAtgaKcba4xnsJX7wXVw0jIA_UPmylOuSgnwA10KFdSj_C6vrC44Hry0V0EQXpRo7VTiRHD530wgpyf9cyEyz5KapOtwf3Bjs7hAHwqEszki1PknudJ9qPoXA9e7ePi1Pe66x8MFDYopaLZNuE0cuEgnF2kDf0ousblaXh99Ld-qkybFVOLj6a_07HwpwcQVH6IEa5U-MFBYXfg9r_FQvMItuHXQzQHWCfIlsp_FJyOIfZPQLNq9_e2cFlZVApViTFDz9bnjYFJE5Munm79iFCok2ClpkOcLBPf9Hek-Q2eOfalhTannRRDR_C-YzD0WEHwI4BXxlX8RBe0tR4jPIEp-Q8yBZzO8FO8HfDw_9Aog9ksTtjzFfhuLD0tzrg3nlq4YGJFLc49ubZt7ATH-Lb17M1LXExbc-DoySf9KG-z4edFpYymyHN2DbVfStyUNiuWJm1U8HMEJxcQCloHWLoQvjoFbgGywRyRKbsAmANbqcPcb0SA-wddXUROfGbPBnDAyYqbjJcrl0Ekt_wnR-s-s2-cOtP4eCSdFSCJrn0Ekwy6UY9UEc_f8onnK8i0FxGIXBtiIHudzZmQTGddcYw-F306psVAdKtNO_a7-3LC90MWW_ZnRGgNTdaxOslYq8T5PluEBGd-Hsy3NyZ0V6RuIyOtZXhs148vyMkdik2RAQE-SaZTuQgPHzCY3QOKHws8o3suAfVQPEcXW2-f-zD3FakcQppaYZRzvIeCJbei3MurPzycFgghtJNOANkCzGdfJx-gX14ghJquR_zoL5_R-i98VKbpCv_IPKiL0RUOYjkzpdFmrR9oC3cpA0V1dCGiZqgKMuZFXAeJaoefJZKxI-RxpKzNXMi0aL38av8nftAmLQC1Wxgv4KkvU7gV4EbUL5SaJZHMkb8ZssmUL8NZjz8mZFRAy5BdTxO24dmp3wE3CNQJ2yzBfK3BxrUawGhbagYJU4xr5nwi_vKrdN4_skGDd-q2TH7P94LTQc5_D2simfIDLBoxwn-KFLfbaBF-kvN1QDdEx7l_Q_rJVs0ndNlXl3-pmqnz4IFRE2KIHHwMS3Nd5ZyaJC_Cwd0V2XH0Ik7fWnpV-gUwumfi9BxVs9lsY-_A==",
  "id": "rs_04177dd1a3555788016ab43f8e98a487d082d61313c5da1bcb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-YuSxB_sa2HVrCXTnptcZk3KaEDrvcbu3092EhCIqU_e4JPcrFGoPuJrCkpQMBRjjy_y5nepue5cw25yCzMKGTLVEdafqczlYV43p90y7yMbunyTE-lhjYm9bwom2X9AlZ94XDkvgsclB3QKEoX3TT1ilGbXhYBTT1fySqyCydtUCWprEYZOKjJsyBfPCmyq8KPMMYCiLjF3Mo-LmLdD9EKBV3Q0aQMBa1CUYgY0KBwtr5ZvrwjAEqJD8om7IroOSTW7KIY4DJn1KV2FinkJcpmByDx3TyT2bR_xAlRVHQm-AvEBsWiLGYWmJDl6hw23BRWq7BJiDSIETX8jwghdvvRU3FAii1KV1h-XGUOotg9YSFJ4E4iUiTPhBJNyLlf2HUY2vcP7hiaOK_XMD9YxrQ6iCk-0Gdn-LPO0gfjSukTBw4iBxNTrF_XEAsQa9yMR9gHpQGeFODiUkPwFkTTh4mWncbN2-biv4udQEqqRT4jYz37cXaNOstL5ph9kXQW6SrNdRJ46qTi4UEesMBZFBawrX5wRhjl8NID4zQhjHjRuHW-5n3JI8644zr2DEhnKPp3S0o0Jc_kpRQuSxDRk12wCePK2IjK2LvBHOkdmYlDGi0TuZscz-8bHzwj5-q9-F-T947jhZLmEnW3n-SjcbyiCFBolsURJjb575BL7Pqxx1IjTsb5zvGcmmjedkkfKGWSqjjJ1i1lEKnWRGD5mMrqiJ6_Bq__8KReBhpG8iY7595IdKWFYPU5eDWAGvDVpi8gilUYF_3hVfhOu9jrq0bgV2Ols-_HKXHfR9xmXv9K-dMtVK_QeISGaFch0WrxKE5g0VaNSnkp5E8z6Q9JSQ_XHLnXawDR4UjeCw3KQYsZ0ZrJ_VdCUiwmUUpYS7vtxpOeZmrry7CIY5pPkxsvq4adUJbQiEQx1GLOYxjh8HV5szQpndM8ZO6f4sLEKnX8QJIuZ-_2n_HP0pDdCVMaXKQozEr1CtZfSf8NF31xCR5Kx1FN21vQPVShgEoNSj8o7tUe5mTkXqbriiCM4k_8Y6hvbMv8Fxv5VvjAAOT2EAdODKGtaDhUeOmsxrs-87IofG-5UtB8sjWK9sUEXr8tLgPP8eKkKuaCzmxONpf2jkYMVCXK3LoK86IaDFszRGE641Jq5TX8EgvyEjJg8fNEjbpMCQsmaFcUj7wadRIBJOUiZlz_4d_BqgGZp6uRnvBCr7Bb9RobMcihySzuJ3aqff0VgK7AadM2glJfdSEOddBAlHAmsIWyTkba9X-l9PuJdLDGuEUzuQL-Ton2mLoBnVFk8PeeuyhaFsbH2fvEGzdyLTIvNqtWg9e9cCjK6iKs49iDZBk83bxnesVVZ2-RnSrHtRlmxorHd4vmDw9hfPjQ_ZDDT1SGUG0l5PURbdJVEUSgmmqTPO2r1PusYiodZbyLEQH3eC6Qs1fYNKiQ1-oW5plgEOJjqAPfPOSMqDDR2t8NKZyBG8-UkX1VQhioZPls0c80_VAz-dHlsFUQJPHWWjkbx2BVbA423msoIhIOtt6lAg0VOQXIYNZqqlJEgWkkh3-C2Z_--twukWnAPKnQOt6LPqmmAzq_1N4dZbkqB_siLaYkxmmzmsB_HWj4ElxvRmvI6nxr8qzCRtCc02-7cLbgjZrCpKdqAmPTJ5p1jelW_rYWbblJOiw1Jy3AmMg80RgxGoPlM-0ComVR9sfM-XML3YJmWoW4rNaJOCT4hFh26LpUVnTKspWsFAiCM68GontEkSs9vJtFODrewLWlsm5gAAvilTyMPZbGDEjHVYSk2nM5yoBm7u9vVgsDpdHvmz1XrYbex2aNM2RyTF0r44W_fRyXosjYoMjKnWvC4k5WgVNvZSP3JYAwLKNwuLOfNB88iKOa4N1BduUOXh21NVoP1ufWGJEX-N3vnuZnazga_lToLr_B-uLQc5uJWfGQRPjsEf9pwny2Yx5uJMyn0RkXRIEg_EuVTlYfCFJ8UANgvbYsaKE8Vhf1uHT-WCHdToL6_k482CeuR0_RoxJKqNhimQcGZMKsjlrh6bmPwpq4e7qEK4E8Em2A0qLZ9-jeIEZbx_kFyZttpT_l1jBT2xlugIRPjem7ATy6S0upi548NRODPe1km3f82yxeF6OTwZMZEz1W4Sd3emgcLlEQovd0p0Rc9ZfRgqz-CQO3Czwn5krJmhfF9qWuapTU8mL-72wXV_DS9LNH6bvFw2_CadK8OLYQEekmP9hw5gy_DKf4--vNTI9iMEj-22KYICnEbRnAedR1S_6OjVHVt-7akFFO8q8wgejeqAydCm5Xkuve9A1g3KTiZA7N90qoMlJvuerZIElp4GxINUNG4VaLqFlVFlgL8BfKpkLwsZPJNjUI4n4_IlbqlM6csJI3Civqxy1ToJKEWwOsDTUBICnR46d3S7VbPSHggDgTHiFhlKLNEAujKbfCE4fadzp4KezEbGOcJ3Wt5ubpVau5d2rH0EAJmJ1EZVg0gfMkXtsSZKMS8QmbLeVuu38DWpSEU0ip_vaijmKXlQMmOdDx-NDODbLoQZsfhpTNLQDP4ySZw-Tip9sgv0KwecRUTV_cyZnlC-UVQydra9FpZELdWj-LUTtpeHvdbqIXkQ8hhF3Ca-b7G6rhNce0b0JdrLKYeIBkyFR-Ta-EsoZKQMdQErKBcLF26OTbxQ8MTun1tkyzVBCBgQLl57PaTqBL0wBhZNr-vgUOjZ-x5xmz2KHqk-WD1V_lR1iWh6GeWtEAj7gOIPzjgCpa1tV0TxPvPZY-ri64UNFjCvh5p3lzKvTtmxcmHcbbWvibw3BRPrDRdrCGobM_EB_2-nEjVnzjhRnm-qOSu-v-HllliKkXvwJ668ZC1TaYRCHAnzHpk4239cZufWt0jO1_Wt9TPmKyCZvTxKcHRQ_qzOaZf5Xlpz5z6Z1E9KgD7eoQB1KDFgvfpM75-kP3vQ0HQVtOz5t0RpCCUSSjWJ3PzlDhKeNkpGt7kCJ6R2-ZqYybrCjGLMCjz2_X2nwICKny5Sv-zMt79QdtAEqpzUX-CbxvFmrSVmzDgTxODUH4b1_aDBRMrp4kIZw4cS1JqEmam1rw6iAf8uLHLRsxmalC0Vso1JNGKzziTQiFaZy1C9xAx5_z6uI10NY1V7l",
  "id": "rs_04177dd1a3555788016ab43f94773487d0a3ad6efe436a4fcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.34,\"right_z\":0.13,\"right_gripper\":0.55,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"The second close was empty because the wrist view shows the fruit still several centimeters beyond the fingertip convergence point; the low cross-over pose could not advance far enough. I’ll raise the arm to escape that reach limit, then move farther outward over the fruit with the jaws narrowed for a final top-down attempt.\"}",
  "call_id": "call_qR4PIMxQD9i7ANHMPEZNp2Bu",
  "id": "fc_04177dd1a3555788016ab43f97888887d0ab7080f9bb5dbd30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qR4PIMxQD9i7ANHMPEZNp2Bu",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4469, -0.0891, -0.086, 0.9932, 0.9752, 2.0151, 1.3876, -0.2779, 0.7521, 0.6453, 0.5464]\nstate[eef_state]: left_x=0.2867 left_y=0.0049 left_z=0.1619 left_yaw=0.0646 left_pitch=-0.0809 left_roll=0.0028 left_gripper=0.9932 right_x=0.3718 right_y=0.3399 right_z=0.0986 right_yaw=0.0118 right_pitch=-0.0398 right_roll=-0.043 right_gripper=0.5464\nstate[joint_eff]: [-0.0752, -1.3197, 7.0085, 1.6777, -0.0415, -0.0366, -0.0122, -0.8, -14.0786, 8.0479, 1.2576, 0.359, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e7c0b9599d921cd7d44295b0d221376172c2187fa30fd9533da5918776e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd4c3bc8d44832e75e32a98a1df68edb85bdab7119c99b6afd1eba10d45f885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29116c25f718b48996c9983fd1872293446f1a9e0950e5f646c189b1aae52e7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 2.103 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4343, -0.0895, -0.086, 0.9932, 1.0843, 2.0567, 1.1725, -0.1379, 0.8146, 0.767, 0.5529]\nstate[eef_state]: left_x=0.2886 left_y=0.0049 left_z=0.1644 left_yaw=0.0648 left_pitch=-0.0684 left_roll=0.0016 left_gripper=0.9932 right_x=0.3183 right_y=0.3348 right_z=0.0309 right_yaw=0.0132 right_pitch=-0.0541 right_roll=-0.0703 right_gripper=0.5529\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.6728, -0.0611, -0.0269, -0.0122, 0.253, -10.1949, 5.5043, 1.3016, 0.5299, 0.0904, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4427, -0.0895, -0.0864, 0.9932, 1.0695, 2.0724, 1.1896, -0.1165, 0.7803, 0.7315, 0.0113]\nstate[eef_state]: left_x=0.2873 left_y=0.005 left_z=0.1627 left_yaw=0.0651 left_pitch=-0.0767 left_roll=0.0023 left_gripper=0.9932 right_x=0.3243 right_y=0.3407 right_z=0.0279 right_yaw=0.0379 right_pitch=-0.0692 right_roll=-0.0645 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7265, -0.0904, -0.0562, -0.0122, -0.2667, -10.7009, 5.053, 1.3504, 0.4371, 0.0171, 0.9792]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4469, -0.0891, -0.086, 0.9932, 0.9752, 2.0151, 1.3876, -0.2779, 0.7521, 0.6453, 0.5464]\nstate[eef_state]: left_x=0.2867 left_y=0.0049 left_z=0.1619 left_yaw=0.0646 left_pitch=-0.0809 left_roll=0.0028 left_gripper=0.9932 right_x=0.3718 right_y=0.3399 right_z=0.0986 right_yaw=0.0118 right_pitch=-0.0398 right_roll=-0.043 right_gripper=0.5464\nstate[joint_eff]: [-0.0752, -1.3197, 7.0085, 1.6777, -0.0415, -0.0366, -0.0122, -0.8, -14.0786, 8.0479, 1.2576, 0.359, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e7c0b9599d921cd7d44295b0d221376172c2187fa30fd9533da5918776e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd4c3bc8d44832e75e32a98a1df68edb85bdab7119c99b6afd1eba10d45f885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29116c25f718b48996c9983fd1872293446f1a9e0950e5f646c189b1aae52e7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-fEpDydKuxZAv3SoNPHqUNqnl6yIoDCkkxEO8guFnrwd_InNMN-YxrjPYuX_aVLD--ChadxMWo38G4jRtZhfpRsUchQ-JG_ZbMrUU4ATLCrzgQotveXYRBnROHb5bDJsgMv52u6Vmj78hECPw2rmdBaOBAhoVTeDm3arXnmxg124RQmH-yqPg-Mpd3rdhIPSVu0rjnhZo4VkAz7yVAdFFfoW8MYFkOAgiB6tSdp9mys0F6yY1gaBQxVpsAUwo5U_m7eDh95u1b8-8PqzpyL2_xqsXP4nfAGDMMXWx5rR_-W-ehm4rb2lLXPQEYaQpIgleGY6p3qE8xpU9ibdHpQTExly7AmvJRJh2a-EnPYQb-XLNHLCQz9eKek7mUF_gSoroq586Z_VaWJ9BXfJuouNvqsox6Jbs72OaNVW5K0q9M2UjyCfoobLqHR6iY9EjLW3mpWQZA1Urdaf5czG-iFcpfCx3UQjHR-OGVrBRjVNiUmrt9UpE11qqeEHI5CxvldQxAiTR-E8jO_mjXyHX_Lt8ME6GF81txXJq_uyv86uOP1dfsKcL258_EGRUhHi4FxehOiOAjIWkpB-OYM4JajpH3co0kt2fRPbWT87VobQQQfQ2FAS0mHv1fe7bdDAusimdXkhr3a-VW_JO2mlXGhKff0oa9nDhKJE0F7BJWAOjuie5tBpZxYBNVxnmBhpLNaxtuXUu6C7RAxL2H-6aK8bvHgIPblluJPKeVymywEkDaXYs4J-VBISLgOxHgJwiWTUidTkPvbJ9pTVS2JUyO8_LAJoSlhObIRiyLtfFkuLzw_EY_Z-hKPzQtOyGzTk3dgHaoCUIzRizqNoImNdriqpg_Jw57DSbT9J5YcOTMOoZJTUSQ3XGF6HedvzyfWbWEsspNGhxM7qWgH5UK58VnZMVPvh6ErVQC60jLuCqynV5kRbcrbFJuQn5dAoji9CIb6lTZh_kJRThfwt5O6hrd__KmZcvPqqX9NLmDLqWpJBsIdUNylcMK1wgsE3YpdDlpULRf3SSF4ROLtKAWeQVm1p9IkMIp9HjcMkVuxB7o4yZ0MIBF9n1TKO9xr15pH-5YMck6WM4eAXzlR0ig2nXqNcarNIIFPpykkRRaZTwNl_on2dPaHfFIKP4fDxJctGQmNnA4CE6Z-uHopxqYFvCxmPl4svtyvL4iw5wGuHKImXwYvTlpNkbtB1RuGMOvNWpQXc_SOEFuqhI93A6seFZh0pIMexgOPufE4w3nMk3riL0dvo53HZHwUP86za8a8DulWiUmqzjriRenykCTgKPmuZrOzTvHav1BykH6URZIT8g91A8=",
  "id": "rs_04177dd1a3555788016ab43f9e38d087d0897de1a2903d07ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0},\"note\":\"Raising first allowed the commanded outward motion: the dark fruit is now directly between the narrowed fingertips at the correct radial depth. I’ll descend vertically while preserving this alignment.\"}",
  "call_id": "call_vGVudI7IUVjbVoDhTqRQfljm",
  "id": "fc_04177dd1a3555788016ab43f9e70b087d089b9d69ac403feec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vGVudI7IUVjbVoDhTqRQfljm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.45, -0.0895, -0.086, 0.9932, 0.9752, 2.0995, 1.2545, -0.0826, 0.7551, 0.6395, 0.5475]\nstate[eef_state]: left_x=0.2862 left_y=0.005 left_z=0.1613 left_yaw=0.0649 left_pitch=-0.0839 left_roll=0.0034 left_gripper=0.9932 right_x=0.3664 right_y=0.3313 right_z=0.0377 right_yaw=0.0122 right_pitch=-0.0506 right_roll=-0.0672 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -1.1829, 6.9538, 1.6825, -0.1001, -0.0317, -0.0171, 0.4171, -11.2752, 6.1197, 1.4872, 0.359, 0.1197, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f7018090352456e929ea151a80794218f10a2246ca94e82f0844f2866ce4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0de9c14902162ced717e9d2f79ce9b578eccee5580565bed01c5890a2de2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d32fe3229fccd77658b7e54b9e9fa7c37d934048a6b5fd5bfdb23e8cf6be43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.001 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.437, -0.0895, -0.0864, 0.9932, 1.0668, 2.0724, 1.1839, -0.1017, 0.7925, 0.7391, 0.5528]\nstate[eef_state]: left_x=0.2882 left_y=0.0049 left_z=0.1638 left_yaw=0.065 left_pitch=-0.0711 left_roll=0.0016 left_gripper=0.9932 right_x=0.3265 right_y=0.3389 right_z=0.029 right_yaw=0.0246 right_pitch=-0.0555 right_roll=-0.0557 right_gripper=0.5528\nstate[joint_eff]: [-0.1846, -1.306, 6.9812, 1.7021, -0.105, -0.0513, -0.0171, -1.5795, -11.2752, 8.0342, 1.199, 0.442, -0.149, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.4469, -0.0891, -0.086, 0.9932, 0.9752, 2.0151, 1.3876, -0.2779, 0.7521, 0.6453, 0.5464]\nstate[eef_state]: left_x=0.2867 left_y=0.0049 left_z=0.1619 left_yaw=0.0646 left_pitch=-0.0809 left_roll=0.0028 left_gripper=0.9932 right_x=0.3718 right_y=0.3399 right_z=0.0986 right_yaw=0.0118 right_pitch=-0.0398 right_roll=-0.043 right_gripper=0.5464\nstate[joint_eff]: [-0.0752, -1.3197, 7.0085, 1.6777, -0.0415, -0.0366, -0.0122, -0.8, -14.0786, 8.0479, 1.2576, 0.359, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0502, 0.815, 0.6056, -0.45, -0.0895, -0.086, 0.9932, 0.9752, 2.0995, 1.2545, -0.0826, 0.7551, 0.6395, 0.5475]\nstate[eef_state]: left_x=0.2862 left_y=0.005 left_z=0.1613 left_yaw=0.0649 left_pitch=-0.0839 left_roll=0.0034 left_gripper=0.9932 right_x=0.3664 right_y=0.3313 right_z=0.0377 right_yaw=0.0122 right_pitch=-0.0506 right_roll=-0.0672 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -1.1829, 6.9538, 1.6825, -0.1001, -0.0317, -0.0171, 0.4171, -11.2752, 6.1197, 1.4872, 0.359, 0.1197, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f7018090352456e929ea151a80794218f10a2246ca94e82f0844f2866ce4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0de9c14902162ced717e9d2f79ce9b578eccee5580565bed01c5890a2de2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d32fe3229fccd77658b7e54b9e9fa7c37d934048a6b5fd5bfdb23e8cf6be43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-hAu4SucZ_sT8fmn46K1vmcIfQLFhU5qLhc6XSRG71BYAx-TJnJsH53dhKMyrdDspv6HCvQjOaXQsxcVagyKiRYygSnoSfGdbA3_MHPv3Qx1Ld9tthiYD8GYIaB5kjly3fiHhYpPeL86MKtpiap1Lv2iD61M9fZ-wHe0QaQszkGYYwPKT1IgazWy92GHRN31afrzUfjBlCbhCVo4YRUifi6WC3L5rI9GDdxU73RM8vUsmS6NQfBE_40zQGwB02HrMgwltcJYuXLXLh20hdo2El6O4-RF_CRbPikKU7atvnhy1AE3vpcIQ1wE8SQGuQu7Q-pqaXkLkNJjkwAvvmpwyMqwhQj6TK3nWotqyUGl9zEBE84GbkkNLm4sZkZm3ktsAkrXsZcofXwiGpVQRfDkQhke8oF2E9oWLgg94xrGe5t8-TRzCeXGX9vk-Hn3zEfJtuJg35qkvoyVO3l-t--OfNFyKiTTs8D68eMNwyrlc9DEkQruz-gbGXg5c1p29Q3JuqdKOPYHsVtOUXjoHSca1j8MNP8grcKWtrEJbgXS1Y-ZC4gSgDoH4RZEYyRf1wLEIJM84dwfYKKEQtVkHYDi0vblLLhcW9JEh_aEgP_n-GAXtG9PGQXHhu7N7tNVpyf4nv0lrDZ_0ZDTd5itUHstfYluagfZz38WTnyE0vZeY4UUxhDo7MnVjymIkKWscanPAjOEO0fdy_E0AqcBCUoMtM9a41xbEMiACiqoWCEPmCJl8PsppeOyUivnPG2a7ptNIm4Vw2VzCUVkyhtqG41EpN9GsFul5e6SyhTMIDoi3zxPM2sshPHq_FDybk7cTyArHRmh3aUrWgmTKP7IPvdW24Nw9gmGd_QzQ9wHApiABfdhP1B_-kjcGWbaOxrYVkJAu24XrANyzzFNH8Vtfl4r3MtcrXk63uOhabyQDB9hL1NpWf5AE8kGp7ejaSoHbqYHQXS-GcOlIHclMIqRuA9pVyaPNUka5Vdbosw-e4XPfqKQkHxYqS8ZaGRfev6vPwg0hvkwQGo1hyFj8ywoMUtr-tUtsSl3NaeB2Yvltqa9zsd9IYMZwkK7b96kcIa_Il5t00SI_F3fsFdQyB97zsDs3IRH12-OwOR9YmmNWFB86vvjePQHaub3VnDaO14MC3U7H4tUdJeTybHebAJ3Wm8S-m7iHKUz83du9m49CE4T_3AGw=",
  "id": "rs_04177dd1a3555788016ab43fa0b28087d0b2500dec46e9e606",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the dark fruit fills the gap evenly between the two fingertip faces, unlike the earlier short-radial attempts. I’ll close the gripper now.\"}",
  "call_id": "call_Ofi8rgUsGW70aZDmRSOscYOJ",
  "id": "fc_04177dd1a3555788016ab43fa0d0d087d09b59034c4e0bf610",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ofi8rgUsGW70aZDmRSOscYOJ",
  "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]: [-0.0502, 0.815, 0.6056, -0.4503, -0.0891, -0.0864, 0.9932, 0.9787, 2.0998, 1.253, -0.0231, 0.7704, 0.635, 0.3235]\nstate[eef_state]: left_x=0.2862 left_y=0.005 left_z=0.1612 left_yaw=0.0648 left_pitch=-0.0843 left_roll=0.0029 left_gripper=0.9932 right_x=0.3712 right_y=0.3378 right_z=0.0458 right_yaw=0.0098 right_pitch=-0.0081 right_roll=-0.0304 right_gripper=0.3235\nstate[joint_eff]: [-0.1846, -1.3197, 7.1726, 1.6435, -0.0659, -0.0415, -0.0122, -0.5265, -11.1932, 5.9009, 0.7253, 0.0708, 0.0171, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc133c822f4f36d7ebeb68ad053b1992a3c726ae7fb6802af187ab82d7e4f76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34501c0f80dcd120cc75037cb70dc669a77d089800c4ae23bb11baea9acce90e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99169e595c7d36f57c7d8fe8a96cf6e70c4ac050b110cc1b03e452e2ed6611c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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